Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 536 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 536 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2383 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2365 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 475 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 69 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 250 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 300 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 10 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -19778.371 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 5 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 125 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2580 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 18.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 475

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 18.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 134 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 250

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -19778.371

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 300

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 5

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2580 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 69 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 45 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 536 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 142330,2512.146,12251.401,36,1.0,42,-3.6 TGT_NAME IN_2

_CALLS 1 TGT_LATLONG 2525.000,12225.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.79 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -68.8 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 143028,2512.410,12251.394,10,2.2,29,-3.6 MHEAD_RNG_PITCHd_Wd 256.4,49929,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1413

Post-dive calculations and measurements:

FINISH 1.8,1.008969 _24V_AH 22.9,93.921

SM_CCo 14123,39.05,0.645,0,0,1595,475.15 _10V_AH 10.6,49.526

SM_GC 3.17,0.00,0.00,39.05,0.000,0.000,0.645,138,2397,1595,-7.63,0.40,475.15 DATA_FILE_SIZE 69420,1303

IRIDIUM_FIX 2503.20,12248.55,151198,101051 CAP_FILE_SIZE 149350,0

TT8_MAMPS 0.029146 CFSIZE 260165632,183070720

HUMID 1797 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.28747 CURRENT 0.099, 23.7,1

TCM_TEMP 24.10 GPS 210809,182807,2512.778,12249.884,36,1.0,36,-3.6

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 242 151.25 SBE_CT 884 24 486.17

Roll_motor 126 59 170.58 Optode 906 33 685.13

VBD_pump_during_apogee 448 1410 14479.62 WL_BB2F 0 105 0.00

VBD_pump_during_surface 39 645 576.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 54.07 nil 0 0 0.00

Iridium_during_connect 32 160 118.58 nil 0 0 0.00

Iridium_during_xfer 184 223 941.45

Transponder_ping 8 420 84.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.23

TT8 2323 19 487.71

LPSleep 8596 2 199.56

TT8_Active 622 19 130.64

TT8_Sampling 2365 39 998.01

TT8_CF8 665 45 322.96

TT8_Kalman 0 81 0.00

Analog_circuits 1813 12 230.61

GPS_charging 0 0 0.00

Compass 2284 8 193.76

RAFOS 0 0 0.00

Transponder 54 30 17.30

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -23.05 0.000 2 0.000 0.000 136 2382 2149

45 -1.50 -121.7 3.0 -1.5 4 123 8.35 2.22 -59.90 0.000 4 0.242 0.056 2082 3763 3990

239 -0.67 -121.7 61.9 -33.2 37 245 1.02 2.03 0.00 0.000 6 0.191 0.021 2355 2377 3992

586 -0.91 -121.7 105.7 -10.3 98 592 0.17 2.17 0.00 0.000 4 0.069 0.048 2275 3755 3995

616 -0.91 -121.7 110.3 -15.3 103 624 0.00 2.00 0.00 0.000 6 0.000 0.024 2275 2350 3995

964 -0.91 -121.7 165.5 -15.6 164 970 0.00 1.92 0.00 0.000 4 0.000 0.025 2276 1009 3997

1051 -1.03 -121.7 178.0 -14.0 179 1059 0.00 2.08 0.00 0.000 6 0.000 0.034 2275 2387 3997

1400 -1.13 -121.7 228.5 -12.8 240 1407 0.17 2.12 0.00 0.000 4 0.069 0.047 2195 3754 3998

1567 -0.87 -121.7 259.2 -20.0 269 1574 0.38 1.92 0.00 0.000 6 0.167 0.025 2299 2414 3997

1914 -1.11 -121.7 296.5 -10.0 330 1921 0.20 2.08 0.00 0.000 4 0.067 0.026 2212 989 3997

1929 -1.31 -121.7 298.1 -10.9 332 1936 0.15 2.12 0.00 0.000 6 0.071 0.032 2147 2403 3997

2264 -0.99 -121.7 372.5 -24.2 364 2269 0.38 2.10 0.00 0.000 4 0.187 0.046 2243 3750 3997

2319 -0.99 -121.7 384.5 -19.0 368 2326 0.00 1.98 0.00 0.000 6 0.000 0.025 2243 2371 3997

2645 -1.08 -121.7 437.4 -14.0 399 2649 0.00 2.17 0.00 0.000 4 0.000 0.049 2235 3749 3997

2771 -1.13 -121.7 454.3 -13.3 410 2775 0.00 1.95 0.00 0.000 6 0.000 0.027 2234 2409 3997

3104 -1.20 -121.7 500.2 -14.6 441 3108 0.12 2.12 0.00 0.000 4 0.084 0.049 2178 3759 3996

3228 -1.05 -121.7 522.8 -18.4 446 3233 0.22 1.95 0.00 0.000 6 0.173 0.027 2236 2420 3996

3553 -1.16 -121.7 566.2 -12.0 462 3554 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2420 3994

3860 -1.28 -121.7 606.9 -13.9 477 3864 0.17 2.12 0.00 0.000 4 0.073 0.052 2163 3755 3992

3899 -1.09 -121.7 613.5 -17.4 478 3906 0.25 1.95 0.00 0.000 6 0.179 0.028 2226 2411 3991

4221 -1.20 -121.7 650.6 -9.8 494 4222 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2411 3990

4526 -1.31 -121.7 681.6 -9.6 509 4530 0.17 2.15 0.00 0.000 4 0.077 0.054 2150 3754 3987

4599 -1.09 -121.7 692.8 -15.6 512 4603 0.30 1.95 0.00 0.000 6 0.176 0.028 2229 2427 3986

4926 -1.21 -121.7 726.1 -10.6 528 4930 0.12 2.12 0.00 0.000 4 0.084 0.053 2179 3758 3984

5027 -1.09 -121.7 741.4 -16.0 532 5031 0.17 1.95 0.00 0.000 6 0.177 0.028 2222 2436 3983

5350 -1.19 -121.7 783.5 -13.8 548 5354 0.00 2.10 0.00 0.000 4 0.000 0.054 2218 3745 3981

5412 -1.26 -121.7 793.3 -15.1 550 5419 0.12 1.90 0.00 0.000 6 0.085 0.028 2171 2455 3981

5729 -1.18 -121.7 849.6 -18.4 566 5737 0.00 2.08 0.00 0.000 4 0.000 0.052 2166 3752 3980

5789 -1.01 -121.7 861.5 -20.5 568 5793 0.32 1.90 0.00 0.000 6 0.175 0.028 2252 2463 3979

6106 -1.27 -121.7 899.2 -10.9 583 6110 0.20 2.08 0.00 0.000 4 0.074 0.052 2166 3753 3977

6208 -1.16 -121.7 912.6 -12.7 587 6217 0.15 1.88 0.00 0.000 6 0.179 0.028 2201 2478 3977

6525 -1.21 -121.7 947.4 -11.5 603 6528 0.00 2.05 0.00 0.000 4 0.000 0.053 2194 3754 3975

6594 -1.21 -121.7 956.5 -13.4 606 6598 0.00 1.88 0.00 0.000 6 0.000 0.029 2194 2493 3975

6841 end dive: TARGET_DEPTH_EXCEEDED

state 6841 begin apogee

6850 -0.27 0.0 990.8 14.3 618 6948 1.00 0.00 95.32 1.411 6 0.158 0.000 2485 2378 3532

6949 end apogee: CONTROL_FINISHED_OK

state 6949 begin climb

6952 1.50 121.7 994.8 0.0 623 7066 1.67 2.35 105.85 1.370 4 0.066 0.050 3067 3758 3035

7263 0.66 121.7 970.5 15.8 637 7269 1.12 2.12 0.00 0.000 6 0.225 0.027 2800 2357 3031

7581 0.75 194.5 945.7 7.9 652 7647 0.00 2.35 61.25 1.342 4 0.000 0.054 2799 3743 2738

7677 0.75 194.5 935.6 13.8 657 7681 0.00 2.12 0.00 0.000 6 0.000 0.028 2802 2372 2736

8011 0.88 203.2 893.2 12.6 673 8022 0.17 0.00 8.27 1.139 6 0.078 0.000 2870 2368 2703

8319 0.82 203.2 848.7 13.8 688 8323 0.00 2.22 0.00 0.000 4 0.000 0.052 2871 3754 2701

8449 0.64 203.2 827.9 15.7 693 8455 0.32 2.10 0.00 0.000 6 0.188 0.028 2793 2348 2700

8767 0.91 259.3 796.1 9.1 709 8820 0.22 2.20 47.83 1.276 4 0.074 0.033 2885 975 2475

8854 0.96 259.3 784.6 14.4 712 8859 0.00 2.17 0.00 0.000 6 0.000 0.035 2885 2354 2472

9172 0.96 259.3 733.6 17.3 727 9176 0.00 2.25 0.00 0.000 4 0.000 0.054 2885 3758 2468

9302 0.84 259.3 707.6 20.4 733 9307 0.15 2.08 0.00 0.000 6 0.193 0.029 2849 2383 2468

9631 0.95 259.3 655.2 15.4 749 9635 0.10 2.22 0.00 0.000 4 0.091 0.054 2887 3756 2466

9768 0.83 259.3 628.5 19.6 755 9772 0.17 2.03 0.00 0.000 6 0.192 0.029 2852 2397 2466

10096 0.93 259.3 578.8 15.1 771 10100 0.00 2.15 0.00 0.000 4 0.000 0.034 2861 957 2465

10232 1.07 259.3 559.5 13.9 777 10237 0.17 2.22 0.00 0.000 6 0.084 0.037 2928 2396 2465

10561 0.95 259.3 500.5 17.5 793 10566 0.15 2.17 0.00 0.000 4 0.183 0.032 2899 967 2464

10641 1.02 259.3 487.6 14.7 799 10648 0.00 2.17 0.00 0.000 6 0.000 0.036 2899 2379 2464

10970 1.02 259.3 438.2 15.4 830 10973 0.00 2.20 0.00 0.000 4 0.000 0.054 2899 3758 2464

10987 0.96 259.3 434.7 16.0 831 10995 0.00 2.10 0.00 0.000 6 0.000 0.028 2910 2352 2464

11317 0.96 259.3 383.8 14.9 862 11320 0.00 2.28 0.00 0.000 4 0.000 0.053 2910 3763 2463

11387 0.81 259.3 371.3 17.3 868 11392 0.30 2.08 0.00 0.000 6 0.187 0.028 2841 2368 2463

11713 1.00 259.3 324.9 14.9 898 11717 0.17 2.10 0.00 0.000 4 0.075 0.033 2912 969 2462

11781 1.06 259.3 313.4 17.3 903 11789 0.00 2.17 0.00 0.000 6 0.000 0.035 2912 2384 2462

12121 1.06 259.3 259.7 13.8 956 12127 0.00 2.15 0.00 0.000 4 0.000 0.032 2918 966 2462

12224 1.13 277.3 246.4 11.9 974 12243 0.00 2.12 14.45 0.881 6 0.000 0.035 2918 2356 2400

12583 1.13 277.3 197.4 13.9 1037 12589 0.00 2.22 0.00 0.000 4 0.000 0.051 2918 3762 2398

12613 1.05 277.3 192.7 16.2 1042 12620 0.00 2.15 0.00 0.000 6 0.000 0.026 2927 2326 2399

12959 1.05 277.3 139.6 13.4 1103 12966 0.00 2.03 0.00 0.000 4 0.000 0.032 2937 960 2398

13220 1.05 277.3 103.6 16.6 1149 13226 0.00 2.03 0.00 0.000 6 0.000 0.033 2937 2295 2398

13565 1.14 356.6 59.9 7.4 1210 13634 0.00 0.00 62.90 0.724 6 0.000 0.000 2937 2295 2078

13977 1.47 422.9 14.2 8.4 1282 14038 0.28 2.12 52.40 0.663 4 0.061 0.029 3062 954 1806

14070 end climb: SURFACE_DEPTH_REACHED

state 14070 begin surface coast

14099 end surface coast: CONTROL_FINISHED_OK

state 14099 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	536	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2383	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2365	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	475	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	69	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	250	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	300	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	10	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-19778.371	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	5	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	125	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2580	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	18.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	142330,2512.146,12251.401,36,1.0,42,-3.6	TGT_NAME	IN_2
_CALLS	1	TGT_LATLONG	2525.000,12225.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.79	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-68.8	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	143028,2512.410,12251.394,10,2.2,29,-3.6	MHEAD_RNG_PITCHd_Wd	256.4,49929,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1413

FINISH	1.8,1.008969	_24V_AH	22.9,93.921
SM_CCo	14123,39.05,0.645,0,0,1595,475.15	_10V_AH	10.6,49.526
SM_GC	3.17,0.00,0.00,39.05,0.000,0.000,0.645,138,2397,1595,-7.63,0.40,475.15	DATA_FILE_SIZE	69420,1303
IRIDIUM_FIX	2503.20,12248.55,151198,101051	CAP_FILE_SIZE	149350,0
TT8_MAMPS	0.029146	CFSIZE	260165632,183070720
HUMID	1797	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.28747	CURRENT	0.099, 23.7,1
TCM_TEMP	24.10	GPS	210809,182807,2512.778,12249.884,36,1.0,36,-3.6
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	242	151.25	SBE_CT	884	24	486.17
Roll_motor	126	59	170.58	Optode	906	33	685.13
VBD_pump_during_apogee	448	1410	14479.62	WL_BB2F	0	105	0.00
VBD_pump_during_surface	39	645	576.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	54.07	nil	0	0	0.00
Iridium_during_connect	32	160	118.58	nil	0	0	0.00
Iridium_during_xfer	184	223	941.45
Transponder_ping	8	420	84.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.23
TT8	2323	19	487.71
LPSleep	8596	2	199.56
TT8_Active	622	19	130.64
TT8_Sampling	2365	39	998.01
TT8_CF8	665	45	322.96
TT8_Kalman	0	81	0.00
Analog_circuits	1813	12	230.61
GPS_charging	0	0	0.00
Compass	2284	8	193.76
RAFOS	0	0	0.00
Transponder	54	30	17.30

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-23.05	0.000	2	0.000	0.000	136	2382	2149
45	-1.50	-121.7	3.0	-1.5	4	123	8.35	2.22	-59.90	0.000	4	0.242	0.056	2082	3763	3990
239	-0.67	-121.7	61.9	-33.2	37	245	1.02	2.03	0.00	0.000	6	0.191	0.021	2355	2377	3992
586	-0.91	-121.7	105.7	-10.3	98	592	0.17	2.17	0.00	0.000	4	0.069	0.048	2275	3755	3995
616	-0.91	-121.7	110.3	-15.3	103	624	0.00	2.00	0.00	0.000	6	0.000	0.024	2275	2350	3995
964	-0.91	-121.7	165.5	-15.6	164	970	0.00	1.92	0.00	0.000	4	0.000	0.025	2276	1009	3997
1051	-1.03	-121.7	178.0	-14.0	179	1059	0.00	2.08	0.00	0.000	6	0.000	0.034	2275	2387	3997
1400	-1.13	-121.7	228.5	-12.8	240	1407	0.17	2.12	0.00	0.000	4	0.069	0.047	2195	3754	3998
1567	-0.87	-121.7	259.2	-20.0	269	1574	0.38	1.92	0.00	0.000	6	0.167	0.025	2299	2414	3997
1914	-1.11	-121.7	296.5	-10.0	330	1921	0.20	2.08	0.00	0.000	4	0.067	0.026	2212	989	3997
1929	-1.31	-121.7	298.1	-10.9	332	1936	0.15	2.12	0.00	0.000	6	0.071	0.032	2147	2403	3997
2264	-0.99	-121.7	372.5	-24.2	364	2269	0.38	2.10	0.00	0.000	4	0.187	0.046	2243	3750	3997
2319	-0.99	-121.7	384.5	-19.0	368	2326	0.00	1.98	0.00	0.000	6	0.000	0.025	2243	2371	3997
2645	-1.08	-121.7	437.4	-14.0	399	2649	0.00	2.17	0.00	0.000	4	0.000	0.049	2235	3749	3997
2771	-1.13	-121.7	454.3	-13.3	410	2775	0.00	1.95	0.00	0.000	6	0.000	0.027	2234	2409	3997
3104	-1.20	-121.7	500.2	-14.6	441	3108	0.12	2.12	0.00	0.000	4	0.084	0.049	2178	3759	3996
3228	-1.05	-121.7	522.8	-18.4	446	3233	0.22	1.95	0.00	0.000	6	0.173	0.027	2236	2420	3996
3553	-1.16	-121.7	566.2	-12.0	462	3554	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2420	3994
3860	-1.28	-121.7	606.9	-13.9	477	3864	0.17	2.12	0.00	0.000	4	0.073	0.052	2163	3755	3992
3899	-1.09	-121.7	613.5	-17.4	478	3906	0.25	1.95	0.00	0.000	6	0.179	0.028	2226	2411	3991
4221	-1.20	-121.7	650.6	-9.8	494	4222	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2411	3990
4526	-1.31	-121.7	681.6	-9.6	509	4530	0.17	2.15	0.00	0.000	4	0.077	0.054	2150	3754	3987
4599	-1.09	-121.7	692.8	-15.6	512	4603	0.30	1.95	0.00	0.000	6	0.176	0.028	2229	2427	3986
4926	-1.21	-121.7	726.1	-10.6	528	4930	0.12	2.12	0.00	0.000	4	0.084	0.053	2179	3758	3984
5027	-1.09	-121.7	741.4	-16.0	532	5031	0.17	1.95	0.00	0.000	6	0.177	0.028	2222	2436	3983
5350	-1.19	-121.7	783.5	-13.8	548	5354	0.00	2.10	0.00	0.000	4	0.000	0.054	2218	3745	3981
5412	-1.26	-121.7	793.3	-15.1	550	5419	0.12	1.90	0.00	0.000	6	0.085	0.028	2171	2455	3981
5729	-1.18	-121.7	849.6	-18.4	566	5737	0.00	2.08	0.00	0.000	4	0.000	0.052	2166	3752	3980
5789	-1.01	-121.7	861.5	-20.5	568	5793	0.32	1.90	0.00	0.000	6	0.175	0.028	2252	2463	3979
6106	-1.27	-121.7	899.2	-10.9	583	6110	0.20	2.08	0.00	0.000	4	0.074	0.052	2166	3753	3977
6208	-1.16	-121.7	912.6	-12.7	587	6217	0.15	1.88	0.00	0.000	6	0.179	0.028	2201	2478	3977
6525	-1.21	-121.7	947.4	-11.5	603	6528	0.00	2.05	0.00	0.000	4	0.000	0.053	2194	3754	3975
6594	-1.21	-121.7	956.5	-13.4	606	6598	0.00	1.88	0.00	0.000	6	0.000	0.029	2194	2493	3975
6841	end dive: TARGET_DEPTH_EXCEEDED
state	6841	begin apogee
6850	-0.27	0.0	990.8	14.3	618	6948	1.00	0.00	95.32	1.411	6	0.158	0.000	2485	2378	3532
6949	end apogee: CONTROL_FINISHED_OK
state	6949	begin climb
6952	1.50	121.7	994.8	0.0	623	7066	1.67	2.35	105.85	1.370	4	0.066	0.050	3067	3758	3035
7263	0.66	121.7	970.5	15.8	637	7269	1.12	2.12	0.00	0.000	6	0.225	0.027	2800	2357	3031
7581	0.75	194.5	945.7	7.9	652	7647	0.00	2.35	61.25	1.342	4	0.000	0.054	2799	3743	2738
7677	0.75	194.5	935.6	13.8	657	7681	0.00	2.12	0.00	0.000	6	0.000	0.028	2802	2372	2736
8011	0.88	203.2	893.2	12.6	673	8022	0.17	0.00	8.27	1.139	6	0.078	0.000	2870	2368	2703
8319	0.82	203.2	848.7	13.8	688	8323	0.00	2.22	0.00	0.000	4	0.000	0.052	2871	3754	2701
8449	0.64	203.2	827.9	15.7	693	8455	0.32	2.10	0.00	0.000	6	0.188	0.028	2793	2348	2700
8767	0.91	259.3	796.1	9.1	709	8820	0.22	2.20	47.83	1.276	4	0.074	0.033	2885	975	2475
8854	0.96	259.3	784.6	14.4	712	8859	0.00	2.17	0.00	0.000	6	0.000	0.035	2885	2354	2472
9172	0.96	259.3	733.6	17.3	727	9176	0.00	2.25	0.00	0.000	4	0.000	0.054	2885	3758	2468
9302	0.84	259.3	707.6	20.4	733	9307	0.15	2.08	0.00	0.000	6	0.193	0.029	2849	2383	2468
9631	0.95	259.3	655.2	15.4	749	9635	0.10	2.22	0.00	0.000	4	0.091	0.054	2887	3756	2466
9768	0.83	259.3	628.5	19.6	755	9772	0.17	2.03	0.00	0.000	6	0.192	0.029	2852	2397	2466
10096	0.93	259.3	578.8	15.1	771	10100	0.00	2.15	0.00	0.000	4	0.000	0.034	2861	957	2465
10232	1.07	259.3	559.5	13.9	777	10237	0.17	2.22	0.00	0.000	6	0.084	0.037	2928	2396	2465
10561	0.95	259.3	500.5	17.5	793	10566	0.15	2.17	0.00	0.000	4	0.183	0.032	2899	967	2464
10641	1.02	259.3	487.6	14.7	799	10648	0.00	2.17	0.00	0.000	6	0.000	0.036	2899	2379	2464
10970	1.02	259.3	438.2	15.4	830	10973	0.00	2.20	0.00	0.000	4	0.000	0.054	2899	3758	2464
10987	0.96	259.3	434.7	16.0	831	10995	0.00	2.10	0.00	0.000	6	0.000	0.028	2910	2352	2464
11317	0.96	259.3	383.8	14.9	862	11320	0.00	2.28	0.00	0.000	4	0.000	0.053	2910	3763	2463
11387	0.81	259.3	371.3	17.3	868	11392	0.30	2.08	0.00	0.000	6	0.187	0.028	2841	2368	2463
11713	1.00	259.3	324.9	14.9	898	11717	0.17	2.10	0.00	0.000	4	0.075	0.033	2912	969	2462
11781	1.06	259.3	313.4	17.3	903	11789	0.00	2.17	0.00	0.000	6	0.000	0.035	2912	2384	2462
12121	1.06	259.3	259.7	13.8	956	12127	0.00	2.15	0.00	0.000	4	0.000	0.032	2918	966	2462
12224	1.13	277.3	246.4	11.9	974	12243	0.00	2.12	14.45	0.881	6	0.000	0.035	2918	2356	2400
12583	1.13	277.3	197.4	13.9	1037	12589	0.00	2.22	0.00	0.000	4	0.000	0.051	2918	3762	2398
12613	1.05	277.3	192.7	16.2	1042	12620	0.00	2.15	0.00	0.000	6	0.000	0.026	2927	2326	2399
12959	1.05	277.3	139.6	13.4	1103	12966	0.00	2.03	0.00	0.000	4	0.000	0.032	2937	960	2398
13220	1.05	277.3	103.6	16.6	1149	13226	0.00	2.03	0.00	0.000	6	0.000	0.033	2937	2295	2398
13565	1.14	356.6	59.9	7.4	1210	13634	0.00	0.00	62.90	0.724	6	0.000	0.000	2937	2295	2078
13977	1.47	422.9	14.2	8.4	1282	14038	0.28	2.12	52.40	0.663	4	0.061	0.029	3062	954	1806
14070	end climb: SURFACE_DEPTH_REACHED
state	14070	begin surface coast
14099	end surface coast: CONTROL_FINISHED_OK
state	14099	begin surface