Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 537 * 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 537 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 58 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -19815.395 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 -19815.395

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 58 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 38 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 537 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 182807,2512.778,12249.884,36,1.0,36,-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 -70.8 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 183516,2512.949,12250.185,16,2.2,35,-3.6 MHEAD_RNG_PITCHd_Wd 279.2,47674,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1387

Post-dive calculations and measurements:

FINISH 1.8,1.000710 _24V_AH 22.9,94.093

SM_CCo 13581,83.30,0.661,0,0,1595,475.15 _10V_AH 10.6,49.609

SM_GC 2.93,0.00,0.00,83.30,0.000,0.000,0.661,136,2351,1595,-7.64,-0.90,475.15 DATA_FILE_SIZE 69335,1270

IRIDIUM_FIX 2503.20,12250.55,151198,141446 CAP_FILE_SIZE 147908,0

TT8_MAMPS 0.029146 CFSIZE 260165632,182992896

HUMID 1793 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.26793 CURRENT 0.142, 62.7,1

TCM_TEMP 23.50 GPS 210809,222437,2513.783,12249.238,33,1.1,33,-3.6

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 237 148.10 SBE_CT 863 24 474.60

Roll_motor 129 55 163.52 Optode 901 33 681.42

VBD_pump_during_apogee 412 1405 13291.86 WL_BB2F 0 105 0.00

VBD_pump_during_surface 83 661 1261.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.17 nil 0 0 0.00

Iridium_during_connect 34 160 126.22 nil 0 0 0.00

Iridium_during_xfer 182 223 931.64

Transponder_ping 8 420 79.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 19.29

TT8 2287 19 480.15

LPSleep 8172 2 189.72

TT8_Active 618 19 129.75

TT8_Sampling 2313 39 975.87

TT8_CF8 694 45 337.24

TT8_Kalman 0 81 0.00

Analog_circuits 1797 12 228.67

GPS_charging 0 0 0.00

Compass 2235 8 189.58

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -22.50 0.000 2 0.000 0.000 138 2397 2128

45 -1.50 -121.7 3.0 -1.8 4 126 8.30 2.15 -62.97 0.000 4 0.238 0.052 2081 3761 3990

152 -0.58 -121.7 19.7 -36.9 21 159 1.17 2.05 0.00 0.000 6 0.202 0.023 2384 2337 3991

500 -0.95 -121.7 63.4 -10.3 82 507 0.28 2.25 0.00 0.000 4 0.061 0.048 2261 3757 3994

610 -0.82 -121.7 81.7 -18.6 101 617 0.20 1.92 0.00 0.000 6 0.166 0.024 2315 2419 3994

956 -0.97 -121.7 125.0 -13.2 162 963 0.15 2.10 0.00 0.000 4 0.074 0.046 2246 3754 3996

981 -0.97 -121.7 129.0 -15.4 166 987 0.00 1.92 0.00 0.000 6 0.000 0.024 2246 2402 3996

1328 -0.90 -121.7 190.5 -16.9 227 1334 0.17 2.03 0.00 0.000 4 0.171 0.025 2297 1009 3997

1377 -1.07 -121.7 198.0 -14.3 235 1383 0.15 2.12 0.00 0.000 6 0.072 0.032 2229 2424 3997

1727 -1.02 -121.7 261.8 -16.3 296 1733 0.00 2.05 0.00 0.000 4 0.000 0.048 2219 3750 3997

1797 -0.93 -121.7 274.8 -17.0 308 1806 0.22 1.88 0.00 0.000 6 0.164 0.025 2280 2440 3997

2138 -1.11 -121.7 318.8 -12.1 355 2140 0.17 0.00 0.00 0.000 6 0.071 0.000 2210 2440 3997

2456 -1.03 -121.7 372.3 -17.6 385 2460 0.15 2.08 0.00 0.000 4 0.175 0.047 2239 3754 3997

2581 -1.03 -121.7 393.3 -16.0 396 2585 0.00 1.85 0.00 0.000 6 0.000 0.026 2239 2470 3997

2914 -1.12 -121.7 440.9 -14.6 427 2917 0.00 2.03 0.00 0.000 4 0.000 0.051 2233 3748 3997

2938 -1.19 -121.7 444.7 -14.6 429 2942 0.12 1.85 0.00 0.000 6 0.081 0.026 2180 2467 3997

3280 -1.07 -121.7 504.9 -18.1 460 3284 0.17 2.05 0.00 0.000 4 0.171 0.048 2222 3757 3997

3313 -1.07 -121.7 511.1 -16.2 461 3317 0.00 1.88 0.00 0.000 6 0.000 0.027 2222 2470 3997

3637 -1.13 -121.7 554.3 -13.4 477 3641 0.00 2.05 0.00 0.000 4 0.000 0.052 2218 3758 3994

3695 -1.13 -121.7 562.7 -13.7 479 3698 0.00 1.88 0.00 0.000 6 0.000 0.028 2218 2477 3994

4017 -1.19 -121.7 605.9 -13.7 495 4020 0.00 2.15 0.00 0.000 4 0.000 0.028 2218 1013 3992

4045 -1.27 -121.7 610.2 -15.0 496 4050 0.15 2.22 0.00 0.000 6 0.078 0.036 2164 2460 3992

4371 -1.14 -121.7 667.0 -18.1 512 4375 0.17 2.05 0.00 0.000 4 0.193 0.051 2205 3755 3990

4476 -1.14 -121.7 685.7 -17.0 516 4484 0.00 1.85 0.00 0.000 6 0.000 0.028 2205 2493 3989

4794 -1.14 -121.7 734.6 -15.0 532 4797 0.00 2.03 0.00 0.000 4 0.000 0.054 2205 3754 3986

4885 -1.14 -121.7 748.9 -15.3 536 4888 0.00 1.85 0.00 0.000 6 0.000 0.028 2205 2501 3986

5218 -1.14 -121.7 799.1 -15.3 552 5221 0.00 2.00 0.00 0.000 4 0.000 0.054 2205 3746 3984

5292 -1.14 -121.7 810.8 -15.8 555 5295 0.00 1.80 0.00 0.000 6 0.000 0.028 2205 2526 3983

5620 -1.20 -121.7 859.3 -14.4 571 5623 0.00 1.98 0.00 0.000 4 0.000 0.055 2205 3754 3981

5705 -1.20 -121.7 872.7 -14.8 574 5711 0.00 1.83 0.00 0.000 6 0.000 0.030 2205 2524 3981

6021 -1.26 -121.7 918.2 -14.2 590 6025 0.00 2.25 0.00 0.000 4 0.000 0.031 2204 1022 3979

6061 -1.36 -121.7 924.0 -14.5 591 6068 0.17 2.30 0.00 0.000 6 0.077 0.038 2144 2493 3978

6382 -1.19 -121.7 979.8 -17.9 607 6386 0.20 2.00 0.00 0.000 4 0.199 0.054 2191 3746 3976

6415 -1.13 -121.7 986.6 -16.8 608 6419 0.00 1.80 0.00 0.000 6 0.000 0.028 2191 2523 3976

6445 end dive: TARGET_DEPTH_EXCEEDED

state 6445 begin apogee

6453 -0.27 0.0 991.3 15.1 610 6553 1.05 0.00 96.12 1.406 6 0.171 0.000 2486 2394 3532

6553 end apogee: CONTROL_FINISHED_OK

state 6553 begin climb

6558 1.50 121.7 995.2 0.0 615 6673 1.60 2.35 106.15 1.364 4 0.058 0.049 3060 3748 3034

6775 0.67 121.7 987.2 16.1 625 6781 1.10 2.12 0.00 0.000 6 0.225 0.025 2801 2342 3032

7099 0.77 203.2 961.7 7.3 641 7173 0.00 2.15 68.80 1.345 4 0.000 0.031 2803 981 2702

7229 1.03 237.0 950.2 10.7 647 7264 0.30 2.20 30.00 1.292 6 0.065 0.036 2912 2367 2565

7585 0.89 237.0 891.8 16.5 664 7589 0.17 2.15 0.00 0.000 4 0.186 0.031 2871 966 2558

7630 0.95 237.0 884.5 13.9 666 7634 0.00 2.17 0.00 0.000 6 0.000 0.035 2871 2372 2558

7953 0.95 237.0 836.3 14.8 682 7956 0.00 2.22 0.00 0.000 4 0.000 0.054 2871 3764 2556

8037 0.82 237.0 821.7 16.7 685 8043 0.00 2.08 0.00 0.000 6 0.000 0.028 2872 2373 2556

8354 0.82 237.0 772.2 15.4 701 8357 0.00 2.22 0.00 0.000 4 0.000 0.054 2872 3752 2554

8389 0.69 237.0 766.1 18.1 702 8394 0.30 2.05 0.00 0.000 6 0.186 0.028 2804 2372 2554

8706 0.91 249.0 724.6 12.3 717 8721 0.20 2.25 9.25 1.120 4 0.079 0.054 2885 3754 2517

8860 0.77 249.0 697.4 18.9 723 8867 0.25 2.05 0.00 0.000 6 0.188 0.029 2830 2384 2515

9177 0.93 262.6 656.2 12.2 739 9199 0.15 2.28 12.98 1.134 4 0.082 0.054 2886 3757 2460

9257 0.79 262.6 643.1 17.4 742 9262 0.22 2.08 0.00 0.000 6 0.188 0.030 2839 2392 2459

9579 0.94 269.5 600.4 12.7 758 9594 0.12 2.28 7.32 1.006 4 0.087 0.051 2885 3765 2432

9664 0.83 269.5 586.3 18.0 761 9671 0.17 2.08 0.00 0.000 6 0.190 0.028 2851 2394 2431

9982 0.94 270.8 543.4 13.1 777 9985 0.00 2.17 0.00 0.000 4 0.000 0.035 2855 952 2430

10083 1.12 280.8 530.3 12.5 781 10100 0.25 2.22 11.12 1.045 6 0.073 0.035 2948 2397 2387

10417 0.97 280.8 465.9 19.4 805 10422 0.20 2.17 0.00 0.000 4 0.186 0.051 2893 3759 2384

10473 0.87 280.8 454.9 19.5 809 10480 0.15 2.03 0.00 0.000 6 0.189 0.028 2864 2401 2385

10799 0.98 284.2 407.5 13.0 840 10812 0.00 2.17 4.22 0.740 4 0.000 0.034 2873 966 2373

10863 1.16 284.2 399.3 13.2 845 10870 0.22 2.22 0.00 0.000 6 0.077 0.034 2957 2416 2372

11189 1.00 284.2 339.3 20.7 876 11193 0.20 2.20 0.00 0.000 4 0.187 0.030 2911 966 2372

11437 1.06 284.2 299.3 15.7 898 11443 0.00 2.17 0.00 0.000 6 0.000 0.033 2911 2389 2371

11783 1.06 284.2 245.4 15.4 959 11789 0.00 2.15 0.00 0.000 4 0.000 0.031 2917 963 2371

11914 1.15 291.0 227.5 12.7 982 11927 0.00 2.15 7.18 0.791 6 0.000 0.033 2916 2374 2345

12266 1.15 291.0 177.4 14.2 1044 12274 0.00 2.12 0.00 0.000 4 0.000 0.031 2925 963 2344

12479 1.23 291.0 144.1 15.3 1081 12486 0.15 2.12 0.00 0.000 6 0.080 0.033 2982 2355 2343

12827 1.07 291.0 83.4 18.3 1142 12833 0.20 2.22 0.00 0.000 4 0.189 0.050 2927 3761 2344

13089 1.02 306.7 38.9 12.1 1188 13109 0.00 2.08 14.40 0.704 6 0.000 0.025 2937 2353 2281

13451 1.38 427.9 5.7 4.4 1251 13499 0.20 0.00 45.30 0.679 2 0.071 0.000 3019 2352 2044

13500 end climb: SURFACE_DEPTH_REACHED

state 13500 begin surface coast

13561 end surface coast: CONTROL_FINISHED_OK

state 13561 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	537	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	58	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-19815.395	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	182807,2512.778,12249.884,36,1.0,36,-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	-70.8	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	183516,2512.949,12250.185,16,2.2,35,-3.6	MHEAD_RNG_PITCHd_Wd	279.2,47674,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1387

FINISH	1.8,1.000710	_24V_AH	22.9,94.093
SM_CCo	13581,83.30,0.661,0,0,1595,475.15	_10V_AH	10.6,49.609
SM_GC	2.93,0.00,0.00,83.30,0.000,0.000,0.661,136,2351,1595,-7.64,-0.90,475.15	DATA_FILE_SIZE	69335,1270
IRIDIUM_FIX	2503.20,12250.55,151198,141446	CAP_FILE_SIZE	147908,0
TT8_MAMPS	0.029146	CFSIZE	260165632,182992896
HUMID	1793	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.26793	CURRENT	0.142, 62.7,1
TCM_TEMP	23.50	GPS	210809,222437,2513.783,12249.238,33,1.1,33,-3.6
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	237	148.10	SBE_CT	863	24	474.60
Roll_motor	129	55	163.52	Optode	901	33	681.42
VBD_pump_during_apogee	412	1405	13291.86	WL_BB2F	0	105	0.00
VBD_pump_during_surface	83	661	1261.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.17	nil	0	0	0.00
Iridium_during_connect	34	160	126.22	nil	0	0	0.00
Iridium_during_xfer	182	223	931.64
Transponder_ping	8	420	79.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	19.29
TT8	2287	19	480.15
LPSleep	8172	2	189.72
TT8_Active	618	19	129.75
TT8_Sampling	2313	39	975.87
TT8_CF8	694	45	337.24
TT8_Kalman	0	81	0.00
Analog_circuits	1797	12	228.67
GPS_charging	0	0	0.00
Compass	2235	8	189.58
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-22.50	0.000	2	0.000	0.000	138	2397	2128
45	-1.50	-121.7	3.0	-1.8	4	126	8.30	2.15	-62.97	0.000	4	0.238	0.052	2081	3761	3990
152	-0.58	-121.7	19.7	-36.9	21	159	1.17	2.05	0.00	0.000	6	0.202	0.023	2384	2337	3991
500	-0.95	-121.7	63.4	-10.3	82	507	0.28	2.25	0.00	0.000	4	0.061	0.048	2261	3757	3994
610	-0.82	-121.7	81.7	-18.6	101	617	0.20	1.92	0.00	0.000	6	0.166	0.024	2315	2419	3994
956	-0.97	-121.7	125.0	-13.2	162	963	0.15	2.10	0.00	0.000	4	0.074	0.046	2246	3754	3996
981	-0.97	-121.7	129.0	-15.4	166	987	0.00	1.92	0.00	0.000	6	0.000	0.024	2246	2402	3996
1328	-0.90	-121.7	190.5	-16.9	227	1334	0.17	2.03	0.00	0.000	4	0.171	0.025	2297	1009	3997
1377	-1.07	-121.7	198.0	-14.3	235	1383	0.15	2.12	0.00	0.000	6	0.072	0.032	2229	2424	3997
1727	-1.02	-121.7	261.8	-16.3	296	1733	0.00	2.05	0.00	0.000	4	0.000	0.048	2219	3750	3997
1797	-0.93	-121.7	274.8	-17.0	308	1806	0.22	1.88	0.00	0.000	6	0.164	0.025	2280	2440	3997
2138	-1.11	-121.7	318.8	-12.1	355	2140	0.17	0.00	0.00	0.000	6	0.071	0.000	2210	2440	3997
2456	-1.03	-121.7	372.3	-17.6	385	2460	0.15	2.08	0.00	0.000	4	0.175	0.047	2239	3754	3997
2581	-1.03	-121.7	393.3	-16.0	396	2585	0.00	1.85	0.00	0.000	6	0.000	0.026	2239	2470	3997
2914	-1.12	-121.7	440.9	-14.6	427	2917	0.00	2.03	0.00	0.000	4	0.000	0.051	2233	3748	3997
2938	-1.19	-121.7	444.7	-14.6	429	2942	0.12	1.85	0.00	0.000	6	0.081	0.026	2180	2467	3997
3280	-1.07	-121.7	504.9	-18.1	460	3284	0.17	2.05	0.00	0.000	4	0.171	0.048	2222	3757	3997
3313	-1.07	-121.7	511.1	-16.2	461	3317	0.00	1.88	0.00	0.000	6	0.000	0.027	2222	2470	3997
3637	-1.13	-121.7	554.3	-13.4	477	3641	0.00	2.05	0.00	0.000	4	0.000	0.052	2218	3758	3994
3695	-1.13	-121.7	562.7	-13.7	479	3698	0.00	1.88	0.00	0.000	6	0.000	0.028	2218	2477	3994
4017	-1.19	-121.7	605.9	-13.7	495	4020	0.00	2.15	0.00	0.000	4	0.000	0.028	2218	1013	3992
4045	-1.27	-121.7	610.2	-15.0	496	4050	0.15	2.22	0.00	0.000	6	0.078	0.036	2164	2460	3992
4371	-1.14	-121.7	667.0	-18.1	512	4375	0.17	2.05	0.00	0.000	4	0.193	0.051	2205	3755	3990
4476	-1.14	-121.7	685.7	-17.0	516	4484	0.00	1.85	0.00	0.000	6	0.000	0.028	2205	2493	3989
4794	-1.14	-121.7	734.6	-15.0	532	4797	0.00	2.03	0.00	0.000	4	0.000	0.054	2205	3754	3986
4885	-1.14	-121.7	748.9	-15.3	536	4888	0.00	1.85	0.00	0.000	6	0.000	0.028	2205	2501	3986
5218	-1.14	-121.7	799.1	-15.3	552	5221	0.00	2.00	0.00	0.000	4	0.000	0.054	2205	3746	3984
5292	-1.14	-121.7	810.8	-15.8	555	5295	0.00	1.80	0.00	0.000	6	0.000	0.028	2205	2526	3983
5620	-1.20	-121.7	859.3	-14.4	571	5623	0.00	1.98	0.00	0.000	4	0.000	0.055	2205	3754	3981
5705	-1.20	-121.7	872.7	-14.8	574	5711	0.00	1.83	0.00	0.000	6	0.000	0.030	2205	2524	3981
6021	-1.26	-121.7	918.2	-14.2	590	6025	0.00	2.25	0.00	0.000	4	0.000	0.031	2204	1022	3979
6061	-1.36	-121.7	924.0	-14.5	591	6068	0.17	2.30	0.00	0.000	6	0.077	0.038	2144	2493	3978
6382	-1.19	-121.7	979.8	-17.9	607	6386	0.20	2.00	0.00	0.000	4	0.199	0.054	2191	3746	3976
6415	-1.13	-121.7	986.6	-16.8	608	6419	0.00	1.80	0.00	0.000	6	0.000	0.028	2191	2523	3976
6445	end dive: TARGET_DEPTH_EXCEEDED
state	6445	begin apogee
6453	-0.27	0.0	991.3	15.1	610	6553	1.05	0.00	96.12	1.406	6	0.171	0.000	2486	2394	3532
6553	end apogee: CONTROL_FINISHED_OK
state	6553	begin climb
6558	1.50	121.7	995.2	0.0	615	6673	1.60	2.35	106.15	1.364	4	0.058	0.049	3060	3748	3034
6775	0.67	121.7	987.2	16.1	625	6781	1.10	2.12	0.00	0.000	6	0.225	0.025	2801	2342	3032
7099	0.77	203.2	961.7	7.3	641	7173	0.00	2.15	68.80	1.345	4	0.000	0.031	2803	981	2702
7229	1.03	237.0	950.2	10.7	647	7264	0.30	2.20	30.00	1.292	6	0.065	0.036	2912	2367	2565
7585	0.89	237.0	891.8	16.5	664	7589	0.17	2.15	0.00	0.000	4	0.186	0.031	2871	966	2558
7630	0.95	237.0	884.5	13.9	666	7634	0.00	2.17	0.00	0.000	6	0.000	0.035	2871	2372	2558
7953	0.95	237.0	836.3	14.8	682	7956	0.00	2.22	0.00	0.000	4	0.000	0.054	2871	3764	2556
8037	0.82	237.0	821.7	16.7	685	8043	0.00	2.08	0.00	0.000	6	0.000	0.028	2872	2373	2556
8354	0.82	237.0	772.2	15.4	701	8357	0.00	2.22	0.00	0.000	4	0.000	0.054	2872	3752	2554
8389	0.69	237.0	766.1	18.1	702	8394	0.30	2.05	0.00	0.000	6	0.186	0.028	2804	2372	2554
8706	0.91	249.0	724.6	12.3	717	8721	0.20	2.25	9.25	1.120	4	0.079	0.054	2885	3754	2517
8860	0.77	249.0	697.4	18.9	723	8867	0.25	2.05	0.00	0.000	6	0.188	0.029	2830	2384	2515
9177	0.93	262.6	656.2	12.2	739	9199	0.15	2.28	12.98	1.134	4	0.082	0.054	2886	3757	2460
9257	0.79	262.6	643.1	17.4	742	9262	0.22	2.08	0.00	0.000	6	0.188	0.030	2839	2392	2459
9579	0.94	269.5	600.4	12.7	758	9594	0.12	2.28	7.32	1.006	4	0.087	0.051	2885	3765	2432
9664	0.83	269.5	586.3	18.0	761	9671	0.17	2.08	0.00	0.000	6	0.190	0.028	2851	2394	2431
9982	0.94	270.8	543.4	13.1	777	9985	0.00	2.17	0.00	0.000	4	0.000	0.035	2855	952	2430
10083	1.12	280.8	530.3	12.5	781	10100	0.25	2.22	11.12	1.045	6	0.073	0.035	2948	2397	2387
10417	0.97	280.8	465.9	19.4	805	10422	0.20	2.17	0.00	0.000	4	0.186	0.051	2893	3759	2384
10473	0.87	280.8	454.9	19.5	809	10480	0.15	2.03	0.00	0.000	6	0.189	0.028	2864	2401	2385
10799	0.98	284.2	407.5	13.0	840	10812	0.00	2.17	4.22	0.740	4	0.000	0.034	2873	966	2373
10863	1.16	284.2	399.3	13.2	845	10870	0.22	2.22	0.00	0.000	6	0.077	0.034	2957	2416	2372
11189	1.00	284.2	339.3	20.7	876	11193	0.20	2.20	0.00	0.000	4	0.187	0.030	2911	966	2372
11437	1.06	284.2	299.3	15.7	898	11443	0.00	2.17	0.00	0.000	6	0.000	0.033	2911	2389	2371
11783	1.06	284.2	245.4	15.4	959	11789	0.00	2.15	0.00	0.000	4	0.000	0.031	2917	963	2371
11914	1.15	291.0	227.5	12.7	982	11927	0.00	2.15	7.18	0.791	6	0.000	0.033	2916	2374	2345
12266	1.15	291.0	177.4	14.2	1044	12274	0.00	2.12	0.00	0.000	4	0.000	0.031	2925	963	2344
12479	1.23	291.0	144.1	15.3	1081	12486	0.15	2.12	0.00	0.000	6	0.080	0.033	2982	2355	2343
12827	1.07	291.0	83.4	18.3	1142	12833	0.20	2.22	0.00	0.000	4	0.189	0.050	2927	3761	2344
13089	1.02	306.7	38.9	12.1	1188	13109	0.00	2.08	14.40	0.704	6	0.000	0.025	2937	2353	2281
13451	1.38	427.9	5.7	4.4	1251	13499	0.20	0.00	45.30	0.679	2	0.071	0.000	3019	2352	2044
13500	end climb: SURFACE_DEPTH_REACHED
state	13500	begin surface coast
13561	end surface coast: CONTROL_FINISHED_OK
state	13561	begin surface