Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 539 * 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 539 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 64 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -19862.336 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 -19862.336

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 64 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 34 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 539 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 022037,2514.898,12247.397,36,0.9,37,-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 2.75 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -70.4 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 022752,2514.839,12247.297,10,99.0,29,-3.6 MHEAD_RNG_PITCHd_Wd 277.9,41776,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1223

Post-dive calculations and measurements:

FINISH 1.9,0.999454 _24V_AH 22.8,94.438

SM_CCo 13689,71.15,0.658,0,0,1595,475.15 _10V_AH 10.6,49.771

SM_GC 2.91,0.00,0.00,71.15,0.000,0.000,0.658,139,2382,1595,-7.63,-0.03,475.15 DATA_FILE_SIZE 66392,1252

IRIDIUM_FIX 2505.59,12248.55,151198,222258 CAP_FILE_SIZE 141048,0

TT8_MAMPS 0.029913 CFSIZE 260165632,182849536

HUMID 1792 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.2777 CURRENT 0.044, 90.4,1

TCM_TEMP 23.90 GPS 220809,061855,2515.245,12245.823,41,1.3,42,-3.6

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 234 132.31 SBE_CT 851 24 465.83

Roll_motor 125 55 160.40 Optode 869 33 654.44

VBD_pump_during_apogee 420 1389 13311.14 WL_BB2F 0 105 0.00

VBD_pump_during_surface 71 658 1067.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.48 nil 0 0 0.00

Iridium_during_connect 32 160 118.65 nil 0 0 0.00

Iridium_during_xfer 183 223 930.54

Transponder_ping 8 420 79.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.17

TT8 2231 19 468.35

LPSleep 8348 2 193.80

TT8_Active 618 19 129.86

TT8_Sampling 2304 39 972.42

TT8_CF8 682 45 331.55

TT8_Kalman 0 81 0.00

Analog_circuits 1777 12 226.16

GPS_charging 0 0 0.00

Compass 2228 8 188.98

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 47 0.00 0.00 -28.90 0.000 2 0.000 0.000 135 2389 2290

51 -1.50 -121.7 3.1 -1.7 5 126 8.20 2.20 -56.97 0.000 4 0.235 0.056 2080 3763 3989

309 -0.71 -121.7 81.4 -33.8 49 317 1.00 2.03 0.00 0.000 6 0.192 0.023 2345 2351 3992

658 -0.99 -121.7 126.9 -11.8 110 665 0.22 1.95 0.00 0.000 4 0.061 0.025 2246 1010 3993

808 -0.99 -121.7 152.5 -18.2 136 814 0.00 2.08 0.00 0.000 6 0.000 0.033 2244 2383 3994

1152 -0.95 -121.7 205.9 -14.2 197 1159 0.12 2.15 0.00 0.000 4 0.183 0.047 2274 3764 3995

1323 -1.04 -121.7 226.5 -13.0 226 1329 0.00 1.95 0.00 0.000 6 0.000 0.024 2275 2398 3995

1671 -1.16 -121.7 279.1 -15.7 287 1677 0.17 2.15 0.00 0.000 4 0.067 0.047 2192 3761 3995

1781 -0.94 -121.7 301.9 -21.0 305 1788 0.30 1.95 0.00 0.000 6 0.165 0.025 2275 2404 3995

2107 -1.11 -121.7 341.3 -12.3 336 2111 0.15 2.05 0.00 0.000 4 0.075 0.025 2215 1007 3995

2131 -1.18 -121.7 344.7 -14.0 338 2135 0.00 2.15 0.00 0.000 6 0.000 0.033 2207 2420 3995

2463 -1.11 -121.7 404.2 -16.6 369 2464 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2421 3995

2784 -1.11 -121.7 452.4 -14.6 399 2788 0.00 2.10 0.00 0.000 4 0.000 0.027 2207 1000 3995

2812 -1.11 -121.7 457.5 -16.5 401 2820 0.00 2.15 0.00 0.000 6 0.000 0.035 2207 2416 3995

3148 -1.11 -121.7 514.3 -16.6 429 3152 0.00 2.10 0.00 0.000 4 0.000 0.051 2205 3754 3993

3356 -1.11 -121.7 545.8 -13.1 438 3360 0.00 1.92 0.00 0.000 6 0.000 0.027 2205 2430 3993

3686 -1.11 -121.7 582.1 -10.7 454 3690 0.00 2.12 0.00 0.000 4 0.000 0.052 2205 3761 3991

3748 -1.11 -121.7 589.7 -12.4 456 3754 0.00 1.95 0.00 0.000 6 0.000 0.027 2205 2421 3991

4065 -1.11 -121.7 620.4 -8.7 472 4068 0.00 2.15 0.00 0.000 4 0.000 0.054 2205 3763 3989

4237 -1.11 -121.7 638.8 -10.8 479 4241 0.00 1.92 0.00 0.000 6 0.000 0.028 2205 2445 3987

4560 -1.11 -121.7 674.0 -11.4 495 4563 0.00 2.10 0.00 0.000 4 0.000 0.054 2205 3757 3985

4611 -1.11 -121.7 680.8 -13.4 497 4615 0.00 1.90 0.00 0.000 6 0.000 0.029 2205 2465 3985

4940 -1.16 -121.7 725.9 -15.9 513 4944 0.00 2.08 0.00 0.000 4 0.000 0.055 2205 3755 3982

5012 -1.16 -121.7 739.1 -16.9 516 5016 0.00 1.88 0.00 0.000 6 0.000 0.030 2205 2484 3982

5341 -1.21 -121.7 795.2 -17.8 532 5345 0.00 2.05 0.00 0.000 4 0.000 0.054 2204 3760 3980

5443 -1.21 -121.7 814.2 -18.4 536 5446 0.00 1.88 0.00 0.000 6 0.000 0.029 2205 2494 3979

5766 -1.27 -121.7 870.5 -17.3 552 5770 0.00 2.03 0.00 0.000 4 0.000 0.054 2204 3754 3977

5800 -1.27 -121.7 876.8 -17.3 553 5803 0.00 1.88 0.00 0.000 6 0.000 0.028 2204 2483 3977

6123 -1.34 -121.7 927.5 -15.0 569 6127 0.17 2.05 0.00 0.000 4 0.076 0.054 2126 3752 3975

6203 -1.05 -121.7 943.4 -21.0 572 6207 0.43 1.85 0.00 0.000 6 0.183 0.029 2238 2505 3975

6519 -1.25 -121.7 986.3 -13.6 587 6523 0.17 2.03 0.00 0.000 4 0.078 0.054 2166 3760 3973

6540 end dive: TARGET_DEPTH_EXCEEDED

state 6541 begin apogee

6552 -0.27 0.0 990.1 15.7 588 6662 1.15 0.00 97.32 1.390 6 0.173 0.000 2487 2351 3531

6663 end apogee: CONTROL_FINISHED_OK

state 6663 begin climb

6666 1.50 121.7 997.8 0.0 594 6782 1.60 2.42 106.22 1.374 4 0.055 0.049 3063 3756 3035

6891 0.66 121.7 992.4 15.4 604 6897 1.12 2.08 0.00 0.000 6 0.227 0.027 2800 2377 3031

7213 0.75 198.4 967.2 7.6 620 7283 0.00 2.22 64.80 1.354 4 0.000 0.035 2803 978 2723

7335 0.98 222.7 955.6 11.4 625 7365 0.28 2.20 22.42 1.285 6 0.069 0.036 2903 2366 2624

7678 0.86 222.7 899.5 17.2 642 7683 0.17 2.22 0.00 0.000 4 0.189 0.051 2854 3758 2618

7763 0.77 222.7 884.3 17.7 646 7767 0.00 2.10 0.00 0.000 6 0.000 0.027 2858 2357 2617

8098 0.77 222.7 832.9 16.2 662 8102 0.00 2.10 0.00 0.000 4 0.000 0.035 2860 966 2616

8160 0.86 222.7 822.2 16.0 664 8166 0.00 2.17 0.00 0.000 6 0.000 0.035 2860 2378 2615

8477 0.86 222.7 770.2 16.3 680 8481 0.00 2.20 0.00 0.000 4 0.000 0.055 2860 3755 2615

8607 0.75 222.7 747.1 18.4 685 8615 0.17 2.05 0.00 0.000 6 0.190 0.028 2826 2382 2614

8924 0.87 222.7 702.0 14.0 701 8928 0.10 2.15 0.00 0.000 4 0.100 0.036 2869 963 2613

9020 0.93 222.7 687.5 15.3 705 9024 0.00 2.20 0.00 0.000 6 0.000 0.035 2868 2397 2613

9336 0.93 222.7 641.8 13.5 720 9337 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2397 2612

9647 0.95 239.9 602.8 11.9 735 9668 0.00 2.25 13.77 1.119 4 0.000 0.035 2869 968 2552

9709 1.03 251.8 595.0 12.3 737 9726 0.12 2.17 11.27 1.071 6 0.094 0.033 2916 2378 2504

10051 0.93 251.8 535.6 19.4 754 10056 0.15 2.20 0.00 0.000 4 0.188 0.052 2879 3754 2501

10103 0.83 251.8 524.7 20.6 756 10108 0.15 2.08 0.00 0.000 6 0.192 0.027 2850 2372 2501

10427 0.92 251.8 471.5 15.6 779 10430 0.00 2.22 0.00 0.000 4 0.000 0.052 2850 3755 2500

10496 0.92 251.8 459.2 18.0 785 10500 0.00 2.10 0.00 0.000 6 0.000 0.029 2859 2358 2500

10827 1.01 251.8 405.3 15.8 816 10832 0.12 2.25 0.00 0.000 4 0.091 0.053 2908 3751 2499

11015 0.84 251.8 370.0 17.1 832 11020 0.25 2.05 0.00 0.000 6 0.185 0.028 2851 2371 2499

11343 0.99 270.1 331.2 11.9 862 11365 0.15 2.12 15.93 0.957 4 0.082 0.032 2917 968 2429

11512 0.99 270.1 305.2 14.6 877 11516 0.00 2.17 0.00 0.000 6 0.000 0.035 2917 2381 2427

11855 0.99 270.1 251.7 14.6 934 11861 0.00 2.15 0.00 0.000 4 0.000 0.031 2925 961 2426

11970 0.99 270.1 234.9 14.1 954 11976 0.00 2.15 0.00 0.000 6 0.000 0.035 2925 2364 2425

12315 0.99 270.1 175.6 18.4 1015 12321 0.00 2.10 0.00 0.000 4 0.000 0.031 2930 969 2426

12403 0.99 270.1 162.1 14.5 1030 12410 0.12 2.10 0.00 0.000 6 0.183 0.034 2901 2345 2426

12749 1.11 304.7 119.9 10.7 1091 12785 0.10 2.12 28.85 0.795 4 0.097 0.030 2943 956 2288

13024 1.17 304.7 82.3 14.9 1139 13030 0.00 2.08 0.00 0.000 6 0.000 0.031 2943 2311 2285

13369 1.26 380.4 42.8 7.7 1200 13436 0.12 2.08 59.47 0.708 4 0.080 0.028 3001 960 1979

13648 end climb: SURFACE_DEPTH_REACHED

state 13648 begin surface coast

13666 end surface coast: CONTROL_FINISHED_OK

state 13666 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	539	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	64	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-19862.336	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	022037,2514.898,12247.397,36,0.9,37,-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	2.75	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-70.4	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	022752,2514.839,12247.297,10,99.0,29,-3.6	MHEAD_RNG_PITCHd_Wd	277.9,41776,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1223

FINISH	1.9,0.999454	_24V_AH	22.8,94.438
SM_CCo	13689,71.15,0.658,0,0,1595,475.15	_10V_AH	10.6,49.771
SM_GC	2.91,0.00,0.00,71.15,0.000,0.000,0.658,139,2382,1595,-7.63,-0.03,475.15	DATA_FILE_SIZE	66392,1252
IRIDIUM_FIX	2505.59,12248.55,151198,222258	CAP_FILE_SIZE	141048,0
TT8_MAMPS	0.029913	CFSIZE	260165632,182849536
HUMID	1792	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.2777	CURRENT	0.044, 90.4,1
TCM_TEMP	23.90	GPS	220809,061855,2515.245,12245.823,41,1.3,42,-3.6
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	234	132.31	SBE_CT	851	24	465.83
Roll_motor	125	55	160.40	Optode	869	33	654.44
VBD_pump_during_apogee	420	1389	13311.14	WL_BB2F	0	105	0.00
VBD_pump_during_surface	71	658	1067.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.48	nil	0	0	0.00
Iridium_during_connect	32	160	118.65	nil	0	0	0.00
Iridium_during_xfer	183	223	930.54
Transponder_ping	8	420	79.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.17
TT8	2231	19	468.35
LPSleep	8348	2	193.80
TT8_Active	618	19	129.86
TT8_Sampling	2304	39	972.42
TT8_CF8	682	45	331.55
TT8_Kalman	0	81	0.00
Analog_circuits	1777	12	226.16
GPS_charging	0	0	0.00
Compass	2228	8	188.98
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	47	0.00	0.00	-28.90	0.000	2	0.000	0.000	135	2389	2290
51	-1.50	-121.7	3.1	-1.7	5	126	8.20	2.20	-56.97	0.000	4	0.235	0.056	2080	3763	3989
309	-0.71	-121.7	81.4	-33.8	49	317	1.00	2.03	0.00	0.000	6	0.192	0.023	2345	2351	3992
658	-0.99	-121.7	126.9	-11.8	110	665	0.22	1.95	0.00	0.000	4	0.061	0.025	2246	1010	3993
808	-0.99	-121.7	152.5	-18.2	136	814	0.00	2.08	0.00	0.000	6	0.000	0.033	2244	2383	3994
1152	-0.95	-121.7	205.9	-14.2	197	1159	0.12	2.15	0.00	0.000	4	0.183	0.047	2274	3764	3995
1323	-1.04	-121.7	226.5	-13.0	226	1329	0.00	1.95	0.00	0.000	6	0.000	0.024	2275	2398	3995
1671	-1.16	-121.7	279.1	-15.7	287	1677	0.17	2.15	0.00	0.000	4	0.067	0.047	2192	3761	3995
1781	-0.94	-121.7	301.9	-21.0	305	1788	0.30	1.95	0.00	0.000	6	0.165	0.025	2275	2404	3995
2107	-1.11	-121.7	341.3	-12.3	336	2111	0.15	2.05	0.00	0.000	4	0.075	0.025	2215	1007	3995
2131	-1.18	-121.7	344.7	-14.0	338	2135	0.00	2.15	0.00	0.000	6	0.000	0.033	2207	2420	3995
2463	-1.11	-121.7	404.2	-16.6	369	2464	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2421	3995
2784	-1.11	-121.7	452.4	-14.6	399	2788	0.00	2.10	0.00	0.000	4	0.000	0.027	2207	1000	3995
2812	-1.11	-121.7	457.5	-16.5	401	2820	0.00	2.15	0.00	0.000	6	0.000	0.035	2207	2416	3995
3148	-1.11	-121.7	514.3	-16.6	429	3152	0.00	2.10	0.00	0.000	4	0.000	0.051	2205	3754	3993
3356	-1.11	-121.7	545.8	-13.1	438	3360	0.00	1.92	0.00	0.000	6	0.000	0.027	2205	2430	3993
3686	-1.11	-121.7	582.1	-10.7	454	3690	0.00	2.12	0.00	0.000	4	0.000	0.052	2205	3761	3991
3748	-1.11	-121.7	589.7	-12.4	456	3754	0.00	1.95	0.00	0.000	6	0.000	0.027	2205	2421	3991
4065	-1.11	-121.7	620.4	-8.7	472	4068	0.00	2.15	0.00	0.000	4	0.000	0.054	2205	3763	3989
4237	-1.11	-121.7	638.8	-10.8	479	4241	0.00	1.92	0.00	0.000	6	0.000	0.028	2205	2445	3987
4560	-1.11	-121.7	674.0	-11.4	495	4563	0.00	2.10	0.00	0.000	4	0.000	0.054	2205	3757	3985
4611	-1.11	-121.7	680.8	-13.4	497	4615	0.00	1.90	0.00	0.000	6	0.000	0.029	2205	2465	3985
4940	-1.16	-121.7	725.9	-15.9	513	4944	0.00	2.08	0.00	0.000	4	0.000	0.055	2205	3755	3982
5012	-1.16	-121.7	739.1	-16.9	516	5016	0.00	1.88	0.00	0.000	6	0.000	0.030	2205	2484	3982
5341	-1.21	-121.7	795.2	-17.8	532	5345	0.00	2.05	0.00	0.000	4	0.000	0.054	2204	3760	3980
5443	-1.21	-121.7	814.2	-18.4	536	5446	0.00	1.88	0.00	0.000	6	0.000	0.029	2205	2494	3979
5766	-1.27	-121.7	870.5	-17.3	552	5770	0.00	2.03	0.00	0.000	4	0.000	0.054	2204	3754	3977
5800	-1.27	-121.7	876.8	-17.3	553	5803	0.00	1.88	0.00	0.000	6	0.000	0.028	2204	2483	3977
6123	-1.34	-121.7	927.5	-15.0	569	6127	0.17	2.05	0.00	0.000	4	0.076	0.054	2126	3752	3975
6203	-1.05	-121.7	943.4	-21.0	572	6207	0.43	1.85	0.00	0.000	6	0.183	0.029	2238	2505	3975
6519	-1.25	-121.7	986.3	-13.6	587	6523	0.17	2.03	0.00	0.000	4	0.078	0.054	2166	3760	3973
6540	end dive: TARGET_DEPTH_EXCEEDED
state	6541	begin apogee
6552	-0.27	0.0	990.1	15.7	588	6662	1.15	0.00	97.32	1.390	6	0.173	0.000	2487	2351	3531
6663	end apogee: CONTROL_FINISHED_OK
state	6663	begin climb
6666	1.50	121.7	997.8	0.0	594	6782	1.60	2.42	106.22	1.374	4	0.055	0.049	3063	3756	3035
6891	0.66	121.7	992.4	15.4	604	6897	1.12	2.08	0.00	0.000	6	0.227	0.027	2800	2377	3031
7213	0.75	198.4	967.2	7.6	620	7283	0.00	2.22	64.80	1.354	4	0.000	0.035	2803	978	2723
7335	0.98	222.7	955.6	11.4	625	7365	0.28	2.20	22.42	1.285	6	0.069	0.036	2903	2366	2624
7678	0.86	222.7	899.5	17.2	642	7683	0.17	2.22	0.00	0.000	4	0.189	0.051	2854	3758	2618
7763	0.77	222.7	884.3	17.7	646	7767	0.00	2.10	0.00	0.000	6	0.000	0.027	2858	2357	2617
8098	0.77	222.7	832.9	16.2	662	8102	0.00	2.10	0.00	0.000	4	0.000	0.035	2860	966	2616
8160	0.86	222.7	822.2	16.0	664	8166	0.00	2.17	0.00	0.000	6	0.000	0.035	2860	2378	2615
8477	0.86	222.7	770.2	16.3	680	8481	0.00	2.20	0.00	0.000	4	0.000	0.055	2860	3755	2615
8607	0.75	222.7	747.1	18.4	685	8615	0.17	2.05	0.00	0.000	6	0.190	0.028	2826	2382	2614
8924	0.87	222.7	702.0	14.0	701	8928	0.10	2.15	0.00	0.000	4	0.100	0.036	2869	963	2613
9020	0.93	222.7	687.5	15.3	705	9024	0.00	2.20	0.00	0.000	6	0.000	0.035	2868	2397	2613
9336	0.93	222.7	641.8	13.5	720	9337	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2397	2612
9647	0.95	239.9	602.8	11.9	735	9668	0.00	2.25	13.77	1.119	4	0.000	0.035	2869	968	2552
9709	1.03	251.8	595.0	12.3	737	9726	0.12	2.17	11.27	1.071	6	0.094	0.033	2916	2378	2504
10051	0.93	251.8	535.6	19.4	754	10056	0.15	2.20	0.00	0.000	4	0.188	0.052	2879	3754	2501
10103	0.83	251.8	524.7	20.6	756	10108	0.15	2.08	0.00	0.000	6	0.192	0.027	2850	2372	2501
10427	0.92	251.8	471.5	15.6	779	10430	0.00	2.22	0.00	0.000	4	0.000	0.052	2850	3755	2500
10496	0.92	251.8	459.2	18.0	785	10500	0.00	2.10	0.00	0.000	6	0.000	0.029	2859	2358	2500
10827	1.01	251.8	405.3	15.8	816	10832	0.12	2.25	0.00	0.000	4	0.091	0.053	2908	3751	2499
11015	0.84	251.8	370.0	17.1	832	11020	0.25	2.05	0.00	0.000	6	0.185	0.028	2851	2371	2499
11343	0.99	270.1	331.2	11.9	862	11365	0.15	2.12	15.93	0.957	4	0.082	0.032	2917	968	2429
11512	0.99	270.1	305.2	14.6	877	11516	0.00	2.17	0.00	0.000	6	0.000	0.035	2917	2381	2427
11855	0.99	270.1	251.7	14.6	934	11861	0.00	2.15	0.00	0.000	4	0.000	0.031	2925	961	2426
11970	0.99	270.1	234.9	14.1	954	11976	0.00	2.15	0.00	0.000	6	0.000	0.035	2925	2364	2425
12315	0.99	270.1	175.6	18.4	1015	12321	0.00	2.10	0.00	0.000	4	0.000	0.031	2930	969	2426
12403	0.99	270.1	162.1	14.5	1030	12410	0.12	2.10	0.00	0.000	6	0.183	0.034	2901	2345	2426
12749	1.11	304.7	119.9	10.7	1091	12785	0.10	2.12	28.85	0.795	4	0.097	0.030	2943	956	2288
13024	1.17	304.7	82.3	14.9	1139	13030	0.00	2.08	0.00	0.000	6	0.000	0.031	2943	2311	2285
13369	1.26	380.4	42.8	7.7	1200	13436	0.12	2.08	59.47	0.708	4	0.080	0.028	3001	960	1979
13648	end climb: SURFACE_DEPTH_REACHED
state	13648	begin surface coast
13666	end surface coast: CONTROL_FINISHED_OK
state	13666	begin surface