Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 591 * 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 591 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 79 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -20941.861 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 -20941.861

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 79 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 40 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 591 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 034937,2506.599,12238.252,34,0.9,34,-3.6 TGT_NAME OFF_2

_CALLS 1 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.82 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -70.2 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 035638,2506.736,12238.451,13,1.2,13,-3.6 MHEAD_RNG_PITCHd_Wd 207.8,42570,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1377

Post-dive calculations and measurements:

FINISH 1.8,0.999627 _24V_AH 22.9,101.860

SM_CCo 14506,24.38,0.612,0,0,1594,475.15 _10V_AH 10.5,53.307

SM_GC 3.20,0.00,0.00,24.38,0.000,0.000,0.612,138,2400,1594,-7.63,0.48,475.15 DATA_FILE_SIZE 69480,1313

IRIDIUM_FIX 2456.07,12237.40,221198,000004 CAP_FILE_SIZE 155275,0

TT8_MAMPS 0.029146 CFSIZE 260165632,179724288

HUMID 1772 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.38513 CURRENT 0.096, 44.4,1

TCM_TEMP 25.40 GPS 280809,080036,2506.068,12238.400,42,1.0,43,-3.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 230 153.73 SBE_CT 889 24 488.85

Roll_motor 118 53 145.88 Optode 908 33 686.24

VBD_pump_during_apogee 468 1404 15056.62 WL_BB2F 0 105 0.00

VBD_pump_during_surface 24 612 341.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 54.77 nil 0 0 0.00

Iridium_during_connect 43 160 159.71 nil 0 0 0.00

Iridium_during_xfer 185 223 947.50

Transponder_ping 8 420 76.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.15

TT8 2384 19 495.82

LPSleep 8692 2 199.90

TT8_Active 585 19 121.69

TT8_Sampling 2550 39 1065.94

TT8_CF8 732 45 352.40

TT8_Kalman 0 81 0.00

Analog_circuits 1867 12 235.34

GPS_charging 0 0 0.00

Compass 2481 8 208.48

RAFOS 0 0 0.00

Transponder 54 30 17.14

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 12 begin dive

16 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -23.17 0.000 2 0.000 0.000 139 2378 2147

45 -1.50 -121.7 3.4 -3.1 4 117 8.15 2.17 -56.10 0.000 4 0.230 0.053 2082 3760 3990

268 -0.77 -121.7 72.7 -27.8 42 276 0.90 2.00 0.00 0.000 6 0.176 0.021 2329 2352 3993

617 -1.24 -121.7 114.8 -11.4 103 624 0.38 2.20 0.00 0.000 4 0.053 0.045 2166 3754 3996

751 -0.91 -121.7 144.8 -24.0 126 758 0.43 1.88 0.00 0.000 6 0.164 0.024 2284 2435 3997

1098 -1.19 -121.7 183.7 -13.0 187 1105 0.22 2.08 0.00 0.000 4 0.062 0.044 2180 3764 3998

1183 -1.00 -121.7 200.4 -22.3 201 1190 0.28 1.88 0.00 0.000 6 0.166 0.022 2254 2440 3998

1535 -1.20 -121.7 252.5 -13.2 262 1543 0.17 2.08 0.00 0.000 4 0.063 0.048 2175 3761 3998

1687 -1.05 -121.7 280.7 -18.1 288 1694 0.25 1.85 0.00 0.000 6 0.166 0.024 2242 2463 3998

2022 -1.24 -121.7 324.6 -11.8 330 2027 0.17 2.03 0.00 0.000 4 0.068 0.046 2166 3758 3998

2119 -1.05 -121.7 341.2 -18.4 338 2127 0.28 1.83 0.00 0.000 6 0.169 0.024 2239 2486 3998

2446 -1.32 -121.7 377.9 -11.0 369 2450 0.22 2.00 0.00 0.000 4 0.063 0.048 2146 3754 3998

2543 -1.15 -121.7 394.8 -20.1 377 2549 0.17 1.83 0.00 0.000 6 0.171 0.025 2205 2514 3997

2868 -1.27 -121.7 443.3 -14.9 408 2873 0.12 1.95 0.00 0.000 4 0.079 0.049 2152 3753 3997

2965 -1.11 -121.7 461.3 -19.7 416 2972 0.25 1.75 0.00 0.000 6 0.175 0.026 2217 2542 3996

3294 -1.32 -121.7 500.3 -10.9 447 3298 0.17 1.92 0.00 0.000 4 0.071 0.050 2146 3757 3993

3456 -1.16 -121.7 526.6 -17.5 454 3460 0.22 1.75 0.00 0.000 6 0.181 0.026 2202 2561 3994

3793 -1.33 -121.7 564.4 -10.0 470 3798 0.15 1.90 0.00 0.000 4 0.071 0.049 2138 3760 3990

3911 -1.19 -121.7 581.9 -15.0 475 3916 0.22 1.73 0.00 0.000 6 0.176 0.027 2195 2576 3990

4244 -1.33 -121.7 617.2 -11.1 491 4249 0.15 1.88 0.00 0.000 4 0.077 0.051 2137 3752 3987

4340 -1.17 -121.7 633.1 -16.6 495 4345 0.20 1.70 0.00 0.000 6 0.179 0.026 2205 2609 3986

4670 -1.37 -121.7 669.2 -10.3 511 4672 0.20 0.00 0.00 0.000 6 0.070 0.000 2131 2609 3984

4978 -1.28 -121.7 716.9 -16.2 526 4982 0.15 1.83 0.00 0.000 4 0.186 0.051 2164 3749 3982

5056 -1.28 -121.7 728.8 -15.0 529 5060 0.00 1.67 0.00 0.000 6 0.000 0.027 2164 2602 3982

5380 -1.35 -121.7 770.8 -12.5 545 5384 0.00 1.83 0.00 0.000 4 0.000 0.052 2162 3749 3980

5442 -1.35 -121.7 779.3 -12.7 547 5448 0.00 1.65 0.00 0.000 6 0.000 0.028 2162 2623 3979

5761 -1.42 -121.7 819.3 -12.2 563 5766 0.12 1.80 0.00 0.000 4 0.091 0.051 2110 3749 3978

5916 -1.21 -121.7 846.6 -18.0 569 5923 0.30 1.62 0.00 0.000 6 0.191 0.028 2185 2641 3976

6238 -1.37 -121.7 886.0 -12.2 585 6242 0.15 1.80 0.00 0.000 4 0.077 0.051 2126 3764 3974

6323 -1.24 -121.7 900.1 -16.7 588 6329 0.20 1.62 0.00 0.000 6 0.190 0.028 2175 2654 3975

6641 -1.37 -121.7 940.1 -12.2 604 6643 0.12 0.00 0.00 0.000 6 0.087 0.000 2130 2654 3972

6949 -1.37 -121.7 986.5 -15.3 619 6952 0.00 1.75 0.00 0.000 4 0.000 0.054 2124 3749 3971

6969 end dive: TARGET_DEPTH_EXCEEDED

state 6969 begin apogee

6980 -0.27 0.0 990.3 15.9 620 7078 1.30 0.00 94.82 1.404 6 0.173 0.000 2486 2372 3532

7079 end apogee: CONTROL_FINISHED_OK

state 7079 begin climb

7084 1.50 121.7 994.1 0.0 625 7199 1.60 2.25 106.20 1.363 4 0.055 0.028 3073 986 3034

7455 0.69 121.7 963.7 15.8 641 7462 1.08 2.15 0.00 0.000 6 0.226 0.035 2810 2379 3031

7772 0.53 166.6 930.7 9.9 657 7817 0.20 2.22 38.05 1.322 4 0.205 0.030 2762 996 2852

7955 0.62 188.3 911.3 11.6 665 7979 0.00 2.15 18.83 1.263 6 0.000 0.036 2762 2372 2764

8311 0.63 195.3 866.6 12.7 682 8324 0.00 2.28 6.97 1.085 4 0.000 0.053 2762 3756 2735

8389 0.54 195.3 855.1 14.7 685 8393 0.00 2.03 0.00 0.000 6 0.000 0.028 2762 2403 2734

8712 0.59 197.1 813.8 13.1 701 8715 0.00 2.17 0.00 0.000 4 0.000 0.052 2762 3757 2733

8971 0.50 197.1 774.1 15.2 712 8975 0.00 2.03 0.00 0.000 6 0.000 0.028 2770 2392 2732

9293 0.50 197.1 727.6 15.5 728 9297 0.00 2.20 0.00 0.000 4 0.000 0.051 2771 3764 2731

9552 0.40 197.1 684.4 16.0 739 9557 0.25 1.98 0.00 0.000 6 0.193 0.028 2713 2426 2730

9876 0.68 237.0 649.3 10.3 755 9918 0.20 2.20 35.12 1.187 4 0.078 0.052 2796 3757 2566

10172 0.57 237.0 599.1 17.6 768 10176 0.17 1.98 0.00 0.000 6 0.187 0.028 2763 2429 2562

10501 0.71 237.0 555.8 13.3 784 10506 0.12 2.15 0.00 0.000 4 0.086 0.052 2810 3758 2560

10609 0.56 237.0 536.9 18.3 789 10614 0.20 1.95 0.00 0.000 6 0.192 0.028 2766 2448 2560

10938 0.70 237.0 491.1 13.9 807 10942 0.12 2.12 0.00 0.000 4 0.086 0.052 2813 3766 2560

11129 0.55 237.0 456.6 17.9 823 11135 0.22 1.90 0.00 0.000 6 0.190 0.028 2764 2468 2559

11455 0.73 252.3 415.3 12.1 854 11473 0.15 2.25 12.65 0.983 4 0.081 0.031 2830 973 2503

11514 0.73 252.3 406.4 15.9 858 11521 0.00 2.30 0.00 0.000 6 0.000 0.035 2830 2460 2502

11844 0.73 252.3 356.3 15.1 889 11847 0.00 2.05 0.00 0.000 4 0.000 0.051 2830 3761 2501

11913 0.59 252.3 344.5 16.6 895 11918 0.28 1.90 0.00 0.000 6 0.189 0.027 2769 2467 2501

12245 0.80 274.8 305.1 11.6 926 12270 0.20 2.15 19.77 0.923 4 0.077 0.052 2852 3755 2411

12319 0.62 274.8 292.9 18.4 935 12326 0.30 1.90 0.00 0.000 6 0.189 0.026 2785 2464 2409

12667 0.80 279.9 246.2 12.8 996 12679 0.15 2.10 5.80 0.735 4 0.077 0.051 2841 3766 2389

12689 0.90 279.9 243.0 14.1 999 12695 0.00 1.90 0.00 0.000 6 0.000 0.025 2851 2461 2389

13036 0.90 279.9 190.1 14.0 1060 13042 0.00 2.08 0.00 0.000 4 0.000 0.050 2851 3761 2388

13297 0.82 303.1 152.8 11.5 1106 13321 0.00 1.83 20.17 0.788 6 0.000 0.026 2860 2499 2296

13665 1.00 383.8 108.3 7.3 1170 13736 0.12 2.12 64.00 0.748 4 0.083 0.049 2910 3763 1966

13991 1.00 383.8 58.8 14.9 1227 13997 0.00 1.80 0.00 0.000 6 0.000 0.025 2920 2514 1957

14338 1.25 441.7 17.4 9.0 1288 14392 0.17 2.33 45.78 0.644 4 0.067 0.028 3007 974 1730

14461 end climb: SURFACE_DEPTH_REACHED

state 14461 begin surface coast

14483 end surface coast: CONTROL_FINISHED_OK

state 14483 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	591	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	79	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-20941.861	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	034937,2506.599,12238.252,34,0.9,34,-3.6	TGT_NAME	OFF_2
_CALLS	1	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.82	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-70.2	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	035638,2506.736,12238.451,13,1.2,13,-3.6	MHEAD_RNG_PITCHd_Wd	207.8,42570,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1377

FINISH	1.8,0.999627	_24V_AH	22.9,101.860
SM_CCo	14506,24.38,0.612,0,0,1594,475.15	_10V_AH	10.5,53.307
SM_GC	3.20,0.00,0.00,24.38,0.000,0.000,0.612,138,2400,1594,-7.63,0.48,475.15	DATA_FILE_SIZE	69480,1313
IRIDIUM_FIX	2456.07,12237.40,221198,000004	CAP_FILE_SIZE	155275,0
TT8_MAMPS	0.029146	CFSIZE	260165632,179724288
HUMID	1772	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.38513	CURRENT	0.096, 44.4,1
TCM_TEMP	25.40	GPS	280809,080036,2506.068,12238.400,42,1.0,43,-3.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	230	153.73	SBE_CT	889	24	488.85
Roll_motor	118	53	145.88	Optode	908	33	686.24
VBD_pump_during_apogee	468	1404	15056.62	WL_BB2F	0	105	0.00
VBD_pump_during_surface	24	612	341.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	54.77	nil	0	0	0.00
Iridium_during_connect	43	160	159.71	nil	0	0	0.00
Iridium_during_xfer	185	223	947.50
Transponder_ping	8	420	76.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.15
TT8	2384	19	495.82
LPSleep	8692	2	199.90
TT8_Active	585	19	121.69
TT8_Sampling	2550	39	1065.94
TT8_CF8	732	45	352.40
TT8_Kalman	0	81	0.00
Analog_circuits	1867	12	235.34
GPS_charging	0	0	0.00
Compass	2481	8	208.48
RAFOS	0	0	0.00
Transponder	54	30	17.14

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	12	begin dive
16	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-23.17	0.000	2	0.000	0.000	139	2378	2147
45	-1.50	-121.7	3.4	-3.1	4	117	8.15	2.17	-56.10	0.000	4	0.230	0.053	2082	3760	3990
268	-0.77	-121.7	72.7	-27.8	42	276	0.90	2.00	0.00	0.000	6	0.176	0.021	2329	2352	3993
617	-1.24	-121.7	114.8	-11.4	103	624	0.38	2.20	0.00	0.000	4	0.053	0.045	2166	3754	3996
751	-0.91	-121.7	144.8	-24.0	126	758	0.43	1.88	0.00	0.000	6	0.164	0.024	2284	2435	3997
1098	-1.19	-121.7	183.7	-13.0	187	1105	0.22	2.08	0.00	0.000	4	0.062	0.044	2180	3764	3998
1183	-1.00	-121.7	200.4	-22.3	201	1190	0.28	1.88	0.00	0.000	6	0.166	0.022	2254	2440	3998
1535	-1.20	-121.7	252.5	-13.2	262	1543	0.17	2.08	0.00	0.000	4	0.063	0.048	2175	3761	3998
1687	-1.05	-121.7	280.7	-18.1	288	1694	0.25	1.85	0.00	0.000	6	0.166	0.024	2242	2463	3998
2022	-1.24	-121.7	324.6	-11.8	330	2027	0.17	2.03	0.00	0.000	4	0.068	0.046	2166	3758	3998
2119	-1.05	-121.7	341.2	-18.4	338	2127	0.28	1.83	0.00	0.000	6	0.169	0.024	2239	2486	3998
2446	-1.32	-121.7	377.9	-11.0	369	2450	0.22	2.00	0.00	0.000	4	0.063	0.048	2146	3754	3998
2543	-1.15	-121.7	394.8	-20.1	377	2549	0.17	1.83	0.00	0.000	6	0.171	0.025	2205	2514	3997
2868	-1.27	-121.7	443.3	-14.9	408	2873	0.12	1.95	0.00	0.000	4	0.079	0.049	2152	3753	3997
2965	-1.11	-121.7	461.3	-19.7	416	2972	0.25	1.75	0.00	0.000	6	0.175	0.026	2217	2542	3996
3294	-1.32	-121.7	500.3	-10.9	447	3298	0.17	1.92	0.00	0.000	4	0.071	0.050	2146	3757	3993
3456	-1.16	-121.7	526.6	-17.5	454	3460	0.22	1.75	0.00	0.000	6	0.181	0.026	2202	2561	3994
3793	-1.33	-121.7	564.4	-10.0	470	3798	0.15	1.90	0.00	0.000	4	0.071	0.049	2138	3760	3990
3911	-1.19	-121.7	581.9	-15.0	475	3916	0.22	1.73	0.00	0.000	6	0.176	0.027	2195	2576	3990
4244	-1.33	-121.7	617.2	-11.1	491	4249	0.15	1.88	0.00	0.000	4	0.077	0.051	2137	3752	3987
4340	-1.17	-121.7	633.1	-16.6	495	4345	0.20	1.70	0.00	0.000	6	0.179	0.026	2205	2609	3986
4670	-1.37	-121.7	669.2	-10.3	511	4672	0.20	0.00	0.00	0.000	6	0.070	0.000	2131	2609	3984
4978	-1.28	-121.7	716.9	-16.2	526	4982	0.15	1.83	0.00	0.000	4	0.186	0.051	2164	3749	3982
5056	-1.28	-121.7	728.8	-15.0	529	5060	0.00	1.67	0.00	0.000	6	0.000	0.027	2164	2602	3982
5380	-1.35	-121.7	770.8	-12.5	545	5384	0.00	1.83	0.00	0.000	4	0.000	0.052	2162	3749	3980
5442	-1.35	-121.7	779.3	-12.7	547	5448	0.00	1.65	0.00	0.000	6	0.000	0.028	2162	2623	3979
5761	-1.42	-121.7	819.3	-12.2	563	5766	0.12	1.80	0.00	0.000	4	0.091	0.051	2110	3749	3978
5916	-1.21	-121.7	846.6	-18.0	569	5923	0.30	1.62	0.00	0.000	6	0.191	0.028	2185	2641	3976
6238	-1.37	-121.7	886.0	-12.2	585	6242	0.15	1.80	0.00	0.000	4	0.077	0.051	2126	3764	3974
6323	-1.24	-121.7	900.1	-16.7	588	6329	0.20	1.62	0.00	0.000	6	0.190	0.028	2175	2654	3975
6641	-1.37	-121.7	940.1	-12.2	604	6643	0.12	0.00	0.00	0.000	6	0.087	0.000	2130	2654	3972
6949	-1.37	-121.7	986.5	-15.3	619	6952	0.00	1.75	0.00	0.000	4	0.000	0.054	2124	3749	3971
6969	end dive: TARGET_DEPTH_EXCEEDED
state	6969	begin apogee
6980	-0.27	0.0	990.3	15.9	620	7078	1.30	0.00	94.82	1.404	6	0.173	0.000	2486	2372	3532
7079	end apogee: CONTROL_FINISHED_OK
state	7079	begin climb
7084	1.50	121.7	994.1	0.0	625	7199	1.60	2.25	106.20	1.363	4	0.055	0.028	3073	986	3034
7455	0.69	121.7	963.7	15.8	641	7462	1.08	2.15	0.00	0.000	6	0.226	0.035	2810	2379	3031
7772	0.53	166.6	930.7	9.9	657	7817	0.20	2.22	38.05	1.322	4	0.205	0.030	2762	996	2852
7955	0.62	188.3	911.3	11.6	665	7979	0.00	2.15	18.83	1.263	6	0.000	0.036	2762	2372	2764
8311	0.63	195.3	866.6	12.7	682	8324	0.00	2.28	6.97	1.085	4	0.000	0.053	2762	3756	2735
8389	0.54	195.3	855.1	14.7	685	8393	0.00	2.03	0.00	0.000	6	0.000	0.028	2762	2403	2734
8712	0.59	197.1	813.8	13.1	701	8715	0.00	2.17	0.00	0.000	4	0.000	0.052	2762	3757	2733
8971	0.50	197.1	774.1	15.2	712	8975	0.00	2.03	0.00	0.000	6	0.000	0.028	2770	2392	2732
9293	0.50	197.1	727.6	15.5	728	9297	0.00	2.20	0.00	0.000	4	0.000	0.051	2771	3764	2731
9552	0.40	197.1	684.4	16.0	739	9557	0.25	1.98	0.00	0.000	6	0.193	0.028	2713	2426	2730
9876	0.68	237.0	649.3	10.3	755	9918	0.20	2.20	35.12	1.187	4	0.078	0.052	2796	3757	2566
10172	0.57	237.0	599.1	17.6	768	10176	0.17	1.98	0.00	0.000	6	0.187	0.028	2763	2429	2562
10501	0.71	237.0	555.8	13.3	784	10506	0.12	2.15	0.00	0.000	4	0.086	0.052	2810	3758	2560
10609	0.56	237.0	536.9	18.3	789	10614	0.20	1.95	0.00	0.000	6	0.192	0.028	2766	2448	2560
10938	0.70	237.0	491.1	13.9	807	10942	0.12	2.12	0.00	0.000	4	0.086	0.052	2813	3766	2560
11129	0.55	237.0	456.6	17.9	823	11135	0.22	1.90	0.00	0.000	6	0.190	0.028	2764	2468	2559
11455	0.73	252.3	415.3	12.1	854	11473	0.15	2.25	12.65	0.983	4	0.081	0.031	2830	973	2503
11514	0.73	252.3	406.4	15.9	858	11521	0.00	2.30	0.00	0.000	6	0.000	0.035	2830	2460	2502
11844	0.73	252.3	356.3	15.1	889	11847	0.00	2.05	0.00	0.000	4	0.000	0.051	2830	3761	2501
11913	0.59	252.3	344.5	16.6	895	11918	0.28	1.90	0.00	0.000	6	0.189	0.027	2769	2467	2501
12245	0.80	274.8	305.1	11.6	926	12270	0.20	2.15	19.77	0.923	4	0.077	0.052	2852	3755	2411
12319	0.62	274.8	292.9	18.4	935	12326	0.30	1.90	0.00	0.000	6	0.189	0.026	2785	2464	2409
12667	0.80	279.9	246.2	12.8	996	12679	0.15	2.10	5.80	0.735	4	0.077	0.051	2841	3766	2389
12689	0.90	279.9	243.0	14.1	999	12695	0.00	1.90	0.00	0.000	6	0.000	0.025	2851	2461	2389
13036	0.90	279.9	190.1	14.0	1060	13042	0.00	2.08	0.00	0.000	4	0.000	0.050	2851	3761	2388
13297	0.82	303.1	152.8	11.5	1106	13321	0.00	1.83	20.17	0.788	6	0.000	0.026	2860	2499	2296
13665	1.00	383.8	108.3	7.3	1170	13736	0.12	2.12	64.00	0.748	4	0.083	0.049	2910	3763	1966
13991	1.00	383.8	58.8	14.9	1227	13997	0.00	1.80	0.00	0.000	6	0.000	0.025	2920	2514	1957
14338	1.25	441.7	17.4	9.0	1288	14392	0.17	2.33	45.78	0.644	4	0.067	0.028	3007	974	1730
14461	end climb: SURFACE_DEPTH_REACHED
state	14461	begin surface coast
14483	end surface coast: CONTROL_FINISHED_OK
state	14483	begin surface