Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 621 * 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 621 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 108 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 44 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 -21539.674 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 -21539.674

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 108 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 44 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 621 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 052855,2515.447,12310.311,41,1.0,42,-3.7 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.76 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -64.2 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 053556,2515.557,12310.480,12,1.1,12,-3.7 MHEAD_RNG_PITCHd_Wd 281.6,56727,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1379

Post-dive calculations and measurements:

FINISH 1.8,1.021358 _24V_AH 23.1,106.944

SM_CCo 13795,49.10,0.611,0,0,1595,475.15 _10V_AH 10.5,55.855

SM_GC 3.26,0.00,0.00,49.10,0.000,0.000,0.611,140,2355,1595,-7.63,-0.79,475.15 DATA_FILE_SIZE 69479,1267

IRIDIUM_FIX 2505.59,12307.72,271198,010117 CAP_FILE_SIZE 148233,0

TT8_MAMPS 0.029146 CFSIZE 260165632,177389568

HUMID 1739 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.42419 CURRENT 0.255, 59.9,1

TCM_TEMP 25.90 GPS 020909,092830,2517.040,12310.270,42,1.1,43,-3.7

XPDR_PINGS 14

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 230 145.11 SBE_CT 856 24 474.99

Roll_motor 118 52 142.50 Optode 883 33 673.31

VBD_pump_during_apogee 443 1377 14097.49 WL_BB2F 0 105 0.00

VBD_pump_during_surface 49 611 693.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.97 nil 0 0 0.00

Iridium_during_connect 33 160 124.85 nil 0 0 0.00

Iridium_during_xfer 182 223 938.47

Transponder_ping 11 420 111.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.82

TT8 2291 19 476.34

LPSleep 8265 2 190.08

TT8_Active 609 19 126.70

TT8_Sampling 2357 39 985.35

TT8_CF8 735 45 353.52

TT8_Kalman 0 81 0.00

Analog_circuits 1809 12 227.99

GPS_charging 0 0 0.00

Compass 2300 8 193.27

RAFOS 0 0 0.00

Transponder 54 30 17.15

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 46 0.00 0.00 -28.33 0.000 2 0.000 0.000 138 2385 2312

51 -1.50 -121.7 3.3 -2.2 5 117 8.10 2.12 -51.45 0.000 4 0.230 0.051 2086 3754 3988

268 -0.67 -121.7 72.8 -35.4 42 276 1.00 1.92 0.00 0.000 6 0.185 0.020 2355 2384 3990

618 -1.06 -121.7 117.7 -10.3 103 625 0.30 2.15 0.00 0.000 4 0.054 0.044 2221 3757 3993

741 -0.88 -121.7 144.3 -22.6 124 747 0.25 1.90 0.00 0.000 6 0.160 0.021 2290 2400 3993

1087 -1.11 -121.7 196.0 -13.6 185 1093 0.17 0.00 0.00 0.000 6 0.063 0.000 2210 2399 3994

1436 -1.17 -121.7 252.2 -13.5 246 1443 0.00 2.10 0.00 0.000 4 0.000 0.043 2205 3760 3995

1542 -1.17 -121.7 269.0 -15.4 264 1549 0.00 1.90 0.00 0.000 6 0.000 0.021 2205 2402 3995

1886 -1.24 -121.7 321.3 -15.0 313 1890 0.00 2.10 0.00 0.000 4 0.000 0.044 2205 3754 3995

1966 -1.24 -121.7 334.8 -17.2 320 1970 0.00 1.88 0.00 0.000 6 0.000 0.022 2204 2423 3995

2300 -1.34 -121.7 387.3 -15.4 351 2304 0.15 2.10 0.00 0.000 4 0.067 0.045 2140 3763 3995

2370 -1.15 -121.7 401.2 -20.0 357 2374 0.25 1.88 0.00 0.000 6 0.163 0.022 2207 2439 3995

2702 -1.30 -121.7 448.5 -13.5 388 2706 0.15 2.05 0.00 0.000 4 0.071 0.044 2139 3750 3994

2782 -1.17 -121.7 462.5 -18.4 395 2787 0.22 1.85 0.00 0.000 6 0.160 0.023 2199 2453 3994

3123 -1.35 -121.7 508.3 -13.0 424 3125 0.17 0.00 0.00 0.000 6 0.067 0.000 2130 2453 3993

3433 -1.27 -121.7 562.6 -17.6 439 3437 0.15 2.05 0.00 0.000 4 0.166 0.044 2164 3757 3990

3570 -1.27 -121.7 584.1 -14.9 445 3574 0.00 1.85 0.00 0.000 6 0.000 0.024 2165 2463 3989

3904 -1.33 -121.7 631.4 -14.4 461 3908 0.00 2.03 0.00 0.000 4 0.000 0.049 2165 3750 3986

4042 -1.33 -121.7 651.0 -14.0 467 4045 0.00 1.83 0.00 0.000 6 0.000 0.025 2165 2486 3984

4376 -1.40 -121.7 697.2 -14.1 483 4380 0.10 2.00 0.00 0.000 4 0.089 0.048 2123 3746 3981

4479 -1.30 -121.7 714.5 -17.2 487 4483 0.15 1.77 0.00 0.000 6 0.171 0.023 2160 2509 3980

4801 -1.38 -121.7 759.8 -14.5 503 4805 0.00 1.95 0.00 0.000 4 0.000 0.048 2153 3746 3977

4903 -1.38 -121.7 774.9 -15.2 507 4911 0.00 1.75 0.00 0.000 6 0.000 0.024 2153 2532 3976

5230 -1.44 -121.7 824.0 -15.7 523 5235 0.00 1.98 0.00 0.000 4 0.000 0.052 2152 3773 3973

5325 -1.44 -121.7 839.7 -15.2 527 5329 0.08 1.80 0.00 0.000 6 0.073 0.025 2115 2557 3973

5658 -1.36 -121.7 900.6 -18.7 543 5662 0.00 1.90 0.00 0.000 4 0.000 0.051 2109 3752 3971

5772 -1.22 -121.7 924.3 -20.0 548 5778 0.22 1.75 0.00 0.000 6 0.173 0.025 2184 2577 3969

6111 -1.43 -121.7 970.3 -13.2 564 6115 0.17 1.88 0.00 0.000 4 0.074 0.051 2110 3750 3967

6202 -1.31 -121.7 986.5 -18.1 568 6206 0.17 1.70 0.00 0.000 6 0.177 0.025 2153 2581 3966

6222 end dive: TARGET_DEPTH_EXCEEDED

state 6223 begin apogee

6233 -0.27 0.0 990.5 17.2 569 6336 1.15 0.00 94.90 1.378 6 0.156 0.000 2490 2403 3532

6337 end apogee: CONTROL_FINISHED_OK

state 6337 begin climb

6341 1.50 121.7 996.0 0.0 574 6455 1.58 2.30 105.47 1.361 4 0.051 0.045 3065 3754 3035

6502 0.52 132.0 1001.4 12.5 582 6518 1.33 2.12 9.82 1.171 6 0.226 0.023 2751 2337 2994

6853 0.60 194.0 971.3 8.7 599 6915 0.00 2.40 52.33 1.339 4 0.000 0.050 2751 3745 2740

6989 0.61 200.4 955.8 12.7 605 7004 0.00 2.05 6.82 1.068 6 0.000 0.024 2759 2366 2714

7316 0.74 215.5 917.3 12.1 621 7338 0.17 2.22 14.07 1.241 4 0.078 0.048 2832 3750 2652

7475 0.52 215.5 890.0 17.7 628 7479 0.35 2.03 0.00 0.000 6 0.185 0.025 2749 2381 2650

7804 0.70 230.7 850.1 12.1 644 7826 0.17 2.25 13.90 1.225 4 0.077 0.052 2823 3743 2591

7883 0.55 230.7 837.0 18.0 647 7888 0.28 2.00 0.00 0.000 6 0.184 0.027 2757 2400 2589

8207 0.74 244.3 797.9 12.2 663 8229 0.17 2.25 12.12 1.186 4 0.077 0.051 2823 3754 2535

8370 0.61 244.3 768.1 18.6 670 8374 0.20 2.00 0.00 0.000 6 0.190 0.024 2778 2398 2533

8693 0.74 244.3 719.8 15.2 686 8697 0.12 2.17 0.00 0.000 4 0.087 0.051 2826 3751 2532

8811 0.61 244.3 696.6 18.8 691 8815 0.20 1.95 0.00 0.000 6 0.189 0.025 2778 2417 2531

9135 0.74 244.3 652.1 13.3 707 9136 0.12 0.00 0.00 0.000 6 0.087 0.000 2826 2413 2530

9441 0.74 244.3 605.3 15.3 722 9445 0.00 2.12 0.00 0.000 4 0.000 0.050 2826 3747 2530

9545 0.61 244.3 587.7 17.4 726 9549 0.20 1.92 0.00 0.000 6 0.189 0.025 2778 2430 2530

9867 0.76 244.3 542.2 14.4 742 9872 0.15 2.12 0.00 0.000 4 0.082 0.050 2835 3755 2529

9946 0.62 244.3 527.2 19.0 745 9952 0.25 1.92 0.00 0.000 6 0.187 0.025 2780 2427 2529

10270 0.77 247.2 483.9 13.0 766 10275 0.15 2.17 0.00 0.000 4 0.079 0.030 2844 968 2528

10452 0.77 247.2 457.3 14.1 782 10456 0.00 2.28 0.00 0.000 6 0.000 0.035 2844 2442 2528

10781 0.77 247.2 409.7 14.6 812 10784 0.00 2.05 0.00 0.000 4 0.000 0.051 2845 3744 2528

10912 0.61 247.2 388.2 15.5 823 10918 0.28 1.90 0.00 0.000 6 0.186 0.026 2783 2435 2528

11238 0.81 274.0 349.9 11.3 854 11268 0.17 2.22 24.15 0.965 4 0.070 0.028 2866 968 2413

11377 0.87 274.0 329.1 15.5 865 11381 0.00 2.25 0.00 0.000 6 0.000 0.033 2866 2422 2411

11714 0.82 274.0 274.5 15.1 909 11721 0.00 2.17 0.00 0.000 4 0.000 0.029 2868 980 2410

11775 0.87 274.0 265.0 15.5 919 11781 0.00 2.15 0.00 0.000 6 0.000 0.031 2868 2389 2410

12121 0.91 299.8 214.4 11.3 980 12150 0.00 2.17 22.05 0.835 4 0.000 0.049 2868 3753 2307

12192 0.84 299.8 204.1 16.6 992 12198 0.00 2.03 0.00 0.000 6 0.000 0.023 2876 2388 2307

12539 0.90 299.8 151.2 13.7 1053 12545 0.00 2.17 0.00 0.000 4 0.000 0.047 2877 3761 2305

12598 0.81 299.8 141.9 16.9 1063 12605 0.17 2.03 0.00 0.000 6 0.175 0.024 2841 2363 2305

12950 1.08 344.7 105.1 9.9 1124 12993 0.20 2.12 36.17 0.724 4 0.067 0.028 2934 984 2126

13248 1.18 344.7 63.0 13.3 1176 13254 0.00 2.10 0.00 0.000 6 0.000 0.030 2934 2375 2120

13596 1.37 398.7 25.7 9.3 1237 13645 0.20 2.15 42.75 0.634 4 0.062 0.025 3027 981 1905

13755 1.43 411.0 4.5 12.3 1264 13769 0.00 2.08 8.45 0.539 2 0.000 0.029 3027 2353 1862

13769 end climb: SURFACE_DEPTH_REACHED

state 13769 begin surface coast

13775 end surface coast: CONTROL_FINISHED_OK

state 13775 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	621	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	108	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	44	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	-21539.674	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	052855,2515.447,12310.311,41,1.0,42,-3.7	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.76	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-64.2	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	053556,2515.557,12310.480,12,1.1,12,-3.7	MHEAD_RNG_PITCHd_Wd	281.6,56727,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1379

FINISH	1.8,1.021358	_24V_AH	23.1,106.944
SM_CCo	13795,49.10,0.611,0,0,1595,475.15	_10V_AH	10.5,55.855
SM_GC	3.26,0.00,0.00,49.10,0.000,0.000,0.611,140,2355,1595,-7.63,-0.79,475.15	DATA_FILE_SIZE	69479,1267
IRIDIUM_FIX	2505.59,12307.72,271198,010117	CAP_FILE_SIZE	148233,0
TT8_MAMPS	0.029146	CFSIZE	260165632,177389568
HUMID	1739	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.42419	CURRENT	0.255, 59.9,1
TCM_TEMP	25.90	GPS	020909,092830,2517.040,12310.270,42,1.1,43,-3.7
XPDR_PINGS	14

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	230	145.11	SBE_CT	856	24	474.99
Roll_motor	118	52	142.50	Optode	883	33	673.31
VBD_pump_during_apogee	443	1377	14097.49	WL_BB2F	0	105	0.00
VBD_pump_during_surface	49	611	693.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.97	nil	0	0	0.00
Iridium_during_connect	33	160	124.85	nil	0	0	0.00
Iridium_during_xfer	182	223	938.47
Transponder_ping	11	420	111.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.82
TT8	2291	19	476.34
LPSleep	8265	2	190.08
TT8_Active	609	19	126.70
TT8_Sampling	2357	39	985.35
TT8_CF8	735	45	353.52
TT8_Kalman	0	81	0.00
Analog_circuits	1809	12	227.99
GPS_charging	0	0	0.00
Compass	2300	8	193.27
RAFOS	0	0	0.00
Transponder	54	30	17.15

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	46	0.00	0.00	-28.33	0.000	2	0.000	0.000	138	2385	2312
51	-1.50	-121.7	3.3	-2.2	5	117	8.10	2.12	-51.45	0.000	4	0.230	0.051	2086	3754	3988
268	-0.67	-121.7	72.8	-35.4	42	276	1.00	1.92	0.00	0.000	6	0.185	0.020	2355	2384	3990
618	-1.06	-121.7	117.7	-10.3	103	625	0.30	2.15	0.00	0.000	4	0.054	0.044	2221	3757	3993
741	-0.88	-121.7	144.3	-22.6	124	747	0.25	1.90	0.00	0.000	6	0.160	0.021	2290	2400	3993
1087	-1.11	-121.7	196.0	-13.6	185	1093	0.17	0.00	0.00	0.000	6	0.063	0.000	2210	2399	3994
1436	-1.17	-121.7	252.2	-13.5	246	1443	0.00	2.10	0.00	0.000	4	0.000	0.043	2205	3760	3995
1542	-1.17	-121.7	269.0	-15.4	264	1549	0.00	1.90	0.00	0.000	6	0.000	0.021	2205	2402	3995
1886	-1.24	-121.7	321.3	-15.0	313	1890	0.00	2.10	0.00	0.000	4	0.000	0.044	2205	3754	3995
1966	-1.24	-121.7	334.8	-17.2	320	1970	0.00	1.88	0.00	0.000	6	0.000	0.022	2204	2423	3995
2300	-1.34	-121.7	387.3	-15.4	351	2304	0.15	2.10	0.00	0.000	4	0.067	0.045	2140	3763	3995
2370	-1.15	-121.7	401.2	-20.0	357	2374	0.25	1.88	0.00	0.000	6	0.163	0.022	2207	2439	3995
2702	-1.30	-121.7	448.5	-13.5	388	2706	0.15	2.05	0.00	0.000	4	0.071	0.044	2139	3750	3994
2782	-1.17	-121.7	462.5	-18.4	395	2787	0.22	1.85	0.00	0.000	6	0.160	0.023	2199	2453	3994
3123	-1.35	-121.7	508.3	-13.0	424	3125	0.17	0.00	0.00	0.000	6	0.067	0.000	2130	2453	3993
3433	-1.27	-121.7	562.6	-17.6	439	3437	0.15	2.05	0.00	0.000	4	0.166	0.044	2164	3757	3990
3570	-1.27	-121.7	584.1	-14.9	445	3574	0.00	1.85	0.00	0.000	6	0.000	0.024	2165	2463	3989
3904	-1.33	-121.7	631.4	-14.4	461	3908	0.00	2.03	0.00	0.000	4	0.000	0.049	2165	3750	3986
4042	-1.33	-121.7	651.0	-14.0	467	4045	0.00	1.83	0.00	0.000	6	0.000	0.025	2165	2486	3984
4376	-1.40	-121.7	697.2	-14.1	483	4380	0.10	2.00	0.00	0.000	4	0.089	0.048	2123	3746	3981
4479	-1.30	-121.7	714.5	-17.2	487	4483	0.15	1.77	0.00	0.000	6	0.171	0.023	2160	2509	3980
4801	-1.38	-121.7	759.8	-14.5	503	4805	0.00	1.95	0.00	0.000	4	0.000	0.048	2153	3746	3977
4903	-1.38	-121.7	774.9	-15.2	507	4911	0.00	1.75	0.00	0.000	6	0.000	0.024	2153	2532	3976
5230	-1.44	-121.7	824.0	-15.7	523	5235	0.00	1.98	0.00	0.000	4	0.000	0.052	2152	3773	3973
5325	-1.44	-121.7	839.7	-15.2	527	5329	0.08	1.80	0.00	0.000	6	0.073	0.025	2115	2557	3973
5658	-1.36	-121.7	900.6	-18.7	543	5662	0.00	1.90	0.00	0.000	4	0.000	0.051	2109	3752	3971
5772	-1.22	-121.7	924.3	-20.0	548	5778	0.22	1.75	0.00	0.000	6	0.173	0.025	2184	2577	3969
6111	-1.43	-121.7	970.3	-13.2	564	6115	0.17	1.88	0.00	0.000	4	0.074	0.051	2110	3750	3967
6202	-1.31	-121.7	986.5	-18.1	568	6206	0.17	1.70	0.00	0.000	6	0.177	0.025	2153	2581	3966
6222	end dive: TARGET_DEPTH_EXCEEDED
state	6223	begin apogee
6233	-0.27	0.0	990.5	17.2	569	6336	1.15	0.00	94.90	1.378	6	0.156	0.000	2490	2403	3532
6337	end apogee: CONTROL_FINISHED_OK
state	6337	begin climb
6341	1.50	121.7	996.0	0.0	574	6455	1.58	2.30	105.47	1.361	4	0.051	0.045	3065	3754	3035
6502	0.52	132.0	1001.4	12.5	582	6518	1.33	2.12	9.82	1.171	6	0.226	0.023	2751	2337	2994
6853	0.60	194.0	971.3	8.7	599	6915	0.00	2.40	52.33	1.339	4	0.000	0.050	2751	3745	2740
6989	0.61	200.4	955.8	12.7	605	7004	0.00	2.05	6.82	1.068	6	0.000	0.024	2759	2366	2714
7316	0.74	215.5	917.3	12.1	621	7338	0.17	2.22	14.07	1.241	4	0.078	0.048	2832	3750	2652
7475	0.52	215.5	890.0	17.7	628	7479	0.35	2.03	0.00	0.000	6	0.185	0.025	2749	2381	2650
7804	0.70	230.7	850.1	12.1	644	7826	0.17	2.25	13.90	1.225	4	0.077	0.052	2823	3743	2591
7883	0.55	230.7	837.0	18.0	647	7888	0.28	2.00	0.00	0.000	6	0.184	0.027	2757	2400	2589
8207	0.74	244.3	797.9	12.2	663	8229	0.17	2.25	12.12	1.186	4	0.077	0.051	2823	3754	2535
8370	0.61	244.3	768.1	18.6	670	8374	0.20	2.00	0.00	0.000	6	0.190	0.024	2778	2398	2533
8693	0.74	244.3	719.8	15.2	686	8697	0.12	2.17	0.00	0.000	4	0.087	0.051	2826	3751	2532
8811	0.61	244.3	696.6	18.8	691	8815	0.20	1.95	0.00	0.000	6	0.189	0.025	2778	2417	2531
9135	0.74	244.3	652.1	13.3	707	9136	0.12	0.00	0.00	0.000	6	0.087	0.000	2826	2413	2530
9441	0.74	244.3	605.3	15.3	722	9445	0.00	2.12	0.00	0.000	4	0.000	0.050	2826	3747	2530
9545	0.61	244.3	587.7	17.4	726	9549	0.20	1.92	0.00	0.000	6	0.189	0.025	2778	2430	2530
9867	0.76	244.3	542.2	14.4	742	9872	0.15	2.12	0.00	0.000	4	0.082	0.050	2835	3755	2529
9946	0.62	244.3	527.2	19.0	745	9952	0.25	1.92	0.00	0.000	6	0.187	0.025	2780	2427	2529
10270	0.77	247.2	483.9	13.0	766	10275	0.15	2.17	0.00	0.000	4	0.079	0.030	2844	968	2528
10452	0.77	247.2	457.3	14.1	782	10456	0.00	2.28	0.00	0.000	6	0.000	0.035	2844	2442	2528
10781	0.77	247.2	409.7	14.6	812	10784	0.00	2.05	0.00	0.000	4	0.000	0.051	2845	3744	2528
10912	0.61	247.2	388.2	15.5	823	10918	0.28	1.90	0.00	0.000	6	0.186	0.026	2783	2435	2528
11238	0.81	274.0	349.9	11.3	854	11268	0.17	2.22	24.15	0.965	4	0.070	0.028	2866	968	2413
11377	0.87	274.0	329.1	15.5	865	11381	0.00	2.25	0.00	0.000	6	0.000	0.033	2866	2422	2411
11714	0.82	274.0	274.5	15.1	909	11721	0.00	2.17	0.00	0.000	4	0.000	0.029	2868	980	2410
11775	0.87	274.0	265.0	15.5	919	11781	0.00	2.15	0.00	0.000	6	0.000	0.031	2868	2389	2410
12121	0.91	299.8	214.4	11.3	980	12150	0.00	2.17	22.05	0.835	4	0.000	0.049	2868	3753	2307
12192	0.84	299.8	204.1	16.6	992	12198	0.00	2.03	0.00	0.000	6	0.000	0.023	2876	2388	2307
12539	0.90	299.8	151.2	13.7	1053	12545	0.00	2.17	0.00	0.000	4	0.000	0.047	2877	3761	2305
12598	0.81	299.8	141.9	16.9	1063	12605	0.17	2.03	0.00	0.000	6	0.175	0.024	2841	2363	2305
12950	1.08	344.7	105.1	9.9	1124	12993	0.20	2.12	36.17	0.724	4	0.067	0.028	2934	984	2126
13248	1.18	344.7	63.0	13.3	1176	13254	0.00	2.10	0.00	0.000	6	0.000	0.030	2934	2375	2120
13596	1.37	398.7	25.7	9.3	1237	13645	0.20	2.15	42.75	0.634	4	0.062	0.025	3027	981	1905
13755	1.43	411.0	4.5	12.3	1264	13769	0.00	2.08	8.45	0.539	2	0.000	0.029	3027	2353	1862
13769	end climb: SURFACE_DEPTH_REACHED
state	13769	begin surface coast
13775	end surface coast: CONTROL_FINISHED_OK
state	13775	begin surface