Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 628 * 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 628 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 91 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 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 -21708.482 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 -21708.482

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 91 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 47 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 628 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 071430,2527.085,12310.003,40,1.0,40,-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 2.66 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -63.8 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 072138,2527.287,12310.176,13,1.7,13,-3.7 MHEAD_RNG_PITCHd_Wd 263.7,41092,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 983

Post-dive calculations and measurements:

FINISH 1.8,0.999599 _24V_AH 23.1,108.061

SM_CCo 13873,43.42,0.622,0,0,1594,475.15 _10V_AH 10.5,56.413

SM_GC 3.15,0.00,0.00,43.42,0.000,0.000,0.622,141,2366,1594,-7.62,-0.45,475.15 DATA_FILE_SIZE 69509,1283

IRIDIUM_FIX 2515.12,12308.33,281198,040431 CAP_FILE_SIZE 147493,0

TT8_MAMPS 0.029146 CFSIZE 260165632,176877568

HUMID 1818 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.40466 CURRENT 0.227, 16.8,1

TCM_TEMP 25.30 GPS 030909,111524,2528.875,12308.827,42,1.9,43,-3.7

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 234 149.50 SBE_CT 868 24 481.63

Roll_motor 108 52 133.16 Optode 893 33 681.22

VBD_pump_during_apogee 443 1395 14293.94 WL_BB2F 0 105 0.00

VBD_pump_during_surface 43 622 623.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.98 nil 0 0 0.00

Iridium_during_connect 41 160 153.55 nil 0 0 0.00

Iridium_during_xfer 184 223 950.10

Transponder_ping 8 420 84.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.03

TT8 2299 19 478.08

LPSleep 8312 2 191.15

TT8_Active 583 19 121.26

TT8_Sampling 2398 39 1002.33

TT8_CF8 747 45 359.57

TT8_Kalman 0 81 0.00

Analog_circuits 1795 12 226.25

GPS_charging 0 0 0.00

Compass 2336 8 196.26

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 44 0.00 0.00 -25.95 0.000 2 0.000 0.000 137 2401 2242

48 -1.50 -121.7 3.1 -2.2 4 118 8.15 2.15 -56.25 0.000 4 0.235 0.051 2083 3758 3990

370 -0.82 -121.7 111.2 -31.5 59 377 0.80 1.95 0.00 0.000 6 0.166 0.021 2309 2351 3993

718 -1.18 -121.7 145.6 -9.4 120 724 0.28 2.17 0.00 0.000 4 0.054 0.044 2188 3746 3996

790 -0.97 -121.7 159.4 -23.2 132 796 0.28 1.90 0.00 0.000 6 0.157 0.021 2265 2390 3996

1137 -1.21 -121.7 210.0 -11.9 193 1143 0.17 2.12 0.00 0.000 4 0.066 0.042 2179 3760 3996

1247 -1.06 -121.7 230.3 -18.6 212 1253 0.22 1.88 0.00 0.000 6 0.153 0.021 2241 2420 3996

1597 -1.27 -121.7 274.0 -11.1 273 1604 0.17 2.08 0.00 0.000 4 0.064 0.044 2156 3751 3996

1734 -1.05 -121.7 299.3 -20.6 296 1741 0.30 1.83 0.00 0.000 6 0.158 0.022 2239 2453 3996

2061 -1.25 -121.7 346.0 -13.2 327 2065 0.17 2.03 0.00 0.000 4 0.064 0.044 2166 3750 3996

2135 -1.14 -121.7 358.9 -18.9 333 2142 0.17 1.80 0.00 0.000 6 0.160 0.023 2211 2484 3996

2462 -1.32 -121.7 402.4 -11.6 364 2466 0.17 1.98 0.00 0.000 4 0.066 0.045 2140 3745 3996

2634 -1.14 -121.7 437.6 -21.1 379 2638 0.20 1.77 0.00 0.000 6 0.162 0.023 2209 2522 3995

2966 -1.34 -121.7 482.9 -12.7 410 2971 0.17 1.92 0.00 0.000 4 0.070 0.047 2140 3747 3994

3116 -1.21 -121.7 510.3 -18.9 421 3120 0.17 1.73 0.00 0.000 6 0.165 0.023 2184 2535 3993

3443 -1.34 -121.7 556.3 -12.7 437 3447 0.12 1.90 0.00 0.000 4 0.077 0.046 2129 3758 3991

3538 -1.22 -121.7 572.6 -16.8 441 3542 0.20 1.73 0.00 0.000 6 0.165 0.023 2181 2552 3991

3871 -1.37 -121.7 612.3 -12.2 457 3875 0.12 1.88 0.00 0.000 4 0.082 0.046 2126 3744 3989

4003 -1.26 -121.7 635.2 -17.3 462 4011 0.17 1.67 0.00 0.000 6 0.166 0.024 2170 2577 3987

4322 -1.35 -121.7 678.7 -12.7 478 4326 0.00 2.28 0.00 0.000 4 0.000 0.024 2171 1008 3985

4384 -1.54 -121.7 686.7 -12.0 480 4391 0.22 2.38 0.00 0.000 6 0.073 0.035 2086 2554 3985

4703 -1.35 -121.7 742.9 -18.5 496 4707 0.20 1.88 0.00 0.000 4 0.187 0.048 2137 3751 3981

4804 -1.30 -121.7 759.3 -14.3 500 4807 0.00 1.67 0.00 0.000 6 0.000 0.025 2137 2592 3980

5126 -1.30 -121.7 806.7 -15.3 516 5130 0.00 1.85 0.00 0.000 4 0.000 0.052 2137 3736 3978

5189 -1.30 -121.7 816.7 -16.2 518 5196 0.00 1.65 0.00 0.000 6 0.000 0.026 2137 2598 3978

5505 -1.30 -121.7 864.3 -14.8 534 5509 0.00 1.83 0.00 0.000 4 0.000 0.052 2137 3744 3975

5636 -1.30 -121.7 884.2 -15.0 539 5642 0.00 1.65 0.00 0.000 6 0.000 0.025 2137 2609 3974

5954 -1.30 -121.7 927.4 -13.6 555 5955 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2609 3972

6261 -1.30 -121.7 968.3 -13.3 570 6265 0.00 1.83 0.00 0.000 4 0.000 0.053 2137 3752 3970

6314 -1.30 -121.7 975.4 -13.6 572 6318 0.00 1.65 0.00 0.000 6 0.000 0.027 2137 2622 3970

6371 end dive: TARGET_DEPTH_EXCEEDED

state 6371 begin apogee

6380 -0.27 0.0 983.3 12.9 575 6477 1.23 0.00 93.55 1.396 6 0.161 0.000 2487 2412 3532

6478 end apogee: CONTROL_FINISHED_OK

state 6478 begin climb

6481 1.50 121.7 986.3 0.0 580 6595 1.60 2.30 104.72 1.356 4 0.048 0.026 3077 964 3035

6851 0.71 121.7 952.6 17.0 597 6857 1.05 2.15 0.00 0.000 6 0.219 0.033 2814 2362 3030

7181 0.58 160.9 915.6 10.4 613 7225 0.17 2.25 32.72 1.308 4 0.197 0.028 2773 956 2875

7298 0.65 172.8 903.2 12.3 618 7314 0.00 2.20 11.57 1.190 6 0.000 0.035 2773 2362 2826

7626 0.65 173.2 859.9 13.2 633 7629 0.00 2.22 0.00 0.000 4 0.000 0.053 2773 3764 2823

7677 0.53 173.2 852.2 15.2 635 7681 0.00 2.10 0.00 0.000 6 0.000 0.026 2776 2352 2822

8006 0.54 182.4 810.3 12.5 651 8020 0.00 2.30 8.45 1.128 4 0.000 0.050 2775 3757 2787

8155 0.44 182.4 788.8 14.7 657 8160 0.20 2.05 0.00 0.000 6 0.187 0.025 2726 2366 2786

8473 0.66 209.9 753.4 11.2 672 8503 0.20 2.30 23.95 1.231 4 0.077 0.050 2809 3754 2676

8567 0.50 209.9 738.5 17.5 676 8572 0.30 2.03 0.00 0.000 6 0.185 0.025 2740 2382 2674

8890 0.70 221.8 697.5 12.3 692 8906 0.20 2.30 11.30 1.131 4 0.072 0.051 2823 3767 2626

9002 0.55 221.8 678.5 17.6 696 9007 0.28 2.00 0.00 0.000 6 0.186 0.025 2757 2423 2626

9330 0.70 221.8 632.5 14.7 712 9334 0.15 2.15 0.00 0.000 4 0.080 0.030 2815 990 2624

9510 0.75 221.8 603.1 16.0 720 9514 0.00 2.17 0.00 0.000 6 0.000 0.033 2815 2410 2623

9838 0.75 221.8 550.1 16.7 736 9841 0.00 2.12 0.00 0.000 4 0.000 0.051 2815 3756 2623

10017 0.62 221.8 519.2 17.0 743 10023 0.17 1.95 0.00 0.000 6 0.190 0.025 2782 2418 2622

10343 0.76 243.4 478.9 11.6 767 10367 0.12 2.22 17.90 1.058 4 0.082 0.051 2829 3756 2538

10519 0.62 243.4 449.0 18.0 782 10527 0.22 1.98 0.00 0.000 6 0.187 0.025 2782 2407 2536

10847 0.79 243.4 402.3 17.3 813 10853 0.15 0.00 0.00 0.000 6 0.075 0.000 2839 2402 2536

11177 0.79 243.4 348.1 15.2 844 11182 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 2403 2535

11505 0.79 243.4 300.3 13.8 875 11509 0.00 2.15 0.00 0.000 4 0.000 0.051 2839 3763 2535

11720 0.68 243.4 265.1 15.3 912 11727 0.17 2.00 0.00 0.000 6 0.186 0.025 2805 2386 2534

12071 0.86 268.1 222.1 11.4 973 12097 0.15 2.25 20.60 0.854 4 0.075 0.048 2865 3753 2438

12252 0.72 268.1 193.0 17.6 1004 12259 0.22 1.95 0.00 0.000 6 0.184 0.025 2818 2411 2435

12600 0.86 268.1 148.1 14.5 1065 12606 0.12 2.10 0.00 0.000 4 0.083 0.027 2871 994 2435

12862 0.96 300.6 115.4 10.8 1111 12897 0.00 2.12 27.23 0.755 6 0.000 0.030 2871 2408 2305

13241 1.22 388.5 73.7 6.8 1177 13317 0.25 2.15 68.65 0.709 4 0.064 0.046 2977 3750 1946

13455 1.13 388.5 43.2 16.4 1214 13463 0.17 2.03 0.00 0.000 6 0.178 0.021 2943 2371 1940

13805 1.28 451.9 5.9 8.6 1275 13830 0.15 0.00 22.62 0.618 2 0.074 0.000 3004 2369 1831

13831 end climb: SURFACE_DEPTH_REACHED

state 13831 begin surface coast

13852 end surface coast: CONTROL_FINISHED_OK

state 13853 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	628	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	91	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	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	-21708.482	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	071430,2527.085,12310.003,40,1.0,40,-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	2.66	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-63.8	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	072138,2527.287,12310.176,13,1.7,13,-3.7	MHEAD_RNG_PITCHd_Wd	263.7,41092,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	983

FINISH	1.8,0.999599	_24V_AH	23.1,108.061
SM_CCo	13873,43.42,0.622,0,0,1594,475.15	_10V_AH	10.5,56.413
SM_GC	3.15,0.00,0.00,43.42,0.000,0.000,0.622,141,2366,1594,-7.62,-0.45,475.15	DATA_FILE_SIZE	69509,1283
IRIDIUM_FIX	2515.12,12308.33,281198,040431	CAP_FILE_SIZE	147493,0
TT8_MAMPS	0.029146	CFSIZE	260165632,176877568
HUMID	1818	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.40466	CURRENT	0.227, 16.8,1
TCM_TEMP	25.30	GPS	030909,111524,2528.875,12308.827,42,1.9,43,-3.7
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	234	149.50	SBE_CT	868	24	481.63
Roll_motor	108	52	133.16	Optode	893	33	681.22
VBD_pump_during_apogee	443	1395	14293.94	WL_BB2F	0	105	0.00
VBD_pump_during_surface	43	622	623.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.98	nil	0	0	0.00
Iridium_during_connect	41	160	153.55	nil	0	0	0.00
Iridium_during_xfer	184	223	950.10
Transponder_ping	8	420	84.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.03
TT8	2299	19	478.08
LPSleep	8312	2	191.15
TT8_Active	583	19	121.26
TT8_Sampling	2398	39	1002.33
TT8_CF8	747	45	359.57
TT8_Kalman	0	81	0.00
Analog_circuits	1795	12	226.25
GPS_charging	0	0	0.00
Compass	2336	8	196.26
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	44	0.00	0.00	-25.95	0.000	2	0.000	0.000	137	2401	2242
48	-1.50	-121.7	3.1	-2.2	4	118	8.15	2.15	-56.25	0.000	4	0.235	0.051	2083	3758	3990
370	-0.82	-121.7	111.2	-31.5	59	377	0.80	1.95	0.00	0.000	6	0.166	0.021	2309	2351	3993
718	-1.18	-121.7	145.6	-9.4	120	724	0.28	2.17	0.00	0.000	4	0.054	0.044	2188	3746	3996
790	-0.97	-121.7	159.4	-23.2	132	796	0.28	1.90	0.00	0.000	6	0.157	0.021	2265	2390	3996
1137	-1.21	-121.7	210.0	-11.9	193	1143	0.17	2.12	0.00	0.000	4	0.066	0.042	2179	3760	3996
1247	-1.06	-121.7	230.3	-18.6	212	1253	0.22	1.88	0.00	0.000	6	0.153	0.021	2241	2420	3996
1597	-1.27	-121.7	274.0	-11.1	273	1604	0.17	2.08	0.00	0.000	4	0.064	0.044	2156	3751	3996
1734	-1.05	-121.7	299.3	-20.6	296	1741	0.30	1.83	0.00	0.000	6	0.158	0.022	2239	2453	3996
2061	-1.25	-121.7	346.0	-13.2	327	2065	0.17	2.03	0.00	0.000	4	0.064	0.044	2166	3750	3996
2135	-1.14	-121.7	358.9	-18.9	333	2142	0.17	1.80	0.00	0.000	6	0.160	0.023	2211	2484	3996
2462	-1.32	-121.7	402.4	-11.6	364	2466	0.17	1.98	0.00	0.000	4	0.066	0.045	2140	3745	3996
2634	-1.14	-121.7	437.6	-21.1	379	2638	0.20	1.77	0.00	0.000	6	0.162	0.023	2209	2522	3995
2966	-1.34	-121.7	482.9	-12.7	410	2971	0.17	1.92	0.00	0.000	4	0.070	0.047	2140	3747	3994
3116	-1.21	-121.7	510.3	-18.9	421	3120	0.17	1.73	0.00	0.000	6	0.165	0.023	2184	2535	3993
3443	-1.34	-121.7	556.3	-12.7	437	3447	0.12	1.90	0.00	0.000	4	0.077	0.046	2129	3758	3991
3538	-1.22	-121.7	572.6	-16.8	441	3542	0.20	1.73	0.00	0.000	6	0.165	0.023	2181	2552	3991
3871	-1.37	-121.7	612.3	-12.2	457	3875	0.12	1.88	0.00	0.000	4	0.082	0.046	2126	3744	3989
4003	-1.26	-121.7	635.2	-17.3	462	4011	0.17	1.67	0.00	0.000	6	0.166	0.024	2170	2577	3987
4322	-1.35	-121.7	678.7	-12.7	478	4326	0.00	2.28	0.00	0.000	4	0.000	0.024	2171	1008	3985
4384	-1.54	-121.7	686.7	-12.0	480	4391	0.22	2.38	0.00	0.000	6	0.073	0.035	2086	2554	3985
4703	-1.35	-121.7	742.9	-18.5	496	4707	0.20	1.88	0.00	0.000	4	0.187	0.048	2137	3751	3981
4804	-1.30	-121.7	759.3	-14.3	500	4807	0.00	1.67	0.00	0.000	6	0.000	0.025	2137	2592	3980
5126	-1.30	-121.7	806.7	-15.3	516	5130	0.00	1.85	0.00	0.000	4	0.000	0.052	2137	3736	3978
5189	-1.30	-121.7	816.7	-16.2	518	5196	0.00	1.65	0.00	0.000	6	0.000	0.026	2137	2598	3978
5505	-1.30	-121.7	864.3	-14.8	534	5509	0.00	1.83	0.00	0.000	4	0.000	0.052	2137	3744	3975
5636	-1.30	-121.7	884.2	-15.0	539	5642	0.00	1.65	0.00	0.000	6	0.000	0.025	2137	2609	3974
5954	-1.30	-121.7	927.4	-13.6	555	5955	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2609	3972
6261	-1.30	-121.7	968.3	-13.3	570	6265	0.00	1.83	0.00	0.000	4	0.000	0.053	2137	3752	3970
6314	-1.30	-121.7	975.4	-13.6	572	6318	0.00	1.65	0.00	0.000	6	0.000	0.027	2137	2622	3970
6371	end dive: TARGET_DEPTH_EXCEEDED
state	6371	begin apogee
6380	-0.27	0.0	983.3	12.9	575	6477	1.23	0.00	93.55	1.396	6	0.161	0.000	2487	2412	3532
6478	end apogee: CONTROL_FINISHED_OK
state	6478	begin climb
6481	1.50	121.7	986.3	0.0	580	6595	1.60	2.30	104.72	1.356	4	0.048	0.026	3077	964	3035
6851	0.71	121.7	952.6	17.0	597	6857	1.05	2.15	0.00	0.000	6	0.219	0.033	2814	2362	3030
7181	0.58	160.9	915.6	10.4	613	7225	0.17	2.25	32.72	1.308	4	0.197	0.028	2773	956	2875
7298	0.65	172.8	903.2	12.3	618	7314	0.00	2.20	11.57	1.190	6	0.000	0.035	2773	2362	2826
7626	0.65	173.2	859.9	13.2	633	7629	0.00	2.22	0.00	0.000	4	0.000	0.053	2773	3764	2823
7677	0.53	173.2	852.2	15.2	635	7681	0.00	2.10	0.00	0.000	6	0.000	0.026	2776	2352	2822
8006	0.54	182.4	810.3	12.5	651	8020	0.00	2.30	8.45	1.128	4	0.000	0.050	2775	3757	2787
8155	0.44	182.4	788.8	14.7	657	8160	0.20	2.05	0.00	0.000	6	0.187	0.025	2726	2366	2786
8473	0.66	209.9	753.4	11.2	672	8503	0.20	2.30	23.95	1.231	4	0.077	0.050	2809	3754	2676
8567	0.50	209.9	738.5	17.5	676	8572	0.30	2.03	0.00	0.000	6	0.185	0.025	2740	2382	2674
8890	0.70	221.8	697.5	12.3	692	8906	0.20	2.30	11.30	1.131	4	0.072	0.051	2823	3767	2626
9002	0.55	221.8	678.5	17.6	696	9007	0.28	2.00	0.00	0.000	6	0.186	0.025	2757	2423	2626
9330	0.70	221.8	632.5	14.7	712	9334	0.15	2.15	0.00	0.000	4	0.080	0.030	2815	990	2624
9510	0.75	221.8	603.1	16.0	720	9514	0.00	2.17	0.00	0.000	6	0.000	0.033	2815	2410	2623
9838	0.75	221.8	550.1	16.7	736	9841	0.00	2.12	0.00	0.000	4	0.000	0.051	2815	3756	2623
10017	0.62	221.8	519.2	17.0	743	10023	0.17	1.95	0.00	0.000	6	0.190	0.025	2782	2418	2622
10343	0.76	243.4	478.9	11.6	767	10367	0.12	2.22	17.90	1.058	4	0.082	0.051	2829	3756	2538
10519	0.62	243.4	449.0	18.0	782	10527	0.22	1.98	0.00	0.000	6	0.187	0.025	2782	2407	2536
10847	0.79	243.4	402.3	17.3	813	10853	0.15	0.00	0.00	0.000	6	0.075	0.000	2839	2402	2536
11177	0.79	243.4	348.1	15.2	844	11182	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	2403	2535
11505	0.79	243.4	300.3	13.8	875	11509	0.00	2.15	0.00	0.000	4	0.000	0.051	2839	3763	2535
11720	0.68	243.4	265.1	15.3	912	11727	0.17	2.00	0.00	0.000	6	0.186	0.025	2805	2386	2534
12071	0.86	268.1	222.1	11.4	973	12097	0.15	2.25	20.60	0.854	4	0.075	0.048	2865	3753	2438
12252	0.72	268.1	193.0	17.6	1004	12259	0.22	1.95	0.00	0.000	6	0.184	0.025	2818	2411	2435
12600	0.86	268.1	148.1	14.5	1065	12606	0.12	2.10	0.00	0.000	4	0.083	0.027	2871	994	2435
12862	0.96	300.6	115.4	10.8	1111	12897	0.00	2.12	27.23	0.755	6	0.000	0.030	2871	2408	2305
13241	1.22	388.5	73.7	6.8	1177	13317	0.25	2.15	68.65	0.709	4	0.064	0.046	2977	3750	1946
13455	1.13	388.5	43.2	16.4	1214	13463	0.17	2.03	0.00	0.000	6	0.178	0.021	2943	2371	1940
13805	1.28	451.9	5.9	8.6	1275	13830	0.15	0.00	22.62	0.618	2	0.074	0.000	3004	2369	1831
13831	end climb: SURFACE_DEPTH_REACHED
state	13831	begin surface coast
13852	end surface coast: CONTROL_FINISHED_OK
state	13853	begin surface