Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 81 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 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 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 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 62 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 52 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 -2 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -6777.1797 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

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 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 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 160 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 300

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -6777.1797

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

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 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 62 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 52 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 81 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 050254,2534.185,12318.647,42,1.4,42,-3.8 TGT_NAME IN_4

_CALLS 3 TGT_LATLONG 2541.300,12314.300

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051502,2534.182,12318.781,16,1.3,16,-3.8 MHEAD_RNG_PITCHd_Wd 289.2,15157,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 742

Post-dive calculations and measurements:

FINISH 1.8,1.021914 _24V_AH 24.0,20.019

SM_CCo 12643,0.00,0.000,0,0,1005,455.52 _10V_AH 10.7,12.237

SM_GC 1.61,7.90,0.00,0.00,0.044,0.000,0.000,168,1532,1005,-8.03,0.90,455.52 DATA_FILE_SIZE 75891,1331

IRIDIUM_FIX 2524.66,12319.55,290898,050515 CAP_FILE_SIZE 147850,0

TT8_MAMPS 0.026845 CFSIZE 260165632,228540416

HUMID 1464 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 9.92684 CURRENT 0.263, 59.4,1

TCM_TEMP 25.20 GPS 040609,084724,2535.630,12318.329,29,1.4,46,-3.8

XPDR_PINGS 89

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 222 148.54 SBE_CT 901 24 519.07

Roll_motor 120 55 162.30 Optode 965 33 764.38

VBD_pump_during_apogee 539 1285 16637.61 WL_BB2F 1624 105 4094.69

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 67 103 165.71 nil 0 0 0.00

Iridium_during_connect 158 160 609.42 nil 0 0 0.00

Iridium_during_xfer 271 223 1455.00

Transponder_ping 27 420 279.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.75

TT8 2341 19 496.08

LPSleep 7041 2 165.01

TT8_Active 651 19 138.03

TT8_Sampling 2656 39 1131.43

TT8_CF8 675 45 331.09

TT8_Kalman 0 0 0.00

Analog_circuits 1857 12 238.56

GPS_charging 0 0 0.00

Compass 2630 8 225.21

RAFOS 0 0 0.00

Transponder 38 30 12.39

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

14 -0.94 -194.7 0.0 0.0 0 112 0.00 0.00 -95.07 0.000 2 0.000 0.000 166 1466 2571

114 -0.94 -194.7 3.2 -4.8 15 160 8.68 2.15 -29.20 0.000 4 0.222 0.051 2432 2907 3657

284 -0.24 -194.7 54.0 -34.2 44 291 0.75 2.03 0.00 0.000 6 0.161 0.031 2653 1515 3658

631 -0.41 -194.7 98.9 -10.5 105 639 0.15 1.92 0.00 0.000 4 0.062 0.041 2582 201 3658

685 -0.26 -194.7 106.8 -15.7 114 692 0.17 1.90 0.00 0.000 6 0.133 0.028 2654 1507 3658

1030 -0.58 -194.7 137.0 -7.6 175 1037 0.25 2.03 0.00 0.000 4 0.045 0.038 2532 2898 3658

1122 -0.46 -194.7 151.1 -16.1 191 1129 0.20 2.03 0.00 0.000 6 0.137 0.031 2589 1489 3658

1469 -0.59 -194.7 188.9 -10.1 252 1475 0.12 2.08 0.00 0.000 4 0.066 0.039 2527 2901 3658

1516 -0.59 -194.7 195.0 -13.0 260 1523 0.00 2.00 0.00 0.000 6 0.000 0.031 2527 1532 3658

1860 -0.49 -194.7 241.9 -12.5 321 1868 0.17 1.98 0.00 0.000 4 0.144 0.045 2583 194 3658

1969 -0.64 -194.7 253.0 -8.9 340 1976 0.10 1.90 0.00 0.000 6 0.051 0.028 2502 1518 3658

2312 -0.50 -194.7 301.4 -13.9 400 2314 0.25 0.00 0.00 0.000 6 0.135 0.000 2577 1520 3659

2633 -0.75 -194.7 325.5 -7.6 430 2637 0.20 2.00 0.00 0.000 4 0.053 0.042 2454 2880 3658

2659 -0.75 -194.7 328.7 -11.9 432 2668 0.05 2.03 0.00 0.000 6 0.150 0.033 2492 1510 3658

2985 -0.65 -194.7 373.8 -13.0 463 2989 0.15 1.92 0.00 0.000 4 0.146 0.047 2534 208 3657

3103 -0.72 -194.7 386.7 -9.4 473 3110 0.00 1.85 0.00 0.000 6 0.000 0.031 2517 1501 3655

3428 -0.87 -194.7 413.1 -7.8 504 3430 0.17 0.00 0.00 0.000 6 0.058 0.000 2431 1502 3653

3746 -0.67 -194.7 457.2 -14.0 534 3750 0.25 2.08 0.00 0.000 4 0.143 0.044 2508 2900 3651

3778 -0.82 -194.7 460.5 -9.0 536 3785 0.00 2.05 0.00 0.000 6 0.000 0.036 2508 1517 3651

4103 -0.98 -194.7 485.4 -7.1 567 4107 0.20 1.98 0.00 0.000 4 0.053 0.050 2407 195 3648

4209 -0.68 -194.7 500.6 -15.6 576 4216 0.30 1.90 0.00 0.000 6 0.140 0.034 2520 1486 3647

4524 -0.89 -194.7 523.8 -7.4 592 4528 0.17 2.10 0.00 0.000 4 0.058 0.046 2426 2899 3644

4595 -0.83 -194.7 531.5 -11.2 595 4600 0.12 2.08 0.00 0.000 6 0.134 0.038 2469 1504 3643

4917 -0.83 -194.7 564.0 -10.4 611 4921 0.00 1.95 0.00 0.000 4 0.000 0.053 2469 207 3640

5023 -0.83 -194.7 575.7 -10.7 615 5029 0.00 1.92 0.00 0.000 6 0.000 0.035 2467 1500 3639

5339 -0.83 -194.7 607.8 -10.3 631 5340 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1500 3637

5648 -0.83 -194.7 640.3 -10.1 646 5652 0.00 2.10 0.00 0.000 4 0.000 0.052 2467 2901 3634

5681 -0.95 -194.7 643.7 -9.7 647 5685 0.00 2.10 0.00 0.000 6 0.000 0.040 2467 1485 3634

6002 -0.95 -194.7 677.4 -10.9 663 6006 0.00 2.15 0.00 0.000 4 0.000 0.052 2467 2903 3631

6040 -1.07 -194.7 681.5 -10.4 664 6048 0.17 2.12 0.00 0.000 6 0.047 0.041 2377 1494 3631

6356 -0.77 -194.7 731.4 -16.7 680 6361 0.35 1.95 0.00 0.000 4 0.154 0.054 2486 206 3629

6442 end dive: TARGET_DEPTH_EXCEEDED

state 6442 begin apogee

6449 -0.20 0.0 742.0 10.5 684 6608 0.52 0.00 156.02 1.285 6 0.120 0.000 2667 1753 2863

6609 end apogee: CONTROL_FINISHED_OK

state 6609 begin climb

6610 0.94 194.7 750.2 0.0 692 6783 1.00 2.35 163.62 1.244 4 0.046 0.054 3046 3147 2068

6861 0.39 194.7 720.1 21.7 703 6866 0.62 2.20 0.00 0.000 6 0.163 0.041 2865 1757 2063

7184 0.47 197.3 684.5 10.9 719 7188 0.00 2.20 0.00 0.000 4 0.000 0.056 2870 343 2061

7245 0.53 197.9 677.4 11.0 721 7252 0.12 2.12 0.00 0.000 6 0.074 0.039 2929 1753 2060

7560 0.37 197.9 634.0 13.9 737 7565 0.22 2.15 0.00 0.000 4 0.149 0.054 2860 3158 2059

7616 0.45 197.9 627.5 11.5 739 7623 0.00 2.12 0.00 0.000 6 0.000 0.046 2868 1736 2057

7931 0.61 261.8 597.1 8.6 755 7996 0.20 2.28 54.83 1.190 4 0.057 0.054 2975 354 1794

8034 0.35 261.8 581.6 17.6 759 8043 0.38 2.17 0.00 0.000 6 0.148 0.040 2852 1740 1792

8351 0.62 310.4 550.6 9.2 775 8399 0.22 2.28 41.58 1.155 4 0.052 0.054 2956 3141 1596

8420 0.43 310.4 539.3 18.3 778 8425 0.28 2.17 0.00 0.000 6 0.146 0.040 2874 1745 1594

8747 0.63 317.3 502.7 10.7 794 8760 0.20 2.17 6.45 0.930 4 0.054 0.054 2982 339 1567

8834 0.43 317.3 486.8 20.4 800 8839 0.35 2.12 0.00 0.000 6 0.144 0.041 2880 1735 1567

9165 0.62 329.7 448.9 10.5 831 9182 0.17 2.17 12.10 1.042 4 0.060 0.053 2975 343 1518

9204 0.47 329.7 442.9 16.9 834 9209 0.30 2.10 0.00 0.000 6 0.141 0.041 2888 1727 1516

9529 0.64 333.6 405.5 10.9 864 9542 0.17 2.17 4.38 0.750 4 0.058 0.054 2983 352 1502

9552 0.64 333.6 402.0 14.3 866 9557 0.15 2.05 0.00 0.000 6 0.155 0.039 2944 1720 1502

9882 0.58 333.6 351.8 14.8 897 9886 0.00 2.17 0.00 0.000 4 0.000 0.051 2944 3151 1500

9927 0.53 333.6 345.0 15.2 901 9932 0.15 2.17 0.00 0.000 6 0.154 0.040 2912 1696 1500

10251 0.64 333.6 307.0 11.1 931 10255 0.00 2.05 0.00 0.000 4 0.000 0.052 2920 342 1499

10386 0.76 333.6 291.6 11.5 949 10393 0.17 1.98 0.00 0.000 6 0.062 0.038 3004 1689 1499

10730 0.54 333.6 227.2 20.6 1010 10737 0.28 2.05 0.00 0.000 4 0.166 0.048 2929 332 1499

10805 0.69 333.6 215.9 12.9 1023 10813 0.10 1.95 0.00 0.000 6 0.079 0.038 2984 1662 1499

11150 0.69 333.6 166.0 11.8 1084 11156 0.00 2.22 0.00 0.000 4 0.000 0.045 2984 3149 1499

11218 0.69 333.6 157.8 11.2 1096 11225 0.12 2.22 0.00 0.000 6 0.152 0.038 2961 1640 1498

11564 0.97 404.6 129.9 8.3 1157 11629 0.22 2.40 59.00 0.813 4 0.048 0.043 3077 3148 1212

11665 0.77 404.6 112.1 21.6 1173 11672 0.32 2.25 0.00 0.000 6 0.140 0.035 2991 1654 1210

12010 1.04 453.7 73.9 9.1 1234 12057 0.20 2.10 41.30 0.739 4 0.049 0.046 3110 330 1012

12165 0.86 453.7 47.1 18.7 1260 12172 0.25 1.98 0.00 0.000 6 0.133 0.030 3015 1654 1009

12510 1.10 453.7 12.1 11.2 1321 12517 0.17 2.00 0.00 0.000 4 0.053 0.045 3123 333 1009

12560 end climb: SURFACE_DEPTH_REACHED

state 12560 begin surface coast

12566 end surface coast: CONTROL_FINISHED_OK

state 12567 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	81	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	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	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	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	62	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	52	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	-2	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-6777.1797	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	050254,2534.185,12318.647,42,1.4,42,-3.8	TGT_NAME	IN_4
_CALLS	3	TGT_LATLONG	2541.300,12314.300
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051502,2534.182,12318.781,16,1.3,16,-3.8	MHEAD_RNG_PITCHd_Wd	289.2,15157,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	742

FINISH	1.8,1.021914	_24V_AH	24.0,20.019
SM_CCo	12643,0.00,0.000,0,0,1005,455.52	_10V_AH	10.7,12.237
SM_GC	1.61,7.90,0.00,0.00,0.044,0.000,0.000,168,1532,1005,-8.03,0.90,455.52	DATA_FILE_SIZE	75891,1331
IRIDIUM_FIX	2524.66,12319.55,290898,050515	CAP_FILE_SIZE	147850,0
TT8_MAMPS	0.026845	CFSIZE	260165632,228540416
HUMID	1464	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	9.92684	CURRENT	0.263, 59.4,1
TCM_TEMP	25.20	GPS	040609,084724,2535.630,12318.329,29,1.4,46,-3.8
XPDR_PINGS	89

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	222	148.54	SBE_CT	901	24	519.07
Roll_motor	120	55	162.30	Optode	965	33	764.38
VBD_pump_during_apogee	539	1285	16637.61	WL_BB2F	1624	105	4094.69
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	67	103	165.71	nil	0	0	0.00
Iridium_during_connect	158	160	609.42	nil	0	0	0.00
Iridium_during_xfer	271	223	1455.00
Transponder_ping	27	420	279.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.75
TT8	2341	19	496.08
LPSleep	7041	2	165.01
TT8_Active	651	19	138.03
TT8_Sampling	2656	39	1131.43
TT8_CF8	675	45	331.09
TT8_Kalman	0	0	0.00
Analog_circuits	1857	12	238.56
GPS_charging	0	0	0.00
Compass	2630	8	225.21
RAFOS	0	0	0.00
Transponder	38	30	12.39

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
14	-0.94	-194.7	0.0	0.0	0	112	0.00	0.00	-95.07	0.000	2	0.000	0.000	166	1466	2571
114	-0.94	-194.7	3.2	-4.8	15	160	8.68	2.15	-29.20	0.000	4	0.222	0.051	2432	2907	3657
284	-0.24	-194.7	54.0	-34.2	44	291	0.75	2.03	0.00	0.000	6	0.161	0.031	2653	1515	3658
631	-0.41	-194.7	98.9	-10.5	105	639	0.15	1.92	0.00	0.000	4	0.062	0.041	2582	201	3658
685	-0.26	-194.7	106.8	-15.7	114	692	0.17	1.90	0.00	0.000	6	0.133	0.028	2654	1507	3658
1030	-0.58	-194.7	137.0	-7.6	175	1037	0.25	2.03	0.00	0.000	4	0.045	0.038	2532	2898	3658
1122	-0.46	-194.7	151.1	-16.1	191	1129	0.20	2.03	0.00	0.000	6	0.137	0.031	2589	1489	3658
1469	-0.59	-194.7	188.9	-10.1	252	1475	0.12	2.08	0.00	0.000	4	0.066	0.039	2527	2901	3658
1516	-0.59	-194.7	195.0	-13.0	260	1523	0.00	2.00	0.00	0.000	6	0.000	0.031	2527	1532	3658
1860	-0.49	-194.7	241.9	-12.5	321	1868	0.17	1.98	0.00	0.000	4	0.144	0.045	2583	194	3658
1969	-0.64	-194.7	253.0	-8.9	340	1976	0.10	1.90	0.00	0.000	6	0.051	0.028	2502	1518	3658
2312	-0.50	-194.7	301.4	-13.9	400	2314	0.25	0.00	0.00	0.000	6	0.135	0.000	2577	1520	3659
2633	-0.75	-194.7	325.5	-7.6	430	2637	0.20	2.00	0.00	0.000	4	0.053	0.042	2454	2880	3658
2659	-0.75	-194.7	328.7	-11.9	432	2668	0.05	2.03	0.00	0.000	6	0.150	0.033	2492	1510	3658
2985	-0.65	-194.7	373.8	-13.0	463	2989	0.15	1.92	0.00	0.000	4	0.146	0.047	2534	208	3657
3103	-0.72	-194.7	386.7	-9.4	473	3110	0.00	1.85	0.00	0.000	6	0.000	0.031	2517	1501	3655
3428	-0.87	-194.7	413.1	-7.8	504	3430	0.17	0.00	0.00	0.000	6	0.058	0.000	2431	1502	3653
3746	-0.67	-194.7	457.2	-14.0	534	3750	0.25	2.08	0.00	0.000	4	0.143	0.044	2508	2900	3651
3778	-0.82	-194.7	460.5	-9.0	536	3785	0.00	2.05	0.00	0.000	6	0.000	0.036	2508	1517	3651
4103	-0.98	-194.7	485.4	-7.1	567	4107	0.20	1.98	0.00	0.000	4	0.053	0.050	2407	195	3648
4209	-0.68	-194.7	500.6	-15.6	576	4216	0.30	1.90	0.00	0.000	6	0.140	0.034	2520	1486	3647
4524	-0.89	-194.7	523.8	-7.4	592	4528	0.17	2.10	0.00	0.000	4	0.058	0.046	2426	2899	3644
4595	-0.83	-194.7	531.5	-11.2	595	4600	0.12	2.08	0.00	0.000	6	0.134	0.038	2469	1504	3643
4917	-0.83	-194.7	564.0	-10.4	611	4921	0.00	1.95	0.00	0.000	4	0.000	0.053	2469	207	3640
5023	-0.83	-194.7	575.7	-10.7	615	5029	0.00	1.92	0.00	0.000	6	0.000	0.035	2467	1500	3639
5339	-0.83	-194.7	607.8	-10.3	631	5340	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1500	3637
5648	-0.83	-194.7	640.3	-10.1	646	5652	0.00	2.10	0.00	0.000	4	0.000	0.052	2467	2901	3634
5681	-0.95	-194.7	643.7	-9.7	647	5685	0.00	2.10	0.00	0.000	6	0.000	0.040	2467	1485	3634
6002	-0.95	-194.7	677.4	-10.9	663	6006	0.00	2.15	0.00	0.000	4	0.000	0.052	2467	2903	3631
6040	-1.07	-194.7	681.5	-10.4	664	6048	0.17	2.12	0.00	0.000	6	0.047	0.041	2377	1494	3631
6356	-0.77	-194.7	731.4	-16.7	680	6361	0.35	1.95	0.00	0.000	4	0.154	0.054	2486	206	3629
6442	end dive: TARGET_DEPTH_EXCEEDED
state	6442	begin apogee
6449	-0.20	0.0	742.0	10.5	684	6608	0.52	0.00	156.02	1.285	6	0.120	0.000	2667	1753	2863
6609	end apogee: CONTROL_FINISHED_OK
state	6609	begin climb
6610	0.94	194.7	750.2	0.0	692	6783	1.00	2.35	163.62	1.244	4	0.046	0.054	3046	3147	2068
6861	0.39	194.7	720.1	21.7	703	6866	0.62	2.20	0.00	0.000	6	0.163	0.041	2865	1757	2063
7184	0.47	197.3	684.5	10.9	719	7188	0.00	2.20	0.00	0.000	4	0.000	0.056	2870	343	2061
7245	0.53	197.9	677.4	11.0	721	7252	0.12	2.12	0.00	0.000	6	0.074	0.039	2929	1753	2060
7560	0.37	197.9	634.0	13.9	737	7565	0.22	2.15	0.00	0.000	4	0.149	0.054	2860	3158	2059
7616	0.45	197.9	627.5	11.5	739	7623	0.00	2.12	0.00	0.000	6	0.000	0.046	2868	1736	2057
7931	0.61	261.8	597.1	8.6	755	7996	0.20	2.28	54.83	1.190	4	0.057	0.054	2975	354	1794
8034	0.35	261.8	581.6	17.6	759	8043	0.38	2.17	0.00	0.000	6	0.148	0.040	2852	1740	1792
8351	0.62	310.4	550.6	9.2	775	8399	0.22	2.28	41.58	1.155	4	0.052	0.054	2956	3141	1596
8420	0.43	310.4	539.3	18.3	778	8425	0.28	2.17	0.00	0.000	6	0.146	0.040	2874	1745	1594
8747	0.63	317.3	502.7	10.7	794	8760	0.20	2.17	6.45	0.930	4	0.054	0.054	2982	339	1567
8834	0.43	317.3	486.8	20.4	800	8839	0.35	2.12	0.00	0.000	6	0.144	0.041	2880	1735	1567
9165	0.62	329.7	448.9	10.5	831	9182	0.17	2.17	12.10	1.042	4	0.060	0.053	2975	343	1518
9204	0.47	329.7	442.9	16.9	834	9209	0.30	2.10	0.00	0.000	6	0.141	0.041	2888	1727	1516
9529	0.64	333.6	405.5	10.9	864	9542	0.17	2.17	4.38	0.750	4	0.058	0.054	2983	352	1502
9552	0.64	333.6	402.0	14.3	866	9557	0.15	2.05	0.00	0.000	6	0.155	0.039	2944	1720	1502
9882	0.58	333.6	351.8	14.8	897	9886	0.00	2.17	0.00	0.000	4	0.000	0.051	2944	3151	1500
9927	0.53	333.6	345.0	15.2	901	9932	0.15	2.17	0.00	0.000	6	0.154	0.040	2912	1696	1500
10251	0.64	333.6	307.0	11.1	931	10255	0.00	2.05	0.00	0.000	4	0.000	0.052	2920	342	1499
10386	0.76	333.6	291.6	11.5	949	10393	0.17	1.98	0.00	0.000	6	0.062	0.038	3004	1689	1499
10730	0.54	333.6	227.2	20.6	1010	10737	0.28	2.05	0.00	0.000	4	0.166	0.048	2929	332	1499
10805	0.69	333.6	215.9	12.9	1023	10813	0.10	1.95	0.00	0.000	6	0.079	0.038	2984	1662	1499
11150	0.69	333.6	166.0	11.8	1084	11156	0.00	2.22	0.00	0.000	4	0.000	0.045	2984	3149	1499
11218	0.69	333.6	157.8	11.2	1096	11225	0.12	2.22	0.00	0.000	6	0.152	0.038	2961	1640	1498
11564	0.97	404.6	129.9	8.3	1157	11629	0.22	2.40	59.00	0.813	4	0.048	0.043	3077	3148	1212
11665	0.77	404.6	112.1	21.6	1173	11672	0.32	2.25	0.00	0.000	6	0.140	0.035	2991	1654	1210
12010	1.04	453.7	73.9	9.1	1234	12057	0.20	2.10	41.30	0.739	4	0.049	0.046	3110	330	1012
12165	0.86	453.7	47.1	18.7	1260	12172	0.25	1.98	0.00	0.000	6	0.133	0.030	3015	1654	1009
12510	1.10	453.7	12.1	11.2	1321	12517	0.17	2.00	0.00	0.000	4	0.053	0.045	3123	333	1009
12560	end climb: SURFACE_DEPTH_REACHED
state	12560	begin surface coast
12566	end surface coast: CONTROL_FINISHED_OK
state	12567	begin surface