Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 517 * 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 517 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 76 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -19307.27 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 -19307.27

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 76 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 35 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 517 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 091837,2453.210,12220.119,30,1.4,31,-3.5 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 2.79 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -70.9 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 092519,2453.281,12219.990,9,1.6,14,-3.5 MHEAD_RNG_PITCHd_Wd 98.1,47887,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1100

Post-dive calculations and measurements:

FINISH 1.9,1.021591 _24V_AH 22.9,90.684

SM_CCo 14669,107.20,0.657,0,0,1594,475.15 _10V_AH 10.6,47.950

SM_GC 3.09,0.00,0.00,107.20,0.000,0.000,0.657,138,2348,1594,-7.63,-0.99,475.15 DATA_FILE_SIZE 72676,1379

IRIDIUM_FIX 2441.81,12219.71,121198,050557 CAP_FILE_SIZE 156213,0

TT8_MAMPS 0.029146 CFSIZE 260165632,184516608

HUMID 1809 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.28747 CURRENT 0.121,194.3,1

TCM_TEMP 24.00 GPS 180809,133306,2451.904,12221.619,26,1.0,27,-3.5

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 241 154.09 SBE_CT 938 24 515.64

Roll_motor 124 55 157.67 Optode 985 33 744.97

VBD_pump_during_apogee 382 1381 12099.74 WL_BB2F 0 105 0.00

VBD_pump_during_surface 107 657 1613.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.02 nil 0 0 0.00

Iridium_during_connect 32 160 119.23 nil 0 0 0.00

Iridium_during_xfer 181 223 926.60

Transponder_ping 9 420 86.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.91

TT8 2480 19 520.65

LPSleep 8868 2 205.86

TT8_Active 617 19 129.66

TT8_Sampling 2509 39 1058.51

TT8_CF8 699 45 339.83

TT8_Kalman 0 81 0.00

Analog_circuits 1879 12 239.06

GPS_charging 0 0 0.00

Compass 2450 8 207.78

RAFOS 0 0 0.00

Transponder 54 30 17.30

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.50 -121.7 0.0 0.0 0 39 0.00 0.00 -21.12 0.000 2 0.000 0.000 137 2368 2092

43 -1.50 -121.7 3.0 -1.2 3 123 8.32 2.20 -64.62 0.000 4 0.242 0.054 2081 3766 3985

244 -0.55 -121.7 54.5 -35.1 37 252 1.20 2.03 0.00 0.000 6 0.195 0.023 2397 2383 3988

593 -1.02 -121.7 87.3 -8.2 98 599 0.38 2.17 0.00 0.000 4 0.056 0.048 2235 3763 3990

635 -0.82 -121.7 93.9 -19.1 105 643 0.28 2.00 0.00 0.000 6 0.170 0.025 2309 2371 3991

984 -0.96 -121.7 136.5 -12.1 166 990 0.12 2.20 0.00 0.000 4 0.077 0.047 2258 3768 3991

1033 -0.88 -121.7 143.9 -16.6 174 1040 0.15 1.95 0.00 0.000 6 0.172 0.025 2296 2406 3991

1381 -1.05 -121.7 185.9 -10.3 235 1387 0.15 2.12 0.00 0.000 4 0.076 0.047 2232 3757 3992

1526 -0.93 -121.7 206.9 -14.3 260 1533 0.17 1.90 0.00 0.000 6 0.168 0.026 2278 2433 3992

1874 -1.03 -121.7 245.7 -11.4 321 1881 0.00 2.08 0.00 0.000 4 0.000 0.027 2278 1000 3992

1917 -1.19 -121.7 250.7 -11.1 328 1923 0.22 2.20 0.00 0.000 6 0.067 0.033 2189 2456 3992

2264 -0.94 -121.7 317.4 -20.3 382 2268 0.28 2.05 0.00 0.000 4 0.193 0.048 2257 3766 3992

2496 -1.03 -121.7 348.0 -12.0 402 2499 0.00 1.85 0.00 0.000 6 0.000 0.026 2256 2476 3992

2827 -1.12 -121.7 379.9 -10.6 433 2832 0.12 2.05 0.00 0.000 4 0.081 0.050 2205 3767 3992

2911 -0.98 -121.7 392.5 -15.6 440 2918 0.22 1.85 0.00 0.000 6 0.173 0.027 2264 2487 3992

3237 -1.14 -121.7 438.8 -15.8 471 3239 0.15 0.00 0.00 0.000 6 0.077 0.000 2205 2486 3991

3565 -1.09 -121.7 504.9 -20.6 501 3569 0.00 2.03 0.00 0.000 4 0.000 0.052 2204 3761 3990

3680 -1.03 -121.7 528.6 -20.1 506 3684 0.15 1.85 0.00 0.000 6 0.168 0.028 2242 2502 3990

4017 -1.16 -121.7 582.4 -15.3 522 4021 0.12 2.03 0.00 0.000 4 0.083 0.053 2192 3767 3988

4096 -1.05 -121.7 598.1 -20.6 525 4100 0.17 1.83 0.00 0.000 6 0.177 0.028 2236 2521 3986

4418 -1.16 -121.7 647.8 -14.4 541 4419 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2521 3986

4728 -1.28 -121.7 686.7 -11.9 556 4733 0.17 1.98 0.00 0.000 4 0.074 0.053 2163 3754 3983

4801 -1.07 -121.7 699.4 -18.8 559 4806 0.28 1.83 0.00 0.000 6 0.176 0.028 2234 2507 3982

5133 -1.20 -121.7 740.7 -11.6 575 5135 0.12 0.00 0.00 0.000 6 0.086 0.000 2188 2507 3981

5439 -1.15 -121.7 778.0 -12.3 590 5442 0.00 2.03 0.00 0.000 4 0.000 0.054 2180 3767 3979

5576 -0.95 -121.7 796.1 -15.4 596 5580 0.32 1.83 0.00 0.000 6 0.172 0.028 2267 2526 3978

5912 -1.22 -121.7 826.0 -9.3 612 5916 0.20 2.00 0.00 0.000 4 0.075 0.053 2180 3767 3976

6020 -1.11 -121.7 842.1 -15.3 616 6026 0.15 1.80 0.00 0.000 6 0.182 0.028 2215 2548 3976

6336 -1.11 -121.7 881.0 -14.2 632 6340 0.00 2.30 0.00 0.000 4 0.000 0.030 2216 999 3974

6403 -1.19 -121.7 891.6 -15.7 635 6408 0.00 2.38 0.00 0.000 6 0.000 0.039 2215 2525 3974

6730 -1.29 -121.7 930.2 -11.2 651 6734 0.15 1.98 0.00 0.000 4 0.084 0.054 2152 3764 3972

6879 -1.06 -121.7 953.2 -15.0 657 6883 0.30 1.77 0.00 0.000 6 0.179 0.029 2230 2565 3972

7202 -1.22 -121.7 978.7 -8.5 673 7206 0.12 1.92 0.00 0.000 4 0.087 0.054 2180 3754 3970

7231 -1.22 -121.7 981.8 -12.1 674 7234 0.00 1.77 0.00 0.000 6 0.000 0.030 2180 2558 3970

7308 end dive: TARGET_DEPTH_EXCEEDED

state 7308 begin apogee

7317 -0.27 0.0 990.9 11.3 678 7422 1.10 0.00 96.15 1.381 6 0.174 0.000 2484 2385 3532

7423 end apogee: CONTROL_FINISHED_OK

state 7423 begin climb

7426 1.50 121.7 991.1 0.0 683 7541 1.65 2.40 105.88 1.359 4 0.067 0.050 3059 3762 3033

7663 0.68 121.7 972.0 18.1 694 7669 1.08 2.15 0.00 0.000 6 0.221 0.026 2805 2339 3031

7991 0.76 183.6 939.1 8.7 710 8048 0.00 2.15 51.90 1.327 4 0.000 0.032 2813 969 2782

8083 0.92 213.5 930.3 11.0 713 8117 0.17 2.20 26.92 1.276 6 0.077 0.036 2876 2356 2661

8431 0.87 213.5 882.9 13.8 730 8435 0.00 2.25 0.00 0.000 4 0.000 0.055 2876 3758 2655

8494 0.71 213.5 872.1 16.8 733 8498 0.30 2.10 0.00 0.000 6 0.187 0.028 2808 2373 2654

8828 0.88 220.4 832.7 12.7 749 8839 0.17 2.12 6.28 1.044 4 0.084 0.031 2881 959 2633

8930 0.88 220.4 817.6 14.7 753 8937 0.00 2.15 0.00 0.000 6 0.000 0.037 2881 2344 2632

9247 0.83 220.4 767.5 16.7 769 9252 0.12 2.25 0.00 0.000 4 0.193 0.053 2852 3755 2630

9424 0.77 220.4 735.3 19.7 777 9427 0.00 2.12 0.00 0.000 6 0.000 0.029 2859 2335 2629

9758 0.77 220.4 684.0 13.8 793 9761 0.00 2.05 0.00 0.000 4 0.000 0.035 2866 962 2628

9804 0.84 220.4 677.3 14.2 795 9808 0.00 2.17 0.00 0.000 6 0.000 0.035 2867 2376 2628

10137 0.85 229.9 631.9 12.5 811 10148 0.00 0.00 9.15 1.071 6 0.000 0.000 2867 2377 2593

10448 0.88 259.8 596.5 11.0 826 10478 0.00 2.25 25.60 1.140 4 0.000 0.054 2866 3764 2472

10546 0.83 259.8 583.5 13.8 830 10552 0.00 2.12 0.00 0.000 6 0.000 0.029 2873 2375 2469

10864 0.83 259.8 542.5 14.8 846 10868 0.00 2.25 0.00 0.000 4 0.000 0.054 2872 3764 2468

10978 0.75 259.8 520.9 20.9 851 10983 0.22 2.12 0.00 0.000 6 0.183 0.030 2824 2355 2467

11304 0.96 259.8 466.8 17.1 875 11308 0.20 2.08 0.00 0.000 4 0.075 0.033 2911 980 2466

11383 0.96 259.8 450.9 19.1 882 11387 0.00 2.15 0.00 0.000 6 0.000 0.036 2912 2364 2466

11718 0.91 259.8 387.2 17.1 913 11722 0.15 2.22 0.00 0.000 4 0.183 0.051 2875 3762 2466

11836 0.91 259.8 366.4 16.8 923 11840 0.00 2.05 0.00 0.000 6 0.000 0.029 2882 2400 2466

12173 0.96 259.8 315.4 14.0 954 12177 0.00 2.17 0.00 0.000 4 0.000 0.053 2882 3753 2465

12224 0.90 259.8 306.6 15.7 958 12230 0.00 2.05 0.00 0.000 6 0.000 0.029 2892 2367 2465

12566 0.90 259.8 257.8 14.0 1015 12572 0.00 2.08 0.00 0.000 4 0.000 0.033 2895 974 2465

12686 0.99 259.8 241.0 15.0 1036 12693 0.00 2.15 0.00 0.000 6 0.000 0.035 2895 2380 2465

13032 0.99 259.8 189.6 14.2 1097 13038 0.00 2.12 0.00 0.000 4 0.000 0.033 2895 975 2465

13221 1.14 259.8 158.6 19.5 1130 13228 0.15 2.12 0.00 0.000 6 0.080 0.035 2954 2365 2465

13568 1.03 259.8 94.6 14.2 1191 13575 0.15 2.20 0.00 0.000 4 0.183 0.048 2917 3760 2465

13691 0.93 268.0 79.3 12.6 1212 13707 0.17 2.08 7.47 0.686 6 0.183 0.028 2881 2352 2438

14051 1.14 300.3 51.5 10.9 1274 14086 0.17 2.10 27.55 0.719 4 0.078 0.031 2965 983 2306

14230 1.18 331.9 24.9 10.9 1305 14261 0.00 2.08 25.60 0.685 6 0.000 0.031 2965 2346 2178

14486 end climb: SURFACE_DEPTH_REACHED

state 14486 begin surface coast

14649 end surface coast: CONTROL_FINISHED_OK

state 14649 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	517	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	76	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-19307.27	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	091837,2453.210,12220.119,30,1.4,31,-3.5	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	2.79	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-70.9	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	092519,2453.281,12219.990,9,1.6,14,-3.5	MHEAD_RNG_PITCHd_Wd	98.1,47887,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1100

FINISH	1.9,1.021591	_24V_AH	22.9,90.684
SM_CCo	14669,107.20,0.657,0,0,1594,475.15	_10V_AH	10.6,47.950
SM_GC	3.09,0.00,0.00,107.20,0.000,0.000,0.657,138,2348,1594,-7.63,-0.99,475.15	DATA_FILE_SIZE	72676,1379
IRIDIUM_FIX	2441.81,12219.71,121198,050557	CAP_FILE_SIZE	156213,0
TT8_MAMPS	0.029146	CFSIZE	260165632,184516608
HUMID	1809	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.28747	CURRENT	0.121,194.3,1
TCM_TEMP	24.00	GPS	180809,133306,2451.904,12221.619,26,1.0,27,-3.5
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	241	154.09	SBE_CT	938	24	515.64
Roll_motor	124	55	157.67	Optode	985	33	744.97
VBD_pump_during_apogee	382	1381	12099.74	WL_BB2F	0	105	0.00
VBD_pump_during_surface	107	657	1613.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.02	nil	0	0	0.00
Iridium_during_connect	32	160	119.23	nil	0	0	0.00
Iridium_during_xfer	181	223	926.60
Transponder_ping	9	420	86.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.91
TT8	2480	19	520.65
LPSleep	8868	2	205.86
TT8_Active	617	19	129.66
TT8_Sampling	2509	39	1058.51
TT8_CF8	699	45	339.83
TT8_Kalman	0	81	0.00
Analog_circuits	1879	12	239.06
GPS_charging	0	0	0.00
Compass	2450	8	207.78
RAFOS	0	0	0.00
Transponder	54	30	17.30

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.50	-121.7	0.0	0.0	0	39	0.00	0.00	-21.12	0.000	2	0.000	0.000	137	2368	2092
43	-1.50	-121.7	3.0	-1.2	3	123	8.32	2.20	-64.62	0.000	4	0.242	0.054	2081	3766	3985
244	-0.55	-121.7	54.5	-35.1	37	252	1.20	2.03	0.00	0.000	6	0.195	0.023	2397	2383	3988
593	-1.02	-121.7	87.3	-8.2	98	599	0.38	2.17	0.00	0.000	4	0.056	0.048	2235	3763	3990
635	-0.82	-121.7	93.9	-19.1	105	643	0.28	2.00	0.00	0.000	6	0.170	0.025	2309	2371	3991
984	-0.96	-121.7	136.5	-12.1	166	990	0.12	2.20	0.00	0.000	4	0.077	0.047	2258	3768	3991
1033	-0.88	-121.7	143.9	-16.6	174	1040	0.15	1.95	0.00	0.000	6	0.172	0.025	2296	2406	3991
1381	-1.05	-121.7	185.9	-10.3	235	1387	0.15	2.12	0.00	0.000	4	0.076	0.047	2232	3757	3992
1526	-0.93	-121.7	206.9	-14.3	260	1533	0.17	1.90	0.00	0.000	6	0.168	0.026	2278	2433	3992
1874	-1.03	-121.7	245.7	-11.4	321	1881	0.00	2.08	0.00	0.000	4	0.000	0.027	2278	1000	3992
1917	-1.19	-121.7	250.7	-11.1	328	1923	0.22	2.20	0.00	0.000	6	0.067	0.033	2189	2456	3992
2264	-0.94	-121.7	317.4	-20.3	382	2268	0.28	2.05	0.00	0.000	4	0.193	0.048	2257	3766	3992
2496	-1.03	-121.7	348.0	-12.0	402	2499	0.00	1.85	0.00	0.000	6	0.000	0.026	2256	2476	3992
2827	-1.12	-121.7	379.9	-10.6	433	2832	0.12	2.05	0.00	0.000	4	0.081	0.050	2205	3767	3992
2911	-0.98	-121.7	392.5	-15.6	440	2918	0.22	1.85	0.00	0.000	6	0.173	0.027	2264	2487	3992
3237	-1.14	-121.7	438.8	-15.8	471	3239	0.15	0.00	0.00	0.000	6	0.077	0.000	2205	2486	3991
3565	-1.09	-121.7	504.9	-20.6	501	3569	0.00	2.03	0.00	0.000	4	0.000	0.052	2204	3761	3990
3680	-1.03	-121.7	528.6	-20.1	506	3684	0.15	1.85	0.00	0.000	6	0.168	0.028	2242	2502	3990
4017	-1.16	-121.7	582.4	-15.3	522	4021	0.12	2.03	0.00	0.000	4	0.083	0.053	2192	3767	3988
4096	-1.05	-121.7	598.1	-20.6	525	4100	0.17	1.83	0.00	0.000	6	0.177	0.028	2236	2521	3986
4418	-1.16	-121.7	647.8	-14.4	541	4419	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2521	3986
4728	-1.28	-121.7	686.7	-11.9	556	4733	0.17	1.98	0.00	0.000	4	0.074	0.053	2163	3754	3983
4801	-1.07	-121.7	699.4	-18.8	559	4806	0.28	1.83	0.00	0.000	6	0.176	0.028	2234	2507	3982
5133	-1.20	-121.7	740.7	-11.6	575	5135	0.12	0.00	0.00	0.000	6	0.086	0.000	2188	2507	3981
5439	-1.15	-121.7	778.0	-12.3	590	5442	0.00	2.03	0.00	0.000	4	0.000	0.054	2180	3767	3979
5576	-0.95	-121.7	796.1	-15.4	596	5580	0.32	1.83	0.00	0.000	6	0.172	0.028	2267	2526	3978
5912	-1.22	-121.7	826.0	-9.3	612	5916	0.20	2.00	0.00	0.000	4	0.075	0.053	2180	3767	3976
6020	-1.11	-121.7	842.1	-15.3	616	6026	0.15	1.80	0.00	0.000	6	0.182	0.028	2215	2548	3976
6336	-1.11	-121.7	881.0	-14.2	632	6340	0.00	2.30	0.00	0.000	4	0.000	0.030	2216	999	3974
6403	-1.19	-121.7	891.6	-15.7	635	6408	0.00	2.38	0.00	0.000	6	0.000	0.039	2215	2525	3974
6730	-1.29	-121.7	930.2	-11.2	651	6734	0.15	1.98	0.00	0.000	4	0.084	0.054	2152	3764	3972
6879	-1.06	-121.7	953.2	-15.0	657	6883	0.30	1.77	0.00	0.000	6	0.179	0.029	2230	2565	3972
7202	-1.22	-121.7	978.7	-8.5	673	7206	0.12	1.92	0.00	0.000	4	0.087	0.054	2180	3754	3970
7231	-1.22	-121.7	981.8	-12.1	674	7234	0.00	1.77	0.00	0.000	6	0.000	0.030	2180	2558	3970
7308	end dive: TARGET_DEPTH_EXCEEDED
state	7308	begin apogee
7317	-0.27	0.0	990.9	11.3	678	7422	1.10	0.00	96.15	1.381	6	0.174	0.000	2484	2385	3532
7423	end apogee: CONTROL_FINISHED_OK
state	7423	begin climb
7426	1.50	121.7	991.1	0.0	683	7541	1.65	2.40	105.88	1.359	4	0.067	0.050	3059	3762	3033
7663	0.68	121.7	972.0	18.1	694	7669	1.08	2.15	0.00	0.000	6	0.221	0.026	2805	2339	3031
7991	0.76	183.6	939.1	8.7	710	8048	0.00	2.15	51.90	1.327	4	0.000	0.032	2813	969	2782
8083	0.92	213.5	930.3	11.0	713	8117	0.17	2.20	26.92	1.276	6	0.077	0.036	2876	2356	2661
8431	0.87	213.5	882.9	13.8	730	8435	0.00	2.25	0.00	0.000	4	0.000	0.055	2876	3758	2655
8494	0.71	213.5	872.1	16.8	733	8498	0.30	2.10	0.00	0.000	6	0.187	0.028	2808	2373	2654
8828	0.88	220.4	832.7	12.7	749	8839	0.17	2.12	6.28	1.044	4	0.084	0.031	2881	959	2633
8930	0.88	220.4	817.6	14.7	753	8937	0.00	2.15	0.00	0.000	6	0.000	0.037	2881	2344	2632
9247	0.83	220.4	767.5	16.7	769	9252	0.12	2.25	0.00	0.000	4	0.193	0.053	2852	3755	2630
9424	0.77	220.4	735.3	19.7	777	9427	0.00	2.12	0.00	0.000	6	0.000	0.029	2859	2335	2629
9758	0.77	220.4	684.0	13.8	793	9761	0.00	2.05	0.00	0.000	4	0.000	0.035	2866	962	2628
9804	0.84	220.4	677.3	14.2	795	9808	0.00	2.17	0.00	0.000	6	0.000	0.035	2867	2376	2628
10137	0.85	229.9	631.9	12.5	811	10148	0.00	0.00	9.15	1.071	6	0.000	0.000	2867	2377	2593
10448	0.88	259.8	596.5	11.0	826	10478	0.00	2.25	25.60	1.140	4	0.000	0.054	2866	3764	2472
10546	0.83	259.8	583.5	13.8	830	10552	0.00	2.12	0.00	0.000	6	0.000	0.029	2873	2375	2469
10864	0.83	259.8	542.5	14.8	846	10868	0.00	2.25	0.00	0.000	4	0.000	0.054	2872	3764	2468
10978	0.75	259.8	520.9	20.9	851	10983	0.22	2.12	0.00	0.000	6	0.183	0.030	2824	2355	2467
11304	0.96	259.8	466.8	17.1	875	11308	0.20	2.08	0.00	0.000	4	0.075	0.033	2911	980	2466
11383	0.96	259.8	450.9	19.1	882	11387	0.00	2.15	0.00	0.000	6	0.000	0.036	2912	2364	2466
11718	0.91	259.8	387.2	17.1	913	11722	0.15	2.22	0.00	0.000	4	0.183	0.051	2875	3762	2466
11836	0.91	259.8	366.4	16.8	923	11840	0.00	2.05	0.00	0.000	6	0.000	0.029	2882	2400	2466
12173	0.96	259.8	315.4	14.0	954	12177	0.00	2.17	0.00	0.000	4	0.000	0.053	2882	3753	2465
12224	0.90	259.8	306.6	15.7	958	12230	0.00	2.05	0.00	0.000	6	0.000	0.029	2892	2367	2465
12566	0.90	259.8	257.8	14.0	1015	12572	0.00	2.08	0.00	0.000	4	0.000	0.033	2895	974	2465
12686	0.99	259.8	241.0	15.0	1036	12693	0.00	2.15	0.00	0.000	6	0.000	0.035	2895	2380	2465
13032	0.99	259.8	189.6	14.2	1097	13038	0.00	2.12	0.00	0.000	4	0.000	0.033	2895	975	2465
13221	1.14	259.8	158.6	19.5	1130	13228	0.15	2.12	0.00	0.000	6	0.080	0.035	2954	2365	2465
13568	1.03	259.8	94.6	14.2	1191	13575	0.15	2.20	0.00	0.000	4	0.183	0.048	2917	3760	2465
13691	0.93	268.0	79.3	12.6	1212	13707	0.17	2.08	7.47	0.686	6	0.183	0.028	2881	2352	2438
14051	1.14	300.3	51.5	10.9	1274	14086	0.17	2.10	27.55	0.719	4	0.078	0.031	2965	983	2306
14230	1.18	331.9	24.9	10.9	1305	14261	0.00	2.08	25.60	0.685	6	0.000	0.031	2965	2346	2178
14486	end climb: SURFACE_DEPTH_REACHED
state	14486	begin surface coast
14649	end surface coast: CONTROL_FINISHED_OK
state	14649	begin surface