Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 521 * 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 521 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 66 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -19394.27 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 -19394.27

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 66 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 36 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 521 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 014237,2449.290,12229.151,36,1.1,36,-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 2.78 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -69.8 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 014926,2449.292,12229.208,17,1.2,17,-3.5 MHEAD_RNG_PITCHd_Wd 98.2,30914,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1187

Post-dive calculations and measurements:

FINISH 1.9,0.997710 _24V_AH 22.8,91.372

SM_CCo 14032,89.47,0.670,0,0,1594,475.15 _10V_AH 10.6,48.279

SM_GC 2.91,0.00,0.00,89.47,0.000,0.000,0.670,137,2438,1594,-7.64,1.55,475.15 DATA_FILE_SIZE 69608,1305

IRIDIUM_FIX 2439.44,12227.00,121198,212154 CAP_FILE_SIZE 147170,0

TT8_MAMPS 0.029146 CFSIZE 260165632,184225792

HUMID 1802 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.25817 CURRENT 0.290,111.0,1

TCM_TEMP 23.50 GPS 190809,054630,2448.270,12233.442,40,1.2,40,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 240 147.51 SBE_CT 888 24 486.14

Roll_motor 125 57 165.09 Optode 903 33 679.79

VBD_pump_during_apogee 400 1412 12903.62 WL_BB2F 0 105 0.00

VBD_pump_during_surface 89 670 1367.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.51 nil 0 0 0.00

Iridium_during_connect 36 160 134.71 nil 0 0 0.00

Iridium_during_xfer 182 223 926.94

Transponder_ping 8 420 76.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.08

TT8 2321 19 487.32

LPSleep 8646 2 200.72

TT8_Active 628 19 131.86

TT8_Sampling 2244 39 946.94

TT8_CF8 684 45 332.31

TT8_Kalman 0 81 0.00

Analog_circuits 1779 12 226.41

GPS_charging 0 0 0.00

Compass 2189 8 185.68

RAFOS 0 0 0.00

Transponder 60 30 19.22

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 -28.60 0.000 2 0.000 0.000 136 2370 2254

50 -1.50 -121.7 3.0 -0.9 5 130 8.30 2.12 -63.00 0.000 4 0.240 0.043 2094 982 3990

234 -0.87 -121.7 43.2 -31.9 36 241 0.77 2.15 0.00 0.000 6 0.189 0.035 2291 2386 3992

581 -0.94 -121.7 104.9 -16.8 97 587 0.00 2.15 0.00 0.000 4 0.000 0.049 2282 3758 3993

784 -0.94 -121.7 137.5 -17.1 133 790 0.00 1.95 0.00 0.000 6 0.000 0.027 2282 2413 3995

1132 -1.04 -121.7 178.9 -10.3 194 1140 0.12 2.12 0.00 0.000 4 0.079 0.048 2220 3755 3996

1221 -0.86 -121.7 192.2 -17.4 209 1228 0.30 1.90 0.00 0.000 6 0.169 0.027 2303 2446 3996

1572 -1.07 -121.7 234.7 -11.7 270 1579 0.17 2.08 0.00 0.000 4 0.071 0.049 2219 3754 3997

1609 -0.96 -121.7 240.9 -17.2 276 1616 0.17 1.88 0.00 0.000 6 0.170 0.027 2264 2457 3996

1959 -1.08 -121.7 288.1 -11.8 337 1965 0.00 2.05 0.00 0.000 4 0.000 0.050 2262 3764 3996

2068 -1.17 -121.7 302.2 -13.4 355 2074 0.17 1.85 0.00 0.000 6 0.073 0.026 2191 2486 3997

2393 -1.01 -121.7 360.0 -18.1 386 2395 0.22 0.00 0.00 0.000 6 0.170 0.000 2251 2485 3996

2711 -1.14 -121.7 404.3 -14.2 416 2715 0.12 2.03 0.00 0.000 4 0.084 0.051 2193 3757 3997

2762 -1.00 -121.7 413.7 -20.0 420 2768 0.22 1.83 0.00 0.000 6 0.172 0.027 2252 2498 3997

3088 -1.12 -121.7 461.5 -14.2 451 3092 0.00 2.00 0.00 0.000 4 0.000 0.051 2246 3757 3996

3243 -1.22 -121.7 483.4 -13.0 464 3249 0.17 1.80 0.00 0.000 6 0.071 0.028 2177 2529 3996

3576 -1.07 -121.7 540.5 -16.4 485 3578 0.20 0.00 0.00 0.000 6 0.173 0.000 2228 2528 3994

3882 -1.15 -121.7 580.3 -12.1 500 3886 0.00 1.95 0.00 0.000 4 0.000 0.053 2221 3751 3993

3917 -1.15 -121.7 584.9 -13.3 501 3920 0.00 1.77 0.00 0.000 6 0.000 0.029 2221 2545 3993

4239 -1.20 -121.7 629.6 -15.5 517 4242 0.00 1.95 0.00 0.000 4 0.000 0.054 2218 3759 3991

4262 -1.20 -121.7 633.4 -16.1 518 4266 0.00 1.80 0.00 0.000 6 0.000 0.029 2218 2539 3991

4597 -1.25 -121.7 686.4 -15.8 534 4599 0.12 0.00 0.00 0.000 6 0.084 0.000 2168 2538 3990

4905 -1.12 -121.7 742.5 -17.5 549 4909 0.17 1.98 0.00 0.000 4 0.189 0.053 2208 3762 3987

5041 -1.12 -121.7 762.8 -14.7 555 5045 0.00 1.80 0.00 0.000 6 0.000 0.030 2208 2545 3987

5375 -1.16 -121.7 809.8 -13.8 571 5379 0.00 2.30 0.00 0.000 4 0.000 0.030 2208 997 3985

5415 -1.24 -121.7 815.5 -14.0 572 5421 0.00 2.40 0.00 0.000 6 0.000 0.038 2208 2543 3985

5733 -1.29 -121.7 860.0 -14.0 588 5737 0.12 1.92 0.00 0.000 4 0.087 0.053 2153 3756 3983

5784 -1.08 -121.7 869.1 -19.1 590 5789 0.30 1.75 0.00 0.000 6 0.181 0.030 2230 2573 3983

6116 -1.22 -121.7 910.4 -11.8 606 6121 0.12 2.35 0.00 0.000 4 0.083 0.028 2183 1000 3982

6139 -1.28 -121.7 913.9 -12.8 607 6143 0.00 2.42 0.00 0.000 6 0.000 0.040 2179 2554 3982

6462 -1.23 -121.7 960.4 -13.8 623 6466 0.00 1.92 0.00 0.000 4 0.000 0.058 2178 3761 3981

6547 -1.14 -121.7 973.4 -15.8 626 6554 0.12 1.75 0.00 0.000 6 0.187 0.031 2206 2585 3980

6674 end dive: TARGET_DEPTH_EXCEEDED

state 6674 begin apogee

6682 -0.27 0.0 990.4 12.9 633 6782 0.98 0.00 96.40 1.412 6 0.161 0.000 2488 2403 3532

6782 end apogee: CONTROL_FINISHED_OK

state 6782 begin climb

6787 1.50 121.7 993.4 0.0 638 6901 1.62 2.35 106.05 1.371 4 0.061 0.050 3065 3755 3034

6975 0.65 121.7 987.9 15.6 646 6981 1.15 2.17 0.00 0.000 6 0.228 0.028 2797 2350 3032

7293 0.77 182.6 958.9 8.8 661 7350 0.00 2.40 51.42 1.343 4 0.000 0.054 2797 3747 2787

7396 0.77 182.6 947.1 13.7 665 7402 0.00 2.15 0.00 0.000 6 0.000 0.028 2803 2359 2783

7714 0.92 204.2 909.5 11.6 681 7739 0.17 2.33 18.80 1.276 4 0.081 0.055 2876 3743 2699

7785 0.70 204.2 898.3 17.1 684 7790 0.30 2.12 0.00 0.000 6 0.191 0.028 2809 2353 2697

8106 0.86 221.8 859.5 11.9 700 8126 0.15 0.00 16.45 1.251 6 0.087 0.000 2864 2350 2627

8436 0.86 221.8 811.0 14.9 716 8440 0.00 2.28 0.00 0.000 4 0.000 0.054 2864 3753 2624

8482 0.73 221.8 803.0 17.4 718 8486 0.22 2.10 0.00 0.000 6 0.191 0.029 2816 2366 2623

8805 0.90 240.6 763.8 11.8 734 8829 0.15 2.22 16.33 1.214 4 0.084 0.035 2882 952 2550

8863 0.90 240.6 755.7 13.5 736 8867 0.00 2.22 0.00 0.000 6 0.000 0.037 2882 2374 2549

9179 0.90 240.6 710.1 14.5 751 9183 0.00 2.20 0.00 0.000 4 0.000 0.054 2882 3753 2548

9265 0.74 240.6 696.2 16.2 754 9273 0.28 2.10 0.00 0.000 6 0.190 0.029 2820 2352 2547

9581 0.91 240.6 655.2 13.5 770 9586 0.15 2.28 0.00 0.000 4 0.084 0.054 2877 3755 2546

9610 0.86 240.6 650.3 18.7 771 9614 0.00 2.05 0.00 0.000 6 0.000 0.030 2886 2400 2546

9933 0.86 240.6 593.5 16.7 787 9936 0.00 2.20 0.00 0.000 4 0.000 0.054 2886 3764 2546

10001 0.70 240.6 581.2 17.6 790 10006 0.32 2.10 0.00 0.000 6 0.192 0.031 2811 2375 2545

10331 0.91 240.6 538.7 13.5 806 10336 0.17 2.25 0.00 0.000 4 0.081 0.054 2879 3764 2544

10371 0.78 240.6 531.6 19.2 808 10376 0.20 2.08 0.00 0.000 6 0.186 0.030 2837 2379 2544

10695 0.91 240.6 485.3 14.2 828 10699 0.10 2.22 0.00 0.000 4 0.096 0.054 2875 3751 2544

10770 0.81 240.6 472.5 17.3 834 10775 0.17 2.03 0.00 0.000 6 0.189 0.030 2842 2393 2544

11103 1.00 294.8 438.7 9.3 865 11152 0.17 0.00 45.17 1.050 6 0.078 0.000 2909 2389 2330

11470 1.00 294.8 382.9 17.8 900 11473 0.00 2.22 0.00 0.000 4 0.000 0.053 2909 3761 2323

11517 0.90 294.8 373.8 20.9 904 11521 0.20 2.03 0.00 0.000 6 0.185 0.030 2868 2420 2322

11849 1.03 294.8 317.4 16.4 935 11854 0.12 2.17 0.00 0.000 4 0.087 0.053 2915 3760 2322

11906 0.92 294.8 305.6 21.6 939 11913 0.17 2.00 0.00 0.000 6 0.188 0.031 2881 2424 2321

12249 1.04 302.7 253.5 12.6 997 12263 0.10 2.25 7.03 0.799 4 0.095 0.035 2922 978 2296

12299 1.11 302.7 246.7 13.2 1005 12305 0.00 2.25 0.00 0.000 6 0.000 0.036 2922 2430 2296

12645 1.11 302.7 199.0 15.5 1066 12652 0.00 2.20 0.00 0.000 4 0.000 0.031 2928 975 2295

12681 1.17 302.7 193.0 15.2 1072 12687 0.00 2.25 0.00 0.000 6 0.000 0.036 2928 2431 2295

13027 1.17 302.7 133.7 18.1 1133 13033 0.00 2.08 0.00 0.000 4 0.000 0.054 2928 3753 2295

13124 1.11 302.7 113.8 19.2 1150 13133 0.00 1.92 0.00 0.000 6 0.000 0.028 2937 2442 2295

13476 1.11 302.7 66.0 16.5 1211 13482 0.00 2.20 0.00 0.000 4 0.000 0.032 2946 962 2295

13716 1.29 356.2 30.5 9.3 1253 13764 0.15 2.25 43.15 0.707 6 0.079 0.035 3002 2435 2079

13988 end climb: SURFACE_DEPTH_REACHED

state 13988 begin surface coast

14012 end surface coast: CONTROL_FINISHED_OK

state 14012 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	521	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	66	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-19394.27	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	014237,2449.290,12229.151,36,1.1,36,-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	2.78	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-69.8	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	014926,2449.292,12229.208,17,1.2,17,-3.5	MHEAD_RNG_PITCHd_Wd	98.2,30914,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1187

FINISH	1.9,0.997710	_24V_AH	22.8,91.372
SM_CCo	14032,89.47,0.670,0,0,1594,475.15	_10V_AH	10.6,48.279
SM_GC	2.91,0.00,0.00,89.47,0.000,0.000,0.670,137,2438,1594,-7.64,1.55,475.15	DATA_FILE_SIZE	69608,1305
IRIDIUM_FIX	2439.44,12227.00,121198,212154	CAP_FILE_SIZE	147170,0
TT8_MAMPS	0.029146	CFSIZE	260165632,184225792
HUMID	1802	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.25817	CURRENT	0.290,111.0,1
TCM_TEMP	23.50	GPS	190809,054630,2448.270,12233.442,40,1.2,40,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	240	147.51	SBE_CT	888	24	486.14
Roll_motor	125	57	165.09	Optode	903	33	679.79
VBD_pump_during_apogee	400	1412	12903.62	WL_BB2F	0	105	0.00
VBD_pump_during_surface	89	670	1367.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.51	nil	0	0	0.00
Iridium_during_connect	36	160	134.71	nil	0	0	0.00
Iridium_during_xfer	182	223	926.94
Transponder_ping	8	420	76.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.08
TT8	2321	19	487.32
LPSleep	8646	2	200.72
TT8_Active	628	19	131.86
TT8_Sampling	2244	39	946.94
TT8_CF8	684	45	332.31
TT8_Kalman	0	81	0.00
Analog_circuits	1779	12	226.41
GPS_charging	0	0	0.00
Compass	2189	8	185.68
RAFOS	0	0	0.00
Transponder	60	30	19.22

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	-28.60	0.000	2	0.000	0.000	136	2370	2254
50	-1.50	-121.7	3.0	-0.9	5	130	8.30	2.12	-63.00	0.000	4	0.240	0.043	2094	982	3990
234	-0.87	-121.7	43.2	-31.9	36	241	0.77	2.15	0.00	0.000	6	0.189	0.035	2291	2386	3992
581	-0.94	-121.7	104.9	-16.8	97	587	0.00	2.15	0.00	0.000	4	0.000	0.049	2282	3758	3993
784	-0.94	-121.7	137.5	-17.1	133	790	0.00	1.95	0.00	0.000	6	0.000	0.027	2282	2413	3995
1132	-1.04	-121.7	178.9	-10.3	194	1140	0.12	2.12	0.00	0.000	4	0.079	0.048	2220	3755	3996
1221	-0.86	-121.7	192.2	-17.4	209	1228	0.30	1.90	0.00	0.000	6	0.169	0.027	2303	2446	3996
1572	-1.07	-121.7	234.7	-11.7	270	1579	0.17	2.08	0.00	0.000	4	0.071	0.049	2219	3754	3997
1609	-0.96	-121.7	240.9	-17.2	276	1616	0.17	1.88	0.00	0.000	6	0.170	0.027	2264	2457	3996
1959	-1.08	-121.7	288.1	-11.8	337	1965	0.00	2.05	0.00	0.000	4	0.000	0.050	2262	3764	3996
2068	-1.17	-121.7	302.2	-13.4	355	2074	0.17	1.85	0.00	0.000	6	0.073	0.026	2191	2486	3997
2393	-1.01	-121.7	360.0	-18.1	386	2395	0.22	0.00	0.00	0.000	6	0.170	0.000	2251	2485	3996
2711	-1.14	-121.7	404.3	-14.2	416	2715	0.12	2.03	0.00	0.000	4	0.084	0.051	2193	3757	3997
2762	-1.00	-121.7	413.7	-20.0	420	2768	0.22	1.83	0.00	0.000	6	0.172	0.027	2252	2498	3997
3088	-1.12	-121.7	461.5	-14.2	451	3092	0.00	2.00	0.00	0.000	4	0.000	0.051	2246	3757	3996
3243	-1.22	-121.7	483.4	-13.0	464	3249	0.17	1.80	0.00	0.000	6	0.071	0.028	2177	2529	3996
3576	-1.07	-121.7	540.5	-16.4	485	3578	0.20	0.00	0.00	0.000	6	0.173	0.000	2228	2528	3994
3882	-1.15	-121.7	580.3	-12.1	500	3886	0.00	1.95	0.00	0.000	4	0.000	0.053	2221	3751	3993
3917	-1.15	-121.7	584.9	-13.3	501	3920	0.00	1.77	0.00	0.000	6	0.000	0.029	2221	2545	3993
4239	-1.20	-121.7	629.6	-15.5	517	4242	0.00	1.95	0.00	0.000	4	0.000	0.054	2218	3759	3991
4262	-1.20	-121.7	633.4	-16.1	518	4266	0.00	1.80	0.00	0.000	6	0.000	0.029	2218	2539	3991
4597	-1.25	-121.7	686.4	-15.8	534	4599	0.12	0.00	0.00	0.000	6	0.084	0.000	2168	2538	3990
4905	-1.12	-121.7	742.5	-17.5	549	4909	0.17	1.98	0.00	0.000	4	0.189	0.053	2208	3762	3987
5041	-1.12	-121.7	762.8	-14.7	555	5045	0.00	1.80	0.00	0.000	6	0.000	0.030	2208	2545	3987
5375	-1.16	-121.7	809.8	-13.8	571	5379	0.00	2.30	0.00	0.000	4	0.000	0.030	2208	997	3985
5415	-1.24	-121.7	815.5	-14.0	572	5421	0.00	2.40	0.00	0.000	6	0.000	0.038	2208	2543	3985
5733	-1.29	-121.7	860.0	-14.0	588	5737	0.12	1.92	0.00	0.000	4	0.087	0.053	2153	3756	3983
5784	-1.08	-121.7	869.1	-19.1	590	5789	0.30	1.75	0.00	0.000	6	0.181	0.030	2230	2573	3983
6116	-1.22	-121.7	910.4	-11.8	606	6121	0.12	2.35	0.00	0.000	4	0.083	0.028	2183	1000	3982
6139	-1.28	-121.7	913.9	-12.8	607	6143	0.00	2.42	0.00	0.000	6	0.000	0.040	2179	2554	3982
6462	-1.23	-121.7	960.4	-13.8	623	6466	0.00	1.92	0.00	0.000	4	0.000	0.058	2178	3761	3981
6547	-1.14	-121.7	973.4	-15.8	626	6554	0.12	1.75	0.00	0.000	6	0.187	0.031	2206	2585	3980
6674	end dive: TARGET_DEPTH_EXCEEDED
state	6674	begin apogee
6682	-0.27	0.0	990.4	12.9	633	6782	0.98	0.00	96.40	1.412	6	0.161	0.000	2488	2403	3532
6782	end apogee: CONTROL_FINISHED_OK
state	6782	begin climb
6787	1.50	121.7	993.4	0.0	638	6901	1.62	2.35	106.05	1.371	4	0.061	0.050	3065	3755	3034
6975	0.65	121.7	987.9	15.6	646	6981	1.15	2.17	0.00	0.000	6	0.228	0.028	2797	2350	3032
7293	0.77	182.6	958.9	8.8	661	7350	0.00	2.40	51.42	1.343	4	0.000	0.054	2797	3747	2787
7396	0.77	182.6	947.1	13.7	665	7402	0.00	2.15	0.00	0.000	6	0.000	0.028	2803	2359	2783
7714	0.92	204.2	909.5	11.6	681	7739	0.17	2.33	18.80	1.276	4	0.081	0.055	2876	3743	2699
7785	0.70	204.2	898.3	17.1	684	7790	0.30	2.12	0.00	0.000	6	0.191	0.028	2809	2353	2697
8106	0.86	221.8	859.5	11.9	700	8126	0.15	0.00	16.45	1.251	6	0.087	0.000	2864	2350	2627
8436	0.86	221.8	811.0	14.9	716	8440	0.00	2.28	0.00	0.000	4	0.000	0.054	2864	3753	2624
8482	0.73	221.8	803.0	17.4	718	8486	0.22	2.10	0.00	0.000	6	0.191	0.029	2816	2366	2623
8805	0.90	240.6	763.8	11.8	734	8829	0.15	2.22	16.33	1.214	4	0.084	0.035	2882	952	2550
8863	0.90	240.6	755.7	13.5	736	8867	0.00	2.22	0.00	0.000	6	0.000	0.037	2882	2374	2549
9179	0.90	240.6	710.1	14.5	751	9183	0.00	2.20	0.00	0.000	4	0.000	0.054	2882	3753	2548
9265	0.74	240.6	696.2	16.2	754	9273	0.28	2.10	0.00	0.000	6	0.190	0.029	2820	2352	2547
9581	0.91	240.6	655.2	13.5	770	9586	0.15	2.28	0.00	0.000	4	0.084	0.054	2877	3755	2546
9610	0.86	240.6	650.3	18.7	771	9614	0.00	2.05	0.00	0.000	6	0.000	0.030	2886	2400	2546
9933	0.86	240.6	593.5	16.7	787	9936	0.00	2.20	0.00	0.000	4	0.000	0.054	2886	3764	2546
10001	0.70	240.6	581.2	17.6	790	10006	0.32	2.10	0.00	0.000	6	0.192	0.031	2811	2375	2545
10331	0.91	240.6	538.7	13.5	806	10336	0.17	2.25	0.00	0.000	4	0.081	0.054	2879	3764	2544
10371	0.78	240.6	531.6	19.2	808	10376	0.20	2.08	0.00	0.000	6	0.186	0.030	2837	2379	2544
10695	0.91	240.6	485.3	14.2	828	10699	0.10	2.22	0.00	0.000	4	0.096	0.054	2875	3751	2544
10770	0.81	240.6	472.5	17.3	834	10775	0.17	2.03	0.00	0.000	6	0.189	0.030	2842	2393	2544
11103	1.00	294.8	438.7	9.3	865	11152	0.17	0.00	45.17	1.050	6	0.078	0.000	2909	2389	2330
11470	1.00	294.8	382.9	17.8	900	11473	0.00	2.22	0.00	0.000	4	0.000	0.053	2909	3761	2323
11517	0.90	294.8	373.8	20.9	904	11521	0.20	2.03	0.00	0.000	6	0.185	0.030	2868	2420	2322
11849	1.03	294.8	317.4	16.4	935	11854	0.12	2.17	0.00	0.000	4	0.087	0.053	2915	3760	2322
11906	0.92	294.8	305.6	21.6	939	11913	0.17	2.00	0.00	0.000	6	0.188	0.031	2881	2424	2321
12249	1.04	302.7	253.5	12.6	997	12263	0.10	2.25	7.03	0.799	4	0.095	0.035	2922	978	2296
12299	1.11	302.7	246.7	13.2	1005	12305	0.00	2.25	0.00	0.000	6	0.000	0.036	2922	2430	2296
12645	1.11	302.7	199.0	15.5	1066	12652	0.00	2.20	0.00	0.000	4	0.000	0.031	2928	975	2295
12681	1.17	302.7	193.0	15.2	1072	12687	0.00	2.25	0.00	0.000	6	0.000	0.036	2928	2431	2295
13027	1.17	302.7	133.7	18.1	1133	13033	0.00	2.08	0.00	0.000	4	0.000	0.054	2928	3753	2295
13124	1.11	302.7	113.8	19.2	1150	13133	0.00	1.92	0.00	0.000	6	0.000	0.028	2937	2442	2295
13476	1.11	302.7	66.0	16.5	1211	13482	0.00	2.20	0.00	0.000	4	0.000	0.032	2946	962	2295
13716	1.29	356.2	30.5	9.3	1253	13764	0.15	2.25	43.15	0.707	6	0.079	0.035	3002	2435	2079
13988	end climb: SURFACE_DEPTH_REACHED
state	13988	begin surface coast
14012	end surface coast: CONTROL_FINISHED_OK
state	14012	begin surface