Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 524 * 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 524 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 79 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 -19450.65 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 -19450.65

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 79 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 524 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 134507,2449.846,12241.224,38,1.0,39,-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 2.83 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -71.7 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 135202,2450.126,12241.659,14,1.4,14,-3.5 MHEAD_RNG_PITCHd_Wd 184.5,12935,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1196

Post-dive calculations and measurements:

FINISH 1.9,1.004227 _24V_AH 23.0,91.884

SM_CCo 13995,102.03,0.645,0,0,1594,475.15 _10V_AH 10.6,48.527

SM_GC 3.21,0.00,0.00,102.03,0.000,0.000,0.645,137,2444,1594,-7.64,1.72,475.15 DATA_FILE_SIZE 69431,1299

IRIDIUM_FIX 2441.81,12236.83,131198,090959 CAP_FILE_SIZE 146407,0

TT8_MAMPS 0.029146 CFSIZE 260165632,183996416

HUMID 1757 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.3363 CURRENT 0.379, 57.7,1

TCM_TEMP 24.60 GPS 190809,174836,2449.890,12244.336,34,1.0,35,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 235 144.74 SBE_CT 882 24 487.20

Roll_motor 116 55 148.04 Optode 913 33 693.16

VBD_pump_during_apogee 386 1398 12416.80 WL_BB2F 0 105 0.00

VBD_pump_during_surface 102 645 1513.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 78.97 nil 0 0 0.00

Iridium_during_connect 41 160 153.76 nil 0 0 0.00

Iridium_during_xfer 177 223 912.02

Transponder_ping 8 420 77.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.94

TT8 2332 19 489.60

LPSleep 8543 2 198.32

TT8_Active 602 19 126.38

TT8_Sampling 2353 39 992.75

TT8_CF8 674 45 327.34

TT8_Kalman 0 81 0.00

Analog_circuits 1790 12 227.74

GPS_charging 0 0 0.00

Compass 2291 8 194.31

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -23.45 0.000 2 0.000 0.000 137 2362 2163

45 -1.50 -121.7 3.3 -2.1 4 118 8.20 2.20 -56.80 0.000 4 0.235 0.052 2086 3764 3989

289 -0.68 -121.7 75.7 -29.4 46 298 1.00 2.03 0.00 0.000 6 0.190 0.024 2357 2357 3992

638 -1.01 -121.7 109.3 -11.7 107 645 0.25 2.22 0.00 0.000 4 0.061 0.047 2244 3766 3994

725 -0.87 -121.7 125.5 -20.1 122 732 0.20 1.95 0.00 0.000 6 0.169 0.025 2297 2415 3995

1072 -1.05 -121.7 180.0 -13.5 183 1078 0.17 2.12 0.00 0.000 4 0.070 0.046 2210 3769 3996

1256 -0.89 -121.7 216.4 -18.2 215 1262 0.30 1.92 0.00 0.000 6 0.165 0.025 2294 2432 3997

1608 -1.08 -121.7 257.6 -12.8 276 1614 0.17 2.08 0.00 0.000 4 0.071 0.045 2206 3764 3997

1673 -0.90 -121.7 268.6 -18.8 287 1679 0.30 1.90 0.00 0.000 6 0.171 0.025 2288 2435 3997

2018 -1.08 -121.7 321.2 -15.6 337 2023 0.17 2.10 0.00 0.000 4 0.071 0.048 2208 3768 3997

2104 -0.89 -121.7 338.2 -21.8 344 2109 0.30 1.88 0.00 0.000 6 0.173 0.025 2289 2463 3997

2436 -1.13 -121.7 380.9 -12.2 375 2438 0.20 0.00 0.00 0.000 6 0.066 0.000 2209 2463 3997

2753 -1.13 -121.7 432.5 -16.9 405 2757 0.00 2.05 0.00 0.000 4 0.000 0.051 2205 3763 3997

2823 -1.04 -121.7 444.3 -17.8 411 2827 0.15 1.85 0.00 0.000 6 0.167 0.026 2243 2488 3997

3154 -1.15 -121.7 489.1 -12.4 442 3158 0.00 2.03 0.00 0.000 4 0.000 0.053 2235 3760 3996

3317 -1.21 -121.7 512.4 -15.8 453 3321 0.08 1.85 0.00 0.000 6 0.074 0.028 2182 2511 3995

3652 -1.11 -121.7 573.2 -18.7 469 3656 0.15 2.00 0.00 0.000 4 0.176 0.050 2211 3767 3993

3770 -1.11 -121.7 592.7 -16.2 474 3774 0.00 1.83 0.00 0.000 6 0.000 0.028 2211 2538 3993

4097 -1.11 -121.7 638.5 -13.1 490 4101 0.00 1.95 0.00 0.000 4 0.000 0.053 2208 3761 3991

4148 -1.11 -121.7 646.3 -14.8 492 4151 0.00 1.77 0.00 0.000 6 0.000 0.028 2208 2548 3990

4476 -1.11 -121.7 692.7 -13.6 508 4478 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 2548 3989

4785 -1.11 -121.7 734.3 -13.3 523 4788 0.00 1.95 0.00 0.000 4 0.000 0.054 2205 3766 3987

4887 -1.11 -121.7 748.7 -13.0 527 4891 0.00 1.80 0.00 0.000 6 0.000 0.029 2205 2550 3986

5210 -1.11 -121.7 791.1 -12.7 543 5211 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2550 3984

5519 -1.16 -121.7 833.4 -13.6 558 5523 0.00 2.30 0.00 0.000 4 0.000 0.030 2205 1000 3981

5543 -1.23 -121.7 836.8 -13.9 559 5547 0.00 2.40 0.00 0.000 6 0.000 0.038 2205 2546 3982

5865 -1.28 -121.7 880.2 -13.7 575 5869 0.12 1.92 0.00 0.000 4 0.085 0.053 2150 3760 3980

5949 -1.05 -121.7 895.1 -18.4 578 5957 0.32 1.77 0.00 0.000 6 0.179 0.030 2236 2562 3980

6267 -1.25 -121.7 932.0 -10.8 594 6269 0.17 0.00 0.00 0.000 6 0.077 0.000 2171 2562 3978

6575 -1.18 -121.7 979.0 -15.6 609 6579 0.00 1.92 0.00 0.000 4 0.000 0.055 2165 3760 3976

6623 -1.05 -121.7 987.0 -17.1 611 6627 0.28 1.77 0.00 0.000 6 0.177 0.031 2237 2570 3976

6636 end dive: TARGET_DEPTH_EXCEEDED

state 6636 begin apogee

6644 -0.27 0.0 990.1 16.7 611 6743 0.80 0.00 95.72 1.398 6 0.153 0.000 2481 2404 3532

6744 end apogee: CONTROL_FINISHED_OK

state 6744 begin climb

6747 1.50 121.7 994.0 0.0 616 6862 1.65 2.35 105.65 1.359 4 0.064 0.049 3064 3756 3035

7004 0.67 121.7 979.2 17.4 627 7011 1.10 2.15 0.00 0.000 6 0.221 0.027 2801 2346 3032

7320 0.75 191.5 951.2 8.1 643 7384 0.00 2.42 58.35 1.332 4 0.000 0.052 2801 3751 2751

7447 0.75 191.5 936.6 14.0 648 7454 0.00 2.12 0.00 0.000 6 0.000 0.027 2808 2352 2748

7764 0.92 216.7 899.9 11.4 664 7794 0.20 2.38 22.40 1.272 4 0.074 0.054 2890 3758 2647

7841 0.68 216.7 887.5 18.7 667 7846 0.38 2.08 0.00 0.000 6 0.189 0.027 2801 2397 2646

8163 0.90 241.4 848.0 11.4 683 8192 0.20 2.30 21.70 1.253 4 0.077 0.052 2883 3763 2546

8292 0.76 241.4 825.7 19.3 688 8299 0.25 2.10 0.00 0.000 6 0.186 0.027 2827 2368 2543

8609 0.90 241.4 780.6 14.4 704 8613 0.12 2.10 0.00 0.000 4 0.087 0.034 2875 978 2542

8688 0.97 241.4 768.3 15.0 707 8694 0.00 2.20 0.00 0.000 6 0.000 0.035 2875 2402 2542

9005 0.97 241.4 719.5 15.9 723 9008 0.00 2.15 0.00 0.000 4 0.000 0.055 2875 3752 2541

9051 0.84 241.4 711.4 19.0 725 9055 0.12 2.05 0.00 0.000 6 0.193 0.028 2854 2381 2540

9385 0.90 241.4 660.4 14.6 741 9389 0.00 2.22 0.00 0.000 4 0.000 0.054 2854 3755 2539

9509 0.90 241.4 640.2 16.7 746 9513 0.00 2.03 0.00 0.000 6 0.000 0.030 2863 2399 2539

9831 0.90 241.4 593.4 15.4 762 9833 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2397 2538

10139 0.90 241.4 544.7 15.8 777 10143 0.00 2.20 0.00 0.000 4 0.000 0.054 2865 3763 2538

10231 0.83 241.4 528.0 19.6 781 10234 0.00 2.08 0.00 0.000 6 0.000 0.030 2874 2388 2538

10559 0.83 241.4 473.7 14.6 804 10563 0.00 2.20 0.00 0.000 4 0.000 0.053 2875 3755 2537

10684 0.74 241.4 453.1 16.8 815 10689 0.25 2.03 0.00 0.000 6 0.186 0.030 2818 2401 2537

11012 0.99 268.6 411.4 11.2 845 11039 0.20 2.25 21.70 1.012 4 0.074 0.054 2901 3778 2436

11174 0.90 268.6 383.2 17.6 859 11180 0.17 2.05 0.00 0.000 6 0.187 0.029 2868 2420 2434

11500 1.04 297.5 341.9 11.1 890 11534 0.15 2.25 25.10 0.956 4 0.081 0.034 2932 974 2318

11683 1.04 297.5 315.6 14.9 906 11687 0.00 2.22 0.00 0.000 6 0.000 0.037 2932 2398 2315

12022 1.04 297.5 258.0 18.1 957 12028 0.00 2.17 0.00 0.000 4 0.000 0.033 2937 969 2314

12041 1.04 297.5 254.2 18.4 960 12047 0.00 2.17 0.00 0.000 6 0.000 0.031 2937 2397 2314

12386 1.04 297.5 188.1 17.3 1021 12392 0.00 2.15 0.00 0.000 4 0.000 0.051 2937 3761 2314

12484 0.91 297.5 169.1 19.2 1038 12492 0.28 2.03 0.00 0.000 6 0.182 0.026 2873 2392 2314

12835 1.14 306.6 124.6 12.5 1099 12853 0.17 2.22 8.43 0.718 4 0.077 0.050 2948 3749 2281

12934 1.05 306.6 106.2 19.0 1116 12941 0.15 1.98 0.00 0.000 6 0.188 0.026 2922 2403 2280

13281 1.21 339.2 59.2 10.8 1177 13318 0.15 2.22 27.05 0.717 4 0.077 0.051 2980 3752 2147

13575 1.12 339.2 15.9 15.5 1228 13581 0.20 1.90 0.00 0.000 6 0.182 0.027 2940 2446 2144

13883 end climb: SURFACE_DEPTH_REACHED

state 13883 begin surface coast

13975 end surface coast: CONTROL_FINISHED_OK

state 13975 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	524	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	79	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	-19450.65	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	134507,2449.846,12241.224,38,1.0,39,-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	2.83	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-71.7	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	135202,2450.126,12241.659,14,1.4,14,-3.5	MHEAD_RNG_PITCHd_Wd	184.5,12935,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1196

FINISH	1.9,1.004227	_24V_AH	23.0,91.884
SM_CCo	13995,102.03,0.645,0,0,1594,475.15	_10V_AH	10.6,48.527
SM_GC	3.21,0.00,0.00,102.03,0.000,0.000,0.645,137,2444,1594,-7.64,1.72,475.15	DATA_FILE_SIZE	69431,1299
IRIDIUM_FIX	2441.81,12236.83,131198,090959	CAP_FILE_SIZE	146407,0
TT8_MAMPS	0.029146	CFSIZE	260165632,183996416
HUMID	1757	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.3363	CURRENT	0.379, 57.7,1
TCM_TEMP	24.60	GPS	190809,174836,2449.890,12244.336,34,1.0,35,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	235	144.74	SBE_CT	882	24	487.20
Roll_motor	116	55	148.04	Optode	913	33	693.16
VBD_pump_during_apogee	386	1398	12416.80	WL_BB2F	0	105	0.00
VBD_pump_during_surface	102	645	1513.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	78.97	nil	0	0	0.00
Iridium_during_connect	41	160	153.76	nil	0	0	0.00
Iridium_during_xfer	177	223	912.02
Transponder_ping	8	420	77.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.94
TT8	2332	19	489.60
LPSleep	8543	2	198.32
TT8_Active	602	19	126.38
TT8_Sampling	2353	39	992.75
TT8_CF8	674	45	327.34
TT8_Kalman	0	81	0.00
Analog_circuits	1790	12	227.74
GPS_charging	0	0	0.00
Compass	2291	8	194.31
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-23.45	0.000	2	0.000	0.000	137	2362	2163
45	-1.50	-121.7	3.3	-2.1	4	118	8.20	2.20	-56.80	0.000	4	0.235	0.052	2086	3764	3989
289	-0.68	-121.7	75.7	-29.4	46	298	1.00	2.03	0.00	0.000	6	0.190	0.024	2357	2357	3992
638	-1.01	-121.7	109.3	-11.7	107	645	0.25	2.22	0.00	0.000	4	0.061	0.047	2244	3766	3994
725	-0.87	-121.7	125.5	-20.1	122	732	0.20	1.95	0.00	0.000	6	0.169	0.025	2297	2415	3995
1072	-1.05	-121.7	180.0	-13.5	183	1078	0.17	2.12	0.00	0.000	4	0.070	0.046	2210	3769	3996
1256	-0.89	-121.7	216.4	-18.2	215	1262	0.30	1.92	0.00	0.000	6	0.165	0.025	2294	2432	3997
1608	-1.08	-121.7	257.6	-12.8	276	1614	0.17	2.08	0.00	0.000	4	0.071	0.045	2206	3764	3997
1673	-0.90	-121.7	268.6	-18.8	287	1679	0.30	1.90	0.00	0.000	6	0.171	0.025	2288	2435	3997
2018	-1.08	-121.7	321.2	-15.6	337	2023	0.17	2.10	0.00	0.000	4	0.071	0.048	2208	3768	3997
2104	-0.89	-121.7	338.2	-21.8	344	2109	0.30	1.88	0.00	0.000	6	0.173	0.025	2289	2463	3997
2436	-1.13	-121.7	380.9	-12.2	375	2438	0.20	0.00	0.00	0.000	6	0.066	0.000	2209	2463	3997
2753	-1.13	-121.7	432.5	-16.9	405	2757	0.00	2.05	0.00	0.000	4	0.000	0.051	2205	3763	3997
2823	-1.04	-121.7	444.3	-17.8	411	2827	0.15	1.85	0.00	0.000	6	0.167	0.026	2243	2488	3997
3154	-1.15	-121.7	489.1	-12.4	442	3158	0.00	2.03	0.00	0.000	4	0.000	0.053	2235	3760	3996
3317	-1.21	-121.7	512.4	-15.8	453	3321	0.08	1.85	0.00	0.000	6	0.074	0.028	2182	2511	3995
3652	-1.11	-121.7	573.2	-18.7	469	3656	0.15	2.00	0.00	0.000	4	0.176	0.050	2211	3767	3993
3770	-1.11	-121.7	592.7	-16.2	474	3774	0.00	1.83	0.00	0.000	6	0.000	0.028	2211	2538	3993
4097	-1.11	-121.7	638.5	-13.1	490	4101	0.00	1.95	0.00	0.000	4	0.000	0.053	2208	3761	3991
4148	-1.11	-121.7	646.3	-14.8	492	4151	0.00	1.77	0.00	0.000	6	0.000	0.028	2208	2548	3990
4476	-1.11	-121.7	692.7	-13.6	508	4478	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	2548	3989
4785	-1.11	-121.7	734.3	-13.3	523	4788	0.00	1.95	0.00	0.000	4	0.000	0.054	2205	3766	3987
4887	-1.11	-121.7	748.7	-13.0	527	4891	0.00	1.80	0.00	0.000	6	0.000	0.029	2205	2550	3986
5210	-1.11	-121.7	791.1	-12.7	543	5211	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2550	3984
5519	-1.16	-121.7	833.4	-13.6	558	5523	0.00	2.30	0.00	0.000	4	0.000	0.030	2205	1000	3981
5543	-1.23	-121.7	836.8	-13.9	559	5547	0.00	2.40	0.00	0.000	6	0.000	0.038	2205	2546	3982
5865	-1.28	-121.7	880.2	-13.7	575	5869	0.12	1.92	0.00	0.000	4	0.085	0.053	2150	3760	3980
5949	-1.05	-121.7	895.1	-18.4	578	5957	0.32	1.77	0.00	0.000	6	0.179	0.030	2236	2562	3980
6267	-1.25	-121.7	932.0	-10.8	594	6269	0.17	0.00	0.00	0.000	6	0.077	0.000	2171	2562	3978
6575	-1.18	-121.7	979.0	-15.6	609	6579	0.00	1.92	0.00	0.000	4	0.000	0.055	2165	3760	3976
6623	-1.05	-121.7	987.0	-17.1	611	6627	0.28	1.77	0.00	0.000	6	0.177	0.031	2237	2570	3976
6636	end dive: TARGET_DEPTH_EXCEEDED
state	6636	begin apogee
6644	-0.27	0.0	990.1	16.7	611	6743	0.80	0.00	95.72	1.398	6	0.153	0.000	2481	2404	3532
6744	end apogee: CONTROL_FINISHED_OK
state	6744	begin climb
6747	1.50	121.7	994.0	0.0	616	6862	1.65	2.35	105.65	1.359	4	0.064	0.049	3064	3756	3035
7004	0.67	121.7	979.2	17.4	627	7011	1.10	2.15	0.00	0.000	6	0.221	0.027	2801	2346	3032
7320	0.75	191.5	951.2	8.1	643	7384	0.00	2.42	58.35	1.332	4	0.000	0.052	2801	3751	2751
7447	0.75	191.5	936.6	14.0	648	7454	0.00	2.12	0.00	0.000	6	0.000	0.027	2808	2352	2748
7764	0.92	216.7	899.9	11.4	664	7794	0.20	2.38	22.40	1.272	4	0.074	0.054	2890	3758	2647
7841	0.68	216.7	887.5	18.7	667	7846	0.38	2.08	0.00	0.000	6	0.189	0.027	2801	2397	2646
8163	0.90	241.4	848.0	11.4	683	8192	0.20	2.30	21.70	1.253	4	0.077	0.052	2883	3763	2546
8292	0.76	241.4	825.7	19.3	688	8299	0.25	2.10	0.00	0.000	6	0.186	0.027	2827	2368	2543
8609	0.90	241.4	780.6	14.4	704	8613	0.12	2.10	0.00	0.000	4	0.087	0.034	2875	978	2542
8688	0.97	241.4	768.3	15.0	707	8694	0.00	2.20	0.00	0.000	6	0.000	0.035	2875	2402	2542
9005	0.97	241.4	719.5	15.9	723	9008	0.00	2.15	0.00	0.000	4	0.000	0.055	2875	3752	2541
9051	0.84	241.4	711.4	19.0	725	9055	0.12	2.05	0.00	0.000	6	0.193	0.028	2854	2381	2540
9385	0.90	241.4	660.4	14.6	741	9389	0.00	2.22	0.00	0.000	4	0.000	0.054	2854	3755	2539
9509	0.90	241.4	640.2	16.7	746	9513	0.00	2.03	0.00	0.000	6	0.000	0.030	2863	2399	2539
9831	0.90	241.4	593.4	15.4	762	9833	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2397	2538
10139	0.90	241.4	544.7	15.8	777	10143	0.00	2.20	0.00	0.000	4	0.000	0.054	2865	3763	2538
10231	0.83	241.4	528.0	19.6	781	10234	0.00	2.08	0.00	0.000	6	0.000	0.030	2874	2388	2538
10559	0.83	241.4	473.7	14.6	804	10563	0.00	2.20	0.00	0.000	4	0.000	0.053	2875	3755	2537
10684	0.74	241.4	453.1	16.8	815	10689	0.25	2.03	0.00	0.000	6	0.186	0.030	2818	2401	2537
11012	0.99	268.6	411.4	11.2	845	11039	0.20	2.25	21.70	1.012	4	0.074	0.054	2901	3778	2436
11174	0.90	268.6	383.2	17.6	859	11180	0.17	2.05	0.00	0.000	6	0.187	0.029	2868	2420	2434
11500	1.04	297.5	341.9	11.1	890	11534	0.15	2.25	25.10	0.956	4	0.081	0.034	2932	974	2318
11683	1.04	297.5	315.6	14.9	906	11687	0.00	2.22	0.00	0.000	6	0.000	0.037	2932	2398	2315
12022	1.04	297.5	258.0	18.1	957	12028	0.00	2.17	0.00	0.000	4	0.000	0.033	2937	969	2314
12041	1.04	297.5	254.2	18.4	960	12047	0.00	2.17	0.00	0.000	6	0.000	0.031	2937	2397	2314
12386	1.04	297.5	188.1	17.3	1021	12392	0.00	2.15	0.00	0.000	4	0.000	0.051	2937	3761	2314
12484	0.91	297.5	169.1	19.2	1038	12492	0.28	2.03	0.00	0.000	6	0.182	0.026	2873	2392	2314
12835	1.14	306.6	124.6	12.5	1099	12853	0.17	2.22	8.43	0.718	4	0.077	0.050	2948	3749	2281
12934	1.05	306.6	106.2	19.0	1116	12941	0.15	1.98	0.00	0.000	6	0.188	0.026	2922	2403	2280
13281	1.21	339.2	59.2	10.8	1177	13318	0.15	2.22	27.05	0.717	4	0.077	0.051	2980	3752	2147
13575	1.12	339.2	15.9	15.5	1228	13581	0.20	1.90	0.00	0.000	6	0.182	0.027	2940	2446	2144
13883	end climb: SURFACE_DEPTH_REACHED
state	13883	begin surface coast
13975	end surface coast: CONTROL_FINISHED_OK
state	13975	begin surface