Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 533 * 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 533 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 60 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 -19694.434 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 -19694.434

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 60 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 41 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 533 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 021824,2506.054,12253.630,39,0.9,40,-3.6 TGT_NAME IN_2

_CALLS 1 TGT_LATLONG 2525.000,12225.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.84 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -69.4 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 022508,2506.350,12253.870,13,1.5,13,-3.6 MHEAD_RNG_PITCHd_Wd 264.2,59373,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1560

Post-dive calculations and measurements:

FINISH 1.7,0.998946 _24V_AH 23.0,93.410

SM_CCo 14385,72.10,0.639,0,0,1594,475.15 _10V_AH 10.6,49.280

SM_GC 3.26,0.00,0.00,72.10,0.000,0.000,0.639,138,2364,1594,-7.63,-0.54,475.15 DATA_FILE_SIZE 72476,1322

IRIDIUM_FIX 2451.31,12253.26,141198,222242 CAP_FILE_SIZE 150065,0

TT8_MAMPS 0.029146 CFSIZE 260165632,183296000

HUMID 1777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.34606 CURRENT 0.289, 41.1,1

TCM_TEMP 24.70 GPS 210809,062737,2508.092,12253.525,28,1.5,29,-3.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 235 139.32 SBE_CT 896 24 495.12

Roll_motor 121 59 167.84 Optode 921 33 699.69

VBD_pump_during_apogee 414 1400 13361.73 WL_BB2F 0 105 0.00

VBD_pump_during_surface 72 638 1059.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.11 nil 0 0 0.00

Iridium_during_connect 34 160 128.62 nil 0 0 0.00

Iridium_during_xfer 179 223 921.92

Transponder_ping 8 420 77.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.38

TT8 2374 19 498.27

LPSleep 8716 2 202.34

TT8_Active 596 19 125.17

TT8_Sampling 2487 39 1049.62

TT8_CF8 678 45 329.57

TT8_Kalman 0 81 0.00

Analog_circuits 1851 12 235.48

GPS_charging 0 0 0.00

Compass 2421 8 205.32

RAFOS 0 0 0.00

Transponder 56 30 18.09

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 37 0.00 0.00 -19.42 0.000 2 0.000 0.000 136 2368 2071

41 -1.50 -121.7 3.1 -2.0 3 117 8.18 2.25 -61.33 0.000 4 0.235 0.054 2082 3760 3990

195 -0.55 -121.7 41.0 -39.6 28 202 1.20 2.05 0.00 0.000 6 0.195 0.025 2398 2348 3992

543 -1.02 -121.7 85.6 -9.7 89 550 0.38 2.22 0.00 0.000 4 0.054 0.046 2234 3763 3994

569 -1.13 -121.7 89.2 -12.7 93 577 0.00 1.98 0.00 0.000 6 0.000 0.024 2234 2386 3995

916 -0.98 -121.7 148.2 -17.2 154 922 0.00 2.00 0.00 0.000 4 0.000 0.026 2234 997 3997

935 -0.85 -121.7 151.5 -16.5 157 943 0.25 2.12 0.00 0.000 6 0.170 0.032 2299 2412 3997

1285 -1.01 -121.7 194.6 -11.8 218 1291 0.12 2.10 0.00 0.000 4 0.079 0.048 2246 3764 3997

1415 -0.96 -121.7 216.7 -16.1 240 1421 0.00 1.90 0.00 0.000 6 0.000 0.026 2245 2431 3997

1760 -0.96 -121.7 270.5 -14.4 301 1766 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2430 3998

2098 -0.96 -121.7 326.5 -18.9 348 2101 0.00 2.10 0.00 0.000 4 0.000 0.049 2239 3764 3998

2235 -0.90 -121.7 353.7 -19.4 360 2240 0.17 1.90 0.00 0.000 6 0.166 0.026 2285 2444 3998

2569 -1.12 -121.7 401.3 -13.3 391 2573 0.20 2.08 0.00 0.000 4 0.067 0.048 2193 3760 3997

2625 -0.93 -121.7 411.7 -20.5 395 2631 0.32 1.88 0.00 0.000 6 0.179 0.027 2280 2469 3997

2951 -1.16 -121.7 449.9 -10.6 426 2957 0.20 2.05 0.00 0.000 4 0.067 0.049 2193 3766 3997

2991 -1.01 -121.7 456.3 -17.3 429 2999 0.22 1.90 0.00 0.000 6 0.169 0.025 2253 2449 3997

3317 -1.17 -121.7 498.1 -12.1 460 3321 0.15 2.08 0.00 0.000 4 0.074 0.050 2192 3760 3995

3391 -1.03 -121.7 510.7 -17.6 464 3395 0.20 1.85 0.00 0.000 6 0.172 0.027 2244 2487 3995

3722 -1.15 -121.7 547.4 -11.2 480 3724 0.12 0.00 0.00 0.000 6 0.081 0.000 2194 2487 3993

4028 -1.09 -121.7 592.6 -14.9 495 4032 0.12 2.17 0.00 0.000 4 0.177 0.028 2224 1010 3991

4045 -1.09 -121.7 595.3 -15.0 496 4049 0.00 2.25 0.00 0.000 6 0.000 0.038 2221 2469 3991

4374 -1.15 -121.7 639.9 -14.2 512 4377 0.00 2.03 0.00 0.000 4 0.000 0.054 2218 3751 3989

4525 -1.15 -121.7 661.2 -14.0 518 4531 0.00 1.85 0.00 0.000 6 0.000 0.031 2218 2518 3986

4844 -1.21 -121.7 699.1 -12.2 534 4849 0.00 1.98 0.00 0.000 4 0.000 0.053 2218 3757 3985

4945 -1.21 -121.7 711.6 -11.7 538 4949 0.00 1.83 0.00 0.000 6 0.000 0.030 2218 2519 3984

5270 -1.28 -121.7 749.7 -12.0 554 5275 0.15 1.98 0.00 0.000 4 0.076 0.051 2152 3753 3982

5294 -1.20 -121.7 753.4 -14.0 555 5298 0.17 1.83 0.00 0.000 6 0.179 0.029 2195 2515 3981

5627 -1.20 -121.7 799.6 -13.5 571 5631 0.00 2.22 0.00 0.000 4 0.000 0.029 2195 1012 3980

5699 -1.25 -121.7 808.6 -12.6 574 5703 0.00 2.28 0.00 0.000 6 0.000 0.039 2193 2479 3979

6027 -1.25 -121.7 858.4 -15.4 590 6030 0.00 2.03 0.00 0.000 4 0.000 0.054 2192 3757 3976

6189 -1.20 -121.7 885.4 -17.6 597 6193 0.00 1.85 0.00 0.000 6 0.000 0.030 2192 2534 3976

6521 -1.20 -121.7 939.2 -15.0 613 6526 0.00 2.28 0.00 0.000 4 0.000 0.030 2192 1003 3974

6585 -1.25 -121.7 948.6 -15.3 616 6589 0.00 2.33 0.00 0.000 6 0.000 0.040 2192 2494 3974

6868 end dive: TARGET_DEPTH_EXCEEDED

state 6868 begin apogee

6877 -0.27 0.0 990.4 13.9 630 6975 1.02 0.00 94.78 1.401 6 0.164 0.000 2485 2401 3532

6976 end apogee: CONTROL_FINISHED_OK

state 6976 begin climb

6980 1.50 121.7 994.6 0.0 635 7094 1.60 2.35 105.40 1.361 4 0.055 0.050 3062 3758 3035

7350 0.65 121.7 958.0 17.3 651 7357 1.12 2.12 0.00 0.000 6 0.225 0.028 2795 2344 3031

7668 0.78 179.6 927.2 9.0 667 7724 0.10 2.20 48.55 1.322 4 0.102 0.035 2831 974 2799

7899 0.86 179.6 897.6 14.6 677 7903 0.00 2.15 0.00 0.000 6 0.000 0.037 2831 2353 2794

8220 0.86 179.6 853.8 13.6 693 8224 0.00 2.25 0.00 0.000 4 0.000 0.054 2831 3761 2792

8294 0.77 179.6 843.2 14.9 696 8297 0.00 2.10 0.00 0.000 6 0.000 0.028 2840 2353 2791

8622 0.77 179.6 798.8 13.4 712 8626 0.00 2.25 0.00 0.000 4 0.000 0.054 2840 3755 2791

8684 0.65 179.6 789.6 15.0 714 8690 0.22 2.05 0.00 0.000 6 0.188 0.029 2793 2374 2790

9001 0.86 217.3 755.1 10.5 730 9037 0.17 2.15 30.98 1.242 4 0.082 0.034 2873 970 2646

9112 0.86 217.3 740.4 13.6 734 9116 0.00 2.20 0.00 0.000 6 0.000 0.037 2873 2373 2644

9434 0.86 217.3 695.4 14.3 750 9437 0.00 2.12 0.00 0.000 4 0.000 0.033 2882 979 2642

9508 0.86 217.3 684.3 15.6 753 9512 0.00 2.15 0.00 0.000 6 0.000 0.038 2883 2375 2642

9836 0.81 217.3 634.0 15.3 769 9840 0.15 2.20 0.00 0.000 4 0.189 0.052 2845 3764 2641

10083 0.76 217.3 592.7 16.5 780 10087 0.00 2.08 0.00 0.000 6 0.000 0.029 2854 2371 2640

10417 0.76 219.7 546.5 13.0 796 10420 0.00 2.22 0.00 0.000 4 0.000 0.053 2854 3755 2640

10491 0.69 219.7 535.5 15.9 799 10496 0.22 2.03 0.00 0.000 6 0.187 0.029 2807 2389 2640

10817 0.90 225.6 496.9 12.8 816 10830 0.17 2.20 7.50 0.966 4 0.081 0.033 2883 971 2612

11080 0.90 225.6 456.5 15.9 839 11084 0.00 2.20 0.00 0.000 6 0.000 0.038 2883 2389 2611

11411 0.90 225.6 405.8 15.5 870 11415 0.00 2.17 0.00 0.000 4 0.000 0.054 2883 3761 2610

11464 0.76 225.6 397.5 15.8 874 11470 0.25 2.05 0.00 0.000 6 0.187 0.029 2827 2380 2610

11790 1.00 275.3 359.4 9.6 905 11838 0.17 2.20 41.12 0.987 4 0.081 0.033 2910 980 2408

11931 1.06 275.3 340.6 13.5 917 11938 0.00 2.20 0.00 0.000 6 0.000 0.036 2910 2382 2404

12260 1.06 275.3 290.8 16.3 953 12267 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 2382 2402

12605 1.07 280.8 240.7 12.8 1014 12617 0.00 2.15 4.93 0.690 4 0.000 0.033 2919 976 2387

12872 1.14 280.8 203.4 14.1 1061 12880 0.00 2.15 0.00 0.000 6 0.000 0.036 2918 2376 2386

13220 1.21 298.2 155.1 11.9 1122 13244 0.15 2.15 15.98 0.780 4 0.074 0.030 2987 963 2315

13502 1.16 298.2 104.0 21.6 1171 13509 0.12 2.12 0.00 0.000 6 0.182 0.033 2959 2356 2314

13849 1.23 353.0 57.5 9.2 1232 13901 0.00 2.28 43.97 0.705 4 0.000 0.050 2959 3751 2092

14039 1.37 379.0 32.0 11.3 1265 14071 0.15 2.05 21.60 0.659 6 0.074 0.025 3023 2366 1984

14317 end climb: SURFACE_DEPTH_REACHED

state 14317 begin surface coast

14363 end surface coast: CONTROL_FINISHED_OK

state 14365 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	533	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	60	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	-19694.434	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	021824,2506.054,12253.630,39,0.9,40,-3.6	TGT_NAME	IN_2
_CALLS	1	TGT_LATLONG	2525.000,12225.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.84	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-69.4	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	022508,2506.350,12253.870,13,1.5,13,-3.6	MHEAD_RNG_PITCHd_Wd	264.2,59373,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1560

FINISH	1.7,0.998946	_24V_AH	23.0,93.410
SM_CCo	14385,72.10,0.639,0,0,1594,475.15	_10V_AH	10.6,49.280
SM_GC	3.26,0.00,0.00,72.10,0.000,0.000,0.639,138,2364,1594,-7.63,-0.54,475.15	DATA_FILE_SIZE	72476,1322
IRIDIUM_FIX	2451.31,12253.26,141198,222242	CAP_FILE_SIZE	150065,0
TT8_MAMPS	0.029146	CFSIZE	260165632,183296000
HUMID	1777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.34606	CURRENT	0.289, 41.1,1
TCM_TEMP	24.70	GPS	210809,062737,2508.092,12253.525,28,1.5,29,-3.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	235	139.32	SBE_CT	896	24	495.12
Roll_motor	121	59	167.84	Optode	921	33	699.69
VBD_pump_during_apogee	414	1400	13361.73	WL_BB2F	0	105	0.00
VBD_pump_during_surface	72	638	1059.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.11	nil	0	0	0.00
Iridium_during_connect	34	160	128.62	nil	0	0	0.00
Iridium_during_xfer	179	223	921.92
Transponder_ping	8	420	77.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.38
TT8	2374	19	498.27
LPSleep	8716	2	202.34
TT8_Active	596	19	125.17
TT8_Sampling	2487	39	1049.62
TT8_CF8	678	45	329.57
TT8_Kalman	0	81	0.00
Analog_circuits	1851	12	235.48
GPS_charging	0	0	0.00
Compass	2421	8	205.32
RAFOS	0	0	0.00
Transponder	56	30	18.09

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	37	0.00	0.00	-19.42	0.000	2	0.000	0.000	136	2368	2071
41	-1.50	-121.7	3.1	-2.0	3	117	8.18	2.25	-61.33	0.000	4	0.235	0.054	2082	3760	3990
195	-0.55	-121.7	41.0	-39.6	28	202	1.20	2.05	0.00	0.000	6	0.195	0.025	2398	2348	3992
543	-1.02	-121.7	85.6	-9.7	89	550	0.38	2.22	0.00	0.000	4	0.054	0.046	2234	3763	3994
569	-1.13	-121.7	89.2	-12.7	93	577	0.00	1.98	0.00	0.000	6	0.000	0.024	2234	2386	3995
916	-0.98	-121.7	148.2	-17.2	154	922	0.00	2.00	0.00	0.000	4	0.000	0.026	2234	997	3997
935	-0.85	-121.7	151.5	-16.5	157	943	0.25	2.12	0.00	0.000	6	0.170	0.032	2299	2412	3997
1285	-1.01	-121.7	194.6	-11.8	218	1291	0.12	2.10	0.00	0.000	4	0.079	0.048	2246	3764	3997
1415	-0.96	-121.7	216.7	-16.1	240	1421	0.00	1.90	0.00	0.000	6	0.000	0.026	2245	2431	3997
1760	-0.96	-121.7	270.5	-14.4	301	1766	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2430	3998
2098	-0.96	-121.7	326.5	-18.9	348	2101	0.00	2.10	0.00	0.000	4	0.000	0.049	2239	3764	3998
2235	-0.90	-121.7	353.7	-19.4	360	2240	0.17	1.90	0.00	0.000	6	0.166	0.026	2285	2444	3998
2569	-1.12	-121.7	401.3	-13.3	391	2573	0.20	2.08	0.00	0.000	4	0.067	0.048	2193	3760	3997
2625	-0.93	-121.7	411.7	-20.5	395	2631	0.32	1.88	0.00	0.000	6	0.179	0.027	2280	2469	3997
2951	-1.16	-121.7	449.9	-10.6	426	2957	0.20	2.05	0.00	0.000	4	0.067	0.049	2193	3766	3997
2991	-1.01	-121.7	456.3	-17.3	429	2999	0.22	1.90	0.00	0.000	6	0.169	0.025	2253	2449	3997
3317	-1.17	-121.7	498.1	-12.1	460	3321	0.15	2.08	0.00	0.000	4	0.074	0.050	2192	3760	3995
3391	-1.03	-121.7	510.7	-17.6	464	3395	0.20	1.85	0.00	0.000	6	0.172	0.027	2244	2487	3995
3722	-1.15	-121.7	547.4	-11.2	480	3724	0.12	0.00	0.00	0.000	6	0.081	0.000	2194	2487	3993
4028	-1.09	-121.7	592.6	-14.9	495	4032	0.12	2.17	0.00	0.000	4	0.177	0.028	2224	1010	3991
4045	-1.09	-121.7	595.3	-15.0	496	4049	0.00	2.25	0.00	0.000	6	0.000	0.038	2221	2469	3991
4374	-1.15	-121.7	639.9	-14.2	512	4377	0.00	2.03	0.00	0.000	4	0.000	0.054	2218	3751	3989
4525	-1.15	-121.7	661.2	-14.0	518	4531	0.00	1.85	0.00	0.000	6	0.000	0.031	2218	2518	3986
4844	-1.21	-121.7	699.1	-12.2	534	4849	0.00	1.98	0.00	0.000	4	0.000	0.053	2218	3757	3985
4945	-1.21	-121.7	711.6	-11.7	538	4949	0.00	1.83	0.00	0.000	6	0.000	0.030	2218	2519	3984
5270	-1.28	-121.7	749.7	-12.0	554	5275	0.15	1.98	0.00	0.000	4	0.076	0.051	2152	3753	3982
5294	-1.20	-121.7	753.4	-14.0	555	5298	0.17	1.83	0.00	0.000	6	0.179	0.029	2195	2515	3981
5627	-1.20	-121.7	799.6	-13.5	571	5631	0.00	2.22	0.00	0.000	4	0.000	0.029	2195	1012	3980
5699	-1.25	-121.7	808.6	-12.6	574	5703	0.00	2.28	0.00	0.000	6	0.000	0.039	2193	2479	3979
6027	-1.25	-121.7	858.4	-15.4	590	6030	0.00	2.03	0.00	0.000	4	0.000	0.054	2192	3757	3976
6189	-1.20	-121.7	885.4	-17.6	597	6193	0.00	1.85	0.00	0.000	6	0.000	0.030	2192	2534	3976
6521	-1.20	-121.7	939.2	-15.0	613	6526	0.00	2.28	0.00	0.000	4	0.000	0.030	2192	1003	3974
6585	-1.25	-121.7	948.6	-15.3	616	6589	0.00	2.33	0.00	0.000	6	0.000	0.040	2192	2494	3974
6868	end dive: TARGET_DEPTH_EXCEEDED
state	6868	begin apogee
6877	-0.27	0.0	990.4	13.9	630	6975	1.02	0.00	94.78	1.401	6	0.164	0.000	2485	2401	3532
6976	end apogee: CONTROL_FINISHED_OK
state	6976	begin climb
6980	1.50	121.7	994.6	0.0	635	7094	1.60	2.35	105.40	1.361	4	0.055	0.050	3062	3758	3035
7350	0.65	121.7	958.0	17.3	651	7357	1.12	2.12	0.00	0.000	6	0.225	0.028	2795	2344	3031
7668	0.78	179.6	927.2	9.0	667	7724	0.10	2.20	48.55	1.322	4	0.102	0.035	2831	974	2799
7899	0.86	179.6	897.6	14.6	677	7903	0.00	2.15	0.00	0.000	6	0.000	0.037	2831	2353	2794
8220	0.86	179.6	853.8	13.6	693	8224	0.00	2.25	0.00	0.000	4	0.000	0.054	2831	3761	2792
8294	0.77	179.6	843.2	14.9	696	8297	0.00	2.10	0.00	0.000	6	0.000	0.028	2840	2353	2791
8622	0.77	179.6	798.8	13.4	712	8626	0.00	2.25	0.00	0.000	4	0.000	0.054	2840	3755	2791
8684	0.65	179.6	789.6	15.0	714	8690	0.22	2.05	0.00	0.000	6	0.188	0.029	2793	2374	2790
9001	0.86	217.3	755.1	10.5	730	9037	0.17	2.15	30.98	1.242	4	0.082	0.034	2873	970	2646
9112	0.86	217.3	740.4	13.6	734	9116	0.00	2.20	0.00	0.000	6	0.000	0.037	2873	2373	2644
9434	0.86	217.3	695.4	14.3	750	9437	0.00	2.12	0.00	0.000	4	0.000	0.033	2882	979	2642
9508	0.86	217.3	684.3	15.6	753	9512	0.00	2.15	0.00	0.000	6	0.000	0.038	2883	2375	2642
9836	0.81	217.3	634.0	15.3	769	9840	0.15	2.20	0.00	0.000	4	0.189	0.052	2845	3764	2641
10083	0.76	217.3	592.7	16.5	780	10087	0.00	2.08	0.00	0.000	6	0.000	0.029	2854	2371	2640
10417	0.76	219.7	546.5	13.0	796	10420	0.00	2.22	0.00	0.000	4	0.000	0.053	2854	3755	2640
10491	0.69	219.7	535.5	15.9	799	10496	0.22	2.03	0.00	0.000	6	0.187	0.029	2807	2389	2640
10817	0.90	225.6	496.9	12.8	816	10830	0.17	2.20	7.50	0.966	4	0.081	0.033	2883	971	2612
11080	0.90	225.6	456.5	15.9	839	11084	0.00	2.20	0.00	0.000	6	0.000	0.038	2883	2389	2611
11411	0.90	225.6	405.8	15.5	870	11415	0.00	2.17	0.00	0.000	4	0.000	0.054	2883	3761	2610
11464	0.76	225.6	397.5	15.8	874	11470	0.25	2.05	0.00	0.000	6	0.187	0.029	2827	2380	2610
11790	1.00	275.3	359.4	9.6	905	11838	0.17	2.20	41.12	0.987	4	0.081	0.033	2910	980	2408
11931	1.06	275.3	340.6	13.5	917	11938	0.00	2.20	0.00	0.000	6	0.000	0.036	2910	2382	2404
12260	1.06	275.3	290.8	16.3	953	12267	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	2382	2402
12605	1.07	280.8	240.7	12.8	1014	12617	0.00	2.15	4.93	0.690	4	0.000	0.033	2919	976	2387
12872	1.14	280.8	203.4	14.1	1061	12880	0.00	2.15	0.00	0.000	6	0.000	0.036	2918	2376	2386
13220	1.21	298.2	155.1	11.9	1122	13244	0.15	2.15	15.98	0.780	4	0.074	0.030	2987	963	2315
13502	1.16	298.2	104.0	21.6	1171	13509	0.12	2.12	0.00	0.000	6	0.182	0.033	2959	2356	2314
13849	1.23	353.0	57.5	9.2	1232	13901	0.00	2.28	43.97	0.705	4	0.000	0.050	2959	3751	2092
14039	1.37	379.0	32.0	11.3	1265	14071	0.15	2.05	21.60	0.659	6	0.074	0.025	3023	2366	1984
14317	end climb: SURFACE_DEPTH_REACHED
state	14317	begin surface coast
14363	end surface coast: CONTROL_FINISHED_OK
state	14365	begin surface