Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 602 * 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 602 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 37 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 -21166.018 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 -21166.018

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 37 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 602 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 002907,2458.670,12245.622,35,1.0,35,-3.6 TGT_NAME OFF_2

_CALLS 1 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 2 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 -70.2 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 003628,2458.826,12245.904,13,2.3,32,-3.6 MHEAD_RNG_PITCHd_Wd 224.5,25487,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1203

Post-dive calculations and measurements:

FINISH 1.8,1.008380 _24V_AH 23.0,103.731

SM_CCo 14184,69.80,0.627,0,0,1594,475.15 _10V_AH 10.5,54.246

SM_GC 2.77,0.00,0.00,69.80,0.000,0.000,0.627,139,2370,1594,-7.63,-0.37,475.15 DATA_FILE_SIZE 69626,1278

IRIDIUM_FIX 2451.31,12246.68,231198,202001 CAP_FILE_SIZE 154287,0

TT8_MAMPS 0.029146 CFSIZE 260165632,178864128

HUMID 1752 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.39489 CURRENT 0.241, 70.0,1

TCM_TEMP 25.40 GPS 300809,043537,2458.415,12246.507,31,1.1,32,-3.6

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 232 157.95 SBE_CT 866 24 478.48

Roll_motor 117 62 167.40 Optode 878 33 666.84

VBD_pump_during_apogee 420 1407 13623.43 WL_BB2F 0 105 0.00

VBD_pump_during_surface 69 627 1007.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 53.40 nil 0 0 0.00

Iridium_during_connect 32 160 121.10 nil 0 0 0.00

Iridium_during_xfer 191 223 982.61

Transponder_ping 8 420 79.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.93

TT8 2342 19 487.03

LPSleep 8585 2 197.41

TT8_Active 579 19 120.42

TT8_Sampling 2441 39 1020.42

TT8_CF8 736 45 354.24

TT8_Kalman 0 81 0.00

Analog_circuits 1803 12 227.19

GPS_charging 0 0 0.00

Compass 2359 8 198.20

RAFOS 0 0 0.00

Transponder 54 30 17.14

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 44 0.00 0.00 -25.73 0.000 2 0.000 0.000 139 2430 2238

49 -1.50 -121.7 3.2 -1.8 4 119 8.15 2.08 -54.60 0.000 4 0.232 0.053 2086 3774 3988

346 -0.74 -121.7 104.0 -33.3 55 352 0.88 2.00 0.00 0.000 6 0.176 0.021 2332 2348 3992

694 -1.17 -121.7 145.6 -9.8 116 700 0.32 2.20 0.00 0.000 4 0.055 0.044 2189 3757 3994

841 -1.02 -121.7 173.2 -17.4 141 849 0.22 1.92 0.00 0.000 6 0.156 0.022 2251 2384 3995

1190 -1.14 -121.7 225.0 -17.2 202 1197 0.12 2.15 0.00 0.000 4 0.075 0.044 2193 3766 3996

1286 -1.01 -121.7 241.8 -18.0 218 1292 0.22 1.90 0.00 0.000 6 0.162 0.023 2254 2421 3996

1634 -1.20 -121.7 286.4 -13.7 279 1641 0.17 2.10 0.00 0.000 4 0.063 0.045 2175 3765 3996

1807 -1.00 -121.7 321.7 -20.4 300 1812 0.30 1.88 0.00 0.000 6 0.165 0.024 2257 2447 3995

2139 -1.30 -121.7 360.2 -9.7 331 2144 0.25 2.05 0.00 0.000 4 0.059 0.046 2153 3756 3996

2221 -1.14 -121.7 372.7 -17.0 338 2225 0.22 1.85 0.00 0.000 6 0.165 0.023 2212 2448 3996

2553 -1.26 -121.7 420.7 -15.2 369 2558 0.12 2.05 0.00 0.000 4 0.077 0.046 2158 3765 3995

2627 -1.13 -121.7 434.9 -19.9 375 2633 0.22 1.85 0.00 0.000 6 0.166 0.023 2217 2462 3995

2955 -1.30 -121.7 481.1 -12.8 406 2959 0.15 2.05 0.00 0.000 4 0.072 0.047 2153 3764 3993

3078 -1.14 -121.7 503.2 -17.8 416 3083 0.22 1.83 0.00 0.000 6 0.172 0.024 2211 2490 3993

3402 -1.32 -121.7 543.3 -12.2 432 3407 0.17 2.00 0.00 0.000 4 0.071 0.048 2137 3757 3991

3551 -1.15 -121.7 568.7 -17.9 438 3556 0.25 1.77 0.00 0.000 6 0.170 0.024 2202 2521 3990

3879 -1.30 -121.7 612.0 -13.2 454 3883 0.12 1.98 0.00 0.000 4 0.077 0.049 2152 3766 3987

3925 -1.21 -121.7 620.0 -16.6 456 3929 0.10 1.83 0.00 0.000 6 0.172 0.025 2192 2531 3987

4262 -1.34 -121.7 666.3 -13.2 472 4266 0.12 1.95 0.00 0.000 4 0.083 0.049 2140 3763 3984

4364 -1.19 -121.7 684.9 -19.2 476 4368 0.22 1.77 0.00 0.000 6 0.176 0.025 2196 2539 3983

4691 -1.36 -121.7 725.9 -12.4 492 4696 0.17 1.92 0.00 0.000 4 0.075 0.050 2126 3759 3981

4873 -1.18 -121.7 761.0 -19.6 500 4877 0.28 1.73 0.00 0.000 6 0.177 0.026 2197 2578 3979

5213 -1.35 -121.7 802.0 -12.0 516 5217 0.17 1.88 0.00 0.000 4 0.074 0.049 2126 3759 3976

5314 -1.21 -121.7 820.3 -18.0 520 5318 0.25 1.70 0.00 0.000 6 0.176 0.025 2191 2587 3975

5641 -1.36 -121.7 857.3 -10.8 536 5643 0.15 0.00 0.00 0.000 6 0.080 0.000 2137 2587 3974

5947 -1.31 -121.7 901.6 -14.9 551 5950 0.00 1.85 0.00 0.000 4 0.000 0.051 2129 3754 3972

6050 -1.19 -121.7 918.3 -16.1 555 6054 0.25 1.70 0.00 0.000 6 0.177 0.026 2193 2591 3971

6375 -1.37 -121.7 954.2 -11.1 571 6380 0.17 1.88 0.00 0.000 4 0.077 0.052 2123 3760 3969

6471 -1.24 -121.7 969.6 -17.3 575 6476 0.22 1.70 0.00 0.000 6 0.178 0.027 2180 2600 3969

6651 end dive: TARGET_DEPTH_EXCEEDED

state 6651 begin apogee

6661 -0.27 0.0 992.4 12.1 584 6758 1.05 0.00 93.65 1.407 6 0.156 0.000 2488 2409 3532

6759 end apogee: CONTROL_FINISHED_OK

state 6759 begin climb

6762 1.50 121.7 995.9 0.0 589 6878 1.58 2.35 105.72 1.366 4 0.052 0.028 3071 956 3035

7132 0.70 121.7 964.9 15.9 605 7138 1.05 2.20 0.00 0.000 6 0.226 0.036 2814 2375 3031

7450 0.56 173.6 932.3 9.4 620 7499 0.17 2.22 43.38 1.325 4 0.203 0.028 2774 950 2826

7613 0.65 189.9 914.3 12.0 627 7632 0.00 2.25 14.75 1.233 6 0.000 0.035 2773 2388 2757

7956 0.65 189.9 869.6 13.2 644 7960 0.00 2.17 0.00 0.000 4 0.000 0.053 2773 3757 2753

8036 0.53 189.9 857.7 14.2 647 8040 0.12 2.08 0.00 0.000 6 0.191 0.027 2755 2353 2753

8354 0.65 208.5 819.2 11.9 662 8377 0.10 2.35 16.42 1.233 4 0.097 0.051 2790 3761 2682

8424 0.52 208.5 808.8 16.4 665 8429 0.20 2.08 0.00 0.000 6 0.188 0.027 2751 2369 2680

8753 0.66 215.3 767.1 12.7 681 8767 0.12 2.30 7.15 1.069 4 0.091 0.051 2798 3758 2654

8820 0.51 215.3 756.4 16.7 684 8825 0.22 2.03 0.00 0.000 6 0.190 0.027 2746 2397 2653

9157 0.69 230.1 715.4 12.1 700 9179 0.15 2.25 13.98 1.170 4 0.085 0.052 2802 3758 2594

9296 0.57 230.1 691.2 19.4 706 9301 0.15 2.03 0.00 0.000 6 0.195 0.026 2767 2397 2591

9631 0.68 230.1 642.4 14.1 722 9636 0.10 2.20 0.00 0.000 4 0.094 0.051 2805 3762 2590

9756 0.57 230.1 620.1 19.0 727 9760 0.20 2.00 0.00 0.000 6 0.186 0.027 2764 2405 2590

10079 0.71 230.1 576.8 13.6 743 10083 0.12 2.12 0.00 0.000 4 0.085 0.029 2819 976 2589

10107 0.77 230.1 572.2 14.8 744 10111 0.00 2.22 0.00 0.000 6 0.000 0.034 2819 2426 2589

10423 0.77 230.1 523.2 15.0 759 10427 0.00 2.12 0.00 0.000 4 0.000 0.054 2819 3765 2588

10609 0.63 230.1 492.5 17.0 768 10613 0.17 1.98 0.00 0.000 6 0.198 0.027 2786 2423 2588

10940 0.74 253.3 449.7 11.5 799 10962 0.10 0.00 19.20 1.035 6 0.092 0.000 2824 2419 2499

11278 0.74 253.3 398.7 15.9 831 11282 0.00 2.15 0.00 0.000 4 0.000 0.053 2824 3755 2495

11318 0.64 253.3 391.8 18.2 834 11325 0.15 1.95 0.00 0.000 6 0.194 0.025 2790 2428 2495

11645 0.80 273.4 345.1 11.7 865 11669 0.15 2.15 17.33 0.951 4 0.079 0.051 2847 3763 2417

11750 0.69 273.4 327.3 17.9 874 11754 0.20 1.95 0.00 0.000 6 0.188 0.027 2807 2446 2415

12085 0.83 288.0 283.3 12.1 916 12104 0.12 2.12 13.45 0.878 4 0.084 0.051 2854 3761 2358

12159 0.69 288.0 271.3 18.2 928 12165 0.22 1.95 0.00 0.000 6 0.187 0.026 2807 2433 2357

12505 0.87 288.0 223.1 13.4 989 12513 0.15 2.12 0.00 0.000 4 0.081 0.049 2865 3760 2356

12653 0.73 288.0 196.1 18.5 1014 12660 0.22 1.92 0.00 0.000 6 0.186 0.025 2818 2436 2356

13001 0.92 304.4 149.6 12.0 1075 13022 0.17 2.17 14.82 0.766 4 0.074 0.048 2892 3764 2290

13278 0.80 304.4 102.8 13.7 1123 13284 0.25 1.88 0.00 0.000 6 0.179 0.024 2836 2459 2288

13625 1.13 381.7 71.4 7.6 1184 13696 0.25 2.15 61.00 0.706 4 0.065 0.047 2943 3764 1973

13951 1.13 381.7 23.2 15.5 1241 13958 0.00 1.83 0.00 0.000 6 0.000 0.023 2952 2492 1967

14129 end climb: SURFACE_DEPTH_REACHED

state 14129 begin surface coast

14163 end surface coast: CONTROL_FINISHED_OK

state 14163 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	602	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	37	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	-21166.018	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	002907,2458.670,12245.622,35,1.0,35,-3.6	TGT_NAME	OFF_2
_CALLS	1	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	2	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	-70.2	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	003628,2458.826,12245.904,13,2.3,32,-3.6	MHEAD_RNG_PITCHd_Wd	224.5,25487,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1203

FINISH	1.8,1.008380	_24V_AH	23.0,103.731
SM_CCo	14184,69.80,0.627,0,0,1594,475.15	_10V_AH	10.5,54.246
SM_GC	2.77,0.00,0.00,69.80,0.000,0.000,0.627,139,2370,1594,-7.63,-0.37,475.15	DATA_FILE_SIZE	69626,1278
IRIDIUM_FIX	2451.31,12246.68,231198,202001	CAP_FILE_SIZE	154287,0
TT8_MAMPS	0.029146	CFSIZE	260165632,178864128
HUMID	1752	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.39489	CURRENT	0.241, 70.0,1
TCM_TEMP	25.40	GPS	300809,043537,2458.415,12246.507,31,1.1,32,-3.6
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	232	157.95	SBE_CT	866	24	478.48
Roll_motor	117	62	167.40	Optode	878	33	666.84
VBD_pump_during_apogee	420	1407	13623.43	WL_BB2F	0	105	0.00
VBD_pump_during_surface	69	627	1007.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	53.40	nil	0	0	0.00
Iridium_during_connect	32	160	121.10	nil	0	0	0.00
Iridium_during_xfer	191	223	982.61
Transponder_ping	8	420	79.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.93
TT8	2342	19	487.03
LPSleep	8585	2	197.41
TT8_Active	579	19	120.42
TT8_Sampling	2441	39	1020.42
TT8_CF8	736	45	354.24
TT8_Kalman	0	81	0.00
Analog_circuits	1803	12	227.19
GPS_charging	0	0	0.00
Compass	2359	8	198.20
RAFOS	0	0	0.00
Transponder	54	30	17.14

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	44	0.00	0.00	-25.73	0.000	2	0.000	0.000	139	2430	2238
49	-1.50	-121.7	3.2	-1.8	4	119	8.15	2.08	-54.60	0.000	4	0.232	0.053	2086	3774	3988
346	-0.74	-121.7	104.0	-33.3	55	352	0.88	2.00	0.00	0.000	6	0.176	0.021	2332	2348	3992
694	-1.17	-121.7	145.6	-9.8	116	700	0.32	2.20	0.00	0.000	4	0.055	0.044	2189	3757	3994
841	-1.02	-121.7	173.2	-17.4	141	849	0.22	1.92	0.00	0.000	6	0.156	0.022	2251	2384	3995
1190	-1.14	-121.7	225.0	-17.2	202	1197	0.12	2.15	0.00	0.000	4	0.075	0.044	2193	3766	3996
1286	-1.01	-121.7	241.8	-18.0	218	1292	0.22	1.90	0.00	0.000	6	0.162	0.023	2254	2421	3996
1634	-1.20	-121.7	286.4	-13.7	279	1641	0.17	2.10	0.00	0.000	4	0.063	0.045	2175	3765	3996
1807	-1.00	-121.7	321.7	-20.4	300	1812	0.30	1.88	0.00	0.000	6	0.165	0.024	2257	2447	3995
2139	-1.30	-121.7	360.2	-9.7	331	2144	0.25	2.05	0.00	0.000	4	0.059	0.046	2153	3756	3996
2221	-1.14	-121.7	372.7	-17.0	338	2225	0.22	1.85	0.00	0.000	6	0.165	0.023	2212	2448	3996
2553	-1.26	-121.7	420.7	-15.2	369	2558	0.12	2.05	0.00	0.000	4	0.077	0.046	2158	3765	3995
2627	-1.13	-121.7	434.9	-19.9	375	2633	0.22	1.85	0.00	0.000	6	0.166	0.023	2217	2462	3995
2955	-1.30	-121.7	481.1	-12.8	406	2959	0.15	2.05	0.00	0.000	4	0.072	0.047	2153	3764	3993
3078	-1.14	-121.7	503.2	-17.8	416	3083	0.22	1.83	0.00	0.000	6	0.172	0.024	2211	2490	3993
3402	-1.32	-121.7	543.3	-12.2	432	3407	0.17	2.00	0.00	0.000	4	0.071	0.048	2137	3757	3991
3551	-1.15	-121.7	568.7	-17.9	438	3556	0.25	1.77	0.00	0.000	6	0.170	0.024	2202	2521	3990
3879	-1.30	-121.7	612.0	-13.2	454	3883	0.12	1.98	0.00	0.000	4	0.077	0.049	2152	3766	3987
3925	-1.21	-121.7	620.0	-16.6	456	3929	0.10	1.83	0.00	0.000	6	0.172	0.025	2192	2531	3987
4262	-1.34	-121.7	666.3	-13.2	472	4266	0.12	1.95	0.00	0.000	4	0.083	0.049	2140	3763	3984
4364	-1.19	-121.7	684.9	-19.2	476	4368	0.22	1.77	0.00	0.000	6	0.176	0.025	2196	2539	3983
4691	-1.36	-121.7	725.9	-12.4	492	4696	0.17	1.92	0.00	0.000	4	0.075	0.050	2126	3759	3981
4873	-1.18	-121.7	761.0	-19.6	500	4877	0.28	1.73	0.00	0.000	6	0.177	0.026	2197	2578	3979
5213	-1.35	-121.7	802.0	-12.0	516	5217	0.17	1.88	0.00	0.000	4	0.074	0.049	2126	3759	3976
5314	-1.21	-121.7	820.3	-18.0	520	5318	0.25	1.70	0.00	0.000	6	0.176	0.025	2191	2587	3975
5641	-1.36	-121.7	857.3	-10.8	536	5643	0.15	0.00	0.00	0.000	6	0.080	0.000	2137	2587	3974
5947	-1.31	-121.7	901.6	-14.9	551	5950	0.00	1.85	0.00	0.000	4	0.000	0.051	2129	3754	3972
6050	-1.19	-121.7	918.3	-16.1	555	6054	0.25	1.70	0.00	0.000	6	0.177	0.026	2193	2591	3971
6375	-1.37	-121.7	954.2	-11.1	571	6380	0.17	1.88	0.00	0.000	4	0.077	0.052	2123	3760	3969
6471	-1.24	-121.7	969.6	-17.3	575	6476	0.22	1.70	0.00	0.000	6	0.178	0.027	2180	2600	3969
6651	end dive: TARGET_DEPTH_EXCEEDED
state	6651	begin apogee
6661	-0.27	0.0	992.4	12.1	584	6758	1.05	0.00	93.65	1.407	6	0.156	0.000	2488	2409	3532
6759	end apogee: CONTROL_FINISHED_OK
state	6759	begin climb
6762	1.50	121.7	995.9	0.0	589	6878	1.58	2.35	105.72	1.366	4	0.052	0.028	3071	956	3035
7132	0.70	121.7	964.9	15.9	605	7138	1.05	2.20	0.00	0.000	6	0.226	0.036	2814	2375	3031
7450	0.56	173.6	932.3	9.4	620	7499	0.17	2.22	43.38	1.325	4	0.203	0.028	2774	950	2826
7613	0.65	189.9	914.3	12.0	627	7632	0.00	2.25	14.75	1.233	6	0.000	0.035	2773	2388	2757
7956	0.65	189.9	869.6	13.2	644	7960	0.00	2.17	0.00	0.000	4	0.000	0.053	2773	3757	2753
8036	0.53	189.9	857.7	14.2	647	8040	0.12	2.08	0.00	0.000	6	0.191	0.027	2755	2353	2753
8354	0.65	208.5	819.2	11.9	662	8377	0.10	2.35	16.42	1.233	4	0.097	0.051	2790	3761	2682
8424	0.52	208.5	808.8	16.4	665	8429	0.20	2.08	0.00	0.000	6	0.188	0.027	2751	2369	2680
8753	0.66	215.3	767.1	12.7	681	8767	0.12	2.30	7.15	1.069	4	0.091	0.051	2798	3758	2654
8820	0.51	215.3	756.4	16.7	684	8825	0.22	2.03	0.00	0.000	6	0.190	0.027	2746	2397	2653
9157	0.69	230.1	715.4	12.1	700	9179	0.15	2.25	13.98	1.170	4	0.085	0.052	2802	3758	2594
9296	0.57	230.1	691.2	19.4	706	9301	0.15	2.03	0.00	0.000	6	0.195	0.026	2767	2397	2591
9631	0.68	230.1	642.4	14.1	722	9636	0.10	2.20	0.00	0.000	4	0.094	0.051	2805	3762	2590
9756	0.57	230.1	620.1	19.0	727	9760	0.20	2.00	0.00	0.000	6	0.186	0.027	2764	2405	2590
10079	0.71	230.1	576.8	13.6	743	10083	0.12	2.12	0.00	0.000	4	0.085	0.029	2819	976	2589
10107	0.77	230.1	572.2	14.8	744	10111	0.00	2.22	0.00	0.000	6	0.000	0.034	2819	2426	2589
10423	0.77	230.1	523.2	15.0	759	10427	0.00	2.12	0.00	0.000	4	0.000	0.054	2819	3765	2588
10609	0.63	230.1	492.5	17.0	768	10613	0.17	1.98	0.00	0.000	6	0.198	0.027	2786	2423	2588
10940	0.74	253.3	449.7	11.5	799	10962	0.10	0.00	19.20	1.035	6	0.092	0.000	2824	2419	2499
11278	0.74	253.3	398.7	15.9	831	11282	0.00	2.15	0.00	0.000	4	0.000	0.053	2824	3755	2495
11318	0.64	253.3	391.8	18.2	834	11325	0.15	1.95	0.00	0.000	6	0.194	0.025	2790	2428	2495
11645	0.80	273.4	345.1	11.7	865	11669	0.15	2.15	17.33	0.951	4	0.079	0.051	2847	3763	2417
11750	0.69	273.4	327.3	17.9	874	11754	0.20	1.95	0.00	0.000	6	0.188	0.027	2807	2446	2415
12085	0.83	288.0	283.3	12.1	916	12104	0.12	2.12	13.45	0.878	4	0.084	0.051	2854	3761	2358
12159	0.69	288.0	271.3	18.2	928	12165	0.22	1.95	0.00	0.000	6	0.187	0.026	2807	2433	2357
12505	0.87	288.0	223.1	13.4	989	12513	0.15	2.12	0.00	0.000	4	0.081	0.049	2865	3760	2356
12653	0.73	288.0	196.1	18.5	1014	12660	0.22	1.92	0.00	0.000	6	0.186	0.025	2818	2436	2356
13001	0.92	304.4	149.6	12.0	1075	13022	0.17	2.17	14.82	0.766	4	0.074	0.048	2892	3764	2290
13278	0.80	304.4	102.8	13.7	1123	13284	0.25	1.88	0.00	0.000	6	0.179	0.024	2836	2459	2288
13625	1.13	381.7	71.4	7.6	1184	13696	0.25	2.15	61.00	0.706	4	0.065	0.047	2943	3764	1973
13951	1.13	381.7	23.2	15.5	1241	13958	0.00	1.83	0.00	0.000	6	0.000	0.023	2952	2492	1967
14129	end climb: SURFACE_DEPTH_REACHED
state	14129	begin surface coast
14163	end surface coast: CONTROL_FINISHED_OK
state	14163	begin surface