Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 620 * 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 620 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 86 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 44 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 -21526.055 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 -21526.055

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 86 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 44 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 620 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 012737,2513.886,12309.920,31,1.0,31,-3.7 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.71 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -65.5 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 013520,2514.043,12310.021,15,1.7,15,-3.7 MHEAD_RNG_PITCHd_Wd 283.9,58548,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1502

Post-dive calculations and measurements:

FINISH 1.8,1.009117 _24V_AH 23.1,106.776

SM_CCo 13836,75.28,0.615,0,0,1595,475.15 _10V_AH 10.5,55.771

SM_GC 2.72,0.00,0.00,75.28,0.000,0.000,0.615,138,2384,1595,-7.63,0.03,475.15 DATA_FILE_SIZE 69506,1269

IRIDIUM_FIX 2503.20,12307.72,261198,212147 CAP_FILE_SIZE 145828,0

TT8_MAMPS 0.029146 CFSIZE 260165632,177471488

HUMID 1728 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.44372 CURRENT 0.289, 63.8,1

TCM_TEMP 26.00 GPS 020909,052855,2515.447,12310.311,41,1.0,42,-3.7

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 228 138.86 SBE_CT 858 24 476.11

Roll_motor 112 51 133.28 Optode 873 33 666.01

VBD_pump_during_apogee 413 1377 13161.16 WL_BB2F 0 105 0.00

VBD_pump_during_surface 75 615 1069.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.17 nil 0 0 0.00

Iridium_during_connect 40 160 148.88 nil 0 0 0.00

Iridium_during_xfer 211 223 1088.50

Transponder_ping 9 420 92.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.18

TT8 2291 19 476.44

LPSleep 8320 2 191.33

TT8_Active 594 19 123.57

TT8_Sampling 2401 39 1003.60

TT8_CF8 755 45 363.28

TT8_Kalman 0 81 0.00

Analog_circuits 1801 12 227.03

GPS_charging 0 0 0.00

Compass 2342 8 196.74

RAFOS 0 0 0.00

Transponder 61 30 19.40

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 -28.17 0.000 2 0.000 0.000 139 2388 2306

52 -1.50 -121.7 3.3 -2.4 5 118 8.05 2.17 -50.20 0.000 4 0.229 0.051 2087 3763 3990

350 -0.67 -121.7 110.4 -38.3 57 357 1.00 1.98 0.00 0.000 6 0.187 0.020 2356 2347 3992

699 -1.15 -121.7 151.3 -8.7 118 706 0.38 2.20 0.00 0.000 4 0.051 0.044 2192 3760 3995

853 -0.93 -121.7 183.6 -22.9 144 860 0.30 1.90 0.00 0.000 6 0.159 0.031 2276 2410 3995

1206 -1.23 -121.7 225.6 -10.3 205 1212 0.22 2.10 0.00 0.000 4 0.061 0.044 2177 3762 3996

1333 -1.04 -121.7 248.2 -19.3 227 1340 0.22 1.88 0.00 0.000 6 0.157 0.021 2239 2419 3996

1682 -1.20 -121.7 292.4 -13.4 288 1689 0.12 2.08 0.00 0.000 4 0.072 0.044 2179 3757 3997

1788 -1.04 -121.7 313.0 -19.6 301 1792 0.25 1.83 0.00 0.000 6 0.160 0.021 2247 2456 3997

2121 -1.29 -121.7 355.3 -12.5 332 2126 0.20 2.03 0.00 0.000 4 0.062 0.044 2153 3756 3997

2272 -1.13 -121.7 386.3 -20.4 345 2276 0.22 1.80 0.00 0.000 6 0.160 0.022 2213 2482 3997

2603 -1.30 -121.7 433.2 -12.9 376 2608 0.15 2.00 0.00 0.000 4 0.073 0.045 2151 3760 3996

2765 -1.21 -121.7 460.6 -17.2 390 2769 0.15 1.77 0.00 0.000 6 0.166 0.022 2188 2513 3995

3094 -1.30 -121.7 511.2 -15.4 418 3098 0.00 1.92 0.00 0.000 4 0.000 0.047 2181 3749 3994

3112 -1.38 -121.7 514.1 -15.2 418 3118 0.12 1.75 0.00 0.000 6 0.078 0.024 2130 2519 3993

3430 -1.30 -121.7 568.3 -16.5 434 3434 0.12 1.92 0.00 0.000 4 0.172 0.044 2152 3750 3992

3559 -1.30 -121.7 590.1 -15.8 439 3566 0.00 1.73 0.00 0.000 6 0.000 0.024 2152 2545 3991

3877 -1.30 -121.7 636.3 -14.1 455 3880 0.00 1.90 0.00 0.000 4 0.000 0.049 2149 3751 3988

3984 -1.30 -121.7 653.4 -14.9 459 3990 0.00 1.73 0.00 0.000 6 0.000 0.025 2149 2556 3987

4303 -1.30 -121.7 702.0 -16.0 475 4306 0.00 1.90 0.00 0.000 4 0.000 0.051 2149 3756 3985

4397 -1.30 -121.7 717.5 -16.9 479 4400 0.00 1.73 0.00 0.000 6 0.000 0.025 2149 2563 3983

4730 -1.35 -121.7 766.0 -14.4 495 4734 0.00 1.88 0.00 0.000 4 0.000 0.049 2143 3750 3980

4827 -1.35 -121.7 781.2 -15.8 499 4831 0.00 1.73 0.00 0.000 6 0.000 0.025 2142 2584 3980

5155 -1.35 -121.7 831.6 -15.4 515 5158 0.00 1.85 0.00 0.000 4 0.000 0.050 2140 3754 3977

5223 -1.35 -121.7 842.9 -16.1 518 5227 0.00 1.70 0.00 0.000 6 0.000 0.025 2140 2587 3976

5558 -1.35 -121.7 894.0 -15.3 534 5562 0.00 1.85 0.00 0.000 4 0.000 0.050 2140 3757 3974

5649 -1.35 -121.7 908.5 -15.4 538 5653 0.00 1.70 0.00 0.000 6 0.000 0.025 2140 2592 3974

5984 -1.35 -121.7 955.8 -14.2 554 5987 0.00 1.85 0.00 0.000 4 0.000 0.051 2140 3756 3971

6102 -1.35 -121.7 973.7 -14.3 559 6106 0.00 1.70 0.00 0.000 6 0.000 0.026 2140 2613 3970

6219 end dive: TARGET_DEPTH_EXCEEDED

state 6219 begin apogee

6228 -0.27 0.0 990.9 14.4 565 6332 1.23 0.00 95.55 1.378 6 0.163 0.000 2489 2396 3532

6333 end apogee: CONTROL_FINISHED_OK

state 6333 begin climb

6338 1.50 121.7 995.3 0.0 570 6455 1.58 2.33 104.95 1.359 4 0.053 0.045 3062 3760 3034

6710 0.53 121.7 960.8 19.0 587 6715 1.30 2.08 0.00 0.000 6 0.228 0.023 2753 2337 3030

7033 0.62 193.7 931.9 8.0 603 7097 0.00 2.40 59.62 1.331 4 0.000 0.049 2753 3743 2741

7340 0.62 193.7 893.8 13.5 616 7346 0.00 2.00 0.00 0.000 6 0.000 0.025 2759 2393 2735

7658 0.76 226.9 859.9 10.8 632 7693 0.17 2.25 28.42 1.280 4 0.080 0.050 2826 3741 2607

7712 0.62 226.9 852.3 15.2 634 7717 0.20 2.03 0.00 0.000 6 0.196 0.025 2780 2401 2605

8029 0.70 226.9 809.6 13.6 649 8032 0.00 2.15 0.00 0.000 4 0.000 0.050 2780 3746 2602

8080 0.70 226.9 801.9 15.8 651 8083 0.00 2.00 0.00 0.000 6 0.000 0.025 2789 2385 2602

8409 0.77 227.6 758.0 13.1 667 8414 0.12 2.20 0.00 0.000 4 0.085 0.050 2837 3757 2600

8543 0.57 227.6 734.1 18.9 673 8547 0.30 2.00 0.00 0.000 6 0.189 0.025 2769 2389 2599

8871 0.70 227.6 689.2 13.6 689 8873 0.10 0.00 0.00 0.000 6 0.092 0.000 2807 2384 2599

9179 0.70 227.6 641.6 15.6 704 9183 0.00 2.17 0.00 0.000 4 0.000 0.048 2807 3755 2598

9273 0.60 227.6 626.3 16.1 708 9277 0.15 1.98 0.00 0.000 6 0.193 0.025 2779 2400 2598

9607 0.73 231.4 580.3 12.9 724 9616 0.10 2.20 3.72 0.732 4 0.093 0.050 2818 3743 2588

9676 0.60 231.4 569.4 16.9 727 9681 0.15 1.95 0.00 0.000 6 0.174 0.025 2774 2429 2588

10010 0.75 242.5 526.4 12.4 743 10026 0.15 2.15 10.68 1.042 4 0.081 0.051 2830 3758 2542

10163 0.62 242.5 500.1 19.1 749 10168 0.22 1.92 0.00 0.000 6 0.189 0.025 2784 2444 2541

10496 0.75 242.5 455.5 13.5 779 10500 0.12 2.17 0.00 0.000 4 0.083 0.029 2832 993 2540

10610 0.82 242.5 438.9 14.1 788 10616 0.00 2.22 0.00 0.000 6 0.000 0.035 2831 2440 2540

10940 0.82 242.5 392.2 14.0 819 10946 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2440 2539

11267 0.82 242.5 346.1 13.7 850 11271 0.00 2.20 0.00 0.000 4 0.000 0.030 2834 979 2539

11369 0.91 257.6 333.3 12.1 859 11387 0.12 2.22 13.05 0.924 6 0.083 0.032 2880 2431 2481

11717 0.81 257.6 273.1 16.8 903 11725 0.15 2.17 0.00 0.000 4 0.186 0.027 2852 991 2479

11801 0.90 257.6 260.7 14.9 917 11807 0.00 2.20 0.00 0.000 6 0.000 0.033 2852 2425 2478

12146 0.99 285.4 213.3 11.2 978 12176 0.12 2.12 23.95 0.844 4 0.080 0.050 2901 3758 2367

12433 0.82 285.4 168.3 13.6 1028 12440 0.25 1.95 0.00 0.000 6 0.184 0.025 2846 2417 2363

12782 1.03 336.5 130.7 9.5 1089 12830 0.17 2.15 41.00 0.755 4 0.075 0.027 2929 989 2159

12952 1.09 336.5 106.4 15.3 1118 12958 0.00 2.17 0.00 0.000 6 0.000 0.030 2929 2416 2154

13299 1.21 363.4 61.7 11.2 1179 13330 0.12 2.12 22.05 0.665 4 0.077 0.046 2981 3765 2048

13586 1.11 375.3 21.8 12.3 1229 13606 0.20 1.95 10.60 0.589 6 0.183 0.022 2942 2389 2001

13773 end climb: SURFACE_DEPTH_REACHED

state 13773 begin surface coast

13814 end surface coast: CONTROL_FINISHED_OK

state 13814 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	620	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	86	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	44	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	-21526.055	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	012737,2513.886,12309.920,31,1.0,31,-3.7	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.71	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-65.5	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	013520,2514.043,12310.021,15,1.7,15,-3.7	MHEAD_RNG_PITCHd_Wd	283.9,58548,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1502

FINISH	1.8,1.009117	_24V_AH	23.1,106.776
SM_CCo	13836,75.28,0.615,0,0,1595,475.15	_10V_AH	10.5,55.771
SM_GC	2.72,0.00,0.00,75.28,0.000,0.000,0.615,138,2384,1595,-7.63,0.03,475.15	DATA_FILE_SIZE	69506,1269
IRIDIUM_FIX	2503.20,12307.72,261198,212147	CAP_FILE_SIZE	145828,0
TT8_MAMPS	0.029146	CFSIZE	260165632,177471488
HUMID	1728	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.44372	CURRENT	0.289, 63.8,1
TCM_TEMP	26.00	GPS	020909,052855,2515.447,12310.311,41,1.0,42,-3.7
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	228	138.86	SBE_CT	858	24	476.11
Roll_motor	112	51	133.28	Optode	873	33	666.01
VBD_pump_during_apogee	413	1377	13161.16	WL_BB2F	0	105	0.00
VBD_pump_during_surface	75	615	1069.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.17	nil	0	0	0.00
Iridium_during_connect	40	160	148.88	nil	0	0	0.00
Iridium_during_xfer	211	223	1088.50
Transponder_ping	9	420	92.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.18
TT8	2291	19	476.44
LPSleep	8320	2	191.33
TT8_Active	594	19	123.57
TT8_Sampling	2401	39	1003.60
TT8_CF8	755	45	363.28
TT8_Kalman	0	81	0.00
Analog_circuits	1801	12	227.03
GPS_charging	0	0	0.00
Compass	2342	8	196.74
RAFOS	0	0	0.00
Transponder	61	30	19.40

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	-28.17	0.000	2	0.000	0.000	139	2388	2306
52	-1.50	-121.7	3.3	-2.4	5	118	8.05	2.17	-50.20	0.000	4	0.229	0.051	2087	3763	3990
350	-0.67	-121.7	110.4	-38.3	57	357	1.00	1.98	0.00	0.000	6	0.187	0.020	2356	2347	3992
699	-1.15	-121.7	151.3	-8.7	118	706	0.38	2.20	0.00	0.000	4	0.051	0.044	2192	3760	3995
853	-0.93	-121.7	183.6	-22.9	144	860	0.30	1.90	0.00	0.000	6	0.159	0.031	2276	2410	3995
1206	-1.23	-121.7	225.6	-10.3	205	1212	0.22	2.10	0.00	0.000	4	0.061	0.044	2177	3762	3996
1333	-1.04	-121.7	248.2	-19.3	227	1340	0.22	1.88	0.00	0.000	6	0.157	0.021	2239	2419	3996
1682	-1.20	-121.7	292.4	-13.4	288	1689	0.12	2.08	0.00	0.000	4	0.072	0.044	2179	3757	3997
1788	-1.04	-121.7	313.0	-19.6	301	1792	0.25	1.83	0.00	0.000	6	0.160	0.021	2247	2456	3997
2121	-1.29	-121.7	355.3	-12.5	332	2126	0.20	2.03	0.00	0.000	4	0.062	0.044	2153	3756	3997
2272	-1.13	-121.7	386.3	-20.4	345	2276	0.22	1.80	0.00	0.000	6	0.160	0.022	2213	2482	3997
2603	-1.30	-121.7	433.2	-12.9	376	2608	0.15	2.00	0.00	0.000	4	0.073	0.045	2151	3760	3996
2765	-1.21	-121.7	460.6	-17.2	390	2769	0.15	1.77	0.00	0.000	6	0.166	0.022	2188	2513	3995
3094	-1.30	-121.7	511.2	-15.4	418	3098	0.00	1.92	0.00	0.000	4	0.000	0.047	2181	3749	3994
3112	-1.38	-121.7	514.1	-15.2	418	3118	0.12	1.75	0.00	0.000	6	0.078	0.024	2130	2519	3993
3430	-1.30	-121.7	568.3	-16.5	434	3434	0.12	1.92	0.00	0.000	4	0.172	0.044	2152	3750	3992
3559	-1.30	-121.7	590.1	-15.8	439	3566	0.00	1.73	0.00	0.000	6	0.000	0.024	2152	2545	3991
3877	-1.30	-121.7	636.3	-14.1	455	3880	0.00	1.90	0.00	0.000	4	0.000	0.049	2149	3751	3988
3984	-1.30	-121.7	653.4	-14.9	459	3990	0.00	1.73	0.00	0.000	6	0.000	0.025	2149	2556	3987
4303	-1.30	-121.7	702.0	-16.0	475	4306	0.00	1.90	0.00	0.000	4	0.000	0.051	2149	3756	3985
4397	-1.30	-121.7	717.5	-16.9	479	4400	0.00	1.73	0.00	0.000	6	0.000	0.025	2149	2563	3983
4730	-1.35	-121.7	766.0	-14.4	495	4734	0.00	1.88	0.00	0.000	4	0.000	0.049	2143	3750	3980
4827	-1.35	-121.7	781.2	-15.8	499	4831	0.00	1.73	0.00	0.000	6	0.000	0.025	2142	2584	3980
5155	-1.35	-121.7	831.6	-15.4	515	5158	0.00	1.85	0.00	0.000	4	0.000	0.050	2140	3754	3977
5223	-1.35	-121.7	842.9	-16.1	518	5227	0.00	1.70	0.00	0.000	6	0.000	0.025	2140	2587	3976
5558	-1.35	-121.7	894.0	-15.3	534	5562	0.00	1.85	0.00	0.000	4	0.000	0.050	2140	3757	3974
5649	-1.35	-121.7	908.5	-15.4	538	5653	0.00	1.70	0.00	0.000	6	0.000	0.025	2140	2592	3974
5984	-1.35	-121.7	955.8	-14.2	554	5987	0.00	1.85	0.00	0.000	4	0.000	0.051	2140	3756	3971
6102	-1.35	-121.7	973.7	-14.3	559	6106	0.00	1.70	0.00	0.000	6	0.000	0.026	2140	2613	3970
6219	end dive: TARGET_DEPTH_EXCEEDED
state	6219	begin apogee
6228	-0.27	0.0	990.9	14.4	565	6332	1.23	0.00	95.55	1.378	6	0.163	0.000	2489	2396	3532
6333	end apogee: CONTROL_FINISHED_OK
state	6333	begin climb
6338	1.50	121.7	995.3	0.0	570	6455	1.58	2.33	104.95	1.359	4	0.053	0.045	3062	3760	3034
6710	0.53	121.7	960.8	19.0	587	6715	1.30	2.08	0.00	0.000	6	0.228	0.023	2753	2337	3030
7033	0.62	193.7	931.9	8.0	603	7097	0.00	2.40	59.62	1.331	4	0.000	0.049	2753	3743	2741
7340	0.62	193.7	893.8	13.5	616	7346	0.00	2.00	0.00	0.000	6	0.000	0.025	2759	2393	2735
7658	0.76	226.9	859.9	10.8	632	7693	0.17	2.25	28.42	1.280	4	0.080	0.050	2826	3741	2607
7712	0.62	226.9	852.3	15.2	634	7717	0.20	2.03	0.00	0.000	6	0.196	0.025	2780	2401	2605
8029	0.70	226.9	809.6	13.6	649	8032	0.00	2.15	0.00	0.000	4	0.000	0.050	2780	3746	2602
8080	0.70	226.9	801.9	15.8	651	8083	0.00	2.00	0.00	0.000	6	0.000	0.025	2789	2385	2602
8409	0.77	227.6	758.0	13.1	667	8414	0.12	2.20	0.00	0.000	4	0.085	0.050	2837	3757	2600
8543	0.57	227.6	734.1	18.9	673	8547	0.30	2.00	0.00	0.000	6	0.189	0.025	2769	2389	2599
8871	0.70	227.6	689.2	13.6	689	8873	0.10	0.00	0.00	0.000	6	0.092	0.000	2807	2384	2599
9179	0.70	227.6	641.6	15.6	704	9183	0.00	2.17	0.00	0.000	4	0.000	0.048	2807	3755	2598
9273	0.60	227.6	626.3	16.1	708	9277	0.15	1.98	0.00	0.000	6	0.193	0.025	2779	2400	2598
9607	0.73	231.4	580.3	12.9	724	9616	0.10	2.20	3.72	0.732	4	0.093	0.050	2818	3743	2588
9676	0.60	231.4	569.4	16.9	727	9681	0.15	1.95	0.00	0.000	6	0.174	0.025	2774	2429	2588
10010	0.75	242.5	526.4	12.4	743	10026	0.15	2.15	10.68	1.042	4	0.081	0.051	2830	3758	2542
10163	0.62	242.5	500.1	19.1	749	10168	0.22	1.92	0.00	0.000	6	0.189	0.025	2784	2444	2541
10496	0.75	242.5	455.5	13.5	779	10500	0.12	2.17	0.00	0.000	4	0.083	0.029	2832	993	2540
10610	0.82	242.5	438.9	14.1	788	10616	0.00	2.22	0.00	0.000	6	0.000	0.035	2831	2440	2540
10940	0.82	242.5	392.2	14.0	819	10946	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2440	2539
11267	0.82	242.5	346.1	13.7	850	11271	0.00	2.20	0.00	0.000	4	0.000	0.030	2834	979	2539
11369	0.91	257.6	333.3	12.1	859	11387	0.12	2.22	13.05	0.924	6	0.083	0.032	2880	2431	2481
11717	0.81	257.6	273.1	16.8	903	11725	0.15	2.17	0.00	0.000	4	0.186	0.027	2852	991	2479
11801	0.90	257.6	260.7	14.9	917	11807	0.00	2.20	0.00	0.000	6	0.000	0.033	2852	2425	2478
12146	0.99	285.4	213.3	11.2	978	12176	0.12	2.12	23.95	0.844	4	0.080	0.050	2901	3758	2367
12433	0.82	285.4	168.3	13.6	1028	12440	0.25	1.95	0.00	0.000	6	0.184	0.025	2846	2417	2363
12782	1.03	336.5	130.7	9.5	1089	12830	0.17	2.15	41.00	0.755	4	0.075	0.027	2929	989	2159
12952	1.09	336.5	106.4	15.3	1118	12958	0.00	2.17	0.00	0.000	6	0.000	0.030	2929	2416	2154
13299	1.21	363.4	61.7	11.2	1179	13330	0.12	2.12	22.05	0.665	4	0.077	0.046	2981	3765	2048
13586	1.11	375.3	21.8	12.3	1229	13606	0.20	1.95	10.60	0.589	6	0.183	0.022	2942	2389	2001
13773	end climb: SURFACE_DEPTH_REACHED
state	13773	begin surface coast
13814	end surface coast: CONTROL_FINISHED_OK
state	13814	begin surface