Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 623 * 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 623 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 89 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -21593.109 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 -21593.109

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 89 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 40 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 623 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 133106,2518.893,12309.831,33,1.7,34,-3.7 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.77 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -65.0 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 133819,2519.074,12309.965,12,1.8,17,-3.7 MHEAD_RNG_PITCHd_Wd 278.0,51114,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1177

Post-dive calculations and measurements:

FINISH 1.9,1.006322 _24V_AH 23.0,107.276

SM_CCo 13874,47.62,0.617,0,0,1595,475.15 _10V_AH 10.5,56.023

SM_GC 3.21,0.00,0.00,47.62,0.000,0.000,0.617,141,2382,1595,-7.63,-0.03,475.15 DATA_FILE_SIZE 69520,1274

IRIDIUM_FIX 2507.97,12312.32,271198,090905 CAP_FILE_SIZE 148239,0

TT8_MAMPS 0.029146 CFSIZE 260165632,177233920

HUMID 1758 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.42419 CURRENT 0.252, 63.3,1

TCM_TEMP 25.70 GPS 020909,173207,2520.382,12309.962,41,1.0,42,-3.7

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 228 146.80 SBE_CT 862 24 475.89

Roll_motor 112 53 139.23 Optode 880 33 668.04

VBD_pump_during_apogee 443 1405 14345.29 WL_BB2F 0 105 0.00

VBD_pump_during_surface 47 616 675.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.81 nil 0 0 0.00

Iridium_during_connect 36 160 132.58 nil 0 0 0.00

Iridium_during_xfer 191 223 983.72

Transponder_ping 9 420 89.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 20 50 10.62

TT8 2289 19 476.02

LPSleep 8368 2 192.42

TT8_Active 592 19 123.25

TT8_Sampling 2370 39 990.78

TT8_CF8 724 45 348.35

TT8_Kalman 0 81 0.00

Analog_circuits 1791 12 225.68

GPS_charging 0 0 0.00

Compass 2304 8 193.58

RAFOS 0 0 0.00

Transponder 58 30 18.44

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.50 -121.7 0.0 0.0 0 42 0.00 0.00 -23.27 0.000 2 0.000 0.000 143 2372 2182

48 -1.50 -121.7 3.0 -2.2 4 121 8.00 2.20 -57.00 0.000 4 0.228 0.054 2086 3758 3990

377 -0.75 -121.7 117.0 -35.3 61 385 0.88 1.98 0.00 0.000 6 0.170 0.020 2332 2346 3993

727 -1.19 -121.7 161.3 -10.7 122 733 0.32 2.20 0.00 0.000 4 0.054 0.044 2188 3760 3995

849 -1.00 -121.7 186.6 -20.8 143 856 0.25 1.90 0.00 0.000 6 0.163 0.021 2256 2404 3995

1199 -1.24 -121.7 232.1 -10.2 204 1206 0.20 2.10 0.00 0.000 4 0.063 0.042 2164 3760 3996

1293 -1.03 -121.7 250.9 -22.0 220 1300 0.30 1.90 0.00 0.000 6 0.155 0.021 2248 2397 3996

1642 -1.30 -121.7 296.4 -13.0 281 1650 0.22 2.12 0.00 0.000 4 0.061 0.044 2150 3764 3997

1790 -1.10 -121.7 327.5 -21.6 295 1797 0.28 1.85 0.00 0.000 6 0.166 0.021 2223 2453 3996

2118 -1.27 -121.7 376.0 -13.7 326 2122 0.15 2.05 0.00 0.000 4 0.071 0.045 2162 3765 3997

2316 -1.17 -121.7 412.1 -18.5 343 2322 0.15 1.83 0.00 0.000 6 0.166 0.023 2198 2484 3997

2642 -1.35 -121.7 458.9 -14.1 374 2646 0.15 2.00 0.00 0.000 4 0.072 0.045 2139 3764 3996

2761 -1.24 -121.7 480.0 -16.7 384 2768 0.15 1.80 0.00 0.000 6 0.170 0.023 2175 2498 3995

3097 -1.34 -121.7 526.8 -13.6 407 3101 0.00 1.95 0.00 0.000 4 0.000 0.044 2168 3754 3994

3191 -1.39 -121.7 541.8 -16.3 411 3194 0.00 1.77 0.00 0.000 6 0.000 0.025 2168 2517 3993

3526 -1.45 -121.7 594.7 -16.0 427 3530 0.17 1.98 0.00 0.000 4 0.076 0.048 2093 3764 3991

3599 -1.20 -121.7 609.2 -20.2 430 3603 0.35 1.77 0.00 0.000 6 0.176 0.024 2186 2530 3990

3932 -1.39 -121.7 650.9 -11.9 446 3937 0.15 1.95 0.00 0.000 4 0.072 0.048 2124 3761 3987

4006 -1.29 -121.7 663.2 -16.2 449 4010 0.15 1.77 0.00 0.000 6 0.174 0.025 2160 2538 3986

4338 -1.38 -121.7 706.8 -12.6 465 4342 0.00 1.95 0.00 0.000 4 0.000 0.049 2153 3773 3983

4411 -1.38 -121.7 718.5 -15.0 468 4414 0.00 1.77 0.00 0.000 6 0.000 0.025 2153 2551 3983

4739 -1.44 -121.7 765.3 -14.6 484 4743 0.12 1.92 0.00 0.000 4 0.086 0.049 2098 3762 3980

4825 -1.18 -121.7 782.6 -23.3 487 4831 0.38 1.75 0.00 0.000 6 0.179 0.026 2197 2560 3979

5142 -1.44 -121.7 819.1 -11.1 503 5146 0.20 1.90 0.00 0.000 4 0.073 0.050 2111 3753 3977

5325 -1.29 -121.7 853.6 -20.4 511 5329 0.20 1.73 0.00 0.000 6 0.173 0.027 2161 2575 3975

5661 -1.41 -121.7 903.1 -14.8 527 5665 0.12 1.88 0.00 0.000 4 0.084 0.051 2111 3757 3974

5708 -1.29 -121.7 911.6 -18.9 529 5713 0.15 1.75 0.00 0.000 6 0.174 0.026 2154 2586 3972

6045 -1.39 -121.7 961.5 -14.4 545 6048 0.00 1.85 0.00 0.000 4 0.000 0.051 2152 3753 3971

6154 -1.44 -121.7 977.8 -15.1 549 6161 0.10 1.70 0.00 0.000 6 0.091 0.025 2116 2587 3970

6240 end dive: TARGET_DEPTH_EXCEEDED

state 6240 begin apogee

6249 -0.27 0.0 991.4 15.4 554 6346 1.33 0.00 93.65 1.405 6 0.172 0.000 2484 2412 3532

6347 end apogee: CONTROL_FINISHED_OK

state 6347 begin climb

6351 1.50 121.7 995.6 0.0 559 6464 1.60 2.22 105.47 1.362 4 0.052 0.044 3065 3756 3035

6534 0.51 121.7 995.3 15.4 567 6541 1.33 2.10 0.00 0.000 6 0.229 0.021 2751 2338 3032

6851 0.59 189.2 966.4 8.3 583 6914 0.00 2.35 56.47 1.340 4 0.000 0.048 2751 3755 2759

7000 0.59 189.2 948.9 14.4 589 7006 0.00 2.05 0.00 0.000 6 0.000 0.023 2759 2373 2755

7317 0.70 197.5 908.8 12.6 605 7332 0.12 2.25 7.68 1.118 4 0.088 0.050 2806 3743 2726

7386 0.52 197.5 898.0 17.2 608 7391 0.25 2.00 0.00 0.000 6 0.186 0.024 2751 2370 2725

7719 0.67 209.1 855.8 12.4 624 7736 0.12 2.28 11.35 1.199 4 0.088 0.048 2798 3752 2678

7817 0.54 209.1 840.6 16.0 627 7822 0.20 2.00 0.00 0.000 6 0.186 0.024 2753 2392 2677

8134 0.69 219.7 801.0 12.4 642 8150 0.15 2.17 9.93 1.158 4 0.083 0.048 2810 3755 2638

8236 0.54 219.7 783.1 20.0 645 8243 0.25 2.00 0.00 0.000 6 0.187 0.024 2756 2385 2636

8553 0.70 221.4 739.5 13.1 661 8558 0.15 2.20 0.00 0.000 4 0.081 0.048 2812 3761 2634

8628 0.55 221.4 726.6 18.3 664 8633 0.22 1.98 0.00 0.000 6 0.189 0.026 2765 2413 2634

8946 0.69 225.0 684.3 12.9 679 8954 0.12 0.00 6.15 0.996 6 0.084 0.000 2811 2411 2614

9255 0.69 225.0 637.7 15.1 694 9259 0.00 2.15 0.00 0.000 4 0.000 0.049 2811 3761 2612

9513 0.56 225.0 595.0 15.7 705 9518 0.22 1.95 0.00 0.000 6 0.186 0.026 2764 2424 2611

9837 0.76 257.7 559.2 10.8 721 9872 0.17 2.25 27.35 1.125 4 0.077 0.030 2837 987 2481

9955 0.83 257.7 541.9 16.2 726 9959 0.00 2.22 0.00 0.000 6 0.000 0.033 2837 2422 2478

10280 0.83 257.7 487.1 17.6 745 10281 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2423 2476

10597 0.83 257.7 434.6 15.4 775 10601 0.00 2.10 0.00 0.000 4 0.000 0.052 2837 3750 2475

10614 0.83 257.7 431.7 15.6 776 10620 0.00 1.95 0.00 0.000 6 0.000 0.025 2847 2416 2475

10944 0.83 257.7 379.0 16.5 807 10949 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 2416 2474

11270 0.83 257.7 326.9 15.4 838 11273 0.00 2.12 0.00 0.000 4 0.000 0.049 2847 3751 2474

11385 0.70 257.7 307.5 16.9 848 11389 0.20 1.98 0.00 0.000 6 0.187 0.025 2806 2398 2474

11728 0.85 257.7 259.0 13.8 904 11735 0.12 2.10 0.00 0.000 4 0.083 0.028 2863 981 2473

11944 0.92 257.7 229.4 13.7 942 11951 0.00 2.17 0.00 0.000 6 0.000 0.033 2863 2404 2473

12293 0.92 262.7 183.5 12.8 1003 12304 0.00 2.15 4.78 0.638 4 0.000 0.050 2863 3759 2460

12375 0.81 262.7 172.0 13.7 1017 12382 0.12 2.00 0.00 0.000 6 0.187 0.024 2843 2379 2460

12726 0.98 300.5 134.5 10.5 1078 12765 0.15 2.10 31.85 0.766 4 0.078 0.028 2912 989 2306

13021 1.06 310.6 95.2 12.5 1129 13035 0.00 2.15 9.10 0.660 6 0.000 0.031 2912 2401 2265

13377 1.16 337.9 53.7 11.2 1191 13407 0.12 2.12 22.95 0.669 4 0.077 0.025 2974 983 2152

13612 1.25 410.5 30.0 7.9 1232 13677 0.00 2.10 57.15 0.647 6 0.000 0.029 2974 2380 1857

13829 end climb: SURFACE_DEPTH_REACHED

state 13829 begin surface coast

13853 end surface coast: CONTROL_FINISHED_OK

state 13853 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	623	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	89	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-21593.109	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	133106,2518.893,12309.831,33,1.7,34,-3.7	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.77	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-65.0	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	133819,2519.074,12309.965,12,1.8,17,-3.7	MHEAD_RNG_PITCHd_Wd	278.0,51114,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1177

FINISH	1.9,1.006322	_24V_AH	23.0,107.276
SM_CCo	13874,47.62,0.617,0,0,1595,475.15	_10V_AH	10.5,56.023
SM_GC	3.21,0.00,0.00,47.62,0.000,0.000,0.617,141,2382,1595,-7.63,-0.03,475.15	DATA_FILE_SIZE	69520,1274
IRIDIUM_FIX	2507.97,12312.32,271198,090905	CAP_FILE_SIZE	148239,0
TT8_MAMPS	0.029146	CFSIZE	260165632,177233920
HUMID	1758	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.42419	CURRENT	0.252, 63.3,1
TCM_TEMP	25.70	GPS	020909,173207,2520.382,12309.962,41,1.0,42,-3.7
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	228	146.80	SBE_CT	862	24	475.89
Roll_motor	112	53	139.23	Optode	880	33	668.04
VBD_pump_during_apogee	443	1405	14345.29	WL_BB2F	0	105	0.00
VBD_pump_during_surface	47	616	675.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.81	nil	0	0	0.00
Iridium_during_connect	36	160	132.58	nil	0	0	0.00
Iridium_during_xfer	191	223	983.72
Transponder_ping	9	420	89.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	20	50	10.62
TT8	2289	19	476.02
LPSleep	8368	2	192.42
TT8_Active	592	19	123.25
TT8_Sampling	2370	39	990.78
TT8_CF8	724	45	348.35
TT8_Kalman	0	81	0.00
Analog_circuits	1791	12	225.68
GPS_charging	0	0	0.00
Compass	2304	8	193.58
RAFOS	0	0	0.00
Transponder	58	30	18.44

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.50	-121.7	0.0	0.0	0	42	0.00	0.00	-23.27	0.000	2	0.000	0.000	143	2372	2182
48	-1.50	-121.7	3.0	-2.2	4	121	8.00	2.20	-57.00	0.000	4	0.228	0.054	2086	3758	3990
377	-0.75	-121.7	117.0	-35.3	61	385	0.88	1.98	0.00	0.000	6	0.170	0.020	2332	2346	3993
727	-1.19	-121.7	161.3	-10.7	122	733	0.32	2.20	0.00	0.000	4	0.054	0.044	2188	3760	3995
849	-1.00	-121.7	186.6	-20.8	143	856	0.25	1.90	0.00	0.000	6	0.163	0.021	2256	2404	3995
1199	-1.24	-121.7	232.1	-10.2	204	1206	0.20	2.10	0.00	0.000	4	0.063	0.042	2164	3760	3996
1293	-1.03	-121.7	250.9	-22.0	220	1300	0.30	1.90	0.00	0.000	6	0.155	0.021	2248	2397	3996
1642	-1.30	-121.7	296.4	-13.0	281	1650	0.22	2.12	0.00	0.000	4	0.061	0.044	2150	3764	3997
1790	-1.10	-121.7	327.5	-21.6	295	1797	0.28	1.85	0.00	0.000	6	0.166	0.021	2223	2453	3996
2118	-1.27	-121.7	376.0	-13.7	326	2122	0.15	2.05	0.00	0.000	4	0.071	0.045	2162	3765	3997
2316	-1.17	-121.7	412.1	-18.5	343	2322	0.15	1.83	0.00	0.000	6	0.166	0.023	2198	2484	3997
2642	-1.35	-121.7	458.9	-14.1	374	2646	0.15	2.00	0.00	0.000	4	0.072	0.045	2139	3764	3996
2761	-1.24	-121.7	480.0	-16.7	384	2768	0.15	1.80	0.00	0.000	6	0.170	0.023	2175	2498	3995
3097	-1.34	-121.7	526.8	-13.6	407	3101	0.00	1.95	0.00	0.000	4	0.000	0.044	2168	3754	3994
3191	-1.39	-121.7	541.8	-16.3	411	3194	0.00	1.77	0.00	0.000	6	0.000	0.025	2168	2517	3993
3526	-1.45	-121.7	594.7	-16.0	427	3530	0.17	1.98	0.00	0.000	4	0.076	0.048	2093	3764	3991
3599	-1.20	-121.7	609.2	-20.2	430	3603	0.35	1.77	0.00	0.000	6	0.176	0.024	2186	2530	3990
3932	-1.39	-121.7	650.9	-11.9	446	3937	0.15	1.95	0.00	0.000	4	0.072	0.048	2124	3761	3987
4006	-1.29	-121.7	663.2	-16.2	449	4010	0.15	1.77	0.00	0.000	6	0.174	0.025	2160	2538	3986
4338	-1.38	-121.7	706.8	-12.6	465	4342	0.00	1.95	0.00	0.000	4	0.000	0.049	2153	3773	3983
4411	-1.38	-121.7	718.5	-15.0	468	4414	0.00	1.77	0.00	0.000	6	0.000	0.025	2153	2551	3983
4739	-1.44	-121.7	765.3	-14.6	484	4743	0.12	1.92	0.00	0.000	4	0.086	0.049	2098	3762	3980
4825	-1.18	-121.7	782.6	-23.3	487	4831	0.38	1.75	0.00	0.000	6	0.179	0.026	2197	2560	3979
5142	-1.44	-121.7	819.1	-11.1	503	5146	0.20	1.90	0.00	0.000	4	0.073	0.050	2111	3753	3977
5325	-1.29	-121.7	853.6	-20.4	511	5329	0.20	1.73	0.00	0.000	6	0.173	0.027	2161	2575	3975
5661	-1.41	-121.7	903.1	-14.8	527	5665	0.12	1.88	0.00	0.000	4	0.084	0.051	2111	3757	3974
5708	-1.29	-121.7	911.6	-18.9	529	5713	0.15	1.75	0.00	0.000	6	0.174	0.026	2154	2586	3972
6045	-1.39	-121.7	961.5	-14.4	545	6048	0.00	1.85	0.00	0.000	4	0.000	0.051	2152	3753	3971
6154	-1.44	-121.7	977.8	-15.1	549	6161	0.10	1.70	0.00	0.000	6	0.091	0.025	2116	2587	3970
6240	end dive: TARGET_DEPTH_EXCEEDED
state	6240	begin apogee
6249	-0.27	0.0	991.4	15.4	554	6346	1.33	0.00	93.65	1.405	6	0.172	0.000	2484	2412	3532
6347	end apogee: CONTROL_FINISHED_OK
state	6347	begin climb
6351	1.50	121.7	995.6	0.0	559	6464	1.60	2.22	105.47	1.362	4	0.052	0.044	3065	3756	3035
6534	0.51	121.7	995.3	15.4	567	6541	1.33	2.10	0.00	0.000	6	0.229	0.021	2751	2338	3032
6851	0.59	189.2	966.4	8.3	583	6914	0.00	2.35	56.47	1.340	4	0.000	0.048	2751	3755	2759
7000	0.59	189.2	948.9	14.4	589	7006	0.00	2.05	0.00	0.000	6	0.000	0.023	2759	2373	2755
7317	0.70	197.5	908.8	12.6	605	7332	0.12	2.25	7.68	1.118	4	0.088	0.050	2806	3743	2726
7386	0.52	197.5	898.0	17.2	608	7391	0.25	2.00	0.00	0.000	6	0.186	0.024	2751	2370	2725
7719	0.67	209.1	855.8	12.4	624	7736	0.12	2.28	11.35	1.199	4	0.088	0.048	2798	3752	2678
7817	0.54	209.1	840.6	16.0	627	7822	0.20	2.00	0.00	0.000	6	0.186	0.024	2753	2392	2677
8134	0.69	219.7	801.0	12.4	642	8150	0.15	2.17	9.93	1.158	4	0.083	0.048	2810	3755	2638
8236	0.54	219.7	783.1	20.0	645	8243	0.25	2.00	0.00	0.000	6	0.187	0.024	2756	2385	2636
8553	0.70	221.4	739.5	13.1	661	8558	0.15	2.20	0.00	0.000	4	0.081	0.048	2812	3761	2634
8628	0.55	221.4	726.6	18.3	664	8633	0.22	1.98	0.00	0.000	6	0.189	0.026	2765	2413	2634
8946	0.69	225.0	684.3	12.9	679	8954	0.12	0.00	6.15	0.996	6	0.084	0.000	2811	2411	2614
9255	0.69	225.0	637.7	15.1	694	9259	0.00	2.15	0.00	0.000	4	0.000	0.049	2811	3761	2612
9513	0.56	225.0	595.0	15.7	705	9518	0.22	1.95	0.00	0.000	6	0.186	0.026	2764	2424	2611
9837	0.76	257.7	559.2	10.8	721	9872	0.17	2.25	27.35	1.125	4	0.077	0.030	2837	987	2481
9955	0.83	257.7	541.9	16.2	726	9959	0.00	2.22	0.00	0.000	6	0.000	0.033	2837	2422	2478
10280	0.83	257.7	487.1	17.6	745	10281	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2423	2476
10597	0.83	257.7	434.6	15.4	775	10601	0.00	2.10	0.00	0.000	4	0.000	0.052	2837	3750	2475
10614	0.83	257.7	431.7	15.6	776	10620	0.00	1.95	0.00	0.000	6	0.000	0.025	2847	2416	2475
10944	0.83	257.7	379.0	16.5	807	10949	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	2416	2474
11270	0.83	257.7	326.9	15.4	838	11273	0.00	2.12	0.00	0.000	4	0.000	0.049	2847	3751	2474
11385	0.70	257.7	307.5	16.9	848	11389	0.20	1.98	0.00	0.000	6	0.187	0.025	2806	2398	2474
11728	0.85	257.7	259.0	13.8	904	11735	0.12	2.10	0.00	0.000	4	0.083	0.028	2863	981	2473
11944	0.92	257.7	229.4	13.7	942	11951	0.00	2.17	0.00	0.000	6	0.000	0.033	2863	2404	2473
12293	0.92	262.7	183.5	12.8	1003	12304	0.00	2.15	4.78	0.638	4	0.000	0.050	2863	3759	2460
12375	0.81	262.7	172.0	13.7	1017	12382	0.12	2.00	0.00	0.000	6	0.187	0.024	2843	2379	2460
12726	0.98	300.5	134.5	10.5	1078	12765	0.15	2.10	31.85	0.766	4	0.078	0.028	2912	989	2306
13021	1.06	310.6	95.2	12.5	1129	13035	0.00	2.15	9.10	0.660	6	0.000	0.031	2912	2401	2265
13377	1.16	337.9	53.7	11.2	1191	13407	0.12	2.12	22.95	0.669	4	0.077	0.025	2974	983	2152
13612	1.25	410.5	30.0	7.9	1232	13677	0.00	2.10	57.15	0.647	6	0.000	0.029	2974	2380	1857
13829	end climb: SURFACE_DEPTH_REACHED
state	13829	begin surface coast
13853	end surface coast: CONTROL_FINISHED_OK
state	13853	begin surface