Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 624 * 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 624 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 46 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 -21607.33 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 -21607.33

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 46 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 624 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 173207,2520.382,12309.962,41,1.0,42,-3.7 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 0 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 -66.4 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 173914,2520.619,12310.183,13,1.3,13,-3.7 MHEAD_RNG_PITCHd_Wd 275.5,49227,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1068

Post-dive calculations and measurements:

FINISH 1.8,1.021477 ALTIM_BOTTOM_PING 950.6,69.1

SM_CCo 14013,54.10,0.611,0,0,1594,475.15 _24V_AH 23.0,107.442

SM_GC 2.80,0.00,0.00,54.10,0.000,0.000,0.611,139,2444,1594,-7.63,1.72,475.15 _10V_AH 10.5,56.108

IRIDIUM_FIX 2510.35,12310.33,271198,131343 DATA_FILE_SIZE 69473,1273

TT8_MAMPS 0.029146 CAP_FILE_SIZE 151028,0

HUMID 1747 CFSIZE 260165632,177156096

INTERNAL_PRESSURE 9.43396 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.90 CURRENT 0.239, 48.2,1

XPDR_PINGS 7 GPS 020909,213529,2522.132,12309.747,37,1.6,42,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 233 149.62 SBE_CT 861 24 475.59

Roll_motor 112 52 135.22 Optode 875 33 664.81

VBD_pump_during_apogee 436 1406 14108.59 WL_BB2F 0 105 0.00

VBD_pump_during_surface 54 611 760.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.77 nil 0 0 0.00

Iridium_during_connect 33 160 123.41 nil 0 0 0.00

Iridium_during_xfer 187 223 959.98

Transponder_ping 10 420 96.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.14

TT8 2318 19 481.98

LPSleep 8363 2 192.31

TT8_Active 591 19 122.93

TT8_Sampling 2454 39 1025.89

TT8_CF8 759 45 365.27

TT8_Kalman 0 81 0.00

Analog_circuits 1822 12 229.68

GPS_charging 0 0 0.00

Compass 2393 8 201.03

RAFOS 0 0 0.00

Transponder 61 30 19.36

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -23.62 0.000 2 0.000 0.000 141 2382 2187

46 -1.50 -121.7 3.2 -3.1 4 121 8.15 2.17 -61.62 0.000 4 0.233 0.051 2087 3755 3990

366 -0.76 -121.7 110.1 -36.3 59 373 0.88 1.95 0.00 0.000 6 0.173 0.020 2331 2355 3993

717 -1.17 -121.7 153.0 -11.4 120 723 0.32 2.17 0.00 0.000 4 0.055 0.043 2192 3754 3996

778 -1.02 -121.7 164.0 -19.2 130 784 0.20 1.90 0.00 0.000 6 0.155 0.021 2246 2395 3995

1125 -1.17 -121.7 215.8 -13.6 191 1131 0.12 2.10 0.00 0.000 4 0.075 0.043 2192 3749 3996

1271 -1.09 -121.7 243.1 -19.2 216 1278 0.15 1.90 0.00 0.000 6 0.156 0.021 2231 2395 3997

1623 -1.24 -121.7 293.5 -13.2 277 1631 0.15 2.12 0.00 0.000 4 0.071 0.044 2166 3760 3997

1707 -1.07 -121.7 308.9 -19.6 287 1712 0.25 1.90 0.00 0.000 6 0.160 0.021 2233 2399 3996

2040 -1.29 -121.7 353.4 -13.7 318 2044 0.20 2.10 0.00 0.000 4 0.065 0.044 2146 3756 3997

2204 -1.13 -121.7 387.7 -19.7 332 2211 0.25 1.85 0.00 0.000 6 0.164 0.023 2213 2456 3997

2532 -1.32 -121.7 429.6 -11.9 363 2536 0.17 2.03 0.00 0.000 4 0.066 0.045 2139 3751 3997

2601 -1.18 -121.7 440.7 -16.9 369 2605 0.22 1.85 0.00 0.000 6 0.163 0.023 2199 2453 3996

2934 -1.35 -121.7 484.5 -13.1 400 2938 0.15 2.05 0.00 0.000 4 0.072 0.046 2138 3759 3995

3073 -1.22 -121.7 509.3 -18.8 410 3078 0.12 1.85 0.00 0.000 6 0.165 0.023 2187 2494 3994

3411 -1.34 -121.7 558.7 -14.8 426 3415 0.12 1.98 0.00 0.000 4 0.077 0.047 2137 3746 3992

3485 -1.26 -121.7 572.4 -18.2 429 3489 0.15 1.80 0.00 0.000 6 0.170 0.024 2174 2494 3991

3817 -1.35 -121.7 623.9 -16.3 445 3825 0.00 1.98 0.00 0.000 4 0.000 0.048 2167 3751 3989

3866 -1.35 -121.7 633.0 -17.1 447 3869 0.00 1.83 0.00 0.000 6 0.000 0.025 2167 2507 3988

4199 -1.46 -121.7 682.3 -13.8 463 4204 0.17 1.98 0.00 0.000 4 0.077 0.047 2085 3757 3985

4313 -1.17 -121.7 704.5 -21.4 468 4317 0.43 1.80 0.00 0.000 6 0.175 0.025 2198 2515 3984

4649 -1.39 -121.7 739.6 -9.0 484 4654 0.17 1.95 0.00 0.000 4 0.072 0.047 2124 3750 3981

4764 -1.28 -121.7 757.3 -16.7 489 4769 0.17 1.77 0.00 0.000 6 0.171 0.025 2168 2525 3980

5101 -1.39 -121.7 797.4 -11.2 505 5105 0.12 1.95 0.00 0.000 4 0.083 0.050 2115 3752 3977

5235 -1.24 -121.7 820.0 -18.2 510 5242 0.22 1.75 0.00 0.000 6 0.173 0.025 2172 2550 3976

5553 -1.38 -121.7 860.4 -13.3 526 5557 0.12 1.92 0.00 0.000 4 0.080 0.050 2125 3757 3974

5646 -1.29 -121.7 876.0 -17.2 530 5650 0.10 1.77 0.00 0.000 6 0.170 0.026 2154 2571 3973

5983 -1.36 -121.7 920.3 -12.2 546 5986 0.00 1.88 0.00 0.000 4 0.000 0.051 2152 3754 3971

6108 -1.36 -121.7 937.6 -13.0 551 6112 0.00 1.73 0.00 0.000 6 0.000 0.026 2152 2573 3970

6431 -1.36 -121.7 971.2 -10.3 567 6434 0.00 1.88 0.00 0.000 4 0.000 0.052 2152 3750 3969

6534 -1.36 -121.7 982.9 -12.7 571 6537 0.00 1.70 0.00 0.000 6 0.000 0.026 2152 2584 3968

6687 end dive: TARGET_DEPTH_EXCEEDED

state 6687 begin apogee

6696 -0.27 0.0 990.9 4.8 579 6793 1.17 0.00 93.20 1.407 6 0.163 0.000 2487 2415 3532

6793 end apogee: CONTROL_FINISHED_OK

state 6793 begin climb

6797 1.50 121.7 986.7 0.0 584 6912 1.60 2.28 105.40 1.357 4 0.054 0.025 3073 1000 3035

7168 0.74 121.7 927.4 20.0 600 7175 1.02 2.10 0.00 0.000 6 0.222 0.036 2819 2363 3030

7487 0.56 128.1 884.3 12.7 616 7495 0.22 0.00 6.10 1.039 6 0.197 0.000 2762 2363 3009

7794 0.62 176.6 852.0 9.7 631 7840 0.00 2.28 40.97 1.289 4 0.000 0.052 2762 3760 2812

7958 0.55 176.6 830.8 13.8 638 7962 0.00 2.03 0.00 0.000 6 0.000 0.026 2762 2400 2809

8282 0.64 199.6 794.5 11.5 654 8307 0.00 2.25 19.65 1.231 4 0.000 0.051 2762 3751 2717

8484 0.64 199.6 766.6 13.9 663 8488 0.00 2.03 0.00 0.000 6 0.000 0.025 2765 2378 2715

8818 0.76 209.8 724.1 12.5 679 8830 0.17 0.00 9.75 1.121 6 0.075 0.000 2832 2374 2676

9128 0.67 209.8 674.9 17.1 694 9133 0.15 2.20 0.00 0.000 4 0.185 0.048 2796 3750 2674

9326 0.56 209.8 641.9 15.3 703 9331 0.17 2.00 0.00 0.000 6 0.191 0.025 2759 2383 2674

9662 0.73 232.6 602.9 11.5 719 9687 0.17 2.12 20.08 1.137 4 0.078 0.031 2831 985 2582

9772 0.73 232.6 587.0 14.9 724 9776 0.00 2.15 0.00 0.000 6 0.000 0.033 2831 2377 2580

10101 0.73 232.6 536.7 15.4 740 10105 0.00 2.17 0.00 0.000 4 0.000 0.051 2831 3753 2578

10298 0.56 232.6 502.0 17.5 748 10305 0.30 2.03 0.00 0.000 6 0.186 0.025 2763 2370 2577

10626 0.76 244.0 457.6 12.4 778 10641 0.17 2.25 9.70 0.980 4 0.076 0.050 2829 3764 2537

10856 0.63 244.0 420.1 15.6 798 10863 0.22 2.00 0.00 0.000 6 0.186 0.026 2782 2401 2535

11183 0.83 273.4 383.9 11.1 829 11217 0.17 2.22 25.17 0.989 4 0.072 0.051 2849 3742 2416

11288 0.71 273.4 367.2 18.3 838 11293 0.20 1.98 0.00 0.000 6 0.189 0.025 2809 2400 2414

11620 0.85 273.4 316.6 15.1 869 11625 0.15 2.17 0.00 0.000 4 0.083 0.050 2868 3754 2412

11724 0.69 273.4 296.5 19.7 879 11731 0.28 1.95 0.00 0.000 6 0.185 0.024 2806 2411 2412

12075 0.89 303.6 254.0 11.0 940 12106 0.17 2.22 25.42 0.875 4 0.076 0.046 2880 3763 2293

12147 0.73 303.6 242.7 18.3 952 12154 0.28 1.95 0.00 0.000 6 0.183 0.024 2817 2430 2291

12494 0.92 303.6 191.8 17.2 1013 12502 0.17 2.15 0.00 0.000 4 0.073 0.028 2900 985 2290

12759 0.97 303.6 148.9 15.1 1059 12765 0.00 2.22 0.00 0.000 6 0.000 0.032 2900 2446 2289

13105 0.98 312.0 100.4 12.6 1120 13119 0.00 2.12 7.75 0.656 4 0.000 0.048 2900 3764 2260

13330 0.94 326.9 66.2 12.1 1159 13350 0.00 1.92 13.45 0.671 6 0.000 0.022 2910 2413 2198

13694 1.18 401.9 35.9 7.8 1222 13765 0.15 2.22 59.42 0.652 4 0.074 0.044 2975 3767 1891

13838 1.10 401.9 17.1 13.9 1246 13844 0.20 1.90 0.00 0.000 6 0.179 0.021 2933 2449 1887

13960 end climb: SURFACE_DEPTH_REACHED

state 13961 begin surface coast

13992 end surface coast: CONTROL_FINISHED_OK

state 13992 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	624	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	46	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	-21607.33	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	173207,2520.382,12309.962,41,1.0,42,-3.7	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	0	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	-66.4	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	173914,2520.619,12310.183,13,1.3,13,-3.7	MHEAD_RNG_PITCHd_Wd	275.5,49227,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1068

FINISH	1.8,1.021477	ALTIM_BOTTOM_PING	950.6,69.1
SM_CCo	14013,54.10,0.611,0,0,1594,475.15	_24V_AH	23.0,107.442
SM_GC	2.80,0.00,0.00,54.10,0.000,0.000,0.611,139,2444,1594,-7.63,1.72,475.15	_10V_AH	10.5,56.108
IRIDIUM_FIX	2510.35,12310.33,271198,131343	DATA_FILE_SIZE	69473,1273
TT8_MAMPS	0.029146	CAP_FILE_SIZE	151028,0
HUMID	1747	CFSIZE	260165632,177156096
INTERNAL_PRESSURE	9.43396	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.90	CURRENT	0.239, 48.2,1
XPDR_PINGS	7	GPS	020909,213529,2522.132,12309.747,37,1.6,42,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	233	149.62	SBE_CT	861	24	475.59
Roll_motor	112	52	135.22	Optode	875	33	664.81
VBD_pump_during_apogee	436	1406	14108.59	WL_BB2F	0	105	0.00
VBD_pump_during_surface	54	611	760.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.77	nil	0	0	0.00
Iridium_during_connect	33	160	123.41	nil	0	0	0.00
Iridium_during_xfer	187	223	959.98
Transponder_ping	10	420	96.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.14
TT8	2318	19	481.98
LPSleep	8363	2	192.31
TT8_Active	591	19	122.93
TT8_Sampling	2454	39	1025.89
TT8_CF8	759	45	365.27
TT8_Kalman	0	81	0.00
Analog_circuits	1822	12	229.68
GPS_charging	0	0	0.00
Compass	2393	8	201.03
RAFOS	0	0	0.00
Transponder	61	30	19.36

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-23.62	0.000	2	0.000	0.000	141	2382	2187
46	-1.50	-121.7	3.2	-3.1	4	121	8.15	2.17	-61.62	0.000	4	0.233	0.051	2087	3755	3990
366	-0.76	-121.7	110.1	-36.3	59	373	0.88	1.95	0.00	0.000	6	0.173	0.020	2331	2355	3993
717	-1.17	-121.7	153.0	-11.4	120	723	0.32	2.17	0.00	0.000	4	0.055	0.043	2192	3754	3996
778	-1.02	-121.7	164.0	-19.2	130	784	0.20	1.90	0.00	0.000	6	0.155	0.021	2246	2395	3995
1125	-1.17	-121.7	215.8	-13.6	191	1131	0.12	2.10	0.00	0.000	4	0.075	0.043	2192	3749	3996
1271	-1.09	-121.7	243.1	-19.2	216	1278	0.15	1.90	0.00	0.000	6	0.156	0.021	2231	2395	3997
1623	-1.24	-121.7	293.5	-13.2	277	1631	0.15	2.12	0.00	0.000	4	0.071	0.044	2166	3760	3997
1707	-1.07	-121.7	308.9	-19.6	287	1712	0.25	1.90	0.00	0.000	6	0.160	0.021	2233	2399	3996
2040	-1.29	-121.7	353.4	-13.7	318	2044	0.20	2.10	0.00	0.000	4	0.065	0.044	2146	3756	3997
2204	-1.13	-121.7	387.7	-19.7	332	2211	0.25	1.85	0.00	0.000	6	0.164	0.023	2213	2456	3997
2532	-1.32	-121.7	429.6	-11.9	363	2536	0.17	2.03	0.00	0.000	4	0.066	0.045	2139	3751	3997
2601	-1.18	-121.7	440.7	-16.9	369	2605	0.22	1.85	0.00	0.000	6	0.163	0.023	2199	2453	3996
2934	-1.35	-121.7	484.5	-13.1	400	2938	0.15	2.05	0.00	0.000	4	0.072	0.046	2138	3759	3995
3073	-1.22	-121.7	509.3	-18.8	410	3078	0.12	1.85	0.00	0.000	6	0.165	0.023	2187	2494	3994
3411	-1.34	-121.7	558.7	-14.8	426	3415	0.12	1.98	0.00	0.000	4	0.077	0.047	2137	3746	3992
3485	-1.26	-121.7	572.4	-18.2	429	3489	0.15	1.80	0.00	0.000	6	0.170	0.024	2174	2494	3991
3817	-1.35	-121.7	623.9	-16.3	445	3825	0.00	1.98	0.00	0.000	4	0.000	0.048	2167	3751	3989
3866	-1.35	-121.7	633.0	-17.1	447	3869	0.00	1.83	0.00	0.000	6	0.000	0.025	2167	2507	3988
4199	-1.46	-121.7	682.3	-13.8	463	4204	0.17	1.98	0.00	0.000	4	0.077	0.047	2085	3757	3985
4313	-1.17	-121.7	704.5	-21.4	468	4317	0.43	1.80	0.00	0.000	6	0.175	0.025	2198	2515	3984
4649	-1.39	-121.7	739.6	-9.0	484	4654	0.17	1.95	0.00	0.000	4	0.072	0.047	2124	3750	3981
4764	-1.28	-121.7	757.3	-16.7	489	4769	0.17	1.77	0.00	0.000	6	0.171	0.025	2168	2525	3980
5101	-1.39	-121.7	797.4	-11.2	505	5105	0.12	1.95	0.00	0.000	4	0.083	0.050	2115	3752	3977
5235	-1.24	-121.7	820.0	-18.2	510	5242	0.22	1.75	0.00	0.000	6	0.173	0.025	2172	2550	3976
5553	-1.38	-121.7	860.4	-13.3	526	5557	0.12	1.92	0.00	0.000	4	0.080	0.050	2125	3757	3974
5646	-1.29	-121.7	876.0	-17.2	530	5650	0.10	1.77	0.00	0.000	6	0.170	0.026	2154	2571	3973
5983	-1.36	-121.7	920.3	-12.2	546	5986	0.00	1.88	0.00	0.000	4	0.000	0.051	2152	3754	3971
6108	-1.36	-121.7	937.6	-13.0	551	6112	0.00	1.73	0.00	0.000	6	0.000	0.026	2152	2573	3970
6431	-1.36	-121.7	971.2	-10.3	567	6434	0.00	1.88	0.00	0.000	4	0.000	0.052	2152	3750	3969
6534	-1.36	-121.7	982.9	-12.7	571	6537	0.00	1.70	0.00	0.000	6	0.000	0.026	2152	2584	3968
6687	end dive: TARGET_DEPTH_EXCEEDED
state	6687	begin apogee
6696	-0.27	0.0	990.9	4.8	579	6793	1.17	0.00	93.20	1.407	6	0.163	0.000	2487	2415	3532
6793	end apogee: CONTROL_FINISHED_OK
state	6793	begin climb
6797	1.50	121.7	986.7	0.0	584	6912	1.60	2.28	105.40	1.357	4	0.054	0.025	3073	1000	3035
7168	0.74	121.7	927.4	20.0	600	7175	1.02	2.10	0.00	0.000	6	0.222	0.036	2819	2363	3030
7487	0.56	128.1	884.3	12.7	616	7495	0.22	0.00	6.10	1.039	6	0.197	0.000	2762	2363	3009
7794	0.62	176.6	852.0	9.7	631	7840	0.00	2.28	40.97	1.289	4	0.000	0.052	2762	3760	2812
7958	0.55	176.6	830.8	13.8	638	7962	0.00	2.03	0.00	0.000	6	0.000	0.026	2762	2400	2809
8282	0.64	199.6	794.5	11.5	654	8307	0.00	2.25	19.65	1.231	4	0.000	0.051	2762	3751	2717
8484	0.64	199.6	766.6	13.9	663	8488	0.00	2.03	0.00	0.000	6	0.000	0.025	2765	2378	2715
8818	0.76	209.8	724.1	12.5	679	8830	0.17	0.00	9.75	1.121	6	0.075	0.000	2832	2374	2676
9128	0.67	209.8	674.9	17.1	694	9133	0.15	2.20	0.00	0.000	4	0.185	0.048	2796	3750	2674
9326	0.56	209.8	641.9	15.3	703	9331	0.17	2.00	0.00	0.000	6	0.191	0.025	2759	2383	2674
9662	0.73	232.6	602.9	11.5	719	9687	0.17	2.12	20.08	1.137	4	0.078	0.031	2831	985	2582
9772	0.73	232.6	587.0	14.9	724	9776	0.00	2.15	0.00	0.000	6	0.000	0.033	2831	2377	2580
10101	0.73	232.6	536.7	15.4	740	10105	0.00	2.17	0.00	0.000	4	0.000	0.051	2831	3753	2578
10298	0.56	232.6	502.0	17.5	748	10305	0.30	2.03	0.00	0.000	6	0.186	0.025	2763	2370	2577
10626	0.76	244.0	457.6	12.4	778	10641	0.17	2.25	9.70	0.980	4	0.076	0.050	2829	3764	2537
10856	0.63	244.0	420.1	15.6	798	10863	0.22	2.00	0.00	0.000	6	0.186	0.026	2782	2401	2535
11183	0.83	273.4	383.9	11.1	829	11217	0.17	2.22	25.17	0.989	4	0.072	0.051	2849	3742	2416
11288	0.71	273.4	367.2	18.3	838	11293	0.20	1.98	0.00	0.000	6	0.189	0.025	2809	2400	2414
11620	0.85	273.4	316.6	15.1	869	11625	0.15	2.17	0.00	0.000	4	0.083	0.050	2868	3754	2412
11724	0.69	273.4	296.5	19.7	879	11731	0.28	1.95	0.00	0.000	6	0.185	0.024	2806	2411	2412
12075	0.89	303.6	254.0	11.0	940	12106	0.17	2.22	25.42	0.875	4	0.076	0.046	2880	3763	2293
12147	0.73	303.6	242.7	18.3	952	12154	0.28	1.95	0.00	0.000	6	0.183	0.024	2817	2430	2291
12494	0.92	303.6	191.8	17.2	1013	12502	0.17	2.15	0.00	0.000	4	0.073	0.028	2900	985	2290
12759	0.97	303.6	148.9	15.1	1059	12765	0.00	2.22	0.00	0.000	6	0.000	0.032	2900	2446	2289
13105	0.98	312.0	100.4	12.6	1120	13119	0.00	2.12	7.75	0.656	4	0.000	0.048	2900	3764	2260
13330	0.94	326.9	66.2	12.1	1159	13350	0.00	1.92	13.45	0.671	6	0.000	0.022	2910	2413	2198
13694	1.18	401.9	35.9	7.8	1222	13765	0.15	2.22	59.42	0.652	4	0.074	0.044	2975	3767	1891
13838	1.10	401.9	17.1	13.9	1246	13844	0.20	1.90	0.00	0.000	6	0.179	0.021	2933	2449	1887
13960	end climb: SURFACE_DEPTH_REACHED
state	13961	begin surface coast
13992	end surface coast: CONTROL_FINISHED_OK
state	13992	begin surface