Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 667 * 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 667 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 74 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 -22433.893 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 -22433.893

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 74 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 45 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 667 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 173206,2522.242,12258.981,33,0.8,34,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.83 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -63.4 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 173956,2522.487,12259.141,13,1.0,13,-3.7 MHEAD_RNG_PITCHd_Wd 204.1,48719,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1292

Post-dive calculations and measurements:

FINISH 2.0,1.021604 _24V_AH 22.9,114.173

SM_CCo 14055,55.03,0.625,0,0,1594,475.15 _10V_AH 10.5,59.356

SM_GC 3.17,0.00,0.00,55.03,0.000,0.000,0.625,138,2470,1594,-7.63,2.46,475.15 DATA_FILE_SIZE 69511,1269

IRIDIUM_FIX 2512.73,12259.73,031298,131312 CAP_FILE_SIZE 151715,0

TT8_MAMPS 0.029146 CFSIZE 260165632,174206976

HUMID 1804 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.41442 CURRENT 0.245, 59.5,1

TCM_TEMP 25.60 GPS 080909,213638,2522.010,12300.219,25,1.4,27,-3.7

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 227 142.19 SBE_CT 860 24 472.86

Roll_motor 122 50 141.72 Optode 885 33 669.36

VBD_pump_during_apogee 436 1395 13952.01 WL_BB2F 0 105 0.00

VBD_pump_during_surface 55 625 787.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.93 nil 0 0 0.00

Iridium_during_connect 31 160 115.93 nil 0 0 0.00

Iridium_during_xfer 225 223 1152.20

Transponder_ping 10 420 96.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.09

TT8 2306 19 479.55

LPSleep 8470 2 194.78

TT8_Active 594 19 123.65

TT8_Sampling 2391 39 999.54

TT8_CF8 806 45 387.97

TT8_Kalman 0 81 0.00

Analog_circuits 1813 12 228.50

GPS_charging 0 0 0.00

Compass 2327 8 195.48

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 13 begin dive

17 -1.50 -121.7 0.0 0.0 0 48 0.00 0.00 -28.85 0.000 2 0.000 0.000 139 2373 2325

53 -1.50 -121.7 3.2 -1.5 5 118 8.00 2.10 -46.95 0.000 4 0.227 0.036 2093 974 3990

255 -0.83 -121.7 68.5 -35.8 40 263 0.85 2.12 0.00 0.000 6 0.188 0.031 2307 2388 3991

606 -1.11 -121.7 114.4 -7.7 101 613 0.20 2.10 0.00 0.000 4 0.059 0.043 2207 3753 3994

740 -1.03 -121.7 138.1 -19.7 124 748 0.15 1.92 0.00 0.000 6 0.153 0.021 2247 2379 3995

1089 -1.16 -121.7 196.7 -17.8 185 1096 0.12 2.15 0.00 0.000 4 0.075 0.043 2192 3760 3997

1171 -1.04 -121.7 214.9 -22.8 199 1177 0.20 1.85 0.00 0.000 6 0.156 0.021 2246 2434 3997

1520 -1.20 -121.7 267.8 -13.4 260 1528 0.15 2.05 0.00 0.000 4 0.071 0.044 2179 3746 3997

1722 -1.01 -121.7 305.5 -19.2 292 1729 0.28 1.83 0.00 0.000 6 0.163 0.023 2254 2456 3997

2048 -1.31 -121.7 336.1 -7.9 323 2053 0.25 2.03 0.00 0.000 4 0.061 0.045 2149 3747 3997

2159 -1.12 -121.7 353.5 -18.8 332 2164 0.25 1.77 0.00 0.000 6 0.164 0.023 2215 2492 3997

2491 -1.25 -121.7 404.0 -15.7 363 2495 0.12 1.98 0.00 0.000 4 0.078 0.047 2162 3745 3996

2521 -1.25 -121.7 409.5 -18.9 365 2527 0.00 1.75 0.00 0.000 6 0.000 0.023 2162 2503 3996

2847 -1.20 -121.7 471.7 -19.1 396 2852 0.12 1.98 0.00 0.000 4 0.172 0.048 2192 3751 3994

2982 -1.25 -121.7 494.0 -16.0 407 2988 0.00 1.75 0.00 0.000 6 0.000 0.024 2192 2519 3993

3311 -1.33 -121.7 537.6 -11.6 425 3315 0.12 1.95 0.00 0.000 4 0.082 0.047 2140 3754 3991

3375 -1.16 -121.7 547.2 -16.2 427 3381 0.25 1.73 0.00 0.000 6 0.169 0.023 2205 2546 3991

3695 -1.32 -121.7 580.6 -10.3 443 3699 0.15 1.90 0.00 0.000 4 0.073 0.048 2145 3746 3988

3792 -1.20 -121.7 594.6 -15.0 447 3796 0.12 1.73 0.00 0.000 6 0.173 0.024 2181 2571 3987

4123 -1.28 -121.7 635.5 -12.8 463 4127 0.00 1.88 0.00 0.000 4 0.000 0.050 2179 3757 3985

4200 -1.34 -121.7 645.8 -13.6 466 4204 0.00 1.70 0.00 0.000 6 0.000 0.025 2179 2575 3984

4528 -1.43 -121.7 693.0 -15.6 482 4532 0.17 1.88 0.00 0.000 4 0.077 0.050 2110 3750 3982

4580 -1.19 -121.7 703.8 -21.9 484 4584 0.25 1.73 0.00 0.000 6 0.176 0.025 2191 2580 3981

4912 -1.35 -121.7 753.0 -14.0 500 4916 0.15 1.88 0.00 0.000 4 0.077 0.050 2135 3756 3978

4981 -1.25 -121.7 765.5 -18.3 503 4985 0.12 1.73 0.00 0.000 6 0.173 0.025 2170 2592 3978

5318 -1.34 -121.7 817.5 -15.9 519 5322 0.00 1.85 0.00 0.000 4 0.000 0.050 2166 3758 3976

5403 -1.34 -121.7 832.6 -16.7 522 5409 0.00 1.70 0.00 0.000 6 0.000 0.025 2166 2584 3975

5722 -1.40 -121.7 880.8 -15.3 538 5726 0.12 1.88 0.00 0.000 4 0.087 0.050 2112 3758 3973

5791 -1.18 -121.7 894.1 -21.5 541 5795 0.32 1.70 0.00 0.000 6 0.181 0.025 2195 2594 3973

6130 -1.38 -121.7 936.3 -11.7 557 6134 0.17 1.85 0.00 0.000 4 0.077 0.051 2124 3747 3971

6169 -1.27 -121.7 943.0 -16.6 558 6176 0.12 1.67 0.00 0.000 6 0.176 0.025 2169 2617 3971

6490 -1.37 -121.7 986.7 -13.1 574 6493 0.00 1.80 0.00 0.000 4 0.000 0.051 2165 3748 3969

6510 end dive: TARGET_DEPTH_EXCEEDED

state 6510 begin apogee

6522 -0.27 0.0 990.7 14.2 575 6626 1.12 0.00 95.12 1.396 6 0.159 0.000 2485 2371 3532

6627 end apogee: CONTROL_FINISHED_OK

state 6627 begin climb

6631 1.50 121.7 995.8 0.0 580 6745 1.60 2.22 104.90 1.373 4 0.054 0.025 3070 995 3035

7003 0.76 122.4 972.4 13.1 596 7009 0.98 2.12 0.00 0.000 6 0.218 0.035 2828 2375 3031

7328 0.65 184.9 941.6 8.7 612 7386 0.15 2.15 52.53 1.345 4 0.201 0.025 2798 1002 2777

7545 0.69 220.2 918.8 10.6 621 7581 0.00 2.10 31.02 1.304 6 0.000 0.031 2798 2376 2634

7894 0.69 220.2 872.2 13.6 637 7898 0.00 2.17 0.00 0.000 4 0.000 0.050 2798 3751 2628

7946 0.60 220.2 863.8 16.7 639 7949 0.00 2.00 0.00 0.000 6 0.000 0.024 2802 2389 2627

8273 0.60 220.2 815.7 14.5 655 8277 0.00 2.17 0.00 0.000 4 0.000 0.048 2802 3753 2626

8507 0.51 220.2 777.6 15.9 665 8512 0.25 1.98 0.00 0.000 6 0.183 0.025 2747 2397 2625

8831 0.73 234.2 738.7 12.2 681 8852 0.17 2.25 11.45 1.167 4 0.076 0.049 2820 3758 2576

8917 0.60 234.2 724.2 18.6 684 8924 0.20 1.98 0.00 0.000 6 0.189 0.025 2778 2408 2576

9234 0.75 234.2 679.7 13.5 700 9238 0.12 2.15 0.00 0.000 4 0.083 0.048 2825 3753 2574

9298 0.61 234.2 669.4 16.4 703 9302 0.20 1.95 0.00 0.000 6 0.189 0.024 2778 2419 2574

9632 0.78 261.9 627.1 11.2 719 9662 0.15 2.20 23.62 1.167 4 0.080 0.050 2836 3746 2464

9771 0.67 261.9 605.8 17.6 725 9776 0.20 1.95 0.00 0.000 6 0.186 0.025 2795 2420 2461

10105 0.81 271.8 562.1 12.5 741 10120 0.15 2.15 9.27 1.032 4 0.080 0.051 2853 3750 2423

10267 0.68 271.8 533.6 18.4 748 10272 0.25 1.92 0.00 0.000 6 0.186 0.025 2799 2438 2422

10589 0.82 271.8 488.5 14.4 767 10594 0.12 2.12 0.00 0.000 4 0.084 0.049 2846 3762 2421

10670 0.70 271.8 472.8 20.4 773 10677 0.20 1.90 0.00 0.000 6 0.186 0.025 2805 2457 2421

10998 0.83 271.8 418.3 17.0 804 11002 0.12 2.08 0.00 0.000 4 0.086 0.049 2854 3760 2420

11089 0.70 271.8 400.5 21.3 812 11094 0.22 1.90 0.00 0.000 6 0.181 0.025 2806 2468 2420

11423 0.86 276.9 352.2 12.8 843 11435 0.15 2.22 5.72 0.816 4 0.081 0.030 2873 990 2402

11464 0.86 276.9 345.7 15.8 846 11470 0.00 2.30 0.00 0.000 6 0.000 0.034 2873 2481 2402

11795 0.86 276.9 297.4 14.3 878 11801 0.00 2.00 0.00 0.000 4 0.000 0.051 2873 3750 2402

11831 0.73 276.9 291.0 16.8 884 11839 0.25 1.85 0.00 0.000 6 0.180 0.025 2817 2475 2401

12181 0.90 298.7 249.2 11.6 945 12207 0.15 2.12 19.27 0.885 4 0.077 0.049 2877 3761 2313

12464 0.79 298.7 197.7 18.0 994 12470 0.20 1.83 0.00 0.000 6 0.176 0.025 2834 2504 2310

12812 1.01 316.8 147.8 11.9 1055 12836 0.17 2.33 15.48 0.785 4 0.071 0.028 2920 982 2239

12995 1.01 316.8 115.4 18.5 1087 13002 0.00 2.35 0.00 0.000 6 0.000 0.031 2920 2517 2238

13343 1.04 347.2 67.1 11.0 1148 13374 0.00 2.03 25.15 0.719 4 0.000 0.050 2920 3762 2115

13630 1.11 401.1 39.5 9.3 1198 13678 0.00 1.85 42.90 0.679 6 0.000 0.023 2930 2473 1897

14004 end climb: SURFACE_DEPTH_REACHED

state 14004 begin surface coast

14034 end surface coast: CONTROL_FINISHED_OK

state 14034 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	667	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	74	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	-22433.893	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	173206,2522.242,12258.981,33,0.8,34,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.83	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-63.4	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	173956,2522.487,12259.141,13,1.0,13,-3.7	MHEAD_RNG_PITCHd_Wd	204.1,48719,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1292

FINISH	2.0,1.021604	_24V_AH	22.9,114.173
SM_CCo	14055,55.03,0.625,0,0,1594,475.15	_10V_AH	10.5,59.356
SM_GC	3.17,0.00,0.00,55.03,0.000,0.000,0.625,138,2470,1594,-7.63,2.46,475.15	DATA_FILE_SIZE	69511,1269
IRIDIUM_FIX	2512.73,12259.73,031298,131312	CAP_FILE_SIZE	151715,0
TT8_MAMPS	0.029146	CFSIZE	260165632,174206976
HUMID	1804	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.41442	CURRENT	0.245, 59.5,1
TCM_TEMP	25.60	GPS	080909,213638,2522.010,12300.219,25,1.4,27,-3.7
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	227	142.19	SBE_CT	860	24	472.86
Roll_motor	122	50	141.72	Optode	885	33	669.36
VBD_pump_during_apogee	436	1395	13952.01	WL_BB2F	0	105	0.00
VBD_pump_during_surface	55	625	787.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.93	nil	0	0	0.00
Iridium_during_connect	31	160	115.93	nil	0	0	0.00
Iridium_during_xfer	225	223	1152.20
Transponder_ping	10	420	96.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.09
TT8	2306	19	479.55
LPSleep	8470	2	194.78
TT8_Active	594	19	123.65
TT8_Sampling	2391	39	999.54
TT8_CF8	806	45	387.97
TT8_Kalman	0	81	0.00
Analog_circuits	1813	12	228.50
GPS_charging	0	0	0.00
Compass	2327	8	195.48
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	13	begin dive
17	-1.50	-121.7	0.0	0.0	0	48	0.00	0.00	-28.85	0.000	2	0.000	0.000	139	2373	2325
53	-1.50	-121.7	3.2	-1.5	5	118	8.00	2.10	-46.95	0.000	4	0.227	0.036	2093	974	3990
255	-0.83	-121.7	68.5	-35.8	40	263	0.85	2.12	0.00	0.000	6	0.188	0.031	2307	2388	3991
606	-1.11	-121.7	114.4	-7.7	101	613	0.20	2.10	0.00	0.000	4	0.059	0.043	2207	3753	3994
740	-1.03	-121.7	138.1	-19.7	124	748	0.15	1.92	0.00	0.000	6	0.153	0.021	2247	2379	3995
1089	-1.16	-121.7	196.7	-17.8	185	1096	0.12	2.15	0.00	0.000	4	0.075	0.043	2192	3760	3997
1171	-1.04	-121.7	214.9	-22.8	199	1177	0.20	1.85	0.00	0.000	6	0.156	0.021	2246	2434	3997
1520	-1.20	-121.7	267.8	-13.4	260	1528	0.15	2.05	0.00	0.000	4	0.071	0.044	2179	3746	3997
1722	-1.01	-121.7	305.5	-19.2	292	1729	0.28	1.83	0.00	0.000	6	0.163	0.023	2254	2456	3997
2048	-1.31	-121.7	336.1	-7.9	323	2053	0.25	2.03	0.00	0.000	4	0.061	0.045	2149	3747	3997
2159	-1.12	-121.7	353.5	-18.8	332	2164	0.25	1.77	0.00	0.000	6	0.164	0.023	2215	2492	3997
2491	-1.25	-121.7	404.0	-15.7	363	2495	0.12	1.98	0.00	0.000	4	0.078	0.047	2162	3745	3996
2521	-1.25	-121.7	409.5	-18.9	365	2527	0.00	1.75	0.00	0.000	6	0.000	0.023	2162	2503	3996
2847	-1.20	-121.7	471.7	-19.1	396	2852	0.12	1.98	0.00	0.000	4	0.172	0.048	2192	3751	3994
2982	-1.25	-121.7	494.0	-16.0	407	2988	0.00	1.75	0.00	0.000	6	0.000	0.024	2192	2519	3993
3311	-1.33	-121.7	537.6	-11.6	425	3315	0.12	1.95	0.00	0.000	4	0.082	0.047	2140	3754	3991
3375	-1.16	-121.7	547.2	-16.2	427	3381	0.25	1.73	0.00	0.000	6	0.169	0.023	2205	2546	3991
3695	-1.32	-121.7	580.6	-10.3	443	3699	0.15	1.90	0.00	0.000	4	0.073	0.048	2145	3746	3988
3792	-1.20	-121.7	594.6	-15.0	447	3796	0.12	1.73	0.00	0.000	6	0.173	0.024	2181	2571	3987
4123	-1.28	-121.7	635.5	-12.8	463	4127	0.00	1.88	0.00	0.000	4	0.000	0.050	2179	3757	3985
4200	-1.34	-121.7	645.8	-13.6	466	4204	0.00	1.70	0.00	0.000	6	0.000	0.025	2179	2575	3984
4528	-1.43	-121.7	693.0	-15.6	482	4532	0.17	1.88	0.00	0.000	4	0.077	0.050	2110	3750	3982
4580	-1.19	-121.7	703.8	-21.9	484	4584	0.25	1.73	0.00	0.000	6	0.176	0.025	2191	2580	3981
4912	-1.35	-121.7	753.0	-14.0	500	4916	0.15	1.88	0.00	0.000	4	0.077	0.050	2135	3756	3978
4981	-1.25	-121.7	765.5	-18.3	503	4985	0.12	1.73	0.00	0.000	6	0.173	0.025	2170	2592	3978
5318	-1.34	-121.7	817.5	-15.9	519	5322	0.00	1.85	0.00	0.000	4	0.000	0.050	2166	3758	3976
5403	-1.34	-121.7	832.6	-16.7	522	5409	0.00	1.70	0.00	0.000	6	0.000	0.025	2166	2584	3975
5722	-1.40	-121.7	880.8	-15.3	538	5726	0.12	1.88	0.00	0.000	4	0.087	0.050	2112	3758	3973
5791	-1.18	-121.7	894.1	-21.5	541	5795	0.32	1.70	0.00	0.000	6	0.181	0.025	2195	2594	3973
6130	-1.38	-121.7	936.3	-11.7	557	6134	0.17	1.85	0.00	0.000	4	0.077	0.051	2124	3747	3971
6169	-1.27	-121.7	943.0	-16.6	558	6176	0.12	1.67	0.00	0.000	6	0.176	0.025	2169	2617	3971
6490	-1.37	-121.7	986.7	-13.1	574	6493	0.00	1.80	0.00	0.000	4	0.000	0.051	2165	3748	3969
6510	end dive: TARGET_DEPTH_EXCEEDED
state	6510	begin apogee
6522	-0.27	0.0	990.7	14.2	575	6626	1.12	0.00	95.12	1.396	6	0.159	0.000	2485	2371	3532
6627	end apogee: CONTROL_FINISHED_OK
state	6627	begin climb
6631	1.50	121.7	995.8	0.0	580	6745	1.60	2.22	104.90	1.373	4	0.054	0.025	3070	995	3035
7003	0.76	122.4	972.4	13.1	596	7009	0.98	2.12	0.00	0.000	6	0.218	0.035	2828	2375	3031
7328	0.65	184.9	941.6	8.7	612	7386	0.15	2.15	52.53	1.345	4	0.201	0.025	2798	1002	2777
7545	0.69	220.2	918.8	10.6	621	7581	0.00	2.10	31.02	1.304	6	0.000	0.031	2798	2376	2634
7894	0.69	220.2	872.2	13.6	637	7898	0.00	2.17	0.00	0.000	4	0.000	0.050	2798	3751	2628
7946	0.60	220.2	863.8	16.7	639	7949	0.00	2.00	0.00	0.000	6	0.000	0.024	2802	2389	2627
8273	0.60	220.2	815.7	14.5	655	8277	0.00	2.17	0.00	0.000	4	0.000	0.048	2802	3753	2626
8507	0.51	220.2	777.6	15.9	665	8512	0.25	1.98	0.00	0.000	6	0.183	0.025	2747	2397	2625
8831	0.73	234.2	738.7	12.2	681	8852	0.17	2.25	11.45	1.167	4	0.076	0.049	2820	3758	2576
8917	0.60	234.2	724.2	18.6	684	8924	0.20	1.98	0.00	0.000	6	0.189	0.025	2778	2408	2576
9234	0.75	234.2	679.7	13.5	700	9238	0.12	2.15	0.00	0.000	4	0.083	0.048	2825	3753	2574
9298	0.61	234.2	669.4	16.4	703	9302	0.20	1.95	0.00	0.000	6	0.189	0.024	2778	2419	2574
9632	0.78	261.9	627.1	11.2	719	9662	0.15	2.20	23.62	1.167	4	0.080	0.050	2836	3746	2464
9771	0.67	261.9	605.8	17.6	725	9776	0.20	1.95	0.00	0.000	6	0.186	0.025	2795	2420	2461
10105	0.81	271.8	562.1	12.5	741	10120	0.15	2.15	9.27	1.032	4	0.080	0.051	2853	3750	2423
10267	0.68	271.8	533.6	18.4	748	10272	0.25	1.92	0.00	0.000	6	0.186	0.025	2799	2438	2422
10589	0.82	271.8	488.5	14.4	767	10594	0.12	2.12	0.00	0.000	4	0.084	0.049	2846	3762	2421
10670	0.70	271.8	472.8	20.4	773	10677	0.20	1.90	0.00	0.000	6	0.186	0.025	2805	2457	2421
10998	0.83	271.8	418.3	17.0	804	11002	0.12	2.08	0.00	0.000	4	0.086	0.049	2854	3760	2420
11089	0.70	271.8	400.5	21.3	812	11094	0.22	1.90	0.00	0.000	6	0.181	0.025	2806	2468	2420
11423	0.86	276.9	352.2	12.8	843	11435	0.15	2.22	5.72	0.816	4	0.081	0.030	2873	990	2402
11464	0.86	276.9	345.7	15.8	846	11470	0.00	2.30	0.00	0.000	6	0.000	0.034	2873	2481	2402
11795	0.86	276.9	297.4	14.3	878	11801	0.00	2.00	0.00	0.000	4	0.000	0.051	2873	3750	2402
11831	0.73	276.9	291.0	16.8	884	11839	0.25	1.85	0.00	0.000	6	0.180	0.025	2817	2475	2401
12181	0.90	298.7	249.2	11.6	945	12207	0.15	2.12	19.27	0.885	4	0.077	0.049	2877	3761	2313
12464	0.79	298.7	197.7	18.0	994	12470	0.20	1.83	0.00	0.000	6	0.176	0.025	2834	2504	2310
12812	1.01	316.8	147.8	11.9	1055	12836	0.17	2.33	15.48	0.785	4	0.071	0.028	2920	982	2239
12995	1.01	316.8	115.4	18.5	1087	13002	0.00	2.35	0.00	0.000	6	0.000	0.031	2920	2517	2238
13343	1.04	347.2	67.1	11.0	1148	13374	0.00	2.03	25.15	0.719	4	0.000	0.050	2920	3762	2115
13630	1.11	401.1	39.5	9.3	1198	13678	0.00	1.85	42.90	0.679	6	0.000	0.023	2930	2473	1897
14004	end climb: SURFACE_DEPTH_REACHED
state	14004	begin surface coast
14034	end surface coast: CONTROL_FINISHED_OK
state	14034	begin surface