Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 26 * 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 26 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 2435 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2470 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 425 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 64 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 396 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 -2 T_GPS 15 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 -4338.0894 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 200 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 2545 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 22.5 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 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22.5 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 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -4338.0894

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 396

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 2

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 2545 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -2

C_ROLL_CLIMB 2470 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2435 MASS 51932 R_PORT_OVSHOOT 64 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 200 R_STBD_OVSHOOT 31 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 26 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 075737,2531.571,12305.300,26,1.9,26,-3.8 TGT_NAME OFF_4

_CALLS 1 TGT_LATLONG 2517.000,12320.000

_XMS_NAKs 12 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080457,2531.711,12305.651,16,1.8,16,-3.8 MHEAD_RNG_PITCHd_Wd 187.4,36327,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 713

Post-dive calculations and measurements:

FINISH 1.1,1.008858 ALTIM_BOTTOM_PING 675.0,36.4

SM_CCo 13222,0.00,0.000,0,0,1563,483.00 _24V_AH 24.1,8.437

SM_GC 1.99,7.32,0.00,0.00,0.061,0.000,0.000,146,2432,1563,-7.49,-0.08,483.00 _10V_AH 10.8,6.023

IRIDIUM_FIX 2522.28,12302.33,190898,040420 DATA_FILE_SIZE 75821,1448

TT8_MAMPS 0.028379 CAP_FILE_SIZE 147059,0

HUMID 1557 CFSIZE 260165632,223055872

INTERNAL_PRESSURE 9.40466 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 26.00 CURRENT 0.261, 30.5,1

XPDR_PINGS 0 GPS 250509,114655,2531.516,12306.620,40,1.1,40,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 262 165.16 SBE_CT 975 24 564.28

Roll_motor 105 166 421.17 Optode 1023 33 814.29

VBD_pump_during_apogee 458 1274 14079.70 WL_BB2F 0 105 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 67.75 nil 0 0 0.00

Iridium_during_connect 33 160 128.86 nil 0 0 0.00

Iridium_during_xfer 252 223 1355.45

Transponder_ping 5 420 53.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.73

TT8 2505 19 535.82

LPSleep 7609 2 179.97

TT8_Active 557 19 119.20

TT8_Sampling 2420 39 1040.58

TT8_CF8 561 45 277.52

TT8_Kalman 0 0 0.00

Analog_circuits 1781 12 230.85

GPS_charging 0 0 0.00

Compass 2367 8 204.53

RAFOS 0 0 0.00

Transponder 37 30 12.08

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

16 -0.94 -194.7 0.0 0.0 0 70 0.00 0.00 -52.42 0.000 2 0.000 0.000 144 2427 2804

74 -0.94 -194.7 3.2 -5.1 9 122 8.85 2.08 -31.62 0.000 4 0.262 0.044 2236 1022 3989

342 -0.20 -194.7 83.4 -31.0 56 349 0.88 2.15 0.00 0.000 6 0.185 0.037 2477 2446 3990

687 -0.96 -194.7 116.3 -9.2 117 694 0.65 2.00 0.00 0.000 4 0.084 0.047 2237 3769 3991

774 -0.40 -194.7 130.3 -23.5 132 781 0.60 1.92 0.00 0.000 6 0.166 0.026 2415 2413 3991

1119 -0.65 -194.7 158.9 -5.5 193 1126 0.20 2.08 0.00 0.000 4 0.063 0.047 2319 3771 3992

1178 -0.48 -194.7 164.6 -11.8 203 1185 0.22 1.88 0.00 0.000 6 0.154 0.027 2383 2455 3992

1523 -0.65 -194.7 190.1 -7.3 264 1529 0.15 2.00 0.00 0.000 4 0.071 0.048 2316 3765 3992

1569 -0.57 -194.7 194.9 -11.6 272 1576 0.15 1.88 0.00 0.000 6 0.148 0.026 2358 2439 3993

1915 -0.68 -194.7 226.8 -9.1 333 1921 0.00 1.98 0.00 0.000 4 0.000 0.028 2358 1049 3993

1945 -0.82 -194.7 229.5 -9.1 338 1953 0.22 2.10 0.00 0.000 6 0.063 0.033 2262 2473 3993

2291 -0.55 -194.7 278.5 -14.0 399 2297 0.30 2.05 0.00 0.000 4 0.162 0.028 2357 1054 3993

2454 -0.74 -194.7 289.3 -5.3 427 2460 0.15 2.05 0.00 0.000 6 0.074 0.035 2292 2445 3993

2786 -0.68 -194.7 319.9 -10.5 469 2790 0.12 2.00 0.00 0.000 4 0.156 0.051 2325 3767 3993

2825 -0.74 -194.7 323.6 -8.8 472 2831 0.00 1.90 0.00 0.000 6 0.000 0.027 2325 2420 3993

3151 -0.82 -194.7 357.1 -10.5 503 3155 0.12 2.05 0.00 0.000 4 0.080 0.050 2262 3754 3993

3241 -0.63 -194.7 368.5 -12.5 511 3246 0.25 1.85 0.00 0.000 6 0.160 0.028 2335 2449 3993

3572 -0.79 -194.7 387.1 -4.1 542 3574 0.12 0.00 0.00 0.000 6 0.082 0.000 2282 2449 3992

3892 -0.74 -194.7 410.5 -8.2 572 3896 0.00 2.03 0.00 0.000 4 0.000 0.032 2282 1042 3991

3937 -0.74 -194.7 415.0 -9.3 576 3942 0.10 2.08 0.00 0.000 6 0.170 0.037 2303 2440 3991

4269 -0.79 -194.7 441.4 -7.5 607 4272 0.00 2.03 0.00 0.000 4 0.000 0.031 2303 1048 3990

4319 -0.88 -194.7 445.5 -7.8 611 4325 0.12 2.08 0.00 0.000 6 0.084 0.036 2251 2444 3989

4644 -0.73 -194.7 477.6 -10.1 642 4648 0.17 2.00 0.00 0.000 4 0.166 0.053 2303 3756 3987

4761 -0.82 -194.7 486.6 -7.9 652 4767 0.00 1.88 0.00 0.000 6 0.000 0.030 2302 2445 3986

5084 -0.90 -194.7 506.8 -4.9 677 5088 0.15 2.03 0.00 0.000 4 0.081 0.032 2239 1050 3984

5190 -0.78 -194.7 515.9 -8.9 681 5196 0.20 2.08 0.00 0.000 6 0.161 0.038 2292 2433 3984

5506 -0.85 -194.7 539.3 -8.1 697 5507 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2433 3982

5815 -0.92 -194.7 565.1 -8.3 712 5819 0.12 2.05 0.00 0.000 4 0.091 0.033 2243 1045 3980

5848 -0.82 -194.7 568.7 -11.0 713 5852 0.12 2.10 0.00 0.000 6 0.172 0.038 2276 2439 3979

6163 -0.82 -194.7 597.4 -9.1 728 6164 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2439 3977

6473 -0.82 -194.7 623.5 -7.3 743 6474 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2439 3975

6782 -0.82 -194.7 649.8 -8.4 758 6783 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2439 3973

7091 -0.82 -194.7 674.6 -8.4 773 7100 0.00 2.05 0.00 0.000 4 0.000 0.036 2276 1053 3971

7118 -0.82 -194.7 676.9 -8.5 774 7122 0.00 2.08 0.00 0.000 6 0.000 0.041 2276 2427 3971

7243 end dive: BOTTOM_OBSTACLE_DETECTED

state 7243 begin apogee

7249 -0.22 0.0 686.8 7.5 780 7337 0.62 0.00 84.82 1.236 6 0.149 0.000 2473 2460 3532

7338 end apogee: CONTROL_FINISHED_OK

state 7338 begin climb

7341 0.94 194.7 689.8 0.0 784 7501 1.02 2.25 153.20 1.216 4 0.061 0.056 2845 3774 2737

7660 0.17 194.7 656.4 20.5 798 7668 0.93 1.95 0.00 0.000 6 0.207 0.031 2609 2483 2733

7976 0.49 295.6 632.7 6.5 814 8064 0.25 2.20 80.85 1.275 4 0.074 0.058 2707 3761 2325

8182 0.36 295.6 607.0 14.3 823 8187 0.17 1.95 0.00 0.000 6 0.174 0.034 2663 2488 2319

8504 0.47 295.6 570.0 11.2 839 8507 0.00 2.03 0.00 0.000 4 0.000 0.058 2663 3764 2316

8595 0.53 295.6 559.3 12.3 843 8599 0.15 1.90 0.00 0.000 6 0.086 0.034 2722 2497 2315

8927 0.45 295.6 515.4 13.2 859 8929 0.12 0.00 0.00 0.000 6 0.174 0.000 2691 2494 2314

9241 0.45 295.6 480.0 11.1 882 9244 0.00 2.03 0.00 0.000 4 0.000 0.058 2691 3775 2312

9274 0.45 295.6 475.8 12.4 885 9278 0.00 1.88 0.00 0.000 6 0.000 0.034 2691 2512 2312

9606 0.45 295.6 436.5 11.3 916 9610 0.00 2.00 0.00 0.000 4 0.000 0.058 2691 3775 2310

9734 0.45 295.6 420.0 13.1 927 9740 0.00 1.85 0.00 0.000 6 0.000 0.032 2691 2538 2310

10061 0.53 295.7 386.1 10.0 958 10065 0.00 2.17 0.00 0.000 4 0.000 0.038 2691 1066 2310

10107 0.71 337.3 381.9 8.6 962 10145 0.22 2.28 30.83 1.026 6 0.076 0.040 2776 2568 2155

10470 0.53 337.3 331.0 14.2 996 10474 0.17 1.88 0.00 0.000 4 0.177 0.055 2725 3772 2149

10610 0.48 337.3 312.2 13.8 1008 10616 0.00 1.80 0.00 0.000 6 0.000 0.032 2729 2551 2148

10948 0.48 337.3 264.4 12.7 1061 10954 0.00 1.92 0.00 0.000 4 0.000 0.057 2729 3770 2147

10988 0.48 337.3 259.1 13.3 1068 10994 0.12 1.77 0.00 0.000 6 0.176 0.033 2701 2563 2147

11332 0.76 409.9 231.3 7.5 1129 11393 0.22 2.35 55.40 0.879 4 0.071 0.037 2802 1074 1859

11507 0.76 409.9 209.8 14.1 1159 11513 0.00 2.33 0.00 0.000 6 0.000 0.038 2802 2575 1853

11850 0.68 409.9 157.5 16.9 1220 11857 0.15 1.85 0.00 0.000 4 0.166 0.052 2762 3772 1849

12010 0.68 409.9 134.4 12.2 1248 12016 0.00 1.77 0.00 0.000 6 0.000 0.030 2762 2552 1849

12354 0.96 481.0 103.2 7.5 1309 12415 0.22 2.03 53.20 0.735 4 0.068 0.052 2858 3772 1569

12496 0.81 481.0 80.9 16.5 1333 12503 0.22 1.83 0.00 0.000 6 0.163 0.028 2806 2536 1566

12840 1.03 481.0 42.0 10.8 1394 12848 0.17 2.15 0.00 0.000 4 0.070 0.032 2884 1073 1564

12882 1.03 481.0 36.8 13.0 1401 12888 0.00 2.25 0.00 0.000 6 0.000 0.035 2884 2567 1564

13122 end climb: SURFACE_DEPTH_REACHED

state 13122 begin surface coast

13145 end surface coast: CONTROL_FINISHED_OK

state 13145 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	26	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	2435	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2470	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	425	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	64	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	396	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	-2	T_GPS	15	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	-4338.0894	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	200	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	2545	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	22.5	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	075737,2531.571,12305.300,26,1.9,26,-3.8	TGT_NAME	OFF_4
_CALLS	1	TGT_LATLONG	2517.000,12320.000
_XMS_NAKs	12	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080457,2531.711,12305.651,16,1.8,16,-3.8	MHEAD_RNG_PITCHd_Wd	187.4,36327,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	713

FINISH	1.1,1.008858	ALTIM_BOTTOM_PING	675.0,36.4
SM_CCo	13222,0.00,0.000,0,0,1563,483.00	_24V_AH	24.1,8.437
SM_GC	1.99,7.32,0.00,0.00,0.061,0.000,0.000,146,2432,1563,-7.49,-0.08,483.00	_10V_AH	10.8,6.023
IRIDIUM_FIX	2522.28,12302.33,190898,040420	DATA_FILE_SIZE	75821,1448
TT8_MAMPS	0.028379	CAP_FILE_SIZE	147059,0
HUMID	1557	CFSIZE	260165632,223055872
INTERNAL_PRESSURE	9.40466	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	26.00	CURRENT	0.261, 30.5,1
XPDR_PINGS	0	GPS	250509,114655,2531.516,12306.620,40,1.1,40,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	262	165.16	SBE_CT	975	24	564.28
Roll_motor	105	166	421.17	Optode	1023	33	814.29
VBD_pump_during_apogee	458	1274	14079.70	WL_BB2F	0	105	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	67.75	nil	0	0	0.00
Iridium_during_connect	33	160	128.86	nil	0	0	0.00
Iridium_during_xfer	252	223	1355.45
Transponder_ping	5	420	53.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.73
TT8	2505	19	535.82
LPSleep	7609	2	179.97
TT8_Active	557	19	119.20
TT8_Sampling	2420	39	1040.58
TT8_CF8	561	45	277.52
TT8_Kalman	0	0	0.00
Analog_circuits	1781	12	230.85
GPS_charging	0	0	0.00
Compass	2367	8	204.53
RAFOS	0	0	0.00
Transponder	37	30	12.08

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
16	-0.94	-194.7	0.0	0.0	0	70	0.00	0.00	-52.42	0.000	2	0.000	0.000	144	2427	2804
74	-0.94	-194.7	3.2	-5.1	9	122	8.85	2.08	-31.62	0.000	4	0.262	0.044	2236	1022	3989
342	-0.20	-194.7	83.4	-31.0	56	349	0.88	2.15	0.00	0.000	6	0.185	0.037	2477	2446	3990
687	-0.96	-194.7	116.3	-9.2	117	694	0.65	2.00	0.00	0.000	4	0.084	0.047	2237	3769	3991
774	-0.40	-194.7	130.3	-23.5	132	781	0.60	1.92	0.00	0.000	6	0.166	0.026	2415	2413	3991
1119	-0.65	-194.7	158.9	-5.5	193	1126	0.20	2.08	0.00	0.000	4	0.063	0.047	2319	3771	3992
1178	-0.48	-194.7	164.6	-11.8	203	1185	0.22	1.88	0.00	0.000	6	0.154	0.027	2383	2455	3992
1523	-0.65	-194.7	190.1	-7.3	264	1529	0.15	2.00	0.00	0.000	4	0.071	0.048	2316	3765	3992
1569	-0.57	-194.7	194.9	-11.6	272	1576	0.15	1.88	0.00	0.000	6	0.148	0.026	2358	2439	3993
1915	-0.68	-194.7	226.8	-9.1	333	1921	0.00	1.98	0.00	0.000	4	0.000	0.028	2358	1049	3993
1945	-0.82	-194.7	229.5	-9.1	338	1953	0.22	2.10	0.00	0.000	6	0.063	0.033	2262	2473	3993
2291	-0.55	-194.7	278.5	-14.0	399	2297	0.30	2.05	0.00	0.000	4	0.162	0.028	2357	1054	3993
2454	-0.74	-194.7	289.3	-5.3	427	2460	0.15	2.05	0.00	0.000	6	0.074	0.035	2292	2445	3993
2786	-0.68	-194.7	319.9	-10.5	469	2790	0.12	2.00	0.00	0.000	4	0.156	0.051	2325	3767	3993
2825	-0.74	-194.7	323.6	-8.8	472	2831	0.00	1.90	0.00	0.000	6	0.000	0.027	2325	2420	3993
3151	-0.82	-194.7	357.1	-10.5	503	3155	0.12	2.05	0.00	0.000	4	0.080	0.050	2262	3754	3993
3241	-0.63	-194.7	368.5	-12.5	511	3246	0.25	1.85	0.00	0.000	6	0.160	0.028	2335	2449	3993
3572	-0.79	-194.7	387.1	-4.1	542	3574	0.12	0.00	0.00	0.000	6	0.082	0.000	2282	2449	3992
3892	-0.74	-194.7	410.5	-8.2	572	3896	0.00	2.03	0.00	0.000	4	0.000	0.032	2282	1042	3991
3937	-0.74	-194.7	415.0	-9.3	576	3942	0.10	2.08	0.00	0.000	6	0.170	0.037	2303	2440	3991
4269	-0.79	-194.7	441.4	-7.5	607	4272	0.00	2.03	0.00	0.000	4	0.000	0.031	2303	1048	3990
4319	-0.88	-194.7	445.5	-7.8	611	4325	0.12	2.08	0.00	0.000	6	0.084	0.036	2251	2444	3989
4644	-0.73	-194.7	477.6	-10.1	642	4648	0.17	2.00	0.00	0.000	4	0.166	0.053	2303	3756	3987
4761	-0.82	-194.7	486.6	-7.9	652	4767	0.00	1.88	0.00	0.000	6	0.000	0.030	2302	2445	3986
5084	-0.90	-194.7	506.8	-4.9	677	5088	0.15	2.03	0.00	0.000	4	0.081	0.032	2239	1050	3984
5190	-0.78	-194.7	515.9	-8.9	681	5196	0.20	2.08	0.00	0.000	6	0.161	0.038	2292	2433	3984
5506	-0.85	-194.7	539.3	-8.1	697	5507	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2433	3982
5815	-0.92	-194.7	565.1	-8.3	712	5819	0.12	2.05	0.00	0.000	4	0.091	0.033	2243	1045	3980
5848	-0.82	-194.7	568.7	-11.0	713	5852	0.12	2.10	0.00	0.000	6	0.172	0.038	2276	2439	3979
6163	-0.82	-194.7	597.4	-9.1	728	6164	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2439	3977
6473	-0.82	-194.7	623.5	-7.3	743	6474	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2439	3975
6782	-0.82	-194.7	649.8	-8.4	758	6783	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2439	3973
7091	-0.82	-194.7	674.6	-8.4	773	7100	0.00	2.05	0.00	0.000	4	0.000	0.036	2276	1053	3971
7118	-0.82	-194.7	676.9	-8.5	774	7122	0.00	2.08	0.00	0.000	6	0.000	0.041	2276	2427	3971
7243	end dive: BOTTOM_OBSTACLE_DETECTED
state	7243	begin apogee
7249	-0.22	0.0	686.8	7.5	780	7337	0.62	0.00	84.82	1.236	6	0.149	0.000	2473	2460	3532
7338	end apogee: CONTROL_FINISHED_OK
state	7338	begin climb
7341	0.94	194.7	689.8	0.0	784	7501	1.02	2.25	153.20	1.216	4	0.061	0.056	2845	3774	2737
7660	0.17	194.7	656.4	20.5	798	7668	0.93	1.95	0.00	0.000	6	0.207	0.031	2609	2483	2733
7976	0.49	295.6	632.7	6.5	814	8064	0.25	2.20	80.85	1.275	4	0.074	0.058	2707	3761	2325
8182	0.36	295.6	607.0	14.3	823	8187	0.17	1.95	0.00	0.000	6	0.174	0.034	2663	2488	2319
8504	0.47	295.6	570.0	11.2	839	8507	0.00	2.03	0.00	0.000	4	0.000	0.058	2663	3764	2316
8595	0.53	295.6	559.3	12.3	843	8599	0.15	1.90	0.00	0.000	6	0.086	0.034	2722	2497	2315
8927	0.45	295.6	515.4	13.2	859	8929	0.12	0.00	0.00	0.000	6	0.174	0.000	2691	2494	2314
9241	0.45	295.6	480.0	11.1	882	9244	0.00	2.03	0.00	0.000	4	0.000	0.058	2691	3775	2312
9274	0.45	295.6	475.8	12.4	885	9278	0.00	1.88	0.00	0.000	6	0.000	0.034	2691	2512	2312
9606	0.45	295.6	436.5	11.3	916	9610	0.00	2.00	0.00	0.000	4	0.000	0.058	2691	3775	2310
9734	0.45	295.6	420.0	13.1	927	9740	0.00	1.85	0.00	0.000	6	0.000	0.032	2691	2538	2310
10061	0.53	295.7	386.1	10.0	958	10065	0.00	2.17	0.00	0.000	4	0.000	0.038	2691	1066	2310
10107	0.71	337.3	381.9	8.6	962	10145	0.22	2.28	30.83	1.026	6	0.076	0.040	2776	2568	2155
10470	0.53	337.3	331.0	14.2	996	10474	0.17	1.88	0.00	0.000	4	0.177	0.055	2725	3772	2149
10610	0.48	337.3	312.2	13.8	1008	10616	0.00	1.80	0.00	0.000	6	0.000	0.032	2729	2551	2148
10948	0.48	337.3	264.4	12.7	1061	10954	0.00	1.92	0.00	0.000	4	0.000	0.057	2729	3770	2147
10988	0.48	337.3	259.1	13.3	1068	10994	0.12	1.77	0.00	0.000	6	0.176	0.033	2701	2563	2147
11332	0.76	409.9	231.3	7.5	1129	11393	0.22	2.35	55.40	0.879	4	0.071	0.037	2802	1074	1859
11507	0.76	409.9	209.8	14.1	1159	11513	0.00	2.33	0.00	0.000	6	0.000	0.038	2802	2575	1853
11850	0.68	409.9	157.5	16.9	1220	11857	0.15	1.85	0.00	0.000	4	0.166	0.052	2762	3772	1849
12010	0.68	409.9	134.4	12.2	1248	12016	0.00	1.77	0.00	0.000	6	0.000	0.030	2762	2552	1849
12354	0.96	481.0	103.2	7.5	1309	12415	0.22	2.03	53.20	0.735	4	0.068	0.052	2858	3772	1569
12496	0.81	481.0	80.9	16.5	1333	12503	0.22	1.83	0.00	0.000	6	0.163	0.028	2806	2536	1566
12840	1.03	481.0	42.0	10.8	1394	12848	0.17	2.15	0.00	0.000	4	0.070	0.032	2884	1073	1564
12882	1.03	481.0	36.8	13.0	1401	12888	0.00	2.25	0.00	0.000	6	0.000	0.035	2884	2567	1564
13122	end climb: SURFACE_DEPTH_REACHED
state	13122	begin surface coast
13145	end surface coast: CONTROL_FINISHED_OK
state	13145	begin surface