Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 587 * 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 587 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 85 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 -20873.004 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 -20873.004

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 85 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 42 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 587 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 115400,2511.065,12233.930,40,1.4,41,-3.6 TGT_NAME OFF_2

_CALLS 1 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.86 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -72.0 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 120056,2511.184,12234.167,12,1.1,12,-3.6 MHEAD_RNG_PITCHd_Wd 164.8,52910,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 962

Post-dive calculations and measurements:

FINISH 1.9,1.007740 ALTIM_BOTTOM_PING 900.0,49.7

SM_CCo 13637,9.98,0.578,0,0,1595,475.15 _24V_AH 23.0,101.176

SM_GC 4.05,0.00,0.00,9.98,0.000,0.000,0.578,139,2356,1595,-7.63,-0.74,475.15 _10V_AH 10.5,52.967

IRIDIUM_FIX 2503.20,12233.38,211198,080858 DATA_FILE_SIZE 69442,1309

TT8_MAMPS 0.028379 CAP_FILE_SIZE 148245,0

HUMID 1869 CFSIZE 260165632,180031488

INTERNAL_PRESSURE 9.36559 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.60 CURRENT 0.061, 81.9,1

XPDR_PINGS 2 GPS 270809,155007,2509.968,12234.829,37,1.3,38,-3.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 232 140.71 SBE_CT 887 24 489.87

Roll_motor 112 54 140.66 Optode 927 33 703.69

VBD_pump_during_apogee 477 1357 14923.00 WL_BB2F 0 105 0.00

VBD_pump_during_surface 9 577 132.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.79 nil 0 0 0.00

Iridium_during_connect 37 160 137.65 nil 0 0 0.00

Iridium_during_xfer 185 223 951.22

Transponder_ping 8 420 77.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.53

TT8 2342 19 486.96

LPSleep 7906 2 181.81

TT8_Active 569 19 118.34

TT8_Sampling 2518 39 1052.65

TT8_CF8 721 45 347.14

TT8_Kalman 0 81 0.00

Analog_circuits 1836 12 231.36

GPS_charging 0 0 0.00

Compass 2454 8 206.21

RAFOS 0 0 0.00

Transponder 52 30 16.48

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 35 0.00 0.00 -16.88 0.000 2 0.000 0.000 138 2421 2002

39 -1.50 -121.7 3.0 -1.7 3 118 8.15 2.12 -62.15 0.000 4 0.232 0.037 2093 996 3990

191 -1.06 -121.7 43.1 -31.4 28 199 0.55 2.10 0.00 0.000 6 0.183 0.032 2230 2384 3992

540 -1.06 -121.7 99.2 -15.1 89 546 0.00 2.12 0.00 0.000 4 0.000 0.044 2221 3766 3996

749 -1.06 -121.7 135.9 -16.1 126 755 0.00 1.92 0.00 0.000 6 0.000 0.023 2221 2405 3996

1095 -1.15 -121.7 186.4 -13.5 187 1101 0.00 2.12 0.00 0.000 4 0.000 0.046 2220 3764 3997

1233 -1.15 -121.7 205.8 -15.7 211 1239 0.00 1.88 0.00 0.000 6 0.000 0.024 2220 2446 3997

1581 -1.24 -121.7 255.1 -11.9 272 1588 0.12 2.05 0.00 0.000 4 0.079 0.047 2166 3753 3997

1676 -1.07 -121.7 270.5 -17.0 288 1684 0.25 1.85 0.00 0.000 6 0.169 0.025 2231 2464 3997

2018 -1.24 -121.7 314.3 -11.6 338 2022 0.15 2.03 0.00 0.000 4 0.074 0.047 2166 3754 3997

2182 -1.09 -121.7 343.1 -17.6 352 2189 0.22 1.85 0.00 0.000 6 0.170 0.025 2224 2470 3997

2508 -1.29 -121.7 383.5 -11.9 383 2512 0.17 2.03 0.00 0.000 4 0.069 0.048 2148 3755 3996

2660 -1.04 -121.7 413.0 -22.2 396 2664 0.28 1.83 0.00 0.000 6 0.173 0.025 2237 2515 3995

2993 -1.32 -121.7 452.7 -10.8 427 2997 0.20 1.98 0.00 0.000 4 0.067 0.049 2152 3763 3993

3156 -1.21 -121.7 481.4 -17.4 441 3163 0.15 1.80 0.00 0.000 6 0.174 0.026 2188 2523 3993

3481 -1.31 -121.7 524.8 -12.9 463 3486 0.00 1.98 0.00 0.000 4 0.000 0.050 2181 3773 3991

3618 -1.31 -121.7 545.4 -14.0 469 3621 0.00 1.77 0.00 0.000 6 0.000 0.027 2181 2559 3990

3953 -1.40 -121.7 586.9 -13.4 485 3957 0.15 1.90 0.00 0.000 4 0.082 0.052 2123 3748 3988

4032 -1.21 -121.7 599.5 -17.2 488 4037 0.20 1.75 0.00 0.000 6 0.182 0.026 2189 2573 3987

4359 -1.36 -121.7 636.9 -11.6 504 4363 0.15 1.88 0.00 0.000 4 0.074 0.049 2124 3756 3985

4477 -1.17 -121.7 658.4 -17.7 509 4481 0.22 1.77 0.00 0.000 6 0.181 0.026 2196 2565 3984

4810 -1.36 -121.7 700.7 -12.6 525 4814 0.15 1.90 0.00 0.000 4 0.081 0.051 2140 3755 3982

5051 -1.23 -121.7 743.5 -17.3 535 5058 0.17 1.70 0.00 0.000 6 0.184 0.028 2182 2599 3980

5372 -1.35 -121.7 782.1 -11.6 551 5376 0.12 1.85 0.00 0.000 4 0.087 0.051 2137 3757 3978

5569 -1.25 -121.7 814.8 -17.0 559 5576 0.15 1.67 0.00 0.000 6 0.184 0.028 2172 2620 3977

5891 -1.36 -121.7 851.5 -11.3 575 5895 0.00 1.83 0.00 0.000 4 0.000 0.054 2166 3744 3975

5960 -1.36 -121.7 860.6 -12.7 578 5964 0.00 1.62 0.00 0.000 6 0.000 0.028 2166 2637 3974

6303 -1.45 -121.7 900.0 -12.1 594 6307 0.15 1.80 0.00 0.000 4 0.087 0.054 2104 3755 3973

6372 -1.23 -121.7 912.1 -17.5 597 6377 0.30 1.62 0.00 0.000 6 0.189 0.028 2180 2654 3972

6475 end dive: BOTTOM_OBSTACLE_DETECTED

state 6475 begin apogee

6485 -0.27 0.0 925.1 11.2 602 6582 1.02 0.00 93.78 1.358 6 0.150 0.000 2485 2394 3532

6583 end apogee: CONTROL_FINISHED_OK

state 6583 begin climb

6587 1.50 121.7 928.9 0.0 607 6699 1.60 2.28 104.38 1.316 4 0.058 0.048 3060 3754 3035

6957 0.51 121.7 899.3 16.2 623 6964 1.30 2.10 0.00 0.000 6 0.229 0.023 2754 2327 3031

7275 0.63 218.3 875.8 6.2 639 7361 0.00 2.15 80.78 1.291 4 0.000 0.028 2762 989 2642

7615 0.82 239.0 840.2 11.7 654 7640 0.25 2.17 17.95 1.208 6 0.074 0.036 2854 2389 2556

7966 0.66 239.0 780.5 18.1 671 7971 0.20 2.15 0.00 0.000 4 0.187 0.030 2804 980 2551

8056 0.73 239.0 765.9 15.2 675 8060 0.00 2.17 0.00 0.000 6 0.000 0.035 2804 2389 2551

8385 0.73 239.0 715.8 15.5 691 8389 0.00 2.17 0.00 0.000 4 0.000 0.054 2803 3760 2550

8441 0.60 239.0 706.1 17.0 693 8446 0.15 2.03 0.00 0.000 6 0.199 0.028 2777 2380 2549

8764 0.70 246.7 662.9 12.6 709 8775 0.00 2.30 6.47 0.990 4 0.000 0.054 2777 3762 2525

8883 0.70 246.7 644.5 15.4 714 8887 0.00 2.00 0.00 0.000 6 0.000 0.028 2786 2396 2524

9206 0.79 246.7 599.4 14.4 730 9210 0.15 2.20 0.00 0.000 4 0.083 0.050 2844 3764 2523

9464 0.56 246.7 549.8 19.7 741 9471 0.35 1.98 0.00 0.000 6 0.193 0.028 2763 2421 2523

9783 0.73 253.7 509.5 12.7 757 9797 0.15 2.22 7.05 0.950 4 0.084 0.052 2818 3761 2497

9872 0.62 253.7 493.2 19.3 762 9877 0.17 1.98 0.00 0.000 6 0.192 0.027 2785 2422 2496

10206 0.74 253.7 445.0 14.8 793 10210 0.10 2.17 0.00 0.000 4 0.092 0.052 2823 3767 2495

10295 0.60 253.7 428.5 18.3 800 10303 0.22 1.98 0.00 0.000 6 0.191 0.026 2774 2420 2495

10621 0.76 253.7 381.9 14.3 831 10626 0.15 2.15 0.00 0.000 4 0.084 0.051 2830 3755 2494

10655 0.63 253.7 376.0 18.3 833 10662 0.20 1.95 0.00 0.000 6 0.194 0.026 2787 2420 2494

10982 0.76 253.7 329.9 14.2 864 10986 0.10 2.15 0.00 0.000 4 0.094 0.031 2831 983 2494

11021 0.82 253.7 323.7 14.8 867 11027 0.00 2.22 0.00 0.000 6 0.000 0.035 2832 2425 2494

11357 0.82 253.7 274.4 14.7 913 11363 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2425 2494

11702 0.85 272.5 228.8 11.8 974 11725 0.00 2.17 16.35 0.862 4 0.000 0.054 2832 3758 2421

11918 0.76 272.5 196.0 16.5 1012 11925 0.00 1.98 0.00 0.000 6 0.000 0.027 2841 2418 2419

12266 0.82 286.9 149.7 12.2 1073 12285 0.00 2.22 13.25 0.781 4 0.000 0.049 2841 3765 2362

12388 0.75 286.9 132.0 15.2 1094 12394 0.00 1.95 0.00 0.000 6 0.000 0.025 2851 2431 2361

12735 0.84 315.7 85.1 11.1 1155 12764 0.00 2.20 24.15 0.741 4 0.000 0.049 2851 3760 2243

13020 0.91 321.5 46.3 12.8 1205 13031 0.00 1.92 5.65 0.586 6 0.000 0.025 2861 2431 2220

13372 1.35 459.1 28.6 3.2 1267 13489 0.38 2.17 108.12 0.668 4 0.061 0.048 3013 3758 1658

13596 end climb: SURFACE_DEPTH_REACHED

state 13596 begin surface coast

13614 end surface coast: CONTROL_FINISHED_OK

state 13614 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	587	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	85	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	-20873.004	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	115400,2511.065,12233.930,40,1.4,41,-3.6	TGT_NAME	OFF_2
_CALLS	1	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.86	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-72.0	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	120056,2511.184,12234.167,12,1.1,12,-3.6	MHEAD_RNG_PITCHd_Wd	164.8,52910,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	962

FINISH	1.9,1.007740	ALTIM_BOTTOM_PING	900.0,49.7
SM_CCo	13637,9.98,0.578,0,0,1595,475.15	_24V_AH	23.0,101.176
SM_GC	4.05,0.00,0.00,9.98,0.000,0.000,0.578,139,2356,1595,-7.63,-0.74,475.15	_10V_AH	10.5,52.967
IRIDIUM_FIX	2503.20,12233.38,211198,080858	DATA_FILE_SIZE	69442,1309
TT8_MAMPS	0.028379	CAP_FILE_SIZE	148245,0
HUMID	1869	CFSIZE	260165632,180031488
INTERNAL_PRESSURE	9.36559	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.60	CURRENT	0.061, 81.9,1
XPDR_PINGS	2	GPS	270809,155007,2509.968,12234.829,37,1.3,38,-3.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	232	140.71	SBE_CT	887	24	489.87
Roll_motor	112	54	140.66	Optode	927	33	703.69
VBD_pump_during_apogee	477	1357	14923.00	WL_BB2F	0	105	0.00
VBD_pump_during_surface	9	577	132.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.79	nil	0	0	0.00
Iridium_during_connect	37	160	137.65	nil	0	0	0.00
Iridium_during_xfer	185	223	951.22
Transponder_ping	8	420	77.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.53
TT8	2342	19	486.96
LPSleep	7906	2	181.81
TT8_Active	569	19	118.34
TT8_Sampling	2518	39	1052.65
TT8_CF8	721	45	347.14
TT8_Kalman	0	81	0.00
Analog_circuits	1836	12	231.36
GPS_charging	0	0	0.00
Compass	2454	8	206.21
RAFOS	0	0	0.00
Transponder	52	30	16.48

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	35	0.00	0.00	-16.88	0.000	2	0.000	0.000	138	2421	2002
39	-1.50	-121.7	3.0	-1.7	3	118	8.15	2.12	-62.15	0.000	4	0.232	0.037	2093	996	3990
191	-1.06	-121.7	43.1	-31.4	28	199	0.55	2.10	0.00	0.000	6	0.183	0.032	2230	2384	3992
540	-1.06	-121.7	99.2	-15.1	89	546	0.00	2.12	0.00	0.000	4	0.000	0.044	2221	3766	3996
749	-1.06	-121.7	135.9	-16.1	126	755	0.00	1.92	0.00	0.000	6	0.000	0.023	2221	2405	3996
1095	-1.15	-121.7	186.4	-13.5	187	1101	0.00	2.12	0.00	0.000	4	0.000	0.046	2220	3764	3997
1233	-1.15	-121.7	205.8	-15.7	211	1239	0.00	1.88	0.00	0.000	6	0.000	0.024	2220	2446	3997
1581	-1.24	-121.7	255.1	-11.9	272	1588	0.12	2.05	0.00	0.000	4	0.079	0.047	2166	3753	3997
1676	-1.07	-121.7	270.5	-17.0	288	1684	0.25	1.85	0.00	0.000	6	0.169	0.025	2231	2464	3997
2018	-1.24	-121.7	314.3	-11.6	338	2022	0.15	2.03	0.00	0.000	4	0.074	0.047	2166	3754	3997
2182	-1.09	-121.7	343.1	-17.6	352	2189	0.22	1.85	0.00	0.000	6	0.170	0.025	2224	2470	3997
2508	-1.29	-121.7	383.5	-11.9	383	2512	0.17	2.03	0.00	0.000	4	0.069	0.048	2148	3755	3996
2660	-1.04	-121.7	413.0	-22.2	396	2664	0.28	1.83	0.00	0.000	6	0.173	0.025	2237	2515	3995
2993	-1.32	-121.7	452.7	-10.8	427	2997	0.20	1.98	0.00	0.000	4	0.067	0.049	2152	3763	3993
3156	-1.21	-121.7	481.4	-17.4	441	3163	0.15	1.80	0.00	0.000	6	0.174	0.026	2188	2523	3993
3481	-1.31	-121.7	524.8	-12.9	463	3486	0.00	1.98	0.00	0.000	4	0.000	0.050	2181	3773	3991
3618	-1.31	-121.7	545.4	-14.0	469	3621	0.00	1.77	0.00	0.000	6	0.000	0.027	2181	2559	3990
3953	-1.40	-121.7	586.9	-13.4	485	3957	0.15	1.90	0.00	0.000	4	0.082	0.052	2123	3748	3988
4032	-1.21	-121.7	599.5	-17.2	488	4037	0.20	1.75	0.00	0.000	6	0.182	0.026	2189	2573	3987
4359	-1.36	-121.7	636.9	-11.6	504	4363	0.15	1.88	0.00	0.000	4	0.074	0.049	2124	3756	3985
4477	-1.17	-121.7	658.4	-17.7	509	4481	0.22	1.77	0.00	0.000	6	0.181	0.026	2196	2565	3984
4810	-1.36	-121.7	700.7	-12.6	525	4814	0.15	1.90	0.00	0.000	4	0.081	0.051	2140	3755	3982
5051	-1.23	-121.7	743.5	-17.3	535	5058	0.17	1.70	0.00	0.000	6	0.184	0.028	2182	2599	3980
5372	-1.35	-121.7	782.1	-11.6	551	5376	0.12	1.85	0.00	0.000	4	0.087	0.051	2137	3757	3978
5569	-1.25	-121.7	814.8	-17.0	559	5576	0.15	1.67	0.00	0.000	6	0.184	0.028	2172	2620	3977
5891	-1.36	-121.7	851.5	-11.3	575	5895	0.00	1.83	0.00	0.000	4	0.000	0.054	2166	3744	3975
5960	-1.36	-121.7	860.6	-12.7	578	5964	0.00	1.62	0.00	0.000	6	0.000	0.028	2166	2637	3974
6303	-1.45	-121.7	900.0	-12.1	594	6307	0.15	1.80	0.00	0.000	4	0.087	0.054	2104	3755	3973
6372	-1.23	-121.7	912.1	-17.5	597	6377	0.30	1.62	0.00	0.000	6	0.189	0.028	2180	2654	3972
6475	end dive: BOTTOM_OBSTACLE_DETECTED
state	6475	begin apogee
6485	-0.27	0.0	925.1	11.2	602	6582	1.02	0.00	93.78	1.358	6	0.150	0.000	2485	2394	3532
6583	end apogee: CONTROL_FINISHED_OK
state	6583	begin climb
6587	1.50	121.7	928.9	0.0	607	6699	1.60	2.28	104.38	1.316	4	0.058	0.048	3060	3754	3035
6957	0.51	121.7	899.3	16.2	623	6964	1.30	2.10	0.00	0.000	6	0.229	0.023	2754	2327	3031
7275	0.63	218.3	875.8	6.2	639	7361	0.00	2.15	80.78	1.291	4	0.000	0.028	2762	989	2642
7615	0.82	239.0	840.2	11.7	654	7640	0.25	2.17	17.95	1.208	6	0.074	0.036	2854	2389	2556
7966	0.66	239.0	780.5	18.1	671	7971	0.20	2.15	0.00	0.000	4	0.187	0.030	2804	980	2551
8056	0.73	239.0	765.9	15.2	675	8060	0.00	2.17	0.00	0.000	6	0.000	0.035	2804	2389	2551
8385	0.73	239.0	715.8	15.5	691	8389	0.00	2.17	0.00	0.000	4	0.000	0.054	2803	3760	2550
8441	0.60	239.0	706.1	17.0	693	8446	0.15	2.03	0.00	0.000	6	0.199	0.028	2777	2380	2549
8764	0.70	246.7	662.9	12.6	709	8775	0.00	2.30	6.47	0.990	4	0.000	0.054	2777	3762	2525
8883	0.70	246.7	644.5	15.4	714	8887	0.00	2.00	0.00	0.000	6	0.000	0.028	2786	2396	2524
9206	0.79	246.7	599.4	14.4	730	9210	0.15	2.20	0.00	0.000	4	0.083	0.050	2844	3764	2523
9464	0.56	246.7	549.8	19.7	741	9471	0.35	1.98	0.00	0.000	6	0.193	0.028	2763	2421	2523
9783	0.73	253.7	509.5	12.7	757	9797	0.15	2.22	7.05	0.950	4	0.084	0.052	2818	3761	2497
9872	0.62	253.7	493.2	19.3	762	9877	0.17	1.98	0.00	0.000	6	0.192	0.027	2785	2422	2496
10206	0.74	253.7	445.0	14.8	793	10210	0.10	2.17	0.00	0.000	4	0.092	0.052	2823	3767	2495
10295	0.60	253.7	428.5	18.3	800	10303	0.22	1.98	0.00	0.000	6	0.191	0.026	2774	2420	2495
10621	0.76	253.7	381.9	14.3	831	10626	0.15	2.15	0.00	0.000	4	0.084	0.051	2830	3755	2494
10655	0.63	253.7	376.0	18.3	833	10662	0.20	1.95	0.00	0.000	6	0.194	0.026	2787	2420	2494
10982	0.76	253.7	329.9	14.2	864	10986	0.10	2.15	0.00	0.000	4	0.094	0.031	2831	983	2494
11021	0.82	253.7	323.7	14.8	867	11027	0.00	2.22	0.00	0.000	6	0.000	0.035	2832	2425	2494
11357	0.82	253.7	274.4	14.7	913	11363	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2425	2494
11702	0.85	272.5	228.8	11.8	974	11725	0.00	2.17	16.35	0.862	4	0.000	0.054	2832	3758	2421
11918	0.76	272.5	196.0	16.5	1012	11925	0.00	1.98	0.00	0.000	6	0.000	0.027	2841	2418	2419
12266	0.82	286.9	149.7	12.2	1073	12285	0.00	2.22	13.25	0.781	4	0.000	0.049	2841	3765	2362
12388	0.75	286.9	132.0	15.2	1094	12394	0.00	1.95	0.00	0.000	6	0.000	0.025	2851	2431	2361
12735	0.84	315.7	85.1	11.1	1155	12764	0.00	2.20	24.15	0.741	4	0.000	0.049	2851	3760	2243
13020	0.91	321.5	46.3	12.8	1205	13031	0.00	1.92	5.65	0.586	6	0.000	0.025	2861	2431	2220
13372	1.35	459.1	28.6	3.2	1267	13489	0.38	2.17	108.12	0.668	4	0.061	0.048	3013	3758	1658
13596	end climb: SURFACE_DEPTH_REACHED
state	13596	begin surface coast
13614	end surface coast: CONTROL_FINISHED_OK
state	13614	begin surface