Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 59 * 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 59 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 2427 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2505 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 69 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 275 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 330 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 -4915.4478 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 275

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 -4915.4478

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

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 2505 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2427 MASS 51932 R_PORT_OVSHOOT 69 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 200 R_STBD_OVSHOOT 37 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 59 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 160335,2539.224,12314.398,38,1.7,42,-3.8 TGT_NAME OFF_5

_CALLS 1 TGT_LATLONG 2514.000,12340.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160926,2539.314,12314.430,14,1.1,14,-3.8 MHEAD_RNG_PITCHd_Wd 156.0,63505,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 915

Post-dive calculations and measurements:

FINISH 1.5,1.009412 ALTIM_BOTTOM_PING 701.5,75.5

SM_CCo 12612,16.10,0.614,0,0,1798,425.10 _24V_AH 24.2,14.155

SM_GC 3.05,0.00,0.00,16.10,0.000,0.000,0.614,145,2437,1798,-7.50,0.28,425.10 _10V_AH 10.8,9.001

IRIDIUM_FIX 2527.05,12315.56,250898,121217 DATA_FILE_SIZE 72520,1356

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140872,0

HUMID 1564 CFSIZE 260165632,220266496

INTERNAL_PRESSURE 9.41442 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.80 CURRENT 0.121, 35.1,1

XPDR_PINGS 0 GPS 310509,194128,2538.540,12316.254,13,99.0,32,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 254 145.28 SBE_CT 914 24 531.15

Roll_motor 108 99 261.45 Optode 963 33 769.56

VBD_pump_during_apogee 404 1258 12306.30 WL_BB2F 0 105 0.00

VBD_pump_during_surface 16 613 239.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.68 nil 0 0 0.00

Iridium_during_connect 34 160 135.42 nil 0 0 0.00

Iridium_during_xfer 171 223 927.93

Transponder_ping 5 420 55.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.14

TT8 2375 19 507.88

LPSleep 7303 2 172.74

TT8_Active 537 19 115.04

TT8_Sampling 2285 39 982.52

TT8_CF8 476 45 235.86

TT8_Kalman 0 0 0.00

Analog_circuits 1693 12 219.44

GPS_charging 0 0 0.00

Compass 2237 8 193.32

RAFOS 0 0 0.00

Transponder 39 30 12.65

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

14 -1.05 -194.7 0.0 0.0 0 59 0.00 0.00 -42.58 0.000 2 0.000 0.000 145 2419 2735

62 -1.05 -194.7 3.5 -4.1 7 111 8.48 2.10 -34.90 0.000 4 0.255 0.044 2199 1028 3989

135 -0.25 -194.7 16.5 -31.5 19 142 0.95 2.12 0.00 0.000 6 0.193 0.035 2455 2434 3991

480 -0.48 -194.7 59.3 -9.0 80 485 0.17 0.00 0.00 0.000 6 0.068 0.000 2377 2437 3991

823 -0.41 -194.7 107.6 -12.2 141 830 0.12 2.03 0.00 0.000 4 0.162 0.047 2401 3767 3992

911 -0.56 -194.7 117.3 -9.9 156 917 0.12 1.95 0.00 0.000 6 0.078 0.025 2346 2393 3992

1255 -0.52 -194.7 166.9 -13.9 217 1262 0.12 1.92 0.00 0.000 4 0.159 0.028 2378 1043 3993

1326 -0.71 -194.7 174.7 -9.7 229 1334 0.17 2.08 0.00 0.000 6 0.069 0.034 2301 2445 3994

1673 -0.57 -194.7 225.9 -14.7 290 1679 0.17 2.03 0.00 0.000 4 0.166 0.028 2354 1046 3996

1743 -0.72 -194.7 234.1 -10.6 302 1750 0.12 2.05 0.00 0.000 6 0.077 0.035 2301 2434 3996

2087 -0.72 -194.7 276.5 -10.2 363 2093 0.00 2.00 0.00 0.000 4 0.000 0.049 2295 3753 3996

2134 -0.67 -194.7 281.6 -11.3 371 2141 0.12 1.88 0.00 0.000 6 0.157 0.028 2328 2430 3996

2477 -0.82 -194.7 311.2 -8.5 421 2481 0.15 2.05 0.00 0.000 4 0.074 0.049 2261 3763 3996

2511 -0.72 -194.7 315.2 -12.3 424 2515 0.17 1.90 0.00 0.000 6 0.157 0.027 2311 2421 3997

2841 -0.80 -194.7 351.6 -11.0 455 2845 0.00 2.05 0.00 0.000 4 0.000 0.049 2303 3754 3997

2943 -0.88 -194.7 362.2 -9.5 464 2948 0.08 1.90 0.00 0.000 6 0.071 0.028 2245 2444 3997

3274 -0.75 -194.7 400.8 -13.1 495 3278 0.20 2.00 0.00 0.000 4 0.160 0.029 2306 1041 3997

3320 -0.92 -194.7 406.2 -10.4 499 3325 0.15 2.10 0.00 0.000 6 0.077 0.035 2240 2455 3997

3645 -0.83 -194.7 445.9 -10.5 529 3650 0.12 1.98 0.00 0.000 4 0.172 0.050 2264 3767 3997

3702 -0.83 -194.7 451.1 -8.6 534 3705 0.00 1.88 0.00 0.000 6 0.000 0.028 2263 2450 3996

4034 -0.83 -194.7 482.1 -9.5 565 4038 0.00 2.03 0.00 0.000 4 0.000 0.031 2264 1043 3995

4092 -0.90 -194.7 488.0 -9.7 570 4096 0.00 2.12 0.00 0.000 6 0.000 0.037 2263 2463 3995

4417 -0.90 -194.7 517.1 -8.8 592 4420 0.00 2.08 0.00 0.000 4 0.000 0.031 2263 1046 3993

4467 -0.94 -194.7 522.5 -11.1 594 4471 0.00 2.12 0.00 0.000 6 0.000 0.038 2263 2459 3993

4795 -0.94 -194.7 558.1 -11.3 610 4796 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2459 3991

5103 -0.94 -194.7 590.1 -11.5 625 5107 0.00 2.08 0.00 0.000 4 0.000 0.032 2263 1047 3987

5204 -1.01 -194.7 599.1 -8.2 629 5208 0.12 2.15 0.00 0.000 6 0.088 0.041 2214 2467 3987

5520 -0.89 -194.7 639.4 -14.4 644 5524 0.15 2.10 0.00 0.000 4 0.173 0.033 2253 1047 3984

5563 -0.89 -194.7 645.3 -12.5 646 5567 0.00 2.12 0.00 0.000 6 0.000 0.040 2253 2449 3984

5893 -0.89 -194.7 675.9 -11.2 662 5897 0.00 2.08 0.00 0.000 4 0.000 0.035 2253 1049 3981

5948 -0.89 -194.7 684.2 -14.3 664 5952 0.00 2.12 0.00 0.000 6 0.000 0.040 2249 2449 3981

6270 -0.89 -194.7 721.8 -11.0 680 6271 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2449 3978

6577 end dive: BOTTOM_OBSTACLE_DETECTED

state 6577 begin apogee

6583 -0.22 0.0 753.9 11.1 695 6673 0.73 0.00 86.82 1.259 6 0.156 0.000 2472 2518 3532

6674 end apogee: CONTROL_FINISHED_OK

state 6674 begin climb

6676 1.05 194.7 757.2 0.0 699 6841 1.12 2.15 153.55 1.219 4 0.062 0.059 2880 3761 2736

6965 0.32 194.7 730.6 18.5 712 6970 0.90 1.90 0.00 0.000 6 0.216 0.031 2653 2521 2733

7281 0.58 295.6 708.1 7.8 727 7367 0.20 2.15 79.90 1.187 4 0.081 0.056 2733 3766 2325

7426 0.48 295.6 687.3 17.1 733 7430 0.12 1.95 0.00 0.000 6 0.189 0.032 2705 2502 2320

7746 0.55 295.6 638.8 16.9 749 7750 0.00 2.03 0.00 0.000 4 0.000 0.054 2705 3766 2317

7841 0.55 295.6 620.9 19.2 753 7845 0.00 1.85 0.00 0.000 6 0.000 0.034 2707 2541 2316

8168 0.63 295.6 570.2 13.6 769 8173 0.12 2.17 0.00 0.000 4 0.091 0.038 2760 1087 2315

8186 0.63 295.6 567.7 13.8 770 8190 0.00 2.22 0.00 0.000 6 0.000 0.041 2759 2532 2314

8513 0.53 295.6 519.0 14.7 786 8517 0.15 1.92 0.00 0.000 4 0.189 0.056 2722 3770 2313

8595 0.53 295.6 506.4 14.7 789 8603 0.00 1.85 0.00 0.000 6 0.000 0.032 2728 2538 2313

8921 0.53 295.6 464.5 12.0 818 8925 0.00 1.98 0.00 0.000 4 0.000 0.058 2727 3794 2311

9016 0.53 295.6 451.2 13.8 826 9022 0.00 1.85 0.00 0.000 6 0.000 0.033 2733 2565 2311

9342 0.53 295.6 408.7 12.6 857 9346 0.00 1.90 0.00 0.000 4 0.000 0.058 2733 3765 2310

9524 0.53 295.6 384.5 12.8 873 9528 0.00 1.75 0.00 0.000 6 0.000 0.034 2733 2574 2309

9857 0.60 314.0 345.1 11.2 904 9875 0.00 0.00 12.95 0.940 6 0.000 0.000 2733 2572 2250

10195 0.70 321.5 305.4 11.7 936 10208 0.12 1.95 6.80 0.812 4 0.086 0.057 2781 3765 2221

10265 0.56 321.5 294.4 16.6 945 10272 0.22 1.77 0.00 0.000 6 0.177 0.034 2727 2564 2220

10613 0.72 331.4 257.5 11.6 1006 10630 0.15 1.92 9.43 0.823 4 0.079 0.056 2786 3751 2179

10654 0.62 331.4 251.3 15.9 1013 10661 0.17 1.75 0.00 0.000 6 0.181 0.031 2745 2565 2178

11000 0.80 372.8 211.3 10.3 1074 11041 0.17 2.25 32.70 0.837 4 0.077 0.035 2816 1107 2011

11053 0.73 372.8 203.4 16.3 1083 11060 0.12 2.28 0.00 0.000 6 0.175 0.037 2786 2572 2009

11397 0.82 372.8 155.5 13.9 1144 11403 0.00 1.85 0.00 0.000 4 0.000 0.052 2786 3769 2006

11527 0.82 372.8 137.6 12.0 1167 11533 0.00 1.77 0.00 0.000 6 0.000 0.029 2789 2553 2005

11871 1.00 400.3 99.1 10.9 1228 11901 0.20 2.17 21.88 0.711 4 0.071 0.033 2885 1114 1899

11959 0.94 400.3 86.2 15.7 1243 11966 0.15 2.17 0.00 0.000 6 0.176 0.036 2847 2543 1896

12303 0.94 400.3 39.9 13.2 1304 12309 0.00 1.88 0.00 0.000 4 0.000 0.051 2847 3766 1895

12522 0.94 400.3 9.2 13.8 1343 12528 0.00 1.75 0.00 0.000 6 0.000 0.027 2852 2538 1895

12571 end climb: SURFACE_DEPTH_REACHED

state 12571 begin surface coast

12595 end surface coast: CONTROL_FINISHED_OK

state 12595 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	59	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	2427	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2505	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	69	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	330	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	-4915.4478	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	160335,2539.224,12314.398,38,1.7,42,-3.8	TGT_NAME	OFF_5
_CALLS	1	TGT_LATLONG	2514.000,12340.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160926,2539.314,12314.430,14,1.1,14,-3.8	MHEAD_RNG_PITCHd_Wd	156.0,63505,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	915

FINISH	1.5,1.009412	ALTIM_BOTTOM_PING	701.5,75.5
SM_CCo	12612,16.10,0.614,0,0,1798,425.10	_24V_AH	24.2,14.155
SM_GC	3.05,0.00,0.00,16.10,0.000,0.000,0.614,145,2437,1798,-7.50,0.28,425.10	_10V_AH	10.8,9.001
IRIDIUM_FIX	2527.05,12315.56,250898,121217	DATA_FILE_SIZE	72520,1356
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140872,0
HUMID	1564	CFSIZE	260165632,220266496
INTERNAL_PRESSURE	9.41442	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.80	CURRENT	0.121, 35.1,1
XPDR_PINGS	0	GPS	310509,194128,2538.540,12316.254,13,99.0,32,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	254	145.28	SBE_CT	914	24	531.15
Roll_motor	108	99	261.45	Optode	963	33	769.56
VBD_pump_during_apogee	404	1258	12306.30	WL_BB2F	0	105	0.00
VBD_pump_during_surface	16	613	239.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.68	nil	0	0	0.00
Iridium_during_connect	34	160	135.42	nil	0	0	0.00
Iridium_during_xfer	171	223	927.93
Transponder_ping	5	420	55.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.14
TT8	2375	19	507.88
LPSleep	7303	2	172.74
TT8_Active	537	19	115.04
TT8_Sampling	2285	39	982.52
TT8_CF8	476	45	235.86
TT8_Kalman	0	0	0.00
Analog_circuits	1693	12	219.44
GPS_charging	0	0	0.00
Compass	2237	8	193.32
RAFOS	0	0	0.00
Transponder	39	30	12.65

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
14	-1.05	-194.7	0.0	0.0	0	59	0.00	0.00	-42.58	0.000	2	0.000	0.000	145	2419	2735
62	-1.05	-194.7	3.5	-4.1	7	111	8.48	2.10	-34.90	0.000	4	0.255	0.044	2199	1028	3989
135	-0.25	-194.7	16.5	-31.5	19	142	0.95	2.12	0.00	0.000	6	0.193	0.035	2455	2434	3991
480	-0.48	-194.7	59.3	-9.0	80	485	0.17	0.00	0.00	0.000	6	0.068	0.000	2377	2437	3991
823	-0.41	-194.7	107.6	-12.2	141	830	0.12	2.03	0.00	0.000	4	0.162	0.047	2401	3767	3992
911	-0.56	-194.7	117.3	-9.9	156	917	0.12	1.95	0.00	0.000	6	0.078	0.025	2346	2393	3992
1255	-0.52	-194.7	166.9	-13.9	217	1262	0.12	1.92	0.00	0.000	4	0.159	0.028	2378	1043	3993
1326	-0.71	-194.7	174.7	-9.7	229	1334	0.17	2.08	0.00	0.000	6	0.069	0.034	2301	2445	3994
1673	-0.57	-194.7	225.9	-14.7	290	1679	0.17	2.03	0.00	0.000	4	0.166	0.028	2354	1046	3996
1743	-0.72	-194.7	234.1	-10.6	302	1750	0.12	2.05	0.00	0.000	6	0.077	0.035	2301	2434	3996
2087	-0.72	-194.7	276.5	-10.2	363	2093	0.00	2.00	0.00	0.000	4	0.000	0.049	2295	3753	3996
2134	-0.67	-194.7	281.6	-11.3	371	2141	0.12	1.88	0.00	0.000	6	0.157	0.028	2328	2430	3996
2477	-0.82	-194.7	311.2	-8.5	421	2481	0.15	2.05	0.00	0.000	4	0.074	0.049	2261	3763	3996
2511	-0.72	-194.7	315.2	-12.3	424	2515	0.17	1.90	0.00	0.000	6	0.157	0.027	2311	2421	3997
2841	-0.80	-194.7	351.6	-11.0	455	2845	0.00	2.05	0.00	0.000	4	0.000	0.049	2303	3754	3997
2943	-0.88	-194.7	362.2	-9.5	464	2948	0.08	1.90	0.00	0.000	6	0.071	0.028	2245	2444	3997
3274	-0.75	-194.7	400.8	-13.1	495	3278	0.20	2.00	0.00	0.000	4	0.160	0.029	2306	1041	3997
3320	-0.92	-194.7	406.2	-10.4	499	3325	0.15	2.10	0.00	0.000	6	0.077	0.035	2240	2455	3997
3645	-0.83	-194.7	445.9	-10.5	529	3650	0.12	1.98	0.00	0.000	4	0.172	0.050	2264	3767	3997
3702	-0.83	-194.7	451.1	-8.6	534	3705	0.00	1.88	0.00	0.000	6	0.000	0.028	2263	2450	3996
4034	-0.83	-194.7	482.1	-9.5	565	4038	0.00	2.03	0.00	0.000	4	0.000	0.031	2264	1043	3995
4092	-0.90	-194.7	488.0	-9.7	570	4096	0.00	2.12	0.00	0.000	6	0.000	0.037	2263	2463	3995
4417	-0.90	-194.7	517.1	-8.8	592	4420	0.00	2.08	0.00	0.000	4	0.000	0.031	2263	1046	3993
4467	-0.94	-194.7	522.5	-11.1	594	4471	0.00	2.12	0.00	0.000	6	0.000	0.038	2263	2459	3993
4795	-0.94	-194.7	558.1	-11.3	610	4796	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2459	3991
5103	-0.94	-194.7	590.1	-11.5	625	5107	0.00	2.08	0.00	0.000	4	0.000	0.032	2263	1047	3987
5204	-1.01	-194.7	599.1	-8.2	629	5208	0.12	2.15	0.00	0.000	6	0.088	0.041	2214	2467	3987
5520	-0.89	-194.7	639.4	-14.4	644	5524	0.15	2.10	0.00	0.000	4	0.173	0.033	2253	1047	3984
5563	-0.89	-194.7	645.3	-12.5	646	5567	0.00	2.12	0.00	0.000	6	0.000	0.040	2253	2449	3984
5893	-0.89	-194.7	675.9	-11.2	662	5897	0.00	2.08	0.00	0.000	4	0.000	0.035	2253	1049	3981
5948	-0.89	-194.7	684.2	-14.3	664	5952	0.00	2.12	0.00	0.000	6	0.000	0.040	2249	2449	3981
6270	-0.89	-194.7	721.8	-11.0	680	6271	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2449	3978
6577	end dive: BOTTOM_OBSTACLE_DETECTED
state	6577	begin apogee
6583	-0.22	0.0	753.9	11.1	695	6673	0.73	0.00	86.82	1.259	6	0.156	0.000	2472	2518	3532
6674	end apogee: CONTROL_FINISHED_OK
state	6674	begin climb
6676	1.05	194.7	757.2	0.0	699	6841	1.12	2.15	153.55	1.219	4	0.062	0.059	2880	3761	2736
6965	0.32	194.7	730.6	18.5	712	6970	0.90	1.90	0.00	0.000	6	0.216	0.031	2653	2521	2733
7281	0.58	295.6	708.1	7.8	727	7367	0.20	2.15	79.90	1.187	4	0.081	0.056	2733	3766	2325
7426	0.48	295.6	687.3	17.1	733	7430	0.12	1.95	0.00	0.000	6	0.189	0.032	2705	2502	2320
7746	0.55	295.6	638.8	16.9	749	7750	0.00	2.03	0.00	0.000	4	0.000	0.054	2705	3766	2317
7841	0.55	295.6	620.9	19.2	753	7845	0.00	1.85	0.00	0.000	6	0.000	0.034	2707	2541	2316
8168	0.63	295.6	570.2	13.6	769	8173	0.12	2.17	0.00	0.000	4	0.091	0.038	2760	1087	2315
8186	0.63	295.6	567.7	13.8	770	8190	0.00	2.22	0.00	0.000	6	0.000	0.041	2759	2532	2314
8513	0.53	295.6	519.0	14.7	786	8517	0.15	1.92	0.00	0.000	4	0.189	0.056	2722	3770	2313
8595	0.53	295.6	506.4	14.7	789	8603	0.00	1.85	0.00	0.000	6	0.000	0.032	2728	2538	2313
8921	0.53	295.6	464.5	12.0	818	8925	0.00	1.98	0.00	0.000	4	0.000	0.058	2727	3794	2311
9016	0.53	295.6	451.2	13.8	826	9022	0.00	1.85	0.00	0.000	6	0.000	0.033	2733	2565	2311
9342	0.53	295.6	408.7	12.6	857	9346	0.00	1.90	0.00	0.000	4	0.000	0.058	2733	3765	2310
9524	0.53	295.6	384.5	12.8	873	9528	0.00	1.75	0.00	0.000	6	0.000	0.034	2733	2574	2309
9857	0.60	314.0	345.1	11.2	904	9875	0.00	0.00	12.95	0.940	6	0.000	0.000	2733	2572	2250
10195	0.70	321.5	305.4	11.7	936	10208	0.12	1.95	6.80	0.812	4	0.086	0.057	2781	3765	2221
10265	0.56	321.5	294.4	16.6	945	10272	0.22	1.77	0.00	0.000	6	0.177	0.034	2727	2564	2220
10613	0.72	331.4	257.5	11.6	1006	10630	0.15	1.92	9.43	0.823	4	0.079	0.056	2786	3751	2179
10654	0.62	331.4	251.3	15.9	1013	10661	0.17	1.75	0.00	0.000	6	0.181	0.031	2745	2565	2178
11000	0.80	372.8	211.3	10.3	1074	11041	0.17	2.25	32.70	0.837	4	0.077	0.035	2816	1107	2011
11053	0.73	372.8	203.4	16.3	1083	11060	0.12	2.28	0.00	0.000	6	0.175	0.037	2786	2572	2009
11397	0.82	372.8	155.5	13.9	1144	11403	0.00	1.85	0.00	0.000	4	0.000	0.052	2786	3769	2006
11527	0.82	372.8	137.6	12.0	1167	11533	0.00	1.77	0.00	0.000	6	0.000	0.029	2789	2553	2005
11871	1.00	400.3	99.1	10.9	1228	11901	0.20	2.17	21.88	0.711	4	0.071	0.033	2885	1114	1899
11959	0.94	400.3	86.2	15.7	1243	11966	0.15	2.17	0.00	0.000	6	0.176	0.036	2847	2543	1896
12303	0.94	400.3	39.9	13.2	1304	12309	0.00	1.88	0.00	0.000	4	0.000	0.051	2847	3766	1895
12522	0.94	400.3	9.2	13.8	1343	12528	0.00	1.75	0.00	0.000	6	0.000	0.027	2852	2538	1895
12571	end climb: SURFACE_DEPTH_REACHED
state	12571	begin surface coast
12595	end surface coast: CONTROL_FINISHED_OK
state	12595	begin surface