Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 648 * 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 648 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 84 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -2 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 -22073.188 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 -22073.188

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 -2

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 84 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 39 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 648 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 182825,2532.582,12249.643,40,1.1,41,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.71 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -65.1 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 183656,2532.785,12249.688,13,1.1,13,-3.7 MHEAD_RNG_PITCHd_Wd 134.9,71678,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 967

Post-dive calculations and measurements:

FINISH 1.9,1.001495 ALTIM_BOTTOM_PING 901.7,41.3

SM_CCo 12723,0.10,0.145,0,0,1595,475.15 _24V_AH 23.1,110.975

SM_GC 3.70,0.00,0.00,0.10,0.000,0.000,0.145,139,2355,1595,-7.63,-0.79,475.15 _10V_AH 10.5,57.815

IRIDIUM_FIX 2524.66,12243.11,301198,151513 DATA_FILE_SIZE 63213,1170

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138599,0

HUMID 1874 CFSIZE 260165632,175640576

INTERNAL_PRESSURE 9.37536 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.80 CURRENT 0.104,261.4,1

XPDR_PINGS 2 GPS 050909,221036,2531.525,12249.993,33,1.0,34,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 235 138.84 SBE_CT 792 24 439.19

Roll_motor 106 52 130.60 Optode 821 33 626.49

VBD_pump_during_apogee 484 1360 15233.92 WL_BB2F 0 105 0.00

VBD_pump_during_surface 0 144 0.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.76 nil 0 0 0.00

Iridium_during_connect 35 160 130.24 nil 0 0 0.00

Iridium_during_xfer 269 223 1386.84

Transponder_ping 8 420 80.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.27

TT8 2111 19 439.08

LPSleep 7491 2 172.27

TT8_Active 563 19 117.10

TT8_Sampling 2265 39 946.70

TT8_CF8 794 45 381.91

TT8_Kalman 0 81 0.00

Analog_circuits 1720 12 216.84

GPS_charging 0 0 0.00

Compass 2203 8 185.12

RAFOS 0 0 0.00

Transponder 58 30 18.33

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

18 -1.50 -121.7 0.0 0.0 0 49 0.00 0.00 -29.27 0.000 2 0.000 0.000 138 2420 2329

53 -1.50 -121.7 3.3 -2.5 5 118 8.23 2.10 -50.12 0.000 4 0.235 0.038 2094 993 3989

262 -1.12 -121.7 75.9 -29.4 41 269 0.47 2.10 0.00 0.000 6 0.166 0.031 2215 2391 3991

610 -1.12 -121.7 138.6 -15.3 102 616 0.00 2.10 0.00 0.000 4 0.000 0.044 2206 3760 3994

766 -1.00 -121.7 168.4 -18.2 129 772 0.17 1.92 0.00 0.000 6 0.158 0.026 2253 2401 3995

1113 -1.21 -121.7 216.7 -16.4 190 1120 0.17 2.12 0.00 0.000 4 0.067 0.045 2179 3760 3996

1260 -1.04 -121.7 249.2 -22.0 215 1270 0.22 1.85 0.00 0.000 6 0.159 0.021 2239 2442 3996

1613 -1.19 -121.7 305.7 -16.4 273 1617 0.12 2.08 0.00 0.000 4 0.077 0.022 2188 1005 3996

1637 -1.30 -121.7 309.8 -17.1 274 1643 0.00 2.17 0.00 0.000 6 0.000 0.032 2188 2444 3996

1963 -1.30 -121.7 365.6 -17.5 305 1967 0.00 2.03 0.00 0.000 4 0.000 0.048 2187 3751 3996

2217 -1.30 -121.7 416.4 -19.9 327 2223 0.00 1.80 0.00 0.000 6 0.000 0.023 2187 2482 3995

2545 -1.36 -121.7 475.3 -16.1 358 2550 0.12 2.00 0.00 0.000 4 0.074 0.046 2125 3752 3994

2586 -1.15 -121.7 483.5 -21.2 361 2592 0.30 1.77 0.00 0.000 6 0.165 0.024 2206 2513 3994

2919 -1.28 -121.7 524.1 -11.9 383 2925 0.12 2.17 0.00 0.000 4 0.081 0.024 2157 1014 3993

3013 -1.34 -121.7 537.8 -15.1 387 3017 0.00 2.25 0.00 0.000 6 0.000 0.032 2152 2490 3992

3346 -1.34 -121.7 593.0 -14.9 403 3350 0.00 1.98 0.00 0.000 4 0.000 0.050 2149 3753 3990

3596 -1.28 -121.7 632.7 -15.7 414 3599 0.00 1.75 0.00 0.000 6 0.000 0.026 2149 2546 3988

3929 -1.28 -121.7 678.1 -13.4 430 3933 0.00 1.92 0.00 0.000 4 0.000 0.052 2149 3760 3986

3992 -1.23 -121.7 687.0 -14.0 432 4000 0.12 1.75 0.00 0.000 6 0.172 0.025 2178 2557 3985

4310 -1.36 -121.7 721.2 -11.5 448 4313 0.00 1.90 0.00 0.000 4 0.000 0.052 2178 3747 3982

4541 -1.46 -121.7 751.8 -12.8 458 4546 0.20 1.70 0.00 0.000 6 0.071 0.027 2103 2583 3980

4870 -1.30 -121.7 804.6 -16.5 474 4872 0.20 0.00 0.00 0.000 6 0.173 0.000 2154 2583 3978

5181 -1.36 -121.7 847.5 -14.3 489 5184 0.00 1.85 0.00 0.000 4 0.000 0.051 2149 3746 3975

5260 -1.36 -121.7 859.4 -14.7 492 5263 0.00 1.67 0.00 0.000 6 0.000 0.025 2149 2590 3975

5583 -1.36 -121.7 904.5 -14.2 508 5587 0.00 1.85 0.00 0.000 4 0.000 0.053 2144 3747 3973

5657 -1.36 -121.7 916.7 -16.7 511 5661 0.00 1.70 0.00 0.000 6 0.000 0.026 2144 2604 3973

5665 end dive: BOTTOM_OBSTACLE_DETECTED

state 5665 begin apogee

5674 -0.27 0.0 918.5 16.0 511 5771 1.17 0.00 93.18 1.361 6 0.162 0.000 2484 2412 3531

5772 end apogee: CONTROL_FINISHED_OK

state 5772 begin climb

5777 1.50 121.7 922.6 0.0 516 5888 1.60 2.30 103.53 1.319 4 0.051 0.027 3077 950 3036

6143 0.71 121.7 900.1 13.6 532 6148 1.05 2.20 0.00 0.000 6 0.214 0.035 2812 2370 3032

6466 0.58 130.3 865.5 12.6 548 6480 0.17 2.17 7.93 1.110 4 0.189 0.026 2768 952 3000

6736 0.62 160.5 835.1 11.0 560 6767 0.00 2.15 26.15 1.263 6 0.000 0.033 2768 2348 2877

7094 0.62 164.0 790.2 12.9 577 7103 0.00 2.28 4.07 0.826 4 0.000 0.051 2768 3751 2863

7139 0.52 164.0 783.5 14.4 579 7143 0.00 2.10 0.00 0.000 6 0.000 0.024 2776 2340 2863

7473 0.53 177.4 741.4 12.2 595 7494 0.00 2.35 12.45 1.167 4 0.000 0.050 2776 3758 2808

7553 0.45 177.4 729.9 15.7 598 7558 0.22 2.10 0.00 0.000 6 0.182 0.025 2728 2330 2806

7875 0.74 246.7 700.5 8.2 614 7940 0.22 2.45 57.65 1.219 4 0.074 0.051 2818 3762 2525

8150 0.65 246.7 658.1 17.1 626 8154 0.15 2.05 0.00 0.000 6 0.187 0.026 2792 2379 2518

8478 0.78 246.7 612.7 14.4 642 8479 0.12 0.00 0.00 0.000 6 0.080 0.000 2841 2376 2517

8789 0.74 248.5 563.7 13.1 657 8792 0.00 2.20 0.00 0.000 4 0.000 0.051 2841 3751 2516

8829 0.57 248.5 557.8 14.4 658 8836 0.32 2.03 0.00 0.000 6 0.180 0.025 2765 2362 2515

9146 0.76 248.5 508.3 13.9 674 9150 0.17 2.05 0.00 0.000 4 0.074 0.030 2841 999 2514

9277 0.82 248.5 487.7 16.3 682 9283 0.00 2.10 0.00 0.000 6 0.000 0.033 2842 2364 2514

9606 0.82 248.5 432.3 16.7 713 9610 0.00 2.20 0.00 0.000 4 0.000 0.052 2842 3757 2513

9699 0.69 248.5 415.8 17.7 721 9704 0.20 2.03 0.00 0.000 6 0.185 0.024 2801 2366 2513

10032 0.84 268.1 374.1 11.8 752 10055 0.15 2.28 16.83 0.979 4 0.077 0.049 2859 3748 2438

10124 0.69 268.1 359.8 16.7 760 10131 0.25 2.00 0.00 0.000 6 0.185 0.025 2805 2384 2436

10451 0.88 289.8 321.8 11.6 791 10477 0.17 2.28 19.15 0.937 4 0.076 0.048 2874 3759 2349

10682 0.75 289.8 279.0 19.5 820 10689 0.22 2.00 0.00 0.000 6 0.179 0.024 2825 2389 2346

11033 0.88 289.8 223.6 14.6 881 11040 0.10 2.17 0.00 0.000 4 0.093 0.047 2865 3755 2345

11106 0.76 289.8 210.6 18.6 893 11112 0.17 1.95 0.00 0.000 6 0.181 0.024 2830 2405 2345

11454 0.92 289.8 157.5 16.5 954 11461 0.12 2.15 0.00 0.000 4 0.084 0.048 2880 3753 2345

11581 0.81 289.8 134.3 17.7 976 11588 0.20 1.92 0.00 0.000 6 0.182 0.024 2839 2413 2345

11931 1.05 298.5 88.5 12.6 1037 11944 0.17 2.17 8.10 0.686 4 0.073 0.027 2925 989 2314

12005 1.12 301.2 78.6 13.0 1049 12017 0.00 2.12 4.10 0.530 6 0.000 0.030 2925 2391 2302

12358 1.33 471.1 47.1 0.9 1111 12498 0.20 2.20 131.55 0.693 4 0.063 0.047 3011 3753 1612

12542 1.25 471.1 26.3 20.8 1142 12549 0.15 2.05 0.00 0.000 6 0.178 0.021 2985 2360 1608

12686 end climb: SURFACE_DEPTH_REACHED

state 12686 begin surface coast

12702 end surface coast: CONTROL_FINISHED_OK

state 12702 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	648	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	84	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-2	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	-22073.188	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	182825,2532.582,12249.643,40,1.1,41,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.71	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-65.1	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	183656,2532.785,12249.688,13,1.1,13,-3.7	MHEAD_RNG_PITCHd_Wd	134.9,71678,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	967

FINISH	1.9,1.001495	ALTIM_BOTTOM_PING	901.7,41.3
SM_CCo	12723,0.10,0.145,0,0,1595,475.15	_24V_AH	23.1,110.975
SM_GC	3.70,0.00,0.00,0.10,0.000,0.000,0.145,139,2355,1595,-7.63,-0.79,475.15	_10V_AH	10.5,57.815
IRIDIUM_FIX	2524.66,12243.11,301198,151513	DATA_FILE_SIZE	63213,1170
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138599,0
HUMID	1874	CFSIZE	260165632,175640576
INTERNAL_PRESSURE	9.37536	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.80	CURRENT	0.104,261.4,1
XPDR_PINGS	2	GPS	050909,221036,2531.525,12249.993,33,1.0,34,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	235	138.84	SBE_CT	792	24	439.19
Roll_motor	106	52	130.60	Optode	821	33	626.49
VBD_pump_during_apogee	484	1360	15233.92	WL_BB2F	0	105	0.00
VBD_pump_during_surface	0	144	0.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.76	nil	0	0	0.00
Iridium_during_connect	35	160	130.24	nil	0	0	0.00
Iridium_during_xfer	269	223	1386.84
Transponder_ping	8	420	80.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.27
TT8	2111	19	439.08
LPSleep	7491	2	172.27
TT8_Active	563	19	117.10
TT8_Sampling	2265	39	946.70
TT8_CF8	794	45	381.91
TT8_Kalman	0	81	0.00
Analog_circuits	1720	12	216.84
GPS_charging	0	0	0.00
Compass	2203	8	185.12
RAFOS	0	0	0.00
Transponder	58	30	18.33

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
18	-1.50	-121.7	0.0	0.0	0	49	0.00	0.00	-29.27	0.000	2	0.000	0.000	138	2420	2329
53	-1.50	-121.7	3.3	-2.5	5	118	8.23	2.10	-50.12	0.000	4	0.235	0.038	2094	993	3989
262	-1.12	-121.7	75.9	-29.4	41	269	0.47	2.10	0.00	0.000	6	0.166	0.031	2215	2391	3991
610	-1.12	-121.7	138.6	-15.3	102	616	0.00	2.10	0.00	0.000	4	0.000	0.044	2206	3760	3994
766	-1.00	-121.7	168.4	-18.2	129	772	0.17	1.92	0.00	0.000	6	0.158	0.026	2253	2401	3995
1113	-1.21	-121.7	216.7	-16.4	190	1120	0.17	2.12	0.00	0.000	4	0.067	0.045	2179	3760	3996
1260	-1.04	-121.7	249.2	-22.0	215	1270	0.22	1.85	0.00	0.000	6	0.159	0.021	2239	2442	3996
1613	-1.19	-121.7	305.7	-16.4	273	1617	0.12	2.08	0.00	0.000	4	0.077	0.022	2188	1005	3996
1637	-1.30	-121.7	309.8	-17.1	274	1643	0.00	2.17	0.00	0.000	6	0.000	0.032	2188	2444	3996
1963	-1.30	-121.7	365.6	-17.5	305	1967	0.00	2.03	0.00	0.000	4	0.000	0.048	2187	3751	3996
2217	-1.30	-121.7	416.4	-19.9	327	2223	0.00	1.80	0.00	0.000	6	0.000	0.023	2187	2482	3995
2545	-1.36	-121.7	475.3	-16.1	358	2550	0.12	2.00	0.00	0.000	4	0.074	0.046	2125	3752	3994
2586	-1.15	-121.7	483.5	-21.2	361	2592	0.30	1.77	0.00	0.000	6	0.165	0.024	2206	2513	3994
2919	-1.28	-121.7	524.1	-11.9	383	2925	0.12	2.17	0.00	0.000	4	0.081	0.024	2157	1014	3993
3013	-1.34	-121.7	537.8	-15.1	387	3017	0.00	2.25	0.00	0.000	6	0.000	0.032	2152	2490	3992
3346	-1.34	-121.7	593.0	-14.9	403	3350	0.00	1.98	0.00	0.000	4	0.000	0.050	2149	3753	3990
3596	-1.28	-121.7	632.7	-15.7	414	3599	0.00	1.75	0.00	0.000	6	0.000	0.026	2149	2546	3988
3929	-1.28	-121.7	678.1	-13.4	430	3933	0.00	1.92	0.00	0.000	4	0.000	0.052	2149	3760	3986
3992	-1.23	-121.7	687.0	-14.0	432	4000	0.12	1.75	0.00	0.000	6	0.172	0.025	2178	2557	3985
4310	-1.36	-121.7	721.2	-11.5	448	4313	0.00	1.90	0.00	0.000	4	0.000	0.052	2178	3747	3982
4541	-1.46	-121.7	751.8	-12.8	458	4546	0.20	1.70	0.00	0.000	6	0.071	0.027	2103	2583	3980
4870	-1.30	-121.7	804.6	-16.5	474	4872	0.20	0.00	0.00	0.000	6	0.173	0.000	2154	2583	3978
5181	-1.36	-121.7	847.5	-14.3	489	5184	0.00	1.85	0.00	0.000	4	0.000	0.051	2149	3746	3975
5260	-1.36	-121.7	859.4	-14.7	492	5263	0.00	1.67	0.00	0.000	6	0.000	0.025	2149	2590	3975
5583	-1.36	-121.7	904.5	-14.2	508	5587	0.00	1.85	0.00	0.000	4	0.000	0.053	2144	3747	3973
5657	-1.36	-121.7	916.7	-16.7	511	5661	0.00	1.70	0.00	0.000	6	0.000	0.026	2144	2604	3973
5665	end dive: BOTTOM_OBSTACLE_DETECTED
state	5665	begin apogee
5674	-0.27	0.0	918.5	16.0	511	5771	1.17	0.00	93.18	1.361	6	0.162	0.000	2484	2412	3531
5772	end apogee: CONTROL_FINISHED_OK
state	5772	begin climb
5777	1.50	121.7	922.6	0.0	516	5888	1.60	2.30	103.53	1.319	4	0.051	0.027	3077	950	3036
6143	0.71	121.7	900.1	13.6	532	6148	1.05	2.20	0.00	0.000	6	0.214	0.035	2812	2370	3032
6466	0.58	130.3	865.5	12.6	548	6480	0.17	2.17	7.93	1.110	4	0.189	0.026	2768	952	3000
6736	0.62	160.5	835.1	11.0	560	6767	0.00	2.15	26.15	1.263	6	0.000	0.033	2768	2348	2877
7094	0.62	164.0	790.2	12.9	577	7103	0.00	2.28	4.07	0.826	4	0.000	0.051	2768	3751	2863
7139	0.52	164.0	783.5	14.4	579	7143	0.00	2.10	0.00	0.000	6	0.000	0.024	2776	2340	2863
7473	0.53	177.4	741.4	12.2	595	7494	0.00	2.35	12.45	1.167	4	0.000	0.050	2776	3758	2808
7553	0.45	177.4	729.9	15.7	598	7558	0.22	2.10	0.00	0.000	6	0.182	0.025	2728	2330	2806
7875	0.74	246.7	700.5	8.2	614	7940	0.22	2.45	57.65	1.219	4	0.074	0.051	2818	3762	2525
8150	0.65	246.7	658.1	17.1	626	8154	0.15	2.05	0.00	0.000	6	0.187	0.026	2792	2379	2518
8478	0.78	246.7	612.7	14.4	642	8479	0.12	0.00	0.00	0.000	6	0.080	0.000	2841	2376	2517
8789	0.74	248.5	563.7	13.1	657	8792	0.00	2.20	0.00	0.000	4	0.000	0.051	2841	3751	2516
8829	0.57	248.5	557.8	14.4	658	8836	0.32	2.03	0.00	0.000	6	0.180	0.025	2765	2362	2515
9146	0.76	248.5	508.3	13.9	674	9150	0.17	2.05	0.00	0.000	4	0.074	0.030	2841	999	2514
9277	0.82	248.5	487.7	16.3	682	9283	0.00	2.10	0.00	0.000	6	0.000	0.033	2842	2364	2514
9606	0.82	248.5	432.3	16.7	713	9610	0.00	2.20	0.00	0.000	4	0.000	0.052	2842	3757	2513
9699	0.69	248.5	415.8	17.7	721	9704	0.20	2.03	0.00	0.000	6	0.185	0.024	2801	2366	2513
10032	0.84	268.1	374.1	11.8	752	10055	0.15	2.28	16.83	0.979	4	0.077	0.049	2859	3748	2438
10124	0.69	268.1	359.8	16.7	760	10131	0.25	2.00	0.00	0.000	6	0.185	0.025	2805	2384	2436
10451	0.88	289.8	321.8	11.6	791	10477	0.17	2.28	19.15	0.937	4	0.076	0.048	2874	3759	2349
10682	0.75	289.8	279.0	19.5	820	10689	0.22	2.00	0.00	0.000	6	0.179	0.024	2825	2389	2346
11033	0.88	289.8	223.6	14.6	881	11040	0.10	2.17	0.00	0.000	4	0.093	0.047	2865	3755	2345
11106	0.76	289.8	210.6	18.6	893	11112	0.17	1.95	0.00	0.000	6	0.181	0.024	2830	2405	2345
11454	0.92	289.8	157.5	16.5	954	11461	0.12	2.15	0.00	0.000	4	0.084	0.048	2880	3753	2345
11581	0.81	289.8	134.3	17.7	976	11588	0.20	1.92	0.00	0.000	6	0.182	0.024	2839	2413	2345
11931	1.05	298.5	88.5	12.6	1037	11944	0.17	2.17	8.10	0.686	4	0.073	0.027	2925	989	2314
12005	1.12	301.2	78.6	13.0	1049	12017	0.00	2.12	4.10	0.530	6	0.000	0.030	2925	2391	2302
12358	1.33	471.1	47.1	0.9	1111	12498	0.20	2.20	131.55	0.693	4	0.063	0.047	3011	3753	1612
12542	1.25	471.1	26.3	20.8	1142	12549	0.15	2.05	0.00	0.000	6	0.178	0.021	2985	2360	1608
12686	end climb: SURFACE_DEPTH_REACHED
state	12686	begin surface coast
12702	end surface coast: CONTROL_FINISHED_OK
state	12702	begin surface