Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 154 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 154 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3782 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 1471 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1580 ALTIM_PULSE 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 415 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT 0.94

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 490 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2947 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 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -36267.93 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 40 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2744 PRESSURE_YINT -9.4660435 SEABIRD_T_G 0.0043488215

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160742 SEABIRD_T_H 0.00063635618

MASS 51863 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.035 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 415

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3926 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 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160742 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -9.4660435 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 -36267.93

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 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3782 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2744 KALMAN_USE 2 ROLL_MIN 204 USE_BATHY -4

C_ROLL_CLIMB 1580 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1471 MASS 51863 R_PORT_OVSHOOT 45 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 250 R_STBD_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 154 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0.035 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 112436,2518.123,12237.820,23,1.8,23,-3.6 TGT_NAME OFF_3

_CALLS 2 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 113421,2518.088,12237.649,12,2.4,31,-3.6 MHEAD_RNG_PITCHd_Wd 146.5,61040,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 794

Post-dive calculations and measurements:

FINISH -0.1,1.021875 ALTIM_BOTTOM_PING 726.1,85.8

SM_CCo 12305,0.00,0.000,0,0,736,542.36 _24V_AH 23.3,31.874

SM_GC 0.63,8.07,0.00,0.00,0.036,0.000,0.000,115,1446,736,-8.14,-0.71,542.36 _10V_AH 10.7,19.589

IRIDIUM_FIX 2510.35,12239.24,040998,111107 DATA_FILE_SIZE 75714,1328

TT8_MAMPS 0.049855 CAP_FILE_SIZE 139892,0

HUMID 1609 CFSIZE 260165632,246759424

INTERNAL_PRESSURE 8.91882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.70 CURRENT 0.328,330.6,1

XPDR_PINGS 18 GPS 100609,150025,2518.191,12237.761,35,1.2,35,-3.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 199 109.54 SBE_CT 899 24 502.73

Roll_motor 101 59 139.60 Optode 940 33 723.50

VBD_pump_during_apogee 663 1337 20672.42 WL_BB2F 1578 105 3861.49

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 59 103 143.66 nil 0 0 0.00

Iridium_during_connect 68 160 256.63 nil 0 0 0.00

Iridium_during_xfer 269 223 1399.97

Transponder_ping 10 420 100.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.79

TT8 0 19 0.00

LPSleep 8489 2 198.94

TT8_Active 750 19 158.94

TT8_Sampling 3028 39 1289.57

TT8_CF8 598 45 293.12

TT8_Kalman 0 0 0.00

Analog_circuits 1890 12 242.73

GPS_charging 0 0 0.00

Compass 2549 8 218.21

RAFOS 0 0 0.00

Transponder 40 30 12.97

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -1.08 -243.4 0.0 0.0 0 103 0.00 0.00 -88.82 0.000 2 0.000 0.000 108 1448 2953

104 -1.08 -243.4 3.7 -8.6 14 136 8.25 2.17 -17.98 0.000 4 0.199 0.052 2381 2886 3942

162 -0.65 -243.4 23.7 -33.3 24 169 0.45 2.15 0.00 0.000 6 0.122 0.036 2530 1484 3943

488 -0.65 -243.4 72.0 -11.1 85 495 0.00 1.95 0.00 0.000 4 0.000 0.045 2530 215 3946

574 -0.65 -243.4 82.0 -12.6 101 581 0.00 1.90 0.00 0.000 6 0.000 0.034 2530 1472 3946

901 -0.75 -243.4 114.1 -10.0 162 907 0.00 1.95 0.00 0.000 4 0.000 0.046 2530 210 3948

943 -0.86 -243.4 118.6 -10.2 170 950 0.15 1.90 0.00 0.000 6 0.044 0.035 2448 1468 3947

1270 -0.76 -243.4 172.0 -17.2 231 1277 0.17 2.10 0.00 0.000 4 0.125 0.041 2500 2873 3947

1298 -0.80 -243.4 176.2 -14.4 236 1304 0.00 2.12 0.00 0.000 6 0.000 0.034 2501 1453 3948

1624 -0.86 -243.4 213.5 -9.2 297 1630 0.00 2.15 0.00 0.000 4 0.000 0.040 2501 2876 3947

1704 -0.99 -243.4 220.1 -7.9 312 1710 0.17 2.10 0.00 0.000 6 0.042 0.033 2404 1472 3948

2030 -0.81 -243.4 269.9 -15.4 373 2036 0.25 1.88 0.00 0.000 4 0.130 0.045 2480 215 3947

2126 -0.81 -243.4 280.1 -9.2 391 2133 0.00 1.90 0.00 0.000 6 0.000 0.035 2480 1482 3947

2450 -0.86 -243.4 311.0 -11.4 443 2454 0.00 2.08 0.00 0.000 4 0.000 0.041 2480 2878 3946

2546 -0.96 -243.4 321.6 -10.3 452 2550 0.10 2.10 0.00 0.000 6 0.051 0.034 2417 1477 3946

2867 -0.85 -243.4 368.1 -15.3 483 2871 0.17 2.12 0.00 0.000 4 0.132 0.041 2467 2879 3944

2903 -0.93 -243.4 372.7 -11.2 486 2910 0.00 2.10 0.00 0.000 6 0.000 0.035 2467 1481 3944

3220 -0.97 -243.4 408.8 -11.8 517 3221 0.10 0.00 0.00 0.000 6 0.077 0.000 2415 1481 3941

3530 -0.88 -243.4 454.7 -14.7 547 3534 0.15 2.10 0.00 0.000 4 0.136 0.044 2458 2878 3939

3572 -0.96 -243.4 459.8 -11.1 551 3576 0.00 2.08 0.00 0.000 6 0.000 0.037 2458 1504 3939

3893 -1.01 -243.4 494.3 -10.2 582 3897 0.12 1.98 0.00 0.000 4 0.068 0.050 2396 218 3937

3967 -0.85 -243.4 505.6 -15.7 587 3971 0.20 1.92 0.00 0.000 6 0.132 0.035 2459 1502 3936

4284 -0.91 -243.4 539.7 -10.3 603 4287 0.00 2.05 0.00 0.000 4 0.000 0.046 2459 2867 3935

4331 -1.02 -243.4 544.2 -9.1 605 4335 0.10 2.08 0.00 0.000 6 0.055 0.038 2401 1502 3935

4653 -0.92 -243.4 589.1 -13.8 621 4654 0.15 0.00 0.00 0.000 6 0.146 0.000 2442 1502 3932

4957 -0.92 -243.4 621.6 -10.4 636 4961 0.00 2.10 0.00 0.000 4 0.000 0.047 2442 2866 3930

5005 -1.01 -243.4 626.9 -11.3 638 5009 0.00 2.05 0.00 0.000 6 0.000 0.040 2442 1520 3929

5326 -1.05 -243.4 662.0 -10.4 654 5330 0.12 2.08 0.00 0.000 4 0.070 0.048 2385 2870 3927

5362 -0.97 -243.4 666.4 -12.7 655 5371 0.12 2.08 0.00 0.000 6 0.129 0.040 2427 1515 3927

5674 -0.97 -243.4 701.7 -11.4 671 5675 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 1515 3925

5979 -0.97 -243.4 734.4 -10.1 686 5979 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 1515 3924

6284 -0.97 -243.4 765.3 -10.1 701 6288 0.00 2.05 0.00 0.000 4 0.000 0.057 2427 212 3921

6320 -0.97 -243.4 769.3 -11.4 702 6328 0.00 2.00 0.00 0.000 6 0.000 0.039 2427 1522 3921

6487 end dive: BOTTOM_OBSTACLE_DETECTED

state 6487 begin apogee

6491 -0.24 0.0 787.7 11.4 711 6692 0.73 0.00 198.43 1.338 6 0.114 0.000 2667 1523 2947

6693 end apogee: CONTROL_FINISHED_OK

state 6693 begin climb

6694 1.08 243.4 796.4 0.0 721 6910 1.20 2.42 207.70 1.289 4 0.066 0.046 3086 2979 1952

6951 0.60 243.4 757.1 25.8 733 6956 0.52 2.33 0.00 0.000 6 0.179 0.043 2944 1583 1948

7268 0.51 243.4 713.9 13.4 749 7271 0.12 2.20 0.00 0.000 4 0.162 0.058 2910 216 1943

7336 0.57 257.7 705.7 11.5 752 7354 0.00 2.12 12.23 1.124 6 0.000 0.041 2909 1571 1895

7657 0.67 305.9 672.0 10.4 768 7701 0.15 0.00 42.80 1.233 6 0.069 0.000 2974 1571 1699

8003 0.54 305.9 617.9 16.2 785 8006 0.20 2.20 0.00 0.000 4 0.154 0.049 2919 2988 1689

8055 0.54 305.9 610.4 12.6 787 8060 0.00 2.22 0.00 0.000 6 0.000 0.044 2919 1572 1688

8371 0.54 305.9 569.7 12.5 803 8375 0.00 2.22 0.00 0.000 4 0.000 0.049 2919 2985 1686

8392 0.54 305.9 567.0 13.4 804 8396 0.00 2.20 0.00 0.000 6 0.000 0.044 2919 1577 1685

8718 0.59 305.9 524.5 12.3 820 8722 0.00 2.17 0.00 0.000 4 0.000 0.059 2919 213 1684

8771 0.71 340.4 518.5 10.9 822 8806 0.12 2.10 29.05 1.155 6 0.058 0.044 2982 1564 1559

9111 0.60 340.4 463.3 14.2 849 9112 0.17 0.00 0.00 0.000 6 0.157 0.000 2935 1565 1550

9423 0.68 376.1 428.9 10.8 879 9459 0.00 2.22 31.25 1.098 4 0.000 0.059 2935 219 1412

9492 0.80 389.3 420.5 11.6 885 9510 0.15 2.15 12.98 1.003 6 0.055 0.044 3006 1569 1359

9818 0.61 389.3 355.9 22.7 917 9822 0.22 2.20 0.00 0.000 4 0.153 0.049 2945 2992 1349

9876 0.65 389.3 346.1 14.7 922 9883 0.00 2.17 0.00 0.000 6 0.000 0.043 2945 1603 1348

10193 0.73 389.3 302.6 12.2 953 10194 0.10 0.00 0.00 0.000 6 0.085 0.000 2989 1603 1347

10512 0.66 389.3 253.3 15.1 1011 10520 0.12 2.20 0.00 0.000 4 0.150 0.057 2957 212 1346

10620 0.76 389.3 239.4 13.4 1031 10627 0.00 2.17 0.00 0.000 6 0.000 0.041 2957 1621 1345

10948 0.88 413.3 197.4 11.2 1092 10973 0.20 0.00 20.00 0.901 6 0.055 0.000 3046 1621 1260

11294 0.67 413.3 130.7 19.6 1156 11299 0.25 2.20 0.00 0.000 4 0.149 0.053 2972 206 1255

11379 0.87 487.8 120.4 9.5 1172 11448 0.10 2.15 63.42 0.858 6 0.057 0.040 3034 1605 957

11768 0.87 487.8 47.9 16.8 1243 11775 0.00 2.22 0.00 0.000 4 0.000 0.052 3038 211 948

11844 0.99 496.1 37.7 11.7 1257 11857 0.00 2.12 7.18 0.653 6 0.000 0.038 3038 1587 923

12177 1.31 591.7 8.7 8.8 1319 12217 0.32 0.00 38.25 0.743 2 0.044 0.000 3174 1587 742

12217 end climb: SURFACE_DEPTH_REACHED

state 12217 begin surface coast

12231 end surface coast: CONTROL_FINISHED_OK

state 12231 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	154	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3782	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	1471	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1580	ALTIM_PULSE	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	415	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	0.94
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	490	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2947	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	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-36267.93	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	40	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2744	PRESSURE_YINT	-9.4660435	SEABIRD_T_G	0.0043488215
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160742	SEABIRD_T_H	0.00063635618
MASS	51863	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.035	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	112436,2518.123,12237.820,23,1.8,23,-3.6	TGT_NAME	OFF_3
_CALLS	2	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	113421,2518.088,12237.649,12,2.4,31,-3.6	MHEAD_RNG_PITCHd_Wd	146.5,61040,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	794

FINISH	-0.1,1.021875	ALTIM_BOTTOM_PING	726.1,85.8
SM_CCo	12305,0.00,0.000,0,0,736,542.36	_24V_AH	23.3,31.874
SM_GC	0.63,8.07,0.00,0.00,0.036,0.000,0.000,115,1446,736,-8.14,-0.71,542.36	_10V_AH	10.7,19.589
IRIDIUM_FIX	2510.35,12239.24,040998,111107	DATA_FILE_SIZE	75714,1328
TT8_MAMPS	0.049855	CAP_FILE_SIZE	139892,0
HUMID	1609	CFSIZE	260165632,246759424
INTERNAL_PRESSURE	8.91882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.70	CURRENT	0.328,330.6,1
XPDR_PINGS	18	GPS	100609,150025,2518.191,12237.761,35,1.2,35,-3.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	199	109.54	SBE_CT	899	24	502.73
Roll_motor	101	59	139.60	Optode	940	33	723.50
VBD_pump_during_apogee	663	1337	20672.42	WL_BB2F	1578	105	3861.49
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	59	103	143.66	nil	0	0	0.00
Iridium_during_connect	68	160	256.63	nil	0	0	0.00
Iridium_during_xfer	269	223	1399.97
Transponder_ping	10	420	100.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.79
TT8	0	19	0.00
LPSleep	8489	2	198.94
TT8_Active	750	19	158.94
TT8_Sampling	3028	39	1289.57
TT8_CF8	598	45	293.12
TT8_Kalman	0	0	0.00
Analog_circuits	1890	12	242.73
GPS_charging	0	0	0.00
Compass	2549	8	218.21
RAFOS	0	0	0.00
Transponder	40	30	12.97

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-1.08	-243.4	0.0	0.0	0	103	0.00	0.00	-88.82	0.000	2	0.000	0.000	108	1448	2953
104	-1.08	-243.4	3.7	-8.6	14	136	8.25	2.17	-17.98	0.000	4	0.199	0.052	2381	2886	3942
162	-0.65	-243.4	23.7	-33.3	24	169	0.45	2.15	0.00	0.000	6	0.122	0.036	2530	1484	3943
488	-0.65	-243.4	72.0	-11.1	85	495	0.00	1.95	0.00	0.000	4	0.000	0.045	2530	215	3946
574	-0.65	-243.4	82.0	-12.6	101	581	0.00	1.90	0.00	0.000	6	0.000	0.034	2530	1472	3946
901	-0.75	-243.4	114.1	-10.0	162	907	0.00	1.95	0.00	0.000	4	0.000	0.046	2530	210	3948
943	-0.86	-243.4	118.6	-10.2	170	950	0.15	1.90	0.00	0.000	6	0.044	0.035	2448	1468	3947
1270	-0.76	-243.4	172.0	-17.2	231	1277	0.17	2.10	0.00	0.000	4	0.125	0.041	2500	2873	3947
1298	-0.80	-243.4	176.2	-14.4	236	1304	0.00	2.12	0.00	0.000	6	0.000	0.034	2501	1453	3948
1624	-0.86	-243.4	213.5	-9.2	297	1630	0.00	2.15	0.00	0.000	4	0.000	0.040	2501	2876	3947
1704	-0.99	-243.4	220.1	-7.9	312	1710	0.17	2.10	0.00	0.000	6	0.042	0.033	2404	1472	3948
2030	-0.81	-243.4	269.9	-15.4	373	2036	0.25	1.88	0.00	0.000	4	0.130	0.045	2480	215	3947
2126	-0.81	-243.4	280.1	-9.2	391	2133	0.00	1.90	0.00	0.000	6	0.000	0.035	2480	1482	3947
2450	-0.86	-243.4	311.0	-11.4	443	2454	0.00	2.08	0.00	0.000	4	0.000	0.041	2480	2878	3946
2546	-0.96	-243.4	321.6	-10.3	452	2550	0.10	2.10	0.00	0.000	6	0.051	0.034	2417	1477	3946
2867	-0.85	-243.4	368.1	-15.3	483	2871	0.17	2.12	0.00	0.000	4	0.132	0.041	2467	2879	3944
2903	-0.93	-243.4	372.7	-11.2	486	2910	0.00	2.10	0.00	0.000	6	0.000	0.035	2467	1481	3944
3220	-0.97	-243.4	408.8	-11.8	517	3221	0.10	0.00	0.00	0.000	6	0.077	0.000	2415	1481	3941
3530	-0.88	-243.4	454.7	-14.7	547	3534	0.15	2.10	0.00	0.000	4	0.136	0.044	2458	2878	3939
3572	-0.96	-243.4	459.8	-11.1	551	3576	0.00	2.08	0.00	0.000	6	0.000	0.037	2458	1504	3939
3893	-1.01	-243.4	494.3	-10.2	582	3897	0.12	1.98	0.00	0.000	4	0.068	0.050	2396	218	3937
3967	-0.85	-243.4	505.6	-15.7	587	3971	0.20	1.92	0.00	0.000	6	0.132	0.035	2459	1502	3936
4284	-0.91	-243.4	539.7	-10.3	603	4287	0.00	2.05	0.00	0.000	4	0.000	0.046	2459	2867	3935
4331	-1.02	-243.4	544.2	-9.1	605	4335	0.10	2.08	0.00	0.000	6	0.055	0.038	2401	1502	3935
4653	-0.92	-243.4	589.1	-13.8	621	4654	0.15	0.00	0.00	0.000	6	0.146	0.000	2442	1502	3932
4957	-0.92	-243.4	621.6	-10.4	636	4961	0.00	2.10	0.00	0.000	4	0.000	0.047	2442	2866	3930
5005	-1.01	-243.4	626.9	-11.3	638	5009	0.00	2.05	0.00	0.000	6	0.000	0.040	2442	1520	3929
5326	-1.05	-243.4	662.0	-10.4	654	5330	0.12	2.08	0.00	0.000	4	0.070	0.048	2385	2870	3927
5362	-0.97	-243.4	666.4	-12.7	655	5371	0.12	2.08	0.00	0.000	6	0.129	0.040	2427	1515	3927
5674	-0.97	-243.4	701.7	-11.4	671	5675	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	1515	3925
5979	-0.97	-243.4	734.4	-10.1	686	5979	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	1515	3924
6284	-0.97	-243.4	765.3	-10.1	701	6288	0.00	2.05	0.00	0.000	4	0.000	0.057	2427	212	3921
6320	-0.97	-243.4	769.3	-11.4	702	6328	0.00	2.00	0.00	0.000	6	0.000	0.039	2427	1522	3921
6487	end dive: BOTTOM_OBSTACLE_DETECTED
state	6487	begin apogee
6491	-0.24	0.0	787.7	11.4	711	6692	0.73	0.00	198.43	1.338	6	0.114	0.000	2667	1523	2947
6693	end apogee: CONTROL_FINISHED_OK
state	6693	begin climb
6694	1.08	243.4	796.4	0.0	721	6910	1.20	2.42	207.70	1.289	4	0.066	0.046	3086	2979	1952
6951	0.60	243.4	757.1	25.8	733	6956	0.52	2.33	0.00	0.000	6	0.179	0.043	2944	1583	1948
7268	0.51	243.4	713.9	13.4	749	7271	0.12	2.20	0.00	0.000	4	0.162	0.058	2910	216	1943
7336	0.57	257.7	705.7	11.5	752	7354	0.00	2.12	12.23	1.124	6	0.000	0.041	2909	1571	1895
7657	0.67	305.9	672.0	10.4	768	7701	0.15	0.00	42.80	1.233	6	0.069	0.000	2974	1571	1699
8003	0.54	305.9	617.9	16.2	785	8006	0.20	2.20	0.00	0.000	4	0.154	0.049	2919	2988	1689
8055	0.54	305.9	610.4	12.6	787	8060	0.00	2.22	0.00	0.000	6	0.000	0.044	2919	1572	1688
8371	0.54	305.9	569.7	12.5	803	8375	0.00	2.22	0.00	0.000	4	0.000	0.049	2919	2985	1686
8392	0.54	305.9	567.0	13.4	804	8396	0.00	2.20	0.00	0.000	6	0.000	0.044	2919	1577	1685
8718	0.59	305.9	524.5	12.3	820	8722	0.00	2.17	0.00	0.000	4	0.000	0.059	2919	213	1684
8771	0.71	340.4	518.5	10.9	822	8806	0.12	2.10	29.05	1.155	6	0.058	0.044	2982	1564	1559
9111	0.60	340.4	463.3	14.2	849	9112	0.17	0.00	0.00	0.000	6	0.157	0.000	2935	1565	1550
9423	0.68	376.1	428.9	10.8	879	9459	0.00	2.22	31.25	1.098	4	0.000	0.059	2935	219	1412
9492	0.80	389.3	420.5	11.6	885	9510	0.15	2.15	12.98	1.003	6	0.055	0.044	3006	1569	1359
9818	0.61	389.3	355.9	22.7	917	9822	0.22	2.20	0.00	0.000	4	0.153	0.049	2945	2992	1349
9876	0.65	389.3	346.1	14.7	922	9883	0.00	2.17	0.00	0.000	6	0.000	0.043	2945	1603	1348
10193	0.73	389.3	302.6	12.2	953	10194	0.10	0.00	0.00	0.000	6	0.085	0.000	2989	1603	1347
10512	0.66	389.3	253.3	15.1	1011	10520	0.12	2.20	0.00	0.000	4	0.150	0.057	2957	212	1346
10620	0.76	389.3	239.4	13.4	1031	10627	0.00	2.17	0.00	0.000	6	0.000	0.041	2957	1621	1345
10948	0.88	413.3	197.4	11.2	1092	10973	0.20	0.00	20.00	0.901	6	0.055	0.000	3046	1621	1260
11294	0.67	413.3	130.7	19.6	1156	11299	0.25	2.20	0.00	0.000	4	0.149	0.053	2972	206	1255
11379	0.87	487.8	120.4	9.5	1172	11448	0.10	2.15	63.42	0.858	6	0.057	0.040	3034	1605	957
11768	0.87	487.8	47.9	16.8	1243	11775	0.00	2.22	0.00	0.000	4	0.000	0.052	3038	211	948
11844	0.99	496.1	37.7	11.7	1257	11857	0.00	2.12	7.18	0.653	6	0.000	0.038	3038	1587	923
12177	1.31	591.7	8.7	8.8	1319	12217	0.32	0.00	38.25	0.743	2	0.044	0.000	3174	1587	742
12217	end climb: SURFACE_DEPTH_REACHED
state	12217	begin surface coast
12231	end surface coast: CONTROL_FINISHED_OK
state	12231	begin surface