Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 50 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 50 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 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 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 50 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 60 INT_PRESSURE_YINT 2.7

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 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 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 -6151.0239 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 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

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 0.003125763 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 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 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 160 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 300

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 -6151.0239

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

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 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 50 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 60 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 50 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 004507,2537.673,12252.396,28,1.1,28,-3.8 TGT_NAME OFF_4

_CALLS 1 TGT_LATLONG 2517.000,12320.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 005116,2537.729,12252.453,11,2.5,30,-3.8 MHEAD_RNG_PITCHd_Wd 136.0,60014,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 771

Post-dive calculations and measurements:

FINISH 1.1,1.020840 ALTIM_BOTTOM_PING 725.5,43.7

SM_CCo 12520,12.30,0.637,0,0,1129,425.10 _24V_AH 24.0,13.443

SM_GC 2.27,0.00,0.00,12.30,0.000,0.000,0.637,168,1513,1129,-8.04,0.37,425.10 _10V_AH 10.7,8.086

IRIDIUM_FIX 2529.44,12253.02,230898,212113 DATA_FILE_SIZE 76000,1313

TT8_MAMPS 0.027612 CAP_FILE_SIZE 140785,0

HUMID 1478 CFSIZE 260165632,231120896

INTERNAL_PRESSURE 9.88778 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.50 CURRENT 0.218,329.2,1

XPDR_PINGS 108 GPS 300509,042137,2537.561,12253.192,34,1.1,34,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 229 143.24 SBE_CT 890 24 513.06

Roll_motor 115 58 161.62 Optode 931 33 737.91

VBD_pump_during_apogee 510 1289 15800.70 WL_BB2F 1565 105 3945.66

VBD_pump_during_surface 12 637 188.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.74 nil 0 0 0.00

Iridium_during_connect 33 160 128.99 nil 0 0 0.00

Iridium_during_xfer 195 223 1044.65

Transponder_ping 32 420 330.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.98

TT8 2306 19 488.75

LPSleep 6934 2 162.50

TT8_Active 614 19 130.18

TT8_Sampling 2633 39 1121.53

TT8_CF8 410 45 201.21

TT8_Kalman 0 0 0.00

Analog_circuits 1793 12 230.34

GPS_charging 0 0 0.00

Compass 2595 8 222.16

RAFOS 0 0 0.00

Transponder 40 30 13.04

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

13 -0.94 -194.7 0.0 0.0 0 73 0.00 0.00 -57.72 0.000 2 0.000 0.000 165 1479 2345

75 -0.94 -194.7 3.0 -5.2 9 134 8.77 1.88 -42.30 0.000 4 0.229 0.058 2428 211 3657

304 -0.12 -194.7 71.9 -38.4 48 311 0.88 1.90 0.00 0.000 6 0.171 0.033 2696 1490 3657

648 -0.76 -194.7 100.3 -6.4 109 655 0.55 2.05 0.00 0.000 4 0.063 0.036 2486 2911 3659

773 -0.33 -194.7 123.1 -24.5 131 780 0.47 2.03 0.00 0.000 6 0.155 0.032 2625 1509 3659

1119 -0.56 -194.7 158.7 -8.8 192 1126 0.17 2.05 0.00 0.000 4 0.058 0.038 2538 2906 3660

1194 -0.47 -194.7 169.8 -16.3 205 1201 0.17 2.03 0.00 0.000 6 0.146 0.031 2586 1497 3660

1538 -0.56 -194.7 209.2 -10.2 266 1545 0.00 2.08 0.00 0.000 4 0.000 0.041 2586 2910 3660

1591 -0.77 -194.7 213.8 -8.2 275 1597 0.28 2.00 0.00 0.000 6 0.046 0.031 2465 1519 3660

1935 -0.45 -194.7 284.0 -16.9 336 1942 0.40 1.92 0.00 0.000 4 0.151 0.044 2589 207 3660

2139 -0.64 -194.7 299.7 -7.6 372 2148 0.12 1.90 0.00 0.000 6 0.048 0.028 2516 1530 3661

2464 -0.64 -194.7 342.0 -13.1 403 2468 0.00 1.98 0.00 0.000 4 0.000 0.046 2516 202 3660

2479 -0.64 -194.7 344.2 -12.6 404 2487 0.00 1.88 0.00 0.000 6 0.000 0.028 2516 1499 3660

2805 -0.64 -194.7 376.8 -9.2 435 2809 0.00 2.05 0.00 0.000 4 0.000 0.043 2513 2896 3660

2866 -0.77 -194.7 382.0 -7.6 440 2873 0.00 2.05 0.00 0.000 6 0.000 0.035 2513 1509 3660

3192 -0.83 -194.7 411.5 -8.9 471 3196 0.10 1.92 0.00 0.000 4 0.079 0.046 2457 207 3660

3215 -0.83 -194.7 414.4 -12.3 473 3218 0.00 1.88 0.00 0.000 6 0.000 0.031 2449 1520 3660

3544 -0.71 -194.7 465.1 -15.9 504 3548 0.20 1.98 0.00 0.000 4 0.150 0.055 2521 207 3658

3604 -0.81 -194.7 473.0 -12.2 509 3610 0.00 1.90 0.00 0.000 6 0.000 0.031 2507 1506 3657

3937 -0.96 -194.7 506.6 -9.9 538 3942 0.17 2.08 0.00 0.000 4 0.060 0.045 2415 2906 3654

4020 -0.84 -194.7 517.4 -13.4 542 4025 0.17 2.05 0.00 0.000 6 0.149 0.040 2465 1507 3653

4346 -0.84 -194.7 550.6 -9.4 558 4350 0.00 1.95 0.00 0.000 4 0.000 0.052 2465 204 3652

4401 -0.84 -194.7 557.2 -11.9 560 4405 0.00 1.92 0.00 0.000 6 0.000 0.034 2461 1510 3651

4722 -0.84 -194.7 592.2 -10.4 576 4723 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1510 3648

5032 -0.84 -194.7 622.4 -9.5 591 5036 0.00 1.98 0.00 0.000 4 0.000 0.054 2462 208 3645

5100 -0.78 -194.7 629.8 -10.7 594 5104 0.00 1.92 0.00 0.000 6 0.000 0.037 2471 1502 3644

5431 -0.78 -194.7 665.0 -11.2 610 5434 0.00 1.95 0.00 0.000 4 0.000 0.053 2468 211 3642

5463 -0.72 -194.7 669.1 -12.5 611 5467 0.00 1.92 0.00 0.000 6 0.000 0.037 2476 1502 3642

5786 -0.72 -194.7 702.9 -9.7 627 5789 0.00 2.10 0.00 0.000 4 0.000 0.052 2477 2901 3638

5863 -0.80 -194.7 710.3 -8.9 630 5868 0.00 2.08 0.00 0.000 6 0.000 0.041 2476 1519 3638

6184 -0.80 -194.7 741.0 -9.6 646 6188 0.00 2.00 0.00 0.000 4 0.000 0.056 2476 197 3636

6215 end dive: BOTTOM_OBSTACLE_DETECTED

state 6215 begin apogee

6221 -0.20 0.0 744.6 11.6 647 6382 0.57 0.00 157.68 1.289 6 0.133 0.000 2665 1743 2863

6382 end apogee: CONTROL_FINISHED_OK

state 6382 begin climb

6384 0.94 194.7 750.2 0.0 655 6557 1.08 2.38 163.93 1.246 4 0.076 0.054 3025 3157 2068

6640 0.48 194.7 715.0 22.6 666 6648 0.47 2.22 0.00 0.000 6 0.166 0.041 2900 1749 2063

6955 0.49 201.5 677.9 10.7 682 6966 0.00 2.20 6.15 0.947 4 0.000 0.052 2897 3158 2040

7004 0.50 210.8 672.6 10.6 684 7018 0.00 2.15 9.48 1.062 6 0.000 0.041 2906 1764 2003

7325 0.51 221.7 638.1 10.6 700 7341 0.00 2.22 10.62 1.102 4 0.000 0.054 2918 342 1958

7446 0.52 225.3 625.4 10.9 704 7455 0.00 2.15 4.53 0.823 6 0.000 0.040 2916 1742 1944

7762 0.55 247.8 594.2 10.1 720 7787 0.00 2.22 20.23 1.166 4 0.000 0.056 2928 347 1851

7860 0.55 247.8 582.5 12.6 724 7865 0.00 2.12 0.00 0.000 6 0.000 0.041 2928 1721 1849

8182 0.55 247.8 542.0 12.2 740 8185 0.00 2.15 0.00 0.000 4 0.000 0.055 2939 335 1847

8219 0.48 247.8 537.0 12.9 741 8227 0.12 2.10 0.00 0.000 6 0.145 0.039 2899 1719 1847

8536 0.58 247.8 501.9 11.1 757 8537 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 1720 1845

8854 0.68 257.3 467.9 10.6 786 8867 0.17 2.20 8.32 1.018 4 0.063 0.054 2987 336 1814

8912 0.48 257.3 459.1 16.1 791 8917 0.32 2.05 0.00 0.000 6 0.153 0.041 2893 1709 1813

9237 0.66 297.5 426.0 9.5 821 9282 0.17 2.33 35.25 1.098 4 0.062 0.052 2968 3153 1648

9355 0.55 297.5 407.5 15.8 831 9363 0.25 2.22 0.00 0.000 6 0.156 0.041 2914 1705 1644

9679 0.67 297.5 368.9 11.4 862 9684 0.12 2.10 0.00 0.000 4 0.069 0.054 2984 342 1643

9764 0.55 297.5 356.2 17.1 869 9768 0.22 2.03 0.00 0.000 6 0.149 0.039 2921 1704 1642

10093 0.70 297.5 316.6 11.4 900 10098 0.12 2.20 0.00 0.000 4 0.070 0.050 2978 3154 1642

10155 0.63 297.5 306.5 18.1 905 10159 0.17 2.20 0.00 0.000 6 0.163 0.041 2943 1683 1641

10495 0.71 297.5 259.8 12.6 961 10500 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1682 1641

10838 0.89 330.3 223.6 9.8 1022 10870 0.20 2.15 27.17 0.923 4 0.056 0.051 3055 329 1515

10905 0.62 330.3 212.9 18.8 1033 10911 0.40 2.05 0.00 0.000 6 0.148 0.039 2940 1700 1513

11249 0.91 384.8 184.1 8.9 1094 11300 0.22 0.00 46.12 0.870 6 0.051 0.000 3051 1702 1293

11640 0.75 384.8 108.5 18.1 1162 11646 0.22 2.17 0.00 0.000 4 0.147 0.042 2980 3141 1287

11681 0.86 384.8 102.1 12.9 1169 11687 0.00 2.17 0.00 0.000 6 0.000 0.036 2981 1679 1287

12026 1.04 384.8 61.7 11.6 1230 12033 0.22 2.03 0.00 0.000 4 0.048 0.047 3098 332 1287

12074 0.82 384.8 53.4 18.5 1238 12081 0.32 2.03 0.00 0.000 6 0.143 0.031 3001 1738 1286

12420 1.03 409.0 13.2 10.1 1299 12447 0.17 2.20 21.15 0.683 4 0.055 0.046 3101 336 1193

12485 end climb: SURFACE_DEPTH_REACHED

state 12485 begin surface coast

12503 end surface coast: CONTROL_FINISHED_OK

state 12504 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	50	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	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	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	50	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	60	INT_PRESSURE_YINT	2.7
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	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	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	-6151.0239	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	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	004507,2537.673,12252.396,28,1.1,28,-3.8	TGT_NAME	OFF_4
_CALLS	1	TGT_LATLONG	2517.000,12320.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	005116,2537.729,12252.453,11,2.5,30,-3.8	MHEAD_RNG_PITCHd_Wd	136.0,60014,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	771

FINISH	1.1,1.020840	ALTIM_BOTTOM_PING	725.5,43.7
SM_CCo	12520,12.30,0.637,0,0,1129,425.10	_24V_AH	24.0,13.443
SM_GC	2.27,0.00,0.00,12.30,0.000,0.000,0.637,168,1513,1129,-8.04,0.37,425.10	_10V_AH	10.7,8.086
IRIDIUM_FIX	2529.44,12253.02,230898,212113	DATA_FILE_SIZE	76000,1313
TT8_MAMPS	0.027612	CAP_FILE_SIZE	140785,0
HUMID	1478	CFSIZE	260165632,231120896
INTERNAL_PRESSURE	9.88778	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.50	CURRENT	0.218,329.2,1
XPDR_PINGS	108	GPS	300509,042137,2537.561,12253.192,34,1.1,34,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	229	143.24	SBE_CT	890	24	513.06
Roll_motor	115	58	161.62	Optode	931	33	737.91
VBD_pump_during_apogee	510	1289	15800.70	WL_BB2F	1565	105	3945.66
VBD_pump_during_surface	12	637	188.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.74	nil	0	0	0.00
Iridium_during_connect	33	160	128.99	nil	0	0	0.00
Iridium_during_xfer	195	223	1044.65
Transponder_ping	32	420	330.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.98
TT8	2306	19	488.75
LPSleep	6934	2	162.50
TT8_Active	614	19	130.18
TT8_Sampling	2633	39	1121.53
TT8_CF8	410	45	201.21
TT8_Kalman	0	0	0.00
Analog_circuits	1793	12	230.34
GPS_charging	0	0	0.00
Compass	2595	8	222.16
RAFOS	0	0	0.00
Transponder	40	30	13.04

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
13	-0.94	-194.7	0.0	0.0	0	73	0.00	0.00	-57.72	0.000	2	0.000	0.000	165	1479	2345
75	-0.94	-194.7	3.0	-5.2	9	134	8.77	1.88	-42.30	0.000	4	0.229	0.058	2428	211	3657
304	-0.12	-194.7	71.9	-38.4	48	311	0.88	1.90	0.00	0.000	6	0.171	0.033	2696	1490	3657
648	-0.76	-194.7	100.3	-6.4	109	655	0.55	2.05	0.00	0.000	4	0.063	0.036	2486	2911	3659
773	-0.33	-194.7	123.1	-24.5	131	780	0.47	2.03	0.00	0.000	6	0.155	0.032	2625	1509	3659
1119	-0.56	-194.7	158.7	-8.8	192	1126	0.17	2.05	0.00	0.000	4	0.058	0.038	2538	2906	3660
1194	-0.47	-194.7	169.8	-16.3	205	1201	0.17	2.03	0.00	0.000	6	0.146	0.031	2586	1497	3660
1538	-0.56	-194.7	209.2	-10.2	266	1545	0.00	2.08	0.00	0.000	4	0.000	0.041	2586	2910	3660
1591	-0.77	-194.7	213.8	-8.2	275	1597	0.28	2.00	0.00	0.000	6	0.046	0.031	2465	1519	3660
1935	-0.45	-194.7	284.0	-16.9	336	1942	0.40	1.92	0.00	0.000	4	0.151	0.044	2589	207	3660
2139	-0.64	-194.7	299.7	-7.6	372	2148	0.12	1.90	0.00	0.000	6	0.048	0.028	2516	1530	3661
2464	-0.64	-194.7	342.0	-13.1	403	2468	0.00	1.98	0.00	0.000	4	0.000	0.046	2516	202	3660
2479	-0.64	-194.7	344.2	-12.6	404	2487	0.00	1.88	0.00	0.000	6	0.000	0.028	2516	1499	3660
2805	-0.64	-194.7	376.8	-9.2	435	2809	0.00	2.05	0.00	0.000	4	0.000	0.043	2513	2896	3660
2866	-0.77	-194.7	382.0	-7.6	440	2873	0.00	2.05	0.00	0.000	6	0.000	0.035	2513	1509	3660
3192	-0.83	-194.7	411.5	-8.9	471	3196	0.10	1.92	0.00	0.000	4	0.079	0.046	2457	207	3660
3215	-0.83	-194.7	414.4	-12.3	473	3218	0.00	1.88	0.00	0.000	6	0.000	0.031	2449	1520	3660
3544	-0.71	-194.7	465.1	-15.9	504	3548	0.20	1.98	0.00	0.000	4	0.150	0.055	2521	207	3658
3604	-0.81	-194.7	473.0	-12.2	509	3610	0.00	1.90	0.00	0.000	6	0.000	0.031	2507	1506	3657
3937	-0.96	-194.7	506.6	-9.9	538	3942	0.17	2.08	0.00	0.000	4	0.060	0.045	2415	2906	3654
4020	-0.84	-194.7	517.4	-13.4	542	4025	0.17	2.05	0.00	0.000	6	0.149	0.040	2465	1507	3653
4346	-0.84	-194.7	550.6	-9.4	558	4350	0.00	1.95	0.00	0.000	4	0.000	0.052	2465	204	3652
4401	-0.84	-194.7	557.2	-11.9	560	4405	0.00	1.92	0.00	0.000	6	0.000	0.034	2461	1510	3651
4722	-0.84	-194.7	592.2	-10.4	576	4723	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1510	3648
5032	-0.84	-194.7	622.4	-9.5	591	5036	0.00	1.98	0.00	0.000	4	0.000	0.054	2462	208	3645
5100	-0.78	-194.7	629.8	-10.7	594	5104	0.00	1.92	0.00	0.000	6	0.000	0.037	2471	1502	3644
5431	-0.78	-194.7	665.0	-11.2	610	5434	0.00	1.95	0.00	0.000	4	0.000	0.053	2468	211	3642
5463	-0.72	-194.7	669.1	-12.5	611	5467	0.00	1.92	0.00	0.000	6	0.000	0.037	2476	1502	3642
5786	-0.72	-194.7	702.9	-9.7	627	5789	0.00	2.10	0.00	0.000	4	0.000	0.052	2477	2901	3638
5863	-0.80	-194.7	710.3	-8.9	630	5868	0.00	2.08	0.00	0.000	6	0.000	0.041	2476	1519	3638
6184	-0.80	-194.7	741.0	-9.6	646	6188	0.00	2.00	0.00	0.000	4	0.000	0.056	2476	197	3636
6215	end dive: BOTTOM_OBSTACLE_DETECTED
state	6215	begin apogee
6221	-0.20	0.0	744.6	11.6	647	6382	0.57	0.00	157.68	1.289	6	0.133	0.000	2665	1743	2863
6382	end apogee: CONTROL_FINISHED_OK
state	6382	begin climb
6384	0.94	194.7	750.2	0.0	655	6557	1.08	2.38	163.93	1.246	4	0.076	0.054	3025	3157	2068
6640	0.48	194.7	715.0	22.6	666	6648	0.47	2.22	0.00	0.000	6	0.166	0.041	2900	1749	2063
6955	0.49	201.5	677.9	10.7	682	6966	0.00	2.20	6.15	0.947	4	0.000	0.052	2897	3158	2040
7004	0.50	210.8	672.6	10.6	684	7018	0.00	2.15	9.48	1.062	6	0.000	0.041	2906	1764	2003
7325	0.51	221.7	638.1	10.6	700	7341	0.00	2.22	10.62	1.102	4	0.000	0.054	2918	342	1958
7446	0.52	225.3	625.4	10.9	704	7455	0.00	2.15	4.53	0.823	6	0.000	0.040	2916	1742	1944
7762	0.55	247.8	594.2	10.1	720	7787	0.00	2.22	20.23	1.166	4	0.000	0.056	2928	347	1851
7860	0.55	247.8	582.5	12.6	724	7865	0.00	2.12	0.00	0.000	6	0.000	0.041	2928	1721	1849
8182	0.55	247.8	542.0	12.2	740	8185	0.00	2.15	0.00	0.000	4	0.000	0.055	2939	335	1847
8219	0.48	247.8	537.0	12.9	741	8227	0.12	2.10	0.00	0.000	6	0.145	0.039	2899	1719	1847
8536	0.58	247.8	501.9	11.1	757	8537	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	1720	1845
8854	0.68	257.3	467.9	10.6	786	8867	0.17	2.20	8.32	1.018	4	0.063	0.054	2987	336	1814
8912	0.48	257.3	459.1	16.1	791	8917	0.32	2.05	0.00	0.000	6	0.153	0.041	2893	1709	1813
9237	0.66	297.5	426.0	9.5	821	9282	0.17	2.33	35.25	1.098	4	0.062	0.052	2968	3153	1648
9355	0.55	297.5	407.5	15.8	831	9363	0.25	2.22	0.00	0.000	6	0.156	0.041	2914	1705	1644
9679	0.67	297.5	368.9	11.4	862	9684	0.12	2.10	0.00	0.000	4	0.069	0.054	2984	342	1643
9764	0.55	297.5	356.2	17.1	869	9768	0.22	2.03	0.00	0.000	6	0.149	0.039	2921	1704	1642
10093	0.70	297.5	316.6	11.4	900	10098	0.12	2.20	0.00	0.000	4	0.070	0.050	2978	3154	1642
10155	0.63	297.5	306.5	18.1	905	10159	0.17	2.20	0.00	0.000	6	0.163	0.041	2943	1683	1641
10495	0.71	297.5	259.8	12.6	961	10500	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	1682	1641
10838	0.89	330.3	223.6	9.8	1022	10870	0.20	2.15	27.17	0.923	4	0.056	0.051	3055	329	1515
10905	0.62	330.3	212.9	18.8	1033	10911	0.40	2.05	0.00	0.000	6	0.148	0.039	2940	1700	1513
11249	0.91	384.8	184.1	8.9	1094	11300	0.22	0.00	46.12	0.870	6	0.051	0.000	3051	1702	1293
11640	0.75	384.8	108.5	18.1	1162	11646	0.22	2.17	0.00	0.000	4	0.147	0.042	2980	3141	1287
11681	0.86	384.8	102.1	12.9	1169	11687	0.00	2.17	0.00	0.000	6	0.000	0.036	2981	1679	1287
12026	1.04	384.8	61.7	11.6	1230	12033	0.22	2.03	0.00	0.000	4	0.048	0.047	3098	332	1287
12074	0.82	384.8	53.4	18.5	1238	12081	0.32	2.03	0.00	0.000	6	0.143	0.031	3001	1738	1286
12420	1.03	409.0	13.2	10.1	1299	12447	0.17	2.20	21.15	0.683	4	0.055	0.046	3101	336	1193
12485	end climb: SURFACE_DEPTH_REACHED
state	12485	begin surface coast
12503	end surface coast: CONTROL_FINISHED_OK
state	12504	begin surface