Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 92 * 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 92 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 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 67 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 -6976.6479 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 -6976.6479

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 38 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 67 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 92 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 140107,2537.998,12321.438,34,1.1,34,-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 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140732,2538.057,12321.523,15,1.1,15,-3.8 MHEAD_RNG_PITCHd_Wd 194.0,54250,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 732

Post-dive calculations and measurements:

FINISH 0.8,1.021282 ALTIM_BOTTOM_PING 675.2,24.7

SM_CCo 11824,0.00,0.000,0,0,832,497.96 _24V_AH 24.1,22.079

SM_GC 1.53,7.68,0.00,0.00,0.044,0.000,0.000,150,1480,832,-8.04,-0.57,497.96 _10V_AH 10.7,13.508

IRIDIUM_FIX 2531.83,12318.87,300898,101002 DATA_FILE_SIZE 75612,1342

TT8_MAMPS 0.026845 CAP_FILE_SIZE 139302,0

HUMID 1476 CFSIZE 260165632,227782656

INTERNAL_PRESSURE 9.90731 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 25.10 CURRENT 0.362, 84.7,1

XPDR_PINGS 110 GPS 050609,172604,2536.421,12323.665,13,4.6,32,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 240 165.33 SBE_CT 907 24 524.76

Roll_motor 103 59 146.89 Optode 967 33 769.25

VBD_pump_during_apogee 578 1233 17185.33 WL_BB2F 1624 105 4110.10

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 26 103 65.80 nil 0 0 0.00

Iridium_during_connect 37 160 144.45 nil 0 0 0.00

Iridium_during_xfer 213 223 1147.62

Transponder_ping 32 420 331.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.19

TT8 2327 19 493.10

LPSleep 6159 2 144.33

TT8_Active 680 19 144.23

TT8_Sampling 2578 39 1097.98

TT8_CF8 459 45 225.25

TT8_Kalman 0 0 0.00

Analog_circuits 1839 12 236.13

GPS_charging 0 0 0.00

Compass 2561 8 219.24

RAFOS 0 0 0.00

Transponder 37 30 11.95

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.94 -194.7 0.0 0.0 0 86 0.00 0.00 -70.05 0.000 2 0.000 0.000 166 1509 2413

88 -0.94 -194.7 3.2 -6.1 11 140 9.15 2.00 -33.65 0.000 4 0.240 0.055 2432 202 3659

311 -0.19 -194.7 73.5 -32.2 49 319 0.80 1.90 0.00 0.000 6 0.166 0.029 2675 1495 3659

656 -0.58 -194.7 108.2 -7.1 110 663 0.32 2.05 0.00 0.000 4 0.039 0.035 2520 2906 3660

731 -0.34 -194.7 119.3 -17.0 123 738 0.35 2.05 0.00 0.000 6 0.137 0.031 2624 1481 3660

1078 -0.58 -194.7 157.0 -7.2 184 1084 0.17 1.88 0.00 0.000 4 0.056 0.041 2531 204 3661

1168 -0.32 -194.7 170.7 -16.1 200 1175 0.28 1.88 0.00 0.000 6 0.135 0.027 2631 1511 3661

1515 -0.67 -194.7 194.1 -8.0 261 1523 0.28 2.00 0.00 0.000 4 0.044 0.037 2497 2894 3663

1591 -0.46 -194.7 205.8 -17.4 274 1598 0.30 2.03 0.00 0.000 6 0.135 0.031 2587 1507 3663

1938 -0.68 -194.7 237.3 -8.4 335 1944 0.17 1.92 0.00 0.000 4 0.055 0.042 2495 199 3663

1967 -0.56 -194.7 241.4 -14.5 340 1974 0.15 1.88 0.00 0.000 6 0.144 0.028 2557 1500 3663

2312 -0.68 -194.7 277.1 -7.9 401 2320 0.12 2.05 0.00 0.000 4 0.070 0.039 2493 2905 3663

2371 -0.68 -194.7 283.4 -11.3 411 2378 0.00 2.00 0.00 0.000 6 0.000 0.031 2494 1515 3663

2710 -0.55 -194.7 332.6 -14.8 453 2714 0.20 1.92 0.00 0.000 4 0.141 0.045 2557 210 3663

2743 -0.61 -194.7 337.0 -11.5 456 2746 0.00 1.88 0.00 0.000 6 0.000 0.030 2557 1527 3663

3074 -0.82 -194.7 365.8 -8.6 487 3078 0.20 2.00 0.00 0.000 4 0.054 0.042 2434 2890 3661

3157 -0.70 -194.7 377.1 -14.5 494 3164 0.20 2.00 0.00 0.000 6 0.128 0.035 2520 1531 3660

3484 -0.87 -194.7 405.7 -8.0 525 3488 0.17 1.98 0.00 0.000 4 0.059 0.048 2435 203 3660

3533 -0.65 -194.7 412.0 -13.8 529 3541 0.28 1.92 0.00 0.000 6 0.139 0.032 2524 1512 3659

3858 -0.85 -194.7 434.4 -6.1 560 3862 0.17 2.05 0.00 0.000 4 0.058 0.044 2440 2897 3657

3929 -0.81 -194.7 441.2 -10.7 566 3937 0.10 2.03 0.00 0.000 6 0.134 0.035 2475 1528 3656

4254 -0.81 -194.7 470.5 -9.2 597 4258 0.00 2.00 0.00 0.000 4 0.000 0.054 2476 197 3654

4303 -0.81 -194.7 476.0 -11.6 601 4311 0.00 1.95 0.00 0.000 6 0.000 0.033 2475 1515 3654

4638 -0.85 -194.7 507.6 -9.0 629 4642 0.00 2.00 0.00 0.000 4 0.000 0.059 2476 198 3651

4676 -0.85 -194.7 511.8 -10.5 630 4683 0.00 1.95 0.00 0.000 6 0.000 0.037 2475 1512 3651

4993 -0.91 -194.7 540.8 -9.2 646 4996 0.00 2.08 0.00 0.000 4 0.000 0.049 2475 2902 3648

5025 -1.04 -194.7 543.9 -8.9 647 5030 0.20 2.05 0.00 0.000 6 0.054 0.041 2384 1510 3648

5347 -0.77 -194.7 592.9 -16.3 663 5351 0.30 1.98 0.00 0.000 4 0.152 0.052 2482 200 3645

5469 -0.83 -194.7 608.0 -12.2 668 5476 0.00 1.92 0.00 0.000 6 0.000 0.036 2480 1499 3644

5784 -0.92 -194.7 639.9 -9.5 684 5789 0.12 2.10 0.00 0.000 4 0.073 0.049 2411 2898 3642

5828 -0.84 -194.7 645.1 -12.7 686 5833 0.15 2.10 0.00 0.000 6 0.135 0.039 2462 1499 3641

6115 end dive: BOTTOM_OBSTACLE_DETECTED

state 6116 begin apogee

6121 -0.20 0.0 675.2 10.1 700 6280 0.62 0.00 156.52 1.233 6 0.118 0.000 2671 1755 2863

6281 end apogee: CONTROL_FINISHED_OK

state 6281 begin climb

6283 0.94 194.7 682.1 0.0 708 6455 1.00 2.28 162.18 1.205 4 0.046 0.053 3052 3145 2067

6494 0.37 194.7 660.1 20.2 717 6501 0.68 2.20 0.00 0.000 6 0.170 0.041 2860 1752 2064

6810 0.57 271.0 634.0 8.1 733 6877 0.17 0.00 64.03 1.174 6 0.059 0.000 2938 1751 1758

7179 0.46 271.0 579.7 15.0 751 7184 0.17 2.20 0.00 0.000 4 0.152 0.054 2894 338 1751

7218 0.53 271.0 574.5 12.6 753 7222 0.00 2.15 0.00 0.000 6 0.000 0.039 2894 1756 1751

7551 0.58 271.0 534.2 11.6 769 7552 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 1756 1748

7859 0.66 280.8 500.6 10.6 784 7870 0.17 0.00 8.27 1.005 6 0.060 0.000 2974 1757 1717

8178 0.47 280.8 446.4 17.4 813 8182 0.25 2.17 0.00 0.000 4 0.150 0.051 2905 343 1715

8261 0.56 280.8 435.1 12.3 820 8265 0.00 2.12 0.00 0.000 6 0.000 0.039 2905 1760 1715

8593 0.63 280.8 395.2 12.6 851 8597 0.10 2.17 0.00 0.000 4 0.077 0.054 2969 338 1714

8635 0.50 280.8 388.2 15.9 854 8644 0.20 2.10 0.00 0.000 6 0.144 0.039 2904 1729 1714

8961 0.62 302.2 352.5 10.2 885 8985 0.00 2.25 18.77 1.021 4 0.000 0.050 2904 3160 1630

9064 0.76 311.9 341.7 10.6 894 9079 0.20 2.15 9.55 0.927 6 0.052 0.039 3011 1730 1591

9400 0.52 311.9 283.5 17.6 933 9405 0.32 0.00 0.00 0.000 6 0.147 0.000 2911 1730 1587

9742 0.71 324.9 249.9 10.5 994 9762 0.17 2.15 12.07 0.889 4 0.104 0.051 3011 355 1538

9846 0.52 324.9 231.0 19.5 1012 9853 0.35 2.08 0.00 0.000 6 0.139 0.037 2906 1758 1536

10191 0.83 358.3 195.5 9.7 1073 10232 0.25 2.22 29.00 0.872 4 0.048 0.048 3044 352 1401

10272 0.60 358.3 181.4 20.3 1086 10280 0.38 2.08 0.00 0.000 6 0.138 0.035 2933 1745 1399

10620 0.87 389.1 143.5 9.8 1147 10654 0.20 2.22 26.92 0.812 4 0.051 0.048 3052 348 1275

10778 0.71 389.1 117.3 16.5 1174 10786 0.28 2.03 0.00 0.000 6 0.135 0.033 2970 1727 1272

11125 1.07 465.2 86.6 8.1 1235 11196 0.28 2.22 63.78 0.760 4 0.044 0.045 3115 348 965

11249 0.86 465.2 64.6 21.6 1255 11256 0.32 2.03 0.00 0.000 6 0.135 0.031 3017 1716 962

11594 1.11 496.9 25.0 9.8 1316 11628 0.20 2.17 27.08 0.680 4 0.051 0.044 3134 339 836

11673 0.87 496.9 9.9 21.7 1329 11680 0.38 2.00 0.00 0.000 6 0.139 0.029 3022 1693 834

11718 end climb: SURFACE_DEPTH_REACHED

state 11718 begin surface coast

11749 end surface coast: CONTROL_FINISHED_OK

state 11749 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	92	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	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	67	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	-6976.6479	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	140107,2537.998,12321.438,34,1.1,34,-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	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140732,2538.057,12321.523,15,1.1,15,-3.8	MHEAD_RNG_PITCHd_Wd	194.0,54250,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	732

FINISH	0.8,1.021282	ALTIM_BOTTOM_PING	675.2,24.7
SM_CCo	11824,0.00,0.000,0,0,832,497.96	_24V_AH	24.1,22.079
SM_GC	1.53,7.68,0.00,0.00,0.044,0.000,0.000,150,1480,832,-8.04,-0.57,497.96	_10V_AH	10.7,13.508
IRIDIUM_FIX	2531.83,12318.87,300898,101002	DATA_FILE_SIZE	75612,1342
TT8_MAMPS	0.026845	CAP_FILE_SIZE	139302,0
HUMID	1476	CFSIZE	260165632,227782656
INTERNAL_PRESSURE	9.90731	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	25.10	CURRENT	0.362, 84.7,1
XPDR_PINGS	110	GPS	050609,172604,2536.421,12323.665,13,4.6,32,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	240	165.33	SBE_CT	907	24	524.76
Roll_motor	103	59	146.89	Optode	967	33	769.25
VBD_pump_during_apogee	578	1233	17185.33	WL_BB2F	1624	105	4110.10
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	26	103	65.80	nil	0	0	0.00
Iridium_during_connect	37	160	144.45	nil	0	0	0.00
Iridium_during_xfer	213	223	1147.62
Transponder_ping	32	420	331.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.19
TT8	2327	19	493.10
LPSleep	6159	2	144.33
TT8_Active	680	19	144.23
TT8_Sampling	2578	39	1097.98
TT8_CF8	459	45	225.25
TT8_Kalman	0	0	0.00
Analog_circuits	1839	12	236.13
GPS_charging	0	0	0.00
Compass	2561	8	219.24
RAFOS	0	0	0.00
Transponder	37	30	11.95

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.94	-194.7	0.0	0.0	0	86	0.00	0.00	-70.05	0.000	2	0.000	0.000	166	1509	2413
88	-0.94	-194.7	3.2	-6.1	11	140	9.15	2.00	-33.65	0.000	4	0.240	0.055	2432	202	3659
311	-0.19	-194.7	73.5	-32.2	49	319	0.80	1.90	0.00	0.000	6	0.166	0.029	2675	1495	3659
656	-0.58	-194.7	108.2	-7.1	110	663	0.32	2.05	0.00	0.000	4	0.039	0.035	2520	2906	3660
731	-0.34	-194.7	119.3	-17.0	123	738	0.35	2.05	0.00	0.000	6	0.137	0.031	2624	1481	3660
1078	-0.58	-194.7	157.0	-7.2	184	1084	0.17	1.88	0.00	0.000	4	0.056	0.041	2531	204	3661
1168	-0.32	-194.7	170.7	-16.1	200	1175	0.28	1.88	0.00	0.000	6	0.135	0.027	2631	1511	3661
1515	-0.67	-194.7	194.1	-8.0	261	1523	0.28	2.00	0.00	0.000	4	0.044	0.037	2497	2894	3663
1591	-0.46	-194.7	205.8	-17.4	274	1598	0.30	2.03	0.00	0.000	6	0.135	0.031	2587	1507	3663
1938	-0.68	-194.7	237.3	-8.4	335	1944	0.17	1.92	0.00	0.000	4	0.055	0.042	2495	199	3663
1967	-0.56	-194.7	241.4	-14.5	340	1974	0.15	1.88	0.00	0.000	6	0.144	0.028	2557	1500	3663
2312	-0.68	-194.7	277.1	-7.9	401	2320	0.12	2.05	0.00	0.000	4	0.070	0.039	2493	2905	3663
2371	-0.68	-194.7	283.4	-11.3	411	2378	0.00	2.00	0.00	0.000	6	0.000	0.031	2494	1515	3663
2710	-0.55	-194.7	332.6	-14.8	453	2714	0.20	1.92	0.00	0.000	4	0.141	0.045	2557	210	3663
2743	-0.61	-194.7	337.0	-11.5	456	2746	0.00	1.88	0.00	0.000	6	0.000	0.030	2557	1527	3663
3074	-0.82	-194.7	365.8	-8.6	487	3078	0.20	2.00	0.00	0.000	4	0.054	0.042	2434	2890	3661
3157	-0.70	-194.7	377.1	-14.5	494	3164	0.20	2.00	0.00	0.000	6	0.128	0.035	2520	1531	3660
3484	-0.87	-194.7	405.7	-8.0	525	3488	0.17	1.98	0.00	0.000	4	0.059	0.048	2435	203	3660
3533	-0.65	-194.7	412.0	-13.8	529	3541	0.28	1.92	0.00	0.000	6	0.139	0.032	2524	1512	3659
3858	-0.85	-194.7	434.4	-6.1	560	3862	0.17	2.05	0.00	0.000	4	0.058	0.044	2440	2897	3657
3929	-0.81	-194.7	441.2	-10.7	566	3937	0.10	2.03	0.00	0.000	6	0.134	0.035	2475	1528	3656
4254	-0.81	-194.7	470.5	-9.2	597	4258	0.00	2.00	0.00	0.000	4	0.000	0.054	2476	197	3654
4303	-0.81	-194.7	476.0	-11.6	601	4311	0.00	1.95	0.00	0.000	6	0.000	0.033	2475	1515	3654
4638	-0.85	-194.7	507.6	-9.0	629	4642	0.00	2.00	0.00	0.000	4	0.000	0.059	2476	198	3651
4676	-0.85	-194.7	511.8	-10.5	630	4683	0.00	1.95	0.00	0.000	6	0.000	0.037	2475	1512	3651
4993	-0.91	-194.7	540.8	-9.2	646	4996	0.00	2.08	0.00	0.000	4	0.000	0.049	2475	2902	3648
5025	-1.04	-194.7	543.9	-8.9	647	5030	0.20	2.05	0.00	0.000	6	0.054	0.041	2384	1510	3648
5347	-0.77	-194.7	592.9	-16.3	663	5351	0.30	1.98	0.00	0.000	4	0.152	0.052	2482	200	3645
5469	-0.83	-194.7	608.0	-12.2	668	5476	0.00	1.92	0.00	0.000	6	0.000	0.036	2480	1499	3644
5784	-0.92	-194.7	639.9	-9.5	684	5789	0.12	2.10	0.00	0.000	4	0.073	0.049	2411	2898	3642
5828	-0.84	-194.7	645.1	-12.7	686	5833	0.15	2.10	0.00	0.000	6	0.135	0.039	2462	1499	3641
6115	end dive: BOTTOM_OBSTACLE_DETECTED
state	6116	begin apogee
6121	-0.20	0.0	675.2	10.1	700	6280	0.62	0.00	156.52	1.233	6	0.118	0.000	2671	1755	2863
6281	end apogee: CONTROL_FINISHED_OK
state	6281	begin climb
6283	0.94	194.7	682.1	0.0	708	6455	1.00	2.28	162.18	1.205	4	0.046	0.053	3052	3145	2067
6494	0.37	194.7	660.1	20.2	717	6501	0.68	2.20	0.00	0.000	6	0.170	0.041	2860	1752	2064
6810	0.57	271.0	634.0	8.1	733	6877	0.17	0.00	64.03	1.174	6	0.059	0.000	2938	1751	1758
7179	0.46	271.0	579.7	15.0	751	7184	0.17	2.20	0.00	0.000	4	0.152	0.054	2894	338	1751
7218	0.53	271.0	574.5	12.6	753	7222	0.00	2.15	0.00	0.000	6	0.000	0.039	2894	1756	1751
7551	0.58	271.0	534.2	11.6	769	7552	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	1756	1748
7859	0.66	280.8	500.6	10.6	784	7870	0.17	0.00	8.27	1.005	6	0.060	0.000	2974	1757	1717
8178	0.47	280.8	446.4	17.4	813	8182	0.25	2.17	0.00	0.000	4	0.150	0.051	2905	343	1715
8261	0.56	280.8	435.1	12.3	820	8265	0.00	2.12	0.00	0.000	6	0.000	0.039	2905	1760	1715
8593	0.63	280.8	395.2	12.6	851	8597	0.10	2.17	0.00	0.000	4	0.077	0.054	2969	338	1714
8635	0.50	280.8	388.2	15.9	854	8644	0.20	2.10	0.00	0.000	6	0.144	0.039	2904	1729	1714
8961	0.62	302.2	352.5	10.2	885	8985	0.00	2.25	18.77	1.021	4	0.000	0.050	2904	3160	1630
9064	0.76	311.9	341.7	10.6	894	9079	0.20	2.15	9.55	0.927	6	0.052	0.039	3011	1730	1591
9400	0.52	311.9	283.5	17.6	933	9405	0.32	0.00	0.00	0.000	6	0.147	0.000	2911	1730	1587
9742	0.71	324.9	249.9	10.5	994	9762	0.17	2.15	12.07	0.889	4	0.104	0.051	3011	355	1538
9846	0.52	324.9	231.0	19.5	1012	9853	0.35	2.08	0.00	0.000	6	0.139	0.037	2906	1758	1536
10191	0.83	358.3	195.5	9.7	1073	10232	0.25	2.22	29.00	0.872	4	0.048	0.048	3044	352	1401
10272	0.60	358.3	181.4	20.3	1086	10280	0.38	2.08	0.00	0.000	6	0.138	0.035	2933	1745	1399
10620	0.87	389.1	143.5	9.8	1147	10654	0.20	2.22	26.92	0.812	4	0.051	0.048	3052	348	1275
10778	0.71	389.1	117.3	16.5	1174	10786	0.28	2.03	0.00	0.000	6	0.135	0.033	2970	1727	1272
11125	1.07	465.2	86.6	8.1	1235	11196	0.28	2.22	63.78	0.760	4	0.044	0.045	3115	348	965
11249	0.86	465.2	64.6	21.6	1255	11256	0.32	2.03	0.00	0.000	6	0.135	0.031	3017	1716	962
11594	1.11	496.9	25.0	9.8	1316	11628	0.20	2.17	27.08	0.680	4	0.051	0.044	3134	339	836
11673	0.87	496.9	9.9	21.7	1329	11680	0.38	2.00	0.00	0.000	6	0.139	0.029	3022	1693	834
11718	end climb: SURFACE_DEPTH_REACHED
state	11718	begin surface coast
11749	end surface coast: CONTROL_FINISHED_OK
state	11749	begin surface