Glider dive log

QPE May09 * SG165 * Dive index * Mission links * Dive 113 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 113 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 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 2071 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2525 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 435 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 40 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 485 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2759 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 -119123.23 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 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2819 PRESSURE_YINT -19.66094 SEABIRD_T_G 0.0043383995

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52067 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 25.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

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 435

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3922 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 180 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 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -19.66094 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 -119123.23

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 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2819 KALMAN_USE 2 ROLL_MIN 200 USE_BATHY -2

C_ROLL_CLIMB 2525 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2071 MASS 52067 R_PORT_OVSHOOT 40 VBD_BLEED_AD_RATE 8

C_VBD 2759 MAX_BUOY 200 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 113 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 042731,2535.558,12252.123,39,1.2,39,-3.7 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 043314,2535.629,12252.239,10,1.4,10,-3.7 MHEAD_RNG_PITCHd_Wd 320.6,8916,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 858

Post-dive calculations and measurements:

FINISH 1.6,1.020636 ALTIM_BOTTOM_PING 775.7,53.7

SM_CCo 11412,0.00,0.000,0,0,771,487.66 _24V_AH 23.9,25.009

SM_GC 2.30,7.53,0.00,0.00,0.034,0.000,0.000,163,2035,771,-8.20,-1.02,487.66 _10V_AH 10.7,18.306

IRIDIUM_FIX 2524.66,12251.72,010998,000059 DATA_FILE_SIZE 69662,1233

TT8_MAMPS 0.048321 CAP_FILE_SIZE 131976,0

HUMID 1528 CFSIZE 260165632,249061376

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.70 CURRENT 0.109, 79.8,1

XPDR_PINGS 121 GPS 070609,074422,2537.296,12251.687,12,2.3,31,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 222 162.27 SBE_CT 831 24 477.22

Roll_motor 105 66 168.81 Optode 890 33 702.44

VBD_pump_during_apogee 554 1238 16404.16 WL_BB2F 1428 105 3585.66

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 29 103 73.15 nil 0 0 0.00

Iridium_during_connect 40 160 153.27 nil 0 0 0.00

Iridium_during_xfer 181 223 967.79

Transponder_ping 36 420 366.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.00

TT8 0 19 0.00

LPSleep 7826 2 183.39

TT8_Active 656 19 139.06

TT8_Sampling 2831 39 1205.97

TT8_CF8 418 45 204.95

TT8_Kalman 0 0 0.00

Analog_circuits 1733 12 222.60

GPS_charging 0 0 0.00

Compass 2396 8 205.11

RAFOS 0 0 0.00

Transponder 43 30 14.01

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 -0.96 -194.7 0.0 0.0 0 59 0.00 0.00 -46.15 0.000 2 0.000 0.000 160 2095 1965

61 -0.96 -194.7 3.0 -3.6 7 124 8.82 2.25 -47.47 0.000 4 0.222 0.058 2506 658 3555

320 -0.27 -194.7 78.6 -31.1 54 327 0.70 2.22 0.00 0.000 6 0.147 0.041 2722 2070 3557

647 -0.69 -194.7 113.6 -7.5 115 654 0.32 2.22 0.00 0.000 4 0.041 0.055 2561 3473 3560

684 -0.42 -194.7 119.4 -18.2 122 691 0.35 2.15 0.00 0.000 6 0.130 0.038 2681 2063 3559

1011 -0.72 -194.7 153.7 -9.8 183 1017 0.25 0.00 0.00 0.000 6 0.048 0.000 2560 2059 3561

1336 -0.45 -194.7 208.8 -20.5 244 1343 0.35 2.15 0.00 0.000 4 0.132 0.056 2673 679 3562

1380 -0.77 -194.7 215.2 -11.8 252 1387 0.22 2.15 0.00 0.000 6 0.051 0.040 2544 2066 3562

1706 -0.52 -194.7 273.7 -19.2 313 1714 0.32 2.20 0.00 0.000 4 0.134 0.058 2644 3472 3562

1734 -0.63 -194.7 277.7 -13.6 318 1741 0.00 2.15 0.00 0.000 6 0.000 0.036 2644 2063 3562

2063 -0.97 -194.7 306.0 -8.8 374 2065 0.35 0.00 0.00 0.000 6 0.043 0.000 2481 2060 3562

2373 -0.46 -194.7 378.7 -23.2 404 2378 0.60 2.17 0.00 0.000 4 0.150 0.051 2670 667 3562

2406 -0.67 -194.7 383.1 -10.2 407 2410 0.15 2.15 0.00 0.000 6 0.043 0.042 2569 2054 3562

2726 -0.67 -194.7 413.0 -9.1 438 2730 0.12 2.25 0.00 0.000 4 0.133 0.061 2602 3469 3562

2774 -0.92 -194.7 417.6 -9.6 442 2781 0.17 2.17 0.00 0.000 6 0.044 0.037 2504 2050 3561

3090 -0.64 -194.7 471.1 -16.2 473 3094 0.35 2.28 0.00 0.000 4 0.137 0.063 2614 3480 3559

3158 -1.03 -194.7 476.4 -5.7 479 3165 0.30 2.17 0.00 0.000 6 0.038 0.038 2458 2069 3559

3472 -0.58 -194.7 533.8 -20.5 502 3476 0.52 2.17 0.00 0.000 4 0.146 0.053 2628 662 3557

3514 -0.95 -194.7 538.3 -7.1 504 3518 0.28 2.20 0.00 0.000 6 0.038 0.044 2483 2068 3557

3836 -0.66 -194.7 590.7 -16.4 520 3840 0.40 2.22 0.00 0.000 4 0.139 0.063 2602 3479 3554

3899 -1.04 -194.7 596.5 -7.2 523 3903 0.28 2.17 0.00 0.000 6 0.039 0.039 2462 2067 3553

4220 -0.68 -194.7 654.4 -18.5 539 4224 0.45 2.28 0.00 0.000 4 0.147 0.067 2601 3484 3551

4263 -1.02 -194.7 658.8 -7.6 541 4267 0.25 2.17 0.00 0.000 6 0.042 0.041 2457 2078 3550

4589 -0.64 -194.7 714.9 -18.3 557 4593 0.50 2.20 0.00 0.000 4 0.147 0.057 2613 660 3547

4614 -0.72 -194.7 718.3 -12.0 558 4619 0.00 2.22 0.00 0.000 6 0.000 0.047 2613 2068 3547

4936 -1.11 -194.7 738.6 -6.0 574 4940 0.40 2.25 0.00 0.000 4 0.046 0.065 2442 3488 3544

5037 -0.74 -194.7 754.6 -19.2 578 5044 0.40 2.20 0.00 0.000 6 0.146 0.041 2573 2074 3542

5348 -0.94 -194.7 782.3 -8.0 594 5352 0.17 2.20 0.00 0.000 4 0.064 0.057 2493 665 3541

5373 -0.88 -194.7 785.7 -14.3 595 5378 0.10 2.25 0.00 0.000 6 0.142 0.049 2528 2085 3540

5551 end dive: BOTTOM_OBSTACLE_DETECTED

state 5551 begin apogee

5555 -0.20 0.0 805.6 10.8 604 5714 0.68 0.00 153.82 1.239 6 0.127 0.000 2751 2529 2758

5714 end apogee: CONTROL_FINISHED_OK

state 5714 begin climb

5716 0.96 194.7 810.7 0.0 612 5885 1.00 2.05 158.10 1.200 4 0.043 0.067 3143 3689 1964

5947 0.19 194.7 778.6 25.5 623 5952 0.93 1.90 0.00 0.000 6 0.183 0.043 2890 2528 1961

6274 0.60 315.8 753.1 7.0 639 6384 0.35 2.40 102.62 1.164 4 0.049 0.054 3045 1123 1470

6426 0.45 315.8 727.2 19.3 646 6432 0.25 2.33 0.00 0.000 6 0.147 0.050 2969 2510 1466

6748 0.55 315.8 685.5 12.7 662 6749 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2510 1462

7053 0.65 315.8 646.1 12.7 677 7054 0.17 0.00 0.00 0.000 6 0.066 0.000 3042 2509 1462

7358 0.42 315.8 587.0 19.3 692 7359 0.30 0.00 0.00 0.000 6 0.151 0.000 2954 2510 1460

7664 0.66 356.3 553.1 10.3 707 7707 0.22 2.35 33.83 1.079 4 0.057 0.054 3061 1111 1304

7737 0.48 356.3 540.1 20.9 710 7742 0.25 2.30 0.00 0.000 6 0.152 0.048 2982 2507 1303

8054 0.59 356.3 492.2 14.0 728 8058 0.00 2.25 0.00 0.000 4 0.000 0.051 2990 1115 1300

8086 0.72 356.3 488.1 12.3 731 8090 0.12 2.25 0.00 0.000 6 0.058 0.048 3059 2504 1299

8406 0.51 356.3 423.8 20.1 762 8410 0.25 1.90 0.00 0.000 4 0.153 0.063 2987 3685 1299

8470 0.60 356.3 414.1 13.2 768 8474 0.00 1.85 0.00 0.000 6 0.000 0.041 2994 2500 1298

8792 0.73 356.3 369.7 13.4 799 8795 0.17 2.15 0.00 0.000 4 0.061 0.052 3086 1123 1297

8817 0.65 356.3 365.5 17.1 801 8824 0.15 2.22 0.00 0.000 6 0.156 0.047 3036 2516 1297

9132 0.65 356.3 312.6 17.5 832 9137 0.00 2.22 0.00 0.000 4 0.000 0.051 3045 1124 1297

9218 0.65 356.3 298.8 15.8 840 9225 0.00 2.20 0.00 0.000 6 0.000 0.047 3045 2510 1295

9545 0.65 356.3 246.1 15.0 901 9551 0.00 2.22 0.00 0.000 4 0.000 0.050 3055 1114 1296

9597 0.65 356.3 238.2 14.7 911 9604 0.00 2.20 0.00 0.000 6 0.000 0.047 3055 2498 1295

9923 0.65 356.3 192.5 13.2 972 9930 0.00 2.20 0.00 0.000 4 0.000 0.050 3064 1114 1295

9971 0.65 356.3 186.2 12.6 981 9978 0.10 2.15 0.00 0.000 6 0.137 0.045 3029 2485 1295

10298 1.00 464.1 148.5 7.5 1042 10394 0.30 2.00 86.85 0.765 4 0.049 0.058 3160 3680 864

10421 0.83 464.1 127.9 22.2 1062 10428 0.25 1.95 0.00 0.000 6 0.136 0.039 3090 2460 864

10748 1.07 486.3 88.6 11.1 1123 10774 0.20 2.12 18.88 0.680 4 0.055 0.048 3193 1110 774

10987 1.01 486.3 48.6 16.9 1167 10994 0.15 2.08 0.00 0.000 6 0.139 0.041 3144 2424 772

11312 end climb: SURFACE_DEPTH_REACHED

state 11312 begin surface coast

11339 end surface coast: CONTROL_FINISHED_OK

state 11339 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	113	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	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	2071	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2525	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	435	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	40	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	485	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2759	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	-119123.23	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	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2819	PRESSURE_YINT	-19.66094	SEABIRD_T_G	0.0043383995
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52067	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	25.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	042731,2535.558,12252.123,39,1.2,39,-3.7	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	043314,2535.629,12252.239,10,1.4,10,-3.7	MHEAD_RNG_PITCHd_Wd	320.6,8916,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	858

FINISH	1.6,1.020636	ALTIM_BOTTOM_PING	775.7,53.7
SM_CCo	11412,0.00,0.000,0,0,771,487.66	_24V_AH	23.9,25.009
SM_GC	2.30,7.53,0.00,0.00,0.034,0.000,0.000,163,2035,771,-8.20,-1.02,487.66	_10V_AH	10.7,18.306
IRIDIUM_FIX	2524.66,12251.72,010998,000059	DATA_FILE_SIZE	69662,1233
TT8_MAMPS	0.048321	CAP_FILE_SIZE	131976,0
HUMID	1528	CFSIZE	260165632,249061376
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.70	CURRENT	0.109, 79.8,1
XPDR_PINGS	121	GPS	070609,074422,2537.296,12251.687,12,2.3,31,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	222	162.27	SBE_CT	831	24	477.22
Roll_motor	105	66	168.81	Optode	890	33	702.44
VBD_pump_during_apogee	554	1238	16404.16	WL_BB2F	1428	105	3585.66
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	29	103	73.15	nil	0	0	0.00
Iridium_during_connect	40	160	153.27	nil	0	0	0.00
Iridium_during_xfer	181	223	967.79
Transponder_ping	36	420	366.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.00
TT8	0	19	0.00
LPSleep	7826	2	183.39
TT8_Active	656	19	139.06
TT8_Sampling	2831	39	1205.97
TT8_CF8	418	45	204.95
TT8_Kalman	0	0	0.00
Analog_circuits	1733	12	222.60
GPS_charging	0	0	0.00
Compass	2396	8	205.11
RAFOS	0	0	0.00
Transponder	43	30	14.01

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	-0.96	-194.7	0.0	0.0	0	59	0.00	0.00	-46.15	0.000	2	0.000	0.000	160	2095	1965
61	-0.96	-194.7	3.0	-3.6	7	124	8.82	2.25	-47.47	0.000	4	0.222	0.058	2506	658	3555
320	-0.27	-194.7	78.6	-31.1	54	327	0.70	2.22	0.00	0.000	6	0.147	0.041	2722	2070	3557
647	-0.69	-194.7	113.6	-7.5	115	654	0.32	2.22	0.00	0.000	4	0.041	0.055	2561	3473	3560
684	-0.42	-194.7	119.4	-18.2	122	691	0.35	2.15	0.00	0.000	6	0.130	0.038	2681	2063	3559
1011	-0.72	-194.7	153.7	-9.8	183	1017	0.25	0.00	0.00	0.000	6	0.048	0.000	2560	2059	3561
1336	-0.45	-194.7	208.8	-20.5	244	1343	0.35	2.15	0.00	0.000	4	0.132	0.056	2673	679	3562
1380	-0.77	-194.7	215.2	-11.8	252	1387	0.22	2.15	0.00	0.000	6	0.051	0.040	2544	2066	3562
1706	-0.52	-194.7	273.7	-19.2	313	1714	0.32	2.20	0.00	0.000	4	0.134	0.058	2644	3472	3562
1734	-0.63	-194.7	277.7	-13.6	318	1741	0.00	2.15	0.00	0.000	6	0.000	0.036	2644	2063	3562
2063	-0.97	-194.7	306.0	-8.8	374	2065	0.35	0.00	0.00	0.000	6	0.043	0.000	2481	2060	3562
2373	-0.46	-194.7	378.7	-23.2	404	2378	0.60	2.17	0.00	0.000	4	0.150	0.051	2670	667	3562
2406	-0.67	-194.7	383.1	-10.2	407	2410	0.15	2.15	0.00	0.000	6	0.043	0.042	2569	2054	3562
2726	-0.67	-194.7	413.0	-9.1	438	2730	0.12	2.25	0.00	0.000	4	0.133	0.061	2602	3469	3562
2774	-0.92	-194.7	417.6	-9.6	442	2781	0.17	2.17	0.00	0.000	6	0.044	0.037	2504	2050	3561
3090	-0.64	-194.7	471.1	-16.2	473	3094	0.35	2.28	0.00	0.000	4	0.137	0.063	2614	3480	3559
3158	-1.03	-194.7	476.4	-5.7	479	3165	0.30	2.17	0.00	0.000	6	0.038	0.038	2458	2069	3559
3472	-0.58	-194.7	533.8	-20.5	502	3476	0.52	2.17	0.00	0.000	4	0.146	0.053	2628	662	3557
3514	-0.95	-194.7	538.3	-7.1	504	3518	0.28	2.20	0.00	0.000	6	0.038	0.044	2483	2068	3557
3836	-0.66	-194.7	590.7	-16.4	520	3840	0.40	2.22	0.00	0.000	4	0.139	0.063	2602	3479	3554
3899	-1.04	-194.7	596.5	-7.2	523	3903	0.28	2.17	0.00	0.000	6	0.039	0.039	2462	2067	3553
4220	-0.68	-194.7	654.4	-18.5	539	4224	0.45	2.28	0.00	0.000	4	0.147	0.067	2601	3484	3551
4263	-1.02	-194.7	658.8	-7.6	541	4267	0.25	2.17	0.00	0.000	6	0.042	0.041	2457	2078	3550
4589	-0.64	-194.7	714.9	-18.3	557	4593	0.50	2.20	0.00	0.000	4	0.147	0.057	2613	660	3547
4614	-0.72	-194.7	718.3	-12.0	558	4619	0.00	2.22	0.00	0.000	6	0.000	0.047	2613	2068	3547
4936	-1.11	-194.7	738.6	-6.0	574	4940	0.40	2.25	0.00	0.000	4	0.046	0.065	2442	3488	3544
5037	-0.74	-194.7	754.6	-19.2	578	5044	0.40	2.20	0.00	0.000	6	0.146	0.041	2573	2074	3542
5348	-0.94	-194.7	782.3	-8.0	594	5352	0.17	2.20	0.00	0.000	4	0.064	0.057	2493	665	3541
5373	-0.88	-194.7	785.7	-14.3	595	5378	0.10	2.25	0.00	0.000	6	0.142	0.049	2528	2085	3540
5551	end dive: BOTTOM_OBSTACLE_DETECTED
state	5551	begin apogee
5555	-0.20	0.0	805.6	10.8	604	5714	0.68	0.00	153.82	1.239	6	0.127	0.000	2751	2529	2758
5714	end apogee: CONTROL_FINISHED_OK
state	5714	begin climb
5716	0.96	194.7	810.7	0.0	612	5885	1.00	2.05	158.10	1.200	4	0.043	0.067	3143	3689	1964
5947	0.19	194.7	778.6	25.5	623	5952	0.93	1.90	0.00	0.000	6	0.183	0.043	2890	2528	1961
6274	0.60	315.8	753.1	7.0	639	6384	0.35	2.40	102.62	1.164	4	0.049	0.054	3045	1123	1470
6426	0.45	315.8	727.2	19.3	646	6432	0.25	2.33	0.00	0.000	6	0.147	0.050	2969	2510	1466
6748	0.55	315.8	685.5	12.7	662	6749	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2510	1462
7053	0.65	315.8	646.1	12.7	677	7054	0.17	0.00	0.00	0.000	6	0.066	0.000	3042	2509	1462
7358	0.42	315.8	587.0	19.3	692	7359	0.30	0.00	0.00	0.000	6	0.151	0.000	2954	2510	1460
7664	0.66	356.3	553.1	10.3	707	7707	0.22	2.35	33.83	1.079	4	0.057	0.054	3061	1111	1304
7737	0.48	356.3	540.1	20.9	710	7742	0.25	2.30	0.00	0.000	6	0.152	0.048	2982	2507	1303
8054	0.59	356.3	492.2	14.0	728	8058	0.00	2.25	0.00	0.000	4	0.000	0.051	2990	1115	1300
8086	0.72	356.3	488.1	12.3	731	8090	0.12	2.25	0.00	0.000	6	0.058	0.048	3059	2504	1299
8406	0.51	356.3	423.8	20.1	762	8410	0.25	1.90	0.00	0.000	4	0.153	0.063	2987	3685	1299
8470	0.60	356.3	414.1	13.2	768	8474	0.00	1.85	0.00	0.000	6	0.000	0.041	2994	2500	1298
8792	0.73	356.3	369.7	13.4	799	8795	0.17	2.15	0.00	0.000	4	0.061	0.052	3086	1123	1297
8817	0.65	356.3	365.5	17.1	801	8824	0.15	2.22	0.00	0.000	6	0.156	0.047	3036	2516	1297
9132	0.65	356.3	312.6	17.5	832	9137	0.00	2.22	0.00	0.000	4	0.000	0.051	3045	1124	1297
9218	0.65	356.3	298.8	15.8	840	9225	0.00	2.20	0.00	0.000	6	0.000	0.047	3045	2510	1295
9545	0.65	356.3	246.1	15.0	901	9551	0.00	2.22	0.00	0.000	4	0.000	0.050	3055	1114	1296
9597	0.65	356.3	238.2	14.7	911	9604	0.00	2.20	0.00	0.000	6	0.000	0.047	3055	2498	1295
9923	0.65	356.3	192.5	13.2	972	9930	0.00	2.20	0.00	0.000	4	0.000	0.050	3064	1114	1295
9971	0.65	356.3	186.2	12.6	981	9978	0.10	2.15	0.00	0.000	6	0.137	0.045	3029	2485	1295
10298	1.00	464.1	148.5	7.5	1042	10394	0.30	2.00	86.85	0.765	4	0.049	0.058	3160	3680	864
10421	0.83	464.1	127.9	22.2	1062	10428	0.25	1.95	0.00	0.000	6	0.136	0.039	3090	2460	864
10748	1.07	486.3	88.6	11.1	1123	10774	0.20	2.12	18.88	0.680	4	0.055	0.048	3193	1110	774
10987	1.01	486.3	48.6	16.9	1167	10994	0.15	2.08	0.00	0.000	6	0.139	0.041	3144	2424	772
11312	end climb: SURFACE_DEPTH_REACHED
state	11312	begin surface coast
11339	end surface coast: CONTROL_FINISHED_OK
state	11339	begin surface