Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 153 * 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 153 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 2427 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2505 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 63 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 389 DEVICE2 53

T_MISSION 330 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 -4 T_GPS 15 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 -7908.8047 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 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2545 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 22.5 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 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22.5 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 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 -7908.8047

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 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 2545 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2505 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2427 MASS 51932 R_PORT_OVSHOOT 63 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 200 R_STBD_OVSHOOT 38 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 153 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 021131,2434.422,12245.691,41,1.6,41,-3.5 TGT_NAME IN_1

_CALLS 1 TGT_LATLONG 2500.000,12210.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021720,2434.600,12245.677,16,1.3,16,-3.5 MHEAD_RNG_PITCHd_Wd 266.7,76150,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 674

Post-dive calculations and measurements:

FINISH 1.6,1.000800 _24V_AH 24.3,27.481

SM_CCo 11699,0.00,0.000,0,0,1567,482.01 _10V_AH 10.8,15.877

SM_GC 2.66,7.40,0.00,0.00,0.059,0.000,0.000,142,2441,1567,-7.50,0.42,482.01 DATA_FILE_SIZE 69457,1314

IRIDIUM_FIX 2425.21,12245.54,060998,232358 CAP_FILE_SIZE 133707,0

TT8_MAMPS 0.028379 CFSIZE 260165632,213954560

HUMID 1655 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.40466 CURRENT 0.390, 6.7,1

TCM_TEMP 25.40 GPS 130609,053346,2437.123,12244.129,10,4.3,29,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 253 147.61 SBE_CT 884 24 515.94

Roll_motor 97 83 198.38 Optode 965 33 774.45

VBD_pump_during_apogee 457 1171 13016.35 WL_BB2F 0 105 0.00

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 28 103 72.12 nil 0 0 0.00

Iridium_during_connect 34 160 134.47 nil 0 0 0.00

Iridium_during_xfer 161 223 872.68

Transponder_ping 4 420 48.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.19

TT8 2273 19 486.26

LPSleep 6497 2 153.68

TT8_Active 567 19 121.39

TT8_Sampling 2237 39 961.68

TT8_CF8 470 45 232.77

TT8_Kalman 0 0 0.00

Analog_circuits 1710 12 221.72

GPS_charging 0 0 0.00

Compass 2187 8 188.97

RAFOS 0 0 0.00

Transponder 32 30 10.61

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

15 -1.05 -194.7 0.0 0.0 0 53 0.00 0.00 -35.95 0.000 2 0.000 0.000 141 2501 2290

56 -1.05 -194.7 3.0 -1.8 6 130 8.55 2.20 -57.70 0.000 4 0.253 0.041 2200 1014 3989

154 -0.28 -194.7 14.6 -28.7 22 161 0.93 2.12 0.00 0.000 6 0.190 0.032 2450 2431 3989

499 -0.55 -194.7 61.8 -10.6 83 506 0.20 2.03 0.00 0.000 4 0.064 0.048 2359 3753 3991

529 -0.55 -194.7 65.9 -14.4 88 536 0.00 1.92 0.00 0.000 6 0.000 0.025 2359 2394 3991

874 -0.55 -194.7 109.8 -11.3 149 880 0.00 2.10 0.00 0.000 4 0.000 0.046 2351 3761 3993

988 -0.55 -194.7 123.4 -11.0 169 994 0.00 1.88 0.00 0.000 6 0.000 0.025 2351 2424 3993

1332 -0.69 -194.7 145.7 -6.6 230 1337 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2424 3996

1676 -0.90 -194.7 180.1 -8.5 291 1682 0.22 2.05 0.00 0.000 4 0.063 0.046 2246 3760 3996

1751 -0.71 -194.7 187.8 -10.0 304 1759 0.22 1.83 0.00 0.000 6 0.148 0.025 2313 2463 3996

2097 -0.80 -194.7 211.3 -8.8 365 2103 0.00 2.03 0.00 0.000 4 0.000 0.027 2313 1043 3997

2177 -0.92 -194.7 219.0 -9.9 379 2184 0.17 2.10 0.00 0.000 6 0.067 0.033 2233 2462 3997

2522 -0.70 -194.7 274.4 -16.5 440 2534 0.25 1.95 0.00 0.000 4 0.162 0.046 2303 3754 3997

2562 -0.75 -194.7 280.4 -13.3 446 2568 0.00 1.83 0.00 0.000 6 0.000 0.025 2303 2458 3997

2898 -0.84 -194.7 318.3 -11.8 492 2902 0.00 2.00 0.00 0.000 4 0.000 0.050 2303 3753 3997

2937 -0.95 -194.7 322.6 -10.7 495 2944 0.17 1.83 0.00 0.000 6 0.068 0.026 2228 2465 3997

3262 -0.74 -194.7 365.4 -12.1 526 3266 0.22 2.05 0.00 0.000 4 0.156 0.027 2298 1039 3996

3323 -0.86 -194.7 370.6 -7.2 531 3329 0.00 2.10 0.00 0.000 6 0.000 0.035 2298 2445 3996

3650 -0.96 -194.7 396.0 -8.2 562 3652 0.17 0.00 0.00 0.000 6 0.071 0.000 2226 2448 3995

3966 -0.80 -194.7 431.2 -10.6 592 3971 0.20 2.03 0.00 0.000 4 0.164 0.050 2278 3770 3993

4006 -0.87 -194.7 434.7 -8.0 595 4011 0.00 1.90 0.00 0.000 6 0.000 0.027 2278 2440 3993

4332 -0.87 -194.7 463.7 -10.2 626 4336 0.00 2.03 0.00 0.000 4 0.000 0.029 2278 1034 3992

4427 -0.92 -194.7 474.2 -10.8 634 4433 0.00 2.12 0.00 0.000 6 0.000 0.036 2276 2449 3991

4764 -0.97 -194.7 503.8 -7.7 664 4766 0.12 0.00 0.00 0.000 6 0.080 0.000 2222 2452 3990

5071 -0.84 -194.7 541.1 -12.0 679 5075 0.17 2.03 0.00 0.000 4 0.159 0.051 2275 3763 3987

5140 -0.92 -194.7 547.8 -10.3 682 5143 0.00 1.90 0.00 0.000 6 0.000 0.028 2275 2447 3987

5474 -1.01 -194.7 576.9 -7.9 698 5478 0.15 2.05 0.00 0.000 4 0.076 0.030 2213 1046 3985

5639 -0.88 -194.7 595.3 -11.2 705 5644 0.20 2.10 0.00 0.000 6 0.159 0.037 2263 2431 3984

5962 -0.93 -194.7 622.4 -8.1 721 5966 0.00 2.05 0.00 0.000 4 0.000 0.054 2261 3757 3982

6046 -0.98 -194.7 629.5 -8.1 724 6053 0.00 1.90 0.00 0.000 6 0.000 0.029 2261 2443 3981

6362 -1.03 -194.7 657.9 -9.6 740 6364 0.15 0.00 0.00 0.000 6 0.081 0.000 2202 2443 3979

6482 end dive: TARGET_DEPTH_EXCEEDED

state 6482 begin apogee

6489 -0.22 0.0 674.2 13.6 746 6578 0.88 0.00 85.97 1.171 6 0.163 0.000 2465 2521 3532

6579 end apogee: CONTROL_FINISHED_OK

state 6579 begin climb

6581 1.05 194.7 677.8 0.0 750 6740 1.15 2.25 150.77 1.133 4 0.053 0.033 2899 1130 2737

6986 0.47 194.7 636.7 15.0 768 6991 0.73 2.15 0.00 0.000 6 0.199 0.041 2703 2507 2731

7307 0.54 248.5 605.5 9.8 784 7353 0.00 2.08 41.12 1.100 4 0.000 0.056 2704 3757 2518

7394 0.54 248.5 595.4 13.5 788 7397 0.00 1.88 0.00 0.000 6 0.000 0.029 2704 2520 2515

7727 0.70 344.7 563.1 8.0 804 7812 0.17 2.25 75.05 1.084 4 0.077 0.035 2784 1117 2125

7912 0.70 344.7 537.0 13.5 812 7916 0.00 2.17 0.00 0.000 6 0.000 0.038 2784 2501 2118

8236 0.59 344.7 483.5 17.7 832 8240 0.17 1.98 0.00 0.000 4 0.178 0.053 2734 3764 2114

8275 0.59 344.7 476.2 17.6 835 8281 0.00 1.90 0.00 0.000 6 0.000 0.030 2736 2519 2113

8600 0.64 344.7 434.3 15.2 866 8601 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2517 2111

8920 0.73 344.7 391.2 15.1 896 8924 0.12 2.10 0.00 0.000 4 0.084 0.035 2789 1103 2111

8986 0.73 344.7 380.3 16.1 901 8992 0.00 2.17 0.00 0.000 6 0.000 0.038 2789 2526 2110

9314 0.66 344.7 332.1 12.7 932 9319 0.12 2.15 0.00 0.000 4 0.181 0.032 2762 1086 2108

9432 0.77 364.9 319.5 11.2 942 9454 0.00 2.15 14.45 0.901 6 0.000 0.038 2762 2499 2043

9783 0.84 364.9 272.1 15.0 991 9790 0.15 1.95 0.00 0.000 4 0.079 0.052 2821 3757 2040

9835 0.63 364.9 261.8 21.0 1000 9843 0.28 1.88 0.00 0.000 6 0.171 0.028 2752 2472 2039

10182 0.82 422.5 213.0 9.6 1061 10235 0.17 2.08 44.53 0.836 4 0.077 0.034 2829 1128 1808

10331 0.86 452.7 194.5 10.7 1087 10361 0.00 2.12 24.73 0.795 6 0.000 0.038 2829 2500 1686

10699 0.86 452.7 149.3 16.2 1152 10707 0.00 1.98 0.00 0.000 4 0.000 0.051 2829 3770 1678

10735 0.86 452.7 142.6 19.0 1158 10741 0.00 1.88 0.00 0.000 6 0.000 0.027 2829 2503 1678

11080 0.98 480.2 91.1 10.9 1219 11109 0.00 2.12 20.73 0.709 4 0.000 0.031 2829 1106 1573

11230 1.25 480.2 71.5 14.8 1245 11237 0.32 2.10 0.00 0.000 6 0.059 0.034 2956 2491 1570

11574 1.07 480.2 6.1 14.4 1306 11581 0.20 2.05 0.00 0.000 4 0.165 0.029 2904 1103 1569

11596 end climb: SURFACE_DEPTH_REACHED

state 11596 begin surface coast

11620 end surface coast: CONTROL_FINISHED_OK

state 11620 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	153	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	2427	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2505	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	63	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	389	DEVICE2	53
T_MISSION	330	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	-4	T_GPS	15	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	-7908.8047	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	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2545	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	22.5	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	021131,2434.422,12245.691,41,1.6,41,-3.5	TGT_NAME	IN_1
_CALLS	1	TGT_LATLONG	2500.000,12210.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021720,2434.600,12245.677,16,1.3,16,-3.5	MHEAD_RNG_PITCHd_Wd	266.7,76150,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	674

FINISH	1.6,1.000800	_24V_AH	24.3,27.481
SM_CCo	11699,0.00,0.000,0,0,1567,482.01	_10V_AH	10.8,15.877
SM_GC	2.66,7.40,0.00,0.00,0.059,0.000,0.000,142,2441,1567,-7.50,0.42,482.01	DATA_FILE_SIZE	69457,1314
IRIDIUM_FIX	2425.21,12245.54,060998,232358	CAP_FILE_SIZE	133707,0
TT8_MAMPS	0.028379	CFSIZE	260165632,213954560
HUMID	1655	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.40466	CURRENT	0.390, 6.7,1
TCM_TEMP	25.40	GPS	130609,053346,2437.123,12244.129,10,4.3,29,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	253	147.61	SBE_CT	884	24	515.94
Roll_motor	97	83	198.38	Optode	965	33	774.45
VBD_pump_during_apogee	457	1171	13016.35	WL_BB2F	0	105	0.00
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	28	103	72.12	nil	0	0	0.00
Iridium_during_connect	34	160	134.47	nil	0	0	0.00
Iridium_during_xfer	161	223	872.68
Transponder_ping	4	420	48.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.19
TT8	2273	19	486.26
LPSleep	6497	2	153.68
TT8_Active	567	19	121.39
TT8_Sampling	2237	39	961.68
TT8_CF8	470	45	232.77
TT8_Kalman	0	0	0.00
Analog_circuits	1710	12	221.72
GPS_charging	0	0	0.00
Compass	2187	8	188.97
RAFOS	0	0	0.00
Transponder	32	30	10.61

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
15	-1.05	-194.7	0.0	0.0	0	53	0.00	0.00	-35.95	0.000	2	0.000	0.000	141	2501	2290
56	-1.05	-194.7	3.0	-1.8	6	130	8.55	2.20	-57.70	0.000	4	0.253	0.041	2200	1014	3989
154	-0.28	-194.7	14.6	-28.7	22	161	0.93	2.12	0.00	0.000	6	0.190	0.032	2450	2431	3989
499	-0.55	-194.7	61.8	-10.6	83	506	0.20	2.03	0.00	0.000	4	0.064	0.048	2359	3753	3991
529	-0.55	-194.7	65.9	-14.4	88	536	0.00	1.92	0.00	0.000	6	0.000	0.025	2359	2394	3991
874	-0.55	-194.7	109.8	-11.3	149	880	0.00	2.10	0.00	0.000	4	0.000	0.046	2351	3761	3993
988	-0.55	-194.7	123.4	-11.0	169	994	0.00	1.88	0.00	0.000	6	0.000	0.025	2351	2424	3993
1332	-0.69	-194.7	145.7	-6.6	230	1337	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2424	3996
1676	-0.90	-194.7	180.1	-8.5	291	1682	0.22	2.05	0.00	0.000	4	0.063	0.046	2246	3760	3996
1751	-0.71	-194.7	187.8	-10.0	304	1759	0.22	1.83	0.00	0.000	6	0.148	0.025	2313	2463	3996
2097	-0.80	-194.7	211.3	-8.8	365	2103	0.00	2.03	0.00	0.000	4	0.000	0.027	2313	1043	3997
2177	-0.92	-194.7	219.0	-9.9	379	2184	0.17	2.10	0.00	0.000	6	0.067	0.033	2233	2462	3997
2522	-0.70	-194.7	274.4	-16.5	440	2534	0.25	1.95	0.00	0.000	4	0.162	0.046	2303	3754	3997
2562	-0.75	-194.7	280.4	-13.3	446	2568	0.00	1.83	0.00	0.000	6	0.000	0.025	2303	2458	3997
2898	-0.84	-194.7	318.3	-11.8	492	2902	0.00	2.00	0.00	0.000	4	0.000	0.050	2303	3753	3997
2937	-0.95	-194.7	322.6	-10.7	495	2944	0.17	1.83	0.00	0.000	6	0.068	0.026	2228	2465	3997
3262	-0.74	-194.7	365.4	-12.1	526	3266	0.22	2.05	0.00	0.000	4	0.156	0.027	2298	1039	3996
3323	-0.86	-194.7	370.6	-7.2	531	3329	0.00	2.10	0.00	0.000	6	0.000	0.035	2298	2445	3996
3650	-0.96	-194.7	396.0	-8.2	562	3652	0.17	0.00	0.00	0.000	6	0.071	0.000	2226	2448	3995
3966	-0.80	-194.7	431.2	-10.6	592	3971	0.20	2.03	0.00	0.000	4	0.164	0.050	2278	3770	3993
4006	-0.87	-194.7	434.7	-8.0	595	4011	0.00	1.90	0.00	0.000	6	0.000	0.027	2278	2440	3993
4332	-0.87	-194.7	463.7	-10.2	626	4336	0.00	2.03	0.00	0.000	4	0.000	0.029	2278	1034	3992
4427	-0.92	-194.7	474.2	-10.8	634	4433	0.00	2.12	0.00	0.000	6	0.000	0.036	2276	2449	3991
4764	-0.97	-194.7	503.8	-7.7	664	4766	0.12	0.00	0.00	0.000	6	0.080	0.000	2222	2452	3990
5071	-0.84	-194.7	541.1	-12.0	679	5075	0.17	2.03	0.00	0.000	4	0.159	0.051	2275	3763	3987
5140	-0.92	-194.7	547.8	-10.3	682	5143	0.00	1.90	0.00	0.000	6	0.000	0.028	2275	2447	3987
5474	-1.01	-194.7	576.9	-7.9	698	5478	0.15	2.05	0.00	0.000	4	0.076	0.030	2213	1046	3985
5639	-0.88	-194.7	595.3	-11.2	705	5644	0.20	2.10	0.00	0.000	6	0.159	0.037	2263	2431	3984
5962	-0.93	-194.7	622.4	-8.1	721	5966	0.00	2.05	0.00	0.000	4	0.000	0.054	2261	3757	3982
6046	-0.98	-194.7	629.5	-8.1	724	6053	0.00	1.90	0.00	0.000	6	0.000	0.029	2261	2443	3981
6362	-1.03	-194.7	657.9	-9.6	740	6364	0.15	0.00	0.00	0.000	6	0.081	0.000	2202	2443	3979
6482	end dive: TARGET_DEPTH_EXCEEDED
state	6482	begin apogee
6489	-0.22	0.0	674.2	13.6	746	6578	0.88	0.00	85.97	1.171	6	0.163	0.000	2465	2521	3532
6579	end apogee: CONTROL_FINISHED_OK
state	6579	begin climb
6581	1.05	194.7	677.8	0.0	750	6740	1.15	2.25	150.77	1.133	4	0.053	0.033	2899	1130	2737
6986	0.47	194.7	636.7	15.0	768	6991	0.73	2.15	0.00	0.000	6	0.199	0.041	2703	2507	2731
7307	0.54	248.5	605.5	9.8	784	7353	0.00	2.08	41.12	1.100	4	0.000	0.056	2704	3757	2518
7394	0.54	248.5	595.4	13.5	788	7397	0.00	1.88	0.00	0.000	6	0.000	0.029	2704	2520	2515
7727	0.70	344.7	563.1	8.0	804	7812	0.17	2.25	75.05	1.084	4	0.077	0.035	2784	1117	2125
7912	0.70	344.7	537.0	13.5	812	7916	0.00	2.17	0.00	0.000	6	0.000	0.038	2784	2501	2118
8236	0.59	344.7	483.5	17.7	832	8240	0.17	1.98	0.00	0.000	4	0.178	0.053	2734	3764	2114
8275	0.59	344.7	476.2	17.6	835	8281	0.00	1.90	0.00	0.000	6	0.000	0.030	2736	2519	2113
8600	0.64	344.7	434.3	15.2	866	8601	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2517	2111
8920	0.73	344.7	391.2	15.1	896	8924	0.12	2.10	0.00	0.000	4	0.084	0.035	2789	1103	2111
8986	0.73	344.7	380.3	16.1	901	8992	0.00	2.17	0.00	0.000	6	0.000	0.038	2789	2526	2110
9314	0.66	344.7	332.1	12.7	932	9319	0.12	2.15	0.00	0.000	4	0.181	0.032	2762	1086	2108
9432	0.77	364.9	319.5	11.2	942	9454	0.00	2.15	14.45	0.901	6	0.000	0.038	2762	2499	2043
9783	0.84	364.9	272.1	15.0	991	9790	0.15	1.95	0.00	0.000	4	0.079	0.052	2821	3757	2040
9835	0.63	364.9	261.8	21.0	1000	9843	0.28	1.88	0.00	0.000	6	0.171	0.028	2752	2472	2039
10182	0.82	422.5	213.0	9.6	1061	10235	0.17	2.08	44.53	0.836	4	0.077	0.034	2829	1128	1808
10331	0.86	452.7	194.5	10.7	1087	10361	0.00	2.12	24.73	0.795	6	0.000	0.038	2829	2500	1686
10699	0.86	452.7	149.3	16.2	1152	10707	0.00	1.98	0.00	0.000	4	0.000	0.051	2829	3770	1678
10735	0.86	452.7	142.6	19.0	1158	10741	0.00	1.88	0.00	0.000	6	0.000	0.027	2829	2503	1678
11080	0.98	480.2	91.1	10.9	1219	11109	0.00	2.12	20.73	0.709	4	0.000	0.031	2829	1106	1573
11230	1.25	480.2	71.5	14.8	1245	11237	0.32	2.10	0.00	0.000	6	0.059	0.034	2956	2491	1570
11574	1.07	480.2	6.1	14.4	1306	11581	0.20	2.05	0.00	0.000	4	0.165	0.029	2904	1103	1569
11596	end climb: SURFACE_DEPTH_REACHED
state	11596	begin surface coast
11620	end surface coast: CONTROL_FINISHED_OK
state	11620	begin surface