Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 51 * 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 51 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 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 396 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 -34113.738 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 200 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 330

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 -34113.738

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 396

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 49 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 200 R_STBD_OVSHOOT 42 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 51 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 175158,2423.677,12317.053,8,4.5,27,-3.5 TGT_NAME RET_2

_CALLS 1 TGT_LATLONG 2415.000,12318.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 175758,2423.737,12317.141,12,4.0,31,-3.5 MHEAD_RNG_PITCHd_Wd 203.0,16245,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 674

Post-dive calculations and measurements:

FINISH 0.5,1.022247 _24V_AH 24.1,14.665

SM_CCo 11846,0.00,0.000,0,0,952,489.37 _10V_AH 10.7,8.634

SM_GC 0.73,7.50,0.00,0.00,0.031,0.000,0.000,112,1447,952,-8.16,-0.68,489.37 DATA_FILE_SIZE 75779,1353

IRIDIUM_FIX 2415.74,12315.81,240898,141411 CAP_FILE_SIZE 134029,0

TT8_MAMPS 0.050622 CFSIZE 260165632,253165568

HUMID 1514 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.96765 CURRENT 0.049,124.7,1

TCM_TEMP 25.30 GPS 300509,211636,2421.776,12316.687,35,0.8,47,-3.5

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 203 105.93 SBE_CT 913 24 528.15

Roll_motor 99 72 175.52 Optode 947 33 753.31

VBD_pump_during_apogee 557 1217 16355.85 WL_BB2F 1583 105 4006.18

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 30 103 76.40 nil 0 0 0.00

Iridium_during_connect 32 160 127.22 nil 0 0 0.00

Iridium_during_xfer 179 223 965.37

Transponder_ping 6 420 68.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.70

TT8 0 19 0.00

LPSleep 8006 2 187.61

TT8_Active 672 19 142.51

TT8_Sampling 3077 39 1310.79

TT8_CF8 425 45 208.64

TT8_Kalman 0 0 0.00

Analog_circuits 1808 12 232.24

GPS_charging 0 0 0.00

Compass 2603 8 222.84

RAFOS 0 0 0.00

Transponder 34 30 10.95

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.99 -194.7 0.0 0.0 0 78 0.00 0.00 -64.30 0.000 2 0.000 0.000 112 1445 2811

80 -0.99 -194.7 3.1 -7.1 10 112 8.30 2.20 -19.70 0.000 4 0.203 0.051 2415 2879 3744

293 -0.56 -194.7 58.7 -27.0 49 300 0.43 2.10 0.00 0.000 6 0.122 0.033 2557 1481 3745

620 -0.56 -194.7 102.8 -11.3 110 626 0.00 1.92 0.00 0.000 4 0.000 0.045 2558 218 3747

668 -0.56 -194.7 108.4 -12.2 119 675 0.00 1.85 0.00 0.000 6 0.000 0.035 2558 1458 3748

995 -0.61 -194.7 144.8 -10.5 180 1001 0.00 2.12 0.00 0.000 4 0.000 0.039 2558 2882 3749

1038 -0.75 -194.7 148.9 -9.3 188 1044 0.12 2.10 0.00 0.000 6 0.044 0.033 2481 1468 3749

1364 -0.61 -194.7 194.6 -15.9 249 1371 0.22 1.88 0.00 0.000 4 0.124 0.044 2551 221 3749

1391 -0.61 -194.7 198.5 -14.5 254 1397 0.00 1.88 0.00 0.000 6 0.000 0.035 2551 1477 3749

1717 -0.69 -194.7 232.3 -9.2 315 1723 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 1478 3749

2043 -0.79 -194.7 258.3 -8.0 376 2050 0.17 2.08 0.00 0.000 4 0.057 0.039 2468 2880 3749

2102 -0.72 -194.7 265.1 -12.8 387 2109 0.10 2.08 0.00 0.000 6 0.121 0.033 2506 1474 3749

2434 -0.72 -194.7 302.3 -9.5 447 2437 0.00 1.90 0.00 0.000 4 0.000 0.044 2506 214 3749

2502 -0.72 -194.7 308.7 -9.1 453 2509 0.00 1.85 0.00 0.000 6 0.000 0.032 2506 1464 3749

2819 -0.72 -194.7 333.5 -7.8 484 2822 0.00 2.08 0.00 0.000 4 0.000 0.040 2506 2879 3748

2904 -0.80 -194.7 339.7 -7.0 492 2907 0.00 2.08 0.00 0.000 6 0.000 0.034 2506 1478 3748

3224 -0.84 -194.7 369.0 -10.3 523 3228 0.00 2.10 0.00 0.000 4 0.000 0.040 2506 2879 3747

3272 -0.94 -194.7 373.6 -9.3 527 3280 0.15 2.08 0.00 0.000 6 0.045 0.034 2425 1479 3746

3588 -0.75 -194.7 425.0 -17.4 558 3592 0.25 1.90 0.00 0.000 4 0.130 0.047 2502 204 3746

3619 -0.75 -194.7 429.5 -12.7 561 3623 0.00 1.88 0.00 0.000 6 0.000 0.033 2502 1474 3745

3940 -0.80 -194.7 462.0 -9.9 592 3941 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 1476 3744

4251 -0.87 -194.7 486.6 -7.5 622 4255 0.12 2.05 0.00 0.000 4 0.071 0.042 2443 2872 3742

4309 -0.81 -194.7 492.3 -10.2 627 4317 0.10 2.08 0.00 0.000 6 0.126 0.035 2478 1486 3742

4631 -0.81 -194.7 519.7 -8.3 648 4632 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1486 3740

4937 -0.81 -194.7 543.8 -8.1 663 4937 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1486 3738

5241 -0.81 -194.7 570.3 -9.9 678 5245 0.00 1.95 0.00 0.000 4 0.000 0.050 2478 211 3737

5358 -0.81 -194.7 583.6 -11.7 683 5363 0.00 1.90 0.00 0.000 6 0.000 0.034 2478 1484 3736

5675 -0.81 -194.7 612.2 -7.8 699 5675 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1485 3733

5979 -0.81 -194.7 633.4 -6.6 714 5983 0.00 2.10 0.00 0.000 4 0.000 0.045 2479 2872 3731

6017 -0.89 -194.7 636.0 -7.0 715 6025 0.00 2.08 0.00 0.000 6 0.000 0.038 2478 1493 3731

6328 -0.89 -194.7 661.2 -8.4 731 6331 0.00 1.98 0.00 0.000 4 0.000 0.051 2479 210 3729

6396 -0.89 -194.7 667.2 -8.7 734 6400 0.00 1.90 0.00 0.000 6 0.000 0.035 2479 1480 3729

6493 end dive: TARGET_DEPTH_EXCEEDED

state 6493 begin apogee

6497 -0.24 0.0 675.1 8.1 739 6656 0.55 0.00 155.95 1.217 6 0.110 0.000 2664 1584 2947

6656 end apogee: CONTROL_FINISHED_OK

state 6656 begin climb

6658 0.99 194.7 677.8 0.0 747 6826 1.12 2.30 159.32 1.180 4 0.073 0.054 3058 222 2152

6927 0.57 194.7 638.9 19.9 759 6935 0.43 2.12 0.00 0.000 6 0.166 0.038 2933 1574 2148

7238 0.48 194.7 601.2 12.4 775 7242 0.12 2.17 0.00 0.000 4 0.155 0.044 2898 2985 2145

7296 0.48 194.7 594.2 12.1 777 7302 0.00 2.12 0.00 0.000 6 0.000 0.040 2898 1608 2144

7607 0.58 277.7 565.2 7.1 793 7679 0.10 2.28 68.18 1.127 4 0.088 0.054 2942 214 1814

7706 0.53 277.7 552.7 12.8 797 7713 0.00 2.17 0.00 0.000 6 0.000 0.040 2942 1582 1810

8017 0.44 277.7 504.3 16.2 813 8021 0.20 2.15 0.00 0.000 4 0.144 0.054 2884 204 1804

8086 0.59 277.7 495.6 11.2 817 8093 0.10 2.12 0.00 0.000 6 0.058 0.041 2942 1579 1804

8401 0.52 277.7 453.4 12.4 848 8406 0.00 2.15 0.00 0.000 4 0.000 0.045 2942 2981 1801

8455 0.46 277.7 446.7 12.3 853 8459 0.12 2.15 0.00 0.000 6 0.141 0.041 2890 1584 1800

8776 0.72 366.3 421.5 6.9 884 8854 0.25 2.30 73.60 1.049 4 0.057 0.054 2998 204 1451

8918 0.57 366.3 398.0 17.9 897 8922 0.25 2.15 0.00 0.000 6 0.150 0.040 2928 1587 1444

9232 0.57 366.3 359.6 10.2 927 9233 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 1588 1438

9544 0.62 366.3 325.7 10.6 957 9547 0.00 2.15 0.00 0.000 4 0.000 0.054 2929 203 1437

9612 0.74 380.2 319.0 9.5 963 9631 0.10 2.08 10.60 0.878 6 0.063 0.041 2985 1555 1396

9946 0.59 380.2 263.7 17.0 1014 9953 0.20 2.17 0.00 0.000 4 0.153 0.044 2930 2987 1393

9967 0.52 380.2 260.6 14.8 1018 9974 0.00 2.20 0.00 0.000 6 0.000 0.041 2930 1554 1393

10294 0.73 455.8 231.9 7.4 1079 10362 0.15 0.00 64.57 0.901 6 0.069 0.000 2999 1554 1088

10682 0.57 455.8 155.7 19.3 1150 10688 0.25 2.22 0.00 0.000 4 0.148 0.043 2927 2991 1078

10730 0.71 455.8 149.0 11.1 1159 10738 0.08 2.20 0.00 0.000 6 0.064 0.039 2981 1560 1078

11058 0.71 455.8 101.8 15.6 1220 11064 0.00 2.10 0.00 0.000 4 0.000 0.051 2985 212 1077

11101 0.71 455.8 94.6 16.7 1228 11107 0.00 2.05 0.00 0.000 6 0.000 0.039 2985 1557 1076

11427 0.90 487.0 54.5 8.9 1289 11459 0.12 2.15 25.33 0.743 4 0.065 0.051 3056 208 960

11517 0.90 487.0 41.4 15.7 1305 11524 0.00 2.08 0.00 0.000 6 0.000 0.037 3056 1562 957

11756 end climb: SURFACE_DEPTH_REACHED

state 11756 begin surface coast

11773 end surface coast: CONTROL_FINISHED_OK

state 11773 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	51	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	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	396	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	-34113.738	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	200	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	175158,2423.677,12317.053,8,4.5,27,-3.5	TGT_NAME	RET_2
_CALLS	1	TGT_LATLONG	2415.000,12318.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	175758,2423.737,12317.141,12,4.0,31,-3.5	MHEAD_RNG_PITCHd_Wd	203.0,16245,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	674

FINISH	0.5,1.022247	_24V_AH	24.1,14.665
SM_CCo	11846,0.00,0.000,0,0,952,489.37	_10V_AH	10.7,8.634
SM_GC	0.73,7.50,0.00,0.00,0.031,0.000,0.000,112,1447,952,-8.16,-0.68,489.37	DATA_FILE_SIZE	75779,1353
IRIDIUM_FIX	2415.74,12315.81,240898,141411	CAP_FILE_SIZE	134029,0
TT8_MAMPS	0.050622	CFSIZE	260165632,253165568
HUMID	1514	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.96765	CURRENT	0.049,124.7,1
TCM_TEMP	25.30	GPS	300509,211636,2421.776,12316.687,35,0.8,47,-3.5
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	203	105.93	SBE_CT	913	24	528.15
Roll_motor	99	72	175.52	Optode	947	33	753.31
VBD_pump_during_apogee	557	1217	16355.85	WL_BB2F	1583	105	4006.18
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	30	103	76.40	nil	0	0	0.00
Iridium_during_connect	32	160	127.22	nil	0	0	0.00
Iridium_during_xfer	179	223	965.37
Transponder_ping	6	420	68.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.70
TT8	0	19	0.00
LPSleep	8006	2	187.61
TT8_Active	672	19	142.51
TT8_Sampling	3077	39	1310.79
TT8_CF8	425	45	208.64
TT8_Kalman	0	0	0.00
Analog_circuits	1808	12	232.24
GPS_charging	0	0	0.00
Compass	2603	8	222.84
RAFOS	0	0	0.00
Transponder	34	30	10.95

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.99	-194.7	0.0	0.0	0	78	0.00	0.00	-64.30	0.000	2	0.000	0.000	112	1445	2811
80	-0.99	-194.7	3.1	-7.1	10	112	8.30	2.20	-19.70	0.000	4	0.203	0.051	2415	2879	3744
293	-0.56	-194.7	58.7	-27.0	49	300	0.43	2.10	0.00	0.000	6	0.122	0.033	2557	1481	3745
620	-0.56	-194.7	102.8	-11.3	110	626	0.00	1.92	0.00	0.000	4	0.000	0.045	2558	218	3747
668	-0.56	-194.7	108.4	-12.2	119	675	0.00	1.85	0.00	0.000	6	0.000	0.035	2558	1458	3748
995	-0.61	-194.7	144.8	-10.5	180	1001	0.00	2.12	0.00	0.000	4	0.000	0.039	2558	2882	3749
1038	-0.75	-194.7	148.9	-9.3	188	1044	0.12	2.10	0.00	0.000	6	0.044	0.033	2481	1468	3749
1364	-0.61	-194.7	194.6	-15.9	249	1371	0.22	1.88	0.00	0.000	4	0.124	0.044	2551	221	3749
1391	-0.61	-194.7	198.5	-14.5	254	1397	0.00	1.88	0.00	0.000	6	0.000	0.035	2551	1477	3749
1717	-0.69	-194.7	232.3	-9.2	315	1723	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	1478	3749
2043	-0.79	-194.7	258.3	-8.0	376	2050	0.17	2.08	0.00	0.000	4	0.057	0.039	2468	2880	3749
2102	-0.72	-194.7	265.1	-12.8	387	2109	0.10	2.08	0.00	0.000	6	0.121	0.033	2506	1474	3749
2434	-0.72	-194.7	302.3	-9.5	447	2437	0.00	1.90	0.00	0.000	4	0.000	0.044	2506	214	3749
2502	-0.72	-194.7	308.7	-9.1	453	2509	0.00	1.85	0.00	0.000	6	0.000	0.032	2506	1464	3749
2819	-0.72	-194.7	333.5	-7.8	484	2822	0.00	2.08	0.00	0.000	4	0.000	0.040	2506	2879	3748
2904	-0.80	-194.7	339.7	-7.0	492	2907	0.00	2.08	0.00	0.000	6	0.000	0.034	2506	1478	3748
3224	-0.84	-194.7	369.0	-10.3	523	3228	0.00	2.10	0.00	0.000	4	0.000	0.040	2506	2879	3747
3272	-0.94	-194.7	373.6	-9.3	527	3280	0.15	2.08	0.00	0.000	6	0.045	0.034	2425	1479	3746
3588	-0.75	-194.7	425.0	-17.4	558	3592	0.25	1.90	0.00	0.000	4	0.130	0.047	2502	204	3746
3619	-0.75	-194.7	429.5	-12.7	561	3623	0.00	1.88	0.00	0.000	6	0.000	0.033	2502	1474	3745
3940	-0.80	-194.7	462.0	-9.9	592	3941	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	1476	3744
4251	-0.87	-194.7	486.6	-7.5	622	4255	0.12	2.05	0.00	0.000	4	0.071	0.042	2443	2872	3742
4309	-0.81	-194.7	492.3	-10.2	627	4317	0.10	2.08	0.00	0.000	6	0.126	0.035	2478	1486	3742
4631	-0.81	-194.7	519.7	-8.3	648	4632	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1486	3740
4937	-0.81	-194.7	543.8	-8.1	663	4937	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1486	3738
5241	-0.81	-194.7	570.3	-9.9	678	5245	0.00	1.95	0.00	0.000	4	0.000	0.050	2478	211	3737
5358	-0.81	-194.7	583.6	-11.7	683	5363	0.00	1.90	0.00	0.000	6	0.000	0.034	2478	1484	3736
5675	-0.81	-194.7	612.2	-7.8	699	5675	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1485	3733
5979	-0.81	-194.7	633.4	-6.6	714	5983	0.00	2.10	0.00	0.000	4	0.000	0.045	2479	2872	3731
6017	-0.89	-194.7	636.0	-7.0	715	6025	0.00	2.08	0.00	0.000	6	0.000	0.038	2478	1493	3731
6328	-0.89	-194.7	661.2	-8.4	731	6331	0.00	1.98	0.00	0.000	4	0.000	0.051	2479	210	3729
6396	-0.89	-194.7	667.2	-8.7	734	6400	0.00	1.90	0.00	0.000	6	0.000	0.035	2479	1480	3729
6493	end dive: TARGET_DEPTH_EXCEEDED
state	6493	begin apogee
6497	-0.24	0.0	675.1	8.1	739	6656	0.55	0.00	155.95	1.217	6	0.110	0.000	2664	1584	2947
6656	end apogee: CONTROL_FINISHED_OK
state	6656	begin climb
6658	0.99	194.7	677.8	0.0	747	6826	1.12	2.30	159.32	1.180	4	0.073	0.054	3058	222	2152
6927	0.57	194.7	638.9	19.9	759	6935	0.43	2.12	0.00	0.000	6	0.166	0.038	2933	1574	2148
7238	0.48	194.7	601.2	12.4	775	7242	0.12	2.17	0.00	0.000	4	0.155	0.044	2898	2985	2145
7296	0.48	194.7	594.2	12.1	777	7302	0.00	2.12	0.00	0.000	6	0.000	0.040	2898	1608	2144
7607	0.58	277.7	565.2	7.1	793	7679	0.10	2.28	68.18	1.127	4	0.088	0.054	2942	214	1814
7706	0.53	277.7	552.7	12.8	797	7713	0.00	2.17	0.00	0.000	6	0.000	0.040	2942	1582	1810
8017	0.44	277.7	504.3	16.2	813	8021	0.20	2.15	0.00	0.000	4	0.144	0.054	2884	204	1804
8086	0.59	277.7	495.6	11.2	817	8093	0.10	2.12	0.00	0.000	6	0.058	0.041	2942	1579	1804
8401	0.52	277.7	453.4	12.4	848	8406	0.00	2.15	0.00	0.000	4	0.000	0.045	2942	2981	1801
8455	0.46	277.7	446.7	12.3	853	8459	0.12	2.15	0.00	0.000	6	0.141	0.041	2890	1584	1800
8776	0.72	366.3	421.5	6.9	884	8854	0.25	2.30	73.60	1.049	4	0.057	0.054	2998	204	1451
8918	0.57	366.3	398.0	17.9	897	8922	0.25	2.15	0.00	0.000	6	0.150	0.040	2928	1587	1444
9232	0.57	366.3	359.6	10.2	927	9233	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	1588	1438
9544	0.62	366.3	325.7	10.6	957	9547	0.00	2.15	0.00	0.000	4	0.000	0.054	2929	203	1437
9612	0.74	380.2	319.0	9.5	963	9631	0.10	2.08	10.60	0.878	6	0.063	0.041	2985	1555	1396
9946	0.59	380.2	263.7	17.0	1014	9953	0.20	2.17	0.00	0.000	4	0.153	0.044	2930	2987	1393
9967	0.52	380.2	260.6	14.8	1018	9974	0.00	2.20	0.00	0.000	6	0.000	0.041	2930	1554	1393
10294	0.73	455.8	231.9	7.4	1079	10362	0.15	0.00	64.57	0.901	6	0.069	0.000	2999	1554	1088
10682	0.57	455.8	155.7	19.3	1150	10688	0.25	2.22	0.00	0.000	4	0.148	0.043	2927	2991	1078
10730	0.71	455.8	149.0	11.1	1159	10738	0.08	2.20	0.00	0.000	6	0.064	0.039	2981	1560	1078
11058	0.71	455.8	101.8	15.6	1220	11064	0.00	2.10	0.00	0.000	4	0.000	0.051	2985	212	1077
11101	0.71	455.8	94.6	16.7	1228	11107	0.00	2.05	0.00	0.000	6	0.000	0.039	2985	1557	1076
11427	0.90	487.0	54.5	8.9	1289	11459	0.12	2.15	25.33	0.743	4	0.065	0.051	3056	208	960
11517	0.90	487.0	41.4	15.7	1305	11524	0.00	2.08	0.00	0.000	6	0.000	0.037	3056	1562	957
11756	end climb: SURFACE_DEPTH_REACHED
state	11756	begin surface coast
11773	end surface coast: CONTROL_FINISHED_OK
state	11773	begin surface