Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 611 * 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 611 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 2383 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2365 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 475 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 83 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 53 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 250 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 300 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 10 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 -21333.361 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 5 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 125 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 2580 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 18.5 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 475

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 18.5 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 250

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

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 -21333.361

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 300

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 5

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 2580 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 83 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 53 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 611 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 125801,2459.255,12305.076,40,1.7,41,-3.6 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.77 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -69.0 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 130528,2459.407,12305.166,11,99.0,30,-3.6 MHEAD_RNG_PITCHd_Wd 223.9,4844,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1745

Post-dive calculations and measurements:

FINISH 1.9,1.008481 _24V_AH 23.1,105.251

SM_CCo 13608,51.20,0.608,0,0,1594,475.15 _10V_AH 10.5,55.009

SM_GC 3.10,0.00,0.00,51.20,0.000,0.000,0.608,139,2410,1594,-7.63,0.76,475.15 DATA_FILE_SIZE 66331,1257

IRIDIUM_FIX 2451.31,12301.83,251198,090938 CAP_FILE_SIZE 143938,0

TT8_MAMPS 0.029146 CFSIZE 260165632,178171904

HUMID 1728 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.43396 CURRENT 0.333, 56.8,1

TCM_TEMP 25.90 GPS 310809,165455,2459.654,12306.225,43,1.2,43,-3.6

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 229 143.30 SBE_CT 848 24 470.61

Roll_motor 105 49 121.59 Optode 882 33 672.93

VBD_pump_during_apogee 438 1372 13904.67 WL_BB2F 0 105 0.00

VBD_pump_during_surface 51 608 719.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.33 nil 0 0 0.00

Iridium_during_connect 33 160 122.93 nil 0 0 0.00

Iridium_during_xfer 192 223 989.92

Transponder_ping 10 420 101.87

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.95

TT8 2262 19 470.34

LPSleep 8128 2 186.91

TT8_Active 587 19 122.20

TT8_Sampling 2381 39 995.40

TT8_CF8 738 45 355.06

TT8_Kalman 0 81 0.00

Analog_circuits 1781 12 224.41

GPS_charging 0 0 0.00

Compass 2307 8 193.87

RAFOS 0 0 0.00

Transponder 54 30 17.15

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

16 -1.50 -121.7 0.0 0.0 0 47 0.00 0.00 -29.05 0.000 2 0.000 0.000 139 2400 2339

53 -1.50 -121.7 3.4 -2.5 5 117 8.05 2.12 -47.67 0.000 4 0.229 0.036 2091 983 3990

218 -0.90 -121.7 50.1 -35.9 33 225 0.75 2.10 0.00 0.000 6 0.188 0.031 2281 2380 3991

566 -0.90 -121.7 118.2 -16.3 94 572 0.00 2.10 0.00 0.000 4 0.000 0.044 2273 3754 3993

790 -1.05 -121.7 153.0 -13.0 133 796 0.00 1.88 0.00 0.000 6 0.000 0.022 2273 2401 3994

1136 -1.23 -121.7 198.6 -11.9 194 1143 0.20 2.10 0.00 0.000 4 0.062 0.044 2178 3751 3996

1308 -1.06 -121.7 234.6 -20.0 224 1315 0.22 1.80 0.00 0.000 6 0.157 0.022 2239 2460 3996

1657 -1.19 -121.7 290.2 -15.0 285 1664 0.12 2.00 0.00 0.000 4 0.074 0.042 2179 3755 3996

1835 -1.11 -121.7 321.7 -17.1 305 1841 0.15 1.75 0.00 0.000 6 0.163 0.022 2217 2507 3996

2161 -1.24 -121.7 365.0 -13.5 336 2162 0.10 0.00 0.00 0.000 6 0.082 0.000 2174 2506 3996

2478 -1.24 -121.7 421.4 -17.5 366 2482 0.00 1.95 0.00 0.000 4 0.000 0.045 2168 3752 3996

2652 -1.19 -121.7 452.2 -17.4 381 2656 0.00 1.80 0.00 0.000 6 0.000 0.022 2168 2488 3996

2996 -1.19 -121.7 503.3 -13.2 412 2999 0.00 1.98 0.00 0.000 4 0.000 0.046 2165 3758 3995

3194 -1.19 -121.7 532.1 -14.3 420 3202 0.12 1.77 0.00 0.000 6 0.164 0.024 2195 2513 3994

3512 -1.38 -121.7 569.0 -11.5 436 3516 0.17 1.95 0.00 0.000 4 0.070 0.047 2126 3758 3993

3662 -1.29 -121.7 592.7 -16.6 442 3666 0.15 1.75 0.00 0.000 6 0.170 0.025 2163 2530 3991

3984 -1.37 -121.7 638.3 -13.7 458 3987 0.00 1.92 0.00 0.000 4 0.000 0.050 2164 3756 3990

4087 -1.44 -121.7 652.8 -14.0 462 4091 0.10 1.75 0.00 0.000 6 0.067 0.024 2115 2558 3988

4409 -1.36 -121.7 708.2 -17.5 478 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2557 3986

4720 -1.28 -121.7 762.2 -17.3 493 4724 0.17 1.90 0.00 0.000 4 0.168 0.050 2165 3754 3983

4793 -1.37 -121.7 773.5 -13.9 496 4797 0.00 1.73 0.00 0.000 6 0.000 0.025 2165 2561 3982

5121 -1.50 -121.7 816.4 -13.7 512 5125 0.17 1.88 0.00 0.000 4 0.078 0.048 2085 3748 3980

5319 -1.27 -121.7 855.9 -20.7 520 5326 0.30 1.67 0.00 0.000 6 0.179 0.025 2164 2584 3978

5637 -1.40 -121.7 898.7 -12.7 536 5641 0.00 1.85 0.00 0.000 4 0.000 0.049 2157 3759 3975

5799 -1.48 -121.7 920.9 -13.3 543 5803 0.15 1.70 0.00 0.000 6 0.081 0.027 2100 2593 3973

6137 -1.39 -121.7 974.0 -15.8 559 6142 0.12 2.30 0.00 0.000 4 0.181 0.024 2130 1030 3971

6160 -1.39 -121.7 978.3 -15.1 560 6165 0.00 2.35 0.00 0.000 6 0.000 0.035 2126 2556 3971

6258 end dive: TARGET_DEPTH_EXCEEDED

state 6258 begin apogee

6267 -0.27 0.0 992.2 14.0 565 6371 1.25 0.00 95.88 1.372 6 0.163 0.000 2485 2416 3532

6372 end apogee: CONTROL_FINISHED_OK

state 6372 begin climb

6377 1.50 121.7 996.1 0.0 570 6490 1.60 2.22 105.00 1.357 4 0.054 0.046 3066 3761 3033

6626 0.51 121.7 982.3 18.8 581 6631 1.33 2.03 0.00 0.000 6 0.226 0.025 2749 2385 3030

6944 0.60 196.4 954.1 7.8 596 7011 0.00 2.22 62.03 1.333 4 0.000 0.029 2758 981 2730

7094 0.81 225.9 939.5 11.1 602 7126 0.25 2.12 26.33 1.279 6 0.072 0.032 2850 2351 2611

7453 0.70 225.9 881.1 16.4 620 7455 0.17 0.00 0.00 0.000 6 0.183 0.000 2806 2352 2605

7758 0.70 225.9 835.9 14.6 635 7761 0.00 2.22 0.00 0.000 4 0.000 0.050 2806 3765 2603

7866 0.58 225.9 818.1 17.2 639 7875 0.17 2.08 0.00 0.000 6 0.184 0.027 2770 2352 2602

8183 0.72 225.9 774.7 14.0 655 8188 0.12 2.25 0.00 0.000 4 0.086 0.050 2818 3761 2601

8381 0.57 225.9 737.4 20.5 664 8386 0.25 2.05 0.00 0.000 6 0.184 0.028 2762 2375 2600

8709 0.73 225.9 690.4 13.8 680 8713 0.15 2.10 0.00 0.000 4 0.078 0.031 2825 967 2599

8751 0.73 225.9 684.2 15.9 682 8754 0.00 2.17 0.00 0.000 6 0.000 0.034 2825 2385 2599

9085 0.73 225.9 630.1 15.7 698 9089 0.00 2.15 0.00 0.000 4 0.000 0.031 2825 968 2598

9118 0.73 225.9 624.6 16.0 699 9122 0.00 2.17 0.00 0.000 6 0.000 0.034 2825 2392 2599

9442 0.73 225.9 574.9 15.6 715 9443 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2392 2598

9750 0.73 225.9 527.1 14.8 730 9754 0.00 2.15 0.00 0.000 4 0.000 0.050 2825 3756 2597

9846 0.59 225.9 510.6 17.3 734 9851 0.22 2.03 0.00 0.000 6 0.188 0.025 2774 2366 2596

10175 0.79 254.8 471.3 11.1 761 10202 0.17 2.25 21.80 1.052 4 0.077 0.048 2848 3758 2492

10458 0.64 254.8 423.7 17.7 785 10465 0.28 1.98 0.00 0.000 6 0.187 0.025 2787 2407 2489

10784 0.83 258.8 379.6 12.9 816 10796 0.17 2.15 4.32 0.712 4 0.075 0.050 2863 3756 2477

10845 0.65 258.8 369.7 17.4 821 10849 0.30 2.00 0.00 0.000 6 0.188 0.024 2795 2401 2476

11177 0.86 269.2 324.5 12.4 852 11193 0.17 2.17 10.68 0.881 4 0.078 0.049 2863 3758 2433

11449 0.72 269.2 278.6 19.0 886 11456 0.22 1.90 0.00 0.000 6 0.183 0.025 2814 2439 2432

11797 0.91 277.8 234.2 12.6 947 11816 0.17 2.15 8.50 0.775 4 0.075 0.048 2892 3754 2398

11859 0.74 277.8 223.9 17.8 957 11866 0.30 1.90 0.00 0.000 6 0.184 0.024 2822 2433 2398

12208 0.97 308.2 178.0 11.0 1018 12240 0.17 2.22 25.85 0.789 4 0.072 0.027 2907 982 2275

12304 1.02 308.2 164.1 14.1 1034 12310 0.00 2.25 0.00 0.000 6 0.000 0.031 2908 2454 2272

12651 1.02 308.2 111.8 15.1 1095 12656 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2454 2271

12997 1.15 356.3 73.7 9.7 1156 13044 0.12 2.10 38.60 0.686 4 0.080 0.048 2964 3761 2078

13124 1.02 356.3 54.7 15.8 1177 13131 0.25 1.92 0.00 0.000 6 0.179 0.022 2909 2417 2074

13473 1.30 406.3 15.1 9.6 1238 13521 0.22 2.12 39.70 0.620 4 0.064 0.025 3015 983 1874

13560 end climb: SURFACE_DEPTH_REACHED

state 13560 begin surface coast

13585 end surface coast: CONTROL_FINISHED_OK

state 13585 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	611	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	2383	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2365	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	475	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	83	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	53	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	250	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	300	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	10	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	-21333.361	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	5	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	125	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	2580	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	18.5	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	125801,2459.255,12305.076,40,1.7,41,-3.6	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.77	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-69.0	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	130528,2459.407,12305.166,11,99.0,30,-3.6	MHEAD_RNG_PITCHd_Wd	223.9,4844,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1745

FINISH	1.9,1.008481	_24V_AH	23.1,105.251
SM_CCo	13608,51.20,0.608,0,0,1594,475.15	_10V_AH	10.5,55.009
SM_GC	3.10,0.00,0.00,51.20,0.000,0.000,0.608,139,2410,1594,-7.63,0.76,475.15	DATA_FILE_SIZE	66331,1257
IRIDIUM_FIX	2451.31,12301.83,251198,090938	CAP_FILE_SIZE	143938,0
TT8_MAMPS	0.029146	CFSIZE	260165632,178171904
HUMID	1728	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.43396	CURRENT	0.333, 56.8,1
TCM_TEMP	25.90	GPS	310809,165455,2459.654,12306.225,43,1.2,43,-3.6
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	229	143.30	SBE_CT	848	24	470.61
Roll_motor	105	49	121.59	Optode	882	33	672.93
VBD_pump_during_apogee	438	1372	13904.67	WL_BB2F	0	105	0.00
VBD_pump_during_surface	51	608	719.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.33	nil	0	0	0.00
Iridium_during_connect	33	160	122.93	nil	0	0	0.00
Iridium_during_xfer	192	223	989.92
Transponder_ping	10	420	101.87
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.95
TT8	2262	19	470.34
LPSleep	8128	2	186.91
TT8_Active	587	19	122.20
TT8_Sampling	2381	39	995.40
TT8_CF8	738	45	355.06
TT8_Kalman	0	81	0.00
Analog_circuits	1781	12	224.41
GPS_charging	0	0	0.00
Compass	2307	8	193.87
RAFOS	0	0	0.00
Transponder	54	30	17.15

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
16	-1.50	-121.7	0.0	0.0	0	47	0.00	0.00	-29.05	0.000	2	0.000	0.000	139	2400	2339
53	-1.50	-121.7	3.4	-2.5	5	117	8.05	2.12	-47.67	0.000	4	0.229	0.036	2091	983	3990
218	-0.90	-121.7	50.1	-35.9	33	225	0.75	2.10	0.00	0.000	6	0.188	0.031	2281	2380	3991
566	-0.90	-121.7	118.2	-16.3	94	572	0.00	2.10	0.00	0.000	4	0.000	0.044	2273	3754	3993
790	-1.05	-121.7	153.0	-13.0	133	796	0.00	1.88	0.00	0.000	6	0.000	0.022	2273	2401	3994
1136	-1.23	-121.7	198.6	-11.9	194	1143	0.20	2.10	0.00	0.000	4	0.062	0.044	2178	3751	3996
1308	-1.06	-121.7	234.6	-20.0	224	1315	0.22	1.80	0.00	0.000	6	0.157	0.022	2239	2460	3996
1657	-1.19	-121.7	290.2	-15.0	285	1664	0.12	2.00	0.00	0.000	4	0.074	0.042	2179	3755	3996
1835	-1.11	-121.7	321.7	-17.1	305	1841	0.15	1.75	0.00	0.000	6	0.163	0.022	2217	2507	3996
2161	-1.24	-121.7	365.0	-13.5	336	2162	0.10	0.00	0.00	0.000	6	0.082	0.000	2174	2506	3996
2478	-1.24	-121.7	421.4	-17.5	366	2482	0.00	1.95	0.00	0.000	4	0.000	0.045	2168	3752	3996
2652	-1.19	-121.7	452.2	-17.4	381	2656	0.00	1.80	0.00	0.000	6	0.000	0.022	2168	2488	3996
2996	-1.19	-121.7	503.3	-13.2	412	2999	0.00	1.98	0.00	0.000	4	0.000	0.046	2165	3758	3995
3194	-1.19	-121.7	532.1	-14.3	420	3202	0.12	1.77	0.00	0.000	6	0.164	0.024	2195	2513	3994
3512	-1.38	-121.7	569.0	-11.5	436	3516	0.17	1.95	0.00	0.000	4	0.070	0.047	2126	3758	3993
3662	-1.29	-121.7	592.7	-16.6	442	3666	0.15	1.75	0.00	0.000	6	0.170	0.025	2163	2530	3991
3984	-1.37	-121.7	638.3	-13.7	458	3987	0.00	1.92	0.00	0.000	4	0.000	0.050	2164	3756	3990
4087	-1.44	-121.7	652.8	-14.0	462	4091	0.10	1.75	0.00	0.000	6	0.067	0.024	2115	2558	3988
4409	-1.36	-121.7	708.2	-17.5	478	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	2557	3986
4720	-1.28	-121.7	762.2	-17.3	493	4724	0.17	1.90	0.00	0.000	4	0.168	0.050	2165	3754	3983
4793	-1.37	-121.7	773.5	-13.9	496	4797	0.00	1.73	0.00	0.000	6	0.000	0.025	2165	2561	3982
5121	-1.50	-121.7	816.4	-13.7	512	5125	0.17	1.88	0.00	0.000	4	0.078	0.048	2085	3748	3980
5319	-1.27	-121.7	855.9	-20.7	520	5326	0.30	1.67	0.00	0.000	6	0.179	0.025	2164	2584	3978
5637	-1.40	-121.7	898.7	-12.7	536	5641	0.00	1.85	0.00	0.000	4	0.000	0.049	2157	3759	3975
5799	-1.48	-121.7	920.9	-13.3	543	5803	0.15	1.70	0.00	0.000	6	0.081	0.027	2100	2593	3973
6137	-1.39	-121.7	974.0	-15.8	559	6142	0.12	2.30	0.00	0.000	4	0.181	0.024	2130	1030	3971
6160	-1.39	-121.7	978.3	-15.1	560	6165	0.00	2.35	0.00	0.000	6	0.000	0.035	2126	2556	3971
6258	end dive: TARGET_DEPTH_EXCEEDED
state	6258	begin apogee
6267	-0.27	0.0	992.2	14.0	565	6371	1.25	0.00	95.88	1.372	6	0.163	0.000	2485	2416	3532
6372	end apogee: CONTROL_FINISHED_OK
state	6372	begin climb
6377	1.50	121.7	996.1	0.0	570	6490	1.60	2.22	105.00	1.357	4	0.054	0.046	3066	3761	3033
6626	0.51	121.7	982.3	18.8	581	6631	1.33	2.03	0.00	0.000	6	0.226	0.025	2749	2385	3030
6944	0.60	196.4	954.1	7.8	596	7011	0.00	2.22	62.03	1.333	4	0.000	0.029	2758	981	2730
7094	0.81	225.9	939.5	11.1	602	7126	0.25	2.12	26.33	1.279	6	0.072	0.032	2850	2351	2611
7453	0.70	225.9	881.1	16.4	620	7455	0.17	0.00	0.00	0.000	6	0.183	0.000	2806	2352	2605
7758	0.70	225.9	835.9	14.6	635	7761	0.00	2.22	0.00	0.000	4	0.000	0.050	2806	3765	2603
7866	0.58	225.9	818.1	17.2	639	7875	0.17	2.08	0.00	0.000	6	0.184	0.027	2770	2352	2602
8183	0.72	225.9	774.7	14.0	655	8188	0.12	2.25	0.00	0.000	4	0.086	0.050	2818	3761	2601
8381	0.57	225.9	737.4	20.5	664	8386	0.25	2.05	0.00	0.000	6	0.184	0.028	2762	2375	2600
8709	0.73	225.9	690.4	13.8	680	8713	0.15	2.10	0.00	0.000	4	0.078	0.031	2825	967	2599
8751	0.73	225.9	684.2	15.9	682	8754	0.00	2.17	0.00	0.000	6	0.000	0.034	2825	2385	2599
9085	0.73	225.9	630.1	15.7	698	9089	0.00	2.15	0.00	0.000	4	0.000	0.031	2825	968	2598
9118	0.73	225.9	624.6	16.0	699	9122	0.00	2.17	0.00	0.000	6	0.000	0.034	2825	2392	2599
9442	0.73	225.9	574.9	15.6	715	9443	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2392	2598
9750	0.73	225.9	527.1	14.8	730	9754	0.00	2.15	0.00	0.000	4	0.000	0.050	2825	3756	2597
9846	0.59	225.9	510.6	17.3	734	9851	0.22	2.03	0.00	0.000	6	0.188	0.025	2774	2366	2596
10175	0.79	254.8	471.3	11.1	761	10202	0.17	2.25	21.80	1.052	4	0.077	0.048	2848	3758	2492
10458	0.64	254.8	423.7	17.7	785	10465	0.28	1.98	0.00	0.000	6	0.187	0.025	2787	2407	2489
10784	0.83	258.8	379.6	12.9	816	10796	0.17	2.15	4.32	0.712	4	0.075	0.050	2863	3756	2477
10845	0.65	258.8	369.7	17.4	821	10849	0.30	2.00	0.00	0.000	6	0.188	0.024	2795	2401	2476
11177	0.86	269.2	324.5	12.4	852	11193	0.17	2.17	10.68	0.881	4	0.078	0.049	2863	3758	2433
11449	0.72	269.2	278.6	19.0	886	11456	0.22	1.90	0.00	0.000	6	0.183	0.025	2814	2439	2432
11797	0.91	277.8	234.2	12.6	947	11816	0.17	2.15	8.50	0.775	4	0.075	0.048	2892	3754	2398
11859	0.74	277.8	223.9	17.8	957	11866	0.30	1.90	0.00	0.000	6	0.184	0.024	2822	2433	2398
12208	0.97	308.2	178.0	11.0	1018	12240	0.17	2.22	25.85	0.789	4	0.072	0.027	2907	982	2275
12304	1.02	308.2	164.1	14.1	1034	12310	0.00	2.25	0.00	0.000	6	0.000	0.031	2908	2454	2272
12651	1.02	308.2	111.8	15.1	1095	12656	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2454	2271
12997	1.15	356.3	73.7	9.7	1156	13044	0.12	2.10	38.60	0.686	4	0.080	0.048	2964	3761	2078
13124	1.02	356.3	54.7	15.8	1177	13131	0.25	1.92	0.00	0.000	6	0.179	0.022	2909	2417	2074
13473	1.30	406.3	15.1	9.6	1238	13521	0.22	2.12	39.70	0.620	4	0.064	0.025	3015	983	1874
13560	end climb: SURFACE_DEPTH_REACHED
state	13560	begin surface coast
13585	end surface coast: CONTROL_FINISHED_OK
state	13585	begin surface