Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 645 * 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 645 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 103 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 -2 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 -22007.033 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 -22007.033

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 -2

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 103 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 41 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 645 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 074426,2535.723,12250.169,35,4.6,54,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.67 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -64.0 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 075202,2535.802,12250.096,10,1.3,10,-3.7 MHEAD_RNG_PITCHd_Wd 132.5,76666,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 889

Post-dive calculations and measurements:

FINISH 1.9,0.999322 _24V_AH 23.2,110.478

SM_CCo 12307,62.25,0.646,0,0,1595,475.15 _10V_AH 10.5,57.578

SM_GC 2.90,0.00,0.00,62.25,0.000,0.000,0.646,138,2462,1595,-7.63,2.23,475.15 DATA_FILE_SIZE 63283,1183

IRIDIUM_FIX 2527.05,12249.71,301198,040420 CAP_FILE_SIZE 136904,0

TT8_MAMPS 0.029146 CFSIZE 260165632,175861760

HUMID 1866 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.37536 CURRENT 0.241,272.4,1

TCM_TEMP 24.50 GPS 050909,111954,2534.908,12249.473,40,1.1,40,-3.7

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 227 144.28 SBE_CT 802 24 446.58

Roll_motor 104 51 123.99 Optode 850 33 651.33

VBD_pump_during_apogee 416 1333 12892.24 WL_BB2F 0 105 0.00

VBD_pump_during_surface 62 645 932.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.20 nil 0 0 0.00

Iridium_during_connect 31 160 118.05 nil 0 0 0.00

Iridium_during_xfer 222 223 1151.74

Transponder_ping 8 420 82.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.57

TT8 2126 19 442.12

LPSleep 7166 2 164.79

TT8_Active 569 19 118.47

TT8_Sampling 2195 39 917.30

TT8_CF8 761 45 366.39

TT8_Kalman 0 81 0.00

Analog_circuits 1693 12 213.34

GPS_charging 0 0 0.00

Compass 2146 8 180.30

RAFOS 0 0 0.00

Transponder 47 30 15.04

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 53 0.00 0.00 -34.70 0.000 2 0.000 0.000 139 2416 2282

59 -1.50 -121.7 3.2 -2.1 6 124 8.05 2.05 -48.67 0.000 4 0.228 0.035 2093 1006 3989

250 -0.76 -121.7 64.4 -41.1 39 257 0.90 2.10 0.00 0.000 6 0.179 0.034 2330 2395 3990

598 -1.12 -121.7 111.5 -14.8 100 605 0.28 2.10 0.00 0.000 4 0.055 0.044 2205 3758 3993

822 -1.05 -121.7 139.7 -13.1 139 829 0.15 1.92 0.00 0.000 6 0.156 0.021 2244 2380 3994

1171 -1.18 -121.7 187.3 -18.4 200 1178 0.12 2.15 0.00 0.000 4 0.074 0.044 2188 3763 3995

1232 -1.01 -121.7 200.8 -23.6 210 1239 0.22 1.90 0.00 0.000 6 0.160 0.022 2250 2411 3996

1585 -1.21 -121.7 257.8 -13.1 271 1591 0.17 2.10 0.00 0.000 4 0.066 0.044 2166 3760 3996

1752 -0.97 -121.7 293.2 -23.2 300 1760 0.35 1.88 0.00 0.000 6 0.163 0.022 2262 2430 3996

2088 -1.26 -121.7 337.2 -11.9 334 2093 0.22 2.08 0.00 0.000 4 0.063 0.045 2166 3754 3996

2281 -1.12 -121.7 375.0 -18.3 350 2287 0.20 1.83 0.00 0.000 6 0.161 0.024 2218 2474 3995

2608 -1.28 -121.7 420.5 -12.9 381 2612 0.15 2.00 0.00 0.000 4 0.071 0.044 2152 3756 3993

2655 -1.16 -121.7 427.9 -16.6 385 2659 0.12 1.85 0.00 0.000 6 0.157 0.022 2202 2477 3993

2986 -1.27 -121.7 472.1 -13.5 416 2990 0.00 2.00 0.00 0.000 4 0.000 0.046 2195 3755 3993

3026 -1.32 -121.7 477.9 -14.4 419 3033 0.12 1.80 0.00 0.000 6 0.078 0.022 2143 2487 3993

3352 -1.27 -121.7 529.8 -14.0 441 3356 0.00 2.00 0.00 0.000 4 0.000 0.047 2137 3761 3990

3415 -1.14 -121.7 541.0 -17.0 443 3421 0.28 1.80 0.00 0.000 6 0.162 0.022 2211 2497 3990

3732 -1.34 -121.7 573.9 -10.4 459 3734 0.20 0.00 0.00 0.000 6 0.067 0.000 2137 2497 3987

4042 -1.29 -121.7 625.4 -17.1 474 4046 0.00 1.98 0.00 0.000 4 0.000 0.047 2127 3756 3985

4166 -1.12 -121.7 649.0 -19.0 479 4172 0.32 1.77 0.00 0.000 6 0.165 0.025 2215 2526 3984

4493 -1.38 -121.7 687.8 -11.7 495 4498 0.20 1.95 0.00 0.000 4 0.069 0.049 2126 3754 3980

4633 -1.22 -121.7 712.4 -19.2 501 4637 0.22 1.75 0.00 0.000 6 0.170 0.026 2184 2554 3980

4971 -1.38 -121.7 755.8 -12.1 517 4976 0.15 1.92 0.00 0.000 4 0.075 0.050 2126 3763 3977

5111 -1.26 -121.7 779.9 -17.7 523 5115 0.17 1.75 0.00 0.000 6 0.174 0.025 2169 2565 3975

5450 -1.37 -121.7 825.2 -12.6 539 5454 0.00 1.90 0.00 0.000 4 0.000 0.051 2165 3740 3973

5484 -1.41 -121.7 830.7 -14.0 540 5488 0.12 1.70 0.00 0.000 6 0.084 0.026 2119 2573 3973

5808 -1.32 -121.7 883.9 -17.0 556 5813 0.12 1.90 0.00 0.000 4 0.174 0.051 2148 3761 3971

5833 end dive: TARGET_DEPTH_EXCEEDED

state 5833 begin apogee

5844 -0.27 0.0 889.6 18.4 557 5941 1.15 0.00 92.12 1.334 6 0.162 0.000 2483 2358 3531

5942 end apogee: CONTROL_FINISHED_OK

state 5942 begin climb

5945 1.50 121.7 895.0 0.0 562 6057 1.58 2.35 103.12 1.294 4 0.051 0.044 3061 3757 3035

6311 0.55 121.7 866.3 15.1 578 6319 1.25 2.03 0.00 0.000 6 0.225 0.021 2763 2360 3030

6630 0.69 230.8 847.2 5.3 594 6728 0.12 2.35 90.05 1.278 4 0.089 0.049 2811 3742 2590

6876 0.59 230.8 816.4 15.7 605 6880 0.17 2.03 0.00 0.000 6 0.188 0.025 2776 2369 2585

7198 0.78 272.6 781.0 10.2 621 7241 0.15 2.28 34.38 1.227 4 0.077 0.049 2833 3750 2419

7389 0.68 272.6 749.3 18.2 629 7393 0.17 2.00 0.00 0.000 6 0.190 0.025 2801 2395 2415

7711 0.80 273.2 704.9 13.2 645 7716 0.12 2.17 0.00 0.000 4 0.084 0.048 2848 3754 2412

7799 0.66 273.2 689.7 18.4 649 7804 0.25 1.98 0.00 0.000 6 0.186 0.025 2794 2401 2412

8127 0.80 273.2 642.6 14.2 665 8132 0.12 2.17 0.00 0.000 4 0.083 0.049 2841 3758 2411

8247 0.69 273.2 621.9 17.2 670 8251 0.17 1.98 0.00 0.000 6 0.188 0.025 2808 2395 2411

8569 0.80 283.1 580.1 12.5 686 8583 0.00 2.20 9.00 1.039 4 0.000 0.050 2808 3741 2376

8648 0.80 283.1 567.9 16.2 689 8651 0.00 1.90 0.00 0.000 6 0.000 0.025 2815 2438 2375

8971 0.90 283.1 516.9 16.6 705 8975 0.15 2.17 0.00 0.000 4 0.078 0.029 2885 985 2374

9016 0.90 283.1 508.7 17.2 707 9020 0.00 2.22 0.00 0.000 6 0.000 0.033 2885 2436 2374

9352 0.81 283.1 445.1 20.5 736 9357 0.15 2.20 0.00 0.000 4 0.186 0.028 2855 985 2374

9426 0.92 283.1 429.3 19.3 742 9430 0.00 2.20 0.00 0.000 6 0.000 0.033 2855 2422 2373

9756 0.92 283.1 366.9 18.2 772 9760 0.00 2.10 0.00 0.000 4 0.000 0.051 2855 3751 2372

9971 0.83 283.1 322.3 20.4 791 9975 0.00 1.88 0.00 0.000 6 0.000 0.025 2865 2461 2372

10312 0.83 283.1 259.9 16.7 841 10317 0.00 2.05 0.00 0.000 4 0.000 0.049 2865 3750 2372

10360 0.73 283.1 251.3 17.6 849 10366 0.22 1.85 0.00 0.000 6 0.183 0.025 2815 2464 2371

10707 0.88 283.1 205.1 15.4 910 10713 0.15 2.05 0.00 0.000 4 0.079 0.048 2875 3750 2371

10766 0.76 283.1 193.6 21.6 920 10774 0.15 1.85 0.00 0.000 6 0.179 0.023 2830 2478 2371

11116 0.90 283.1 135.3 14.7 981 11123 0.12 2.03 0.00 0.000 4 0.083 0.046 2880 3755 2371

11148 0.82 283.1 129.6 18.1 986 11154 0.17 1.83 0.00 0.000 6 0.185 0.023 2846 2471 2371

11496 0.97 325.2 89.3 10.1 1047 11533 0.15 0.00 33.72 0.756 6 0.077 0.000 2906 2468 2205

11877 1.17 372.1 33.6 9.8 1113 11925 0.15 2.10 37.58 0.700 4 0.078 0.048 2966 3751 2012

12183 1.09 392.5 11.0 11.7 1166 12207 0.17 1.83 16.65 0.641 6 0.186 0.022 2933 2466 1929

12250 end climb: SURFACE_DEPTH_REACHED

state 12251 begin surface coast

12285 end surface coast: CONTROL_FINISHED_OK

state 12285 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	645	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	103	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	-2	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	-22007.033	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	074426,2535.723,12250.169,35,4.6,54,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.67	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-64.0	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	075202,2535.802,12250.096,10,1.3,10,-3.7	MHEAD_RNG_PITCHd_Wd	132.5,76666,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	889

FINISH	1.9,0.999322	_24V_AH	23.2,110.478
SM_CCo	12307,62.25,0.646,0,0,1595,475.15	_10V_AH	10.5,57.578
SM_GC	2.90,0.00,0.00,62.25,0.000,0.000,0.646,138,2462,1595,-7.63,2.23,475.15	DATA_FILE_SIZE	63283,1183
IRIDIUM_FIX	2527.05,12249.71,301198,040420	CAP_FILE_SIZE	136904,0
TT8_MAMPS	0.029146	CFSIZE	260165632,175861760
HUMID	1866	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.37536	CURRENT	0.241,272.4,1
TCM_TEMP	24.50	GPS	050909,111954,2534.908,12249.473,40,1.1,40,-3.7
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	227	144.28	SBE_CT	802	24	446.58
Roll_motor	104	51	123.99	Optode	850	33	651.33
VBD_pump_during_apogee	416	1333	12892.24	WL_BB2F	0	105	0.00
VBD_pump_during_surface	62	645	932.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.20	nil	0	0	0.00
Iridium_during_connect	31	160	118.05	nil	0	0	0.00
Iridium_during_xfer	222	223	1151.74
Transponder_ping	8	420	82.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.57
TT8	2126	19	442.12
LPSleep	7166	2	164.79
TT8_Active	569	19	118.47
TT8_Sampling	2195	39	917.30
TT8_CF8	761	45	366.39
TT8_Kalman	0	81	0.00
Analog_circuits	1693	12	213.34
GPS_charging	0	0	0.00
Compass	2146	8	180.30
RAFOS	0	0	0.00
Transponder	47	30	15.04

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	53	0.00	0.00	-34.70	0.000	2	0.000	0.000	139	2416	2282
59	-1.50	-121.7	3.2	-2.1	6	124	8.05	2.05	-48.67	0.000	4	0.228	0.035	2093	1006	3989
250	-0.76	-121.7	64.4	-41.1	39	257	0.90	2.10	0.00	0.000	6	0.179	0.034	2330	2395	3990
598	-1.12	-121.7	111.5	-14.8	100	605	0.28	2.10	0.00	0.000	4	0.055	0.044	2205	3758	3993
822	-1.05	-121.7	139.7	-13.1	139	829	0.15	1.92	0.00	0.000	6	0.156	0.021	2244	2380	3994
1171	-1.18	-121.7	187.3	-18.4	200	1178	0.12	2.15	0.00	0.000	4	0.074	0.044	2188	3763	3995
1232	-1.01	-121.7	200.8	-23.6	210	1239	0.22	1.90	0.00	0.000	6	0.160	0.022	2250	2411	3996
1585	-1.21	-121.7	257.8	-13.1	271	1591	0.17	2.10	0.00	0.000	4	0.066	0.044	2166	3760	3996
1752	-0.97	-121.7	293.2	-23.2	300	1760	0.35	1.88	0.00	0.000	6	0.163	0.022	2262	2430	3996
2088	-1.26	-121.7	337.2	-11.9	334	2093	0.22	2.08	0.00	0.000	4	0.063	0.045	2166	3754	3996
2281	-1.12	-121.7	375.0	-18.3	350	2287	0.20	1.83	0.00	0.000	6	0.161	0.024	2218	2474	3995
2608	-1.28	-121.7	420.5	-12.9	381	2612	0.15	2.00	0.00	0.000	4	0.071	0.044	2152	3756	3993
2655	-1.16	-121.7	427.9	-16.6	385	2659	0.12	1.85	0.00	0.000	6	0.157	0.022	2202	2477	3993
2986	-1.27	-121.7	472.1	-13.5	416	2990	0.00	2.00	0.00	0.000	4	0.000	0.046	2195	3755	3993
3026	-1.32	-121.7	477.9	-14.4	419	3033	0.12	1.80	0.00	0.000	6	0.078	0.022	2143	2487	3993
3352	-1.27	-121.7	529.8	-14.0	441	3356	0.00	2.00	0.00	0.000	4	0.000	0.047	2137	3761	3990
3415	-1.14	-121.7	541.0	-17.0	443	3421	0.28	1.80	0.00	0.000	6	0.162	0.022	2211	2497	3990
3732	-1.34	-121.7	573.9	-10.4	459	3734	0.20	0.00	0.00	0.000	6	0.067	0.000	2137	2497	3987
4042	-1.29	-121.7	625.4	-17.1	474	4046	0.00	1.98	0.00	0.000	4	0.000	0.047	2127	3756	3985
4166	-1.12	-121.7	649.0	-19.0	479	4172	0.32	1.77	0.00	0.000	6	0.165	0.025	2215	2526	3984
4493	-1.38	-121.7	687.8	-11.7	495	4498	0.20	1.95	0.00	0.000	4	0.069	0.049	2126	3754	3980
4633	-1.22	-121.7	712.4	-19.2	501	4637	0.22	1.75	0.00	0.000	6	0.170	0.026	2184	2554	3980
4971	-1.38	-121.7	755.8	-12.1	517	4976	0.15	1.92	0.00	0.000	4	0.075	0.050	2126	3763	3977
5111	-1.26	-121.7	779.9	-17.7	523	5115	0.17	1.75	0.00	0.000	6	0.174	0.025	2169	2565	3975
5450	-1.37	-121.7	825.2	-12.6	539	5454	0.00	1.90	0.00	0.000	4	0.000	0.051	2165	3740	3973
5484	-1.41	-121.7	830.7	-14.0	540	5488	0.12	1.70	0.00	0.000	6	0.084	0.026	2119	2573	3973
5808	-1.32	-121.7	883.9	-17.0	556	5813	0.12	1.90	0.00	0.000	4	0.174	0.051	2148	3761	3971
5833	end dive: TARGET_DEPTH_EXCEEDED
state	5833	begin apogee
5844	-0.27	0.0	889.6	18.4	557	5941	1.15	0.00	92.12	1.334	6	0.162	0.000	2483	2358	3531
5942	end apogee: CONTROL_FINISHED_OK
state	5942	begin climb
5945	1.50	121.7	895.0	0.0	562	6057	1.58	2.35	103.12	1.294	4	0.051	0.044	3061	3757	3035
6311	0.55	121.7	866.3	15.1	578	6319	1.25	2.03	0.00	0.000	6	0.225	0.021	2763	2360	3030
6630	0.69	230.8	847.2	5.3	594	6728	0.12	2.35	90.05	1.278	4	0.089	0.049	2811	3742	2590
6876	0.59	230.8	816.4	15.7	605	6880	0.17	2.03	0.00	0.000	6	0.188	0.025	2776	2369	2585
7198	0.78	272.6	781.0	10.2	621	7241	0.15	2.28	34.38	1.227	4	0.077	0.049	2833	3750	2419
7389	0.68	272.6	749.3	18.2	629	7393	0.17	2.00	0.00	0.000	6	0.190	0.025	2801	2395	2415
7711	0.80	273.2	704.9	13.2	645	7716	0.12	2.17	0.00	0.000	4	0.084	0.048	2848	3754	2412
7799	0.66	273.2	689.7	18.4	649	7804	0.25	1.98	0.00	0.000	6	0.186	0.025	2794	2401	2412
8127	0.80	273.2	642.6	14.2	665	8132	0.12	2.17	0.00	0.000	4	0.083	0.049	2841	3758	2411
8247	0.69	273.2	621.9	17.2	670	8251	0.17	1.98	0.00	0.000	6	0.188	0.025	2808	2395	2411
8569	0.80	283.1	580.1	12.5	686	8583	0.00	2.20	9.00	1.039	4	0.000	0.050	2808	3741	2376
8648	0.80	283.1	567.9	16.2	689	8651	0.00	1.90	0.00	0.000	6	0.000	0.025	2815	2438	2375
8971	0.90	283.1	516.9	16.6	705	8975	0.15	2.17	0.00	0.000	4	0.078	0.029	2885	985	2374
9016	0.90	283.1	508.7	17.2	707	9020	0.00	2.22	0.00	0.000	6	0.000	0.033	2885	2436	2374
9352	0.81	283.1	445.1	20.5	736	9357	0.15	2.20	0.00	0.000	4	0.186	0.028	2855	985	2374
9426	0.92	283.1	429.3	19.3	742	9430	0.00	2.20	0.00	0.000	6	0.000	0.033	2855	2422	2373
9756	0.92	283.1	366.9	18.2	772	9760	0.00	2.10	0.00	0.000	4	0.000	0.051	2855	3751	2372
9971	0.83	283.1	322.3	20.4	791	9975	0.00	1.88	0.00	0.000	6	0.000	0.025	2865	2461	2372
10312	0.83	283.1	259.9	16.7	841	10317	0.00	2.05	0.00	0.000	4	0.000	0.049	2865	3750	2372
10360	0.73	283.1	251.3	17.6	849	10366	0.22	1.85	0.00	0.000	6	0.183	0.025	2815	2464	2371
10707	0.88	283.1	205.1	15.4	910	10713	0.15	2.05	0.00	0.000	4	0.079	0.048	2875	3750	2371
10766	0.76	283.1	193.6	21.6	920	10774	0.15	1.85	0.00	0.000	6	0.179	0.023	2830	2478	2371
11116	0.90	283.1	135.3	14.7	981	11123	0.12	2.03	0.00	0.000	4	0.083	0.046	2880	3755	2371
11148	0.82	283.1	129.6	18.1	986	11154	0.17	1.83	0.00	0.000	6	0.185	0.023	2846	2471	2371
11496	0.97	325.2	89.3	10.1	1047	11533	0.15	0.00	33.72	0.756	6	0.077	0.000	2906	2468	2205
11877	1.17	372.1	33.6	9.8	1113	11925	0.15	2.10	37.58	0.700	4	0.078	0.048	2966	3751	2012
12183	1.09	392.5	11.0	11.7	1166	12207	0.17	1.83	16.65	0.641	6	0.186	0.022	2933	2466	1929
12250	end climb: SURFACE_DEPTH_REACHED
state	12251	begin surface coast
12285	end surface coast: CONTROL_FINISHED_OK
state	12285	begin surface