Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 661 * 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 661 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 92 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -22311.457 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 -22311.457

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 92 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 37 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 661 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 173501,2522.561,12255.961,40,1.8,41,-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 2.75 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -67.6 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 174306,2522.833,12256.117,14,1.0,29,-3.7 MHEAD_RNG_PITCHd_Wd 197.2,50670,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1207

Post-dive calculations and measurements:

FINISH 1.9,1.019182 _24V_AH 23.0,113.131

SM_CCo 13299,60.67,0.636,0,0,1595,475.15 _10V_AH 10.5,58.854

SM_GC 2.79,0.00,0.00,60.67,0.000,0.000,0.636,140,2365,1595,-7.63,-0.51,475.15 DATA_FILE_SIZE 63228,1199

IRIDIUM_FIX 2515.12,12254.43,021298,131347 CAP_FILE_SIZE 142517,0

TT8_MAMPS 0.029146 CFSIZE 260165632,174682112

HUMID 1803 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.40466 CURRENT 0.210, 72.2,1

TCM_TEMP 25.40 GPS 070909,212730,2521.737,12257.426,42,0.9,43,-3.7

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 229 147.69 SBE_CT 813 24 448.85

Roll_motor 103 52 123.89 Optode 834 33 633.35

VBD_pump_during_apogee 431 1390 13784.73 WL_BB2F 0 105 0.00

VBD_pump_during_surface 60 635 887.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.68 nil 0 0 0.00

Iridium_during_connect 31 160 115.04 nil 0 0 0.00

Iridium_during_xfer 232 223 1190.40

Transponder_ping 10 420 101.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.76

TT8 2185 19 454.35

LPSleep 7952 2 182.86

TT8_Active 605 19 125.85

TT8_Sampling 2328 39 973.08

TT8_CF8 762 45 366.89

TT8_Kalman 0 81 0.00

Analog_circuits 1760 12 221.86

GPS_charging 0 0 0.00

Compass 2252 8 189.20

RAFOS 0 0 0.00

Transponder 54 30 17.14

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 44 0.00 0.00 -25.45 0.000 2 0.000 0.000 141 2365 2234

50 -1.50 -121.7 3.3 -1.8 4 117 8.07 2.00 -53.30 0.000 4 0.229 0.035 2093 996 3989

255 -0.89 -121.7 68.0 -34.4 39 262 0.75 2.10 0.00 0.000 6 0.179 0.032 2286 2389 3991

603 -1.02 -121.7 125.5 -14.7 100 609 0.00 2.10 0.00 0.000 4 0.000 0.043 2278 3760 3995

838 -1.18 -121.7 158.9 -12.3 141 846 0.22 1.90 0.00 0.000 6 0.060 0.021 2185 2398 3996

1187 -1.06 -121.7 226.3 -20.8 202 1194 0.17 2.12 0.00 0.000 4 0.161 0.042 2222 3764 3997

1328 -1.06 -121.7 254.7 -19.1 226 1333 0.00 1.85 0.00 0.000 6 0.000 0.022 2223 2437 3997

1671 -1.16 -121.7 314.0 -15.4 279 1674 0.00 2.08 0.00 0.000 4 0.000 0.046 2221 3765 3997

1768 -1.21 -121.7 330.2 -17.0 287 1774 0.00 1.85 0.00 0.000 6 0.000 0.023 2221 2458 3997

2095 -1.36 -121.7 382.8 -14.8 318 2099 0.20 2.03 0.00 0.000 4 0.065 0.044 2125 3753 3997

2204 -1.08 -121.7 406.9 -23.5 327 2210 0.38 1.80 0.00 0.000 6 0.166 0.023 2227 2480 3997

2532 -1.28 -121.7 450.4 -12.1 358 2536 0.17 2.00 0.00 0.000 4 0.069 0.047 2152 3757 3996

2667 -1.09 -121.7 475.4 -21.0 369 2674 0.28 1.80 0.00 0.000 6 0.163 0.023 2226 2496 3994

3003 -1.32 -121.7 519.3 -12.9 394 3007 0.20 2.00 0.00 0.000 4 0.071 0.047 2140 3763 3993

3154 -1.16 -121.7 551.8 -22.4 400 3158 0.25 1.77 0.00 0.000 6 0.166 0.024 2205 2530 3991

3476 -1.33 -121.7 608.1 -16.3 416 3480 0.17 1.92 0.00 0.000 4 0.069 0.048 2124 3756 3989

3517 -1.17 -121.7 615.3 -18.6 417 3525 0.30 1.77 0.00 0.000 6 0.169 0.024 2204 2524 3988

3834 -1.33 -121.7 661.0 -14.7 433 3838 0.15 1.95 0.00 0.000 4 0.073 0.049 2146 3750 3985

3979 -1.20 -121.7 688.5 -19.9 439 3983 0.17 1.75 0.00 0.000 6 0.173 0.025 2189 2540 3984

4310 -1.34 -121.7 733.7 -12.4 455 4314 0.12 1.92 0.00 0.000 4 0.077 0.049 2140 3752 3981

4425 -1.22 -121.7 753.2 -18.7 460 4429 0.17 1.73 0.00 0.000 6 0.175 0.025 2182 2565 3980

4762 -1.33 -121.7 800.0 -13.3 476 4766 0.00 1.92 0.00 0.000 4 0.000 0.050 2179 3781 3977

4816 -1.39 -121.7 807.8 -14.7 478 4821 0.15 1.75 0.00 0.000 6 0.077 0.025 2122 2579 3977

5148 -1.27 -121.7 864.7 -17.3 494 5152 0.17 1.88 0.00 0.000 4 0.175 0.048 2165 3751 3974

5265 -1.27 -121.7 882.9 -14.8 499 5269 0.00 1.70 0.00 0.000 6 0.000 0.026 2165 2586 3974

5599 -1.31 -121.7 931.4 -14.4 515 5603 0.00 1.85 0.00 0.000 4 0.000 0.051 2165 3749 3972

5706 -1.31 -121.7 947.4 -14.7 519 5712 0.00 1.65 0.00 0.000 6 0.000 0.025 2165 2613 3971

6019 end dive: TARGET_DEPTH_EXCEEDED

state 6019 begin apogee

6029 -0.27 0.0 991.1 14.8 535 6133 1.12 0.00 95.15 1.391 6 0.156 0.000 2489 2400 3532

6134 end apogee: CONTROL_FINISHED_OK

state 6134 begin climb

6138 1.50 121.7 996.7 0.0 540 6252 1.60 2.33 105.22 1.373 4 0.054 0.046 3066 3751 3034

6389 0.56 121.7 990.9 14.8 551 6395 1.25 2.08 0.00 0.000 6 0.222 0.023 2767 2349 3031

6708 0.65 196.6 964.3 7.8 566 6773 0.00 0.00 62.97 1.351 6 0.000 0.000 2767 2347 2730

7076 0.79 226.7 923.1 11.0 584 7108 0.17 2.30 26.40 1.300 4 0.075 0.049 2838 3748 2608

7161 0.58 226.7 909.7 19.3 588 7165 0.30 2.05 0.00 0.000 6 0.185 0.024 2771 2362 2604

7496 0.75 248.2 870.1 11.6 604 7521 0.15 2.30 18.20 1.259 4 0.081 0.051 2827 3747 2520

7776 0.60 248.2 821.7 17.9 616 7780 0.20 2.00 0.00 0.000 6 0.188 0.025 2779 2393 2516

8093 0.77 260.0 782.2 12.3 631 8109 0.15 2.20 10.88 1.170 4 0.081 0.049 2836 3761 2471

8151 0.62 260.0 772.7 18.4 632 8158 0.25 2.03 0.00 0.000 6 0.185 0.025 2780 2387 2470

8468 0.79 260.0 728.4 13.4 648 8473 0.15 2.20 0.00 0.000 4 0.080 0.050 2837 3755 2469

8655 0.66 260.0 694.0 18.0 656 8659 0.20 1.95 0.00 0.000 6 0.188 0.025 2796 2416 2468

8977 0.78 260.0 650.1 13.9 672 8981 0.10 2.12 0.00 0.000 4 0.092 0.049 2835 3751 2467

9109 0.65 260.0 625.1 21.0 677 9116 0.20 1.95 0.00 0.000 6 0.189 0.025 2795 2413 2467

9426 0.79 260.0 575.7 14.6 693 9430 0.12 2.15 0.00 0.000 4 0.085 0.048 2841 3759 2467

9517 0.64 260.0 558.8 19.7 697 9521 0.25 1.92 0.00 0.000 6 0.186 0.025 2787 2429 2466

9845 0.84 275.9 513.2 12.0 713 9868 0.17 2.17 13.90 1.065 4 0.075 0.051 2862 3744 2407

9981 0.67 275.9 491.2 17.1 720 9987 0.28 1.90 0.00 0.000 6 0.183 0.026 2800 2449 2405

10307 0.82 275.9 446.0 15.4 751 10311 0.12 2.10 0.00 0.000 4 0.084 0.051 2847 3757 2404

10568 0.71 275.9 392.0 21.1 774 10572 0.20 1.85 0.00 0.000 6 0.185 0.025 2807 2475 2404

10901 0.86 280.4 343.3 12.9 805 10914 0.15 2.05 5.32 0.789 4 0.080 0.050 2866 3754 2387

11168 0.73 280.4 294.1 19.3 831 11175 0.22 1.80 0.00 0.000 6 0.181 0.026 2818 2509 2387

11516 0.91 300.1 249.1 11.8 892 11540 0.17 0.00 17.67 0.883 6 0.072 0.000 2893 2507 2307

11882 0.91 300.1 186.7 17.8 956 11888 0.00 1.98 0.00 0.000 4 0.000 0.050 2893 3749 2304

12010 0.78 300.1 161.4 17.0 978 12016 0.25 1.77 0.00 0.000 6 0.179 0.023 2836 2508 2304

12358 1.04 353.1 119.6 9.4 1039 12406 0.17 2.38 42.70 0.775 4 0.071 0.027 2924 980 2091

12426 1.09 353.1 109.8 16.3 1050 12432 0.00 2.35 0.00 0.000 6 0.000 0.032 2924 2495 2088

12774 1.24 393.8 68.3 10.2 1111 12816 0.15 2.03 32.58 0.708 4 0.070 0.049 2985 3749 1924

13073 1.14 393.8 26.4 14.0 1163 13079 0.17 1.77 0.00 0.000 6 0.179 0.023 2951 2499 1919

13253 end climb: SURFACE_DEPTH_REACHED

state 13253 begin surface coast

13277 end surface coast: CONTROL_FINISHED_OK

state 13277 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	661	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	92	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-22311.457	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	173501,2522.561,12255.961,40,1.8,41,-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	2.75	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-67.6	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	174306,2522.833,12256.117,14,1.0,29,-3.7	MHEAD_RNG_PITCHd_Wd	197.2,50670,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1207

FINISH	1.9,1.019182	_24V_AH	23.0,113.131
SM_CCo	13299,60.67,0.636,0,0,1595,475.15	_10V_AH	10.5,58.854
SM_GC	2.79,0.00,0.00,60.67,0.000,0.000,0.636,140,2365,1595,-7.63,-0.51,475.15	DATA_FILE_SIZE	63228,1199
IRIDIUM_FIX	2515.12,12254.43,021298,131347	CAP_FILE_SIZE	142517,0
TT8_MAMPS	0.029146	CFSIZE	260165632,174682112
HUMID	1803	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.40466	CURRENT	0.210, 72.2,1
TCM_TEMP	25.40	GPS	070909,212730,2521.737,12257.426,42,0.9,43,-3.7
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	229	147.69	SBE_CT	813	24	448.85
Roll_motor	103	52	123.89	Optode	834	33	633.35
VBD_pump_during_apogee	431	1390	13784.73	WL_BB2F	0	105	0.00
VBD_pump_during_surface	60	635	887.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.68	nil	0	0	0.00
Iridium_during_connect	31	160	115.04	nil	0	0	0.00
Iridium_during_xfer	232	223	1190.40
Transponder_ping	10	420	101.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.76
TT8	2185	19	454.35
LPSleep	7952	2	182.86
TT8_Active	605	19	125.85
TT8_Sampling	2328	39	973.08
TT8_CF8	762	45	366.89
TT8_Kalman	0	81	0.00
Analog_circuits	1760	12	221.86
GPS_charging	0	0	0.00
Compass	2252	8	189.20
RAFOS	0	0	0.00
Transponder	54	30	17.14

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	44	0.00	0.00	-25.45	0.000	2	0.000	0.000	141	2365	2234
50	-1.50	-121.7	3.3	-1.8	4	117	8.07	2.00	-53.30	0.000	4	0.229	0.035	2093	996	3989
255	-0.89	-121.7	68.0	-34.4	39	262	0.75	2.10	0.00	0.000	6	0.179	0.032	2286	2389	3991
603	-1.02	-121.7	125.5	-14.7	100	609	0.00	2.10	0.00	0.000	4	0.000	0.043	2278	3760	3995
838	-1.18	-121.7	158.9	-12.3	141	846	0.22	1.90	0.00	0.000	6	0.060	0.021	2185	2398	3996
1187	-1.06	-121.7	226.3	-20.8	202	1194	0.17	2.12	0.00	0.000	4	0.161	0.042	2222	3764	3997
1328	-1.06	-121.7	254.7	-19.1	226	1333	0.00	1.85	0.00	0.000	6	0.000	0.022	2223	2437	3997
1671	-1.16	-121.7	314.0	-15.4	279	1674	0.00	2.08	0.00	0.000	4	0.000	0.046	2221	3765	3997
1768	-1.21	-121.7	330.2	-17.0	287	1774	0.00	1.85	0.00	0.000	6	0.000	0.023	2221	2458	3997
2095	-1.36	-121.7	382.8	-14.8	318	2099	0.20	2.03	0.00	0.000	4	0.065	0.044	2125	3753	3997
2204	-1.08	-121.7	406.9	-23.5	327	2210	0.38	1.80	0.00	0.000	6	0.166	0.023	2227	2480	3997
2532	-1.28	-121.7	450.4	-12.1	358	2536	0.17	2.00	0.00	0.000	4	0.069	0.047	2152	3757	3996
2667	-1.09	-121.7	475.4	-21.0	369	2674	0.28	1.80	0.00	0.000	6	0.163	0.023	2226	2496	3994
3003	-1.32	-121.7	519.3	-12.9	394	3007	0.20	2.00	0.00	0.000	4	0.071	0.047	2140	3763	3993
3154	-1.16	-121.7	551.8	-22.4	400	3158	0.25	1.77	0.00	0.000	6	0.166	0.024	2205	2530	3991
3476	-1.33	-121.7	608.1	-16.3	416	3480	0.17	1.92	0.00	0.000	4	0.069	0.048	2124	3756	3989
3517	-1.17	-121.7	615.3	-18.6	417	3525	0.30	1.77	0.00	0.000	6	0.169	0.024	2204	2524	3988
3834	-1.33	-121.7	661.0	-14.7	433	3838	0.15	1.95	0.00	0.000	4	0.073	0.049	2146	3750	3985
3979	-1.20	-121.7	688.5	-19.9	439	3983	0.17	1.75	0.00	0.000	6	0.173	0.025	2189	2540	3984
4310	-1.34	-121.7	733.7	-12.4	455	4314	0.12	1.92	0.00	0.000	4	0.077	0.049	2140	3752	3981
4425	-1.22	-121.7	753.2	-18.7	460	4429	0.17	1.73	0.00	0.000	6	0.175	0.025	2182	2565	3980
4762	-1.33	-121.7	800.0	-13.3	476	4766	0.00	1.92	0.00	0.000	4	0.000	0.050	2179	3781	3977
4816	-1.39	-121.7	807.8	-14.7	478	4821	0.15	1.75	0.00	0.000	6	0.077	0.025	2122	2579	3977
5148	-1.27	-121.7	864.7	-17.3	494	5152	0.17	1.88	0.00	0.000	4	0.175	0.048	2165	3751	3974
5265	-1.27	-121.7	882.9	-14.8	499	5269	0.00	1.70	0.00	0.000	6	0.000	0.026	2165	2586	3974
5599	-1.31	-121.7	931.4	-14.4	515	5603	0.00	1.85	0.00	0.000	4	0.000	0.051	2165	3749	3972
5706	-1.31	-121.7	947.4	-14.7	519	5712	0.00	1.65	0.00	0.000	6	0.000	0.025	2165	2613	3971
6019	end dive: TARGET_DEPTH_EXCEEDED
state	6019	begin apogee
6029	-0.27	0.0	991.1	14.8	535	6133	1.12	0.00	95.15	1.391	6	0.156	0.000	2489	2400	3532
6134	end apogee: CONTROL_FINISHED_OK
state	6134	begin climb
6138	1.50	121.7	996.7	0.0	540	6252	1.60	2.33	105.22	1.373	4	0.054	0.046	3066	3751	3034
6389	0.56	121.7	990.9	14.8	551	6395	1.25	2.08	0.00	0.000	6	0.222	0.023	2767	2349	3031
6708	0.65	196.6	964.3	7.8	566	6773	0.00	0.00	62.97	1.351	6	0.000	0.000	2767	2347	2730
7076	0.79	226.7	923.1	11.0	584	7108	0.17	2.30	26.40	1.300	4	0.075	0.049	2838	3748	2608
7161	0.58	226.7	909.7	19.3	588	7165	0.30	2.05	0.00	0.000	6	0.185	0.024	2771	2362	2604
7496	0.75	248.2	870.1	11.6	604	7521	0.15	2.30	18.20	1.259	4	0.081	0.051	2827	3747	2520
7776	0.60	248.2	821.7	17.9	616	7780	0.20	2.00	0.00	0.000	6	0.188	0.025	2779	2393	2516
8093	0.77	260.0	782.2	12.3	631	8109	0.15	2.20	10.88	1.170	4	0.081	0.049	2836	3761	2471
8151	0.62	260.0	772.7	18.4	632	8158	0.25	2.03	0.00	0.000	6	0.185	0.025	2780	2387	2470
8468	0.79	260.0	728.4	13.4	648	8473	0.15	2.20	0.00	0.000	4	0.080	0.050	2837	3755	2469
8655	0.66	260.0	694.0	18.0	656	8659	0.20	1.95	0.00	0.000	6	0.188	0.025	2796	2416	2468
8977	0.78	260.0	650.1	13.9	672	8981	0.10	2.12	0.00	0.000	4	0.092	0.049	2835	3751	2467
9109	0.65	260.0	625.1	21.0	677	9116	0.20	1.95	0.00	0.000	6	0.189	0.025	2795	2413	2467
9426	0.79	260.0	575.7	14.6	693	9430	0.12	2.15	0.00	0.000	4	0.085	0.048	2841	3759	2467
9517	0.64	260.0	558.8	19.7	697	9521	0.25	1.92	0.00	0.000	6	0.186	0.025	2787	2429	2466
9845	0.84	275.9	513.2	12.0	713	9868	0.17	2.17	13.90	1.065	4	0.075	0.051	2862	3744	2407
9981	0.67	275.9	491.2	17.1	720	9987	0.28	1.90	0.00	0.000	6	0.183	0.026	2800	2449	2405
10307	0.82	275.9	446.0	15.4	751	10311	0.12	2.10	0.00	0.000	4	0.084	0.051	2847	3757	2404
10568	0.71	275.9	392.0	21.1	774	10572	0.20	1.85	0.00	0.000	6	0.185	0.025	2807	2475	2404
10901	0.86	280.4	343.3	12.9	805	10914	0.15	2.05	5.32	0.789	4	0.080	0.050	2866	3754	2387
11168	0.73	280.4	294.1	19.3	831	11175	0.22	1.80	0.00	0.000	6	0.181	0.026	2818	2509	2387
11516	0.91	300.1	249.1	11.8	892	11540	0.17	0.00	17.67	0.883	6	0.072	0.000	2893	2507	2307
11882	0.91	300.1	186.7	17.8	956	11888	0.00	1.98	0.00	0.000	4	0.000	0.050	2893	3749	2304
12010	0.78	300.1	161.4	17.0	978	12016	0.25	1.77	0.00	0.000	6	0.179	0.023	2836	2508	2304
12358	1.04	353.1	119.6	9.4	1039	12406	0.17	2.38	42.70	0.775	4	0.071	0.027	2924	980	2091
12426	1.09	353.1	109.8	16.3	1050	12432	0.00	2.35	0.00	0.000	6	0.000	0.032	2924	2495	2088
12774	1.24	393.8	68.3	10.2	1111	12816	0.15	2.03	32.58	0.708	4	0.070	0.049	2985	3749	1924
13073	1.14	393.8	26.4	14.0	1163	13079	0.17	1.77	0.00	0.000	6	0.179	0.023	2951	2499	1919
13253	end climb: SURFACE_DEPTH_REACHED
state	13253	begin surface coast
13277	end surface coast: CONTROL_FINISHED_OK
state	13277	begin surface