Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 49 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 49 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 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 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 48 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 64 INT_PRESSURE_YINT 2.7

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 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 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 -6118.6558 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 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

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 0.003125763 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 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 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 160 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 300

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 -6118.6558

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

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 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 48 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 64 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 49 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 212006,2538.687,12250.742,13,1.3,29,-3.8 TGT_NAME OFF_4

_CALLS 1 TGT_LATLONG 2517.000,12320.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 212556,2538.730,12250.733,15,1.6,15,-3.8 MHEAD_RNG_PITCHd_Wd 133.0,63416,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 737

Post-dive calculations and measurements:

FINISH 1.2,1.022293 _24V_AH 24.0,13.256

SM_CCo 11869,0.00,0.000,0,0,1056,443.26 _10V_AH 10.7,7.958

SM_GC 1.89,7.72,0.00,0.00,0.050,0.000,0.000,165,1479,1056,-8.03,-0.59,443.26 DATA_FILE_SIZE 69545,1235

IRIDIUM_FIX 2527.05,12320.86,230898,181809 CAP_FILE_SIZE 129896,0

TT8_MAMPS 0.026845 CFSIZE 260165632,231215104

HUMID 1453 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.90731 CURRENT 0.031,335.4,1

TCM_TEMP 24.60 GPS 300509,004507,2537.673,12252.396,28,1.1,28,-3.8

XPDR_PINGS 113

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 238 153.57 SBE_CT 836 24 481.65

Roll_motor 90 58 127.03 Optode 875 33 693.18

VBD_pump_during_apogee 537 1280 16498.23 WL_BB2F 1472 105 3711.61

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 23 103 57.50 nil 0 0 0.00

Iridium_during_connect 31 160 121.16 nil 0 0 0.00

Iridium_during_xfer 199 223 1068.95

Transponder_ping 33 420 340.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.13

TT8 2163 19 458.46

LPSleep 6605 2 154.79

TT8_Active 650 19 137.73

TT8_Sampling 2407 39 1025.15

TT8_CF8 391 45 191.75

TT8_Kalman 0 0 0.00

Analog_circuits 1718 12 220.71

GPS_charging 0 0 0.00

Compass 2385 8 204.23

RAFOS 0 0 0.00

Transponder 37 30 12.11

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

14 -0.94 -194.7 0.0 0.0 0 87 0.00 0.00 -70.85 0.000 2 0.000 0.000 165 1481 2429

89 -0.94 -194.7 3.1 -5.0 11 142 9.05 1.98 -37.35 0.000 4 0.239 0.058 2430 204 3659

312 -0.13 -194.7 68.5 -35.4 49 320 0.85 1.90 0.00 0.000 6 0.166 0.032 2688 1485 3659

655 -0.59 -194.7 96.5 -7.8 110 662 0.35 2.08 0.00 0.000 4 0.043 0.038 2525 2908 3661

719 -0.42 -194.7 106.6 -17.9 121 726 0.22 2.05 0.00 0.000 6 0.137 0.031 2597 1513 3661

1064 -0.53 -194.7 148.9 -10.6 182 1070 0.00 2.05 0.00 0.000 4 0.000 0.041 2598 2902 3662

1127 -0.80 -194.7 155.0 -9.1 193 1134 0.32 2.03 0.00 0.000 6 0.041 0.031 2454 1495 3662

1470 -0.40 -194.7 230.5 -20.9 254 1477 0.47 2.08 0.00 0.000 4 0.152 0.041 2600 2897 3663

1562 -0.74 -194.7 238.5 -6.5 270 1569 0.22 2.00 0.00 0.000 6 0.029 0.032 2467 1534 3664

1905 -0.43 -194.7 298.6 -19.9 331 1911 0.40 1.98 0.00 0.000 4 0.146 0.045 2593 200 3664

2034 -0.68 -194.7 312.7 -9.8 343 2040 0.22 1.90 0.00 0.000 6 0.052 0.028 2491 1539 3664

2358 -0.57 -194.7 362.8 -13.6 374 2362 0.17 1.98 0.00 0.000 4 0.149 0.045 2548 213 3664

2415 -0.65 -194.7 368.9 -10.3 379 2419 0.00 1.83 0.00 0.000 6 0.000 0.030 2541 1497 3664

2745 -0.83 -194.7 396.1 -8.3 410 2747 0.17 0.00 0.00 0.000 6 0.059 0.000 2453 1499 3664

3063 -0.68 -194.7 436.6 -11.3 440 3067 0.17 1.92 0.00 0.000 4 0.152 0.047 2512 213 3662

3157 -0.68 -194.7 444.2 -9.7 448 3166 0.00 1.83 0.00 0.000 6 0.000 0.031 2514 1469 3661

3483 -0.76 -194.7 472.0 -9.0 479 3486 0.00 1.90 0.00 0.000 4 0.000 0.054 2513 207 3660

3529 -0.82 -194.7 475.9 -8.7 483 3532 0.00 1.80 0.00 0.000 6 0.000 0.032 2501 1459 3660

3858 -0.92 -194.7 506.8 -9.9 511 3862 0.15 2.12 0.00 0.000 4 0.067 0.046 2427 2892 3657

3889 -0.85 -194.7 510.8 -12.8 512 3898 0.10 2.10 0.00 0.000 6 0.146 0.041 2461 1477 3657

4204 -0.85 -194.7 547.0 -11.0 528 4208 0.00 1.90 0.00 0.000 4 0.000 0.052 2461 208 3655

4265 -0.79 -194.7 553.8 -10.9 530 4272 0.00 1.85 0.00 0.000 6 0.000 0.035 2459 1462 3654

4580 -0.79 -194.7 590.4 -11.3 546 4584 0.00 2.15 0.00 0.000 4 0.000 0.049 2464 2903 3651

4657 -0.84 -194.7 598.0 -11.1 549 4661 0.00 2.12 0.00 0.000 6 0.000 0.038 2463 1481 3651

4979 -0.84 -194.7 635.2 -12.1 565 4983 0.00 1.92 0.00 0.000 4 0.000 0.054 2463 201 3648

5028 -0.75 -194.7 641.1 -11.1 567 5032 0.00 1.88 0.00 0.000 6 0.000 0.036 2469 1465 3648

5357 -0.75 -194.7 675.2 -11.4 583 5358 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1466 3646

5665 -0.75 -194.7 709.6 -10.2 598 5667 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1467 3643

5931 end dive: TARGET_DEPTH_EXCEEDED

state 5931 begin apogee

5935 -0.20 0.0 738.5 10.8 611 6097 0.60 0.00 158.90 1.280 6 0.131 0.000 2667 1749 2863

6098 end apogee: CONTROL_FINISHED_OK

state 6098 begin climb

6099 0.94 194.7 741.2 0.0 619 6268 1.10 0.00 164.68 1.242 6 0.076 0.000 3038 1749 2068

6565 0.49 194.7 666.5 21.3 642 6568 0.50 0.00 0.00 0.000 6 0.171 0.000 2900 1750 2061

6876 0.60 233.7 633.4 9.5 657 6918 0.12 2.30 31.83 1.178 4 0.072 0.056 2965 353 1909

6941 0.46 233.7 625.1 13.8 660 6946 0.28 2.15 0.00 0.000 6 0.148 0.040 2888 1750 1907

7267 0.70 306.7 596.4 8.2 676 7337 0.20 2.33 63.25 1.183 4 0.060 0.054 2989 355 1611

7359 0.54 306.7 583.3 15.3 680 7364 0.22 2.20 0.00 0.000 6 0.146 0.038 2911 1746 1609

7680 0.67 318.2 548.1 10.6 696 7695 0.15 2.20 10.12 1.045 4 0.066 0.054 2987 342 1564

7809 0.54 318.2 528.9 16.1 701 7814 0.25 2.10 0.00 0.000 6 0.150 0.039 2916 1725 1562

8125 0.65 320.9 496.4 10.9 718 8127 0.10 0.00 0.00 0.000 6 0.078 0.000 2960 1728 1561

8444 0.58 320.9 451.0 14.4 748 8446 0.15 0.00 0.00 0.000 6 0.158 0.000 2923 1728 1560

8762 0.70 320.9 408.0 13.6 778 8767 0.12 2.12 0.00 0.000 4 0.072 0.054 2993 345 1558

8828 0.59 320.9 396.4 17.9 783 8835 0.20 2.05 0.00 0.000 6 0.145 0.040 2929 1710 1557

9153 0.73 324.3 356.4 10.9 814 9165 0.12 2.10 5.28 0.811 4 0.071 0.053 2998 342 1542

9203 0.63 324.3 349.2 14.9 818 9211 0.15 2.08 0.00 0.000 6 0.146 0.038 2951 1721 1541

9529 0.75 344.2 312.7 10.2 849 9553 0.00 2.20 18.67 0.973 4 0.000 0.052 2959 340 1458

9631 0.85 344.2 301.5 11.6 858 9636 0.15 2.00 0.00 0.000 6 0.066 0.044 3034 1695 1456

9975 0.67 344.2 244.1 16.8 917 9981 0.25 2.17 0.00 0.000 4 0.152 0.046 2957 3144 1455

10015 0.78 344.2 238.2 11.5 924 10023 0.00 2.15 0.00 0.000 6 0.000 0.038 2965 1692 1454

10361 0.93 361.7 200.6 10.3 985 10387 0.17 2.10 15.73 0.841 4 0.054 0.052 3071 343 1387

10415 0.65 361.7 191.0 21.0 994 10422 0.40 2.00 0.00 0.000 6 0.149 0.034 2954 1688 1385

10762 0.90 372.5 151.3 10.6 1055 10778 0.17 2.25 10.65 0.752 4 0.055 0.042 3050 3147 1344

10881 0.73 372.5 131.4 18.7 1075 10888 0.30 2.15 0.00 0.000 6 0.150 0.035 2974 1693 1342

11224 1.04 441.7 98.1 8.4 1136 11289 0.25 0.00 57.90 0.759 6 0.046 0.000 3097 1691 1063

11628 0.88 441.7 22.5 19.4 1206 11635 0.22 2.03 0.00 0.000 4 0.145 0.044 3024 345 1059

11663 0.88 441.7 17.0 14.0 1212 11671 0.00 2.03 0.00 0.000 6 0.000 0.031 3024 1739 1058

11772 end climb: SURFACE_DEPTH_REACHED

state 11772 begin surface coast

11795 end surface coast: CONTROL_FINISHED_OK

state 11795 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	49	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	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	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	48	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	64	INT_PRESSURE_YINT	2.7
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	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	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	-6118.6558	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	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	212006,2538.687,12250.742,13,1.3,29,-3.8	TGT_NAME	OFF_4
_CALLS	1	TGT_LATLONG	2517.000,12320.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	212556,2538.730,12250.733,15,1.6,15,-3.8	MHEAD_RNG_PITCHd_Wd	133.0,63416,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	737

FINISH	1.2,1.022293	_24V_AH	24.0,13.256
SM_CCo	11869,0.00,0.000,0,0,1056,443.26	_10V_AH	10.7,7.958
SM_GC	1.89,7.72,0.00,0.00,0.050,0.000,0.000,165,1479,1056,-8.03,-0.59,443.26	DATA_FILE_SIZE	69545,1235
IRIDIUM_FIX	2527.05,12320.86,230898,181809	CAP_FILE_SIZE	129896,0
TT8_MAMPS	0.026845	CFSIZE	260165632,231215104
HUMID	1453	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.90731	CURRENT	0.031,335.4,1
TCM_TEMP	24.60	GPS	300509,004507,2537.673,12252.396,28,1.1,28,-3.8
XPDR_PINGS	113

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	238	153.57	SBE_CT	836	24	481.65
Roll_motor	90	58	127.03	Optode	875	33	693.18
VBD_pump_during_apogee	537	1280	16498.23	WL_BB2F	1472	105	3711.61
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	23	103	57.50	nil	0	0	0.00
Iridium_during_connect	31	160	121.16	nil	0	0	0.00
Iridium_during_xfer	199	223	1068.95
Transponder_ping	33	420	340.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.13
TT8	2163	19	458.46
LPSleep	6605	2	154.79
TT8_Active	650	19	137.73
TT8_Sampling	2407	39	1025.15
TT8_CF8	391	45	191.75
TT8_Kalman	0	0	0.00
Analog_circuits	1718	12	220.71
GPS_charging	0	0	0.00
Compass	2385	8	204.23
RAFOS	0	0	0.00
Transponder	37	30	12.11

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
14	-0.94	-194.7	0.0	0.0	0	87	0.00	0.00	-70.85	0.000	2	0.000	0.000	165	1481	2429
89	-0.94	-194.7	3.1	-5.0	11	142	9.05	1.98	-37.35	0.000	4	0.239	0.058	2430	204	3659
312	-0.13	-194.7	68.5	-35.4	49	320	0.85	1.90	0.00	0.000	6	0.166	0.032	2688	1485	3659
655	-0.59	-194.7	96.5	-7.8	110	662	0.35	2.08	0.00	0.000	4	0.043	0.038	2525	2908	3661
719	-0.42	-194.7	106.6	-17.9	121	726	0.22	2.05	0.00	0.000	6	0.137	0.031	2597	1513	3661
1064	-0.53	-194.7	148.9	-10.6	182	1070	0.00	2.05	0.00	0.000	4	0.000	0.041	2598	2902	3662
1127	-0.80	-194.7	155.0	-9.1	193	1134	0.32	2.03	0.00	0.000	6	0.041	0.031	2454	1495	3662
1470	-0.40	-194.7	230.5	-20.9	254	1477	0.47	2.08	0.00	0.000	4	0.152	0.041	2600	2897	3663
1562	-0.74	-194.7	238.5	-6.5	270	1569	0.22	2.00	0.00	0.000	6	0.029	0.032	2467	1534	3664
1905	-0.43	-194.7	298.6	-19.9	331	1911	0.40	1.98	0.00	0.000	4	0.146	0.045	2593	200	3664
2034	-0.68	-194.7	312.7	-9.8	343	2040	0.22	1.90	0.00	0.000	6	0.052	0.028	2491	1539	3664
2358	-0.57	-194.7	362.8	-13.6	374	2362	0.17	1.98	0.00	0.000	4	0.149	0.045	2548	213	3664
2415	-0.65	-194.7	368.9	-10.3	379	2419	0.00	1.83	0.00	0.000	6	0.000	0.030	2541	1497	3664
2745	-0.83	-194.7	396.1	-8.3	410	2747	0.17	0.00	0.00	0.000	6	0.059	0.000	2453	1499	3664
3063	-0.68	-194.7	436.6	-11.3	440	3067	0.17	1.92	0.00	0.000	4	0.152	0.047	2512	213	3662
3157	-0.68	-194.7	444.2	-9.7	448	3166	0.00	1.83	0.00	0.000	6	0.000	0.031	2514	1469	3661
3483	-0.76	-194.7	472.0	-9.0	479	3486	0.00	1.90	0.00	0.000	4	0.000	0.054	2513	207	3660
3529	-0.82	-194.7	475.9	-8.7	483	3532	0.00	1.80	0.00	0.000	6	0.000	0.032	2501	1459	3660
3858	-0.92	-194.7	506.8	-9.9	511	3862	0.15	2.12	0.00	0.000	4	0.067	0.046	2427	2892	3657
3889	-0.85	-194.7	510.8	-12.8	512	3898	0.10	2.10	0.00	0.000	6	0.146	0.041	2461	1477	3657
4204	-0.85	-194.7	547.0	-11.0	528	4208	0.00	1.90	0.00	0.000	4	0.000	0.052	2461	208	3655
4265	-0.79	-194.7	553.8	-10.9	530	4272	0.00	1.85	0.00	0.000	6	0.000	0.035	2459	1462	3654
4580	-0.79	-194.7	590.4	-11.3	546	4584	0.00	2.15	0.00	0.000	4	0.000	0.049	2464	2903	3651
4657	-0.84	-194.7	598.0	-11.1	549	4661	0.00	2.12	0.00	0.000	6	0.000	0.038	2463	1481	3651
4979	-0.84	-194.7	635.2	-12.1	565	4983	0.00	1.92	0.00	0.000	4	0.000	0.054	2463	201	3648
5028	-0.75	-194.7	641.1	-11.1	567	5032	0.00	1.88	0.00	0.000	6	0.000	0.036	2469	1465	3648
5357	-0.75	-194.7	675.2	-11.4	583	5358	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	1466	3646
5665	-0.75	-194.7	709.6	-10.2	598	5667	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1467	3643
5931	end dive: TARGET_DEPTH_EXCEEDED
state	5931	begin apogee
5935	-0.20	0.0	738.5	10.8	611	6097	0.60	0.00	158.90	1.280	6	0.131	0.000	2667	1749	2863
6098	end apogee: CONTROL_FINISHED_OK
state	6098	begin climb
6099	0.94	194.7	741.2	0.0	619	6268	1.10	0.00	164.68	1.242	6	0.076	0.000	3038	1749	2068
6565	0.49	194.7	666.5	21.3	642	6568	0.50	0.00	0.00	0.000	6	0.171	0.000	2900	1750	2061
6876	0.60	233.7	633.4	9.5	657	6918	0.12	2.30	31.83	1.178	4	0.072	0.056	2965	353	1909
6941	0.46	233.7	625.1	13.8	660	6946	0.28	2.15	0.00	0.000	6	0.148	0.040	2888	1750	1907
7267	0.70	306.7	596.4	8.2	676	7337	0.20	2.33	63.25	1.183	4	0.060	0.054	2989	355	1611
7359	0.54	306.7	583.3	15.3	680	7364	0.22	2.20	0.00	0.000	6	0.146	0.038	2911	1746	1609
7680	0.67	318.2	548.1	10.6	696	7695	0.15	2.20	10.12	1.045	4	0.066	0.054	2987	342	1564
7809	0.54	318.2	528.9	16.1	701	7814	0.25	2.10	0.00	0.000	6	0.150	0.039	2916	1725	1562
8125	0.65	320.9	496.4	10.9	718	8127	0.10	0.00	0.00	0.000	6	0.078	0.000	2960	1728	1561
8444	0.58	320.9	451.0	14.4	748	8446	0.15	0.00	0.00	0.000	6	0.158	0.000	2923	1728	1560
8762	0.70	320.9	408.0	13.6	778	8767	0.12	2.12	0.00	0.000	4	0.072	0.054	2993	345	1558
8828	0.59	320.9	396.4	17.9	783	8835	0.20	2.05	0.00	0.000	6	0.145	0.040	2929	1710	1557
9153	0.73	324.3	356.4	10.9	814	9165	0.12	2.10	5.28	0.811	4	0.071	0.053	2998	342	1542
9203	0.63	324.3	349.2	14.9	818	9211	0.15	2.08	0.00	0.000	6	0.146	0.038	2951	1721	1541
9529	0.75	344.2	312.7	10.2	849	9553	0.00	2.20	18.67	0.973	4	0.000	0.052	2959	340	1458
9631	0.85	344.2	301.5	11.6	858	9636	0.15	2.00	0.00	0.000	6	0.066	0.044	3034	1695	1456
9975	0.67	344.2	244.1	16.8	917	9981	0.25	2.17	0.00	0.000	4	0.152	0.046	2957	3144	1455
10015	0.78	344.2	238.2	11.5	924	10023	0.00	2.15	0.00	0.000	6	0.000	0.038	2965	1692	1454
10361	0.93	361.7	200.6	10.3	985	10387	0.17	2.10	15.73	0.841	4	0.054	0.052	3071	343	1387
10415	0.65	361.7	191.0	21.0	994	10422	0.40	2.00	0.00	0.000	6	0.149	0.034	2954	1688	1385
10762	0.90	372.5	151.3	10.6	1055	10778	0.17	2.25	10.65	0.752	4	0.055	0.042	3050	3147	1344
10881	0.73	372.5	131.4	18.7	1075	10888	0.30	2.15	0.00	0.000	6	0.150	0.035	2974	1693	1342
11224	1.04	441.7	98.1	8.4	1136	11289	0.25	0.00	57.90	0.759	6	0.046	0.000	3097	1691	1063
11628	0.88	441.7	22.5	19.4	1206	11635	0.22	2.03	0.00	0.000	4	0.145	0.044	3024	345	1059
11663	0.88	441.7	17.0	14.0	1212	11671	0.00	2.03	0.00	0.000	6	0.000	0.031	3024	1739	1058
11772	end climb: SURFACE_DEPTH_REACHED
state	11772	begin surface coast
11795	end surface coast: CONTROL_FINISHED_OK
state	11795	begin surface