Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 51 * 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 51 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 71 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 -6165.6621 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 -6165.6621

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 71 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 51 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 042137,2537.561,12253.192,34,1.1,34,-3.8 TGT_NAME OFF_4

_CALLS 3 TGT_LATLONG 2517.000,12320.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 043314,2537.685,12253.166,13,1.1,13,-3.8 MHEAD_RNG_PITCHd_Wd 147.5,59050,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 771

Post-dive calculations and measurements:

FINISH 1.0,1.015331 ALTIM_BOTTOM_PING 725.3,39.6

SM_CCo 11604,48.70,0.682,0,0,1130,425.10 _24V_AH 24.0,13.639

SM_GC 1.77,0.00,0.00,48.70,0.000,0.000,0.682,166,1492,1130,-8.05,-0.23,425.10 _10V_AH 10.7,8.211

IRIDIUM_FIX 2529.44,12249.71,240898,040443 DATA_FILE_SIZE 69502,1237

TT8_MAMPS 0.026078 CAP_FILE_SIZE 133598,0

HUMID 1484 CFSIZE 260165632,231055360

INTERNAL_PRESSURE 9.88778 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 24.40 CURRENT 0.115,323.7,1

XPDR_PINGS 104 GPS 300509,074852,2536.776,12253.976,9,99.0,28,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 242 153.86 SBE_CT 841 24 484.73

Roll_motor 100 58 140.74 Optode 892 33 707.16

VBD_pump_during_apogee 467 1283 14406.01 WL_BB2F 1501 105 3784.08

VBD_pump_during_surface 48 681 796.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 185.35 nil 0 0 0.00

Iridium_during_connect 157 160 606.50 nil 0 0 0.00

Iridium_during_xfer 238 223 1277.00

Transponder_ping 32 420 322.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.49

TT8 2196 19 465.34

LPSleep 6437 2 150.85

TT8_Active 635 19 134.72

TT8_Sampling 2452 39 1044.40

TT8_CF8 625 45 306.42

TT8_Kalman 0 0 0.00

Analog_circuits 1711 12 219.70

GPS_charging 0 0 0.00

Compass 2434 8 208.36

RAFOS 0 0 0.00

Transponder 43 30 13.96

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 76 0.00 0.00 -59.67 0.000 2 0.000 0.000 168 1513 2469

78 -0.94 -194.7 3.3 -5.4 8 130 9.12 2.03 -33.55 0.000 4 0.242 0.058 2428 201 3659

377 -0.19 -194.7 102.2 -33.9 60 384 0.77 1.90 0.00 0.000 6 0.161 0.031 2671 1484 3659

723 -0.65 -194.7 125.8 -3.6 121 730 0.35 2.10 0.00 0.000 4 0.044 0.039 2509 2912 3661

805 -0.45 -194.7 136.0 -15.1 135 812 0.28 2.05 0.00 0.000 6 0.143 0.031 2589 1492 3661

1149 -0.52 -194.7 174.9 -11.3 196 1156 0.00 2.10 0.00 0.000 4 0.000 0.041 2589 2909 3661

1236 -0.74 -194.7 183.4 -8.9 211 1243 0.20 2.03 0.00 0.000 6 0.039 0.032 2479 1525 3661

1580 -0.50 -194.7 252.1 -16.9 272 1587 0.30 1.95 0.00 0.000 4 0.143 0.044 2574 200 3661

1739 -0.67 -194.7 265.5 -7.1 300 1746 0.12 1.88 0.00 0.000 6 0.051 0.028 2488 1509 3661

2079 -0.56 -194.7 307.8 -13.6 356 2084 0.20 2.03 0.00 0.000 4 0.139 0.047 2552 2883 3661

2152 -0.81 -194.7 315.2 -9.4 362 2161 0.22 2.03 0.00 0.000 6 0.049 0.033 2447 1474 3661

2478 -0.57 -194.7 367.0 -15.2 393 2482 0.32 1.88 0.00 0.000 4 0.144 0.047 2549 207 3661

2680 -0.73 -194.7 385.1 -8.6 411 2684 0.12 1.80 0.00 0.000 6 0.073 0.031 2480 1468 3661

3008 -0.73 -194.7 419.5 -9.6 442 3013 0.12 2.10 0.00 0.000 4 0.149 0.044 2499 2891 3659

3058 -0.90 -194.7 423.4 -7.6 446 3062 0.15 2.08 0.00 0.000 6 0.061 0.035 2433 1465 3658

3381 -0.70 -194.7 467.2 -14.8 476 3383 0.28 0.00 0.00 0.000 6 0.146 0.000 2512 1464 3656

3701 -0.83 -194.7 496.8 -8.8 506 3705 0.12 2.12 0.00 0.000 4 0.073 0.047 2443 2888 3653

3739 -0.83 -194.7 501.0 -12.0 509 3743 0.00 2.08 0.00 0.000 6 0.000 0.038 2443 1469 3653

4071 -0.74 -194.7 541.9 -12.4 525 4073 0.20 0.00 0.00 0.000 6 0.146 0.000 2503 1469 3650

4380 -0.88 -194.7 571.6 -9.3 540 4385 0.15 2.15 0.00 0.000 4 0.067 0.049 2432 2893 3648

4412 -0.88 -194.7 575.5 -12.4 541 4419 0.00 2.10 0.00 0.000 6 0.000 0.039 2432 1489 3647

4728 -0.75 -194.7 617.6 -14.6 557 4732 0.17 1.95 0.00 0.000 4 0.150 0.053 2489 197 3645

4810 -0.75 -194.7 627.8 -11.1 560 4818 0.00 1.88 0.00 0.000 6 0.000 0.037 2490 1461 3644

5126 -0.83 -194.7 660.5 -10.5 576 5130 0.00 2.15 0.00 0.000 4 0.000 0.051 2494 2895 3642

5175 -1.00 -194.7 665.3 -10.0 578 5180 0.15 2.12 0.00 0.000 6 0.049 0.040 2400 1478 3641

5502 -0.75 -194.7 717.3 -16.0 594 5507 0.30 1.92 0.00 0.000 4 0.156 0.054 2492 203 3639

5612 -0.82 -194.7 730.0 -11.0 599 5616 0.00 1.88 0.00 0.000 6 0.000 0.037 2500 1470 3638

5732 end dive: BOTTOM_OBSTACLE_DETECTED

state 5732 begin apogee

5736 -0.20 0.0 742.0 10.1 605 5897 0.52 0.00 158.00 1.284 6 0.122 0.000 2675 1752 2863

5898 end apogee: CONTROL_FINISHED_OK

state 5898 begin climb

5899 0.94 194.7 749.8 0.0 613 6071 1.02 2.30 164.77 1.246 4 0.053 0.053 3047 3152 2068

6093 0.45 194.7 731.8 18.6 622 6098 0.65 2.20 0.00 0.000 6 0.172 0.041 2884 1748 2065

6409 0.65 284.0 704.3 7.6 637 6495 0.20 2.33 75.88 1.222 4 0.058 0.055 2982 351 1703

6589 0.48 284.0 677.2 16.1 645 6594 0.25 2.17 0.00 0.000 6 0.146 0.041 2895 1736 1699

6917 0.68 328.7 643.3 9.3 661 6962 0.20 2.30 38.75 1.187 4 0.058 0.055 2996 346 1522

6995 0.51 328.7 630.3 18.6 664 7000 0.28 2.17 0.00 0.000 6 0.147 0.040 2904 1739 1520

7316 0.65 332.7 593.3 10.8 680 7326 0.15 2.22 3.88 0.726 4 0.064 0.055 2980 345 1506

7386 0.54 332.7 581.7 17.6 683 7391 0.20 2.10 0.00 0.000 6 0.144 0.039 2917 1721 1506

7714 0.64 332.7 538.3 13.9 699 7718 0.00 2.12 0.00 0.000 4 0.000 0.055 2924 346 1504

7741 0.74 332.7 534.2 14.6 700 7745 0.10 2.08 0.00 0.000 6 0.058 0.039 2982 1713 1504

8061 0.59 332.7 477.1 17.6 721 8066 0.20 2.20 0.00 0.000 4 0.158 0.051 2918 3158 1502

8099 0.68 332.7 471.5 12.3 724 8105 0.00 2.17 0.00 0.000 6 0.000 0.041 2929 1727 1502

8426 0.73 332.7 433.2 11.7 755 8428 0.15 0.00 0.00 0.000 6 0.065 0.000 3001 1727 1502

8743 0.55 332.7 379.4 16.3 785 8747 0.28 2.10 0.00 0.000 4 0.154 0.052 2925 344 1501

8831 0.67 335.9 369.1 10.9 792 8837 0.00 2.08 0.00 0.000 6 0.000 0.040 2927 1722 1501

9157 0.77 335.9 332.7 12.3 823 9159 0.17 0.00 0.00 0.000 6 0.061 0.000 3012 1724 1501

9481 0.57 335.9 273.4 19.1 865 9488 0.28 2.15 0.00 0.000 4 0.151 0.049 2924 3150 1500

9522 0.72 335.9 266.9 13.0 872 9529 0.10 2.10 0.00 0.000 6 0.074 0.040 2988 1726 1500

9865 0.72 335.9 216.5 13.1 933 9871 0.00 2.10 0.00 0.000 4 0.000 0.052 2998 336 1500

9910 0.72 335.9 210.5 13.9 941 9916 0.00 2.05 0.00 0.000 6 0.000 0.040 2998 1729 1500

10253 0.72 335.9 160.4 15.0 1002 10260 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 1730 1500

10598 0.72 335.9 117.5 11.1 1063 10605 0.00 2.10 0.00 0.000 4 0.000 0.044 2998 3154 1499

10647 0.79 335.9 112.4 11.4 1071 10653 0.00 2.12 0.00 0.000 6 0.000 0.037 3002 1708 1499

10989 0.79 335.9 71.9 12.4 1132 10996 0.00 2.03 0.00 0.000 4 0.000 0.048 3006 345 1500

11086 0.85 335.9 60.7 11.7 1149 11092 0.00 2.00 0.00 0.000 6 0.000 0.033 3006 1711 1500

11430 0.99 363.4 24.4 10.0 1210 11464 0.15 2.20 26.23 0.704 4 0.059 0.040 3081 3150 1380

11570 end climb: SURFACE_DEPTH_REACHED

state 11570 begin surface coast

11587 end surface coast: CONTROL_FINISHED_OK

state 11587 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	51	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	71	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	-6165.6621	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	042137,2537.561,12253.192,34,1.1,34,-3.8	TGT_NAME	OFF_4
_CALLS	3	TGT_LATLONG	2517.000,12320.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	043314,2537.685,12253.166,13,1.1,13,-3.8	MHEAD_RNG_PITCHd_Wd	147.5,59050,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	771

FINISH	1.0,1.015331	ALTIM_BOTTOM_PING	725.3,39.6
SM_CCo	11604,48.70,0.682,0,0,1130,425.10	_24V_AH	24.0,13.639
SM_GC	1.77,0.00,0.00,48.70,0.000,0.000,0.682,166,1492,1130,-8.05,-0.23,425.10	_10V_AH	10.7,8.211
IRIDIUM_FIX	2529.44,12249.71,240898,040443	DATA_FILE_SIZE	69502,1237
TT8_MAMPS	0.026078	CAP_FILE_SIZE	133598,0
HUMID	1484	CFSIZE	260165632,231055360
INTERNAL_PRESSURE	9.88778	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	24.40	CURRENT	0.115,323.7,1
XPDR_PINGS	104	GPS	300509,074852,2536.776,12253.976,9,99.0,28,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	242	153.86	SBE_CT	841	24	484.73
Roll_motor	100	58	140.74	Optode	892	33	707.16
VBD_pump_during_apogee	467	1283	14406.01	WL_BB2F	1501	105	3784.08
VBD_pump_during_surface	48	681	796.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	185.35	nil	0	0	0.00
Iridium_during_connect	157	160	606.50	nil	0	0	0.00
Iridium_during_xfer	238	223	1277.00
Transponder_ping	32	420	322.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.49
TT8	2196	19	465.34
LPSleep	6437	2	150.85
TT8_Active	635	19	134.72
TT8_Sampling	2452	39	1044.40
TT8_CF8	625	45	306.42
TT8_Kalman	0	0	0.00
Analog_circuits	1711	12	219.70
GPS_charging	0	0	0.00
Compass	2434	8	208.36
RAFOS	0	0	0.00
Transponder	43	30	13.96

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	76	0.00	0.00	-59.67	0.000	2	0.000	0.000	168	1513	2469
78	-0.94	-194.7	3.3	-5.4	8	130	9.12	2.03	-33.55	0.000	4	0.242	0.058	2428	201	3659
377	-0.19	-194.7	102.2	-33.9	60	384	0.77	1.90	0.00	0.000	6	0.161	0.031	2671	1484	3659
723	-0.65	-194.7	125.8	-3.6	121	730	0.35	2.10	0.00	0.000	4	0.044	0.039	2509	2912	3661
805	-0.45	-194.7	136.0	-15.1	135	812	0.28	2.05	0.00	0.000	6	0.143	0.031	2589	1492	3661
1149	-0.52	-194.7	174.9	-11.3	196	1156	0.00	2.10	0.00	0.000	4	0.000	0.041	2589	2909	3661
1236	-0.74	-194.7	183.4	-8.9	211	1243	0.20	2.03	0.00	0.000	6	0.039	0.032	2479	1525	3661
1580	-0.50	-194.7	252.1	-16.9	272	1587	0.30	1.95	0.00	0.000	4	0.143	0.044	2574	200	3661
1739	-0.67	-194.7	265.5	-7.1	300	1746	0.12	1.88	0.00	0.000	6	0.051	0.028	2488	1509	3661
2079	-0.56	-194.7	307.8	-13.6	356	2084	0.20	2.03	0.00	0.000	4	0.139	0.047	2552	2883	3661
2152	-0.81	-194.7	315.2	-9.4	362	2161	0.22	2.03	0.00	0.000	6	0.049	0.033	2447	1474	3661
2478	-0.57	-194.7	367.0	-15.2	393	2482	0.32	1.88	0.00	0.000	4	0.144	0.047	2549	207	3661
2680	-0.73	-194.7	385.1	-8.6	411	2684	0.12	1.80	0.00	0.000	6	0.073	0.031	2480	1468	3661
3008	-0.73	-194.7	419.5	-9.6	442	3013	0.12	2.10	0.00	0.000	4	0.149	0.044	2499	2891	3659
3058	-0.90	-194.7	423.4	-7.6	446	3062	0.15	2.08	0.00	0.000	6	0.061	0.035	2433	1465	3658
3381	-0.70	-194.7	467.2	-14.8	476	3383	0.28	0.00	0.00	0.000	6	0.146	0.000	2512	1464	3656
3701	-0.83	-194.7	496.8	-8.8	506	3705	0.12	2.12	0.00	0.000	4	0.073	0.047	2443	2888	3653
3739	-0.83	-194.7	501.0	-12.0	509	3743	0.00	2.08	0.00	0.000	6	0.000	0.038	2443	1469	3653
4071	-0.74	-194.7	541.9	-12.4	525	4073	0.20	0.00	0.00	0.000	6	0.146	0.000	2503	1469	3650
4380	-0.88	-194.7	571.6	-9.3	540	4385	0.15	2.15	0.00	0.000	4	0.067	0.049	2432	2893	3648
4412	-0.88	-194.7	575.5	-12.4	541	4419	0.00	2.10	0.00	0.000	6	0.000	0.039	2432	1489	3647
4728	-0.75	-194.7	617.6	-14.6	557	4732	0.17	1.95	0.00	0.000	4	0.150	0.053	2489	197	3645
4810	-0.75	-194.7	627.8	-11.1	560	4818	0.00	1.88	0.00	0.000	6	0.000	0.037	2490	1461	3644
5126	-0.83	-194.7	660.5	-10.5	576	5130	0.00	2.15	0.00	0.000	4	0.000	0.051	2494	2895	3642
5175	-1.00	-194.7	665.3	-10.0	578	5180	0.15	2.12	0.00	0.000	6	0.049	0.040	2400	1478	3641
5502	-0.75	-194.7	717.3	-16.0	594	5507	0.30	1.92	0.00	0.000	4	0.156	0.054	2492	203	3639
5612	-0.82	-194.7	730.0	-11.0	599	5616	0.00	1.88	0.00	0.000	6	0.000	0.037	2500	1470	3638
5732	end dive: BOTTOM_OBSTACLE_DETECTED
state	5732	begin apogee
5736	-0.20	0.0	742.0	10.1	605	5897	0.52	0.00	158.00	1.284	6	0.122	0.000	2675	1752	2863
5898	end apogee: CONTROL_FINISHED_OK
state	5898	begin climb
5899	0.94	194.7	749.8	0.0	613	6071	1.02	2.30	164.77	1.246	4	0.053	0.053	3047	3152	2068
6093	0.45	194.7	731.8	18.6	622	6098	0.65	2.20	0.00	0.000	6	0.172	0.041	2884	1748	2065
6409	0.65	284.0	704.3	7.6	637	6495	0.20	2.33	75.88	1.222	4	0.058	0.055	2982	351	1703
6589	0.48	284.0	677.2	16.1	645	6594	0.25	2.17	0.00	0.000	6	0.146	0.041	2895	1736	1699
6917	0.68	328.7	643.3	9.3	661	6962	0.20	2.30	38.75	1.187	4	0.058	0.055	2996	346	1522
6995	0.51	328.7	630.3	18.6	664	7000	0.28	2.17	0.00	0.000	6	0.147	0.040	2904	1739	1520
7316	0.65	332.7	593.3	10.8	680	7326	0.15	2.22	3.88	0.726	4	0.064	0.055	2980	345	1506
7386	0.54	332.7	581.7	17.6	683	7391	0.20	2.10	0.00	0.000	6	0.144	0.039	2917	1721	1506
7714	0.64	332.7	538.3	13.9	699	7718	0.00	2.12	0.00	0.000	4	0.000	0.055	2924	346	1504
7741	0.74	332.7	534.2	14.6	700	7745	0.10	2.08	0.00	0.000	6	0.058	0.039	2982	1713	1504
8061	0.59	332.7	477.1	17.6	721	8066	0.20	2.20	0.00	0.000	4	0.158	0.051	2918	3158	1502
8099	0.68	332.7	471.5	12.3	724	8105	0.00	2.17	0.00	0.000	6	0.000	0.041	2929	1727	1502
8426	0.73	332.7	433.2	11.7	755	8428	0.15	0.00	0.00	0.000	6	0.065	0.000	3001	1727	1502
8743	0.55	332.7	379.4	16.3	785	8747	0.28	2.10	0.00	0.000	4	0.154	0.052	2925	344	1501
8831	0.67	335.9	369.1	10.9	792	8837	0.00	2.08	0.00	0.000	6	0.000	0.040	2927	1722	1501
9157	0.77	335.9	332.7	12.3	823	9159	0.17	0.00	0.00	0.000	6	0.061	0.000	3012	1724	1501
9481	0.57	335.9	273.4	19.1	865	9488	0.28	2.15	0.00	0.000	4	0.151	0.049	2924	3150	1500
9522	0.72	335.9	266.9	13.0	872	9529	0.10	2.10	0.00	0.000	6	0.074	0.040	2988	1726	1500
9865	0.72	335.9	216.5	13.1	933	9871	0.00	2.10	0.00	0.000	4	0.000	0.052	2998	336	1500
9910	0.72	335.9	210.5	13.9	941	9916	0.00	2.05	0.00	0.000	6	0.000	0.040	2998	1729	1500
10253	0.72	335.9	160.4	15.0	1002	10260	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	1730	1500
10598	0.72	335.9	117.5	11.1	1063	10605	0.00	2.10	0.00	0.000	4	0.000	0.044	2998	3154	1499
10647	0.79	335.9	112.4	11.4	1071	10653	0.00	2.12	0.00	0.000	6	0.000	0.037	3002	1708	1499
10989	0.79	335.9	71.9	12.4	1132	10996	0.00	2.03	0.00	0.000	4	0.000	0.048	3006	345	1500
11086	0.85	335.9	60.7	11.7	1149	11092	0.00	2.00	0.00	0.000	6	0.000	0.033	3006	1711	1500
11430	0.99	363.4	24.4	10.0	1210	11464	0.15	2.20	26.23	0.704	4	0.059	0.040	3081	3150	1380
11570	end climb: SURFACE_DEPTH_REACHED
state	11570	begin surface coast
11587	end surface coast: CONTROL_FINISHED_OK
state	11587	begin surface