Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 660 * 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 660 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 79 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -22280.801 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 -22280.801

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 79 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 39 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 660 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 133907,2522.887,12255.568,32,1.2,33,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 1 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 -68.3 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 134708,2522.951,12255.601,13,2.0,13,-3.7 MHEAD_RNG_PITCHd_Wd 196.6,51151,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1136

Post-dive calculations and measurements:

FINISH 1.9,1.012306 _24V_AH 23.0,112.955

SM_CCo 13553,15.70,0.596,0,0,1594,475.15 _10V_AH 10.5,58.773

SM_GC 3.33,0.00,0.00,15.70,0.000,0.000,0.596,141,2364,1594,-7.62,-0.54,475.15 DATA_FILE_SIZE 66354,1221

IRIDIUM_FIX 2512.73,12254.43,021298,090947 CAP_FILE_SIZE 146711,0

TT8_MAMPS 0.029146 CFSIZE 260165632,174751744

HUMID 1847 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.41442 CURRENT 0.165, 37.2,1

TCM_TEMP 25.50 GPS 070909,173501,2522.561,12255.961,40,1.8,41,-3.7

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 225 139.52 SBE_CT 827 24 456.80

Roll_motor 115 50 134.51 Optode 853 33 647.84

VBD_pump_during_apogee 478 1389 15293.89 WL_BB2F 0 105 0.00

VBD_pump_during_surface 15 595 215.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.44 nil 0 0 0.00

Iridium_during_connect 37 160 136.95 nil 0 0 0.00

Iridium_during_xfer 237 223 1219.27

Transponder_ping 10 420 96.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.30

TT8 2226 19 462.81

LPSleep 8030 2 184.66

TT8_Active 564 19 117.34

TT8_Sampling 2396 39 1001.50

TT8_CF8 823 45 396.07

TT8_Kalman 0 81 0.00

Analog_circuits 1785 12 224.93

GPS_charging 0 0 0.00

Compass 2335 8 196.17

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 13 begin dive

17 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -22.73 0.000 2 0.000 0.000 137 2378 2165

47 -1.50 -121.7 3.2 -2.5 4 121 7.97 2.05 -59.33 0.000 4 0.225 0.034 2091 972 3989

343 -0.97 -121.7 103.8 -31.9 55 351 0.65 2.12 0.00 0.000 6 0.170 0.031 2259 2396 3992

691 -0.97 -121.7 163.2 -16.7 116 697 0.00 2.05 0.00 0.000 4 0.000 0.021 2260 972 3994

850 -1.20 -121.7 184.5 -11.4 143 857 0.20 2.17 0.00 0.000 6 0.062 0.031 2181 2426 3995

1197 -1.09 -121.7 246.5 -18.1 204 1204 0.17 2.05 0.00 0.000 4 0.170 0.043 2223 3754 3995

1408 -1.09 -121.7 281.9 -16.4 241 1414 0.00 1.88 0.00 0.000 6 0.000 0.022 2223 2414 3996

1742 -1.17 -121.7 335.3 -16.2 281 1746 0.00 2.10 0.00 0.000 4 0.000 0.046 2221 3756 3996

1782 -1.17 -121.7 342.1 -17.2 284 1788 0.00 1.83 0.00 0.000 6 0.000 0.024 2221 2465 3996

2109 -1.28 -121.7 391.5 -15.0 315 2113 0.15 2.03 0.00 0.000 4 0.072 0.047 2153 3750 3996

2272 -1.10 -121.7 424.7 -21.3 329 2277 0.25 1.77 0.00 0.000 6 0.161 0.022 2220 2494 3995

2604 -1.25 -121.7 472.2 -12.8 360 2608 0.12 1.98 0.00 0.000 4 0.077 0.047 2166 3747 3994

2630 -1.25 -121.7 475.6 -13.8 362 2633 0.00 1.75 0.00 0.000 6 0.000 0.024 2166 2515 3993

2966 -1.25 -121.7 530.9 -17.3 385 2970 0.00 1.98 0.00 0.000 4 0.000 0.049 2165 3767 3992

3164 -1.19 -121.7 567.9 -18.4 393 3171 0.12 1.77 0.00 0.000 6 0.166 0.025 2195 2535 3991

3482 -1.32 -121.7 612.6 -12.7 409 3486 0.12 1.92 0.00 0.000 4 0.081 0.048 2146 3746 3989

3530 -1.20 -121.7 619.9 -16.7 411 3535 0.17 1.75 0.00 0.000 6 0.170 0.024 2189 2533 3988

3868 -1.32 -121.7 662.6 -11.7 427 3873 0.12 1.92 0.00 0.000 4 0.078 0.049 2139 3747 3986

4010 -1.21 -121.7 684.4 -15.7 433 4014 0.17 1.75 0.00 0.000 6 0.173 0.025 2182 2538 3984

4349 -1.31 -121.7 727.4 -12.7 449 4353 0.00 1.92 0.00 0.000 4 0.000 0.048 2179 3755 3981

4451 -1.31 -121.7 743.0 -14.3 453 4454 0.00 1.73 0.00 0.000 6 0.000 0.025 2179 2563 3981

4775 -1.39 -121.7 787.8 -14.5 469 4779 0.15 1.90 0.00 0.000 4 0.081 0.050 2114 3754 3978

4848 -1.20 -121.7 802.2 -20.4 472 4852 0.30 1.73 0.00 0.000 6 0.175 0.025 2192 2565 3977

5177 -1.36 -121.7 849.7 -14.2 488 5183 0.15 1.90 0.00 0.000 4 0.077 0.051 2136 3750 3975

5324 -1.25 -121.7 875.1 -17.5 494 5328 0.15 1.70 0.00 0.000 6 0.176 0.026 2172 2582 3974

5654 -1.33 -121.7 921.8 -13.9 510 5657 0.00 1.85 0.00 0.000 4 0.000 0.051 2166 3747 3971

5760 -1.33 -121.7 938.7 -15.6 514 5767 0.00 1.65 0.00 0.000 6 0.000 0.025 2166 2612 3971

6079 -1.40 -121.7 985.5 -15.1 530 6083 0.10 1.83 0.00 0.000 4 0.091 0.051 2125 3750 3969

6103 end dive: TARGET_DEPTH_EXCEEDED

state 6103 begin apogee

6114 -0.27 0.0 990.4 17.6 531 6218 1.25 0.00 95.22 1.390 6 0.167 0.000 2480 2365 3532

6219 end apogee: CONTROL_FINISHED_OK

state 6219 begin climb

6223 1.50 121.7 995.2 0.0 536 6335 1.62 2.15 105.07 1.371 4 0.054 0.026 3074 994 3035

6593 0.76 129.2 971.1 12.7 552 6609 0.98 2.12 7.25 1.114 6 0.217 0.036 2831 2368 3005

6936 0.63 172.5 938.9 10.1 569 6981 0.17 2.20 37.30 1.335 4 0.198 0.029 2789 1000 2827

7096 0.73 202.7 922.0 11.0 576 7127 0.00 2.12 26.05 1.297 6 0.000 0.032 2789 2372 2705

7448 0.79 207.3 879.0 12.9 593 7458 0.12 2.20 5.28 0.984 4 0.081 0.051 2837 3754 2685

7651 0.56 207.3 845.8 16.0 602 7656 0.32 2.00 0.00 0.000 6 0.187 0.025 2762 2384 2684

7974 0.75 247.2 812.1 10.3 618 8017 0.17 2.33 33.97 1.277 4 0.077 0.050 2835 3763 2523

8102 0.61 247.2 791.5 18.7 623 8106 0.25 2.03 0.00 0.000 6 0.185 0.024 2781 2391 2520

8419 0.76 252.0 748.3 12.9 638 8429 0.12 2.20 5.00 0.931 4 0.084 0.048 2828 3760 2504

8542 0.64 252.0 727.8 17.5 643 8546 0.17 1.98 0.00 0.000 6 0.191 0.025 2786 2420 2502

8864 0.78 252.0 680.3 15.4 659 8869 0.12 2.15 0.00 0.000 4 0.084 0.050 2835 3763 2501

8973 0.65 252.0 658.7 19.9 663 8980 0.22 1.95 0.00 0.000 6 0.184 0.026 2788 2429 2501

9291 0.78 252.0 614.1 13.5 679 9295 0.12 2.12 0.00 0.000 4 0.084 0.048 2835 3757 2500

9505 0.66 252.0 573.9 18.1 688 9509 0.20 1.92 0.00 0.000 6 0.186 0.025 2793 2436 2500

9828 0.82 276.9 533.7 11.4 704 9854 0.15 2.12 21.27 1.106 4 0.080 0.049 2852 3753 2404

10094 0.69 276.9 487.9 18.0 719 10098 0.22 1.90 0.00 0.000 6 0.185 0.025 2804 2454 2401

10425 0.85 276.9 437.2 17.1 750 10429 0.15 2.10 0.00 0.000 4 0.079 0.048 2863 3764 2400

10516 0.71 276.9 417.7 22.9 758 10520 0.25 1.90 0.00 0.000 6 0.183 0.027 2808 2471 2400

10848 0.88 276.9 363.7 14.8 789 10852 0.15 2.08 0.00 0.000 4 0.081 0.050 2866 3762 2399

10973 0.74 276.9 340.9 18.4 800 10977 0.22 1.83 0.00 0.000 6 0.184 0.026 2818 2501 2399

11304 0.88 276.9 287.8 17.4 836 11311 0.15 2.28 0.00 0.000 4 0.077 0.028 2885 981 2398

11444 0.88 276.9 263.1 16.8 860 11450 0.00 2.30 0.00 0.000 6 0.000 0.031 2885 2484 2399

11791 0.83 276.9 211.5 14.0 921 11798 0.15 2.03 0.00 0.000 4 0.183 0.049 2847 3764 2399

11920 0.83 276.9 191.0 16.1 943 11926 0.00 1.85 0.00 0.000 6 0.000 0.026 2855 2484 2398

12267 0.91 276.9 142.9 14.4 1004 12273 0.00 2.22 0.00 0.000 4 0.000 0.028 2863 982 2399

12532 1.10 306.7 110.1 11.0 1050 12564 0.20 2.30 24.92 0.769 6 0.071 0.031 2939 2488 2281

12909 1.23 408.5 70.0 5.8 1115 12995 0.10 2.10 80.28 0.719 4 0.079 0.049 2980 3753 1864

13069 1.10 415.8 52.2 12.7 1142 13083 0.22 1.83 6.70 0.580 6 0.183 0.023 2935 2493 1835

13428 1.36 452.5 16.7 10.5 1204 13464 0.20 2.08 30.12 0.632 4 0.064 0.047 3018 3758 1686

13507 end climb: SURFACE_DEPTH_REACHED

state 13507 begin surface coast

13529 end surface coast: CONTROL_FINISHED_OK

state 13530 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	660	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	79	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-22280.801	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	133907,2522.887,12255.568,32,1.2,33,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	1	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	-68.3	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	134708,2522.951,12255.601,13,2.0,13,-3.7	MHEAD_RNG_PITCHd_Wd	196.6,51151,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1136

FINISH	1.9,1.012306	_24V_AH	23.0,112.955
SM_CCo	13553,15.70,0.596,0,0,1594,475.15	_10V_AH	10.5,58.773
SM_GC	3.33,0.00,0.00,15.70,0.000,0.000,0.596,141,2364,1594,-7.62,-0.54,475.15	DATA_FILE_SIZE	66354,1221
IRIDIUM_FIX	2512.73,12254.43,021298,090947	CAP_FILE_SIZE	146711,0
TT8_MAMPS	0.029146	CFSIZE	260165632,174751744
HUMID	1847	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.41442	CURRENT	0.165, 37.2,1
TCM_TEMP	25.50	GPS	070909,173501,2522.561,12255.961,40,1.8,41,-3.7
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	225	139.52	SBE_CT	827	24	456.80
Roll_motor	115	50	134.51	Optode	853	33	647.84
VBD_pump_during_apogee	478	1389	15293.89	WL_BB2F	0	105	0.00
VBD_pump_during_surface	15	595	215.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.44	nil	0	0	0.00
Iridium_during_connect	37	160	136.95	nil	0	0	0.00
Iridium_during_xfer	237	223	1219.27
Transponder_ping	10	420	96.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.30
TT8	2226	19	462.81
LPSleep	8030	2	184.66
TT8_Active	564	19	117.34
TT8_Sampling	2396	39	1001.50
TT8_CF8	823	45	396.07
TT8_Kalman	0	81	0.00
Analog_circuits	1785	12	224.93
GPS_charging	0	0	0.00
Compass	2335	8	196.17
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	13	begin dive
17	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-22.73	0.000	2	0.000	0.000	137	2378	2165
47	-1.50	-121.7	3.2	-2.5	4	121	7.97	2.05	-59.33	0.000	4	0.225	0.034	2091	972	3989
343	-0.97	-121.7	103.8	-31.9	55	351	0.65	2.12	0.00	0.000	6	0.170	0.031	2259	2396	3992
691	-0.97	-121.7	163.2	-16.7	116	697	0.00	2.05	0.00	0.000	4	0.000	0.021	2260	972	3994
850	-1.20	-121.7	184.5	-11.4	143	857	0.20	2.17	0.00	0.000	6	0.062	0.031	2181	2426	3995
1197	-1.09	-121.7	246.5	-18.1	204	1204	0.17	2.05	0.00	0.000	4	0.170	0.043	2223	3754	3995
1408	-1.09	-121.7	281.9	-16.4	241	1414	0.00	1.88	0.00	0.000	6	0.000	0.022	2223	2414	3996
1742	-1.17	-121.7	335.3	-16.2	281	1746	0.00	2.10	0.00	0.000	4	0.000	0.046	2221	3756	3996
1782	-1.17	-121.7	342.1	-17.2	284	1788	0.00	1.83	0.00	0.000	6	0.000	0.024	2221	2465	3996
2109	-1.28	-121.7	391.5	-15.0	315	2113	0.15	2.03	0.00	0.000	4	0.072	0.047	2153	3750	3996
2272	-1.10	-121.7	424.7	-21.3	329	2277	0.25	1.77	0.00	0.000	6	0.161	0.022	2220	2494	3995
2604	-1.25	-121.7	472.2	-12.8	360	2608	0.12	1.98	0.00	0.000	4	0.077	0.047	2166	3747	3994
2630	-1.25	-121.7	475.6	-13.8	362	2633	0.00	1.75	0.00	0.000	6	0.000	0.024	2166	2515	3993
2966	-1.25	-121.7	530.9	-17.3	385	2970	0.00	1.98	0.00	0.000	4	0.000	0.049	2165	3767	3992
3164	-1.19	-121.7	567.9	-18.4	393	3171	0.12	1.77	0.00	0.000	6	0.166	0.025	2195	2535	3991
3482	-1.32	-121.7	612.6	-12.7	409	3486	0.12	1.92	0.00	0.000	4	0.081	0.048	2146	3746	3989
3530	-1.20	-121.7	619.9	-16.7	411	3535	0.17	1.75	0.00	0.000	6	0.170	0.024	2189	2533	3988
3868	-1.32	-121.7	662.6	-11.7	427	3873	0.12	1.92	0.00	0.000	4	0.078	0.049	2139	3747	3986
4010	-1.21	-121.7	684.4	-15.7	433	4014	0.17	1.75	0.00	0.000	6	0.173	0.025	2182	2538	3984
4349	-1.31	-121.7	727.4	-12.7	449	4353	0.00	1.92	0.00	0.000	4	0.000	0.048	2179	3755	3981
4451	-1.31	-121.7	743.0	-14.3	453	4454	0.00	1.73	0.00	0.000	6	0.000	0.025	2179	2563	3981
4775	-1.39	-121.7	787.8	-14.5	469	4779	0.15	1.90	0.00	0.000	4	0.081	0.050	2114	3754	3978
4848	-1.20	-121.7	802.2	-20.4	472	4852	0.30	1.73	0.00	0.000	6	0.175	0.025	2192	2565	3977
5177	-1.36	-121.7	849.7	-14.2	488	5183	0.15	1.90	0.00	0.000	4	0.077	0.051	2136	3750	3975
5324	-1.25	-121.7	875.1	-17.5	494	5328	0.15	1.70	0.00	0.000	6	0.176	0.026	2172	2582	3974
5654	-1.33	-121.7	921.8	-13.9	510	5657	0.00	1.85	0.00	0.000	4	0.000	0.051	2166	3747	3971
5760	-1.33	-121.7	938.7	-15.6	514	5767	0.00	1.65	0.00	0.000	6	0.000	0.025	2166	2612	3971
6079	-1.40	-121.7	985.5	-15.1	530	6083	0.10	1.83	0.00	0.000	4	0.091	0.051	2125	3750	3969
6103	end dive: TARGET_DEPTH_EXCEEDED
state	6103	begin apogee
6114	-0.27	0.0	990.4	17.6	531	6218	1.25	0.00	95.22	1.390	6	0.167	0.000	2480	2365	3532
6219	end apogee: CONTROL_FINISHED_OK
state	6219	begin climb
6223	1.50	121.7	995.2	0.0	536	6335	1.62	2.15	105.07	1.371	4	0.054	0.026	3074	994	3035
6593	0.76	129.2	971.1	12.7	552	6609	0.98	2.12	7.25	1.114	6	0.217	0.036	2831	2368	3005
6936	0.63	172.5	938.9	10.1	569	6981	0.17	2.20	37.30	1.335	4	0.198	0.029	2789	1000	2827
7096	0.73	202.7	922.0	11.0	576	7127	0.00	2.12	26.05	1.297	6	0.000	0.032	2789	2372	2705
7448	0.79	207.3	879.0	12.9	593	7458	0.12	2.20	5.28	0.984	4	0.081	0.051	2837	3754	2685
7651	0.56	207.3	845.8	16.0	602	7656	0.32	2.00	0.00	0.000	6	0.187	0.025	2762	2384	2684
7974	0.75	247.2	812.1	10.3	618	8017	0.17	2.33	33.97	1.277	4	0.077	0.050	2835	3763	2523
8102	0.61	247.2	791.5	18.7	623	8106	0.25	2.03	0.00	0.000	6	0.185	0.024	2781	2391	2520
8419	0.76	252.0	748.3	12.9	638	8429	0.12	2.20	5.00	0.931	4	0.084	0.048	2828	3760	2504
8542	0.64	252.0	727.8	17.5	643	8546	0.17	1.98	0.00	0.000	6	0.191	0.025	2786	2420	2502
8864	0.78	252.0	680.3	15.4	659	8869	0.12	2.15	0.00	0.000	4	0.084	0.050	2835	3763	2501
8973	0.65	252.0	658.7	19.9	663	8980	0.22	1.95	0.00	0.000	6	0.184	0.026	2788	2429	2501
9291	0.78	252.0	614.1	13.5	679	9295	0.12	2.12	0.00	0.000	4	0.084	0.048	2835	3757	2500
9505	0.66	252.0	573.9	18.1	688	9509	0.20	1.92	0.00	0.000	6	0.186	0.025	2793	2436	2500
9828	0.82	276.9	533.7	11.4	704	9854	0.15	2.12	21.27	1.106	4	0.080	0.049	2852	3753	2404
10094	0.69	276.9	487.9	18.0	719	10098	0.22	1.90	0.00	0.000	6	0.185	0.025	2804	2454	2401
10425	0.85	276.9	437.2	17.1	750	10429	0.15	2.10	0.00	0.000	4	0.079	0.048	2863	3764	2400
10516	0.71	276.9	417.7	22.9	758	10520	0.25	1.90	0.00	0.000	6	0.183	0.027	2808	2471	2400
10848	0.88	276.9	363.7	14.8	789	10852	0.15	2.08	0.00	0.000	4	0.081	0.050	2866	3762	2399
10973	0.74	276.9	340.9	18.4	800	10977	0.22	1.83	0.00	0.000	6	0.184	0.026	2818	2501	2399
11304	0.88	276.9	287.8	17.4	836	11311	0.15	2.28	0.00	0.000	4	0.077	0.028	2885	981	2398
11444	0.88	276.9	263.1	16.8	860	11450	0.00	2.30	0.00	0.000	6	0.000	0.031	2885	2484	2399
11791	0.83	276.9	211.5	14.0	921	11798	0.15	2.03	0.00	0.000	4	0.183	0.049	2847	3764	2399
11920	0.83	276.9	191.0	16.1	943	11926	0.00	1.85	0.00	0.000	6	0.000	0.026	2855	2484	2398
12267	0.91	276.9	142.9	14.4	1004	12273	0.00	2.22	0.00	0.000	4	0.000	0.028	2863	982	2399
12532	1.10	306.7	110.1	11.0	1050	12564	0.20	2.30	24.92	0.769	6	0.071	0.031	2939	2488	2281
12909	1.23	408.5	70.0	5.8	1115	12995	0.10	2.10	80.28	0.719	4	0.079	0.049	2980	3753	1864
13069	1.10	415.8	52.2	12.7	1142	13083	0.22	1.83	6.70	0.580	6	0.183	0.023	2935	2493	1835
13428	1.36	452.5	16.7	10.5	1204	13464	0.20	2.08	30.12	0.632	4	0.064	0.047	3018	3758	1686
13507	end climb: SURFACE_DEPTH_REACHED
state	13507	begin surface coast
13529	end surface coast: CONTROL_FINISHED_OK
state	13530	begin surface