Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 666 * 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 666 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 75 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -22419.762 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 -22419.762

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 75 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 38 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 666 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 132407,2522.160,12258.587,28,1.2,29,-3.7 TGT_NAME OFF_3

_CALLS 2 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.81 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -67.8 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 133514,2522.217,12258.566,13,1.3,13,-3.7 MHEAD_RNG_PITCHd_Wd 208.3,48450,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1355

Post-dive calculations and measurements:

FINISH 1.8,1.009098 _24V_AH 23.1,113.999

SM_CCo 14082,33.20,0.625,0,0,1595,475.15 _10V_AH 10.5,59.273

SM_GC 2.81,0.00,0.00,33.20,0.000,0.000,0.625,139,2373,1595,-7.63,-0.28,475.15 DATA_FILE_SIZE 69461,1272

IRIDIUM_FIX 2515.12,12257.73,031298,131349 CAP_FILE_SIZE 149974,0

TT8_MAMPS 0.029146 CFSIZE 260165632,174288896

HUMID 1861 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.40466 CURRENT 0.202, 31.5,1

TCM_TEMP 25.30 GPS 080909,173206,2522.242,12258.981,33,0.8,34,-3.7

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 228 148.76 SBE_CT 862 24 478.25

Roll_motor 104 50 121.76 Optode 875 33 667.23

VBD_pump_during_apogee 450 1412 14682.31 WL_BB2F 0 105 0.00

VBD_pump_during_surface 33 625 479.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 132.97 nil 0 0 0.00

Iridium_during_connect 69 160 256.10 nil 0 0 0.00

Iridium_during_xfer 296 223 1529.46

Transponder_ping 9 420 89.74

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.29

TT8 2311 19 480.56

LPSleep 8470 2 194.77

TT8_Active 574 19 119.41

TT8_Sampling 2476 39 1034.99

TT8_CF8 940 45 452.44

TT8_Kalman 0 81 0.00

Analog_circuits 1801 12 227.04

GPS_charging 0 0 0.00

Compass 2413 8 202.76

RAFOS 0 0 0.00

Transponder 57 30 18.09

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 40 0.00 0.00 -21.52 0.000 2 0.000 0.000 144 2381 2140

45 -1.50 -121.7 3.0 -1.5 4 119 8.05 2.10 -57.95 0.000 4 0.229 0.036 2088 970 3989

377 -1.08 -121.7 104.6 -26.0 61 384 0.52 2.12 0.00 0.000 6 0.165 0.029 2224 2395 3992

723 -1.02 -121.7 165.3 -16.6 122 729 0.00 2.08 0.00 0.000 4 0.000 0.042 2217 3751 3995

951 -0.95 -121.7 208.6 -17.8 162 958 0.20 1.95 0.00 0.000 6 0.154 0.021 2273 2354 3996

1303 -1.21 -121.7 252.1 -12.4 223 1309 0.20 2.20 0.00 0.000 4 0.062 0.044 2179 3762 3996

1387 -1.08 -121.7 266.5 -17.9 237 1393 0.17 1.92 0.00 0.000 6 0.162 0.021 2224 2393 3996

1728 -1.22 -121.7 320.1 -15.1 286 1733 0.12 2.12 0.00 0.000 4 0.077 0.044 2168 3753 3996

1909 -1.06 -121.7 357.2 -21.9 301 1915 0.25 1.88 0.00 0.000 6 0.161 0.023 2236 2430 3996

2237 -1.25 -121.7 398.7 -11.9 332 2241 0.17 2.08 0.00 0.000 4 0.068 0.044 2163 3753 3995

2377 -1.09 -121.7 421.4 -17.2 344 2381 0.25 1.88 0.00 0.000 6 0.160 0.023 2230 2435 3995

2709 -1.31 -121.7 457.9 -10.9 375 2713 0.20 2.08 0.00 0.000 4 0.063 0.046 2146 3757 3993

2758 -1.17 -121.7 465.2 -17.4 379 2762 0.22 1.85 0.00 0.000 6 0.168 0.024 2204 2464 3992

3098 -1.30 -121.7 516.7 -15.6 406 3102 0.12 2.03 0.00 0.000 4 0.079 0.048 2152 3744 3991

3214 -1.16 -121.7 539.6 -20.8 411 3218 0.20 1.83 0.00 0.000 6 0.172 0.024 2202 2478 3990

3551 -1.34 -121.7 587.9 -13.3 427 3555 0.17 2.03 0.00 0.000 4 0.068 0.048 2126 3756 3987

3671 -1.14 -121.7 610.7 -19.7 432 3675 0.25 1.83 0.00 0.000 6 0.169 0.024 2211 2511 3986

4002 -1.35 -121.7 649.8 -11.1 448 4007 0.20 1.98 0.00 0.000 4 0.069 0.048 2126 3754 3983

4136 -1.17 -121.7 673.0 -17.9 453 4143 0.28 1.77 0.00 0.000 6 0.171 0.025 2198 2526 3982

4457 -1.36 -121.7 709.7 -11.2 469 4461 0.17 1.95 0.00 0.000 4 0.074 0.049 2124 3751 3980

4583 -1.19 -121.7 731.8 -18.5 474 4587 0.20 1.77 0.00 0.000 6 0.169 0.025 2191 2549 3979

4906 -1.35 -121.7 771.8 -11.0 490 4910 0.15 1.92 0.00 0.000 4 0.079 0.048 2128 3760 3976

4963 -1.23 -121.7 780.4 -15.8 492 4968 0.20 1.75 0.00 0.000 6 0.173 0.025 2178 2557 3975

5286 -1.34 -121.7 819.2 -11.7 508 5288 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2557 3974

5597 -1.47 -121.7 855.4 -11.5 523 5601 0.20 1.92 0.00 0.000 4 0.073 0.051 2098 3756 3971

5666 -1.22 -121.7 867.4 -19.5 526 5670 0.28 1.77 0.00 0.000 6 0.174 0.025 2184 2569 3971

6002 -1.37 -121.7 909.9 -12.3 542 6007 0.15 1.90 0.00 0.000 4 0.078 0.051 2126 3753 3969

6144 -1.22 -121.7 932.6 -17.3 548 6148 0.22 1.73 0.00 0.000 6 0.177 0.027 2182 2579 3968

6482 -1.37 -121.7 971.9 -10.7 564 6487 0.15 1.88 0.00 0.000 4 0.081 0.051 2126 3751 3966

6600 -1.27 -121.7 988.0 -14.3 569 6605 0.17 1.70 0.00 0.000 6 0.177 0.026 2169 2591 3966

6615 end dive: TARGET_DEPTH_EXCEEDED

state 6615 begin apogee

6624 -0.27 0.0 990.4 13.6 570 6720 1.10 0.00 92.53 1.412 6 0.155 0.000 2487 2391 3532

6721 end apogee: CONTROL_FINISHED_OK

state 6721 begin climb

6726 1.50 121.7 991.5 0.0 575 6839 1.62 2.28 104.78 1.370 4 0.049 0.045 3074 3756 3036

7093 0.53 121.7 954.1 17.8 591 7099 1.30 2.08 0.00 0.000 6 0.221 0.023 2760 2331 3032

7416 0.59 170.4 919.4 9.7 607 7463 0.00 2.38 41.05 1.328 4 0.000 0.050 2760 3742 2837

7719 0.55 183.6 880.4 12.2 620 7735 0.00 2.03 11.60 1.207 6 0.000 0.025 2763 2379 2783

8068 0.65 188.1 837.2 12.9 637 8077 0.00 2.20 4.90 0.949 4 0.000 0.050 2763 3744 2765

8282 0.65 188.1 803.6 15.7 646 8286 0.00 2.03 0.00 0.000 6 0.000 0.027 2773 2372 2763

8605 0.72 188.1 759.3 13.3 662 8609 0.12 2.20 0.00 0.000 4 0.082 0.050 2821 3743 2763

8732 0.51 188.1 738.8 17.9 667 8738 0.30 1.98 0.00 0.000 6 0.187 0.025 2751 2398 2762

9049 0.70 224.6 703.6 10.6 683 9088 0.15 0.00 32.10 1.227 6 0.081 0.000 2810 2396 2614

9399 0.70 224.6 656.5 14.3 700 9402 0.00 2.17 0.00 0.000 4 0.000 0.051 2810 3754 2610

9659 0.59 224.6 613.2 18.1 711 9663 0.17 1.98 0.00 0.000 6 0.186 0.024 2774 2397 2609

9981 0.74 224.6 567.8 14.4 727 9985 0.12 2.17 0.00 0.000 4 0.081 0.048 2823 3755 2608

10212 0.60 224.6 525.4 18.0 737 10217 0.20 1.90 0.00 0.000 6 0.188 0.024 2779 2440 2608

10542 0.78 261.4 485.0 10.5 759 10574 0.15 0.00 29.40 1.085 6 0.078 0.000 2837 2435 2466

10893 0.78 261.4 437.2 15.7 792 10897 0.00 2.10 0.00 0.000 4 0.000 0.050 2837 3751 2462

10974 0.68 261.4 423.3 19.0 799 10978 0.17 1.92 0.00 0.000 6 0.185 0.025 2803 2430 2461

11305 0.82 261.4 374.7 15.1 830 11307 0.12 0.00 0.00 0.000 6 0.084 0.000 2853 2427 2460

11628 0.82 261.4 321.0 15.8 860 11631 0.00 2.10 0.00 0.000 4 0.000 0.049 2853 3745 2460

11868 0.71 261.4 280.5 16.5 891 11874 0.20 1.90 0.00 0.000 6 0.182 0.025 2812 2443 2459

12216 0.85 261.4 234.6 13.3 952 12224 0.12 2.10 0.00 0.000 4 0.085 0.048 2861 3755 2459

12481 0.74 261.4 186.8 17.9 998 12487 0.20 1.85 0.00 0.000 6 0.179 0.023 2819 2458 2459

12829 0.94 310.9 149.3 9.6 1059 12877 0.17 2.25 39.80 0.813 4 0.074 0.028 2900 983 2263

12955 0.94 310.9 132.2 14.3 1080 12962 0.00 2.25 0.00 0.000 6 0.000 0.031 2900 2447 2260

13304 0.94 310.9 78.4 16.4 1141 13310 0.00 2.05 0.00 0.000 4 0.000 0.051 2900 3747 2258

13377 0.90 336.4 68.5 11.4 1153 13406 0.15 1.85 20.90 0.721 6 0.176 0.023 2871 2450 2159

13751 1.31 429.7 49.6 6.4 1218 13832 0.32 2.10 73.07 0.686 4 0.058 0.047 3005 3747 1779

14039 end climb: SURFACE_DEPTH_REACHED

state 14039 begin surface coast

14057 end surface coast: CONTROL_FINISHED_OK

state 14057 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	666	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	75	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-22419.762	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	132407,2522.160,12258.587,28,1.2,29,-3.7	TGT_NAME	OFF_3
_CALLS	2	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.81	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-67.8	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	133514,2522.217,12258.566,13,1.3,13,-3.7	MHEAD_RNG_PITCHd_Wd	208.3,48450,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1355

FINISH	1.8,1.009098	_24V_AH	23.1,113.999
SM_CCo	14082,33.20,0.625,0,0,1595,475.15	_10V_AH	10.5,59.273
SM_GC	2.81,0.00,0.00,33.20,0.000,0.000,0.625,139,2373,1595,-7.63,-0.28,475.15	DATA_FILE_SIZE	69461,1272
IRIDIUM_FIX	2515.12,12257.73,031298,131349	CAP_FILE_SIZE	149974,0
TT8_MAMPS	0.029146	CFSIZE	260165632,174288896
HUMID	1861	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.40466	CURRENT	0.202, 31.5,1
TCM_TEMP	25.30	GPS	080909,173206,2522.242,12258.981,33,0.8,34,-3.7
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	228	148.76	SBE_CT	862	24	478.25
Roll_motor	104	50	121.76	Optode	875	33	667.23
VBD_pump_during_apogee	450	1412	14682.31	WL_BB2F	0	105	0.00
VBD_pump_during_surface	33	625	479.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	132.97	nil	0	0	0.00
Iridium_during_connect	69	160	256.10	nil	0	0	0.00
Iridium_during_xfer	296	223	1529.46
Transponder_ping	9	420	89.74
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.29
TT8	2311	19	480.56
LPSleep	8470	2	194.77
TT8_Active	574	19	119.41
TT8_Sampling	2476	39	1034.99
TT8_CF8	940	45	452.44
TT8_Kalman	0	81	0.00
Analog_circuits	1801	12	227.04
GPS_charging	0	0	0.00
Compass	2413	8	202.76
RAFOS	0	0	0.00
Transponder	57	30	18.09

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	40	0.00	0.00	-21.52	0.000	2	0.000	0.000	144	2381	2140
45	-1.50	-121.7	3.0	-1.5	4	119	8.05	2.10	-57.95	0.000	4	0.229	0.036	2088	970	3989
377	-1.08	-121.7	104.6	-26.0	61	384	0.52	2.12	0.00	0.000	6	0.165	0.029	2224	2395	3992
723	-1.02	-121.7	165.3	-16.6	122	729	0.00	2.08	0.00	0.000	4	0.000	0.042	2217	3751	3995
951	-0.95	-121.7	208.6	-17.8	162	958	0.20	1.95	0.00	0.000	6	0.154	0.021	2273	2354	3996
1303	-1.21	-121.7	252.1	-12.4	223	1309	0.20	2.20	0.00	0.000	4	0.062	0.044	2179	3762	3996
1387	-1.08	-121.7	266.5	-17.9	237	1393	0.17	1.92	0.00	0.000	6	0.162	0.021	2224	2393	3996
1728	-1.22	-121.7	320.1	-15.1	286	1733	0.12	2.12	0.00	0.000	4	0.077	0.044	2168	3753	3996
1909	-1.06	-121.7	357.2	-21.9	301	1915	0.25	1.88	0.00	0.000	6	0.161	0.023	2236	2430	3996
2237	-1.25	-121.7	398.7	-11.9	332	2241	0.17	2.08	0.00	0.000	4	0.068	0.044	2163	3753	3995
2377	-1.09	-121.7	421.4	-17.2	344	2381	0.25	1.88	0.00	0.000	6	0.160	0.023	2230	2435	3995
2709	-1.31	-121.7	457.9	-10.9	375	2713	0.20	2.08	0.00	0.000	4	0.063	0.046	2146	3757	3993
2758	-1.17	-121.7	465.2	-17.4	379	2762	0.22	1.85	0.00	0.000	6	0.168	0.024	2204	2464	3992
3098	-1.30	-121.7	516.7	-15.6	406	3102	0.12	2.03	0.00	0.000	4	0.079	0.048	2152	3744	3991
3214	-1.16	-121.7	539.6	-20.8	411	3218	0.20	1.83	0.00	0.000	6	0.172	0.024	2202	2478	3990
3551	-1.34	-121.7	587.9	-13.3	427	3555	0.17	2.03	0.00	0.000	4	0.068	0.048	2126	3756	3987
3671	-1.14	-121.7	610.7	-19.7	432	3675	0.25	1.83	0.00	0.000	6	0.169	0.024	2211	2511	3986
4002	-1.35	-121.7	649.8	-11.1	448	4007	0.20	1.98	0.00	0.000	4	0.069	0.048	2126	3754	3983
4136	-1.17	-121.7	673.0	-17.9	453	4143	0.28	1.77	0.00	0.000	6	0.171	0.025	2198	2526	3982
4457	-1.36	-121.7	709.7	-11.2	469	4461	0.17	1.95	0.00	0.000	4	0.074	0.049	2124	3751	3980
4583	-1.19	-121.7	731.8	-18.5	474	4587	0.20	1.77	0.00	0.000	6	0.169	0.025	2191	2549	3979
4906	-1.35	-121.7	771.8	-11.0	490	4910	0.15	1.92	0.00	0.000	4	0.079	0.048	2128	3760	3976
4963	-1.23	-121.7	780.4	-15.8	492	4968	0.20	1.75	0.00	0.000	6	0.173	0.025	2178	2557	3975
5286	-1.34	-121.7	819.2	-11.7	508	5288	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2557	3974
5597	-1.47	-121.7	855.4	-11.5	523	5601	0.20	1.92	0.00	0.000	4	0.073	0.051	2098	3756	3971
5666	-1.22	-121.7	867.4	-19.5	526	5670	0.28	1.77	0.00	0.000	6	0.174	0.025	2184	2569	3971
6002	-1.37	-121.7	909.9	-12.3	542	6007	0.15	1.90	0.00	0.000	4	0.078	0.051	2126	3753	3969
6144	-1.22	-121.7	932.6	-17.3	548	6148	0.22	1.73	0.00	0.000	6	0.177	0.027	2182	2579	3968
6482	-1.37	-121.7	971.9	-10.7	564	6487	0.15	1.88	0.00	0.000	4	0.081	0.051	2126	3751	3966
6600	-1.27	-121.7	988.0	-14.3	569	6605	0.17	1.70	0.00	0.000	6	0.177	0.026	2169	2591	3966
6615	end dive: TARGET_DEPTH_EXCEEDED
state	6615	begin apogee
6624	-0.27	0.0	990.4	13.6	570	6720	1.10	0.00	92.53	1.412	6	0.155	0.000	2487	2391	3532
6721	end apogee: CONTROL_FINISHED_OK
state	6721	begin climb
6726	1.50	121.7	991.5	0.0	575	6839	1.62	2.28	104.78	1.370	4	0.049	0.045	3074	3756	3036
7093	0.53	121.7	954.1	17.8	591	7099	1.30	2.08	0.00	0.000	6	0.221	0.023	2760	2331	3032
7416	0.59	170.4	919.4	9.7	607	7463	0.00	2.38	41.05	1.328	4	0.000	0.050	2760	3742	2837
7719	0.55	183.6	880.4	12.2	620	7735	0.00	2.03	11.60	1.207	6	0.000	0.025	2763	2379	2783
8068	0.65	188.1	837.2	12.9	637	8077	0.00	2.20	4.90	0.949	4	0.000	0.050	2763	3744	2765
8282	0.65	188.1	803.6	15.7	646	8286	0.00	2.03	0.00	0.000	6	0.000	0.027	2773	2372	2763
8605	0.72	188.1	759.3	13.3	662	8609	0.12	2.20	0.00	0.000	4	0.082	0.050	2821	3743	2763
8732	0.51	188.1	738.8	17.9	667	8738	0.30	1.98	0.00	0.000	6	0.187	0.025	2751	2398	2762
9049	0.70	224.6	703.6	10.6	683	9088	0.15	0.00	32.10	1.227	6	0.081	0.000	2810	2396	2614
9399	0.70	224.6	656.5	14.3	700	9402	0.00	2.17	0.00	0.000	4	0.000	0.051	2810	3754	2610
9659	0.59	224.6	613.2	18.1	711	9663	0.17	1.98	0.00	0.000	6	0.186	0.024	2774	2397	2609
9981	0.74	224.6	567.8	14.4	727	9985	0.12	2.17	0.00	0.000	4	0.081	0.048	2823	3755	2608
10212	0.60	224.6	525.4	18.0	737	10217	0.20	1.90	0.00	0.000	6	0.188	0.024	2779	2440	2608
10542	0.78	261.4	485.0	10.5	759	10574	0.15	0.00	29.40	1.085	6	0.078	0.000	2837	2435	2466
10893	0.78	261.4	437.2	15.7	792	10897	0.00	2.10	0.00	0.000	4	0.000	0.050	2837	3751	2462
10974	0.68	261.4	423.3	19.0	799	10978	0.17	1.92	0.00	0.000	6	0.185	0.025	2803	2430	2461
11305	0.82	261.4	374.7	15.1	830	11307	0.12	0.00	0.00	0.000	6	0.084	0.000	2853	2427	2460
11628	0.82	261.4	321.0	15.8	860	11631	0.00	2.10	0.00	0.000	4	0.000	0.049	2853	3745	2460
11868	0.71	261.4	280.5	16.5	891	11874	0.20	1.90	0.00	0.000	6	0.182	0.025	2812	2443	2459
12216	0.85	261.4	234.6	13.3	952	12224	0.12	2.10	0.00	0.000	4	0.085	0.048	2861	3755	2459
12481	0.74	261.4	186.8	17.9	998	12487	0.20	1.85	0.00	0.000	6	0.179	0.023	2819	2458	2459
12829	0.94	310.9	149.3	9.6	1059	12877	0.17	2.25	39.80	0.813	4	0.074	0.028	2900	983	2263
12955	0.94	310.9	132.2	14.3	1080	12962	0.00	2.25	0.00	0.000	6	0.000	0.031	2900	2447	2260
13304	0.94	310.9	78.4	16.4	1141	13310	0.00	2.05	0.00	0.000	4	0.000	0.051	2900	3747	2258
13377	0.90	336.4	68.5	11.4	1153	13406	0.15	1.85	20.90	0.721	6	0.176	0.023	2871	2450	2159
13751	1.31	429.7	49.6	6.4	1218	13832	0.32	2.10	73.07	0.686	4	0.058	0.047	3005	3747	1779
14039	end climb: SURFACE_DEPTH_REACHED
state	14039	begin surface coast
14057	end surface coast: CONTROL_FINISHED_OK
state	14057	begin surface