Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 674 * 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 674 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 73 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 -22587.941 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 -22587.941

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 73 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 674 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 203807,2523.644,12301.977,31,1.0,32,-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 2.81 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -66.6 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 204614,2523.807,12302.363,14,1.6,14,-3.7 MHEAD_RNG_PITCHd_Wd 222.9,50277,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1063

Post-dive calculations and measurements:

FINISH 2.0,1.020193 _24V_AH 23.1,115.358

SM_CCo 13570,0.43,0.087,0,0,1595,475.15 _10V_AH 10.5,59.934

SM_GC 3.66,0.00,0.00,0.43,0.000,0.000,0.087,139,2368,1595,-7.63,-0.42,475.15 DATA_FILE_SIZE 66303,1248

IRIDIUM_FIX 2515.12,12259.73,041298,161648 CAP_FILE_SIZE 146179,0

TT8_MAMPS 0.029146 CFSIZE 260165632,173686784

HUMID 1841 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.40466 CURRENT 0.231, 45.5,1

TCM_TEMP 25.40 GPS 100909,003407,2524.068,12302.573,39,1.1,39,-3.7

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 232 140.65 SBE_CT 844 24 468.38

Roll_motor 110 52 132.56 Optode 874 33 666.99

VBD_pump_during_apogee 484 1413 15820.73 WL_BB2F 0 105 0.00

VBD_pump_during_surface 0 86 0.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.45 nil 0 0 0.00

Iridium_during_connect 37 160 137.58 nil 0 0 0.00

Iridium_during_xfer 244 223 1257.90

Transponder_ping 11 420 106.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.61

TT8 2257 19 469.36

LPSleep 7975 2 183.40

TT8_Active 554 19 115.35

TT8_Sampling 2459 39 1027.92

TT8_CF8 798 45 384.06

TT8_Kalman 0 81 0.00

Analog_circuits 1791 12 225.76

GPS_charging 0 0 0.00

Compass 2389 8 200.70

RAFOS 0 0 0.00

Transponder 57 30 18.04

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 46 0.00 0.00 -28.05 0.000 2 0.000 0.000 137 2384 2305

52 -1.50 -121.7 3.4 -2.4 5 114 8.15 2.12 -48.10 0.000 4 0.232 0.038 2093 984 3990

215 -0.95 -121.7 50.4 -38.3 32 222 0.70 2.15 0.00 0.000 6 0.175 0.035 2273 2395 3992

563 -1.12 -121.7 123.9 -14.6 93 569 0.15 2.10 0.00 0.000 4 0.068 0.044 2205 3753 3994

685 -0.96 -121.7 146.5 -17.2 114 693 0.22 1.98 0.00 0.000 6 0.155 0.021 2266 2349 3996

1034 -1.19 -121.7 193.6 -9.1 175 1041 0.17 2.20 0.00 0.000 4 0.067 0.042 2181 3761 3997

1100 -1.01 -121.7 204.2 -18.3 186 1108 0.25 1.90 0.00 0.000 6 0.156 0.021 2250 2405 3997

1451 -1.17 -121.7 249.8 -12.9 247 1461 0.15 2.12 0.00 0.000 4 0.071 0.044 2188 3764 3997

1645 -1.04 -121.7 285.6 -18.2 280 1652 0.20 1.88 0.00 0.000 6 0.157 0.022 2242 2437 3997

1978 -1.24 -121.7 333.8 -14.0 319 1982 0.17 2.08 0.00 0.000 4 0.067 0.045 2166 3757 3997

2093 -1.09 -121.7 356.3 -19.9 329 2098 0.17 1.85 0.00 0.000 6 0.160 0.022 2227 2479 3997

2425 -1.26 -121.7 408.2 -14.4 360 2429 0.15 2.03 0.00 0.000 4 0.074 0.046 2162 3764 3997

2489 -1.12 -121.7 419.6 -19.1 365 2495 0.20 1.85 0.00 0.000 6 0.163 0.023 2214 2467 3997

2815 -1.26 -121.7 469.2 -14.8 396 2819 0.12 2.05 0.00 0.000 4 0.080 0.048 2162 3763 3995

2912 -1.17 -121.7 486.5 -17.9 404 2919 0.15 1.83 0.00 0.000 6 0.169 0.024 2199 2494 3994

3235 -1.29 -121.7 535.7 -15.2 424 3238 0.00 1.98 0.00 0.000 4 0.000 0.047 2192 3752 3993

3465 -1.35 -121.7 575.5 -17.0 434 3469 0.15 1.80 0.00 0.000 6 0.074 0.025 2133 2507 3991

3803 -1.23 -121.7 643.7 -20.3 450 3807 0.17 2.00 0.00 0.000 4 0.165 0.049 2178 3757 3988

3876 -1.23 -121.7 657.3 -16.0 453 3879 0.00 1.77 0.00 0.000 6 0.000 0.025 2179 2526 3987

4204 -1.31 -121.7 705.1 -13.3 469 4208 0.00 1.95 0.00 0.000 4 0.000 0.051 2179 3753 3985

4367 -1.38 -121.7 727.2 -13.3 476 4371 0.12 1.75 0.00 0.000 6 0.081 0.026 2130 2554 3983

4705 -1.30 -121.7 782.9 -16.8 492 4707 0.12 0.00 0.00 0.000 6 0.173 0.000 2159 2552 3981

5010 -1.35 -121.7 830.1 -14.9 507 5014 0.00 1.95 0.00 0.000 4 0.000 0.051 2152 3774 3979

5151 -1.35 -121.7 851.6 -15.1 513 5154 0.00 1.77 0.00 0.000 6 0.000 0.025 2152 2559 3977

5480 -1.35 -121.7 899.0 -15.0 529 5485 0.00 1.92 0.00 0.000 4 0.000 0.052 2152 3770 3975

5598 -1.35 -121.7 918.0 -16.4 534 5602 0.00 1.75 0.00 0.000 6 0.000 0.027 2152 2578 3974

5927 -1.35 -121.7 967.3 -15.2 550 5931 0.00 1.90 0.00 0.000 4 0.000 0.052 2149 3743 3972

6051 -1.35 -121.7 987.6 -15.9 555 6055 0.00 1.70 0.00 0.000 6 0.000 0.027 2149 2583 3971

6081 end dive: TARGET_DEPTH_EXCEEDED

state 6081 begin apogee

6090 -0.27 0.0 992.4 15.0 557 6187 1.20 0.00 93.75 1.414 6 0.160 0.000 2489 2410 3531

6188 end apogee: CONTROL_FINISHED_OK

state 6188 begin climb

6193 1.50 121.7 996.9 0.0 562 6307 1.58 2.38 104.93 1.377 4 0.051 0.026 3072 949 3035

6562 0.74 122.8 973.2 13.1 578 6567 0.98 2.20 0.00 0.000 6 0.212 0.034 2825 2376 3030

6885 0.65 211.0 949.4 6.8 594 6969 0.15 2.33 74.62 1.351 4 0.197 0.028 2790 952 2670

7197 0.75 220.6 915.0 12.5 608 7212 0.00 2.17 8.62 1.146 6 0.000 0.032 2789 2360 2634

7532 0.80 220.6 868.2 14.4 624 7536 0.15 2.22 0.00 0.000 4 0.076 0.050 2847 3762 2630

7698 0.55 220.6 836.6 19.8 631 7703 0.35 2.08 0.00 0.000 6 0.186 0.025 2763 2357 2629

8022 0.70 232.3 794.8 12.4 647 8038 0.12 2.28 10.88 1.179 4 0.083 0.049 2812 3765 2585

8247 0.58 232.3 750.5 19.7 656 8252 0.20 2.05 0.00 0.000 6 0.183 0.027 2765 2395 2582

8571 0.73 232.3 702.2 14.5 672 8575 0.15 2.20 0.00 0.000 4 0.076 0.049 2822 3763 2580

8689 0.58 232.3 680.4 17.8 677 8693 0.22 2.03 0.00 0.000 6 0.184 0.026 2772 2385 2580

9011 0.72 232.3 637.5 13.5 693 9016 0.12 2.20 0.00 0.000 4 0.083 0.048 2820 3756 2579

9202 0.59 232.3 604.3 17.0 701 9206 0.22 1.95 0.00 0.000 6 0.183 0.026 2771 2424 2579

9526 0.79 269.1 567.0 10.5 717 9561 0.17 2.20 30.35 1.135 4 0.075 0.050 2845 3764 2434

9609 0.62 269.1 554.5 17.3 720 9613 0.28 2.00 0.00 0.000 6 0.182 0.026 2784 2422 2432

9938 0.79 269.1 512.6 13.4 736 9943 0.15 2.15 0.00 0.000 4 0.073 0.049 2840 3758 2430

10051 0.67 269.1 491.9 20.8 742 10058 0.20 1.90 0.00 0.000 6 0.181 0.024 2800 2443 2429

10377 0.79 269.1 444.2 15.0 773 10381 0.10 2.10 0.00 0.000 4 0.088 0.050 2837 3760 2429

10412 0.70 269.1 438.0 18.4 776 10416 0.15 1.95 0.00 0.000 6 0.189 0.025 2810 2423 2429

10744 0.81 269.1 385.4 15.1 807 10748 0.00 2.12 0.00 0.000 4 0.000 0.050 2810 3757 2428

10975 0.81 269.1 346.6 16.8 827 10981 0.00 1.88 0.00 0.000 6 0.000 0.025 2818 2456 2428

11305 0.93 275.6 301.3 12.7 858 11319 0.17 2.22 6.12 0.790 4 0.074 0.026 2898 965 2407

11357 0.93 275.6 293.6 15.0 865 11363 0.00 2.30 0.00 0.000 6 0.000 0.031 2898 2470 2407

11703 0.84 275.6 238.3 18.0 926 11710 0.17 2.05 0.00 0.000 4 0.180 0.048 2847 3762 2407

11809 0.84 275.6 220.2 17.2 944 11815 0.00 1.90 0.00 0.000 6 0.000 0.025 2856 2451 2407

12156 0.92 303.0 169.3 11.2 1005 12185 0.00 2.25 23.55 0.813 4 0.000 0.028 2865 964 2296

12443 1.08 303.8 131.2 13.1 1055 12450 0.17 2.28 0.00 0.000 6 0.074 0.031 2932 2453 2293

12792 1.05 328.3 81.1 11.4 1116 12821 0.00 2.10 20.75 0.719 4 0.000 0.048 2933 3758 2193

13082 1.16 469.8 56.3 2.9 1166 13199 0.00 1.98 110.93 0.690 6 0.000 0.021 2942 2373 1615

13525 end climb: SURFACE_DEPTH_REACHED

state 13525 begin surface coast

13549 end surface coast: CONTROL_FINISHED_OK

state 13549 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	674	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	73	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	-22587.941	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	203807,2523.644,12301.977,31,1.0,32,-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	2.81	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-66.6	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	204614,2523.807,12302.363,14,1.6,14,-3.7	MHEAD_RNG_PITCHd_Wd	222.9,50277,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1063

FINISH	2.0,1.020193	_24V_AH	23.1,115.358
SM_CCo	13570,0.43,0.087,0,0,1595,475.15	_10V_AH	10.5,59.934
SM_GC	3.66,0.00,0.00,0.43,0.000,0.000,0.087,139,2368,1595,-7.63,-0.42,475.15	DATA_FILE_SIZE	66303,1248
IRIDIUM_FIX	2515.12,12259.73,041298,161648	CAP_FILE_SIZE	146179,0
TT8_MAMPS	0.029146	CFSIZE	260165632,173686784
HUMID	1841	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.40466	CURRENT	0.231, 45.5,1
TCM_TEMP	25.40	GPS	100909,003407,2524.068,12302.573,39,1.1,39,-3.7
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	232	140.65	SBE_CT	844	24	468.38
Roll_motor	110	52	132.56	Optode	874	33	666.99
VBD_pump_during_apogee	484	1413	15820.73	WL_BB2F	0	105	0.00
VBD_pump_during_surface	0	86	0.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.45	nil	0	0	0.00
Iridium_during_connect	37	160	137.58	nil	0	0	0.00
Iridium_during_xfer	244	223	1257.90
Transponder_ping	11	420	106.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.61
TT8	2257	19	469.36
LPSleep	7975	2	183.40
TT8_Active	554	19	115.35
TT8_Sampling	2459	39	1027.92
TT8_CF8	798	45	384.06
TT8_Kalman	0	81	0.00
Analog_circuits	1791	12	225.76
GPS_charging	0	0	0.00
Compass	2389	8	200.70
RAFOS	0	0	0.00
Transponder	57	30	18.04

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	46	0.00	0.00	-28.05	0.000	2	0.000	0.000	137	2384	2305
52	-1.50	-121.7	3.4	-2.4	5	114	8.15	2.12	-48.10	0.000	4	0.232	0.038	2093	984	3990
215	-0.95	-121.7	50.4	-38.3	32	222	0.70	2.15	0.00	0.000	6	0.175	0.035	2273	2395	3992
563	-1.12	-121.7	123.9	-14.6	93	569	0.15	2.10	0.00	0.000	4	0.068	0.044	2205	3753	3994
685	-0.96	-121.7	146.5	-17.2	114	693	0.22	1.98	0.00	0.000	6	0.155	0.021	2266	2349	3996
1034	-1.19	-121.7	193.6	-9.1	175	1041	0.17	2.20	0.00	0.000	4	0.067	0.042	2181	3761	3997
1100	-1.01	-121.7	204.2	-18.3	186	1108	0.25	1.90	0.00	0.000	6	0.156	0.021	2250	2405	3997
1451	-1.17	-121.7	249.8	-12.9	247	1461	0.15	2.12	0.00	0.000	4	0.071	0.044	2188	3764	3997
1645	-1.04	-121.7	285.6	-18.2	280	1652	0.20	1.88	0.00	0.000	6	0.157	0.022	2242	2437	3997
1978	-1.24	-121.7	333.8	-14.0	319	1982	0.17	2.08	0.00	0.000	4	0.067	0.045	2166	3757	3997
2093	-1.09	-121.7	356.3	-19.9	329	2098	0.17	1.85	0.00	0.000	6	0.160	0.022	2227	2479	3997
2425	-1.26	-121.7	408.2	-14.4	360	2429	0.15	2.03	0.00	0.000	4	0.074	0.046	2162	3764	3997
2489	-1.12	-121.7	419.6	-19.1	365	2495	0.20	1.85	0.00	0.000	6	0.163	0.023	2214	2467	3997
2815	-1.26	-121.7	469.2	-14.8	396	2819	0.12	2.05	0.00	0.000	4	0.080	0.048	2162	3763	3995
2912	-1.17	-121.7	486.5	-17.9	404	2919	0.15	1.83	0.00	0.000	6	0.169	0.024	2199	2494	3994
3235	-1.29	-121.7	535.7	-15.2	424	3238	0.00	1.98	0.00	0.000	4	0.000	0.047	2192	3752	3993
3465	-1.35	-121.7	575.5	-17.0	434	3469	0.15	1.80	0.00	0.000	6	0.074	0.025	2133	2507	3991
3803	-1.23	-121.7	643.7	-20.3	450	3807	0.17	2.00	0.00	0.000	4	0.165	0.049	2178	3757	3988
3876	-1.23	-121.7	657.3	-16.0	453	3879	0.00	1.77	0.00	0.000	6	0.000	0.025	2179	2526	3987
4204	-1.31	-121.7	705.1	-13.3	469	4208	0.00	1.95	0.00	0.000	4	0.000	0.051	2179	3753	3985
4367	-1.38	-121.7	727.2	-13.3	476	4371	0.12	1.75	0.00	0.000	6	0.081	0.026	2130	2554	3983
4705	-1.30	-121.7	782.9	-16.8	492	4707	0.12	0.00	0.00	0.000	6	0.173	0.000	2159	2552	3981
5010	-1.35	-121.7	830.1	-14.9	507	5014	0.00	1.95	0.00	0.000	4	0.000	0.051	2152	3774	3979
5151	-1.35	-121.7	851.6	-15.1	513	5154	0.00	1.77	0.00	0.000	6	0.000	0.025	2152	2559	3977
5480	-1.35	-121.7	899.0	-15.0	529	5485	0.00	1.92	0.00	0.000	4	0.000	0.052	2152	3770	3975
5598	-1.35	-121.7	918.0	-16.4	534	5602	0.00	1.75	0.00	0.000	6	0.000	0.027	2152	2578	3974
5927	-1.35	-121.7	967.3	-15.2	550	5931	0.00	1.90	0.00	0.000	4	0.000	0.052	2149	3743	3972
6051	-1.35	-121.7	987.6	-15.9	555	6055	0.00	1.70	0.00	0.000	6	0.000	0.027	2149	2583	3971
6081	end dive: TARGET_DEPTH_EXCEEDED
state	6081	begin apogee
6090	-0.27	0.0	992.4	15.0	557	6187	1.20	0.00	93.75	1.414	6	0.160	0.000	2489	2410	3531
6188	end apogee: CONTROL_FINISHED_OK
state	6188	begin climb
6193	1.50	121.7	996.9	0.0	562	6307	1.58	2.38	104.93	1.377	4	0.051	0.026	3072	949	3035
6562	0.74	122.8	973.2	13.1	578	6567	0.98	2.20	0.00	0.000	6	0.212	0.034	2825	2376	3030
6885	0.65	211.0	949.4	6.8	594	6969	0.15	2.33	74.62	1.351	4	0.197	0.028	2790	952	2670
7197	0.75	220.6	915.0	12.5	608	7212	0.00	2.17	8.62	1.146	6	0.000	0.032	2789	2360	2634
7532	0.80	220.6	868.2	14.4	624	7536	0.15	2.22	0.00	0.000	4	0.076	0.050	2847	3762	2630
7698	0.55	220.6	836.6	19.8	631	7703	0.35	2.08	0.00	0.000	6	0.186	0.025	2763	2357	2629
8022	0.70	232.3	794.8	12.4	647	8038	0.12	2.28	10.88	1.179	4	0.083	0.049	2812	3765	2585
8247	0.58	232.3	750.5	19.7	656	8252	0.20	2.05	0.00	0.000	6	0.183	0.027	2765	2395	2582
8571	0.73	232.3	702.2	14.5	672	8575	0.15	2.20	0.00	0.000	4	0.076	0.049	2822	3763	2580
8689	0.58	232.3	680.4	17.8	677	8693	0.22	2.03	0.00	0.000	6	0.184	0.026	2772	2385	2580
9011	0.72	232.3	637.5	13.5	693	9016	0.12	2.20	0.00	0.000	4	0.083	0.048	2820	3756	2579
9202	0.59	232.3	604.3	17.0	701	9206	0.22	1.95	0.00	0.000	6	0.183	0.026	2771	2424	2579
9526	0.79	269.1	567.0	10.5	717	9561	0.17	2.20	30.35	1.135	4	0.075	0.050	2845	3764	2434
9609	0.62	269.1	554.5	17.3	720	9613	0.28	2.00	0.00	0.000	6	0.182	0.026	2784	2422	2432
9938	0.79	269.1	512.6	13.4	736	9943	0.15	2.15	0.00	0.000	4	0.073	0.049	2840	3758	2430
10051	0.67	269.1	491.9	20.8	742	10058	0.20	1.90	0.00	0.000	6	0.181	0.024	2800	2443	2429
10377	0.79	269.1	444.2	15.0	773	10381	0.10	2.10	0.00	0.000	4	0.088	0.050	2837	3760	2429
10412	0.70	269.1	438.0	18.4	776	10416	0.15	1.95	0.00	0.000	6	0.189	0.025	2810	2423	2429
10744	0.81	269.1	385.4	15.1	807	10748	0.00	2.12	0.00	0.000	4	0.000	0.050	2810	3757	2428
10975	0.81	269.1	346.6	16.8	827	10981	0.00	1.88	0.00	0.000	6	0.000	0.025	2818	2456	2428
11305	0.93	275.6	301.3	12.7	858	11319	0.17	2.22	6.12	0.790	4	0.074	0.026	2898	965	2407
11357	0.93	275.6	293.6	15.0	865	11363	0.00	2.30	0.00	0.000	6	0.000	0.031	2898	2470	2407
11703	0.84	275.6	238.3	18.0	926	11710	0.17	2.05	0.00	0.000	4	0.180	0.048	2847	3762	2407
11809	0.84	275.6	220.2	17.2	944	11815	0.00	1.90	0.00	0.000	6	0.000	0.025	2856	2451	2407
12156	0.92	303.0	169.3	11.2	1005	12185	0.00	2.25	23.55	0.813	4	0.000	0.028	2865	964	2296
12443	1.08	303.8	131.2	13.1	1055	12450	0.17	2.28	0.00	0.000	6	0.074	0.031	2932	2453	2293
12792	1.05	328.3	81.1	11.4	1116	12821	0.00	2.10	20.75	0.719	4	0.000	0.048	2933	3758	2193
13082	1.16	469.8	56.3	2.9	1166	13199	0.00	1.98	110.93	0.690	6	0.000	0.021	2942	2373	1615
13525	end climb: SURFACE_DEPTH_REACHED
state	13525	begin surface coast
13549	end surface coast: CONTROL_FINISHED_OK
state	13549	begin surface