Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 129 * 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 129 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 62 INT_PRESSURE_YINT 2.7

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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 396 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 -4 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 -7652.9121 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 175 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 330

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 -7652.9121

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 396

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 350 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 -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 175 R_STBD_OVSHOOT 62 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 129 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 202826,2432.271,12319.615,25,2.3,44,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2407.200,12312.300

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 203534,2432.361,12319.612,14,2.3,33,-3.5 MHEAD_RNG_PITCHd_Wd 196.8,48209,-16.8,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 736

Post-dive calculations and measurements:

FINISH 0.9,1.021535 _24V_AH 23.9,30.446

SM_CCo 12930,16.30,0.652,0,0,1130,425.10 _10V_AH 10.7,19.020

SM_GC 1.80,0.00,0.00,16.30,0.000,0.000,0.652,165,1484,1130,-8.05,-0.48,425.10 DATA_FILE_SIZE 79059,1365

IRIDIUM_FIX 2425.21,12319.71,060998,161611 CAP_FILE_SIZE 144539,0

TT8_MAMPS 0.026845 CFSIZE 260165632,224440320

HUMID 1484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.93661 CURRENT 0.097, 29.3,1

TCM_TEMP 25.10 GPS 130609,001255,2431.076,12319.312,41,0.9,41,-3.5

XPDR_PINGS 116

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 233 148.58 SBE_CT 925 24 531.06

Roll_motor 103 55 136.64 Optode 968 33 763.88

VBD_pump_during_apogee 483 1287 14862.43 WL_BB2F 1627 105 4085.26

VBD_pump_during_surface 16 651 253.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.16 nil 0 0 0.00

Iridium_during_connect 33 160 127.09 nil 0 0 0.00

Iridium_during_xfer 229 223 1220.52

Transponder_ping 34 420 346.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.39

TT8 2408 19 510.19

LPSleep 7132 2 167.14

TT8_Active 618 19 130.99

TT8_Sampling 2708 39 1153.50

TT8_CF8 494 45 242.36

TT8_Kalman 0 0 0.00

Analog_circuits 1799 12 231.05

GPS_charging 0 0 0.00

Compass 2669 8 228.47

RAFOS 0 0 0.00

Transponder 38 30 12.37

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

15 -0.90 -170.3 0.0 0.0 0 84 0.00 0.00 -66.95 0.000 2 0.000 0.000 170 1538 2404

86 -0.90 -170.3 3.5 -5.1 10 132 9.10 0.00 -31.00 0.000 6 0.234 0.000 2442 1538 3559

472 -0.23 -170.3 119.9 -28.0 77 478 0.70 0.00 0.00 0.000 6 0.151 0.000 2657 1538 3560

815 -0.57 -170.3 150.0 -5.6 138 822 0.25 2.00 0.00 0.000 4 0.044 0.035 2529 2888 3562

907 -0.50 -170.3 162.0 -15.1 154 914 0.15 2.05 0.00 0.000 6 0.130 0.031 2576 1471 3562

1253 -0.59 -170.3 196.0 -9.2 215 1260 0.00 1.90 0.00 0.000 4 0.000 0.043 2577 207 3562

1323 -0.69 -170.3 203.0 -9.6 227 1330 0.17 1.85 0.00 0.000 6 0.060 0.027 2499 1527 3563

1666 -0.49 -170.3 251.1 -14.5 288 1674 0.22 1.98 0.00 0.000 4 0.133 0.037 2573 2883 3563

1709 -0.69 -170.3 255.1 -8.3 295 1715 0.17 2.00 0.00 0.000 6 0.054 0.029 2484 1490 3563

2054 -0.49 -170.3 300.7 -13.3 356 2058 0.28 1.90 0.00 0.000 4 0.131 0.042 2575 207 3563

2099 -0.62 -170.3 305.2 -8.3 360 2103 0.00 1.83 0.00 0.000 6 0.000 0.028 2565 1500 3563

2430 -0.84 -170.3 330.0 -7.2 391 2434 0.22 2.03 0.00 0.000 4 0.051 0.038 2461 2885 3562

2462 -0.71 -170.3 333.7 -12.3 393 2469 0.15 2.00 0.00 0.000 6 0.129 0.031 2507 1519 3562

2787 -0.71 -170.3 365.6 -8.9 424 2790 0.00 1.95 0.00 0.000 4 0.000 0.045 2506 207 3560

2831 -0.65 -170.3 370.4 -10.9 428 2835 0.00 1.88 0.00 0.000 6 0.000 0.030 2509 1509 3560

3163 -0.65 -170.3 401.0 -9.4 459 3166 0.00 2.05 0.00 0.000 4 0.000 0.043 2501 2902 3558

3223 -0.78 -170.3 406.9 -9.5 464 3232 0.00 2.03 0.00 0.000 6 0.000 0.035 2511 1533 3558

3548 -0.78 -170.3 440.3 -10.3 495 3552 0.00 2.00 0.00 0.000 4 0.000 0.048 2508 196 3557

3626 -0.78 -170.3 449.4 -12.3 502 3630 0.00 1.92 0.00 0.000 6 0.000 0.032 2498 1521 3556

3958 -0.83 -170.3 481.9 -9.9 533 3961 0.00 2.05 0.00 0.000 4 0.000 0.046 2497 2898 3553

4026 -0.98 -170.3 488.2 -8.7 539 4031 0.20 2.03 0.00 0.000 6 0.055 0.036 2408 1515 3553

4345 -0.69 -170.3 538.4 -16.8 558 4349 0.30 1.98 0.00 0.000 4 0.142 0.050 2511 207 3551

4388 -0.74 -170.3 544.1 -10.4 560 4392 0.00 1.95 0.00 0.000 6 0.000 0.037 2499 1512 3550

4715 -0.82 -170.3 572.6 -8.8 576 4719 0.00 2.08 0.00 0.000 4 0.000 0.049 2497 2896 3548

4776 -0.97 -170.3 577.7 -7.9 578 4784 0.17 2.05 0.00 0.000 6 0.044 0.038 2406 1527 3547

5091 -0.72 -170.3 618.9 -12.7 594 5096 0.28 2.03 0.00 0.000 4 0.142 0.052 2498 195 3545

5146 -0.72 -170.3 624.5 -9.3 596 5154 0.00 1.98 0.00 0.000 6 0.000 0.036 2495 1514 3545

5462 -0.82 -170.3 649.2 -7.6 612 5465 0.00 2.10 0.00 0.000 4 0.000 0.051 2493 2907 3543

5539 -1.01 -170.3 655.1 -7.2 615 5544 0.22 2.05 0.00 0.000 6 0.053 0.039 2391 1524 3542

5861 -0.74 -170.3 698.3 -13.3 631 5865 0.30 2.03 0.00 0.000 4 0.143 0.054 2490 198 3540

6057 -0.80 -170.3 715.4 -8.3 640 6061 0.00 1.95 0.00 0.000 6 0.000 0.038 2489 1517 3539

6326 end dive: TARGET_DEPTH_EXCEEDED

state 6326 begin apogee

6331 -0.20 0.0 736.9 7.9 653 6472 0.55 0.00 137.88 1.287 6 0.113 0.000 2674 1752 2863

6473 end apogee: CONTROL_FINISHED_OK

state 6473 begin climb

6474 0.90 170.3 742.9 0.0 660 6625 0.95 2.30 144.38 1.244 4 0.041 0.052 3048 3148 2167

6662 0.32 170.3 728.0 18.0 669 6667 0.77 2.22 0.00 0.000 6 0.163 0.041 2845 1744 2164

6989 0.59 249.6 703.3 6.9 685 7062 0.22 2.30 66.95 1.225 4 0.055 0.055 2959 338 1845

7135 0.45 249.6 683.7 15.3 692 7140 0.28 2.17 0.00 0.000 6 0.139 0.044 2883 1736 1841

7461 0.58 249.6 648.0 10.3 708 7466 0.12 2.20 0.00 0.000 4 0.067 0.055 2954 333 1836

7545 0.47 249.6 637.0 13.7 712 7550 0.22 2.12 0.00 0.000 6 0.141 0.040 2890 1737 1836

7870 0.62 274.0 607.7 9.0 728 7898 0.15 2.25 20.75 1.175 4 0.063 0.054 2959 3145 1744

7938 0.49 274.0 599.0 14.5 731 7943 0.25 2.20 0.00 0.000 6 0.146 0.041 2900 1712 1742

8265 0.62 288.2 567.6 9.4 747 8284 0.12 0.00 13.25 1.119 6 0.067 0.000 2960 1712 1687

8594 0.52 288.2 521.8 14.5 763 8598 0.20 2.12 0.00 0.000 4 0.140 0.053 2904 337 1684

8642 0.64 288.2 515.5 11.1 765 8647 0.08 2.12 0.00 0.000 6 0.058 0.040 2954 1724 1684

8970 0.56 288.2 467.9 15.1 791 8972 0.15 0.00 0.00 0.000 6 0.142 0.000 2914 1726 1683

9291 0.65 288.2 432.9 10.5 821 9295 0.10 2.12 0.00 0.000 4 0.077 0.054 2972 339 1682

9374 0.53 288.2 420.8 14.9 828 9383 0.17 2.08 0.00 0.000 6 0.137 0.038 2915 1714 1682

9700 0.65 302.4 386.1 9.4 859 9721 0.10 0.00 12.77 1.012 6 0.077 0.000 2965 1715 1629

10037 0.59 302.4 339.9 13.7 891 10042 0.12 2.12 0.00 0.000 4 0.150 0.051 2938 332 1627

10065 0.59 302.4 336.5 12.4 893 10069 0.00 2.05 0.00 0.000 6 0.000 0.038 2938 1707 1627

10396 0.65 302.4 300.6 10.8 924 10397 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1708 1627

10732 0.71 302.4 262.3 12.3 983 10738 0.00 2.10 0.00 0.000 4 0.000 0.051 2947 327 1627

10805 0.77 302.4 253.0 12.4 996 10813 0.12 2.05 0.00 0.000 6 0.074 0.041 3014 1716 1627

11151 0.61 302.4 201.8 12.5 1057 11157 0.25 0.00 0.00 0.000 6 0.138 0.000 2935 1720 1627

11494 0.85 345.9 174.7 8.3 1118 11541 0.17 2.17 36.95 0.861 4 0.057 0.048 3042 340 1451

11681 0.73 345.9 145.5 16.1 1150 11689 0.22 2.03 0.00 0.000 6 0.133 0.034 2976 1714 1448

12028 0.97 405.4 116.5 7.7 1211 12087 0.17 2.20 50.25 0.793 4 0.053 0.042 3069 3139 1209

12141 0.87 405.4 100.8 16.8 1229 12148 0.20 2.15 0.00 0.000 6 0.140 0.034 3023 1708 1207

12486 0.98 405.4 63.2 11.2 1290 12492 0.00 2.10 0.00 0.000 4 0.000 0.046 3035 341 1205

12573 1.07 405.4 53.5 11.5 1305 12581 0.12 2.03 0.00 0.000 6 0.070 0.030 3103 1744 1203

12894 end climb: SURFACE_DEPTH_REACHED

state 12894 begin surface coast

12914 end surface coast: CONTROL_FINISHED_OK

state 12914 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	129	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	62	INT_PRESSURE_YINT	2.7
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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	396	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	-4	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	-7652.9121	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	175	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	202826,2432.271,12319.615,25,2.3,44,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2407.200,12312.300
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	203534,2432.361,12319.612,14,2.3,33,-3.5	MHEAD_RNG_PITCHd_Wd	196.8,48209,-16.8,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	736

FINISH	0.9,1.021535	_24V_AH	23.9,30.446
SM_CCo	12930,16.30,0.652,0,0,1130,425.10	_10V_AH	10.7,19.020
SM_GC	1.80,0.00,0.00,16.30,0.000,0.000,0.652,165,1484,1130,-8.05,-0.48,425.10	DATA_FILE_SIZE	79059,1365
IRIDIUM_FIX	2425.21,12319.71,060998,161611	CAP_FILE_SIZE	144539,0
TT8_MAMPS	0.026845	CFSIZE	260165632,224440320
HUMID	1484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.93661	CURRENT	0.097, 29.3,1
TCM_TEMP	25.10	GPS	130609,001255,2431.076,12319.312,41,0.9,41,-3.5
XPDR_PINGS	116

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	233	148.58	SBE_CT	925	24	531.06
Roll_motor	103	55	136.64	Optode	968	33	763.88
VBD_pump_during_apogee	483	1287	14862.43	WL_BB2F	1627	105	4085.26
VBD_pump_during_surface	16	651	253.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.16	nil	0	0	0.00
Iridium_during_connect	33	160	127.09	nil	0	0	0.00
Iridium_during_xfer	229	223	1220.52
Transponder_ping	34	420	346.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.39
TT8	2408	19	510.19
LPSleep	7132	2	167.14
TT8_Active	618	19	130.99
TT8_Sampling	2708	39	1153.50
TT8_CF8	494	45	242.36
TT8_Kalman	0	0	0.00
Analog_circuits	1799	12	231.05
GPS_charging	0	0	0.00
Compass	2669	8	228.47
RAFOS	0	0	0.00
Transponder	38	30	12.37

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
15	-0.90	-170.3	0.0	0.0	0	84	0.00	0.00	-66.95	0.000	2	0.000	0.000	170	1538	2404
86	-0.90	-170.3	3.5	-5.1	10	132	9.10	0.00	-31.00	0.000	6	0.234	0.000	2442	1538	3559
472	-0.23	-170.3	119.9	-28.0	77	478	0.70	0.00	0.00	0.000	6	0.151	0.000	2657	1538	3560
815	-0.57	-170.3	150.0	-5.6	138	822	0.25	2.00	0.00	0.000	4	0.044	0.035	2529	2888	3562
907	-0.50	-170.3	162.0	-15.1	154	914	0.15	2.05	0.00	0.000	6	0.130	0.031	2576	1471	3562
1253	-0.59	-170.3	196.0	-9.2	215	1260	0.00	1.90	0.00	0.000	4	0.000	0.043	2577	207	3562
1323	-0.69	-170.3	203.0	-9.6	227	1330	0.17	1.85	0.00	0.000	6	0.060	0.027	2499	1527	3563
1666	-0.49	-170.3	251.1	-14.5	288	1674	0.22	1.98	0.00	0.000	4	0.133	0.037	2573	2883	3563
1709	-0.69	-170.3	255.1	-8.3	295	1715	0.17	2.00	0.00	0.000	6	0.054	0.029	2484	1490	3563
2054	-0.49	-170.3	300.7	-13.3	356	2058	0.28	1.90	0.00	0.000	4	0.131	0.042	2575	207	3563
2099	-0.62	-170.3	305.2	-8.3	360	2103	0.00	1.83	0.00	0.000	6	0.000	0.028	2565	1500	3563
2430	-0.84	-170.3	330.0	-7.2	391	2434	0.22	2.03	0.00	0.000	4	0.051	0.038	2461	2885	3562
2462	-0.71	-170.3	333.7	-12.3	393	2469	0.15	2.00	0.00	0.000	6	0.129	0.031	2507	1519	3562
2787	-0.71	-170.3	365.6	-8.9	424	2790	0.00	1.95	0.00	0.000	4	0.000	0.045	2506	207	3560
2831	-0.65	-170.3	370.4	-10.9	428	2835	0.00	1.88	0.00	0.000	6	0.000	0.030	2509	1509	3560
3163	-0.65	-170.3	401.0	-9.4	459	3166	0.00	2.05	0.00	0.000	4	0.000	0.043	2501	2902	3558
3223	-0.78	-170.3	406.9	-9.5	464	3232	0.00	2.03	0.00	0.000	6	0.000	0.035	2511	1533	3558
3548	-0.78	-170.3	440.3	-10.3	495	3552	0.00	2.00	0.00	0.000	4	0.000	0.048	2508	196	3557
3626	-0.78	-170.3	449.4	-12.3	502	3630	0.00	1.92	0.00	0.000	6	0.000	0.032	2498	1521	3556
3958	-0.83	-170.3	481.9	-9.9	533	3961	0.00	2.05	0.00	0.000	4	0.000	0.046	2497	2898	3553
4026	-0.98	-170.3	488.2	-8.7	539	4031	0.20	2.03	0.00	0.000	6	0.055	0.036	2408	1515	3553
4345	-0.69	-170.3	538.4	-16.8	558	4349	0.30	1.98	0.00	0.000	4	0.142	0.050	2511	207	3551
4388	-0.74	-170.3	544.1	-10.4	560	4392	0.00	1.95	0.00	0.000	6	0.000	0.037	2499	1512	3550
4715	-0.82	-170.3	572.6	-8.8	576	4719	0.00	2.08	0.00	0.000	4	0.000	0.049	2497	2896	3548
4776	-0.97	-170.3	577.7	-7.9	578	4784	0.17	2.05	0.00	0.000	6	0.044	0.038	2406	1527	3547
5091	-0.72	-170.3	618.9	-12.7	594	5096	0.28	2.03	0.00	0.000	4	0.142	0.052	2498	195	3545
5146	-0.72	-170.3	624.5	-9.3	596	5154	0.00	1.98	0.00	0.000	6	0.000	0.036	2495	1514	3545
5462	-0.82	-170.3	649.2	-7.6	612	5465	0.00	2.10	0.00	0.000	4	0.000	0.051	2493	2907	3543
5539	-1.01	-170.3	655.1	-7.2	615	5544	0.22	2.05	0.00	0.000	6	0.053	0.039	2391	1524	3542
5861	-0.74	-170.3	698.3	-13.3	631	5865	0.30	2.03	0.00	0.000	4	0.143	0.054	2490	198	3540
6057	-0.80	-170.3	715.4	-8.3	640	6061	0.00	1.95	0.00	0.000	6	0.000	0.038	2489	1517	3539
6326	end dive: TARGET_DEPTH_EXCEEDED
state	6326	begin apogee
6331	-0.20	0.0	736.9	7.9	653	6472	0.55	0.00	137.88	1.287	6	0.113	0.000	2674	1752	2863
6473	end apogee: CONTROL_FINISHED_OK
state	6473	begin climb
6474	0.90	170.3	742.9	0.0	660	6625	0.95	2.30	144.38	1.244	4	0.041	0.052	3048	3148	2167
6662	0.32	170.3	728.0	18.0	669	6667	0.77	2.22	0.00	0.000	6	0.163	0.041	2845	1744	2164
6989	0.59	249.6	703.3	6.9	685	7062	0.22	2.30	66.95	1.225	4	0.055	0.055	2959	338	1845
7135	0.45	249.6	683.7	15.3	692	7140	0.28	2.17	0.00	0.000	6	0.139	0.044	2883	1736	1841
7461	0.58	249.6	648.0	10.3	708	7466	0.12	2.20	0.00	0.000	4	0.067	0.055	2954	333	1836
7545	0.47	249.6	637.0	13.7	712	7550	0.22	2.12	0.00	0.000	6	0.141	0.040	2890	1737	1836
7870	0.62	274.0	607.7	9.0	728	7898	0.15	2.25	20.75	1.175	4	0.063	0.054	2959	3145	1744
7938	0.49	274.0	599.0	14.5	731	7943	0.25	2.20	0.00	0.000	6	0.146	0.041	2900	1712	1742
8265	0.62	288.2	567.6	9.4	747	8284	0.12	0.00	13.25	1.119	6	0.067	0.000	2960	1712	1687
8594	0.52	288.2	521.8	14.5	763	8598	0.20	2.12	0.00	0.000	4	0.140	0.053	2904	337	1684
8642	0.64	288.2	515.5	11.1	765	8647	0.08	2.12	0.00	0.000	6	0.058	0.040	2954	1724	1684
8970	0.56	288.2	467.9	15.1	791	8972	0.15	0.00	0.00	0.000	6	0.142	0.000	2914	1726	1683
9291	0.65	288.2	432.9	10.5	821	9295	0.10	2.12	0.00	0.000	4	0.077	0.054	2972	339	1682
9374	0.53	288.2	420.8	14.9	828	9383	0.17	2.08	0.00	0.000	6	0.137	0.038	2915	1714	1682
9700	0.65	302.4	386.1	9.4	859	9721	0.10	0.00	12.77	1.012	6	0.077	0.000	2965	1715	1629
10037	0.59	302.4	339.9	13.7	891	10042	0.12	2.12	0.00	0.000	4	0.150	0.051	2938	332	1627
10065	0.59	302.4	336.5	12.4	893	10069	0.00	2.05	0.00	0.000	6	0.000	0.038	2938	1707	1627
10396	0.65	302.4	300.6	10.8	924	10397	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1708	1627
10732	0.71	302.4	262.3	12.3	983	10738	0.00	2.10	0.00	0.000	4	0.000	0.051	2947	327	1627
10805	0.77	302.4	253.0	12.4	996	10813	0.12	2.05	0.00	0.000	6	0.074	0.041	3014	1716	1627
11151	0.61	302.4	201.8	12.5	1057	11157	0.25	0.00	0.00	0.000	6	0.138	0.000	2935	1720	1627
11494	0.85	345.9	174.7	8.3	1118	11541	0.17	2.17	36.95	0.861	4	0.057	0.048	3042	340	1451
11681	0.73	345.9	145.5	16.1	1150	11689	0.22	2.03	0.00	0.000	6	0.133	0.034	2976	1714	1448
12028	0.97	405.4	116.5	7.7	1211	12087	0.17	2.20	50.25	0.793	4	0.053	0.042	3069	3139	1209
12141	0.87	405.4	100.8	16.8	1229	12148	0.20	2.15	0.00	0.000	6	0.140	0.034	3023	1708	1207
12486	0.98	405.4	63.2	11.2	1290	12492	0.00	2.10	0.00	0.000	4	0.000	0.046	3035	341	1205
12573	1.07	405.4	53.5	11.5	1305	12581	0.12	2.03	0.00	0.000	6	0.070	0.030	3103	1744	1203
12894	end climb: SURFACE_DEPTH_REACHED
state	12894	begin surface coast
12914	end surface coast: CONTROL_FINISHED_OK
state	12914	begin surface