Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 141 * 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 141 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 55 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 51 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 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 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 -7904.5732 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 250 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 275

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 -7904.5732

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

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 55 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 51 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 141 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 211136,2425.688,12317.441,28,1.1,28,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2407.200,12312.300

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211738,2425.754,12317.556,15,1.1,15,-3.5 MHEAD_RNG_PITCHd_Wd 223.3,35493,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 775

Post-dive calculations and measurements:

FINISH 0.8,1.021597 _24V_AH 23.6,32.950

SM_CCo 11892,0.00,0.000,0,0,451,591.66 _10V_AH 10.7,20.676

SM_GC 1.57,8.07,0.00,0.00,0.038,0.000,0.000,170,1520,451,-8.02,0.57,591.66 DATA_FILE_SIZE 69558,1210

IRIDIUM_FIX 2418.11,12319.09,080998,171735 CAP_FILE_SIZE 136858,0

TT8_MAMPS 0.026845 CFSIZE 260165632,223449088

HUMID 1533 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 9.87801 CURRENT 0.256, 70.0,1

TCM_TEMP 24.90 GPS 150609,003724,2424.764,12317.466,24,1.2,42,-3.5

XPDR_PINGS 102

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 242 174.60 SBE_CT 818 24 463.52

Roll_motor 114 57 155.85 Optode 870 33 677.59

VBD_pump_during_apogee 716 1307 22116.10 WL_BB2F 1461 105 3622.64

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.01 nil 0 0 0.00

Iridium_during_connect 35 160 133.64 nil 0 0 0.00

Iridium_during_xfer 182 223 962.35

Transponder_ping 31 420 312.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.47

TT8 2134 19 452.32

LPSleep 6446 2 151.06

TT8_Active 765 19 162.12

TT8_Sampling 2452 39 1044.22

TT8_CF8 444 45 217.89

TT8_Kalman 0 0 0.00

Analog_circuits 1919 12 246.43

GPS_charging 0 0 0.00

Compass 2430 8 208.06

RAFOS 0 0 0.00

Transponder 41 30 13.47

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 -0.97 -243.4 0.0 0.0 0 75 0.00 0.00 -57.85 0.000 2 0.000 0.000 162 1472 2348

77 -0.97 -243.4 3.3 -6.0 9 135 9.25 1.95 -39.88 0.000 4 0.242 0.058 2417 207 3859

227 -0.13 -243.4 49.6 -37.7 34 234 0.90 1.92 0.00 0.000 6 0.155 0.028 2695 1512 3860

573 -0.96 -243.4 84.5 -10.4 95 580 0.70 2.03 0.00 0.000 4 0.052 0.033 2419 2908 3862

655 -0.41 -243.4 102.1 -28.6 109 663 0.62 2.05 0.00 0.000 6 0.150 0.031 2603 1496 3861

1001 -0.65 -243.4 136.5 -8.4 170 1008 0.17 1.92 0.00 0.000 4 0.054 0.041 2513 213 3863

1026 -0.65 -243.4 139.4 -11.5 174 1032 0.00 1.90 0.00 0.000 6 0.000 0.028 2513 1528 3863

1372 -0.51 -243.4 196.8 -14.9 235 1378 0.17 2.00 0.00 0.000 4 0.138 0.038 2568 2898 3864

1423 -0.79 -243.4 202.8 -9.0 244 1430 0.22 2.03 0.00 0.000 6 0.047 0.030 2459 1483 3864

1769 -0.51 -243.4 264.3 -17.5 305 1777 0.32 1.88 0.00 0.000 4 0.135 0.042 2565 213 3864

1795 -0.45 -243.4 268.1 -14.7 309 1803 0.10 1.88 0.00 0.000 6 0.133 0.029 2592 1527 3865

2140 -0.83 -243.4 291.0 -7.0 370 2147 0.30 2.00 0.00 0.000 4 0.044 0.040 2439 2891 3864

2255 -0.70 -243.4 307.9 -17.3 386 2260 0.22 1.92 0.00 0.000 6 0.133 0.031 2518 1557 3864

2586 -0.76 -243.4 348.6 -10.5 417 2590 0.00 2.00 0.00 0.000 4 0.000 0.047 2517 214 3863

2634 -0.80 -243.4 353.7 -10.8 421 2637 0.00 1.92 0.00 0.000 6 0.000 0.030 2513 1552 3863

2965 -0.90 -243.4 387.3 -10.4 452 2969 0.17 2.00 0.00 0.000 4 0.061 0.044 2439 2902 3861

2998 -0.78 -243.4 392.0 -15.0 455 3003 0.17 1.95 0.00 0.000 6 0.139 0.035 2486 1562 3860

3328 -0.78 -243.4 434.7 -12.2 486 3332 0.00 2.00 0.00 0.000 4 0.000 0.046 2471 2901 3859

3356 -0.83 -243.4 438.0 -11.7 488 3362 0.00 1.95 0.00 0.000 6 0.000 0.035 2477 1582 3859

3681 -0.83 -243.4 477.1 -11.7 519 3682 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1581 3856

3995 -0.83 -243.4 512.9 -12.5 544 3999 0.00 2.08 0.00 0.000 4 0.000 0.054 2472 217 3854

4022 -0.83 -243.4 516.5 -13.2 545 4026 0.00 2.00 0.00 0.000 6 0.000 0.037 2467 1559 3854

4351 -0.83 -243.4 556.6 -11.4 561 4355 0.00 2.00 0.00 0.000 4 0.000 0.052 2466 2891 3851

4390 -0.94 -243.4 561.0 -10.1 562 4396 0.00 1.95 0.00 0.000 6 0.000 0.037 2467 1580 3850

4705 -0.94 -243.4 598.7 -13.3 578 4706 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1580 3848

5015 -0.99 -243.4 636.0 -10.9 593 5019 0.15 2.08 0.00 0.000 4 0.064 0.051 2398 222 3846

5047 -0.76 -243.4 641.1 -16.9 594 5052 0.35 1.95 0.00 0.000 6 0.150 0.036 2494 1547 3846

5371 -0.93 -243.4 674.5 -10.3 610 5376 0.17 2.05 0.00 0.000 4 0.060 0.050 2412 2905 3843

5421 -0.88 -243.4 681.3 -13.6 612 5425 0.15 1.95 0.00 0.000 6 0.137 0.039 2456 1584 3843

5747 -0.88 -243.4 716.6 -10.7 628 5751 0.00 2.08 0.00 0.000 4 0.000 0.054 2455 225 3840

5792 -0.88 -243.4 722.1 -12.4 630 5796 0.00 2.00 0.00 0.000 6 0.000 0.038 2454 1574 3840

6125 -0.88 -243.4 757.4 -10.6 646 6128 0.00 2.00 0.00 0.000 4 0.000 0.053 2454 2898 3837

6170 -1.00 -243.4 762.2 -10.9 648 6174 0.12 1.95 0.00 0.000 6 0.067 0.040 2393 1581 3837

6274 end dive: TARGET_DEPTH_EXCEEDED

state 6274 begin apogee

6279 -0.20 0.0 776.4 14.1 653 6483 0.88 0.00 200.45 1.308 6 0.139 0.000 2670 1762 2863

6484 end apogee: CONTROL_FINISHED_OK

state 6484 begin climb

6486 0.97 243.4 790.9 0.0 663 6702 1.02 2.35 207.18 1.265 4 0.046 0.056 3065 3141 1869

6781 0.41 243.4 752.7 23.2 676 6788 0.65 2.20 0.00 0.000 6 0.156 0.044 2873 1772 1864

7096 0.64 319.7 720.1 9.5 692 7170 0.20 2.38 66.70 1.225 4 0.056 0.056 2975 343 1559

7276 0.46 319.7 688.9 19.5 700 7281 0.22 2.15 0.00 0.000 6 0.136 0.040 2891 1725 1554

7604 0.63 349.4 649.4 11.0 716 7636 0.15 2.22 26.52 1.177 4 0.063 0.055 2969 339 1438

7687 0.49 349.4 635.9 17.9 720 7692 0.25 2.12 0.00 0.000 6 0.139 0.040 2899 1722 1435

8013 0.66 379.6 596.6 11.0 736 8048 0.17 2.28 27.60 1.161 4 0.057 0.056 2993 337 1315

8093 0.46 379.6 582.1 19.3 739 8100 0.35 2.12 0.00 0.000 6 0.139 0.040 2891 1717 1312

8410 0.69 406.1 546.0 11.1 755 8447 0.17 2.25 26.50 1.065 4 0.058 0.054 2985 339 1206

8486 0.55 406.1 532.4 19.2 757 8494 0.25 2.10 0.00 0.000 6 0.138 0.040 2913 1708 1203

8803 0.66 406.1 490.5 13.3 776 8807 0.12 2.15 0.00 0.000 4 0.067 0.054 2979 327 1201

8846 0.54 406.1 482.9 18.9 779 8853 0.22 2.05 0.00 0.000 6 0.141 0.040 2915 1692 1200

9171 0.64 406.1 440.2 12.0 810 9175 0.00 2.10 0.00 0.000 4 0.000 0.054 2922 328 1200

9205 0.75 406.1 436.0 12.8 813 9210 0.17 2.05 0.00 0.000 6 0.063 0.040 3001 1701 1200

9530 0.54 406.1 375.8 17.4 843 9535 0.28 2.20 0.00 0.000 4 0.141 0.051 2915 3144 1200

9596 0.87 497.9 367.9 9.0 848 9692 0.28 2.17 82.28 1.017 6 0.044 0.040 3050 1689 833

10016 0.54 497.9 274.2 23.1 896 10023 0.43 2.08 0.00 0.000 4 0.160 0.049 2927 336 827

10097 0.87 545.4 263.5 10.4 910 10147 0.25 2.05 41.12 0.933 6 0.048 0.039 3042 1713 639

10485 0.69 545.4 171.7 26.7 978 10492 0.25 2.12 0.00 0.000 4 0.140 0.048 2972 331 635

10515 0.69 545.4 164.6 20.7 983 10521 0.00 2.03 0.00 0.000 6 0.000 0.035 2972 1703 633

10858 1.24 708.8 132.6 6.6 1044 10905 0.40 2.17 38.25 0.808 4 0.038 0.054 3169 337 454

10997 0.88 708.8 99.6 26.0 1067 11004 0.50 2.03 0.00 0.000 6 0.147 0.034 3023 1696 452

11343 1.21 708.8 62.4 12.1 1128 11350 0.22 2.10 0.00 0.000 4 0.048 0.048 3153 329 451

11418 0.95 708.8 45.4 24.8 1141 11426 0.30 1.95 0.00 0.000 6 0.132 0.031 3042 1654 451

11766 1.46 812.9 8.7 8.6 1202 11773 0.40 2.00 0.00 0.000 4 0.038 0.045 3239 333 451

11799 end climb: SURFACE_DEPTH_REACHED

state 11799 begin surface coast

11814 end surface coast: CONTROL_FINISHED_OK

state 11814 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	141	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	55	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	51	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	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	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	-7904.5732	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	250	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	211136,2425.688,12317.441,28,1.1,28,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2407.200,12312.300
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211738,2425.754,12317.556,15,1.1,15,-3.5	MHEAD_RNG_PITCHd_Wd	223.3,35493,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	775

FINISH	0.8,1.021597	_24V_AH	23.6,32.950
SM_CCo	11892,0.00,0.000,0,0,451,591.66	_10V_AH	10.7,20.676
SM_GC	1.57,8.07,0.00,0.00,0.038,0.000,0.000,170,1520,451,-8.02,0.57,591.66	DATA_FILE_SIZE	69558,1210
IRIDIUM_FIX	2418.11,12319.09,080998,171735	CAP_FILE_SIZE	136858,0
TT8_MAMPS	0.026845	CFSIZE	260165632,223449088
HUMID	1533	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	9.87801	CURRENT	0.256, 70.0,1
TCM_TEMP	24.90	GPS	150609,003724,2424.764,12317.466,24,1.2,42,-3.5
XPDR_PINGS	102

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	242	174.60	SBE_CT	818	24	463.52
Roll_motor	114	57	155.85	Optode	870	33	677.59
VBD_pump_during_apogee	716	1307	22116.10	WL_BB2F	1461	105	3622.64
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.01	nil	0	0	0.00
Iridium_during_connect	35	160	133.64	nil	0	0	0.00
Iridium_during_xfer	182	223	962.35
Transponder_ping	31	420	312.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.47
TT8	2134	19	452.32
LPSleep	6446	2	151.06
TT8_Active	765	19	162.12
TT8_Sampling	2452	39	1044.22
TT8_CF8	444	45	217.89
TT8_Kalman	0	0	0.00
Analog_circuits	1919	12	246.43
GPS_charging	0	0	0.00
Compass	2430	8	208.06
RAFOS	0	0	0.00
Transponder	41	30	13.47

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	-0.97	-243.4	0.0	0.0	0	75	0.00	0.00	-57.85	0.000	2	0.000	0.000	162	1472	2348
77	-0.97	-243.4	3.3	-6.0	9	135	9.25	1.95	-39.88	0.000	4	0.242	0.058	2417	207	3859
227	-0.13	-243.4	49.6	-37.7	34	234	0.90	1.92	0.00	0.000	6	0.155	0.028	2695	1512	3860
573	-0.96	-243.4	84.5	-10.4	95	580	0.70	2.03	0.00	0.000	4	0.052	0.033	2419	2908	3862
655	-0.41	-243.4	102.1	-28.6	109	663	0.62	2.05	0.00	0.000	6	0.150	0.031	2603	1496	3861
1001	-0.65	-243.4	136.5	-8.4	170	1008	0.17	1.92	0.00	0.000	4	0.054	0.041	2513	213	3863
1026	-0.65	-243.4	139.4	-11.5	174	1032	0.00	1.90	0.00	0.000	6	0.000	0.028	2513	1528	3863
1372	-0.51	-243.4	196.8	-14.9	235	1378	0.17	2.00	0.00	0.000	4	0.138	0.038	2568	2898	3864
1423	-0.79	-243.4	202.8	-9.0	244	1430	0.22	2.03	0.00	0.000	6	0.047	0.030	2459	1483	3864
1769	-0.51	-243.4	264.3	-17.5	305	1777	0.32	1.88	0.00	0.000	4	0.135	0.042	2565	213	3864
1795	-0.45	-243.4	268.1	-14.7	309	1803	0.10	1.88	0.00	0.000	6	0.133	0.029	2592	1527	3865
2140	-0.83	-243.4	291.0	-7.0	370	2147	0.30	2.00	0.00	0.000	4	0.044	0.040	2439	2891	3864
2255	-0.70	-243.4	307.9	-17.3	386	2260	0.22	1.92	0.00	0.000	6	0.133	0.031	2518	1557	3864
2586	-0.76	-243.4	348.6	-10.5	417	2590	0.00	2.00	0.00	0.000	4	0.000	0.047	2517	214	3863
2634	-0.80	-243.4	353.7	-10.8	421	2637	0.00	1.92	0.00	0.000	6	0.000	0.030	2513	1552	3863
2965	-0.90	-243.4	387.3	-10.4	452	2969	0.17	2.00	0.00	0.000	4	0.061	0.044	2439	2902	3861
2998	-0.78	-243.4	392.0	-15.0	455	3003	0.17	1.95	0.00	0.000	6	0.139	0.035	2486	1562	3860
3328	-0.78	-243.4	434.7	-12.2	486	3332	0.00	2.00	0.00	0.000	4	0.000	0.046	2471	2901	3859
3356	-0.83	-243.4	438.0	-11.7	488	3362	0.00	1.95	0.00	0.000	6	0.000	0.035	2477	1582	3859
3681	-0.83	-243.4	477.1	-11.7	519	3682	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1581	3856
3995	-0.83	-243.4	512.9	-12.5	544	3999	0.00	2.08	0.00	0.000	4	0.000	0.054	2472	217	3854
4022	-0.83	-243.4	516.5	-13.2	545	4026	0.00	2.00	0.00	0.000	6	0.000	0.037	2467	1559	3854
4351	-0.83	-243.4	556.6	-11.4	561	4355	0.00	2.00	0.00	0.000	4	0.000	0.052	2466	2891	3851
4390	-0.94	-243.4	561.0	-10.1	562	4396	0.00	1.95	0.00	0.000	6	0.000	0.037	2467	1580	3850
4705	-0.94	-243.4	598.7	-13.3	578	4706	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1580	3848
5015	-0.99	-243.4	636.0	-10.9	593	5019	0.15	2.08	0.00	0.000	4	0.064	0.051	2398	222	3846
5047	-0.76	-243.4	641.1	-16.9	594	5052	0.35	1.95	0.00	0.000	6	0.150	0.036	2494	1547	3846
5371	-0.93	-243.4	674.5	-10.3	610	5376	0.17	2.05	0.00	0.000	4	0.060	0.050	2412	2905	3843
5421	-0.88	-243.4	681.3	-13.6	612	5425	0.15	1.95	0.00	0.000	6	0.137	0.039	2456	1584	3843
5747	-0.88	-243.4	716.6	-10.7	628	5751	0.00	2.08	0.00	0.000	4	0.000	0.054	2455	225	3840
5792	-0.88	-243.4	722.1	-12.4	630	5796	0.00	2.00	0.00	0.000	6	0.000	0.038	2454	1574	3840
6125	-0.88	-243.4	757.4	-10.6	646	6128	0.00	2.00	0.00	0.000	4	0.000	0.053	2454	2898	3837
6170	-1.00	-243.4	762.2	-10.9	648	6174	0.12	1.95	0.00	0.000	6	0.067	0.040	2393	1581	3837
6274	end dive: TARGET_DEPTH_EXCEEDED
state	6274	begin apogee
6279	-0.20	0.0	776.4	14.1	653	6483	0.88	0.00	200.45	1.308	6	0.139	0.000	2670	1762	2863
6484	end apogee: CONTROL_FINISHED_OK
state	6484	begin climb
6486	0.97	243.4	790.9	0.0	663	6702	1.02	2.35	207.18	1.265	4	0.046	0.056	3065	3141	1869
6781	0.41	243.4	752.7	23.2	676	6788	0.65	2.20	0.00	0.000	6	0.156	0.044	2873	1772	1864
7096	0.64	319.7	720.1	9.5	692	7170	0.20	2.38	66.70	1.225	4	0.056	0.056	2975	343	1559
7276	0.46	319.7	688.9	19.5	700	7281	0.22	2.15	0.00	0.000	6	0.136	0.040	2891	1725	1554
7604	0.63	349.4	649.4	11.0	716	7636	0.15	2.22	26.52	1.177	4	0.063	0.055	2969	339	1438
7687	0.49	349.4	635.9	17.9	720	7692	0.25	2.12	0.00	0.000	6	0.139	0.040	2899	1722	1435
8013	0.66	379.6	596.6	11.0	736	8048	0.17	2.28	27.60	1.161	4	0.057	0.056	2993	337	1315
8093	0.46	379.6	582.1	19.3	739	8100	0.35	2.12	0.00	0.000	6	0.139	0.040	2891	1717	1312
8410	0.69	406.1	546.0	11.1	755	8447	0.17	2.25	26.50	1.065	4	0.058	0.054	2985	339	1206
8486	0.55	406.1	532.4	19.2	757	8494	0.25	2.10	0.00	0.000	6	0.138	0.040	2913	1708	1203
8803	0.66	406.1	490.5	13.3	776	8807	0.12	2.15	0.00	0.000	4	0.067	0.054	2979	327	1201
8846	0.54	406.1	482.9	18.9	779	8853	0.22	2.05	0.00	0.000	6	0.141	0.040	2915	1692	1200
9171	0.64	406.1	440.2	12.0	810	9175	0.00	2.10	0.00	0.000	4	0.000	0.054	2922	328	1200
9205	0.75	406.1	436.0	12.8	813	9210	0.17	2.05	0.00	0.000	6	0.063	0.040	3001	1701	1200
9530	0.54	406.1	375.8	17.4	843	9535	0.28	2.20	0.00	0.000	4	0.141	0.051	2915	3144	1200
9596	0.87	497.9	367.9	9.0	848	9692	0.28	2.17	82.28	1.017	6	0.044	0.040	3050	1689	833
10016	0.54	497.9	274.2	23.1	896	10023	0.43	2.08	0.00	0.000	4	0.160	0.049	2927	336	827
10097	0.87	545.4	263.5	10.4	910	10147	0.25	2.05	41.12	0.933	6	0.048	0.039	3042	1713	639
10485	0.69	545.4	171.7	26.7	978	10492	0.25	2.12	0.00	0.000	4	0.140	0.048	2972	331	635
10515	0.69	545.4	164.6	20.7	983	10521	0.00	2.03	0.00	0.000	6	0.000	0.035	2972	1703	633
10858	1.24	708.8	132.6	6.6	1044	10905	0.40	2.17	38.25	0.808	4	0.038	0.054	3169	337	454
10997	0.88	708.8	99.6	26.0	1067	11004	0.50	2.03	0.00	0.000	6	0.147	0.034	3023	1696	452
11343	1.21	708.8	62.4	12.1	1128	11350	0.22	2.10	0.00	0.000	4	0.048	0.048	3153	329	451
11418	0.95	708.8	45.4	24.8	1141	11426	0.30	1.95	0.00	0.000	6	0.132	0.031	3042	1654	451
11766	1.46	812.9	8.7	8.6	1202	11773	0.40	2.00	0.00	0.000	4	0.038	0.045	3239	333	451
11799	end climb: SURFACE_DEPTH_REACHED
state	11799	begin surface coast
11814	end surface coast: CONTROL_FINISHED_OK
state	11814	begin surface