Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 82 * 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 82 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 75 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 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 -2 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 -6794.1851 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 200 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 300

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 -6794.1851

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

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 400 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 -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 75 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 82 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 084724,2535.630,12318.329,29,1.4,46,-3.8 TGT_NAME IN_4

_CALLS 1 TGT_LATLONG 2541.300,12314.300

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 085319,2535.702,12318.411,10,1.5,15,-3.8 MHEAD_RNG_PITCHd_Wd 285.3,12432,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 801

Post-dive calculations and measurements:

FINISH 0.9,1.021938 ALTIM_BOTTOM_PING 776.5,48.6

SM_CCo 13077,0.00,0.000,0,0,711,527.89 _24V_AH 23.9,20.233

SM_GC 1.74,8.02,0.00,0.00,0.046,0.000,0.000,157,1471,711,-8.03,-0.82,527.89 _10V_AH 10.7,12.361

IRIDIUM_FIX 2524.66,12320.86,290898,050510 DATA_FILE_SIZE 72541,1270

TT8_MAMPS 0.026845 CAP_FILE_SIZE 136876,0

HUMID 1498 CFSIZE 260165632,228474880

INTERNAL_PRESSURE 9.86824 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.40 CURRENT 0.183, 63.0,1

XPDR_PINGS 83 GPS 040609,123237,2536.671,12317.427,28,1.3,28,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 235 154.90 SBE_CT 861 24 494.15

Roll_motor 96 55 128.60 Optode 871 33 687.59

VBD_pump_during_apogee 606 1336 19372.97 WL_BB2F 1468 105 3685.22

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 24 103 59.58 nil 0 0 0.00

Iridium_during_connect 34 160 132.95 nil 0 0 0.00

Iridium_during_xfer 189 223 1008.82

Transponder_ping 27 420 271.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.76

TT8 2218 19 470.03

LPSleep 7605 2 178.22

TT8_Active 654 19 138.74

TT8_Sampling 2540 39 1082.08

TT8_CF8 405 45 198.52

TT8_Kalman 0 0 0.00

Analog_circuits 1812 12 232.67

GPS_charging 0 0 0.00

Compass 2507 8 214.62

RAFOS 0 0 0.00

Transponder 43 30 14.11

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 -0.94 -194.7 0.0 0.0 0 75 0.00 0.00 -58.88 0.000 2 0.000 0.000 171 1533 2322

77 -0.94 -194.7 3.1 -5.4 9 130 8.98 2.05 -38.25 0.000 4 0.235 0.052 2421 2882 3658

276 -0.28 -194.7 63.8 -32.3 43 283 0.75 2.05 0.00 0.000 6 0.162 0.033 2640 1480 3659

622 -0.40 -194.7 111.0 -11.1 104 629 0.00 1.92 0.00 0.000 4 0.000 0.044 2640 201 3659

664 -0.53 -194.7 115.7 -10.8 111 671 0.17 1.85 0.00 0.000 6 0.047 0.028 2554 1489 3659

1010 -0.39 -194.7 174.0 -13.4 172 1018 0.17 2.05 0.00 0.000 4 0.144 0.041 2609 2885 3661

1102 -0.71 -194.7 182.3 -7.4 188 1110 0.28 2.03 0.00 0.000 6 0.041 0.032 2478 1507 3661

1448 -0.40 -194.7 243.7 -18.8 249 1455 0.40 1.92 0.00 0.000 4 0.142 0.045 2605 202 3662

1540 -0.68 -194.7 253.4 -8.1 265 1547 0.25 1.83 0.00 0.000 6 0.047 0.027 2489 1503 3663

1883 -0.50 -194.7 303.5 -13.8 324 1885 0.30 0.00 0.00 0.000 6 0.135 0.000 2580 1504 3663

2203 -0.77 -194.7 327.3 -7.5 354 2207 0.22 1.92 0.00 0.000 4 0.051 0.046 2470 210 3663

2258 -0.51 -194.7 335.0 -16.3 359 2263 0.38 1.83 0.00 0.000 6 0.144 0.030 2576 1490 3663

2583 -0.79 -194.7 360.0 -7.3 389 2588 0.20 2.05 0.00 0.000 4 0.054 0.042 2454 2891 3661

2610 -0.79 -194.7 362.9 -11.0 391 2617 0.00 2.03 0.00 0.000 6 0.000 0.034 2454 1516 3661

2935 -0.65 -194.7 408.9 -14.3 422 2937 0.25 0.00 0.00 0.000 6 0.136 0.000 2531 1516 3660

3254 -0.89 -194.7 435.2 -7.4 452 3256 0.22 0.00 0.00 0.000 6 0.051 0.000 2426 1516 3658

3572 -0.68 -194.7 479.3 -13.1 482 3576 0.28 1.98 0.00 0.000 4 0.142 0.050 2515 201 3655

3677 -0.81 -194.7 489.4 -8.2 491 3684 0.08 1.92 0.00 0.000 6 0.062 0.039 2466 1509 3654

3995 -0.81 -194.7 524.8 -11.3 512 4000 0.00 2.08 0.00 0.000 4 0.000 0.048 2465 2903 3652

4039 -0.90 -194.7 529.2 -9.7 514 4043 0.00 2.03 0.00 0.000 6 0.000 0.037 2464 1523 3651

4371 -0.90 -194.7 564.0 -11.0 530 4372 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1523 3649

4681 -0.90 -194.7 598.2 -10.9 545 4685 0.00 2.00 0.00 0.000 4 0.000 0.054 2464 197 3646

4730 -0.85 -194.7 604.3 -12.4 547 4735 0.00 1.95 0.00 0.000 6 0.000 0.036 2464 1510 3645

5057 -0.85 -194.7 640.6 -11.0 563 5059 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1511 3643

5366 -0.85 -194.7 672.2 -9.6 578 5370 0.00 2.00 0.00 0.000 4 0.000 0.055 2465 198 3641

5466 -0.85 -194.7 682.8 -10.9 582 5470 0.00 1.98 0.00 0.000 6 0.000 0.038 2465 1516 3639

5787 -0.85 -194.7 711.7 -9.2 598 5791 0.00 2.00 0.00 0.000 4 0.000 0.055 2465 204 3637

5832 -0.85 -194.7 716.1 -10.4 600 5835 0.00 1.92 0.00 0.000 6 0.000 0.037 2465 1514 3637

6163 -0.85 -194.7 748.3 -9.9 616 6164 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1514 3634

6473 -0.85 -194.7 773.4 -7.5 631 6474 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1514 3632

6782 -0.85 -194.7 795.8 -7.9 646 6783 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1514 3630

6843 end dive: TARGET_DEPTH_EXCEEDED

state 6843 begin apogee

6847 -0.20 0.0 802.0 9.5 649 7009 0.62 0.00 158.43 1.337 6 0.124 0.000 2669 1750 2863

7010 end apogee: CONTROL_FINISHED_OK

state 7010 begin climb

7012 0.94 194.7 806.3 0.0 657 7186 1.00 2.35 165.57 1.289 4 0.045 0.056 3049 3137 2068

7320 0.35 194.7 752.0 24.8 671 7325 0.68 2.17 0.00 0.000 6 0.174 0.041 2857 1762 2062

7648 0.54 267.0 719.7 8.3 687 7716 0.17 2.35 61.42 1.244 4 0.060 0.055 2946 345 1773

7800 0.38 267.0 696.4 17.1 694 7805 0.30 2.15 0.00 0.000 6 0.146 0.041 2862 1729 1769

8126 0.54 267.0 661.1 11.0 710 8131 0.15 2.17 0.00 0.000 4 0.063 0.054 2941 336 1765

8158 0.44 267.0 656.2 16.2 711 8165 0.17 2.12 0.00 0.000 6 0.142 0.041 2886 1723 1765

8474 0.51 267.0 616.6 11.8 727 8475 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 1724 1763

8783 0.60 274.5 582.5 10.7 742 8794 0.15 2.20 6.32 0.983 4 0.065 0.055 2962 340 1743

8816 0.43 274.5 577.7 15.5 743 8823 0.25 2.10 0.00 0.000 6 0.146 0.041 2884 1713 1742

9132 0.52 274.5 541.9 11.4 759 9136 0.00 2.20 0.00 0.000 4 0.000 0.054 2883 3151 1740

9222 0.63 274.5 531.1 12.1 763 9227 0.15 2.17 0.00 0.000 6 0.064 0.041 2959 1705 1739

9541 0.44 274.5 479.3 15.7 784 9546 0.25 2.22 0.00 0.000 4 0.153 0.052 2880 3154 1740

9580 0.54 274.5 474.3 11.4 787 9584 0.00 2.15 0.00 0.000 6 0.000 0.041 2888 1716 1739

9911 0.73 334.6 441.9 8.7 818 9969 0.20 2.25 51.72 1.108 4 0.054 0.054 3000 342 1497

10042 0.50 334.6 418.1 19.3 829 10048 0.35 2.08 0.00 0.000 6 0.147 0.039 2900 1696 1493

10366 0.65 343.4 380.9 10.7 860 10381 0.15 2.30 7.88 0.924 4 0.064 0.051 2968 3148 1463

10453 0.53 343.4 366.7 17.2 867 10460 0.20 2.22 0.00 0.000 6 0.150 0.040 2917 1704 1461

10778 0.62 343.4 327.6 11.6 898 10781 0.00 2.08 0.00 0.000 4 0.000 0.053 2925 345 1460

10883 0.74 343.4 314.5 12.6 907 10890 0.10 2.05 0.00 0.000 6 0.056 0.038 2988 1701 1460

11221 0.56 343.4 252.9 19.7 960 11229 0.20 2.20 0.00 0.000 4 0.150 0.050 2924 3148 1459

11338 0.70 343.4 237.8 11.6 980 11345 0.00 2.15 0.00 0.000 6 0.000 0.039 2932 1698 1458

11683 0.88 381.1 199.0 9.6 1041 11723 0.20 2.10 32.72 0.892 4 0.081 0.048 3049 339 1307

11810 0.65 381.1 177.5 19.0 1062 11817 0.35 2.05 0.00 0.000 6 0.140 0.035 2946 1715 1304

12154 0.95 446.9 142.1 8.5 1123 12219 0.25 2.17 55.62 0.824 4 0.046 0.051 3077 343 1040

12243 0.73 446.9 127.5 18.7 1137 12250 0.35 2.05 0.00 0.000 6 0.138 0.033 2974 1704 1039

12589 1.14 526.0 92.1 8.0 1198 12659 0.32 0.00 66.62 0.759 6 0.041 0.000 3131 1706 717

12990 end climb: SURFACE_DEPTH_REACHED

state 12990 begin surface coast

13001 end surface coast: CONTROL_FINISHED_OK

state 13002 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	82	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	75	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	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	-2	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	-6794.1851	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	200	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	084724,2535.630,12318.329,29,1.4,46,-3.8	TGT_NAME	IN_4
_CALLS	1	TGT_LATLONG	2541.300,12314.300
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	085319,2535.702,12318.411,10,1.5,15,-3.8	MHEAD_RNG_PITCHd_Wd	285.3,12432,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	801

FINISH	0.9,1.021938	ALTIM_BOTTOM_PING	776.5,48.6
SM_CCo	13077,0.00,0.000,0,0,711,527.89	_24V_AH	23.9,20.233
SM_GC	1.74,8.02,0.00,0.00,0.046,0.000,0.000,157,1471,711,-8.03,-0.82,527.89	_10V_AH	10.7,12.361
IRIDIUM_FIX	2524.66,12320.86,290898,050510	DATA_FILE_SIZE	72541,1270
TT8_MAMPS	0.026845	CAP_FILE_SIZE	136876,0
HUMID	1498	CFSIZE	260165632,228474880
INTERNAL_PRESSURE	9.86824	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.40	CURRENT	0.183, 63.0,1
XPDR_PINGS	83	GPS	040609,123237,2536.671,12317.427,28,1.3,28,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	235	154.90	SBE_CT	861	24	494.15
Roll_motor	96	55	128.60	Optode	871	33	687.59
VBD_pump_during_apogee	606	1336	19372.97	WL_BB2F	1468	105	3685.22
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	24	103	59.58	nil	0	0	0.00
Iridium_during_connect	34	160	132.95	nil	0	0	0.00
Iridium_during_xfer	189	223	1008.82
Transponder_ping	27	420	271.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.76
TT8	2218	19	470.03
LPSleep	7605	2	178.22
TT8_Active	654	19	138.74
TT8_Sampling	2540	39	1082.08
TT8_CF8	405	45	198.52
TT8_Kalman	0	0	0.00
Analog_circuits	1812	12	232.67
GPS_charging	0	0	0.00
Compass	2507	8	214.62
RAFOS	0	0	0.00
Transponder	43	30	14.11

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	-0.94	-194.7	0.0	0.0	0	75	0.00	0.00	-58.88	0.000	2	0.000	0.000	171	1533	2322
77	-0.94	-194.7	3.1	-5.4	9	130	8.98	2.05	-38.25	0.000	4	0.235	0.052	2421	2882	3658
276	-0.28	-194.7	63.8	-32.3	43	283	0.75	2.05	0.00	0.000	6	0.162	0.033	2640	1480	3659
622	-0.40	-194.7	111.0	-11.1	104	629	0.00	1.92	0.00	0.000	4	0.000	0.044	2640	201	3659
664	-0.53	-194.7	115.7	-10.8	111	671	0.17	1.85	0.00	0.000	6	0.047	0.028	2554	1489	3659
1010	-0.39	-194.7	174.0	-13.4	172	1018	0.17	2.05	0.00	0.000	4	0.144	0.041	2609	2885	3661
1102	-0.71	-194.7	182.3	-7.4	188	1110	0.28	2.03	0.00	0.000	6	0.041	0.032	2478	1507	3661
1448	-0.40	-194.7	243.7	-18.8	249	1455	0.40	1.92	0.00	0.000	4	0.142	0.045	2605	202	3662
1540	-0.68	-194.7	253.4	-8.1	265	1547	0.25	1.83	0.00	0.000	6	0.047	0.027	2489	1503	3663
1883	-0.50	-194.7	303.5	-13.8	324	1885	0.30	0.00	0.00	0.000	6	0.135	0.000	2580	1504	3663
2203	-0.77	-194.7	327.3	-7.5	354	2207	0.22	1.92	0.00	0.000	4	0.051	0.046	2470	210	3663
2258	-0.51	-194.7	335.0	-16.3	359	2263	0.38	1.83	0.00	0.000	6	0.144	0.030	2576	1490	3663
2583	-0.79	-194.7	360.0	-7.3	389	2588	0.20	2.05	0.00	0.000	4	0.054	0.042	2454	2891	3661
2610	-0.79	-194.7	362.9	-11.0	391	2617	0.00	2.03	0.00	0.000	6	0.000	0.034	2454	1516	3661
2935	-0.65	-194.7	408.9	-14.3	422	2937	0.25	0.00	0.00	0.000	6	0.136	0.000	2531	1516	3660
3254	-0.89	-194.7	435.2	-7.4	452	3256	0.22	0.00	0.00	0.000	6	0.051	0.000	2426	1516	3658
3572	-0.68	-194.7	479.3	-13.1	482	3576	0.28	1.98	0.00	0.000	4	0.142	0.050	2515	201	3655
3677	-0.81	-194.7	489.4	-8.2	491	3684	0.08	1.92	0.00	0.000	6	0.062	0.039	2466	1509	3654
3995	-0.81	-194.7	524.8	-11.3	512	4000	0.00	2.08	0.00	0.000	4	0.000	0.048	2465	2903	3652
4039	-0.90	-194.7	529.2	-9.7	514	4043	0.00	2.03	0.00	0.000	6	0.000	0.037	2464	1523	3651
4371	-0.90	-194.7	564.0	-11.0	530	4372	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1523	3649
4681	-0.90	-194.7	598.2	-10.9	545	4685	0.00	2.00	0.00	0.000	4	0.000	0.054	2464	197	3646
4730	-0.85	-194.7	604.3	-12.4	547	4735	0.00	1.95	0.00	0.000	6	0.000	0.036	2464	1510	3645
5057	-0.85	-194.7	640.6	-11.0	563	5059	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1511	3643
5366	-0.85	-194.7	672.2	-9.6	578	5370	0.00	2.00	0.00	0.000	4	0.000	0.055	2465	198	3641
5466	-0.85	-194.7	682.8	-10.9	582	5470	0.00	1.98	0.00	0.000	6	0.000	0.038	2465	1516	3639
5787	-0.85	-194.7	711.7	-9.2	598	5791	0.00	2.00	0.00	0.000	4	0.000	0.055	2465	204	3637
5832	-0.85	-194.7	716.1	-10.4	600	5835	0.00	1.92	0.00	0.000	6	0.000	0.037	2465	1514	3637
6163	-0.85	-194.7	748.3	-9.9	616	6164	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1514	3634
6473	-0.85	-194.7	773.4	-7.5	631	6474	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1514	3632
6782	-0.85	-194.7	795.8	-7.9	646	6783	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1514	3630
6843	end dive: TARGET_DEPTH_EXCEEDED
state	6843	begin apogee
6847	-0.20	0.0	802.0	9.5	649	7009	0.62	0.00	158.43	1.337	6	0.124	0.000	2669	1750	2863
7010	end apogee: CONTROL_FINISHED_OK
state	7010	begin climb
7012	0.94	194.7	806.3	0.0	657	7186	1.00	2.35	165.57	1.289	4	0.045	0.056	3049	3137	2068
7320	0.35	194.7	752.0	24.8	671	7325	0.68	2.17	0.00	0.000	6	0.174	0.041	2857	1762	2062
7648	0.54	267.0	719.7	8.3	687	7716	0.17	2.35	61.42	1.244	4	0.060	0.055	2946	345	1773
7800	0.38	267.0	696.4	17.1	694	7805	0.30	2.15	0.00	0.000	6	0.146	0.041	2862	1729	1769
8126	0.54	267.0	661.1	11.0	710	8131	0.15	2.17	0.00	0.000	4	0.063	0.054	2941	336	1765
8158	0.44	267.0	656.2	16.2	711	8165	0.17	2.12	0.00	0.000	6	0.142	0.041	2886	1723	1765
8474	0.51	267.0	616.6	11.8	727	8475	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	1724	1763
8783	0.60	274.5	582.5	10.7	742	8794	0.15	2.20	6.32	0.983	4	0.065	0.055	2962	340	1743
8816	0.43	274.5	577.7	15.5	743	8823	0.25	2.10	0.00	0.000	6	0.146	0.041	2884	1713	1742
9132	0.52	274.5	541.9	11.4	759	9136	0.00	2.20	0.00	0.000	4	0.000	0.054	2883	3151	1740
9222	0.63	274.5	531.1	12.1	763	9227	0.15	2.17	0.00	0.000	6	0.064	0.041	2959	1705	1739
9541	0.44	274.5	479.3	15.7	784	9546	0.25	2.22	0.00	0.000	4	0.153	0.052	2880	3154	1740
9580	0.54	274.5	474.3	11.4	787	9584	0.00	2.15	0.00	0.000	6	0.000	0.041	2888	1716	1739
9911	0.73	334.6	441.9	8.7	818	9969	0.20	2.25	51.72	1.108	4	0.054	0.054	3000	342	1497
10042	0.50	334.6	418.1	19.3	829	10048	0.35	2.08	0.00	0.000	6	0.147	0.039	2900	1696	1493
10366	0.65	343.4	380.9	10.7	860	10381	0.15	2.30	7.88	0.924	4	0.064	0.051	2968	3148	1463
10453	0.53	343.4	366.7	17.2	867	10460	0.20	2.22	0.00	0.000	6	0.150	0.040	2917	1704	1461
10778	0.62	343.4	327.6	11.6	898	10781	0.00	2.08	0.00	0.000	4	0.000	0.053	2925	345	1460
10883	0.74	343.4	314.5	12.6	907	10890	0.10	2.05	0.00	0.000	6	0.056	0.038	2988	1701	1460
11221	0.56	343.4	252.9	19.7	960	11229	0.20	2.20	0.00	0.000	4	0.150	0.050	2924	3148	1459
11338	0.70	343.4	237.8	11.6	980	11345	0.00	2.15	0.00	0.000	6	0.000	0.039	2932	1698	1458
11683	0.88	381.1	199.0	9.6	1041	11723	0.20	2.10	32.72	0.892	4	0.081	0.048	3049	339	1307
11810	0.65	381.1	177.5	19.0	1062	11817	0.35	2.05	0.00	0.000	6	0.140	0.035	2946	1715	1304
12154	0.95	446.9	142.1	8.5	1123	12219	0.25	2.17	55.62	0.824	4	0.046	0.051	3077	343	1040
12243	0.73	446.9	127.5	18.7	1137	12250	0.35	2.05	0.00	0.000	6	0.138	0.033	2974	1704	1039
12589	1.14	526.0	92.1	8.0	1198	12659	0.32	0.00	66.62	0.759	6	0.041	0.000	3131	1706	717
12990	end climb: SURFACE_DEPTH_REACHED
state	12990	begin surface coast
13001	end surface coast: CONTROL_FINISHED_OK
state	13002	begin surface