Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 84 * 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 84 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 59 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 57 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 -6842.0693 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 -6842.0693

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 59 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 57 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 84 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 154406,2537.659,12317.338,13,1.7,23,-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 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 154952,2537.669,12317.411,12,99.0,31,-3.8 MHEAD_RNG_PITCHd_Wd 281.1,8497,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 947

Post-dive calculations and measurements:

FINISH 0.9,1.022167 _24V_AH 23.8,20.639

SM_CCo 12870,0.00,0.000,0,0,777,511.70 _10V_AH 10.7,12.601

SM_GC 1.49,7.55,0.00,0.00,0.039,0.000,0.000,147,1478,777,-8.04,-0.62,511.70 DATA_FILE_SIZE 72586,1280

IRIDIUM_FIX 2527.05,12315.56,290898,121254 CAP_FILE_SIZE 140777,0

TT8_MAMPS 0.026845 CFSIZE 260165632,228315136

HUMID 1467 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.88778 CURRENT 0.222, 75.8,1

TCM_TEMP 25.00 GPS 040609,192555,2538.789,12316.776,40,1.6,40,-3.8

XPDR_PINGS 88

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 237 164.96 SBE_CT 868 24 496.08

Roll_motor 104 56 140.59 Optode 900 33 707.10

VBD_pump_during_apogee 597 1324 18829.51 WL_BB2F 1514 105 3785.20

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 23 103 56.96 nil 0 0 0.00

Iridium_during_connect 39 160 149.93 nil 0 0 0.00

Iridium_during_xfer 166 223 882.06

Transponder_ping 28 420 282.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.30

TT8 2263 19 479.54

LPSleep 7266 2 170.27

TT8_Active 658 19 139.49

TT8_Sampling 2627 39 1118.81

TT8_CF8 399 45 195.57

TT8_Kalman 0 0 0.00

Analog_circuits 1845 12 236.93

GPS_charging 0 0 0.00

Compass 2582 8 221.02

RAFOS 0 0 0.00

Transponder 43 30 14.10

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 74 0.00 0.00 -58.33 0.000 2 0.000 0.000 207 1473 2345

76 -0.94 -194.7 3.1 -5.3 9 129 8.82 2.20 -38.00 0.000 4 0.238 0.054 2401 2895 3657

226 -0.18 -194.7 45.4 -35.4 34 233 0.80 2.05 0.00 0.000 6 0.163 0.034 2676 1519 3659

570 -0.50 -194.7 86.1 -8.8 95 578 0.22 1.95 0.00 0.000 4 0.049 0.044 2565 208 3660

596 -0.50 -194.7 89.5 -13.1 99 604 0.00 1.88 0.00 0.000 6 0.000 0.029 2565 1487 3660

942 -0.37 -194.7 151.8 -15.0 160 948 0.17 2.08 0.00 0.000 4 0.147 0.041 2620 2898 3662

1052 -0.71 -194.7 161.3 -6.6 179 1061 0.30 2.03 0.00 0.000 6 0.042 0.032 2481 1495 3662

1397 -0.36 -194.7 229.5 -18.9 240 1404 0.43 1.90 0.00 0.000 4 0.146 0.044 2614 200 3664

1421 -0.29 -194.7 233.4 -15.5 244 1428 0.08 1.90 0.00 0.000 6 0.123 0.028 2645 1513 3664

1767 -1.16 -194.7 261.4 -8.4 305 1774 0.73 2.03 0.00 0.000 4 0.078 0.038 2358 2906 3664

1796 -1.16 -194.7 264.7 -11.4 310 1802 0.00 2.08 0.00 0.000 6 0.000 0.032 2380 1492 3664

2135 -0.59 -194.7 339.5 -20.9 356 2139 0.52 1.88 0.00 0.000 4 0.167 0.044 2538 209 3664

2184 -0.59 -194.7 346.3 -10.3 360 2188 0.12 1.85 0.00 0.000 6 0.139 0.029 2549 1510 3664

2514 -0.86 -194.7 367.4 -6.0 391 2519 0.22 2.03 0.00 0.000 4 0.051 0.041 2436 2888 3664

2571 -0.78 -194.7 372.9 -10.7 396 2575 0.17 2.00 0.00 0.000 6 0.135 0.034 2488 1509 3664

2900 -0.78 -194.7 405.0 -10.3 427 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 1509 3663

3220 -0.84 -194.7 438.7 -10.5 457 3221 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 1509 3660

3538 -0.91 -194.7 470.0 -9.5 487 3542 0.12 1.95 0.00 0.000 4 0.071 0.049 2427 207 3659

3621 -0.65 -194.7 482.4 -16.1 494 3628 0.28 1.90 0.00 0.000 6 0.137 0.034 2530 1494 3657

3943 -0.92 -194.7 508.4 -7.8 520 3948 0.22 2.10 0.00 0.000 4 0.051 0.047 2420 2904 3655

4095 -0.83 -194.7 527.9 -14.4 527 4100 0.17 2.03 0.00 0.000 6 0.136 0.041 2473 1530 3653

4428 -0.88 -194.7 565.2 -9.6 543 4432 0.00 2.05 0.00 0.000 4 0.000 0.051 2472 2894 3651

4489 -1.02 -194.7 570.8 -8.3 545 4496 0.17 2.03 0.00 0.000 6 0.058 0.039 2391 1519 3651

4805 -0.76 -194.7 614.9 -13.9 561 4810 0.30 2.00 0.00 0.000 4 0.150 0.052 2489 194 3648

4877 -0.82 -194.7 622.5 -9.5 564 4881 0.00 1.98 0.00 0.000 6 0.000 0.037 2489 1518 3647

5198 -0.94 -194.7 648.3 -7.9 580 5202 0.15 2.08 0.00 0.000 4 0.066 0.050 2411 2898 3645

5252 -0.85 -194.7 654.2 -11.8 582 5260 0.15 2.05 0.00 0.000 6 0.138 0.040 2461 1532 3644

5568 -0.85 -194.7 687.8 -10.5 598 5569 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1532 3642

5878 -0.85 -194.7 717.4 -9.0 613 5879 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1532 3640

6186 -0.85 -194.7 748.6 -10.4 628 6190 0.00 2.08 0.00 0.000 4 0.000 0.054 2454 2893 3637

6255 -0.95 -194.7 754.9 -9.8 631 6258 0.00 2.05 0.00 0.000 6 0.000 0.043 2454 1523 3637

6589 -1.36 -194.7 783.7 -0.3 647 6593 0.38 2.03 0.00 0.000 4 0.045 0.057 2280 197 3635

6708 end dive: NO_VERTICAL_VELOCITY

state 6708 begin apogee

6715 -0.20 0.0 783.7 0.0 652 6882 1.08 0.00 158.38 1.325 6 0.088 0.000 2668 1755 2862

6882 end apogee: CONTROL_FINISHED_OK

state 6882 begin climb

6884 0.94 194.7 783.5 0.0 661 7059 1.02 2.42 164.98 1.282 4 0.058 0.055 3052 344 2068

7092 0.35 194.7 762.9 21.5 670 7100 0.65 2.28 0.00 0.000 6 0.167 0.040 2857 1754 2065

7409 0.46 203.8 728.0 10.7 686 7419 0.00 0.00 8.20 1.059 6 0.000 0.000 2857 1756 2032

7718 0.61 226.2 697.0 10.2 701 7745 0.20 2.30 20.25 1.201 4 0.058 0.056 2961 341 1938

7784 0.37 226.2 686.7 17.3 704 7789 0.35 2.17 0.00 0.000 6 0.150 0.041 2862 1751 1936

8110 0.68 363.9 660.9 5.8 720 8240 0.25 2.33 120.15 1.239 4 0.052 0.055 2981 348 1377

8334 0.52 363.9 625.1 18.5 730 8339 0.28 2.17 0.00 0.000 6 0.143 0.041 2904 1745 1372

8661 0.59 363.9 584.6 12.0 746 8664 0.00 2.20 0.00 0.000 4 0.000 0.055 2912 346 1369

8728 0.70 363.9 576.2 12.1 749 8733 0.15 2.10 0.00 0.000 6 0.067 0.041 2979 1732 1368

9054 0.48 363.9 515.4 19.4 765 9059 0.25 2.17 0.00 0.000 4 0.153 0.054 2900 3147 1366

9093 0.58 363.9 509.2 13.2 767 9097 0.00 2.15 0.00 0.000 6 0.000 0.041 2908 1723 1366

9423 0.66 363.9 465.6 13.8 794 9427 0.12 2.12 0.00 0.000 4 0.069 0.054 2979 339 1365

9556 0.54 363.9 440.6 19.5 805 9564 0.22 2.03 0.00 0.000 6 0.144 0.040 2914 1701 1364

9880 0.61 363.9 398.4 12.4 836 9882 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1703 1364

10200 0.75 378.0 363.7 10.5 866 10217 0.20 2.10 11.20 0.992 4 0.055 0.053 3026 344 1320

10340 0.50 378.0 335.8 21.0 878 10345 0.43 2.03 0.00 0.000 6 0.143 0.039 2898 1703 1319

10664 0.77 405.8 301.7 9.9 908 10694 0.20 0.00 25.50 0.984 6 0.054 0.000 3002 1705 1207

11033 0.65 405.8 229.7 16.8 971 11039 0.17 2.10 0.00 0.000 4 0.149 0.054 2960 342 1204

11118 0.78 405.8 218.6 11.1 986 11125 0.00 2.03 0.00 0.000 6 0.000 0.040 2961 1712 1202

11462 0.91 405.8 176.5 12.3 1047 11469 0.17 2.17 0.00 0.000 4 0.052 0.044 3060 3162 1201

11526 0.74 405.8 165.4 18.5 1058 11533 0.25 2.20 0.00 0.000 6 0.140 0.037 2974 1698 1202

11870 0.98 431.0 123.9 10.0 1119 11898 0.17 2.12 22.42 0.797 4 0.053 0.048 3080 340 1104

11960 0.82 431.0 108.3 17.7 1134 11967 0.28 2.00 0.00 0.000 6 0.137 0.033 2997 1682 1101

12306 1.15 510.0 72.3 8.0 1195 12383 0.28 2.17 66.20 0.739 4 0.043 0.044 3143 334 781

12474 0.89 510.0 38.2 24.4 1223 12480 0.32 1.98 0.00 0.000 6 0.137 0.031 3029 1654 779

12754 end climb: SURFACE_DEPTH_REACHED

state 12754 begin surface coast

12795 end surface coast: CONTROL_FINISHED_OK

state 12795 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	84	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	59	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	57	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	-6842.0693	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	154406,2537.659,12317.338,13,1.7,23,-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	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	154952,2537.669,12317.411,12,99.0,31,-3.8	MHEAD_RNG_PITCHd_Wd	281.1,8497,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	947

FINISH	0.9,1.022167	_24V_AH	23.8,20.639
SM_CCo	12870,0.00,0.000,0,0,777,511.70	_10V_AH	10.7,12.601
SM_GC	1.49,7.55,0.00,0.00,0.039,0.000,0.000,147,1478,777,-8.04,-0.62,511.70	DATA_FILE_SIZE	72586,1280
IRIDIUM_FIX	2527.05,12315.56,290898,121254	CAP_FILE_SIZE	140777,0
TT8_MAMPS	0.026845	CFSIZE	260165632,228315136
HUMID	1467	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.88778	CURRENT	0.222, 75.8,1
TCM_TEMP	25.00	GPS	040609,192555,2538.789,12316.776,40,1.6,40,-3.8
XPDR_PINGS	88

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	237	164.96	SBE_CT	868	24	496.08
Roll_motor	104	56	140.59	Optode	900	33	707.10
VBD_pump_during_apogee	597	1324	18829.51	WL_BB2F	1514	105	3785.20
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	23	103	56.96	nil	0	0	0.00
Iridium_during_connect	39	160	149.93	nil	0	0	0.00
Iridium_during_xfer	166	223	882.06
Transponder_ping	28	420	282.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.30
TT8	2263	19	479.54
LPSleep	7266	2	170.27
TT8_Active	658	19	139.49
TT8_Sampling	2627	39	1118.81
TT8_CF8	399	45	195.57
TT8_Kalman	0	0	0.00
Analog_circuits	1845	12	236.93
GPS_charging	0	0	0.00
Compass	2582	8	221.02
RAFOS	0	0	0.00
Transponder	43	30	14.10

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	74	0.00	0.00	-58.33	0.000	2	0.000	0.000	207	1473	2345
76	-0.94	-194.7	3.1	-5.3	9	129	8.82	2.20	-38.00	0.000	4	0.238	0.054	2401	2895	3657
226	-0.18	-194.7	45.4	-35.4	34	233	0.80	2.05	0.00	0.000	6	0.163	0.034	2676	1519	3659
570	-0.50	-194.7	86.1	-8.8	95	578	0.22	1.95	0.00	0.000	4	0.049	0.044	2565	208	3660
596	-0.50	-194.7	89.5	-13.1	99	604	0.00	1.88	0.00	0.000	6	0.000	0.029	2565	1487	3660
942	-0.37	-194.7	151.8	-15.0	160	948	0.17	2.08	0.00	0.000	4	0.147	0.041	2620	2898	3662
1052	-0.71	-194.7	161.3	-6.6	179	1061	0.30	2.03	0.00	0.000	6	0.042	0.032	2481	1495	3662
1397	-0.36	-194.7	229.5	-18.9	240	1404	0.43	1.90	0.00	0.000	4	0.146	0.044	2614	200	3664
1421	-0.29	-194.7	233.4	-15.5	244	1428	0.08	1.90	0.00	0.000	6	0.123	0.028	2645	1513	3664
1767	-1.16	-194.7	261.4	-8.4	305	1774	0.73	2.03	0.00	0.000	4	0.078	0.038	2358	2906	3664
1796	-1.16	-194.7	264.7	-11.4	310	1802	0.00	2.08	0.00	0.000	6	0.000	0.032	2380	1492	3664
2135	-0.59	-194.7	339.5	-20.9	356	2139	0.52	1.88	0.00	0.000	4	0.167	0.044	2538	209	3664
2184	-0.59	-194.7	346.3	-10.3	360	2188	0.12	1.85	0.00	0.000	6	0.139	0.029	2549	1510	3664
2514	-0.86	-194.7	367.4	-6.0	391	2519	0.22	2.03	0.00	0.000	4	0.051	0.041	2436	2888	3664
2571	-0.78	-194.7	372.9	-10.7	396	2575	0.17	2.00	0.00	0.000	6	0.135	0.034	2488	1509	3664
2900	-0.78	-194.7	405.0	-10.3	427	2901	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	1509	3663
3220	-0.84	-194.7	438.7	-10.5	457	3221	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	1509	3660
3538	-0.91	-194.7	470.0	-9.5	487	3542	0.12	1.95	0.00	0.000	4	0.071	0.049	2427	207	3659
3621	-0.65	-194.7	482.4	-16.1	494	3628	0.28	1.90	0.00	0.000	6	0.137	0.034	2530	1494	3657
3943	-0.92	-194.7	508.4	-7.8	520	3948	0.22	2.10	0.00	0.000	4	0.051	0.047	2420	2904	3655
4095	-0.83	-194.7	527.9	-14.4	527	4100	0.17	2.03	0.00	0.000	6	0.136	0.041	2473	1530	3653
4428	-0.88	-194.7	565.2	-9.6	543	4432	0.00	2.05	0.00	0.000	4	0.000	0.051	2472	2894	3651
4489	-1.02	-194.7	570.8	-8.3	545	4496	0.17	2.03	0.00	0.000	6	0.058	0.039	2391	1519	3651
4805	-0.76	-194.7	614.9	-13.9	561	4810	0.30	2.00	0.00	0.000	4	0.150	0.052	2489	194	3648
4877	-0.82	-194.7	622.5	-9.5	564	4881	0.00	1.98	0.00	0.000	6	0.000	0.037	2489	1518	3647
5198	-0.94	-194.7	648.3	-7.9	580	5202	0.15	2.08	0.00	0.000	4	0.066	0.050	2411	2898	3645
5252	-0.85	-194.7	654.2	-11.8	582	5260	0.15	2.05	0.00	0.000	6	0.138	0.040	2461	1532	3644
5568	-0.85	-194.7	687.8	-10.5	598	5569	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1532	3642
5878	-0.85	-194.7	717.4	-9.0	613	5879	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1532	3640
6186	-0.85	-194.7	748.6	-10.4	628	6190	0.00	2.08	0.00	0.000	4	0.000	0.054	2454	2893	3637
6255	-0.95	-194.7	754.9	-9.8	631	6258	0.00	2.05	0.00	0.000	6	0.000	0.043	2454	1523	3637
6589	-1.36	-194.7	783.7	-0.3	647	6593	0.38	2.03	0.00	0.000	4	0.045	0.057	2280	197	3635
6708	end dive: NO_VERTICAL_VELOCITY
state	6708	begin apogee
6715	-0.20	0.0	783.7	0.0	652	6882	1.08	0.00	158.38	1.325	6	0.088	0.000	2668	1755	2862
6882	end apogee: CONTROL_FINISHED_OK
state	6882	begin climb
6884	0.94	194.7	783.5	0.0	661	7059	1.02	2.42	164.98	1.282	4	0.058	0.055	3052	344	2068
7092	0.35	194.7	762.9	21.5	670	7100	0.65	2.28	0.00	0.000	6	0.167	0.040	2857	1754	2065
7409	0.46	203.8	728.0	10.7	686	7419	0.00	0.00	8.20	1.059	6	0.000	0.000	2857	1756	2032
7718	0.61	226.2	697.0	10.2	701	7745	0.20	2.30	20.25	1.201	4	0.058	0.056	2961	341	1938
7784	0.37	226.2	686.7	17.3	704	7789	0.35	2.17	0.00	0.000	6	0.150	0.041	2862	1751	1936
8110	0.68	363.9	660.9	5.8	720	8240	0.25	2.33	120.15	1.239	4	0.052	0.055	2981	348	1377
8334	0.52	363.9	625.1	18.5	730	8339	0.28	2.17	0.00	0.000	6	0.143	0.041	2904	1745	1372
8661	0.59	363.9	584.6	12.0	746	8664	0.00	2.20	0.00	0.000	4	0.000	0.055	2912	346	1369
8728	0.70	363.9	576.2	12.1	749	8733	0.15	2.10	0.00	0.000	6	0.067	0.041	2979	1732	1368
9054	0.48	363.9	515.4	19.4	765	9059	0.25	2.17	0.00	0.000	4	0.153	0.054	2900	3147	1366
9093	0.58	363.9	509.2	13.2	767	9097	0.00	2.15	0.00	0.000	6	0.000	0.041	2908	1723	1366
9423	0.66	363.9	465.6	13.8	794	9427	0.12	2.12	0.00	0.000	4	0.069	0.054	2979	339	1365
9556	0.54	363.9	440.6	19.5	805	9564	0.22	2.03	0.00	0.000	6	0.144	0.040	2914	1701	1364
9880	0.61	363.9	398.4	12.4	836	9882	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	1703	1364
10200	0.75	378.0	363.7	10.5	866	10217	0.20	2.10	11.20	0.992	4	0.055	0.053	3026	344	1320
10340	0.50	378.0	335.8	21.0	878	10345	0.43	2.03	0.00	0.000	6	0.143	0.039	2898	1703	1319
10664	0.77	405.8	301.7	9.9	908	10694	0.20	0.00	25.50	0.984	6	0.054	0.000	3002	1705	1207
11033	0.65	405.8	229.7	16.8	971	11039	0.17	2.10	0.00	0.000	4	0.149	0.054	2960	342	1204
11118	0.78	405.8	218.6	11.1	986	11125	0.00	2.03	0.00	0.000	6	0.000	0.040	2961	1712	1202
11462	0.91	405.8	176.5	12.3	1047	11469	0.17	2.17	0.00	0.000	4	0.052	0.044	3060	3162	1201
11526	0.74	405.8	165.4	18.5	1058	11533	0.25	2.20	0.00	0.000	6	0.140	0.037	2974	1698	1202
11870	0.98	431.0	123.9	10.0	1119	11898	0.17	2.12	22.42	0.797	4	0.053	0.048	3080	340	1104
11960	0.82	431.0	108.3	17.7	1134	11967	0.28	2.00	0.00	0.000	6	0.137	0.033	2997	1682	1101
12306	1.15	510.0	72.3	8.0	1195	12383	0.28	2.17	66.20	0.739	4	0.043	0.044	3143	334	781
12474	0.89	510.0	38.2	24.4	1223	12480	0.32	1.98	0.00	0.000	6	0.137	0.031	3029	1654	779
12754	end climb: SURFACE_DEPTH_REACHED
state	12754	begin surface coast
12795	end surface coast: CONTROL_FINISHED_OK
state	12795	begin surface