Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 135 * 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 135 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 56 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 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 -7770.1304 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 -7770.1304

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 56 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 175 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 135 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 214907,2424.526,12318.037,27,1.1,27,-3.5 TGT_NAME RET_1

_CALLS 2 TGT_LATLONG 2407.200,12312.300

_XMS_NAKs 2 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 -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 215808,2424.518,12318.186,12,1.9,12,-3.5 MHEAD_RNG_PITCHd_Wd 237.5,33580,-16.8,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 723

Post-dive calculations and measurements:

FINISH 0.8,1.021655 _24V_AH 24.0,31.682

SM_CCo 12745,21.65,0.655,0,0,1129,425.10 _10V_AH 10.7,19.880

SM_GC 1.42,0.00,0.00,21.65,0.000,0.000,0.655,166,1487,1129,-8.04,-0.37,425.10 DATA_FILE_SIZE 78927,1383

IRIDIUM_FIX 2415.74,12319.09,070998,222237 CAP_FILE_SIZE 139642,0

TT8_MAMPS 0.027612 CFSIZE 260165632,223920128

HUMID 1492 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.95614 CURRENT 0.267, 64.0,1

TCM_TEMP 25.40 GPS 140609,013231,2424.347,12318.373,40,1.5,40,-3.5

XPDR_PINGS 118

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 237 150.79 SBE_CT 936 24 539.67

Roll_motor 94 56 128.59 Optode 993 33 786.88

VBD_pump_during_apogee 475 1265 14443.22 WL_BB2F 1671 105 4211.59

VBD_pump_during_surface 21 655 340.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 46 103 115.22 nil 0 0 0.00

Iridium_during_connect 64 160 247.38 nil 0 0 0.00

Iridium_during_xfer 250 223 1339.52

Transponder_ping 34 420 350.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.63

TT8 2410 19 510.78

LPSleep 7070 2 165.69

TT8_Active 599 19 127.09

TT8_Sampling 2654 39 1130.43

TT8_CF8 564 45 276.64

TT8_Kalman 0 0 0.00

Analog_circuits 1753 12 225.21

GPS_charging 0 0 0.00

Compass 2637 8 225.77

RAFOS 0 0 0.00

Transponder 36 30 11.85

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 -0.90 -170.3 0.0 0.0 0 68 0.00 0.00 -51.55 0.000 2 0.000 0.000 166 1485 2292

70 -0.90 -170.3 3.1 -5.8 8 123 9.20 2.12 -36.10 0.000 4 0.238 0.051 2434 2895 3558

129 -0.06 -170.3 12.7 -22.4 17 137 0.98 2.05 0.00 0.000 6 0.160 0.030 2718 1495 3559

477 -0.48 -170.3 45.2 -6.5 78 484 0.32 1.92 0.00 0.000 4 0.039 0.041 2560 202 3560

662 -0.22 -170.3 81.6 -18.7 110 669 0.30 1.92 0.00 0.000 6 0.130 0.028 2670 1529 3560

1006 -0.56 -170.3 108.4 -5.8 171 1013 0.28 2.03 0.00 0.000 4 0.043 0.036 2538 2927 3561

1036 -0.56 -170.3 111.6 -11.5 176 1043 0.00 2.03 0.00 0.000 6 0.000 0.029 2530 1517 3562

1382 -0.37 -170.3 169.8 -14.2 237 1389 0.28 1.92 0.00 0.000 4 0.133 0.041 2613 207 3562

1469 -0.60 -170.3 179.2 -8.9 252 1476 0.15 1.85 0.00 0.000 6 0.042 0.027 2509 1508 3562

1813 -0.52 -170.3 226.2 -13.1 313 1821 0.17 2.00 0.00 0.000 4 0.132 0.038 2575 2881 3563

1906 -0.82 -170.3 234.9 -8.4 329 1914 0.28 1.98 0.00 0.000 6 0.043 0.031 2446 1509 3564

2253 -0.49 -170.3 292.3 -19.0 390 2260 0.38 1.92 0.00 0.000 4 0.135 0.044 2570 211 3564

2311 -0.68 -170.3 298.5 -8.9 400 2318 0.12 1.88 0.00 0.000 6 0.048 0.028 2485 1517 3564

2638 -0.48 -170.3 344.4 -17.5 432 2642 0.30 2.03 0.00 0.000 4 0.125 0.041 2575 2890 3564

2722 -0.81 -170.3 351.4 -7.8 439 2727 0.28 1.98 0.00 0.000 6 0.044 0.033 2444 1527 3562

3047 -0.58 -170.3 401.6 -14.0 469 3052 0.30 1.98 0.00 0.000 4 0.132 0.046 2546 204 3561

3136 -0.74 -170.3 410.5 -8.7 476 3143 0.10 1.92 0.00 0.000 6 0.054 0.030 2485 1527 3561

3461 -0.67 -170.3 444.3 -10.2 507 3465 0.12 2.03 0.00 0.000 4 0.143 0.044 2517 2890 3559

3511 -0.83 -170.3 448.5 -7.1 511 3517 0.15 1.98 0.00 0.000 6 0.059 0.035 2444 1541 3559

3835 -0.60 -170.3 488.1 -12.9 542 3837 0.32 0.00 0.00 0.000 6 0.135 0.000 2543 1541 3556

4161 -0.81 -170.3 512.9 -7.8 565 4165 0.17 2.03 0.00 0.000 4 0.058 0.050 2445 201 3554

4206 -0.57 -170.3 518.5 -14.1 567 4211 0.35 1.95 0.00 0.000 6 0.139 0.033 2551 1537 3554

4536 -0.84 -170.3 540.2 -6.1 583 4540 0.20 2.05 0.00 0.000 4 0.053 0.046 2442 2907 3551

4575 -0.79 -170.3 544.1 -10.8 585 4579 0.15 2.03 0.00 0.000 6 0.135 0.038 2488 1539 3550

4906 -0.79 -170.3 580.7 -11.1 601 4910 0.00 2.03 0.00 0.000 4 0.000 0.051 2489 198 3547

4938 -0.79 -170.3 584.6 -11.1 602 4943 0.00 2.00 0.00 0.000 6 0.000 0.035 2484 1541 3547

5260 -0.79 -170.3 616.7 -9.1 618 5264 0.00 2.05 0.00 0.000 4 0.000 0.053 2485 198 3545

5305 -0.79 -170.3 621.4 -10.7 620 5309 0.00 2.00 0.00 0.000 6 0.000 0.042 2482 1553 3545

5637 -0.79 -170.3 651.3 -9.1 636 5639 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1554 3543

5946 -0.79 -170.3 677.0 -8.7 651 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1554 3540

6256 -0.84 -170.3 706.8 -9.5 666 6257 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1554 3539

6441 end dive: TARGET_DEPTH_EXCEEDED

state 6441 begin apogee

6445 -0.20 0.0 723.2 8.7 675 6586 0.57 0.00 137.23 1.266 6 0.114 0.000 2671 1753 2863

6587 end apogee: CONTROL_FINISHED_OK

state 6587 begin climb

6589 0.90 170.3 728.3 0.0 682 6736 0.95 0.00 143.38 1.223 6 0.041 0.000 3043 1753 2168

7041 0.36 170.3 670.2 16.1 704 7046 0.62 2.17 0.00 0.000 4 0.167 0.053 2863 3157 2162

7103 0.54 243.2 664.5 7.1 707 7172 0.12 2.15 61.25 1.190 6 0.072 0.041 2931 1738 1870

7499 0.47 243.2 613.9 14.7 726 7503 0.15 2.17 0.00 0.000 4 0.146 0.054 2902 338 1862

7644 0.54 243.2 595.2 11.8 732 7650 0.00 2.08 0.00 0.000 6 0.000 0.038 2902 1726 1861

7959 0.59 243.2 555.1 13.2 748 7963 0.00 2.15 0.00 0.000 4 0.000 0.054 2910 338 1859

8026 0.59 243.2 545.9 14.3 751 8030 0.00 2.05 0.00 0.000 6 0.000 0.038 2910 1713 1859

8360 0.59 243.2 505.2 11.7 767 8363 0.00 2.12 0.00 0.000 4 0.000 0.054 2919 332 1858

8431 0.59 243.2 495.6 12.6 771 8438 0.00 2.08 0.00 0.000 6 0.000 0.038 2919 1708 1857

8757 0.59 243.2 457.8 11.2 802 8759 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 1708 1856

9074 0.59 243.2 419.2 12.3 832 9078 0.00 2.17 0.00 0.000 4 0.000 0.051 2918 3148 1856

9142 0.59 243.2 410.3 12.7 838 9146 0.00 2.15 0.00 0.000 6 0.000 0.039 2926 1703 1854

9473 0.61 258.5 374.8 9.4 869 9489 0.00 2.10 11.40 0.982 4 0.000 0.053 2936 332 1809

9534 0.65 291.1 369.1 8.7 874 9567 0.00 2.05 28.77 1.020 6 0.000 0.036 2935 1696 1676

9886 0.65 291.1 331.2 11.6 907 9887 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 1698 1672

10206 0.65 291.1 295.7 10.8 940 10213 0.00 2.08 0.00 0.000 4 0.000 0.051 2944 336 1671

10337 0.65 291.1 280.6 11.6 963 10343 0.00 2.03 0.00 0.000 6 0.000 0.036 2944 1708 1671

10681 0.69 324.6 245.6 8.7 1024 10719 0.00 2.15 28.33 0.917 4 0.000 0.051 2954 352 1538

10781 0.69 324.8 235.8 10.0 1041 10788 0.00 2.03 0.00 0.000 6 0.000 0.035 2953 1711 1536

11127 0.76 324.8 197.9 14.2 1102 11133 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 1713 1535

11471 0.95 350.5 163.0 9.0 1163 11498 0.22 2.17 22.50 0.827 4 0.049 0.047 3082 332 1433

11635 0.67 350.5 134.5 15.6 1191 11641 0.43 2.00 0.00 0.000 6 0.140 0.032 2955 1681 1430

11979 1.02 373.7 102.0 9.1 1252 12006 0.25 0.00 20.65 0.757 6 0.044 0.000 3085 1682 1337

12346 0.90 373.7 50.2 13.0 1316 12353 0.17 2.17 0.00 0.000 4 0.137 0.038 3028 3145 1335

12438 1.08 398.7 40.8 9.0 1332 12465 0.12 2.20 22.02 0.699 6 0.062 0.032 3119 1639 1236

12705 end climb: SURFACE_DEPTH_REACHED

state 12705 begin surface coast

12729 end surface coast: CONTROL_FINISHED_OK

state 12729 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	135	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	56	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	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	-7770.1304	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	214907,2424.526,12318.037,27,1.1,27,-3.5	TGT_NAME	RET_1
_CALLS	2	TGT_LATLONG	2407.200,12312.300
_XMS_NAKs	2	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	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	215808,2424.518,12318.186,12,1.9,12,-3.5	MHEAD_RNG_PITCHd_Wd	237.5,33580,-16.8,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	723

FINISH	0.8,1.021655	_24V_AH	24.0,31.682
SM_CCo	12745,21.65,0.655,0,0,1129,425.10	_10V_AH	10.7,19.880
SM_GC	1.42,0.00,0.00,21.65,0.000,0.000,0.655,166,1487,1129,-8.04,-0.37,425.10	DATA_FILE_SIZE	78927,1383
IRIDIUM_FIX	2415.74,12319.09,070998,222237	CAP_FILE_SIZE	139642,0
TT8_MAMPS	0.027612	CFSIZE	260165632,223920128
HUMID	1492	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.95614	CURRENT	0.267, 64.0,1
TCM_TEMP	25.40	GPS	140609,013231,2424.347,12318.373,40,1.5,40,-3.5
XPDR_PINGS	118

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	237	150.79	SBE_CT	936	24	539.67
Roll_motor	94	56	128.59	Optode	993	33	786.88
VBD_pump_during_apogee	475	1265	14443.22	WL_BB2F	1671	105	4211.59
VBD_pump_during_surface	21	655	340.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	46	103	115.22	nil	0	0	0.00
Iridium_during_connect	64	160	247.38	nil	0	0	0.00
Iridium_during_xfer	250	223	1339.52
Transponder_ping	34	420	350.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.63
TT8	2410	19	510.78
LPSleep	7070	2	165.69
TT8_Active	599	19	127.09
TT8_Sampling	2654	39	1130.43
TT8_CF8	564	45	276.64
TT8_Kalman	0	0	0.00
Analog_circuits	1753	12	225.21
GPS_charging	0	0	0.00
Compass	2637	8	225.77
RAFOS	0	0	0.00
Transponder	36	30	11.85

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	-0.90	-170.3	0.0	0.0	0	68	0.00	0.00	-51.55	0.000	2	0.000	0.000	166	1485	2292
70	-0.90	-170.3	3.1	-5.8	8	123	9.20	2.12	-36.10	0.000	4	0.238	0.051	2434	2895	3558
129	-0.06	-170.3	12.7	-22.4	17	137	0.98	2.05	0.00	0.000	6	0.160	0.030	2718	1495	3559
477	-0.48	-170.3	45.2	-6.5	78	484	0.32	1.92	0.00	0.000	4	0.039	0.041	2560	202	3560
662	-0.22	-170.3	81.6	-18.7	110	669	0.30	1.92	0.00	0.000	6	0.130	0.028	2670	1529	3560
1006	-0.56	-170.3	108.4	-5.8	171	1013	0.28	2.03	0.00	0.000	4	0.043	0.036	2538	2927	3561
1036	-0.56	-170.3	111.6	-11.5	176	1043	0.00	2.03	0.00	0.000	6	0.000	0.029	2530	1517	3562
1382	-0.37	-170.3	169.8	-14.2	237	1389	0.28	1.92	0.00	0.000	4	0.133	0.041	2613	207	3562
1469	-0.60	-170.3	179.2	-8.9	252	1476	0.15	1.85	0.00	0.000	6	0.042	0.027	2509	1508	3562
1813	-0.52	-170.3	226.2	-13.1	313	1821	0.17	2.00	0.00	0.000	4	0.132	0.038	2575	2881	3563
1906	-0.82	-170.3	234.9	-8.4	329	1914	0.28	1.98	0.00	0.000	6	0.043	0.031	2446	1509	3564
2253	-0.49	-170.3	292.3	-19.0	390	2260	0.38	1.92	0.00	0.000	4	0.135	0.044	2570	211	3564
2311	-0.68	-170.3	298.5	-8.9	400	2318	0.12	1.88	0.00	0.000	6	0.048	0.028	2485	1517	3564
2638	-0.48	-170.3	344.4	-17.5	432	2642	0.30	2.03	0.00	0.000	4	0.125	0.041	2575	2890	3564
2722	-0.81	-170.3	351.4	-7.8	439	2727	0.28	1.98	0.00	0.000	6	0.044	0.033	2444	1527	3562
3047	-0.58	-170.3	401.6	-14.0	469	3052	0.30	1.98	0.00	0.000	4	0.132	0.046	2546	204	3561
3136	-0.74	-170.3	410.5	-8.7	476	3143	0.10	1.92	0.00	0.000	6	0.054	0.030	2485	1527	3561
3461	-0.67	-170.3	444.3	-10.2	507	3465	0.12	2.03	0.00	0.000	4	0.143	0.044	2517	2890	3559
3511	-0.83	-170.3	448.5	-7.1	511	3517	0.15	1.98	0.00	0.000	6	0.059	0.035	2444	1541	3559
3835	-0.60	-170.3	488.1	-12.9	542	3837	0.32	0.00	0.00	0.000	6	0.135	0.000	2543	1541	3556
4161	-0.81	-170.3	512.9	-7.8	565	4165	0.17	2.03	0.00	0.000	4	0.058	0.050	2445	201	3554
4206	-0.57	-170.3	518.5	-14.1	567	4211	0.35	1.95	0.00	0.000	6	0.139	0.033	2551	1537	3554
4536	-0.84	-170.3	540.2	-6.1	583	4540	0.20	2.05	0.00	0.000	4	0.053	0.046	2442	2907	3551
4575	-0.79	-170.3	544.1	-10.8	585	4579	0.15	2.03	0.00	0.000	6	0.135	0.038	2488	1539	3550
4906	-0.79	-170.3	580.7	-11.1	601	4910	0.00	2.03	0.00	0.000	4	0.000	0.051	2489	198	3547
4938	-0.79	-170.3	584.6	-11.1	602	4943	0.00	2.00	0.00	0.000	6	0.000	0.035	2484	1541	3547
5260	-0.79	-170.3	616.7	-9.1	618	5264	0.00	2.05	0.00	0.000	4	0.000	0.053	2485	198	3545
5305	-0.79	-170.3	621.4	-10.7	620	5309	0.00	2.00	0.00	0.000	6	0.000	0.042	2482	1553	3545
5637	-0.79	-170.3	651.3	-9.1	636	5639	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1554	3543
5946	-0.79	-170.3	677.0	-8.7	651	5948	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1554	3540
6256	-0.84	-170.3	706.8	-9.5	666	6257	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1554	3539
6441	end dive: TARGET_DEPTH_EXCEEDED
state	6441	begin apogee
6445	-0.20	0.0	723.2	8.7	675	6586	0.57	0.00	137.23	1.266	6	0.114	0.000	2671	1753	2863
6587	end apogee: CONTROL_FINISHED_OK
state	6587	begin climb
6589	0.90	170.3	728.3	0.0	682	6736	0.95	0.00	143.38	1.223	6	0.041	0.000	3043	1753	2168
7041	0.36	170.3	670.2	16.1	704	7046	0.62	2.17	0.00	0.000	4	0.167	0.053	2863	3157	2162
7103	0.54	243.2	664.5	7.1	707	7172	0.12	2.15	61.25	1.190	6	0.072	0.041	2931	1738	1870
7499	0.47	243.2	613.9	14.7	726	7503	0.15	2.17	0.00	0.000	4	0.146	0.054	2902	338	1862
7644	0.54	243.2	595.2	11.8	732	7650	0.00	2.08	0.00	0.000	6	0.000	0.038	2902	1726	1861
7959	0.59	243.2	555.1	13.2	748	7963	0.00	2.15	0.00	0.000	4	0.000	0.054	2910	338	1859
8026	0.59	243.2	545.9	14.3	751	8030	0.00	2.05	0.00	0.000	6	0.000	0.038	2910	1713	1859
8360	0.59	243.2	505.2	11.7	767	8363	0.00	2.12	0.00	0.000	4	0.000	0.054	2919	332	1858
8431	0.59	243.2	495.6	12.6	771	8438	0.00	2.08	0.00	0.000	6	0.000	0.038	2919	1708	1857
8757	0.59	243.2	457.8	11.2	802	8759	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	1708	1856
9074	0.59	243.2	419.2	12.3	832	9078	0.00	2.17	0.00	0.000	4	0.000	0.051	2918	3148	1856
9142	0.59	243.2	410.3	12.7	838	9146	0.00	2.15	0.00	0.000	6	0.000	0.039	2926	1703	1854
9473	0.61	258.5	374.8	9.4	869	9489	0.00	2.10	11.40	0.982	4	0.000	0.053	2936	332	1809
9534	0.65	291.1	369.1	8.7	874	9567	0.00	2.05	28.77	1.020	6	0.000	0.036	2935	1696	1676
9886	0.65	291.1	331.2	11.6	907	9887	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	1698	1672
10206	0.65	291.1	295.7	10.8	940	10213	0.00	2.08	0.00	0.000	4	0.000	0.051	2944	336	1671
10337	0.65	291.1	280.6	11.6	963	10343	0.00	2.03	0.00	0.000	6	0.000	0.036	2944	1708	1671
10681	0.69	324.6	245.6	8.7	1024	10719	0.00	2.15	28.33	0.917	4	0.000	0.051	2954	352	1538
10781	0.69	324.8	235.8	10.0	1041	10788	0.00	2.03	0.00	0.000	6	0.000	0.035	2953	1711	1536
11127	0.76	324.8	197.9	14.2	1102	11133	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	1713	1535
11471	0.95	350.5	163.0	9.0	1163	11498	0.22	2.17	22.50	0.827	4	0.049	0.047	3082	332	1433
11635	0.67	350.5	134.5	15.6	1191	11641	0.43	2.00	0.00	0.000	6	0.140	0.032	2955	1681	1430
11979	1.02	373.7	102.0	9.1	1252	12006	0.25	0.00	20.65	0.757	6	0.044	0.000	3085	1682	1337
12346	0.90	373.7	50.2	13.0	1316	12353	0.17	2.17	0.00	0.000	4	0.137	0.038	3028	3145	1335
12438	1.08	398.7	40.8	9.0	1332	12465	0.12	2.20	22.02	0.699	6	0.062	0.032	3119	1639	1236
12705	end climb: SURFACE_DEPTH_REACHED
state	12705	begin surface coast
12729	end surface coast: CONTROL_FINISHED_OK
state	12729	begin surface