Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 47 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 47 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3782 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 1471 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1580 ALTIM_PULSE 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 415 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 INT_PRESSURE_YINT 0.94

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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 396 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2947 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 -34034.145 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 40 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 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2744 PRESSURE_YINT -9.4660435 SEABIRD_T_G 0.0043488215

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160742 SEABIRD_T_H 0.00063635618

MASS 51863 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.035 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 415

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3926 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 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160742 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -9.4660435 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 -34034.145

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 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3782 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2744 KALMAN_USE 2 ROLL_MIN 204 USE_BATHY -4

C_ROLL_CLIMB 1580 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1471 MASS 51863 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 200 R_STBD_OVSHOOT 40 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 47 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0.035 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 040125,2432.059,12313.061,37,2.0,37,-3.5 TGT_NAME RET_2

_CALLS 1 TGT_LATLONG 2415.000,12318.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040702,2432.101,12313.017,11,1.1,11,-3.5 MHEAD_RNG_PITCHd_Wd 164.9,32770,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 723

Post-dive calculations and measurements:

FINISH 0.1,1.022692 _24V_AH 24.0,13.894

SM_CCo 12715,40.25,0.712,0,0,1255,415.05 _10V_AH 10.7,8.132

SM_GC 0.73,0.00,0.00,40.25,0.000,0.000,0.712,110,1446,1255,-8.23,-0.71,415.05 DATA_FILE_SIZE 82031,1433

IRIDIUM_FIX 2422.84,12332.21,240898,000011 CAP_FILE_SIZE 147706,0

TT8_MAMPS 0.050622 CFSIZE 260165632,253448192

HUMID 1463 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.98718 CURRENT 0.170,196.3,1

TCM_TEMP 25.80 GPS 300509,074037,2429.029,12313.412,34,1.0,34,-3.5

XPDR_PINGS 15

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 210 114.87 SBE_CT 969 24 558.44

Roll_motor 107 84 216.71 Optode 1030 33 816.23

VBD_pump_during_apogee 466 1254 14063.18 WL_BB2F 1720 105 4335.74

VBD_pump_during_surface 40 711 687.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.26 nil 0 0 0.00

Iridium_during_connect 33 160 129.08 nil 0 0 0.00

Iridium_during_xfer 182 223 977.44

Transponder_ping 9 420 90.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.69

TT8 0 19 0.00

LPSleep 8671 2 203.19

TT8_Active 632 19 134.03

TT8_Sampling 3321 39 1414.67

TT8_CF8 444 45 218.00

TT8_Kalman 0 0 0.00

Analog_circuits 1848 12 237.37

GPS_charging 0 0 0.00

Compass 2833 8 242.56

RAFOS 0 0 0.00

Transponder 35 30 11.48

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.99 -194.7 0.0 0.0 0 78 0.00 0.00 -63.97 0.000 2 0.000 0.000 115 1478 3065

80 -0.99 -194.7 4.0 -9.9 10 106 8.45 1.95 -12.62 0.000 4 0.210 0.065 2421 212 3742

345 -0.58 -194.7 80.5 -26.5 59 352 0.40 1.90 0.00 0.000 6 0.123 0.034 2551 1471 3745

672 -0.58 -194.7 127.9 -10.1 120 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 1473 3747

993 -0.65 -194.7 159.7 -8.8 180 1000 0.00 2.10 0.00 0.000 4 0.000 0.041 2551 2878 3749

1036 -0.79 -194.7 163.6 -8.7 188 1044 0.15 2.10 0.00 0.000 6 0.041 0.035 2466 1474 3749

1364 -0.63 -194.7 212.7 -13.6 249 1370 0.25 0.00 0.00 0.000 6 0.126 0.000 2544 1473 3749

1689 -0.69 -194.7 238.0 -8.9 310 1696 0.00 1.92 0.00 0.000 4 0.000 0.046 2544 209 3749

1742 -0.76 -194.7 243.5 -10.9 320 1751 0.10 1.90 0.00 0.000 6 0.053 0.035 2483 1485 3749

2071 -0.67 -194.7 290.7 -12.6 381 2077 0.15 1.95 0.00 0.000 4 0.133 0.046 2527 203 3749

2113 -0.67 -194.7 295.2 -9.7 389 2119 0.00 1.90 0.00 0.000 6 0.000 0.035 2527 1478 3749

2431 -0.74 -194.7 327.7 -10.8 425 2434 0.00 1.95 0.00 0.000 4 0.000 0.047 2528 209 3750

2467 -0.79 -194.7 332.0 -11.9 428 2476 0.08 1.88 0.00 0.000 6 0.060 0.034 2476 1466 3749

2783 -0.73 -194.7 369.4 -10.3 459 2787 0.12 2.10 0.00 0.000 4 0.135 0.041 2512 2877 3749

2912 -0.83 -194.7 381.1 -9.4 471 2915 0.10 2.05 0.00 0.000 6 0.076 0.035 2460 1474 3748

3231 -0.74 -194.7 423.7 -13.4 502 3236 0.15 1.90 0.00 0.000 4 0.132 0.047 2505 217 3747

3365 -0.74 -194.7 437.5 -10.3 514 3372 0.00 1.88 0.00 0.000 6 0.000 0.034 2505 1478 3747

3682 -0.80 -194.7 466.4 -9.7 545 3685 0.00 1.92 0.00 0.000 4 0.000 0.049 2505 194 3746

3712 -0.85 -194.7 469.7 -10.9 548 3717 0.00 1.90 0.00 0.000 6 0.000 0.035 2505 1470 3746

4035 -0.91 -194.7 501.0 -9.1 579 4039 0.15 2.08 0.00 0.000 4 0.065 0.041 2436 2875 3745

4093 -0.85 -194.7 507.9 -11.9 582 4097 0.08 2.10 0.00 0.000 6 0.133 0.038 2463 1474 3744

4419 -0.81 -194.7 540.6 -10.3 598 4423 0.00 1.92 0.00 0.000 4 0.000 0.051 2463 218 3743

4570 -0.75 -194.7 558.6 -11.3 605 4573 0.15 1.85 0.00 0.000 6 0.135 0.035 2508 1479 3742

4896 -0.84 -194.7 590.4 -10.6 621 4899 0.00 2.05 0.00 0.000 4 0.000 0.044 2508 2872 3740

4921 -0.96 -194.7 593.2 -10.6 622 4926 0.17 2.10 0.00 0.000 6 0.045 0.038 2418 1473 3740

5243 -0.82 -194.7 630.8 -12.9 638 5247 0.20 1.90 0.00 0.000 4 0.133 0.051 2478 208 3737

5403 -0.82 -194.7 647.2 -7.2 645 5407 0.00 1.88 0.00 0.000 6 0.000 0.035 2478 1466 3737

5718 -0.82 -194.7 673.7 -9.7 661 5722 0.00 1.95 0.00 0.000 4 0.000 0.053 2478 213 3735

5804 -0.82 -194.7 682.7 -10.3 665 5807 0.00 1.85 0.00 0.000 6 0.000 0.037 2477 1446 3735

6130 -0.82 -194.7 711.2 -6.7 681 6134 0.00 1.92 0.00 0.000 4 0.000 0.054 2478 213 3732

6150 -0.82 -194.7 712.4 -6.2 682 6155 0.00 1.85 0.00 0.000 6 0.000 0.037 2478 1444 3732

6292 end dive: TARGET_DEPTH_EXCEEDED

state 6292 begin apogee

6296 -0.24 0.0 723.4 8.4 689 6457 0.55 0.00 157.55 1.255 6 0.110 0.000 2663 1580 2947

6457 end apogee: CONTROL_FINISHED_OK

state 6457 begin climb

6459 0.99 194.7 728.6 0.0 697 6630 1.12 2.30 160.62 1.217 4 0.074 0.045 3055 2980 2151

6660 0.56 194.7 704.9 21.2 706 6665 0.45 2.25 0.00 0.000 6 0.173 0.042 2927 1588 2148

6976 0.50 194.7 665.2 10.6 722 6980 0.00 2.20 0.00 0.000 4 0.000 0.055 2929 210 2144

7050 0.45 194.7 657.2 10.6 725 7055 0.10 2.12 0.00 0.000 6 0.146 0.040 2896 1582 2144

7367 0.55 235.3 627.0 8.6 741 7404 0.00 2.22 33.38 1.168 4 0.000 0.057 2895 202 1985

7451 0.64 244.9 619.3 9.7 744 7469 0.12 2.15 9.15 1.007 6 0.057 0.041 2957 1573 1947

7771 0.51 244.9 576.8 14.0 760 7776 0.17 2.17 0.00 0.000 4 0.150 0.057 2909 209 1942

7787 0.45 244.9 574.8 14.0 760 7794 0.00 2.12 0.00 0.000 6 0.000 0.041 2909 1575 1942

8098 0.49 244.9 540.8 10.6 776 8102 0.00 2.17 0.00 0.000 4 0.000 0.047 2908 2985 1939

8119 0.52 244.9 538.6 10.7 777 8123 0.00 2.17 0.00 0.000 6 0.000 0.041 2909 1571 1939

8445 0.58 290.8 509.4 8.4 793 8490 0.00 2.17 39.05 1.117 4 0.000 0.057 2909 214 1759

8617 0.71 328.9 495.3 8.7 803 8654 0.15 2.08 33.00 1.090 6 0.053 0.041 2978 1536 1605

8971 0.54 328.9 442.2 17.9 837 8975 0.22 2.25 0.00 0.000 4 0.152 0.047 2916 2986 1595

9013 0.54 328.9 435.7 13.9 841 9017 0.00 2.25 0.00 0.000 6 0.000 0.043 2916 1540 1595

9335 0.60 328.9 398.8 11.5 872 9336 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 1540 1593

9645 0.68 328.9 365.2 10.5 902 9646 0.12 0.00 0.00 0.000 6 0.077 0.000 2974 1540 1593

9956 0.58 328.9 314.1 17.4 932 9957 0.15 0.00 0.00 0.000 6 0.155 0.000 2933 1540 1592

10272 0.64 328.9 277.2 11.3 981 10279 0.00 2.22 0.00 0.000 4 0.000 0.046 2933 2986 1591

10299 0.70 328.9 274.0 12.4 986 10306 0.08 2.22 0.00 0.000 6 0.065 0.044 2980 1539 1591

10627 0.59 328.9 225.9 16.1 1047 10633 0.17 2.03 0.00 0.000 4 0.156 0.055 2932 212 1591

10674 0.70 339.2 220.7 9.6 1056 10688 0.08 2.03 7.85 0.772 6 0.061 0.041 2978 1536 1563

11009 0.61 339.2 179.4 15.9 1118 11015 0.15 0.00 0.00 0.000 6 0.150 0.000 2938 1536 1561

11335 0.72 345.4 144.5 9.8 1179 11347 0.12 0.00 7.10 0.700 6 0.067 0.000 2996 1536 1537

11667 0.67 345.4 98.8 14.7 1241 11675 0.15 2.20 0.00 0.000 4 0.147 0.042 2956 2992 1535

11711 0.76 345.4 93.9 10.4 1249 11719 0.00 2.22 0.00 0.000 6 0.000 0.041 2955 1525 1535

12039 0.92 353.3 69.5 9.7 1310 12053 0.22 2.03 8.18 0.668 4 0.051 0.051 3065 208 1505

12094 0.75 353.3 61.4 14.9 1320 12101 0.22 2.00 0.00 0.000 6 0.143 0.038 2990 1530 1504

12422 0.88 365.0 27.6 9.6 1381 12442 0.12 2.20 11.10 0.675 4 0.065 0.041 3058 2977 1456

12494 0.77 365.0 18.1 14.7 1394 12501 0.20 2.20 0.00 0.000 6 0.137 0.040 2992 1536 1455

12664 end climb: SURFACE_DEPTH_REACHED

state 12664 begin surface coast

12702 end surface coast: CONTROL_FINISHED_OK

state 12702 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	47	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3782	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	1471	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1580	ALTIM_PULSE	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	415	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	INT_PRESSURE_YINT	0.94
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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	396	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2947	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	-34034.145	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	40	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	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2744	PRESSURE_YINT	-9.4660435	SEABIRD_T_G	0.0043488215
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160742	SEABIRD_T_H	0.00063635618
MASS	51863	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.035	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	040125,2432.059,12313.061,37,2.0,37,-3.5	TGT_NAME	RET_2
_CALLS	1	TGT_LATLONG	2415.000,12318.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040702,2432.101,12313.017,11,1.1,11,-3.5	MHEAD_RNG_PITCHd_Wd	164.9,32770,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	723

FINISH	0.1,1.022692	_24V_AH	24.0,13.894
SM_CCo	12715,40.25,0.712,0,0,1255,415.05	_10V_AH	10.7,8.132
SM_GC	0.73,0.00,0.00,40.25,0.000,0.000,0.712,110,1446,1255,-8.23,-0.71,415.05	DATA_FILE_SIZE	82031,1433
IRIDIUM_FIX	2422.84,12332.21,240898,000011	CAP_FILE_SIZE	147706,0
TT8_MAMPS	0.050622	CFSIZE	260165632,253448192
HUMID	1463	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.98718	CURRENT	0.170,196.3,1
TCM_TEMP	25.80	GPS	300509,074037,2429.029,12313.412,34,1.0,34,-3.5
XPDR_PINGS	15

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	210	114.87	SBE_CT	969	24	558.44
Roll_motor	107	84	216.71	Optode	1030	33	816.23
VBD_pump_during_apogee	466	1254	14063.18	WL_BB2F	1720	105	4335.74
VBD_pump_during_surface	40	711	687.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.26	nil	0	0	0.00
Iridium_during_connect	33	160	129.08	nil	0	0	0.00
Iridium_during_xfer	182	223	977.44
Transponder_ping	9	420	90.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.69
TT8	0	19	0.00
LPSleep	8671	2	203.19
TT8_Active	632	19	134.03
TT8_Sampling	3321	39	1414.67
TT8_CF8	444	45	218.00
TT8_Kalman	0	0	0.00
Analog_circuits	1848	12	237.37
GPS_charging	0	0	0.00
Compass	2833	8	242.56
RAFOS	0	0	0.00
Transponder	35	30	11.48

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.99	-194.7	0.0	0.0	0	78	0.00	0.00	-63.97	0.000	2	0.000	0.000	115	1478	3065
80	-0.99	-194.7	4.0	-9.9	10	106	8.45	1.95	-12.62	0.000	4	0.210	0.065	2421	212	3742
345	-0.58	-194.7	80.5	-26.5	59	352	0.40	1.90	0.00	0.000	6	0.123	0.034	2551	1471	3745
672	-0.58	-194.7	127.9	-10.1	120	672	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	1473	3747
993	-0.65	-194.7	159.7	-8.8	180	1000	0.00	2.10	0.00	0.000	4	0.000	0.041	2551	2878	3749
1036	-0.79	-194.7	163.6	-8.7	188	1044	0.15	2.10	0.00	0.000	6	0.041	0.035	2466	1474	3749
1364	-0.63	-194.7	212.7	-13.6	249	1370	0.25	0.00	0.00	0.000	6	0.126	0.000	2544	1473	3749
1689	-0.69	-194.7	238.0	-8.9	310	1696	0.00	1.92	0.00	0.000	4	0.000	0.046	2544	209	3749
1742	-0.76	-194.7	243.5	-10.9	320	1751	0.10	1.90	0.00	0.000	6	0.053	0.035	2483	1485	3749
2071	-0.67	-194.7	290.7	-12.6	381	2077	0.15	1.95	0.00	0.000	4	0.133	0.046	2527	203	3749
2113	-0.67	-194.7	295.2	-9.7	389	2119	0.00	1.90	0.00	0.000	6	0.000	0.035	2527	1478	3749
2431	-0.74	-194.7	327.7	-10.8	425	2434	0.00	1.95	0.00	0.000	4	0.000	0.047	2528	209	3750
2467	-0.79	-194.7	332.0	-11.9	428	2476	0.08	1.88	0.00	0.000	6	0.060	0.034	2476	1466	3749
2783	-0.73	-194.7	369.4	-10.3	459	2787	0.12	2.10	0.00	0.000	4	0.135	0.041	2512	2877	3749
2912	-0.83	-194.7	381.1	-9.4	471	2915	0.10	2.05	0.00	0.000	6	0.076	0.035	2460	1474	3748
3231	-0.74	-194.7	423.7	-13.4	502	3236	0.15	1.90	0.00	0.000	4	0.132	0.047	2505	217	3747
3365	-0.74	-194.7	437.5	-10.3	514	3372	0.00	1.88	0.00	0.000	6	0.000	0.034	2505	1478	3747
3682	-0.80	-194.7	466.4	-9.7	545	3685	0.00	1.92	0.00	0.000	4	0.000	0.049	2505	194	3746
3712	-0.85	-194.7	469.7	-10.9	548	3717	0.00	1.90	0.00	0.000	6	0.000	0.035	2505	1470	3746
4035	-0.91	-194.7	501.0	-9.1	579	4039	0.15	2.08	0.00	0.000	4	0.065	0.041	2436	2875	3745
4093	-0.85	-194.7	507.9	-11.9	582	4097	0.08	2.10	0.00	0.000	6	0.133	0.038	2463	1474	3744
4419	-0.81	-194.7	540.6	-10.3	598	4423	0.00	1.92	0.00	0.000	4	0.000	0.051	2463	218	3743
4570	-0.75	-194.7	558.6	-11.3	605	4573	0.15	1.85	0.00	0.000	6	0.135	0.035	2508	1479	3742
4896	-0.84	-194.7	590.4	-10.6	621	4899	0.00	2.05	0.00	0.000	4	0.000	0.044	2508	2872	3740
4921	-0.96	-194.7	593.2	-10.6	622	4926	0.17	2.10	0.00	0.000	6	0.045	0.038	2418	1473	3740
5243	-0.82	-194.7	630.8	-12.9	638	5247	0.20	1.90	0.00	0.000	4	0.133	0.051	2478	208	3737
5403	-0.82	-194.7	647.2	-7.2	645	5407	0.00	1.88	0.00	0.000	6	0.000	0.035	2478	1466	3737
5718	-0.82	-194.7	673.7	-9.7	661	5722	0.00	1.95	0.00	0.000	4	0.000	0.053	2478	213	3735
5804	-0.82	-194.7	682.7	-10.3	665	5807	0.00	1.85	0.00	0.000	6	0.000	0.037	2477	1446	3735
6130	-0.82	-194.7	711.2	-6.7	681	6134	0.00	1.92	0.00	0.000	4	0.000	0.054	2478	213	3732
6150	-0.82	-194.7	712.4	-6.2	682	6155	0.00	1.85	0.00	0.000	6	0.000	0.037	2478	1444	3732
6292	end dive: TARGET_DEPTH_EXCEEDED
state	6292	begin apogee
6296	-0.24	0.0	723.4	8.4	689	6457	0.55	0.00	157.55	1.255	6	0.110	0.000	2663	1580	2947
6457	end apogee: CONTROL_FINISHED_OK
state	6457	begin climb
6459	0.99	194.7	728.6	0.0	697	6630	1.12	2.30	160.62	1.217	4	0.074	0.045	3055	2980	2151
6660	0.56	194.7	704.9	21.2	706	6665	0.45	2.25	0.00	0.000	6	0.173	0.042	2927	1588	2148
6976	0.50	194.7	665.2	10.6	722	6980	0.00	2.20	0.00	0.000	4	0.000	0.055	2929	210	2144
7050	0.45	194.7	657.2	10.6	725	7055	0.10	2.12	0.00	0.000	6	0.146	0.040	2896	1582	2144
7367	0.55	235.3	627.0	8.6	741	7404	0.00	2.22	33.38	1.168	4	0.000	0.057	2895	202	1985
7451	0.64	244.9	619.3	9.7	744	7469	0.12	2.15	9.15	1.007	6	0.057	0.041	2957	1573	1947
7771	0.51	244.9	576.8	14.0	760	7776	0.17	2.17	0.00	0.000	4	0.150	0.057	2909	209	1942
7787	0.45	244.9	574.8	14.0	760	7794	0.00	2.12	0.00	0.000	6	0.000	0.041	2909	1575	1942
8098	0.49	244.9	540.8	10.6	776	8102	0.00	2.17	0.00	0.000	4	0.000	0.047	2908	2985	1939
8119	0.52	244.9	538.6	10.7	777	8123	0.00	2.17	0.00	0.000	6	0.000	0.041	2909	1571	1939
8445	0.58	290.8	509.4	8.4	793	8490	0.00	2.17	39.05	1.117	4	0.000	0.057	2909	214	1759
8617	0.71	328.9	495.3	8.7	803	8654	0.15	2.08	33.00	1.090	6	0.053	0.041	2978	1536	1605
8971	0.54	328.9	442.2	17.9	837	8975	0.22	2.25	0.00	0.000	4	0.152	0.047	2916	2986	1595
9013	0.54	328.9	435.7	13.9	841	9017	0.00	2.25	0.00	0.000	6	0.000	0.043	2916	1540	1595
9335	0.60	328.9	398.8	11.5	872	9336	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	1540	1593
9645	0.68	328.9	365.2	10.5	902	9646	0.12	0.00	0.00	0.000	6	0.077	0.000	2974	1540	1593
9956	0.58	328.9	314.1	17.4	932	9957	0.15	0.00	0.00	0.000	6	0.155	0.000	2933	1540	1592
10272	0.64	328.9	277.2	11.3	981	10279	0.00	2.22	0.00	0.000	4	0.000	0.046	2933	2986	1591
10299	0.70	328.9	274.0	12.4	986	10306	0.08	2.22	0.00	0.000	6	0.065	0.044	2980	1539	1591
10627	0.59	328.9	225.9	16.1	1047	10633	0.17	2.03	0.00	0.000	4	0.156	0.055	2932	212	1591
10674	0.70	339.2	220.7	9.6	1056	10688	0.08	2.03	7.85	0.772	6	0.061	0.041	2978	1536	1563
11009	0.61	339.2	179.4	15.9	1118	11015	0.15	0.00	0.00	0.000	6	0.150	0.000	2938	1536	1561
11335	0.72	345.4	144.5	9.8	1179	11347	0.12	0.00	7.10	0.700	6	0.067	0.000	2996	1536	1537
11667	0.67	345.4	98.8	14.7	1241	11675	0.15	2.20	0.00	0.000	4	0.147	0.042	2956	2992	1535
11711	0.76	345.4	93.9	10.4	1249	11719	0.00	2.22	0.00	0.000	6	0.000	0.041	2955	1525	1535
12039	0.92	353.3	69.5	9.7	1310	12053	0.22	2.03	8.18	0.668	4	0.051	0.051	3065	208	1505
12094	0.75	353.3	61.4	14.9	1320	12101	0.22	2.00	0.00	0.000	6	0.143	0.038	2990	1530	1504
12422	0.88	365.0	27.6	9.6	1381	12442	0.12	2.20	11.10	0.675	4	0.065	0.041	3058	2977	1456
12494	0.77	365.0	18.1	14.7	1394	12501	0.20	2.20	0.00	0.000	6	0.137	0.040	2992	1536	1455
12664	end climb: SURFACE_DEPTH_REACHED
state	12664	begin surface coast
12702	end surface coast: CONTROL_FINISHED_OK
state	12702	begin surface