Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 57 * 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 57 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 53 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 -6289.5928 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 -6289.5928

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 53 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 57 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 030406,2533.674,12259.105,38,1.0,43,-3.7 TGT_NAME OFF_4

_CALLS 1 TGT_LATLONG 2517.000,12320.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031008,2533.740,12259.157,13,1.1,13,-3.8 MHEAD_RNG_PITCHd_Wd 154.2,46684,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 763

Post-dive calculations and measurements:

FINISH 0.9,0.998775 _24V_AH 23.9,14.870

SM_CCo 12272,0.00,0.000,0,0,848,494.03 _10V_AH 10.7,8.992

SM_GC 1.73,7.68,0.00,0.00,0.047,0.000,0.000,152,1509,848,-8.04,0.25,494.03 DATA_FILE_SIZE 72552,1239

IRIDIUM_FIX 2524.66,12257.03,240898,232352 CAP_FILE_SIZE 135642,0

TT8_MAMPS 0.026845 CFSIZE 260165632,230559744

HUMID 1487 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 9.85848 CURRENT 0.224,345.0,1

TCM_TEMP 24.20 GPS 310509,063606,2533.288,12259.718,32,1.0,32,-3.7

XPDR_PINGS 90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 236 152.30 SBE_CT 841 24 482.61

Roll_motor 107 58 149.91 Optode 866 33 683.18

VBD_pump_during_apogee 576 1309 18048.95 WL_BB2F 1456 105 3653.84

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 22 103 55.90 nil 0 0 0.00

Iridium_during_connect 31 160 122.26 nil 0 0 0.00

Iridium_during_xfer 209 223 1117.10

Transponder_ping 28 420 283.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.43

TT8 2195 19 465.04

LPSleep 6866 2 160.91

TT8_Active 662 19 140.39

TT8_Sampling 2491 39 1061.04

TT8_CF8 414 45 202.98

TT8_Kalman 0 0 0.00

Analog_circuits 1801 12 231.26

GPS_charging 0 0 0.00

Compass 2467 8 211.19

RAFOS 0 0 0.00

Transponder 40 30 12.87

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 0 106 0.00 0.00 -89.35 0.000 2 0.000 0.000 167 1504 2488

108 -0.94 -194.7 3.4 -5.9 14 154 8.98 2.03 -32.58 0.000 4 0.236 0.058 2429 193 3658

351 -0.10 -194.7 86.2 -36.0 56 360 0.90 1.92 0.00 0.000 6 0.172 0.032 2701 1487 3658

699 -1.05 -194.7 114.3 -8.8 117 706 0.77 2.08 0.00 0.000 4 0.055 0.035 2396 2917 3660

785 -0.30 -194.7 135.1 -32.2 132 792 0.85 2.08 0.00 0.000 6 0.174 0.032 2640 1486 3660

1131 -0.65 -194.7 167.0 -6.8 193 1138 0.28 2.10 0.00 0.000 4 0.045 0.037 2508 2914 3661

1167 -0.57 -194.7 171.6 -14.4 199 1174 0.15 2.03 0.00 0.000 6 0.152 0.031 2550 1511 3661

1511 -0.51 -194.7 220.3 -13.3 260 1517 0.00 2.05 0.00 0.000 4 0.000 0.040 2547 2909 3661

1557 -0.51 -194.7 226.2 -12.5 268 1563 0.00 2.03 0.00 0.000 6 0.000 0.031 2549 1526 3661

1901 -0.51 -194.7 272.2 -11.9 329 1907 0.00 1.95 0.00 0.000 4 0.000 0.045 2545 204 3661

2019 -0.51 -194.7 286.3 -10.9 350 2027 0.08 1.90 0.00 0.000 6 0.138 0.029 2566 1519 3661

2354 -0.75 -194.7 316.1 -9.3 395 2358 0.20 2.03 0.00 0.000 4 0.054 0.041 2465 2897 3661

2409 -0.68 -194.7 323.1 -13.8 400 2414 0.17 2.03 0.00 0.000 6 0.140 0.034 2522 1501 3661

2733 -0.76 -194.7 356.7 -9.2 430 2737 0.00 1.92 0.00 0.000 4 0.000 0.048 2521 201 3661

2857 -0.82 -194.7 368.5 -9.1 441 2861 0.12 1.88 0.00 0.000 6 0.075 0.030 2455 1514 3661

3186 -0.71 -194.7 407.4 -11.1 472 3190 0.17 2.05 0.00 0.000 4 0.148 0.044 2507 2900 3660

3247 -0.94 -194.7 412.3 -7.2 477 3252 0.22 2.03 0.00 0.000 6 0.051 0.035 2410 1509 3660

3572 -0.67 -194.7 456.9 -14.3 507 3576 0.32 1.95 0.00 0.000 4 0.150 0.049 2518 204 3657

3678 -0.79 -194.7 467.5 -9.2 516 3682 0.00 1.88 0.00 0.000 6 0.000 0.036 2507 1503 3657

4009 -0.94 -194.7 495.9 -8.6 547 4013 0.17 2.08 0.00 0.000 4 0.059 0.047 2414 2899 3654

4064 -0.83 -194.7 502.7 -13.3 550 4073 0.20 2.05 0.00 0.000 6 0.143 0.044 2474 1496 3653

4379 -0.88 -194.7 534.5 -9.7 566 4383 0.00 1.92 0.00 0.000 4 0.000 0.053 2474 208 3650

4405 -0.88 -194.7 537.5 -10.9 567 4410 0.00 1.90 0.00 0.000 6 0.000 0.035 2476 1493 3650

4733 -0.94 -194.7 571.4 -11.2 583 4735 0.12 0.00 0.00 0.000 6 0.073 0.000 2419 1494 3648

5043 -0.77 -194.7 616.5 -15.1 598 5045 0.25 0.00 0.00 0.000 6 0.150 0.000 2493 1495 3644

5352 -0.91 -194.7 644.5 -7.9 613 5356 0.15 2.12 0.00 0.000 4 0.068 0.051 2430 2904 3641

5423 -0.85 -194.7 652.3 -11.4 616 5428 0.08 2.12 0.00 0.000 6 0.153 0.041 2456 1496 3641

5744 -0.85 -194.7 683.9 -10.7 632 5747 0.00 1.95 0.00 0.000 4 0.000 0.055 2459 203 3638

5788 -0.77 -194.7 688.9 -11.6 634 5792 0.00 1.90 0.00 0.000 6 0.000 0.038 2468 1496 3638

6120 -0.77 -194.7 721.8 -9.6 650 6123 0.00 1.98 0.00 0.000 4 0.000 0.056 2468 201 3636

6188 -0.69 -194.7 729.1 -10.8 653 6192 0.15 1.90 0.00 0.000 6 0.160 0.038 2514 1491 3635

6520 -0.84 -194.7 757.8 -8.4 669 6522 0.15 0.00 0.00 0.000 6 0.067 0.000 2447 1493 3633

6579 end dive: TARGET_DEPTH_EXCEEDED

state 6579 begin apogee

6583 -0.20 0.0 764.5 10.1 672 6744 0.73 0.00 157.50 1.309 6 0.141 0.000 2672 1755 2863

6744 end apogee: CONTROL_FINISHED_OK

state 6745 begin climb

6746 0.94 194.7 768.4 0.0 680 6920 1.02 2.40 165.45 1.267 4 0.054 0.056 3044 345 2068

6964 0.40 194.7 742.7 20.1 690 6970 0.60 2.22 0.00 0.000 6 0.174 0.041 2873 1738 2064

7286 0.54 250.7 710.4 8.9 706 7339 0.12 2.30 47.15 1.224 4 0.074 0.057 2937 340 1840

7440 0.46 250.7 690.8 12.2 713 7445 0.17 2.17 0.00 0.000 6 0.154 0.041 2890 1748 1835

7767 0.61 325.8 663.5 8.2 729 7839 0.15 2.38 64.53 1.223 4 0.067 0.055 2963 339 1533

7900 0.50 325.8 645.4 13.9 735 7905 0.22 2.17 0.00 0.000 6 0.149 0.041 2903 1730 1529

8227 0.66 407.3 618.8 7.9 751 8305 0.15 2.30 72.12 1.201 4 0.067 0.051 2966 3151 1200

8333 0.57 407.3 601.7 13.8 755 8338 0.20 2.20 0.00 0.000 6 0.163 0.041 2926 1733 1198

8660 0.57 407.3 560.7 12.4 771 8664 0.00 2.17 0.00 0.000 4 0.000 0.057 2934 343 1192

8715 0.61 407.3 553.3 13.5 773 8719 0.00 2.12 0.00 0.000 6 0.000 0.040 2934 1720 1192

9036 0.61 407.3 507.7 14.5 789 9040 0.00 2.15 0.00 0.000 4 0.000 0.055 2945 340 1191

9062 0.61 407.3 503.6 14.3 790 9067 0.00 2.08 0.00 0.000 6 0.000 0.041 2944 1705 1191

9388 0.61 407.3 451.3 17.1 819 9392 0.00 2.20 0.00 0.000 4 0.000 0.053 2944 3152 1190

9460 0.61 407.3 439.4 16.0 825 9466 0.00 2.20 0.00 0.000 6 0.000 0.043 2955 1716 1189

9786 0.61 407.3 381.0 18.8 856 9790 0.00 2.10 0.00 0.000 4 0.000 0.054 2968 341 1189

9853 0.61 407.3 368.7 17.5 862 9857 0.12 2.05 0.00 0.000 6 0.155 0.041 2938 1720 1188

10182 0.68 407.3 314.3 15.9 893 10186 0.00 2.12 0.00 0.000 4 0.000 0.054 2952 336 1187

10237 0.79 407.3 306.1 14.4 898 10242 0.12 2.00 0.00 0.000 6 0.075 0.040 3016 1698 1187

10579 0.63 407.3 240.8 17.9 955 10584 0.22 0.00 0.00 0.000 6 0.150 0.000 2949 1702 1186

10921 0.81 407.3 200.7 11.1 1016 10929 0.15 2.10 0.00 0.000 4 0.062 0.052 3036 344 1185

11002 0.65 407.3 186.2 20.5 1030 11010 0.30 2.00 0.00 0.000 6 0.143 0.037 2947 1692 1185

11350 1.04 492.3 148.1 7.8 1091 11426 0.30 0.00 70.05 0.839 6 0.044 0.000 3087 1693 854

11765 0.87 492.3 59.3 18.8 1163 11772 0.20 2.08 0.00 0.000 4 0.150 0.046 3028 340 850

11796 0.87 492.3 53.5 17.2 1168 11802 0.00 2.03 0.00 0.000 6 0.000 0.033 3029 1715 849

12139 0.96 492.3 7.4 13.8 1229 12145 0.00 2.10 0.00 0.000 4 0.000 0.047 3034 329 849

12172 end climb: SURFACE_DEPTH_REACHED

state 12173 begin surface coast

12196 end surface coast: CONTROL_FINISHED_OK

state 12196 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	57	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	53	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	-6289.5928	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	030406,2533.674,12259.105,38,1.0,43,-3.7	TGT_NAME	OFF_4
_CALLS	1	TGT_LATLONG	2517.000,12320.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031008,2533.740,12259.157,13,1.1,13,-3.8	MHEAD_RNG_PITCHd_Wd	154.2,46684,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	763

FINISH	0.9,0.998775	_24V_AH	23.9,14.870
SM_CCo	12272,0.00,0.000,0,0,848,494.03	_10V_AH	10.7,8.992
SM_GC	1.73,7.68,0.00,0.00,0.047,0.000,0.000,152,1509,848,-8.04,0.25,494.03	DATA_FILE_SIZE	72552,1239
IRIDIUM_FIX	2524.66,12257.03,240898,232352	CAP_FILE_SIZE	135642,0
TT8_MAMPS	0.026845	CFSIZE	260165632,230559744
HUMID	1487	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	9.85848	CURRENT	0.224,345.0,1
TCM_TEMP	24.20	GPS	310509,063606,2533.288,12259.718,32,1.0,32,-3.7
XPDR_PINGS	90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	236	152.30	SBE_CT	841	24	482.61
Roll_motor	107	58	149.91	Optode	866	33	683.18
VBD_pump_during_apogee	576	1309	18048.95	WL_BB2F	1456	105	3653.84
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	22	103	55.90	nil	0	0	0.00
Iridium_during_connect	31	160	122.26	nil	0	0	0.00
Iridium_during_xfer	209	223	1117.10
Transponder_ping	28	420	283.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.43
TT8	2195	19	465.04
LPSleep	6866	2	160.91
TT8_Active	662	19	140.39
TT8_Sampling	2491	39	1061.04
TT8_CF8	414	45	202.98
TT8_Kalman	0	0	0.00
Analog_circuits	1801	12	231.26
GPS_charging	0	0	0.00
Compass	2467	8	211.19
RAFOS	0	0	0.00
Transponder	40	30	12.87

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	106	0.00	0.00	-89.35	0.000	2	0.000	0.000	167	1504	2488
108	-0.94	-194.7	3.4	-5.9	14	154	8.98	2.03	-32.58	0.000	4	0.236	0.058	2429	193	3658
351	-0.10	-194.7	86.2	-36.0	56	360	0.90	1.92	0.00	0.000	6	0.172	0.032	2701	1487	3658
699	-1.05	-194.7	114.3	-8.8	117	706	0.77	2.08	0.00	0.000	4	0.055	0.035	2396	2917	3660
785	-0.30	-194.7	135.1	-32.2	132	792	0.85	2.08	0.00	0.000	6	0.174	0.032	2640	1486	3660
1131	-0.65	-194.7	167.0	-6.8	193	1138	0.28	2.10	0.00	0.000	4	0.045	0.037	2508	2914	3661
1167	-0.57	-194.7	171.6	-14.4	199	1174	0.15	2.03	0.00	0.000	6	0.152	0.031	2550	1511	3661
1511	-0.51	-194.7	220.3	-13.3	260	1517	0.00	2.05	0.00	0.000	4	0.000	0.040	2547	2909	3661
1557	-0.51	-194.7	226.2	-12.5	268	1563	0.00	2.03	0.00	0.000	6	0.000	0.031	2549	1526	3661
1901	-0.51	-194.7	272.2	-11.9	329	1907	0.00	1.95	0.00	0.000	4	0.000	0.045	2545	204	3661
2019	-0.51	-194.7	286.3	-10.9	350	2027	0.08	1.90	0.00	0.000	6	0.138	0.029	2566	1519	3661
2354	-0.75	-194.7	316.1	-9.3	395	2358	0.20	2.03	0.00	0.000	4	0.054	0.041	2465	2897	3661
2409	-0.68	-194.7	323.1	-13.8	400	2414	0.17	2.03	0.00	0.000	6	0.140	0.034	2522	1501	3661
2733	-0.76	-194.7	356.7	-9.2	430	2737	0.00	1.92	0.00	0.000	4	0.000	0.048	2521	201	3661
2857	-0.82	-194.7	368.5	-9.1	441	2861	0.12	1.88	0.00	0.000	6	0.075	0.030	2455	1514	3661
3186	-0.71	-194.7	407.4	-11.1	472	3190	0.17	2.05	0.00	0.000	4	0.148	0.044	2507	2900	3660
3247	-0.94	-194.7	412.3	-7.2	477	3252	0.22	2.03	0.00	0.000	6	0.051	0.035	2410	1509	3660
3572	-0.67	-194.7	456.9	-14.3	507	3576	0.32	1.95	0.00	0.000	4	0.150	0.049	2518	204	3657
3678	-0.79	-194.7	467.5	-9.2	516	3682	0.00	1.88	0.00	0.000	6	0.000	0.036	2507	1503	3657
4009	-0.94	-194.7	495.9	-8.6	547	4013	0.17	2.08	0.00	0.000	4	0.059	0.047	2414	2899	3654
4064	-0.83	-194.7	502.7	-13.3	550	4073	0.20	2.05	0.00	0.000	6	0.143	0.044	2474	1496	3653
4379	-0.88	-194.7	534.5	-9.7	566	4383	0.00	1.92	0.00	0.000	4	0.000	0.053	2474	208	3650
4405	-0.88	-194.7	537.5	-10.9	567	4410	0.00	1.90	0.00	0.000	6	0.000	0.035	2476	1493	3650
4733	-0.94	-194.7	571.4	-11.2	583	4735	0.12	0.00	0.00	0.000	6	0.073	0.000	2419	1494	3648
5043	-0.77	-194.7	616.5	-15.1	598	5045	0.25	0.00	0.00	0.000	6	0.150	0.000	2493	1495	3644
5352	-0.91	-194.7	644.5	-7.9	613	5356	0.15	2.12	0.00	0.000	4	0.068	0.051	2430	2904	3641
5423	-0.85	-194.7	652.3	-11.4	616	5428	0.08	2.12	0.00	0.000	6	0.153	0.041	2456	1496	3641
5744	-0.85	-194.7	683.9	-10.7	632	5747	0.00	1.95	0.00	0.000	4	0.000	0.055	2459	203	3638
5788	-0.77	-194.7	688.9	-11.6	634	5792	0.00	1.90	0.00	0.000	6	0.000	0.038	2468	1496	3638
6120	-0.77	-194.7	721.8	-9.6	650	6123	0.00	1.98	0.00	0.000	4	0.000	0.056	2468	201	3636
6188	-0.69	-194.7	729.1	-10.8	653	6192	0.15	1.90	0.00	0.000	6	0.160	0.038	2514	1491	3635
6520	-0.84	-194.7	757.8	-8.4	669	6522	0.15	0.00	0.00	0.000	6	0.067	0.000	2447	1493	3633
6579	end dive: TARGET_DEPTH_EXCEEDED
state	6579	begin apogee
6583	-0.20	0.0	764.5	10.1	672	6744	0.73	0.00	157.50	1.309	6	0.141	0.000	2672	1755	2863
6744	end apogee: CONTROL_FINISHED_OK
state	6745	begin climb
6746	0.94	194.7	768.4	0.0	680	6920	1.02	2.40	165.45	1.267	4	0.054	0.056	3044	345	2068
6964	0.40	194.7	742.7	20.1	690	6970	0.60	2.22	0.00	0.000	6	0.174	0.041	2873	1738	2064
7286	0.54	250.7	710.4	8.9	706	7339	0.12	2.30	47.15	1.224	4	0.074	0.057	2937	340	1840
7440	0.46	250.7	690.8	12.2	713	7445	0.17	2.17	0.00	0.000	6	0.154	0.041	2890	1748	1835
7767	0.61	325.8	663.5	8.2	729	7839	0.15	2.38	64.53	1.223	4	0.067	0.055	2963	339	1533
7900	0.50	325.8	645.4	13.9	735	7905	0.22	2.17	0.00	0.000	6	0.149	0.041	2903	1730	1529
8227	0.66	407.3	618.8	7.9	751	8305	0.15	2.30	72.12	1.201	4	0.067	0.051	2966	3151	1200
8333	0.57	407.3	601.7	13.8	755	8338	0.20	2.20	0.00	0.000	6	0.163	0.041	2926	1733	1198
8660	0.57	407.3	560.7	12.4	771	8664	0.00	2.17	0.00	0.000	4	0.000	0.057	2934	343	1192
8715	0.61	407.3	553.3	13.5	773	8719	0.00	2.12	0.00	0.000	6	0.000	0.040	2934	1720	1192
9036	0.61	407.3	507.7	14.5	789	9040	0.00	2.15	0.00	0.000	4	0.000	0.055	2945	340	1191
9062	0.61	407.3	503.6	14.3	790	9067	0.00	2.08	0.00	0.000	6	0.000	0.041	2944	1705	1191
9388	0.61	407.3	451.3	17.1	819	9392	0.00	2.20	0.00	0.000	4	0.000	0.053	2944	3152	1190
9460	0.61	407.3	439.4	16.0	825	9466	0.00	2.20	0.00	0.000	6	0.000	0.043	2955	1716	1189
9786	0.61	407.3	381.0	18.8	856	9790	0.00	2.10	0.00	0.000	4	0.000	0.054	2968	341	1189
9853	0.61	407.3	368.7	17.5	862	9857	0.12	2.05	0.00	0.000	6	0.155	0.041	2938	1720	1188
10182	0.68	407.3	314.3	15.9	893	10186	0.00	2.12	0.00	0.000	4	0.000	0.054	2952	336	1187
10237	0.79	407.3	306.1	14.4	898	10242	0.12	2.00	0.00	0.000	6	0.075	0.040	3016	1698	1187
10579	0.63	407.3	240.8	17.9	955	10584	0.22	0.00	0.00	0.000	6	0.150	0.000	2949	1702	1186
10921	0.81	407.3	200.7	11.1	1016	10929	0.15	2.10	0.00	0.000	4	0.062	0.052	3036	344	1185
11002	0.65	407.3	186.2	20.5	1030	11010	0.30	2.00	0.00	0.000	6	0.143	0.037	2947	1692	1185
11350	1.04	492.3	148.1	7.8	1091	11426	0.30	0.00	70.05	0.839	6	0.044	0.000	3087	1693	854
11765	0.87	492.3	59.3	18.8	1163	11772	0.20	2.08	0.00	0.000	4	0.150	0.046	3028	340	850
11796	0.87	492.3	53.5	17.2	1168	11802	0.00	2.03	0.00	0.000	6	0.000	0.033	3029	1715	849
12139	0.96	492.3	7.4	13.8	1229	12145	0.00	2.10	0.00	0.000	4	0.000	0.047	3034	329	849
12172	end climb: SURFACE_DEPTH_REACHED
state	12173	begin surface coast
12196	end surface coast: CONTROL_FINISHED_OK
state	12196	begin surface