Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 93 * 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 93 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 50 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 58 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 -7009.4985 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 -7009.4985

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 50 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 58 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 93 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 172604,2536.421,12323.665,13,4.6,32,-3.8 TGT_NAME OFF_5

_CALLS 1 TGT_LATLONG 2514.000,12340.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 173246,2536.492,12323.740,12,99.0,31,-3.8 MHEAD_RNG_PITCHd_Wd 195.6,49771,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 756

Post-dive calculations and measurements:

FINISH 0.9,1.010996 ALTIM_BOTTOM_PING 727.7,84.3

SM_CCo 12227,0.00,0.000,0,0,1125,426.33 _24V_AH 23.9,22.273

SM_GC 1.77,7.93,0.00,0.00,0.051,0.000,0.000,150,1489,1125,-8.02,-0.31,426.33 _10V_AH 10.7,13.632

IRIDIUM_FIX 2527.05,12318.87,300898,141431 DATA_FILE_SIZE 72680,1265

TT8_MAMPS 0.026078 CAP_FILE_SIZE 137511,0

HUMID 1508 CFSIZE 260165632,227713024

INTERNAL_PRESSURE 9.91707 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 24.70 CURRENT 0.284, 73.8,1

XPDR_PINGS 110 GPS 050609,205806,2535.009,12325.236,35,1.4,40,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 231 147.81 SBE_CT 857 24 492.05

Roll_motor 104 59 149.88 Optode 885 33 698.33

VBD_pump_during_apogee 521 1300 16220.37 WL_BB2F 1490 105 3739.45

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 33 103 81.41 nil 0 0 0.00

Iridium_during_connect 46 160 177.82 nil 0 0 0.00

Iridium_during_xfer 198 223 1058.41

Transponder_ping 33 420 333.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.24

TT8 2223 19 471.15

LPSleep 6851 2 160.55

TT8_Active 613 19 130.01

TT8_Sampling 2490 39 1060.40

TT8_CF8 442 45 217.07

TT8_Kalman 0 0 0.00

Analog_circuits 1737 12 223.09

GPS_charging 0 0 0.00

Compass 2447 8 209.54

RAFOS 0 0 0.00

Transponder 41 30 13.36

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 90 0.00 0.00 -73.80 0.000 2 0.000 0.000 168 1481 2489

93 -0.94 -194.7 3.3 -6.2 12 139 8.88 1.98 -30.98 0.000 4 0.232 0.056 2428 196 3657

381 -0.13 -194.7 99.9 -32.4 62 390 0.85 1.90 0.00 0.000 6 0.162 0.030 2689 1491 3658

729 -0.61 -194.7 128.3 -7.2 123 736 0.38 2.05 0.00 0.000 4 0.048 0.035 2529 2906 3660

799 -0.51 -194.7 138.2 -17.0 135 806 0.15 2.03 0.00 0.000 6 0.139 0.030 2570 1497 3660

1144 -0.51 -194.7 181.6 -11.0 196 1151 0.00 1.92 0.00 0.000 4 0.000 0.044 2570 210 3661

1230 -0.51 -194.7 191.6 -12.4 211 1236 0.00 1.88 0.00 0.000 6 0.000 0.028 2571 1511 3661

1574 -0.62 -194.7 226.6 -10.6 272 1579 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 1512 3661

1916 -0.79 -194.7 262.8 -10.5 333 1922 0.22 2.03 0.00 0.000 4 0.053 0.040 2462 2895 3661

1945 -0.70 -194.7 266.7 -14.4 338 1953 0.17 2.05 0.00 0.000 6 0.140 0.033 2514 1478 3660

2290 -0.64 -194.7 313.0 -12.3 390 2293 0.00 2.10 0.00 0.000 4 0.000 0.042 2502 2899 3661

2316 -0.64 -194.7 315.9 -10.5 392 2323 0.00 2.05 0.00 0.000 6 0.000 0.033 2514 1507 3661

2642 -0.64 -194.7 349.3 -10.4 423 2646 0.00 2.05 0.00 0.000 4 0.000 0.044 2492 2889 3661

2709 -0.72 -194.7 355.7 -9.3 429 2713 0.00 1.98 0.00 0.000 6 0.000 0.035 2509 1529 3661

3039 -0.72 -194.7 390.0 -10.0 460 3042 0.00 2.03 0.00 0.000 4 0.000 0.044 2490 2893 3660

3084 -0.86 -194.7 394.4 -9.6 464 3087 0.00 2.00 0.00 0.000 6 0.000 0.035 2494 1518 3659

3415 -0.93 -194.7 427.5 -10.3 495 3419 0.15 2.05 0.00 0.000 4 0.062 0.044 2413 2893 3657

3470 -0.77 -194.7 435.0 -13.6 500 3475 0.25 1.98 0.00 0.000 6 0.134 0.037 2490 1538 3657

3795 -0.86 -194.7 468.4 -9.1 530 3798 0.00 2.00 0.00 0.000 4 0.000 0.054 2490 203 3655

3833 -0.92 -194.7 472.2 -10.2 533 3840 0.08 1.95 0.00 0.000 6 0.060 0.032 2426 1537 3654

4165 -0.78 -194.7 515.5 -13.7 560 4167 0.20 0.00 0.00 0.000 6 0.143 0.000 2485 1538 3652

4475 -0.87 -194.7 548.4 -10.6 575 4479 0.00 2.03 0.00 0.000 4 0.000 0.060 2485 204 3649

4548 -0.93 -194.7 556.5 -11.0 578 4552 0.12 1.95 0.00 0.000 6 0.073 0.042 2426 1537 3648

4873 -0.82 -194.7 597.7 -12.4 594 4877 0.17 2.05 0.00 0.000 4 0.143 0.049 2479 2902 3645

4912 -0.98 -194.7 601.4 -8.3 595 4918 0.15 2.03 0.00 0.000 6 0.061 0.039 2407 1530 3644

5228 -0.81 -194.7 644.2 -14.2 611 5232 0.20 2.00 0.00 0.000 4 0.149 0.053 2472 201 3642

5281 -0.81 -194.7 651.0 -11.4 613 5286 0.00 1.98 0.00 0.000 6 0.000 0.037 2472 1527 3642

5604 -0.88 -194.7 683.6 -10.0 629 5605 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1527 3639

5913 -0.97 -194.7 714.4 -10.0 644 5915 0.12 0.00 0.00 0.000 6 0.071 0.000 2413 1528 3637

6221 end dive: TARGET_DEPTH_EXCEEDED

state 6221 begin apogee

6225 -0.20 0.0 756.4 13.9 659 6387 0.80 0.00 157.68 1.301 6 0.132 0.000 2670 1761 2863

6387 end apogee: CONTROL_FINISHED_OK

state 6387 begin climb

6389 0.94 194.7 765.8 0.0 667 6563 1.00 2.30 164.23 1.270 4 0.046 0.054 3050 3150 2069

6641 0.38 194.7 736.8 21.1 678 6646 0.65 2.20 0.00 0.000 6 0.171 0.041 2865 1750 2064

6963 0.51 233.4 705.8 9.5 694 7004 0.12 2.28 32.62 1.201 4 0.071 0.056 2934 341 1911

7031 0.38 233.4 697.0 14.5 697 7036 0.20 2.20 0.00 0.000 6 0.140 0.039 2862 1742 1908

7358 0.60 301.0 667.3 8.4 713 7423 0.17 2.35 58.62 1.216 4 0.060 0.056 2956 343 1634

7450 0.45 301.0 653.9 16.7 717 7455 0.25 2.20 0.00 0.000 6 0.144 0.039 2887 1753 1632

7777 0.57 301.0 615.4 12.1 733 7782 0.10 2.20 0.00 0.000 4 0.077 0.054 2944 343 1627

7822 0.47 301.0 608.5 16.5 735 7827 0.20 2.10 0.00 0.000 6 0.145 0.041 2888 1732 1626

8148 0.58 301.0 568.6 12.0 751 8152 0.12 2.17 0.00 0.000 4 0.069 0.052 2945 3155 1625

8173 0.58 301.0 564.6 15.6 752 8178 0.00 2.17 0.00 0.000 6 0.000 0.041 2955 1730 1624

8495 0.46 301.0 514.3 15.0 768 8500 0.20 2.12 0.00 0.000 4 0.155 0.054 2901 345 1624

8572 0.56 312.5 505.3 10.6 771 8588 0.00 2.08 9.48 1.049 6 0.000 0.041 2901 1717 1588

8906 0.65 312.5 467.9 12.2 800 8911 0.12 2.17 0.00 0.000 4 0.069 0.052 2961 3148 1586

8940 0.53 312.5 463.0 15.4 803 8945 0.22 2.15 0.00 0.000 6 0.155 0.041 2909 1720 1584

9265 0.61 312.5 419.7 12.6 833 9269 0.00 2.17 0.00 0.000 4 0.000 0.051 2909 3149 1584

9337 0.70 312.5 410.7 12.3 839 9344 0.08 2.15 0.00 0.000 6 0.035 0.041 2985 1730 1583

9661 0.49 312.5 353.7 18.5 870 9663 0.30 0.00 0.00 0.000 6 0.146 0.000 2897 1730 1583

9981 0.67 321.2 320.2 10.7 900 9996 0.17 2.17 8.20 0.910 4 0.058 0.053 2999 345 1553

10023 0.46 321.2 313.2 17.6 903 10030 0.32 2.12 0.00 0.000 6 0.143 0.038 2883 1754 1552

10359 0.82 397.9 281.9 8.1 952 10432 0.30 0.00 65.93 0.964 6 0.046 0.000 3030 1756 1240

10769 0.60 397.9 198.1 21.3 1024 10777 0.30 2.17 0.00 0.000 4 0.144 0.047 2945 341 1232

10863 0.78 397.9 185.2 11.7 1040 10871 0.12 2.10 0.00 0.000 6 0.068 0.036 3015 1759 1232

11209 0.71 397.9 129.5 15.3 1101 11216 0.17 2.17 0.00 0.000 4 0.140 0.047 2969 333 1231

11289 0.89 397.9 119.8 11.2 1115 11296 0.15 2.05 0.00 0.000 6 0.059 0.035 3050 1738 1231

11636 0.84 397.9 70.7 11.7 1176 11644 0.15 2.10 0.00 0.000 4 0.140 0.045 3016 340 1231

11701 0.97 410.8 63.8 10.5 1187 11722 0.10 2.03 11.02 0.698 6 0.077 0.032 3073 1744 1189

12062 0.88 410.8 9.7 15.6 1250 12068 0.17 2.08 0.00 0.000 4 0.138 0.041 3014 3147 1188

12104 1.09 424.7 4.7 10.5 1257 12123 0.15 2.15 13.95 0.650 6 0.039 0.035 3116 1706 1130

12128 end climb: SURFACE_DEPTH_REACHED

state 12128 begin surface coast

12151 end surface coast: CONTROL_FINISHED_OK

state 12152 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	93	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	50	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	58	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	-7009.4985	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	172604,2536.421,12323.665,13,4.6,32,-3.8	TGT_NAME	OFF_5
_CALLS	1	TGT_LATLONG	2514.000,12340.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	173246,2536.492,12323.740,12,99.0,31,-3.8	MHEAD_RNG_PITCHd_Wd	195.6,49771,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	756

FINISH	0.9,1.010996	ALTIM_BOTTOM_PING	727.7,84.3
SM_CCo	12227,0.00,0.000,0,0,1125,426.33	_24V_AH	23.9,22.273
SM_GC	1.77,7.93,0.00,0.00,0.051,0.000,0.000,150,1489,1125,-8.02,-0.31,426.33	_10V_AH	10.7,13.632
IRIDIUM_FIX	2527.05,12318.87,300898,141431	DATA_FILE_SIZE	72680,1265
TT8_MAMPS	0.026078	CAP_FILE_SIZE	137511,0
HUMID	1508	CFSIZE	260165632,227713024
INTERNAL_PRESSURE	9.91707	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	24.70	CURRENT	0.284, 73.8,1
XPDR_PINGS	110	GPS	050609,205806,2535.009,12325.236,35,1.4,40,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	231	147.81	SBE_CT	857	24	492.05
Roll_motor	104	59	149.88	Optode	885	33	698.33
VBD_pump_during_apogee	521	1300	16220.37	WL_BB2F	1490	105	3739.45
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	33	103	81.41	nil	0	0	0.00
Iridium_during_connect	46	160	177.82	nil	0	0	0.00
Iridium_during_xfer	198	223	1058.41
Transponder_ping	33	420	333.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.24
TT8	2223	19	471.15
LPSleep	6851	2	160.55
TT8_Active	613	19	130.01
TT8_Sampling	2490	39	1060.40
TT8_CF8	442	45	217.07
TT8_Kalman	0	0	0.00
Analog_circuits	1737	12	223.09
GPS_charging	0	0	0.00
Compass	2447	8	209.54
RAFOS	0	0	0.00
Transponder	41	30	13.36

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	90	0.00	0.00	-73.80	0.000	2	0.000	0.000	168	1481	2489
93	-0.94	-194.7	3.3	-6.2	12	139	8.88	1.98	-30.98	0.000	4	0.232	0.056	2428	196	3657
381	-0.13	-194.7	99.9	-32.4	62	390	0.85	1.90	0.00	0.000	6	0.162	0.030	2689	1491	3658
729	-0.61	-194.7	128.3	-7.2	123	736	0.38	2.05	0.00	0.000	4	0.048	0.035	2529	2906	3660
799	-0.51	-194.7	138.2	-17.0	135	806	0.15	2.03	0.00	0.000	6	0.139	0.030	2570	1497	3660
1144	-0.51	-194.7	181.6	-11.0	196	1151	0.00	1.92	0.00	0.000	4	0.000	0.044	2570	210	3661
1230	-0.51	-194.7	191.6	-12.4	211	1236	0.00	1.88	0.00	0.000	6	0.000	0.028	2571	1511	3661
1574	-0.62	-194.7	226.6	-10.6	272	1579	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	1512	3661
1916	-0.79	-194.7	262.8	-10.5	333	1922	0.22	2.03	0.00	0.000	4	0.053	0.040	2462	2895	3661
1945	-0.70	-194.7	266.7	-14.4	338	1953	0.17	2.05	0.00	0.000	6	0.140	0.033	2514	1478	3660
2290	-0.64	-194.7	313.0	-12.3	390	2293	0.00	2.10	0.00	0.000	4	0.000	0.042	2502	2899	3661
2316	-0.64	-194.7	315.9	-10.5	392	2323	0.00	2.05	0.00	0.000	6	0.000	0.033	2514	1507	3661
2642	-0.64	-194.7	349.3	-10.4	423	2646	0.00	2.05	0.00	0.000	4	0.000	0.044	2492	2889	3661
2709	-0.72	-194.7	355.7	-9.3	429	2713	0.00	1.98	0.00	0.000	6	0.000	0.035	2509	1529	3661
3039	-0.72	-194.7	390.0	-10.0	460	3042	0.00	2.03	0.00	0.000	4	0.000	0.044	2490	2893	3660
3084	-0.86	-194.7	394.4	-9.6	464	3087	0.00	2.00	0.00	0.000	6	0.000	0.035	2494	1518	3659
3415	-0.93	-194.7	427.5	-10.3	495	3419	0.15	2.05	0.00	0.000	4	0.062	0.044	2413	2893	3657
3470	-0.77	-194.7	435.0	-13.6	500	3475	0.25	1.98	0.00	0.000	6	0.134	0.037	2490	1538	3657
3795	-0.86	-194.7	468.4	-9.1	530	3798	0.00	2.00	0.00	0.000	4	0.000	0.054	2490	203	3655
3833	-0.92	-194.7	472.2	-10.2	533	3840	0.08	1.95	0.00	0.000	6	0.060	0.032	2426	1537	3654
4165	-0.78	-194.7	515.5	-13.7	560	4167	0.20	0.00	0.00	0.000	6	0.143	0.000	2485	1538	3652
4475	-0.87	-194.7	548.4	-10.6	575	4479	0.00	2.03	0.00	0.000	4	0.000	0.060	2485	204	3649
4548	-0.93	-194.7	556.5	-11.0	578	4552	0.12	1.95	0.00	0.000	6	0.073	0.042	2426	1537	3648
4873	-0.82	-194.7	597.7	-12.4	594	4877	0.17	2.05	0.00	0.000	4	0.143	0.049	2479	2902	3645
4912	-0.98	-194.7	601.4	-8.3	595	4918	0.15	2.03	0.00	0.000	6	0.061	0.039	2407	1530	3644
5228	-0.81	-194.7	644.2	-14.2	611	5232	0.20	2.00	0.00	0.000	4	0.149	0.053	2472	201	3642
5281	-0.81	-194.7	651.0	-11.4	613	5286	0.00	1.98	0.00	0.000	6	0.000	0.037	2472	1527	3642
5604	-0.88	-194.7	683.6	-10.0	629	5605	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1527	3639
5913	-0.97	-194.7	714.4	-10.0	644	5915	0.12	0.00	0.00	0.000	6	0.071	0.000	2413	1528	3637
6221	end dive: TARGET_DEPTH_EXCEEDED
state	6221	begin apogee
6225	-0.20	0.0	756.4	13.9	659	6387	0.80	0.00	157.68	1.301	6	0.132	0.000	2670	1761	2863
6387	end apogee: CONTROL_FINISHED_OK
state	6387	begin climb
6389	0.94	194.7	765.8	0.0	667	6563	1.00	2.30	164.23	1.270	4	0.046	0.054	3050	3150	2069
6641	0.38	194.7	736.8	21.1	678	6646	0.65	2.20	0.00	0.000	6	0.171	0.041	2865	1750	2064
6963	0.51	233.4	705.8	9.5	694	7004	0.12	2.28	32.62	1.201	4	0.071	0.056	2934	341	1911
7031	0.38	233.4	697.0	14.5	697	7036	0.20	2.20	0.00	0.000	6	0.140	0.039	2862	1742	1908
7358	0.60	301.0	667.3	8.4	713	7423	0.17	2.35	58.62	1.216	4	0.060	0.056	2956	343	1634
7450	0.45	301.0	653.9	16.7	717	7455	0.25	2.20	0.00	0.000	6	0.144	0.039	2887	1753	1632
7777	0.57	301.0	615.4	12.1	733	7782	0.10	2.20	0.00	0.000	4	0.077	0.054	2944	343	1627
7822	0.47	301.0	608.5	16.5	735	7827	0.20	2.10	0.00	0.000	6	0.145	0.041	2888	1732	1626
8148	0.58	301.0	568.6	12.0	751	8152	0.12	2.17	0.00	0.000	4	0.069	0.052	2945	3155	1625
8173	0.58	301.0	564.6	15.6	752	8178	0.00	2.17	0.00	0.000	6	0.000	0.041	2955	1730	1624
8495	0.46	301.0	514.3	15.0	768	8500	0.20	2.12	0.00	0.000	4	0.155	0.054	2901	345	1624
8572	0.56	312.5	505.3	10.6	771	8588	0.00	2.08	9.48	1.049	6	0.000	0.041	2901	1717	1588
8906	0.65	312.5	467.9	12.2	800	8911	0.12	2.17	0.00	0.000	4	0.069	0.052	2961	3148	1586
8940	0.53	312.5	463.0	15.4	803	8945	0.22	2.15	0.00	0.000	6	0.155	0.041	2909	1720	1584
9265	0.61	312.5	419.7	12.6	833	9269	0.00	2.17	0.00	0.000	4	0.000	0.051	2909	3149	1584
9337	0.70	312.5	410.7	12.3	839	9344	0.08	2.15	0.00	0.000	6	0.035	0.041	2985	1730	1583
9661	0.49	312.5	353.7	18.5	870	9663	0.30	0.00	0.00	0.000	6	0.146	0.000	2897	1730	1583
9981	0.67	321.2	320.2	10.7	900	9996	0.17	2.17	8.20	0.910	4	0.058	0.053	2999	345	1553
10023	0.46	321.2	313.2	17.6	903	10030	0.32	2.12	0.00	0.000	6	0.143	0.038	2883	1754	1552
10359	0.82	397.9	281.9	8.1	952	10432	0.30	0.00	65.93	0.964	6	0.046	0.000	3030	1756	1240
10769	0.60	397.9	198.1	21.3	1024	10777	0.30	2.17	0.00	0.000	4	0.144	0.047	2945	341	1232
10863	0.78	397.9	185.2	11.7	1040	10871	0.12	2.10	0.00	0.000	6	0.068	0.036	3015	1759	1232
11209	0.71	397.9	129.5	15.3	1101	11216	0.17	2.17	0.00	0.000	4	0.140	0.047	2969	333	1231
11289	0.89	397.9	119.8	11.2	1115	11296	0.15	2.05	0.00	0.000	6	0.059	0.035	3050	1738	1231
11636	0.84	397.9	70.7	11.7	1176	11644	0.15	2.10	0.00	0.000	4	0.140	0.045	3016	340	1231
11701	0.97	410.8	63.8	10.5	1187	11722	0.10	2.03	11.02	0.698	6	0.077	0.032	3073	1744	1189
12062	0.88	410.8	9.7	15.6	1250	12068	0.17	2.08	0.00	0.000	4	0.138	0.041	3014	3147	1188
12104	1.09	424.7	4.7	10.5	1257	12123	0.15	2.15	13.95	0.650	6	0.039	0.035	3116	1706	1130
12128	end climb: SURFACE_DEPTH_REACHED
state	12128	begin surface coast
12151	end surface coast: CONTROL_FINISHED_OK
state	12152	begin surface