Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 630 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 630 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 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 2383 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2365 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 475 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 89 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 INT_PRESSURE_YINT 0

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 250 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 300 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 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 10 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -21759.42 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 5 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 125 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2580 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 18.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

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 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 475

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 18.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 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 134 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 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 250

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

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 -21759.42

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 300

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 5

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 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2580 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 89 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 45 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 630 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 143125,2530.579,12308.108,42,1.1,42,-3.8 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.73 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -64.5 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 143850,2530.740,12308.219,12,1.4,12,-3.8 MHEAD_RNG_PITCHd_Wd 258.2,34914,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 835

Post-dive calculations and measurements:

FINISH 1.8,1.008158 ALTIM_BOTTOM_PING 700.7,31.1

SM_CCo 9907,48.85,0.626,0,0,1594,475.15 _24V_AH 21.9,108.358

SM_GC 3.17,0.00,0.00,48.85,0.000,0.000,0.626,139,2461,1594,-7.63,2.21,475.15 _10V_AH 10.6,56.559

IRIDIUM_FIX 2519.89,12407.89,281198,111114 DATA_FILE_SIZE 56913,1076

TT8_MAMPS 0.029146 CAP_FILE_SIZE 113827,0

HUMID 1820 CFSIZE 260165632,176783360

INTERNAL_PRESSURE 9.41442 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.00 CURRENT 0.182, 56.3,1

XPDR_PINGS 2 GPS 030909,172630,2531.190,12307.864,36,1.2,41,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 233 132.56 SBE_CT 726 24 381.88

Roll_motor 78 54 93.32 Optode 777 33 561.82

VBD_pump_during_apogee 423 1183 10984.15 WL_BB2F 0 105 0.00

VBD_pump_during_surface 48 625 669.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.54 nil 0 0 0.00

Iridium_during_connect 36 160 127.91 nil 0 0 0.00

Iridium_during_xfer 203 223 994.69

Transponder_ping 6 420 55.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.74

TT8 1891 19 397.06

LPSleep 5352 2 124.26

TT8_Active 557 19 117.11

TT8_Sampling 1926 39 812.62

TT8_CF8 665 45 323.16

TT8_Kalman 0 81 0.00

Analog_circuits 1527 12 194.35

GPS_charging 0 0 0.00

Compass 1883 8 159.70

RAFOS 0 0 0.00

Transponder 41 30 13.28

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -22.75 0.000 2 0.000 0.000 140 2454 2171

46 -1.50 -121.7 3.3 -3.3 4 118 8.18 2.08 -57.95 0.000 4 0.234 0.054 2087 3756 3990

373 -0.96 -121.7 116.2 -24.6 61 380 0.62 1.98 0.00 0.000 6 0.164 0.021 2262 2350 3993

721 -1.15 -121.7 160.4 -11.7 122 728 0.15 2.20 0.00 0.000 4 0.070 0.044 2192 3763 3997

771 -1.05 -121.7 168.5 -18.0 130 779 0.17 1.92 0.00 0.000 6 0.153 0.021 2239 2386 3996

1119 -1.18 -121.7 221.5 -16.5 191 1126 0.12 2.12 0.00 0.000 4 0.074 0.044 2179 3750 3997

1309 -1.03 -121.7 258.6 -18.7 224 1315 0.25 1.88 0.00 0.000 6 0.156 0.023 2248 2424 3997

1655 -1.28 -121.7 303.9 -11.9 282 1660 0.20 2.08 0.00 0.000 4 0.062 0.044 2154 3750 3997

1811 -1.08 -121.7 334.3 -21.5 295 1815 0.28 1.88 0.00 0.000 6 0.158 0.022 2229 2427 3997

2144 -1.28 -121.7 374.4 -10.5 326 2149 0.17 2.08 0.00 0.000 4 0.066 0.044 2152 3750 3996

2168 -1.28 -121.7 377.5 -12.5 328 2172 0.00 1.88 0.00 0.000 6 0.000 0.022 2152 2422 3996

2502 -1.21 -121.7 433.5 -17.4 359 2506 0.15 2.10 0.00 0.000 4 0.167 0.047 2190 3750 3995

2688 -1.27 -121.7 463.4 -14.8 375 2692 0.00 1.85 0.00 0.000 6 0.000 0.025 2190 2456 3995

3023 -1.40 -121.7 508.6 -13.3 403 3027 0.17 2.05 0.00 0.000 4 0.070 0.048 2111 3752 3993

3182 -1.13 -121.7 542.4 -21.4 410 3186 0.32 1.85 0.00 0.000 6 0.166 0.027 2213 2504 3992

3514 -1.38 -121.7 584.5 -12.6 426 3518 0.20 1.98 0.00 0.000 4 0.067 0.047 2126 3753 3990

3584 -1.22 -121.7 597.3 -19.2 429 3589 0.22 1.80 0.00 0.000 6 0.160 0.023 2186 2496 3989

3922 -1.37 -121.7 646.9 -14.1 445 3927 0.15 2.00 0.00 0.000 4 0.071 0.048 2125 3759 3987

3992 -1.22 -121.7 660.5 -20.7 448 3996 0.22 1.80 0.00 0.000 6 0.170 0.024 2183 2512 3986

4326 end dive: BOTTOM_OBSTACLE_DETECTED

state 4326 begin apogee

4335 -0.27 0.0 709.2 13.9 464 4431 1.00 0.00 92.15 1.183 6 0.146 0.000 2485 2389 3532

4431 end apogee: CONTROL_FINISHED_OK

state 4431 begin climb

4435 1.50 121.7 714.0 0.0 469 4544 1.58 2.25 100.20 1.147 4 0.049 0.044 3065 3757 3034

4764 0.55 121.7 692.0 15.0 483 4771 1.25 2.05 0.00 0.000 6 0.222 0.022 2765 2351 3030

5082 0.66 212.1 668.8 6.6 499 5156 0.00 0.00 72.47 1.137 6 0.000 0.000 2765 2351 2667

5455 0.84 232.0 625.7 11.8 517 5478 0.20 2.33 16.58 1.060 4 0.074 0.050 2848 3750 2586

5699 0.64 232.0 580.5 18.4 527 5705 0.28 2.03 0.00 0.000 6 0.186 0.024 2787 2363 2582

6016 0.77 246.6 539.5 12.1 543 6038 0.12 2.28 12.15 1.011 4 0.082 0.048 2835 3746 2526

6163 0.62 246.6 515.4 18.4 549 6167 0.25 1.98 0.00 0.000 6 0.183 0.024 2780 2390 2524

6494 0.78 254.1 470.6 12.7 575 6507 0.15 2.22 6.97 0.892 4 0.077 0.048 2838 3745 2496

6538 0.65 254.1 462.8 19.4 578 6546 0.22 1.98 0.00 0.000 6 0.186 0.023 2788 2401 2496

6864 0.80 260.7 418.3 12.7 609 6877 0.15 2.20 6.93 0.869 4 0.078 0.029 2854 970 2468

6963 0.86 260.7 402.9 15.8 617 6970 0.00 2.15 0.00 0.000 6 0.000 0.034 2854 2371 2467

7292 0.86 260.7 350.4 15.2 648 7296 0.00 2.17 0.00 0.000 4 0.000 0.050 2855 3757 2466

7535 0.73 260.7 306.3 18.0 669 7541 0.17 2.03 0.00 0.000 6 0.185 0.025 2820 2363 2465

7879 0.84 260.7 257.0 13.7 726 7885 0.00 2.22 0.00 0.000 4 0.000 0.048 2820 3767 2463

8040 0.84 260.7 232.8 15.5 754 8047 0.00 2.00 0.00 0.000 6 0.000 0.025 2828 2392 2464

8389 0.96 261.4 186.3 13.1 815 8396 0.17 2.17 0.00 0.000 4 0.075 0.047 2904 3763 2463

8629 0.72 261.4 142.6 17.9 857 8636 0.38 1.95 0.00 0.000 6 0.179 0.024 2812 2412 2463

8977 0.98 294.4 104.6 10.8 918 9014 0.20 2.20 27.83 0.745 4 0.069 0.046 2899 3761 2329

9074 0.88 294.4 90.5 16.5 934 9082 0.17 1.92 0.00 0.000 6 0.171 0.022 2863 2428 2328

9422 1.23 408.6 64.0 4.9 995 9516 0.28 2.28 88.53 0.693 4 0.064 0.030 2981 980 1865

9773 1.32 408.6 18.2 13.3 1056 9779 0.00 2.25 0.00 0.000 6 0.000 0.030 2980 2459 1857

9867 end climb: SURFACE_DEPTH_REACHED

state 9867 begin surface coast

9885 end surface coast: CONTROL_FINISHED_OK

state 9885 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	630	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	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	2383	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2365	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	475	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	89	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	INT_PRESSURE_YINT	0
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	250	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	300	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	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	10	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-21759.42	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	5	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	125	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2580	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	18.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	143125,2530.579,12308.108,42,1.1,42,-3.8	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.73	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-64.5	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	143850,2530.740,12308.219,12,1.4,12,-3.8	MHEAD_RNG_PITCHd_Wd	258.2,34914,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	835

FINISH	1.8,1.008158	ALTIM_BOTTOM_PING	700.7,31.1
SM_CCo	9907,48.85,0.626,0,0,1594,475.15	_24V_AH	21.9,108.358
SM_GC	3.17,0.00,0.00,48.85,0.000,0.000,0.626,139,2461,1594,-7.63,2.21,475.15	_10V_AH	10.6,56.559
IRIDIUM_FIX	2519.89,12407.89,281198,111114	DATA_FILE_SIZE	56913,1076
TT8_MAMPS	0.029146	CAP_FILE_SIZE	113827,0
HUMID	1820	CFSIZE	260165632,176783360
INTERNAL_PRESSURE	9.41442	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.00	CURRENT	0.182, 56.3,1
XPDR_PINGS	2	GPS	030909,172630,2531.190,12307.864,36,1.2,41,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	233	132.56	SBE_CT	726	24	381.88
Roll_motor	78	54	93.32	Optode	777	33	561.82
VBD_pump_during_apogee	423	1183	10984.15	WL_BB2F	0	105	0.00
VBD_pump_during_surface	48	625	669.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.54	nil	0	0	0.00
Iridium_during_connect	36	160	127.91	nil	0	0	0.00
Iridium_during_xfer	203	223	994.69
Transponder_ping	6	420	55.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.74
TT8	1891	19	397.06
LPSleep	5352	2	124.26
TT8_Active	557	19	117.11
TT8_Sampling	1926	39	812.62
TT8_CF8	665	45	323.16
TT8_Kalman	0	81	0.00
Analog_circuits	1527	12	194.35
GPS_charging	0	0	0.00
Compass	1883	8	159.70
RAFOS	0	0	0.00
Transponder	41	30	13.28

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-22.75	0.000	2	0.000	0.000	140	2454	2171
46	-1.50	-121.7	3.3	-3.3	4	118	8.18	2.08	-57.95	0.000	4	0.234	0.054	2087	3756	3990
373	-0.96	-121.7	116.2	-24.6	61	380	0.62	1.98	0.00	0.000	6	0.164	0.021	2262	2350	3993
721	-1.15	-121.7	160.4	-11.7	122	728	0.15	2.20	0.00	0.000	4	0.070	0.044	2192	3763	3997
771	-1.05	-121.7	168.5	-18.0	130	779	0.17	1.92	0.00	0.000	6	0.153	0.021	2239	2386	3996
1119	-1.18	-121.7	221.5	-16.5	191	1126	0.12	2.12	0.00	0.000	4	0.074	0.044	2179	3750	3997
1309	-1.03	-121.7	258.6	-18.7	224	1315	0.25	1.88	0.00	0.000	6	0.156	0.023	2248	2424	3997
1655	-1.28	-121.7	303.9	-11.9	282	1660	0.20	2.08	0.00	0.000	4	0.062	0.044	2154	3750	3997
1811	-1.08	-121.7	334.3	-21.5	295	1815	0.28	1.88	0.00	0.000	6	0.158	0.022	2229	2427	3997
2144	-1.28	-121.7	374.4	-10.5	326	2149	0.17	2.08	0.00	0.000	4	0.066	0.044	2152	3750	3996
2168	-1.28	-121.7	377.5	-12.5	328	2172	0.00	1.88	0.00	0.000	6	0.000	0.022	2152	2422	3996
2502	-1.21	-121.7	433.5	-17.4	359	2506	0.15	2.10	0.00	0.000	4	0.167	0.047	2190	3750	3995
2688	-1.27	-121.7	463.4	-14.8	375	2692	0.00	1.85	0.00	0.000	6	0.000	0.025	2190	2456	3995
3023	-1.40	-121.7	508.6	-13.3	403	3027	0.17	2.05	0.00	0.000	4	0.070	0.048	2111	3752	3993
3182	-1.13	-121.7	542.4	-21.4	410	3186	0.32	1.85	0.00	0.000	6	0.166	0.027	2213	2504	3992
3514	-1.38	-121.7	584.5	-12.6	426	3518	0.20	1.98	0.00	0.000	4	0.067	0.047	2126	3753	3990
3584	-1.22	-121.7	597.3	-19.2	429	3589	0.22	1.80	0.00	0.000	6	0.160	0.023	2186	2496	3989
3922	-1.37	-121.7	646.9	-14.1	445	3927	0.15	2.00	0.00	0.000	4	0.071	0.048	2125	3759	3987
3992	-1.22	-121.7	660.5	-20.7	448	3996	0.22	1.80	0.00	0.000	6	0.170	0.024	2183	2512	3986
4326	end dive: BOTTOM_OBSTACLE_DETECTED
state	4326	begin apogee
4335	-0.27	0.0	709.2	13.9	464	4431	1.00	0.00	92.15	1.183	6	0.146	0.000	2485	2389	3532
4431	end apogee: CONTROL_FINISHED_OK
state	4431	begin climb
4435	1.50	121.7	714.0	0.0	469	4544	1.58	2.25	100.20	1.147	4	0.049	0.044	3065	3757	3034
4764	0.55	121.7	692.0	15.0	483	4771	1.25	2.05	0.00	0.000	6	0.222	0.022	2765	2351	3030
5082	0.66	212.1	668.8	6.6	499	5156	0.00	0.00	72.47	1.137	6	0.000	0.000	2765	2351	2667
5455	0.84	232.0	625.7	11.8	517	5478	0.20	2.33	16.58	1.060	4	0.074	0.050	2848	3750	2586
5699	0.64	232.0	580.5	18.4	527	5705	0.28	2.03	0.00	0.000	6	0.186	0.024	2787	2363	2582
6016	0.77	246.6	539.5	12.1	543	6038	0.12	2.28	12.15	1.011	4	0.082	0.048	2835	3746	2526
6163	0.62	246.6	515.4	18.4	549	6167	0.25	1.98	0.00	0.000	6	0.183	0.024	2780	2390	2524
6494	0.78	254.1	470.6	12.7	575	6507	0.15	2.22	6.97	0.892	4	0.077	0.048	2838	3745	2496
6538	0.65	254.1	462.8	19.4	578	6546	0.22	1.98	0.00	0.000	6	0.186	0.023	2788	2401	2496
6864	0.80	260.7	418.3	12.7	609	6877	0.15	2.20	6.93	0.869	4	0.078	0.029	2854	970	2468
6963	0.86	260.7	402.9	15.8	617	6970	0.00	2.15	0.00	0.000	6	0.000	0.034	2854	2371	2467
7292	0.86	260.7	350.4	15.2	648	7296	0.00	2.17	0.00	0.000	4	0.000	0.050	2855	3757	2466
7535	0.73	260.7	306.3	18.0	669	7541	0.17	2.03	0.00	0.000	6	0.185	0.025	2820	2363	2465
7879	0.84	260.7	257.0	13.7	726	7885	0.00	2.22	0.00	0.000	4	0.000	0.048	2820	3767	2463
8040	0.84	260.7	232.8	15.5	754	8047	0.00	2.00	0.00	0.000	6	0.000	0.025	2828	2392	2464
8389	0.96	261.4	186.3	13.1	815	8396	0.17	2.17	0.00	0.000	4	0.075	0.047	2904	3763	2463
8629	0.72	261.4	142.6	17.9	857	8636	0.38	1.95	0.00	0.000	6	0.179	0.024	2812	2412	2463
8977	0.98	294.4	104.6	10.8	918	9014	0.20	2.20	27.83	0.745	4	0.069	0.046	2899	3761	2329
9074	0.88	294.4	90.5	16.5	934	9082	0.17	1.92	0.00	0.000	6	0.171	0.022	2863	2428	2328
9422	1.23	408.6	64.0	4.9	995	9516	0.28	2.28	88.53	0.693	4	0.064	0.030	2981	980	1865
9773	1.32	408.6	18.2	13.3	1056	9779	0.00	2.25	0.00	0.000	6	0.000	0.030	2980	2459	1857
9867	end climb: SURFACE_DEPTH_REACHED
state	9867	begin surface coast
9885	end surface coast: CONTROL_FINISHED_OK
state	9885	begin surface