Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 148 * 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 148 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 275 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 330 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 -36133.523 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 250 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 275

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 -36133.523

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 250 R_STBD_OVSHOOT 38 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 148 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 175952,2521.619,12233.944,8,99.0,28,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180537,2521.878,12233.938,37,1.0,37,-3.7 MHEAD_RNG_PITCHd_Wd 138.9,70343,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 607

Post-dive calculations and measurements:

FINISH -0.1,0.999622 ALTIM_BOTTOM_PING 527.0,91.9

SM_CCo 9092,0.00,0.000,0,0,828,519.79 _24V_AH 24.0,30.544

SM_GC 0.81,7.70,0.00,0.00,0.031,0.000,0.000,106,1457,828,-8.15,-0.40,519.79 _10V_AH 10.7,18.899

IRIDIUM_FIX 2507.97,11937.59,030998,151530 DATA_FILE_SIZE 66401,1149

TT8_MAMPS 0.051389 CAP_FILE_SIZE 107854,0

HUMID 1613 CFSIZE 260165632,247209984

INTERNAL_PRESSURE 8.94812 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.50 CURRENT 0.086,315.9,1

XPDR_PINGS 14 GPS 090609,203804,2520.847,12234.583,10,2.2,30,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 208 110.15 SBE_CT 775 24 446.65

Roll_motor 75 63 115.74 Optode 844 33 669.13

VBD_pump_during_apogee 621 1181 17643.40 WL_BB2F 1413 105 3562.42

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 26 103 66.35 nil 0 0 0.00

Iridium_during_connect 36 160 140.44 nil 0 0 0.00

Iridium_during_xfer 164 223 881.64

Transponder_ping 7 420 73.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 39 50 21.19

TT8 0 19 0.00

LPSleep 5734 2 134.37

TT8_Active 705 19 149.57

TT8_Sampling 2586 39 1101.42

TT8_CF8 392 45 192.34

TT8_Kalman 0 0 0.00

Analog_circuits 1671 12 214.59

GPS_charging 0 0 0.00

Compass 2187 8 187.24

RAFOS 0 0 0.00

Transponder 27 30 8.73

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 -1.08 -243.4 0.0 0.0 0 98 0.00 0.00 -84.32 0.000 2 0.000 0.000 111 1508 2801

100 -1.08 -243.4 3.4 -8.3 13 139 8.38 2.10 -21.80 0.000 4 0.209 0.052 2380 2880 3944

192 -0.65 -243.4 31.9 -30.7 29 198 0.43 2.15 0.00 0.000 6 0.133 0.031 2534 1453 3946

518 -0.65 -243.4 83.8 -12.1 90 524 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1453 3947

844 -0.72 -243.4 122.5 -9.6 151 850 0.00 2.15 0.00 0.000 4 0.000 0.038 2534 2879 3949

919 -0.85 -243.4 129.5 -10.0 165 925 0.15 2.10 0.00 0.000 6 0.042 0.031 2450 1471 3950

1245 -0.71 -243.4 178.8 -14.1 226 1253 0.20 2.12 0.00 0.000 4 0.126 0.039 2511 2886 3951

1279 -0.81 -243.4 182.8 -10.8 232 1285 0.00 2.10 0.00 0.000 6 0.000 0.031 2511 1473 3951

1605 -0.89 -243.4 214.4 -10.3 293 1611 0.15 2.08 0.00 0.000 4 0.058 0.038 2435 2884 3951

1669 -0.83 -243.4 223.0 -13.5 305 1675 0.10 2.08 0.00 0.000 6 0.122 0.031 2471 1489 3951

1994 -0.83 -243.4 265.8 -13.1 366 1995 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1489 3951

2315 -0.83 -243.4 301.4 -9.7 425 2319 0.00 2.10 0.00 0.000 4 0.000 0.039 2471 2885 3951

2432 -0.91 -243.4 312.3 -9.6 436 2436 0.00 2.05 0.00 0.000 6 0.000 0.032 2471 1508 3950

2754 -0.96 -243.4 349.7 -12.9 467 2761 0.12 2.05 0.00 0.000 4 0.068 0.039 2408 2886 3949

2787 -0.87 -243.4 354.9 -16.3 470 2791 0.15 2.05 0.00 0.000 6 0.120 0.033 2460 1515 3949

3108 -0.87 -243.4 400.5 -14.7 501 3109 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 1515 3947

3420 -0.87 -243.4 441.4 -12.7 531 3423 0.00 1.98 0.00 0.000 4 0.000 0.048 2460 208 3944

3440 -0.87 -243.4 444.2 -12.8 533 3444 0.00 1.98 0.00 0.000 6 0.000 0.032 2460 1537 3944

3760 -0.91 -243.4 479.5 -10.9 564 3764 0.00 2.03 0.00 0.000 4 0.000 0.042 2460 2879 3942

3819 -1.01 -243.4 485.2 -9.8 569 3825 0.10 2.03 0.00 0.000 6 0.056 0.035 2401 1530 3942

4132 -0.90 -243.4 530.1 -14.4 590 4135 0.17 2.03 0.00 0.000 4 0.137 0.043 2452 2878 3939

4179 -0.99 -243.4 535.7 -10.6 592 4183 0.00 2.00 0.00 0.000 6 0.000 0.035 2452 1550 3939

4500 -1.03 -243.4 570.0 -10.9 608 4504 0.12 2.03 0.00 0.000 4 0.067 0.044 2392 2877 3936

4521 -1.03 -243.4 572.5 -12.5 609 4525 0.00 2.00 0.00 0.000 6 0.000 0.036 2392 1551 3936

4684 end dive: BOTTOM_OBSTACLE_DETECTED

state 4684 begin apogee

4687 -0.24 0.0 595.3 13.3 617 4887 0.85 0.00 194.73 1.182 6 0.120 0.000 2669 1551 2947

4888 end apogee: CONTROL_FINISHED_OK

state 4888 begin climb

4889 1.08 243.4 606.0 0.0 627 5098 1.20 2.20 198.48 1.147 4 0.063 0.051 3095 220 1952

5133 0.60 243.4 571.6 24.4 638 5141 0.52 2.17 0.00 0.000 6 0.171 0.037 2945 1579 1949

5444 0.54 243.4 529.0 12.5 654 5448 0.00 2.17 0.00 0.000 4 0.000 0.044 2946 2981 1943

5465 0.46 243.4 526.4 12.7 655 5469 0.15 2.15 0.00 0.000 6 0.142 0.039 2895 1594 1943

5784 0.64 301.5 494.5 10.1 673 5834 0.15 0.00 47.97 1.095 6 0.067 0.000 2959 1594 1716

6142 0.57 301.5 442.8 14.1 708 6147 0.12 2.17 0.00 0.000 4 0.153 0.045 2926 2986 1706

6196 0.57 301.5 435.7 13.0 713 6200 0.00 2.20 0.00 0.000 6 0.000 0.040 2929 1568 1704

6518 0.59 316.9 397.7 11.5 744 6533 0.00 2.12 12.30 0.977 4 0.000 0.054 2928 211 1653

6656 0.77 416.8 384.5 8.7 756 6750 0.12 2.08 86.55 1.044 6 0.043 0.040 3011 1554 1245

7059 0.58 416.8 312.7 18.8 795 7063 0.28 2.20 0.00 0.000 4 0.150 0.045 2933 2991 1233

7106 0.66 416.8 306.1 12.4 799 7114 0.00 2.20 0.00 0.000 6 0.000 0.040 2934 1572 1232

7431 0.79 416.8 269.0 13.2 855 7438 0.20 0.00 0.00 0.000 6 0.059 0.000 3024 1571 1230

7757 0.60 416.8 195.5 23.8 916 7764 0.30 2.10 0.00 0.000 4 0.144 0.052 2936 227 1228

7822 0.75 416.8 185.0 13.3 928 7828 0.10 2.05 0.00 0.000 6 0.055 0.040 2998 1563 1227

8148 0.75 416.8 132.2 16.7 989 8154 0.00 2.17 0.00 0.000 4 0.000 0.043 2999 2987 1227

8222 0.75 416.8 120.2 17.0 1003 8230 0.00 2.10 0.00 0.000 6 0.000 0.038 2999 1610 1227

8550 0.82 472.5 74.3 10.2 1064 8600 0.00 2.20 43.97 0.809 4 0.000 0.051 2999 211 1019

8675 1.04 517.0 61.2 10.5 1086 8720 0.22 2.10 37.97 0.781 6 0.049 0.038 3104 1585 838

8995 end climb: SURFACE_DEPTH_REACHED

state 8996 begin surface coast

9018 end surface coast: CONTROL_FINISHED_OK

state 9018 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	148	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	330	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	-36133.523	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	250	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	175952,2521.619,12233.944,8,99.0,28,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180537,2521.878,12233.938,37,1.0,37,-3.7	MHEAD_RNG_PITCHd_Wd	138.9,70343,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	607

FINISH	-0.1,0.999622	ALTIM_BOTTOM_PING	527.0,91.9
SM_CCo	9092,0.00,0.000,0,0,828,519.79	_24V_AH	24.0,30.544
SM_GC	0.81,7.70,0.00,0.00,0.031,0.000,0.000,106,1457,828,-8.15,-0.40,519.79	_10V_AH	10.7,18.899
IRIDIUM_FIX	2507.97,11937.59,030998,151530	DATA_FILE_SIZE	66401,1149
TT8_MAMPS	0.051389	CAP_FILE_SIZE	107854,0
HUMID	1613	CFSIZE	260165632,247209984
INTERNAL_PRESSURE	8.94812	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.50	CURRENT	0.086,315.9,1
XPDR_PINGS	14	GPS	090609,203804,2520.847,12234.583,10,2.2,30,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	208	110.15	SBE_CT	775	24	446.65
Roll_motor	75	63	115.74	Optode	844	33	669.13
VBD_pump_during_apogee	621	1181	17643.40	WL_BB2F	1413	105	3562.42
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	26	103	66.35	nil	0	0	0.00
Iridium_during_connect	36	160	140.44	nil	0	0	0.00
Iridium_during_xfer	164	223	881.64
Transponder_ping	7	420	73.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	39	50	21.19
TT8	0	19	0.00
LPSleep	5734	2	134.37
TT8_Active	705	19	149.57
TT8_Sampling	2586	39	1101.42
TT8_CF8	392	45	192.34
TT8_Kalman	0	0	0.00
Analog_circuits	1671	12	214.59
GPS_charging	0	0	0.00
Compass	2187	8	187.24
RAFOS	0	0	0.00
Transponder	27	30	8.73

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	-1.08	-243.4	0.0	0.0	0	98	0.00	0.00	-84.32	0.000	2	0.000	0.000	111	1508	2801
100	-1.08	-243.4	3.4	-8.3	13	139	8.38	2.10	-21.80	0.000	4	0.209	0.052	2380	2880	3944
192	-0.65	-243.4	31.9	-30.7	29	198	0.43	2.15	0.00	0.000	6	0.133	0.031	2534	1453	3946
518	-0.65	-243.4	83.8	-12.1	90	524	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1453	3947
844	-0.72	-243.4	122.5	-9.6	151	850	0.00	2.15	0.00	0.000	4	0.000	0.038	2534	2879	3949
919	-0.85	-243.4	129.5	-10.0	165	925	0.15	2.10	0.00	0.000	6	0.042	0.031	2450	1471	3950
1245	-0.71	-243.4	178.8	-14.1	226	1253	0.20	2.12	0.00	0.000	4	0.126	0.039	2511	2886	3951
1279	-0.81	-243.4	182.8	-10.8	232	1285	0.00	2.10	0.00	0.000	6	0.000	0.031	2511	1473	3951
1605	-0.89	-243.4	214.4	-10.3	293	1611	0.15	2.08	0.00	0.000	4	0.058	0.038	2435	2884	3951
1669	-0.83	-243.4	223.0	-13.5	305	1675	0.10	2.08	0.00	0.000	6	0.122	0.031	2471	1489	3951
1994	-0.83	-243.4	265.8	-13.1	366	1995	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	1489	3951
2315	-0.83	-243.4	301.4	-9.7	425	2319	0.00	2.10	0.00	0.000	4	0.000	0.039	2471	2885	3951
2432	-0.91	-243.4	312.3	-9.6	436	2436	0.00	2.05	0.00	0.000	6	0.000	0.032	2471	1508	3950
2754	-0.96	-243.4	349.7	-12.9	467	2761	0.12	2.05	0.00	0.000	4	0.068	0.039	2408	2886	3949
2787	-0.87	-243.4	354.9	-16.3	470	2791	0.15	2.05	0.00	0.000	6	0.120	0.033	2460	1515	3949
3108	-0.87	-243.4	400.5	-14.7	501	3109	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	1515	3947
3420	-0.87	-243.4	441.4	-12.7	531	3423	0.00	1.98	0.00	0.000	4	0.000	0.048	2460	208	3944
3440	-0.87	-243.4	444.2	-12.8	533	3444	0.00	1.98	0.00	0.000	6	0.000	0.032	2460	1537	3944
3760	-0.91	-243.4	479.5	-10.9	564	3764	0.00	2.03	0.00	0.000	4	0.000	0.042	2460	2879	3942
3819	-1.01	-243.4	485.2	-9.8	569	3825	0.10	2.03	0.00	0.000	6	0.056	0.035	2401	1530	3942
4132	-0.90	-243.4	530.1	-14.4	590	4135	0.17	2.03	0.00	0.000	4	0.137	0.043	2452	2878	3939
4179	-0.99	-243.4	535.7	-10.6	592	4183	0.00	2.00	0.00	0.000	6	0.000	0.035	2452	1550	3939
4500	-1.03	-243.4	570.0	-10.9	608	4504	0.12	2.03	0.00	0.000	4	0.067	0.044	2392	2877	3936
4521	-1.03	-243.4	572.5	-12.5	609	4525	0.00	2.00	0.00	0.000	6	0.000	0.036	2392	1551	3936
4684	end dive: BOTTOM_OBSTACLE_DETECTED
state	4684	begin apogee
4687	-0.24	0.0	595.3	13.3	617	4887	0.85	0.00	194.73	1.182	6	0.120	0.000	2669	1551	2947
4888	end apogee: CONTROL_FINISHED_OK
state	4888	begin climb
4889	1.08	243.4	606.0	0.0	627	5098	1.20	2.20	198.48	1.147	4	0.063	0.051	3095	220	1952
5133	0.60	243.4	571.6	24.4	638	5141	0.52	2.17	0.00	0.000	6	0.171	0.037	2945	1579	1949
5444	0.54	243.4	529.0	12.5	654	5448	0.00	2.17	0.00	0.000	4	0.000	0.044	2946	2981	1943
5465	0.46	243.4	526.4	12.7	655	5469	0.15	2.15	0.00	0.000	6	0.142	0.039	2895	1594	1943
5784	0.64	301.5	494.5	10.1	673	5834	0.15	0.00	47.97	1.095	6	0.067	0.000	2959	1594	1716
6142	0.57	301.5	442.8	14.1	708	6147	0.12	2.17	0.00	0.000	4	0.153	0.045	2926	2986	1706
6196	0.57	301.5	435.7	13.0	713	6200	0.00	2.20	0.00	0.000	6	0.000	0.040	2929	1568	1704
6518	0.59	316.9	397.7	11.5	744	6533	0.00	2.12	12.30	0.977	4	0.000	0.054	2928	211	1653
6656	0.77	416.8	384.5	8.7	756	6750	0.12	2.08	86.55	1.044	6	0.043	0.040	3011	1554	1245
7059	0.58	416.8	312.7	18.8	795	7063	0.28	2.20	0.00	0.000	4	0.150	0.045	2933	2991	1233
7106	0.66	416.8	306.1	12.4	799	7114	0.00	2.20	0.00	0.000	6	0.000	0.040	2934	1572	1232
7431	0.79	416.8	269.0	13.2	855	7438	0.20	0.00	0.00	0.000	6	0.059	0.000	3024	1571	1230
7757	0.60	416.8	195.5	23.8	916	7764	0.30	2.10	0.00	0.000	4	0.144	0.052	2936	227	1228
7822	0.75	416.8	185.0	13.3	928	7828	0.10	2.05	0.00	0.000	6	0.055	0.040	2998	1563	1227
8148	0.75	416.8	132.2	16.7	989	8154	0.00	2.17	0.00	0.000	4	0.000	0.043	2999	2987	1227
8222	0.75	416.8	120.2	17.0	1003	8230	0.00	2.10	0.00	0.000	6	0.000	0.038	2999	1610	1227
8550	0.82	472.5	74.3	10.2	1064	8600	0.00	2.20	43.97	0.809	4	0.000	0.051	2999	211	1019
8675	1.04	517.0	61.2	10.5	1086	8720	0.22	2.10	37.97	0.781	6	0.049	0.038	3104	1585	838
8995	end climb: SURFACE_DEPTH_REACHED
state	8996	begin surface coast
9018	end surface coast: CONTROL_FINISHED_OK
state	9018	begin surface