Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 23 * 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 23 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 1485 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1790 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 65 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 396 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 -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 -5718.3257 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 175 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 2732 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 25 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 25 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 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 -5718.3257

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 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 2732 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1790 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1485 MASS 51956 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 175 R_STBD_OVSHOOT 65 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 23 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 012104,2522.797,12232.992,13,99.0,32,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2511.000,12258.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 012631,2522.835,12233.018,11,1.1,16,-3.7 MHEAD_RNG_PITCHd_Wd 159.6,47260,-16.8,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 579

Post-dive calculations and measurements:

FINISH 1.0,1.021798 ALTIM_BOTTOM_PING 475.7,106.2

SM_CCo 10503,29.60,0.689,0,0,1130,425.10 _24V_AH 24.1,7.758

SM_GC 1.93,0.00,0.00,29.60,0.000,0.000,0.689,177,1478,1130,-8.03,-0.20,425.10 _10V_AH 10.7,4.240

IRIDIUM_FIX 2512.73,12230.65,180898,222234 DATA_FILE_SIZE 75935,1301

TT8_MAMPS 0.027612 CAP_FILE_SIZE 127504,0

HUMID 1494 CFSIZE 260165632,233488384

INTERNAL_PRESSURE 9.88778 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.00 CURRENT 0.101, 90.2,1

XPDR_PINGS 132 GPS 250509,042337,2521.646,12234.271,38,1.1,38,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 249 158.90 SBE_CT 885 24 512.20

Roll_motor 87 59 124.33 Optode 954 33 759.40

VBD_pump_during_apogee 459 1158 12835.98 WL_BB2F 1610 105 4076.27

VBD_pump_during_surface 29 688 491.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.42 nil 0 0 0.00

Iridium_during_connect 35 160 137.24 nil 0 0 0.00

Iridium_during_xfer 171 223 922.39

Transponder_ping 36 420 366.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.92

TT8 2254 19 477.59

LPSleep 5099 2 119.50

TT8_Active 589 19 124.88

TT8_Sampling 2557 39 1089.19

TT8_CF8 356 45 174.82

TT8_Kalman 0 0 0.00

Analog_circuits 1704 12 218.79

GPS_charging 0 0 0.00

Compass 2537 8 217.20

RAFOS 0 0 0.00

Transponder 24 30 7.73

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.88 -170.3 0.0 0.0 0 85 0.00 0.00 -69.10 0.000 2 0.000 0.000 146 1511 2503

87 -0.88 -170.3 3.4 -5.4 10 134 9.32 2.05 -30.38 0.000 4 0.249 0.059 2430 197 3559

364 -0.26 -170.3 85.3 -28.3 58 372 0.70 1.90 0.00 0.000 6 0.163 0.032 2647 1478 3561

711 -0.59 -170.3 105.7 -3.1 119 718 0.25 2.08 0.00 0.000 4 0.048 0.040 2524 2892 3562

953 -0.50 -170.3 136.4 -14.2 162 960 0.12 2.03 0.00 0.000 6 0.158 0.034 2565 1489 3563

1299 -0.65 -170.3 164.5 -5.6 223 1306 0.12 1.90 0.00 0.000 4 0.071 0.046 2497 198 3564

1330 -0.57 -170.3 167.1 -9.1 228 1338 0.15 1.90 0.00 0.000 6 0.142 0.029 2543 1510 3564

1676 -0.67 -170.3 189.2 -11.1 289 1683 0.00 2.03 0.00 0.000 4 0.000 0.043 2541 2898 3564

1711 -0.86 -170.3 193.1 -11.1 295 1718 0.25 2.03 0.00 0.000 6 0.048 0.034 2429 1492 3564

2055 -0.49 -170.3 260.0 -17.8 356 2063 0.43 1.90 0.00 0.000 4 0.158 0.046 2563 202 3564

2181 -0.64 -170.3 272.5 -8.5 378 2188 0.08 1.85 0.00 0.000 6 0.061 0.031 2514 1487 3564

2522 -0.64 -170.3 304.6 -7.8 434 2526 0.00 2.03 0.00 0.000 4 0.000 0.044 2520 2867 3564

2612 -0.75 -170.3 310.5 -5.8 442 2616 0.00 1.95 0.00 0.000 6 0.000 0.035 2513 1508 3563

2942 -0.81 -170.3 334.8 -8.3 473 2946 0.12 1.92 0.00 0.000 4 0.069 0.048 2458 204 3562

3042 -0.57 -170.3 347.7 -14.5 482 3046 0.30 1.85 0.00 0.000 6 0.153 0.033 2545 1490 3561

3372 -0.75 -170.3 372.8 -6.3 513 3377 0.17 2.05 0.00 0.000 4 0.061 0.048 2451 2878 3561

3454 -0.68 -170.3 380.7 -9.5 520 3462 0.15 2.05 0.00 0.000 6 0.140 0.043 2511 1498 3561

3779 -0.74 -170.3 404.1 -7.0 551 3780 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1498 3559

4099 -0.83 -170.3 426.9 -7.5 581 4103 0.12 1.92 0.00 0.000 4 0.073 0.051 2445 210 3558

4239 -0.64 -170.3 444.1 -12.4 593 4246 0.22 1.90 0.00 0.000 6 0.138 0.035 2523 1502 3556

4563 -0.83 -170.3 464.8 -5.7 624 4567 0.17 2.05 0.00 0.000 4 0.061 0.048 2436 2878 3555

4585 -0.83 -170.3 466.5 -8.0 626 4589 0.00 2.05 0.00 0.000 6 0.000 0.039 2436 1510 3555

4914 -0.68 -170.3 502.9 -11.1 656 4918 0.20 1.95 0.00 0.000 4 0.152 0.053 2501 201 3553

5053 -0.75 -170.3 515.5 -8.3 662 5057 0.00 1.90 0.00 0.000 6 0.000 0.037 2497 1503 3552

5379 -0.84 -170.3 539.9 -7.9 678 5381 0.10 0.00 0.00 0.000 6 0.081 0.000 2446 1505 3549

5542 end dive: BOTTOM_OBSTACLE_DETECTED

state 5542 begin apogee

5546 -0.20 0.0 558.4 11.3 686 5687 0.65 0.00 136.57 1.158 6 0.139 0.000 2662 1787 2863

5687 end apogee: CONTROL_FINISHED_OK

state 5687 begin climb

5689 0.88 170.3 564.8 0.0 693 5839 1.02 2.30 140.48 1.114 4 0.077 0.054 3011 3191 2166

5967 0.41 170.3 533.4 18.9 705 5976 0.50 2.20 0.00 0.000 6 0.175 0.041 2869 1789 2162

6284 0.53 211.7 504.1 8.4 721 6328 0.10 2.30 34.00 1.085 4 0.078 0.055 2927 383 1999

6407 0.42 211.7 489.4 12.8 730 6412 0.20 2.12 0.00 0.000 6 0.152 0.041 2874 1774 1996

6737 0.56 241.7 460.2 8.8 761 6772 0.12 2.25 25.27 1.071 4 0.071 0.054 2939 385 1876

6855 0.46 241.7 444.5 14.9 771 6862 0.15 2.12 0.00 0.000 6 0.148 0.041 2882 1759 1874

7180 0.57 241.7 411.9 10.3 802 7185 0.12 2.12 0.00 0.000 4 0.072 0.054 2947 385 1871

7314 0.45 241.7 392.6 14.7 813 7322 0.25 2.03 0.00 0.000 6 0.150 0.041 2876 1735 1870

7639 0.71 323.0 363.9 6.8 844 7717 0.22 2.25 67.55 1.038 4 0.056 0.053 2992 379 1544

7732 0.45 323.0 349.9 18.9 852 7740 0.38 2.10 0.00 0.000 6 0.153 0.039 2882 1716 1543

8057 0.68 323.0 316.1 11.0 883 8062 0.20 2.28 0.00 0.000 4 0.058 0.050 2978 3196 1537

8130 0.54 323.0 303.2 18.8 889 8135 0.30 2.22 0.00 0.000 6 0.165 0.042 2905 1725 1536

8471 0.69 323.0 259.1 12.6 947 8477 0.15 2.05 0.00 0.000 4 0.063 0.052 2984 380 1535

8573 0.51 323.0 239.8 21.3 965 8581 0.30 2.00 0.00 0.000 6 0.151 0.039 2897 1726 1535

8918 0.71 341.0 208.3 9.3 1026 8937 0.17 0.00 15.07 0.891 6 0.058 0.000 2987 1727 1471

9274 0.66 341.0 146.5 13.1 1089 9282 0.17 2.05 0.00 0.000 4 0.153 0.050 2945 379 1468

9351 0.90 365.0 139.2 9.1 1102 9378 0.17 2.00 21.10 0.845 6 0.043 0.038 3041 1721 1373

9718 0.76 365.0 85.6 12.9 1166 9725 0.17 2.22 0.00 0.000 4 0.150 0.045 2983 3204 1368

9850 0.90 365.0 71.7 10.5 1189 9857 0.00 2.17 0.00 0.000 6 0.000 0.038 2991 1729 1368

10195 1.08 387.9 37.1 9.1 1250 10222 0.20 2.30 19.83 0.723 4 0.053 0.044 3094 3204 1280

10336 0.90 387.9 15.8 15.4 1274 10343 0.25 2.20 0.00 0.000 6 0.160 0.035 3017 1740 1278

10456 end climb: SURFACE_DEPTH_REACHED

state 10456 begin surface coast

10489 end surface coast: CONTROL_FINISHED_OK

state 10489 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	23	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	1485	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1790	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	65	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	396	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	-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	-5718.3257	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	175	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	2732	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	25	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	012104,2522.797,12232.992,13,99.0,32,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2511.000,12258.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	012631,2522.835,12233.018,11,1.1,16,-3.7	MHEAD_RNG_PITCHd_Wd	159.6,47260,-16.8,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	579

FINISH	1.0,1.021798	ALTIM_BOTTOM_PING	475.7,106.2
SM_CCo	10503,29.60,0.689,0,0,1130,425.10	_24V_AH	24.1,7.758
SM_GC	1.93,0.00,0.00,29.60,0.000,0.000,0.689,177,1478,1130,-8.03,-0.20,425.10	_10V_AH	10.7,4.240
IRIDIUM_FIX	2512.73,12230.65,180898,222234	DATA_FILE_SIZE	75935,1301
TT8_MAMPS	0.027612	CAP_FILE_SIZE	127504,0
HUMID	1494	CFSIZE	260165632,233488384
INTERNAL_PRESSURE	9.88778	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.00	CURRENT	0.101, 90.2,1
XPDR_PINGS	132	GPS	250509,042337,2521.646,12234.271,38,1.1,38,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	249	158.90	SBE_CT	885	24	512.20
Roll_motor	87	59	124.33	Optode	954	33	759.40
VBD_pump_during_apogee	459	1158	12835.98	WL_BB2F	1610	105	4076.27
VBD_pump_during_surface	29	688	491.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.42	nil	0	0	0.00
Iridium_during_connect	35	160	137.24	nil	0	0	0.00
Iridium_during_xfer	171	223	922.39
Transponder_ping	36	420	366.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.92
TT8	2254	19	477.59
LPSleep	5099	2	119.50
TT8_Active	589	19	124.88
TT8_Sampling	2557	39	1089.19
TT8_CF8	356	45	174.82
TT8_Kalman	0	0	0.00
Analog_circuits	1704	12	218.79
GPS_charging	0	0	0.00
Compass	2537	8	217.20
RAFOS	0	0	0.00
Transponder	24	30	7.73

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.88	-170.3	0.0	0.0	0	85	0.00	0.00	-69.10	0.000	2	0.000	0.000	146	1511	2503
87	-0.88	-170.3	3.4	-5.4	10	134	9.32	2.05	-30.38	0.000	4	0.249	0.059	2430	197	3559
364	-0.26	-170.3	85.3	-28.3	58	372	0.70	1.90	0.00	0.000	6	0.163	0.032	2647	1478	3561
711	-0.59	-170.3	105.7	-3.1	119	718	0.25	2.08	0.00	0.000	4	0.048	0.040	2524	2892	3562
953	-0.50	-170.3	136.4	-14.2	162	960	0.12	2.03	0.00	0.000	6	0.158	0.034	2565	1489	3563
1299	-0.65	-170.3	164.5	-5.6	223	1306	0.12	1.90	0.00	0.000	4	0.071	0.046	2497	198	3564
1330	-0.57	-170.3	167.1	-9.1	228	1338	0.15	1.90	0.00	0.000	6	0.142	0.029	2543	1510	3564
1676	-0.67	-170.3	189.2	-11.1	289	1683	0.00	2.03	0.00	0.000	4	0.000	0.043	2541	2898	3564
1711	-0.86	-170.3	193.1	-11.1	295	1718	0.25	2.03	0.00	0.000	6	0.048	0.034	2429	1492	3564
2055	-0.49	-170.3	260.0	-17.8	356	2063	0.43	1.90	0.00	0.000	4	0.158	0.046	2563	202	3564
2181	-0.64	-170.3	272.5	-8.5	378	2188	0.08	1.85	0.00	0.000	6	0.061	0.031	2514	1487	3564
2522	-0.64	-170.3	304.6	-7.8	434	2526	0.00	2.03	0.00	0.000	4	0.000	0.044	2520	2867	3564
2612	-0.75	-170.3	310.5	-5.8	442	2616	0.00	1.95	0.00	0.000	6	0.000	0.035	2513	1508	3563
2942	-0.81	-170.3	334.8	-8.3	473	2946	0.12	1.92	0.00	0.000	4	0.069	0.048	2458	204	3562
3042	-0.57	-170.3	347.7	-14.5	482	3046	0.30	1.85	0.00	0.000	6	0.153	0.033	2545	1490	3561
3372	-0.75	-170.3	372.8	-6.3	513	3377	0.17	2.05	0.00	0.000	4	0.061	0.048	2451	2878	3561
3454	-0.68	-170.3	380.7	-9.5	520	3462	0.15	2.05	0.00	0.000	6	0.140	0.043	2511	1498	3561
3779	-0.74	-170.3	404.1	-7.0	551	3780	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	1498	3559
4099	-0.83	-170.3	426.9	-7.5	581	4103	0.12	1.92	0.00	0.000	4	0.073	0.051	2445	210	3558
4239	-0.64	-170.3	444.1	-12.4	593	4246	0.22	1.90	0.00	0.000	6	0.138	0.035	2523	1502	3556
4563	-0.83	-170.3	464.8	-5.7	624	4567	0.17	2.05	0.00	0.000	4	0.061	0.048	2436	2878	3555
4585	-0.83	-170.3	466.5	-8.0	626	4589	0.00	2.05	0.00	0.000	6	0.000	0.039	2436	1510	3555
4914	-0.68	-170.3	502.9	-11.1	656	4918	0.20	1.95	0.00	0.000	4	0.152	0.053	2501	201	3553
5053	-0.75	-170.3	515.5	-8.3	662	5057	0.00	1.90	0.00	0.000	6	0.000	0.037	2497	1503	3552
5379	-0.84	-170.3	539.9	-7.9	678	5381	0.10	0.00	0.00	0.000	6	0.081	0.000	2446	1505	3549
5542	end dive: BOTTOM_OBSTACLE_DETECTED
state	5542	begin apogee
5546	-0.20	0.0	558.4	11.3	686	5687	0.65	0.00	136.57	1.158	6	0.139	0.000	2662	1787	2863
5687	end apogee: CONTROL_FINISHED_OK
state	5687	begin climb
5689	0.88	170.3	564.8	0.0	693	5839	1.02	2.30	140.48	1.114	4	0.077	0.054	3011	3191	2166
5967	0.41	170.3	533.4	18.9	705	5976	0.50	2.20	0.00	0.000	6	0.175	0.041	2869	1789	2162
6284	0.53	211.7	504.1	8.4	721	6328	0.10	2.30	34.00	1.085	4	0.078	0.055	2927	383	1999
6407	0.42	211.7	489.4	12.8	730	6412	0.20	2.12	0.00	0.000	6	0.152	0.041	2874	1774	1996
6737	0.56	241.7	460.2	8.8	761	6772	0.12	2.25	25.27	1.071	4	0.071	0.054	2939	385	1876
6855	0.46	241.7	444.5	14.9	771	6862	0.15	2.12	0.00	0.000	6	0.148	0.041	2882	1759	1874
7180	0.57	241.7	411.9	10.3	802	7185	0.12	2.12	0.00	0.000	4	0.072	0.054	2947	385	1871
7314	0.45	241.7	392.6	14.7	813	7322	0.25	2.03	0.00	0.000	6	0.150	0.041	2876	1735	1870
7639	0.71	323.0	363.9	6.8	844	7717	0.22	2.25	67.55	1.038	4	0.056	0.053	2992	379	1544
7732	0.45	323.0	349.9	18.9	852	7740	0.38	2.10	0.00	0.000	6	0.153	0.039	2882	1716	1543
8057	0.68	323.0	316.1	11.0	883	8062	0.20	2.28	0.00	0.000	4	0.058	0.050	2978	3196	1537
8130	0.54	323.0	303.2	18.8	889	8135	0.30	2.22	0.00	0.000	6	0.165	0.042	2905	1725	1536
8471	0.69	323.0	259.1	12.6	947	8477	0.15	2.05	0.00	0.000	4	0.063	0.052	2984	380	1535
8573	0.51	323.0	239.8	21.3	965	8581	0.30	2.00	0.00	0.000	6	0.151	0.039	2897	1726	1535
8918	0.71	341.0	208.3	9.3	1026	8937	0.17	0.00	15.07	0.891	6	0.058	0.000	2987	1727	1471
9274	0.66	341.0	146.5	13.1	1089	9282	0.17	2.05	0.00	0.000	4	0.153	0.050	2945	379	1468
9351	0.90	365.0	139.2	9.1	1102	9378	0.17	2.00	21.10	0.845	6	0.043	0.038	3041	1721	1373
9718	0.76	365.0	85.6	12.9	1166	9725	0.17	2.22	0.00	0.000	4	0.150	0.045	2983	3204	1368
9850	0.90	365.0	71.7	10.5	1189	9857	0.00	2.17	0.00	0.000	6	0.000	0.038	2991	1729	1368
10195	1.08	387.9	37.1	9.1	1250	10222	0.20	2.30	19.83	0.723	4	0.053	0.044	3094	3204	1280
10336	0.90	387.9	15.8	15.4	1274	10343	0.25	2.20	0.00	0.000	6	0.160	0.035	3017	1740	1278
10456	end climb: SURFACE_DEPTH_REACHED
state	10456	begin surface coast
10489	end surface coast: CONTROL_FINISHED_OK
state	10489	begin surface