Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 47 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 47 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 20

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 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 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 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2108413.8 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 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 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2108413.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

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 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 47 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 025506,6206.582,-903.101,30,0.9,30,-9.5 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6206.548,-926.123

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.48 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -64.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 030233,6206.548,-903.037,9,1.8,10,-9.5 MHEAD_RNG_PITCHd_Wd 279.5,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.002399 ALTIM_BOTTOM_PING 376.4,64.0

SM_CCo 9541,0.00,0.000,0,0,1705,272.77 _24V_AH 23.7,13.286

SM_GC 1.66,12.10,0.00,0.00,0.092,0.000,0.000,68,2610,1705,-10.46,0.28,272.77 _10V_AH 10.1,5.596

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 22230,453

TT8_MAMPS 0.02301 CAP_FILE_SIZE 72869,0

HUMID 1726 CFSIZE 260165632,255709184

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 130609,054258,6204.964,-904.195,10,4.1,29,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 186 118.49 SBE_CT 319 24 181.65

Roll_motor 70 73 122.16 SBE_O2 320 19 144.48

VBD_pump_during_apogee 362 835 7177.44 WL_BB2F 327 105 814.69

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 36 103 88.06 nil 0 0 0.00

Iridium_during_connect 56 160 212.41 nil 0 0 0.00

Iridium_during_xfer 194 223 1030.46

Transponder_ping 3 420 29.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.49

TT8 856 19 171.31

LPSleep 7195 2 159.15

TT8_Active 424 19 84.91

TT8_Sampling 1070 39 430.13

TT8_CF8 448 45 207.56

TT8_Kalman 0 81 0.00

Analog_circuits 979 12 118.69

GPS_charging 0 0 0.00

Compass 1045 8 84.46

RAFOS 0 0 0.00

Transponder 23 30 7.19

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 76 0.00 0.00 -57.33 0.000 6 0.000 0.000 68 2601 3415

79 -1.03 -146.6 6.7 -12.6 3 101 12.00 2.38 0.00 0.000 4 0.186 0.063 2130 3860 3416

354 -1.03 -146.6 54.9 -14.5 15 358 0.00 2.17 0.00 0.000 6 0.000 0.028 2130 2583 3416

675 -1.03 -146.6 96.8 -12.1 31 679 0.00 2.38 0.00 0.000 4 0.000 0.064 2130 3864 3417

724 -1.03 -146.6 102.9 -12.5 33 728 0.00 2.15 0.00 0.000 6 0.000 0.028 2130 2595 3416

1046 -1.03 -146.6 133.8 -8.9 49 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2595 3417

1355 -1.03 -146.6 161.2 -9.0 64 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2594 3417

1664 -1.03 -146.6 189.4 -8.9 79 1668 0.00 2.45 0.00 0.000 4 0.000 0.043 2130 1211 3417

1704 -1.08 -146.6 192.8 -8.0 81 1708 0.00 2.45 0.00 0.000 6 0.000 0.038 2130 2601 3417

2030 -1.08 -146.6 220.3 -8.2 97 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3417

2339 -1.08 -146.6 244.8 -8.0 112 2343 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1204 3417

2384 -1.13 -146.6 248.6 -8.2 114 2388 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2609 3417

2706 -1.13 -146.6 275.1 -8.0 130 2707 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2609 3417

3014 -1.13 -146.6 299.7 -7.9 145 3021 0.00 2.47 0.00 0.000 4 0.000 0.042 2130 1209 3416

3072 -1.17 -146.6 304.8 -8.9 147 3077 0.12 2.45 0.00 0.000 6 0.046 0.038 2091 2600 3416

3388 -1.09 -146.6 337.0 -10.8 162 3390 0.15 0.00 0.00 0.000 6 0.098 0.000 2120 2600 3416

3697 -1.09 -146.6 365.0 -9.0 177 3698 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2600 3416

4006 -1.09 -146.6 394.8 -9.9 192 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2600 3416

4315 -1.09 -146.6 423.0 -8.3 207 4319 0.00 2.35 0.00 0.000 4 0.000 0.074 2120 3857 3416

4385 end dive: BOTTOM_OBSTACLE_DETECTED

state 4386 begin apogee

4395 -0.31 0.0 430.7 11.6 210 4526 0.82 0.00 123.43 0.835 6 0.110 0.000 2287 2317 2816

4526 end apogee: CONTROL_FINISHED_OK

state 4526 begin climb

4529 1.03 146.6 437.1 0.0 217 4663 1.38 2.65 125.50 0.824 4 0.074 0.050 2582 895 2219

4750 0.94 158.7 431.0 7.1 227 4766 0.00 2.50 11.12 0.717 6 0.000 0.038 2582 2301 2170

5088 0.91 203.4 409.5 6.0 244 5134 0.12 2.72 39.30 0.791 4 0.096 0.066 2558 3700 1987

5309 0.93 218.5 392.6 7.0 254 5331 0.00 2.47 14.40 0.734 6 0.000 0.033 2558 2297 1925

5640 0.96 250.3 372.4 6.4 270 5671 0.00 0.00 29.30 0.770 6 0.000 0.000 2558 2298 1795

5970 0.97 256.4 350.0 7.3 286 5981 0.00 2.65 5.97 0.601 4 0.000 0.063 2558 3704 1770

6014 0.97 256.4 346.2 8.6 288 6019 0.00 2.47 0.00 0.000 6 0.000 0.032 2558 2298 1770

6336 1.04 270.2 322.6 7.0 304 6358 0.12 2.60 13.55 0.701 4 0.051 0.050 2595 898 1714

6392 1.04 270.2 317.6 9.7 306 6396 0.00 2.50 0.00 0.000 6 0.000 0.037 2595 2308 1712

6708 1.04 270.2 285.7 10.7 321 6712 0.00 2.53 0.00 0.000 4 0.000 0.048 2595 895 1712

6758 1.04 270.2 280.2 11.2 323 6763 0.00 2.47 0.00 0.000 6 0.000 0.036 2595 2302 1710

7074 1.04 270.2 247.9 9.9 338 7075 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2302 1710

7383 1.04 270.2 217.1 10.7 353 7387 0.00 2.53 0.00 0.000 4 0.000 0.047 2595 894 1710

7432 1.04 270.2 211.6 10.9 355 7437 0.00 2.47 0.00 0.000 6 0.000 0.036 2595 2304 1709

7748 1.04 270.2 180.6 9.4 370 7752 0.00 2.53 0.00 0.000 4 0.000 0.046 2595 894 1709

7793 1.04 270.2 176.3 9.4 372 7797 0.00 2.47 0.00 0.000 6 0.000 0.035 2593 2309 1708

8120 1.04 270.2 147.5 8.5 388 8121 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2309 1709

8429 1.04 270.2 118.5 10.0 403 8433 0.00 2.53 0.00 0.000 4 0.000 0.046 2595 895 1709

8492 1.04 270.2 111.4 11.4 406 8496 0.00 2.47 0.00 0.000 6 0.000 0.035 2595 2309 1708

8818 1.04 270.2 73.0 11.6 422 8820 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2309 1708

9128 1.04 270.2 36.8 11.1 437 9129 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2309 1708

9434 end climb: SURFACE_DEPTH_REACHED

state 9434 begin surface coast

9458 end surface coast: CONTROL_FINISHED_OK

state 9458 begin surface

ID	16	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	47	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	20
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	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	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	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2108413.8	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	025506,6206.582,-903.101,30,0.9,30,-9.5	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6206.548,-926.123
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.48	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-64.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	030233,6206.548,-903.037,9,1.8,10,-9.5	MHEAD_RNG_PITCHd_Wd	279.5,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.002399	ALTIM_BOTTOM_PING	376.4,64.0
SM_CCo	9541,0.00,0.000,0,0,1705,272.77	_24V_AH	23.7,13.286
SM_GC	1.66,12.10,0.00,0.00,0.092,0.000,0.000,68,2610,1705,-10.46,0.28,272.77	_10V_AH	10.1,5.596
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	22230,453
TT8_MAMPS	0.02301	CAP_FILE_SIZE	72869,0
HUMID	1726	CFSIZE	260165632,255709184
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	130609,054258,6204.964,-904.195,10,4.1,29,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	186	118.49	SBE_CT	319	24	181.65
Roll_motor	70	73	122.16	SBE_O2	320	19	144.48
VBD_pump_during_apogee	362	835	7177.44	WL_BB2F	327	105	814.69
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	36	103	88.06	nil	0	0	0.00
Iridium_during_connect	56	160	212.41	nil	0	0	0.00
Iridium_during_xfer	194	223	1030.46
Transponder_ping	3	420	29.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.49
TT8	856	19	171.31
LPSleep	7195	2	159.15
TT8_Active	424	19	84.91
TT8_Sampling	1070	39	430.13
TT8_CF8	448	45	207.56
TT8_Kalman	0	81	0.00
Analog_circuits	979	12	118.69
GPS_charging	0	0	0.00
Compass	1045	8	84.46
RAFOS	0	0	0.00
Transponder	23	30	7.19

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	76	0.00	0.00	-57.33	0.000	6	0.000	0.000	68	2601	3415
79	-1.03	-146.6	6.7	-12.6	3	101	12.00	2.38	0.00	0.000	4	0.186	0.063	2130	3860	3416
354	-1.03	-146.6	54.9	-14.5	15	358	0.00	2.17	0.00	0.000	6	0.000	0.028	2130	2583	3416
675	-1.03	-146.6	96.8	-12.1	31	679	0.00	2.38	0.00	0.000	4	0.000	0.064	2130	3864	3417
724	-1.03	-146.6	102.9	-12.5	33	728	0.00	2.15	0.00	0.000	6	0.000	0.028	2130	2595	3416
1046	-1.03	-146.6	133.8	-8.9	49	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2595	3417
1355	-1.03	-146.6	161.2	-9.0	64	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2594	3417
1664	-1.03	-146.6	189.4	-8.9	79	1668	0.00	2.45	0.00	0.000	4	0.000	0.043	2130	1211	3417
1704	-1.08	-146.6	192.8	-8.0	81	1708	0.00	2.45	0.00	0.000	6	0.000	0.038	2130	2601	3417
2030	-1.08	-146.6	220.3	-8.2	97	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3417
2339	-1.08	-146.6	244.8	-8.0	112	2343	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1204	3417
2384	-1.13	-146.6	248.6	-8.2	114	2388	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2609	3417
2706	-1.13	-146.6	275.1	-8.0	130	2707	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2609	3417
3014	-1.13	-146.6	299.7	-7.9	145	3021	0.00	2.47	0.00	0.000	4	0.000	0.042	2130	1209	3416
3072	-1.17	-146.6	304.8	-8.9	147	3077	0.12	2.45	0.00	0.000	6	0.046	0.038	2091	2600	3416
3388	-1.09	-146.6	337.0	-10.8	162	3390	0.15	0.00	0.00	0.000	6	0.098	0.000	2120	2600	3416
3697	-1.09	-146.6	365.0	-9.0	177	3698	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2600	3416
4006	-1.09	-146.6	394.8	-9.9	192	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2600	3416
4315	-1.09	-146.6	423.0	-8.3	207	4319	0.00	2.35	0.00	0.000	4	0.000	0.074	2120	3857	3416
4385	end dive: BOTTOM_OBSTACLE_DETECTED
state	4386	begin apogee
4395	-0.31	0.0	430.7	11.6	210	4526	0.82	0.00	123.43	0.835	6	0.110	0.000	2287	2317	2816
4526	end apogee: CONTROL_FINISHED_OK
state	4526	begin climb
4529	1.03	146.6	437.1	0.0	217	4663	1.38	2.65	125.50	0.824	4	0.074	0.050	2582	895	2219
4750	0.94	158.7	431.0	7.1	227	4766	0.00	2.50	11.12	0.717	6	0.000	0.038	2582	2301	2170
5088	0.91	203.4	409.5	6.0	244	5134	0.12	2.72	39.30	0.791	4	0.096	0.066	2558	3700	1987
5309	0.93	218.5	392.6	7.0	254	5331	0.00	2.47	14.40	0.734	6	0.000	0.033	2558	2297	1925
5640	0.96	250.3	372.4	6.4	270	5671	0.00	0.00	29.30	0.770	6	0.000	0.000	2558	2298	1795
5970	0.97	256.4	350.0	7.3	286	5981	0.00	2.65	5.97	0.601	4	0.000	0.063	2558	3704	1770
6014	0.97	256.4	346.2	8.6	288	6019	0.00	2.47	0.00	0.000	6	0.000	0.032	2558	2298	1770
6336	1.04	270.2	322.6	7.0	304	6358	0.12	2.60	13.55	0.701	4	0.051	0.050	2595	898	1714
6392	1.04	270.2	317.6	9.7	306	6396	0.00	2.50	0.00	0.000	6	0.000	0.037	2595	2308	1712
6708	1.04	270.2	285.7	10.7	321	6712	0.00	2.53	0.00	0.000	4	0.000	0.048	2595	895	1712
6758	1.04	270.2	280.2	11.2	323	6763	0.00	2.47	0.00	0.000	6	0.000	0.036	2595	2302	1710
7074	1.04	270.2	247.9	9.9	338	7075	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2302	1710
7383	1.04	270.2	217.1	10.7	353	7387	0.00	2.53	0.00	0.000	4	0.000	0.047	2595	894	1710
7432	1.04	270.2	211.6	10.9	355	7437	0.00	2.47	0.00	0.000	6	0.000	0.036	2595	2304	1709
7748	1.04	270.2	180.6	9.4	370	7752	0.00	2.53	0.00	0.000	4	0.000	0.046	2595	894	1709
7793	1.04	270.2	176.3	9.4	372	7797	0.00	2.47	0.00	0.000	6	0.000	0.035	2593	2309	1708
8120	1.04	270.2	147.5	8.5	388	8121	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2309	1709
8429	1.04	270.2	118.5	10.0	403	8433	0.00	2.53	0.00	0.000	4	0.000	0.046	2595	895	1709
8492	1.04	270.2	111.4	11.4	406	8496	0.00	2.47	0.00	0.000	6	0.000	0.035	2595	2309	1708
8818	1.04	270.2	73.0	11.6	422	8820	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2309	1708
9128	1.04	270.2	36.8	11.1	437	9129	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2309	1708
9434	end climb: SURFACE_DEPTH_REACHED
state	9434	begin surface coast
9458	end surface coast: CONTROL_FINISHED_OK
state	9458	begin surface