Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 552 * 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 552 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 78 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -20077.26 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 -20077.26

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 78 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 38 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 552 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 195904,2519.398,12235.494,14,3.8,33,-3.6 TGT_NAME IN_2

_CALLS 2 TGT_LATLONG 2525.000,12225.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

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

_SM_ANGLEo -70.6 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 200831,2519.481,12235.615,13,1.8,30,-3.6 MHEAD_RNG_PITCHd_Wd 348.5,20489,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 607

Post-dive calculations and measurements:

FINISH 1.9,1.021877 _24V_AH 23.5,96.429

SM_CCo 8841,67.75,0.641,0,0,1594,475.15 _10V_AH 10.6,50.697

SM_GC 2.90,0.00,0.00,67.75,0.000,0.000,0.641,136,2396,1594,-7.64,0.37,475.15 DATA_FILE_SIZE 56923,1050

IRIDIUM_FIX 2510.35,12233.94,171198,171720 CAP_FILE_SIZE 104527,0

TT8_MAMPS 0.029146 CFSIZE 260165632,182054912

HUMID 1793 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.35583 CURRENT 0.231,132.9,1

TCM_TEMP 24.40 GPS 230809,223837,2519.486,12236.683,34,1.2,34,-3.7

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 235 127.82 SBE_CT 709 24 400.13

Roll_motor 78 56 105.27 Optode 785 33 608.85

VBD_pump_during_apogee 397 1089 10184.30 WL_BB2F 0 105 0.00

VBD_pump_during_surface 67 641 1020.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 130.21 nil 0 0 0.00

Iridium_during_connect 133 160 500.95 nil 0 0 0.00

Iridium_during_xfer 155 223 817.45

Transponder_ping 4 420 44.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.33

TT8 1805 19 378.96

LPSleep 4590 2 106.55

TT8_Active 552 19 116.06

TT8_Sampling 1849 39 780.08

TT8_CF8 677 45 329.10

TT8_Kalman 0 81 0.00

Analog_circuits 1483 12 188.75

GPS_charging 0 0 0.00

Compass 1790 8 151.85

RAFOS 0 0 0.00

Transponder 33 30 10.55

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

16 -1.50 -121.7 0.0 0.0 0 48 0.00 0.00 -29.42 0.000 2 0.000 0.000 135 2425 2316

52 -1.50 -121.7 3.1 -1.8 5 123 8.18 2.10 -55.15 0.000 4 0.235 0.053 2087 3774 3988

132 -0.65 -121.7 11.5 -25.8 18 139 1.05 2.03 0.00 0.000 6 0.195 0.022 2365 2355 3988

479 -1.00 -121.7 74.1 -17.1 79 486 0.28 2.20 0.00 0.000 4 0.060 0.045 2245 3760 3992

505 -1.06 -121.7 80.0 -21.9 83 510 0.00 1.88 0.00 0.000 6 0.000 0.024 2246 2438 3992

850 -0.92 -121.7 147.2 -18.5 144 858 0.15 2.05 0.00 0.000 4 0.172 0.043 2276 3758 3993

1057 -0.92 -121.7 179.0 -15.3 180 1064 0.00 1.92 0.00 0.000 6 0.000 0.024 2276 2391 3993

1408 -1.05 -121.7 226.3 -15.9 241 1415 0.10 2.00 0.00 0.000 4 0.086 0.025 2231 1002 3993

1480 -1.05 -121.7 240.2 -19.5 253 1486 0.00 2.12 0.00 0.000 6 0.000 0.031 2228 2421 3994

1831 -1.05 -121.7 304.7 -14.0 312 1834 0.00 2.05 0.00 0.000 4 0.000 0.046 2219 3753 3994

2034 -0.97 -121.7 336.8 -16.0 330 2039 0.17 1.88 0.00 0.000 6 0.164 0.025 2265 2451 3994

2366 -1.12 -121.7 381.6 -15.0 361 2370 0.12 2.05 0.00 0.000 4 0.081 0.048 2208 3756 3993

2417 -1.02 -121.7 390.9 -19.0 365 2424 0.15 1.88 0.00 0.000 6 0.158 0.025 2247 2443 3994

2743 -1.07 -121.7 442.4 -16.1 396 2747 0.00 2.05 0.00 0.000 4 0.000 0.050 2246 3747 3993

2767 -1.07 -121.7 446.3 -16.1 398 2770 0.00 1.85 0.00 0.000 6 0.000 0.025 2246 2459 3993

3099 -1.15 -121.7 493.1 -13.6 429 3103 0.12 2.12 0.00 0.000 4 0.081 0.027 2193 1005 3991

3116 -1.15 -121.7 495.6 -13.0 430 3120 0.00 2.22 0.00 0.000 6 0.000 0.035 2193 2463 3991

3445 -1.06 -121.7 548.1 -16.0 447 3450 0.17 2.03 0.00 0.000 4 0.176 0.049 2236 3758 3990

3621 -1.11 -121.7 572.3 -13.0 454 3627 0.00 1.83 0.00 0.000 6 0.000 0.027 2235 2503 3988

3872 end dive: TARGET_DEPTH_EXCEEDED

state 3872 begin apogee

3881 -0.27 0.0 609.4 14.0 467 3976 0.88 0.00 91.80 1.090 6 0.163 0.000 2490 2384 3532

3977 end apogee: CONTROL_FINISHED_OK

state 3977 begin climb

3980 1.50 121.7 615.4 0.0 472 4092 1.60 2.22 98.10 1.062 4 0.071 0.030 3065 952 3035

4347 0.88 126.1 594.9 12.9 488 4357 0.77 2.17 4.75 0.742 6 0.216 0.037 2871 2365 3017

4671 0.80 166.7 563.7 10.3 503 4715 0.12 2.22 32.88 1.035 4 0.196 0.030 2845 948 2851

4768 0.90 193.4 552.8 11.3 507 4797 0.00 2.20 22.00 0.999 6 0.000 0.034 2845 2369 2743

5118 0.99 222.1 512.9 11.1 524 5149 0.15 2.28 24.33 0.997 4 0.077 0.048 2903 3761 2625

5304 0.78 222.1 482.6 15.8 536 5312 0.30 2.08 0.00 0.000 6 0.184 0.025 2833 2372 2621

5631 0.92 222.1 438.7 14.6 567 5636 0.12 2.10 0.00 0.000 4 0.084 0.031 2885 960 2619

5776 0.92 222.1 413.3 17.0 579 5782 0.00 2.12 0.00 0.000 6 0.000 0.032 2885 2360 2619

6107 0.86 222.1 355.7 16.1 610 6111 0.00 2.10 0.00 0.000 4 0.000 0.031 2885 962 2617

6367 0.86 222.1 318.7 14.0 633 6371 0.00 2.08 0.00 0.000 6 0.000 0.031 2885 2331 2617

6705 0.86 224.0 269.9 13.1 681 6711 0.00 2.05 0.00 0.000 4 0.000 0.031 2886 963 2616

6844 0.98 261.5 254.3 10.5 705 6879 0.00 2.10 30.12 0.874 6 0.000 0.031 2885 2348 2464

7219 1.04 261.5 203.5 16.4 771 7225 0.00 2.08 0.00 0.000 4 0.000 0.031 2894 964 2460

7481 1.15 261.5 159.8 15.4 817 7488 0.15 2.17 0.00 0.000 6 0.078 0.033 2954 2396 2458

7828 1.04 261.5 108.0 15.1 878 7834 0.15 2.12 0.00 0.000 4 0.178 0.046 2917 3759 2458

7883 0.97 261.5 100.0 14.9 887 7889 0.12 1.98 0.00 0.000 6 0.189 0.025 2895 2400 2458

8230 1.31 383.4 81.2 4.4 948 8330 0.25 2.28 93.65 0.725 4 0.066 0.050 3000 3751 1967

8369 1.23 383.4 61.8 20.4 971 8375 0.12 1.95 0.00 0.000 6 0.177 0.024 2980 2426 1962

8715 1.36 383.4 15.4 13.8 1032 8723 0.12 2.12 0.00 0.000 4 0.084 0.029 3036 983 1957

8800 end climb: SURFACE_DEPTH_REACHED

state 8800 begin surface coast

8818 end surface coast: CONTROL_FINISHED_OK

state 8818 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	552	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	78	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-20077.26	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	195904,2519.398,12235.494,14,3.8,33,-3.6	TGT_NAME	IN_2
_CALLS	2	TGT_LATLONG	2525.000,12225.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.73	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-70.6	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	200831,2519.481,12235.615,13,1.8,30,-3.6	MHEAD_RNG_PITCHd_Wd	348.5,20489,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	607

FINISH	1.9,1.021877	_24V_AH	23.5,96.429
SM_CCo	8841,67.75,0.641,0,0,1594,475.15	_10V_AH	10.6,50.697
SM_GC	2.90,0.00,0.00,67.75,0.000,0.000,0.641,136,2396,1594,-7.64,0.37,475.15	DATA_FILE_SIZE	56923,1050
IRIDIUM_FIX	2510.35,12233.94,171198,171720	CAP_FILE_SIZE	104527,0
TT8_MAMPS	0.029146	CFSIZE	260165632,182054912
HUMID	1793	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.35583	CURRENT	0.231,132.9,1
TCM_TEMP	24.40	GPS	230809,223837,2519.486,12236.683,34,1.2,34,-3.7
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	235	127.82	SBE_CT	709	24	400.13
Roll_motor	78	56	105.27	Optode	785	33	608.85
VBD_pump_during_apogee	397	1089	10184.30	WL_BB2F	0	105	0.00
VBD_pump_during_surface	67	641	1020.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	130.21	nil	0	0	0.00
Iridium_during_connect	133	160	500.95	nil	0	0	0.00
Iridium_during_xfer	155	223	817.45
Transponder_ping	4	420	44.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.33
TT8	1805	19	378.96
LPSleep	4590	2	106.55
TT8_Active	552	19	116.06
TT8_Sampling	1849	39	780.08
TT8_CF8	677	45	329.10
TT8_Kalman	0	81	0.00
Analog_circuits	1483	12	188.75
GPS_charging	0	0	0.00
Compass	1790	8	151.85
RAFOS	0	0	0.00
Transponder	33	30	10.55

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
16	-1.50	-121.7	0.0	0.0	0	48	0.00	0.00	-29.42	0.000	2	0.000	0.000	135	2425	2316
52	-1.50	-121.7	3.1	-1.8	5	123	8.18	2.10	-55.15	0.000	4	0.235	0.053	2087	3774	3988
132	-0.65	-121.7	11.5	-25.8	18	139	1.05	2.03	0.00	0.000	6	0.195	0.022	2365	2355	3988
479	-1.00	-121.7	74.1	-17.1	79	486	0.28	2.20	0.00	0.000	4	0.060	0.045	2245	3760	3992
505	-1.06	-121.7	80.0	-21.9	83	510	0.00	1.88	0.00	0.000	6	0.000	0.024	2246	2438	3992
850	-0.92	-121.7	147.2	-18.5	144	858	0.15	2.05	0.00	0.000	4	0.172	0.043	2276	3758	3993
1057	-0.92	-121.7	179.0	-15.3	180	1064	0.00	1.92	0.00	0.000	6	0.000	0.024	2276	2391	3993
1408	-1.05	-121.7	226.3	-15.9	241	1415	0.10	2.00	0.00	0.000	4	0.086	0.025	2231	1002	3993
1480	-1.05	-121.7	240.2	-19.5	253	1486	0.00	2.12	0.00	0.000	6	0.000	0.031	2228	2421	3994
1831	-1.05	-121.7	304.7	-14.0	312	1834	0.00	2.05	0.00	0.000	4	0.000	0.046	2219	3753	3994
2034	-0.97	-121.7	336.8	-16.0	330	2039	0.17	1.88	0.00	0.000	6	0.164	0.025	2265	2451	3994
2366	-1.12	-121.7	381.6	-15.0	361	2370	0.12	2.05	0.00	0.000	4	0.081	0.048	2208	3756	3993
2417	-1.02	-121.7	390.9	-19.0	365	2424	0.15	1.88	0.00	0.000	6	0.158	0.025	2247	2443	3994
2743	-1.07	-121.7	442.4	-16.1	396	2747	0.00	2.05	0.00	0.000	4	0.000	0.050	2246	3747	3993
2767	-1.07	-121.7	446.3	-16.1	398	2770	0.00	1.85	0.00	0.000	6	0.000	0.025	2246	2459	3993
3099	-1.15	-121.7	493.1	-13.6	429	3103	0.12	2.12	0.00	0.000	4	0.081	0.027	2193	1005	3991
3116	-1.15	-121.7	495.6	-13.0	430	3120	0.00	2.22	0.00	0.000	6	0.000	0.035	2193	2463	3991
3445	-1.06	-121.7	548.1	-16.0	447	3450	0.17	2.03	0.00	0.000	4	0.176	0.049	2236	3758	3990
3621	-1.11	-121.7	572.3	-13.0	454	3627	0.00	1.83	0.00	0.000	6	0.000	0.027	2235	2503	3988
3872	end dive: TARGET_DEPTH_EXCEEDED
state	3872	begin apogee
3881	-0.27	0.0	609.4	14.0	467	3976	0.88	0.00	91.80	1.090	6	0.163	0.000	2490	2384	3532
3977	end apogee: CONTROL_FINISHED_OK
state	3977	begin climb
3980	1.50	121.7	615.4	0.0	472	4092	1.60	2.22	98.10	1.062	4	0.071	0.030	3065	952	3035
4347	0.88	126.1	594.9	12.9	488	4357	0.77	2.17	4.75	0.742	6	0.216	0.037	2871	2365	3017
4671	0.80	166.7	563.7	10.3	503	4715	0.12	2.22	32.88	1.035	4	0.196	0.030	2845	948	2851
4768	0.90	193.4	552.8	11.3	507	4797	0.00	2.20	22.00	0.999	6	0.000	0.034	2845	2369	2743
5118	0.99	222.1	512.9	11.1	524	5149	0.15	2.28	24.33	0.997	4	0.077	0.048	2903	3761	2625
5304	0.78	222.1	482.6	15.8	536	5312	0.30	2.08	0.00	0.000	6	0.184	0.025	2833	2372	2621
5631	0.92	222.1	438.7	14.6	567	5636	0.12	2.10	0.00	0.000	4	0.084	0.031	2885	960	2619
5776	0.92	222.1	413.3	17.0	579	5782	0.00	2.12	0.00	0.000	6	0.000	0.032	2885	2360	2619
6107	0.86	222.1	355.7	16.1	610	6111	0.00	2.10	0.00	0.000	4	0.000	0.031	2885	962	2617
6367	0.86	222.1	318.7	14.0	633	6371	0.00	2.08	0.00	0.000	6	0.000	0.031	2885	2331	2617
6705	0.86	224.0	269.9	13.1	681	6711	0.00	2.05	0.00	0.000	4	0.000	0.031	2886	963	2616
6844	0.98	261.5	254.3	10.5	705	6879	0.00	2.10	30.12	0.874	6	0.000	0.031	2885	2348	2464
7219	1.04	261.5	203.5	16.4	771	7225	0.00	2.08	0.00	0.000	4	0.000	0.031	2894	964	2460
7481	1.15	261.5	159.8	15.4	817	7488	0.15	2.17	0.00	0.000	6	0.078	0.033	2954	2396	2458
7828	1.04	261.5	108.0	15.1	878	7834	0.15	2.12	0.00	0.000	4	0.178	0.046	2917	3759	2458
7883	0.97	261.5	100.0	14.9	887	7889	0.12	1.98	0.00	0.000	6	0.189	0.025	2895	2400	2458
8230	1.31	383.4	81.2	4.4	948	8330	0.25	2.28	93.65	0.725	4	0.066	0.050	3000	3751	1967
8369	1.23	383.4	61.8	20.4	971	8375	0.12	1.95	0.00	0.000	6	0.177	0.024	2980	2426	1962
8715	1.36	383.4	15.4	13.8	1032	8723	0.12	2.12	0.00	0.000	4	0.084	0.029	3036	983	1957
8800	end climb: SURFACE_DEPTH_REACHED
state	8800	begin surface coast
8818	end surface coast: CONTROL_FINISHED_OK
state	8818	begin surface