Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 582 * 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 582 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 84 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -20741.865 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 -20741.865

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 84 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 39 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 582 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 192455,2517.198,12230.593,40,1.4,40,-3.6 TGT_NAME OFF_2

_CALLS 2 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.67 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -71.8 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 193443,2517.315,12230.487,12,1.2,17,-3.6 MHEAD_RNG_PITCHd_Wd 144.2,65808,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 800

Post-dive calculations and measurements:

FINISH 1.7,1.021119 ALTIM_BOTTOM_PING 651.8,71.3

SM_CCo 9976,57.10,0.644,0,0,1594,475.15 _24V_AH 23.3,100.395

SM_GC 3.32,0.00,0.00,57.10,0.000,0.000,0.644,137,2371,1594,-7.64,-0.34,475.15 _10V_AH 10.6,52.576

IRIDIUM_FIX 2507.97,12229.37,201198,191907 DATA_FILE_SIZE 56794,1071

TT8_MAMPS 0.029146 CAP_FILE_SIZE 115256,0

HUMID 1833 CFSIZE 260165632,180412416

INTERNAL_PRESSURE 9.3363 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.20 CURRENT 0.203,144.6,1

XPDR_PINGS 0 GPS 260809,222337,2515.597,12231.676,37,1.3,37,-3.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 227 137.74 SBE_CT 724 24 404.97

Roll_motor 86 51 103.39 Optode 774 33 595.73

VBD_pump_during_apogee 413 1177 11346.62 WL_BB2F 0 105 0.00

VBD_pump_during_surface 57 643 856.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 129.36 nil 0 0 0.00

Iridium_during_connect 79 160 294.99 nil 0 0 0.00

Iridium_during_xfer 234 223 1219.00

Transponder_ping 5 420 48.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.23

TT8 1886 19 395.92

LPSleep 5505 2 127.80

TT8_Active 555 19 116.55

TT8_Sampling 1925 39 812.26

TT8_CF8 745 45 362.13

TT8_Kalman 0 81 0.00

Analog_circuits 1533 12 195.05

GPS_charging 0 0 0.00

Compass 1877 8 159.18

RAFOS 0 0 0.00

Transponder 38 30 12.19

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.50 -121.7 0.0 0.0 0 40 0.00 0.00 -21.83 0.000 2 0.000 0.000 135 2421 2140

44 -1.50 -121.7 3.1 -2.2 4 119 8.05 2.10 -59.72 0.000 4 0.228 0.037 2093 987 3988

191 -0.90 -121.7 33.4 -33.7 28 199 0.75 2.10 0.00 0.000 6 0.180 0.028 2289 2395 3990

540 -1.18 -121.7 87.8 -13.7 89 546 0.22 2.10 0.00 0.000 4 0.061 0.044 2189 3758 3992

802 -1.05 -121.7 137.8 -15.5 135 809 0.17 1.92 0.00 0.000 6 0.157 0.023 2235 2402 3994

1149 -1.19 -121.7 187.0 -17.6 196 1157 0.12 2.10 0.00 0.000 4 0.077 0.044 2179 3753 3995

1279 -1.08 -121.7 213.4 -18.7 218 1286 0.20 1.90 0.00 0.000 6 0.157 0.024 2232 2412 3994

1631 -1.28 -121.7 254.0 -10.6 279 1637 0.17 2.10 0.00 0.000 4 0.068 0.045 2153 3757 3995

1809 -1.10 -121.7 289.3 -19.4 310 1815 0.25 1.83 0.00 0.000 6 0.159 0.024 2221 2480 3994

2141 -1.28 -121.7 329.1 -11.3 347 2145 0.15 2.00 0.00 0.000 4 0.071 0.047 2159 3757 3995

2284 -1.14 -121.7 352.2 -17.4 359 2291 0.20 1.80 0.00 0.000 6 0.162 0.025 2211 2505 3994

2611 -1.31 -121.7 393.6 -12.1 390 2615 0.15 1.95 0.00 0.000 4 0.073 0.048 2149 3746 3993

2659 -1.21 -121.7 400.2 -15.4 394 2663 0.15 1.77 0.00 0.000 6 0.166 0.025 2187 2507 3992

2991 -1.32 -121.7 448.1 -15.7 425 2994 0.00 1.95 0.00 0.000 4 0.000 0.048 2187 3747 3992

3253 -1.40 -121.7 489.4 -14.9 448 3257 0.17 1.73 0.00 0.000 6 0.067 0.025 2118 2552 3990

3590 -1.26 -121.7 542.7 -14.2 467 3594 0.17 2.28 0.00 0.000 4 0.170 0.024 2169 995 3988

3629 -1.39 -121.7 548.4 -11.3 468 3637 0.00 2.33 0.00 0.000 6 0.000 0.035 2166 2515 3988

3947 -1.46 -121.7 590.5 -15.4 484 3952 0.17 1.92 0.00 0.000 4 0.074 0.051 2090 3747 3985

4175 -1.18 -121.7 638.1 -22.1 494 4179 0.40 1.70 0.00 0.000 6 0.176 0.026 2198 2579 3983

4511 -1.39 -121.7 668.5 -2.1 510 4515 0.17 1.85 0.00 0.000 4 0.073 0.051 2124 3743 3981

4539 -1.39 -121.7 670.5 -8.0 511 4543 0.00 1.70 0.00 0.000 6 0.000 0.026 2124 2574 3981

4843 end dive: BOTTOM_OBSTACLE_DETECTED

state 4843 begin apogee

4853 -0.27 0.0 702.1 15.1 526 4948 1.30 0.00 91.75 1.177 6 0.173 0.000 2489 2404 3532

4949 end apogee: CONTROL_FINISHED_OK

state 4949 begin climb

4953 1.50 121.7 710.0 0.0 531 5061 1.55 2.25 99.80 1.146 4 0.051 0.027 3070 945 3034

5209 0.80 150.1 705.3 11.1 542 5241 0.90 2.20 23.55 1.098 6 0.207 0.036 2840 2365 2919

5555 0.65 189.3 666.4 10.4 559 5598 0.20 2.30 31.75 1.112 4 0.198 0.050 2786 3755 2759

5645 0.52 189.3 655.6 14.3 563 5650 0.17 2.12 0.00 0.000 6 0.189 0.025 2751 2330 2757

5974 0.74 260.5 625.1 8.0 579 6039 0.20 2.08 57.97 1.114 4 0.078 0.028 2836 978 2469

6074 0.79 260.5 611.8 15.3 583 6078 0.00 2.17 0.00 0.000 6 0.000 0.035 2836 2365 2466

6396 0.79 260.5 557.0 18.6 599 6399 0.00 2.20 0.00 0.000 4 0.000 0.051 2836 3758 2461

6587 0.66 260.5 520.7 18.0 607 6592 0.17 2.03 0.00 0.000 6 0.191 0.025 2799 2386 2459

6918 0.75 260.5 477.0 13.6 631 6921 0.00 2.20 0.00 0.000 4 0.000 0.050 2799 3764 2458

6957 0.75 260.5 470.1 15.6 634 6963 0.00 2.05 0.00 0.000 6 0.000 0.025 2809 2356 2458

7286 0.83 260.5 416.4 16.9 665 7291 0.12 2.25 0.00 0.000 4 0.085 0.050 2861 3765 2456

7501 0.64 260.5 369.7 21.3 683 7507 0.30 1.98 0.00 0.000 6 0.186 0.025 2792 2404 2455

7827 0.83 294.5 328.5 10.7 714 7862 0.15 2.25 26.77 0.933 4 0.082 0.049 2849 3763 2329

7987 0.72 294.5 301.9 18.9 728 7991 0.17 1.95 0.00 0.000 6 0.188 0.025 2817 2436 2327

8332 0.84 294.5 251.8 15.3 788 8339 0.00 2.15 0.00 0.000 4 0.000 0.028 2825 979 2325

8382 1.02 294.5 244.6 15.0 796 8390 0.22 2.25 0.00 0.000 6 0.067 0.033 2914 2450 2324

8729 0.86 294.5 168.2 20.2 857 8735 0.17 2.08 0.00 0.000 4 0.184 0.048 2863 3771 2324

8986 0.75 294.5 120.4 16.6 902 8992 0.20 1.92 0.00 0.000 6 0.184 0.025 2821 2442 2323

9332 0.96 294.5 75.7 13.5 963 9339 0.17 2.15 0.00 0.000 4 0.073 0.028 2906 983 2323

9432 1.08 331.8 61.4 10.5 980 9469 0.00 2.22 29.45 0.716 6 0.000 0.031 2905 2450 2178

9809 1.28 398.9 20.2 8.3 1046 9868 0.20 2.15 52.58 0.667 4 0.067 0.048 2992 3764 1904

9928 end climb: SURFACE_DEPTH_REACHED

state 9931 begin surface coast

9953 end surface coast: CONTROL_FINISHED_OK

state 9953 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	582	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	84	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-20741.865	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	192455,2517.198,12230.593,40,1.4,40,-3.6	TGT_NAME	OFF_2
_CALLS	2	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.67	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-71.8	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	193443,2517.315,12230.487,12,1.2,17,-3.6	MHEAD_RNG_PITCHd_Wd	144.2,65808,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	800

FINISH	1.7,1.021119	ALTIM_BOTTOM_PING	651.8,71.3
SM_CCo	9976,57.10,0.644,0,0,1594,475.15	_24V_AH	23.3,100.395
SM_GC	3.32,0.00,0.00,57.10,0.000,0.000,0.644,137,2371,1594,-7.64,-0.34,475.15	_10V_AH	10.6,52.576
IRIDIUM_FIX	2507.97,12229.37,201198,191907	DATA_FILE_SIZE	56794,1071
TT8_MAMPS	0.029146	CAP_FILE_SIZE	115256,0
HUMID	1833	CFSIZE	260165632,180412416
INTERNAL_PRESSURE	9.3363	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.20	CURRENT	0.203,144.6,1
XPDR_PINGS	0	GPS	260809,222337,2515.597,12231.676,37,1.3,37,-3.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	227	137.74	SBE_CT	724	24	404.97
Roll_motor	86	51	103.39	Optode	774	33	595.73
VBD_pump_during_apogee	413	1177	11346.62	WL_BB2F	0	105	0.00
VBD_pump_during_surface	57	643	856.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	129.36	nil	0	0	0.00
Iridium_during_connect	79	160	294.99	nil	0	0	0.00
Iridium_during_xfer	234	223	1219.00
Transponder_ping	5	420	48.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.23
TT8	1886	19	395.92
LPSleep	5505	2	127.80
TT8_Active	555	19	116.55
TT8_Sampling	1925	39	812.26
TT8_CF8	745	45	362.13
TT8_Kalman	0	81	0.00
Analog_circuits	1533	12	195.05
GPS_charging	0	0	0.00
Compass	1877	8	159.18
RAFOS	0	0	0.00
Transponder	38	30	12.19

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.50	-121.7	0.0	0.0	0	40	0.00	0.00	-21.83	0.000	2	0.000	0.000	135	2421	2140
44	-1.50	-121.7	3.1	-2.2	4	119	8.05	2.10	-59.72	0.000	4	0.228	0.037	2093	987	3988
191	-0.90	-121.7	33.4	-33.7	28	199	0.75	2.10	0.00	0.000	6	0.180	0.028	2289	2395	3990
540	-1.18	-121.7	87.8	-13.7	89	546	0.22	2.10	0.00	0.000	4	0.061	0.044	2189	3758	3992
802	-1.05	-121.7	137.8	-15.5	135	809	0.17	1.92	0.00	0.000	6	0.157	0.023	2235	2402	3994
1149	-1.19	-121.7	187.0	-17.6	196	1157	0.12	2.10	0.00	0.000	4	0.077	0.044	2179	3753	3995
1279	-1.08	-121.7	213.4	-18.7	218	1286	0.20	1.90	0.00	0.000	6	0.157	0.024	2232	2412	3994
1631	-1.28	-121.7	254.0	-10.6	279	1637	0.17	2.10	0.00	0.000	4	0.068	0.045	2153	3757	3995
1809	-1.10	-121.7	289.3	-19.4	310	1815	0.25	1.83	0.00	0.000	6	0.159	0.024	2221	2480	3994
2141	-1.28	-121.7	329.1	-11.3	347	2145	0.15	2.00	0.00	0.000	4	0.071	0.047	2159	3757	3995
2284	-1.14	-121.7	352.2	-17.4	359	2291	0.20	1.80	0.00	0.000	6	0.162	0.025	2211	2505	3994
2611	-1.31	-121.7	393.6	-12.1	390	2615	0.15	1.95	0.00	0.000	4	0.073	0.048	2149	3746	3993
2659	-1.21	-121.7	400.2	-15.4	394	2663	0.15	1.77	0.00	0.000	6	0.166	0.025	2187	2507	3992
2991	-1.32	-121.7	448.1	-15.7	425	2994	0.00	1.95	0.00	0.000	4	0.000	0.048	2187	3747	3992
3253	-1.40	-121.7	489.4	-14.9	448	3257	0.17	1.73	0.00	0.000	6	0.067	0.025	2118	2552	3990
3590	-1.26	-121.7	542.7	-14.2	467	3594	0.17	2.28	0.00	0.000	4	0.170	0.024	2169	995	3988
3629	-1.39	-121.7	548.4	-11.3	468	3637	0.00	2.33	0.00	0.000	6	0.000	0.035	2166	2515	3988
3947	-1.46	-121.7	590.5	-15.4	484	3952	0.17	1.92	0.00	0.000	4	0.074	0.051	2090	3747	3985
4175	-1.18	-121.7	638.1	-22.1	494	4179	0.40	1.70	0.00	0.000	6	0.176	0.026	2198	2579	3983
4511	-1.39	-121.7	668.5	-2.1	510	4515	0.17	1.85	0.00	0.000	4	0.073	0.051	2124	3743	3981
4539	-1.39	-121.7	670.5	-8.0	511	4543	0.00	1.70	0.00	0.000	6	0.000	0.026	2124	2574	3981
4843	end dive: BOTTOM_OBSTACLE_DETECTED
state	4843	begin apogee
4853	-0.27	0.0	702.1	15.1	526	4948	1.30	0.00	91.75	1.177	6	0.173	0.000	2489	2404	3532
4949	end apogee: CONTROL_FINISHED_OK
state	4949	begin climb
4953	1.50	121.7	710.0	0.0	531	5061	1.55	2.25	99.80	1.146	4	0.051	0.027	3070	945	3034
5209	0.80	150.1	705.3	11.1	542	5241	0.90	2.20	23.55	1.098	6	0.207	0.036	2840	2365	2919
5555	0.65	189.3	666.4	10.4	559	5598	0.20	2.30	31.75	1.112	4	0.198	0.050	2786	3755	2759
5645	0.52	189.3	655.6	14.3	563	5650	0.17	2.12	0.00	0.000	6	0.189	0.025	2751	2330	2757
5974	0.74	260.5	625.1	8.0	579	6039	0.20	2.08	57.97	1.114	4	0.078	0.028	2836	978	2469
6074	0.79	260.5	611.8	15.3	583	6078	0.00	2.17	0.00	0.000	6	0.000	0.035	2836	2365	2466
6396	0.79	260.5	557.0	18.6	599	6399	0.00	2.20	0.00	0.000	4	0.000	0.051	2836	3758	2461
6587	0.66	260.5	520.7	18.0	607	6592	0.17	2.03	0.00	0.000	6	0.191	0.025	2799	2386	2459
6918	0.75	260.5	477.0	13.6	631	6921	0.00	2.20	0.00	0.000	4	0.000	0.050	2799	3764	2458
6957	0.75	260.5	470.1	15.6	634	6963	0.00	2.05	0.00	0.000	6	0.000	0.025	2809	2356	2458
7286	0.83	260.5	416.4	16.9	665	7291	0.12	2.25	0.00	0.000	4	0.085	0.050	2861	3765	2456
7501	0.64	260.5	369.7	21.3	683	7507	0.30	1.98	0.00	0.000	6	0.186	0.025	2792	2404	2455
7827	0.83	294.5	328.5	10.7	714	7862	0.15	2.25	26.77	0.933	4	0.082	0.049	2849	3763	2329
7987	0.72	294.5	301.9	18.9	728	7991	0.17	1.95	0.00	0.000	6	0.188	0.025	2817	2436	2327
8332	0.84	294.5	251.8	15.3	788	8339	0.00	2.15	0.00	0.000	4	0.000	0.028	2825	979	2325
8382	1.02	294.5	244.6	15.0	796	8390	0.22	2.25	0.00	0.000	6	0.067	0.033	2914	2450	2324
8729	0.86	294.5	168.2	20.2	857	8735	0.17	2.08	0.00	0.000	4	0.184	0.048	2863	3771	2324
8986	0.75	294.5	120.4	16.6	902	8992	0.20	1.92	0.00	0.000	6	0.184	0.025	2821	2442	2323
9332	0.96	294.5	75.7	13.5	963	9339	0.17	2.15	0.00	0.000	4	0.073	0.028	2906	983	2323
9432	1.08	331.8	61.4	10.5	980	9469	0.00	2.22	29.45	0.716	6	0.000	0.031	2905	2450	2178
9809	1.28	398.9	20.2	8.3	1046	9868	0.20	2.15	52.58	0.667	4	0.067	0.048	2992	3764	1904
9928	end climb: SURFACE_DEPTH_REACHED
state	9931	begin surface coast
9953	end surface coast: CONTROL_FINISHED_OK
state	9953	begin surface