Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 641 * 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 641 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 95 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 -2 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 -21934.363 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 -21934.363

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 -2

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 95 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 45 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 641 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 194507,2538.499,12251.745,39,1.1,39,-3.8 TGT_NAME OFF_4

_CALLS 2 TGT_LATLONG 2506.900,12323.900

_XMS_NAKs 6 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.68 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -64.9 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 195444,2538.698,12251.757,11,1.1,11,-3.8 MHEAD_RNG_PITCHd_Wd 96.3,79833,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 737

Post-dive calculations and measurements:

FINISH 1.8,1.021377 _24V_AH 23.4,109.876

SM_CCo 11031,0.00,0.000,0,0,1582,478.09 _10V_AH 10.6,57.289

SM_GC 2.61,7.82,0.00,0.00,0.049,0.000,0.000,143,2359,1582,-7.60,-0.68,478.09 DATA_FILE_SIZE 63154,1177

IRIDIUM_FIX 2529.44,12253.02,291198,191919 CAP_FILE_SIZE 120367,0

TT8_MAMPS 0.029146 CFSIZE 260165632,176132096

HUMID 1856 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.40466 CURRENT 0.291,273.7,1

TCM_TEMP 24.80 GPS 040909,230006,2538.674,12251.067,32,1.1,32,-3.8

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 232 138.54 SBE_CT 793 24 445.80

Roll_motor 76 49 88.98 Optode 863 33 666.92

VBD_pump_during_apogee 472 1216 13449.81 WL_BB2F 0 105 0.00

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 60 103 144.61 nil 0 0 0.00

Iridium_during_connect 66 160 250.10 nil 0 0 0.00

Iridium_during_xfer 238 223 1245.95

Transponder_ping 8 420 78.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.20

TT8 2021 19 424.18

LPSleep 6189 2 143.69

TT8_Active 553 19 116.16

TT8_Sampling 2055 39 867.06

TT8_CF8 785 45 381.31

TT8_Kalman 0 81 0.00

Analog_circuits 1589 12 202.15

GPS_charging 0 0 0.00

Compass 2015 8 170.90

RAFOS 0 0 0.00

Transponder 40 30 12.96

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -1.50 -121.7 0.0 0.0 0 49 0.00 0.00 -27.90 0.000 2 0.000 0.000 138 2423 2245

54 -1.50 -121.7 3.3 -2.8 5 125 8.12 2.12 -54.70 0.000 4 0.232 0.036 2093 1002 3989

193 -0.77 -121.7 43.4 -53.3 28 200 0.88 2.08 0.00 0.000 6 0.182 0.032 2322 2385 3991

542 -1.11 -121.7 90.9 -10.9 89 548 0.25 2.00 0.00 0.000 4 0.057 0.022 2210 1000 3994

754 -1.17 -121.7 130.9 -15.4 126 760 0.00 2.08 0.00 0.000 6 0.000 0.030 2205 2397 3995

1102 -1.10 -121.7 183.2 -16.3 187 1109 0.00 2.08 0.00 0.000 4 0.000 0.045 2204 3754 3996

1254 -1.00 -121.7 210.0 -19.0 213 1261 0.17 1.90 0.00 0.000 6 0.154 0.021 2252 2388 3996

1604 -1.20 -121.7 260.4 -15.2 274 1610 0.17 2.12 0.00 0.000 4 0.066 0.044 2167 3757 3996

1766 -1.02 -121.7 296.1 -21.4 302 1772 0.30 1.85 0.00 0.000 6 0.159 0.023 2251 2447 3996

2094 -1.29 -121.7 339.6 -10.3 334 2098 0.20 2.05 0.00 0.000 4 0.064 0.046 2162 3761 3995

2159 -1.13 -121.7 349.8 -18.3 339 2168 0.20 1.85 0.00 0.000 6 0.160 0.022 2215 2449 3995

2485 -1.25 -121.7 395.7 -14.0 370 2489 0.12 2.05 0.00 0.000 4 0.077 0.045 2162 3763 3993

2604 -1.14 -121.7 416.6 -18.5 380 2611 0.17 1.80 0.00 0.000 6 0.162 0.023 2208 2493 3993

2932 -1.27 -121.7 464.5 -15.0 411 2936 0.12 1.98 0.00 0.000 4 0.080 0.047 2152 3753 3991

3075 -1.18 -121.7 490.2 -16.8 423 3083 0.17 1.77 0.00 0.000 6 0.160 0.025 2197 2512 3990

3398 -1.31 -121.7 531.8 -12.9 442 3403 0.12 1.95 0.00 0.000 4 0.081 0.048 2149 3753 3988

3455 -1.23 -121.7 541.4 -16.6 444 3459 0.12 1.77 0.00 0.000 6 0.170 0.024 2178 2512 3987

3782 -1.30 -121.7 585.2 -11.2 460 3786 0.00 1.95 0.00 0.000 4 0.000 0.048 2179 3755 3985

3834 -1.35 -121.7 592.5 -12.8 462 3838 0.00 1.75 0.00 0.000 6 0.000 0.024 2178 2530 3984

4163 -1.45 -121.7 632.3 -11.9 478 4167 0.17 1.92 0.00 0.000 4 0.077 0.048 2100 3751 3981

4319 -1.23 -121.7 659.4 -19.4 484 4325 0.30 1.73 0.00 0.000 6 0.171 0.025 2180 2551 3980

4637 -1.35 -121.7 698.6 -11.7 500 4640 0.00 1.90 0.00 0.000 4 0.000 0.049 2179 3757 3978

4718 -1.45 -121.7 709.2 -12.6 503 4723 0.20 1.70 0.00 0.000 6 0.071 0.025 2103 2580 3977

4893 end dive: TARGET_DEPTH_EXCEEDED

state 4893 begin apogee

4902 -0.27 0.0 740.0 18.2 512 4996 1.38 0.00 90.90 1.216 6 0.170 0.000 2490 2423 3532

4997 end apogee: CONTROL_FINISHED_OK

state 4997 begin climb

5002 1.50 121.7 744.3 0.0 517 5111 1.55 2.20 100.10 1.177 4 0.050 0.026 3072 999 3034

5366 0.75 121.7 717.8 14.8 533 5371 0.98 2.10 0.00 0.000 6 0.215 0.035 2826 2372 3030

5689 0.63 168.4 685.9 9.8 549 5729 0.15 0.00 37.60 1.154 6 0.196 0.000 2789 2372 2844

6039 0.67 198.8 648.1 11.0 566 6065 0.00 0.00 24.80 1.120 6 0.000 0.000 2790 2372 2721

6367 0.74 214.8 608.9 12.0 582 6388 0.00 2.22 14.12 1.067 4 0.000 0.050 2790 3743 2655

6594 0.74 214.8 573.0 17.0 592 6598 0.00 1.98 0.00 0.000 6 0.000 0.025 2797 2393 2652

6928 0.79 214.8 525.7 14.3 608 6930 0.12 0.00 0.00 0.000 6 0.082 0.000 2847 2390 2651

7241 0.72 214.8 472.2 17.3 630 7243 0.15 0.00 0.00 0.000 6 0.179 0.000 2810 2390 2649

7564 0.76 214.8 422.0 16.0 660 7568 0.00 2.15 0.00 0.000 4 0.000 0.048 2810 3749 2648

7825 0.68 214.8 377.5 15.8 683 7828 0.00 2.00 0.00 0.000 6 0.000 0.024 2817 2366 2648

8160 0.74 221.7 336.0 12.7 714 8171 0.00 2.20 5.38 0.776 4 0.000 0.046 2817 3755 2629

8427 0.67 221.7 296.3 15.2 739 8434 0.00 2.00 0.00 0.000 6 0.000 0.024 2827 2372 2629

8775 0.69 233.4 251.6 12.3 800 8792 0.00 2.08 11.18 0.844 4 0.000 0.028 2831 982 2579

8910 0.82 249.7 235.2 12.0 823 8929 0.00 2.08 13.95 0.838 6 0.000 0.029 2831 2356 2513

9271 0.91 249.7 187.6 14.9 886 9277 0.12 2.20 0.00 0.000 4 0.075 0.048 2884 3759 2511

9523 0.72 249.7 139.9 17.9 930 9530 0.30 2.00 0.00 0.000 6 0.180 0.024 2815 2368 2510

9872 0.90 250.8 105.5 13.1 991 9879 0.15 2.20 0.00 0.000 4 0.076 0.045 2877 3764 2510

9938 0.73 250.8 93.4 20.6 1002 9944 0.25 2.00 0.00 0.000 6 0.178 0.023 2822 2366 2510

10286 1.10 342.4 54.6 6.6 1063 10364 0.28 2.30 72.15 0.715 4 0.061 0.045 2936 3751 2135

10463 1.04 342.4 42.9 14.4 1093 10470 0.12 2.00 0.00 0.000 6 0.183 0.022 2917 2366 2129

10813 1.41 476.2 15.5 3.5 1154 10923 0.28 0.00 102.32 0.646 6 0.061 0.000 3028 2364 1588

10926 end climb: SURFACE_DEPTH_REACHED

state 10927 begin surface coast

10949 end surface coast: CONTROL_FINISHED_OK

state 10949 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	641	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	95	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	-2	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	-21934.363	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	194507,2538.499,12251.745,39,1.1,39,-3.8	TGT_NAME	OFF_4
_CALLS	2	TGT_LATLONG	2506.900,12323.900
_XMS_NAKs	6	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.68	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-64.9	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	195444,2538.698,12251.757,11,1.1,11,-3.8	MHEAD_RNG_PITCHd_Wd	96.3,79833,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	737

FINISH	1.8,1.021377	_24V_AH	23.4,109.876
SM_CCo	11031,0.00,0.000,0,0,1582,478.09	_10V_AH	10.6,57.289
SM_GC	2.61,7.82,0.00,0.00,0.049,0.000,0.000,143,2359,1582,-7.60,-0.68,478.09	DATA_FILE_SIZE	63154,1177
IRIDIUM_FIX	2529.44,12253.02,291198,191919	CAP_FILE_SIZE	120367,0
TT8_MAMPS	0.029146	CFSIZE	260165632,176132096
HUMID	1856	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.40466	CURRENT	0.291,273.7,1
TCM_TEMP	24.80	GPS	040909,230006,2538.674,12251.067,32,1.1,32,-3.8
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	232	138.54	SBE_CT	793	24	445.80
Roll_motor	76	49	88.98	Optode	863	33	666.92
VBD_pump_during_apogee	472	1216	13449.81	WL_BB2F	0	105	0.00
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	60	103	144.61	nil	0	0	0.00
Iridium_during_connect	66	160	250.10	nil	0	0	0.00
Iridium_during_xfer	238	223	1245.95
Transponder_ping	8	420	78.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.20
TT8	2021	19	424.18
LPSleep	6189	2	143.69
TT8_Active	553	19	116.16
TT8_Sampling	2055	39	867.06
TT8_CF8	785	45	381.31
TT8_Kalman	0	81	0.00
Analog_circuits	1589	12	202.15
GPS_charging	0	0	0.00
Compass	2015	8	170.90
RAFOS	0	0	0.00
Transponder	40	30	12.96

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-1.50	-121.7	0.0	0.0	0	49	0.00	0.00	-27.90	0.000	2	0.000	0.000	138	2423	2245
54	-1.50	-121.7	3.3	-2.8	5	125	8.12	2.12	-54.70	0.000	4	0.232	0.036	2093	1002	3989
193	-0.77	-121.7	43.4	-53.3	28	200	0.88	2.08	0.00	0.000	6	0.182	0.032	2322	2385	3991
542	-1.11	-121.7	90.9	-10.9	89	548	0.25	2.00	0.00	0.000	4	0.057	0.022	2210	1000	3994
754	-1.17	-121.7	130.9	-15.4	126	760	0.00	2.08	0.00	0.000	6	0.000	0.030	2205	2397	3995
1102	-1.10	-121.7	183.2	-16.3	187	1109	0.00	2.08	0.00	0.000	4	0.000	0.045	2204	3754	3996
1254	-1.00	-121.7	210.0	-19.0	213	1261	0.17	1.90	0.00	0.000	6	0.154	0.021	2252	2388	3996
1604	-1.20	-121.7	260.4	-15.2	274	1610	0.17	2.12	0.00	0.000	4	0.066	0.044	2167	3757	3996
1766	-1.02	-121.7	296.1	-21.4	302	1772	0.30	1.85	0.00	0.000	6	0.159	0.023	2251	2447	3996
2094	-1.29	-121.7	339.6	-10.3	334	2098	0.20	2.05	0.00	0.000	4	0.064	0.046	2162	3761	3995
2159	-1.13	-121.7	349.8	-18.3	339	2168	0.20	1.85	0.00	0.000	6	0.160	0.022	2215	2449	3995
2485	-1.25	-121.7	395.7	-14.0	370	2489	0.12	2.05	0.00	0.000	4	0.077	0.045	2162	3763	3993
2604	-1.14	-121.7	416.6	-18.5	380	2611	0.17	1.80	0.00	0.000	6	0.162	0.023	2208	2493	3993
2932	-1.27	-121.7	464.5	-15.0	411	2936	0.12	1.98	0.00	0.000	4	0.080	0.047	2152	3753	3991
3075	-1.18	-121.7	490.2	-16.8	423	3083	0.17	1.77	0.00	0.000	6	0.160	0.025	2197	2512	3990
3398	-1.31	-121.7	531.8	-12.9	442	3403	0.12	1.95	0.00	0.000	4	0.081	0.048	2149	3753	3988
3455	-1.23	-121.7	541.4	-16.6	444	3459	0.12	1.77	0.00	0.000	6	0.170	0.024	2178	2512	3987
3782	-1.30	-121.7	585.2	-11.2	460	3786	0.00	1.95	0.00	0.000	4	0.000	0.048	2179	3755	3985
3834	-1.35	-121.7	592.5	-12.8	462	3838	0.00	1.75	0.00	0.000	6	0.000	0.024	2178	2530	3984
4163	-1.45	-121.7	632.3	-11.9	478	4167	0.17	1.92	0.00	0.000	4	0.077	0.048	2100	3751	3981
4319	-1.23	-121.7	659.4	-19.4	484	4325	0.30	1.73	0.00	0.000	6	0.171	0.025	2180	2551	3980
4637	-1.35	-121.7	698.6	-11.7	500	4640	0.00	1.90	0.00	0.000	4	0.000	0.049	2179	3757	3978
4718	-1.45	-121.7	709.2	-12.6	503	4723	0.20	1.70	0.00	0.000	6	0.071	0.025	2103	2580	3977
4893	end dive: TARGET_DEPTH_EXCEEDED
state	4893	begin apogee
4902	-0.27	0.0	740.0	18.2	512	4996	1.38	0.00	90.90	1.216	6	0.170	0.000	2490	2423	3532
4997	end apogee: CONTROL_FINISHED_OK
state	4997	begin climb
5002	1.50	121.7	744.3	0.0	517	5111	1.55	2.20	100.10	1.177	4	0.050	0.026	3072	999	3034
5366	0.75	121.7	717.8	14.8	533	5371	0.98	2.10	0.00	0.000	6	0.215	0.035	2826	2372	3030
5689	0.63	168.4	685.9	9.8	549	5729	0.15	0.00	37.60	1.154	6	0.196	0.000	2789	2372	2844
6039	0.67	198.8	648.1	11.0	566	6065	0.00	0.00	24.80	1.120	6	0.000	0.000	2790	2372	2721
6367	0.74	214.8	608.9	12.0	582	6388	0.00	2.22	14.12	1.067	4	0.000	0.050	2790	3743	2655
6594	0.74	214.8	573.0	17.0	592	6598	0.00	1.98	0.00	0.000	6	0.000	0.025	2797	2393	2652
6928	0.79	214.8	525.7	14.3	608	6930	0.12	0.00	0.00	0.000	6	0.082	0.000	2847	2390	2651
7241	0.72	214.8	472.2	17.3	630	7243	0.15	0.00	0.00	0.000	6	0.179	0.000	2810	2390	2649
7564	0.76	214.8	422.0	16.0	660	7568	0.00	2.15	0.00	0.000	4	0.000	0.048	2810	3749	2648
7825	0.68	214.8	377.5	15.8	683	7828	0.00	2.00	0.00	0.000	6	0.000	0.024	2817	2366	2648
8160	0.74	221.7	336.0	12.7	714	8171	0.00	2.20	5.38	0.776	4	0.000	0.046	2817	3755	2629
8427	0.67	221.7	296.3	15.2	739	8434	0.00	2.00	0.00	0.000	6	0.000	0.024	2827	2372	2629
8775	0.69	233.4	251.6	12.3	800	8792	0.00	2.08	11.18	0.844	4	0.000	0.028	2831	982	2579
8910	0.82	249.7	235.2	12.0	823	8929	0.00	2.08	13.95	0.838	6	0.000	0.029	2831	2356	2513
9271	0.91	249.7	187.6	14.9	886	9277	0.12	2.20	0.00	0.000	4	0.075	0.048	2884	3759	2511
9523	0.72	249.7	139.9	17.9	930	9530	0.30	2.00	0.00	0.000	6	0.180	0.024	2815	2368	2510
9872	0.90	250.8	105.5	13.1	991	9879	0.15	2.20	0.00	0.000	4	0.076	0.045	2877	3764	2510
9938	0.73	250.8	93.4	20.6	1002	9944	0.25	2.00	0.00	0.000	6	0.178	0.023	2822	2366	2510
10286	1.10	342.4	54.6	6.6	1063	10364	0.28	2.30	72.15	0.715	4	0.061	0.045	2936	3751	2135
10463	1.04	342.4	42.9	14.4	1093	10470	0.12	2.00	0.00	0.000	6	0.183	0.022	2917	2366	2129
10813	1.41	476.2	15.5	3.5	1154	10923	0.28	0.00	102.32	0.646	6	0.061	0.000	3028	2364	1588
10926	end climb: SURFACE_DEPTH_REACHED
state	10927	begin surface coast
10949	end surface coast: CONTROL_FINISHED_OK
state	10949	begin surface