Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 655 * 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 655 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 82 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -22208.922 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 -22208.922

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 82 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 37 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 655 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 183825,2526.309,12251.979,41,1.1,41,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2456.800,12305.400

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.75 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -69.7 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 184556,2526.535,12252.155,14,1.1,14,-3.7 MHEAD_RNG_PITCHd_Wd 179.3,59391,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 887

Post-dive calculations and measurements:

FINISH 1.8,1.021357 ALTIM_BOTTOM_PING 826.2,74.1

SM_CCo 12130,52.78,0.634,0,0,1594,475.15 _24V_AH 23.2,112.089

SM_GC 3.18,0.00,0.00,52.78,0.000,0.000,0.634,141,2359,1594,-7.62,-0.68,475.15 _10V_AH 10.5,58.357

IRIDIUM_FIX 2519.89,12250.42,011298,151545 DATA_FILE_SIZE 63255,1181

TT8_MAMPS 0.029146 CAP_FILE_SIZE 135762,0

HUMID 1831 CFSIZE 260165632,175144960

INTERNAL_PRESSURE 9.38513 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.00 CURRENT 0.107, 95.3,1

XPDR_PINGS 2 GPS 060909,221036,2525.013,12252.979,33,1.2,33,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 232 146.79 SBE_CT 799 24 445.42

Roll_motor 99 51 118.75 Optode 834 33 638.86

VBD_pump_during_apogee 429 1322 13176.01 WL_BB2F 0 105 0.00

VBD_pump_during_surface 52 634 776.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 54.18 nil 0 0 0.00

Iridium_during_connect 36 160 135.74 nil 0 0 0.00

Iridium_during_xfer 216 223 1121.94

Transponder_ping 7 420 70.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.70

TT8 2118 19 440.35

LPSleep 6978 2 160.48

TT8_Active 566 19 117.77

TT8_Sampling 2215 39 925.89

TT8_CF8 749 45 360.34

TT8_Kalman 0 81 0.00

Analog_circuits 1691 12 213.07

GPS_charging 0 0 0.00

Compass 2161 8 181.57

RAFOS 0 0 0.00

Transponder 47 30 14.92

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 45 0.00 0.00 -27.45 0.000 2 0.000 0.000 143 2470 2275

51 -1.50 -121.7 3.3 -2.0 4 117 8.10 2.17 -49.62 0.000 4 0.232 0.035 2094 989 3989

232 -1.11 -121.7 60.4 -31.7 35 239 0.50 2.12 0.00 0.000 6 0.166 0.033 2222 2396 3991

580 -1.11 -121.7 127.1 -16.3 96 586 0.00 2.10 0.00 0.000 4 0.000 0.044 2216 3764 3994

639 -1.04 -121.7 137.1 -17.5 106 647 0.12 1.95 0.00 0.000 6 0.163 0.022 2247 2375 3995

989 -1.20 -121.7 185.3 -13.3 167 995 0.17 2.15 0.00 0.000 4 0.067 0.044 2166 3750 3996

1163 -0.97 -121.7 226.2 -23.9 197 1170 0.35 1.85 0.00 0.000 6 0.160 0.022 2263 2431 3996

1511 -1.24 -121.7 266.2 -9.5 258 1519 0.20 2.08 0.00 0.000 4 0.065 0.046 2175 3756 3997

1648 -1.09 -121.7 289.1 -17.3 281 1655 0.20 1.85 0.00 0.000 6 0.163 0.022 2228 2441 3997

1985 -1.28 -121.7 334.7 -11.5 318 1989 0.17 2.05 0.00 0.000 4 0.067 0.046 2150 3750 3997

2090 -1.10 -121.7 353.1 -21.0 327 2094 0.22 1.83 0.00 0.000 6 0.160 0.023 2226 2489 3997

2423 -1.33 -121.7 398.0 -11.5 358 2427 0.20 1.98 0.00 0.000 4 0.067 0.046 2139 3750 3995

2527 -1.16 -121.7 416.5 -19.7 367 2531 0.25 1.75 0.00 0.000 6 0.163 0.024 2206 2525 3995

2859 -1.32 -121.7 465.7 -16.0 398 2864 0.15 1.92 0.00 0.000 4 0.073 0.047 2140 3749 3994

2979 -1.12 -121.7 491.7 -24.2 408 2985 0.28 1.75 0.00 0.000 6 0.168 0.024 2213 2526 3993

3300 -1.35 -121.7 542.5 -14.4 426 3304 0.17 1.95 0.00 0.000 4 0.071 0.048 2138 3760 3992

3456 -1.22 -121.7 571.7 -19.3 432 3463 0.17 1.73 0.00 0.000 6 0.166 0.024 2182 2549 3990

3773 -1.33 -121.7 621.7 -14.5 448 3777 0.00 1.90 0.00 0.000 4 0.000 0.050 2179 3749 3988

3854 -1.38 -121.7 634.4 -16.1 451 3858 0.12 1.67 0.00 0.000 6 0.081 0.025 2130 2584 3987

4177 -1.30 -121.7 696.1 -17.9 467 4181 0.12 1.85 0.00 0.000 4 0.173 0.048 2153 3751 3985

4257 -1.25 -121.7 710.4 -17.1 470 4260 0.00 1.67 0.00 0.000 6 0.000 0.025 2152 2583 3984

4579 -1.25 -121.7 760.5 -15.6 486 4583 0.00 1.88 0.00 0.000 4 0.000 0.051 2152 3743 3982

4747 -1.19 -121.7 788.7 -17.4 493 4751 0.17 1.62 0.00 0.000 6 0.171 0.027 2195 2627 3980

5079 -1.40 -121.7 830.9 -11.7 509 5083 0.17 1.80 0.00 0.000 4 0.077 0.051 2125 3753 3978

5204 -1.29 -121.7 851.6 -17.7 514 5208 0.15 1.60 0.00 0.000 6 0.172 0.027 2161 2652 3977

5379 end dive: BOTTOM_OBSTACLE_DETECTED

state 5379 begin apogee

5388 -0.27 0.0 877.3 14.2 523 5485 1.12 0.00 93.05 1.322 6 0.157 0.000 2487 2392 3532

5485 end apogee: CONTROL_FINISHED_OK

state 5486 begin climb

5491 1.50 121.7 880.8 0.0 528 5602 1.58 2.28 102.78 1.284 4 0.051 0.025 3072 964 3035

5857 0.74 121.7 855.4 15.4 544 5863 0.98 2.15 0.00 0.000 6 0.214 0.032 2826 2366 3031

6175 0.60 164.2 823.0 10.1 559 6218 0.20 2.20 35.10 1.248 4 0.196 0.029 2776 958 2861

6343 0.73 199.7 805.4 10.6 566 6380 0.12 2.17 30.00 1.223 6 0.088 0.032 2825 2371 2716

6712 0.66 199.7 752.8 14.6 584 6717 0.12 2.20 0.00 0.000 4 0.192 0.048 2796 3764 2711

6894 0.53 199.7 724.6 17.1 592 6899 0.20 2.08 0.00 0.000 6 0.189 0.025 2753 2358 2710

7222 0.71 213.7 685.3 12.2 608 7243 0.15 2.12 11.95 1.122 4 0.082 0.029 2817 979 2659

7309 0.71 213.7 673.5 14.6 611 7315 0.00 2.17 0.00 0.000 6 0.000 0.034 2817 2394 2658

7626 0.71 213.7 626.1 14.1 627 7629 0.00 2.15 0.00 0.000 4 0.000 0.051 2816 3754 2656

7745 0.56 213.7 605.0 18.8 632 7749 0.25 2.03 0.00 0.000 6 0.188 0.025 2762 2366 2656

8067 0.77 251.8 565.7 10.4 648 8103 0.17 2.28 30.90 1.123 4 0.077 0.048 2835 3760 2506

8200 0.63 251.8 543.2 18.7 653 8205 0.25 2.00 0.00 0.000 6 0.188 0.025 2781 2406 2503

8528 0.80 266.0 503.6 12.2 669 8550 0.15 2.22 13.10 1.029 4 0.079 0.051 2837 3758 2446

8556 0.80 266.0 498.7 17.4 670 8560 0.00 2.00 0.00 0.000 6 0.000 0.025 2845 2409 2446

8889 0.80 266.0 442.0 16.2 700 8893 0.00 2.15 0.00 0.000 4 0.000 0.048 2845 3763 2444

9087 0.67 266.0 408.9 16.0 717 9093 0.22 1.98 0.00 0.000 6 0.186 0.026 2796 2413 2443

9413 0.85 272.9 371.8 12.7 748 9422 0.17 0.00 6.65 0.854 6 0.076 0.000 2864 2411 2419

9741 0.85 272.9 318.9 16.2 779 9745 0.00 2.12 0.00 0.000 4 0.000 0.049 2864 3751 2417

9920 0.69 272.9 286.9 19.4 800 9927 0.28 1.90 0.00 0.000 6 0.183 0.025 2802 2439 2416

10268 0.87 272.9 238.6 13.7 861 10275 0.17 2.10 0.00 0.000 4 0.073 0.048 2878 3754 2417

10329 0.69 272.9 228.1 18.9 871 10336 0.30 1.90 0.00 0.000 6 0.183 0.025 2807 2439 2417

10677 0.89 281.7 184.2 12.6 932 10696 0.17 2.15 8.85 0.768 4 0.076 0.049 2881 3756 2382

10834 0.76 281.7 156.8 18.5 959 10841 0.25 1.85 0.00 0.000 6 0.183 0.023 2826 2463 2382

11182 1.01 340.5 120.3 8.9 1020 11236 0.20 2.08 47.17 0.771 4 0.071 0.047 2911 3758 2143

11388 0.94 340.5 86.2 21.8 1055 11395 0.15 1.83 0.00 0.000 6 0.183 0.022 2884 2487 2138

11736 1.24 404.0 52.7 8.6 1116 11794 0.22 2.08 49.95 0.690 4 0.067 0.048 2980 3751 1883

11996 1.18 404.0 15.8 14.0 1161 12002 0.00 1.73 0.00 0.000 6 0.000 0.022 2990 2526 1878

12084 end climb: SURFACE_DEPTH_REACHED

state 12084 begin surface coast

12108 end surface coast: CONTROL_FINISHED_OK

state 12108 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	655	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	82	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-22208.922	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	183825,2526.309,12251.979,41,1.1,41,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2456.800,12305.400
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.75	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-69.7	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	184556,2526.535,12252.155,14,1.1,14,-3.7	MHEAD_RNG_PITCHd_Wd	179.3,59391,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	887

FINISH	1.8,1.021357	ALTIM_BOTTOM_PING	826.2,74.1
SM_CCo	12130,52.78,0.634,0,0,1594,475.15	_24V_AH	23.2,112.089
SM_GC	3.18,0.00,0.00,52.78,0.000,0.000,0.634,141,2359,1594,-7.62,-0.68,475.15	_10V_AH	10.5,58.357
IRIDIUM_FIX	2519.89,12250.42,011298,151545	DATA_FILE_SIZE	63255,1181
TT8_MAMPS	0.029146	CAP_FILE_SIZE	135762,0
HUMID	1831	CFSIZE	260165632,175144960
INTERNAL_PRESSURE	9.38513	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.00	CURRENT	0.107, 95.3,1
XPDR_PINGS	2	GPS	060909,221036,2525.013,12252.979,33,1.2,33,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	232	146.79	SBE_CT	799	24	445.42
Roll_motor	99	51	118.75	Optode	834	33	638.86
VBD_pump_during_apogee	429	1322	13176.01	WL_BB2F	0	105	0.00
VBD_pump_during_surface	52	634	776.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	54.18	nil	0	0	0.00
Iridium_during_connect	36	160	135.74	nil	0	0	0.00
Iridium_during_xfer	216	223	1121.94
Transponder_ping	7	420	70.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.70
TT8	2118	19	440.35
LPSleep	6978	2	160.48
TT8_Active	566	19	117.77
TT8_Sampling	2215	39	925.89
TT8_CF8	749	45	360.34
TT8_Kalman	0	81	0.00
Analog_circuits	1691	12	213.07
GPS_charging	0	0	0.00
Compass	2161	8	181.57
RAFOS	0	0	0.00
Transponder	47	30	14.92

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	45	0.00	0.00	-27.45	0.000	2	0.000	0.000	143	2470	2275
51	-1.50	-121.7	3.3	-2.0	4	117	8.10	2.17	-49.62	0.000	4	0.232	0.035	2094	989	3989
232	-1.11	-121.7	60.4	-31.7	35	239	0.50	2.12	0.00	0.000	6	0.166	0.033	2222	2396	3991
580	-1.11	-121.7	127.1	-16.3	96	586	0.00	2.10	0.00	0.000	4	0.000	0.044	2216	3764	3994
639	-1.04	-121.7	137.1	-17.5	106	647	0.12	1.95	0.00	0.000	6	0.163	0.022	2247	2375	3995
989	-1.20	-121.7	185.3	-13.3	167	995	0.17	2.15	0.00	0.000	4	0.067	0.044	2166	3750	3996
1163	-0.97	-121.7	226.2	-23.9	197	1170	0.35	1.85	0.00	0.000	6	0.160	0.022	2263	2431	3996
1511	-1.24	-121.7	266.2	-9.5	258	1519	0.20	2.08	0.00	0.000	4	0.065	0.046	2175	3756	3997
1648	-1.09	-121.7	289.1	-17.3	281	1655	0.20	1.85	0.00	0.000	6	0.163	0.022	2228	2441	3997
1985	-1.28	-121.7	334.7	-11.5	318	1989	0.17	2.05	0.00	0.000	4	0.067	0.046	2150	3750	3997
2090	-1.10	-121.7	353.1	-21.0	327	2094	0.22	1.83	0.00	0.000	6	0.160	0.023	2226	2489	3997
2423	-1.33	-121.7	398.0	-11.5	358	2427	0.20	1.98	0.00	0.000	4	0.067	0.046	2139	3750	3995
2527	-1.16	-121.7	416.5	-19.7	367	2531	0.25	1.75	0.00	0.000	6	0.163	0.024	2206	2525	3995
2859	-1.32	-121.7	465.7	-16.0	398	2864	0.15	1.92	0.00	0.000	4	0.073	0.047	2140	3749	3994
2979	-1.12	-121.7	491.7	-24.2	408	2985	0.28	1.75	0.00	0.000	6	0.168	0.024	2213	2526	3993
3300	-1.35	-121.7	542.5	-14.4	426	3304	0.17	1.95	0.00	0.000	4	0.071	0.048	2138	3760	3992
3456	-1.22	-121.7	571.7	-19.3	432	3463	0.17	1.73	0.00	0.000	6	0.166	0.024	2182	2549	3990
3773	-1.33	-121.7	621.7	-14.5	448	3777	0.00	1.90	0.00	0.000	4	0.000	0.050	2179	3749	3988
3854	-1.38	-121.7	634.4	-16.1	451	3858	0.12	1.67	0.00	0.000	6	0.081	0.025	2130	2584	3987
4177	-1.30	-121.7	696.1	-17.9	467	4181	0.12	1.85	0.00	0.000	4	0.173	0.048	2153	3751	3985
4257	-1.25	-121.7	710.4	-17.1	470	4260	0.00	1.67	0.00	0.000	6	0.000	0.025	2152	2583	3984
4579	-1.25	-121.7	760.5	-15.6	486	4583	0.00	1.88	0.00	0.000	4	0.000	0.051	2152	3743	3982
4747	-1.19	-121.7	788.7	-17.4	493	4751	0.17	1.62	0.00	0.000	6	0.171	0.027	2195	2627	3980
5079	-1.40	-121.7	830.9	-11.7	509	5083	0.17	1.80	0.00	0.000	4	0.077	0.051	2125	3753	3978
5204	-1.29	-121.7	851.6	-17.7	514	5208	0.15	1.60	0.00	0.000	6	0.172	0.027	2161	2652	3977
5379	end dive: BOTTOM_OBSTACLE_DETECTED
state	5379	begin apogee
5388	-0.27	0.0	877.3	14.2	523	5485	1.12	0.00	93.05	1.322	6	0.157	0.000	2487	2392	3532
5485	end apogee: CONTROL_FINISHED_OK
state	5486	begin climb
5491	1.50	121.7	880.8	0.0	528	5602	1.58	2.28	102.78	1.284	4	0.051	0.025	3072	964	3035
5857	0.74	121.7	855.4	15.4	544	5863	0.98	2.15	0.00	0.000	6	0.214	0.032	2826	2366	3031
6175	0.60	164.2	823.0	10.1	559	6218	0.20	2.20	35.10	1.248	4	0.196	0.029	2776	958	2861
6343	0.73	199.7	805.4	10.6	566	6380	0.12	2.17	30.00	1.223	6	0.088	0.032	2825	2371	2716
6712	0.66	199.7	752.8	14.6	584	6717	0.12	2.20	0.00	0.000	4	0.192	0.048	2796	3764	2711
6894	0.53	199.7	724.6	17.1	592	6899	0.20	2.08	0.00	0.000	6	0.189	0.025	2753	2358	2710
7222	0.71	213.7	685.3	12.2	608	7243	0.15	2.12	11.95	1.122	4	0.082	0.029	2817	979	2659
7309	0.71	213.7	673.5	14.6	611	7315	0.00	2.17	0.00	0.000	6	0.000	0.034	2817	2394	2658
7626	0.71	213.7	626.1	14.1	627	7629	0.00	2.15	0.00	0.000	4	0.000	0.051	2816	3754	2656
7745	0.56	213.7	605.0	18.8	632	7749	0.25	2.03	0.00	0.000	6	0.188	0.025	2762	2366	2656
8067	0.77	251.8	565.7	10.4	648	8103	0.17	2.28	30.90	1.123	4	0.077	0.048	2835	3760	2506
8200	0.63	251.8	543.2	18.7	653	8205	0.25	2.00	0.00	0.000	6	0.188	0.025	2781	2406	2503
8528	0.80	266.0	503.6	12.2	669	8550	0.15	2.22	13.10	1.029	4	0.079	0.051	2837	3758	2446
8556	0.80	266.0	498.7	17.4	670	8560	0.00	2.00	0.00	0.000	6	0.000	0.025	2845	2409	2446
8889	0.80	266.0	442.0	16.2	700	8893	0.00	2.15	0.00	0.000	4	0.000	0.048	2845	3763	2444
9087	0.67	266.0	408.9	16.0	717	9093	0.22	1.98	0.00	0.000	6	0.186	0.026	2796	2413	2443
9413	0.85	272.9	371.8	12.7	748	9422	0.17	0.00	6.65	0.854	6	0.076	0.000	2864	2411	2419
9741	0.85	272.9	318.9	16.2	779	9745	0.00	2.12	0.00	0.000	4	0.000	0.049	2864	3751	2417
9920	0.69	272.9	286.9	19.4	800	9927	0.28	1.90	0.00	0.000	6	0.183	0.025	2802	2439	2416
10268	0.87	272.9	238.6	13.7	861	10275	0.17	2.10	0.00	0.000	4	0.073	0.048	2878	3754	2417
10329	0.69	272.9	228.1	18.9	871	10336	0.30	1.90	0.00	0.000	6	0.183	0.025	2807	2439	2417
10677	0.89	281.7	184.2	12.6	932	10696	0.17	2.15	8.85	0.768	4	0.076	0.049	2881	3756	2382
10834	0.76	281.7	156.8	18.5	959	10841	0.25	1.85	0.00	0.000	6	0.183	0.023	2826	2463	2382
11182	1.01	340.5	120.3	8.9	1020	11236	0.20	2.08	47.17	0.771	4	0.071	0.047	2911	3758	2143
11388	0.94	340.5	86.2	21.8	1055	11395	0.15	1.83	0.00	0.000	6	0.183	0.022	2884	2487	2138
11736	1.24	404.0	52.7	8.6	1116	11794	0.22	2.08	49.95	0.690	4	0.067	0.048	2980	3751	1883
11996	1.18	404.0	15.8	14.0	1161	12002	0.00	1.73	0.00	0.000	6	0.000	0.022	2990	2526	1878
12084	end climb: SURFACE_DEPTH_REACHED
state	12084	begin surface coast
12108	end surface coast: CONTROL_FINISHED_OK
state	12108	begin surface