Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 83 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 83 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 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 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 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 56 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 58 INT_PRESSURE_YINT 2.7

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 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -6809.0962 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

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 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 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 160 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 300

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -6809.0962

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

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 2

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 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 56 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 58 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 83 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 123237,2536.671,12317.427,28,1.3,28,-3.8 TGT_NAME IN_4

_CALLS 1 TGT_LATLONG 2541.300,12314.300

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 123826,2536.700,12317.497,14,1.3,14,-3.8 MHEAD_RNG_PITCHd_Wd 295.0,10053,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 948

Post-dive calculations and measurements:

FINISH 0.7,1.001743 ALTIM_BOTTOM_PING 651.8,82.4

SM_CCo 11063,0.00,0.000,0,0,1047,445.46 _24V_AH 24.0,20.425

SM_GC 1.76,7.60,0.00,0.00,0.048,0.000,0.000,155,1476,1047,-8.02,-0.68,445.46 _10V_AH 10.7,12.474

IRIDIUM_FIX 2527.05,12318.87,290898,080844 DATA_FILE_SIZE 66318,1143

TT8_MAMPS 0.026845 CAP_FILE_SIZE 120987,0

HUMID 1513 CFSIZE 260165632,228413440

INTERNAL_PRESSURE 9.90731 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.50 CURRENT 0.265, 80.1,1

XPDR_PINGS 100 GPS 040609,154406,2537.659,12317.338,13,1.7,23,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 233 139.62 SBE_CT 774 24 445.88

Roll_motor 86 54 113.51 Optode 804 33 637.08

VBD_pump_during_apogee 533 1260 16152.74 WL_BB2F 1353 105 3409.90

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 23 103 58.92 nil 0 0 0.00

Iridium_during_connect 33 160 128.07 nil 0 0 0.00

Iridium_during_xfer 186 223 995.85

Transponder_ping 30 420 302.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.64

TT8 1989 19 421.48

LPSleep 6151 2 144.14

TT8_Active 625 19 132.41

TT8_Sampling 2243 39 955.36

TT8_CF8 399 45 195.62

TT8_Kalman 0 0 0.00

Analog_circuits 1654 12 212.44

GPS_charging 0 0 0.00

Compass 2227 8 190.69

RAFOS 0 0 0.00

Transponder 35 30 11.46

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

14 -0.94 -194.7 0.0 0.0 0 89 0.00 0.00 -72.55 0.000 2 0.000 0.000 166 1471 2313

91 -0.94 -194.7 3.1 -5.2 11 145 8.95 2.20 -38.78 0.000 4 0.233 0.049 2432 2908 3658

268 -0.28 -194.7 51.3 -32.9 41 277 0.70 2.05 0.00 0.000 6 0.152 0.033 2642 1509 3659

616 -0.38 -194.7 99.6 -12.4 102 623 0.00 1.98 0.00 0.000 4 0.000 0.044 2642 202 3659

634 -0.50 -194.7 102.0 -11.7 105 642 0.15 1.90 0.00 0.000 6 0.049 0.028 2565 1518 3660

982 -0.39 -194.7 159.6 -14.5 166 989 0.17 2.00 0.00 0.000 4 0.141 0.040 2619 2881 3662

1109 -0.74 -194.7 170.9 -7.4 188 1116 0.30 2.00 0.00 0.000 6 0.033 0.031 2474 1519 3663

1454 -0.40 -194.7 237.3 -17.9 249 1462 0.40 1.95 0.00 0.000 4 0.143 0.045 2601 203 3663

1563 -0.66 -194.7 248.0 -8.0 268 1570 0.17 1.90 0.00 0.000 6 0.042 0.028 2506 1525 3664

1909 -0.56 -194.7 292.8 -13.0 329 1916 0.17 1.95 0.00 0.000 4 0.140 0.044 2562 210 3664

1983 -0.71 -194.7 301.7 -10.7 341 1992 0.10 1.88 0.00 0.000 6 0.055 0.029 2488 1512 3664

2308 -0.62 -194.7 345.1 -13.7 372 2312 0.17 1.95 0.00 0.000 4 0.140 0.045 2553 206 3664

2357 -0.72 -194.7 350.8 -10.1 376 2364 0.00 1.88 0.00 0.000 6 0.000 0.030 2535 1496 3664

2682 -0.93 -194.7 378.3 -8.4 407 2687 0.22 2.08 0.00 0.000 4 0.052 0.043 2423 2903 3662

2714 -0.81 -194.7 382.0 -12.8 409 2723 0.12 2.05 0.00 0.000 6 0.134 0.034 2479 1513 3662

3039 -0.81 -194.7 417.3 -10.1 440 3040 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1513 3661

3358 -0.81 -194.7 452.1 -11.4 470 3359 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1513 3659

3676 -0.81 -194.7 485.9 -10.4 500 3680 0.00 1.95 0.00 0.000 4 0.000 0.053 2478 211 3656

3725 -0.81 -194.7 491.7 -11.9 504 3733 0.00 1.92 0.00 0.000 6 0.000 0.034 2477 1515 3656

4044 -0.87 -194.7 521.8 -9.1 524 4045 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1515 3654

4355 -0.92 -194.7 550.1 -8.8 539 4359 0.10 2.08 0.00 0.000 4 0.080 0.048 2424 2902 3651

4416 -0.85 -194.7 557.2 -11.8 542 4421 0.15 2.03 0.00 0.000 6 0.143 0.039 2467 1527 3650

4749 -0.85 -194.7 590.8 -10.0 558 4752 0.00 2.00 0.00 0.000 4 0.000 0.054 2467 200 3648

4793 -0.85 -194.7 596.2 -12.2 560 4797 0.00 1.92 0.00 0.000 6 0.000 0.037 2467 1510 3648

5124 -0.85 -194.7 632.6 -11.1 576 5128 0.00 1.98 0.00 0.000 4 0.000 0.053 2467 206 3645

5191 -0.85 -194.7 640.7 -11.9 579 5195 0.00 1.90 0.00 0.000 6 0.000 0.038 2466 1503 3644

5525 -0.85 -194.7 673.9 -9.4 595 5528 0.00 1.98 0.00 0.000 4 0.000 0.054 2466 205 3641

5602 -0.85 -194.7 682.3 -9.8 598 5606 0.00 1.92 0.00 0.000 6 0.000 0.037 2465 1495 3641

5880 end dive: BOTTOM_OBSTACLE_DETECTED

state 5880 begin apogee

5885 -0.20 0.0 709.7 11.7 612 6046 0.62 0.00 157.88 1.261 6 0.119 0.000 2671 1752 2863

6047 end apogee: CONTROL_FINISHED_OK

state 6047 begin climb

6048 0.94 194.7 718.7 0.0 620 6216 1.02 0.00 163.35 1.227 6 0.043 0.000 3056 1751 2069

6523 0.36 194.7 638.9 23.0 643 6528 0.68 2.20 0.00 0.000 4 0.172 0.053 2868 349 2062

6589 0.43 203.4 629.8 10.7 646 6606 0.00 2.12 7.82 0.988 6 0.000 0.039 2868 1731 2033

6916 0.53 214.9 595.2 10.6 662 6932 0.12 2.17 11.07 1.070 4 0.070 0.054 2941 343 1985

7015 0.35 214.9 580.8 14.6 665 7024 0.28 2.12 0.00 0.000 6 0.142 0.039 2854 1729 1983

7332 0.63 315.3 555.4 7.2 681 7423 0.22 2.28 84.97 1.164 4 0.054 0.054 2969 341 1576

7439 0.44 315.3 540.4 16.0 686 7444 0.30 2.15 0.00 0.000 6 0.143 0.039 2886 1709 1574

7761 0.60 330.2 506.7 10.4 702 7783 0.15 2.30 13.10 1.056 4 0.063 0.053 2952 3154 1515

7855 0.49 330.2 491.5 16.7 707 7862 0.20 2.20 0.00 0.000 6 0.143 0.047 2900 1732 1512

8180 0.61 330.2 448.9 12.4 738 8184 0.10 2.12 0.00 0.000 4 0.076 0.054 2960 345 1509

8274 0.52 330.2 433.7 16.7 746 8282 0.15 2.08 0.00 0.000 6 0.139 0.040 2911 1706 1509

8599 0.59 330.2 391.1 12.9 777 8603 0.00 2.20 0.00 0.000 4 0.000 0.052 2911 3148 1508

8637 0.67 330.2 385.9 13.8 780 8645 0.08 2.22 0.00 0.000 6 0.059 0.040 2973 1686 1507

8962 0.48 330.2 327.1 18.5 811 8964 0.28 0.00 0.00 0.000 6 0.148 0.000 2894 1686 1506

9283 0.79 400.1 296.9 8.4 844 9346 0.25 0.00 58.50 0.979 6 0.048 0.000 3020 1686 1232

9684 0.55 400.1 212.0 20.6 914 9691 0.32 2.28 0.00 0.000 4 0.143 0.048 2917 3160 1224

9748 0.89 443.0 204.2 9.4 925 9793 0.28 2.22 37.05 0.888 6 0.042 0.038 3057 1676 1055

10133 0.69 443.0 126.9 19.2 992 10140 0.30 2.03 0.00 0.000 4 0.143 0.047 2971 340 1050

10175 0.88 443.0 120.5 12.6 999 10182 0.10 2.05 0.00 0.000 6 0.048 0.035 3043 1712 1049

10519 0.88 443.0 66.3 15.6 1060 10525 0.00 2.08 0.00 0.000 4 0.000 0.048 3051 340 1049

10553 0.88 443.0 61.6 14.1 1066 10560 0.00 1.98 0.00 0.000 6 0.000 0.032 3051 1684 1049

10898 0.88 443.0 12.1 14.9 1127 10903 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1685 1049

10964 end climb: SURFACE_DEPTH_REACHED

state 10964 begin surface coast

10988 end surface coast: CONTROL_FINISHED_OK

state 10988 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	83	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	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	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	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	56	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	58	INT_PRESSURE_YINT	2.7
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	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-6809.0962	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	123237,2536.671,12317.427,28,1.3,28,-3.8	TGT_NAME	IN_4
_CALLS	1	TGT_LATLONG	2541.300,12314.300
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	123826,2536.700,12317.497,14,1.3,14,-3.8	MHEAD_RNG_PITCHd_Wd	295.0,10053,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	948

FINISH	0.7,1.001743	ALTIM_BOTTOM_PING	651.8,82.4
SM_CCo	11063,0.00,0.000,0,0,1047,445.46	_24V_AH	24.0,20.425
SM_GC	1.76,7.60,0.00,0.00,0.048,0.000,0.000,155,1476,1047,-8.02,-0.68,445.46	_10V_AH	10.7,12.474
IRIDIUM_FIX	2527.05,12318.87,290898,080844	DATA_FILE_SIZE	66318,1143
TT8_MAMPS	0.026845	CAP_FILE_SIZE	120987,0
HUMID	1513	CFSIZE	260165632,228413440
INTERNAL_PRESSURE	9.90731	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.50	CURRENT	0.265, 80.1,1
XPDR_PINGS	100	GPS	040609,154406,2537.659,12317.338,13,1.7,23,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	233	139.62	SBE_CT	774	24	445.88
Roll_motor	86	54	113.51	Optode	804	33	637.08
VBD_pump_during_apogee	533	1260	16152.74	WL_BB2F	1353	105	3409.90
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	23	103	58.92	nil	0	0	0.00
Iridium_during_connect	33	160	128.07	nil	0	0	0.00
Iridium_during_xfer	186	223	995.85
Transponder_ping	30	420	302.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.64
TT8	1989	19	421.48
LPSleep	6151	2	144.14
TT8_Active	625	19	132.41
TT8_Sampling	2243	39	955.36
TT8_CF8	399	45	195.62
TT8_Kalman	0	0	0.00
Analog_circuits	1654	12	212.44
GPS_charging	0	0	0.00
Compass	2227	8	190.69
RAFOS	0	0	0.00
Transponder	35	30	11.46

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
14	-0.94	-194.7	0.0	0.0	0	89	0.00	0.00	-72.55	0.000	2	0.000	0.000	166	1471	2313
91	-0.94	-194.7	3.1	-5.2	11	145	8.95	2.20	-38.78	0.000	4	0.233	0.049	2432	2908	3658
268	-0.28	-194.7	51.3	-32.9	41	277	0.70	2.05	0.00	0.000	6	0.152	0.033	2642	1509	3659
616	-0.38	-194.7	99.6	-12.4	102	623	0.00	1.98	0.00	0.000	4	0.000	0.044	2642	202	3659
634	-0.50	-194.7	102.0	-11.7	105	642	0.15	1.90	0.00	0.000	6	0.049	0.028	2565	1518	3660
982	-0.39	-194.7	159.6	-14.5	166	989	0.17	2.00	0.00	0.000	4	0.141	0.040	2619	2881	3662
1109	-0.74	-194.7	170.9	-7.4	188	1116	0.30	2.00	0.00	0.000	6	0.033	0.031	2474	1519	3663
1454	-0.40	-194.7	237.3	-17.9	249	1462	0.40	1.95	0.00	0.000	4	0.143	0.045	2601	203	3663
1563	-0.66	-194.7	248.0	-8.0	268	1570	0.17	1.90	0.00	0.000	6	0.042	0.028	2506	1525	3664
1909	-0.56	-194.7	292.8	-13.0	329	1916	0.17	1.95	0.00	0.000	4	0.140	0.044	2562	210	3664
1983	-0.71	-194.7	301.7	-10.7	341	1992	0.10	1.88	0.00	0.000	6	0.055	0.029	2488	1512	3664
2308	-0.62	-194.7	345.1	-13.7	372	2312	0.17	1.95	0.00	0.000	4	0.140	0.045	2553	206	3664
2357	-0.72	-194.7	350.8	-10.1	376	2364	0.00	1.88	0.00	0.000	6	0.000	0.030	2535	1496	3664
2682	-0.93	-194.7	378.3	-8.4	407	2687	0.22	2.08	0.00	0.000	4	0.052	0.043	2423	2903	3662
2714	-0.81	-194.7	382.0	-12.8	409	2723	0.12	2.05	0.00	0.000	6	0.134	0.034	2479	1513	3662
3039	-0.81	-194.7	417.3	-10.1	440	3040	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1513	3661
3358	-0.81	-194.7	452.1	-11.4	470	3359	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1513	3659
3676	-0.81	-194.7	485.9	-10.4	500	3680	0.00	1.95	0.00	0.000	4	0.000	0.053	2478	211	3656
3725	-0.81	-194.7	491.7	-11.9	504	3733	0.00	1.92	0.00	0.000	6	0.000	0.034	2477	1515	3656
4044	-0.87	-194.7	521.8	-9.1	524	4045	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1515	3654
4355	-0.92	-194.7	550.1	-8.8	539	4359	0.10	2.08	0.00	0.000	4	0.080	0.048	2424	2902	3651
4416	-0.85	-194.7	557.2	-11.8	542	4421	0.15	2.03	0.00	0.000	6	0.143	0.039	2467	1527	3650
4749	-0.85	-194.7	590.8	-10.0	558	4752	0.00	2.00	0.00	0.000	4	0.000	0.054	2467	200	3648
4793	-0.85	-194.7	596.2	-12.2	560	4797	0.00	1.92	0.00	0.000	6	0.000	0.037	2467	1510	3648
5124	-0.85	-194.7	632.6	-11.1	576	5128	0.00	1.98	0.00	0.000	4	0.000	0.053	2467	206	3645
5191	-0.85	-194.7	640.7	-11.9	579	5195	0.00	1.90	0.00	0.000	6	0.000	0.038	2466	1503	3644
5525	-0.85	-194.7	673.9	-9.4	595	5528	0.00	1.98	0.00	0.000	4	0.000	0.054	2466	205	3641
5602	-0.85	-194.7	682.3	-9.8	598	5606	0.00	1.92	0.00	0.000	6	0.000	0.037	2465	1495	3641
5880	end dive: BOTTOM_OBSTACLE_DETECTED
state	5880	begin apogee
5885	-0.20	0.0	709.7	11.7	612	6046	0.62	0.00	157.88	1.261	6	0.119	0.000	2671	1752	2863
6047	end apogee: CONTROL_FINISHED_OK
state	6047	begin climb
6048	0.94	194.7	718.7	0.0	620	6216	1.02	0.00	163.35	1.227	6	0.043	0.000	3056	1751	2069
6523	0.36	194.7	638.9	23.0	643	6528	0.68	2.20	0.00	0.000	4	0.172	0.053	2868	349	2062
6589	0.43	203.4	629.8	10.7	646	6606	0.00	2.12	7.82	0.988	6	0.000	0.039	2868	1731	2033
6916	0.53	214.9	595.2	10.6	662	6932	0.12	2.17	11.07	1.070	4	0.070	0.054	2941	343	1985
7015	0.35	214.9	580.8	14.6	665	7024	0.28	2.12	0.00	0.000	6	0.142	0.039	2854	1729	1983
7332	0.63	315.3	555.4	7.2	681	7423	0.22	2.28	84.97	1.164	4	0.054	0.054	2969	341	1576
7439	0.44	315.3	540.4	16.0	686	7444	0.30	2.15	0.00	0.000	6	0.143	0.039	2886	1709	1574
7761	0.60	330.2	506.7	10.4	702	7783	0.15	2.30	13.10	1.056	4	0.063	0.053	2952	3154	1515
7855	0.49	330.2	491.5	16.7	707	7862	0.20	2.20	0.00	0.000	6	0.143	0.047	2900	1732	1512
8180	0.61	330.2	448.9	12.4	738	8184	0.10	2.12	0.00	0.000	4	0.076	0.054	2960	345	1509
8274	0.52	330.2	433.7	16.7	746	8282	0.15	2.08	0.00	0.000	6	0.139	0.040	2911	1706	1509
8599	0.59	330.2	391.1	12.9	777	8603	0.00	2.20	0.00	0.000	4	0.000	0.052	2911	3148	1508
8637	0.67	330.2	385.9	13.8	780	8645	0.08	2.22	0.00	0.000	6	0.059	0.040	2973	1686	1507
8962	0.48	330.2	327.1	18.5	811	8964	0.28	0.00	0.00	0.000	6	0.148	0.000	2894	1686	1506
9283	0.79	400.1	296.9	8.4	844	9346	0.25	0.00	58.50	0.979	6	0.048	0.000	3020	1686	1232
9684	0.55	400.1	212.0	20.6	914	9691	0.32	2.28	0.00	0.000	4	0.143	0.048	2917	3160	1224
9748	0.89	443.0	204.2	9.4	925	9793	0.28	2.22	37.05	0.888	6	0.042	0.038	3057	1676	1055
10133	0.69	443.0	126.9	19.2	992	10140	0.30	2.03	0.00	0.000	4	0.143	0.047	2971	340	1050
10175	0.88	443.0	120.5	12.6	999	10182	0.10	2.05	0.00	0.000	6	0.048	0.035	3043	1712	1049
10519	0.88	443.0	66.3	15.6	1060	10525	0.00	2.08	0.00	0.000	4	0.000	0.048	3051	340	1049
10553	0.88	443.0	61.6	14.1	1066	10560	0.00	1.98	0.00	0.000	6	0.000	0.032	3051	1684	1049
10898	0.88	443.0	12.1	14.9	1127	10903	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1685	1049
10964	end climb: SURFACE_DEPTH_REACHED
state	10964	begin surface coast
10988	end surface coast: CONTROL_FINISHED_OK
state	10988	begin surface