Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 96 * 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 96 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 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 61 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 -7067.4263 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 -7067.4263

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 45 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 61 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 96 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 031506,2532.749,12328.627,12,1.2,28,-3.8 TGT_NAME OFF_5

_CALLS 2 TGT_LATLONG 2514.000,12340.000

_XMS_NAKs 8 TGT_RADIUS 2000.000

_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 -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 032420,2532.840,12328.719,9,1.9,9,-3.8 MHEAD_RNG_PITCHd_Wd 200.4,39681,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 712

Post-dive calculations and measurements:

FINISH 0.9,1.012268 ALTIM_BOTTOM_PING 653.4,38.3

SM_CCo 10741,0.00,0.000,0,0,694,532.06 _24V_AH 24.1,22.892

SM_GC 1.60,8.05,0.00,0.00,0.047,0.000,0.000,146,1520,694,-8.03,0.59,532.06 _10V_AH 10.7,13.988

IRIDIUM_FIX 2524.66,12328.16,310898,000027 DATA_FILE_SIZE 69422,1179

TT8_MAMPS 0.026845 CAP_FILE_SIZE 126477,0

HUMID 1476 CFSIZE 260165632,227512320

INTERNAL_PRESSURE 9.88778 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.80 CURRENT 0.395, 87.5,1

XPDR_PINGS 103 GPS 060609,062455,2531.245,12330.622,41,1.0,41,-3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 237 152.22 SBE_CT 795 24 460.28

Roll_motor 102 61 151.98 Optode 838 33 667.13

VBD_pump_during_apogee 597 1219 17565.34 WL_BB2F 1410 105 3569.49

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 50 103 124.80 nil 0 0 0.00

Iridium_during_connect 130 160 504.55 nil 0 0 0.00

Iridium_during_xfer 213 223 1146.57

Transponder_ping 30 420 311.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 9 50 5.19

TT8 2037 19 431.60

LPSleep 5663 2 132.71

TT8_Active 672 19 142.48

TT8_Sampling 2360 39 1005.22

TT8_CF8 557 45 273.08

TT8_Kalman 0 0 0.00

Analog_circuits 1773 12 227.75

GPS_charging 0 0 0.00

Compass 2342 8 200.52

RAFOS 0 0 0.00

Transponder 37 30 12.02

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.94 -194.7 0.0 0.0 0 103 0.00 0.00 -85.45 0.000 2 0.000 0.000 169 1485 2440

106 -0.94 -194.7 3.2 -5.9 13 158 9.02 1.95 -34.20 0.000 4 0.237 0.057 2433 211 3658

299 -0.09 -194.7 61.7 -36.9 46 307 0.88 1.88 0.00 0.000 6 0.170 0.029 2700 1487 3658

647 -0.98 -194.7 93.3 -9.8 107 654 0.77 0.00 0.00 0.000 6 0.080 0.000 2418 1490 3658

991 -0.40 -194.7 187.0 -23.9 168 998 0.57 1.90 0.00 0.000 4 0.146 0.041 2599 204 3659

1077 -0.57 -194.7 197.0 -8.4 183 1085 0.10 1.88 0.00 0.000 6 0.054 0.027 2539 1521 3661

1422 -0.57 -194.7 238.9 -13.6 244 1429 0.00 2.00 0.00 0.000 4 0.000 0.040 2533 2873 3661

1474 -0.66 -194.7 245.1 -11.2 253 1480 0.00 1.98 0.00 0.000 6 0.000 0.031 2538 1503 3661

1816 -0.66 -194.7 286.6 -10.5 314 1822 0.00 2.03 0.00 0.000 4 0.000 0.041 2517 2882 3661

1852 -0.80 -194.7 289.9 -9.2 320 1859 0.12 2.00 0.00 0.000 6 0.065 0.032 2456 1516 3661

2181 -0.60 -194.7 341.2 -15.4 357 2186 0.25 2.03 0.00 0.000 4 0.139 0.042 2531 2877 3661

2215 -0.76 -194.7 345.1 -10.3 360 2220 0.12 1.98 0.00 0.000 6 0.064 0.034 2465 1512 3661

2547 -0.67 -194.7 386.2 -12.9 391 2551 0.17 1.95 0.00 0.000 4 0.137 0.047 2525 198 3660

2603 -0.80 -194.7 392.6 -9.9 396 2608 0.12 1.85 0.00 0.000 6 0.070 0.030 2461 1490 3659

2935 -0.73 -194.7 435.3 -11.6 427 2939 0.15 2.08 0.00 0.000 4 0.141 0.044 2503 2892 3658

3002 -0.96 -194.7 441.4 -7.8 433 3007 0.20 2.00 0.00 0.000 6 0.053 0.035 2410 1516 3657

3327 -0.71 -194.7 489.3 -15.9 463 3331 0.28 2.08 0.00 0.000 4 0.144 0.046 2494 2893 3655

3372 -0.88 -194.7 494.5 -10.3 467 3376 0.12 2.00 0.00 0.000 6 0.066 0.036 2429 1524 3655

3694 -0.74 -194.7 534.5 -12.5 485 3698 0.20 1.98 0.00 0.000 4 0.182 0.049 2493 207 3652

3864 -0.80 -194.7 550.3 -8.7 492 3867 0.00 1.88 0.00 0.000 6 0.000 0.034 2493 1505 3651

4185 -0.93 -194.7 573.5 -6.9 508 4189 0.15 2.08 0.00 0.000 4 0.065 0.048 2420 2889 3648

4239 -0.86 -194.7 579.0 -10.8 510 4243 0.15 2.05 0.00 0.000 6 0.134 0.037 2465 1500 3647

4560 -0.86 -194.7 596.5 -6.2 526 4563 0.00 1.95 0.00 0.000 4 0.000 0.054 2465 204 3644

4621 -0.81 -194.7 601.0 -8.2 528 4627 0.00 1.92 0.00 0.000 6 0.000 0.036 2464 1500 3644

4937 -0.81 -194.7 638.3 -12.0 544 4940 0.00 1.98 0.00 0.000 4 0.000 0.054 2464 204 3641

4959 -0.81 -194.7 640.9 -11.7 545 4963 0.00 1.90 0.00 0.000 6 0.000 0.037 2464 1495 3641

5144 end dive: BOTTOM_OBSTACLE_DETECTED

state 5144 begin apogee

5149 -0.20 0.0 667.3 13.3 554 5309 0.62 0.00 156.77 1.220 6 0.126 0.000 2667 1762 2862

5309 end apogee: CONTROL_FINISHED_OK

state 5309 begin climb

5311 0.94 194.7 675.6 0.0 562 5484 1.00 2.28 162.05 1.194 4 0.049 0.061 3045 3141 2067

5590 0.43 194.7 629.7 29.5 574 5597 0.57 2.17 0.00 0.000 6 0.180 0.041 2882 1757 2063

5905 0.43 194.7 590.0 11.4 590 5908 0.00 2.20 0.00 0.000 4 0.000 0.055 2884 342 2060

5965 0.46 212.9 583.4 10.3 592 5986 0.00 2.12 15.12 1.082 6 0.000 0.038 2883 1736 1995

6304 0.52 263.9 548.9 9.1 609 6353 0.00 2.30 42.83 1.134 4 0.000 0.053 2884 3148 1787

6428 0.62 265.3 535.2 10.9 614 6435 0.12 2.15 0.00 0.000 6 0.067 0.041 2952 1742 1781

6745 0.48 265.3 488.2 14.9 633 6750 0.17 2.15 0.00 0.000 4 0.152 0.053 2907 342 1779

6841 0.48 265.3 475.6 12.1 641 6844 0.00 2.10 0.00 0.000 6 0.000 0.039 2907 1739 1778

7171 0.48 265.3 439.5 12.0 672 7174 0.00 2.15 0.00 0.000 4 0.000 0.054 2917 340 1776

7215 0.48 265.3 434.0 12.2 676 7219 0.00 2.05 0.00 0.000 6 0.000 0.039 2917 1717 1776

7545 0.48 265.3 397.0 11.4 707 7549 0.00 2.17 0.00 0.000 4 0.000 0.051 2917 3155 1775

7583 0.48 265.3 392.3 11.8 710 7591 0.10 2.20 0.00 0.000 6 0.145 0.041 2895 1708 1774

7909 0.65 306.6 361.1 9.4 741 7954 0.15 2.17 34.85 1.027 4 0.061 0.053 2979 346 1611

8015 0.49 306.6 345.2 17.1 750 8023 0.25 2.08 0.00 0.000 6 0.140 0.038 2901 1703 1609

8341 0.63 309.2 310.9 10.9 781 8346 0.12 2.20 0.00 0.000 4 0.067 0.048 2960 3151 1607

8384 0.57 309.2 304.3 16.2 784 8393 0.15 2.22 0.00 0.000 6 0.148 0.039 2924 1692 1606

8726 0.65 309.2 260.6 13.1 842 8732 0.00 2.05 0.00 0.000 4 0.000 0.058 2932 337 1606

8777 0.72 309.2 254.0 12.8 851 8784 0.12 2.03 0.00 0.000 6 0.073 0.038 2995 1713 1606

9121 0.55 309.2 194.9 16.8 912 9129 0.22 2.08 0.00 0.000 4 0.146 0.048 2933 343 1606

9146 0.55 309.2 191.5 13.8 916 9154 0.00 2.00 0.00 0.000 6 0.000 0.035 2933 1695 1606

9491 0.83 395.4 160.0 7.7 977 9574 0.17 2.17 72.97 0.844 4 0.055 0.051 3043 346 1249

9610 0.63 395.4 143.2 17.5 996 9618 0.35 2.03 0.00 0.000 6 0.136 0.033 2939 1704 1248

9956 1.07 456.6 112.9 8.7 1057 10015 0.35 2.15 51.55 0.777 4 0.038 0.044 3116 331 999

10127 0.79 456.6 77.0 21.1 1086 10134 0.40 2.03 0.00 0.000 6 0.140 0.031 2995 1676 997

10473 1.18 530.4 43.3 8.2 1147 10545 0.30 2.12 61.50 0.704 4 0.041 0.044 3155 340 698

10651 end climb: SURFACE_DEPTH_REACHED

state 10651 begin surface coast

10664 end surface coast: CONTROL_FINISHED_OK

state 10664 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	96	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	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	61	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	-7067.4263	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	031506,2532.749,12328.627,12,1.2,28,-3.8	TGT_NAME	OFF_5
_CALLS	2	TGT_LATLONG	2514.000,12340.000
_XMS_NAKs	8	TGT_RADIUS	2000.000
_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	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	032420,2532.840,12328.719,9,1.9,9,-3.8	MHEAD_RNG_PITCHd_Wd	200.4,39681,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	712

FINISH	0.9,1.012268	ALTIM_BOTTOM_PING	653.4,38.3
SM_CCo	10741,0.00,0.000,0,0,694,532.06	_24V_AH	24.1,22.892
SM_GC	1.60,8.05,0.00,0.00,0.047,0.000,0.000,146,1520,694,-8.03,0.59,532.06	_10V_AH	10.7,13.988
IRIDIUM_FIX	2524.66,12328.16,310898,000027	DATA_FILE_SIZE	69422,1179
TT8_MAMPS	0.026845	CAP_FILE_SIZE	126477,0
HUMID	1476	CFSIZE	260165632,227512320
INTERNAL_PRESSURE	9.88778	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.80	CURRENT	0.395, 87.5,1
XPDR_PINGS	103	GPS	060609,062455,2531.245,12330.622,41,1.0,41,-3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	237	152.22	SBE_CT	795	24	460.28
Roll_motor	102	61	151.98	Optode	838	33	667.13
VBD_pump_during_apogee	597	1219	17565.34	WL_BB2F	1410	105	3569.49
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	50	103	124.80	nil	0	0	0.00
Iridium_during_connect	130	160	504.55	nil	0	0	0.00
Iridium_during_xfer	213	223	1146.57
Transponder_ping	30	420	311.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	9	50	5.19
TT8	2037	19	431.60
LPSleep	5663	2	132.71
TT8_Active	672	19	142.48
TT8_Sampling	2360	39	1005.22
TT8_CF8	557	45	273.08
TT8_Kalman	0	0	0.00
Analog_circuits	1773	12	227.75
GPS_charging	0	0	0.00
Compass	2342	8	200.52
RAFOS	0	0	0.00
Transponder	37	30	12.02

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.94	-194.7	0.0	0.0	0	103	0.00	0.00	-85.45	0.000	2	0.000	0.000	169	1485	2440
106	-0.94	-194.7	3.2	-5.9	13	158	9.02	1.95	-34.20	0.000	4	0.237	0.057	2433	211	3658
299	-0.09	-194.7	61.7	-36.9	46	307	0.88	1.88	0.00	0.000	6	0.170	0.029	2700	1487	3658
647	-0.98	-194.7	93.3	-9.8	107	654	0.77	0.00	0.00	0.000	6	0.080	0.000	2418	1490	3658
991	-0.40	-194.7	187.0	-23.9	168	998	0.57	1.90	0.00	0.000	4	0.146	0.041	2599	204	3659
1077	-0.57	-194.7	197.0	-8.4	183	1085	0.10	1.88	0.00	0.000	6	0.054	0.027	2539	1521	3661
1422	-0.57	-194.7	238.9	-13.6	244	1429	0.00	2.00	0.00	0.000	4	0.000	0.040	2533	2873	3661
1474	-0.66	-194.7	245.1	-11.2	253	1480	0.00	1.98	0.00	0.000	6	0.000	0.031	2538	1503	3661
1816	-0.66	-194.7	286.6	-10.5	314	1822	0.00	2.03	0.00	0.000	4	0.000	0.041	2517	2882	3661
1852	-0.80	-194.7	289.9	-9.2	320	1859	0.12	2.00	0.00	0.000	6	0.065	0.032	2456	1516	3661
2181	-0.60	-194.7	341.2	-15.4	357	2186	0.25	2.03	0.00	0.000	4	0.139	0.042	2531	2877	3661
2215	-0.76	-194.7	345.1	-10.3	360	2220	0.12	1.98	0.00	0.000	6	0.064	0.034	2465	1512	3661
2547	-0.67	-194.7	386.2	-12.9	391	2551	0.17	1.95	0.00	0.000	4	0.137	0.047	2525	198	3660
2603	-0.80	-194.7	392.6	-9.9	396	2608	0.12	1.85	0.00	0.000	6	0.070	0.030	2461	1490	3659
2935	-0.73	-194.7	435.3	-11.6	427	2939	0.15	2.08	0.00	0.000	4	0.141	0.044	2503	2892	3658
3002	-0.96	-194.7	441.4	-7.8	433	3007	0.20	2.00	0.00	0.000	6	0.053	0.035	2410	1516	3657
3327	-0.71	-194.7	489.3	-15.9	463	3331	0.28	2.08	0.00	0.000	4	0.144	0.046	2494	2893	3655
3372	-0.88	-194.7	494.5	-10.3	467	3376	0.12	2.00	0.00	0.000	6	0.066	0.036	2429	1524	3655
3694	-0.74	-194.7	534.5	-12.5	485	3698	0.20	1.98	0.00	0.000	4	0.182	0.049	2493	207	3652
3864	-0.80	-194.7	550.3	-8.7	492	3867	0.00	1.88	0.00	0.000	6	0.000	0.034	2493	1505	3651
4185	-0.93	-194.7	573.5	-6.9	508	4189	0.15	2.08	0.00	0.000	4	0.065	0.048	2420	2889	3648
4239	-0.86	-194.7	579.0	-10.8	510	4243	0.15	2.05	0.00	0.000	6	0.134	0.037	2465	1500	3647
4560	-0.86	-194.7	596.5	-6.2	526	4563	0.00	1.95	0.00	0.000	4	0.000	0.054	2465	204	3644
4621	-0.81	-194.7	601.0	-8.2	528	4627	0.00	1.92	0.00	0.000	6	0.000	0.036	2464	1500	3644
4937	-0.81	-194.7	638.3	-12.0	544	4940	0.00	1.98	0.00	0.000	4	0.000	0.054	2464	204	3641
4959	-0.81	-194.7	640.9	-11.7	545	4963	0.00	1.90	0.00	0.000	6	0.000	0.037	2464	1495	3641
5144	end dive: BOTTOM_OBSTACLE_DETECTED
state	5144	begin apogee
5149	-0.20	0.0	667.3	13.3	554	5309	0.62	0.00	156.77	1.220	6	0.126	0.000	2667	1762	2862
5309	end apogee: CONTROL_FINISHED_OK
state	5309	begin climb
5311	0.94	194.7	675.6	0.0	562	5484	1.00	2.28	162.05	1.194	4	0.049	0.061	3045	3141	2067
5590	0.43	194.7	629.7	29.5	574	5597	0.57	2.17	0.00	0.000	6	0.180	0.041	2882	1757	2063
5905	0.43	194.7	590.0	11.4	590	5908	0.00	2.20	0.00	0.000	4	0.000	0.055	2884	342	2060
5965	0.46	212.9	583.4	10.3	592	5986	0.00	2.12	15.12	1.082	6	0.000	0.038	2883	1736	1995
6304	0.52	263.9	548.9	9.1	609	6353	0.00	2.30	42.83	1.134	4	0.000	0.053	2884	3148	1787
6428	0.62	265.3	535.2	10.9	614	6435	0.12	2.15	0.00	0.000	6	0.067	0.041	2952	1742	1781
6745	0.48	265.3	488.2	14.9	633	6750	0.17	2.15	0.00	0.000	4	0.152	0.053	2907	342	1779
6841	0.48	265.3	475.6	12.1	641	6844	0.00	2.10	0.00	0.000	6	0.000	0.039	2907	1739	1778
7171	0.48	265.3	439.5	12.0	672	7174	0.00	2.15	0.00	0.000	4	0.000	0.054	2917	340	1776
7215	0.48	265.3	434.0	12.2	676	7219	0.00	2.05	0.00	0.000	6	0.000	0.039	2917	1717	1776
7545	0.48	265.3	397.0	11.4	707	7549	0.00	2.17	0.00	0.000	4	0.000	0.051	2917	3155	1775
7583	0.48	265.3	392.3	11.8	710	7591	0.10	2.20	0.00	0.000	6	0.145	0.041	2895	1708	1774
7909	0.65	306.6	361.1	9.4	741	7954	0.15	2.17	34.85	1.027	4	0.061	0.053	2979	346	1611
8015	0.49	306.6	345.2	17.1	750	8023	0.25	2.08	0.00	0.000	6	0.140	0.038	2901	1703	1609
8341	0.63	309.2	310.9	10.9	781	8346	0.12	2.20	0.00	0.000	4	0.067	0.048	2960	3151	1607
8384	0.57	309.2	304.3	16.2	784	8393	0.15	2.22	0.00	0.000	6	0.148	0.039	2924	1692	1606
8726	0.65	309.2	260.6	13.1	842	8732	0.00	2.05	0.00	0.000	4	0.000	0.058	2932	337	1606
8777	0.72	309.2	254.0	12.8	851	8784	0.12	2.03	0.00	0.000	6	0.073	0.038	2995	1713	1606
9121	0.55	309.2	194.9	16.8	912	9129	0.22	2.08	0.00	0.000	4	0.146	0.048	2933	343	1606
9146	0.55	309.2	191.5	13.8	916	9154	0.00	2.00	0.00	0.000	6	0.000	0.035	2933	1695	1606
9491	0.83	395.4	160.0	7.7	977	9574	0.17	2.17	72.97	0.844	4	0.055	0.051	3043	346	1249
9610	0.63	395.4	143.2	17.5	996	9618	0.35	2.03	0.00	0.000	6	0.136	0.033	2939	1704	1248
9956	1.07	456.6	112.9	8.7	1057	10015	0.35	2.15	51.55	0.777	4	0.038	0.044	3116	331	999
10127	0.79	456.6	77.0	21.1	1086	10134	0.40	2.03	0.00	0.000	6	0.140	0.031	2995	1676	997
10473	1.18	530.4	43.3	8.2	1147	10545	0.30	2.12	61.50	0.704	4	0.041	0.044	3155	340	698
10651	end climb: SURFACE_DEPTH_REACHED
state	10651	begin surface coast
10664	end surface coast: CONTROL_FINISHED_OK
state	10664	begin surface