Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 146 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 146 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -102921.95 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 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 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -102921.95

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 146 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 071631,6359.746,-1316.243,42,1.3,42,-12.6 TGT_NAME LW

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.088

_SM_DEPTHo 1.33 KALMAN_X -89787.2,566.4,-269.4,-153830.9,8932.3

_SM_ANGLEo -64.9 KALMAN_Y -26594.1,42.1,195.4,291396.0,-2313.2

GPS2 072202,6359.719,-1316.186,11,1.6,11,-12.6 MHEAD_RNG_PITCHd_Wd 303.6,11227,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024905 _24V_AH 23.8,26.840

SM_CCo 13202,0.00,0.000,0,0,1579,307.12 _10V_AH 10.1,12.054

SM_GC 1.57,11.38,0.00,0.00,0.038,0.000,0.000,417,2126,1579,-10.61,-0.11,307.12 DATA_FILE_SIZE 41127,788

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 111591,0

TT8_MAMPS 0.029146 CFSIZE 254472192,243605504

HUMID 1836 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 17.20 GPS 230909,110407,6401.129,-1316.917,37,1.0,37,-12.6

XPDR_PINGS 54

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 164 105.67 SBE_CT 539 24 308.28

Roll_motor 123 76 225.35 SBE_O2 577 19 261.01

VBD_pump_during_apogee 399 1234 11747.88 WL_BB2F 457 105 1143.94

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 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 30 160 117.16 nil 0 0 0.00

Iridium_during_xfer 142 223 755.68

Transponder_ping 18 420 187.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.66

TT8 1414 19 282.84

LPSleep 9418 2 208.34

TT8_Active 490 19 98.04

TT8_Sampling 1715 39 689.56

TT8_CF8 490 45 227.08

TT8_Kalman 33 81 27.56

Analog_circuits 1363 12 165.28

GPS_charging 0 0 0.00

Compass 1679 8 135.70

RAFOS 0 0 0.00

Transponder 37 30 11.42

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

18 -1.22 -146.6 0.0 0.0 0 81 0.00 0.00 -60.62 0.000 2 0.000 0.000 422 2147 2898

84 -1.22 -146.6 3.3 -4.4 3 117 11.32 2.53 -14.75 0.000 4 0.164 0.075 2470 3532 3429

252 -1.12 -146.6 27.4 -13.1 10 259 0.15 2.50 0.00 0.000 6 0.100 0.046 2502 2116 3429

570 -1.12 -146.6 62.0 -10.9 26 574 0.00 2.47 0.00 0.000 4 0.000 0.058 2502 717 3430

655 -1.12 -146.6 71.7 -11.1 30 660 0.00 2.47 0.00 0.000 6 0.000 0.047 2501 2117 3430

983 -1.12 -146.6 104.3 -9.8 46 984 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2117 3430

1292 -1.12 -146.6 135.5 -10.8 61 1293 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2117 3430

1608 -1.12 -146.6 167.8 -10.3 79 1612 0.00 2.53 0.00 0.000 4 0.000 0.058 2502 716 3430

1647 -1.16 -146.6 171.8 -9.7 81 1653 0.00 2.50 0.00 0.000 6 0.000 0.049 2502 2136 3430

1966 -1.16 -146.6 203.0 -10.0 102 1967 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2136 3430

2279 -1.16 -146.6 234.5 -10.2 122 2283 0.00 2.55 0.00 0.000 4 0.000 0.059 2502 720 3430

2334 -1.16 -146.6 240.4 -10.9 125 2341 0.00 2.50 0.00 0.000 6 0.000 0.048 2502 2133 3430

2656 -1.16 -146.6 273.1 -10.4 146 2657 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2133 3430

2968 -1.16 -146.6 305.2 -10.1 166 2969 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2133 3430

3278 -1.16 -146.6 335.6 -8.9 186 3282 0.00 2.55 0.00 0.000 4 0.000 0.061 2501 720 3430

3313 -1.16 -146.6 339.0 -9.6 188 3318 0.00 2.50 0.00 0.000 6 0.000 0.050 2502 2135 3430

3639 -1.16 -146.6 369.0 -9.0 209 3643 0.00 2.55 0.00 0.000 4 0.000 0.061 2502 720 3430

3668 -1.16 -146.6 372.0 -9.8 211 3673 0.00 2.50 0.00 0.000 6 0.000 0.050 2502 2130 3430

3993 -1.16 -146.6 400.7 -8.6 232 3998 0.00 2.55 0.00 0.000 4 0.000 0.064 2502 724 3430

4057 -1.19 -146.6 406.5 -9.6 236 4061 0.00 2.47 0.00 0.000 6 0.000 0.051 2502 2116 3430

4382 -1.19 -146.6 435.9 -7.5 257 4384 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2118 3429

4694 -1.19 -146.6 459.3 -7.8 277 4696 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2118 3429

5007 -1.19 -146.6 478.7 -5.1 297 5011 0.00 2.53 0.00 0.000 4 0.000 0.064 2502 718 3429

5086 -1.19 -146.6 485.3 -9.1 302 5091 0.00 2.45 0.00 0.000 6 0.000 0.051 2502 2100 3429

5410 -1.19 -146.6 519.0 -10.2 323 5414 0.00 2.50 0.00 0.000 4 0.000 0.065 2501 723 3428

5444 -1.23 -146.6 522.4 -9.6 325 5449 0.12 2.45 0.00 0.000 6 0.062 0.054 2467 2097 3428

5768 -1.16 -146.6 556.7 -12.3 345 5772 0.12 2.50 0.00 0.000 4 0.104 0.066 2491 723 3427

5864 -1.16 -146.6 568.6 -10.8 351 5868 0.00 2.42 0.00 0.000 6 0.000 0.055 2491 2080 3427

6192 -1.34 -146.6 594.8 -5.0 372 6197 0.17 2.67 0.00 0.000 4 0.064 0.077 2451 3533 3427

6450 -1.61 -146.6 594.8 -0.2 387 6457 0.25 2.55 0.00 0.000 6 0.054 0.062 2384 2112 3426

6516 end dive: NO_VERTICAL_VELOCITY

state 6516 begin apogee

6524 -0.33 0.0 594.7 0.0 392 6656 1.30 0.00 128.40 1.235 6 0.061 0.000 2677 1855 2831

6657 end apogee: CONTROL_FINISHED_OK

state 6657 begin climb

6660 1.22 146.6 594.5 0.0 401 6801 1.50 2.67 129.40 1.189 4 0.052 0.067 3011 3252 2233

7036 1.13 146.6 570.7 8.6 423 7042 0.00 2.60 0.00 0.000 6 0.000 0.065 3011 1851 2232

7356 1.01 146.6 545.0 8.8 444 7361 0.22 2.60 0.00 0.000 4 0.097 0.074 2966 436 2232

7413 1.06 209.2 541.3 5.7 447 7474 0.00 2.55 54.85 1.167 6 0.000 0.057 2966 1860 1977

7794 1.08 225.3 514.9 7.4 472 7814 0.00 2.70 15.02 1.094 4 0.000 0.074 2966 441 1912

7942 1.08 225.3 504.1 8.6 481 7947 0.00 2.50 0.00 0.000 6 0.000 0.057 2966 1814 1912

8267 1.12 225.3 472.4 10.2 502 8272 0.10 2.55 0.00 0.000 4 0.062 0.073 2994 435 1911

8357 1.07 225.3 462.8 10.3 507 8363 0.00 2.45 0.00 0.000 6 0.000 0.055 2994 1796 1911

8676 1.07 225.3 432.5 10.6 528 8677 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 1811 1911

8990 1.07 225.3 399.6 10.7 548 8994 0.00 2.65 0.00 0.000 4 0.000 0.066 2994 3261 1911

9046 1.07 225.3 392.8 12.5 551 9052 0.00 2.70 0.00 0.000 6 0.000 0.061 2994 1785 1911

9365 1.07 225.3 360.2 10.3 572 9369 0.00 2.70 0.00 0.000 4 0.000 0.062 2994 3258 1911

9398 1.07 225.3 356.5 10.4 574 9402 0.00 2.65 0.00 0.000 6 0.000 0.060 2994 1807 1910

9717 1.07 225.3 326.8 9.0 594 9721 0.00 2.67 0.00 0.000 4 0.000 0.063 2994 3264 1910

9755 1.07 225.3 323.3 8.9 596 9762 0.00 2.62 0.00 0.000 6 0.000 0.058 2994 1816 1911

10076 1.07 225.3 295.8 9.1 617 10077 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 1817 1911

10387 1.07 225.3 269.4 10.0 637 10391 0.00 2.47 0.00 0.000 4 0.000 0.069 2995 442 1911

10438 1.07 225.3 264.2 9.2 640 10442 0.00 2.50 0.00 0.000 6 0.000 0.051 2994 1844 1910

10763 1.14 271.1 245.6 6.3 661 10810 0.00 2.70 39.08 0.992 4 0.000 0.069 2995 443 1725

10862 1.19 298.9 238.5 7.0 667 10894 0.00 2.45 24.38 0.966 6 0.000 0.050 2994 1827 1612

11209 1.19 298.9 207.0 10.3 689 11213 0.00 2.55 0.00 0.000 4 0.000 0.059 2995 3242 1613

11265 1.25 298.9 200.7 10.5 692 11271 0.10 2.58 0.00 0.000 6 0.055 0.053 3023 1812 1613

11587 1.22 298.9 165.7 11.4 712 11591 0.00 2.60 0.00 0.000 4 0.000 0.059 3023 3241 1614

11620 1.22 298.9 161.3 12.1 714 11625 0.00 2.55 0.00 0.000 6 0.000 0.053 3023 1823 1613

11948 1.18 298.9 120.8 12.9 731 11949 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1823 1613

12259 1.15 298.9 82.6 12.1 746 12264 0.15 2.58 0.00 0.000 4 0.087 0.058 2994 3243 1614

12304 1.23 298.9 77.4 9.7 748 12308 0.00 2.53 0.00 0.000 6 0.000 0.051 2994 1830 1614

12626 1.29 306.7 50.9 7.7 764 12641 0.15 2.60 8.60 0.756 4 0.052 0.058 3034 3241 1580

12675 1.29 306.7 46.1 9.8 766 12679 0.00 2.50 0.00 0.000 6 0.000 0.050 3034 1849 1579

12997 1.25 306.7 12.8 10.7 782 12998 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1849 1580

13096 end climb: SURFACE_DEPTH_REACHED

state 13096 begin surface coast

13118 end surface coast: CONTROL_FINISHED_OK

state 13118 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	146	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-102921.95	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	071631,6359.746,-1316.243,42,1.3,42,-12.6	TGT_NAME	LW
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.088
_SM_DEPTHo	1.33	KALMAN_X	-89787.2,566.4,-269.4,-153830.9,8932.3
_SM_ANGLEo	-64.9	KALMAN_Y	-26594.1,42.1,195.4,291396.0,-2313.2
GPS2	072202,6359.719,-1316.186,11,1.6,11,-12.6	MHEAD_RNG_PITCHd_Wd	303.6,11227,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.024905	_24V_AH	23.8,26.840
SM_CCo	13202,0.00,0.000,0,0,1579,307.12	_10V_AH	10.1,12.054
SM_GC	1.57,11.38,0.00,0.00,0.038,0.000,0.000,417,2126,1579,-10.61,-0.11,307.12	DATA_FILE_SIZE	41127,788
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	111591,0
TT8_MAMPS	0.029146	CFSIZE	254472192,243605504
HUMID	1836	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	17.20	GPS	230909,110407,6401.129,-1316.917,37,1.0,37,-12.6
XPDR_PINGS	54

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	164	105.67	SBE_CT	539	24	308.28
Roll_motor	123	76	225.35	SBE_O2	577	19	261.01
VBD_pump_during_apogee	399	1234	11747.88	WL_BB2F	457	105	1143.94
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	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	30	160	117.16	nil	0	0	0.00
Iridium_during_xfer	142	223	755.68
Transponder_ping	18	420	187.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.66
TT8	1414	19	282.84
LPSleep	9418	2	208.34
TT8_Active	490	19	98.04
TT8_Sampling	1715	39	689.56
TT8_CF8	490	45	227.08
TT8_Kalman	33	81	27.56
Analog_circuits	1363	12	165.28
GPS_charging	0	0	0.00
Compass	1679	8	135.70
RAFOS	0	0	0.00
Transponder	37	30	11.42

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
18	-1.22	-146.6	0.0	0.0	0	81	0.00	0.00	-60.62	0.000	2	0.000	0.000	422	2147	2898
84	-1.22	-146.6	3.3	-4.4	3	117	11.32	2.53	-14.75	0.000	4	0.164	0.075	2470	3532	3429
252	-1.12	-146.6	27.4	-13.1	10	259	0.15	2.50	0.00	0.000	6	0.100	0.046	2502	2116	3429
570	-1.12	-146.6	62.0	-10.9	26	574	0.00	2.47	0.00	0.000	4	0.000	0.058	2502	717	3430
655	-1.12	-146.6	71.7	-11.1	30	660	0.00	2.47	0.00	0.000	6	0.000	0.047	2501	2117	3430
983	-1.12	-146.6	104.3	-9.8	46	984	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2117	3430
1292	-1.12	-146.6	135.5	-10.8	61	1293	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2117	3430
1608	-1.12	-146.6	167.8	-10.3	79	1612	0.00	2.53	0.00	0.000	4	0.000	0.058	2502	716	3430
1647	-1.16	-146.6	171.8	-9.7	81	1653	0.00	2.50	0.00	0.000	6	0.000	0.049	2502	2136	3430
1966	-1.16	-146.6	203.0	-10.0	102	1967	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2136	3430
2279	-1.16	-146.6	234.5	-10.2	122	2283	0.00	2.55	0.00	0.000	4	0.000	0.059	2502	720	3430
2334	-1.16	-146.6	240.4	-10.9	125	2341	0.00	2.50	0.00	0.000	6	0.000	0.048	2502	2133	3430
2656	-1.16	-146.6	273.1	-10.4	146	2657	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2133	3430
2968	-1.16	-146.6	305.2	-10.1	166	2969	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2133	3430
3278	-1.16	-146.6	335.6	-8.9	186	3282	0.00	2.55	0.00	0.000	4	0.000	0.061	2501	720	3430
3313	-1.16	-146.6	339.0	-9.6	188	3318	0.00	2.50	0.00	0.000	6	0.000	0.050	2502	2135	3430
3639	-1.16	-146.6	369.0	-9.0	209	3643	0.00	2.55	0.00	0.000	4	0.000	0.061	2502	720	3430
3668	-1.16	-146.6	372.0	-9.8	211	3673	0.00	2.50	0.00	0.000	6	0.000	0.050	2502	2130	3430
3993	-1.16	-146.6	400.7	-8.6	232	3998	0.00	2.55	0.00	0.000	4	0.000	0.064	2502	724	3430
4057	-1.19	-146.6	406.5	-9.6	236	4061	0.00	2.47	0.00	0.000	6	0.000	0.051	2502	2116	3430
4382	-1.19	-146.6	435.9	-7.5	257	4384	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2118	3429
4694	-1.19	-146.6	459.3	-7.8	277	4696	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2118	3429
5007	-1.19	-146.6	478.7	-5.1	297	5011	0.00	2.53	0.00	0.000	4	0.000	0.064	2502	718	3429
5086	-1.19	-146.6	485.3	-9.1	302	5091	0.00	2.45	0.00	0.000	6	0.000	0.051	2502	2100	3429
5410	-1.19	-146.6	519.0	-10.2	323	5414	0.00	2.50	0.00	0.000	4	0.000	0.065	2501	723	3428
5444	-1.23	-146.6	522.4	-9.6	325	5449	0.12	2.45	0.00	0.000	6	0.062	0.054	2467	2097	3428
5768	-1.16	-146.6	556.7	-12.3	345	5772	0.12	2.50	0.00	0.000	4	0.104	0.066	2491	723	3427
5864	-1.16	-146.6	568.6	-10.8	351	5868	0.00	2.42	0.00	0.000	6	0.000	0.055	2491	2080	3427
6192	-1.34	-146.6	594.8	-5.0	372	6197	0.17	2.67	0.00	0.000	4	0.064	0.077	2451	3533	3427
6450	-1.61	-146.6	594.8	-0.2	387	6457	0.25	2.55	0.00	0.000	6	0.054	0.062	2384	2112	3426
6516	end dive: NO_VERTICAL_VELOCITY
state	6516	begin apogee
6524	-0.33	0.0	594.7	0.0	392	6656	1.30	0.00	128.40	1.235	6	0.061	0.000	2677	1855	2831
6657	end apogee: CONTROL_FINISHED_OK
state	6657	begin climb
6660	1.22	146.6	594.5	0.0	401	6801	1.50	2.67	129.40	1.189	4	0.052	0.067	3011	3252	2233
7036	1.13	146.6	570.7	8.6	423	7042	0.00	2.60	0.00	0.000	6	0.000	0.065	3011	1851	2232
7356	1.01	146.6	545.0	8.8	444	7361	0.22	2.60	0.00	0.000	4	0.097	0.074	2966	436	2232
7413	1.06	209.2	541.3	5.7	447	7474	0.00	2.55	54.85	1.167	6	0.000	0.057	2966	1860	1977
7794	1.08	225.3	514.9	7.4	472	7814	0.00	2.70	15.02	1.094	4	0.000	0.074	2966	441	1912
7942	1.08	225.3	504.1	8.6	481	7947	0.00	2.50	0.00	0.000	6	0.000	0.057	2966	1814	1912
8267	1.12	225.3	472.4	10.2	502	8272	0.10	2.55	0.00	0.000	4	0.062	0.073	2994	435	1911
8357	1.07	225.3	462.8	10.3	507	8363	0.00	2.45	0.00	0.000	6	0.000	0.055	2994	1796	1911
8676	1.07	225.3	432.5	10.6	528	8677	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	1811	1911
8990	1.07	225.3	399.6	10.7	548	8994	0.00	2.65	0.00	0.000	4	0.000	0.066	2994	3261	1911
9046	1.07	225.3	392.8	12.5	551	9052	0.00	2.70	0.00	0.000	6	0.000	0.061	2994	1785	1911
9365	1.07	225.3	360.2	10.3	572	9369	0.00	2.70	0.00	0.000	4	0.000	0.062	2994	3258	1911
9398	1.07	225.3	356.5	10.4	574	9402	0.00	2.65	0.00	0.000	6	0.000	0.060	2994	1807	1910
9717	1.07	225.3	326.8	9.0	594	9721	0.00	2.67	0.00	0.000	4	0.000	0.063	2994	3264	1910
9755	1.07	225.3	323.3	8.9	596	9762	0.00	2.62	0.00	0.000	6	0.000	0.058	2994	1816	1911
10076	1.07	225.3	295.8	9.1	617	10077	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	1817	1911
10387	1.07	225.3	269.4	10.0	637	10391	0.00	2.47	0.00	0.000	4	0.000	0.069	2995	442	1911
10438	1.07	225.3	264.2	9.2	640	10442	0.00	2.50	0.00	0.000	6	0.000	0.051	2994	1844	1910
10763	1.14	271.1	245.6	6.3	661	10810	0.00	2.70	39.08	0.992	4	0.000	0.069	2995	443	1725
10862	1.19	298.9	238.5	7.0	667	10894	0.00	2.45	24.38	0.966	6	0.000	0.050	2994	1827	1612
11209	1.19	298.9	207.0	10.3	689	11213	0.00	2.55	0.00	0.000	4	0.000	0.059	2995	3242	1613
11265	1.25	298.9	200.7	10.5	692	11271	0.10	2.58	0.00	0.000	6	0.055	0.053	3023	1812	1613
11587	1.22	298.9	165.7	11.4	712	11591	0.00	2.60	0.00	0.000	4	0.000	0.059	3023	3241	1614
11620	1.22	298.9	161.3	12.1	714	11625	0.00	2.55	0.00	0.000	6	0.000	0.053	3023	1823	1613
11948	1.18	298.9	120.8	12.9	731	11949	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1823	1613
12259	1.15	298.9	82.6	12.1	746	12264	0.15	2.58	0.00	0.000	4	0.087	0.058	2994	3243	1614
12304	1.23	298.9	77.4	9.7	748	12308	0.00	2.53	0.00	0.000	6	0.000	0.051	2994	1830	1614
12626	1.29	306.7	50.9	7.7	764	12641	0.15	2.60	8.60	0.756	4	0.052	0.058	3034	3241	1580
12675	1.29	306.7	46.1	9.8	766	12679	0.00	2.50	0.00	0.000	6	0.000	0.050	3034	1849	1579
12997	1.25	306.7	12.8	10.7	782	12998	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	1849	1580
13096	end climb: SURFACE_DEPTH_REACHED
state	13096	begin surface coast
13118	end surface coast: CONTROL_FINISHED_OK
state	13118	begin surface