Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 137 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 137 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2095847 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2095847

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 137 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 061231,6224.620,-924.377,38,1.3,43,-9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6224.621,-929.421

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.24 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 061709,6224.621,-924.420,15,1.4,15,-9.8 MHEAD_RNG_PITCHd_Wd 279.8,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.020774 ALTIM_TOP_PING 19.6,18.8

SM_CCo 13169,154.77,0.628,0,0,509,557.32 _24V_AH 23.6,24.902

SM_GC 1.17,0.00,0.00,154.77,0.000,0.000,0.628,74,2305,509,-10.24,0.17,557.32 _10V_AH 10.1,12.374

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31743,632

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105008,0

HUMID 1860 CFSIZE 260165632,250134528

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 31 GPS 040708,100038,6226.225,-925.009,29,1.1,29,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 98.53 SBE_CT 466 24 264.23

Roll_motor 144 85 292.14 SBE_O2 429 19 192.71

VBD_pump_during_apogee 341 1050 8478.04 WL_BB2F 427 105 1059.11

VBD_pump_during_surface 154 628 2294.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.09 nil 0 0 0.00

Iridium_during_connect 25 160 97.99 nil 0 0 0.00

Iridium_during_xfer 115 223 607.12

Transponder_ping 13 420 133.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.85

TT8 1225 19 245.00

LPSleep 9760 2 215.89

TT8_Active 654 19 130.80

TT8_Sampling 1563 39 628.69

TT8_CF8 404 45 187.30

TT8_Kalman 0 81 0.00

Analog_circuits 1457 12 176.66

GPS_charging 0 0 0.00

Compass 1516 8 122.51

RAFOS 0 0 0.00

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

29 -1.08 -146.6 0.0 0.0 0 133 0.00 0.00 -101.70 0.000 2 0.000 0.000 71 2314 2578

136 -1.08 -146.6 3.0 -1.9 5 182 11.05 2.67 -28.58 0.000 4 0.166 0.081 2054 3707 3381

407 -0.91 -146.6 37.5 -14.1 17 412 0.22 2.60 0.00 0.000 6 0.094 0.053 2098 2290 3380

728 -0.91 -146.6 71.4 -10.2 33 732 0.00 2.62 0.00 0.000 4 0.000 0.065 2098 877 3381

768 -0.91 -146.6 75.2 -9.6 35 773 0.00 2.62 0.00 0.000 6 0.000 0.053 2098 2302 3381

1095 -0.87 -146.6 108.5 -10.1 51 1096 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2303 3382

1404 -0.87 -146.6 137.9 -9.4 66 1408 0.00 2.67 0.00 0.000 4 0.000 0.066 2098 881 3382

1476 -0.87 -146.6 144.9 -9.7 69 1480 0.00 2.62 0.00 0.000 6 0.000 0.054 2098 2304 3382

1792 -0.87 -146.6 175.5 -9.7 84 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2303 3382

2101 -0.87 -146.6 206.6 -10.0 99 2105 0.00 2.65 0.00 0.000 4 0.000 0.066 2098 881 3382

2173 -0.87 -146.6 214.1 -9.9 102 2178 0.00 2.62 0.00 0.000 6 0.000 0.055 2098 2304 3382

2488 -0.87 -146.6 247.9 -11.0 117 2493 0.00 2.67 0.00 0.000 4 0.000 0.067 2098 881 3382

2528 -0.87 -146.6 252.4 -12.0 119 2533 0.00 2.62 0.00 0.000 6 0.000 0.056 2098 2304 3382

2855 -0.87 -146.6 287.6 -10.3 135 2860 0.00 2.67 0.00 0.000 4 0.000 0.067 2098 881 3382

2900 -0.87 -146.6 292.5 -10.2 137 2904 0.00 2.62 0.00 0.000 6 0.000 0.055 2098 2304 3382

3220 -0.87 -146.6 324.7 -9.9 153 3225 0.00 2.67 0.00 0.000 4 0.000 0.067 2098 878 3382

3265 -0.87 -146.6 329.0 -9.9 155 3270 0.00 2.62 0.00 0.000 6 0.000 0.057 2098 2305 3382

3592 -0.87 -146.6 360.2 -9.1 171 3594 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2305 3382

3902 -0.87 -146.6 388.2 -9.5 186 3903 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2305 3382

4211 -0.87 -146.6 420.1 -11.0 201 4212 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2305 3382

4520 -0.87 -146.6 457.3 -12.4 216 4525 0.00 2.67 0.00 0.000 4 0.000 0.069 2098 883 3382

4593 -0.87 -146.6 466.4 -12.4 219 4597 0.00 2.62 0.00 0.000 6 0.000 0.059 2098 2303 3381

4909 -0.87 -146.6 498.6 -9.0 234 4913 0.00 2.67 0.00 0.000 4 0.000 0.069 2098 884 3381

4949 -0.92 -146.6 501.9 -8.1 236 4953 0.00 2.65 0.00 0.000 6 0.000 0.059 2098 2305 3381

5276 -0.92 -146.6 528.2 -7.7 252 5277 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2305 3381

5584 -0.92 -146.6 555.5 -8.7 267 5589 0.00 2.70 0.00 0.000 4 0.000 0.072 2098 885 3380

5669 -0.92 -146.6 563.0 -9.1 271 5674 0.00 2.65 0.00 0.000 6 0.000 0.062 2098 2306 3380

5996 -1.30 -146.6 586.6 -0.5 287 6002 0.35 2.72 0.00 0.000 4 0.055 0.077 2015 887 3379

6112 end dive: NO_VERTICAL_VELOCITY

state 6112 begin apogee

6121 -0.31 0.0 586.6 0.0 292 6254 1.00 0.00 129.57 1.051 6 0.077 0.000 2226 2200 2781

6255 end apogee: CONTROL_FINISHED_OK

state 6255 begin climb

6258 1.08 146.6 586.6 0.0 299 6394 1.45 2.75 127.93 1.030 4 0.077 0.070 2534 785 2183

6652 1.12 176.7 572.3 6.9 317 6687 0.00 2.67 27.55 0.987 6 0.000 0.059 2533 2206 2059

7004 1.16 217.2 549.5 6.5 334 7046 0.00 2.80 36.00 1.005 4 0.000 0.073 2534 785 1895

7110 1.24 231.2 542.2 7.5 338 7130 0.17 2.67 13.65 0.933 6 0.053 0.061 2579 2200 1837

7449 1.19 231.2 511.2 9.5 355 7453 0.00 2.78 0.00 0.000 4 0.000 0.086 2579 3616 1837

7516 1.12 231.2 504.0 11.0 358 7521 0.17 2.65 0.00 0.000 6 0.100 0.067 2546 2203 1837

7837 1.12 231.2 474.3 10.2 374 7841 0.00 2.75 0.00 0.000 4 0.000 0.084 2546 3618 1836

7881 1.12 231.2 469.2 11.3 376 7885 0.00 2.67 0.00 0.000 6 0.000 0.065 2546 2192 1836

8201 1.12 231.2 435.5 10.4 392 8206 0.00 2.67 0.00 0.000 4 0.000 0.074 2545 779 1835

8235 1.12 231.2 431.9 10.7 393 8241 0.00 2.65 0.00 0.000 6 0.000 0.057 2546 2202 1834

8550 1.12 231.2 401.2 8.9 409 8555 0.00 2.70 0.00 0.000 4 0.000 0.081 2546 3612 1834

8617 1.12 231.2 394.8 9.7 412 8621 0.00 2.67 0.00 0.000 6 0.000 0.066 2546 2199 1834

8937 1.12 231.2 366.2 8.9 428 8942 0.00 2.72 0.00 0.000 4 0.000 0.079 2546 3611 1834

9004 1.12 231.2 359.9 9.4 431 9008 0.00 2.65 0.00 0.000 6 0.000 0.063 2546 2200 1835

9325 1.12 231.2 331.0 9.2 447 9329 0.00 2.72 0.00 0.000 4 0.000 0.078 2546 3612 1834

9380 1.12 231.2 325.3 10.1 449 9386 0.00 2.65 0.00 0.000 6 0.000 0.065 2546 2199 1834

9695 1.12 231.2 295.4 9.6 465 9700 0.00 2.70 0.00 0.000 4 0.000 0.077 2546 3619 1834

9745 1.12 231.2 290.4 10.1 467 9750 0.00 2.65 0.00 0.000 6 0.000 0.064 2546 2200 1834

10061 1.12 231.2 264.2 8.1 482 10065 0.00 2.70 0.00 0.000 4 0.000 0.076 2546 3616 1834

10104 1.12 231.2 260.2 9.0 484 10109 0.00 2.65 0.00 0.000 6 0.000 0.063 2546 2192 1835

10425 1.12 231.2 234.5 8.2 500 10430 0.00 2.70 0.00 0.000 4 0.000 0.075 2546 3613 1835

10470 1.12 231.2 230.5 9.2 502 10474 0.00 2.62 0.00 0.000 6 0.000 0.062 2546 2201 1835

10790 1.12 231.2 204.0 8.3 518 10795 0.00 2.67 0.00 0.000 4 0.000 0.074 2546 3615 1835

10830 1.12 231.2 200.5 9.8 520 10835 0.00 2.62 0.00 0.000 6 0.000 0.061 2546 2198 1836

11158 1.12 231.6 174.1 8.0 536 11162 0.00 2.67 0.00 0.000 4 0.000 0.073 2546 3613 1836

11202 1.12 231.6 170.4 8.1 538 11206 0.00 2.62 0.00 0.000 6 0.000 0.061 2546 2199 1836

11523 1.13 237.8 146.3 7.8 554 11532 0.00 0.00 7.18 0.632 6 0.000 0.000 2546 2199 1811

11833 1.13 237.8 120.2 9.0 569 11838 0.00 2.67 0.00 0.000 4 0.000 0.073 2546 3613 1811

11911 1.13 237.8 111.9 9.7 572 11918 0.00 2.60 0.00 0.000 6 0.000 0.059 2546 2201 1811

12229 1.13 237.8 80.2 10.1 588 12230 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2201 1811

12537 1.13 237.8 53.4 8.4 603 12541 0.00 2.67 0.00 0.000 4 0.000 0.072 2546 3620 1811

12586 1.13 237.8 48.5 9.4 605 12590 0.00 2.62 0.00 0.000 6 0.000 0.061 2546 2201 1812

12904 1.13 238.0 22.5 8.0 620 12908 0.00 2.67 0.00 0.000 4 0.000 0.071 2546 3620 1812

12966 1.13 238.0 16.1 10.2 623 12971 0.00 2.62 0.00 0.000 6 0.000 0.059 2546 2195 1813

13125 end climb: SURFACE_DEPTH_REACHED

state 13125 begin surface coast

13147 end surface coast: CONTROL_FINISHED_OK

state 13147 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	137	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2095847	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	061231,6224.620,-924.377,38,1.3,43,-9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6224.621,-929.421
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.24	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	061709,6224.621,-924.420,15,1.4,15,-9.8	MHEAD_RNG_PITCHd_Wd	279.8,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.020774	ALTIM_TOP_PING	19.6,18.8
SM_CCo	13169,154.77,0.628,0,0,509,557.32	_24V_AH	23.6,24.902
SM_GC	1.17,0.00,0.00,154.77,0.000,0.000,0.628,74,2305,509,-10.24,0.17,557.32	_10V_AH	10.1,12.374
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31743,632
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105008,0
HUMID	1860	CFSIZE	260165632,250134528
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	31	GPS	040708,100038,6226.225,-925.009,29,1.1,29,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	98.53	SBE_CT	466	24	264.23
Roll_motor	144	85	292.14	SBE_O2	429	19	192.71
VBD_pump_during_apogee	341	1050	8478.04	WL_BB2F	427	105	1059.11
VBD_pump_during_surface	154	628	2294.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.09	nil	0	0	0.00
Iridium_during_connect	25	160	97.99	nil	0	0	0.00
Iridium_during_xfer	115	223	607.12
Transponder_ping	13	420	133.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.85
TT8	1225	19	245.00
LPSleep	9760	2	215.89
TT8_Active	654	19	130.80
TT8_Sampling	1563	39	628.69
TT8_CF8	404	45	187.30
TT8_Kalman	0	81	0.00
Analog_circuits	1457	12	176.66
GPS_charging	0	0	0.00
Compass	1516	8	122.51
RAFOS	0	0	0.00

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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
29	-1.08	-146.6	0.0	0.0	0	133	0.00	0.00	-101.70	0.000	2	0.000	0.000	71	2314	2578
136	-1.08	-146.6	3.0	-1.9	5	182	11.05	2.67	-28.58	0.000	4	0.166	0.081	2054	3707	3381
407	-0.91	-146.6	37.5	-14.1	17	412	0.22	2.60	0.00	0.000	6	0.094	0.053	2098	2290	3380
728	-0.91	-146.6	71.4	-10.2	33	732	0.00	2.62	0.00	0.000	4	0.000	0.065	2098	877	3381
768	-0.91	-146.6	75.2	-9.6	35	773	0.00	2.62	0.00	0.000	6	0.000	0.053	2098	2302	3381
1095	-0.87	-146.6	108.5	-10.1	51	1096	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2303	3382
1404	-0.87	-146.6	137.9	-9.4	66	1408	0.00	2.67	0.00	0.000	4	0.000	0.066	2098	881	3382
1476	-0.87	-146.6	144.9	-9.7	69	1480	0.00	2.62	0.00	0.000	6	0.000	0.054	2098	2304	3382
1792	-0.87	-146.6	175.5	-9.7	84	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2303	3382
2101	-0.87	-146.6	206.6	-10.0	99	2105	0.00	2.65	0.00	0.000	4	0.000	0.066	2098	881	3382
2173	-0.87	-146.6	214.1	-9.9	102	2178	0.00	2.62	0.00	0.000	6	0.000	0.055	2098	2304	3382
2488	-0.87	-146.6	247.9	-11.0	117	2493	0.00	2.67	0.00	0.000	4	0.000	0.067	2098	881	3382
2528	-0.87	-146.6	252.4	-12.0	119	2533	0.00	2.62	0.00	0.000	6	0.000	0.056	2098	2304	3382
2855	-0.87	-146.6	287.6	-10.3	135	2860	0.00	2.67	0.00	0.000	4	0.000	0.067	2098	881	3382
2900	-0.87	-146.6	292.5	-10.2	137	2904	0.00	2.62	0.00	0.000	6	0.000	0.055	2098	2304	3382
3220	-0.87	-146.6	324.7	-9.9	153	3225	0.00	2.67	0.00	0.000	4	0.000	0.067	2098	878	3382
3265	-0.87	-146.6	329.0	-9.9	155	3270	0.00	2.62	0.00	0.000	6	0.000	0.057	2098	2305	3382
3592	-0.87	-146.6	360.2	-9.1	171	3594	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2305	3382
3902	-0.87	-146.6	388.2	-9.5	186	3903	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2305	3382
4211	-0.87	-146.6	420.1	-11.0	201	4212	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2305	3382
4520	-0.87	-146.6	457.3	-12.4	216	4525	0.00	2.67	0.00	0.000	4	0.000	0.069	2098	883	3382
4593	-0.87	-146.6	466.4	-12.4	219	4597	0.00	2.62	0.00	0.000	6	0.000	0.059	2098	2303	3381
4909	-0.87	-146.6	498.6	-9.0	234	4913	0.00	2.67	0.00	0.000	4	0.000	0.069	2098	884	3381
4949	-0.92	-146.6	501.9	-8.1	236	4953	0.00	2.65	0.00	0.000	6	0.000	0.059	2098	2305	3381
5276	-0.92	-146.6	528.2	-7.7	252	5277	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2305	3381
5584	-0.92	-146.6	555.5	-8.7	267	5589	0.00	2.70	0.00	0.000	4	0.000	0.072	2098	885	3380
5669	-0.92	-146.6	563.0	-9.1	271	5674	0.00	2.65	0.00	0.000	6	0.000	0.062	2098	2306	3380
5996	-1.30	-146.6	586.6	-0.5	287	6002	0.35	2.72	0.00	0.000	4	0.055	0.077	2015	887	3379
6112	end dive: NO_VERTICAL_VELOCITY
state	6112	begin apogee
6121	-0.31	0.0	586.6	0.0	292	6254	1.00	0.00	129.57	1.051	6	0.077	0.000	2226	2200	2781
6255	end apogee: CONTROL_FINISHED_OK
state	6255	begin climb
6258	1.08	146.6	586.6	0.0	299	6394	1.45	2.75	127.93	1.030	4	0.077	0.070	2534	785	2183
6652	1.12	176.7	572.3	6.9	317	6687	0.00	2.67	27.55	0.987	6	0.000	0.059	2533	2206	2059
7004	1.16	217.2	549.5	6.5	334	7046	0.00	2.80	36.00	1.005	4	0.000	0.073	2534	785	1895
7110	1.24	231.2	542.2	7.5	338	7130	0.17	2.67	13.65	0.933	6	0.053	0.061	2579	2200	1837
7449	1.19	231.2	511.2	9.5	355	7453	0.00	2.78	0.00	0.000	4	0.000	0.086	2579	3616	1837
7516	1.12	231.2	504.0	11.0	358	7521	0.17	2.65	0.00	0.000	6	0.100	0.067	2546	2203	1837
7837	1.12	231.2	474.3	10.2	374	7841	0.00	2.75	0.00	0.000	4	0.000	0.084	2546	3618	1836
7881	1.12	231.2	469.2	11.3	376	7885	0.00	2.67	0.00	0.000	6	0.000	0.065	2546	2192	1836
8201	1.12	231.2	435.5	10.4	392	8206	0.00	2.67	0.00	0.000	4	0.000	0.074	2545	779	1835
8235	1.12	231.2	431.9	10.7	393	8241	0.00	2.65	0.00	0.000	6	0.000	0.057	2546	2202	1834
8550	1.12	231.2	401.2	8.9	409	8555	0.00	2.70	0.00	0.000	4	0.000	0.081	2546	3612	1834
8617	1.12	231.2	394.8	9.7	412	8621	0.00	2.67	0.00	0.000	6	0.000	0.066	2546	2199	1834
8937	1.12	231.2	366.2	8.9	428	8942	0.00	2.72	0.00	0.000	4	0.000	0.079	2546	3611	1834
9004	1.12	231.2	359.9	9.4	431	9008	0.00	2.65	0.00	0.000	6	0.000	0.063	2546	2200	1835
9325	1.12	231.2	331.0	9.2	447	9329	0.00	2.72	0.00	0.000	4	0.000	0.078	2546	3612	1834
9380	1.12	231.2	325.3	10.1	449	9386	0.00	2.65	0.00	0.000	6	0.000	0.065	2546	2199	1834
9695	1.12	231.2	295.4	9.6	465	9700	0.00	2.70	0.00	0.000	4	0.000	0.077	2546	3619	1834
9745	1.12	231.2	290.4	10.1	467	9750	0.00	2.65	0.00	0.000	6	0.000	0.064	2546	2200	1834
10061	1.12	231.2	264.2	8.1	482	10065	0.00	2.70	0.00	0.000	4	0.000	0.076	2546	3616	1834
10104	1.12	231.2	260.2	9.0	484	10109	0.00	2.65	0.00	0.000	6	0.000	0.063	2546	2192	1835
10425	1.12	231.2	234.5	8.2	500	10430	0.00	2.70	0.00	0.000	4	0.000	0.075	2546	3613	1835
10470	1.12	231.2	230.5	9.2	502	10474	0.00	2.62	0.00	0.000	6	0.000	0.062	2546	2201	1835
10790	1.12	231.2	204.0	8.3	518	10795	0.00	2.67	0.00	0.000	4	0.000	0.074	2546	3615	1835
10830	1.12	231.2	200.5	9.8	520	10835	0.00	2.62	0.00	0.000	6	0.000	0.061	2546	2198	1836
11158	1.12	231.6	174.1	8.0	536	11162	0.00	2.67	0.00	0.000	4	0.000	0.073	2546	3613	1836
11202	1.12	231.6	170.4	8.1	538	11206	0.00	2.62	0.00	0.000	6	0.000	0.061	2546	2199	1836
11523	1.13	237.8	146.3	7.8	554	11532	0.00	0.00	7.18	0.632	6	0.000	0.000	2546	2199	1811
11833	1.13	237.8	120.2	9.0	569	11838	0.00	2.67	0.00	0.000	4	0.000	0.073	2546	3613	1811
11911	1.13	237.8	111.9	9.7	572	11918	0.00	2.60	0.00	0.000	6	0.000	0.059	2546	2201	1811
12229	1.13	237.8	80.2	10.1	588	12230	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2201	1811
12537	1.13	237.8	53.4	8.4	603	12541	0.00	2.67	0.00	0.000	4	0.000	0.072	2546	3620	1811
12586	1.13	237.8	48.5	9.4	605	12590	0.00	2.62	0.00	0.000	6	0.000	0.061	2546	2201	1812
12904	1.13	238.0	22.5	8.0	620	12908	0.00	2.67	0.00	0.000	4	0.000	0.071	2546	3620	1812
12966	1.13	238.0	16.1	10.2	623	12971	0.00	2.62	0.00	0.000	6	0.000	0.059	2546	2195	1813
13125	end climb: SURFACE_DEPTH_REACHED
state	13125	begin surface coast
13147	end surface coast: CONTROL_FINISHED_OK
state	13147	begin surface