Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MAX 3717 ALTIM_TOP_TURN_MARGIN 0

DIVE 102 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 1 C_ROLL_DIVE 1850 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1700 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_NO_BLEED 500 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 24 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 34 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 460 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 330 CALL_TRIES 5 C_VBD 2940 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -6189.5083 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3025 FG_AHR_24V 0 SEABIRD_T_G 0.0043614767

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062996609

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -55.981045 SEABIRD_T_I 2.5014444e-05

MASS 51891 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_J 2.7838146e-06

NAV_MODE 2 PITCH_GAIN 38 AD7714Ch0Gain 128 SEABIRD_C_G -10.228213

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1292607

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001076734

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017059842

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.032000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.032000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 1 PRESSURE_SLOPE 0.0001168426 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -55.981045 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -6189.5083

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 15

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 172 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3025 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1700 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 1850 KERMIT 0 ROLL_MAX 3717 USE_ICE 0

C_VBD 2940 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51891 R_PORT_OVSHOOT 24 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.228213 VBD_MIN 460

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1292607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 3 SEABIRD_C_I -0.001076734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017059842 VBD_TIMEOUT 720

DIVE 102 NAV_MODE 2 SEABIRD_T_G 0.0043614767 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.00062996609 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.5014444e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.7838146e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 200036,6703.000,-5657.599,22,1.7,22,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200556,6703.011,-5657.714,13,1.4,13,-37.6 MHEAD_RNG_PITCHd_Wd 104.6,7015,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 601

Post-dive calculations and measurements:

FINISH 1.6,1.024999 _24V_AH 23.7,19.343

SM_CCo 11018,0.00,0.000,0,0,1690,306.38 _10V_AH 10.3,8.697

SM_GC 2.89,8.07,0.00,0.00,0.045,0.000,0.000,133,1853,1690,-8.95,0.08,306.38 FG_AHR_24Vo 0.000

RAFOS_CLK 491 FG_AHR_10Vo 0.000

RAFOS 1,1257538177,20.166666,20.160278,41,41,36,0,0,0,25,101,39,0,0,0 MEM 188316

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 44131,1146

IRIDIUM_FIX 6636.54,-5702.96,310199,171741 CAP_FILE_SIZE 125648,0

TT8_MAMPS 0.026078 CFSIZE 260165632,243122176

HUMID 39.64 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.60974 SOUNDSPEED 1471.2

TCM_TEMP 16.30 CURRENT 0.210,174.7,1

XPDR_PINGS 0 GPS 061109,231124,6702.533,-5653.672,46,1.2,46,-37.5

ALTIM_BOTTOM_PING 400.3,202.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 227 117.57 SBE_CT 796 24 453.22

Roll_motor 80 75 144.96 SBE_O2 842 19 379.17

VBD_pump_during_apogee 376 984 8788.84 nil 0 0 0.00

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 57.95 nil 0 0 0.00

Iridium_during_connect 34 160 132.19 nil 0 0 0.00

Iridium_during_xfer 161 223 853.87

Transponder_ping 0 420 4.98

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.76

TT8 2011 19 412.62

LPSleep 6627 2 157.69

TT8_Active 445 19 91.35

TT8_Sampling 1914 39 787.37

TT8_CF8 340 45 160.99

TT8_Kalman 0 0 0.00

Analog_circuits 1439 12 177.88

GPS_charging 0 0 0.00

Compass 1890 8 155.81

RAFOS 720 1 11.12

Transponder 5 30 1.84

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.64 -146.0 0.0 0.0 0 43 0.00 0.00 -27.08 0.000 2 0.000 0.000 120 1858 2183 0 0 0 0 0 0

45 -0.64 -146.0 3.0 -2.3 5 120 10.10 0.00 -60.12 0.000 6 0.227 0.000 2806 1858 3538 0 0 0 0 0 0

458 -0.55 -146.0 62.2 -16.9 80 464 0.12 2.33 0.00 0.000 4 0.176 0.070 2843 436 3538 0 0 0 0 0 0

555 -0.59 -146.0 76.2 -13.6 101 561 0.00 2.20 0.00 0.000 6 0.000 0.052 2841 1841 3538 0 0 0 0 0 0

890 -0.65 -146.0 116.0 -11.1 149 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1841 3538 0 0 0 0 0 0

1211 -0.72 -146.0 153.7 -12.4 179 1213 0.15 0.00 0.00 0.000 6 0.088 0.000 2771 1842 3538 0 0 0 0 0 0

1526 -0.61 -146.0 207.7 -17.1 209 1531 0.17 2.25 0.00 0.000 4 0.153 0.070 2823 442 3537 0 0 0 0 0 0

1550 -0.61 -146.0 211.4 -14.9 211 1554 0.00 2.17 0.00 0.000 6 0.000 0.053 2820 1855 3537 0 0 0 0 0 0

1874 -0.65 -146.0 254.5 -13.7 241 1875 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 1855 3537 0 0 0 0 0 0

2194 -0.70 -146.0 295.4 -12.3 271 2198 0.00 2.25 0.00 0.000 4 0.000 0.068 2820 442 3537 0 0 0 0 0 0

2226 -0.73 -146.0 299.5 -12.5 274 2230 0.00 2.17 0.00 0.000 6 0.000 0.052 2820 1850 3537 0 0 0 0 0 0

2550 -0.79 -146.0 337.6 -11.4 304 2552 0.15 0.00 0.00 0.000 6 0.088 0.000 2750 1851 3537 0 0 0 0 0 0

2870 -0.66 -146.0 388.6 -15.1 334 2875 0.20 2.25 0.00 0.000 4 0.148 0.067 2811 442 3538 0 0 0 0 0 0

2903 -0.66 -146.0 393.5 -13.1 337 2907 0.00 2.15 0.00 0.000 6 0.000 0.051 2808 1850 3538 0 0 0 0 0 0

3227 -0.66 -146.0 430.0 -10.8 367 3231 0.00 2.25 0.00 0.000 4 0.000 0.067 2808 435 3538 0 0 0 0 0 0

3249 -0.66 -146.0 432.6 -11.2 369 3253 0.00 2.17 0.00 0.000 6 0.000 0.051 2808 1855 3538 0 0 0 0 0 0

3578 -0.71 -146.0 469.4 -12.6 400 3580 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 1856 3538 0 0 0 0 0 0

3897 -0.75 -146.0 506.8 -11.0 430 3901 0.00 2.25 0.00 0.000 4 0.000 0.067 2808 438 3539 0 0 0 0 0 0

3979 -0.79 -146.0 516.4 -12.5 438 3985 0.10 2.17 0.00 0.000 6 0.110 0.051 2757 1856 3539 0 0 0 0 0 0

4304 -0.71 -146.0 567.6 -14.6 469 4309 0.12 2.25 0.00 0.000 4 0.163 0.067 2794 441 3539 0 0 0 0 0 0

4378 -0.71 -146.0 577.7 -14.1 476 4384 0.00 2.12 0.00 0.000 6 0.000 0.051 2794 1850 3539 0 0 0 0 0 0

4707 -1.16 -146.0 600.2 0.0 498 4712 0.35 2.22 0.00 0.000 4 0.081 0.063 2650 439 3539 0 0 0 0 0 0

4946 end dive: NO_VERTICAL_VELOCITY

state 4946 begin apogee

4952 -0.13 0.0 600.4 0.0 505 5074 0.90 0.00 118.97 0.985 6 0.093 0.000 2982 1705 2940 0 0 0 0 0 0

5075 end apogee: CONTROL_FINISHED_OK

state 5075 begin climb

5077 0.64 146.0 600.4 0.0 509 5208 0.70 2.45 121.88 0.956 4 0.092 0.061 3226 3105 2343 0 0 0 0 0 0

5470 0.47 146.0 577.6 11.6 541 5476 0.20 2.28 0.00 0.000 6 0.176 0.054 3183 1701 2335 0 0 0 0 0 0

5794 0.60 249.0 553.3 5.2 572 5888 0.10 2.42 87.45 0.930 4 0.111 0.067 3244 284 1923 0 0 0 0 0 0

5921 0.56 249.0 540.8 11.3 586 5926 0.12 2.28 0.00 0.000 6 0.157 0.046 3211 1705 1920 0 0 0 0 0 0

6245 0.61 249.0 508.2 10.0 616 6250 0.00 2.28 0.00 0.000 4 0.000 0.064 3210 3105 1914 0 0 0 0 0 0

6272 0.65 249.0 504.8 12.8 618 6277 0.00 2.28 0.00 0.000 6 0.000 0.058 3219 1701 1913 0 0 0 0 0 0

6595 0.66 254.2 466.8 9.8 649 6599 0.00 2.28 0.00 0.000 4 0.000 0.068 3229 289 1912 0 0 0 0 0 0

6640 0.66 254.2 461.3 12.0 653 6646 0.00 2.20 0.00 0.000 6 0.000 0.046 3229 1708 1911 0 0 0 0 0 0

6964 0.66 254.2 422.2 11.1 684 6965 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1709 1911 0 0 0 0 0 0

7285 0.66 254.2 384.9 12.3 714 7286 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1709 1910 0 0 0 0 0 0

7602 0.66 254.2 349.6 10.8 744 7603 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1709 1910 0 0 0 0 0 0

7920 0.66 254.2 313.2 11.9 774 7921 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1709 1910 0 0 0 0 0 0

8239 0.66 254.2 275.9 11.9 804 8243 0.00 2.17 0.00 0.000 4 0.000 0.063 3229 3105 1910 0 0 0 0 0 0

8266 0.66 254.2 272.4 12.8 806 8272 0.00 2.22 0.00 0.000 6 0.000 0.058 3237 1693 1909 0 0 0 0 0 0

8590 0.66 254.2 235.4 10.8 837 8591 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1692 1909 0 0 0 0 0 0

8909 0.66 254.2 201.6 10.2 867 8910 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1693 1909 0 0 0 0 0 0

9228 0.66 254.9 170.5 10.0 897 9232 0.00 2.25 0.00 0.000 4 0.000 0.061 3237 3106 1909 0 0 0 0 0 0

9273 0.66 254.9 165.5 10.8 901 9279 0.00 2.20 0.00 0.000 6 0.000 0.058 3245 1700 1909 0 0 0 0 0 0

9597 0.66 254.9 132.8 10.0 932 9601 0.00 2.20 0.00 0.000 4 0.000 0.069 3253 289 1909 0 0 0 0 0 0

9633 0.66 254.9 129.0 10.4 935 9640 0.00 2.15 0.00 0.000 6 0.000 0.046 3253 1706 1909 0 0 0 0 0 0

9957 0.68 270.7 99.5 9.3 966 9981 0.00 2.22 17.08 0.665 4 0.000 0.063 3253 3104 1836 0 0 0 0 0 0

10043 0.69 282.6 91.5 9.5 984 10062 0.00 2.22 11.65 0.634 6 0.000 0.058 3259 1700 1786 0 0 0 0 0 0

10401 0.75 282.6 56.5 10.2 1048 10406 0.00 2.28 0.00 0.000 4 0.000 0.062 3259 3112 1782 0 0 0 0 0 0

10453 0.80 282.6 50.5 11.0 1059 10460 0.00 2.25 0.00 0.000 6 0.000 0.059 3265 1699 1781 0 0 0 0 0 0

10799 0.86 304.4 16.5 9.0 1120 10825 0.10 2.28 19.52 0.630 4 0.115 0.067 3326 288 1698 0 0 0 0 0 0

10840 0.77 304.4 11.4 12.2 1128 10847 0.17 2.20 0.00 0.000 6 0.152 0.048 3275 1705 1697 0 0 0 0 0 0

10907 end climb: SURFACE_DEPTH_REACHED

state 10907 begin surface coast

10943 end surface coast: CONTROL_FINISHED_OK

state 10943 begin surface

ID	172	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MAX	3717	ALTIM_TOP_TURN_MARGIN	0
DIVE	102	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	1	C_ROLL_DIVE	1850	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1700	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_NO_BLEED	500	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	24	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	34	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	460	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	330	CALL_TRIES	5	C_VBD	2940	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-6189.5083	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3025	FG_AHR_24V	0	SEABIRD_T_G	0.0043614767
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062996609
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-55.981045	SEABIRD_T_I	2.5014444e-05
MASS	51891	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_J	2.7838146e-06
NAV_MODE	2	PITCH_GAIN	38	AD7714Ch0Gain	128	SEABIRD_C_G	-10.228213
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1292607
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001076734
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017059842
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.032000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	200036,6703.000,-5657.599,22,1.7,22,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200556,6703.011,-5657.714,13,1.4,13,-37.6	MHEAD_RNG_PITCHd_Wd	104.6,7015,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	601

FINISH	1.6,1.024999	_24V_AH	23.7,19.343
SM_CCo	11018,0.00,0.000,0,0,1690,306.38	_10V_AH	10.3,8.697
SM_GC	2.89,8.07,0.00,0.00,0.045,0.000,0.000,133,1853,1690,-8.95,0.08,306.38	FG_AHR_24Vo	0.000
RAFOS_CLK	491	FG_AHR_10Vo	0.000
RAFOS	1,1257538177,20.166666,20.160278,41,41,36,0,0,0,25,101,39,0,0,0	MEM	188316
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	44131,1146
IRIDIUM_FIX	6636.54,-5702.96,310199,171741	CAP_FILE_SIZE	125648,0
TT8_MAMPS	0.026078	CFSIZE	260165632,243122176
HUMID	39.64	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.60974	SOUNDSPEED	1471.2
TCM_TEMP	16.30	CURRENT	0.210,174.7,1
XPDR_PINGS	0	GPS	061109,231124,6702.533,-5653.672,46,1.2,46,-37.5
ALTIM_BOTTOM_PING	400.3,202.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	227	117.57	SBE_CT	796	24	453.22
Roll_motor	80	75	144.96	SBE_O2	842	19	379.17
VBD_pump_during_apogee	376	984	8788.84	nil	0	0	0.00
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	57.95	nil	0	0	0.00
Iridium_during_connect	34	160	132.19	nil	0	0	0.00
Iridium_during_xfer	161	223	853.87
Transponder_ping	0	420	4.98
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.76
TT8	2011	19	412.62
LPSleep	6627	2	157.69
TT8_Active	445	19	91.35
TT8_Sampling	1914	39	787.37
TT8_CF8	340	45	160.99
TT8_Kalman	0	0	0.00
Analog_circuits	1439	12	177.88
GPS_charging	0	0	0.00
Compass	1890	8	155.81
RAFOS	720	1	11.12
Transponder	5	30	1.84

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.64	-146.0	0.0	0.0	0	43	0.00	0.00	-27.08	0.000	2	0.000	0.000	120	1858	2183	0	0	0	0	0	0
45	-0.64	-146.0	3.0	-2.3	5	120	10.10	0.00	-60.12	0.000	6	0.227	0.000	2806	1858	3538	0	0	0	0	0	0
458	-0.55	-146.0	62.2	-16.9	80	464	0.12	2.33	0.00	0.000	4	0.176	0.070	2843	436	3538	0	0	0	0	0	0
555	-0.59	-146.0	76.2	-13.6	101	561	0.00	2.20	0.00	0.000	6	0.000	0.052	2841	1841	3538	0	0	0	0	0	0
890	-0.65	-146.0	116.0	-11.1	149	891	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	1841	3538	0	0	0	0	0	0
1211	-0.72	-146.0	153.7	-12.4	179	1213	0.15	0.00	0.00	0.000	6	0.088	0.000	2771	1842	3538	0	0	0	0	0	0
1526	-0.61	-146.0	207.7	-17.1	209	1531	0.17	2.25	0.00	0.000	4	0.153	0.070	2823	442	3537	0	0	0	0	0	0
1550	-0.61	-146.0	211.4	-14.9	211	1554	0.00	2.17	0.00	0.000	6	0.000	0.053	2820	1855	3537	0	0	0	0	0	0
1874	-0.65	-146.0	254.5	-13.7	241	1875	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	1855	3537	0	0	0	0	0	0
2194	-0.70	-146.0	295.4	-12.3	271	2198	0.00	2.25	0.00	0.000	4	0.000	0.068	2820	442	3537	0	0	0	0	0	0
2226	-0.73	-146.0	299.5	-12.5	274	2230	0.00	2.17	0.00	0.000	6	0.000	0.052	2820	1850	3537	0	0	0	0	0	0
2550	-0.79	-146.0	337.6	-11.4	304	2552	0.15	0.00	0.00	0.000	6	0.088	0.000	2750	1851	3537	0	0	0	0	0	0
2870	-0.66	-146.0	388.6	-15.1	334	2875	0.20	2.25	0.00	0.000	4	0.148	0.067	2811	442	3538	0	0	0	0	0	0
2903	-0.66	-146.0	393.5	-13.1	337	2907	0.00	2.15	0.00	0.000	6	0.000	0.051	2808	1850	3538	0	0	0	0	0	0
3227	-0.66	-146.0	430.0	-10.8	367	3231	0.00	2.25	0.00	0.000	4	0.000	0.067	2808	435	3538	0	0	0	0	0	0
3249	-0.66	-146.0	432.6	-11.2	369	3253	0.00	2.17	0.00	0.000	6	0.000	0.051	2808	1855	3538	0	0	0	0	0	0
3578	-0.71	-146.0	469.4	-12.6	400	3580	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	1856	3538	0	0	0	0	0	0
3897	-0.75	-146.0	506.8	-11.0	430	3901	0.00	2.25	0.00	0.000	4	0.000	0.067	2808	438	3539	0	0	0	0	0	0
3979	-0.79	-146.0	516.4	-12.5	438	3985	0.10	2.17	0.00	0.000	6	0.110	0.051	2757	1856	3539	0	0	0	0	0	0
4304	-0.71	-146.0	567.6	-14.6	469	4309	0.12	2.25	0.00	0.000	4	0.163	0.067	2794	441	3539	0	0	0	0	0	0
4378	-0.71	-146.0	577.7	-14.1	476	4384	0.00	2.12	0.00	0.000	6	0.000	0.051	2794	1850	3539	0	0	0	0	0	0
4707	-1.16	-146.0	600.2	0.0	498	4712	0.35	2.22	0.00	0.000	4	0.081	0.063	2650	439	3539	0	0	0	0	0	0
4946	end dive: NO_VERTICAL_VELOCITY
state	4946	begin apogee
4952	-0.13	0.0	600.4	0.0	505	5074	0.90	0.00	118.97	0.985	6	0.093	0.000	2982	1705	2940	0	0	0	0	0	0
5075	end apogee: CONTROL_FINISHED_OK
state	5075	begin climb
5077	0.64	146.0	600.4	0.0	509	5208	0.70	2.45	121.88	0.956	4	0.092	0.061	3226	3105	2343	0	0	0	0	0	0
5470	0.47	146.0	577.6	11.6	541	5476	0.20	2.28	0.00	0.000	6	0.176	0.054	3183	1701	2335	0	0	0	0	0	0
5794	0.60	249.0	553.3	5.2	572	5888	0.10	2.42	87.45	0.930	4	0.111	0.067	3244	284	1923	0	0	0	0	0	0
5921	0.56	249.0	540.8	11.3	586	5926	0.12	2.28	0.00	0.000	6	0.157	0.046	3211	1705	1920	0	0	0	0	0	0
6245	0.61	249.0	508.2	10.0	616	6250	0.00	2.28	0.00	0.000	4	0.000	0.064	3210	3105	1914	0	0	0	0	0	0
6272	0.65	249.0	504.8	12.8	618	6277	0.00	2.28	0.00	0.000	6	0.000	0.058	3219	1701	1913	0	0	0	0	0	0
6595	0.66	254.2	466.8	9.8	649	6599	0.00	2.28	0.00	0.000	4	0.000	0.068	3229	289	1912	0	0	0	0	0	0
6640	0.66	254.2	461.3	12.0	653	6646	0.00	2.20	0.00	0.000	6	0.000	0.046	3229	1708	1911	0	0	0	0	0	0
6964	0.66	254.2	422.2	11.1	684	6965	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	1709	1911	0	0	0	0	0	0
7285	0.66	254.2	384.9	12.3	714	7286	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	1709	1910	0	0	0	0	0	0
7602	0.66	254.2	349.6	10.8	744	7603	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	1709	1910	0	0	0	0	0	0
7920	0.66	254.2	313.2	11.9	774	7921	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	1709	1910	0	0	0	0	0	0
8239	0.66	254.2	275.9	11.9	804	8243	0.00	2.17	0.00	0.000	4	0.000	0.063	3229	3105	1910	0	0	0	0	0	0
8266	0.66	254.2	272.4	12.8	806	8272	0.00	2.22	0.00	0.000	6	0.000	0.058	3237	1693	1909	0	0	0	0	0	0
8590	0.66	254.2	235.4	10.8	837	8591	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1692	1909	0	0	0	0	0	0
8909	0.66	254.2	201.6	10.2	867	8910	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1693	1909	0	0	0	0	0	0
9228	0.66	254.9	170.5	10.0	897	9232	0.00	2.25	0.00	0.000	4	0.000	0.061	3237	3106	1909	0	0	0	0	0	0
9273	0.66	254.9	165.5	10.8	901	9279	0.00	2.20	0.00	0.000	6	0.000	0.058	3245	1700	1909	0	0	0	0	0	0
9597	0.66	254.9	132.8	10.0	932	9601	0.00	2.20	0.00	0.000	4	0.000	0.069	3253	289	1909	0	0	0	0	0	0
9633	0.66	254.9	129.0	10.4	935	9640	0.00	2.15	0.00	0.000	6	0.000	0.046	3253	1706	1909	0	0	0	0	0	0
9957	0.68	270.7	99.5	9.3	966	9981	0.00	2.22	17.08	0.665	4	0.000	0.063	3253	3104	1836	0	0	0	0	0	0
10043	0.69	282.6	91.5	9.5	984	10062	0.00	2.22	11.65	0.634	6	0.000	0.058	3259	1700	1786	0	0	0	0	0	0
10401	0.75	282.6	56.5	10.2	1048	10406	0.00	2.28	0.00	0.000	4	0.000	0.062	3259	3112	1782	0	0	0	0	0	0
10453	0.80	282.6	50.5	11.0	1059	10460	0.00	2.25	0.00	0.000	6	0.000	0.059	3265	1699	1781	0	0	0	0	0	0
10799	0.86	304.4	16.5	9.0	1120	10825	0.10	2.28	19.52	0.630	4	0.115	0.067	3326	288	1698	0	0	0	0	0	0
10840	0.77	304.4	11.4	12.2	1128	10847	0.17	2.20	0.00	0.000	6	0.152	0.048	3275	1705	1697	0	0	0	0	0	0
10907	end climb: SURFACE_DEPTH_REACHED
state	10907	begin surface coast
10943	end surface coast: CONTROL_FINISHED_OK
state	10943	begin surface