Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 23 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 18 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 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 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 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 -23179.381 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 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 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2430 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 2 PITCH_GAIN 21 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-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 50 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 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 21 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23179.381

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 23 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 12 NAV_MODE 2 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 064907,6701.919,-5651.438,33,0.9,33,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 065431,6701.935,-5651.461,10,1.3,15,-37.5 MHEAD_RNG_PITCHd_Wd 54.4,3184,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 567

Post-dive calculations and measurements:

FINISH 0.5,1.026413 _24V_AH 23.6,16.372

SM_CCo 11867,30.65,0.749,0,0,1678,275.23 _10V_AH 10.3,7.181

SM_GC 1.49,0.00,0.00,30.65,0.000,0.000,0.749,130,2239,1678,-7.19,-0.28,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 734 FG_AHR_10Vo 0.000

RAFOS 0,1256198465,8.033334,8.018056,84,67,60,0,0,0,1179,161,178,0,0,0 MEM 150216

RAFOS_FIX 6648.412598,-5655.337402,221009,080840,4,79,4.56 DATA_FILE_SIZE 47257,1236

IRIDIUM_FIX 6636.54,-5658.34,160199,030337 CAP_FILE_SIZE 133732,0

TT8_MAMPS 0.026845 CFSIZE 260165632,249851904

HUMID 46.49 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1468.1

TCM_TEMP 17.40 CURRENT 0.284,170.4,1

XPDR_PINGS 5 GPS 221009,101507,6701.595,-5650.036,55,0.7,55,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 306 166.53 SBE_CT 906 24 513.21

Roll_motor 91 102 221.25 SBE_O2 844 19 378.57

VBD_pump_during_apogee 313 1087 8037.14 nil 0 0 0.00

VBD_pump_during_surface 30 748 541.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.66 nil 0 0 0.00

Iridium_during_connect 32 160 123.98 nil 0 0 0.00

Iridium_during_xfer 159 223 840.00

Transponder_ping 1 420 12.39

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.54

TT8 2242 19 460.18

LPSleep 7028 2 167.23

TT8_Active 440 19 90.48

TT8_Sampling 2149 39 883.80

TT8_CF8 376 45 177.87

TT8_Kalman 0 0 0.00

Analog_circuits 1518 12 187.73

GPS_charging 0 0 0.00

Compass 2119 8 174.65

RAFOS 2520 1 38.93

Transponder 0 30 0.16

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.98 -146.0 0.0 0.0 0 103 0.00 0.00 -84.82 0.000 2 0.000 0.000 126 2239 3204 0 0 0 0 0 0

106 -0.98 -146.0 3.4 -6.1 16 128 9.57 2.72 -5.20 0.000 4 0.307 0.097 2107 3845 3400 0 0 0 0 0 0

382 -0.81 -146.0 48.2 -15.3 65 388 0.22 2.58 0.00 0.000 6 0.210 0.059 2162 2241 3402 0 0 0 0 0 0

726 -0.81 -146.0 86.4 -9.5 126 732 0.00 2.65 0.00 0.000 4 0.000 0.084 2162 3837 3402 0 0 0 0 0 0

985 -0.81 -146.0 109.0 -8.1 163 989 0.00 2.50 0.00 0.000 6 0.000 0.059 2163 2259 3401 0 0 0 0 0 0

1310 -0.87 -146.0 137.6 -8.9 193 1314 0.00 2.60 0.00 0.000 4 0.000 0.083 2163 3838 3401 0 0 0 0 0 0

1433 -0.94 -146.0 148.7 -8.7 203 1440 0.12 2.50 0.00 0.000 6 0.118 0.059 2122 2257 3400 0 0 0 0 0 0

1758 -0.86 -146.0 178.1 -8.9 234 1764 0.12 2.60 0.00 0.000 4 0.219 0.081 2140 3838 3400 0 0 0 0 0 0

1867 -0.86 -146.0 187.3 -8.6 243 1871 0.00 2.47 0.00 0.000 6 0.000 0.059 2140 2266 3400 0 0 0 0 0 0

2191 -0.86 -146.0 217.1 -9.7 273 2195 0.00 2.58 0.00 0.000 4 0.000 0.083 2140 3841 3401 0 0 0 0 0 0

2353 -0.86 -146.0 234.1 -10.2 287 2358 0.00 2.47 0.00 0.000 6 0.000 0.059 2140 2266 3400 0 0 0 0 0 0

2678 -0.86 -146.0 262.8 -7.7 317 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2266 3400 0 0 0 0 0 0

2997 -0.86 -146.0 287.0 -8.1 347 3002 0.00 2.58 0.00 0.000 4 0.000 0.083 2140 3846 3400 0 0 0 0 0 0

3187 -0.86 -146.0 304.1 -9.3 363 3193 0.00 2.50 0.00 0.000 6 0.000 0.059 2140 2273 3399 0 0 0 0 0 0

3513 -0.86 -146.0 333.1 -8.9 394 3514 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2273 3399 0 0 0 0 0 0

3832 -0.86 -146.0 360.5 -8.3 424 3836 0.00 2.55 0.00 0.000 4 0.000 0.084 2140 3839 3399 0 0 0 0 0 0

4029 -0.86 -146.0 377.2 -8.5 441 4034 0.00 2.45 0.00 0.000 6 0.000 0.058 2140 2272 3399 0 0 0 0 0 0

4354 -0.86 -146.0 403.5 -8.7 471 4358 0.00 2.55 0.00 0.000 4 0.000 0.083 2140 3841 3399 0 0 0 0 0 0

4471 -0.86 -146.0 414.0 -8.6 481 4475 0.00 2.45 0.00 0.000 6 0.000 0.057 2140 2270 3400 0 0 0 0 0 0

4797 -0.86 -146.0 439.6 -7.9 511 4801 0.00 2.55 0.00 0.000 4 0.000 0.082 2140 3842 3400 0 0 0 0 0 0

4939 -0.86 -146.0 452.3 -8.7 523 4943 0.00 2.42 0.00 0.000 6 0.000 0.057 2140 2285 3400 0 0 0 0 0 0

5263 -0.86 -146.0 476.3 -6.8 553 5264 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2285 3400 0 0 0 0 0 0

5583 -0.86 -146.0 500.6 -7.6 583 5587 0.00 2.53 0.00 0.000 4 0.000 0.081 2140 3846 3401 0 0 0 0 0 0

5735 -0.86 -146.0 513.0 -8.6 596 5739 0.00 2.42 0.00 0.000 6 0.000 0.056 2140 2284 3401 0 0 0 0 0 0

6059 -0.86 -146.0 539.5 -8.3 626 6060 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2284 3401 0 0 0 0 0 0

6381 -0.86 -146.0 564.6 -8.2 656 6386 0.00 2.53 0.00 0.000 4 0.000 0.081 2140 3846 3401 0 0 0 0 0 0

6421 -1.45 -146.0 565.4 -0.2 659 6426 0.50 2.42 0.00 0.000 6 0.083 0.057 1959 2287 3402 0 0 0 0 0 0

6531 end dive: NO_VERTICAL_VELOCITY

state 6531 begin apogee

6536 -0.24 0.0 565.4 0.0 669 6658 1.25 0.00 117.60 1.088 6 0.142 0.000 2352 2185 2800 0 0 0 0 0 0

6659 end apogee: CONTROL_FINISHED_OK

state 6659 begin climb

6660 0.98 146.0 565.3 0.0 681 6789 1.25 2.83 120.15 1.044 4 0.114 0.076 2740 3795 2202 0 0 0 0 0 0

6869 0.49 146.0 533.8 21.4 700 6875 0.68 2.67 0.00 0.000 6 0.219 0.060 2592 2206 2196 0 0 0 0 0 0

7195 0.49 146.0 496.2 11.4 730 7200 0.00 2.67 0.00 0.000 4 0.000 0.080 2592 3794 2193 0 0 0 0 0 0

7452 0.44 146.0 463.6 12.9 752 7459 0.12 2.55 0.00 0.000 6 0.197 0.060 2575 2215 2193 0 0 0 0 0 0

7777 0.50 146.0 431.7 9.8 783 7778 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2215 2192 0 0 0 0 0 0

8096 0.55 146.0 400.0 9.9 813 8102 0.12 2.58 0.00 0.000 4 0.117 0.079 2616 3788 2192 0 0 0 0 0 0

8354 0.44 146.0 366.7 13.3 835 8361 0.22 2.50 0.00 0.000 6 0.195 0.060 2573 2209 2191 0 0 0 0 0 0

8679 0.51 153.8 337.7 8.8 866 8688 0.00 0.00 5.57 0.746 6 0.000 0.000 2573 2209 2173 0 0 0 0 0 0

9007 0.60 153.8 307.0 10.1 897 9013 0.17 2.60 0.00 0.000 4 0.102 0.078 2632 3792 2172 0 0 0 0 0 0

9265 0.45 153.8 269.9 14.3 919 9272 0.25 2.45 0.00 0.000 6 0.195 0.060 2582 2240 2171 0 0 0 0 0 0

9591 0.53 164.4 240.4 8.7 950 9603 0.00 0.00 10.35 0.820 6 0.000 0.000 2581 2240 2129 0 0 0 0 0 0

9919 0.64 181.8 212.3 8.4 981 9941 0.17 2.58 15.75 0.843 4 0.103 0.078 2642 3793 2056 0 0 0 0 0 0

10193 0.51 181.8 174.8 14.0 1005 10201 0.22 2.50 0.00 0.000 6 0.191 0.061 2598 2227 2053 0 0 0 0 0 0

10519 0.58 185.0 141.3 9.0 1036 10520 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2227 2053 0 0 0 0 0 0

10839 0.68 193.0 113.8 8.8 1066 10854 0.17 2.60 9.75 0.767 4 0.104 0.081 2657 3798 2012 0 0 0 0 0 0

11086 0.54 193.0 80.9 12.6 1100 11092 0.25 2.47 0.00 0.000 6 0.193 0.061 2606 2240 2010 0 0 0 0 0 0

11431 0.72 234.0 49.0 7.4 1161 11468 0.17 0.00 33.95 0.782 6 0.103 0.000 2666 2240 1844 0 0 0 0 0 0

11805 0.72 234.0 6.2 12.9 1228 11811 0.00 2.58 0.00 0.000 4 0.000 0.081 2666 3797 1838 0 0 0 0 0 0

11838 end climb: SURFACE_DEPTH_REACHED

state 11838 begin surface coast

11850 end surface coast: CONTROL_FINISHED_OK

state 11850 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	23	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	18	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	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	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	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	-23179.381	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	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	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2430	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	2	PITCH_GAIN	21	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	064907,6701.919,-5651.438,33,0.9,33,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	065431,6701.935,-5651.461,10,1.3,15,-37.5	MHEAD_RNG_PITCHd_Wd	54.4,3184,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	567

FINISH	0.5,1.026413	_24V_AH	23.6,16.372
SM_CCo	11867,30.65,0.749,0,0,1678,275.23	_10V_AH	10.3,7.181
SM_GC	1.49,0.00,0.00,30.65,0.000,0.000,0.749,130,2239,1678,-7.19,-0.28,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	734	FG_AHR_10Vo	0.000
RAFOS	0,1256198465,8.033334,8.018056,84,67,60,0,0,0,1179,161,178,0,0,0	MEM	150216
RAFOS_FIX	6648.412598,-5655.337402,221009,080840,4,79,4.56	DATA_FILE_SIZE	47257,1236
IRIDIUM_FIX	6636.54,-5658.34,160199,030337	CAP_FILE_SIZE	133732,0
TT8_MAMPS	0.026845	CFSIZE	260165632,249851904
HUMID	46.49	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1468.1
TCM_TEMP	17.40	CURRENT	0.284,170.4,1
XPDR_PINGS	5	GPS	221009,101507,6701.595,-5650.036,55,0.7,55,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	306	166.53	SBE_CT	906	24	513.21
Roll_motor	91	102	221.25	SBE_O2	844	19	378.57
VBD_pump_during_apogee	313	1087	8037.14	nil	0	0	0.00
VBD_pump_during_surface	30	748	541.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.66	nil	0	0	0.00
Iridium_during_connect	32	160	123.98	nil	0	0	0.00
Iridium_during_xfer	159	223	840.00
Transponder_ping	1	420	12.39
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.54
TT8	2242	19	460.18
LPSleep	7028	2	167.23
TT8_Active	440	19	90.48
TT8_Sampling	2149	39	883.80
TT8_CF8	376	45	177.87
TT8_Kalman	0	0	0.00
Analog_circuits	1518	12	187.73
GPS_charging	0	0	0.00
Compass	2119	8	174.65
RAFOS	2520	1	38.93
Transponder	0	30	0.16

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.98	-146.0	0.0	0.0	0	103	0.00	0.00	-84.82	0.000	2	0.000	0.000	126	2239	3204	0	0	0	0	0	0
106	-0.98	-146.0	3.4	-6.1	16	128	9.57	2.72	-5.20	0.000	4	0.307	0.097	2107	3845	3400	0	0	0	0	0	0
382	-0.81	-146.0	48.2	-15.3	65	388	0.22	2.58	0.00	0.000	6	0.210	0.059	2162	2241	3402	0	0	0	0	0	0
726	-0.81	-146.0	86.4	-9.5	126	732	0.00	2.65	0.00	0.000	4	0.000	0.084	2162	3837	3402	0	0	0	0	0	0
985	-0.81	-146.0	109.0	-8.1	163	989	0.00	2.50	0.00	0.000	6	0.000	0.059	2163	2259	3401	0	0	0	0	0	0
1310	-0.87	-146.0	137.6	-8.9	193	1314	0.00	2.60	0.00	0.000	4	0.000	0.083	2163	3838	3401	0	0	0	0	0	0
1433	-0.94	-146.0	148.7	-8.7	203	1440	0.12	2.50	0.00	0.000	6	0.118	0.059	2122	2257	3400	0	0	0	0	0	0
1758	-0.86	-146.0	178.1	-8.9	234	1764	0.12	2.60	0.00	0.000	4	0.219	0.081	2140	3838	3400	0	0	0	0	0	0
1867	-0.86	-146.0	187.3	-8.6	243	1871	0.00	2.47	0.00	0.000	6	0.000	0.059	2140	2266	3400	0	0	0	0	0	0
2191	-0.86	-146.0	217.1	-9.7	273	2195	0.00	2.58	0.00	0.000	4	0.000	0.083	2140	3841	3401	0	0	0	0	0	0
2353	-0.86	-146.0	234.1	-10.2	287	2358	0.00	2.47	0.00	0.000	6	0.000	0.059	2140	2266	3400	0	0	0	0	0	0
2678	-0.86	-146.0	262.8	-7.7	317	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2266	3400	0	0	0	0	0	0
2997	-0.86	-146.0	287.0	-8.1	347	3002	0.00	2.58	0.00	0.000	4	0.000	0.083	2140	3846	3400	0	0	0	0	0	0
3187	-0.86	-146.0	304.1	-9.3	363	3193	0.00	2.50	0.00	0.000	6	0.000	0.059	2140	2273	3399	0	0	0	0	0	0
3513	-0.86	-146.0	333.1	-8.9	394	3514	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2273	3399	0	0	0	0	0	0
3832	-0.86	-146.0	360.5	-8.3	424	3836	0.00	2.55	0.00	0.000	4	0.000	0.084	2140	3839	3399	0	0	0	0	0	0
4029	-0.86	-146.0	377.2	-8.5	441	4034	0.00	2.45	0.00	0.000	6	0.000	0.058	2140	2272	3399	0	0	0	0	0	0
4354	-0.86	-146.0	403.5	-8.7	471	4358	0.00	2.55	0.00	0.000	4	0.000	0.083	2140	3841	3399	0	0	0	0	0	0
4471	-0.86	-146.0	414.0	-8.6	481	4475	0.00	2.45	0.00	0.000	6	0.000	0.057	2140	2270	3400	0	0	0	0	0	0
4797	-0.86	-146.0	439.6	-7.9	511	4801	0.00	2.55	0.00	0.000	4	0.000	0.082	2140	3842	3400	0	0	0	0	0	0
4939	-0.86	-146.0	452.3	-8.7	523	4943	0.00	2.42	0.00	0.000	6	0.000	0.057	2140	2285	3400	0	0	0	0	0	0
5263	-0.86	-146.0	476.3	-6.8	553	5264	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2285	3400	0	0	0	0	0	0
5583	-0.86	-146.0	500.6	-7.6	583	5587	0.00	2.53	0.00	0.000	4	0.000	0.081	2140	3846	3401	0	0	0	0	0	0
5735	-0.86	-146.0	513.0	-8.6	596	5739	0.00	2.42	0.00	0.000	6	0.000	0.056	2140	2284	3401	0	0	0	0	0	0
6059	-0.86	-146.0	539.5	-8.3	626	6060	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2284	3401	0	0	0	0	0	0
6381	-0.86	-146.0	564.6	-8.2	656	6386	0.00	2.53	0.00	0.000	4	0.000	0.081	2140	3846	3401	0	0	0	0	0	0
6421	-1.45	-146.0	565.4	-0.2	659	6426	0.50	2.42	0.00	0.000	6	0.083	0.057	1959	2287	3402	0	0	0	0	0	0
6531	end dive: NO_VERTICAL_VELOCITY
state	6531	begin apogee
6536	-0.24	0.0	565.4	0.0	669	6658	1.25	0.00	117.60	1.088	6	0.142	0.000	2352	2185	2800	0	0	0	0	0	0
6659	end apogee: CONTROL_FINISHED_OK
state	6659	begin climb
6660	0.98	146.0	565.3	0.0	681	6789	1.25	2.83	120.15	1.044	4	0.114	0.076	2740	3795	2202	0	0	0	0	0	0
6869	0.49	146.0	533.8	21.4	700	6875	0.68	2.67	0.00	0.000	6	0.219	0.060	2592	2206	2196	0	0	0	0	0	0
7195	0.49	146.0	496.2	11.4	730	7200	0.00	2.67	0.00	0.000	4	0.000	0.080	2592	3794	2193	0	0	0	0	0	0
7452	0.44	146.0	463.6	12.9	752	7459	0.12	2.55	0.00	0.000	6	0.197	0.060	2575	2215	2193	0	0	0	0	0	0
7777	0.50	146.0	431.7	9.8	783	7778	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2215	2192	0	0	0	0	0	0
8096	0.55	146.0	400.0	9.9	813	8102	0.12	2.58	0.00	0.000	4	0.117	0.079	2616	3788	2192	0	0	0	0	0	0
8354	0.44	146.0	366.7	13.3	835	8361	0.22	2.50	0.00	0.000	6	0.195	0.060	2573	2209	2191	0	0	0	0	0	0
8679	0.51	153.8	337.7	8.8	866	8688	0.00	0.00	5.57	0.746	6	0.000	0.000	2573	2209	2173	0	0	0	0	0	0
9007	0.60	153.8	307.0	10.1	897	9013	0.17	2.60	0.00	0.000	4	0.102	0.078	2632	3792	2172	0	0	0	0	0	0
9265	0.45	153.8	269.9	14.3	919	9272	0.25	2.45	0.00	0.000	6	0.195	0.060	2582	2240	2171	0	0	0	0	0	0
9591	0.53	164.4	240.4	8.7	950	9603	0.00	0.00	10.35	0.820	6	0.000	0.000	2581	2240	2129	0	0	0	0	0	0
9919	0.64	181.8	212.3	8.4	981	9941	0.17	2.58	15.75	0.843	4	0.103	0.078	2642	3793	2056	0	0	0	0	0	0
10193	0.51	181.8	174.8	14.0	1005	10201	0.22	2.50	0.00	0.000	6	0.191	0.061	2598	2227	2053	0	0	0	0	0	0
10519	0.58	185.0	141.3	9.0	1036	10520	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2227	2053	0	0	0	0	0	0
10839	0.68	193.0	113.8	8.8	1066	10854	0.17	2.60	9.75	0.767	4	0.104	0.081	2657	3798	2012	0	0	0	0	0	0
11086	0.54	193.0	80.9	12.6	1100	11092	0.25	2.47	0.00	0.000	6	0.193	0.061	2606	2240	2010	0	0	0	0	0	0
11431	0.72	234.0	49.0	7.4	1161	11468	0.17	0.00	33.95	0.782	6	0.103	0.000	2666	2240	1844	0	0	0	0	0	0
11805	0.72	234.0	6.2	12.9	1228	11811	0.00	2.58	0.00	0.000	4	0.000	0.081	2666	3797	1838	0	0	0	0	0	0
11838	end climb: SURFACE_DEPTH_REACHED
state	11838	begin surface coast
11850	end surface coast: CONTROL_FINISHED_OK
state	11850	begin surface