Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 13 * 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 13 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 22 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 -23192.666 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 -23192.666

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 22 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 13 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 101507,6701.595,-5650.036,55,0.7,55,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 102008,6701.640,-5649.970,11,1.2,11,-37.5 MHEAD_RNG_PITCHd_Wd 22.0,2893,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 561

Post-dive calculations and measurements:

FINISH 0.4,1.018406 _24V_AH 23.6,16.471

SM_CCo 11392,50.05,0.737,0,0,1678,275.23 _10V_AH 10.3,7.251

SM_GC 1.23,0.00,0.00,50.05,0.000,0.000,0.737,125,2268,1678,-7.20,0.51,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 708 FG_AHR_10Vo 0.000

RAFOS 0,1256212863,12.033333,12.017500,59,56,55,0,0,0,148,190,202,0,0,0 MEM 150244

RAFOS_FIX 6648.412598,-5655.337402,221009,080840,4,79,4.56 DATA_FILE_SIZE 47350,1215

IRIDIUM_FIX 6631.12,-5646.10,160199,070727 CAP_FILE_SIZE 130581,0

TT8_MAMPS 0.026845 CFSIZE 260165632,249786368

HUMID 46.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1467.0

TCM_TEMP 17.40 CURRENT 0.085, 27.8,1

XPDR_PINGS 1 GPS 221009,133230,6703.655,-5649.560,35,1.5,35,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 312 154.34 SBE_CT 890 24 504.36

Roll_motor 106 107 271.03 SBE_O2 830 19 372.22

VBD_pump_during_apogee 266 1072 6748.97 nil 0 0 0.00

VBD_pump_during_surface 50 737 870.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.14 nil 0 0 0.00

Iridium_during_connect 32 160 121.54 nil 0 0 0.00

Iridium_during_xfer 131 223 690.77

Transponder_ping 0 420 2.48

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.52

TT8 2164 19 444.05

LPSleep 6707 2 159.59

TT8_Active 438 19 89.92

TT8_Sampling 2078 39 854.62

TT8_CF8 349 45 165.31

TT8_Kalman 0 0 0.00

Analog_circuits 1491 12 184.32

GPS_charging 0 0 0.00

Compass 2054 8 169.27

RAFOS 2520 1 38.93

Transponder 0 30 0.17

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 -0.98 -146.0 0.0 0.0 0 100 0.00 0.00 -82.93 0.000 2 0.000 0.000 130 2236 3170 0 0 0 0 0 0

103 -0.98 -146.0 3.4 -6.0 16 125 9.75 2.72 -6.22 0.000 4 0.312 0.097 2105 3842 3396 0 0 0 0 0 0

379 -0.82 -146.0 47.1 -14.1 65 385 0.22 2.55 0.00 0.000 6 0.210 0.059 2161 2249 3399 0 0 0 0 0 0

724 -0.82 -146.0 80.2 -8.8 126 729 0.00 2.65 0.00 0.000 4 0.000 0.084 2161 3838 3399 0 0 0 0 0 0

915 -0.87 -146.0 98.2 -9.8 160 920 0.00 2.55 0.00 0.000 6 0.000 0.060 2161 2238 3399 0 0 0 0 0 0

1245 -0.87 -146.0 128.6 -9.5 193 1247 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2238 3399 0 0 0 0 0 0

1566 -0.91 -146.0 157.5 -8.6 223 1570 0.00 2.65 0.00 0.000 4 0.000 0.085 2161 3846 3399 0 0 0 0 0 0

1785 -0.97 -146.0 175.4 -8.0 242 1790 0.15 2.53 0.00 0.000 6 0.115 0.060 2112 2247 3398 0 0 0 0 0 0

2110 -0.87 -146.0 207.9 -10.7 272 2111 0.15 0.00 0.00 0.000 6 0.209 0.000 2146 2246 3398 0 0 0 0 0 0

2428 -0.87 -146.0 237.2 -9.2 302 2432 0.00 2.62 0.00 0.000 4 0.000 0.086 2146 3842 3397 0 0 0 0 0 0

2673 -0.87 -146.0 259.9 -9.5 323 2679 0.00 2.55 0.00 0.000 6 0.000 0.060 2146 2247 3397 0 0 0 0 0 0

2999 -0.87 -146.0 291.7 -9.4 354 3003 0.00 2.62 0.00 0.000 4 0.000 0.086 2146 3846 3397 0 0 0 0 0 0

3104 -0.87 -146.0 302.1 -9.4 363 3109 0.00 2.50 0.00 0.000 6 0.000 0.060 2146 2258 3396 0 0 0 0 0 0

3429 -0.87 -146.0 330.4 -7.8 393 3433 0.00 2.60 0.00 0.000 4 0.000 0.085 2146 3845 3397 0 0 0 0 0 0

3595 -0.87 -146.0 344.0 -7.6 407 3602 0.00 2.47 0.00 0.000 6 0.000 0.060 2146 2268 3396 0 0 0 0 0 0

3921 -0.92 -146.0 370.0 -7.9 438 3922 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2268 3397 0 0 0 0 0 0

4240 -0.97 -146.0 393.0 -7.0 468 4245 0.00 2.58 0.00 0.000 4 0.000 0.084 2146 3846 3397 0 0 0 0 0 0

4441 -1.02 -146.0 408.1 -7.2 485 4449 0.15 2.47 0.00 0.000 6 0.113 0.058 2095 2265 3397 0 0 0 0 0 0

4766 -0.90 -146.0 438.0 -9.1 516 4768 0.17 0.00 0.00 0.000 6 0.200 0.000 2137 2264 3397 0 0 0 0 0 0

5085 -0.90 -146.0 462.5 -7.8 546 5089 0.00 2.55 0.00 0.000 4 0.000 0.083 2137 3839 3398 0 0 0 0 0 0

5294 -0.90 -146.0 478.6 -7.5 564 5298 0.00 2.45 0.00 0.000 6 0.000 0.058 2137 2269 3398 0 0 0 0 0 0

5619 -0.90 -146.0 503.0 -7.8 594 5620 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2269 3398 0 0 0 0 0 0

5937 -0.90 -146.0 527.8 -7.9 624 5942 0.00 2.55 0.00 0.000 4 0.000 0.082 2137 3841 3399 0 0 0 0 0 0

6181 end dive: NO_VERTICAL_VELOCITY

state 6181 begin apogee

6188 -0.24 0.0 536.1 0.0 645 6309 0.65 0.00 116.75 1.072 6 0.132 0.000 2349 2191 2800 0 0 0 0 0 0

6310 end apogee: CONTROL_FINISHED_OK

state 6310 begin climb

6311 0.98 146.0 536.0 0.0 657 6440 1.27 2.70 119.82 1.027 4 0.120 0.077 2754 614 2203 0 0 0 0 0 0

6563 0.54 146.0 496.0 19.5 680 6569 0.60 2.65 0.00 0.000 6 0.207 0.063 2607 2203 2196 0 0 0 0 0 0

6888 0.54 146.0 457.2 12.0 710 6893 0.00 2.62 0.00 0.000 4 0.000 0.079 2616 618 2194 0 0 0 0 0 0

7001 0.49 146.0 443.6 11.3 719 7007 0.00 2.55 0.00 0.000 6 0.000 0.065 2616 2195 2193 0 0 0 0 0 0

7326 0.43 146.0 403.3 12.4 750 7331 0.17 2.58 0.00 0.000 4 0.191 0.080 2584 617 2193 0 0 0 0 0 0

7422 0.49 146.0 392.9 10.3 758 7426 0.00 2.53 0.00 0.000 6 0.000 0.064 2584 2198 2193 0 0 0 0 0 0

7746 0.49 146.0 360.5 10.3 788 7750 0.00 2.58 0.00 0.000 4 0.000 0.081 2596 611 2193 0 0 0 0 0 0

7834 0.49 146.0 351.1 10.9 795 7840 0.00 2.53 0.00 0.000 6 0.000 0.064 2596 2181 2193 0 0 0 0 0 0

8158 0.49 146.0 317.1 11.2 826 8163 0.00 2.53 0.00 0.000 4 0.000 0.081 2607 616 2193 0 0 0 0 0 0

8201 0.49 146.0 312.1 11.8 829 8208 0.00 2.53 0.00 0.000 6 0.000 0.064 2607 2188 2193 0 0 0 0 0 0

8526 0.49 146.0 275.1 11.6 860 8531 0.00 2.53 0.00 0.000 4 0.000 0.081 2618 616 2192 0 0 0 0 0 0

8637 0.49 146.0 261.7 11.9 869 8644 0.12 2.47 0.00 0.000 6 0.189 0.064 2590 2190 2192 0 0 0 0 0 0

8962 0.54 146.0 229.4 9.5 900 8967 0.00 2.53 0.00 0.000 4 0.000 0.080 2600 615 2192 0 0 0 0 0 0

9039 0.54 146.0 221.8 9.4 906 9047 0.00 2.47 0.00 0.000 6 0.000 0.064 2600 2169 2192 0 0 0 0 0 0

9366 0.59 146.0 189.4 10.4 937 9371 0.00 2.50 0.00 0.000 4 0.000 0.081 2611 612 2192 0 0 0 0 0 0

9416 0.59 146.0 183.7 11.1 941 9421 0.00 2.45 0.00 0.000 6 0.000 0.065 2611 2173 2193 0 0 0 0 0 0

9742 0.59 146.0 150.8 9.7 971 9747 0.00 2.50 0.00 0.000 4 0.000 0.082 2622 615 2193 0 0 0 0 0 0

9781 0.59 146.0 146.5 10.6 974 9786 0.00 2.45 0.00 0.000 6 0.000 0.066 2622 2174 2193 0 0 0 0 0 0

10105 0.59 146.0 114.3 9.9 1004 10109 0.00 2.53 0.00 0.000 4 0.000 0.083 2634 607 2193 0 0 0 0 0 0

10216 0.59 146.0 103.7 9.2 1013 10222 0.00 2.45 0.00 0.000 6 0.000 0.066 2634 2169 2193 0 0 0 0 0 0

10557 0.59 146.0 73.2 9.8 1070 10563 0.00 2.50 0.00 0.000 4 0.000 0.083 2645 608 2193 0 0 0 0 0 0

10580 0.59 146.0 70.7 10.4 1074 10586 0.00 2.45 0.00 0.000 6 0.000 0.067 2645 2168 2193 0 0 0 0 0 0

10924 0.59 149.1 37.0 9.0 1135 10929 0.00 2.50 0.00 0.000 4 0.000 0.083 2657 608 2192 0 0 0 0 0 0

10974 0.54 149.1 31.9 10.3 1144 10981 0.20 2.45 0.00 0.000 6 0.191 0.067 2607 2170 2191 0 0 0 0 0 0

11320 0.68 194.7 4.4 7.2 1205 11353 0.12 0.00 30.12 0.753 2 0.115 0.000 2649 2170 2038 0 0 0 0 0 0

11354 end climb: SURFACE_DEPTH_REACHED

state 11354 begin surface coast

11376 end surface coast: CONTROL_FINISHED_OK

state 11376 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	13	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	22	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	-23192.666	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	101507,6701.595,-5650.036,55,0.7,55,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	102008,6701.640,-5649.970,11,1.2,11,-37.5	MHEAD_RNG_PITCHd_Wd	22.0,2893,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	561

FINISH	0.4,1.018406	_24V_AH	23.6,16.471
SM_CCo	11392,50.05,0.737,0,0,1678,275.23	_10V_AH	10.3,7.251
SM_GC	1.23,0.00,0.00,50.05,0.000,0.000,0.737,125,2268,1678,-7.20,0.51,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	708	FG_AHR_10Vo	0.000
RAFOS	0,1256212863,12.033333,12.017500,59,56,55,0,0,0,148,190,202,0,0,0	MEM	150244
RAFOS_FIX	6648.412598,-5655.337402,221009,080840,4,79,4.56	DATA_FILE_SIZE	47350,1215
IRIDIUM_FIX	6631.12,-5646.10,160199,070727	CAP_FILE_SIZE	130581,0
TT8_MAMPS	0.026845	CFSIZE	260165632,249786368
HUMID	46.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1467.0
TCM_TEMP	17.40	CURRENT	0.085, 27.8,1
XPDR_PINGS	1	GPS	221009,133230,6703.655,-5649.560,35,1.5,35,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	312	154.34	SBE_CT	890	24	504.36
Roll_motor	106	107	271.03	SBE_O2	830	19	372.22
VBD_pump_during_apogee	266	1072	6748.97	nil	0	0	0.00
VBD_pump_during_surface	50	737	870.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.14	nil	0	0	0.00
Iridium_during_connect	32	160	121.54	nil	0	0	0.00
Iridium_during_xfer	131	223	690.77
Transponder_ping	0	420	2.48
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.52
TT8	2164	19	444.05
LPSleep	6707	2	159.59
TT8_Active	438	19	89.92
TT8_Sampling	2078	39	854.62
TT8_CF8	349	45	165.31
TT8_Kalman	0	0	0.00
Analog_circuits	1491	12	184.32
GPS_charging	0	0	0.00
Compass	2054	8	169.27
RAFOS	2520	1	38.93
Transponder	0	30	0.17

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	-0.98	-146.0	0.0	0.0	0	100	0.00	0.00	-82.93	0.000	2	0.000	0.000	130	2236	3170	0	0	0	0	0	0
103	-0.98	-146.0	3.4	-6.0	16	125	9.75	2.72	-6.22	0.000	4	0.312	0.097	2105	3842	3396	0	0	0	0	0	0
379	-0.82	-146.0	47.1	-14.1	65	385	0.22	2.55	0.00	0.000	6	0.210	0.059	2161	2249	3399	0	0	0	0	0	0
724	-0.82	-146.0	80.2	-8.8	126	729	0.00	2.65	0.00	0.000	4	0.000	0.084	2161	3838	3399	0	0	0	0	0	0
915	-0.87	-146.0	98.2	-9.8	160	920	0.00	2.55	0.00	0.000	6	0.000	0.060	2161	2238	3399	0	0	0	0	0	0
1245	-0.87	-146.0	128.6	-9.5	193	1247	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2238	3399	0	0	0	0	0	0
1566	-0.91	-146.0	157.5	-8.6	223	1570	0.00	2.65	0.00	0.000	4	0.000	0.085	2161	3846	3399	0	0	0	0	0	0
1785	-0.97	-146.0	175.4	-8.0	242	1790	0.15	2.53	0.00	0.000	6	0.115	0.060	2112	2247	3398	0	0	0	0	0	0
2110	-0.87	-146.0	207.9	-10.7	272	2111	0.15	0.00	0.00	0.000	6	0.209	0.000	2146	2246	3398	0	0	0	0	0	0
2428	-0.87	-146.0	237.2	-9.2	302	2432	0.00	2.62	0.00	0.000	4	0.000	0.086	2146	3842	3397	0	0	0	0	0	0
2673	-0.87	-146.0	259.9	-9.5	323	2679	0.00	2.55	0.00	0.000	6	0.000	0.060	2146	2247	3397	0	0	0	0	0	0
2999	-0.87	-146.0	291.7	-9.4	354	3003	0.00	2.62	0.00	0.000	4	0.000	0.086	2146	3846	3397	0	0	0	0	0	0
3104	-0.87	-146.0	302.1	-9.4	363	3109	0.00	2.50	0.00	0.000	6	0.000	0.060	2146	2258	3396	0	0	0	0	0	0
3429	-0.87	-146.0	330.4	-7.8	393	3433	0.00	2.60	0.00	0.000	4	0.000	0.085	2146	3845	3397	0	0	0	0	0	0
3595	-0.87	-146.0	344.0	-7.6	407	3602	0.00	2.47	0.00	0.000	6	0.000	0.060	2146	2268	3396	0	0	0	0	0	0
3921	-0.92	-146.0	370.0	-7.9	438	3922	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2268	3397	0	0	0	0	0	0
4240	-0.97	-146.0	393.0	-7.0	468	4245	0.00	2.58	0.00	0.000	4	0.000	0.084	2146	3846	3397	0	0	0	0	0	0
4441	-1.02	-146.0	408.1	-7.2	485	4449	0.15	2.47	0.00	0.000	6	0.113	0.058	2095	2265	3397	0	0	0	0	0	0
4766	-0.90	-146.0	438.0	-9.1	516	4768	0.17	0.00	0.00	0.000	6	0.200	0.000	2137	2264	3397	0	0	0	0	0	0
5085	-0.90	-146.0	462.5	-7.8	546	5089	0.00	2.55	0.00	0.000	4	0.000	0.083	2137	3839	3398	0	0	0	0	0	0
5294	-0.90	-146.0	478.6	-7.5	564	5298	0.00	2.45	0.00	0.000	6	0.000	0.058	2137	2269	3398	0	0	0	0	0	0
5619	-0.90	-146.0	503.0	-7.8	594	5620	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2269	3398	0	0	0	0	0	0
5937	-0.90	-146.0	527.8	-7.9	624	5942	0.00	2.55	0.00	0.000	4	0.000	0.082	2137	3841	3399	0	0	0	0	0	0
6181	end dive: NO_VERTICAL_VELOCITY
state	6181	begin apogee
6188	-0.24	0.0	536.1	0.0	645	6309	0.65	0.00	116.75	1.072	6	0.132	0.000	2349	2191	2800	0	0	0	0	0	0
6310	end apogee: CONTROL_FINISHED_OK
state	6310	begin climb
6311	0.98	146.0	536.0	0.0	657	6440	1.27	2.70	119.82	1.027	4	0.120	0.077	2754	614	2203	0	0	0	0	0	0
6563	0.54	146.0	496.0	19.5	680	6569	0.60	2.65	0.00	0.000	6	0.207	0.063	2607	2203	2196	0	0	0	0	0	0
6888	0.54	146.0	457.2	12.0	710	6893	0.00	2.62	0.00	0.000	4	0.000	0.079	2616	618	2194	0	0	0	0	0	0
7001	0.49	146.0	443.6	11.3	719	7007	0.00	2.55	0.00	0.000	6	0.000	0.065	2616	2195	2193	0	0	0	0	0	0
7326	0.43	146.0	403.3	12.4	750	7331	0.17	2.58	0.00	0.000	4	0.191	0.080	2584	617	2193	0	0	0	0	0	0
7422	0.49	146.0	392.9	10.3	758	7426	0.00	2.53	0.00	0.000	6	0.000	0.064	2584	2198	2193	0	0	0	0	0	0
7746	0.49	146.0	360.5	10.3	788	7750	0.00	2.58	0.00	0.000	4	0.000	0.081	2596	611	2193	0	0	0	0	0	0
7834	0.49	146.0	351.1	10.9	795	7840	0.00	2.53	0.00	0.000	6	0.000	0.064	2596	2181	2193	0	0	0	0	0	0
8158	0.49	146.0	317.1	11.2	826	8163	0.00	2.53	0.00	0.000	4	0.000	0.081	2607	616	2193	0	0	0	0	0	0
8201	0.49	146.0	312.1	11.8	829	8208	0.00	2.53	0.00	0.000	6	0.000	0.064	2607	2188	2193	0	0	0	0	0	0
8526	0.49	146.0	275.1	11.6	860	8531	0.00	2.53	0.00	0.000	4	0.000	0.081	2618	616	2192	0	0	0	0	0	0
8637	0.49	146.0	261.7	11.9	869	8644	0.12	2.47	0.00	0.000	6	0.189	0.064	2590	2190	2192	0	0	0	0	0	0
8962	0.54	146.0	229.4	9.5	900	8967	0.00	2.53	0.00	0.000	4	0.000	0.080	2600	615	2192	0	0	0	0	0	0
9039	0.54	146.0	221.8	9.4	906	9047	0.00	2.47	0.00	0.000	6	0.000	0.064	2600	2169	2192	0	0	0	0	0	0
9366	0.59	146.0	189.4	10.4	937	9371	0.00	2.50	0.00	0.000	4	0.000	0.081	2611	612	2192	0	0	0	0	0	0
9416	0.59	146.0	183.7	11.1	941	9421	0.00	2.45	0.00	0.000	6	0.000	0.065	2611	2173	2193	0	0	0	0	0	0
9742	0.59	146.0	150.8	9.7	971	9747	0.00	2.50	0.00	0.000	4	0.000	0.082	2622	615	2193	0	0	0	0	0	0
9781	0.59	146.0	146.5	10.6	974	9786	0.00	2.45	0.00	0.000	6	0.000	0.066	2622	2174	2193	0	0	0	0	0	0
10105	0.59	146.0	114.3	9.9	1004	10109	0.00	2.53	0.00	0.000	4	0.000	0.083	2634	607	2193	0	0	0	0	0	0
10216	0.59	146.0	103.7	9.2	1013	10222	0.00	2.45	0.00	0.000	6	0.000	0.066	2634	2169	2193	0	0	0	0	0	0
10557	0.59	146.0	73.2	9.8	1070	10563	0.00	2.50	0.00	0.000	4	0.000	0.083	2645	608	2193	0	0	0	0	0	0
10580	0.59	146.0	70.7	10.4	1074	10586	0.00	2.45	0.00	0.000	6	0.000	0.067	2645	2168	2193	0	0	0	0	0	0
10924	0.59	149.1	37.0	9.0	1135	10929	0.00	2.50	0.00	0.000	4	0.000	0.083	2657	608	2192	0	0	0	0	0	0
10974	0.54	149.1	31.9	10.3	1144	10981	0.20	2.45	0.00	0.000	6	0.191	0.067	2607	2170	2191	0	0	0	0	0	0
11320	0.68	194.7	4.4	7.2	1205	11353	0.12	0.00	30.12	0.753	2	0.115	0.000	2649	2170	2038	0	0	0	0	0	0
11354	end climb: SURFACE_DEPTH_REACHED
state	11354	begin surface coast
11376	end surface coast: CONTROL_FINISHED_OK
state	11376	begin surface