Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 171 * 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 171 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 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 578.41736 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 17 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 -32913.156 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 2390 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 31 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 1 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 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 578.41736

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 31 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 20 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 -32913.156

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 1 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 2390 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 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 17 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 171 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 003831,6702.280,-5651.873,40,1.4,40,-37.5 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010335,6702.155,-5651.342,96,2.0,102,-37.5 MHEAD_RNG_PITCHd_Wd 71.3,2877,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 561

Post-dive calculations and measurements:

FINISH 0.4,1.018870 _24V_AH 23.2,40.417

SM_CCo 11070,204.77,0.702,0,0,442,578.42 _10V_AH 10.2,20.550

SM_GC 1.02,0.00,0.00,204.77,0.000,0.000,0.702,129,2461,442,-7.06,0.00,578.42 FG_AHR_24Vo 0.000

RAFOS_CLK 748 FG_AHR_10Vo 0.000

RAFOS 4,1258763582,0.566667,0.550556,60,58,58,0,0,0,221,195,152,0,0,0 MEM 187768

RAFOS_FIX 6701.097168,-5701.487793,201109,121201,3,77,0.29 DATA_FILE_SIZE 44136,1168

IRIDIUM_FIX 6631.12,-5649.11,150299,010117 CAP_FILE_SIZE 147765,0

TT8_MAMPS 0.027612 CFSIZE 260165632,236732416

HUMID 44.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.82846 SOUNDSPEED 1471.0

TCM_TEMP 18.10 CURRENT 0.066,307.2,1

XPDR_PINGS 2 GPS 211109,041324,6703.479,-5650.341,32,1.2,49,-37.6

ALTIM_TOP_PING 19.9,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 294 170.14 SBE_CT 852 24 474.67

Roll_motor 103 92 222.63 SBE_O2 795 19 350.79

VBD_pump_during_apogee 284 1069 7065.20 nil 0 0 0.00

VBD_pump_during_surface 204 701 3334.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 142 103 340.51 nil 0 0 0.00

Iridium_during_connect 195 160 726.23 nil 0 0 0.00

Iridium_during_xfer 674 223 3488.52

Transponder_ping 0 420 7.31

GUMSTIX_24V 0 0 0.00

GPS 103 50 52.89

TT8 2072 19 421.09

LPSleep 6807 2 160.40

TT8_Active 678 19 137.87

TT8_Sampling 1982 39 807.39

TT8_CF8 1230 45 576.32

TT8_Kalman 0 0 0.00

Analog_circuits 1673 12 204.80

GPS_charging 0 0 0.00

Compass 1865 8 152.26

RAFOS 360 1 5.51

Transponder 2 30 0.80

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 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 194 0.00 0.00 -175.55 0.000 2 0.000 0.000 120 2472 3394 0 0 0 0 0 0

197 -0.73 -146.0 3.3 -6.7 34 214 9.55 2.65 0.00 0.000 4 0.295 0.081 2161 862 3397 0 0 0 0 0 0

360 0.30 -146.0 53.2 -28.8 63 367 1.38 2.60 0.00 0.000 6 0.249 0.075 2475 2459 3399 0 0 0 0 0 0

705 0.30 -146.0 92.4 -9.1 124 711 0.00 2.60 0.00 0.000 4 0.000 0.084 2475 868 3399 0 0 0 0 0 0

779 0.30 -146.0 99.4 -9.1 137 785 0.00 2.58 0.00 0.000 6 0.000 0.074 2475 2458 3399 0 0 0 0 0 0

1107 0.24 -146.0 126.9 -8.2 168 1111 0.00 2.53 0.00 0.000 4 0.000 0.093 2475 3918 3399 0 0 0 0 0 0

1179 0.14 -146.0 133.7 -8.9 174 1185 0.12 2.45 0.00 0.000 6 0.114 0.064 2433 2442 3399 0 0 0 0 0 0

1504 0.22 -146.0 169.4 -10.9 204 1505 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2442 3399 0 0 0 0 0 0

1824 0.29 -146.0 203.4 -10.4 234 1829 0.17 2.55 0.00 0.000 4 0.206 0.087 2464 3914 3400 0 0 0 0 0 0

1948 0.23 -146.0 215.4 -9.5 244 1954 0.00 2.40 0.00 0.000 6 0.000 0.062 2465 2454 3400 0 0 0 0 0 0

2273 0.17 -146.0 244.8 -9.0 275 2277 0.00 2.50 0.00 0.000 4 0.000 0.087 2465 3913 3401 0 0 0 0 0 0

2350 0.11 -146.0 251.8 -9.0 281 2357 0.12 2.40 0.00 0.000 6 0.111 0.061 2419 2448 3401 0 0 0 0 0 0

2677 0.20 -146.0 284.7 -9.8 312 2682 0.12 2.53 0.00 0.000 4 0.216 0.084 2437 3914 3402 0 0 0 0 0 0

2731 0.20 -146.0 290.6 -9.5 316 2739 0.00 2.42 0.00 0.000 6 0.000 0.059 2437 2454 3402 0 0 0 0 0 0

3057 0.20 -146.0 320.0 -9.0 347 3061 0.00 2.50 0.00 0.000 4 0.000 0.085 2437 3916 3402 0 0 0 0 0 0

3122 0.20 -146.0 326.1 -9.2 352 3130 0.00 2.42 0.00 0.000 6 0.000 0.059 2437 2458 3402 0 0 0 0 0 0

3448 0.20 -146.0 352.4 -8.2 383 3452 0.00 2.50 0.00 0.000 4 0.000 0.084 2437 3924 3403 0 0 0 0 0 0

3548 0.20 -146.0 360.9 -8.5 391 3554 0.00 2.35 0.00 0.000 6 0.000 0.058 2437 2477 3403 0 0 0 0 0 0

3873 0.20 -146.0 387.1 -7.8 422 3877 0.00 2.45 0.00 0.000 4 0.000 0.084 2437 3914 3404 0 0 0 0 0 0

3950 0.20 -146.0 393.3 -8.1 428 3957 0.00 2.33 0.00 0.000 6 0.000 0.059 2437 2480 3404 0 0 0 0 0 0

4275 0.20 -146.0 418.7 -7.8 459 4276 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2480 3405 0 0 0 0 0 0

4595 0.20 -146.0 443.4 -7.8 489 4599 0.00 2.45 0.00 0.000 4 0.000 0.083 2437 3917 3405 0 0 0 0 0 0

4668 0.20 -146.0 449.5 -8.8 495 4672 0.00 2.35 0.00 0.000 6 0.000 0.058 2437 2473 3405 0 0 0 0 0 0

4994 0.20 -146.0 474.4 -7.7 525 4998 0.00 2.45 0.00 0.000 4 0.000 0.084 2437 3914 3405 0 0 0 0 0 0

5060 0.20 -146.0 479.9 -7.8 530 5066 0.00 2.33 0.00 0.000 6 0.000 0.058 2437 2481 3405 0 0 0 0 0 0

5385 0.20 -146.0 504.1 -7.7 561 5389 0.00 2.45 0.00 0.000 4 0.000 0.084 2437 3923 3406 0 0 0 0 0 0

5469 0.20 -146.0 510.6 -7.5 568 5473 0.00 2.33 0.00 0.000 6 0.000 0.058 2437 2488 3406 0 0 0 0 0 0

5795 -0.30 -146.0 531.5 0.0 598 5801 0.40 2.58 0.00 0.000 4 0.081 0.074 2284 866 3406 0 0 0 0 0 0

5824 -0.69 -146.0 531.5 0.2 600 5830 0.32 2.53 0.00 0.000 6 0.070 0.065 2154 2473 3406 0 0 0 0 0 0

5902 end dive: NO_VERTICAL_VELOCITY

state 5902 begin apogee

5908 -0.16 0.0 531.5 0.0 607 6030 0.62 0.00 118.28 1.069 6 0.164 0.000 2332 1952 2799 0 0 0 0 0 0

6031 end apogee: CONTROL_FINISHED_OK

state 6031 begin climb

6033 0.73 146.0 531.4 0.0 619 6165 1.10 3.00 120.68 1.024 4 0.216 0.074 2607 3535 2202 0 0 0 0 0 0

6275 1.79 173.2 516.8 8.0 641 6307 1.17 2.75 23.65 0.972 6 0.125 0.061 2957 1953 2093 0 0 0 0 0 0

6625 1.66 173.2 470.2 14.3 674 6630 0.15 2.75 0.00 0.000 4 0.195 0.075 2920 3545 2087 0 0 0 0 0 0

6794 1.60 173.2 447.5 13.4 688 6800 0.00 2.70 0.00 0.000 6 0.000 0.065 2931 1932 2085 0 0 0 0 0 0

7118 1.55 173.2 407.5 12.0 719 7120 0.17 0.00 0.00 0.000 6 0.193 0.000 2888 1932 2085 0 0 0 0 0 0

7437 1.65 178.7 377.7 8.9 749 7449 0.00 2.70 4.62 0.698 4 0.000 0.077 2888 3539 2070 0 0 0 0 0 0

7494 1.71 178.7 372.2 9.8 754 7500 0.12 2.65 0.00 0.000 6 0.114 0.066 2942 1937 2070 0 0 0 0 0 0

7819 1.64 178.7 334.6 11.7 784 7823 0.00 2.70 0.00 0.000 4 0.000 0.078 2942 3545 2070 0 0 0 0 0 0

7841 1.55 178.7 331.9 12.3 785 7848 0.25 2.65 0.00 0.000 6 0.189 0.067 2892 1946 2070 0 0 0 0 0 0

8166 1.64 178.7 302.0 9.3 816 8167 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1947 2070 0 0 0 0 0 0

8486 1.75 184.9 272.4 8.9 846 8501 0.17 2.72 6.60 0.763 4 0.101 0.077 2953 3538 2046 0 0 0 0 0 0

8540 1.61 184.9 265.5 13.1 851 8546 0.22 2.62 0.00 0.000 6 0.189 0.067 2910 1947 2045 0 0 0 0 0 0

8865 1.66 184.9 232.2 10.5 881 8866 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 1947 2044 0 0 0 0 0 0

9185 1.71 184.9 199.3 10.0 911 9186 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 1948 2044 0 0 0 0 0 0

9504 1.77 184.9 168.5 9.6 941 9506 0.15 0.00 0.00 0.000 6 0.106 0.000 2963 1948 2045 0 0 0 0 0 0

9821 1.68 184.9 127.2 13.6 971 9826 0.15 2.67 0.00 0.000 4 0.192 0.077 2921 3538 2044 0 0 0 0 0 0

9849 1.68 184.9 123.8 11.8 973 9853 0.00 2.62 0.00 0.000 6 0.000 0.066 2931 1941 2044 0 0 0 0 0 0

10179 1.68 184.9 87.6 10.2 1013 10184 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 1942 2044 0 0 0 0 0 0

10522 1.75 196.5 56.2 8.7 1074 10539 0.00 2.53 11.00 0.725 4 0.000 0.082 2943 354 1997 0 0 0 0 0 0

10613 1.81 196.5 47.3 10.0 1090 10618 0.00 2.47 0.00 0.000 6 0.000 0.061 2943 1956 1996 0 0 0 0 0 0

10957 1.88 196.5 11.5 11.1 1151 10962 0.15 0.00 0.00 0.000 6 0.105 0.000 2996 1956 1996 0 0 0 0 0 0

11034 end climb: SURFACE_DEPTH_REACHED

state 11034 begin surface coast

11053 end surface coast: CONTROL_FINISHED_OK

state 11053 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	171	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	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	578.41736	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	17	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	-32913.156	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	2390	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	31	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	1	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	20

GPS1	003831,6702.280,-5651.873,40,1.4,40,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010335,6702.155,-5651.342,96,2.0,102,-37.5	MHEAD_RNG_PITCHd_Wd	71.3,2877,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	561

FINISH	0.4,1.018870	_24V_AH	23.2,40.417
SM_CCo	11070,204.77,0.702,0,0,442,578.42	_10V_AH	10.2,20.550
SM_GC	1.02,0.00,0.00,204.77,0.000,0.000,0.702,129,2461,442,-7.06,0.00,578.42	FG_AHR_24Vo	0.000
RAFOS_CLK	748	FG_AHR_10Vo	0.000
RAFOS	4,1258763582,0.566667,0.550556,60,58,58,0,0,0,221,195,152,0,0,0	MEM	187768
RAFOS_FIX	6701.097168,-5701.487793,201109,121201,3,77,0.29	DATA_FILE_SIZE	44136,1168
IRIDIUM_FIX	6631.12,-5649.11,150299,010117	CAP_FILE_SIZE	147765,0
TT8_MAMPS	0.027612	CFSIZE	260165632,236732416
HUMID	44.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.82846	SOUNDSPEED	1471.0
TCM_TEMP	18.10	CURRENT	0.066,307.2,1
XPDR_PINGS	2	GPS	211109,041324,6703.479,-5650.341,32,1.2,49,-37.6
ALTIM_TOP_PING	19.9,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	294	170.14	SBE_CT	852	24	474.67
Roll_motor	103	92	222.63	SBE_O2	795	19	350.79
VBD_pump_during_apogee	284	1069	7065.20	nil	0	0	0.00
VBD_pump_during_surface	204	701	3334.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	142	103	340.51	nil	0	0	0.00
Iridium_during_connect	195	160	726.23	nil	0	0	0.00
Iridium_during_xfer	674	223	3488.52
Transponder_ping	0	420	7.31
GUMSTIX_24V	0	0	0.00
GPS	103	50	52.89
TT8	2072	19	421.09
LPSleep	6807	2	160.40
TT8_Active	678	19	137.87
TT8_Sampling	1982	39	807.39
TT8_CF8	1230	45	576.32
TT8_Kalman	0	0	0.00
Analog_circuits	1673	12	204.80
GPS_charging	0	0	0.00
Compass	1865	8	152.26
RAFOS	360	1	5.51
Transponder	2	30	0.80

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	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	194	0.00	0.00	-175.55	0.000	2	0.000	0.000	120	2472	3394	0	0	0	0	0	0
197	-0.73	-146.0	3.3	-6.7	34	214	9.55	2.65	0.00	0.000	4	0.295	0.081	2161	862	3397	0	0	0	0	0	0
360	0.30	-146.0	53.2	-28.8	63	367	1.38	2.60	0.00	0.000	6	0.249	0.075	2475	2459	3399	0	0	0	0	0	0
705	0.30	-146.0	92.4	-9.1	124	711	0.00	2.60	0.00	0.000	4	0.000	0.084	2475	868	3399	0	0	0	0	0	0
779	0.30	-146.0	99.4	-9.1	137	785	0.00	2.58	0.00	0.000	6	0.000	0.074	2475	2458	3399	0	0	0	0	0	0
1107	0.24	-146.0	126.9	-8.2	168	1111	0.00	2.53	0.00	0.000	4	0.000	0.093	2475	3918	3399	0	0	0	0	0	0
1179	0.14	-146.0	133.7	-8.9	174	1185	0.12	2.45	0.00	0.000	6	0.114	0.064	2433	2442	3399	0	0	0	0	0	0
1504	0.22	-146.0	169.4	-10.9	204	1505	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2442	3399	0	0	0	0	0	0
1824	0.29	-146.0	203.4	-10.4	234	1829	0.17	2.55	0.00	0.000	4	0.206	0.087	2464	3914	3400	0	0	0	0	0	0
1948	0.23	-146.0	215.4	-9.5	244	1954	0.00	2.40	0.00	0.000	6	0.000	0.062	2465	2454	3400	0	0	0	0	0	0
2273	0.17	-146.0	244.8	-9.0	275	2277	0.00	2.50	0.00	0.000	4	0.000	0.087	2465	3913	3401	0	0	0	0	0	0
2350	0.11	-146.0	251.8	-9.0	281	2357	0.12	2.40	0.00	0.000	6	0.111	0.061	2419	2448	3401	0	0	0	0	0	0
2677	0.20	-146.0	284.7	-9.8	312	2682	0.12	2.53	0.00	0.000	4	0.216	0.084	2437	3914	3402	0	0	0	0	0	0
2731	0.20	-146.0	290.6	-9.5	316	2739	0.00	2.42	0.00	0.000	6	0.000	0.059	2437	2454	3402	0	0	0	0	0	0
3057	0.20	-146.0	320.0	-9.0	347	3061	0.00	2.50	0.00	0.000	4	0.000	0.085	2437	3916	3402	0	0	0	0	0	0
3122	0.20	-146.0	326.1	-9.2	352	3130	0.00	2.42	0.00	0.000	6	0.000	0.059	2437	2458	3402	0	0	0	0	0	0
3448	0.20	-146.0	352.4	-8.2	383	3452	0.00	2.50	0.00	0.000	4	0.000	0.084	2437	3924	3403	0	0	0	0	0	0
3548	0.20	-146.0	360.9	-8.5	391	3554	0.00	2.35	0.00	0.000	6	0.000	0.058	2437	2477	3403	0	0	0	0	0	0
3873	0.20	-146.0	387.1	-7.8	422	3877	0.00	2.45	0.00	0.000	4	0.000	0.084	2437	3914	3404	0	0	0	0	0	0
3950	0.20	-146.0	393.3	-8.1	428	3957	0.00	2.33	0.00	0.000	6	0.000	0.059	2437	2480	3404	0	0	0	0	0	0
4275	0.20	-146.0	418.7	-7.8	459	4276	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2480	3405	0	0	0	0	0	0
4595	0.20	-146.0	443.4	-7.8	489	4599	0.00	2.45	0.00	0.000	4	0.000	0.083	2437	3917	3405	0	0	0	0	0	0
4668	0.20	-146.0	449.5	-8.8	495	4672	0.00	2.35	0.00	0.000	6	0.000	0.058	2437	2473	3405	0	0	0	0	0	0
4994	0.20	-146.0	474.4	-7.7	525	4998	0.00	2.45	0.00	0.000	4	0.000	0.084	2437	3914	3405	0	0	0	0	0	0
5060	0.20	-146.0	479.9	-7.8	530	5066	0.00	2.33	0.00	0.000	6	0.000	0.058	2437	2481	3405	0	0	0	0	0	0
5385	0.20	-146.0	504.1	-7.7	561	5389	0.00	2.45	0.00	0.000	4	0.000	0.084	2437	3923	3406	0	0	0	0	0	0
5469	0.20	-146.0	510.6	-7.5	568	5473	0.00	2.33	0.00	0.000	6	0.000	0.058	2437	2488	3406	0	0	0	0	0	0
5795	-0.30	-146.0	531.5	0.0	598	5801	0.40	2.58	0.00	0.000	4	0.081	0.074	2284	866	3406	0	0	0	0	0	0
5824	-0.69	-146.0	531.5	0.2	600	5830	0.32	2.53	0.00	0.000	6	0.070	0.065	2154	2473	3406	0	0	0	0	0	0
5902	end dive: NO_VERTICAL_VELOCITY
state	5902	begin apogee
5908	-0.16	0.0	531.5	0.0	607	6030	0.62	0.00	118.28	1.069	6	0.164	0.000	2332	1952	2799	0	0	0	0	0	0
6031	end apogee: CONTROL_FINISHED_OK
state	6031	begin climb
6033	0.73	146.0	531.4	0.0	619	6165	1.10	3.00	120.68	1.024	4	0.216	0.074	2607	3535	2202	0	0	0	0	0	0
6275	1.79	173.2	516.8	8.0	641	6307	1.17	2.75	23.65	0.972	6	0.125	0.061	2957	1953	2093	0	0	0	0	0	0
6625	1.66	173.2	470.2	14.3	674	6630	0.15	2.75	0.00	0.000	4	0.195	0.075	2920	3545	2087	0	0	0	0	0	0
6794	1.60	173.2	447.5	13.4	688	6800	0.00	2.70	0.00	0.000	6	0.000	0.065	2931	1932	2085	0	0	0	0	0	0
7118	1.55	173.2	407.5	12.0	719	7120	0.17	0.00	0.00	0.000	6	0.193	0.000	2888	1932	2085	0	0	0	0	0	0
7437	1.65	178.7	377.7	8.9	749	7449	0.00	2.70	4.62	0.698	4	0.000	0.077	2888	3539	2070	0	0	0	0	0	0
7494	1.71	178.7	372.2	9.8	754	7500	0.12	2.65	0.00	0.000	6	0.114	0.066	2942	1937	2070	0	0	0	0	0	0
7819	1.64	178.7	334.6	11.7	784	7823	0.00	2.70	0.00	0.000	4	0.000	0.078	2942	3545	2070	0	0	0	0	0	0
7841	1.55	178.7	331.9	12.3	785	7848	0.25	2.65	0.00	0.000	6	0.189	0.067	2892	1946	2070	0	0	0	0	0	0
8166	1.64	178.7	302.0	9.3	816	8167	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1947	2070	0	0	0	0	0	0
8486	1.75	184.9	272.4	8.9	846	8501	0.17	2.72	6.60	0.763	4	0.101	0.077	2953	3538	2046	0	0	0	0	0	0
8540	1.61	184.9	265.5	13.1	851	8546	0.22	2.62	0.00	0.000	6	0.189	0.067	2910	1947	2045	0	0	0	0	0	0
8865	1.66	184.9	232.2	10.5	881	8866	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	1947	2044	0	0	0	0	0	0
9185	1.71	184.9	199.3	10.0	911	9186	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	1948	2044	0	0	0	0	0	0
9504	1.77	184.9	168.5	9.6	941	9506	0.15	0.00	0.00	0.000	6	0.106	0.000	2963	1948	2045	0	0	0	0	0	0
9821	1.68	184.9	127.2	13.6	971	9826	0.15	2.67	0.00	0.000	4	0.192	0.077	2921	3538	2044	0	0	0	0	0	0
9849	1.68	184.9	123.8	11.8	973	9853	0.00	2.62	0.00	0.000	6	0.000	0.066	2931	1941	2044	0	0	0	0	0	0
10179	1.68	184.9	87.6	10.2	1013	10184	0.00	0.00	0.00	0.000	6	0.000	0.000	2931	1942	2044	0	0	0	0	0	0
10522	1.75	196.5	56.2	8.7	1074	10539	0.00	2.53	11.00	0.725	4	0.000	0.082	2943	354	1997	0	0	0	0	0	0
10613	1.81	196.5	47.3	10.0	1090	10618	0.00	2.47	0.00	0.000	6	0.000	0.061	2943	1956	1996	0	0	0	0	0	0
10957	1.88	196.5	11.5	11.1	1151	10962	0.15	0.00	0.00	0.000	6	0.105	0.000	2996	1956	1996	0	0	0	0	0	0
11034	end climb: SURFACE_DEPTH_REACHED
state	11034	begin surface coast
11053	end surface coast: CONTROL_FINISHED_OK
state	11053	begin surface