Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 27 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2500 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2300 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 24 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 -23459.709 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 0 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 -23459.709

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 200 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 2300 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2500 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 24 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 27 NAV_MODE 0 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 023101,6712.592,-5711.573,36,1.5,36,-37.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.517,-5720.969

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 023619,6712.665,-5711.500,10,1.3,15,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 500

Post-dive calculations and measurements:

FINISH 1.2,1.026271 _24V_AH 23.7,17.880

SM_CCo 10440,49.10,0.748,0,0,1677,275.23 _10V_AH 10.3,8.135

SM_GC 1.04,0.00,0.00,49.10,0.000,0.000,0.748,124,2501,1677,-7.21,0.03,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 642 FG_AHR_10Vo 0.000

RAFOS 0,1256356862,4.033333,4.017222,62,55,54,0,0,0,196,179,116,0,0,0 MEM 150624

RAFOS_FIX 6712.149902,-5715.242676,241009,040444,3,95,0.37 DATA_FILE_SIZE 44122,1125

IRIDIUM_FIX 6641.98,-5715.55,170199,232329 CAP_FILE_SIZE 128301,0

TT8_MAMPS 0.027612 CFSIZE 260165632,248909824

HUMID 45.78 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1467.4

TCM_TEMP 17.30 GPS 241009,053301,6712.943,-5712.221,39,1.4,39,-37.9

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 309 155.32 SBE_CT 822 24 467.68

Roll_motor 119 101 286.08 SBE_O2 765 19 344.69

VBD_pump_during_apogee 280 1046 6964.82 nil 0 0 0.00

VBD_pump_during_surface 49 747 870.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.89 nil 0 0 0.00

Iridium_during_connect 33 160 126.84 nil 0 0 0.00

Iridium_during_xfer 147 223 777.95

Transponder_ping 1 420 9.95

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.95

TT8 1913 19 392.54

LPSleep 6168 2 146.76

TT8_Active 452 19 92.75

TT8_Sampling 1918 39 788.72

TT8_CF8 361 45 171.12

TT8_Kalman 0 0 0.00

Analog_circuits 1444 12 178.56

GPS_charging 0 0 0.00

Compass 1886 8 155.44

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.98 -146.0 0.0 0.0 0 100 0.00 0.00 -81.07 0.000 2 0.000 0.000 123 2506 3105 0 0 0 0 0 0

102 -0.98 -146.0 3.2 -5.8 16 129 9.70 2.40 -8.02 0.000 4 0.310 0.101 2104 3901 3399 0 0 0 0 0 0

299 -0.77 -146.0 36.2 -15.3 51 306 0.28 2.25 0.00 0.000 6 0.210 0.058 2173 2498 3401 0 0 0 0 0 0

644 -0.77 -146.0 70.7 -7.7 112 649 0.00 2.35 0.00 0.000 4 0.000 0.087 2173 3905 3402 0 0 0 0 0 0

717 -0.77 -146.0 76.7 -8.5 125 723 0.00 2.35 0.00 0.000 6 0.000 0.059 2173 2428 3401 0 0 0 0 0 0

1061 -0.83 -146.0 108.2 -9.2 179 1065 0.00 2.47 0.00 0.000 4 0.000 0.087 2173 3911 3400 0 0 0 0 0 0

1145 -0.90 -146.0 116.2 -10.1 186 1150 0.00 2.40 0.00 0.000 6 0.000 0.060 2173 2396 3400 0 0 0 0 0 0

1470 -0.97 -146.0 144.3 -8.0 217 1475 0.17 2.50 0.00 0.000 4 0.103 0.084 2101 3906 3400 0 0 0 0 0 0

1480 -0.97 -146.0 145.2 -8.2 217 1486 0.00 2.40 0.00 0.000 6 0.000 0.058 2101 2386 3399 0 0 0 0 0 0

1805 -0.80 -146.0 179.8 -10.7 248 1810 0.25 2.50 0.00 0.000 4 0.214 0.083 2158 3906 3400 0 0 0 0 0 0

1860 -0.86 -146.0 184.8 -8.7 252 1866 0.00 2.38 0.00 0.000 6 0.000 0.058 2158 2392 3399 0 0 0 0 0 0

2186 -0.86 -146.0 210.3 -7.8 283 2191 0.00 2.50 0.00 0.000 4 0.000 0.085 2158 3916 3399 0 0 0 0 0 0

2226 -0.91 -146.0 213.5 -8.1 286 2230 0.00 2.40 0.00 0.000 6 0.000 0.059 2158 2389 3399 0 0 0 0 0 0

2550 -0.91 -146.0 238.8 -7.8 316 2555 0.00 2.50 0.00 0.000 4 0.000 0.086 2158 3912 3399 0 0 0 0 0 0

2601 -0.96 -146.0 243.0 -8.4 320 2607 0.12 2.38 0.00 0.000 6 0.114 0.058 2114 2397 3399 0 0 0 0 0 0

2926 -0.86 -146.0 276.5 -10.4 351 2931 0.15 2.50 0.00 0.000 4 0.212 0.084 2142 3915 3399 0 0 0 0 0 0

2970 -0.86 -146.0 281.1 -9.5 354 2976 0.00 2.42 0.00 0.000 6 0.000 0.058 2141 2392 3399 0 0 0 0 0 0

3297 -0.86 -146.0 310.0 -8.8 385 3301 0.00 2.47 0.00 0.000 4 0.000 0.084 2142 3907 3399 0 0 0 0 0 0

3330 -0.86 -146.0 312.8 -8.6 387 3336 0.00 2.35 0.00 0.000 6 0.000 0.057 2142 2401 3399 0 0 0 0 0 0

3655 -0.86 -146.0 339.1 -8.2 418 3659 0.00 2.35 0.00 0.000 4 0.000 0.076 2141 914 3399 0 0 0 0 0 0

3671 -0.86 -146.0 340.6 -8.4 419 3676 0.00 2.33 0.00 0.000 6 0.000 0.069 2142 2388 3399 0 0 0 0 0 0

3995 -0.86 -146.0 365.9 -7.7 450 4000 0.00 2.45 0.00 0.000 4 0.000 0.084 2141 3906 3400 0 0 0 0 0 0

4006 -0.86 -146.0 366.7 -7.5 450 4011 0.00 2.35 0.00 0.000 6 0.000 0.058 2141 2396 3399 0 0 0 0 0 0

4330 -0.86 -146.0 392.4 -8.4 481 4334 0.00 2.45 0.00 0.000 4 0.000 0.084 2141 3907 3400 0 0 0 0 0 0

4380 -0.86 -146.0 396.8 -8.7 485 4384 0.00 2.35 0.00 0.000 6 0.000 0.058 2142 2396 3399 0 0 0 0 0 0

4704 -0.86 -146.0 422.8 -7.9 515 4708 0.00 2.45 0.00 0.000 4 0.000 0.084 2141 3906 3400 0 0 0 0 0 0

4755 -0.86 -146.0 426.9 -7.9 519 4759 0.00 2.35 0.00 0.000 6 0.000 0.057 2141 2396 3400 0 0 0 0 0 0

5079 -0.86 -146.0 452.4 -7.4 549 5083 0.00 2.45 0.00 0.000 4 0.000 0.083 2142 3906 3400 0 0 0 0 0 0

5095 -0.86 -146.0 453.7 -7.4 550 5099 0.00 2.35 0.00 0.000 6 0.000 0.057 2141 2395 3400 0 0 0 0 0 0

5419 -0.86 -146.0 478.1 -7.4 580 5423 0.00 2.45 0.00 0.000 4 0.000 0.082 2142 3907 3401 0 0 0 0 0 0

5447 -0.86 -146.0 480.1 -7.9 582 5451 0.00 2.35 0.00 0.000 6 0.000 0.057 2141 2392 3401 0 0 0 0 0 0

5737 end dive: TARGET_DEPTH_EXCEEDED

state 5738 begin apogee

5742 -0.24 0.0 500.2 7.6 609 5863 0.73 0.00 116.57 1.046 6 0.179 0.000 2350 2289 2800 0 0 0 0 0 0

5864 end apogee: CONTROL_FINISHED_OK

state 5864 begin climb

5865 0.98 146.0 500.6 0.0 621 5993 1.25 2.72 119.40 1.001 4 0.114 0.075 2751 724 2202 0 0 0 0 0 0

6245 0.54 146.0 435.1 19.2 655 6252 0.57 2.60 0.00 0.000 6 0.204 0.062 2607 2305 2194 0 0 0 0 0 0

6570 0.54 146.0 397.9 11.1 686 6574 0.00 2.60 0.00 0.000 4 0.000 0.077 2617 724 2193 0 0 0 0 0 0

6827 0.49 146.0 368.2 11.4 708 6833 0.00 2.55 0.00 0.000 6 0.000 0.063 2617 2319 2193 0 0 0 0 0 0

7152 0.44 146.0 332.5 11.1 739 7157 0.17 2.58 0.00 0.000 4 0.189 0.080 2570 3891 2193 0 0 0 0 0 0

7192 0.44 146.0 328.4 10.5 742 7196 0.00 2.50 0.00 0.000 6 0.000 0.060 2580 2325 2191 0 0 0 0 0 0

7516 0.51 163.7 300.2 8.4 772 7537 0.00 2.67 13.70 0.855 4 0.000 0.078 2592 710 2131 0 0 0 0 0 0

7790 0.59 179.6 275.9 8.5 796 7810 0.00 2.55 14.20 0.854 6 0.000 0.064 2591 2314 2068 0 0 0 0 0 0

8136 0.63 180.9 244.5 9.1 829 8141 0.12 2.62 0.00 0.000 4 0.112 0.077 2648 711 2064 0 0 0 0 0 0

8393 0.55 180.9 212.6 12.3 851 8400 0.15 2.58 0.00 0.000 6 0.193 0.064 2613 2331 2063 0 0 0 0 0 0

8718 0.55 180.9 175.0 11.1 882 8722 0.00 2.60 0.00 0.000 4 0.000 0.077 2622 714 2063 0 0 0 0 0 0

8974 0.55 180.9 145.3 11.6 904 8981 0.00 2.62 0.00 0.000 6 0.000 0.064 2622 2373 2064 0 0 0 0 0 0

9299 0.55 180.9 109.4 10.7 935 9303 0.00 2.45 0.00 0.000 4 0.000 0.081 2622 3886 2063 0 0 0 0 0 0

9349 0.48 180.9 103.7 11.9 939 9354 0.17 2.45 0.00 0.000 6 0.191 0.061 2592 2339 2063 0 0 0 0 0 0

9690 0.63 199.8 74.4 8.4 995 9717 0.12 2.70 17.02 0.773 4 0.117 0.079 2645 707 1984 0 0 0 0 0 0

9970 0.63 199.8 43.3 10.8 1045 9976 0.00 2.60 0.00 0.000 6 0.000 0.064 2645 2343 1981 0 0 0 0 0 0

10313 0.63 199.8 11.7 9.3 1106 10319 0.00 2.58 0.00 0.000 4 0.000 0.080 2656 714 1981 0 0 0 0 0 0

10413 end climb: SURFACE_DEPTH_REACHED

state 10413 begin surface coast

10421 end surface coast: CONTROL_FINISHED_OK

state 10421 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	27	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2500	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2300	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	24	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	-23459.709	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	0	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	023101,6712.592,-5711.573,36,1.5,36,-37.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.517,-5720.969
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	023619,6712.665,-5711.500,10,1.3,15,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	500

FINISH	1.2,1.026271	_24V_AH	23.7,17.880
SM_CCo	10440,49.10,0.748,0,0,1677,275.23	_10V_AH	10.3,8.135
SM_GC	1.04,0.00,0.00,49.10,0.000,0.000,0.748,124,2501,1677,-7.21,0.03,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	642	FG_AHR_10Vo	0.000
RAFOS	0,1256356862,4.033333,4.017222,62,55,54,0,0,0,196,179,116,0,0,0	MEM	150624
RAFOS_FIX	6712.149902,-5715.242676,241009,040444,3,95,0.37	DATA_FILE_SIZE	44122,1125
IRIDIUM_FIX	6641.98,-5715.55,170199,232329	CAP_FILE_SIZE	128301,0
TT8_MAMPS	0.027612	CFSIZE	260165632,248909824
HUMID	45.78	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1467.4
TCM_TEMP	17.30	GPS	241009,053301,6712.943,-5712.221,39,1.4,39,-37.9
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	309	155.32	SBE_CT	822	24	467.68
Roll_motor	119	101	286.08	SBE_O2	765	19	344.69
VBD_pump_during_apogee	280	1046	6964.82	nil	0	0	0.00
VBD_pump_during_surface	49	747	870.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.89	nil	0	0	0.00
Iridium_during_connect	33	160	126.84	nil	0	0	0.00
Iridium_during_xfer	147	223	777.95
Transponder_ping	1	420	9.95
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.95
TT8	1913	19	392.54
LPSleep	6168	2	146.76
TT8_Active	452	19	92.75
TT8_Sampling	1918	39	788.72
TT8_CF8	361	45	171.12
TT8_Kalman	0	0	0.00
Analog_circuits	1444	12	178.56
GPS_charging	0	0	0.00
Compass	1886	8	155.44
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.98	-146.0	0.0	0.0	0	100	0.00	0.00	-81.07	0.000	2	0.000	0.000	123	2506	3105	0	0	0	0	0	0
102	-0.98	-146.0	3.2	-5.8	16	129	9.70	2.40	-8.02	0.000	4	0.310	0.101	2104	3901	3399	0	0	0	0	0	0
299	-0.77	-146.0	36.2	-15.3	51	306	0.28	2.25	0.00	0.000	6	0.210	0.058	2173	2498	3401	0	0	0	0	0	0
644	-0.77	-146.0	70.7	-7.7	112	649	0.00	2.35	0.00	0.000	4	0.000	0.087	2173	3905	3402	0	0	0	0	0	0
717	-0.77	-146.0	76.7	-8.5	125	723	0.00	2.35	0.00	0.000	6	0.000	0.059	2173	2428	3401	0	0	0	0	0	0
1061	-0.83	-146.0	108.2	-9.2	179	1065	0.00	2.47	0.00	0.000	4	0.000	0.087	2173	3911	3400	0	0	0	0	0	0
1145	-0.90	-146.0	116.2	-10.1	186	1150	0.00	2.40	0.00	0.000	6	0.000	0.060	2173	2396	3400	0	0	0	0	0	0
1470	-0.97	-146.0	144.3	-8.0	217	1475	0.17	2.50	0.00	0.000	4	0.103	0.084	2101	3906	3400	0	0	0	0	0	0
1480	-0.97	-146.0	145.2	-8.2	217	1486	0.00	2.40	0.00	0.000	6	0.000	0.058	2101	2386	3399	0	0	0	0	0	0
1805	-0.80	-146.0	179.8	-10.7	248	1810	0.25	2.50	0.00	0.000	4	0.214	0.083	2158	3906	3400	0	0	0	0	0	0
1860	-0.86	-146.0	184.8	-8.7	252	1866	0.00	2.38	0.00	0.000	6	0.000	0.058	2158	2392	3399	0	0	0	0	0	0
2186	-0.86	-146.0	210.3	-7.8	283	2191	0.00	2.50	0.00	0.000	4	0.000	0.085	2158	3916	3399	0	0	0	0	0	0
2226	-0.91	-146.0	213.5	-8.1	286	2230	0.00	2.40	0.00	0.000	6	0.000	0.059	2158	2389	3399	0	0	0	0	0	0
2550	-0.91	-146.0	238.8	-7.8	316	2555	0.00	2.50	0.00	0.000	4	0.000	0.086	2158	3912	3399	0	0	0	0	0	0
2601	-0.96	-146.0	243.0	-8.4	320	2607	0.12	2.38	0.00	0.000	6	0.114	0.058	2114	2397	3399	0	0	0	0	0	0
2926	-0.86	-146.0	276.5	-10.4	351	2931	0.15	2.50	0.00	0.000	4	0.212	0.084	2142	3915	3399	0	0	0	0	0	0
2970	-0.86	-146.0	281.1	-9.5	354	2976	0.00	2.42	0.00	0.000	6	0.000	0.058	2141	2392	3399	0	0	0	0	0	0
3297	-0.86	-146.0	310.0	-8.8	385	3301	0.00	2.47	0.00	0.000	4	0.000	0.084	2142	3907	3399	0	0	0	0	0	0
3330	-0.86	-146.0	312.8	-8.6	387	3336	0.00	2.35	0.00	0.000	6	0.000	0.057	2142	2401	3399	0	0	0	0	0	0
3655	-0.86	-146.0	339.1	-8.2	418	3659	0.00	2.35	0.00	0.000	4	0.000	0.076	2141	914	3399	0	0	0	0	0	0
3671	-0.86	-146.0	340.6	-8.4	419	3676	0.00	2.33	0.00	0.000	6	0.000	0.069	2142	2388	3399	0	0	0	0	0	0
3995	-0.86	-146.0	365.9	-7.7	450	4000	0.00	2.45	0.00	0.000	4	0.000	0.084	2141	3906	3400	0	0	0	0	0	0
4006	-0.86	-146.0	366.7	-7.5	450	4011	0.00	2.35	0.00	0.000	6	0.000	0.058	2141	2396	3399	0	0	0	0	0	0
4330	-0.86	-146.0	392.4	-8.4	481	4334	0.00	2.45	0.00	0.000	4	0.000	0.084	2141	3907	3400	0	0	0	0	0	0
4380	-0.86	-146.0	396.8	-8.7	485	4384	0.00	2.35	0.00	0.000	6	0.000	0.058	2142	2396	3399	0	0	0	0	0	0
4704	-0.86	-146.0	422.8	-7.9	515	4708	0.00	2.45	0.00	0.000	4	0.000	0.084	2141	3906	3400	0	0	0	0	0	0
4755	-0.86	-146.0	426.9	-7.9	519	4759	0.00	2.35	0.00	0.000	6	0.000	0.057	2141	2396	3400	0	0	0	0	0	0
5079	-0.86	-146.0	452.4	-7.4	549	5083	0.00	2.45	0.00	0.000	4	0.000	0.083	2142	3906	3400	0	0	0	0	0	0
5095	-0.86	-146.0	453.7	-7.4	550	5099	0.00	2.35	0.00	0.000	6	0.000	0.057	2141	2395	3400	0	0	0	0	0	0
5419	-0.86	-146.0	478.1	-7.4	580	5423	0.00	2.45	0.00	0.000	4	0.000	0.082	2142	3907	3401	0	0	0	0	0	0
5447	-0.86	-146.0	480.1	-7.9	582	5451	0.00	2.35	0.00	0.000	6	0.000	0.057	2141	2392	3401	0	0	0	0	0	0
5737	end dive: TARGET_DEPTH_EXCEEDED
state	5738	begin apogee
5742	-0.24	0.0	500.2	7.6	609	5863	0.73	0.00	116.57	1.046	6	0.179	0.000	2350	2289	2800	0	0	0	0	0	0
5864	end apogee: CONTROL_FINISHED_OK
state	5864	begin climb
5865	0.98	146.0	500.6	0.0	621	5993	1.25	2.72	119.40	1.001	4	0.114	0.075	2751	724	2202	0	0	0	0	0	0
6245	0.54	146.0	435.1	19.2	655	6252	0.57	2.60	0.00	0.000	6	0.204	0.062	2607	2305	2194	0	0	0	0	0	0
6570	0.54	146.0	397.9	11.1	686	6574	0.00	2.60	0.00	0.000	4	0.000	0.077	2617	724	2193	0	0	0	0	0	0
6827	0.49	146.0	368.2	11.4	708	6833	0.00	2.55	0.00	0.000	6	0.000	0.063	2617	2319	2193	0	0	0	0	0	0
7152	0.44	146.0	332.5	11.1	739	7157	0.17	2.58	0.00	0.000	4	0.189	0.080	2570	3891	2193	0	0	0	0	0	0
7192	0.44	146.0	328.4	10.5	742	7196	0.00	2.50	0.00	0.000	6	0.000	0.060	2580	2325	2191	0	0	0	0	0	0
7516	0.51	163.7	300.2	8.4	772	7537	0.00	2.67	13.70	0.855	4	0.000	0.078	2592	710	2131	0	0	0	0	0	0
7790	0.59	179.6	275.9	8.5	796	7810	0.00	2.55	14.20	0.854	6	0.000	0.064	2591	2314	2068	0	0	0	0	0	0
8136	0.63	180.9	244.5	9.1	829	8141	0.12	2.62	0.00	0.000	4	0.112	0.077	2648	711	2064	0	0	0	0	0	0
8393	0.55	180.9	212.6	12.3	851	8400	0.15	2.58	0.00	0.000	6	0.193	0.064	2613	2331	2063	0	0	0	0	0	0
8718	0.55	180.9	175.0	11.1	882	8722	0.00	2.60	0.00	0.000	4	0.000	0.077	2622	714	2063	0	0	0	0	0	0
8974	0.55	180.9	145.3	11.6	904	8981	0.00	2.62	0.00	0.000	6	0.000	0.064	2622	2373	2064	0	0	0	0	0	0
9299	0.55	180.9	109.4	10.7	935	9303	0.00	2.45	0.00	0.000	4	0.000	0.081	2622	3886	2063	0	0	0	0	0	0
9349	0.48	180.9	103.7	11.9	939	9354	0.17	2.45	0.00	0.000	6	0.191	0.061	2592	2339	2063	0	0	0	0	0	0
9690	0.63	199.8	74.4	8.4	995	9717	0.12	2.70	17.02	0.773	4	0.117	0.079	2645	707	1984	0	0	0	0	0	0
9970	0.63	199.8	43.3	10.8	1045	9976	0.00	2.60	0.00	0.000	6	0.000	0.064	2645	2343	1981	0	0	0	0	0	0
10313	0.63	199.8	11.7	9.3	1106	10319	0.00	2.58	0.00	0.000	4	0.000	0.080	2656	714	1981	0	0	0	0	0	0
10413	end climb: SURFACE_DEPTH_REACHED
state	10413	begin surface coast
10421	end surface coast: CONTROL_FINISHED_OK
state	10421	begin surface