Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 28 * 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 28 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 23 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 -23471.268 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 -23471.268

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 23 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 28 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 053301,6712.943,-5712.221,39,1.4,39,-37.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.846,-5721.701

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -65.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 053801,6712.993,-5712.229,9,2.0,9,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 521

Post-dive calculations and measurements:

FINISH 0.3,1.014732 _24V_AH 23.7,17.981

SM_CCo 10842,52.88,0.751,0,0,1677,275.23 _10V_AH 10.3,8.201

SM_GC 1.24,0.00,0.00,52.88,0.000,0.000,0.751,131,2506,1677,-7.19,0.17,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 667 FG_AHR_10Vo 0.000

RAFOS 0,1256371264,8.033334,8.017777,90,66,65,0,0,0,1145,148,214,0,0,0 MEM 150556

RAFOS_FIX 6620.101562,-5707.020508,241009,080852,2,78,10.49 DATA_FILE_SIZE 44138,1160

IRIDIUM_FIX 6641.98,-5710.89,180199,020224 CAP_FILE_SIZE 137378,0

TT8_MAMPS 0.029146 CFSIZE 260165632,248832000

HUMID 46.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90659 SOUNDSPEED 1467.2

TCM_TEMP 17.30 GPS 241009,084125,6713.095,-5713.029,36,1.7,36,-37.9

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 309 178.82 SBE_CT 852 24 484.89

Roll_motor 133 100 316.83 SBE_O2 790 19 355.96

VBD_pump_during_apogee 274 1049 6814.90 nil 0 0 0.00

VBD_pump_during_surface 52 750 940.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 57.52 nil 0 0 0.00

Iridium_during_connect 36 160 136.67 nil 0 0 0.00

Iridium_during_xfer 134 223 708.67

Transponder_ping 1 420 12.44

GUMSTIX_24V 0 0 0.00

GPS 10 50 5.63

TT8 1976 19 405.54

LPSleep 6424 2 152.85

TT8_Active 472 19 96.91

TT8_Sampling 1966 39 808.60

TT8_CF8 361 45 171.13

TT8_Kalman 0 0 0.00

Analog_circuits 1496 12 184.93

GPS_charging 0 0 0.00

Compass 1945 8 160.27

RAFOS 1800 1 27.81

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.98 -146.0 0.0 0.0 0 99 0.00 0.00 -79.95 0.000 2 0.000 0.000 124 2501 3100 0 0 0 0 0 0

101 -0.98 -146.0 3.2 -5.6 16 128 9.68 2.42 -8.10 0.000 4 0.310 0.100 2103 3911 3399 0 0 0 0 0 0

221 -0.74 -146.0 24.4 -16.7 37 227 0.32 2.28 0.00 0.000 6 0.202 0.058 2186 2492 3401 0 0 0 0 0 0

565 -0.81 -146.0 59.2 -9.0 98 571 0.00 2.38 0.00 0.000 4 0.000 0.086 2186 3913 3401 0 0 0 0 0 0

719 -0.87 -146.0 72.5 -8.1 125 725 0.12 2.25 0.00 0.000 6 0.120 0.059 2145 2497 3400 0 0 0 0 0 0

1059 -0.87 -146.0 107.1 -10.5 180 1063 0.00 2.35 0.00 0.000 4 0.000 0.086 2144 3917 3399 0 0 0 0 0 0

1075 -0.82 -146.0 108.9 -10.9 181 1079 0.00 2.22 0.00 0.000 6 0.000 0.059 2144 2508 3399 0 0 0 0 0 0

1399 -0.82 -146.0 143.2 -10.2 211 1403 0.00 2.55 0.00 0.000 4 0.000 0.078 2144 910 3399 0 0 0 0 0 0

1409 -0.78 -146.0 144.3 -10.3 211 1415 0.15 2.58 0.00 0.000 6 0.223 0.071 2177 2514 3399 0 0 0 0 0 0

1734 -0.87 -146.0 171.0 -7.8 242 1738 0.00 2.30 0.00 0.000 4 0.000 0.088 2177 3921 3399 0 0 0 0 0 0

1744 -0.96 -146.0 171.8 -7.5 242 1750 0.17 2.22 0.00 0.000 6 0.104 0.059 2118 2510 3398 0 0 0 0 0 0

2068 -0.86 -146.0 205.0 -9.8 273 2073 0.15 2.58 0.00 0.000 4 0.212 0.079 2162 906 3398 0 0 0 0 0 0

2090 -0.86 -146.0 207.2 -9.4 274 2096 0.00 2.58 0.00 0.000 6 0.000 0.073 2162 2511 3398 0 0 0 0 0 0

2415 -0.92 -146.0 232.9 -7.7 305 2419 0.00 2.30 0.00 0.000 4 0.000 0.091 2162 3910 3398 0 0 0 0 0 0

2426 -0.99 -146.0 233.8 -7.7 306 2431 0.15 2.28 0.00 0.000 6 0.112 0.059 2112 2465 3398 0 0 0 0 0 0

2751 -0.89 -146.0 264.0 -9.1 336 2756 0.12 2.40 0.00 0.000 4 0.216 0.087 2138 3915 3398 0 0 0 0 0 0

2761 -0.80 -146.0 265.1 -9.6 336 2767 0.12 2.15 0.00 0.000 6 0.213 0.059 2166 2539 3398 0 0 0 0 0 0

3086 -0.89 -146.0 287.7 -6.8 367 3090 0.00 2.58 0.00 0.000 4 0.000 0.077 2167 912 3398 0 0 0 0 0 0

3096 -0.97 -146.0 288.5 -6.6 367 3103 0.15 2.65 0.00 0.000 6 0.106 0.071 2113 2572 3398 0 0 0 0 0 0

3421 -0.90 -146.0 316.5 -9.2 398 3425 0.00 2.65 0.00 0.000 4 0.000 0.076 2114 911 3398 0 0 0 0 0 0

3431 -0.80 -146.0 317.5 -9.2 398 3437 0.22 2.65 0.00 0.000 6 0.216 0.071 2167 2577 3398 0 0 0 0 0 0

3756 -0.90 -146.0 341.0 -7.1 429 3760 0.00 2.65 0.00 0.000 4 0.000 0.077 2167 913 3399 0 0 0 0 0 0

3788 -0.96 -146.0 343.5 -7.9 431 3794 0.15 2.65 0.00 0.000 6 0.104 0.070 2113 2579 3399 0 0 0 0 0 0

4114 -0.88 -146.0 372.9 -8.9 462 4120 0.12 2.67 0.00 0.000 4 0.206 0.077 2152 914 3399 0 0 0 0 0 0

4125 -0.82 -146.0 374.1 -9.2 462 4131 0.00 2.65 0.00 0.000 6 0.000 0.071 2152 2578 3399 0 0 0 0 0 0

4450 -0.87 -146.0 398.3 -7.6 493 4454 0.00 2.65 0.00 0.000 4 0.000 0.076 2152 913 3399 0 0 0 0 0 0

4459 -0.87 -146.0 399.2 -7.8 493 4465 0.00 2.65 0.00 0.000 6 0.000 0.070 2152 2584 3399 0 0 0 0 0 0

4785 -0.93 -146.0 424.0 -6.9 524 4789 0.00 2.67 0.00 0.000 4 0.000 0.077 2152 905 3400 0 0 0 0 0 0

4828 -0.93 -146.0 427.3 -7.7 527 4834 0.00 2.65 0.00 0.000 6 0.000 0.070 2152 2580 3400 0 0 0 0 0 0

5153 -0.99 -146.0 450.9 -7.7 558 5158 0.12 2.67 0.00 0.000 4 0.112 0.077 2111 911 3400 0 0 0 0 0 0

5215 -0.88 -146.0 457.2 -10.8 563 5220 0.12 2.65 0.00 0.000 6 0.226 0.070 2139 2581 3400 0 0 0 0 0 0

5540 -0.88 -146.0 484.2 -8.3 593 5544 0.00 2.65 0.00 0.000 4 0.000 0.075 2139 913 3400 0 0 0 0 0 0

5571 -0.88 -146.0 487.2 -9.7 595 5577 0.00 2.62 0.00 0.000 6 0.000 0.069 2139 2570 3400 0 0 0 0 0 0

5898 -1.39 -146.0 505.4 0.2 626 5904 0.43 2.65 0.00 0.000 4 0.074 0.074 1973 906 3401 0 0 0 0 0 0

5920 -1.86 -146.0 505.6 -0.5 627 5927 0.40 2.60 0.00 0.000 6 0.067 0.065 1817 2561 3401 0 0 0 0 0 0

5967 end dive: NO_VERTICAL_VELOCITY

state 5967 begin apogee

5972 -0.24 0.0 505.5 0.0 632 6093 1.73 0.00 116.40 1.049 6 0.158 0.000 2346 2284 2800 0 0 0 0 0 0

6094 end apogee: CONTROL_FINISHED_OK

state 6094 begin climb

6096 0.98 146.0 505.4 0.0 644 6229 1.27 2.88 119.50 1.007 4 0.118 0.077 2740 3886 2201 0 0 0 0 0 0

6279 0.49 146.0 479.6 21.3 661 6286 0.68 2.67 0.00 0.000 6 0.221 0.061 2594 2309 2197 0 0 0 0 0 0

6603 0.49 146.0 442.7 11.2 692 6608 0.00 2.62 0.00 0.000 4 0.000 0.077 2604 713 2193 0 0 0 0 0 0

6860 0.49 146.0 413.0 11.6 714 6867 0.00 2.55 0.00 0.000 6 0.000 0.064 2604 2297 2192 0 0 0 0 0 0

7185 0.49 146.0 375.8 11.8 745 7190 0.00 2.60 0.00 0.000 4 0.000 0.078 2616 702 2192 0 0 0 0 0 0

7442 0.49 146.0 344.3 11.9 767 7448 0.00 2.60 0.00 0.000 6 0.000 0.064 2616 2307 2192 0 0 0 0 0 0

7767 0.42 146.0 306.5 11.1 798 7772 0.20 2.58 0.00 0.000 4 0.190 0.076 2576 713 2192 0 0 0 0 0 0

8025 0.52 166.5 284.8 8.3 820 8046 0.00 2.50 15.80 0.865 6 0.000 0.064 2576 2297 2121 0 0 0 0 0 0

8365 0.61 170.3 255.7 9.0 852 8377 0.15 2.60 4.47 0.647 4 0.103 0.079 2641 703 2105 0 0 0 0 0 0

8629 0.52 170.3 221.7 13.4 875 8635 0.17 2.53 0.00 0.000 6 0.191 0.064 2600 2299 2104 0 0 0 0 0 0

8955 0.58 170.3 186.4 10.6 906 8959 0.00 2.55 0.00 0.000 4 0.000 0.077 2609 712 2104 0 0 0 0 0 0

9212 0.58 170.3 159.2 9.9 928 9218 0.00 2.55 0.00 0.000 6 0.000 0.064 2609 2326 2103 0 0 0 0 0 0

9537 0.61 190.8 129.6 8.3 959 9561 0.00 2.67 17.88 0.795 4 0.000 0.078 2620 718 2021 0 0 0 0 0 0

9815 0.66 190.8 102.6 9.9 984 9819 0.00 2.58 0.00 0.000 6 0.000 0.065 2620 2328 2018 0 0 0 0 0 0

10158 0.73 190.8 68.1 9.3 1042 10164 0.12 2.62 0.00 0.000 4 0.106 0.079 2677 711 2017 0 0 0 0 0 0

10417 0.68 190.8 38.2 10.2 1088 10423 0.00 2.53 0.00 0.000 6 0.000 0.065 2677 2315 2017 0 0 0 0 0 0

10762 0.62 190.8 5.1 9.7 1149 10768 0.17 2.60 0.00 0.000 4 0.194 0.080 2644 711 2017 0 0 0 0 0 0

10800 end climb: SURFACE_DEPTH_REACHED

state 10800 begin surface coast

10823 end surface coast: CONTROL_FINISHED_OK

state 10824 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	28	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	23	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	-23471.268	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	053301,6712.943,-5712.221,39,1.4,39,-37.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.846,-5721.701
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	053801,6712.993,-5712.229,9,2.0,9,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	521

FINISH	0.3,1.014732	_24V_AH	23.7,17.981
SM_CCo	10842,52.88,0.751,0,0,1677,275.23	_10V_AH	10.3,8.201
SM_GC	1.24,0.00,0.00,52.88,0.000,0.000,0.751,131,2506,1677,-7.19,0.17,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	667	FG_AHR_10Vo	0.000
RAFOS	0,1256371264,8.033334,8.017777,90,66,65,0,0,0,1145,148,214,0,0,0	MEM	150556
RAFOS_FIX	6620.101562,-5707.020508,241009,080852,2,78,10.49	DATA_FILE_SIZE	44138,1160
IRIDIUM_FIX	6641.98,-5710.89,180199,020224	CAP_FILE_SIZE	137378,0
TT8_MAMPS	0.029146	CFSIZE	260165632,248832000
HUMID	46.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90659	SOUNDSPEED	1467.2
TCM_TEMP	17.30	GPS	241009,084125,6713.095,-5713.029,36,1.7,36,-37.9
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	309	178.82	SBE_CT	852	24	484.89
Roll_motor	133	100	316.83	SBE_O2	790	19	355.96
VBD_pump_during_apogee	274	1049	6814.90	nil	0	0	0.00
VBD_pump_during_surface	52	750	940.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	57.52	nil	0	0	0.00
Iridium_during_connect	36	160	136.67	nil	0	0	0.00
Iridium_during_xfer	134	223	708.67
Transponder_ping	1	420	12.44
GUMSTIX_24V	0	0	0.00
GPS	10	50	5.63
TT8	1976	19	405.54
LPSleep	6424	2	152.85
TT8_Active	472	19	96.91
TT8_Sampling	1966	39	808.60
TT8_CF8	361	45	171.13
TT8_Kalman	0	0	0.00
Analog_circuits	1496	12	184.93
GPS_charging	0	0	0.00
Compass	1945	8	160.27
RAFOS	1800	1	27.81
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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.98	-146.0	0.0	0.0	0	99	0.00	0.00	-79.95	0.000	2	0.000	0.000	124	2501	3100	0	0	0	0	0	0
101	-0.98	-146.0	3.2	-5.6	16	128	9.68	2.42	-8.10	0.000	4	0.310	0.100	2103	3911	3399	0	0	0	0	0	0
221	-0.74	-146.0	24.4	-16.7	37	227	0.32	2.28	0.00	0.000	6	0.202	0.058	2186	2492	3401	0	0	0	0	0	0
565	-0.81	-146.0	59.2	-9.0	98	571	0.00	2.38	0.00	0.000	4	0.000	0.086	2186	3913	3401	0	0	0	0	0	0
719	-0.87	-146.0	72.5	-8.1	125	725	0.12	2.25	0.00	0.000	6	0.120	0.059	2145	2497	3400	0	0	0	0	0	0
1059	-0.87	-146.0	107.1	-10.5	180	1063	0.00	2.35	0.00	0.000	4	0.000	0.086	2144	3917	3399	0	0	0	0	0	0
1075	-0.82	-146.0	108.9	-10.9	181	1079	0.00	2.22	0.00	0.000	6	0.000	0.059	2144	2508	3399	0	0	0	0	0	0
1399	-0.82	-146.0	143.2	-10.2	211	1403	0.00	2.55	0.00	0.000	4	0.000	0.078	2144	910	3399	0	0	0	0	0	0
1409	-0.78	-146.0	144.3	-10.3	211	1415	0.15	2.58	0.00	0.000	6	0.223	0.071	2177	2514	3399	0	0	0	0	0	0
1734	-0.87	-146.0	171.0	-7.8	242	1738	0.00	2.30	0.00	0.000	4	0.000	0.088	2177	3921	3399	0	0	0	0	0	0
1744	-0.96	-146.0	171.8	-7.5	242	1750	0.17	2.22	0.00	0.000	6	0.104	0.059	2118	2510	3398	0	0	0	0	0	0
2068	-0.86	-146.0	205.0	-9.8	273	2073	0.15	2.58	0.00	0.000	4	0.212	0.079	2162	906	3398	0	0	0	0	0	0
2090	-0.86	-146.0	207.2	-9.4	274	2096	0.00	2.58	0.00	0.000	6	0.000	0.073	2162	2511	3398	0	0	0	0	0	0
2415	-0.92	-146.0	232.9	-7.7	305	2419	0.00	2.30	0.00	0.000	4	0.000	0.091	2162	3910	3398	0	0	0	0	0	0
2426	-0.99	-146.0	233.8	-7.7	306	2431	0.15	2.28	0.00	0.000	6	0.112	0.059	2112	2465	3398	0	0	0	0	0	0
2751	-0.89	-146.0	264.0	-9.1	336	2756	0.12	2.40	0.00	0.000	4	0.216	0.087	2138	3915	3398	0	0	0	0	0	0
2761	-0.80	-146.0	265.1	-9.6	336	2767	0.12	2.15	0.00	0.000	6	0.213	0.059	2166	2539	3398	0	0	0	0	0	0
3086	-0.89	-146.0	287.7	-6.8	367	3090	0.00	2.58	0.00	0.000	4	0.000	0.077	2167	912	3398	0	0	0	0	0	0
3096	-0.97	-146.0	288.5	-6.6	367	3103	0.15	2.65	0.00	0.000	6	0.106	0.071	2113	2572	3398	0	0	0	0	0	0
3421	-0.90	-146.0	316.5	-9.2	398	3425	0.00	2.65	0.00	0.000	4	0.000	0.076	2114	911	3398	0	0	0	0	0	0
3431	-0.80	-146.0	317.5	-9.2	398	3437	0.22	2.65	0.00	0.000	6	0.216	0.071	2167	2577	3398	0	0	0	0	0	0
3756	-0.90	-146.0	341.0	-7.1	429	3760	0.00	2.65	0.00	0.000	4	0.000	0.077	2167	913	3399	0	0	0	0	0	0
3788	-0.96	-146.0	343.5	-7.9	431	3794	0.15	2.65	0.00	0.000	6	0.104	0.070	2113	2579	3399	0	0	0	0	0	0
4114	-0.88	-146.0	372.9	-8.9	462	4120	0.12	2.67	0.00	0.000	4	0.206	0.077	2152	914	3399	0	0	0	0	0	0
4125	-0.82	-146.0	374.1	-9.2	462	4131	0.00	2.65	0.00	0.000	6	0.000	0.071	2152	2578	3399	0	0	0	0	0	0
4450	-0.87	-146.0	398.3	-7.6	493	4454	0.00	2.65	0.00	0.000	4	0.000	0.076	2152	913	3399	0	0	0	0	0	0
4459	-0.87	-146.0	399.2	-7.8	493	4465	0.00	2.65	0.00	0.000	6	0.000	0.070	2152	2584	3399	0	0	0	0	0	0
4785	-0.93	-146.0	424.0	-6.9	524	4789	0.00	2.67	0.00	0.000	4	0.000	0.077	2152	905	3400	0	0	0	0	0	0
4828	-0.93	-146.0	427.3	-7.7	527	4834	0.00	2.65	0.00	0.000	6	0.000	0.070	2152	2580	3400	0	0	0	0	0	0
5153	-0.99	-146.0	450.9	-7.7	558	5158	0.12	2.67	0.00	0.000	4	0.112	0.077	2111	911	3400	0	0	0	0	0	0
5215	-0.88	-146.0	457.2	-10.8	563	5220	0.12	2.65	0.00	0.000	6	0.226	0.070	2139	2581	3400	0	0	0	0	0	0
5540	-0.88	-146.0	484.2	-8.3	593	5544	0.00	2.65	0.00	0.000	4	0.000	0.075	2139	913	3400	0	0	0	0	0	0
5571	-0.88	-146.0	487.2	-9.7	595	5577	0.00	2.62	0.00	0.000	6	0.000	0.069	2139	2570	3400	0	0	0	0	0	0
5898	-1.39	-146.0	505.4	0.2	626	5904	0.43	2.65	0.00	0.000	4	0.074	0.074	1973	906	3401	0	0	0	0	0	0
5920	-1.86	-146.0	505.6	-0.5	627	5927	0.40	2.60	0.00	0.000	6	0.067	0.065	1817	2561	3401	0	0	0	0	0	0
5967	end dive: NO_VERTICAL_VELOCITY
state	5967	begin apogee
5972	-0.24	0.0	505.5	0.0	632	6093	1.73	0.00	116.40	1.049	6	0.158	0.000	2346	2284	2800	0	0	0	0	0	0
6094	end apogee: CONTROL_FINISHED_OK
state	6094	begin climb
6096	0.98	146.0	505.4	0.0	644	6229	1.27	2.88	119.50	1.007	4	0.118	0.077	2740	3886	2201	0	0	0	0	0	0
6279	0.49	146.0	479.6	21.3	661	6286	0.68	2.67	0.00	0.000	6	0.221	0.061	2594	2309	2197	0	0	0	0	0	0
6603	0.49	146.0	442.7	11.2	692	6608	0.00	2.62	0.00	0.000	4	0.000	0.077	2604	713	2193	0	0	0	0	0	0
6860	0.49	146.0	413.0	11.6	714	6867	0.00	2.55	0.00	0.000	6	0.000	0.064	2604	2297	2192	0	0	0	0	0	0
7185	0.49	146.0	375.8	11.8	745	7190	0.00	2.60	0.00	0.000	4	0.000	0.078	2616	702	2192	0	0	0	0	0	0
7442	0.49	146.0	344.3	11.9	767	7448	0.00	2.60	0.00	0.000	6	0.000	0.064	2616	2307	2192	0	0	0	0	0	0
7767	0.42	146.0	306.5	11.1	798	7772	0.20	2.58	0.00	0.000	4	0.190	0.076	2576	713	2192	0	0	0	0	0	0
8025	0.52	166.5	284.8	8.3	820	8046	0.00	2.50	15.80	0.865	6	0.000	0.064	2576	2297	2121	0	0	0	0	0	0
8365	0.61	170.3	255.7	9.0	852	8377	0.15	2.60	4.47	0.647	4	0.103	0.079	2641	703	2105	0	0	0	0	0	0
8629	0.52	170.3	221.7	13.4	875	8635	0.17	2.53	0.00	0.000	6	0.191	0.064	2600	2299	2104	0	0	0	0	0	0
8955	0.58	170.3	186.4	10.6	906	8959	0.00	2.55	0.00	0.000	4	0.000	0.077	2609	712	2104	0	0	0	0	0	0
9212	0.58	170.3	159.2	9.9	928	9218	0.00	2.55	0.00	0.000	6	0.000	0.064	2609	2326	2103	0	0	0	0	0	0
9537	0.61	190.8	129.6	8.3	959	9561	0.00	2.67	17.88	0.795	4	0.000	0.078	2620	718	2021	0	0	0	0	0	0
9815	0.66	190.8	102.6	9.9	984	9819	0.00	2.58	0.00	0.000	6	0.000	0.065	2620	2328	2018	0	0	0	0	0	0
10158	0.73	190.8	68.1	9.3	1042	10164	0.12	2.62	0.00	0.000	4	0.106	0.079	2677	711	2017	0	0	0	0	0	0
10417	0.68	190.8	38.2	10.2	1088	10423	0.00	2.53	0.00	0.000	6	0.000	0.065	2677	2315	2017	0	0	0	0	0	0
10762	0.62	190.8	5.1	9.7	1149	10768	0.17	2.60	0.00	0.000	4	0.194	0.080	2644	711	2017	0	0	0	0	0	0
10800	end climb: SURFACE_DEPTH_REACHED
state	10800	begin surface coast
10823	end surface coast: CONTROL_FINISHED_OK
state	10824	begin surface