Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 376 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 90 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 376 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2700 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2000 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 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 24 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 25 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 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 3 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 2 T_GPS_CHARGE -43415.449 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 2690 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 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 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 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 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 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 -43415.449

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 0 HEADING 90 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2700 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

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 24 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 376 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 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 092507,6718.456,-5735.086,39,1.5,39,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6718.482,-5707.133

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 093119,6718.482,-5735.126,8,1.5,13,-38.1 MHEAD_RNG_PITCHd_Wd 128.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 530

Post-dive calculations and measurements:

FREEZE 0.60,-2.413,-1.583,0,1,0 ALTIM_TOP_PING 19.9,19.6

FINISH 0.6,1.023326 ALTIM_BOTTOM_PING 400.1,169.9

SM_CCo 11417,71.18,0.748,0,0,1473,325.02 _24V_AH 22.5,68.649

SM_GC 1.51,0.00,0.00,71.18,0.000,0.000,0.748,128,2699,1473,-8.01,-0.03,325.02 _10V_AH 10.1,36.819

RAFOS_CLK 716 FG_AHR_24Vo 0.000

RAFOS 0,1261742466,12.033333,12.018333,59,58,57,0,0,0,214,133,157,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6717.058105,-5737.313477,251209,080822,3,82,0.27 MEM 152584

IRIDIUM_FIX 6647.44,-5737.27,210399,060623 DATA_FILE_SIZE 47264,1221

TT8_MAMPS 0.029913 CAP_FILE_SIZE 139559,0

HUMID 48.42 CFSIZE 260165632,220643328

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,205,0,0

TCM_TEMP 17.10 SOUNDSPEED 1464.0

XPDR_PINGS 5 GPS 251209,124437,6718.889,-5736.678,37,1.8,43,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 301 167.01 SBE_CT 893 24 482.38

Roll_motor 149 99 335.68 SBE_O2 835 19 357.04

VBD_pump_during_apogee 316 1060 7547.98 nil 0 0 0.00

VBD_pump_during_surface 71 747 1197.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 52.56 nil 0 0 0.00

Iridium_during_connect 31 160 113.51 nil 0 0 0.00

Iridium_during_xfer 187 223 939.12

Transponder_ping 2 420 23.62

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.72

TT8 2054 19 413.40

LPSleep 6593 2 153.83

TT8_Active 552 19 111.14

TT8_Sampling 2194 39 884.81

TT8_CF8 457 45 212.08

TT8_Kalman 0 0 0.00

Analog_circuits 1673 12 202.84

GPS_charging 0 0 0.00

Compass 2155 8 174.18

RAFOS 2160 1 32.72

Transponder 11 30 3.34

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

15 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -95.22 0.000 2 0.000 0.000 126 2696 3085 0 0 0 0 0 0

116 -0.73 -146.0 3.1 -4.4 19 143 11.60 3.00 -8.98 0.000 4 0.301 0.100 2446 3913 3397 0 0 6 0 0 0

396 -0.73 -146.0 37.8 -11.2 69 402 0.00 2.83 0.00 0.000 6 0.000 0.064 2446 2696 3399 0 0 4 0 0 0

739 -0.73 -146.0 74.1 -10.0 130 745 0.00 2.95 0.00 0.000 4 0.000 0.091 2447 3908 3399 0 0 6 0 0 0

992 -0.79 -146.0 97.0 -9.0 175 998 0.00 2.83 0.00 0.000 6 0.000 0.066 2446 2692 3397 0 0 4 0 0 0

1320 -0.84 -146.0 125.6 -8.7 209 1325 0.00 2.95 0.00 0.000 4 0.000 0.090 2446 3911 3397 0 0 6 0 0 0

1466 -0.91 -146.0 138.5 -9.0 221 1473 0.15 2.80 0.00 0.000 6 0.120 0.064 2399 2702 3397 0 0 4 0 0 0

1790 -0.84 -146.0 171.7 -9.3 252 1795 0.00 2.95 0.00 0.000 4 0.000 0.091 2399 3912 3397 0 0 5 0 0 0

2048 -0.77 -146.0 198.8 -10.6 274 2055 0.17 2.83 0.00 0.000 6 0.205 0.066 2439 2695 3397 0 0 4 0 0 0

2374 -0.83 -146.0 227.6 -8.9 305 2378 0.00 2.95 0.00 0.000 4 0.000 0.090 2439 3913 3396 0 0 6 0 0 0

2597 -0.91 -146.0 247.6 -8.7 324 2604 0.15 2.83 0.00 0.000 6 0.119 0.064 2391 2692 3395 0 0 4 0 0 0

2922 -0.84 -146.0 280.1 -9.8 355 2927 0.00 2.95 0.00 0.000 4 0.000 0.087 2391 3919 3395 0 0 6 0 0 0

3107 -0.77 -146.0 299.2 -10.2 371 3113 0.20 2.83 0.00 0.000 6 0.200 0.064 2438 2694 3396 0 0 4 0 0 0

3432 -0.85 -146.0 325.4 -8.4 401 3437 0.00 2.92 0.00 0.000 4 0.000 0.086 2438 3910 3396 0 0 6 0 0 0

3606 -0.95 -146.0 340.2 -8.3 416 3612 0.17 2.80 0.00 0.000 6 0.110 0.062 2379 2697 3396 0 0 4 0 0 0

3931 -0.85 -146.0 373.9 -10.2 446 3936 0.15 2.95 0.00 0.000 4 0.203 0.085 2413 3916 3396 0 0 6 0 0 0

4128 -0.85 -146.0 391.0 -8.0 463 4133 0.00 2.80 0.00 0.000 6 0.000 0.061 2413 2698 3396 0 0 4 0 0 0

4452 -0.85 -146.0 417.1 -7.9 493 4457 0.00 2.92 0.00 0.000 4 0.000 0.084 2413 3911 3397 0 0 5 0 0 0

4615 -0.85 -146.0 430.4 -8.0 507 4620 0.00 2.80 0.00 0.000 6 0.000 0.059 2413 2691 3397 0 0 4 0 0 0

4939 -0.85 -146.0 457.0 -8.1 537 4944 0.00 2.95 0.00 0.000 4 0.000 0.082 2413 3920 3398 0 0 5 0 0 0

5097 -0.85 -146.0 470.2 -8.3 550 5102 0.00 2.80 0.00 0.000 6 0.000 0.058 2413 2691 3398 0 0 4 0 0 0

5422 -0.85 -146.0 496.8 -8.1 581 5427 0.00 2.92 0.00 0.000 4 0.000 0.082 2413 3909 3399 0 0 5 0 0 0

5589 -0.85 -146.0 510.4 -7.9 595 5595 0.00 2.80 0.00 0.000 6 0.000 0.058 2413 2698 3399 0 0 4 0 0 0

5837 end dive: TARGET_DEPTH_EXCEEDED

state 5839 begin apogee

5845 -0.16 0.0 530.1 7.8 619 5972 0.77 0.00 121.40 1.061 6 0.179 0.000 2628 2003 2800 0 0 0 0 0 0

5973 end apogee: CONTROL_FINISHED_OK

state 5973 begin climb

5975 0.73 146.0 532.9 0.0 632 6109 0.95 1.95 125.95 1.013 4 0.129 0.084 2921 400 2202 0 0 0 0 0 0

6177 0.65 146.0 515.3 12.6 651 6181 0.00 1.85 0.00 0.000 6 0.000 0.056 2921 2019 2199 0 0 0 0 0 0

6507 0.57 146.0 476.3 11.2 682 6517 0.20 3.72 0.00 0.000 4 0.198 0.071 2857 3584 2194 0 0 7 0 0 0

6653 0.63 150.2 462.8 9.0 695 6662 0.00 3.78 0.00 0.000 6 0.000 0.066 2872 1992 2194 0 0 3 0 0 0

6981 0.72 150.2 434.0 9.2 726 6991 0.15 3.78 0.00 0.000 4 0.113 0.073 2921 3586 2194 0 0 5 0 0 0

7154 0.58 150.2 412.1 12.9 741 7161 0.22 3.70 0.00 0.000 6 0.203 0.068 2883 2002 2192 0 0 5 0 0 0

7479 0.63 150.2 382.4 9.4 772 7488 0.00 3.70 0.00 0.000 4 0.000 0.074 2883 3583 2193 0 0 6 0 0 0

7625 0.63 150.2 367.8 10.0 785 7630 0.00 3.72 0.00 0.000 6 0.000 0.067 2898 1999 2193 0 0 3 0 0 0

7949 0.63 152.2 337.7 9.1 815 7961 0.00 3.72 5.00 0.700 4 0.000 0.074 2898 3595 2179 0 0 6 0 0 0

8096 0.57 152.2 322.0 11.1 828 8107 0.17 3.75 0.00 0.000 6 0.197 0.067 2875 1988 2178 0 0 3 0 0 0

8425 0.68 158.6 292.7 8.9 859 8440 0.12 3.80 7.10 0.778 4 0.123 0.074 2916 3585 2153 0 0 4 0 0 0

8581 0.57 158.6 274.2 12.3 873 8591 0.22 3.75 0.00 0.000 6 0.196 0.067 2880 1987 2153 0 0 3 0 0 0

8910 0.71 178.7 244.7 8.3 904 8936 0.12 3.78 18.50 0.854 4 0.123 0.074 2921 3594 2070 0 0 5 0 0 0

9082 0.63 178.7 223.6 12.6 919 9092 0.17 3.78 0.00 0.000 6 0.198 0.067 2899 1989 2068 0 0 3 0 0 0

9411 0.72 178.7 189.6 10.3 950 9420 0.00 3.72 0.00 0.000 4 0.000 0.074 2898 3584 2067 0 0 6 0 0 0

9578 0.72 178.7 171.6 10.4 965 9583 0.00 3.72 0.00 0.000 6 0.000 0.067 2913 2002 2067 0 0 3 0 0 0

9902 0.79 190.5 142.5 8.7 995 9923 0.00 3.72 11.18 0.780 4 0.000 0.074 2913 3604 2022 0 0 6 0 0 0

10019 0.79 190.5 131.0 10.2 1005 10025 0.00 3.78 0.00 0.000 6 0.000 0.068 2930 2000 2021 0 0 3 0 0 0

10343 0.79 190.5 101.1 9.7 1036 10352 0.00 3.72 0.00 0.000 4 0.000 0.077 2930 3591 2021 0 0 7 0 0 0

10504 0.74 190.5 83.6 11.1 1063 10510 0.00 3.78 0.00 0.000 6 0.000 0.070 2947 1989 2020 0 0 3 0 0 0

10848 0.74 190.5 48.8 9.8 1124 10854 0.00 3.75 0.00 0.000 4 0.000 0.077 2947 3581 2020 0 0 6 0 0 0

10961 0.66 190.5 36.7 11.2 1144 10968 0.25 3.75 0.00 0.000 6 0.197 0.071 2903 1998 2019 0 0 3 0 0 0

11306 0.87 222.3 10.2 7.8 1205 11340 0.20 3.78 27.12 0.769 4 0.104 0.077 2972 3586 1892 0 0 5 0 0 0

11380 end climb: SURFACE_DEPTH_REACHED

state 11380 begin surface coast

11398 end surface coast: CONTROL_FINISHED_OK

state 11398 begin surface

ID	143	HEADING	90	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	376	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2700	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2000	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	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	24	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	25	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	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	3	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	2	T_GPS_CHARGE	-43415.449	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	2690	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	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	092507,6718.456,-5735.086,39,1.5,39,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6718.482,-5707.133
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	093119,6718.482,-5735.126,8,1.5,13,-38.1	MHEAD_RNG_PITCHd_Wd	128.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	530

FREEZE	0.60,-2.413,-1.583,0,1,0	ALTIM_TOP_PING	19.9,19.6
FINISH	0.6,1.023326	ALTIM_BOTTOM_PING	400.1,169.9
SM_CCo	11417,71.18,0.748,0,0,1473,325.02	_24V_AH	22.5,68.649
SM_GC	1.51,0.00,0.00,71.18,0.000,0.000,0.748,128,2699,1473,-8.01,-0.03,325.02	_10V_AH	10.1,36.819
RAFOS_CLK	716	FG_AHR_24Vo	0.000
RAFOS	0,1261742466,12.033333,12.018333,59,58,57,0,0,0,214,133,157,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6717.058105,-5737.313477,251209,080822,3,82,0.27	MEM	152584
IRIDIUM_FIX	6647.44,-5737.27,210399,060623	DATA_FILE_SIZE	47264,1221
TT8_MAMPS	0.029913	CAP_FILE_SIZE	139559,0
HUMID	48.42	CFSIZE	260165632,220643328
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,205,0,0
TCM_TEMP	17.10	SOUNDSPEED	1464.0
XPDR_PINGS	5	GPS	251209,124437,6718.889,-5736.678,37,1.8,43,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	301	167.01	SBE_CT	893	24	482.38
Roll_motor	149	99	335.68	SBE_O2	835	19	357.04
VBD_pump_during_apogee	316	1060	7547.98	nil	0	0	0.00
VBD_pump_during_surface	71	747	1197.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	52.56	nil	0	0	0.00
Iridium_during_connect	31	160	113.51	nil	0	0	0.00
Iridium_during_xfer	187	223	939.12
Transponder_ping	2	420	23.62
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.72
TT8	2054	19	413.40
LPSleep	6593	2	153.83
TT8_Active	552	19	111.14
TT8_Sampling	2194	39	884.81
TT8_CF8	457	45	212.08
TT8_Kalman	0	0	0.00
Analog_circuits	1673	12	202.84
GPS_charging	0	0	0.00
Compass	2155	8	174.18
RAFOS	2160	1	32.72
Transponder	11	30	3.34

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
15	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-95.22	0.000	2	0.000	0.000	126	2696	3085	0	0	0	0	0	0
116	-0.73	-146.0	3.1	-4.4	19	143	11.60	3.00	-8.98	0.000	4	0.301	0.100	2446	3913	3397	0	0	6	0	0	0
396	-0.73	-146.0	37.8	-11.2	69	402	0.00	2.83	0.00	0.000	6	0.000	0.064	2446	2696	3399	0	0	4	0	0	0
739	-0.73	-146.0	74.1	-10.0	130	745	0.00	2.95	0.00	0.000	4	0.000	0.091	2447	3908	3399	0	0	6	0	0	0
992	-0.79	-146.0	97.0	-9.0	175	998	0.00	2.83	0.00	0.000	6	0.000	0.066	2446	2692	3397	0	0	4	0	0	0
1320	-0.84	-146.0	125.6	-8.7	209	1325	0.00	2.95	0.00	0.000	4	0.000	0.090	2446	3911	3397	0	0	6	0	0	0
1466	-0.91	-146.0	138.5	-9.0	221	1473	0.15	2.80	0.00	0.000	6	0.120	0.064	2399	2702	3397	0	0	4	0	0	0
1790	-0.84	-146.0	171.7	-9.3	252	1795	0.00	2.95	0.00	0.000	4	0.000	0.091	2399	3912	3397	0	0	5	0	0	0
2048	-0.77	-146.0	198.8	-10.6	274	2055	0.17	2.83	0.00	0.000	6	0.205	0.066	2439	2695	3397	0	0	4	0	0	0
2374	-0.83	-146.0	227.6	-8.9	305	2378	0.00	2.95	0.00	0.000	4	0.000	0.090	2439	3913	3396	0	0	6	0	0	0
2597	-0.91	-146.0	247.6	-8.7	324	2604	0.15	2.83	0.00	0.000	6	0.119	0.064	2391	2692	3395	0	0	4	0	0	0
2922	-0.84	-146.0	280.1	-9.8	355	2927	0.00	2.95	0.00	0.000	4	0.000	0.087	2391	3919	3395	0	0	6	0	0	0
3107	-0.77	-146.0	299.2	-10.2	371	3113	0.20	2.83	0.00	0.000	6	0.200	0.064	2438	2694	3396	0	0	4	0	0	0
3432	-0.85	-146.0	325.4	-8.4	401	3437	0.00	2.92	0.00	0.000	4	0.000	0.086	2438	3910	3396	0	0	6	0	0	0
3606	-0.95	-146.0	340.2	-8.3	416	3612	0.17	2.80	0.00	0.000	6	0.110	0.062	2379	2697	3396	0	0	4	0	0	0
3931	-0.85	-146.0	373.9	-10.2	446	3936	0.15	2.95	0.00	0.000	4	0.203	0.085	2413	3916	3396	0	0	6	0	0	0
4128	-0.85	-146.0	391.0	-8.0	463	4133	0.00	2.80	0.00	0.000	6	0.000	0.061	2413	2698	3396	0	0	4	0	0	0
4452	-0.85	-146.0	417.1	-7.9	493	4457	0.00	2.92	0.00	0.000	4	0.000	0.084	2413	3911	3397	0	0	5	0	0	0
4615	-0.85	-146.0	430.4	-8.0	507	4620	0.00	2.80	0.00	0.000	6	0.000	0.059	2413	2691	3397	0	0	4	0	0	0
4939	-0.85	-146.0	457.0	-8.1	537	4944	0.00	2.95	0.00	0.000	4	0.000	0.082	2413	3920	3398	0	0	5	0	0	0
5097	-0.85	-146.0	470.2	-8.3	550	5102	0.00	2.80	0.00	0.000	6	0.000	0.058	2413	2691	3398	0	0	4	0	0	0
5422	-0.85	-146.0	496.8	-8.1	581	5427	0.00	2.92	0.00	0.000	4	0.000	0.082	2413	3909	3399	0	0	5	0	0	0
5589	-0.85	-146.0	510.4	-7.9	595	5595	0.00	2.80	0.00	0.000	6	0.000	0.058	2413	2698	3399	0	0	4	0	0	0
5837	end dive: TARGET_DEPTH_EXCEEDED
state	5839	begin apogee
5845	-0.16	0.0	530.1	7.8	619	5972	0.77	0.00	121.40	1.061	6	0.179	0.000	2628	2003	2800	0	0	0	0	0	0
5973	end apogee: CONTROL_FINISHED_OK
state	5973	begin climb
5975	0.73	146.0	532.9	0.0	632	6109	0.95	1.95	125.95	1.013	4	0.129	0.084	2921	400	2202	0	0	0	0	0	0
6177	0.65	146.0	515.3	12.6	651	6181	0.00	1.85	0.00	0.000	6	0.000	0.056	2921	2019	2199	0	0	0	0	0	0
6507	0.57	146.0	476.3	11.2	682	6517	0.20	3.72	0.00	0.000	4	0.198	0.071	2857	3584	2194	0	0	7	0	0	0
6653	0.63	150.2	462.8	9.0	695	6662	0.00	3.78	0.00	0.000	6	0.000	0.066	2872	1992	2194	0	0	3	0	0	0
6981	0.72	150.2	434.0	9.2	726	6991	0.15	3.78	0.00	0.000	4	0.113	0.073	2921	3586	2194	0	0	5	0	0	0
7154	0.58	150.2	412.1	12.9	741	7161	0.22	3.70	0.00	0.000	6	0.203	0.068	2883	2002	2192	0	0	5	0	0	0
7479	0.63	150.2	382.4	9.4	772	7488	0.00	3.70	0.00	0.000	4	0.000	0.074	2883	3583	2193	0	0	6	0	0	0
7625	0.63	150.2	367.8	10.0	785	7630	0.00	3.72	0.00	0.000	6	0.000	0.067	2898	1999	2193	0	0	3	0	0	0
7949	0.63	152.2	337.7	9.1	815	7961	0.00	3.72	5.00	0.700	4	0.000	0.074	2898	3595	2179	0	0	6	0	0	0
8096	0.57	152.2	322.0	11.1	828	8107	0.17	3.75	0.00	0.000	6	0.197	0.067	2875	1988	2178	0	0	3	0	0	0
8425	0.68	158.6	292.7	8.9	859	8440	0.12	3.80	7.10	0.778	4	0.123	0.074	2916	3585	2153	0	0	4	0	0	0
8581	0.57	158.6	274.2	12.3	873	8591	0.22	3.75	0.00	0.000	6	0.196	0.067	2880	1987	2153	0	0	3	0	0	0
8910	0.71	178.7	244.7	8.3	904	8936	0.12	3.78	18.50	0.854	4	0.123	0.074	2921	3594	2070	0	0	5	0	0	0
9082	0.63	178.7	223.6	12.6	919	9092	0.17	3.78	0.00	0.000	6	0.198	0.067	2899	1989	2068	0	0	3	0	0	0
9411	0.72	178.7	189.6	10.3	950	9420	0.00	3.72	0.00	0.000	4	0.000	0.074	2898	3584	2067	0	0	6	0	0	0
9578	0.72	178.7	171.6	10.4	965	9583	0.00	3.72	0.00	0.000	6	0.000	0.067	2913	2002	2067	0	0	3	0	0	0
9902	0.79	190.5	142.5	8.7	995	9923	0.00	3.72	11.18	0.780	4	0.000	0.074	2913	3604	2022	0	0	6	0	0	0
10019	0.79	190.5	131.0	10.2	1005	10025	0.00	3.78	0.00	0.000	6	0.000	0.068	2930	2000	2021	0	0	3	0	0	0
10343	0.79	190.5	101.1	9.7	1036	10352	0.00	3.72	0.00	0.000	4	0.000	0.077	2930	3591	2021	0	0	7	0	0	0
10504	0.74	190.5	83.6	11.1	1063	10510	0.00	3.78	0.00	0.000	6	0.000	0.070	2947	1989	2020	0	0	3	0	0	0
10848	0.74	190.5	48.8	9.8	1124	10854	0.00	3.75	0.00	0.000	4	0.000	0.077	2947	3581	2020	0	0	6	0	0	0
10961	0.66	190.5	36.7	11.2	1144	10968	0.25	3.75	0.00	0.000	6	0.197	0.071	2903	1998	2019	0	0	3	0	0	0
11306	0.87	222.3	10.2	7.8	1205	11340	0.20	3.78	27.12	0.769	4	0.104	0.077	2972	3586	1892	0	0	5	0	0	0
11380	end climb: SURFACE_DEPTH_REACHED
state	11380	begin surface coast
11398	end surface coast: CONTROL_FINISHED_OK
state	11398	begin surface