Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 378 * 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 378 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 20 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 12 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 -43474.668 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 -43474.668

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 20 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 378 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 160207,6719.200,-5737.968,39,1.2,39,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6719.188,-5710.037

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160758,6719.188,-5738.043,13,2.5,32,-38.1 MHEAD_RNG_PITCHd_Wd 128.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 532

Post-dive calculations and measurements:

FREEZE 0.57,-1.498,-1.790,0,1,0 ALTIM_TOP_PING 19.9,19.5

FINISH 0.6,1.026290 ALTIM_BOTTOM_PING 450.6,120.5

SM_CCo 11510,66.82,0.742,0,0,1474,325.02 _24V_AH 22.5,68.877

SM_GC 1.40,0.00,0.00,66.82,0.000,0.000,0.742,125,2692,1474,-8.02,-0.20,325.02 _10V_AH 10.1,36.962

RAFOS_CLK 717 FG_AHR_24Vo 0.000

RAFOS 1,1261757345,16.166666,16.151388,64,60,60,0,0,0,159,144,211,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6717.760742,-5741.389160,251209,161640,3,111,1.71 MEM 152504

IRIDIUM_FIX 6652.93,-5739.00,210399,121220 DATA_FILE_SIZE 47361,1228

TT8_MAMPS 0.027612 CAP_FILE_SIZE 138382,0

HUMID 47.71 CFSIZE 260165632,220504064

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,192,0,0

TCM_TEMP 17.00 SOUNDSPEED 1465.7

XPDR_PINGS 3 GPS 251209,192237,6720.172,-5739.850,27,1.2,27,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 302 164.72 SBE_CT 904 24 488.37

Roll_motor 146 95 316.78 SBE_O2 838 19 358.46

VBD_pump_during_apogee 314 1058 7494.10 nil 0 0 0.00

VBD_pump_during_surface 66 741 1115.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.90 nil 0 0 0.00

Iridium_during_connect 31 160 113.80 nil 0 0 0.00

Iridium_during_xfer 149 223 748.93

Transponder_ping 2 420 21.26

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.42

TT8 2052 19 412.96

LPSleep 6664 2 155.48

TT8_Active 543 19 109.28

TT8_Sampling 2239 39 903.14

TT8_CF8 429 45 199.21

TT8_Kalman 0 0 0.00

Analog_circuits 1673 12 202.78

GPS_charging 0 0 0.00

Compass 2182 8 176.32

RAFOS 2160 1 32.72

Transponder 12 30 3.84

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 -94.75 0.000 2 0.000 0.000 127 2685 3082 0 0 0 0 0 0

116 -0.73 -146.0 3.2 -5.4 19 143 11.62 2.40 -8.93 0.000 4 0.302 0.096 2448 1098 3397 0 0 0 0 0 0

396 -0.73 -146.0 38.3 -10.9 69 402 0.00 2.35 0.00 0.000 6 0.000 0.072 2449 2700 3400 0 0 0 0 0 0

738 -0.73 -146.0 72.5 -9.9 130 744 0.00 2.95 0.00 0.000 4 0.000 0.091 2448 3921 3399 0 0 6 0 0 0

902 -0.77 -146.0 88.2 -9.2 159 908 0.00 2.83 0.00 0.000 6 0.000 0.064 2448 2698 3399 0 0 4 0 0 0

1241 -0.84 -146.0 116.3 -7.7 202 1246 0.00 2.97 0.00 0.000 4 0.000 0.090 2448 3931 3397 0 0 6 0 0 0

1409 -0.92 -146.0 130.4 -8.4 216 1415 0.17 2.83 0.00 0.000 6 0.114 0.064 2391 2694 3397 0 0 5 0 0 0

1733 -0.80 -146.0 166.4 -11.3 247 1739 0.15 3.00 0.00 0.000 4 0.212 0.090 2425 3931 3397 0 0 6 0 0 0

1923 -0.80 -146.0 185.7 -10.4 263 1930 0.00 2.85 0.00 0.000 6 0.000 0.064 2425 2692 3398 0 0 4 0 0 0

2248 -0.80 -146.0 217.0 -9.7 294 2253 0.00 2.97 0.00 0.000 4 0.000 0.089 2426 3930 3397 0 0 6 0 0 0

2505 -0.80 -146.0 241.6 -8.9 316 2511 0.00 2.83 0.00 0.000 6 0.000 0.064 2425 2703 3397 0 0 4 0 0 0

2829 -0.80 -146.0 269.1 -8.2 347 2834 0.00 2.97 0.00 0.000 4 0.000 0.089 2425 3929 3396 0 0 5 0 0 0

2976 -0.80 -146.0 280.8 -8.0 359 2981 0.00 2.83 0.00 0.000 6 0.000 0.064 2425 2696 3395 0 0 4 0 0 0

3300 -0.85 -146.0 306.2 -7.9 390 3305 0.00 2.95 0.00 0.000 4 0.000 0.086 2425 3927 3395 0 0 6 0 0 0

3463 -0.85 -146.0 318.7 -7.7 404 3468 0.00 2.83 0.00 0.000 6 0.000 0.061 2425 2692 3395 0 0 4 0 0 0

3788 -0.90 -146.0 342.4 -7.6 434 3793 0.00 2.95 0.00 0.000 4 0.000 0.084 2425 3922 3396 0 0 5 0 0 0

3962 -0.90 -146.0 355.6 -7.6 449 3966 0.00 2.80 0.00 0.000 6 0.000 0.060 2425 2697 3396 0 0 4 0 0 0

4289 -0.95 -146.0 380.2 -7.8 479 4294 0.12 2.95 0.00 0.000 4 0.119 0.081 2373 3934 3397 0 0 6 0 0 0

4445 -0.82 -146.0 396.1 -9.4 492 4452 0.20 2.83 0.00 0.000 6 0.199 0.058 2420 2698 3398 0 0 3 0 0 0

4770 -0.82 -146.0 420.8 -7.5 523 4775 0.00 2.92 0.00 0.000 4 0.000 0.082 2420 3924 3399 0 0 5 0 0 0

4929 -0.82 -146.0 433.1 -7.8 536 4934 0.00 2.78 0.00 0.000 6 0.000 0.057 2420 2700 3399 0 0 4 0 0 0

5253 -0.82 -146.0 456.9 -7.5 567 5258 0.00 2.92 0.00 0.000 4 0.000 0.081 2420 3927 3400 0 0 5 0 0 0

5416 -0.82 -146.0 469.1 -7.2 581 5420 0.00 2.80 0.00 0.000 6 0.000 0.057 2420 2700 3400 0 0 4 0 0 0

5740 -0.87 -146.0 493.5 -7.4 611 5745 0.00 2.92 0.00 0.000 4 0.000 0.081 2420 3927 3400 0 0 5 0 0 0

5941 -0.87 -146.0 509.6 -8.0 628 5947 0.00 2.80 0.00 0.000 6 0.000 0.056 2420 2699 3401 0 0 3 0 0 0

6234 end dive: TARGET_DEPTH_EXCEEDED

state 6234 begin apogee

6240 -0.16 0.0 532.0 7.7 656 6367 0.73 0.00 122.07 1.058 6 0.175 0.000 2626 2002 2800 0 0 0 0 0 0

6367 end apogee: CONTROL_FINISHED_OK

state 6368 begin climb

6370 0.73 146.0 534.8 0.0 669 6504 0.95 1.92 125.90 1.011 4 0.127 0.084 2921 406 2202 0 0 0 0 0 0

6594 0.66 146.0 513.8 12.1 690 6598 0.00 1.85 0.00 0.000 6 0.000 0.055 2921 2031 2198 0 0 0 0 0 0

6924 0.59 146.0 474.9 11.3 721 6934 0.17 3.70 0.00 0.000 4 0.200 0.073 2878 3582 2195 0 0 6 0 0 0

7085 0.59 146.0 457.8 10.7 735 7092 0.00 3.75 0.00 0.000 6 0.000 0.068 2893 1996 2194 0 0 4 0 0 0

7410 0.59 146.0 423.9 10.1 766 7419 0.00 3.72 0.00 0.000 4 0.000 0.074 2893 3590 2193 0 0 7 0 0 0

7581 0.59 146.0 403.5 12.0 781 7588 0.00 3.72 0.00 0.000 6 0.000 0.068 2909 2002 2193 0 0 4 0 0 0

7906 0.59 146.0 368.4 11.2 812 7915 0.00 3.70 0.00 0.000 4 0.000 0.074 2910 3582 2193 0 0 6 0 0 0

8052 0.49 146.0 350.6 13.0 825 8063 0.30 3.75 0.00 0.000 6 0.196 0.067 2853 1986 2192 0 0 3 0 0 0

8381 0.67 162.0 322.6 8.5 856 8403 0.17 3.80 13.07 0.862 4 0.107 0.074 2913 3590 2138 0 0 3 0 0 0

8572 0.58 162.0 298.3 12.8 873 8582 0.20 3.75 0.00 0.000 6 0.200 0.067 2884 1998 2137 0 0 3 0 0 0

8900 0.65 162.0 266.0 9.5 904 8909 0.00 3.70 0.00 0.000 4 0.000 0.073 2884 3582 2136 0 0 6 0 0 0

9057 0.65 162.0 249.4 11.3 918 9062 0.00 3.72 0.00 0.000 6 0.000 0.066 2898 1995 2136 0 0 3 0 0 0

9381 0.65 162.0 214.6 10.8 948 9386 0.00 3.72 0.00 0.000 4 0.000 0.072 2898 3590 2136 0 0 5 0 0 0

9527 0.65 162.0 197.2 11.7 960 9533 0.00 3.72 0.00 0.000 6 0.000 0.065 2915 1996 2136 0 0 3 0 0 0

9851 0.65 162.0 162.0 10.4 991 9860 0.00 3.70 0.00 0.000 4 0.000 0.072 2915 3588 2136 0 0 6 0 0 0

9990 0.61 162.0 146.3 10.6 1003 9997 0.17 3.72 0.00 0.000 6 0.196 0.066 2891 2000 2137 0 0 3 0 0 0

10315 0.77 190.8 119.3 8.0 1034 10347 0.15 3.72 24.90 0.786 4 0.114 0.073 2943 3582 2022 0 0 6 0 0 0

10472 0.69 190.8 100.9 12.6 1048 10482 0.20 3.75 0.00 0.000 6 0.199 0.067 2914 1992 2020 0 0 4 0 0 0

10822 0.83 224.4 70.9 7.8 1109 10859 0.15 3.83 28.73 0.772 4 0.116 0.076 2965 3582 1884 0 0 4 0 0 0

11050 0.73 224.4 42.4 12.4 1150 11057 0.22 3.78 0.00 0.000 6 0.196 0.069 2929 1997 1880 0 0 3 0 0 0

11393 0.85 224.4 10.8 9.3 1211 11400 0.12 3.80 0.00 0.000 4 0.123 0.076 2971 3590 1879 0 0 5 0 0 0

11474 end climb: SURFACE_DEPTH_REACHED

state 11474 begin surface coast

11491 end surface coast: CONTROL_FINISHED_OK

state 11491 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	378	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	20	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	12	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	-43474.668	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	160207,6719.200,-5737.968,39,1.2,39,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6719.188,-5710.037
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160758,6719.188,-5738.043,13,2.5,32,-38.1	MHEAD_RNG_PITCHd_Wd	128.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	532

FREEZE	0.57,-1.498,-1.790,0,1,0	ALTIM_TOP_PING	19.9,19.5
FINISH	0.6,1.026290	ALTIM_BOTTOM_PING	450.6,120.5
SM_CCo	11510,66.82,0.742,0,0,1474,325.02	_24V_AH	22.5,68.877
SM_GC	1.40,0.00,0.00,66.82,0.000,0.000,0.742,125,2692,1474,-8.02,-0.20,325.02	_10V_AH	10.1,36.962
RAFOS_CLK	717	FG_AHR_24Vo	0.000
RAFOS	1,1261757345,16.166666,16.151388,64,60,60,0,0,0,159,144,211,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6717.760742,-5741.389160,251209,161640,3,111,1.71	MEM	152504
IRIDIUM_FIX	6652.93,-5739.00,210399,121220	DATA_FILE_SIZE	47361,1228
TT8_MAMPS	0.027612	CAP_FILE_SIZE	138382,0
HUMID	47.71	CFSIZE	260165632,220504064
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,192,0,0
TCM_TEMP	17.00	SOUNDSPEED	1465.7
XPDR_PINGS	3	GPS	251209,192237,6720.172,-5739.850,27,1.2,27,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	302	164.72	SBE_CT	904	24	488.37
Roll_motor	146	95	316.78	SBE_O2	838	19	358.46
VBD_pump_during_apogee	314	1058	7494.10	nil	0	0	0.00
VBD_pump_during_surface	66	741	1115.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.90	nil	0	0	0.00
Iridium_during_connect	31	160	113.80	nil	0	0	0.00
Iridium_during_xfer	149	223	748.93
Transponder_ping	2	420	21.26
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.42
TT8	2052	19	412.96
LPSleep	6664	2	155.48
TT8_Active	543	19	109.28
TT8_Sampling	2239	39	903.14
TT8_CF8	429	45	199.21
TT8_Kalman	0	0	0.00
Analog_circuits	1673	12	202.78
GPS_charging	0	0	0.00
Compass	2182	8	176.32
RAFOS	2160	1	32.72
Transponder	12	30	3.84

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	-94.75	0.000	2	0.000	0.000	127	2685	3082	0	0	0	0	0	0
116	-0.73	-146.0	3.2	-5.4	19	143	11.62	2.40	-8.93	0.000	4	0.302	0.096	2448	1098	3397	0	0	0	0	0	0
396	-0.73	-146.0	38.3	-10.9	69	402	0.00	2.35	0.00	0.000	6	0.000	0.072	2449	2700	3400	0	0	0	0	0	0
738	-0.73	-146.0	72.5	-9.9	130	744	0.00	2.95	0.00	0.000	4	0.000	0.091	2448	3921	3399	0	0	6	0	0	0
902	-0.77	-146.0	88.2	-9.2	159	908	0.00	2.83	0.00	0.000	6	0.000	0.064	2448	2698	3399	0	0	4	0	0	0
1241	-0.84	-146.0	116.3	-7.7	202	1246	0.00	2.97	0.00	0.000	4	0.000	0.090	2448	3931	3397	0	0	6	0	0	0
1409	-0.92	-146.0	130.4	-8.4	216	1415	0.17	2.83	0.00	0.000	6	0.114	0.064	2391	2694	3397	0	0	5	0	0	0
1733	-0.80	-146.0	166.4	-11.3	247	1739	0.15	3.00	0.00	0.000	4	0.212	0.090	2425	3931	3397	0	0	6	0	0	0
1923	-0.80	-146.0	185.7	-10.4	263	1930	0.00	2.85	0.00	0.000	6	0.000	0.064	2425	2692	3398	0	0	4	0	0	0
2248	-0.80	-146.0	217.0	-9.7	294	2253	0.00	2.97	0.00	0.000	4	0.000	0.089	2426	3930	3397	0	0	6	0	0	0
2505	-0.80	-146.0	241.6	-8.9	316	2511	0.00	2.83	0.00	0.000	6	0.000	0.064	2425	2703	3397	0	0	4	0	0	0
2829	-0.80	-146.0	269.1	-8.2	347	2834	0.00	2.97	0.00	0.000	4	0.000	0.089	2425	3929	3396	0	0	5	0	0	0
2976	-0.80	-146.0	280.8	-8.0	359	2981	0.00	2.83	0.00	0.000	6	0.000	0.064	2425	2696	3395	0	0	4	0	0	0
3300	-0.85	-146.0	306.2	-7.9	390	3305	0.00	2.95	0.00	0.000	4	0.000	0.086	2425	3927	3395	0	0	6	0	0	0
3463	-0.85	-146.0	318.7	-7.7	404	3468	0.00	2.83	0.00	0.000	6	0.000	0.061	2425	2692	3395	0	0	4	0	0	0
3788	-0.90	-146.0	342.4	-7.6	434	3793	0.00	2.95	0.00	0.000	4	0.000	0.084	2425	3922	3396	0	0	5	0	0	0
3962	-0.90	-146.0	355.6	-7.6	449	3966	0.00	2.80	0.00	0.000	6	0.000	0.060	2425	2697	3396	0	0	4	0	0	0
4289	-0.95	-146.0	380.2	-7.8	479	4294	0.12	2.95	0.00	0.000	4	0.119	0.081	2373	3934	3397	0	0	6	0	0	0
4445	-0.82	-146.0	396.1	-9.4	492	4452	0.20	2.83	0.00	0.000	6	0.199	0.058	2420	2698	3398	0	0	3	0	0	0
4770	-0.82	-146.0	420.8	-7.5	523	4775	0.00	2.92	0.00	0.000	4	0.000	0.082	2420	3924	3399	0	0	5	0	0	0
4929	-0.82	-146.0	433.1	-7.8	536	4934	0.00	2.78	0.00	0.000	6	0.000	0.057	2420	2700	3399	0	0	4	0	0	0
5253	-0.82	-146.0	456.9	-7.5	567	5258	0.00	2.92	0.00	0.000	4	0.000	0.081	2420	3927	3400	0	0	5	0	0	0
5416	-0.82	-146.0	469.1	-7.2	581	5420	0.00	2.80	0.00	0.000	6	0.000	0.057	2420	2700	3400	0	0	4	0	0	0
5740	-0.87	-146.0	493.5	-7.4	611	5745	0.00	2.92	0.00	0.000	4	0.000	0.081	2420	3927	3400	0	0	5	0	0	0
5941	-0.87	-146.0	509.6	-8.0	628	5947	0.00	2.80	0.00	0.000	6	0.000	0.056	2420	2699	3401	0	0	3	0	0	0
6234	end dive: TARGET_DEPTH_EXCEEDED
state	6234	begin apogee
6240	-0.16	0.0	532.0	7.7	656	6367	0.73	0.00	122.07	1.058	6	0.175	0.000	2626	2002	2800	0	0	0	0	0	0
6367	end apogee: CONTROL_FINISHED_OK
state	6368	begin climb
6370	0.73	146.0	534.8	0.0	669	6504	0.95	1.92	125.90	1.011	4	0.127	0.084	2921	406	2202	0	0	0	0	0	0
6594	0.66	146.0	513.8	12.1	690	6598	0.00	1.85	0.00	0.000	6	0.000	0.055	2921	2031	2198	0	0	0	0	0	0
6924	0.59	146.0	474.9	11.3	721	6934	0.17	3.70	0.00	0.000	4	0.200	0.073	2878	3582	2195	0	0	6	0	0	0
7085	0.59	146.0	457.8	10.7	735	7092	0.00	3.75	0.00	0.000	6	0.000	0.068	2893	1996	2194	0	0	4	0	0	0
7410	0.59	146.0	423.9	10.1	766	7419	0.00	3.72	0.00	0.000	4	0.000	0.074	2893	3590	2193	0	0	7	0	0	0
7581	0.59	146.0	403.5	12.0	781	7588	0.00	3.72	0.00	0.000	6	0.000	0.068	2909	2002	2193	0	0	4	0	0	0
7906	0.59	146.0	368.4	11.2	812	7915	0.00	3.70	0.00	0.000	4	0.000	0.074	2910	3582	2193	0	0	6	0	0	0
8052	0.49	146.0	350.6	13.0	825	8063	0.30	3.75	0.00	0.000	6	0.196	0.067	2853	1986	2192	0	0	3	0	0	0
8381	0.67	162.0	322.6	8.5	856	8403	0.17	3.80	13.07	0.862	4	0.107	0.074	2913	3590	2138	0	0	3	0	0	0
8572	0.58	162.0	298.3	12.8	873	8582	0.20	3.75	0.00	0.000	6	0.200	0.067	2884	1998	2137	0	0	3	0	0	0
8900	0.65	162.0	266.0	9.5	904	8909	0.00	3.70	0.00	0.000	4	0.000	0.073	2884	3582	2136	0	0	6	0	0	0
9057	0.65	162.0	249.4	11.3	918	9062	0.00	3.72	0.00	0.000	6	0.000	0.066	2898	1995	2136	0	0	3	0	0	0
9381	0.65	162.0	214.6	10.8	948	9386	0.00	3.72	0.00	0.000	4	0.000	0.072	2898	3590	2136	0	0	5	0	0	0
9527	0.65	162.0	197.2	11.7	960	9533	0.00	3.72	0.00	0.000	6	0.000	0.065	2915	1996	2136	0	0	3	0	0	0
9851	0.65	162.0	162.0	10.4	991	9860	0.00	3.70	0.00	0.000	4	0.000	0.072	2915	3588	2136	0	0	6	0	0	0
9990	0.61	162.0	146.3	10.6	1003	9997	0.17	3.72	0.00	0.000	6	0.196	0.066	2891	2000	2137	0	0	3	0	0	0
10315	0.77	190.8	119.3	8.0	1034	10347	0.15	3.72	24.90	0.786	4	0.114	0.073	2943	3582	2022	0	0	6	0	0	0
10472	0.69	190.8	100.9	12.6	1048	10482	0.20	3.75	0.00	0.000	6	0.199	0.067	2914	1992	2020	0	0	4	0	0	0
10822	0.83	224.4	70.9	7.8	1109	10859	0.15	3.83	28.73	0.772	4	0.116	0.076	2965	3582	1884	0	0	4	0	0	0
11050	0.73	224.4	42.4	12.4	1150	11057	0.22	3.78	0.00	0.000	6	0.196	0.069	2929	1997	1880	0	0	3	0	0	0
11393	0.85	224.4	10.8	9.3	1211	11400	0.12	3.80	0.00	0.000	4	0.123	0.076	2971	3590	1879	0	0	5	0	0	0
11474	end climb: SURFACE_DEPTH_REACHED
state	11474	begin surface coast
11491	end surface coast: CONTROL_FINISHED_OK
state	11491	begin surface