Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 387 * 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 387 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2800 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2400 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 22 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 33 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 -43939.051 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 -43939.051

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 2400 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2800 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 22 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 387 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 181530,6725.334,-5752.784,36,1.3,41,-38.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6725.310,-5724.890

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 182120,6725.310,-5753.017,13,1.3,13,-38.3 MHEAD_RNG_PITCHd_Wd 128.3,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 445

Post-dive calculations and measurements:

FREEZE 0.50,-1.394,-1.820,0,1,0 ALTIM_TOP_PING 19.6,19.1

FINISH 0.5,1.026712 ALTIM_BOTTOM_PING 350.3,124.8

SM_CCo 9513,52.22,0.734,0,0,1475,325.02 _24V_AH 22.7,69.904

SM_GC 1.19,0.00,0.00,52.22,0.000,0.000,0.734,128,2811,1475,-8.01,0.31,325.02 _10V_AH 10.1,37.544

RAFOS_CLK 589 FG_AHR_24Vo 0.000

RAFOS 0,1261857671,20.033333,20.019722,69,60,60,0,0,0,220,177,124,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6723.928223,-5754.296875,261209,202001,3,107,0.32 MEM 152600

IRIDIUM_FIX 6652.93,-5745.45,220399,151535 DATA_FILE_SIZE 40985,1060

TT8_MAMPS 0.027612 CAP_FILE_SIZE 122147,0

HUMID 47.20 CFSIZE 260165632,219926528

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,207,0,0

TCM_TEMP 17.00 SOUNDSPEED 1464.7

XPDR_PINGS 3 GPS 261209,210228,6726.005,-5754.075,7,99.0,26,-38.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 250 129.10 SBE_CT 775 24 422.36

Roll_motor 136 90 281.00 SBE_O2 720 19 310.71

VBD_pump_during_apogee 333 1000 7569.45 nil 0 0 0.00

VBD_pump_during_surface 52 734 870.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.18 nil 0 0 0.00

Iridium_during_connect 32 160 117.20 nil 0 0 0.00

Iridium_during_xfer 169 223 858.81

Transponder_ping 2 420 19.07

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.37

TT8 1744 19 351.00

LPSleep 5440 2 126.94

TT8_Active 536 19 107.98

TT8_Sampling 1776 39 716.23

TT8_CF8 423 45 196.25

TT8_Kalman 0 0 0.00

Analog_circuits 1478 12 179.17

GPS_charging 0 0 0.00

Compass 1742 8 140.81

RAFOS 2520 1 38.18

Transponder 11 30 3.61

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 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 145 0.00 0.00 -122.28 0.000 6 0.000 0.000 123 2696 3396 0 0 0 0 0 0

148 -0.73 -146.0 1.3 0.1 25 164 9.98 2.30 0.00 0.000 4 0.251 0.083 2451 1202 3399 0 0 0 0 0 0

301 -0.73 -146.0 14.0 -9.6 52 307 0.00 2.40 0.00 0.000 6 0.000 0.071 2451 2786 3400 0 0 0 0 0 0

643 -0.73 -146.0 47.5 -9.4 113 649 0.00 2.80 0.00 0.000 4 0.000 0.091 2451 3914 3399 0 0 5 0 0 0

768 -0.73 -146.0 59.8 -10.0 135 773 0.00 2.60 0.00 0.000 6 0.000 0.062 2452 2812 3399 0 0 4 0 0 0

1113 -0.77 -146.0 91.6 -8.9 196 1118 0.00 2.72 0.00 0.000 4 0.000 0.091 2452 3921 3398 0 0 7 0 0 0

1215 -0.83 -146.0 101.0 -9.0 214 1219 0.00 2.65 0.00 0.000 6 0.000 0.062 2452 2799 3397 0 0 4 0 0 0

1540 -0.92 -146.0 128.6 -8.1 244 1546 0.17 2.80 0.00 0.000 4 0.110 0.088 2381 3919 3397 0 0 5 0 0 0

1675 -0.78 -146.0 145.0 -13.1 255 1682 0.22 2.62 0.00 0.000 6 0.209 0.062 2433 2799 3397 0 0 4 0 0 0

2000 -0.83 -146.0 176.2 -9.4 286 2005 0.00 2.80 0.00 0.000 4 0.000 0.089 2433 3922 3395 0 0 6 0 0 0

2164 -0.89 -146.0 190.6 -9.2 300 2168 0.00 2.62 0.00 0.000 6 0.000 0.061 2433 2799 3395 0 0 5 0 0 0

2488 -0.96 -146.0 217.4 -8.2 330 2494 0.17 2.78 0.00 0.000 4 0.111 0.086 2361 3921 3395 0 0 6 0 0 0

2609 -0.78 -146.0 230.9 -11.5 340 2614 0.30 2.62 0.00 0.000 6 0.202 0.060 2434 2798 3395 0 0 4 0 0 0

2933 -0.86 -146.0 257.0 -7.7 370 2938 0.00 2.78 0.00 0.000 4 0.000 0.085 2434 3924 3395 0 0 6 0 0 0

3064 -0.94 -146.0 267.7 -9.1 381 3070 0.15 2.62 0.00 0.000 6 0.114 0.059 2385 2801 3395 0 0 4 0 0 0

3389 -0.85 -146.0 301.0 -10.3 411 3395 0.12 2.75 0.00 0.000 4 0.202 0.084 2413 3915 3396 0 0 6 0 0 0

3525 -0.85 -146.0 312.8 -9.1 422 3530 0.00 2.60 0.00 0.000 6 0.000 0.058 2413 2801 3396 0 0 4 0 0 0

3849 -0.85 -146.0 341.9 -9.1 453 3854 0.00 2.72 0.00 0.000 4 0.000 0.083 2412 3929 3396 0 0 7 0 0 0

3947 -0.85 -146.0 350.3 -8.6 461 3952 0.00 2.62 0.00 0.000 6 0.000 0.057 2412 2800 3396 0 0 4 0 0 0

4271 -0.85 -146.0 378.4 -7.9 491 4276 0.00 2.70 0.00 0.000 4 0.000 0.082 2413 3916 3398 0 0 7 0 0 0

4406 -0.85 -146.0 389.6 -8.3 502 4411 0.00 2.60 0.00 0.000 6 0.000 0.056 2413 2799 3398 0 0 4 0 0 0

4729 -0.85 -146.0 416.2 -9.3 533 4734 0.00 2.75 0.00 0.000 4 0.000 0.082 2413 3916 3399 0 0 6 0 0 0

4830 -0.85 -146.0 425.0 -8.8 541 4835 0.00 2.60 0.00 0.000 6 0.000 0.056 2412 2799 3398 0 0 4 0 0 0

5110 end dive: TARGET_DEPTH_EXCEEDED

state 5111 begin apogee

5116 -0.16 0.0 445.1 6.9 568 5242 0.77 0.00 119.80 1.000 6 0.179 0.000 2629 2398 2800 0 0 0 0 0 0

5243 end apogee: CONTROL_FINISHED_OK

state 5243 begin climb

5246 0.73 146.0 448.8 0.0 581 5380 0.93 2.12 123.55 0.958 4 0.127 0.080 2919 804 2203 0 0 0 0 0 0

5442 0.68 146.0 434.1 11.1 599 5447 0.00 2.00 0.00 0.000 6 0.000 0.056 2919 2404 2200 0 0 0 0 0 0

5766 0.62 146.0 397.6 11.7 630 5772 0.00 3.67 0.00 0.000 4 0.000 0.075 2919 3921 2197 0 0 5 0 0 0

5795 0.51 146.0 394.0 12.5 632 5805 0.32 3.60 0.00 0.000 6 0.197 0.063 2856 2403 2195 0 0 5 0 0 0

6124 0.68 174.4 366.2 8.0 663 6156 0.17 3.70 23.58 0.904 4 0.104 0.077 2916 3930 2088 0 0 6 0 0 0

6228 0.58 174.4 353.4 13.4 672 6235 0.22 3.62 0.00 0.000 6 0.196 0.063 2881 2397 2086 0 0 4 0 0 0

6553 0.67 174.4 321.2 10.2 703 6559 0.00 3.65 0.00 0.000 4 0.000 0.076 2881 3925 2085 0 0 5 0 0 0

6620 0.67 174.4 313.6 11.5 708 6626 0.00 3.58 0.00 0.000 6 0.000 0.062 2895 2400 2084 0 0 4 0 0 0

6946 0.72 174.4 279.1 10.7 739 6951 0.00 3.60 0.00 0.000 4 0.000 0.076 2895 3917 2084 0 0 6 0 0 0

6968 0.72 174.4 276.3 12.2 740 6974 0.00 3.55 0.00 0.000 6 0.000 0.063 2911 2400 2084 0 0 4 0 0 0

7292 0.72 174.4 238.1 12.3 771 7298 0.00 3.62 0.00 0.000 4 0.000 0.076 2911 3927 2084 0 0 7 0 0 0

7326 0.64 174.4 233.6 13.7 773 7333 0.12 3.58 0.00 0.000 6 0.206 0.063 2901 2396 2084 0 0 4 0 0 0

7650 0.69 174.4 196.7 10.9 804 7656 0.00 3.62 0.00 0.000 4 0.000 0.075 2902 3930 2084 0 0 6 0 0 0

7706 0.69 174.4 189.2 13.6 808 7712 0.00 3.58 0.00 0.000 6 0.000 0.063 2916 2398 2084 0 0 4 0 0 0

8030 0.69 174.4 146.8 12.7 839 8036 0.00 3.62 0.00 0.000 4 0.000 0.075 2915 3918 2084 0 0 6 0 0 0

8064 0.63 174.4 142.4 13.4 841 8070 0.15 3.55 0.00 0.000 6 0.201 0.062 2899 2400 2084 0 0 4 0 0 0

8388 0.77 199.7 111.2 8.1 872 8420 0.12 3.67 21.98 0.767 4 0.123 0.075 2941 3918 1984 0 0 6 0 0 0

8467 0.67 199.7 102.5 12.8 879 8477 0.20 3.58 0.00 0.000 6 0.201 0.062 2911 2401 1982 0 0 4 0 0 0

8816 0.85 252.9 74.7 6.9 939 8868 0.15 3.70 44.50 0.762 4 0.114 0.076 2963 3928 1769 0 0 7 0 0 0

8936 0.78 252.9 60.6 13.2 961 8943 0.15 3.60 0.00 0.000 6 0.197 0.063 2946 2399 1766 0 0 6 0 0 0

9282 0.87 252.9 24.4 10.8 1022 9288 0.00 3.67 0.00 0.000 4 0.000 0.077 2946 3916 1763 0 0 6 0 0 0

9339 0.87 252.9 17.5 11.9 1032 9344 0.00 3.58 0.00 0.000 6 0.000 0.064 2961 2400 1763 0 0 5 0 0 0

9478 end climb: SURFACE_DEPTH_REACHED

state 9478 begin surface coast

9496 end surface coast: CONTROL_FINISHED_OK

state 9496 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	387	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2800	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2400	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	22	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	33	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	-43939.051	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	181530,6725.334,-5752.784,36,1.3,41,-38.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6725.310,-5724.890
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	182120,6725.310,-5753.017,13,1.3,13,-38.3	MHEAD_RNG_PITCHd_Wd	128.3,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	445

FREEZE	0.50,-1.394,-1.820,0,1,0	ALTIM_TOP_PING	19.6,19.1
FINISH	0.5,1.026712	ALTIM_BOTTOM_PING	350.3,124.8
SM_CCo	9513,52.22,0.734,0,0,1475,325.02	_24V_AH	22.7,69.904
SM_GC	1.19,0.00,0.00,52.22,0.000,0.000,0.734,128,2811,1475,-8.01,0.31,325.02	_10V_AH	10.1,37.544
RAFOS_CLK	589	FG_AHR_24Vo	0.000
RAFOS	0,1261857671,20.033333,20.019722,69,60,60,0,0,0,220,177,124,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6723.928223,-5754.296875,261209,202001,3,107,0.32	MEM	152600
IRIDIUM_FIX	6652.93,-5745.45,220399,151535	DATA_FILE_SIZE	40985,1060
TT8_MAMPS	0.027612	CAP_FILE_SIZE	122147,0
HUMID	47.20	CFSIZE	260165632,219926528
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,207,0,0
TCM_TEMP	17.00	SOUNDSPEED	1464.7
XPDR_PINGS	3	GPS	261209,210228,6726.005,-5754.075,7,99.0,26,-38.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	250	129.10	SBE_CT	775	24	422.36
Roll_motor	136	90	281.00	SBE_O2	720	19	310.71
VBD_pump_during_apogee	333	1000	7569.45	nil	0	0	0.00
VBD_pump_during_surface	52	734	870.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.18	nil	0	0	0.00
Iridium_during_connect	32	160	117.20	nil	0	0	0.00
Iridium_during_xfer	169	223	858.81
Transponder_ping	2	420	19.07
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.37
TT8	1744	19	351.00
LPSleep	5440	2	126.94
TT8_Active	536	19	107.98
TT8_Sampling	1776	39	716.23
TT8_CF8	423	45	196.25
TT8_Kalman	0	0	0.00
Analog_circuits	1478	12	179.17
GPS_charging	0	0	0.00
Compass	1742	8	140.81
RAFOS	2520	1	38.18
Transponder	11	30	3.61

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	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	145	0.00	0.00	-122.28	0.000	6	0.000	0.000	123	2696	3396	0	0	0	0	0	0
148	-0.73	-146.0	1.3	0.1	25	164	9.98	2.30	0.00	0.000	4	0.251	0.083	2451	1202	3399	0	0	0	0	0	0
301	-0.73	-146.0	14.0	-9.6	52	307	0.00	2.40	0.00	0.000	6	0.000	0.071	2451	2786	3400	0	0	0	0	0	0
643	-0.73	-146.0	47.5	-9.4	113	649	0.00	2.80	0.00	0.000	4	0.000	0.091	2451	3914	3399	0	0	5	0	0	0
768	-0.73	-146.0	59.8	-10.0	135	773	0.00	2.60	0.00	0.000	6	0.000	0.062	2452	2812	3399	0	0	4	0	0	0
1113	-0.77	-146.0	91.6	-8.9	196	1118	0.00	2.72	0.00	0.000	4	0.000	0.091	2452	3921	3398	0	0	7	0	0	0
1215	-0.83	-146.0	101.0	-9.0	214	1219	0.00	2.65	0.00	0.000	6	0.000	0.062	2452	2799	3397	0	0	4	0	0	0
1540	-0.92	-146.0	128.6	-8.1	244	1546	0.17	2.80	0.00	0.000	4	0.110	0.088	2381	3919	3397	0	0	5	0	0	0
1675	-0.78	-146.0	145.0	-13.1	255	1682	0.22	2.62	0.00	0.000	6	0.209	0.062	2433	2799	3397	0	0	4	0	0	0
2000	-0.83	-146.0	176.2	-9.4	286	2005	0.00	2.80	0.00	0.000	4	0.000	0.089	2433	3922	3395	0	0	6	0	0	0
2164	-0.89	-146.0	190.6	-9.2	300	2168	0.00	2.62	0.00	0.000	6	0.000	0.061	2433	2799	3395	0	0	5	0	0	0
2488	-0.96	-146.0	217.4	-8.2	330	2494	0.17	2.78	0.00	0.000	4	0.111	0.086	2361	3921	3395	0	0	6	0	0	0
2609	-0.78	-146.0	230.9	-11.5	340	2614	0.30	2.62	0.00	0.000	6	0.202	0.060	2434	2798	3395	0	0	4	0	0	0
2933	-0.86	-146.0	257.0	-7.7	370	2938	0.00	2.78	0.00	0.000	4	0.000	0.085	2434	3924	3395	0	0	6	0	0	0
3064	-0.94	-146.0	267.7	-9.1	381	3070	0.15	2.62	0.00	0.000	6	0.114	0.059	2385	2801	3395	0	0	4	0	0	0
3389	-0.85	-146.0	301.0	-10.3	411	3395	0.12	2.75	0.00	0.000	4	0.202	0.084	2413	3915	3396	0	0	6	0	0	0
3525	-0.85	-146.0	312.8	-9.1	422	3530	0.00	2.60	0.00	0.000	6	0.000	0.058	2413	2801	3396	0	0	4	0	0	0
3849	-0.85	-146.0	341.9	-9.1	453	3854	0.00	2.72	0.00	0.000	4	0.000	0.083	2412	3929	3396	0	0	7	0	0	0
3947	-0.85	-146.0	350.3	-8.6	461	3952	0.00	2.62	0.00	0.000	6	0.000	0.057	2412	2800	3396	0	0	4	0	0	0
4271	-0.85	-146.0	378.4	-7.9	491	4276	0.00	2.70	0.00	0.000	4	0.000	0.082	2413	3916	3398	0	0	7	0	0	0
4406	-0.85	-146.0	389.6	-8.3	502	4411	0.00	2.60	0.00	0.000	6	0.000	0.056	2413	2799	3398	0	0	4	0	0	0
4729	-0.85	-146.0	416.2	-9.3	533	4734	0.00	2.75	0.00	0.000	4	0.000	0.082	2413	3916	3399	0	0	6	0	0	0
4830	-0.85	-146.0	425.0	-8.8	541	4835	0.00	2.60	0.00	0.000	6	0.000	0.056	2412	2799	3398	0	0	4	0	0	0
5110	end dive: TARGET_DEPTH_EXCEEDED
state	5111	begin apogee
5116	-0.16	0.0	445.1	6.9	568	5242	0.77	0.00	119.80	1.000	6	0.179	0.000	2629	2398	2800	0	0	0	0	0	0
5243	end apogee: CONTROL_FINISHED_OK
state	5243	begin climb
5246	0.73	146.0	448.8	0.0	581	5380	0.93	2.12	123.55	0.958	4	0.127	0.080	2919	804	2203	0	0	0	0	0	0
5442	0.68	146.0	434.1	11.1	599	5447	0.00	2.00	0.00	0.000	6	0.000	0.056	2919	2404	2200	0	0	0	0	0	0
5766	0.62	146.0	397.6	11.7	630	5772	0.00	3.67	0.00	0.000	4	0.000	0.075	2919	3921	2197	0	0	5	0	0	0
5795	0.51	146.0	394.0	12.5	632	5805	0.32	3.60	0.00	0.000	6	0.197	0.063	2856	2403	2195	0	0	5	0	0	0
6124	0.68	174.4	366.2	8.0	663	6156	0.17	3.70	23.58	0.904	4	0.104	0.077	2916	3930	2088	0	0	6	0	0	0
6228	0.58	174.4	353.4	13.4	672	6235	0.22	3.62	0.00	0.000	6	0.196	0.063	2881	2397	2086	0	0	4	0	0	0
6553	0.67	174.4	321.2	10.2	703	6559	0.00	3.65	0.00	0.000	4	0.000	0.076	2881	3925	2085	0	0	5	0	0	0
6620	0.67	174.4	313.6	11.5	708	6626	0.00	3.58	0.00	0.000	6	0.000	0.062	2895	2400	2084	0	0	4	0	0	0
6946	0.72	174.4	279.1	10.7	739	6951	0.00	3.60	0.00	0.000	4	0.000	0.076	2895	3917	2084	0	0	6	0	0	0
6968	0.72	174.4	276.3	12.2	740	6974	0.00	3.55	0.00	0.000	6	0.000	0.063	2911	2400	2084	0	0	4	0	0	0
7292	0.72	174.4	238.1	12.3	771	7298	0.00	3.62	0.00	0.000	4	0.000	0.076	2911	3927	2084	0	0	7	0	0	0
7326	0.64	174.4	233.6	13.7	773	7333	0.12	3.58	0.00	0.000	6	0.206	0.063	2901	2396	2084	0	0	4	0	0	0
7650	0.69	174.4	196.7	10.9	804	7656	0.00	3.62	0.00	0.000	4	0.000	0.075	2902	3930	2084	0	0	6	0	0	0
7706	0.69	174.4	189.2	13.6	808	7712	0.00	3.58	0.00	0.000	6	0.000	0.063	2916	2398	2084	0	0	4	0	0	0
8030	0.69	174.4	146.8	12.7	839	8036	0.00	3.62	0.00	0.000	4	0.000	0.075	2915	3918	2084	0	0	6	0	0	0
8064	0.63	174.4	142.4	13.4	841	8070	0.15	3.55	0.00	0.000	6	0.201	0.062	2899	2400	2084	0	0	4	0	0	0
8388	0.77	199.7	111.2	8.1	872	8420	0.12	3.67	21.98	0.767	4	0.123	0.075	2941	3918	1984	0	0	6	0	0	0
8467	0.67	199.7	102.5	12.8	879	8477	0.20	3.58	0.00	0.000	6	0.201	0.062	2911	2401	1982	0	0	4	0	0	0
8816	0.85	252.9	74.7	6.9	939	8868	0.15	3.70	44.50	0.762	4	0.114	0.076	2963	3928	1769	0	0	7	0	0	0
8936	0.78	252.9	60.6	13.2	961	8943	0.15	3.60	0.00	0.000	6	0.197	0.063	2946	2399	1766	0	0	6	0	0	0
9282	0.87	252.9	24.4	10.8	1022	9288	0.00	3.67	0.00	0.000	4	0.000	0.077	2946	3916	1763	0	0	6	0	0	0
9339	0.87	252.9	17.5	11.9	1032	9344	0.00	3.58	0.00	0.000	6	0.000	0.064	2961	2400	1763	0	0	5	0	0	0
9478	end climb: SURFACE_DEPTH_REACHED
state	9478	begin surface coast
9496	end surface coast: CONTROL_FINISHED_OK
state	9496	begin surface