Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 48 * 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 48 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2400 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1600 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 21 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 300 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 -23819.898 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 2390 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 26 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 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 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 26 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 -23819.898

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 300

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 2390 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1600 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2400 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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 48 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 022525,6716.349,-5756.241,42,1.3,42,-38.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6706.198,-5805.738

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 023056,6716.346,-5756.245,14,1.5,14,-38.2 MHEAD_RNG_PITCHd_Wd 238.2,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 868

Post-dive calculations and measurements:

FINISH 0.5,1.026087 _24V_AH 22.9,20.272

SM_CCo 15616,60.90,0.756,0,0,1677,275.23 _10V_AH 10.3,9.638

SM_GC 1.40,0.00,0.00,60.90,0.000,0.000,0.756,129,2402,1677,-7.07,0.06,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 997 FG_AHR_10Vo 0.000

RAFOS 0,1256616063,4.033333,4.017500,61,59,54,0,0,0,152,191,234,0,0,0 MEM 150576

RAFOS_FIX 6713.530762,-5756.995605,271009,040444,3,88,0.66 DATA_FILE_SIZE 50416,1276

IRIDIUM_FIX 6647.44,-5749.65,200199,222258 CAP_FILE_SIZE 150693,0

TT8_MAMPS 0.026845 CFSIZE 260165632,247439360

HUMID 47.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87729 SOUNDSPEED 1463.6

TCM_TEMP 16.80 GPS 271009,065406,6715.903,-5755.410,36,0.9,42,-38.1

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 305 132.12 SBE_CT 934 24 513.78

Roll_motor 125 95 273.34 SBE_O2 884 19 384.74

VBD_pump_during_apogee 278 1297 8285.60 nil 0 0 0.00

VBD_pump_during_surface 60 756 1054.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.86 nil 0 0 0.00

Iridium_during_connect 32 160 118.58 nil 0 0 0.00

Iridium_during_xfer 151 223 772.08

Transponder_ping 0 420 4.81

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.32

TT8 2282 19 468.37

LPSleep 10287 2 244.77

TT8_Active 479 19 98.39

TT8_Sampling 2557 39 1051.61

TT8_CF8 401 45 189.91

TT8_Kalman 0 0 0.00

Analog_circuits 1747 12 216.02

GPS_charging 0 0 0.00

Compass 2516 8 207.36

RAFOS 2520 1 38.93

Transponder 0 30 0.16

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 -0.83 -146.0 0.0 0.0 0 100 0.00 0.00 -80.95 0.000 2 0.000 0.000 124 1911 3030 0 0 0 0 0 0

102 -0.83 -146.0 3.2 -5.8 16 129 9.60 0.00 -10.52 0.000 6 0.305 0.000 2114 1911 3398 0 0 0 0 0 0

297 -0.83 -146.0 35.8 -15.2 51 303 0.00 3.40 0.00 0.000 4 0.000 0.092 2114 3906 3401 0 0 0 0 0 0

438 -0.83 -146.0 56.4 -14.5 76 444 0.00 2.40 0.00 0.000 6 0.000 0.065 2114 2392 3401 0 0 0 0 0 0

615 -0.83 -146.0 78.2 -12.1 107 621 0.00 2.58 0.00 0.000 4 0.000 0.092 2114 3909 3401 0 0 0 0 0 0

643 -0.83 -146.0 82.1 -12.7 112 649 0.00 2.47 0.00 0.000 6 0.000 0.065 2114 2383 3401 0 0 0 0 0 0

822 -0.83 -146.0 103.9 -11.6 141 827 0.00 2.58 0.00 0.000 4 0.000 0.093 2114 3904 3401 0 0 0 0 0 0

849 -0.83 -146.0 107.3 -12.7 143 854 0.00 2.45 0.00 0.000 6 0.000 0.066 2114 2391 3401 0 0 0 0 0 0

1301 -0.83 -146.0 158.2 -10.8 185 1305 0.00 2.55 0.00 0.000 4 0.000 0.095 2114 3904 3401 0 0 0 0 0 0

1344 -0.83 -146.0 163.1 -11.0 188 1350 0.00 2.47 0.00 0.000 6 0.000 0.067 2114 2396 3400 0 0 0 0 0 0

1798 -0.83 -146.0 210.5 -10.8 231 1803 0.00 2.53 0.00 0.000 4 0.000 0.094 2114 3905 3399 0 0 0 0 0 0

1871 -0.83 -146.0 218.7 -10.6 237 1875 0.00 2.42 0.00 0.000 6 0.000 0.067 2114 2394 3399 0 0 0 0 0 0

2323 -0.83 -146.0 270.5 -11.3 279 2327 0.00 2.55 0.00 0.000 4 0.000 0.094 2114 3906 3398 0 0 0 0 0 0

2406 -0.83 -146.0 280.0 -11.7 286 2412 0.00 2.40 0.00 0.000 6 0.000 0.066 2114 2398 3398 0 0 0 0 0 0

2858 -0.83 -146.0 330.2 -10.4 329 2862 0.00 2.53 0.00 0.000 4 0.000 0.093 2114 3909 3398 0 0 0 0 0 0

3010 -0.83 -146.0 345.6 -9.9 342 3014 0.00 2.38 0.00 0.000 6 0.000 0.065 2114 2415 3398 0 0 0 0 0 0

3462 -0.83 -146.0 390.9 -9.8 384 3466 0.00 2.50 0.00 0.000 4 0.000 0.091 2114 3915 3398 0 0 0 0 0 0

3720 -0.83 -146.0 417.6 -10.5 407 3724 0.00 2.33 0.00 0.000 6 0.000 0.064 2114 2446 3399 0 0 0 0 0 0

4171 -0.83 -146.0 462.1 -9.6 449 4176 0.00 2.60 0.00 0.000 4 0.000 0.081 2114 813 3399 0 0 0 0 0 0

4293 -0.83 -146.0 474.8 -10.3 459 4299 0.00 2.62 0.00 0.000 6 0.000 0.074 2114 2460 3399 0 0 0 0 0 0

4745 -0.83 -146.0 518.2 -9.4 502 4749 0.00 2.38 0.00 0.000 4 0.000 0.090 2114 3915 3400 0 0 0 0 0 0

4755 -0.83 -146.0 519.1 -9.2 502 4761 0.00 2.28 0.00 0.000 6 0.000 0.061 2114 2469 3400 0 0 0 0 0 0

5207 -0.83 -146.0 560.4 -8.9 545 5211 0.00 2.38 0.00 0.000 4 0.000 0.090 2114 3914 3401 0 0 0 0 0 0

5217 -0.83 -146.0 561.2 -8.2 545 5223 0.00 2.28 0.00 0.000 6 0.000 0.062 2114 2468 3400 0 0 0 0 0 0

5669 -0.83 -146.0 599.0 -8.4 588 5673 0.00 2.38 0.00 0.000 4 0.000 0.089 2114 3914 3402 0 0 0 0 0 0

5679 -0.83 -146.0 600.0 -8.2 588 5684 0.00 2.28 0.00 0.000 6 0.000 0.061 2114 2464 3401 0 0 0 0 0 0

6113 -0.83 -146.0 635.2 -8.0 603 6118 0.00 2.38 0.00 0.000 4 0.000 0.088 2114 3906 3402 0 0 0 0 0 0

6421 -0.83 -146.0 660.8 -8.7 612 6425 0.00 2.08 0.00 0.000 6 0.000 0.061 2114 2575 3402 0 0 0 0 0 0

6873 -0.83 -146.0 695.8 -7.8 627 6877 0.00 2.17 0.00 0.000 4 0.000 0.089 2114 3904 3402 0 0 0 0 0 0

7214 -0.83 -146.0 724.6 -8.2 637 7218 0.00 2.10 0.00 0.000 6 0.000 0.061 2114 2585 3402 0 0 0 0 0 0

7666 -0.83 -146.0 762.7 -8.1 652 7670 0.00 2.17 0.00 0.000 4 0.000 0.090 2114 3904 3403 0 0 0 0 0 0

7675 -0.83 -146.0 763.6 -8.0 652 7680 0.00 2.10 0.00 0.000 6 0.000 0.060 2114 2581 3403 0 0 0 0 0 0

8128 -0.83 -146.0 801.7 -8.7 667 8132 0.00 2.83 0.00 0.000 4 0.000 0.080 2114 811 3403 0 0 0 0 0 0

8182 -0.83 -146.0 807.0 -9.2 668 8188 0.00 2.80 0.00 0.000 6 0.000 0.074 2114 2571 3403 0 0 0 0 0 0

8617 -0.83 -146.0 844.1 -8.6 683 8622 0.00 2.83 0.00 0.000 4 0.000 0.081 2114 809 3403 0 0 0 0 0 0

8684 -0.83 -146.0 850.3 -9.5 685 8689 0.00 2.80 0.00 0.000 6 0.000 0.074 2114 2565 3403 0 0 0 0 0 0

8981 end dive: NO_VERTICAL_VELOCITY

state 8981 begin apogee

8987 -0.19 0.0 855.9 0.0 695 9113 0.68 0.00 123.15 1.298 6 0.150 0.000 2322 1603 2800 0 0 0 0 0 0

9114 end apogee: CONTROL_FINISHED_OK

state 9114 begin climb

9116 0.83 146.0 855.7 0.0 699 9252 1.10 2.45 126.82 1.246 4 0.129 0.090 2660 302 2203 0 0 0 0 0 0

9588 0.83 146.0 795.2 14.0 713 9593 0.00 2.17 0.00 0.000 6 0.000 0.064 2660 1589 2195 0 0 0 0 0 0

10034 0.83 146.0 732.2 14.4 728 10038 0.00 2.20 0.00 0.000 4 0.000 0.093 2670 291 2192 0 0 0 0 0 0

10376 0.83 146.0 679.7 14.9 738 10380 0.00 2.15 0.00 0.000 6 0.000 0.067 2670 1596 2191 0 0 0 0 0 0

10828 0.83 146.0 610.7 15.2 753 10831 0.00 2.17 0.00 0.000 4 0.000 0.094 2680 295 2190 0 0 0 0 0 0

11169 0.83 146.0 556.5 16.6 779 11175 0.00 2.15 0.00 0.000 6 0.000 0.067 2680 1614 2190 0 0 0 0 0 0

11621 0.83 146.0 486.8 15.0 822 11625 0.00 2.17 0.00 0.000 4 0.000 0.093 2690 295 2189 0 0 0 0 0 0

11964 0.83 146.0 433.0 15.2 852 11969 0.12 2.08 0.00 0.000 6 0.222 0.067 2664 1611 2189 0 0 0 0 0 0

12416 0.83 146.0 370.5 14.2 894 12420 0.00 2.17 0.00 0.000 4 0.000 0.091 2672 289 2189 0 0 0 0 0 0

12757 0.83 146.0 320.3 14.3 924 12763 0.00 2.10 0.00 0.000 6 0.000 0.063 2664 1601 2189 0 0 0 0 0 0

13209 0.83 146.0 260.4 12.8 967 13213 0.00 2.12 0.00 0.000 4 0.000 0.090 2672 294 2189 0 0 0 0 0 0

13550 0.83 146.0 215.0 13.0 997 13557 0.00 2.08 0.00 0.000 6 0.000 0.064 2672 1593 2189 0 0 0 0 0 0

14003 0.83 146.0 163.1 11.2 1040 14006 0.00 2.12 0.00 0.000 4 0.000 0.091 2682 290 2190 0 0 0 0 0 0

14344 0.83 146.0 122.4 12.1 1070 14350 0.00 2.08 0.00 0.000 6 0.000 0.064 2681 1591 2190 0 0 0 0 0 0

14814 0.83 146.0 72.2 10.0 1136 14819 0.00 2.12 0.00 0.000 4 0.000 0.092 2692 294 2190 0 0 0 0 0 0

15157 0.83 146.0 37.1 9.9 1197 15163 0.15 2.05 0.00 0.000 6 0.206 0.067 2657 1600 2190 0 0 0 0 0 0

15332 0.86 173.5 22.3 8.0 1228 15359 0.00 2.17 20.92 0.767 4 0.000 0.092 2664 294 2091 0 0 0 0 0 0

15404 0.87 181.7 16.1 8.8 1241 15420 0.00 2.03 7.90 0.708 6 0.000 0.066 2658 1573 2058 0 0 0 0 0 0

15575 end climb: SURFACE_DEPTH_REACHED

state 15576 begin surface coast

15599 end surface coast: CONTROL_FINISHED_OK

state 15600 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	48	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2400	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1600	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	21	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	300	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	-23819.898	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	2390	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	26	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	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	022525,6716.349,-5756.241,42,1.3,42,-38.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6706.198,-5805.738
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	023056,6716.346,-5756.245,14,1.5,14,-38.2	MHEAD_RNG_PITCHd_Wd	238.2,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	868

FINISH	0.5,1.026087	_24V_AH	22.9,20.272
SM_CCo	15616,60.90,0.756,0,0,1677,275.23	_10V_AH	10.3,9.638
SM_GC	1.40,0.00,0.00,60.90,0.000,0.000,0.756,129,2402,1677,-7.07,0.06,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	997	FG_AHR_10Vo	0.000
RAFOS	0,1256616063,4.033333,4.017500,61,59,54,0,0,0,152,191,234,0,0,0	MEM	150576
RAFOS_FIX	6713.530762,-5756.995605,271009,040444,3,88,0.66	DATA_FILE_SIZE	50416,1276
IRIDIUM_FIX	6647.44,-5749.65,200199,222258	CAP_FILE_SIZE	150693,0
TT8_MAMPS	0.026845	CFSIZE	260165632,247439360
HUMID	47.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87729	SOUNDSPEED	1463.6
TCM_TEMP	16.80	GPS	271009,065406,6715.903,-5755.410,36,0.9,42,-38.1
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	305	132.12	SBE_CT	934	24	513.78
Roll_motor	125	95	273.34	SBE_O2	884	19	384.74
VBD_pump_during_apogee	278	1297	8285.60	nil	0	0	0.00
VBD_pump_during_surface	60	756	1054.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.86	nil	0	0	0.00
Iridium_during_connect	32	160	118.58	nil	0	0	0.00
Iridium_during_xfer	151	223	772.08
Transponder_ping	0	420	4.81
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.32
TT8	2282	19	468.37
LPSleep	10287	2	244.77
TT8_Active	479	19	98.39
TT8_Sampling	2557	39	1051.61
TT8_CF8	401	45	189.91
TT8_Kalman	0	0	0.00
Analog_circuits	1747	12	216.02
GPS_charging	0	0	0.00
Compass	2516	8	207.36
RAFOS	2520	1	38.93
Transponder	0	30	0.16

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	-0.83	-146.0	0.0	0.0	0	100	0.00	0.00	-80.95	0.000	2	0.000	0.000	124	1911	3030	0	0	0	0	0	0
102	-0.83	-146.0	3.2	-5.8	16	129	9.60	0.00	-10.52	0.000	6	0.305	0.000	2114	1911	3398	0	0	0	0	0	0
297	-0.83	-146.0	35.8	-15.2	51	303	0.00	3.40	0.00	0.000	4	0.000	0.092	2114	3906	3401	0	0	0	0	0	0
438	-0.83	-146.0	56.4	-14.5	76	444	0.00	2.40	0.00	0.000	6	0.000	0.065	2114	2392	3401	0	0	0	0	0	0
615	-0.83	-146.0	78.2	-12.1	107	621	0.00	2.58	0.00	0.000	4	0.000	0.092	2114	3909	3401	0	0	0	0	0	0
643	-0.83	-146.0	82.1	-12.7	112	649	0.00	2.47	0.00	0.000	6	0.000	0.065	2114	2383	3401	0	0	0	0	0	0
822	-0.83	-146.0	103.9	-11.6	141	827	0.00	2.58	0.00	0.000	4	0.000	0.093	2114	3904	3401	0	0	0	0	0	0
849	-0.83	-146.0	107.3	-12.7	143	854	0.00	2.45	0.00	0.000	6	0.000	0.066	2114	2391	3401	0	0	0	0	0	0
1301	-0.83	-146.0	158.2	-10.8	185	1305	0.00	2.55	0.00	0.000	4	0.000	0.095	2114	3904	3401	0	0	0	0	0	0
1344	-0.83	-146.0	163.1	-11.0	188	1350	0.00	2.47	0.00	0.000	6	0.000	0.067	2114	2396	3400	0	0	0	0	0	0
1798	-0.83	-146.0	210.5	-10.8	231	1803	0.00	2.53	0.00	0.000	4	0.000	0.094	2114	3905	3399	0	0	0	0	0	0
1871	-0.83	-146.0	218.7	-10.6	237	1875	0.00	2.42	0.00	0.000	6	0.000	0.067	2114	2394	3399	0	0	0	0	0	0
2323	-0.83	-146.0	270.5	-11.3	279	2327	0.00	2.55	0.00	0.000	4	0.000	0.094	2114	3906	3398	0	0	0	0	0	0
2406	-0.83	-146.0	280.0	-11.7	286	2412	0.00	2.40	0.00	0.000	6	0.000	0.066	2114	2398	3398	0	0	0	0	0	0
2858	-0.83	-146.0	330.2	-10.4	329	2862	0.00	2.53	0.00	0.000	4	0.000	0.093	2114	3909	3398	0	0	0	0	0	0
3010	-0.83	-146.0	345.6	-9.9	342	3014	0.00	2.38	0.00	0.000	6	0.000	0.065	2114	2415	3398	0	0	0	0	0	0
3462	-0.83	-146.0	390.9	-9.8	384	3466	0.00	2.50	0.00	0.000	4	0.000	0.091	2114	3915	3398	0	0	0	0	0	0
3720	-0.83	-146.0	417.6	-10.5	407	3724	0.00	2.33	0.00	0.000	6	0.000	0.064	2114	2446	3399	0	0	0	0	0	0
4171	-0.83	-146.0	462.1	-9.6	449	4176	0.00	2.60	0.00	0.000	4	0.000	0.081	2114	813	3399	0	0	0	0	0	0
4293	-0.83	-146.0	474.8	-10.3	459	4299	0.00	2.62	0.00	0.000	6	0.000	0.074	2114	2460	3399	0	0	0	0	0	0
4745	-0.83	-146.0	518.2	-9.4	502	4749	0.00	2.38	0.00	0.000	4	0.000	0.090	2114	3915	3400	0	0	0	0	0	0
4755	-0.83	-146.0	519.1	-9.2	502	4761	0.00	2.28	0.00	0.000	6	0.000	0.061	2114	2469	3400	0	0	0	0	0	0
5207	-0.83	-146.0	560.4	-8.9	545	5211	0.00	2.38	0.00	0.000	4	0.000	0.090	2114	3914	3401	0	0	0	0	0	0
5217	-0.83	-146.0	561.2	-8.2	545	5223	0.00	2.28	0.00	0.000	6	0.000	0.062	2114	2468	3400	0	0	0	0	0	0
5669	-0.83	-146.0	599.0	-8.4	588	5673	0.00	2.38	0.00	0.000	4	0.000	0.089	2114	3914	3402	0	0	0	0	0	0
5679	-0.83	-146.0	600.0	-8.2	588	5684	0.00	2.28	0.00	0.000	6	0.000	0.061	2114	2464	3401	0	0	0	0	0	0
6113	-0.83	-146.0	635.2	-8.0	603	6118	0.00	2.38	0.00	0.000	4	0.000	0.088	2114	3906	3402	0	0	0	0	0	0
6421	-0.83	-146.0	660.8	-8.7	612	6425	0.00	2.08	0.00	0.000	6	0.000	0.061	2114	2575	3402	0	0	0	0	0	0
6873	-0.83	-146.0	695.8	-7.8	627	6877	0.00	2.17	0.00	0.000	4	0.000	0.089	2114	3904	3402	0	0	0	0	0	0
7214	-0.83	-146.0	724.6	-8.2	637	7218	0.00	2.10	0.00	0.000	6	0.000	0.061	2114	2585	3402	0	0	0	0	0	0
7666	-0.83	-146.0	762.7	-8.1	652	7670	0.00	2.17	0.00	0.000	4	0.000	0.090	2114	3904	3403	0	0	0	0	0	0
7675	-0.83	-146.0	763.6	-8.0	652	7680	0.00	2.10	0.00	0.000	6	0.000	0.060	2114	2581	3403	0	0	0	0	0	0
8128	-0.83	-146.0	801.7	-8.7	667	8132	0.00	2.83	0.00	0.000	4	0.000	0.080	2114	811	3403	0	0	0	0	0	0
8182	-0.83	-146.0	807.0	-9.2	668	8188	0.00	2.80	0.00	0.000	6	0.000	0.074	2114	2571	3403	0	0	0	0	0	0
8617	-0.83	-146.0	844.1	-8.6	683	8622	0.00	2.83	0.00	0.000	4	0.000	0.081	2114	809	3403	0	0	0	0	0	0
8684	-0.83	-146.0	850.3	-9.5	685	8689	0.00	2.80	0.00	0.000	6	0.000	0.074	2114	2565	3403	0	0	0	0	0	0
8981	end dive: NO_VERTICAL_VELOCITY
state	8981	begin apogee
8987	-0.19	0.0	855.9	0.0	695	9113	0.68	0.00	123.15	1.298	6	0.150	0.000	2322	1603	2800	0	0	0	0	0	0
9114	end apogee: CONTROL_FINISHED_OK
state	9114	begin climb
9116	0.83	146.0	855.7	0.0	699	9252	1.10	2.45	126.82	1.246	4	0.129	0.090	2660	302	2203	0	0	0	0	0	0
9588	0.83	146.0	795.2	14.0	713	9593	0.00	2.17	0.00	0.000	6	0.000	0.064	2660	1589	2195	0	0	0	0	0	0
10034	0.83	146.0	732.2	14.4	728	10038	0.00	2.20	0.00	0.000	4	0.000	0.093	2670	291	2192	0	0	0	0	0	0
10376	0.83	146.0	679.7	14.9	738	10380	0.00	2.15	0.00	0.000	6	0.000	0.067	2670	1596	2191	0	0	0	0	0	0
10828	0.83	146.0	610.7	15.2	753	10831	0.00	2.17	0.00	0.000	4	0.000	0.094	2680	295	2190	0	0	0	0	0	0
11169	0.83	146.0	556.5	16.6	779	11175	0.00	2.15	0.00	0.000	6	0.000	0.067	2680	1614	2190	0	0	0	0	0	0
11621	0.83	146.0	486.8	15.0	822	11625	0.00	2.17	0.00	0.000	4	0.000	0.093	2690	295	2189	0	0	0	0	0	0
11964	0.83	146.0	433.0	15.2	852	11969	0.12	2.08	0.00	0.000	6	0.222	0.067	2664	1611	2189	0	0	0	0	0	0
12416	0.83	146.0	370.5	14.2	894	12420	0.00	2.17	0.00	0.000	4	0.000	0.091	2672	289	2189	0	0	0	0	0	0
12757	0.83	146.0	320.3	14.3	924	12763	0.00	2.10	0.00	0.000	6	0.000	0.063	2664	1601	2189	0	0	0	0	0	0
13209	0.83	146.0	260.4	12.8	967	13213	0.00	2.12	0.00	0.000	4	0.000	0.090	2672	294	2189	0	0	0	0	0	0
13550	0.83	146.0	215.0	13.0	997	13557	0.00	2.08	0.00	0.000	6	0.000	0.064	2672	1593	2189	0	0	0	0	0	0
14003	0.83	146.0	163.1	11.2	1040	14006	0.00	2.12	0.00	0.000	4	0.000	0.091	2682	290	2190	0	0	0	0	0	0
14344	0.83	146.0	122.4	12.1	1070	14350	0.00	2.08	0.00	0.000	6	0.000	0.064	2681	1591	2190	0	0	0	0	0	0
14814	0.83	146.0	72.2	10.0	1136	14819	0.00	2.12	0.00	0.000	4	0.000	0.092	2692	294	2190	0	0	0	0	0	0
15157	0.83	146.0	37.1	9.9	1197	15163	0.15	2.05	0.00	0.000	6	0.206	0.067	2657	1600	2190	0	0	0	0	0	0
15332	0.86	173.5	22.3	8.0	1228	15359	0.00	2.17	20.92	0.767	4	0.000	0.092	2664	294	2091	0	0	0	0	0	0
15404	0.87	181.7	16.1	8.8	1241	15420	0.00	2.03	7.90	0.708	6	0.000	0.066	2658	1573	2058	0	0	0	0	0	0
15575	end climb: SURFACE_DEPTH_REACHED
state	15576	begin surface coast
15599	end surface coast: CONTROL_FINISHED_OK
state	15600	begin surface