Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 100 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MAX 3717 ALTIM_TOP_TURN_MARGIN 0

DIVE 100 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 1 C_ROLL_DIVE 1850 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1700 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_NO_BLEED 500 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 22 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 35 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 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 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 460 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 330 CALL_TRIES 5 C_VBD 2940 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 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 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 -6137.2417 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 15 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 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3025 FG_AHR_24V 0 SEABIRD_T_G 0.0043614767

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062996609

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -55.981045 SEABIRD_T_I 2.5014444e-05

MASS 51891 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_J 2.7838146e-06

NAV_MODE 2 PITCH_GAIN 38 AD7714Ch0Gain 128 SEABIRD_C_G -10.228213

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1292607

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001076734

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017059842

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.032000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-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 500 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 0.032000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 1 PRESSURE_SLOPE 0.0001168426 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -55.981045 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -6137.2417

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 15

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 172 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3025 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1700 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 1850 KERMIT 0 ROLL_MAX 3717 USE_ICE 0

C_VBD 2940 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51891 R_PORT_OVSHOOT 22 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.228213 VBD_MIN 460

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1292607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 3 SEABIRD_C_I -0.001076734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017059842 VBD_TIMEOUT 720

DIVE 100 NAV_MODE 2 SEABIRD_T_G 0.0043614767 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.00062996609 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.5014444e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.7838146e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 135854,6703.425,-5658.609,46,1.0,46,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140431,6703.436,-5658.606,18,1.5,33,-37.6 MHEAD_RNG_PITCHd_Wd 131.1,7701,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 592

Post-dive calculations and measurements:

FINISH 2.3,1.025359 _24V_AH 23.7,19.121

SM_CCo 10623,0.00,0.000,0,0,1739,294.61 _10V_AH 10.3,8.570

SM_GC 2.97,8.07,0.00,0.00,0.047,0.000,0.000,140,1842,1739,-8.94,-0.20,294.61 FG_AHR_24Vo 0.000

RAFOS_CLK 473 FG_AHR_10Vo 0.000

RAFOS 0,1257523301,16.033333,16.028055,43,40,38,0,0,0,40,376,318,0,0,0 MEM 188324

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 44091,1158

IRIDIUM_FIX 6636.54,-5715.22,310199,111101 CAP_FILE_SIZE 128765,0

TT8_MAMPS 0.026078 CFSIZE 260165632,243249152

HUMID 38.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.61951 SOUNDSPEED 1471.7

TCM_TEMP 16.50 CURRENT 0.260,283.7,1

XPDR_PINGS 0 GPS 061109,170325,6703.812,-5658.484,46,1.6,46,-37.6

ALTIM_BOTTOM_PING 500.9,95.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 224 111.05 SBE_CT 801 24 456.05

Roll_motor 98 79 186.12 SBE_O2 847 19 381.81

VBD_pump_during_apogee 365 977 8461.59 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.45 nil 0 0 0.00

Iridium_during_connect 33 160 126.38 nil 0 0 0.00

Iridium_during_xfer 152 223 807.59

Transponder_ping 1 420 9.95

GUMSTIX_24V 0 0 0.00

GPS 33 50 17.09

TT8 2019 19 414.35

LPSleep 6257 2 148.88

TT8_Active 435 19 89.39

TT8_Sampling 1909 39 784.96

TT8_CF8 340 45 160.93

TT8_Kalman 0 0 0.00

Analog_circuits 1437 12 177.65

GPS_charging 0 0 0.00

Compass 1862 8 153.48

RAFOS 840 1 12.98

Transponder 10 30 3.15

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

14 -0.64 -146.0 0.0 0.0 0 60 0.00 0.00 -43.90 0.000 2 0.000 0.000 120 1861 2272 0 0 0 0 0 0

62 -0.64 -146.0 3.0 -2.1 8 132 9.93 2.30 -52.40 0.000 4 0.225 0.080 2806 440 3536 0 0 0 0 0 0

390 -0.58 -146.0 49.9 -18.6 80 396 0.12 2.17 0.00 0.000 6 0.169 0.051 2834 1841 3537 0 0 0 0 0 0

735 -0.58 -146.0 97.6 -12.5 141 740 0.00 2.25 0.00 0.000 4 0.000 0.069 2834 438 3536 0 0 0 0 0 0

800 -0.63 -146.0 106.3 -13.1 150 804 0.00 2.17 0.00 0.000 6 0.000 0.051 2834 1851 3536 0 0 0 0 0 0

1128 -0.69 -146.0 143.3 -11.1 181 1132 0.00 2.25 0.00 0.000 4 0.000 0.069 2834 440 3536 0 0 0 0 0 0

1151 -0.74 -146.0 146.0 -12.4 183 1156 0.12 2.17 0.00 0.000 6 0.097 0.051 2774 1858 3535 0 0 0 0 0 0

1475 -0.64 -146.0 192.8 -14.2 213 1477 0.15 0.00 0.00 0.000 6 0.156 0.000 2818 1859 3535 0 0 0 0 0 0

1793 -0.64 -146.0 228.7 -11.3 243 1795 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1859 3536 0 0 0 0 0 0

2113 -0.64 -146.0 265.2 -12.3 273 2117 0.00 2.28 0.00 0.000 4 0.000 0.069 2818 433 3536 0 0 0 0 0 0

2159 -0.68 -146.0 271.5 -13.5 277 2164 0.00 2.20 0.00 0.000 6 0.000 0.051 2811 1855 3535 0 0 0 0 0 0

2483 -0.68 -146.0 314.8 -13.5 308 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1855 3535 0 0 0 0 0 0

2803 -0.68 -146.0 357.4 -12.1 338 2807 0.00 2.22 0.00 0.000 4 0.000 0.069 2811 440 3536 0 0 0 0 0 0

2876 -0.68 -146.0 367.3 -13.5 345 2881 0.00 2.17 0.00 0.000 6 0.000 0.051 2811 1850 3536 0 0 0 0 0 0

3200 -0.71 -146.0 406.1 -11.2 376 3204 0.00 2.25 0.00 0.000 4 0.000 0.069 2811 440 3536 0 0 0 0 0 0

3217 -0.71 -146.0 408.3 -11.3 377 3223 0.00 2.17 0.00 0.000 6 0.000 0.051 2810 1858 3536 0 0 0 0 0 0

3544 -0.76 -146.0 441.7 -9.6 408 3548 0.00 2.25 0.00 0.000 4 0.000 0.067 2811 433 3536 0 0 0 0 0 0

3596 -0.79 -146.0 447.1 -9.9 413 3600 0.12 2.15 0.00 0.000 6 0.097 0.051 2749 1850 3536 0 0 0 0 0 0

3920 -0.67 -146.0 492.3 -14.5 443 3922 0.20 0.00 0.00 0.000 6 0.143 0.000 2810 1850 3536 0 0 0 0 0 0

4238 -0.72 -146.0 522.4 -9.3 473 4242 0.00 2.25 0.00 0.000 4 0.000 0.068 2811 440 3537 0 0 0 0 0 0

4272 -0.76 -146.0 525.7 -9.7 476 4276 0.00 2.17 0.00 0.000 6 0.000 0.051 2811 1855 3537 0 0 0 0 0 0

4598 -0.82 -146.0 556.3 -9.6 506 4603 0.15 2.22 0.00 0.000 4 0.089 0.067 2735 3257 3537 0 0 0 0 0 0

4617 -0.79 -146.0 559.0 -12.8 507 4624 0.12 2.20 0.00 0.000 6 0.163 0.058 2771 1844 3537 0 0 0 0 0 0

4876 end dive: TARGET_DEPTH_EXCEEDED

state 4876 begin apogee

4880 -0.13 0.0 592.9 12.8 532 5001 0.62 0.00 118.00 0.977 6 0.131 0.000 2978 1695 2940 0 0 0 0 0 0

5002 end apogee: CONTROL_FINISHED_OK

state 5002 begin climb

5004 0.64 146.0 594.8 0.0 544 5135 0.73 2.50 121.95 0.952 4 0.091 0.064 3231 3104 2342 0 0 0 0 0 0

5398 0.52 165.9 583.3 9.1 588 5424 0.17 2.30 17.00 0.890 6 0.181 0.057 3196 1704 2262 0 0 0 0 0 0

5741 0.60 224.2 557.6 7.3 621 5797 0.00 2.38 50.33 0.929 4 0.000 0.060 3196 3107 2025 0 0 0 0 0 0

5866 0.67 243.2 546.5 9.1 635 5889 0.10 2.33 17.23 0.872 6 0.112 0.055 3251 1697 1948 0 0 0 0 0 0

6208 0.61 243.2 501.0 13.5 667 6213 0.10 2.33 0.00 0.000 4 0.172 0.060 3224 3114 1941 0 0 0 0 0 0

6241 0.61 243.2 496.5 13.5 670 6245 0.00 2.30 0.00 0.000 6 0.000 0.058 3233 1696 1940 0 0 0 0 0 0

6566 0.61 243.2 455.6 12.8 700 6570 0.00 2.25 0.00 0.000 4 0.000 0.068 3243 288 1939 0 0 0 0 0 0

6598 0.61 243.2 451.1 13.2 703 6603 0.00 2.20 0.00 0.000 6 0.000 0.047 3243 1706 1939 0 0 0 0 0 0

6922 0.56 243.2 409.2 13.0 733 6927 0.12 2.20 0.00 0.000 4 0.166 0.061 3208 3107 1938 0 0 0 0 0 0

6950 0.61 243.2 405.6 12.9 735 6957 0.00 2.22 0.00 0.000 6 0.000 0.058 3215 1699 1938 0 0 0 0 0 0

7274 0.65 243.2 369.5 10.6 766 7278 0.00 2.22 0.00 0.000 4 0.000 0.069 3225 288 1937 0 0 0 0 0 0

7316 0.69 243.2 364.9 11.0 770 7320 0.00 2.17 0.00 0.000 6 0.000 0.046 3225 1705 1937 0 0 0 0 0 0

7640 0.69 243.2 327.7 11.3 800 7644 0.00 2.28 0.00 0.000 4 0.000 0.069 3232 282 1937 0 0 0 0 0 0

7667 0.69 243.2 324.4 11.9 802 7672 0.00 2.17 0.00 0.000 6 0.000 0.046 3232 1706 1937 0 0 0 0 0 0

7990 0.69 243.2 287.2 11.1 833 7994 0.00 2.20 0.00 0.000 4 0.000 0.061 3232 3105 1937 0 0 0 0 0 0

8035 0.69 243.2 282.0 12.0 837 8041 0.00 2.22 0.00 0.000 6 0.000 0.057 3240 1692 1937 0 0 0 0 0 0

8359 0.69 243.2 245.4 12.4 868 8363 0.00 2.22 0.00 0.000 4 0.000 0.068 3250 288 1937 0 0 0 0 0 0

8402 0.69 243.2 240.0 13.9 872 8405 0.00 2.15 0.00 0.000 6 0.000 0.046 3249 1701 1937 0 0 0 0 0 0

8725 0.69 243.2 200.3 12.1 902 8726 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 1702 1937 0 0 0 0 0 0

9045 0.69 243.2 163.1 12.1 932 9046 0.00 0.00 0.00 0.000 6 0.000 0.000 3249 1702 1937 0 0 0 0 0 0

9364 0.69 243.2 125.8 11.9 962 9368 0.00 2.22 0.00 0.000 4 0.000 0.061 3249 3109 1936 0 0 0 0 0 0

9383 0.69 243.2 123.3 12.1 963 9389 0.00 2.22 0.00 0.000 6 0.000 0.058 3257 1699 1936 0 0 0 0 0 0

9713 0.72 265.0 87.1 9.0 1005 9737 0.00 2.28 18.05 0.658 4 0.000 0.068 3266 285 1857 0 0 0 0 0 0

9792 0.72 265.0 79.4 10.8 1022 9797 0.00 2.17 0.00 0.000 6 0.000 0.046 3266 1700 1856 0 0 0 0 0 0

10136 0.75 290.9 45.3 8.8 1083 10165 0.00 2.33 22.83 0.636 4 0.000 0.071 3273 282 1753 0 0 0 0 0 0

10184 0.79 290.9 40.6 10.2 1093 10190 0.00 2.20 0.00 0.000 6 0.000 0.046 3273 1701 1752 0 0 0 0 0 0

10527 0.82 290.9 4.2 10.2 1154 10532 0.00 2.22 0.00 0.000 4 0.000 0.060 3273 3107 1748 0 0 0 0 0 0

10537 end climb: SURFACE_DEPTH_REACHED

state 10537 begin surface coast

10546 end surface coast: CONTROL_FINISHED_OK

state 10546 begin surface

ID	172	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MAX	3717	ALTIM_TOP_TURN_MARGIN	0
DIVE	100	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	1	C_ROLL_DIVE	1850	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1700	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_NO_BLEED	500	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	22	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	35	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	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	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	460	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	330	CALL_TRIES	5	C_VBD	2940	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	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	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	-6137.2417	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	15	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	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3025	FG_AHR_24V	0	SEABIRD_T_G	0.0043614767
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062996609
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-55.981045	SEABIRD_T_I	2.5014444e-05
MASS	51891	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_J	2.7838146e-06
NAV_MODE	2	PITCH_GAIN	38	AD7714Ch0Gain	128	SEABIRD_C_G	-10.228213
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1292607
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001076734
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017059842
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.032000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	135854,6703.425,-5658.609,46,1.0,46,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140431,6703.436,-5658.606,18,1.5,33,-37.6	MHEAD_RNG_PITCHd_Wd	131.1,7701,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	592

FINISH	2.3,1.025359	_24V_AH	23.7,19.121
SM_CCo	10623,0.00,0.000,0,0,1739,294.61	_10V_AH	10.3,8.570
SM_GC	2.97,8.07,0.00,0.00,0.047,0.000,0.000,140,1842,1739,-8.94,-0.20,294.61	FG_AHR_24Vo	0.000
RAFOS_CLK	473	FG_AHR_10Vo	0.000
RAFOS	0,1257523301,16.033333,16.028055,43,40,38,0,0,0,40,376,318,0,0,0	MEM	188324
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	44091,1158
IRIDIUM_FIX	6636.54,-5715.22,310199,111101	CAP_FILE_SIZE	128765,0
TT8_MAMPS	0.026078	CFSIZE	260165632,243249152
HUMID	38.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.61951	SOUNDSPEED	1471.7
TCM_TEMP	16.50	CURRENT	0.260,283.7,1
XPDR_PINGS	0	GPS	061109,170325,6703.812,-5658.484,46,1.6,46,-37.6
ALTIM_BOTTOM_PING	500.9,95.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	224	111.05	SBE_CT	801	24	456.05
Roll_motor	98	79	186.12	SBE_O2	847	19	381.81
VBD_pump_during_apogee	365	977	8461.59	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.45	nil	0	0	0.00
Iridium_during_connect	33	160	126.38	nil	0	0	0.00
Iridium_during_xfer	152	223	807.59
Transponder_ping	1	420	9.95
GUMSTIX_24V	0	0	0.00
GPS	33	50	17.09
TT8	2019	19	414.35
LPSleep	6257	2	148.88
TT8_Active	435	19	89.39
TT8_Sampling	1909	39	784.96
TT8_CF8	340	45	160.93
TT8_Kalman	0	0	0.00
Analog_circuits	1437	12	177.65
GPS_charging	0	0	0.00
Compass	1862	8	153.48
RAFOS	840	1	12.98
Transponder	10	30	3.15

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
14	-0.64	-146.0	0.0	0.0	0	60	0.00	0.00	-43.90	0.000	2	0.000	0.000	120	1861	2272	0	0	0	0	0	0
62	-0.64	-146.0	3.0	-2.1	8	132	9.93	2.30	-52.40	0.000	4	0.225	0.080	2806	440	3536	0	0	0	0	0	0
390	-0.58	-146.0	49.9	-18.6	80	396	0.12	2.17	0.00	0.000	6	0.169	0.051	2834	1841	3537	0	0	0	0	0	0
735	-0.58	-146.0	97.6	-12.5	141	740	0.00	2.25	0.00	0.000	4	0.000	0.069	2834	438	3536	0	0	0	0	0	0
800	-0.63	-146.0	106.3	-13.1	150	804	0.00	2.17	0.00	0.000	6	0.000	0.051	2834	1851	3536	0	0	0	0	0	0
1128	-0.69	-146.0	143.3	-11.1	181	1132	0.00	2.25	0.00	0.000	4	0.000	0.069	2834	440	3536	0	0	0	0	0	0
1151	-0.74	-146.0	146.0	-12.4	183	1156	0.12	2.17	0.00	0.000	6	0.097	0.051	2774	1858	3535	0	0	0	0	0	0
1475	-0.64	-146.0	192.8	-14.2	213	1477	0.15	0.00	0.00	0.000	6	0.156	0.000	2818	1859	3535	0	0	0	0	0	0
1793	-0.64	-146.0	228.7	-11.3	243	1795	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1859	3536	0	0	0	0	0	0
2113	-0.64	-146.0	265.2	-12.3	273	2117	0.00	2.28	0.00	0.000	4	0.000	0.069	2818	433	3536	0	0	0	0	0	0
2159	-0.68	-146.0	271.5	-13.5	277	2164	0.00	2.20	0.00	0.000	6	0.000	0.051	2811	1855	3535	0	0	0	0	0	0
2483	-0.68	-146.0	314.8	-13.5	308	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	1855	3535	0	0	0	0	0	0
2803	-0.68	-146.0	357.4	-12.1	338	2807	0.00	2.22	0.00	0.000	4	0.000	0.069	2811	440	3536	0	0	0	0	0	0
2876	-0.68	-146.0	367.3	-13.5	345	2881	0.00	2.17	0.00	0.000	6	0.000	0.051	2811	1850	3536	0	0	0	0	0	0
3200	-0.71	-146.0	406.1	-11.2	376	3204	0.00	2.25	0.00	0.000	4	0.000	0.069	2811	440	3536	0	0	0	0	0	0
3217	-0.71	-146.0	408.3	-11.3	377	3223	0.00	2.17	0.00	0.000	6	0.000	0.051	2810	1858	3536	0	0	0	0	0	0
3544	-0.76	-146.0	441.7	-9.6	408	3548	0.00	2.25	0.00	0.000	4	0.000	0.067	2811	433	3536	0	0	0	0	0	0
3596	-0.79	-146.0	447.1	-9.9	413	3600	0.12	2.15	0.00	0.000	6	0.097	0.051	2749	1850	3536	0	0	0	0	0	0
3920	-0.67	-146.0	492.3	-14.5	443	3922	0.20	0.00	0.00	0.000	6	0.143	0.000	2810	1850	3536	0	0	0	0	0	0
4238	-0.72	-146.0	522.4	-9.3	473	4242	0.00	2.25	0.00	0.000	4	0.000	0.068	2811	440	3537	0	0	0	0	0	0
4272	-0.76	-146.0	525.7	-9.7	476	4276	0.00	2.17	0.00	0.000	6	0.000	0.051	2811	1855	3537	0	0	0	0	0	0
4598	-0.82	-146.0	556.3	-9.6	506	4603	0.15	2.22	0.00	0.000	4	0.089	0.067	2735	3257	3537	0	0	0	0	0	0
4617	-0.79	-146.0	559.0	-12.8	507	4624	0.12	2.20	0.00	0.000	6	0.163	0.058	2771	1844	3537	0	0	0	0	0	0
4876	end dive: TARGET_DEPTH_EXCEEDED
state	4876	begin apogee
4880	-0.13	0.0	592.9	12.8	532	5001	0.62	0.00	118.00	0.977	6	0.131	0.000	2978	1695	2940	0	0	0	0	0	0
5002	end apogee: CONTROL_FINISHED_OK
state	5002	begin climb
5004	0.64	146.0	594.8	0.0	544	5135	0.73	2.50	121.95	0.952	4	0.091	0.064	3231	3104	2342	0	0	0	0	0	0
5398	0.52	165.9	583.3	9.1	588	5424	0.17	2.30	17.00	0.890	6	0.181	0.057	3196	1704	2262	0	0	0	0	0	0
5741	0.60	224.2	557.6	7.3	621	5797	0.00	2.38	50.33	0.929	4	0.000	0.060	3196	3107	2025	0	0	0	0	0	0
5866	0.67	243.2	546.5	9.1	635	5889	0.10	2.33	17.23	0.872	6	0.112	0.055	3251	1697	1948	0	0	0	0	0	0
6208	0.61	243.2	501.0	13.5	667	6213	0.10	2.33	0.00	0.000	4	0.172	0.060	3224	3114	1941	0	0	0	0	0	0
6241	0.61	243.2	496.5	13.5	670	6245	0.00	2.30	0.00	0.000	6	0.000	0.058	3233	1696	1940	0	0	0	0	0	0
6566	0.61	243.2	455.6	12.8	700	6570	0.00	2.25	0.00	0.000	4	0.000	0.068	3243	288	1939	0	0	0	0	0	0
6598	0.61	243.2	451.1	13.2	703	6603	0.00	2.20	0.00	0.000	6	0.000	0.047	3243	1706	1939	0	0	0	0	0	0
6922	0.56	243.2	409.2	13.0	733	6927	0.12	2.20	0.00	0.000	4	0.166	0.061	3208	3107	1938	0	0	0	0	0	0
6950	0.61	243.2	405.6	12.9	735	6957	0.00	2.22	0.00	0.000	6	0.000	0.058	3215	1699	1938	0	0	0	0	0	0
7274	0.65	243.2	369.5	10.6	766	7278	0.00	2.22	0.00	0.000	4	0.000	0.069	3225	288	1937	0	0	0	0	0	0
7316	0.69	243.2	364.9	11.0	770	7320	0.00	2.17	0.00	0.000	6	0.000	0.046	3225	1705	1937	0	0	0	0	0	0
7640	0.69	243.2	327.7	11.3	800	7644	0.00	2.28	0.00	0.000	4	0.000	0.069	3232	282	1937	0	0	0	0	0	0
7667	0.69	243.2	324.4	11.9	802	7672	0.00	2.17	0.00	0.000	6	0.000	0.046	3232	1706	1937	0	0	0	0	0	0
7990	0.69	243.2	287.2	11.1	833	7994	0.00	2.20	0.00	0.000	4	0.000	0.061	3232	3105	1937	0	0	0	0	0	0
8035	0.69	243.2	282.0	12.0	837	8041	0.00	2.22	0.00	0.000	6	0.000	0.057	3240	1692	1937	0	0	0	0	0	0
8359	0.69	243.2	245.4	12.4	868	8363	0.00	2.22	0.00	0.000	4	0.000	0.068	3250	288	1937	0	0	0	0	0	0
8402	0.69	243.2	240.0	13.9	872	8405	0.00	2.15	0.00	0.000	6	0.000	0.046	3249	1701	1937	0	0	0	0	0	0
8725	0.69	243.2	200.3	12.1	902	8726	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	1702	1937	0	0	0	0	0	0
9045	0.69	243.2	163.1	12.1	932	9046	0.00	0.00	0.00	0.000	6	0.000	0.000	3249	1702	1937	0	0	0	0	0	0
9364	0.69	243.2	125.8	11.9	962	9368	0.00	2.22	0.00	0.000	4	0.000	0.061	3249	3109	1936	0	0	0	0	0	0
9383	0.69	243.2	123.3	12.1	963	9389	0.00	2.22	0.00	0.000	6	0.000	0.058	3257	1699	1936	0	0	0	0	0	0
9713	0.72	265.0	87.1	9.0	1005	9737	0.00	2.28	18.05	0.658	4	0.000	0.068	3266	285	1857	0	0	0	0	0	0
9792	0.72	265.0	79.4	10.8	1022	9797	0.00	2.17	0.00	0.000	6	0.000	0.046	3266	1700	1856	0	0	0	0	0	0
10136	0.75	290.9	45.3	8.8	1083	10165	0.00	2.33	22.83	0.636	4	0.000	0.071	3273	282	1753	0	0	0	0	0	0
10184	0.79	290.9	40.6	10.2	1093	10190	0.00	2.20	0.00	0.000	6	0.000	0.046	3273	1701	1752	0	0	0	0	0	0
10527	0.82	290.9	4.2	10.2	1154	10532	0.00	2.22	0.00	0.000	4	0.000	0.060	3273	3107	1748	0	0	0	0	0	0
10537	end climb: SURFACE_DEPTH_REACHED
state	10537	begin surface coast
10546	end surface coast: CONTROL_FINISHED_OK
state	10546	begin surface