Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 103 * 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 103 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 30 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 -6205.4697 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 -6205.4697

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 30 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 103 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 231124,6702.533,-5653.672,46,1.2,46,-37.5 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 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231656,6702.589,-5653.622,15,1.9,15,-37.5 MHEAD_RNG_PITCHd_Wd 71.9,4131,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 590

Post-dive calculations and measurements:

FINISH 1.6,1.017007 _24V_AH 23.7,19.448

SM_CCo 9953,0.00,0.000,0,0,1746,292.64 _10V_AH 10.2,8.758

SM_GC 2.94,8.00,0.00,0.00,0.048,0.000,0.000,136,1854,1746,-8.93,0.11,292.64 FG_AHR_24Vo 0.000

RAFOS_CLK 445 FG_AHR_10Vo 0.000

RAFOS 0,1257552102,0.033333,0.028333,39,38,36,0,0,0,40,412,372,0,0,0 MEM 188348

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 41002,1090

IRIDIUM_FIX 6636.54,-5655.33,310199,202055 CAP_FILE_SIZE 119425,0

TT8_MAMPS 0.026078 CFSIZE 260165632,243060736

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

INTERNAL_PRESSURE 9.62928 SOUNDSPEED 1471.7

TCM_TEMP 16.60 CURRENT 0.097,121.9,1

XPDR_PINGS 0 GPS 071109,020530,6703.483,-5650.397,95,0.9,95,-37.6

ALTIM_BOTTOM_PING 450.7,105.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 233 118.95 SBE_CT 755 24 429.84

Roll_motor 85 82 167.90 SBE_O2 794 19 357.54

VBD_pump_during_apogee 363 948 8178.18 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 31 103 77.20 nil 0 0 0.00

Iridium_during_connect 37 160 141.76 nil 0 0 0.00

Iridium_during_xfer 157 223 832.96

Transponder_ping 1 420 9.95

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.82

TT8 1914 19 388.98

LPSleep 5788 2 136.39

TT8_Active 414 19 84.22

TT8_Sampling 1824 39 742.83

TT8_CF8 344 45 161.28

TT8_Kalman 0 0 0.00

Analog_circuits 1370 12 167.69

GPS_charging 0 0 0.00

Compass 1792 8 146.27

RAFOS 840 1 12.85

Transponder 10 30 3.29

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 13 begin dive

14 -0.64 -146.0 0.0 0.0 0 47 0.00 0.00 -30.80 0.000 2 0.000 0.000 123 1854 2297 0 0 0 0 0 0

50 -0.64 -146.0 3.1 -1.4 6 115 10.25 2.35 -47.28 0.000 4 0.233 0.083 2821 436 3538 0 0 0 0 0 0

361 -0.60 -146.0 43.7 -14.1 74 366 0.00 2.20 0.00 0.000 6 0.000 0.051 2813 1846 3539 0 0 0 0 0 0

703 -0.60 -146.0 96.2 -13.8 135 709 0.00 2.28 0.00 0.000 4 0.000 0.069 2808 3260 3539 0 0 0 0 0 0

741 -0.63 -146.0 101.1 -12.3 143 745 0.00 2.22 0.00 0.000 6 0.000 0.058 2808 1846 3539 0 0 0 0 0 0

1065 -0.63 -146.0 142.7 -13.6 173 1069 0.00 2.25 0.00 0.000 4 0.000 0.068 2807 435 3538 0 0 0 0 0 0

1169 -0.63 -146.0 157.7 -13.9 184 1173 0.00 2.17 0.00 0.000 6 0.000 0.052 2804 1851 3537 0 0 0 0 0 0

1497 -0.63 -146.0 199.9 -12.0 215 1501 0.00 2.25 0.00 0.000 4 0.000 0.069 2804 438 3537 0 0 0 0 0 0

1530 -0.63 -146.0 204.0 -13.4 218 1534 0.00 2.20 0.00 0.000 6 0.000 0.052 2804 1858 3537 0 0 0 0 0 0

1853 -0.63 -146.0 245.2 -13.1 248 1857 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 442 3537 0 0 0 0 0 0

1880 -0.63 -146.0 248.9 -13.6 250 1886 0.00 2.17 0.00 0.000 6 0.000 0.051 2804 1852 3537 0 0 0 0 0 0

2203 -0.63 -146.0 290.6 -12.6 281 2207 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 442 3537 0 0 0 0 0 0

2245 -0.63 -146.0 296.1 -13.0 285 2249 0.00 2.17 0.00 0.000 6 0.000 0.051 2804 1852 3537 0 0 0 0 0 0

2569 -0.63 -146.0 336.6 -12.8 315 2570 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 1852 3537 0 0 0 0 0 0

2888 -0.63 -146.0 376.9 -12.2 345 2892 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 442 3538 0 0 0 0 0 0

2920 -0.63 -146.0 381.2 -13.3 348 2924 0.00 2.15 0.00 0.000 6 0.000 0.051 2804 1853 3537 0 0 0 0 0 0

3243 -0.63 -146.0 421.0 -11.9 378 3247 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 441 3538 0 0 0 0 0 0

3312 -0.63 -146.0 429.4 -11.4 385 3316 0.00 2.17 0.00 0.000 6 0.000 0.051 2804 1853 3538 0 0 0 0 0 0

3635 -0.63 -146.0 468.3 -12.5 415 3639 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 442 3538 0 0 0 0 0 0

3707 -0.63 -146.0 478.2 -13.7 422 3713 0.00 2.15 0.00 0.000 6 0.000 0.051 2804 1858 3539 0 0 0 0 0 0

4030 -0.63 -146.0 516.5 -11.0 453 4034 0.00 2.25 0.00 0.000 4 0.000 0.067 2804 435 3539 0 0 0 0 0 0

4085 -0.63 -146.0 522.5 -10.6 458 4091 0.00 2.17 0.00 0.000 6 0.000 0.051 2804 1855 3539 0 0 0 0 0 0

4409 -1.08 -146.0 545.3 0.1 489 4414 0.32 2.22 0.00 0.000 4 0.082 0.070 2672 3257 3540 0 0 0 0 0 0

4657 end dive: NO_VERTICAL_VELOCITY

state 4657 begin apogee

4664 -0.13 0.0 545.4 0.0 515 4789 0.82 0.00 117.95 0.949 6 0.090 0.000 2977 1699 2939 0 0 0 0 0 0

4789 end apogee: CONTROL_FINISHED_OK

state 4790 begin climb

4791 0.64 146.0 545.3 0.0 528 4922 0.73 2.45 121.12 0.923 4 0.089 0.067 3242 285 2343 0 0 0 0 0 0

5009 0.49 148.7 531.6 9.9 552 5015 0.20 2.30 0.00 0.000 6 0.156 0.046 3187 1706 2337 0 0 0 0 0 0

5333 0.61 203.3 507.1 7.5 583 5388 0.00 2.38 48.05 0.896 4 0.000 0.062 3188 3099 2110 0 0 0 0 0 0

5431 0.68 217.6 499.2 9.3 594 5450 0.15 2.33 13.43 0.825 6 0.089 0.058 3257 1702 2052 0 0 0 0 0 0

5768 0.59 217.6 455.0 13.1 626 5773 0.15 2.33 0.00 0.000 4 0.156 0.069 3224 287 2045 0 0 0 0 0 0

5838 0.59 217.6 447.1 11.1 633 5842 0.00 2.20 0.00 0.000 6 0.000 0.048 3224 1704 2045 0 0 0 0 0 0

6163 0.61 233.6 414.4 9.3 663 6182 0.00 2.30 13.68 0.813 4 0.000 0.068 3233 287 1987 0 0 0 0 0 0

6204 0.61 233.6 410.1 10.4 667 6210 0.00 2.22 0.00 0.000 6 0.000 0.047 3233 1707 1986 0 0 0 0 0 0

6528 0.61 233.6 376.4 11.4 698 6529 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 1708 1984 0 0 0 0 0 0

6847 0.61 233.6 341.0 11.5 728 6851 0.00 2.28 0.00 0.000 4 0.000 0.069 3242 287 1983 0 0 0 0 0 0

6919 0.61 233.6 332.0 12.6 735 6925 0.00 2.17 0.00 0.000 6 0.000 0.047 3241 1702 1983 0 0 0 0 0 0

7243 0.61 233.6 293.1 12.2 766 7244 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 1702 1983 0 0 0 0 0 0

7562 0.61 233.6 257.4 11.8 796 7566 0.00 2.22 0.00 0.000 4 0.000 0.063 3242 3103 1983 0 0 0 0 0 0

7580 0.57 233.6 255.1 12.1 797 7587 0.15 2.22 0.00 0.000 6 0.164 0.058 3207 1697 1982 0 0 0 0 0 0

7906 0.68 259.4 227.0 8.8 828 7935 0.12 2.25 22.90 0.742 4 0.099 0.067 3276 289 1881 0 0 0 0 0 0

8001 0.62 259.4 215.1 13.2 838 8006 0.17 2.20 0.00 0.000 6 0.153 0.046 3224 1708 1877 0 0 0 0 0 0

8325 0.73 289.4 185.2 8.6 868 8354 0.10 0.00 26.58 0.714 6 0.111 0.000 3276 1707 1760 0 0 0 0 0 0

8671 0.68 289.4 141.5 13.2 901 8672 0.00 0.00 0.00 0.000 6 0.000 0.000 3276 1707 1753 0 0 0 0 0 0

8990 0.65 289.4 100.9 12.9 931 8992 0.12 0.00 0.00 0.000 6 0.161 0.000 3239 1707 1751 0 0 0 0 0 0

9327 0.72 289.4 63.4 11.4 990 9332 0.00 2.28 0.00 0.000 4 0.000 0.070 3250 291 1750 0 0 0 0 0 0

9388 0.81 289.4 56.6 11.0 1003 9394 0.10 2.17 0.00 0.000 6 0.111 0.048 3302 1701 1750 0 0 0 0 0 0

9732 0.76 289.4 14.8 11.4 1064 9738 0.12 0.00 0.00 0.000 6 0.164 0.000 3266 1702 1750 0 0 0 0 0 0

9837 end climb: SURFACE_DEPTH_REACHED

state 9837 begin surface coast

9878 end surface coast: CONTROL_FINISHED_OK

state 9879 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	103	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	30	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	-6205.4697	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	231124,6702.533,-5653.672,46,1.2,46,-37.5	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	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231656,6702.589,-5653.622,15,1.9,15,-37.5	MHEAD_RNG_PITCHd_Wd	71.9,4131,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	590

FINISH	1.6,1.017007	_24V_AH	23.7,19.448
SM_CCo	9953,0.00,0.000,0,0,1746,292.64	_10V_AH	10.2,8.758
SM_GC	2.94,8.00,0.00,0.00,0.048,0.000,0.000,136,1854,1746,-8.93,0.11,292.64	FG_AHR_24Vo	0.000
RAFOS_CLK	445	FG_AHR_10Vo	0.000
RAFOS	0,1257552102,0.033333,0.028333,39,38,36,0,0,0,40,412,372,0,0,0	MEM	188348
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	41002,1090
IRIDIUM_FIX	6636.54,-5655.33,310199,202055	CAP_FILE_SIZE	119425,0
TT8_MAMPS	0.026078	CFSIZE	260165632,243060736
HUMID	38.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.62928	SOUNDSPEED	1471.7
TCM_TEMP	16.60	CURRENT	0.097,121.9,1
XPDR_PINGS	0	GPS	071109,020530,6703.483,-5650.397,95,0.9,95,-37.6
ALTIM_BOTTOM_PING	450.7,105.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	233	118.95	SBE_CT	755	24	429.84
Roll_motor	85	82	167.90	SBE_O2	794	19	357.54
VBD_pump_during_apogee	363	948	8178.18	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	31	103	77.20	nil	0	0	0.00
Iridium_during_connect	37	160	141.76	nil	0	0	0.00
Iridium_during_xfer	157	223	832.96
Transponder_ping	1	420	9.95
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.82
TT8	1914	19	388.98
LPSleep	5788	2	136.39
TT8_Active	414	19	84.22
TT8_Sampling	1824	39	742.83
TT8_CF8	344	45	161.28
TT8_Kalman	0	0	0.00
Analog_circuits	1370	12	167.69
GPS_charging	0	0	0.00
Compass	1792	8	146.27
RAFOS	840	1	12.85
Transponder	10	30	3.29

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	13	begin dive
14	-0.64	-146.0	0.0	0.0	0	47	0.00	0.00	-30.80	0.000	2	0.000	0.000	123	1854	2297	0	0	0	0	0	0
50	-0.64	-146.0	3.1	-1.4	6	115	10.25	2.35	-47.28	0.000	4	0.233	0.083	2821	436	3538	0	0	0	0	0	0
361	-0.60	-146.0	43.7	-14.1	74	366	0.00	2.20	0.00	0.000	6	0.000	0.051	2813	1846	3539	0	0	0	0	0	0
703	-0.60	-146.0	96.2	-13.8	135	709	0.00	2.28	0.00	0.000	4	0.000	0.069	2808	3260	3539	0	0	0	0	0	0
741	-0.63	-146.0	101.1	-12.3	143	745	0.00	2.22	0.00	0.000	6	0.000	0.058	2808	1846	3539	0	0	0	0	0	0
1065	-0.63	-146.0	142.7	-13.6	173	1069	0.00	2.25	0.00	0.000	4	0.000	0.068	2807	435	3538	0	0	0	0	0	0
1169	-0.63	-146.0	157.7	-13.9	184	1173	0.00	2.17	0.00	0.000	6	0.000	0.052	2804	1851	3537	0	0	0	0	0	0
1497	-0.63	-146.0	199.9	-12.0	215	1501	0.00	2.25	0.00	0.000	4	0.000	0.069	2804	438	3537	0	0	0	0	0	0
1530	-0.63	-146.0	204.0	-13.4	218	1534	0.00	2.20	0.00	0.000	6	0.000	0.052	2804	1858	3537	0	0	0	0	0	0
1853	-0.63	-146.0	245.2	-13.1	248	1857	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	442	3537	0	0	0	0	0	0
1880	-0.63	-146.0	248.9	-13.6	250	1886	0.00	2.17	0.00	0.000	6	0.000	0.051	2804	1852	3537	0	0	0	0	0	0
2203	-0.63	-146.0	290.6	-12.6	281	2207	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	442	3537	0	0	0	0	0	0
2245	-0.63	-146.0	296.1	-13.0	285	2249	0.00	2.17	0.00	0.000	6	0.000	0.051	2804	1852	3537	0	0	0	0	0	0
2569	-0.63	-146.0	336.6	-12.8	315	2570	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	1852	3537	0	0	0	0	0	0
2888	-0.63	-146.0	376.9	-12.2	345	2892	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	442	3538	0	0	0	0	0	0
2920	-0.63	-146.0	381.2	-13.3	348	2924	0.00	2.15	0.00	0.000	6	0.000	0.051	2804	1853	3537	0	0	0	0	0	0
3243	-0.63	-146.0	421.0	-11.9	378	3247	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	441	3538	0	0	0	0	0	0
3312	-0.63	-146.0	429.4	-11.4	385	3316	0.00	2.17	0.00	0.000	6	0.000	0.051	2804	1853	3538	0	0	0	0	0	0
3635	-0.63	-146.0	468.3	-12.5	415	3639	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	442	3538	0	0	0	0	0	0
3707	-0.63	-146.0	478.2	-13.7	422	3713	0.00	2.15	0.00	0.000	6	0.000	0.051	2804	1858	3539	0	0	0	0	0	0
4030	-0.63	-146.0	516.5	-11.0	453	4034	0.00	2.25	0.00	0.000	4	0.000	0.067	2804	435	3539	0	0	0	0	0	0
4085	-0.63	-146.0	522.5	-10.6	458	4091	0.00	2.17	0.00	0.000	6	0.000	0.051	2804	1855	3539	0	0	0	0	0	0
4409	-1.08	-146.0	545.3	0.1	489	4414	0.32	2.22	0.00	0.000	4	0.082	0.070	2672	3257	3540	0	0	0	0	0	0
4657	end dive: NO_VERTICAL_VELOCITY
state	4657	begin apogee
4664	-0.13	0.0	545.4	0.0	515	4789	0.82	0.00	117.95	0.949	6	0.090	0.000	2977	1699	2939	0	0	0	0	0	0
4789	end apogee: CONTROL_FINISHED_OK
state	4790	begin climb
4791	0.64	146.0	545.3	0.0	528	4922	0.73	2.45	121.12	0.923	4	0.089	0.067	3242	285	2343	0	0	0	0	0	0
5009	0.49	148.7	531.6	9.9	552	5015	0.20	2.30	0.00	0.000	6	0.156	0.046	3187	1706	2337	0	0	0	0	0	0
5333	0.61	203.3	507.1	7.5	583	5388	0.00	2.38	48.05	0.896	4	0.000	0.062	3188	3099	2110	0	0	0	0	0	0
5431	0.68	217.6	499.2	9.3	594	5450	0.15	2.33	13.43	0.825	6	0.089	0.058	3257	1702	2052	0	0	0	0	0	0
5768	0.59	217.6	455.0	13.1	626	5773	0.15	2.33	0.00	0.000	4	0.156	0.069	3224	287	2045	0	0	0	0	0	0
5838	0.59	217.6	447.1	11.1	633	5842	0.00	2.20	0.00	0.000	6	0.000	0.048	3224	1704	2045	0	0	0	0	0	0
6163	0.61	233.6	414.4	9.3	663	6182	0.00	2.30	13.68	0.813	4	0.000	0.068	3233	287	1987	0	0	0	0	0	0
6204	0.61	233.6	410.1	10.4	667	6210	0.00	2.22	0.00	0.000	6	0.000	0.047	3233	1707	1986	0	0	0	0	0	0
6528	0.61	233.6	376.4	11.4	698	6529	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	1708	1984	0	0	0	0	0	0
6847	0.61	233.6	341.0	11.5	728	6851	0.00	2.28	0.00	0.000	4	0.000	0.069	3242	287	1983	0	0	0	0	0	0
6919	0.61	233.6	332.0	12.6	735	6925	0.00	2.17	0.00	0.000	6	0.000	0.047	3241	1702	1983	0	0	0	0	0	0
7243	0.61	233.6	293.1	12.2	766	7244	0.00	0.00	0.00	0.000	6	0.000	0.000	3242	1702	1983	0	0	0	0	0	0
7562	0.61	233.6	257.4	11.8	796	7566	0.00	2.22	0.00	0.000	4	0.000	0.063	3242	3103	1983	0	0	0	0	0	0
7580	0.57	233.6	255.1	12.1	797	7587	0.15	2.22	0.00	0.000	6	0.164	0.058	3207	1697	1982	0	0	0	0	0	0
7906	0.68	259.4	227.0	8.8	828	7935	0.12	2.25	22.90	0.742	4	0.099	0.067	3276	289	1881	0	0	0	0	0	0
8001	0.62	259.4	215.1	13.2	838	8006	0.17	2.20	0.00	0.000	6	0.153	0.046	3224	1708	1877	0	0	0	0	0	0
8325	0.73	289.4	185.2	8.6	868	8354	0.10	0.00	26.58	0.714	6	0.111	0.000	3276	1707	1760	0	0	0	0	0	0
8671	0.68	289.4	141.5	13.2	901	8672	0.00	0.00	0.00	0.000	6	0.000	0.000	3276	1707	1753	0	0	0	0	0	0
8990	0.65	289.4	100.9	12.9	931	8992	0.12	0.00	0.00	0.000	6	0.161	0.000	3239	1707	1751	0	0	0	0	0	0
9327	0.72	289.4	63.4	11.4	990	9332	0.00	2.28	0.00	0.000	4	0.000	0.070	3250	291	1750	0	0	0	0	0	0
9388	0.81	289.4	56.6	11.0	1003	9394	0.10	2.17	0.00	0.000	6	0.111	0.048	3302	1701	1750	0	0	0	0	0	0
9732	0.76	289.4	14.8	11.4	1064	9738	0.12	0.00	0.00	0.000	6	0.164	0.000	3266	1702	1750	0	0	0	0	0	0
9837	end climb: SURFACE_DEPTH_REACHED
state	9837	begin surface coast
9878	end surface coast: CONTROL_FINISHED_OK
state	9879	begin surface