Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 104 * 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 104 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 24 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 31 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 -6222.4907 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 -6222.4907

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 24 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 104 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 020530,6703.483,-5650.397,95,0.9,95,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021055,6703.516,-5650.330,12,2.0,16,-37.6 MHEAD_RNG_PITCHd_Wd 308.7,33411,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 528

Post-dive calculations and measurements:

FINISH 1.5,1.020968 _24V_AH 23.8,19.555

SM_CCo 9783,0.00,0.000,0,0,1648,316.68 _10V_AH 10.3,8.820

SM_GC 2.56,8.23,0.00,0.00,0.054,0.000,0.000,128,1861,1648,-8.94,0.31,316.68 FG_AHR_24Vo 0.000

RAFOS_CLK 435 FG_AHR_10Vo 0.000

RAFOS 0,1257566495,4.033333,4.026389,43,39,38,0,0,0,360,457,39,0,0,0 MEM 188348

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 40974,1073

IRIDIUM_FIX 6636.54,-5655.33,310199,232352 CAP_FILE_SIZE 122766,0

TT8_MAMPS 0.027612 CFSIZE 260165632,242995200

HUMID 39.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.61951 SOUNDSPEED 1471.6

TCM_TEMP 16.50 CURRENT 0.023,285.9,1

XPDR_PINGS 0 GPS 071109,045616,6703.521,-5654.271,52,2.4,71,-37.6

ALTIM_BOTTOM_PING 400.4,133.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 233 120.40 SBE_CT 742 24 424.21

Roll_motor 102 83 204.84 SBE_O2 785 19 354.99

VBD_pump_during_apogee 385 944 8675.39 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 28 103 70.47 nil 0 0 0.00

Iridium_during_connect 29 160 112.97 nil 0 0 0.00

Iridium_during_xfer 158 223 843.84

Transponder_ping 0 420 5.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.44

TT8 1908 19 391.53

LPSleep 5657 2 134.62

TT8_Active 449 19 92.14

TT8_Sampling 1762 39 724.51

TT8_CF8 332 45 157.44

TT8_Kalman 0 0 0.00

Analog_circuits 1389 12 171.80

GPS_charging 0 0 0.00

Compass 1734 8 142.95

RAFOS 840 1 12.98

Transponder 6 30 1.92

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 58 0.00 0.00 -41.80 0.000 2 0.000 0.000 129 1857 2590 0 0 0 0 0 0

61 -0.64 -146.0 3.2 -1.4 8 109 10.18 2.38 -28.75 0.000 4 0.234 0.084 2808 438 3539 0 0 0 0 0 0

232 -0.57 -146.0 31.3 -15.8 45 238 0.12 2.20 0.00 0.000 6 0.172 0.053 2835 1843 3540 0 0 0 0 0 0

576 -0.61 -146.0 76.2 -12.8 106 582 0.00 2.28 0.00 0.000 4 0.000 0.069 2836 435 3540 0 0 0 0 0 0

597 -0.65 -146.0 79.2 -13.4 110 603 0.00 2.20 0.00 0.000 6 0.000 0.053 2836 1850 3539 0 0 0 0 0 0

938 -0.71 -146.0 118.2 -10.9 157 942 0.12 2.28 0.00 0.000 4 0.097 0.070 2770 3257 3539 0 0 0 0 0 0

974 -0.67 -146.0 123.4 -14.6 160 980 0.12 2.22 0.00 0.000 6 0.160 0.058 2805 1848 3538 0 0 0 0 0 0

1300 -0.67 -146.0 163.9 -11.1 191 1304 0.00 2.25 0.00 0.000 4 0.000 0.071 2805 440 3538 0 0 0 0 0 0

1360 -0.67 -146.0 171.2 -11.6 197 1364 0.00 2.20 0.00 0.000 6 0.000 0.052 2797 1859 3537 0 0 0 0 0 0

1685 -0.64 -146.0 212.4 -13.2 227 1689 0.00 2.25 0.00 0.000 4 0.000 0.068 2797 442 3537 0 0 0 0 0 0

1727 -0.64 -146.0 218.7 -14.5 231 1730 0.00 2.17 0.00 0.000 6 0.000 0.052 2797 1851 3538 0 0 0 0 0 0

2054 -0.64 -146.0 261.2 -12.5 262 2058 0.00 2.25 0.00 0.000 4 0.000 0.070 2797 3262 3538 0 0 0 0 0 0

2081 -0.68 -146.0 264.5 -11.5 264 2086 0.00 2.22 0.00 0.000 6 0.000 0.057 2797 1840 3538 0 0 0 0 0 0

2405 -0.68 -146.0 307.4 -13.9 295 2408 0.00 2.20 0.00 0.000 4 0.000 0.068 2797 442 3538 0 0 0 0 0 0

2469 -0.68 -146.0 317.1 -15.2 302 2473 0.00 2.17 0.00 0.000 6 0.000 0.051 2797 1855 3538 0 0 0 0 0 0

2797 -0.68 -146.0 359.9 -12.8 333 2801 0.00 2.25 0.00 0.000 4 0.000 0.069 2797 438 3538 0 0 0 0 0 0

2832 -0.68 -146.0 364.7 -12.5 336 2838 0.00 2.17 0.00 0.000 6 0.000 0.051 2797 1852 3538 0 0 0 0 0 0

3156 -0.68 -146.0 405.4 -11.7 367 3160 0.00 2.22 0.00 0.000 4 0.000 0.067 2797 441 3538 0 0 0 0 0 0

3184 -0.68 -146.0 408.6 -12.1 370 3188 0.00 2.17 0.00 0.000 6 0.000 0.051 2797 1858 3539 0 0 0 0 0 0

3513 -0.68 -146.0 444.8 -11.1 401 3517 0.00 2.22 0.00 0.000 4 0.000 0.067 2797 441 3538 0 0 0 0 0 0

3567 -0.68 -146.0 451.3 -11.3 406 3574 0.00 2.15 0.00 0.000 6 0.000 0.050 2797 1850 3539 0 0 0 0 0 0

3891 -0.68 -146.0 486.4 -10.6 437 3895 0.00 2.20 0.00 0.000 4 0.000 0.068 2797 440 3539 0 0 0 0 0 0

3936 -0.68 -146.0 491.8 -11.6 441 3942 0.00 2.17 0.00 0.000 6 0.000 0.051 2797 1859 3539 0 0 0 0 0 0

4260 -0.68 -146.0 525.7 -10.6 472 4264 0.00 2.25 0.00 0.000 4 0.000 0.067 2797 434 3540 0 0 0 0 0 0

4282 end dive: TARGET_DEPTH_EXCEEDED

state 4282 begin apogee

4287 -0.13 0.0 528.3 13.0 474 4408 0.55 0.00 117.45 0.945 6 0.123 0.000 2981 1708 2940 0 0 0 0 0 0

4409 end apogee: CONTROL_FINISHED_OK

state 4409 begin climb

4411 0.64 146.0 532.4 0.0 486 4542 0.70 2.50 121.18 0.918 4 0.081 0.067 3243 288 2342 0 0 0 0 0 0

4645 0.49 146.0 518.9 10.3 512 4650 0.20 2.28 0.00 0.000 6 0.155 0.046 3188 1702 2337 0 0 0 0 0 0

4970 0.56 203.3 493.5 7.4 542 5025 0.00 2.35 48.03 0.892 4 0.000 0.061 3188 3112 2109 0 0 0 0 0 0

5081 0.62 203.3 484.4 10.3 554 5085 0.00 2.33 0.00 0.000 6 0.000 0.057 3191 1696 2105 0 0 0 0 0 0

5407 0.70 210.8 453.9 9.7 584 5421 0.17 2.33 6.65 0.727 4 0.084 0.068 3278 293 2079 0 0 0 0 0 0

5472 0.54 210.8 444.3 15.2 591 5477 0.28 2.20 0.00 0.000 6 0.151 0.047 3197 1702 2078 0 0 0 0 0 0

5797 0.61 230.5 412.6 9.1 621 5824 0.00 2.33 17.88 0.830 4 0.000 0.068 3207 281 2000 0 0 0 0 0 0

5848 0.68 230.5 407.5 10.4 626 5854 0.10 2.22 0.00 0.000 6 0.112 0.046 3255 1699 1998 0 0 0 0 0 0

6172 0.61 230.5 366.6 12.7 657 6173 0.12 0.00 0.00 0.000 6 0.163 0.000 3220 1701 1996 0 0 0 0 0 0

6490 0.61 232.9 334.2 9.9 687 6491 0.00 0.00 0.00 0.000 6 0.000 0.000 3220 1701 1995 0 0 0 0 0 0

6809 0.61 232.9 302.6 10.0 717 6813 0.00 2.30 0.00 0.000 4 0.000 0.071 3229 288 1995 0 0 0 0 0 0

6832 0.61 232.9 300.1 10.6 719 6836 0.00 2.17 0.00 0.000 6 0.000 0.048 3229 1706 1994 0 0 0 0 0 0

7160 0.61 232.9 266.8 10.2 750 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1706 1994 0 0 0 0 0 0

7480 0.62 235.9 235.4 9.9 780 7490 0.00 2.20 5.35 0.612 4 0.000 0.061 3230 3104 1977 0 0 0 0 0 0

7531 0.62 235.9 229.8 11.3 785 7537 0.00 2.22 0.00 0.000 6 0.000 0.057 3239 1696 1976 0 0 0 0 0 0

7855 0.62 235.9 196.5 10.6 816 7859 0.00 2.22 0.00 0.000 4 0.000 0.069 3247 283 1976 0 0 0 0 0 0

7924 0.62 235.9 188.5 11.9 823 7928 0.00 2.17 0.00 0.000 6 0.000 0.047 3247 1705 1976 0 0 0 0 0 0

8247 0.62 235.9 151.1 11.2 853 8251 0.00 2.17 0.00 0.000 4 0.000 0.062 3246 3104 1976 0 0 0 0 0 0

8293 0.62 235.9 145.6 12.7 857 8299 0.12 2.20 0.00 0.000 6 0.171 0.057 3220 1700 1975 0 0 0 0 0 0

8618 0.73 269.7 116.9 8.4 888 8654 0.12 2.35 29.77 0.686 4 0.100 0.069 3291 284 1839 0 0 0 0 0 0

8684 0.63 269.7 109.2 13.3 895 8688 0.20 2.20 0.00 0.000 6 0.152 0.046 3231 1704 1836 0 0 0 0 0 0

9021 0.72 280.1 74.6 9.5 947 9037 0.00 2.22 9.60 0.619 4 0.000 0.061 3231 3103 1796 0 0 0 0 0 0

9075 0.78 280.1 69.4 10.0 958 9081 0.12 2.25 0.00 0.000 6 0.098 0.057 3299 1699 1794 0 0 0 0 0 0

9419 0.71 280.1 27.0 12.5 1019 9426 0.15 2.25 0.00 0.000 4 0.156 0.069 3265 289 1792 0 0 0 0 0 0

9477 0.83 313.7 22.5 8.5 1031 9512 0.00 2.17 29.85 0.631 6 0.000 0.048 3265 1700 1660 0 0 0 0 0 0

9674 end climb: SURFACE_DEPTH_REACHED

state 9674 begin surface coast

9707 end surface coast: CONTROL_FINISHED_OK

state 9708 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	104	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	24	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	31	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	-6222.4907	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	020530,6703.483,-5650.397,95,0.9,95,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021055,6703.516,-5650.330,12,2.0,16,-37.6	MHEAD_RNG_PITCHd_Wd	308.7,33411,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	528

FINISH	1.5,1.020968	_24V_AH	23.8,19.555
SM_CCo	9783,0.00,0.000,0,0,1648,316.68	_10V_AH	10.3,8.820
SM_GC	2.56,8.23,0.00,0.00,0.054,0.000,0.000,128,1861,1648,-8.94,0.31,316.68	FG_AHR_24Vo	0.000
RAFOS_CLK	435	FG_AHR_10Vo	0.000
RAFOS	0,1257566495,4.033333,4.026389,43,39,38,0,0,0,360,457,39,0,0,0	MEM	188348
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	40974,1073
IRIDIUM_FIX	6636.54,-5655.33,310199,232352	CAP_FILE_SIZE	122766,0
TT8_MAMPS	0.027612	CFSIZE	260165632,242995200
HUMID	39.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.61951	SOUNDSPEED	1471.6
TCM_TEMP	16.50	CURRENT	0.023,285.9,1
XPDR_PINGS	0	GPS	071109,045616,6703.521,-5654.271,52,2.4,71,-37.6
ALTIM_BOTTOM_PING	400.4,133.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	233	120.40	SBE_CT	742	24	424.21
Roll_motor	102	83	204.84	SBE_O2	785	19	354.99
VBD_pump_during_apogee	385	944	8675.39	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	28	103	70.47	nil	0	0	0.00
Iridium_during_connect	29	160	112.97	nil	0	0	0.00
Iridium_during_xfer	158	223	843.84
Transponder_ping	0	420	5.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.44
TT8	1908	19	391.53
LPSleep	5657	2	134.62
TT8_Active	449	19	92.14
TT8_Sampling	1762	39	724.51
TT8_CF8	332	45	157.44
TT8_Kalman	0	0	0.00
Analog_circuits	1389	12	171.80
GPS_charging	0	0	0.00
Compass	1734	8	142.95
RAFOS	840	1	12.98
Transponder	6	30	1.92

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	58	0.00	0.00	-41.80	0.000	2	0.000	0.000	129	1857	2590	0	0	0	0	0	0
61	-0.64	-146.0	3.2	-1.4	8	109	10.18	2.38	-28.75	0.000	4	0.234	0.084	2808	438	3539	0	0	0	0	0	0
232	-0.57	-146.0	31.3	-15.8	45	238	0.12	2.20	0.00	0.000	6	0.172	0.053	2835	1843	3540	0	0	0	0	0	0
576	-0.61	-146.0	76.2	-12.8	106	582	0.00	2.28	0.00	0.000	4	0.000	0.069	2836	435	3540	0	0	0	0	0	0
597	-0.65	-146.0	79.2	-13.4	110	603	0.00	2.20	0.00	0.000	6	0.000	0.053	2836	1850	3539	0	0	0	0	0	0
938	-0.71	-146.0	118.2	-10.9	157	942	0.12	2.28	0.00	0.000	4	0.097	0.070	2770	3257	3539	0	0	0	0	0	0
974	-0.67	-146.0	123.4	-14.6	160	980	0.12	2.22	0.00	0.000	6	0.160	0.058	2805	1848	3538	0	0	0	0	0	0
1300	-0.67	-146.0	163.9	-11.1	191	1304	0.00	2.25	0.00	0.000	4	0.000	0.071	2805	440	3538	0	0	0	0	0	0
1360	-0.67	-146.0	171.2	-11.6	197	1364	0.00	2.20	0.00	0.000	6	0.000	0.052	2797	1859	3537	0	0	0	0	0	0
1685	-0.64	-146.0	212.4	-13.2	227	1689	0.00	2.25	0.00	0.000	4	0.000	0.068	2797	442	3537	0	0	0	0	0	0
1727	-0.64	-146.0	218.7	-14.5	231	1730	0.00	2.17	0.00	0.000	6	0.000	0.052	2797	1851	3538	0	0	0	0	0	0
2054	-0.64	-146.0	261.2	-12.5	262	2058	0.00	2.25	0.00	0.000	4	0.000	0.070	2797	3262	3538	0	0	0	0	0	0
2081	-0.68	-146.0	264.5	-11.5	264	2086	0.00	2.22	0.00	0.000	6	0.000	0.057	2797	1840	3538	0	0	0	0	0	0
2405	-0.68	-146.0	307.4	-13.9	295	2408	0.00	2.20	0.00	0.000	4	0.000	0.068	2797	442	3538	0	0	0	0	0	0
2469	-0.68	-146.0	317.1	-15.2	302	2473	0.00	2.17	0.00	0.000	6	0.000	0.051	2797	1855	3538	0	0	0	0	0	0
2797	-0.68	-146.0	359.9	-12.8	333	2801	0.00	2.25	0.00	0.000	4	0.000	0.069	2797	438	3538	0	0	0	0	0	0
2832	-0.68	-146.0	364.7	-12.5	336	2838	0.00	2.17	0.00	0.000	6	0.000	0.051	2797	1852	3538	0	0	0	0	0	0
3156	-0.68	-146.0	405.4	-11.7	367	3160	0.00	2.22	0.00	0.000	4	0.000	0.067	2797	441	3538	0	0	0	0	0	0
3184	-0.68	-146.0	408.6	-12.1	370	3188	0.00	2.17	0.00	0.000	6	0.000	0.051	2797	1858	3539	0	0	0	0	0	0
3513	-0.68	-146.0	444.8	-11.1	401	3517	0.00	2.22	0.00	0.000	4	0.000	0.067	2797	441	3538	0	0	0	0	0	0
3567	-0.68	-146.0	451.3	-11.3	406	3574	0.00	2.15	0.00	0.000	6	0.000	0.050	2797	1850	3539	0	0	0	0	0	0
3891	-0.68	-146.0	486.4	-10.6	437	3895	0.00	2.20	0.00	0.000	4	0.000	0.068	2797	440	3539	0	0	0	0	0	0
3936	-0.68	-146.0	491.8	-11.6	441	3942	0.00	2.17	0.00	0.000	6	0.000	0.051	2797	1859	3539	0	0	0	0	0	0
4260	-0.68	-146.0	525.7	-10.6	472	4264	0.00	2.25	0.00	0.000	4	0.000	0.067	2797	434	3540	0	0	0	0	0	0
4282	end dive: TARGET_DEPTH_EXCEEDED
state	4282	begin apogee
4287	-0.13	0.0	528.3	13.0	474	4408	0.55	0.00	117.45	0.945	6	0.123	0.000	2981	1708	2940	0	0	0	0	0	0
4409	end apogee: CONTROL_FINISHED_OK
state	4409	begin climb
4411	0.64	146.0	532.4	0.0	486	4542	0.70	2.50	121.18	0.918	4	0.081	0.067	3243	288	2342	0	0	0	0	0	0
4645	0.49	146.0	518.9	10.3	512	4650	0.20	2.28	0.00	0.000	6	0.155	0.046	3188	1702	2337	0	0	0	0	0	0
4970	0.56	203.3	493.5	7.4	542	5025	0.00	2.35	48.03	0.892	4	0.000	0.061	3188	3112	2109	0	0	0	0	0	0
5081	0.62	203.3	484.4	10.3	554	5085	0.00	2.33	0.00	0.000	6	0.000	0.057	3191	1696	2105	0	0	0	0	0	0
5407	0.70	210.8	453.9	9.7	584	5421	0.17	2.33	6.65	0.727	4	0.084	0.068	3278	293	2079	0	0	0	0	0	0
5472	0.54	210.8	444.3	15.2	591	5477	0.28	2.20	0.00	0.000	6	0.151	0.047	3197	1702	2078	0	0	0	0	0	0
5797	0.61	230.5	412.6	9.1	621	5824	0.00	2.33	17.88	0.830	4	0.000	0.068	3207	281	2000	0	0	0	0	0	0
5848	0.68	230.5	407.5	10.4	626	5854	0.10	2.22	0.00	0.000	6	0.112	0.046	3255	1699	1998	0	0	0	0	0	0
6172	0.61	230.5	366.6	12.7	657	6173	0.12	0.00	0.00	0.000	6	0.163	0.000	3220	1701	1996	0	0	0	0	0	0
6490	0.61	232.9	334.2	9.9	687	6491	0.00	0.00	0.00	0.000	6	0.000	0.000	3220	1701	1995	0	0	0	0	0	0
6809	0.61	232.9	302.6	10.0	717	6813	0.00	2.30	0.00	0.000	4	0.000	0.071	3229	288	1995	0	0	0	0	0	0
6832	0.61	232.9	300.1	10.6	719	6836	0.00	2.17	0.00	0.000	6	0.000	0.048	3229	1706	1994	0	0	0	0	0	0
7160	0.61	232.9	266.8	10.2	750	7161	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	1706	1994	0	0	0	0	0	0
7480	0.62	235.9	235.4	9.9	780	7490	0.00	2.20	5.35	0.612	4	0.000	0.061	3230	3104	1977	0	0	0	0	0	0
7531	0.62	235.9	229.8	11.3	785	7537	0.00	2.22	0.00	0.000	6	0.000	0.057	3239	1696	1976	0	0	0	0	0	0
7855	0.62	235.9	196.5	10.6	816	7859	0.00	2.22	0.00	0.000	4	0.000	0.069	3247	283	1976	0	0	0	0	0	0
7924	0.62	235.9	188.5	11.9	823	7928	0.00	2.17	0.00	0.000	6	0.000	0.047	3247	1705	1976	0	0	0	0	0	0
8247	0.62	235.9	151.1	11.2	853	8251	0.00	2.17	0.00	0.000	4	0.000	0.062	3246	3104	1976	0	0	0	0	0	0
8293	0.62	235.9	145.6	12.7	857	8299	0.12	2.20	0.00	0.000	6	0.171	0.057	3220	1700	1975	0	0	0	0	0	0
8618	0.73	269.7	116.9	8.4	888	8654	0.12	2.35	29.77	0.686	4	0.100	0.069	3291	284	1839	0	0	0	0	0	0
8684	0.63	269.7	109.2	13.3	895	8688	0.20	2.20	0.00	0.000	6	0.152	0.046	3231	1704	1836	0	0	0	0	0	0
9021	0.72	280.1	74.6	9.5	947	9037	0.00	2.22	9.60	0.619	4	0.000	0.061	3231	3103	1796	0	0	0	0	0	0
9075	0.78	280.1	69.4	10.0	958	9081	0.12	2.25	0.00	0.000	6	0.098	0.057	3299	1699	1794	0	0	0	0	0	0
9419	0.71	280.1	27.0	12.5	1019	9426	0.15	2.25	0.00	0.000	4	0.156	0.069	3265	289	1792	0	0	0	0	0	0
9477	0.83	313.7	22.5	8.5	1031	9512	0.00	2.17	29.85	0.631	6	0.000	0.048	3265	1700	1660	0	0	0	0	0	0
9674	end climb: SURFACE_DEPTH_REACHED
state	9674	begin surface coast
9707	end surface coast: CONTROL_FINISHED_OK
state	9708	begin surface