Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 157 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 157 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 20 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 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 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 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 -31505.295 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 2 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 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 31 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 20 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 -31505.295

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 -1 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 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 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 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 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 20 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 157 NAV_MODE 2 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 184437,6702.833,-5718.497,29,1.7,29,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 185002,6702.825,-5718.497,14,1.7,14,-37.7 MHEAD_RNG_PITCHd_Wd 81.9,22025,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 778

Post-dive calculations and measurements:

FINISH 0.5,1.022351 _24V_AH 22.9,38.052

SM_CCo 11608,0.00,0.000,0,0,1332,360.10 _10V_AH 10.2,19.425

SM_GC 1.11,7.35,0.00,0.00,0.076,0.000,0.000,125,2464,1332,-7.04,0.11,360.10 FG_AHR_24Vo 0.000

RAFOS_CLK 711 FG_AHR_10Vo 0.000

RAFOS 0,1258574473,20.033333,20.020277,65,61,55,0,0,0,187,208,199,0,0,0 MEM 188016

RAFOS_FIX 6700.313477,-5723.862305,181109,202046,5,107,0.96 DATA_FILE_SIZE 41043,996

IRIDIUM_FIX 6631.12,-5716.55,120299,151514 CAP_FILE_SIZE 126687,0

TT8_MAMPS 0.026845 CFSIZE 260165632,237785088

HUMID 47.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90659 SOUNDSPEED 1470.0

TCM_TEMP 18.00 CURRENT 0.660,195.5,1

XPDR_PINGS 9 GPS 181109,220531,6702.483,-5715.228,41,2.0,41,-37.6

ALTIM_TOP_PING 19.7,19.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 302 133.73 SBE_CT 716 24 393.88

Roll_motor 121 89 250.30 SBE_O2 704 19 306.41

VBD_pump_during_apogee 429 1232 12128.64 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 66.52 nil 0 0 0.00

Iridium_during_connect 31 160 115.54 nil 0 0 0.00

Iridium_during_xfer 152 223 777.38

Transponder_ping 2 420 24.05

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.92

TT8 1940 19 394.20

LPSleep 7122 2 167.81

TT8_Active 530 19 107.81

TT8_Sampling 1965 39 800.28

TT8_CF8 385 45 180.67

TT8_Kalman 0 0 0.00

Analog_circuits 1563 12 191.40

GPS_charging 0 0 0.00

Compass 1931 8 157.61

RAFOS 2520 1 38.56

Transponder 2 30 0.80

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 -0.73 -146.0 0.0 0.0 0 115 0.00 0.00 -96.47 0.000 2 0.000 0.000 125 2463 3144 0 0 0 0 0 0

118 -0.73 -146.0 3.3 -5.5 19 141 9.82 2.62 -6.72 0.000 4 0.303 0.090 2150 868 3397 0 0 0 0 0 0

292 -0.73 -146.0 57.5 -31.7 50 298 0.00 2.58 0.00 0.000 6 0.000 0.073 2150 2457 3400 0 0 0 0 0 0

625 -0.73 -146.0 148.6 -25.2 94 629 0.00 2.50 0.00 0.000 4 0.000 0.087 2151 3923 3399 0 0 0 0 0 0

881 -0.73 -146.0 211.6 -23.2 116 889 0.00 2.40 0.00 0.000 6 0.000 0.064 2151 2467 3399 0 0 0 0 0 0

1206 -0.73 -146.0 281.1 -20.4 147 1210 0.00 2.47 0.00 0.000 4 0.000 0.087 2151 3917 3399 0 0 0 0 0 0

1406 -0.73 -146.0 323.1 -19.6 164 1413 0.00 2.40 0.00 0.000 6 0.000 0.064 2151 2479 3398 0 0 0 0 0 0

1731 -0.73 -146.0 387.5 -20.2 195 1736 0.00 2.45 0.00 0.000 4 0.000 0.087 2151 3919 3399 0 0 0 0 0 0

1884 -0.73 -146.0 419.8 -21.1 208 1888 0.00 2.35 0.00 0.000 6 0.000 0.064 2151 2482 3398 0 0 0 0 0 0

2208 -0.73 -146.0 485.1 -19.7 238 2212 0.00 2.42 0.00 0.000 4 0.000 0.086 2151 3914 3399 0 0 0 0 0 0

2314 -0.73 -146.0 507.1 -20.6 247 2318 0.00 2.33 0.00 0.000 6 0.000 0.063 2151 2489 3399 0 0 0 0 0 0

2638 -0.73 -146.0 570.7 -19.6 277 2642 0.00 2.42 0.00 0.000 4 0.000 0.086 2151 3918 3399 0 0 0 0 0 0

2733 -0.73 -146.0 590.2 -20.1 285 2737 0.00 2.33 0.00 0.000 6 0.000 0.062 2151 2493 3399 0 0 0 0 0 0

3067 -0.73 -146.0 654.4 -18.9 299 3071 0.00 2.40 0.00 0.000 4 0.000 0.085 2151 3914 3399 0 0 0 0 0 0

3162 -0.73 -146.0 673.7 -20.6 302 3166 0.00 2.33 0.00 0.000 6 0.000 0.062 2150 2489 3399 0 0 0 0 0 0

3496 -0.73 -146.0 740.6 -20.4 313 3500 0.00 2.42 0.00 0.000 4 0.000 0.084 2151 3919 3399 0 0 0 0 0 0

3630 -0.73 -146.0 767.3 -16.8 317 3634 0.00 2.33 0.00 0.000 6 0.000 0.064 2151 2501 3399 0 0 0 0 0 0

3773 end dive: NO_VERTICAL_VELOCITY

state 3773 begin apogee

3778 -0.16 0.0 767.4 0.0 322 3902 0.62 0.00 120.07 1.233 6 0.163 0.000 2335 1952 2800 0 0 0 0 0 0

3902 end apogee: CONTROL_FINISHED_OK

state 3903 begin climb

3905 0.73 146.0 767.3 0.0 326 4038 1.10 2.78 124.93 1.177 4 0.212 0.084 2608 371 2203 0 0 0 0 0 0

4168 0.79 202.3 751.6 6.8 334 4225 0.12 2.62 48.95 1.144 6 0.199 0.061 2636 1961 1974 0 0 0 0 0 0

4530 0.85 244.8 723.8 7.4 346 4574 0.00 2.85 37.28 1.133 4 0.000 0.077 2636 3544 1801 0 0 0 0 0 0

4827 0.86 259.6 697.3 8.5 355 4846 0.00 2.90 13.85 1.062 6 0.000 0.065 2636 1823 1741 0 0 0 0 0 0

5164 0.86 259.6 662.8 10.5 366 5169 0.00 2.38 0.00 0.000 4 0.000 0.087 2636 359 1738 0 0 0 0 0 0

5214 0.88 271.7 658.1 8.7 367 5231 0.12 2.42 11.50 1.039 6 0.173 0.061 2670 1914 1692 0 0 0 0 0 0

5561 0.88 271.7 624.7 10.4 379 5566 0.00 2.70 0.00 0.000 4 0.000 0.077 2670 3534 1689 0 0 0 0 0 0

5791 0.88 271.7 600.0 10.6 386 5795 0.00 2.58 0.00 0.000 6 0.000 0.065 2670 1970 1689 0 0 0 0 0 0

6115 0.88 271.7 563.8 11.3 415 6120 0.00 2.62 0.00 0.000 4 0.000 0.078 2670 3540 1689 0 0 0 0 0 0

6277 0.88 271.7 547.0 10.3 429 6281 0.00 2.55 0.00 0.000 6 0.000 0.065 2670 1990 1689 0 0 0 0 0 0

6602 0.88 271.7 511.7 10.8 459 6607 0.00 2.58 0.00 0.000 4 0.000 0.078 2670 3533 1688 0 0 0 0 0 0

6667 0.88 271.7 504.8 10.4 464 6673 0.00 2.53 0.00 0.000 6 0.000 0.065 2670 1989 1688 0 0 0 0 0 0

6993 0.88 271.7 471.7 10.2 495 6998 0.00 2.58 0.00 0.000 4 0.000 0.078 2670 3534 1688 0 0 0 0 0 0

7128 0.88 271.7 458.4 10.1 506 7133 0.00 2.53 0.00 0.000 6 0.000 0.065 2670 1995 1688 0 0 0 0 0 0

7452 0.88 271.7 424.1 11.4 537 7456 0.00 2.58 0.00 0.000 4 0.000 0.078 2670 3535 1688 0 0 0 0 0 0

7517 0.88 271.7 416.5 11.1 542 7523 0.00 2.50 0.00 0.000 6 0.000 0.064 2670 2006 1688 0 0 0 0 0 0

7843 0.88 271.7 379.4 12.2 573 7844 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2007 1688 0 0 0 0 0 0

8161 0.88 271.7 341.1 12.1 603 8166 0.00 2.55 0.00 0.000 4 0.000 0.077 2670 3539 1688 0 0 0 0 0 0

8335 0.88 271.7 320.9 11.8 618 8340 0.00 2.50 0.00 0.000 6 0.000 0.064 2670 2004 1688 0 0 0 0 0 0

8660 0.88 271.7 282.4 11.9 648 8665 0.00 2.53 0.00 0.000 4 0.000 0.077 2670 3535 1688 0 0 0 0 0 0

8715 0.88 271.7 276.2 10.8 652 8722 0.00 2.50 0.00 0.000 6 0.000 0.063 2670 2019 1688 0 0 0 0 0 0

9041 0.91 294.5 246.8 8.2 683 9067 0.00 2.60 19.92 0.867 4 0.000 0.081 2670 3528 1597 0 0 0 0 0 0

9179 0.92 306.1 234.3 8.7 695 9196 0.00 2.70 10.85 0.821 6 0.000 0.064 2670 1882 1552 0 0 0 0 0 0

9514 0.92 306.1 201.3 9.4 727 9518 0.00 2.78 0.00 0.000 4 0.000 0.077 2669 3545 1549 0 0 0 0 0 0

9568 0.92 306.1 195.9 10.6 731 9574 0.00 2.62 0.00 0.000 6 0.000 0.064 2670 1939 1549 0 0 0 0 0 0

9892 0.92 306.1 164.1 9.7 762 9896 0.00 2.53 0.00 0.000 4 0.000 0.084 2670 355 1548 0 0 0 0 0 0

9935 0.92 306.1 159.5 10.7 765 9942 0.00 2.60 0.00 0.000 6 0.000 0.057 2670 2051 1548 0 0 0 0 0 0

10260 0.92 306.1 127.9 9.2 796 10264 0.00 2.70 0.00 0.000 4 0.000 0.082 2670 364 1548 0 0 0 0 0 0

10287 0.92 306.9 125.4 9.1 798 10292 0.00 2.80 0.00 0.000 6 0.000 0.061 2671 2180 1548 0 0 0 0 0 0

10614 0.98 356.9 96.5 7.1 832 10664 0.12 2.33 42.35 0.785 4 0.189 0.077 2703 3543 1344 0 0 0 0 0 0

10900 0.98 356.9 65.9 10.5 883 10905 0.00 2.08 0.00 0.000 6 0.000 0.061 2703 2290 1339 0 0 0 0 0 0

11241 0.98 356.9 30.2 9.2 944 11247 0.00 2.10 0.00 0.000 4 0.000 0.076 2704 3534 1337 0 0 0 0 0 0

11309 0.98 356.9 23.5 9.8 956 11314 0.00 2.17 0.00 0.000 6 0.000 0.061 2704 2204 1336 0 0 0 0 0 0

11514 end climb: SURFACE_DEPTH_REACHED

state 11514 begin surface coast

11533 end surface coast: CONTROL_FINISHED_OK

state 11533 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	157	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	20	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	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	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	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	-31505.295	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	2	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	184437,6702.833,-5718.497,29,1.7,29,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	185002,6702.825,-5718.497,14,1.7,14,-37.7	MHEAD_RNG_PITCHd_Wd	81.9,22025,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	778

FINISH	0.5,1.022351	_24V_AH	22.9,38.052
SM_CCo	11608,0.00,0.000,0,0,1332,360.10	_10V_AH	10.2,19.425
SM_GC	1.11,7.35,0.00,0.00,0.076,0.000,0.000,125,2464,1332,-7.04,0.11,360.10	FG_AHR_24Vo	0.000
RAFOS_CLK	711	FG_AHR_10Vo	0.000
RAFOS	0,1258574473,20.033333,20.020277,65,61,55,0,0,0,187,208,199,0,0,0	MEM	188016
RAFOS_FIX	6700.313477,-5723.862305,181109,202046,5,107,0.96	DATA_FILE_SIZE	41043,996
IRIDIUM_FIX	6631.12,-5716.55,120299,151514	CAP_FILE_SIZE	126687,0
TT8_MAMPS	0.026845	CFSIZE	260165632,237785088
HUMID	47.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90659	SOUNDSPEED	1470.0
TCM_TEMP	18.00	CURRENT	0.660,195.5,1
XPDR_PINGS	9	GPS	181109,220531,6702.483,-5715.228,41,2.0,41,-37.6
ALTIM_TOP_PING	19.7,19.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	302	133.73	SBE_CT	716	24	393.88
Roll_motor	121	89	250.30	SBE_O2	704	19	306.41
VBD_pump_during_apogee	429	1232	12128.64	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	66.52	nil	0	0	0.00
Iridium_during_connect	31	160	115.54	nil	0	0	0.00
Iridium_during_xfer	152	223	777.38
Transponder_ping	2	420	24.05
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.92
TT8	1940	19	394.20
LPSleep	7122	2	167.81
TT8_Active	530	19	107.81
TT8_Sampling	1965	39	800.28
TT8_CF8	385	45	180.67
TT8_Kalman	0	0	0.00
Analog_circuits	1563	12	191.40
GPS_charging	0	0	0.00
Compass	1931	8	157.61
RAFOS	2520	1	38.56
Transponder	2	30	0.80

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	-0.73	-146.0	0.0	0.0	0	115	0.00	0.00	-96.47	0.000	2	0.000	0.000	125	2463	3144	0	0	0	0	0	0
118	-0.73	-146.0	3.3	-5.5	19	141	9.82	2.62	-6.72	0.000	4	0.303	0.090	2150	868	3397	0	0	0	0	0	0
292	-0.73	-146.0	57.5	-31.7	50	298	0.00	2.58	0.00	0.000	6	0.000	0.073	2150	2457	3400	0	0	0	0	0	0
625	-0.73	-146.0	148.6	-25.2	94	629	0.00	2.50	0.00	0.000	4	0.000	0.087	2151	3923	3399	0	0	0	0	0	0
881	-0.73	-146.0	211.6	-23.2	116	889	0.00	2.40	0.00	0.000	6	0.000	0.064	2151	2467	3399	0	0	0	0	0	0
1206	-0.73	-146.0	281.1	-20.4	147	1210	0.00	2.47	0.00	0.000	4	0.000	0.087	2151	3917	3399	0	0	0	0	0	0
1406	-0.73	-146.0	323.1	-19.6	164	1413	0.00	2.40	0.00	0.000	6	0.000	0.064	2151	2479	3398	0	0	0	0	0	0
1731	-0.73	-146.0	387.5	-20.2	195	1736	0.00	2.45	0.00	0.000	4	0.000	0.087	2151	3919	3399	0	0	0	0	0	0
1884	-0.73	-146.0	419.8	-21.1	208	1888	0.00	2.35	0.00	0.000	6	0.000	0.064	2151	2482	3398	0	0	0	0	0	0
2208	-0.73	-146.0	485.1	-19.7	238	2212	0.00	2.42	0.00	0.000	4	0.000	0.086	2151	3914	3399	0	0	0	0	0	0
2314	-0.73	-146.0	507.1	-20.6	247	2318	0.00	2.33	0.00	0.000	6	0.000	0.063	2151	2489	3399	0	0	0	0	0	0
2638	-0.73	-146.0	570.7	-19.6	277	2642	0.00	2.42	0.00	0.000	4	0.000	0.086	2151	3918	3399	0	0	0	0	0	0
2733	-0.73	-146.0	590.2	-20.1	285	2737	0.00	2.33	0.00	0.000	6	0.000	0.062	2151	2493	3399	0	0	0	0	0	0
3067	-0.73	-146.0	654.4	-18.9	299	3071	0.00	2.40	0.00	0.000	4	0.000	0.085	2151	3914	3399	0	0	0	0	0	0
3162	-0.73	-146.0	673.7	-20.6	302	3166	0.00	2.33	0.00	0.000	6	0.000	0.062	2150	2489	3399	0	0	0	0	0	0
3496	-0.73	-146.0	740.6	-20.4	313	3500	0.00	2.42	0.00	0.000	4	0.000	0.084	2151	3919	3399	0	0	0	0	0	0
3630	-0.73	-146.0	767.3	-16.8	317	3634	0.00	2.33	0.00	0.000	6	0.000	0.064	2151	2501	3399	0	0	0	0	0	0
3773	end dive: NO_VERTICAL_VELOCITY
state	3773	begin apogee
3778	-0.16	0.0	767.4	0.0	322	3902	0.62	0.00	120.07	1.233	6	0.163	0.000	2335	1952	2800	0	0	0	0	0	0
3902	end apogee: CONTROL_FINISHED_OK
state	3903	begin climb
3905	0.73	146.0	767.3	0.0	326	4038	1.10	2.78	124.93	1.177	4	0.212	0.084	2608	371	2203	0	0	0	0	0	0
4168	0.79	202.3	751.6	6.8	334	4225	0.12	2.62	48.95	1.144	6	0.199	0.061	2636	1961	1974	0	0	0	0	0	0
4530	0.85	244.8	723.8	7.4	346	4574	0.00	2.85	37.28	1.133	4	0.000	0.077	2636	3544	1801	0	0	0	0	0	0
4827	0.86	259.6	697.3	8.5	355	4846	0.00	2.90	13.85	1.062	6	0.000	0.065	2636	1823	1741	0	0	0	0	0	0
5164	0.86	259.6	662.8	10.5	366	5169	0.00	2.38	0.00	0.000	4	0.000	0.087	2636	359	1738	0	0	0	0	0	0
5214	0.88	271.7	658.1	8.7	367	5231	0.12	2.42	11.50	1.039	6	0.173	0.061	2670	1914	1692	0	0	0	0	0	0
5561	0.88	271.7	624.7	10.4	379	5566	0.00	2.70	0.00	0.000	4	0.000	0.077	2670	3534	1689	0	0	0	0	0	0
5791	0.88	271.7	600.0	10.6	386	5795	0.00	2.58	0.00	0.000	6	0.000	0.065	2670	1970	1689	0	0	0	0	0	0
6115	0.88	271.7	563.8	11.3	415	6120	0.00	2.62	0.00	0.000	4	0.000	0.078	2670	3540	1689	0	0	0	0	0	0
6277	0.88	271.7	547.0	10.3	429	6281	0.00	2.55	0.00	0.000	6	0.000	0.065	2670	1990	1689	0	0	0	0	0	0
6602	0.88	271.7	511.7	10.8	459	6607	0.00	2.58	0.00	0.000	4	0.000	0.078	2670	3533	1688	0	0	0	0	0	0
6667	0.88	271.7	504.8	10.4	464	6673	0.00	2.53	0.00	0.000	6	0.000	0.065	2670	1989	1688	0	0	0	0	0	0
6993	0.88	271.7	471.7	10.2	495	6998	0.00	2.58	0.00	0.000	4	0.000	0.078	2670	3534	1688	0	0	0	0	0	0
7128	0.88	271.7	458.4	10.1	506	7133	0.00	2.53	0.00	0.000	6	0.000	0.065	2670	1995	1688	0	0	0	0	0	0
7452	0.88	271.7	424.1	11.4	537	7456	0.00	2.58	0.00	0.000	4	0.000	0.078	2670	3535	1688	0	0	0	0	0	0
7517	0.88	271.7	416.5	11.1	542	7523	0.00	2.50	0.00	0.000	6	0.000	0.064	2670	2006	1688	0	0	0	0	0	0
7843	0.88	271.7	379.4	12.2	573	7844	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2007	1688	0	0	0	0	0	0
8161	0.88	271.7	341.1	12.1	603	8166	0.00	2.55	0.00	0.000	4	0.000	0.077	2670	3539	1688	0	0	0	0	0	0
8335	0.88	271.7	320.9	11.8	618	8340	0.00	2.50	0.00	0.000	6	0.000	0.064	2670	2004	1688	0	0	0	0	0	0
8660	0.88	271.7	282.4	11.9	648	8665	0.00	2.53	0.00	0.000	4	0.000	0.077	2670	3535	1688	0	0	0	0	0	0
8715	0.88	271.7	276.2	10.8	652	8722	0.00	2.50	0.00	0.000	6	0.000	0.063	2670	2019	1688	0	0	0	0	0	0
9041	0.91	294.5	246.8	8.2	683	9067	0.00	2.60	19.92	0.867	4	0.000	0.081	2670	3528	1597	0	0	0	0	0	0
9179	0.92	306.1	234.3	8.7	695	9196	0.00	2.70	10.85	0.821	6	0.000	0.064	2670	1882	1552	0	0	0	0	0	0
9514	0.92	306.1	201.3	9.4	727	9518	0.00	2.78	0.00	0.000	4	0.000	0.077	2669	3545	1549	0	0	0	0	0	0
9568	0.92	306.1	195.9	10.6	731	9574	0.00	2.62	0.00	0.000	6	0.000	0.064	2670	1939	1549	0	0	0	0	0	0
9892	0.92	306.1	164.1	9.7	762	9896	0.00	2.53	0.00	0.000	4	0.000	0.084	2670	355	1548	0	0	0	0	0	0
9935	0.92	306.1	159.5	10.7	765	9942	0.00	2.60	0.00	0.000	6	0.000	0.057	2670	2051	1548	0	0	0	0	0	0
10260	0.92	306.1	127.9	9.2	796	10264	0.00	2.70	0.00	0.000	4	0.000	0.082	2670	364	1548	0	0	0	0	0	0
10287	0.92	306.9	125.4	9.1	798	10292	0.00	2.80	0.00	0.000	6	0.000	0.061	2671	2180	1548	0	0	0	0	0	0
10614	0.98	356.9	96.5	7.1	832	10664	0.12	2.33	42.35	0.785	4	0.189	0.077	2703	3543	1344	0	0	0	0	0	0
10900	0.98	356.9	65.9	10.5	883	10905	0.00	2.08	0.00	0.000	6	0.000	0.061	2703	2290	1339	0	0	0	0	0	0
11241	0.98	356.9	30.2	9.2	944	11247	0.00	2.10	0.00	0.000	4	0.000	0.076	2704	3534	1337	0	0	0	0	0	0
11309	0.98	356.9	23.5	9.8	956	11314	0.00	2.17	0.00	0.000	6	0.000	0.061	2704	2204	1336	0	0	0	0	0	0
11514	end climb: SURFACE_DEPTH_REACHED
state	11514	begin surface coast
11533	end surface coast: CONTROL_FINISHED_OK
state	11533	begin surface