Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 159 * 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 159 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 17 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -31561.467 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 -31561.467

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 17 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 159 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 013057,6703.190,-5713.100,32,2.1,51,-37.7 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 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 013628,6703.204,-5713.166,14,2.1,33,-37.7 MHEAD_RNG_PITCHd_Wd 138.2,18177,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 734

Post-dive calculations and measurements:

FINISH 0.4,1.001814 _24V_AH 22.9,38.349

SM_CCo 11162,0.00,0.000,0,0,1381,347.84 _10V_AH 10.2,19.558

SM_GC 1.18,7.15,0.00,0.00,0.064,0.000,0.000,121,2456,1381,-7.05,-0.11,347.84 FG_AHR_24Vo 0.000

RAFOS_CLK 677 FG_AHR_10Vo 0.000

RAFOS 0,1258603264,4.033333,4.017778,62,61,60,0,0,0,188,222,211,0,0,0 MEM 188004

RAFOS_FIX 6702.758789,-5717.528320,191109,000040,3,92,0.20 DATA_FILE_SIZE 41057,996

IRIDIUM_FIX 6636.54,-5715.22,120299,222207 CAP_FILE_SIZE 122253,0

TT8_MAMPS 0.029146 CFSIZE 260165632,237649920

HUMID 47.79 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1469.8

TCM_TEMP 17.90 CURRENT 0.617,279.3,1

XPDR_PINGS 9 GPS 191109,044426,6703.675,-5713.732,34,3.5,53,-37.7

ALTIM_TOP_PING 19.9,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 297 128.97 SBE_CT 715 24 393.08

Roll_motor 116 89 238.85 SBE_O2 701 19 305.21

VBD_pump_during_apogee 423 1216 11786.98 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 69.93 nil 0 0 0.00

Iridium_during_connect 30 160 112.57 nil 0 0 0.00

Iridium_during_xfer 134 223 687.83

Transponder_ping 2 420 24.05

GUMSTIX_24V 0 0 0.00

GPS 36 50 18.42

TT8 1975 19 401.33

LPSleep 6644 2 156.55

TT8_Active 530 19 107.74

TT8_Sampling 1975 39 804.48

TT8_CF8 361 45 169.17

TT8_Kalman 0 0 0.00

Analog_circuits 1554 12 190.31

GPS_charging 0 0 0.00

Compass 1916 8 156.40

RAFOS 2160 1 33.05

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 126 0.00 0.00 -108.20 0.000 2 0.000 0.000 126 2466 3149 0 0 0 0 0 0

130 -0.73 -146.0 3.2 -5.1 21 152 9.62 2.62 -6.50 0.000 4 0.298 0.090 2151 861 3397 0 0 0 0 0 0

355 -0.73 -146.0 72.1 -29.6 61 360 0.00 2.58 0.00 0.000 6 0.000 0.074 2151 2457 3400 0 0 0 0 0 0

690 -0.73 -146.0 160.1 -25.7 101 694 0.00 2.50 0.00 0.000 4 0.000 0.087 2151 3919 3398 0 0 0 0 0 0

874 -0.73 -146.0 206.8 -24.8 117 878 0.00 2.40 0.00 0.000 6 0.000 0.065 2151 2465 3399 0 0 0 0 0 0

1198 -0.73 -146.0 283.5 -22.6 147 1202 0.00 2.47 0.00 0.000 4 0.000 0.087 2152 3912 3398 0 0 0 0 0 0

1398 -0.73 -146.0 330.2 -24.1 164 1405 0.00 2.40 0.00 0.000 6 0.000 0.064 2152 2477 3398 0 0 0 0 0 0

1723 -0.73 -146.0 401.6 -22.1 195 1727 0.00 2.45 0.00 0.000 4 0.000 0.086 2151 3915 3398 0 0 0 0 0 0

1908 -0.73 -146.0 442.9 -21.7 211 1912 0.00 2.33 0.00 0.000 6 0.000 0.064 2152 2494 3398 0 0 0 0 0 0

2233 -0.73 -146.0 509.4 -20.1 241 2237 0.00 2.42 0.00 0.000 4 0.000 0.085 2151 3919 3399 0 0 0 0 0 0

2450 -0.73 -146.0 556.6 -22.1 260 2457 0.00 2.35 0.00 0.000 6 0.000 0.062 2151 2504 3399 0 0 0 0 0 0

2793 -0.73 -146.0 626.6 -20.2 285 2797 0.00 2.40 0.00 0.000 4 0.000 0.085 2151 3922 3399 0 0 0 0 0 0

3038 -0.73 -146.0 678.3 -20.7 292 3043 0.00 2.30 0.00 0.000 6 0.000 0.061 2151 2527 3399 0 0 0 0 0 0

3329 end dive: TARGET_DEPTH_EXCEEDED

state 3329 begin apogee

3335 -0.16 0.0 736.1 19.8 302 3459 0.73 0.00 119.88 1.216 6 0.242 0.000 2328 1948 2800 0 0 0 0 0 0

3460 end apogee: CONTROL_FINISHED_OK

state 3460 begin climb

3462 0.73 146.0 749.2 0.0 306 3596 1.12 2.85 124.05 1.168 4 0.214 0.084 2608 367 2203 0 0 0 0 0 0

3645 0.78 189.8 739.7 7.3 311 3691 0.00 2.67 38.75 1.121 6 0.000 0.060 2608 1959 2026 0 0 0 0 0 0

4021 0.83 229.7 711.0 7.5 324 4062 0.15 2.78 34.38 1.127 4 0.157 0.078 2650 3535 1862 0 0 0 0 0 0

4107 0.84 239.4 703.7 8.8 326 4122 0.00 2.53 9.65 0.992 6 0.000 0.063 2650 2056 1824 0 0 0 0 0 0

4448 0.85 248.8 674.1 8.8 338 4463 0.00 2.80 9.40 1.002 4 0.000 0.086 2650 364 1784 0 0 0 0 0 0

4546 0.85 248.8 664.3 9.5 341 4550 0.00 2.55 0.00 0.000 6 0.000 0.058 2650 1960 1782 0 0 0 0 0 0

4881 0.85 248.8 634.5 9.3 352 4886 0.00 2.62 0.00 0.000 4 0.000 0.077 2650 3536 1782 0 0 0 0 0 0

5077 0.85 248.8 614.2 10.6 358 5082 0.00 2.75 0.00 0.000 6 0.000 0.065 2650 1864 1781 0 0 0 0 0 0

5398 0.85 248.8 581.9 10.3 379 5403 0.00 2.78 0.00 0.000 4 0.000 0.077 2650 3536 1780 0 0 0 0 0 0

5656 0.86 258.7 557.9 8.7 401 5672 0.00 2.67 9.40 0.983 6 0.000 0.065 2650 1894 1744 0 0 0 0 0 0

5990 0.86 258.7 525.0 10.2 433 5994 0.00 2.47 0.00 0.000 4 0.000 0.087 2650 356 1743 0 0 0 0 0 0

6013 0.86 258.7 522.6 10.9 434 6019 0.00 2.53 0.00 0.000 6 0.000 0.060 2650 1985 1742 0 0 0 0 0 0

6337 0.86 258.7 489.8 10.4 465 6342 0.00 2.62 0.00 0.000 4 0.000 0.085 2650 363 1742 0 0 0 0 0 0

6444 0.86 258.7 478.9 10.1 474 6449 0.00 2.55 0.00 0.000 6 0.000 0.061 2650 2012 1742 0 0 0 0 0 0

6769 0.86 258.7 449.2 9.4 504 6773 0.00 2.65 0.00 0.000 4 0.000 0.086 2650 366 1742 0 0 0 0 0 0

6943 0.90 284.8 434.2 8.1 519 6975 0.00 2.55 23.55 0.996 6 0.000 0.060 2650 2020 1638 0 0 0 0 0 0

7293 0.94 322.1 407.1 7.6 552 7337 0.15 2.62 32.58 0.986 4 0.163 0.078 2692 3529 1484 0 0 0 0 0 0

7488 0.94 322.1 390.8 9.4 569 7495 0.00 2.80 0.00 0.000 6 0.000 0.064 2693 1843 1481 0 0 0 0 0 0

7813 0.94 322.1 356.0 11.4 600 7818 0.00 2.83 0.00 0.000 4 0.000 0.075 2693 3538 1479 0 0 0 0 0 0

7874 0.94 322.1 349.0 10.8 605 7879 0.00 2.75 0.00 0.000 6 0.000 0.065 2693 1865 1479 0 0 0 0 0 0

8199 0.94 322.1 308.7 12.9 635 8204 0.00 2.78 0.00 0.000 4 0.000 0.076 2693 3538 1477 0 0 0 0 0 0

8329 0.94 322.1 292.2 13.5 646 8333 0.00 2.72 0.00 0.000 6 0.000 0.066 2693 1873 1477 0 0 0 0 0 0

8654 0.94 322.1 250.0 12.7 676 8659 0.00 2.72 0.00 0.000 4 0.000 0.076 2693 3532 1477 0 0 0 0 0 0

8788 0.94 322.1 234.2 11.8 688 8793 0.00 2.67 0.00 0.000 6 0.000 0.065 2693 1888 1477 0 0 0 0 0 0

9113 0.94 322.1 196.5 11.4 718 9117 0.00 2.72 0.00 0.000 4 0.000 0.076 2692 3546 1477 0 0 0 0 0 0

9242 0.94 322.1 182.1 11.4 729 9246 0.00 2.67 0.00 0.000 6 0.000 0.064 2693 1896 1477 0 0 0 0 0 0

9566 0.94 322.1 141.0 12.8 759 9570 0.00 2.70 0.00 0.000 4 0.000 0.076 2693 3538 1477 0 0 0 0 0 0

9654 0.94 322.1 129.6 12.0 766 9660 0.00 2.62 0.00 0.000 6 0.000 0.064 2693 1917 1477 0 0 0 0 0 0

9981 0.96 334.9 96.6 8.6 800 9997 0.00 2.70 10.55 0.748 4 0.000 0.075 2693 3546 1434 0 0 0 0 0 0

10139 0.96 334.9 80.7 9.7 828 10144 0.00 2.42 0.00 0.000 6 0.000 0.062 2693 2053 1433 0 0 0 0 0 0

10484 0.97 346.4 52.3 8.7 889 10499 0.00 0.00 10.95 0.731 6 0.000 0.000 2693 2054 1386 0 0 0 0 0 0

10838 0.97 346.4 21.1 9.3 952 10844 0.00 2.70 0.00 0.000 4 0.000 0.084 2692 364 1384 0 0 0 0 0 0

10861 0.97 347.2 18.9 9.1 956 10866 0.00 2.53 0.00 0.000 6 0.000 0.058 2693 2006 1384 0 0 0 0 0 0

11058 end climb: SURFACE_DEPTH_REACHED

state 11058 begin surface coast

11085 end surface coast: CONTROL_FINISHED_OK

state 11085 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	159	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	17	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-31561.467	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	013057,6703.190,-5713.100,32,2.1,51,-37.7	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	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	013628,6703.204,-5713.166,14,2.1,33,-37.7	MHEAD_RNG_PITCHd_Wd	138.2,18177,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	734

FINISH	0.4,1.001814	_24V_AH	22.9,38.349
SM_CCo	11162,0.00,0.000,0,0,1381,347.84	_10V_AH	10.2,19.558
SM_GC	1.18,7.15,0.00,0.00,0.064,0.000,0.000,121,2456,1381,-7.05,-0.11,347.84	FG_AHR_24Vo	0.000
RAFOS_CLK	677	FG_AHR_10Vo	0.000
RAFOS	0,1258603264,4.033333,4.017778,62,61,60,0,0,0,188,222,211,0,0,0	MEM	188004
RAFOS_FIX	6702.758789,-5717.528320,191109,000040,3,92,0.20	DATA_FILE_SIZE	41057,996
IRIDIUM_FIX	6636.54,-5715.22,120299,222207	CAP_FILE_SIZE	122253,0
TT8_MAMPS	0.029146	CFSIZE	260165632,237649920
HUMID	47.79	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1469.8
TCM_TEMP	17.90	CURRENT	0.617,279.3,1
XPDR_PINGS	9	GPS	191109,044426,6703.675,-5713.732,34,3.5,53,-37.7
ALTIM_TOP_PING	19.9,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	297	128.97	SBE_CT	715	24	393.08
Roll_motor	116	89	238.85	SBE_O2	701	19	305.21
VBD_pump_during_apogee	423	1216	11786.98	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	69.93	nil	0	0	0.00
Iridium_during_connect	30	160	112.57	nil	0	0	0.00
Iridium_during_xfer	134	223	687.83
Transponder_ping	2	420	24.05
GUMSTIX_24V	0	0	0.00
GPS	36	50	18.42
TT8	1975	19	401.33
LPSleep	6644	2	156.55
TT8_Active	530	19	107.74
TT8_Sampling	1975	39	804.48
TT8_CF8	361	45	169.17
TT8_Kalman	0	0	0.00
Analog_circuits	1554	12	190.31
GPS_charging	0	0	0.00
Compass	1916	8	156.40
RAFOS	2160	1	33.05
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	126	0.00	0.00	-108.20	0.000	2	0.000	0.000	126	2466	3149	0	0	0	0	0	0
130	-0.73	-146.0	3.2	-5.1	21	152	9.62	2.62	-6.50	0.000	4	0.298	0.090	2151	861	3397	0	0	0	0	0	0
355	-0.73	-146.0	72.1	-29.6	61	360	0.00	2.58	0.00	0.000	6	0.000	0.074	2151	2457	3400	0	0	0	0	0	0
690	-0.73	-146.0	160.1	-25.7	101	694	0.00	2.50	0.00	0.000	4	0.000	0.087	2151	3919	3398	0	0	0	0	0	0
874	-0.73	-146.0	206.8	-24.8	117	878	0.00	2.40	0.00	0.000	6	0.000	0.065	2151	2465	3399	0	0	0	0	0	0
1198	-0.73	-146.0	283.5	-22.6	147	1202	0.00	2.47	0.00	0.000	4	0.000	0.087	2152	3912	3398	0	0	0	0	0	0
1398	-0.73	-146.0	330.2	-24.1	164	1405	0.00	2.40	0.00	0.000	6	0.000	0.064	2152	2477	3398	0	0	0	0	0	0
1723	-0.73	-146.0	401.6	-22.1	195	1727	0.00	2.45	0.00	0.000	4	0.000	0.086	2151	3915	3398	0	0	0	0	0	0
1908	-0.73	-146.0	442.9	-21.7	211	1912	0.00	2.33	0.00	0.000	6	0.000	0.064	2152	2494	3398	0	0	0	0	0	0
2233	-0.73	-146.0	509.4	-20.1	241	2237	0.00	2.42	0.00	0.000	4	0.000	0.085	2151	3919	3399	0	0	0	0	0	0
2450	-0.73	-146.0	556.6	-22.1	260	2457	0.00	2.35	0.00	0.000	6	0.000	0.062	2151	2504	3399	0	0	0	0	0	0
2793	-0.73	-146.0	626.6	-20.2	285	2797	0.00	2.40	0.00	0.000	4	0.000	0.085	2151	3922	3399	0	0	0	0	0	0
3038	-0.73	-146.0	678.3	-20.7	292	3043	0.00	2.30	0.00	0.000	6	0.000	0.061	2151	2527	3399	0	0	0	0	0	0
3329	end dive: TARGET_DEPTH_EXCEEDED
state	3329	begin apogee
3335	-0.16	0.0	736.1	19.8	302	3459	0.73	0.00	119.88	1.216	6	0.242	0.000	2328	1948	2800	0	0	0	0	0	0
3460	end apogee: CONTROL_FINISHED_OK
state	3460	begin climb
3462	0.73	146.0	749.2	0.0	306	3596	1.12	2.85	124.05	1.168	4	0.214	0.084	2608	367	2203	0	0	0	0	0	0
3645	0.78	189.8	739.7	7.3	311	3691	0.00	2.67	38.75	1.121	6	0.000	0.060	2608	1959	2026	0	0	0	0	0	0
4021	0.83	229.7	711.0	7.5	324	4062	0.15	2.78	34.38	1.127	4	0.157	0.078	2650	3535	1862	0	0	0	0	0	0
4107	0.84	239.4	703.7	8.8	326	4122	0.00	2.53	9.65	0.992	6	0.000	0.063	2650	2056	1824	0	0	0	0	0	0
4448	0.85	248.8	674.1	8.8	338	4463	0.00	2.80	9.40	1.002	4	0.000	0.086	2650	364	1784	0	0	0	0	0	0
4546	0.85	248.8	664.3	9.5	341	4550	0.00	2.55	0.00	0.000	6	0.000	0.058	2650	1960	1782	0	0	0	0	0	0
4881	0.85	248.8	634.5	9.3	352	4886	0.00	2.62	0.00	0.000	4	0.000	0.077	2650	3536	1782	0	0	0	0	0	0
5077	0.85	248.8	614.2	10.6	358	5082	0.00	2.75	0.00	0.000	6	0.000	0.065	2650	1864	1781	0	0	0	0	0	0
5398	0.85	248.8	581.9	10.3	379	5403	0.00	2.78	0.00	0.000	4	0.000	0.077	2650	3536	1780	0	0	0	0	0	0
5656	0.86	258.7	557.9	8.7	401	5672	0.00	2.67	9.40	0.983	6	0.000	0.065	2650	1894	1744	0	0	0	0	0	0
5990	0.86	258.7	525.0	10.2	433	5994	0.00	2.47	0.00	0.000	4	0.000	0.087	2650	356	1743	0	0	0	0	0	0
6013	0.86	258.7	522.6	10.9	434	6019	0.00	2.53	0.00	0.000	6	0.000	0.060	2650	1985	1742	0	0	0	0	0	0
6337	0.86	258.7	489.8	10.4	465	6342	0.00	2.62	0.00	0.000	4	0.000	0.085	2650	363	1742	0	0	0	0	0	0
6444	0.86	258.7	478.9	10.1	474	6449	0.00	2.55	0.00	0.000	6	0.000	0.061	2650	2012	1742	0	0	0	0	0	0
6769	0.86	258.7	449.2	9.4	504	6773	0.00	2.65	0.00	0.000	4	0.000	0.086	2650	366	1742	0	0	0	0	0	0
6943	0.90	284.8	434.2	8.1	519	6975	0.00	2.55	23.55	0.996	6	0.000	0.060	2650	2020	1638	0	0	0	0	0	0
7293	0.94	322.1	407.1	7.6	552	7337	0.15	2.62	32.58	0.986	4	0.163	0.078	2692	3529	1484	0	0	0	0	0	0
7488	0.94	322.1	390.8	9.4	569	7495	0.00	2.80	0.00	0.000	6	0.000	0.064	2693	1843	1481	0	0	0	0	0	0
7813	0.94	322.1	356.0	11.4	600	7818	0.00	2.83	0.00	0.000	4	0.000	0.075	2693	3538	1479	0	0	0	0	0	0
7874	0.94	322.1	349.0	10.8	605	7879	0.00	2.75	0.00	0.000	6	0.000	0.065	2693	1865	1479	0	0	0	0	0	0
8199	0.94	322.1	308.7	12.9	635	8204	0.00	2.78	0.00	0.000	4	0.000	0.076	2693	3538	1477	0	0	0	0	0	0
8329	0.94	322.1	292.2	13.5	646	8333	0.00	2.72	0.00	0.000	6	0.000	0.066	2693	1873	1477	0	0	0	0	0	0
8654	0.94	322.1	250.0	12.7	676	8659	0.00	2.72	0.00	0.000	4	0.000	0.076	2693	3532	1477	0	0	0	0	0	0
8788	0.94	322.1	234.2	11.8	688	8793	0.00	2.67	0.00	0.000	6	0.000	0.065	2693	1888	1477	0	0	0	0	0	0
9113	0.94	322.1	196.5	11.4	718	9117	0.00	2.72	0.00	0.000	4	0.000	0.076	2692	3546	1477	0	0	0	0	0	0
9242	0.94	322.1	182.1	11.4	729	9246	0.00	2.67	0.00	0.000	6	0.000	0.064	2693	1896	1477	0	0	0	0	0	0
9566	0.94	322.1	141.0	12.8	759	9570	0.00	2.70	0.00	0.000	4	0.000	0.076	2693	3538	1477	0	0	0	0	0	0
9654	0.94	322.1	129.6	12.0	766	9660	0.00	2.62	0.00	0.000	6	0.000	0.064	2693	1917	1477	0	0	0	0	0	0
9981	0.96	334.9	96.6	8.6	800	9997	0.00	2.70	10.55	0.748	4	0.000	0.075	2693	3546	1434	0	0	0	0	0	0
10139	0.96	334.9	80.7	9.7	828	10144	0.00	2.42	0.00	0.000	6	0.000	0.062	2693	2053	1433	0	0	0	0	0	0
10484	0.97	346.4	52.3	8.7	889	10499	0.00	0.00	10.95	0.731	6	0.000	0.000	2693	2054	1386	0	0	0	0	0	0
10838	0.97	346.4	21.1	9.3	952	10844	0.00	2.70	0.00	0.000	4	0.000	0.084	2692	364	1384	0	0	0	0	0	0
10861	0.97	347.2	18.9	9.1	956	10866	0.00	2.53	0.00	0.000	6	0.000	0.058	2693	2006	1384	0	0	0	0	0	0
11058	end climb: SURFACE_DEPTH_REACHED
state	11058	begin surface coast
11085	end surface coast: CONTROL_FINISHED_OK
state	11085	begin surface