Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 24 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2500 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2300 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 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 28 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 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 -23413.906 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 2430 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 0 PITCH_GAIN 21 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 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-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 50 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 0.045000002 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 21 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 0 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 -23413.906

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 200 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 0 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 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2300 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2500 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 28 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 24 NAV_MODE 0 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 172336,6711.636,-5707.689,36,1.0,36,-37.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6701.527,-5717.177

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 172908,6711.674,-5707.714,13,1.7,13,-37.8 MHEAD_RNG_PITCHd_Wd 237.8,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 477

Post-dive calculations and measurements:

FINISH 0.5,1.026320 _24V_AH 23.7,17.576

SM_CCo 10060,33.47,0.736,0,0,1677,275.23 _10V_AH 10.3,7.939

SM_GC 1.49,0.00,0.00,33.47,0.000,0.000,0.736,125,2507,1677,-7.20,0.20,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 620 FG_AHR_10Vo 0.000

RAFOS 0,1256328063,20.033333,20.017500,65,58,56,0,0,0,1157,218,154,0,0,0 MEM 150632

RAFOS_FIX 6710.319824,-5709.300293,231009,161656,2,90,0.55 DATA_FILE_SIZE 40944,1090

IRIDIUM_FIX 6614.97,-6524.25,170199,141417 CAP_FILE_SIZE 125392,0

TT8_MAMPS 0.026845 CFSIZE 260165632,249118720

HUMID 45.86 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1466.6

TCM_TEMP 17.50 GPS 231009,201901,6712.385,-5710.415,37,1.3,37,-37.8

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 309 164.50 SBE_CT 798 24 454.00

Roll_motor 103 100 245.27 SBE_O2 741 19 334.00

VBD_pump_during_apogee 293 1036 7207.26 nil 0 0 0.00

VBD_pump_during_surface 33 735 583.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.85 nil 0 0 0.00

Iridium_during_connect 32 160 123.46 nil 0 0 0.00

Iridium_during_xfer 163 223 866.04

Transponder_ping 0 420 7.47

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.63

TT8 1805 19 370.49

LPSleep 5888 2 140.11

TT8_Active 439 19 90.20

TT8_Sampling 1912 39 786.51

TT8_CF8 376 45 177.85

TT8_Kalman 0 0 0.00

Analog_circuits 1422 12 175.84

GPS_charging 0 0 0.00

Compass 1883 8 155.23

RAFOS 720 1 11.12

Transponder 0 30 0.17

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 -0.98 -146.0 0.0 0.0 0 104 0.00 0.00 -84.97 0.000 2 0.000 0.000 122 2512 3206 0 0 0 0 0 0

106 -0.98 -146.0 3.8 -8.0 17 128 9.73 2.38 -4.90 0.000 4 0.310 0.100 2097 3914 3399 0 0 0 0 0 0

336 -0.75 -146.0 43.8 -14.9 58 343 0.35 2.28 0.00 0.000 6 0.209 0.060 2183 2496 3401 0 0 0 0 0 0

681 -0.83 -146.0 76.1 -8.2 119 686 0.00 2.35 0.00 0.000 4 0.000 0.087 2183 3904 3401 0 0 0 0 0 0

794 -0.91 -146.0 85.1 -8.1 139 800 0.15 2.22 0.00 0.000 6 0.107 0.060 2132 2505 3400 0 0 0 0 0 0

1133 -0.85 -146.0 119.3 -8.9 183 1137 0.00 2.33 0.00 0.000 4 0.000 0.086 2132 3909 3400 0 0 0 0 0 0

1206 -0.78 -146.0 126.0 -8.8 189 1210 0.17 2.22 0.00 0.000 6 0.209 0.061 2172 2504 3400 0 0 0 0 0 0

1530 -0.84 -146.0 148.4 -7.0 219 1534 0.00 2.33 0.00 0.000 4 0.000 0.087 2172 3904 3400 0 0 0 0 0 0

1789 -0.92 -146.0 169.0 -8.2 242 1794 0.12 2.15 0.00 0.000 6 0.120 0.060 2131 2539 3400 0 0 0 0 0 0

2115 -0.86 -146.0 204.4 -11.3 272 2119 0.00 2.25 0.00 0.000 4 0.000 0.087 2130 3906 3400 0 0 0 0 0 0

2373 -0.80 -146.0 232.9 -10.2 294 2379 0.15 2.17 0.00 0.000 6 0.210 0.059 2164 2546 3399 0 0 0 0 0 0

2698 -0.88 -146.0 258.5 -7.3 325 2702 0.00 2.22 0.00 0.000 4 0.000 0.087 2164 3905 3399 0 0 0 0 0 0

2955 -0.96 -146.0 277.3 -8.2 347 2962 0.15 2.15 0.00 0.000 6 0.108 0.059 2113 2533 3399 0 0 0 0 0 0

3280 -0.87 -146.0 306.8 -8.9 378 3285 0.15 2.28 0.00 0.000 4 0.211 0.084 2140 3915 3399 0 0 0 0 0 0

3291 -0.79 -146.0 307.9 -8.9 378 3297 0.12 2.15 0.00 0.000 6 0.211 0.058 2167 2534 3399 0 0 0 0 0 0

3615 -0.89 -146.0 328.7 -6.2 409 3619 0.00 2.25 0.00 0.000 4 0.000 0.086 2167 3911 3399 0 0 0 0 0 0

3626 -0.99 -146.0 329.4 -6.3 409 3632 0.17 2.17 0.00 0.000 6 0.102 0.058 2107 2519 3399 0 0 0 0 0 0

3950 -0.88 -146.0 357.8 -9.2 440 3955 0.15 2.58 0.00 0.000 4 0.209 0.077 2151 903 3399 0 0 0 0 0 0

3961 -0.80 -146.0 358.7 -9.1 440 3967 0.00 2.60 0.00 0.000 6 0.000 0.071 2151 2527 3399 0 0 0 0 0 0

4286 -0.85 -146.0 383.1 -7.5 471 4290 0.00 2.58 0.00 0.000 4 0.000 0.077 2152 911 3400 0 0 0 0 0 0

4296 -0.89 -146.0 384.1 -7.9 471 4302 0.00 2.58 0.00 0.000 6 0.000 0.070 2151 2530 3399 0 0 0 0 0 0

4621 -0.95 -146.0 408.5 -7.1 502 4625 0.00 2.58 0.00 0.000 4 0.000 0.077 2151 912 3399 0 0 0 0 0 0

4642 -0.95 -146.0 410.4 -8.4 503 4647 0.00 2.58 0.00 0.000 6 0.000 0.070 2151 2534 3400 0 0 0 0 0 0

4967 -1.01 -146.0 436.4 -8.7 534 4972 0.15 2.60 0.00 0.000 4 0.104 0.076 2098 912 3400 0 0 0 0 0 0

4977 -1.01 -146.0 437.3 -8.7 534 4983 0.00 2.58 0.00 0.000 6 0.000 0.071 2098 2537 3399 0 0 0 0 0 0

5302 -0.85 -146.0 469.7 -11.1 565 5306 0.22 2.22 0.00 0.000 4 0.209 0.082 2147 3919 3401 0 0 0 0 0 0

5312 -0.74 -146.0 470.8 -11.4 565 5318 0.17 2.05 0.00 0.000 6 0.203 0.057 2189 2594 3400 0 0 0 0 0 0

5400 end dive: TARGET_DEPTH_EXCEEDED

state 5400 begin apogee

5406 -0.24 0.0 477.6 7.0 574 5526 0.52 0.00 116.43 1.036 6 0.160 0.000 2347 2291 2799 0 0 0 0 0 0

5526 end apogee: CONTROL_FINISHED_OK

state 5527 begin climb

5528 0.98 146.0 481.1 0.0 586 5661 1.27 2.75 119.45 0.994 4 0.119 0.077 2750 720 2201 0 0 0 0 0 0

5914 0.54 146.0 419.4 19.1 621 5920 0.57 2.60 0.00 0.000 6 0.206 0.064 2608 2303 2195 0 0 0 0 0 0

6238 0.54 146.0 379.4 12.0 652 6242 0.00 2.65 0.00 0.000 4 0.000 0.080 2608 3895 2193 0 0 0 0 0 0

6281 0.47 146.0 373.7 12.9 655 6288 0.15 2.60 0.00 0.000 6 0.196 0.061 2584 2294 2192 0 0 0 0 0 0

6606 0.52 146.0 339.9 9.9 686 6610 0.00 2.55 0.00 0.000 4 0.000 0.077 2593 713 2192 0 0 0 0 0 0

6863 0.52 146.0 312.9 10.4 708 6869 0.00 2.55 0.00 0.000 6 0.000 0.064 2593 2292 2192 0 0 0 0 0 0

7187 0.52 146.0 280.2 9.8 739 7192 0.00 2.55 0.00 0.000 4 0.000 0.078 2605 713 2192 0 0 0 0 0 0

7444 0.52 146.0 254.8 9.9 761 7450 0.00 2.58 0.00 0.000 6 0.000 0.064 2605 2314 2192 0 0 0 0 0 0

7769 0.52 146.0 224.6 9.2 792 7773 0.00 2.55 0.00 0.000 4 0.000 0.081 2605 3886 2191 0 0 0 0 0 0

7842 0.46 146.0 217.3 10.5 798 7847 0.15 2.50 0.00 0.000 6 0.195 0.061 2581 2310 2191 0 0 0 0 0 0

8166 0.59 189.6 193.1 7.3 828 8208 0.12 2.62 33.80 0.843 4 0.118 0.078 2634 713 2026 0 0 0 0 0 0

8460 0.59 189.6 160.8 10.7 854 8466 0.00 2.60 0.00 0.000 6 0.000 0.064 2635 2312 2022 0 0 0 0 0 0

8785 0.59 189.6 123.6 11.9 885 8789 0.00 2.60 0.00 0.000 4 0.000 0.079 2646 713 2021 0 0 0 0 0 0

9044 0.59 189.6 93.4 10.6 912 9049 0.00 2.55 0.00 0.000 6 0.000 0.064 2646 2317 2020 0 0 0 0 0 0

9387 0.59 189.6 56.7 10.5 973 9392 0.00 2.60 0.00 0.000 4 0.000 0.080 2658 707 2019 0 0 0 0 0 0

9645 0.59 189.6 31.5 9.3 1019 9651 0.15 2.55 0.00 0.000 6 0.189 0.065 2622 2318 2019 0 0 0 0 0 0

9990 0.75 222.8 3.9 7.8 1080 10016 0.15 0.00 23.80 0.747 2 0.113 0.000 2672 2318 1901 0 0 0 0 0 0

10017 end climb: SURFACE_DEPTH_REACHED

state 10017 begin surface coast

10045 end surface coast: CONTROL_FINISHED_OK

state 10045 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	24	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2500	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2300	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	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	28	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	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	-23413.906	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	2430	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	0	PITCH_GAIN	21	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	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	172336,6711.636,-5707.689,36,1.0,36,-37.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6701.527,-5717.177
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	172908,6711.674,-5707.714,13,1.7,13,-37.8	MHEAD_RNG_PITCHd_Wd	237.8,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	477

FINISH	0.5,1.026320	_24V_AH	23.7,17.576
SM_CCo	10060,33.47,0.736,0,0,1677,275.23	_10V_AH	10.3,7.939
SM_GC	1.49,0.00,0.00,33.47,0.000,0.000,0.736,125,2507,1677,-7.20,0.20,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	620	FG_AHR_10Vo	0.000
RAFOS	0,1256328063,20.033333,20.017500,65,58,56,0,0,0,1157,218,154,0,0,0	MEM	150632
RAFOS_FIX	6710.319824,-5709.300293,231009,161656,2,90,0.55	DATA_FILE_SIZE	40944,1090
IRIDIUM_FIX	6614.97,-6524.25,170199,141417	CAP_FILE_SIZE	125392,0
TT8_MAMPS	0.026845	CFSIZE	260165632,249118720
HUMID	45.86	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1466.6
TCM_TEMP	17.50	GPS	231009,201901,6712.385,-5710.415,37,1.3,37,-37.8
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	309	164.50	SBE_CT	798	24	454.00
Roll_motor	103	100	245.27	SBE_O2	741	19	334.00
VBD_pump_during_apogee	293	1036	7207.26	nil	0	0	0.00
VBD_pump_during_surface	33	735	583.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.85	nil	0	0	0.00
Iridium_during_connect	32	160	123.46	nil	0	0	0.00
Iridium_during_xfer	163	223	866.04
Transponder_ping	0	420	7.47
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.63
TT8	1805	19	370.49
LPSleep	5888	2	140.11
TT8_Active	439	19	90.20
TT8_Sampling	1912	39	786.51
TT8_CF8	376	45	177.85
TT8_Kalman	0	0	0.00
Analog_circuits	1422	12	175.84
GPS_charging	0	0	0.00
Compass	1883	8	155.23
RAFOS	720	1	11.12
Transponder	0	30	0.17

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	-0.98	-146.0	0.0	0.0	0	104	0.00	0.00	-84.97	0.000	2	0.000	0.000	122	2512	3206	0	0	0	0	0	0
106	-0.98	-146.0	3.8	-8.0	17	128	9.73	2.38	-4.90	0.000	4	0.310	0.100	2097	3914	3399	0	0	0	0	0	0
336	-0.75	-146.0	43.8	-14.9	58	343	0.35	2.28	0.00	0.000	6	0.209	0.060	2183	2496	3401	0	0	0	0	0	0
681	-0.83	-146.0	76.1	-8.2	119	686	0.00	2.35	0.00	0.000	4	0.000	0.087	2183	3904	3401	0	0	0	0	0	0
794	-0.91	-146.0	85.1	-8.1	139	800	0.15	2.22	0.00	0.000	6	0.107	0.060	2132	2505	3400	0	0	0	0	0	0
1133	-0.85	-146.0	119.3	-8.9	183	1137	0.00	2.33	0.00	0.000	4	0.000	0.086	2132	3909	3400	0	0	0	0	0	0
1206	-0.78	-146.0	126.0	-8.8	189	1210	0.17	2.22	0.00	0.000	6	0.209	0.061	2172	2504	3400	0	0	0	0	0	0
1530	-0.84	-146.0	148.4	-7.0	219	1534	0.00	2.33	0.00	0.000	4	0.000	0.087	2172	3904	3400	0	0	0	0	0	0
1789	-0.92	-146.0	169.0	-8.2	242	1794	0.12	2.15	0.00	0.000	6	0.120	0.060	2131	2539	3400	0	0	0	0	0	0
2115	-0.86	-146.0	204.4	-11.3	272	2119	0.00	2.25	0.00	0.000	4	0.000	0.087	2130	3906	3400	0	0	0	0	0	0
2373	-0.80	-146.0	232.9	-10.2	294	2379	0.15	2.17	0.00	0.000	6	0.210	0.059	2164	2546	3399	0	0	0	0	0	0
2698	-0.88	-146.0	258.5	-7.3	325	2702	0.00	2.22	0.00	0.000	4	0.000	0.087	2164	3905	3399	0	0	0	0	0	0
2955	-0.96	-146.0	277.3	-8.2	347	2962	0.15	2.15	0.00	0.000	6	0.108	0.059	2113	2533	3399	0	0	0	0	0	0
3280	-0.87	-146.0	306.8	-8.9	378	3285	0.15	2.28	0.00	0.000	4	0.211	0.084	2140	3915	3399	0	0	0	0	0	0
3291	-0.79	-146.0	307.9	-8.9	378	3297	0.12	2.15	0.00	0.000	6	0.211	0.058	2167	2534	3399	0	0	0	0	0	0
3615	-0.89	-146.0	328.7	-6.2	409	3619	0.00	2.25	0.00	0.000	4	0.000	0.086	2167	3911	3399	0	0	0	0	0	0
3626	-0.99	-146.0	329.4	-6.3	409	3632	0.17	2.17	0.00	0.000	6	0.102	0.058	2107	2519	3399	0	0	0	0	0	0
3950	-0.88	-146.0	357.8	-9.2	440	3955	0.15	2.58	0.00	0.000	4	0.209	0.077	2151	903	3399	0	0	0	0	0	0
3961	-0.80	-146.0	358.7	-9.1	440	3967	0.00	2.60	0.00	0.000	6	0.000	0.071	2151	2527	3399	0	0	0	0	0	0
4286	-0.85	-146.0	383.1	-7.5	471	4290	0.00	2.58	0.00	0.000	4	0.000	0.077	2152	911	3400	0	0	0	0	0	0
4296	-0.89	-146.0	384.1	-7.9	471	4302	0.00	2.58	0.00	0.000	6	0.000	0.070	2151	2530	3399	0	0	0	0	0	0
4621	-0.95	-146.0	408.5	-7.1	502	4625	0.00	2.58	0.00	0.000	4	0.000	0.077	2151	912	3399	0	0	0	0	0	0
4642	-0.95	-146.0	410.4	-8.4	503	4647	0.00	2.58	0.00	0.000	6	0.000	0.070	2151	2534	3400	0	0	0	0	0	0
4967	-1.01	-146.0	436.4	-8.7	534	4972	0.15	2.60	0.00	0.000	4	0.104	0.076	2098	912	3400	0	0	0	0	0	0
4977	-1.01	-146.0	437.3	-8.7	534	4983	0.00	2.58	0.00	0.000	6	0.000	0.071	2098	2537	3399	0	0	0	0	0	0
5302	-0.85	-146.0	469.7	-11.1	565	5306	0.22	2.22	0.00	0.000	4	0.209	0.082	2147	3919	3401	0	0	0	0	0	0
5312	-0.74	-146.0	470.8	-11.4	565	5318	0.17	2.05	0.00	0.000	6	0.203	0.057	2189	2594	3400	0	0	0	0	0	0
5400	end dive: TARGET_DEPTH_EXCEEDED
state	5400	begin apogee
5406	-0.24	0.0	477.6	7.0	574	5526	0.52	0.00	116.43	1.036	6	0.160	0.000	2347	2291	2799	0	0	0	0	0	0
5526	end apogee: CONTROL_FINISHED_OK
state	5527	begin climb
5528	0.98	146.0	481.1	0.0	586	5661	1.27	2.75	119.45	0.994	4	0.119	0.077	2750	720	2201	0	0	0	0	0	0
5914	0.54	146.0	419.4	19.1	621	5920	0.57	2.60	0.00	0.000	6	0.206	0.064	2608	2303	2195	0	0	0	0	0	0
6238	0.54	146.0	379.4	12.0	652	6242	0.00	2.65	0.00	0.000	4	0.000	0.080	2608	3895	2193	0	0	0	0	0	0
6281	0.47	146.0	373.7	12.9	655	6288	0.15	2.60	0.00	0.000	6	0.196	0.061	2584	2294	2192	0	0	0	0	0	0
6606	0.52	146.0	339.9	9.9	686	6610	0.00	2.55	0.00	0.000	4	0.000	0.077	2593	713	2192	0	0	0	0	0	0
6863	0.52	146.0	312.9	10.4	708	6869	0.00	2.55	0.00	0.000	6	0.000	0.064	2593	2292	2192	0	0	0	0	0	0
7187	0.52	146.0	280.2	9.8	739	7192	0.00	2.55	0.00	0.000	4	0.000	0.078	2605	713	2192	0	0	0	0	0	0
7444	0.52	146.0	254.8	9.9	761	7450	0.00	2.58	0.00	0.000	6	0.000	0.064	2605	2314	2192	0	0	0	0	0	0
7769	0.52	146.0	224.6	9.2	792	7773	0.00	2.55	0.00	0.000	4	0.000	0.081	2605	3886	2191	0	0	0	0	0	0
7842	0.46	146.0	217.3	10.5	798	7847	0.15	2.50	0.00	0.000	6	0.195	0.061	2581	2310	2191	0	0	0	0	0	0
8166	0.59	189.6	193.1	7.3	828	8208	0.12	2.62	33.80	0.843	4	0.118	0.078	2634	713	2026	0	0	0	0	0	0
8460	0.59	189.6	160.8	10.7	854	8466	0.00	2.60	0.00	0.000	6	0.000	0.064	2635	2312	2022	0	0	0	0	0	0
8785	0.59	189.6	123.6	11.9	885	8789	0.00	2.60	0.00	0.000	4	0.000	0.079	2646	713	2021	0	0	0	0	0	0
9044	0.59	189.6	93.4	10.6	912	9049	0.00	2.55	0.00	0.000	6	0.000	0.064	2646	2317	2020	0	0	0	0	0	0
9387	0.59	189.6	56.7	10.5	973	9392	0.00	2.60	0.00	0.000	4	0.000	0.080	2658	707	2019	0	0	0	0	0	0
9645	0.59	189.6	31.5	9.3	1019	9651	0.15	2.55	0.00	0.000	6	0.189	0.065	2622	2318	2019	0	0	0	0	0	0
9990	0.75	222.8	3.9	7.8	1080	10016	0.15	0.00	23.80	0.747	2	0.113	0.000	2672	2318	1901	0	0	0	0	0	0
10017	end climb: SURFACE_DEPTH_REACHED
state	10017	begin surface coast
10045	end surface coast: CONTROL_FINISHED_OK
state	10045	begin surface