Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 25 * 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 25 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 24 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 -23426.654 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 -23426.654

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 24 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 25 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 201901,6712.385,-5710.415,37,1.3,37,-37.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.267,-5719.940

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202402,6712.414,-5710.472,10,1.4,10,-37.8 MHEAD_RNG_PITCHd_Wd 237.8,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 519

Post-dive calculations and measurements:

FINISH 0.2,1.026314 _24V_AH 23.6,17.678

SM_CCo 10712,45.00,0.741,0,0,1677,275.23 _10V_AH 10.3,8.005

SM_GC 1.02,0.00,0.00,45.00,0.000,0.000,0.741,124,2505,1677,-7.21,0.17,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 659 FG_AHR_10Vo 0.000

RAFOS 3,1256329504,20.433332,20.417778,65,60,59,0,0,0,1003,192,143,0,0,0 MEM 150640

RAFOS_FIX 6711.772461,-5711.074219,231009,202038,5,93,2.46 DATA_FILE_SIZE 44207,1150

IRIDIUM_FIX 6647.44,-5707.88,170199,171701 CAP_FILE_SIZE 130030,0

TT8_MAMPS 0.026845 CFSIZE 260165632,249049088

HUMID 45.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1467.2

TCM_TEMP 17.50 GPS 231009,232507,6712.251,-5711.704,35,1.0,35,-37.8

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 304 151.27 SBE_CT 844 24 478.45

Roll_motor 118 93 262.24 SBE_O2 782 19 351.08

VBD_pump_during_apogee 284 1059 7107.01 nil 0 0 0.00

VBD_pump_during_surface 45 740 786.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.66 nil 0 0 0.00

Iridium_during_connect 33 160 125.53 nil 0 0 0.00

Iridium_during_xfer 132 223 698.56

Transponder_ping 0 420 4.96

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.24

TT8 1898 19 389.56

LPSleep 6345 2 150.97

TT8_Active 451 19 92.71

TT8_Sampling 2008 39 825.99

TT8_CF8 360 45 170.39

TT8_Kalman 0 0 0.00

Analog_circuits 1489 12 184.05

GPS_charging 0 0 0.00

Compass 1979 8 163.11

RAFOS 1440 1 22.25

Transponder 0 30 0.16

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

16 -0.98 -146.0 0.0 0.0 0 103 0.00 0.00 -84.40 0.000 2 0.000 0.000 125 2507 3202 0 0 0 0 0 0

106 -0.98 -146.0 3.5 -7.1 17 128 9.52 2.65 -4.97 0.000 4 0.304 0.091 2107 915 3398 0 0 0 0 0 0

156 -0.68 -146.0 16.0 -18.3 26 162 0.40 2.60 0.00 0.000 6 0.207 0.071 2209 2499 3400 0 0 0 0 0 0

500 -0.80 -146.0 49.3 -10.0 87 506 0.12 2.35 0.00 0.000 4 0.113 0.084 2154 3911 3400 0 0 0 0 0 0

523 -0.80 -146.0 52.1 -11.3 91 530 0.00 2.30 0.00 0.000 6 0.000 0.058 2154 2460 3400 0 0 0 0 0 0

867 -0.80 -146.0 93.7 -10.6 152 873 0.00 2.50 0.00 0.000 4 0.000 0.078 2154 908 3400 0 0 0 0 0 0

897 -0.76 -146.0 96.6 -10.4 157 903 0.12 2.50 0.00 0.000 6 0.222 0.071 2180 2456 3400 0 0 0 0 0 0

1224 -0.85 -146.0 126.4 -9.3 191 1228 0.00 2.40 0.00 0.000 4 0.000 0.087 2180 3916 3399 0 0 0 0 0 0

1234 -0.93 -146.0 127.3 -9.3 191 1240 0.17 2.30 0.00 0.000 6 0.104 0.059 2121 2459 3399 0 0 0 0 0 0

1558 -0.83 -146.0 162.0 -10.2 222 1563 0.15 2.40 0.00 0.000 4 0.212 0.084 2145 3909 3399 0 0 0 0 0 0

1677 -0.83 -146.0 173.1 -9.0 232 1681 0.00 2.28 0.00 0.000 6 0.000 0.058 2146 2464 3398 0 0 0 0 0 0

2001 -0.83 -146.0 200.6 -9.2 262 2005 0.00 2.40 0.00 0.000 4 0.000 0.086 2145 3914 3399 0 0 0 0 0 0

2039 -0.83 -146.0 204.3 -9.8 265 2045 0.00 2.30 0.00 0.000 6 0.000 0.058 2145 2474 3399 0 0 0 0 0 0

2364 -0.83 -146.0 233.1 -9.0 296 2368 0.00 2.35 0.00 0.000 4 0.000 0.086 2145 3910 3399 0 0 0 0 0 0

2374 -0.83 -146.0 234.1 -9.2 296 2380 0.00 2.35 0.00 0.000 6 0.000 0.059 2145 2413 3399 0 0 0 0 0 0

2699 -0.83 -146.0 263.6 -8.9 327 2703 0.00 2.45 0.00 0.000 4 0.000 0.086 2145 3909 3398 0 0 0 0 0 0

2743 -0.83 -146.0 267.6 -9.2 331 2747 0.00 2.35 0.00 0.000 6 0.000 0.059 2146 2410 3398 0 0 0 0 0 0

3067 -0.83 -146.0 296.0 -8.9 361 3071 0.00 2.47 0.00 0.000 4 0.000 0.086 2145 3917 3398 0 0 0 0 0 0

3129 -0.83 -146.0 301.8 -9.4 366 3133 0.00 2.35 0.00 0.000 6 0.000 0.058 2145 2413 3398 0 0 0 0 0 0

3454 -0.83 -146.0 330.4 -8.5 396 3459 0.00 2.45 0.00 0.000 4 0.000 0.084 2145 3915 3398 0 0 0 0 0 0

3527 -0.83 -146.0 337.0 -8.6 402 3531 0.00 2.35 0.00 0.000 6 0.000 0.058 2146 2412 3398 0 0 0 0 0 0

3852 -0.83 -146.0 364.7 -8.5 432 3856 0.00 2.45 0.00 0.000 4 0.000 0.084 2145 3915 3398 0 0 0 0 0 0

3868 -0.83 -146.0 366.0 -7.8 433 3872 0.00 2.35 0.00 0.000 6 0.000 0.058 2145 2407 3398 0 0 0 0 0 0

4198 -0.83 -146.0 393.0 -8.5 464 4202 0.00 2.45 0.00 0.000 4 0.000 0.084 2145 3913 3398 0 0 0 0 0 0

4263 -0.83 -146.0 399.0 -8.7 469 4269 0.00 2.33 0.00 0.000 6 0.000 0.057 2145 2418 3398 0 0 0 0 0 0

4588 -0.83 -146.0 427.0 -8.7 500 4592 0.00 2.45 0.00 0.000 4 0.000 0.084 2145 3917 3399 0 0 0 0 0 0

4636 -0.83 -146.0 431.6 -9.5 504 4643 0.00 2.38 0.00 0.000 6 0.000 0.057 2145 2417 3398 0 0 0 0 0 0

4963 -0.83 -146.0 460.1 -8.8 535 4967 0.00 2.42 0.00 0.000 4 0.000 0.082 2145 3911 3399 0 0 0 0 0 0

4973 -0.83 -146.0 461.1 -8.5 535 4979 0.00 2.35 0.00 0.000 6 0.000 0.057 2146 2398 3399 0 0 0 0 0 0

5298 -0.83 -146.0 487.8 -8.0 566 5302 0.00 2.33 0.00 0.000 4 0.000 0.075 2145 912 3399 0 0 0 0 0 0

5555 -0.83 -146.0 511.1 -9.2 588 5561 0.00 2.35 0.00 0.000 6 0.000 0.067 2145 2411 3400 0 0 0 0 0 0

5782 end dive: NO_VERTICAL_VELOCITY

state 5782 begin apogee

5788 -0.24 0.0 516.0 0.0 610 5908 0.65 0.00 116.68 1.060 6 0.132 0.000 2352 2290 2800 0 0 0 0 0 0

5909 end apogee: CONTROL_FINISHED_OK

state 5909 begin climb

5911 0.98 146.0 515.8 0.0 622 6044 1.25 2.80 119.65 1.016 4 0.112 0.077 2753 725 2201 0 0 0 0 0 0

6296 0.55 146.0 451.6 20.5 657 6303 0.57 2.58 0.00 0.000 6 0.207 0.062 2611 2300 2194 0 0 0 0 0 0

6621 0.55 146.0 413.4 11.5 688 6625 0.00 2.65 0.00 0.000 4 0.000 0.081 2610 3893 2193 0 0 0 0 0 0

6682 0.45 146.0 405.6 13.5 693 6687 0.17 2.58 0.00 0.000 6 0.194 0.060 2579 2303 2192 0 0 0 0 0 0

7007 0.50 146.0 372.5 9.6 723 7011 0.00 2.58 0.00 0.000 4 0.000 0.077 2590 707 2192 0 0 0 0 0 0

7263 0.50 146.0 348.1 9.5 745 7269 0.00 2.55 0.00 0.000 6 0.000 0.063 2589 2287 2192 0 0 0 0 0 0

7588 0.50 146.0 315.8 10.3 776 7592 0.00 2.55 0.00 0.000 4 0.000 0.078 2601 709 2192 0 0 0 0 0 0

7845 0.51 147.2 289.8 9.1 798 7851 0.00 2.53 0.00 0.000 6 0.000 0.064 2601 2304 2192 0 0 0 0 0 0

8169 0.51 147.2 256.4 11.2 829 8174 0.00 2.55 0.00 0.000 4 0.000 0.077 2612 714 2192 0 0 0 0 0 0

8426 0.51 147.2 225.4 12.7 851 8433 0.00 2.53 0.00 0.000 6 0.000 0.064 2612 2293 2192 0 0 0 0 0 0

8752 0.51 147.2 188.6 10.7 882 8756 0.00 2.53 0.00 0.000 4 0.000 0.079 2623 714 2192 0 0 0 0 0 0

9008 0.51 147.2 160.3 11.4 904 9015 0.08 2.53 0.00 0.000 6 0.181 0.065 2591 2290 2192 0 0 0 0 0 0

9334 0.61 169.5 130.9 8.2 935 9359 0.12 2.62 18.05 0.798 4 0.115 0.079 2645 710 2107 0 0 0 0 0 0

9612 0.55 169.5 101.9 10.1 960 9617 0.15 2.55 0.00 0.000 6 0.189 0.064 2610 2318 2105 0 0 0 0 0 0

9954 0.65 169.5 73.1 9.7 1018 9960 0.00 2.53 0.00 0.000 4 0.000 0.081 2610 3886 2104 0 0 0 0 0 0

10022 0.65 169.5 65.9 10.5 1030 10027 0.00 2.50 0.00 0.000 6 0.000 0.061 2619 2309 2103 0 0 0 0 0 0

10366 0.77 205.9 37.7 7.6 1091 10403 0.17 2.60 29.73 0.762 4 0.101 0.081 2693 717 1959 0 0 0 0 0 0

10656 0.68 205.9 4.7 12.3 1143 10663 0.17 2.58 0.00 0.000 6 0.193 0.065 2652 2324 1954 0 0 0 0 0 0

10678 end climb: SURFACE_DEPTH_REACHED

state 10678 begin surface coast

10696 end surface coast: CONTROL_FINISHED_OK

state 10696 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	25	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	24	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	-23426.654	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	201901,6712.385,-5710.415,37,1.3,37,-37.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.267,-5719.940
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202402,6712.414,-5710.472,10,1.4,10,-37.8	MHEAD_RNG_PITCHd_Wd	237.8,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	519

FINISH	0.2,1.026314	_24V_AH	23.6,17.678
SM_CCo	10712,45.00,0.741,0,0,1677,275.23	_10V_AH	10.3,8.005
SM_GC	1.02,0.00,0.00,45.00,0.000,0.000,0.741,124,2505,1677,-7.21,0.17,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	659	FG_AHR_10Vo	0.000
RAFOS	3,1256329504,20.433332,20.417778,65,60,59,0,0,0,1003,192,143,0,0,0	MEM	150640
RAFOS_FIX	6711.772461,-5711.074219,231009,202038,5,93,2.46	DATA_FILE_SIZE	44207,1150
IRIDIUM_FIX	6647.44,-5707.88,170199,171701	CAP_FILE_SIZE	130030,0
TT8_MAMPS	0.026845	CFSIZE	260165632,249049088
HUMID	45.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1467.2
TCM_TEMP	17.50	GPS	231009,232507,6712.251,-5711.704,35,1.0,35,-37.8
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	304	151.27	SBE_CT	844	24	478.45
Roll_motor	118	93	262.24	SBE_O2	782	19	351.08
VBD_pump_during_apogee	284	1059	7107.01	nil	0	0	0.00
VBD_pump_during_surface	45	740	786.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.66	nil	0	0	0.00
Iridium_during_connect	33	160	125.53	nil	0	0	0.00
Iridium_during_xfer	132	223	698.56
Transponder_ping	0	420	4.96
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.24
TT8	1898	19	389.56
LPSleep	6345	2	150.97
TT8_Active	451	19	92.71
TT8_Sampling	2008	39	825.99
TT8_CF8	360	45	170.39
TT8_Kalman	0	0	0.00
Analog_circuits	1489	12	184.05
GPS_charging	0	0	0.00
Compass	1979	8	163.11
RAFOS	1440	1	22.25
Transponder	0	30	0.16

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
16	-0.98	-146.0	0.0	0.0	0	103	0.00	0.00	-84.40	0.000	2	0.000	0.000	125	2507	3202	0	0	0	0	0	0
106	-0.98	-146.0	3.5	-7.1	17	128	9.52	2.65	-4.97	0.000	4	0.304	0.091	2107	915	3398	0	0	0	0	0	0
156	-0.68	-146.0	16.0	-18.3	26	162	0.40	2.60	0.00	0.000	6	0.207	0.071	2209	2499	3400	0	0	0	0	0	0
500	-0.80	-146.0	49.3	-10.0	87	506	0.12	2.35	0.00	0.000	4	0.113	0.084	2154	3911	3400	0	0	0	0	0	0
523	-0.80	-146.0	52.1	-11.3	91	530	0.00	2.30	0.00	0.000	6	0.000	0.058	2154	2460	3400	0	0	0	0	0	0
867	-0.80	-146.0	93.7	-10.6	152	873	0.00	2.50	0.00	0.000	4	0.000	0.078	2154	908	3400	0	0	0	0	0	0
897	-0.76	-146.0	96.6	-10.4	157	903	0.12	2.50	0.00	0.000	6	0.222	0.071	2180	2456	3400	0	0	0	0	0	0
1224	-0.85	-146.0	126.4	-9.3	191	1228	0.00	2.40	0.00	0.000	4	0.000	0.087	2180	3916	3399	0	0	0	0	0	0
1234	-0.93	-146.0	127.3	-9.3	191	1240	0.17	2.30	0.00	0.000	6	0.104	0.059	2121	2459	3399	0	0	0	0	0	0
1558	-0.83	-146.0	162.0	-10.2	222	1563	0.15	2.40	0.00	0.000	4	0.212	0.084	2145	3909	3399	0	0	0	0	0	0
1677	-0.83	-146.0	173.1	-9.0	232	1681	0.00	2.28	0.00	0.000	6	0.000	0.058	2146	2464	3398	0	0	0	0	0	0
2001	-0.83	-146.0	200.6	-9.2	262	2005	0.00	2.40	0.00	0.000	4	0.000	0.086	2145	3914	3399	0	0	0	0	0	0
2039	-0.83	-146.0	204.3	-9.8	265	2045	0.00	2.30	0.00	0.000	6	0.000	0.058	2145	2474	3399	0	0	0	0	0	0
2364	-0.83	-146.0	233.1	-9.0	296	2368	0.00	2.35	0.00	0.000	4	0.000	0.086	2145	3910	3399	0	0	0	0	0	0
2374	-0.83	-146.0	234.1	-9.2	296	2380	0.00	2.35	0.00	0.000	6	0.000	0.059	2145	2413	3399	0	0	0	0	0	0
2699	-0.83	-146.0	263.6	-8.9	327	2703	0.00	2.45	0.00	0.000	4	0.000	0.086	2145	3909	3398	0	0	0	0	0	0
2743	-0.83	-146.0	267.6	-9.2	331	2747	0.00	2.35	0.00	0.000	6	0.000	0.059	2146	2410	3398	0	0	0	0	0	0
3067	-0.83	-146.0	296.0	-8.9	361	3071	0.00	2.47	0.00	0.000	4	0.000	0.086	2145	3917	3398	0	0	0	0	0	0
3129	-0.83	-146.0	301.8	-9.4	366	3133	0.00	2.35	0.00	0.000	6	0.000	0.058	2145	2413	3398	0	0	0	0	0	0
3454	-0.83	-146.0	330.4	-8.5	396	3459	0.00	2.45	0.00	0.000	4	0.000	0.084	2145	3915	3398	0	0	0	0	0	0
3527	-0.83	-146.0	337.0	-8.6	402	3531	0.00	2.35	0.00	0.000	6	0.000	0.058	2146	2412	3398	0	0	0	0	0	0
3852	-0.83	-146.0	364.7	-8.5	432	3856	0.00	2.45	0.00	0.000	4	0.000	0.084	2145	3915	3398	0	0	0	0	0	0
3868	-0.83	-146.0	366.0	-7.8	433	3872	0.00	2.35	0.00	0.000	6	0.000	0.058	2145	2407	3398	0	0	0	0	0	0
4198	-0.83	-146.0	393.0	-8.5	464	4202	0.00	2.45	0.00	0.000	4	0.000	0.084	2145	3913	3398	0	0	0	0	0	0
4263	-0.83	-146.0	399.0	-8.7	469	4269	0.00	2.33	0.00	0.000	6	0.000	0.057	2145	2418	3398	0	0	0	0	0	0
4588	-0.83	-146.0	427.0	-8.7	500	4592	0.00	2.45	0.00	0.000	4	0.000	0.084	2145	3917	3399	0	0	0	0	0	0
4636	-0.83	-146.0	431.6	-9.5	504	4643	0.00	2.38	0.00	0.000	6	0.000	0.057	2145	2417	3398	0	0	0	0	0	0
4963	-0.83	-146.0	460.1	-8.8	535	4967	0.00	2.42	0.00	0.000	4	0.000	0.082	2145	3911	3399	0	0	0	0	0	0
4973	-0.83	-146.0	461.1	-8.5	535	4979	0.00	2.35	0.00	0.000	6	0.000	0.057	2146	2398	3399	0	0	0	0	0	0
5298	-0.83	-146.0	487.8	-8.0	566	5302	0.00	2.33	0.00	0.000	4	0.000	0.075	2145	912	3399	0	0	0	0	0	0
5555	-0.83	-146.0	511.1	-9.2	588	5561	0.00	2.35	0.00	0.000	6	0.000	0.067	2145	2411	3400	0	0	0	0	0	0
5782	end dive: NO_VERTICAL_VELOCITY
state	5782	begin apogee
5788	-0.24	0.0	516.0	0.0	610	5908	0.65	0.00	116.68	1.060	6	0.132	0.000	2352	2290	2800	0	0	0	0	0	0
5909	end apogee: CONTROL_FINISHED_OK
state	5909	begin climb
5911	0.98	146.0	515.8	0.0	622	6044	1.25	2.80	119.65	1.016	4	0.112	0.077	2753	725	2201	0	0	0	0	0	0
6296	0.55	146.0	451.6	20.5	657	6303	0.57	2.58	0.00	0.000	6	0.207	0.062	2611	2300	2194	0	0	0	0	0	0
6621	0.55	146.0	413.4	11.5	688	6625	0.00	2.65	0.00	0.000	4	0.000	0.081	2610	3893	2193	0	0	0	0	0	0
6682	0.45	146.0	405.6	13.5	693	6687	0.17	2.58	0.00	0.000	6	0.194	0.060	2579	2303	2192	0	0	0	0	0	0
7007	0.50	146.0	372.5	9.6	723	7011	0.00	2.58	0.00	0.000	4	0.000	0.077	2590	707	2192	0	0	0	0	0	0
7263	0.50	146.0	348.1	9.5	745	7269	0.00	2.55	0.00	0.000	6	0.000	0.063	2589	2287	2192	0	0	0	0	0	0
7588	0.50	146.0	315.8	10.3	776	7592	0.00	2.55	0.00	0.000	4	0.000	0.078	2601	709	2192	0	0	0	0	0	0
7845	0.51	147.2	289.8	9.1	798	7851	0.00	2.53	0.00	0.000	6	0.000	0.064	2601	2304	2192	0	0	0	0	0	0
8169	0.51	147.2	256.4	11.2	829	8174	0.00	2.55	0.00	0.000	4	0.000	0.077	2612	714	2192	0	0	0	0	0	0
8426	0.51	147.2	225.4	12.7	851	8433	0.00	2.53	0.00	0.000	6	0.000	0.064	2612	2293	2192	0	0	0	0	0	0
8752	0.51	147.2	188.6	10.7	882	8756	0.00	2.53	0.00	0.000	4	0.000	0.079	2623	714	2192	0	0	0	0	0	0
9008	0.51	147.2	160.3	11.4	904	9015	0.08	2.53	0.00	0.000	6	0.181	0.065	2591	2290	2192	0	0	0	0	0	0
9334	0.61	169.5	130.9	8.2	935	9359	0.12	2.62	18.05	0.798	4	0.115	0.079	2645	710	2107	0	0	0	0	0	0
9612	0.55	169.5	101.9	10.1	960	9617	0.15	2.55	0.00	0.000	6	0.189	0.064	2610	2318	2105	0	0	0	0	0	0
9954	0.65	169.5	73.1	9.7	1018	9960	0.00	2.53	0.00	0.000	4	0.000	0.081	2610	3886	2104	0	0	0	0	0	0
10022	0.65	169.5	65.9	10.5	1030	10027	0.00	2.50	0.00	0.000	6	0.000	0.061	2619	2309	2103	0	0	0	0	0	0
10366	0.77	205.9	37.7	7.6	1091	10403	0.17	2.60	29.73	0.762	4	0.101	0.081	2693	717	1959	0	0	0	0	0	0
10656	0.68	205.9	4.7	12.3	1143	10663	0.17	2.58	0.00	0.000	6	0.193	0.065	2652	2324	1954	0	0	0	0	0	0
10678	end climb: SURFACE_DEPTH_REACHED
state	10678	begin surface coast
10696	end surface coast: CONTROL_FINISHED_OK
state	10696	begin surface