Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 26 * 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 26 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 25 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 -23441.699 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 -23441.699

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 25 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 26 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 232507,6712.251,-5711.704,35,1.0,35,-37.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.152,-5721.228

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 233020,6712.300,-5711.761,12,1.1,12,-37.8 MHEAD_RNG_PITCHd_Wd 237.8,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 540

Post-dive calculations and measurements:

FINISH 0.3,1.026216 _24V_AH 23.7,17.777

SM_CCo 10661,61.53,0.739,0,0,1676,275.23 _10V_AH 10.3,8.070

SM_GC 1.35,0.00,0.00,61.53,0.000,0.000,0.739,123,2505,1676,-7.21,0.14,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 660 FG_AHR_10Vo 0.000

RAFOS 0,1256342465,0.033333,0.018056,67,63,59,0,0,0,1143,231,199,0,0,0 MEM 150584

RAFOS_FIX 6710.166016,-5715.261719,241009,000034,6,95,1.30 DATA_FILE_SIZE 44176,1129

IRIDIUM_FIX 6647.44,-5647.86,170199,202032 CAP_FILE_SIZE 129194,0

TT8_MAMPS 0.026845 CFSIZE 260165632,248979456

HUMID 45.66 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 241009,023101,6712.592,-5711.573,36,1.5,36,-37.9

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 311 186.54 SBE_CT 826 24 469.93

Roll_motor 114 108 293.41 SBE_O2 770 19 347.07

VBD_pump_during_apogee 252 1056 6312.18 nil 0 0 0.00

VBD_pump_during_surface 61 739 1078.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 54.19 nil 0 0 0.00

Iridium_during_connect 34 160 130.62 nil 0 0 0.00

Iridium_during_xfer 146 223 773.15

Transponder_ping 0 420 4.98

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.43

TT8 1936 19 397.25

LPSleep 6345 2 150.97

TT8_Active 449 19 92.22

TT8_Sampling 1953 39 803.39

TT8_CF8 364 45 172.61

TT8_Kalman 0 0 0.00

Analog_circuits 1452 12 179.52

GPS_charging 0 0 0.00

Compass 1927 8 158.83

RAFOS 2520 1 38.93

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 -84.75 0.000 2 0.000 0.000 123 2506 3214 0 0 0 0 0 0

106 -0.98 -146.0 4.0 -9.0 17 128 9.77 2.65 -4.50 0.000 4 0.311 0.089 2105 911 3400 0 0 0 0 0 0

134 0.56 -146.0 12.7 -29.1 22 144 1.85 2.60 0.00 0.000 6 0.196 0.071 2606 2496 3401 0 0 0 0 0 0

483 -0.45 -146.0 32.0 -5.2 84 489 1.15 2.35 0.00 0.000 4 0.200 0.081 2282 3919 3402 0 0 0 0 0 0

495 -1.54 -146.0 32.8 -6.1 86 501 1.00 2.28 0.00 0.000 6 0.074 0.059 1927 2493 3401 0 0 0 0 0 0

844 -0.89 -146.0 105.7 -22.1 146 846 0.88 0.00 0.00 0.000 6 0.245 0.000 2139 2492 3401 0 0 0 0 0 0

1162 -0.89 -146.0 137.2 -8.2 176 1166 0.00 2.35 0.00 0.000 4 0.000 0.087 2139 3913 3400 0 0 0 0 0 0

1189 -0.89 -146.0 139.4 -8.0 178 1194 0.00 2.20 0.00 0.000 6 0.000 0.059 2140 2521 3400 0 0 0 0 0 0

1515 -0.89 -146.0 165.2 -8.0 208 1519 0.00 2.30 0.00 0.000 4 0.000 0.087 2140 3915 3400 0 0 0 0 0 0

1525 -0.89 -146.0 166.3 -8.0 208 1531 0.00 2.22 0.00 0.000 6 0.000 0.059 2140 2527 3400 0 0 0 0 0 0

1850 -0.89 -146.0 191.7 -7.9 239 1854 0.00 2.58 0.00 0.000 4 0.000 0.078 2140 910 3399 0 0 0 0 0 0

1860 -0.89 -146.0 192.6 -8.2 239 1866 0.00 2.62 0.00 0.000 6 0.000 0.072 2140 2547 3400 0 0 0 0 0 0

2185 -0.89 -146.0 220.2 -8.3 270 2189 0.00 2.22 0.00 0.000 4 0.000 0.087 2140 3914 3399 0 0 0 0 0 0

2441 -0.89 -146.0 244.1 -9.6 292 2448 0.00 2.25 0.00 0.000 6 0.000 0.059 2140 2508 3400 0 0 0 0 0 0

2768 -0.89 -146.0 273.1 -8.3 323 2772 0.00 2.53 0.00 0.000 4 0.000 0.077 2140 913 3399 0 0 0 0 0 0

2897 -0.89 -146.0 284.8 -9.2 334 2901 0.00 2.55 0.00 0.000 6 0.000 0.070 2140 2518 3399 0 0 0 0 0 0

3221 -0.89 -146.0 310.2 -7.8 364 3225 0.00 2.58 0.00 0.000 4 0.000 0.077 2140 905 3399 0 0 0 0 0 0

3237 -0.89 -146.0 311.5 -8.1 365 3241 0.00 2.58 0.00 0.000 6 0.000 0.071 2140 2521 3399 0 0 0 0 0 0

3561 -0.89 -146.0 339.0 -8.7 395 3566 0.00 2.58 0.00 0.000 4 0.000 0.077 2140 912 3399 0 0 0 0 0 0

3571 -0.89 -146.0 340.1 -9.1 395 3577 0.00 2.55 0.00 0.000 6 0.000 0.070 2140 2521 3399 0 0 0 0 0 0

3896 -0.89 -146.0 367.6 -8.2 426 3900 0.00 2.25 0.00 0.000 4 0.000 0.085 2140 3914 3399 0 0 0 0 0 0

3907 -0.89 -146.0 368.5 -8.1 426 3912 0.00 2.30 0.00 0.000 6 0.000 0.058 2140 2441 3399 0 0 0 0 0 0

4234 -0.89 -146.0 395.3 -8.0 457 4238 0.00 2.40 0.00 0.000 4 0.000 0.084 2140 3915 3399 0 0 0 0 0 0

4244 -0.89 -146.0 396.5 -8.5 457 4250 0.00 2.40 0.00 0.000 6 0.000 0.058 2140 2381 3400 0 0 0 0 0 0

4569 -0.89 -146.0 424.4 -8.6 488 4573 0.00 2.30 0.00 0.000 4 0.000 0.076 2140 912 3400 0 0 0 0 0 0

4579 -0.89 -146.0 425.3 -8.5 488 4584 0.00 2.30 0.00 0.000 6 0.000 0.069 2140 2372 3400 0 0 0 0 0 0

4903 -0.89 -146.0 451.5 -7.3 519 4908 0.00 2.50 0.00 0.000 4 0.000 0.084 2140 3918 3400 0 0 0 0 0 0

4942 -0.89 -146.0 454.6 -8.3 522 4946 0.00 2.42 0.00 0.000 6 0.000 0.058 2140 2365 3400 0 0 0 0 0 0

5267 -0.89 -146.0 479.5 -7.7 552 5271 0.00 2.53 0.00 0.000 4 0.000 0.084 2140 3915 3401 0 0 0 0 0 0

5305 -0.89 -146.0 482.7 -8.1 555 5310 0.00 2.42 0.00 0.000 6 0.000 0.058 2140 2365 3401 0 0 0 0 0 0

5631 -0.89 -146.0 508.3 -8.0 585 5636 0.00 2.53 0.00 0.000 4 0.000 0.083 2140 3917 3401 0 0 0 0 0 0

5697 -0.89 -146.0 513.8 -8.2 590 5703 0.00 2.40 0.00 0.000 6 0.000 0.058 2140 2375 3401 0 0 0 0 0 0

5893 end dive: NO_VERTICAL_VELOCITY

state 5893 begin apogee

5898 -0.24 0.0 516.0 0.0 609 6019 0.68 0.00 117.07 1.056 6 0.135 0.000 2354 2290 2799 0 0 0 0 0 0

6020 end apogee: CONTROL_FINISHED_OK

state 6020 begin climb

6021 0.98 146.0 515.8 0.0 621 6155 1.25 2.80 119.72 1.012 4 0.118 0.077 2752 722 2201 0 0 0 0 0 0

6407 0.55 146.0 450.7 18.6 656 6414 0.57 2.60 0.00 0.000 6 0.207 0.064 2610 2308 2194 0 0 0 0 0 0

6732 0.50 146.0 411.2 12.1 687 6736 0.00 2.65 0.00 0.000 4 0.000 0.081 2609 3892 2193 0 0 0 0 0 0

6804 0.41 146.0 401.6 12.9 693 6810 0.22 2.58 0.00 0.000 6 0.192 0.061 2565 2301 2192 0 0 0 0 0 0

7129 0.50 146.0 369.6 9.7 723 7133 0.00 2.58 0.00 0.000 4 0.000 0.078 2575 707 2192 0 0 0 0 0 0

7386 0.58 146.0 343.7 10.6 745 7392 0.12 2.50 0.00 0.000 6 0.120 0.063 2617 2289 2192 0 0 0 0 0 0

7711 0.53 146.0 304.2 12.2 776 7715 0.00 2.55 0.00 0.000 4 0.000 0.078 2629 710 2192 0 0 0 0 0 0

7968 0.46 146.0 270.3 12.9 798 7975 0.20 2.55 0.00 0.000 6 0.191 0.064 2579 2323 2192 0 0 0 0 0 0

8293 0.54 146.0 236.8 10.8 829 8297 0.00 2.60 0.00 0.000 4 0.000 0.078 2589 706 2192 0 0 0 0 0 0

8550 0.60 146.0 210.0 10.4 851 8556 0.10 2.55 0.00 0.000 6 0.133 0.064 2624 2324 2191 0 0 0 0 0 0

8875 0.54 146.0 173.9 10.6 882 8879 0.00 2.58 0.00 0.000 4 0.000 0.077 2635 713 2192 0 0 0 0 0 0

9131 0.48 146.0 148.2 10.1 904 9138 0.20 2.53 0.00 0.000 6 0.186 0.064 2586 2322 2192 0 0 0 0 0 0

9457 0.60 165.8 123.2 8.3 935 9479 0.12 2.62 15.38 0.777 4 0.117 0.077 2640 703 2122 0 0 0 0 0 0

9732 0.60 165.8 88.9 12.8 967 9738 0.00 2.55 0.00 0.000 6 0.000 0.064 2640 2313 2119 0 0 0 0 0 0

10075 0.60 165.8 51.6 9.2 1028 10081 0.00 2.58 0.00 0.000 4 0.000 0.080 2651 711 2119 0 0 0 0 0 0

10336 0.60 167.5 27.5 9.1 1074 10341 0.00 2.50 0.00 0.000 6 0.000 0.065 2651 2299 2118 0 0 0 0 0 0

10621 end climb: SURFACE_DEPTH_REACHED

state 10621 begin surface coast

10645 end surface coast: CONTROL_FINISHED_OK

state 10645 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	26	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	25	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	-23441.699	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	232507,6712.251,-5711.704,35,1.0,35,-37.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.152,-5721.228
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	233020,6712.300,-5711.761,12,1.1,12,-37.8	MHEAD_RNG_PITCHd_Wd	237.8,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	540

FINISH	0.3,1.026216	_24V_AH	23.7,17.777
SM_CCo	10661,61.53,0.739,0,0,1676,275.23	_10V_AH	10.3,8.070
SM_GC	1.35,0.00,0.00,61.53,0.000,0.000,0.739,123,2505,1676,-7.21,0.14,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	660	FG_AHR_10Vo	0.000
RAFOS	0,1256342465,0.033333,0.018056,67,63,59,0,0,0,1143,231,199,0,0,0	MEM	150584
RAFOS_FIX	6710.166016,-5715.261719,241009,000034,6,95,1.30	DATA_FILE_SIZE	44176,1129
IRIDIUM_FIX	6647.44,-5647.86,170199,202032	CAP_FILE_SIZE	129194,0
TT8_MAMPS	0.026845	CFSIZE	260165632,248979456
HUMID	45.66	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	241009,023101,6712.592,-5711.573,36,1.5,36,-37.9
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	311	186.54	SBE_CT	826	24	469.93
Roll_motor	114	108	293.41	SBE_O2	770	19	347.07
VBD_pump_during_apogee	252	1056	6312.18	nil	0	0	0.00
VBD_pump_during_surface	61	739	1078.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	54.19	nil	0	0	0.00
Iridium_during_connect	34	160	130.62	nil	0	0	0.00
Iridium_during_xfer	146	223	773.15
Transponder_ping	0	420	4.98
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.43
TT8	1936	19	397.25
LPSleep	6345	2	150.97
TT8_Active	449	19	92.22
TT8_Sampling	1953	39	803.39
TT8_CF8	364	45	172.61
TT8_Kalman	0	0	0.00
Analog_circuits	1452	12	179.52
GPS_charging	0	0	0.00
Compass	1927	8	158.83
RAFOS	2520	1	38.93
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	-84.75	0.000	2	0.000	0.000	123	2506	3214	0	0	0	0	0	0
106	-0.98	-146.0	4.0	-9.0	17	128	9.77	2.65	-4.50	0.000	4	0.311	0.089	2105	911	3400	0	0	0	0	0	0
134	0.56	-146.0	12.7	-29.1	22	144	1.85	2.60	0.00	0.000	6	0.196	0.071	2606	2496	3401	0	0	0	0	0	0
483	-0.45	-146.0	32.0	-5.2	84	489	1.15	2.35	0.00	0.000	4	0.200	0.081	2282	3919	3402	0	0	0	0	0	0
495	-1.54	-146.0	32.8	-6.1	86	501	1.00	2.28	0.00	0.000	6	0.074	0.059	1927	2493	3401	0	0	0	0	0	0
844	-0.89	-146.0	105.7	-22.1	146	846	0.88	0.00	0.00	0.000	6	0.245	0.000	2139	2492	3401	0	0	0	0	0	0
1162	-0.89	-146.0	137.2	-8.2	176	1166	0.00	2.35	0.00	0.000	4	0.000	0.087	2139	3913	3400	0	0	0	0	0	0
1189	-0.89	-146.0	139.4	-8.0	178	1194	0.00	2.20	0.00	0.000	6	0.000	0.059	2140	2521	3400	0	0	0	0	0	0
1515	-0.89	-146.0	165.2	-8.0	208	1519	0.00	2.30	0.00	0.000	4	0.000	0.087	2140	3915	3400	0	0	0	0	0	0
1525	-0.89	-146.0	166.3	-8.0	208	1531	0.00	2.22	0.00	0.000	6	0.000	0.059	2140	2527	3400	0	0	0	0	0	0
1850	-0.89	-146.0	191.7	-7.9	239	1854	0.00	2.58	0.00	0.000	4	0.000	0.078	2140	910	3399	0	0	0	0	0	0
1860	-0.89	-146.0	192.6	-8.2	239	1866	0.00	2.62	0.00	0.000	6	0.000	0.072	2140	2547	3400	0	0	0	0	0	0
2185	-0.89	-146.0	220.2	-8.3	270	2189	0.00	2.22	0.00	0.000	4	0.000	0.087	2140	3914	3399	0	0	0	0	0	0
2441	-0.89	-146.0	244.1	-9.6	292	2448	0.00	2.25	0.00	0.000	6	0.000	0.059	2140	2508	3400	0	0	0	0	0	0
2768	-0.89	-146.0	273.1	-8.3	323	2772	0.00	2.53	0.00	0.000	4	0.000	0.077	2140	913	3399	0	0	0	0	0	0
2897	-0.89	-146.0	284.8	-9.2	334	2901	0.00	2.55	0.00	0.000	6	0.000	0.070	2140	2518	3399	0	0	0	0	0	0
3221	-0.89	-146.0	310.2	-7.8	364	3225	0.00	2.58	0.00	0.000	4	0.000	0.077	2140	905	3399	0	0	0	0	0	0
3237	-0.89	-146.0	311.5	-8.1	365	3241	0.00	2.58	0.00	0.000	6	0.000	0.071	2140	2521	3399	0	0	0	0	0	0
3561	-0.89	-146.0	339.0	-8.7	395	3566	0.00	2.58	0.00	0.000	4	0.000	0.077	2140	912	3399	0	0	0	0	0	0
3571	-0.89	-146.0	340.1	-9.1	395	3577	0.00	2.55	0.00	0.000	6	0.000	0.070	2140	2521	3399	0	0	0	0	0	0
3896	-0.89	-146.0	367.6	-8.2	426	3900	0.00	2.25	0.00	0.000	4	0.000	0.085	2140	3914	3399	0	0	0	0	0	0
3907	-0.89	-146.0	368.5	-8.1	426	3912	0.00	2.30	0.00	0.000	6	0.000	0.058	2140	2441	3399	0	0	0	0	0	0
4234	-0.89	-146.0	395.3	-8.0	457	4238	0.00	2.40	0.00	0.000	4	0.000	0.084	2140	3915	3399	0	0	0	0	0	0
4244	-0.89	-146.0	396.5	-8.5	457	4250	0.00	2.40	0.00	0.000	6	0.000	0.058	2140	2381	3400	0	0	0	0	0	0
4569	-0.89	-146.0	424.4	-8.6	488	4573	0.00	2.30	0.00	0.000	4	0.000	0.076	2140	912	3400	0	0	0	0	0	0
4579	-0.89	-146.0	425.3	-8.5	488	4584	0.00	2.30	0.00	0.000	6	0.000	0.069	2140	2372	3400	0	0	0	0	0	0
4903	-0.89	-146.0	451.5	-7.3	519	4908	0.00	2.50	0.00	0.000	4	0.000	0.084	2140	3918	3400	0	0	0	0	0	0
4942	-0.89	-146.0	454.6	-8.3	522	4946	0.00	2.42	0.00	0.000	6	0.000	0.058	2140	2365	3400	0	0	0	0	0	0
5267	-0.89	-146.0	479.5	-7.7	552	5271	0.00	2.53	0.00	0.000	4	0.000	0.084	2140	3915	3401	0	0	0	0	0	0
5305	-0.89	-146.0	482.7	-8.1	555	5310	0.00	2.42	0.00	0.000	6	0.000	0.058	2140	2365	3401	0	0	0	0	0	0
5631	-0.89	-146.0	508.3	-8.0	585	5636	0.00	2.53	0.00	0.000	4	0.000	0.083	2140	3917	3401	0	0	0	0	0	0
5697	-0.89	-146.0	513.8	-8.2	590	5703	0.00	2.40	0.00	0.000	6	0.000	0.058	2140	2375	3401	0	0	0	0	0	0
5893	end dive: NO_VERTICAL_VELOCITY
state	5893	begin apogee
5898	-0.24	0.0	516.0	0.0	609	6019	0.68	0.00	117.07	1.056	6	0.135	0.000	2354	2290	2799	0	0	0	0	0	0
6020	end apogee: CONTROL_FINISHED_OK
state	6020	begin climb
6021	0.98	146.0	515.8	0.0	621	6155	1.25	2.80	119.72	1.012	4	0.118	0.077	2752	722	2201	0	0	0	0	0	0
6407	0.55	146.0	450.7	18.6	656	6414	0.57	2.60	0.00	0.000	6	0.207	0.064	2610	2308	2194	0	0	0	0	0	0
6732	0.50	146.0	411.2	12.1	687	6736	0.00	2.65	0.00	0.000	4	0.000	0.081	2609	3892	2193	0	0	0	0	0	0
6804	0.41	146.0	401.6	12.9	693	6810	0.22	2.58	0.00	0.000	6	0.192	0.061	2565	2301	2192	0	0	0	0	0	0
7129	0.50	146.0	369.6	9.7	723	7133	0.00	2.58	0.00	0.000	4	0.000	0.078	2575	707	2192	0	0	0	0	0	0
7386	0.58	146.0	343.7	10.6	745	7392	0.12	2.50	0.00	0.000	6	0.120	0.063	2617	2289	2192	0	0	0	0	0	0
7711	0.53	146.0	304.2	12.2	776	7715	0.00	2.55	0.00	0.000	4	0.000	0.078	2629	710	2192	0	0	0	0	0	0
7968	0.46	146.0	270.3	12.9	798	7975	0.20	2.55	0.00	0.000	6	0.191	0.064	2579	2323	2192	0	0	0	0	0	0
8293	0.54	146.0	236.8	10.8	829	8297	0.00	2.60	0.00	0.000	4	0.000	0.078	2589	706	2192	0	0	0	0	0	0
8550	0.60	146.0	210.0	10.4	851	8556	0.10	2.55	0.00	0.000	6	0.133	0.064	2624	2324	2191	0	0	0	0	0	0
8875	0.54	146.0	173.9	10.6	882	8879	0.00	2.58	0.00	0.000	4	0.000	0.077	2635	713	2192	0	0	0	0	0	0
9131	0.48	146.0	148.2	10.1	904	9138	0.20	2.53	0.00	0.000	6	0.186	0.064	2586	2322	2192	0	0	0	0	0	0
9457	0.60	165.8	123.2	8.3	935	9479	0.12	2.62	15.38	0.777	4	0.117	0.077	2640	703	2122	0	0	0	0	0	0
9732	0.60	165.8	88.9	12.8	967	9738	0.00	2.55	0.00	0.000	6	0.000	0.064	2640	2313	2119	0	0	0	0	0	0
10075	0.60	165.8	51.6	9.2	1028	10081	0.00	2.58	0.00	0.000	4	0.000	0.080	2651	711	2119	0	0	0	0	0	0
10336	0.60	167.5	27.5	9.1	1074	10341	0.00	2.50	0.00	0.000	6	0.000	0.065	2651	2299	2118	0	0	0	0	0	0
10621	end climb: SURFACE_DEPTH_REACHED
state	10621	begin surface coast
10645	end surface coast: CONTROL_FINISHED_OK
state	10645	begin surface