Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MAX 3717 ALTIM_TOP_TURN_MARGIN 0

DIVE 38 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 1 C_ROLL_DIVE 1850 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1700 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_NO_BLEED 500 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 21 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 30 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 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 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 460 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 330 CALL_TRIES 5 C_VBD 2940 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -4836.3203 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 15 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 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3025 FG_AHR_24V 0 SEABIRD_T_G 0.0043614767

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062996609

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -55.981045 SEABIRD_T_I 2.5014444e-05

MASS 51891 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_J 2.7838146e-06

NAV_MODE 2 PITCH_GAIN 38 AD7714Ch0Gain 128 SEABIRD_C_G -10.228213

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1292607

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001076734

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017059842

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.032000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-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 500 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 0.032000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 1 PRESSURE_SLOPE 0.0001168426 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -55.981045 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -4836.3203

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 15

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 172 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3025 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1700 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 1850 KERMIT 0 ROLL_MAX 3717 USE_ICE 0

C_VBD 2940 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51891 R_PORT_OVSHOOT 21 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.228213 VBD_MIN 460

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1292607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 3 SEABIRD_C_I -0.001076734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017059842 VBD_TIMEOUT 720

DIVE 38 NAV_MODE 2 SEABIRD_T_G 0.0043614767 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.00062996609 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.5014444e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.7838146e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 043255,6643.887,-5958.906,59,1.4,59,-38.0 TGT_NAME TARGET_W_IN

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 14 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 044330,6643.698,-5959.044,11,3.8,30,-38.0 MHEAD_RNG_PITCHd_Wd 354.6,19728,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 644

Post-dive calculations and measurements:

FINISH 1.3,1.022683 _24V_AH 23.4,9.486

SM_CCo 11454,0.00,0.000,0,0,1520,348.57 _10V_AH 10.2,4.082

SM_GC 2.58,8.43,0.00,0.00,0.062,0.000,0.000,140,1857,1520,-8.95,0.20,348.57 FG_AHR_24Vo 0.000

RAFOS_CLK 602 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 150288

IRIDIUM_FIX 6614.97,-5954.40,210199,040410 DATA_FILE_SIZE 47246,1170

TT8_MAMPS 0.050622 CAP_FILE_SIZE 132986,0

HUMID 39.95 CFSIZE 260165632,249360384

INTERNAL_PRESSURE 9.42419 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1454.0

XPDR_PINGS 0 CURRENT 0.163,220.3,1

ALTIM_BOTTOM_PING 600.4,75.1 GPS 271009,075631,6644.138,-6004.084,100,1.0,100,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 243 127.16 SBE_CT 825 24 463.45

Roll_motor 73 79 135.83 SBE_O2 869 19 386.37

VBD_pump_during_apogee 424 1040 10322.63 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 58 103 141.34 nil 0 0 0.00

Iridium_during_connect 63 160 236.18 nil 0 0 0.00

Iridium_during_xfer 343 223 1793.14

Transponder_ping 1 420 17.20

GUMSTIX_24V 0 0 0.00

GPS 31 50 16.20

TT8 0 19 0.00

LPSleep 8678 2 204.47

TT8_Active 494 19 100.51

TT8_Sampling 2329 39 948.64

TT8_CF8 566 45 265.39

TT8_Kalman 0 0 0.00

Analog_circuits 1465 12 179.33

GPS_charging 0 0 0.00

Compass 1876 8 153.09

RAFOS 353 1 5.40

Transponder 16 30 5.11

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.64 -146.0 0.0 0.0 0 69 0.00 0.00 -55.75 0.000 2 0.000 0.000 120 1859 2425 0 0 0 0 0 0

71 -0.64 -146.0 3.3 -1.5 10 117 10.60 0.00 -31.02 0.000 6 0.243 0.000 2809 1859 3536 0 0 0 0 0 0

435 -0.49 -146.0 80.6 -20.2 79 436 0.20 0.00 0.00 0.000 6 0.173 0.000 2866 1859 3538 0 0 0 0 0 0

755 -0.54 -146.0 123.3 -13.1 123 759 0.00 2.35 0.00 0.000 4 0.000 0.078 2868 441 3538 0 0 0 0 0 0

820 -0.61 -146.0 131.9 -12.9 130 826 0.08 2.25 0.00 0.000 6 0.077 0.060 2820 1835 3538 0 0 0 0 0 0

1134 -0.55 -146.0 180.4 -14.0 161 1138 0.00 2.35 0.00 0.000 4 0.000 0.076 2811 3258 3538 0 0 0 0 0 0

1156 -0.55 -146.0 183.8 -14.9 163 1162 0.08 2.28 0.00 0.000 6 0.153 0.063 2837 1856 3538 0 0 0 0 0 0

1470 -0.55 -146.0 224.5 -12.5 194 1474 0.00 2.33 0.00 0.000 4 0.000 0.077 2838 442 3538 0 0 0 0 0 0

1518 -0.61 -146.0 230.5 -12.0 199 1523 0.00 2.25 0.00 0.000 6 0.000 0.059 2834 1849 3537 0 0 0 0 0 0

1832 -0.61 -146.0 267.3 -11.4 230 1833 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1849 3537 0 0 0 0 0 0

2144 -0.64 -146.0 303.8 -11.6 260 2147 0.00 2.28 0.00 0.000 4 0.000 0.079 2834 441 3537 0 0 0 0 0 0

2173 -0.64 -146.0 307.5 -12.0 263 2177 0.00 2.25 0.00 0.000 6 0.000 0.059 2833 1850 3537 0 0 0 0 0 0

2492 -0.68 -146.0 342.5 -10.6 294 2496 0.00 2.28 0.00 0.000 4 0.000 0.079 2834 436 3537 0 0 0 0 0 0

2548 -0.74 -146.0 348.7 -10.5 300 2554 0.10 2.25 0.00 0.000 6 0.073 0.059 2780 1849 3536 0 0 0 0 0 0

2862 -0.64 -146.0 395.9 -15.2 331 2866 0.12 2.33 0.00 0.000 4 0.183 0.078 2813 438 3537 0 0 0 0 0 0

2893 -0.64 -146.0 400.1 -12.9 334 2898 0.00 2.22 0.00 0.000 6 0.000 0.059 2807 1859 3537 0 0 0 0 0 0

3207 -0.64 -146.0 438.6 -11.9 365 3211 0.00 2.30 0.00 0.000 4 0.000 0.077 2807 448 3536 0 0 0 0 0 0

3254 -0.64 -146.0 444.6 -12.6 370 3260 0.00 2.22 0.00 0.000 6 0.000 0.059 2807 1847 3537 0 0 0 0 0 0

3569 -0.64 -146.0 482.3 -12.1 401 3570 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1848 3537 0 0 0 0 0 0

3879 -0.64 -146.0 521.9 -12.7 431 3880 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1848 3537 0 0 0 0 0 0

4189 -0.64 -146.0 559.5 -11.8 461 4194 0.00 2.28 0.00 0.000 4 0.000 0.077 2807 449 3538 0 0 0 0 0 0

4241 -0.64 -146.0 565.8 -11.5 467 4245 0.00 2.22 0.00 0.000 6 0.000 0.059 2807 1850 3538 0 0 0 0 0 0

4580 -0.64 -146.0 603.8 -11.1 498 4581 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 1850 3538 0 0 0 0 0 0

4884 -0.64 -146.0 638.2 -11.4 508 4888 0.00 2.33 0.00 0.000 4 0.000 0.078 2807 439 3539 0 0 0 0 0 0

4935 end dive: TARGET_DEPTH_EXCEEDED

state 4935 begin apogee

4939 -0.13 0.0 644.2 11.9 509 5062 0.50 0.00 120.45 1.040 6 0.136 0.000 2975 1704 2940 0 0 0 0 0 0

5062 end apogee: CONTROL_FINISHED_OK

state 5062 begin climb

5063 0.64 146.0 648.7 0.0 513 5195 0.75 2.55 124.15 1.010 4 0.095 0.075 3239 292 2342 0 0 0 0 0 0

5321 0.55 185.9 643.9 8.2 521 5360 0.10 2.33 34.78 0.981 6 0.152 0.052 3209 1691 2182 0 0 0 0 0 0

5662 0.58 208.7 613.6 9.0 533 5685 0.00 0.00 20.17 0.953 6 0.000 0.000 3208 1691 2088 0 0 0 0 0 0

5997 0.65 233.7 583.9 8.8 554 6021 0.00 0.00 22.70 0.951 6 0.000 0.000 3208 1691 1987 0 0 0 0 0 0

6327 0.74 265.2 555.1 8.5 586 6358 0.17 0.00 28.98 0.947 6 0.091 0.000 3280 1691 1858 0 0 0 0 0 0

6666 0.62 265.2 508.3 14.6 619 6670 0.17 2.35 0.00 0.000 4 0.164 0.067 3230 3116 1851 0 0 0 0 0 0

6700 0.62 265.2 503.9 12.2 623 6704 0.00 2.35 0.00 0.000 6 0.000 0.063 3240 1703 1850 0 0 0 0 0 0

7018 0.62 265.2 466.8 11.5 654 7023 0.00 2.35 0.00 0.000 4 0.000 0.076 3250 291 1849 0 0 0 0 0 0

7044 0.62 265.2 463.6 12.8 657 7048 0.00 2.25 0.00 0.000 6 0.000 0.052 3250 1696 1849 0 0 0 0 0 0

7363 0.62 265.2 425.8 12.2 688 7364 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 1697 1848 0 0 0 0 0 0

7674 0.62 265.2 390.9 10.9 718 7675 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 1697 1848 0 0 0 0 0 0

7984 0.62 265.2 356.5 10.9 748 7985 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 1697 1848 0 0 0 0 0 0

8295 0.62 265.2 322.9 10.8 778 8295 0.00 0.00 0.00 0.000 6 0.000 0.000 3249 1697 1847 0 0 0 0 0 0

8605 0.62 265.2 290.8 10.1 808 8609 0.00 2.25 0.00 0.000 4 0.000 0.068 3249 3111 1847 0 0 0 0 0 0

8683 0.62 265.2 282.3 11.3 817 8687 0.08 2.28 0.00 0.000 6 0.159 0.063 3232 1698 1847 0 0 0 0 0 0

9002 0.74 289.2 253.2 8.9 848 9025 0.00 0.00 20.52 0.793 6 0.000 0.000 3232 1698 1760 0 0 0 0 0 0

9332 0.89 330.3 224.0 8.1 880 9377 0.22 2.40 37.55 0.780 4 0.084 0.077 3334 288 1592 0 0 0 0 0 0

9389 0.76 330.3 216.7 14.9 886 9395 0.22 2.25 0.00 0.000 6 0.161 0.052 3270 1700 1590 0 0 0 0 0 0

9703 0.82 330.3 182.5 11.0 917 9707 0.00 2.28 0.00 0.000 4 0.000 0.068 3270 3106 1584 0 0 0 0 0 0

9747 0.88 330.3 177.6 12.0 922 9750 0.00 2.28 0.00 0.000 6 0.000 0.064 3280 1700 1582 0 0 0 0 0 0

10065 0.94 336.9 144.6 9.7 953 10077 0.15 0.00 5.53 0.630 6 0.096 0.000 3340 1700 1566 0 0 0 0 0 0

10385 0.84 336.9 101.8 13.2 984 10386 0.15 0.00 0.00 0.000 6 0.173 0.000 3299 1700 1563 0 0 0 0 0 0

10705 0.88 336.9 67.4 10.7 1042 10706 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 1700 1562 0 0 0 0 0 0

11026 0.96 346.6 35.3 9.6 1102 11041 0.10 2.30 9.32 0.670 4 0.122 0.073 3340 3105 1525 0 0 0 0 0 0

11062 0.92 346.6 31.0 13.3 1110 11068 0.12 2.28 0.00 0.000 6 0.193 0.066 3320 1695 1525 0 0 0 0 0 0

11343 end climb: SURFACE_DEPTH_REACHED

state 11343 begin surface coast

11381 end surface coast: CONTROL_FINISHED_OK

state 11381 begin surface

ID	172	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MAX	3717	ALTIM_TOP_TURN_MARGIN	0
DIVE	38	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	1	C_ROLL_DIVE	1850	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1700	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_NO_BLEED	500	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	21	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	30	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	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	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	460	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	330	CALL_TRIES	5	C_VBD	2940	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-4836.3203	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	15	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	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3025	FG_AHR_24V	0	SEABIRD_T_G	0.0043614767
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062996609
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-55.981045	SEABIRD_T_I	2.5014444e-05
MASS	51891	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_J	2.7838146e-06
NAV_MODE	2	PITCH_GAIN	38	AD7714Ch0Gain	128	SEABIRD_C_G	-10.228213
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1292607
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001076734
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017059842
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.032000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	043255,6643.887,-5958.906,59,1.4,59,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	14	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	044330,6643.698,-5959.044,11,3.8,30,-38.0	MHEAD_RNG_PITCHd_Wd	354.6,19728,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	644

FINISH	1.3,1.022683	_24V_AH	23.4,9.486
SM_CCo	11454,0.00,0.000,0,0,1520,348.57	_10V_AH	10.2,4.082
SM_GC	2.58,8.43,0.00,0.00,0.062,0.000,0.000,140,1857,1520,-8.95,0.20,348.57	FG_AHR_24Vo	0.000
RAFOS_CLK	602	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	150288
IRIDIUM_FIX	6614.97,-5954.40,210199,040410	DATA_FILE_SIZE	47246,1170
TT8_MAMPS	0.050622	CAP_FILE_SIZE	132986,0
HUMID	39.95	CFSIZE	260165632,249360384
INTERNAL_PRESSURE	9.42419	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1454.0
XPDR_PINGS	0	CURRENT	0.163,220.3,1
ALTIM_BOTTOM_PING	600.4,75.1	GPS	271009,075631,6644.138,-6004.084,100,1.0,100,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	243	127.16	SBE_CT	825	24	463.45
Roll_motor	73	79	135.83	SBE_O2	869	19	386.37
VBD_pump_during_apogee	424	1040	10322.63	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	58	103	141.34	nil	0	0	0.00
Iridium_during_connect	63	160	236.18	nil	0	0	0.00
Iridium_during_xfer	343	223	1793.14
Transponder_ping	1	420	17.20
GUMSTIX_24V	0	0	0.00
GPS	31	50	16.20
TT8	0	19	0.00
LPSleep	8678	2	204.47
TT8_Active	494	19	100.51
TT8_Sampling	2329	39	948.64
TT8_CF8	566	45	265.39
TT8_Kalman	0	0	0.00
Analog_circuits	1465	12	179.33
GPS_charging	0	0	0.00
Compass	1876	8	153.09
RAFOS	353	1	5.40
Transponder	16	30	5.11

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.64	-146.0	0.0	0.0	0	69	0.00	0.00	-55.75	0.000	2	0.000	0.000	120	1859	2425	0	0	0	0	0	0
71	-0.64	-146.0	3.3	-1.5	10	117	10.60	0.00	-31.02	0.000	6	0.243	0.000	2809	1859	3536	0	0	0	0	0	0
435	-0.49	-146.0	80.6	-20.2	79	436	0.20	0.00	0.00	0.000	6	0.173	0.000	2866	1859	3538	0	0	0	0	0	0
755	-0.54	-146.0	123.3	-13.1	123	759	0.00	2.35	0.00	0.000	4	0.000	0.078	2868	441	3538	0	0	0	0	0	0
820	-0.61	-146.0	131.9	-12.9	130	826	0.08	2.25	0.00	0.000	6	0.077	0.060	2820	1835	3538	0	0	0	0	0	0
1134	-0.55	-146.0	180.4	-14.0	161	1138	0.00	2.35	0.00	0.000	4	0.000	0.076	2811	3258	3538	0	0	0	0	0	0
1156	-0.55	-146.0	183.8	-14.9	163	1162	0.08	2.28	0.00	0.000	6	0.153	0.063	2837	1856	3538	0	0	0	0	0	0
1470	-0.55	-146.0	224.5	-12.5	194	1474	0.00	2.33	0.00	0.000	4	0.000	0.077	2838	442	3538	0	0	0	0	0	0
1518	-0.61	-146.0	230.5	-12.0	199	1523	0.00	2.25	0.00	0.000	6	0.000	0.059	2834	1849	3537	0	0	0	0	0	0
1832	-0.61	-146.0	267.3	-11.4	230	1833	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1849	3537	0	0	0	0	0	0
2144	-0.64	-146.0	303.8	-11.6	260	2147	0.00	2.28	0.00	0.000	4	0.000	0.079	2834	441	3537	0	0	0	0	0	0
2173	-0.64	-146.0	307.5	-12.0	263	2177	0.00	2.25	0.00	0.000	6	0.000	0.059	2833	1850	3537	0	0	0	0	0	0
2492	-0.68	-146.0	342.5	-10.6	294	2496	0.00	2.28	0.00	0.000	4	0.000	0.079	2834	436	3537	0	0	0	0	0	0
2548	-0.74	-146.0	348.7	-10.5	300	2554	0.10	2.25	0.00	0.000	6	0.073	0.059	2780	1849	3536	0	0	0	0	0	0
2862	-0.64	-146.0	395.9	-15.2	331	2866	0.12	2.33	0.00	0.000	4	0.183	0.078	2813	438	3537	0	0	0	0	0	0
2893	-0.64	-146.0	400.1	-12.9	334	2898	0.00	2.22	0.00	0.000	6	0.000	0.059	2807	1859	3537	0	0	0	0	0	0
3207	-0.64	-146.0	438.6	-11.9	365	3211	0.00	2.30	0.00	0.000	4	0.000	0.077	2807	448	3536	0	0	0	0	0	0
3254	-0.64	-146.0	444.6	-12.6	370	3260	0.00	2.22	0.00	0.000	6	0.000	0.059	2807	1847	3537	0	0	0	0	0	0
3569	-0.64	-146.0	482.3	-12.1	401	3570	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	1848	3537	0	0	0	0	0	0
3879	-0.64	-146.0	521.9	-12.7	431	3880	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	1848	3537	0	0	0	0	0	0
4189	-0.64	-146.0	559.5	-11.8	461	4194	0.00	2.28	0.00	0.000	4	0.000	0.077	2807	449	3538	0	0	0	0	0	0
4241	-0.64	-146.0	565.8	-11.5	467	4245	0.00	2.22	0.00	0.000	6	0.000	0.059	2807	1850	3538	0	0	0	0	0	0
4580	-0.64	-146.0	603.8	-11.1	498	4581	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	1850	3538	0	0	0	0	0	0
4884	-0.64	-146.0	638.2	-11.4	508	4888	0.00	2.33	0.00	0.000	4	0.000	0.078	2807	439	3539	0	0	0	0	0	0
4935	end dive: TARGET_DEPTH_EXCEEDED
state	4935	begin apogee
4939	-0.13	0.0	644.2	11.9	509	5062	0.50	0.00	120.45	1.040	6	0.136	0.000	2975	1704	2940	0	0	0	0	0	0
5062	end apogee: CONTROL_FINISHED_OK
state	5062	begin climb
5063	0.64	146.0	648.7	0.0	513	5195	0.75	2.55	124.15	1.010	4	0.095	0.075	3239	292	2342	0	0	0	0	0	0
5321	0.55	185.9	643.9	8.2	521	5360	0.10	2.33	34.78	0.981	6	0.152	0.052	3209	1691	2182	0	0	0	0	0	0
5662	0.58	208.7	613.6	9.0	533	5685	0.00	0.00	20.17	0.953	6	0.000	0.000	3208	1691	2088	0	0	0	0	0	0
5997	0.65	233.7	583.9	8.8	554	6021	0.00	0.00	22.70	0.951	6	0.000	0.000	3208	1691	1987	0	0	0	0	0	0
6327	0.74	265.2	555.1	8.5	586	6358	0.17	0.00	28.98	0.947	6	0.091	0.000	3280	1691	1858	0	0	0	0	0	0
6666	0.62	265.2	508.3	14.6	619	6670	0.17	2.35	0.00	0.000	4	0.164	0.067	3230	3116	1851	0	0	0	0	0	0
6700	0.62	265.2	503.9	12.2	623	6704	0.00	2.35	0.00	0.000	6	0.000	0.063	3240	1703	1850	0	0	0	0	0	0
7018	0.62	265.2	466.8	11.5	654	7023	0.00	2.35	0.00	0.000	4	0.000	0.076	3250	291	1849	0	0	0	0	0	0
7044	0.62	265.2	463.6	12.8	657	7048	0.00	2.25	0.00	0.000	6	0.000	0.052	3250	1696	1849	0	0	0	0	0	0
7363	0.62	265.2	425.8	12.2	688	7364	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	1697	1848	0	0	0	0	0	0
7674	0.62	265.2	390.9	10.9	718	7675	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	1697	1848	0	0	0	0	0	0
7984	0.62	265.2	356.5	10.9	748	7985	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	1697	1848	0	0	0	0	0	0
8295	0.62	265.2	322.9	10.8	778	8295	0.00	0.00	0.00	0.000	6	0.000	0.000	3249	1697	1847	0	0	0	0	0	0
8605	0.62	265.2	290.8	10.1	808	8609	0.00	2.25	0.00	0.000	4	0.000	0.068	3249	3111	1847	0	0	0	0	0	0
8683	0.62	265.2	282.3	11.3	817	8687	0.08	2.28	0.00	0.000	6	0.159	0.063	3232	1698	1847	0	0	0	0	0	0
9002	0.74	289.2	253.2	8.9	848	9025	0.00	0.00	20.52	0.793	6	0.000	0.000	3232	1698	1760	0	0	0	0	0	0
9332	0.89	330.3	224.0	8.1	880	9377	0.22	2.40	37.55	0.780	4	0.084	0.077	3334	288	1592	0	0	0	0	0	0
9389	0.76	330.3	216.7	14.9	886	9395	0.22	2.25	0.00	0.000	6	0.161	0.052	3270	1700	1590	0	0	0	0	0	0
9703	0.82	330.3	182.5	11.0	917	9707	0.00	2.28	0.00	0.000	4	0.000	0.068	3270	3106	1584	0	0	0	0	0	0
9747	0.88	330.3	177.6	12.0	922	9750	0.00	2.28	0.00	0.000	6	0.000	0.064	3280	1700	1582	0	0	0	0	0	0
10065	0.94	336.9	144.6	9.7	953	10077	0.15	0.00	5.53	0.630	6	0.096	0.000	3340	1700	1566	0	0	0	0	0	0
10385	0.84	336.9	101.8	13.2	984	10386	0.15	0.00	0.00	0.000	6	0.173	0.000	3299	1700	1563	0	0	0	0	0	0
10705	0.88	336.9	67.4	10.7	1042	10706	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	1700	1562	0	0	0	0	0	0
11026	0.96	346.6	35.3	9.6	1102	11041	0.10	2.30	9.32	0.670	4	0.122	0.073	3340	3105	1525	0	0	0	0	0	0
11062	0.92	346.6	31.0	13.3	1110	11068	0.12	2.28	0.00	0.000	6	0.193	0.066	3320	1695	1525	0	0	0	0	0	0
11343	end climb: SURFACE_DEPTH_REACHED
state	11343	begin surface coast
11381	end surface coast: CONTROL_FINISHED_OK
state	11381	begin surface