Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 380 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 90 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 380 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2700 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2000 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 9 FILEMGR 2 R_STBD_OVSHOOT 31 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 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 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 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 2 T_GPS_CHARGE -43521.027 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 2690 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 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 0.045000002 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 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 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 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 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 -43521.027

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 0 HEADING 90 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2700 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

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 31 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 380 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 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 223237,6721.159,-5741.522,29,1.3,29,-38.2 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6721.151,-5713.466

_XMS_NAKs 17 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 224355,6721.151,-5741.511,12,1.2,29,-38.2 MHEAD_RNG_PITCHd_Wd 128.2,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 494

Post-dive calculations and measurements:

FREEZE 0.53,-0.635,-1.821,0,1,0 ALTIM_TOP_PING 19.7,18.9

FINISH 0.5,1.026699 ALTIM_BOTTOM_PING 300.7,208.8

SM_CCo 10667,81.32,0.740,0,0,1474,325.02 _24V_AH 22.5,69.117

SM_GC 1.37,0.00,0.00,81.32,0.000,0.000,0.740,125,2692,1474,-8.02,-0.23,325.02 _10V_AH 10.1,37.103

RAFOS_CLK 676 FG_AHR_24Vo 0.000

RAFOS 0,1261785670,0.033333,0.019444,60,56,53,0,0,0,220,149,125,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6720.471680,-5746.353516,261209,000040,3,98,0.52 MEM 152528

IRIDIUM_FIX 6652.93,-5748.43,210399,222215 DATA_FILE_SIZE 44146,1147

TT8_MAMPS 0.026845 CAP_FILE_SIZE 134965,0

HUMID 47.44 CFSIZE 260165632,220368896

INTERNAL_PRESSURE 8.87729 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,196,0,0

TCM_TEMP 17.00 SOUNDSPEED 1465.7

XPDR_PINGS 2 GPS 261209,014500,6721.567,-5741.573,37,1.2,42,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 296 157.21 SBE_CT 841 24 454.66

Roll_motor 141 96 307.90 SBE_O2 782 19 334.34

VBD_pump_during_apogee 288 1036 6714.69 nil 0 0 0.00

VBD_pump_during_surface 81 740 1354.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 126.61 nil 0 0 0.00

Iridium_during_connect 70 160 254.04 nil 0 0 0.00

Iridium_during_xfer 340 223 1707.85

Transponder_ping 1 420 11.81

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.86

TT8 1920 19 386.31

LPSleep 6211 2 144.91

TT8_Active 552 19 111.19

TT8_Sampling 2060 39 830.84

TT8_CF8 684 45 317.31

TT8_Kalman 0 0 0.00

Analog_circuits 1602 12 194.23

GPS_charging 0 0 0.00

Compass 2009 8 162.35

RAFOS 2520 1 38.18

Transponder 7 30 2.31

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.10 0.000 2 0.000 0.000 126 2703 3375 0 0 0 0 0 0

137 -0.73 -146.0 3.2 -4.6 23 158 11.38 2.47 -0.55 0.000 4 0.296 0.097 2453 1083 3400 0 0 1 0 0 0

396 -0.59 -146.0 43.2 -12.7 69 402 0.17 2.33 0.00 0.000 6 0.225 0.074 2493 2682 3401 0 0 0 0 0 0

741 -0.76 -146.0 72.8 -7.6 130 747 0.15 3.03 0.00 0.000 4 0.114 0.088 2428 3931 3400 0 0 6 0 0 0

989 -0.76 -146.0 99.5 -10.6 174 995 0.00 2.85 0.00 0.000 6 0.000 0.065 2428 2694 3398 0 0 5 0 0 0

1313 -0.76 -146.0 133.1 -9.8 205 1318 0.00 2.97 0.00 0.000 4 0.000 0.091 2428 3921 3399 0 0 6 0 0 0

1537 -0.76 -146.0 154.7 -9.5 224 1543 0.00 2.83 0.00 0.000 6 0.000 0.065 2428 2697 3399 0 0 5 0 0 0

1862 -0.76 -146.0 183.0 -8.3 255 1866 0.00 3.03 0.00 0.000 4 0.000 0.090 2428 3930 3398 0 0 4 0 0 0

1992 -0.76 -146.0 194.2 -8.8 266 1997 0.00 2.83 0.00 0.000 6 0.000 0.064 2428 2699 3397 0 0 5 0 0 0

2317 -0.76 -146.0 223.7 -9.5 296 2322 0.00 3.00 0.00 0.000 4 0.000 0.089 2428 3935 3397 0 0 6 0 0 0

2495 -0.76 -146.0 240.5 -9.5 311 2502 0.00 2.85 0.00 0.000 6 0.000 0.063 2428 2692 3397 0 0 4 0 0 0

2821 -0.76 -146.0 268.1 -8.0 342 2826 0.00 2.95 0.00 0.000 4 0.000 0.087 2428 3922 3397 0 0 6 0 0 0

3008 -0.82 -146.0 283.6 -8.5 358 3013 0.00 2.83 0.00 0.000 6 0.000 0.061 2428 2693 3397 0 0 4 0 0 0

3332 -0.87 -146.0 309.0 -7.7 388 3337 0.00 2.95 0.00 0.000 4 0.000 0.084 2428 3929 3398 0 0 6 0 0 0

3511 -0.92 -146.0 322.8 -7.7 403 3518 0.10 2.83 0.00 0.000 6 0.124 0.060 2393 2692 3398 0 0 4 0 0 0

3838 -0.86 -146.0 350.8 -8.9 434 3843 0.00 2.95 0.00 0.000 4 0.000 0.082 2393 3935 3399 0 0 6 0 0 0

3984 -0.80 -146.0 364.5 -9.7 446 3991 0.15 2.83 0.00 0.000 6 0.198 0.058 2426 2693 3400 0 0 4 0 0 0

4309 -0.85 -146.0 388.1 -7.3 477 4314 0.00 2.92 0.00 0.000 4 0.000 0.081 2426 3922 3401 0 0 6 0 0 0

4456 -0.92 -146.0 400.2 -8.5 489 4461 0.00 2.80 0.00 0.000 6 0.000 0.058 2427 2693 3401 0 0 4 0 0 0

4780 -0.98 -146.0 425.6 -7.0 520 4786 0.17 2.95 0.00 0.000 4 0.105 0.081 2361 3930 3402 0 0 6 0 0 0

4972 -0.81 -146.0 445.4 -10.9 536 4978 0.25 2.80 0.00 0.000 6 0.199 0.057 2420 2694 3402 0 0 4 0 0 0

5296 -0.81 -146.0 470.5 -7.5 567 5301 0.00 2.95 0.00 0.000 4 0.000 0.081 2421 3934 3403 0 0 5 0 0 0

5419 -0.81 -146.0 480.8 -8.7 577 5425 0.00 2.80 0.00 0.000 6 0.000 0.057 2421 2699 3403 0 0 4 0 0 0

5582 end dive: TARGET_DEPTH_EXCEEDED

state 5582 begin apogee

5588 -0.16 0.0 494.1 7.4 593 5715 0.73 0.00 121.60 1.036 6 0.175 0.000 2627 1997 2800 0 0 0 0 0 0

5715 end apogee: CONTROL_FINISHED_OK

state 5716 begin climb

5718 0.73 146.0 498.7 0.0 606 5852 0.95 1.90 124.75 0.989 4 0.127 0.084 2923 396 2203 0 0 0 0 0 0

5902 0.66 146.0 482.2 12.2 623 5908 0.00 1.88 0.00 0.000 6 0.000 0.054 2922 2017 2200 0 0 0 0 0 0

6227 0.58 146.0 443.0 13.7 654 6237 0.20 3.75 0.00 0.000 4 0.203 0.071 2868 3590 2196 0 0 7 0 0 0

6377 0.58 146.0 427.0 9.4 667 6383 0.00 3.78 0.00 0.000 6 0.000 0.066 2883 1996 2195 0 0 4 0 0 0

6702 0.63 146.0 395.5 10.3 698 6712 0.00 3.75 0.00 0.000 4 0.000 0.072 2883 3589 2195 0 0 6 0 0 0

6835 0.63 146.0 380.7 11.0 710 6845 0.00 3.78 0.00 0.000 6 0.000 0.067 2900 1992 2194 0 0 3 0 0 0

7163 0.63 146.0 346.2 10.5 741 7172 0.00 3.75 0.00 0.000 4 0.000 0.074 2900 3593 2194 0 0 6 0 0 0

7313 0.57 146.0 328.6 12.5 754 7320 0.17 3.78 0.00 0.000 6 0.201 0.067 2876 1985 2194 0 0 3 0 0 0

7638 0.66 146.0 298.1 9.3 785 7647 0.00 3.75 0.00 0.000 4 0.000 0.073 2876 3595 2194 0 0 6 0 0 0

7784 0.66 146.0 281.9 11.4 798 7793 0.00 3.75 0.00 0.000 6 0.000 0.067 2891 1998 2194 0 0 3 0 0 0

8112 0.72 146.0 248.1 10.0 829 8122 0.00 3.70 0.00 0.000 4 0.000 0.074 2891 3582 2194 0 0 7 0 0 0

8251 0.72 146.0 233.6 10.7 841 8257 0.00 3.72 0.00 0.000 6 0.000 0.066 2908 1991 2194 0 0 4 0 0 0

8575 0.72 146.0 202.3 9.8 872 8584 0.00 3.72 0.00 0.000 4 0.000 0.072 2908 3583 2194 0 0 6 0 0 0

8710 0.66 146.0 187.6 11.5 884 8719 0.00 3.72 0.00 0.000 6 0.000 0.065 2925 1987 2195 0 0 4 0 0 0

9039 0.66 148.8 154.2 9.0 915 9048 0.00 3.72 0.00 0.000 4 0.000 0.072 2925 3584 2195 0 0 6 0 0 0

9154 0.55 148.8 142.9 9.6 925 9161 0.30 3.72 0.00 0.000 6 0.193 0.065 2868 1986 2195 0 0 4 0 0 0

9479 0.79 187.7 121.8 7.5 956 9522 0.22 3.80 34.42 0.788 4 0.100 0.074 2948 3583 2033 0 0 5 0 0 0

9657 0.69 187.7 99.2 13.5 972 9664 0.20 3.78 0.00 0.000 6 0.196 0.067 2917 1995 2028 0 0 3 0 0 0

10004 0.79 195.9 64.1 8.8 1033 10020 0.00 3.80 7.22 0.690 4 0.000 0.075 2917 3579 2000 0 0 6 0 0 0

10190 0.79 195.9 46.0 9.9 1066 10196 0.00 3.78 0.00 0.000 6 0.000 0.068 2932 1994 2000 0 0 3 0 0 0

10534 0.88 195.9 14.5 11.0 1127 10541 0.12 3.78 0.00 0.000 4 0.108 0.074 2977 3581 2000 0 0 5 0 0 0

10630 end climb: SURFACE_DEPTH_REACHED

state 10630 begin surface coast

10648 end surface coast: CONTROL_FINISHED_OK

state 10648 begin surface

ID	143	HEADING	90	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	380	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2700	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2000	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	9	FILEMGR	2	R_STBD_OVSHOOT	31	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	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	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	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	2	T_GPS_CHARGE	-43521.027	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	2690	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	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	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	223237,6721.159,-5741.522,29,1.3,29,-38.2	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6721.151,-5713.466
_XMS_NAKs	17	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	224355,6721.151,-5741.511,12,1.2,29,-38.2	MHEAD_RNG_PITCHd_Wd	128.2,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	494

FREEZE	0.53,-0.635,-1.821,0,1,0	ALTIM_TOP_PING	19.7,18.9
FINISH	0.5,1.026699	ALTIM_BOTTOM_PING	300.7,208.8
SM_CCo	10667,81.32,0.740,0,0,1474,325.02	_24V_AH	22.5,69.117
SM_GC	1.37,0.00,0.00,81.32,0.000,0.000,0.740,125,2692,1474,-8.02,-0.23,325.02	_10V_AH	10.1,37.103
RAFOS_CLK	676	FG_AHR_24Vo	0.000
RAFOS	0,1261785670,0.033333,0.019444,60,56,53,0,0,0,220,149,125,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6720.471680,-5746.353516,261209,000040,3,98,0.52	MEM	152528
IRIDIUM_FIX	6652.93,-5748.43,210399,222215	DATA_FILE_SIZE	44146,1147
TT8_MAMPS	0.026845	CAP_FILE_SIZE	134965,0
HUMID	47.44	CFSIZE	260165632,220368896
INTERNAL_PRESSURE	8.87729	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,196,0,0
TCM_TEMP	17.00	SOUNDSPEED	1465.7
XPDR_PINGS	2	GPS	261209,014500,6721.567,-5741.573,37,1.2,42,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	296	157.21	SBE_CT	841	24	454.66
Roll_motor	141	96	307.90	SBE_O2	782	19	334.34
VBD_pump_during_apogee	288	1036	6714.69	nil	0	0	0.00
VBD_pump_during_surface	81	740	1354.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	126.61	nil	0	0	0.00
Iridium_during_connect	70	160	254.04	nil	0	0	0.00
Iridium_during_xfer	340	223	1707.85
Transponder_ping	1	420	11.81
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.86
TT8	1920	19	386.31
LPSleep	6211	2	144.91
TT8_Active	552	19	111.19
TT8_Sampling	2060	39	830.84
TT8_CF8	684	45	317.31
TT8_Kalman	0	0	0.00
Analog_circuits	1602	12	194.23
GPS_charging	0	0	0.00
Compass	2009	8	162.35
RAFOS	2520	1	38.18
Transponder	7	30	2.31

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.10	0.000	2	0.000	0.000	126	2703	3375	0	0	0	0	0	0
137	-0.73	-146.0	3.2	-4.6	23	158	11.38	2.47	-0.55	0.000	4	0.296	0.097	2453	1083	3400	0	0	1	0	0	0
396	-0.59	-146.0	43.2	-12.7	69	402	0.17	2.33	0.00	0.000	6	0.225	0.074	2493	2682	3401	0	0	0	0	0	0
741	-0.76	-146.0	72.8	-7.6	130	747	0.15	3.03	0.00	0.000	4	0.114	0.088	2428	3931	3400	0	0	6	0	0	0
989	-0.76	-146.0	99.5	-10.6	174	995	0.00	2.85	0.00	0.000	6	0.000	0.065	2428	2694	3398	0	0	5	0	0	0
1313	-0.76	-146.0	133.1	-9.8	205	1318	0.00	2.97	0.00	0.000	4	0.000	0.091	2428	3921	3399	0	0	6	0	0	0
1537	-0.76	-146.0	154.7	-9.5	224	1543	0.00	2.83	0.00	0.000	6	0.000	0.065	2428	2697	3399	0	0	5	0	0	0
1862	-0.76	-146.0	183.0	-8.3	255	1866	0.00	3.03	0.00	0.000	4	0.000	0.090	2428	3930	3398	0	0	4	0	0	0
1992	-0.76	-146.0	194.2	-8.8	266	1997	0.00	2.83	0.00	0.000	6	0.000	0.064	2428	2699	3397	0	0	5	0	0	0
2317	-0.76	-146.0	223.7	-9.5	296	2322	0.00	3.00	0.00	0.000	4	0.000	0.089	2428	3935	3397	0	0	6	0	0	0
2495	-0.76	-146.0	240.5	-9.5	311	2502	0.00	2.85	0.00	0.000	6	0.000	0.063	2428	2692	3397	0	0	4	0	0	0
2821	-0.76	-146.0	268.1	-8.0	342	2826	0.00	2.95	0.00	0.000	4	0.000	0.087	2428	3922	3397	0	0	6	0	0	0
3008	-0.82	-146.0	283.6	-8.5	358	3013	0.00	2.83	0.00	0.000	6	0.000	0.061	2428	2693	3397	0	0	4	0	0	0
3332	-0.87	-146.0	309.0	-7.7	388	3337	0.00	2.95	0.00	0.000	4	0.000	0.084	2428	3929	3398	0	0	6	0	0	0
3511	-0.92	-146.0	322.8	-7.7	403	3518	0.10	2.83	0.00	0.000	6	0.124	0.060	2393	2692	3398	0	0	4	0	0	0
3838	-0.86	-146.0	350.8	-8.9	434	3843	0.00	2.95	0.00	0.000	4	0.000	0.082	2393	3935	3399	0	0	6	0	0	0
3984	-0.80	-146.0	364.5	-9.7	446	3991	0.15	2.83	0.00	0.000	6	0.198	0.058	2426	2693	3400	0	0	4	0	0	0
4309	-0.85	-146.0	388.1	-7.3	477	4314	0.00	2.92	0.00	0.000	4	0.000	0.081	2426	3922	3401	0	0	6	0	0	0
4456	-0.92	-146.0	400.2	-8.5	489	4461	0.00	2.80	0.00	0.000	6	0.000	0.058	2427	2693	3401	0	0	4	0	0	0
4780	-0.98	-146.0	425.6	-7.0	520	4786	0.17	2.95	0.00	0.000	4	0.105	0.081	2361	3930	3402	0	0	6	0	0	0
4972	-0.81	-146.0	445.4	-10.9	536	4978	0.25	2.80	0.00	0.000	6	0.199	0.057	2420	2694	3402	0	0	4	0	0	0
5296	-0.81	-146.0	470.5	-7.5	567	5301	0.00	2.95	0.00	0.000	4	0.000	0.081	2421	3934	3403	0	0	5	0	0	0
5419	-0.81	-146.0	480.8	-8.7	577	5425	0.00	2.80	0.00	0.000	6	0.000	0.057	2421	2699	3403	0	0	4	0	0	0
5582	end dive: TARGET_DEPTH_EXCEEDED
state	5582	begin apogee
5588	-0.16	0.0	494.1	7.4	593	5715	0.73	0.00	121.60	1.036	6	0.175	0.000	2627	1997	2800	0	0	0	0	0	0
5715	end apogee: CONTROL_FINISHED_OK
state	5716	begin climb
5718	0.73	146.0	498.7	0.0	606	5852	0.95	1.90	124.75	0.989	4	0.127	0.084	2923	396	2203	0	0	0	0	0	0
5902	0.66	146.0	482.2	12.2	623	5908	0.00	1.88	0.00	0.000	6	0.000	0.054	2922	2017	2200	0	0	0	0	0	0
6227	0.58	146.0	443.0	13.7	654	6237	0.20	3.75	0.00	0.000	4	0.203	0.071	2868	3590	2196	0	0	7	0	0	0
6377	0.58	146.0	427.0	9.4	667	6383	0.00	3.78	0.00	0.000	6	0.000	0.066	2883	1996	2195	0	0	4	0	0	0
6702	0.63	146.0	395.5	10.3	698	6712	0.00	3.75	0.00	0.000	4	0.000	0.072	2883	3589	2195	0	0	6	0	0	0
6835	0.63	146.0	380.7	11.0	710	6845	0.00	3.78	0.00	0.000	6	0.000	0.067	2900	1992	2194	0	0	3	0	0	0
7163	0.63	146.0	346.2	10.5	741	7172	0.00	3.75	0.00	0.000	4	0.000	0.074	2900	3593	2194	0	0	6	0	0	0
7313	0.57	146.0	328.6	12.5	754	7320	0.17	3.78	0.00	0.000	6	0.201	0.067	2876	1985	2194	0	0	3	0	0	0
7638	0.66	146.0	298.1	9.3	785	7647	0.00	3.75	0.00	0.000	4	0.000	0.073	2876	3595	2194	0	0	6	0	0	0
7784	0.66	146.0	281.9	11.4	798	7793	0.00	3.75	0.00	0.000	6	0.000	0.067	2891	1998	2194	0	0	3	0	0	0
8112	0.72	146.0	248.1	10.0	829	8122	0.00	3.70	0.00	0.000	4	0.000	0.074	2891	3582	2194	0	0	7	0	0	0
8251	0.72	146.0	233.6	10.7	841	8257	0.00	3.72	0.00	0.000	6	0.000	0.066	2908	1991	2194	0	0	4	0	0	0
8575	0.72	146.0	202.3	9.8	872	8584	0.00	3.72	0.00	0.000	4	0.000	0.072	2908	3583	2194	0	0	6	0	0	0
8710	0.66	146.0	187.6	11.5	884	8719	0.00	3.72	0.00	0.000	6	0.000	0.065	2925	1987	2195	0	0	4	0	0	0
9039	0.66	148.8	154.2	9.0	915	9048	0.00	3.72	0.00	0.000	4	0.000	0.072	2925	3584	2195	0	0	6	0	0	0
9154	0.55	148.8	142.9	9.6	925	9161	0.30	3.72	0.00	0.000	6	0.193	0.065	2868	1986	2195	0	0	4	0	0	0
9479	0.79	187.7	121.8	7.5	956	9522	0.22	3.80	34.42	0.788	4	0.100	0.074	2948	3583	2033	0	0	5	0	0	0
9657	0.69	187.7	99.2	13.5	972	9664	0.20	3.78	0.00	0.000	6	0.196	0.067	2917	1995	2028	0	0	3	0	0	0
10004	0.79	195.9	64.1	8.8	1033	10020	0.00	3.80	7.22	0.690	4	0.000	0.075	2917	3579	2000	0	0	6	0	0	0
10190	0.79	195.9	46.0	9.9	1066	10196	0.00	3.78	0.00	0.000	6	0.000	0.068	2932	1994	2000	0	0	3	0	0	0
10534	0.88	195.9	14.5	11.0	1127	10541	0.12	3.78	0.00	0.000	4	0.108	0.074	2977	3581	2000	0	0	5	0	0	0
10630	end climb: SURFACE_DEPTH_REACHED
state	10630	begin surface coast
10648	end surface coast: CONTROL_FINISHED_OK
state	10648	begin surface