Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 41 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 37 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 24 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 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 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 0 T_GPS_CHARGE -179564.53 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179564.53

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

CF8_MAXERRORS 0 HEADING -1 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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 0

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 37 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 41 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 025925,6704.160,-5653.796,37,1.8,37,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030749,6704.198,-5654.015,13,0.9,13,-37.6 MHEAD_RNG_PITCHd_Wd 154.7,4878,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 515

Post-dive calculations and measurements:

FREEZE 1.48,2.473,-1.770,0,1,0 ALTIM_TOP_PING 20.0,18.3

FINISH 1.5,1.025789 ALTIM_BOTTOM_PING 450.2,65.1

SM_CCo 11213,42.50,0.844,0,0,1835,300.00 _24V_AH 23.7,7.986

SM_GC 2.71,0.00,0.00,42.50,0.000,0.000,0.844,335,2268,1835,-12.77,0.51,300.00 _10V_AH 10.4,4.075

RAFOS_CLK 412 FG_AHR_24Vo 0.000

RAFOS 0,1276488066,4.033333,4.018333,50,47,45,43,43,43,383,1200,282,278,1174,1720 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.288086,-5657.054688,140610,000056,2,112,0.72 MEM 135672

IRIDIUM_FIX 6636.54,-5707.59,070999,232333 DATA_FILE_SIZE 47286,1216

TT8_MAMPS 0.026078 CAP_FILE_SIZE 126112,0

HUMID 39.84 CFSIZE 260165632,245952512

INTERNAL_PRESSURE 10.2641 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 SOUNDSPEED 1467.4

XPDR_PINGS 0 GPS 140610,061707,6704.015,-5652.611,29,0.9,29,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 242 113.30 SBE_CT 899 24 511.41

Roll_motor 74 90 159.91 SBE_O2 834 19 375.98

VBD_pump_during_apogee 331 1115 8756.48 nil 0 0 0.00

VBD_pump_during_surface 42 843 849.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 76.30 nil 0 0 0.00

Iridium_during_connect 35 160 135.04 nil 0 0 0.00

Iridium_during_xfer 287 223 1519.22

Transponder_ping 1 420 17.42

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.77

TT8 1985 19 411.33

LPSleep 6741 2 161.97

TT8_Active 505 19 104.68

TT8_Sampling 1865 39 774.49

TT8_CF8 652 45 311.41

TT8_Kalman 0 0 0.00

Analog_circuits 1470 12 183.57

GPS_charging 0 0 0.00

Compass 1845 8 153.57

RAFOS 2520 3 78.62

Transponder 15 30 4.83

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 -0.78 -146.1 0.0 0.0 0 129 0.00 0.00 -109.93 0.000 2 0.000 0.000 333 2252 3195 0 0 0 0 0 0

135 -0.78 -146.1 3.0 -1.0 22 166 10.32 2.22 -14.65 0.000 4 0.242 0.085 2928 3604 3657 0 0 0 0 0 0

174 -0.78 -146.1 7.3 -9.5 29 179 0.00 2.15 0.00 0.000 6 0.000 0.047 2928 2247 3659 0 0 0 0 0 0

517 -0.78 -146.1 45.9 -11.6 90 523 0.00 2.22 0.00 0.000 4 0.000 0.058 2929 840 3665 0 0 0 0 0 0

776 -0.78 -146.1 74.1 -10.2 136 782 0.00 2.30 0.00 0.000 6 0.000 0.060 2921 2265 3667 0 0 0 0 0 0

1116 -0.78 -146.1 107.9 -10.3 190 1117 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2265 3667 0 0 0 0 0 0

1437 -0.78 -146.1 140.7 -10.0 220 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2265 3666 0 0 0 0 0 0

1766 -0.78 -146.1 172.9 -9.4 251 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2265 3667 0 0 0 0 0 0

2094 -0.78 -146.1 203.5 -8.3 282 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2265 3667 0 0 0 0 0 0

2421 -0.78 -146.1 229.3 -8.0 313 2422 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2265 3666 0 0 0 0 0 0

2740 -0.78 -146.1 258.0 -9.8 343 2744 0.00 2.08 0.00 0.000 4 0.000 0.071 2911 3595 3667 0 0 0 0 0 0

2752 -0.78 -146.1 259.5 -9.9 344 2756 0.12 2.08 0.00 0.000 6 0.163 0.048 2945 2245 3667 0 0 0 0 0 0

3082 -0.78 -146.1 287.6 -8.2 375 3083 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2244 3667 0 0 0 0 0 0

3401 -0.78 -146.1 312.5 -7.3 405 3404 0.00 2.15 0.00 0.000 4 0.000 0.070 2937 3606 3667 0 0 0 0 0 0

3412 -0.78 -146.1 313.3 -7.2 405 3417 0.00 2.08 0.00 0.000 6 0.000 0.048 2937 2248 3666 0 0 0 0 0 0

3737 -0.78 -146.1 337.2 -7.1 436 3738 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2248 3667 0 0 0 0 0 0

4056 -0.78 -146.1 360.3 -7.4 466 4057 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2248 3666 0 0 0 0 0 0

4377 -0.78 -146.1 383.6 -7.4 496 4381 0.00 2.15 0.00 0.000 4 0.000 0.058 2937 848 3666 0 0 0 0 0 0

4388 -0.78 -146.1 384.6 -7.2 496 4393 0.00 2.22 0.00 0.000 6 0.000 0.059 2928 2260 3666 0 0 0 0 0 0

4713 -0.78 -146.1 409.6 -7.7 527 4714 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2260 3666 0 0 0 0 0 0

5031 -0.78 -146.1 432.4 -7.2 557 5035 0.00 2.08 0.00 0.000 4 0.000 0.070 2918 3605 3666 0 0 0 0 0 0

5044 -0.78 -146.1 433.2 -7.1 558 5048 0.10 2.08 0.00 0.000 6 0.163 0.047 2944 2242 3666 0 0 0 0 0 0

5374 -0.78 -146.1 454.2 -6.3 589 5375 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2241 3667 0 0 0 0 0 0

5692 -0.78 -146.1 474.1 -6.2 619 5694 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2241 3667 0 0 0 0 0 0

6011 -0.78 -146.1 494.9 -6.7 649 6015 0.00 2.15 0.00 0.000 4 0.000 0.067 2937 3601 3666 0 0 0 0 0 0

6023 -0.78 -146.1 495.7 -6.4 650 6027 0.00 2.05 0.00 0.000 6 0.000 0.046 2937 2248 3667 0 0 0 0 0 0

6085 end dive: BOTTOM_OBSTACLE_DETECTED

state 6085 begin apogee

6092 -0.17 0.0 500.4 7.3 656 6218 0.40 0.00 119.50 1.115 6 0.120 0.000 3073 2247 3061 0 0 0 0 0 0

6219 end apogee: CONTROL_FINISHED_OK

state 6219 begin climb

6222 0.78 146.1 502.7 0.0 669 6348 0.60 0.00 121.18 1.078 6 0.076 0.000 3285 2245 2463 0 0 0 0 0 0

6667 0.78 146.1 460.8 10.3 712 6671 0.00 2.22 0.00 0.000 4 0.000 0.065 3285 3600 2468 0 0 0 0 0 0

6741 0.78 146.1 452.0 12.5 718 6745 0.00 2.22 0.00 0.000 6 0.000 0.046 3293 2190 2468 0 0 0 0 0 0

7066 0.78 146.1 416.4 10.1 748 7070 0.00 2.20 0.00 0.000 4 0.000 0.055 3304 786 2468 0 0 0 0 0 0

7116 0.79 154.0 411.4 9.6 752 7133 0.00 2.28 8.32 0.897 6 0.000 0.056 3304 2202 2430 0 0 0 0 0 0

7451 0.79 154.0 373.7 10.8 784 7455 0.00 2.20 0.00 0.000 4 0.000 0.066 3304 3592 2434 0 0 0 0 0 0

7552 0.79 154.0 360.5 13.6 792 7558 0.12 2.15 0.00 0.000 6 0.174 0.045 3281 2198 2434 0 0 0 0 0 0

7877 0.80 158.7 328.1 9.8 823 7886 0.00 0.00 5.35 0.764 6 0.000 0.000 3282 2197 2411 0 0 0 0 0 0

8206 0.80 159.8 295.9 10.0 854 8210 0.00 2.22 0.00 0.000 4 0.000 0.064 3281 3603 2414 0 0 0 0 0 0

8250 0.80 159.8 290.8 11.4 857 8259 0.00 2.17 2.75 0.426 6 0.000 0.046 3289 2186 2406 0 0 0 0 0 0

8585 0.81 167.1 256.5 9.7 889 8600 0.00 2.22 7.78 0.844 4 0.000 0.056 3299 796 2376 0 0 0 0 0 0

8645 0.82 173.0 250.6 9.7 894 8660 0.00 2.25 6.72 0.804 6 0.000 0.056 3299 2207 2352 0 0 0 0 0 0

8979 0.83 181.7 218.0 9.6 926 8993 0.00 2.25 8.15 0.841 4 0.000 0.067 3299 3597 2317 0 0 0 0 0 0

9073 0.83 181.7 207.4 11.9 934 9078 0.00 2.15 0.00 0.000 6 0.000 0.047 3308 2203 2318 0 0 0 0 0 0

9397 0.83 181.7 171.9 10.7 965 9401 0.00 2.17 0.00 0.000 4 0.000 0.056 3319 789 2318 0 0 0 0 0 0

9494 0.83 181.7 161.3 11.3 973 9499 0.12 2.25 0.00 0.000 6 0.160 0.057 3285 2201 2319 0 0 0 0 0 0

9819 0.88 227.3 133.4 7.9 1003 9861 0.00 2.33 36.75 0.923 4 0.000 0.068 3285 3599 2132 0 0 0 0 0 0

9925 0.88 227.3 124.1 10.1 1012 9930 0.00 2.20 0.00 0.000 6 0.000 0.048 3292 2204 2128 0 0 0 0 0 0

10253 0.88 229.2 92.5 9.9 1049 10259 0.00 2.22 0.00 0.000 4 0.000 0.058 3300 786 2127 0 0 0 0 0 0

10356 0.90 245.0 82.7 9.3 1067 10377 0.00 2.28 14.80 0.844 6 0.000 0.058 3301 2201 2059 0 0 0 0 0 0

10715 0.90 245.0 45.1 10.4 1131 10720 0.00 2.22 0.00 0.000 4 0.000 0.069 3301 3598 2057 0 0 0 0 0 0

10845 0.90 245.0 30.4 11.3 1154 10850 0.00 2.20 0.00 0.000 6 0.000 0.048 3309 2185 2056 0 0 0 0 0 0

11153 end climb: SURFACE_DEPTH_REACHED

state 11153 begin surface coast

11193 end surface coast: CONTROL_FINISHED_OK

state 11193 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	41	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	37	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	24	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	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	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	0	T_GPS_CHARGE	-179564.53	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	025925,6704.160,-5653.796,37,1.8,37,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030749,6704.198,-5654.015,13,0.9,13,-37.6	MHEAD_RNG_PITCHd_Wd	154.7,4878,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	515

FREEZE	1.48,2.473,-1.770,0,1,0	ALTIM_TOP_PING	20.0,18.3
FINISH	1.5,1.025789	ALTIM_BOTTOM_PING	450.2,65.1
SM_CCo	11213,42.50,0.844,0,0,1835,300.00	_24V_AH	23.7,7.986
SM_GC	2.71,0.00,0.00,42.50,0.000,0.000,0.844,335,2268,1835,-12.77,0.51,300.00	_10V_AH	10.4,4.075
RAFOS_CLK	412	FG_AHR_24Vo	0.000
RAFOS	0,1276488066,4.033333,4.018333,50,47,45,43,43,43,383,1200,282,278,1174,1720	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.288086,-5657.054688,140610,000056,2,112,0.72	MEM	135672
IRIDIUM_FIX	6636.54,-5707.59,070999,232333	DATA_FILE_SIZE	47286,1216
TT8_MAMPS	0.026078	CAP_FILE_SIZE	126112,0
HUMID	39.84	CFSIZE	260165632,245952512
INTERNAL_PRESSURE	10.2641	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	SOUNDSPEED	1467.4
XPDR_PINGS	0	GPS	140610,061707,6704.015,-5652.611,29,0.9,29,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	242	113.30	SBE_CT	899	24	511.41
Roll_motor	74	90	159.91	SBE_O2	834	19	375.98
VBD_pump_during_apogee	331	1115	8756.48	nil	0	0	0.00
VBD_pump_during_surface	42	843	849.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	76.30	nil	0	0	0.00
Iridium_during_connect	35	160	135.04	nil	0	0	0.00
Iridium_during_xfer	287	223	1519.22
Transponder_ping	1	420	17.42
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.77
TT8	1985	19	411.33
LPSleep	6741	2	161.97
TT8_Active	505	19	104.68
TT8_Sampling	1865	39	774.49
TT8_CF8	652	45	311.41
TT8_Kalman	0	0	0.00
Analog_circuits	1470	12	183.57
GPS_charging	0	0	0.00
Compass	1845	8	153.57
RAFOS	2520	3	78.62
Transponder	15	30	4.83

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	-0.78	-146.1	0.0	0.0	0	129	0.00	0.00	-109.93	0.000	2	0.000	0.000	333	2252	3195	0	0	0	0	0	0
135	-0.78	-146.1	3.0	-1.0	22	166	10.32	2.22	-14.65	0.000	4	0.242	0.085	2928	3604	3657	0	0	0	0	0	0
174	-0.78	-146.1	7.3	-9.5	29	179	0.00	2.15	0.00	0.000	6	0.000	0.047	2928	2247	3659	0	0	0	0	0	0
517	-0.78	-146.1	45.9	-11.6	90	523	0.00	2.22	0.00	0.000	4	0.000	0.058	2929	840	3665	0	0	0	0	0	0
776	-0.78	-146.1	74.1	-10.2	136	782	0.00	2.30	0.00	0.000	6	0.000	0.060	2921	2265	3667	0	0	0	0	0	0
1116	-0.78	-146.1	107.9	-10.3	190	1117	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2265	3667	0	0	0	0	0	0
1437	-0.78	-146.1	140.7	-10.0	220	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2265	3666	0	0	0	0	0	0
1766	-0.78	-146.1	172.9	-9.4	251	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2265	3667	0	0	0	0	0	0
2094	-0.78	-146.1	203.5	-8.3	282	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2265	3667	0	0	0	0	0	0
2421	-0.78	-146.1	229.3	-8.0	313	2422	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2265	3666	0	0	0	0	0	0
2740	-0.78	-146.1	258.0	-9.8	343	2744	0.00	2.08	0.00	0.000	4	0.000	0.071	2911	3595	3667	0	0	0	0	0	0
2752	-0.78	-146.1	259.5	-9.9	344	2756	0.12	2.08	0.00	0.000	6	0.163	0.048	2945	2245	3667	0	0	0	0	0	0
3082	-0.78	-146.1	287.6	-8.2	375	3083	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2244	3667	0	0	0	0	0	0
3401	-0.78	-146.1	312.5	-7.3	405	3404	0.00	2.15	0.00	0.000	4	0.000	0.070	2937	3606	3667	0	0	0	0	0	0
3412	-0.78	-146.1	313.3	-7.2	405	3417	0.00	2.08	0.00	0.000	6	0.000	0.048	2937	2248	3666	0	0	0	0	0	0
3737	-0.78	-146.1	337.2	-7.1	436	3738	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2248	3667	0	0	0	0	0	0
4056	-0.78	-146.1	360.3	-7.4	466	4057	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2248	3666	0	0	0	0	0	0
4377	-0.78	-146.1	383.6	-7.4	496	4381	0.00	2.15	0.00	0.000	4	0.000	0.058	2937	848	3666	0	0	0	0	0	0
4388	-0.78	-146.1	384.6	-7.2	496	4393	0.00	2.22	0.00	0.000	6	0.000	0.059	2928	2260	3666	0	0	0	0	0	0
4713	-0.78	-146.1	409.6	-7.7	527	4714	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2260	3666	0	0	0	0	0	0
5031	-0.78	-146.1	432.4	-7.2	557	5035	0.00	2.08	0.00	0.000	4	0.000	0.070	2918	3605	3666	0	0	0	0	0	0
5044	-0.78	-146.1	433.2	-7.1	558	5048	0.10	2.08	0.00	0.000	6	0.163	0.047	2944	2242	3666	0	0	0	0	0	0
5374	-0.78	-146.1	454.2	-6.3	589	5375	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2241	3667	0	0	0	0	0	0
5692	-0.78	-146.1	474.1	-6.2	619	5694	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2241	3667	0	0	0	0	0	0
6011	-0.78	-146.1	494.9	-6.7	649	6015	0.00	2.15	0.00	0.000	4	0.000	0.067	2937	3601	3666	0	0	0	0	0	0
6023	-0.78	-146.1	495.7	-6.4	650	6027	0.00	2.05	0.00	0.000	6	0.000	0.046	2937	2248	3667	0	0	0	0	0	0
6085	end dive: BOTTOM_OBSTACLE_DETECTED
state	6085	begin apogee
6092	-0.17	0.0	500.4	7.3	656	6218	0.40	0.00	119.50	1.115	6	0.120	0.000	3073	2247	3061	0	0	0	0	0	0
6219	end apogee: CONTROL_FINISHED_OK
state	6219	begin climb
6222	0.78	146.1	502.7	0.0	669	6348	0.60	0.00	121.18	1.078	6	0.076	0.000	3285	2245	2463	0	0	0	0	0	0
6667	0.78	146.1	460.8	10.3	712	6671	0.00	2.22	0.00	0.000	4	0.000	0.065	3285	3600	2468	0	0	0	0	0	0
6741	0.78	146.1	452.0	12.5	718	6745	0.00	2.22	0.00	0.000	6	0.000	0.046	3293	2190	2468	0	0	0	0	0	0
7066	0.78	146.1	416.4	10.1	748	7070	0.00	2.20	0.00	0.000	4	0.000	0.055	3304	786	2468	0	0	0	0	0	0
7116	0.79	154.0	411.4	9.6	752	7133	0.00	2.28	8.32	0.897	6	0.000	0.056	3304	2202	2430	0	0	0	0	0	0
7451	0.79	154.0	373.7	10.8	784	7455	0.00	2.20	0.00	0.000	4	0.000	0.066	3304	3592	2434	0	0	0	0	0	0
7552	0.79	154.0	360.5	13.6	792	7558	0.12	2.15	0.00	0.000	6	0.174	0.045	3281	2198	2434	0	0	0	0	0	0
7877	0.80	158.7	328.1	9.8	823	7886	0.00	0.00	5.35	0.764	6	0.000	0.000	3282	2197	2411	0	0	0	0	0	0
8206	0.80	159.8	295.9	10.0	854	8210	0.00	2.22	0.00	0.000	4	0.000	0.064	3281	3603	2414	0	0	0	0	0	0
8250	0.80	159.8	290.8	11.4	857	8259	0.00	2.17	2.75	0.426	6	0.000	0.046	3289	2186	2406	0	0	0	0	0	0
8585	0.81	167.1	256.5	9.7	889	8600	0.00	2.22	7.78	0.844	4	0.000	0.056	3299	796	2376	0	0	0	0	0	0
8645	0.82	173.0	250.6	9.7	894	8660	0.00	2.25	6.72	0.804	6	0.000	0.056	3299	2207	2352	0	0	0	0	0	0
8979	0.83	181.7	218.0	9.6	926	8993	0.00	2.25	8.15	0.841	4	0.000	0.067	3299	3597	2317	0	0	0	0	0	0
9073	0.83	181.7	207.4	11.9	934	9078	0.00	2.15	0.00	0.000	6	0.000	0.047	3308	2203	2318	0	0	0	0	0	0
9397	0.83	181.7	171.9	10.7	965	9401	0.00	2.17	0.00	0.000	4	0.000	0.056	3319	789	2318	0	0	0	0	0	0
9494	0.83	181.7	161.3	11.3	973	9499	0.12	2.25	0.00	0.000	6	0.160	0.057	3285	2201	2319	0	0	0	0	0	0
9819	0.88	227.3	133.4	7.9	1003	9861	0.00	2.33	36.75	0.923	4	0.000	0.068	3285	3599	2132	0	0	0	0	0	0
9925	0.88	227.3	124.1	10.1	1012	9930	0.00	2.20	0.00	0.000	6	0.000	0.048	3292	2204	2128	0	0	0	0	0	0
10253	0.88	229.2	92.5	9.9	1049	10259	0.00	2.22	0.00	0.000	4	0.000	0.058	3300	786	2127	0	0	0	0	0	0
10356	0.90	245.0	82.7	9.3	1067	10377	0.00	2.28	14.80	0.844	6	0.000	0.058	3301	2201	2059	0	0	0	0	0	0
10715	0.90	245.0	45.1	10.4	1131	10720	0.00	2.22	0.00	0.000	4	0.000	0.069	3301	3598	2057	0	0	0	0	0	0
10845	0.90	245.0	30.4	11.3	1154	10850	0.00	2.20	0.00	0.000	6	0.000	0.048	3309	2185	2056	0	0	0	0	0	0
11153	end climb: SURFACE_DEPTH_REACHED
state	11153	begin surface coast
11193	end surface coast: CONTROL_FINISHED_OK
state	11193	begin surface