Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 8 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 0

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 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 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 -23117.887 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 2 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 -23117.887

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 -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 1.0275 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 2200 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2250 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 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 8 NAV_MODE 2 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 154001,6700.767,-5655.937,38,1.5,38,-37.5 TGT_NAME TARGET_E_IN

_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 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 154538,6700.793,-5656.148,12,1.4,12,-37.5 MHEAD_RNG_PITCHd_Wd 85.7,7165,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 646

Post-dive calculations and measurements:

FINISH 0.4,1.013374 _24V_AH 23.5,15.939

SM_CCo 13458,47.20,0.749,0,0,1677,275.23 _10V_AH 10.3,6.880

SM_GC 1.23,0.00,0.00,47.20,0.000,0.000,0.749,127,2250,1677,-7.20,0.03,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 834 FG_AHR_10Vo 0.000

RAFOS 0,1256140862,16.033333,16.017221,74,64,59,0,0,0,1168,121,191,0,0,0 MEM 150228

RAFOS_FIX 6657.367188,-5701.041016,211009,161644,7,90,2.88 DATA_FILE_SIZE 50454,1326

IRIDIUM_FIX 6658.43,-4745.11,150199,111152 CAP_FILE_SIZE 153621,0

TT8_MAMPS 0.026845 CFSIZE 260165632,250134528

HUMID 45.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1468.0

TCM_TEMP 17.40 CURRENT 0.128,186.6,1

XPDR_PINGS 3 GPS 211009,193254,6701.238,-5657.308,23,1.0,40,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 305 155.67 SBE_CT 970 24 547.17

Roll_motor 111 127 333.02 SBE_O2 907 19 405.40

VBD_pump_during_apogee 283 1149 7659.13 nil 0 0 0.00

VBD_pump_during_surface 47 749 831.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 54.12 nil 0 0 0.00

Iridium_during_connect 43 160 162.91 nil 0 0 0.00

Iridium_during_xfer 154 223 810.31

Transponder_ping 0 420 7.40

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.01

TT8 2478 19 508.44

LPSleep 7904 2 188.07

TT8_Active 476 19 97.69

TT8_Sampling 2605 39 1071.24

TT8_CF8 395 45 187.01

TT8_Kalman 0 0 0.00

Analog_circuits 1751 12 216.51

GPS_charging 0 0 0.00

Compass 2565 8 211.37

RAFOS 2520 1 38.93

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

15 -0.98 -146.0 0.0 0.0 0 101 0.00 0.00 -82.97 0.000 2 0.000 0.000 120 2269 3178 0 0 0 0 0 0

103 -0.98 -146.0 3.4 -6.3 16 125 9.57 0.00 -5.88 0.000 6 0.305 0.000 2106 2269 3398 0 0 0 0 0 0

463 -0.80 -146.0 55.9 -13.6 80 468 0.25 0.00 0.00 0.000 6 0.212 0.000 2172 2269 3401 0 0 0 0 0 0

806 -0.85 -146.0 89.1 -9.1 141 812 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2269 3401 0 0 0 0 0 0

1143 -0.91 -146.0 117.3 -8.3 184 1148 0.12 2.62 0.00 0.000 4 0.120 0.083 2130 661 3400 0 0 0 0 0 0

1400 -0.82 -146.0 145.2 -10.6 206 1407 0.15 2.53 0.00 0.000 6 0.221 0.070 2162 2248 3401 0 0 0 0 0 0

1726 -0.89 -146.0 172.3 -8.3 237 1731 0.00 2.55 0.00 0.000 4 0.000 0.082 2163 668 3400 0 0 0 0 0 0

1803 -0.89 -146.0 179.3 -8.6 243 1809 0.00 2.53 0.00 0.000 6 0.000 0.071 2162 2253 3401 0 0 0 0 0 0

2129 -0.95 -146.0 206.5 -8.6 274 2134 0.12 2.58 0.00 0.000 4 0.113 0.082 2123 668 3401 0 0 0 0 0 0

2387 -0.86 -146.0 235.8 -11.0 296 2392 0.00 2.42 0.00 0.000 6 0.000 0.071 2124 2195 3401 0 0 0 0 0 0

2711 -0.80 -146.0 269.3 -9.8 327 2716 0.17 2.45 0.00 0.000 4 0.216 0.084 2166 657 3401 0 0 0 0 0 0

2936 -0.87 -146.0 289.6 -8.7 347 2941 0.00 2.45 0.00 0.000 6 0.000 0.071 2167 2202 3401 0 0 0 0 0 0

3261 -0.99 -146.0 314.8 -7.4 377 3266 0.17 2.50 0.00 0.000 4 0.097 0.084 2111 657 3399 0 0 0 0 0 0

3518 -0.89 -146.0 341.2 -10.1 399 3524 0.12 2.40 0.00 0.000 6 0.223 0.071 2139 2176 3399 0 0 0 0 0 0

3843 -0.89 -146.0 365.8 -7.2 430 3847 0.00 2.42 0.00 0.000 4 0.000 0.084 2140 663 3399 0 0 0 0 0 0

4021 -0.89 -146.0 380.3 -8.1 445 4028 0.00 2.40 0.00 0.000 6 0.000 0.070 2140 2186 3399 0 0 0 0 0 0

4346 -0.89 -146.0 403.7 -7.7 476 4351 0.00 2.42 0.00 0.000 4 0.000 0.082 2140 667 3399 0 0 0 0 0 0

4604 -0.89 -146.0 425.3 -8.5 498 4610 0.00 2.30 0.00 0.000 6 0.000 0.068 2140 2130 3399 0 0 0 0 0 0

4929 -0.89 -146.0 451.8 -8.4 529 4933 0.00 2.35 0.00 0.000 4 0.000 0.083 2140 660 3400 0 0 0 0 0 0

5069 -0.89 -146.0 464.6 -9.1 541 5074 0.00 2.33 0.00 0.000 6 0.000 0.069 2140 2141 3400 0 0 0 0 0 0

5394 -0.93 -146.0 492.5 -8.6 571 5398 0.00 2.35 0.00 0.000 4 0.000 0.081 2140 665 3401 0 0 0 0 0 0

5652 -0.93 -146.0 515.7 -8.3 593 5658 0.00 2.47 0.00 0.000 6 0.000 0.068 2140 2241 3401 0 0 0 0 0 0

5977 -0.98 -146.0 540.2 -7.2 624 5981 0.00 2.53 0.00 0.000 4 0.000 0.081 2140 656 3401 0 0 0 0 0 0

6129 -0.98 -146.0 552.2 -8.0 637 6133 0.00 2.50 0.00 0.000 6 0.000 0.068 2140 2247 3401 0 0 0 0 0 0

6454 -1.03 -146.0 574.6 -6.8 667 6459 0.12 2.55 0.00 0.000 4 0.110 0.081 2097 658 3401 0 0 0 0 0 0

6711 -0.90 -146.0 598.4 -9.2 689 6718 0.15 2.40 0.00 0.000 6 0.213 0.069 2133 2189 3401 0 0 0 0 0 0

7045 -0.90 -146.0 622.1 -7.1 702 7049 0.00 2.42 0.00 0.000 4 0.000 0.081 2134 664 3402 0 0 0 0 0 0

7208 -0.90 -146.0 635.6 -8.0 707 7213 0.00 2.42 0.00 0.000 6 0.000 0.070 2134 2204 3401 0 0 0 0 0 0

7357 end dive: TARGET_DEPTH_EXCEEDED

state 7357 begin apogee

7361 -0.24 0.0 647.2 7.6 712 7484 0.73 0.00 119.22 1.150 6 0.174 0.000 2347 2203 2799 0 0 0 0 0 0

7485 end apogee: CONTROL_FINISHED_OK

state 7485 begin climb

7486 0.98 146.0 648.8 0.0 716 7618 1.25 2.88 121.68 1.101 4 0.110 0.083 2738 3777 2202 0 0 0 0 0 0

7871 0.49 146.0 581.0 20.2 731 7878 0.65 2.62 0.00 0.000 6 0.217 0.065 2591 2202 2194 0 0 0 0 0 0

8196 0.49 146.0 546.1 10.3 762 8200 0.00 2.67 0.00 0.000 4 0.000 0.084 2591 3786 2193 0 0 0 0 0 0

8453 0.43 146.0 516.0 11.3 784 8459 0.12 2.58 0.00 0.000 6 0.193 0.064 2574 2198 2192 0 0 0 0 0 0

8778 0.48 146.0 485.5 9.3 815 8782 0.00 2.65 0.00 0.000 4 0.000 0.084 2574 3791 2191 0 0 0 0 0 0

9034 0.48 146.0 457.9 10.9 837 9041 0.00 2.60 0.00 0.000 6 0.000 0.064 2584 2178 2191 0 0 0 0 0 0

9359 0.48 146.0 424.9 10.3 868 9363 0.00 2.65 0.00 0.000 4 0.000 0.084 2584 3785 2190 0 0 0 0 0 0

9615 0.48 146.0 395.9 10.9 890 9621 0.00 2.60 0.00 0.000 6 0.000 0.064 2596 2185 2190 0 0 0 0 0 0

9940 0.48 146.0 364.1 9.6 921 9944 0.00 2.62 0.00 0.000 4 0.000 0.084 2596 3785 2190 0 0 0 0 0 0

10197 0.42 146.0 335.5 11.0 943 10203 0.17 2.58 0.00 0.000 6 0.190 0.064 2565 2170 2190 0 0 0 0 0 0

10522 0.54 161.1 307.4 8.5 974 10543 0.12 2.67 11.23 0.863 4 0.113 0.081 2608 3786 2142 0 0 0 0 0 0

10796 0.47 161.1 272.7 12.8 998 10802 0.15 2.55 0.00 0.000 6 0.192 0.064 2585 2187 2141 0 0 0 0 0 0

11121 0.54 161.1 238.6 10.4 1029 11125 0.00 2.62 0.00 0.000 4 0.000 0.083 2585 3789 2140 0 0 0 0 0 0

11377 0.54 161.1 208.5 11.5 1051 11383 0.00 2.53 0.00 0.000 6 0.000 0.064 2595 2198 2140 0 0 0 0 0 0

11702 0.60 161.1 175.4 9.6 1082 11707 0.00 2.60 0.00 0.000 4 0.000 0.084 2595 3791 2140 0 0 0 0 0 0

11959 0.60 161.1 148.4 10.3 1104 11966 0.00 2.58 0.00 0.000 6 0.000 0.065 2607 2195 2140 0 0 0 0 0 0

12285 0.65 166.7 118.8 8.9 1135 12297 0.10 2.62 6.07 0.705 4 0.128 0.083 2642 3791 2119 0 0 0 0 0 0

12551 0.53 166.7 85.7 11.5 1168 12557 0.20 2.53 0.00 0.000 6 0.190 0.066 2604 2204 2119 0 0 0 0 0 0

12898 0.67 196.8 57.4 7.9 1229 12930 0.12 2.65 25.27 0.785 4 0.116 0.084 2647 3785 1995 0 0 0 0 0 0

13183 0.61 196.8 23.9 11.9 1280 13189 0.12 2.53 0.00 0.000 6 0.193 0.066 2631 2212 1990 0 0 0 0 0 0

13424 end climb: SURFACE_DEPTH_REACHED

state 13424 begin surface coast

13443 end surface coast: CONTROL_FINISHED_OK

state 13443 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	8	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	0
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	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	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	-23117.887	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	2	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	154001,6700.767,-5655.937,38,1.5,38,-37.5	TGT_NAME	TARGET_E_IN
_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	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	154538,6700.793,-5656.148,12,1.4,12,-37.5	MHEAD_RNG_PITCHd_Wd	85.7,7165,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	646

FINISH	0.4,1.013374	_24V_AH	23.5,15.939
SM_CCo	13458,47.20,0.749,0,0,1677,275.23	_10V_AH	10.3,6.880
SM_GC	1.23,0.00,0.00,47.20,0.000,0.000,0.749,127,2250,1677,-7.20,0.03,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	834	FG_AHR_10Vo	0.000
RAFOS	0,1256140862,16.033333,16.017221,74,64,59,0,0,0,1168,121,191,0,0,0	MEM	150228
RAFOS_FIX	6657.367188,-5701.041016,211009,161644,7,90,2.88	DATA_FILE_SIZE	50454,1326
IRIDIUM_FIX	6658.43,-4745.11,150199,111152	CAP_FILE_SIZE	153621,0
TT8_MAMPS	0.026845	CFSIZE	260165632,250134528
HUMID	45.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1468.0
TCM_TEMP	17.40	CURRENT	0.128,186.6,1
XPDR_PINGS	3	GPS	211009,193254,6701.238,-5657.308,23,1.0,40,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	305	155.67	SBE_CT	970	24	547.17
Roll_motor	111	127	333.02	SBE_O2	907	19	405.40
VBD_pump_during_apogee	283	1149	7659.13	nil	0	0	0.00
VBD_pump_during_surface	47	749	831.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	54.12	nil	0	0	0.00
Iridium_during_connect	43	160	162.91	nil	0	0	0.00
Iridium_during_xfer	154	223	810.31
Transponder_ping	0	420	7.40
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.01
TT8	2478	19	508.44
LPSleep	7904	2	188.07
TT8_Active	476	19	97.69
TT8_Sampling	2605	39	1071.24
TT8_CF8	395	45	187.01
TT8_Kalman	0	0	0.00
Analog_circuits	1751	12	216.51
GPS_charging	0	0	0.00
Compass	2565	8	211.37
RAFOS	2520	1	38.93
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
15	-0.98	-146.0	0.0	0.0	0	101	0.00	0.00	-82.97	0.000	2	0.000	0.000	120	2269	3178	0	0	0	0	0	0
103	-0.98	-146.0	3.4	-6.3	16	125	9.57	0.00	-5.88	0.000	6	0.305	0.000	2106	2269	3398	0	0	0	0	0	0
463	-0.80	-146.0	55.9	-13.6	80	468	0.25	0.00	0.00	0.000	6	0.212	0.000	2172	2269	3401	0	0	0	0	0	0
806	-0.85	-146.0	89.1	-9.1	141	812	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2269	3401	0	0	0	0	0	0
1143	-0.91	-146.0	117.3	-8.3	184	1148	0.12	2.62	0.00	0.000	4	0.120	0.083	2130	661	3400	0	0	0	0	0	0
1400	-0.82	-146.0	145.2	-10.6	206	1407	0.15	2.53	0.00	0.000	6	0.221	0.070	2162	2248	3401	0	0	0	0	0	0
1726	-0.89	-146.0	172.3	-8.3	237	1731	0.00	2.55	0.00	0.000	4	0.000	0.082	2163	668	3400	0	0	0	0	0	0
1803	-0.89	-146.0	179.3	-8.6	243	1809	0.00	2.53	0.00	0.000	6	0.000	0.071	2162	2253	3401	0	0	0	0	0	0
2129	-0.95	-146.0	206.5	-8.6	274	2134	0.12	2.58	0.00	0.000	4	0.113	0.082	2123	668	3401	0	0	0	0	0	0
2387	-0.86	-146.0	235.8	-11.0	296	2392	0.00	2.42	0.00	0.000	6	0.000	0.071	2124	2195	3401	0	0	0	0	0	0
2711	-0.80	-146.0	269.3	-9.8	327	2716	0.17	2.45	0.00	0.000	4	0.216	0.084	2166	657	3401	0	0	0	0	0	0
2936	-0.87	-146.0	289.6	-8.7	347	2941	0.00	2.45	0.00	0.000	6	0.000	0.071	2167	2202	3401	0	0	0	0	0	0
3261	-0.99	-146.0	314.8	-7.4	377	3266	0.17	2.50	0.00	0.000	4	0.097	0.084	2111	657	3399	0	0	0	0	0	0
3518	-0.89	-146.0	341.2	-10.1	399	3524	0.12	2.40	0.00	0.000	6	0.223	0.071	2139	2176	3399	0	0	0	0	0	0
3843	-0.89	-146.0	365.8	-7.2	430	3847	0.00	2.42	0.00	0.000	4	0.000	0.084	2140	663	3399	0	0	0	0	0	0
4021	-0.89	-146.0	380.3	-8.1	445	4028	0.00	2.40	0.00	0.000	6	0.000	0.070	2140	2186	3399	0	0	0	0	0	0
4346	-0.89	-146.0	403.7	-7.7	476	4351	0.00	2.42	0.00	0.000	4	0.000	0.082	2140	667	3399	0	0	0	0	0	0
4604	-0.89	-146.0	425.3	-8.5	498	4610	0.00	2.30	0.00	0.000	6	0.000	0.068	2140	2130	3399	0	0	0	0	0	0
4929	-0.89	-146.0	451.8	-8.4	529	4933	0.00	2.35	0.00	0.000	4	0.000	0.083	2140	660	3400	0	0	0	0	0	0
5069	-0.89	-146.0	464.6	-9.1	541	5074	0.00	2.33	0.00	0.000	6	0.000	0.069	2140	2141	3400	0	0	0	0	0	0
5394	-0.93	-146.0	492.5	-8.6	571	5398	0.00	2.35	0.00	0.000	4	0.000	0.081	2140	665	3401	0	0	0	0	0	0
5652	-0.93	-146.0	515.7	-8.3	593	5658	0.00	2.47	0.00	0.000	6	0.000	0.068	2140	2241	3401	0	0	0	0	0	0
5977	-0.98	-146.0	540.2	-7.2	624	5981	0.00	2.53	0.00	0.000	4	0.000	0.081	2140	656	3401	0	0	0	0	0	0
6129	-0.98	-146.0	552.2	-8.0	637	6133	0.00	2.50	0.00	0.000	6	0.000	0.068	2140	2247	3401	0	0	0	0	0	0
6454	-1.03	-146.0	574.6	-6.8	667	6459	0.12	2.55	0.00	0.000	4	0.110	0.081	2097	658	3401	0	0	0	0	0	0
6711	-0.90	-146.0	598.4	-9.2	689	6718	0.15	2.40	0.00	0.000	6	0.213	0.069	2133	2189	3401	0	0	0	0	0	0
7045	-0.90	-146.0	622.1	-7.1	702	7049	0.00	2.42	0.00	0.000	4	0.000	0.081	2134	664	3402	0	0	0	0	0	0
7208	-0.90	-146.0	635.6	-8.0	707	7213	0.00	2.42	0.00	0.000	6	0.000	0.070	2134	2204	3401	0	0	0	0	0	0
7357	end dive: TARGET_DEPTH_EXCEEDED
state	7357	begin apogee
7361	-0.24	0.0	647.2	7.6	712	7484	0.73	0.00	119.22	1.150	6	0.174	0.000	2347	2203	2799	0	0	0	0	0	0
7485	end apogee: CONTROL_FINISHED_OK
state	7485	begin climb
7486	0.98	146.0	648.8	0.0	716	7618	1.25	2.88	121.68	1.101	4	0.110	0.083	2738	3777	2202	0	0	0	0	0	0
7871	0.49	146.0	581.0	20.2	731	7878	0.65	2.62	0.00	0.000	6	0.217	0.065	2591	2202	2194	0	0	0	0	0	0
8196	0.49	146.0	546.1	10.3	762	8200	0.00	2.67	0.00	0.000	4	0.000	0.084	2591	3786	2193	0	0	0	0	0	0
8453	0.43	146.0	516.0	11.3	784	8459	0.12	2.58	0.00	0.000	6	0.193	0.064	2574	2198	2192	0	0	0	0	0	0
8778	0.48	146.0	485.5	9.3	815	8782	0.00	2.65	0.00	0.000	4	0.000	0.084	2574	3791	2191	0	0	0	0	0	0
9034	0.48	146.0	457.9	10.9	837	9041	0.00	2.60	0.00	0.000	6	0.000	0.064	2584	2178	2191	0	0	0	0	0	0
9359	0.48	146.0	424.9	10.3	868	9363	0.00	2.65	0.00	0.000	4	0.000	0.084	2584	3785	2190	0	0	0	0	0	0
9615	0.48	146.0	395.9	10.9	890	9621	0.00	2.60	0.00	0.000	6	0.000	0.064	2596	2185	2190	0	0	0	0	0	0
9940	0.48	146.0	364.1	9.6	921	9944	0.00	2.62	0.00	0.000	4	0.000	0.084	2596	3785	2190	0	0	0	0	0	0
10197	0.42	146.0	335.5	11.0	943	10203	0.17	2.58	0.00	0.000	6	0.190	0.064	2565	2170	2190	0	0	0	0	0	0
10522	0.54	161.1	307.4	8.5	974	10543	0.12	2.67	11.23	0.863	4	0.113	0.081	2608	3786	2142	0	0	0	0	0	0
10796	0.47	161.1	272.7	12.8	998	10802	0.15	2.55	0.00	0.000	6	0.192	0.064	2585	2187	2141	0	0	0	0	0	0
11121	0.54	161.1	238.6	10.4	1029	11125	0.00	2.62	0.00	0.000	4	0.000	0.083	2585	3789	2140	0	0	0	0	0	0
11377	0.54	161.1	208.5	11.5	1051	11383	0.00	2.53	0.00	0.000	6	0.000	0.064	2595	2198	2140	0	0	0	0	0	0
11702	0.60	161.1	175.4	9.6	1082	11707	0.00	2.60	0.00	0.000	4	0.000	0.084	2595	3791	2140	0	0	0	0	0	0
11959	0.60	161.1	148.4	10.3	1104	11966	0.00	2.58	0.00	0.000	6	0.000	0.065	2607	2195	2140	0	0	0	0	0	0
12285	0.65	166.7	118.8	8.9	1135	12297	0.10	2.62	6.07	0.705	4	0.128	0.083	2642	3791	2119	0	0	0	0	0	0
12551	0.53	166.7	85.7	11.5	1168	12557	0.20	2.53	0.00	0.000	6	0.190	0.066	2604	2204	2119	0	0	0	0	0	0
12898	0.67	196.8	57.4	7.9	1229	12930	0.12	2.65	25.27	0.785	4	0.116	0.084	2647	3785	1995	0	0	0	0	0	0
13183	0.61	196.8	23.9	11.9	1280	13189	0.12	2.53	0.00	0.000	6	0.193	0.066	2631	2212	1990	0	0	0	0	0	0
13424	end climb: SURFACE_DEPTH_REACHED
state	13424	begin surface coast
13443	end surface coast: CONTROL_FINISHED_OK
state	13443	begin surface