Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 99 * 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 99 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 24 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 -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -6103.4331 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 -6103.4331

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 -3

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 24 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 99 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 110136,6702.688,-5701.178,26,1.6,26,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110726,6702.737,-5701.156,14,1.7,14,-37.6 MHEAD_RNG_PITCHd_Wd 105.4,9513,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 653

Post-dive calculations and measurements:

FINISH 1.8,1.025304 _24V_AH 23.3,19.013

SM_CCo 10175,0.00,0.000,0,0,1412,374.57 _10V_AH 10.3,8.506

SM_GC 2.54,8.23,0.00,0.00,0.050,0.000,0.000,137,1860,1412,-8.95,0.28,374.57 FG_AHR_24Vo 0.000

RAFOS_CLK 457 FG_AHR_10Vo 0.000

RAFOS 0,1257508892,12.033333,12.025556,43,39,39,0,0,0,179,25,574,0,0,0 MEM 188376

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 41049,1004

IRIDIUM_FIX 6636.54,-5707.59,310199,070712 CAP_FILE_SIZE 124640,0

TT8_MAMPS 0.026845 CFSIZE 260165632,243318784

HUMID 39.25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.59021 SOUNDSPEED 1471.3

TCM_TEMP 16.60 CURRENT 0.073,267.0,1

XPDR_PINGS 0 GPS 061109,135854,6703.425,-5658.609,46,1.0,46,-37.6

ALTIM_BOTTOM_PING 550.3,71.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 237 125.07 SBE_CT 697 24 390.30

Roll_motor 98 82 190.02 SBE_O2 737 19 326.55

VBD_pump_during_apogee 437 997 10164.45 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 25 103 60.40 nil 0 0 0.00

Iridium_during_connect 40 160 150.44 nil 0 0 0.00

Iridium_during_xfer 176 223 919.31

Transponder_ping 1 420 12.23

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.27

TT8 1839 19 377.40

LPSleep 6049 2 143.93

TT8_Active 479 19 98.29

TT8_Sampling 1793 39 737.55

TT8_CF8 363 45 171.88

TT8_Kalman 0 0 0.00

Analog_circuits 1446 12 178.82

GPS_charging 0 0 0.00

Compass 1763 8 145.29

RAFOS 720 1 11.12

Transponder 11 30 3.62

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 -0.64 -146.0 0.0 0.0 0 70 0.00 0.00 -53.05 0.000 2 0.000 0.000 122 1856 2620 0 0 0 0 0 0

72 -0.64 -146.0 3.1 -0.8 10 120 10.40 2.35 -28.50 0.000 4 0.238 0.083 2809 446 3538 0 0 0 0 0 0

347 -0.58 -146.0 45.7 -15.7 70 353 0.12 2.20 0.00 0.000 6 0.170 0.051 2834 1850 3539 0 0 0 0 0 0

690 -0.58 -146.0 91.6 -14.3 131 696 0.00 2.28 0.00 0.000 4 0.000 0.069 2835 436 3539 0 0 0 0 0 0

709 -0.58 -146.0 94.3 -13.6 135 715 0.00 2.20 0.00 0.000 6 0.000 0.051 2825 1851 3538 0 0 0 0 0 0

1035 -0.58 -146.0 132.9 -11.2 170 1039 0.00 2.28 0.00 0.000 4 0.000 0.068 2825 436 3538 0 0 0 0 0 0

1095 -0.62 -146.0 139.5 -10.2 176 1099 0.00 2.20 0.00 0.000 6 0.000 0.051 2820 1851 3538 0 0 0 0 0 0

1419 -0.62 -146.0 177.0 -11.8 206 1420 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 1851 3537 0 0 0 0 0 0

1738 -0.66 -146.0 214.0 -11.1 236 1739 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 1851 3537 0 0 0 0 0 0

2057 -0.71 -146.0 250.5 -11.1 266 2061 0.00 2.25 0.00 0.000 4 0.000 0.068 2820 440 3537 0 0 0 0 0 0

2111 -0.76 -146.0 257.1 -11.7 271 2118 0.12 2.17 0.00 0.000 6 0.098 0.051 2759 1853 3537 0 0 0 0 0 0

2435 -0.64 -146.0 308.3 -16.5 302 2440 0.20 2.22 0.00 0.000 4 0.149 0.066 2810 3258 3537 0 0 0 0 0 0

2463 -0.70 -146.0 312.4 -12.6 304 2470 0.00 2.20 0.00 0.000 6 0.000 0.057 2810 1850 3537 0 0 0 0 0 0

2788 -0.73 -146.0 352.4 -13.0 335 2792 0.00 2.22 0.00 0.000 4 0.000 0.068 2810 442 3536 0 0 0 0 0 0

2869 -0.73 -146.0 363.3 -12.5 343 2875 0.00 2.17 0.00 0.000 6 0.000 0.051 2807 1858 3537 0 0 0 0 0 0

3195 -0.73 -146.0 399.7 -10.5 374 3200 0.00 2.22 0.00 0.000 4 0.000 0.066 2807 438 3537 0 0 0 0 0 0

3233 -0.73 -146.0 404.1 -11.4 378 3237 0.00 2.15 0.00 0.000 6 0.000 0.050 2807 1852 3537 0 0 0 0 0 0

3557 -0.78 -146.0 436.7 -9.8 408 3561 0.00 2.22 0.00 0.000 4 0.000 0.067 2807 440 3538 0 0 0 0 0 0

3616 -0.81 -146.0 443.0 -10.4 414 3621 0.12 2.17 0.00 0.000 6 0.097 0.051 2745 1857 3538 0 0 0 0 0 0

3940 -0.68 -146.0 490.1 -15.0 444 3945 0.20 2.25 0.00 0.000 4 0.145 0.065 2806 439 3538 0 0 0 0 0 0

3973 -0.68 -146.0 494.4 -12.6 447 3977 0.00 2.17 0.00 0.000 6 0.000 0.050 2806 1856 3538 0 0 0 0 0 0

4298 -0.73 -146.0 525.9 -9.5 477 4302 0.00 2.25 0.00 0.000 4 0.000 0.067 2806 435 3538 0 0 0 0 0 0

4378 -0.77 -146.0 534.3 -11.1 485 4382 0.00 2.17 0.00 0.000 6 0.000 0.050 2807 1851 3538 0 0 0 0 0 0

4702 -0.83 -146.0 565.6 -9.4 515 4707 0.15 2.22 0.00 0.000 4 0.089 0.068 2730 440 3539 0 0 0 0 0 0

4735 -0.63 -146.0 570.0 -15.1 518 4740 0.30 2.17 0.00 0.000 6 0.142 0.051 2815 1859 3538 0 0 0 0 0 0

5059 -0.72 -146.0 600.1 -8.7 548 5060 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 1859 3539 0 0 0 0 0 0

5366 -1.10 -146.0 617.6 0.0 558 5371 0.35 2.22 0.00 0.000 4 0.076 0.063 2670 433 3539 0 0 0 0 0 0

5395 -1.21 -146.0 617.5 0.3 559 5399 0.00 2.15 0.00 0.000 6 0.000 0.051 2669 1850 3539 0 0 0 0 0 0

5671 end dive: NO_VERTICAL_VELOCITY

state 5671 begin apogee

5676 -0.13 0.0 617.4 0.0 568 5798 0.85 0.00 119.18 0.998 6 0.086 0.000 2983 1688 2940 0 0 0 0 0 0

5799 end apogee: CONTROL_FINISHED_OK

state 5799 begin climb

5800 0.64 146.0 616.9 0.0 572 5931 0.68 2.45 122.18 0.970 4 0.076 0.054 3230 3104 2343 0 0 0 0 0 0

6194 0.99 368.9 617.0 -0.3 584 6400 0.28 2.28 195.82 0.962 6 0.067 0.056 3351 1706 1436 0 0 0 0 0 0

6716 0.71 368.9 503.1 26.9 624 6721 0.30 2.30 0.00 0.000 4 0.159 0.058 3260 3110 1423 0 0 0 0 0 0

6790 0.75 368.9 489.2 15.7 631 6795 0.00 2.33 0.00 0.000 6 0.000 0.058 3269 1695 1420 0 0 0 0 0 0

7115 0.71 368.9 435.7 16.5 662 7119 0.00 2.30 0.00 0.000 4 0.000 0.068 3280 282 1419 0 0 0 0 0 0

7179 0.71 368.9 424.6 16.2 668 7185 0.00 2.20 0.00 0.000 6 0.000 0.045 3280 1701 1419 0 0 0 0 0 0

7503 0.66 368.9 368.9 17.0 699 7508 0.15 2.28 0.00 0.000 4 0.163 0.068 3246 288 1419 0 0 0 0 0 0

7530 0.66 368.9 364.5 14.8 701 7536 0.00 2.17 0.00 0.000 6 0.000 0.045 3246 1703 1418 0 0 0 0 0 0

7853 0.66 368.9 320.2 14.1 732 7857 0.00 2.25 0.00 0.000 4 0.000 0.070 3254 288 1418 0 0 0 0 0 0

7881 0.69 368.9 316.3 15.6 734 7886 0.00 2.17 0.00 0.000 6 0.000 0.045 3254 1701 1418 0 0 0 0 0 0

8204 0.69 368.9 269.2 14.3 765 8205 0.00 0.00 0.00 0.000 6 0.000 0.000 3254 1702 1418 0 0 0 0 0 0

8523 0.69 368.9 224.1 14.0 795 8527 0.00 2.25 0.00 0.000 4 0.000 0.070 3261 285 1418 0 0 0 0 0 0

8584 0.76 368.9 215.7 13.7 801 8588 0.00 2.17 0.00 0.000 6 0.000 0.046 3261 1706 1417 0 0 0 0 0 0

8908 0.76 368.9 169.1 14.5 831 8912 0.00 2.28 0.00 0.000 4 0.000 0.070 3268 282 1417 0 0 0 0 0 0

8935 0.76 368.9 165.0 15.3 833 8940 0.00 2.17 0.00 0.000 6 0.000 0.045 3268 1708 1417 0 0 0 0 0 0

9258 0.76 368.9 118.3 14.0 864 9262 0.00 2.28 0.00 0.000 4 0.000 0.069 3276 282 1417 0 0 0 0 0 0

9282 0.76 368.9 114.9 15.8 866 9286 0.00 2.15 0.00 0.000 6 0.000 0.044 3276 1702 1417 0 0 0 0 0 0

9623 0.81 368.9 63.2 13.6 918 9629 0.00 2.25 0.00 0.000 4 0.000 0.070 3282 288 1417 0 0 0 0 0 0

9658 0.87 368.9 59.1 11.9 925 9664 0.00 2.15 0.00 0.000 6 0.000 0.046 3283 1702 1417 0 0 0 0 0 0

10001 0.94 368.9 18.5 12.8 986 10007 0.12 2.25 0.00 0.000 4 0.100 0.070 3348 287 1417 0 0 0 0 0 0

10022 0.94 368.9 15.1 15.6 990 10027 0.00 2.15 0.00 0.000 6 0.000 0.046 3348 1702 1417 0 0 0 0 0 0

10082 end climb: SURFACE_DEPTH_REACHED

state 10082 begin surface coast

10099 end surface coast: CONTROL_FINISHED_OK

state 10099 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	99	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	24	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	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-6103.4331	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	110136,6702.688,-5701.178,26,1.6,26,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110726,6702.737,-5701.156,14,1.7,14,-37.6	MHEAD_RNG_PITCHd_Wd	105.4,9513,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	653

FINISH	1.8,1.025304	_24V_AH	23.3,19.013
SM_CCo	10175,0.00,0.000,0,0,1412,374.57	_10V_AH	10.3,8.506
SM_GC	2.54,8.23,0.00,0.00,0.050,0.000,0.000,137,1860,1412,-8.95,0.28,374.57	FG_AHR_24Vo	0.000
RAFOS_CLK	457	FG_AHR_10Vo	0.000
RAFOS	0,1257508892,12.033333,12.025556,43,39,39,0,0,0,179,25,574,0,0,0	MEM	188376
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	41049,1004
IRIDIUM_FIX	6636.54,-5707.59,310199,070712	CAP_FILE_SIZE	124640,0
TT8_MAMPS	0.026845	CFSIZE	260165632,243318784
HUMID	39.25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.59021	SOUNDSPEED	1471.3
TCM_TEMP	16.60	CURRENT	0.073,267.0,1
XPDR_PINGS	0	GPS	061109,135854,6703.425,-5658.609,46,1.0,46,-37.6
ALTIM_BOTTOM_PING	550.3,71.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	237	125.07	SBE_CT	697	24	390.30
Roll_motor	98	82	190.02	SBE_O2	737	19	326.55
VBD_pump_during_apogee	437	997	10164.45	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	25	103	60.40	nil	0	0	0.00
Iridium_during_connect	40	160	150.44	nil	0	0	0.00
Iridium_during_xfer	176	223	919.31
Transponder_ping	1	420	12.23
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.27
TT8	1839	19	377.40
LPSleep	6049	2	143.93
TT8_Active	479	19	98.29
TT8_Sampling	1793	39	737.55
TT8_CF8	363	45	171.88
TT8_Kalman	0	0	0.00
Analog_circuits	1446	12	178.82
GPS_charging	0	0	0.00
Compass	1763	8	145.29
RAFOS	720	1	11.12
Transponder	11	30	3.62

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	-0.64	-146.0	0.0	0.0	0	70	0.00	0.00	-53.05	0.000	2	0.000	0.000	122	1856	2620	0	0	0	0	0	0
72	-0.64	-146.0	3.1	-0.8	10	120	10.40	2.35	-28.50	0.000	4	0.238	0.083	2809	446	3538	0	0	0	0	0	0
347	-0.58	-146.0	45.7	-15.7	70	353	0.12	2.20	0.00	0.000	6	0.170	0.051	2834	1850	3539	0	0	0	0	0	0
690	-0.58	-146.0	91.6	-14.3	131	696	0.00	2.28	0.00	0.000	4	0.000	0.069	2835	436	3539	0	0	0	0	0	0
709	-0.58	-146.0	94.3	-13.6	135	715	0.00	2.20	0.00	0.000	6	0.000	0.051	2825	1851	3538	0	0	0	0	0	0
1035	-0.58	-146.0	132.9	-11.2	170	1039	0.00	2.28	0.00	0.000	4	0.000	0.068	2825	436	3538	0	0	0	0	0	0
1095	-0.62	-146.0	139.5	-10.2	176	1099	0.00	2.20	0.00	0.000	6	0.000	0.051	2820	1851	3538	0	0	0	0	0	0
1419	-0.62	-146.0	177.0	-11.8	206	1420	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	1851	3537	0	0	0	0	0	0
1738	-0.66	-146.0	214.0	-11.1	236	1739	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	1851	3537	0	0	0	0	0	0
2057	-0.71	-146.0	250.5	-11.1	266	2061	0.00	2.25	0.00	0.000	4	0.000	0.068	2820	440	3537	0	0	0	0	0	0
2111	-0.76	-146.0	257.1	-11.7	271	2118	0.12	2.17	0.00	0.000	6	0.098	0.051	2759	1853	3537	0	0	0	0	0	0
2435	-0.64	-146.0	308.3	-16.5	302	2440	0.20	2.22	0.00	0.000	4	0.149	0.066	2810	3258	3537	0	0	0	0	0	0
2463	-0.70	-146.0	312.4	-12.6	304	2470	0.00	2.20	0.00	0.000	6	0.000	0.057	2810	1850	3537	0	0	0	0	0	0
2788	-0.73	-146.0	352.4	-13.0	335	2792	0.00	2.22	0.00	0.000	4	0.000	0.068	2810	442	3536	0	0	0	0	0	0
2869	-0.73	-146.0	363.3	-12.5	343	2875	0.00	2.17	0.00	0.000	6	0.000	0.051	2807	1858	3537	0	0	0	0	0	0
3195	-0.73	-146.0	399.7	-10.5	374	3200	0.00	2.22	0.00	0.000	4	0.000	0.066	2807	438	3537	0	0	0	0	0	0
3233	-0.73	-146.0	404.1	-11.4	378	3237	0.00	2.15	0.00	0.000	6	0.000	0.050	2807	1852	3537	0	0	0	0	0	0
3557	-0.78	-146.0	436.7	-9.8	408	3561	0.00	2.22	0.00	0.000	4	0.000	0.067	2807	440	3538	0	0	0	0	0	0
3616	-0.81	-146.0	443.0	-10.4	414	3621	0.12	2.17	0.00	0.000	6	0.097	0.051	2745	1857	3538	0	0	0	0	0	0
3940	-0.68	-146.0	490.1	-15.0	444	3945	0.20	2.25	0.00	0.000	4	0.145	0.065	2806	439	3538	0	0	0	0	0	0
3973	-0.68	-146.0	494.4	-12.6	447	3977	0.00	2.17	0.00	0.000	6	0.000	0.050	2806	1856	3538	0	0	0	0	0	0
4298	-0.73	-146.0	525.9	-9.5	477	4302	0.00	2.25	0.00	0.000	4	0.000	0.067	2806	435	3538	0	0	0	0	0	0
4378	-0.77	-146.0	534.3	-11.1	485	4382	0.00	2.17	0.00	0.000	6	0.000	0.050	2807	1851	3538	0	0	0	0	0	0
4702	-0.83	-146.0	565.6	-9.4	515	4707	0.15	2.22	0.00	0.000	4	0.089	0.068	2730	440	3539	0	0	0	0	0	0
4735	-0.63	-146.0	570.0	-15.1	518	4740	0.30	2.17	0.00	0.000	6	0.142	0.051	2815	1859	3538	0	0	0	0	0	0
5059	-0.72	-146.0	600.1	-8.7	548	5060	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	1859	3539	0	0	0	0	0	0
5366	-1.10	-146.0	617.6	0.0	558	5371	0.35	2.22	0.00	0.000	4	0.076	0.063	2670	433	3539	0	0	0	0	0	0
5395	-1.21	-146.0	617.5	0.3	559	5399	0.00	2.15	0.00	0.000	6	0.000	0.051	2669	1850	3539	0	0	0	0	0	0
5671	end dive: NO_VERTICAL_VELOCITY
state	5671	begin apogee
5676	-0.13	0.0	617.4	0.0	568	5798	0.85	0.00	119.18	0.998	6	0.086	0.000	2983	1688	2940	0	0	0	0	0	0
5799	end apogee: CONTROL_FINISHED_OK
state	5799	begin climb
5800	0.64	146.0	616.9	0.0	572	5931	0.68	2.45	122.18	0.970	4	0.076	0.054	3230	3104	2343	0	0	0	0	0	0
6194	0.99	368.9	617.0	-0.3	584	6400	0.28	2.28	195.82	0.962	6	0.067	0.056	3351	1706	1436	0	0	0	0	0	0
6716	0.71	368.9	503.1	26.9	624	6721	0.30	2.30	0.00	0.000	4	0.159	0.058	3260	3110	1423	0	0	0	0	0	0
6790	0.75	368.9	489.2	15.7	631	6795	0.00	2.33	0.00	0.000	6	0.000	0.058	3269	1695	1420	0	0	0	0	0	0
7115	0.71	368.9	435.7	16.5	662	7119	0.00	2.30	0.00	0.000	4	0.000	0.068	3280	282	1419	0	0	0	0	0	0
7179	0.71	368.9	424.6	16.2	668	7185	0.00	2.20	0.00	0.000	6	0.000	0.045	3280	1701	1419	0	0	0	0	0	0
7503	0.66	368.9	368.9	17.0	699	7508	0.15	2.28	0.00	0.000	4	0.163	0.068	3246	288	1419	0	0	0	0	0	0
7530	0.66	368.9	364.5	14.8	701	7536	0.00	2.17	0.00	0.000	6	0.000	0.045	3246	1703	1418	0	0	0	0	0	0
7853	0.66	368.9	320.2	14.1	732	7857	0.00	2.25	0.00	0.000	4	0.000	0.070	3254	288	1418	0	0	0	0	0	0
7881	0.69	368.9	316.3	15.6	734	7886	0.00	2.17	0.00	0.000	6	0.000	0.045	3254	1701	1418	0	0	0	0	0	0
8204	0.69	368.9	269.2	14.3	765	8205	0.00	0.00	0.00	0.000	6	0.000	0.000	3254	1702	1418	0	0	0	0	0	0
8523	0.69	368.9	224.1	14.0	795	8527	0.00	2.25	0.00	0.000	4	0.000	0.070	3261	285	1418	0	0	0	0	0	0
8584	0.76	368.9	215.7	13.7	801	8588	0.00	2.17	0.00	0.000	6	0.000	0.046	3261	1706	1417	0	0	0	0	0	0
8908	0.76	368.9	169.1	14.5	831	8912	0.00	2.28	0.00	0.000	4	0.000	0.070	3268	282	1417	0	0	0	0	0	0
8935	0.76	368.9	165.0	15.3	833	8940	0.00	2.17	0.00	0.000	6	0.000	0.045	3268	1708	1417	0	0	0	0	0	0
9258	0.76	368.9	118.3	14.0	864	9262	0.00	2.28	0.00	0.000	4	0.000	0.069	3276	282	1417	0	0	0	0	0	0
9282	0.76	368.9	114.9	15.8	866	9286	0.00	2.15	0.00	0.000	6	0.000	0.044	3276	1702	1417	0	0	0	0	0	0
9623	0.81	368.9	63.2	13.6	918	9629	0.00	2.25	0.00	0.000	4	0.000	0.070	3282	288	1417	0	0	0	0	0	0
9658	0.87	368.9	59.1	11.9	925	9664	0.00	2.15	0.00	0.000	6	0.000	0.046	3283	1702	1417	0	0	0	0	0	0
10001	0.94	368.9	18.5	12.8	986	10007	0.12	2.25	0.00	0.000	4	0.100	0.070	3348	287	1417	0	0	0	0	0	0
10022	0.94	368.9	15.1	15.6	990	10027	0.00	2.15	0.00	0.000	6	0.000	0.046	3348	1702	1417	0	0	0	0	0	0
10082	end climb: SURFACE_DEPTH_REACHED
state	10082	begin surface coast
10099	end surface coast: CONTROL_FINISHED_OK
state	10099	begin surface