Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 232 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 232 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 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 17 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 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -35700.973 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 -35700.973

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 -1 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 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 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 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -2

C_ROLL_DIVE 2460 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 17 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 232 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 162725,6647.012,-6015.568,0,7106.0,0,-37.8 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 162725,6647.012,-6015.568,0,7106.0,0,-37.8 MHEAD_RNG_PITCHd_Wd 116.6,152791,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 557

Post-dive calculations and measurements:

FREEZE 8.26,-1.772,-1.763,2,27,0 ALTIM_BOTTOM_PING 500.2,89.3

FINISH1 8.3,1.025818,82 _24V_AH 22.5,48.979

FINISH2 6.6 _10V_AH 10.1,25.527

RAFOS_CLK 797 FG_AHR_24Vo 0.000

RAFOS 0,1259784062,20.033333,20.017221,91,64,59,0,0,0,633,217,188,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.516602,-6011.295410,021209,202024,5,106,0.30 MEM 152608

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 44181,1174

TT8_MAMPS 0.029146 CAP_FILE_SIZE 129828,0

HUMID 50.23 CFSIZE 260165632,231682048

INTERNAL_PRESSURE 8.88706 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1449.9

XPDR_PINGS 7 GPS 021209,201924,6645.517,-6011.295,0,5105.8,0,-37.8

ALTIM_TOP_PING 19.7,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 229 35.35 SBE_CT 871 24 470.38

Roll_motor 132 146 435.26 SBE_O2 810 19 346.57

VBD_pump_during_apogee 378 1142 9735.73 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 3 420 35.44

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 1945 19 391.41

LPSleep 6901 2 161.03

TT8_Active 443 19 89.32

TT8_Sampling 1964 39 791.90

TT8_CF8 146 45 68.11

TT8_Kalman 0 0 0.00

Analog_circuits 1473 12 178.57

GPS_charging 0 0 0.00

Compass 1941 8 156.90

RAFOS 2160 1 32.72

Transponder 17 30 5.28

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 -0.73 -146.0 0.0 0.0 0 22 0.00 0.00 -4.82 0.000 2 0.000 0.000 2733 357 2622 0 0 0 0 0 0

25 -0.73 -146.0 7.8 -0.0 1 61 0.85 6.18 -23.75 0.000 4 0.120 0.097 2457 3909 3398 0 0 0 0 0 0

264 -0.63 -146.0 40.3 -13.5 44 269 0.00 2.75 0.00 0.000 6 0.000 0.075 2457 2452 3400 0 0 0 0 0 0

608 -0.54 -146.0 90.4 -13.3 105 614 0.22 2.88 0.00 0.000 4 0.229 0.097 2499 3911 3400 0 0 0 0 0 0

811 -0.62 -146.0 112.0 -10.0 131 815 0.00 2.70 0.00 0.000 6 0.000 0.074 2498 2476 3400 0 0 0 0 0 0

1135 -0.72 -146.0 144.4 -9.4 161 1141 0.12 2.85 0.00 0.000 4 0.133 0.099 2456 3913 3400 0 0 0 0 0 0

1287 -0.72 -146.0 161.9 -11.4 174 1291 0.00 2.70 0.00 0.000 6 0.000 0.075 2456 2483 3400 0 0 0 0 0 0

1611 -0.72 -146.0 199.8 -11.2 204 1615 0.00 2.83 0.00 0.000 4 0.000 0.100 2456 3912 3400 0 0 0 0 0 0

1717 -0.72 -146.0 211.6 -11.0 213 1721 0.00 2.67 0.00 0.000 6 0.000 0.076 2456 2495 3400 0 0 0 0 0 0

2041 -0.72 -146.0 246.3 -9.5 243 2046 0.00 2.80 0.00 0.000 4 0.000 0.100 2456 3910 3400 0 0 0 0 0 0

2158 -0.72 -146.0 258.2 -10.0 253 2163 0.00 2.65 0.00 0.000 6 0.000 0.075 2456 2507 3399 0 0 0 0 0 0

2482 -0.72 -146.0 289.0 -9.3 283 2487 0.00 2.78 0.00 0.000 4 0.000 0.100 2456 3909 3399 0 0 0 0 0 0

2644 -0.72 -146.0 304.7 -9.6 297 2649 0.00 2.62 0.00 0.000 6 0.000 0.076 2456 2520 3399 0 0 0 0 0 0

2969 -0.72 -146.0 335.2 -10.0 327 2973 0.00 2.78 0.00 0.000 4 0.000 0.101 2456 3921 3399 0 0 0 0 0 0

3086 -0.72 -146.0 347.0 -10.5 337 3090 0.00 2.62 0.00 0.000 6 0.000 0.076 2456 2535 3399 0 0 0 0 0 0

3410 -0.76 -146.0 379.3 -9.6 367 3415 0.00 2.75 0.00 0.000 4 0.000 0.102 2456 3918 3399 0 0 0 0 0 0

3551 -0.82 -146.0 392.6 -9.7 379 3555 0.00 2.60 0.00 0.000 6 0.000 0.075 2456 2543 3399 0 0 0 0 0 0

3876 -0.89 -146.0 423.9 -9.1 409 3881 0.15 2.75 0.00 0.000 4 0.120 0.100 2400 3918 3398 0 0 0 0 0 0

4017 -0.74 -146.0 440.1 -11.1 421 4022 0.20 2.60 0.00 0.000 6 0.222 0.075 2443 2546 3398 0 0 0 0 0 0

4341 -0.74 -146.0 467.2 -7.7 451 4346 0.00 2.72 0.00 0.000 4 0.000 0.100 2444 3919 3398 0 0 0 0 0 0

4448 -0.74 -146.0 475.8 -8.2 460 4452 0.00 2.58 0.00 0.000 6 0.000 0.074 2444 2559 3398 0 0 0 0 0 0

4772 -0.80 -146.0 502.8 -8.4 490 4777 0.00 2.67 0.00 0.000 4 0.000 0.094 2444 872 3398 0 0 0 0 0 0

4805 -0.80 -146.0 505.9 -8.7 492 4811 0.00 2.67 0.00 0.000 6 0.000 0.083 2444 2569 3398 0 0 0 0 0 0

5130 -0.86 -146.0 531.6 -7.7 523 5131 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2569 3399 0 0 0 0 0 0

5448 end dive: TARGET_DEPTH_EXCEEDED

state 5448 begin apogee

5453 -0.16 0.0 557.2 7.8 553 5580 0.68 0.00 120.47 1.142 6 0.196 0.000 2627 1949 2799 0 0 0 0 0 0

5580 end apogee: CONTROL_FINISHED_OK

state 5581 begin climb

5583 0.73 146.0 560.1 0.0 566 5719 1.00 2.80 126.90 1.085 4 0.144 0.099 2923 367 2202 0 0 0 0 0 0

5775 0.67 146.0 546.2 10.8 584 5781 0.00 2.55 0.00 0.000 6 0.000 0.073 2924 1948 2198 0 0 0 0 0 0

6099 0.61 146.0 511.8 10.4 615 6101 0.15 0.00 0.00 0.000 6 0.201 0.000 2891 1948 2194 0 0 0 0 0 0

6418 0.69 146.0 483.3 9.3 645 6419 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 1948 2193 0 0 0 0 0 0

6738 0.76 146.0 452.7 10.0 675 6743 0.15 3.03 0.00 0.000 4 0.120 0.089 2935 3544 2192 0 0 0 0 0 0

6823 0.62 146.0 442.2 12.2 682 6829 0.22 2.97 0.00 0.000 6 0.206 0.079 2895 1961 2191 0 0 0 0 0 0

7148 0.72 164.7 413.4 8.4 712 7169 0.00 3.03 14.90 0.990 4 0.000 0.089 2895 3544 2127 0 0 0 0 0 0

7219 0.72 164.7 406.9 9.7 718 7225 0.00 2.97 0.00 0.000 6 0.000 0.078 2905 1965 2126 0 0 0 0 0 0

7544 0.80 183.6 380.9 8.4 749 7569 0.12 3.08 17.45 0.988 4 0.112 0.088 2950 3543 2050 0 0 0 0 0 0

7602 0.66 183.6 374.4 12.9 754 7609 0.22 2.97 0.00 0.000 6 0.202 0.079 2910 1969 2049 0 0 0 0 0 0

7927 0.73 183.6 343.4 9.4 785 7932 0.00 3.00 0.00 0.000 4 0.000 0.088 2910 3543 2048 0 0 0 0 0 0

7977 0.73 183.6 338.5 9.9 789 7982 0.00 2.95 0.00 0.000 6 0.000 0.079 2920 1976 2048 0 0 0 0 0 0

8302 0.83 214.7 310.8 7.9 819 8337 0.12 3.08 27.33 0.971 4 0.118 0.088 2964 3542 1923 0 0 0 0 0 0

8382 0.71 214.7 301.7 12.6 826 8388 0.22 3.00 0.00 0.000 6 0.199 0.078 2924 1966 1921 0 0 0 0 0 0

8707 0.84 238.0 271.7 8.2 857 8738 0.12 3.05 21.10 0.944 4 0.127 0.088 2963 3545 1828 0 0 0 0 0 0

8796 0.76 238.0 262.4 11.4 865 8801 0.17 3.00 0.00 0.000 6 0.200 0.079 2937 1973 1826 0 0 0 0 0 0

9120 0.86 238.0 231.1 9.5 895 9125 0.00 3.00 0.00 0.000 4 0.000 0.090 2936 3540 1824 0 0 0 0 0 0

9174 0.86 238.0 225.4 10.8 899 9181 0.00 2.95 0.00 0.000 6 0.000 0.080 2946 1982 1824 0 0 0 0 0 0

9500 0.93 238.0 195.3 9.9 930 9502 0.12 0.00 0.00 0.000 6 0.118 0.000 2990 1983 1822 0 0 0 0 0 0

9818 0.93 238.0 156.1 11.7 960 9823 0.00 2.97 0.00 0.000 4 0.000 0.091 2990 3540 1822 0 0 0 0 0 0

9857 0.82 238.0 151.4 12.5 963 9862 0.20 2.92 0.00 0.000 6 0.205 0.081 2957 1988 1822 0 0 0 0 0 0

10181 0.90 241.5 122.2 9.0 993 10182 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 1990 1821 0 0 0 0 0 0

10502 1.07 297.9 96.6 6.8 1027 10560 0.25 3.05 50.72 0.875 4 0.107 0.092 3045 3541 1583 0 0 0 0 0 0

10589 0.89 297.9 86.3 14.0 1043 10595 0.32 3.00 0.00 0.000 6 0.206 0.082 2980 1987 1580 0 0 0 0 0 0

10934 1.01 297.9 51.8 9.8 1104 10940 0.12 3.00 0.00 0.000 4 0.130 0.092 3018 3540 1575 0 0 0 0 0 0

10968 1.01 297.9 47.5 12.3 1110 10974 0.00 2.90 0.00 0.000 6 0.000 0.082 3030 1992 1574 0 0 0 0 0 0

11283 end climb: FINISH_DEPTH_REACHED

state 11283 begin subsurface finish

11291 0.10 81.7 8.3 -13.6 1166 11332 1.08 2.47 -33.10 0.000 4 0.179 0.114 2729 354 2469 0 0 0 0 0 0

11333 end subsurface finish: CONTROL_FINISHED_OK

state 11333 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	232	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	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	17	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	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-35700.973	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	162725,6647.012,-6015.568,0,7106.0,0,-37.8	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	162725,6647.012,-6015.568,0,7106.0,0,-37.8	MHEAD_RNG_PITCHd_Wd	116.6,152791,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	557

FREEZE	8.26,-1.772,-1.763,2,27,0	ALTIM_BOTTOM_PING	500.2,89.3
FINISH1	8.3,1.025818,82	_24V_AH	22.5,48.979
FINISH2	6.6	_10V_AH	10.1,25.527
RAFOS_CLK	797	FG_AHR_24Vo	0.000
RAFOS	0,1259784062,20.033333,20.017221,91,64,59,0,0,0,633,217,188,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.516602,-6011.295410,021209,202024,5,106,0.30	MEM	152608
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	44181,1174
TT8_MAMPS	0.029146	CAP_FILE_SIZE	129828,0
HUMID	50.23	CFSIZE	260165632,231682048
INTERNAL_PRESSURE	8.88706	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1449.9
XPDR_PINGS	7	GPS	021209,201924,6645.517,-6011.295,0,5105.8,0,-37.8
ALTIM_TOP_PING	19.7,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	229	35.35	SBE_CT	871	24	470.38
Roll_motor	132	146	435.26	SBE_O2	810	19	346.57
VBD_pump_during_apogee	378	1142	9735.73	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	3	420	35.44
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	1945	19	391.41
LPSleep	6901	2	161.03
TT8_Active	443	19	89.32
TT8_Sampling	1964	39	791.90
TT8_CF8	146	45	68.11
TT8_Kalman	0	0	0.00
Analog_circuits	1473	12	178.57
GPS_charging	0	0	0.00
Compass	1941	8	156.90
RAFOS	2160	1	32.72
Transponder	17	30	5.28

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	-0.73	-146.0	0.0	0.0	0	22	0.00	0.00	-4.82	0.000	2	0.000	0.000	2733	357	2622	0	0	0	0	0	0
25	-0.73	-146.0	7.8	-0.0	1	61	0.85	6.18	-23.75	0.000	4	0.120	0.097	2457	3909	3398	0	0	0	0	0	0
264	-0.63	-146.0	40.3	-13.5	44	269	0.00	2.75	0.00	0.000	6	0.000	0.075	2457	2452	3400	0	0	0	0	0	0
608	-0.54	-146.0	90.4	-13.3	105	614	0.22	2.88	0.00	0.000	4	0.229	0.097	2499	3911	3400	0	0	0	0	0	0
811	-0.62	-146.0	112.0	-10.0	131	815	0.00	2.70	0.00	0.000	6	0.000	0.074	2498	2476	3400	0	0	0	0	0	0
1135	-0.72	-146.0	144.4	-9.4	161	1141	0.12	2.85	0.00	0.000	4	0.133	0.099	2456	3913	3400	0	0	0	0	0	0
1287	-0.72	-146.0	161.9	-11.4	174	1291	0.00	2.70	0.00	0.000	6	0.000	0.075	2456	2483	3400	0	0	0	0	0	0
1611	-0.72	-146.0	199.8	-11.2	204	1615	0.00	2.83	0.00	0.000	4	0.000	0.100	2456	3912	3400	0	0	0	0	0	0
1717	-0.72	-146.0	211.6	-11.0	213	1721	0.00	2.67	0.00	0.000	6	0.000	0.076	2456	2495	3400	0	0	0	0	0	0
2041	-0.72	-146.0	246.3	-9.5	243	2046	0.00	2.80	0.00	0.000	4	0.000	0.100	2456	3910	3400	0	0	0	0	0	0
2158	-0.72	-146.0	258.2	-10.0	253	2163	0.00	2.65	0.00	0.000	6	0.000	0.075	2456	2507	3399	0	0	0	0	0	0
2482	-0.72	-146.0	289.0	-9.3	283	2487	0.00	2.78	0.00	0.000	4	0.000	0.100	2456	3909	3399	0	0	0	0	0	0
2644	-0.72	-146.0	304.7	-9.6	297	2649	0.00	2.62	0.00	0.000	6	0.000	0.076	2456	2520	3399	0	0	0	0	0	0
2969	-0.72	-146.0	335.2	-10.0	327	2973	0.00	2.78	0.00	0.000	4	0.000	0.101	2456	3921	3399	0	0	0	0	0	0
3086	-0.72	-146.0	347.0	-10.5	337	3090	0.00	2.62	0.00	0.000	6	0.000	0.076	2456	2535	3399	0	0	0	0	0	0
3410	-0.76	-146.0	379.3	-9.6	367	3415	0.00	2.75	0.00	0.000	4	0.000	0.102	2456	3918	3399	0	0	0	0	0	0
3551	-0.82	-146.0	392.6	-9.7	379	3555	0.00	2.60	0.00	0.000	6	0.000	0.075	2456	2543	3399	0	0	0	0	0	0
3876	-0.89	-146.0	423.9	-9.1	409	3881	0.15	2.75	0.00	0.000	4	0.120	0.100	2400	3918	3398	0	0	0	0	0	0
4017	-0.74	-146.0	440.1	-11.1	421	4022	0.20	2.60	0.00	0.000	6	0.222	0.075	2443	2546	3398	0	0	0	0	0	0
4341	-0.74	-146.0	467.2	-7.7	451	4346	0.00	2.72	0.00	0.000	4	0.000	0.100	2444	3919	3398	0	0	0	0	0	0
4448	-0.74	-146.0	475.8	-8.2	460	4452	0.00	2.58	0.00	0.000	6	0.000	0.074	2444	2559	3398	0	0	0	0	0	0
4772	-0.80	-146.0	502.8	-8.4	490	4777	0.00	2.67	0.00	0.000	4	0.000	0.094	2444	872	3398	0	0	0	0	0	0
4805	-0.80	-146.0	505.9	-8.7	492	4811	0.00	2.67	0.00	0.000	6	0.000	0.083	2444	2569	3398	0	0	0	0	0	0
5130	-0.86	-146.0	531.6	-7.7	523	5131	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2569	3399	0	0	0	0	0	0
5448	end dive: TARGET_DEPTH_EXCEEDED
state	5448	begin apogee
5453	-0.16	0.0	557.2	7.8	553	5580	0.68	0.00	120.47	1.142	6	0.196	0.000	2627	1949	2799	0	0	0	0	0	0
5580	end apogee: CONTROL_FINISHED_OK
state	5581	begin climb
5583	0.73	146.0	560.1	0.0	566	5719	1.00	2.80	126.90	1.085	4	0.144	0.099	2923	367	2202	0	0	0	0	0	0
5775	0.67	146.0	546.2	10.8	584	5781	0.00	2.55	0.00	0.000	6	0.000	0.073	2924	1948	2198	0	0	0	0	0	0
6099	0.61	146.0	511.8	10.4	615	6101	0.15	0.00	0.00	0.000	6	0.201	0.000	2891	1948	2194	0	0	0	0	0	0
6418	0.69	146.0	483.3	9.3	645	6419	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	1948	2193	0	0	0	0	0	0
6738	0.76	146.0	452.7	10.0	675	6743	0.15	3.03	0.00	0.000	4	0.120	0.089	2935	3544	2192	0	0	0	0	0	0
6823	0.62	146.0	442.2	12.2	682	6829	0.22	2.97	0.00	0.000	6	0.206	0.079	2895	1961	2191	0	0	0	0	0	0
7148	0.72	164.7	413.4	8.4	712	7169	0.00	3.03	14.90	0.990	4	0.000	0.089	2895	3544	2127	0	0	0	0	0	0
7219	0.72	164.7	406.9	9.7	718	7225	0.00	2.97	0.00	0.000	6	0.000	0.078	2905	1965	2126	0	0	0	0	0	0
7544	0.80	183.6	380.9	8.4	749	7569	0.12	3.08	17.45	0.988	4	0.112	0.088	2950	3543	2050	0	0	0	0	0	0
7602	0.66	183.6	374.4	12.9	754	7609	0.22	2.97	0.00	0.000	6	0.202	0.079	2910	1969	2049	0	0	0	0	0	0
7927	0.73	183.6	343.4	9.4	785	7932	0.00	3.00	0.00	0.000	4	0.000	0.088	2910	3543	2048	0	0	0	0	0	0
7977	0.73	183.6	338.5	9.9	789	7982	0.00	2.95	0.00	0.000	6	0.000	0.079	2920	1976	2048	0	0	0	0	0	0
8302	0.83	214.7	310.8	7.9	819	8337	0.12	3.08	27.33	0.971	4	0.118	0.088	2964	3542	1923	0	0	0	0	0	0
8382	0.71	214.7	301.7	12.6	826	8388	0.22	3.00	0.00	0.000	6	0.199	0.078	2924	1966	1921	0	0	0	0	0	0
8707	0.84	238.0	271.7	8.2	857	8738	0.12	3.05	21.10	0.944	4	0.127	0.088	2963	3545	1828	0	0	0	0	0	0
8796	0.76	238.0	262.4	11.4	865	8801	0.17	3.00	0.00	0.000	6	0.200	0.079	2937	1973	1826	0	0	0	0	0	0
9120	0.86	238.0	231.1	9.5	895	9125	0.00	3.00	0.00	0.000	4	0.000	0.090	2936	3540	1824	0	0	0	0	0	0
9174	0.86	238.0	225.4	10.8	899	9181	0.00	2.95	0.00	0.000	6	0.000	0.080	2946	1982	1824	0	0	0	0	0	0
9500	0.93	238.0	195.3	9.9	930	9502	0.12	0.00	0.00	0.000	6	0.118	0.000	2990	1983	1822	0	0	0	0	0	0
9818	0.93	238.0	156.1	11.7	960	9823	0.00	2.97	0.00	0.000	4	0.000	0.091	2990	3540	1822	0	0	0	0	0	0
9857	0.82	238.0	151.4	12.5	963	9862	0.20	2.92	0.00	0.000	6	0.205	0.081	2957	1988	1822	0	0	0	0	0	0
10181	0.90	241.5	122.2	9.0	993	10182	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	1990	1821	0	0	0	0	0	0
10502	1.07	297.9	96.6	6.8	1027	10560	0.25	3.05	50.72	0.875	4	0.107	0.092	3045	3541	1583	0	0	0	0	0	0
10589	0.89	297.9	86.3	14.0	1043	10595	0.32	3.00	0.00	0.000	6	0.206	0.082	2980	1987	1580	0	0	0	0	0	0
10934	1.01	297.9	51.8	9.8	1104	10940	0.12	3.00	0.00	0.000	4	0.130	0.092	3018	3540	1575	0	0	0	0	0	0
10968	1.01	297.9	47.5	12.3	1110	10974	0.00	2.90	0.00	0.000	6	0.000	0.082	3030	1992	1574	0	0	0	0	0	0
11283	end climb: FINISH_DEPTH_REACHED
state	11283	begin subsurface finish
11291	0.10	81.7	8.3	-13.6	1166	11332	1.08	2.47	-33.10	0.000	4	0.179	0.114	2729	354	2469	0	0	0	0	0	0
11333	end subsurface finish: CONTROL_FINISHED_OK
state	11333	begin surface