Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 276 * 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 276 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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 14 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 -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -40840.281 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 425

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 -40840.281

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 -3

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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 276 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 154136,6701.392,-5649.666,62,1.3,62,-37.5 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 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 155347,6701.304,-5649.644,83,1.9,86,-37.5 MHEAD_RNG_PITCHd_Wd 58.2,3358,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 561

Post-dive calculations and measurements:

FREEZE 0.43,-1.230,-0.941,0,41,0 ALTIM_TOP_PING 19.5,18.2

FINISH 0.4,1.013882 ALTIM_BOTTOM_PING 350.7,199.8

SM_CCo 11686,164.62,0.723,0,0,1066,425.10 _24V_AH 22.8,55.115

SM_GC 1.19,0.00,0.00,164.62,0.000,0.000,0.723,122,2465,1066,-8.03,0.14,425.10 _10V_AH 10.1,29.215

RAFOS_CLK 753 FG_AHR_24Vo 0.000

RAFOS 0,1260460866,16.033333,16.018333,58,57,57,0,0,0,178,198,218,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.185059,-5701.106934,101209,080856,2,79,0.54 MEM 152344

IRIDIUM_FIX 6636.54,-5547.97,060399,151552 DATA_FILE_SIZE 47319,1240

TT8_MAMPS 0.027612 CAP_FILE_SIZE 141305,0

HUMID 46.25 CFSIZE 260165632,226541568

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 17.10 SOUNDSPEED 1466.6

XPDR_PINGS 3 GPS 101209,191356,6702.727,-5648.094,71,2.3,90,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 296 159.21 SBE_CT 911 24 498.56

Roll_motor 147 97 328.59 SBE_O2 848 19 367.51

VBD_pump_during_apogee 299 1065 7283.44 nil 0 0 0.00

VBD_pump_during_surface 164 723 2714.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 92 103 217.82 nil 0 0 0.00

Iridium_during_connect 224 160 820.11 nil 0 0 0.00

Iridium_during_xfer 72 223 367.25

Transponder_ping 1 420 16.76

GUMSTIX_24V 0 0 0.00

GPS 87 50 44.24

TT8 2069 19 416.32

LPSleep 7038 2 164.22

TT8_Active 632 19 127.32

TT8_Sampling 2209 39 890.74

TT8_CF8 624 45 289.58

TT8_Kalman 0 0 0.00

Analog_circuits 1735 12 210.37

GPS_charging 0 0 0.00

Compass 2101 8 169.81

RAFOS 2520 1 38.18

Transponder 9 30 2.83

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.12 0.000 2 0.000 0.000 124 2464 3037 0 0 0 0 0 0

137 -0.73 -146.0 3.1 -4.4 23 168 11.25 2.50 -10.43 0.000 4 0.297 0.097 2447 859 3399 0 0 0 0 0 0

226 -0.64 -146.0 17.1 -15.3 39 232 0.12 2.38 0.00 0.000 6 0.224 0.073 2475 2461 3401 0 0 0 0 0 0

570 -0.73 -146.0 52.5 -7.8 100 576 0.00 3.03 0.00 0.000 4 0.000 0.091 2475 3918 3402 0 0 0 0 0 0

741 -0.82 -146.0 67.7 -8.5 130 747 0.17 2.90 0.00 0.000 6 0.111 0.067 2417 2462 3402 0 0 0 0 0 0

1080 -0.76 -146.0 109.2 -11.8 184 1085 0.00 3.03 0.00 0.000 4 0.000 0.091 2417 3923 3401 0 0 0 0 0 0

1222 -0.71 -146.0 125.9 -11.5 196 1228 0.17 2.90 0.00 0.000 6 0.212 0.067 2457 2457 3400 0 0 0 0 0 0

1547 -0.81 -146.0 155.3 -8.4 226 1552 0.00 3.05 0.00 0.000 4 0.000 0.090 2457 3922 3399 0 0 0 0 0 0

1666 -0.91 -146.0 164.9 -7.9 236 1672 0.20 2.85 0.00 0.000 6 0.107 0.065 2390 2480 3399 0 0 0 0 0 0

1991 -0.80 -146.0 197.9 -10.3 266 1996 0.15 3.00 0.00 0.000 4 0.211 0.088 2424 3922 3399 0 0 0 0 0 0

2097 -0.80 -146.0 208.1 -9.2 275 2102 0.00 2.85 0.00 0.000 6 0.000 0.064 2424 2486 3399 0 0 0 0 0 0

2423 -0.80 -146.0 236.0 -8.2 305 2428 0.00 2.97 0.00 0.000 4 0.000 0.087 2424 3927 3399 0 0 0 0 0 0

2624 -0.80 -146.0 252.9 -8.0 322 2630 0.00 2.83 0.00 0.000 6 0.000 0.064 2424 2496 3399 0 0 0 0 0 0

2949 -0.80 -146.0 279.2 -8.1 353 2954 0.00 2.92 0.00 0.000 4 0.000 0.087 2424 3920 3400 0 0 1 0 0 0

3115 -0.80 -146.0 292.9 -8.7 367 3119 0.00 2.80 0.00 0.000 6 0.000 0.063 2424 2507 3400 0 0 0 0 0 0

3440 -0.80 -146.0 319.5 -7.9 397 3444 0.00 2.92 0.00 0.000 4 0.000 0.085 2424 3924 3400 0 0 0 0 0 0

3523 -0.80 -146.0 326.3 -8.0 404 3528 0.00 2.80 0.00 0.000 6 0.000 0.062 2424 2510 3400 0 0 0 0 0 0

3851 -0.80 -146.0 350.7 -7.5 434 3856 0.00 2.92 0.00 0.000 4 0.000 0.085 2424 3925 3401 0 0 0 0 0 0

4009 -0.80 -146.0 363.3 -8.0 447 4015 0.00 2.78 0.00 0.000 6 0.000 0.062 2424 2531 3401 0 0 0 0 0 0

4334 -0.80 -146.0 389.0 -7.9 478 4338 0.00 2.90 0.00 0.000 4 0.000 0.084 2424 3925 3401 0 0 0 0 0 0

4456 -0.80 -146.0 399.4 -8.6 488 4462 0.00 2.78 0.00 0.000 6 0.000 0.061 2424 2532 3402 0 0 0 0 0 0

4781 -0.80 -146.0 426.4 -7.9 519 4785 0.00 2.90 0.00 0.000 4 0.000 0.084 2424 3925 3402 0 0 0 0 0 0

4945 -0.80 -146.0 439.6 -8.0 533 4949 0.00 2.75 0.00 0.000 6 0.000 0.061 2425 2551 3402 0 0 0 0 0 0

5269 -0.80 -146.0 463.8 -6.8 563 5274 0.00 2.85 0.00 0.000 4 0.000 0.084 2424 3918 3403 0 0 0 0 0 0

5392 -0.80 -146.0 472.6 -7.4 573 5397 0.00 2.72 0.00 0.000 6 0.000 0.060 2424 2558 3402 0 0 0 0 0 0

5718 -0.80 -146.0 494.9 -7.0 604 5723 0.00 2.85 0.00 0.000 4 0.000 0.083 2425 3919 3403 0 0 0 0 0 0

5891 -0.80 -146.0 507.1 -6.8 619 5895 0.00 2.72 0.00 0.000 6 0.000 0.060 2424 2558 3403 0 0 0 0 0 0

6216 -0.92 -146.0 530.8 -7.9 649 6217 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2560 3404 0 0 0 0 0 0

6383 end dive: NO_VERTICAL_VELOCITY

state 6383 begin apogee

6389 -0.16 0.0 530.7 0.0 665 6516 0.70 0.00 120.12 1.065 6 0.137 0.000 2637 1946 2800 0 0 0 0 0 0

6517 end apogee: CONTROL_FINISHED_OK

state 6517 begin climb

6519 0.73 146.0 530.2 0.0 678 6653 0.90 2.45 122.88 1.019 4 0.120 0.087 2925 353 2203 0 0 0 0 0 0

6691 0.62 146.0 515.7 12.8 694 6698 0.15 2.30 0.00 0.000 6 0.194 0.059 2895 1958 2201 0 0 0 0 0 0

7016 0.62 146.0 479.7 11.0 725 7021 0.00 3.25 0.00 0.000 4 0.000 0.075 2895 3541 2197 0 0 0 0 0 0

7101 0.57 146.0 469.9 12.0 732 7107 0.15 3.22 0.00 0.000 6 0.204 0.069 2875 1958 2196 0 0 0 0 0 0

7425 0.64 146.0 438.0 9.7 762 7430 0.00 3.20 0.00 0.000 4 0.000 0.077 2875 3534 2196 0 0 0 0 0 0

7543 0.64 146.0 425.3 11.3 772 7548 0.00 3.12 0.00 0.000 6 0.000 0.069 2886 1989 2194 0 0 0 0 0 0

7867 0.69 146.0 391.1 10.0 802 7872 0.00 3.15 0.00 0.000 4 0.000 0.077 2886 3536 2194 0 0 0 0 0 0

7963 0.69 146.0 380.8 10.9 810 7968 0.00 3.10 0.00 0.000 6 0.000 0.068 2900 1999 2193 0 0 0 0 0 0

8287 0.69 146.0 345.3 11.1 840 8292 0.00 3.12 0.00 0.000 4 0.000 0.077 2900 3536 2194 0 0 0 0 0 0

8376 0.62 146.0 334.4 12.3 847 8381 0.00 3.08 0.00 0.000 6 0.000 0.069 2913 2017 2194 0 0 0 0 0 0

8700 0.62 146.0 299.4 10.4 878 8705 0.00 3.10 0.00 0.000 4 0.000 0.077 2913 3535 2193 0 0 0 0 0 0

8755 0.52 146.0 293.3 11.2 882 8761 0.25 3.05 0.00 0.000 6 0.197 0.068 2866 2035 2194 0 0 0 0 0 0

9080 0.72 200.1 269.7 6.9 913 9132 0.17 3.15 43.22 0.890 4 0.107 0.077 2926 3537 1982 0 0 0 0 0 0

9204 0.63 200.1 255.5 12.9 924 9211 0.17 3.08 0.00 0.000 6 0.202 0.067 2901 2054 1979 0 0 0 0 0 0

9529 0.69 200.1 222.8 10.1 955 9534 0.00 3.08 0.00 0.000 4 0.000 0.077 2901 3537 1977 0 0 0 0 0 0

9556 0.69 200.1 219.9 11.1 957 9561 0.00 3.03 0.00 0.000 6 0.000 0.067 2912 2063 1976 0 0 0 0 0 0

9882 0.69 200.1 186.0 10.4 987 9887 0.00 3.05 0.00 0.000 4 0.000 0.077 2912 3534 1976 0 0 0 0 0 0

9903 0.69 200.1 183.4 11.1 988 9909 0.00 3.00 0.00 0.000 6 0.000 0.067 2924 2069 1976 0 0 0 0 0 0

10228 0.69 200.1 147.4 11.4 1019 10233 0.00 3.05 0.00 0.000 4 0.000 0.076 2924 3541 1975 0 0 0 0 0 0

10283 0.69 200.1 140.2 13.4 1023 10289 0.00 2.97 0.00 0.000 6 0.000 0.067 2938 2078 1975 0 0 1 0 0 0

10607 0.69 200.1 100.6 11.9 1054 10612 0.00 3.00 0.00 0.000 4 0.000 0.077 2938 3536 1974 0 0 1 0 0 0

10686 0.62 200.1 90.4 13.4 1066 10692 0.25 2.95 0.00 0.000 6 0.197 0.067 2889 2099 1975 0 0 0 0 0 0

11032 0.82 200.1 61.2 9.2 1127 11037 0.20 0.00 0.00 0.000 6 0.100 0.000 2961 2100 1975 0 0 0 0 0 0

11376 0.77 216.6 26.7 8.5 1188 11397 0.00 3.00 13.62 0.726 4 0.000 0.078 2961 3541 1916 0 0 0 0 0 0

11466 0.68 216.6 16.6 12.5 1204 11472 0.25 2.95 0.00 0.000 6 0.202 0.068 2914 2111 1914 0 0 0 0 0 0

11651 end climb: SURFACE_DEPTH_REACHED

state 11651 begin surface coast

11669 end surface coast: CONTROL_FINISHED_OK

state 11669 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	276	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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	14	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	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-40840.281	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	154136,6701.392,-5649.666,62,1.3,62,-37.5	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	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	155347,6701.304,-5649.644,83,1.9,86,-37.5	MHEAD_RNG_PITCHd_Wd	58.2,3358,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	561

FREEZE	0.43,-1.230,-0.941,0,41,0	ALTIM_TOP_PING	19.5,18.2
FINISH	0.4,1.013882	ALTIM_BOTTOM_PING	350.7,199.8
SM_CCo	11686,164.62,0.723,0,0,1066,425.10	_24V_AH	22.8,55.115
SM_GC	1.19,0.00,0.00,164.62,0.000,0.000,0.723,122,2465,1066,-8.03,0.14,425.10	_10V_AH	10.1,29.215
RAFOS_CLK	753	FG_AHR_24Vo	0.000
RAFOS	0,1260460866,16.033333,16.018333,58,57,57,0,0,0,178,198,218,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.185059,-5701.106934,101209,080856,2,79,0.54	MEM	152344
IRIDIUM_FIX	6636.54,-5547.97,060399,151552	DATA_FILE_SIZE	47319,1240
TT8_MAMPS	0.027612	CAP_FILE_SIZE	141305,0
HUMID	46.25	CFSIZE	260165632,226541568
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	17.10	SOUNDSPEED	1466.6
XPDR_PINGS	3	GPS	101209,191356,6702.727,-5648.094,71,2.3,90,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	296	159.21	SBE_CT	911	24	498.56
Roll_motor	147	97	328.59	SBE_O2	848	19	367.51
VBD_pump_during_apogee	299	1065	7283.44	nil	0	0	0.00
VBD_pump_during_surface	164	723	2714.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	92	103	217.82	nil	0	0	0.00
Iridium_during_connect	224	160	820.11	nil	0	0	0.00
Iridium_during_xfer	72	223	367.25
Transponder_ping	1	420	16.76
GUMSTIX_24V	0	0	0.00
GPS	87	50	44.24
TT8	2069	19	416.32
LPSleep	7038	2	164.22
TT8_Active	632	19	127.32
TT8_Sampling	2209	39	890.74
TT8_CF8	624	45	289.58
TT8_Kalman	0	0	0.00
Analog_circuits	1735	12	210.37
GPS_charging	0	0	0.00
Compass	2101	8	169.81
RAFOS	2520	1	38.18
Transponder	9	30	2.83

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.12	0.000	2	0.000	0.000	124	2464	3037	0	0	0	0	0	0
137	-0.73	-146.0	3.1	-4.4	23	168	11.25	2.50	-10.43	0.000	4	0.297	0.097	2447	859	3399	0	0	0	0	0	0
226	-0.64	-146.0	17.1	-15.3	39	232	0.12	2.38	0.00	0.000	6	0.224	0.073	2475	2461	3401	0	0	0	0	0	0
570	-0.73	-146.0	52.5	-7.8	100	576	0.00	3.03	0.00	0.000	4	0.000	0.091	2475	3918	3402	0	0	0	0	0	0
741	-0.82	-146.0	67.7	-8.5	130	747	0.17	2.90	0.00	0.000	6	0.111	0.067	2417	2462	3402	0	0	0	0	0	0
1080	-0.76	-146.0	109.2	-11.8	184	1085	0.00	3.03	0.00	0.000	4	0.000	0.091	2417	3923	3401	0	0	0	0	0	0
1222	-0.71	-146.0	125.9	-11.5	196	1228	0.17	2.90	0.00	0.000	6	0.212	0.067	2457	2457	3400	0	0	0	0	0	0
1547	-0.81	-146.0	155.3	-8.4	226	1552	0.00	3.05	0.00	0.000	4	0.000	0.090	2457	3922	3399	0	0	0	0	0	0
1666	-0.91	-146.0	164.9	-7.9	236	1672	0.20	2.85	0.00	0.000	6	0.107	0.065	2390	2480	3399	0	0	0	0	0	0
1991	-0.80	-146.0	197.9	-10.3	266	1996	0.15	3.00	0.00	0.000	4	0.211	0.088	2424	3922	3399	0	0	0	0	0	0
2097	-0.80	-146.0	208.1	-9.2	275	2102	0.00	2.85	0.00	0.000	6	0.000	0.064	2424	2486	3399	0	0	0	0	0	0
2423	-0.80	-146.0	236.0	-8.2	305	2428	0.00	2.97	0.00	0.000	4	0.000	0.087	2424	3927	3399	0	0	0	0	0	0
2624	-0.80	-146.0	252.9	-8.0	322	2630	0.00	2.83	0.00	0.000	6	0.000	0.064	2424	2496	3399	0	0	0	0	0	0
2949	-0.80	-146.0	279.2	-8.1	353	2954	0.00	2.92	0.00	0.000	4	0.000	0.087	2424	3920	3400	0	0	1	0	0	0
3115	-0.80	-146.0	292.9	-8.7	367	3119	0.00	2.80	0.00	0.000	6	0.000	0.063	2424	2507	3400	0	0	0	0	0	0
3440	-0.80	-146.0	319.5	-7.9	397	3444	0.00	2.92	0.00	0.000	4	0.000	0.085	2424	3924	3400	0	0	0	0	0	0
3523	-0.80	-146.0	326.3	-8.0	404	3528	0.00	2.80	0.00	0.000	6	0.000	0.062	2424	2510	3400	0	0	0	0	0	0
3851	-0.80	-146.0	350.7	-7.5	434	3856	0.00	2.92	0.00	0.000	4	0.000	0.085	2424	3925	3401	0	0	0	0	0	0
4009	-0.80	-146.0	363.3	-8.0	447	4015	0.00	2.78	0.00	0.000	6	0.000	0.062	2424	2531	3401	0	0	0	0	0	0
4334	-0.80	-146.0	389.0	-7.9	478	4338	0.00	2.90	0.00	0.000	4	0.000	0.084	2424	3925	3401	0	0	0	0	0	0
4456	-0.80	-146.0	399.4	-8.6	488	4462	0.00	2.78	0.00	0.000	6	0.000	0.061	2424	2532	3402	0	0	0	0	0	0
4781	-0.80	-146.0	426.4	-7.9	519	4785	0.00	2.90	0.00	0.000	4	0.000	0.084	2424	3925	3402	0	0	0	0	0	0
4945	-0.80	-146.0	439.6	-8.0	533	4949	0.00	2.75	0.00	0.000	6	0.000	0.061	2425	2551	3402	0	0	0	0	0	0
5269	-0.80	-146.0	463.8	-6.8	563	5274	0.00	2.85	0.00	0.000	4	0.000	0.084	2424	3918	3403	0	0	0	0	0	0
5392	-0.80	-146.0	472.6	-7.4	573	5397	0.00	2.72	0.00	0.000	6	0.000	0.060	2424	2558	3402	0	0	0	0	0	0
5718	-0.80	-146.0	494.9	-7.0	604	5723	0.00	2.85	0.00	0.000	4	0.000	0.083	2425	3919	3403	0	0	0	0	0	0
5891	-0.80	-146.0	507.1	-6.8	619	5895	0.00	2.72	0.00	0.000	6	0.000	0.060	2424	2558	3403	0	0	0	0	0	0
6216	-0.92	-146.0	530.8	-7.9	649	6217	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2560	3404	0	0	0	0	0	0
6383	end dive: NO_VERTICAL_VELOCITY
state	6383	begin apogee
6389	-0.16	0.0	530.7	0.0	665	6516	0.70	0.00	120.12	1.065	6	0.137	0.000	2637	1946	2800	0	0	0	0	0	0
6517	end apogee: CONTROL_FINISHED_OK
state	6517	begin climb
6519	0.73	146.0	530.2	0.0	678	6653	0.90	2.45	122.88	1.019	4	0.120	0.087	2925	353	2203	0	0	0	0	0	0
6691	0.62	146.0	515.7	12.8	694	6698	0.15	2.30	0.00	0.000	6	0.194	0.059	2895	1958	2201	0	0	0	0	0	0
7016	0.62	146.0	479.7	11.0	725	7021	0.00	3.25	0.00	0.000	4	0.000	0.075	2895	3541	2197	0	0	0	0	0	0
7101	0.57	146.0	469.9	12.0	732	7107	0.15	3.22	0.00	0.000	6	0.204	0.069	2875	1958	2196	0	0	0	0	0	0
7425	0.64	146.0	438.0	9.7	762	7430	0.00	3.20	0.00	0.000	4	0.000	0.077	2875	3534	2196	0	0	0	0	0	0
7543	0.64	146.0	425.3	11.3	772	7548	0.00	3.12	0.00	0.000	6	0.000	0.069	2886	1989	2194	0	0	0	0	0	0
7867	0.69	146.0	391.1	10.0	802	7872	0.00	3.15	0.00	0.000	4	0.000	0.077	2886	3536	2194	0	0	0	0	0	0
7963	0.69	146.0	380.8	10.9	810	7968	0.00	3.10	0.00	0.000	6	0.000	0.068	2900	1999	2193	0	0	0	0	0	0
8287	0.69	146.0	345.3	11.1	840	8292	0.00	3.12	0.00	0.000	4	0.000	0.077	2900	3536	2194	0	0	0	0	0	0
8376	0.62	146.0	334.4	12.3	847	8381	0.00	3.08	0.00	0.000	6	0.000	0.069	2913	2017	2194	0	0	0	0	0	0
8700	0.62	146.0	299.4	10.4	878	8705	0.00	3.10	0.00	0.000	4	0.000	0.077	2913	3535	2193	0	0	0	0	0	0
8755	0.52	146.0	293.3	11.2	882	8761	0.25	3.05	0.00	0.000	6	0.197	0.068	2866	2035	2194	0	0	0	0	0	0
9080	0.72	200.1	269.7	6.9	913	9132	0.17	3.15	43.22	0.890	4	0.107	0.077	2926	3537	1982	0	0	0	0	0	0
9204	0.63	200.1	255.5	12.9	924	9211	0.17	3.08	0.00	0.000	6	0.202	0.067	2901	2054	1979	0	0	0	0	0	0
9529	0.69	200.1	222.8	10.1	955	9534	0.00	3.08	0.00	0.000	4	0.000	0.077	2901	3537	1977	0	0	0	0	0	0
9556	0.69	200.1	219.9	11.1	957	9561	0.00	3.03	0.00	0.000	6	0.000	0.067	2912	2063	1976	0	0	0	0	0	0
9882	0.69	200.1	186.0	10.4	987	9887	0.00	3.05	0.00	0.000	4	0.000	0.077	2912	3534	1976	0	0	0	0	0	0
9903	0.69	200.1	183.4	11.1	988	9909	0.00	3.00	0.00	0.000	6	0.000	0.067	2924	2069	1976	0	0	0	0	0	0
10228	0.69	200.1	147.4	11.4	1019	10233	0.00	3.05	0.00	0.000	4	0.000	0.076	2924	3541	1975	0	0	0	0	0	0
10283	0.69	200.1	140.2	13.4	1023	10289	0.00	2.97	0.00	0.000	6	0.000	0.067	2938	2078	1975	0	0	1	0	0	0
10607	0.69	200.1	100.6	11.9	1054	10612	0.00	3.00	0.00	0.000	4	0.000	0.077	2938	3536	1974	0	0	1	0	0	0
10686	0.62	200.1	90.4	13.4	1066	10692	0.25	2.95	0.00	0.000	6	0.197	0.067	2889	2099	1975	0	0	0	0	0	0
11032	0.82	200.1	61.2	9.2	1127	11037	0.20	0.00	0.00	0.000	6	0.100	0.000	2961	2100	1975	0	0	0	0	0	0
11376	0.77	216.6	26.7	8.5	1188	11397	0.00	3.00	13.62	0.726	4	0.000	0.078	2961	3541	1916	0	0	0	0	0	0
11466	0.68	216.6	16.6	12.5	1204	11472	0.25	2.95	0.00	0.000	6	0.202	0.068	2914	2111	1914	0	0	0	0	0	0
11651	end climb: SURFACE_DEPTH_REACHED
state	11651	begin surface coast
11669	end surface coast: CONTROL_FINISHED_OK
state	11669	begin surface