Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 29 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 29 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2500 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2300 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 21 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -23486.098 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 0 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 -23486.098

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 200 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 2300 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2500 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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 29 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 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 084125,6713.095,-5713.029,36,1.7,36,-37.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.979,-5722.512

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 084644,6713.126,-5713.040,12,1.2,12,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 523

Post-dive calculations and measurements:

FINISH 0.2,1.013217 _24V_AH 23.6,18.086

SM_CCo 11085,49.40,0.753,0,0,1677,275.23 _10V_AH 10.3,8.268

SM_GC 1.11,0.00,0.00,49.40,0.000,0.000,0.753,123,2512,1677,-7.21,0.34,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 684 FG_AHR_10Vo 0.000

RAFOS 4,1256373181,8.566667,8.550278,67,56,54,0,0,0,869,222,132,0,0,0 MEM 150644

RAFOS_FIX 6704.903809,-5714.453613,241009,080816,4,79,0.00 DATA_FILE_SIZE 47313,1209

IRIDIUM_FIX 6641.98,-5703.22,180199,050527 CAP_FILE_SIZE 137608,0

TT8_MAMPS 0.026845 CFSIZE 260165632,248758272

HUMID 46.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90659 SOUNDSPEED 1465.9

TCM_TEMP 17.30 GPS 241009,115407,6712.762,-5713.894,35,1.5,35,-37.9

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 316 188.87 SBE_CT 887 24 502.76

Roll_motor 122 100 290.83 SBE_O2 823 19 369.12

VBD_pump_during_apogee 286 1065 7202.09 nil 0 0 0.00

VBD_pump_during_surface 49 753 878.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.35 nil 0 0 0.00

Iridium_during_connect 32 160 121.11 nil 0 0 0.00

Iridium_during_xfer 145 223 766.69

Transponder_ping 0 420 7.43

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.31

TT8 2031 19 416.74

LPSleep 6540 2 155.62

TT8_Active 459 19 94.32

TT8_Sampling 2051 39 843.33

TT8_CF8 377 45 178.37

TT8_Kalman 0 0 0.00

Analog_circuits 1517 12 187.52

GPS_charging 0 0 0.00

Compass 2019 8 166.44

RAFOS 360 1 5.56

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 99 0.00 0.00 -80.85 0.000 2 0.000 0.000 131 2506 3112 0 0 0 0 0 0

101 -0.98 -146.0 3.2 -5.8 16 125 9.85 2.40 -7.60 0.000 4 0.316 0.100 2105 3918 3397 0 0 0 0 0 0

131 0.55 -146.0 10.8 -24.0 21 137 1.83 2.30 0.00 0.000 6 0.192 0.060 2603 2496 3398 0 0 0 0 0 0

475 -0.65 -146.0 29.6 -5.8 82 482 1.12 2.38 0.00 0.000 4 0.104 0.083 2226 3915 3400 0 0 0 0 0 0

555 -0.91 -146.0 34.3 -7.4 96 562 0.28 2.30 0.00 0.000 6 0.086 0.058 2128 2470 3399 0 0 0 0 0 0

900 -0.79 -146.0 75.1 -11.3 157 906 0.20 2.53 0.00 0.000 4 0.217 0.078 2180 908 3399 0 0 0 0 0 0

929 -0.79 -146.0 78.3 -10.9 162 934 0.00 2.50 0.00 0.000 6 0.000 0.072 2180 2458 3399 0 0 0 0 0 0

1274 -0.87 -146.0 105.7 -7.4 217 1278 0.00 2.40 0.00 0.000 4 0.000 0.090 2180 3907 3398 0 0 0 0 0 0

1318 -0.97 -146.0 109.3 -8.1 221 1324 0.20 2.30 0.00 0.000 6 0.102 0.061 2113 2458 3398 0 0 0 0 0 0

1643 -0.86 -146.0 143.9 -11.6 251 1648 0.15 2.42 0.00 0.000 4 0.212 0.087 2140 3914 3397 0 0 0 0 0 0

1653 -0.76 -146.0 145.3 -11.8 251 1660 0.17 2.22 0.00 0.000 6 0.213 0.061 2180 2499 3396 0 0 0 0 0 0

1978 -0.87 -146.0 172.0 -7.4 282 1982 0.00 2.33 0.00 0.000 4 0.000 0.088 2180 3909 3396 0 0 0 0 0 0

2006 -0.98 -146.0 174.0 -7.7 284 2012 0.20 2.20 0.00 0.000 6 0.100 0.060 2112 2508 3396 0 0 0 0 0 0

2331 -0.88 -146.0 206.4 -10.6 315 2335 0.15 2.33 0.00 0.000 4 0.213 0.086 2140 3913 3396 0 0 0 0 0 0

2340 -0.78 -146.0 207.6 -10.6 315 2347 0.12 2.25 0.00 0.000 6 0.201 0.059 2173 2506 3396 0 0 0 0 0 0

2666 -0.88 -146.0 235.6 -8.2 346 2670 0.00 2.30 0.00 0.000 4 0.000 0.087 2173 3909 3396 0 0 0 0 0 0

2705 -1.00 -146.0 238.8 -8.3 349 2710 0.20 2.20 0.00 0.000 6 0.100 0.058 2105 2504 3396 0 0 0 0 0 0

3029 -0.90 -146.0 273.5 -10.4 379 3034 0.15 2.33 0.00 0.000 4 0.212 0.087 2138 3911 3396 0 0 0 0 0 0

3039 -0.80 -146.0 274.7 -10.3 379 3046 0.08 2.33 0.00 0.000 6 0.208 0.059 2159 2453 3396 0 0 0 0 0 0

3365 -0.88 -146.0 299.5 -7.2 410 3369 0.00 2.40 0.00 0.000 4 0.000 0.086 2159 3915 3396 0 0 0 0 0 0

3375 -0.95 -146.0 300.4 -7.1 410 3381 0.12 2.30 0.00 0.000 6 0.120 0.059 2118 2450 3396 0 0 0 0 0 0

3700 -0.89 -146.0 328.3 -8.7 441 3704 0.00 2.40 0.00 0.000 4 0.000 0.086 2117 3912 3396 0 0 0 0 0 0

3733 -0.82 -146.0 331.3 -8.6 444 3738 0.20 2.30 0.00 0.000 6 0.209 0.059 2165 2451 3396 0 0 0 0 0 0

4058 -0.92 -146.0 353.5 -6.6 474 4062 0.00 2.40 0.00 0.000 4 0.000 0.085 2165 3918 3397 0 0 0 0 0 0

4069 -1.02 -146.0 354.2 -6.8 474 4075 0.20 2.30 0.00 0.000 6 0.100 0.060 2097 2449 3397 0 0 0 0 0 0

4393 -0.91 -146.0 385.0 -9.6 505 4398 0.15 2.42 0.00 0.000 4 0.211 0.083 2127 3921 3397 0 0 0 0 0 0

4432 -0.91 -146.0 388.5 -8.9 508 4437 0.00 2.30 0.00 0.000 6 0.000 0.058 2127 2455 3397 0 0 0 0 0 0

4762 -0.91 -146.0 416.9 -8.3 539 4767 0.00 2.38 0.00 0.000 4 0.000 0.084 2127 3915 3397 0 0 0 0 0 0

4773 -0.91 -146.0 417.8 -8.4 539 4778 0.00 2.12 0.00 0.000 6 0.000 0.058 2127 2547 3397 0 0 0 0 0 0

5098 -0.91 -146.0 445.5 -8.5 570 5102 0.00 2.58 0.00 0.000 4 0.000 0.076 2127 914 3398 0 0 0 0 0 0

5114 -0.91 -146.0 447.0 -8.9 571 5118 0.00 2.62 0.00 0.000 6 0.000 0.069 2127 2569 3398 0 0 0 0 0 0

5438 -0.91 -146.0 472.8 -7.6 601 5443 0.00 2.62 0.00 0.000 4 0.000 0.075 2127 911 3398 0 0 0 0 0 0

5455 -0.91 -146.0 474.0 -7.5 602 5459 0.00 2.62 0.00 0.000 6 0.000 0.069 2127 2566 3398 0 0 0 0 0 0

5779 -0.91 -146.0 500.7 -8.6 632 5783 0.00 2.17 0.00 0.000 4 0.000 0.084 2127 3919 3398 0 0 0 0 0 0

5789 -0.91 -146.0 501.6 -8.5 632 5794 0.00 2.22 0.00 0.000 6 0.000 0.058 2127 2489 3398 0 0 0 0 0 0

6047 end dive: TARGET_DEPTH_EXCEEDED

state 6047 begin apogee

6053 -0.24 0.0 523.0 8.1 657 6174 0.77 0.00 116.43 1.065 6 0.188 0.000 2346 2294 2800 0 0 0 0 0 0

6174 end apogee: CONTROL_FINISHED_OK

state 6175 begin climb

6177 0.98 146.0 525.0 0.0 669 6309 1.27 2.83 119.70 1.021 4 0.117 0.077 2751 715 2202 0 0 0 0 0 0

6562 0.51 146.0 458.0 21.1 704 6568 0.62 2.60 0.00 0.000 6 0.209 0.063 2597 2301 2195 0 0 0 0 0 0

6886 0.51 146.0 419.0 11.8 735 6891 0.00 2.60 0.00 0.000 4 0.000 0.078 2606 721 2194 0 0 0 0 0 0

7143 0.51 146.0 388.3 12.3 757 7150 0.00 2.60 0.00 0.000 6 0.000 0.064 2606 2343 2193 0 0 0 0 0 0

7470 0.51 146.0 349.7 12.2 788 7474 0.00 2.65 0.00 0.000 4 0.000 0.078 2618 715 2193 0 0 0 0 0 0

7727 0.46 146.0 318.8 11.0 810 7733 0.15 2.60 0.00 0.000 6 0.191 0.064 2583 2351 2193 0 0 0 0 0 0

8052 0.52 154.1 288.6 8.8 841 8064 0.00 2.65 6.28 0.753 4 0.000 0.076 2592 718 2170 0 0 0 0 0 0

8316 0.57 154.1 264.1 9.6 864 8322 0.00 2.60 0.00 0.000 6 0.000 0.064 2592 2356 2170 0 0 0 0 0 0

8641 0.57 154.1 231.9 10.3 895 8645 0.00 2.62 0.00 0.000 4 0.000 0.078 2604 721 2170 0 0 0 0 0 0

8897 0.57 154.1 204.6 10.5 917 8904 0.00 2.55 0.00 0.000 6 0.000 0.064 2604 2338 2170 0 0 0 0 0 0

9222 0.57 154.1 172.7 9.2 948 9226 0.00 2.60 0.00 0.000 4 0.000 0.078 2615 717 2170 0 0 0 0 0 0

9479 0.59 170.5 149.5 8.5 970 9499 0.00 2.55 14.62 0.800 6 0.000 0.064 2615 2333 2104 0 0 0 0 0 0

9824 0.59 170.5 117.3 9.8 1003 9828 0.00 2.60 0.00 0.000 4 0.000 0.079 2627 721 2101 0 0 0 0 0 0

10081 0.59 170.5 90.2 10.7 1033 10087 0.00 2.58 0.00 0.000 6 0.000 0.066 2627 2347 2101 0 0 0 0 0 0

10426 0.68 196.1 57.5 8.1 1094 10452 0.00 2.67 21.40 0.774 4 0.000 0.078 2638 715 1999 0 0 0 0 0 0

10706 0.75 204.7 32.7 8.8 1144 10722 0.00 2.60 8.02 0.707 6 0.000 0.066 2638 2341 1964 0 0 0 0 0 0

11047 end climb: SURFACE_DEPTH_REACHED

state 11047 begin surface coast

11069 end surface coast: CONTROL_FINISHED_OK

state 11069 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	29	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2500	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2300	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	21	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-23486.098	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	0	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	084125,6713.095,-5713.029,36,1.7,36,-37.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.979,-5722.512
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	084644,6713.126,-5713.040,12,1.2,12,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	523

FINISH	0.2,1.013217	_24V_AH	23.6,18.086
SM_CCo	11085,49.40,0.753,0,0,1677,275.23	_10V_AH	10.3,8.268
SM_GC	1.11,0.00,0.00,49.40,0.000,0.000,0.753,123,2512,1677,-7.21,0.34,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	684	FG_AHR_10Vo	0.000
RAFOS	4,1256373181,8.566667,8.550278,67,56,54,0,0,0,869,222,132,0,0,0	MEM	150644
RAFOS_FIX	6704.903809,-5714.453613,241009,080816,4,79,0.00	DATA_FILE_SIZE	47313,1209
IRIDIUM_FIX	6641.98,-5703.22,180199,050527	CAP_FILE_SIZE	137608,0
TT8_MAMPS	0.026845	CFSIZE	260165632,248758272
HUMID	46.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90659	SOUNDSPEED	1465.9
TCM_TEMP	17.30	GPS	241009,115407,6712.762,-5713.894,35,1.5,35,-37.9
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	316	188.87	SBE_CT	887	24	502.76
Roll_motor	122	100	290.83	SBE_O2	823	19	369.12
VBD_pump_during_apogee	286	1065	7202.09	nil	0	0	0.00
VBD_pump_during_surface	49	753	878.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.35	nil	0	0	0.00
Iridium_during_connect	32	160	121.11	nil	0	0	0.00
Iridium_during_xfer	145	223	766.69
Transponder_ping	0	420	7.43
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.31
TT8	2031	19	416.74
LPSleep	6540	2	155.62
TT8_Active	459	19	94.32
TT8_Sampling	2051	39	843.33
TT8_CF8	377	45	178.37
TT8_Kalman	0	0	0.00
Analog_circuits	1517	12	187.52
GPS_charging	0	0	0.00
Compass	2019	8	166.44
RAFOS	360	1	5.56
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	99	0.00	0.00	-80.85	0.000	2	0.000	0.000	131	2506	3112	0	0	0	0	0	0
101	-0.98	-146.0	3.2	-5.8	16	125	9.85	2.40	-7.60	0.000	4	0.316	0.100	2105	3918	3397	0	0	0	0	0	0
131	0.55	-146.0	10.8	-24.0	21	137	1.83	2.30	0.00	0.000	6	0.192	0.060	2603	2496	3398	0	0	0	0	0	0
475	-0.65	-146.0	29.6	-5.8	82	482	1.12	2.38	0.00	0.000	4	0.104	0.083	2226	3915	3400	0	0	0	0	0	0
555	-0.91	-146.0	34.3	-7.4	96	562	0.28	2.30	0.00	0.000	6	0.086	0.058	2128	2470	3399	0	0	0	0	0	0
900	-0.79	-146.0	75.1	-11.3	157	906	0.20	2.53	0.00	0.000	4	0.217	0.078	2180	908	3399	0	0	0	0	0	0
929	-0.79	-146.0	78.3	-10.9	162	934	0.00	2.50	0.00	0.000	6	0.000	0.072	2180	2458	3399	0	0	0	0	0	0
1274	-0.87	-146.0	105.7	-7.4	217	1278	0.00	2.40	0.00	0.000	4	0.000	0.090	2180	3907	3398	0	0	0	0	0	0
1318	-0.97	-146.0	109.3	-8.1	221	1324	0.20	2.30	0.00	0.000	6	0.102	0.061	2113	2458	3398	0	0	0	0	0	0
1643	-0.86	-146.0	143.9	-11.6	251	1648	0.15	2.42	0.00	0.000	4	0.212	0.087	2140	3914	3397	0	0	0	0	0	0
1653	-0.76	-146.0	145.3	-11.8	251	1660	0.17	2.22	0.00	0.000	6	0.213	0.061	2180	2499	3396	0	0	0	0	0	0
1978	-0.87	-146.0	172.0	-7.4	282	1982	0.00	2.33	0.00	0.000	4	0.000	0.088	2180	3909	3396	0	0	0	0	0	0
2006	-0.98	-146.0	174.0	-7.7	284	2012	0.20	2.20	0.00	0.000	6	0.100	0.060	2112	2508	3396	0	0	0	0	0	0
2331	-0.88	-146.0	206.4	-10.6	315	2335	0.15	2.33	0.00	0.000	4	0.213	0.086	2140	3913	3396	0	0	0	0	0	0
2340	-0.78	-146.0	207.6	-10.6	315	2347	0.12	2.25	0.00	0.000	6	0.201	0.059	2173	2506	3396	0	0	0	0	0	0
2666	-0.88	-146.0	235.6	-8.2	346	2670	0.00	2.30	0.00	0.000	4	0.000	0.087	2173	3909	3396	0	0	0	0	0	0
2705	-1.00	-146.0	238.8	-8.3	349	2710	0.20	2.20	0.00	0.000	6	0.100	0.058	2105	2504	3396	0	0	0	0	0	0
3029	-0.90	-146.0	273.5	-10.4	379	3034	0.15	2.33	0.00	0.000	4	0.212	0.087	2138	3911	3396	0	0	0	0	0	0
3039	-0.80	-146.0	274.7	-10.3	379	3046	0.08	2.33	0.00	0.000	6	0.208	0.059	2159	2453	3396	0	0	0	0	0	0
3365	-0.88	-146.0	299.5	-7.2	410	3369	0.00	2.40	0.00	0.000	4	0.000	0.086	2159	3915	3396	0	0	0	0	0	0
3375	-0.95	-146.0	300.4	-7.1	410	3381	0.12	2.30	0.00	0.000	6	0.120	0.059	2118	2450	3396	0	0	0	0	0	0
3700	-0.89	-146.0	328.3	-8.7	441	3704	0.00	2.40	0.00	0.000	4	0.000	0.086	2117	3912	3396	0	0	0	0	0	0
3733	-0.82	-146.0	331.3	-8.6	444	3738	0.20	2.30	0.00	0.000	6	0.209	0.059	2165	2451	3396	0	0	0	0	0	0
4058	-0.92	-146.0	353.5	-6.6	474	4062	0.00	2.40	0.00	0.000	4	0.000	0.085	2165	3918	3397	0	0	0	0	0	0
4069	-1.02	-146.0	354.2	-6.8	474	4075	0.20	2.30	0.00	0.000	6	0.100	0.060	2097	2449	3397	0	0	0	0	0	0
4393	-0.91	-146.0	385.0	-9.6	505	4398	0.15	2.42	0.00	0.000	4	0.211	0.083	2127	3921	3397	0	0	0	0	0	0
4432	-0.91	-146.0	388.5	-8.9	508	4437	0.00	2.30	0.00	0.000	6	0.000	0.058	2127	2455	3397	0	0	0	0	0	0
4762	-0.91	-146.0	416.9	-8.3	539	4767	0.00	2.38	0.00	0.000	4	0.000	0.084	2127	3915	3397	0	0	0	0	0	0
4773	-0.91	-146.0	417.8	-8.4	539	4778	0.00	2.12	0.00	0.000	6	0.000	0.058	2127	2547	3397	0	0	0	0	0	0
5098	-0.91	-146.0	445.5	-8.5	570	5102	0.00	2.58	0.00	0.000	4	0.000	0.076	2127	914	3398	0	0	0	0	0	0
5114	-0.91	-146.0	447.0	-8.9	571	5118	0.00	2.62	0.00	0.000	6	0.000	0.069	2127	2569	3398	0	0	0	0	0	0
5438	-0.91	-146.0	472.8	-7.6	601	5443	0.00	2.62	0.00	0.000	4	0.000	0.075	2127	911	3398	0	0	0	0	0	0
5455	-0.91	-146.0	474.0	-7.5	602	5459	0.00	2.62	0.00	0.000	6	0.000	0.069	2127	2566	3398	0	0	0	0	0	0
5779	-0.91	-146.0	500.7	-8.6	632	5783	0.00	2.17	0.00	0.000	4	0.000	0.084	2127	3919	3398	0	0	0	0	0	0
5789	-0.91	-146.0	501.6	-8.5	632	5794	0.00	2.22	0.00	0.000	6	0.000	0.058	2127	2489	3398	0	0	0	0	0	0
6047	end dive: TARGET_DEPTH_EXCEEDED
state	6047	begin apogee
6053	-0.24	0.0	523.0	8.1	657	6174	0.77	0.00	116.43	1.065	6	0.188	0.000	2346	2294	2800	0	0	0	0	0	0
6174	end apogee: CONTROL_FINISHED_OK
state	6175	begin climb
6177	0.98	146.0	525.0	0.0	669	6309	1.27	2.83	119.70	1.021	4	0.117	0.077	2751	715	2202	0	0	0	0	0	0
6562	0.51	146.0	458.0	21.1	704	6568	0.62	2.60	0.00	0.000	6	0.209	0.063	2597	2301	2195	0	0	0	0	0	0
6886	0.51	146.0	419.0	11.8	735	6891	0.00	2.60	0.00	0.000	4	0.000	0.078	2606	721	2194	0	0	0	0	0	0
7143	0.51	146.0	388.3	12.3	757	7150	0.00	2.60	0.00	0.000	6	0.000	0.064	2606	2343	2193	0	0	0	0	0	0
7470	0.51	146.0	349.7	12.2	788	7474	0.00	2.65	0.00	0.000	4	0.000	0.078	2618	715	2193	0	0	0	0	0	0
7727	0.46	146.0	318.8	11.0	810	7733	0.15	2.60	0.00	0.000	6	0.191	0.064	2583	2351	2193	0	0	0	0	0	0
8052	0.52	154.1	288.6	8.8	841	8064	0.00	2.65	6.28	0.753	4	0.000	0.076	2592	718	2170	0	0	0	0	0	0
8316	0.57	154.1	264.1	9.6	864	8322	0.00	2.60	0.00	0.000	6	0.000	0.064	2592	2356	2170	0	0	0	0	0	0
8641	0.57	154.1	231.9	10.3	895	8645	0.00	2.62	0.00	0.000	4	0.000	0.078	2604	721	2170	0	0	0	0	0	0
8897	0.57	154.1	204.6	10.5	917	8904	0.00	2.55	0.00	0.000	6	0.000	0.064	2604	2338	2170	0	0	0	0	0	0
9222	0.57	154.1	172.7	9.2	948	9226	0.00	2.60	0.00	0.000	4	0.000	0.078	2615	717	2170	0	0	0	0	0	0
9479	0.59	170.5	149.5	8.5	970	9499	0.00	2.55	14.62	0.800	6	0.000	0.064	2615	2333	2104	0	0	0	0	0	0
9824	0.59	170.5	117.3	9.8	1003	9828	0.00	2.60	0.00	0.000	4	0.000	0.079	2627	721	2101	0	0	0	0	0	0
10081	0.59	170.5	90.2	10.7	1033	10087	0.00	2.58	0.00	0.000	6	0.000	0.066	2627	2347	2101	0	0	0	0	0	0
10426	0.68	196.1	57.5	8.1	1094	10452	0.00	2.67	21.40	0.774	4	0.000	0.078	2638	715	1999	0	0	0	0	0	0
10706	0.75	204.7	32.7	8.8	1144	10722	0.00	2.60	8.02	0.707	6	0.000	0.066	2638	2341	1964	0	0	0	0	0	0
11047	end climb: SURFACE_DEPTH_REACHED
state	11047	begin surface coast
11069	end surface coast: CONTROL_FINISHED_OK
state	11069	begin surface