Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 299 * 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 299 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 20 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 -41654.949 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 -41654.949

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 20 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 299 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 100837,6705.838,-5657.399,26,1.7,26,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 102642,6706.057,-5657.431,13,1.8,24,-37.6 MHEAD_RNG_PITCHd_Wd 167.3,8857,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 492

Post-dive calculations and measurements:

FREEZE 0.78,-0.124,-1.825,0,1,0 ALTIM_TOP_PING 19.9,19.4

FINISH 0.8,1.026733 ALTIM_BOTTOM_PING 400.2,112.6

SM_CCo 10830,117.12,0.709,0,0,1066,425.10 _24V_AH 22.8,58.499

SM_GC 0.93,0.00,0.00,117.12,0.000,0.000,0.709,126,2464,1066,-8.01,0.11,425.10 _10V_AH 10.1,30.778

RAFOS_CLK 705 FG_AHR_24Vo 0.000

RAFOS 0,1260705663,12.033333,12.017500,59,57,54,0,0,0,215,193,127,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.466309,-5706.293945,131209,040428,2,75,1.95 MEM 152392

IRIDIUM_FIX 6636.54,-5659.96,090399,101035 DATA_FILE_SIZE 44190,1171

TT8_MAMPS 0.027612 CAP_FILE_SIZE 148789,0

HUMID 44.95 CFSIZE 260165632,226521088

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,0,0

TCM_TEMP 17.40 SOUNDSPEED 1468.8

XPDR_PINGS 1 GPS 131209,133037,6706.795,-5659.945,24,1.5,24,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 292 158.82 SBE_CT 859 24 470.09

Roll_motor 142 96 313.44 SBE_O2 796 19 345.03

VBD_pump_during_apogee 301 1029 7068.08 nil 0 0 0.00

VBD_pump_during_surface 117 709 1894.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 90 103 212.20 nil 0 0 0.00

Iridium_during_connect 114 160 417.27 nil 0 0 0.00

Iridium_during_xfer 609 223 3098.68

Transponder_ping 1 420 14.36

GUMSTIX_24V 0 0 0.00

GPS 25 50 13.10

TT8 1961 19 394.67

LPSleep 6396 2 149.24

TT8_Active 587 19 118.27

TT8_Sampling 2049 39 826.54

TT8_CF8 1023 45 474.81

TT8_Kalman 0 0 0.00

Analog_circuits 1642 12 199.08

GPS_charging 0 0 0.00

Compass 2003 8 161.91

RAFOS 2520 1 38.18

Transponder 10 30 3.30

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 152 0.00 0.00 -130.65 0.000 2 0.000 0.000 126 2478 3221 0 0 0 0 0 0

154 -0.73 -146.0 3.5 -6.9 26 176 11.20 2.40 -4.35 0.000 4 0.293 0.097 2448 859 3398 0 0 0 0 0 0

205 -0.58 -146.0 15.8 -14.9 35 211 0.20 2.30 0.00 0.000 6 0.202 0.072 2498 2457 3400 0 0 0 0 0 0

548 -0.77 -146.0 42.9 -10.2 96 555 0.17 3.15 0.00 0.000 4 0.100 0.087 2425 3913 3401 0 0 1 0 0 0

786 -0.77 -146.0 70.8 -11.6 138 792 0.00 2.95 0.00 0.000 6 0.000 0.067 2425 2504 3401 0 0 1 0 0 0

1134 -0.77 -146.0 104.6 -9.3 196 1139 0.00 3.08 0.00 0.000 4 0.000 0.090 2425 3918 3399 0 0 1 0 0 0

1391 -0.77 -146.0 127.9 -9.7 218 1397 0.00 2.88 0.00 0.000 6 0.000 0.066 2426 2529 3399 0 0 1 0 0 0

1716 -0.77 -146.0 156.7 -8.2 249 1721 0.00 3.00 0.00 0.000 4 0.000 0.088 2425 3916 3399 0 0 1 0 0 0

1923 -0.77 -146.0 173.8 -8.4 267 1928 0.00 2.83 0.00 0.000 6 0.000 0.064 2425 2557 3398 0 0 1 0 0 0

2248 -0.77 -146.0 200.9 -8.7 297 2253 0.00 2.95 0.00 0.000 4 0.000 0.086 2425 3923 3398 0 0 1 0 0 0

2444 -0.77 -146.0 219.0 -9.1 314 2449 0.00 2.78 0.00 0.000 6 0.000 0.062 2426 2584 3399 0 0 1 0 0 0

2769 -0.77 -146.0 248.0 -8.4 344 2774 0.00 2.90 0.00 0.000 4 0.000 0.084 2425 3925 3399 0 0 1 0 0 0

2947 -0.77 -146.0 263.2 -8.3 359 2953 0.00 2.78 0.00 0.000 6 0.000 0.061 2425 2596 3400 0 0 0 0 0 0

3274 -0.77 -146.0 290.1 -8.3 390 3278 0.00 2.88 0.00 0.000 4 0.000 0.084 2425 3923 3401 0 0 1 0 0 0

3385 -0.77 -146.0 299.8 -8.5 399 3394 0.00 2.70 0.00 0.000 6 0.000 0.060 2426 2617 3401 0 0 1 0 0 0

3709 -0.77 -146.0 326.1 -8.1 430 3713 0.00 2.83 0.00 0.000 4 0.000 0.082 2425 3915 3402 0 0 1 0 0 0

3883 -0.81 -146.0 339.9 -7.4 445 3887 0.00 2.65 0.00 0.000 6 0.000 0.059 2425 2644 3402 0 0 1 0 0 0

4207 -0.81 -146.0 363.2 -6.9 475 4212 0.00 2.80 0.00 0.000 4 0.000 0.081 2425 3924 3403 0 0 1 0 0 0

4320 -0.86 -146.0 371.4 -7.1 484 4326 0.00 2.65 0.00 0.000 6 0.000 0.058 2426 2656 3403 0 0 1 0 0 0

4645 -0.90 -146.0 394.2 -7.4 515 4650 0.00 2.78 0.00 0.000 4 0.000 0.081 2425 3923 3404 0 0 1 0 0 0

4819 -0.96 -146.0 407.7 -8.1 530 4824 0.12 2.60 0.00 0.000 6 0.114 0.058 2381 2682 3404 0 0 1 0 0 0

5143 -0.87 -146.0 438.1 -9.6 560 5148 0.00 2.72 0.00 0.000 4 0.000 0.081 2381 3925 3404 0 0 1 0 0 0

5198 -0.78 -146.0 443.6 -9.7 564 5204 0.22 2.58 0.00 0.000 6 0.196 0.058 2435 2690 3404 0 0 1 0 0 0

5523 -0.86 -146.0 466.7 -7.4 595 5528 0.00 2.70 0.00 0.000 4 0.000 0.081 2435 3917 3405 0 0 1 0 0 0

5567 -0.95 -146.0 470.2 -7.6 598 5573 0.17 2.55 0.00 0.000 6 0.105 0.057 2376 2693 3405 0 0 1 0 0 0

5795 end dive: TARGET_DEPTH_EXCEEDED

state 5795 begin apogee

5801 -0.16 0.0 492.2 8.3 620 5927 0.90 0.00 120.47 1.029 6 0.178 0.000 2627 1940 2800 0 0 0 0 0 0

5928 end apogee: CONTROL_FINISHED_OK

state 5928 begin climb

5931 0.73 146.0 496.5 0.0 633 6063 0.95 2.33 122.45 0.984 4 0.124 0.084 2926 366 2202 0 0 0 0 0 0

6120 0.66 146.0 478.0 13.1 651 6126 0.00 2.15 0.00 0.000 6 0.000 0.055 2926 1966 2199 0 0 0 0 0 0

6450 0.59 146.0 437.7 12.5 682 6456 0.17 3.30 0.00 0.000 4 0.193 0.072 2881 3530 2195 0 0 1 0 0 0

6575 0.59 146.0 423.8 10.9 692 6580 0.00 3.30 0.00 0.000 6 0.000 0.067 2892 1964 2193 0 0 0 0 0 0

6899 0.59 146.0 390.0 10.1 723 6904 0.00 3.30 0.00 0.000 4 0.000 0.074 2893 3536 2194 0 0 1 0 0 0

6987 0.59 146.0 380.0 11.2 730 6994 0.00 3.25 0.00 0.000 6 0.000 0.067 2907 1975 2193 0 0 1 0 0 0

7312 0.59 146.0 345.5 11.0 761 7317 0.00 3.28 0.00 0.000 4 0.000 0.075 2907 3533 2193 0 0 1 0 0 0

7396 0.53 146.0 335.4 12.5 768 7402 0.25 3.25 0.00 0.000 6 0.191 0.067 2860 1983 2192 0 0 0 0 0 0

7721 0.67 155.4 307.0 8.8 798 7736 0.15 3.28 7.57 0.779 4 0.108 0.074 2913 3526 2166 0 0 1 0 0 0

7848 0.60 155.4 291.6 12.3 809 7854 0.17 3.20 0.00 0.000 6 0.193 0.067 2887 2002 2164 0 0 1 0 0 0

8173 0.67 155.4 258.9 10.1 840 8178 0.00 3.22 0.00 0.000 4 0.000 0.074 2887 3536 2165 0 0 1 0 0 0

8250 0.67 155.4 250.3 10.1 846 8256 0.00 3.20 0.00 0.000 6 0.000 0.066 2898 2006 2164 0 0 1 0 0 0

8574 0.67 155.4 217.8 9.7 877 8580 0.00 3.22 0.00 0.000 4 0.000 0.074 2898 3536 2164 0 0 1 0 0 0

8651 0.67 155.4 209.4 11.0 883 8658 0.00 3.17 0.00 0.000 6 0.000 0.066 2913 2017 2164 0 0 1 0 0 0

8976 0.67 155.4 175.2 10.7 914 8981 0.00 3.20 0.00 0.000 4 0.000 0.074 2913 3535 2164 0 0 1 0 0 0

9049 0.61 155.4 166.5 12.2 920 9055 0.15 3.15 0.00 0.000 6 0.196 0.067 2893 2030 2164 0 0 1 0 0 0

9374 0.69 155.4 135.1 9.3 950 9379 0.00 3.20 0.00 0.000 4 0.000 0.073 2893 3536 2164 0 0 0 0 0 0

9470 0.69 155.4 125.2 10.4 958 9475 0.00 3.17 0.00 0.000 6 0.000 0.066 2904 2028 2164 0 0 0 0 0 0

9797 0.78 155.4 94.9 9.9 992 9804 0.10 3.20 0.00 0.000 4 0.120 0.074 2947 3532 2164 0 0 1 0 0 0

9907 0.64 155.4 82.1 12.1 1011 9913 0.25 3.15 0.00 0.000 6 0.193 0.066 2900 2042 2164 0 0 0 0 0 0

10253 0.82 209.0 55.8 6.9 1072 10305 0.17 3.22 43.75 0.747 4 0.104 0.074 2963 3532 1946 0 0 1 0 0 0

10407 0.74 209.0 38.2 12.4 1100 10413 0.20 3.17 0.00 0.000 6 0.189 0.067 2930 2061 1943 0 0 0 0 0 0

10752 0.82 216.1 6.8 8.9 1161 10764 0.00 3.17 6.93 0.644 4 0.000 0.074 2929 3537 1917 0 0 1 0 0 0

10804 end climb: SURFACE_DEPTH_REACHED

state 10804 begin surface coast

10811 end surface coast: CONTROL_FINISHED_OK

state 10811 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	299	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	20	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	-41654.949	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	100837,6705.838,-5657.399,26,1.7,26,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	102642,6706.057,-5657.431,13,1.8,24,-37.6	MHEAD_RNG_PITCHd_Wd	167.3,8857,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	492

FREEZE	0.78,-0.124,-1.825,0,1,0	ALTIM_TOP_PING	19.9,19.4
FINISH	0.8,1.026733	ALTIM_BOTTOM_PING	400.2,112.6
SM_CCo	10830,117.12,0.709,0,0,1066,425.10	_24V_AH	22.8,58.499
SM_GC	0.93,0.00,0.00,117.12,0.000,0.000,0.709,126,2464,1066,-8.01,0.11,425.10	_10V_AH	10.1,30.778
RAFOS_CLK	705	FG_AHR_24Vo	0.000
RAFOS	0,1260705663,12.033333,12.017500,59,57,54,0,0,0,215,193,127,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.466309,-5706.293945,131209,040428,2,75,1.95	MEM	152392
IRIDIUM_FIX	6636.54,-5659.96,090399,101035	DATA_FILE_SIZE	44190,1171
TT8_MAMPS	0.027612	CAP_FILE_SIZE	148789,0
HUMID	44.95	CFSIZE	260165632,226521088
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
TCM_TEMP	17.40	SOUNDSPEED	1468.8
XPDR_PINGS	1	GPS	131209,133037,6706.795,-5659.945,24,1.5,24,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	292	158.82	SBE_CT	859	24	470.09
Roll_motor	142	96	313.44	SBE_O2	796	19	345.03
VBD_pump_during_apogee	301	1029	7068.08	nil	0	0	0.00
VBD_pump_during_surface	117	709	1894.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	90	103	212.20	nil	0	0	0.00
Iridium_during_connect	114	160	417.27	nil	0	0	0.00
Iridium_during_xfer	609	223	3098.68
Transponder_ping	1	420	14.36
GUMSTIX_24V	0	0	0.00
GPS	25	50	13.10
TT8	1961	19	394.67
LPSleep	6396	2	149.24
TT8_Active	587	19	118.27
TT8_Sampling	2049	39	826.54
TT8_CF8	1023	45	474.81
TT8_Kalman	0	0	0.00
Analog_circuits	1642	12	199.08
GPS_charging	0	0	0.00
Compass	2003	8	161.91
RAFOS	2520	1	38.18
Transponder	10	30	3.30

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	152	0.00	0.00	-130.65	0.000	2	0.000	0.000	126	2478	3221	0	0	0	0	0	0
154	-0.73	-146.0	3.5	-6.9	26	176	11.20	2.40	-4.35	0.000	4	0.293	0.097	2448	859	3398	0	0	0	0	0	0
205	-0.58	-146.0	15.8	-14.9	35	211	0.20	2.30	0.00	0.000	6	0.202	0.072	2498	2457	3400	0	0	0	0	0	0
548	-0.77	-146.0	42.9	-10.2	96	555	0.17	3.15	0.00	0.000	4	0.100	0.087	2425	3913	3401	0	0	1	0	0	0
786	-0.77	-146.0	70.8	-11.6	138	792	0.00	2.95	0.00	0.000	6	0.000	0.067	2425	2504	3401	0	0	1	0	0	0
1134	-0.77	-146.0	104.6	-9.3	196	1139	0.00	3.08	0.00	0.000	4	0.000	0.090	2425	3918	3399	0	0	1	0	0	0
1391	-0.77	-146.0	127.9	-9.7	218	1397	0.00	2.88	0.00	0.000	6	0.000	0.066	2426	2529	3399	0	0	1	0	0	0
1716	-0.77	-146.0	156.7	-8.2	249	1721	0.00	3.00	0.00	0.000	4	0.000	0.088	2425	3916	3399	0	0	1	0	0	0
1923	-0.77	-146.0	173.8	-8.4	267	1928	0.00	2.83	0.00	0.000	6	0.000	0.064	2425	2557	3398	0	0	1	0	0	0
2248	-0.77	-146.0	200.9	-8.7	297	2253	0.00	2.95	0.00	0.000	4	0.000	0.086	2425	3923	3398	0	0	1	0	0	0
2444	-0.77	-146.0	219.0	-9.1	314	2449	0.00	2.78	0.00	0.000	6	0.000	0.062	2426	2584	3399	0	0	1	0	0	0
2769	-0.77	-146.0	248.0	-8.4	344	2774	0.00	2.90	0.00	0.000	4	0.000	0.084	2425	3925	3399	0	0	1	0	0	0
2947	-0.77	-146.0	263.2	-8.3	359	2953	0.00	2.78	0.00	0.000	6	0.000	0.061	2425	2596	3400	0	0	0	0	0	0
3274	-0.77	-146.0	290.1	-8.3	390	3278	0.00	2.88	0.00	0.000	4	0.000	0.084	2425	3923	3401	0	0	1	0	0	0
3385	-0.77	-146.0	299.8	-8.5	399	3394	0.00	2.70	0.00	0.000	6	0.000	0.060	2426	2617	3401	0	0	1	0	0	0
3709	-0.77	-146.0	326.1	-8.1	430	3713	0.00	2.83	0.00	0.000	4	0.000	0.082	2425	3915	3402	0	0	1	0	0	0
3883	-0.81	-146.0	339.9	-7.4	445	3887	0.00	2.65	0.00	0.000	6	0.000	0.059	2425	2644	3402	0	0	1	0	0	0
4207	-0.81	-146.0	363.2	-6.9	475	4212	0.00	2.80	0.00	0.000	4	0.000	0.081	2425	3924	3403	0	0	1	0	0	0
4320	-0.86	-146.0	371.4	-7.1	484	4326	0.00	2.65	0.00	0.000	6	0.000	0.058	2426	2656	3403	0	0	1	0	0	0
4645	-0.90	-146.0	394.2	-7.4	515	4650	0.00	2.78	0.00	0.000	4	0.000	0.081	2425	3923	3404	0	0	1	0	0	0
4819	-0.96	-146.0	407.7	-8.1	530	4824	0.12	2.60	0.00	0.000	6	0.114	0.058	2381	2682	3404	0	0	1	0	0	0
5143	-0.87	-146.0	438.1	-9.6	560	5148	0.00	2.72	0.00	0.000	4	0.000	0.081	2381	3925	3404	0	0	1	0	0	0
5198	-0.78	-146.0	443.6	-9.7	564	5204	0.22	2.58	0.00	0.000	6	0.196	0.058	2435	2690	3404	0	0	1	0	0	0
5523	-0.86	-146.0	466.7	-7.4	595	5528	0.00	2.70	0.00	0.000	4	0.000	0.081	2435	3917	3405	0	0	1	0	0	0
5567	-0.95	-146.0	470.2	-7.6	598	5573	0.17	2.55	0.00	0.000	6	0.105	0.057	2376	2693	3405	0	0	1	0	0	0
5795	end dive: TARGET_DEPTH_EXCEEDED
state	5795	begin apogee
5801	-0.16	0.0	492.2	8.3	620	5927	0.90	0.00	120.47	1.029	6	0.178	0.000	2627	1940	2800	0	0	0	0	0	0
5928	end apogee: CONTROL_FINISHED_OK
state	5928	begin climb
5931	0.73	146.0	496.5	0.0	633	6063	0.95	2.33	122.45	0.984	4	0.124	0.084	2926	366	2202	0	0	0	0	0	0
6120	0.66	146.0	478.0	13.1	651	6126	0.00	2.15	0.00	0.000	6	0.000	0.055	2926	1966	2199	0	0	0	0	0	0
6450	0.59	146.0	437.7	12.5	682	6456	0.17	3.30	0.00	0.000	4	0.193	0.072	2881	3530	2195	0	0	1	0	0	0
6575	0.59	146.0	423.8	10.9	692	6580	0.00	3.30	0.00	0.000	6	0.000	0.067	2892	1964	2193	0	0	0	0	0	0
6899	0.59	146.0	390.0	10.1	723	6904	0.00	3.30	0.00	0.000	4	0.000	0.074	2893	3536	2194	0	0	1	0	0	0
6987	0.59	146.0	380.0	11.2	730	6994	0.00	3.25	0.00	0.000	6	0.000	0.067	2907	1975	2193	0	0	1	0	0	0
7312	0.59	146.0	345.5	11.0	761	7317	0.00	3.28	0.00	0.000	4	0.000	0.075	2907	3533	2193	0	0	1	0	0	0
7396	0.53	146.0	335.4	12.5	768	7402	0.25	3.25	0.00	0.000	6	0.191	0.067	2860	1983	2192	0	0	0	0	0	0
7721	0.67	155.4	307.0	8.8	798	7736	0.15	3.28	7.57	0.779	4	0.108	0.074	2913	3526	2166	0	0	1	0	0	0
7848	0.60	155.4	291.6	12.3	809	7854	0.17	3.20	0.00	0.000	6	0.193	0.067	2887	2002	2164	0	0	1	0	0	0
8173	0.67	155.4	258.9	10.1	840	8178	0.00	3.22	0.00	0.000	4	0.000	0.074	2887	3536	2165	0	0	1	0	0	0
8250	0.67	155.4	250.3	10.1	846	8256	0.00	3.20	0.00	0.000	6	0.000	0.066	2898	2006	2164	0	0	1	0	0	0
8574	0.67	155.4	217.8	9.7	877	8580	0.00	3.22	0.00	0.000	4	0.000	0.074	2898	3536	2164	0	0	1	0	0	0
8651	0.67	155.4	209.4	11.0	883	8658	0.00	3.17	0.00	0.000	6	0.000	0.066	2913	2017	2164	0	0	1	0	0	0
8976	0.67	155.4	175.2	10.7	914	8981	0.00	3.20	0.00	0.000	4	0.000	0.074	2913	3535	2164	0	0	1	0	0	0
9049	0.61	155.4	166.5	12.2	920	9055	0.15	3.15	0.00	0.000	6	0.196	0.067	2893	2030	2164	0	0	1	0	0	0
9374	0.69	155.4	135.1	9.3	950	9379	0.00	3.20	0.00	0.000	4	0.000	0.073	2893	3536	2164	0	0	0	0	0	0
9470	0.69	155.4	125.2	10.4	958	9475	0.00	3.17	0.00	0.000	6	0.000	0.066	2904	2028	2164	0	0	0	0	0	0
9797	0.78	155.4	94.9	9.9	992	9804	0.10	3.20	0.00	0.000	4	0.120	0.074	2947	3532	2164	0	0	1	0	0	0
9907	0.64	155.4	82.1	12.1	1011	9913	0.25	3.15	0.00	0.000	6	0.193	0.066	2900	2042	2164	0	0	0	0	0	0
10253	0.82	209.0	55.8	6.9	1072	10305	0.17	3.22	43.75	0.747	4	0.104	0.074	2963	3532	1946	0	0	1	0	0	0
10407	0.74	209.0	38.2	12.4	1100	10413	0.20	3.17	0.00	0.000	6	0.189	0.067	2930	2061	1943	0	0	0	0	0	0
10752	0.82	216.1	6.8	8.9	1161	10764	0.00	3.17	6.93	0.644	4	0.000	0.074	2929	3537	1917	0	0	1	0	0	0
10804	end climb: SURFACE_DEPTH_REACHED
state	10804	begin surface coast
10811	end surface coast: CONTROL_FINISHED_OK
state	10811	begin surface