Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 300 * 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 300 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 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 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 -41671.223 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 -41671.223

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 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 300 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 133037,6706.795,-5659.945,24,1.5,24,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -66.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 134108,6706.839,-5700.037,14,1.7,14,-37.7 MHEAD_RNG_PITCHd_Wd 167.0,11230,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 497

Post-dive calculations and measurements:

FREEZE 0.25,-0.165,-0.703,0,1,0 ALTIM_TOP_PING 19.9,19.5

FINISH 0.3,1.010360 ALTIM_BOTTOM_PING 350.9,168.8

SM_CCo 10775,123.93,0.711,0,0,1065,425.10 _24V_AH 22.8,58.635

SM_GC 0.93,0.00,0.00,123.93,0.000,0.000,0.711,127,2461,1065,-8.01,0.03,425.10 _10V_AH 10.1,30.849

RAFOS_CLK 678 FG_AHR_24Vo 0.000

RAFOS 0,1260720065,16.033333,16.018055,62,56,51,0,0,0,214,201,166,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.466309,-5706.293945,131209,040428,2,75,1.95 MEM 152488

IRIDIUM_FIX 6641.98,-5656.94,090399,101054 DATA_FILE_SIZE 44204,1167

TT8_MAMPS 0.026845 CAP_FILE_SIZE 138886,0

HUMID 45.62 CFSIZE 260165632,226516992

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,42,0,0

TCM_TEMP 17.20 SOUNDSPEED 1468.4

XPDR_PINGS 1 GPS 131209,164431,6706.584,-5701.152,38,1.7,38,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 292 151.41 SBE_CT 855 24 468.15

Roll_motor 145 96 319.99 SBE_O2 793 19 343.90

VBD_pump_during_apogee 286 1036 6757.55 nil 0 0 0.00

VBD_pump_during_surface 123 711 2008.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.53 nil 0 0 0.00

Iridium_during_connect 34 160 125.88 nil 0 0 0.00

Iridium_during_xfer 442 223 2250.01

Transponder_ping 1 420 11.97

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.90

TT8 1945 19 391.50

LPSleep 6250 2 145.84

TT8_Active 583 19 117.48

TT8_Sampling 2041 39 823.29

TT8_CF8 700 45 324.78

TT8_Kalman 0 0 0.00

Analog_circuits 1634 12 198.12

GPS_charging 0 0 0.00

Compass 2008 8 162.30

RAFOS 1800 1 27.27

Transponder 9 30 2.81

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

14 -0.73 -146.0 0.0 0.0 0 144 0.00 0.00 -125.28 0.000 2 0.000 0.000 126 2460 3193 0 0 0 0 0 0

147 -0.73 -146.0 3.4 -7.0 25 173 11.15 3.20 -5.18 0.000 4 0.292 0.097 2446 3910 3397 0 0 1 0 0 0

225 -0.77 -146.0 17.8 -11.6 39 231 0.00 3.05 0.00 0.000 6 0.000 0.063 2446 2460 3399 0 0 1 0 0 0

568 -0.77 -146.0 53.1 -10.0 100 574 0.00 3.15 0.00 0.000 4 0.000 0.087 2446 3903 3400 0 0 1 0 0 0

826 -0.77 -146.0 79.0 -9.7 146 832 0.00 2.95 0.00 0.000 6 0.000 0.065 2446 2499 3400 0 0 1 0 0 0

1170 -0.84 -146.0 107.6 -7.9 199 1175 0.00 3.05 0.00 0.000 4 0.000 0.088 2446 3903 3399 0 0 2 0 0 0

1428 -0.92 -146.0 129.7 -8.4 221 1435 0.17 2.88 0.00 0.000 6 0.114 0.064 2390 2533 3397 0 0 1 0 0 0

1753 -0.82 -146.0 163.8 -10.7 252 1758 0.15 3.03 0.00 0.000 4 0.206 0.087 2423 3909 3397 0 0 1 0 0 0

1965 -0.82 -146.0 184.5 -9.3 270 1972 0.00 2.83 0.00 0.000 6 0.000 0.063 2423 2556 3397 0 0 1 0 0 0

2290 -0.82 -146.0 216.8 -10.0 301 2295 0.00 2.95 0.00 0.000 4 0.000 0.084 2423 3916 3397 0 0 1 0 0 0

2435 -0.82 -146.0 231.0 -9.2 313 2441 0.00 2.78 0.00 0.000 6 0.000 0.061 2423 2584 3397 0 0 1 0 0 0

2760 -0.82 -146.0 258.3 -8.2 344 2765 0.00 2.88 0.00 0.000 4 0.000 0.082 2423 3914 3398 0 0 2 0 0 0

2901 -0.82 -146.0 270.3 -8.1 356 2906 0.00 2.75 0.00 0.000 6 0.000 0.059 2423 2595 3398 0 0 1 0 0 0

3225 -0.82 -146.0 296.9 -7.8 386 3230 0.00 2.85 0.00 0.000 4 0.000 0.082 2423 3910 3399 0 0 2 0 0 0

3377 -0.87 -146.0 309.5 -8.1 399 3381 0.00 2.72 0.00 0.000 6 0.000 0.058 2423 2606 3399 0 0 1 0 0 0

3702 -0.92 -146.0 335.1 -7.9 429 3706 0.00 2.85 0.00 0.000 4 0.000 0.081 2423 3913 3400 0 0 1 0 0 0

3848 -0.96 -146.0 347.3 -8.2 441 3855 0.15 2.67 0.00 0.000 6 0.105 0.058 2370 2636 3400 0 0 1 0 0 0

4173 -0.83 -146.0 379.6 -10.1 472 4179 0.20 2.80 0.00 0.000 4 0.199 0.078 2413 3906 3400 0 0 1 0 0 0

4326 -0.83 -146.0 393.0 -8.6 485 4330 0.00 2.65 0.00 0.000 6 0.000 0.058 2413 2645 3401 0 0 1 0 0 0

4650 -0.83 -146.0 420.6 -8.7 515 4655 0.00 2.78 0.00 0.000 4 0.000 0.080 2413 3907 3401 0 0 1 0 0 0

4739 -0.83 -146.0 428.1 -8.6 522 4745 0.00 2.62 0.00 0.000 6 0.000 0.057 2413 2670 3401 0 0 0 0 0 0

5064 -0.83 -146.0 453.4 -7.8 553 5068 0.00 2.72 0.00 0.000 4 0.000 0.080 2413 3908 3402 0 0 2 0 0 0

5186 -0.83 -146.0 463.4 -8.2 563 5192 0.00 2.60 0.00 0.000 6 0.000 0.055 2413 2678 3402 0 0 1 0 0 0

5510 -0.83 -146.0 491.0 -9.5 594 5515 0.00 2.72 0.00 0.000 4 0.000 0.080 2413 3917 3403 0 0 2 0 0 0

5581 end dive: TARGET_DEPTH_EXCEEDED

state 5581 begin apogee

5590 -0.16 0.0 497.3 7.7 600 5716 0.77 0.00 119.82 1.036 6 0.180 0.000 2628 1942 2799 0 0 0 0 0 0

5717 end apogee: CONTROL_FINISHED_OK

state 5717 begin climb

5719 0.73 146.0 498.3 0.0 613 5853 0.95 2.33 122.18 0.988 4 0.132 0.084 2923 357 2201 0 0 0 0 0 0

5910 0.68 146.0 481.1 9.7 631 5914 0.00 2.12 0.00 0.000 6 0.000 0.055 2923 1953 2198 0 0 0 0 0 0

6235 0.59 146.0 445.0 12.0 661 6241 0.17 3.33 0.00 0.000 4 0.199 0.073 2881 3530 2194 0 0 2 0 0 0

6370 0.59 146.0 431.6 10.3 672 6375 0.00 3.33 0.00 0.000 6 0.000 0.067 2894 1965 2193 0 0 0 0 0 0

6694 0.59 148.5 403.1 9.1 703 6699 0.00 3.30 0.00 0.000 4 0.000 0.074 2894 3529 2193 0 0 1 0 0 0

6794 0.59 148.5 392.6 10.8 711 6800 0.00 3.25 0.00 0.000 6 0.000 0.067 2908 1983 2192 0 0 1 0 0 0

7119 0.59 148.5 359.9 9.6 742 7124 0.00 3.28 0.00 0.000 4 0.000 0.074 2908 3532 2192 0 0 1 0 0 0

7207 0.52 148.5 350.0 11.5 749 7214 0.25 3.22 0.00 0.000 6 0.191 0.066 2860 2000 2192 0 0 1 0 0 0

7532 0.67 165.2 323.4 8.5 780 7555 0.15 3.25 15.30 0.872 4 0.108 0.073 2914 3531 2125 0 0 1 0 0 0

7668 0.61 165.2 307.0 12.8 792 7674 0.17 3.25 0.00 0.000 6 0.193 0.067 2887 2004 2123 0 0 0 0 0 0

7992 0.68 165.2 274.8 9.4 822 7997 0.00 3.25 0.00 0.000 4 0.000 0.073 2887 3532 2123 0 0 1 0 0 0

8088 0.68 165.2 265.0 11.2 830 8093 0.00 3.20 0.00 0.000 6 0.000 0.065 2898 2028 2122 0 0 0 0 0 0

8413 0.73 165.2 231.7 10.0 860 8418 0.00 3.20 0.00 0.000 4 0.000 0.073 2899 3530 2122 0 0 1 0 0 0

8490 0.73 165.2 223.1 11.1 866 8496 0.00 3.17 0.00 0.000 6 0.000 0.066 2912 2025 2122 0 0 1 0 0 0

8814 0.73 165.2 188.9 10.1 897 8820 0.00 3.20 0.00 0.000 4 0.000 0.073 2913 3529 2122 0 0 1 0 0 0

8876 0.73 165.2 182.1 11.5 902 8881 0.00 3.17 0.00 0.000 6 0.000 0.066 2927 2040 2122 0 0 0 0 0 0

9200 0.73 165.2 147.3 10.1 932 9205 0.00 3.20 0.00 0.000 4 0.000 0.072 2927 3535 2122 0 0 1 0 0 0

9289 0.66 165.2 137.9 10.5 939 9296 0.15 3.17 0.00 0.000 6 0.196 0.066 2907 2050 2122 0 0 0 0 0 0

9614 0.71 165.2 107.0 10.3 970 9619 0.00 3.20 0.00 0.000 4 0.000 0.073 2907 3535 2122 0 0 0 0 0 0

9720 0.71 165.2 95.7 10.5 982 9726 0.00 3.15 0.00 0.000 6 0.000 0.065 2918 2063 2122 0 0 0 0 0 0

10064 0.80 165.2 62.2 9.8 1043 10070 0.00 3.17 0.00 0.000 4 0.000 0.073 2919 3530 2122 0 0 0 0 0 0

10149 0.80 165.2 53.5 10.1 1058 10154 0.00 3.12 0.00 0.000 6 0.000 0.066 2932 2074 2122 0 0 0 0 0 0

10492 0.84 199.7 24.3 7.7 1119 10529 0.00 3.17 28.73 0.738 4 0.000 0.074 2932 3530 1984 0 0 2 0 0 0

10601 0.84 199.7 14.5 9.6 1139 10607 0.00 3.15 0.00 0.000 6 0.000 0.067 2946 2084 1982 0 0 0 0 0 0

10740 end climb: SURFACE_DEPTH_REACHED

state 10740 begin surface coast

10758 end surface coast: CONTROL_FINISHED_OK

state 10758 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	300	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	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	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	-41671.223	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	133037,6706.795,-5659.945,24,1.5,24,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	134108,6706.839,-5700.037,14,1.7,14,-37.7	MHEAD_RNG_PITCHd_Wd	167.0,11230,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	497

FREEZE	0.25,-0.165,-0.703,0,1,0	ALTIM_TOP_PING	19.9,19.5
FINISH	0.3,1.010360	ALTIM_BOTTOM_PING	350.9,168.8
SM_CCo	10775,123.93,0.711,0,0,1065,425.10	_24V_AH	22.8,58.635
SM_GC	0.93,0.00,0.00,123.93,0.000,0.000,0.711,127,2461,1065,-8.01,0.03,425.10	_10V_AH	10.1,30.849
RAFOS_CLK	678	FG_AHR_24Vo	0.000
RAFOS	0,1260720065,16.033333,16.018055,62,56,51,0,0,0,214,201,166,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.466309,-5706.293945,131209,040428,2,75,1.95	MEM	152488
IRIDIUM_FIX	6641.98,-5656.94,090399,101054	DATA_FILE_SIZE	44204,1167
TT8_MAMPS	0.026845	CAP_FILE_SIZE	138886,0
HUMID	45.62	CFSIZE	260165632,226516992
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
TCM_TEMP	17.20	SOUNDSPEED	1468.4
XPDR_PINGS	1	GPS	131209,164431,6706.584,-5701.152,38,1.7,38,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	292	151.41	SBE_CT	855	24	468.15
Roll_motor	145	96	319.99	SBE_O2	793	19	343.90
VBD_pump_during_apogee	286	1036	6757.55	nil	0	0	0.00
VBD_pump_during_surface	123	711	2008.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.53	nil	0	0	0.00
Iridium_during_connect	34	160	125.88	nil	0	0	0.00
Iridium_during_xfer	442	223	2250.01
Transponder_ping	1	420	11.97
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.90
TT8	1945	19	391.50
LPSleep	6250	2	145.84
TT8_Active	583	19	117.48
TT8_Sampling	2041	39	823.29
TT8_CF8	700	45	324.78
TT8_Kalman	0	0	0.00
Analog_circuits	1634	12	198.12
GPS_charging	0	0	0.00
Compass	2008	8	162.30
RAFOS	1800	1	27.27
Transponder	9	30	2.81

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
14	-0.73	-146.0	0.0	0.0	0	144	0.00	0.00	-125.28	0.000	2	0.000	0.000	126	2460	3193	0	0	0	0	0	0
147	-0.73	-146.0	3.4	-7.0	25	173	11.15	3.20	-5.18	0.000	4	0.292	0.097	2446	3910	3397	0	0	1	0	0	0
225	-0.77	-146.0	17.8	-11.6	39	231	0.00	3.05	0.00	0.000	6	0.000	0.063	2446	2460	3399	0	0	1	0	0	0
568	-0.77	-146.0	53.1	-10.0	100	574	0.00	3.15	0.00	0.000	4	0.000	0.087	2446	3903	3400	0	0	1	0	0	0
826	-0.77	-146.0	79.0	-9.7	146	832	0.00	2.95	0.00	0.000	6	0.000	0.065	2446	2499	3400	0	0	1	0	0	0
1170	-0.84	-146.0	107.6	-7.9	199	1175	0.00	3.05	0.00	0.000	4	0.000	0.088	2446	3903	3399	0	0	2	0	0	0
1428	-0.92	-146.0	129.7	-8.4	221	1435	0.17	2.88	0.00	0.000	6	0.114	0.064	2390	2533	3397	0	0	1	0	0	0
1753	-0.82	-146.0	163.8	-10.7	252	1758	0.15	3.03	0.00	0.000	4	0.206	0.087	2423	3909	3397	0	0	1	0	0	0
1965	-0.82	-146.0	184.5	-9.3	270	1972	0.00	2.83	0.00	0.000	6	0.000	0.063	2423	2556	3397	0	0	1	0	0	0
2290	-0.82	-146.0	216.8	-10.0	301	2295	0.00	2.95	0.00	0.000	4	0.000	0.084	2423	3916	3397	0	0	1	0	0	0
2435	-0.82	-146.0	231.0	-9.2	313	2441	0.00	2.78	0.00	0.000	6	0.000	0.061	2423	2584	3397	0	0	1	0	0	0
2760	-0.82	-146.0	258.3	-8.2	344	2765	0.00	2.88	0.00	0.000	4	0.000	0.082	2423	3914	3398	0	0	2	0	0	0
2901	-0.82	-146.0	270.3	-8.1	356	2906	0.00	2.75	0.00	0.000	6	0.000	0.059	2423	2595	3398	0	0	1	0	0	0
3225	-0.82	-146.0	296.9	-7.8	386	3230	0.00	2.85	0.00	0.000	4	0.000	0.082	2423	3910	3399	0	0	2	0	0	0
3377	-0.87	-146.0	309.5	-8.1	399	3381	0.00	2.72	0.00	0.000	6	0.000	0.058	2423	2606	3399	0	0	1	0	0	0
3702	-0.92	-146.0	335.1	-7.9	429	3706	0.00	2.85	0.00	0.000	4	0.000	0.081	2423	3913	3400	0	0	1	0	0	0
3848	-0.96	-146.0	347.3	-8.2	441	3855	0.15	2.67	0.00	0.000	6	0.105	0.058	2370	2636	3400	0	0	1	0	0	0
4173	-0.83	-146.0	379.6	-10.1	472	4179	0.20	2.80	0.00	0.000	4	0.199	0.078	2413	3906	3400	0	0	1	0	0	0
4326	-0.83	-146.0	393.0	-8.6	485	4330	0.00	2.65	0.00	0.000	6	0.000	0.058	2413	2645	3401	0	0	1	0	0	0
4650	-0.83	-146.0	420.6	-8.7	515	4655	0.00	2.78	0.00	0.000	4	0.000	0.080	2413	3907	3401	0	0	1	0	0	0
4739	-0.83	-146.0	428.1	-8.6	522	4745	0.00	2.62	0.00	0.000	6	0.000	0.057	2413	2670	3401	0	0	0	0	0	0
5064	-0.83	-146.0	453.4	-7.8	553	5068	0.00	2.72	0.00	0.000	4	0.000	0.080	2413	3908	3402	0	0	2	0	0	0
5186	-0.83	-146.0	463.4	-8.2	563	5192	0.00	2.60	0.00	0.000	6	0.000	0.055	2413	2678	3402	0	0	1	0	0	0
5510	-0.83	-146.0	491.0	-9.5	594	5515	0.00	2.72	0.00	0.000	4	0.000	0.080	2413	3917	3403	0	0	2	0	0	0
5581	end dive: TARGET_DEPTH_EXCEEDED
state	5581	begin apogee
5590	-0.16	0.0	497.3	7.7	600	5716	0.77	0.00	119.82	1.036	6	0.180	0.000	2628	1942	2799	0	0	0	0	0	0
5717	end apogee: CONTROL_FINISHED_OK
state	5717	begin climb
5719	0.73	146.0	498.3	0.0	613	5853	0.95	2.33	122.18	0.988	4	0.132	0.084	2923	357	2201	0	0	0	0	0	0
5910	0.68	146.0	481.1	9.7	631	5914	0.00	2.12	0.00	0.000	6	0.000	0.055	2923	1953	2198	0	0	0	0	0	0
6235	0.59	146.0	445.0	12.0	661	6241	0.17	3.33	0.00	0.000	4	0.199	0.073	2881	3530	2194	0	0	2	0	0	0
6370	0.59	146.0	431.6	10.3	672	6375	0.00	3.33	0.00	0.000	6	0.000	0.067	2894	1965	2193	0	0	0	0	0	0
6694	0.59	148.5	403.1	9.1	703	6699	0.00	3.30	0.00	0.000	4	0.000	0.074	2894	3529	2193	0	0	1	0	0	0
6794	0.59	148.5	392.6	10.8	711	6800	0.00	3.25	0.00	0.000	6	0.000	0.067	2908	1983	2192	0	0	1	0	0	0
7119	0.59	148.5	359.9	9.6	742	7124	0.00	3.28	0.00	0.000	4	0.000	0.074	2908	3532	2192	0	0	1	0	0	0
7207	0.52	148.5	350.0	11.5	749	7214	0.25	3.22	0.00	0.000	6	0.191	0.066	2860	2000	2192	0	0	1	0	0	0
7532	0.67	165.2	323.4	8.5	780	7555	0.15	3.25	15.30	0.872	4	0.108	0.073	2914	3531	2125	0	0	1	0	0	0
7668	0.61	165.2	307.0	12.8	792	7674	0.17	3.25	0.00	0.000	6	0.193	0.067	2887	2004	2123	0	0	0	0	0	0
7992	0.68	165.2	274.8	9.4	822	7997	0.00	3.25	0.00	0.000	4	0.000	0.073	2887	3532	2123	0	0	1	0	0	0
8088	0.68	165.2	265.0	11.2	830	8093	0.00	3.20	0.00	0.000	6	0.000	0.065	2898	2028	2122	0	0	0	0	0	0
8413	0.73	165.2	231.7	10.0	860	8418	0.00	3.20	0.00	0.000	4	0.000	0.073	2899	3530	2122	0	0	1	0	0	0
8490	0.73	165.2	223.1	11.1	866	8496	0.00	3.17	0.00	0.000	6	0.000	0.066	2912	2025	2122	0	0	1	0	0	0
8814	0.73	165.2	188.9	10.1	897	8820	0.00	3.20	0.00	0.000	4	0.000	0.073	2913	3529	2122	0	0	1	0	0	0
8876	0.73	165.2	182.1	11.5	902	8881	0.00	3.17	0.00	0.000	6	0.000	0.066	2927	2040	2122	0	0	0	0	0	0
9200	0.73	165.2	147.3	10.1	932	9205	0.00	3.20	0.00	0.000	4	0.000	0.072	2927	3535	2122	0	0	1	0	0	0
9289	0.66	165.2	137.9	10.5	939	9296	0.15	3.17	0.00	0.000	6	0.196	0.066	2907	2050	2122	0	0	0	0	0	0
9614	0.71	165.2	107.0	10.3	970	9619	0.00	3.20	0.00	0.000	4	0.000	0.073	2907	3535	2122	0	0	0	0	0	0
9720	0.71	165.2	95.7	10.5	982	9726	0.00	3.15	0.00	0.000	6	0.000	0.065	2918	2063	2122	0	0	0	0	0	0
10064	0.80	165.2	62.2	9.8	1043	10070	0.00	3.17	0.00	0.000	4	0.000	0.073	2919	3530	2122	0	0	0	0	0	0
10149	0.80	165.2	53.5	10.1	1058	10154	0.00	3.12	0.00	0.000	6	0.000	0.066	2932	2074	2122	0	0	0	0	0	0
10492	0.84	199.7	24.3	7.7	1119	10529	0.00	3.17	28.73	0.738	4	0.000	0.074	2932	3530	1984	0	0	2	0	0	0
10601	0.84	199.7	14.5	9.6	1139	10607	0.00	3.15	0.00	0.000	6	0.000	0.067	2946	2084	1982	0	0	0	0	0	0
10740	end climb: SURFACE_DEPTH_REACHED
state	10740	begin surface coast
10758	end surface coast: CONTROL_FINISHED_OK
state	10758	begin surface