Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 302 * 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 302 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 17 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 26 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 -41701.102 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 -41701.102

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 17 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 302 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 200806,6706.397,-5700.373,38,1.1,38,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201332,6706.451,-5700.354,11,1.6,11,-37.7 MHEAD_RNG_PITCHd_Wd 163.3,10974,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 510

Post-dive calculations and measurements:

FREEZE 0.42,-0.088,-1.824,0,1,0 ALTIM_TOP_PING 19.5,19.0

FINISH 0.4,1.026723 ALTIM_BOTTOM_PING 350.3,169.0

SM_CCo 11070,121.70,0.709,0,0,1066,425.10 _24V_AH 22.9,58.902

SM_GC 1.03,0.00,0.00,121.70,0.000,0.000,0.709,130,2465,1066,-8.00,0.14,425.10 _10V_AH 10.2,30.994

RAFOS_CLK 674 FG_AHR_24Vo 0.000

RAFOS 0,1260734462,20.033333,20.017221,59,58,52,0,0,0,170,135,121,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.466309,-5706.293945,131209,040428,2,75,1.95 MEM 152512

IRIDIUM_FIX 6641.98,-5701.58,090399,161606 DATA_FILE_SIZE 44145,1181

TT8_MAMPS 0.026845 CAP_FILE_SIZE 136569,0

HUMID 46.33 CFSIZE 260165632,226455552

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,35,0,0

TCM_TEMP 17.40 SOUNDSPEED 1469.0

XPDR_PINGS 4 GPS 131209,232137,6706.924,-5700.185,26,1.5,26,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 283 151.91 SBE_CT 870 24 478.40

Roll_motor 138 95 303.59 SBE_O2 804 19 350.00

VBD_pump_during_apogee 290 1033 6880.66 nil 0 0 0.00

VBD_pump_during_surface 121 709 1977.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.66 nil 0 0 0.00

Iridium_during_connect 37 160 137.06 nil 0 0 0.00

Iridium_during_xfer 145 223 742.28

Transponder_ping 2 420 19.24

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.74

TT8 1971 19 400.61

LPSleep 6487 2 152.86

TT8_Active 569 19 115.64

TT8_Sampling 2072 39 843.79

TT8_CF8 411 45 192.81

TT8_Kalman 0 0 0.00

Analog_circuits 1638 12 200.52

GPS_charging 0 0 0.00

Compass 2042 8 166.69

RAFOS 1800 1 27.54

Transponder 9 30 2.84

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 0 144 0.00 0.00 -124.75 0.000 2 0.000 0.000 127 2463 3235 0 0 0 0 0 0

147 -0.73 -146.0 3.6 -7.3 25 169 10.88 2.33 -4.05 0.000 4 0.284 0.096 2447 858 3399 0 0 0 0 0 0

270 -0.73 -146.0 23.7 -11.4 47 275 0.00 2.25 0.00 0.000 6 0.000 0.067 2447 2454 3401 0 0 0 0 0 0

612 -0.73 -146.0 57.7 -9.4 108 618 0.00 3.17 0.00 0.000 4 0.000 0.087 2447 3918 3401 0 0 1 0 0 0

819 -0.77 -146.0 79.7 -10.9 145 825 0.00 2.97 0.00 0.000 6 0.000 0.064 2448 2492 3401 0 0 1 0 0 0

1162 -0.82 -146.0 115.4 -10.3 193 1167 0.00 3.10 0.00 0.000 4 0.000 0.087 2447 3920 3400 0 0 2 0 0 0

1419 -0.91 -146.0 142.2 -10.1 215 1426 0.17 2.92 0.00 0.000 6 0.113 0.064 2390 2519 3398 0 0 1 0 0 0

1744 -0.81 -146.0 177.0 -9.9 246 1750 0.15 3.08 0.00 0.000 4 0.204 0.087 2424 3920 3397 0 0 1 0 0 0

1897 -0.81 -146.0 190.6 -8.8 259 1901 0.00 2.90 0.00 0.000 6 0.000 0.063 2424 2528 3397 0 0 1 0 0 0

2221 -0.81 -146.0 217.1 -7.4 289 2226 0.00 3.03 0.00 0.000 4 0.000 0.084 2424 3922 3397 0 0 1 0 0 0

2479 -0.81 -146.0 236.7 -7.1 311 2485 0.00 2.83 0.00 0.000 6 0.000 0.061 2425 2566 3397 0 0 1 0 0 0

2803 -0.81 -146.0 258.4 -7.0 342 2808 0.00 2.95 0.00 0.000 4 0.000 0.083 2424 3924 3398 0 0 1 0 0 0

3022 -0.81 -146.0 275.3 -8.0 361 3027 0.00 2.78 0.00 0.000 6 0.000 0.059 2424 2597 3398 0 0 1 0 0 0

3347 -0.81 -146.0 299.6 -7.6 391 3351 0.00 2.88 0.00 0.000 4 0.000 0.081 2424 3914 3399 0 0 1 0 0 0

3576 -0.81 -146.0 316.8 -7.0 411 3581 0.00 2.70 0.00 0.000 6 0.000 0.058 2425 2627 3400 0 0 1 0 0 0

3901 -0.81 -146.0 339.1 -6.6 441 3905 0.00 2.83 0.00 0.000 4 0.000 0.081 2424 3915 3400 0 0 1 0 0 0

4064 -0.85 -146.0 349.9 -6.1 455 4071 0.00 2.67 0.00 0.000 6 0.000 0.058 2424 2645 3400 0 0 1 0 0 0

4396 -0.91 -146.0 370.9 -6.3 486 4401 0.00 2.80 0.00 0.000 4 0.000 0.080 2425 3917 3401 0 0 1 0 0 0

4515 -0.95 -146.0 380.1 -8.2 496 4520 0.12 2.62 0.00 0.000 6 0.118 0.056 2382 2672 3401 0 0 1 0 0 0

4840 -0.88 -146.0 410.8 -8.2 526 4845 0.00 2.75 0.00 0.000 4 0.000 0.080 2381 3915 3401 0 0 1 0 0 0

4998 -0.81 -146.0 425.5 -8.7 539 5004 0.17 2.60 0.00 0.000 6 0.199 0.057 2422 2686 3402 0 0 1 0 0 0

5323 -0.86 -146.0 450.8 -7.9 570 5328 0.00 2.72 0.00 0.000 4 0.000 0.080 2423 3915 3402 0 0 1 0 0 0

5379 -0.92 -146.0 455.2 -8.1 574 5384 0.00 2.60 0.00 0.000 6 0.000 0.056 2423 2686 3402 0 0 1 0 0 0

5704 -0.98 -146.0 478.7 -7.3 605 5709 0.15 2.75 0.00 0.000 4 0.110 0.077 2361 3927 3403 0 0 1 0 0 0

5737 -0.80 -146.0 481.7 -9.9 607 5743 0.28 2.60 0.00 0.000 6 0.202 0.055 2428 2692 3403 0 0 1 0 0 0

6060 end dive: BOTTOM_OBSTACLE_DETECTED

state 6060 begin apogee

6066 -0.16 0.0 504.6 6.5 638 6193 0.70 0.00 120.15 1.033 6 0.166 0.000 2632 1943 2799 0 0 0 0 0 0

6193 end apogee: CONTROL_FINISHED_OK

state 6194 begin climb

6196 0.73 146.0 506.5 0.0 651 6330 0.93 2.30 122.05 0.992 4 0.121 0.083 2926 358 2201 0 0 0 0 0 0

6353 0.65 146.0 493.0 12.2 666 6357 0.00 2.15 0.00 0.000 6 0.000 0.054 2926 1966 2199 0 0 0 0 0 0

6679 0.58 146.0 452.0 12.7 696 6685 0.20 3.35 0.00 0.000 4 0.190 0.071 2877 3528 2194 0 0 2 0 0 0

6764 0.58 146.0 441.9 11.2 703 6769 0.00 3.35 0.00 0.000 6 0.000 0.066 2890 1965 2193 0 0 0 0 0 0

7089 0.58 146.0 407.5 10.1 733 7094 0.00 3.35 0.00 0.000 4 0.000 0.074 2890 3538 2193 0 0 1 0 0 0

7162 0.58 146.0 398.6 12.1 739 7167 0.00 3.33 0.00 0.000 6 0.000 0.067 2905 1970 2193 0 0 0 0 0 0

7486 0.58 146.0 362.3 11.5 769 7491 0.00 3.33 0.00 0.000 4 0.000 0.074 2905 3537 2193 0 0 1 0 0 0

7581 0.52 146.0 350.2 12.9 777 7587 0.25 3.30 0.00 0.000 6 0.190 0.067 2858 1977 2192 0 0 0 0 0 0

7906 0.66 148.2 320.8 9.1 807 7912 0.15 3.33 0.00 0.000 4 0.109 0.073 2910 3538 2191 0 0 1 0 0 0

8026 0.59 148.2 306.3 12.4 817 8032 0.15 3.25 0.00 0.000 6 0.197 0.067 2888 2004 2191 0 0 1 0 0 0

8350 0.65 153.2 274.9 9.0 847 8362 0.00 3.25 5.38 0.696 4 0.000 0.072 2887 3531 2175 0 0 1 0 0 0

8476 0.65 153.2 262.4 10.0 858 8481 0.00 3.22 0.00 0.000 6 0.000 0.066 2900 2019 2175 0 0 0 0 0 0

8800 0.65 153.2 228.8 10.4 888 8805 0.00 3.22 0.00 0.000 4 0.000 0.073 2900 3528 2175 0 0 1 0 0 0

8900 0.65 153.2 216.7 12.3 896 8906 0.00 3.17 0.00 0.000 6 0.000 0.065 2914 2026 2175 0 0 1 0 0 0

9224 0.65 153.2 180.2 10.6 927 9230 0.00 3.22 0.00 0.000 4 0.000 0.073 2914 3538 2175 0 0 1 0 0 0

9320 0.58 153.2 168.5 12.3 935 9326 0.20 3.20 0.00 0.000 6 0.194 0.065 2881 2035 2174 0 0 0 0 0 0

9645 0.73 185.9 140.1 7.8 965 9680 0.15 3.28 27.52 0.790 4 0.111 0.073 2933 3528 2041 0 0 1 0 0 0

9783 0.66 185.9 124.4 12.2 977 9789 0.17 3.20 0.00 0.000 6 0.194 0.065 2908 2050 2038 0 0 0 0 0 0

10111 0.74 185.9 93.0 9.5 1014 10116 0.00 3.22 0.00 0.000 4 0.000 0.072 2908 3538 2037 0 0 0 0 0 0

10184 0.74 185.9 85.1 11.2 1027 10190 0.00 3.17 0.00 0.000 6 0.000 0.064 2919 2060 2037 0 0 0 0 0 0

10528 0.87 203.7 53.6 8.4 1088 10550 0.15 3.17 15.73 0.728 4 0.096 0.071 2976 3531 1967 0 0 1 0 0 0

10696 0.74 203.7 32.4 13.6 1118 10703 0.25 3.15 0.00 0.000 6 0.195 0.066 2929 2081 1965 0 0 0 0 0 0

11029 end climb: SURFACE_DEPTH_REACHED

state 11029 begin surface coast

11053 end surface coast: CONTROL_FINISHED_OK

state 11053 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	302	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	17	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	26	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	-41701.102	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	200806,6706.397,-5700.373,38,1.1,38,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201332,6706.451,-5700.354,11,1.6,11,-37.7	MHEAD_RNG_PITCHd_Wd	163.3,10974,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	510

FREEZE	0.42,-0.088,-1.824,0,1,0	ALTIM_TOP_PING	19.5,19.0
FINISH	0.4,1.026723	ALTIM_BOTTOM_PING	350.3,169.0
SM_CCo	11070,121.70,0.709,0,0,1066,425.10	_24V_AH	22.9,58.902
SM_GC	1.03,0.00,0.00,121.70,0.000,0.000,0.709,130,2465,1066,-8.00,0.14,425.10	_10V_AH	10.2,30.994
RAFOS_CLK	674	FG_AHR_24Vo	0.000
RAFOS	0,1260734462,20.033333,20.017221,59,58,52,0,0,0,170,135,121,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.466309,-5706.293945,131209,040428,2,75,1.95	MEM	152512
IRIDIUM_FIX	6641.98,-5701.58,090399,161606	DATA_FILE_SIZE	44145,1181
TT8_MAMPS	0.026845	CAP_FILE_SIZE	136569,0
HUMID	46.33	CFSIZE	260165632,226455552
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
TCM_TEMP	17.40	SOUNDSPEED	1469.0
XPDR_PINGS	4	GPS	131209,232137,6706.924,-5700.185,26,1.5,26,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	283	151.91	SBE_CT	870	24	478.40
Roll_motor	138	95	303.59	SBE_O2	804	19	350.00
VBD_pump_during_apogee	290	1033	6880.66	nil	0	0	0.00
VBD_pump_during_surface	121	709	1977.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.66	nil	0	0	0.00
Iridium_during_connect	37	160	137.06	nil	0	0	0.00
Iridium_during_xfer	145	223	742.28
Transponder_ping	2	420	19.24
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.74
TT8	1971	19	400.61
LPSleep	6487	2	152.86
TT8_Active	569	19	115.64
TT8_Sampling	2072	39	843.79
TT8_CF8	411	45	192.81
TT8_Kalman	0	0	0.00
Analog_circuits	1638	12	200.52
GPS_charging	0	0	0.00
Compass	2042	8	166.69
RAFOS	1800	1	27.54
Transponder	9	30	2.84

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	144	0.00	0.00	-124.75	0.000	2	0.000	0.000	127	2463	3235	0	0	0	0	0	0
147	-0.73	-146.0	3.6	-7.3	25	169	10.88	2.33	-4.05	0.000	4	0.284	0.096	2447	858	3399	0	0	0	0	0	0
270	-0.73	-146.0	23.7	-11.4	47	275	0.00	2.25	0.00	0.000	6	0.000	0.067	2447	2454	3401	0	0	0	0	0	0
612	-0.73	-146.0	57.7	-9.4	108	618	0.00	3.17	0.00	0.000	4	0.000	0.087	2447	3918	3401	0	0	1	0	0	0
819	-0.77	-146.0	79.7	-10.9	145	825	0.00	2.97	0.00	0.000	6	0.000	0.064	2448	2492	3401	0	0	1	0	0	0
1162	-0.82	-146.0	115.4	-10.3	193	1167	0.00	3.10	0.00	0.000	4	0.000	0.087	2447	3920	3400	0	0	2	0	0	0
1419	-0.91	-146.0	142.2	-10.1	215	1426	0.17	2.92	0.00	0.000	6	0.113	0.064	2390	2519	3398	0	0	1	0	0	0
1744	-0.81	-146.0	177.0	-9.9	246	1750	0.15	3.08	0.00	0.000	4	0.204	0.087	2424	3920	3397	0	0	1	0	0	0
1897	-0.81	-146.0	190.6	-8.8	259	1901	0.00	2.90	0.00	0.000	6	0.000	0.063	2424	2528	3397	0	0	1	0	0	0
2221	-0.81	-146.0	217.1	-7.4	289	2226	0.00	3.03	0.00	0.000	4	0.000	0.084	2424	3922	3397	0	0	1	0	0	0
2479	-0.81	-146.0	236.7	-7.1	311	2485	0.00	2.83	0.00	0.000	6	0.000	0.061	2425	2566	3397	0	0	1	0	0	0
2803	-0.81	-146.0	258.4	-7.0	342	2808	0.00	2.95	0.00	0.000	4	0.000	0.083	2424	3924	3398	0	0	1	0	0	0
3022	-0.81	-146.0	275.3	-8.0	361	3027	0.00	2.78	0.00	0.000	6	0.000	0.059	2424	2597	3398	0	0	1	0	0	0
3347	-0.81	-146.0	299.6	-7.6	391	3351	0.00	2.88	0.00	0.000	4	0.000	0.081	2424	3914	3399	0	0	1	0	0	0
3576	-0.81	-146.0	316.8	-7.0	411	3581	0.00	2.70	0.00	0.000	6	0.000	0.058	2425	2627	3400	0	0	1	0	0	0
3901	-0.81	-146.0	339.1	-6.6	441	3905	0.00	2.83	0.00	0.000	4	0.000	0.081	2424	3915	3400	0	0	1	0	0	0
4064	-0.85	-146.0	349.9	-6.1	455	4071	0.00	2.67	0.00	0.000	6	0.000	0.058	2424	2645	3400	0	0	1	0	0	0
4396	-0.91	-146.0	370.9	-6.3	486	4401	0.00	2.80	0.00	0.000	4	0.000	0.080	2425	3917	3401	0	0	1	0	0	0
4515	-0.95	-146.0	380.1	-8.2	496	4520	0.12	2.62	0.00	0.000	6	0.118	0.056	2382	2672	3401	0	0	1	0	0	0
4840	-0.88	-146.0	410.8	-8.2	526	4845	0.00	2.75	0.00	0.000	4	0.000	0.080	2381	3915	3401	0	0	1	0	0	0
4998	-0.81	-146.0	425.5	-8.7	539	5004	0.17	2.60	0.00	0.000	6	0.199	0.057	2422	2686	3402	0	0	1	0	0	0
5323	-0.86	-146.0	450.8	-7.9	570	5328	0.00	2.72	0.00	0.000	4	0.000	0.080	2423	3915	3402	0	0	1	0	0	0
5379	-0.92	-146.0	455.2	-8.1	574	5384	0.00	2.60	0.00	0.000	6	0.000	0.056	2423	2686	3402	0	0	1	0	0	0
5704	-0.98	-146.0	478.7	-7.3	605	5709	0.15	2.75	0.00	0.000	4	0.110	0.077	2361	3927	3403	0	0	1	0	0	0
5737	-0.80	-146.0	481.7	-9.9	607	5743	0.28	2.60	0.00	0.000	6	0.202	0.055	2428	2692	3403	0	0	1	0	0	0
6060	end dive: BOTTOM_OBSTACLE_DETECTED
state	6060	begin apogee
6066	-0.16	0.0	504.6	6.5	638	6193	0.70	0.00	120.15	1.033	6	0.166	0.000	2632	1943	2799	0	0	0	0	0	0
6193	end apogee: CONTROL_FINISHED_OK
state	6194	begin climb
6196	0.73	146.0	506.5	0.0	651	6330	0.93	2.30	122.05	0.992	4	0.121	0.083	2926	358	2201	0	0	0	0	0	0
6353	0.65	146.0	493.0	12.2	666	6357	0.00	2.15	0.00	0.000	6	0.000	0.054	2926	1966	2199	0	0	0	0	0	0
6679	0.58	146.0	452.0	12.7	696	6685	0.20	3.35	0.00	0.000	4	0.190	0.071	2877	3528	2194	0	0	2	0	0	0
6764	0.58	146.0	441.9	11.2	703	6769	0.00	3.35	0.00	0.000	6	0.000	0.066	2890	1965	2193	0	0	0	0	0	0
7089	0.58	146.0	407.5	10.1	733	7094	0.00	3.35	0.00	0.000	4	0.000	0.074	2890	3538	2193	0	0	1	0	0	0
7162	0.58	146.0	398.6	12.1	739	7167	0.00	3.33	0.00	0.000	6	0.000	0.067	2905	1970	2193	0	0	0	0	0	0
7486	0.58	146.0	362.3	11.5	769	7491	0.00	3.33	0.00	0.000	4	0.000	0.074	2905	3537	2193	0	0	1	0	0	0
7581	0.52	146.0	350.2	12.9	777	7587	0.25	3.30	0.00	0.000	6	0.190	0.067	2858	1977	2192	0	0	0	0	0	0
7906	0.66	148.2	320.8	9.1	807	7912	0.15	3.33	0.00	0.000	4	0.109	0.073	2910	3538	2191	0	0	1	0	0	0
8026	0.59	148.2	306.3	12.4	817	8032	0.15	3.25	0.00	0.000	6	0.197	0.067	2888	2004	2191	0	0	1	0	0	0
8350	0.65	153.2	274.9	9.0	847	8362	0.00	3.25	5.38	0.696	4	0.000	0.072	2887	3531	2175	0	0	1	0	0	0
8476	0.65	153.2	262.4	10.0	858	8481	0.00	3.22	0.00	0.000	6	0.000	0.066	2900	2019	2175	0	0	0	0	0	0
8800	0.65	153.2	228.8	10.4	888	8805	0.00	3.22	0.00	0.000	4	0.000	0.073	2900	3528	2175	0	0	1	0	0	0
8900	0.65	153.2	216.7	12.3	896	8906	0.00	3.17	0.00	0.000	6	0.000	0.065	2914	2026	2175	0	0	1	0	0	0
9224	0.65	153.2	180.2	10.6	927	9230	0.00	3.22	0.00	0.000	4	0.000	0.073	2914	3538	2175	0	0	1	0	0	0
9320	0.58	153.2	168.5	12.3	935	9326	0.20	3.20	0.00	0.000	6	0.194	0.065	2881	2035	2174	0	0	0	0	0	0
9645	0.73	185.9	140.1	7.8	965	9680	0.15	3.28	27.52	0.790	4	0.111	0.073	2933	3528	2041	0	0	1	0	0	0
9783	0.66	185.9	124.4	12.2	977	9789	0.17	3.20	0.00	0.000	6	0.194	0.065	2908	2050	2038	0	0	0	0	0	0
10111	0.74	185.9	93.0	9.5	1014	10116	0.00	3.22	0.00	0.000	4	0.000	0.072	2908	3538	2037	0	0	0	0	0	0
10184	0.74	185.9	85.1	11.2	1027	10190	0.00	3.17	0.00	0.000	6	0.000	0.064	2919	2060	2037	0	0	0	0	0	0
10528	0.87	203.7	53.6	8.4	1088	10550	0.15	3.17	15.73	0.728	4	0.096	0.071	2976	3531	1967	0	0	1	0	0	0
10696	0.74	203.7	32.4	13.6	1118	10703	0.25	3.15	0.00	0.000	6	0.195	0.066	2929	2081	1965	0	0	0	0	0	0
11029	end climb: SURFACE_DEPTH_REACHED
state	11029	begin surface coast
11053	end surface coast: CONTROL_FINISHED_OK
state	11053	begin surface