Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 304 * 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 304 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 21 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 23 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 -41736.125 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 -41736.125

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 304 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 022801,6707.262,-5700.963,38,1.7,38,-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 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 023313,6707.275,-5700.996,9,1.3,14,-37.7 MHEAD_RNG_PITCHd_Wd 167.9,12279,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 502

Post-dive calculations and measurements:

FREEZE 0.08,0.091,-1.804,0,1,0 ALTIM_TOP_PING 19.6,19.3

FINISH 0.1,1.026431 ALTIM_BOTTOM_PING 350.3,172.7

SM_CCo 11027,117.25,0.710,0,0,1066,425.10 _24V_AH 22.8,59.133

SM_GC 0.88,0.00,0.00,117.25,0.000,0.000,0.710,125,2468,1066,-8.02,0.23,425.10 _10V_AH 10.1,31.131

RAFOS_CLK 676 FG_AHR_24Vo 0.000

RAFOS 0,1260763269,4.033333,4.019166,65,56,55,0,0,0,206,150,219,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.608398,-5704.352539,141209,040400,2,82,0.34 MEM 152492

IRIDIUM_FIX 6636.54,-5659.96,090399,232306 DATA_FILE_SIZE 44176,1187

TT8_MAMPS 0.026845 CAP_FILE_SIZE 137019,0

HUMID 46.25 CFSIZE 260165632,226316288

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,33,0,0

TCM_TEMP 17.30 SOUNDSPEED 1468.0

XPDR_PINGS 2 GPS 141209,054037,6706.577,-5701.259,26,1.5,26,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 289 153.03 SBE_CT 864 24 473.06

Roll_motor 144 95 313.99 SBE_O2 807 19 349.92

VBD_pump_during_apogee 300 1039 7118.19 nil 0 0 0.00

VBD_pump_during_surface 117 710 1898.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 75.55 nil 0 0 0.00

Iridium_during_connect 30 160 111.80 nil 0 0 0.00

Iridium_during_xfer 129 223 658.60

Transponder_ping 1 420 14.36

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.28

TT8 2027 19 407.93

LPSleep 6379 2 148.85

TT8_Active 586 19 117.94

TT8_Sampling 2075 39 836.64

TT8_CF8 390 45 180.89

TT8_Kalman 0 0 0.00

Analog_circuits 1655 12 200.71

GPS_charging 0 0 0.00

Compass 2035 8 164.48

RAFOS 2520 1 38.18

Transponder 10 30 3.13

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 -125.00 0.000 2 0.000 0.000 126 2467 3224 0 0 0 0 0 0

147 -0.73 -146.0 3.6 -7.9 25 168 11.10 2.33 -4.28 0.000 4 0.290 0.095 2444 866 3397 0 0 0 0 0 0

214 -0.73 -146.0 16.7 -11.2 37 220 0.00 2.25 0.00 0.000 6 0.000 0.068 2444 2459 3399 0 0 0 0 0 0

558 -0.73 -146.0 51.3 -10.1 98 563 0.00 3.17 0.00 0.000 4 0.000 0.088 2444 3921 3399 0 0 1 0 0 0

818 -0.73 -146.0 77.4 -9.8 144 824 0.00 2.97 0.00 0.000 6 0.000 0.064 2444 2496 3399 0 0 1 0 0 0

1157 -0.79 -146.0 109.0 -8.9 196 1162 0.00 3.10 0.00 0.000 4 0.000 0.087 2444 3919 3398 0 0 1 0 0 0

1331 -0.86 -146.0 125.0 -9.4 211 1336 0.00 2.92 0.00 0.000 6 0.000 0.064 2444 2516 3397 0 0 1 0 0 0

1657 -0.93 -146.0 154.0 -8.7 241 1662 0.17 3.08 0.00 0.000 4 0.110 0.084 2372 3928 3396 0 0 1 0 0 0

1915 -0.78 -146.0 184.3 -11.9 263 1922 0.25 2.85 0.00 0.000 6 0.203 0.061 2431 2552 3395 0 0 1 0 0 0

2240 -0.83 -146.0 213.2 -8.2 294 2245 0.00 2.97 0.00 0.000 4 0.000 0.084 2431 3928 3396 0 0 1 0 0 0

2409 -0.90 -146.0 226.8 -8.4 308 2415 0.00 2.80 0.00 0.000 6 0.000 0.060 2432 2580 3396 0 0 1 0 0 0

2734 -0.96 -146.0 250.9 -7.5 339 2740 0.15 2.92 0.00 0.000 4 0.117 0.081 2373 3920 3396 0 0 2 0 0 0

2836 -0.83 -146.0 261.4 -10.8 347 2842 0.20 2.78 0.00 0.000 6 0.200 0.058 2420 2586 3396 0 0 1 0 0 0

3162 -0.83 -146.0 288.6 -8.3 378 3167 0.00 2.90 0.00 0.000 4 0.000 0.081 2420 3918 3397 0 0 1 0 0 0

3340 -0.83 -146.0 304.0 -8.9 393 3346 0.00 2.75 0.00 0.000 6 0.000 0.057 2420 2612 3397 0 0 0 0 0 0

3667 -0.83 -146.0 327.8 -7.3 424 3671 0.00 2.88 0.00 0.000 4 0.000 0.081 2420 3928 3398 0 0 1 0 0 0

3819 -0.83 -146.0 338.7 -7.3 437 3824 0.00 2.72 0.00 0.000 6 0.000 0.058 2419 2629 3399 0 0 1 0 0 0

4144 -0.83 -146.0 361.9 -7.2 467 4149 0.00 2.83 0.00 0.000 4 0.000 0.079 2420 3918 3399 0 0 1 0 0 0

4233 -0.88 -146.0 369.0 -8.4 474 4239 0.00 2.67 0.00 0.000 6 0.000 0.057 2420 2642 3399 0 0 1 0 0 0

4557 -0.88 -146.0 394.8 -8.2 505 4562 0.00 2.80 0.00 0.000 4 0.000 0.079 2419 3918 3400 0 0 1 0 0 0

4677 -0.92 -146.0 404.8 -8.4 515 4681 0.00 2.65 0.00 0.000 6 0.000 0.057 2420 2660 3400 0 0 1 0 0 0

5002 -0.97 -146.0 431.2 -8.1 545 5008 0.12 2.80 0.00 0.000 4 0.120 0.077 2364 3924 3400 0 0 1 0 0 0

5159 -0.83 -146.0 447.8 -10.2 558 5165 0.22 2.60 0.00 0.000 6 0.199 0.055 2417 2683 3400 0 0 1 0 0 0

5484 -0.83 -146.0 474.1 -8.1 589 5488 0.00 2.75 0.00 0.000 4 0.000 0.080 2417 3925 3401 0 0 1 0 0 0

5590 -0.83 -146.0 482.6 -7.7 598 5594 0.00 2.60 0.00 0.000 6 0.000 0.055 2417 2694 3401 0 0 1 0 0 0

5848 end dive: TARGET_DEPTH_EXCEEDED

state 5848 begin apogee

5854 -0.16 0.0 502.4 7.7 622 5981 0.73 0.00 119.62 1.039 6 0.168 0.000 2628 1938 2799 0 0 0 0 0 0

5982 end apogee: CONTROL_FINISHED_OK

state 5982 begin climb

5984 0.73 146.0 504.4 0.0 635 6117 0.95 2.33 122.03 0.996 4 0.126 0.083 2926 357 2202 0 0 0 0 0 0

6179 0.65 146.0 486.7 12.2 653 6185 0.00 2.12 0.00 0.000 6 0.000 0.055 2926 1961 2199 0 0 0 0 0 0

6504 0.57 146.0 449.6 12.0 684 6509 0.20 3.38 0.00 0.000 4 0.196 0.071 2878 3528 2195 0 0 0 0 0 0

6612 0.57 146.0 438.0 10.4 693 6618 0.00 3.35 0.00 0.000 6 0.000 0.066 2890 1953 2195 0 0 0 0 0 0

6936 0.57 146.0 406.0 9.7 723 6941 0.00 3.35 0.00 0.000 4 0.000 0.074 2890 3532 2194 0 0 1 0 0 0

7063 0.57 146.0 392.8 10.7 733 7069 0.12 3.30 0.00 0.000 6 0.202 0.067 2879 1974 2193 0 0 0 0 0 0

7387 0.65 152.2 363.5 8.9 764 7398 0.00 3.33 4.82 0.696 4 0.000 0.074 2879 3531 2179 0 0 0 0 0 0

7512 0.65 152.2 350.9 10.6 775 7518 0.00 3.28 0.00 0.000 6 0.000 0.067 2891 1988 2178 0 0 0 0 0 0

7837 0.65 152.2 318.8 9.9 805 7842 0.00 3.30 0.00 0.000 4 0.000 0.075 2891 3537 2178 0 0 1 0 0 0

7966 0.65 152.2 304.4 11.7 816 7971 0.00 3.25 0.00 0.000 6 0.000 0.067 2906 2011 2178 0 0 0 0 0 0

8291 0.65 152.2 267.3 11.9 846 8296 0.00 3.25 0.00 0.000 4 0.000 0.074 2906 3532 2178 0 0 1 0 0 0

8364 0.60 152.2 257.6 13.6 852 8370 0.15 3.22 0.00 0.000 6 0.200 0.066 2886 2019 2178 0 0 0 0 0 0

8688 0.67 152.2 223.8 9.8 882 8693 0.00 3.22 0.00 0.000 4 0.000 0.074 2886 3527 2178 0 0 1 0 0 0

8783 0.67 152.2 213.4 10.8 890 8788 0.00 3.20 0.00 0.000 6 0.000 0.066 2898 2024 2177 0 0 0 0 0 0

9108 0.72 152.2 180.5 9.9 920 9113 0.00 3.22 0.00 0.000 4 0.000 0.074 2898 3532 2178 0 0 1 0 0 0

9196 0.72 152.2 170.5 11.5 927 9203 0.00 3.15 0.00 0.000 6 0.000 0.064 2912 2042 2178 0 0 1 0 0 0

9521 0.72 152.2 138.0 9.6 958 9526 0.00 3.20 0.00 0.000 4 0.000 0.074 2912 3531 2178 0 0 1 0 0 0

9583 0.66 152.2 131.3 10.7 963 9588 0.00 3.17 0.00 0.000 6 0.000 0.064 2926 2043 2178 0 0 0 0 0 0

9908 0.69 177.7 100.7 8.1 993 9939 0.00 3.25 21.98 0.765 4 0.000 0.074 2926 3528 2073 0 0 1 0 0 0

10019 0.69 177.7 90.6 9.3 1012 10024 0.00 3.17 0.00 0.000 6 0.000 0.065 2940 2052 2071 0 0 0 0 0 0

10362 0.70 183.6 59.2 8.9 1073 10377 0.00 3.20 6.22 0.647 4 0.000 0.073 2940 3538 2049 0 0 1 0 0 0

10480 0.70 183.6 47.2 10.4 1094 10487 0.15 3.17 0.00 0.000 6 0.198 0.066 2920 2063 2048 0 0 0 0 0 0

10827 0.83 214.1 19.6 7.9 1155 10859 0.12 3.17 25.73 0.738 4 0.120 0.074 2964 3528 1926 0 0 2 0 0 0

10945 0.76 214.1 6.3 12.4 1176 10951 0.17 3.17 0.00 0.000 6 0.195 0.067 2937 2075 1922 0 0 0 0 0 0

10984 end climb: SURFACE_DEPTH_REACHED

state 10984 begin surface coast

11009 end surface coast: CONTROL_FINISHED_OK

state 11009 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	304	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	21	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	23	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	-41736.125	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	022801,6707.262,-5700.963,38,1.7,38,-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	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	023313,6707.275,-5700.996,9,1.3,14,-37.7	MHEAD_RNG_PITCHd_Wd	167.9,12279,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	502

FREEZE	0.08,0.091,-1.804,0,1,0	ALTIM_TOP_PING	19.6,19.3
FINISH	0.1,1.026431	ALTIM_BOTTOM_PING	350.3,172.7
SM_CCo	11027,117.25,0.710,0,0,1066,425.10	_24V_AH	22.8,59.133
SM_GC	0.88,0.00,0.00,117.25,0.000,0.000,0.710,125,2468,1066,-8.02,0.23,425.10	_10V_AH	10.1,31.131
RAFOS_CLK	676	FG_AHR_24Vo	0.000
RAFOS	0,1260763269,4.033333,4.019166,65,56,55,0,0,0,206,150,219,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.608398,-5704.352539,141209,040400,2,82,0.34	MEM	152492
IRIDIUM_FIX	6636.54,-5659.96,090399,232306	DATA_FILE_SIZE	44176,1187
TT8_MAMPS	0.026845	CAP_FILE_SIZE	137019,0
HUMID	46.25	CFSIZE	260165632,226316288
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
TCM_TEMP	17.30	SOUNDSPEED	1468.0
XPDR_PINGS	2	GPS	141209,054037,6706.577,-5701.259,26,1.5,26,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	289	153.03	SBE_CT	864	24	473.06
Roll_motor	144	95	313.99	SBE_O2	807	19	349.92
VBD_pump_during_apogee	300	1039	7118.19	nil	0	0	0.00
VBD_pump_during_surface	117	710	1898.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	75.55	nil	0	0	0.00
Iridium_during_connect	30	160	111.80	nil	0	0	0.00
Iridium_during_xfer	129	223	658.60
Transponder_ping	1	420	14.36
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.28
TT8	2027	19	407.93
LPSleep	6379	2	148.85
TT8_Active	586	19	117.94
TT8_Sampling	2075	39	836.64
TT8_CF8	390	45	180.89
TT8_Kalman	0	0	0.00
Analog_circuits	1655	12	200.71
GPS_charging	0	0	0.00
Compass	2035	8	164.48
RAFOS	2520	1	38.18
Transponder	10	30	3.13

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	-125.00	0.000	2	0.000	0.000	126	2467	3224	0	0	0	0	0	0
147	-0.73	-146.0	3.6	-7.9	25	168	11.10	2.33	-4.28	0.000	4	0.290	0.095	2444	866	3397	0	0	0	0	0	0
214	-0.73	-146.0	16.7	-11.2	37	220	0.00	2.25	0.00	0.000	6	0.000	0.068	2444	2459	3399	0	0	0	0	0	0
558	-0.73	-146.0	51.3	-10.1	98	563	0.00	3.17	0.00	0.000	4	0.000	0.088	2444	3921	3399	0	0	1	0	0	0
818	-0.73	-146.0	77.4	-9.8	144	824	0.00	2.97	0.00	0.000	6	0.000	0.064	2444	2496	3399	0	0	1	0	0	0
1157	-0.79	-146.0	109.0	-8.9	196	1162	0.00	3.10	0.00	0.000	4	0.000	0.087	2444	3919	3398	0	0	1	0	0	0
1331	-0.86	-146.0	125.0	-9.4	211	1336	0.00	2.92	0.00	0.000	6	0.000	0.064	2444	2516	3397	0	0	1	0	0	0
1657	-0.93	-146.0	154.0	-8.7	241	1662	0.17	3.08	0.00	0.000	4	0.110	0.084	2372	3928	3396	0	0	1	0	0	0
1915	-0.78	-146.0	184.3	-11.9	263	1922	0.25	2.85	0.00	0.000	6	0.203	0.061	2431	2552	3395	0	0	1	0	0	0
2240	-0.83	-146.0	213.2	-8.2	294	2245	0.00	2.97	0.00	0.000	4	0.000	0.084	2431	3928	3396	0	0	1	0	0	0
2409	-0.90	-146.0	226.8	-8.4	308	2415	0.00	2.80	0.00	0.000	6	0.000	0.060	2432	2580	3396	0	0	1	0	0	0
2734	-0.96	-146.0	250.9	-7.5	339	2740	0.15	2.92	0.00	0.000	4	0.117	0.081	2373	3920	3396	0	0	2	0	0	0
2836	-0.83	-146.0	261.4	-10.8	347	2842	0.20	2.78	0.00	0.000	6	0.200	0.058	2420	2586	3396	0	0	1	0	0	0
3162	-0.83	-146.0	288.6	-8.3	378	3167	0.00	2.90	0.00	0.000	4	0.000	0.081	2420	3918	3397	0	0	1	0	0	0
3340	-0.83	-146.0	304.0	-8.9	393	3346	0.00	2.75	0.00	0.000	6	0.000	0.057	2420	2612	3397	0	0	0	0	0	0
3667	-0.83	-146.0	327.8	-7.3	424	3671	0.00	2.88	0.00	0.000	4	0.000	0.081	2420	3928	3398	0	0	1	0	0	0
3819	-0.83	-146.0	338.7	-7.3	437	3824	0.00	2.72	0.00	0.000	6	0.000	0.058	2419	2629	3399	0	0	1	0	0	0
4144	-0.83	-146.0	361.9	-7.2	467	4149	0.00	2.83	0.00	0.000	4	0.000	0.079	2420	3918	3399	0	0	1	0	0	0
4233	-0.88	-146.0	369.0	-8.4	474	4239	0.00	2.67	0.00	0.000	6	0.000	0.057	2420	2642	3399	0	0	1	0	0	0
4557	-0.88	-146.0	394.8	-8.2	505	4562	0.00	2.80	0.00	0.000	4	0.000	0.079	2419	3918	3400	0	0	1	0	0	0
4677	-0.92	-146.0	404.8	-8.4	515	4681	0.00	2.65	0.00	0.000	6	0.000	0.057	2420	2660	3400	0	0	1	0	0	0
5002	-0.97	-146.0	431.2	-8.1	545	5008	0.12	2.80	0.00	0.000	4	0.120	0.077	2364	3924	3400	0	0	1	0	0	0
5159	-0.83	-146.0	447.8	-10.2	558	5165	0.22	2.60	0.00	0.000	6	0.199	0.055	2417	2683	3400	0	0	1	0	0	0
5484	-0.83	-146.0	474.1	-8.1	589	5488	0.00	2.75	0.00	0.000	4	0.000	0.080	2417	3925	3401	0	0	1	0	0	0
5590	-0.83	-146.0	482.6	-7.7	598	5594	0.00	2.60	0.00	0.000	6	0.000	0.055	2417	2694	3401	0	0	1	0	0	0
5848	end dive: TARGET_DEPTH_EXCEEDED
state	5848	begin apogee
5854	-0.16	0.0	502.4	7.7	622	5981	0.73	0.00	119.62	1.039	6	0.168	0.000	2628	1938	2799	0	0	0	0	0	0
5982	end apogee: CONTROL_FINISHED_OK
state	5982	begin climb
5984	0.73	146.0	504.4	0.0	635	6117	0.95	2.33	122.03	0.996	4	0.126	0.083	2926	357	2202	0	0	0	0	0	0
6179	0.65	146.0	486.7	12.2	653	6185	0.00	2.12	0.00	0.000	6	0.000	0.055	2926	1961	2199	0	0	0	0	0	0
6504	0.57	146.0	449.6	12.0	684	6509	0.20	3.38	0.00	0.000	4	0.196	0.071	2878	3528	2195	0	0	0	0	0	0
6612	0.57	146.0	438.0	10.4	693	6618	0.00	3.35	0.00	0.000	6	0.000	0.066	2890	1953	2195	0	0	0	0	0	0
6936	0.57	146.0	406.0	9.7	723	6941	0.00	3.35	0.00	0.000	4	0.000	0.074	2890	3532	2194	0	0	1	0	0	0
7063	0.57	146.0	392.8	10.7	733	7069	0.12	3.30	0.00	0.000	6	0.202	0.067	2879	1974	2193	0	0	0	0	0	0
7387	0.65	152.2	363.5	8.9	764	7398	0.00	3.33	4.82	0.696	4	0.000	0.074	2879	3531	2179	0	0	0	0	0	0
7512	0.65	152.2	350.9	10.6	775	7518	0.00	3.28	0.00	0.000	6	0.000	0.067	2891	1988	2178	0	0	0	0	0	0
7837	0.65	152.2	318.8	9.9	805	7842	0.00	3.30	0.00	0.000	4	0.000	0.075	2891	3537	2178	0	0	1	0	0	0
7966	0.65	152.2	304.4	11.7	816	7971	0.00	3.25	0.00	0.000	6	0.000	0.067	2906	2011	2178	0	0	0	0	0	0
8291	0.65	152.2	267.3	11.9	846	8296	0.00	3.25	0.00	0.000	4	0.000	0.074	2906	3532	2178	0	0	1	0	0	0
8364	0.60	152.2	257.6	13.6	852	8370	0.15	3.22	0.00	0.000	6	0.200	0.066	2886	2019	2178	0	0	0	0	0	0
8688	0.67	152.2	223.8	9.8	882	8693	0.00	3.22	0.00	0.000	4	0.000	0.074	2886	3527	2178	0	0	1	0	0	0
8783	0.67	152.2	213.4	10.8	890	8788	0.00	3.20	0.00	0.000	6	0.000	0.066	2898	2024	2177	0	0	0	0	0	0
9108	0.72	152.2	180.5	9.9	920	9113	0.00	3.22	0.00	0.000	4	0.000	0.074	2898	3532	2178	0	0	1	0	0	0
9196	0.72	152.2	170.5	11.5	927	9203	0.00	3.15	0.00	0.000	6	0.000	0.064	2912	2042	2178	0	0	1	0	0	0
9521	0.72	152.2	138.0	9.6	958	9526	0.00	3.20	0.00	0.000	4	0.000	0.074	2912	3531	2178	0	0	1	0	0	0
9583	0.66	152.2	131.3	10.7	963	9588	0.00	3.17	0.00	0.000	6	0.000	0.064	2926	2043	2178	0	0	0	0	0	0
9908	0.69	177.7	100.7	8.1	993	9939	0.00	3.25	21.98	0.765	4	0.000	0.074	2926	3528	2073	0	0	1	0	0	0
10019	0.69	177.7	90.6	9.3	1012	10024	0.00	3.17	0.00	0.000	6	0.000	0.065	2940	2052	2071	0	0	0	0	0	0
10362	0.70	183.6	59.2	8.9	1073	10377	0.00	3.20	6.22	0.647	4	0.000	0.073	2940	3538	2049	0	0	1	0	0	0
10480	0.70	183.6	47.2	10.4	1094	10487	0.15	3.17	0.00	0.000	6	0.198	0.066	2920	2063	2048	0	0	0	0	0	0
10827	0.83	214.1	19.6	7.9	1155	10859	0.12	3.17	25.73	0.738	4	0.120	0.074	2964	3528	1926	0	0	2	0	0	0
10945	0.76	214.1	6.3	12.4	1176	10951	0.17	3.17	0.00	0.000	6	0.195	0.067	2937	2075	1922	0	0	0	0	0	0
10984	end climb: SURFACE_DEPTH_REACHED
state	10984	begin surface coast
11009	end surface coast: CONTROL_FINISHED_OK
state	11009	begin surface