Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 306 * 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 306 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 19 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 -41767.949 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 -41767.949

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 306 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 090530,6706.225,-5701.933,38,1.1,43,-37.7 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091407,6706.291,-5702.054,9,1.2,14,-37.7 MHEAD_RNG_PITCHd_Wd 158.7,11838,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 537

Post-dive calculations and measurements:

FREEZE 0.14,0.110,-0.933,0,1,0 ALTIM_TOP_PING 20.0,19.5

FINISH 0.1,1.013794 ALTIM_BOTTOM_PING 450.7,114.7

SM_CCo 11310,112.38,0.719,0,0,1066,425.10 _24V_AH 22.7,59.383

SM_GC 0.97,0.00,0.00,112.38,0.000,0.000,0.719,129,2454,1066,-8.00,-0.17,425.10 _10V_AH 10.1,31.276

RAFOS_CLK 716 FG_AHR_24Vo 0.000

RAFOS 0,1260792066,12.033333,12.018333,59,57,54,0,0,0,178,211,161,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.608398,-5704.352539,141209,040400,2,82,0.34 MEM 152500

IRIDIUM_FIX 6636.54,-5707.59,100399,090906 DATA_FILE_SIZE 47330,1201

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138635,0

HUMID 47.48 CFSIZE 260165632,226168832

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,60,0,0

TCM_TEMP 17.20 SOUNDSPEED 1466.3

XPDR_PINGS 3 GPS 141209,122606,6707.069,-5704.784,32,0.8,32,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 296 156.93 SBE_CT 883 24 481.07

Roll_motor 142 89 289.42 SBE_O2 819 19 353.29

VBD_pump_during_apogee 306 1066 7427.94 nil 0 0 0.00

VBD_pump_during_surface 112 718 1833.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 132.91 nil 0 0 0.00

Iridium_during_connect 68 160 250.10 nil 0 0 0.00

Iridium_during_xfer 201 223 1021.51

Transponder_ping 2 420 23.84

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.73

TT8 2021 19 406.74

LPSleep 6658 2 155.35

TT8_Active 581 19 116.91

TT8_Sampling 2132 39 859.63

TT8_CF8 536 45 249.05

TT8_Kalman 0 0 0.00

Analog_circuits 1673 12 202.79

GPS_charging 0 0 0.00

Compass 2092 8 169.11

RAFOS 1080 1 16.36

Transponder 15 30 4.77

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 -0.73 -146.0 0.0 0.0 0 145 0.00 0.00 -125.62 0.000 2 0.000 0.000 125 2453 3157 0 0 0 0 0 0

148 -0.73 -146.0 3.1 -5.9 25 169 11.32 0.00 -6.28 0.000 6 0.296 0.000 2446 2453 3398 0 0 0 0 0 0

507 -0.73 -146.0 46.3 -10.9 89 513 0.00 3.22 0.00 0.000 4 0.000 0.090 2446 3917 3402 0 0 2 0 0 0

744 -0.73 -146.0 72.3 -10.7 131 749 0.00 3.08 0.00 0.000 6 0.000 0.064 2447 2462 3401 0 0 1 0 0 0

1084 -0.73 -146.0 104.8 -8.7 187 1089 0.00 3.20 0.00 0.000 4 0.000 0.088 2446 3914 3401 0 0 2 0 0 0

1342 -0.80 -146.0 128.5 -9.2 209 1348 0.00 3.00 0.00 0.000 6 0.000 0.064 2447 2502 3400 0 0 1 0 0 0

1667 -0.88 -146.0 156.7 -8.3 240 1673 0.12 3.12 0.00 0.000 4 0.125 0.087 2400 3912 3399 0 0 2 0 0 0

1870 -0.82 -146.0 178.1 -10.9 257 1875 0.00 2.92 0.00 0.000 6 0.000 0.063 2399 2535 3399 0 0 1 0 0 0

2194 -0.78 -146.0 211.5 -9.5 288 2200 0.15 3.08 0.00 0.000 4 0.206 0.084 2428 3926 3399 0 0 2 0 0 0

2430 -0.82 -146.0 230.7 -8.2 308 2436 0.00 2.88 0.00 0.000 6 0.000 0.060 2428 2559 3399 0 0 1 0 0 0

2756 -0.82 -146.0 258.4 -9.2 339 2761 0.00 2.97 0.00 0.000 4 0.000 0.084 2428 3913 3399 0 0 2 0 0 0

2952 -0.82 -146.0 278.0 -10.0 356 2956 0.00 2.83 0.00 0.000 6 0.000 0.060 2428 2576 3400 0 0 1 0 0 0

3276 -0.87 -146.0 307.2 -8.3 386 3281 0.00 2.95 0.00 0.000 4 0.000 0.084 2428 3918 3400 0 0 2 0 0 0

3423 -0.93 -146.0 319.8 -8.4 398 3429 0.12 2.80 0.00 0.000 6 0.110 0.059 2384 2602 3400 0 0 1 0 0 0

3748 -0.85 -146.0 351.9 -9.3 429 3753 0.12 2.92 0.00 0.000 4 0.206 0.083 2411 3915 3400 0 0 2 0 0 0

3945 -0.85 -146.0 369.4 -9.0 446 3949 0.00 2.75 0.00 0.000 6 0.000 0.059 2411 2630 3400 0 0 1 0 0 0

4269 -0.85 -146.0 398.4 -9.2 476 4274 0.00 2.88 0.00 0.000 4 0.000 0.082 2411 3915 3400 0 0 1 0 0 0

4403 -0.85 -146.0 410.8 -9.3 487 4409 0.00 2.72 0.00 0.000 6 0.000 0.058 2412 2640 3400 0 0 1 0 0 0

4728 -0.85 -146.0 439.5 -8.8 518 4732 0.00 2.88 0.00 0.000 4 0.000 0.082 2411 3922 3401 0 0 1 0 0 0

4827 -0.85 -146.0 448.3 -8.8 526 4833 0.00 2.72 0.00 0.000 6 0.000 0.058 2411 2647 3402 0 0 1 0 0 0

5152 -0.85 -146.0 475.2 -8.3 557 5157 0.00 2.85 0.00 0.000 4 0.000 0.081 2411 3914 3402 0 0 1 0 0 0

5293 -0.85 -146.0 486.8 -8.0 569 5298 0.00 2.67 0.00 0.000 6 0.000 0.058 2411 2668 3402 0 0 1 0 0 0

5618 -0.85 -146.0 513.5 -8.2 599 5622 0.00 2.83 0.00 0.000 4 0.000 0.081 2412 3921 3403 0 0 1 0 0 0

5672 -0.85 -146.0 518.2 -8.5 603 5678 0.00 2.70 0.00 0.000 6 0.000 0.057 2411 2673 3403 0 0 0 0 0 0

5910 end dive: TARGET_DEPTH_EXCEEDED

state 5910 begin apogee

5917 -0.16 0.0 537.3 7.3 626 6043 0.77 0.00 121.00 1.066 6 0.178 0.000 2628 1945 2800 0 0 0 0 0 0

6044 end apogee: CONTROL_FINISHED_OK

state 6044 begin climb

6046 0.73 146.0 539.6 0.0 639 6180 0.95 2.20 124.07 1.022 4 0.127 0.084 2925 350 2201 0 0 0 0 0 0

6230 0.66 146.0 522.2 12.9 656 6236 0.00 2.12 0.00 0.000 6 0.000 0.056 2925 1960 2198 0 0 0 0 0 0

6555 0.59 146.0 482.1 12.8 687 6561 0.17 3.38 0.00 0.000 4 0.199 0.074 2880 3531 2194 0 0 3 0 0 0

6640 0.59 146.0 472.2 11.3 694 6645 0.00 3.38 0.00 0.000 6 0.000 0.067 2893 1950 2193 0 0 2 0 0 0

6964 0.59 146.0 438.4 9.7 724 6969 0.00 3.38 0.00 0.000 4 0.000 0.076 2893 3534 2193 0 0 3 0 0 0

7082 0.59 146.0 425.9 11.0 734 7087 0.00 3.35 0.00 0.000 6 0.000 0.068 2908 1958 2192 0 0 2 0 0 0

7406 0.59 146.0 391.9 11.3 764 7411 0.00 3.35 0.00 0.000 4 0.000 0.076 2908 3528 2192 0 0 2 0 0 0

7491 0.51 146.0 381.5 12.7 771 7497 0.25 3.30 0.00 0.000 6 0.197 0.068 2862 1971 2191 0 0 2 0 0 0

7816 0.64 146.0 351.4 9.3 801 7821 0.10 3.33 0.00 0.000 4 0.130 0.076 2897 3528 2191 0 0 2 0 0 0

7928 0.64 146.0 337.8 12.2 810 7934 0.00 3.25 0.00 0.000 6 0.000 0.067 2911 2002 2191 0 0 1 0 0 0

8252 0.64 146.0 301.3 10.8 841 8257 0.00 3.30 0.00 0.000 4 0.000 0.076 2911 3528 2191 0 0 1 0 0 0

8337 0.57 146.0 291.3 12.5 848 8343 0.20 3.28 0.00 0.000 6 0.194 0.067 2877 2006 2191 0 0 0 0 0 0

8662 0.69 158.7 262.7 8.6 878 8679 0.10 3.30 9.90 0.811 4 0.132 0.075 2912 3533 2152 0 0 1 0 0 0

8782 0.63 158.7 249.5 11.3 888 8788 0.12 3.25 0.00 0.000 6 0.201 0.067 2899 2022 2151 0 0 1 0 0 0

9107 0.68 161.8 219.6 9.0 918 9118 0.00 3.28 4.03 0.601 4 0.000 0.075 2898 3529 2140 0 0 1 0 0 0

9231 0.68 161.8 207.0 10.7 929 9236 0.00 3.22 0.00 0.000 6 0.000 0.067 2911 2045 2139 0 0 0 0 0 0

9557 0.68 161.8 175.2 9.9 959 9562 0.00 3.22 0.00 0.000 4 0.000 0.076 2910 3529 2139 0 0 2 0 0 0

9641 0.68 161.8 166.0 10.9 966 9646 0.00 3.20 0.00 0.000 6 0.000 0.067 2924 2056 2139 0 0 0 0 0 0

9965 0.68 161.8 132.3 10.9 996 9970 0.00 3.20 0.00 0.000 4 0.000 0.076 2925 3528 2139 0 0 2 0 0 0

10108 0.62 161.8 115.7 11.8 1008 10114 0.20 3.15 0.00 0.000 6 0.196 0.067 2891 2073 2139 0 0 1 0 0 0

10440 0.84 219.9 92.0 6.7 1049 10497 0.20 3.30 47.92 0.782 4 0.099 0.075 2962 3527 1902 0 0 1 0 0 0

10565 0.77 219.9 77.9 13.6 1072 10572 0.15 3.17 0.00 0.000 6 0.199 0.067 2943 2079 1899 0 0 2 0 0 0

10910 0.84 219.9 41.1 10.1 1133 10916 0.00 3.22 0.00 0.000 4 0.000 0.076 2943 3533 1896 0 0 1 0 0 0

11024 0.84 219.9 28.4 10.3 1153 11030 0.00 3.15 0.00 0.000 6 0.000 0.068 2955 2089 1896 0 0 2 0 0 0

11276 end climb: SURFACE_DEPTH_REACHED

state 11276 begin surface coast

11294 end surface coast: CONTROL_FINISHED_OK

state 11294 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	306	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	19	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	-41767.949	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	090530,6706.225,-5701.933,38,1.1,43,-37.7	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091407,6706.291,-5702.054,9,1.2,14,-37.7	MHEAD_RNG_PITCHd_Wd	158.7,11838,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	537

FREEZE	0.14,0.110,-0.933,0,1,0	ALTIM_TOP_PING	20.0,19.5
FINISH	0.1,1.013794	ALTIM_BOTTOM_PING	450.7,114.7
SM_CCo	11310,112.38,0.719,0,0,1066,425.10	_24V_AH	22.7,59.383
SM_GC	0.97,0.00,0.00,112.38,0.000,0.000,0.719,129,2454,1066,-8.00,-0.17,425.10	_10V_AH	10.1,31.276
RAFOS_CLK	716	FG_AHR_24Vo	0.000
RAFOS	0,1260792066,12.033333,12.018333,59,57,54,0,0,0,178,211,161,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.608398,-5704.352539,141209,040400,2,82,0.34	MEM	152500
IRIDIUM_FIX	6636.54,-5707.59,100399,090906	DATA_FILE_SIZE	47330,1201
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138635,0
HUMID	47.48	CFSIZE	260165632,226168832
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
TCM_TEMP	17.20	SOUNDSPEED	1466.3
XPDR_PINGS	3	GPS	141209,122606,6707.069,-5704.784,32,0.8,32,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	296	156.93	SBE_CT	883	24	481.07
Roll_motor	142	89	289.42	SBE_O2	819	19	353.29
VBD_pump_during_apogee	306	1066	7427.94	nil	0	0	0.00
VBD_pump_during_surface	112	718	1833.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	132.91	nil	0	0	0.00
Iridium_during_connect	68	160	250.10	nil	0	0	0.00
Iridium_during_xfer	201	223	1021.51
Transponder_ping	2	420	23.84
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.73
TT8	2021	19	406.74
LPSleep	6658	2	155.35
TT8_Active	581	19	116.91
TT8_Sampling	2132	39	859.63
TT8_CF8	536	45	249.05
TT8_Kalman	0	0	0.00
Analog_circuits	1673	12	202.79
GPS_charging	0	0	0.00
Compass	2092	8	169.11
RAFOS	1080	1	16.36
Transponder	15	30	4.77

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	-0.73	-146.0	0.0	0.0	0	145	0.00	0.00	-125.62	0.000	2	0.000	0.000	125	2453	3157	0	0	0	0	0	0
148	-0.73	-146.0	3.1	-5.9	25	169	11.32	0.00	-6.28	0.000	6	0.296	0.000	2446	2453	3398	0	0	0	0	0	0
507	-0.73	-146.0	46.3	-10.9	89	513	0.00	3.22	0.00	0.000	4	0.000	0.090	2446	3917	3402	0	0	2	0	0	0
744	-0.73	-146.0	72.3	-10.7	131	749	0.00	3.08	0.00	0.000	6	0.000	0.064	2447	2462	3401	0	0	1	0	0	0
1084	-0.73	-146.0	104.8	-8.7	187	1089	0.00	3.20	0.00	0.000	4	0.000	0.088	2446	3914	3401	0	0	2	0	0	0
1342	-0.80	-146.0	128.5	-9.2	209	1348	0.00	3.00	0.00	0.000	6	0.000	0.064	2447	2502	3400	0	0	1	0	0	0
1667	-0.88	-146.0	156.7	-8.3	240	1673	0.12	3.12	0.00	0.000	4	0.125	0.087	2400	3912	3399	0	0	2	0	0	0
1870	-0.82	-146.0	178.1	-10.9	257	1875	0.00	2.92	0.00	0.000	6	0.000	0.063	2399	2535	3399	0	0	1	0	0	0
2194	-0.78	-146.0	211.5	-9.5	288	2200	0.15	3.08	0.00	0.000	4	0.206	0.084	2428	3926	3399	0	0	2	0	0	0
2430	-0.82	-146.0	230.7	-8.2	308	2436	0.00	2.88	0.00	0.000	6	0.000	0.060	2428	2559	3399	0	0	1	0	0	0
2756	-0.82	-146.0	258.4	-9.2	339	2761	0.00	2.97	0.00	0.000	4	0.000	0.084	2428	3913	3399	0	0	2	0	0	0
2952	-0.82	-146.0	278.0	-10.0	356	2956	0.00	2.83	0.00	0.000	6	0.000	0.060	2428	2576	3400	0	0	1	0	0	0
3276	-0.87	-146.0	307.2	-8.3	386	3281	0.00	2.95	0.00	0.000	4	0.000	0.084	2428	3918	3400	0	0	2	0	0	0
3423	-0.93	-146.0	319.8	-8.4	398	3429	0.12	2.80	0.00	0.000	6	0.110	0.059	2384	2602	3400	0	0	1	0	0	0
3748	-0.85	-146.0	351.9	-9.3	429	3753	0.12	2.92	0.00	0.000	4	0.206	0.083	2411	3915	3400	0	0	2	0	0	0
3945	-0.85	-146.0	369.4	-9.0	446	3949	0.00	2.75	0.00	0.000	6	0.000	0.059	2411	2630	3400	0	0	1	0	0	0
4269	-0.85	-146.0	398.4	-9.2	476	4274	0.00	2.88	0.00	0.000	4	0.000	0.082	2411	3915	3400	0	0	1	0	0	0
4403	-0.85	-146.0	410.8	-9.3	487	4409	0.00	2.72	0.00	0.000	6	0.000	0.058	2412	2640	3400	0	0	1	0	0	0
4728	-0.85	-146.0	439.5	-8.8	518	4732	0.00	2.88	0.00	0.000	4	0.000	0.082	2411	3922	3401	0	0	1	0	0	0
4827	-0.85	-146.0	448.3	-8.8	526	4833	0.00	2.72	0.00	0.000	6	0.000	0.058	2411	2647	3402	0	0	1	0	0	0
5152	-0.85	-146.0	475.2	-8.3	557	5157	0.00	2.85	0.00	0.000	4	0.000	0.081	2411	3914	3402	0	0	1	0	0	0
5293	-0.85	-146.0	486.8	-8.0	569	5298	0.00	2.67	0.00	0.000	6	0.000	0.058	2411	2668	3402	0	0	1	0	0	0
5618	-0.85	-146.0	513.5	-8.2	599	5622	0.00	2.83	0.00	0.000	4	0.000	0.081	2412	3921	3403	0	0	1	0	0	0
5672	-0.85	-146.0	518.2	-8.5	603	5678	0.00	2.70	0.00	0.000	6	0.000	0.057	2411	2673	3403	0	0	0	0	0	0
5910	end dive: TARGET_DEPTH_EXCEEDED
state	5910	begin apogee
5917	-0.16	0.0	537.3	7.3	626	6043	0.77	0.00	121.00	1.066	6	0.178	0.000	2628	1945	2800	0	0	0	0	0	0
6044	end apogee: CONTROL_FINISHED_OK
state	6044	begin climb
6046	0.73	146.0	539.6	0.0	639	6180	0.95	2.20	124.07	1.022	4	0.127	0.084	2925	350	2201	0	0	0	0	0	0
6230	0.66	146.0	522.2	12.9	656	6236	0.00	2.12	0.00	0.000	6	0.000	0.056	2925	1960	2198	0	0	0	0	0	0
6555	0.59	146.0	482.1	12.8	687	6561	0.17	3.38	0.00	0.000	4	0.199	0.074	2880	3531	2194	0	0	3	0	0	0
6640	0.59	146.0	472.2	11.3	694	6645	0.00	3.38	0.00	0.000	6	0.000	0.067	2893	1950	2193	0	0	2	0	0	0
6964	0.59	146.0	438.4	9.7	724	6969	0.00	3.38	0.00	0.000	4	0.000	0.076	2893	3534	2193	0	0	3	0	0	0
7082	0.59	146.0	425.9	11.0	734	7087	0.00	3.35	0.00	0.000	6	0.000	0.068	2908	1958	2192	0	0	2	0	0	0
7406	0.59	146.0	391.9	11.3	764	7411	0.00	3.35	0.00	0.000	4	0.000	0.076	2908	3528	2192	0	0	2	0	0	0
7491	0.51	146.0	381.5	12.7	771	7497	0.25	3.30	0.00	0.000	6	0.197	0.068	2862	1971	2191	0	0	2	0	0	0
7816	0.64	146.0	351.4	9.3	801	7821	0.10	3.33	0.00	0.000	4	0.130	0.076	2897	3528	2191	0	0	2	0	0	0
7928	0.64	146.0	337.8	12.2	810	7934	0.00	3.25	0.00	0.000	6	0.000	0.067	2911	2002	2191	0	0	1	0	0	0
8252	0.64	146.0	301.3	10.8	841	8257	0.00	3.30	0.00	0.000	4	0.000	0.076	2911	3528	2191	0	0	1	0	0	0
8337	0.57	146.0	291.3	12.5	848	8343	0.20	3.28	0.00	0.000	6	0.194	0.067	2877	2006	2191	0	0	0	0	0	0
8662	0.69	158.7	262.7	8.6	878	8679	0.10	3.30	9.90	0.811	4	0.132	0.075	2912	3533	2152	0	0	1	0	0	0
8782	0.63	158.7	249.5	11.3	888	8788	0.12	3.25	0.00	0.000	6	0.201	0.067	2899	2022	2151	0	0	1	0	0	0
9107	0.68	161.8	219.6	9.0	918	9118	0.00	3.28	4.03	0.601	4	0.000	0.075	2898	3529	2140	0	0	1	0	0	0
9231	0.68	161.8	207.0	10.7	929	9236	0.00	3.22	0.00	0.000	6	0.000	0.067	2911	2045	2139	0	0	0	0	0	0
9557	0.68	161.8	175.2	9.9	959	9562	0.00	3.22	0.00	0.000	4	0.000	0.076	2910	3529	2139	0	0	2	0	0	0
9641	0.68	161.8	166.0	10.9	966	9646	0.00	3.20	0.00	0.000	6	0.000	0.067	2924	2056	2139	0	0	0	0	0	0
9965	0.68	161.8	132.3	10.9	996	9970	0.00	3.20	0.00	0.000	4	0.000	0.076	2925	3528	2139	0	0	2	0	0	0
10108	0.62	161.8	115.7	11.8	1008	10114	0.20	3.15	0.00	0.000	6	0.196	0.067	2891	2073	2139	0	0	1	0	0	0
10440	0.84	219.9	92.0	6.7	1049	10497	0.20	3.30	47.92	0.782	4	0.099	0.075	2962	3527	1902	0	0	1	0	0	0
10565	0.77	219.9	77.9	13.6	1072	10572	0.15	3.17	0.00	0.000	6	0.199	0.067	2943	2079	1899	0	0	2	0	0	0
10910	0.84	219.9	41.1	10.1	1133	10916	0.00	3.22	0.00	0.000	4	0.000	0.076	2943	3533	1896	0	0	1	0	0	0
11024	0.84	219.9	28.4	10.3	1153	11030	0.00	3.15	0.00	0.000	6	0.000	0.068	2955	2089	1896	0	0	2	0	0	0
11276	end climb: SURFACE_DEPTH_REACHED
state	11276	begin surface coast
11294	end surface coast: CONTROL_FINISHED_OK
state	11294	begin surface