Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 308 * 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 308 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 18 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 -41806.227 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 -41806.227

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 18 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 308 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 155737,6707.601,-5707.337,40,1.0,40,-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 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160319,6707.625,-5707.345,11,1.2,16,-37.7 MHEAD_RNG_PITCHd_Wd 159.2,16386,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 562

Post-dive calculations and measurements:

FREEZE 0.30,0.037,-1.826,0,1,0 ALTIM_TOP_PING 19.7,19.4

FINISH 0.3,1.026738 ALTIM_BOTTOM_PING 400.7,189.8

SM_CCo 12103,122.22,0.723,0,0,1065,425.10 _24V_AH 22.7,59.629

SM_GC 1.02,0.00,0.00,122.22,0.000,0.000,0.723,124,2455,1065,-8.02,-0.14,425.10 _10V_AH 10.1,31.425

RAFOS_CLK 752 FG_AHR_24Vo 0.000

RAFOS 1,1260806946,16.166666,16.151667,58,57,54,0,0,0,217,201,182,0,0,0 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 6636.54,-5707.59,100399,121245 DATA_FILE_SIZE 50365,1286

TT8_MAMPS 0.027612 CAP_FILE_SIZE 146149,0

HUMID 47.08 CFSIZE 260165632,226013184

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,67,0,0

TCM_TEMP 17.00 SOUNDSPEED 1466.7

XPDR_PINGS 3 GPS 141209,192837,6707.042,-5706.213,28,1.1,28,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 298 154.42 SBE_CT 948 24 516.72

Roll_motor 159 100 363.51 SBE_O2 877 19 378.32

VBD_pump_during_apogee 304 1077 7448.16 nil 0 0 0.00

VBD_pump_during_surface 122 723 2006.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.89 nil 0 0 0.00

Iridium_during_connect 49 160 181.18 nil 0 0 0.00

Iridium_during_xfer 138 223 699.65

Transponder_ping 2 420 19.07

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.87

TT8 2130 19 428.54

LPSleep 7116 2 166.03

TT8_Active 604 19 121.67

TT8_Sampling 2269 39 915.16

TT8_CF8 438 45 203.37

TT8_Kalman 0 0 0.00

Analog_circuits 1765 12 214.00

GPS_charging 0 0 0.00

Compass 2230 8 180.21

RAFOS 2160 1 32.72

Transponder 11 30 3.36

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 -125.03 0.000 2 0.000 0.000 124 2460 3169 0 0 0 0 0 0

147 -0.73 -146.0 3.1 -5.7 25 173 11.45 3.28 -6.07 0.000 4 0.298 0.100 2446 3911 3398 0 0 3 0 0 0

325 -0.73 -146.0 26.9 -10.5 57 332 0.00 3.05 0.00 0.000 6 0.000 0.064 2446 2468 3401 0 0 2 0 0 0

669 -0.73 -146.0 61.9 -10.2 118 675 0.00 3.20 0.00 0.000 4 0.000 0.087 2446 3913 3401 0 0 2 0 0 0

916 -0.73 -146.0 86.2 -9.7 162 922 0.00 3.03 0.00 0.000 6 0.000 0.064 2446 2496 3401 0 0 1 0 0 0

1255 -0.78 -146.0 118.2 -9.4 206 1260 0.00 3.12 0.00 0.000 4 0.000 0.087 2446 3915 3400 0 0 3 0 0 0

1479 -0.88 -146.0 139.0 -9.0 225 1485 0.12 2.95 0.00 0.000 6 0.127 0.064 2407 2533 3399 0 0 1 0 0 0

1803 -0.88 -146.0 170.2 -9.4 256 1808 0.00 3.08 0.00 0.000 4 0.000 0.087 2407 3912 3398 0 0 1 0 0 0

2011 -0.83 -146.0 190.7 -9.7 274 2016 0.00 2.88 0.00 0.000 6 0.000 0.063 2407 2564 3398 0 0 1 0 0 0

2335 -0.83 -146.0 220.9 -9.6 304 2340 0.00 3.00 0.00 0.000 4 0.000 0.086 2407 3918 3398 0 0 2 0 0 0

2520 -0.83 -146.0 238.7 -9.1 320 2524 0.00 2.83 0.00 0.000 6 0.000 0.062 2407 2588 3398 0 0 1 0 0 0

2844 -0.83 -146.0 269.0 -9.5 350 2849 0.00 2.95 0.00 0.000 4 0.000 0.085 2407 3918 3398 0 0 2 0 0 0

2985 -0.83 -146.0 282.4 -9.1 362 2989 0.00 2.80 0.00 0.000 6 0.000 0.061 2407 2604 3399 0 0 1 0 0 0

3309 -0.83 -146.0 312.0 -9.3 392 3314 0.00 2.92 0.00 0.000 4 0.000 0.084 2407 3922 3399 0 0 2 0 0 0

3375 -0.83 -146.0 318.1 -9.1 397 3381 0.00 2.78 0.00 0.000 6 0.000 0.060 2407 2620 3399 0 0 1 0 0 0

3700 -0.83 -146.0 343.7 -7.5 428 3704 0.00 2.90 0.00 0.000 4 0.000 0.084 2406 3922 3400 0 0 2 0 0 0

3885 -0.83 -146.0 358.3 -7.8 444 3890 0.00 2.75 0.00 0.000 6 0.000 0.060 2407 2638 3400 0 0 1 0 0 0

4209 -0.83 -146.0 382.9 -7.0 474 4214 0.00 2.90 0.00 0.000 4 0.000 0.083 2407 3927 3399 0 0 1 0 0 0

4344 -0.83 -146.0 393.2 -7.8 485 4350 0.00 2.72 0.00 0.000 6 0.000 0.059 2407 2656 3400 0 0 1 0 0 0

4669 -0.83 -146.0 417.5 -7.6 516 4673 0.00 2.85 0.00 0.000 4 0.000 0.082 2407 3920 3400 0 0 1 0 0 0

4831 -0.83 -146.0 430.3 -7.6 530 4836 0.00 2.70 0.00 0.000 6 0.000 0.058 2407 2665 3400 0 0 1 0 0 0

5156 -0.83 -146.0 455.0 -7.9 560 5160 0.00 2.83 0.00 0.000 4 0.000 0.082 2407 3915 3400 0 0 1 0 0 0

5301 -0.83 -146.0 467.0 -8.0 572 5307 0.00 2.65 0.00 0.000 6 0.000 0.058 2407 2689 3401 0 0 1 0 0 0

5625 -0.83 -146.0 492.4 -7.6 603 5630 0.00 2.78 0.00 0.000 4 0.000 0.082 2407 3919 3401 0 0 2 0 0 0

5782 -0.83 -146.0 504.2 -7.8 616 5788 0.00 2.60 0.00 0.000 6 0.000 0.058 2407 2711 3402 0 0 1 0 0 0

6107 -0.83 -146.0 526.9 -7.0 647 6111 0.00 2.72 0.00 0.000 4 0.000 0.081 2407 3915 3402 0 0 2 0 0 0

6303 -0.83 -146.0 542.4 -8.1 664 6308 0.00 2.58 0.00 0.000 6 0.000 0.058 2407 2722 3402 0 0 1 0 0 0

6563 end dive: TARGET_DEPTH_EXCEEDED

state 6563 begin apogee

6569 -0.16 0.0 562.6 8.3 688 6695 0.80 0.00 121.40 1.078 6 0.179 0.000 2628 1936 2800 0 0 0 0 0 0

6696 end apogee: CONTROL_FINISHED_OK

state 6696 begin climb

6699 0.73 146.0 564.8 0.0 701 6832 0.95 2.15 124.43 1.033 4 0.129 0.084 2923 341 2203 0 0 0 0 0 0

6856 0.66 146.0 552.5 11.8 716 6860 0.00 2.15 0.00 0.000 6 0.000 0.057 2923 1958 2200 0 0 0 0 0 0

7180 0.60 146.0 512.3 12.8 746 7186 0.17 3.40 0.00 0.000 4 0.200 0.074 2880 3537 2196 0 0 3 0 0 0

7277 0.60 146.0 500.9 11.6 754 7282 0.00 3.40 0.00 0.000 6 0.000 0.067 2893 1959 2194 0 0 1 0 0 0

7601 0.60 146.0 464.4 11.5 784 7606 0.00 3.38 0.00 0.000 4 0.000 0.076 2893 3539 2194 0 0 3 0 0 0

7712 0.60 146.0 450.2 12.7 793 7718 0.00 3.33 0.00 0.000 6 0.000 0.068 2908 1971 2193 0 0 2 0 0 0

8037 0.60 146.0 408.5 12.8 824 8042 0.00 3.35 0.00 0.000 4 0.000 0.075 2908 3534 2193 0 0 2 0 0 0

8137 0.52 146.0 394.4 13.9 832 8144 0.25 3.33 0.00 0.000 6 0.196 0.068 2862 1978 2193 0 0 1 0 0 0

8462 0.65 146.0 360.5 9.5 863 8468 0.12 3.33 0.00 0.000 4 0.119 0.074 2906 3532 2193 0 0 2 0 0 0

8615 0.59 146.0 340.7 13.0 876 8621 0.17 3.30 0.00 0.000 6 0.196 0.067 2880 1998 2193 0 0 0 0 0 0

8939 0.67 146.0 308.0 9.6 906 8944 0.00 3.33 0.00 0.000 4 0.000 0.074 2880 3536 2193 0 0 1 0 0 0

9085 0.67 146.0 293.6 10.5 918 9090 0.00 3.28 0.00 0.000 6 0.000 0.067 2891 2021 2192 0 0 0 0 0 0

9410 0.75 159.9 264.6 8.6 949 9431 0.12 3.28 11.23 0.823 4 0.108 0.074 2942 3530 2147 0 0 1 0 0 0

9512 0.60 159.9 252.6 12.5 958 9518 0.28 3.22 0.00 0.000 6 0.201 0.067 2890 2048 2145 0 0 0 0 0 0

9837 0.69 164.0 224.1 9.0 988 9848 0.00 3.22 5.00 0.669 4 0.000 0.075 2890 3531 2130 0 0 2 0 0 0

9967 0.69 164.0 211.5 9.7 999 9973 0.00 3.20 0.00 0.000 6 0.000 0.066 2901 2065 2129 0 0 0 0 0 0

10292 0.76 164.0 180.7 9.9 1030 10297 0.00 3.22 0.00 0.000 4 0.000 0.075 2902 3532 2129 0 0 1 0 0 0

10358 0.76 164.0 173.1 11.6 1035 10364 0.00 3.15 0.00 0.000 6 0.000 0.066 2916 2069 2129 0 0 2 0 0 0

10682 0.76 164.0 136.8 11.1 1066 10687 0.00 3.22 0.00 0.000 4 0.000 0.075 2916 3535 2129 0 0 1 0 0 0

10760 0.76 164.0 127.2 12.9 1072 10766 0.00 3.17 0.00 0.000 6 0.000 0.067 2930 2073 2129 0 0 1 0 0 0

11089 0.80 194.5 94.6 7.9 1109 11121 0.00 3.20 25.75 0.784 4 0.000 0.074 2930 3529 2007 0 0 2 0 0 0

11201 0.80 194.5 84.5 10.0 1129 11206 0.00 3.20 0.00 0.000 6 0.000 0.066 2944 2079 2004 0 0 0 0 0 0

11545 0.86 204.1 56.0 8.8 1190 11561 0.00 3.22 9.27 0.723 4 0.000 0.076 2944 3532 1966 0 0 1 0 0 0

11630 0.87 211.5 48.3 8.9 1205 11646 0.00 3.17 7.40 0.690 6 0.000 0.067 2957 2085 1937 0 0 1 0 0 0

11983 0.87 211.5 14.1 10.9 1268 11988 0.00 3.22 0.00 0.000 4 0.000 0.077 2958 3539 1935 0 0 1 0 0 0

12040 0.78 211.5 6.7 13.6 1278 12046 0.00 3.17 0.00 0.000 6 0.000 0.071 2972 2104 1934 0 0 1 0 0 0

12073 end climb: SURFACE_DEPTH_REACHED

state 12073 begin surface coast

12085 end surface coast: CONTROL_FINISHED_OK

state 12086 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	308	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	18	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	-41806.227	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	155737,6707.601,-5707.337,40,1.0,40,-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	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160319,6707.625,-5707.345,11,1.2,16,-37.7	MHEAD_RNG_PITCHd_Wd	159.2,16386,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	562

FREEZE	0.30,0.037,-1.826,0,1,0	ALTIM_TOP_PING	19.7,19.4
FINISH	0.3,1.026738	ALTIM_BOTTOM_PING	400.7,189.8
SM_CCo	12103,122.22,0.723,0,0,1065,425.10	_24V_AH	22.7,59.629
SM_GC	1.02,0.00,0.00,122.22,0.000,0.000,0.723,124,2455,1065,-8.02,-0.14,425.10	_10V_AH	10.1,31.425
RAFOS_CLK	752	FG_AHR_24Vo	0.000
RAFOS	1,1260806946,16.166666,16.151667,58,57,54,0,0,0,217,201,182,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.608398,-5704.352539,141209,040400,2,82,0.34	MEM	152500
IRIDIUM_FIX	6636.54,-5707.59,100399,121245	DATA_FILE_SIZE	50365,1286
TT8_MAMPS	0.027612	CAP_FILE_SIZE	146149,0
HUMID	47.08	CFSIZE	260165632,226013184
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
TCM_TEMP	17.00	SOUNDSPEED	1466.7
XPDR_PINGS	3	GPS	141209,192837,6707.042,-5706.213,28,1.1,28,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	298	154.42	SBE_CT	948	24	516.72
Roll_motor	159	100	363.51	SBE_O2	877	19	378.32
VBD_pump_during_apogee	304	1077	7448.16	nil	0	0	0.00
VBD_pump_during_surface	122	723	2006.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.89	nil	0	0	0.00
Iridium_during_connect	49	160	181.18	nil	0	0	0.00
Iridium_during_xfer	138	223	699.65
Transponder_ping	2	420	19.07
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.87
TT8	2130	19	428.54
LPSleep	7116	2	166.03
TT8_Active	604	19	121.67
TT8_Sampling	2269	39	915.16
TT8_CF8	438	45	203.37
TT8_Kalman	0	0	0.00
Analog_circuits	1765	12	214.00
GPS_charging	0	0	0.00
Compass	2230	8	180.21
RAFOS	2160	1	32.72
Transponder	11	30	3.36

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	-125.03	0.000	2	0.000	0.000	124	2460	3169	0	0	0	0	0	0
147	-0.73	-146.0	3.1	-5.7	25	173	11.45	3.28	-6.07	0.000	4	0.298	0.100	2446	3911	3398	0	0	3	0	0	0
325	-0.73	-146.0	26.9	-10.5	57	332	0.00	3.05	0.00	0.000	6	0.000	0.064	2446	2468	3401	0	0	2	0	0	0
669	-0.73	-146.0	61.9	-10.2	118	675	0.00	3.20	0.00	0.000	4	0.000	0.087	2446	3913	3401	0	0	2	0	0	0
916	-0.73	-146.0	86.2	-9.7	162	922	0.00	3.03	0.00	0.000	6	0.000	0.064	2446	2496	3401	0	0	1	0	0	0
1255	-0.78	-146.0	118.2	-9.4	206	1260	0.00	3.12	0.00	0.000	4	0.000	0.087	2446	3915	3400	0	0	3	0	0	0
1479	-0.88	-146.0	139.0	-9.0	225	1485	0.12	2.95	0.00	0.000	6	0.127	0.064	2407	2533	3399	0	0	1	0	0	0
1803	-0.88	-146.0	170.2	-9.4	256	1808	0.00	3.08	0.00	0.000	4	0.000	0.087	2407	3912	3398	0	0	1	0	0	0
2011	-0.83	-146.0	190.7	-9.7	274	2016	0.00	2.88	0.00	0.000	6	0.000	0.063	2407	2564	3398	0	0	1	0	0	0
2335	-0.83	-146.0	220.9	-9.6	304	2340	0.00	3.00	0.00	0.000	4	0.000	0.086	2407	3918	3398	0	0	2	0	0	0
2520	-0.83	-146.0	238.7	-9.1	320	2524	0.00	2.83	0.00	0.000	6	0.000	0.062	2407	2588	3398	0	0	1	0	0	0
2844	-0.83	-146.0	269.0	-9.5	350	2849	0.00	2.95	0.00	0.000	4	0.000	0.085	2407	3918	3398	0	0	2	0	0	0
2985	-0.83	-146.0	282.4	-9.1	362	2989	0.00	2.80	0.00	0.000	6	0.000	0.061	2407	2604	3399	0	0	1	0	0	0
3309	-0.83	-146.0	312.0	-9.3	392	3314	0.00	2.92	0.00	0.000	4	0.000	0.084	2407	3922	3399	0	0	2	0	0	0
3375	-0.83	-146.0	318.1	-9.1	397	3381	0.00	2.78	0.00	0.000	6	0.000	0.060	2407	2620	3399	0	0	1	0	0	0
3700	-0.83	-146.0	343.7	-7.5	428	3704	0.00	2.90	0.00	0.000	4	0.000	0.084	2406	3922	3400	0	0	2	0	0	0
3885	-0.83	-146.0	358.3	-7.8	444	3890	0.00	2.75	0.00	0.000	6	0.000	0.060	2407	2638	3400	0	0	1	0	0	0
4209	-0.83	-146.0	382.9	-7.0	474	4214	0.00	2.90	0.00	0.000	4	0.000	0.083	2407	3927	3399	0	0	1	0	0	0
4344	-0.83	-146.0	393.2	-7.8	485	4350	0.00	2.72	0.00	0.000	6	0.000	0.059	2407	2656	3400	0	0	1	0	0	0
4669	-0.83	-146.0	417.5	-7.6	516	4673	0.00	2.85	0.00	0.000	4	0.000	0.082	2407	3920	3400	0	0	1	0	0	0
4831	-0.83	-146.0	430.3	-7.6	530	4836	0.00	2.70	0.00	0.000	6	0.000	0.058	2407	2665	3400	0	0	1	0	0	0
5156	-0.83	-146.0	455.0	-7.9	560	5160	0.00	2.83	0.00	0.000	4	0.000	0.082	2407	3915	3400	0	0	1	0	0	0
5301	-0.83	-146.0	467.0	-8.0	572	5307	0.00	2.65	0.00	0.000	6	0.000	0.058	2407	2689	3401	0	0	1	0	0	0
5625	-0.83	-146.0	492.4	-7.6	603	5630	0.00	2.78	0.00	0.000	4	0.000	0.082	2407	3919	3401	0	0	2	0	0	0
5782	-0.83	-146.0	504.2	-7.8	616	5788	0.00	2.60	0.00	0.000	6	0.000	0.058	2407	2711	3402	0	0	1	0	0	0
6107	-0.83	-146.0	526.9	-7.0	647	6111	0.00	2.72	0.00	0.000	4	0.000	0.081	2407	3915	3402	0	0	2	0	0	0
6303	-0.83	-146.0	542.4	-8.1	664	6308	0.00	2.58	0.00	0.000	6	0.000	0.058	2407	2722	3402	0	0	1	0	0	0
6563	end dive: TARGET_DEPTH_EXCEEDED
state	6563	begin apogee
6569	-0.16	0.0	562.6	8.3	688	6695	0.80	0.00	121.40	1.078	6	0.179	0.000	2628	1936	2800	0	0	0	0	0	0
6696	end apogee: CONTROL_FINISHED_OK
state	6696	begin climb
6699	0.73	146.0	564.8	0.0	701	6832	0.95	2.15	124.43	1.033	4	0.129	0.084	2923	341	2203	0	0	0	0	0	0
6856	0.66	146.0	552.5	11.8	716	6860	0.00	2.15	0.00	0.000	6	0.000	0.057	2923	1958	2200	0	0	0	0	0	0
7180	0.60	146.0	512.3	12.8	746	7186	0.17	3.40	0.00	0.000	4	0.200	0.074	2880	3537	2196	0	0	3	0	0	0
7277	0.60	146.0	500.9	11.6	754	7282	0.00	3.40	0.00	0.000	6	0.000	0.067	2893	1959	2194	0	0	1	0	0	0
7601	0.60	146.0	464.4	11.5	784	7606	0.00	3.38	0.00	0.000	4	0.000	0.076	2893	3539	2194	0	0	3	0	0	0
7712	0.60	146.0	450.2	12.7	793	7718	0.00	3.33	0.00	0.000	6	0.000	0.068	2908	1971	2193	0	0	2	0	0	0
8037	0.60	146.0	408.5	12.8	824	8042	0.00	3.35	0.00	0.000	4	0.000	0.075	2908	3534	2193	0	0	2	0	0	0
8137	0.52	146.0	394.4	13.9	832	8144	0.25	3.33	0.00	0.000	6	0.196	0.068	2862	1978	2193	0	0	1	0	0	0
8462	0.65	146.0	360.5	9.5	863	8468	0.12	3.33	0.00	0.000	4	0.119	0.074	2906	3532	2193	0	0	2	0	0	0
8615	0.59	146.0	340.7	13.0	876	8621	0.17	3.30	0.00	0.000	6	0.196	0.067	2880	1998	2193	0	0	0	0	0	0
8939	0.67	146.0	308.0	9.6	906	8944	0.00	3.33	0.00	0.000	4	0.000	0.074	2880	3536	2193	0	0	1	0	0	0
9085	0.67	146.0	293.6	10.5	918	9090	0.00	3.28	0.00	0.000	6	0.000	0.067	2891	2021	2192	0	0	0	0	0	0
9410	0.75	159.9	264.6	8.6	949	9431	0.12	3.28	11.23	0.823	4	0.108	0.074	2942	3530	2147	0	0	1	0	0	0
9512	0.60	159.9	252.6	12.5	958	9518	0.28	3.22	0.00	0.000	6	0.201	0.067	2890	2048	2145	0	0	0	0	0	0
9837	0.69	164.0	224.1	9.0	988	9848	0.00	3.22	5.00	0.669	4	0.000	0.075	2890	3531	2130	0	0	2	0	0	0
9967	0.69	164.0	211.5	9.7	999	9973	0.00	3.20	0.00	0.000	6	0.000	0.066	2901	2065	2129	0	0	0	0	0	0
10292	0.76	164.0	180.7	9.9	1030	10297	0.00	3.22	0.00	0.000	4	0.000	0.075	2902	3532	2129	0	0	1	0	0	0
10358	0.76	164.0	173.1	11.6	1035	10364	0.00	3.15	0.00	0.000	6	0.000	0.066	2916	2069	2129	0	0	2	0	0	0
10682	0.76	164.0	136.8	11.1	1066	10687	0.00	3.22	0.00	0.000	4	0.000	0.075	2916	3535	2129	0	0	1	0	0	0
10760	0.76	164.0	127.2	12.9	1072	10766	0.00	3.17	0.00	0.000	6	0.000	0.067	2930	2073	2129	0	0	1	0	0	0
11089	0.80	194.5	94.6	7.9	1109	11121	0.00	3.20	25.75	0.784	4	0.000	0.074	2930	3529	2007	0	0	2	0	0	0
11201	0.80	194.5	84.5	10.0	1129	11206	0.00	3.20	0.00	0.000	6	0.000	0.066	2944	2079	2004	0	0	0	0	0	0
11545	0.86	204.1	56.0	8.8	1190	11561	0.00	3.22	9.27	0.723	4	0.000	0.076	2944	3532	1966	0	0	1	0	0	0
11630	0.87	211.5	48.3	8.9	1205	11646	0.00	3.17	7.40	0.690	6	0.000	0.067	2957	2085	1937	0	0	1	0	0	0
11983	0.87	211.5	14.1	10.9	1268	11988	0.00	3.22	0.00	0.000	4	0.000	0.077	2958	3539	1935	0	0	1	0	0	0
12040	0.78	211.5	6.7	13.6	1278	12046	0.00	3.17	0.00	0.000	6	0.000	0.071	2972	2104	1934	0	0	1	0	0	0
12073	end climb: SURFACE_DEPTH_REACHED
state	12073	begin surface coast
12085	end surface coast: CONTROL_FINISHED_OK
state	12086	begin surface