Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 309 * 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 309 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 23 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 16 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 -41821.043 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 -41821.043

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 23 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 309 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 192837,6707.042,-5706.213,28,1.1,28,-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 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 193402,6707.076,-5706.169,12,1.4,12,-37.7 MHEAD_RNG_PITCHd_Wd 157.6,15137,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 564

Post-dive calculations and measurements:

FREEZE 0.47,0.046,-1.826,0,1,0 ALTIM_TOP_PING 19.9,19.5

FINISH 0.5,1.026739 ALTIM_BOTTOM_PING 400.8,173.3

SM_CCo 11570,111.18,0.716,0,0,1066,425.10 _24V_AH 22.7,59.754

SM_GC 1.00,0.00,0.00,111.18,0.000,0.000,0.716,129,2458,1066,-8.00,-0.06,425.10 _10V_AH 10.1,31.496

RAFOS_CLK 717 FG_AHR_24Vo 0.000

RAFOS 0,1260820865,20.033333,20.018055,56,53,52,0,0,0,174,192,152,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.608398,-5704.352539,141209,040400,2,82,0.34 MEM 152476

IRIDIUM_FIX 6636.54,-5701.58,100399,161634 DATA_FILE_SIZE 47335,1228

TT8_MAMPS 0.027612 CAP_FILE_SIZE 140175,0

HUMID 47.12 CFSIZE 260165632,225947648

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,68,0,0

TCM_TEMP 17.20 SOUNDSPEED 1466.7

XPDR_PINGS 4 GPS 141209,225030,6707.541,-5704.569,36,1.1,41,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 292 153.90 SBE_CT 905 24 493.26

Roll_motor 147 98 328.49 SBE_O2 836 19 360.95

VBD_pump_during_apogee 319 1079 7814.59 nil 0 0 0.00

VBD_pump_during_surface 111 716 1807.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.07 nil 0 0 0.00

Iridium_during_connect 31 160 113.53 nil 0 0 0.00

Iridium_during_xfer 142 223 721.67

Transponder_ping 2 420 21.45

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.16

TT8 2036 19 409.80

LPSleep 6791 2 158.45

TT8_Active 589 19 118.68

TT8_Sampling 2165 39 873.01

TT8_CF8 415 45 192.51

TT8_Kalman 0 0 0.00

Analog_circuits 1703 12 206.42

GPS_charging 0 0 0.00

Compass 2130 8 172.14

RAFOS 2520 1 38.18

Transponder 11 30 3.35

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 0 138 0.00 0.00 -120.00 0.000 2 0.000 0.000 124 2457 3102 0 0 0 0 0 0

141 -0.73 -146.0 3.0 -5.2 24 168 11.20 3.28 -8.05 0.000 4 0.292 0.098 2445 3925 3399 0 0 2 0 0 0

421 -0.73 -146.0 39.6 -12.0 74 427 0.00 3.10 0.00 0.000 6 0.000 0.064 2445 2460 3401 0 0 2 0 0 0

765 -0.73 -146.0 74.3 -8.9 135 770 0.00 3.22 0.00 0.000 4 0.000 0.087 2445 3915 3401 0 0 2 0 0 0

1023 -0.73 -146.0 98.4 -9.6 181 1029 0.00 3.03 0.00 0.000 6 0.000 0.065 2445 2497 3402 0 0 1 0 0 0

1349 -0.79 -146.0 129.0 -10.1 213 1354 0.00 3.15 0.00 0.000 4 0.000 0.089 2446 3920 3400 0 0 2 0 0 0

1610 -0.88 -146.0 153.0 -8.6 235 1616 0.12 2.95 0.00 0.000 6 0.129 0.064 2407 2536 3399 0 0 1 0 0 0

1934 -0.88 -146.0 187.3 -10.3 266 1939 0.00 3.08 0.00 0.000 4 0.000 0.087 2406 3924 3399 0 0 2 0 0 0

2107 -0.88 -146.0 206.2 -10.0 281 2112 0.00 2.90 0.00 0.000 6 0.000 0.064 2406 2553 3399 0 0 2 0 0 0

2432 -0.88 -146.0 238.4 -8.6 311 2437 0.00 3.05 0.00 0.000 4 0.000 0.086 2406 3925 3399 0 0 1 0 0 0

2643 -0.88 -146.0 257.2 -9.0 329 2649 0.00 2.85 0.00 0.000 6 0.000 0.061 2406 2582 3399 0 0 1 0 0 0

2968 -0.88 -146.0 281.9 -8.0 360 2973 0.00 2.97 0.00 0.000 4 0.000 0.085 2406 3927 3399 0 0 2 0 0 0

3142 -0.88 -146.0 296.4 -8.9 375 3147 0.00 2.83 0.00 0.000 6 0.000 0.061 2406 2603 3399 0 0 1 0 0 0

3466 -0.88 -146.0 324.3 -8.7 405 3471 0.00 2.92 0.00 0.000 4 0.000 0.085 2406 3921 3399 0 0 3 0 0 0

3677 -0.88 -146.0 345.0 -10.6 423 3684 0.00 2.75 0.00 0.000 6 0.000 0.060 2406 2632 3400 0 0 2 0 0 0

4002 -0.88 -146.0 377.6 -9.5 454 4008 0.00 2.85 0.00 0.000 4 0.000 0.084 2406 3917 3400 0 0 2 0 0 0

4197 -0.88 -146.0 395.4 -9.0 471 4203 0.00 2.72 0.00 0.000 6 0.000 0.059 2407 2657 3400 0 0 0 0 0 0

4522 -0.88 -146.0 425.3 -9.3 502 4527 0.00 2.85 0.00 0.000 4 0.000 0.083 2406 3922 3400 0 0 1 0 0 0

4662 -0.88 -146.0 439.0 -9.7 514 4667 0.00 2.67 0.00 0.000 6 0.000 0.059 2406 2671 3400 0 0 2 0 0 0

4987 -0.88 -146.0 468.7 -8.5 544 4992 0.00 2.83 0.00 0.000 4 0.000 0.082 2406 3923 3401 0 0 1 0 0 0

5132 -0.88 -146.0 481.6 -8.6 556 5138 0.00 2.65 0.00 0.000 6 0.000 0.058 2406 2697 3401 0 0 1 0 0 0

5458 -0.88 -146.0 506.9 -7.8 587 5463 0.00 2.75 0.00 0.000 4 0.000 0.082 2406 3917 3402 0 0 2 0 0 0

5554 -0.88 -146.0 514.7 -8.4 595 5558 0.00 2.60 0.00 0.000 6 0.000 0.058 2406 2710 3402 0 0 1 0 0 0

5880 -0.88 -146.0 538.4 -7.7 625 5884 0.00 2.72 0.00 0.000 4 0.000 0.081 2406 3921 3402 0 0 2 0 0 0

5941 -0.88 -146.0 543.2 -8.4 630 5946 0.00 2.60 0.00 0.000 6 0.000 0.057 2406 2714 3402 0 0 1 0 0 0

6147 end dive: BOTTOM_OBSTACLE_DETECTED

state 6147 begin apogee

6153 -0.16 0.0 559.4 7.7 649 6280 0.80 0.00 121.40 1.079 6 0.181 0.000 2627 1940 2800 0 0 0 0 0 0

6281 end apogee: CONTROL_FINISHED_OK

state 6281 begin climb

6283 0.73 146.0 561.6 0.0 662 6417 0.95 2.15 124.78 1.032 4 0.127 0.085 2924 353 2202 0 0 0 0 0 0

6452 0.65 146.0 545.8 12.9 678 6456 0.00 2.15 0.00 0.000 6 0.000 0.057 2924 1966 2200 0 0 0 0 0 0

6776 0.58 146.0 505.1 12.8 708 6782 0.20 3.38 0.00 0.000 4 0.193 0.073 2868 3529 2195 0 0 3 0 0 0

6866 0.58 146.0 494.7 11.6 715 6872 0.00 3.38 0.00 0.000 6 0.000 0.067 2881 1950 2194 0 0 2 0 0 0

7191 0.64 146.0 461.2 10.4 746 7196 0.00 3.38 0.00 0.000 4 0.000 0.074 2881 3530 2194 0 0 2 0 0 0

7291 0.64 146.0 449.4 11.6 754 7297 0.00 3.33 0.00 0.000 6 0.000 0.067 2896 1963 2193 0 0 2 0 0 0

7615 0.64 146.0 414.5 10.4 785 7620 0.00 3.35 0.00 0.000 4 0.000 0.075 2895 3532 2192 0 0 2 0 0 0

7738 0.64 146.0 400.4 11.6 795 7744 0.00 3.30 0.00 0.000 6 0.000 0.067 2910 1989 2192 0 0 1 0 0 0

8062 0.64 146.0 366.3 10.5 826 8068 0.00 3.35 0.00 0.000 4 0.000 0.075 2910 3533 2193 0 0 2 0 0 0

8147 0.55 146.0 356.4 11.7 833 8153 0.22 3.28 0.00 0.000 6 0.192 0.068 2870 2002 2192 0 0 2 0 0 0

8472 0.65 146.0 323.3 11.0 863 8477 0.00 3.30 0.00 0.000 4 0.000 0.074 2870 3530 2193 0 0 1 0 0 0

8579 0.70 146.0 310.2 12.7 872 8584 0.00 3.25 0.00 0.000 6 0.000 0.067 2882 2019 2193 0 0 1 0 0 0

8904 0.78 146.0 273.2 11.0 902 8910 0.17 3.30 0.00 0.000 4 0.093 0.075 2947 3541 2193 0 0 1 0 0 0

9035 0.61 146.0 253.8 16.0 913 9041 0.30 3.25 0.00 0.000 6 0.195 0.067 2887 2039 2193 0 0 0 0 0 0

9360 0.71 159.4 221.4 8.6 943 9380 0.00 3.22 10.62 0.794 4 0.000 0.074 2887 3533 2149 0 0 2 0 0 0

9489 0.72 172.8 210.4 8.6 954 9508 0.00 3.22 12.60 0.809 6 0.000 0.067 2899 2049 2094 0 0 0 0 0 0

9833 0.79 173.2 181.5 9.2 987 9839 0.12 3.25 0.00 0.000 4 0.107 0.074 2950 3531 2092 0 0 2 0 0 0

9931 0.64 173.2 169.1 13.3 995 9937 0.25 3.20 0.00 0.000 6 0.197 0.067 2902 2068 2091 0 0 0 0 0 0

10255 0.72 173.2 134.8 10.8 1025 10260 0.00 3.20 0.00 0.000 4 0.000 0.074 2902 3530 2091 0 0 1 0 0 0

10344 0.72 173.2 124.5 11.2 1032 10350 0.00 3.15 0.00 0.000 6 0.000 0.067 2914 2080 2090 0 0 1 0 0 0

10676 0.83 194.4 90.9 8.3 1072 10702 0.12 3.20 18.45 0.768 4 0.110 0.075 2966 3535 2006 0 0 2 0 0 0

10838 0.71 194.4 71.8 12.3 1101 10844 0.25 3.17 0.00 0.000 6 0.193 0.067 2919 2083 2004 0 0 1 0 0 0

11184 0.87 231.4 41.7 7.6 1162 11225 0.15 3.22 31.15 0.753 4 0.111 0.075 2971 3537 1854 0 0 2 0 0 0

11343 0.79 231.4 21.9 12.1 1191 11349 0.17 3.17 0.00 0.000 6 0.199 0.068 2945 2104 1851 0 0 1 0 0 0

11535 end climb: SURFACE_DEPTH_REACHED

state 11535 begin surface coast

11553 end surface coast: CONTROL_FINISHED_OK

state 11554 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	309	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	23	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	16	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	-41821.043	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	192837,6707.042,-5706.213,28,1.1,28,-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	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	193402,6707.076,-5706.169,12,1.4,12,-37.7	MHEAD_RNG_PITCHd_Wd	157.6,15137,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	564

FREEZE	0.47,0.046,-1.826,0,1,0	ALTIM_TOP_PING	19.9,19.5
FINISH	0.5,1.026739	ALTIM_BOTTOM_PING	400.8,173.3
SM_CCo	11570,111.18,0.716,0,0,1066,425.10	_24V_AH	22.7,59.754
SM_GC	1.00,0.00,0.00,111.18,0.000,0.000,0.716,129,2458,1066,-8.00,-0.06,425.10	_10V_AH	10.1,31.496
RAFOS_CLK	717	FG_AHR_24Vo	0.000
RAFOS	0,1260820865,20.033333,20.018055,56,53,52,0,0,0,174,192,152,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.608398,-5704.352539,141209,040400,2,82,0.34	MEM	152476
IRIDIUM_FIX	6636.54,-5701.58,100399,161634	DATA_FILE_SIZE	47335,1228
TT8_MAMPS	0.027612	CAP_FILE_SIZE	140175,0
HUMID	47.12	CFSIZE	260165632,225947648
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,68,0,0
TCM_TEMP	17.20	SOUNDSPEED	1466.7
XPDR_PINGS	4	GPS	141209,225030,6707.541,-5704.569,36,1.1,41,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	292	153.90	SBE_CT	905	24	493.26
Roll_motor	147	98	328.49	SBE_O2	836	19	360.95
VBD_pump_during_apogee	319	1079	7814.59	nil	0	0	0.00
VBD_pump_during_surface	111	716	1807.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.07	nil	0	0	0.00
Iridium_during_connect	31	160	113.53	nil	0	0	0.00
Iridium_during_xfer	142	223	721.67
Transponder_ping	2	420	21.45
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.16
TT8	2036	19	409.80
LPSleep	6791	2	158.45
TT8_Active	589	19	118.68
TT8_Sampling	2165	39	873.01
TT8_CF8	415	45	192.51
TT8_Kalman	0	0	0.00
Analog_circuits	1703	12	206.42
GPS_charging	0	0	0.00
Compass	2130	8	172.14
RAFOS	2520	1	38.18
Transponder	11	30	3.35

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	138	0.00	0.00	-120.00	0.000	2	0.000	0.000	124	2457	3102	0	0	0	0	0	0
141	-0.73	-146.0	3.0	-5.2	24	168	11.20	3.28	-8.05	0.000	4	0.292	0.098	2445	3925	3399	0	0	2	0	0	0
421	-0.73	-146.0	39.6	-12.0	74	427	0.00	3.10	0.00	0.000	6	0.000	0.064	2445	2460	3401	0	0	2	0	0	0
765	-0.73	-146.0	74.3	-8.9	135	770	0.00	3.22	0.00	0.000	4	0.000	0.087	2445	3915	3401	0	0	2	0	0	0
1023	-0.73	-146.0	98.4	-9.6	181	1029	0.00	3.03	0.00	0.000	6	0.000	0.065	2445	2497	3402	0	0	1	0	0	0
1349	-0.79	-146.0	129.0	-10.1	213	1354	0.00	3.15	0.00	0.000	4	0.000	0.089	2446	3920	3400	0	0	2	0	0	0
1610	-0.88	-146.0	153.0	-8.6	235	1616	0.12	2.95	0.00	0.000	6	0.129	0.064	2407	2536	3399	0	0	1	0	0	0
1934	-0.88	-146.0	187.3	-10.3	266	1939	0.00	3.08	0.00	0.000	4	0.000	0.087	2406	3924	3399	0	0	2	0	0	0
2107	-0.88	-146.0	206.2	-10.0	281	2112	0.00	2.90	0.00	0.000	6	0.000	0.064	2406	2553	3399	0	0	2	0	0	0
2432	-0.88	-146.0	238.4	-8.6	311	2437	0.00	3.05	0.00	0.000	4	0.000	0.086	2406	3925	3399	0	0	1	0	0	0
2643	-0.88	-146.0	257.2	-9.0	329	2649	0.00	2.85	0.00	0.000	6	0.000	0.061	2406	2582	3399	0	0	1	0	0	0
2968	-0.88	-146.0	281.9	-8.0	360	2973	0.00	2.97	0.00	0.000	4	0.000	0.085	2406	3927	3399	0	0	2	0	0	0
3142	-0.88	-146.0	296.4	-8.9	375	3147	0.00	2.83	0.00	0.000	6	0.000	0.061	2406	2603	3399	0	0	1	0	0	0
3466	-0.88	-146.0	324.3	-8.7	405	3471	0.00	2.92	0.00	0.000	4	0.000	0.085	2406	3921	3399	0	0	3	0	0	0
3677	-0.88	-146.0	345.0	-10.6	423	3684	0.00	2.75	0.00	0.000	6	0.000	0.060	2406	2632	3400	0	0	2	0	0	0
4002	-0.88	-146.0	377.6	-9.5	454	4008	0.00	2.85	0.00	0.000	4	0.000	0.084	2406	3917	3400	0	0	2	0	0	0
4197	-0.88	-146.0	395.4	-9.0	471	4203	0.00	2.72	0.00	0.000	6	0.000	0.059	2407	2657	3400	0	0	0	0	0	0
4522	-0.88	-146.0	425.3	-9.3	502	4527	0.00	2.85	0.00	0.000	4	0.000	0.083	2406	3922	3400	0	0	1	0	0	0
4662	-0.88	-146.0	439.0	-9.7	514	4667	0.00	2.67	0.00	0.000	6	0.000	0.059	2406	2671	3400	0	0	2	0	0	0
4987	-0.88	-146.0	468.7	-8.5	544	4992	0.00	2.83	0.00	0.000	4	0.000	0.082	2406	3923	3401	0	0	1	0	0	0
5132	-0.88	-146.0	481.6	-8.6	556	5138	0.00	2.65	0.00	0.000	6	0.000	0.058	2406	2697	3401	0	0	1	0	0	0
5458	-0.88	-146.0	506.9	-7.8	587	5463	0.00	2.75	0.00	0.000	4	0.000	0.082	2406	3917	3402	0	0	2	0	0	0
5554	-0.88	-146.0	514.7	-8.4	595	5558	0.00	2.60	0.00	0.000	6	0.000	0.058	2406	2710	3402	0	0	1	0	0	0
5880	-0.88	-146.0	538.4	-7.7	625	5884	0.00	2.72	0.00	0.000	4	0.000	0.081	2406	3921	3402	0	0	2	0	0	0
5941	-0.88	-146.0	543.2	-8.4	630	5946	0.00	2.60	0.00	0.000	6	0.000	0.057	2406	2714	3402	0	0	1	0	0	0
6147	end dive: BOTTOM_OBSTACLE_DETECTED
state	6147	begin apogee
6153	-0.16	0.0	559.4	7.7	649	6280	0.80	0.00	121.40	1.079	6	0.181	0.000	2627	1940	2800	0	0	0	0	0	0
6281	end apogee: CONTROL_FINISHED_OK
state	6281	begin climb
6283	0.73	146.0	561.6	0.0	662	6417	0.95	2.15	124.78	1.032	4	0.127	0.085	2924	353	2202	0	0	0	0	0	0
6452	0.65	146.0	545.8	12.9	678	6456	0.00	2.15	0.00	0.000	6	0.000	0.057	2924	1966	2200	0	0	0	0	0	0
6776	0.58	146.0	505.1	12.8	708	6782	0.20	3.38	0.00	0.000	4	0.193	0.073	2868	3529	2195	0	0	3	0	0	0
6866	0.58	146.0	494.7	11.6	715	6872	0.00	3.38	0.00	0.000	6	0.000	0.067	2881	1950	2194	0	0	2	0	0	0
7191	0.64	146.0	461.2	10.4	746	7196	0.00	3.38	0.00	0.000	4	0.000	0.074	2881	3530	2194	0	0	2	0	0	0
7291	0.64	146.0	449.4	11.6	754	7297	0.00	3.33	0.00	0.000	6	0.000	0.067	2896	1963	2193	0	0	2	0	0	0
7615	0.64	146.0	414.5	10.4	785	7620	0.00	3.35	0.00	0.000	4	0.000	0.075	2895	3532	2192	0	0	2	0	0	0
7738	0.64	146.0	400.4	11.6	795	7744	0.00	3.30	0.00	0.000	6	0.000	0.067	2910	1989	2192	0	0	1	0	0	0
8062	0.64	146.0	366.3	10.5	826	8068	0.00	3.35	0.00	0.000	4	0.000	0.075	2910	3533	2193	0	0	2	0	0	0
8147	0.55	146.0	356.4	11.7	833	8153	0.22	3.28	0.00	0.000	6	0.192	0.068	2870	2002	2192	0	0	2	0	0	0
8472	0.65	146.0	323.3	11.0	863	8477	0.00	3.30	0.00	0.000	4	0.000	0.074	2870	3530	2193	0	0	1	0	0	0
8579	0.70	146.0	310.2	12.7	872	8584	0.00	3.25	0.00	0.000	6	0.000	0.067	2882	2019	2193	0	0	1	0	0	0
8904	0.78	146.0	273.2	11.0	902	8910	0.17	3.30	0.00	0.000	4	0.093	0.075	2947	3541	2193	0	0	1	0	0	0
9035	0.61	146.0	253.8	16.0	913	9041	0.30	3.25	0.00	0.000	6	0.195	0.067	2887	2039	2193	0	0	0	0	0	0
9360	0.71	159.4	221.4	8.6	943	9380	0.00	3.22	10.62	0.794	4	0.000	0.074	2887	3533	2149	0	0	2	0	0	0
9489	0.72	172.8	210.4	8.6	954	9508	0.00	3.22	12.60	0.809	6	0.000	0.067	2899	2049	2094	0	0	0	0	0	0
9833	0.79	173.2	181.5	9.2	987	9839	0.12	3.25	0.00	0.000	4	0.107	0.074	2950	3531	2092	0	0	2	0	0	0
9931	0.64	173.2	169.1	13.3	995	9937	0.25	3.20	0.00	0.000	6	0.197	0.067	2902	2068	2091	0	0	0	0	0	0
10255	0.72	173.2	134.8	10.8	1025	10260	0.00	3.20	0.00	0.000	4	0.000	0.074	2902	3530	2091	0	0	1	0	0	0
10344	0.72	173.2	124.5	11.2	1032	10350	0.00	3.15	0.00	0.000	6	0.000	0.067	2914	2080	2090	0	0	1	0	0	0
10676	0.83	194.4	90.9	8.3	1072	10702	0.12	3.20	18.45	0.768	4	0.110	0.075	2966	3535	2006	0	0	2	0	0	0
10838	0.71	194.4	71.8	12.3	1101	10844	0.25	3.17	0.00	0.000	6	0.193	0.067	2919	2083	2004	0	0	1	0	0	0
11184	0.87	231.4	41.7	7.6	1162	11225	0.15	3.22	31.15	0.753	4	0.111	0.075	2971	3537	1854	0	0	2	0	0	0
11343	0.79	231.4	21.9	12.1	1191	11349	0.17	3.17	0.00	0.000	6	0.199	0.068	2945	2104	1851	0	0	1	0	0	0
11535	end climb: SURFACE_DEPTH_REACHED
state	11535	begin surface coast
11553	end surface coast: CONTROL_FINISHED_OK
state	11554	begin surface