Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 310 * 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 310 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 22 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 -41837.816 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 -41837.816

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 22 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 310 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 225030,6707.541,-5704.569,36,1.1,41,-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 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 225843,6707.650,-5704.525,9,0.9,14,-37.7 MHEAD_RNG_PITCHd_Wd 163.5,14717,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 534

Post-dive calculations and measurements:

FREEZE 0.29,-0.333,-0.938,0,1,0 ALTIM_TOP_PING 19.7,18.4

FINISH 0.3,1.013863 ALTIM_BOTTOM_PING 350.4,192.9

SM_CCo 11665,125.65,0.713,0,0,1066,425.10 _24V_AH 22.7,59.878

SM_GC 1.06,0.00,0.00,125.65,0.000,0.000,0.713,122,2462,1066,-8.02,0.06,425.10 _10V_AH 10.2,31.571

RAFOS_CLK 735 FG_AHR_24Vo 0.000

RAFOS 0,1260835267,0.033333,0.018611,54,54,53,0,0,0,207,217,182,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.832031,-5708.091309,151209,000056,2,73,0.65 MEM 152548

IRIDIUM_FIX 6641.98,-5709.24,100399,191917 DATA_FILE_SIZE 47369,1235

TT8_MAMPS 0.026845 CAP_FILE_SIZE 142845,0

HUMID 45.74 CFSIZE 260165632,225873920

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,69,0,0

TCM_TEMP 17.30 SOUNDSPEED 1467.3

XPDR_PINGS 4 GPS 151209,021707,6708.448,-5704.863,38,1.2,38,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 301 162.34 SBE_CT 904 24 493.02

Roll_motor 149 100 341.38 SBE_O2 841 19 363.05

VBD_pump_during_apogee 289 1057 6939.98 nil 0 0 0.00

VBD_pump_during_surface 125 712 2032.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 136.67 nil 0 0 0.00

Iridium_during_connect 113 160 412.36 nil 0 0 0.00

Iridium_during_xfer 135 223 687.60

Transponder_ping 2 420 19.07

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.23

TT8 2099 19 426.63

LPSleep 6888 2 162.31

TT8_Active 596 19 121.26

TT8_Sampling 2176 39 886.30

TT8_CF8 523 45 245.18

TT8_Kalman 0 0 0.00

Analog_circuits 1706 12 208.90

GPS_charging 0 0 0.00

Compass 2139 8 174.55

RAFOS 2520 1 38.56

Transponder 9 30 2.86

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 0 144 0.00 0.00 -124.15 0.000 2 0.000 0.000 129 2459 3188 0 0 0 0 0 0

147 -0.73 -146.0 3.3 -5.6 25 174 11.50 3.28 -5.50 0.000 4 0.301 0.100 2444 3911 3398 0 0 3 0 0 0

207 -0.73 -146.0 15.3 -12.0 36 213 0.00 3.10 0.00 0.000 6 0.000 0.063 2444 2465 3400 0 0 1 0 0 0

551 -0.73 -146.0 54.7 -11.2 97 556 0.00 3.22 0.00 0.000 4 0.000 0.087 2444 3918 3401 0 0 2 0 0 0

787 -0.73 -146.0 82.7 -11.7 139 792 0.00 3.03 0.00 0.000 6 0.000 0.064 2445 2497 3401 0 0 2 0 0 0

1120 -0.73 -146.0 114.7 -7.8 184 1125 0.00 3.15 0.00 0.000 4 0.000 0.088 2445 3912 3401 0 0 2 0 0 0

1378 -0.79 -146.0 131.4 -5.2 206 1384 0.00 2.97 0.00 0.000 6 0.000 0.064 2445 2526 3399 0 0 1 0 0 0

1703 -0.88 -146.0 148.4 -5.9 237 1709 0.12 3.12 0.00 0.000 4 0.120 0.087 2399 3925 3398 0 0 2 0 0 0

1912 -0.82 -146.0 166.1 -9.2 255 1917 0.00 2.90 0.00 0.000 6 0.000 0.063 2400 2565 3398 0 0 1 0 0 0

2236 -0.77 -146.0 196.5 -10.2 285 2242 0.17 3.03 0.00 0.000 4 0.206 0.083 2429 3913 3398 0 0 1 0 0 0

2438 -0.82 -146.0 215.4 -10.0 302 2444 0.00 2.83 0.00 0.000 6 0.000 0.060 2430 2582 3398 0 0 1 0 0 0

2763 -0.82 -146.0 245.9 -8.9 333 2768 0.00 2.95 0.00 0.000 4 0.000 0.084 2429 3915 3399 0 0 2 0 0 0

2930 -0.87 -146.0 261.2 -9.5 347 2936 0.00 2.83 0.00 0.000 6 0.000 0.059 2429 2594 3399 0 0 0 0 0 0

3256 -0.92 -146.0 287.9 -8.5 378 3261 0.12 2.95 0.00 0.000 4 0.113 0.080 2368 3928 3400 0 0 2 0 0 0

3435 -0.76 -146.0 308.4 -11.4 393 3442 0.30 2.72 0.00 0.000 6 0.206 0.058 2439 2618 3400 0 0 1 0 0 0

3760 -0.86 -146.0 333.6 -6.9 424 3765 0.00 2.90 0.00 0.000 4 0.000 0.083 2440 3918 3401 0 0 2 0 0 0

3957 -0.98 -146.0 346.6 -5.8 441 3962 0.20 2.72 0.00 0.000 6 0.101 0.058 2370 2647 3400 0 0 1 0 0 0

4282 -0.85 -146.0 374.7 -8.5 471 4288 0.17 2.88 0.00 0.000 4 0.206 0.083 2411 3922 3401 0 0 3 0 0 0

4417 -0.85 -146.0 384.9 -7.5 482 4423 0.00 2.72 0.00 0.000 6 0.000 0.058 2411 2655 3400 0 0 1 0 0 0

4742 -0.85 -146.0 408.1 -7.1 513 4746 0.00 2.85 0.00 0.000 4 0.000 0.082 2411 3915 3401 0 0 1 0 0 0

4864 -0.85 -146.0 418.0 -8.5 523 4870 0.00 2.67 0.00 0.000 6 0.000 0.058 2411 2680 3401 0 0 1 0 0 0

5189 -0.85 -146.0 443.2 -7.8 554 5193 0.00 2.83 0.00 0.000 4 0.000 0.081 2411 3926 3401 0 0 1 0 0 0

5319 -0.85 -146.0 453.2 -8.0 565 5324 0.00 2.65 0.00 0.000 6 0.000 0.057 2411 2699 3402 0 0 1 0 0 0

5646 -0.85 -146.0 476.3 -7.3 595 5651 0.00 2.75 0.00 0.000 4 0.000 0.081 2411 3915 3402 0 0 2 0 0 0

5702 -0.85 -146.0 480.5 -7.3 599 5707 0.00 2.62 0.00 0.000 6 0.000 0.057 2411 2707 3402 0 0 1 0 0 0

6026 -0.85 -146.0 506.6 -8.5 630 6031 0.00 2.75 0.00 0.000 4 0.000 0.081 2411 3920 3403 0 0 2 0 0 0

6129 -0.85 -146.0 515.8 -9.7 638 6134 0.00 2.60 0.00 0.000 6 0.000 0.057 2411 2721 3403 0 0 1 0 0 0

6281 end dive: BOTTOM_OBSTACLE_DETECTED

state 6281 begin apogee

6287 -0.16 0.0 528.8 8.3 653 6414 0.77 0.00 120.93 1.058 6 0.184 0.000 2626 1935 2800 0 0 0 0 0 0

6414 end apogee: CONTROL_FINISHED_OK

state 6414 begin climb

6417 0.73 146.0 530.7 0.0 666 6550 0.95 0.00 123.80 1.013 6 0.133 0.000 2912 1936 2203 0 0 0 0 0 0

6868 0.73 146.0 484.9 11.1 709 6874 0.00 3.47 0.00 0.000 4 0.000 0.073 2913 3537 2194 0 0 2 0 0 0

6982 0.63 146.0 470.7 12.0 718 6989 0.15 3.40 0.00 0.000 6 0.208 0.066 2896 1955 2193 0 0 1 0 0 0

7306 0.63 146.0 435.6 10.7 749 7312 0.00 3.40 0.00 0.000 4 0.000 0.074 2896 3544 2194 0 0 2 0 0 0

7402 0.63 146.0 424.4 12.1 757 7408 0.00 3.35 0.00 0.000 6 0.000 0.067 2909 1973 2193 0 0 1 0 0 0

7726 0.63 146.0 387.9 11.3 787 7731 0.00 3.38 0.00 0.000 4 0.000 0.075 2909 3537 2192 0 0 1 0 0 0

7838 0.56 146.0 373.8 12.8 796 7844 0.20 3.35 0.00 0.000 6 0.199 0.067 2876 1973 2191 0 0 0 0 0 0

8163 0.65 146.0 342.4 9.8 827 8168 0.00 3.35 0.00 0.000 4 0.000 0.074 2876 3548 2191 0 0 2 0 0 0

8252 0.65 146.0 333.0 11.0 834 8258 0.00 3.30 0.00 0.000 6 0.000 0.067 2889 1990 2191 0 0 2 0 0 0

8576 0.70 146.0 301.3 9.8 865 8582 0.00 3.35 0.00 0.000 4 0.000 0.074 2888 3546 2191 0 0 1 0 0 0

8683 0.70 146.0 289.4 11.7 874 8688 0.00 3.30 0.00 0.000 6 0.000 0.067 2903 2002 2191 0 0 1 0 0 0

9007 0.70 146.0 255.1 9.9 904 9012 0.00 3.33 0.00 0.000 4 0.000 0.075 2903 3539 2191 0 0 1 0 0 0

9130 0.70 146.0 241.9 10.2 914 9136 0.00 3.25 0.00 0.000 6 0.000 0.066 2918 2031 2191 0 0 1 0 0 0

9454 0.70 146.0 208.9 10.2 945 9459 0.00 3.28 0.00 0.000 4 0.000 0.074 2917 3539 2192 0 0 2 0 0 0

9539 0.62 146.0 199.0 12.1 952 9545 0.17 3.22 0.00 0.000 6 0.201 0.067 2892 2030 2191 0 0 2 0 0 0

9865 0.69 154.9 169.1 8.8 982 9879 0.00 3.33 6.62 0.709 4 0.000 0.074 2892 3542 2168 0 0 2 0 0 0

9987 0.69 154.9 156.4 10.9 993 9992 0.00 3.22 0.00 0.000 6 0.000 0.066 2904 2051 2167 0 0 1 0 0 0

10312 0.75 161.7 127.3 8.9 1023 10326 0.00 3.30 7.20 0.705 4 0.000 0.074 2904 3541 2140 0 0 1 0 0 0

10429 0.75 161.7 115.3 11.6 1033 10435 0.00 3.20 0.00 0.000 6 0.000 0.065 2918 2058 2139 0 0 2 0 0 0

10764 0.84 183.7 84.6 8.2 1079 10791 0.12 3.25 19.27 0.760 4 0.108 0.074 2964 3539 2050 0 0 2 0 0 0

10855 0.71 183.7 75.2 11.9 1095 10861 0.25 3.22 0.00 0.000 6 0.195 0.066 2920 2066 2048 0 0 1 0 0 0

11202 0.82 195.4 42.0 8.7 1156 11223 0.12 3.22 11.23 0.714 4 0.120 0.073 2962 3539 2001 0 0 2 0 0 0

11342 0.73 195.4 23.4 11.9 1181 11349 0.20 3.22 0.00 0.000 6 0.194 0.070 2929 2088 1999 0 0 1 0 0 0

11618 end climb: SURFACE_DEPTH_REACHED

state 11618 begin surface coast

11649 end surface coast: CONTROL_FINISHED_OK

state 11649 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	310	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	22	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	-41837.816	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	225030,6707.541,-5704.569,36,1.1,41,-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	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	225843,6707.650,-5704.525,9,0.9,14,-37.7	MHEAD_RNG_PITCHd_Wd	163.5,14717,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	534

FREEZE	0.29,-0.333,-0.938,0,1,0	ALTIM_TOP_PING	19.7,18.4
FINISH	0.3,1.013863	ALTIM_BOTTOM_PING	350.4,192.9
SM_CCo	11665,125.65,0.713,0,0,1066,425.10	_24V_AH	22.7,59.878
SM_GC	1.06,0.00,0.00,125.65,0.000,0.000,0.713,122,2462,1066,-8.02,0.06,425.10	_10V_AH	10.2,31.571
RAFOS_CLK	735	FG_AHR_24Vo	0.000
RAFOS	0,1260835267,0.033333,0.018611,54,54,53,0,0,0,207,217,182,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.832031,-5708.091309,151209,000056,2,73,0.65	MEM	152548
IRIDIUM_FIX	6641.98,-5709.24,100399,191917	DATA_FILE_SIZE	47369,1235
TT8_MAMPS	0.026845	CAP_FILE_SIZE	142845,0
HUMID	45.74	CFSIZE	260165632,225873920
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,69,0,0
TCM_TEMP	17.30	SOUNDSPEED	1467.3
XPDR_PINGS	4	GPS	151209,021707,6708.448,-5704.863,38,1.2,38,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	301	162.34	SBE_CT	904	24	493.02
Roll_motor	149	100	341.38	SBE_O2	841	19	363.05
VBD_pump_during_apogee	289	1057	6939.98	nil	0	0	0.00
VBD_pump_during_surface	125	712	2032.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	136.67	nil	0	0	0.00
Iridium_during_connect	113	160	412.36	nil	0	0	0.00
Iridium_during_xfer	135	223	687.60
Transponder_ping	2	420	19.07
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.23
TT8	2099	19	426.63
LPSleep	6888	2	162.31
TT8_Active	596	19	121.26
TT8_Sampling	2176	39	886.30
TT8_CF8	523	45	245.18
TT8_Kalman	0	0	0.00
Analog_circuits	1706	12	208.90
GPS_charging	0	0	0.00
Compass	2139	8	174.55
RAFOS	2520	1	38.56
Transponder	9	30	2.86

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	144	0.00	0.00	-124.15	0.000	2	0.000	0.000	129	2459	3188	0	0	0	0	0	0
147	-0.73	-146.0	3.3	-5.6	25	174	11.50	3.28	-5.50	0.000	4	0.301	0.100	2444	3911	3398	0	0	3	0	0	0
207	-0.73	-146.0	15.3	-12.0	36	213	0.00	3.10	0.00	0.000	6	0.000	0.063	2444	2465	3400	0	0	1	0	0	0
551	-0.73	-146.0	54.7	-11.2	97	556	0.00	3.22	0.00	0.000	4	0.000	0.087	2444	3918	3401	0	0	2	0	0	0
787	-0.73	-146.0	82.7	-11.7	139	792	0.00	3.03	0.00	0.000	6	0.000	0.064	2445	2497	3401	0	0	2	0	0	0
1120	-0.73	-146.0	114.7	-7.8	184	1125	0.00	3.15	0.00	0.000	4	0.000	0.088	2445	3912	3401	0	0	2	0	0	0
1378	-0.79	-146.0	131.4	-5.2	206	1384	0.00	2.97	0.00	0.000	6	0.000	0.064	2445	2526	3399	0	0	1	0	0	0
1703	-0.88	-146.0	148.4	-5.9	237	1709	0.12	3.12	0.00	0.000	4	0.120	0.087	2399	3925	3398	0	0	2	0	0	0
1912	-0.82	-146.0	166.1	-9.2	255	1917	0.00	2.90	0.00	0.000	6	0.000	0.063	2400	2565	3398	0	0	1	0	0	0
2236	-0.77	-146.0	196.5	-10.2	285	2242	0.17	3.03	0.00	0.000	4	0.206	0.083	2429	3913	3398	0	0	1	0	0	0
2438	-0.82	-146.0	215.4	-10.0	302	2444	0.00	2.83	0.00	0.000	6	0.000	0.060	2430	2582	3398	0	0	1	0	0	0
2763	-0.82	-146.0	245.9	-8.9	333	2768	0.00	2.95	0.00	0.000	4	0.000	0.084	2429	3915	3399	0	0	2	0	0	0
2930	-0.87	-146.0	261.2	-9.5	347	2936	0.00	2.83	0.00	0.000	6	0.000	0.059	2429	2594	3399	0	0	0	0	0	0
3256	-0.92	-146.0	287.9	-8.5	378	3261	0.12	2.95	0.00	0.000	4	0.113	0.080	2368	3928	3400	0	0	2	0	0	0
3435	-0.76	-146.0	308.4	-11.4	393	3442	0.30	2.72	0.00	0.000	6	0.206	0.058	2439	2618	3400	0	0	1	0	0	0
3760	-0.86	-146.0	333.6	-6.9	424	3765	0.00	2.90	0.00	0.000	4	0.000	0.083	2440	3918	3401	0	0	2	0	0	0
3957	-0.98	-146.0	346.6	-5.8	441	3962	0.20	2.72	0.00	0.000	6	0.101	0.058	2370	2647	3400	0	0	1	0	0	0
4282	-0.85	-146.0	374.7	-8.5	471	4288	0.17	2.88	0.00	0.000	4	0.206	0.083	2411	3922	3401	0	0	3	0	0	0
4417	-0.85	-146.0	384.9	-7.5	482	4423	0.00	2.72	0.00	0.000	6	0.000	0.058	2411	2655	3400	0	0	1	0	0	0
4742	-0.85	-146.0	408.1	-7.1	513	4746	0.00	2.85	0.00	0.000	4	0.000	0.082	2411	3915	3401	0	0	1	0	0	0
4864	-0.85	-146.0	418.0	-8.5	523	4870	0.00	2.67	0.00	0.000	6	0.000	0.058	2411	2680	3401	0	0	1	0	0	0
5189	-0.85	-146.0	443.2	-7.8	554	5193	0.00	2.83	0.00	0.000	4	0.000	0.081	2411	3926	3401	0	0	1	0	0	0
5319	-0.85	-146.0	453.2	-8.0	565	5324	0.00	2.65	0.00	0.000	6	0.000	0.057	2411	2699	3402	0	0	1	0	0	0
5646	-0.85	-146.0	476.3	-7.3	595	5651	0.00	2.75	0.00	0.000	4	0.000	0.081	2411	3915	3402	0	0	2	0	0	0
5702	-0.85	-146.0	480.5	-7.3	599	5707	0.00	2.62	0.00	0.000	6	0.000	0.057	2411	2707	3402	0	0	1	0	0	0
6026	-0.85	-146.0	506.6	-8.5	630	6031	0.00	2.75	0.00	0.000	4	0.000	0.081	2411	3920	3403	0	0	2	0	0	0
6129	-0.85	-146.0	515.8	-9.7	638	6134	0.00	2.60	0.00	0.000	6	0.000	0.057	2411	2721	3403	0	0	1	0	0	0
6281	end dive: BOTTOM_OBSTACLE_DETECTED
state	6281	begin apogee
6287	-0.16	0.0	528.8	8.3	653	6414	0.77	0.00	120.93	1.058	6	0.184	0.000	2626	1935	2800	0	0	0	0	0	0
6414	end apogee: CONTROL_FINISHED_OK
state	6414	begin climb
6417	0.73	146.0	530.7	0.0	666	6550	0.95	0.00	123.80	1.013	6	0.133	0.000	2912	1936	2203	0	0	0	0	0	0
6868	0.73	146.0	484.9	11.1	709	6874	0.00	3.47	0.00	0.000	4	0.000	0.073	2913	3537	2194	0	0	2	0	0	0
6982	0.63	146.0	470.7	12.0	718	6989	0.15	3.40	0.00	0.000	6	0.208	0.066	2896	1955	2193	0	0	1	0	0	0
7306	0.63	146.0	435.6	10.7	749	7312	0.00	3.40	0.00	0.000	4	0.000	0.074	2896	3544	2194	0	0	2	0	0	0
7402	0.63	146.0	424.4	12.1	757	7408	0.00	3.35	0.00	0.000	6	0.000	0.067	2909	1973	2193	0	0	1	0	0	0
7726	0.63	146.0	387.9	11.3	787	7731	0.00	3.38	0.00	0.000	4	0.000	0.075	2909	3537	2192	0	0	1	0	0	0
7838	0.56	146.0	373.8	12.8	796	7844	0.20	3.35	0.00	0.000	6	0.199	0.067	2876	1973	2191	0	0	0	0	0	0
8163	0.65	146.0	342.4	9.8	827	8168	0.00	3.35	0.00	0.000	4	0.000	0.074	2876	3548	2191	0	0	2	0	0	0
8252	0.65	146.0	333.0	11.0	834	8258	0.00	3.30	0.00	0.000	6	0.000	0.067	2889	1990	2191	0	0	2	0	0	0
8576	0.70	146.0	301.3	9.8	865	8582	0.00	3.35	0.00	0.000	4	0.000	0.074	2888	3546	2191	0	0	1	0	0	0
8683	0.70	146.0	289.4	11.7	874	8688	0.00	3.30	0.00	0.000	6	0.000	0.067	2903	2002	2191	0	0	1	0	0	0
9007	0.70	146.0	255.1	9.9	904	9012	0.00	3.33	0.00	0.000	4	0.000	0.075	2903	3539	2191	0	0	1	0	0	0
9130	0.70	146.0	241.9	10.2	914	9136	0.00	3.25	0.00	0.000	6	0.000	0.066	2918	2031	2191	0	0	1	0	0	0
9454	0.70	146.0	208.9	10.2	945	9459	0.00	3.28	0.00	0.000	4	0.000	0.074	2917	3539	2192	0	0	2	0	0	0
9539	0.62	146.0	199.0	12.1	952	9545	0.17	3.22	0.00	0.000	6	0.201	0.067	2892	2030	2191	0	0	2	0	0	0
9865	0.69	154.9	169.1	8.8	982	9879	0.00	3.33	6.62	0.709	4	0.000	0.074	2892	3542	2168	0	0	2	0	0	0
9987	0.69	154.9	156.4	10.9	993	9992	0.00	3.22	0.00	0.000	6	0.000	0.066	2904	2051	2167	0	0	1	0	0	0
10312	0.75	161.7	127.3	8.9	1023	10326	0.00	3.30	7.20	0.705	4	0.000	0.074	2904	3541	2140	0	0	1	0	0	0
10429	0.75	161.7	115.3	11.6	1033	10435	0.00	3.20	0.00	0.000	6	0.000	0.065	2918	2058	2139	0	0	2	0	0	0
10764	0.84	183.7	84.6	8.2	1079	10791	0.12	3.25	19.27	0.760	4	0.108	0.074	2964	3539	2050	0	0	2	0	0	0
10855	0.71	183.7	75.2	11.9	1095	10861	0.25	3.22	0.00	0.000	6	0.195	0.066	2920	2066	2048	0	0	1	0	0	0
11202	0.82	195.4	42.0	8.7	1156	11223	0.12	3.22	11.23	0.714	4	0.120	0.073	2962	3539	2001	0	0	2	0	0	0
11342	0.73	195.4	23.4	11.9	1181	11349	0.20	3.22	0.00	0.000	6	0.194	0.070	2929	2088	1999	0	0	1	0	0	0
11618	end climb: SURFACE_DEPTH_REACHED
state	11618	begin surface coast
11649	end surface coast: CONTROL_FINISHED_OK
state	11649	begin surface