Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 321 * 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 321 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 20 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 20 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 -42072.414 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 -42072.414

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 20 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 321 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 121500,6708.678,-5709.454,36,1.4,41,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 33 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 122449,6708.760,-5709.604,9,1.3,14,-37.8 MHEAD_RNG_PITCHd_Wd 162.2,18899,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 574

Post-dive calculations and measurements:

FREEZE 0.54,-0.686,-0.974,0,1,0 ALTIM_TOP_PING 19.9,18.8

FINISH 0.5,1.014383 ALTIM_BOTTOM_PING 500.7,118.1

SM_CCo 12327,121.75,0.729,0,0,1066,425.10 _24V_AH 22.5,61.319

SM_GC 1.19,0.00,0.00,121.75,0.000,0.000,0.729,127,2450,1066,-8.01,-0.28,425.10 _10V_AH 10.1,32.385

RAFOS_CLK 784 FG_AHR_24Vo 0.000

RAFOS 1,1260965342,12.166667,12.150556,61,60,54,0,0,0,159,196,184,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.132324,-5713.788574,151209,202012,3,79,0.64 MEM 152512

IRIDIUM_FIX 6641.98,-5647.86,120399,080850 DATA_FILE_SIZE 50385,1298

TT8_MAMPS 0.027612 CAP_FILE_SIZE 156452,0

HUMID 46.85 CFSIZE 260165632,225042432

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,70,0,0

TCM_TEMP 16.90 SOUNDSPEED 1465.0

XPDR_PINGS 5 GPS 161209,155421,6709.292,-5711.641,35,2.2,54,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 289 155.26 SBE_CT 949 24 512.75

Roll_motor 162 97 355.17 SBE_O2 895 19 382.64

VBD_pump_during_apogee 314 1108 7840.22 nil 0 0 0.00

VBD_pump_during_surface 121 728 1996.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.93 nil 0 0 0.00

Iridium_during_connect 30 160 110.27 nil 0 0 0.00

Iridium_during_xfer 400 223 2011.81

Transponder_ping 3 420 30.71

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.10

TT8 2184 19 439.52

LPSleep 7253 2 169.23

TT8_Active 604 19 121.62

TT8_Sampling 2308 39 930.62

TT8_CF8 680 45 315.42

TT8_Kalman 0 0 0.00

Analog_circuits 1781 12 215.94

GPS_charging 0 0 0.00

Compass 2264 8 182.95

RAFOS 1440 1 21.82

Transponder 18 30 5.59

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

14 -0.73 -146.0 0.0 0.0 0 135 0.00 0.00 -115.50 0.000 2 0.000 0.000 126 2456 3073 0 0 0 0 0 0

137 -0.73 -146.0 3.1 -4.6 23 164 11.12 3.33 -9.20 0.000 4 0.290 0.097 2448 3920 3397 0 0 1 0 0 0

250 -0.73 -146.0 18.4 -9.9 43 255 0.00 3.15 0.00 0.000 6 0.000 0.065 2448 2464 3400 0 0 1 0 0 0

592 -0.73 -146.0 55.5 -9.7 104 598 0.00 3.25 0.00 0.000 4 0.000 0.087 2448 3912 3400 0 0 2 0 0 0

847 -0.78 -146.0 81.9 -12.0 149 852 0.00 3.05 0.00 0.000 6 0.000 0.065 2448 2505 3400 0 0 1 0 0 0

1181 -0.84 -146.0 116.1 -8.3 194 1186 0.00 3.17 0.00 0.000 4 0.000 0.088 2448 3921 3399 0 0 2 0 0 0

1349 -0.93 -146.0 130.1 -8.0 208 1356 0.17 3.05 0.00 0.000 6 0.114 0.064 2391 2493 3398 0 0 2 0 0 0

1674 -0.85 -146.0 166.2 -11.9 239 1679 0.00 3.20 0.00 0.000 4 0.000 0.087 2391 3922 3398 0 0 1 0 0 0

1931 -0.76 -146.0 196.4 -11.3 261 1937 0.22 2.95 0.00 0.000 6 0.199 0.063 2445 2545 3398 0 0 2 0 0 0

2256 -0.84 -146.0 224.9 -8.3 292 2261 0.00 3.10 0.00 0.000 4 0.000 0.085 2445 3924 3398 0 0 1 0 0 0

2457 -0.94 -146.0 241.2 -7.9 309 2464 0.17 2.88 0.00 0.000 6 0.109 0.061 2386 2572 3399 0 0 2 0 0 0

2782 -0.85 -146.0 270.1 -8.0 340 2788 0.12 3.05 0.00 0.000 4 0.204 0.083 2413 3921 3399 0 0 1 0 0 0

2951 -0.85 -146.0 282.7 -7.2 354 2956 0.00 2.85 0.00 0.000 6 0.000 0.060 2413 2586 3399 0 0 1 0 0 0

3275 -0.85 -146.0 305.3 -7.4 385 3280 0.00 2.97 0.00 0.000 4 0.000 0.083 2413 3913 3399 0 0 2 0 0 0

3449 -0.85 -146.0 318.5 -7.4 400 3454 0.00 2.83 0.00 0.000 6 0.000 0.059 2413 2595 3400 0 0 1 0 0 0

3773 -0.85 -146.0 342.5 -7.6 430 3778 0.00 2.95 0.00 0.000 4 0.000 0.083 2413 3916 3401 0 0 2 0 0 0

3981 -0.85 -146.0 359.7 -8.5 448 3985 0.00 2.78 0.00 0.000 6 0.000 0.058 2413 2631 3401 0 0 1 0 0 0

4305 -0.85 -146.0 385.6 -8.2 478 4310 0.00 2.90 0.00 0.000 4 0.000 0.082 2413 3914 3401 0 0 1 0 0 0

4440 -0.85 -146.0 396.4 -7.8 489 4446 0.00 2.75 0.00 0.000 6 0.000 0.058 2413 2642 3402 0 0 1 0 0 0

4764 -0.85 -146.0 420.7 -7.5 520 4769 0.00 2.90 0.00 0.000 4 0.000 0.083 2413 3920 3402 0 0 1 0 0 0

4949 -0.85 -146.0 435.6 -7.8 536 4954 0.00 2.70 0.00 0.000 6 0.000 0.058 2413 2671 3402 0 0 2 0 0 0

5274 -0.85 -146.0 462.3 -8.1 566 5279 0.00 2.85 0.00 0.000 4 0.000 0.083 2413 3919 3402 0 0 1 0 0 0

5437 -0.85 -146.0 476.4 -8.5 580 5441 0.00 2.65 0.00 0.000 6 0.000 0.058 2413 2708 3402 0 0 1 0 0 0

5761 -0.85 -146.0 503.4 -8.4 610 5766 0.00 2.78 0.00 0.000 4 0.000 0.082 2413 3913 3402 0 0 1 0 0 0

5879 -0.85 -146.0 513.5 -8.8 620 5883 0.00 2.62 0.00 0.000 6 0.000 0.058 2413 2717 3402 0 0 1 0 0 0

6203 -0.85 -146.0 541.1 -8.6 650 6207 0.00 2.75 0.00 0.000 4 0.000 0.084 2413 3913 3402 0 0 1 0 0 0

6291 -0.85 -146.0 549.0 -8.7 657 6297 0.00 2.58 0.00 0.000 6 0.000 0.058 2413 2728 3402 0 0 2 0 0 0

6603 end dive: TARGET_DEPTH_EXCEEDED

state 6603 begin apogee

6609 -0.16 0.0 574.1 8.8 687 6736 0.77 0.00 122.00 1.108 6 0.173 0.000 2631 1932 2800 0 0 0 0 0 0

6737 end apogee: CONTROL_FINISHED_OK

state 6737 begin climb

6740 0.73 146.0 577.3 0.0 700 6873 0.93 2.17 125.60 1.056 4 0.121 0.086 2923 352 2202 0 0 0 0 0 0

6901 0.64 146.0 563.8 12.0 715 6907 0.00 2.12 0.00 0.000 6 0.000 0.058 2923 1966 2199 0 0 0 0 0 0

7226 0.57 146.0 526.5 11.4 746 7232 0.20 3.50 0.00 0.000 4 0.199 0.075 2868 3531 2194 0 0 1 0 0 0

7304 0.57 146.0 518.5 9.8 752 7311 0.00 3.45 0.00 0.000 6 0.000 0.068 2881 1956 2193 0 0 2 0 0 0

7630 0.65 150.7 489.4 9.0 783 7635 0.00 3.45 0.00 0.000 4 0.000 0.077 2881 3524 2192 0 0 1 0 0 0

7771 0.65 150.7 475.0 10.5 795 7777 0.00 3.38 0.00 0.000 6 0.000 0.071 2896 1979 2192 0 0 2 0 0 0

8095 0.65 150.7 443.0 9.8 825 8101 0.00 3.40 0.00 0.000 4 0.000 0.078 2896 3526 2192 0 0 2 0 0 0

8226 0.60 150.7 428.6 11.7 836 8232 0.00 3.38 0.00 0.000 6 0.000 0.071 2911 1989 2191 0 0 1 0 0 0

8552 0.60 150.7 393.0 10.6 866 8557 0.00 3.38 0.00 0.000 4 0.000 0.078 2910 3531 2191 0 0 3 0 0 0

8659 0.50 150.7 380.5 11.6 875 8665 0.28 3.35 0.00 0.000 6 0.197 0.071 2858 2010 2190 0 0 1 0 0 0

8985 0.70 189.5 356.0 7.5 905 9027 0.17 3.42 34.58 0.958 4 0.108 0.078 2919 3533 2026 0 0 2 0 0 0

9128 0.62 189.5 339.0 12.6 918 9134 0.17 3.35 0.00 0.000 6 0.199 0.070 2894 2027 2023 0 0 2 0 0 0

9453 0.68 189.5 301.9 11.5 948 9458 0.00 3.38 0.00 0.000 4 0.000 0.077 2894 3535 2020 0 0 1 0 0 0

9552 0.68 189.5 289.5 12.7 956 9559 0.00 3.33 0.00 0.000 6 0.000 0.069 2906 2038 2019 0 0 1 0 0 0

9877 0.68 189.5 252.9 10.6 987 9883 0.00 3.35 0.00 0.000 4 0.000 0.077 2906 3534 2019 0 0 1 0 0 0

9978 0.68 189.5 241.4 11.6 995 9984 0.00 3.30 0.00 0.000 6 0.000 0.069 2920 2050 2019 0 0 1 0 0 0

10303 0.68 189.5 206.0 11.2 1026 10308 0.00 3.30 0.00 0.000 4 0.000 0.077 2921 3525 2020 0 0 2 0 0 0

10391 0.63 189.5 194.8 12.4 1033 10398 0.17 3.25 0.00 0.000 6 0.199 0.069 2895 2077 2019 0 0 1 0 0 0

10717 0.74 200.0 164.4 8.7 1064 10732 0.00 3.25 9.23 0.775 4 0.000 0.077 2895 3524 1984 0 0 2 0 0 0

10782 0.80 200.0 157.9 9.9 1069 10789 0.12 3.22 0.00 0.000 6 0.116 0.068 2949 2084 1983 0 0 1 0 0 0

11107 0.75 200.0 118.6 12.2 1100 11112 0.00 3.25 0.00 0.000 4 0.000 0.077 2949 3529 1983 0 0 2 0 0 0

11180 0.64 200.0 109.0 13.5 1106 11186 0.25 3.20 0.00 0.000 6 0.197 0.068 2903 2106 1982 0 0 1 0 0 0

11519 0.80 204.4 79.1 9.0 1158 11531 0.15 3.22 5.55 0.653 4 0.110 0.075 2957 3534 1965 0 0 1 0 0 0

11600 0.72 204.4 69.7 12.2 1172 11606 0.20 3.22 0.00 0.000 6 0.197 0.068 2924 2108 1964 0 0 0 0 0 0

11945 0.84 224.2 36.9 8.3 1233 11972 0.12 3.28 17.45 0.756 4 0.126 0.079 2965 3525 1885 0 0 2 0 0 0

12051 0.76 224.2 24.4 10.3 1252 12058 0.17 3.17 0.00 0.000 6 0.196 0.070 2939 2123 1882 0 0 2 0 0 0

12287 end climb: SURFACE_DEPTH_REACHED

state 12287 begin surface coast

12311 end surface coast: CONTROL_FINISHED_OK

state 12311 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	321	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	20	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	20	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	-42072.414	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	121500,6708.678,-5709.454,36,1.4,41,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	33	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	122449,6708.760,-5709.604,9,1.3,14,-37.8	MHEAD_RNG_PITCHd_Wd	162.2,18899,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	574

FREEZE	0.54,-0.686,-0.974,0,1,0	ALTIM_TOP_PING	19.9,18.8
FINISH	0.5,1.014383	ALTIM_BOTTOM_PING	500.7,118.1
SM_CCo	12327,121.75,0.729,0,0,1066,425.10	_24V_AH	22.5,61.319
SM_GC	1.19,0.00,0.00,121.75,0.000,0.000,0.729,127,2450,1066,-8.01,-0.28,425.10	_10V_AH	10.1,32.385
RAFOS_CLK	784	FG_AHR_24Vo	0.000
RAFOS	1,1260965342,12.166667,12.150556,61,60,54,0,0,0,159,196,184,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.132324,-5713.788574,151209,202012,3,79,0.64	MEM	152512
IRIDIUM_FIX	6641.98,-5647.86,120399,080850	DATA_FILE_SIZE	50385,1298
TT8_MAMPS	0.027612	CAP_FILE_SIZE	156452,0
HUMID	46.85	CFSIZE	260165632,225042432
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
TCM_TEMP	16.90	SOUNDSPEED	1465.0
XPDR_PINGS	5	GPS	161209,155421,6709.292,-5711.641,35,2.2,54,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	289	155.26	SBE_CT	949	24	512.75
Roll_motor	162	97	355.17	SBE_O2	895	19	382.64
VBD_pump_during_apogee	314	1108	7840.22	nil	0	0	0.00
VBD_pump_during_surface	121	728	1996.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.93	nil	0	0	0.00
Iridium_during_connect	30	160	110.27	nil	0	0	0.00
Iridium_during_xfer	400	223	2011.81
Transponder_ping	3	420	30.71
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.10
TT8	2184	19	439.52
LPSleep	7253	2	169.23
TT8_Active	604	19	121.62
TT8_Sampling	2308	39	930.62
TT8_CF8	680	45	315.42
TT8_Kalman	0	0	0.00
Analog_circuits	1781	12	215.94
GPS_charging	0	0	0.00
Compass	2264	8	182.95
RAFOS	1440	1	21.82
Transponder	18	30	5.59

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
14	-0.73	-146.0	0.0	0.0	0	135	0.00	0.00	-115.50	0.000	2	0.000	0.000	126	2456	3073	0	0	0	0	0	0
137	-0.73	-146.0	3.1	-4.6	23	164	11.12	3.33	-9.20	0.000	4	0.290	0.097	2448	3920	3397	0	0	1	0	0	0
250	-0.73	-146.0	18.4	-9.9	43	255	0.00	3.15	0.00	0.000	6	0.000	0.065	2448	2464	3400	0	0	1	0	0	0
592	-0.73	-146.0	55.5	-9.7	104	598	0.00	3.25	0.00	0.000	4	0.000	0.087	2448	3912	3400	0	0	2	0	0	0
847	-0.78	-146.0	81.9	-12.0	149	852	0.00	3.05	0.00	0.000	6	0.000	0.065	2448	2505	3400	0	0	1	0	0	0
1181	-0.84	-146.0	116.1	-8.3	194	1186	0.00	3.17	0.00	0.000	4	0.000	0.088	2448	3921	3399	0	0	2	0	0	0
1349	-0.93	-146.0	130.1	-8.0	208	1356	0.17	3.05	0.00	0.000	6	0.114	0.064	2391	2493	3398	0	0	2	0	0	0
1674	-0.85	-146.0	166.2	-11.9	239	1679	0.00	3.20	0.00	0.000	4	0.000	0.087	2391	3922	3398	0	0	1	0	0	0
1931	-0.76	-146.0	196.4	-11.3	261	1937	0.22	2.95	0.00	0.000	6	0.199	0.063	2445	2545	3398	0	0	2	0	0	0
2256	-0.84	-146.0	224.9	-8.3	292	2261	0.00	3.10	0.00	0.000	4	0.000	0.085	2445	3924	3398	0	0	1	0	0	0
2457	-0.94	-146.0	241.2	-7.9	309	2464	0.17	2.88	0.00	0.000	6	0.109	0.061	2386	2572	3399	0	0	2	0	0	0
2782	-0.85	-146.0	270.1	-8.0	340	2788	0.12	3.05	0.00	0.000	4	0.204	0.083	2413	3921	3399	0	0	1	0	0	0
2951	-0.85	-146.0	282.7	-7.2	354	2956	0.00	2.85	0.00	0.000	6	0.000	0.060	2413	2586	3399	0	0	1	0	0	0
3275	-0.85	-146.0	305.3	-7.4	385	3280	0.00	2.97	0.00	0.000	4	0.000	0.083	2413	3913	3399	0	0	2	0	0	0
3449	-0.85	-146.0	318.5	-7.4	400	3454	0.00	2.83	0.00	0.000	6	0.000	0.059	2413	2595	3400	0	0	1	0	0	0
3773	-0.85	-146.0	342.5	-7.6	430	3778	0.00	2.95	0.00	0.000	4	0.000	0.083	2413	3916	3401	0	0	2	0	0	0
3981	-0.85	-146.0	359.7	-8.5	448	3985	0.00	2.78	0.00	0.000	6	0.000	0.058	2413	2631	3401	0	0	1	0	0	0
4305	-0.85	-146.0	385.6	-8.2	478	4310	0.00	2.90	0.00	0.000	4	0.000	0.082	2413	3914	3401	0	0	1	0	0	0
4440	-0.85	-146.0	396.4	-7.8	489	4446	0.00	2.75	0.00	0.000	6	0.000	0.058	2413	2642	3402	0	0	1	0	0	0
4764	-0.85	-146.0	420.7	-7.5	520	4769	0.00	2.90	0.00	0.000	4	0.000	0.083	2413	3920	3402	0	0	1	0	0	0
4949	-0.85	-146.0	435.6	-7.8	536	4954	0.00	2.70	0.00	0.000	6	0.000	0.058	2413	2671	3402	0	0	2	0	0	0
5274	-0.85	-146.0	462.3	-8.1	566	5279	0.00	2.85	0.00	0.000	4	0.000	0.083	2413	3919	3402	0	0	1	0	0	0
5437	-0.85	-146.0	476.4	-8.5	580	5441	0.00	2.65	0.00	0.000	6	0.000	0.058	2413	2708	3402	0	0	1	0	0	0
5761	-0.85	-146.0	503.4	-8.4	610	5766	0.00	2.78	0.00	0.000	4	0.000	0.082	2413	3913	3402	0	0	1	0	0	0
5879	-0.85	-146.0	513.5	-8.8	620	5883	0.00	2.62	0.00	0.000	6	0.000	0.058	2413	2717	3402	0	0	1	0	0	0
6203	-0.85	-146.0	541.1	-8.6	650	6207	0.00	2.75	0.00	0.000	4	0.000	0.084	2413	3913	3402	0	0	1	0	0	0
6291	-0.85	-146.0	549.0	-8.7	657	6297	0.00	2.58	0.00	0.000	6	0.000	0.058	2413	2728	3402	0	0	2	0	0	0
6603	end dive: TARGET_DEPTH_EXCEEDED
state	6603	begin apogee
6609	-0.16	0.0	574.1	8.8	687	6736	0.77	0.00	122.00	1.108	6	0.173	0.000	2631	1932	2800	0	0	0	0	0	0
6737	end apogee: CONTROL_FINISHED_OK
state	6737	begin climb
6740	0.73	146.0	577.3	0.0	700	6873	0.93	2.17	125.60	1.056	4	0.121	0.086	2923	352	2202	0	0	0	0	0	0
6901	0.64	146.0	563.8	12.0	715	6907	0.00	2.12	0.00	0.000	6	0.000	0.058	2923	1966	2199	0	0	0	0	0	0
7226	0.57	146.0	526.5	11.4	746	7232	0.20	3.50	0.00	0.000	4	0.199	0.075	2868	3531	2194	0	0	1	0	0	0
7304	0.57	146.0	518.5	9.8	752	7311	0.00	3.45	0.00	0.000	6	0.000	0.068	2881	1956	2193	0	0	2	0	0	0
7630	0.65	150.7	489.4	9.0	783	7635	0.00	3.45	0.00	0.000	4	0.000	0.077	2881	3524	2192	0	0	1	0	0	0
7771	0.65	150.7	475.0	10.5	795	7777	0.00	3.38	0.00	0.000	6	0.000	0.071	2896	1979	2192	0	0	2	0	0	0
8095	0.65	150.7	443.0	9.8	825	8101	0.00	3.40	0.00	0.000	4	0.000	0.078	2896	3526	2192	0	0	2	0	0	0
8226	0.60	150.7	428.6	11.7	836	8232	0.00	3.38	0.00	0.000	6	0.000	0.071	2911	1989	2191	0	0	1	0	0	0
8552	0.60	150.7	393.0	10.6	866	8557	0.00	3.38	0.00	0.000	4	0.000	0.078	2910	3531	2191	0	0	3	0	0	0
8659	0.50	150.7	380.5	11.6	875	8665	0.28	3.35	0.00	0.000	6	0.197	0.071	2858	2010	2190	0	0	1	0	0	0
8985	0.70	189.5	356.0	7.5	905	9027	0.17	3.42	34.58	0.958	4	0.108	0.078	2919	3533	2026	0	0	2	0	0	0
9128	0.62	189.5	339.0	12.6	918	9134	0.17	3.35	0.00	0.000	6	0.199	0.070	2894	2027	2023	0	0	2	0	0	0
9453	0.68	189.5	301.9	11.5	948	9458	0.00	3.38	0.00	0.000	4	0.000	0.077	2894	3535	2020	0	0	1	0	0	0
9552	0.68	189.5	289.5	12.7	956	9559	0.00	3.33	0.00	0.000	6	0.000	0.069	2906	2038	2019	0	0	1	0	0	0
9877	0.68	189.5	252.9	10.6	987	9883	0.00	3.35	0.00	0.000	4	0.000	0.077	2906	3534	2019	0	0	1	0	0	0
9978	0.68	189.5	241.4	11.6	995	9984	0.00	3.30	0.00	0.000	6	0.000	0.069	2920	2050	2019	0	0	1	0	0	0
10303	0.68	189.5	206.0	11.2	1026	10308	0.00	3.30	0.00	0.000	4	0.000	0.077	2921	3525	2020	0	0	2	0	0	0
10391	0.63	189.5	194.8	12.4	1033	10398	0.17	3.25	0.00	0.000	6	0.199	0.069	2895	2077	2019	0	0	1	0	0	0
10717	0.74	200.0	164.4	8.7	1064	10732	0.00	3.25	9.23	0.775	4	0.000	0.077	2895	3524	1984	0	0	2	0	0	0
10782	0.80	200.0	157.9	9.9	1069	10789	0.12	3.22	0.00	0.000	6	0.116	0.068	2949	2084	1983	0	0	1	0	0	0
11107	0.75	200.0	118.6	12.2	1100	11112	0.00	3.25	0.00	0.000	4	0.000	0.077	2949	3529	1983	0	0	2	0	0	0
11180	0.64	200.0	109.0	13.5	1106	11186	0.25	3.20	0.00	0.000	6	0.197	0.068	2903	2106	1982	0	0	1	0	0	0
11519	0.80	204.4	79.1	9.0	1158	11531	0.15	3.22	5.55	0.653	4	0.110	0.075	2957	3534	1965	0	0	1	0	0	0
11600	0.72	204.4	69.7	12.2	1172	11606	0.20	3.22	0.00	0.000	6	0.197	0.068	2924	2108	1964	0	0	0	0	0	0
11945	0.84	224.2	36.9	8.3	1233	11972	0.12	3.28	17.45	0.756	4	0.126	0.079	2965	3525	1885	0	0	2	0	0	0
12051	0.76	224.2	24.4	10.3	1252	12058	0.17	3.17	0.00	0.000	6	0.196	0.070	2939	2123	1882	0	0	2	0	0	0
12287	end climb: SURFACE_DEPTH_REACHED
state	12287	begin surface coast
12311	end surface coast: CONTROL_FINISHED_OK
state	12311	begin surface