Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 322 * 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 322 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 19 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 -42086.867 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 -42086.867

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 19 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 322 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 155421,6709.292,-5711.641,35,2.2,54,-37.8 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 1.32 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 160008,6709.343,-5711.602,12,1.5,12,-37.8 MHEAD_RNG_PITCHd_Wd 162.4,20700,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 586

Post-dive calculations and measurements:

FREEZE 0.51,-0.755,-0.472,0,1,0 ALTIM_TOP_PING 19.6,19.1

FINISH 0.5,1.006856 ALTIM_BOTTOM_PING 400.6,222.8

SM_CCo 12712,120.05,0.728,0,0,1066,425.10 _24V_AH 22.5,61.449

SM_GC 1.41,0.00,0.00,120.05,0.000,0.000,0.728,129,2465,1066,-8.00,0.14,425.10 _10V_AH 10.1,32.463

RAFOS_CLK 802 FG_AHR_24Vo 0.000

RAFOS 0,1260979261,16.033333,16.016945,62,60,52,0,0,0,211,197,149,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.132324,-5713.788574,151209,202012,3,79,0.64 MEM 152612

IRIDIUM_FIX 6641.98,-5716.88,120399,121246 DATA_FILE_SIZE 53528,1343

TT8_MAMPS 0.026845 CAP_FILE_SIZE 154649,0

HUMID 46.69 CFSIZE 260165632,224964608

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,68,0,0

TCM_TEMP 17.10 SOUNDSPEED 1464.8

XPDR_PINGS 4 GPS 161209,193536,6708.670,-5710.575,30,1.0,30,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 235 117.75 SBE_CT 984 24 531.65

Roll_motor 167 90 341.50 SBE_O2 919 19 393.30

VBD_pump_during_apogee 314 1105 7827.84 nil 0 0 0.00

VBD_pump_during_surface 120 727 1966.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.40 nil 0 0 0.00

Iridium_during_connect 34 160 123.56 nil 0 0 0.00

Iridium_during_xfer 156 223 786.66

Transponder_ping 2 420 21.26

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.98

TT8 2239 19 450.48

LPSleep 7476 2 174.43

TT8_Active 620 19 124.83

TT8_Sampling 2395 39 965.69

TT8_CF8 440 45 204.18

TT8_Kalman 0 0 0.00

Analog_circuits 1841 12 223.13

GPS_charging 0 0 0.00

Compass 2351 8 190.01

RAFOS 2520 1 38.18

Transponder 11 30 3.39

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 0 164 0.00 0.00 -142.38 0.000 6 0.000 0.000 127 2451 3395 0 0 0 0 0 0

166 -0.73 -146.0 1.2 0.5 29 182 9.55 3.35 0.00 0.000 4 0.235 0.087 2441 3927 3397 0 0 2 0 0 0

217 -0.78 -146.0 2.8 -5.2 38 222 0.00 3.17 0.00 0.000 6 0.000 0.064 2441 2461 3398 0 0 2 0 0 0

560 -0.73 -146.0 38.6 -9.5 99 565 0.00 3.30 0.00 0.000 4 0.000 0.087 2441 3927 3399 0 0 2 0 0 0

818 -0.73 -146.0 64.2 -9.0 145 824 0.00 3.10 0.00 0.000 6 0.000 0.066 2441 2500 3399 0 0 2 0 0 0

1163 -0.73 -146.0 97.1 -10.2 206 1168 0.00 2.33 0.00 0.000 4 0.000 0.088 2441 855 3399 0 0 0 0 0 0

1422 -0.73 -146.0 122.7 -9.5 232 1426 0.00 2.40 0.00 0.000 6 0.000 0.074 2441 2565 3398 0 0 0 0 0 0

1747 -0.78 -146.0 151.2 -8.2 262 1752 0.00 3.08 0.00 0.000 4 0.000 0.091 2441 3915 3396 0 0 2 0 0 0

1843 -0.83 -146.0 159.5 -8.5 270 1848 0.00 2.88 0.00 0.000 6 0.000 0.065 2441 2577 3395 0 0 2 0 0 0

2167 -0.90 -146.0 190.1 -9.9 300 2173 0.12 3.08 0.00 0.000 4 0.123 0.086 2388 3926 3395 0 0 2 0 0 0

2264 -0.81 -146.0 202.2 -13.1 308 2269 0.17 2.90 0.00 0.000 6 0.205 0.064 2428 2584 3394 0 0 2 0 0 0

2589 -0.86 -146.0 231.6 -8.5 338 2594 0.00 3.03 0.00 0.000 4 0.000 0.086 2428 3921 3395 0 0 2 0 0 0

2767 -0.86 -146.0 248.5 -9.6 353 2773 0.00 2.85 0.00 0.000 6 0.000 0.061 2428 2606 3395 0 0 1 0 0 0

3093 -0.90 -146.0 277.2 -8.6 384 3098 0.00 2.97 0.00 0.000 4 0.000 0.085 2429 3921 3397 0 0 2 0 0 0

3272 -0.96 -146.0 293.0 -9.3 399 3278 0.15 2.80 0.00 0.000 6 0.113 0.061 2378 2624 3397 0 0 2 0 0 0

3596 -0.85 -146.0 326.1 -10.4 430 3602 0.15 2.95 0.00 0.000 4 0.202 0.084 2413 3915 3397 0 0 2 0 0 0

3850 -0.85 -146.0 350.7 -8.9 452 3854 0.00 2.75 0.00 0.000 6 0.000 0.061 2412 2659 3397 0 0 1 0 0 0

4174 -0.85 -146.0 378.3 -8.0 482 4179 0.00 2.90 0.00 0.000 4 0.000 0.084 2412 3928 3398 0 0 1 0 0 0

4315 -0.85 -146.0 389.5 -8.4 494 4320 0.00 2.72 0.00 0.000 6 0.000 0.060 2412 2684 3398 0 0 1 0 0 0

4639 -0.85 -146.0 414.0 -7.2 524 4644 0.00 2.85 0.00 0.000 4 0.000 0.083 2413 3919 3398 0 0 1 0 0 0

4751 -0.85 -146.0 422.8 -7.4 533 4757 0.00 2.67 0.00 0.000 6 0.000 0.059 2413 2696 3398 0 0 2 0 0 0

5075 -0.85 -146.0 447.1 -7.6 564 5080 0.00 2.83 0.00 0.000 4 0.000 0.084 2413 3919 3399 0 0 2 0 0 0

5206 -0.85 -146.0 457.4 -8.3 575 5210 0.00 2.65 0.00 0.000 6 0.000 0.059 2413 2714 3399 0 0 2 0 0 0

5530 -0.85 -146.0 482.9 -7.8 605 5535 0.00 2.80 0.00 0.000 4 0.000 0.083 2412 3920 3400 0 0 1 0 0 0

5692 -0.85 -146.0 496.3 -8.7 619 5697 0.00 2.60 0.00 0.000 6 0.000 0.058 2412 2736 3399 0 0 1 0 0 0

6017 -0.85 -146.0 523.4 -8.5 649 6021 0.00 2.75 0.00 0.000 4 0.000 0.083 2412 3919 3400 0 0 1 0 0 0

6230 -0.85 -146.0 542.3 -9.0 667 6236 0.00 2.55 0.00 0.000 6 0.000 0.059 2412 2752 3400 0 0 2 0 0 0

6554 -0.85 -146.0 572.4 -9.4 698 6558 0.00 2.70 0.00 0.000 4 0.000 0.084 2412 3916 3400 0 0 1 0 0 0

6704 end dive: TARGET_DEPTH_EXCEEDED

state 6704 begin apogee

6713 -0.16 0.0 586.1 9.0 711 6839 0.77 0.00 121.72 1.105 6 0.177 0.000 2628 1940 2800 0 0 0 0 0 0

6840 end apogee: CONTROL_FINISHED_OK

state 6840 begin climb

6843 0.73 146.0 589.8 0.0 724 6976 0.95 0.00 126.10 1.058 6 0.130 0.000 2911 1941 2203 0 0 0 0 0 0

7292 0.73 146.0 548.5 10.3 767 7298 0.00 3.55 0.00 0.000 4 0.000 0.076 2911 3541 2195 0 0 3 0 0 0

7423 0.63 146.0 533.7 11.6 778 7429 0.15 3.53 0.00 0.000 6 0.209 0.068 2895 1940 2193 0 0 0 0 0 0

7747 0.63 146.0 501.0 10.9 808 7753 0.00 3.50 0.00 0.000 4 0.000 0.077 2895 3541 2193 0 0 1 0 0 0

7889 0.63 146.0 484.3 12.4 820 7894 0.00 3.45 0.00 0.000 6 0.000 0.070 2908 1971 2193 0 0 0 0 0 0

8213 0.63 146.0 446.9 11.5 850 8218 0.00 3.45 0.00 0.000 4 0.000 0.077 2908 3546 2192 0 0 2 0 0 0

8349 0.55 146.0 430.9 12.2 861 8355 0.22 3.45 0.00 0.000 6 0.197 0.070 2869 1975 2192 0 0 0 0 0 0

8674 0.66 159.8 403.1 8.6 892 8695 0.10 3.42 10.68 0.916 4 0.134 0.077 2902 3541 2148 0 0 2 0 0 0

8808 0.61 159.8 388.3 11.0 904 8814 0.12 3.42 0.00 0.000 6 0.205 0.071 2892 1992 2147 0 0 0 0 0 0

9133 0.61 159.8 356.8 10.0 934 9138 0.00 3.40 0.00 0.000 4 0.000 0.076 2892 3541 2147 0 0 2 0 0 0

9240 0.61 159.8 344.9 11.4 943 9245 0.00 3.38 0.00 0.000 6 0.000 0.070 2904 2019 2146 0 0 0 0 0 0

9564 0.61 159.8 310.1 10.7 973 9569 0.00 3.38 0.00 0.000 4 0.000 0.077 2905 3541 2146 0 0 1 0 0 0

9648 0.56 159.8 300.3 12.7 980 9654 0.20 3.35 0.00 0.000 6 0.194 0.068 2872 2031 2146 0 0 0 0 0 0

9973 0.69 160.9 269.9 9.1 1010 9979 0.12 3.38 0.00 0.000 4 0.123 0.077 2914 3541 2146 0 0 1 0 0 0

10098 0.63 160.9 254.4 12.8 1020 10104 0.12 3.33 0.00 0.000 6 0.201 0.068 2900 2048 2146 0 0 0 0 0 0

10422 0.63 160.9 221.7 9.9 1051 10427 0.00 3.35 0.00 0.000 4 0.000 0.077 2900 3547 2146 0 0 1 0 0 0

10534 0.63 160.9 209.6 11.1 1060 10540 0.00 3.28 0.00 0.000 6 0.000 0.068 2912 2060 2146 0 0 2 0 0 0

10858 0.63 160.9 177.5 10.2 1091 10863 0.00 3.33 0.00 0.000 4 0.000 0.077 2912 3541 2146 0 0 1 0 0 0

10970 0.57 160.9 165.4 11.5 1100 10976 0.20 3.28 0.00 0.000 6 0.192 0.068 2879 2083 2146 0 0 0 0 0 0

11295 0.73 179.7 138.2 8.4 1131 11320 0.15 3.33 17.80 0.797 4 0.113 0.077 2931 3538 2065 0 0 1 0 0 0

11405 0.67 179.7 125.4 13.2 1141 11411 0.17 3.25 0.00 0.000 6 0.199 0.067 2906 2100 2063 0 0 0 0 0 0

11730 0.86 226.3 98.4 7.2 1172 11777 0.20 3.33 38.47 0.785 4 0.100 0.076 2975 3541 1876 0 0 1 0 0 0

11891 0.75 226.3 79.0 12.7 1201 11897 0.22 3.28 0.00 0.000 6 0.197 0.067 2937 2105 1872 0 0 0 0 0 0

12237 0.85 227.7 45.9 9.1 1262 12243 0.00 3.25 0.00 0.000 4 0.000 0.077 2936 3540 1871 0 0 2 0 0 0

12316 0.85 227.7 37.7 9.8 1276 12321 0.00 3.22 0.00 0.000 6 0.000 0.069 2949 2114 1870 0 0 1 0 0 0

12659 0.85 227.7 3.6 10.3 1337 12664 0.00 3.25 0.00 0.000 4 0.000 0.079 2949 3541 1869 0 0 2 0 0 0

12675 end climb: SURFACE_DEPTH_REACHED

state 12675 begin surface coast

12693 end surface coast: CONTROL_FINISHED_OK

state 12693 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	322	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	19	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	-42086.867	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	155421,6709.292,-5711.641,35,2.2,54,-37.8	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	1.32	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	160008,6709.343,-5711.602,12,1.5,12,-37.8	MHEAD_RNG_PITCHd_Wd	162.4,20700,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	586

FREEZE	0.51,-0.755,-0.472,0,1,0	ALTIM_TOP_PING	19.6,19.1
FINISH	0.5,1.006856	ALTIM_BOTTOM_PING	400.6,222.8
SM_CCo	12712,120.05,0.728,0,0,1066,425.10	_24V_AH	22.5,61.449
SM_GC	1.41,0.00,0.00,120.05,0.000,0.000,0.728,129,2465,1066,-8.00,0.14,425.10	_10V_AH	10.1,32.463
RAFOS_CLK	802	FG_AHR_24Vo	0.000
RAFOS	0,1260979261,16.033333,16.016945,62,60,52,0,0,0,211,197,149,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.132324,-5713.788574,151209,202012,3,79,0.64	MEM	152612
IRIDIUM_FIX	6641.98,-5716.88,120399,121246	DATA_FILE_SIZE	53528,1343
TT8_MAMPS	0.026845	CAP_FILE_SIZE	154649,0
HUMID	46.69	CFSIZE	260165632,224964608
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,68,0,0
TCM_TEMP	17.10	SOUNDSPEED	1464.8
XPDR_PINGS	4	GPS	161209,193536,6708.670,-5710.575,30,1.0,30,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	235	117.75	SBE_CT	984	24	531.65
Roll_motor	167	90	341.50	SBE_O2	919	19	393.30
VBD_pump_during_apogee	314	1105	7827.84	nil	0	0	0.00
VBD_pump_during_surface	120	727	1966.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.40	nil	0	0	0.00
Iridium_during_connect	34	160	123.56	nil	0	0	0.00
Iridium_during_xfer	156	223	786.66
Transponder_ping	2	420	21.26
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.98
TT8	2239	19	450.48
LPSleep	7476	2	174.43
TT8_Active	620	19	124.83
TT8_Sampling	2395	39	965.69
TT8_CF8	440	45	204.18
TT8_Kalman	0	0	0.00
Analog_circuits	1841	12	223.13
GPS_charging	0	0	0.00
Compass	2351	8	190.01
RAFOS	2520	1	38.18
Transponder	11	30	3.39

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	164	0.00	0.00	-142.38	0.000	6	0.000	0.000	127	2451	3395	0	0	0	0	0	0
166	-0.73	-146.0	1.2	0.5	29	182	9.55	3.35	0.00	0.000	4	0.235	0.087	2441	3927	3397	0	0	2	0	0	0
217	-0.78	-146.0	2.8	-5.2	38	222	0.00	3.17	0.00	0.000	6	0.000	0.064	2441	2461	3398	0	0	2	0	0	0
560	-0.73	-146.0	38.6	-9.5	99	565	0.00	3.30	0.00	0.000	4	0.000	0.087	2441	3927	3399	0	0	2	0	0	0
818	-0.73	-146.0	64.2	-9.0	145	824	0.00	3.10	0.00	0.000	6	0.000	0.066	2441	2500	3399	0	0	2	0	0	0
1163	-0.73	-146.0	97.1	-10.2	206	1168	0.00	2.33	0.00	0.000	4	0.000	0.088	2441	855	3399	0	0	0	0	0	0
1422	-0.73	-146.0	122.7	-9.5	232	1426	0.00	2.40	0.00	0.000	6	0.000	0.074	2441	2565	3398	0	0	0	0	0	0
1747	-0.78	-146.0	151.2	-8.2	262	1752	0.00	3.08	0.00	0.000	4	0.000	0.091	2441	3915	3396	0	0	2	0	0	0
1843	-0.83	-146.0	159.5	-8.5	270	1848	0.00	2.88	0.00	0.000	6	0.000	0.065	2441	2577	3395	0	0	2	0	0	0
2167	-0.90	-146.0	190.1	-9.9	300	2173	0.12	3.08	0.00	0.000	4	0.123	0.086	2388	3926	3395	0	0	2	0	0	0
2264	-0.81	-146.0	202.2	-13.1	308	2269	0.17	2.90	0.00	0.000	6	0.205	0.064	2428	2584	3394	0	0	2	0	0	0
2589	-0.86	-146.0	231.6	-8.5	338	2594	0.00	3.03	0.00	0.000	4	0.000	0.086	2428	3921	3395	0	0	2	0	0	0
2767	-0.86	-146.0	248.5	-9.6	353	2773	0.00	2.85	0.00	0.000	6	0.000	0.061	2428	2606	3395	0	0	1	0	0	0
3093	-0.90	-146.0	277.2	-8.6	384	3098	0.00	2.97	0.00	0.000	4	0.000	0.085	2429	3921	3397	0	0	2	0	0	0
3272	-0.96	-146.0	293.0	-9.3	399	3278	0.15	2.80	0.00	0.000	6	0.113	0.061	2378	2624	3397	0	0	2	0	0	0
3596	-0.85	-146.0	326.1	-10.4	430	3602	0.15	2.95	0.00	0.000	4	0.202	0.084	2413	3915	3397	0	0	2	0	0	0
3850	-0.85	-146.0	350.7	-8.9	452	3854	0.00	2.75	0.00	0.000	6	0.000	0.061	2412	2659	3397	0	0	1	0	0	0
4174	-0.85	-146.0	378.3	-8.0	482	4179	0.00	2.90	0.00	0.000	4	0.000	0.084	2412	3928	3398	0	0	1	0	0	0
4315	-0.85	-146.0	389.5	-8.4	494	4320	0.00	2.72	0.00	0.000	6	0.000	0.060	2412	2684	3398	0	0	1	0	0	0
4639	-0.85	-146.0	414.0	-7.2	524	4644	0.00	2.85	0.00	0.000	4	0.000	0.083	2413	3919	3398	0	0	1	0	0	0
4751	-0.85	-146.0	422.8	-7.4	533	4757	0.00	2.67	0.00	0.000	6	0.000	0.059	2413	2696	3398	0	0	2	0	0	0
5075	-0.85	-146.0	447.1	-7.6	564	5080	0.00	2.83	0.00	0.000	4	0.000	0.084	2413	3919	3399	0	0	2	0	0	0
5206	-0.85	-146.0	457.4	-8.3	575	5210	0.00	2.65	0.00	0.000	6	0.000	0.059	2413	2714	3399	0	0	2	0	0	0
5530	-0.85	-146.0	482.9	-7.8	605	5535	0.00	2.80	0.00	0.000	4	0.000	0.083	2412	3920	3400	0	0	1	0	0	0
5692	-0.85	-146.0	496.3	-8.7	619	5697	0.00	2.60	0.00	0.000	6	0.000	0.058	2412	2736	3399	0	0	1	0	0	0
6017	-0.85	-146.0	523.4	-8.5	649	6021	0.00	2.75	0.00	0.000	4	0.000	0.083	2412	3919	3400	0	0	1	0	0	0
6230	-0.85	-146.0	542.3	-9.0	667	6236	0.00	2.55	0.00	0.000	6	0.000	0.059	2412	2752	3400	0	0	2	0	0	0
6554	-0.85	-146.0	572.4	-9.4	698	6558	0.00	2.70	0.00	0.000	4	0.000	0.084	2412	3916	3400	0	0	1	0	0	0
6704	end dive: TARGET_DEPTH_EXCEEDED
state	6704	begin apogee
6713	-0.16	0.0	586.1	9.0	711	6839	0.77	0.00	121.72	1.105	6	0.177	0.000	2628	1940	2800	0	0	0	0	0	0
6840	end apogee: CONTROL_FINISHED_OK
state	6840	begin climb
6843	0.73	146.0	589.8	0.0	724	6976	0.95	0.00	126.10	1.058	6	0.130	0.000	2911	1941	2203	0	0	0	0	0	0
7292	0.73	146.0	548.5	10.3	767	7298	0.00	3.55	0.00	0.000	4	0.000	0.076	2911	3541	2195	0	0	3	0	0	0
7423	0.63	146.0	533.7	11.6	778	7429	0.15	3.53	0.00	0.000	6	0.209	0.068	2895	1940	2193	0	0	0	0	0	0
7747	0.63	146.0	501.0	10.9	808	7753	0.00	3.50	0.00	0.000	4	0.000	0.077	2895	3541	2193	0	0	1	0	0	0
7889	0.63	146.0	484.3	12.4	820	7894	0.00	3.45	0.00	0.000	6	0.000	0.070	2908	1971	2193	0	0	0	0	0	0
8213	0.63	146.0	446.9	11.5	850	8218	0.00	3.45	0.00	0.000	4	0.000	0.077	2908	3546	2192	0	0	2	0	0	0
8349	0.55	146.0	430.9	12.2	861	8355	0.22	3.45	0.00	0.000	6	0.197	0.070	2869	1975	2192	0	0	0	0	0	0
8674	0.66	159.8	403.1	8.6	892	8695	0.10	3.42	10.68	0.916	4	0.134	0.077	2902	3541	2148	0	0	2	0	0	0
8808	0.61	159.8	388.3	11.0	904	8814	0.12	3.42	0.00	0.000	6	0.205	0.071	2892	1992	2147	0	0	0	0	0	0
9133	0.61	159.8	356.8	10.0	934	9138	0.00	3.40	0.00	0.000	4	0.000	0.076	2892	3541	2147	0	0	2	0	0	0
9240	0.61	159.8	344.9	11.4	943	9245	0.00	3.38	0.00	0.000	6	0.000	0.070	2904	2019	2146	0	0	0	0	0	0
9564	0.61	159.8	310.1	10.7	973	9569	0.00	3.38	0.00	0.000	4	0.000	0.077	2905	3541	2146	0	0	1	0	0	0
9648	0.56	159.8	300.3	12.7	980	9654	0.20	3.35	0.00	0.000	6	0.194	0.068	2872	2031	2146	0	0	0	0	0	0
9973	0.69	160.9	269.9	9.1	1010	9979	0.12	3.38	0.00	0.000	4	0.123	0.077	2914	3541	2146	0	0	1	0	0	0
10098	0.63	160.9	254.4	12.8	1020	10104	0.12	3.33	0.00	0.000	6	0.201	0.068	2900	2048	2146	0	0	0	0	0	0
10422	0.63	160.9	221.7	9.9	1051	10427	0.00	3.35	0.00	0.000	4	0.000	0.077	2900	3547	2146	0	0	1	0	0	0
10534	0.63	160.9	209.6	11.1	1060	10540	0.00	3.28	0.00	0.000	6	0.000	0.068	2912	2060	2146	0	0	2	0	0	0
10858	0.63	160.9	177.5	10.2	1091	10863	0.00	3.33	0.00	0.000	4	0.000	0.077	2912	3541	2146	0	0	1	0	0	0
10970	0.57	160.9	165.4	11.5	1100	10976	0.20	3.28	0.00	0.000	6	0.192	0.068	2879	2083	2146	0	0	0	0	0	0
11295	0.73	179.7	138.2	8.4	1131	11320	0.15	3.33	17.80	0.797	4	0.113	0.077	2931	3538	2065	0	0	1	0	0	0
11405	0.67	179.7	125.4	13.2	1141	11411	0.17	3.25	0.00	0.000	6	0.199	0.067	2906	2100	2063	0	0	0	0	0	0
11730	0.86	226.3	98.4	7.2	1172	11777	0.20	3.33	38.47	0.785	4	0.100	0.076	2975	3541	1876	0	0	1	0	0	0
11891	0.75	226.3	79.0	12.7	1201	11897	0.22	3.28	0.00	0.000	6	0.197	0.067	2937	2105	1872	0	0	0	0	0	0
12237	0.85	227.7	45.9	9.1	1262	12243	0.00	3.25	0.00	0.000	4	0.000	0.077	2936	3540	1871	0	0	2	0	0	0
12316	0.85	227.7	37.7	9.8	1276	12321	0.00	3.22	0.00	0.000	6	0.000	0.069	2949	2114	1870	0	0	1	0	0	0
12659	0.85	227.7	3.6	10.3	1337	12664	0.00	3.25	0.00	0.000	4	0.000	0.079	2949	3541	1869	0	0	2	0	0	0
12675	end climb: SURFACE_DEPTH_REACHED
state	12675	begin surface coast
12693	end surface coast: CONTROL_FINISHED_OK
state	12693	begin surface