Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 323 * 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 323 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 14 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 -42098.641 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 -42098.641

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 14 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 323 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 193536,6708.670,-5710.575,30,1.0,30,-37.8 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 194414,6708.660,-5710.425,9,1.7,9,-37.8 MHEAD_RNG_PITCHd_Wd 160.7,19291,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 585

Post-dive calculations and measurements:

FREEZE 6.65,-0.695,-1.825,0,1,0 ALTIM_BOTTOM_PING 500.2,109.2

FINISH1 6.7,1.026694,39 _24V_AH 22.5,61.557

FINISH2 5.4 _10V_AH 10.1,32.540

RAFOS_CLK 780 FG_AHR_24Vo 0.000

RAFOS 0,1260993662,20.033333,20.017221,53,51,51,0,0,0,181,157,116,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.355469,-5714.697754,161209,202000,2,102,0.82 MEM 152440

IRIDIUM_FIX 6636.54,-5712.23,120399,191920 DATA_FILE_SIZE 50414,1297

TT8_MAMPS 0.027612 CAP_FILE_SIZE 151757,0

HUMID 47.83 CFSIZE 260165632,224886784

INTERNAL_PRESSURE 8.98472 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,70,0,0

TCM_TEMP 17.00 SOUNDSPEED 1466.2

XPDR_PINGS 4 GPS 161209,204800,6708.355,-5714.698,0,2102.0,0,-37.8

ALTIM_TOP_PING 19.8,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 297 112.99 SBE_CT 950 24 513.37

Roll_motor 163 99 365.80 SBE_O2 886 19 379.10

VBD_pump_during_apogee 300 1101 7451.26 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 103 120.40 nil 0 0 0.00

Iridium_during_connect 114 160 413.60 nil 0 0 0.00

Iridium_during_xfer 165 223 831.81

Transponder_ping 3 420 28.35

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.63

TT8 2169 19 436.46

LPSleep 7406 2 172.79

TT8_Active 491 19 98.91

TT8_Sampling 2326 39 937.99

TT8_CF8 550 45 255.28

TT8_Kalman 0 0 0.00

Analog_circuits 1676 12 203.16

GPS_charging 0 0 0.00

Compass 2283 8 184.50

RAFOS 2520 1 38.18

Transponder 18 30 5.57

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 0 138 0.00 0.00 -120.22 0.000 2 0.000 0.000 129 2466 3190 0 0 0 0 0 0

142 -0.73 -146.0 3.7 -6.7 24 168 11.43 3.38 -5.18 0.000 4 0.298 0.099 2445 3912 3399 0 0 2 0 0 0

237 -0.73 -146.0 20.3 -11.2 41 243 0.00 3.15 0.00 0.000 6 0.000 0.065 2445 2459 3401 0 0 2 0 0 0

580 -0.73 -146.0 58.4 -11.1 102 586 0.00 3.30 0.00 0.000 4 0.000 0.089 2445 3915 3402 0 0 2 0 0 0

750 -0.73 -146.0 77.4 -11.1 132 756 0.00 3.10 0.00 0.000 6 0.000 0.066 2445 2490 3402 0 0 2 0 0 0

1087 -0.73 -146.0 113.1 -10.1 181 1092 0.00 3.22 0.00 0.000 4 0.000 0.089 2445 3915 3401 0 0 2 0 0 0

1344 -0.82 -146.0 138.2 -9.5 203 1350 0.00 3.03 0.00 0.000 6 0.000 0.066 2445 2538 3400 0 0 1 0 0 0

1670 -0.90 -146.0 163.9 -7.8 234 1675 0.15 3.17 0.00 0.000 4 0.117 0.088 2388 3926 3399 0 0 2 0 0 0

1912 -0.80 -146.0 190.5 -10.5 255 1918 0.17 2.92 0.00 0.000 6 0.205 0.064 2428 2581 3398 0 0 2 0 0 0

2237 -0.85 -146.0 218.9 -9.2 285 2242 0.00 3.03 0.00 0.000 4 0.000 0.087 2428 3918 3398 0 0 3 0 0 0

2416 -0.85 -146.0 234.8 -8.9 300 2422 0.00 2.90 0.00 0.000 6 0.000 0.062 2428 2593 3398 0 0 0 0 0 0

2741 -0.85 -146.0 262.7 -8.2 331 2746 0.00 3.00 0.00 0.000 4 0.000 0.085 2428 3917 3399 0 0 2 0 0 0

2949 -0.91 -146.0 279.8 -7.9 349 2953 0.00 2.83 0.00 0.000 6 0.000 0.061 2428 2618 3399 0 0 1 0 0 0

3274 -0.96 -146.0 302.9 -6.9 379 3279 0.15 2.90 0.00 0.000 4 0.112 0.081 2365 3917 3400 0 0 2 0 0 0

3437 -0.80 -146.0 318.4 -10.0 393 3443 0.25 2.80 0.00 0.000 6 0.200 0.059 2424 2628 3400 0 0 1 0 0 0

3763 -0.80 -146.0 340.1 -6.5 423 3767 0.00 2.92 0.00 0.000 4 0.000 0.083 2424 3916 3401 0 0 1 0 0 0

3919 -0.85 -146.0 352.0 -7.5 436 3925 0.00 2.75 0.00 0.000 6 0.000 0.059 2424 2654 3401 0 0 1 0 0 0

4245 -0.90 -146.0 376.6 -7.6 467 4250 0.00 2.90 0.00 0.000 4 0.000 0.084 2424 3916 3401 0 0 1 0 0 0

4403 -0.95 -146.0 389.6 -8.4 480 4409 0.12 2.72 0.00 0.000 6 0.120 0.058 2385 2670 3401 0 0 1 0 0 0

4727 -0.88 -146.0 419.3 -9.4 511 4732 0.00 2.88 0.00 0.000 4 0.000 0.083 2384 3927 3402 0 0 1 0 0 0

4864 -0.80 -146.0 431.9 -9.2 522 4870 0.17 2.70 0.00 0.000 6 0.195 0.058 2424 2684 3402 0 0 2 0 0 0

5189 -0.80 -146.0 455.8 -7.1 553 5193 0.00 2.85 0.00 0.000 4 0.000 0.082 2425 3926 3403 0 0 1 0 0 0

5330 -0.86 -146.0 466.7 -7.4 565 5335 0.00 2.67 0.00 0.000 6 0.000 0.058 2425 2701 3403 0 0 2 0 0 0

5656 -0.92 -146.0 491.3 -7.4 595 5661 0.00 2.83 0.00 0.000 4 0.000 0.082 2425 3926 3404 0 0 1 0 0 0

5787 -0.99 -146.0 500.7 -7.6 606 5792 0.17 2.62 0.00 0.000 6 0.104 0.058 2364 2724 3404 0 0 2 0 0 0

6111 -0.87 -146.0 533.6 -11.1 636 6117 0.17 2.80 0.00 0.000 4 0.201 0.081 2399 3929 3404 0 0 2 0 0 0

6253 -0.87 -146.0 547.4 -9.7 648 6258 0.00 2.58 0.00 0.000 6 0.000 0.058 2399 2742 3404 0 0 2 0 0 0

6578 -0.87 -146.0 576.0 -8.6 678 6582 0.00 2.72 0.00 0.000 4 0.000 0.083 2399 3920 3404 0 0 1 0 0 0

6662 -0.87 -146.0 583.3 -9.0 685 6666 0.00 2.55 0.00 0.000 6 0.000 0.058 2399 2748 3404 0 0 2 0 0 0

6686 end dive: TARGET_DEPTH_EXCEEDED

state 6687 begin apogee

6693 -0.16 0.0 585.7 8.7 687 6820 0.82 0.00 122.40 1.101 6 0.176 0.000 2630 1936 2800 0 0 0 0 0 0

6820 end apogee: CONTROL_FINISHED_OK

state 6820 begin climb

6823 0.73 146.0 588.0 0.0 700 6956 0.95 0.00 126.12 1.053 6 0.127 0.000 2916 1936 2204 0 0 0 0 0 0

7273 0.73 146.0 541.9 11.4 743 7279 0.00 3.53 0.00 0.000 4 0.000 0.074 2916 3541 2195 0 0 3 0 0 0

7415 0.62 146.0 523.7 13.6 755 7421 0.17 3.47 0.00 0.000 6 0.203 0.067 2893 1973 2193 0 0 0 0 0 0

7739 0.62 146.0 490.9 10.1 785 7744 0.00 3.45 0.00 0.000 4 0.000 0.075 2893 3549 2193 0 0 2 0 0 0

7834 0.62 146.0 480.4 11.4 793 7839 0.00 3.45 0.00 0.000 6 0.000 0.068 2906 1972 2193 0 0 0 0 0 0

8158 0.62 146.0 445.9 10.8 823 8163 0.00 3.42 0.00 0.000 4 0.000 0.077 2906 3542 2192 0 0 2 0 0 0

8276 0.55 146.0 431.9 11.5 833 8282 0.20 3.40 0.00 0.000 6 0.197 0.069 2874 1990 2193 0 0 1 0 0 0

8601 0.65 160.7 402.5 8.5 863 8622 0.00 3.45 11.70 0.915 4 0.000 0.075 2874 3540 2144 0 0 1 0 0 0

8750 0.65 160.7 387.3 10.3 876 8756 0.00 3.35 0.00 0.000 6 0.000 0.068 2886 2013 2142 0 0 1 0 0 0

9075 0.72 160.7 355.3 9.7 907 9081 0.10 3.38 0.00 0.000 4 0.124 0.076 2922 3541 2142 0 0 2 0 0 0

9196 0.61 160.7 341.1 12.0 917 9202 0.20 3.33 0.00 0.000 6 0.202 0.068 2888 2028 2142 0 0 1 0 0 0

9521 0.69 172.0 312.1 8.7 947 9541 0.00 3.35 10.82 0.864 4 0.000 0.074 2888 3541 2097 0 0 1 0 0 0

9637 0.69 172.0 300.6 10.1 957 9642 0.00 3.35 0.00 0.000 6 0.000 0.067 2901 2033 2096 0 0 0 0 0 0

9961 0.69 172.0 267.4 10.5 988 9966 0.00 3.35 0.00 0.000 4 0.000 0.076 2901 3541 2096 0 0 1 0 0 0

10056 0.69 172.0 256.5 12.4 996 10061 0.00 3.30 0.00 0.000 6 0.000 0.067 2915 2065 2096 0 0 0 0 0 0

10380 0.69 172.0 220.1 11.9 1026 10385 0.00 3.30 0.00 0.000 4 0.000 0.076 2915 3546 2096 0 0 2 0 0 0

10480 0.64 172.0 206.6 13.5 1034 10487 0.15 3.28 0.00 0.000 6 0.202 0.067 2897 2068 2096 0 0 1 0 0 0

10805 0.69 172.0 170.7 10.6 1065 10810 0.00 3.28 0.00 0.000 4 0.000 0.075 2897 3542 2096 0 0 2 0 0 0

10889 0.69 172.0 161.1 11.7 1072 10894 0.00 3.25 0.00 0.000 6 0.000 0.067 2909 2083 2096 0 0 1 0 0 0

11215 0.74 172.0 126.6 11.0 1102 11220 0.00 3.28 0.00 0.000 4 0.000 0.075 2909 3549 2095 0 0 2 0 0 0

11321 0.74 172.0 113.2 13.2 1111 11326 0.00 3.25 0.00 0.000 6 0.000 0.067 2923 2094 2095 0 0 0 0 0 0

11658 0.84 193.2 77.0 8.3 1161 11684 0.12 3.25 18.75 0.759 4 0.110 0.074 2969 3542 2010 0 0 2 0 0 0

11754 0.72 193.2 66.3 11.4 1178 11760 0.25 3.25 0.00 0.000 6 0.200 0.067 2925 2101 2008 0 0 0 0 0 0

12100 0.84 204.9 37.2 8.7 1239 12118 0.12 3.22 10.88 0.718 4 0.121 0.075 2967 3546 1964 0 0 1 0 0 0

12209 0.75 204.9 24.4 12.2 1258 12215 0.20 3.25 0.00 0.000 6 0.194 0.067 2934 2110 1961 0 0 0 0 0 0

12400 end climb: SURFACE_OBSTACLE_DETECTED

state 12400 begin subsurface finish

12407 0.05 39.1 6.7 -9.0 1292 12433 0.77 0.00 -22.80 0.000 6 0.170 0.000 2711 1931 2642 0 0 0 0 0 0

12434 end subsurface finish: CONTROL_FINISHED_OK

state 12434 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	323	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	14	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	-42098.641	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	193536,6708.670,-5710.575,30,1.0,30,-37.8	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	194414,6708.660,-5710.425,9,1.7,9,-37.8	MHEAD_RNG_PITCHd_Wd	160.7,19291,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	585

FREEZE	6.65,-0.695,-1.825,0,1,0	ALTIM_BOTTOM_PING	500.2,109.2
FINISH1	6.7,1.026694,39	_24V_AH	22.5,61.557
FINISH2	5.4	_10V_AH	10.1,32.540
RAFOS_CLK	780	FG_AHR_24Vo	0.000
RAFOS	0,1260993662,20.033333,20.017221,53,51,51,0,0,0,181,157,116,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.355469,-5714.697754,161209,202000,2,102,0.82	MEM	152440
IRIDIUM_FIX	6636.54,-5712.23,120399,191920	DATA_FILE_SIZE	50414,1297
TT8_MAMPS	0.027612	CAP_FILE_SIZE	151757,0
HUMID	47.83	CFSIZE	260165632,224886784
INTERNAL_PRESSURE	8.98472	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
TCM_TEMP	17.00	SOUNDSPEED	1466.2
XPDR_PINGS	4	GPS	161209,204800,6708.355,-5714.698,0,2102.0,0,-37.8
ALTIM_TOP_PING	19.8,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	297	112.99	SBE_CT	950	24	513.37
Roll_motor	163	99	365.80	SBE_O2	886	19	379.10
VBD_pump_during_apogee	300	1101	7451.26	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	103	120.40	nil	0	0	0.00
Iridium_during_connect	114	160	413.60	nil	0	0	0.00
Iridium_during_xfer	165	223	831.81
Transponder_ping	3	420	28.35
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.63
TT8	2169	19	436.46
LPSleep	7406	2	172.79
TT8_Active	491	19	98.91
TT8_Sampling	2326	39	937.99
TT8_CF8	550	45	255.28
TT8_Kalman	0	0	0.00
Analog_circuits	1676	12	203.16
GPS_charging	0	0	0.00
Compass	2283	8	184.50
RAFOS	2520	1	38.18
Transponder	18	30	5.57

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	138	0.00	0.00	-120.22	0.000	2	0.000	0.000	129	2466	3190	0	0	0	0	0	0
142	-0.73	-146.0	3.7	-6.7	24	168	11.43	3.38	-5.18	0.000	4	0.298	0.099	2445	3912	3399	0	0	2	0	0	0
237	-0.73	-146.0	20.3	-11.2	41	243	0.00	3.15	0.00	0.000	6	0.000	0.065	2445	2459	3401	0	0	2	0	0	0
580	-0.73	-146.0	58.4	-11.1	102	586	0.00	3.30	0.00	0.000	4	0.000	0.089	2445	3915	3402	0	0	2	0	0	0
750	-0.73	-146.0	77.4	-11.1	132	756	0.00	3.10	0.00	0.000	6	0.000	0.066	2445	2490	3402	0	0	2	0	0	0
1087	-0.73	-146.0	113.1	-10.1	181	1092	0.00	3.22	0.00	0.000	4	0.000	0.089	2445	3915	3401	0	0	2	0	0	0
1344	-0.82	-146.0	138.2	-9.5	203	1350	0.00	3.03	0.00	0.000	6	0.000	0.066	2445	2538	3400	0	0	1	0	0	0
1670	-0.90	-146.0	163.9	-7.8	234	1675	0.15	3.17	0.00	0.000	4	0.117	0.088	2388	3926	3399	0	0	2	0	0	0
1912	-0.80	-146.0	190.5	-10.5	255	1918	0.17	2.92	0.00	0.000	6	0.205	0.064	2428	2581	3398	0	0	2	0	0	0
2237	-0.85	-146.0	218.9	-9.2	285	2242	0.00	3.03	0.00	0.000	4	0.000	0.087	2428	3918	3398	0	0	3	0	0	0
2416	-0.85	-146.0	234.8	-8.9	300	2422	0.00	2.90	0.00	0.000	6	0.000	0.062	2428	2593	3398	0	0	0	0	0	0
2741	-0.85	-146.0	262.7	-8.2	331	2746	0.00	3.00	0.00	0.000	4	0.000	0.085	2428	3917	3399	0	0	2	0	0	0
2949	-0.91	-146.0	279.8	-7.9	349	2953	0.00	2.83	0.00	0.000	6	0.000	0.061	2428	2618	3399	0	0	1	0	0	0
3274	-0.96	-146.0	302.9	-6.9	379	3279	0.15	2.90	0.00	0.000	4	0.112	0.081	2365	3917	3400	0	0	2	0	0	0
3437	-0.80	-146.0	318.4	-10.0	393	3443	0.25	2.80	0.00	0.000	6	0.200	0.059	2424	2628	3400	0	0	1	0	0	0
3763	-0.80	-146.0	340.1	-6.5	423	3767	0.00	2.92	0.00	0.000	4	0.000	0.083	2424	3916	3401	0	0	1	0	0	0
3919	-0.85	-146.0	352.0	-7.5	436	3925	0.00	2.75	0.00	0.000	6	0.000	0.059	2424	2654	3401	0	0	1	0	0	0
4245	-0.90	-146.0	376.6	-7.6	467	4250	0.00	2.90	0.00	0.000	4	0.000	0.084	2424	3916	3401	0	0	1	0	0	0
4403	-0.95	-146.0	389.6	-8.4	480	4409	0.12	2.72	0.00	0.000	6	0.120	0.058	2385	2670	3401	0	0	1	0	0	0
4727	-0.88	-146.0	419.3	-9.4	511	4732	0.00	2.88	0.00	0.000	4	0.000	0.083	2384	3927	3402	0	0	1	0	0	0
4864	-0.80	-146.0	431.9	-9.2	522	4870	0.17	2.70	0.00	0.000	6	0.195	0.058	2424	2684	3402	0	0	2	0	0	0
5189	-0.80	-146.0	455.8	-7.1	553	5193	0.00	2.85	0.00	0.000	4	0.000	0.082	2425	3926	3403	0	0	1	0	0	0
5330	-0.86	-146.0	466.7	-7.4	565	5335	0.00	2.67	0.00	0.000	6	0.000	0.058	2425	2701	3403	0	0	2	0	0	0
5656	-0.92	-146.0	491.3	-7.4	595	5661	0.00	2.83	0.00	0.000	4	0.000	0.082	2425	3926	3404	0	0	1	0	0	0
5787	-0.99	-146.0	500.7	-7.6	606	5792	0.17	2.62	0.00	0.000	6	0.104	0.058	2364	2724	3404	0	0	2	0	0	0
6111	-0.87	-146.0	533.6	-11.1	636	6117	0.17	2.80	0.00	0.000	4	0.201	0.081	2399	3929	3404	0	0	2	0	0	0
6253	-0.87	-146.0	547.4	-9.7	648	6258	0.00	2.58	0.00	0.000	6	0.000	0.058	2399	2742	3404	0	0	2	0	0	0
6578	-0.87	-146.0	576.0	-8.6	678	6582	0.00	2.72	0.00	0.000	4	0.000	0.083	2399	3920	3404	0	0	1	0	0	0
6662	-0.87	-146.0	583.3	-9.0	685	6666	0.00	2.55	0.00	0.000	6	0.000	0.058	2399	2748	3404	0	0	2	0	0	0
6686	end dive: TARGET_DEPTH_EXCEEDED
state	6687	begin apogee
6693	-0.16	0.0	585.7	8.7	687	6820	0.82	0.00	122.40	1.101	6	0.176	0.000	2630	1936	2800	0	0	0	0	0	0
6820	end apogee: CONTROL_FINISHED_OK
state	6820	begin climb
6823	0.73	146.0	588.0	0.0	700	6956	0.95	0.00	126.12	1.053	6	0.127	0.000	2916	1936	2204	0	0	0	0	0	0
7273	0.73	146.0	541.9	11.4	743	7279	0.00	3.53	0.00	0.000	4	0.000	0.074	2916	3541	2195	0	0	3	0	0	0
7415	0.62	146.0	523.7	13.6	755	7421	0.17	3.47	0.00	0.000	6	0.203	0.067	2893	1973	2193	0	0	0	0	0	0
7739	0.62	146.0	490.9	10.1	785	7744	0.00	3.45	0.00	0.000	4	0.000	0.075	2893	3549	2193	0	0	2	0	0	0
7834	0.62	146.0	480.4	11.4	793	7839	0.00	3.45	0.00	0.000	6	0.000	0.068	2906	1972	2193	0	0	0	0	0	0
8158	0.62	146.0	445.9	10.8	823	8163	0.00	3.42	0.00	0.000	4	0.000	0.077	2906	3542	2192	0	0	2	0	0	0
8276	0.55	146.0	431.9	11.5	833	8282	0.20	3.40	0.00	0.000	6	0.197	0.069	2874	1990	2193	0	0	1	0	0	0
8601	0.65	160.7	402.5	8.5	863	8622	0.00	3.45	11.70	0.915	4	0.000	0.075	2874	3540	2144	0	0	1	0	0	0
8750	0.65	160.7	387.3	10.3	876	8756	0.00	3.35	0.00	0.000	6	0.000	0.068	2886	2013	2142	0	0	1	0	0	0
9075	0.72	160.7	355.3	9.7	907	9081	0.10	3.38	0.00	0.000	4	0.124	0.076	2922	3541	2142	0	0	2	0	0	0
9196	0.61	160.7	341.1	12.0	917	9202	0.20	3.33	0.00	0.000	6	0.202	0.068	2888	2028	2142	0	0	1	0	0	0
9521	0.69	172.0	312.1	8.7	947	9541	0.00	3.35	10.82	0.864	4	0.000	0.074	2888	3541	2097	0	0	1	0	0	0
9637	0.69	172.0	300.6	10.1	957	9642	0.00	3.35	0.00	0.000	6	0.000	0.067	2901	2033	2096	0	0	0	0	0	0
9961	0.69	172.0	267.4	10.5	988	9966	0.00	3.35	0.00	0.000	4	0.000	0.076	2901	3541	2096	0	0	1	0	0	0
10056	0.69	172.0	256.5	12.4	996	10061	0.00	3.30	0.00	0.000	6	0.000	0.067	2915	2065	2096	0	0	0	0	0	0
10380	0.69	172.0	220.1	11.9	1026	10385	0.00	3.30	0.00	0.000	4	0.000	0.076	2915	3546	2096	0	0	2	0	0	0
10480	0.64	172.0	206.6	13.5	1034	10487	0.15	3.28	0.00	0.000	6	0.202	0.067	2897	2068	2096	0	0	1	0	0	0
10805	0.69	172.0	170.7	10.6	1065	10810	0.00	3.28	0.00	0.000	4	0.000	0.075	2897	3542	2096	0	0	2	0	0	0
10889	0.69	172.0	161.1	11.7	1072	10894	0.00	3.25	0.00	0.000	6	0.000	0.067	2909	2083	2096	0	0	1	0	0	0
11215	0.74	172.0	126.6	11.0	1102	11220	0.00	3.28	0.00	0.000	4	0.000	0.075	2909	3549	2095	0	0	2	0	0	0
11321	0.74	172.0	113.2	13.2	1111	11326	0.00	3.25	0.00	0.000	6	0.000	0.067	2923	2094	2095	0	0	0	0	0	0
11658	0.84	193.2	77.0	8.3	1161	11684	0.12	3.25	18.75	0.759	4	0.110	0.074	2969	3542	2010	0	0	2	0	0	0
11754	0.72	193.2	66.3	11.4	1178	11760	0.25	3.25	0.00	0.000	6	0.200	0.067	2925	2101	2008	0	0	0	0	0	0
12100	0.84	204.9	37.2	8.7	1239	12118	0.12	3.22	10.88	0.718	4	0.121	0.075	2967	3546	1964	0	0	1	0	0	0
12209	0.75	204.9	24.4	12.2	1258	12215	0.20	3.25	0.00	0.000	6	0.194	0.067	2934	2110	1961	0	0	0	0	0	0
12400	end climb: SURFACE_OBSTACLE_DETECTED
state	12400	begin subsurface finish
12407	0.05	39.1	6.7	-9.0	1292	12433	0.77	0.00	-22.80	0.000	6	0.170	0.000	2711	1931	2642	0	0	0	0	0	0
12434	end subsurface finish: CONTROL_FINISHED_OK
state	12434	begin surface