Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 336 * 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 336 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 15 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 -42273.027 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 -42273.027

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 15 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 336 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 134030,6707.713,-5706.383,40,1.2,40,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 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 134549,6707.750,-5706.508,13,1.2,13,-37.7 MHEAD_RNG_PITCHd_Wd 161.1,16001,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 547

Post-dive calculations and measurements:

FREEZE 0.62,0.038,-1.825,0,1,0 ALTIM_TOP_PING 20.0,19.6

FINISH 0.6,1.026728 ALTIM_BOTTOM_PING 400.7,173.0

SM_CCo 11434,129.68,0.713,0,0,1066,425.10 _24V_AH 22.7,63.151

SM_GC 1.34,0.00,0.00,129.68,0.000,0.000,0.713,124,2458,1066,-8.02,-0.06,425.10 _10V_AH 10.1,33.438

RAFOS_CLK 699 FG_AHR_24Vo 0.000

RAFOS 0,1261152063,16.033333,16.017500,58,56,55,0,0,0,215,227,201,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.912598,-5712.275879,181209,161656,2,91,0.38 MEM 152508

IRIDIUM_FIX 6636.54,-5707.59,140399,101017 DATA_FILE_SIZE 47285,1226

TT8_MAMPS 0.027612 CAP_FILE_SIZE 142281,0

HUMID 46.73 CFSIZE 260165632,223981568

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,111,0,0

TCM_TEMP 17.20 SOUNDSPEED 1468.2

XPDR_PINGS 4 GPS 181209,170025,6708.580,-5709.557,37,1.7,37,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 291 156.97 SBE_CT 895 24 487.70

Roll_motor 143 96 314.15 SBE_O2 834 19 359.76

VBD_pump_during_apogee 298 1067 7236.26 nil 0 0 0.00

VBD_pump_during_surface 129 712 2097.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 55.02 nil 0 0 0.00

Iridium_during_connect 32 160 117.42 nil 0 0 0.00

Iridium_during_xfer 139 223 707.09

Transponder_ping 2 420 21.45

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.57

TT8 2075 19 417.61

LPSleep 6630 2 154.70

TT8_Active 591 19 119.10

TT8_Sampling 2185 39 881.20

TT8_CF8 398 45 185.04

TT8_Kalman 0 0 0.00

Analog_circuits 1705 12 206.75

GPS_charging 0 0 0.00

Compass 2143 8 173.22

RAFOS 2520 1 38.18

Transponder 11 30 3.35

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.22 0.000 2 0.000 0.000 128 2470 3178 0 0 0 0 0 0

136 -0.73 -146.0 3.6 -5.8 23 162 11.20 2.30 -5.65 0.000 4 0.291 0.097 2445 853 3399 0 0 0 0 0 0

186 -0.60 -146.0 13.4 -12.0 32 192 0.17 2.15 0.00 0.000 6 0.201 0.067 2488 2461 3401 0 0 0 0 0 0

532 -0.74 -146.0 41.1 -8.2 93 538 0.12 2.20 0.00 0.000 4 0.118 0.085 2445 861 3402 0 0 0 0 0 0

792 -0.74 -146.0 67.8 -10.4 139 798 0.00 2.22 0.00 0.000 6 0.000 0.069 2445 2502 3402 0 0 0 0 0 0

1139 -0.74 -146.0 105.0 -11.1 197 1143 0.00 2.30 0.00 0.000 4 0.000 0.086 2445 847 3401 0 0 0 0 0 0

1396 -0.74 -146.0 134.7 -10.9 219 1403 0.00 2.38 0.00 0.000 6 0.000 0.070 2445 2553 3400 0 0 0 0 0 0

1722 -0.82 -146.0 161.4 -7.7 250 1726 0.00 2.38 0.00 0.000 4 0.000 0.086 2445 861 3398 0 0 0 0 0 0

1744 -0.89 -146.0 163.3 -8.3 251 1750 0.15 2.35 0.00 0.000 6 0.115 0.069 2395 2572 3399 0 0 0 0 0 0

2068 -0.83 -146.0 193.8 -10.0 282 2073 0.00 3.10 0.00 0.000 4 0.000 0.087 2395 3921 3397 0 0 3 0 0 0

2326 -0.76 -146.0 220.4 -10.8 304 2332 0.17 2.88 0.00 0.000 6 0.203 0.061 2435 2606 3398 0 0 3 0 0 0

2651 -0.83 -146.0 246.4 -7.5 335 2656 0.00 3.03 0.00 0.000 4 0.000 0.084 2435 3929 3397 0 0 3 0 0 0

2809 -0.91 -146.0 258.5 -7.7 348 2815 0.12 2.85 0.00 0.000 6 0.119 0.059 2394 2617 3398 0 0 3 0 0 0

3133 -0.85 -146.0 288.4 -9.6 379 3138 0.00 2.95 0.00 0.000 4 0.000 0.082 2394 3921 3398 0 0 4 0 0 0

3284 -0.78 -146.0 303.6 -10.1 392 3290 0.17 2.80 0.00 0.000 6 0.198 0.058 2435 2630 3399 0 0 3 0 0 0

3609 -0.86 -146.0 331.3 -8.2 422 3614 0.00 2.92 0.00 0.000 4 0.000 0.081 2435 3924 3400 0 0 4 0 0 0

3799 -0.94 -146.0 347.2 -8.6 438 3806 0.15 2.75 0.00 0.000 6 0.108 0.057 2383 2657 3400 0 0 3 0 0 0

4124 -0.85 -146.0 379.5 -9.9 469 4129 0.12 2.90 0.00 0.000 4 0.199 0.081 2410 3920 3400 0 0 4 0 0 0

4332 -0.85 -146.0 399.3 -9.8 487 4336 0.00 2.72 0.00 0.000 6 0.000 0.057 2410 2673 3401 0 0 3 0 0 0

4656 -0.85 -146.0 429.9 -9.7 517 4661 0.00 2.88 0.00 0.000 4 0.000 0.080 2411 3930 3402 0 0 3 0 0 0

4852 -0.85 -146.0 448.3 -9.2 534 4856 0.00 2.67 0.00 0.000 6 0.000 0.056 2411 2696 3402 0 0 4 0 0 0

5176 -0.85 -146.0 476.7 -8.6 564 5181 0.00 2.85 0.00 0.000 4 0.000 0.080 2410 3928 3402 0 0 2 0 0 0

5294 -0.85 -146.0 486.6 -8.7 574 5299 0.00 2.65 0.00 0.000 6 0.000 0.055 2411 2722 3403 0 0 3 0 0 0

5618 -0.85 -146.0 512.1 -7.7 604 5623 0.00 2.80 0.00 0.000 4 0.000 0.081 2410 3929 3403 0 0 3 0 0 0

5771 -0.85 -146.0 524.3 -8.0 617 5776 0.00 2.62 0.00 0.000 6 0.000 0.055 2410 2747 3402 0 0 2 0 0 0

6053 end dive: TARGET_DEPTH_EXCEEDED

state 6054 begin apogee

6060 -0.16 0.0 547.7 8.8 643 6186 0.77 0.00 121.45 1.068 6 0.173 0.000 2631 1930 2800 0 0 0 0 0 0

6187 end apogee: CONTROL_FINISHED_OK

state 6187 begin climb

6190 0.73 146.0 551.5 0.0 656 6323 0.93 2.08 124.32 1.020 4 0.120 0.082 2924 351 2202 0 0 0 0 0 0

6374 0.65 146.0 535.9 12.2 673 6380 0.00 2.03 0.00 0.000 6 0.000 0.054 2924 1964 2199 0 0 0 0 0 0

6698 0.57 146.0 495.9 12.7 704 6705 0.20 3.47 0.00 0.000 4 0.200 0.070 2861 3532 2195 0 0 4 0 0 0

6819 0.63 146.0 482.8 10.8 714 6824 0.00 3.45 0.00 0.000 6 0.000 0.064 2875 1963 2194 0 0 3 0 0 0

7146 0.71 146.0 449.2 11.0 744 7152 0.12 3.45 0.00 0.000 4 0.117 0.074 2919 3536 2194 0 0 4 0 0 0

7281 0.58 146.0 429.9 14.3 755 7288 0.22 3.45 0.00 0.000 6 0.203 0.067 2882 1981 2193 0 0 1 0 0 0

7606 0.64 146.0 392.4 11.3 786 7611 0.00 3.42 0.00 0.000 4 0.000 0.074 2882 3542 2193 0 0 4 0 0 0

7723 0.64 146.0 377.9 12.9 796 7729 0.00 3.40 0.00 0.000 6 0.000 0.067 2895 2003 2192 0 0 2 0 0 0

8047 0.64 146.0 341.3 11.1 826 8053 0.00 3.38 0.00 0.000 4 0.000 0.074 2895 3531 2192 0 0 4 0 0 0

8182 0.64 146.0 325.2 12.0 837 8188 0.00 3.38 0.00 0.000 6 0.000 0.065 2909 2018 2192 0 0 1 0 0 0

8506 0.64 146.0 288.8 11.0 868 8511 0.00 3.35 0.00 0.000 4 0.000 0.073 2910 3534 2192 0 0 4 0 0 0

8636 0.58 146.0 272.7 12.6 879 8642 0.20 3.35 0.00 0.000 6 0.198 0.066 2877 2036 2193 0 0 1 0 0 0

8961 0.68 150.6 241.2 9.0 909 8966 0.00 3.33 0.00 0.000 4 0.000 0.073 2877 3535 2192 0 0 4 0 0 0

9095 0.68 150.6 226.9 10.7 920 9101 0.00 3.33 0.00 0.000 6 0.000 0.064 2890 2056 2193 0 0 1 0 0 0

9420 0.75 150.6 195.5 10.0 951 9426 0.12 3.30 0.00 0.000 4 0.103 0.072 2936 3537 2192 0 0 3 0 0 0

9577 0.62 150.6 175.1 13.1 964 9584 0.22 3.28 0.00 0.000 6 0.202 0.064 2895 2068 2192 0 0 3 0 0 0

9902 0.68 150.6 143.5 10.1 995 9907 0.00 3.25 0.00 0.000 4 0.000 0.073 2895 3532 2193 0 0 3 0 0 0

9991 0.68 150.6 133.7 10.9 1002 9997 0.00 3.22 0.00 0.000 6 0.000 0.064 2908 2089 2193 0 0 3 0 0 0

10316 0.76 161.8 102.0 8.7 1033 10337 0.00 3.30 12.50 0.735 4 0.000 0.072 2908 3532 2139 0 0 4 0 0 0

10360 0.78 174.3 98.3 8.6 1038 10381 0.00 3.28 11.95 0.726 6 0.000 0.064 2922 2090 2088 0 0 1 0 0 0

10719 0.89 196.1 69.3 8.2 1102 10746 0.15 3.30 18.92 0.740 4 0.097 0.073 2978 3537 1999 0 0 4 0 0 0

10837 0.75 196.1 54.5 13.4 1123 10843 0.25 3.28 0.00 0.000 6 0.196 0.064 2933 2104 1996 0 0 2 0 0 0

11182 0.83 206.4 23.2 8.7 1184 11198 0.00 3.30 9.43 0.693 4 0.000 0.074 2933 3537 1958 0 0 3 0 0 0

11299 0.83 206.4 10.9 11.1 1205 11304 0.00 3.25 0.00 0.000 6 0.000 0.066 2945 2125 1956 0 0 2 0 0 0

11392 end climb: SURFACE_DEPTH_REACHED

state 11392 begin surface coast

11416 end surface coast: CONTROL_FINISHED_OK

state 11416 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	336	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	15	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	-42273.027	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	134030,6707.713,-5706.383,40,1.2,40,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	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	134549,6707.750,-5706.508,13,1.2,13,-37.7	MHEAD_RNG_PITCHd_Wd	161.1,16001,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	547

FREEZE	0.62,0.038,-1.825,0,1,0	ALTIM_TOP_PING	20.0,19.6
FINISH	0.6,1.026728	ALTIM_BOTTOM_PING	400.7,173.0
SM_CCo	11434,129.68,0.713,0,0,1066,425.10	_24V_AH	22.7,63.151
SM_GC	1.34,0.00,0.00,129.68,0.000,0.000,0.713,124,2458,1066,-8.02,-0.06,425.10	_10V_AH	10.1,33.438
RAFOS_CLK	699	FG_AHR_24Vo	0.000
RAFOS	0,1261152063,16.033333,16.017500,58,56,55,0,0,0,215,227,201,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.912598,-5712.275879,181209,161656,2,91,0.38	MEM	152508
IRIDIUM_FIX	6636.54,-5707.59,140399,101017	DATA_FILE_SIZE	47285,1226
TT8_MAMPS	0.027612	CAP_FILE_SIZE	142281,0
HUMID	46.73	CFSIZE	260165632,223981568
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,111,0,0
TCM_TEMP	17.20	SOUNDSPEED	1468.2
XPDR_PINGS	4	GPS	181209,170025,6708.580,-5709.557,37,1.7,37,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	291	156.97	SBE_CT	895	24	487.70
Roll_motor	143	96	314.15	SBE_O2	834	19	359.76
VBD_pump_during_apogee	298	1067	7236.26	nil	0	0	0.00
VBD_pump_during_surface	129	712	2097.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	55.02	nil	0	0	0.00
Iridium_during_connect	32	160	117.42	nil	0	0	0.00
Iridium_during_xfer	139	223	707.09
Transponder_ping	2	420	21.45
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.57
TT8	2075	19	417.61
LPSleep	6630	2	154.70
TT8_Active	591	19	119.10
TT8_Sampling	2185	39	881.20
TT8_CF8	398	45	185.04
TT8_Kalman	0	0	0.00
Analog_circuits	1705	12	206.75
GPS_charging	0	0	0.00
Compass	2143	8	173.22
RAFOS	2520	1	38.18
Transponder	11	30	3.35

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.22	0.000	2	0.000	0.000	128	2470	3178	0	0	0	0	0	0
136	-0.73	-146.0	3.6	-5.8	23	162	11.20	2.30	-5.65	0.000	4	0.291	0.097	2445	853	3399	0	0	0	0	0	0
186	-0.60	-146.0	13.4	-12.0	32	192	0.17	2.15	0.00	0.000	6	0.201	0.067	2488	2461	3401	0	0	0	0	0	0
532	-0.74	-146.0	41.1	-8.2	93	538	0.12	2.20	0.00	0.000	4	0.118	0.085	2445	861	3402	0	0	0	0	0	0
792	-0.74	-146.0	67.8	-10.4	139	798	0.00	2.22	0.00	0.000	6	0.000	0.069	2445	2502	3402	0	0	0	0	0	0
1139	-0.74	-146.0	105.0	-11.1	197	1143	0.00	2.30	0.00	0.000	4	0.000	0.086	2445	847	3401	0	0	0	0	0	0
1396	-0.74	-146.0	134.7	-10.9	219	1403	0.00	2.38	0.00	0.000	6	0.000	0.070	2445	2553	3400	0	0	0	0	0	0
1722	-0.82	-146.0	161.4	-7.7	250	1726	0.00	2.38	0.00	0.000	4	0.000	0.086	2445	861	3398	0	0	0	0	0	0
1744	-0.89	-146.0	163.3	-8.3	251	1750	0.15	2.35	0.00	0.000	6	0.115	0.069	2395	2572	3399	0	0	0	0	0	0
2068	-0.83	-146.0	193.8	-10.0	282	2073	0.00	3.10	0.00	0.000	4	0.000	0.087	2395	3921	3397	0	0	3	0	0	0
2326	-0.76	-146.0	220.4	-10.8	304	2332	0.17	2.88	0.00	0.000	6	0.203	0.061	2435	2606	3398	0	0	3	0	0	0
2651	-0.83	-146.0	246.4	-7.5	335	2656	0.00	3.03	0.00	0.000	4	0.000	0.084	2435	3929	3397	0	0	3	0	0	0
2809	-0.91	-146.0	258.5	-7.7	348	2815	0.12	2.85	0.00	0.000	6	0.119	0.059	2394	2617	3398	0	0	3	0	0	0
3133	-0.85	-146.0	288.4	-9.6	379	3138	0.00	2.95	0.00	0.000	4	0.000	0.082	2394	3921	3398	0	0	4	0	0	0
3284	-0.78	-146.0	303.6	-10.1	392	3290	0.17	2.80	0.00	0.000	6	0.198	0.058	2435	2630	3399	0	0	3	0	0	0
3609	-0.86	-146.0	331.3	-8.2	422	3614	0.00	2.92	0.00	0.000	4	0.000	0.081	2435	3924	3400	0	0	4	0	0	0
3799	-0.94	-146.0	347.2	-8.6	438	3806	0.15	2.75	0.00	0.000	6	0.108	0.057	2383	2657	3400	0	0	3	0	0	0
4124	-0.85	-146.0	379.5	-9.9	469	4129	0.12	2.90	0.00	0.000	4	0.199	0.081	2410	3920	3400	0	0	4	0	0	0
4332	-0.85	-146.0	399.3	-9.8	487	4336	0.00	2.72	0.00	0.000	6	0.000	0.057	2410	2673	3401	0	0	3	0	0	0
4656	-0.85	-146.0	429.9	-9.7	517	4661	0.00	2.88	0.00	0.000	4	0.000	0.080	2411	3930	3402	0	0	3	0	0	0
4852	-0.85	-146.0	448.3	-9.2	534	4856	0.00	2.67	0.00	0.000	6	0.000	0.056	2411	2696	3402	0	0	4	0	0	0
5176	-0.85	-146.0	476.7	-8.6	564	5181	0.00	2.85	0.00	0.000	4	0.000	0.080	2410	3928	3402	0	0	2	0	0	0
5294	-0.85	-146.0	486.6	-8.7	574	5299	0.00	2.65	0.00	0.000	6	0.000	0.055	2411	2722	3403	0	0	3	0	0	0
5618	-0.85	-146.0	512.1	-7.7	604	5623	0.00	2.80	0.00	0.000	4	0.000	0.081	2410	3929	3403	0	0	3	0	0	0
5771	-0.85	-146.0	524.3	-8.0	617	5776	0.00	2.62	0.00	0.000	6	0.000	0.055	2410	2747	3402	0	0	2	0	0	0
6053	end dive: TARGET_DEPTH_EXCEEDED
state	6054	begin apogee
6060	-0.16	0.0	547.7	8.8	643	6186	0.77	0.00	121.45	1.068	6	0.173	0.000	2631	1930	2800	0	0	0	0	0	0
6187	end apogee: CONTROL_FINISHED_OK
state	6187	begin climb
6190	0.73	146.0	551.5	0.0	656	6323	0.93	2.08	124.32	1.020	4	0.120	0.082	2924	351	2202	0	0	0	0	0	0
6374	0.65	146.0	535.9	12.2	673	6380	0.00	2.03	0.00	0.000	6	0.000	0.054	2924	1964	2199	0	0	0	0	0	0
6698	0.57	146.0	495.9	12.7	704	6705	0.20	3.47	0.00	0.000	4	0.200	0.070	2861	3532	2195	0	0	4	0	0	0
6819	0.63	146.0	482.8	10.8	714	6824	0.00	3.45	0.00	0.000	6	0.000	0.064	2875	1963	2194	0	0	3	0	0	0
7146	0.71	146.0	449.2	11.0	744	7152	0.12	3.45	0.00	0.000	4	0.117	0.074	2919	3536	2194	0	0	4	0	0	0
7281	0.58	146.0	429.9	14.3	755	7288	0.22	3.45	0.00	0.000	6	0.203	0.067	2882	1981	2193	0	0	1	0	0	0
7606	0.64	146.0	392.4	11.3	786	7611	0.00	3.42	0.00	0.000	4	0.000	0.074	2882	3542	2193	0	0	4	0	0	0
7723	0.64	146.0	377.9	12.9	796	7729	0.00	3.40	0.00	0.000	6	0.000	0.067	2895	2003	2192	0	0	2	0	0	0
8047	0.64	146.0	341.3	11.1	826	8053	0.00	3.38	0.00	0.000	4	0.000	0.074	2895	3531	2192	0	0	4	0	0	0
8182	0.64	146.0	325.2	12.0	837	8188	0.00	3.38	0.00	0.000	6	0.000	0.065	2909	2018	2192	0	0	1	0	0	0
8506	0.64	146.0	288.8	11.0	868	8511	0.00	3.35	0.00	0.000	4	0.000	0.073	2910	3534	2192	0	0	4	0	0	0
8636	0.58	146.0	272.7	12.6	879	8642	0.20	3.35	0.00	0.000	6	0.198	0.066	2877	2036	2193	0	0	1	0	0	0
8961	0.68	150.6	241.2	9.0	909	8966	0.00	3.33	0.00	0.000	4	0.000	0.073	2877	3535	2192	0	0	4	0	0	0
9095	0.68	150.6	226.9	10.7	920	9101	0.00	3.33	0.00	0.000	6	0.000	0.064	2890	2056	2193	0	0	1	0	0	0
9420	0.75	150.6	195.5	10.0	951	9426	0.12	3.30	0.00	0.000	4	0.103	0.072	2936	3537	2192	0	0	3	0	0	0
9577	0.62	150.6	175.1	13.1	964	9584	0.22	3.28	0.00	0.000	6	0.202	0.064	2895	2068	2192	0	0	3	0	0	0
9902	0.68	150.6	143.5	10.1	995	9907	0.00	3.25	0.00	0.000	4	0.000	0.073	2895	3532	2193	0	0	3	0	0	0
9991	0.68	150.6	133.7	10.9	1002	9997	0.00	3.22	0.00	0.000	6	0.000	0.064	2908	2089	2193	0	0	3	0	0	0
10316	0.76	161.8	102.0	8.7	1033	10337	0.00	3.30	12.50	0.735	4	0.000	0.072	2908	3532	2139	0	0	4	0	0	0
10360	0.78	174.3	98.3	8.6	1038	10381	0.00	3.28	11.95	0.726	6	0.000	0.064	2922	2090	2088	0	0	1	0	0	0
10719	0.89	196.1	69.3	8.2	1102	10746	0.15	3.30	18.92	0.740	4	0.097	0.073	2978	3537	1999	0	0	4	0	0	0
10837	0.75	196.1	54.5	13.4	1123	10843	0.25	3.28	0.00	0.000	6	0.196	0.064	2933	2104	1996	0	0	2	0	0	0
11182	0.83	206.4	23.2	8.7	1184	11198	0.00	3.30	9.43	0.693	4	0.000	0.074	2933	3537	1958	0	0	3	0	0	0
11299	0.83	206.4	10.9	11.1	1205	11304	0.00	3.25	0.00	0.000	6	0.000	0.066	2945	2125	1956	0	0	2	0	0	0
11392	end climb: SURFACE_DEPTH_REACHED
state	11392	begin surface coast
11416	end surface coast: CONTROL_FINISHED_OK
state	11416	begin surface