Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 365 * 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 365 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 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -43255.785 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 325

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 -43255.785

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 18 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 365 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 160207,6713.811,-5730.143,40,2.0,40,-38.0 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 20 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161543,6713.842,-5730.447,15,2.0,32,-38.0 MHEAD_RNG_PITCHd_Wd 161.2,36644,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 637

Post-dive calculations and measurements:

FREEZE 0.59,-0.727,-1.821,0,1,0 ALTIM_TOP_PING 19.9,19.3

FINISH 0.6,1.026708 ALTIM_BOTTOM_PING 600.0,71.5

SM_CCo 13511,70.30,0.771,0,0,1475,325.02 _24V_AH 22.2,67.259

SM_GC 1.33,0.00,0.00,70.30,0.000,0.000,0.771,127,2452,1475,-8.01,-0.23,325.02 _10V_AH 10.1,35.951

RAFOS_CLK 886 FG_AHR_24Vo 0.000

RAFOS 2,1261585025,16.299999,16.284721,60,56,56,0,0,0,193,172,217,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6712.885254,-5735.059570,231209,161622,3,93,2.26 MEM 152416

IRIDIUM_FIX 6647.44,-5732.58,190399,121212 DATA_FILE_SIZE 53555,1352

TT8_MAMPS 0.026845 CAP_FILE_SIZE 168408,0

HUMID 49.17 CFSIZE 260165632,221503488

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,189,0,0

TCM_TEMP 16.50 SOUNDSPEED 1460.2

XPDR_PINGS 3 GPS 231209,200421,6714.643,-5732.522,41,2.5,60,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 299 170.10 SBE_CT 989 24 527.46

Roll_motor 172 95 364.48 SBE_O2 937 19 395.39

VBD_pump_during_apogee 332 1152 8500.54 nil 0 0 0.00

VBD_pump_during_surface 70 770 1203.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 63.65 nil 0 0 0.00

Iridium_during_connect 31 160 113.62 nil 0 0 0.00

Iridium_during_xfer 606 223 3002.19

Transponder_ping 3 420 30.30

GUMSTIX_24V 0 0 0.00

GPS 33 50 17.17

TT8 2302 19 463.33

LPSleep 7996 2 186.56

TT8_Active 614 19 123.71

TT8_Sampling 2577 39 1039.19

TT8_CF8 904 45 419.50

TT8_Kalman 0 0 0.00

Analog_circuits 1900 12 230.38

GPS_charging 0 0 0.00

Compass 2502 8 202.22

RAFOS 1800 1 27.27

Transponder 20 30 6.31

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 140 0.00 0.00 -118.60 0.000 6 0.000 0.000 129 2456 3397 0 0 0 0 0 0

143 -0.73 -146.0 3.1 -4.4 24 159 11.52 2.20 0.00 0.000 4 0.300 0.088 2453 860 3401 0 0 0 0 0 0

407 -0.54 -146.0 45.2 -13.4 71 413 0.22 2.08 0.00 0.000 6 0.220 0.076 2507 2461 3403 0 0 0 0 0 0

752 -0.64 -146.0 77.7 -9.2 132 758 0.00 2.12 0.00 0.000 4 0.000 0.093 2507 863 3404 0 0 0 0 0 0

972 -0.85 -146.0 96.8 -7.6 171 978 0.28 2.05 0.00 0.000 6 0.096 0.074 2413 2464 3403 0 0 0 0 0 0

1305 -0.78 -146.0 132.8 -10.9 205 1309 0.00 2.12 0.00 0.000 4 0.000 0.093 2413 864 3403 0 0 0 0 0 0

1563 -0.69 -146.0 162.2 -10.5 227 1569 0.20 2.05 0.00 0.000 6 0.207 0.076 2459 2461 3403 0 0 0 0 0 0

1887 -0.80 -146.0 189.5 -8.6 258 1893 0.00 3.58 0.00 0.000 4 0.000 0.095 2459 3920 3402 0 0 5 0 0 0

2135 -0.92 -146.0 209.9 -7.7 279 2141 0.20 3.42 0.00 0.000 6 0.108 0.071 2392 2461 3401 0 0 4 0 0 0

2459 -0.84 -146.0 243.8 -10.7 310 2465 0.00 3.58 0.00 0.000 4 0.000 0.092 2392 3917 3401 0 0 4 0 0 0

2717 -0.74 -146.0 271.7 -10.5 332 2724 0.22 3.42 0.00 0.000 6 0.206 0.070 2444 2461 3400 0 0 3 0 0 0

3042 -0.83 -146.0 298.2 -8.1 363 3048 0.00 3.58 0.00 0.000 4 0.000 0.089 2444 3928 3400 0 0 4 0 0 0

3302 -0.94 -146.0 320.5 -9.3 385 3309 0.17 3.42 0.00 0.000 6 0.112 0.068 2386 2458 3400 0 0 4 0 0 0

3627 -0.85 -146.0 356.1 -11.0 416 3631 0.12 2.12 0.00 0.000 4 0.194 0.091 2422 842 3401 0 0 0 0 0 0

3883 -0.85 -146.0 381.7 -9.5 438 3889 0.00 2.10 0.00 0.000 6 0.000 0.070 2422 2464 3401 0 0 0 0 0 0

4208 -0.85 -146.0 409.0 -8.3 469 4213 0.00 3.50 0.00 0.000 4 0.000 0.088 2422 3917 3401 0 0 6 0 0 0

4319 -0.85 -146.0 418.3 -8.1 478 4325 0.00 3.40 0.00 0.000 6 0.000 0.065 2422 2459 3401 0 0 3 0 0 0

4644 -0.85 -146.0 443.8 -7.8 509 4650 0.00 3.55 0.00 0.000 4 0.000 0.086 2421 3920 3403 0 0 4 0 0 0

4903 -0.85 -146.0 464.0 -7.9 531 4908 0.00 3.40 0.00 0.000 6 0.000 0.065 2422 2457 3403 0 0 4 0 0 0

5227 -0.85 -146.0 488.9 -8.1 562 5232 0.00 3.55 0.00 0.000 4 0.000 0.086 2422 3929 3404 0 0 5 0 0 0

5237 -0.85 -146.0 489.8 -7.7 562 5243 0.00 3.40 0.00 0.000 6 0.000 0.064 2422 2459 3404 0 0 4 0 0 0

5562 -0.85 -146.0 515.5 -7.9 593 5566 0.00 2.08 0.00 0.000 4 0.000 0.087 2422 853 3404 0 0 0 0 0 0

5757 -0.85 -146.0 532.8 -9.4 610 5764 0.00 2.08 0.00 0.000 6 0.000 0.067 2422 2465 3405 0 0 0 0 0 0

6083 -0.89 -146.0 557.7 -7.5 641 6088 0.00 3.50 0.00 0.000 4 0.000 0.086 2422 3923 3405 0 0 6 0 0 0

6341 -0.89 -146.0 577.5 -8.3 663 6347 0.00 3.42 0.00 0.000 6 0.000 0.065 2422 2457 3405 0 0 3 0 0 0

6665 -0.95 -146.0 602.6 -8.5 692 6671 0.12 3.55 0.00 0.000 4 0.120 0.084 2363 3923 3405 0 0 5 0 0 0

6924 -0.81 -146.0 626.6 -10.5 699 6930 0.28 3.40 0.00 0.000 6 0.209 0.064 2426 2458 3405 0 0 4 0 0 0

7081 end dive: TARGET_DEPTH_EXCEEDED

state 7081 begin apogee

7087 -0.16 0.0 638.3 7.0 705 7216 0.75 0.00 125.65 1.152 6 0.181 0.000 2631 1931 2800 0 0 0 0 0 0

7216 end apogee: CONTROL_FINISHED_OK

state 7216 begin climb

7218 0.73 146.0 640.9 0.0 709 7355 0.95 2.00 129.55 1.097 4 0.127 0.090 2921 349 2205 0 0 0 0 0 0

7458 0.63 146.0 618.9 11.9 716 7461 0.00 1.85 0.00 0.000 6 0.000 0.061 2921 1965 2201 0 0 0 0 0 0

7783 0.53 146.0 580.8 11.5 737 7793 0.22 3.80 0.00 0.000 4 0.199 0.076 2852 3535 2197 0 0 5 0 0 0

7923 0.60 147.7 567.0 9.1 749 7929 0.00 3.78 0.00 0.000 6 0.000 0.071 2867 1940 2195 0 0 5 0 0 0

8248 0.70 147.7 538.2 9.2 780 8258 0.15 3.78 0.00 0.000 4 0.107 0.078 2921 3526 2196 0 0 6 0 0 0

8384 0.57 147.7 521.4 12.7 792 8394 0.25 3.75 0.00 0.000 6 0.205 0.074 2877 1949 2195 0 0 4 0 0 0

8713 0.64 147.7 489.0 9.6 823 8722 0.00 3.75 0.00 0.000 4 0.000 0.079 2876 3528 2195 0 0 5 0 0 0

8863 0.64 147.7 473.0 10.7 836 8868 0.00 3.75 0.00 0.000 6 0.000 0.074 2891 1943 2195 0 0 4 0 0 0

9187 0.64 147.7 439.4 10.3 867 9196 0.00 3.75 0.00 0.000 4 0.000 0.080 2891 3531 2195 0 0 6 0 0 0

9332 0.59 147.7 423.3 10.9 880 9342 0.00 3.75 0.00 0.000 6 0.000 0.074 2908 1949 2195 0 0 4 0 0 0

9660 0.59 147.7 388.9 10.3 911 9670 0.00 3.78 0.00 0.000 4 0.000 0.080 2909 3537 2194 0 0 6 0 0 0

9788 0.48 147.7 373.5 13.0 922 9795 0.30 3.78 0.00 0.000 6 0.197 0.074 2852 1932 2193 0 0 4 0 0 0

10113 0.69 187.1 347.5 7.5 953 10155 0.20 3.83 33.72 0.960 4 0.104 0.080 2920 3531 2036 0 0 6 0 0 0

10284 0.59 187.1 326.6 13.3 968 10291 0.22 3.78 0.00 0.000 6 0.196 0.074 2884 1951 2033 0 0 5 0 0 0

10608 0.68 187.1 295.0 9.9 999 10618 0.00 3.75 0.00 0.000 4 0.000 0.078 2884 3527 2031 0 0 5 0 0 0

10759 0.68 187.1 278.0 11.5 1012 10765 0.00 3.75 0.00 0.000 6 0.000 0.073 2898 1946 2031 0 0 4 0 0 0

11084 0.75 187.1 243.7 10.6 1043 11094 0.00 3.75 0.00 0.000 4 0.000 0.077 2898 3537 2031 0 0 6 0 0 0

11234 0.75 187.1 225.3 12.8 1056 11240 0.00 3.75 0.00 0.000 6 0.000 0.072 2915 1948 2031 0 0 4 0 0 0

11558 0.75 187.1 190.0 10.4 1087 11568 0.00 3.75 0.00 0.000 4 0.000 0.078 2916 3528 2031 0 0 6 0 0 0

11692 0.75 187.1 174.9 11.1 1099 11698 0.00 3.75 0.00 0.000 6 0.000 0.073 2932 1940 2031 0 0 4 0 0 0

12016 0.75 187.1 142.7 9.7 1129 12026 0.00 3.75 0.00 0.000 4 0.000 0.078 2932 3528 2031 0 0 6 0 0 0

12195 0.67 187.1 122.9 10.8 1145 12205 0.17 3.75 0.00 0.000 6 0.203 0.074 2909 1950 2031 0 0 4 0 0 0

12527 0.80 204.2 95.7 8.4 1180 12553 0.12 3.75 15.48 0.797 4 0.132 0.079 2950 3538 1965 0 0 6 0 0 0

12705 0.72 204.2 75.0 11.1 1212 12711 0.17 3.78 0.00 0.000 6 0.199 0.074 2927 1944 1963 0 0 5 0 0 0

13050 0.85 236.5 46.4 7.8 1273 13087 0.12 3.83 27.98 0.795 4 0.131 0.082 2967 3532 1833 0 0 6 0 0 0

13222 0.75 236.5 26.1 13.1 1304 13229 0.20 3.80 0.00 0.000 6 0.196 0.076 2938 1949 1830 0 0 5 0 0 0

13469 end climb: SURFACE_DEPTH_REACHED

state 13471 begin surface coast

13494 end surface coast: CONTROL_FINISHED_OK

state 13494 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	365	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	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-43255.785	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	160207,6713.811,-5730.143,40,2.0,40,-38.0	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	20	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161543,6713.842,-5730.447,15,2.0,32,-38.0	MHEAD_RNG_PITCHd_Wd	161.2,36644,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	637

FREEZE	0.59,-0.727,-1.821,0,1,0	ALTIM_TOP_PING	19.9,19.3
FINISH	0.6,1.026708	ALTIM_BOTTOM_PING	600.0,71.5
SM_CCo	13511,70.30,0.771,0,0,1475,325.02	_24V_AH	22.2,67.259
SM_GC	1.33,0.00,0.00,70.30,0.000,0.000,0.771,127,2452,1475,-8.01,-0.23,325.02	_10V_AH	10.1,35.951
RAFOS_CLK	886	FG_AHR_24Vo	0.000
RAFOS	2,1261585025,16.299999,16.284721,60,56,56,0,0,0,193,172,217,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6712.885254,-5735.059570,231209,161622,3,93,2.26	MEM	152416
IRIDIUM_FIX	6647.44,-5732.58,190399,121212	DATA_FILE_SIZE	53555,1352
TT8_MAMPS	0.026845	CAP_FILE_SIZE	168408,0
HUMID	49.17	CFSIZE	260165632,221503488
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,189,0,0
TCM_TEMP	16.50	SOUNDSPEED	1460.2
XPDR_PINGS	3	GPS	231209,200421,6714.643,-5732.522,41,2.5,60,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	299	170.10	SBE_CT	989	24	527.46
Roll_motor	172	95	364.48	SBE_O2	937	19	395.39
VBD_pump_during_apogee	332	1152	8500.54	nil	0	0	0.00
VBD_pump_during_surface	70	770	1203.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	63.65	nil	0	0	0.00
Iridium_during_connect	31	160	113.62	nil	0	0	0.00
Iridium_during_xfer	606	223	3002.19
Transponder_ping	3	420	30.30
GUMSTIX_24V	0	0	0.00
GPS	33	50	17.17
TT8	2302	19	463.33
LPSleep	7996	2	186.56
TT8_Active	614	19	123.71
TT8_Sampling	2577	39	1039.19
TT8_CF8	904	45	419.50
TT8_Kalman	0	0	0.00
Analog_circuits	1900	12	230.38
GPS_charging	0	0	0.00
Compass	2502	8	202.22
RAFOS	1800	1	27.27
Transponder	20	30	6.31

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	140	0.00	0.00	-118.60	0.000	6	0.000	0.000	129	2456	3397	0	0	0	0	0	0
143	-0.73	-146.0	3.1	-4.4	24	159	11.52	2.20	0.00	0.000	4	0.300	0.088	2453	860	3401	0	0	0	0	0	0
407	-0.54	-146.0	45.2	-13.4	71	413	0.22	2.08	0.00	0.000	6	0.220	0.076	2507	2461	3403	0	0	0	0	0	0
752	-0.64	-146.0	77.7	-9.2	132	758	0.00	2.12	0.00	0.000	4	0.000	0.093	2507	863	3404	0	0	0	0	0	0
972	-0.85	-146.0	96.8	-7.6	171	978	0.28	2.05	0.00	0.000	6	0.096	0.074	2413	2464	3403	0	0	0	0	0	0
1305	-0.78	-146.0	132.8	-10.9	205	1309	0.00	2.12	0.00	0.000	4	0.000	0.093	2413	864	3403	0	0	0	0	0	0
1563	-0.69	-146.0	162.2	-10.5	227	1569	0.20	2.05	0.00	0.000	6	0.207	0.076	2459	2461	3403	0	0	0	0	0	0
1887	-0.80	-146.0	189.5	-8.6	258	1893	0.00	3.58	0.00	0.000	4	0.000	0.095	2459	3920	3402	0	0	5	0	0	0
2135	-0.92	-146.0	209.9	-7.7	279	2141	0.20	3.42	0.00	0.000	6	0.108	0.071	2392	2461	3401	0	0	4	0	0	0
2459	-0.84	-146.0	243.8	-10.7	310	2465	0.00	3.58	0.00	0.000	4	0.000	0.092	2392	3917	3401	0	0	4	0	0	0
2717	-0.74	-146.0	271.7	-10.5	332	2724	0.22	3.42	0.00	0.000	6	0.206	0.070	2444	2461	3400	0	0	3	0	0	0
3042	-0.83	-146.0	298.2	-8.1	363	3048	0.00	3.58	0.00	0.000	4	0.000	0.089	2444	3928	3400	0	0	4	0	0	0
3302	-0.94	-146.0	320.5	-9.3	385	3309	0.17	3.42	0.00	0.000	6	0.112	0.068	2386	2458	3400	0	0	4	0	0	0
3627	-0.85	-146.0	356.1	-11.0	416	3631	0.12	2.12	0.00	0.000	4	0.194	0.091	2422	842	3401	0	0	0	0	0	0
3883	-0.85	-146.0	381.7	-9.5	438	3889	0.00	2.10	0.00	0.000	6	0.000	0.070	2422	2464	3401	0	0	0	0	0	0
4208	-0.85	-146.0	409.0	-8.3	469	4213	0.00	3.50	0.00	0.000	4	0.000	0.088	2422	3917	3401	0	0	6	0	0	0
4319	-0.85	-146.0	418.3	-8.1	478	4325	0.00	3.40	0.00	0.000	6	0.000	0.065	2422	2459	3401	0	0	3	0	0	0
4644	-0.85	-146.0	443.8	-7.8	509	4650	0.00	3.55	0.00	0.000	4	0.000	0.086	2421	3920	3403	0	0	4	0	0	0
4903	-0.85	-146.0	464.0	-7.9	531	4908	0.00	3.40	0.00	0.000	6	0.000	0.065	2422	2457	3403	0	0	4	0	0	0
5227	-0.85	-146.0	488.9	-8.1	562	5232	0.00	3.55	0.00	0.000	4	0.000	0.086	2422	3929	3404	0	0	5	0	0	0
5237	-0.85	-146.0	489.8	-7.7	562	5243	0.00	3.40	0.00	0.000	6	0.000	0.064	2422	2459	3404	0	0	4	0	0	0
5562	-0.85	-146.0	515.5	-7.9	593	5566	0.00	2.08	0.00	0.000	4	0.000	0.087	2422	853	3404	0	0	0	0	0	0
5757	-0.85	-146.0	532.8	-9.4	610	5764	0.00	2.08	0.00	0.000	6	0.000	0.067	2422	2465	3405	0	0	0	0	0	0
6083	-0.89	-146.0	557.7	-7.5	641	6088	0.00	3.50	0.00	0.000	4	0.000	0.086	2422	3923	3405	0	0	6	0	0	0
6341	-0.89	-146.0	577.5	-8.3	663	6347	0.00	3.42	0.00	0.000	6	0.000	0.065	2422	2457	3405	0	0	3	0	0	0
6665	-0.95	-146.0	602.6	-8.5	692	6671	0.12	3.55	0.00	0.000	4	0.120	0.084	2363	3923	3405	0	0	5	0	0	0
6924	-0.81	-146.0	626.6	-10.5	699	6930	0.28	3.40	0.00	0.000	6	0.209	0.064	2426	2458	3405	0	0	4	0	0	0
7081	end dive: TARGET_DEPTH_EXCEEDED
state	7081	begin apogee
7087	-0.16	0.0	638.3	7.0	705	7216	0.75	0.00	125.65	1.152	6	0.181	0.000	2631	1931	2800	0	0	0	0	0	0
7216	end apogee: CONTROL_FINISHED_OK
state	7216	begin climb
7218	0.73	146.0	640.9	0.0	709	7355	0.95	2.00	129.55	1.097	4	0.127	0.090	2921	349	2205	0	0	0	0	0	0
7458	0.63	146.0	618.9	11.9	716	7461	0.00	1.85	0.00	0.000	6	0.000	0.061	2921	1965	2201	0	0	0	0	0	0
7783	0.53	146.0	580.8	11.5	737	7793	0.22	3.80	0.00	0.000	4	0.199	0.076	2852	3535	2197	0	0	5	0	0	0
7923	0.60	147.7	567.0	9.1	749	7929	0.00	3.78	0.00	0.000	6	0.000	0.071	2867	1940	2195	0	0	5	0	0	0
8248	0.70	147.7	538.2	9.2	780	8258	0.15	3.78	0.00	0.000	4	0.107	0.078	2921	3526	2196	0	0	6	0	0	0
8384	0.57	147.7	521.4	12.7	792	8394	0.25	3.75	0.00	0.000	6	0.205	0.074	2877	1949	2195	0	0	4	0	0	0
8713	0.64	147.7	489.0	9.6	823	8722	0.00	3.75	0.00	0.000	4	0.000	0.079	2876	3528	2195	0	0	5	0	0	0
8863	0.64	147.7	473.0	10.7	836	8868	0.00	3.75	0.00	0.000	6	0.000	0.074	2891	1943	2195	0	0	4	0	0	0
9187	0.64	147.7	439.4	10.3	867	9196	0.00	3.75	0.00	0.000	4	0.000	0.080	2891	3531	2195	0	0	6	0	0	0
9332	0.59	147.7	423.3	10.9	880	9342	0.00	3.75	0.00	0.000	6	0.000	0.074	2908	1949	2195	0	0	4	0	0	0
9660	0.59	147.7	388.9	10.3	911	9670	0.00	3.78	0.00	0.000	4	0.000	0.080	2909	3537	2194	0	0	6	0	0	0
9788	0.48	147.7	373.5	13.0	922	9795	0.30	3.78	0.00	0.000	6	0.197	0.074	2852	1932	2193	0	0	4	0	0	0
10113	0.69	187.1	347.5	7.5	953	10155	0.20	3.83	33.72	0.960	4	0.104	0.080	2920	3531	2036	0	0	6	0	0	0
10284	0.59	187.1	326.6	13.3	968	10291	0.22	3.78	0.00	0.000	6	0.196	0.074	2884	1951	2033	0	0	5	0	0	0
10608	0.68	187.1	295.0	9.9	999	10618	0.00	3.75	0.00	0.000	4	0.000	0.078	2884	3527	2031	0	0	5	0	0	0
10759	0.68	187.1	278.0	11.5	1012	10765	0.00	3.75	0.00	0.000	6	0.000	0.073	2898	1946	2031	0	0	4	0	0	0
11084	0.75	187.1	243.7	10.6	1043	11094	0.00	3.75	0.00	0.000	4	0.000	0.077	2898	3537	2031	0	0	6	0	0	0
11234	0.75	187.1	225.3	12.8	1056	11240	0.00	3.75	0.00	0.000	6	0.000	0.072	2915	1948	2031	0	0	4	0	0	0
11558	0.75	187.1	190.0	10.4	1087	11568	0.00	3.75	0.00	0.000	4	0.000	0.078	2916	3528	2031	0	0	6	0	0	0
11692	0.75	187.1	174.9	11.1	1099	11698	0.00	3.75	0.00	0.000	6	0.000	0.073	2932	1940	2031	0	0	4	0	0	0
12016	0.75	187.1	142.7	9.7	1129	12026	0.00	3.75	0.00	0.000	4	0.000	0.078	2932	3528	2031	0	0	6	0	0	0
12195	0.67	187.1	122.9	10.8	1145	12205	0.17	3.75	0.00	0.000	6	0.203	0.074	2909	1950	2031	0	0	4	0	0	0
12527	0.80	204.2	95.7	8.4	1180	12553	0.12	3.75	15.48	0.797	4	0.132	0.079	2950	3538	1965	0	0	6	0	0	0
12705	0.72	204.2	75.0	11.1	1212	12711	0.17	3.78	0.00	0.000	6	0.199	0.074	2927	1944	1963	0	0	5	0	0	0
13050	0.85	236.5	46.4	7.8	1273	13087	0.12	3.83	27.98	0.795	4	0.131	0.082	2967	3532	1833	0	0	6	0	0	0
13222	0.75	236.5	26.1	13.1	1304	13229	0.20	3.80	0.00	0.000	6	0.196	0.076	2938	1949	1830	0	0	5	0	0	0
13469	end climb: SURFACE_DEPTH_REACHED
state	13471	begin surface coast
13494	end surface coast: CONTROL_FINISHED_OK
state	13494	begin surface