Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 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 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 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 15 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 0 T_GPS_CHARGE -23087.625 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 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 2430 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 2 PITCH_GAIN 21 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 0 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 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 21 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 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 -23087.625

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 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 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 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

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 21 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 6 NAV_MODE 2 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 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 072207,6659.989,-5701.543,37,1.5,37,-37.5 TGT_NAME TARGET_E_IN

_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 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 072738,6659.964,-5701.483,14,1.5,14,-37.5 MHEAD_RNG_PITCHd_Wd 52.5,11244,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 695

Post-dive calculations and measurements:

FINISH 0.3,1.018394 _24V_AH 23.5,15.714

SM_CCo 14401,33.03,0.740,0,0,1678,275.23 _10V_AH 10.3,6.718

SM_GC 1.73,0.00,0.00,33.03,0.000,0.000,0.740,128,2254,1678,-7.20,0.11,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 891 FG_AHR_10Vo 0.000

RAFOS 0,1256112063,8.033334,8.017500,71,64,59,0,0,0,1163,213,231,0,0,0 MEM 150256

RAFOS_FIX 6650.826660,-5708.629395,211009,080820,4,85,4.78 DATA_FILE_SIZE 53488,1365

IRIDIUM_FIX 6631.12,-5656.72,150199,030323 CAP_FILE_SIZE 153935,0

TT8_MAMPS 0.026845 CFSIZE 260165632,250290176

HUMID 45.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1468.9

TCM_TEMP 17.50 CURRENT 0.405,155.5,1

XPDR_PINGS 3 GPS 211009,113007,6658.861,-5657.648,34,1.2,34,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 305 158.90 SBE_CT 1000 24 564.07

Roll_motor 114 128 343.68 SBE_O2 935 19 417.76

VBD_pump_during_apogee 310 1179 8595.11 nil 0 0 0.00

VBD_pump_during_surface 33 740 574.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.21 nil 0 0 0.00

Iridium_during_connect 30 160 115.52 nil 0 0 0.00

Iridium_during_xfer 153 223 802.63

Transponder_ping 0 420 7.40

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.99

TT8 2529 19 518.92

LPSleep 8874 2 211.15

TT8_Active 508 19 104.40

TT8_Sampling 2461 39 1011.94

TT8_CF8 398 45 188.56

TT8_Kalman 0 0 0.00

Analog_circuits 1715 12 212.04

GPS_charging 0 0 0.00

Compass 2427 8 200.02

RAFOS 2520 1 38.93

Transponder 0 30 0.17

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 -0.98 -146.0 0.0 0.0 0 101 0.00 0.00 -83.45 0.000 2 0.000 0.000 129 2243 3179 0 0 0 0 0 0

103 -0.98 -146.0 3.0 -4.3 16 126 9.50 2.62 -5.82 0.000 4 0.305 0.091 2105 655 3398 0 0 0 0 0 0

256 -0.77 -146.0 31.5 -16.3 43 263 0.28 2.60 0.00 0.000 6 0.209 0.072 2173 2252 3399 0 0 0 0 0 0

601 -0.82 -146.0 70.3 -9.5 104 607 0.00 2.60 0.00 0.000 4 0.000 0.083 2174 661 3400 0 0 0 0 0 0

860 -0.87 -146.0 93.8 -9.0 150 866 0.00 2.47 0.00 0.000 6 0.000 0.071 2174 2201 3399 0 0 0 0 0 0

1190 -0.94 -146.0 120.1 -8.0 188 1195 0.15 2.70 0.00 0.000 4 0.107 0.085 2110 3838 3399 0 0 0 0 0 0

1332 -0.83 -146.0 136.9 -12.1 200 1337 0.20 2.62 0.00 0.000 6 0.210 0.064 2157 2194 3398 0 0 0 0 0 0

1656 -0.83 -146.0 171.4 -9.8 230 1657 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2194 3399 0 0 0 0 0 0

1977 -0.89 -146.0 202.5 -10.0 260 1981 0.00 2.72 0.00 0.000 4 0.000 0.087 2157 3845 3398 0 0 0 0 0 0

2234 -0.96 -146.0 226.3 -8.7 282 2240 0.12 2.60 0.00 0.000 6 0.117 0.063 2116 2202 3398 0 0 0 0 0 0

2558 -0.88 -146.0 259.6 -10.5 313 2564 0.12 2.72 0.00 0.000 4 0.215 0.087 2140 3846 3397 0 0 0 0 0 0

2693 -0.88 -146.0 272.6 -9.6 324 2698 0.00 2.60 0.00 0.000 6 0.000 0.062 2140 2203 3398 0 0 0 0 0 0

3017 -0.88 -146.0 301.1 -8.8 355 3022 0.00 2.70 0.00 0.000 4 0.000 0.087 2140 3846 3398 0 0 0 0 0 0

3116 -0.88 -146.0 310.1 -8.7 363 3123 0.00 2.58 0.00 0.000 6 0.000 0.062 2140 2212 3398 0 0 0 0 0 0

3442 -0.88 -146.0 337.3 -8.5 394 3446 0.00 2.67 0.00 0.000 4 0.000 0.086 2140 3846 3398 0 0 0 0 0 0

3563 -0.88 -146.0 347.9 -8.3 404 3569 0.00 2.58 0.00 0.000 6 0.000 0.061 2140 2208 3398 0 0 0 0 0 0

3888 -0.88 -146.0 374.8 -8.7 435 3893 0.00 2.67 0.00 0.000 4 0.000 0.086 2140 3845 3399 0 0 0 0 0 0

4034 -0.88 -146.0 387.1 -7.9 447 4040 0.00 2.55 0.00 0.000 6 0.000 0.061 2140 2223 3398 0 0 0 0 0 0

4360 -0.88 -146.0 411.5 -7.2 478 4364 0.00 2.65 0.00 0.000 4 0.000 0.085 2140 3846 3398 0 0 0 0 0 0

4515 -0.88 -146.0 423.5 -8.4 491 4522 0.00 2.55 0.00 0.000 6 0.000 0.060 2140 2223 3399 0 0 0 0 0 0

4840 -0.88 -146.0 451.8 -8.9 522 4841 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2223 3399 0 0 0 0 0 0

5160 -0.88 -146.0 478.1 -7.9 552 5164 0.00 2.65 0.00 0.000 4 0.000 0.084 2140 3841 3399 0 0 0 0 0 0

5289 -0.88 -146.0 488.2 -7.4 563 5294 0.00 2.53 0.00 0.000 6 0.000 0.060 2140 2228 3399 0 0 0 0 0 0

5614 -0.88 -146.0 511.0 -7.4 593 5615 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2228 3399 0 0 0 0 0 0

5933 -0.88 -146.0 536.6 -8.4 623 5938 0.00 2.62 0.00 0.000 4 0.000 0.084 2140 3841 3400 0 0 0 0 0 0

6097 -0.88 -146.0 550.3 -8.4 637 6101 0.00 2.50 0.00 0.000 6 0.000 0.059 2140 2241 3399 0 0 0 0 0 0

6421 -0.92 -146.0 574.9 -7.3 667 6422 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2241 3400 0 0 0 0 0 0

6741 -0.97 -146.0 598.5 -7.8 697 6745 0.00 2.60 0.00 0.000 4 0.000 0.084 2140 3840 3400 0 0 0 0 0 0

6882 -0.97 -146.0 609.3 -7.8 702 6886 0.00 2.50 0.00 0.000 6 0.000 0.059 2140 2239 3400 0 0 0 0 0 0

7205 -1.02 -146.0 632.9 -7.1 713 7210 0.12 2.60 0.00 0.000 4 0.110 0.083 2081 3838 3400 0 0 0 0 0 0

7323 -0.87 -146.0 644.6 -9.9 716 7328 0.25 2.50 0.00 0.000 6 0.204 0.060 2143 2239 3400 0 0 0 0 0 0

7635 -0.94 -146.0 669.0 -8.1 726 7640 0.00 2.60 0.00 0.000 4 0.000 0.084 2143 3838 3401 0 0 0 0 0 0

7743 -1.01 -146.0 677.4 -7.7 729 7748 0.12 2.47 0.00 0.000 6 0.114 0.059 2101 2254 3401 0 0 0 0 0 0

7942 end dive: TARGET_DEPTH_EXCEEDED

state 7942 begin apogee

7947 -0.24 0.0 695.2 8.9 736 8070 0.88 0.00 119.60 1.180 6 0.185 0.000 2350 2190 2800 0 0 0 0 0 0

8070 end apogee: CONTROL_FINISHED_OK

state 8071 begin climb

8072 0.98 146.0 696.9 0.0 740 8200 1.27 0.00 123.35 1.133 6 0.111 0.000 2741 2190 2204 0 0 0 0 0 0

8490 0.56 146.0 626.8 18.8 754 8496 0.47 2.72 0.00 0.000 4 0.209 0.078 2607 3787 2195 0 0 0 0 0 0

8748 0.46 146.0 592.2 13.6 763 8755 0.15 2.58 0.00 0.000 6 0.205 0.062 2583 2207 2193 0 0 0 0 0 0

9074 0.46 146.0 557.3 10.3 794 9075 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2207 2193 0 0 0 0 0 0

9392 0.46 146.0 523.3 11.3 824 9397 0.00 2.62 0.00 0.000 4 0.000 0.081 2572 3795 2193 0 0 0 0 0 0

9638 0.46 146.0 495.3 11.7 845 9644 0.00 2.58 0.00 0.000 6 0.000 0.061 2582 2205 2191 0 0 0 0 0 0

9963 0.46 146.0 461.2 10.9 876 9964 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2205 2191 0 0 0 0 0 0

10282 0.46 146.0 426.0 11.1 906 10287 0.00 2.60 0.00 0.000 4 0.000 0.081 2582 3796 2191 0 0 0 0 0 0

10539 0.46 146.0 395.9 11.7 928 10545 0.00 2.55 0.00 0.000 6 0.000 0.061 2594 2210 2191 0 0 0 0 0 0

10863 0.46 146.0 362.1 11.0 959 10865 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2209 2191 0 0 0 0 0 0

11183 0.46 146.0 330.0 9.7 989 11188 0.00 2.58 0.00 0.000 4 0.000 0.082 2594 3793 2191 0 0 0 0 0 0

11428 0.46 146.0 302.8 11.4 1010 11435 0.00 2.53 0.00 0.000 6 0.000 0.062 2605 2217 2191 0 0 0 0 0 0

11755 0.46 146.0 268.7 10.4 1041 11759 0.00 2.55 0.00 0.000 4 0.000 0.082 2606 3788 2191 0 0 0 0 0 0

11764 0.46 146.0 267.5 10.2 1041 11771 0.12 2.50 0.00 0.000 6 0.184 0.064 2568 2231 2191 0 0 0 0 0 0

12090 0.58 156.8 238.8 8.7 1072 12105 0.15 2.60 8.02 0.787 4 0.110 0.082 2619 3785 2159 0 0 0 0 0 0

12359 0.48 156.8 205.5 12.1 1096 12364 0.17 2.50 0.00 0.000 6 0.199 0.064 2589 2216 2159 0 0 0 0 0 0

12683 0.55 156.8 175.0 9.2 1126 12685 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2216 2159 0 0 0 0 0 0

13005 0.67 180.4 146.4 8.2 1156 13032 0.17 2.60 20.20 0.817 4 0.104 0.081 2649 3786 2062 0 0 0 0 0 0

13283 0.53 180.4 111.1 12.4 1180 13290 0.22 2.50 0.00 0.000 6 0.196 0.064 2606 2219 2058 0 0 0 0 0 0

13621 0.61 191.8 81.1 8.7 1229 13637 0.00 0.00 9.65 0.739 6 0.000 0.000 2606 2219 2017 0 0 0 0 0 0

13976 0.81 227.1 50.9 7.7 1292 14014 0.25 2.65 29.23 0.768 4 0.089 0.083 2701 3793 1873 0 0 0 0 0 0

14233 0.64 227.1 14.9 14.6 1338 14240 0.30 2.55 0.00 0.000 6 0.198 0.064 2638 2215 1867 0 0 0 0 0 0

14363 end climb: SURFACE_DEPTH_REACHED

state 14363 begin surface coast

14386 end surface coast: CONTROL_FINISHED_OK

state 14386 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	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	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	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	15	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	0	T_GPS_CHARGE	-23087.625	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	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	2430	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	2	PITCH_GAIN	21	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	0	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	0

GPS1	072207,6659.989,-5701.543,37,1.5,37,-37.5	TGT_NAME	TARGET_E_IN
_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	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	072738,6659.964,-5701.483,14,1.5,14,-37.5	MHEAD_RNG_PITCHd_Wd	52.5,11244,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	695

FINISH	0.3,1.018394	_24V_AH	23.5,15.714
SM_CCo	14401,33.03,0.740,0,0,1678,275.23	_10V_AH	10.3,6.718
SM_GC	1.73,0.00,0.00,33.03,0.000,0.000,0.740,128,2254,1678,-7.20,0.11,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	891	FG_AHR_10Vo	0.000
RAFOS	0,1256112063,8.033334,8.017500,71,64,59,0,0,0,1163,213,231,0,0,0	MEM	150256
RAFOS_FIX	6650.826660,-5708.629395,211009,080820,4,85,4.78	DATA_FILE_SIZE	53488,1365
IRIDIUM_FIX	6631.12,-5656.72,150199,030323	CAP_FILE_SIZE	153935,0
TT8_MAMPS	0.026845	CFSIZE	260165632,250290176
HUMID	45.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1468.9
TCM_TEMP	17.50	CURRENT	0.405,155.5,1
XPDR_PINGS	3	GPS	211009,113007,6658.861,-5657.648,34,1.2,34,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	305	158.90	SBE_CT	1000	24	564.07
Roll_motor	114	128	343.68	SBE_O2	935	19	417.76
VBD_pump_during_apogee	310	1179	8595.11	nil	0	0	0.00
VBD_pump_during_surface	33	740	574.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.21	nil	0	0	0.00
Iridium_during_connect	30	160	115.52	nil	0	0	0.00
Iridium_during_xfer	153	223	802.63
Transponder_ping	0	420	7.40
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.99
TT8	2529	19	518.92
LPSleep	8874	2	211.15
TT8_Active	508	19	104.40
TT8_Sampling	2461	39	1011.94
TT8_CF8	398	45	188.56
TT8_Kalman	0	0	0.00
Analog_circuits	1715	12	212.04
GPS_charging	0	0	0.00
Compass	2427	8	200.02
RAFOS	2520	1	38.93
Transponder	0	30	0.17

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	-0.98	-146.0	0.0	0.0	0	101	0.00	0.00	-83.45	0.000	2	0.000	0.000	129	2243	3179	0	0	0	0	0	0
103	-0.98	-146.0	3.0	-4.3	16	126	9.50	2.62	-5.82	0.000	4	0.305	0.091	2105	655	3398	0	0	0	0	0	0
256	-0.77	-146.0	31.5	-16.3	43	263	0.28	2.60	0.00	0.000	6	0.209	0.072	2173	2252	3399	0	0	0	0	0	0
601	-0.82	-146.0	70.3	-9.5	104	607	0.00	2.60	0.00	0.000	4	0.000	0.083	2174	661	3400	0	0	0	0	0	0
860	-0.87	-146.0	93.8	-9.0	150	866	0.00	2.47	0.00	0.000	6	0.000	0.071	2174	2201	3399	0	0	0	0	0	0
1190	-0.94	-146.0	120.1	-8.0	188	1195	0.15	2.70	0.00	0.000	4	0.107	0.085	2110	3838	3399	0	0	0	0	0	0
1332	-0.83	-146.0	136.9	-12.1	200	1337	0.20	2.62	0.00	0.000	6	0.210	0.064	2157	2194	3398	0	0	0	0	0	0
1656	-0.83	-146.0	171.4	-9.8	230	1657	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2194	3399	0	0	0	0	0	0
1977	-0.89	-146.0	202.5	-10.0	260	1981	0.00	2.72	0.00	0.000	4	0.000	0.087	2157	3845	3398	0	0	0	0	0	0
2234	-0.96	-146.0	226.3	-8.7	282	2240	0.12	2.60	0.00	0.000	6	0.117	0.063	2116	2202	3398	0	0	0	0	0	0
2558	-0.88	-146.0	259.6	-10.5	313	2564	0.12	2.72	0.00	0.000	4	0.215	0.087	2140	3846	3397	0	0	0	0	0	0
2693	-0.88	-146.0	272.6	-9.6	324	2698	0.00	2.60	0.00	0.000	6	0.000	0.062	2140	2203	3398	0	0	0	0	0	0
3017	-0.88	-146.0	301.1	-8.8	355	3022	0.00	2.70	0.00	0.000	4	0.000	0.087	2140	3846	3398	0	0	0	0	0	0
3116	-0.88	-146.0	310.1	-8.7	363	3123	0.00	2.58	0.00	0.000	6	0.000	0.062	2140	2212	3398	0	0	0	0	0	0
3442	-0.88	-146.0	337.3	-8.5	394	3446	0.00	2.67	0.00	0.000	4	0.000	0.086	2140	3846	3398	0	0	0	0	0	0
3563	-0.88	-146.0	347.9	-8.3	404	3569	0.00	2.58	0.00	0.000	6	0.000	0.061	2140	2208	3398	0	0	0	0	0	0
3888	-0.88	-146.0	374.8	-8.7	435	3893	0.00	2.67	0.00	0.000	4	0.000	0.086	2140	3845	3399	0	0	0	0	0	0
4034	-0.88	-146.0	387.1	-7.9	447	4040	0.00	2.55	0.00	0.000	6	0.000	0.061	2140	2223	3398	0	0	0	0	0	0
4360	-0.88	-146.0	411.5	-7.2	478	4364	0.00	2.65	0.00	0.000	4	0.000	0.085	2140	3846	3398	0	0	0	0	0	0
4515	-0.88	-146.0	423.5	-8.4	491	4522	0.00	2.55	0.00	0.000	6	0.000	0.060	2140	2223	3399	0	0	0	0	0	0
4840	-0.88	-146.0	451.8	-8.9	522	4841	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2223	3399	0	0	0	0	0	0
5160	-0.88	-146.0	478.1	-7.9	552	5164	0.00	2.65	0.00	0.000	4	0.000	0.084	2140	3841	3399	0	0	0	0	0	0
5289	-0.88	-146.0	488.2	-7.4	563	5294	0.00	2.53	0.00	0.000	6	0.000	0.060	2140	2228	3399	0	0	0	0	0	0
5614	-0.88	-146.0	511.0	-7.4	593	5615	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2228	3399	0	0	0	0	0	0
5933	-0.88	-146.0	536.6	-8.4	623	5938	0.00	2.62	0.00	0.000	4	0.000	0.084	2140	3841	3400	0	0	0	0	0	0
6097	-0.88	-146.0	550.3	-8.4	637	6101	0.00	2.50	0.00	0.000	6	0.000	0.059	2140	2241	3399	0	0	0	0	0	0
6421	-0.92	-146.0	574.9	-7.3	667	6422	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2241	3400	0	0	0	0	0	0
6741	-0.97	-146.0	598.5	-7.8	697	6745	0.00	2.60	0.00	0.000	4	0.000	0.084	2140	3840	3400	0	0	0	0	0	0
6882	-0.97	-146.0	609.3	-7.8	702	6886	0.00	2.50	0.00	0.000	6	0.000	0.059	2140	2239	3400	0	0	0	0	0	0
7205	-1.02	-146.0	632.9	-7.1	713	7210	0.12	2.60	0.00	0.000	4	0.110	0.083	2081	3838	3400	0	0	0	0	0	0
7323	-0.87	-146.0	644.6	-9.9	716	7328	0.25	2.50	0.00	0.000	6	0.204	0.060	2143	2239	3400	0	0	0	0	0	0
7635	-0.94	-146.0	669.0	-8.1	726	7640	0.00	2.60	0.00	0.000	4	0.000	0.084	2143	3838	3401	0	0	0	0	0	0
7743	-1.01	-146.0	677.4	-7.7	729	7748	0.12	2.47	0.00	0.000	6	0.114	0.059	2101	2254	3401	0	0	0	0	0	0
7942	end dive: TARGET_DEPTH_EXCEEDED
state	7942	begin apogee
7947	-0.24	0.0	695.2	8.9	736	8070	0.88	0.00	119.60	1.180	6	0.185	0.000	2350	2190	2800	0	0	0	0	0	0
8070	end apogee: CONTROL_FINISHED_OK
state	8071	begin climb
8072	0.98	146.0	696.9	0.0	740	8200	1.27	0.00	123.35	1.133	6	0.111	0.000	2741	2190	2204	0	0	0	0	0	0
8490	0.56	146.0	626.8	18.8	754	8496	0.47	2.72	0.00	0.000	4	0.209	0.078	2607	3787	2195	0	0	0	0	0	0
8748	0.46	146.0	592.2	13.6	763	8755	0.15	2.58	0.00	0.000	6	0.205	0.062	2583	2207	2193	0	0	0	0	0	0
9074	0.46	146.0	557.3	10.3	794	9075	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2207	2193	0	0	0	0	0	0
9392	0.46	146.0	523.3	11.3	824	9397	0.00	2.62	0.00	0.000	4	0.000	0.081	2572	3795	2193	0	0	0	0	0	0
9638	0.46	146.0	495.3	11.7	845	9644	0.00	2.58	0.00	0.000	6	0.000	0.061	2582	2205	2191	0	0	0	0	0	0
9963	0.46	146.0	461.2	10.9	876	9964	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2205	2191	0	0	0	0	0	0
10282	0.46	146.0	426.0	11.1	906	10287	0.00	2.60	0.00	0.000	4	0.000	0.081	2582	3796	2191	0	0	0	0	0	0
10539	0.46	146.0	395.9	11.7	928	10545	0.00	2.55	0.00	0.000	6	0.000	0.061	2594	2210	2191	0	0	0	0	0	0
10863	0.46	146.0	362.1	11.0	959	10865	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2209	2191	0	0	0	0	0	0
11183	0.46	146.0	330.0	9.7	989	11188	0.00	2.58	0.00	0.000	4	0.000	0.082	2594	3793	2191	0	0	0	0	0	0
11428	0.46	146.0	302.8	11.4	1010	11435	0.00	2.53	0.00	0.000	6	0.000	0.062	2605	2217	2191	0	0	0	0	0	0
11755	0.46	146.0	268.7	10.4	1041	11759	0.00	2.55	0.00	0.000	4	0.000	0.082	2606	3788	2191	0	0	0	0	0	0
11764	0.46	146.0	267.5	10.2	1041	11771	0.12	2.50	0.00	0.000	6	0.184	0.064	2568	2231	2191	0	0	0	0	0	0
12090	0.58	156.8	238.8	8.7	1072	12105	0.15	2.60	8.02	0.787	4	0.110	0.082	2619	3785	2159	0	0	0	0	0	0
12359	0.48	156.8	205.5	12.1	1096	12364	0.17	2.50	0.00	0.000	6	0.199	0.064	2589	2216	2159	0	0	0	0	0	0
12683	0.55	156.8	175.0	9.2	1126	12685	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2216	2159	0	0	0	0	0	0
13005	0.67	180.4	146.4	8.2	1156	13032	0.17	2.60	20.20	0.817	4	0.104	0.081	2649	3786	2062	0	0	0	0	0	0
13283	0.53	180.4	111.1	12.4	1180	13290	0.22	2.50	0.00	0.000	6	0.196	0.064	2606	2219	2058	0	0	0	0	0	0
13621	0.61	191.8	81.1	8.7	1229	13637	0.00	0.00	9.65	0.739	6	0.000	0.000	2606	2219	2017	0	0	0	0	0	0
13976	0.81	227.1	50.9	7.7	1292	14014	0.25	2.65	29.23	0.768	4	0.089	0.083	2701	3793	1873	0	0	0	0	0	0
14233	0.64	227.1	14.9	14.6	1338	14240	0.30	2.55	0.00	0.000	6	0.198	0.064	2638	2215	1867	0	0	0	0	0	0
14363	end climb: SURFACE_DEPTH_REACHED
state	14363	begin surface coast
14386	end surface coast: CONTROL_FINISHED_OK
state	14386	begin surface