Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 188 * 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 188 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 22 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 21 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 -33489.758 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 -33489.758

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 22 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 188 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 005845,6702.765,-5648.140,35,1.5,49,-37.5 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010714,6702.787,-5648.065,12,1.2,12,-37.5 MHEAD_RNG_PITCHd_Wd 295.2,163185,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 534

Post-dive calculations and measurements:

FREEZE 0.42,0.582,-1.347,0,1,0 ALTIM_TOP_PING 19.7,19.1

FINISH 0.4,1.019863 ALTIM_BOTTOM_PING 450.4,71.6

SM_CCo 10762,62.03,0.722,0,0,1474,325.02 _24V_AH 23.2,42.947

SM_GC 1.39,0.00,0.00,62.03,0.000,0.000,0.722,126,2462,1474,-8.02,0.06,325.02 _10V_AH 10.2,21.932

RAFOS_CLK 671 FG_AHR_24Vo 0.000

RAFOS 6,1259023745,0.833333,0.818056,63,62,60,0,0,0,195,213,173,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.183105,-5652.258301,241109,000040,4,68,3.50 MEM 152476

IRIDIUM_FIX 6636.54,-5650.71,180299,010115 DATA_FILE_SIZE 44112,1160

TT8_MAMPS 0.028379 CAP_FILE_SIZE 136455,0

HUMID 46.53 CFSIZE 260165632,235442176

INTERNAL_PRESSURE 8.92612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.00 SOUNDSPEED 1469.5

XPDR_PINGS 2 GPS 241109,040907,6703.000,-5651.620,24,1.3,25,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 292 153.79 SBE_CT 853 24 475.03

Roll_motor 127 98 289.44 SBE_O2 790 19 348.39

VBD_pump_during_apogee 304 1048 7400.26 nil 0 0 0.00

VBD_pump_during_surface 62 721 1038.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 132.83 nil 0 0 0.00

Iridium_during_connect 62 160 233.81 nil 0 0 0.00

Iridium_during_xfer 213 223 1104.78

Transponder_ping 2 420 24.36

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.28

TT8 1944 19 395.02

LPSleep 6508 2 153.35

TT8_Active 516 19 105.03

TT8_Sampling 1843 39 750.45

TT8_CF8 519 45 243.40

TT8_Kalman 0 0 0.00

Analog_circuits 1478 12 180.98

GPS_charging 0 0 0.00

Compass 1811 8 147.82

RAFOS 360 1 5.51

Transponder 18 30 5.70

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 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.93 0.000 2 0.000 0.000 128 2471 3184 0 0 0 0 0 0

117 -0.73 -146.0 3.8 -7.6 19 139 11.07 2.55 -5.22 0.000 4 0.293 0.098 2447 3909 3398 0 0 0 0 0 0

364 -0.65 -146.0 40.6 -12.5 63 371 0.12 2.42 0.00 0.000 6 0.213 0.060 2476 2458 3401 0 0 0 0 0 0

708 -0.65 -146.0 77.7 -11.0 124 714 0.00 2.55 0.00 0.000 4 0.000 0.087 2476 3913 3401 0 0 0 0 0 0

731 -0.65 -146.0 80.3 -11.3 128 736 0.00 2.45 0.00 0.000 6 0.000 0.061 2476 2445 3401 0 0 0 0 0 0

1071 -0.70 -146.0 115.8 -9.6 175 1075 0.00 2.55 0.00 0.000 4 0.000 0.087 2476 3907 3400 0 0 0 0 0 0

1137 -0.79 -146.0 122.3 -9.6 180 1143 0.12 2.40 0.00 0.000 6 0.117 0.061 2434 2464 3400 0 0 0 0 0 0

1462 -0.72 -146.0 155.1 -10.2 211 1466 0.00 2.53 0.00 0.000 4 0.000 0.087 2433 3915 3399 0 0 0 0 0 0

1527 -0.66 -146.0 162.0 -10.4 216 1534 0.17 2.38 0.00 0.000 6 0.206 0.061 2474 2477 3399 0 0 0 0 0 0

1853 -0.73 -146.0 188.9 -8.4 247 1857 0.00 2.50 0.00 0.000 4 0.000 0.087 2474 3916 3400 0 0 0 0 0 0

1914 -0.81 -146.0 194.2 -8.9 252 1919 0.15 2.35 0.00 0.000 6 0.110 0.060 2422 2496 3400 0 0 0 0 0 0

2239 -0.73 -146.0 228.0 -11.1 282 2244 0.12 2.47 0.00 0.000 4 0.216 0.084 2440 3919 3399 0 0 0 0 0 0

2293 -0.73 -146.0 233.9 -10.0 286 2300 0.00 2.38 0.00 0.000 6 0.000 0.058 2440 2503 3399 0 0 0 0 0 0

2619 -0.73 -146.0 264.4 -8.8 317 2623 0.00 2.42 0.00 0.000 4 0.000 0.084 2440 3909 3400 0 0 0 0 0 0

2651 -0.73 -146.0 267.4 -8.8 319 2657 0.00 2.30 0.00 0.000 6 0.000 0.058 2440 2511 3400 0 0 0 0 0 0

2976 -0.73 -146.0 294.2 -8.3 350 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2512 3400 0 0 0 0 0 0

3296 -0.73 -146.0 321.9 -8.2 380 3300 0.00 2.42 0.00 0.000 4 0.000 0.084 2440 3917 3401 0 0 0 0 0 0

3346 -0.73 -146.0 326.4 -8.8 384 3350 0.00 2.30 0.00 0.000 6 0.000 0.058 2440 2516 3401 0 0 0 0 0 0

3671 -0.73 -146.0 353.6 -7.7 414 3675 0.00 2.40 0.00 0.000 4 0.000 0.083 2440 3909 3401 0 0 0 0 0 0

3743 -0.73 -146.0 359.5 -8.2 420 3747 0.00 2.25 0.00 0.000 6 0.000 0.057 2440 2534 3401 0 0 0 0 0 0

4068 -0.73 -146.0 383.9 -7.5 450 4072 0.00 2.38 0.00 0.000 4 0.000 0.083 2440 3912 3401 0 0 0 0 0 0

4162 -0.73 -146.0 391.4 -7.8 458 4168 0.00 2.25 0.00 0.000 6 0.000 0.057 2440 2540 3401 0 0 0 0 0 0

4487 -0.73 -146.0 415.4 -7.2 489 4488 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2540 3402 0 0 0 0 0 0

4806 -0.73 -146.0 438.9 -7.8 519 4811 0.00 2.65 0.00 0.000 4 0.000 0.076 2440 867 3402 0 0 0 0 0 0

4828 -0.73 -146.0 440.8 -8.2 520 4834 0.00 2.65 0.00 0.000 6 0.000 0.067 2440 2546 3402 0 0 0 0 0 0

5153 -0.73 -146.0 466.2 -8.2 551 5157 0.00 2.33 0.00 0.000 4 0.000 0.083 2440 3909 3402 0 0 0 0 0 0

5185 -0.73 -146.0 469.0 -7.9 553 5191 0.00 2.25 0.00 0.000 6 0.000 0.057 2440 2535 3402 0 0 0 0 0 0

5511 -0.73 -146.0 494.5 -8.1 584 5515 0.00 2.38 0.00 0.000 4 0.000 0.082 2439 3915 3403 0 0 0 0 0 0

5606 -0.73 -146.0 502.1 -8.4 592 5610 0.00 2.22 0.00 0.000 6 0.000 0.057 2440 2554 3403 0 0 0 0 0 0

5674 end dive: BOTTOM_OBSTACLE_DETECTED

state 5674 begin apogee

5680 -0.16 0.0 507.7 8.2 598 5801 0.65 0.00 117.65 1.048 6 0.173 0.000 2628 1943 2800 0 0 0 0 0 0

5802 end apogee: CONTROL_FINISHED_OK

state 5802 begin climb

5804 0.73 146.0 510.4 0.0 610 5930 0.93 0.00 121.03 1.005 6 0.126 0.000 2911 1943 2204 0 0 0 0 0 0

6248 0.73 146.0 466.9 10.7 653 6253 0.00 2.78 0.00 0.000 4 0.000 0.075 2911 3544 2197 0 0 0 0 0 0

6323 0.67 146.0 458.6 12.1 659 6327 0.00 2.67 0.00 0.000 6 0.000 0.064 2922 1972 2195 0 0 0 0 0 0

6647 0.62 146.0 421.4 11.1 689 6652 0.12 2.58 0.00 0.000 4 0.198 0.083 2905 364 2195 0 0 0 0 0 0

6709 0.62 146.0 414.9 9.9 694 6713 0.00 2.50 0.00 0.000 6 0.000 0.060 2904 1975 2194 0 0 0 0 0 0

7033 0.62 146.0 382.0 10.0 724 7037 0.00 2.62 0.00 0.000 4 0.000 0.076 2904 3536 2194 0 0 0 0 0 0

7072 0.62 146.0 378.0 11.0 727 7076 0.00 2.62 0.00 0.000 6 0.000 0.065 2917 1968 2192 0 0 0 0 0 0

7396 0.62 146.0 344.1 10.4 757 7400 0.00 2.67 0.00 0.000 4 0.000 0.076 2917 3546 2193 0 0 0 0 0 0

7428 0.55 146.0 340.6 11.1 759 7435 0.22 2.62 0.00 0.000 6 0.186 0.065 2873 1971 2192 0 0 0 0 0 0

7753 0.70 164.3 313.1 8.4 790 7773 0.12 0.00 14.40 0.877 6 0.113 0.000 2917 1972 2129 0 0 0 0 0 0

8091 0.70 164.3 276.0 11.8 822 8095 0.00 2.65 0.00 0.000 4 0.000 0.076 2917 3536 2127 0 0 0 0 0 0

8123 0.70 164.3 272.0 12.3 824 8129 0.00 2.60 0.00 0.000 6 0.000 0.065 2929 1978 2127 0 0 0 0 0 0

8449 0.70 164.3 233.9 11.3 855 8453 0.00 2.58 0.00 0.000 4 0.000 0.084 2941 352 2126 0 0 0 0 0 0

8465 0.70 164.3 231.9 11.6 856 8469 0.00 2.53 0.00 0.000 6 0.000 0.061 2941 1994 2127 0 0 0 0 0 0

8790 0.65 164.3 192.8 12.1 886 8795 0.15 2.62 0.00 0.000 4 0.192 0.082 2915 361 2126 0 0 0 0 0 0

8833 0.71 164.3 187.9 10.7 889 8839 0.00 2.50 0.00 0.000 6 0.000 0.061 2915 1992 2126 0 0 0 0 0 0

9158 0.76 164.3 152.8 11.2 920 9162 0.00 2.60 0.00 0.000 4 0.000 0.075 2915 3546 2126 0 0 0 0 0 0

9196 0.76 164.3 148.1 12.5 923 9201 0.00 2.60 0.00 0.000 6 0.000 0.065 2927 1978 2126 0 0 0 0 0 0

9522 0.76 164.3 111.9 10.6 953 9527 0.00 2.55 0.00 0.000 4 0.000 0.084 2939 365 2126 0 0 0 0 0 0

9532 0.76 164.3 110.5 10.5 953 9539 0.00 2.53 0.00 0.000 6 0.000 0.061 2938 1984 2126 0 0 0 0 0 0

9871 0.76 164.3 76.7 9.4 1005 9876 0.00 2.60 0.00 0.000 4 0.000 0.076 2939 3539 2126 0 0 0 0 0 0

9946 0.71 164.3 69.4 9.6 1018 9952 0.12 2.58 0.00 0.000 6 0.196 0.065 2922 1987 2126 0 0 0 0 0 0

10290 0.88 228.4 45.3 6.5 1079 10348 0.15 2.75 51.15 0.755 4 0.100 0.074 2977 3546 1867 0 0 0 0 0 0

10370 0.83 228.4 37.5 10.9 1094 10377 0.12 2.65 0.00 0.000 6 0.196 0.065 2962 1987 1865 0 0 0 0 0 0

10714 0.83 228.4 3.2 11.4 1155 10720 0.00 2.60 0.00 0.000 4 0.000 0.083 2971 357 1860 0 0 0 0 0 0

10724 end climb: SURFACE_DEPTH_REACHED

state 10725 begin surface coast

10742 end surface coast: CONTROL_FINISHED_OK

state 10742 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	188	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	22	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	21	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	-33489.758	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	005845,6702.765,-5648.140,35,1.5,49,-37.5	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010714,6702.787,-5648.065,12,1.2,12,-37.5	MHEAD_RNG_PITCHd_Wd	295.2,163185,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	534

FREEZE	0.42,0.582,-1.347,0,1,0	ALTIM_TOP_PING	19.7,19.1
FINISH	0.4,1.019863	ALTIM_BOTTOM_PING	450.4,71.6
SM_CCo	10762,62.03,0.722,0,0,1474,325.02	_24V_AH	23.2,42.947
SM_GC	1.39,0.00,0.00,62.03,0.000,0.000,0.722,126,2462,1474,-8.02,0.06,325.02	_10V_AH	10.2,21.932
RAFOS_CLK	671	FG_AHR_24Vo	0.000
RAFOS	6,1259023745,0.833333,0.818056,63,62,60,0,0,0,195,213,173,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.183105,-5652.258301,241109,000040,4,68,3.50	MEM	152476
IRIDIUM_FIX	6636.54,-5650.71,180299,010115	DATA_FILE_SIZE	44112,1160
TT8_MAMPS	0.028379	CAP_FILE_SIZE	136455,0
HUMID	46.53	CFSIZE	260165632,235442176
INTERNAL_PRESSURE	8.92612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.00	SOUNDSPEED	1469.5
XPDR_PINGS	2	GPS	241109,040907,6703.000,-5651.620,24,1.3,25,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	292	153.79	SBE_CT	853	24	475.03
Roll_motor	127	98	289.44	SBE_O2	790	19	348.39
VBD_pump_during_apogee	304	1048	7400.26	nil	0	0	0.00
VBD_pump_during_surface	62	721	1038.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	132.83	nil	0	0	0.00
Iridium_during_connect	62	160	233.81	nil	0	0	0.00
Iridium_during_xfer	213	223	1104.78
Transponder_ping	2	420	24.36
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.28
TT8	1944	19	395.02
LPSleep	6508	2	153.35
TT8_Active	516	19	105.03
TT8_Sampling	1843	39	750.45
TT8_CF8	519	45	243.40
TT8_Kalman	0	0	0.00
Analog_circuits	1478	12	180.98
GPS_charging	0	0	0.00
Compass	1811	8	147.82
RAFOS	360	1	5.51
Transponder	18	30	5.70

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	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-94.93	0.000	2	0.000	0.000	128	2471	3184	0	0	0	0	0	0
117	-0.73	-146.0	3.8	-7.6	19	139	11.07	2.55	-5.22	0.000	4	0.293	0.098	2447	3909	3398	0	0	0	0	0	0
364	-0.65	-146.0	40.6	-12.5	63	371	0.12	2.42	0.00	0.000	6	0.213	0.060	2476	2458	3401	0	0	0	0	0	0
708	-0.65	-146.0	77.7	-11.0	124	714	0.00	2.55	0.00	0.000	4	0.000	0.087	2476	3913	3401	0	0	0	0	0	0
731	-0.65	-146.0	80.3	-11.3	128	736	0.00	2.45	0.00	0.000	6	0.000	0.061	2476	2445	3401	0	0	0	0	0	0
1071	-0.70	-146.0	115.8	-9.6	175	1075	0.00	2.55	0.00	0.000	4	0.000	0.087	2476	3907	3400	0	0	0	0	0	0
1137	-0.79	-146.0	122.3	-9.6	180	1143	0.12	2.40	0.00	0.000	6	0.117	0.061	2434	2464	3400	0	0	0	0	0	0
1462	-0.72	-146.0	155.1	-10.2	211	1466	0.00	2.53	0.00	0.000	4	0.000	0.087	2433	3915	3399	0	0	0	0	0	0
1527	-0.66	-146.0	162.0	-10.4	216	1534	0.17	2.38	0.00	0.000	6	0.206	0.061	2474	2477	3399	0	0	0	0	0	0
1853	-0.73	-146.0	188.9	-8.4	247	1857	0.00	2.50	0.00	0.000	4	0.000	0.087	2474	3916	3400	0	0	0	0	0	0
1914	-0.81	-146.0	194.2	-8.9	252	1919	0.15	2.35	0.00	0.000	6	0.110	0.060	2422	2496	3400	0	0	0	0	0	0
2239	-0.73	-146.0	228.0	-11.1	282	2244	0.12	2.47	0.00	0.000	4	0.216	0.084	2440	3919	3399	0	0	0	0	0	0
2293	-0.73	-146.0	233.9	-10.0	286	2300	0.00	2.38	0.00	0.000	6	0.000	0.058	2440	2503	3399	0	0	0	0	0	0
2619	-0.73	-146.0	264.4	-8.8	317	2623	0.00	2.42	0.00	0.000	4	0.000	0.084	2440	3909	3400	0	0	0	0	0	0
2651	-0.73	-146.0	267.4	-8.8	319	2657	0.00	2.30	0.00	0.000	6	0.000	0.058	2440	2511	3400	0	0	0	0	0	0
2976	-0.73	-146.0	294.2	-8.3	350	2977	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2512	3400	0	0	0	0	0	0
3296	-0.73	-146.0	321.9	-8.2	380	3300	0.00	2.42	0.00	0.000	4	0.000	0.084	2440	3917	3401	0	0	0	0	0	0
3346	-0.73	-146.0	326.4	-8.8	384	3350	0.00	2.30	0.00	0.000	6	0.000	0.058	2440	2516	3401	0	0	0	0	0	0
3671	-0.73	-146.0	353.6	-7.7	414	3675	0.00	2.40	0.00	0.000	4	0.000	0.083	2440	3909	3401	0	0	0	0	0	0
3743	-0.73	-146.0	359.5	-8.2	420	3747	0.00	2.25	0.00	0.000	6	0.000	0.057	2440	2534	3401	0	0	0	0	0	0
4068	-0.73	-146.0	383.9	-7.5	450	4072	0.00	2.38	0.00	0.000	4	0.000	0.083	2440	3912	3401	0	0	0	0	0	0
4162	-0.73	-146.0	391.4	-7.8	458	4168	0.00	2.25	0.00	0.000	6	0.000	0.057	2440	2540	3401	0	0	0	0	0	0
4487	-0.73	-146.0	415.4	-7.2	489	4488	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2540	3402	0	0	0	0	0	0
4806	-0.73	-146.0	438.9	-7.8	519	4811	0.00	2.65	0.00	0.000	4	0.000	0.076	2440	867	3402	0	0	0	0	0	0
4828	-0.73	-146.0	440.8	-8.2	520	4834	0.00	2.65	0.00	0.000	6	0.000	0.067	2440	2546	3402	0	0	0	0	0	0
5153	-0.73	-146.0	466.2	-8.2	551	5157	0.00	2.33	0.00	0.000	4	0.000	0.083	2440	3909	3402	0	0	0	0	0	0
5185	-0.73	-146.0	469.0	-7.9	553	5191	0.00	2.25	0.00	0.000	6	0.000	0.057	2440	2535	3402	0	0	0	0	0	0
5511	-0.73	-146.0	494.5	-8.1	584	5515	0.00	2.38	0.00	0.000	4	0.000	0.082	2439	3915	3403	0	0	0	0	0	0
5606	-0.73	-146.0	502.1	-8.4	592	5610	0.00	2.22	0.00	0.000	6	0.000	0.057	2440	2554	3403	0	0	0	0	0	0
5674	end dive: BOTTOM_OBSTACLE_DETECTED
state	5674	begin apogee
5680	-0.16	0.0	507.7	8.2	598	5801	0.65	0.00	117.65	1.048	6	0.173	0.000	2628	1943	2800	0	0	0	0	0	0
5802	end apogee: CONTROL_FINISHED_OK
state	5802	begin climb
5804	0.73	146.0	510.4	0.0	610	5930	0.93	0.00	121.03	1.005	6	0.126	0.000	2911	1943	2204	0	0	0	0	0	0
6248	0.73	146.0	466.9	10.7	653	6253	0.00	2.78	0.00	0.000	4	0.000	0.075	2911	3544	2197	0	0	0	0	0	0
6323	0.67	146.0	458.6	12.1	659	6327	0.00	2.67	0.00	0.000	6	0.000	0.064	2922	1972	2195	0	0	0	0	0	0
6647	0.62	146.0	421.4	11.1	689	6652	0.12	2.58	0.00	0.000	4	0.198	0.083	2905	364	2195	0	0	0	0	0	0
6709	0.62	146.0	414.9	9.9	694	6713	0.00	2.50	0.00	0.000	6	0.000	0.060	2904	1975	2194	0	0	0	0	0	0
7033	0.62	146.0	382.0	10.0	724	7037	0.00	2.62	0.00	0.000	4	0.000	0.076	2904	3536	2194	0	0	0	0	0	0
7072	0.62	146.0	378.0	11.0	727	7076	0.00	2.62	0.00	0.000	6	0.000	0.065	2917	1968	2192	0	0	0	0	0	0
7396	0.62	146.0	344.1	10.4	757	7400	0.00	2.67	0.00	0.000	4	0.000	0.076	2917	3546	2193	0	0	0	0	0	0
7428	0.55	146.0	340.6	11.1	759	7435	0.22	2.62	0.00	0.000	6	0.186	0.065	2873	1971	2192	0	0	0	0	0	0
7753	0.70	164.3	313.1	8.4	790	7773	0.12	0.00	14.40	0.877	6	0.113	0.000	2917	1972	2129	0	0	0	0	0	0
8091	0.70	164.3	276.0	11.8	822	8095	0.00	2.65	0.00	0.000	4	0.000	0.076	2917	3536	2127	0	0	0	0	0	0
8123	0.70	164.3	272.0	12.3	824	8129	0.00	2.60	0.00	0.000	6	0.000	0.065	2929	1978	2127	0	0	0	0	0	0
8449	0.70	164.3	233.9	11.3	855	8453	0.00	2.58	0.00	0.000	4	0.000	0.084	2941	352	2126	0	0	0	0	0	0
8465	0.70	164.3	231.9	11.6	856	8469	0.00	2.53	0.00	0.000	6	0.000	0.061	2941	1994	2127	0	0	0	0	0	0
8790	0.65	164.3	192.8	12.1	886	8795	0.15	2.62	0.00	0.000	4	0.192	0.082	2915	361	2126	0	0	0	0	0	0
8833	0.71	164.3	187.9	10.7	889	8839	0.00	2.50	0.00	0.000	6	0.000	0.061	2915	1992	2126	0	0	0	0	0	0
9158	0.76	164.3	152.8	11.2	920	9162	0.00	2.60	0.00	0.000	4	0.000	0.075	2915	3546	2126	0	0	0	0	0	0
9196	0.76	164.3	148.1	12.5	923	9201	0.00	2.60	0.00	0.000	6	0.000	0.065	2927	1978	2126	0	0	0	0	0	0
9522	0.76	164.3	111.9	10.6	953	9527	0.00	2.55	0.00	0.000	4	0.000	0.084	2939	365	2126	0	0	0	0	0	0
9532	0.76	164.3	110.5	10.5	953	9539	0.00	2.53	0.00	0.000	6	0.000	0.061	2938	1984	2126	0	0	0	0	0	0
9871	0.76	164.3	76.7	9.4	1005	9876	0.00	2.60	0.00	0.000	4	0.000	0.076	2939	3539	2126	0	0	0	0	0	0
9946	0.71	164.3	69.4	9.6	1018	9952	0.12	2.58	0.00	0.000	6	0.196	0.065	2922	1987	2126	0	0	0	0	0	0
10290	0.88	228.4	45.3	6.5	1079	10348	0.15	2.75	51.15	0.755	4	0.100	0.074	2977	3546	1867	0	0	0	0	0	0
10370	0.83	228.4	37.5	10.9	1094	10377	0.12	2.65	0.00	0.000	6	0.196	0.065	2962	1987	1865	0	0	0	0	0	0
10714	0.83	228.4	3.2	11.4	1155	10720	0.00	2.60	0.00	0.000	4	0.000	0.083	2971	357	1860	0	0	0	0	0	0
10724	end climb: SURFACE_DEPTH_REACHED
state	10725	begin surface coast
10742	end surface coast: CONTROL_FINISHED_OK
state	10742	begin surface