Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 233 * 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 233 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 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 15 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -35700.973 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 -35700.973

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 -2

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 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 233 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 201924,6645.517,-6011.295,0,5105.8,0,-37.8 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201924,6645.517,-6011.295,0,5105.8,0,-37.8 MHEAD_RNG_PITCHd_Wd 115.4,150337,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 571

Post-dive calculations and measurements:

FREEZE 8.78,-1.769,-1.757,2,28,0 ALTIM_BOTTOM_PING 500.5,103.4

FINISH1 8.8,1.025730,86 _24V_AH 22.5,49.092

FINISH2 8.0 _10V_AH 10.1,25.589

RAFOS_CLK 808 FG_AHR_24Vo 0.000

RAFOS 5,1259786465,20.700001,20.684723,68,67,65,0,0,0,201,187,921,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6646.090332,-6010.391602,021209,202032,6,105,4.06 MEM 152568

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 47279,1199

TT8_MAMPS 0.026845 CAP_FILE_SIZE 134302,0

HUMID 50.74 CFSIZE 260165632,231604224

INTERNAL_PRESSURE 8.88706 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.00 SOUNDSPEED 1449.9

XPDR_PINGS 10 GPS 021209,201924,6645.517,-6011.295,0,5105.8,0,-37.8

ALTIM_TOP_PING 19.8,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 233 39.61 SBE_CT 889 24 480.59

Roll_motor 147 160 533.27 SBE_O2 829 19 354.58

VBD_pump_during_apogee 366 1152 9504.34 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 4 420 42.52

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 1988 19 400.11

LPSleep 6993 2 163.16

TT8_Active 448 19 90.20

TT8_Sampling 1995 39 804.71

TT8_CF8 151 45 70.24

TT8_Kalman 0 0 0.00

Analog_circuits 1492 12 180.88

GPS_charging 0 0 0.00

Compass 1970 8 159.25

RAFOS 360 1 5.45

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 12 begin dive

15 -0.73 -146.0 0.0 0.0 0 23 0.00 0.00 -6.03 0.000 2 0.000 0.000 2729 354 2663 0 0 0 0 0 0

25 -0.73 -146.0 8.0 -0.0 1 58 0.82 6.20 -21.92 0.000 4 0.123 0.094 2463 3916 3399 0 0 0 0 0 0

193 -0.63 -146.0 30.4 -15.5 31 198 0.00 2.75 0.00 0.000 6 0.000 0.076 2463 2459 3401 0 0 0 0 0 0

537 -0.54 -146.0 81.1 -14.7 92 543 0.20 2.88 0.00 0.000 4 0.233 0.095 2497 3922 3401 0 0 0 0 0 0

717 -0.61 -146.0 101.6 -10.8 123 722 0.00 2.72 0.00 0.000 6 0.000 0.073 2498 2470 3401 0 0 0 0 0 0

1042 -0.68 -146.0 135.5 -10.0 153 1046 0.00 2.85 0.00 0.000 4 0.000 0.100 2497 3916 3400 0 0 0 0 0 0

1130 -0.78 -146.0 144.9 -11.1 160 1137 0.17 2.70 0.00 0.000 6 0.117 0.074 2440 2482 3401 0 0 0 0 0 0

1455 -0.69 -146.0 184.7 -11.4 191 1460 0.00 2.83 0.00 0.000 4 0.000 0.100 2439 3913 3401 0 0 0 0 0 0

1550 -0.61 -146.0 195.4 -11.2 199 1556 0.20 2.70 0.00 0.000 6 0.221 0.074 2484 2481 3401 0 0 0 0 0 0

1875 -0.69 -146.0 224.9 -9.1 229 1880 0.00 2.83 0.00 0.000 4 0.000 0.100 2484 3913 3401 0 0 0 0 0 0

1964 -0.80 -146.0 233.5 -9.1 236 1970 0.17 2.67 0.00 0.000 6 0.120 0.075 2429 2500 3400 0 0 0 0 0 0

2288 -0.71 -146.0 270.0 -11.1 267 2294 0.12 2.83 0.00 0.000 4 0.232 0.100 2453 3915 3400 0 0 0 0 0 0

2440 -0.71 -146.0 286.3 -10.6 280 2444 0.00 2.67 0.00 0.000 6 0.000 0.075 2453 2502 3399 0 0 0 0 0 0

2764 -0.71 -146.0 319.7 -10.4 310 2769 0.00 2.80 0.00 0.000 4 0.000 0.101 2453 3913 3400 0 0 0 0 0 0

2916 -0.71 -146.0 335.1 -10.1 323 2920 0.00 2.65 0.00 0.000 6 0.000 0.075 2453 2519 3399 0 0 0 0 0 0

3240 -0.71 -146.0 364.8 -8.9 353 3241 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2520 3399 0 0 0 0 0 0

3560 -0.71 -146.0 392.3 -8.5 383 3565 0.00 2.78 0.00 0.000 4 0.000 0.101 2453 3915 3399 0 0 0 0 0 0

3656 -0.76 -146.0 400.6 -8.5 391 3660 0.00 2.62 0.00 0.000 6 0.000 0.074 2453 2528 3399 0 0 0 0 0 0

3981 -0.81 -146.0 427.2 -8.5 421 3985 0.00 2.75 0.00 0.000 4 0.000 0.100 2453 3913 3399 0 0 0 0 0 0

4143 -0.87 -146.0 441.2 -8.3 435 4148 0.12 2.62 0.00 0.000 6 0.126 0.074 2413 2527 3399 0 0 0 0 0 0

4467 -0.80 -146.0 473.8 -9.6 465 4472 0.00 2.75 0.00 0.000 4 0.000 0.100 2413 3916 3399 0 0 0 0 0 0

4522 -0.73 -146.0 479.3 -9.9 469 4529 0.15 2.62 0.00 0.000 6 0.216 0.074 2445 2526 3399 0 0 0 0 0 0

4847 -0.78 -146.0 505.9 -8.6 500 4848 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2526 3399 0 0 0 0 0 0

5167 -0.85 -146.0 529.8 -6.9 530 5171 0.00 2.75 0.00 0.000 4 0.000 0.098 2445 3916 3399 0 0 0 0 0 0

5251 -0.92 -146.0 536.0 -7.6 537 5257 0.17 2.60 0.00 0.000 6 0.122 0.073 2390 2538 3399 0 0 0 0 0 0

5577 -0.80 -146.0 567.7 -8.6 567 5582 0.15 2.75 0.00 0.000 4 0.215 0.097 2423 3918 3399 0 0 0 0 0 0

5619 end dive: TARGET_DEPTH_EXCEEDED

state 5619 begin apogee

5627 -0.16 0.0 571.4 8.7 570 5753 0.77 0.00 120.82 1.153 6 0.199 0.000 2630 1946 2799 0 0 0 0 0 0

5754 end apogee: CONTROL_FINISHED_OK

state 5754 begin climb

5756 0.73 146.0 575.6 0.0 583 5892 0.98 2.78 127.20 1.098 4 0.143 0.097 2921 365 2203 0 0 0 0 0 0

5944 0.67 146.0 563.3 11.3 601 5948 0.00 2.58 0.00 0.000 6 0.000 0.072 2921 1958 2199 0 0 0 0 0 0

6268 0.67 146.0 525.1 11.4 631 6273 0.00 3.10 0.00 0.000 4 0.000 0.088 2921 3543 2194 0 0 0 0 0 0

6318 0.55 146.0 519.2 12.3 635 6324 0.28 3.08 0.00 0.000 6 0.199 0.080 2870 1953 2193 0 0 0 0 0 0

6642 0.70 154.3 490.5 8.8 665 6653 0.15 0.00 6.57 0.887 6 0.114 0.000 2917 1954 2171 0 0 0 0 0 0

6970 0.70 154.3 457.8 9.2 696 6975 0.00 3.05 0.00 0.000 4 0.000 0.089 2917 3548 2170 0 0 0 0 0 0

7043 0.62 154.3 450.2 10.6 702 7049 0.17 3.00 0.00 0.000 6 0.206 0.079 2891 1953 2168 0 0 0 0 0 0

7368 0.72 160.3 422.7 8.9 732 7382 0.00 3.08 6.70 0.881 4 0.000 0.087 2891 3542 2145 0 0 0 0 0 0

7433 0.72 160.3 416.4 9.9 738 7438 0.00 2.97 0.00 0.000 6 0.000 0.079 2901 1964 2145 0 0 0 0 0 0

7758 0.83 195.5 389.7 7.7 768 7799 0.17 3.08 31.27 1.009 4 0.104 0.087 2963 3547 2002 0 0 0 0 0 0

7889 0.67 195.5 374.4 12.6 780 7895 0.28 3.00 0.00 0.000 6 0.199 0.079 2910 1975 1998 0 0 0 0 0 0

8214 0.81 228.2 346.8 7.8 810 8249 0.12 2.55 28.48 0.980 4 0.125 0.098 2961 352 1868 0 0 0 0 0 0

8277 0.75 228.2 340.5 11.5 815 8283 0.00 2.45 0.00 0.000 6 0.000 0.072 2961 1974 1866 0 0 0 0 0 0

8602 0.75 228.2 300.2 12.5 846 8607 0.00 2.97 0.00 0.000 4 0.000 0.089 2961 3537 1864 0 0 0 0 0 0

8697 0.66 228.2 287.9 13.0 854 8703 0.28 2.95 0.00 0.000 6 0.190 0.079 2906 1978 1862 0 0 0 0 0 0

9022 0.86 253.1 260.3 8.1 884 9047 0.20 0.00 21.98 0.940 6 0.107 0.000 2972 1980 1767 0 0 0 0 0 0

9361 0.86 253.1 220.9 11.5 916 9366 0.00 3.00 0.00 0.000 4 0.000 0.090 2972 3543 1763 0 0 0 0 0 0

9382 0.86 253.1 218.3 12.2 917 9388 0.00 2.95 0.00 0.000 6 0.000 0.079 2985 1986 1763 0 0 0 0 0 0

9706 0.86 253.1 180.8 11.6 948 9711 0.00 2.97 0.00 0.000 4 0.000 0.090 2985 3539 1763 0 0 0 0 0 0

9747 0.77 253.1 175.9 13.6 951 9752 0.22 2.95 0.00 0.000 6 0.199 0.081 2944 1981 1763 0 0 0 0 0 0

10071 0.90 253.4 144.6 9.2 981 10077 0.12 3.00 0.00 0.000 4 0.127 0.091 2983 3541 1761 0 0 0 0 0 0

10093 0.90 253.4 142.2 10.4 982 10099 0.00 2.92 0.00 0.000 6 0.000 0.080 2996 1988 1762 0 0 0 0 0 0

10417 0.90 253.4 107.6 10.8 1013 10422 0.00 2.53 0.00 0.000 4 0.000 0.101 3007 351 1760 0 0 0 0 0 0

10461 0.83 253.4 102.8 11.6 1016 10467 0.20 2.42 0.00 0.000 6 0.191 0.076 2959 1980 1760 0 0 0 0 0 0

10804 1.00 280.1 74.1 8.0 1074 10836 0.17 2.97 23.40 0.865 4 0.109 0.092 3016 3537 1657 0 0 0 0 0 0

10853 0.93 280.1 69.0 10.9 1083 10859 0.17 2.97 0.00 0.000 6 0.210 0.083 2990 1973 1656 0 0 0 0 0 0

11198 1.00 280.1 36.3 9.7 1144 11203 0.00 3.00 0.00 0.000 4 0.000 0.092 2989 3536 1652 0 0 0 0 0 0

11226 1.00 280.1 33.0 11.0 1149 11231 0.00 2.95 0.00 0.000 6 0.000 0.082 3000 1987 1652 0 0 0 0 0 0

11468 end climb: FINISH_DEPTH_REACHED

state 11468 begin subsurface finish

11474 0.11 86.0 8.8 -10.7 1192 11511 0.95 2.53 -27.12 0.000 4 0.171 0.116 2729 361 2452 0 0 0 0 0 0

11511 end subsurface finish: CONTROL_FINISHED_OK

state 11512 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	233	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	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	15	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-35700.973	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	201924,6645.517,-6011.295,0,5105.8,0,-37.8	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201924,6645.517,-6011.295,0,5105.8,0,-37.8	MHEAD_RNG_PITCHd_Wd	115.4,150337,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	571

FREEZE	8.78,-1.769,-1.757,2,28,0	ALTIM_BOTTOM_PING	500.5,103.4
FINISH1	8.8,1.025730,86	_24V_AH	22.5,49.092
FINISH2	8.0	_10V_AH	10.1,25.589
RAFOS_CLK	808	FG_AHR_24Vo	0.000
RAFOS	5,1259786465,20.700001,20.684723,68,67,65,0,0,0,201,187,921,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6646.090332,-6010.391602,021209,202032,6,105,4.06	MEM	152568
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	47279,1199
TT8_MAMPS	0.026845	CAP_FILE_SIZE	134302,0
HUMID	50.74	CFSIZE	260165632,231604224
INTERNAL_PRESSURE	8.88706	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.00	SOUNDSPEED	1449.9
XPDR_PINGS	10	GPS	021209,201924,6645.517,-6011.295,0,5105.8,0,-37.8
ALTIM_TOP_PING	19.8,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	233	39.61	SBE_CT	889	24	480.59
Roll_motor	147	160	533.27	SBE_O2	829	19	354.58
VBD_pump_during_apogee	366	1152	9504.34	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	4	420	42.52
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	1988	19	400.11
LPSleep	6993	2	163.16
TT8_Active	448	19	90.20
TT8_Sampling	1995	39	804.71
TT8_CF8	151	45	70.24
TT8_Kalman	0	0	0.00
Analog_circuits	1492	12	180.88
GPS_charging	0	0	0.00
Compass	1970	8	159.25
RAFOS	360	1	5.45
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	12	begin dive
15	-0.73	-146.0	0.0	0.0	0	23	0.00	0.00	-6.03	0.000	2	0.000	0.000	2729	354	2663	0	0	0	0	0	0
25	-0.73	-146.0	8.0	-0.0	1	58	0.82	6.20	-21.92	0.000	4	0.123	0.094	2463	3916	3399	0	0	0	0	0	0
193	-0.63	-146.0	30.4	-15.5	31	198	0.00	2.75	0.00	0.000	6	0.000	0.076	2463	2459	3401	0	0	0	0	0	0
537	-0.54	-146.0	81.1	-14.7	92	543	0.20	2.88	0.00	0.000	4	0.233	0.095	2497	3922	3401	0	0	0	0	0	0
717	-0.61	-146.0	101.6	-10.8	123	722	0.00	2.72	0.00	0.000	6	0.000	0.073	2498	2470	3401	0	0	0	0	0	0
1042	-0.68	-146.0	135.5	-10.0	153	1046	0.00	2.85	0.00	0.000	4	0.000	0.100	2497	3916	3400	0	0	0	0	0	0
1130	-0.78	-146.0	144.9	-11.1	160	1137	0.17	2.70	0.00	0.000	6	0.117	0.074	2440	2482	3401	0	0	0	0	0	0
1455	-0.69	-146.0	184.7	-11.4	191	1460	0.00	2.83	0.00	0.000	4	0.000	0.100	2439	3913	3401	0	0	0	0	0	0
1550	-0.61	-146.0	195.4	-11.2	199	1556	0.20	2.70	0.00	0.000	6	0.221	0.074	2484	2481	3401	0	0	0	0	0	0
1875	-0.69	-146.0	224.9	-9.1	229	1880	0.00	2.83	0.00	0.000	4	0.000	0.100	2484	3913	3401	0	0	0	0	0	0
1964	-0.80	-146.0	233.5	-9.1	236	1970	0.17	2.67	0.00	0.000	6	0.120	0.075	2429	2500	3400	0	0	0	0	0	0
2288	-0.71	-146.0	270.0	-11.1	267	2294	0.12	2.83	0.00	0.000	4	0.232	0.100	2453	3915	3400	0	0	0	0	0	0
2440	-0.71	-146.0	286.3	-10.6	280	2444	0.00	2.67	0.00	0.000	6	0.000	0.075	2453	2502	3399	0	0	0	0	0	0
2764	-0.71	-146.0	319.7	-10.4	310	2769	0.00	2.80	0.00	0.000	4	0.000	0.101	2453	3913	3400	0	0	0	0	0	0
2916	-0.71	-146.0	335.1	-10.1	323	2920	0.00	2.65	0.00	0.000	6	0.000	0.075	2453	2519	3399	0	0	0	0	0	0
3240	-0.71	-146.0	364.8	-8.9	353	3241	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2520	3399	0	0	0	0	0	0
3560	-0.71	-146.0	392.3	-8.5	383	3565	0.00	2.78	0.00	0.000	4	0.000	0.101	2453	3915	3399	0	0	0	0	0	0
3656	-0.76	-146.0	400.6	-8.5	391	3660	0.00	2.62	0.00	0.000	6	0.000	0.074	2453	2528	3399	0	0	0	0	0	0
3981	-0.81	-146.0	427.2	-8.5	421	3985	0.00	2.75	0.00	0.000	4	0.000	0.100	2453	3913	3399	0	0	0	0	0	0
4143	-0.87	-146.0	441.2	-8.3	435	4148	0.12	2.62	0.00	0.000	6	0.126	0.074	2413	2527	3399	0	0	0	0	0	0
4467	-0.80	-146.0	473.8	-9.6	465	4472	0.00	2.75	0.00	0.000	4	0.000	0.100	2413	3916	3399	0	0	0	0	0	0
4522	-0.73	-146.0	479.3	-9.9	469	4529	0.15	2.62	0.00	0.000	6	0.216	0.074	2445	2526	3399	0	0	0	0	0	0
4847	-0.78	-146.0	505.9	-8.6	500	4848	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2526	3399	0	0	0	0	0	0
5167	-0.85	-146.0	529.8	-6.9	530	5171	0.00	2.75	0.00	0.000	4	0.000	0.098	2445	3916	3399	0	0	0	0	0	0
5251	-0.92	-146.0	536.0	-7.6	537	5257	0.17	2.60	0.00	0.000	6	0.122	0.073	2390	2538	3399	0	0	0	0	0	0
5577	-0.80	-146.0	567.7	-8.6	567	5582	0.15	2.75	0.00	0.000	4	0.215	0.097	2423	3918	3399	0	0	0	0	0	0
5619	end dive: TARGET_DEPTH_EXCEEDED
state	5619	begin apogee
5627	-0.16	0.0	571.4	8.7	570	5753	0.77	0.00	120.82	1.153	6	0.199	0.000	2630	1946	2799	0	0	0	0	0	0
5754	end apogee: CONTROL_FINISHED_OK
state	5754	begin climb
5756	0.73	146.0	575.6	0.0	583	5892	0.98	2.78	127.20	1.098	4	0.143	0.097	2921	365	2203	0	0	0	0	0	0
5944	0.67	146.0	563.3	11.3	601	5948	0.00	2.58	0.00	0.000	6	0.000	0.072	2921	1958	2199	0	0	0	0	0	0
6268	0.67	146.0	525.1	11.4	631	6273	0.00	3.10	0.00	0.000	4	0.000	0.088	2921	3543	2194	0	0	0	0	0	0
6318	0.55	146.0	519.2	12.3	635	6324	0.28	3.08	0.00	0.000	6	0.199	0.080	2870	1953	2193	0	0	0	0	0	0
6642	0.70	154.3	490.5	8.8	665	6653	0.15	0.00	6.57	0.887	6	0.114	0.000	2917	1954	2171	0	0	0	0	0	0
6970	0.70	154.3	457.8	9.2	696	6975	0.00	3.05	0.00	0.000	4	0.000	0.089	2917	3548	2170	0	0	0	0	0	0
7043	0.62	154.3	450.2	10.6	702	7049	0.17	3.00	0.00	0.000	6	0.206	0.079	2891	1953	2168	0	0	0	0	0	0
7368	0.72	160.3	422.7	8.9	732	7382	0.00	3.08	6.70	0.881	4	0.000	0.087	2891	3542	2145	0	0	0	0	0	0
7433	0.72	160.3	416.4	9.9	738	7438	0.00	2.97	0.00	0.000	6	0.000	0.079	2901	1964	2145	0	0	0	0	0	0
7758	0.83	195.5	389.7	7.7	768	7799	0.17	3.08	31.27	1.009	4	0.104	0.087	2963	3547	2002	0	0	0	0	0	0
7889	0.67	195.5	374.4	12.6	780	7895	0.28	3.00	0.00	0.000	6	0.199	0.079	2910	1975	1998	0	0	0	0	0	0
8214	0.81	228.2	346.8	7.8	810	8249	0.12	2.55	28.48	0.980	4	0.125	0.098	2961	352	1868	0	0	0	0	0	0
8277	0.75	228.2	340.5	11.5	815	8283	0.00	2.45	0.00	0.000	6	0.000	0.072	2961	1974	1866	0	0	0	0	0	0
8602	0.75	228.2	300.2	12.5	846	8607	0.00	2.97	0.00	0.000	4	0.000	0.089	2961	3537	1864	0	0	0	0	0	0
8697	0.66	228.2	287.9	13.0	854	8703	0.28	2.95	0.00	0.000	6	0.190	0.079	2906	1978	1862	0	0	0	0	0	0
9022	0.86	253.1	260.3	8.1	884	9047	0.20	0.00	21.98	0.940	6	0.107	0.000	2972	1980	1767	0	0	0	0	0	0
9361	0.86	253.1	220.9	11.5	916	9366	0.00	3.00	0.00	0.000	4	0.000	0.090	2972	3543	1763	0	0	0	0	0	0
9382	0.86	253.1	218.3	12.2	917	9388	0.00	2.95	0.00	0.000	6	0.000	0.079	2985	1986	1763	0	0	0	0	0	0
9706	0.86	253.1	180.8	11.6	948	9711	0.00	2.97	0.00	0.000	4	0.000	0.090	2985	3539	1763	0	0	0	0	0	0
9747	0.77	253.1	175.9	13.6	951	9752	0.22	2.95	0.00	0.000	6	0.199	0.081	2944	1981	1763	0	0	0	0	0	0
10071	0.90	253.4	144.6	9.2	981	10077	0.12	3.00	0.00	0.000	4	0.127	0.091	2983	3541	1761	0	0	0	0	0	0
10093	0.90	253.4	142.2	10.4	982	10099	0.00	2.92	0.00	0.000	6	0.000	0.080	2996	1988	1762	0	0	0	0	0	0
10417	0.90	253.4	107.6	10.8	1013	10422	0.00	2.53	0.00	0.000	4	0.000	0.101	3007	351	1760	0	0	0	0	0	0
10461	0.83	253.4	102.8	11.6	1016	10467	0.20	2.42	0.00	0.000	6	0.191	0.076	2959	1980	1760	0	0	0	0	0	0
10804	1.00	280.1	74.1	8.0	1074	10836	0.17	2.97	23.40	0.865	4	0.109	0.092	3016	3537	1657	0	0	0	0	0	0
10853	0.93	280.1	69.0	10.9	1083	10859	0.17	2.97	0.00	0.000	6	0.210	0.083	2990	1973	1656	0	0	0	0	0	0
11198	1.00	280.1	36.3	9.7	1144	11203	0.00	3.00	0.00	0.000	4	0.000	0.092	2989	3536	1652	0	0	0	0	0	0
11226	1.00	280.1	33.0	11.0	1149	11231	0.00	2.95	0.00	0.000	6	0.000	0.082	3000	1987	1652	0	0	0	0	0	0
11468	end climb: FINISH_DEPTH_REACHED
state	11468	begin subsurface finish
11474	0.11	86.0	8.8	-10.7	1192	11511	0.95	2.53	-27.12	0.000	4	0.171	0.116	2729	361	2452	0	0	0	0	0	0
11511	end subsurface finish: CONTROL_FINISHED_OK
state	11512	begin surface