Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 234 * 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 234 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 13 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 18 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 13 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 234 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 8.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.2 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 8.77,-1.770,-1.751,2,29,0 ALTIM_BOTTOM_PING 500.4,148.5

FINISH1 8.8,1.025652,90 _24V_AH 22.5,49.202

FINISH2 7.2 _10V_AH 10.1,25.652

RAFOS_CLK 807 FG_AHR_24Vo 0.000

RAFOS 1,1259798941,0.166667,0.150278,131,62,57,0,0,0,546,208,162,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.514160,-6002.987305,031209,000017,6,110,0.40 MEM 152608

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 47359,1201

TT8_MAMPS 0.028379 CAP_FILE_SIZE 133386,0

HUMID 50.03 CFSIZE 260165632,231534592

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1449.9

XPDR_PINGS 10 GPS 031209,003117,6645.514,-6002.987,0,6109.5,0,-37.8

ALTIM_TOP_PING 19.9,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 234 36.31 SBE_CT 886 24 478.85

Roll_motor 142 137 441.20 SBE_O2 831 19 355.64

VBD_pump_during_apogee 358 1152 9302.67 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 40.16

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 2053 19 413.13

LPSleep 6972 2 162.68

TT8_Active 440 19 88.66

TT8_Sampling 1982 39 799.51

TT8_CF8 148 45 68.75

TT8_Kalman 0 0 0.00

Analog_circuits 1477 12 179.11

GPS_charging 0 0 0.00

Compass 1959 8 158.35

RAFOS 2160 1 32.72

Transponder 14 30 4.39

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 22 0.00 0.00 -5.38 0.000 2 0.000 0.000 2729 361 2640 0 0 0 0 0 0

25 -0.73 -146.0 9.4 -0.0 1 57 0.82 6.20 -20.75 0.000 4 0.126 0.096 2464 3911 3400 0 0 0 0 0 0

197 -0.64 -146.0 32.5 -14.8 32 203 0.00 2.75 0.00 0.000 6 0.000 0.074 2463 2455 3400 0 0 0 0 0 0

541 -0.55 -146.0 81.0 -13.8 93 547 0.20 2.88 0.00 0.000 4 0.235 0.096 2498 3915 3401 0 0 0 0 0 0

710 -0.63 -146.0 99.6 -9.9 123 716 0.00 2.70 0.00 0.000 6 0.000 0.073 2498 2482 3401 0 0 0 0 0 0

1035 -0.72 -146.0 133.9 -10.9 154 1040 0.12 2.85 0.00 0.000 4 0.132 0.100 2456 3912 3401 0 0 0 0 0 0

1074 -0.72 -146.0 139.1 -13.9 157 1078 0.00 2.70 0.00 0.000 6 0.000 0.074 2456 2481 3401 0 0 0 0 0 0

1398 -0.72 -146.0 180.0 -11.5 187 1402 0.00 2.83 0.00 0.000 4 0.000 0.100 2456 3909 3401 0 0 0 0 0 0

1515 -0.72 -146.0 193.1 -10.8 197 1519 0.00 2.67 0.00 0.000 6 0.000 0.075 2456 2496 3400 0 0 0 0 0 0

1842 -0.72 -146.0 229.6 -11.9 227 1846 0.00 2.80 0.00 0.000 4 0.000 0.100 2456 3910 3400 0 0 0 0 0 0

1947 -0.72 -146.0 242.4 -11.2 236 1952 0.00 2.65 0.00 0.000 6 0.000 0.075 2456 2509 3400 0 0 0 0 0 0

2271 -0.72 -146.0 276.2 -10.3 266 2276 0.00 2.80 0.00 0.000 4 0.000 0.101 2456 3918 3400 0 0 0 0 0 0

2382 -0.72 -146.0 287.7 -10.3 275 2388 0.00 2.65 0.00 0.000 6 0.000 0.075 2456 2517 3400 0 0 0 0 0 0

2707 -0.72 -146.0 319.6 -9.2 306 2711 0.00 2.78 0.00 0.000 4 0.000 0.101 2456 3911 3400 0 0 0 0 0 0

2852 -0.72 -146.0 333.0 -9.2 318 2858 0.00 2.62 0.00 0.000 6 0.000 0.076 2456 2532 3400 0 0 0 0 0 0

3178 -0.72 -146.0 363.4 -9.5 349 3182 0.00 2.75 0.00 0.000 4 0.000 0.101 2456 3916 3400 0 0 0 0 0 0

3221 -0.79 -146.0 367.9 -9.8 352 3227 0.00 2.62 0.00 0.000 6 0.000 0.075 2456 2531 3399 0 0 0 0 0 0

3546 -0.84 -146.0 395.7 -7.9 383 3548 0.12 0.00 0.00 0.000 6 0.132 0.000 2414 2532 3399 0 0 0 0 0 0

3864 -0.77 -146.0 429.6 -10.7 413 3869 0.00 2.75 0.00 0.000 4 0.000 0.101 2414 3913 3399 0 0 0 0 0 0

4094 -0.70 -146.0 454.2 -10.7 433 4100 0.20 2.62 0.00 0.000 6 0.218 0.075 2459 2526 3398 0 0 0 0 0 0

4419 -0.79 -146.0 480.7 -8.2 463 4424 0.00 2.75 0.00 0.000 4 0.000 0.099 2459 3914 3399 0 0 0 0 0 0

4470 -0.89 -146.0 484.5 -7.4 467 4475 0.17 2.60 0.00 0.000 6 0.124 0.073 2406 2538 3399 0 0 0 0 0 0

4795 -0.81 -146.0 515.9 -9.7 497 4799 0.00 2.72 0.00 0.000 4 0.000 0.099 2405 3912 3399 0 0 0 0 0 0

4845 -0.73 -146.0 521.2 -10.5 501 4850 0.20 2.60 0.00 0.000 6 0.216 0.074 2450 2537 3399 0 0 0 0 0 0

5170 -0.82 -146.0 547.7 -7.8 531 5175 0.00 2.72 0.00 0.000 4 0.000 0.097 2450 3914 3399 0 0 0 0 0 0

5248 -0.91 -146.0 554.0 -7.5 537 5254 0.17 2.58 0.00 0.000 6 0.121 0.072 2396 2548 3399 0 0 0 0 0 0

5432 end dive: TARGET_DEPTH_EXCEEDED

state 5432 begin apogee

5438 -0.16 0.0 571.6 10.1 555 5565 0.90 0.00 120.72 1.153 6 0.209 0.000 2628 1947 2799 0 0 0 0 0 0

5565 end apogee: CONTROL_FINISHED_OK

state 5565 begin climb

5567 0.73 146.0 574.9 0.0 568 5704 1.00 2.78 127.32 1.094 4 0.147 0.097 2923 368 2202 0 0 0 0 0 0

5766 0.66 146.0 558.9 12.0 587 5771 0.00 2.55 0.00 0.000 6 0.000 0.072 2924 1953 2198 0 0 0 0 0 0

6091 0.61 146.0 523.8 10.5 617 6096 0.15 3.10 0.00 0.000 4 0.205 0.089 2891 3543 2194 0 0 0 0 0 0

6202 0.61 146.0 512.9 9.3 626 6209 0.00 3.03 0.00 0.000 6 0.000 0.079 2902 1967 2192 0 0 0 0 0 0

6527 0.61 146.0 484.1 9.7 657 6532 0.00 3.03 0.00 0.000 4 0.000 0.089 2902 3540 2192 0 0 0 0 0 0

6582 0.55 146.0 478.2 11.0 661 6589 0.17 2.97 0.00 0.000 6 0.198 0.079 2875 1965 2191 0 0 0 0 0 0

6907 0.69 156.4 448.9 8.7 692 6922 0.12 3.05 8.25 0.933 4 0.128 0.089 2915 3539 2161 0 0 0 0 0 0

6966 0.61 156.4 442.5 11.7 697 6973 0.17 2.95 0.00 0.000 6 0.200 0.078 2888 1981 2160 0 0 0 0 0 0

7292 0.70 167.6 414.4 8.7 728 7312 0.00 2.97 11.30 0.969 4 0.000 0.087 2887 3540 2114 0 0 0 0 0 0

7340 0.71 170.7 409.8 9.0 732 7349 0.00 2.95 4.12 0.703 6 0.000 0.078 2898 1978 2103 0 0 0 0 0 0

7675 0.83 190.1 381.2 8.4 764 7700 0.17 3.05 17.75 0.987 4 0.103 0.088 2959 3538 2025 0 0 0 0 0 0

7740 0.67 190.1 373.4 13.2 770 7746 0.28 2.95 0.00 0.000 6 0.202 0.078 2906 1987 2024 0 0 0 0 0 0

8065 0.79 207.6 344.5 8.4 800 8085 0.12 0.00 16.45 0.960 6 0.127 0.000 2945 1988 1952 0 0 0 0 0 0

8403 0.79 207.6 308.9 10.2 832 8407 0.00 2.97 0.00 0.000 4 0.000 0.088 2946 3544 1950 0 0 0 0 0 0

8457 0.74 207.6 302.7 11.9 836 8464 0.12 2.92 0.00 0.000 6 0.206 0.078 2932 1989 1948 0 0 0 0 0 0

8782 0.83 223.6 273.1 8.5 867 8803 0.00 2.97 14.57 0.930 4 0.000 0.088 2932 3542 1887 0 0 0 0 0 0

8821 0.89 231.0 269.7 8.9 870 8837 0.00 2.92 7.95 0.849 6 0.000 0.079 2942 1992 1858 0 0 0 0 0 0

9155 0.96 231.0 238.8 10.2 902 9161 0.17 3.00 0.00 0.000 4 0.106 0.090 3001 3547 1855 0 0 0 0 0 0

9184 0.84 231.0 235.2 13.6 904 9190 0.22 2.92 0.00 0.000 6 0.208 0.079 2962 2002 1855 0 0 0 0 0 0

9508 0.84 231.0 199.9 9.6 934 9509 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2003 1854 0 0 0 0 0 0

9828 0.84 231.0 167.6 10.0 964 9829 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2003 1853 0 0 0 0 0 0

10147 0.89 231.0 137.2 9.6 994 10152 0.00 2.95 0.00 0.000 4 0.000 0.092 2962 3546 1853 0 0 0 0 0 0

10208 0.89 231.0 131.1 10.0 999 10213 0.00 2.90 0.00 0.000 6 0.000 0.081 2972 2005 1853 0 0 0 0 0 0

10533 0.97 246.7 102.3 8.5 1029 10554 0.00 2.95 14.43 0.877 4 0.000 0.092 2972 3543 1793 0 0 0 0 0 0

10583 0.97 246.7 97.6 9.5 1035 10589 0.00 2.90 0.00 0.000 6 0.000 0.082 2984 2014 1792 0 0 0 0 0 0

10930 1.04 263.7 66.6 8.5 1096 10951 0.12 0.00 15.77 0.858 6 0.122 0.000 3024 2015 1724 0 0 0 0 0 0

11288 0.97 263.7 27.5 11.0 1160 11294 0.00 2.95 0.00 0.000 4 0.000 0.094 3024 3541 1721 0 0 0 0 0 0

11311 0.88 263.7 24.7 12.4 1164 11318 0.25 2.90 0.00 0.000 6 0.202 0.083 2978 2016 1721 0 0 0 0 0 0

11486 end climb: FINISH_DEPTH_REACHED

state 11486 begin subsurface finish

11492 0.11 89.8 8.8 -9.2 1195 11524 0.85 2.45 -25.08 0.000 4 0.167 0.112 2729 364 2437 0 0 0 0 0 0

11525 end subsurface finish: CONTROL_FINISHED_OK

state 11525 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	234	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	13	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	18	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	8.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.2	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	8.77,-1.770,-1.751,2,29,0	ALTIM_BOTTOM_PING	500.4,148.5
FINISH1	8.8,1.025652,90	_24V_AH	22.5,49.202
FINISH2	7.2	_10V_AH	10.1,25.652
RAFOS_CLK	807	FG_AHR_24Vo	0.000
RAFOS	1,1259798941,0.166667,0.150278,131,62,57,0,0,0,546,208,162,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.514160,-6002.987305,031209,000017,6,110,0.40	MEM	152608
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	47359,1201
TT8_MAMPS	0.028379	CAP_FILE_SIZE	133386,0
HUMID	50.03	CFSIZE	260165632,231534592
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1449.9
XPDR_PINGS	10	GPS	031209,003117,6645.514,-6002.987,0,6109.5,0,-37.8
ALTIM_TOP_PING	19.9,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	234	36.31	SBE_CT	886	24	478.85
Roll_motor	142	137	441.20	SBE_O2	831	19	355.64
VBD_pump_during_apogee	358	1152	9302.67	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	40.16
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	2053	19	413.13
LPSleep	6972	2	162.68
TT8_Active	440	19	88.66
TT8_Sampling	1982	39	799.51
TT8_CF8	148	45	68.75
TT8_Kalman	0	0	0.00
Analog_circuits	1477	12	179.11
GPS_charging	0	0	0.00
Compass	1959	8	158.35
RAFOS	2160	1	32.72
Transponder	14	30	4.39

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	22	0.00	0.00	-5.38	0.000	2	0.000	0.000	2729	361	2640	0	0	0	0	0	0
25	-0.73	-146.0	9.4	-0.0	1	57	0.82	6.20	-20.75	0.000	4	0.126	0.096	2464	3911	3400	0	0	0	0	0	0
197	-0.64	-146.0	32.5	-14.8	32	203	0.00	2.75	0.00	0.000	6	0.000	0.074	2463	2455	3400	0	0	0	0	0	0
541	-0.55	-146.0	81.0	-13.8	93	547	0.20	2.88	0.00	0.000	4	0.235	0.096	2498	3915	3401	0	0	0	0	0	0
710	-0.63	-146.0	99.6	-9.9	123	716	0.00	2.70	0.00	0.000	6	0.000	0.073	2498	2482	3401	0	0	0	0	0	0
1035	-0.72	-146.0	133.9	-10.9	154	1040	0.12	2.85	0.00	0.000	4	0.132	0.100	2456	3912	3401	0	0	0	0	0	0
1074	-0.72	-146.0	139.1	-13.9	157	1078	0.00	2.70	0.00	0.000	6	0.000	0.074	2456	2481	3401	0	0	0	0	0	0
1398	-0.72	-146.0	180.0	-11.5	187	1402	0.00	2.83	0.00	0.000	4	0.000	0.100	2456	3909	3401	0	0	0	0	0	0
1515	-0.72	-146.0	193.1	-10.8	197	1519	0.00	2.67	0.00	0.000	6	0.000	0.075	2456	2496	3400	0	0	0	0	0	0
1842	-0.72	-146.0	229.6	-11.9	227	1846	0.00	2.80	0.00	0.000	4	0.000	0.100	2456	3910	3400	0	0	0	0	0	0
1947	-0.72	-146.0	242.4	-11.2	236	1952	0.00	2.65	0.00	0.000	6	0.000	0.075	2456	2509	3400	0	0	0	0	0	0
2271	-0.72	-146.0	276.2	-10.3	266	2276	0.00	2.80	0.00	0.000	4	0.000	0.101	2456	3918	3400	0	0	0	0	0	0
2382	-0.72	-146.0	287.7	-10.3	275	2388	0.00	2.65	0.00	0.000	6	0.000	0.075	2456	2517	3400	0	0	0	0	0	0
2707	-0.72	-146.0	319.6	-9.2	306	2711	0.00	2.78	0.00	0.000	4	0.000	0.101	2456	3911	3400	0	0	0	0	0	0
2852	-0.72	-146.0	333.0	-9.2	318	2858	0.00	2.62	0.00	0.000	6	0.000	0.076	2456	2532	3400	0	0	0	0	0	0
3178	-0.72	-146.0	363.4	-9.5	349	3182	0.00	2.75	0.00	0.000	4	0.000	0.101	2456	3916	3400	0	0	0	0	0	0
3221	-0.79	-146.0	367.9	-9.8	352	3227	0.00	2.62	0.00	0.000	6	0.000	0.075	2456	2531	3399	0	0	0	0	0	0
3546	-0.84	-146.0	395.7	-7.9	383	3548	0.12	0.00	0.00	0.000	6	0.132	0.000	2414	2532	3399	0	0	0	0	0	0
3864	-0.77	-146.0	429.6	-10.7	413	3869	0.00	2.75	0.00	0.000	4	0.000	0.101	2414	3913	3399	0	0	0	0	0	0
4094	-0.70	-146.0	454.2	-10.7	433	4100	0.20	2.62	0.00	0.000	6	0.218	0.075	2459	2526	3398	0	0	0	0	0	0
4419	-0.79	-146.0	480.7	-8.2	463	4424	0.00	2.75	0.00	0.000	4	0.000	0.099	2459	3914	3399	0	0	0	0	0	0
4470	-0.89	-146.0	484.5	-7.4	467	4475	0.17	2.60	0.00	0.000	6	0.124	0.073	2406	2538	3399	0	0	0	0	0	0
4795	-0.81	-146.0	515.9	-9.7	497	4799	0.00	2.72	0.00	0.000	4	0.000	0.099	2405	3912	3399	0	0	0	0	0	0
4845	-0.73	-146.0	521.2	-10.5	501	4850	0.20	2.60	0.00	0.000	6	0.216	0.074	2450	2537	3399	0	0	0	0	0	0
5170	-0.82	-146.0	547.7	-7.8	531	5175	0.00	2.72	0.00	0.000	4	0.000	0.097	2450	3914	3399	0	0	0	0	0	0
5248	-0.91	-146.0	554.0	-7.5	537	5254	0.17	2.58	0.00	0.000	6	0.121	0.072	2396	2548	3399	0	0	0	0	0	0
5432	end dive: TARGET_DEPTH_EXCEEDED
state	5432	begin apogee
5438	-0.16	0.0	571.6	10.1	555	5565	0.90	0.00	120.72	1.153	6	0.209	0.000	2628	1947	2799	0	0	0	0	0	0
5565	end apogee: CONTROL_FINISHED_OK
state	5565	begin climb
5567	0.73	146.0	574.9	0.0	568	5704	1.00	2.78	127.32	1.094	4	0.147	0.097	2923	368	2202	0	0	0	0	0	0
5766	0.66	146.0	558.9	12.0	587	5771	0.00	2.55	0.00	0.000	6	0.000	0.072	2924	1953	2198	0	0	0	0	0	0
6091	0.61	146.0	523.8	10.5	617	6096	0.15	3.10	0.00	0.000	4	0.205	0.089	2891	3543	2194	0	0	0	0	0	0
6202	0.61	146.0	512.9	9.3	626	6209	0.00	3.03	0.00	0.000	6	0.000	0.079	2902	1967	2192	0	0	0	0	0	0
6527	0.61	146.0	484.1	9.7	657	6532	0.00	3.03	0.00	0.000	4	0.000	0.089	2902	3540	2192	0	0	0	0	0	0
6582	0.55	146.0	478.2	11.0	661	6589	0.17	2.97	0.00	0.000	6	0.198	0.079	2875	1965	2191	0	0	0	0	0	0
6907	0.69	156.4	448.9	8.7	692	6922	0.12	3.05	8.25	0.933	4	0.128	0.089	2915	3539	2161	0	0	0	0	0	0
6966	0.61	156.4	442.5	11.7	697	6973	0.17	2.95	0.00	0.000	6	0.200	0.078	2888	1981	2160	0	0	0	0	0	0
7292	0.70	167.6	414.4	8.7	728	7312	0.00	2.97	11.30	0.969	4	0.000	0.087	2887	3540	2114	0	0	0	0	0	0
7340	0.71	170.7	409.8	9.0	732	7349	0.00	2.95	4.12	0.703	6	0.000	0.078	2898	1978	2103	0	0	0	0	0	0
7675	0.83	190.1	381.2	8.4	764	7700	0.17	3.05	17.75	0.987	4	0.103	0.088	2959	3538	2025	0	0	0	0	0	0
7740	0.67	190.1	373.4	13.2	770	7746	0.28	2.95	0.00	0.000	6	0.202	0.078	2906	1987	2024	0	0	0	0	0	0
8065	0.79	207.6	344.5	8.4	800	8085	0.12	0.00	16.45	0.960	6	0.127	0.000	2945	1988	1952	0	0	0	0	0	0
8403	0.79	207.6	308.9	10.2	832	8407	0.00	2.97	0.00	0.000	4	0.000	0.088	2946	3544	1950	0	0	0	0	0	0
8457	0.74	207.6	302.7	11.9	836	8464	0.12	2.92	0.00	0.000	6	0.206	0.078	2932	1989	1948	0	0	0	0	0	0
8782	0.83	223.6	273.1	8.5	867	8803	0.00	2.97	14.57	0.930	4	0.000	0.088	2932	3542	1887	0	0	0	0	0	0
8821	0.89	231.0	269.7	8.9	870	8837	0.00	2.92	7.95	0.849	6	0.000	0.079	2942	1992	1858	0	0	0	0	0	0
9155	0.96	231.0	238.8	10.2	902	9161	0.17	3.00	0.00	0.000	4	0.106	0.090	3001	3547	1855	0	0	0	0	0	0
9184	0.84	231.0	235.2	13.6	904	9190	0.22	2.92	0.00	0.000	6	0.208	0.079	2962	2002	1855	0	0	0	0	0	0
9508	0.84	231.0	199.9	9.6	934	9509	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2003	1854	0	0	0	0	0	0
9828	0.84	231.0	167.6	10.0	964	9829	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2003	1853	0	0	0	0	0	0
10147	0.89	231.0	137.2	9.6	994	10152	0.00	2.95	0.00	0.000	4	0.000	0.092	2962	3546	1853	0	0	0	0	0	0
10208	0.89	231.0	131.1	10.0	999	10213	0.00	2.90	0.00	0.000	6	0.000	0.081	2972	2005	1853	0	0	0	0	0	0
10533	0.97	246.7	102.3	8.5	1029	10554	0.00	2.95	14.43	0.877	4	0.000	0.092	2972	3543	1793	0	0	0	0	0	0
10583	0.97	246.7	97.6	9.5	1035	10589	0.00	2.90	0.00	0.000	6	0.000	0.082	2984	2014	1792	0	0	0	0	0	0
10930	1.04	263.7	66.6	8.5	1096	10951	0.12	0.00	15.77	0.858	6	0.122	0.000	3024	2015	1724	0	0	0	0	0	0
11288	0.97	263.7	27.5	11.0	1160	11294	0.00	2.95	0.00	0.000	4	0.000	0.094	3024	3541	1721	0	0	0	0	0	0
11311	0.88	263.7	24.7	12.4	1164	11318	0.25	2.90	0.00	0.000	6	0.202	0.083	2978	2016	1721	0	0	0	0	0	0
11486	end climb: FINISH_DEPTH_REACHED
state	11486	begin subsurface finish
11492	0.11	89.8	8.8	-9.2	1195	11524	0.85	2.45	-25.08	0.000	4	0.167	0.112	2729	364	2437	0	0	0	0	0	0
11525	end subsurface finish: CONTROL_FINISHED_OK
state	11525	begin surface