Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 263 * 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 263 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 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 -38544.848 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 -38544.848

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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 263 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 082128,6652.214,-5736.261,36,99.0,55,-37.5 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 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 082128,6652.214,-5736.261,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd 97.7,40171,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 743

Post-dive calculations and measurements:

FREEZE 0.41,-1.156,-1.821,0,28,0 ALTIM_TOP_PING 19.6,19.5

FINISH 0.4,1.026716 ALTIM_BOTTOM_PING 550.5,10.1

SM_CCo 11684,12.82,0.765,0,0,1475,325.02 _24V_AH 22.5,53.115

SM_GC 0.79,0.00,0.00,12.82,0.000,0.000,0.765,132,2460,1475,-8.00,0.00,325.02 _10V_AH 10.1,28.062

RAFOS_CLK 799 FG_AHR_24Vo 0.000

RAFOS 2,1260260221,8.300000,8.283611,65,58,52,0,0,0,195,213,124,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.723633,-5745.262207,081209,000022,3,74,0.26 MEM 152380

IRIDIUM_FIX 6620.33,-5735.92,040399,080829 DATA_FILE_SIZE 47329,1241

TT8_MAMPS 0.026845 CAP_FILE_SIZE 149446,0

HUMID 48.89 CFSIZE 260165632,228315136

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.40 SOUNDSPEED 1454.1

XPDR_PINGS 6 GPS 081209,115225,6652.651,-5732.917,50,1.7,50,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 301 168.88 SBE_CT 912 24 492.65

Roll_motor 155 107 374.73 SBE_O2 859 19 367.39

VBD_pump_during_apogee 389 1125 9875.83 nil 0 0 0.00

VBD_pump_during_surface 12 765 220.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 224.95 nil 0 0 0.00

Iridium_during_connect 153 160 552.03 nil 0 0 0.00

Iridium_during_xfer 123 223 621.99

Transponder_ping 3 420 33.08

GUMSTIX_24V 0 0 0.00

GPS 182 50 92.02

TT8 2071 19 416.74

LPSleep 6960 2 162.40

TT8_Active 541 19 108.87

TT8_Sampling 2318 39 934.82

TT8_CF8 641 45 297.41

TT8_Kalman 0 0 0.00

Analog_circuits 1668 12 202.23

GPS_charging 0 0 0.00

Compass 2112 8 170.65

RAFOS 720 1 10.91

Transponder 15 30 4.83

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 -0.73 -146.0 0.0 0.0 0 118 0.00 0.00 -100.32 0.000 2 0.000 0.000 122 2469 3014 0 0 0 0 0 0

121 -0.73 -146.0 3.0 -4.9 20 153 11.40 2.55 -11.50 0.000 4 0.301 0.107 2443 872 3399 0 0 0 0 0 0

300 -0.62 -146.0 26.7 -10.7 52 306 0.17 2.45 0.00 0.000 6 0.226 0.082 2484 2468 3402 0 0 0 0 0 0

644 -0.68 -146.0 63.0 -9.1 113 649 0.00 3.03 0.00 0.000 4 0.000 0.100 2484 3915 3402 0 0 0 0 0 0

781 -0.80 -146.0 73.8 -6.8 137 787 0.17 2.90 0.00 0.000 6 0.114 0.074 2427 2466 3402 0 0 0 0 0 0

1121 -0.73 -146.0 108.3 -10.7 191 1126 0.00 3.05 0.00 0.000 4 0.000 0.097 2427 3921 3402 0 0 0 0 0 0

1262 -0.68 -146.0 125.1 -11.9 203 1268 0.17 2.88 0.00 0.000 6 0.217 0.073 2466 2482 3401 0 0 0 0 0 0

1587 -0.76 -146.0 157.7 -9.5 233 1591 0.00 3.00 0.00 0.000 4 0.000 0.098 2466 3912 3401 0 0 0 0 0 0

1818 -0.86 -146.0 178.9 -8.6 253 1823 0.17 2.85 0.00 0.000 6 0.117 0.074 2411 2501 3401 0 0 0 0 0 0

2142 -0.78 -146.0 211.1 -9.2 283 2147 0.00 2.97 0.00 0.000 4 0.000 0.098 2410 3916 3401 0 0 0 0 0 0

2295 -0.70 -146.0 225.6 -9.7 296 2300 0.20 2.80 0.00 0.000 6 0.212 0.074 2457 2522 3401 0 0 0 0 0 0

2620 -0.79 -146.0 250.8 -7.2 326 2625 0.00 2.95 0.00 0.000 4 0.000 0.098 2456 3920 3400 0 0 0 0 0 0

2727 -0.89 -146.0 258.3 -7.2 335 2732 0.17 2.83 0.00 0.000 6 0.117 0.073 2401 2524 3400 0 0 0 0 0 0

3052 -0.80 -146.0 286.8 -8.8 365 3057 0.12 2.95 0.00 0.000 4 0.212 0.097 2426 3912 3400 0 0 0 0 0 0

3176 -0.80 -146.0 297.9 -9.1 375 3181 0.00 2.78 0.00 0.000 6 0.000 0.073 2426 2540 3400 0 0 0 0 0 0

3500 -0.80 -146.0 329.8 -10.4 406 3504 0.00 2.90 0.00 0.000 4 0.000 0.097 2426 3913 3400 0 0 0 0 0 0

3678 -0.80 -146.0 349.7 -11.4 421 3685 0.00 2.75 0.00 0.000 6 0.000 0.071 2426 2549 3400 0 0 0 0 0 0

4003 -0.80 -146.0 382.2 -9.6 452 4007 0.00 2.90 0.00 0.000 4 0.000 0.095 2426 3922 3401 0 0 0 0 0 0

4087 -0.80 -146.0 390.1 -9.1 459 4091 0.00 2.75 0.00 0.000 6 0.000 0.071 2426 2560 3401 0 0 0 0 0 0

4411 -0.80 -146.0 419.8 -9.9 489 4415 0.00 2.88 0.00 0.000 4 0.000 0.094 2426 3920 3401 0 0 0 0 0 0

4533 -0.80 -146.0 432.1 -10.8 499 4539 0.00 2.72 0.00 0.000 6 0.000 0.070 2426 2572 3401 0 0 0 0 0 0

4859 -0.80 -146.0 461.9 -8.8 530 4864 0.00 2.85 0.00 0.000 4 0.000 0.094 2426 3917 3402 0 0 0 0 0 0

5026 -0.80 -146.0 477.0 -8.7 544 5032 0.00 2.70 0.00 0.000 6 0.000 0.069 2426 2580 3402 0 0 0 0 0 0

5351 -0.80 -146.0 502.4 -7.7 575 5356 0.00 2.83 0.00 0.000 4 0.000 0.094 2426 3913 3402 0 0 0 0 0 0

5457 -0.80 -146.0 511.0 -7.8 584 5462 0.00 2.67 0.00 0.000 6 0.000 0.069 2426 2594 3402 0 0 0 0 0 0

5782 -0.80 -146.0 537.4 -8.0 614 5786 0.00 2.80 0.00 0.000 4 0.000 0.093 2426 3913 3402 0 0 0 0 0 0

5881 -0.80 -146.0 545.9 -8.6 622 5887 0.00 2.65 0.00 0.000 6 0.000 0.068 2426 2603 3402 0 0 0 0 0 0

5943 end dive: BOTTOM_OBSTACLE_DETECTED

state 5943 begin apogee

5949 -0.16 0.0 550.5 8.0 628 6076 0.73 0.00 121.40 1.126 6 0.186 0.000 2625 1949 2799 0 0 0 0 0 0

6076 end apogee: CONTROL_FINISHED_OK

state 6076 begin climb

6078 0.73 146.0 554.1 0.0 641 6213 1.00 2.58 126.62 1.071 4 0.141 0.095 2925 349 2203 0 0 0 0 0 0

6240 0.64 146.0 543.1 10.6 656 6246 0.00 2.42 0.00 0.000 6 0.000 0.068 2925 1954 2200 0 0 0 0 0 0

6565 0.57 146.0 509.4 10.6 687 6571 0.20 3.33 0.00 0.000 4 0.202 0.084 2877 3542 2195 0 0 0 0 0 0

6677 0.57 146.0 497.9 10.2 696 6683 0.00 3.25 0.00 0.000 6 0.000 0.077 2889 1966 2193 0 0 0 0 0 0

7002 0.57 146.0 466.7 10.2 727 7007 0.00 3.22 0.00 0.000 4 0.000 0.087 2890 3534 2193 0 0 0 0 0 0

7097 0.57 146.0 456.1 11.6 735 7102 0.00 3.17 0.00 0.000 6 0.000 0.077 2903 1972 2191 0 0 0 0 0 0

7421 0.57 146.0 421.7 10.5 765 7426 0.00 3.20 0.00 0.000 4 0.000 0.085 2903 3537 2192 0 0 0 0 0 0

7516 0.50 146.0 410.7 12.2 773 7522 0.25 3.15 0.00 0.000 6 0.207 0.077 2858 1985 2192 0 0 0 0 0 0

7841 0.68 157.7 382.5 8.7 803 7856 0.15 3.17 9.15 0.917 4 0.119 0.087 2907 3536 2157 0 0 0 0 0 0

7948 0.59 157.7 369.9 12.3 812 7954 0.15 3.12 0.00 0.000 6 0.209 0.077 2889 1999 2156 0 0 0 0 0 0

8273 0.66 157.7 337.4 9.3 842 8278 0.00 3.15 0.00 0.000 4 0.000 0.085 2888 3536 2156 0 0 0 0 0 0

8334 0.66 157.7 331.0 10.7 847 8339 0.00 3.10 0.00 0.000 6 0.000 0.077 2899 2014 2155 0 0 0 0 0 0

8659 0.73 172.0 301.7 8.6 877 8680 0.00 3.15 13.55 0.928 4 0.000 0.086 2900 3542 2098 0 0 0 0 0 0

8741 0.73 172.0 293.9 9.6 884 8747 0.00 3.08 0.00 0.000 6 0.000 0.077 2913 2034 2097 0 0 0 0 0 0

9068 0.75 192.0 267.0 8.3 915 9092 0.00 3.15 18.00 0.927 4 0.000 0.087 2913 3529 2016 0 0 0 0 0 0

9172 0.70 192.0 257.5 9.9 924 9178 0.00 3.05 0.00 0.000 6 0.000 0.077 2925 2049 2014 0 0 0 0 0 0

9496 0.73 211.0 228.3 8.4 955 9521 0.00 3.15 17.17 0.900 4 0.000 0.087 2925 3534 1938 0 0 0 0 0 0

9566 0.68 211.0 221.6 10.7 961 9572 0.12 3.05 0.00 0.000 6 0.213 0.077 2914 2058 1937 0 0 0 0 0 0

9890 0.78 211.0 191.8 9.3 992 9895 0.00 3.08 0.00 0.000 4 0.000 0.085 2913 3540 1935 0 0 0 0 0 0

9945 0.78 211.0 185.8 10.6 996 9951 0.00 3.05 0.00 0.000 6 0.000 0.077 2924 2058 1935 0 0 0 0 0 0

10270 0.85 211.0 150.9 11.0 1027 10272 0.12 0.00 0.00 0.000 6 0.114 0.000 2970 2059 1934 0 0 0 0 0 0

10589 0.80 211.0 109.8 12.9 1057 10594 0.00 3.08 0.00 0.000 4 0.000 0.088 2970 3540 1934 0 0 0 0 0 0

10621 0.65 211.0 105.5 13.2 1059 10628 0.32 3.03 0.00 0.000 6 0.208 0.077 2905 2063 1935 0 0 0 0 0 0

10962 0.88 254.1 75.1 7.4 1115 11009 0.20 3.15 36.65 0.843 4 0.106 0.087 2973 3537 1763 0 0 0 0 0 0

11122 0.78 254.1 55.2 12.9 1144 11128 0.17 3.03 0.00 0.000 6 0.204 0.079 2947 2085 1759 0 0 0 0 0 0

11466 0.81 279.4 24.1 8.1 1205 11498 0.00 3.10 22.17 0.810 4 0.000 0.090 2947 3532 1659 0 0 0 0 0 0

11505 0.96 307.9 20.5 8.0 1212 11537 0.12 2.97 25.10 0.786 6 0.123 0.077 2996 2102 1543 0 0 0 0 0 0

11654 end climb: SURFACE_DEPTH_REACHED

state 11654 begin surface coast

11667 end surface coast: CONTROL_FINISHED_OK

state 11667 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	263	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	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	-38544.848	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	082128,6652.214,-5736.261,36,99.0,55,-37.5	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	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	082128,6652.214,-5736.261,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	97.7,40171,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	743

FREEZE	0.41,-1.156,-1.821,0,28,0	ALTIM_TOP_PING	19.6,19.5
FINISH	0.4,1.026716	ALTIM_BOTTOM_PING	550.5,10.1
SM_CCo	11684,12.82,0.765,0,0,1475,325.02	_24V_AH	22.5,53.115
SM_GC	0.79,0.00,0.00,12.82,0.000,0.000,0.765,132,2460,1475,-8.00,0.00,325.02	_10V_AH	10.1,28.062
RAFOS_CLK	799	FG_AHR_24Vo	0.000
RAFOS	2,1260260221,8.300000,8.283611,65,58,52,0,0,0,195,213,124,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.723633,-5745.262207,081209,000022,3,74,0.26	MEM	152380
IRIDIUM_FIX	6620.33,-5735.92,040399,080829	DATA_FILE_SIZE	47329,1241
TT8_MAMPS	0.026845	CAP_FILE_SIZE	149446,0
HUMID	48.89	CFSIZE	260165632,228315136
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	SOUNDSPEED	1454.1
XPDR_PINGS	6	GPS	081209,115225,6652.651,-5732.917,50,1.7,50,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	301	168.88	SBE_CT	912	24	492.65
Roll_motor	155	107	374.73	SBE_O2	859	19	367.39
VBD_pump_during_apogee	389	1125	9875.83	nil	0	0	0.00
VBD_pump_during_surface	12	765	220.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	224.95	nil	0	0	0.00
Iridium_during_connect	153	160	552.03	nil	0	0	0.00
Iridium_during_xfer	123	223	621.99
Transponder_ping	3	420	33.08
GUMSTIX_24V	0	0	0.00
GPS	182	50	92.02
TT8	2071	19	416.74
LPSleep	6960	2	162.40
TT8_Active	541	19	108.87
TT8_Sampling	2318	39	934.82
TT8_CF8	641	45	297.41
TT8_Kalman	0	0	0.00
Analog_circuits	1668	12	202.23
GPS_charging	0	0	0.00
Compass	2112	8	170.65
RAFOS	720	1	10.91
Transponder	15	30	4.83

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	-0.73	-146.0	0.0	0.0	0	118	0.00	0.00	-100.32	0.000	2	0.000	0.000	122	2469	3014	0	0	0	0	0	0
121	-0.73	-146.0	3.0	-4.9	20	153	11.40	2.55	-11.50	0.000	4	0.301	0.107	2443	872	3399	0	0	0	0	0	0
300	-0.62	-146.0	26.7	-10.7	52	306	0.17	2.45	0.00	0.000	6	0.226	0.082	2484	2468	3402	0	0	0	0	0	0
644	-0.68	-146.0	63.0	-9.1	113	649	0.00	3.03	0.00	0.000	4	0.000	0.100	2484	3915	3402	0	0	0	0	0	0
781	-0.80	-146.0	73.8	-6.8	137	787	0.17	2.90	0.00	0.000	6	0.114	0.074	2427	2466	3402	0	0	0	0	0	0
1121	-0.73	-146.0	108.3	-10.7	191	1126	0.00	3.05	0.00	0.000	4	0.000	0.097	2427	3921	3402	0	0	0	0	0	0
1262	-0.68	-146.0	125.1	-11.9	203	1268	0.17	2.88	0.00	0.000	6	0.217	0.073	2466	2482	3401	0	0	0	0	0	0
1587	-0.76	-146.0	157.7	-9.5	233	1591	0.00	3.00	0.00	0.000	4	0.000	0.098	2466	3912	3401	0	0	0	0	0	0
1818	-0.86	-146.0	178.9	-8.6	253	1823	0.17	2.85	0.00	0.000	6	0.117	0.074	2411	2501	3401	0	0	0	0	0	0
2142	-0.78	-146.0	211.1	-9.2	283	2147	0.00	2.97	0.00	0.000	4	0.000	0.098	2410	3916	3401	0	0	0	0	0	0
2295	-0.70	-146.0	225.6	-9.7	296	2300	0.20	2.80	0.00	0.000	6	0.212	0.074	2457	2522	3401	0	0	0	0	0	0
2620	-0.79	-146.0	250.8	-7.2	326	2625	0.00	2.95	0.00	0.000	4	0.000	0.098	2456	3920	3400	0	0	0	0	0	0
2727	-0.89	-146.0	258.3	-7.2	335	2732	0.17	2.83	0.00	0.000	6	0.117	0.073	2401	2524	3400	0	0	0	0	0	0
3052	-0.80	-146.0	286.8	-8.8	365	3057	0.12	2.95	0.00	0.000	4	0.212	0.097	2426	3912	3400	0	0	0	0	0	0
3176	-0.80	-146.0	297.9	-9.1	375	3181	0.00	2.78	0.00	0.000	6	0.000	0.073	2426	2540	3400	0	0	0	0	0	0
3500	-0.80	-146.0	329.8	-10.4	406	3504	0.00	2.90	0.00	0.000	4	0.000	0.097	2426	3913	3400	0	0	0	0	0	0
3678	-0.80	-146.0	349.7	-11.4	421	3685	0.00	2.75	0.00	0.000	6	0.000	0.071	2426	2549	3400	0	0	0	0	0	0
4003	-0.80	-146.0	382.2	-9.6	452	4007	0.00	2.90	0.00	0.000	4	0.000	0.095	2426	3922	3401	0	0	0	0	0	0
4087	-0.80	-146.0	390.1	-9.1	459	4091	0.00	2.75	0.00	0.000	6	0.000	0.071	2426	2560	3401	0	0	0	0	0	0
4411	-0.80	-146.0	419.8	-9.9	489	4415	0.00	2.88	0.00	0.000	4	0.000	0.094	2426	3920	3401	0	0	0	0	0	0
4533	-0.80	-146.0	432.1	-10.8	499	4539	0.00	2.72	0.00	0.000	6	0.000	0.070	2426	2572	3401	0	0	0	0	0	0
4859	-0.80	-146.0	461.9	-8.8	530	4864	0.00	2.85	0.00	0.000	4	0.000	0.094	2426	3917	3402	0	0	0	0	0	0
5026	-0.80	-146.0	477.0	-8.7	544	5032	0.00	2.70	0.00	0.000	6	0.000	0.069	2426	2580	3402	0	0	0	0	0	0
5351	-0.80	-146.0	502.4	-7.7	575	5356	0.00	2.83	0.00	0.000	4	0.000	0.094	2426	3913	3402	0	0	0	0	0	0
5457	-0.80	-146.0	511.0	-7.8	584	5462	0.00	2.67	0.00	0.000	6	0.000	0.069	2426	2594	3402	0	0	0	0	0	0
5782	-0.80	-146.0	537.4	-8.0	614	5786	0.00	2.80	0.00	0.000	4	0.000	0.093	2426	3913	3402	0	0	0	0	0	0
5881	-0.80	-146.0	545.9	-8.6	622	5887	0.00	2.65	0.00	0.000	6	0.000	0.068	2426	2603	3402	0	0	0	0	0	0
5943	end dive: BOTTOM_OBSTACLE_DETECTED
state	5943	begin apogee
5949	-0.16	0.0	550.5	8.0	628	6076	0.73	0.00	121.40	1.126	6	0.186	0.000	2625	1949	2799	0	0	0	0	0	0
6076	end apogee: CONTROL_FINISHED_OK
state	6076	begin climb
6078	0.73	146.0	554.1	0.0	641	6213	1.00	2.58	126.62	1.071	4	0.141	0.095	2925	349	2203	0	0	0	0	0	0
6240	0.64	146.0	543.1	10.6	656	6246	0.00	2.42	0.00	0.000	6	0.000	0.068	2925	1954	2200	0	0	0	0	0	0
6565	0.57	146.0	509.4	10.6	687	6571	0.20	3.33	0.00	0.000	4	0.202	0.084	2877	3542	2195	0	0	0	0	0	0
6677	0.57	146.0	497.9	10.2	696	6683	0.00	3.25	0.00	0.000	6	0.000	0.077	2889	1966	2193	0	0	0	0	0	0
7002	0.57	146.0	466.7	10.2	727	7007	0.00	3.22	0.00	0.000	4	0.000	0.087	2890	3534	2193	0	0	0	0	0	0
7097	0.57	146.0	456.1	11.6	735	7102	0.00	3.17	0.00	0.000	6	0.000	0.077	2903	1972	2191	0	0	0	0	0	0
7421	0.57	146.0	421.7	10.5	765	7426	0.00	3.20	0.00	0.000	4	0.000	0.085	2903	3537	2192	0	0	0	0	0	0
7516	0.50	146.0	410.7	12.2	773	7522	0.25	3.15	0.00	0.000	6	0.207	0.077	2858	1985	2192	0	0	0	0	0	0
7841	0.68	157.7	382.5	8.7	803	7856	0.15	3.17	9.15	0.917	4	0.119	0.087	2907	3536	2157	0	0	0	0	0	0
7948	0.59	157.7	369.9	12.3	812	7954	0.15	3.12	0.00	0.000	6	0.209	0.077	2889	1999	2156	0	0	0	0	0	0
8273	0.66	157.7	337.4	9.3	842	8278	0.00	3.15	0.00	0.000	4	0.000	0.085	2888	3536	2156	0	0	0	0	0	0
8334	0.66	157.7	331.0	10.7	847	8339	0.00	3.10	0.00	0.000	6	0.000	0.077	2899	2014	2155	0	0	0	0	0	0
8659	0.73	172.0	301.7	8.6	877	8680	0.00	3.15	13.55	0.928	4	0.000	0.086	2900	3542	2098	0	0	0	0	0	0
8741	0.73	172.0	293.9	9.6	884	8747	0.00	3.08	0.00	0.000	6	0.000	0.077	2913	2034	2097	0	0	0	0	0	0
9068	0.75	192.0	267.0	8.3	915	9092	0.00	3.15	18.00	0.927	4	0.000	0.087	2913	3529	2016	0	0	0	0	0	0
9172	0.70	192.0	257.5	9.9	924	9178	0.00	3.05	0.00	0.000	6	0.000	0.077	2925	2049	2014	0	0	0	0	0	0
9496	0.73	211.0	228.3	8.4	955	9521	0.00	3.15	17.17	0.900	4	0.000	0.087	2925	3534	1938	0	0	0	0	0	0
9566	0.68	211.0	221.6	10.7	961	9572	0.12	3.05	0.00	0.000	6	0.213	0.077	2914	2058	1937	0	0	0	0	0	0
9890	0.78	211.0	191.8	9.3	992	9895	0.00	3.08	0.00	0.000	4	0.000	0.085	2913	3540	1935	0	0	0	0	0	0
9945	0.78	211.0	185.8	10.6	996	9951	0.00	3.05	0.00	0.000	6	0.000	0.077	2924	2058	1935	0	0	0	0	0	0
10270	0.85	211.0	150.9	11.0	1027	10272	0.12	0.00	0.00	0.000	6	0.114	0.000	2970	2059	1934	0	0	0	0	0	0
10589	0.80	211.0	109.8	12.9	1057	10594	0.00	3.08	0.00	0.000	4	0.000	0.088	2970	3540	1934	0	0	0	0	0	0
10621	0.65	211.0	105.5	13.2	1059	10628	0.32	3.03	0.00	0.000	6	0.208	0.077	2905	2063	1935	0	0	0	0	0	0
10962	0.88	254.1	75.1	7.4	1115	11009	0.20	3.15	36.65	0.843	4	0.106	0.087	2973	3537	1763	0	0	0	0	0	0
11122	0.78	254.1	55.2	12.9	1144	11128	0.17	3.03	0.00	0.000	6	0.204	0.079	2947	2085	1759	0	0	0	0	0	0
11466	0.81	279.4	24.1	8.1	1205	11498	0.00	3.10	22.17	0.810	4	0.000	0.090	2947	3532	1659	0	0	0	0	0	0
11505	0.96	307.9	20.5	8.0	1212	11537	0.12	2.97	25.10	0.786	6	0.123	0.077	2996	2102	1543	0	0	0	0	0	0
11654	end climb: SURFACE_DEPTH_REACHED
state	11654	begin surface coast
11667	end surface coast: CONTROL_FINISHED_OK
state	11667	begin surface