Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 315 * 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 315 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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 21 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 -41932.227 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 425

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 -41932.227

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 21 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 315 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 152801,6709.286,-5710.155,37,1.5,37,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 153334,6709.347,-5710.236,9,2.8,28,-37.8 MHEAD_RNG_PITCHd_Wd 164.0,19900,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 563

Post-dive calculations and measurements:

FREEZE 0.28,-0.431,-0.999,0,1,0 ALTIM_TOP_PING 19.6,19.2

FINISH 0.3,1.014768 ALTIM_BOTTOM_PING 500.3,107.1

SM_CCo 11905,119.75,0.723,0,0,1066,425.10 _24V_AH 22.6,60.501

SM_GC 0.97,0.00,0.00,119.75,0.000,0.000,0.723,127,2460,1066,-8.01,0.00,425.10 _10V_AH 10.1,31.929

RAFOS_CLK 740 FG_AHR_24Vo 0.000

RAFOS 0,1260892864,16.033333,16.017778,60,57,55,0,0,0,205,136,167,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.832031,-5708.091309,151209,000056,2,73,0.65 MEM 152464

IRIDIUM_FIX 6641.98,-5709.24,110399,121214 DATA_FILE_SIZE 50469,1265

TT8_MAMPS 0.026845 CAP_FILE_SIZE 145840,0

HUMID 46.45 CFSIZE 260165632,225505280

INTERNAL_PRESSURE 8.848 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,99,0,0

TCM_TEMP 17.20 SOUNDSPEED 1467.0

XPDR_PINGS 4 GPS 151209,185537,6708.969,-5709.691,35,0.9,35,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 295 184.03 SBE_CT 929 24 504.11

Roll_motor 150 97 330.71 SBE_O2 862 19 370.37

VBD_pump_during_apogee 306 1084 7509.42 nil 0 0 0.00

VBD_pump_during_surface 119 723 1957.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 55.69 nil 0 0 0.00

Iridium_during_connect 32 160 118.25 nil 0 0 0.00

Iridium_during_xfer 139 223 701.39

Transponder_ping 2 420 26.10

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.77

TT8 2118 19 426.27

LPSleep 6931 2 161.73

TT8_Active 609 19 122.54

TT8_Sampling 2282 39 920.24

TT8_CF8 405 45 188.24

TT8_Kalman 0 0 0.00

Analog_circuits 1754 12 212.64

GPS_charging 0 0 0.00

Compass 2224 8 179.74

RAFOS 2520 1 38.18

Transponder 14 30 4.37

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 145 0.00 0.00 -125.32 0.000 2 0.000 0.000 129 2459 3262 0 0 0 0 0 0

148 -0.73 -146.0 4.0 -8.1 25 169 11.30 2.28 -3.22 0.000 4 0.295 0.097 2446 856 3400 0 0 0 0 0 0

176 0.91 -146.0 13.6 -30.5 30 182 1.92 2.20 0.00 0.000 6 0.183 0.068 2975 2456 3400 0 0 0 0 0 0

521 -0.51 -146.0 40.6 -8.3 91 527 1.62 2.33 0.00 0.000 4 0.189 0.085 2541 869 3403 0 0 0 0 0 0

642 -0.81 -146.0 48.5 -7.4 112 648 0.32 2.17 0.00 0.000 6 0.087 0.070 2426 2451 3402 0 0 0 0 0 0

985 -0.81 -146.0 86.6 -11.2 173 991 0.00 2.25 0.00 0.000 4 0.000 0.087 2425 859 3401 0 0 0 0 0 0

1244 -0.81 -146.0 118.9 -12.8 206 1248 0.00 2.28 0.00 0.000 6 0.000 0.072 2426 2495 3401 0 0 0 0 0 0

1568 -0.81 -146.0 154.4 -10.6 236 1574 0.00 3.17 0.00 0.000 4 0.000 0.090 2426 3925 3399 0 0 3 0 0 0

1815 -0.81 -146.0 178.5 -9.0 257 1821 0.00 2.95 0.00 0.000 6 0.000 0.064 2425 2538 3398 0 0 3 0 0 0

2139 -0.81 -146.0 205.5 -9.0 288 2144 0.00 3.10 0.00 0.000 4 0.000 0.086 2426 3926 3398 0 0 2 0 0 0

2297 -0.81 -146.0 219.8 -8.7 301 2303 0.00 2.90 0.00 0.000 6 0.000 0.061 2426 2557 3397 0 0 3 0 0 0

2622 -0.85 -146.0 244.9 -6.9 332 2627 0.00 3.03 0.00 0.000 4 0.000 0.083 2426 3916 3398 0 0 2 0 0 0

2856 -0.85 -146.0 261.6 -7.0 352 2862 0.00 2.83 0.00 0.000 6 0.000 0.059 2426 2583 3398 0 0 2 0 0 0

3182 -0.91 -146.0 285.0 -7.4 383 3187 0.00 2.95 0.00 0.000 4 0.000 0.083 2426 3918 3399 0 0 3 0 0 0

3439 -0.91 -146.0 305.1 -7.9 405 3445 0.00 2.72 0.00 0.000 6 0.000 0.058 2426 2619 3400 0 0 2 0 0 0

3764 -0.91 -146.0 330.7 -8.2 436 3768 0.00 2.90 0.00 0.000 4 0.000 0.081 2425 3920 3401 0 0 2 0 0 0

3954 -0.95 -146.0 346.2 -7.9 452 3960 0.12 2.72 0.00 0.000 6 0.118 0.058 2382 2643 3401 0 0 2 0 0 0

4278 -0.87 -146.0 377.4 -9.7 483 4283 0.00 2.88 0.00 0.000 4 0.000 0.082 2382 3925 3402 0 0 2 0 0 0

4423 -0.77 -146.0 391.8 -9.7 495 4429 0.22 2.70 0.00 0.000 6 0.200 0.058 2435 2663 3402 0 0 2 0 0 0

4748 -0.86 -146.0 416.9 -7.8 526 4753 0.00 2.85 0.00 0.000 4 0.000 0.082 2435 3928 3403 0 0 2 0 0 0

4922 -0.94 -146.0 431.8 -9.0 541 4927 0.15 2.67 0.00 0.000 6 0.113 0.057 2386 2675 3403 0 0 3 0 0 0

5246 -0.88 -146.0 465.3 -10.3 571 5251 0.00 2.85 0.00 0.000 4 0.000 0.081 2385 3922 3403 0 0 1 0 0 0

5324 -0.81 -146.0 473.5 -10.4 577 5330 0.17 2.65 0.00 0.000 6 0.201 0.058 2425 2691 3403 0 0 3 0 0 0

5649 -0.88 -146.0 499.4 -8.3 608 5654 0.00 2.80 0.00 0.000 4 0.000 0.082 2425 3917 3403 0 0 2 0 0 0

5862 -0.95 -146.0 517.6 -8.7 626 5868 0.12 2.60 0.00 0.000 6 0.120 0.058 2384 2721 3403 0 0 2 0 0 0

6187 -0.89 -146.0 548.3 -9.1 657 6191 0.00 2.75 0.00 0.000 4 0.000 0.082 2384 3919 3403 0 0 2 0 0 0

6338 end dive: TARGET_DEPTH_EXCEEDED

state 6338 begin apogee

6346 -0.16 0.0 563.0 10.5 670 6473 0.90 0.00 121.50 1.085 6 0.186 0.000 2627 1949 2800 0 0 0 0 0 0

6474 end apogee: CONTROL_FINISHED_OK

state 6474 begin climb

6476 0.73 146.0 566.0 0.0 683 6609 0.95 0.00 124.80 1.036 6 0.130 0.000 2911 1949 2204 0 0 0 0 0 0

6926 0.73 146.0 524.1 10.0 726 6932 0.00 3.47 0.00 0.000 4 0.000 0.074 2911 3541 2195 0 0 3 0 0 0

7062 0.62 146.0 508.1 12.7 737 7068 0.15 3.42 0.00 0.000 6 0.206 0.067 2895 1950 2194 0 0 2 0 0 0

7386 0.62 146.0 473.0 11.4 768 7391 0.00 3.42 0.00 0.000 4 0.000 0.075 2895 3548 2193 0 0 3 0 0 0

7516 0.62 146.0 457.6 12.2 779 7521 0.00 3.40 0.00 0.000 6 0.000 0.067 2908 1967 2193 0 0 1 0 0 0

7840 0.62 146.0 422.1 10.7 809 7845 0.00 3.40 0.00 0.000 4 0.000 0.076 2908 3543 2192 0 0 4 0 0 0

7952 0.54 146.0 408.7 12.6 818 7958 0.22 3.35 0.00 0.000 6 0.195 0.067 2868 1975 2193 0 0 2 0 0 0

8277 0.67 163.2 380.4 8.4 849 8299 0.12 3.38 13.95 0.917 4 0.119 0.076 2912 3541 2133 0 0 3 0 0 0

8445 0.60 163.2 360.3 12.1 864 8451 0.17 3.33 0.00 0.000 6 0.197 0.067 2886 1999 2131 0 0 2 0 0 0

8770 0.67 163.2 329.4 9.8 894 8775 0.00 3.35 0.00 0.000 4 0.000 0.075 2886 3543 2131 0 0 2 0 0 0

8870 0.67 163.2 318.1 11.8 902 8876 0.00 3.30 0.00 0.000 6 0.000 0.067 2898 2005 2130 0 0 3 0 0 0

9194 0.67 163.2 284.0 10.5 933 9199 0.00 3.35 0.00 0.000 4 0.000 0.075 2899 3549 2131 0 0 2 0 0 0

9278 0.67 163.2 274.1 11.4 940 9283 0.00 3.30 0.00 0.000 6 0.000 0.067 2913 2025 2131 0 0 1 0 0 0

9604 0.67 163.2 236.4 11.4 970 9609 0.00 3.30 0.00 0.000 4 0.000 0.075 2913 3548 2130 0 0 3 0 0 0

9704 0.60 163.2 223.6 13.4 978 9711 0.17 3.28 0.00 0.000 6 0.198 0.066 2887 2040 2130 0 0 1 0 0 0

10029 0.68 163.2 188.8 10.3 1009 10034 0.00 3.28 0.00 0.000 4 0.000 0.074 2887 3549 2130 0 0 3 0 0 0

10153 0.68 163.2 175.3 10.5 1019 10159 0.00 3.22 0.00 0.000 6 0.000 0.065 2899 2063 2130 0 0 2 0 0 0

10478 0.80 214.4 144.0 7.0 1050 10530 0.15 3.35 41.88 0.805 4 0.097 0.074 2956 3543 1923 0 0 2 0 0 0

10614 0.69 214.4 128.5 13.1 1062 10621 0.22 3.25 0.00 0.000 6 0.199 0.065 2917 2070 1921 0 0 2 0 0 0

10944 0.81 214.4 91.8 10.1 1099 10950 0.00 3.25 0.00 0.000 4 0.000 0.073 2917 3543 1919 0 0 2 0 0 0

11051 0.87 214.4 81.3 9.2 1118 11058 0.12 3.17 0.00 0.000 6 0.112 0.065 2972 2096 1919 0 0 2 0 0 0

11396 0.87 218.6 49.9 9.0 1179 11407 0.00 3.20 4.25 0.555 4 0.000 0.075 2972 3542 1907 0 0 2 0 0 0

11481 0.78 218.6 41.2 11.3 1194 11488 0.17 3.15 0.00 0.000 6 0.201 0.065 2946 2103 1907 0 0 2 0 0 0

11827 0.78 218.6 6.4 10.6 1255 11833 0.00 3.22 0.00 0.000 4 0.000 0.078 2946 3547 1907 0 0 2 0 0 0

11866 end climb: SURFACE_DEPTH_REACHED

state 11866 begin surface coast

11886 end surface coast: CONTROL_FINISHED_OK

state 11886 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	315	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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	21	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	-41932.227	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	152801,6709.286,-5710.155,37,1.5,37,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	153334,6709.347,-5710.236,9,2.8,28,-37.8	MHEAD_RNG_PITCHd_Wd	164.0,19900,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	563

FREEZE	0.28,-0.431,-0.999,0,1,0	ALTIM_TOP_PING	19.6,19.2
FINISH	0.3,1.014768	ALTIM_BOTTOM_PING	500.3,107.1
SM_CCo	11905,119.75,0.723,0,0,1066,425.10	_24V_AH	22.6,60.501
SM_GC	0.97,0.00,0.00,119.75,0.000,0.000,0.723,127,2460,1066,-8.01,0.00,425.10	_10V_AH	10.1,31.929
RAFOS_CLK	740	FG_AHR_24Vo	0.000
RAFOS	0,1260892864,16.033333,16.017778,60,57,55,0,0,0,205,136,167,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.832031,-5708.091309,151209,000056,2,73,0.65	MEM	152464
IRIDIUM_FIX	6641.98,-5709.24,110399,121214	DATA_FILE_SIZE	50469,1265
TT8_MAMPS	0.026845	CAP_FILE_SIZE	145840,0
HUMID	46.45	CFSIZE	260165632,225505280
INTERNAL_PRESSURE	8.848	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,99,0,0
TCM_TEMP	17.20	SOUNDSPEED	1467.0
XPDR_PINGS	4	GPS	151209,185537,6708.969,-5709.691,35,0.9,35,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	295	184.03	SBE_CT	929	24	504.11
Roll_motor	150	97	330.71	SBE_O2	862	19	370.37
VBD_pump_during_apogee	306	1084	7509.42	nil	0	0	0.00
VBD_pump_during_surface	119	723	1957.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	55.69	nil	0	0	0.00
Iridium_during_connect	32	160	118.25	nil	0	0	0.00
Iridium_during_xfer	139	223	701.39
Transponder_ping	2	420	26.10
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.77
TT8	2118	19	426.27
LPSleep	6931	2	161.73
TT8_Active	609	19	122.54
TT8_Sampling	2282	39	920.24
TT8_CF8	405	45	188.24
TT8_Kalman	0	0	0.00
Analog_circuits	1754	12	212.64
GPS_charging	0	0	0.00
Compass	2224	8	179.74
RAFOS	2520	1	38.18
Transponder	14	30	4.37

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	145	0.00	0.00	-125.32	0.000	2	0.000	0.000	129	2459	3262	0	0	0	0	0	0
148	-0.73	-146.0	4.0	-8.1	25	169	11.30	2.28	-3.22	0.000	4	0.295	0.097	2446	856	3400	0	0	0	0	0	0
176	0.91	-146.0	13.6	-30.5	30	182	1.92	2.20	0.00	0.000	6	0.183	0.068	2975	2456	3400	0	0	0	0	0	0
521	-0.51	-146.0	40.6	-8.3	91	527	1.62	2.33	0.00	0.000	4	0.189	0.085	2541	869	3403	0	0	0	0	0	0
642	-0.81	-146.0	48.5	-7.4	112	648	0.32	2.17	0.00	0.000	6	0.087	0.070	2426	2451	3402	0	0	0	0	0	0
985	-0.81	-146.0	86.6	-11.2	173	991	0.00	2.25	0.00	0.000	4	0.000	0.087	2425	859	3401	0	0	0	0	0	0
1244	-0.81	-146.0	118.9	-12.8	206	1248	0.00	2.28	0.00	0.000	6	0.000	0.072	2426	2495	3401	0	0	0	0	0	0
1568	-0.81	-146.0	154.4	-10.6	236	1574	0.00	3.17	0.00	0.000	4	0.000	0.090	2426	3925	3399	0	0	3	0	0	0
1815	-0.81	-146.0	178.5	-9.0	257	1821	0.00	2.95	0.00	0.000	6	0.000	0.064	2425	2538	3398	0	0	3	0	0	0
2139	-0.81	-146.0	205.5	-9.0	288	2144	0.00	3.10	0.00	0.000	4	0.000	0.086	2426	3926	3398	0	0	2	0	0	0
2297	-0.81	-146.0	219.8	-8.7	301	2303	0.00	2.90	0.00	0.000	6	0.000	0.061	2426	2557	3397	0	0	3	0	0	0
2622	-0.85	-146.0	244.9	-6.9	332	2627	0.00	3.03	0.00	0.000	4	0.000	0.083	2426	3916	3398	0	0	2	0	0	0
2856	-0.85	-146.0	261.6	-7.0	352	2862	0.00	2.83	0.00	0.000	6	0.000	0.059	2426	2583	3398	0	0	2	0	0	0
3182	-0.91	-146.0	285.0	-7.4	383	3187	0.00	2.95	0.00	0.000	4	0.000	0.083	2426	3918	3399	0	0	3	0	0	0
3439	-0.91	-146.0	305.1	-7.9	405	3445	0.00	2.72	0.00	0.000	6	0.000	0.058	2426	2619	3400	0	0	2	0	0	0
3764	-0.91	-146.0	330.7	-8.2	436	3768	0.00	2.90	0.00	0.000	4	0.000	0.081	2425	3920	3401	0	0	2	0	0	0
3954	-0.95	-146.0	346.2	-7.9	452	3960	0.12	2.72	0.00	0.000	6	0.118	0.058	2382	2643	3401	0	0	2	0	0	0
4278	-0.87	-146.0	377.4	-9.7	483	4283	0.00	2.88	0.00	0.000	4	0.000	0.082	2382	3925	3402	0	0	2	0	0	0
4423	-0.77	-146.0	391.8	-9.7	495	4429	0.22	2.70	0.00	0.000	6	0.200	0.058	2435	2663	3402	0	0	2	0	0	0
4748	-0.86	-146.0	416.9	-7.8	526	4753	0.00	2.85	0.00	0.000	4	0.000	0.082	2435	3928	3403	0	0	2	0	0	0
4922	-0.94	-146.0	431.8	-9.0	541	4927	0.15	2.67	0.00	0.000	6	0.113	0.057	2386	2675	3403	0	0	3	0	0	0
5246	-0.88	-146.0	465.3	-10.3	571	5251	0.00	2.85	0.00	0.000	4	0.000	0.081	2385	3922	3403	0	0	1	0	0	0
5324	-0.81	-146.0	473.5	-10.4	577	5330	0.17	2.65	0.00	0.000	6	0.201	0.058	2425	2691	3403	0	0	3	0	0	0
5649	-0.88	-146.0	499.4	-8.3	608	5654	0.00	2.80	0.00	0.000	4	0.000	0.082	2425	3917	3403	0	0	2	0	0	0
5862	-0.95	-146.0	517.6	-8.7	626	5868	0.12	2.60	0.00	0.000	6	0.120	0.058	2384	2721	3403	0	0	2	0	0	0
6187	-0.89	-146.0	548.3	-9.1	657	6191	0.00	2.75	0.00	0.000	4	0.000	0.082	2384	3919	3403	0	0	2	0	0	0
6338	end dive: TARGET_DEPTH_EXCEEDED
state	6338	begin apogee
6346	-0.16	0.0	563.0	10.5	670	6473	0.90	0.00	121.50	1.085	6	0.186	0.000	2627	1949	2800	0	0	0	0	0	0
6474	end apogee: CONTROL_FINISHED_OK
state	6474	begin climb
6476	0.73	146.0	566.0	0.0	683	6609	0.95	0.00	124.80	1.036	6	0.130	0.000	2911	1949	2204	0	0	0	0	0	0
6926	0.73	146.0	524.1	10.0	726	6932	0.00	3.47	0.00	0.000	4	0.000	0.074	2911	3541	2195	0	0	3	0	0	0
7062	0.62	146.0	508.1	12.7	737	7068	0.15	3.42	0.00	0.000	6	0.206	0.067	2895	1950	2194	0	0	2	0	0	0
7386	0.62	146.0	473.0	11.4	768	7391	0.00	3.42	0.00	0.000	4	0.000	0.075	2895	3548	2193	0	0	3	0	0	0
7516	0.62	146.0	457.6	12.2	779	7521	0.00	3.40	0.00	0.000	6	0.000	0.067	2908	1967	2193	0	0	1	0	0	0
7840	0.62	146.0	422.1	10.7	809	7845	0.00	3.40	0.00	0.000	4	0.000	0.076	2908	3543	2192	0	0	4	0	0	0
7952	0.54	146.0	408.7	12.6	818	7958	0.22	3.35	0.00	0.000	6	0.195	0.067	2868	1975	2193	0	0	2	0	0	0
8277	0.67	163.2	380.4	8.4	849	8299	0.12	3.38	13.95	0.917	4	0.119	0.076	2912	3541	2133	0	0	3	0	0	0
8445	0.60	163.2	360.3	12.1	864	8451	0.17	3.33	0.00	0.000	6	0.197	0.067	2886	1999	2131	0	0	2	0	0	0
8770	0.67	163.2	329.4	9.8	894	8775	0.00	3.35	0.00	0.000	4	0.000	0.075	2886	3543	2131	0	0	2	0	0	0
8870	0.67	163.2	318.1	11.8	902	8876	0.00	3.30	0.00	0.000	6	0.000	0.067	2898	2005	2130	0	0	3	0	0	0
9194	0.67	163.2	284.0	10.5	933	9199	0.00	3.35	0.00	0.000	4	0.000	0.075	2899	3549	2131	0	0	2	0	0	0
9278	0.67	163.2	274.1	11.4	940	9283	0.00	3.30	0.00	0.000	6	0.000	0.067	2913	2025	2131	0	0	1	0	0	0
9604	0.67	163.2	236.4	11.4	970	9609	0.00	3.30	0.00	0.000	4	0.000	0.075	2913	3548	2130	0	0	3	0	0	0
9704	0.60	163.2	223.6	13.4	978	9711	0.17	3.28	0.00	0.000	6	0.198	0.066	2887	2040	2130	0	0	1	0	0	0
10029	0.68	163.2	188.8	10.3	1009	10034	0.00	3.28	0.00	0.000	4	0.000	0.074	2887	3549	2130	0	0	3	0	0	0
10153	0.68	163.2	175.3	10.5	1019	10159	0.00	3.22	0.00	0.000	6	0.000	0.065	2899	2063	2130	0	0	2	0	0	0
10478	0.80	214.4	144.0	7.0	1050	10530	0.15	3.35	41.88	0.805	4	0.097	0.074	2956	3543	1923	0	0	2	0	0	0
10614	0.69	214.4	128.5	13.1	1062	10621	0.22	3.25	0.00	0.000	6	0.199	0.065	2917	2070	1921	0	0	2	0	0	0
10944	0.81	214.4	91.8	10.1	1099	10950	0.00	3.25	0.00	0.000	4	0.000	0.073	2917	3543	1919	0	0	2	0	0	0
11051	0.87	214.4	81.3	9.2	1118	11058	0.12	3.17	0.00	0.000	6	0.112	0.065	2972	2096	1919	0	0	2	0	0	0
11396	0.87	218.6	49.9	9.0	1179	11407	0.00	3.20	4.25	0.555	4	0.000	0.075	2972	3542	1907	0	0	2	0	0	0
11481	0.78	218.6	41.2	11.3	1194	11488	0.17	3.15	0.00	0.000	6	0.201	0.065	2946	2103	1907	0	0	2	0	0	0
11827	0.78	218.6	6.4	10.6	1255	11833	0.00	3.22	0.00	0.000	4	0.000	0.078	2946	3547	1907	0	0	2	0	0	0
11866	end climb: SURFACE_DEPTH_REACHED
state	11866	begin surface coast
11886	end surface coast: CONTROL_FINISHED_OK
state	11886	begin surface