Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 324 * 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 324 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 24 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 16 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 -42098.641 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 -42098.641

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 24 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 324 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 204800,6708.355,-5714.698,0,2102.0,0,-37.8 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 5.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 204800,6708.355,-5714.698,0,2102.0,0,-37.8 MHEAD_RNG_PITCHd_Wd 155.0,21681,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 667

Post-dive calculations and measurements:

FREEZE 1.26,-1.360,-1.821,0,2,0 ALTIM_TOP_PING 19.7,18.9

FINISH 1.3,1.026714 ALTIM_BOTTOM_PING 400.5,162.0

SM_CCo 11573,151.88,0.725,0,0,1066,425.10 _24V_AH 22.6,61.671

SM_GC 1.78,0.00,0.00,151.88,0.000,0.000,0.725,125,2450,1066,-8.02,-0.28,425.10 _10V_AH 10.1,32.607

RAFOS_CLK 760 FG_AHR_24Vo 0.000

RAFOS 0,1261008069,0.033333,0.019167,66,59,58,0,0,0,189,177,209,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.267090,-5713.835449,171209,000040,3,112,0.05 MEM 152468

IRIDIUM_FIX 6636.54,-5712.23,120399,191920 DATA_FILE_SIZE 47400,1228

TT8_MAMPS 0.027612 CAP_FILE_SIZE 135779,0

HUMID 46.33 CFSIZE 260165632,224829440

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,67,0,0

TCM_TEMP 17.00 SOUNDSPEED 1464.2

XPDR_PINGS 2 GPS 171209,023100,6708.813,-5706.466,42,1.1,47,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 217 62.64 SBE_CT 901 24 489.18

Roll_motor 145 88 289.25 SBE_O2 842 19 361.77

VBD_pump_during_apogee 280 1082 6868.57 nil 0 0 0.00

VBD_pump_during_surface 151 724 2487.84 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 1 420 16.61

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 2115 19 425.56

LPSleep 6821 2 159.15

TT8_Active 524 19 105.60

TT8_Sampling 2168 39 874.43

TT8_CF8 163 45 75.72

TT8_Kalman 0 0 0.00

Analog_circuits 1615 12 195.81

GPS_charging 0 0 0.00

Compass 2142 8 173.13

RAFOS 2520 1 38.18

Transponder 12 30 3.81

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 -5.05 0.000 2 0.000 0.000 2710 1931 2790 0 0 0 0 0 0

25 -0.73 -146.0 5.2 -0.0 1 50 0.75 0.00 -20.48 0.000 6 0.116 0.000 2464 1931 3397 0 0 0 0 0 0

389 -0.80 -146.0 38.7 -9.4 66 394 0.00 1.38 0.00 0.000 4 0.000 0.088 2464 866 3400 0 0 0 0 0 0

553 -0.80 -146.0 55.0 -9.7 95 558 0.00 2.22 0.00 0.000 6 0.000 0.069 2464 2489 3400 0 0 0 0 0 0

896 -0.87 -146.0 86.2 -9.4 156 902 0.17 3.22 0.00 0.000 4 0.114 0.087 2400 3915 3400 0 0 2 0 0 0

909 -0.87 -146.0 87.6 -10.3 158 915 0.00 2.97 0.00 0.000 6 0.000 0.064 2400 2540 3400 0 0 2 0 0 0

1239 -0.78 -146.0 129.5 -12.1 197 1244 0.15 2.40 0.00 0.000 4 0.218 0.086 2437 870 3398 0 0 0 0 0 0

1473 -0.78 -146.0 152.8 -8.1 217 1479 0.00 2.35 0.00 0.000 6 0.000 0.071 2437 2550 3397 0 0 0 0 0 0

1799 -0.85 -146.0 174.1 -6.7 248 1804 0.00 3.10 0.00 0.000 4 0.000 0.087 2437 3921 3396 0 0 2 0 0 0

2057 -0.93 -146.0 191.8 -7.0 270 2063 0.15 2.90 0.00 0.000 6 0.114 0.062 2388 2580 3395 0 0 2 0 0 0

2381 -0.85 -146.0 220.5 -9.9 301 2386 0.00 3.03 0.00 0.000 4 0.000 0.084 2388 3918 3395 0 0 2 0 0 0

2548 -0.75 -146.0 238.5 -10.8 315 2555 0.22 2.88 0.00 0.000 6 0.203 0.061 2441 2597 3395 0 0 0 0 0 0

2874 -0.84 -146.0 269.1 -9.4 346 2879 0.00 2.97 0.00 0.000 4 0.000 0.084 2441 3920 3395 0 0 2 0 0 0

3082 -0.94 -146.0 288.5 -8.8 364 3087 0.17 2.83 0.00 0.000 6 0.105 0.059 2381 2613 3396 0 0 1 0 0 0

3406 -0.84 -146.0 324.5 -11.5 394 3412 0.15 3.00 0.00 0.000 4 0.205 0.082 2413 3920 3396 0 0 2 0 0 0

3585 -0.84 -146.0 342.5 -9.2 409 3591 0.00 2.78 0.00 0.000 6 0.000 0.059 2413 2642 3397 0 0 1 0 0 0

3910 -0.84 -146.0 369.5 -8.0 440 3915 0.00 2.90 0.00 0.000 4 0.000 0.083 2413 3921 3397 0 0 2 0 0 0

4068 -0.84 -146.0 382.4 -7.9 453 4073 0.00 2.72 0.00 0.000 6 0.000 0.058 2413 2661 3397 0 0 2 0 0 0

4392 -0.84 -146.0 408.6 -8.6 484 4397 0.00 2.88 0.00 0.000 4 0.000 0.082 2413 3916 3397 0 0 1 0 0 0

4538 -0.84 -146.0 420.8 -8.1 496 4543 0.00 2.70 0.00 0.000 6 0.000 0.059 2413 2676 3397 0 0 2 0 0 0

4862 -0.84 -146.0 447.8 -8.3 527 4867 0.00 2.88 0.00 0.000 4 0.000 0.083 2413 3926 3397 0 0 1 0 0 0

5030 -0.84 -146.0 462.4 -8.2 541 5035 0.00 2.70 0.00 0.000 6 0.000 0.058 2413 2682 3397 0 0 2 0 0 0

5354 -0.84 -146.0 489.8 -8.2 572 5359 0.00 2.85 0.00 0.000 4 0.000 0.083 2413 3924 3397 0 0 1 0 0 0

5461 -0.84 -146.0 498.6 -8.3 581 5465 0.00 2.67 0.00 0.000 6 0.000 0.058 2413 2697 3397 0 0 2 0 0 0

5785 -0.84 -146.0 524.1 -8.7 611 5790 0.00 2.83 0.00 0.000 4 0.000 0.083 2413 3916 3397 0 0 1 0 0 0

5862 -0.84 -146.0 530.7 -7.6 617 5868 0.00 2.65 0.00 0.000 6 0.000 0.058 2413 2707 3397 0 0 1 0 0 0

6079 end dive: BOTTOM_OBSTACLE_DETECTED

state 6079 begin apogee

6085 -0.16 0.0 547.9 7.4 638 6211 0.77 0.00 120.05 1.082 6 0.181 0.000 2627 1942 2800 0 0 0 0 0 0

6212 end apogee: CONTROL_FINISHED_OK

state 6212 begin climb

6216 0.73 146.0 549.8 0.0 651 6349 0.95 2.17 124.95 1.032 4 0.129 0.086 2921 353 2202 0 0 0 0 0 0

6384 0.66 146.0 536.2 11.8 667 6388 0.00 2.10 0.00 0.000 6 0.000 0.056 2921 1967 2198 0 0 0 0 0 0

6714 0.60 146.0 494.8 12.7 698 6720 0.15 3.45 0.00 0.000 4 0.202 0.074 2881 3525 2195 0 0 2 0 0 0

6849 0.60 146.0 479.3 11.9 709 6856 0.00 3.38 0.00 0.000 6 0.000 0.067 2894 1966 2193 0 0 1 0 0 0

7174 0.60 146.0 445.5 10.0 740 7179 0.00 3.42 0.00 0.000 4 0.000 0.076 2893 3524 2193 0 0 2 0 0 0

7316 0.55 146.0 429.9 11.3 752 7322 0.17 3.40 0.00 0.000 6 0.196 0.068 2868 1969 2192 0 0 1 0 0 0

7640 0.70 167.1 401.6 8.3 782 7665 0.15 3.45 16.98 0.938 4 0.113 0.077 2919 3520 2118 0 0 2 0 0 0

7800 0.61 167.1 381.8 13.0 796 7807 0.20 3.38 0.00 0.000 6 0.197 0.069 2887 1991 2116 0 0 1 0 0 0

8125 0.67 167.1 348.7 10.4 827 8130 0.00 3.38 0.00 0.000 4 0.000 0.076 2887 3534 2115 0 0 3 0 0 0

8243 0.67 167.1 335.4 11.0 837 8248 0.00 3.33 0.00 0.000 6 0.000 0.069 2900 2016 2115 0 0 2 0 0 0

8567 0.67 167.1 301.0 10.4 867 8572 0.00 3.35 0.00 0.000 4 0.000 0.077 2900 3529 2115 0 0 2 0 0 0

8685 0.67 167.1 287.2 11.4 877 8690 0.00 3.33 0.00 0.000 6 0.000 0.068 2914 2020 2115 0 0 1 0 0 0

9010 0.67 167.1 252.4 10.8 907 9016 0.00 3.33 0.00 0.000 4 0.000 0.076 2914 3525 2115 0 0 2 0 0 0

9095 0.61 167.1 242.5 12.0 914 9101 0.17 3.28 0.00 0.000 6 0.200 0.068 2889 2045 2115 0 0 1 0 0 0

9420 0.69 167.1 211.6 9.3 944 9425 0.00 3.33 0.00 0.000 4 0.000 0.076 2888 3525 2113 0 0 1 0 0 0

9515 0.69 167.1 201.6 11.4 952 9520 0.00 3.28 0.00 0.000 6 0.000 0.069 2901 2053 2113 0 0 1 0 0 0

9840 0.74 167.1 166.9 10.4 982 9846 0.00 3.35 0.00 0.000 4 0.000 0.077 2901 3532 2113 0 0 2 0 0 0

9951 0.74 167.1 155.9 9.2 991 9958 0.00 3.28 0.00 0.000 6 0.000 0.069 2916 2068 2113 0 0 1 0 0 0

10277 0.74 167.1 129.6 10.1 1022 10282 0.00 3.28 0.00 0.000 4 0.000 0.077 2915 3525 2113 0 0 2 0 0 0

10354 0.74 167.1 120.1 12.9 1028 10360 0.00 3.22 0.00 0.000 6 0.000 0.067 2930 2079 2111 0 0 2 0 0 0

10689 0.76 181.8 84.4 8.5 1074 10710 0.00 3.28 12.95 0.752 4 0.000 0.077 2930 3523 2057 0 0 3 0 0 0

10778 0.76 181.8 75.7 9.9 1090 10783 0.00 3.22 0.00 0.000 6 0.000 0.067 2944 2090 2056 0 0 1 0 0 0

11121 0.76 187.0 43.2 8.9 1151 11133 0.00 3.22 5.90 0.657 4 0.000 0.076 2944 3525 2036 0 0 2 0 0 0

11235 0.76 187.0 31.5 10.4 1171 11241 0.00 3.22 0.00 0.000 6 0.000 0.068 2959 2096 2036 0 0 1 0 0 0

11538 end climb: SURFACE_DEPTH_REACHED

state 11538 begin surface coast

11556 end surface coast: CONTROL_FINISHED_OK

state 11557 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	324	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	24	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	16	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	-42098.641	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	204800,6708.355,-5714.698,0,2102.0,0,-37.8	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	5.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	204800,6708.355,-5714.698,0,2102.0,0,-37.8	MHEAD_RNG_PITCHd_Wd	155.0,21681,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	667

FREEZE	1.26,-1.360,-1.821,0,2,0	ALTIM_TOP_PING	19.7,18.9
FINISH	1.3,1.026714	ALTIM_BOTTOM_PING	400.5,162.0
SM_CCo	11573,151.88,0.725,0,0,1066,425.10	_24V_AH	22.6,61.671
SM_GC	1.78,0.00,0.00,151.88,0.000,0.000,0.725,125,2450,1066,-8.02,-0.28,425.10	_10V_AH	10.1,32.607
RAFOS_CLK	760	FG_AHR_24Vo	0.000
RAFOS	0,1261008069,0.033333,0.019167,66,59,58,0,0,0,189,177,209,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.267090,-5713.835449,171209,000040,3,112,0.05	MEM	152468
IRIDIUM_FIX	6636.54,-5712.23,120399,191920	DATA_FILE_SIZE	47400,1228
TT8_MAMPS	0.027612	CAP_FILE_SIZE	135779,0
HUMID	46.33	CFSIZE	260165632,224829440
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
TCM_TEMP	17.00	SOUNDSPEED	1464.2
XPDR_PINGS	2	GPS	171209,023100,6708.813,-5706.466,42,1.1,47,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	217	62.64	SBE_CT	901	24	489.18
Roll_motor	145	88	289.25	SBE_O2	842	19	361.77
VBD_pump_during_apogee	280	1082	6868.57	nil	0	0	0.00
VBD_pump_during_surface	151	724	2487.84	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	1	420	16.61
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	2115	19	425.56
LPSleep	6821	2	159.15
TT8_Active	524	19	105.60
TT8_Sampling	2168	39	874.43
TT8_CF8	163	45	75.72
TT8_Kalman	0	0	0.00
Analog_circuits	1615	12	195.81
GPS_charging	0	0	0.00
Compass	2142	8	173.13
RAFOS	2520	1	38.18
Transponder	12	30	3.81

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	-5.05	0.000	2	0.000	0.000	2710	1931	2790	0	0	0	0	0	0
25	-0.73	-146.0	5.2	-0.0	1	50	0.75	0.00	-20.48	0.000	6	0.116	0.000	2464	1931	3397	0	0	0	0	0	0
389	-0.80	-146.0	38.7	-9.4	66	394	0.00	1.38	0.00	0.000	4	0.000	0.088	2464	866	3400	0	0	0	0	0	0
553	-0.80	-146.0	55.0	-9.7	95	558	0.00	2.22	0.00	0.000	6	0.000	0.069	2464	2489	3400	0	0	0	0	0	0
896	-0.87	-146.0	86.2	-9.4	156	902	0.17	3.22	0.00	0.000	4	0.114	0.087	2400	3915	3400	0	0	2	0	0	0
909	-0.87	-146.0	87.6	-10.3	158	915	0.00	2.97	0.00	0.000	6	0.000	0.064	2400	2540	3400	0	0	2	0	0	0
1239	-0.78	-146.0	129.5	-12.1	197	1244	0.15	2.40	0.00	0.000	4	0.218	0.086	2437	870	3398	0	0	0	0	0	0
1473	-0.78	-146.0	152.8	-8.1	217	1479	0.00	2.35	0.00	0.000	6	0.000	0.071	2437	2550	3397	0	0	0	0	0	0
1799	-0.85	-146.0	174.1	-6.7	248	1804	0.00	3.10	0.00	0.000	4	0.000	0.087	2437	3921	3396	0	0	2	0	0	0
2057	-0.93	-146.0	191.8	-7.0	270	2063	0.15	2.90	0.00	0.000	6	0.114	0.062	2388	2580	3395	0	0	2	0	0	0
2381	-0.85	-146.0	220.5	-9.9	301	2386	0.00	3.03	0.00	0.000	4	0.000	0.084	2388	3918	3395	0	0	2	0	0	0
2548	-0.75	-146.0	238.5	-10.8	315	2555	0.22	2.88	0.00	0.000	6	0.203	0.061	2441	2597	3395	0	0	0	0	0	0
2874	-0.84	-146.0	269.1	-9.4	346	2879	0.00	2.97	0.00	0.000	4	0.000	0.084	2441	3920	3395	0	0	2	0	0	0
3082	-0.94	-146.0	288.5	-8.8	364	3087	0.17	2.83	0.00	0.000	6	0.105	0.059	2381	2613	3396	0	0	1	0	0	0
3406	-0.84	-146.0	324.5	-11.5	394	3412	0.15	3.00	0.00	0.000	4	0.205	0.082	2413	3920	3396	0	0	2	0	0	0
3585	-0.84	-146.0	342.5	-9.2	409	3591	0.00	2.78	0.00	0.000	6	0.000	0.059	2413	2642	3397	0	0	1	0	0	0
3910	-0.84	-146.0	369.5	-8.0	440	3915	0.00	2.90	0.00	0.000	4	0.000	0.083	2413	3921	3397	0	0	2	0	0	0
4068	-0.84	-146.0	382.4	-7.9	453	4073	0.00	2.72	0.00	0.000	6	0.000	0.058	2413	2661	3397	0	0	2	0	0	0
4392	-0.84	-146.0	408.6	-8.6	484	4397	0.00	2.88	0.00	0.000	4	0.000	0.082	2413	3916	3397	0	0	1	0	0	0
4538	-0.84	-146.0	420.8	-8.1	496	4543	0.00	2.70	0.00	0.000	6	0.000	0.059	2413	2676	3397	0	0	2	0	0	0
4862	-0.84	-146.0	447.8	-8.3	527	4867	0.00	2.88	0.00	0.000	4	0.000	0.083	2413	3926	3397	0	0	1	0	0	0
5030	-0.84	-146.0	462.4	-8.2	541	5035	0.00	2.70	0.00	0.000	6	0.000	0.058	2413	2682	3397	0	0	2	0	0	0
5354	-0.84	-146.0	489.8	-8.2	572	5359	0.00	2.85	0.00	0.000	4	0.000	0.083	2413	3924	3397	0	0	1	0	0	0
5461	-0.84	-146.0	498.6	-8.3	581	5465	0.00	2.67	0.00	0.000	6	0.000	0.058	2413	2697	3397	0	0	2	0	0	0
5785	-0.84	-146.0	524.1	-8.7	611	5790	0.00	2.83	0.00	0.000	4	0.000	0.083	2413	3916	3397	0	0	1	0	0	0
5862	-0.84	-146.0	530.7	-7.6	617	5868	0.00	2.65	0.00	0.000	6	0.000	0.058	2413	2707	3397	0	0	1	0	0	0
6079	end dive: BOTTOM_OBSTACLE_DETECTED
state	6079	begin apogee
6085	-0.16	0.0	547.9	7.4	638	6211	0.77	0.00	120.05	1.082	6	0.181	0.000	2627	1942	2800	0	0	0	0	0	0
6212	end apogee: CONTROL_FINISHED_OK
state	6212	begin climb
6216	0.73	146.0	549.8	0.0	651	6349	0.95	2.17	124.95	1.032	4	0.129	0.086	2921	353	2202	0	0	0	0	0	0
6384	0.66	146.0	536.2	11.8	667	6388	0.00	2.10	0.00	0.000	6	0.000	0.056	2921	1967	2198	0	0	0	0	0	0
6714	0.60	146.0	494.8	12.7	698	6720	0.15	3.45	0.00	0.000	4	0.202	0.074	2881	3525	2195	0	0	2	0	0	0
6849	0.60	146.0	479.3	11.9	709	6856	0.00	3.38	0.00	0.000	6	0.000	0.067	2894	1966	2193	0	0	1	0	0	0
7174	0.60	146.0	445.5	10.0	740	7179	0.00	3.42	0.00	0.000	4	0.000	0.076	2893	3524	2193	0	0	2	0	0	0
7316	0.55	146.0	429.9	11.3	752	7322	0.17	3.40	0.00	0.000	6	0.196	0.068	2868	1969	2192	0	0	1	0	0	0
7640	0.70	167.1	401.6	8.3	782	7665	0.15	3.45	16.98	0.938	4	0.113	0.077	2919	3520	2118	0	0	2	0	0	0
7800	0.61	167.1	381.8	13.0	796	7807	0.20	3.38	0.00	0.000	6	0.197	0.069	2887	1991	2116	0	0	1	0	0	0
8125	0.67	167.1	348.7	10.4	827	8130	0.00	3.38	0.00	0.000	4	0.000	0.076	2887	3534	2115	0	0	3	0	0	0
8243	0.67	167.1	335.4	11.0	837	8248	0.00	3.33	0.00	0.000	6	0.000	0.069	2900	2016	2115	0	0	2	0	0	0
8567	0.67	167.1	301.0	10.4	867	8572	0.00	3.35	0.00	0.000	4	0.000	0.077	2900	3529	2115	0	0	2	0	0	0
8685	0.67	167.1	287.2	11.4	877	8690	0.00	3.33	0.00	0.000	6	0.000	0.068	2914	2020	2115	0	0	1	0	0	0
9010	0.67	167.1	252.4	10.8	907	9016	0.00	3.33	0.00	0.000	4	0.000	0.076	2914	3525	2115	0	0	2	0	0	0
9095	0.61	167.1	242.5	12.0	914	9101	0.17	3.28	0.00	0.000	6	0.200	0.068	2889	2045	2115	0	0	1	0	0	0
9420	0.69	167.1	211.6	9.3	944	9425	0.00	3.33	0.00	0.000	4	0.000	0.076	2888	3525	2113	0	0	1	0	0	0
9515	0.69	167.1	201.6	11.4	952	9520	0.00	3.28	0.00	0.000	6	0.000	0.069	2901	2053	2113	0	0	1	0	0	0
9840	0.74	167.1	166.9	10.4	982	9846	0.00	3.35	0.00	0.000	4	0.000	0.077	2901	3532	2113	0	0	2	0	0	0
9951	0.74	167.1	155.9	9.2	991	9958	0.00	3.28	0.00	0.000	6	0.000	0.069	2916	2068	2113	0	0	1	0	0	0
10277	0.74	167.1	129.6	10.1	1022	10282	0.00	3.28	0.00	0.000	4	0.000	0.077	2915	3525	2113	0	0	2	0	0	0
10354	0.74	167.1	120.1	12.9	1028	10360	0.00	3.22	0.00	0.000	6	0.000	0.067	2930	2079	2111	0	0	2	0	0	0
10689	0.76	181.8	84.4	8.5	1074	10710	0.00	3.28	12.95	0.752	4	0.000	0.077	2930	3523	2057	0	0	3	0	0	0
10778	0.76	181.8	75.7	9.9	1090	10783	0.00	3.22	0.00	0.000	6	0.000	0.067	2944	2090	2056	0	0	1	0	0	0
11121	0.76	187.0	43.2	8.9	1151	11133	0.00	3.22	5.90	0.657	4	0.000	0.076	2944	3525	2036	0	0	2	0	0	0
11235	0.76	187.0	31.5	10.4	1171	11241	0.00	3.22	0.00	0.000	6	0.000	0.068	2959	2096	2036	0	0	1	0	0	0
11538	end climb: SURFACE_DEPTH_REACHED
state	11538	begin surface coast
11556	end surface coast: CONTROL_FINISHED_OK
state	11557	begin surface