Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 331 * 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 331 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 -42199.367 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 -42199.367

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 331 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 213206,6708.442,-5705.278,27,1.2,27,-37.7 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 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 213732,6708.446,-5705.226,13,1.5,13,-37.7 MHEAD_RNG_PITCHd_Wd 166.7,16014,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 518

Post-dive calculations and measurements:

FREEZE 0.54,0.019,-1.826,0,1,0 ALTIM_TOP_PING 19.5,18.7

FINISH 0.5,1.026742 ALTIM_BOTTOM_PING 350.4,174.6

SM_CCo 11181,125.07,0.710,0,0,1066,425.10 _24V_AH 22.7,62.543

SM_GC 1.33,0.00,0.00,125.07,0.000,0.000,0.710,128,2467,1066,-8.01,0.20,425.10 _10V_AH 10.2,33.089

RAFOS_CLK 686 FG_AHR_24Vo 0.000

RAFOS 0,1261094463,0.033333,0.017500,73,61,56,0,0,0,217,144,160,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.177246,-5710.703613,171209,202056,2,104,0.34 MEM 152516

IRIDIUM_FIX 6641.98,-5710.89,130399,181811 DATA_FILE_SIZE 44169,1193

TT8_MAMPS 0.029913 CAP_FILE_SIZE 133205,0

HUMID 46.22 CFSIZE 260165632,224346112

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,81,0,0

TCM_TEMP 17.20 SOUNDSPEED 1468.2

XPDR_PINGS 3 GPS 181209,004736,6708.299,-5703.433,32,0.9,32,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 291 148.37 SBE_CT 876 24 477.26

Roll_motor 136 95 296.64 SBE_O2 812 19 350.49

VBD_pump_during_apogee 298 1037 7023.50 nil 0 0 0.00

VBD_pump_during_surface 125 710 2016.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.90 nil 0 0 0.00

Iridium_during_connect 31 160 116.17 nil 0 0 0.00

Iridium_during_xfer 142 223 719.85

Transponder_ping 1 420 16.68

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.84

TT8 1980 19 402.36

LPSleep 6551 2 154.37

TT8_Active 581 19 118.12

TT8_Sampling 2111 39 859.63

TT8_CF8 401 45 188.15

TT8_Kalman 0 0 0.00

Analog_circuits 1655 12 202.67

GPS_charging 0 0 0.00

Compass 2073 8 169.23

RAFOS 2160 1 33.05

Transponder 9 30 2.84

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 0 133 0.00 0.00 -115.38 0.000 2 0.000 0.000 129 2467 3158 0 0 0 0 0 0

137 -0.73 -146.0 3.5 -5.3 23 163 11.15 2.33 -6.28 0.000 4 0.291 0.096 2446 859 3398 0 0 0 0 0 0

280 -0.73 -146.0 23.9 -9.8 49 286 0.00 2.17 0.00 0.000 6 0.000 0.068 2446 2459 3400 0 0 0 0 0 0

623 -0.73 -146.0 58.1 -10.7 110 629 0.00 3.28 0.00 0.000 4 0.000 0.088 2446 3917 3400 0 0 3 0 0 0

860 -0.73 -146.0 83.4 -11.0 152 866 0.00 3.08 0.00 0.000 6 0.000 0.064 2446 2501 3400 0 0 2 0 0 0

1199 -0.73 -146.0 118.3 -9.4 197 1204 0.00 3.22 0.00 0.000 4 0.000 0.087 2446 3927 3400 0 0 2 0 0 0

1413 -0.79 -146.0 137.9 -8.3 215 1419 0.00 3.03 0.00 0.000 6 0.000 0.064 2446 2531 3399 0 0 2 0 0 0

1738 -0.87 -146.0 163.2 -7.8 246 1743 0.12 2.38 0.00 0.000 4 0.124 0.087 2409 853 3397 0 0 0 0 0 0

1996 -0.82 -146.0 188.6 -9.1 268 2002 0.00 2.40 0.00 0.000 6 0.000 0.069 2409 2580 3397 0 0 0 0 0 0

2322 -0.82 -146.0 216.1 -8.9 299 2323 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2579 3397 0 0 0 0 0 0

2641 -0.82 -146.0 242.8 -9.0 329 2645 0.00 3.03 0.00 0.000 4 0.000 0.084 2409 3919 3397 0 0 2 0 0 0

2797 -0.82 -146.0 256.8 -9.0 342 2803 0.00 2.88 0.00 0.000 6 0.000 0.060 2409 2591 3397 0 0 2 0 0 0

3122 -0.82 -146.0 285.0 -8.7 373 3127 0.00 3.00 0.00 0.000 4 0.000 0.081 2409 3921 3397 0 0 2 0 0 0

3319 -0.82 -146.0 302.4 -9.1 390 3323 0.00 2.85 0.00 0.000 6 0.000 0.058 2410 2605 3398 0 0 1 0 0 0

3643 -0.82 -146.0 328.1 -7.8 420 3648 0.00 2.95 0.00 0.000 4 0.000 0.081 2409 3924 3399 0 0 3 0 0 0

3850 -0.82 -146.0 344.3 -7.5 438 3855 0.00 2.80 0.00 0.000 6 0.000 0.057 2409 2636 3399 0 0 1 0 0 0

4175 -0.82 -146.0 370.4 -7.8 468 4180 0.00 2.90 0.00 0.000 4 0.000 0.081 2409 3924 3400 0 0 3 0 0 0

4365 -0.82 -146.0 385.2 -7.7 484 4371 0.00 2.75 0.00 0.000 6 0.000 0.056 2409 2661 3400 0 0 1 0 0 0

4690 -0.82 -146.0 409.1 -7.5 515 4695 0.00 2.88 0.00 0.000 4 0.000 0.081 2409 3926 3401 0 0 2 0 0 0

4835 -0.82 -146.0 420.8 -8.2 527 4841 0.00 2.70 0.00 0.000 6 0.000 0.055 2409 2686 3401 0 0 2 0 0 0

5160 -0.82 -146.0 445.1 -7.0 558 5164 0.00 2.85 0.00 0.000 4 0.000 0.080 2409 3920 3402 0 0 1 0 0 0

5360 -0.82 -146.0 460.1 -7.6 575 5366 0.00 2.67 0.00 0.000 6 0.000 0.055 2409 2721 3402 0 0 0 0 0 0

5685 -0.82 -146.0 485.3 -7.9 606 5690 0.00 2.78 0.00 0.000 4 0.000 0.080 2409 3921 3402 0 0 2 0 0 0

5808 -0.82 -146.0 495.0 -8.0 616 5814 0.00 2.62 0.00 0.000 6 0.000 0.054 2409 2740 3402 0 0 1 0 0 0

6013 end dive: BOTTOM_OBSTACLE_DETECTED

state 6014 begin apogee

6020 -0.16 0.0 510.1 7.5 636 6146 0.75 0.00 120.82 1.038 6 0.168 0.000 2627 1932 2800 0 0 0 0 0 0

6147 end apogee: CONTROL_FINISHED_OK

state 6147 begin climb

6150 0.73 146.0 511.6 0.0 649 6282 0.95 0.00 123.12 0.993 6 0.127 0.000 2914 1932 2203 0 0 0 0 0 0

6599 0.73 146.0 464.1 11.7 692 6605 0.00 3.55 0.00 0.000 4 0.000 0.071 2914 3547 2196 0 0 3 0 0 0

6718 0.62 146.0 448.2 13.3 702 6724 0.15 3.45 0.00 0.000 6 0.209 0.064 2898 1965 2195 0 0 3 0 0 0

7042 0.62 146.0 411.0 11.1 732 7047 0.00 3.45 0.00 0.000 4 0.000 0.073 2898 3553 2195 0 0 3 0 0 0

7161 0.58 146.0 396.7 12.2 742 7167 0.15 3.42 0.00 0.000 6 0.202 0.066 2877 1976 2193 0 0 2 0 0 0

7485 0.66 146.0 365.3 9.5 772 7490 0.00 3.45 0.00 0.000 4 0.000 0.073 2878 3546 2193 0 0 1 0 0 0

7614 0.66 146.0 351.8 10.9 783 7620 0.00 3.40 0.00 0.000 6 0.000 0.065 2890 1990 2193 0 0 1 0 0 0

7939 0.66 146.0 320.8 9.3 813 7944 0.00 3.40 0.00 0.000 4 0.000 0.073 2890 3550 2193 0 0 3 0 0 0

8068 0.66 146.0 306.8 11.1 824 8073 0.00 3.38 0.00 0.000 6 0.000 0.065 2906 2010 2193 0 0 1 0 0 0

8394 0.66 146.0 271.8 11.3 854 8399 0.00 3.38 0.00 0.000 4 0.000 0.072 2906 3555 2193 0 0 3 0 0 0

8483 0.60 146.0 260.4 13.3 861 8490 0.15 3.35 0.00 0.000 6 0.200 0.064 2888 2014 2192 0 0 2 0 0 0

8808 0.66 146.0 226.6 10.0 892 8813 0.00 3.35 0.00 0.000 4 0.000 0.072 2887 3546 2193 0 0 3 0 0 0

8949 0.66 146.0 211.6 10.4 904 8954 0.00 3.33 0.00 0.000 6 0.000 0.064 2900 2039 2193 0 0 1 0 0 0

9273 0.66 146.0 179.6 9.2 934 9278 0.00 3.33 0.00 0.000 4 0.000 0.071 2900 3544 2193 0 0 2 0 0 0

9379 0.66 146.0 168.4 10.5 943 9384 0.00 3.28 0.00 0.000 6 0.000 0.064 2914 2053 2193 0 0 3 0 0 0

9703 0.66 146.0 137.7 9.6 973 9708 0.00 3.33 0.00 0.000 4 0.000 0.072 2914 3546 2193 0 0 2 0 0 0

9769 0.60 146.0 130.9 10.0 978 9776 0.17 3.28 0.00 0.000 6 0.200 0.064 2889 2057 2193 0 0 2 0 0 0

10095 0.75 180.1 105.1 7.7 1009 10130 0.12 3.38 27.10 0.764 4 0.120 0.071 2932 3546 2064 0 0 3 0 0 0

10215 0.68 180.1 92.6 11.3 1025 10221 0.15 3.30 0.00 0.000 6 0.200 0.064 2914 2078 2062 0 0 2 0 0 0

10558 0.84 212.4 62.7 7.8 1086 10595 0.15 3.38 27.10 0.746 4 0.114 0.072 2965 3539 1932 0 0 2 0 0 0

10720 0.76 212.4 46.2 11.3 1115 10726 0.17 3.28 0.00 0.000 6 0.194 0.065 2940 2096 1929 0 0 2 0 0 0

11064 0.84 212.4 10.1 11.3 1176 11069 0.00 3.30 0.00 0.000 4 0.000 0.075 2940 3552 1928 0 0 3 0 0 0

11150 end climb: SURFACE_DEPTH_REACHED

state 11150 begin surface coast

11161 end surface coast: CONTROL_FINISHED_OK

state 11161 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	331	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	-42199.367	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	213206,6708.442,-5705.278,27,1.2,27,-37.7	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	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	213732,6708.446,-5705.226,13,1.5,13,-37.7	MHEAD_RNG_PITCHd_Wd	166.7,16014,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	518

FREEZE	0.54,0.019,-1.826,0,1,0	ALTIM_TOP_PING	19.5,18.7
FINISH	0.5,1.026742	ALTIM_BOTTOM_PING	350.4,174.6
SM_CCo	11181,125.07,0.710,0,0,1066,425.10	_24V_AH	22.7,62.543
SM_GC	1.33,0.00,0.00,125.07,0.000,0.000,0.710,128,2467,1066,-8.01,0.20,425.10	_10V_AH	10.2,33.089
RAFOS_CLK	686	FG_AHR_24Vo	0.000
RAFOS	0,1261094463,0.033333,0.017500,73,61,56,0,0,0,217,144,160,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.177246,-5710.703613,171209,202056,2,104,0.34	MEM	152516
IRIDIUM_FIX	6641.98,-5710.89,130399,181811	DATA_FILE_SIZE	44169,1193
TT8_MAMPS	0.029913	CAP_FILE_SIZE	133205,0
HUMID	46.22	CFSIZE	260165632,224346112
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,81,0,0
TCM_TEMP	17.20	SOUNDSPEED	1468.2
XPDR_PINGS	3	GPS	181209,004736,6708.299,-5703.433,32,0.9,32,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	291	148.37	SBE_CT	876	24	477.26
Roll_motor	136	95	296.64	SBE_O2	812	19	350.49
VBD_pump_during_apogee	298	1037	7023.50	nil	0	0	0.00
VBD_pump_during_surface	125	710	2016.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.90	nil	0	0	0.00
Iridium_during_connect	31	160	116.17	nil	0	0	0.00
Iridium_during_xfer	142	223	719.85
Transponder_ping	1	420	16.68
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.84
TT8	1980	19	402.36
LPSleep	6551	2	154.37
TT8_Active	581	19	118.12
TT8_Sampling	2111	39	859.63
TT8_CF8	401	45	188.15
TT8_Kalman	0	0	0.00
Analog_circuits	1655	12	202.67
GPS_charging	0	0	0.00
Compass	2073	8	169.23
RAFOS	2160	1	33.05
Transponder	9	30	2.84

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	133	0.00	0.00	-115.38	0.000	2	0.000	0.000	129	2467	3158	0	0	0	0	0	0
137	-0.73	-146.0	3.5	-5.3	23	163	11.15	2.33	-6.28	0.000	4	0.291	0.096	2446	859	3398	0	0	0	0	0	0
280	-0.73	-146.0	23.9	-9.8	49	286	0.00	2.17	0.00	0.000	6	0.000	0.068	2446	2459	3400	0	0	0	0	0	0
623	-0.73	-146.0	58.1	-10.7	110	629	0.00	3.28	0.00	0.000	4	0.000	0.088	2446	3917	3400	0	0	3	0	0	0
860	-0.73	-146.0	83.4	-11.0	152	866	0.00	3.08	0.00	0.000	6	0.000	0.064	2446	2501	3400	0	0	2	0	0	0
1199	-0.73	-146.0	118.3	-9.4	197	1204	0.00	3.22	0.00	0.000	4	0.000	0.087	2446	3927	3400	0	0	2	0	0	0
1413	-0.79	-146.0	137.9	-8.3	215	1419	0.00	3.03	0.00	0.000	6	0.000	0.064	2446	2531	3399	0	0	2	0	0	0
1738	-0.87	-146.0	163.2	-7.8	246	1743	0.12	2.38	0.00	0.000	4	0.124	0.087	2409	853	3397	0	0	0	0	0	0
1996	-0.82	-146.0	188.6	-9.1	268	2002	0.00	2.40	0.00	0.000	6	0.000	0.069	2409	2580	3397	0	0	0	0	0	0
2322	-0.82	-146.0	216.1	-8.9	299	2323	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2579	3397	0	0	0	0	0	0
2641	-0.82	-146.0	242.8	-9.0	329	2645	0.00	3.03	0.00	0.000	4	0.000	0.084	2409	3919	3397	0	0	2	0	0	0
2797	-0.82	-146.0	256.8	-9.0	342	2803	0.00	2.88	0.00	0.000	6	0.000	0.060	2409	2591	3397	0	0	2	0	0	0
3122	-0.82	-146.0	285.0	-8.7	373	3127	0.00	3.00	0.00	0.000	4	0.000	0.081	2409	3921	3397	0	0	2	0	0	0
3319	-0.82	-146.0	302.4	-9.1	390	3323	0.00	2.85	0.00	0.000	6	0.000	0.058	2410	2605	3398	0	0	1	0	0	0
3643	-0.82	-146.0	328.1	-7.8	420	3648	0.00	2.95	0.00	0.000	4	0.000	0.081	2409	3924	3399	0	0	3	0	0	0
3850	-0.82	-146.0	344.3	-7.5	438	3855	0.00	2.80	0.00	0.000	6	0.000	0.057	2409	2636	3399	0	0	1	0	0	0
4175	-0.82	-146.0	370.4	-7.8	468	4180	0.00	2.90	0.00	0.000	4	0.000	0.081	2409	3924	3400	0	0	3	0	0	0
4365	-0.82	-146.0	385.2	-7.7	484	4371	0.00	2.75	0.00	0.000	6	0.000	0.056	2409	2661	3400	0	0	1	0	0	0
4690	-0.82	-146.0	409.1	-7.5	515	4695	0.00	2.88	0.00	0.000	4	0.000	0.081	2409	3926	3401	0	0	2	0	0	0
4835	-0.82	-146.0	420.8	-8.2	527	4841	0.00	2.70	0.00	0.000	6	0.000	0.055	2409	2686	3401	0	0	2	0	0	0
5160	-0.82	-146.0	445.1	-7.0	558	5164	0.00	2.85	0.00	0.000	4	0.000	0.080	2409	3920	3402	0	0	1	0	0	0
5360	-0.82	-146.0	460.1	-7.6	575	5366	0.00	2.67	0.00	0.000	6	0.000	0.055	2409	2721	3402	0	0	0	0	0	0
5685	-0.82	-146.0	485.3	-7.9	606	5690	0.00	2.78	0.00	0.000	4	0.000	0.080	2409	3921	3402	0	0	2	0	0	0
5808	-0.82	-146.0	495.0	-8.0	616	5814	0.00	2.62	0.00	0.000	6	0.000	0.054	2409	2740	3402	0	0	1	0	0	0
6013	end dive: BOTTOM_OBSTACLE_DETECTED
state	6014	begin apogee
6020	-0.16	0.0	510.1	7.5	636	6146	0.75	0.00	120.82	1.038	6	0.168	0.000	2627	1932	2800	0	0	0	0	0	0
6147	end apogee: CONTROL_FINISHED_OK
state	6147	begin climb
6150	0.73	146.0	511.6	0.0	649	6282	0.95	0.00	123.12	0.993	6	0.127	0.000	2914	1932	2203	0	0	0	0	0	0
6599	0.73	146.0	464.1	11.7	692	6605	0.00	3.55	0.00	0.000	4	0.000	0.071	2914	3547	2196	0	0	3	0	0	0
6718	0.62	146.0	448.2	13.3	702	6724	0.15	3.45	0.00	0.000	6	0.209	0.064	2898	1965	2195	0	0	3	0	0	0
7042	0.62	146.0	411.0	11.1	732	7047	0.00	3.45	0.00	0.000	4	0.000	0.073	2898	3553	2195	0	0	3	0	0	0
7161	0.58	146.0	396.7	12.2	742	7167	0.15	3.42	0.00	0.000	6	0.202	0.066	2877	1976	2193	0	0	2	0	0	0
7485	0.66	146.0	365.3	9.5	772	7490	0.00	3.45	0.00	0.000	4	0.000	0.073	2878	3546	2193	0	0	1	0	0	0
7614	0.66	146.0	351.8	10.9	783	7620	0.00	3.40	0.00	0.000	6	0.000	0.065	2890	1990	2193	0	0	1	0	0	0
7939	0.66	146.0	320.8	9.3	813	7944	0.00	3.40	0.00	0.000	4	0.000	0.073	2890	3550	2193	0	0	3	0	0	0
8068	0.66	146.0	306.8	11.1	824	8073	0.00	3.38	0.00	0.000	6	0.000	0.065	2906	2010	2193	0	0	1	0	0	0
8394	0.66	146.0	271.8	11.3	854	8399	0.00	3.38	0.00	0.000	4	0.000	0.072	2906	3555	2193	0	0	3	0	0	0
8483	0.60	146.0	260.4	13.3	861	8490	0.15	3.35	0.00	0.000	6	0.200	0.064	2888	2014	2192	0	0	2	0	0	0
8808	0.66	146.0	226.6	10.0	892	8813	0.00	3.35	0.00	0.000	4	0.000	0.072	2887	3546	2193	0	0	3	0	0	0
8949	0.66	146.0	211.6	10.4	904	8954	0.00	3.33	0.00	0.000	6	0.000	0.064	2900	2039	2193	0	0	1	0	0	0
9273	0.66	146.0	179.6	9.2	934	9278	0.00	3.33	0.00	0.000	4	0.000	0.071	2900	3544	2193	0	0	2	0	0	0
9379	0.66	146.0	168.4	10.5	943	9384	0.00	3.28	0.00	0.000	6	0.000	0.064	2914	2053	2193	0	0	3	0	0	0
9703	0.66	146.0	137.7	9.6	973	9708	0.00	3.33	0.00	0.000	4	0.000	0.072	2914	3546	2193	0	0	2	0	0	0
9769	0.60	146.0	130.9	10.0	978	9776	0.17	3.28	0.00	0.000	6	0.200	0.064	2889	2057	2193	0	0	2	0	0	0
10095	0.75	180.1	105.1	7.7	1009	10130	0.12	3.38	27.10	0.764	4	0.120	0.071	2932	3546	2064	0	0	3	0	0	0
10215	0.68	180.1	92.6	11.3	1025	10221	0.15	3.30	0.00	0.000	6	0.200	0.064	2914	2078	2062	0	0	2	0	0	0
10558	0.84	212.4	62.7	7.8	1086	10595	0.15	3.38	27.10	0.746	4	0.114	0.072	2965	3539	1932	0	0	2	0	0	0
10720	0.76	212.4	46.2	11.3	1115	10726	0.17	3.28	0.00	0.000	6	0.194	0.065	2940	2096	1929	0	0	2	0	0	0
11064	0.84	212.4	10.1	11.3	1176	11069	0.00	3.30	0.00	0.000	4	0.000	0.075	2940	3552	1928	0	0	3	0	0	0
11150	end climb: SURFACE_DEPTH_REACHED
state	11150	begin surface coast
11161	end surface coast: CONTROL_FINISHED_OK
state	11161	begin surface