Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 333 * 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 333 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 19 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 -42226.016 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 -42226.016

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 19 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 333 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 035107,6708.590,-5703.938,29,1.0,29,-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 1.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 035614,6708.620,-5704.007,12,1.0,12,-37.7 MHEAD_RNG_PITCHd_Wd 169.7,15554,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 488

Post-dive calculations and measurements:

FREEZE 0.59,0.050,-1.007,0,1,0 ALTIM_TOP_PING 19.9,19.2

FINISH 0.6,1.014879 ALTIM_BOTTOM_PING 400.3,123.3

SM_CCo 10771,115.47,0.709,0,0,1065,425.10 _24V_AH 22.8,62.783

SM_GC 1.28,0.00,0.00,115.47,0.000,0.000,0.709,125,2469,1065,-8.02,0.25,425.10 _10V_AH 10.1,33.223

RAFOS_CLK 654 FG_AHR_24Vo 0.000

RAFOS 0,1261108861,4.033333,4.016944,56,55,53,0,0,0,201,168,219,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.091309,-5709.041992,181209,040456,2,94,1.23 MEM 152532

IRIDIUM_FIX 6636.54,-5704.59,140399,000006 DATA_FILE_SIZE 44145,1159

TT8_MAMPS 0.026078 CAP_FILE_SIZE 134195,0

HUMID 46.69 CFSIZE 260165632,224206848

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,111,0,0

TCM_TEMP 17.30 SOUNDSPEED 1468.2

XPDR_PINGS 2 GPS 181209,065931,6708.114,-5704.704,38,1.1,38,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 288 156.82 SBE_CT 845 24 462.74

Roll_motor 139 96 307.60 SBE_O2 788 19 341.42

VBD_pump_during_apogee 314 1024 7354.81 nil 0 0 0.00

VBD_pump_during_surface 115 709 1867.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.85 nil 0 0 0.00

Iridium_during_connect 31 160 115.04 nil 0 0 0.00

Iridium_during_xfer 129 223 659.12

Transponder_ping 1 420 16.76

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.83

TT8 1973 19 396.96

LPSleep 6189 2 144.41

TT8_Active 583 19 117.40

TT8_Sampling 2066 39 833.10

TT8_CF8 383 45 177.83

TT8_Kalman 0 0 0.00

Analog_circuits 1640 12 198.86

GPS_charging 0 0 0.00

Compass 2029 8 164.00

RAFOS 2520 1 38.18

Transponder 10 30 3.31

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 0 128 0.00 0.00 -110.43 0.000 2 0.000 0.000 121 2459 3069 0 0 0 0 0 0

132 -0.73 -146.0 3.1 -5.0 22 158 11.10 2.22 -9.15 0.000 4 0.288 0.097 2445 857 3397 0 0 0 0 0 0

282 -0.73 -146.0 24.1 -11.8 49 288 0.00 2.12 0.00 0.000 6 0.000 0.067 2446 2457 3400 0 0 0 0 0 0

624 -0.73 -146.0 59.4 -9.9 110 630 0.00 3.33 0.00 0.000 4 0.000 0.086 2445 3927 3400 0 0 3 0 0 0

878 -0.73 -146.0 85.8 -10.4 155 884 0.00 3.10 0.00 0.000 6 0.000 0.064 2445 2496 3400 0 0 3 0 0 0

1212 -0.78 -146.0 118.4 -9.1 198 1217 0.00 3.22 0.00 0.000 4 0.000 0.086 2446 3917 3399 0 0 3 0 0 0

1413 -0.85 -146.0 135.6 -7.8 215 1419 0.00 3.03 0.00 0.000 6 0.000 0.063 2446 2526 3397 0 0 3 0 0 0

1738 -0.92 -146.0 161.1 -7.9 246 1744 0.17 3.17 0.00 0.000 4 0.110 0.083 2373 3922 3396 0 0 3 0 0 0

1929 -0.77 -146.0 182.7 -11.0 262 1935 0.25 2.95 0.00 0.000 6 0.199 0.061 2433 2562 3396 0 0 3 0 0 0

2254 -0.83 -146.0 207.0 -7.5 293 2259 0.00 3.08 0.00 0.000 4 0.000 0.083 2433 3926 3396 0 0 4 0 0 0

2478 -0.89 -146.0 224.4 -7.7 312 2483 0.00 2.85 0.00 0.000 6 0.000 0.058 2433 2603 3396 0 0 3 0 0 0

2803 -0.95 -146.0 249.4 -7.8 343 2808 0.15 3.00 0.00 0.000 4 0.114 0.080 2373 3928 3396 0 0 4 0 0 0

3061 -0.83 -146.0 275.9 -10.7 365 3068 0.20 2.78 0.00 0.000 6 0.196 0.057 2420 2639 3397 0 0 3 0 0 0

3386 -0.83 -146.0 304.7 -8.5 396 3391 0.00 2.90 0.00 0.000 4 0.000 0.080 2420 3922 3397 0 0 3 0 0 0

3508 -0.83 -146.0 315.1 -8.8 406 3514 0.00 2.75 0.00 0.000 6 0.000 0.057 2421 2650 3397 0 0 3 0 0 0

3835 -0.83 -146.0 339.3 -7.1 437 3840 0.00 2.90 0.00 0.000 4 0.000 0.080 2420 3930 3398 0 0 3 0 0 0

4019 -0.83 -146.0 352.6 -6.8 453 4024 0.00 2.70 0.00 0.000 6 0.000 0.056 2421 2677 3398 0 0 3 0 0 0

4344 -0.83 -146.0 372.9 -6.3 483 4348 0.00 2.85 0.00 0.000 4 0.000 0.079 2421 3922 3399 0 0 2 0 0 0

4518 -0.89 -146.0 384.7 -7.1 498 4522 0.00 2.70 0.00 0.000 6 0.000 0.054 2421 2701 3399 0 0 1 0 0 0

4843 -0.94 -146.0 408.1 -7.4 528 4847 0.00 2.80 0.00 0.000 4 0.000 0.079 2420 3924 3400 0 0 3 0 0 0

4989 -0.99 -146.0 419.6 -7.9 540 4995 0.15 2.60 0.00 0.000 6 0.110 0.054 2368 2734 3400 0 0 3 0 0 0

5314 -0.86 -146.0 451.6 -10.3 571 5319 0.17 2.75 0.00 0.000 4 0.197 0.079 2410 3921 3400 0 0 4 0 0 0

5392 -0.86 -146.0 458.7 -8.5 577 5398 0.00 2.60 0.00 0.000 6 0.000 0.054 2410 2743 3400 0 0 2 0 0 0

5717 -0.86 -146.0 485.0 -7.9 608 5722 0.00 2.72 0.00 0.000 4 0.000 0.080 2410 3928 3401 0 0 4 0 0 0

5754 end dive: TARGET_DEPTH_EXCEEDED

state 5754 begin apogee

5763 -0.16 0.0 488.2 8.5 611 5889 0.77 0.00 120.10 1.025 6 0.172 0.000 2630 1933 2799 0 0 0 0 0 0

5890 end apogee: CONTROL_FINISHED_OK

state 5890 begin climb

5892 0.73 146.0 490.0 0.0 624 6026 0.93 2.17 122.50 0.982 4 0.123 0.083 2922 362 2202 0 0 0 0 0 0

6060 0.65 146.0 475.7 12.1 640 6064 0.00 2.03 0.00 0.000 6 0.000 0.054 2921 1963 2199 0 0 0 0 0 0

6391 0.59 146.0 435.4 12.1 671 6397 0.17 3.45 0.00 0.000 4 0.199 0.071 2880 3529 2195 0 0 3 0 0 0

6543 0.59 146.0 418.5 11.1 684 6548 0.00 3.42 0.00 0.000 6 0.000 0.066 2894 1959 2194 0 0 3 0 0 0

6867 0.59 146.0 387.0 9.2 714 6872 0.00 3.45 0.00 0.000 4 0.000 0.073 2894 3539 2194 0 0 3 0 0 0

7001 0.59 146.0 372.6 10.8 725 7007 0.00 3.38 0.00 0.000 6 0.000 0.066 2909 1988 2192 0 0 3 0 0 0

7325 0.59 146.0 337.5 11.3 756 7330 0.00 3.40 0.00 0.000 4 0.000 0.073 2909 3536 2193 0 0 3 0 0 0

7421 0.52 146.0 326.1 12.2 764 7428 0.25 3.40 0.00 0.000 6 0.195 0.066 2863 1996 2192 0 0 1 0 0 0

7747 0.65 151.6 296.8 8.9 794 7759 0.12 3.40 4.32 0.634 4 0.118 0.073 2906 3530 2181 0 0 2 0 0 0

7883 0.59 151.6 280.3 13.1 806 7889 0.17 3.35 0.00 0.000 6 0.195 0.065 2881 2020 2181 0 0 1 0 0 0

8208 0.68 153.6 250.1 9.1 836 8213 0.00 3.33 0.00 0.000 4 0.000 0.072 2881 3530 2180 0 0 3 0 0 0

8307 0.68 153.6 240.2 9.8 844 8314 0.00 3.33 0.00 0.000 6 0.000 0.064 2893 2023 2180 0 0 2 0 0 0

8633 0.74 166.2 212.2 8.6 875 8655 0.10 3.35 13.60 0.804 4 0.121 0.072 2934 3535 2121 0 0 3 0 0 0

8768 0.62 166.2 196.1 12.2 887 8774 0.25 3.33 0.00 0.000 6 0.201 0.064 2889 2050 2120 0 0 1 0 0 0

9092 0.70 166.2 164.8 9.8 917 9097 0.00 3.33 0.00 0.000 4 0.000 0.071 2889 3531 2119 0 0 2 0 0 0

9239 0.70 166.2 149.3 11.5 929 9244 0.00 3.28 0.00 0.000 6 0.000 0.064 2902 2060 2119 0 0 2 0 0 0

9563 0.77 166.2 115.3 10.0 960 9569 0.10 3.35 0.00 0.000 4 0.120 0.072 2944 3537 2119 0 0 2 0 0 0

9750 0.68 166.2 92.8 11.4 981 9757 0.20 3.25 0.00 0.000 6 0.197 0.064 2911 2098 2119 0 0 1 0 0 0

10097 0.86 232.4 69.6 6.4 1042 10159 0.17 3.33 54.28 0.753 4 0.107 0.073 2971 3540 1850 0 0 3 0 0 0

10317 0.79 232.4 44.7 13.0 1082 10323 0.17 3.28 0.00 0.000 6 0.195 0.065 2946 2115 1846 0 0 1 0 0 0

10661 0.85 232.4 9.7 9.9 1143 10666 0.00 3.25 0.00 0.000 4 0.000 0.075 2945 3537 1843 0 0 3 0 0 0

10735 end climb: SURFACE_DEPTH_REACHED

state 10735 begin surface coast

10752 end surface coast: CONTROL_FINISHED_OK

state 10752 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	333	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	19	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	-42226.016	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	035107,6708.590,-5703.938,29,1.0,29,-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	1.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	035614,6708.620,-5704.007,12,1.0,12,-37.7	MHEAD_RNG_PITCHd_Wd	169.7,15554,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	488

FREEZE	0.59,0.050,-1.007,0,1,0	ALTIM_TOP_PING	19.9,19.2
FINISH	0.6,1.014879	ALTIM_BOTTOM_PING	400.3,123.3
SM_CCo	10771,115.47,0.709,0,0,1065,425.10	_24V_AH	22.8,62.783
SM_GC	1.28,0.00,0.00,115.47,0.000,0.000,0.709,125,2469,1065,-8.02,0.25,425.10	_10V_AH	10.1,33.223
RAFOS_CLK	654	FG_AHR_24Vo	0.000
RAFOS	0,1261108861,4.033333,4.016944,56,55,53,0,0,0,201,168,219,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.091309,-5709.041992,181209,040456,2,94,1.23	MEM	152532
IRIDIUM_FIX	6636.54,-5704.59,140399,000006	DATA_FILE_SIZE	44145,1159
TT8_MAMPS	0.026078	CAP_FILE_SIZE	134195,0
HUMID	46.69	CFSIZE	260165632,224206848
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,111,0,0
TCM_TEMP	17.30	SOUNDSPEED	1468.2
XPDR_PINGS	2	GPS	181209,065931,6708.114,-5704.704,38,1.1,38,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	288	156.82	SBE_CT	845	24	462.74
Roll_motor	139	96	307.60	SBE_O2	788	19	341.42
VBD_pump_during_apogee	314	1024	7354.81	nil	0	0	0.00
VBD_pump_during_surface	115	709	1867.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.85	nil	0	0	0.00
Iridium_during_connect	31	160	115.04	nil	0	0	0.00
Iridium_during_xfer	129	223	659.12
Transponder_ping	1	420	16.76
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.83
TT8	1973	19	396.96
LPSleep	6189	2	144.41
TT8_Active	583	19	117.40
TT8_Sampling	2066	39	833.10
TT8_CF8	383	45	177.83
TT8_Kalman	0	0	0.00
Analog_circuits	1640	12	198.86
GPS_charging	0	0	0.00
Compass	2029	8	164.00
RAFOS	2520	1	38.18
Transponder	10	30	3.31

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	128	0.00	0.00	-110.43	0.000	2	0.000	0.000	121	2459	3069	0	0	0	0	0	0
132	-0.73	-146.0	3.1	-5.0	22	158	11.10	2.22	-9.15	0.000	4	0.288	0.097	2445	857	3397	0	0	0	0	0	0
282	-0.73	-146.0	24.1	-11.8	49	288	0.00	2.12	0.00	0.000	6	0.000	0.067	2446	2457	3400	0	0	0	0	0	0
624	-0.73	-146.0	59.4	-9.9	110	630	0.00	3.33	0.00	0.000	4	0.000	0.086	2445	3927	3400	0	0	3	0	0	0
878	-0.73	-146.0	85.8	-10.4	155	884	0.00	3.10	0.00	0.000	6	0.000	0.064	2445	2496	3400	0	0	3	0	0	0
1212	-0.78	-146.0	118.4	-9.1	198	1217	0.00	3.22	0.00	0.000	4	0.000	0.086	2446	3917	3399	0	0	3	0	0	0
1413	-0.85	-146.0	135.6	-7.8	215	1419	0.00	3.03	0.00	0.000	6	0.000	0.063	2446	2526	3397	0	0	3	0	0	0
1738	-0.92	-146.0	161.1	-7.9	246	1744	0.17	3.17	0.00	0.000	4	0.110	0.083	2373	3922	3396	0	0	3	0	0	0
1929	-0.77	-146.0	182.7	-11.0	262	1935	0.25	2.95	0.00	0.000	6	0.199	0.061	2433	2562	3396	0	0	3	0	0	0
2254	-0.83	-146.0	207.0	-7.5	293	2259	0.00	3.08	0.00	0.000	4	0.000	0.083	2433	3926	3396	0	0	4	0	0	0
2478	-0.89	-146.0	224.4	-7.7	312	2483	0.00	2.85	0.00	0.000	6	0.000	0.058	2433	2603	3396	0	0	3	0	0	0
2803	-0.95	-146.0	249.4	-7.8	343	2808	0.15	3.00	0.00	0.000	4	0.114	0.080	2373	3928	3396	0	0	4	0	0	0
3061	-0.83	-146.0	275.9	-10.7	365	3068	0.20	2.78	0.00	0.000	6	0.196	0.057	2420	2639	3397	0	0	3	0	0	0
3386	-0.83	-146.0	304.7	-8.5	396	3391	0.00	2.90	0.00	0.000	4	0.000	0.080	2420	3922	3397	0	0	3	0	0	0
3508	-0.83	-146.0	315.1	-8.8	406	3514	0.00	2.75	0.00	0.000	6	0.000	0.057	2421	2650	3397	0	0	3	0	0	0
3835	-0.83	-146.0	339.3	-7.1	437	3840	0.00	2.90	0.00	0.000	4	0.000	0.080	2420	3930	3398	0	0	3	0	0	0
4019	-0.83	-146.0	352.6	-6.8	453	4024	0.00	2.70	0.00	0.000	6	0.000	0.056	2421	2677	3398	0	0	3	0	0	0
4344	-0.83	-146.0	372.9	-6.3	483	4348	0.00	2.85	0.00	0.000	4	0.000	0.079	2421	3922	3399	0	0	2	0	0	0
4518	-0.89	-146.0	384.7	-7.1	498	4522	0.00	2.70	0.00	0.000	6	0.000	0.054	2421	2701	3399	0	0	1	0	0	0
4843	-0.94	-146.0	408.1	-7.4	528	4847	0.00	2.80	0.00	0.000	4	0.000	0.079	2420	3924	3400	0	0	3	0	0	0
4989	-0.99	-146.0	419.6	-7.9	540	4995	0.15	2.60	0.00	0.000	6	0.110	0.054	2368	2734	3400	0	0	3	0	0	0
5314	-0.86	-146.0	451.6	-10.3	571	5319	0.17	2.75	0.00	0.000	4	0.197	0.079	2410	3921	3400	0	0	4	0	0	0
5392	-0.86	-146.0	458.7	-8.5	577	5398	0.00	2.60	0.00	0.000	6	0.000	0.054	2410	2743	3400	0	0	2	0	0	0
5717	-0.86	-146.0	485.0	-7.9	608	5722	0.00	2.72	0.00	0.000	4	0.000	0.080	2410	3928	3401	0	0	4	0	0	0
5754	end dive: TARGET_DEPTH_EXCEEDED
state	5754	begin apogee
5763	-0.16	0.0	488.2	8.5	611	5889	0.77	0.00	120.10	1.025	6	0.172	0.000	2630	1933	2799	0	0	0	0	0	0
5890	end apogee: CONTROL_FINISHED_OK
state	5890	begin climb
5892	0.73	146.0	490.0	0.0	624	6026	0.93	2.17	122.50	0.982	4	0.123	0.083	2922	362	2202	0	0	0	0	0	0
6060	0.65	146.0	475.7	12.1	640	6064	0.00	2.03	0.00	0.000	6	0.000	0.054	2921	1963	2199	0	0	0	0	0	0
6391	0.59	146.0	435.4	12.1	671	6397	0.17	3.45	0.00	0.000	4	0.199	0.071	2880	3529	2195	0	0	3	0	0	0
6543	0.59	146.0	418.5	11.1	684	6548	0.00	3.42	0.00	0.000	6	0.000	0.066	2894	1959	2194	0	0	3	0	0	0
6867	0.59	146.0	387.0	9.2	714	6872	0.00	3.45	0.00	0.000	4	0.000	0.073	2894	3539	2194	0	0	3	0	0	0
7001	0.59	146.0	372.6	10.8	725	7007	0.00	3.38	0.00	0.000	6	0.000	0.066	2909	1988	2192	0	0	3	0	0	0
7325	0.59	146.0	337.5	11.3	756	7330	0.00	3.40	0.00	0.000	4	0.000	0.073	2909	3536	2193	0	0	3	0	0	0
7421	0.52	146.0	326.1	12.2	764	7428	0.25	3.40	0.00	0.000	6	0.195	0.066	2863	1996	2192	0	0	1	0	0	0
7747	0.65	151.6	296.8	8.9	794	7759	0.12	3.40	4.32	0.634	4	0.118	0.073	2906	3530	2181	0	0	2	0	0	0
7883	0.59	151.6	280.3	13.1	806	7889	0.17	3.35	0.00	0.000	6	0.195	0.065	2881	2020	2181	0	0	1	0	0	0
8208	0.68	153.6	250.1	9.1	836	8213	0.00	3.33	0.00	0.000	4	0.000	0.072	2881	3530	2180	0	0	3	0	0	0
8307	0.68	153.6	240.2	9.8	844	8314	0.00	3.33	0.00	0.000	6	0.000	0.064	2893	2023	2180	0	0	2	0	0	0
8633	0.74	166.2	212.2	8.6	875	8655	0.10	3.35	13.60	0.804	4	0.121	0.072	2934	3535	2121	0	0	3	0	0	0
8768	0.62	166.2	196.1	12.2	887	8774	0.25	3.33	0.00	0.000	6	0.201	0.064	2889	2050	2120	0	0	1	0	0	0
9092	0.70	166.2	164.8	9.8	917	9097	0.00	3.33	0.00	0.000	4	0.000	0.071	2889	3531	2119	0	0	2	0	0	0
9239	0.70	166.2	149.3	11.5	929	9244	0.00	3.28	0.00	0.000	6	0.000	0.064	2902	2060	2119	0	0	2	0	0	0
9563	0.77	166.2	115.3	10.0	960	9569	0.10	3.35	0.00	0.000	4	0.120	0.072	2944	3537	2119	0	0	2	0	0	0
9750	0.68	166.2	92.8	11.4	981	9757	0.20	3.25	0.00	0.000	6	0.197	0.064	2911	2098	2119	0	0	1	0	0	0
10097	0.86	232.4	69.6	6.4	1042	10159	0.17	3.33	54.28	0.753	4	0.107	0.073	2971	3540	1850	0	0	3	0	0	0
10317	0.79	232.4	44.7	13.0	1082	10323	0.17	3.28	0.00	0.000	6	0.195	0.065	2946	2115	1846	0	0	1	0	0	0
10661	0.85	232.4	9.7	9.9	1143	10666	0.00	3.25	0.00	0.000	4	0.000	0.075	2945	3537	1843	0	0	3	0	0	0
10735	end climb: SURFACE_DEPTH_REACHED
state	10735	begin surface coast
10752	end surface coast: CONTROL_FINISHED_OK
state	10752	begin surface