Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 335 * 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 335 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 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 31 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 -42257.414 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 -42257.414

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 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 335 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 100937,6707.311,-5704.733,24,1.7,24,-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 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101502,6707.316,-5704.755,12,1.8,12,-37.7 MHEAD_RNG_PITCHd_Wd 161.2,14502,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 551

Post-dive calculations and measurements:

FREEZE 0.57,0.039,-1.823,0,1,0 ALTIM_TOP_PING 19.6,19.2

FINISH 0.6,1.026704 ALTIM_BOTTOM_PING 450.2,118.2

SM_CCo 12105,110.88,0.705,0,0,1066,425.10 _24V_AH 22.6,63.028

SM_GC 1.34,0.00,0.00,110.88,0.000,0.000,0.705,128,2469,1066,-8.01,0.25,425.10 _10V_AH 10.1,33.366

RAFOS_CLK 745 FG_AHR_24Vo 0.000

RAFOS 0,1261137667,12.033333,12.018611,59,59,54,0,0,0,194,208,141,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.133301,-5710.066406,181209,121200,2,75,0.45 MEM 152548

IRIDIUM_FIX 6636.54,-5701.58,140399,070707 DATA_FILE_SIZE 50399,1299

TT8_MAMPS 0.027612 CAP_FILE_SIZE 149212,0

HUMID 46.45 CFSIZE 260165632,224043008

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,147,0,0

TCM_TEMP 17.00 SOUNDSPEED 1467.7

XPDR_PINGS 4 GPS 181209,134030,6707.713,-5706.383,40,1.2,40,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 290 169.99 SBE_CT 948 24 514.67

Roll_motor 164 96 359.29 SBE_O2 883 19 379.45

VBD_pump_during_apogee 330 1069 7994.91 nil 0 0 0.00

VBD_pump_during_surface 110 704 1766.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.04 nil 0 0 0.00

Iridium_during_connect 34 160 123.55 nil 0 0 0.00

Iridium_during_xfer 140 223 706.60

Transponder_ping 3 420 28.48

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.97

TT8 2179 19 438.53

LPSleep 7039 2 164.24

TT8_Active 633 19 127.49

TT8_Sampling 2266 39 913.74

TT8_CF8 423 45 196.31

TT8_Kalman 0 0 0.00

Analog_circuits 1788 12 216.72

GPS_charging 0 0 0.00

Compass 2223 8 179.65

RAFOS 2520 1 38.18

Transponder 18 30 5.70

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 0 133 0.00 0.00 -115.15 0.000 2 0.000 0.000 125 2468 3165 0 0 0 0 0 0

136 -0.73 -146.0 3.2 -4.6 23 163 11.15 2.30 -6.15 0.000 4 0.291 0.097 2444 854 3398 0 0 0 0 0 0

169 0.47 -146.0 11.5 -22.8 29 176 1.42 2.12 0.00 0.000 6 0.180 0.067 2837 2446 3400 0 0 0 0 0 0

515 -0.60 -146.0 31.5 -6.0 90 521 1.02 2.17 0.00 0.000 4 0.109 0.081 2501 861 3401 0 0 0 0 0 0

647 -0.74 -146.0 42.4 -9.1 113 653 0.15 2.38 0.00 0.000 6 0.110 0.067 2448 2584 3401 0 0 0 0 0 0

990 -0.74 -146.0 78.6 -9.7 174 996 0.00 3.05 0.00 0.000 4 0.000 0.087 2447 3922 3400 0 0 4 0 0 0

1250 -0.79 -146.0 105.1 -11.1 216 1254 0.00 2.88 0.00 0.000 6 0.000 0.064 2447 2614 3400 0 0 3 0 0 0

1574 -0.85 -146.0 137.4 -10.4 246 1579 0.00 3.00 0.00 0.000 4 0.000 0.087 2448 3924 3398 0 0 4 0 0 0

1832 -0.95 -146.0 163.6 -8.4 268 1839 0.20 2.83 0.00 0.000 6 0.102 0.062 2375 2632 3398 0 0 3 0 0 0

2157 -0.82 -146.0 198.6 -10.9 299 2162 0.20 2.97 0.00 0.000 4 0.205 0.083 2413 3929 3396 0 0 3 0 0 0

2219 -0.82 -146.0 204.7 -9.2 304 2224 0.00 2.80 0.00 0.000 6 0.000 0.061 2413 2644 3397 0 0 3 0 0 0

2543 -0.82 -146.0 235.0 -9.2 334 2548 0.00 2.92 0.00 0.000 4 0.000 0.084 2413 3920 3397 0 0 4 0 0 0

2662 -0.82 -146.0 245.6 -8.9 344 2666 0.00 2.78 0.00 0.000 6 0.000 0.059 2413 2650 3397 0 0 3 0 0 0

2986 -0.82 -146.0 272.6 -7.9 374 2991 0.00 2.90 0.00 0.000 4 0.000 0.082 2413 3923 3397 0 0 4 0 0 0

3155 -0.82 -146.0 286.6 -8.8 388 3160 0.00 2.72 0.00 0.000 6 0.000 0.058 2413 2683 3397 0 0 3 0 0 0

3479 -0.82 -146.0 312.8 -8.3 419 3484 0.00 2.85 0.00 0.000 4 0.000 0.081 2413 3918 3398 0 0 3 0 0 0

3602 -0.82 -146.0 323.3 -8.3 429 3608 0.00 2.70 0.00 0.000 6 0.000 0.057 2413 2702 3398 0 0 2 0 0 0

3926 -0.82 -146.0 349.5 -8.2 460 3931 0.00 2.83 0.00 0.000 4 0.000 0.081 2413 3923 3399 0 0 3 0 0 0

4071 -0.82 -146.0 362.2 -8.9 472 4077 0.00 2.67 0.00 0.000 6 0.000 0.056 2413 2710 3399 0 0 3 0 0 0

4396 -0.82 -146.0 389.4 -8.4 503 4401 0.00 2.80 0.00 0.000 4 0.000 0.080 2413 3918 3400 0 0 3 0 0 0

4552 -0.82 -146.0 402.1 -8.4 516 4557 0.00 2.62 0.00 0.000 6 0.000 0.055 2413 2735 3400 0 0 3 0 0 0

4876 -0.82 -146.0 426.7 -7.8 547 4881 0.00 2.78 0.00 0.000 4 0.000 0.080 2413 3926 3400 0 0 3 0 0 0

5038 -0.82 -146.0 440.1 -8.0 561 5043 0.00 2.58 0.00 0.000 6 0.000 0.055 2413 2760 3401 0 0 3 0 0 0

5363 -0.82 -146.0 464.6 -7.3 591 5367 0.00 2.72 0.00 0.000 4 0.000 0.080 2413 3921 3401 0 0 2 0 0 0

5498 -0.82 -146.0 474.8 -7.3 602 5503 0.00 2.53 0.00 0.000 6 0.000 0.055 2413 2775 3402 0 0 3 0 0 0

5824 -0.82 -146.0 500.7 -8.6 633 5829 0.00 2.67 0.00 0.000 4 0.000 0.080 2413 3923 3402 0 0 3 0 0 0

5919 -0.82 -146.0 509.3 -9.0 641 5924 0.00 2.50 0.00 0.000 6 0.000 0.054 2413 2783 3402 0 0 3 0 0 0

6244 -0.82 -146.0 536.2 -7.6 671 6248 0.00 2.62 0.00 0.000 4 0.000 0.080 2413 3917 3402 0 0 4 0 0 0

6332 -0.82 -146.0 543.3 -8.5 678 6338 0.00 2.50 0.00 0.000 6 0.000 0.055 2413 2789 3402 0 0 3 0 0 0

6442 end dive: TARGET_DEPTH_EXCEEDED

state 6442 begin apogee

6449 -0.16 0.0 551.7 8.2 689 6576 0.77 0.00 121.65 1.070 6 0.181 0.000 2627 1944 2800 0 0 0 0 0 0

6576 end apogee: CONTROL_FINISHED_OK

state 6577 begin climb

6578 0.73 146.0 553.2 0.0 702 6716 0.95 3.83 124.93 1.023 4 0.120 0.069 2918 3540 2201 0 0 4 0 0 0

6727 0.62 146.0 541.9 12.9 716 6734 0.20 3.72 0.00 0.000 6 0.198 0.064 2892 1955 2199 0 0 5 0 0 0

7052 0.62 146.0 506.0 10.8 747 7057 0.00 3.55 0.00 0.000 4 0.000 0.072 2892 3552 2195 0 0 4 0 0 0

7181 0.62 146.0 490.7 12.0 758 7186 0.00 3.55 0.00 0.000 6 0.000 0.066 2906 1951 2193 0 0 1 0 0 0

7505 0.62 146.0 454.6 11.2 788 7511 0.00 3.50 0.00 0.000 4 0.000 0.074 2906 3549 2193 0 0 4 0 0 0

7612 0.53 146.0 441.6 12.5 797 7619 0.22 3.47 0.00 0.000 6 0.196 0.066 2868 1970 2193 0 0 2 0 0 0

7937 0.63 146.0 411.0 9.6 827 7942 0.00 3.47 0.00 0.000 4 0.000 0.073 2868 3547 2192 0 0 3 0 0 0

8084 0.63 146.0 395.5 11.0 839 8090 0.00 3.42 0.00 0.000 6 0.000 0.065 2881 1987 2192 0 0 2 0 0 0

8408 0.71 146.0 363.6 9.8 870 8414 0.10 3.42 0.00 0.000 4 0.121 0.074 2921 3548 2192 0 0 4 0 0 0

8545 0.59 146.0 346.6 13.5 881 8551 0.20 3.42 0.00 0.000 6 0.202 0.066 2888 2009 2192 0 0 1 0 0 0

8868 0.59 146.0 314.7 9.4 912 8874 0.00 3.40 0.00 0.000 4 0.000 0.073 2887 3549 2192 0 0 4 0 0 0

9010 0.59 146.0 299.5 10.8 924 9015 0.00 3.40 0.00 0.000 6 0.000 0.065 2901 2026 2192 0 0 1 0 0 0

9334 0.59 146.0 266.0 10.1 954 9339 0.00 3.40 0.00 0.000 4 0.000 0.074 2901 3550 2192 0 0 3 0 0 0

9435 0.54 146.0 255.2 11.1 962 9442 0.20 3.35 0.00 0.000 6 0.196 0.065 2869 2049 2192 0 0 2 0 0 0

9761 0.68 157.9 228.4 8.7 993 9777 0.12 3.38 9.25 0.777 4 0.120 0.073 2912 3547 2155 0 0 2 0 0 0

9917 0.63 157.9 209.5 12.0 1006 9923 0.12 3.30 0.00 0.000 6 0.204 0.065 2901 2075 2154 0 0 2 0 0 0

10241 0.63 157.9 173.4 11.3 1037 10246 0.00 3.33 0.00 0.000 4 0.000 0.073 2901 3548 2155 0 0 3 0 0 0

10376 0.63 157.9 157.1 13.0 1048 10382 0.00 3.25 0.00 0.000 6 0.000 0.064 2913 2102 2154 0 0 3 0 0 0

10700 0.64 166.4 123.8 8.8 1079 10715 0.00 3.30 8.80 0.719 4 0.000 0.073 2913 3546 2120 0 0 2 0 0 0

10765 0.64 166.4 117.8 10.0 1084 10771 0.00 3.22 0.00 0.000 6 0.000 0.064 2928 2115 2119 0 0 3 0 0 0

11098 0.71 171.7 89.6 8.9 1125 11114 0.00 3.25 6.15 0.655 4 0.000 0.072 2927 3551 2098 0 0 4 0 0 0

11211 0.71 171.7 78.6 10.1 1145 11217 0.00 3.28 0.00 0.000 6 0.000 0.064 2942 2116 2098 0 0 1 0 0 0

11555 0.72 183.3 46.3 8.7 1206 11576 0.00 3.25 11.23 0.719 4 0.000 0.073 2942 3545 2050 0 0 4 0 0 0

11651 0.67 183.3 36.9 10.7 1223 11657 0.20 3.25 0.00 0.000 6 0.198 0.065 2910 2125 2048 0 0 2 0 0 0

11995 0.87 242.7 9.2 6.7 1284 12055 0.20 3.40 48.62 0.742 4 0.104 0.075 2978 3551 1808 0 0 4 0 0 0

12067 end climb: SURFACE_DEPTH_REACHED

state 12067 begin surface coast

12085 end surface coast: CONTROL_FINISHED_OK

state 12085 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	335	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	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	31	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	-42257.414	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	100937,6707.311,-5704.733,24,1.7,24,-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	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101502,6707.316,-5704.755,12,1.8,12,-37.7	MHEAD_RNG_PITCHd_Wd	161.2,14502,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	551

FREEZE	0.57,0.039,-1.823,0,1,0	ALTIM_TOP_PING	19.6,19.2
FINISH	0.6,1.026704	ALTIM_BOTTOM_PING	450.2,118.2
SM_CCo	12105,110.88,0.705,0,0,1066,425.10	_24V_AH	22.6,63.028
SM_GC	1.34,0.00,0.00,110.88,0.000,0.000,0.705,128,2469,1066,-8.01,0.25,425.10	_10V_AH	10.1,33.366
RAFOS_CLK	745	FG_AHR_24Vo	0.000
RAFOS	0,1261137667,12.033333,12.018611,59,59,54,0,0,0,194,208,141,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.133301,-5710.066406,181209,121200,2,75,0.45	MEM	152548
IRIDIUM_FIX	6636.54,-5701.58,140399,070707	DATA_FILE_SIZE	50399,1299
TT8_MAMPS	0.027612	CAP_FILE_SIZE	149212,0
HUMID	46.45	CFSIZE	260165632,224043008
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,147,0,0
TCM_TEMP	17.00	SOUNDSPEED	1467.7
XPDR_PINGS	4	GPS	181209,134030,6707.713,-5706.383,40,1.2,40,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	290	169.99	SBE_CT	948	24	514.67
Roll_motor	164	96	359.29	SBE_O2	883	19	379.45
VBD_pump_during_apogee	330	1069	7994.91	nil	0	0	0.00
VBD_pump_during_surface	110	704	1766.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.04	nil	0	0	0.00
Iridium_during_connect	34	160	123.55	nil	0	0	0.00
Iridium_during_xfer	140	223	706.60
Transponder_ping	3	420	28.48
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.97
TT8	2179	19	438.53
LPSleep	7039	2	164.24
TT8_Active	633	19	127.49
TT8_Sampling	2266	39	913.74
TT8_CF8	423	45	196.31
TT8_Kalman	0	0	0.00
Analog_circuits	1788	12	216.72
GPS_charging	0	0	0.00
Compass	2223	8	179.65
RAFOS	2520	1	38.18
Transponder	18	30	5.70

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	133	0.00	0.00	-115.15	0.000	2	0.000	0.000	125	2468	3165	0	0	0	0	0	0
136	-0.73	-146.0	3.2	-4.6	23	163	11.15	2.30	-6.15	0.000	4	0.291	0.097	2444	854	3398	0	0	0	0	0	0
169	0.47	-146.0	11.5	-22.8	29	176	1.42	2.12	0.00	0.000	6	0.180	0.067	2837	2446	3400	0	0	0	0	0	0
515	-0.60	-146.0	31.5	-6.0	90	521	1.02	2.17	0.00	0.000	4	0.109	0.081	2501	861	3401	0	0	0	0	0	0
647	-0.74	-146.0	42.4	-9.1	113	653	0.15	2.38	0.00	0.000	6	0.110	0.067	2448	2584	3401	0	0	0	0	0	0
990	-0.74	-146.0	78.6	-9.7	174	996	0.00	3.05	0.00	0.000	4	0.000	0.087	2447	3922	3400	0	0	4	0	0	0
1250	-0.79	-146.0	105.1	-11.1	216	1254	0.00	2.88	0.00	0.000	6	0.000	0.064	2447	2614	3400	0	0	3	0	0	0
1574	-0.85	-146.0	137.4	-10.4	246	1579	0.00	3.00	0.00	0.000	4	0.000	0.087	2448	3924	3398	0	0	4	0	0	0
1832	-0.95	-146.0	163.6	-8.4	268	1839	0.20	2.83	0.00	0.000	6	0.102	0.062	2375	2632	3398	0	0	3	0	0	0
2157	-0.82	-146.0	198.6	-10.9	299	2162	0.20	2.97	0.00	0.000	4	0.205	0.083	2413	3929	3396	0	0	3	0	0	0
2219	-0.82	-146.0	204.7	-9.2	304	2224	0.00	2.80	0.00	0.000	6	0.000	0.061	2413	2644	3397	0	0	3	0	0	0
2543	-0.82	-146.0	235.0	-9.2	334	2548	0.00	2.92	0.00	0.000	4	0.000	0.084	2413	3920	3397	0	0	4	0	0	0
2662	-0.82	-146.0	245.6	-8.9	344	2666	0.00	2.78	0.00	0.000	6	0.000	0.059	2413	2650	3397	0	0	3	0	0	0
2986	-0.82	-146.0	272.6	-7.9	374	2991	0.00	2.90	0.00	0.000	4	0.000	0.082	2413	3923	3397	0	0	4	0	0	0
3155	-0.82	-146.0	286.6	-8.8	388	3160	0.00	2.72	0.00	0.000	6	0.000	0.058	2413	2683	3397	0	0	3	0	0	0
3479	-0.82	-146.0	312.8	-8.3	419	3484	0.00	2.85	0.00	0.000	4	0.000	0.081	2413	3918	3398	0	0	3	0	0	0
3602	-0.82	-146.0	323.3	-8.3	429	3608	0.00	2.70	0.00	0.000	6	0.000	0.057	2413	2702	3398	0	0	2	0	0	0
3926	-0.82	-146.0	349.5	-8.2	460	3931	0.00	2.83	0.00	0.000	4	0.000	0.081	2413	3923	3399	0	0	3	0	0	0
4071	-0.82	-146.0	362.2	-8.9	472	4077	0.00	2.67	0.00	0.000	6	0.000	0.056	2413	2710	3399	0	0	3	0	0	0
4396	-0.82	-146.0	389.4	-8.4	503	4401	0.00	2.80	0.00	0.000	4	0.000	0.080	2413	3918	3400	0	0	3	0	0	0
4552	-0.82	-146.0	402.1	-8.4	516	4557	0.00	2.62	0.00	0.000	6	0.000	0.055	2413	2735	3400	0	0	3	0	0	0
4876	-0.82	-146.0	426.7	-7.8	547	4881	0.00	2.78	0.00	0.000	4	0.000	0.080	2413	3926	3400	0	0	3	0	0	0
5038	-0.82	-146.0	440.1	-8.0	561	5043	0.00	2.58	0.00	0.000	6	0.000	0.055	2413	2760	3401	0	0	3	0	0	0
5363	-0.82	-146.0	464.6	-7.3	591	5367	0.00	2.72	0.00	0.000	4	0.000	0.080	2413	3921	3401	0	0	2	0	0	0
5498	-0.82	-146.0	474.8	-7.3	602	5503	0.00	2.53	0.00	0.000	6	0.000	0.055	2413	2775	3402	0	0	3	0	0	0
5824	-0.82	-146.0	500.7	-8.6	633	5829	0.00	2.67	0.00	0.000	4	0.000	0.080	2413	3923	3402	0	0	3	0	0	0
5919	-0.82	-146.0	509.3	-9.0	641	5924	0.00	2.50	0.00	0.000	6	0.000	0.054	2413	2783	3402	0	0	3	0	0	0
6244	-0.82	-146.0	536.2	-7.6	671	6248	0.00	2.62	0.00	0.000	4	0.000	0.080	2413	3917	3402	0	0	4	0	0	0
6332	-0.82	-146.0	543.3	-8.5	678	6338	0.00	2.50	0.00	0.000	6	0.000	0.055	2413	2789	3402	0	0	3	0	0	0
6442	end dive: TARGET_DEPTH_EXCEEDED
state	6442	begin apogee
6449	-0.16	0.0	551.7	8.2	689	6576	0.77	0.00	121.65	1.070	6	0.181	0.000	2627	1944	2800	0	0	0	0	0	0
6576	end apogee: CONTROL_FINISHED_OK
state	6577	begin climb
6578	0.73	146.0	553.2	0.0	702	6716	0.95	3.83	124.93	1.023	4	0.120	0.069	2918	3540	2201	0	0	4	0	0	0
6727	0.62	146.0	541.9	12.9	716	6734	0.20	3.72	0.00	0.000	6	0.198	0.064	2892	1955	2199	0	0	5	0	0	0
7052	0.62	146.0	506.0	10.8	747	7057	0.00	3.55	0.00	0.000	4	0.000	0.072	2892	3552	2195	0	0	4	0	0	0
7181	0.62	146.0	490.7	12.0	758	7186	0.00	3.55	0.00	0.000	6	0.000	0.066	2906	1951	2193	0	0	1	0	0	0
7505	0.62	146.0	454.6	11.2	788	7511	0.00	3.50	0.00	0.000	4	0.000	0.074	2906	3549	2193	0	0	4	0	0	0
7612	0.53	146.0	441.6	12.5	797	7619	0.22	3.47	0.00	0.000	6	0.196	0.066	2868	1970	2193	0	0	2	0	0	0
7937	0.63	146.0	411.0	9.6	827	7942	0.00	3.47	0.00	0.000	4	0.000	0.073	2868	3547	2192	0	0	3	0	0	0
8084	0.63	146.0	395.5	11.0	839	8090	0.00	3.42	0.00	0.000	6	0.000	0.065	2881	1987	2192	0	0	2	0	0	0
8408	0.71	146.0	363.6	9.8	870	8414	0.10	3.42	0.00	0.000	4	0.121	0.074	2921	3548	2192	0	0	4	0	0	0
8545	0.59	146.0	346.6	13.5	881	8551	0.20	3.42	0.00	0.000	6	0.202	0.066	2888	2009	2192	0	0	1	0	0	0
8868	0.59	146.0	314.7	9.4	912	8874	0.00	3.40	0.00	0.000	4	0.000	0.073	2887	3549	2192	0	0	4	0	0	0
9010	0.59	146.0	299.5	10.8	924	9015	0.00	3.40	0.00	0.000	6	0.000	0.065	2901	2026	2192	0	0	1	0	0	0
9334	0.59	146.0	266.0	10.1	954	9339	0.00	3.40	0.00	0.000	4	0.000	0.074	2901	3550	2192	0	0	3	0	0	0
9435	0.54	146.0	255.2	11.1	962	9442	0.20	3.35	0.00	0.000	6	0.196	0.065	2869	2049	2192	0	0	2	0	0	0
9761	0.68	157.9	228.4	8.7	993	9777	0.12	3.38	9.25	0.777	4	0.120	0.073	2912	3547	2155	0	0	2	0	0	0
9917	0.63	157.9	209.5	12.0	1006	9923	0.12	3.30	0.00	0.000	6	0.204	0.065	2901	2075	2154	0	0	2	0	0	0
10241	0.63	157.9	173.4	11.3	1037	10246	0.00	3.33	0.00	0.000	4	0.000	0.073	2901	3548	2155	0	0	3	0	0	0
10376	0.63	157.9	157.1	13.0	1048	10382	0.00	3.25	0.00	0.000	6	0.000	0.064	2913	2102	2154	0	0	3	0	0	0
10700	0.64	166.4	123.8	8.8	1079	10715	0.00	3.30	8.80	0.719	4	0.000	0.073	2913	3546	2120	0	0	2	0	0	0
10765	0.64	166.4	117.8	10.0	1084	10771	0.00	3.22	0.00	0.000	6	0.000	0.064	2928	2115	2119	0	0	3	0	0	0
11098	0.71	171.7	89.6	8.9	1125	11114	0.00	3.25	6.15	0.655	4	0.000	0.072	2927	3551	2098	0	0	4	0	0	0
11211	0.71	171.7	78.6	10.1	1145	11217	0.00	3.28	0.00	0.000	6	0.000	0.064	2942	2116	2098	0	0	1	0	0	0
11555	0.72	183.3	46.3	8.7	1206	11576	0.00	3.25	11.23	0.719	4	0.000	0.073	2942	3545	2050	0	0	4	0	0	0
11651	0.67	183.3	36.9	10.7	1223	11657	0.20	3.25	0.00	0.000	6	0.198	0.065	2910	2125	2048	0	0	2	0	0	0
11995	0.87	242.7	9.2	6.7	1284	12055	0.20	3.40	48.62	0.742	4	0.104	0.075	2978	3551	1808	0	0	4	0	0	0
12067	end climb: SURFACE_DEPTH_REACHED
state	12067	begin surface coast
12085	end surface coast: CONTROL_FINISHED_OK
state	12085	begin surface