Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 337 * 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 337 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 23 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 20 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 -42288.965 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 -42288.965

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 23 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 337 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 170025,6708.580,-5709.557,37,1.7,37,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 8 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170707,6708.594,-5709.764,8,1.4,13,-37.8 MHEAD_RNG_PITCHd_Wd 161.2,18823,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 574

Post-dive calculations and measurements:

FREEZE 1.31,-0.179,-1.826,0,1,0 ALTIM_TOP_PING 19.9,19.8

FINISH 1.3,1.026737 ALTIM_BOTTOM_PING 400.1,221.9

SM_CCo 11821,126.78,0.717,0,0,1066,425.10 _24V_AH 22.6,63.281

SM_GC 1.47,0.00,0.00,126.78,0.000,0.000,0.717,125,2464,1066,-8.02,0.11,425.10 _10V_AH 10.1,33.511

RAFOS_CLK 731 FG_AHR_24Vo 0.000

RAFOS 0,1261166461,20.033333,20.016945,67,62,62,0,0,0,209,191,167,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.912598,-5712.275879,181209,161656,2,91,0.38 MEM 152520

IRIDIUM_FIX 6636.54,-5707.59,140399,131305 DATA_FILE_SIZE 47208,1252

TT8_MAMPS 0.026845 CAP_FILE_SIZE 144738,0

HUMID 46.61 CFSIZE 260165632,223903744

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,134,0,0

TCM_TEMP 17.10 SOUNDSPEED 1468.4

XPDR_PINGS 2 GPS 181209,202801,6708.053,-5710.744,40,1.5,40,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 297 164.11 SBE_CT 914 24 495.84

Roll_motor 155 97 343.09 SBE_O2 852 19 366.17

VBD_pump_during_apogee 307 1082 7525.90 nil 0 0 0.00

VBD_pump_during_surface 126 717 2054.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 72.21 nil 0 0 0.00

Iridium_during_connect 53 160 191.80 nil 0 0 0.00

Iridium_during_xfer 195 223 983.86

Transponder_ping 1 420 16.61

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.73

TT8 2091 19 420.78

LPSleep 6921 2 161.49

TT8_Active 602 19 121.18

TT8_Sampling 2240 39 903.32

TT8_CF8 487 45 226.00

TT8_Kalman 0 0 0.00

Analog_circuits 1741 12 211.03

GPS_charging 0 0 0.00

Compass 2196 8 177.48

RAFOS 1080 1 16.36

Transponder 11 30 3.39

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 134 0.00 0.00 -115.28 0.000 2 0.000 0.000 124 2459 3172 0 0 0 0 0 0

138 -0.73 -146.0 3.6 -6.1 23 165 11.43 3.38 -5.70 0.000 4 0.298 0.097 2445 3906 3399 0 0 4 0 0 0

198 -0.73 -146.0 15.3 -10.9 34 204 0.00 3.15 0.00 0.000 6 0.000 0.062 2445 2469 3401 0 0 3 0 0 0

542 -0.73 -146.0 51.3 -10.5 95 547 0.00 3.28 0.00 0.000 4 0.000 0.084 2445 3911 3401 0 0 4 0 0 0

800 -0.73 -146.0 78.4 -10.0 141 805 0.00 3.10 0.00 0.000 6 0.000 0.064 2445 2497 3400 0 0 3 0 0 0

1138 -0.79 -146.0 111.4 -10.3 192 1143 0.00 3.22 0.00 0.000 4 0.000 0.087 2445 3913 3400 0 0 4 0 0 0

1395 -0.85 -146.0 137.9 -10.3 214 1401 0.00 3.03 0.00 0.000 6 0.000 0.064 2445 2540 3399 0 0 2 0 0 0

1721 -0.93 -146.0 168.1 -7.8 245 1727 0.17 3.15 0.00 0.000 4 0.110 0.084 2373 3922 3398 0 0 4 0 0 0

1900 -0.79 -146.0 186.4 -9.6 260 1907 0.25 2.92 0.00 0.000 6 0.202 0.061 2432 2585 3397 0 0 3 0 0 0

2227 -0.84 -146.0 206.8 -7.3 291 2232 0.00 3.05 0.00 0.000 4 0.000 0.084 2432 3924 3397 0 0 4 0 0 0

2413 -0.90 -146.0 222.8 -9.5 307 2417 0.00 2.85 0.00 0.000 6 0.000 0.060 2432 2612 3397 0 0 3 0 0 0

2737 -0.97 -146.0 252.2 -8.2 337 2743 0.17 3.03 0.00 0.000 4 0.108 0.079 2362 3924 3398 0 0 1 0 0 0

2928 -0.81 -146.0 274.1 -11.4 353 2934 0.28 2.83 0.00 0.000 6 0.199 0.058 2428 2624 3398 0 0 2 0 0 0

3253 -0.86 -146.0 300.9 -8.1 384 3258 0.00 2.92 0.00 0.000 4 0.000 0.081 2428 3922 3399 0 0 4 0 0 0

3472 -0.91 -146.0 321.2 -10.3 403 3477 0.00 2.75 0.00 0.000 6 0.000 0.056 2428 2655 3400 0 0 3 0 0 0

3797 -0.97 -146.0 353.4 -10.0 433 3803 0.17 2.90 0.00 0.000 4 0.104 0.079 2361 3921 3400 0 0 3 0 0 0

3928 -0.81 -146.0 369.6 -12.8 444 3933 0.28 2.72 0.00 0.000 6 0.194 0.056 2429 2665 3400 0 0 3 0 0 0

4255 -0.87 -146.0 400.1 -9.3 474 4260 0.00 2.85 0.00 0.000 4 0.000 0.080 2429 3914 3401 0 0 3 0 0 0

4422 -0.95 -146.0 416.4 -9.7 488 4429 0.15 2.70 0.00 0.000 6 0.109 0.055 2377 2688 3401 0 0 3 0 0 0

4749 -0.85 -146.0 450.6 -10.4 519 4754 0.15 2.85 0.00 0.000 4 0.199 0.079 2412 3920 3402 0 0 3 0 0 0

4882 -0.85 -146.0 462.7 -9.0 530 4886 0.00 2.65 0.00 0.000 6 0.000 0.055 2412 2709 3402 0 0 3 0 0 0

5206 -0.85 -146.0 492.1 -8.7 560 5211 0.00 2.80 0.00 0.000 4 0.000 0.079 2412 3923 3403 0 0 3 0 0 0

5379 -0.85 -146.0 508.0 -9.5 575 5384 0.00 2.62 0.00 0.000 6 0.000 0.055 2412 2730 3403 0 0 3 0 0 0

5706 -0.85 -146.0 535.0 -8.3 605 5710 0.00 2.78 0.00 0.000 4 0.000 0.080 2412 3927 3403 0 0 3 0 0 0

5884 -0.85 -146.0 550.9 -8.7 620 5890 0.00 2.58 0.00 0.000 6 0.000 0.054 2412 2753 3403 0 0 3 0 0 0

6166 end dive: TARGET_DEPTH_EXCEEDED

state 6166 begin apogee

6172 -0.16 0.0 574.2 7.4 647 6298 0.77 0.00 122.07 1.082 6 0.179 0.000 2627 1929 2800 0 0 0 0 0 0

6299 end apogee: CONTROL_FINISHED_OK

state 6299 begin climb

6301 0.73 146.0 576.8 0.0 660 6435 0.95 2.05 124.50 1.038 4 0.125 0.082 2924 360 2203 0 0 0 0 0 0

6469 0.64 146.0 562.6 12.5 676 6473 0.00 2.03 0.00 0.000 6 0.000 0.054 2924 1967 2201 0 0 0 0 0 0

6800 0.56 146.0 520.7 12.9 707 6806 0.20 3.47 0.00 0.000 4 0.202 0.071 2862 3530 2196 0 0 4 0 0 0

6924 0.56 146.0 506.9 11.5 717 6929 0.00 3.45 0.00 0.000 6 0.000 0.064 2875 1961 2195 0 0 3 0 0 0

7248 0.63 146.0 472.5 10.7 748 7253 0.00 3.47 0.00 0.000 4 0.000 0.072 2876 3540 2195 0 0 3 0 0 0

7401 0.63 146.0 454.8 12.4 761 7406 0.00 3.45 0.00 0.000 6 0.000 0.067 2891 1973 2193 0 0 2 0 0 0

7725 0.63 146.0 417.3 11.6 791 7730 0.00 3.42 0.00 0.000 4 0.000 0.074 2890 3532 2193 0 0 4 0 0 0

7867 0.63 146.0 399.9 12.2 803 7872 0.00 3.40 0.00 0.000 6 0.000 0.067 2906 1996 2193 0 0 2 0 0 0

8191 0.63 146.0 362.0 11.4 833 8196 0.00 3.42 0.00 0.000 4 0.000 0.073 2906 3542 2193 0 0 3 0 0 0

8269 0.57 146.0 351.9 13.2 839 8275 0.20 3.42 0.00 0.000 6 0.202 0.067 2875 1999 2193 0 0 1 0 0 0

8595 0.65 146.0 318.5 10.3 870 8600 0.00 3.40 0.00 0.000 4 0.000 0.074 2875 3534 2192 0 0 3 0 0 0

8680 0.65 146.0 309.1 11.5 877 8685 0.00 3.38 0.00 0.000 6 0.000 0.066 2888 2022 2192 0 0 1 0 0 0

9004 0.65 146.1 277.2 9.2 907 9009 0.00 3.40 0.00 0.000 4 0.000 0.074 2887 3542 2192 0 0 2 0 0 0

9134 0.65 146.1 263.9 10.1 918 9139 0.00 3.35 0.00 0.000 6 0.000 0.066 2902 2038 2192 0 0 2 0 0 0

9458 0.66 154.2 233.5 8.8 948 9472 0.00 3.38 6.53 0.723 4 0.000 0.073 2903 3532 2170 0 0 4 0 0 0

9551 0.61 154.2 224.0 10.6 956 9557 0.00 3.33 0.00 0.000 6 0.000 0.064 2918 2041 2170 0 0 2 0 0 0

9876 0.61 154.2 189.5 10.8 987 9881 0.00 3.35 0.00 0.000 4 0.000 0.073 2918 3531 2169 0 0 2 0 0 0

10011 0.55 154.2 173.4 11.7 998 10018 0.25 3.28 0.00 0.000 6 0.194 0.065 2872 2064 2170 0 0 3 0 0 0

10336 0.74 180.3 147.2 8.1 1029 10368 0.17 3.38 22.58 0.792 4 0.109 0.073 2933 3535 2063 0 0 3 0 0 0

10486 0.68 180.3 129.2 12.6 1042 10492 0.15 3.30 0.00 0.000 6 0.199 0.064 2914 2078 2061 0 0 2 0 0 0

10812 0.78 180.3 96.1 9.3 1076 10818 0.00 3.30 0.00 0.000 4 0.000 0.071 2914 3535 2061 0 0 3 0 0 0

10858 0.78 180.3 91.6 9.9 1084 10863 0.00 3.28 0.00 0.000 6 0.000 0.064 2926 2087 2061 0 0 2 0 0 0

11203 0.89 203.7 61.3 8.2 1145 11230 0.15 3.30 20.50 0.745 4 0.100 0.073 2982 3532 1967 0 0 3 0 0 0

11337 0.74 203.7 44.8 12.5 1169 11344 0.28 3.28 0.00 0.000 6 0.197 0.066 2930 2105 1964 0 0 2 0 0 0

11681 0.84 216.8 13.8 8.6 1230 11702 0.00 3.38 11.52 0.717 4 0.000 0.075 2930 3540 1914 0 0 2 0 0 0

11796 end climb: SURFACE_DEPTH_REACHED

state 11796 begin surface coast

11803 end surface coast: CONTROL_FINISHED_OK

state 11803 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	337	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	23	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	20	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	-42288.965	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	170025,6708.580,-5709.557,37,1.7,37,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	8	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170707,6708.594,-5709.764,8,1.4,13,-37.8	MHEAD_RNG_PITCHd_Wd	161.2,18823,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	574

FREEZE	1.31,-0.179,-1.826,0,1,0	ALTIM_TOP_PING	19.9,19.8
FINISH	1.3,1.026737	ALTIM_BOTTOM_PING	400.1,221.9
SM_CCo	11821,126.78,0.717,0,0,1066,425.10	_24V_AH	22.6,63.281
SM_GC	1.47,0.00,0.00,126.78,0.000,0.000,0.717,125,2464,1066,-8.02,0.11,425.10	_10V_AH	10.1,33.511
RAFOS_CLK	731	FG_AHR_24Vo	0.000
RAFOS	0,1261166461,20.033333,20.016945,67,62,62,0,0,0,209,191,167,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.912598,-5712.275879,181209,161656,2,91,0.38	MEM	152520
IRIDIUM_FIX	6636.54,-5707.59,140399,131305	DATA_FILE_SIZE	47208,1252
TT8_MAMPS	0.026845	CAP_FILE_SIZE	144738,0
HUMID	46.61	CFSIZE	260165632,223903744
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,134,0,0
TCM_TEMP	17.10	SOUNDSPEED	1468.4
XPDR_PINGS	2	GPS	181209,202801,6708.053,-5710.744,40,1.5,40,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	297	164.11	SBE_CT	914	24	495.84
Roll_motor	155	97	343.09	SBE_O2	852	19	366.17
VBD_pump_during_apogee	307	1082	7525.90	nil	0	0	0.00
VBD_pump_during_surface	126	717	2054.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	72.21	nil	0	0	0.00
Iridium_during_connect	53	160	191.80	nil	0	0	0.00
Iridium_during_xfer	195	223	983.86
Transponder_ping	1	420	16.61
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.73
TT8	2091	19	420.78
LPSleep	6921	2	161.49
TT8_Active	602	19	121.18
TT8_Sampling	2240	39	903.32
TT8_CF8	487	45	226.00
TT8_Kalman	0	0	0.00
Analog_circuits	1741	12	211.03
GPS_charging	0	0	0.00
Compass	2196	8	177.48
RAFOS	1080	1	16.36
Transponder	11	30	3.39

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	134	0.00	0.00	-115.28	0.000	2	0.000	0.000	124	2459	3172	0	0	0	0	0	0
138	-0.73	-146.0	3.6	-6.1	23	165	11.43	3.38	-5.70	0.000	4	0.298	0.097	2445	3906	3399	0	0	4	0	0	0
198	-0.73	-146.0	15.3	-10.9	34	204	0.00	3.15	0.00	0.000	6	0.000	0.062	2445	2469	3401	0	0	3	0	0	0
542	-0.73	-146.0	51.3	-10.5	95	547	0.00	3.28	0.00	0.000	4	0.000	0.084	2445	3911	3401	0	0	4	0	0	0
800	-0.73	-146.0	78.4	-10.0	141	805	0.00	3.10	0.00	0.000	6	0.000	0.064	2445	2497	3400	0	0	3	0	0	0
1138	-0.79	-146.0	111.4	-10.3	192	1143	0.00	3.22	0.00	0.000	4	0.000	0.087	2445	3913	3400	0	0	4	0	0	0
1395	-0.85	-146.0	137.9	-10.3	214	1401	0.00	3.03	0.00	0.000	6	0.000	0.064	2445	2540	3399	0	0	2	0	0	0
1721	-0.93	-146.0	168.1	-7.8	245	1727	0.17	3.15	0.00	0.000	4	0.110	0.084	2373	3922	3398	0	0	4	0	0	0
1900	-0.79	-146.0	186.4	-9.6	260	1907	0.25	2.92	0.00	0.000	6	0.202	0.061	2432	2585	3397	0	0	3	0	0	0
2227	-0.84	-146.0	206.8	-7.3	291	2232	0.00	3.05	0.00	0.000	4	0.000	0.084	2432	3924	3397	0	0	4	0	0	0
2413	-0.90	-146.0	222.8	-9.5	307	2417	0.00	2.85	0.00	0.000	6	0.000	0.060	2432	2612	3397	0	0	3	0	0	0
2737	-0.97	-146.0	252.2	-8.2	337	2743	0.17	3.03	0.00	0.000	4	0.108	0.079	2362	3924	3398	0	0	1	0	0	0
2928	-0.81	-146.0	274.1	-11.4	353	2934	0.28	2.83	0.00	0.000	6	0.199	0.058	2428	2624	3398	0	0	2	0	0	0
3253	-0.86	-146.0	300.9	-8.1	384	3258	0.00	2.92	0.00	0.000	4	0.000	0.081	2428	3922	3399	0	0	4	0	0	0
3472	-0.91	-146.0	321.2	-10.3	403	3477	0.00	2.75	0.00	0.000	6	0.000	0.056	2428	2655	3400	0	0	3	0	0	0
3797	-0.97	-146.0	353.4	-10.0	433	3803	0.17	2.90	0.00	0.000	4	0.104	0.079	2361	3921	3400	0	0	3	0	0	0
3928	-0.81	-146.0	369.6	-12.8	444	3933	0.28	2.72	0.00	0.000	6	0.194	0.056	2429	2665	3400	0	0	3	0	0	0
4255	-0.87	-146.0	400.1	-9.3	474	4260	0.00	2.85	0.00	0.000	4	0.000	0.080	2429	3914	3401	0	0	3	0	0	0
4422	-0.95	-146.0	416.4	-9.7	488	4429	0.15	2.70	0.00	0.000	6	0.109	0.055	2377	2688	3401	0	0	3	0	0	0
4749	-0.85	-146.0	450.6	-10.4	519	4754	0.15	2.85	0.00	0.000	4	0.199	0.079	2412	3920	3402	0	0	3	0	0	0
4882	-0.85	-146.0	462.7	-9.0	530	4886	0.00	2.65	0.00	0.000	6	0.000	0.055	2412	2709	3402	0	0	3	0	0	0
5206	-0.85	-146.0	492.1	-8.7	560	5211	0.00	2.80	0.00	0.000	4	0.000	0.079	2412	3923	3403	0	0	3	0	0	0
5379	-0.85	-146.0	508.0	-9.5	575	5384	0.00	2.62	0.00	0.000	6	0.000	0.055	2412	2730	3403	0	0	3	0	0	0
5706	-0.85	-146.0	535.0	-8.3	605	5710	0.00	2.78	0.00	0.000	4	0.000	0.080	2412	3927	3403	0	0	3	0	0	0
5884	-0.85	-146.0	550.9	-8.7	620	5890	0.00	2.58	0.00	0.000	6	0.000	0.054	2412	2753	3403	0	0	3	0	0	0
6166	end dive: TARGET_DEPTH_EXCEEDED
state	6166	begin apogee
6172	-0.16	0.0	574.2	7.4	647	6298	0.77	0.00	122.07	1.082	6	0.179	0.000	2627	1929	2800	0	0	0	0	0	0
6299	end apogee: CONTROL_FINISHED_OK
state	6299	begin climb
6301	0.73	146.0	576.8	0.0	660	6435	0.95	2.05	124.50	1.038	4	0.125	0.082	2924	360	2203	0	0	0	0	0	0
6469	0.64	146.0	562.6	12.5	676	6473	0.00	2.03	0.00	0.000	6	0.000	0.054	2924	1967	2201	0	0	0	0	0	0
6800	0.56	146.0	520.7	12.9	707	6806	0.20	3.47	0.00	0.000	4	0.202	0.071	2862	3530	2196	0	0	4	0	0	0
6924	0.56	146.0	506.9	11.5	717	6929	0.00	3.45	0.00	0.000	6	0.000	0.064	2875	1961	2195	0	0	3	0	0	0
7248	0.63	146.0	472.5	10.7	748	7253	0.00	3.47	0.00	0.000	4	0.000	0.072	2876	3540	2195	0	0	3	0	0	0
7401	0.63	146.0	454.8	12.4	761	7406	0.00	3.45	0.00	0.000	6	0.000	0.067	2891	1973	2193	0	0	2	0	0	0
7725	0.63	146.0	417.3	11.6	791	7730	0.00	3.42	0.00	0.000	4	0.000	0.074	2890	3532	2193	0	0	4	0	0	0
7867	0.63	146.0	399.9	12.2	803	7872	0.00	3.40	0.00	0.000	6	0.000	0.067	2906	1996	2193	0	0	2	0	0	0
8191	0.63	146.0	362.0	11.4	833	8196	0.00	3.42	0.00	0.000	4	0.000	0.073	2906	3542	2193	0	0	3	0	0	0
8269	0.57	146.0	351.9	13.2	839	8275	0.20	3.42	0.00	0.000	6	0.202	0.067	2875	1999	2193	0	0	1	0	0	0
8595	0.65	146.0	318.5	10.3	870	8600	0.00	3.40	0.00	0.000	4	0.000	0.074	2875	3534	2192	0	0	3	0	0	0
8680	0.65	146.0	309.1	11.5	877	8685	0.00	3.38	0.00	0.000	6	0.000	0.066	2888	2022	2192	0	0	1	0	0	0
9004	0.65	146.1	277.2	9.2	907	9009	0.00	3.40	0.00	0.000	4	0.000	0.074	2887	3542	2192	0	0	2	0	0	0
9134	0.65	146.1	263.9	10.1	918	9139	0.00	3.35	0.00	0.000	6	0.000	0.066	2902	2038	2192	0	0	2	0	0	0
9458	0.66	154.2	233.5	8.8	948	9472	0.00	3.38	6.53	0.723	4	0.000	0.073	2903	3532	2170	0	0	4	0	0	0
9551	0.61	154.2	224.0	10.6	956	9557	0.00	3.33	0.00	0.000	6	0.000	0.064	2918	2041	2170	0	0	2	0	0	0
9876	0.61	154.2	189.5	10.8	987	9881	0.00	3.35	0.00	0.000	4	0.000	0.073	2918	3531	2169	0	0	2	0	0	0
10011	0.55	154.2	173.4	11.7	998	10018	0.25	3.28	0.00	0.000	6	0.194	0.065	2872	2064	2170	0	0	3	0	0	0
10336	0.74	180.3	147.2	8.1	1029	10368	0.17	3.38	22.58	0.792	4	0.109	0.073	2933	3535	2063	0	0	3	0	0	0
10486	0.68	180.3	129.2	12.6	1042	10492	0.15	3.30	0.00	0.000	6	0.199	0.064	2914	2078	2061	0	0	2	0	0	0
10812	0.78	180.3	96.1	9.3	1076	10818	0.00	3.30	0.00	0.000	4	0.000	0.071	2914	3535	2061	0	0	3	0	0	0
10858	0.78	180.3	91.6	9.9	1084	10863	0.00	3.28	0.00	0.000	6	0.000	0.064	2926	2087	2061	0	0	2	0	0	0
11203	0.89	203.7	61.3	8.2	1145	11230	0.15	3.30	20.50	0.745	4	0.100	0.073	2982	3532	1967	0	0	3	0	0	0
11337	0.74	203.7	44.8	12.5	1169	11344	0.28	3.28	0.00	0.000	6	0.197	0.066	2930	2105	1964	0	0	2	0	0	0
11681	0.84	216.8	13.8	8.6	1230	11702	0.00	3.38	11.52	0.717	4	0.000	0.075	2930	3540	1914	0	0	2	0	0	0
11796	end climb: SURFACE_DEPTH_REACHED
state	11796	begin surface coast
11803	end surface coast: CONTROL_FINISHED_OK
state	11803	begin surface