Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 34 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2500 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2300 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 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 30 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 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 15 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 0 T_GPS_CHARGE -23565.254 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 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 2430 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 21 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 0 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 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 21 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 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 -23565.254

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 20 HEADING 200 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 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 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2300 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2500 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

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 30 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 34 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 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 014454,6714.184,-5723.647,38,1.3,38,-37.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6704.113,-5733.156

_XMS_NAKs 25 TGT_RADIUS 1852.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 015220,6714.260,-5723.677,10,1.6,10,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 602

Post-dive calculations and measurements:

FINISH 0.3,1.023934 _24V_AH 23.5,18.656

SM_CCo 12694,56.55,0.759,0,0,1678,275.23 _10V_AH 10.3,8.638

SM_GC 1.32,0.00,0.00,56.55,0.000,0.000,0.759,128,2507,1678,-7.19,0.20,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 790 FG_AHR_10Vo 0.000

RAFOS 0,1256443264,4.033333,4.017778,61,61,55,0,0,0,194,217,135,0,0,0 MEM 150560

RAFOS_FIX 6714.456543,-5753.671875,251009,000000,2,106,2.67 DATA_FILE_SIZE 50432,1301

IRIDIUM_FIX 6647.44,-5720.23,180199,222243 CAP_FILE_SIZE 153253,0

TT8_MAMPS 0.027612 CFSIZE 260165632,248377344

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89683 SOUNDSPEED 1467.0

TCM_TEMP 17.00 GPS 251009,052636,6714.657,-5724.415,36,1.9,42,-38.0

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 309 172.52 SBE_CT 957 24 539.77

Roll_motor 136 105 336.57 SBE_O2 888 19 396.90

VBD_pump_during_apogee 277 1112 7249.34 nil 0 0 0.00

VBD_pump_during_surface 56 759 1009.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.26 nil 0 0 0.00

Iridium_during_connect 38 160 146.62 nil 0 0 0.00

Iridium_during_xfer 265 223 1392.93

Transponder_ping 0 420 2.47

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.92

TT8 2238 19 459.27

LPSleep 7626 2 181.45

TT8_Active 497 19 102.13

TT8_Sampling 2303 39 947.12

TT8_CF8 523 45 247.40

TT8_Kalman 0 0 0.00

Analog_circuits 1663 12 205.59

GPS_charging 0 0 0.00

Compass 2275 8 187.48

RAFOS 2520 1 38.93

Transponder 0 30 0.16

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 -0.98 -146.0 0.0 0.0 0 99 0.00 0.00 -80.88 0.000 2 0.000 0.000 125 2518 3113 0 0 0 0 0 0

101 -0.98 -146.0 3.6 -6.9 16 128 9.73 2.45 -7.60 0.000 4 0.309 0.104 2106 3914 3398 0 0 0 0 0 0

279 -0.77 -146.0 35.5 -16.1 48 286 0.28 2.28 0.00 0.000 6 0.206 0.060 2174 2500 3400 0 0 0 0 0 0

624 -0.77 -146.0 69.9 -8.2 109 629 0.00 2.58 0.00 0.000 4 0.000 0.079 2175 913 3400 0 0 0 0 0 0

882 -0.77 -146.0 94.8 -10.2 155 888 0.00 2.65 0.00 0.000 6 0.000 0.073 2175 2546 3401 0 0 0 0 0 0

1217 -0.83 -146.0 124.7 -8.7 191 1222 0.00 2.25 0.00 0.000 4 0.000 0.091 2175 3911 3401 0 0 0 0 0 0

1475 -0.90 -146.0 147.2 -8.3 213 1482 0.12 2.15 0.00 0.000 6 0.121 0.061 2134 2548 3400 0 0 0 0 0 0

1800 -0.84 -146.0 180.2 -10.6 244 1804 0.00 2.28 0.00 0.000 4 0.000 0.090 2133 3922 3399 0 0 0 0 0 0

1899 -0.78 -146.0 190.9 -10.2 252 1906 0.17 2.15 0.00 0.000 6 0.209 0.061 2175 2558 3399 0 0 0 0 0 0

2225 -0.87 -146.0 219.1 -8.4 283 2229 0.00 2.25 0.00 0.000 4 0.000 0.090 2174 3920 3399 0 0 0 0 0 0

2483 -0.98 -146.0 238.2 -7.0 305 2489 0.17 2.17 0.00 0.000 6 0.106 0.061 2115 2540 3398 0 0 0 0 0 0

2807 -0.89 -146.0 269.6 -10.4 336 2811 0.00 2.28 0.00 0.000 4 0.000 0.089 2114 3921 3398 0 0 0 0 0 0

2817 -0.79 -146.0 270.6 -10.2 336 2823 0.22 2.17 0.00 0.000 6 0.209 0.060 2169 2536 3398 0 0 0 0 0 0

3142 -0.89 -146.0 296.5 -8.5 367 3146 0.00 2.28 0.00 0.000 4 0.000 0.088 2169 3921 3398 0 0 0 0 0 0

3399 -0.99 -146.0 317.6 -7.8 389 3406 0.17 2.17 0.00 0.000 6 0.102 0.060 2109 2531 3398 0 0 0 0 0 0

3724 -0.88 -146.0 347.2 -8.9 420 3729 0.15 2.28 0.00 0.000 4 0.210 0.086 2140 3912 3398 0 0 0 0 0 0

3970 -0.88 -146.0 367.0 -8.1 441 3976 0.00 2.15 0.00 0.000 6 0.000 0.058 2140 2533 3399 0 0 0 0 0 0

4295 -0.88 -146.0 392.1 -7.7 472 4299 0.00 2.58 0.00 0.000 4 0.000 0.077 2140 903 3399 0 0 0 0 0 0

4304 -0.88 -146.0 392.9 -7.5 472 4310 0.00 2.65 0.00 0.000 6 0.000 0.071 2140 2573 3399 0 0 0 0 0 0

4629 -0.88 -146.0 417.4 -7.2 503 4633 0.00 2.65 0.00 0.000 4 0.000 0.077 2141 911 3399 0 0 0 0 0 0

4672 -0.88 -146.0 421.0 -7.9 506 4678 0.00 2.62 0.00 0.000 6 0.000 0.070 2140 2568 3400 0 0 0 0 0 0

4997 -0.88 -146.0 446.7 -8.4 537 5001 0.00 2.62 0.00 0.000 4 0.000 0.076 2140 914 3400 0 0 0 0 0 0

5035 -0.88 -146.0 450.2 -9.3 540 5040 0.00 2.62 0.00 0.000 6 0.000 0.070 2140 2571 3400 0 0 0 0 0 0

5360 -0.88 -146.0 477.0 -8.1 570 5364 0.00 2.65 0.00 0.000 4 0.000 0.076 2140 902 3401 0 0 0 0 0 0

5369 -0.88 -146.0 477.8 -8.0 570 5375 0.00 2.65 0.00 0.000 6 0.000 0.070 2140 2574 3401 0 0 0 0 0 0

5694 -0.88 -146.0 504.6 -7.8 601 5698 0.00 2.65 0.00 0.000 4 0.000 0.075 2140 908 3401 0 0 0 0 0 0

5715 -0.88 -146.0 506.4 -8.2 602 5721 0.00 2.62 0.00 0.000 6 0.000 0.069 2140 2571 3401 0 0 0 0 0 0

6039 -0.88 -146.0 530.5 -7.5 633 6044 0.00 2.62 0.00 0.000 4 0.000 0.075 2140 914 3401 0 0 0 0 0 0

6067 -0.88 -146.0 532.6 -7.5 635 6071 0.00 2.62 0.00 0.000 6 0.000 0.069 2139 2573 3401 0 0 0 0 0 0

6391 -0.88 -146.0 556.0 -6.6 665 6396 0.00 2.62 0.00 0.000 4 0.000 0.075 2139 914 3402 0 0 0 0 0 0

6435 -0.88 -146.0 559.5 -7.7 668 6441 0.00 2.62 0.00 0.000 6 0.000 0.068 2139 2575 3402 0 0 0 0 0 0

6760 -0.88 -146.0 582.8 -7.1 699 6764 0.00 2.62 0.00 0.000 4 0.000 0.074 2139 914 3402 0 0 0 0 0 0

6781 -0.88 -146.0 584.4 -7.3 700 6787 0.00 2.60 0.00 0.000 6 0.000 0.068 2139 2564 3402 0 0 0 0 0 0

7123 -1.30 -146.0 600.8 0.0 725 7129 0.32 2.62 0.00 0.000 4 0.075 0.074 2008 914 3403 0 0 0 0 0 0

7134 -1.78 -146.0 601.0 0.0 725 7139 0.43 2.60 0.00 0.000 6 0.062 0.066 1840 2561 3403 0 0 0 0 0 0

7235 end dive: NO_VERTICAL_VELOCITY

state 7235 begin apogee

7240 -0.24 0.0 600.9 0.0 729 7363 1.70 0.00 118.68 1.112 6 0.163 0.000 2352 2284 2800 0 0 0 0 0 0

7364 end apogee: CONTROL_FINISHED_OK

state 7364 begin climb

7366 0.98 146.0 600.7 0.0 733 7500 1.23 2.78 121.07 1.065 4 0.109 0.077 2749 728 2202 0 0 0 0 0 0

7752 0.53 146.0 534.9 20.1 766 7759 0.57 2.60 0.00 0.000 6 0.205 0.063 2606 2312 2195 0 0 0 0 0 0

8078 0.48 146.0 495.8 11.6 797 8083 0.00 2.62 0.00 0.000 4 0.000 0.081 2606 3882 2194 0 0 0 0 0 0

8144 0.39 146.0 487.0 13.4 802 8151 0.22 2.58 0.00 0.000 6 0.190 0.060 2562 2296 2192 0 0 0 0 0 0

8469 0.51 164.8 458.4 8.4 833 8490 0.00 2.60 15.02 0.945 4 0.000 0.077 2571 711 2127 0 0 0 0 0 0

8743 0.62 164.8 432.0 9.3 857 8750 0.17 2.53 0.00 0.000 6 0.103 0.064 2632 2292 2125 0 0 0 0 0 0

9068 0.52 164.8 390.5 13.2 888 9073 0.15 2.58 0.00 0.000 4 0.191 0.077 2607 714 2124 0 0 0 0 0 0

9325 0.52 164.8 359.7 12.6 910 9331 0.00 2.58 0.00 0.000 6 0.000 0.064 2608 2310 2124 0 0 0 0 0 0

9650 0.52 164.8 322.3 11.3 941 9654 0.00 2.58 0.00 0.000 4 0.000 0.081 2608 3890 2124 0 0 0 0 0 0

9704 0.44 164.8 315.4 12.6 945 9711 0.17 2.53 0.00 0.000 6 0.189 0.061 2577 2298 2123 0 0 0 0 0 0

10029 0.53 164.8 284.2 9.3 976 10034 0.00 2.53 0.00 0.000 4 0.000 0.078 2587 711 2123 0 0 0 0 0 0

10289 0.60 164.8 256.6 11.8 998 10295 0.12 2.50 0.00 0.000 6 0.117 0.064 2631 2302 2123 0 0 0 0 0 0

10613 0.54 164.8 215.0 12.3 1029 10618 0.00 2.55 0.00 0.000 4 0.000 0.078 2642 709 2122 0 0 0 0 0 0

10870 0.47 164.8 181.8 12.8 1051 10876 0.22 2.55 0.00 0.000 6 0.183 0.064 2585 2333 2123 0 0 0 0 0 0

11195 0.61 183.9 153.5 8.4 1082 11217 0.12 2.62 16.25 0.805 4 0.115 0.077 2640 713 2050 0 0 0 0 0 0

11222 0.61 183.9 150.8 10.2 1084 11228 0.00 2.58 0.00 0.000 6 0.000 0.065 2640 2328 2049 0 0 0 0 0 0

11547 0.61 183.9 116.9 9.9 1115 11551 0.00 2.62 0.00 0.000 4 0.000 0.080 2652 707 2047 0 0 0 0 0 0

11805 0.61 183.9 89.0 11.0 1146 11810 0.00 2.62 0.00 0.000 6 0.000 0.065 2652 2368 2048 0 0 0 0 0 0

12150 0.61 183.9 52.1 9.9 1207 12155 0.00 2.67 0.00 0.000 4 0.000 0.080 2664 708 2048 0 0 0 0 0 0

12408 0.62 190.3 24.8 8.9 1253 12425 0.15 2.65 6.35 0.679 6 0.189 0.067 2628 2385 2023 0 0 0 0 0 0

12654 end climb: SURFACE_DEPTH_REACHED

state 12654 begin surface coast

12678 end surface coast: CONTROL_FINISHED_OK

state 12678 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	34	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2500	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2300	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	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	30	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	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	15	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	0	T_GPS_CHARGE	-23565.254	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	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	2430	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	21	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	0	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	0

GPS1	014454,6714.184,-5723.647,38,1.3,38,-37.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6704.113,-5733.156
_XMS_NAKs	25	TGT_RADIUS	1852.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	015220,6714.260,-5723.677,10,1.6,10,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	602

FINISH	0.3,1.023934	_24V_AH	23.5,18.656
SM_CCo	12694,56.55,0.759,0,0,1678,275.23	_10V_AH	10.3,8.638
SM_GC	1.32,0.00,0.00,56.55,0.000,0.000,0.759,128,2507,1678,-7.19,0.20,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	790	FG_AHR_10Vo	0.000
RAFOS	0,1256443264,4.033333,4.017778,61,61,55,0,0,0,194,217,135,0,0,0	MEM	150560
RAFOS_FIX	6714.456543,-5753.671875,251009,000000,2,106,2.67	DATA_FILE_SIZE	50432,1301
IRIDIUM_FIX	6647.44,-5720.23,180199,222243	CAP_FILE_SIZE	153253,0
TT8_MAMPS	0.027612	CFSIZE	260165632,248377344
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89683	SOUNDSPEED	1467.0
TCM_TEMP	17.00	GPS	251009,052636,6714.657,-5724.415,36,1.9,42,-38.0
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	309	172.52	SBE_CT	957	24	539.77
Roll_motor	136	105	336.57	SBE_O2	888	19	396.90
VBD_pump_during_apogee	277	1112	7249.34	nil	0	0	0.00
VBD_pump_during_surface	56	759	1009.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.26	nil	0	0	0.00
Iridium_during_connect	38	160	146.62	nil	0	0	0.00
Iridium_during_xfer	265	223	1392.93
Transponder_ping	0	420	2.47
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.92
TT8	2238	19	459.27
LPSleep	7626	2	181.45
TT8_Active	497	19	102.13
TT8_Sampling	2303	39	947.12
TT8_CF8	523	45	247.40
TT8_Kalman	0	0	0.00
Analog_circuits	1663	12	205.59
GPS_charging	0	0	0.00
Compass	2275	8	187.48
RAFOS	2520	1	38.93
Transponder	0	30	0.16

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	-0.98	-146.0	0.0	0.0	0	99	0.00	0.00	-80.88	0.000	2	0.000	0.000	125	2518	3113	0	0	0	0	0	0
101	-0.98	-146.0	3.6	-6.9	16	128	9.73	2.45	-7.60	0.000	4	0.309	0.104	2106	3914	3398	0	0	0	0	0	0
279	-0.77	-146.0	35.5	-16.1	48	286	0.28	2.28	0.00	0.000	6	0.206	0.060	2174	2500	3400	0	0	0	0	0	0
624	-0.77	-146.0	69.9	-8.2	109	629	0.00	2.58	0.00	0.000	4	0.000	0.079	2175	913	3400	0	0	0	0	0	0
882	-0.77	-146.0	94.8	-10.2	155	888	0.00	2.65	0.00	0.000	6	0.000	0.073	2175	2546	3401	0	0	0	0	0	0
1217	-0.83	-146.0	124.7	-8.7	191	1222	0.00	2.25	0.00	0.000	4	0.000	0.091	2175	3911	3401	0	0	0	0	0	0
1475	-0.90	-146.0	147.2	-8.3	213	1482	0.12	2.15	0.00	0.000	6	0.121	0.061	2134	2548	3400	0	0	0	0	0	0
1800	-0.84	-146.0	180.2	-10.6	244	1804	0.00	2.28	0.00	0.000	4	0.000	0.090	2133	3922	3399	0	0	0	0	0	0
1899	-0.78	-146.0	190.9	-10.2	252	1906	0.17	2.15	0.00	0.000	6	0.209	0.061	2175	2558	3399	0	0	0	0	0	0
2225	-0.87	-146.0	219.1	-8.4	283	2229	0.00	2.25	0.00	0.000	4	0.000	0.090	2174	3920	3399	0	0	0	0	0	0
2483	-0.98	-146.0	238.2	-7.0	305	2489	0.17	2.17	0.00	0.000	6	0.106	0.061	2115	2540	3398	0	0	0	0	0	0
2807	-0.89	-146.0	269.6	-10.4	336	2811	0.00	2.28	0.00	0.000	4	0.000	0.089	2114	3921	3398	0	0	0	0	0	0
2817	-0.79	-146.0	270.6	-10.2	336	2823	0.22	2.17	0.00	0.000	6	0.209	0.060	2169	2536	3398	0	0	0	0	0	0
3142	-0.89	-146.0	296.5	-8.5	367	3146	0.00	2.28	0.00	0.000	4	0.000	0.088	2169	3921	3398	0	0	0	0	0	0
3399	-0.99	-146.0	317.6	-7.8	389	3406	0.17	2.17	0.00	0.000	6	0.102	0.060	2109	2531	3398	0	0	0	0	0	0
3724	-0.88	-146.0	347.2	-8.9	420	3729	0.15	2.28	0.00	0.000	4	0.210	0.086	2140	3912	3398	0	0	0	0	0	0
3970	-0.88	-146.0	367.0	-8.1	441	3976	0.00	2.15	0.00	0.000	6	0.000	0.058	2140	2533	3399	0	0	0	0	0	0
4295	-0.88	-146.0	392.1	-7.7	472	4299	0.00	2.58	0.00	0.000	4	0.000	0.077	2140	903	3399	0	0	0	0	0	0
4304	-0.88	-146.0	392.9	-7.5	472	4310	0.00	2.65	0.00	0.000	6	0.000	0.071	2140	2573	3399	0	0	0	0	0	0
4629	-0.88	-146.0	417.4	-7.2	503	4633	0.00	2.65	0.00	0.000	4	0.000	0.077	2141	911	3399	0	0	0	0	0	0
4672	-0.88	-146.0	421.0	-7.9	506	4678	0.00	2.62	0.00	0.000	6	0.000	0.070	2140	2568	3400	0	0	0	0	0	0
4997	-0.88	-146.0	446.7	-8.4	537	5001	0.00	2.62	0.00	0.000	4	0.000	0.076	2140	914	3400	0	0	0	0	0	0
5035	-0.88	-146.0	450.2	-9.3	540	5040	0.00	2.62	0.00	0.000	6	0.000	0.070	2140	2571	3400	0	0	0	0	0	0
5360	-0.88	-146.0	477.0	-8.1	570	5364	0.00	2.65	0.00	0.000	4	0.000	0.076	2140	902	3401	0	0	0	0	0	0
5369	-0.88	-146.0	477.8	-8.0	570	5375	0.00	2.65	0.00	0.000	6	0.000	0.070	2140	2574	3401	0	0	0	0	0	0
5694	-0.88	-146.0	504.6	-7.8	601	5698	0.00	2.65	0.00	0.000	4	0.000	0.075	2140	908	3401	0	0	0	0	0	0
5715	-0.88	-146.0	506.4	-8.2	602	5721	0.00	2.62	0.00	0.000	6	0.000	0.069	2140	2571	3401	0	0	0	0	0	0
6039	-0.88	-146.0	530.5	-7.5	633	6044	0.00	2.62	0.00	0.000	4	0.000	0.075	2140	914	3401	0	0	0	0	0	0
6067	-0.88	-146.0	532.6	-7.5	635	6071	0.00	2.62	0.00	0.000	6	0.000	0.069	2139	2573	3401	0	0	0	0	0	0
6391	-0.88	-146.0	556.0	-6.6	665	6396	0.00	2.62	0.00	0.000	4	0.000	0.075	2139	914	3402	0	0	0	0	0	0
6435	-0.88	-146.0	559.5	-7.7	668	6441	0.00	2.62	0.00	0.000	6	0.000	0.068	2139	2575	3402	0	0	0	0	0	0
6760	-0.88	-146.0	582.8	-7.1	699	6764	0.00	2.62	0.00	0.000	4	0.000	0.074	2139	914	3402	0	0	0	0	0	0
6781	-0.88	-146.0	584.4	-7.3	700	6787	0.00	2.60	0.00	0.000	6	0.000	0.068	2139	2564	3402	0	0	0	0	0	0
7123	-1.30	-146.0	600.8	0.0	725	7129	0.32	2.62	0.00	0.000	4	0.075	0.074	2008	914	3403	0	0	0	0	0	0
7134	-1.78	-146.0	601.0	0.0	725	7139	0.43	2.60	0.00	0.000	6	0.062	0.066	1840	2561	3403	0	0	0	0	0	0
7235	end dive: NO_VERTICAL_VELOCITY
state	7235	begin apogee
7240	-0.24	0.0	600.9	0.0	729	7363	1.70	0.00	118.68	1.112	6	0.163	0.000	2352	2284	2800	0	0	0	0	0	0
7364	end apogee: CONTROL_FINISHED_OK
state	7364	begin climb
7366	0.98	146.0	600.7	0.0	733	7500	1.23	2.78	121.07	1.065	4	0.109	0.077	2749	728	2202	0	0	0	0	0	0
7752	0.53	146.0	534.9	20.1	766	7759	0.57	2.60	0.00	0.000	6	0.205	0.063	2606	2312	2195	0	0	0	0	0	0
8078	0.48	146.0	495.8	11.6	797	8083	0.00	2.62	0.00	0.000	4	0.000	0.081	2606	3882	2194	0	0	0	0	0	0
8144	0.39	146.0	487.0	13.4	802	8151	0.22	2.58	0.00	0.000	6	0.190	0.060	2562	2296	2192	0	0	0	0	0	0
8469	0.51	164.8	458.4	8.4	833	8490	0.00	2.60	15.02	0.945	4	0.000	0.077	2571	711	2127	0	0	0	0	0	0
8743	0.62	164.8	432.0	9.3	857	8750	0.17	2.53	0.00	0.000	6	0.103	0.064	2632	2292	2125	0	0	0	0	0	0
9068	0.52	164.8	390.5	13.2	888	9073	0.15	2.58	0.00	0.000	4	0.191	0.077	2607	714	2124	0	0	0	0	0	0
9325	0.52	164.8	359.7	12.6	910	9331	0.00	2.58	0.00	0.000	6	0.000	0.064	2608	2310	2124	0	0	0	0	0	0
9650	0.52	164.8	322.3	11.3	941	9654	0.00	2.58	0.00	0.000	4	0.000	0.081	2608	3890	2124	0	0	0	0	0	0
9704	0.44	164.8	315.4	12.6	945	9711	0.17	2.53	0.00	0.000	6	0.189	0.061	2577	2298	2123	0	0	0	0	0	0
10029	0.53	164.8	284.2	9.3	976	10034	0.00	2.53	0.00	0.000	4	0.000	0.078	2587	711	2123	0	0	0	0	0	0
10289	0.60	164.8	256.6	11.8	998	10295	0.12	2.50	0.00	0.000	6	0.117	0.064	2631	2302	2123	0	0	0	0	0	0
10613	0.54	164.8	215.0	12.3	1029	10618	0.00	2.55	0.00	0.000	4	0.000	0.078	2642	709	2122	0	0	0	0	0	0
10870	0.47	164.8	181.8	12.8	1051	10876	0.22	2.55	0.00	0.000	6	0.183	0.064	2585	2333	2123	0	0	0	0	0	0
11195	0.61	183.9	153.5	8.4	1082	11217	0.12	2.62	16.25	0.805	4	0.115	0.077	2640	713	2050	0	0	0	0	0	0
11222	0.61	183.9	150.8	10.2	1084	11228	0.00	2.58	0.00	0.000	6	0.000	0.065	2640	2328	2049	0	0	0	0	0	0
11547	0.61	183.9	116.9	9.9	1115	11551	0.00	2.62	0.00	0.000	4	0.000	0.080	2652	707	2047	0	0	0	0	0	0
11805	0.61	183.9	89.0	11.0	1146	11810	0.00	2.62	0.00	0.000	6	0.000	0.065	2652	2368	2048	0	0	0	0	0	0
12150	0.61	183.9	52.1	9.9	1207	12155	0.00	2.67	0.00	0.000	4	0.000	0.080	2664	708	2048	0	0	0	0	0	0
12408	0.62	190.3	24.8	8.9	1253	12425	0.15	2.65	6.35	0.679	6	0.189	0.067	2628	2385	2023	0	0	0	0	0	0
12654	end climb: SURFACE_DEPTH_REACHED
state	12654	begin surface coast
12678	end surface coast: CONTROL_FINISHED_OK
state	12678	begin surface