Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 35 * 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 35 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 23 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 -23600.406 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 -23600.406

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 23 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 35 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 052636,6714.657,-5724.415,36,1.9,42,-38.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6704.562,-5733.871

_XMS_NAKs 11 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 053340,6714.710,-5724.389,13,2.1,32,-38.0 MHEAD_RNG_PITCHd_Wd 238.0,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 595

Post-dive calculations and measurements:

FINISH 0.5,1.026322 _24V_AH 23.6,18.769

SM_CCo 12335,55.67,0.764,0,0,1677,275.23 _10V_AH 10.3,8.715

SM_GC 1.41,0.00,0.00,55.67,0.000,0.000,0.764,126,2512,1677,-7.20,0.34,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 771 FG_AHR_10Vo 0.000

RAFOS 0,1256457664,8.033334,8.017777,65,57,52,0,0,0,211,187,121,0,0,0 MEM 150628

RAFOS_FIX 6712.475098,-5735.819824,251009,080848,4,72,0.84 DATA_FILE_SIZE 50364,1301

IRIDIUM_FIX 6647.44,-5727.90,190199,010127 CAP_FILE_SIZE 147113,0

TT8_MAMPS 0.027612 CFSIZE 260165632,248307712

HUMID 47.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89683 SOUNDSPEED 1466.8

TCM_TEMP 17.10 GPS 251009,090206,6715.054,-5726.910,39,1.0,39,-38.0

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 310 158.17 SBE_CT 957 24 542.35

Roll_motor 127 102 310.05 SBE_O2 887 19 398.11

VBD_pump_during_apogee 275 1108 7204.08 nil 0 0 0.00

VBD_pump_during_surface 55 763 1003.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.58 nil 0 0 0.00

Iridium_during_connect 35 160 133.32 nil 0 0 0.00

Iridium_during_xfer 224 223 1179.63

Transponder_ping 0 420 4.96

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.78

TT8 2217 19 454.98

LPSleep 7317 2 174.11

TT8_Active 470 19 96.64

TT8_Sampling 2342 39 963.19

TT8_CF8 473 45 223.96

TT8_Kalman 0 0 0.00

Analog_circuits 1640 12 202.82

GPS_charging 0 0 0.00

Compass 2289 8 188.69

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.98 -146.0 0.0 0.0 0 103 0.00 0.00 -85.12 0.000 2 0.000 0.000 128 2508 3169 0 0 0 0 0 0

105 -0.98 -146.0 3.3 -5.6 17 127 9.73 2.40 -6.15 0.000 4 0.311 0.103 2105 3915 3397 0 0 0 0 0 0

381 -0.77 -146.0 48.8 -14.5 66 387 0.30 2.28 0.00 0.000 6 0.209 0.061 2180 2493 3399 0 0 0 0 0 0

727 -0.83 -146.0 79.5 -8.5 127 732 0.00 2.38 0.00 0.000 4 0.000 0.090 2180 3912 3399 0 0 0 0 0 0

846 -0.89 -146.0 89.3 -8.1 148 852 0.12 2.28 0.00 0.000 6 0.118 0.061 2140 2484 3399 0 0 0 0 0 0

1182 -0.83 -146.0 122.7 -10.5 189 1186 0.00 2.38 0.00 0.000 4 0.000 0.089 2139 3911 3399 0 0 0 0 0 0

1222 -0.76 -146.0 126.8 -10.9 192 1226 0.17 2.28 0.00 0.000 6 0.209 0.061 2179 2483 3398 0 0 0 0 0 0

1546 -0.86 -146.0 155.3 -9.0 222 1550 0.00 2.38 0.00 0.000 4 0.000 0.089 2179 3909 3398 0 0 0 0 0 0

1805 -0.96 -146.0 179.7 -9.1 245 1810 0.17 2.20 0.00 0.000 6 0.106 0.061 2121 2519 3397 0 0 0 0 0 0

2131 -0.86 -146.0 214.8 -10.1 275 2136 0.12 2.33 0.00 0.000 4 0.213 0.087 2140 3921 3396 0 0 0 0 0 0

2388 -0.86 -146.0 238.9 -9.6 297 2394 0.00 2.25 0.00 0.000 6 0.000 0.061 2140 2522 3396 0 0 0 0 0 0

2713 -0.86 -146.0 267.2 -9.0 328 2717 0.00 2.28 0.00 0.000 4 0.000 0.087 2140 3910 3396 0 0 0 0 0 0

2947 -0.86 -146.0 289.8 -10.2 348 2954 0.00 2.22 0.00 0.000 6 0.000 0.059 2140 2515 3396 0 0 0 0 0 0

3274 -0.86 -146.0 319.2 -8.7 379 3278 0.00 2.55 0.00 0.000 4 0.000 0.077 2140 905 3396 0 0 0 0 0 0

3284 -0.86 -146.0 320.2 -8.7 379 3289 0.00 2.67 0.00 0.000 6 0.000 0.071 2140 2586 3396 0 0 0 0 0 0

3608 -0.86 -146.0 347.1 -8.3 410 3612 0.00 2.15 0.00 0.000 4 0.000 0.087 2140 3912 3397 0 0 0 0 0 0

3619 -0.86 -146.0 348.1 -8.4 411 3623 0.00 2.08 0.00 0.000 6 0.000 0.058 2140 2581 3397 0 0 0 0 0 0

3949 -0.86 -146.0 376.3 -8.4 442 3954 0.00 2.65 0.00 0.000 4 0.000 0.077 2140 910 3398 0 0 0 0 0 0

3960 -0.86 -146.0 377.1 -8.4 442 3966 0.00 2.67 0.00 0.000 6 0.000 0.071 2140 2590 3398 0 0 0 0 0 0

4285 -0.86 -146.0 403.7 -8.2 473 4289 0.00 2.67 0.00 0.000 4 0.000 0.077 2140 913 3398 0 0 0 0 0 0

4294 -0.86 -146.0 404.5 -8.2 473 4300 0.00 2.75 0.00 0.000 6 0.000 0.071 2139 2642 3398 0 0 0 0 0 0

4619 -0.86 -146.0 430.2 -7.5 504 4623 0.00 2.75 0.00 0.000 4 0.000 0.076 2140 913 3399 0 0 0 0 0 0

4640 -0.86 -146.0 431.9 -7.9 505 4646 0.00 2.75 0.00 0.000 6 0.000 0.070 2140 2644 3399 0 0 0 0 0 0

4965 -0.86 -146.0 456.2 -7.5 536 4969 0.00 2.78 0.00 0.000 4 0.000 0.075 2140 903 3399 0 0 0 0 0 0

4996 -0.86 -146.0 458.9 -8.8 538 5003 0.00 2.75 0.00 0.000 6 0.000 0.071 2140 2636 3399 0 0 0 0 0 0

5322 -0.86 -146.0 482.9 -7.4 569 5326 0.00 2.75 0.00 0.000 4 0.000 0.075 2140 906 3399 0 0 0 0 0 0

5365 -0.86 -146.0 486.5 -8.2 572 5371 0.00 2.72 0.00 0.000 6 0.000 0.070 2140 2629 3399 0 0 0 0 0 0

5690 -0.86 -146.0 510.2 -7.3 603 5694 0.00 2.75 0.00 0.000 4 0.000 0.075 2139 901 3400 0 0 0 0 0 0

5767 -0.86 -146.0 516.5 -7.8 609 5773 0.00 2.72 0.00 0.000 6 0.000 0.069 2140 2623 3400 0 0 0 0 0 0

6093 -0.86 -146.0 543.6 -9.1 640 6098 0.00 2.72 0.00 0.000 4 0.000 0.075 2140 907 3400 0 0 0 0 0 0

6144 -0.86 -146.0 548.5 -9.3 644 6148 0.00 2.72 0.00 0.000 6 0.000 0.069 2140 2628 3400 0 0 0 0 0 0

6468 -0.86 -146.0 576.0 -8.2 674 6473 0.00 2.72 0.00 0.000 4 0.000 0.075 2140 913 3401 0 0 0 0 0 0

6557 -0.86 -146.0 583.7 -8.2 681 6562 0.00 2.70 0.00 0.000 6 0.000 0.068 2140 2624 3400 0 0 0 0 0 0

6720 end dive: TARGET_DEPTH_EXCEEDED

state 6720 begin apogee

6725 -0.24 0.0 595.8 7.2 697 6846 0.73 0.00 117.70 1.108 6 0.176 0.000 2349 2286 2800 0 0 0 0 0 0

6847 end apogee: CONTROL_FINISHED_OK

state 6847 begin climb

6849 0.98 146.0 596.4 0.0 709 6983 1.23 2.78 120.70 1.063 4 0.100 0.077 2751 731 2202 0 0 0 0 0 0

7235 0.53 146.0 534.3 18.6 744 7242 0.57 2.60 0.00 0.000 6 0.206 0.064 2609 2315 2195 0 0 0 0 0 0

7560 0.47 146.0 494.5 11.9 775 7564 0.00 2.62 0.00 0.000 4 0.000 0.077 2618 720 2194 0 0 0 0 0 0

7817 0.40 146.0 461.9 12.6 797 7824 0.22 2.53 0.00 0.000 6 0.180 0.064 2562 2294 2193 0 0 0 0 0 0

8142 0.49 146.0 430.2 10.0 828 8146 0.00 2.55 0.00 0.000 4 0.000 0.078 2571 720 2193 0 0 0 0 0 0

8399 0.59 150.1 404.7 9.0 850 8406 0.15 2.55 0.00 0.000 6 0.111 0.064 2623 2322 2193 0 0 0 0 0 0

8724 0.52 150.1 366.9 12.1 881 8728 0.00 2.58 0.00 0.000 4 0.000 0.078 2635 721 2192 0 0 0 0 0 0

8981 0.41 150.1 335.6 13.1 903 8987 0.25 2.53 0.00 0.000 6 0.183 0.064 2570 2320 2192 0 0 0 0 0 0

9306 0.52 162.4 306.6 8.7 934 9327 0.00 2.65 12.70 0.862 4 0.000 0.077 2580 721 2136 0 0 0 0 0 0

9579 0.62 164.4 282.1 9.1 958 9586 0.15 2.53 0.00 0.000 6 0.110 0.064 2632 2316 2135 0 0 0 0 0 0

9904 0.53 164.4 245.2 11.2 989 9908 0.00 2.58 0.00 0.000 4 0.000 0.078 2644 716 2134 0 0 0 0 0 0

10161 0.44 164.4 214.5 11.8 1011 10168 0.25 2.50 0.00 0.000 6 0.179 0.064 2579 2303 2134 0 0 0 0 0 0

10486 0.59 191.5 188.2 8.0 1042 10518 0.12 2.60 24.33 0.836 4 0.117 0.078 2633 721 2019 0 0 0 0 0 0

10770 0.59 191.5 155.4 12.9 1067 10777 0.00 2.53 0.00 0.000 6 0.000 0.064 2632 2305 2015 0 0 0 0 0 0

11095 0.59 191.5 117.5 11.0 1098 11099 0.00 2.58 0.00 0.000 4 0.000 0.079 2644 712 2015 0 0 0 0 0 0

11352 0.59 191.5 89.4 10.5 1129 11357 0.00 2.53 0.00 0.000 6 0.000 0.067 2644 2305 2015 0 0 0 0 0 0

11696 0.59 191.5 54.3 9.8 1190 11702 0.00 2.55 0.00 0.000 4 0.000 0.081 2655 721 2014 0 0 0 0 0 0

11954 0.59 191.5 28.2 9.5 1236 11960 0.15 2.50 0.00 0.000 6 0.185 0.067 2619 2297 2014 0 0 0 0 0 0

12285 end climb: SURFACE_DEPTH_REACHED

state 12285 begin surface coast

12319 end surface coast: CONTROL_FINISHED_OK

state 12319 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	35	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	23	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	-23600.406	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	052636,6714.657,-5724.415,36,1.9,42,-38.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6704.562,-5733.871
_XMS_NAKs	11	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	053340,6714.710,-5724.389,13,2.1,32,-38.0	MHEAD_RNG_PITCHd_Wd	238.0,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	595

FINISH	0.5,1.026322	_24V_AH	23.6,18.769
SM_CCo	12335,55.67,0.764,0,0,1677,275.23	_10V_AH	10.3,8.715
SM_GC	1.41,0.00,0.00,55.67,0.000,0.000,0.764,126,2512,1677,-7.20,0.34,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	771	FG_AHR_10Vo	0.000
RAFOS	0,1256457664,8.033334,8.017777,65,57,52,0,0,0,211,187,121,0,0,0	MEM	150628
RAFOS_FIX	6712.475098,-5735.819824,251009,080848,4,72,0.84	DATA_FILE_SIZE	50364,1301
IRIDIUM_FIX	6647.44,-5727.90,190199,010127	CAP_FILE_SIZE	147113,0
TT8_MAMPS	0.027612	CFSIZE	260165632,248307712
HUMID	47.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89683	SOUNDSPEED	1466.8
TCM_TEMP	17.10	GPS	251009,090206,6715.054,-5726.910,39,1.0,39,-38.0
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	310	158.17	SBE_CT	957	24	542.35
Roll_motor	127	102	310.05	SBE_O2	887	19	398.11
VBD_pump_during_apogee	275	1108	7204.08	nil	0	0	0.00
VBD_pump_during_surface	55	763	1003.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.58	nil	0	0	0.00
Iridium_during_connect	35	160	133.32	nil	0	0	0.00
Iridium_during_xfer	224	223	1179.63
Transponder_ping	0	420	4.96
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.78
TT8	2217	19	454.98
LPSleep	7317	2	174.11
TT8_Active	470	19	96.64
TT8_Sampling	2342	39	963.19
TT8_CF8	473	45	223.96
TT8_Kalman	0	0	0.00
Analog_circuits	1640	12	202.82
GPS_charging	0	0	0.00
Compass	2289	8	188.69
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.98	-146.0	0.0	0.0	0	103	0.00	0.00	-85.12	0.000	2	0.000	0.000	128	2508	3169	0	0	0	0	0	0
105	-0.98	-146.0	3.3	-5.6	17	127	9.73	2.40	-6.15	0.000	4	0.311	0.103	2105	3915	3397	0	0	0	0	0	0
381	-0.77	-146.0	48.8	-14.5	66	387	0.30	2.28	0.00	0.000	6	0.209	0.061	2180	2493	3399	0	0	0	0	0	0
727	-0.83	-146.0	79.5	-8.5	127	732	0.00	2.38	0.00	0.000	4	0.000	0.090	2180	3912	3399	0	0	0	0	0	0
846	-0.89	-146.0	89.3	-8.1	148	852	0.12	2.28	0.00	0.000	6	0.118	0.061	2140	2484	3399	0	0	0	0	0	0
1182	-0.83	-146.0	122.7	-10.5	189	1186	0.00	2.38	0.00	0.000	4	0.000	0.089	2139	3911	3399	0	0	0	0	0	0
1222	-0.76	-146.0	126.8	-10.9	192	1226	0.17	2.28	0.00	0.000	6	0.209	0.061	2179	2483	3398	0	0	0	0	0	0
1546	-0.86	-146.0	155.3	-9.0	222	1550	0.00	2.38	0.00	0.000	4	0.000	0.089	2179	3909	3398	0	0	0	0	0	0
1805	-0.96	-146.0	179.7	-9.1	245	1810	0.17	2.20	0.00	0.000	6	0.106	0.061	2121	2519	3397	0	0	0	0	0	0
2131	-0.86	-146.0	214.8	-10.1	275	2136	0.12	2.33	0.00	0.000	4	0.213	0.087	2140	3921	3396	0	0	0	0	0	0
2388	-0.86	-146.0	238.9	-9.6	297	2394	0.00	2.25	0.00	0.000	6	0.000	0.061	2140	2522	3396	0	0	0	0	0	0
2713	-0.86	-146.0	267.2	-9.0	328	2717	0.00	2.28	0.00	0.000	4	0.000	0.087	2140	3910	3396	0	0	0	0	0	0
2947	-0.86	-146.0	289.8	-10.2	348	2954	0.00	2.22	0.00	0.000	6	0.000	0.059	2140	2515	3396	0	0	0	0	0	0
3274	-0.86	-146.0	319.2	-8.7	379	3278	0.00	2.55	0.00	0.000	4	0.000	0.077	2140	905	3396	0	0	0	0	0	0
3284	-0.86	-146.0	320.2	-8.7	379	3289	0.00	2.67	0.00	0.000	6	0.000	0.071	2140	2586	3396	0	0	0	0	0	0
3608	-0.86	-146.0	347.1	-8.3	410	3612	0.00	2.15	0.00	0.000	4	0.000	0.087	2140	3912	3397	0	0	0	0	0	0
3619	-0.86	-146.0	348.1	-8.4	411	3623	0.00	2.08	0.00	0.000	6	0.000	0.058	2140	2581	3397	0	0	0	0	0	0
3949	-0.86	-146.0	376.3	-8.4	442	3954	0.00	2.65	0.00	0.000	4	0.000	0.077	2140	910	3398	0	0	0	0	0	0
3960	-0.86	-146.0	377.1	-8.4	442	3966	0.00	2.67	0.00	0.000	6	0.000	0.071	2140	2590	3398	0	0	0	0	0	0
4285	-0.86	-146.0	403.7	-8.2	473	4289	0.00	2.67	0.00	0.000	4	0.000	0.077	2140	913	3398	0	0	0	0	0	0
4294	-0.86	-146.0	404.5	-8.2	473	4300	0.00	2.75	0.00	0.000	6	0.000	0.071	2139	2642	3398	0	0	0	0	0	0
4619	-0.86	-146.0	430.2	-7.5	504	4623	0.00	2.75	0.00	0.000	4	0.000	0.076	2140	913	3399	0	0	0	0	0	0
4640	-0.86	-146.0	431.9	-7.9	505	4646	0.00	2.75	0.00	0.000	6	0.000	0.070	2140	2644	3399	0	0	0	0	0	0
4965	-0.86	-146.0	456.2	-7.5	536	4969	0.00	2.78	0.00	0.000	4	0.000	0.075	2140	903	3399	0	0	0	0	0	0
4996	-0.86	-146.0	458.9	-8.8	538	5003	0.00	2.75	0.00	0.000	6	0.000	0.071	2140	2636	3399	0	0	0	0	0	0
5322	-0.86	-146.0	482.9	-7.4	569	5326	0.00	2.75	0.00	0.000	4	0.000	0.075	2140	906	3399	0	0	0	0	0	0
5365	-0.86	-146.0	486.5	-8.2	572	5371	0.00	2.72	0.00	0.000	6	0.000	0.070	2140	2629	3399	0	0	0	0	0	0
5690	-0.86	-146.0	510.2	-7.3	603	5694	0.00	2.75	0.00	0.000	4	0.000	0.075	2139	901	3400	0	0	0	0	0	0
5767	-0.86	-146.0	516.5	-7.8	609	5773	0.00	2.72	0.00	0.000	6	0.000	0.069	2140	2623	3400	0	0	0	0	0	0
6093	-0.86	-146.0	543.6	-9.1	640	6098	0.00	2.72	0.00	0.000	4	0.000	0.075	2140	907	3400	0	0	0	0	0	0
6144	-0.86	-146.0	548.5	-9.3	644	6148	0.00	2.72	0.00	0.000	6	0.000	0.069	2140	2628	3400	0	0	0	0	0	0
6468	-0.86	-146.0	576.0	-8.2	674	6473	0.00	2.72	0.00	0.000	4	0.000	0.075	2140	913	3401	0	0	0	0	0	0
6557	-0.86	-146.0	583.7	-8.2	681	6562	0.00	2.70	0.00	0.000	6	0.000	0.068	2140	2624	3400	0	0	0	0	0	0
6720	end dive: TARGET_DEPTH_EXCEEDED
state	6720	begin apogee
6725	-0.24	0.0	595.8	7.2	697	6846	0.73	0.00	117.70	1.108	6	0.176	0.000	2349	2286	2800	0	0	0	0	0	0
6847	end apogee: CONTROL_FINISHED_OK
state	6847	begin climb
6849	0.98	146.0	596.4	0.0	709	6983	1.23	2.78	120.70	1.063	4	0.100	0.077	2751	731	2202	0	0	0	0	0	0
7235	0.53	146.0	534.3	18.6	744	7242	0.57	2.60	0.00	0.000	6	0.206	0.064	2609	2315	2195	0	0	0	0	0	0
7560	0.47	146.0	494.5	11.9	775	7564	0.00	2.62	0.00	0.000	4	0.000	0.077	2618	720	2194	0	0	0	0	0	0
7817	0.40	146.0	461.9	12.6	797	7824	0.22	2.53	0.00	0.000	6	0.180	0.064	2562	2294	2193	0	0	0	0	0	0
8142	0.49	146.0	430.2	10.0	828	8146	0.00	2.55	0.00	0.000	4	0.000	0.078	2571	720	2193	0	0	0	0	0	0
8399	0.59	150.1	404.7	9.0	850	8406	0.15	2.55	0.00	0.000	6	0.111	0.064	2623	2322	2193	0	0	0	0	0	0
8724	0.52	150.1	366.9	12.1	881	8728	0.00	2.58	0.00	0.000	4	0.000	0.078	2635	721	2192	0	0	0	0	0	0
8981	0.41	150.1	335.6	13.1	903	8987	0.25	2.53	0.00	0.000	6	0.183	0.064	2570	2320	2192	0	0	0	0	0	0
9306	0.52	162.4	306.6	8.7	934	9327	0.00	2.65	12.70	0.862	4	0.000	0.077	2580	721	2136	0	0	0	0	0	0
9579	0.62	164.4	282.1	9.1	958	9586	0.15	2.53	0.00	0.000	6	0.110	0.064	2632	2316	2135	0	0	0	0	0	0
9904	0.53	164.4	245.2	11.2	989	9908	0.00	2.58	0.00	0.000	4	0.000	0.078	2644	716	2134	0	0	0	0	0	0
10161	0.44	164.4	214.5	11.8	1011	10168	0.25	2.50	0.00	0.000	6	0.179	0.064	2579	2303	2134	0	0	0	0	0	0
10486	0.59	191.5	188.2	8.0	1042	10518	0.12	2.60	24.33	0.836	4	0.117	0.078	2633	721	2019	0	0	0	0	0	0
10770	0.59	191.5	155.4	12.9	1067	10777	0.00	2.53	0.00	0.000	6	0.000	0.064	2632	2305	2015	0	0	0	0	0	0
11095	0.59	191.5	117.5	11.0	1098	11099	0.00	2.58	0.00	0.000	4	0.000	0.079	2644	712	2015	0	0	0	0	0	0
11352	0.59	191.5	89.4	10.5	1129	11357	0.00	2.53	0.00	0.000	6	0.000	0.067	2644	2305	2015	0	0	0	0	0	0
11696	0.59	191.5	54.3	9.8	1190	11702	0.00	2.55	0.00	0.000	4	0.000	0.081	2655	721	2014	0	0	0	0	0	0
11954	0.59	191.5	28.2	9.5	1236	11960	0.15	2.50	0.00	0.000	6	0.185	0.067	2619	2297	2014	0	0	0	0	0	0
12285	end climb: SURFACE_DEPTH_REACHED
state	12285	begin surface coast
12319	end surface coast: CONTROL_FINISHED_OK
state	12319	begin surface