Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 359 * 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 359 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 325 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 18 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -42638.742 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 325

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 -42638.742

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 18 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 359 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 152924,6711.390,-5723.954,40,2.0,40,-37.9 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 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 153534,6711.428,-5724.078,10,2.9,29,-37.9 MHEAD_RNG_PITCHd_Wd 158.8,30371,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 671

Post-dive calculations and measurements:

FREEZE 0.57,-1.522,-0.742,0,1,0 ALTIM_TOP_PING 19.3,19.0

FINISH 0.6,1.010901 ALTIM_BOTTOM_PING 600.3,99.1

SM_CCo 14188,57.05,0.781,0,0,1474,325.02 _24V_AH 22.1,66.364

SM_GC 1.57,0.00,0.00,57.05,0.000,0.000,0.781,129,2456,1474,-8.00,-0.14,325.02 _10V_AH 10.0,35.416

RAFOS_CLK 925 FG_AHR_24Vo 0.000

RAFOS 0,1261497666,16.033333,16.018333,61,60,56,0,0,0,185,213,227,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6710.390137,-5731.074707,221209,161656,2,83,1.26 MEM 152520

IRIDIUM_FIX 6641.98,-5726.21,180399,111144 DATA_FILE_SIZE 53655,1353

TT8_MAMPS 0.027612 CAP_FILE_SIZE 162728,0

HUMID 48.74 CFSIZE 260165632,222007296

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,177,0,0

TCM_TEMP 16.50 SOUNDSPEED 1457.7

XPDR_PINGS 7 GPS 221209,193436,6712.609,-5726.689,24,1.4,24,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 301 164.88 SBE_CT 995 24 527.94

Roll_motor 174 105 407.14 SBE_O2 948 19 398.38

VBD_pump_during_apogee 352 1183 9222.23 nil 0 0 0.00

VBD_pump_during_surface 57 780 984.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 55.42 nil 0 0 0.00

Iridium_during_connect 43 160 154.47 nil 0 0 0.00

Iridium_during_xfer 153 223 758.38

Transponder_ping 4 420 37.13

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.79

TT8 2359 19 470.02

LPSleep 8513 2 196.67

TT8_Active 586 19 116.88

TT8_Sampling 2680 39 1070.15

TT8_CF8 469 45 215.78

TT8_Kalman 0 0 0.00

Analog_circuits 1920 12 230.47

GPS_charging 0 0 0.00

Compass 2616 8 209.36

RAFOS 2520 1 37.80

Transponder 18 30 5.68

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 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 119 0.00 0.00 -99.57 0.000 2 0.000 0.000 124 2453 3090 0 0 0 0 0 0

122 -0.73 -146.0 3.5 -6.4 20 149 11.60 2.17 -8.52 0.000 4 0.301 0.106 2450 863 3398 0 0 0 0 0 0

390 -0.73 -146.0 39.0 -11.6 68 396 0.00 2.10 0.00 0.000 6 0.000 0.077 2450 2455 3400 0 0 0 0 0 0

733 -0.73 -146.0 77.6 -10.8 129 739 0.00 2.17 0.00 0.000 4 0.000 0.096 2450 851 3400 0 0 0 0 0 0

973 -0.73 -146.0 102.2 -9.8 170 979 0.00 2.15 0.00 0.000 6 0.000 0.077 2450 2458 3400 0 0 0 0 0 0

1299 -0.78 -146.0 129.0 -8.5 201 1303 0.00 2.17 0.00 0.000 4 0.000 0.097 2450 854 3400 0 0 0 0 0 0

1556 -0.78 -146.0 153.4 -9.5 223 1562 0.00 2.15 0.00 0.000 6 0.000 0.077 2450 2460 3399 0 0 0 0 0 0

1881 -0.87 -146.0 181.6 -8.2 254 1888 0.12 3.50 0.00 0.000 4 0.130 0.094 2398 3926 3399 0 0 4 0 0 0

2139 -0.76 -146.0 209.1 -10.8 276 2146 0.17 3.40 0.00 0.000 6 0.216 0.074 2436 2464 3399 0 0 3 0 0 0

2465 -0.82 -146.0 237.6 -8.2 307 2471 0.00 3.50 0.00 0.000 4 0.000 0.094 2436 3921 3399 0 0 6 0 0 0

2723 -0.88 -146.0 258.0 -7.4 329 2729 0.00 3.38 0.00 0.000 6 0.000 0.071 2436 2459 3398 0 0 4 0 0 0

3048 -0.94 -146.0 283.1 -7.7 360 3054 0.15 3.55 0.00 0.000 4 0.119 0.091 2372 3930 3398 0 0 5 0 0 0

3302 -0.78 -146.0 310.6 -11.2 382 3308 0.28 3.40 0.00 0.000 6 0.211 0.071 2436 2453 3398 0 0 4 0 0 0

3627 -0.84 -146.0 337.1 -8.0 412 3632 0.00 3.50 0.00 0.000 4 0.000 0.091 2436 3919 3398 0 0 6 0 0 0

3885 -0.91 -146.0 357.7 -7.6 434 3892 0.15 3.35 0.00 0.000 6 0.120 0.070 2387 2458 3399 0 0 4 0 0 0

4210 -0.84 -146.0 390.0 -9.9 465 4216 0.12 3.58 0.00 0.000 4 0.204 0.090 2413 3920 3399 0 0 4 0 0 0

4444 -0.84 -146.0 412.0 -9.4 485 4451 0.00 3.40 0.00 0.000 6 0.000 0.068 2413 2455 3400 0 0 4 0 0 0

4771 -0.84 -146.0 440.5 -8.8 516 4776 0.00 3.50 0.00 0.000 4 0.000 0.088 2413 3932 3400 0 0 6 0 0 0

5029 -0.84 -146.0 463.9 -8.7 538 5035 0.00 3.38 0.00 0.000 6 0.000 0.067 2413 2460 3401 0 0 4 0 0 0

5353 -0.84 -146.0 491.4 -8.5 569 5359 0.00 3.53 0.00 0.000 4 0.000 0.088 2413 3932 3401 0 0 5 0 0 0

5611 -0.84 -146.0 514.0 -8.1 591 5617 0.00 3.38 0.00 0.000 6 0.000 0.067 2413 2461 3402 0 0 4 0 0 0

5936 -0.84 -146.0 540.4 -8.4 622 5942 0.00 3.47 0.00 0.000 4 0.000 0.087 2413 3920 3402 0 0 6 0 0 0

6194 -0.84 -146.0 562.2 -8.2 644 6200 0.00 3.35 0.00 0.000 6 0.000 0.067 2413 2459 3402 0 0 4 0 0 0

6519 -0.84 -146.0 588.0 -7.7 675 6523 0.00 2.12 0.00 0.000 4 0.000 0.089 2413 854 3402 0 0 0 0 0 0

6779 -0.84 -146.0 610.6 -9.2 691 6783 0.00 2.08 0.00 0.000 6 0.000 0.071 2413 2465 3403 0 0 0 0 0 0

7097 -0.84 -146.0 636.0 -7.9 702 7102 0.00 3.50 0.00 0.000 4 0.000 0.088 2413 3920 3402 0 0 4 0 0 0

7270 -0.84 -146.0 649.9 -7.2 707 7275 0.00 3.38 0.00 0.000 6 0.000 0.067 2413 2460 3403 0 0 4 0 0 0

7560 end dive: TARGET_DEPTH_EXCEEDED

state 7560 begin apogee

7566 -0.16 0.0 672.2 7.6 717 7695 0.82 0.00 125.97 1.183 6 0.188 0.000 2631 1943 2799 0 0 0 0 0 0

7696 end apogee: CONTROL_FINISHED_OK

state 7696 begin climb

7699 0.73 146.0 674.6 0.0 721 7839 0.98 2.12 131.43 1.125 4 0.132 0.094 2923 362 2203 0 0 0 0 0 0

8024 0.63 146.0 641.3 12.5 731 8028 0.00 1.88 0.00 0.000 6 0.000 0.064 2923 1968 2196 0 0 0 0 0 0

8359 0.54 146.0 601.0 11.7 742 8367 0.22 3.72 0.00 0.000 4 0.201 0.080 2854 3531 2195 0 0 4 0 0 0

8520 0.60 147.2 585.4 9.1 754 8526 0.00 3.70 0.00 0.000 6 0.000 0.074 2868 1942 2194 0 0 4 0 0 0

8845 0.74 170.0 558.1 8.2 785 8873 0.17 3.75 19.85 1.058 4 0.107 0.082 2930 3532 2107 0 0 4 0 0 0

9042 0.58 170.0 533.2 13.3 802 9052 0.28 3.72 0.00 0.000 6 0.203 0.076 2881 1941 2103 0 0 4 0 0 0

9370 0.66 170.0 501.8 9.2 833 9376 0.00 3.72 0.00 0.000 4 0.000 0.081 2881 3532 2103 0 0 4 0 0 0

9535 0.66 170.0 485.2 10.4 847 9540 0.00 3.70 0.00 0.000 6 0.000 0.076 2895 1943 2103 0 0 4 0 0 0

9859 0.66 170.0 454.0 9.5 877 9864 0.00 3.72 0.00 0.000 4 0.000 0.082 2895 3534 2103 0 0 5 0 0 0

10012 0.66 170.0 437.9 10.6 890 10018 0.00 3.70 0.00 0.000 6 0.000 0.076 2912 1941 2101 0 0 4 0 0 0

10336 0.66 170.0 404.3 10.5 920 10342 0.00 3.72 0.00 0.000 4 0.000 0.082 2912 3533 2101 0 0 4 0 0 0

10505 0.57 170.0 384.3 12.4 934 10511 0.20 3.70 0.00 0.000 6 0.202 0.076 2882 1941 2101 0 0 4 0 0 0

10830 0.70 189.3 354.8 8.4 965 10855 0.10 3.78 17.25 0.953 4 0.140 0.081 2914 3533 2027 0 0 4 0 0 0

11019 0.63 189.3 333.0 12.2 982 11029 0.15 3.70 0.00 0.000 6 0.205 0.076 2898 1947 2024 0 0 4 0 0 0

11348 0.69 189.3 299.4 10.8 1013 11354 0.00 3.72 0.00 0.000 4 0.000 0.081 2898 3533 2024 0 0 4 0 0 0

11484 0.69 189.3 283.1 12.5 1024 11490 0.00 3.70 0.00 0.000 6 0.000 0.074 2912 1945 2023 0 0 4 0 0 0

11808 0.69 189.3 247.1 10.1 1055 11814 0.00 3.72 0.00 0.000 4 0.000 0.081 2911 3534 2023 0 0 4 0 0 0

11977 0.69 189.3 227.9 10.7 1069 11983 0.00 3.70 0.00 0.000 6 0.000 0.075 2927 1944 2023 0 0 4 0 0 0

12302 0.69 189.3 192.7 10.8 1100 12308 0.00 3.72 0.00 0.000 4 0.000 0.081 2928 3533 2023 0 0 4 0 0 0

12458 0.62 189.3 173.9 12.6 1113 12465 0.22 3.70 0.00 0.000 6 0.200 0.075 2892 1948 2023 0 0 3 0 0 0

12783 0.80 218.0 146.9 8.0 1144 12818 0.17 3.72 25.10 0.847 4 0.113 0.081 2950 3531 1909 0 0 4 0 0 0

12998 0.69 218.0 120.7 12.9 1163 13005 0.22 3.65 0.00 0.000 6 0.198 0.076 2914 1950 1905 0 0 4 0 0 0

13328 0.85 248.0 91.1 7.9 1203 13364 0.15 3.72 26.17 0.821 4 0.121 0.082 2964 3524 1787 0 0 4 0 0 0

13495 0.79 248.0 71.8 12.3 1233 13502 0.15 3.72 0.00 0.000 6 0.202 0.077 2948 1950 1784 0 0 4 0 0 0

13840 0.85 255.2 39.2 8.9 1294 13856 0.00 3.78 6.82 0.726 4 0.000 0.083 2948 3528 1758 0 0 4 0 0 0

14019 0.85 255.2 17.0 13.2 1326 14024 0.00 3.72 0.00 0.000 6 0.000 0.079 2962 1950 1757 0 0 4 0 0 0

14152 end climb: SURFACE_DEPTH_REACHED

state 14152 begin surface coast

14170 end surface coast: CONTROL_FINISHED_OK

state 14170 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	359	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	325	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	18	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-42638.742	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	152924,6711.390,-5723.954,40,2.0,40,-37.9	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	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	153534,6711.428,-5724.078,10,2.9,29,-37.9	MHEAD_RNG_PITCHd_Wd	158.8,30371,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	671

FREEZE	0.57,-1.522,-0.742,0,1,0	ALTIM_TOP_PING	19.3,19.0
FINISH	0.6,1.010901	ALTIM_BOTTOM_PING	600.3,99.1
SM_CCo	14188,57.05,0.781,0,0,1474,325.02	_24V_AH	22.1,66.364
SM_GC	1.57,0.00,0.00,57.05,0.000,0.000,0.781,129,2456,1474,-8.00,-0.14,325.02	_10V_AH	10.0,35.416
RAFOS_CLK	925	FG_AHR_24Vo	0.000
RAFOS	0,1261497666,16.033333,16.018333,61,60,56,0,0,0,185,213,227,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6710.390137,-5731.074707,221209,161656,2,83,1.26	MEM	152520
IRIDIUM_FIX	6641.98,-5726.21,180399,111144	DATA_FILE_SIZE	53655,1353
TT8_MAMPS	0.027612	CAP_FILE_SIZE	162728,0
HUMID	48.74	CFSIZE	260165632,222007296
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,177,0,0
TCM_TEMP	16.50	SOUNDSPEED	1457.7
XPDR_PINGS	7	GPS	221209,193436,6712.609,-5726.689,24,1.4,24,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	301	164.88	SBE_CT	995	24	527.94
Roll_motor	174	105	407.14	SBE_O2	948	19	398.38
VBD_pump_during_apogee	352	1183	9222.23	nil	0	0	0.00
VBD_pump_during_surface	57	780	984.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	55.42	nil	0	0	0.00
Iridium_during_connect	43	160	154.47	nil	0	0	0.00
Iridium_during_xfer	153	223	758.38
Transponder_ping	4	420	37.13
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.79
TT8	2359	19	470.02
LPSleep	8513	2	196.67
TT8_Active	586	19	116.88
TT8_Sampling	2680	39	1070.15
TT8_CF8	469	45	215.78
TT8_Kalman	0	0	0.00
Analog_circuits	1920	12	230.47
GPS_charging	0	0	0.00
Compass	2616	8	209.36
RAFOS	2520	1	37.80
Transponder	18	30	5.68

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	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	119	0.00	0.00	-99.57	0.000	2	0.000	0.000	124	2453	3090	0	0	0	0	0	0
122	-0.73	-146.0	3.5	-6.4	20	149	11.60	2.17	-8.52	0.000	4	0.301	0.106	2450	863	3398	0	0	0	0	0	0
390	-0.73	-146.0	39.0	-11.6	68	396	0.00	2.10	0.00	0.000	6	0.000	0.077	2450	2455	3400	0	0	0	0	0	0
733	-0.73	-146.0	77.6	-10.8	129	739	0.00	2.17	0.00	0.000	4	0.000	0.096	2450	851	3400	0	0	0	0	0	0
973	-0.73	-146.0	102.2	-9.8	170	979	0.00	2.15	0.00	0.000	6	0.000	0.077	2450	2458	3400	0	0	0	0	0	0
1299	-0.78	-146.0	129.0	-8.5	201	1303	0.00	2.17	0.00	0.000	4	0.000	0.097	2450	854	3400	0	0	0	0	0	0
1556	-0.78	-146.0	153.4	-9.5	223	1562	0.00	2.15	0.00	0.000	6	0.000	0.077	2450	2460	3399	0	0	0	0	0	0
1881	-0.87	-146.0	181.6	-8.2	254	1888	0.12	3.50	0.00	0.000	4	0.130	0.094	2398	3926	3399	0	0	4	0	0	0
2139	-0.76	-146.0	209.1	-10.8	276	2146	0.17	3.40	0.00	0.000	6	0.216	0.074	2436	2464	3399	0	0	3	0	0	0
2465	-0.82	-146.0	237.6	-8.2	307	2471	0.00	3.50	0.00	0.000	4	0.000	0.094	2436	3921	3399	0	0	6	0	0	0
2723	-0.88	-146.0	258.0	-7.4	329	2729	0.00	3.38	0.00	0.000	6	0.000	0.071	2436	2459	3398	0	0	4	0	0	0
3048	-0.94	-146.0	283.1	-7.7	360	3054	0.15	3.55	0.00	0.000	4	0.119	0.091	2372	3930	3398	0	0	5	0	0	0
3302	-0.78	-146.0	310.6	-11.2	382	3308	0.28	3.40	0.00	0.000	6	0.211	0.071	2436	2453	3398	0	0	4	0	0	0
3627	-0.84	-146.0	337.1	-8.0	412	3632	0.00	3.50	0.00	0.000	4	0.000	0.091	2436	3919	3398	0	0	6	0	0	0
3885	-0.91	-146.0	357.7	-7.6	434	3892	0.15	3.35	0.00	0.000	6	0.120	0.070	2387	2458	3399	0	0	4	0	0	0
4210	-0.84	-146.0	390.0	-9.9	465	4216	0.12	3.58	0.00	0.000	4	0.204	0.090	2413	3920	3399	0	0	4	0	0	0
4444	-0.84	-146.0	412.0	-9.4	485	4451	0.00	3.40	0.00	0.000	6	0.000	0.068	2413	2455	3400	0	0	4	0	0	0
4771	-0.84	-146.0	440.5	-8.8	516	4776	0.00	3.50	0.00	0.000	4	0.000	0.088	2413	3932	3400	0	0	6	0	0	0
5029	-0.84	-146.0	463.9	-8.7	538	5035	0.00	3.38	0.00	0.000	6	0.000	0.067	2413	2460	3401	0	0	4	0	0	0
5353	-0.84	-146.0	491.4	-8.5	569	5359	0.00	3.53	0.00	0.000	4	0.000	0.088	2413	3932	3401	0	0	5	0	0	0
5611	-0.84	-146.0	514.0	-8.1	591	5617	0.00	3.38	0.00	0.000	6	0.000	0.067	2413	2461	3402	0	0	4	0	0	0
5936	-0.84	-146.0	540.4	-8.4	622	5942	0.00	3.47	0.00	0.000	4	0.000	0.087	2413	3920	3402	0	0	6	0	0	0
6194	-0.84	-146.0	562.2	-8.2	644	6200	0.00	3.35	0.00	0.000	6	0.000	0.067	2413	2459	3402	0	0	4	0	0	0
6519	-0.84	-146.0	588.0	-7.7	675	6523	0.00	2.12	0.00	0.000	4	0.000	0.089	2413	854	3402	0	0	0	0	0	0
6779	-0.84	-146.0	610.6	-9.2	691	6783	0.00	2.08	0.00	0.000	6	0.000	0.071	2413	2465	3403	0	0	0	0	0	0
7097	-0.84	-146.0	636.0	-7.9	702	7102	0.00	3.50	0.00	0.000	4	0.000	0.088	2413	3920	3402	0	0	4	0	0	0
7270	-0.84	-146.0	649.9	-7.2	707	7275	0.00	3.38	0.00	0.000	6	0.000	0.067	2413	2460	3403	0	0	4	0	0	0
7560	end dive: TARGET_DEPTH_EXCEEDED
state	7560	begin apogee
7566	-0.16	0.0	672.2	7.6	717	7695	0.82	0.00	125.97	1.183	6	0.188	0.000	2631	1943	2799	0	0	0	0	0	0
7696	end apogee: CONTROL_FINISHED_OK
state	7696	begin climb
7699	0.73	146.0	674.6	0.0	721	7839	0.98	2.12	131.43	1.125	4	0.132	0.094	2923	362	2203	0	0	0	0	0	0
8024	0.63	146.0	641.3	12.5	731	8028	0.00	1.88	0.00	0.000	6	0.000	0.064	2923	1968	2196	0	0	0	0	0	0
8359	0.54	146.0	601.0	11.7	742	8367	0.22	3.72	0.00	0.000	4	0.201	0.080	2854	3531	2195	0	0	4	0	0	0
8520	0.60	147.2	585.4	9.1	754	8526	0.00	3.70	0.00	0.000	6	0.000	0.074	2868	1942	2194	0	0	4	0	0	0
8845	0.74	170.0	558.1	8.2	785	8873	0.17	3.75	19.85	1.058	4	0.107	0.082	2930	3532	2107	0	0	4	0	0	0
9042	0.58	170.0	533.2	13.3	802	9052	0.28	3.72	0.00	0.000	6	0.203	0.076	2881	1941	2103	0	0	4	0	0	0
9370	0.66	170.0	501.8	9.2	833	9376	0.00	3.72	0.00	0.000	4	0.000	0.081	2881	3532	2103	0	0	4	0	0	0
9535	0.66	170.0	485.2	10.4	847	9540	0.00	3.70	0.00	0.000	6	0.000	0.076	2895	1943	2103	0	0	4	0	0	0
9859	0.66	170.0	454.0	9.5	877	9864	0.00	3.72	0.00	0.000	4	0.000	0.082	2895	3534	2103	0	0	5	0	0	0
10012	0.66	170.0	437.9	10.6	890	10018	0.00	3.70	0.00	0.000	6	0.000	0.076	2912	1941	2101	0	0	4	0	0	0
10336	0.66	170.0	404.3	10.5	920	10342	0.00	3.72	0.00	0.000	4	0.000	0.082	2912	3533	2101	0	0	4	0	0	0
10505	0.57	170.0	384.3	12.4	934	10511	0.20	3.70	0.00	0.000	6	0.202	0.076	2882	1941	2101	0	0	4	0	0	0
10830	0.70	189.3	354.8	8.4	965	10855	0.10	3.78	17.25	0.953	4	0.140	0.081	2914	3533	2027	0	0	4	0	0	0
11019	0.63	189.3	333.0	12.2	982	11029	0.15	3.70	0.00	0.000	6	0.205	0.076	2898	1947	2024	0	0	4	0	0	0
11348	0.69	189.3	299.4	10.8	1013	11354	0.00	3.72	0.00	0.000	4	0.000	0.081	2898	3533	2024	0	0	4	0	0	0
11484	0.69	189.3	283.1	12.5	1024	11490	0.00	3.70	0.00	0.000	6	0.000	0.074	2912	1945	2023	0	0	4	0	0	0
11808	0.69	189.3	247.1	10.1	1055	11814	0.00	3.72	0.00	0.000	4	0.000	0.081	2911	3534	2023	0	0	4	0	0	0
11977	0.69	189.3	227.9	10.7	1069	11983	0.00	3.70	0.00	0.000	6	0.000	0.075	2927	1944	2023	0	0	4	0	0	0
12302	0.69	189.3	192.7	10.8	1100	12308	0.00	3.72	0.00	0.000	4	0.000	0.081	2928	3533	2023	0	0	4	0	0	0
12458	0.62	189.3	173.9	12.6	1113	12465	0.22	3.70	0.00	0.000	6	0.200	0.075	2892	1948	2023	0	0	3	0	0	0
12783	0.80	218.0	146.9	8.0	1144	12818	0.17	3.72	25.10	0.847	4	0.113	0.081	2950	3531	1909	0	0	4	0	0	0
12998	0.69	218.0	120.7	12.9	1163	13005	0.22	3.65	0.00	0.000	6	0.198	0.076	2914	1950	1905	0	0	4	0	0	0
13328	0.85	248.0	91.1	7.9	1203	13364	0.15	3.72	26.17	0.821	4	0.121	0.082	2964	3524	1787	0	0	4	0	0	0
13495	0.79	248.0	71.8	12.3	1233	13502	0.15	3.72	0.00	0.000	6	0.202	0.077	2948	1950	1784	0	0	4	0	0	0
13840	0.85	255.2	39.2	8.9	1294	13856	0.00	3.78	6.82	0.726	4	0.000	0.083	2948	3528	1758	0	0	4	0	0	0
14019	0.85	255.2	17.0	13.2	1326	14024	0.00	3.72	0.00	0.000	6	0.000	0.079	2962	1950	1757	0	0	4	0	0	0
14152	end climb: SURFACE_DEPTH_REACHED
state	14152	begin surface coast
14170	end surface coast: CONTROL_FINISHED_OK
state	14170	begin surface