Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 370 * 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 370 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 11 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 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 -43327.211 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 -43327.211

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 11 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 370 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 112824,6715.586,-5734.156,39,1.7,39,-38.0 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 -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 113414,6715.555,-5734.223,12,1.4,12,-38.0 MHEAD_RNG_PITCHd_Wd 162.9,40680,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 621

Post-dive calculations and measurements:

FREEZE 0.70,-1.196,-1.826,0,1,0 ALTIM_TOP_PING 20.0,19.3

FINISH 0.7,1.026788 ALTIM_BOTTOM_PING 550.8,110.9

SM_CCo 12915,82.15,0.772,0,0,1474,325.02 _24V_AH 22.2,67.900

SM_GC 1.52,0.00,0.00,82.15,0.000,0.000,0.772,122,2471,1474,-8.03,0.31,325.02 _10V_AH 10.0,36.357

RAFOS_CLK 836 FG_AHR_24Vo 0.000

RAFOS 0,1261656066,12.033333,12.018333,63,62,58,0,0,0,194,232,211,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6714.022461,-5739.227539,241209,121244,3,91,1.10 MEM 152568

IRIDIUM_FIX 6647.44,-5729.59,200399,070725 DATA_FILE_SIZE 50478,1313

TT8_MAMPS 0.027612 CAP_FILE_SIZE 152596,0

HUMID 48.54 CFSIZE 260165632,221110272

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,172,0,0

TCM_TEMP 16.60 SOUNDSPEED 1459.1

XPDR_PINGS 4 GPS 241209,151244,6715.570,-5735.273,28,1.4,35,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 299 163.69 SBE_CT 961 24 512.51

Roll_motor 162 105 381.13 SBE_O2 911 19 384.48

VBD_pump_during_apogee 307 1149 7839.72 nil 0 0 0.00

VBD_pump_during_surface 82 771 1407.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.05 nil 0 0 0.00

Iridium_during_connect 32 160 114.91 nil 0 0 0.00

Iridium_during_xfer 159 223 787.39

Transponder_ping 3 420 27.97

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.88

TT8 2269 19 452.01

LPSleep 7542 2 174.23

TT8_Active 593 19 118.23

TT8_Sampling 2495 39 996.19

TT8_CF8 448 45 205.80

TT8_Kalman 0 0 0.00

Analog_circuits 1846 12 221.57

GPS_charging 0 0 0.00

Compass 2443 8 195.48

RAFOS 2520 1 37.80

Transponder 17 30 5.35

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

16 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.18 0.000 2 0.000 0.000 126 2469 3028 0 0 0 0 0 0

116 -0.73 -146.0 3.0 -3.8 19 147 11.52 2.22 -11.10 0.000 4 0.299 0.106 2449 847 3399 0 0 0 0 0 0

400 -0.73 -146.0 38.6 -11.5 70 406 0.00 2.05 0.00 0.000 6 0.000 0.072 2449 2453 3401 0 0 0 0 0 0

743 -0.73 -146.0 75.0 -10.5 131 749 0.00 2.10 0.00 0.000 4 0.000 0.091 2449 856 3401 0 0 0 0 0 0

1002 -0.73 -146.0 102.8 -10.0 175 1005 0.00 2.05 0.00 0.000 6 0.000 0.074 2449 2464 3401 0 0 0 0 0 0

1331 -0.78 -146.0 135.3 -10.2 206 1335 0.00 2.12 0.00 0.000 4 0.000 0.092 2449 851 3401 0 0 0 0 0 0

1590 -0.83 -146.0 161.5 -10.1 229 1595 0.00 2.05 0.00 0.000 6 0.000 0.074 2449 2461 3401 0 0 0 0 0 0

1920 -0.89 -146.0 190.0 -8.7 260 1925 0.15 2.15 0.00 0.000 4 0.122 0.094 2401 850 3400 0 0 0 0 0 0

2179 -0.80 -146.0 219.1 -11.9 282 2184 0.00 2.05 0.00 0.000 6 0.000 0.074 2400 2460 3400 0 0 0 0 0 0

2504 -0.76 -146.0 252.9 -10.8 313 2514 0.17 3.60 0.00 0.000 4 0.221 0.089 2429 3928 3398 0 0 5 0 0 0

2766 -0.76 -146.0 276.9 -8.7 336 2772 0.00 3.42 0.00 0.000 6 0.000 0.068 2429 2462 3398 0 0 4 0 0 0

3091 -0.76 -146.0 302.7 -7.8 367 3096 0.00 3.58 0.00 0.000 4 0.000 0.088 2429 3927 3399 0 0 4 0 0 0

3348 -0.76 -146.0 324.3 -8.3 389 3354 0.00 3.42 0.00 0.000 6 0.000 0.067 2429 2459 3399 0 0 4 0 0 0

3674 -0.76 -146.0 351.3 -8.3 420 3678 0.00 2.12 0.00 0.000 4 0.000 0.089 2429 838 3399 0 0 0 0 0 0

3931 -0.76 -146.0 375.8 -9.1 442 3937 0.00 2.08 0.00 0.000 6 0.000 0.069 2429 2455 3400 0 0 0 0 0 0

4257 -0.81 -146.0 404.9 -8.9 473 4262 0.00 3.55 0.00 0.000 4 0.000 0.087 2429 3918 3400 0 0 4 0 0 0

4493 -0.87 -146.0 426.0 -9.4 493 4499 0.00 3.40 0.00 0.000 6 0.000 0.066 2429 2458 3401 0 0 4 0 0 0

4818 -0.93 -146.0 454.6 -9.2 524 4828 0.12 3.60 0.00 0.000 4 0.120 0.085 2373 3931 3402 0 0 5 0 0 0

5080 -0.79 -146.0 484.1 -11.3 547 5087 0.22 3.45 0.00 0.000 6 0.203 0.065 2425 2458 3401 0 0 3 0 0 0

5405 -0.85 -146.0 513.7 -9.2 578 5410 0.00 3.58 0.00 0.000 4 0.000 0.087 2425 3918 3402 0 0 5 0 0 0

5663 -0.90 -146.0 536.3 -8.7 600 5669 0.00 3.40 0.00 0.000 6 0.000 0.065 2425 2460 3402 0 0 4 0 0 0

5989 -0.96 -146.0 562.9 -7.8 631 5993 0.15 2.10 0.00 0.000 4 0.117 0.087 2373 853 3402 0 0 0 0 0 0

6246 -0.81 -146.0 590.9 -10.8 653 6252 0.22 2.03 0.00 0.000 6 0.212 0.069 2424 2462 3402 0 0 0 0 0 0

6576 -0.87 -146.0 617.1 -8.0 671 6581 0.00 3.55 0.00 0.000 4 0.000 0.087 2424 3923 3402 0 0 5 0 0 0

6618 end dive: TARGET_DEPTH_EXCEEDED

state 6618 begin apogee

6628 -0.16 0.0 621.4 9.0 672 6756 0.75 0.00 124.78 1.150 6 0.183 0.000 2631 1928 2800 0 0 0 0 0 0

6757 end apogee: CONTROL_FINISHED_OK

state 6757 begin climb

6759 0.73 146.0 624.5 0.0 676 6896 0.95 2.00 129.57 1.094 4 0.131 0.091 2919 357 2203 0 0 0 0 0 0

6930 0.64 146.0 610.9 11.5 681 6934 0.00 1.90 0.00 0.000 6 0.000 0.061 2920 1962 2201 0 0 0 0 0 0

7257 0.58 146.0 574.8 11.0 706 7268 0.17 3.80 0.00 0.000 4 0.203 0.079 2877 3526 2196 0 0 6 0 0 0

7403 0.58 146.0 559.6 10.3 719 7412 0.00 3.78 0.00 0.000 6 0.000 0.073 2892 1955 2194 0 0 5 0 0 0

7731 0.58 146.0 527.0 10.5 750 7740 0.00 3.78 0.00 0.000 4 0.000 0.080 2892 3535 2194 0 0 6 0 0 0

7894 0.53 146.0 508.5 11.6 764 7901 0.20 3.80 0.00 0.000 6 0.206 0.074 2864 1935 2192 0 0 4 0 0 0

8219 0.68 166.1 480.3 8.3 795 8244 0.15 3.88 16.65 1.009 4 0.116 0.080 2913 3529 2121 0 0 4 0 0 0

8407 0.59 166.1 457.4 12.9 812 8418 0.20 3.78 0.00 0.000 6 0.208 0.075 2886 1951 2120 0 0 5 0 0 0

8736 0.67 166.1 424.7 9.8 843 8745 0.00 3.78 0.00 0.000 4 0.000 0.081 2885 3534 2119 0 0 6 0 0 0

8903 0.67 166.1 406.6 10.7 858 8912 0.00 3.78 0.00 0.000 6 0.000 0.074 2900 1939 2118 0 0 5 0 0 0

9231 0.67 166.1 372.1 10.8 889 9240 0.00 3.78 0.00 0.000 4 0.000 0.080 2900 3532 2118 0 0 6 0 0 0

9377 0.62 166.1 354.8 12.7 902 9386 0.00 3.78 0.00 0.000 6 0.000 0.074 2917 1939 2118 0 0 4 0 0 0

9705 0.62 166.1 315.2 12.2 933 9715 0.00 3.78 0.00 0.000 4 0.000 0.080 2917 3534 2118 0 0 6 0 0 0

9852 0.53 166.1 296.9 12.4 946 9863 0.28 3.78 0.00 0.000 6 0.203 0.074 2868 1936 2118 0 0 5 0 0 0

10181 0.69 179.6 267.6 8.6 977 10203 0.15 3.83 12.30 0.882 4 0.118 0.079 2918 3556 2066 0 0 5 0 0 0

10366 0.60 179.6 245.1 12.0 993 10373 0.20 3.85 0.00 0.000 6 0.205 0.074 2890 1933 2065 0 0 4 0 0 0

10690 0.70 179.6 215.1 9.5 1024 10700 0.00 3.78 0.00 0.000 4 0.000 0.078 2890 3531 2065 0 0 6 0 0 0

10862 0.70 179.6 197.3 10.0 1039 10869 0.00 3.78 0.00 0.000 6 0.000 0.074 2904 1939 2064 0 0 4 0 0 0

11189 0.80 181.4 167.9 9.1 1070 11199 0.12 3.80 0.00 0.000 4 0.113 0.079 2954 3538 2065 0 0 6 0 0 0

11345 0.67 181.4 148.4 12.8 1084 11355 0.25 3.78 0.00 0.000 6 0.202 0.074 2910 1935 2065 0 0 5 0 0 0

11674 0.78 198.2 119.3 8.5 1115 11698 0.00 3.85 16.83 0.818 4 0.000 0.079 2910 3527 1991 0 0 4 0 0 0

11891 0.83 198.2 98.4 9.7 1135 11897 0.00 3.80 0.00 0.000 6 0.000 0.075 2925 1951 1989 0 0 3 0 0 0

12234 0.91 198.2 66.5 9.8 1196 12241 0.17 3.80 0.00 0.000 4 0.099 0.081 2986 3531 1989 0 0 6 0 0 0

12399 0.73 198.2 44.6 13.5 1225 12405 0.30 3.80 0.00 0.000 6 0.202 0.076 2932 1945 1989 0 0 4 0 0 0

12744 0.82 205.1 14.2 8.9 1286 12761 0.00 3.83 7.03 0.723 4 0.000 0.084 2931 3530 1963 0 0 7 0 0 0

12872 end climb: SURFACE_DEPTH_REACHED

state 12872 begin surface coast

12895 end surface coast: CONTROL_FINISHED_OK

state 12895 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	370	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	11	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	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	-43327.211	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	112824,6715.586,-5734.156,39,1.7,39,-38.0	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	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	113414,6715.555,-5734.223,12,1.4,12,-38.0	MHEAD_RNG_PITCHd_Wd	162.9,40680,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	621

FREEZE	0.70,-1.196,-1.826,0,1,0	ALTIM_TOP_PING	20.0,19.3
FINISH	0.7,1.026788	ALTIM_BOTTOM_PING	550.8,110.9
SM_CCo	12915,82.15,0.772,0,0,1474,325.02	_24V_AH	22.2,67.900
SM_GC	1.52,0.00,0.00,82.15,0.000,0.000,0.772,122,2471,1474,-8.03,0.31,325.02	_10V_AH	10.0,36.357
RAFOS_CLK	836	FG_AHR_24Vo	0.000
RAFOS	0,1261656066,12.033333,12.018333,63,62,58,0,0,0,194,232,211,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6714.022461,-5739.227539,241209,121244,3,91,1.10	MEM	152568
IRIDIUM_FIX	6647.44,-5729.59,200399,070725	DATA_FILE_SIZE	50478,1313
TT8_MAMPS	0.027612	CAP_FILE_SIZE	152596,0
HUMID	48.54	CFSIZE	260165632,221110272
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,172,0,0
TCM_TEMP	16.60	SOUNDSPEED	1459.1
XPDR_PINGS	4	GPS	241209,151244,6715.570,-5735.273,28,1.4,35,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	299	163.69	SBE_CT	961	24	512.51
Roll_motor	162	105	381.13	SBE_O2	911	19	384.48
VBD_pump_during_apogee	307	1149	7839.72	nil	0	0	0.00
VBD_pump_during_surface	82	771	1407.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.05	nil	0	0	0.00
Iridium_during_connect	32	160	114.91	nil	0	0	0.00
Iridium_during_xfer	159	223	787.39
Transponder_ping	3	420	27.97
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.88
TT8	2269	19	452.01
LPSleep	7542	2	174.23
TT8_Active	593	19	118.23
TT8_Sampling	2495	39	996.19
TT8_CF8	448	45	205.80
TT8_Kalman	0	0	0.00
Analog_circuits	1846	12	221.57
GPS_charging	0	0	0.00
Compass	2443	8	195.48
RAFOS	2520	1	37.80
Transponder	17	30	5.35

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
16	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-94.18	0.000	2	0.000	0.000	126	2469	3028	0	0	0	0	0	0
116	-0.73	-146.0	3.0	-3.8	19	147	11.52	2.22	-11.10	0.000	4	0.299	0.106	2449	847	3399	0	0	0	0	0	0
400	-0.73	-146.0	38.6	-11.5	70	406	0.00	2.05	0.00	0.000	6	0.000	0.072	2449	2453	3401	0	0	0	0	0	0
743	-0.73	-146.0	75.0	-10.5	131	749	0.00	2.10	0.00	0.000	4	0.000	0.091	2449	856	3401	0	0	0	0	0	0
1002	-0.73	-146.0	102.8	-10.0	175	1005	0.00	2.05	0.00	0.000	6	0.000	0.074	2449	2464	3401	0	0	0	0	0	0
1331	-0.78	-146.0	135.3	-10.2	206	1335	0.00	2.12	0.00	0.000	4	0.000	0.092	2449	851	3401	0	0	0	0	0	0
1590	-0.83	-146.0	161.5	-10.1	229	1595	0.00	2.05	0.00	0.000	6	0.000	0.074	2449	2461	3401	0	0	0	0	0	0
1920	-0.89	-146.0	190.0	-8.7	260	1925	0.15	2.15	0.00	0.000	4	0.122	0.094	2401	850	3400	0	0	0	0	0	0
2179	-0.80	-146.0	219.1	-11.9	282	2184	0.00	2.05	0.00	0.000	6	0.000	0.074	2400	2460	3400	0	0	0	0	0	0
2504	-0.76	-146.0	252.9	-10.8	313	2514	0.17	3.60	0.00	0.000	4	0.221	0.089	2429	3928	3398	0	0	5	0	0	0
2766	-0.76	-146.0	276.9	-8.7	336	2772	0.00	3.42	0.00	0.000	6	0.000	0.068	2429	2462	3398	0	0	4	0	0	0
3091	-0.76	-146.0	302.7	-7.8	367	3096	0.00	3.58	0.00	0.000	4	0.000	0.088	2429	3927	3399	0	0	4	0	0	0
3348	-0.76	-146.0	324.3	-8.3	389	3354	0.00	3.42	0.00	0.000	6	0.000	0.067	2429	2459	3399	0	0	4	0	0	0
3674	-0.76	-146.0	351.3	-8.3	420	3678	0.00	2.12	0.00	0.000	4	0.000	0.089	2429	838	3399	0	0	0	0	0	0
3931	-0.76	-146.0	375.8	-9.1	442	3937	0.00	2.08	0.00	0.000	6	0.000	0.069	2429	2455	3400	0	0	0	0	0	0
4257	-0.81	-146.0	404.9	-8.9	473	4262	0.00	3.55	0.00	0.000	4	0.000	0.087	2429	3918	3400	0	0	4	0	0	0
4493	-0.87	-146.0	426.0	-9.4	493	4499	0.00	3.40	0.00	0.000	6	0.000	0.066	2429	2458	3401	0	0	4	0	0	0
4818	-0.93	-146.0	454.6	-9.2	524	4828	0.12	3.60	0.00	0.000	4	0.120	0.085	2373	3931	3402	0	0	5	0	0	0
5080	-0.79	-146.0	484.1	-11.3	547	5087	0.22	3.45	0.00	0.000	6	0.203	0.065	2425	2458	3401	0	0	3	0	0	0
5405	-0.85	-146.0	513.7	-9.2	578	5410	0.00	3.58	0.00	0.000	4	0.000	0.087	2425	3918	3402	0	0	5	0	0	0
5663	-0.90	-146.0	536.3	-8.7	600	5669	0.00	3.40	0.00	0.000	6	0.000	0.065	2425	2460	3402	0	0	4	0	0	0
5989	-0.96	-146.0	562.9	-7.8	631	5993	0.15	2.10	0.00	0.000	4	0.117	0.087	2373	853	3402	0	0	0	0	0	0
6246	-0.81	-146.0	590.9	-10.8	653	6252	0.22	2.03	0.00	0.000	6	0.212	0.069	2424	2462	3402	0	0	0	0	0	0
6576	-0.87	-146.0	617.1	-8.0	671	6581	0.00	3.55	0.00	0.000	4	0.000	0.087	2424	3923	3402	0	0	5	0	0	0
6618	end dive: TARGET_DEPTH_EXCEEDED
state	6618	begin apogee
6628	-0.16	0.0	621.4	9.0	672	6756	0.75	0.00	124.78	1.150	6	0.183	0.000	2631	1928	2800	0	0	0	0	0	0
6757	end apogee: CONTROL_FINISHED_OK
state	6757	begin climb
6759	0.73	146.0	624.5	0.0	676	6896	0.95	2.00	129.57	1.094	4	0.131	0.091	2919	357	2203	0	0	0	0	0	0
6930	0.64	146.0	610.9	11.5	681	6934	0.00	1.90	0.00	0.000	6	0.000	0.061	2920	1962	2201	0	0	0	0	0	0
7257	0.58	146.0	574.8	11.0	706	7268	0.17	3.80	0.00	0.000	4	0.203	0.079	2877	3526	2196	0	0	6	0	0	0
7403	0.58	146.0	559.6	10.3	719	7412	0.00	3.78	0.00	0.000	6	0.000	0.073	2892	1955	2194	0	0	5	0	0	0
7731	0.58	146.0	527.0	10.5	750	7740	0.00	3.78	0.00	0.000	4	0.000	0.080	2892	3535	2194	0	0	6	0	0	0
7894	0.53	146.0	508.5	11.6	764	7901	0.20	3.80	0.00	0.000	6	0.206	0.074	2864	1935	2192	0	0	4	0	0	0
8219	0.68	166.1	480.3	8.3	795	8244	0.15	3.88	16.65	1.009	4	0.116	0.080	2913	3529	2121	0	0	4	0	0	0
8407	0.59	166.1	457.4	12.9	812	8418	0.20	3.78	0.00	0.000	6	0.208	0.075	2886	1951	2120	0	0	5	0	0	0
8736	0.67	166.1	424.7	9.8	843	8745	0.00	3.78	0.00	0.000	4	0.000	0.081	2885	3534	2119	0	0	6	0	0	0
8903	0.67	166.1	406.6	10.7	858	8912	0.00	3.78	0.00	0.000	6	0.000	0.074	2900	1939	2118	0	0	5	0	0	0
9231	0.67	166.1	372.1	10.8	889	9240	0.00	3.78	0.00	0.000	4	0.000	0.080	2900	3532	2118	0	0	6	0	0	0
9377	0.62	166.1	354.8	12.7	902	9386	0.00	3.78	0.00	0.000	6	0.000	0.074	2917	1939	2118	0	0	4	0	0	0
9705	0.62	166.1	315.2	12.2	933	9715	0.00	3.78	0.00	0.000	4	0.000	0.080	2917	3534	2118	0	0	6	0	0	0
9852	0.53	166.1	296.9	12.4	946	9863	0.28	3.78	0.00	0.000	6	0.203	0.074	2868	1936	2118	0	0	5	0	0	0
10181	0.69	179.6	267.6	8.6	977	10203	0.15	3.83	12.30	0.882	4	0.118	0.079	2918	3556	2066	0	0	5	0	0	0
10366	0.60	179.6	245.1	12.0	993	10373	0.20	3.85	0.00	0.000	6	0.205	0.074	2890	1933	2065	0	0	4	0	0	0
10690	0.70	179.6	215.1	9.5	1024	10700	0.00	3.78	0.00	0.000	4	0.000	0.078	2890	3531	2065	0	0	6	0	0	0
10862	0.70	179.6	197.3	10.0	1039	10869	0.00	3.78	0.00	0.000	6	0.000	0.074	2904	1939	2064	0	0	4	0	0	0
11189	0.80	181.4	167.9	9.1	1070	11199	0.12	3.80	0.00	0.000	4	0.113	0.079	2954	3538	2065	0	0	6	0	0	0
11345	0.67	181.4	148.4	12.8	1084	11355	0.25	3.78	0.00	0.000	6	0.202	0.074	2910	1935	2065	0	0	5	0	0	0
11674	0.78	198.2	119.3	8.5	1115	11698	0.00	3.85	16.83	0.818	4	0.000	0.079	2910	3527	1991	0	0	4	0	0	0
11891	0.83	198.2	98.4	9.7	1135	11897	0.00	3.80	0.00	0.000	6	0.000	0.075	2925	1951	1989	0	0	3	0	0	0
12234	0.91	198.2	66.5	9.8	1196	12241	0.17	3.80	0.00	0.000	4	0.099	0.081	2986	3531	1989	0	0	6	0	0	0
12399	0.73	198.2	44.6	13.5	1225	12405	0.30	3.80	0.00	0.000	6	0.202	0.076	2932	1945	1989	0	0	4	0	0	0
12744	0.82	205.1	14.2	8.9	1286	12761	0.00	3.83	7.03	0.723	4	0.000	0.084	2931	3530	1963	0	0	7	0	0	0
12872	end climb: SURFACE_DEPTH_REACHED
state	12872	begin surface coast
12895	end surface coast: CONTROL_FINISHED_OK
state	12895	begin surface