Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 372 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 90 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 372 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2700 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2000 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 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 22 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 -43351.332 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 -43351.332

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 90 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 2000 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2700 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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 372 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 190500,6716.406,-5736.394,36,1.3,41,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6716.451,-5708.598

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 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 191114,6716.451,-5736.551,9,1.6,9,-38.1 MHEAD_RNG_PITCHd_Wd 128.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 611

Post-dive calculations and measurements:

FREEZE 0.68,-1.503,-1.818,0,1,0 ALTIM_TOP_PING 19.8,19.4

FINISH 0.7,1.026684 ALTIM_BOTTOM_PING 450.6,178.6

SM_CCo 12860,66.68,0.756,0,0,1474,325.02 _24V_AH 22.2,68.164

SM_GC 1.41,0.00,0.00,66.68,0.000,0.000,0.756,129,2703,1474,-8.00,0.06,325.02 _10V_AH 10.0,36.518

RAFOS_CLK 824 FG_AHR_24Vo 0.000

RAFOS 0,1261684864,20.033333,20.017778,58,58,55,0,0,0,186,213,199,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6714.236328,-5739.880371,241209,202044,3,116,0.86 MEM 152500

IRIDIUM_FIX 6647.44,-5729.59,200399,151551 DATA_FILE_SIZE 53643,1315

TT8_MAMPS 0.026845 CAP_FILE_SIZE 152951,0

HUMID 47.55 CFSIZE 260165632,220942336

INTERNAL_PRESSURE 8.85776 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,240,0,0

TCM_TEMP 16.90 SOUNDSPEED 1461.8

XPDR_PINGS 4 GPS 241209,224836,6716.957,-5736.425,38,1.7,38,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 306 167.64 SBE_CT 960 24 511.64

Roll_motor 175 99 387.43 SBE_O2 916 19 386.78

VBD_pump_during_apogee 326 1143 8297.39 nil 0 0 0.00

VBD_pump_during_surface 66 756 1119.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.96 nil 0 0 0.00

Iridium_during_connect 48 160 171.77 nil 0 0 0.00

Iridium_during_xfer 167 223 831.17

Transponder_ping 2 420 23.31

GUMSTIX_24V 0 0 0.00

GPS 10 50 5.43

TT8 2228 19 444.01

LPSleep 7582 2 175.17

TT8_Active 591 19 117.90

TT8_Sampling 2410 39 962.16

TT8_CF8 487 45 223.73

TT8_Kalman 0 0 0.00

Analog_circuits 1816 12 217.99

GPS_charging 0 0 0.00

Compass 2367 8 189.42

RAFOS 2520 1 37.80

Transponder 13 30 4.16

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 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 114 0.00 0.00 -94.97 0.000 2 0.000 0.000 127 2701 3057 0 0 0 0 0 0

117 -0.73 -146.0 3.0 -3.7 19 148 11.80 2.53 -10.02 0.000 4 0.306 0.100 2449 1083 3399 0 0 0 0 0 0

216 -0.73 -146.0 17.7 -11.0 37 222 0.00 2.38 0.00 0.000 6 0.000 0.074 2449 2688 3401 0 0 0 0 0 0

559 -0.73 -146.0 55.1 -10.5 98 565 0.00 3.00 0.00 0.000 4 0.000 0.094 2449 3921 3401 0 0 6 0 0 0

767 -0.73 -146.0 77.1 -11.0 135 773 0.00 2.83 0.00 0.000 6 0.000 0.067 2449 2701 3401 0 0 5 0 0 0

1111 -0.78 -146.0 110.3 -9.3 187 1116 0.00 2.97 0.00 0.000 4 0.000 0.094 2449 3922 3401 0 0 6 0 0 0

1246 -0.83 -146.0 122.7 -9.0 198 1252 0.00 2.83 0.00 0.000 6 0.000 0.067 2449 2697 3400 0 0 5 0 0 0

1571 -0.91 -146.0 149.9 -7.5 229 1577 0.17 3.00 0.00 0.000 4 0.115 0.091 2381 3937 3399 0 0 6 0 0 0

1673 -0.78 -146.0 160.7 -10.5 237 1679 0.22 2.85 0.00 0.000 6 0.213 0.066 2433 2700 3399 0 0 4 0 0 0

1997 -0.78 -146.0 189.2 -8.4 268 2002 0.00 2.97 0.00 0.000 4 0.000 0.091 2433 3926 3399 0 0 5 0 0 0

2210 -0.84 -146.0 208.7 -9.1 286 2216 0.00 2.83 0.00 0.000 6 0.000 0.064 2433 2688 3398 0 0 5 0 0 0

2535 -0.89 -146.0 235.5 -7.7 317 2540 0.00 2.97 0.00 0.000 4 0.000 0.089 2433 3930 3398 0 0 6 0 0 0

2703 -0.95 -146.0 249.4 -8.4 331 2709 0.15 2.80 0.00 0.000 6 0.118 0.063 2385 2700 3398 0 0 5 0 0 0

3028 -0.85 -146.0 283.5 -11.1 362 3033 0.12 2.97 0.00 0.000 4 0.209 0.087 2412 3930 3399 0 0 6 0 0 0

3173 -0.85 -146.0 297.9 -10.2 374 3179 0.00 2.83 0.00 0.000 6 0.000 0.061 2412 2699 3400 0 0 4 0 0 0

3498 -0.85 -146.0 328.9 -9.6 405 3503 0.00 2.97 0.00 0.000 4 0.000 0.086 2412 3928 3400 0 0 5 0 0 0

3671 -0.85 -146.0 346.2 -9.6 420 3676 0.00 2.80 0.00 0.000 6 0.000 0.061 2412 2694 3400 0 0 5 0 0 0

3995 -0.85 -146.0 376.9 -9.4 450 4000 0.00 2.97 0.00 0.000 4 0.000 0.087 2412 3934 3402 0 0 5 0 0 0

4148 -0.85 -146.0 391.2 -9.5 463 4153 0.00 2.80 0.00 0.000 6 0.000 0.061 2412 2700 3402 0 0 5 0 0 0

4472 -0.85 -146.0 418.5 -7.9 493 4477 0.00 2.95 0.00 0.000 4 0.000 0.086 2412 3923 3402 0 0 5 0 0 0

4625 -0.85 -146.0 431.0 -8.2 506 4630 0.00 2.80 0.00 0.000 6 0.000 0.061 2412 2699 3402 0 0 4 0 0 0

4950 -0.85 -146.0 457.5 -8.3 536 4955 0.00 2.97 0.00 0.000 4 0.000 0.086 2412 3937 3402 0 0 6 0 0 0

5140 -0.85 -146.0 474.0 -8.4 552 5146 0.00 2.83 0.00 0.000 6 0.000 0.061 2412 2700 3403 0 0 4 0 0 0

5465 -0.85 -146.0 501.3 -8.4 583 5469 0.00 3.00 0.00 0.000 4 0.000 0.085 2412 3935 3402 0 0 4 0 0 0

5638 -0.85 -146.0 515.7 -8.0 598 5643 0.00 2.83 0.00 0.000 6 0.000 0.062 2412 2691 3403 0 0 5 0 0 0

5963 -0.85 -146.0 542.1 -8.1 628 5968 0.00 2.95 0.00 0.000 4 0.000 0.087 2412 3922 3403 0 0 6 0 0 0

6120 -0.85 -146.0 555.2 -8.3 641 6126 0.00 2.80 0.00 0.000 6 0.000 0.062 2412 2702 3403 0 0 4 0 0 0

6445 -0.85 -146.0 582.3 -8.4 672 6449 0.00 2.95 0.00 0.000 4 0.000 0.087 2412 3923 3403 0 0 5 0 0 0

6607 -0.85 -146.0 596.3 -8.8 686 6612 0.00 2.80 0.00 0.000 6 0.000 0.063 2412 2700 3403 0 0 5 0 0 0

6806 end dive: TARGET_DEPTH_EXCEEDED

state 6807 begin apogee

6813 -0.16 0.0 612.5 7.9 695 6941 0.82 0.00 124.82 1.144 6 0.186 0.000 2633 2000 2800 0 0 0 0 0 0

6942 end apogee: CONTROL_FINISHED_OK

state 6942 begin climb

6944 0.73 146.0 614.8 0.0 699 7081 0.95 2.05 129.35 1.086 4 0.129 0.089 2922 403 2203 0 0 0 0 0 0

7138 0.63 146.0 599.1 11.2 705 7142 0.00 1.95 0.00 0.000 6 0.000 0.060 2922 2021 2199 0 0 0 0 0 0

7468 0.55 146.0 560.9 12.1 735 7478 0.22 3.80 0.00 0.000 4 0.202 0.077 2853 3596 2195 0 0 7 0 0 0

7610 0.62 146.0 547.5 9.5 747 7616 0.00 3.83 0.00 0.000 6 0.000 0.071 2868 1997 2194 0 0 3 0 0 0

7937 0.78 177.7 520.8 7.8 778 7972 0.22 3.90 26.65 1.044 4 0.100 0.081 2946 3589 2074 0 0 6 0 0 0

8113 0.60 177.7 497.7 13.6 794 8123 0.32 3.83 0.00 0.000 6 0.207 0.074 2886 1996 2070 0 0 3 0 0 0

8442 0.67 177.7 467.0 9.4 825 8451 0.00 3.83 0.00 0.000 4 0.000 0.079 2886 3595 2069 0 0 4 0 0 0

8581 0.67 177.7 452.6 10.2 837 8586 0.00 3.78 0.00 0.000 6 0.000 0.073 2900 1991 2068 0 0 3 0 0 0

8906 0.67 177.7 421.0 9.6 868 8915 0.00 3.75 0.00 0.000 4 0.000 0.081 2900 3591 2067 0 0 7 0 0 0

9063 0.67 177.7 403.7 11.7 882 9073 0.00 3.78 0.00 0.000 6 0.000 0.074 2917 1998 2067 0 0 3 0 0 0

9391 0.67 177.7 367.3 11.1 913 9400 0.00 3.75 0.00 0.000 4 0.000 0.080 2917 3588 2067 0 0 6 0 0 0

9526 0.58 177.7 350.5 13.3 925 9536 0.22 3.78 0.00 0.000 6 0.204 0.074 2881 1996 2067 0 0 3 0 0 0

9855 0.71 197.9 320.3 8.3 956 9880 0.12 3.85 17.25 0.934 4 0.129 0.081 2922 3617 1991 0 0 4 0 0 0

10015 0.63 197.9 301.4 11.8 970 10022 0.20 3.83 0.00 0.000 6 0.201 0.073 2893 1992 1990 0 0 3 0 0 0

10340 0.71 197.9 269.2 10.1 1001 10349 0.00 3.75 0.00 0.000 4 0.000 0.079 2893 3596 1988 0 0 7 0 0 0

10490 0.71 197.9 251.9 12.2 1014 10496 0.00 3.78 0.00 0.000 6 0.000 0.072 2907 1997 1989 0 0 3 0 0 0

10814 0.71 197.9 216.6 10.9 1045 10823 0.00 3.75 0.00 0.000 4 0.000 0.080 2908 3592 1988 0 0 6 0 0 0

10959 0.71 197.9 198.8 12.9 1058 10968 0.00 3.75 0.00 0.000 6 0.000 0.071 2925 2000 1988 0 0 3 0 0 0

11287 0.71 197.9 161.1 11.5 1089 11296 0.00 3.72 0.00 0.000 4 0.000 0.078 2924 3589 1988 0 0 6 0 0 0

11380 0.65 197.9 149.1 13.1 1097 11387 0.17 3.75 0.00 0.000 6 0.202 0.072 2902 1999 1988 0 0 4 0 0 0

11705 0.80 225.5 118.2 8.0 1128 11737 0.15 3.83 24.10 0.812 4 0.118 0.078 2952 3596 1879 0 0 4 0 0 0

11872 0.71 225.5 97.5 12.5 1144 11879 0.20 3.78 0.00 0.000 6 0.199 0.071 2923 2000 1877 0 0 3 0 0 0

12219 0.82 226.1 63.2 9.1 1205 12224 0.00 3.75 0.00 0.000 4 0.000 0.079 2922 3594 1876 0 0 7 0 0 0

12388 0.82 226.1 45.8 10.1 1235 12394 0.00 3.78 0.00 0.000 6 0.000 0.072 2937 2001 1876 0 0 3 0 0 0

12734 0.92 229.8 14.1 9.0 1296 12746 0.15 3.75 4.65 0.617 4 0.102 0.081 2991 3594 1863 0 0 7 0 0 0

12830 end climb: SURFACE_DEPTH_REACHED

state 12830 begin surface coast

12841 end surface coast: CONTROL_FINISHED_OK

state 12841 begin surface

ID	143	HEADING	90	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	372	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2700	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2000	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	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	22	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	-43351.332	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	190500,6716.406,-5736.394,36,1.3,41,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6716.451,-5708.598
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	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	191114,6716.451,-5736.551,9,1.6,9,-38.1	MHEAD_RNG_PITCHd_Wd	128.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	611

FREEZE	0.68,-1.503,-1.818,0,1,0	ALTIM_TOP_PING	19.8,19.4
FINISH	0.7,1.026684	ALTIM_BOTTOM_PING	450.6,178.6
SM_CCo	12860,66.68,0.756,0,0,1474,325.02	_24V_AH	22.2,68.164
SM_GC	1.41,0.00,0.00,66.68,0.000,0.000,0.756,129,2703,1474,-8.00,0.06,325.02	_10V_AH	10.0,36.518
RAFOS_CLK	824	FG_AHR_24Vo	0.000
RAFOS	0,1261684864,20.033333,20.017778,58,58,55,0,0,0,186,213,199,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6714.236328,-5739.880371,241209,202044,3,116,0.86	MEM	152500
IRIDIUM_FIX	6647.44,-5729.59,200399,151551	DATA_FILE_SIZE	53643,1315
TT8_MAMPS	0.026845	CAP_FILE_SIZE	152951,0
HUMID	47.55	CFSIZE	260165632,220942336
INTERNAL_PRESSURE	8.85776	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,240,0,0
TCM_TEMP	16.90	SOUNDSPEED	1461.8
XPDR_PINGS	4	GPS	241209,224836,6716.957,-5736.425,38,1.7,38,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	306	167.64	SBE_CT	960	24	511.64
Roll_motor	175	99	387.43	SBE_O2	916	19	386.78
VBD_pump_during_apogee	326	1143	8297.39	nil	0	0	0.00
VBD_pump_during_surface	66	756	1119.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.96	nil	0	0	0.00
Iridium_during_connect	48	160	171.77	nil	0	0	0.00
Iridium_during_xfer	167	223	831.17
Transponder_ping	2	420	23.31
GUMSTIX_24V	0	0	0.00
GPS	10	50	5.43
TT8	2228	19	444.01
LPSleep	7582	2	175.17
TT8_Active	591	19	117.90
TT8_Sampling	2410	39	962.16
TT8_CF8	487	45	223.73
TT8_Kalman	0	0	0.00
Analog_circuits	1816	12	217.99
GPS_charging	0	0	0.00
Compass	2367	8	189.42
RAFOS	2520	1	37.80
Transponder	13	30	4.16

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	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	114	0.00	0.00	-94.97	0.000	2	0.000	0.000	127	2701	3057	0	0	0	0	0	0
117	-0.73	-146.0	3.0	-3.7	19	148	11.80	2.53	-10.02	0.000	4	0.306	0.100	2449	1083	3399	0	0	0	0	0	0
216	-0.73	-146.0	17.7	-11.0	37	222	0.00	2.38	0.00	0.000	6	0.000	0.074	2449	2688	3401	0	0	0	0	0	0
559	-0.73	-146.0	55.1	-10.5	98	565	0.00	3.00	0.00	0.000	4	0.000	0.094	2449	3921	3401	0	0	6	0	0	0
767	-0.73	-146.0	77.1	-11.0	135	773	0.00	2.83	0.00	0.000	6	0.000	0.067	2449	2701	3401	0	0	5	0	0	0
1111	-0.78	-146.0	110.3	-9.3	187	1116	0.00	2.97	0.00	0.000	4	0.000	0.094	2449	3922	3401	0	0	6	0	0	0
1246	-0.83	-146.0	122.7	-9.0	198	1252	0.00	2.83	0.00	0.000	6	0.000	0.067	2449	2697	3400	0	0	5	0	0	0
1571	-0.91	-146.0	149.9	-7.5	229	1577	0.17	3.00	0.00	0.000	4	0.115	0.091	2381	3937	3399	0	0	6	0	0	0
1673	-0.78	-146.0	160.7	-10.5	237	1679	0.22	2.85	0.00	0.000	6	0.213	0.066	2433	2700	3399	0	0	4	0	0	0
1997	-0.78	-146.0	189.2	-8.4	268	2002	0.00	2.97	0.00	0.000	4	0.000	0.091	2433	3926	3399	0	0	5	0	0	0
2210	-0.84	-146.0	208.7	-9.1	286	2216	0.00	2.83	0.00	0.000	6	0.000	0.064	2433	2688	3398	0	0	5	0	0	0
2535	-0.89	-146.0	235.5	-7.7	317	2540	0.00	2.97	0.00	0.000	4	0.000	0.089	2433	3930	3398	0	0	6	0	0	0
2703	-0.95	-146.0	249.4	-8.4	331	2709	0.15	2.80	0.00	0.000	6	0.118	0.063	2385	2700	3398	0	0	5	0	0	0
3028	-0.85	-146.0	283.5	-11.1	362	3033	0.12	2.97	0.00	0.000	4	0.209	0.087	2412	3930	3399	0	0	6	0	0	0
3173	-0.85	-146.0	297.9	-10.2	374	3179	0.00	2.83	0.00	0.000	6	0.000	0.061	2412	2699	3400	0	0	4	0	0	0
3498	-0.85	-146.0	328.9	-9.6	405	3503	0.00	2.97	0.00	0.000	4	0.000	0.086	2412	3928	3400	0	0	5	0	0	0
3671	-0.85	-146.0	346.2	-9.6	420	3676	0.00	2.80	0.00	0.000	6	0.000	0.061	2412	2694	3400	0	0	5	0	0	0
3995	-0.85	-146.0	376.9	-9.4	450	4000	0.00	2.97	0.00	0.000	4	0.000	0.087	2412	3934	3402	0	0	5	0	0	0
4148	-0.85	-146.0	391.2	-9.5	463	4153	0.00	2.80	0.00	0.000	6	0.000	0.061	2412	2700	3402	0	0	5	0	0	0
4472	-0.85	-146.0	418.5	-7.9	493	4477	0.00	2.95	0.00	0.000	4	0.000	0.086	2412	3923	3402	0	0	5	0	0	0
4625	-0.85	-146.0	431.0	-8.2	506	4630	0.00	2.80	0.00	0.000	6	0.000	0.061	2412	2699	3402	0	0	4	0	0	0
4950	-0.85	-146.0	457.5	-8.3	536	4955	0.00	2.97	0.00	0.000	4	0.000	0.086	2412	3937	3402	0	0	6	0	0	0
5140	-0.85	-146.0	474.0	-8.4	552	5146	0.00	2.83	0.00	0.000	6	0.000	0.061	2412	2700	3403	0	0	4	0	0	0
5465	-0.85	-146.0	501.3	-8.4	583	5469	0.00	3.00	0.00	0.000	4	0.000	0.085	2412	3935	3402	0	0	4	0	0	0
5638	-0.85	-146.0	515.7	-8.0	598	5643	0.00	2.83	0.00	0.000	6	0.000	0.062	2412	2691	3403	0	0	5	0	0	0
5963	-0.85	-146.0	542.1	-8.1	628	5968	0.00	2.95	0.00	0.000	4	0.000	0.087	2412	3922	3403	0	0	6	0	0	0
6120	-0.85	-146.0	555.2	-8.3	641	6126	0.00	2.80	0.00	0.000	6	0.000	0.062	2412	2702	3403	0	0	4	0	0	0
6445	-0.85	-146.0	582.3	-8.4	672	6449	0.00	2.95	0.00	0.000	4	0.000	0.087	2412	3923	3403	0	0	5	0	0	0
6607	-0.85	-146.0	596.3	-8.8	686	6612	0.00	2.80	0.00	0.000	6	0.000	0.063	2412	2700	3403	0	0	5	0	0	0
6806	end dive: TARGET_DEPTH_EXCEEDED
state	6807	begin apogee
6813	-0.16	0.0	612.5	7.9	695	6941	0.82	0.00	124.82	1.144	6	0.186	0.000	2633	2000	2800	0	0	0	0	0	0
6942	end apogee: CONTROL_FINISHED_OK
state	6942	begin climb
6944	0.73	146.0	614.8	0.0	699	7081	0.95	2.05	129.35	1.086	4	0.129	0.089	2922	403	2203	0	0	0	0	0	0
7138	0.63	146.0	599.1	11.2	705	7142	0.00	1.95	0.00	0.000	6	0.000	0.060	2922	2021	2199	0	0	0	0	0	0
7468	0.55	146.0	560.9	12.1	735	7478	0.22	3.80	0.00	0.000	4	0.202	0.077	2853	3596	2195	0	0	7	0	0	0
7610	0.62	146.0	547.5	9.5	747	7616	0.00	3.83	0.00	0.000	6	0.000	0.071	2868	1997	2194	0	0	3	0	0	0
7937	0.78	177.7	520.8	7.8	778	7972	0.22	3.90	26.65	1.044	4	0.100	0.081	2946	3589	2074	0	0	6	0	0	0
8113	0.60	177.7	497.7	13.6	794	8123	0.32	3.83	0.00	0.000	6	0.207	0.074	2886	1996	2070	0	0	3	0	0	0
8442	0.67	177.7	467.0	9.4	825	8451	0.00	3.83	0.00	0.000	4	0.000	0.079	2886	3595	2069	0	0	4	0	0	0
8581	0.67	177.7	452.6	10.2	837	8586	0.00	3.78	0.00	0.000	6	0.000	0.073	2900	1991	2068	0	0	3	0	0	0
8906	0.67	177.7	421.0	9.6	868	8915	0.00	3.75	0.00	0.000	4	0.000	0.081	2900	3591	2067	0	0	7	0	0	0
9063	0.67	177.7	403.7	11.7	882	9073	0.00	3.78	0.00	0.000	6	0.000	0.074	2917	1998	2067	0	0	3	0	0	0
9391	0.67	177.7	367.3	11.1	913	9400	0.00	3.75	0.00	0.000	4	0.000	0.080	2917	3588	2067	0	0	6	0	0	0
9526	0.58	177.7	350.5	13.3	925	9536	0.22	3.78	0.00	0.000	6	0.204	0.074	2881	1996	2067	0	0	3	0	0	0
9855	0.71	197.9	320.3	8.3	956	9880	0.12	3.85	17.25	0.934	4	0.129	0.081	2922	3617	1991	0	0	4	0	0	0
10015	0.63	197.9	301.4	11.8	970	10022	0.20	3.83	0.00	0.000	6	0.201	0.073	2893	1992	1990	0	0	3	0	0	0
10340	0.71	197.9	269.2	10.1	1001	10349	0.00	3.75	0.00	0.000	4	0.000	0.079	2893	3596	1988	0	0	7	0	0	0
10490	0.71	197.9	251.9	12.2	1014	10496	0.00	3.78	0.00	0.000	6	0.000	0.072	2907	1997	1989	0	0	3	0	0	0
10814	0.71	197.9	216.6	10.9	1045	10823	0.00	3.75	0.00	0.000	4	0.000	0.080	2908	3592	1988	0	0	6	0	0	0
10959	0.71	197.9	198.8	12.9	1058	10968	0.00	3.75	0.00	0.000	6	0.000	0.071	2925	2000	1988	0	0	3	0	0	0
11287	0.71	197.9	161.1	11.5	1089	11296	0.00	3.72	0.00	0.000	4	0.000	0.078	2924	3589	1988	0	0	6	0	0	0
11380	0.65	197.9	149.1	13.1	1097	11387	0.17	3.75	0.00	0.000	6	0.202	0.072	2902	1999	1988	0	0	4	0	0	0
11705	0.80	225.5	118.2	8.0	1128	11737	0.15	3.83	24.10	0.812	4	0.118	0.078	2952	3596	1879	0	0	4	0	0	0
11872	0.71	225.5	97.5	12.5	1144	11879	0.20	3.78	0.00	0.000	6	0.199	0.071	2923	2000	1877	0	0	3	0	0	0
12219	0.82	226.1	63.2	9.1	1205	12224	0.00	3.75	0.00	0.000	4	0.000	0.079	2922	3594	1876	0	0	7	0	0	0
12388	0.82	226.1	45.8	10.1	1235	12394	0.00	3.78	0.00	0.000	6	0.000	0.072	2937	2001	1876	0	0	3	0	0	0
12734	0.92	229.8	14.1	9.0	1296	12746	0.15	3.75	4.65	0.617	4	0.102	0.081	2991	3594	1863	0	0	7	0	0	0
12830	end climb: SURFACE_DEPTH_REACHED
state	12830	begin surface coast
12841	end surface coast: CONTROL_FINISHED_OK
state	12841	begin surface