Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 374 * 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 374 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 20 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 14 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 -43385.031 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 -43385.031

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 20 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 374 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 022637,6716.821,-5734.401,30,1.0,30,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6716.807,-5706.465

_XMS_NAKs 0 TGT_RADIUS 1852.000

_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 -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 023225,6716.807,-5734.426,10,0.9,15,-38.1 MHEAD_RNG_PITCHd_Wd 128.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 569

Post-dive calculations and measurements:

FREEZE 0.50,-1.980,-1.112,0,1,0 ALTIM_TOP_PING 19.6,19.1

FINISH 0.5,1.016416 ALTIM_BOTTOM_PING 550.2,60.0

SM_CCo 12011,69.20,0.732,0,0,1474,325.02 _24V_AH 22.3,68.409

SM_GC 1.32,0.00,0.00,69.20,0.000,0.000,0.732,125,2695,1474,-8.02,-0.14,325.02 _10V_AH 10.0,36.671

RAFOS_CLK 753 FG_AHR_24Vo 0.000

RAFOS 0,1261713669,4.033333,4.019166,63,61,61,0,0,0,221,198,166,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6715.631348,-5736.645996,251209,040444,3,116,0.34 MEM 152500

IRIDIUM_FIX 6647.44,-5734.29,200399,232325 DATA_FILE_SIZE 50431,1272

TT8_MAMPS 0.027612 CAP_FILE_SIZE 144962,0

HUMID 46.49 CFSIZE 260165632,220790784

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,203,0,0

TCM_TEMP 17.00 SOUNDSPEED 1464.2

XPDR_PINGS 5 GPS 251209,055536,6717.456,-5733.737,36,1.0,36,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 298 160.18 SBE_CT 927 24 496.16

Roll_motor 161 101 365.47 SBE_O2 875 19 371.14

VBD_pump_during_apogee 317 1099 7781.98 nil 0 0 0.00

VBD_pump_during_surface 69 732 1130.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.58 nil 0 0 0.00

Iridium_during_connect 31 160 110.68 nil 0 0 0.00

Iridium_during_xfer 159 223 792.78

Transponder_ping 3 420 32.78

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.44

TT8 2167 19 431.69

LPSleep 6963 2 160.85

TT8_Active 560 19 111.63

TT8_Sampling 2295 39 916.17

TT8_CF8 441 45 202.91

TT8_Kalman 0 0 0.00

Analog_circuits 1727 12 207.35

GPS_charging 0 0 0.00

Compass 2244 8 179.54

RAFOS 2520 1 37.80

Transponder 19 30 5.70

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 114 0.00 0.00 -95.10 0.000 2 0.000 0.000 125 2687 3106 0 0 0 0 0 0

117 -0.73 -146.0 3.5 -6.2 19 144 11.55 3.05 -7.97 0.000 4 0.298 0.101 2457 3927 3399 0 0 4 0 0 0

398 -0.73 -146.0 37.2 -10.4 69 404 0.00 2.83 0.00 0.000 6 0.000 0.064 2458 2700 3401 0 0 5 0 0 0

741 -0.78 -146.0 71.8 -10.5 130 747 0.00 2.97 0.00 0.000 4 0.000 0.091 2458 3925 3401 0 0 5 0 0 0

972 -0.84 -146.0 94.1 -8.9 171 979 0.12 2.83 0.00 0.000 6 0.126 0.066 2419 2702 3400 0 0 4 0 0 0

1306 -0.84 -146.0 129.1 -9.6 207 1311 0.00 2.97 0.00 0.000 4 0.000 0.091 2418 3929 3398 0 0 5 0 0 0

1447 -0.84 -146.0 142.9 -10.0 219 1452 0.00 2.88 0.00 0.000 6 0.000 0.065 2418 2686 3398 0 0 3 0 0 0

1771 -0.84 -146.0 173.5 -9.2 249 1776 0.00 2.97 0.00 0.000 4 0.000 0.089 2418 3918 3398 0 0 4 0 0 0

1912 -0.84 -146.0 186.2 -9.0 261 1917 0.00 2.80 0.00 0.000 6 0.000 0.063 2418 2702 3398 0 0 4 0 0 0

2236 -0.84 -146.0 215.3 -8.7 291 2241 0.00 2.95 0.00 0.000 4 0.000 0.087 2418 3934 3398 0 0 5 0 0 0

2421 -0.84 -146.0 232.8 -9.6 307 2426 0.00 2.83 0.00 0.000 6 0.000 0.062 2418 2693 3398 0 0 4 0 0 0

2745 -0.84 -146.0 264.5 -10.4 337 2750 0.00 2.95 0.00 0.000 4 0.000 0.086 2418 3925 3399 0 0 5 0 0 0

2908 -0.84 -146.0 280.7 -10.1 351 2912 0.00 2.80 0.00 0.000 6 0.000 0.061 2418 2701 3398 0 0 4 0 0 0

3233 -0.84 -146.0 311.6 -9.1 381 3237 0.00 2.95 0.00 0.000 4 0.000 0.086 2418 3922 3400 0 0 4 0 0 0

3343 -0.84 -146.0 321.9 -9.4 390 3349 0.00 2.80 0.00 0.000 6 0.000 0.061 2419 2700 3399 0 0 4 0 0 0

3668 -0.84 -146.0 349.5 -8.3 421 3673 0.00 2.95 0.00 0.000 4 0.000 0.085 2418 3930 3399 0 0 5 0 0 0

3842 -0.84 -146.0 364.4 -8.9 436 3847 0.00 2.83 0.00 0.000 6 0.000 0.061 2419 2700 3399 0 0 3 0 0 0

4167 -0.84 -146.0 392.0 -8.8 466 4171 0.00 2.95 0.00 0.000 4 0.000 0.085 2418 3933 3400 0 0 5 0 0 0

4301 -0.84 -146.0 405.0 -10.0 477 4306 0.00 2.80 0.00 0.000 6 0.000 0.061 2418 2701 3400 0 0 4 0 0 0

4625 -0.84 -146.0 436.1 -9.5 508 4630 0.00 2.92 0.00 0.000 4 0.000 0.084 2418 3920 3401 0 0 5 0 0 0

4724 -0.84 -146.0 445.1 -9.1 516 4731 0.00 2.80 0.00 0.000 6 0.000 0.061 2419 2699 3400 0 0 4 0 0 0

5049 -0.84 -146.0 472.3 -8.4 547 5054 0.00 2.95 0.00 0.000 4 0.000 0.084 2418 3933 3401 0 0 5 0 0 0

5228 -0.84 -146.0 487.0 -8.1 562 5234 0.00 2.83 0.00 0.000 6 0.000 0.060 2418 2697 3400 0 0 3 0 0 0

5553 -0.84 -146.0 513.0 -8.0 593 5557 0.00 2.95 0.00 0.000 4 0.000 0.084 2418 3934 3400 0 0 5 0 0 0

5715 -0.84 -146.0 525.9 -8.7 607 5719 0.00 2.83 0.00 0.000 6 0.000 0.059 2419 2700 3401 0 0 3 0 0 0

6042 -0.84 -146.0 550.2 -7.5 637 6047 0.00 2.92 0.00 0.000 4 0.000 0.083 2418 3921 3401 0 0 5 0 0 0

6161 -0.84 -146.0 559.8 -7.8 647 6166 0.00 2.80 0.00 0.000 6 0.000 0.060 2418 2694 3401 0 0 4 0 0 0

6281 end dive: TARGET_DEPTH_EXCEEDED

state 6281 begin apogee

6288 -0.16 0.0 569.3 8.0 658 6415 0.75 0.00 122.90 1.099 6 0.179 0.000 2627 2001 2800 0 0 0 0 0 0

6416 end apogee: CONTROL_FINISHED_OK

state 6416 begin climb

6418 0.73 146.0 571.7 0.0 671 6555 0.98 2.08 127.45 1.046 4 0.130 0.087 2924 412 2203 0 0 0 0 0 0

6622 0.64 146.0 553.7 11.8 690 6628 0.00 1.90 0.00 0.000 6 0.000 0.058 2925 2009 2199 0 0 0 0 0 0

6946 0.55 146.0 515.2 12.1 721 6956 0.22 3.80 0.00 0.000 4 0.200 0.074 2854 3586 2195 0 0 5 0 0 0

7126 0.61 146.0 497.1 10.0 737 7132 0.00 3.78 0.00 0.000 6 0.000 0.068 2869 1997 2194 0 0 3 0 0 0

7453 0.72 154.3 466.9 8.8 767 7468 0.15 3.83 6.95 0.854 4 0.109 0.077 2923 3592 2170 0 0 5 0 0 0

7613 0.56 154.3 445.3 13.8 781 7620 0.28 3.75 0.00 0.000 6 0.202 0.071 2874 1992 2168 0 0 4 0 0 0

7939 0.63 154.3 413.5 9.6 812 7948 0.00 3.75 0.00 0.000 4 0.000 0.077 2874 3594 2168 0 0 6 0 0 0

8094 0.63 154.3 397.1 10.8 826 8104 0.00 3.75 0.00 0.000 6 0.000 0.070 2889 2002 2168 0 0 3 0 0 0

8422 0.63 154.3 362.2 10.6 857 8431 0.00 3.72 0.00 0.000 4 0.000 0.077 2889 3589 2167 0 0 6 0 0 0

8572 0.63 154.3 344.9 12.2 870 8578 0.00 3.75 0.00 0.000 6 0.000 0.070 2906 1995 2167 0 0 3 0 0 0

8896 0.63 154.3 308.9 10.7 901 8905 0.00 3.72 0.00 0.000 4 0.000 0.075 2905 3587 2167 0 0 6 0 0 0

9042 0.56 154.3 291.2 13.5 914 9052 0.20 3.75 0.00 0.000 6 0.201 0.069 2876 1987 2167 0 0 3 0 0 0

9370 0.67 154.3 259.2 9.4 945 9379 0.00 3.72 0.00 0.000 4 0.000 0.074 2876 3587 2167 0 0 6 0 0 0

9527 0.67 154.3 242.8 10.8 959 9533 0.00 3.75 0.00 0.000 6 0.000 0.069 2890 1986 2167 0 0 3 0 0 0

9852 0.75 154.3 212.0 9.3 989 9862 0.12 3.78 0.00 0.000 4 0.110 0.074 2939 3589 2168 0 0 5 0 0 0

10009 0.59 154.3 192.2 12.4 1003 10019 0.30 3.75 0.00 0.000 6 0.202 0.070 2883 1997 2168 0 0 3 0 0 0

10339 0.70 162.7 163.4 8.8 1034 10354 0.00 3.75 8.43 0.762 4 0.000 0.075 2882 3589 2136 0 0 5 0 0 0

10488 0.70 162.7 148.3 10.3 1047 10498 0.00 3.75 0.00 0.000 6 0.000 0.068 2897 1993 2135 0 0 3 0 0 0

10817 0.81 183.7 118.3 8.3 1078 10843 0.15 3.83 18.88 0.797 4 0.101 0.076 2954 3594 2050 0 0 3 0 0 0

11002 0.66 183.7 94.3 13.6 1097 11009 0.28 3.78 0.00 0.000 6 0.203 0.069 2905 1998 2048 0 0 3 0 0 0

11348 0.81 206.2 64.1 8.2 1158 11376 0.15 3.75 19.98 0.767 4 0.117 0.074 2956 3591 1958 0 0 6 0 0 0

11522 0.72 206.2 44.1 11.8 1189 11529 0.20 3.78 0.00 0.000 6 0.193 0.069 2926 2001 1956 0 0 3 0 0 0

11868 0.85 220.5 14.3 8.6 1250 11890 0.12 3.80 12.93 0.732 4 0.127 0.076 2968 3595 1900 0 0 4 0 0 0

11973 end climb: SURFACE_DEPTH_REACHED

state 11974 begin surface coast

11991 end surface coast: CONTROL_FINISHED_OK

state 11991 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	374	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	20	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	14	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	-43385.031	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	022637,6716.821,-5734.401,30,1.0,30,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6716.807,-5706.465
_XMS_NAKs	0	TGT_RADIUS	1852.000
_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	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	023225,6716.807,-5734.426,10,0.9,15,-38.1	MHEAD_RNG_PITCHd_Wd	128.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	569

FREEZE	0.50,-1.980,-1.112,0,1,0	ALTIM_TOP_PING	19.6,19.1
FINISH	0.5,1.016416	ALTIM_BOTTOM_PING	550.2,60.0
SM_CCo	12011,69.20,0.732,0,0,1474,325.02	_24V_AH	22.3,68.409
SM_GC	1.32,0.00,0.00,69.20,0.000,0.000,0.732,125,2695,1474,-8.02,-0.14,325.02	_10V_AH	10.0,36.671
RAFOS_CLK	753	FG_AHR_24Vo	0.000
RAFOS	0,1261713669,4.033333,4.019166,63,61,61,0,0,0,221,198,166,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6715.631348,-5736.645996,251209,040444,3,116,0.34	MEM	152500
IRIDIUM_FIX	6647.44,-5734.29,200399,232325	DATA_FILE_SIZE	50431,1272
TT8_MAMPS	0.027612	CAP_FILE_SIZE	144962,0
HUMID	46.49	CFSIZE	260165632,220790784
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,203,0,0
TCM_TEMP	17.00	SOUNDSPEED	1464.2
XPDR_PINGS	5	GPS	251209,055536,6717.456,-5733.737,36,1.0,36,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	298	160.18	SBE_CT	927	24	496.16
Roll_motor	161	101	365.47	SBE_O2	875	19	371.14
VBD_pump_during_apogee	317	1099	7781.98	nil	0	0	0.00
VBD_pump_during_surface	69	732	1130.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.58	nil	0	0	0.00
Iridium_during_connect	31	160	110.68	nil	0	0	0.00
Iridium_during_xfer	159	223	792.78
Transponder_ping	3	420	32.78
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.44
TT8	2167	19	431.69
LPSleep	6963	2	160.85
TT8_Active	560	19	111.63
TT8_Sampling	2295	39	916.17
TT8_CF8	441	45	202.91
TT8_Kalman	0	0	0.00
Analog_circuits	1727	12	207.35
GPS_charging	0	0	0.00
Compass	2244	8	179.54
RAFOS	2520	1	37.80
Transponder	19	30	5.70

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	114	0.00	0.00	-95.10	0.000	2	0.000	0.000	125	2687	3106	0	0	0	0	0	0
117	-0.73	-146.0	3.5	-6.2	19	144	11.55	3.05	-7.97	0.000	4	0.298	0.101	2457	3927	3399	0	0	4	0	0	0
398	-0.73	-146.0	37.2	-10.4	69	404	0.00	2.83	0.00	0.000	6	0.000	0.064	2458	2700	3401	0	0	5	0	0	0
741	-0.78	-146.0	71.8	-10.5	130	747	0.00	2.97	0.00	0.000	4	0.000	0.091	2458	3925	3401	0	0	5	0	0	0
972	-0.84	-146.0	94.1	-8.9	171	979	0.12	2.83	0.00	0.000	6	0.126	0.066	2419	2702	3400	0	0	4	0	0	0
1306	-0.84	-146.0	129.1	-9.6	207	1311	0.00	2.97	0.00	0.000	4	0.000	0.091	2418	3929	3398	0	0	5	0	0	0
1447	-0.84	-146.0	142.9	-10.0	219	1452	0.00	2.88	0.00	0.000	6	0.000	0.065	2418	2686	3398	0	0	3	0	0	0
1771	-0.84	-146.0	173.5	-9.2	249	1776	0.00	2.97	0.00	0.000	4	0.000	0.089	2418	3918	3398	0	0	4	0	0	0
1912	-0.84	-146.0	186.2	-9.0	261	1917	0.00	2.80	0.00	0.000	6	0.000	0.063	2418	2702	3398	0	0	4	0	0	0
2236	-0.84	-146.0	215.3	-8.7	291	2241	0.00	2.95	0.00	0.000	4	0.000	0.087	2418	3934	3398	0	0	5	0	0	0
2421	-0.84	-146.0	232.8	-9.6	307	2426	0.00	2.83	0.00	0.000	6	0.000	0.062	2418	2693	3398	0	0	4	0	0	0
2745	-0.84	-146.0	264.5	-10.4	337	2750	0.00	2.95	0.00	0.000	4	0.000	0.086	2418	3925	3399	0	0	5	0	0	0
2908	-0.84	-146.0	280.7	-10.1	351	2912	0.00	2.80	0.00	0.000	6	0.000	0.061	2418	2701	3398	0	0	4	0	0	0
3233	-0.84	-146.0	311.6	-9.1	381	3237	0.00	2.95	0.00	0.000	4	0.000	0.086	2418	3922	3400	0	0	4	0	0	0
3343	-0.84	-146.0	321.9	-9.4	390	3349	0.00	2.80	0.00	0.000	6	0.000	0.061	2419	2700	3399	0	0	4	0	0	0
3668	-0.84	-146.0	349.5	-8.3	421	3673	0.00	2.95	0.00	0.000	4	0.000	0.085	2418	3930	3399	0	0	5	0	0	0
3842	-0.84	-146.0	364.4	-8.9	436	3847	0.00	2.83	0.00	0.000	6	0.000	0.061	2419	2700	3399	0	0	3	0	0	0
4167	-0.84	-146.0	392.0	-8.8	466	4171	0.00	2.95	0.00	0.000	4	0.000	0.085	2418	3933	3400	0	0	5	0	0	0
4301	-0.84	-146.0	405.0	-10.0	477	4306	0.00	2.80	0.00	0.000	6	0.000	0.061	2418	2701	3400	0	0	4	0	0	0
4625	-0.84	-146.0	436.1	-9.5	508	4630	0.00	2.92	0.00	0.000	4	0.000	0.084	2418	3920	3401	0	0	5	0	0	0
4724	-0.84	-146.0	445.1	-9.1	516	4731	0.00	2.80	0.00	0.000	6	0.000	0.061	2419	2699	3400	0	0	4	0	0	0
5049	-0.84	-146.0	472.3	-8.4	547	5054	0.00	2.95	0.00	0.000	4	0.000	0.084	2418	3933	3401	0	0	5	0	0	0
5228	-0.84	-146.0	487.0	-8.1	562	5234	0.00	2.83	0.00	0.000	6	0.000	0.060	2418	2697	3400	0	0	3	0	0	0
5553	-0.84	-146.0	513.0	-8.0	593	5557	0.00	2.95	0.00	0.000	4	0.000	0.084	2418	3934	3400	0	0	5	0	0	0
5715	-0.84	-146.0	525.9	-8.7	607	5719	0.00	2.83	0.00	0.000	6	0.000	0.059	2419	2700	3401	0	0	3	0	0	0
6042	-0.84	-146.0	550.2	-7.5	637	6047	0.00	2.92	0.00	0.000	4	0.000	0.083	2418	3921	3401	0	0	5	0	0	0
6161	-0.84	-146.0	559.8	-7.8	647	6166	0.00	2.80	0.00	0.000	6	0.000	0.060	2418	2694	3401	0	0	4	0	0	0
6281	end dive: TARGET_DEPTH_EXCEEDED
state	6281	begin apogee
6288	-0.16	0.0	569.3	8.0	658	6415	0.75	0.00	122.90	1.099	6	0.179	0.000	2627	2001	2800	0	0	0	0	0	0
6416	end apogee: CONTROL_FINISHED_OK
state	6416	begin climb
6418	0.73	146.0	571.7	0.0	671	6555	0.98	2.08	127.45	1.046	4	0.130	0.087	2924	412	2203	0	0	0	0	0	0
6622	0.64	146.0	553.7	11.8	690	6628	0.00	1.90	0.00	0.000	6	0.000	0.058	2925	2009	2199	0	0	0	0	0	0
6946	0.55	146.0	515.2	12.1	721	6956	0.22	3.80	0.00	0.000	4	0.200	0.074	2854	3586	2195	0	0	5	0	0	0
7126	0.61	146.0	497.1	10.0	737	7132	0.00	3.78	0.00	0.000	6	0.000	0.068	2869	1997	2194	0	0	3	0	0	0
7453	0.72	154.3	466.9	8.8	767	7468	0.15	3.83	6.95	0.854	4	0.109	0.077	2923	3592	2170	0	0	5	0	0	0
7613	0.56	154.3	445.3	13.8	781	7620	0.28	3.75	0.00	0.000	6	0.202	0.071	2874	1992	2168	0	0	4	0	0	0
7939	0.63	154.3	413.5	9.6	812	7948	0.00	3.75	0.00	0.000	4	0.000	0.077	2874	3594	2168	0	0	6	0	0	0
8094	0.63	154.3	397.1	10.8	826	8104	0.00	3.75	0.00	0.000	6	0.000	0.070	2889	2002	2168	0	0	3	0	0	0
8422	0.63	154.3	362.2	10.6	857	8431	0.00	3.72	0.00	0.000	4	0.000	0.077	2889	3589	2167	0	0	6	0	0	0
8572	0.63	154.3	344.9	12.2	870	8578	0.00	3.75	0.00	0.000	6	0.000	0.070	2906	1995	2167	0	0	3	0	0	0
8896	0.63	154.3	308.9	10.7	901	8905	0.00	3.72	0.00	0.000	4	0.000	0.075	2905	3587	2167	0	0	6	0	0	0
9042	0.56	154.3	291.2	13.5	914	9052	0.20	3.75	0.00	0.000	6	0.201	0.069	2876	1987	2167	0	0	3	0	0	0
9370	0.67	154.3	259.2	9.4	945	9379	0.00	3.72	0.00	0.000	4	0.000	0.074	2876	3587	2167	0	0	6	0	0	0
9527	0.67	154.3	242.8	10.8	959	9533	0.00	3.75	0.00	0.000	6	0.000	0.069	2890	1986	2167	0	0	3	0	0	0
9852	0.75	154.3	212.0	9.3	989	9862	0.12	3.78	0.00	0.000	4	0.110	0.074	2939	3589	2168	0	0	5	0	0	0
10009	0.59	154.3	192.2	12.4	1003	10019	0.30	3.75	0.00	0.000	6	0.202	0.070	2883	1997	2168	0	0	3	0	0	0
10339	0.70	162.7	163.4	8.8	1034	10354	0.00	3.75	8.43	0.762	4	0.000	0.075	2882	3589	2136	0	0	5	0	0	0
10488	0.70	162.7	148.3	10.3	1047	10498	0.00	3.75	0.00	0.000	6	0.000	0.068	2897	1993	2135	0	0	3	0	0	0
10817	0.81	183.7	118.3	8.3	1078	10843	0.15	3.83	18.88	0.797	4	0.101	0.076	2954	3594	2050	0	0	3	0	0	0
11002	0.66	183.7	94.3	13.6	1097	11009	0.28	3.78	0.00	0.000	6	0.203	0.069	2905	1998	2048	0	0	3	0	0	0
11348	0.81	206.2	64.1	8.2	1158	11376	0.15	3.75	19.98	0.767	4	0.117	0.074	2956	3591	1958	0	0	6	0	0	0
11522	0.72	206.2	44.1	11.8	1189	11529	0.20	3.78	0.00	0.000	6	0.193	0.069	2926	2001	1956	0	0	3	0	0	0
11868	0.85	220.5	14.3	8.6	1250	11890	0.12	3.80	12.93	0.732	4	0.127	0.076	2968	3595	1900	0	0	4	0	0	0
11973	end climb: SURFACE_DEPTH_REACHED
state	11974	begin surface coast
11991	end surface coast: CONTROL_FINISHED_OK
state	11991	begin surface