Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 375 * 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 375 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 24 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 25 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 -43399.539 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 -43399.539

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 24 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 375 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 055536,6717.456,-5733.737,36,1.0,36,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6717.486,-5705.873

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

GPS2 060132,6717.486,-5733.847,12,1.8,12,-38.1 MHEAD_RNG_PITCHd_Wd 128.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 550

Post-dive calculations and measurements:

FREEZE 0.58,-1.630,-1.782,0,1,0 ALTIM_TOP_PING 19.8,19.2

FINISH 0.6,1.026178 ALTIM_BOTTOM_PING 500.3,87.6

SM_CCo 12027,72.53,0.748,0,0,1474,325.02 _24V_AH 22.4,68.529

SM_GC 1.35,0.00,0.00,72.53,0.000,0.000,0.748,126,2696,1474,-8.01,-0.14,325.02 _10V_AH 10.1,36.747

RAFOS_CLK 752 FG_AHR_24Vo 0.000

RAFOS 0,1261728062,8.033334,8.017222,59,58,57,0,0,0,153,218,162,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6717.058105,-5737.313477,251209,080822,3,82,0.27 MEM 152564

IRIDIUM_FIX 6647.44,-5737.27,210399,020222 DATA_FILE_SIZE 50431,1269

TT8_MAMPS 0.027612 CAP_FILE_SIZE 147341,0

HUMID 46.85 CFSIZE 260165632,220712960

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,217,0,0

TCM_TEMP 16.90 SOUNDSPEED 1465.1

XPDR_PINGS 4 GPS 251209,092507,6718.456,-5735.086,39,1.5,39,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 302 164.15 SBE_CT 932 24 501.06

Roll_motor 161 100 363.04 SBE_O2 868 19 369.43

VBD_pump_during_apogee 313 1073 7538.85 nil 0 0 0.00

VBD_pump_during_surface 72 747 1214.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 67.31 nil 0 0 0.00

Iridium_during_connect 33 160 120.87 nil 0 0 0.00

Iridium_during_xfer 167 223 835.43

Transponder_ping 2 420 25.87

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.01

TT8 2175 19 437.68

LPSleep 6959 2 162.37

TT8_Active 562 19 113.11

TT8_Sampling 2297 39 926.13

TT8_CF8 463 45 215.20

TT8_Kalman 0 0 0.00

Analog_circuits 1737 12 210.57

GPS_charging 0 0 0.00

Compass 2257 8 182.43

RAFOS 2520 1 38.18

Transponder 14 30 4.36

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 -95.12 0.000 2 0.000 0.000 125 2696 3114 0 0 0 0 0 0

117 -0.73 -146.0 3.4 -5.7 19 144 11.62 3.03 -7.70 0.000 4 0.302 0.100 2446 3916 3398 0 0 5 0 0 0

386 -0.73 -146.0 37.3 -10.9 67 391 0.00 2.83 0.00 0.000 6 0.000 0.064 2447 2701 3400 0 0 4 0 0 0

730 -0.73 -146.0 72.8 -9.6 128 735 0.00 2.95 0.00 0.000 4 0.000 0.089 2447 3917 3400 0 0 6 0 0 0

843 -0.73 -146.0 84.2 -10.1 148 849 0.00 2.83 0.00 0.000 6 0.000 0.064 2446 2699 3400 0 0 4 0 0 0

1184 -0.80 -146.0 113.2 -7.4 194 1188 0.00 2.95 0.00 0.000 4 0.000 0.089 2447 3908 3398 0 0 6 0 0 0

1358 -0.88 -146.0 126.7 -8.1 209 1364 0.12 2.83 0.00 0.000 6 0.127 0.065 2408 2693 3398 0 0 4 0 0 0

1682 -0.83 -146.0 160.1 -10.9 239 1687 0.00 2.92 0.00 0.000 4 0.000 0.087 2408 3909 3398 0 0 6 0 0 0

1879 -0.83 -146.0 181.6 -10.6 256 1884 0.00 2.80 0.00 0.000 6 0.000 0.064 2408 2701 3398 0 0 4 0 0 0

2203 -0.78 -146.0 213.3 -9.5 286 2209 0.12 2.97 0.00 0.000 4 0.218 0.085 2428 3921 3398 0 0 4 0 0 0

2344 -0.78 -146.0 225.8 -9.1 298 2349 0.00 2.80 0.00 0.000 6 0.000 0.062 2428 2701 3397 0 0 4 0 0 0

2669 -0.78 -146.0 253.9 -8.9 328 2674 0.00 2.92 0.00 0.000 4 0.000 0.085 2428 3914 3398 0 0 5 0 0 0

2822 -0.78 -146.0 267.7 -9.5 341 2826 0.00 2.80 0.00 0.000 6 0.000 0.061 2428 2697 3398 0 0 4 0 0 0

3147 -0.78 -146.0 295.6 -8.6 371 3151 0.00 2.92 0.00 0.000 4 0.000 0.084 2428 3912 3399 0 0 5 0 0 0

3336 -0.78 -146.0 312.1 -8.8 387 3342 0.00 2.83 0.00 0.000 6 0.000 0.061 2428 2698 3399 0 0 2 0 0 0

3662 -0.84 -146.0 337.9 -7.9 418 3666 0.00 2.92 0.00 0.000 4 0.000 0.084 2428 3914 3399 0 0 5 0 0 0

3774 -0.89 -146.0 346.8 -7.9 427 3780 0.00 2.80 0.00 0.000 6 0.000 0.060 2428 2692 3398 0 0 4 0 0 0

4099 -0.94 -146.0 371.6 -7.5 458 4104 0.12 2.95 0.00 0.000 4 0.114 0.082 2373 3910 3399 0 0 6 0 0 0

4262 -0.82 -146.0 387.2 -9.5 472 4268 0.20 2.78 0.00 0.000 6 0.200 0.059 2419 2700 3399 0 0 4 0 0 0

4587 -0.82 -146.0 410.8 -7.2 502 4592 0.00 2.92 0.00 0.000 4 0.000 0.082 2419 3924 3400 0 0 5 0 0 0

4761 -0.82 -146.0 423.5 -7.3 517 4765 0.00 2.80 0.00 0.000 6 0.000 0.058 2419 2695 3399 0 0 4 0 0 0

5086 -0.82 -146.0 447.5 -7.3 547 5090 0.00 2.92 0.00 0.000 4 0.000 0.081 2419 3920 3401 0 0 5 0 0 0

5282 -0.82 -146.0 462.8 -8.2 564 5287 0.00 2.78 0.00 0.000 6 0.000 0.058 2420 2699 3401 0 0 4 0 0 0

5606 -0.82 -146.0 487.0 -7.6 594 5611 0.00 2.92 0.00 0.000 4 0.000 0.081 2420 3919 3402 0 0 6 0 0 0

5770 -0.82 -146.0 499.9 -8.2 608 5777 0.00 2.78 0.00 0.000 6 0.000 0.062 2420 2697 3402 0 0 4 0 0 0

6102 -0.82 -146.0 527.1 -7.8 639 6107 0.00 2.92 0.00 0.000 4 0.000 0.080 2420 3919 3403 0 0 4 0 0 0

6303 -0.82 -146.0 541.6 -7.6 656 6309 0.00 2.80 0.00 0.000 6 0.000 0.058 2420 2696 3403 0 0 3 0 0 0

6413 end dive: TARGET_DEPTH_EXCEEDED

state 6413 begin apogee

6419 -0.16 0.0 550.2 7.4 667 6546 0.75 0.00 122.45 1.074 6 0.176 0.000 2632 1998 2800 0 0 0 0 0 0

6547 end apogee: CONTROL_FINISHED_OK

state 6547 begin climb

6549 0.73 146.0 552.7 0.0 680 6684 0.93 2.00 126.43 1.025 4 0.125 0.084 2920 405 2203 0 0 0 0 0 0

6730 0.65 146.0 537.0 13.0 697 6734 0.00 1.90 0.00 0.000 6 0.000 0.056 2920 2011 2201 0 0 0 0 0 0

7060 0.59 146.0 497.9 12.7 728 7070 0.17 3.75 0.00 0.000 4 0.202 0.074 2877 3589 2196 0 0 7 0 0 0

7217 0.59 146.0 479.9 11.4 742 7226 0.00 3.80 0.00 0.000 6 0.000 0.069 2893 1994 2194 0 0 3 0 0 0

7547 0.59 146.0 445.5 10.3 773 7558 0.00 3.75 0.00 0.000 4 0.000 0.076 2893 3597 2194 0 0 7 0 0 0

7705 0.53 146.0 427.4 12.3 787 7715 0.20 3.78 0.00 0.000 6 0.201 0.070 2863 1999 2193 0 0 3 0 0 0

8033 0.66 160.6 397.8 8.6 818 8055 0.12 3.80 11.75 0.902 4 0.121 0.076 2905 3587 2144 0 0 5 0 0 0

8207 0.57 160.6 377.0 13.1 833 8213 0.20 3.75 0.00 0.000 6 0.201 0.069 2876 2001 2143 0 0 3 0 0 0

8531 0.66 160.6 346.1 9.5 864 8541 0.00 3.75 0.00 0.000 4 0.000 0.074 2876 3598 2143 0 0 5 0 0 0

8688 0.66 160.6 329.6 11.2 878 8698 0.00 3.75 0.00 0.000 6 0.000 0.068 2890 2000 2143 0 0 3 0 0 0

9017 0.73 170.4 299.0 8.8 909 9038 0.10 3.75 9.90 0.831 4 0.122 0.074 2933 3594 2104 0 0 5 0 0 0

9178 0.59 170.4 278.7 13.0 923 9185 0.28 3.75 0.00 0.000 6 0.201 0.068 2884 1988 2103 0 0 4 0 0 0

9503 0.70 173.8 248.4 9.0 954 9514 0.00 3.75 4.60 0.660 4 0.000 0.075 2884 3592 2091 0 0 6 0 0 0

9654 0.70 173.8 232.7 10.4 967 9660 0.00 3.75 0.00 0.000 6 0.000 0.068 2899 1988 2090 0 0 4 0 0 0

9980 0.76 173.8 200.8 10.0 998 9990 0.10 3.78 0.00 0.000 4 0.123 0.074 2936 3587 2089 0 0 5 0 0 0

10148 0.63 173.8 179.4 13.2 1013 10159 0.22 3.75 0.00 0.000 6 0.200 0.069 2898 1997 2089 0 0 3 0 0 0

10478 0.71 176.4 149.5 9.1 1044 10487 0.00 3.72 0.00 0.000 4 0.000 0.074 2898 3589 2089 0 0 6 0 0 0

10611 0.71 176.4 136.3 10.5 1056 10620 0.00 3.75 0.00 0.000 6 0.000 0.069 2912 1994 2089 0 0 3 0 0 0

10940 0.80 195.5 107.4 8.4 1087 10967 0.10 3.75 19.60 0.795 4 0.126 0.075 2954 3593 2001 0 0 6 0 0 0

11108 0.68 195.5 87.0 12.8 1110 11115 0.25 3.78 0.00 0.000 6 0.202 0.070 2912 2002 1999 0 0 3 0 0 0

11454 0.81 216.9 55.7 8.3 1171 11481 0.12 3.78 18.70 0.771 4 0.127 0.077 2954 3586 1914 0 0 5 0 0 0

11611 0.75 216.9 36.5 12.2 1199 11618 0.15 3.78 0.00 0.000 6 0.201 0.070 2938 1999 1912 0 0 3 0 0 0

11955 0.82 217.7 4.5 9.1 1260 11961 0.00 3.75 0.00 0.000 4 0.000 0.077 2938 3596 1910 0 0 7 0 0 0

11983 end climb: SURFACE_DEPTH_REACHED

state 11983 begin surface coast

12007 end surface coast: CONTROL_FINISHED_OK

state 12007 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	375	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	24	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	25	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	-43399.539	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	055536,6717.456,-5733.737,36,1.0,36,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6717.486,-5705.873
_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	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060132,6717.486,-5733.847,12,1.8,12,-38.1	MHEAD_RNG_PITCHd_Wd	128.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	550

FREEZE	0.58,-1.630,-1.782,0,1,0	ALTIM_TOP_PING	19.8,19.2
FINISH	0.6,1.026178	ALTIM_BOTTOM_PING	500.3,87.6
SM_CCo	12027,72.53,0.748,0,0,1474,325.02	_24V_AH	22.4,68.529
SM_GC	1.35,0.00,0.00,72.53,0.000,0.000,0.748,126,2696,1474,-8.01,-0.14,325.02	_10V_AH	10.1,36.747
RAFOS_CLK	752	FG_AHR_24Vo	0.000
RAFOS	0,1261728062,8.033334,8.017222,59,58,57,0,0,0,153,218,162,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6717.058105,-5737.313477,251209,080822,3,82,0.27	MEM	152564
IRIDIUM_FIX	6647.44,-5737.27,210399,020222	DATA_FILE_SIZE	50431,1269
TT8_MAMPS	0.027612	CAP_FILE_SIZE	147341,0
HUMID	46.85	CFSIZE	260165632,220712960
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,217,0,0
TCM_TEMP	16.90	SOUNDSPEED	1465.1
XPDR_PINGS	4	GPS	251209,092507,6718.456,-5735.086,39,1.5,39,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	302	164.15	SBE_CT	932	24	501.06
Roll_motor	161	100	363.04	SBE_O2	868	19	369.43
VBD_pump_during_apogee	313	1073	7538.85	nil	0	0	0.00
VBD_pump_during_surface	72	747	1214.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	67.31	nil	0	0	0.00
Iridium_during_connect	33	160	120.87	nil	0	0	0.00
Iridium_during_xfer	167	223	835.43
Transponder_ping	2	420	25.87
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.01
TT8	2175	19	437.68
LPSleep	6959	2	162.37
TT8_Active	562	19	113.11
TT8_Sampling	2297	39	926.13
TT8_CF8	463	45	215.20
TT8_Kalman	0	0	0.00
Analog_circuits	1737	12	210.57
GPS_charging	0	0	0.00
Compass	2257	8	182.43
RAFOS	2520	1	38.18
Transponder	14	30	4.36

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	-95.12	0.000	2	0.000	0.000	125	2696	3114	0	0	0	0	0	0
117	-0.73	-146.0	3.4	-5.7	19	144	11.62	3.03	-7.70	0.000	4	0.302	0.100	2446	3916	3398	0	0	5	0	0	0
386	-0.73	-146.0	37.3	-10.9	67	391	0.00	2.83	0.00	0.000	6	0.000	0.064	2447	2701	3400	0	0	4	0	0	0
730	-0.73	-146.0	72.8	-9.6	128	735	0.00	2.95	0.00	0.000	4	0.000	0.089	2447	3917	3400	0	0	6	0	0	0
843	-0.73	-146.0	84.2	-10.1	148	849	0.00	2.83	0.00	0.000	6	0.000	0.064	2446	2699	3400	0	0	4	0	0	0
1184	-0.80	-146.0	113.2	-7.4	194	1188	0.00	2.95	0.00	0.000	4	0.000	0.089	2447	3908	3398	0	0	6	0	0	0
1358	-0.88	-146.0	126.7	-8.1	209	1364	0.12	2.83	0.00	0.000	6	0.127	0.065	2408	2693	3398	0	0	4	0	0	0
1682	-0.83	-146.0	160.1	-10.9	239	1687	0.00	2.92	0.00	0.000	4	0.000	0.087	2408	3909	3398	0	0	6	0	0	0
1879	-0.83	-146.0	181.6	-10.6	256	1884	0.00	2.80	0.00	0.000	6	0.000	0.064	2408	2701	3398	0	0	4	0	0	0
2203	-0.78	-146.0	213.3	-9.5	286	2209	0.12	2.97	0.00	0.000	4	0.218	0.085	2428	3921	3398	0	0	4	0	0	0
2344	-0.78	-146.0	225.8	-9.1	298	2349	0.00	2.80	0.00	0.000	6	0.000	0.062	2428	2701	3397	0	0	4	0	0	0
2669	-0.78	-146.0	253.9	-8.9	328	2674	0.00	2.92	0.00	0.000	4	0.000	0.085	2428	3914	3398	0	0	5	0	0	0
2822	-0.78	-146.0	267.7	-9.5	341	2826	0.00	2.80	0.00	0.000	6	0.000	0.061	2428	2697	3398	0	0	4	0	0	0
3147	-0.78	-146.0	295.6	-8.6	371	3151	0.00	2.92	0.00	0.000	4	0.000	0.084	2428	3912	3399	0	0	5	0	0	0
3336	-0.78	-146.0	312.1	-8.8	387	3342	0.00	2.83	0.00	0.000	6	0.000	0.061	2428	2698	3399	0	0	2	0	0	0
3662	-0.84	-146.0	337.9	-7.9	418	3666	0.00	2.92	0.00	0.000	4	0.000	0.084	2428	3914	3399	0	0	5	0	0	0
3774	-0.89	-146.0	346.8	-7.9	427	3780	0.00	2.80	0.00	0.000	6	0.000	0.060	2428	2692	3398	0	0	4	0	0	0
4099	-0.94	-146.0	371.6	-7.5	458	4104	0.12	2.95	0.00	0.000	4	0.114	0.082	2373	3910	3399	0	0	6	0	0	0
4262	-0.82	-146.0	387.2	-9.5	472	4268	0.20	2.78	0.00	0.000	6	0.200	0.059	2419	2700	3399	0	0	4	0	0	0
4587	-0.82	-146.0	410.8	-7.2	502	4592	0.00	2.92	0.00	0.000	4	0.000	0.082	2419	3924	3400	0	0	5	0	0	0
4761	-0.82	-146.0	423.5	-7.3	517	4765	0.00	2.80	0.00	0.000	6	0.000	0.058	2419	2695	3399	0	0	4	0	0	0
5086	-0.82	-146.0	447.5	-7.3	547	5090	0.00	2.92	0.00	0.000	4	0.000	0.081	2419	3920	3401	0	0	5	0	0	0
5282	-0.82	-146.0	462.8	-8.2	564	5287	0.00	2.78	0.00	0.000	6	0.000	0.058	2420	2699	3401	0	0	4	0	0	0
5606	-0.82	-146.0	487.0	-7.6	594	5611	0.00	2.92	0.00	0.000	4	0.000	0.081	2420	3919	3402	0	0	6	0	0	0
5770	-0.82	-146.0	499.9	-8.2	608	5777	0.00	2.78	0.00	0.000	6	0.000	0.062	2420	2697	3402	0	0	4	0	0	0
6102	-0.82	-146.0	527.1	-7.8	639	6107	0.00	2.92	0.00	0.000	4	0.000	0.080	2420	3919	3403	0	0	4	0	0	0
6303	-0.82	-146.0	541.6	-7.6	656	6309	0.00	2.80	0.00	0.000	6	0.000	0.058	2420	2696	3403	0	0	3	0	0	0
6413	end dive: TARGET_DEPTH_EXCEEDED
state	6413	begin apogee
6419	-0.16	0.0	550.2	7.4	667	6546	0.75	0.00	122.45	1.074	6	0.176	0.000	2632	1998	2800	0	0	0	0	0	0
6547	end apogee: CONTROL_FINISHED_OK
state	6547	begin climb
6549	0.73	146.0	552.7	0.0	680	6684	0.93	2.00	126.43	1.025	4	0.125	0.084	2920	405	2203	0	0	0	0	0	0
6730	0.65	146.0	537.0	13.0	697	6734	0.00	1.90	0.00	0.000	6	0.000	0.056	2920	2011	2201	0	0	0	0	0	0
7060	0.59	146.0	497.9	12.7	728	7070	0.17	3.75	0.00	0.000	4	0.202	0.074	2877	3589	2196	0	0	7	0	0	0
7217	0.59	146.0	479.9	11.4	742	7226	0.00	3.80	0.00	0.000	6	0.000	0.069	2893	1994	2194	0	0	3	0	0	0
7547	0.59	146.0	445.5	10.3	773	7558	0.00	3.75	0.00	0.000	4	0.000	0.076	2893	3597	2194	0	0	7	0	0	0
7705	0.53	146.0	427.4	12.3	787	7715	0.20	3.78	0.00	0.000	6	0.201	0.070	2863	1999	2193	0	0	3	0	0	0
8033	0.66	160.6	397.8	8.6	818	8055	0.12	3.80	11.75	0.902	4	0.121	0.076	2905	3587	2144	0	0	5	0	0	0
8207	0.57	160.6	377.0	13.1	833	8213	0.20	3.75	0.00	0.000	6	0.201	0.069	2876	2001	2143	0	0	3	0	0	0
8531	0.66	160.6	346.1	9.5	864	8541	0.00	3.75	0.00	0.000	4	0.000	0.074	2876	3598	2143	0	0	5	0	0	0
8688	0.66	160.6	329.6	11.2	878	8698	0.00	3.75	0.00	0.000	6	0.000	0.068	2890	2000	2143	0	0	3	0	0	0
9017	0.73	170.4	299.0	8.8	909	9038	0.10	3.75	9.90	0.831	4	0.122	0.074	2933	3594	2104	0	0	5	0	0	0
9178	0.59	170.4	278.7	13.0	923	9185	0.28	3.75	0.00	0.000	6	0.201	0.068	2884	1988	2103	0	0	4	0	0	0
9503	0.70	173.8	248.4	9.0	954	9514	0.00	3.75	4.60	0.660	4	0.000	0.075	2884	3592	2091	0	0	6	0	0	0
9654	0.70	173.8	232.7	10.4	967	9660	0.00	3.75	0.00	0.000	6	0.000	0.068	2899	1988	2090	0	0	4	0	0	0
9980	0.76	173.8	200.8	10.0	998	9990	0.10	3.78	0.00	0.000	4	0.123	0.074	2936	3587	2089	0	0	5	0	0	0
10148	0.63	173.8	179.4	13.2	1013	10159	0.22	3.75	0.00	0.000	6	0.200	0.069	2898	1997	2089	0	0	3	0	0	0
10478	0.71	176.4	149.5	9.1	1044	10487	0.00	3.72	0.00	0.000	4	0.000	0.074	2898	3589	2089	0	0	6	0	0	0
10611	0.71	176.4	136.3	10.5	1056	10620	0.00	3.75	0.00	0.000	6	0.000	0.069	2912	1994	2089	0	0	3	0	0	0
10940	0.80	195.5	107.4	8.4	1087	10967	0.10	3.75	19.60	0.795	4	0.126	0.075	2954	3593	2001	0	0	6	0	0	0
11108	0.68	195.5	87.0	12.8	1110	11115	0.25	3.78	0.00	0.000	6	0.202	0.070	2912	2002	1999	0	0	3	0	0	0
11454	0.81	216.9	55.7	8.3	1171	11481	0.12	3.78	18.70	0.771	4	0.127	0.077	2954	3586	1914	0	0	5	0	0	0
11611	0.75	216.9	36.5	12.2	1199	11618	0.15	3.78	0.00	0.000	6	0.201	0.070	2938	1999	1912	0	0	3	0	0	0
11955	0.82	217.7	4.5	9.1	1260	11961	0.00	3.75	0.00	0.000	4	0.000	0.077	2938	3596	1910	0	0	7	0	0	0
11983	end climb: SURFACE_DEPTH_REACHED
state	11983	begin surface coast
12007	end surface coast: CONTROL_FINISHED_OK
state	12007	begin surface