Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 49 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 49 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2400 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1600 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 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 17 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 300 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 15 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 0 T_GPS_CHARGE -23832.84 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 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 2390 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 26 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 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 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 -23832.84

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 20 HEADING 200 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 300

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2390 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1600 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2400 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 49 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 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 065406,6715.903,-5755.410,36,0.9,42,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6705.753,-5804.836

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070014,6715.901,-5755.346,10,1.3,10,-38.1 MHEAD_RNG_PITCHd_Wd 238.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 853

Post-dive calculations and measurements:

FINISH 0.3,1.026024 _24V_AH 22.9,20.397

SM_CCo 15195,74.80,0.765,0,0,1678,275.23 _10V_AH 10.3,9.717

SM_GC 1.32,0.00,0.00,74.80,0.000,0.000,0.765,123,2397,1678,-7.09,-0.08,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 979 FG_AHR_10Vo 0.000

RAFOS 0,1256630466,8.033334,8.018333,66,55,52,0,0,0,162,221,202,0,0,0 MEM 150624

RAFOS_FIX 6715.303223,-5758.265137,271009,080844,2,77,0.38 DATA_FILE_SIZE 50407,1251

IRIDIUM_FIX 6647.44,-5752.61,210199,020200 CAP_FILE_SIZE 147331,0

TT8_MAMPS 0.027612 CFSIZE 260165632,247365632

HUMID 48.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88706 SOUNDSPEED 1462.9

TCM_TEMP 16.80 GPS 271009,111630,6716.014,-5756.003,37,1.3,37,-38.1

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 310 135.87 SBE_CT 916 24 503.80

Roll_motor 136 97 304.43 SBE_O2 867 19 377.36

VBD_pump_during_apogee 261 1298 7784.98 nil 0 0 0.00

VBD_pump_during_surface 74 765 1311.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 54.72 nil 0 0 0.00

Iridium_during_connect 31 160 116.17 nil 0 0 0.00

Iridium_during_xfer 196 223 1002.00

Transponder_ping 0 420 4.81

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.34

TT8 2205 19 452.61

LPSleep 10056 2 239.28

TT8_Active 486 19 99.81

TT8_Sampling 2446 39 1005.99

TT8_CF8 439 45 207.70

TT8_Kalman 0 0 0.00

Analog_circuits 1706 12 210.87

GPS_charging 0 0 0.00

Compass 2409 8 198.55

RAFOS 2520 1 38.93

Transponder 0 30 0.16

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 13 begin dive

15 -0.83 -146.0 0.0 0.0 0 103 0.00 0.00 -84.90 0.000 2 0.000 0.000 127 2404 3102 0 0 0 0 0 0

106 -0.83 -146.0 3.6 -7.7 17 132 9.80 2.72 -7.75 0.000 4 0.311 0.097 2113 816 3399 0 0 0 0 0 0

138 -0.83 -146.0 12.7 -25.1 23 143 0.00 2.65 0.00 0.000 6 0.000 0.077 2113 2406 3400 0 0 0 0 0 0

313 -0.83 -146.0 40.5 -15.0 54 319 0.00 2.55 0.00 0.000 4 0.000 0.094 2113 3914 3401 0 0 0 0 0 0

330 -0.83 -146.0 43.2 -15.3 57 336 0.00 2.45 0.00 0.000 6 0.000 0.067 2113 2413 3401 0 0 0 0 0 0

506 -0.83 -146.0 67.1 -12.7 88 511 0.00 2.55 0.00 0.000 4 0.000 0.093 2113 3916 3401 0 0 0 0 0 0

597 -0.83 -146.0 79.8 -14.1 104 602 0.00 2.38 0.00 0.000 6 0.000 0.065 2113 2451 3401 0 0 0 0 0 0

771 -0.83 -146.0 103.3 -12.9 133 775 0.00 2.47 0.00 0.000 4 0.000 0.093 2113 3914 3402 0 0 0 0 0 0

820 -0.83 -146.0 109.8 -12.9 137 825 0.00 2.35 0.00 0.000 6 0.000 0.067 2113 2463 3402 0 0 0 0 0 0

1272 -0.83 -146.0 161.0 -11.3 179 1276 0.00 2.45 0.00 0.000 4 0.000 0.095 2113 3916 3401 0 0 0 0 0 0

1305 -0.83 -146.0 164.7 -11.4 182 1309 0.00 2.35 0.00 0.000 6 0.000 0.067 2113 2460 3401 0 0 0 0 0 0

1762 -0.83 -146.0 219.4 -12.9 225 1766 0.00 2.45 0.00 0.000 4 0.000 0.094 2113 3919 3399 0 0 0 0 0 0

1861 -0.83 -146.0 231.9 -12.4 233 1867 0.00 2.35 0.00 0.000 6 0.000 0.067 2113 2476 3399 0 0 0 0 0 0

2314 -0.83 -146.0 280.5 -10.5 276 2318 0.00 2.70 0.00 0.000 4 0.000 0.087 2113 809 3399 0 0 0 0 0 0

2368 -0.83 -146.0 286.7 -11.2 280 2374 0.00 2.70 0.00 0.000 6 0.000 0.077 2113 2478 3399 0 0 0 0 0 0

2820 -0.83 -146.0 331.6 -9.7 323 2824 0.00 2.38 0.00 0.000 4 0.000 0.094 2113 3917 3398 0 0 0 0 0 0

3073 -0.83 -146.0 356.4 -9.5 345 3077 0.00 2.25 0.00 0.000 6 0.000 0.065 2113 2500 3399 0 0 0 0 0 0

3525 -0.83 -146.0 397.5 -8.8 387 3529 0.00 2.35 0.00 0.000 4 0.000 0.092 2113 3914 3399 0 0 0 0 0 0

3866 -0.83 -146.0 430.2 -10.2 417 3872 0.00 2.28 0.00 0.000 6 0.000 0.064 2113 2504 3400 0 0 0 0 0 0

4318 -0.83 -146.0 472.5 -9.4 460 4322 0.00 2.33 0.00 0.000 4 0.000 0.091 2113 3914 3401 0 0 0 0 0 0

4514 -0.83 -146.0 491.7 -10.0 477 4518 0.00 2.22 0.00 0.000 6 0.000 0.063 2113 2501 3401 0 0 0 0 0 0

4967 -0.83 -146.0 536.8 -10.5 519 4971 0.00 2.70 0.00 0.000 4 0.000 0.081 2113 813 3401 0 0 0 0 0 0

4976 -0.83 -146.0 537.9 -10.2 519 4982 0.00 2.88 0.00 0.000 6 0.000 0.074 2113 2613 3401 0 0 0 0 0 0

5428 -0.83 -146.0 581.6 -9.4 562 5433 0.00 2.90 0.00 0.000 4 0.000 0.081 2113 807 3402 0 0 0 0 0 0

5445 -0.83 -146.0 583.1 -9.0 563 5450 0.00 2.88 0.00 0.000 6 0.000 0.074 2113 2608 3402 0 0 0 0 0 0

5908 -0.83 -146.0 624.4 -8.5 589 5913 0.00 2.90 0.00 0.000 4 0.000 0.081 2113 800 3403 0 0 0 0 0 0

5974 -0.83 -146.0 630.7 -9.9 591 5979 0.00 2.88 0.00 0.000 6 0.000 0.073 2113 2604 3403 0 0 0 0 0 0

6428 -0.83 -146.0 668.0 -8.1 606 6432 0.00 2.88 0.00 0.000 4 0.000 0.081 2113 813 3403 0 0 0 0 0 0

6494 -0.83 -146.0 674.1 -9.0 608 6498 0.00 2.88 0.00 0.000 6 0.000 0.073 2113 2612 3403 0 0 0 0 0 0

6946 -0.83 -146.0 709.5 -8.1 623 6950 0.00 2.90 0.00 0.000 4 0.000 0.081 2113 804 3403 0 0 0 0 0 0

6995 -0.83 -146.0 713.9 -8.6 624 6999 0.00 2.88 0.00 0.000 6 0.000 0.073 2113 2604 3404 0 0 0 0 0 0

7430 -0.83 -146.0 748.7 -8.1 638 7434 0.00 2.88 0.00 0.000 4 0.000 0.081 2113 813 3404 0 0 0 0 0 0

7445 -0.83 -146.0 750.0 -8.1 638 7450 0.00 2.85 0.00 0.000 6 0.000 0.073 2113 2598 3404 0 0 0 0 0 0

7880 -0.83 -146.0 786.8 -8.6 652 7885 0.00 2.88 0.00 0.000 4 0.000 0.081 2113 808 3404 0 0 0 0 0 0

7901 -0.83 -146.0 788.9 -9.5 652 7907 0.00 2.85 0.00 0.000 6 0.000 0.073 2113 2597 3404 0 0 0 0 0 0

8337 -0.83 -146.0 827.1 -8.5 667 8342 0.00 2.88 0.00 0.000 4 0.000 0.081 2113 808 3404 0 0 0 0 0 0

8420 -0.83 -146.0 834.7 -9.1 669 8425 0.00 2.85 0.00 0.000 6 0.000 0.074 2113 2595 3404 0 0 0 0 0 0

8638 end dive: TARGET_DEPTH_EXCEEDED

state 8639 begin apogee

8645 -0.19 0.0 853.3 8.5 676 8771 0.70 0.00 123.30 1.299 6 0.150 0.000 2329 1600 2800 0 0 0 0 0 0

8772 end apogee: CONTROL_FINISHED_OK

state 8772 begin climb

8774 0.83 146.0 853.9 0.0 680 8909 1.05 2.45 127.20 1.246 4 0.124 0.090 2656 301 2202 0 0 0 0 0 0

9246 0.83 146.0 795.1 14.2 694 9250 0.00 2.20 0.00 0.000 6 0.000 0.064 2656 1605 2195 0 0 0 0 0 0

9692 0.83 146.0 731.9 14.6 709 9696 0.00 2.22 0.00 0.000 4 0.000 0.092 2666 290 2192 0 0 0 0 0 0

10033 0.83 146.0 678.8 15.6 719 10037 0.00 2.15 0.00 0.000 6 0.000 0.067 2666 1597 2191 0 0 0 0 0 0

10485 0.83 146.0 610.3 14.9 734 10488 0.00 2.17 0.00 0.000 4 0.000 0.093 2676 295 2189 0 0 0 0 0 0

10826 0.83 146.0 555.5 16.5 760 10832 0.00 2.12 0.00 0.000 6 0.000 0.067 2676 1603 2189 0 0 0 0 0 0

11279 0.83 146.0 484.7 15.9 803 11283 0.00 2.17 0.00 0.000 4 0.000 0.092 2686 286 2188 0 0 0 0 0 0

11621 0.83 146.0 429.4 16.5 833 11625 0.00 2.10 0.00 0.000 6 0.000 0.065 2686 1614 2188 0 0 0 0 0 0

12078 0.83 146.0 357.9 15.6 876 12081 0.00 2.17 0.00 0.000 4 0.000 0.090 2696 290 2188 0 0 0 0 0 0

12419 0.83 146.0 303.3 15.9 906 12426 0.12 2.08 0.00 0.000 6 0.209 0.064 2663 1589 2188 0 0 0 0 0 0

12872 0.83 146.0 247.7 11.9 949 12875 0.00 2.12 0.00 0.000 4 0.000 0.089 2671 289 2189 0 0 0 0 0 0

13213 0.83 146.0 202.4 13.2 979 13219 0.00 2.08 0.00 0.000 6 0.000 0.063 2671 1594 2189 0 0 0 0 0 0

13666 0.83 146.0 149.7 10.7 1022 13670 0.00 2.12 0.00 0.000 4 0.000 0.090 2681 294 2190 0 0 0 0 0 0

14006 0.83 146.0 111.1 10.9 1052 14013 0.00 2.10 0.00 0.000 6 0.000 0.064 2680 1607 2190 0 0 0 0 0 0

14479 0.83 146.0 63.1 10.1 1127 14484 0.00 2.15 0.00 0.000 4 0.000 0.091 2690 293 2190 0 0 0 0 0 0

14822 0.83 146.0 28.1 9.3 1188 14828 0.12 2.08 0.00 0.000 6 0.204 0.067 2662 1611 2190 0 0 0 0 0 0

14997 0.85 161.6 14.1 8.5 1219 15013 0.00 2.17 11.30 0.758 4 0.000 0.092 2670 294 2140 0 0 0 0 0 0

15147 end climb: SURFACE_DEPTH_REACHED

state 15147 begin surface coast

15176 end surface coast: CONTROL_FINISHED_OK

state 15176 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	49	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2400	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1600	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	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	17	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	300	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	15	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	0	T_GPS_CHARGE	-23832.84	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	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	2390	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	26	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	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	065406,6715.903,-5755.410,36,0.9,42,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6705.753,-5804.836
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070014,6715.901,-5755.346,10,1.3,10,-38.1	MHEAD_RNG_PITCHd_Wd	238.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	853

FINISH	0.3,1.026024	_24V_AH	22.9,20.397
SM_CCo	15195,74.80,0.765,0,0,1678,275.23	_10V_AH	10.3,9.717
SM_GC	1.32,0.00,0.00,74.80,0.000,0.000,0.765,123,2397,1678,-7.09,-0.08,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	979	FG_AHR_10Vo	0.000
RAFOS	0,1256630466,8.033334,8.018333,66,55,52,0,0,0,162,221,202,0,0,0	MEM	150624
RAFOS_FIX	6715.303223,-5758.265137,271009,080844,2,77,0.38	DATA_FILE_SIZE	50407,1251
IRIDIUM_FIX	6647.44,-5752.61,210199,020200	CAP_FILE_SIZE	147331,0
TT8_MAMPS	0.027612	CFSIZE	260165632,247365632
HUMID	48.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88706	SOUNDSPEED	1462.9
TCM_TEMP	16.80	GPS	271009,111630,6716.014,-5756.003,37,1.3,37,-38.1
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	310	135.87	SBE_CT	916	24	503.80
Roll_motor	136	97	304.43	SBE_O2	867	19	377.36
VBD_pump_during_apogee	261	1298	7784.98	nil	0	0	0.00
VBD_pump_during_surface	74	765	1311.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	54.72	nil	0	0	0.00
Iridium_during_connect	31	160	116.17	nil	0	0	0.00
Iridium_during_xfer	196	223	1002.00
Transponder_ping	0	420	4.81
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.34
TT8	2205	19	452.61
LPSleep	10056	2	239.28
TT8_Active	486	19	99.81
TT8_Sampling	2446	39	1005.99
TT8_CF8	439	45	207.70
TT8_Kalman	0	0	0.00
Analog_circuits	1706	12	210.87
GPS_charging	0	0	0.00
Compass	2409	8	198.55
RAFOS	2520	1	38.93
Transponder	0	30	0.16

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	13	begin dive
15	-0.83	-146.0	0.0	0.0	0	103	0.00	0.00	-84.90	0.000	2	0.000	0.000	127	2404	3102	0	0	0	0	0	0
106	-0.83	-146.0	3.6	-7.7	17	132	9.80	2.72	-7.75	0.000	4	0.311	0.097	2113	816	3399	0	0	0	0	0	0
138	-0.83	-146.0	12.7	-25.1	23	143	0.00	2.65	0.00	0.000	6	0.000	0.077	2113	2406	3400	0	0	0	0	0	0
313	-0.83	-146.0	40.5	-15.0	54	319	0.00	2.55	0.00	0.000	4	0.000	0.094	2113	3914	3401	0	0	0	0	0	0
330	-0.83	-146.0	43.2	-15.3	57	336	0.00	2.45	0.00	0.000	6	0.000	0.067	2113	2413	3401	0	0	0	0	0	0
506	-0.83	-146.0	67.1	-12.7	88	511	0.00	2.55	0.00	0.000	4	0.000	0.093	2113	3916	3401	0	0	0	0	0	0
597	-0.83	-146.0	79.8	-14.1	104	602	0.00	2.38	0.00	0.000	6	0.000	0.065	2113	2451	3401	0	0	0	0	0	0
771	-0.83	-146.0	103.3	-12.9	133	775	0.00	2.47	0.00	0.000	4	0.000	0.093	2113	3914	3402	0	0	0	0	0	0
820	-0.83	-146.0	109.8	-12.9	137	825	0.00	2.35	0.00	0.000	6	0.000	0.067	2113	2463	3402	0	0	0	0	0	0
1272	-0.83	-146.0	161.0	-11.3	179	1276	0.00	2.45	0.00	0.000	4	0.000	0.095	2113	3916	3401	0	0	0	0	0	0
1305	-0.83	-146.0	164.7	-11.4	182	1309	0.00	2.35	0.00	0.000	6	0.000	0.067	2113	2460	3401	0	0	0	0	0	0
1762	-0.83	-146.0	219.4	-12.9	225	1766	0.00	2.45	0.00	0.000	4	0.000	0.094	2113	3919	3399	0	0	0	0	0	0
1861	-0.83	-146.0	231.9	-12.4	233	1867	0.00	2.35	0.00	0.000	6	0.000	0.067	2113	2476	3399	0	0	0	0	0	0
2314	-0.83	-146.0	280.5	-10.5	276	2318	0.00	2.70	0.00	0.000	4	0.000	0.087	2113	809	3399	0	0	0	0	0	0
2368	-0.83	-146.0	286.7	-11.2	280	2374	0.00	2.70	0.00	0.000	6	0.000	0.077	2113	2478	3399	0	0	0	0	0	0
2820	-0.83	-146.0	331.6	-9.7	323	2824	0.00	2.38	0.00	0.000	4	0.000	0.094	2113	3917	3398	0	0	0	0	0	0
3073	-0.83	-146.0	356.4	-9.5	345	3077	0.00	2.25	0.00	0.000	6	0.000	0.065	2113	2500	3399	0	0	0	0	0	0
3525	-0.83	-146.0	397.5	-8.8	387	3529	0.00	2.35	0.00	0.000	4	0.000	0.092	2113	3914	3399	0	0	0	0	0	0
3866	-0.83	-146.0	430.2	-10.2	417	3872	0.00	2.28	0.00	0.000	6	0.000	0.064	2113	2504	3400	0	0	0	0	0	0
4318	-0.83	-146.0	472.5	-9.4	460	4322	0.00	2.33	0.00	0.000	4	0.000	0.091	2113	3914	3401	0	0	0	0	0	0
4514	-0.83	-146.0	491.7	-10.0	477	4518	0.00	2.22	0.00	0.000	6	0.000	0.063	2113	2501	3401	0	0	0	0	0	0
4967	-0.83	-146.0	536.8	-10.5	519	4971	0.00	2.70	0.00	0.000	4	0.000	0.081	2113	813	3401	0	0	0	0	0	0
4976	-0.83	-146.0	537.9	-10.2	519	4982	0.00	2.88	0.00	0.000	6	0.000	0.074	2113	2613	3401	0	0	0	0	0	0
5428	-0.83	-146.0	581.6	-9.4	562	5433	0.00	2.90	0.00	0.000	4	0.000	0.081	2113	807	3402	0	0	0	0	0	0
5445	-0.83	-146.0	583.1	-9.0	563	5450	0.00	2.88	0.00	0.000	6	0.000	0.074	2113	2608	3402	0	0	0	0	0	0
5908	-0.83	-146.0	624.4	-8.5	589	5913	0.00	2.90	0.00	0.000	4	0.000	0.081	2113	800	3403	0	0	0	0	0	0
5974	-0.83	-146.0	630.7	-9.9	591	5979	0.00	2.88	0.00	0.000	6	0.000	0.073	2113	2604	3403	0	0	0	0	0	0
6428	-0.83	-146.0	668.0	-8.1	606	6432	0.00	2.88	0.00	0.000	4	0.000	0.081	2113	813	3403	0	0	0	0	0	0
6494	-0.83	-146.0	674.1	-9.0	608	6498	0.00	2.88	0.00	0.000	6	0.000	0.073	2113	2612	3403	0	0	0	0	0	0
6946	-0.83	-146.0	709.5	-8.1	623	6950	0.00	2.90	0.00	0.000	4	0.000	0.081	2113	804	3403	0	0	0	0	0	0
6995	-0.83	-146.0	713.9	-8.6	624	6999	0.00	2.88	0.00	0.000	6	0.000	0.073	2113	2604	3404	0	0	0	0	0	0
7430	-0.83	-146.0	748.7	-8.1	638	7434	0.00	2.88	0.00	0.000	4	0.000	0.081	2113	813	3404	0	0	0	0	0	0
7445	-0.83	-146.0	750.0	-8.1	638	7450	0.00	2.85	0.00	0.000	6	0.000	0.073	2113	2598	3404	0	0	0	0	0	0
7880	-0.83	-146.0	786.8	-8.6	652	7885	0.00	2.88	0.00	0.000	4	0.000	0.081	2113	808	3404	0	0	0	0	0	0
7901	-0.83	-146.0	788.9	-9.5	652	7907	0.00	2.85	0.00	0.000	6	0.000	0.073	2113	2597	3404	0	0	0	0	0	0
8337	-0.83	-146.0	827.1	-8.5	667	8342	0.00	2.88	0.00	0.000	4	0.000	0.081	2113	808	3404	0	0	0	0	0	0
8420	-0.83	-146.0	834.7	-9.1	669	8425	0.00	2.85	0.00	0.000	6	0.000	0.074	2113	2595	3404	0	0	0	0	0	0
8638	end dive: TARGET_DEPTH_EXCEEDED
state	8639	begin apogee
8645	-0.19	0.0	853.3	8.5	676	8771	0.70	0.00	123.30	1.299	6	0.150	0.000	2329	1600	2800	0	0	0	0	0	0
8772	end apogee: CONTROL_FINISHED_OK
state	8772	begin climb
8774	0.83	146.0	853.9	0.0	680	8909	1.05	2.45	127.20	1.246	4	0.124	0.090	2656	301	2202	0	0	0	0	0	0
9246	0.83	146.0	795.1	14.2	694	9250	0.00	2.20	0.00	0.000	6	0.000	0.064	2656	1605	2195	0	0	0	0	0	0
9692	0.83	146.0	731.9	14.6	709	9696	0.00	2.22	0.00	0.000	4	0.000	0.092	2666	290	2192	0	0	0	0	0	0
10033	0.83	146.0	678.8	15.6	719	10037	0.00	2.15	0.00	0.000	6	0.000	0.067	2666	1597	2191	0	0	0	0	0	0
10485	0.83	146.0	610.3	14.9	734	10488	0.00	2.17	0.00	0.000	4	0.000	0.093	2676	295	2189	0	0	0	0	0	0
10826	0.83	146.0	555.5	16.5	760	10832	0.00	2.12	0.00	0.000	6	0.000	0.067	2676	1603	2189	0	0	0	0	0	0
11279	0.83	146.0	484.7	15.9	803	11283	0.00	2.17	0.00	0.000	4	0.000	0.092	2686	286	2188	0	0	0	0	0	0
11621	0.83	146.0	429.4	16.5	833	11625	0.00	2.10	0.00	0.000	6	0.000	0.065	2686	1614	2188	0	0	0	0	0	0
12078	0.83	146.0	357.9	15.6	876	12081	0.00	2.17	0.00	0.000	4	0.000	0.090	2696	290	2188	0	0	0	0	0	0
12419	0.83	146.0	303.3	15.9	906	12426	0.12	2.08	0.00	0.000	6	0.209	0.064	2663	1589	2188	0	0	0	0	0	0
12872	0.83	146.0	247.7	11.9	949	12875	0.00	2.12	0.00	0.000	4	0.000	0.089	2671	289	2189	0	0	0	0	0	0
13213	0.83	146.0	202.4	13.2	979	13219	0.00	2.08	0.00	0.000	6	0.000	0.063	2671	1594	2189	0	0	0	0	0	0
13666	0.83	146.0	149.7	10.7	1022	13670	0.00	2.12	0.00	0.000	4	0.000	0.090	2681	294	2190	0	0	0	0	0	0
14006	0.83	146.0	111.1	10.9	1052	14013	0.00	2.10	0.00	0.000	6	0.000	0.064	2680	1607	2190	0	0	0	0	0	0
14479	0.83	146.0	63.1	10.1	1127	14484	0.00	2.15	0.00	0.000	4	0.000	0.091	2690	293	2190	0	0	0	0	0	0
14822	0.83	146.0	28.1	9.3	1188	14828	0.12	2.08	0.00	0.000	6	0.204	0.067	2662	1611	2190	0	0	0	0	0	0
14997	0.85	161.6	14.1	8.5	1219	15013	0.00	2.17	11.30	0.758	4	0.000	0.092	2670	294	2140	0	0	0	0	0	0
15147	end climb: SURFACE_DEPTH_REACHED
state	15147	begin surface coast
15176	end surface coast: CONTROL_FINISHED_OK
state	15176	begin surface