Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 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 22 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 18 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 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 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 -23132.514 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 2430 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 2 PITCH_GAIN 21 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 0.045000002 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 0.045000002 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 21 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 -23132.514

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 -1 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 225

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 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2250 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 22 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 9 NAV_MODE 2 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 193254,6701.238,-5657.308,23,1.0,40,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 193819,6701.194,-5657.292,12,1.0,12,-37.5 MHEAD_RNG_PITCHd_Wd 76.0,7498,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 650

Post-dive calculations and measurements:

FINISH 0.5,1.026406 _24V_AH 23.5,16.048

SM_CCo 14014,51.22,0.744,0,0,1677,275.23 _10V_AH 10.3,6.961

SM_GC 1.44,0.00,0.00,51.22,0.000,0.000,0.744,129,2243,1677,-7.19,-0.20,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 868 FG_AHR_10Vo 0.000

RAFOS 0,1256155266,20.033333,20.018333,75,61,60,0,0,0,1160,208,158,0,0,0 MEM 150252

RAFOS_FIX 6700.353516,-5657.740723,211009,202038,5,96,0.49 DATA_FILE_SIZE 53584,1378

IRIDIUM_FIX 6631.12,-5658.34,150199,151537 CAP_FILE_SIZE 157147,0

TT8_MAMPS 0.026845 CFSIZE 260165632,250044416

HUMID 45.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1468.6

TCM_TEMP 17.50 CURRENT 0.310,152.0,1

XPDR_PINGS 1 GPS 211009,233436,6700.576,-5654.107,36,1.3,36,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 301 151.59 SBE_CT 1007 24 568.50

Roll_motor 128 107 324.83 SBE_O2 943 19 421.40

VBD_pump_during_apogee 275 1148 7423.61 nil 0 0 0.00

VBD_pump_during_surface 51 743 895.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.86 nil 0 0 0.00

Iridium_during_connect 32 160 122.27 nil 0 0 0.00

Iridium_during_xfer 145 223 764.36

Transponder_ping 0 420 2.47

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.21

TT8 2518 19 516.71

LPSleep 8430 2 200.59

TT8_Active 481 19 98.70

TT8_Sampling 2579 39 1060.78

TT8_CF8 384 45 181.68

TT8_Kalman 0 0 0.00

Analog_circuits 1752 12 216.56

GPS_charging 0 0 0.00

Compass 2538 8 209.16

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 -0.98 -146.0 0.0 0.0 0 102 0.00 0.00 -83.53 0.000 2 0.000 0.000 126 2251 3184 0 0 0 0 0 0

104 -0.98 -146.0 3.2 -5.4 16 127 9.45 2.65 -5.65 0.000 4 0.301 0.093 2103 657 3398 0 0 0 0 0 0

313 -0.77 -146.0 37.5 -14.2 53 319 0.28 2.60 0.00 0.000 6 0.206 0.072 2172 2253 3400 0 0 0 0 0 0

657 -0.83 -146.0 73.1 -10.2 114 662 0.00 2.65 0.00 0.000 4 0.000 0.090 2173 3840 3400 0 0 0 0 0 0

668 -0.83 -146.0 74.3 -10.0 116 674 0.00 2.55 0.00 0.000 6 0.000 0.063 2173 2251 3400 0 0 0 0 0 0

1012 -0.91 -146.0 107.9 -8.9 170 1017 0.12 2.58 0.00 0.000 4 0.117 0.083 2130 665 3400 0 0 0 0 0 0

1270 -0.81 -146.0 136.7 -11.1 192 1276 0.15 2.55 0.00 0.000 6 0.217 0.071 2164 2257 3400 0 0 0 0 0 0

1595 -0.87 -146.0 162.6 -8.6 223 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2257 3400 0 0 0 0 0 0

1913 -0.94 -146.0 189.3 -8.0 253 1919 0.12 2.60 0.00 0.000 4 0.111 0.084 2124 660 3400 0 0 0 0 0 0

2171 -0.86 -146.0 216.2 -10.8 275 2178 0.00 2.55 0.00 0.000 6 0.000 0.071 2124 2261 3399 0 0 0 0 0 0

2496 -0.80 -146.0 247.5 -9.2 306 2501 0.17 2.60 0.00 0.000 4 0.212 0.083 2167 662 3399 0 0 0 0 0 0

2608 -0.85 -146.0 257.4 -8.7 315 2615 0.00 2.55 0.00 0.000 6 0.000 0.072 2167 2263 3399 0 0 0 0 0 0

2933 -0.97 -146.0 281.9 -7.2 346 2938 0.15 2.60 0.00 0.000 4 0.101 0.087 2102 3845 3398 0 0 0 0 0 0

3068 -0.85 -146.0 295.8 -10.4 357 3074 0.20 2.53 0.00 0.000 6 0.209 0.064 2150 2251 3397 0 0 0 0 0 0

3393 -0.89 -146.0 322.6 -7.9 388 3398 0.00 2.60 0.00 0.000 4 0.000 0.087 2150 3838 3398 0 0 0 0 0 0

3489 -0.96 -146.0 330.8 -8.5 396 3493 0.00 2.47 0.00 0.000 6 0.000 0.063 2150 2270 3398 0 0 0 0 0 0

3813 -1.03 -146.0 356.9 -8.1 426 3815 0.17 0.00 0.00 0.000 6 0.104 0.000 2090 2270 3397 0 0 0 0 0 0

4133 -0.90 -146.0 386.9 -8.9 456 4138 0.20 2.58 0.00 0.000 4 0.207 0.086 2138 3839 3397 0 0 0 0 0 0

4232 -0.90 -146.0 394.1 -7.3 464 4238 0.00 2.47 0.00 0.000 6 0.000 0.062 2138 2265 3398 0 0 0 0 0 0

4557 -0.90 -146.0 415.7 -7.0 495 4561 0.00 2.60 0.00 0.000 4 0.000 0.086 2138 3848 3398 0 0 0 0 0 0

4680 -0.90 -146.0 424.1 -6.8 505 4686 0.00 2.47 0.00 0.000 6 0.000 0.061 2138 2273 3398 0 0 0 0 0 0

5005 -0.90 -146.0 447.9 -7.6 536 5009 0.00 2.55 0.00 0.000 4 0.000 0.086 2138 3838 3399 0 0 0 0 0 0

5093 -0.90 -146.0 454.8 -7.8 543 5100 0.00 2.45 0.00 0.000 6 0.000 0.061 2138 2274 3399 0 0 0 0 0 0

5419 -0.90 -146.0 477.7 -6.4 574 5423 0.00 2.55 0.00 0.000 4 0.000 0.085 2138 3839 3399 0 0 0 0 0 0

5525 -0.90 -146.0 485.7 -6.8 583 5529 0.00 2.42 0.00 0.000 6 0.000 0.061 2138 2291 3399 0 0 0 0 0 0

5849 -0.90 -146.0 509.2 -7.3 613 5851 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2291 3399 0 0 0 0 0 0

6169 -0.90 -146.0 532.3 -7.1 643 6173 0.00 2.53 0.00 0.000 4 0.000 0.084 2138 3842 3400 0 0 0 0 0 0

6286 -0.90 -146.0 541.1 -7.4 653 6291 0.00 2.42 0.00 0.000 6 0.000 0.060 2138 2291 3400 0 0 0 0 0 0

6611 -0.95 -146.0 562.4 -6.3 683 6615 0.00 2.53 0.00 0.000 4 0.000 0.084 2138 3838 3400 0 0 0 0 0 0

6722 -0.95 -146.0 570.4 -7.0 692 6728 0.00 2.40 0.00 0.000 6 0.000 0.059 2138 2297 3400 0 0 0 0 0 0

7047 -0.99 -146.0 593.3 -8.0 723 7048 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2298 3401 0 0 0 0 0 0

7357 -1.05 -146.0 617.1 -7.8 739 7362 0.15 2.53 0.00 0.000 4 0.104 0.082 2074 3842 3400 0 0 0 0 0 0

7475 -0.87 -146.0 629.3 -10.7 742 7480 0.28 2.40 0.00 0.000 6 0.202 0.060 2144 2301 3400 0 0 0 0 0 0

7785 end dive: TARGET_DEPTH_EXCEEDED

state 7785 begin apogee

7790 -0.24 0.0 651.7 7.1 752 7913 0.62 0.00 119.25 1.148 6 0.122 0.000 2349 2200 2800 0 0 0 0 0 0

7913 end apogee: CONTROL_FINISHED_OK

state 7913 begin climb

7915 0.98 146.0 651.6 0.0 756 8047 1.20 2.88 122.10 1.104 4 0.090 0.079 2741 3796 2202 0 0 0 0 0 0

8299 0.47 146.0 593.5 20.8 769 8306 0.68 2.65 0.00 0.000 6 0.216 0.063 2589 2204 2193 0 0 0 0 0 0

8624 0.47 146.0 556.8 10.8 800 8629 0.00 2.67 0.00 0.000 4 0.000 0.082 2589 3791 2192 0 0 0 0 0 0

8881 0.42 146.0 526.5 11.9 822 8888 0.12 2.60 0.00 0.000 6 0.191 0.063 2571 2190 2191 0 0 0 0 0 0

9206 0.48 146.0 494.4 10.1 853 9211 0.00 2.65 0.00 0.000 4 0.000 0.083 2571 3786 2190 0 0 0 0 0 0

9463 0.48 146.0 464.8 11.6 875 9471 0.00 2.60 0.00 0.000 6 0.000 0.063 2581 2188 2190 0 0 0 0 0 0

9788 0.48 146.0 432.3 9.5 906 9793 0.00 2.65 0.00 0.000 4 0.000 0.084 2581 3794 2190 0 0 0 0 0 0

10045 0.48 146.0 402.6 11.6 928 10051 0.00 2.62 0.00 0.000 6 0.000 0.063 2593 2177 2189 0 0 0 0 0 0

10370 0.48 146.0 367.7 11.0 959 10374 0.00 2.65 0.00 0.000 4 0.000 0.083 2593 3795 2189 0 0 0 0 0 0

10627 0.44 146.0 335.9 13.2 981 10634 0.12 2.55 0.00 0.000 6 0.196 0.063 2577 2186 2189 0 0 0 0 0 0

10952 0.51 146.0 304.2 9.7 1012 10957 0.00 2.62 0.00 0.000 4 0.000 0.082 2577 3795 2189 0 0 0 0 0 0

11209 0.51 146.0 276.0 10.9 1034 11215 0.00 2.58 0.00 0.000 6 0.000 0.062 2587 2192 2189 0 0 0 0 0 0

11534 0.56 146.0 245.0 9.3 1065 11539 0.00 2.60 0.00 0.000 4 0.000 0.082 2587 3791 2189 0 0 0 0 0 0

11791 0.56 146.0 218.2 10.4 1087 11798 0.00 2.58 0.00 0.000 6 0.000 0.063 2599 2188 2189 0 0 0 0 0 0

12116 0.62 157.2 189.2 8.7 1118 12130 0.00 2.67 8.15 0.763 4 0.000 0.082 2599 3788 2158 0 0 0 0 0 0

12384 0.62 157.2 161.7 10.5 1142 12389 0.00 2.53 0.00 0.000 6 0.000 0.064 2611 2195 2157 0 0 0 0 0 0

12709 0.62 157.2 129.9 10.0 1172 12713 0.00 2.60 0.00 0.000 4 0.000 0.083 2611 3788 2157 0 0 0 0 0 0

12967 0.56 157.2 98.2 12.2 1195 12973 0.00 2.53 0.00 0.000 6 0.000 0.065 2622 2198 2156 0 0 0 0 0 0

13311 0.60 188.4 63.8 7.9 1256 13343 0.00 2.65 25.62 0.782 4 0.000 0.082 2623 3789 2031 0 0 0 0 0 0

13597 0.60 188.4 38.1 10.2 1307 13604 0.00 2.55 0.00 0.000 6 0.000 0.064 2634 2198 2026 0 0 0 0 0 0

13941 0.60 188.4 7.0 9.4 1368 13947 0.00 2.62 0.00 0.000 4 0.000 0.083 2634 3797 2024 0 0 0 0 0 0

13985 end climb: SURFACE_DEPTH_REACHED

state 13985 begin surface coast

13996 end surface coast: CONTROL_FINISHED_OK

state 13996 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	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	22	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	18	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	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	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	-23132.514	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	2430	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	2	PITCH_GAIN	21	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	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	193254,6701.238,-5657.308,23,1.0,40,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	193819,6701.194,-5657.292,12,1.0,12,-37.5	MHEAD_RNG_PITCHd_Wd	76.0,7498,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	650

FINISH	0.5,1.026406	_24V_AH	23.5,16.048
SM_CCo	14014,51.22,0.744,0,0,1677,275.23	_10V_AH	10.3,6.961
SM_GC	1.44,0.00,0.00,51.22,0.000,0.000,0.744,129,2243,1677,-7.19,-0.20,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	868	FG_AHR_10Vo	0.000
RAFOS	0,1256155266,20.033333,20.018333,75,61,60,0,0,0,1160,208,158,0,0,0	MEM	150252
RAFOS_FIX	6700.353516,-5657.740723,211009,202038,5,96,0.49	DATA_FILE_SIZE	53584,1378
IRIDIUM_FIX	6631.12,-5658.34,150199,151537	CAP_FILE_SIZE	157147,0
TT8_MAMPS	0.026845	CFSIZE	260165632,250044416
HUMID	45.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1468.6
TCM_TEMP	17.50	CURRENT	0.310,152.0,1
XPDR_PINGS	1	GPS	211009,233436,6700.576,-5654.107,36,1.3,36,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	301	151.59	SBE_CT	1007	24	568.50
Roll_motor	128	107	324.83	SBE_O2	943	19	421.40
VBD_pump_during_apogee	275	1148	7423.61	nil	0	0	0.00
VBD_pump_during_surface	51	743	895.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.86	nil	0	0	0.00
Iridium_during_connect	32	160	122.27	nil	0	0	0.00
Iridium_during_xfer	145	223	764.36
Transponder_ping	0	420	2.47
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.21
TT8	2518	19	516.71
LPSleep	8430	2	200.59
TT8_Active	481	19	98.70
TT8_Sampling	2579	39	1060.78
TT8_CF8	384	45	181.68
TT8_Kalman	0	0	0.00
Analog_circuits	1752	12	216.56
GPS_charging	0	0	0.00
Compass	2538	8	209.16
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	-0.98	-146.0	0.0	0.0	0	102	0.00	0.00	-83.53	0.000	2	0.000	0.000	126	2251	3184	0	0	0	0	0	0
104	-0.98	-146.0	3.2	-5.4	16	127	9.45	2.65	-5.65	0.000	4	0.301	0.093	2103	657	3398	0	0	0	0	0	0
313	-0.77	-146.0	37.5	-14.2	53	319	0.28	2.60	0.00	0.000	6	0.206	0.072	2172	2253	3400	0	0	0	0	0	0
657	-0.83	-146.0	73.1	-10.2	114	662	0.00	2.65	0.00	0.000	4	0.000	0.090	2173	3840	3400	0	0	0	0	0	0
668	-0.83	-146.0	74.3	-10.0	116	674	0.00	2.55	0.00	0.000	6	0.000	0.063	2173	2251	3400	0	0	0	0	0	0
1012	-0.91	-146.0	107.9	-8.9	170	1017	0.12	2.58	0.00	0.000	4	0.117	0.083	2130	665	3400	0	0	0	0	0	0
1270	-0.81	-146.0	136.7	-11.1	192	1276	0.15	2.55	0.00	0.000	6	0.217	0.071	2164	2257	3400	0	0	0	0	0	0
1595	-0.87	-146.0	162.6	-8.6	223	1596	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2257	3400	0	0	0	0	0	0
1913	-0.94	-146.0	189.3	-8.0	253	1919	0.12	2.60	0.00	0.000	4	0.111	0.084	2124	660	3400	0	0	0	0	0	0
2171	-0.86	-146.0	216.2	-10.8	275	2178	0.00	2.55	0.00	0.000	6	0.000	0.071	2124	2261	3399	0	0	0	0	0	0
2496	-0.80	-146.0	247.5	-9.2	306	2501	0.17	2.60	0.00	0.000	4	0.212	0.083	2167	662	3399	0	0	0	0	0	0
2608	-0.85	-146.0	257.4	-8.7	315	2615	0.00	2.55	0.00	0.000	6	0.000	0.072	2167	2263	3399	0	0	0	0	0	0
2933	-0.97	-146.0	281.9	-7.2	346	2938	0.15	2.60	0.00	0.000	4	0.101	0.087	2102	3845	3398	0	0	0	0	0	0
3068	-0.85	-146.0	295.8	-10.4	357	3074	0.20	2.53	0.00	0.000	6	0.209	0.064	2150	2251	3397	0	0	0	0	0	0
3393	-0.89	-146.0	322.6	-7.9	388	3398	0.00	2.60	0.00	0.000	4	0.000	0.087	2150	3838	3398	0	0	0	0	0	0
3489	-0.96	-146.0	330.8	-8.5	396	3493	0.00	2.47	0.00	0.000	6	0.000	0.063	2150	2270	3398	0	0	0	0	0	0
3813	-1.03	-146.0	356.9	-8.1	426	3815	0.17	0.00	0.00	0.000	6	0.104	0.000	2090	2270	3397	0	0	0	0	0	0
4133	-0.90	-146.0	386.9	-8.9	456	4138	0.20	2.58	0.00	0.000	4	0.207	0.086	2138	3839	3397	0	0	0	0	0	0
4232	-0.90	-146.0	394.1	-7.3	464	4238	0.00	2.47	0.00	0.000	6	0.000	0.062	2138	2265	3398	0	0	0	0	0	0
4557	-0.90	-146.0	415.7	-7.0	495	4561	0.00	2.60	0.00	0.000	4	0.000	0.086	2138	3848	3398	0	0	0	0	0	0
4680	-0.90	-146.0	424.1	-6.8	505	4686	0.00	2.47	0.00	0.000	6	0.000	0.061	2138	2273	3398	0	0	0	0	0	0
5005	-0.90	-146.0	447.9	-7.6	536	5009	0.00	2.55	0.00	0.000	4	0.000	0.086	2138	3838	3399	0	0	0	0	0	0
5093	-0.90	-146.0	454.8	-7.8	543	5100	0.00	2.45	0.00	0.000	6	0.000	0.061	2138	2274	3399	0	0	0	0	0	0
5419	-0.90	-146.0	477.7	-6.4	574	5423	0.00	2.55	0.00	0.000	4	0.000	0.085	2138	3839	3399	0	0	0	0	0	0
5525	-0.90	-146.0	485.7	-6.8	583	5529	0.00	2.42	0.00	0.000	6	0.000	0.061	2138	2291	3399	0	0	0	0	0	0
5849	-0.90	-146.0	509.2	-7.3	613	5851	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2291	3399	0	0	0	0	0	0
6169	-0.90	-146.0	532.3	-7.1	643	6173	0.00	2.53	0.00	0.000	4	0.000	0.084	2138	3842	3400	0	0	0	0	0	0
6286	-0.90	-146.0	541.1	-7.4	653	6291	0.00	2.42	0.00	0.000	6	0.000	0.060	2138	2291	3400	0	0	0	0	0	0
6611	-0.95	-146.0	562.4	-6.3	683	6615	0.00	2.53	0.00	0.000	4	0.000	0.084	2138	3838	3400	0	0	0	0	0	0
6722	-0.95	-146.0	570.4	-7.0	692	6728	0.00	2.40	0.00	0.000	6	0.000	0.059	2138	2297	3400	0	0	0	0	0	0
7047	-0.99	-146.0	593.3	-8.0	723	7048	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2298	3401	0	0	0	0	0	0
7357	-1.05	-146.0	617.1	-7.8	739	7362	0.15	2.53	0.00	0.000	4	0.104	0.082	2074	3842	3400	0	0	0	0	0	0
7475	-0.87	-146.0	629.3	-10.7	742	7480	0.28	2.40	0.00	0.000	6	0.202	0.060	2144	2301	3400	0	0	0	0	0	0
7785	end dive: TARGET_DEPTH_EXCEEDED
state	7785	begin apogee
7790	-0.24	0.0	651.7	7.1	752	7913	0.62	0.00	119.25	1.148	6	0.122	0.000	2349	2200	2800	0	0	0	0	0	0
7913	end apogee: CONTROL_FINISHED_OK
state	7913	begin climb
7915	0.98	146.0	651.6	0.0	756	8047	1.20	2.88	122.10	1.104	4	0.090	0.079	2741	3796	2202	0	0	0	0	0	0
8299	0.47	146.0	593.5	20.8	769	8306	0.68	2.65	0.00	0.000	6	0.216	0.063	2589	2204	2193	0	0	0	0	0	0
8624	0.47	146.0	556.8	10.8	800	8629	0.00	2.67	0.00	0.000	4	0.000	0.082	2589	3791	2192	0	0	0	0	0	0
8881	0.42	146.0	526.5	11.9	822	8888	0.12	2.60	0.00	0.000	6	0.191	0.063	2571	2190	2191	0	0	0	0	0	0
9206	0.48	146.0	494.4	10.1	853	9211	0.00	2.65	0.00	0.000	4	0.000	0.083	2571	3786	2190	0	0	0	0	0	0
9463	0.48	146.0	464.8	11.6	875	9471	0.00	2.60	0.00	0.000	6	0.000	0.063	2581	2188	2190	0	0	0	0	0	0
9788	0.48	146.0	432.3	9.5	906	9793	0.00	2.65	0.00	0.000	4	0.000	0.084	2581	3794	2190	0	0	0	0	0	0
10045	0.48	146.0	402.6	11.6	928	10051	0.00	2.62	0.00	0.000	6	0.000	0.063	2593	2177	2189	0	0	0	0	0	0
10370	0.48	146.0	367.7	11.0	959	10374	0.00	2.65	0.00	0.000	4	0.000	0.083	2593	3795	2189	0	0	0	0	0	0
10627	0.44	146.0	335.9	13.2	981	10634	0.12	2.55	0.00	0.000	6	0.196	0.063	2577	2186	2189	0	0	0	0	0	0
10952	0.51	146.0	304.2	9.7	1012	10957	0.00	2.62	0.00	0.000	4	0.000	0.082	2577	3795	2189	0	0	0	0	0	0
11209	0.51	146.0	276.0	10.9	1034	11215	0.00	2.58	0.00	0.000	6	0.000	0.062	2587	2192	2189	0	0	0	0	0	0
11534	0.56	146.0	245.0	9.3	1065	11539	0.00	2.60	0.00	0.000	4	0.000	0.082	2587	3791	2189	0	0	0	0	0	0
11791	0.56	146.0	218.2	10.4	1087	11798	0.00	2.58	0.00	0.000	6	0.000	0.063	2599	2188	2189	0	0	0	0	0	0
12116	0.62	157.2	189.2	8.7	1118	12130	0.00	2.67	8.15	0.763	4	0.000	0.082	2599	3788	2158	0	0	0	0	0	0
12384	0.62	157.2	161.7	10.5	1142	12389	0.00	2.53	0.00	0.000	6	0.000	0.064	2611	2195	2157	0	0	0	0	0	0
12709	0.62	157.2	129.9	10.0	1172	12713	0.00	2.60	0.00	0.000	4	0.000	0.083	2611	3788	2157	0	0	0	0	0	0
12967	0.56	157.2	98.2	12.2	1195	12973	0.00	2.53	0.00	0.000	6	0.000	0.065	2622	2198	2156	0	0	0	0	0	0
13311	0.60	188.4	63.8	7.9	1256	13343	0.00	2.65	25.62	0.782	4	0.000	0.082	2623	3789	2031	0	0	0	0	0	0
13597	0.60	188.4	38.1	10.2	1307	13604	0.00	2.55	0.00	0.000	6	0.000	0.064	2634	2198	2026	0	0	0	0	0	0
13941	0.60	188.4	7.0	9.4	1368	13947	0.00	2.62	0.00	0.000	4	0.000	0.083	2634	3797	2024	0	0	0	0	0	0
13985	end climb: SURFACE_DEPTH_REACHED
state	13985	begin surface coast
13996	end surface coast: CONTROL_FINISHED_OK
state	13996	begin surface