Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 292 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 292 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 5

D_SURF 4 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

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 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 605.89099 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 33 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -182195.39 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 605.89099

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 5 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -182195.39

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

CF8_MAXERRORS 0 HEADING -1 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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 33 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 292 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 081000,6648.534,-6017.557,36,0.9,41,-38.2 TGT_NAME TARGET_E

_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 2.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081644,6648.573,-6017.486,14,0.9,14,-38.2 MHEAD_RNG_PITCHd_Wd 118.2,153621,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 560

Post-dive calculations and measurements:

FREEZE 1.99,3.271,-1.667,0,1,0 ALTIM_TOP_PING 19.7,18.0

FINISH 2.0,1.024268 _24V_AH 22.6,50.548

SM_CCo 12619,70.72,0.851,0,0,587,605.89 _10V_AH 10.0,27.337

SM_GC 2.84,0.00,0.00,70.72,0.000,0.000,0.851,336,2252,587,-12.77,0.08,605.89 FG_AHR_24Vo 0.000

RAFOS_CLK 517 FG_AHR_10Vo 0.000

RAFOS 0,1281081667,8.033334,8.018611,57,53,46,44,43,43,599,600,920,1836,1729,830 MEM 135660

RAFOS_FIX 6647.227051,-6009.230957,060810,080844,2,82,4.03 DATA_FILE_SIZE 53619,1343

IRIDIUM_FIX 6620.33,-6037.64,311099,040450 CAP_FILE_SIZE 136998,0

TT8_MAMPS 0.026845 CFSIZE 260165632,223633408

HUMID 42.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.1078 SOUNDSPEED 1454.2

TCM_TEMP 15.50 GPS 060810,115006,6649.357,-6013.697,29,1.1,29,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 238 107.68 SBE_CT 977 24 530.42

Roll_motor 73 134 225.00 SBE_O2 946 19 406.46

VBD_pump_during_apogee 562 1189 15112.25 nil 0 0 0.00

VBD_pump_during_surface 70 850 1359.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 63.75 nil 0 0 0.00

Iridium_during_connect 31 160 114.98 nil 0 0 0.00

Iridium_during_xfer 189 223 956.89

Transponder_ping 1 420 16.61

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.84

TT8 2130 19 424.48

LPSleep 7588 2 175.29

TT8_Active 690 19 137.57

TT8_Sampling 2089 39 834.10

TT8_CF8 594 45 272.93

TT8_Kalman 0 0 0.00

Analog_circuits 1816 12 217.93

GPS_charging 0 0 0.00

Compass 2067 8 165.39

RAFOS 1800 3 54.00

Transponder 13 30 3.96

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.78 -146.1 0.0 0.0 0 78 0.00 0.00 -59.70 0.000 2 0.000 0.000 337 2255 1960 0 0 0 0 0 0

82 -0.78 -146.1 3.0 -0.8 12 181 10.32 2.22 -80.40 0.000 4 0.239 0.087 2926 3607 3655 0 0 0 0 0 0

294 -0.78 -146.1 26.2 -13.9 51 300 0.00 2.17 0.00 0.000 6 0.000 0.055 2926 2243 3661 0 0 0 0 0 0

638 -0.78 -146.1 72.9 -12.6 112 643 0.00 2.28 0.00 0.000 4 0.000 0.067 2925 832 3664 0 0 0 0 0 0

774 -0.78 -146.1 90.1 -12.9 136 780 0.10 2.38 0.00 0.000 6 0.160 0.068 2944 2264 3664 0 0 0 0 0 0

1112 -0.78 -146.1 125.3 -9.3 175 1113 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2264 3664 0 0 0 0 0 0

1430 -0.78 -146.1 153.5 -8.6 205 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2263 3664 0 0 0 0 0 0

1751 -0.78 -146.1 181.2 -8.4 235 1755 0.00 2.33 0.00 0.000 4 0.000 0.067 2944 842 3664 0 0 0 0 0 0

1784 -0.78 -146.1 184.6 -9.8 237 1789 0.00 2.33 0.00 0.000 6 0.000 0.070 2937 2248 3664 0 0 0 0 0 0

2109 -0.78 -146.1 213.9 -9.0 268 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2248 3664 0 0 0 0 0 0

2428 -0.78 -146.1 241.9 -8.8 298 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2248 3663 0 0 0 0 0 0

2749 -0.78 -146.1 268.6 -8.3 328 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2248 3662 0 0 0 0 0 0

3077 -0.78 -146.1 295.7 -8.3 359 3081 0.00 2.28 0.00 0.000 4 0.000 0.067 2937 842 3662 0 0 0 0 0 0

3122 -0.78 -146.1 299.9 -8.2 362 3131 0.00 2.35 0.00 0.000 6 0.000 0.071 2928 2257 3662 0 0 0 0 0 0

3447 -0.78 -146.1 327.8 -8.5 393 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2256 3662 0 0 0 0 0 0

3768 -0.78 -146.1 352.6 -7.5 423 3773 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2256 3662 0 0 0 0 0 0

4098 -0.78 -146.1 375.9 -7.0 454 4102 0.00 2.17 0.00 0.000 4 0.000 0.079 2918 3597 3661 0 0 0 0 0 0

4133 -0.78 -146.1 379.0 -8.1 457 4137 0.10 2.15 0.00 0.000 6 0.154 0.056 2946 2245 3661 0 0 0 0 0 0

4459 -0.78 -146.1 399.5 -6.4 487 4463 0.00 2.25 0.00 0.000 4 0.000 0.067 2946 839 3661 0 0 0 0 0 0

4494 -0.78 -146.1 402.0 -7.4 490 4499 0.00 2.35 0.00 0.000 6 0.000 0.068 2939 2260 3661 0 0 0 0 0 0

4820 -0.78 -146.1 427.8 -8.3 520 4821 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2261 3661 0 0 0 0 0 0

5141 -0.78 -146.1 453.4 -8.2 550 5147 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2261 3661 0 0 0 0 0 0

5469 -0.78 -146.1 479.1 -7.8 581 5473 0.00 2.30 0.00 0.000 4 0.000 0.063 2939 837 3662 0 0 0 0 0 0

5503 -0.78 -146.1 482.0 -8.4 583 5508 0.00 2.33 0.00 0.000 6 0.000 0.067 2930 2251 3662 0 0 0 0 0 0

5829 -0.78 -146.1 506.6 -7.3 614 5830 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2251 3663 0 0 0 0 0 0

6149 -0.78 -146.1 529.8 -7.4 644 6150 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2251 3663 0 0 0 0 0 0

6468 -0.78 -146.1 553.3 -7.1 674 6473 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2251 3663 0 0 0 0 0 0

6556 end dive: TARGET_DEPTH_EXCEEDED

state 6556 begin apogee

6564 -0.17 0.0 560.3 7.1 683 6690 0.43 0.00 119.32 1.190 6 0.116 0.000 3073 2180 3058 0 0 0 0 0 0

6691 end apogee: CONTROL_FINISHED_OK

state 6691 begin climb

6694 0.78 146.1 565.0 0.0 696 6829 0.60 2.45 123.45 1.124 4 0.073 0.064 3295 811 2462 0 0 0 0 0 0

6891 0.84 195.8 555.8 7.7 714 6941 0.00 2.50 44.08 1.081 6 0.000 0.064 3295 2211 2258 0 0 0 0 0 0

7267 0.87 214.9 522.9 9.1 750 7289 0.00 2.40 16.60 1.039 4 0.000 0.074 3295 3596 2181 0 0 0 0 0 0

7335 0.87 214.9 515.8 11.9 756 7340 0.00 2.28 0.00 0.000 6 0.000 0.051 3305 2208 2180 0 0 0 0 0 0

7666 0.87 214.9 481.8 10.7 787 7670 0.00 2.30 0.00 0.000 4 0.000 0.062 3315 786 2180 0 0 0 0 0 0

7710 0.87 214.9 477.4 10.1 790 7715 0.00 2.35 0.00 0.000 6 0.000 0.062 3315 2203 2180 0 0 0 0 0 0

8034 0.87 214.9 440.8 11.6 821 8036 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2203 2179 0 0 0 0 0 0

8356 0.87 214.9 405.4 10.8 851 8357 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2203 2178 0 0 0 0 0 0

8673 0.87 214.9 371.3 10.5 881 8675 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2203 2179 0 0 0 0 0 0

8993 0.87 214.9 336.3 10.7 911 8994 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2203 2178 0 0 0 0 0 0

9310 0.87 214.9 301.8 10.7 941 9314 0.00 2.22 0.00 0.000 4 0.000 0.072 3315 3594 2178 0 0 0 0 0 0

9340 0.87 214.9 298.3 11.9 943 9345 0.10 2.20 0.00 0.000 6 0.181 0.051 3300 2193 2177 0 0 0 0 0 0

9665 0.91 252.5 268.8 8.3 973 9701 0.00 2.25 31.38 1.005 4 0.000 0.060 3308 790 2028 0 0 0 0 0 0

9737 0.94 272.4 262.7 9.1 979 9761 0.00 2.35 17.85 0.942 6 0.000 0.062 3308 2203 1947 0 0 0 0 0 0

10088 0.96 287.2 230.2 9.3 1012 10109 0.00 2.30 13.18 0.904 4 0.000 0.074 3308 3590 1887 0 0 0 0 0 0

10134 0.97 295.7 225.7 9.6 1016 10149 0.00 2.22 8.70 0.837 6 0.000 0.051 3318 2196 1851 0 0 0 0 0 0

10475 0.99 311.6 192.6 9.3 1048 10496 0.00 2.30 14.18 0.900 4 0.000 0.062 3327 775 1787 0 0 0 0 0 0

10569 1.04 358.5 184.2 7.9 1056 10616 0.00 2.38 40.97 0.937 6 0.000 0.063 3327 2210 1596 0 0 0 0 0 0

10935 1.05 362.0 149.6 9.8 1091 10939 0.00 2.28 0.00 0.000 4 0.000 0.075 3327 3604 1589 0 0 0 0 0 0

10963 1.05 362.0 146.5 10.7 1093 10968 0.00 2.25 0.00 0.000 6 0.000 0.052 3337 2196 1588 0 0 0 0 0 0

11288 1.07 378.9 114.4 9.2 1123 11313 0.00 2.33 17.00 0.892 4 0.000 0.064 3346 793 1513 0 0 0 0 0 0

11382 1.11 409.8 106.0 8.6 1131 11418 0.00 2.35 27.52 0.900 6 0.000 0.064 3346 2202 1387 0 0 0 0 0 0

11754 1.14 436.9 72.9 8.8 1192 11780 0.00 0.00 22.70 0.887 6 0.000 0.000 3346 2202 1277 0 0 0 0 0 0

12122 1.24 515.7 43.4 6.4 1257 12193 0.12 0.00 65.18 0.887 6 0.093 0.000 3407 2202 954 0 0 0 0 0 0

12529 end climb: SURFACE_DEPTH_REACHED

state 12532 begin surface coast

12599 end surface coast: CONTROL_FINISHED_OK

state 12599 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	292	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	5
D_SURF	4	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
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	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	605.89099	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	33	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-182195.39	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	081000,6648.534,-6017.557,36,0.9,41,-38.2	TGT_NAME	TARGET_E
_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	2.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081644,6648.573,-6017.486,14,0.9,14,-38.2	MHEAD_RNG_PITCHd_Wd	118.2,153621,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	560

FREEZE	1.99,3.271,-1.667,0,1,0	ALTIM_TOP_PING	19.7,18.0
FINISH	2.0,1.024268	_24V_AH	22.6,50.548
SM_CCo	12619,70.72,0.851,0,0,587,605.89	_10V_AH	10.0,27.337
SM_GC	2.84,0.00,0.00,70.72,0.000,0.000,0.851,336,2252,587,-12.77,0.08,605.89	FG_AHR_24Vo	0.000
RAFOS_CLK	517	FG_AHR_10Vo	0.000
RAFOS	0,1281081667,8.033334,8.018611,57,53,46,44,43,43,599,600,920,1836,1729,830	MEM	135660
RAFOS_FIX	6647.227051,-6009.230957,060810,080844,2,82,4.03	DATA_FILE_SIZE	53619,1343
IRIDIUM_FIX	6620.33,-6037.64,311099,040450	CAP_FILE_SIZE	136998,0
TT8_MAMPS	0.026845	CFSIZE	260165632,223633408
HUMID	42.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.1078	SOUNDSPEED	1454.2
TCM_TEMP	15.50	GPS	060810,115006,6649.357,-6013.697,29,1.1,29,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	238	107.68	SBE_CT	977	24	530.42
Roll_motor	73	134	225.00	SBE_O2	946	19	406.46
VBD_pump_during_apogee	562	1189	15112.25	nil	0	0	0.00
VBD_pump_during_surface	70	850	1359.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	63.75	nil	0	0	0.00
Iridium_during_connect	31	160	114.98	nil	0	0	0.00
Iridium_during_xfer	189	223	956.89
Transponder_ping	1	420	16.61
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.84
TT8	2130	19	424.48
LPSleep	7588	2	175.29
TT8_Active	690	19	137.57
TT8_Sampling	2089	39	834.10
TT8_CF8	594	45	272.93
TT8_Kalman	0	0	0.00
Analog_circuits	1816	12	217.93
GPS_charging	0	0	0.00
Compass	2067	8	165.39
RAFOS	1800	3	54.00
Transponder	13	30	3.96

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.78	-146.1	0.0	0.0	0	78	0.00	0.00	-59.70	0.000	2	0.000	0.000	337	2255	1960	0	0	0	0	0	0
82	-0.78	-146.1	3.0	-0.8	12	181	10.32	2.22	-80.40	0.000	4	0.239	0.087	2926	3607	3655	0	0	0	0	0	0
294	-0.78	-146.1	26.2	-13.9	51	300	0.00	2.17	0.00	0.000	6	0.000	0.055	2926	2243	3661	0	0	0	0	0	0
638	-0.78	-146.1	72.9	-12.6	112	643	0.00	2.28	0.00	0.000	4	0.000	0.067	2925	832	3664	0	0	0	0	0	0
774	-0.78	-146.1	90.1	-12.9	136	780	0.10	2.38	0.00	0.000	6	0.160	0.068	2944	2264	3664	0	0	0	0	0	0
1112	-0.78	-146.1	125.3	-9.3	175	1113	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2264	3664	0	0	0	0	0	0
1430	-0.78	-146.1	153.5	-8.6	205	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2263	3664	0	0	0	0	0	0
1751	-0.78	-146.1	181.2	-8.4	235	1755	0.00	2.33	0.00	0.000	4	0.000	0.067	2944	842	3664	0	0	0	0	0	0
1784	-0.78	-146.1	184.6	-9.8	237	1789	0.00	2.33	0.00	0.000	6	0.000	0.070	2937	2248	3664	0	0	0	0	0	0
2109	-0.78	-146.1	213.9	-9.0	268	2110	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2248	3664	0	0	0	0	0	0
2428	-0.78	-146.1	241.9	-8.8	298	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2248	3663	0	0	0	0	0	0
2749	-0.78	-146.1	268.6	-8.3	328	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2248	3662	0	0	0	0	0	0
3077	-0.78	-146.1	295.7	-8.3	359	3081	0.00	2.28	0.00	0.000	4	0.000	0.067	2937	842	3662	0	0	0	0	0	0
3122	-0.78	-146.1	299.9	-8.2	362	3131	0.00	2.35	0.00	0.000	6	0.000	0.071	2928	2257	3662	0	0	0	0	0	0
3447	-0.78	-146.1	327.8	-8.5	393	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2256	3662	0	0	0	0	0	0
3768	-0.78	-146.1	352.6	-7.5	423	3773	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2256	3662	0	0	0	0	0	0
4098	-0.78	-146.1	375.9	-7.0	454	4102	0.00	2.17	0.00	0.000	4	0.000	0.079	2918	3597	3661	0	0	0	0	0	0
4133	-0.78	-146.1	379.0	-8.1	457	4137	0.10	2.15	0.00	0.000	6	0.154	0.056	2946	2245	3661	0	0	0	0	0	0
4459	-0.78	-146.1	399.5	-6.4	487	4463	0.00	2.25	0.00	0.000	4	0.000	0.067	2946	839	3661	0	0	0	0	0	0
4494	-0.78	-146.1	402.0	-7.4	490	4499	0.00	2.35	0.00	0.000	6	0.000	0.068	2939	2260	3661	0	0	0	0	0	0
4820	-0.78	-146.1	427.8	-8.3	520	4821	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2261	3661	0	0	0	0	0	0
5141	-0.78	-146.1	453.4	-8.2	550	5147	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2261	3661	0	0	0	0	0	0
5469	-0.78	-146.1	479.1	-7.8	581	5473	0.00	2.30	0.00	0.000	4	0.000	0.063	2939	837	3662	0	0	0	0	0	0
5503	-0.78	-146.1	482.0	-8.4	583	5508	0.00	2.33	0.00	0.000	6	0.000	0.067	2930	2251	3662	0	0	0	0	0	0
5829	-0.78	-146.1	506.6	-7.3	614	5830	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2251	3663	0	0	0	0	0	0
6149	-0.78	-146.1	529.8	-7.4	644	6150	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2251	3663	0	0	0	0	0	0
6468	-0.78	-146.1	553.3	-7.1	674	6473	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2251	3663	0	0	0	0	0	0
6556	end dive: TARGET_DEPTH_EXCEEDED
state	6556	begin apogee
6564	-0.17	0.0	560.3	7.1	683	6690	0.43	0.00	119.32	1.190	6	0.116	0.000	3073	2180	3058	0	0	0	0	0	0
6691	end apogee: CONTROL_FINISHED_OK
state	6691	begin climb
6694	0.78	146.1	565.0	0.0	696	6829	0.60	2.45	123.45	1.124	4	0.073	0.064	3295	811	2462	0	0	0	0	0	0
6891	0.84	195.8	555.8	7.7	714	6941	0.00	2.50	44.08	1.081	6	0.000	0.064	3295	2211	2258	0	0	0	0	0	0
7267	0.87	214.9	522.9	9.1	750	7289	0.00	2.40	16.60	1.039	4	0.000	0.074	3295	3596	2181	0	0	0	0	0	0
7335	0.87	214.9	515.8	11.9	756	7340	0.00	2.28	0.00	0.000	6	0.000	0.051	3305	2208	2180	0	0	0	0	0	0
7666	0.87	214.9	481.8	10.7	787	7670	0.00	2.30	0.00	0.000	4	0.000	0.062	3315	786	2180	0	0	0	0	0	0
7710	0.87	214.9	477.4	10.1	790	7715	0.00	2.35	0.00	0.000	6	0.000	0.062	3315	2203	2180	0	0	0	0	0	0
8034	0.87	214.9	440.8	11.6	821	8036	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2203	2179	0	0	0	0	0	0
8356	0.87	214.9	405.4	10.8	851	8357	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2203	2178	0	0	0	0	0	0
8673	0.87	214.9	371.3	10.5	881	8675	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2203	2179	0	0	0	0	0	0
8993	0.87	214.9	336.3	10.7	911	8994	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2203	2178	0	0	0	0	0	0
9310	0.87	214.9	301.8	10.7	941	9314	0.00	2.22	0.00	0.000	4	0.000	0.072	3315	3594	2178	0	0	0	0	0	0
9340	0.87	214.9	298.3	11.9	943	9345	0.10	2.20	0.00	0.000	6	0.181	0.051	3300	2193	2177	0	0	0	0	0	0
9665	0.91	252.5	268.8	8.3	973	9701	0.00	2.25	31.38	1.005	4	0.000	0.060	3308	790	2028	0	0	0	0	0	0
9737	0.94	272.4	262.7	9.1	979	9761	0.00	2.35	17.85	0.942	6	0.000	0.062	3308	2203	1947	0	0	0	0	0	0
10088	0.96	287.2	230.2	9.3	1012	10109	0.00	2.30	13.18	0.904	4	0.000	0.074	3308	3590	1887	0	0	0	0	0	0
10134	0.97	295.7	225.7	9.6	1016	10149	0.00	2.22	8.70	0.837	6	0.000	0.051	3318	2196	1851	0	0	0	0	0	0
10475	0.99	311.6	192.6	9.3	1048	10496	0.00	2.30	14.18	0.900	4	0.000	0.062	3327	775	1787	0	0	0	0	0	0
10569	1.04	358.5	184.2	7.9	1056	10616	0.00	2.38	40.97	0.937	6	0.000	0.063	3327	2210	1596	0	0	0	0	0	0
10935	1.05	362.0	149.6	9.8	1091	10939	0.00	2.28	0.00	0.000	4	0.000	0.075	3327	3604	1589	0	0	0	0	0	0
10963	1.05	362.0	146.5	10.7	1093	10968	0.00	2.25	0.00	0.000	6	0.000	0.052	3337	2196	1588	0	0	0	0	0	0
11288	1.07	378.9	114.4	9.2	1123	11313	0.00	2.33	17.00	0.892	4	0.000	0.064	3346	793	1513	0	0	0	0	0	0
11382	1.11	409.8	106.0	8.6	1131	11418	0.00	2.35	27.52	0.900	6	0.000	0.064	3346	2202	1387	0	0	0	0	0	0
11754	1.14	436.9	72.9	8.8	1192	11780	0.00	0.00	22.70	0.887	6	0.000	0.000	3346	2202	1277	0	0	0	0	0	0
12122	1.24	515.7	43.4	6.4	1257	12193	0.12	0.00	65.18	0.887	6	0.093	0.000	3407	2202	954	0	0	0	0	0	0
12529	end climb: SURFACE_DEPTH_REACHED
state	12532	begin surface coast
12599	end surface coast: CONTROL_FINISHED_OK
state	12599	begin surface