Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 313 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 313 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 22 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 20 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 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 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 -41883.43 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 425

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 -41883.43

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 -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 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 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 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 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 22 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 313 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 083620,6707.770,-5705.784,38,99.0,57,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 084155,6707.766,-5705.814,9,1.4,9,-37.7 MHEAD_RNG_PITCHd_Wd 162.2,15601,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 547

Post-dive calculations and measurements:

FREEZE 0.36,-0.453,-1.821,0,1,0 ALTIM_TOP_PING 19.4,19.2

FINISH 0.4,1.026700 ALTIM_BOTTOM_PING 450.3,114.8

SM_CCo 11822,119.95,0.717,0,0,1065,425.10 _24V_AH 22.7,60.252

SM_GC 1.04,0.00,0.00,119.95,0.000,0.000,0.717,125,2472,1065,-8.02,0.34,425.10 _10V_AH 10.1,31.781

RAFOS_CLK 730 FG_AHR_24Vo 0.000

RAFOS 6,1260866942,8.833333,8.817223,64,64,61,0,0,0,197,806,222,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.832031,-5708.091309,151209,000056,2,73,0.65 MEM 152508

IRIDIUM_FIX 6636.54,-5712.23,110399,050514 DATA_FILE_SIZE 47260,1254

TT8_MAMPS 0.026845 CAP_FILE_SIZE 143203,0

HUMID 46.22 CFSIZE 260165632,225660928

INTERNAL_PRESSURE 8.848 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,87,0,0

TCM_TEMP 17.10 SOUNDSPEED 1466.9

XPDR_PINGS 2 GPS 151209,120237,6708.431,-5707.395,37,1.0,37,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 289 155.15 SBE_CT 918 24 500.38

Roll_motor 153 98 342.26 SBE_O2 854 19 368.42

VBD_pump_during_apogee 307 1071 7480.55 nil 0 0 0.00

VBD_pump_during_surface 119 717 1952.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.57 nil 0 0 0.00

Iridium_during_connect 42 160 154.49 nil 0 0 0.00

Iridium_during_xfer 152 223 772.42

Transponder_ping 2 420 21.45

GUMSTIX_24V 0 0 0.00

GPS 10 50 5.52

TT8 2107 19 424.07

LPSleep 6926 2 161.59

TT8_Active 609 19 122.59

TT8_Sampling 2195 39 885.12

TT8_CF8 430 45 199.68

TT8_Kalman 0 0 0.00

Analog_circuits 1730 12 209.70

GPS_charging 0 0 0.00

Compass 2161 8 174.63

RAFOS 360 1 5.45

Transponder 15 30 4.76

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

14 -0.73 -146.0 0.0 0.0 0 138 0.00 0.00 -120.22 0.000 2 0.000 0.000 124 2455 3140 0 0 0 0 0 0

142 -0.73 -146.0 3.3 -5.8 24 169 11.15 2.33 -6.90 0.000 4 0.290 0.098 2445 864 3399 0 0 0 0 0 0

417 -0.73 -146.0 38.7 -11.5 73 423 0.00 2.20 0.00 0.000 6 0.000 0.071 2445 2455 3401 0 0 0 0 0 0

760 -0.73 -146.0 74.8 -9.4 134 766 0.00 2.25 0.00 0.000 4 0.000 0.087 2445 870 3401 0 0 0 0 0 0

1018 -0.73 -146.0 101.9 -11.3 179 1022 0.00 2.30 0.00 0.000 6 0.000 0.073 2445 2512 3401 0 0 0 0 0 0

1343 -0.78 -146.0 130.9 -7.5 209 1348 0.00 3.12 0.00 0.000 4 0.000 0.091 2445 3916 3399 0 0 3 0 0 0

1478 -0.86 -146.0 141.8 -8.7 220 1483 0.00 2.95 0.00 0.000 6 0.000 0.065 2445 2529 3398 0 0 3 0 0 0

1803 -0.94 -146.0 169.5 -8.6 251 1809 0.17 3.12 0.00 0.000 4 0.110 0.085 2373 3926 3397 0 0 2 0 0 0

1983 -0.80 -146.0 190.5 -11.7 266 1990 0.22 2.90 0.00 0.000 6 0.205 0.063 2426 2556 3397 0 0 3 0 0 0

2308 -0.80 -146.0 219.7 -8.5 297 2313 0.00 3.05 0.00 0.000 4 0.000 0.085 2425 3924 3398 0 0 2 0 0 0

2475 -0.80 -146.0 234.1 -8.8 311 2481 0.00 2.88 0.00 0.000 6 0.000 0.061 2426 2574 3397 0 0 1 0 0 0

2802 -0.84 -146.0 260.0 -7.9 342 2807 0.00 3.00 0.00 0.000 4 0.000 0.084 2426 3927 3398 0 0 2 0 0 0

2976 -0.89 -146.0 274.3 -7.7 357 2981 0.00 2.85 0.00 0.000 6 0.000 0.059 2426 2579 3399 0 0 2 0 0 0

3302 -0.93 -146.0 300.4 -8.0 387 3308 0.12 2.97 0.00 0.000 4 0.118 0.080 2373 3919 3399 0 0 2 0 0 0

3437 -0.78 -146.0 314.6 -11.0 398 3444 0.25 2.72 0.00 0.000 6 0.198 0.058 2433 2598 3400 0 0 2 0 0 0

3762 -0.86 -146.0 340.5 -7.9 429 3767 0.00 2.92 0.00 0.000 4 0.000 0.081 2433 3918 3401 0 0 2 0 0 0

3936 -0.93 -146.0 354.5 -8.6 444 3942 0.15 2.78 0.00 0.000 6 0.114 0.058 2383 2609 3401 0 0 2 0 0 0

4261 -0.85 -146.0 386.3 -10.1 474 4267 0.12 2.95 0.00 0.000 4 0.206 0.082 2410 3925 3402 0 0 2 0 0 0

4457 -0.85 -146.0 405.2 -9.6 491 4462 0.00 2.75 0.00 0.000 6 0.000 0.058 2410 2634 3402 0 0 2 0 0 0

4781 -0.85 -146.0 433.3 -8.6 521 4786 0.00 2.88 0.00 0.000 4 0.000 0.081 2410 3918 3402 0 0 2 0 0 0

4934 -0.85 -146.0 445.7 -8.2 534 4938 0.00 2.72 0.00 0.000 6 0.000 0.058 2410 2644 3402 0 0 2 0 0 0

5258 -0.85 -146.0 470.0 -7.6 564 5263 0.00 2.88 0.00 0.000 4 0.000 0.081 2411 3929 3402 0 0 2 0 0 0

5381 -0.85 -146.0 479.7 -7.6 574 5387 0.00 2.67 0.00 0.000 6 0.000 0.058 2410 2670 3402 0 0 3 0 0 0

5707 -0.85 -146.0 505.3 -8.3 605 5712 0.00 2.85 0.00 0.000 4 0.000 0.081 2410 3927 3403 0 0 1 0 0 0

5791 -0.85 -146.0 512.6 -8.1 612 5796 0.00 2.67 0.00 0.000 6 0.000 0.057 2410 2670 3402 0 0 3 0 0 0

6116 -0.85 -146.0 539.2 -7.9 642 6120 0.00 2.85 0.00 0.000 4 0.000 0.081 2411 3922 3403 0 0 1 0 0 0

6213 end dive: TARGET_DEPTH_EXCEEDED

state 6213 begin apogee

6223 -0.16 0.0 547.2 7.8 650 6349 0.75 0.00 121.03 1.071 6 0.176 0.000 2622 1936 2800 0 0 0 0 0 0

6350 end apogee: CONTROL_FINISHED_OK

state 6350 begin climb

6352 0.73 146.0 550.1 0.0 663 6485 0.98 0.00 124.18 1.025 6 0.127 0.000 2915 1936 2204 0 0 0 0 0 0

6802 0.73 146.0 504.7 10.6 706 6807 0.00 3.50 0.00 0.000 4 0.000 0.074 2916 3544 2197 0 0 2 0 0 0

6914 0.62 146.0 490.9 12.1 715 6920 0.17 3.45 0.00 0.000 6 0.205 0.066 2892 1941 2196 0 0 1 0 0 0

7238 0.62 146.0 458.4 9.4 746 7243 0.00 3.45 0.00 0.000 4 0.000 0.075 2893 3552 2195 0 0 2 0 0 0

7356 0.62 146.0 445.9 10.6 756 7361 0.00 3.40 0.00 0.000 6 0.000 0.067 2906 1965 2194 0 0 1 0 0 0

7682 0.62 146.0 411.6 11.1 786 7687 0.00 3.40 0.00 0.000 4 0.000 0.076 2906 3544 2194 0 0 2 0 0 0

7778 0.56 146.0 399.8 12.2 794 7784 0.20 3.35 0.00 0.000 6 0.198 0.067 2874 1971 2193 0 0 2 0 0 0

8103 0.66 154.7 370.0 8.8 824 8117 0.00 3.42 7.03 0.808 4 0.000 0.074 2874 3547 2169 0 0 2 0 0 0

8240 0.66 154.7 356.1 10.6 836 8247 0.00 3.33 0.00 0.000 6 0.000 0.066 2886 1997 2168 0 0 1 0 0 0

8565 0.73 154.7 326.3 9.5 867 8571 0.12 3.38 0.00 0.000 4 0.107 0.075 2934 3547 2168 0 0 2 0 0 0

8685 0.58 154.7 311.4 13.8 877 8691 0.28 3.30 0.00 0.000 6 0.201 0.067 2883 2005 2168 0 0 2 0 0 0

9010 0.67 160.3 281.3 8.9 907 9024 0.00 3.33 6.32 0.751 4 0.000 0.074 2883 3546 2146 0 0 2 0 0 0

9158 0.67 160.3 266.1 10.1 920 9165 0.00 3.25 0.00 0.000 6 0.000 0.067 2896 2036 2145 0 0 2 0 0 0

9484 0.73 160.3 233.9 9.8 951 9489 0.00 3.28 0.00 0.000 4 0.000 0.075 2895 3544 2144 0 0 3 0 0 0

9618 0.73 160.3 219.4 10.9 962 9624 0.00 3.22 0.00 0.000 6 0.000 0.066 2910 2057 2144 0 0 2 0 0 0

9942 0.73 160.3 185.5 11.2 993 9947 0.00 3.25 0.00 0.000 4 0.000 0.074 2909 3545 2144 0 0 2 0 0 0

10027 0.73 160.3 175.4 12.8 1000 10032 0.00 3.25 0.00 0.000 6 0.000 0.065 2924 2060 2144 0 0 0 0 0 0

10353 0.73 160.3 139.1 11.9 1030 10358 0.00 3.25 0.00 0.000 4 0.000 0.074 2924 3545 2144 0 0 2 0 0 0

10438 0.65 160.3 128.5 12.4 1037 10443 0.15 3.22 0.00 0.000 6 0.205 0.065 2905 2065 2144 0 0 1 0 0 0

10764 0.76 168.4 97.6 8.8 1069 10780 0.00 3.22 8.27 0.710 4 0.000 0.074 2904 3547 2112 0 0 3 0 0 0

10859 0.76 168.4 88.2 9.5 1086 10865 0.00 3.20 0.00 0.000 6 0.000 0.065 2917 2082 2112 0 0 1 0 0 0

11204 0.91 217.3 61.2 7.1 1147 11256 0.20 3.25 40.72 0.760 4 0.091 0.074 2990 3544 1912 0 0 3 0 0 0

11334 0.76 217.3 45.8 13.6 1171 11341 0.28 3.22 0.00 0.000 6 0.198 0.067 2938 2097 1907 0 0 1 0 0 0

11678 0.83 217.3 13.4 9.5 1232 11684 0.00 3.25 0.00 0.000 4 0.000 0.076 2938 3544 1905 0 0 1 0 0 0

11746 0.83 217.3 6.2 10.4 1244 11752 0.00 3.20 0.00 0.000 6 0.000 0.067 2950 2103 1903 0 0 1 0 0 0

11785 end climb: SURFACE_DEPTH_REACHED

state 11785 begin surface coast

11805 end surface coast: CONTROL_FINISHED_OK

state 11805 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	313	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	22	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	20	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	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	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	-41883.43	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	083620,6707.770,-5705.784,38,99.0,57,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	084155,6707.766,-5705.814,9,1.4,9,-37.7	MHEAD_RNG_PITCHd_Wd	162.2,15601,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	547

FREEZE	0.36,-0.453,-1.821,0,1,0	ALTIM_TOP_PING	19.4,19.2
FINISH	0.4,1.026700	ALTIM_BOTTOM_PING	450.3,114.8
SM_CCo	11822,119.95,0.717,0,0,1065,425.10	_24V_AH	22.7,60.252
SM_GC	1.04,0.00,0.00,119.95,0.000,0.000,0.717,125,2472,1065,-8.02,0.34,425.10	_10V_AH	10.1,31.781
RAFOS_CLK	730	FG_AHR_24Vo	0.000
RAFOS	6,1260866942,8.833333,8.817223,64,64,61,0,0,0,197,806,222,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.832031,-5708.091309,151209,000056,2,73,0.65	MEM	152508
IRIDIUM_FIX	6636.54,-5712.23,110399,050514	DATA_FILE_SIZE	47260,1254
TT8_MAMPS	0.026845	CAP_FILE_SIZE	143203,0
HUMID	46.22	CFSIZE	260165632,225660928
INTERNAL_PRESSURE	8.848	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,87,0,0
TCM_TEMP	17.10	SOUNDSPEED	1466.9
XPDR_PINGS	2	GPS	151209,120237,6708.431,-5707.395,37,1.0,37,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	289	155.15	SBE_CT	918	24	500.38
Roll_motor	153	98	342.26	SBE_O2	854	19	368.42
VBD_pump_during_apogee	307	1071	7480.55	nil	0	0	0.00
VBD_pump_during_surface	119	717	1952.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.57	nil	0	0	0.00
Iridium_during_connect	42	160	154.49	nil	0	0	0.00
Iridium_during_xfer	152	223	772.42
Transponder_ping	2	420	21.45
GUMSTIX_24V	0	0	0.00
GPS	10	50	5.52
TT8	2107	19	424.07
LPSleep	6926	2	161.59
TT8_Active	609	19	122.59
TT8_Sampling	2195	39	885.12
TT8_CF8	430	45	199.68
TT8_Kalman	0	0	0.00
Analog_circuits	1730	12	209.70
GPS_charging	0	0	0.00
Compass	2161	8	174.63
RAFOS	360	1	5.45
Transponder	15	30	4.76

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
14	-0.73	-146.0	0.0	0.0	0	138	0.00	0.00	-120.22	0.000	2	0.000	0.000	124	2455	3140	0	0	0	0	0	0
142	-0.73	-146.0	3.3	-5.8	24	169	11.15	2.33	-6.90	0.000	4	0.290	0.098	2445	864	3399	0	0	0	0	0	0
417	-0.73	-146.0	38.7	-11.5	73	423	0.00	2.20	0.00	0.000	6	0.000	0.071	2445	2455	3401	0	0	0	0	0	0
760	-0.73	-146.0	74.8	-9.4	134	766	0.00	2.25	0.00	0.000	4	0.000	0.087	2445	870	3401	0	0	0	0	0	0
1018	-0.73	-146.0	101.9	-11.3	179	1022	0.00	2.30	0.00	0.000	6	0.000	0.073	2445	2512	3401	0	0	0	0	0	0
1343	-0.78	-146.0	130.9	-7.5	209	1348	0.00	3.12	0.00	0.000	4	0.000	0.091	2445	3916	3399	0	0	3	0	0	0
1478	-0.86	-146.0	141.8	-8.7	220	1483	0.00	2.95	0.00	0.000	6	0.000	0.065	2445	2529	3398	0	0	3	0	0	0
1803	-0.94	-146.0	169.5	-8.6	251	1809	0.17	3.12	0.00	0.000	4	0.110	0.085	2373	3926	3397	0	0	2	0	0	0
1983	-0.80	-146.0	190.5	-11.7	266	1990	0.22	2.90	0.00	0.000	6	0.205	0.063	2426	2556	3397	0	0	3	0	0	0
2308	-0.80	-146.0	219.7	-8.5	297	2313	0.00	3.05	0.00	0.000	4	0.000	0.085	2425	3924	3398	0	0	2	0	0	0
2475	-0.80	-146.0	234.1	-8.8	311	2481	0.00	2.88	0.00	0.000	6	0.000	0.061	2426	2574	3397	0	0	1	0	0	0
2802	-0.84	-146.0	260.0	-7.9	342	2807	0.00	3.00	0.00	0.000	4	0.000	0.084	2426	3927	3398	0	0	2	0	0	0
2976	-0.89	-146.0	274.3	-7.7	357	2981	0.00	2.85	0.00	0.000	6	0.000	0.059	2426	2579	3399	0	0	2	0	0	0
3302	-0.93	-146.0	300.4	-8.0	387	3308	0.12	2.97	0.00	0.000	4	0.118	0.080	2373	3919	3399	0	0	2	0	0	0
3437	-0.78	-146.0	314.6	-11.0	398	3444	0.25	2.72	0.00	0.000	6	0.198	0.058	2433	2598	3400	0	0	2	0	0	0
3762	-0.86	-146.0	340.5	-7.9	429	3767	0.00	2.92	0.00	0.000	4	0.000	0.081	2433	3918	3401	0	0	2	0	0	0
3936	-0.93	-146.0	354.5	-8.6	444	3942	0.15	2.78	0.00	0.000	6	0.114	0.058	2383	2609	3401	0	0	2	0	0	0
4261	-0.85	-146.0	386.3	-10.1	474	4267	0.12	2.95	0.00	0.000	4	0.206	0.082	2410	3925	3402	0	0	2	0	0	0
4457	-0.85	-146.0	405.2	-9.6	491	4462	0.00	2.75	0.00	0.000	6	0.000	0.058	2410	2634	3402	0	0	2	0	0	0
4781	-0.85	-146.0	433.3	-8.6	521	4786	0.00	2.88	0.00	0.000	4	0.000	0.081	2410	3918	3402	0	0	2	0	0	0
4934	-0.85	-146.0	445.7	-8.2	534	4938	0.00	2.72	0.00	0.000	6	0.000	0.058	2410	2644	3402	0	0	2	0	0	0
5258	-0.85	-146.0	470.0	-7.6	564	5263	0.00	2.88	0.00	0.000	4	0.000	0.081	2411	3929	3402	0	0	2	0	0	0
5381	-0.85	-146.0	479.7	-7.6	574	5387	0.00	2.67	0.00	0.000	6	0.000	0.058	2410	2670	3402	0	0	3	0	0	0
5707	-0.85	-146.0	505.3	-8.3	605	5712	0.00	2.85	0.00	0.000	4	0.000	0.081	2410	3927	3403	0	0	1	0	0	0
5791	-0.85	-146.0	512.6	-8.1	612	5796	0.00	2.67	0.00	0.000	6	0.000	0.057	2410	2670	3402	0	0	3	0	0	0
6116	-0.85	-146.0	539.2	-7.9	642	6120	0.00	2.85	0.00	0.000	4	0.000	0.081	2411	3922	3403	0	0	1	0	0	0
6213	end dive: TARGET_DEPTH_EXCEEDED
state	6213	begin apogee
6223	-0.16	0.0	547.2	7.8	650	6349	0.75	0.00	121.03	1.071	6	0.176	0.000	2622	1936	2800	0	0	0	0	0	0
6350	end apogee: CONTROL_FINISHED_OK
state	6350	begin climb
6352	0.73	146.0	550.1	0.0	663	6485	0.98	0.00	124.18	1.025	6	0.127	0.000	2915	1936	2204	0	0	0	0	0	0
6802	0.73	146.0	504.7	10.6	706	6807	0.00	3.50	0.00	0.000	4	0.000	0.074	2916	3544	2197	0	0	2	0	0	0
6914	0.62	146.0	490.9	12.1	715	6920	0.17	3.45	0.00	0.000	6	0.205	0.066	2892	1941	2196	0	0	1	0	0	0
7238	0.62	146.0	458.4	9.4	746	7243	0.00	3.45	0.00	0.000	4	0.000	0.075	2893	3552	2195	0	0	2	0	0	0
7356	0.62	146.0	445.9	10.6	756	7361	0.00	3.40	0.00	0.000	6	0.000	0.067	2906	1965	2194	0	0	1	0	0	0
7682	0.62	146.0	411.6	11.1	786	7687	0.00	3.40	0.00	0.000	4	0.000	0.076	2906	3544	2194	0	0	2	0	0	0
7778	0.56	146.0	399.8	12.2	794	7784	0.20	3.35	0.00	0.000	6	0.198	0.067	2874	1971	2193	0	0	2	0	0	0
8103	0.66	154.7	370.0	8.8	824	8117	0.00	3.42	7.03	0.808	4	0.000	0.074	2874	3547	2169	0	0	2	0	0	0
8240	0.66	154.7	356.1	10.6	836	8247	0.00	3.33	0.00	0.000	6	0.000	0.066	2886	1997	2168	0	0	1	0	0	0
8565	0.73	154.7	326.3	9.5	867	8571	0.12	3.38	0.00	0.000	4	0.107	0.075	2934	3547	2168	0	0	2	0	0	0
8685	0.58	154.7	311.4	13.8	877	8691	0.28	3.30	0.00	0.000	6	0.201	0.067	2883	2005	2168	0	0	2	0	0	0
9010	0.67	160.3	281.3	8.9	907	9024	0.00	3.33	6.32	0.751	4	0.000	0.074	2883	3546	2146	0	0	2	0	0	0
9158	0.67	160.3	266.1	10.1	920	9165	0.00	3.25	0.00	0.000	6	0.000	0.067	2896	2036	2145	0	0	2	0	0	0
9484	0.73	160.3	233.9	9.8	951	9489	0.00	3.28	0.00	0.000	4	0.000	0.075	2895	3544	2144	0	0	3	0	0	0
9618	0.73	160.3	219.4	10.9	962	9624	0.00	3.22	0.00	0.000	6	0.000	0.066	2910	2057	2144	0	0	2	0	0	0
9942	0.73	160.3	185.5	11.2	993	9947	0.00	3.25	0.00	0.000	4	0.000	0.074	2909	3545	2144	0	0	2	0	0	0
10027	0.73	160.3	175.4	12.8	1000	10032	0.00	3.25	0.00	0.000	6	0.000	0.065	2924	2060	2144	0	0	0	0	0	0
10353	0.73	160.3	139.1	11.9	1030	10358	0.00	3.25	0.00	0.000	4	0.000	0.074	2924	3545	2144	0	0	2	0	0	0
10438	0.65	160.3	128.5	12.4	1037	10443	0.15	3.22	0.00	0.000	6	0.205	0.065	2905	2065	2144	0	0	1	0	0	0
10764	0.76	168.4	97.6	8.8	1069	10780	0.00	3.22	8.27	0.710	4	0.000	0.074	2904	3547	2112	0	0	3	0	0	0
10859	0.76	168.4	88.2	9.5	1086	10865	0.00	3.20	0.00	0.000	6	0.000	0.065	2917	2082	2112	0	0	1	0	0	0
11204	0.91	217.3	61.2	7.1	1147	11256	0.20	3.25	40.72	0.760	4	0.091	0.074	2990	3544	1912	0	0	3	0	0	0
11334	0.76	217.3	45.8	13.6	1171	11341	0.28	3.22	0.00	0.000	6	0.198	0.067	2938	2097	1907	0	0	1	0	0	0
11678	0.83	217.3	13.4	9.5	1232	11684	0.00	3.25	0.00	0.000	4	0.000	0.076	2938	3544	1905	0	0	1	0	0	0
11746	0.83	217.3	6.2	10.4	1244	11752	0.00	3.20	0.00	0.000	6	0.000	0.067	2950	2103	1903	0	0	1	0	0	0
11785	end climb: SURFACE_DEPTH_REACHED
state	11785	begin surface coast
11805	end surface coast: CONTROL_FINISHED_OK
state	11805	begin surface