Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 316 * 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 316 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 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 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 -41950.805 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 -41950.805

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 16 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 316 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 185537,6708.969,-5709.691,35,0.9,35,-37.8 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190543,6709.010,-5709.622,10,1.0,15,-37.8 MHEAD_RNG_PITCHd_Wd 163.3,19175,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 563

Post-dive calculations and measurements:

FREEZE 0.29,-0.571,-0.122,0,1,0 ALTIM_TOP_PING 19.9,19.7

FINISH 0.3,1.001605 ALTIM_BOTTOM_PING 450.7,140.4

SM_CCo 12115,104.82,0.714,0,0,1066,425.10 _24V_AH 22.6,60.639

SM_GC 1.17,0.00,0.00,104.82,0.000,0.000,0.714,124,2453,1066,-8.02,-0.20,425.10 _10V_AH 10.1,32.007

RAFOS_CLK 761 FG_AHR_24Vo 0.000

RAFOS 0,1260907262,20.033333,20.017221,74,59,59,0,0,0,178,161,208,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.132324,-5713.788574,151209,202012,3,79,0.64 MEM 152604

IRIDIUM_FIX 6641.98,-5713.89,110399,191918 DATA_FILE_SIZE 50430,1274

TT8_MAMPS 0.027612 CAP_FILE_SIZE 149681,0

HUMID 46.45 CFSIZE 260165632,225427456

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,105,0,0

TCM_TEMP 17.20 SOUNDSPEED 1467.8

XPDR_PINGS 2 GPS 151209,223107,6708.731,-5707.870,28,1.6,28,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 297 155.19 SBE_CT 936 24 507.72

Roll_motor 158 97 349.42 SBE_O2 869 19 373.20

VBD_pump_during_apogee 326 1080 7962.80 nil 0 0 0.00

VBD_pump_during_surface 104 714 1691.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 103 143.13 nil 0 0 0.00

Iridium_during_connect 74 160 267.64 nil 0 0 0.00

Iridium_during_xfer 274 223 1381.97

Transponder_ping 2 420 21.36

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.06

TT8 2125 19 427.59

LPSleep 7193 2 167.84

TT8_Active 597 19 120.31

TT8_Sampling 2274 39 916.97

TT8_CF8 637 45 295.54

TT8_Kalman 0 0 0.00

Analog_circuits 1760 12 213.35

GPS_charging 0 0 0.00

Compass 2230 8 180.18

RAFOS 2520 1 38.18

Transponder 15 30 4.79

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 -0.73 -146.0 0.0 0.0 0 145 0.00 0.00 -125.45 0.000 2 0.000 0.000 127 2460 3182 0 0 0 0 0 0

148 -0.73 -146.0 3.5 -6.8 25 174 11.38 3.33 -5.43 0.000 4 0.298 0.097 2443 3916 3399 0 0 3 0 0 0

270 -0.73 -146.0 23.2 -11.2 47 275 0.00 3.10 0.00 0.000 6 0.000 0.064 2443 2460 3401 0 0 3 0 0 0

613 -0.73 -146.0 59.8 -10.0 108 619 0.00 3.25 0.00 0.000 4 0.000 0.087 2443 3918 3401 0 0 3 0 0 0

872 -0.73 -146.0 84.2 -9.4 154 878 0.00 3.03 0.00 0.000 6 0.000 0.065 2444 2505 3401 0 0 3 0 0 0

1212 -0.73 -146.0 116.1 -9.4 200 1217 0.00 3.17 0.00 0.000 4 0.000 0.089 2443 3922 3400 0 0 3 0 0 0

1469 -0.79 -146.0 137.6 -7.6 222 1475 0.00 2.95 0.00 0.000 6 0.000 0.065 2444 2544 3399 0 0 3 0 0 0

1794 -0.87 -146.0 162.9 -7.7 253 1799 0.00 3.10 0.00 0.000 4 0.000 0.087 2444 3917 3398 0 0 2 0 0 0

2053 -0.95 -146.0 183.5 -8.0 275 2059 0.17 2.88 0.00 0.000 6 0.110 0.063 2386 2576 3398 0 0 3 0 0 0

2377 -0.85 -146.0 216.4 -9.6 306 2383 0.12 3.03 0.00 0.000 4 0.209 0.084 2413 3917 3397 0 0 3 0 0 0

2574 -0.85 -146.0 232.6 -8.0 323 2579 0.00 2.83 0.00 0.000 6 0.000 0.061 2413 2600 3397 0 0 2 0 0 0

2898 -0.85 -146.0 261.7 -9.4 353 2903 0.00 2.95 0.00 0.000 4 0.000 0.083 2413 3927 3398 0 0 3 0 0 0

3117 -0.85 -146.0 281.7 -9.2 372 3121 0.00 2.80 0.00 0.000 6 0.000 0.060 2413 2628 3399 0 0 2 0 0 0

3441 -0.85 -146.0 308.8 -8.5 402 3446 0.00 2.90 0.00 0.000 4 0.000 0.082 2413 3917 3401 0 0 2 0 0 0

3582 -0.85 -146.0 321.1 -9.2 414 3587 0.00 2.75 0.00 0.000 6 0.000 0.058 2413 2636 3400 0 0 2 0 0 0

3907 -0.85 -146.0 347.6 -7.5 444 3912 0.00 2.88 0.00 0.000 4 0.000 0.081 2413 3917 3401 0 0 2 0 0 0

4018 -0.85 -146.0 356.0 -7.6 453 4024 0.00 2.72 0.00 0.000 6 0.000 0.058 2413 2651 3401 0 0 2 0 0 0

4344 -0.85 -146.0 379.1 -7.4 484 4349 0.00 2.88 0.00 0.000 4 0.000 0.081 2413 3928 3403 0 0 2 0 0 0

4486 -0.85 -146.0 390.1 -7.5 496 4490 0.00 2.70 0.00 0.000 6 0.000 0.058 2413 2668 3403 0 0 3 0 0 0

4811 -0.85 -146.0 417.2 -8.7 526 4816 0.00 2.85 0.00 0.000 4 0.000 0.081 2413 3927 3403 0 0 2 0 0 0

5052 -0.85 -146.0 439.8 -9.7 547 5056 0.00 2.65 0.00 0.000 6 0.000 0.058 2413 2707 3404 0 0 2 0 0 0

5376 -0.85 -146.0 468.6 -8.8 577 5381 0.00 2.78 0.00 0.000 4 0.000 0.081 2413 3924 3404 0 0 3 0 0 0

5533 -0.85 -146.0 482.5 -8.5 590 5539 0.00 2.60 0.00 0.000 6 0.000 0.057 2413 2731 3403 0 0 2 0 0 0

5859 -0.85 -146.0 506.6 -7.4 621 5864 0.00 2.72 0.00 0.000 4 0.000 0.081 2413 3916 3404 0 0 2 0 0 0

5966 -0.85 -146.0 514.3 -7.1 630 5970 0.00 2.58 0.00 0.000 6 0.000 0.057 2413 2739 3404 0 0 2 0 0 0

6290 -0.85 -146.0 535.9 -6.2 660 6295 0.00 2.72 0.00 0.000 4 0.000 0.081 2413 3922 3404 0 0 2 0 0 0

6368 -0.85 -146.0 541.0 -6.5 666 6373 0.00 2.58 0.00 0.000 6 0.000 0.056 2413 2744 3404 0 0 2 0 0 0

6694 -0.85 -146.0 562.2 -6.7 697 6698 0.00 2.72 0.00 0.000 4 0.000 0.081 2413 3928 3404 0 0 2 0 0 0

6701 end dive: TARGET_DEPTH_EXCEEDED

state 6701 begin apogee

6711 -0.16 0.0 563.1 6.7 697 6837 0.77 0.00 121.90 1.081 6 0.177 0.000 2628 1932 2800 0 0 0 0 0 0

6838 end apogee: CONTROL_FINISHED_OK

state 6838 begin climb

6840 0.73 146.0 564.4 0.0 710 6974 0.95 2.12 124.28 1.031 4 0.127 0.083 2924 367 2204 0 0 0 0 0 0

7013 0.65 146.0 547.7 12.9 726 7019 0.00 2.10 0.00 0.000 6 0.000 0.057 2924 1973 2201 0 0 0 0 0 0

7338 0.58 146.0 505.1 13.1 757 7344 0.17 3.38 0.00 0.000 4 0.202 0.073 2881 3531 2196 0 0 4 0 0 0

7457 0.58 146.0 490.7 11.7 767 7463 0.00 3.40 0.00 0.000 6 0.000 0.067 2893 1955 2194 0 0 2 0 0 0

7781 0.58 146.0 455.2 10.7 797 7786 0.00 3.40 0.00 0.000 4 0.000 0.075 2893 3536 2194 0 0 3 0 0 0

7876 0.58 146.0 443.7 12.0 805 7882 0.12 3.35 0.00 0.000 6 0.210 0.067 2882 1979 2193 0 0 2 0 0 0

8201 0.65 146.0 411.3 10.2 835 8206 0.00 3.35 0.00 0.000 4 0.000 0.075 2882 3527 2193 0 0 2 0 0 0

8325 0.65 146.0 397.6 11.8 845 8331 0.00 3.33 0.00 0.000 6 0.000 0.067 2895 1990 2193 0 0 1 0 0 0

8649 0.65 146.0 362.3 10.8 876 8654 0.00 3.35 0.00 0.000 4 0.000 0.075 2895 3527 2193 0 0 1 0 0 0

8760 0.65 146.0 349.4 11.9 885 8766 0.00 3.28 0.00 0.000 6 0.000 0.067 2910 2007 2193 0 0 2 0 0 0

9085 0.65 147.8 317.0 9.1 916 9090 0.00 3.33 0.00 0.000 4 0.000 0.074 2910 3533 2193 0 0 2 0 0 0

9181 0.57 147.8 307.3 9.9 924 9187 0.20 3.30 0.00 0.000 6 0.202 0.067 2878 2014 2193 0 0 1 0 0 0

9506 0.71 190.4 282.1 7.4 954 9551 0.12 3.35 35.78 0.895 4 0.120 0.074 2921 3526 2021 0 0 2 0 0 0

9646 0.65 190.4 267.1 11.5 967 9652 0.15 3.33 0.00 0.000 6 0.204 0.067 2903 2027 2016 0 0 1 0 0 0

9970 0.70 190.4 235.6 10.4 997 9976 0.00 3.30 0.00 0.000 4 0.000 0.074 2903 3528 2015 0 0 2 0 0 0

10066 0.70 190.4 224.6 11.3 1005 10071 0.00 3.25 0.00 0.000 6 0.000 0.067 2914 2050 2014 0 0 1 0 0 0

10390 0.70 190.4 186.9 11.6 1035 10395 0.00 3.28 0.00 0.000 4 0.000 0.074 2915 3536 2014 0 0 2 0 0 0

10478 0.70 190.4 176.0 12.0 1042 10484 0.00 3.25 0.00 0.000 6 0.000 0.067 2929 2053 2014 0 0 1 0 0 0

10803 0.70 190.4 138.6 10.7 1073 10808 0.00 3.22 0.00 0.000 4 0.000 0.074 2930 3527 2014 0 0 3 0 0 0

10887 0.70 190.4 129.1 11.5 1080 10892 0.00 3.17 0.00 0.000 6 0.000 0.066 2943 2071 2014 0 0 2 0 0 0

11215 0.70 190.4 90.3 12.9 1117 11221 0.00 3.22 0.00 0.000 4 0.000 0.074 2944 3528 2014 0 0 1 0 0 0

11272 0.65 190.4 82.9 13.6 1127 11278 0.22 3.15 0.00 0.000 6 0.196 0.065 2904 2089 2014 0 0 2 0 0 0

11618 0.88 244.6 52.6 6.9 1188 11670 0.20 3.28 44.08 0.751 4 0.101 0.075 2974 3528 1801 0 0 1 0 0 0

11776 0.81 244.6 34.4 12.6 1217 11783 0.15 3.20 0.00 0.000 6 0.200 0.067 2955 2102 1796 0 0 1 0 0 0

12079 end climb: SURFACE_DEPTH_REACHED

state 12079 begin surface coast

12097 end surface coast: CONTROL_FINISHED_OK

state 12097 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	316	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	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	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	-41950.805	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	185537,6708.969,-5709.691,35,0.9,35,-37.8	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190543,6709.010,-5709.622,10,1.0,15,-37.8	MHEAD_RNG_PITCHd_Wd	163.3,19175,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	563

FREEZE	0.29,-0.571,-0.122,0,1,0	ALTIM_TOP_PING	19.9,19.7
FINISH	0.3,1.001605	ALTIM_BOTTOM_PING	450.7,140.4
SM_CCo	12115,104.82,0.714,0,0,1066,425.10	_24V_AH	22.6,60.639
SM_GC	1.17,0.00,0.00,104.82,0.000,0.000,0.714,124,2453,1066,-8.02,-0.20,425.10	_10V_AH	10.1,32.007
RAFOS_CLK	761	FG_AHR_24Vo	0.000
RAFOS	0,1260907262,20.033333,20.017221,74,59,59,0,0,0,178,161,208,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.132324,-5713.788574,151209,202012,3,79,0.64	MEM	152604
IRIDIUM_FIX	6641.98,-5713.89,110399,191918	DATA_FILE_SIZE	50430,1274
TT8_MAMPS	0.027612	CAP_FILE_SIZE	149681,0
HUMID	46.45	CFSIZE	260165632,225427456
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
TCM_TEMP	17.20	SOUNDSPEED	1467.8
XPDR_PINGS	2	GPS	151209,223107,6708.731,-5707.870,28,1.6,28,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	297	155.19	SBE_CT	936	24	507.72
Roll_motor	158	97	349.42	SBE_O2	869	19	373.20
VBD_pump_during_apogee	326	1080	7962.80	nil	0	0	0.00
VBD_pump_during_surface	104	714	1691.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	103	143.13	nil	0	0	0.00
Iridium_during_connect	74	160	267.64	nil	0	0	0.00
Iridium_during_xfer	274	223	1381.97
Transponder_ping	2	420	21.36
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.06
TT8	2125	19	427.59
LPSleep	7193	2	167.84
TT8_Active	597	19	120.31
TT8_Sampling	2274	39	916.97
TT8_CF8	637	45	295.54
TT8_Kalman	0	0	0.00
Analog_circuits	1760	12	213.35
GPS_charging	0	0	0.00
Compass	2230	8	180.18
RAFOS	2520	1	38.18
Transponder	15	30	4.79

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	-0.73	-146.0	0.0	0.0	0	145	0.00	0.00	-125.45	0.000	2	0.000	0.000	127	2460	3182	0	0	0	0	0	0
148	-0.73	-146.0	3.5	-6.8	25	174	11.38	3.33	-5.43	0.000	4	0.298	0.097	2443	3916	3399	0	0	3	0	0	0
270	-0.73	-146.0	23.2	-11.2	47	275	0.00	3.10	0.00	0.000	6	0.000	0.064	2443	2460	3401	0	0	3	0	0	0
613	-0.73	-146.0	59.8	-10.0	108	619	0.00	3.25	0.00	0.000	4	0.000	0.087	2443	3918	3401	0	0	3	0	0	0
872	-0.73	-146.0	84.2	-9.4	154	878	0.00	3.03	0.00	0.000	6	0.000	0.065	2444	2505	3401	0	0	3	0	0	0
1212	-0.73	-146.0	116.1	-9.4	200	1217	0.00	3.17	0.00	0.000	4	0.000	0.089	2443	3922	3400	0	0	3	0	0	0
1469	-0.79	-146.0	137.6	-7.6	222	1475	0.00	2.95	0.00	0.000	6	0.000	0.065	2444	2544	3399	0	0	3	0	0	0
1794	-0.87	-146.0	162.9	-7.7	253	1799	0.00	3.10	0.00	0.000	4	0.000	0.087	2444	3917	3398	0	0	2	0	0	0
2053	-0.95	-146.0	183.5	-8.0	275	2059	0.17	2.88	0.00	0.000	6	0.110	0.063	2386	2576	3398	0	0	3	0	0	0
2377	-0.85	-146.0	216.4	-9.6	306	2383	0.12	3.03	0.00	0.000	4	0.209	0.084	2413	3917	3397	0	0	3	0	0	0
2574	-0.85	-146.0	232.6	-8.0	323	2579	0.00	2.83	0.00	0.000	6	0.000	0.061	2413	2600	3397	0	0	2	0	0	0
2898	-0.85	-146.0	261.7	-9.4	353	2903	0.00	2.95	0.00	0.000	4	0.000	0.083	2413	3927	3398	0	0	3	0	0	0
3117	-0.85	-146.0	281.7	-9.2	372	3121	0.00	2.80	0.00	0.000	6	0.000	0.060	2413	2628	3399	0	0	2	0	0	0
3441	-0.85	-146.0	308.8	-8.5	402	3446	0.00	2.90	0.00	0.000	4	0.000	0.082	2413	3917	3401	0	0	2	0	0	0
3582	-0.85	-146.0	321.1	-9.2	414	3587	0.00	2.75	0.00	0.000	6	0.000	0.058	2413	2636	3400	0	0	2	0	0	0
3907	-0.85	-146.0	347.6	-7.5	444	3912	0.00	2.88	0.00	0.000	4	0.000	0.081	2413	3917	3401	0	0	2	0	0	0
4018	-0.85	-146.0	356.0	-7.6	453	4024	0.00	2.72	0.00	0.000	6	0.000	0.058	2413	2651	3401	0	0	2	0	0	0
4344	-0.85	-146.0	379.1	-7.4	484	4349	0.00	2.88	0.00	0.000	4	0.000	0.081	2413	3928	3403	0	0	2	0	0	0
4486	-0.85	-146.0	390.1	-7.5	496	4490	0.00	2.70	0.00	0.000	6	0.000	0.058	2413	2668	3403	0	0	3	0	0	0
4811	-0.85	-146.0	417.2	-8.7	526	4816	0.00	2.85	0.00	0.000	4	0.000	0.081	2413	3927	3403	0	0	2	0	0	0
5052	-0.85	-146.0	439.8	-9.7	547	5056	0.00	2.65	0.00	0.000	6	0.000	0.058	2413	2707	3404	0	0	2	0	0	0
5376	-0.85	-146.0	468.6	-8.8	577	5381	0.00	2.78	0.00	0.000	4	0.000	0.081	2413	3924	3404	0	0	3	0	0	0
5533	-0.85	-146.0	482.5	-8.5	590	5539	0.00	2.60	0.00	0.000	6	0.000	0.057	2413	2731	3403	0	0	2	0	0	0
5859	-0.85	-146.0	506.6	-7.4	621	5864	0.00	2.72	0.00	0.000	4	0.000	0.081	2413	3916	3404	0	0	2	0	0	0
5966	-0.85	-146.0	514.3	-7.1	630	5970	0.00	2.58	0.00	0.000	6	0.000	0.057	2413	2739	3404	0	0	2	0	0	0
6290	-0.85	-146.0	535.9	-6.2	660	6295	0.00	2.72	0.00	0.000	4	0.000	0.081	2413	3922	3404	0	0	2	0	0	0
6368	-0.85	-146.0	541.0	-6.5	666	6373	0.00	2.58	0.00	0.000	6	0.000	0.056	2413	2744	3404	0	0	2	0	0	0
6694	-0.85	-146.0	562.2	-6.7	697	6698	0.00	2.72	0.00	0.000	4	0.000	0.081	2413	3928	3404	0	0	2	0	0	0
6701	end dive: TARGET_DEPTH_EXCEEDED
state	6701	begin apogee
6711	-0.16	0.0	563.1	6.7	697	6837	0.77	0.00	121.90	1.081	6	0.177	0.000	2628	1932	2800	0	0	0	0	0	0
6838	end apogee: CONTROL_FINISHED_OK
state	6838	begin climb
6840	0.73	146.0	564.4	0.0	710	6974	0.95	2.12	124.28	1.031	4	0.127	0.083	2924	367	2204	0	0	0	0	0	0
7013	0.65	146.0	547.7	12.9	726	7019	0.00	2.10	0.00	0.000	6	0.000	0.057	2924	1973	2201	0	0	0	0	0	0
7338	0.58	146.0	505.1	13.1	757	7344	0.17	3.38	0.00	0.000	4	0.202	0.073	2881	3531	2196	0	0	4	0	0	0
7457	0.58	146.0	490.7	11.7	767	7463	0.00	3.40	0.00	0.000	6	0.000	0.067	2893	1955	2194	0	0	2	0	0	0
7781	0.58	146.0	455.2	10.7	797	7786	0.00	3.40	0.00	0.000	4	0.000	0.075	2893	3536	2194	0	0	3	0	0	0
7876	0.58	146.0	443.7	12.0	805	7882	0.12	3.35	0.00	0.000	6	0.210	0.067	2882	1979	2193	0	0	2	0	0	0
8201	0.65	146.0	411.3	10.2	835	8206	0.00	3.35	0.00	0.000	4	0.000	0.075	2882	3527	2193	0	0	2	0	0	0
8325	0.65	146.0	397.6	11.8	845	8331	0.00	3.33	0.00	0.000	6	0.000	0.067	2895	1990	2193	0	0	1	0	0	0
8649	0.65	146.0	362.3	10.8	876	8654	0.00	3.35	0.00	0.000	4	0.000	0.075	2895	3527	2193	0	0	1	0	0	0
8760	0.65	146.0	349.4	11.9	885	8766	0.00	3.28	0.00	0.000	6	0.000	0.067	2910	2007	2193	0	0	2	0	0	0
9085	0.65	147.8	317.0	9.1	916	9090	0.00	3.33	0.00	0.000	4	0.000	0.074	2910	3533	2193	0	0	2	0	0	0
9181	0.57	147.8	307.3	9.9	924	9187	0.20	3.30	0.00	0.000	6	0.202	0.067	2878	2014	2193	0	0	1	0	0	0
9506	0.71	190.4	282.1	7.4	954	9551	0.12	3.35	35.78	0.895	4	0.120	0.074	2921	3526	2021	0	0	2	0	0	0
9646	0.65	190.4	267.1	11.5	967	9652	0.15	3.33	0.00	0.000	6	0.204	0.067	2903	2027	2016	0	0	1	0	0	0
9970	0.70	190.4	235.6	10.4	997	9976	0.00	3.30	0.00	0.000	4	0.000	0.074	2903	3528	2015	0	0	2	0	0	0
10066	0.70	190.4	224.6	11.3	1005	10071	0.00	3.25	0.00	0.000	6	0.000	0.067	2914	2050	2014	0	0	1	0	0	0
10390	0.70	190.4	186.9	11.6	1035	10395	0.00	3.28	0.00	0.000	4	0.000	0.074	2915	3536	2014	0	0	2	0	0	0
10478	0.70	190.4	176.0	12.0	1042	10484	0.00	3.25	0.00	0.000	6	0.000	0.067	2929	2053	2014	0	0	1	0	0	0
10803	0.70	190.4	138.6	10.7	1073	10808	0.00	3.22	0.00	0.000	4	0.000	0.074	2930	3527	2014	0	0	3	0	0	0
10887	0.70	190.4	129.1	11.5	1080	10892	0.00	3.17	0.00	0.000	6	0.000	0.066	2943	2071	2014	0	0	2	0	0	0
11215	0.70	190.4	90.3	12.9	1117	11221	0.00	3.22	0.00	0.000	4	0.000	0.074	2944	3528	2014	0	0	1	0	0	0
11272	0.65	190.4	82.9	13.6	1127	11278	0.22	3.15	0.00	0.000	6	0.196	0.065	2904	2089	2014	0	0	2	0	0	0
11618	0.88	244.6	52.6	6.9	1188	11670	0.20	3.28	44.08	0.751	4	0.101	0.075	2974	3528	1801	0	0	1	0	0	0
11776	0.81	244.6	34.4	12.6	1217	11783	0.15	3.20	0.00	0.000	6	0.200	0.067	2955	2102	1796	0	0	1	0	0	0
12079	end climb: SURFACE_DEPTH_REACHED
state	12079	begin surface coast
12097	end surface coast: CONTROL_FINISHED_OK
state	12097	begin surface