Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 317 * 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 317 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 20 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 -41967.281 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 -41967.281

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 20 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 317 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 223107,6708.731,-5707.870,28,1.6,28,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 223644,6708.772,-5707.794,14,1.7,14,-37.8 MHEAD_RNG_PITCHd_Wd 164.6,17850,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 545

Post-dive calculations and measurements:

FREEZE 0.35,-0.283,-1.824,0,1,0 ALTIM_TOP_PING 19.4,19.6

FINISH 0.3,1.026727 ALTIM_BOTTOM_PING 450.2,112.5

SM_CCo 11631,130.15,0.716,0,0,1066,425.10 _24V_AH 22.7,60.761

SM_GC 1.11,0.00,0.00,130.15,0.000,0.000,0.716,125,2460,1066,-8.02,0.00,425.10 _10V_AH 10.1,32.079

RAFOS_CLK 716 FG_AHR_24Vo 0.000

RAFOS 0,1260921662,0.033333,0.017222,66,65,58,0,0,0,162,218,138,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.132324,-5713.788574,151209,202012,3,79,0.64 MEM 152492

IRIDIUM_FIX 6636.54,-5712.23,110399,191918 DATA_FILE_SIZE 47298,1228

TT8_MAMPS 0.026845 CAP_FILE_SIZE 142952,0

HUMID 46.02 CFSIZE 260165632,225366016

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,91,0,0

TCM_TEMP 17.30 SOUNDSPEED 1467.8

XPDR_PINGS 3 GPS 161209,015436,6709.371,-5708.058,38,1.6,43,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 302 160.76 SBE_CT 901 24 491.07

Roll_motor 153 95 333.75 SBE_O2 837 19 361.06

VBD_pump_during_apogee 285 1069 6925.78 nil 0 0 0.00

VBD_pump_during_surface 130 715 2114.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.49 nil 0 0 0.00

Iridium_during_connect 30 160 110.37 nil 0 0 0.00

Iridium_during_xfer 155 223 787.08

Transponder_ping 2 420 26.22

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.00

TT8 2075 19 417.58

LPSleep 6809 2 158.88

TT8_Active 594 19 119.57

TT8_Sampling 2190 39 883.04

TT8_CF8 422 45 196.13

TT8_Kalman 0 0 0.00

Analog_circuits 1714 12 207.80

GPS_charging 0 0 0.00

Compass 2146 8 173.45

RAFOS 2520 1 38.18

Transponder 18 30 5.69

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 0 144 0.00 0.00 -124.80 0.000 2 0.000 0.000 123 2455 3229 0 0 0 0 0 0

147 -0.73 -146.0 3.7 -7.8 25 173 11.60 3.28 -4.15 0.000 4 0.303 0.096 2449 3915 3398 0 0 3 0 0 0

358 -0.73 -146.0 32.7 -11.1 63 364 0.00 3.10 0.00 0.000 6 0.000 0.063 2449 2462 3399 0 0 2 0 0 0

702 -0.73 -146.0 70.0 -10.7 124 707 0.00 3.25 0.00 0.000 4 0.000 0.087 2449 3917 3399 0 0 2 0 0 0

949 -0.79 -146.0 96.0 -10.5 168 955 0.00 3.05 0.00 0.000 6 0.000 0.064 2449 2494 3399 0 0 2 0 0 0

1276 -0.85 -146.0 126.8 -8.3 202 1281 0.00 3.20 0.00 0.000 4 0.000 0.087 2449 3925 3398 0 0 2 0 0 0

1489 -0.94 -146.0 144.3 -8.3 220 1496 0.20 2.97 0.00 0.000 6 0.107 0.064 2382 2540 3396 0 0 2 0 0 0

1814 -0.83 -146.0 177.9 -10.5 251 1819 0.15 3.10 0.00 0.000 4 0.206 0.085 2413 3917 3395 0 0 3 0 0 0

2072 -0.83 -146.0 199.9 -7.9 273 2078 0.00 2.88 0.00 0.000 6 0.000 0.061 2413 2579 3396 0 0 2 0 0 0

2397 -0.83 -146.0 227.1 -9.1 304 2402 0.00 3.00 0.00 0.000 4 0.000 0.084 2413 3916 3396 0 0 2 0 0 0

2586 -0.83 -146.0 245.1 -9.4 320 2593 0.00 2.83 0.00 0.000 6 0.000 0.060 2413 2599 3396 0 0 2 0 0 0

2911 -0.83 -146.0 274.9 -9.4 351 2916 0.00 2.95 0.00 0.000 4 0.000 0.082 2413 3916 3396 0 0 2 0 0 0

3035 -0.83 -146.0 286.5 -9.9 361 3040 0.00 2.80 0.00 0.000 6 0.000 0.059 2413 2606 3397 0 0 2 0 0 0

3360 -0.83 -146.0 316.6 -9.6 392 3365 0.00 2.92 0.00 0.000 4 0.000 0.081 2413 3917 3398 0 0 2 0 0 0

3534 -0.83 -146.0 332.8 -9.5 407 3538 0.00 2.75 0.00 0.000 6 0.000 0.058 2413 2633 3398 0 0 2 0 0 0

3858 -0.83 -146.0 360.6 -8.6 437 3863 0.00 2.90 0.00 0.000 4 0.000 0.081 2413 3926 3399 0 0 2 0 0 0

4104 -0.83 -146.0 382.5 -9.0 458 4110 0.00 2.72 0.00 0.000 6 0.000 0.057 2413 2660 3400 0 0 2 0 0 0

4429 -0.83 -146.0 410.2 -8.4 489 4434 0.00 2.85 0.00 0.000 4 0.000 0.081 2413 3920 3400 0 0 2 0 0 0

4614 -0.83 -146.0 426.3 -8.5 505 4619 0.00 2.67 0.00 0.000 6 0.000 0.058 2413 2685 3400 0 0 2 0 0 0

4941 -0.83 -146.0 450.2 -6.9 535 4946 0.00 2.80 0.00 0.000 4 0.000 0.081 2413 3916 3400 0 0 2 0 0 0

5052 -0.83 -146.0 458.1 -6.8 544 5058 0.00 2.65 0.00 0.000 6 0.000 0.057 2413 2697 3400 0 0 2 0 0 0

5379 -0.83 -146.0 479.6 -6.8 575 5383 0.00 2.80 0.00 0.000 4 0.000 0.081 2413 3925 3401 0 0 2 0 0 0

5467 -0.83 -146.0 485.7 -6.8 582 5473 0.00 2.65 0.00 0.000 6 0.000 0.056 2413 2713 3401 0 0 1 0 0 0

5792 -0.83 -146.0 506.9 -6.4 613 5796 0.00 2.78 0.00 0.000 4 0.000 0.081 2413 3928 3400 0 0 2 0 0 0

5898 -0.83 -146.0 514.3 -6.9 622 5903 0.00 2.65 0.00 0.000 6 0.000 0.056 2413 2723 3401 0 0 1 0 0 0

6223 -0.83 -146.0 538.2 -6.9 652 6227 0.00 2.75 0.00 0.000 4 0.000 0.081 2413 3923 3401 0 0 2 0 0 0

6312 -0.83 -146.0 544.8 -8.6 659 6317 0.00 2.58 0.00 0.000 6 0.000 0.055 2413 2737 3401 0 0 2 0 0 0

6326 end dive: TARGET_DEPTH_EXCEEDED

state 6326 begin apogee

6332 -0.16 0.0 546.0 8.2 661 6459 0.80 0.00 120.93 1.070 6 0.189 0.000 2628 1942 2799 0 0 0 0 0 0

6459 end apogee: CONTROL_FINISHED_OK

state 6460 begin climb

6463 0.73 146.0 547.1 0.0 674 6596 0.95 2.22 124.18 1.022 4 0.127 0.083 2924 351 2201 0 0 0 0 0 0

6612 0.67 146.0 533.6 10.9 688 6618 0.00 2.15 0.00 0.000 6 0.000 0.057 2924 1976 2199 0 0 0 0 0 0

6938 0.59 146.0 492.3 13.4 719 6944 0.17 3.40 0.00 0.000 4 0.202 0.072 2881 3532 2195 0 0 3 0 0 0

7050 0.59 146.0 479.0 12.0 728 7056 0.00 3.40 0.00 0.000 6 0.000 0.066 2893 1957 2193 0 0 2 0 0 0

7374 0.59 146.0 441.9 11.2 759 7380 0.00 3.40 0.00 0.000 4 0.000 0.075 2894 3536 2193 0 0 3 0 0 0

7493 0.59 146.0 427.6 12.2 769 7498 0.00 3.35 0.00 0.000 6 0.000 0.067 2909 1981 2192 0 0 2 0 0 0

7818 0.59 146.0 389.0 12.1 799 7823 0.00 3.35 0.00 0.000 4 0.000 0.075 2908 3527 2192 0 0 2 0 0 0

7914 0.50 146.0 376.7 13.0 807 7920 0.28 3.33 0.00 0.000 6 0.198 0.067 2856 1993 2192 0 0 1 0 0 0

8238 0.66 154.0 346.4 8.8 837 8253 0.15 3.33 6.22 0.767 4 0.110 0.074 2909 3529 2170 0 0 2 0 0 0

8383 0.60 154.0 328.2 13.3 850 8389 0.15 3.30 0.00 0.000 6 0.204 0.067 2891 2012 2170 0 0 1 0 0 0

8707 0.60 154.0 295.3 9.6 880 8712 0.00 3.33 0.00 0.000 4 0.000 0.074 2891 3534 2170 0 0 2 0 0 0

8795 0.60 154.0 285.7 10.7 887 8802 0.00 3.28 0.00 0.000 6 0.000 0.066 2903 2022 2170 0 0 2 0 0 0

9120 0.60 154.0 252.9 10.3 918 9125 0.00 3.30 0.00 0.000 4 0.000 0.074 2903 3529 2170 0 0 2 0 0 0

9255 0.55 154.0 237.8 11.0 929 9262 0.20 3.25 0.00 0.000 6 0.194 0.067 2870 2043 2169 0 0 1 0 0 0

9580 0.67 158.7 209.3 9.0 960 9592 0.12 3.25 5.45 0.685 4 0.118 0.073 2913 3528 2152 0 0 2 0 0 0

9685 0.62 158.7 196.8 12.7 969 9691 0.15 3.22 0.00 0.000 6 0.202 0.067 2895 2051 2151 0 0 2 0 0 0

10009 0.67 158.7 162.1 10.2 999 10014 0.00 3.25 0.00 0.000 4 0.000 0.074 2895 3527 2151 0 0 2 0 0 0

10098 0.67 158.7 152.0 11.5 1006 10105 0.00 3.15 0.00 0.000 6 0.000 0.065 2907 2080 2151 0 0 2 0 0 0

10423 0.70 180.7 119.9 8.2 1037 10448 0.00 3.22 19.17 0.780 4 0.000 0.074 2907 3528 2062 0 0 2 0 0 0

10533 0.70 180.7 110.2 9.3 1046 10539 0.00 3.20 0.00 0.000 6 0.000 0.065 2921 2085 2061 0 0 1 0 0 0

10870 0.81 180.7 76.9 11.7 1096 10876 0.00 3.22 0.00 0.000 4 0.000 0.074 2921 3528 2061 0 0 1 0 0 0

10943 0.81 180.7 68.6 11.2 1109 10949 0.00 3.20 0.00 0.000 6 0.000 0.065 2935 2079 2060 0 0 1 0 0 0

11288 0.89 190.0 34.2 8.8 1170 11305 0.12 3.22 9.20 0.698 4 0.107 0.074 2980 3530 2024 0 0 2 0 0 0

11411 0.72 190.0 18.0 13.2 1192 11418 0.28 3.20 0.00 0.000 6 0.200 0.067 2928 2089 2023 0 0 1 0 0 0

11596 end climb: SURFACE_DEPTH_REACHED

state 11596 begin surface coast

11614 end surface coast: CONTROL_FINISHED_OK

state 11614 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	317	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	20	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	-41967.281	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	223107,6708.731,-5707.870,28,1.6,28,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	223644,6708.772,-5707.794,14,1.7,14,-37.8	MHEAD_RNG_PITCHd_Wd	164.6,17850,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	545

FREEZE	0.35,-0.283,-1.824,0,1,0	ALTIM_TOP_PING	19.4,19.6
FINISH	0.3,1.026727	ALTIM_BOTTOM_PING	450.2,112.5
SM_CCo	11631,130.15,0.716,0,0,1066,425.10	_24V_AH	22.7,60.761
SM_GC	1.11,0.00,0.00,130.15,0.000,0.000,0.716,125,2460,1066,-8.02,0.00,425.10	_10V_AH	10.1,32.079
RAFOS_CLK	716	FG_AHR_24Vo	0.000
RAFOS	0,1260921662,0.033333,0.017222,66,65,58,0,0,0,162,218,138,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.132324,-5713.788574,151209,202012,3,79,0.64	MEM	152492
IRIDIUM_FIX	6636.54,-5712.23,110399,191918	DATA_FILE_SIZE	47298,1228
TT8_MAMPS	0.026845	CAP_FILE_SIZE	142952,0
HUMID	46.02	CFSIZE	260165632,225366016
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
TCM_TEMP	17.30	SOUNDSPEED	1467.8
XPDR_PINGS	3	GPS	161209,015436,6709.371,-5708.058,38,1.6,43,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	302	160.76	SBE_CT	901	24	491.07
Roll_motor	153	95	333.75	SBE_O2	837	19	361.06
VBD_pump_during_apogee	285	1069	6925.78	nil	0	0	0.00
VBD_pump_during_surface	130	715	2114.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.49	nil	0	0	0.00
Iridium_during_connect	30	160	110.37	nil	0	0	0.00
Iridium_during_xfer	155	223	787.08
Transponder_ping	2	420	26.22
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.00
TT8	2075	19	417.58
LPSleep	6809	2	158.88
TT8_Active	594	19	119.57
TT8_Sampling	2190	39	883.04
TT8_CF8	422	45	196.13
TT8_Kalman	0	0	0.00
Analog_circuits	1714	12	207.80
GPS_charging	0	0	0.00
Compass	2146	8	173.45
RAFOS	2520	1	38.18
Transponder	18	30	5.69

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	144	0.00	0.00	-124.80	0.000	2	0.000	0.000	123	2455	3229	0	0	0	0	0	0
147	-0.73	-146.0	3.7	-7.8	25	173	11.60	3.28	-4.15	0.000	4	0.303	0.096	2449	3915	3398	0	0	3	0	0	0
358	-0.73	-146.0	32.7	-11.1	63	364	0.00	3.10	0.00	0.000	6	0.000	0.063	2449	2462	3399	0	0	2	0	0	0
702	-0.73	-146.0	70.0	-10.7	124	707	0.00	3.25	0.00	0.000	4	0.000	0.087	2449	3917	3399	0	0	2	0	0	0
949	-0.79	-146.0	96.0	-10.5	168	955	0.00	3.05	0.00	0.000	6	0.000	0.064	2449	2494	3399	0	0	2	0	0	0
1276	-0.85	-146.0	126.8	-8.3	202	1281	0.00	3.20	0.00	0.000	4	0.000	0.087	2449	3925	3398	0	0	2	0	0	0
1489	-0.94	-146.0	144.3	-8.3	220	1496	0.20	2.97	0.00	0.000	6	0.107	0.064	2382	2540	3396	0	0	2	0	0	0
1814	-0.83	-146.0	177.9	-10.5	251	1819	0.15	3.10	0.00	0.000	4	0.206	0.085	2413	3917	3395	0	0	3	0	0	0
2072	-0.83	-146.0	199.9	-7.9	273	2078	0.00	2.88	0.00	0.000	6	0.000	0.061	2413	2579	3396	0	0	2	0	0	0
2397	-0.83	-146.0	227.1	-9.1	304	2402	0.00	3.00	0.00	0.000	4	0.000	0.084	2413	3916	3396	0	0	2	0	0	0
2586	-0.83	-146.0	245.1	-9.4	320	2593	0.00	2.83	0.00	0.000	6	0.000	0.060	2413	2599	3396	0	0	2	0	0	0
2911	-0.83	-146.0	274.9	-9.4	351	2916	0.00	2.95	0.00	0.000	4	0.000	0.082	2413	3916	3396	0	0	2	0	0	0
3035	-0.83	-146.0	286.5	-9.9	361	3040	0.00	2.80	0.00	0.000	6	0.000	0.059	2413	2606	3397	0	0	2	0	0	0
3360	-0.83	-146.0	316.6	-9.6	392	3365	0.00	2.92	0.00	0.000	4	0.000	0.081	2413	3917	3398	0	0	2	0	0	0
3534	-0.83	-146.0	332.8	-9.5	407	3538	0.00	2.75	0.00	0.000	6	0.000	0.058	2413	2633	3398	0	0	2	0	0	0
3858	-0.83	-146.0	360.6	-8.6	437	3863	0.00	2.90	0.00	0.000	4	0.000	0.081	2413	3926	3399	0	0	2	0	0	0
4104	-0.83	-146.0	382.5	-9.0	458	4110	0.00	2.72	0.00	0.000	6	0.000	0.057	2413	2660	3400	0	0	2	0	0	0
4429	-0.83	-146.0	410.2	-8.4	489	4434	0.00	2.85	0.00	0.000	4	0.000	0.081	2413	3920	3400	0	0	2	0	0	0
4614	-0.83	-146.0	426.3	-8.5	505	4619	0.00	2.67	0.00	0.000	6	0.000	0.058	2413	2685	3400	0	0	2	0	0	0
4941	-0.83	-146.0	450.2	-6.9	535	4946	0.00	2.80	0.00	0.000	4	0.000	0.081	2413	3916	3400	0	0	2	0	0	0
5052	-0.83	-146.0	458.1	-6.8	544	5058	0.00	2.65	0.00	0.000	6	0.000	0.057	2413	2697	3400	0	0	2	0	0	0
5379	-0.83	-146.0	479.6	-6.8	575	5383	0.00	2.80	0.00	0.000	4	0.000	0.081	2413	3925	3401	0	0	2	0	0	0
5467	-0.83	-146.0	485.7	-6.8	582	5473	0.00	2.65	0.00	0.000	6	0.000	0.056	2413	2713	3401	0	0	1	0	0	0
5792	-0.83	-146.0	506.9	-6.4	613	5796	0.00	2.78	0.00	0.000	4	0.000	0.081	2413	3928	3400	0	0	2	0	0	0
5898	-0.83	-146.0	514.3	-6.9	622	5903	0.00	2.65	0.00	0.000	6	0.000	0.056	2413	2723	3401	0	0	1	0	0	0
6223	-0.83	-146.0	538.2	-6.9	652	6227	0.00	2.75	0.00	0.000	4	0.000	0.081	2413	3923	3401	0	0	2	0	0	0
6312	-0.83	-146.0	544.8	-8.6	659	6317	0.00	2.58	0.00	0.000	6	0.000	0.055	2413	2737	3401	0	0	2	0	0	0
6326	end dive: TARGET_DEPTH_EXCEEDED
state	6326	begin apogee
6332	-0.16	0.0	546.0	8.2	661	6459	0.80	0.00	120.93	1.070	6	0.189	0.000	2628	1942	2799	0	0	0	0	0	0
6459	end apogee: CONTROL_FINISHED_OK
state	6460	begin climb
6463	0.73	146.0	547.1	0.0	674	6596	0.95	2.22	124.18	1.022	4	0.127	0.083	2924	351	2201	0	0	0	0	0	0
6612	0.67	146.0	533.6	10.9	688	6618	0.00	2.15	0.00	0.000	6	0.000	0.057	2924	1976	2199	0	0	0	0	0	0
6938	0.59	146.0	492.3	13.4	719	6944	0.17	3.40	0.00	0.000	4	0.202	0.072	2881	3532	2195	0	0	3	0	0	0
7050	0.59	146.0	479.0	12.0	728	7056	0.00	3.40	0.00	0.000	6	0.000	0.066	2893	1957	2193	0	0	2	0	0	0
7374	0.59	146.0	441.9	11.2	759	7380	0.00	3.40	0.00	0.000	4	0.000	0.075	2894	3536	2193	0	0	3	0	0	0
7493	0.59	146.0	427.6	12.2	769	7498	0.00	3.35	0.00	0.000	6	0.000	0.067	2909	1981	2192	0	0	2	0	0	0
7818	0.59	146.0	389.0	12.1	799	7823	0.00	3.35	0.00	0.000	4	0.000	0.075	2908	3527	2192	0	0	2	0	0	0
7914	0.50	146.0	376.7	13.0	807	7920	0.28	3.33	0.00	0.000	6	0.198	0.067	2856	1993	2192	0	0	1	0	0	0
8238	0.66	154.0	346.4	8.8	837	8253	0.15	3.33	6.22	0.767	4	0.110	0.074	2909	3529	2170	0	0	2	0	0	0
8383	0.60	154.0	328.2	13.3	850	8389	0.15	3.30	0.00	0.000	6	0.204	0.067	2891	2012	2170	0	0	1	0	0	0
8707	0.60	154.0	295.3	9.6	880	8712	0.00	3.33	0.00	0.000	4	0.000	0.074	2891	3534	2170	0	0	2	0	0	0
8795	0.60	154.0	285.7	10.7	887	8802	0.00	3.28	0.00	0.000	6	0.000	0.066	2903	2022	2170	0	0	2	0	0	0
9120	0.60	154.0	252.9	10.3	918	9125	0.00	3.30	0.00	0.000	4	0.000	0.074	2903	3529	2170	0	0	2	0	0	0
9255	0.55	154.0	237.8	11.0	929	9262	0.20	3.25	0.00	0.000	6	0.194	0.067	2870	2043	2169	0	0	1	0	0	0
9580	0.67	158.7	209.3	9.0	960	9592	0.12	3.25	5.45	0.685	4	0.118	0.073	2913	3528	2152	0	0	2	0	0	0
9685	0.62	158.7	196.8	12.7	969	9691	0.15	3.22	0.00	0.000	6	0.202	0.067	2895	2051	2151	0	0	2	0	0	0
10009	0.67	158.7	162.1	10.2	999	10014	0.00	3.25	0.00	0.000	4	0.000	0.074	2895	3527	2151	0	0	2	0	0	0
10098	0.67	158.7	152.0	11.5	1006	10105	0.00	3.15	0.00	0.000	6	0.000	0.065	2907	2080	2151	0	0	2	0	0	0
10423	0.70	180.7	119.9	8.2	1037	10448	0.00	3.22	19.17	0.780	4	0.000	0.074	2907	3528	2062	0	0	2	0	0	0
10533	0.70	180.7	110.2	9.3	1046	10539	0.00	3.20	0.00	0.000	6	0.000	0.065	2921	2085	2061	0	0	1	0	0	0
10870	0.81	180.7	76.9	11.7	1096	10876	0.00	3.22	0.00	0.000	4	0.000	0.074	2921	3528	2061	0	0	1	0	0	0
10943	0.81	180.7	68.6	11.2	1109	10949	0.00	3.20	0.00	0.000	6	0.000	0.065	2935	2079	2060	0	0	1	0	0	0
11288	0.89	190.0	34.2	8.8	1170	11305	0.12	3.22	9.20	0.698	4	0.107	0.074	2980	3530	2024	0	0	2	0	0	0
11411	0.72	190.0	18.0	13.2	1192	11418	0.28	3.20	0.00	0.000	6	0.200	0.067	2928	2089	2023	0	0	1	0	0	0
11596	end climb: SURFACE_DEPTH_REACHED
state	11596	begin surface coast
11614	end surface coast: CONTROL_FINISHED_OK
state	11614	begin surface