Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 33 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2500 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2300 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 30 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23553.133 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2430 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 21 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 21 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23553.133

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING 200 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2300 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2500 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 30 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 33 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 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 220507,6714.428,-5722.952,33,1.2,33,-37.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6704.283,-5732.465

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221431,6714.431,-5722.984,12,1.3,12,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 591

Post-dive calculations and measurements:

FINISH 0.4,1.025017 _24V_AH 23.6,18.540

SM_CCo 12470,43.58,0.757,0,0,1678,275.23 _10V_AH 10.3,8.561

SM_GC 1.30,0.00,0.00,43.58,0.000,0.000,0.757,126,2517,1678,-7.20,0.48,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 785 FG_AHR_10Vo 0.000

RAFOS 0,1256428871,0.033333,0.019722,59,57,54,0,0,0,157,220,119,0,0,0 MEM 150644

RAFOS_FIX 6714.456543,-5753.671875,251009,000000,2,106,2.67 DATA_FILE_SIZE 50480,1312

IRIDIUM_FIX 6647.44,-5717.22,180199,222239 CAP_FILE_SIZE 153467,0

TT8_MAMPS 0.027612 CFSIZE 260165632,248455168

HUMID 47.59 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90659 SOUNDSPEED 1466.5

TCM_TEMP 17.10 GPS 251009,014454,6714.184,-5723.647,38,1.3,38,-37.9

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 303 153.76 SBE_CT 961 24 544.49

Roll_motor 132 104 327.29 SBE_O2 894 19 401.02

VBD_pump_during_apogee 300 1106 7840.58 nil 0 0 0.00

VBD_pump_during_surface 43 757 778.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 143.25 nil 0 0 0.00

Iridium_during_connect 60 160 229.70 nil 0 0 0.00

Iridium_during_xfer 267 223 1408.10

Transponder_ping 1 420 9.91

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.19

TT8 2197 19 450.78

LPSleep 7514 2 178.79

TT8_Active 481 19 98.83

TT8_Sampling 2312 39 950.75

TT8_CF8 573 45 271.25

TT8_Kalman 0 0 0.00

Analog_circuits 1652 12 204.30

GPS_charging 0 0 0.00

Compass 2274 8 187.43

RAFOS 2520 1 38.93

Transponder 0 30 0.16

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.98 -146.0 0.0 0.0 0 98 0.00 0.00 -79.78 0.000 2 0.000 0.000 127 2508 3088 0 0 0 0 0 0

100 -0.98 -146.0 3.2 -5.2 16 127 9.55 2.42 -8.65 0.000 4 0.304 0.104 2104 3900 3398 0 0 0 0 0 0

380 -0.80 -146.0 46.2 -14.3 66 387 0.25 2.25 0.00 0.000 6 0.207 0.061 2167 2498 3400 0 0 0 0 0 0

724 -0.80 -146.0 80.2 -9.5 127 729 0.00 2.55 0.00 0.000 4 0.000 0.079 2167 915 3401 0 0 0 0 0 0

741 -0.80 -146.0 81.9 -10.1 130 746 0.00 2.67 0.00 0.000 6 0.000 0.072 2167 2560 3401 0 0 0 0 0 0

1081 -0.80 -146.0 113.0 -8.2 178 1086 0.00 2.70 0.00 0.000 4 0.000 0.080 2167 910 3400 0 0 0 0 0 0

1181 -0.80 -146.0 122.3 -9.0 186 1188 0.00 2.65 0.00 0.000 6 0.000 0.074 2167 2550 3401 0 0 0 0 0 0

1508 -0.80 -146.0 149.1 -8.1 217 1512 0.00 2.25 0.00 0.000 4 0.000 0.091 2167 3914 3399 0 0 0 0 0 0

1517 -0.80 -146.0 150.1 -8.0 217 1523 0.00 2.17 0.00 0.000 6 0.000 0.061 2167 2561 3399 0 0 0 0 0 0

1843 -0.86 -146.0 176.3 -8.3 248 1847 0.00 2.25 0.00 0.000 4 0.000 0.091 2167 3917 3399 0 0 0 0 0 0

1864 -0.91 -146.0 178.2 -8.2 249 1870 0.00 2.20 0.00 0.000 6 0.000 0.061 2167 2526 3399 0 0 0 0 0 0

2189 -0.97 -146.0 206.0 -8.9 280 2194 0.15 2.62 0.00 0.000 4 0.107 0.081 2124 908 3398 0 0 0 0 0 0

2199 -0.97 -146.0 207.0 -8.6 280 2205 0.00 2.70 0.00 0.000 6 0.000 0.074 2124 2589 3398 0 0 0 0 0 0

2524 -0.89 -146.0 241.6 -10.5 311 2528 0.00 2.17 0.00 0.000 4 0.000 0.092 2124 3912 3398 0 0 0 0 0 0

2534 -0.81 -146.0 242.7 -9.9 311 2540 0.17 2.10 0.00 0.000 6 0.212 0.061 2166 2576 3398 0 0 0 0 0 0

2859 -0.89 -146.0 269.7 -8.4 342 2863 0.00 2.65 0.00 0.000 4 0.000 0.080 2167 913 3398 0 0 0 0 0 0

3116 -0.94 -146.0 291.9 -8.3 364 3122 0.12 2.75 0.00 0.000 6 0.114 0.072 2121 2634 3398 0 0 0 0 0 0

3441 -0.88 -146.0 320.3 -8.7 395 3444 0.00 2.08 0.00 0.000 4 0.000 0.089 2121 3911 3398 0 0 0 0 0 0

3700 -0.82 -146.0 345.2 -10.2 418 3704 0.17 2.03 0.00 0.000 6 0.209 0.060 2162 2613 3398 0 0 0 0 0 0

4024 -0.90 -146.0 369.9 -7.8 448 4028 0.00 2.12 0.00 0.000 4 0.000 0.087 2162 3913 3398 0 0 0 0 0 0

4035 -0.97 -146.0 370.8 -7.8 448 4041 0.15 2.00 0.00 0.000 6 0.110 0.058 2110 2628 3398 0 0 0 0 0 0

4360 -0.88 -146.0 401.8 -9.0 479 4365 0.15 2.75 0.00 0.000 4 0.211 0.077 2151 907 3398 0 0 0 0 0 0

4371 -0.80 -146.0 402.8 -8.9 479 4376 0.00 2.78 0.00 0.000 6 0.000 0.072 2151 2646 3398 0 0 0 0 0 0

4695 -0.86 -146.0 427.0 -7.3 510 4700 0.00 2.78 0.00 0.000 4 0.000 0.077 2151 907 3399 0 0 0 0 0 0

4727 -0.86 -146.0 429.7 -8.6 512 4733 0.00 2.78 0.00 0.000 6 0.000 0.071 2151 2650 3399 0 0 0 0 0 0

5053 -0.91 -146.0 452.9 -6.9 543 5057 0.00 2.78 0.00 0.000 4 0.000 0.077 2152 911 3399 0 0 0 0 0 0

5096 -0.91 -146.0 456.3 -7.7 546 5102 0.00 2.75 0.00 0.000 6 0.000 0.071 2151 2642 3400 0 0 0 0 0 0

5421 -0.97 -146.0 477.8 -6.2 577 5426 0.00 2.75 0.00 0.000 4 0.000 0.075 2151 913 3400 0 0 0 0 0 0

5465 -0.97 -146.0 481.0 -7.4 580 5470 0.00 2.75 0.00 0.000 6 0.000 0.071 2151 2644 3400 0 0 0 0 0 0

5790 -1.03 -146.0 503.0 -7.1 611 5795 0.17 2.78 0.00 0.000 4 0.092 0.076 2097 913 3400 0 0 0 0 0 0

5856 -0.89 -146.0 509.4 -9.7 616 5863 0.17 2.75 0.00 0.000 6 0.222 0.071 2139 2643 3400 0 0 0 0 0 0

6181 -0.89 -146.0 534.8 -7.6 647 6185 0.00 2.75 0.00 0.000 4 0.000 0.076 2139 913 3401 0 0 0 0 0 0

6220 -0.89 -146.0 538.0 -8.6 650 6224 0.00 2.75 0.00 0.000 6 0.000 0.070 2139 2646 3401 0 0 0 0 0 0

6544 -0.89 -146.0 563.2 -7.9 680 6548 0.00 2.78 0.00 0.000 4 0.000 0.075 2139 906 3401 0 0 0 0 0 0

6575 -0.89 -146.0 566.2 -9.3 682 6582 0.00 2.80 0.00 0.000 6 0.000 0.071 2139 2641 3401 0 0 0 0 0 0

6899 end dive: TARGET_DEPTH_EXCEEDED

state 6899 begin apogee

6904 -0.24 0.0 591.8 7.6 713 7025 0.73 0.00 118.07 1.107 6 0.179 0.000 2349 2285 2800 0 0 0 0 0 0

7026 end apogee: CONTROL_FINISHED_OK

state 7026 begin climb

7028 0.98 146.0 593.1 0.0 725 7162 1.27 2.80 120.95 1.059 4 0.117 0.078 2754 721 2202 0 0 0 0 0 0

7414 0.53 146.0 526.3 19.8 760 7421 0.60 2.62 0.00 0.000 6 0.206 0.065 2605 2313 2195 0 0 0 0 0 0

7739 0.53 146.0 487.0 12.0 791 7743 0.00 2.62 0.00 0.000 4 0.000 0.078 2614 720 2194 0 0 0 0 0 0

7995 0.53 146.0 455.6 12.5 813 8001 0.00 2.55 0.00 0.000 6 0.000 0.065 2614 2309 2193 0 0 0 0 0 0

8320 0.46 146.0 415.7 11.9 844 8326 0.15 2.58 0.00 0.000 4 0.197 0.078 2589 720 2193 0 0 0 0 0 0

8577 0.46 146.0 388.0 10.6 866 8584 0.00 2.55 0.00 0.000 6 0.000 0.064 2589 2297 2193 0 0 0 0 0 0

8903 0.46 146.0 354.6 10.2 897 8907 0.00 2.55 0.00 0.000 4 0.000 0.078 2600 717 2192 0 0 0 0 0 0

9159 0.46 146.0 326.7 11.3 919 9165 0.00 2.53 0.00 0.000 6 0.000 0.064 2600 2288 2192 0 0 0 0 0 0

9484 0.46 146.0 291.9 10.9 950 9488 0.00 2.53 0.00 0.000 4 0.000 0.078 2611 717 2192 0 0 0 0 0 0

9740 0.46 146.0 261.8 12.3 972 9747 0.08 2.50 0.00 0.000 6 0.178 0.064 2579 2282 2192 0 0 0 0 0 0

10067 0.57 159.8 231.0 8.6 1003 10084 0.12 2.53 10.60 0.809 4 0.114 0.077 2633 721 2147 0 0 0 0 0 0

10336 0.52 159.8 201.2 10.8 1026 10343 0.12 2.47 0.00 0.000 6 0.193 0.063 2604 2294 2147 0 0 0 0 0 0

10661 0.52 159.8 168.5 9.9 1057 10665 0.00 2.53 0.00 0.000 4 0.000 0.078 2613 719 2146 0 0 0 0 0 0

10917 0.52 159.8 143.5 9.3 1079 10924 0.00 2.50 0.00 0.000 6 0.000 0.064 2613 2282 2147 0 0 0 0 0 0

11243 0.53 164.9 113.5 9.0 1110 11254 0.00 2.53 5.38 0.664 4 0.000 0.078 2625 721 2128 0 0 0 0 0 0

11507 0.53 167.0 88.8 9.1 1144 11518 0.00 2.47 3.92 0.573 6 0.000 0.065 2624 2289 2118 0 0 0 0 0 0

11858 0.65 217.1 59.2 7.1 1206 11905 0.00 2.60 41.25 0.788 4 0.000 0.080 2635 722 1912 0 0 0 0 0 0

12161 0.75 217.1 31.5 10.0 1260 12168 0.08 2.50 0.00 0.000 6 0.091 0.067 2669 2286 1905 0 0 0 0 0 0

12430 end climb: SURFACE_DEPTH_REACHED

state 12430 begin surface coast

12454 end surface coast: CONTROL_FINISHED_OK

state 12454 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	33	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2500	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2300	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	30	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23553.133	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2430	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	21	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	220507,6714.428,-5722.952,33,1.2,33,-37.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6704.283,-5732.465
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221431,6714.431,-5722.984,12,1.3,12,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	591

FINISH	0.4,1.025017	_24V_AH	23.6,18.540
SM_CCo	12470,43.58,0.757,0,0,1678,275.23	_10V_AH	10.3,8.561
SM_GC	1.30,0.00,0.00,43.58,0.000,0.000,0.757,126,2517,1678,-7.20,0.48,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	785	FG_AHR_10Vo	0.000
RAFOS	0,1256428871,0.033333,0.019722,59,57,54,0,0,0,157,220,119,0,0,0	MEM	150644
RAFOS_FIX	6714.456543,-5753.671875,251009,000000,2,106,2.67	DATA_FILE_SIZE	50480,1312
IRIDIUM_FIX	6647.44,-5717.22,180199,222239	CAP_FILE_SIZE	153467,0
TT8_MAMPS	0.027612	CFSIZE	260165632,248455168
HUMID	47.59	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90659	SOUNDSPEED	1466.5
TCM_TEMP	17.10	GPS	251009,014454,6714.184,-5723.647,38,1.3,38,-37.9
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	303	153.76	SBE_CT	961	24	544.49
Roll_motor	132	104	327.29	SBE_O2	894	19	401.02
VBD_pump_during_apogee	300	1106	7840.58	nil	0	0	0.00
VBD_pump_during_surface	43	757	778.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	143.25	nil	0	0	0.00
Iridium_during_connect	60	160	229.70	nil	0	0	0.00
Iridium_during_xfer	267	223	1408.10
Transponder_ping	1	420	9.91
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.19
TT8	2197	19	450.78
LPSleep	7514	2	178.79
TT8_Active	481	19	98.83
TT8_Sampling	2312	39	950.75
TT8_CF8	573	45	271.25
TT8_Kalman	0	0	0.00
Analog_circuits	1652	12	204.30
GPS_charging	0	0	0.00
Compass	2274	8	187.43
RAFOS	2520	1	38.93
Transponder	0	30	0.16

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.98	-146.0	0.0	0.0	0	98	0.00	0.00	-79.78	0.000	2	0.000	0.000	127	2508	3088	0	0	0	0	0	0
100	-0.98	-146.0	3.2	-5.2	16	127	9.55	2.42	-8.65	0.000	4	0.304	0.104	2104	3900	3398	0	0	0	0	0	0
380	-0.80	-146.0	46.2	-14.3	66	387	0.25	2.25	0.00	0.000	6	0.207	0.061	2167	2498	3400	0	0	0	0	0	0
724	-0.80	-146.0	80.2	-9.5	127	729	0.00	2.55	0.00	0.000	4	0.000	0.079	2167	915	3401	0	0	0	0	0	0
741	-0.80	-146.0	81.9	-10.1	130	746	0.00	2.67	0.00	0.000	6	0.000	0.072	2167	2560	3401	0	0	0	0	0	0
1081	-0.80	-146.0	113.0	-8.2	178	1086	0.00	2.70	0.00	0.000	4	0.000	0.080	2167	910	3400	0	0	0	0	0	0
1181	-0.80	-146.0	122.3	-9.0	186	1188	0.00	2.65	0.00	0.000	6	0.000	0.074	2167	2550	3401	0	0	0	0	0	0
1508	-0.80	-146.0	149.1	-8.1	217	1512	0.00	2.25	0.00	0.000	4	0.000	0.091	2167	3914	3399	0	0	0	0	0	0
1517	-0.80	-146.0	150.1	-8.0	217	1523	0.00	2.17	0.00	0.000	6	0.000	0.061	2167	2561	3399	0	0	0	0	0	0
1843	-0.86	-146.0	176.3	-8.3	248	1847	0.00	2.25	0.00	0.000	4	0.000	0.091	2167	3917	3399	0	0	0	0	0	0
1864	-0.91	-146.0	178.2	-8.2	249	1870	0.00	2.20	0.00	0.000	6	0.000	0.061	2167	2526	3399	0	0	0	0	0	0
2189	-0.97	-146.0	206.0	-8.9	280	2194	0.15	2.62	0.00	0.000	4	0.107	0.081	2124	908	3398	0	0	0	0	0	0
2199	-0.97	-146.0	207.0	-8.6	280	2205	0.00	2.70	0.00	0.000	6	0.000	0.074	2124	2589	3398	0	0	0	0	0	0
2524	-0.89	-146.0	241.6	-10.5	311	2528	0.00	2.17	0.00	0.000	4	0.000	0.092	2124	3912	3398	0	0	0	0	0	0
2534	-0.81	-146.0	242.7	-9.9	311	2540	0.17	2.10	0.00	0.000	6	0.212	0.061	2166	2576	3398	0	0	0	0	0	0
2859	-0.89	-146.0	269.7	-8.4	342	2863	0.00	2.65	0.00	0.000	4	0.000	0.080	2167	913	3398	0	0	0	0	0	0
3116	-0.94	-146.0	291.9	-8.3	364	3122	0.12	2.75	0.00	0.000	6	0.114	0.072	2121	2634	3398	0	0	0	0	0	0
3441	-0.88	-146.0	320.3	-8.7	395	3444	0.00	2.08	0.00	0.000	4	0.000	0.089	2121	3911	3398	0	0	0	0	0	0
3700	-0.82	-146.0	345.2	-10.2	418	3704	0.17	2.03	0.00	0.000	6	0.209	0.060	2162	2613	3398	0	0	0	0	0	0
4024	-0.90	-146.0	369.9	-7.8	448	4028	0.00	2.12	0.00	0.000	4	0.000	0.087	2162	3913	3398	0	0	0	0	0	0
4035	-0.97	-146.0	370.8	-7.8	448	4041	0.15	2.00	0.00	0.000	6	0.110	0.058	2110	2628	3398	0	0	0	0	0	0
4360	-0.88	-146.0	401.8	-9.0	479	4365	0.15	2.75	0.00	0.000	4	0.211	0.077	2151	907	3398	0	0	0	0	0	0
4371	-0.80	-146.0	402.8	-8.9	479	4376	0.00	2.78	0.00	0.000	6	0.000	0.072	2151	2646	3398	0	0	0	0	0	0
4695	-0.86	-146.0	427.0	-7.3	510	4700	0.00	2.78	0.00	0.000	4	0.000	0.077	2151	907	3399	0	0	0	0	0	0
4727	-0.86	-146.0	429.7	-8.6	512	4733	0.00	2.78	0.00	0.000	6	0.000	0.071	2151	2650	3399	0	0	0	0	0	0
5053	-0.91	-146.0	452.9	-6.9	543	5057	0.00	2.78	0.00	0.000	4	0.000	0.077	2152	911	3399	0	0	0	0	0	0
5096	-0.91	-146.0	456.3	-7.7	546	5102	0.00	2.75	0.00	0.000	6	0.000	0.071	2151	2642	3400	0	0	0	0	0	0
5421	-0.97	-146.0	477.8	-6.2	577	5426	0.00	2.75	0.00	0.000	4	0.000	0.075	2151	913	3400	0	0	0	0	0	0
5465	-0.97	-146.0	481.0	-7.4	580	5470	0.00	2.75	0.00	0.000	6	0.000	0.071	2151	2644	3400	0	0	0	0	0	0
5790	-1.03	-146.0	503.0	-7.1	611	5795	0.17	2.78	0.00	0.000	4	0.092	0.076	2097	913	3400	0	0	0	0	0	0
5856	-0.89	-146.0	509.4	-9.7	616	5863	0.17	2.75	0.00	0.000	6	0.222	0.071	2139	2643	3400	0	0	0	0	0	0
6181	-0.89	-146.0	534.8	-7.6	647	6185	0.00	2.75	0.00	0.000	4	0.000	0.076	2139	913	3401	0	0	0	0	0	0
6220	-0.89	-146.0	538.0	-8.6	650	6224	0.00	2.75	0.00	0.000	6	0.000	0.070	2139	2646	3401	0	0	0	0	0	0
6544	-0.89	-146.0	563.2	-7.9	680	6548	0.00	2.78	0.00	0.000	4	0.000	0.075	2139	906	3401	0	0	0	0	0	0
6575	-0.89	-146.0	566.2	-9.3	682	6582	0.00	2.80	0.00	0.000	6	0.000	0.071	2139	2641	3401	0	0	0	0	0	0
6899	end dive: TARGET_DEPTH_EXCEEDED
state	6899	begin apogee
6904	-0.24	0.0	591.8	7.6	713	7025	0.73	0.00	118.07	1.107	6	0.179	0.000	2349	2285	2800	0	0	0	0	0	0
7026	end apogee: CONTROL_FINISHED_OK
state	7026	begin climb
7028	0.98	146.0	593.1	0.0	725	7162	1.27	2.80	120.95	1.059	4	0.117	0.078	2754	721	2202	0	0	0	0	0	0
7414	0.53	146.0	526.3	19.8	760	7421	0.60	2.62	0.00	0.000	6	0.206	0.065	2605	2313	2195	0	0	0	0	0	0
7739	0.53	146.0	487.0	12.0	791	7743	0.00	2.62	0.00	0.000	4	0.000	0.078	2614	720	2194	0	0	0	0	0	0
7995	0.53	146.0	455.6	12.5	813	8001	0.00	2.55	0.00	0.000	6	0.000	0.065	2614	2309	2193	0	0	0	0	0	0
8320	0.46	146.0	415.7	11.9	844	8326	0.15	2.58	0.00	0.000	4	0.197	0.078	2589	720	2193	0	0	0	0	0	0
8577	0.46	146.0	388.0	10.6	866	8584	0.00	2.55	0.00	0.000	6	0.000	0.064	2589	2297	2193	0	0	0	0	0	0
8903	0.46	146.0	354.6	10.2	897	8907	0.00	2.55	0.00	0.000	4	0.000	0.078	2600	717	2192	0	0	0	0	0	0
9159	0.46	146.0	326.7	11.3	919	9165	0.00	2.53	0.00	0.000	6	0.000	0.064	2600	2288	2192	0	0	0	0	0	0
9484	0.46	146.0	291.9	10.9	950	9488	0.00	2.53	0.00	0.000	4	0.000	0.078	2611	717	2192	0	0	0	0	0	0
9740	0.46	146.0	261.8	12.3	972	9747	0.08	2.50	0.00	0.000	6	0.178	0.064	2579	2282	2192	0	0	0	0	0	0
10067	0.57	159.8	231.0	8.6	1003	10084	0.12	2.53	10.60	0.809	4	0.114	0.077	2633	721	2147	0	0	0	0	0	0
10336	0.52	159.8	201.2	10.8	1026	10343	0.12	2.47	0.00	0.000	6	0.193	0.063	2604	2294	2147	0	0	0	0	0	0
10661	0.52	159.8	168.5	9.9	1057	10665	0.00	2.53	0.00	0.000	4	0.000	0.078	2613	719	2146	0	0	0	0	0	0
10917	0.52	159.8	143.5	9.3	1079	10924	0.00	2.50	0.00	0.000	6	0.000	0.064	2613	2282	2147	0	0	0	0	0	0
11243	0.53	164.9	113.5	9.0	1110	11254	0.00	2.53	5.38	0.664	4	0.000	0.078	2625	721	2128	0	0	0	0	0	0
11507	0.53	167.0	88.8	9.1	1144	11518	0.00	2.47	3.92	0.573	6	0.000	0.065	2624	2289	2118	0	0	0	0	0	0
11858	0.65	217.1	59.2	7.1	1206	11905	0.00	2.60	41.25	0.788	4	0.000	0.080	2635	722	1912	0	0	0	0	0	0
12161	0.75	217.1	31.5	10.0	1260	12168	0.08	2.50	0.00	0.000	6	0.091	0.067	2669	2286	1905	0	0	0	0	0	0
12430	end climb: SURFACE_DEPTH_REACHED
state	12430	begin surface coast
12454	end surface coast: CONTROL_FINISHED_OK
state	12454	begin surface