Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 363 * 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 363 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 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 18 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -43204.703 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 325

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 -43204.703

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 363 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 080215,6713.950,-5727.164,69,2.5,88,-38.0 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 43 TGT_RADIUS 2000.000

_XMS_TOUTs 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080215,6713.950,-5727.164,181,99.0,181,-38.0 MHEAD_RNG_PITCHd_Wd 163.6,34802,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 605

Post-dive calculations and measurements:

FREEZE 0.62,-0.626,-1.452,0,5,1 ALTIM_TOP_PING 20.0,19.1

FINISH 0.6,1.021407 ALTIM_BOTTOM_PING 600.5,61.8

SM_CCo 13004,76.22,0.762,0,0,1475,325.02 _24V_AH 22.3,66.944

SM_GC 1.39,0.00,0.00,76.22,0.000,0.000,0.762,127,2459,1475,-8.01,-0.03,325.02 _10V_AH 10.1,35.777

RAFOS_CLK 867 FG_AHR_24Vo 0.000

RAFOS 3,1261556702,8.433333,8.417222,68,59,56,0,0,0,225,157,134,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6712.101562,-5730.738281,231209,040400,2,98,2.22 MEM 152500

IRIDIUM_FIX 6641.98,-5727.90,190399,080800 DATA_FILE_SIZE 53680,1344

TT8_MAMPS 0.027612 CAP_FILE_SIZE 158945,0

HUMID 49.01 CFSIZE 260165632,221589504

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,153,0,0

TCM_TEMP 16.60 SOUNDSPEED 1461.0

XPDR_PINGS 4 GPS 231209,115854,6713.708,-5728.396,23,0.8,40,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 306 165.15 SBE_CT 985 24 527.40

Roll_motor 162 104 378.12 SBE_O2 928 19 393.27

VBD_pump_during_apogee 330 1131 8344.34 nil 0 0 0.00

VBD_pump_during_surface 76 761 1294.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 94 103 216.48 nil 0 0 0.00

Iridium_during_connect 148 160 530.59 nil 0 0 0.00

Iridium_during_xfer 335 223 1667.31

Transponder_ping 3 420 32.78

GUMSTIX_24V 0 0 0.00

GPS 184 50 93.03

TT8 2299 19 462.61

LPSleep 7659 2 178.70

TT8_Active 598 19 120.39

TT8_Sampling 2682 39 1081.72

TT8_CF8 842 45 390.74

TT8_Kalman 0 0 0.00

Analog_circuits 1862 12 225.69

GPS_charging 0 0 0.00

Compass 2465 8 199.19

RAFOS 1440 1 21.82

Transponder 20 30 6.34

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 0 123 0.00 0.00 -105.35 0.000 2 0.000 0.000 130 2458 3208 0 0 0 0 0 0

127 -0.73 -146.0 3.3 -4.5 21 149 11.73 2.20 -5.25 0.000 4 0.306 0.104 2449 847 3397 0 0 0 0 0 0

296 -0.63 -146.0 30.6 -13.0 51 303 0.15 2.08 0.00 0.000 6 0.231 0.074 2483 2463 3400 0 0 0 0 0 0

640 -0.72 -146.0 64.3 -10.5 112 646 0.00 2.12 0.00 0.000 4 0.000 0.093 2483 856 3400 0 0 0 0 0 0

899 -0.81 -146.0 89.6 -9.4 158 905 0.17 2.05 0.00 0.000 6 0.110 0.075 2426 2460 3400 0 0 0 0 0 0

1235 -0.81 -146.0 124.8 -10.2 198 1238 0.00 2.15 0.00 0.000 4 0.000 0.094 2426 849 3400 0 0 0 0 0 0

1493 -0.76 -146.0 152.2 -10.4 221 1497 0.00 2.05 0.00 0.000 6 0.000 0.076 2426 2461 3400 0 0 0 0 0 0

1817 -0.76 -146.0 183.9 -9.7 251 1821 0.00 2.15 0.00 0.000 4 0.000 0.094 2426 853 3399 0 0 0 0 0 0

2073 -0.76 -146.0 209.9 -10.0 273 2079 0.00 2.08 0.00 0.000 6 0.000 0.074 2425 2454 3398 0 0 0 0 0 0

2398 -0.76 -146.0 238.7 -8.8 304 2404 0.00 3.60 0.00 0.000 4 0.000 0.092 2426 3927 3397 0 0 4 0 0 0

2577 -0.76 -146.0 254.8 -8.8 319 2584 0.00 3.40 0.00 0.000 6 0.000 0.069 2425 2467 3397 0 0 4 0 0 0

2902 -0.76 -146.0 282.2 -8.3 350 2907 0.00 3.55 0.00 0.000 4 0.000 0.088 2426 3925 3397 0 0 4 0 0 0

3160 -0.76 -146.0 304.7 -8.5 372 3166 0.00 3.40 0.00 0.000 6 0.000 0.067 2426 2461 3398 0 0 4 0 0 0

3485 -0.76 -146.0 331.6 -8.3 403 3489 0.00 2.08 0.00 0.000 4 0.000 0.087 2426 857 3399 0 0 0 0 0 0

3743 -0.76 -146.0 355.1 -8.6 426 3747 0.00 2.03 0.00 0.000 6 0.000 0.068 2426 2466 3399 0 0 0 0 0 0

4072 -0.76 -146.0 383.9 -8.5 457 4078 0.00 3.47 0.00 0.000 4 0.000 0.085 2426 3919 3400 0 0 6 0 0 0

4184 -0.76 -146.0 393.8 -8.9 466 4190 0.00 3.42 0.00 0.000 6 0.000 0.064 2426 2456 3400 0 0 3 0 0 0

4509 -0.76 -146.0 422.1 -8.6 497 4515 0.00 3.55 0.00 0.000 4 0.000 0.084 2425 3926 3401 0 0 4 0 0 0

4767 -0.76 -146.0 444.9 -8.7 519 4773 0.00 3.42 0.00 0.000 6 0.000 0.064 2426 2456 3402 0 0 4 0 0 0

5092 -0.81 -146.0 472.0 -8.2 550 5097 0.00 3.53 0.00 0.000 4 0.000 0.084 2425 3914 3403 0 0 4 0 0 0

5349 -0.81 -146.0 494.2 -9.3 572 5356 0.00 3.38 0.00 0.000 6 0.000 0.063 2426 2460 3403 0 0 4 0 0 0

5675 -0.81 -146.0 521.5 -8.3 603 5678 0.00 2.08 0.00 0.000 4 0.000 0.085 2425 854 3403 0 0 0 0 0 0

5933 -0.81 -146.0 544.8 -9.2 626 5937 0.00 2.00 0.00 0.000 6 0.000 0.067 2426 2459 3404 0 0 0 0 0 0

6264 -0.87 -146.0 571.2 -7.4 657 6269 0.00 3.50 0.00 0.000 4 0.000 0.084 2426 3913 3404 0 0 5 0 0 0

6450 -0.93 -146.0 586.0 -8.8 673 6456 0.10 3.38 0.00 0.000 6 0.133 0.064 2392 2460 3403 0 0 4 0 0 0

6664 end dive: TARGET_DEPTH_EXCEEDED

state 6664 begin apogee

6671 -0.16 0.0 606.7 9.9 689 6799 0.90 0.00 124.60 1.131 6 0.186 0.000 2632 1941 2800 0 0 0 0 0 0

6800 end apogee: CONTROL_FINISHED_OK

state 6800 begin climb

6802 0.73 146.0 610.5 0.0 693 6938 0.95 2.03 128.57 1.078 4 0.130 0.089 2922 345 2203 0 0 0 0 0 0

7041 0.64 146.0 590.7 10.9 704 7045 0.00 1.90 0.00 0.000 6 0.000 0.061 2922 1956 2199 0 0 0 0 0 0

7370 0.56 146.0 552.5 11.7 735 7381 0.20 3.78 0.00 0.000 4 0.202 0.077 2858 3531 2194 0 0 5 0 0 0

7511 0.61 146.0 538.7 10.2 747 7516 0.00 3.75 0.00 0.000 6 0.000 0.072 2873 1949 2194 0 0 4 0 0 0

7835 0.70 148.0 508.6 9.1 778 7845 0.12 3.78 0.00 0.000 4 0.123 0.078 2916 3530 2193 0 0 4 0 0 0

7975 0.57 148.0 491.8 12.8 790 7982 0.22 3.72 0.00 0.000 6 0.205 0.074 2880 1951 2192 0 0 4 0 0 0

8300 0.64 148.0 461.4 9.3 821 8309 0.00 3.72 0.00 0.000 4 0.000 0.080 2880 3531 2192 0 0 5 0 0 0

8457 0.64 148.0 444.9 10.7 835 8466 0.00 3.75 0.00 0.000 6 0.000 0.074 2895 1945 2192 0 0 4 0 0 0

8785 0.64 148.0 411.3 10.6 866 8794 0.00 3.78 0.00 0.000 4 0.000 0.080 2895 3533 2192 0 0 4 0 0 0

8935 0.58 148.0 394.8 10.9 879 8942 0.15 3.72 0.00 0.000 6 0.203 0.074 2878 1950 2192 0 0 4 0 0 0

9260 0.66 148.0 364.9 9.2 910 9269 0.00 3.72 0.00 0.000 4 0.000 0.079 2878 3533 2191 0 0 5 0 0 0

9417 0.66 148.0 349.0 10.2 924 9426 0.00 3.75 0.00 0.000 6 0.000 0.074 2893 1943 2191 0 0 4 0 0 0

9746 0.67 155.9 318.5 8.8 955 9760 0.00 3.80 7.47 0.824 4 0.000 0.078 2893 3532 2164 0 0 4 0 0 0

9914 0.67 155.9 300.7 10.2 970 9923 0.00 3.75 0.00 0.000 6 0.000 0.073 2909 1948 2163 0 0 3 0 0 0

10242 0.67 155.9 266.4 10.9 1001 10251 0.00 3.72 0.00 0.000 4 0.000 0.078 2910 3529 2163 0 0 5 0 0 0

10365 0.60 155.9 251.7 12.2 1012 10375 0.17 3.72 0.00 0.000 6 0.202 0.073 2887 1949 2163 0 0 4 0 0 0

10694 0.69 167.8 222.6 8.7 1043 10715 0.00 3.78 11.90 0.834 4 0.000 0.077 2887 3532 2114 0 0 5 0 0 0

10877 0.69 167.8 204.9 9.7 1059 10884 0.00 3.75 0.00 0.000 6 0.000 0.072 2901 1937 2113 0 0 4 0 0 0

11204 0.78 178.7 176.4 8.7 1090 11226 0.12 3.75 10.73 0.800 4 0.114 0.077 2951 3534 2068 0 0 5 0 0 0

11354 0.62 178.7 157.3 13.1 1103 11361 0.30 3.75 0.00 0.000 6 0.199 0.072 2895 1946 2068 0 0 4 0 0 0

11679 0.75 185.9 128.9 8.9 1134 11694 0.12 3.78 7.30 0.736 4 0.127 0.079 2935 3528 2041 0 0 6 0 0 0

11886 0.70 185.9 103.9 11.8 1152 11892 0.15 3.75 0.00 0.000 6 0.202 0.073 2919 1939 2041 0 0 4 0 0 0

12229 0.82 205.9 72.2 8.3 1210 12256 0.10 3.78 18.35 0.792 4 0.139 0.081 2952 3531 1959 0 0 6 0 0 0

12430 0.75 205.9 51.1 10.5 1246 12437 0.15 3.80 0.00 0.000 6 0.199 0.075 2936 1939 1957 0 0 3 0 0 0

12776 0.86 231.3 21.5 8.1 1307 12807 0.00 3.85 21.83 0.782 4 0.000 0.081 2935 3525 1857 0 0 4 0 0 0

12928 0.86 231.3 5.2 11.4 1334 12934 0.00 3.80 0.00 0.000 6 0.000 0.075 2950 1940 1854 0 0 3 0 0 0

12961 end climb: SURFACE_DEPTH_REACHED

state 12961 begin surface coast

12986 end surface coast: CONTROL_FINISHED_OK

state 12987 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	363	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	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	18	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-43204.703	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	080215,6713.950,-5727.164,69,2.5,88,-38.0	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	43	TGT_RADIUS	2000.000
_XMS_TOUTs	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080215,6713.950,-5727.164,181,99.0,181,-38.0	MHEAD_RNG_PITCHd_Wd	163.6,34802,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	605

FREEZE	0.62,-0.626,-1.452,0,5,1	ALTIM_TOP_PING	20.0,19.1
FINISH	0.6,1.021407	ALTIM_BOTTOM_PING	600.5,61.8
SM_CCo	13004,76.22,0.762,0,0,1475,325.02	_24V_AH	22.3,66.944
SM_GC	1.39,0.00,0.00,76.22,0.000,0.000,0.762,127,2459,1475,-8.01,-0.03,325.02	_10V_AH	10.1,35.777
RAFOS_CLK	867	FG_AHR_24Vo	0.000
RAFOS	3,1261556702,8.433333,8.417222,68,59,56,0,0,0,225,157,134,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6712.101562,-5730.738281,231209,040400,2,98,2.22	MEM	152500
IRIDIUM_FIX	6641.98,-5727.90,190399,080800	DATA_FILE_SIZE	53680,1344
TT8_MAMPS	0.027612	CAP_FILE_SIZE	158945,0
HUMID	49.01	CFSIZE	260165632,221589504
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,153,0,0
TCM_TEMP	16.60	SOUNDSPEED	1461.0
XPDR_PINGS	4	GPS	231209,115854,6713.708,-5728.396,23,0.8,40,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	306	165.15	SBE_CT	985	24	527.40
Roll_motor	162	104	378.12	SBE_O2	928	19	393.27
VBD_pump_during_apogee	330	1131	8344.34	nil	0	0	0.00
VBD_pump_during_surface	76	761	1294.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	94	103	216.48	nil	0	0	0.00
Iridium_during_connect	148	160	530.59	nil	0	0	0.00
Iridium_during_xfer	335	223	1667.31
Transponder_ping	3	420	32.78
GUMSTIX_24V	0	0	0.00
GPS	184	50	93.03
TT8	2299	19	462.61
LPSleep	7659	2	178.70
TT8_Active	598	19	120.39
TT8_Sampling	2682	39	1081.72
TT8_CF8	842	45	390.74
TT8_Kalman	0	0	0.00
Analog_circuits	1862	12	225.69
GPS_charging	0	0	0.00
Compass	2465	8	199.19
RAFOS	1440	1	21.82
Transponder	20	30	6.34

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	123	0.00	0.00	-105.35	0.000	2	0.000	0.000	130	2458	3208	0	0	0	0	0	0
127	-0.73	-146.0	3.3	-4.5	21	149	11.73	2.20	-5.25	0.000	4	0.306	0.104	2449	847	3397	0	0	0	0	0	0
296	-0.63	-146.0	30.6	-13.0	51	303	0.15	2.08	0.00	0.000	6	0.231	0.074	2483	2463	3400	0	0	0	0	0	0
640	-0.72	-146.0	64.3	-10.5	112	646	0.00	2.12	0.00	0.000	4	0.000	0.093	2483	856	3400	0	0	0	0	0	0
899	-0.81	-146.0	89.6	-9.4	158	905	0.17	2.05	0.00	0.000	6	0.110	0.075	2426	2460	3400	0	0	0	0	0	0
1235	-0.81	-146.0	124.8	-10.2	198	1238	0.00	2.15	0.00	0.000	4	0.000	0.094	2426	849	3400	0	0	0	0	0	0
1493	-0.76	-146.0	152.2	-10.4	221	1497	0.00	2.05	0.00	0.000	6	0.000	0.076	2426	2461	3400	0	0	0	0	0	0
1817	-0.76	-146.0	183.9	-9.7	251	1821	0.00	2.15	0.00	0.000	4	0.000	0.094	2426	853	3399	0	0	0	0	0	0
2073	-0.76	-146.0	209.9	-10.0	273	2079	0.00	2.08	0.00	0.000	6	0.000	0.074	2425	2454	3398	0	0	0	0	0	0
2398	-0.76	-146.0	238.7	-8.8	304	2404	0.00	3.60	0.00	0.000	4	0.000	0.092	2426	3927	3397	0	0	4	0	0	0
2577	-0.76	-146.0	254.8	-8.8	319	2584	0.00	3.40	0.00	0.000	6	0.000	0.069	2425	2467	3397	0	0	4	0	0	0
2902	-0.76	-146.0	282.2	-8.3	350	2907	0.00	3.55	0.00	0.000	4	0.000	0.088	2426	3925	3397	0	0	4	0	0	0
3160	-0.76	-146.0	304.7	-8.5	372	3166	0.00	3.40	0.00	0.000	6	0.000	0.067	2426	2461	3398	0	0	4	0	0	0
3485	-0.76	-146.0	331.6	-8.3	403	3489	0.00	2.08	0.00	0.000	4	0.000	0.087	2426	857	3399	0	0	0	0	0	0
3743	-0.76	-146.0	355.1	-8.6	426	3747	0.00	2.03	0.00	0.000	6	0.000	0.068	2426	2466	3399	0	0	0	0	0	0
4072	-0.76	-146.0	383.9	-8.5	457	4078	0.00	3.47	0.00	0.000	4	0.000	0.085	2426	3919	3400	0	0	6	0	0	0
4184	-0.76	-146.0	393.8	-8.9	466	4190	0.00	3.42	0.00	0.000	6	0.000	0.064	2426	2456	3400	0	0	3	0	0	0
4509	-0.76	-146.0	422.1	-8.6	497	4515	0.00	3.55	0.00	0.000	4	0.000	0.084	2425	3926	3401	0	0	4	0	0	0
4767	-0.76	-146.0	444.9	-8.7	519	4773	0.00	3.42	0.00	0.000	6	0.000	0.064	2426	2456	3402	0	0	4	0	0	0
5092	-0.81	-146.0	472.0	-8.2	550	5097	0.00	3.53	0.00	0.000	4	0.000	0.084	2425	3914	3403	0	0	4	0	0	0
5349	-0.81	-146.0	494.2	-9.3	572	5356	0.00	3.38	0.00	0.000	6	0.000	0.063	2426	2460	3403	0	0	4	0	0	0
5675	-0.81	-146.0	521.5	-8.3	603	5678	0.00	2.08	0.00	0.000	4	0.000	0.085	2425	854	3403	0	0	0	0	0	0
5933	-0.81	-146.0	544.8	-9.2	626	5937	0.00	2.00	0.00	0.000	6	0.000	0.067	2426	2459	3404	0	0	0	0	0	0
6264	-0.87	-146.0	571.2	-7.4	657	6269	0.00	3.50	0.00	0.000	4	0.000	0.084	2426	3913	3404	0	0	5	0	0	0
6450	-0.93	-146.0	586.0	-8.8	673	6456	0.10	3.38	0.00	0.000	6	0.133	0.064	2392	2460	3403	0	0	4	0	0	0
6664	end dive: TARGET_DEPTH_EXCEEDED
state	6664	begin apogee
6671	-0.16	0.0	606.7	9.9	689	6799	0.90	0.00	124.60	1.131	6	0.186	0.000	2632	1941	2800	0	0	0	0	0	0
6800	end apogee: CONTROL_FINISHED_OK
state	6800	begin climb
6802	0.73	146.0	610.5	0.0	693	6938	0.95	2.03	128.57	1.078	4	0.130	0.089	2922	345	2203	0	0	0	0	0	0
7041	0.64	146.0	590.7	10.9	704	7045	0.00	1.90	0.00	0.000	6	0.000	0.061	2922	1956	2199	0	0	0	0	0	0
7370	0.56	146.0	552.5	11.7	735	7381	0.20	3.78	0.00	0.000	4	0.202	0.077	2858	3531	2194	0	0	5	0	0	0
7511	0.61	146.0	538.7	10.2	747	7516	0.00	3.75	0.00	0.000	6	0.000	0.072	2873	1949	2194	0	0	4	0	0	0
7835	0.70	148.0	508.6	9.1	778	7845	0.12	3.78	0.00	0.000	4	0.123	0.078	2916	3530	2193	0	0	4	0	0	0
7975	0.57	148.0	491.8	12.8	790	7982	0.22	3.72	0.00	0.000	6	0.205	0.074	2880	1951	2192	0	0	4	0	0	0
8300	0.64	148.0	461.4	9.3	821	8309	0.00	3.72	0.00	0.000	4	0.000	0.080	2880	3531	2192	0	0	5	0	0	0
8457	0.64	148.0	444.9	10.7	835	8466	0.00	3.75	0.00	0.000	6	0.000	0.074	2895	1945	2192	0	0	4	0	0	0
8785	0.64	148.0	411.3	10.6	866	8794	0.00	3.78	0.00	0.000	4	0.000	0.080	2895	3533	2192	0	0	4	0	0	0
8935	0.58	148.0	394.8	10.9	879	8942	0.15	3.72	0.00	0.000	6	0.203	0.074	2878	1950	2192	0	0	4	0	0	0
9260	0.66	148.0	364.9	9.2	910	9269	0.00	3.72	0.00	0.000	4	0.000	0.079	2878	3533	2191	0	0	5	0	0	0
9417	0.66	148.0	349.0	10.2	924	9426	0.00	3.75	0.00	0.000	6	0.000	0.074	2893	1943	2191	0	0	4	0	0	0
9746	0.67	155.9	318.5	8.8	955	9760	0.00	3.80	7.47	0.824	4	0.000	0.078	2893	3532	2164	0	0	4	0	0	0
9914	0.67	155.9	300.7	10.2	970	9923	0.00	3.75	0.00	0.000	6	0.000	0.073	2909	1948	2163	0	0	3	0	0	0
10242	0.67	155.9	266.4	10.9	1001	10251	0.00	3.72	0.00	0.000	4	0.000	0.078	2910	3529	2163	0	0	5	0	0	0
10365	0.60	155.9	251.7	12.2	1012	10375	0.17	3.72	0.00	0.000	6	0.202	0.073	2887	1949	2163	0	0	4	0	0	0
10694	0.69	167.8	222.6	8.7	1043	10715	0.00	3.78	11.90	0.834	4	0.000	0.077	2887	3532	2114	0	0	5	0	0	0
10877	0.69	167.8	204.9	9.7	1059	10884	0.00	3.75	0.00	0.000	6	0.000	0.072	2901	1937	2113	0	0	4	0	0	0
11204	0.78	178.7	176.4	8.7	1090	11226	0.12	3.75	10.73	0.800	4	0.114	0.077	2951	3534	2068	0	0	5	0	0	0
11354	0.62	178.7	157.3	13.1	1103	11361	0.30	3.75	0.00	0.000	6	0.199	0.072	2895	1946	2068	0	0	4	0	0	0
11679	0.75	185.9	128.9	8.9	1134	11694	0.12	3.78	7.30	0.736	4	0.127	0.079	2935	3528	2041	0	0	6	0	0	0
11886	0.70	185.9	103.9	11.8	1152	11892	0.15	3.75	0.00	0.000	6	0.202	0.073	2919	1939	2041	0	0	4	0	0	0
12229	0.82	205.9	72.2	8.3	1210	12256	0.10	3.78	18.35	0.792	4	0.139	0.081	2952	3531	1959	0	0	6	0	0	0
12430	0.75	205.9	51.1	10.5	1246	12437	0.15	3.80	0.00	0.000	6	0.199	0.075	2936	1939	1957	0	0	3	0	0	0
12776	0.86	231.3	21.5	8.1	1307	12807	0.00	3.85	21.83	0.782	4	0.000	0.081	2935	3525	1857	0	0	4	0	0	0
12928	0.86	231.3	5.2	11.4	1334	12934	0.00	3.80	0.00	0.000	6	0.000	0.075	2950	1940	1854	0	0	3	0	0	0
12961	end climb: SURFACE_DEPTH_REACHED
state	12961	begin surface coast
12986	end surface coast: CONTROL_FINISHED_OK
state	12987	begin surface