Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 369 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 369 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 5

D_SURF 4 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 605.89099 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 29 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 21 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -183636.28 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 605.89099

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 5 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -183636.28

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 29 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 369 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 011755,6649.711,-6023.389,38,1.5,38,-38.2 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 6 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 012514,6649.719,-6023.584,13,1.5,13,-38.2 MHEAD_RNG_PITCHd_Wd 119.2,157614,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 546

Post-dive calculations and measurements:

FREEZE 2.03,3.498,-1.570,0,1,0 ALTIM_TOP_PING 19.7,18.3

FINISH 2.0,1.022878 _24V_AH 22.3,66.914

SM_CCo 12603,78.55,0.834,0,0,587,605.89 _10V_AH 10.0,35.005

SM_GC 2.88,0.00,0.00,78.55,0.000,0.000,0.834,341,2250,587,-12.75,0.00,605.89 FG_AHR_24Vo 0.000

RAFOS_CLK 517 FG_AHR_10Vo 0.000

RAFOS 0,1282622463,4.033333,4.017500,135,124,48,48,47,42,626,625,1149,1569,1159,1640 MEM 135560

RAFOS_FIX 6649.443359,-6018.486328,240810,040416,7,116,0.34 DATA_FILE_SIZE 53547,1336

IRIDIUM_FIX 6620.33,-6028.15,171199,212154 CAP_FILE_SIZE 140980,0

TT8_MAMPS 0.026845 CFSIZE 260165632,216338432

HUMID 41.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.098 SOUNDSPEED 1453.4

TCM_TEMP 15.50 GPS 240810,045857,6650.221,-6019.963,29,2.3,48,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 243 109.87 SBE_CT 956 24 511.71

Roll_motor 86 138 269.11 SBE_O2 956 19 405.16

VBD_pump_during_apogee 567 1162 14717.12 nil 0 0 0.00

VBD_pump_during_surface 78 834 1461.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.07 nil 0 0 0.00

Iridium_during_connect 37 160 134.43 nil 0 0 0.00

Iridium_during_xfer 216 223 1077.06

Transponder_ping 1 420 14.05

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.36

TT8 2159 19 430.22

LPSleep 7535 2 174.08

TT8_Active 717 19 142.94

TT8_Sampling 2093 39 835.57

TT8_CF8 623 45 286.54

TT8_Kalman 0 0 0.00

Analog_circuits 1843 12 221.26

GPS_charging 0 0 0.00

Compass 2062 8 164.98

RAFOS 2520 3 75.60

Transponder 11 30 3.43

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

16 -0.78 -146.1 0.0 0.0 0 68 0.00 0.00 -49.35 0.000 2 0.000 0.000 337 2255 1729 0 0 0 0 0 0

71 -0.78 -146.1 3.1 -0.6 10 176 10.52 2.38 -84.20 0.000 4 0.244 0.079 2936 832 3657 0 0 0 0 0 0

250 -0.78 -146.1 20.9 -16.6 43 255 0.00 2.38 0.00 0.000 6 0.000 0.070 2929 2253 3661 0 0 0 0 0 0

594 -0.78 -146.1 65.1 -12.4 104 599 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2253 3665 0 0 0 0 0 0

940 -0.78 -146.1 107.8 -12.0 160 944 0.00 2.17 0.00 0.000 4 0.000 0.080 2919 3597 3666 0 0 0 0 0 0

990 -0.78 -146.1 114.1 -12.4 164 996 0.10 2.15 0.00 0.000 6 0.158 0.056 2946 2244 3666 0 0 0 0 0 0

1315 -0.78 -146.1 147.5 -9.9 195 1319 0.00 2.28 0.00 0.000 4 0.000 0.068 2946 831 3665 0 0 0 0 0 0

1388 -0.78 -146.1 154.7 -9.4 201 1392 0.00 2.35 0.00 0.000 6 0.000 0.071 2939 2252 3666 0 0 0 0 0 0

1719 -0.78 -146.1 183.7 -8.2 232 1723 0.00 2.20 0.00 0.000 4 0.000 0.084 2929 3605 3665 0 0 0 0 0 0

1753 -0.78 -146.1 186.7 -9.2 234 1758 0.00 2.17 0.00 0.000 6 0.000 0.058 2929 2244 3665 0 0 0 0 0 0

2078 -0.78 -146.1 216.8 -9.4 265 2082 0.00 2.28 0.00 0.000 4 0.000 0.069 2929 835 3665 0 0 0 0 0 0

2122 -0.78 -146.1 221.0 -9.0 268 2129 0.10 2.38 0.00 0.000 6 0.155 0.072 2948 2260 3664 0 0 0 0 0 0

2448 -0.78 -146.1 245.0 -7.0 299 2449 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2259 3664 0 0 0 0 0 0

2769 -0.78 -146.1 268.3 -7.5 329 2773 0.00 2.33 0.00 0.000 4 0.000 0.067 2948 835 3663 0 0 0 0 0 0

2796 -0.78 -146.1 270.8 -7.8 331 2802 0.00 2.38 0.00 0.000 6 0.000 0.071 2941 2260 3663 0 0 0 0 0 0

3122 -0.78 -146.1 297.8 -8.2 362 3123 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2259 3663 0 0 0 0 0 0

3444 -0.78 -146.1 323.5 -7.9 392 3449 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2259 3663 0 0 0 0 0 0

3772 -0.78 -146.1 348.5 -7.6 423 3777 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2259 3662 0 0 0 0 0 0

4100 -0.78 -146.1 372.7 -7.3 454 4104 0.00 2.30 0.00 0.000 4 0.000 0.066 2941 841 3662 0 0 0 0 0 0

4133 -0.78 -146.1 375.4 -7.9 456 4138 0.00 2.35 0.00 0.000 6 0.000 0.069 2932 2255 3662 0 0 0 0 0 0

4458 -0.78 -146.1 399.5 -7.5 487 4459 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2255 3662 0 0 0 0 0 0

4780 -0.78 -146.1 423.5 -7.5 517 4784 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2254 3662 0 0 0 0 0 0

5107 -0.78 -146.1 447.6 -7.1 548 5108 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2255 3662 0 0 0 0 0 0

5426 -0.78 -146.1 470.3 -7.5 578 5431 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2255 3663 0 0 0 0 0 0

5755 -0.78 -146.1 493.4 -6.9 609 5759 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2255 3663 0 0 0 0 0 0

6082 -0.78 -146.1 517.0 -7.4 640 6086 0.00 2.17 0.00 0.000 4 0.000 0.079 2922 3606 3663 0 0 0 0 0 0

6110 -0.78 -146.1 519.4 -8.2 642 6116 0.00 2.15 0.00 0.000 6 0.000 0.054 2923 2235 3663 0 0 0 0 0 0

6435 -0.78 -146.1 542.5 -6.9 673 6440 0.00 2.22 0.00 0.000 4 0.000 0.065 2922 832 3664 0 0 0 0 0 0

6476 -0.78 -146.1 545.7 -7.5 676 6480 0.00 2.25 0.00 0.000 3 0.000 0.067 2914 2194 3663 0 0 0 0 0 0

6481 end dive: TARGET_DEPTH_EXCEEDED

state 6481 begin apogee

6487 -0.17 0.0 546.1 7.7 676 6613 0.47 0.00 122.38 1.162 6 0.113 0.000 3073 2194 3058 0 0 0 0 0 0

6614 end apogee: CONTROL_FINISHED_OK

state 6614 begin climb

6618 0.78 146.1 549.9 0.0 689 6752 0.60 0.00 126.22 1.094 6 0.066 0.000 3287 2194 2462 0 0 0 0 0 0

7069 0.84 193.0 522.9 7.9 732 7114 0.00 2.42 39.97 1.073 4 0.000 0.075 3287 3603 2271 0 0 0 0 0 0

7142 0.84 193.0 516.0 10.4 738 7148 0.00 2.35 0.00 0.000 6 0.000 0.053 3297 2194 2270 0 0 0 0 0 0

7467 0.86 205.9 486.3 9.4 769 7481 0.00 0.00 11.70 0.979 6 0.000 0.000 3297 2194 2218 0 0 0 0 0 0

7796 0.87 219.9 455.6 9.4 800 7811 0.00 0.00 13.20 0.998 6 0.000 0.000 3297 2194 2161 0 0 0 0 0 0

8131 0.89 229.6 424.9 9.6 831 8142 0.00 0.00 9.55 0.944 6 0.000 0.000 3297 2194 2121 0 0 0 0 0 0

8460 0.90 239.0 393.1 9.6 862 8471 0.00 0.00 9.48 0.931 6 0.000 0.000 3297 2194 2083 0 0 0 0 0 0

8789 0.91 252.2 361.6 9.4 893 8810 0.00 2.35 12.55 0.960 4 0.000 0.065 3307 779 2029 0 0 0 0 0 0

8834 0.95 286.0 357.4 8.5 897 8870 0.00 2.35 30.25 1.010 6 0.000 0.066 3307 2203 1892 0 0 0 0 0 0

9190 0.96 287.9 322.0 9.9 930 9194 0.00 2.28 0.00 0.000 4 0.000 0.075 3307 3603 1887 0 0 0 0 0 0

9241 0.96 287.9 316.1 12.2 934 9245 0.00 2.25 0.00 0.000 6 0.000 0.051 3317 2186 1885 0 0 0 0 0 0

9566 0.96 292.1 283.4 9.8 964 9577 0.00 2.25 5.32 0.749 4 0.000 0.061 3327 788 1867 0 0 0 0 0 0

9605 0.96 292.1 279.5 10.1 967 9610 0.00 2.33 0.00 0.000 6 0.000 0.063 3328 2200 1868 0 0 0 0 0 0

9931 0.96 293.6 246.9 9.9 998 9935 0.00 2.25 0.00 0.000 4 0.000 0.074 3328 3599 1868 0 0 0 0 0 0

9982 0.96 293.6 240.9 11.8 1002 9986 0.00 2.20 0.00 0.000 6 0.000 0.052 3338 2194 1867 0 0 0 0 0 0

10313 0.96 293.6 203.9 10.7 1033 10317 0.00 2.22 0.00 0.000 4 0.000 0.062 3348 794 1867 0 0 0 0 0 0

10353 0.96 293.6 199.5 10.9 1036 10357 0.10 2.33 0.00 0.000 6 0.164 0.064 3321 2210 1867 0 0 0 0 0 0

10678 1.00 325.8 169.5 8.5 1066 10714 0.00 2.25 30.25 0.930 4 0.000 0.074 3321 3597 1728 0 0 0 0 0 0

10777 1.00 325.8 160.3 10.1 1074 10783 0.00 2.25 0.00 0.000 6 0.000 0.053 3329 2194 1725 0 0 0 0 0 0

11102 1.04 355.0 130.8 8.7 1105 11134 0.00 2.28 25.35 0.901 4 0.000 0.064 3337 790 1609 0 0 0 0 0 0

11175 1.08 390.7 124.9 8.4 1111 11214 0.00 2.38 32.00 0.884 6 0.000 0.065 3337 2209 1466 0 0 0 0 0 0

11538 1.16 450.6 94.5 7.3 1151 11595 0.10 2.30 50.85 0.878 4 0.104 0.076 3387 3593 1219 0 0 0 0 0 0

11637 1.16 450.6 83.4 13.4 1169 11644 0.12 2.28 0.00 0.000 6 0.154 0.055 3363 2201 1217 0 0 0 0 0 0

11984 1.19 475.1 51.7 8.9 1230 12010 0.00 2.33 19.88 0.835 4 0.000 0.068 3369 790 1121 0 0 0 0 0 0

12062 1.23 508.8 44.2 8.5 1244 12098 0.00 2.35 29.00 0.840 6 0.000 0.067 3369 2201 982 0 0 0 0 0 0

12438 1.23 508.8 14.0 10.5 1311 12442 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2201 976 0 0 0 0 0 0

12538 end climb: SURFACE_DEPTH_REACHED

state 12538 begin surface coast

12582 end surface coast: CONTROL_FINISHED_OK

state 12582 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	369	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	5
D_SURF	4	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	605.89099	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	29	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	21	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-183636.28	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	011755,6649.711,-6023.389,38,1.5,38,-38.2	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	6	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	012514,6649.719,-6023.584,13,1.5,13,-38.2	MHEAD_RNG_PITCHd_Wd	119.2,157614,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	546

FREEZE	2.03,3.498,-1.570,0,1,0	ALTIM_TOP_PING	19.7,18.3
FINISH	2.0,1.022878	_24V_AH	22.3,66.914
SM_CCo	12603,78.55,0.834,0,0,587,605.89	_10V_AH	10.0,35.005
SM_GC	2.88,0.00,0.00,78.55,0.000,0.000,0.834,341,2250,587,-12.75,0.00,605.89	FG_AHR_24Vo	0.000
RAFOS_CLK	517	FG_AHR_10Vo	0.000
RAFOS	0,1282622463,4.033333,4.017500,135,124,48,48,47,42,626,625,1149,1569,1159,1640	MEM	135560
RAFOS_FIX	6649.443359,-6018.486328,240810,040416,7,116,0.34	DATA_FILE_SIZE	53547,1336
IRIDIUM_FIX	6620.33,-6028.15,171199,212154	CAP_FILE_SIZE	140980,0
TT8_MAMPS	0.026845	CFSIZE	260165632,216338432
HUMID	41.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.098	SOUNDSPEED	1453.4
TCM_TEMP	15.50	GPS	240810,045857,6650.221,-6019.963,29,2.3,48,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	243	109.87	SBE_CT	956	24	511.71
Roll_motor	86	138	269.11	SBE_O2	956	19	405.16
VBD_pump_during_apogee	567	1162	14717.12	nil	0	0	0.00
VBD_pump_during_surface	78	834	1461.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.07	nil	0	0	0.00
Iridium_during_connect	37	160	134.43	nil	0	0	0.00
Iridium_during_xfer	216	223	1077.06
Transponder_ping	1	420	14.05
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.36
TT8	2159	19	430.22
LPSleep	7535	2	174.08
TT8_Active	717	19	142.94
TT8_Sampling	2093	39	835.57
TT8_CF8	623	45	286.54
TT8_Kalman	0	0	0.00
Analog_circuits	1843	12	221.26
GPS_charging	0	0	0.00
Compass	2062	8	164.98
RAFOS	2520	3	75.60
Transponder	11	30	3.43

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
16	-0.78	-146.1	0.0	0.0	0	68	0.00	0.00	-49.35	0.000	2	0.000	0.000	337	2255	1729	0	0	0	0	0	0
71	-0.78	-146.1	3.1	-0.6	10	176	10.52	2.38	-84.20	0.000	4	0.244	0.079	2936	832	3657	0	0	0	0	0	0
250	-0.78	-146.1	20.9	-16.6	43	255	0.00	2.38	0.00	0.000	6	0.000	0.070	2929	2253	3661	0	0	0	0	0	0
594	-0.78	-146.1	65.1	-12.4	104	599	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2253	3665	0	0	0	0	0	0
940	-0.78	-146.1	107.8	-12.0	160	944	0.00	2.17	0.00	0.000	4	0.000	0.080	2919	3597	3666	0	0	0	0	0	0
990	-0.78	-146.1	114.1	-12.4	164	996	0.10	2.15	0.00	0.000	6	0.158	0.056	2946	2244	3666	0	0	0	0	0	0
1315	-0.78	-146.1	147.5	-9.9	195	1319	0.00	2.28	0.00	0.000	4	0.000	0.068	2946	831	3665	0	0	0	0	0	0
1388	-0.78	-146.1	154.7	-9.4	201	1392	0.00	2.35	0.00	0.000	6	0.000	0.071	2939	2252	3666	0	0	0	0	0	0
1719	-0.78	-146.1	183.7	-8.2	232	1723	0.00	2.20	0.00	0.000	4	0.000	0.084	2929	3605	3665	0	0	0	0	0	0
1753	-0.78	-146.1	186.7	-9.2	234	1758	0.00	2.17	0.00	0.000	6	0.000	0.058	2929	2244	3665	0	0	0	0	0	0
2078	-0.78	-146.1	216.8	-9.4	265	2082	0.00	2.28	0.00	0.000	4	0.000	0.069	2929	835	3665	0	0	0	0	0	0
2122	-0.78	-146.1	221.0	-9.0	268	2129	0.10	2.38	0.00	0.000	6	0.155	0.072	2948	2260	3664	0	0	0	0	0	0
2448	-0.78	-146.1	245.0	-7.0	299	2449	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2259	3664	0	0	0	0	0	0
2769	-0.78	-146.1	268.3	-7.5	329	2773	0.00	2.33	0.00	0.000	4	0.000	0.067	2948	835	3663	0	0	0	0	0	0
2796	-0.78	-146.1	270.8	-7.8	331	2802	0.00	2.38	0.00	0.000	6	0.000	0.071	2941	2260	3663	0	0	0	0	0	0
3122	-0.78	-146.1	297.8	-8.2	362	3123	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2259	3663	0	0	0	0	0	0
3444	-0.78	-146.1	323.5	-7.9	392	3449	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2259	3663	0	0	0	0	0	0
3772	-0.78	-146.1	348.5	-7.6	423	3777	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2259	3662	0	0	0	0	0	0
4100	-0.78	-146.1	372.7	-7.3	454	4104	0.00	2.30	0.00	0.000	4	0.000	0.066	2941	841	3662	0	0	0	0	0	0
4133	-0.78	-146.1	375.4	-7.9	456	4138	0.00	2.35	0.00	0.000	6	0.000	0.069	2932	2255	3662	0	0	0	0	0	0
4458	-0.78	-146.1	399.5	-7.5	487	4459	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2255	3662	0	0	0	0	0	0
4780	-0.78	-146.1	423.5	-7.5	517	4784	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2254	3662	0	0	0	0	0	0
5107	-0.78	-146.1	447.6	-7.1	548	5108	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2255	3662	0	0	0	0	0	0
5426	-0.78	-146.1	470.3	-7.5	578	5431	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2255	3663	0	0	0	0	0	0
5755	-0.78	-146.1	493.4	-6.9	609	5759	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2255	3663	0	0	0	0	0	0
6082	-0.78	-146.1	517.0	-7.4	640	6086	0.00	2.17	0.00	0.000	4	0.000	0.079	2922	3606	3663	0	0	0	0	0	0
6110	-0.78	-146.1	519.4	-8.2	642	6116	0.00	2.15	0.00	0.000	6	0.000	0.054	2923	2235	3663	0	0	0	0	0	0
6435	-0.78	-146.1	542.5	-6.9	673	6440	0.00	2.22	0.00	0.000	4	0.000	0.065	2922	832	3664	0	0	0	0	0	0
6476	-0.78	-146.1	545.7	-7.5	676	6480	0.00	2.25	0.00	0.000	3	0.000	0.067	2914	2194	3663	0	0	0	0	0	0
6481	end dive: TARGET_DEPTH_EXCEEDED
state	6481	begin apogee
6487	-0.17	0.0	546.1	7.7	676	6613	0.47	0.00	122.38	1.162	6	0.113	0.000	3073	2194	3058	0	0	0	0	0	0
6614	end apogee: CONTROL_FINISHED_OK
state	6614	begin climb
6618	0.78	146.1	549.9	0.0	689	6752	0.60	0.00	126.22	1.094	6	0.066	0.000	3287	2194	2462	0	0	0	0	0	0
7069	0.84	193.0	522.9	7.9	732	7114	0.00	2.42	39.97	1.073	4	0.000	0.075	3287	3603	2271	0	0	0	0	0	0
7142	0.84	193.0	516.0	10.4	738	7148	0.00	2.35	0.00	0.000	6	0.000	0.053	3297	2194	2270	0	0	0	0	0	0
7467	0.86	205.9	486.3	9.4	769	7481	0.00	0.00	11.70	0.979	6	0.000	0.000	3297	2194	2218	0	0	0	0	0	0
7796	0.87	219.9	455.6	9.4	800	7811	0.00	0.00	13.20	0.998	6	0.000	0.000	3297	2194	2161	0	0	0	0	0	0
8131	0.89	229.6	424.9	9.6	831	8142	0.00	0.00	9.55	0.944	6	0.000	0.000	3297	2194	2121	0	0	0	0	0	0
8460	0.90	239.0	393.1	9.6	862	8471	0.00	0.00	9.48	0.931	6	0.000	0.000	3297	2194	2083	0	0	0	0	0	0
8789	0.91	252.2	361.6	9.4	893	8810	0.00	2.35	12.55	0.960	4	0.000	0.065	3307	779	2029	0	0	0	0	0	0
8834	0.95	286.0	357.4	8.5	897	8870	0.00	2.35	30.25	1.010	6	0.000	0.066	3307	2203	1892	0	0	0	0	0	0
9190	0.96	287.9	322.0	9.9	930	9194	0.00	2.28	0.00	0.000	4	0.000	0.075	3307	3603	1887	0	0	0	0	0	0
9241	0.96	287.9	316.1	12.2	934	9245	0.00	2.25	0.00	0.000	6	0.000	0.051	3317	2186	1885	0	0	0	0	0	0
9566	0.96	292.1	283.4	9.8	964	9577	0.00	2.25	5.32	0.749	4	0.000	0.061	3327	788	1867	0	0	0	0	0	0
9605	0.96	292.1	279.5	10.1	967	9610	0.00	2.33	0.00	0.000	6	0.000	0.063	3328	2200	1868	0	0	0	0	0	0
9931	0.96	293.6	246.9	9.9	998	9935	0.00	2.25	0.00	0.000	4	0.000	0.074	3328	3599	1868	0	0	0	0	0	0
9982	0.96	293.6	240.9	11.8	1002	9986	0.00	2.20	0.00	0.000	6	0.000	0.052	3338	2194	1867	0	0	0	0	0	0
10313	0.96	293.6	203.9	10.7	1033	10317	0.00	2.22	0.00	0.000	4	0.000	0.062	3348	794	1867	0	0	0	0	0	0
10353	0.96	293.6	199.5	10.9	1036	10357	0.10	2.33	0.00	0.000	6	0.164	0.064	3321	2210	1867	0	0	0	0	0	0
10678	1.00	325.8	169.5	8.5	1066	10714	0.00	2.25	30.25	0.930	4	0.000	0.074	3321	3597	1728	0	0	0	0	0	0
10777	1.00	325.8	160.3	10.1	1074	10783	0.00	2.25	0.00	0.000	6	0.000	0.053	3329	2194	1725	0	0	0	0	0	0
11102	1.04	355.0	130.8	8.7	1105	11134	0.00	2.28	25.35	0.901	4	0.000	0.064	3337	790	1609	0	0	0	0	0	0
11175	1.08	390.7	124.9	8.4	1111	11214	0.00	2.38	32.00	0.884	6	0.000	0.065	3337	2209	1466	0	0	0	0	0	0
11538	1.16	450.6	94.5	7.3	1151	11595	0.10	2.30	50.85	0.878	4	0.104	0.076	3387	3593	1219	0	0	0	0	0	0
11637	1.16	450.6	83.4	13.4	1169	11644	0.12	2.28	0.00	0.000	6	0.154	0.055	3363	2201	1217	0	0	0	0	0	0
11984	1.19	475.1	51.7	8.9	1230	12010	0.00	2.33	19.88	0.835	4	0.000	0.068	3369	790	1121	0	0	0	0	0	0
12062	1.23	508.8	44.2	8.5	1244	12098	0.00	2.35	29.00	0.840	6	0.000	0.067	3369	2201	982	0	0	0	0	0	0
12438	1.23	508.8	14.0	10.5	1311	12442	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2201	976	0	0	0	0	0	0
12538	end climb: SURFACE_DEPTH_REACHED
state	12538	begin surface coast
12582	end surface coast: CONTROL_FINISHED_OK
state	12582	begin surface