Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 369 * 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 369 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 21 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 16 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 -43312.832 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 -43312.832

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 369 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 073936,6715.442,-5732.391,36,1.8,42,-38.0 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 074520,6715.479,-5732.457,11,1.1,11,-38.0 MHEAD_RNG_PITCHd_Wd 163.7,39557,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 619

Post-dive calculations and measurements:

FREEZE 0.53,-1.226,-1.050,0,1,0 ALTIM_TOP_PING 19.8,19.4

FINISH 0.5,1.015506 ALTIM_BOTTOM_PING 551.0,91.4

SM_CCo 13196,75.97,0.768,0,0,1475,325.02 _24V_AH 22.2,67.773

SM_GC 1.37,0.00,0.00,75.97,0.000,0.000,0.768,126,2469,1475,-8.01,0.23,325.02 _10V_AH 10.0,36.277

RAFOS_CLK 848 FG_AHR_24Vo 0.000

RAFOS 0,1261641664,8.033334,8.017777,57,53,52,0,0,0,196,160,184,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6714.292480,-5739.974121,241209,080856,2,102,1.57 MEM 152552

IRIDIUM_FIX 6641.98,-5723.22,200399,040448 DATA_FILE_SIZE 53554,1340

TT8_MAMPS 0.027612 CAP_FILE_SIZE 153675,0

HUMID 48.66 CFSIZE 260165632,221188096

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,168,0,0

TCM_TEMP 16.60 SOUNDSPEED 1460.6

XPDR_PINGS 3 GPS 241209,112824,6715.586,-5734.156,39,1.7,39,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 299 161.53 SBE_CT 978 24 521.25

Roll_motor 163 105 385.25 SBE_O2 932 19 393.17

VBD_pump_during_apogee 316 1146 8055.54 nil 0 0 0.00

VBD_pump_during_surface 75 767 1294.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.95 nil 0 0 0.00

Iridium_during_connect 32 160 113.72 nil 0 0 0.00

Iridium_during_xfer 154 223 764.19

Transponder_ping 3 420 27.97

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.65

TT8 2316 19 461.51

LPSleep 7721 2 178.37

TT8_Active 590 19 117.72

TT8_Sampling 2539 39 1013.61

TT8_CF8 445 45 204.69

TT8_Kalman 0 0 0.00

Analog_circuits 1863 12 223.63

GPS_charging 0 0 0.00

Compass 2485 8 198.84

RAFOS 2520 1 37.80

Transponder 19 30 5.74

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

15 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.47 0.000 2 0.000 0.000 126 2455 3036 0 0 0 0 0 0

116 -0.73 -146.0 3.1 -4.7 19 148 11.55 2.20 -10.95 0.000 4 0.299 0.106 2449 860 3399 0 0 0 0 0 0

322 -0.73 -146.0 29.2 -11.4 56 327 0.00 2.05 0.00 0.000 6 0.000 0.074 2449 2459 3401 0 0 0 0 0 0

664 -0.73 -146.0 64.8 -9.4 117 670 0.00 2.12 0.00 0.000 4 0.000 0.093 2449 852 3400 0 0 0 0 0 0

922 -0.73 -146.0 92.6 -10.7 163 929 0.00 2.05 0.00 0.000 6 0.000 0.074 2449 2460 3401 0 0 0 0 0 0

1253 -0.77 -146.0 126.1 -10.1 200 1257 0.00 2.12 0.00 0.000 4 0.000 0.094 2449 868 3401 0 0 0 0 0 0

1511 -0.82 -146.0 153.2 -9.7 223 1515 0.00 2.05 0.00 0.000 6 0.000 0.075 2449 2469 3400 0 0 0 0 0 0

1836 -0.91 -146.0 180.1 -7.7 253 1846 0.17 3.58 0.00 0.000 4 0.119 0.091 2377 3931 3399 0 0 5 0 0 0

2087 -0.77 -146.0 207.0 -10.7 275 2094 0.25 3.45 0.00 0.000 6 0.208 0.070 2436 2469 3398 0 0 3 0 0 0

2413 -0.83 -146.0 233.0 -7.8 306 2418 0.00 3.55 0.00 0.000 4 0.000 0.090 2435 3916 3398 0 0 4 0 0 0

2655 -0.90 -146.0 252.4 -8.5 327 2661 0.12 3.40 0.00 0.000 6 0.127 0.067 2394 2463 3398 0 0 4 0 0 0

2979 -0.83 -146.0 284.0 -9.7 357 2985 0.00 3.55 0.00 0.000 4 0.000 0.087 2394 3918 3398 0 0 4 0 0 0

3237 -0.76 -146.0 309.0 -9.7 379 3244 0.20 3.40 0.00 0.000 6 0.199 0.066 2441 2457 3399 0 0 4 0 0 0

3563 -0.85 -146.0 333.4 -7.5 410 3568 0.00 3.55 0.00 0.000 4 0.000 0.086 2441 3918 3400 0 0 4 0 0 0

3821 -0.94 -146.0 353.4 -7.6 432 3828 0.17 3.40 0.00 0.000 6 0.107 0.065 2382 2455 3401 0 0 4 0 0 0

4146 -0.84 -146.0 384.2 -9.6 463 4150 0.15 2.10 0.00 0.000 4 0.196 0.087 2421 843 3401 0 0 0 0 0 0

4402 -0.84 -146.0 408.5 -9.3 485 4409 0.00 2.08 0.00 0.000 6 0.000 0.068 2421 2462 3402 0 0 0 0 0 0

4728 -0.84 -146.0 435.5 -8.9 516 4733 0.00 3.55 0.00 0.000 4 0.000 0.086 2421 3927 3402 0 0 4 0 0 0

4906 -0.84 -146.0 451.6 -9.2 531 4913 0.00 3.42 0.00 0.000 6 0.000 0.065 2421 2458 3402 0 0 4 0 0 0

5231 -0.84 -146.0 478.3 -8.1 562 5237 0.00 3.58 0.00 0.000 4 0.000 0.086 2421 3927 3402 0 0 4 0 0 0

5490 -0.84 -146.0 499.8 -8.5 584 5499 0.00 3.40 0.00 0.000 6 0.000 0.068 2421 2464 3402 0 0 4 0 0 0

5814 -0.84 -146.0 526.2 -8.1 615 5818 0.00 2.10 0.00 0.000 4 0.000 0.087 2421 836 3402 0 0 0 0 0 0

6072 -0.84 -146.0 549.0 -9.2 638 6076 0.00 2.05 0.00 0.000 6 0.000 0.068 2421 2468 3402 0 0 0 0 0 0

6403 -0.88 -146.0 576.7 -8.2 669 6408 0.00 3.50 0.00 0.000 4 0.000 0.086 2421 3922 3402 0 0 6 0 0 0

6600 -0.93 -146.0 593.4 -7.7 686 6605 0.00 3.42 0.00 0.000 6 0.000 0.065 2421 2456 3402 0 0 4 0 0 0

6933 end dive: TARGET_DEPTH_EXCEEDED

state 6934 begin apogee

6940 -0.16 0.0 620.6 7.8 702 7068 0.77 0.00 125.05 1.147 6 0.179 0.000 2633 1932 2800 0 0 0 0 0 0

7069 end apogee: CONTROL_FINISHED_OK

state 7069 begin climb

7071 0.73 146.0 623.1 0.0 706 7209 0.95 1.98 129.45 1.090 4 0.130 0.090 2922 366 2203 0 0 0 0 0 0

7389 0.64 146.0 591.2 12.3 719 7395 0.00 1.83 0.00 0.000 6 0.000 0.061 2922 1975 2197 0 0 0 0 0 0

7713 0.57 146.0 553.2 11.7 750 7723 0.20 3.75 0.00 0.000 4 0.199 0.077 2868 3529 2195 0 0 5 0 0 0

7870 0.57 146.0 537.3 9.9 764 7879 0.00 3.78 0.00 0.000 6 0.000 0.073 2882 1949 2193 0 0 3 0 0 0

8198 0.63 146.0 506.5 9.2 795 8207 0.00 3.75 0.00 0.000 4 0.000 0.080 2882 3528 2193 0 0 5 0 0 0

8365 0.63 146.0 489.6 10.5 810 8374 0.00 3.75 0.00 0.000 6 0.000 0.074 2900 1946 2193 0 0 4 0 0 0

8692 0.63 146.0 458.5 9.3 841 8702 0.00 3.75 0.00 0.000 4 0.000 0.081 2899 3534 2193 0 0 6 0 0 0

8855 0.56 146.0 441.7 10.6 855 8862 0.17 3.78 0.00 0.000 6 0.205 0.074 2876 1942 2192 0 0 3 0 0 0

9180 0.70 175.7 415.6 7.9 886 9212 0.12 3.78 24.50 0.999 4 0.127 0.081 2917 3528 2081 0 0 6 0 0 0

9376 0.62 175.7 393.6 12.3 903 9382 0.17 3.80 0.00 0.000 6 0.204 0.074 2895 1937 2079 0 0 3 0 0 0

9700 0.69 187.3 363.7 8.7 934 9721 0.00 3.78 10.43 0.919 4 0.000 0.080 2895 3534 2036 0 0 6 0 0 0

9873 0.69 187.3 346.2 9.9 949 9878 0.00 3.80 0.00 0.000 6 0.000 0.074 2910 1936 2035 0 0 3 0 0 0

10199 0.69 187.3 312.7 10.6 980 10208 0.00 3.75 0.00 0.000 4 0.000 0.079 2909 3527 2034 0 0 6 0 0 0

10359 0.69 187.3 294.0 11.3 994 10365 0.00 3.75 0.00 0.000 6 0.000 0.074 2926 1944 2034 0 0 4 0 0 0

10683 0.69 187.3 257.5 11.9 1025 10693 0.00 3.75 0.00 0.000 4 0.000 0.081 2926 3529 2033 0 0 6 0 0 0

10823 0.59 187.3 239.6 13.0 1037 10829 0.25 3.78 0.00 0.000 6 0.196 0.074 2883 1945 2033 0 0 3 0 0 0

11147 0.70 187.3 209.0 9.7 1068 11156 0.00 3.75 0.00 0.000 4 0.000 0.079 2883 3529 2032 0 0 5 0 0 0

11327 0.76 187.3 189.9 11.0 1084 11337 0.12 3.75 0.00 0.000 6 0.117 0.074 2939 1942 2033 0 0 4 0 0 0

11655 0.76 187.3 151.6 11.7 1115 11664 0.00 3.75 0.00 0.000 4 0.000 0.078 2939 3536 2033 0 0 6 0 0 0

11790 0.66 187.3 135.1 12.9 1127 11800 0.22 3.78 0.00 0.000 6 0.200 0.073 2903 1945 2033 0 0 3 0 0 0

12120 0.82 217.9 106.5 7.9 1158 12155 0.15 3.80 27.02 0.814 4 0.120 0.080 2954 3522 1910 0 0 6 0 0 0

12284 0.73 217.9 87.7 11.9 1182 12291 0.17 3.80 0.00 0.000 6 0.202 0.074 2931 1936 1907 0 0 3 0 0 0

12629 0.83 219.3 55.3 9.1 1243 12635 0.00 3.78 0.00 0.000 4 0.000 0.081 2931 3526 1906 0 0 6 0 0 0

12798 0.83 219.3 37.0 10.7 1273 12804 0.00 3.80 0.00 0.000 6 0.000 0.075 2946 1943 1906 0 0 3 0 0 0

13141 0.83 219.3 3.6 9.9 1334 13147 0.00 3.78 0.00 0.000 4 0.000 0.081 2946 3526 1905 0 0 6 0 0 0

13158 end climb: SURFACE_DEPTH_REACHED

state 13158 begin surface coast

13176 end surface coast: CONTROL_FINISHED_OK

state 13176 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	369	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	21	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	16	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	-43312.832	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	073936,6715.442,-5732.391,36,1.8,42,-38.0	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	074520,6715.479,-5732.457,11,1.1,11,-38.0	MHEAD_RNG_PITCHd_Wd	163.7,39557,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	619

FREEZE	0.53,-1.226,-1.050,0,1,0	ALTIM_TOP_PING	19.8,19.4
FINISH	0.5,1.015506	ALTIM_BOTTOM_PING	551.0,91.4
SM_CCo	13196,75.97,0.768,0,0,1475,325.02	_24V_AH	22.2,67.773
SM_GC	1.37,0.00,0.00,75.97,0.000,0.000,0.768,126,2469,1475,-8.01,0.23,325.02	_10V_AH	10.0,36.277
RAFOS_CLK	848	FG_AHR_24Vo	0.000
RAFOS	0,1261641664,8.033334,8.017777,57,53,52,0,0,0,196,160,184,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6714.292480,-5739.974121,241209,080856,2,102,1.57	MEM	152552
IRIDIUM_FIX	6641.98,-5723.22,200399,040448	DATA_FILE_SIZE	53554,1340
TT8_MAMPS	0.027612	CAP_FILE_SIZE	153675,0
HUMID	48.66	CFSIZE	260165632,221188096
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,168,0,0
TCM_TEMP	16.60	SOUNDSPEED	1460.6
XPDR_PINGS	3	GPS	241209,112824,6715.586,-5734.156,39,1.7,39,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	299	161.53	SBE_CT	978	24	521.25
Roll_motor	163	105	385.25	SBE_O2	932	19	393.17
VBD_pump_during_apogee	316	1146	8055.54	nil	0	0	0.00
VBD_pump_during_surface	75	767	1294.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.95	nil	0	0	0.00
Iridium_during_connect	32	160	113.72	nil	0	0	0.00
Iridium_during_xfer	154	223	764.19
Transponder_ping	3	420	27.97
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.65
TT8	2316	19	461.51
LPSleep	7721	2	178.37
TT8_Active	590	19	117.72
TT8_Sampling	2539	39	1013.61
TT8_CF8	445	45	204.69
TT8_Kalman	0	0	0.00
Analog_circuits	1863	12	223.63
GPS_charging	0	0	0.00
Compass	2485	8	198.84
RAFOS	2520	1	37.80
Transponder	19	30	5.74

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
15	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-94.47	0.000	2	0.000	0.000	126	2455	3036	0	0	0	0	0	0
116	-0.73	-146.0	3.1	-4.7	19	148	11.55	2.20	-10.95	0.000	4	0.299	0.106	2449	860	3399	0	0	0	0	0	0
322	-0.73	-146.0	29.2	-11.4	56	327	0.00	2.05	0.00	0.000	6	0.000	0.074	2449	2459	3401	0	0	0	0	0	0
664	-0.73	-146.0	64.8	-9.4	117	670	0.00	2.12	0.00	0.000	4	0.000	0.093	2449	852	3400	0	0	0	0	0	0
922	-0.73	-146.0	92.6	-10.7	163	929	0.00	2.05	0.00	0.000	6	0.000	0.074	2449	2460	3401	0	0	0	0	0	0
1253	-0.77	-146.0	126.1	-10.1	200	1257	0.00	2.12	0.00	0.000	4	0.000	0.094	2449	868	3401	0	0	0	0	0	0
1511	-0.82	-146.0	153.2	-9.7	223	1515	0.00	2.05	0.00	0.000	6	0.000	0.075	2449	2469	3400	0	0	0	0	0	0
1836	-0.91	-146.0	180.1	-7.7	253	1846	0.17	3.58	0.00	0.000	4	0.119	0.091	2377	3931	3399	0	0	5	0	0	0
2087	-0.77	-146.0	207.0	-10.7	275	2094	0.25	3.45	0.00	0.000	6	0.208	0.070	2436	2469	3398	0	0	3	0	0	0
2413	-0.83	-146.0	233.0	-7.8	306	2418	0.00	3.55	0.00	0.000	4	0.000	0.090	2435	3916	3398	0	0	4	0	0	0
2655	-0.90	-146.0	252.4	-8.5	327	2661	0.12	3.40	0.00	0.000	6	0.127	0.067	2394	2463	3398	0	0	4	0	0	0
2979	-0.83	-146.0	284.0	-9.7	357	2985	0.00	3.55	0.00	0.000	4	0.000	0.087	2394	3918	3398	0	0	4	0	0	0
3237	-0.76	-146.0	309.0	-9.7	379	3244	0.20	3.40	0.00	0.000	6	0.199	0.066	2441	2457	3399	0	0	4	0	0	0
3563	-0.85	-146.0	333.4	-7.5	410	3568	0.00	3.55	0.00	0.000	4	0.000	0.086	2441	3918	3400	0	0	4	0	0	0
3821	-0.94	-146.0	353.4	-7.6	432	3828	0.17	3.40	0.00	0.000	6	0.107	0.065	2382	2455	3401	0	0	4	0	0	0
4146	-0.84	-146.0	384.2	-9.6	463	4150	0.15	2.10	0.00	0.000	4	0.196	0.087	2421	843	3401	0	0	0	0	0	0
4402	-0.84	-146.0	408.5	-9.3	485	4409	0.00	2.08	0.00	0.000	6	0.000	0.068	2421	2462	3402	0	0	0	0	0	0
4728	-0.84	-146.0	435.5	-8.9	516	4733	0.00	3.55	0.00	0.000	4	0.000	0.086	2421	3927	3402	0	0	4	0	0	0
4906	-0.84	-146.0	451.6	-9.2	531	4913	0.00	3.42	0.00	0.000	6	0.000	0.065	2421	2458	3402	0	0	4	0	0	0
5231	-0.84	-146.0	478.3	-8.1	562	5237	0.00	3.58	0.00	0.000	4	0.000	0.086	2421	3927	3402	0	0	4	0	0	0
5490	-0.84	-146.0	499.8	-8.5	584	5499	0.00	3.40	0.00	0.000	6	0.000	0.068	2421	2464	3402	0	0	4	0	0	0
5814	-0.84	-146.0	526.2	-8.1	615	5818	0.00	2.10	0.00	0.000	4	0.000	0.087	2421	836	3402	0	0	0	0	0	0
6072	-0.84	-146.0	549.0	-9.2	638	6076	0.00	2.05	0.00	0.000	6	0.000	0.068	2421	2468	3402	0	0	0	0	0	0
6403	-0.88	-146.0	576.7	-8.2	669	6408	0.00	3.50	0.00	0.000	4	0.000	0.086	2421	3922	3402	0	0	6	0	0	0
6600	-0.93	-146.0	593.4	-7.7	686	6605	0.00	3.42	0.00	0.000	6	0.000	0.065	2421	2456	3402	0	0	4	0	0	0
6933	end dive: TARGET_DEPTH_EXCEEDED
state	6934	begin apogee
6940	-0.16	0.0	620.6	7.8	702	7068	0.77	0.00	125.05	1.147	6	0.179	0.000	2633	1932	2800	0	0	0	0	0	0
7069	end apogee: CONTROL_FINISHED_OK
state	7069	begin climb
7071	0.73	146.0	623.1	0.0	706	7209	0.95	1.98	129.45	1.090	4	0.130	0.090	2922	366	2203	0	0	0	0	0	0
7389	0.64	146.0	591.2	12.3	719	7395	0.00	1.83	0.00	0.000	6	0.000	0.061	2922	1975	2197	0	0	0	0	0	0
7713	0.57	146.0	553.2	11.7	750	7723	0.20	3.75	0.00	0.000	4	0.199	0.077	2868	3529	2195	0	0	5	0	0	0
7870	0.57	146.0	537.3	9.9	764	7879	0.00	3.78	0.00	0.000	6	0.000	0.073	2882	1949	2193	0	0	3	0	0	0
8198	0.63	146.0	506.5	9.2	795	8207	0.00	3.75	0.00	0.000	4	0.000	0.080	2882	3528	2193	0	0	5	0	0	0
8365	0.63	146.0	489.6	10.5	810	8374	0.00	3.75	0.00	0.000	6	0.000	0.074	2900	1946	2193	0	0	4	0	0	0
8692	0.63	146.0	458.5	9.3	841	8702	0.00	3.75	0.00	0.000	4	0.000	0.081	2899	3534	2193	0	0	6	0	0	0
8855	0.56	146.0	441.7	10.6	855	8862	0.17	3.78	0.00	0.000	6	0.205	0.074	2876	1942	2192	0	0	3	0	0	0
9180	0.70	175.7	415.6	7.9	886	9212	0.12	3.78	24.50	0.999	4	0.127	0.081	2917	3528	2081	0	0	6	0	0	0
9376	0.62	175.7	393.6	12.3	903	9382	0.17	3.80	0.00	0.000	6	0.204	0.074	2895	1937	2079	0	0	3	0	0	0
9700	0.69	187.3	363.7	8.7	934	9721	0.00	3.78	10.43	0.919	4	0.000	0.080	2895	3534	2036	0	0	6	0	0	0
9873	0.69	187.3	346.2	9.9	949	9878	0.00	3.80	0.00	0.000	6	0.000	0.074	2910	1936	2035	0	0	3	0	0	0
10199	0.69	187.3	312.7	10.6	980	10208	0.00	3.75	0.00	0.000	4	0.000	0.079	2909	3527	2034	0	0	6	0	0	0
10359	0.69	187.3	294.0	11.3	994	10365	0.00	3.75	0.00	0.000	6	0.000	0.074	2926	1944	2034	0	0	4	0	0	0
10683	0.69	187.3	257.5	11.9	1025	10693	0.00	3.75	0.00	0.000	4	0.000	0.081	2926	3529	2033	0	0	6	0	0	0
10823	0.59	187.3	239.6	13.0	1037	10829	0.25	3.78	0.00	0.000	6	0.196	0.074	2883	1945	2033	0	0	3	0	0	0
11147	0.70	187.3	209.0	9.7	1068	11156	0.00	3.75	0.00	0.000	4	0.000	0.079	2883	3529	2032	0	0	5	0	0	0
11327	0.76	187.3	189.9	11.0	1084	11337	0.12	3.75	0.00	0.000	6	0.117	0.074	2939	1942	2033	0	0	4	0	0	0
11655	0.76	187.3	151.6	11.7	1115	11664	0.00	3.75	0.00	0.000	4	0.000	0.078	2939	3536	2033	0	0	6	0	0	0
11790	0.66	187.3	135.1	12.9	1127	11800	0.22	3.78	0.00	0.000	6	0.200	0.073	2903	1945	2033	0	0	3	0	0	0
12120	0.82	217.9	106.5	7.9	1158	12155	0.15	3.80	27.02	0.814	4	0.120	0.080	2954	3522	1910	0	0	6	0	0	0
12284	0.73	217.9	87.7	11.9	1182	12291	0.17	3.80	0.00	0.000	6	0.202	0.074	2931	1936	1907	0	0	3	0	0	0
12629	0.83	219.3	55.3	9.1	1243	12635	0.00	3.78	0.00	0.000	4	0.000	0.081	2931	3526	1906	0	0	6	0	0	0
12798	0.83	219.3	37.0	10.7	1273	12804	0.00	3.80	0.00	0.000	6	0.000	0.075	2946	1943	1906	0	0	3	0	0	0
13141	0.83	219.3	3.6	9.9	1334	13147	0.00	3.78	0.00	0.000	4	0.000	0.081	2946	3526	1905	0	0	6	0	0	0
13158	end climb: SURFACE_DEPTH_REACHED
state	13158	begin surface coast
13176	end surface coast: CONTROL_FINISHED_OK
state	13176	begin surface