Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 372 * 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 372 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 27 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 -183680.56 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 -183680.56

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 27 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 372 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 124407,6649.730,-6013.508,32,1.1,32,-38.2 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 125625,6649.671,-6013.750,10,1.1,15,-38.2 MHEAD_RNG_PITCHd_Wd 118.8,150618,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 583

Post-dive calculations and measurements:

FREEZE 1.95,2.611,-1.635,0,1,0 ALTIM_TOP_PING 19.9,18.2

FINISH 2.0,1.023871 _24V_AH 22.1,67.535

SM_CCo 13207,101.22,0.826,0,0,587,605.89 _10V_AH 10.0,35.253

SM_GC 2.93,0.00,0.00,101.22,0.000,0.000,0.826,335,2248,587,-12.77,-0.06,605.89 FG_AHR_24Vo 0.000

RAFOS_CLK 554 FG_AHR_10Vo 0.000

RAFOS 5,1282653668,12.700000,12.685555,44,43,43,42,41,39,1126,294,1884,1059,587,1883 MEM 135520

RAFOS_FIX 6649.102051,-6012.775879,240810,161656,4,122,0.11 DATA_FILE_SIZE 53536,1401

IRIDIUM_FIX 6620.33,-6018.02,181199,121221 CAP_FILE_SIZE 145466,0

TT8_MAMPS 0.027612 CFSIZE 260165632,216096768

HUMID 41.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.0785 SOUNDSPEED 1453.8

TCM_TEMP 15.40 GPS 240810,164017,6650.890,-6010.960,31,1.4,42,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 233 102.62 SBE_CT 1018 24 540.21

Roll_motor 72 161 260.64 SBE_O2 997 19 418.87

VBD_pump_during_apogee 549 1188 14432.62 nil 0 0 0.00

VBD_pump_during_surface 101 826 1847.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 132.63 nil 0 0 0.00

Iridium_during_connect 64 160 227.22 nil 0 0 0.00

Iridium_during_xfer 375 223 1851.81

Transponder_ping 1 420 16.24

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.37

TT8 2197 19 437.75

LPSleep 8078 2 186.61

TT8_Active 729 19 145.31

TT8_Sampling 2158 39 861.79

TT8_CF8 879 45 403.79

TT8_Kalman 0 0 0.00

Analog_circuits 1882 12 225.92

GPS_charging 0 0 0.00

Compass 2134 8 170.77

RAFOS 1800 3 54.00

Transponder 13 30 3.96

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

16 -0.78 -146.1 0.0 0.0 0 57 0.00 0.00 -39.42 0.000 2 0.000 0.000 335 2236 1507 0 0 0 0 0 0

62 -0.78 -146.1 3.0 -0.8 8 186 10.23 2.30 -103.78 0.000 4 0.234 0.080 2932 838 3657 0 0 0 0 0 0

323 -0.78 -146.1 29.7 -12.4 56 328 0.00 2.35 0.00 0.000 6 0.000 0.068 2924 2252 3662 0 0 0 0 0 0

667 -0.78 -146.1 71.2 -11.7 117 672 0.00 2.20 0.00 0.000 4 0.000 0.079 2914 3602 3664 0 0 0 0 0 0

724 -0.78 -146.1 78.1 -11.8 127 730 0.10 2.15 0.00 0.000 6 0.163 0.054 2940 2247 3664 0 0 0 0 0 0

1068 -0.78 -146.1 113.1 -10.2 177 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2247 3665 0 0 0 0 0 0

1389 -0.78 -146.1 145.1 -10.4 207 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2247 3665 0 0 0 0 0 0

1717 -0.78 -146.1 175.9 -8.2 238 1721 0.00 2.25 0.00 0.000 4 0.000 0.067 2941 842 3664 0 0 0 0 0 0

1733 -0.78 -146.1 177.7 -8.4 239 1739 0.00 2.35 0.00 0.000 6 0.000 0.071 2933 2256 3664 0 0 0 0 0 0

2059 -0.78 -146.1 205.8 -8.4 270 2063 0.00 2.17 0.00 0.000 4 0.000 0.082 2923 3602 3663 0 0 0 0 0 0

2110 -0.78 -146.1 210.6 -9.6 274 2114 0.00 2.17 0.00 0.000 6 0.000 0.058 2923 2240 3663 0 0 0 0 0 0

2435 -0.78 -146.1 240.4 -8.9 304 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3663 0 0 0 0 0 0

2756 -0.78 -146.1 267.9 -8.5 334 2757 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3662 0 0 0 0 0 0

3075 -0.78 -146.1 296.1 -8.7 364 3080 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3662 0 0 0 0 0 0

3403 -0.78 -146.1 323.8 -8.4 395 3404 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3661 0 0 0 0 0 0

3722 -0.78 -146.1 349.9 -8.3 425 3728 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3661 0 0 0 0 0 0

4049 -0.78 -146.1 374.7 -7.6 456 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3661 0 0 0 0 0 0

4368 -0.78 -146.1 398.3 -7.3 486 4373 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3661 0 0 0 0 0 0

4697 -0.78 -146.1 423.5 -7.8 517 4701 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3661 0 0 0 0 0 0

5027 -0.78 -146.1 448.7 -7.9 548 5032 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2240 3661 0 0 0 0 0 0

5355 -0.78 -146.1 474.2 -7.6 579 5359 0.00 2.22 0.00 0.000 4 0.000 0.077 2915 3596 3661 0 0 0 0 0 0

5382 -0.78 -146.1 476.8 -8.2 581 5389 0.10 2.15 0.00 0.000 6 0.151 0.055 2943 2238 3661 0 0 0 0 0 0

5708 -0.78 -146.1 497.5 -6.4 612 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2238 3661 0 0 0 0 0 0

6030 -0.78 -146.1 517.7 -5.9 642 6035 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2238 3662 0 0 0 0 0 0

6358 -0.78 -146.1 538.9 -6.6 673 6362 0.00 2.25 0.00 0.000 4 0.000 0.076 2936 3603 3662 0 0 0 0 0 0

6387 -0.78 -146.1 541.1 -6.7 675 6391 0.00 2.12 0.00 0.000 6 0.000 0.053 2936 2244 3662 0 0 0 0 0 0

6712 -0.78 -146.1 562.5 -6.0 705 6714 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2243 3662 0 0 0 0 0 0

7030 end dive: TARGET_DEPTH_EXCEEDED

state 7030 begin apogee

7037 -0.17 0.0 583.3 6.4 735 7164 0.40 0.00 123.15 1.188 6 0.111 0.000 3073 2201 3058 0 0 0 0 0 0

7165 end apogee: CONTROL_FINISHED_OK

state 7165 begin climb

7168 0.78 146.1 588.1 0.0 748 7308 0.60 2.62 126.88 1.124 4 0.065 0.070 3289 3596 2461 0 0 0 0 0 0

7321 0.87 219.3 582.8 6.7 763 7395 0.00 2.45 66.30 1.081 6 0.000 0.050 3298 2196 2164 0 0 0 0 0 0

7721 0.87 219.3 543.9 10.3 801 7722 0.00 0.00 0.00 0.000 6 0.000 0.000 3298 2196 2158 0 0 0 0 0 0

8043 0.88 229.6 512.8 9.5 831 8054 0.00 0.00 8.90 0.953 6 0.000 0.000 3298 2196 2122 0 0 0 0 0 0

8369 0.90 240.0 479.9 9.5 862 8384 0.00 2.28 10.73 0.986 4 0.000 0.061 3309 783 2078 0 0 0 0 0 0

8419 0.90 240.0 475.1 10.0 866 8423 0.00 2.38 0.00 0.000 6 0.000 0.064 3309 2212 2079 0 0 0 0 0 0

8744 0.90 240.0 440.4 11.0 896 8748 0.00 2.22 0.00 0.000 4 0.000 0.073 3309 3593 2078 0 0 0 0 0 0

8806 0.90 240.0 432.5 13.3 901 8810 0.00 2.20 0.00 0.000 6 0.000 0.051 3318 2191 2076 0 0 0 0 0 0

9136 0.90 240.0 392.8 11.8 932 9140 0.00 2.20 0.00 0.000 4 0.000 0.061 3329 795 2077 0 0 0 0 0 0

9180 0.90 240.0 387.6 12.4 935 9186 0.10 2.30 0.00 0.000 6 0.166 0.062 3303 2199 2078 0 0 0 0 0 0

9505 0.91 247.1 354.9 9.7 966 9519 0.00 2.30 7.10 0.867 4 0.000 0.073 3303 3594 2050 0 0 0 0 0 0

9564 0.91 247.1 348.2 11.6 971 9570 0.00 2.20 0.00 0.000 6 0.000 0.051 3310 2196 2050 0 0 0 0 0 0

9890 0.91 249.3 315.5 9.9 1002 9900 0.00 2.28 3.40 0.581 4 0.000 0.061 3321 794 2042 0 0 0 0 0 0

9918 0.93 262.7 312.6 9.4 1004 9937 0.00 2.30 13.18 0.948 6 0.000 0.062 3321 2201 1987 0 0 0 0 0 0

10262 0.93 262.7 277.1 10.3 1037 10266 0.00 2.25 0.00 0.000 4 0.000 0.074 3321 3599 1986 0 0 0 0 0 0

10318 0.93 262.7 270.7 11.7 1041 10323 0.00 2.22 0.00 0.000 6 0.000 0.051 3331 2190 1985 0 0 0 0 0 0

10642 0.93 262.7 237.3 10.0 1072 10646 0.00 2.22 0.00 0.000 4 0.000 0.063 3341 783 1984 0 0 0 0 0 0

10687 0.94 276.3 233.0 9.4 1075 10707 0.10 2.33 12.98 0.913 6 0.163 0.063 3314 2199 1931 0 0 0 0 0 0

11033 0.99 313.5 203.4 8.3 1108 11074 0.00 2.35 32.62 0.948 4 0.000 0.074 3314 3604 1778 0 0 0 0 0 0

11113 0.99 313.5 195.8 10.5 1115 11119 0.00 2.25 0.00 0.000 6 0.000 0.051 3321 2203 1775 0 0 0 0 0 0

11438 1.03 349.0 167.6 8.4 1146 11474 0.00 2.33 30.62 0.923 4 0.000 0.062 3330 786 1635 0 0 0 0 0 0

11502 1.08 391.8 162.4 8.0 1151 11549 0.00 2.38 38.33 0.900 6 0.000 0.063 3330 2202 1459 0 0 0 0 0 0

11869 1.11 416.3 129.6 8.9 1186 11892 0.10 0.00 20.88 0.871 6 0.106 0.000 3378 2202 1360 0 0 0 0 0 0

12213 1.11 416.3 85.7 12.4 1228 12218 0.10 0.00 0.00 0.000 6 0.163 0.000 3352 2201 1355 0 0 0 0 0 0

12559 1.13 424.8 52.6 9.6 1289 12569 0.00 0.00 7.00 0.751 6 0.000 0.000 3352 2202 1326 0 0 0 0 0 0

12911 1.19 480.3 24.4 7.5 1351 12962 0.00 0.00 47.62 0.869 6 0.000 0.000 3352 2202 1100 0 0 0 0 0 0

13146 end climb: SURFACE_DEPTH_REACHED

state 13146 begin surface coast

13187 end surface coast: CONTROL_FINISHED_OK

state 13187 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	372	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	27	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	-183680.56	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	124407,6649.730,-6013.508,32,1.1,32,-38.2	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	125625,6649.671,-6013.750,10,1.1,15,-38.2	MHEAD_RNG_PITCHd_Wd	118.8,150618,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	583

FREEZE	1.95,2.611,-1.635,0,1,0	ALTIM_TOP_PING	19.9,18.2
FINISH	2.0,1.023871	_24V_AH	22.1,67.535
SM_CCo	13207,101.22,0.826,0,0,587,605.89	_10V_AH	10.0,35.253
SM_GC	2.93,0.00,0.00,101.22,0.000,0.000,0.826,335,2248,587,-12.77,-0.06,605.89	FG_AHR_24Vo	0.000
RAFOS_CLK	554	FG_AHR_10Vo	0.000
RAFOS	5,1282653668,12.700000,12.685555,44,43,43,42,41,39,1126,294,1884,1059,587,1883	MEM	135520
RAFOS_FIX	6649.102051,-6012.775879,240810,161656,4,122,0.11	DATA_FILE_SIZE	53536,1401
IRIDIUM_FIX	6620.33,-6018.02,181199,121221	CAP_FILE_SIZE	145466,0
TT8_MAMPS	0.027612	CFSIZE	260165632,216096768
HUMID	41.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.0785	SOUNDSPEED	1453.8
TCM_TEMP	15.40	GPS	240810,164017,6650.890,-6010.960,31,1.4,42,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	233	102.62	SBE_CT	1018	24	540.21
Roll_motor	72	161	260.64	SBE_O2	997	19	418.87
VBD_pump_during_apogee	549	1188	14432.62	nil	0	0	0.00
VBD_pump_during_surface	101	826	1847.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	132.63	nil	0	0	0.00
Iridium_during_connect	64	160	227.22	nil	0	0	0.00
Iridium_during_xfer	375	223	1851.81
Transponder_ping	1	420	16.24
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.37
TT8	2197	19	437.75
LPSleep	8078	2	186.61
TT8_Active	729	19	145.31
TT8_Sampling	2158	39	861.79
TT8_CF8	879	45	403.79
TT8_Kalman	0	0	0.00
Analog_circuits	1882	12	225.92
GPS_charging	0	0	0.00
Compass	2134	8	170.77
RAFOS	1800	3	54.00
Transponder	13	30	3.96

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
16	-0.78	-146.1	0.0	0.0	0	57	0.00	0.00	-39.42	0.000	2	0.000	0.000	335	2236	1507	0	0	0	0	0	0
62	-0.78	-146.1	3.0	-0.8	8	186	10.23	2.30	-103.78	0.000	4	0.234	0.080	2932	838	3657	0	0	0	0	0	0
323	-0.78	-146.1	29.7	-12.4	56	328	0.00	2.35	0.00	0.000	6	0.000	0.068	2924	2252	3662	0	0	0	0	0	0
667	-0.78	-146.1	71.2	-11.7	117	672	0.00	2.20	0.00	0.000	4	0.000	0.079	2914	3602	3664	0	0	0	0	0	0
724	-0.78	-146.1	78.1	-11.8	127	730	0.10	2.15	0.00	0.000	6	0.163	0.054	2940	2247	3664	0	0	0	0	0	0
1068	-0.78	-146.1	113.1	-10.2	177	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	2247	3665	0	0	0	0	0	0
1389	-0.78	-146.1	145.1	-10.4	207	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	2247	3665	0	0	0	0	0	0
1717	-0.78	-146.1	175.9	-8.2	238	1721	0.00	2.25	0.00	0.000	4	0.000	0.067	2941	842	3664	0	0	0	0	0	0
1733	-0.78	-146.1	177.7	-8.4	239	1739	0.00	2.35	0.00	0.000	6	0.000	0.071	2933	2256	3664	0	0	0	0	0	0
2059	-0.78	-146.1	205.8	-8.4	270	2063	0.00	2.17	0.00	0.000	4	0.000	0.082	2923	3602	3663	0	0	0	0	0	0
2110	-0.78	-146.1	210.6	-9.6	274	2114	0.00	2.17	0.00	0.000	6	0.000	0.058	2923	2240	3663	0	0	0	0	0	0
2435	-0.78	-146.1	240.4	-8.9	304	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3663	0	0	0	0	0	0
2756	-0.78	-146.1	267.9	-8.5	334	2757	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3662	0	0	0	0	0	0
3075	-0.78	-146.1	296.1	-8.7	364	3080	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3662	0	0	0	0	0	0
3403	-0.78	-146.1	323.8	-8.4	395	3404	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3661	0	0	0	0	0	0
3722	-0.78	-146.1	349.9	-8.3	425	3728	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3661	0	0	0	0	0	0
4049	-0.78	-146.1	374.7	-7.6	456	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3661	0	0	0	0	0	0
4368	-0.78	-146.1	398.3	-7.3	486	4373	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3661	0	0	0	0	0	0
4697	-0.78	-146.1	423.5	-7.8	517	4701	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3661	0	0	0	0	0	0
5027	-0.78	-146.1	448.7	-7.9	548	5032	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2240	3661	0	0	0	0	0	0
5355	-0.78	-146.1	474.2	-7.6	579	5359	0.00	2.22	0.00	0.000	4	0.000	0.077	2915	3596	3661	0	0	0	0	0	0
5382	-0.78	-146.1	476.8	-8.2	581	5389	0.10	2.15	0.00	0.000	6	0.151	0.055	2943	2238	3661	0	0	0	0	0	0
5708	-0.78	-146.1	497.5	-6.4	612	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2238	3661	0	0	0	0	0	0
6030	-0.78	-146.1	517.7	-5.9	642	6035	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2238	3662	0	0	0	0	0	0
6358	-0.78	-146.1	538.9	-6.6	673	6362	0.00	2.25	0.00	0.000	4	0.000	0.076	2936	3603	3662	0	0	0	0	0	0
6387	-0.78	-146.1	541.1	-6.7	675	6391	0.00	2.12	0.00	0.000	6	0.000	0.053	2936	2244	3662	0	0	0	0	0	0
6712	-0.78	-146.1	562.5	-6.0	705	6714	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2243	3662	0	0	0	0	0	0
7030	end dive: TARGET_DEPTH_EXCEEDED
state	7030	begin apogee
7037	-0.17	0.0	583.3	6.4	735	7164	0.40	0.00	123.15	1.188	6	0.111	0.000	3073	2201	3058	0	0	0	0	0	0
7165	end apogee: CONTROL_FINISHED_OK
state	7165	begin climb
7168	0.78	146.1	588.1	0.0	748	7308	0.60	2.62	126.88	1.124	4	0.065	0.070	3289	3596	2461	0	0	0	0	0	0
7321	0.87	219.3	582.8	6.7	763	7395	0.00	2.45	66.30	1.081	6	0.000	0.050	3298	2196	2164	0	0	0	0	0	0
7721	0.87	219.3	543.9	10.3	801	7722	0.00	0.00	0.00	0.000	6	0.000	0.000	3298	2196	2158	0	0	0	0	0	0
8043	0.88	229.6	512.8	9.5	831	8054	0.00	0.00	8.90	0.953	6	0.000	0.000	3298	2196	2122	0	0	0	0	0	0
8369	0.90	240.0	479.9	9.5	862	8384	0.00	2.28	10.73	0.986	4	0.000	0.061	3309	783	2078	0	0	0	0	0	0
8419	0.90	240.0	475.1	10.0	866	8423	0.00	2.38	0.00	0.000	6	0.000	0.064	3309	2212	2079	0	0	0	0	0	0
8744	0.90	240.0	440.4	11.0	896	8748	0.00	2.22	0.00	0.000	4	0.000	0.073	3309	3593	2078	0	0	0	0	0	0
8806	0.90	240.0	432.5	13.3	901	8810	0.00	2.20	0.00	0.000	6	0.000	0.051	3318	2191	2076	0	0	0	0	0	0
9136	0.90	240.0	392.8	11.8	932	9140	0.00	2.20	0.00	0.000	4	0.000	0.061	3329	795	2077	0	0	0	0	0	0
9180	0.90	240.0	387.6	12.4	935	9186	0.10	2.30	0.00	0.000	6	0.166	0.062	3303	2199	2078	0	0	0	0	0	0
9505	0.91	247.1	354.9	9.7	966	9519	0.00	2.30	7.10	0.867	4	0.000	0.073	3303	3594	2050	0	0	0	0	0	0
9564	0.91	247.1	348.2	11.6	971	9570	0.00	2.20	0.00	0.000	6	0.000	0.051	3310	2196	2050	0	0	0	0	0	0
9890	0.91	249.3	315.5	9.9	1002	9900	0.00	2.28	3.40	0.581	4	0.000	0.061	3321	794	2042	0	0	0	0	0	0
9918	0.93	262.7	312.6	9.4	1004	9937	0.00	2.30	13.18	0.948	6	0.000	0.062	3321	2201	1987	0	0	0	0	0	0
10262	0.93	262.7	277.1	10.3	1037	10266	0.00	2.25	0.00	0.000	4	0.000	0.074	3321	3599	1986	0	0	0	0	0	0
10318	0.93	262.7	270.7	11.7	1041	10323	0.00	2.22	0.00	0.000	6	0.000	0.051	3331	2190	1985	0	0	0	0	0	0
10642	0.93	262.7	237.3	10.0	1072	10646	0.00	2.22	0.00	0.000	4	0.000	0.063	3341	783	1984	0	0	0	0	0	0
10687	0.94	276.3	233.0	9.4	1075	10707	0.10	2.33	12.98	0.913	6	0.163	0.063	3314	2199	1931	0	0	0	0	0	0
11033	0.99	313.5	203.4	8.3	1108	11074	0.00	2.35	32.62	0.948	4	0.000	0.074	3314	3604	1778	0	0	0	0	0	0
11113	0.99	313.5	195.8	10.5	1115	11119	0.00	2.25	0.00	0.000	6	0.000	0.051	3321	2203	1775	0	0	0	0	0	0
11438	1.03	349.0	167.6	8.4	1146	11474	0.00	2.33	30.62	0.923	4	0.000	0.062	3330	786	1635	0	0	0	0	0	0
11502	1.08	391.8	162.4	8.0	1151	11549	0.00	2.38	38.33	0.900	6	0.000	0.063	3330	2202	1459	0	0	0	0	0	0
11869	1.11	416.3	129.6	8.9	1186	11892	0.10	0.00	20.88	0.871	6	0.106	0.000	3378	2202	1360	0	0	0	0	0	0
12213	1.11	416.3	85.7	12.4	1228	12218	0.10	0.00	0.00	0.000	6	0.163	0.000	3352	2201	1355	0	0	0	0	0	0
12559	1.13	424.8	52.6	9.6	1289	12569	0.00	0.00	7.00	0.751	6	0.000	0.000	3352	2202	1326	0	0	0	0	0	0
12911	1.19	480.3	24.4	7.5	1351	12962	0.00	0.00	47.62	0.869	6	0.000	0.000	3352	2202	1100	0	0	0	0	0	0
13146	end climb: SURFACE_DEPTH_REACHED
state	13146	begin surface coast
13187	end surface coast: CONTROL_FINISHED_OK
state	13187	begin surface