Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 186 * 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 186 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 18 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 21 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 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 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 -33457.75 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 -33457.75

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 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 186 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 183637,6703.054,-5654.293,39,1.1,39,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 8 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 184650,6703.055,-5654.438,13,1.4,13,-37.6 MHEAD_RNG_PITCHd_Wd 128.8,4651,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 577

Post-dive calculations and measurements:

FREEZE 0.41,0.249,-1.839,0,1,0 ALTIM_TOP_PING 19.9,19.0

FINISH 0.4,1.026909 ALTIM_BOTTOM_PING 400.5,168.1

SM_CCo 11912,73.72,0.725,0,0,1475,325.02 _24V_AH 23.1,42.727

SM_GC 1.39,0.00,0.00,73.72,0.000,0.000,0.725,124,2465,1475,-8.02,0.14,325.02 _10V_AH 10.2,21.808

RAFOS_CLK 747 FG_AHR_24Vo 0.000

RAFOS 0,1259006469,20.033333,20.019167,65,61,60,0,0,0,209,222,152,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6702.959961,-5654.517090,231109,202028,4,69,0.03 MEM 152456

IRIDIUM_FIX 6631.12,-5656.72,170299,151542 DATA_FILE_SIZE 47315,1274

TT8_MAMPS 0.026845 CAP_FILE_SIZE 141838,0

HUMID 47.16 CFSIZE 260165632,235565056

INTERNAL_PRESSURE 8.92612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.90 SOUNDSPEED 1469.8

XPDR_PINGS 3 GPS 231109,220830,6703.121,-5651.518,41,1.3,41,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 288 148.73 SBE_CT 941 24 521.80

Roll_motor 96 88 199.00 SBE_O2 868 19 381.29

VBD_pump_during_apogee 288 1081 7214.16 nil 0 0 0.00

VBD_pump_during_surface 73 724 1234.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.31 nil 0 0 0.00

Iridium_during_connect 31 160 117.90 nil 0 0 0.00

Iridium_during_xfer 431 223 2224.19

Transponder_ping 2 420 19.40

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.56

TT8 2070 19 420.75

LPSleep 7359 2 173.40

TT8_Active 482 19 97.95

TT8_Sampling 2005 39 816.63

TT8_CF8 681 45 319.40

TT8_Kalman 0 0 0.00

Analog_circuits 1514 12 185.37

GPS_charging 0 0 0.00

Compass 1976 8 161.25

RAFOS 2520 1 38.56

Transponder 12 30 3.81

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 0 108 0.00 0.00 -90.35 0.000 2 0.000 0.000 125 2467 3067 0 0 0 0 0 0

110 -0.73 -146.0 3.2 -5.2 18 137 10.95 2.65 -9.18 0.000 4 0.288 0.089 2445 863 3398 0 0 0 0 0 0

289 -0.62 -146.0 29.1 -12.8 50 296 0.17 2.58 0.00 0.000 6 0.214 0.071 2487 2456 3400 0 0 0 0 0 0

633 -0.68 -146.0 65.9 -9.7 111 639 0.00 2.55 0.00 0.000 4 0.000 0.089 2487 3918 3400 0 0 0 0 0 0

732 -0.74 -146.0 74.4 -8.9 128 738 0.12 2.42 0.00 0.000 6 0.121 0.061 2445 2459 3400 0 0 0 0 0 0

1074 -0.69 -146.0 114.9 -11.5 178 1079 0.00 2.53 0.00 0.000 4 0.000 0.087 2444 3912 3400 0 0 0 0 0 0

1159 -0.69 -146.0 124.5 -10.8 185 1163 0.00 2.40 0.00 0.000 6 0.000 0.061 2444 2468 3399 0 0 0 0 0 0

1483 -0.69 -146.0 155.7 -9.3 215 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2470 3400 0 0 0 0 0 0

1803 -0.69 -146.0 187.5 -9.9 245 1807 0.00 2.50 0.00 0.000 4 0.000 0.087 2444 3912 3399 0 0 0 0 0 0

1931 -0.69 -146.0 200.0 -9.7 256 1935 0.00 2.38 0.00 0.000 6 0.000 0.061 2444 2479 3399 0 0 0 0 0 0

2255 -0.69 -146.0 230.5 -9.4 286 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2480 3399 0 0 0 0 0 0

2575 -0.69 -146.0 259.5 -8.6 316 2579 0.00 2.50 0.00 0.000 4 0.000 0.087 2444 3922 3400 0 0 0 0 0 0

2663 -0.69 -146.0 267.6 -8.9 323 2669 0.00 2.38 0.00 0.000 6 0.000 0.060 2444 2478 3400 0 0 0 0 0 0

2988 -0.69 -146.0 297.1 -9.6 354 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2479 3400 0 0 0 0 0 0

3307 -0.69 -146.0 328.0 -9.7 384 3312 0.00 2.47 0.00 0.000 4 0.000 0.085 2444 3913 3401 0 0 0 0 0 0

3362 -0.69 -146.0 333.5 -9.5 388 3368 0.00 2.35 0.00 0.000 6 0.000 0.059 2444 2478 3401 0 0 0 0 0 0

3687 -0.69 -146.0 363.4 -8.7 419 3692 0.00 2.50 0.00 0.000 4 0.000 0.085 2444 3923 3401 0 0 0 0 0 0

3743 -0.69 -146.0 368.3 -8.4 423 3748 0.00 2.35 0.00 0.000 6 0.000 0.058 2444 2488 3401 0 0 0 0 0 0

4069 -0.69 -146.0 394.5 -8.1 454 4073 0.00 2.47 0.00 0.000 4 0.000 0.084 2444 3922 3401 0 0 0 0 0 0

4119 -0.69 -146.0 398.5 -7.8 458 4123 0.00 2.35 0.00 0.000 6 0.000 0.058 2444 2490 3401 0 0 0 0 0 0

4445 -0.69 -146.0 424.4 -7.9 488 4449 0.00 2.45 0.00 0.000 4 0.000 0.084 2444 3913 3401 0 0 0 0 0 0

4522 -0.69 -146.0 430.9 -8.5 494 4528 0.00 2.33 0.00 0.000 6 0.000 0.058 2444 2492 3401 0 0 0 0 0 0

4847 -0.69 -146.0 456.7 -7.7 525 4851 0.00 2.45 0.00 0.000 4 0.000 0.084 2444 3913 3401 0 0 0 0 0 0

4902 -0.69 -146.0 461.3 -8.6 529 4907 0.00 2.33 0.00 0.000 6 0.000 0.058 2444 2495 3401 0 0 0 0 0 0

5226 -0.69 -146.0 485.6 -7.7 560 5230 0.00 2.45 0.00 0.000 4 0.000 0.084 2444 3920 3401 0 0 0 0 0 0

5276 -0.69 -146.0 489.5 -8.2 564 5281 0.00 2.33 0.00 0.000 6 0.000 0.058 2444 2502 3401 0 0 0 0 0 0

5601 -0.69 -146.0 514.4 -7.4 594 5605 0.00 2.42 0.00 0.000 4 0.000 0.083 2444 3913 3402 0 0 0 0 0 0

5678 -0.69 -146.0 520.3 -8.3 600 5684 0.00 2.30 0.00 0.000 6 0.000 0.058 2444 2510 3402 0 0 0 0 0 0

6003 -0.74 -146.0 545.3 -7.6 631 6004 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2511 3402 0 0 0 0 0 0

6117 end dive: BOTTOM_OBSTACLE_DETECTED

state 6118 begin apogee

6123 -0.16 0.0 554.2 7.7 642 6249 0.65 0.00 118.07 1.081 6 0.183 0.000 2627 1944 2799 0 0 0 0 0 0

6250 end apogee: CONTROL_FINISHED_OK

state 6250 begin climb

6253 0.73 146.0 557.6 0.0 655 6379 0.95 0.00 121.38 1.035 6 0.129 0.000 2915 1944 2203 0 0 0 0 0 0

6703 0.73 146.0 514.3 10.6 698 6705 0.00 0.00 0.00 0.000 6 0.000 0.000 2915 1945 2196 0 0 0 0 0 0

7022 0.73 146.0 479.8 10.7 728 7026 0.00 2.72 0.00 0.000 4 0.000 0.076 2915 3542 2194 0 0 0 0 0 0

7054 0.66 146.0 476.2 11.5 730 7060 0.00 2.67 0.00 0.000 6 0.000 0.064 2927 1951 2193 0 0 0 0 0 0

7379 0.59 146.0 440.7 11.1 761 7381 0.17 0.00 0.00 0.000 6 0.189 0.000 2886 1952 2193 0 0 0 0 0 0

7699 0.69 162.2 413.0 8.5 791 7717 0.00 0.00 12.88 0.923 6 0.000 0.000 2886 1952 2137 0 0 0 0 0 0

8036 0.77 162.2 382.0 9.9 823 8041 0.17 2.72 0.00 0.000 4 0.107 0.075 2935 3552 2136 0 0 0 0 0 0

8080 0.65 162.2 376.3 13.7 826 8087 0.17 2.65 0.00 0.000 6 0.195 0.064 2904 1957 2135 0 0 0 0 0 0

8404 0.65 162.2 342.3 9.5 857 8406 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1957 2134 0 0 0 0 0 0

8724 0.65 162.2 311.0 10.1 887 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1958 2135 0 0 0 0 0 0

9043 0.65 162.2 278.4 10.2 917 9047 0.00 2.55 0.00 0.000 4 0.000 0.084 2914 352 2135 0 0 0 0 0 0

9072 0.65 162.2 275.5 9.9 919 9076 0.00 2.47 0.00 0.000 6 0.000 0.061 2914 1961 2135 0 0 0 0 0 0

9396 0.65 162.2 241.6 10.3 949 9400 0.00 2.62 0.00 0.000 4 0.000 0.077 2914 3536 2134 0 0 0 0 0 0

9462 0.65 162.2 234.2 11.2 954 9468 0.00 2.62 0.00 0.000 6 0.000 0.066 2926 1946 2134 0 0 0 0 0 0

9788 0.65 162.2 200.4 10.1 985 9792 0.00 2.53 0.00 0.000 4 0.000 0.084 2937 351 2134 0 0 0 0 0 0

9815 0.65 162.2 197.3 11.3 987 9820 0.15 2.45 0.00 0.000 6 0.188 0.062 2902 1955 2134 0 0 0 0 0 0

10139 0.74 162.2 167.7 9.2 1017 10144 0.00 2.65 0.00 0.000 4 0.000 0.077 2902 3546 2134 0 0 0 0 0 0

10189 0.74 162.2 162.9 10.0 1021 10193 0.00 2.62 0.00 0.000 6 0.000 0.065 2911 1959 2134 0 0 0 0 0 0

10513 0.82 162.2 132.0 9.6 1051 10515 0.12 0.00 0.00 0.000 6 0.112 0.000 2959 1960 2134 0 0 0 0 0 0

10834 0.76 162.2 94.3 11.6 1085 10839 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 1960 2134 0 0 0 0 0 0

11177 0.79 188.8 60.2 8.0 1146 11207 0.00 2.75 21.77 0.756 4 0.000 0.077 2959 3544 2029 0 0 0 0 0 0

11247 0.73 188.8 53.7 10.0 1159 11253 0.17 2.62 0.00 0.000 6 0.191 0.065 2929 1968 2028 0 0 0 0 0 0

11592 0.86 205.7 28.8 8.5 1220 11613 0.12 0.00 14.68 0.732 6 0.114 0.000 2972 1968 1961 0 0 0 0 0 0

11871 end climb: SURFACE_DEPTH_REACHED

state 11871 begin surface coast

11895 end surface coast: CONTROL_FINISHED_OK

state 11895 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	186	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	18	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	21	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	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	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	-33457.75	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	183637,6703.054,-5654.293,39,1.1,39,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	8	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	184650,6703.055,-5654.438,13,1.4,13,-37.6	MHEAD_RNG_PITCHd_Wd	128.8,4651,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	577

FREEZE	0.41,0.249,-1.839,0,1,0	ALTIM_TOP_PING	19.9,19.0
FINISH	0.4,1.026909	ALTIM_BOTTOM_PING	400.5,168.1
SM_CCo	11912,73.72,0.725,0,0,1475,325.02	_24V_AH	23.1,42.727
SM_GC	1.39,0.00,0.00,73.72,0.000,0.000,0.725,124,2465,1475,-8.02,0.14,325.02	_10V_AH	10.2,21.808
RAFOS_CLK	747	FG_AHR_24Vo	0.000
RAFOS	0,1259006469,20.033333,20.019167,65,61,60,0,0,0,209,222,152,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6702.959961,-5654.517090,231109,202028,4,69,0.03	MEM	152456
IRIDIUM_FIX	6631.12,-5656.72,170299,151542	DATA_FILE_SIZE	47315,1274
TT8_MAMPS	0.026845	CAP_FILE_SIZE	141838,0
HUMID	47.16	CFSIZE	260165632,235565056
INTERNAL_PRESSURE	8.92612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.90	SOUNDSPEED	1469.8
XPDR_PINGS	3	GPS	231109,220830,6703.121,-5651.518,41,1.3,41,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	288	148.73	SBE_CT	941	24	521.80
Roll_motor	96	88	199.00	SBE_O2	868	19	381.29
VBD_pump_during_apogee	288	1081	7214.16	nil	0	0	0.00
VBD_pump_during_surface	73	724	1234.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.31	nil	0	0	0.00
Iridium_during_connect	31	160	117.90	nil	0	0	0.00
Iridium_during_xfer	431	223	2224.19
Transponder_ping	2	420	19.40
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.56
TT8	2070	19	420.75
LPSleep	7359	2	173.40
TT8_Active	482	19	97.95
TT8_Sampling	2005	39	816.63
TT8_CF8	681	45	319.40
TT8_Kalman	0	0	0.00
Analog_circuits	1514	12	185.37
GPS_charging	0	0	0.00
Compass	1976	8	161.25
RAFOS	2520	1	38.56
Transponder	12	30	3.81

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	108	0.00	0.00	-90.35	0.000	2	0.000	0.000	125	2467	3067	0	0	0	0	0	0
110	-0.73	-146.0	3.2	-5.2	18	137	10.95	2.65	-9.18	0.000	4	0.288	0.089	2445	863	3398	0	0	0	0	0	0
289	-0.62	-146.0	29.1	-12.8	50	296	0.17	2.58	0.00	0.000	6	0.214	0.071	2487	2456	3400	0	0	0	0	0	0
633	-0.68	-146.0	65.9	-9.7	111	639	0.00	2.55	0.00	0.000	4	0.000	0.089	2487	3918	3400	0	0	0	0	0	0
732	-0.74	-146.0	74.4	-8.9	128	738	0.12	2.42	0.00	0.000	6	0.121	0.061	2445	2459	3400	0	0	0	0	0	0
1074	-0.69	-146.0	114.9	-11.5	178	1079	0.00	2.53	0.00	0.000	4	0.000	0.087	2444	3912	3400	0	0	0	0	0	0
1159	-0.69	-146.0	124.5	-10.8	185	1163	0.00	2.40	0.00	0.000	6	0.000	0.061	2444	2468	3399	0	0	0	0	0	0
1483	-0.69	-146.0	155.7	-9.3	215	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2470	3400	0	0	0	0	0	0
1803	-0.69	-146.0	187.5	-9.9	245	1807	0.00	2.50	0.00	0.000	4	0.000	0.087	2444	3912	3399	0	0	0	0	0	0
1931	-0.69	-146.0	200.0	-9.7	256	1935	0.00	2.38	0.00	0.000	6	0.000	0.061	2444	2479	3399	0	0	0	0	0	0
2255	-0.69	-146.0	230.5	-9.4	286	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2480	3399	0	0	0	0	0	0
2575	-0.69	-146.0	259.5	-8.6	316	2579	0.00	2.50	0.00	0.000	4	0.000	0.087	2444	3922	3400	0	0	0	0	0	0
2663	-0.69	-146.0	267.6	-8.9	323	2669	0.00	2.38	0.00	0.000	6	0.000	0.060	2444	2478	3400	0	0	0	0	0	0
2988	-0.69	-146.0	297.1	-9.6	354	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2479	3400	0	0	0	0	0	0
3307	-0.69	-146.0	328.0	-9.7	384	3312	0.00	2.47	0.00	0.000	4	0.000	0.085	2444	3913	3401	0	0	0	0	0	0
3362	-0.69	-146.0	333.5	-9.5	388	3368	0.00	2.35	0.00	0.000	6	0.000	0.059	2444	2478	3401	0	0	0	0	0	0
3687	-0.69	-146.0	363.4	-8.7	419	3692	0.00	2.50	0.00	0.000	4	0.000	0.085	2444	3923	3401	0	0	0	0	0	0
3743	-0.69	-146.0	368.3	-8.4	423	3748	0.00	2.35	0.00	0.000	6	0.000	0.058	2444	2488	3401	0	0	0	0	0	0
4069	-0.69	-146.0	394.5	-8.1	454	4073	0.00	2.47	0.00	0.000	4	0.000	0.084	2444	3922	3401	0	0	0	0	0	0
4119	-0.69	-146.0	398.5	-7.8	458	4123	0.00	2.35	0.00	0.000	6	0.000	0.058	2444	2490	3401	0	0	0	0	0	0
4445	-0.69	-146.0	424.4	-7.9	488	4449	0.00	2.45	0.00	0.000	4	0.000	0.084	2444	3913	3401	0	0	0	0	0	0
4522	-0.69	-146.0	430.9	-8.5	494	4528	0.00	2.33	0.00	0.000	6	0.000	0.058	2444	2492	3401	0	0	0	0	0	0
4847	-0.69	-146.0	456.7	-7.7	525	4851	0.00	2.45	0.00	0.000	4	0.000	0.084	2444	3913	3401	0	0	0	0	0	0
4902	-0.69	-146.0	461.3	-8.6	529	4907	0.00	2.33	0.00	0.000	6	0.000	0.058	2444	2495	3401	0	0	0	0	0	0
5226	-0.69	-146.0	485.6	-7.7	560	5230	0.00	2.45	0.00	0.000	4	0.000	0.084	2444	3920	3401	0	0	0	0	0	0
5276	-0.69	-146.0	489.5	-8.2	564	5281	0.00	2.33	0.00	0.000	6	0.000	0.058	2444	2502	3401	0	0	0	0	0	0
5601	-0.69	-146.0	514.4	-7.4	594	5605	0.00	2.42	0.00	0.000	4	0.000	0.083	2444	3913	3402	0	0	0	0	0	0
5678	-0.69	-146.0	520.3	-8.3	600	5684	0.00	2.30	0.00	0.000	6	0.000	0.058	2444	2510	3402	0	0	0	0	0	0
6003	-0.74	-146.0	545.3	-7.6	631	6004	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2511	3402	0	0	0	0	0	0
6117	end dive: BOTTOM_OBSTACLE_DETECTED
state	6118	begin apogee
6123	-0.16	0.0	554.2	7.7	642	6249	0.65	0.00	118.07	1.081	6	0.183	0.000	2627	1944	2799	0	0	0	0	0	0
6250	end apogee: CONTROL_FINISHED_OK
state	6250	begin climb
6253	0.73	146.0	557.6	0.0	655	6379	0.95	0.00	121.38	1.035	6	0.129	0.000	2915	1944	2203	0	0	0	0	0	0
6703	0.73	146.0	514.3	10.6	698	6705	0.00	0.00	0.00	0.000	6	0.000	0.000	2915	1945	2196	0	0	0	0	0	0
7022	0.73	146.0	479.8	10.7	728	7026	0.00	2.72	0.00	0.000	4	0.000	0.076	2915	3542	2194	0	0	0	0	0	0
7054	0.66	146.0	476.2	11.5	730	7060	0.00	2.67	0.00	0.000	6	0.000	0.064	2927	1951	2193	0	0	0	0	0	0
7379	0.59	146.0	440.7	11.1	761	7381	0.17	0.00	0.00	0.000	6	0.189	0.000	2886	1952	2193	0	0	0	0	0	0
7699	0.69	162.2	413.0	8.5	791	7717	0.00	0.00	12.88	0.923	6	0.000	0.000	2886	1952	2137	0	0	0	0	0	0
8036	0.77	162.2	382.0	9.9	823	8041	0.17	2.72	0.00	0.000	4	0.107	0.075	2935	3552	2136	0	0	0	0	0	0
8080	0.65	162.2	376.3	13.7	826	8087	0.17	2.65	0.00	0.000	6	0.195	0.064	2904	1957	2135	0	0	0	0	0	0
8404	0.65	162.2	342.3	9.5	857	8406	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1957	2134	0	0	0	0	0	0
8724	0.65	162.2	311.0	10.1	887	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1958	2135	0	0	0	0	0	0
9043	0.65	162.2	278.4	10.2	917	9047	0.00	2.55	0.00	0.000	4	0.000	0.084	2914	352	2135	0	0	0	0	0	0
9072	0.65	162.2	275.5	9.9	919	9076	0.00	2.47	0.00	0.000	6	0.000	0.061	2914	1961	2135	0	0	0	0	0	0
9396	0.65	162.2	241.6	10.3	949	9400	0.00	2.62	0.00	0.000	4	0.000	0.077	2914	3536	2134	0	0	0	0	0	0
9462	0.65	162.2	234.2	11.2	954	9468	0.00	2.62	0.00	0.000	6	0.000	0.066	2926	1946	2134	0	0	0	0	0	0
9788	0.65	162.2	200.4	10.1	985	9792	0.00	2.53	0.00	0.000	4	0.000	0.084	2937	351	2134	0	0	0	0	0	0
9815	0.65	162.2	197.3	11.3	987	9820	0.15	2.45	0.00	0.000	6	0.188	0.062	2902	1955	2134	0	0	0	0	0	0
10139	0.74	162.2	167.7	9.2	1017	10144	0.00	2.65	0.00	0.000	4	0.000	0.077	2902	3546	2134	0	0	0	0	0	0
10189	0.74	162.2	162.9	10.0	1021	10193	0.00	2.62	0.00	0.000	6	0.000	0.065	2911	1959	2134	0	0	0	0	0	0
10513	0.82	162.2	132.0	9.6	1051	10515	0.12	0.00	0.00	0.000	6	0.112	0.000	2959	1960	2134	0	0	0	0	0	0
10834	0.76	162.2	94.3	11.6	1085	10839	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	1960	2134	0	0	0	0	0	0
11177	0.79	188.8	60.2	8.0	1146	11207	0.00	2.75	21.77	0.756	4	0.000	0.077	2959	3544	2029	0	0	0	0	0	0
11247	0.73	188.8	53.7	10.0	1159	11253	0.17	2.62	0.00	0.000	6	0.191	0.065	2929	1968	2028	0	0	0	0	0	0
11592	0.86	205.7	28.8	8.5	1220	11613	0.12	0.00	14.68	0.732	6	0.114	0.000	2972	1968	1961	0	0	0	0	0	0
11871	end climb: SURFACE_DEPTH_REACHED
state	11871	begin surface coast
11895	end surface coast: CONTROL_FINISHED_OK
state	11895	begin surface