Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 229 * 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 229 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 15 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -35700.973 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 -35700.973

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 -2

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 15 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 229 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 042734,6642.477,-6011.609,0,7118.4,0,-37.8 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 042734,6642.477,-6011.609,0,7118.4,0,-37.8 MHEAD_RNG_PITCHd_Wd 322.8,10899,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 554

Post-dive calculations and measurements:

FREEZE 8.56,-1.777,-1.764,2,24,0 ALTIM_BOTTOM_PING 450.2,102.9

FINISH1 8.6,1.025833,81 _24V_AH 22.6,48.644

FINISH2 7.3 _10V_AH 10.1,25.342

RAFOS_CLK 772 FG_AHR_24Vo 0.000

RAFOS 1,1259741341,8.166667,8.150278,145,71,57,0,0,0,577,219,201,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6643.584961,-6016.871582,021209,080849,7,123,0.30 MEM 152568

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 44185,1153

TT8_MAMPS 0.027612 CAP_FILE_SIZE 127697,0

HUMID 50.23 CFSIZE 260165632,231890944

INTERNAL_PRESSURE 8.88706 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1449.4

XPDR_PINGS 8 GPS 021209,082649,6643.585,-6016.872,0,7123.0,0,-37.8

ALTIM_TOP_PING 19.8,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 247 31.07 SBE_CT 853 24 462.90

Roll_motor 135 131 400.90 SBE_O2 795 19 341.69

VBD_pump_during_apogee 376 1126 9588.45 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 3 420 35.59

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 1957 19 393.91

LPSleep 6558 2 153.03

TT8_Active 446 19 89.73

TT8_Sampling 1965 39 792.39

TT8_CF8 145 45 67.54

TT8_Kalman 0 0 0.00

Analog_circuits 1476 12 178.91

GPS_charging 0 0 0.00

Compass 1940 8 156.79

RAFOS 1800 1 27.27

Transponder 15 30 4.74

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 22 0.00 0.00 -5.30 0.000 2 0.000 0.000 2728 3540 2643 0 0 0 0 0 0

25 -0.73 -146.0 9.0 -0.0 1 56 0.80 4.75 -21.62 0.000 4 0.114 0.094 2465 863 3400 0 0 0 0 0 0

90 -0.60 -146.0 15.2 -12.8 13 96 0.12 2.53 0.00 0.000 6 0.248 0.081 2488 2464 3402 0 0 0 0 0 0

433 -0.60 -146.0 58.0 -11.3 74 439 0.00 2.85 0.00 0.000 4 0.000 0.100 2489 3920 3402 0 0 0 0 0 0

563 -0.60 -146.0 72.9 -10.8 97 568 0.00 2.75 0.00 0.000 6 0.000 0.074 2489 2461 3402 0 0 0 0 0 0

900 -0.60 -146.0 110.6 -9.6 148 905 0.00 2.88 0.00 0.000 4 0.000 0.101 2490 3920 3402 0 0 0 0 0 0

1097 -0.64 -146.0 131.1 -10.4 165 1101 0.00 2.72 0.00 0.000 6 0.000 0.075 2489 2476 3402 0 0 0 0 0 0

1421 -0.71 -146.0 162.8 -9.7 195 1426 0.00 2.85 0.00 0.000 4 0.000 0.102 2489 3913 3402 0 0 0 0 0 0

1567 -0.79 -146.0 177.5 -9.4 207 1574 0.17 2.70 0.00 0.000 6 0.124 0.076 2433 2486 3402 0 0 0 0 0 0

1892 -0.70 -146.0 215.7 -11.7 238 1897 0.12 2.85 0.00 0.000 4 0.229 0.100 2452 3914 3402 0 0 0 0 0 0

2043 -0.70 -146.0 233.0 -11.4 251 2048 0.00 2.67 0.00 0.000 6 0.000 0.075 2452 2496 3401 0 0 0 0 0 0

2367 -0.70 -146.0 268.8 -10.3 281 2372 0.00 2.80 0.00 0.000 4 0.000 0.101 2452 3912 3401 0 0 0 0 0 0

2394 -0.70 -146.0 271.8 -11.6 283 2399 0.00 2.67 0.00 0.000 6 0.000 0.075 2452 2496 3400 0 0 0 0 0 0

2719 -0.70 -146.0 304.0 -8.9 313 2723 0.00 2.80 0.00 0.000 4 0.000 0.101 2452 3913 3401 0 0 0 0 0 0

2773 -0.70 -146.0 309.3 -9.2 317 2779 0.00 2.67 0.00 0.000 6 0.000 0.075 2451 2497 3401 0 0 0 0 0 0

3098 -0.70 -146.0 341.3 -9.3 348 3102 0.00 2.80 0.00 0.000 4 0.000 0.100 2452 3913 3401 0 0 0 0 0 0

3282 -0.70 -146.0 356.8 -8.0 364 3287 0.00 2.65 0.00 0.000 6 0.000 0.075 2452 2509 3400 0 0 0 0 0 0

3607 -0.70 -146.0 384.1 -8.5 394 3611 0.00 2.78 0.00 0.000 4 0.000 0.101 2452 3912 3400 0 0 0 0 0 0

3657 -0.75 -146.0 388.5 -8.9 398 3662 0.00 2.62 0.00 0.000 6 0.000 0.075 2452 2525 3400 0 0 0 0 0 0

3981 -0.75 -146.0 413.3 -7.7 428 3986 0.00 2.75 0.00 0.000 4 0.000 0.100 2452 3912 3400 0 0 0 0 0 0

4054 -0.81 -146.0 419.2 -8.4 434 4059 0.00 2.62 0.00 0.000 6 0.000 0.075 2452 2526 3400 0 0 0 0 0 0

4381 -0.87 -146.0 446.2 -8.1 464 4386 0.12 2.78 0.00 0.000 4 0.130 0.097 2398 3922 3400 0 0 0 0 0 0

4492 -0.76 -146.0 458.3 -11.2 473 4500 0.15 2.58 0.00 0.000 6 0.218 0.072 2436 2542 3400 0 0 0 0 0 0

4817 -0.76 -146.0 486.5 -8.6 504 4822 0.00 2.72 0.00 0.000 4 0.000 0.099 2436 3921 3401 0 0 0 0 0 0

4916 -0.76 -146.0 496.2 -9.6 512 4922 0.00 2.60 0.00 0.000 6 0.000 0.072 2436 2536 3401 0 0 0 0 0 0

5243 -0.76 -146.0 524.7 -8.6 543 5247 0.00 2.72 0.00 0.000 4 0.000 0.098 2436 3913 3401 0 0 0 0 0 0

5338 -0.76 -146.0 533.1 -8.8 551 5343 0.00 2.58 0.00 0.000 6 0.000 0.072 2436 2549 3401 0 0 0 0 0 0

5395 end dive: BOTTOM_OBSTACLE_DETECTED

state 5395 begin apogee

5401 -0.16 0.0 538.3 9.0 556 5528 0.73 0.00 120.32 1.127 6 0.195 0.000 2629 1944 2802 0 0 0 0 0 0

5529 end apogee: CONTROL_FINISHED_OK

state 5529 begin climb

5530 0.73 146.0 541.5 0.0 569 5668 1.00 3.42 127.00 1.071 4 0.148 0.088 2914 3542 2202 0 0 0 0 0 0

5690 0.66 146.0 530.8 9.6 584 5696 0.00 3.25 0.00 0.000 6 0.000 0.077 2927 1953 2200 0 0 0 0 0 0

6015 0.59 146.0 494.4 9.3 615 6020 0.20 2.58 0.00 0.000 4 0.196 0.097 2890 352 2194 0 0 0 0 0 0

6043 0.61 163.2 491.9 8.4 617 6064 0.00 2.47 14.57 0.989 6 0.000 0.073 2890 1960 2134 0 0 0 0 0 0

6382 0.69 163.2 461.0 9.2 649 6387 0.00 3.03 0.00 0.000 4 0.000 0.089 2890 3538 2131 0 0 0 0 0 0

6477 0.69 163.2 451.1 10.6 657 6482 0.00 3.00 0.00 0.000 6 0.000 0.079 2903 1960 2129 0 0 0 0 0 0

6801 0.72 183.5 421.7 8.3 687 6825 0.00 3.08 18.05 1.001 4 0.000 0.088 2903 3536 2051 0 0 0 0 0 0

6888 0.72 183.5 413.4 10.9 695 6893 0.00 2.92 0.00 0.000 6 0.000 0.079 2915 2008 2049 0 0 0 0 0 0

7213 0.72 183.5 382.0 9.5 725 7218 0.00 2.55 0.00 0.000 4 0.000 0.098 2926 358 2049 0 0 0 0 0 0

7263 0.72 183.5 376.6 10.8 729 7268 0.00 2.47 0.00 0.000 6 0.000 0.074 2926 2012 2048 0 0 0 0 0 0

7587 0.72 183.5 343.6 9.7 759 7592 0.00 2.58 0.00 0.000 4 0.000 0.099 2937 359 2047 0 0 0 0 0 0

7603 0.72 183.5 341.9 10.1 760 7607 0.00 2.45 0.00 0.000 6 0.000 0.074 2937 2001 2048 0 0 0 0 0 0

7927 0.72 183.5 307.7 11.0 790 7928 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2002 2047 0 0 0 0 0 0

8247 0.72 183.5 272.6 10.6 820 8251 0.00 2.90 0.00 0.000 4 0.000 0.091 2936 3539 2047 0 0 0 0 0 0

8319 0.72 183.5 264.5 11.9 826 8324 0.00 2.90 0.00 0.000 6 0.000 0.079 2950 1990 2048 0 0 0 0 0 0

8644 0.72 187.9 233.3 9.0 856 8655 0.00 2.53 5.03 0.759 4 0.000 0.101 2961 346 2033 0 0 0 0 0 0

8716 0.67 187.9 226.1 10.2 862 8723 0.20 2.45 0.00 0.000 6 0.193 0.074 2913 1991 2032 0 0 0 0 0 0

9043 0.89 253.9 202.5 6.4 893 9108 0.20 3.05 56.85 0.923 4 0.105 0.091 2980 3532 1763 0 0 0 0 0 0

9204 0.79 253.9 184.3 12.6 908 9210 0.20 2.95 0.00 0.000 6 0.197 0.081 2947 2005 1758 0 0 0 0 0 0

9530 0.92 253.9 153.3 9.7 938 9535 0.12 2.58 0.00 0.000 4 0.123 0.101 2996 356 1755 0 0 0 0 0 0

9591 0.87 253.9 145.6 12.8 943 9596 0.00 2.50 0.00 0.000 6 0.000 0.076 2997 2012 1754 0 0 0 0 0 0

9916 0.88 260.8 113.3 8.9 973 9927 0.00 2.90 5.90 0.768 4 0.000 0.091 2996 3536 1735 0 0 0 0 0 0

10018 0.81 260.8 102.8 10.5 982 10024 0.22 2.85 0.00 0.000 6 0.193 0.081 2955 2037 1735 0 0 0 0 0 0

10361 1.01 293.4 76.5 7.8 1039 10396 0.17 0.00 28.83 0.861 6 0.115 0.000 3010 2039 1602 0 0 0 0 0 0

10733 1.01 293.4 34.6 11.9 1106 10738 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2039 1597 0 0 0 0 0 0

10956 end climb: FINISH_DEPTH_REACHED

state 10957 begin subsurface finish

10963 0.10 81.0 8.6 -12.5 1146 10999 1.00 0.00 -30.08 0.000 6 0.176 0.000 2729 1946 2470 0 0 0 0 0 0

11000 end subsurface finish: CONTROL_FINISHED_OK

state 11000 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	229	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	15	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-35700.973	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	042734,6642.477,-6011.609,0,7118.4,0,-37.8	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	042734,6642.477,-6011.609,0,7118.4,0,-37.8	MHEAD_RNG_PITCHd_Wd	322.8,10899,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	554

FREEZE	8.56,-1.777,-1.764,2,24,0	ALTIM_BOTTOM_PING	450.2,102.9
FINISH1	8.6,1.025833,81	_24V_AH	22.6,48.644
FINISH2	7.3	_10V_AH	10.1,25.342
RAFOS_CLK	772	FG_AHR_24Vo	0.000
RAFOS	1,1259741341,8.166667,8.150278,145,71,57,0,0,0,577,219,201,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6643.584961,-6016.871582,021209,080849,7,123,0.30	MEM	152568
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	44185,1153
TT8_MAMPS	0.027612	CAP_FILE_SIZE	127697,0
HUMID	50.23	CFSIZE	260165632,231890944
INTERNAL_PRESSURE	8.88706	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1449.4
XPDR_PINGS	8	GPS	021209,082649,6643.585,-6016.872,0,7123.0,0,-37.8
ALTIM_TOP_PING	19.8,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	247	31.07	SBE_CT	853	24	462.90
Roll_motor	135	131	400.90	SBE_O2	795	19	341.69
VBD_pump_during_apogee	376	1126	9588.45	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	3	420	35.59
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	1957	19	393.91
LPSleep	6558	2	153.03
TT8_Active	446	19	89.73
TT8_Sampling	1965	39	792.39
TT8_CF8	145	45	67.54
TT8_Kalman	0	0	0.00
Analog_circuits	1476	12	178.91
GPS_charging	0	0	0.00
Compass	1940	8	156.79
RAFOS	1800	1	27.27
Transponder	15	30	4.74

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	22	0.00	0.00	-5.30	0.000	2	0.000	0.000	2728	3540	2643	0	0	0	0	0	0
25	-0.73	-146.0	9.0	-0.0	1	56	0.80	4.75	-21.62	0.000	4	0.114	0.094	2465	863	3400	0	0	0	0	0	0
90	-0.60	-146.0	15.2	-12.8	13	96	0.12	2.53	0.00	0.000	6	0.248	0.081	2488	2464	3402	0	0	0	0	0	0
433	-0.60	-146.0	58.0	-11.3	74	439	0.00	2.85	0.00	0.000	4	0.000	0.100	2489	3920	3402	0	0	0	0	0	0
563	-0.60	-146.0	72.9	-10.8	97	568	0.00	2.75	0.00	0.000	6	0.000	0.074	2489	2461	3402	0	0	0	0	0	0
900	-0.60	-146.0	110.6	-9.6	148	905	0.00	2.88	0.00	0.000	4	0.000	0.101	2490	3920	3402	0	0	0	0	0	0
1097	-0.64	-146.0	131.1	-10.4	165	1101	0.00	2.72	0.00	0.000	6	0.000	0.075	2489	2476	3402	0	0	0	0	0	0
1421	-0.71	-146.0	162.8	-9.7	195	1426	0.00	2.85	0.00	0.000	4	0.000	0.102	2489	3913	3402	0	0	0	0	0	0
1567	-0.79	-146.0	177.5	-9.4	207	1574	0.17	2.70	0.00	0.000	6	0.124	0.076	2433	2486	3402	0	0	0	0	0	0
1892	-0.70	-146.0	215.7	-11.7	238	1897	0.12	2.85	0.00	0.000	4	0.229	0.100	2452	3914	3402	0	0	0	0	0	0
2043	-0.70	-146.0	233.0	-11.4	251	2048	0.00	2.67	0.00	0.000	6	0.000	0.075	2452	2496	3401	0	0	0	0	0	0
2367	-0.70	-146.0	268.8	-10.3	281	2372	0.00	2.80	0.00	0.000	4	0.000	0.101	2452	3912	3401	0	0	0	0	0	0
2394	-0.70	-146.0	271.8	-11.6	283	2399	0.00	2.67	0.00	0.000	6	0.000	0.075	2452	2496	3400	0	0	0	0	0	0
2719	-0.70	-146.0	304.0	-8.9	313	2723	0.00	2.80	0.00	0.000	4	0.000	0.101	2452	3913	3401	0	0	0	0	0	0
2773	-0.70	-146.0	309.3	-9.2	317	2779	0.00	2.67	0.00	0.000	6	0.000	0.075	2451	2497	3401	0	0	0	0	0	0
3098	-0.70	-146.0	341.3	-9.3	348	3102	0.00	2.80	0.00	0.000	4	0.000	0.100	2452	3913	3401	0	0	0	0	0	0
3282	-0.70	-146.0	356.8	-8.0	364	3287	0.00	2.65	0.00	0.000	6	0.000	0.075	2452	2509	3400	0	0	0	0	0	0
3607	-0.70	-146.0	384.1	-8.5	394	3611	0.00	2.78	0.00	0.000	4	0.000	0.101	2452	3912	3400	0	0	0	0	0	0
3657	-0.75	-146.0	388.5	-8.9	398	3662	0.00	2.62	0.00	0.000	6	0.000	0.075	2452	2525	3400	0	0	0	0	0	0
3981	-0.75	-146.0	413.3	-7.7	428	3986	0.00	2.75	0.00	0.000	4	0.000	0.100	2452	3912	3400	0	0	0	0	0	0
4054	-0.81	-146.0	419.2	-8.4	434	4059	0.00	2.62	0.00	0.000	6	0.000	0.075	2452	2526	3400	0	0	0	0	0	0
4381	-0.87	-146.0	446.2	-8.1	464	4386	0.12	2.78	0.00	0.000	4	0.130	0.097	2398	3922	3400	0	0	0	0	0	0
4492	-0.76	-146.0	458.3	-11.2	473	4500	0.15	2.58	0.00	0.000	6	0.218	0.072	2436	2542	3400	0	0	0	0	0	0
4817	-0.76	-146.0	486.5	-8.6	504	4822	0.00	2.72	0.00	0.000	4	0.000	0.099	2436	3921	3401	0	0	0	0	0	0
4916	-0.76	-146.0	496.2	-9.6	512	4922	0.00	2.60	0.00	0.000	6	0.000	0.072	2436	2536	3401	0	0	0	0	0	0
5243	-0.76	-146.0	524.7	-8.6	543	5247	0.00	2.72	0.00	0.000	4	0.000	0.098	2436	3913	3401	0	0	0	0	0	0
5338	-0.76	-146.0	533.1	-8.8	551	5343	0.00	2.58	0.00	0.000	6	0.000	0.072	2436	2549	3401	0	0	0	0	0	0
5395	end dive: BOTTOM_OBSTACLE_DETECTED
state	5395	begin apogee
5401	-0.16	0.0	538.3	9.0	556	5528	0.73	0.00	120.32	1.127	6	0.195	0.000	2629	1944	2802	0	0	0	0	0	0
5529	end apogee: CONTROL_FINISHED_OK
state	5529	begin climb
5530	0.73	146.0	541.5	0.0	569	5668	1.00	3.42	127.00	1.071	4	0.148	0.088	2914	3542	2202	0	0	0	0	0	0
5690	0.66	146.0	530.8	9.6	584	5696	0.00	3.25	0.00	0.000	6	0.000	0.077	2927	1953	2200	0	0	0	0	0	0
6015	0.59	146.0	494.4	9.3	615	6020	0.20	2.58	0.00	0.000	4	0.196	0.097	2890	352	2194	0	0	0	0	0	0
6043	0.61	163.2	491.9	8.4	617	6064	0.00	2.47	14.57	0.989	6	0.000	0.073	2890	1960	2134	0	0	0	0	0	0
6382	0.69	163.2	461.0	9.2	649	6387	0.00	3.03	0.00	0.000	4	0.000	0.089	2890	3538	2131	0	0	0	0	0	0
6477	0.69	163.2	451.1	10.6	657	6482	0.00	3.00	0.00	0.000	6	0.000	0.079	2903	1960	2129	0	0	0	0	0	0
6801	0.72	183.5	421.7	8.3	687	6825	0.00	3.08	18.05	1.001	4	0.000	0.088	2903	3536	2051	0	0	0	0	0	0
6888	0.72	183.5	413.4	10.9	695	6893	0.00	2.92	0.00	0.000	6	0.000	0.079	2915	2008	2049	0	0	0	0	0	0
7213	0.72	183.5	382.0	9.5	725	7218	0.00	2.55	0.00	0.000	4	0.000	0.098	2926	358	2049	0	0	0	0	0	0
7263	0.72	183.5	376.6	10.8	729	7268	0.00	2.47	0.00	0.000	6	0.000	0.074	2926	2012	2048	0	0	0	0	0	0
7587	0.72	183.5	343.6	9.7	759	7592	0.00	2.58	0.00	0.000	4	0.000	0.099	2937	359	2047	0	0	0	0	0	0
7603	0.72	183.5	341.9	10.1	760	7607	0.00	2.45	0.00	0.000	6	0.000	0.074	2937	2001	2048	0	0	0	0	0	0
7927	0.72	183.5	307.7	11.0	790	7928	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2002	2047	0	0	0	0	0	0
8247	0.72	183.5	272.6	10.6	820	8251	0.00	2.90	0.00	0.000	4	0.000	0.091	2936	3539	2047	0	0	0	0	0	0
8319	0.72	183.5	264.5	11.9	826	8324	0.00	2.90	0.00	0.000	6	0.000	0.079	2950	1990	2048	0	0	0	0	0	0
8644	0.72	187.9	233.3	9.0	856	8655	0.00	2.53	5.03	0.759	4	0.000	0.101	2961	346	2033	0	0	0	0	0	0
8716	0.67	187.9	226.1	10.2	862	8723	0.20	2.45	0.00	0.000	6	0.193	0.074	2913	1991	2032	0	0	0	0	0	0
9043	0.89	253.9	202.5	6.4	893	9108	0.20	3.05	56.85	0.923	4	0.105	0.091	2980	3532	1763	0	0	0	0	0	0
9204	0.79	253.9	184.3	12.6	908	9210	0.20	2.95	0.00	0.000	6	0.197	0.081	2947	2005	1758	0	0	0	0	0	0
9530	0.92	253.9	153.3	9.7	938	9535	0.12	2.58	0.00	0.000	4	0.123	0.101	2996	356	1755	0	0	0	0	0	0
9591	0.87	253.9	145.6	12.8	943	9596	0.00	2.50	0.00	0.000	6	0.000	0.076	2997	2012	1754	0	0	0	0	0	0
9916	0.88	260.8	113.3	8.9	973	9927	0.00	2.90	5.90	0.768	4	0.000	0.091	2996	3536	1735	0	0	0	0	0	0
10018	0.81	260.8	102.8	10.5	982	10024	0.22	2.85	0.00	0.000	6	0.193	0.081	2955	2037	1735	0	0	0	0	0	0
10361	1.01	293.4	76.5	7.8	1039	10396	0.17	0.00	28.83	0.861	6	0.115	0.000	3010	2039	1602	0	0	0	0	0	0
10733	1.01	293.4	34.6	11.9	1106	10738	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2039	1597	0	0	0	0	0	0
10956	end climb: FINISH_DEPTH_REACHED
state	10957	begin subsurface finish
10963	0.10	81.0	8.6	-12.5	1146	10999	1.00	0.00	-30.08	0.000	6	0.176	0.000	2729	1946	2470	0	0	0	0	0	0
11000	end subsurface finish: CONTROL_FINISHED_OK
state	11000	begin surface