Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 230 * 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 230 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 19 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 19 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 230 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 082649,6643.585,-6016.872,0,7123.0,0,-37.8 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.52 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 082649,6643.585,-6016.872,0,7123.0,0,-37.8 MHEAD_RNG_PITCHd_Wd 114.4,155062,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 539

Post-dive calculations and measurements:

FREEZE 6.97,-1.774,-1.761,2,25,1 ALTIM_BOTTOM_PING 450.5,108.2

FINISH1 7.0,1.025809,82 _24V_AH 22.6,48.755

FINISH2 5.9 _10V_AH 10.1,25.404

RAFOS_CLK 792 FG_AHR_24Vo 0.000

RAFOS 0,1259755268,12.033333,12.018888,75,66,61,0,0,0,580,137,221,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.658691,-6018.895996,021209,121228,6,101,0.29 MEM 152608

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 44173,1189

TT8_MAMPS 0.026845 CAP_FILE_SIZE 130660,0

HUMID 49.88 CFSIZE 260165632,231821312

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

TCM_TEMP 16.10 SOUNDSPEED 1449.1

XPDR_PINGS 8 GPS 021209,122328,6645.659,-6018.896,0,6100.8,0,-37.8

ALTIM_TOP_PING 19.6,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 240 27.13 SBE_CT 882 24 478.63

Roll_motor 136 142 439.86 SBE_O2 820 19 352.49

VBD_pump_during_apogee 368 1130 9423.70 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 33.22

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 1985 19 399.50

LPSleep 6798 2 158.62

TT8_Active 447 19 89.99

TT8_Sampling 1978 39 797.81

TT8_CF8 150 45 69.92

TT8_Kalman 0 0 0.00

Analog_circuits 1487 12 180.30

GPS_charging 0 0 0.00

Compass 1957 8 158.16

RAFOS 2520 1 38.18

Transponder 12 30 3.83

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 -5.25 0.000 2 0.000 0.000 2729 1946 2630 0 0 0 0 0 0

25 -0.73 -146.0 7.3 -0.0 1 56 0.80 1.70 -24.23 0.000 4 0.112 0.116 2464 859 3399 0 0 0 0 0 0

225 -0.65 -146.0 31.6 -13.8 37 230 0.00 2.53 0.00 0.000 6 0.000 0.085 2463 2458 3402 0 0 0 0 0 0

569 -0.56 -146.0 78.0 -13.3 98 575 0.17 2.88 0.00 0.000 4 0.240 0.100 2491 3911 3402 0 0 0 0 0 0

799 -0.56 -146.0 104.4 -10.9 136 805 0.00 2.65 0.00 0.000 6 0.000 0.075 2491 2481 3402 0 0 0 0 0 0

1124 -0.60 -146.0 135.6 -9.4 167 1129 0.00 2.80 0.00 0.000 4 0.000 0.102 2491 3910 3402 0 0 0 0 0 0

1163 -0.68 -146.0 140.1 -11.0 170 1167 0.00 2.65 0.00 0.000 6 0.000 0.076 2491 2486 3402 0 0 0 0 0 0

1487 -0.76 -146.0 172.9 -9.4 200 1492 0.15 2.78 0.00 0.000 4 0.130 0.099 2429 3911 3402 0 0 0 0 0 0

1607 -0.64 -146.0 187.7 -12.7 210 1612 0.22 2.62 0.00 0.000 6 0.231 0.074 2479 2495 3402 0 0 0 0 0 0

1931 -0.70 -146.0 221.4 -10.3 240 1936 0.00 2.78 0.00 0.000 4 0.000 0.101 2479 3919 3402 0 0 0 0 0 0

1986 -0.77 -146.0 226.8 -9.4 244 1992 0.12 2.65 0.00 0.000 6 0.135 0.075 2442 2493 3401 0 0 0 0 0 0

2310 -0.77 -146.0 259.6 -9.4 275 2315 0.00 2.78 0.00 0.000 4 0.000 0.102 2442 3914 3401 0 0 0 0 0 0

2472 -0.77 -146.0 275.6 -9.5 289 2477 0.00 2.60 0.00 0.000 6 0.000 0.075 2442 2514 3401 0 0 0 0 0 0

2796 -0.77 -146.0 311.1 -11.8 319 2801 0.00 2.72 0.00 0.000 4 0.000 0.101 2442 3910 3401 0 0 0 0 0 0

2891 -0.77 -146.0 322.1 -11.4 327 2896 0.00 2.60 0.00 0.000 6 0.000 0.076 2442 2516 3400 0 0 0 0 0 0

3216 -0.77 -146.0 353.2 -8.9 357 3220 0.00 2.75 0.00 0.000 4 0.000 0.102 2442 3920 3400 0 0 0 0 0 0

3311 -0.77 -146.0 362.1 -9.2 365 3315 0.00 2.60 0.00 0.000 6 0.000 0.075 2442 2526 3400 0 0 0 0 0 0

3635 -0.77 -146.0 391.2 -8.9 395 3640 0.00 2.72 0.00 0.000 4 0.000 0.102 2442 3917 3399 0 0 0 0 0 0

3723 -0.77 -146.0 399.6 -9.5 402 3729 0.00 2.62 0.00 0.000 6 0.000 0.075 2442 2505 3400 0 0 0 0 0 0

4048 -0.77 -146.0 427.8 -8.5 433 4053 0.00 2.75 0.00 0.000 4 0.000 0.100 2442 3910 3400 0 0 0 0 0 0

4147 -0.77 -146.0 436.1 -8.0 441 4153 0.00 2.55 0.00 0.000 6 0.000 0.074 2442 2542 3400 0 0 0 0 0 0

4472 -0.77 -146.0 462.4 -8.2 472 4477 0.00 2.70 0.00 0.000 4 0.000 0.100 2441 3921 3399 0 0 0 0 0 0

4538 -0.77 -146.0 468.0 -8.8 477 4545 0.00 2.55 0.00 0.000 6 0.000 0.073 2441 2542 3400 0 0 0 0 0 0

4863 -0.77 -146.0 496.4 -8.7 508 4867 0.00 2.67 0.00 0.000 4 0.000 0.099 2442 3912 3400 0 0 0 0 0 0

5037 -0.77 -146.0 511.7 -9.1 523 5041 0.00 2.55 0.00 0.000 6 0.000 0.073 2442 2543 3400 0 0 0 0 0 0

5348 end dive: TARGET_DEPTH_EXCEEDED

state 5349 begin apogee

5354 -0.16 0.0 539.1 8.3 552 5481 0.73 0.00 120.43 1.131 6 0.200 0.000 2630 1943 2799 0 0 0 0 0 0

5482 end apogee: CONTROL_FINISHED_OK

state 5482 begin climb

5484 0.73 146.0 542.8 0.0 565 5620 1.00 2.78 126.40 1.074 4 0.152 0.097 2924 362 2202 0 0 0 0 0 0

5729 0.65 146.0 526.3 11.1 588 5734 0.00 2.58 0.00 0.000 6 0.000 0.073 2924 1951 2197 0 0 0 0 0 0

6054 0.59 146.0 493.6 10.0 618 6060 0.17 3.05 0.00 0.000 4 0.202 0.088 2881 3538 2194 0 0 0 0 0 0

6098 0.59 146.0 489.2 9.7 621 6105 0.00 3.00 0.00 0.000 6 0.000 0.078 2892 1958 2192 0 0 0 0 0 0

6426 0.70 185.8 462.7 7.5 652 6467 0.00 3.10 32.92 1.033 4 0.000 0.089 2892 3530 2041 0 0 0 0 0 0

6535 0.70 185.8 453.2 9.7 662 6540 0.00 2.97 0.00 0.000 6 0.000 0.078 2904 1965 2038 0 0 0 0 0 0

6860 0.77 185.8 421.4 9.7 692 6865 0.10 3.00 0.00 0.000 4 0.130 0.087 2939 3540 2036 0 0 0 0 0 0

6922 0.67 185.8 413.9 12.7 697 6927 0.17 2.95 0.00 0.000 6 0.204 0.078 2913 1964 2035 0 0 0 0 0 0

7246 0.67 185.8 380.0 9.9 727 7247 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 1966 2036 0 0 0 0 0 0

7566 0.74 193.2 351.9 8.9 757 7580 0.00 3.03 6.80 0.860 4 0.000 0.088 2912 3541 2012 0 0 0 0 0 0

7632 0.74 193.2 345.4 9.7 763 7636 0.00 2.92 0.00 0.000 6 0.000 0.078 2923 1966 2011 0 0 0 0 0 0

7956 0.79 194.8 315.6 9.1 793 7961 0.00 2.97 0.00 0.000 4 0.000 0.088 2923 3547 2011 0 0 0 0 0 0

8018 0.79 194.8 309.4 10.1 798 8022 0.00 2.92 0.00 0.000 6 0.000 0.078 2935 1977 2011 0 0 0 0 0 0

8342 0.84 194.8 277.8 10.3 828 8347 0.00 2.95 0.00 0.000 4 0.000 0.089 2935 3539 2011 0 0 0 0 0 0

8374 0.84 194.8 274.3 11.1 830 8380 0.00 2.88 0.00 0.000 6 0.000 0.078 2948 1988 2011 0 0 0 0 0 0

8699 0.84 194.8 243.1 9.3 861 8700 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 1990 2011 0 0 0 0 0 0

9019 0.85 205.3 214.3 8.7 891 9040 0.00 3.00 11.90 0.908 4 0.000 0.091 2948 3539 1962 0 0 0 0 0 0

9112 0.85 205.3 204.9 9.9 899 9119 0.00 2.90 0.00 0.000 6 0.000 0.080 2959 1992 1961 0 0 0 0 0 0

9437 0.85 205.3 175.1 9.3 930 9442 0.00 2.95 0.00 0.000 4 0.000 0.091 2959 3545 1960 0 0 0 0 0 0

9476 0.80 205.3 171.2 10.6 933 9481 0.00 2.90 0.00 0.000 6 0.000 0.081 2972 1999 1960 0 0 0 0 0 0

9800 0.81 215.1 140.5 8.8 963 9815 0.00 2.92 9.43 0.859 4 0.000 0.093 2972 3538 1922 0 0 0 0 0 0

9827 0.82 220.6 138.1 8.9 965 9841 0.00 2.88 6.65 0.785 6 0.000 0.081 2984 2004 1899 0 0 0 0 0 0

10166 0.82 220.6 106.7 9.3 997 10170 0.00 2.58 0.00 0.000 4 0.000 0.102 2995 358 1897 0 0 0 0 0 0

10193 0.82 223.5 104.2 9.0 999 10198 0.17 2.50 0.00 0.000 6 0.193 0.077 2955 2009 1895 0 0 0 0 0 0

10534 1.01 283.6 80.4 6.6 1054 10595 0.17 0.00 54.30 0.867 6 0.110 0.000 3011 2010 1642 0 0 0 0 0 0

10932 1.01 283.6 38.8 11.1 1126 10938 0.00 2.92 0.00 0.000 4 0.000 0.094 3012 3536 1633 0 0 0 0 0 0

10995 0.93 283.6 31.0 12.9 1137 11001 0.15 2.90 0.00 0.000 6 0.207 0.084 2992 2007 1632 0 0 0 0 0 0

11242 end climb: SURFACE_OBSTACLE_DETECTED

state 11242 begin subsurface finish

11249 0.10 82.2 7.0 -6.1 1181 11291 0.85 2.55 -32.22 0.000 4 0.142 0.117 2730 362 2469 0 0 0 0 0 0

11292 end subsurface finish: CONTROL_FINISHED_OK

state 11292 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	230	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	19	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	082649,6643.585,-6016.872,0,7123.0,0,-37.8	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.52	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	082649,6643.585,-6016.872,0,7123.0,0,-37.8	MHEAD_RNG_PITCHd_Wd	114.4,155062,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	539

FREEZE	6.97,-1.774,-1.761,2,25,1	ALTIM_BOTTOM_PING	450.5,108.2
FINISH1	7.0,1.025809,82	_24V_AH	22.6,48.755
FINISH2	5.9	_10V_AH	10.1,25.404
RAFOS_CLK	792	FG_AHR_24Vo	0.000
RAFOS	0,1259755268,12.033333,12.018888,75,66,61,0,0,0,580,137,221,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.658691,-6018.895996,021209,121228,6,101,0.29	MEM	152608
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	44173,1189
TT8_MAMPS	0.026845	CAP_FILE_SIZE	130660,0
HUMID	49.88	CFSIZE	260165632,231821312
INTERNAL_PRESSURE	8.88706	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1449.1
XPDR_PINGS	8	GPS	021209,122328,6645.659,-6018.896,0,6100.8,0,-37.8
ALTIM_TOP_PING	19.6,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	240	27.13	SBE_CT	882	24	478.63
Roll_motor	136	142	439.86	SBE_O2	820	19	352.49
VBD_pump_during_apogee	368	1130	9423.70	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	33.22
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	1985	19	399.50
LPSleep	6798	2	158.62
TT8_Active	447	19	89.99
TT8_Sampling	1978	39	797.81
TT8_CF8	150	45	69.92
TT8_Kalman	0	0	0.00
Analog_circuits	1487	12	180.30
GPS_charging	0	0	0.00
Compass	1957	8	158.16
RAFOS	2520	1	38.18
Transponder	12	30	3.83

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	-5.25	0.000	2	0.000	0.000	2729	1946	2630	0	0	0	0	0	0
25	-0.73	-146.0	7.3	-0.0	1	56	0.80	1.70	-24.23	0.000	4	0.112	0.116	2464	859	3399	0	0	0	0	0	0
225	-0.65	-146.0	31.6	-13.8	37	230	0.00	2.53	0.00	0.000	6	0.000	0.085	2463	2458	3402	0	0	0	0	0	0
569	-0.56	-146.0	78.0	-13.3	98	575	0.17	2.88	0.00	0.000	4	0.240	0.100	2491	3911	3402	0	0	0	0	0	0
799	-0.56	-146.0	104.4	-10.9	136	805	0.00	2.65	0.00	0.000	6	0.000	0.075	2491	2481	3402	0	0	0	0	0	0
1124	-0.60	-146.0	135.6	-9.4	167	1129	0.00	2.80	0.00	0.000	4	0.000	0.102	2491	3910	3402	0	0	0	0	0	0
1163	-0.68	-146.0	140.1	-11.0	170	1167	0.00	2.65	0.00	0.000	6	0.000	0.076	2491	2486	3402	0	0	0	0	0	0
1487	-0.76	-146.0	172.9	-9.4	200	1492	0.15	2.78	0.00	0.000	4	0.130	0.099	2429	3911	3402	0	0	0	0	0	0
1607	-0.64	-146.0	187.7	-12.7	210	1612	0.22	2.62	0.00	0.000	6	0.231	0.074	2479	2495	3402	0	0	0	0	0	0
1931	-0.70	-146.0	221.4	-10.3	240	1936	0.00	2.78	0.00	0.000	4	0.000	0.101	2479	3919	3402	0	0	0	0	0	0
1986	-0.77	-146.0	226.8	-9.4	244	1992	0.12	2.65	0.00	0.000	6	0.135	0.075	2442	2493	3401	0	0	0	0	0	0
2310	-0.77	-146.0	259.6	-9.4	275	2315	0.00	2.78	0.00	0.000	4	0.000	0.102	2442	3914	3401	0	0	0	0	0	0
2472	-0.77	-146.0	275.6	-9.5	289	2477	0.00	2.60	0.00	0.000	6	0.000	0.075	2442	2514	3401	0	0	0	0	0	0
2796	-0.77	-146.0	311.1	-11.8	319	2801	0.00	2.72	0.00	0.000	4	0.000	0.101	2442	3910	3401	0	0	0	0	0	0
2891	-0.77	-146.0	322.1	-11.4	327	2896	0.00	2.60	0.00	0.000	6	0.000	0.076	2442	2516	3400	0	0	0	0	0	0
3216	-0.77	-146.0	353.2	-8.9	357	3220	0.00	2.75	0.00	0.000	4	0.000	0.102	2442	3920	3400	0	0	0	0	0	0
3311	-0.77	-146.0	362.1	-9.2	365	3315	0.00	2.60	0.00	0.000	6	0.000	0.075	2442	2526	3400	0	0	0	0	0	0
3635	-0.77	-146.0	391.2	-8.9	395	3640	0.00	2.72	0.00	0.000	4	0.000	0.102	2442	3917	3399	0	0	0	0	0	0
3723	-0.77	-146.0	399.6	-9.5	402	3729	0.00	2.62	0.00	0.000	6	0.000	0.075	2442	2505	3400	0	0	0	0	0	0
4048	-0.77	-146.0	427.8	-8.5	433	4053	0.00	2.75	0.00	0.000	4	0.000	0.100	2442	3910	3400	0	0	0	0	0	0
4147	-0.77	-146.0	436.1	-8.0	441	4153	0.00	2.55	0.00	0.000	6	0.000	0.074	2442	2542	3400	0	0	0	0	0	0
4472	-0.77	-146.0	462.4	-8.2	472	4477	0.00	2.70	0.00	0.000	4	0.000	0.100	2441	3921	3399	0	0	0	0	0	0
4538	-0.77	-146.0	468.0	-8.8	477	4545	0.00	2.55	0.00	0.000	6	0.000	0.073	2441	2542	3400	0	0	0	0	0	0
4863	-0.77	-146.0	496.4	-8.7	508	4867	0.00	2.67	0.00	0.000	4	0.000	0.099	2442	3912	3400	0	0	0	0	0	0
5037	-0.77	-146.0	511.7	-9.1	523	5041	0.00	2.55	0.00	0.000	6	0.000	0.073	2442	2543	3400	0	0	0	0	0	0
5348	end dive: TARGET_DEPTH_EXCEEDED
state	5349	begin apogee
5354	-0.16	0.0	539.1	8.3	552	5481	0.73	0.00	120.43	1.131	6	0.200	0.000	2630	1943	2799	0	0	0	0	0	0
5482	end apogee: CONTROL_FINISHED_OK
state	5482	begin climb
5484	0.73	146.0	542.8	0.0	565	5620	1.00	2.78	126.40	1.074	4	0.152	0.097	2924	362	2202	0	0	0	0	0	0
5729	0.65	146.0	526.3	11.1	588	5734	0.00	2.58	0.00	0.000	6	0.000	0.073	2924	1951	2197	0	0	0	0	0	0
6054	0.59	146.0	493.6	10.0	618	6060	0.17	3.05	0.00	0.000	4	0.202	0.088	2881	3538	2194	0	0	0	0	0	0
6098	0.59	146.0	489.2	9.7	621	6105	0.00	3.00	0.00	0.000	6	0.000	0.078	2892	1958	2192	0	0	0	0	0	0
6426	0.70	185.8	462.7	7.5	652	6467	0.00	3.10	32.92	1.033	4	0.000	0.089	2892	3530	2041	0	0	0	0	0	0
6535	0.70	185.8	453.2	9.7	662	6540	0.00	2.97	0.00	0.000	6	0.000	0.078	2904	1965	2038	0	0	0	0	0	0
6860	0.77	185.8	421.4	9.7	692	6865	0.10	3.00	0.00	0.000	4	0.130	0.087	2939	3540	2036	0	0	0	0	0	0
6922	0.67	185.8	413.9	12.7	697	6927	0.17	2.95	0.00	0.000	6	0.204	0.078	2913	1964	2035	0	0	0	0	0	0
7246	0.67	185.8	380.0	9.9	727	7247	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	1966	2036	0	0	0	0	0	0
7566	0.74	193.2	351.9	8.9	757	7580	0.00	3.03	6.80	0.860	4	0.000	0.088	2912	3541	2012	0	0	0	0	0	0
7632	0.74	193.2	345.4	9.7	763	7636	0.00	2.92	0.00	0.000	6	0.000	0.078	2923	1966	2011	0	0	0	0	0	0
7956	0.79	194.8	315.6	9.1	793	7961	0.00	2.97	0.00	0.000	4	0.000	0.088	2923	3547	2011	0	0	0	0	0	0
8018	0.79	194.8	309.4	10.1	798	8022	0.00	2.92	0.00	0.000	6	0.000	0.078	2935	1977	2011	0	0	0	0	0	0
8342	0.84	194.8	277.8	10.3	828	8347	0.00	2.95	0.00	0.000	4	0.000	0.089	2935	3539	2011	0	0	0	0	0	0
8374	0.84	194.8	274.3	11.1	830	8380	0.00	2.88	0.00	0.000	6	0.000	0.078	2948	1988	2011	0	0	0	0	0	0
8699	0.84	194.8	243.1	9.3	861	8700	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	1990	2011	0	0	0	0	0	0
9019	0.85	205.3	214.3	8.7	891	9040	0.00	3.00	11.90	0.908	4	0.000	0.091	2948	3539	1962	0	0	0	0	0	0
9112	0.85	205.3	204.9	9.9	899	9119	0.00	2.90	0.00	0.000	6	0.000	0.080	2959	1992	1961	0	0	0	0	0	0
9437	0.85	205.3	175.1	9.3	930	9442	0.00	2.95	0.00	0.000	4	0.000	0.091	2959	3545	1960	0	0	0	0	0	0
9476	0.80	205.3	171.2	10.6	933	9481	0.00	2.90	0.00	0.000	6	0.000	0.081	2972	1999	1960	0	0	0	0	0	0
9800	0.81	215.1	140.5	8.8	963	9815	0.00	2.92	9.43	0.859	4	0.000	0.093	2972	3538	1922	0	0	0	0	0	0
9827	0.82	220.6	138.1	8.9	965	9841	0.00	2.88	6.65	0.785	6	0.000	0.081	2984	2004	1899	0	0	0	0	0	0
10166	0.82	220.6	106.7	9.3	997	10170	0.00	2.58	0.00	0.000	4	0.000	0.102	2995	358	1897	0	0	0	0	0	0
10193	0.82	223.5	104.2	9.0	999	10198	0.17	2.50	0.00	0.000	6	0.193	0.077	2955	2009	1895	0	0	0	0	0	0
10534	1.01	283.6	80.4	6.6	1054	10595	0.17	0.00	54.30	0.867	6	0.110	0.000	3011	2010	1642	0	0	0	0	0	0
10932	1.01	283.6	38.8	11.1	1126	10938	0.00	2.92	0.00	0.000	4	0.000	0.094	3012	3536	1633	0	0	0	0	0	0
10995	0.93	283.6	31.0	12.9	1137	11001	0.15	2.90	0.00	0.000	6	0.207	0.084	2992	2007	1632	0	0	0	0	0	0
11242	end climb: SURFACE_OBSTACLE_DETECTED
state	11242	begin subsurface finish
11249	0.10	82.2	7.0	-6.1	1181	11291	0.85	2.55	-32.22	0.000	4	0.142	0.117	2730	362	2469	0	0	0	0	0	0
11292	end subsurface finish: CONTROL_FINISHED_OK
state	11292	begin surface