Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 231 * 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 231 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 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 231 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 122328,6645.659,-6018.896,0,6100.8,0,-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 4.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 122328,6645.659,-6018.896,0,6100.8,0,-37.8 MHEAD_RNG_PITCHd_Wd 115.9,155647,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 538

Post-dive calculations and measurements:

FREEZE 8.55,-1.773,-1.763,2,26,0 ALTIM_BOTTOM_PING 450.8,127.2

FINISH1 8.6,1.025815,82 _24V_AH 22.6,48.865

FINISH2 6.8 _10V_AH 10.1,25.466

RAFOS_CLK 786 FG_AHR_24Vo 0.000

RAFOS 0,1259769665,16.033333,16.018055,120,67,63,0,0,0,607,211,199,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.012207,-6015.568359,021209,161625,7,106,0.24 MEM 152568

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 44149,1174

TT8_MAMPS 0.027612 CAP_FILE_SIZE 130457,0

HUMID 50.23 CFSIZE 260165632,231751680

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 1448.9

XPDR_PINGS 8 GPS 021209,162725,6647.012,-6015.568,0,7106.0,0,-37.8

ALTIM_TOP_PING 19.9,19.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 229 34.21 SBE_CT 871 24 472.67

Roll_motor 142 137 441.07 SBE_O2 809 19 347.66

VBD_pump_during_apogee 363 1132 9308.56 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 1971 19 396.64

LPSleep 6712 2 156.60

TT8_Active 451 19 90.90

TT8_Sampling 1961 39 790.97

TT8_CF8 146 45 67.84

TT8_Kalman 0 0 0.00

Analog_circuits 1482 12 179.70

GPS_charging 0 0 0.00

Compass 1940 8 156.81

RAFOS 2520 1 38.18

Transponder 12 30 3.84

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 -5.07 0.000 2 0.000 0.000 2730 362 2587 0 0 0 0 0 0

25 -0.73 -146.0 4.3 -0.0 1 67 0.82 6.22 -31.95 0.000 4 0.114 0.098 2459 3909 3399 0 0 0 0 0 0

174 -0.64 -146.0 22.4 -13.1 28 179 0.00 2.67 0.00 0.000 6 0.000 0.074 2459 2462 3400 0 0 0 0 0 0

518 -0.53 -146.0 71.4 -13.1 89 524 0.22 2.80 0.00 0.000 4 0.229 0.097 2501 3911 3400 0 0 0 0 0 0

643 -0.60 -146.0 86.0 -11.6 111 649 0.00 2.67 0.00 0.000 6 0.000 0.074 2501 2463 3400 0 0 0 0 0 0

975 -0.67 -146.0 121.5 -10.5 153 980 0.00 2.80 0.00 0.000 4 0.000 0.100 2501 3909 3400 0 0 0 0 0 0

1048 -0.77 -146.0 129.1 -10.5 159 1053 0.17 2.67 0.00 0.000 6 0.118 0.074 2442 2468 3400 0 0 0 0 0 0

1372 -0.68 -146.0 168.7 -12.1 189 1377 0.00 2.80 0.00 0.000 4 0.000 0.100 2442 3910 3400 0 0 0 0 0 0

1490 -0.60 -146.0 182.7 -12.1 199 1495 0.22 2.65 0.00 0.000 6 0.221 0.075 2493 2483 3400 0 0 0 0 0 0

1814 -0.71 -146.0 214.7 -9.8 229 1818 0.00 2.78 0.00 0.000 4 0.000 0.101 2493 3910 3400 0 0 0 0 0 0

1887 -0.84 -146.0 221.3 -8.9 235 1893 0.25 2.65 0.00 0.000 6 0.110 0.076 2412 2485 3400 0 0 0 0 0 0

2212 -0.70 -146.0 260.2 -11.8 265 2217 0.20 2.80 0.00 0.000 4 0.224 0.098 2448 3921 3400 0 0 0 0 0 0

2356 -0.70 -146.0 275.2 -10.1 277 2363 0.00 2.65 0.00 0.000 6 0.000 0.074 2448 2491 3399 0 0 0 0 0 0

2681 -0.70 -146.0 309.7 -10.8 308 2686 0.00 2.78 0.00 0.000 4 0.000 0.101 2448 3911 3400 0 0 0 0 0 0

2765 -0.70 -146.0 318.6 -11.0 315 2770 0.00 2.62 0.00 0.000 6 0.000 0.075 2448 2506 3399 0 0 0 0 0 0

3090 -0.70 -146.0 350.6 -9.1 345 3095 0.00 2.75 0.00 0.000 4 0.000 0.101 2448 3910 3399 0 0 0 0 0 0

3225 -0.70 -146.0 363.3 -9.1 356 3231 0.00 2.60 0.00 0.000 6 0.000 0.076 2447 2521 3398 0 0 0 0 0 0

3550 -0.70 -146.0 392.5 -9.0 387 3554 0.00 2.75 0.00 0.000 4 0.000 0.102 2448 3920 3399 0 0 0 0 0 0

3622 -0.70 -146.0 399.1 -9.3 393 3626 0.00 2.62 0.00 0.000 6 0.000 0.075 2448 2519 3398 0 0 0 0 0 0

3948 -0.70 -146.0 426.6 -8.6 423 3953 0.00 2.75 0.00 0.000 4 0.000 0.100 2448 3918 3398 0 0 0 0 0 0

4054 -0.70 -146.0 435.7 -8.1 432 4059 0.00 2.60 0.00 0.000 6 0.000 0.075 2448 2532 3398 0 0 0 0 0 0

4379 -0.70 -146.0 461.9 -7.9 462 4383 0.00 2.72 0.00 0.000 4 0.000 0.100 2447 3917 3398 0 0 0 0 0 0

4462 -0.70 -146.0 469.2 -9.5 469 4466 0.00 2.60 0.00 0.000 6 0.000 0.074 2448 2533 3398 0 0 0 0 0 0

4787 -0.77 -146.0 496.5 -8.3 499 4791 0.00 2.72 0.00 0.000 4 0.000 0.099 2448 3919 3399 0 0 0 0 0 0

4905 -0.85 -146.0 506.3 -7.8 509 4910 0.00 2.58 0.00 0.000 6 0.000 0.074 2448 2546 3399 0 0 0 0 0 0

5230 -0.91 -146.0 531.8 -8.3 539 5235 0.15 2.70 0.00 0.000 4 0.120 0.096 2388 3912 3399 0 0 0 0 0 0

5290 end dive: TARGET_DEPTH_EXCEEDED

state 5290 begin apogee

5299 -0.16 0.0 538.6 11.4 544 5425 0.95 0.00 120.00 1.132 6 0.218 0.000 2629 1951 2800 0 0 0 0 0 0

5426 end apogee: CONTROL_FINISHED_OK

state 5426 begin climb

5428 0.73 146.0 541.5 0.0 557 5564 1.00 2.83 126.20 1.075 4 0.149 0.098 2923 365 2203 0 0 0 0 0 0

5626 0.65 146.0 527.8 11.6 576 5631 0.00 2.58 0.00 0.000 6 0.000 0.073 2923 1952 2199 0 0 0 0 0 0

5950 0.60 146.0 493.0 10.4 606 5952 0.15 0.00 0.00 0.000 6 0.205 0.000 2891 1953 2195 0 0 0 0 0 0

6269 0.69 159.0 465.1 8.6 636 6289 0.00 3.03 10.80 0.965 4 0.000 0.088 2891 3540 2150 0 0 0 0 0 0

6357 0.69 159.0 456.3 10.3 644 6362 0.00 3.00 0.00 0.000 6 0.000 0.080 2901 1959 2150 0 0 0 0 0 0

6682 0.76 174.0 425.8 8.5 674 6704 0.10 3.03 14.23 0.989 4 0.133 0.088 2937 3538 2089 0 0 0 0 0 0

6749 0.65 174.0 418.4 12.1 680 6755 0.20 2.97 0.00 0.000 6 0.203 0.079 2904 1966 2088 0 0 0 0 0 0

7075 0.73 180.9 388.4 8.9 710 7089 0.00 3.03 7.12 0.884 4 0.000 0.087 2904 3531 2062 0 0 0 0 0 0

7162 0.73 180.9 379.7 9.9 718 7167 0.00 2.95 0.00 0.000 6 0.000 0.079 2914 1971 2061 0 0 0 0 0 0

7486 0.79 180.9 348.7 9.5 748 7491 0.00 2.97 0.00 0.000 4 0.000 0.089 2914 3537 2061 0 0 0 0 0 0

7529 0.79 180.9 344.2 10.2 751 7536 0.00 2.95 0.00 0.000 6 0.000 0.078 2926 1968 2060 0 0 0 0 0 0

7855 0.81 197.7 315.3 8.5 782 7878 0.00 3.00 16.20 0.960 4 0.000 0.088 2926 3541 1991 0 0 0 0 0 0

7933 0.81 197.7 307.6 9.9 789 7940 0.00 2.95 0.00 0.000 6 0.000 0.078 2939 1983 1989 0 0 0 0 0 0

8258 0.83 208.5 278.8 8.7 820 8271 0.00 0.00 10.45 0.908 6 0.000 0.000 2939 1984 1948 0 0 0 0 0 0

8588 0.89 208.5 249.2 9.2 851 8593 0.12 3.00 0.00 0.000 4 0.118 0.090 2981 3542 1945 0 0 0 0 0 0

8654 0.73 208.5 241.6 12.6 856 8661 0.28 2.92 0.00 0.000 6 0.202 0.080 2927 1986 1944 0 0 0 0 0 0

8979 0.90 247.4 216.1 7.5 887 9021 0.17 3.03 33.85 0.932 4 0.116 0.091 2983 3542 1790 0 0 0 0 0 0

9089 0.79 247.4 203.9 12.4 897 9095 0.20 2.97 0.00 0.000 6 0.200 0.081 2950 1987 1787 0 0 0 0 0 0

9414 0.89 255.4 174.8 8.8 927 9424 0.00 0.00 7.68 0.835 6 0.000 0.000 2950 1988 1757 0 0 0 0 0 0

9742 1.01 255.4 141.8 10.2 958 9748 0.20 3.00 0.00 0.000 4 0.111 0.091 3013 3544 1755 0 0 0 0 0 0

9775 0.86 255.4 137.6 13.4 960 9782 0.22 2.95 0.00 0.000 6 0.206 0.081 2974 1987 1755 0 0 0 0 0 0

10100 0.93 256.9 106.7 9.1 991 10105 0.00 2.97 0.00 0.000 4 0.000 0.093 2973 3539 1753 0 0 0 0 0 0

10139 0.93 256.9 102.7 11.2 994 10144 0.00 2.90 0.00 0.000 6 0.000 0.082 2984 2007 1753 0 0 0 0 0 0

10482 1.01 274.3 69.3 8.4 1052 10508 0.00 3.00 17.30 0.864 4 0.000 0.094 2984 3535 1679 0 0 0 0 0 0

10583 1.01 274.3 60.2 9.5 1070 10589 0.00 2.92 0.00 0.000 6 0.000 0.083 2996 2005 1678 0 0 0 0 0 0

10926 1.01 274.3 29.4 12.4 1131 10931 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2007 1675 0 0 0 0 0 0

11127 end climb: FINISH_DEPTH_REACHED

state 11127 begin subsurface finish

11133 0.10 81.8 8.6 -12.2 1167 11170 0.95 2.47 -28.60 0.000 4 0.185 0.117 2733 357 2471 0 0 0 0 0 0

11171 end subsurface finish: CONTROL_FINISHED_OK

state 11171 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	231	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	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	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	122328,6645.659,-6018.896,0,6100.8,0,-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	4.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	122328,6645.659,-6018.896,0,6100.8,0,-37.8	MHEAD_RNG_PITCHd_Wd	115.9,155647,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	538

FREEZE	8.55,-1.773,-1.763,2,26,0	ALTIM_BOTTOM_PING	450.8,127.2
FINISH1	8.6,1.025815,82	_24V_AH	22.6,48.865
FINISH2	6.8	_10V_AH	10.1,25.466
RAFOS_CLK	786	FG_AHR_24Vo	0.000
RAFOS	0,1259769665,16.033333,16.018055,120,67,63,0,0,0,607,211,199,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.012207,-6015.568359,021209,161625,7,106,0.24	MEM	152568
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	44149,1174
TT8_MAMPS	0.027612	CAP_FILE_SIZE	130457,0
HUMID	50.23	CFSIZE	260165632,231751680
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	1448.9
XPDR_PINGS	8	GPS	021209,162725,6647.012,-6015.568,0,7106.0,0,-37.8
ALTIM_TOP_PING	19.9,19.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	229	34.21	SBE_CT	871	24	472.67
Roll_motor	142	137	441.07	SBE_O2	809	19	347.66
VBD_pump_during_apogee	363	1132	9308.56	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	1971	19	396.64
LPSleep	6712	2	156.60
TT8_Active	451	19	90.90
TT8_Sampling	1961	39	790.97
TT8_CF8	146	45	67.84
TT8_Kalman	0	0	0.00
Analog_circuits	1482	12	179.70
GPS_charging	0	0	0.00
Compass	1940	8	156.81
RAFOS	2520	1	38.18
Transponder	12	30	3.84

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	-5.07	0.000	2	0.000	0.000	2730	362	2587	0	0	0	0	0	0
25	-0.73	-146.0	4.3	-0.0	1	67	0.82	6.22	-31.95	0.000	4	0.114	0.098	2459	3909	3399	0	0	0	0	0	0
174	-0.64	-146.0	22.4	-13.1	28	179	0.00	2.67	0.00	0.000	6	0.000	0.074	2459	2462	3400	0	0	0	0	0	0
518	-0.53	-146.0	71.4	-13.1	89	524	0.22	2.80	0.00	0.000	4	0.229	0.097	2501	3911	3400	0	0	0	0	0	0
643	-0.60	-146.0	86.0	-11.6	111	649	0.00	2.67	0.00	0.000	6	0.000	0.074	2501	2463	3400	0	0	0	0	0	0
975	-0.67	-146.0	121.5	-10.5	153	980	0.00	2.80	0.00	0.000	4	0.000	0.100	2501	3909	3400	0	0	0	0	0	0
1048	-0.77	-146.0	129.1	-10.5	159	1053	0.17	2.67	0.00	0.000	6	0.118	0.074	2442	2468	3400	0	0	0	0	0	0
1372	-0.68	-146.0	168.7	-12.1	189	1377	0.00	2.80	0.00	0.000	4	0.000	0.100	2442	3910	3400	0	0	0	0	0	0
1490	-0.60	-146.0	182.7	-12.1	199	1495	0.22	2.65	0.00	0.000	6	0.221	0.075	2493	2483	3400	0	0	0	0	0	0
1814	-0.71	-146.0	214.7	-9.8	229	1818	0.00	2.78	0.00	0.000	4	0.000	0.101	2493	3910	3400	0	0	0	0	0	0
1887	-0.84	-146.0	221.3	-8.9	235	1893	0.25	2.65	0.00	0.000	6	0.110	0.076	2412	2485	3400	0	0	0	0	0	0
2212	-0.70	-146.0	260.2	-11.8	265	2217	0.20	2.80	0.00	0.000	4	0.224	0.098	2448	3921	3400	0	0	0	0	0	0
2356	-0.70	-146.0	275.2	-10.1	277	2363	0.00	2.65	0.00	0.000	6	0.000	0.074	2448	2491	3399	0	0	0	0	0	0
2681	-0.70	-146.0	309.7	-10.8	308	2686	0.00	2.78	0.00	0.000	4	0.000	0.101	2448	3911	3400	0	0	0	0	0	0
2765	-0.70	-146.0	318.6	-11.0	315	2770	0.00	2.62	0.00	0.000	6	0.000	0.075	2448	2506	3399	0	0	0	0	0	0
3090	-0.70	-146.0	350.6	-9.1	345	3095	0.00	2.75	0.00	0.000	4	0.000	0.101	2448	3910	3399	0	0	0	0	0	0
3225	-0.70	-146.0	363.3	-9.1	356	3231	0.00	2.60	0.00	0.000	6	0.000	0.076	2447	2521	3398	0	0	0	0	0	0
3550	-0.70	-146.0	392.5	-9.0	387	3554	0.00	2.75	0.00	0.000	4	0.000	0.102	2448	3920	3399	0	0	0	0	0	0
3622	-0.70	-146.0	399.1	-9.3	393	3626	0.00	2.62	0.00	0.000	6	0.000	0.075	2448	2519	3398	0	0	0	0	0	0
3948	-0.70	-146.0	426.6	-8.6	423	3953	0.00	2.75	0.00	0.000	4	0.000	0.100	2448	3918	3398	0	0	0	0	0	0
4054	-0.70	-146.0	435.7	-8.1	432	4059	0.00	2.60	0.00	0.000	6	0.000	0.075	2448	2532	3398	0	0	0	0	0	0
4379	-0.70	-146.0	461.9	-7.9	462	4383	0.00	2.72	0.00	0.000	4	0.000	0.100	2447	3917	3398	0	0	0	0	0	0
4462	-0.70	-146.0	469.2	-9.5	469	4466	0.00	2.60	0.00	0.000	6	0.000	0.074	2448	2533	3398	0	0	0	0	0	0
4787	-0.77	-146.0	496.5	-8.3	499	4791	0.00	2.72	0.00	0.000	4	0.000	0.099	2448	3919	3399	0	0	0	0	0	0
4905	-0.85	-146.0	506.3	-7.8	509	4910	0.00	2.58	0.00	0.000	6	0.000	0.074	2448	2546	3399	0	0	0	0	0	0
5230	-0.91	-146.0	531.8	-8.3	539	5235	0.15	2.70	0.00	0.000	4	0.120	0.096	2388	3912	3399	0	0	0	0	0	0
5290	end dive: TARGET_DEPTH_EXCEEDED
state	5290	begin apogee
5299	-0.16	0.0	538.6	11.4	544	5425	0.95	0.00	120.00	1.132	6	0.218	0.000	2629	1951	2800	0	0	0	0	0	0
5426	end apogee: CONTROL_FINISHED_OK
state	5426	begin climb
5428	0.73	146.0	541.5	0.0	557	5564	1.00	2.83	126.20	1.075	4	0.149	0.098	2923	365	2203	0	0	0	0	0	0
5626	0.65	146.0	527.8	11.6	576	5631	0.00	2.58	0.00	0.000	6	0.000	0.073	2923	1952	2199	0	0	0	0	0	0
5950	0.60	146.0	493.0	10.4	606	5952	0.15	0.00	0.00	0.000	6	0.205	0.000	2891	1953	2195	0	0	0	0	0	0
6269	0.69	159.0	465.1	8.6	636	6289	0.00	3.03	10.80	0.965	4	0.000	0.088	2891	3540	2150	0	0	0	0	0	0
6357	0.69	159.0	456.3	10.3	644	6362	0.00	3.00	0.00	0.000	6	0.000	0.080	2901	1959	2150	0	0	0	0	0	0
6682	0.76	174.0	425.8	8.5	674	6704	0.10	3.03	14.23	0.989	4	0.133	0.088	2937	3538	2089	0	0	0	0	0	0
6749	0.65	174.0	418.4	12.1	680	6755	0.20	2.97	0.00	0.000	6	0.203	0.079	2904	1966	2088	0	0	0	0	0	0
7075	0.73	180.9	388.4	8.9	710	7089	0.00	3.03	7.12	0.884	4	0.000	0.087	2904	3531	2062	0	0	0	0	0	0
7162	0.73	180.9	379.7	9.9	718	7167	0.00	2.95	0.00	0.000	6	0.000	0.079	2914	1971	2061	0	0	0	0	0	0
7486	0.79	180.9	348.7	9.5	748	7491	0.00	2.97	0.00	0.000	4	0.000	0.089	2914	3537	2061	0	0	0	0	0	0
7529	0.79	180.9	344.2	10.2	751	7536	0.00	2.95	0.00	0.000	6	0.000	0.078	2926	1968	2060	0	0	0	0	0	0
7855	0.81	197.7	315.3	8.5	782	7878	0.00	3.00	16.20	0.960	4	0.000	0.088	2926	3541	1991	0	0	0	0	0	0
7933	0.81	197.7	307.6	9.9	789	7940	0.00	2.95	0.00	0.000	6	0.000	0.078	2939	1983	1989	0	0	0	0	0	0
8258	0.83	208.5	278.8	8.7	820	8271	0.00	0.00	10.45	0.908	6	0.000	0.000	2939	1984	1948	0	0	0	0	0	0
8588	0.89	208.5	249.2	9.2	851	8593	0.12	3.00	0.00	0.000	4	0.118	0.090	2981	3542	1945	0	0	0	0	0	0
8654	0.73	208.5	241.6	12.6	856	8661	0.28	2.92	0.00	0.000	6	0.202	0.080	2927	1986	1944	0	0	0	0	0	0
8979	0.90	247.4	216.1	7.5	887	9021	0.17	3.03	33.85	0.932	4	0.116	0.091	2983	3542	1790	0	0	0	0	0	0
9089	0.79	247.4	203.9	12.4	897	9095	0.20	2.97	0.00	0.000	6	0.200	0.081	2950	1987	1787	0	0	0	0	0	0
9414	0.89	255.4	174.8	8.8	927	9424	0.00	0.00	7.68	0.835	6	0.000	0.000	2950	1988	1757	0	0	0	0	0	0
9742	1.01	255.4	141.8	10.2	958	9748	0.20	3.00	0.00	0.000	4	0.111	0.091	3013	3544	1755	0	0	0	0	0	0
9775	0.86	255.4	137.6	13.4	960	9782	0.22	2.95	0.00	0.000	6	0.206	0.081	2974	1987	1755	0	0	0	0	0	0
10100	0.93	256.9	106.7	9.1	991	10105	0.00	2.97	0.00	0.000	4	0.000	0.093	2973	3539	1753	0	0	0	0	0	0
10139	0.93	256.9	102.7	11.2	994	10144	0.00	2.90	0.00	0.000	6	0.000	0.082	2984	2007	1753	0	0	0	0	0	0
10482	1.01	274.3	69.3	8.4	1052	10508	0.00	3.00	17.30	0.864	4	0.000	0.094	2984	3535	1679	0	0	0	0	0	0
10583	1.01	274.3	60.2	9.5	1070	10589	0.00	2.92	0.00	0.000	6	0.000	0.083	2996	2005	1678	0	0	0	0	0	0
10926	1.01	274.3	29.4	12.4	1131	10931	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2007	1675	0	0	0	0	0	0
11127	end climb: FINISH_DEPTH_REACHED
state	11127	begin subsurface finish
11133	0.10	81.8	8.6	-12.2	1167	11170	0.95	2.47	-28.60	0.000	4	0.185	0.117	2733	357	2471	0	0	0	0	0	0
11171	end subsurface finish: CONTROL_FINISHED_OK
state	11171	begin surface