Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 269 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 269 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -34044.652 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -34044.652

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 28 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 269 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 300311,204800,6702.295,-5648.344,181,99.0,181,-37.7 TGT_NAME TARGET_W2

_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 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300311,204800,6702.295,-5648.344,181,99.0,181,-37.7 MHEAD_RNG_PITCHd_Wd 295.7,162794,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 547

Post-dive calculations and measurements:

FREEZE 2.10,-1.576,-1.827,3,18,0 ALTIM_TOP_PING 19.8,18.2

FINISH 2.1,1.026793 _24V_AH 22.8,37.063

SM_CCo 10451,129.98,0.064,0,0,751,559.04 _10V_AH 10.2,20.293

SM_GC 2.28,0.00,0.00,129.98,0.000,0.000,0.064,111,2497,751,-8.61,0.20,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 582 FG_AHR_10Vo 0.000

RAFOS 2,1301530626,0.300000,0.285000,60,56,54,51,51,50,215,197,173,110,185,131 MEM 150388

RAFOS_FIX 6702.295410,-5648.343750,300311,202000,2,121,0.28 DATA_FILE_SIZE 43357,1106

IRIDIUM_FIX 6641.98,-5656.94,290311,060610 CAP_FILE_SIZE 129858,0

TT8_MAMPS 0.026964 CFSIZE 260165632,234414080

HUMID 44.52 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.51595 SOUNDSPEED 1465.5

TCM_TEMP 17.40 GPS 300311,204800,6702.295,-5648.344,181,99.0,181,-37.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 306 164.13 SBE_CT 777 24 425.25

Roll_motor 102 71 166.87 SBE_O2 831 19 360.21

VBD_pump_during_apogee 348 1220 9699.44 nil 0 0 0.00

VBD_pump_during_surface 129 64 190.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 232.35 nil 0 0 0.00

Iridium_during_connect 17 160 63.36 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 14.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 93.48

TT8 2636 19 535.60

LPSleep 5525 2 130.19

TT8_Active 668 19 135.88

TT8_Sampling 2081 39 847.57

TT8_CF8 408 45 191.33

TT8_Kalman 0 0 0.00

Analog_circuits 1650 12 202.06

GPS_charging 0 0 0.00

Compass 1762 15 269.60

RAFOS 720 1 11.02

Transponder 11 30 3.51

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.62 -146.0 0.0 0.0 0 218 0.00 0.00 -196.55 0.000 6 0.000 0.000 109 2496 3626 0 0 0 0 0 0

221 -0.62 -146.0 2.8 -0.5 35 240 11.98 2.25 0.00 0.000 4 0.306 0.063 2658 3889 3628 0 0 0 0 0 0

286 -0.44 -146.0 8.0 -13.4 46 294 0.22 2.17 0.00 0.000 6 0.213 0.041 2713 2473 3628 0 0 0 0 0 0

632 -0.47 -146.0 47.3 -10.2 107 639 0.00 2.30 0.00 0.000 4 0.000 0.066 2713 3888 3628 0 0 0 0 0 0

691 -0.53 -146.0 53.6 -10.5 117 698 0.00 2.17 0.00 0.000 6 0.000 0.041 2713 2482 3628 0 0 0 0 0 0

1036 -0.56 -146.0 89.0 -9.9 178 1043 0.00 2.17 0.00 0.000 4 0.000 0.060 2713 1091 3628 0 0 0 0 0 0

1073 -0.59 -146.0 92.8 -10.3 184 1080 0.12 2.20 0.00 0.000 6 0.127 0.054 2670 2482 3628 0 0 0 0 0 0

1408 -0.54 -146.0 137.0 -13.0 220 1412 0.00 2.30 0.00 0.000 4 0.000 0.071 2670 3899 3626 0 0 0 0 0 0

1539 -0.54 -146.0 152.6 -11.7 231 1542 0.00 2.15 0.00 0.000 6 0.000 0.043 2670 2491 3626 0 0 0 0 0 0

1869 -0.51 -146.0 190.6 -11.3 262 1873 0.00 2.20 0.00 0.000 4 0.000 0.058 2670 1078 3626 0 0 0 0 0 0

1943 -0.51 -146.0 199.1 -11.5 268 1950 0.00 2.25 0.00 0.000 6 0.000 0.054 2670 2497 3626 0 0 0 0 0 0

2268 -0.51 -146.0 235.0 -10.7 299 2272 0.00 2.25 0.00 0.000 4 0.000 0.069 2670 3905 3626 0 0 0 0 0 0

2342 -0.51 -146.0 242.7 -9.9 305 2346 0.00 2.15 0.00 0.000 6 0.000 0.040 2670 2487 3626 0 0 0 0 0 0

2673 -0.51 -146.0 277.3 -10.9 336 2677 0.00 2.20 0.00 0.000 4 0.000 0.055 2670 1078 3627 0 0 0 0 0 0

2708 -0.51 -146.0 281.2 -11.0 339 2712 0.00 2.22 0.00 0.000 6 0.000 0.051 2670 2490 3628 0 0 0 0 0 0

3033 -0.51 -146.0 315.6 -10.1 369 3037 0.00 2.30 0.00 0.000 4 0.000 0.067 2670 3906 3628 0 0 0 0 0 0

3077 -0.51 -146.0 320.2 -10.0 372 3084 0.00 2.20 0.00 0.000 6 0.000 0.037 2670 2482 3628 0 0 0 0 0 0

3403 -0.51 -146.0 352.1 -9.9 403 3406 0.00 2.15 0.00 0.000 4 0.000 0.053 2670 1081 3629 0 0 0 0 0 0

3471 -0.51 -146.0 358.7 -9.8 409 3475 0.00 2.20 0.00 0.000 6 0.000 0.050 2669 2497 3629 0 0 0 0 0 0

3801 -0.51 -146.0 390.6 -9.6 440 3805 0.00 2.22 0.00 0.000 4 0.000 0.066 2669 3903 3631 0 0 0 0 0 0

3853 -0.54 -146.0 395.5 -9.9 444 3857 0.00 2.12 0.00 0.000 6 0.000 0.037 2670 2487 3631 0 0 0 0 0 0

4184 -0.54 -146.0 426.8 -9.5 475 4188 0.00 2.15 0.00 0.000 4 0.000 0.051 2670 1084 3632 0 0 0 0 0 0

4241 -0.54 -146.0 432.3 -9.6 480 4245 0.00 2.20 0.00 0.000 6 0.000 0.048 2670 2492 3632 0 0 0 0 0 0

4571 -0.54 -146.0 463.2 -9.3 511 4575 0.00 2.22 0.00 0.000 4 0.000 0.063 2670 3900 3633 0 0 0 0 0 0

4635 -0.56 -146.0 469.0 -9.3 516 4639 0.00 2.12 0.00 0.000 6 0.000 0.036 2670 2489 3632 0 0 0 0 0 0

4965 -0.56 -146.0 499.4 -9.3 547 4969 0.00 2.15 0.00 0.000 4 0.000 0.050 2670 1091 3634 0 0 0 0 0 0

5027 -0.56 -146.0 505.1 -9.1 552 5033 0.00 2.20 0.00 0.000 6 0.000 0.048 2670 2500 3634 0 0 0 0 0 0

5353 -0.56 -146.0 533.3 -8.6 583 5354 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2500 3635 0 0 0 0 0 0

5519 end dive: TARGET_DEPTH_EXCEEDED

state 5520 begin apogee

5525 -0.12 0.0 547.9 8.8 599 5651 0.50 0.00 120.65 1.220 6 0.179 0.000 2816 2253 3030 0 0 0 0 0 0

5652 end apogee: CONTROL_FINISHED_OK

state 5652 begin climb

5654 0.62 146.0 551.4 0.0 610 5788 0.77 2.40 123.22 1.178 4 0.132 0.055 3067 893 2432 0 0 0 0 0 0

5812 0.54 146.0 539.6 11.8 624 5816 0.00 2.38 0.00 0.000 6 0.000 0.043 3067 2281 2429 0 0 0 0 0 0

6137 0.46 146.0 500.7 12.3 654 6142 0.20 2.30 0.00 0.000 4 0.177 0.057 3013 3690 2426 0 0 0 0 0 0

6158 0.41 146.0 497.9 11.9 655 6165 0.00 2.25 0.00 0.000 6 0.000 0.041 3020 2286 2426 0 0 0 0 0 0

6485 0.42 151.6 466.2 9.7 686 6497 0.00 2.30 4.35 0.731 4 0.000 0.058 3020 3694 2412 0 0 0 0 0 0

6503 0.42 154.5 464.1 9.9 687 6513 0.00 2.22 4.53 0.754 6 0.000 0.041 3031 2274 2399 0 0 0 0 0 0

6839 0.42 154.5 427.4 11.2 719 6843 0.00 2.28 0.00 0.000 4 0.000 0.058 3030 3685 2398 0 0 0 0 0 0

6879 0.36 154.5 422.4 13.6 722 6884 0.20 2.22 0.00 0.000 6 0.180 0.043 2989 2267 2397 0 0 0 0 0 0

7205 0.46 185.6 392.9 8.6 752 7235 0.00 0.00 27.60 1.097 6 0.000 0.000 2989 2266 2272 0 0 0 0 0 0

7554 0.58 214.7 362.3 8.7 785 7587 0.17 0.00 26.20 1.073 6 0.083 0.000 3065 2267 2153 0 0 0 0 0 0

7905 0.53 214.7 312.0 14.4 818 7909 0.00 2.28 0.00 0.000 4 0.000 0.058 3064 3689 2149 0 0 0 0 0 0

7928 0.46 214.7 308.6 14.7 820 7933 0.22 2.20 0.00 0.000 6 0.171 0.042 3014 2275 2149 0 0 0 0 0 0

8253 0.56 242.0 278.2 8.7 850 8287 0.00 2.33 23.90 1.013 4 0.000 0.057 3015 865 2042 0 0 0 0 0 0

8316 0.70 261.5 272.7 9.1 855 8344 0.20 2.22 18.20 0.982 6 0.087 0.043 3098 2284 1964 0 0 0 0 0 0

8662 0.64 261.5 219.5 16.4 888 8666 0.00 2.22 0.00 0.000 4 0.000 0.057 3098 3691 1959 0 0 0 0 0 0

8696 0.56 261.5 213.5 18.8 891 8701 0.22 2.22 0.00 0.000 6 0.177 0.042 3048 2272 1957 0 0 0 0 0 0

9027 0.59 261.5 170.6 11.8 922 9028 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2272 1956 0 0 0 0 0 0

9347 0.62 261.5 132.6 11.9 952 9350 0.00 2.17 0.00 0.000 4 0.000 0.055 3055 868 1956 0 0 0 0 0 0

9385 0.69 261.5 127.8 11.5 955 9392 0.00 2.17 0.00 0.000 6 0.000 0.041 3055 2279 1954 0 0 0 0 0 0

9714 0.74 261.5 91.3 10.2 993 9722 0.12 2.20 0.00 0.000 4 0.105 0.057 3113 3681 1954 0 0 0 0 0 0

9741 0.74 261.5 87.9 12.9 997 9748 0.00 2.15 0.00 0.000 6 0.000 0.039 3124 2267 1954 0 0 0 0 0 0

10086 0.71 261.5 36.3 14.0 1058 10094 0.12 2.25 0.00 0.000 4 0.192 0.055 3092 3685 1954 0 0 0 0 0 0

10145 0.71 261.5 28.5 13.5 1068 10152 0.00 2.17 0.00 0.000 6 0.000 0.041 3100 2278 1954 0 0 0 0 0 0

10339 end climb: SURFACE_DEPTH_REACHED

state 10339 begin surface coast

10356 end surface coast: CONTROL_FINISHED_OK

state 10356 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	269	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-34044.652	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	300311,204800,6702.295,-5648.344,181,99.0,181,-37.7	TGT_NAME	TARGET_W2
_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	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300311,204800,6702.295,-5648.344,181,99.0,181,-37.7	MHEAD_RNG_PITCHd_Wd	295.7,162794,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	547

FREEZE	2.10,-1.576,-1.827,3,18,0	ALTIM_TOP_PING	19.8,18.2
FINISH	2.1,1.026793	_24V_AH	22.8,37.063
SM_CCo	10451,129.98,0.064,0,0,751,559.04	_10V_AH	10.2,20.293
SM_GC	2.28,0.00,0.00,129.98,0.000,0.000,0.064,111,2497,751,-8.61,0.20,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	582	FG_AHR_10Vo	0.000
RAFOS	2,1301530626,0.300000,0.285000,60,56,54,51,51,50,215,197,173,110,185,131	MEM	150388
RAFOS_FIX	6702.295410,-5648.343750,300311,202000,2,121,0.28	DATA_FILE_SIZE	43357,1106
IRIDIUM_FIX	6641.98,-5656.94,290311,060610	CAP_FILE_SIZE	129858,0
TT8_MAMPS	0.026964	CFSIZE	260165632,234414080
HUMID	44.52	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.51595	SOUNDSPEED	1465.5
TCM_TEMP	17.40	GPS	300311,204800,6702.295,-5648.344,181,99.0,181,-37.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	306	164.13	SBE_CT	777	24	425.25
Roll_motor	102	71	166.87	SBE_O2	831	19	360.21
VBD_pump_during_apogee	348	1220	9699.44	nil	0	0	0.00
VBD_pump_during_surface	129	64	190.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	232.35	nil	0	0	0.00
Iridium_during_connect	17	160	63.36	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	14.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	93.48
TT8	2636	19	535.60
LPSleep	5525	2	130.19
TT8_Active	668	19	135.88
TT8_Sampling	2081	39	847.57
TT8_CF8	408	45	191.33
TT8_Kalman	0	0	0.00
Analog_circuits	1650	12	202.06
GPS_charging	0	0	0.00
Compass	1762	15	269.60
RAFOS	720	1	11.02
Transponder	11	30	3.51

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.62	-146.0	0.0	0.0	0	218	0.00	0.00	-196.55	0.000	6	0.000	0.000	109	2496	3626	0	0	0	0	0	0
221	-0.62	-146.0	2.8	-0.5	35	240	11.98	2.25	0.00	0.000	4	0.306	0.063	2658	3889	3628	0	0	0	0	0	0
286	-0.44	-146.0	8.0	-13.4	46	294	0.22	2.17	0.00	0.000	6	0.213	0.041	2713	2473	3628	0	0	0	0	0	0
632	-0.47	-146.0	47.3	-10.2	107	639	0.00	2.30	0.00	0.000	4	0.000	0.066	2713	3888	3628	0	0	0	0	0	0
691	-0.53	-146.0	53.6	-10.5	117	698	0.00	2.17	0.00	0.000	6	0.000	0.041	2713	2482	3628	0	0	0	0	0	0
1036	-0.56	-146.0	89.0	-9.9	178	1043	0.00	2.17	0.00	0.000	4	0.000	0.060	2713	1091	3628	0	0	0	0	0	0
1073	-0.59	-146.0	92.8	-10.3	184	1080	0.12	2.20	0.00	0.000	6	0.127	0.054	2670	2482	3628	0	0	0	0	0	0
1408	-0.54	-146.0	137.0	-13.0	220	1412	0.00	2.30	0.00	0.000	4	0.000	0.071	2670	3899	3626	0	0	0	0	0	0
1539	-0.54	-146.0	152.6	-11.7	231	1542	0.00	2.15	0.00	0.000	6	0.000	0.043	2670	2491	3626	0	0	0	0	0	0
1869	-0.51	-146.0	190.6	-11.3	262	1873	0.00	2.20	0.00	0.000	4	0.000	0.058	2670	1078	3626	0	0	0	0	0	0
1943	-0.51	-146.0	199.1	-11.5	268	1950	0.00	2.25	0.00	0.000	6	0.000	0.054	2670	2497	3626	0	0	0	0	0	0
2268	-0.51	-146.0	235.0	-10.7	299	2272	0.00	2.25	0.00	0.000	4	0.000	0.069	2670	3905	3626	0	0	0	0	0	0
2342	-0.51	-146.0	242.7	-9.9	305	2346	0.00	2.15	0.00	0.000	6	0.000	0.040	2670	2487	3626	0	0	0	0	0	0
2673	-0.51	-146.0	277.3	-10.9	336	2677	0.00	2.20	0.00	0.000	4	0.000	0.055	2670	1078	3627	0	0	0	0	0	0
2708	-0.51	-146.0	281.2	-11.0	339	2712	0.00	2.22	0.00	0.000	6	0.000	0.051	2670	2490	3628	0	0	0	0	0	0
3033	-0.51	-146.0	315.6	-10.1	369	3037	0.00	2.30	0.00	0.000	4	0.000	0.067	2670	3906	3628	0	0	0	0	0	0
3077	-0.51	-146.0	320.2	-10.0	372	3084	0.00	2.20	0.00	0.000	6	0.000	0.037	2670	2482	3628	0	0	0	0	0	0
3403	-0.51	-146.0	352.1	-9.9	403	3406	0.00	2.15	0.00	0.000	4	0.000	0.053	2670	1081	3629	0	0	0	0	0	0
3471	-0.51	-146.0	358.7	-9.8	409	3475	0.00	2.20	0.00	0.000	6	0.000	0.050	2669	2497	3629	0	0	0	0	0	0
3801	-0.51	-146.0	390.6	-9.6	440	3805	0.00	2.22	0.00	0.000	4	0.000	0.066	2669	3903	3631	0	0	0	0	0	0
3853	-0.54	-146.0	395.5	-9.9	444	3857	0.00	2.12	0.00	0.000	6	0.000	0.037	2670	2487	3631	0	0	0	0	0	0
4184	-0.54	-146.0	426.8	-9.5	475	4188	0.00	2.15	0.00	0.000	4	0.000	0.051	2670	1084	3632	0	0	0	0	0	0
4241	-0.54	-146.0	432.3	-9.6	480	4245	0.00	2.20	0.00	0.000	6	0.000	0.048	2670	2492	3632	0	0	0	0	0	0
4571	-0.54	-146.0	463.2	-9.3	511	4575	0.00	2.22	0.00	0.000	4	0.000	0.063	2670	3900	3633	0	0	0	0	0	0
4635	-0.56	-146.0	469.0	-9.3	516	4639	0.00	2.12	0.00	0.000	6	0.000	0.036	2670	2489	3632	0	0	0	0	0	0
4965	-0.56	-146.0	499.4	-9.3	547	4969	0.00	2.15	0.00	0.000	4	0.000	0.050	2670	1091	3634	0	0	0	0	0	0
5027	-0.56	-146.0	505.1	-9.1	552	5033	0.00	2.20	0.00	0.000	6	0.000	0.048	2670	2500	3634	0	0	0	0	0	0
5353	-0.56	-146.0	533.3	-8.6	583	5354	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2500	3635	0	0	0	0	0	0
5519	end dive: TARGET_DEPTH_EXCEEDED
state	5520	begin apogee
5525	-0.12	0.0	547.9	8.8	599	5651	0.50	0.00	120.65	1.220	6	0.179	0.000	2816	2253	3030	0	0	0	0	0	0
5652	end apogee: CONTROL_FINISHED_OK
state	5652	begin climb
5654	0.62	146.0	551.4	0.0	610	5788	0.77	2.40	123.22	1.178	4	0.132	0.055	3067	893	2432	0	0	0	0	0	0
5812	0.54	146.0	539.6	11.8	624	5816	0.00	2.38	0.00	0.000	6	0.000	0.043	3067	2281	2429	0	0	0	0	0	0
6137	0.46	146.0	500.7	12.3	654	6142	0.20	2.30	0.00	0.000	4	0.177	0.057	3013	3690	2426	0	0	0	0	0	0
6158	0.41	146.0	497.9	11.9	655	6165	0.00	2.25	0.00	0.000	6	0.000	0.041	3020	2286	2426	0	0	0	0	0	0
6485	0.42	151.6	466.2	9.7	686	6497	0.00	2.30	4.35	0.731	4	0.000	0.058	3020	3694	2412	0	0	0	0	0	0
6503	0.42	154.5	464.1	9.9	687	6513	0.00	2.22	4.53	0.754	6	0.000	0.041	3031	2274	2399	0	0	0	0	0	0
6839	0.42	154.5	427.4	11.2	719	6843	0.00	2.28	0.00	0.000	4	0.000	0.058	3030	3685	2398	0	0	0	0	0	0
6879	0.36	154.5	422.4	13.6	722	6884	0.20	2.22	0.00	0.000	6	0.180	0.043	2989	2267	2397	0	0	0	0	0	0
7205	0.46	185.6	392.9	8.6	752	7235	0.00	0.00	27.60	1.097	6	0.000	0.000	2989	2266	2272	0	0	0	0	0	0
7554	0.58	214.7	362.3	8.7	785	7587	0.17	0.00	26.20	1.073	6	0.083	0.000	3065	2267	2153	0	0	0	0	0	0
7905	0.53	214.7	312.0	14.4	818	7909	0.00	2.28	0.00	0.000	4	0.000	0.058	3064	3689	2149	0	0	0	0	0	0
7928	0.46	214.7	308.6	14.7	820	7933	0.22	2.20	0.00	0.000	6	0.171	0.042	3014	2275	2149	0	0	0	0	0	0
8253	0.56	242.0	278.2	8.7	850	8287	0.00	2.33	23.90	1.013	4	0.000	0.057	3015	865	2042	0	0	0	0	0	0
8316	0.70	261.5	272.7	9.1	855	8344	0.20	2.22	18.20	0.982	6	0.087	0.043	3098	2284	1964	0	0	0	0	0	0
8662	0.64	261.5	219.5	16.4	888	8666	0.00	2.22	0.00	0.000	4	0.000	0.057	3098	3691	1959	0	0	0	0	0	0
8696	0.56	261.5	213.5	18.8	891	8701	0.22	2.22	0.00	0.000	6	0.177	0.042	3048	2272	1957	0	0	0	0	0	0
9027	0.59	261.5	170.6	11.8	922	9028	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2272	1956	0	0	0	0	0	0
9347	0.62	261.5	132.6	11.9	952	9350	0.00	2.17	0.00	0.000	4	0.000	0.055	3055	868	1956	0	0	0	0	0	0
9385	0.69	261.5	127.8	11.5	955	9392	0.00	2.17	0.00	0.000	6	0.000	0.041	3055	2279	1954	0	0	0	0	0	0
9714	0.74	261.5	91.3	10.2	993	9722	0.12	2.20	0.00	0.000	4	0.105	0.057	3113	3681	1954	0	0	0	0	0	0
9741	0.74	261.5	87.9	12.9	997	9748	0.00	2.15	0.00	0.000	6	0.000	0.039	3124	2267	1954	0	0	0	0	0	0
10086	0.71	261.5	36.3	14.0	1058	10094	0.12	2.25	0.00	0.000	4	0.192	0.055	3092	3685	1954	0	0	0	0	0	0
10145	0.71	261.5	28.5	13.5	1068	10152	0.00	2.17	0.00	0.000	6	0.000	0.041	3100	2278	1954	0	0	0	0	0	0
10339	end climb: SURFACE_DEPTH_REACHED
state	10339	begin surface coast
10356	end surface coast: CONTROL_FINISHED_OK
state	10356	begin surface