Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 28 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2150 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 39 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 26 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 270 CAPMAXSIZE 100000 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -179365.84 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3120 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 3 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 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 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179365.84

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.027 T_TURN 270

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 3 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3120 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2150 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 0

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 39 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 28 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 221225,6709.945,-5703.389,42,1.6,42,-37.8 TGT_NAME TARGET_tst

_CALLS 1 TGT_LATLONG 6700.000,-5702.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221808,6709.970,-5703.456,14,1.0,14,-37.8 MHEAD_RNG_PITCHd_Wd 214.5,18495,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 472

Post-dive calculations and measurements:

FREEZE 1.20,2.299,-1.160,0,1,0 ALTIM_TOP_PING 19.9,18.5

FINISH 1.2,1.017074 ALTIM_BOTTOM_PING 350.5,123.6

SM_CCo 10933,41.15,0.832,0,0,1835,300.00 _24V_AH 23.7,6.217

SM_GC 2.30,0.00,0.00,41.15,0.000,0.000,0.832,337,2253,1835,-12.80,0.08,300.00 _10V_AH 10.3,3.030

MAGERROR 6 FG_AHR_24Vo 0.000

RAFOS_CLK 417 FG_AHR_10Vo 0.000

RAFOS 0,1276300862,0.033333,0.017222,45,41,41,40,40,40,1549,398,1210,1,480,800 MEM 137560

RAFOS_FIX 6711.144531,-5707.714844,120610,000022,3,96,0.43 DATA_FILE_SIZE 47328,1198

IRIDIUM_FIX 6641.98,-5655.54,050999,191924 CAP_FILE_SIZE 127024,0

TT8_MAMPS 0.028379 CFSIZE 260165632,246943744

HUMID 39.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.2543 SOUNDSPEED 1466.3

TCM_TEMP 7.00 GPS 120610,012302,6710.052,-5706.237,36,2.0,37,-37.8

XPDR_PINGS 71

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 249 118.60 SBE_CT 1000 24 568.98

Roll_motor 87 103 214.36 SBE_O2 944 19 425.09

VBD_pump_during_apogee 326 1111 8592.04 nil 0 0 0.00

VBD_pump_during_surface 41 832 811.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.48 nil 0 0 0.00

Iridium_during_connect 42 160 162.24 nil 0 0 0.00

Iridium_during_xfer 139 223 738.42

Transponder_ping 19 420 189.13

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.13

TT8 1956 19 401.35

LPSleep 7223 2 171.87

TT8_Active 543 19 111.49

TT8_Sampling 1108 39 455.67

TT8_CF8 494 45 233.67

TT8_Kalman 0 0 0.00

Analog_circuits 1422 12 175.79

GPS_charging 0 0 0.00

Compass 11046 8 910.26

RAFOS 2520 3 77.87

Transponder 11 30 3.70

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.78 -146.1 0.0 0.0 0 90 0.00 0.00 -69.07 0.000 2 0.000 0.000 341 2249 3344 0 0 0 0 0 0

94 -0.78 -146.1 3.1 -1.2 14 120 10.43 2.28 -8.88 0.000 4 0.249 0.071 2942 836 3657 0 0 0 0 0 0

425 -0.78 -146.1 37.7 -8.8 73 429 0.00 2.25 0.00 0.000 6 0.000 0.058 2935 2253 3662 0 0 0 0 0 0

767 -0.78 -146.1 69.7 -9.4 134 772 0.00 2.12 0.00 0.000 4 0.000 0.067 2925 3596 3661 0 0 0 0 0 0

823 -0.78 -146.1 75.1 -9.9 144 829 0.10 2.08 0.00 0.000 6 0.173 0.048 2950 2246 3662 0 0 0 0 0 0

1165 -0.78 -146.1 103.6 -7.9 201 1169 0.00 2.17 0.00 0.000 4 0.000 0.056 2950 841 3661 0 0 0 0 0 0

1260 -0.78 -146.1 111.9 -8.0 209 1264 0.00 2.25 0.00 0.000 6 0.000 0.058 2942 2256 3661 0 0 0 0 0 0

1585 -0.78 -146.1 138.0 -8.2 239 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2256 3661 0 0 0 0 0 0

1907 -0.78 -146.1 163.3 -8.0 269 1911 0.00 2.10 0.00 0.000 4 0.000 0.069 2931 3597 3660 0 0 0 0 0 0

1952 -0.78 -146.1 167.4 -8.1 272 1957 0.00 2.05 0.00 0.000 6 0.000 0.048 2932 2240 3660 0 0 0 0 0 0

2276 -0.78 -146.1 193.6 -7.8 303 2280 0.00 2.15 0.00 0.000 4 0.000 0.057 2932 839 3660 0 0 0 0 0 0

2350 -0.78 -146.1 199.2 -7.7 309 2355 0.10 2.25 0.00 0.000 6 0.165 0.058 2949 2263 3659 0 0 0 0 0 0

2674 -0.78 -146.1 220.4 -6.4 339 2676 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2262 3660 0 0 0 0 0 0

2996 -0.78 -146.1 240.2 -6.6 369 2997 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2262 3660 0 0 0 0 0 0

3315 -0.78 -146.1 260.6 -6.5 399 3319 0.00 2.08 0.00 0.000 4 0.000 0.069 2941 3593 3660 0 0 0 0 0 0

3370 -0.78 -146.1 264.6 -7.1 403 3375 0.00 2.03 0.00 0.000 6 0.000 0.048 2941 2248 3660 0 0 0 0 0 0

3695 -0.78 -146.1 285.7 -6.2 434 3699 0.00 2.15 0.00 0.000 4 0.000 0.055 2941 842 3660 0 0 0 0 0 0

3806 -0.78 -146.1 293.2 -6.3 443 3811 0.00 2.20 0.00 0.000 6 0.000 0.058 2931 2251 3660 0 0 0 0 0 0

4131 -0.78 -146.1 314.3 -6.4 474 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2251 3660 0 0 0 0 0 0

4453 -0.78 -146.1 336.1 -6.8 504 4457 0.00 2.08 0.00 0.000 4 0.000 0.067 2921 3595 3660 0 0 0 0 0 0

4496 -0.78 -146.1 339.7 -7.8 507 4502 0.10 2.03 0.00 0.000 6 0.163 0.046 2948 2247 3660 0 0 0 0 0 0

4821 -0.78 -146.1 359.7 -6.3 538 4825 0.00 2.12 0.00 0.000 4 0.000 0.054 2948 847 3660 0 0 0 0 0 0

4888 -0.78 -146.1 364.2 -6.9 543 4893 0.00 2.17 0.00 0.000 6 0.000 0.056 2941 2251 3660 0 0 0 0 0 0

5213 -0.78 -146.1 385.5 -6.4 574 5216 0.00 2.08 0.00 0.000 4 0.000 0.067 2931 3596 3661 0 0 0 0 0 0

5245 -0.78 -146.1 387.9 -7.3 576 5250 0.00 2.03 0.00 0.000 6 0.000 0.045 2930 2241 3661 0 0 0 0 0 0

5570 -0.78 -146.1 410.0 -7.2 607 5574 0.00 2.12 0.00 0.000 4 0.000 0.054 2930 837 3661 0 0 0 0 0 0

5644 -0.78 -146.1 415.2 -7.3 613 5648 0.10 2.22 0.00 0.000 6 0.164 0.056 2948 2264 3661 0 0 0 0 0 0

5968 -0.78 -146.1 434.4 -5.5 643 5969 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2264 3661 0 0 0 0 0 0

6289 -0.78 -146.1 452.0 -5.5 673 6293 0.00 2.05 0.00 0.000 4 0.000 0.066 2940 3596 3661 0 0 0 0 0 0

6322 -0.78 -146.1 454.0 -6.0 675 6327 0.00 2.03 0.00 0.000 6 0.000 0.045 2940 2238 3662 0 0 0 0 0 0

6421 end dive: BOTTOM_OBSTACLE_DETECTED

state 6421 begin apogee

6428 -0.17 0.0 459.3 4.7 685 6554 0.43 0.00 118.95 1.111 6 0.118 0.000 3086 2149 3058 0 0 0 0 0 0

6557 end apogee: CONTROL_FINISHED_OK

state 6557 begin climb

6560 0.78 146.1 461.0 0.0 698 6686 0.57 2.33 119.43 1.055 4 0.073 0.054 3310 760 2462 0 0 0 0 0 0

6719 0.78 146.1 446.0 12.2 713 6725 0.00 2.28 0.00 0.000 6 0.000 0.053 3310 2151 2461 0 0 0 0 0 0

7044 0.78 146.1 403.0 13.3 744 7048 0.00 2.30 0.00 0.000 4 0.000 0.064 3310 3572 2457 0 0 0 0 0 0

7099 0.78 146.1 394.7 15.5 748 7105 0.12 2.22 0.00 0.000 6 0.178 0.045 3289 2145 2456 0 0 0 0 0 0

7423 0.78 146.1 359.1 10.6 779 7427 0.00 2.20 0.00 0.000 4 0.000 0.054 3296 737 2456 0 0 0 0 0 0

7456 0.78 146.1 355.5 11.4 781 7461 0.00 2.28 0.00 0.000 6 0.000 0.053 3296 2161 2457 0 0 0 0 0 0

7780 0.78 146.1 319.9 10.9 812 7784 0.00 2.20 0.00 0.000 4 0.000 0.065 3296 3561 2456 0 0 0 0 0 0

7824 0.78 146.1 314.4 12.9 815 7830 0.00 2.17 0.00 0.000 6 0.000 0.045 3305 2138 2457 0 0 0 0 0 0

8149 0.78 146.1 276.3 11.9 846 8150 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2138 2456 0 0 0 0 0 0

8468 0.78 146.1 238.8 11.9 876 8469 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2137 2457 0 0 0 0 0 0

8788 0.78 146.1 203.0 10.5 906 8790 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2137 2457 0 0 0 0 0 0

9105 0.80 162.0 171.7 9.3 936 9123 0.00 0.00 13.23 0.893 6 0.000 0.000 3306 2136 2396 0 0 0 0 0 0

9444 0.81 169.1 138.8 9.7 968 9456 0.00 2.33 7.25 0.782 4 0.000 0.064 3306 3556 2368 0 0 0 0 0 0

9503 0.81 169.1 132.3 11.4 973 9508 0.00 2.15 0.00 0.000 6 0.000 0.046 3316 2147 2367 0 0 0 0 0 0

9828 0.82 174.2 99.5 9.8 1004 9839 0.00 2.28 5.93 0.728 4 0.000 0.063 3316 3568 2346 0 0 0 0 0 0

9862 0.82 174.2 95.7 11.1 1010 9867 0.12 2.20 0.00 0.000 6 0.176 0.046 3293 2139 2345 0 0 0 0 0 0

10208 0.86 207.8 66.3 8.5 1071 10243 0.00 2.28 27.38 0.881 4 0.000 0.056 3298 737 2209 0 0 0 0 0 0

10266 0.90 241.5 61.0 8.5 1082 10301 0.00 2.28 28.33 0.845 6 0.000 0.054 3298 2149 2073 0 0 0 0 0 0

10639 0.91 248.6 25.1 9.7 1149 10650 0.00 2.33 5.72 0.672 4 0.000 0.067 3298 3567 2044 0 0 0 0 0 0

10701 0.91 248.6 18.7 10.8 1160 10706 0.00 2.20 0.00 0.000 6 0.000 0.048 3305 2151 2041 0 0 0 0 0 0

10873 end climb: SURFACE_DEPTH_REACHED

state 10873 begin surface coast

10914 end surface coast: CONTROL_FINISHED_OK

state 10914 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	28	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2150	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	39	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	26	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	270	CAPMAXSIZE	100000	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-179365.84	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3120	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	3	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	221225,6709.945,-5703.389,42,1.6,42,-37.8	TGT_NAME	TARGET_tst
_CALLS	1	TGT_LATLONG	6700.000,-5702.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221808,6709.970,-5703.456,14,1.0,14,-37.8	MHEAD_RNG_PITCHd_Wd	214.5,18495,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	472

FREEZE	1.20,2.299,-1.160,0,1,0	ALTIM_TOP_PING	19.9,18.5
FINISH	1.2,1.017074	ALTIM_BOTTOM_PING	350.5,123.6
SM_CCo	10933,41.15,0.832,0,0,1835,300.00	_24V_AH	23.7,6.217
SM_GC	2.30,0.00,0.00,41.15,0.000,0.000,0.832,337,2253,1835,-12.80,0.08,300.00	_10V_AH	10.3,3.030
MAGERROR	6	FG_AHR_24Vo	0.000
RAFOS_CLK	417	FG_AHR_10Vo	0.000
RAFOS	0,1276300862,0.033333,0.017222,45,41,41,40,40,40,1549,398,1210,1,480,800	MEM	137560
RAFOS_FIX	6711.144531,-5707.714844,120610,000022,3,96,0.43	DATA_FILE_SIZE	47328,1198
IRIDIUM_FIX	6641.98,-5655.54,050999,191924	CAP_FILE_SIZE	127024,0
TT8_MAMPS	0.028379	CFSIZE	260165632,246943744
HUMID	39.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.2543	SOUNDSPEED	1466.3
TCM_TEMP	7.00	GPS	120610,012302,6710.052,-5706.237,36,2.0,37,-37.8
XPDR_PINGS	71

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	249	118.60	SBE_CT	1000	24	568.98
Roll_motor	87	103	214.36	SBE_O2	944	19	425.09
VBD_pump_during_apogee	326	1111	8592.04	nil	0	0	0.00
VBD_pump_during_surface	41	832	811.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.48	nil	0	0	0.00
Iridium_during_connect	42	160	162.24	nil	0	0	0.00
Iridium_during_xfer	139	223	738.42
Transponder_ping	19	420	189.13
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.13
TT8	1956	19	401.35
LPSleep	7223	2	171.87
TT8_Active	543	19	111.49
TT8_Sampling	1108	39	455.67
TT8_CF8	494	45	233.67
TT8_Kalman	0	0	0.00
Analog_circuits	1422	12	175.79
GPS_charging	0	0	0.00
Compass	11046	8	910.26
RAFOS	2520	3	77.87
Transponder	11	30	3.70

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.78	-146.1	0.0	0.0	0	90	0.00	0.00	-69.07	0.000	2	0.000	0.000	341	2249	3344	0	0	0	0	0	0
94	-0.78	-146.1	3.1	-1.2	14	120	10.43	2.28	-8.88	0.000	4	0.249	0.071	2942	836	3657	0	0	0	0	0	0
425	-0.78	-146.1	37.7	-8.8	73	429	0.00	2.25	0.00	0.000	6	0.000	0.058	2935	2253	3662	0	0	0	0	0	0
767	-0.78	-146.1	69.7	-9.4	134	772	0.00	2.12	0.00	0.000	4	0.000	0.067	2925	3596	3661	0	0	0	0	0	0
823	-0.78	-146.1	75.1	-9.9	144	829	0.10	2.08	0.00	0.000	6	0.173	0.048	2950	2246	3662	0	0	0	0	0	0
1165	-0.78	-146.1	103.6	-7.9	201	1169	0.00	2.17	0.00	0.000	4	0.000	0.056	2950	841	3661	0	0	0	0	0	0
1260	-0.78	-146.1	111.9	-8.0	209	1264	0.00	2.25	0.00	0.000	6	0.000	0.058	2942	2256	3661	0	0	0	0	0	0
1585	-0.78	-146.1	138.0	-8.2	239	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	2256	3661	0	0	0	0	0	0
1907	-0.78	-146.1	163.3	-8.0	269	1911	0.00	2.10	0.00	0.000	4	0.000	0.069	2931	3597	3660	0	0	0	0	0	0
1952	-0.78	-146.1	167.4	-8.1	272	1957	0.00	2.05	0.00	0.000	6	0.000	0.048	2932	2240	3660	0	0	0	0	0	0
2276	-0.78	-146.1	193.6	-7.8	303	2280	0.00	2.15	0.00	0.000	4	0.000	0.057	2932	839	3660	0	0	0	0	0	0
2350	-0.78	-146.1	199.2	-7.7	309	2355	0.10	2.25	0.00	0.000	6	0.165	0.058	2949	2263	3659	0	0	0	0	0	0
2674	-0.78	-146.1	220.4	-6.4	339	2676	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2262	3660	0	0	0	0	0	0
2996	-0.78	-146.1	240.2	-6.6	369	2997	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2262	3660	0	0	0	0	0	0
3315	-0.78	-146.1	260.6	-6.5	399	3319	0.00	2.08	0.00	0.000	4	0.000	0.069	2941	3593	3660	0	0	0	0	0	0
3370	-0.78	-146.1	264.6	-7.1	403	3375	0.00	2.03	0.00	0.000	6	0.000	0.048	2941	2248	3660	0	0	0	0	0	0
3695	-0.78	-146.1	285.7	-6.2	434	3699	0.00	2.15	0.00	0.000	4	0.000	0.055	2941	842	3660	0	0	0	0	0	0
3806	-0.78	-146.1	293.2	-6.3	443	3811	0.00	2.20	0.00	0.000	6	0.000	0.058	2931	2251	3660	0	0	0	0	0	0
4131	-0.78	-146.1	314.3	-6.4	474	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2931	2251	3660	0	0	0	0	0	0
4453	-0.78	-146.1	336.1	-6.8	504	4457	0.00	2.08	0.00	0.000	4	0.000	0.067	2921	3595	3660	0	0	0	0	0	0
4496	-0.78	-146.1	339.7	-7.8	507	4502	0.10	2.03	0.00	0.000	6	0.163	0.046	2948	2247	3660	0	0	0	0	0	0
4821	-0.78	-146.1	359.7	-6.3	538	4825	0.00	2.12	0.00	0.000	4	0.000	0.054	2948	847	3660	0	0	0	0	0	0
4888	-0.78	-146.1	364.2	-6.9	543	4893	0.00	2.17	0.00	0.000	6	0.000	0.056	2941	2251	3660	0	0	0	0	0	0
5213	-0.78	-146.1	385.5	-6.4	574	5216	0.00	2.08	0.00	0.000	4	0.000	0.067	2931	3596	3661	0	0	0	0	0	0
5245	-0.78	-146.1	387.9	-7.3	576	5250	0.00	2.03	0.00	0.000	6	0.000	0.045	2930	2241	3661	0	0	0	0	0	0
5570	-0.78	-146.1	410.0	-7.2	607	5574	0.00	2.12	0.00	0.000	4	0.000	0.054	2930	837	3661	0	0	0	0	0	0
5644	-0.78	-146.1	415.2	-7.3	613	5648	0.10	2.22	0.00	0.000	6	0.164	0.056	2948	2264	3661	0	0	0	0	0	0
5968	-0.78	-146.1	434.4	-5.5	643	5969	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2264	3661	0	0	0	0	0	0
6289	-0.78	-146.1	452.0	-5.5	673	6293	0.00	2.05	0.00	0.000	4	0.000	0.066	2940	3596	3661	0	0	0	0	0	0
6322	-0.78	-146.1	454.0	-6.0	675	6327	0.00	2.03	0.00	0.000	6	0.000	0.045	2940	2238	3662	0	0	0	0	0	0
6421	end dive: BOTTOM_OBSTACLE_DETECTED
state	6421	begin apogee
6428	-0.17	0.0	459.3	4.7	685	6554	0.43	0.00	118.95	1.111	6	0.118	0.000	3086	2149	3058	0	0	0	0	0	0
6557	end apogee: CONTROL_FINISHED_OK
state	6557	begin climb
6560	0.78	146.1	461.0	0.0	698	6686	0.57	2.33	119.43	1.055	4	0.073	0.054	3310	760	2462	0	0	0	0	0	0
6719	0.78	146.1	446.0	12.2	713	6725	0.00	2.28	0.00	0.000	6	0.000	0.053	3310	2151	2461	0	0	0	0	0	0
7044	0.78	146.1	403.0	13.3	744	7048	0.00	2.30	0.00	0.000	4	0.000	0.064	3310	3572	2457	0	0	0	0	0	0
7099	0.78	146.1	394.7	15.5	748	7105	0.12	2.22	0.00	0.000	6	0.178	0.045	3289	2145	2456	0	0	0	0	0	0
7423	0.78	146.1	359.1	10.6	779	7427	0.00	2.20	0.00	0.000	4	0.000	0.054	3296	737	2456	0	0	0	0	0	0
7456	0.78	146.1	355.5	11.4	781	7461	0.00	2.28	0.00	0.000	6	0.000	0.053	3296	2161	2457	0	0	0	0	0	0
7780	0.78	146.1	319.9	10.9	812	7784	0.00	2.20	0.00	0.000	4	0.000	0.065	3296	3561	2456	0	0	0	0	0	0
7824	0.78	146.1	314.4	12.9	815	7830	0.00	2.17	0.00	0.000	6	0.000	0.045	3305	2138	2457	0	0	0	0	0	0
8149	0.78	146.1	276.3	11.9	846	8150	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2138	2456	0	0	0	0	0	0
8468	0.78	146.1	238.8	11.9	876	8469	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2137	2457	0	0	0	0	0	0
8788	0.78	146.1	203.0	10.5	906	8790	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2137	2457	0	0	0	0	0	0
9105	0.80	162.0	171.7	9.3	936	9123	0.00	0.00	13.23	0.893	6	0.000	0.000	3306	2136	2396	0	0	0	0	0	0
9444	0.81	169.1	138.8	9.7	968	9456	0.00	2.33	7.25	0.782	4	0.000	0.064	3306	3556	2368	0	0	0	0	0	0
9503	0.81	169.1	132.3	11.4	973	9508	0.00	2.15	0.00	0.000	6	0.000	0.046	3316	2147	2367	0	0	0	0	0	0
9828	0.82	174.2	99.5	9.8	1004	9839	0.00	2.28	5.93	0.728	4	0.000	0.063	3316	3568	2346	0	0	0	0	0	0
9862	0.82	174.2	95.7	11.1	1010	9867	0.12	2.20	0.00	0.000	6	0.176	0.046	3293	2139	2345	0	0	0	0	0	0
10208	0.86	207.8	66.3	8.5	1071	10243	0.00	2.28	27.38	0.881	4	0.000	0.056	3298	737	2209	0	0	0	0	0	0
10266	0.90	241.5	61.0	8.5	1082	10301	0.00	2.28	28.33	0.845	6	0.000	0.054	3298	2149	2073	0	0	0	0	0	0
10639	0.91	248.6	25.1	9.7	1149	10650	0.00	2.33	5.72	0.672	4	0.000	0.067	3298	3567	2044	0	0	0	0	0	0
10701	0.91	248.6	18.7	10.8	1160	10706	0.00	2.20	0.00	0.000	6	0.000	0.048	3305	2151	2041	0	0	0	0	0	0
10873	end climb: SURFACE_DEPTH_REACHED
state	10873	begin surface coast
10914	end surface coast: CONTROL_FINISHED_OK
state	10914	begin surface