Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 293 * 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 293 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 5

D_SURF 4 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 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 605.89099 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 30 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 19 XPDR_INHIBIT 90

D_PITCH 0 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 0 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 225 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -182209.5 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 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 3112 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 0 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 605.89099

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 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 4 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 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 5 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 -182209.5

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 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 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 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

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 30 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 293 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 0 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 115006,6649.357,-6013.697,29,1.1,29,-38.2 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 115714,6649.378,-6013.637,12,1.1,12,-38.2 MHEAD_RNG_PITCHd_Wd 118.6,150627,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 577

Post-dive calculations and measurements:

FREEZE 1.89,3.007,-0.460,0,1,0 ALTIM_TOP_PING 19.9,18.4

FINISH 1.9,1.006725 _24V_AH 22.6,50.743

SM_CCo 13047,146.32,0.835,0,0,587,605.89 _10V_AH 10.0,27.416

SM_GC 2.82,0.00,0.00,146.32,0.000,0.000,0.835,332,2264,587,-12.78,0.40,605.89 FG_AHR_24Vo 0.000

RAFOS_CLK 536 FG_AHR_10Vo 0.000

RAFOS 0,1281096066,12.033333,12.018333,111,111,45,43,42,41,624,623,1205,1753,188,1845 MEM 135572

RAFOS_FIX 6648.118652,-6009.762695,060810,121234,7,95,2.02 DATA_FILE_SIZE 53475,1383

IRIDIUM_FIX 6620.33,-6018.02,311099,080810 CAP_FILE_SIZE 140224,0

TT8_MAMPS 0.026845 CFSIZE 260165632,223555584

HUMID 41.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.098 SOUNDSPEED 1454.3

TCM_TEMP 15.30 GPS 060810,153906,6649.220,-6009.095,24,1.8,24,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 237 105.38 SBE_CT 1004 24 544.66

Roll_motor 82 93 174.10 SBE_O2 975 19 419.07

VBD_pump_during_apogee 487 1204 13271.53 nil 0 0 0.00

VBD_pump_during_surface 146 835 2762.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.05 nil 0 0 0.00

Iridium_during_connect 33 160 119.60 nil 0 0 0.00

Iridium_during_xfer 211 223 1064.14

Transponder_ping 1 420 16.61

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.74

TT8 2195 19 437.31

LPSleep 7954 2 183.75

TT8_Active 748 19 149.11

TT8_Sampling 2118 39 845.57

TT8_CF8 617 45 283.74

TT8_Kalman 0 0 0.00

Analog_circuits 1870 12 224.43

GPS_charging 0 0 0.00

Compass 2092 8 167.39

RAFOS 2520 3 75.60

Transponder 13 30 3.96

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.78 -146.1 0.0 0.0 0 78 0.00 0.00 -59.60 0.000 2 0.000 0.000 335 2256 1949 0 0 0 0 0 0

82 -0.78 -146.1 3.2 -1.6 12 196 10.27 2.30 -91.95 0.000 4 0.237 0.092 2926 3606 3657 0 0 0 0 0 0

344 -0.78 -146.1 33.5 -13.5 60 349 0.00 2.15 0.00 0.000 6 0.000 0.055 2926 2251 3662 0 0 0 0 0 0

687 -0.78 -146.1 79.4 -13.8 121 694 0.00 2.30 0.00 0.000 4 0.000 0.066 2926 824 3664 0 0 0 0 0 0

741 -0.78 -146.1 86.3 -12.5 130 748 0.10 2.38 0.00 0.000 6 0.159 0.067 2944 2259 3664 0 0 0 0 0 0

1081 -0.78 -146.1 120.9 -9.7 172 1085 0.00 2.17 0.00 0.000 4 0.000 0.079 2936 3598 3664 0 0 0 0 0 0

1125 -0.78 -146.1 125.5 -10.5 175 1131 0.00 2.15 0.00 0.000 6 0.000 0.057 2936 2244 3664 0 0 0 0 0 0

1450 -0.78 -146.1 159.6 -10.7 206 1455 0.00 2.25 0.00 0.000 4 0.000 0.079 2926 3602 3664 0 0 0 0 0 0

1484 -0.78 -146.1 163.5 -11.5 208 1489 0.00 2.15 0.00 0.000 6 0.000 0.056 2927 2249 3664 0 0 0 0 0 0

1809 -0.78 -146.1 198.6 -10.2 239 1813 0.00 2.28 0.00 0.000 4 0.000 0.067 2927 832 3664 0 0 0 0 0 0

1860 -0.78 -146.1 203.9 -10.2 243 1865 0.10 2.35 0.00 0.000 6 0.158 0.070 2945 2248 3664 0 0 0 0 0 0

2186 -0.78 -146.1 231.5 -8.8 273 2187 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2247 3664 0 0 0 0 0 0

2508 -0.78 -146.1 257.3 -7.8 303 2512 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2247 3663 0 0 0 0 0 0

2836 -0.78 -146.1 284.6 -8.7 334 2840 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2247 3662 0 0 0 0 0 0

3161 -0.78 -146.1 309.2 -6.7 365 3165 0.00 2.20 0.00 0.000 4 0.000 0.083 2937 3605 3662 0 0 0 0 0 0

3212 -0.78 -146.1 313.1 -7.7 369 3217 0.00 2.15 0.00 0.000 6 0.000 0.057 2937 2247 3662 0 0 0 0 0 0

3537 -0.78 -146.1 337.4 -7.4 400 3541 0.00 2.25 0.00 0.000 4 0.000 0.068 2937 831 3662 0 0 0 0 0 0

3588 -0.78 -146.1 341.3 -7.9 404 3592 0.00 2.35 0.00 0.000 6 0.000 0.070 2928 2250 3662 0 0 0 0 0 0

3913 -0.78 -146.1 366.1 -7.5 434 3915 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2249 3662 0 0 0 0 0 0

4237 -0.78 -146.1 390.7 -8.0 464 4241 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2249 3662 0 0 0 0 0 0

4564 -0.78 -146.1 416.0 -7.9 495 4565 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2249 3662 0 0 0 0 0 0

4883 -0.78 -146.1 440.4 -7.6 525 4888 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2249 3662 0 0 0 0 0 0

5211 -0.78 -146.1 465.1 -7.0 556 5216 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2249 3662 0 0 0 0 0 0

5538 -0.78 -146.1 488.7 -7.2 587 5539 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2249 3663 0 0 0 0 0 0

5857 -0.78 -146.1 512.5 -7.5 617 5862 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2250 3664 0 0 0 0 0 0

6184 -0.78 -146.1 537.0 -7.6 648 6188 0.00 2.20 0.00 0.000 4 0.000 0.078 2917 3600 3664 0 0 0 0 0 0

6213 -0.78 -146.1 539.3 -7.9 650 6219 0.10 2.15 0.00 0.000 6 0.150 0.054 2946 2234 3664 0 0 0 0 0 0

6538 -0.78 -146.1 559.4 -6.1 681 6542 0.00 2.22 0.00 0.000 4 0.000 0.065 2946 837 3664 0 0 0 0 0 0

6571 -0.78 -146.1 561.6 -7.0 683 6577 0.00 2.33 0.00 0.000 6 0.000 0.067 2939 2252 3664 0 0 0 0 0 0

6797 end dive: TARGET_DEPTH_EXCEEDED

state 6798 begin apogee

6805 -0.17 0.0 577.0 6.9 705 6931 0.40 0.00 119.97 1.205 6 0.117 0.000 3075 2179 3058 0 0 0 0 0 0

6932 end apogee: CONTROL_FINISHED_OK

state 6932 begin climb

6936 0.78 146.1 581.7 0.0 718 7070 0.60 2.40 124.00 1.137 4 0.072 0.063 3298 813 2462 0 0 0 0 0 0

7122 0.84 191.3 573.3 7.9 735 7168 0.00 2.50 40.08 1.086 6 0.000 0.064 3298 2207 2278 0 0 0 0 0 0

7487 0.84 191.3 537.2 10.0 770 7491 0.00 2.33 0.00 0.000 4 0.000 0.074 3298 3594 2275 0 0 0 0 0 0

7542 0.84 191.3 530.6 12.8 774 7548 0.00 2.25 0.00 0.000 6 0.000 0.051 3307 2208 2274 0 0 0 0 0 0

7867 0.84 191.3 495.9 10.7 805 7868 0.00 0.00 0.00 0.000 6 0.000 0.000 3307 2208 2274 0 0 0 0 0 0

8189 0.84 191.3 462.1 10.4 835 8190 0.00 0.00 0.00 0.000 6 0.000 0.000 3307 2207 2273 0 0 0 0 0 0

8506 0.84 191.3 428.3 10.6 865 8507 0.00 0.00 0.00 0.000 6 0.000 0.000 3307 2207 2273 0 0 0 0 0 0

8825 0.84 191.3 396.2 10.1 895 8826 0.00 0.00 0.00 0.000 6 0.000 0.000 3307 2207 2272 0 0 0 0 0 0

9143 0.85 199.8 365.6 9.6 925 9152 0.00 0.00 7.22 0.898 6 0.000 0.000 3307 2207 2243 0 0 0 0 0 0

9469 0.86 212.6 334.1 9.4 956 9483 0.00 0.00 11.82 0.973 6 0.000 0.000 3307 2208 2191 0 0 0 0 0 0

9799 0.89 234.8 303.8 9.0 987 9820 0.00 0.00 19.83 0.998 6 0.000 0.000 3307 2207 2100 0 0 0 0 0 0

10137 0.93 262.6 274.1 8.7 1019 10166 0.00 0.00 24.12 0.982 6 0.000 0.000 3307 2207 1986 0 0 0 0 0 0

10485 0.93 262.6 240.5 10.7 1052 10489 0.00 2.28 0.00 0.000 4 0.000 0.062 3318 790 1983 0 0 0 0 0 0

10513 0.93 262.6 237.5 10.8 1054 10518 0.00 2.35 0.00 0.000 6 0.000 0.063 3318 2213 1983 0 0 0 0 0 0

10838 0.93 262.6 202.4 10.3 1084 10842 0.00 2.20 0.00 0.000 4 0.000 0.074 3318 3593 1983 0 0 0 0 0 0

10911 0.93 262.6 194.1 11.6 1090 10915 0.00 2.20 0.00 0.000 6 0.000 0.052 3328 2194 1981 0 0 0 0 0 0

11241 0.94 271.9 161.4 9.6 1121 11255 0.00 2.28 8.10 0.828 4 0.000 0.063 3338 797 1950 0 0 0 0 0 0

11275 0.96 288.0 158.4 9.3 1124 11296 0.00 2.33 15.45 0.897 6 0.000 0.064 3338 2208 1884 0 0 0 0 0 0

11615 0.99 314.0 126.9 8.8 1156 11646 0.00 2.35 22.52 0.915 4 0.000 0.076 3338 3604 1776 0 0 0 0 0 0

11674 0.99 314.0 121.2 10.6 1161 11680 0.00 2.28 0.00 0.000 6 0.000 0.053 3348 2193 1775 0 0 0 0 0 0

12005 1.03 347.0 89.5 8.5 1202 12041 0.00 2.35 28.25 0.907 4 0.000 0.066 3358 788 1643 0 0 0 0 0 0

12066 1.08 387.4 84.3 8.2 1213 12107 0.00 2.38 35.62 0.886 6 0.000 0.065 3358 2198 1478 0 0 0 0 0 0

12445 1.09 398.7 50.0 9.5 1281 12461 0.00 2.33 9.23 0.795 4 0.000 0.079 3357 3600 1432 0 0 0 0 0 0

12496 1.09 398.7 44.8 10.8 1290 12502 0.00 2.28 0.00 0.000 6 0.000 0.055 3367 2195 1431 0 0 0 0 0 0

12842 1.12 422.9 12.8 8.9 1351 12869 0.00 2.33 21.12 0.859 4 0.000 0.067 3375 782 1333 0 0 0 0 0 0

12970 end climb: SURFACE_DEPTH_REACHED

state 12970 begin surface coast

13025 end surface coast: CONTROL_FINISHED_OK

state 13025 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	293	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	5
D_SURF	4	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	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	605.89099	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	30	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	19	XPDR_INHIBIT	90
D_PITCH	0	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	0	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	225	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-182209.5	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	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	3112	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	0	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	115006,6649.357,-6013.697,29,1.1,29,-38.2	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	115714,6649.378,-6013.637,12,1.1,12,-38.2	MHEAD_RNG_PITCHd_Wd	118.6,150627,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	577

FREEZE	1.89,3.007,-0.460,0,1,0	ALTIM_TOP_PING	19.9,18.4
FINISH	1.9,1.006725	_24V_AH	22.6,50.743
SM_CCo	13047,146.32,0.835,0,0,587,605.89	_10V_AH	10.0,27.416
SM_GC	2.82,0.00,0.00,146.32,0.000,0.000,0.835,332,2264,587,-12.78,0.40,605.89	FG_AHR_24Vo	0.000
RAFOS_CLK	536	FG_AHR_10Vo	0.000
RAFOS	0,1281096066,12.033333,12.018333,111,111,45,43,42,41,624,623,1205,1753,188,1845	MEM	135572
RAFOS_FIX	6648.118652,-6009.762695,060810,121234,7,95,2.02	DATA_FILE_SIZE	53475,1383
IRIDIUM_FIX	6620.33,-6018.02,311099,080810	CAP_FILE_SIZE	140224,0
TT8_MAMPS	0.026845	CFSIZE	260165632,223555584
HUMID	41.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.098	SOUNDSPEED	1454.3
TCM_TEMP	15.30	GPS	060810,153906,6649.220,-6009.095,24,1.8,24,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	237	105.38	SBE_CT	1004	24	544.66
Roll_motor	82	93	174.10	SBE_O2	975	19	419.07
VBD_pump_during_apogee	487	1204	13271.53	nil	0	0	0.00
VBD_pump_during_surface	146	835	2762.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.05	nil	0	0	0.00
Iridium_during_connect	33	160	119.60	nil	0	0	0.00
Iridium_during_xfer	211	223	1064.14
Transponder_ping	1	420	16.61
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.74
TT8	2195	19	437.31
LPSleep	7954	2	183.75
TT8_Active	748	19	149.11
TT8_Sampling	2118	39	845.57
TT8_CF8	617	45	283.74
TT8_Kalman	0	0	0.00
Analog_circuits	1870	12	224.43
GPS_charging	0	0	0.00
Compass	2092	8	167.39
RAFOS	2520	3	75.60
Transponder	13	30	3.96

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.78	-146.1	0.0	0.0	0	78	0.00	0.00	-59.60	0.000	2	0.000	0.000	335	2256	1949	0	0	0	0	0	0
82	-0.78	-146.1	3.2	-1.6	12	196	10.27	2.30	-91.95	0.000	4	0.237	0.092	2926	3606	3657	0	0	0	0	0	0
344	-0.78	-146.1	33.5	-13.5	60	349	0.00	2.15	0.00	0.000	6	0.000	0.055	2926	2251	3662	0	0	0	0	0	0
687	-0.78	-146.1	79.4	-13.8	121	694	0.00	2.30	0.00	0.000	4	0.000	0.066	2926	824	3664	0	0	0	0	0	0
741	-0.78	-146.1	86.3	-12.5	130	748	0.10	2.38	0.00	0.000	6	0.159	0.067	2944	2259	3664	0	0	0	0	0	0
1081	-0.78	-146.1	120.9	-9.7	172	1085	0.00	2.17	0.00	0.000	4	0.000	0.079	2936	3598	3664	0	0	0	0	0	0
1125	-0.78	-146.1	125.5	-10.5	175	1131	0.00	2.15	0.00	0.000	6	0.000	0.057	2936	2244	3664	0	0	0	0	0	0
1450	-0.78	-146.1	159.6	-10.7	206	1455	0.00	2.25	0.00	0.000	4	0.000	0.079	2926	3602	3664	0	0	0	0	0	0
1484	-0.78	-146.1	163.5	-11.5	208	1489	0.00	2.15	0.00	0.000	6	0.000	0.056	2927	2249	3664	0	0	0	0	0	0
1809	-0.78	-146.1	198.6	-10.2	239	1813	0.00	2.28	0.00	0.000	4	0.000	0.067	2927	832	3664	0	0	0	0	0	0
1860	-0.78	-146.1	203.9	-10.2	243	1865	0.10	2.35	0.00	0.000	6	0.158	0.070	2945	2248	3664	0	0	0	0	0	0
2186	-0.78	-146.1	231.5	-8.8	273	2187	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2247	3664	0	0	0	0	0	0
2508	-0.78	-146.1	257.3	-7.8	303	2512	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2247	3663	0	0	0	0	0	0
2836	-0.78	-146.1	284.6	-8.7	334	2840	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2247	3662	0	0	0	0	0	0
3161	-0.78	-146.1	309.2	-6.7	365	3165	0.00	2.20	0.00	0.000	4	0.000	0.083	2937	3605	3662	0	0	0	0	0	0
3212	-0.78	-146.1	313.1	-7.7	369	3217	0.00	2.15	0.00	0.000	6	0.000	0.057	2937	2247	3662	0	0	0	0	0	0
3537	-0.78	-146.1	337.4	-7.4	400	3541	0.00	2.25	0.00	0.000	4	0.000	0.068	2937	831	3662	0	0	0	0	0	0
3588	-0.78	-146.1	341.3	-7.9	404	3592	0.00	2.35	0.00	0.000	6	0.000	0.070	2928	2250	3662	0	0	0	0	0	0
3913	-0.78	-146.1	366.1	-7.5	434	3915	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2249	3662	0	0	0	0	0	0
4237	-0.78	-146.1	390.7	-8.0	464	4241	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2249	3662	0	0	0	0	0	0
4564	-0.78	-146.1	416.0	-7.9	495	4565	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2249	3662	0	0	0	0	0	0
4883	-0.78	-146.1	440.4	-7.6	525	4888	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2249	3662	0	0	0	0	0	0
5211	-0.78	-146.1	465.1	-7.0	556	5216	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2249	3662	0	0	0	0	0	0
5538	-0.78	-146.1	488.7	-7.2	587	5539	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2249	3663	0	0	0	0	0	0
5857	-0.78	-146.1	512.5	-7.5	617	5862	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2250	3664	0	0	0	0	0	0
6184	-0.78	-146.1	537.0	-7.6	648	6188	0.00	2.20	0.00	0.000	4	0.000	0.078	2917	3600	3664	0	0	0	0	0	0
6213	-0.78	-146.1	539.3	-7.9	650	6219	0.10	2.15	0.00	0.000	6	0.150	0.054	2946	2234	3664	0	0	0	0	0	0
6538	-0.78	-146.1	559.4	-6.1	681	6542	0.00	2.22	0.00	0.000	4	0.000	0.065	2946	837	3664	0	0	0	0	0	0
6571	-0.78	-146.1	561.6	-7.0	683	6577	0.00	2.33	0.00	0.000	6	0.000	0.067	2939	2252	3664	0	0	0	0	0	0
6797	end dive: TARGET_DEPTH_EXCEEDED
state	6798	begin apogee
6805	-0.17	0.0	577.0	6.9	705	6931	0.40	0.00	119.97	1.205	6	0.117	0.000	3075	2179	3058	0	0	0	0	0	0
6932	end apogee: CONTROL_FINISHED_OK
state	6932	begin climb
6936	0.78	146.1	581.7	0.0	718	7070	0.60	2.40	124.00	1.137	4	0.072	0.063	3298	813	2462	0	0	0	0	0	0
7122	0.84	191.3	573.3	7.9	735	7168	0.00	2.50	40.08	1.086	6	0.000	0.064	3298	2207	2278	0	0	0	0	0	0
7487	0.84	191.3	537.2	10.0	770	7491	0.00	2.33	0.00	0.000	4	0.000	0.074	3298	3594	2275	0	0	0	0	0	0
7542	0.84	191.3	530.6	12.8	774	7548	0.00	2.25	0.00	0.000	6	0.000	0.051	3307	2208	2274	0	0	0	0	0	0
7867	0.84	191.3	495.9	10.7	805	7868	0.00	0.00	0.00	0.000	6	0.000	0.000	3307	2208	2274	0	0	0	0	0	0
8189	0.84	191.3	462.1	10.4	835	8190	0.00	0.00	0.00	0.000	6	0.000	0.000	3307	2207	2273	0	0	0	0	0	0
8506	0.84	191.3	428.3	10.6	865	8507	0.00	0.00	0.00	0.000	6	0.000	0.000	3307	2207	2273	0	0	0	0	0	0
8825	0.84	191.3	396.2	10.1	895	8826	0.00	0.00	0.00	0.000	6	0.000	0.000	3307	2207	2272	0	0	0	0	0	0
9143	0.85	199.8	365.6	9.6	925	9152	0.00	0.00	7.22	0.898	6	0.000	0.000	3307	2207	2243	0	0	0	0	0	0
9469	0.86	212.6	334.1	9.4	956	9483	0.00	0.00	11.82	0.973	6	0.000	0.000	3307	2208	2191	0	0	0	0	0	0
9799	0.89	234.8	303.8	9.0	987	9820	0.00	0.00	19.83	0.998	6	0.000	0.000	3307	2207	2100	0	0	0	0	0	0
10137	0.93	262.6	274.1	8.7	1019	10166	0.00	0.00	24.12	0.982	6	0.000	0.000	3307	2207	1986	0	0	0	0	0	0
10485	0.93	262.6	240.5	10.7	1052	10489	0.00	2.28	0.00	0.000	4	0.000	0.062	3318	790	1983	0	0	0	0	0	0
10513	0.93	262.6	237.5	10.8	1054	10518	0.00	2.35	0.00	0.000	6	0.000	0.063	3318	2213	1983	0	0	0	0	0	0
10838	0.93	262.6	202.4	10.3	1084	10842	0.00	2.20	0.00	0.000	4	0.000	0.074	3318	3593	1983	0	0	0	0	0	0
10911	0.93	262.6	194.1	11.6	1090	10915	0.00	2.20	0.00	0.000	6	0.000	0.052	3328	2194	1981	0	0	0	0	0	0
11241	0.94	271.9	161.4	9.6	1121	11255	0.00	2.28	8.10	0.828	4	0.000	0.063	3338	797	1950	0	0	0	0	0	0
11275	0.96	288.0	158.4	9.3	1124	11296	0.00	2.33	15.45	0.897	6	0.000	0.064	3338	2208	1884	0	0	0	0	0	0
11615	0.99	314.0	126.9	8.8	1156	11646	0.00	2.35	22.52	0.915	4	0.000	0.076	3338	3604	1776	0	0	0	0	0	0
11674	0.99	314.0	121.2	10.6	1161	11680	0.00	2.28	0.00	0.000	6	0.000	0.053	3348	2193	1775	0	0	0	0	0	0
12005	1.03	347.0	89.5	8.5	1202	12041	0.00	2.35	28.25	0.907	4	0.000	0.066	3358	788	1643	0	0	0	0	0	0
12066	1.08	387.4	84.3	8.2	1213	12107	0.00	2.38	35.62	0.886	6	0.000	0.065	3358	2198	1478	0	0	0	0	0	0
12445	1.09	398.7	50.0	9.5	1281	12461	0.00	2.33	9.23	0.795	4	0.000	0.079	3357	3600	1432	0	0	0	0	0	0
12496	1.09	398.7	44.8	10.8	1290	12502	0.00	2.28	0.00	0.000	6	0.000	0.055	3367	2195	1431	0	0	0	0	0	0
12842	1.12	422.9	12.8	8.9	1351	12869	0.00	2.33	21.12	0.859	4	0.000	0.067	3375	782	1333	0	0	0	0	0	0
12970	end climb: SURFACE_DEPTH_REACHED
state	12970	begin surface coast
13025	end surface coast: CONTROL_FINISHED_OK
state	13025	begin surface