Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 305 * 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 305 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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 22 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 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 -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -41750.039 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 425

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 -41750.039

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 -3

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 22 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 305 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 054037,6706.577,-5701.259,26,1.5,26,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 054544,6706.579,-5701.278,11,1.5,11,-37.7 MHEAD_RNG_PITCHd_Wd 162.4,11657,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 532

Post-dive calculations and measurements:

FREEZE 0.17,0.135,-1.391,0,1,0 ALTIM_TOP_PING 20.0,19.4

FINISH 0.2,1.020514 ALTIM_BOTTOM_PING 450.4,102.5

SM_CCo 11761,115.15,0.723,0,0,1066,425.10 _24V_AH 22.7,59.254

SM_GC 0.89,0.00,0.00,115.15,0.000,0.000,0.723,126,2452,1066,-8.02,-0.23,425.10 _10V_AH 10.1,31.204

RAFOS_CLK 727 FG_AHR_24Vo 0.000

RAFOS 0,1260777664,8.033334,8.017777,82,57,56,0,0,0,211,221,157,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.608398,-5704.352539,141209,040400,2,82,0.34 MEM 152520

IRIDIUM_FIX 6641.98,-5656.94,100399,020239 DATA_FILE_SIZE 47332,1238

TT8_MAMPS 0.027612 CAP_FILE_SIZE 144555,0

HUMID 46.85 CFSIZE 260165632,226234368

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,43,0,0

TCM_TEMP 17.20 SOUNDSPEED 1466.9

XPDR_PINGS 3 GPS 141209,090530,6706.225,-5701.933,38,1.1,43,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 293 158.71 SBE_CT 906 24 493.70

Roll_motor 150 93 319.36 SBE_O2 845 19 364.46

VBD_pump_during_apogee 301 1063 7281.08 nil 0 0 0.00

VBD_pump_during_surface 115 722 1888.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.61 nil 0 0 0.00

Iridium_during_connect 31 160 115.28 nil 0 0 0.00

Iridium_during_xfer 132 223 672.23

Transponder_ping 2 420 21.45

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.71

TT8 2110 19 424.53

LPSleep 6878 2 160.48

TT8_Active 590 19 118.72

TT8_Sampling 2199 39 886.66

TT8_CF8 400 45 185.62

TT8_Kalman 0 0 0.00

Analog_circuits 1715 12 207.91

GPS_charging 0 0 0.00

Compass 2161 8 174.63

RAFOS 2520 1 38.18

Transponder 13 30 4.14

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 0 144 0.00 0.00 -124.97 0.000 2 0.000 0.000 124 2469 3222 0 0 0 0 0 0

147 -0.73 -146.0 3.5 -7.8 25 169 11.23 2.33 -4.38 0.000 4 0.294 0.094 2445 864 3397 0 0 0 0 0 0

225 -0.73 -146.0 18.0 -12.1 39 231 0.00 2.22 0.00 0.000 6 0.000 0.068 2445 2452 3400 0 0 0 0 0 0

569 -0.73 -146.0 53.2 -9.8 100 574 0.00 3.20 0.00 0.000 4 0.000 0.087 2445 3921 3400 0 0 1 0 0 0

817 -0.73 -146.0 78.3 -10.0 144 822 0.00 2.95 0.00 0.000 6 0.000 0.064 2445 2507 3400 0 0 2 0 0 0

1155 -0.77 -146.0 109.8 -8.8 195 1160 0.00 3.08 0.00 0.000 4 0.000 0.087 2445 3913 3399 0 0 2 0 0 0

1413 -0.85 -146.0 134.3 -8.7 217 1418 0.00 2.90 0.00 0.000 6 0.000 0.064 2445 2533 3398 0 0 1 0 0 0

1738 -0.94 -146.0 161.9 -7.6 248 1743 0.17 3.05 0.00 0.000 4 0.108 0.083 2372 3926 3397 0 0 1 0 0 0

1851 -0.78 -146.0 174.2 -10.9 257 1857 0.25 2.88 0.00 0.000 6 0.206 0.061 2432 2545 3397 0 0 1 0 0 0

2177 -0.83 -146.0 200.2 -7.9 288 2182 0.00 3.00 0.00 0.000 4 0.000 0.085 2432 3921 3397 0 0 1 0 0 0

2385 -0.89 -146.0 216.9 -8.2 306 2390 0.00 2.83 0.00 0.000 6 0.000 0.061 2432 2567 3397 0 0 1 0 0 0

2710 -0.95 -146.0 241.6 -8.2 336 2716 0.15 2.95 0.00 0.000 4 0.117 0.081 2372 3917 3396 0 0 1 0 0 0

2867 -0.80 -146.0 258.3 -10.9 349 2874 0.22 2.80 0.00 0.000 6 0.199 0.058 2426 2583 3398 0 0 0 0 0 0

3192 -0.80 -146.0 286.1 -8.4 380 3197 0.00 2.90 0.00 0.000 4 0.000 0.082 2426 3920 3398 0 0 2 0 0 0

3322 -0.80 -146.0 297.0 -8.0 391 3326 0.00 2.78 0.00 0.000 6 0.000 0.058 2426 2591 3398 0 0 1 0 0 0

3647 -0.86 -146.0 321.7 -7.4 421 3651 0.00 2.90 0.00 0.000 4 0.000 0.082 2426 3924 3399 0 0 2 0 0 0

3771 -0.91 -146.0 330.5 -7.3 431 3777 0.00 2.78 0.00 0.000 6 0.000 0.058 2426 2598 3399 0 0 1 0 0 0

4096 -0.97 -146.0 353.3 -7.7 462 4101 0.15 2.90 0.00 0.000 4 0.108 0.080 2361 3914 3399 0 0 1 0 0 0

4275 -0.81 -146.0 373.1 -11.9 477 4282 0.25 2.70 0.00 0.000 6 0.202 0.057 2421 2625 3399 0 0 1 0 0 0

4602 -0.86 -146.0 400.1 -7.6 508 4606 0.00 2.85 0.00 0.000 4 0.000 0.081 2421 3920 3399 0 0 1 0 0 0

4780 -0.86 -146.0 413.4 -6.5 523 4786 0.00 2.70 0.00 0.000 6 0.000 0.057 2421 2647 3399 0 0 0 0 0 0

5105 -0.90 -146.0 433.9 -6.3 554 5110 0.00 2.83 0.00 0.000 4 0.000 0.081 2421 3926 3400 0 0 1 0 0 0

5218 -0.95 -146.0 441.5 -6.9 563 5224 0.12 2.67 0.00 0.000 6 0.123 0.057 2381 2659 3400 0 0 1 0 0 0

5542 -0.87 -146.0 468.4 -8.6 594 5547 0.00 2.80 0.00 0.000 4 0.000 0.081 2381 3918 3400 0 0 1 0 0 0

5701 -0.79 -146.0 482.8 -9.2 607 5708 0.20 2.62 0.00 0.000 6 0.199 0.058 2428 2684 3400 0 0 1 0 0 0

6026 -0.86 -146.0 505.0 -6.9 638 6031 0.00 2.75 0.00 0.000 4 0.000 0.081 2428 3923 3401 0 0 2 0 0 0

6157 -0.94 -146.0 514.4 -7.9 649 6162 0.12 2.60 0.00 0.000 6 0.118 0.057 2387 2696 3400 0 0 1 0 0 0

6362 end dive: TARGET_DEPTH_EXCEEDED

state 6363 begin apogee

6370 -0.16 0.0 532.3 8.8 668 6496 0.88 0.00 120.32 1.063 6 0.179 0.000 2630 1941 2799 0 0 0 0 0 0

6497 end apogee: CONTROL_FINISHED_OK

state 6497 begin climb

6499 0.73 146.0 535.2 0.0 681 6633 0.95 2.25 123.38 1.016 4 0.127 0.084 2926 369 2202 0 0 0 0 0 0

6661 0.64 146.0 521.5 12.8 696 6667 0.00 2.15 0.00 0.000 6 0.000 0.056 2927 1970 2200 0 0 0 0 0 0

6986 0.57 146.0 481.3 12.7 727 6992 0.20 3.35 0.00 0.000 4 0.193 0.073 2878 3526 2195 0 0 2 0 0 0

7087 0.57 146.0 469.6 11.7 735 7093 0.00 3.33 0.00 0.000 6 0.000 0.067 2890 1965 2194 0 0 1 0 0 0

7412 0.57 146.0 434.8 10.8 766 7417 0.00 3.33 0.00 0.000 4 0.000 0.076 2890 3527 2194 0 0 2 0 0 0

7529 0.57 146.0 421.3 11.3 776 7535 0.12 3.28 0.00 0.000 6 0.202 0.067 2878 1977 2193 0 0 1 0 0 0

7854 0.64 146.0 389.8 9.3 806 7859 0.00 3.33 0.00 0.000 4 0.000 0.075 2878 3535 2193 0 0 1 0 0 0

7971 0.64 146.0 377.8 9.9 816 7976 0.00 3.28 0.00 0.000 6 0.000 0.067 2891 1996 2193 0 0 0 0 0 0

8296 0.64 148.6 347.6 9.1 846 8301 0.00 3.30 0.00 0.000 4 0.000 0.076 2891 3536 2193 0 0 1 0 0 0

8418 0.64 148.6 335.3 9.9 856 8424 0.00 3.22 0.00 0.000 6 0.000 0.067 2905 2016 2193 0 0 1 0 0 0

8743 0.64 148.6 304.6 9.5 887 8748 0.00 3.25 0.00 0.000 4 0.000 0.076 2904 3527 2193 0 0 1 0 0 0

8832 0.59 148.6 294.7 11.5 894 8838 0.15 3.22 0.00 0.000 6 0.199 0.067 2886 2020 2193 0 0 0 0 0 0

9156 0.66 148.6 264.5 9.3 925 9161 0.00 3.22 0.00 0.000 4 0.000 0.075 2885 3532 2192 0 0 2 0 0 0

9302 0.66 148.6 249.5 10.6 937 9308 0.00 3.20 0.00 0.000 6 0.000 0.067 2898 2037 2192 0 0 0 0 0 0

9626 0.66 148.6 217.5 10.3 968 9631 0.00 3.22 0.00 0.000 4 0.000 0.074 2897 3535 2193 0 0 1 0 0 0

9745 0.66 148.6 204.3 11.4 978 9750 0.00 3.20 0.00 0.000 6 0.000 0.067 2911 2044 2193 0 0 0 0 0 0

10069 0.66 148.6 170.7 10.9 1008 10074 0.00 3.22 0.00 0.000 4 0.000 0.075 2911 3536 2193 0 0 1 0 0 0

10131 0.61 148.6 163.6 11.7 1013 10137 0.15 3.17 0.00 0.000 6 0.196 0.067 2891 2061 2192 0 0 0 0 0 0

10458 0.72 164.6 133.3 8.5 1043 10479 0.00 3.20 14.68 0.773 4 0.000 0.075 2891 3536 2127 0 0 1 0 0 0

10571 0.79 217.0 124.5 7.0 1053 10623 0.12 3.17 43.35 0.796 6 0.114 0.067 2945 2076 1914 0 0 0 0 0 0

10947 0.85 217.0 90.3 10.4 1097 10953 0.00 3.22 0.00 0.000 4 0.000 0.074 2945 3533 1906 0 0 0 0 0 0

11066 0.85 217.0 75.5 12.6 1118 11071 0.00 3.15 0.00 0.000 6 0.000 0.067 2959 2100 1905 0 0 0 0 0 0

11411 0.85 217.0 37.8 10.4 1179 11416 0.00 3.15 0.00 0.000 4 0.000 0.076 2959 3525 1905 0 0 1 0 0 0

11484 0.79 217.0 29.1 11.5 1192 11490 0.00 3.12 0.00 0.000 6 0.000 0.067 2973 2106 1905 0 0 0 0 0 0

11726 end climb: SURFACE_DEPTH_REACHED

state 11726 begin surface coast

11744 end surface coast: CONTROL_FINISHED_OK

state 11745 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	305	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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	22	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	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	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-41750.039	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	054037,6706.577,-5701.259,26,1.5,26,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	054544,6706.579,-5701.278,11,1.5,11,-37.7	MHEAD_RNG_PITCHd_Wd	162.4,11657,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	532

FREEZE	0.17,0.135,-1.391,0,1,0	ALTIM_TOP_PING	20.0,19.4
FINISH	0.2,1.020514	ALTIM_BOTTOM_PING	450.4,102.5
SM_CCo	11761,115.15,0.723,0,0,1066,425.10	_24V_AH	22.7,59.254
SM_GC	0.89,0.00,0.00,115.15,0.000,0.000,0.723,126,2452,1066,-8.02,-0.23,425.10	_10V_AH	10.1,31.204
RAFOS_CLK	727	FG_AHR_24Vo	0.000
RAFOS	0,1260777664,8.033334,8.017777,82,57,56,0,0,0,211,221,157,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.608398,-5704.352539,141209,040400,2,82,0.34	MEM	152520
IRIDIUM_FIX	6641.98,-5656.94,100399,020239	DATA_FILE_SIZE	47332,1238
TT8_MAMPS	0.027612	CAP_FILE_SIZE	144555,0
HUMID	46.85	CFSIZE	260165632,226234368
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
TCM_TEMP	17.20	SOUNDSPEED	1466.9
XPDR_PINGS	3	GPS	141209,090530,6706.225,-5701.933,38,1.1,43,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	293	158.71	SBE_CT	906	24	493.70
Roll_motor	150	93	319.36	SBE_O2	845	19	364.46
VBD_pump_during_apogee	301	1063	7281.08	nil	0	0	0.00
VBD_pump_during_surface	115	722	1888.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.61	nil	0	0	0.00
Iridium_during_connect	31	160	115.28	nil	0	0	0.00
Iridium_during_xfer	132	223	672.23
Transponder_ping	2	420	21.45
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.71
TT8	2110	19	424.53
LPSleep	6878	2	160.48
TT8_Active	590	19	118.72
TT8_Sampling	2199	39	886.66
TT8_CF8	400	45	185.62
TT8_Kalman	0	0	0.00
Analog_circuits	1715	12	207.91
GPS_charging	0	0	0.00
Compass	2161	8	174.63
RAFOS	2520	1	38.18
Transponder	13	30	4.14

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	144	0.00	0.00	-124.97	0.000	2	0.000	0.000	124	2469	3222	0	0	0	0	0	0
147	-0.73	-146.0	3.5	-7.8	25	169	11.23	2.33	-4.38	0.000	4	0.294	0.094	2445	864	3397	0	0	0	0	0	0
225	-0.73	-146.0	18.0	-12.1	39	231	0.00	2.22	0.00	0.000	6	0.000	0.068	2445	2452	3400	0	0	0	0	0	0
569	-0.73	-146.0	53.2	-9.8	100	574	0.00	3.20	0.00	0.000	4	0.000	0.087	2445	3921	3400	0	0	1	0	0	0
817	-0.73	-146.0	78.3	-10.0	144	822	0.00	2.95	0.00	0.000	6	0.000	0.064	2445	2507	3400	0	0	2	0	0	0
1155	-0.77	-146.0	109.8	-8.8	195	1160	0.00	3.08	0.00	0.000	4	0.000	0.087	2445	3913	3399	0	0	2	0	0	0
1413	-0.85	-146.0	134.3	-8.7	217	1418	0.00	2.90	0.00	0.000	6	0.000	0.064	2445	2533	3398	0	0	1	0	0	0
1738	-0.94	-146.0	161.9	-7.6	248	1743	0.17	3.05	0.00	0.000	4	0.108	0.083	2372	3926	3397	0	0	1	0	0	0
1851	-0.78	-146.0	174.2	-10.9	257	1857	0.25	2.88	0.00	0.000	6	0.206	0.061	2432	2545	3397	0	0	1	0	0	0
2177	-0.83	-146.0	200.2	-7.9	288	2182	0.00	3.00	0.00	0.000	4	0.000	0.085	2432	3921	3397	0	0	1	0	0	0
2385	-0.89	-146.0	216.9	-8.2	306	2390	0.00	2.83	0.00	0.000	6	0.000	0.061	2432	2567	3397	0	0	1	0	0	0
2710	-0.95	-146.0	241.6	-8.2	336	2716	0.15	2.95	0.00	0.000	4	0.117	0.081	2372	3917	3396	0	0	1	0	0	0
2867	-0.80	-146.0	258.3	-10.9	349	2874	0.22	2.80	0.00	0.000	6	0.199	0.058	2426	2583	3398	0	0	0	0	0	0
3192	-0.80	-146.0	286.1	-8.4	380	3197	0.00	2.90	0.00	0.000	4	0.000	0.082	2426	3920	3398	0	0	2	0	0	0
3322	-0.80	-146.0	297.0	-8.0	391	3326	0.00	2.78	0.00	0.000	6	0.000	0.058	2426	2591	3398	0	0	1	0	0	0
3647	-0.86	-146.0	321.7	-7.4	421	3651	0.00	2.90	0.00	0.000	4	0.000	0.082	2426	3924	3399	0	0	2	0	0	0
3771	-0.91	-146.0	330.5	-7.3	431	3777	0.00	2.78	0.00	0.000	6	0.000	0.058	2426	2598	3399	0	0	1	0	0	0
4096	-0.97	-146.0	353.3	-7.7	462	4101	0.15	2.90	0.00	0.000	4	0.108	0.080	2361	3914	3399	0	0	1	0	0	0
4275	-0.81	-146.0	373.1	-11.9	477	4282	0.25	2.70	0.00	0.000	6	0.202	0.057	2421	2625	3399	0	0	1	0	0	0
4602	-0.86	-146.0	400.1	-7.6	508	4606	0.00	2.85	0.00	0.000	4	0.000	0.081	2421	3920	3399	0	0	1	0	0	0
4780	-0.86	-146.0	413.4	-6.5	523	4786	0.00	2.70	0.00	0.000	6	0.000	0.057	2421	2647	3399	0	0	0	0	0	0
5105	-0.90	-146.0	433.9	-6.3	554	5110	0.00	2.83	0.00	0.000	4	0.000	0.081	2421	3926	3400	0	0	1	0	0	0
5218	-0.95	-146.0	441.5	-6.9	563	5224	0.12	2.67	0.00	0.000	6	0.123	0.057	2381	2659	3400	0	0	1	0	0	0
5542	-0.87	-146.0	468.4	-8.6	594	5547	0.00	2.80	0.00	0.000	4	0.000	0.081	2381	3918	3400	0	0	1	0	0	0
5701	-0.79	-146.0	482.8	-9.2	607	5708	0.20	2.62	0.00	0.000	6	0.199	0.058	2428	2684	3400	0	0	1	0	0	0
6026	-0.86	-146.0	505.0	-6.9	638	6031	0.00	2.75	0.00	0.000	4	0.000	0.081	2428	3923	3401	0	0	2	0	0	0
6157	-0.94	-146.0	514.4	-7.9	649	6162	0.12	2.60	0.00	0.000	6	0.118	0.057	2387	2696	3400	0	0	1	0	0	0
6362	end dive: TARGET_DEPTH_EXCEEDED
state	6363	begin apogee
6370	-0.16	0.0	532.3	8.8	668	6496	0.88	0.00	120.32	1.063	6	0.179	0.000	2630	1941	2799	0	0	0	0	0	0
6497	end apogee: CONTROL_FINISHED_OK
state	6497	begin climb
6499	0.73	146.0	535.2	0.0	681	6633	0.95	2.25	123.38	1.016	4	0.127	0.084	2926	369	2202	0	0	0	0	0	0
6661	0.64	146.0	521.5	12.8	696	6667	0.00	2.15	0.00	0.000	6	0.000	0.056	2927	1970	2200	0	0	0	0	0	0
6986	0.57	146.0	481.3	12.7	727	6992	0.20	3.35	0.00	0.000	4	0.193	0.073	2878	3526	2195	0	0	2	0	0	0
7087	0.57	146.0	469.6	11.7	735	7093	0.00	3.33	0.00	0.000	6	0.000	0.067	2890	1965	2194	0	0	1	0	0	0
7412	0.57	146.0	434.8	10.8	766	7417	0.00	3.33	0.00	0.000	4	0.000	0.076	2890	3527	2194	0	0	2	0	0	0
7529	0.57	146.0	421.3	11.3	776	7535	0.12	3.28	0.00	0.000	6	0.202	0.067	2878	1977	2193	0	0	1	0	0	0
7854	0.64	146.0	389.8	9.3	806	7859	0.00	3.33	0.00	0.000	4	0.000	0.075	2878	3535	2193	0	0	1	0	0	0
7971	0.64	146.0	377.8	9.9	816	7976	0.00	3.28	0.00	0.000	6	0.000	0.067	2891	1996	2193	0	0	0	0	0	0
8296	0.64	148.6	347.6	9.1	846	8301	0.00	3.30	0.00	0.000	4	0.000	0.076	2891	3536	2193	0	0	1	0	0	0
8418	0.64	148.6	335.3	9.9	856	8424	0.00	3.22	0.00	0.000	6	0.000	0.067	2905	2016	2193	0	0	1	0	0	0
8743	0.64	148.6	304.6	9.5	887	8748	0.00	3.25	0.00	0.000	4	0.000	0.076	2904	3527	2193	0	0	1	0	0	0
8832	0.59	148.6	294.7	11.5	894	8838	0.15	3.22	0.00	0.000	6	0.199	0.067	2886	2020	2193	0	0	0	0	0	0
9156	0.66	148.6	264.5	9.3	925	9161	0.00	3.22	0.00	0.000	4	0.000	0.075	2885	3532	2192	0	0	2	0	0	0
9302	0.66	148.6	249.5	10.6	937	9308	0.00	3.20	0.00	0.000	6	0.000	0.067	2898	2037	2192	0	0	0	0	0	0
9626	0.66	148.6	217.5	10.3	968	9631	0.00	3.22	0.00	0.000	4	0.000	0.074	2897	3535	2193	0	0	1	0	0	0
9745	0.66	148.6	204.3	11.4	978	9750	0.00	3.20	0.00	0.000	6	0.000	0.067	2911	2044	2193	0	0	0	0	0	0
10069	0.66	148.6	170.7	10.9	1008	10074	0.00	3.22	0.00	0.000	4	0.000	0.075	2911	3536	2193	0	0	1	0	0	0
10131	0.61	148.6	163.6	11.7	1013	10137	0.15	3.17	0.00	0.000	6	0.196	0.067	2891	2061	2192	0	0	0	0	0	0
10458	0.72	164.6	133.3	8.5	1043	10479	0.00	3.20	14.68	0.773	4	0.000	0.075	2891	3536	2127	0	0	1	0	0	0
10571	0.79	217.0	124.5	7.0	1053	10623	0.12	3.17	43.35	0.796	6	0.114	0.067	2945	2076	1914	0	0	0	0	0	0
10947	0.85	217.0	90.3	10.4	1097	10953	0.00	3.22	0.00	0.000	4	0.000	0.074	2945	3533	1906	0	0	0	0	0	0
11066	0.85	217.0	75.5	12.6	1118	11071	0.00	3.15	0.00	0.000	6	0.000	0.067	2959	2100	1905	0	0	0	0	0	0
11411	0.85	217.0	37.8	10.4	1179	11416	0.00	3.15	0.00	0.000	4	0.000	0.076	2959	3525	1905	0	0	1	0	0	0
11484	0.79	217.0	29.1	11.5	1192	11490	0.00	3.12	0.00	0.000	6	0.000	0.067	2973	2106	1905	0	0	0	0	0	0
11726	end climb: SURFACE_DEPTH_REACHED
state	11726	begin surface coast
11744	end surface coast: CONTROL_FINISHED_OK
state	11745	begin surface