Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 319 * 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 319 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 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 30 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 -42000.188 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 -42000.188

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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 319 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 050707,6709.372,-5708.890,58,1.2,58,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 14 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051331,6709.435,-5708.850,8,1.8,13,-37.8 MHEAD_RNG_PITCHd_Wd 166.2,19202,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 539

Post-dive calculations and measurements:

FREEZE 0.53,-0.206,-1.825,0,1,0 ALTIM_TOP_PING 19.8,19.9

FINISH 0.5,1.026739 ALTIM_BOTTOM_PING 350.1,217.9

SM_CCo 11788,112.20,0.716,0,0,1066,425.10 _24V_AH 22.6,61.017

SM_GC 1.05,0.00,0.00,112.20,0.000,0.000,0.716,127,2455,1066,-8.01,-0.14,425.10 _10V_AH 10.1,32.224

RAFOS_CLK 736 FG_AHR_24Vo 0.000

RAFOS 0,1260950467,8.033334,8.018611,66,61,59,0,0,0,219,191,201,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.132324,-5713.788574,151209,202012,3,79,0.64 MEM 152504

IRIDIUM_FIX 6636.54,-5709.24,120399,020216 DATA_FILE_SIZE 50520,1263

TT8_MAMPS 0.029146 CAP_FILE_SIZE 145950,0

HUMID 46.73 CFSIZE 260165632,225214464

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,110,0,0

TCM_TEMP 17.10 SOUNDSPEED 1465.8

XPDR_PINGS 1 GPS 161209,083331,6708.574,-5708.428,35,1.6,35,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 293 177.43 SBE_CT 923 24 500.66

Roll_motor 155 98 345.02 SBE_O2 861 19 369.98

VBD_pump_during_apogee 319 1072 7747.36 nil 0 0 0.00

VBD_pump_during_surface 112 716 1816.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.26 nil 0 0 0.00

Iridium_during_connect 34 160 123.79 nil 0 0 0.00

Iridium_during_xfer 202 223 1018.30

Transponder_ping 1 420 11.87

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.40

TT8 2142 19 430.95

LPSleep 6811 2 158.92

TT8_Active 597 19 120.19

TT8_Sampling 2252 39 908.30

TT8_CF8 472 45 219.35

TT8_Kalman 0 0 0.00

Analog_circuits 1750 12 212.19

GPS_charging 0 0 0.00

Compass 2212 8 178.76

RAFOS 1440 1 21.82

Transponder 9 30 2.85

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 0 138 0.00 0.00 -120.35 0.000 2 0.000 0.000 123 2459 3194 0 0 0 0 0 0

142 -0.73 -146.0 3.7 -7.6 24 164 11.27 2.30 -5.15 0.000 4 0.294 0.098 2445 856 3397 0 0 0 0 0 0

170 0.86 -146.0 11.7 -25.3 29 177 1.85 2.15 0.00 0.000 6 0.176 0.066 2961 2452 3399 0 0 0 0 0 0

515 -0.62 -146.0 34.6 -7.1 90 521 1.62 2.30 0.00 0.000 4 0.173 0.085 2503 849 3401 0 0 0 0 0 0

641 -0.77 -146.0 43.6 -7.0 112 648 0.20 2.20 0.00 0.000 6 0.100 0.068 2434 2475 3401 0 0 0 0 0 0

988 -0.77 -146.0 78.9 -11.6 173 994 0.00 3.25 0.00 0.000 4 0.000 0.087 2434 3927 3400 0 0 3 0 0 0

1005 -0.77 -146.0 80.9 -10.6 176 1010 0.00 3.05 0.00 0.000 6 0.000 0.064 2434 2512 3399 0 0 3 0 0 0

1340 -0.77 -146.0 112.5 -8.8 224 1344 0.00 2.30 0.00 0.000 4 0.000 0.087 2434 866 3399 0 0 0 0 0 0

1585 -0.77 -146.0 140.0 -10.6 245 1592 0.00 2.33 0.00 0.000 6 0.000 0.071 2434 2531 3397 0 0 0 0 0 0

1911 -0.77 -146.0 168.7 -8.2 276 1916 0.00 3.10 0.00 0.000 4 0.000 0.087 2434 3915 3397 0 0 4 0 0 0

2085 -0.82 -146.0 182.9 -7.7 291 2090 0.00 2.95 0.00 0.000 6 0.000 0.064 2434 2563 3396 0 0 2 0 0 0

2410 -0.88 -146.0 204.5 -6.4 321 2415 0.00 3.10 0.00 0.000 4 0.000 0.086 2434 3916 3396 0 0 2 0 0 0

2596 -0.94 -146.0 218.2 -7.7 337 2601 0.15 2.90 0.00 0.000 6 0.117 0.062 2381 2593 3396 0 0 1 0 0 0

2920 -0.84 -146.0 251.5 -10.8 367 2926 0.15 3.05 0.00 0.000 4 0.203 0.084 2413 3924 3396 0 0 2 0 0 0

3178 -0.84 -146.0 276.0 -9.6 389 3184 0.00 2.75 0.00 0.000 6 0.000 0.059 2413 2622 3397 0 0 2 0 0 0

3503 -0.84 -146.0 301.0 -6.9 420 3508 0.00 2.92 0.00 0.000 4 0.000 0.082 2413 3928 3398 0 0 4 0 0 0

3710 -0.84 -146.0 316.7 -8.2 438 3715 0.00 2.78 0.00 0.000 6 0.000 0.058 2413 2650 3398 0 0 2 0 0 0

4036 -0.84 -146.0 342.4 -8.0 468 4041 0.00 2.90 0.00 0.000 4 0.000 0.081 2413 3927 3398 0 0 2 0 0 0

4166 -0.84 -146.0 353.3 -8.2 479 4171 0.00 2.72 0.00 0.000 6 0.000 0.058 2413 2665 3399 0 0 3 0 0 0

4491 -0.84 -146.0 379.7 -8.1 509 4495 0.00 2.88 0.00 0.000 4 0.000 0.081 2413 3925 3400 0 0 2 0 0 0

4643 -0.84 -146.0 392.4 -8.5 522 4648 0.00 2.72 0.00 0.000 6 0.000 0.058 2413 2675 3401 0 0 2 0 0 0

4967 -0.84 -146.0 420.2 -8.2 552 4972 0.00 2.88 0.00 0.000 4 0.000 0.081 2413 3930 3400 0 0 2 0 0 0

5085 -0.84 -146.0 430.1 -8.8 562 5090 0.00 2.70 0.00 0.000 6 0.000 0.058 2413 2685 3401 0 0 3 0 0 0

5409 -0.84 -146.0 456.3 -8.3 592 5414 0.00 2.85 0.00 0.000 4 0.000 0.081 2413 3920 3402 0 0 2 0 0 0

5562 -0.84 -146.0 468.5 -7.9 605 5567 0.00 2.67 0.00 0.000 6 0.000 0.058 2413 2708 3402 0 0 2 0 0 0

5887 -0.84 -146.0 494.5 -8.4 635 5891 0.00 2.80 0.00 0.000 4 0.000 0.081 2413 3923 3401 0 0 3 0 0 0

6049 -0.84 -146.0 509.0 -9.3 649 6053 0.00 2.65 0.00 0.000 6 0.000 0.057 2413 2728 3401 0 0 2 0 0 0

6373 -0.84 -146.0 536.7 -8.0 679 6378 0.00 2.80 0.00 0.000 4 0.000 0.082 2413 3927 3402 0 0 2 0 0 0

6398 end dive: TARGET_DEPTH_EXCEEDED

state 6399 begin apogee

6408 -0.16 0.0 539.1 9.1 681 6534 0.77 0.00 121.05 1.072 6 0.179 0.000 2627 1935 2799 0 0 0 0 0 0

6535 end apogee: CONTROL_FINISHED_OK

state 6535 begin climb

6537 0.73 146.0 541.9 0.0 694 6671 0.95 2.10 124.22 1.025 4 0.128 0.084 2922 366 2201 0 0 0 0 0 0

6733 0.65 146.0 525.5 11.6 712 6739 0.00 2.05 0.00 0.000 6 0.000 0.057 2922 1975 2198 0 0 0 0 0 0

7058 0.58 146.0 488.2 11.5 743 7064 0.17 3.40 0.00 0.000 4 0.199 0.074 2877 3524 2194 0 0 3 0 0 0

7169 0.58 146.0 476.5 9.8 752 7176 0.00 3.40 0.00 0.000 6 0.000 0.067 2891 1955 2193 0 0 3 0 0 0

7494 0.58 146.0 442.8 10.6 783 7500 0.00 3.45 0.00 0.000 4 0.000 0.076 2891 3530 2193 0 0 2 0 0 0

7641 0.58 146.0 425.7 11.5 795 7647 0.00 3.35 0.00 0.000 6 0.000 0.069 2906 1985 2193 0 0 3 0 0 0

7965 0.58 146.0 388.9 10.9 826 7970 0.00 3.38 0.00 0.000 4 0.000 0.076 2906 3529 2193 0 0 3 0 0 0

8066 0.51 146.0 377.0 11.7 834 8072 0.28 3.33 0.00 0.000 6 0.194 0.068 2853 1994 2192 0 0 3 0 0 0

8390 0.71 178.5 351.1 7.8 865 8425 0.20 3.38 26.05 0.934 4 0.100 0.074 2923 3526 2070 0 0 3 0 0 0

8566 0.63 178.5 329.7 12.4 881 8572 0.17 3.33 0.00 0.000 6 0.199 0.069 2898 2013 2067 0 0 3 0 0 0

8890 0.63 178.5 296.2 10.5 911 8895 0.00 3.35 0.00 0.000 4 0.000 0.075 2898 3524 2066 0 0 2 0 0 0

8967 0.63 178.5 287.3 11.9 917 8973 0.00 3.28 0.00 0.000 6 0.000 0.068 2910 2026 2065 0 0 3 0 0 0

9293 0.63 178.5 252.2 10.5 948 9298 0.00 3.33 0.00 0.000 4 0.000 0.076 2910 3524 2065 0 0 2 0 0 0

9411 0.63 178.5 238.6 11.1 958 9417 0.12 3.25 0.00 0.000 6 0.202 0.068 2898 2045 2065 0 0 3 0 0 0

9735 0.69 178.5 208.5 9.3 988 9740 0.00 3.30 0.00 0.000 4 0.000 0.075 2898 3525 2065 0 0 2 0 0 0

9853 0.69 178.5 196.9 9.6 998 9858 0.00 3.28 0.00 0.000 6 0.000 0.067 2910 2060 2064 0 0 1 0 0 0

10177 0.69 178.5 162.8 11.6 1028 10182 0.00 3.30 0.00 0.000 4 0.000 0.074 2910 3526 2064 0 0 1 0 0 0

10283 0.69 178.5 149.2 12.9 1037 10288 0.00 3.20 0.00 0.000 6 0.000 0.067 2924 2076 2064 0 0 3 0 0 0

10607 0.69 178.5 111.2 11.4 1067 10612 0.00 3.25 0.00 0.000 4 0.000 0.075 2924 3529 2064 0 0 3 0 0 0

10684 0.69 178.5 103.2 9.8 1073 10691 0.00 3.20 0.00 0.000 6 0.000 0.066 2938 2081 2064 0 0 3 0 0 0

11025 0.69 178.5 71.5 10.3 1130 11030 0.00 3.25 0.00 0.000 4 0.000 0.075 2939 3530 2065 0 0 3 0 0 0

11161 0.69 178.5 58.6 10.2 1154 11168 0.15 3.20 0.00 0.000 6 0.205 0.067 2920 2087 2065 0 0 3 0 0 0

11505 0.85 238.2 32.3 6.7 1215 11562 0.12 3.33 48.38 0.754 4 0.122 0.077 2962 3529 1827 0 0 2 0 0 0

11596 0.80 238.2 21.8 17.1 1232 11601 0.00 3.22 0.00 0.000 6 0.000 0.068 2977 2107 1825 0 0 3 0 0 0

11753 end climb: SURFACE_DEPTH_REACHED

state 11753 begin surface coast

11770 end surface coast: CONTROL_FINISHED_OK

state 11770 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	319	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	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	30	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	-42000.188	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	050707,6709.372,-5708.890,58,1.2,58,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	14	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051331,6709.435,-5708.850,8,1.8,13,-37.8	MHEAD_RNG_PITCHd_Wd	166.2,19202,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	539

FREEZE	0.53,-0.206,-1.825,0,1,0	ALTIM_TOP_PING	19.8,19.9
FINISH	0.5,1.026739	ALTIM_BOTTOM_PING	350.1,217.9
SM_CCo	11788,112.20,0.716,0,0,1066,425.10	_24V_AH	22.6,61.017
SM_GC	1.05,0.00,0.00,112.20,0.000,0.000,0.716,127,2455,1066,-8.01,-0.14,425.10	_10V_AH	10.1,32.224
RAFOS_CLK	736	FG_AHR_24Vo	0.000
RAFOS	0,1260950467,8.033334,8.018611,66,61,59,0,0,0,219,191,201,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.132324,-5713.788574,151209,202012,3,79,0.64	MEM	152504
IRIDIUM_FIX	6636.54,-5709.24,120399,020216	DATA_FILE_SIZE	50520,1263
TT8_MAMPS	0.029146	CAP_FILE_SIZE	145950,0
HUMID	46.73	CFSIZE	260165632,225214464
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,110,0,0
TCM_TEMP	17.10	SOUNDSPEED	1465.8
XPDR_PINGS	1	GPS	161209,083331,6708.574,-5708.428,35,1.6,35,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	293	177.43	SBE_CT	923	24	500.66
Roll_motor	155	98	345.02	SBE_O2	861	19	369.98
VBD_pump_during_apogee	319	1072	7747.36	nil	0	0	0.00
VBD_pump_during_surface	112	716	1816.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.26	nil	0	0	0.00
Iridium_during_connect	34	160	123.79	nil	0	0	0.00
Iridium_during_xfer	202	223	1018.30
Transponder_ping	1	420	11.87
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.40
TT8	2142	19	430.95
LPSleep	6811	2	158.92
TT8_Active	597	19	120.19
TT8_Sampling	2252	39	908.30
TT8_CF8	472	45	219.35
TT8_Kalman	0	0	0.00
Analog_circuits	1750	12	212.19
GPS_charging	0	0	0.00
Compass	2212	8	178.76
RAFOS	1440	1	21.82
Transponder	9	30	2.85

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	138	0.00	0.00	-120.35	0.000	2	0.000	0.000	123	2459	3194	0	0	0	0	0	0
142	-0.73	-146.0	3.7	-7.6	24	164	11.27	2.30	-5.15	0.000	4	0.294	0.098	2445	856	3397	0	0	0	0	0	0
170	0.86	-146.0	11.7	-25.3	29	177	1.85	2.15	0.00	0.000	6	0.176	0.066	2961	2452	3399	0	0	0	0	0	0
515	-0.62	-146.0	34.6	-7.1	90	521	1.62	2.30	0.00	0.000	4	0.173	0.085	2503	849	3401	0	0	0	0	0	0
641	-0.77	-146.0	43.6	-7.0	112	648	0.20	2.20	0.00	0.000	6	0.100	0.068	2434	2475	3401	0	0	0	0	0	0
988	-0.77	-146.0	78.9	-11.6	173	994	0.00	3.25	0.00	0.000	4	0.000	0.087	2434	3927	3400	0	0	3	0	0	0
1005	-0.77	-146.0	80.9	-10.6	176	1010	0.00	3.05	0.00	0.000	6	0.000	0.064	2434	2512	3399	0	0	3	0	0	0
1340	-0.77	-146.0	112.5	-8.8	224	1344	0.00	2.30	0.00	0.000	4	0.000	0.087	2434	866	3399	0	0	0	0	0	0
1585	-0.77	-146.0	140.0	-10.6	245	1592	0.00	2.33	0.00	0.000	6	0.000	0.071	2434	2531	3397	0	0	0	0	0	0
1911	-0.77	-146.0	168.7	-8.2	276	1916	0.00	3.10	0.00	0.000	4	0.000	0.087	2434	3915	3397	0	0	4	0	0	0
2085	-0.82	-146.0	182.9	-7.7	291	2090	0.00	2.95	0.00	0.000	6	0.000	0.064	2434	2563	3396	0	0	2	0	0	0
2410	-0.88	-146.0	204.5	-6.4	321	2415	0.00	3.10	0.00	0.000	4	0.000	0.086	2434	3916	3396	0	0	2	0	0	0
2596	-0.94	-146.0	218.2	-7.7	337	2601	0.15	2.90	0.00	0.000	6	0.117	0.062	2381	2593	3396	0	0	1	0	0	0
2920	-0.84	-146.0	251.5	-10.8	367	2926	0.15	3.05	0.00	0.000	4	0.203	0.084	2413	3924	3396	0	0	2	0	0	0
3178	-0.84	-146.0	276.0	-9.6	389	3184	0.00	2.75	0.00	0.000	6	0.000	0.059	2413	2622	3397	0	0	2	0	0	0
3503	-0.84	-146.0	301.0	-6.9	420	3508	0.00	2.92	0.00	0.000	4	0.000	0.082	2413	3928	3398	0	0	4	0	0	0
3710	-0.84	-146.0	316.7	-8.2	438	3715	0.00	2.78	0.00	0.000	6	0.000	0.058	2413	2650	3398	0	0	2	0	0	0
4036	-0.84	-146.0	342.4	-8.0	468	4041	0.00	2.90	0.00	0.000	4	0.000	0.081	2413	3927	3398	0	0	2	0	0	0
4166	-0.84	-146.0	353.3	-8.2	479	4171	0.00	2.72	0.00	0.000	6	0.000	0.058	2413	2665	3399	0	0	3	0	0	0
4491	-0.84	-146.0	379.7	-8.1	509	4495	0.00	2.88	0.00	0.000	4	0.000	0.081	2413	3925	3400	0	0	2	0	0	0
4643	-0.84	-146.0	392.4	-8.5	522	4648	0.00	2.72	0.00	0.000	6	0.000	0.058	2413	2675	3401	0	0	2	0	0	0
4967	-0.84	-146.0	420.2	-8.2	552	4972	0.00	2.88	0.00	0.000	4	0.000	0.081	2413	3930	3400	0	0	2	0	0	0
5085	-0.84	-146.0	430.1	-8.8	562	5090	0.00	2.70	0.00	0.000	6	0.000	0.058	2413	2685	3401	0	0	3	0	0	0
5409	-0.84	-146.0	456.3	-8.3	592	5414	0.00	2.85	0.00	0.000	4	0.000	0.081	2413	3920	3402	0	0	2	0	0	0
5562	-0.84	-146.0	468.5	-7.9	605	5567	0.00	2.67	0.00	0.000	6	0.000	0.058	2413	2708	3402	0	0	2	0	0	0
5887	-0.84	-146.0	494.5	-8.4	635	5891	0.00	2.80	0.00	0.000	4	0.000	0.081	2413	3923	3401	0	0	3	0	0	0
6049	-0.84	-146.0	509.0	-9.3	649	6053	0.00	2.65	0.00	0.000	6	0.000	0.057	2413	2728	3401	0	0	2	0	0	0
6373	-0.84	-146.0	536.7	-8.0	679	6378	0.00	2.80	0.00	0.000	4	0.000	0.082	2413	3927	3402	0	0	2	0	0	0
6398	end dive: TARGET_DEPTH_EXCEEDED
state	6399	begin apogee
6408	-0.16	0.0	539.1	9.1	681	6534	0.77	0.00	121.05	1.072	6	0.179	0.000	2627	1935	2799	0	0	0	0	0	0
6535	end apogee: CONTROL_FINISHED_OK
state	6535	begin climb
6537	0.73	146.0	541.9	0.0	694	6671	0.95	2.10	124.22	1.025	4	0.128	0.084	2922	366	2201	0	0	0	0	0	0
6733	0.65	146.0	525.5	11.6	712	6739	0.00	2.05	0.00	0.000	6	0.000	0.057	2922	1975	2198	0	0	0	0	0	0
7058	0.58	146.0	488.2	11.5	743	7064	0.17	3.40	0.00	0.000	4	0.199	0.074	2877	3524	2194	0	0	3	0	0	0
7169	0.58	146.0	476.5	9.8	752	7176	0.00	3.40	0.00	0.000	6	0.000	0.067	2891	1955	2193	0	0	3	0	0	0
7494	0.58	146.0	442.8	10.6	783	7500	0.00	3.45	0.00	0.000	4	0.000	0.076	2891	3530	2193	0	0	2	0	0	0
7641	0.58	146.0	425.7	11.5	795	7647	0.00	3.35	0.00	0.000	6	0.000	0.069	2906	1985	2193	0	0	3	0	0	0
7965	0.58	146.0	388.9	10.9	826	7970	0.00	3.38	0.00	0.000	4	0.000	0.076	2906	3529	2193	0	0	3	0	0	0
8066	0.51	146.0	377.0	11.7	834	8072	0.28	3.33	0.00	0.000	6	0.194	0.068	2853	1994	2192	0	0	3	0	0	0
8390	0.71	178.5	351.1	7.8	865	8425	0.20	3.38	26.05	0.934	4	0.100	0.074	2923	3526	2070	0	0	3	0	0	0
8566	0.63	178.5	329.7	12.4	881	8572	0.17	3.33	0.00	0.000	6	0.199	0.069	2898	2013	2067	0	0	3	0	0	0
8890	0.63	178.5	296.2	10.5	911	8895	0.00	3.35	0.00	0.000	4	0.000	0.075	2898	3524	2066	0	0	2	0	0	0
8967	0.63	178.5	287.3	11.9	917	8973	0.00	3.28	0.00	0.000	6	0.000	0.068	2910	2026	2065	0	0	3	0	0	0
9293	0.63	178.5	252.2	10.5	948	9298	0.00	3.33	0.00	0.000	4	0.000	0.076	2910	3524	2065	0	0	2	0	0	0
9411	0.63	178.5	238.6	11.1	958	9417	0.12	3.25	0.00	0.000	6	0.202	0.068	2898	2045	2065	0	0	3	0	0	0
9735	0.69	178.5	208.5	9.3	988	9740	0.00	3.30	0.00	0.000	4	0.000	0.075	2898	3525	2065	0	0	2	0	0	0
9853	0.69	178.5	196.9	9.6	998	9858	0.00	3.28	0.00	0.000	6	0.000	0.067	2910	2060	2064	0	0	1	0	0	0
10177	0.69	178.5	162.8	11.6	1028	10182	0.00	3.30	0.00	0.000	4	0.000	0.074	2910	3526	2064	0	0	1	0	0	0
10283	0.69	178.5	149.2	12.9	1037	10288	0.00	3.20	0.00	0.000	6	0.000	0.067	2924	2076	2064	0	0	3	0	0	0
10607	0.69	178.5	111.2	11.4	1067	10612	0.00	3.25	0.00	0.000	4	0.000	0.075	2924	3529	2064	0	0	3	0	0	0
10684	0.69	178.5	103.2	9.8	1073	10691	0.00	3.20	0.00	0.000	6	0.000	0.066	2938	2081	2064	0	0	3	0	0	0
11025	0.69	178.5	71.5	10.3	1130	11030	0.00	3.25	0.00	0.000	4	0.000	0.075	2939	3530	2065	0	0	3	0	0	0
11161	0.69	178.5	58.6	10.2	1154	11168	0.15	3.20	0.00	0.000	6	0.205	0.067	2920	2087	2065	0	0	3	0	0	0
11505	0.85	238.2	32.3	6.7	1215	11562	0.12	3.33	48.38	0.754	4	0.122	0.077	2962	3529	1827	0	0	2	0	0	0
11596	0.80	238.2	21.8	17.1	1232	11601	0.00	3.22	0.00	0.000	6	0.000	0.068	2977	2107	1825	0	0	3	0	0	0
11753	end climb: SURFACE_DEPTH_REACHED
state	11753	begin surface coast
11770	end surface coast: CONTROL_FINISHED_OK
state	11770	begin surface