Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 364 * 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 364 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 325 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 17 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -43221.164 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 325

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 -43221.164

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 17 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 364 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 115854,6713.708,-5728.396,23,0.8,40,-38.0 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 13 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121502,6713.664,-5728.569,14,0.9,14,-38.0 MHEAD_RNG_PITCHd_Wd 162.0,35332,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 643

Post-dive calculations and measurements:

FREEZE 0.60,-0.754,-1.835,0,6,0 ALTIM_TOP_PING 19.7,18.7

FINISH 0.6,1.026903 ALTIM_BOTTOM_PING 550.1,127.6

SM_CCo 13427,82.05,0.770,0,0,1475,325.02 _24V_AH 22.2,67.100

SM_GC 1.40,0.00,0.00,82.05,0.000,0.000,0.770,129,2455,1475,-8.00,-0.14,325.02 _10V_AH 10.1,35.864

RAFOS_CLK 897 FG_AHR_24Vo 0.000

RAFOS 2,1261570621,12.300000,12.283611,59,58,57,0,0,0,157,137,213,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6712.903320,-5733.942871,231209,121244,3,95,2.39 MEM 152448

IRIDIUM_FIX 6641.98,-5730.88,190399,121234 DATA_FILE_SIZE 53600,1326

TT8_MAMPS 0.027612 CAP_FILE_SIZE 166481,0

HUMID 48.89 CFSIZE 260165632,221507584

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,184,0,0

TCM_TEMP 16.60 SOUNDSPEED 1460.9

XPDR_PINGS 3 GPS 231209,160207,6713.811,-5730.143,40,2.0,40,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 304 169.84 SBE_CT 973 24 518.44

Roll_motor 178 108 431.23 SBE_O2 916 19 386.61

VBD_pump_during_apogee 317 1154 8128.64 nil 0 0 0.00

VBD_pump_during_surface 82 770 1402.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 185.80 nil 0 0 0.00

Iridium_during_connect 122 160 434.58 nil 0 0 0.00

Iridium_during_xfer 477 223 2364.18

Transponder_ping 2 420 25.64

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.99

TT8 2292 19 461.33

LPSleep 8063 2 188.13

TT8_Active 609 19 122.61

TT8_Sampling 2555 39 1030.49

TT8_CF8 956 45 443.52

TT8_Kalman 0 0 0.00

Analog_circuits 1893 12 229.47

GPS_charging 0 0 0.00

Compass 2502 8 202.23

RAFOS 1800 1 27.27

Transponder 16 30 4.91

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

15 -0.73 -146.0 0.0 0.0 0 119 0.00 0.00 -101.03 0.000 2 0.000 0.000 126 2460 3119 0 0 0 0 0 0

124 -0.73 -146.0 3.1 -4.2 20 150 11.70 2.17 -7.93 0.000 4 0.304 0.109 2448 855 3399 0 0 1 0 0 0

404 -0.66 -146.0 44.0 -11.9 70 410 0.00 2.08 0.00 0.000 6 0.000 0.074 2448 2457 3402 0 0 0 0 0 0

747 -0.66 -146.0 83.4 -9.8 131 753 0.00 3.58 0.00 0.000 4 0.000 0.094 2448 3916 3402 0 0 4 0 0 0

1005 -0.66 -146.0 108.9 -10.0 169 1011 0.00 3.40 0.00 0.000 6 0.000 0.070 2448 2463 3402 0 0 4 0 0 0

1330 -0.66 -146.0 139.9 -8.9 199 1334 0.00 2.12 0.00 0.000 4 0.000 0.093 2448 859 3402 0 0 0 0 0 0

1587 -0.66 -146.0 165.1 -10.0 221 1593 0.00 2.10 0.00 0.000 6 0.000 0.075 2448 2458 3402 0 0 0 0 0 0

1914 -0.74 -146.0 195.1 -9.9 252 1919 0.00 3.55 0.00 0.000 4 0.000 0.093 2447 3923 3400 0 0 5 0 0 0

2070 -0.83 -146.0 210.9 -10.1 265 2076 0.00 3.42 0.00 0.000 6 0.000 0.071 2448 2459 3399 0 0 3 0 0 0

2397 -0.93 -146.0 239.9 -8.6 296 2406 0.17 3.55 0.00 0.000 4 0.110 0.089 2373 3924 3399 0 0 5 0 0 0

2660 -0.77 -146.0 269.7 -10.7 319 2666 0.28 3.40 0.00 0.000 6 0.209 0.068 2436 2459 3399 0 0 4 0 0 0

2984 -0.84 -146.0 295.6 -7.9 350 2990 0.00 3.60 0.00 0.000 4 0.000 0.087 2437 3937 3399 0 0 3 0 0 0

3242 -0.91 -146.0 316.5 -7.8 372 3248 0.12 3.40 0.00 0.000 6 0.123 0.066 2396 2459 3400 0 0 4 0 0 0

3567 -0.85 -146.0 347.6 -9.8 403 3572 0.00 3.58 0.00 0.000 4 0.000 0.086 2396 3935 3401 0 0 4 0 0 0

3825 -0.79 -146.0 372.8 -10.0 425 3831 0.15 3.40 0.00 0.000 6 0.200 0.065 2429 2460 3402 0 0 4 0 0 0

4150 -0.84 -146.0 398.7 -7.8 456 4155 0.00 3.53 0.00 0.000 4 0.000 0.084 2429 3935 3402 0 0 5 0 0 0

4408 -0.90 -146.0 420.8 -8.4 478 4414 0.00 3.40 0.00 0.000 6 0.000 0.064 2429 2456 3402 0 0 4 0 0 0

4733 -0.96 -146.0 448.4 -8.7 509 4738 0.15 2.10 0.00 0.000 4 0.113 0.085 2376 856 3403 0 0 0 0 0 0

4992 -0.82 -146.0 477.3 -11.9 532 4997 0.20 2.05 0.00 0.000 6 0.212 0.067 2421 2471 3404 0 0 0 0 0 0

5316 -0.82 -146.0 504.7 -8.0 562 5321 0.00 3.47 0.00 0.000 4 0.000 0.086 2421 3918 3405 0 0 5 0 0 0

5452 -0.82 -146.0 516.0 -8.3 573 5457 0.00 3.35 0.00 0.000 6 0.000 0.064 2421 2459 3405 0 0 4 0 0 0

5777 -0.82 -146.0 543.3 -8.2 604 5782 0.00 3.55 0.00 0.000 4 0.000 0.085 2422 3920 3405 0 0 4 0 0 0

6035 -0.86 -146.0 564.7 -8.2 626 6040 0.00 3.40 0.00 0.000 6 0.000 0.064 2421 2457 3405 0 0 3 0 0 0

6359 -0.86 -146.0 591.0 -8.1 657 6364 0.00 3.53 0.00 0.000 4 0.000 0.085 2421 3917 3405 0 0 5 0 0 0

6617 -0.92 -146.0 611.2 -7.6 671 6623 0.00 3.38 0.00 0.000 6 0.000 0.064 2421 2457 3405 0 0 4 0 0 0

6930 -0.97 -146.0 634.3 -7.5 682 6936 0.15 3.53 0.00 0.000 4 0.115 0.084 2361 3920 3405 0 0 5 0 0 0

7018 end dive: TARGET_DEPTH_EXCEEDED

state 7018 begin apogee

7028 -0.16 0.0 643.5 10.6 684 7157 1.02 0.00 125.65 1.154 6 0.202 0.000 2626 1934 2800 0 0 0 0 0 0

7158 end apogee: CONTROL_FINISHED_OK

state 7158 begin climb

7160 0.73 146.0 646.8 0.0 689 7297 0.98 2.00 129.62 1.101 4 0.133 0.088 2920 349 2203 0 0 0 0 0 0

7411 0.64 146.0 623.0 12.3 697 7415 0.00 1.90 0.00 0.000 6 0.000 0.061 2920 1967 2199 0 0 0 0 0 0

7736 0.57 146.0 584.3 12.1 714 7746 0.20 3.78 0.00 0.000 4 0.202 0.077 2857 3528 2195 0 0 5 0 0 0

7876 0.61 146.0 570.2 9.7 726 7882 0.00 3.78 0.00 0.000 6 0.000 0.071 2872 1952 2194 0 0 3 0 0 0

8200 0.70 146.0 539.2 9.5 757 8210 0.12 3.75 0.00 0.000 4 0.122 0.078 2915 3527 2194 0 0 5 0 0 0

8357 0.58 146.0 519.4 12.2 771 8367 0.22 3.78 0.00 0.000 6 0.206 0.074 2881 1940 2193 0 0 4 0 0 0

8686 0.65 146.0 487.5 9.6 802 8695 0.00 3.80 0.00 0.000 4 0.000 0.078 2881 3535 2193 0 0 4 0 0 0

8836 0.65 146.0 471.5 10.7 815 8842 0.00 3.78 0.00 0.000 6 0.000 0.073 2895 1948 2193 0 0 3 0 0 0

9160 0.65 146.0 438.3 10.2 846 9170 0.00 3.75 0.00 0.000 4 0.000 0.079 2895 3527 2193 0 0 5 0 0 0

9311 0.60 146.0 421.4 10.8 859 9317 0.00 3.78 0.00 0.000 6 0.000 0.074 2912 1943 2192 0 0 3 0 0 0

9636 0.60 146.0 386.7 11.4 890 9645 0.00 3.75 0.00 0.000 4 0.000 0.079 2912 3527 2192 0 0 5 0 0 0

9770 0.49 146.0 370.7 12.5 902 9780 0.30 3.75 0.00 0.000 6 0.202 0.074 2856 1942 2192 0 0 4 0 0 0

10099 0.69 184.5 345.6 7.5 933 10141 0.17 3.85 31.48 0.959 4 0.113 0.079 2915 3523 2045 0 0 5 0 0 0

10288 0.61 184.5 322.3 12.7 950 10298 0.17 3.78 0.00 0.000 6 0.200 0.074 2893 1944 2042 0 0 4 0 0 0

10617 0.68 184.5 288.4 9.7 981 10626 0.00 3.78 0.00 0.000 4 0.000 0.078 2893 3534 2041 0 0 5 0 0 0

10788 0.68 184.5 270.1 10.4 996 10794 0.00 3.75 0.00 0.000 6 0.000 0.073 2907 1949 2041 0 0 4 0 0 0

11112 0.68 184.5 237.1 10.7 1027 11122 0.00 3.80 0.00 0.000 4 0.000 0.077 2907 3535 2041 0 0 4 0 0 0

11252 0.63 184.5 220.3 13.1 1039 11258 0.00 3.78 0.00 0.000 6 0.000 0.072 2924 1938 2041 0 0 3 0 0 0

11577 0.63 184.5 181.7 11.9 1070 11586 0.00 3.75 0.00 0.000 4 0.000 0.077 2924 3526 2041 0 0 5 0 0 0

11732 0.57 184.5 162.0 12.3 1084 11743 0.25 3.75 0.00 0.000 6 0.193 0.072 2880 1946 2041 0 0 4 0 0 0

12061 0.80 220.2 134.9 7.7 1115 12103 0.20 3.78 30.45 0.825 4 0.105 0.077 2949 3528 1900 0 0 5 0 0 0

12232 0.72 220.2 114.5 12.2 1130 12239 0.17 3.78 0.00 0.000 6 0.196 0.073 2926 1949 1897 0 0 4 0 0 0

12568 0.82 221.1 83.3 9.1 1177 12574 0.00 3.80 0.00 0.000 4 0.000 0.079 2926 3536 1896 0 0 5 0 0 0

12717 0.82 221.1 68.3 9.9 1203 12723 0.00 3.80 0.00 0.000 6 0.000 0.074 2941 1942 1896 0 0 3 0 0 0

13060 0.88 221.1 35.4 10.2 1264 13066 0.00 3.80 0.00 0.000 4 0.000 0.081 2941 3533 1893 0 0 5 0 0 0

13222 0.88 221.1 19.0 10.7 1293 13228 0.00 3.80 0.00 0.000 6 0.000 0.076 2958 1946 1893 0 0 3 0 0 0

13391 end climb: SURFACE_DEPTH_REACHED

state 13391 begin surface coast

13408 end surface coast: CONTROL_FINISHED_OK

state 13408 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	364	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	325	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	17	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-43221.164	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	115854,6713.708,-5728.396,23,0.8,40,-38.0	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	13	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121502,6713.664,-5728.569,14,0.9,14,-38.0	MHEAD_RNG_PITCHd_Wd	162.0,35332,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	643

FREEZE	0.60,-0.754,-1.835,0,6,0	ALTIM_TOP_PING	19.7,18.7
FINISH	0.6,1.026903	ALTIM_BOTTOM_PING	550.1,127.6
SM_CCo	13427,82.05,0.770,0,0,1475,325.02	_24V_AH	22.2,67.100
SM_GC	1.40,0.00,0.00,82.05,0.000,0.000,0.770,129,2455,1475,-8.00,-0.14,325.02	_10V_AH	10.1,35.864
RAFOS_CLK	897	FG_AHR_24Vo	0.000
RAFOS	2,1261570621,12.300000,12.283611,59,58,57,0,0,0,157,137,213,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6712.903320,-5733.942871,231209,121244,3,95,2.39	MEM	152448
IRIDIUM_FIX	6641.98,-5730.88,190399,121234	DATA_FILE_SIZE	53600,1326
TT8_MAMPS	0.027612	CAP_FILE_SIZE	166481,0
HUMID	48.89	CFSIZE	260165632,221507584
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,184,0,0
TCM_TEMP	16.60	SOUNDSPEED	1460.9
XPDR_PINGS	3	GPS	231209,160207,6713.811,-5730.143,40,2.0,40,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	304	169.84	SBE_CT	973	24	518.44
Roll_motor	178	108	431.23	SBE_O2	916	19	386.61
VBD_pump_during_apogee	317	1154	8128.64	nil	0	0	0.00
VBD_pump_during_surface	82	770	1402.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	185.80	nil	0	0	0.00
Iridium_during_connect	122	160	434.58	nil	0	0	0.00
Iridium_during_xfer	477	223	2364.18
Transponder_ping	2	420	25.64
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.99
TT8	2292	19	461.33
LPSleep	8063	2	188.13
TT8_Active	609	19	122.61
TT8_Sampling	2555	39	1030.49
TT8_CF8	956	45	443.52
TT8_Kalman	0	0	0.00
Analog_circuits	1893	12	229.47
GPS_charging	0	0	0.00
Compass	2502	8	202.23
RAFOS	1800	1	27.27
Transponder	16	30	4.91

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
15	-0.73	-146.0	0.0	0.0	0	119	0.00	0.00	-101.03	0.000	2	0.000	0.000	126	2460	3119	0	0	0	0	0	0
124	-0.73	-146.0	3.1	-4.2	20	150	11.70	2.17	-7.93	0.000	4	0.304	0.109	2448	855	3399	0	0	1	0	0	0
404	-0.66	-146.0	44.0	-11.9	70	410	0.00	2.08	0.00	0.000	6	0.000	0.074	2448	2457	3402	0	0	0	0	0	0
747	-0.66	-146.0	83.4	-9.8	131	753	0.00	3.58	0.00	0.000	4	0.000	0.094	2448	3916	3402	0	0	4	0	0	0
1005	-0.66	-146.0	108.9	-10.0	169	1011	0.00	3.40	0.00	0.000	6	0.000	0.070	2448	2463	3402	0	0	4	0	0	0
1330	-0.66	-146.0	139.9	-8.9	199	1334	0.00	2.12	0.00	0.000	4	0.000	0.093	2448	859	3402	0	0	0	0	0	0
1587	-0.66	-146.0	165.1	-10.0	221	1593	0.00	2.10	0.00	0.000	6	0.000	0.075	2448	2458	3402	0	0	0	0	0	0
1914	-0.74	-146.0	195.1	-9.9	252	1919	0.00	3.55	0.00	0.000	4	0.000	0.093	2447	3923	3400	0	0	5	0	0	0
2070	-0.83	-146.0	210.9	-10.1	265	2076	0.00	3.42	0.00	0.000	6	0.000	0.071	2448	2459	3399	0	0	3	0	0	0
2397	-0.93	-146.0	239.9	-8.6	296	2406	0.17	3.55	0.00	0.000	4	0.110	0.089	2373	3924	3399	0	0	5	0	0	0
2660	-0.77	-146.0	269.7	-10.7	319	2666	0.28	3.40	0.00	0.000	6	0.209	0.068	2436	2459	3399	0	0	4	0	0	0
2984	-0.84	-146.0	295.6	-7.9	350	2990	0.00	3.60	0.00	0.000	4	0.000	0.087	2437	3937	3399	0	0	3	0	0	0
3242	-0.91	-146.0	316.5	-7.8	372	3248	0.12	3.40	0.00	0.000	6	0.123	0.066	2396	2459	3400	0	0	4	0	0	0
3567	-0.85	-146.0	347.6	-9.8	403	3572	0.00	3.58	0.00	0.000	4	0.000	0.086	2396	3935	3401	0	0	4	0	0	0
3825	-0.79	-146.0	372.8	-10.0	425	3831	0.15	3.40	0.00	0.000	6	0.200	0.065	2429	2460	3402	0	0	4	0	0	0
4150	-0.84	-146.0	398.7	-7.8	456	4155	0.00	3.53	0.00	0.000	4	0.000	0.084	2429	3935	3402	0	0	5	0	0	0
4408	-0.90	-146.0	420.8	-8.4	478	4414	0.00	3.40	0.00	0.000	6	0.000	0.064	2429	2456	3402	0	0	4	0	0	0
4733	-0.96	-146.0	448.4	-8.7	509	4738	0.15	2.10	0.00	0.000	4	0.113	0.085	2376	856	3403	0	0	0	0	0	0
4992	-0.82	-146.0	477.3	-11.9	532	4997	0.20	2.05	0.00	0.000	6	0.212	0.067	2421	2471	3404	0	0	0	0	0	0
5316	-0.82	-146.0	504.7	-8.0	562	5321	0.00	3.47	0.00	0.000	4	0.000	0.086	2421	3918	3405	0	0	5	0	0	0
5452	-0.82	-146.0	516.0	-8.3	573	5457	0.00	3.35	0.00	0.000	6	0.000	0.064	2421	2459	3405	0	0	4	0	0	0
5777	-0.82	-146.0	543.3	-8.2	604	5782	0.00	3.55	0.00	0.000	4	0.000	0.085	2422	3920	3405	0	0	4	0	0	0
6035	-0.86	-146.0	564.7	-8.2	626	6040	0.00	3.40	0.00	0.000	6	0.000	0.064	2421	2457	3405	0	0	3	0	0	0
6359	-0.86	-146.0	591.0	-8.1	657	6364	0.00	3.53	0.00	0.000	4	0.000	0.085	2421	3917	3405	0	0	5	0	0	0
6617	-0.92	-146.0	611.2	-7.6	671	6623	0.00	3.38	0.00	0.000	6	0.000	0.064	2421	2457	3405	0	0	4	0	0	0
6930	-0.97	-146.0	634.3	-7.5	682	6936	0.15	3.53	0.00	0.000	4	0.115	0.084	2361	3920	3405	0	0	5	0	0	0
7018	end dive: TARGET_DEPTH_EXCEEDED
state	7018	begin apogee
7028	-0.16	0.0	643.5	10.6	684	7157	1.02	0.00	125.65	1.154	6	0.202	0.000	2626	1934	2800	0	0	0	0	0	0
7158	end apogee: CONTROL_FINISHED_OK
state	7158	begin climb
7160	0.73	146.0	646.8	0.0	689	7297	0.98	2.00	129.62	1.101	4	0.133	0.088	2920	349	2203	0	0	0	0	0	0
7411	0.64	146.0	623.0	12.3	697	7415	0.00	1.90	0.00	0.000	6	0.000	0.061	2920	1967	2199	0	0	0	0	0	0
7736	0.57	146.0	584.3	12.1	714	7746	0.20	3.78	0.00	0.000	4	0.202	0.077	2857	3528	2195	0	0	5	0	0	0
7876	0.61	146.0	570.2	9.7	726	7882	0.00	3.78	0.00	0.000	6	0.000	0.071	2872	1952	2194	0	0	3	0	0	0
8200	0.70	146.0	539.2	9.5	757	8210	0.12	3.75	0.00	0.000	4	0.122	0.078	2915	3527	2194	0	0	5	0	0	0
8357	0.58	146.0	519.4	12.2	771	8367	0.22	3.78	0.00	0.000	6	0.206	0.074	2881	1940	2193	0	0	4	0	0	0
8686	0.65	146.0	487.5	9.6	802	8695	0.00	3.80	0.00	0.000	4	0.000	0.078	2881	3535	2193	0	0	4	0	0	0
8836	0.65	146.0	471.5	10.7	815	8842	0.00	3.78	0.00	0.000	6	0.000	0.073	2895	1948	2193	0	0	3	0	0	0
9160	0.65	146.0	438.3	10.2	846	9170	0.00	3.75	0.00	0.000	4	0.000	0.079	2895	3527	2193	0	0	5	0	0	0
9311	0.60	146.0	421.4	10.8	859	9317	0.00	3.78	0.00	0.000	6	0.000	0.074	2912	1943	2192	0	0	3	0	0	0
9636	0.60	146.0	386.7	11.4	890	9645	0.00	3.75	0.00	0.000	4	0.000	0.079	2912	3527	2192	0	0	5	0	0	0
9770	0.49	146.0	370.7	12.5	902	9780	0.30	3.75	0.00	0.000	6	0.202	0.074	2856	1942	2192	0	0	4	0	0	0
10099	0.69	184.5	345.6	7.5	933	10141	0.17	3.85	31.48	0.959	4	0.113	0.079	2915	3523	2045	0	0	5	0	0	0
10288	0.61	184.5	322.3	12.7	950	10298	0.17	3.78	0.00	0.000	6	0.200	0.074	2893	1944	2042	0	0	4	0	0	0
10617	0.68	184.5	288.4	9.7	981	10626	0.00	3.78	0.00	0.000	4	0.000	0.078	2893	3534	2041	0	0	5	0	0	0
10788	0.68	184.5	270.1	10.4	996	10794	0.00	3.75	0.00	0.000	6	0.000	0.073	2907	1949	2041	0	0	4	0	0	0
11112	0.68	184.5	237.1	10.7	1027	11122	0.00	3.80	0.00	0.000	4	0.000	0.077	2907	3535	2041	0	0	4	0	0	0
11252	0.63	184.5	220.3	13.1	1039	11258	0.00	3.78	0.00	0.000	6	0.000	0.072	2924	1938	2041	0	0	3	0	0	0
11577	0.63	184.5	181.7	11.9	1070	11586	0.00	3.75	0.00	0.000	4	0.000	0.077	2924	3526	2041	0	0	5	0	0	0
11732	0.57	184.5	162.0	12.3	1084	11743	0.25	3.75	0.00	0.000	6	0.193	0.072	2880	1946	2041	0	0	4	0	0	0
12061	0.80	220.2	134.9	7.7	1115	12103	0.20	3.78	30.45	0.825	4	0.105	0.077	2949	3528	1900	0	0	5	0	0	0
12232	0.72	220.2	114.5	12.2	1130	12239	0.17	3.78	0.00	0.000	6	0.196	0.073	2926	1949	1897	0	0	4	0	0	0
12568	0.82	221.1	83.3	9.1	1177	12574	0.00	3.80	0.00	0.000	4	0.000	0.079	2926	3536	1896	0	0	5	0	0	0
12717	0.82	221.1	68.3	9.9	1203	12723	0.00	3.80	0.00	0.000	6	0.000	0.074	2941	1942	1896	0	0	3	0	0	0
13060	0.88	221.1	35.4	10.2	1264	13066	0.00	3.80	0.00	0.000	4	0.000	0.081	2941	3533	1893	0	0	5	0	0	0
13222	0.88	221.1	19.0	10.7	1293	13228	0.00	3.80	0.00	0.000	6	0.000	0.076	2958	1946	1893	0	0	3	0	0	0
13391	end climb: SURFACE_DEPTH_REACHED
state	13391	begin surface coast
13408	end surface coast: CONTROL_FINISHED_OK
state	13408	begin surface