Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 367 * 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 367 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 15 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 18 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 -43284.973 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 -43284.973

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 15 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 367 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 235806,6714.570,-5732.007,38,1.0,38,-38.0 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 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 000350,6714.554,-5732.012,11,1.9,11,-38.0 MHEAD_RNG_PITCHd_Wd 162.0,38315,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 632

Post-dive calculations and measurements:

FREEZE 0.61,-0.823,-1.820,0,1,0 ALTIM_TOP_PING 19.7,19.1

FINISH 0.6,1.026697 ALTIM_BOTTOM_PING 600.2,67.5

SM_CCo 13374,75.00,0.768,0,0,1474,325.02 _24V_AH 22.2,67.516

SM_GC 1.43,0.00,0.00,75.00,0.000,0.000,0.768,131,2461,1474,-8.00,0.03,325.02 _10V_AH 10.1,36.114

RAFOS_CLK 858 FG_AHR_24Vo 0.000

RAFOS 1,1261613345,0.166667,0.151389,63,57,55,0,0,0,210,121,221,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6713.589844,-5736.966309,241209,000022,3,109,1.68 MEM 152504

IRIDIUM_FIX 6641.98,-5740.25,190399,202011 DATA_FILE_SIZE 53587,1341

TT8_MAMPS 0.026845 CAP_FILE_SIZE 157226,0

HUMID 48.81 CFSIZE 260165632,221347840

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,172,0,0

TCM_TEMP 16.60 SOUNDSPEED 1459.8

XPDR_PINGS 6 GPS 241209,034955,6714.479,-5731.157,40,1.6,40,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 302 164.95 SBE_CT 982 24 523.24

Roll_motor 170 105 397.27 SBE_O2 931 19 392.90

VBD_pump_during_apogee 321 1153 8232.72 nil 0 0 0.00

VBD_pump_during_surface 75 767 1278.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.75 nil 0 0 0.00

Iridium_during_connect 42 160 151.01 nil 0 0 0.00

Iridium_during_xfer 147 223 729.13

Transponder_ping 4 420 37.30

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.30

TT8 2356 19 474.11

LPSleep 7800 2 181.99

TT8_Active 603 19 121.38

TT8_Sampling 2575 39 1038.49

TT8_CF8 456 45 211.93

TT8_Kalman 0 0 0.00

Analog_circuits 1892 12 229.42

GPS_charging 0 0 0.00

Compass 2523 8 203.89

RAFOS 2160 1 32.72

Transponder 20 30 6.32

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 0 113 0.00 0.00 -95.12 0.000 2 0.000 0.000 123 2463 3051 0 0 0 0 0 0

116 -0.73 -146.0 3.1 -4.3 19 147 11.68 2.22 -10.55 0.000 4 0.303 0.105 2450 859 3399 0 0 1 0 0 0

302 -0.73 -146.0 26.7 -10.4 52 308 0.00 2.10 0.00 0.000 6 0.000 0.074 2450 2464 3401 0 0 0 0 0 0

644 -0.73 -146.0 61.3 -10.1 113 650 0.00 2.15 0.00 0.000 4 0.000 0.092 2451 860 3401 0 0 0 0 0 0

903 -0.73 -146.0 89.9 -10.8 159 908 0.00 2.08 0.00 0.000 6 0.000 0.075 2450 2464 3401 0 0 0 0 0 0

1234 -0.78 -146.0 122.6 -9.8 199 1238 0.00 2.17 0.00 0.000 4 0.000 0.093 2450 850 3401 0 0 0 0 0 0

1492 -0.83 -146.0 149.7 -10.5 222 1496 0.00 2.10 0.00 0.000 6 0.000 0.076 2450 2463 3400 0 0 0 0 0 0

1817 -0.91 -146.0 179.1 -8.3 252 1823 0.17 3.53 0.00 0.000 4 0.116 0.091 2379 3928 3399 0 0 6 0 0 0

2075 -0.77 -146.0 209.7 -12.4 274 2082 0.25 3.42 0.00 0.000 6 0.213 0.071 2436 2462 3399 0 0 3 0 0 0

2401 -0.82 -146.0 239.5 -8.8 305 2407 0.00 3.55 0.00 0.000 4 0.000 0.092 2437 3918 3398 0 0 4 0 0 0

2660 -0.89 -146.0 262.7 -8.9 327 2666 0.12 3.40 0.00 0.000 6 0.125 0.069 2396 2455 3397 0 0 4 0 0 0

2984 -0.84 -146.0 296.2 -9.7 358 2990 0.00 3.55 0.00 0.000 4 0.000 0.090 2396 3916 3397 0 0 4 0 0 0

3242 -0.77 -146.0 321.1 -9.5 380 3249 0.17 3.40 0.00 0.000 6 0.202 0.067 2436 2458 3397 0 0 3 0 0 0

3567 -0.85 -146.0 345.2 -7.3 411 3573 0.00 3.53 0.00 0.000 4 0.000 0.087 2436 3917 3398 0 0 4 0 0 0

3826 -0.93 -146.0 365.0 -7.4 433 3833 0.15 3.38 0.00 0.000 6 0.114 0.066 2384 2457 3398 0 0 4 0 0 0

4151 -0.84 -146.0 396.2 -9.4 464 4155 0.12 2.12 0.00 0.000 4 0.194 0.087 2419 850 3399 0 0 0 0 0 0

4408 -0.84 -146.0 419.3 -8.7 486 4414 0.00 2.08 0.00 0.000 6 0.000 0.069 2419 2477 3400 0 0 0 0 0 0

4733 -0.84 -146.0 445.3 -8.2 517 4738 0.00 3.47 0.00 0.000 4 0.000 0.087 2419 3922 3401 0 0 5 0 0 0

4857 -0.84 -146.0 455.9 -8.2 527 4862 0.00 3.38 0.00 0.000 6 0.000 0.065 2419 2457 3401 0 0 4 0 0 0

5181 -0.84 -146.0 482.7 -8.1 558 5186 0.00 3.55 0.00 0.000 4 0.000 0.086 2419 3922 3401 0 0 3 0 0 0

5439 -0.84 -146.0 505.1 -8.9 580 5445 0.00 3.38 0.00 0.000 6 0.000 0.065 2419 2459 3401 0 0 4 0 0 0

5763 -0.84 -146.0 533.2 -8.8 611 5767 0.00 2.12 0.00 0.000 4 0.000 0.087 2419 859 3402 0 0 0 0 0 0

6022 -0.84 -146.0 557.4 -9.3 634 6026 0.00 2.05 0.00 0.000 6 0.000 0.068 2419 2469 3402 0 0 0 0 0 0

6352 -0.84 -146.0 584.6 -8.1 665 6357 0.00 3.47 0.00 0.000 4 0.000 0.086 2419 3916 3402 0 0 5 0 0 0

6505 -0.84 -146.0 597.1 -8.7 678 6510 0.00 3.40 0.00 0.000 6 0.000 0.065 2419 2458 3402 0 0 3 0 0 0

6819 -0.89 -146.0 622.4 -7.9 690 6825 0.00 3.53 0.00 0.000 4 0.000 0.087 2419 3915 3402 0 0 4 0 0 0

6940 end dive: TARGET_DEPTH_EXCEEDED

state 6940 begin apogee

6950 -0.16 0.0 632.4 8.3 693 7078 0.75 0.00 125.12 1.154 6 0.179 0.000 2628 1942 2800 0 0 0 0 0 0

7079 end apogee: CONTROL_FINISHED_OK

state 7079 begin climb

7082 0.73 146.0 635.3 0.0 698 7219 0.98 2.05 129.75 1.098 4 0.130 0.089 2924 342 2203 0 0 0 0 0 0

7316 0.62 146.0 613.3 12.6 705 7320 0.15 1.90 0.00 0.000 6 0.196 0.061 2894 1972 2199 0 0 0 0 0 0

7636 0.62 146.0 579.6 10.4 727 7645 0.00 3.75 0.00 0.000 4 0.000 0.079 2893 3528 2195 0 0 5 0 0 0

7803 0.57 146.0 560.2 12.0 742 7813 0.15 3.75 0.00 0.000 6 0.211 0.074 2876 1952 2194 0 0 4 0 0 0

8132 0.64 146.0 528.9 9.5 773 8142 0.00 3.75 0.00 0.000 4 0.000 0.080 2876 3534 2194 0 0 5 0 0 0

8303 0.64 146.0 510.3 11.3 788 8310 0.00 3.75 0.00 0.000 6 0.000 0.075 2890 1936 2193 0 0 4 0 0 0

8629 0.64 146.0 478.4 9.6 819 8638 0.00 3.75 0.00 0.000 4 0.000 0.081 2890 3530 2192 0 0 5 0 0 0

8778 0.64 146.0 461.9 11.3 832 8784 0.00 3.72 0.00 0.000 6 0.000 0.074 2907 1951 2192 0 0 4 0 0 0

9102 0.64 146.0 426.2 11.1 863 9112 0.00 3.72 0.00 0.000 4 0.000 0.080 2907 3528 2192 0 0 5 0 0 0

9269 0.55 146.0 404.7 13.4 878 9280 0.22 3.72 0.00 0.000 6 0.202 0.074 2871 1947 2192 0 0 4 0 0 0

9598 0.67 146.0 372.6 9.5 909 9608 0.10 3.72 0.00 0.000 4 0.140 0.080 2903 3528 2192 0 0 5 0 0 0

9771 0.59 146.0 352.1 11.6 924 9778 0.15 3.75 0.00 0.000 6 0.204 0.074 2887 1939 2192 0 0 3 0 0 0

10096 0.66 149.2 321.9 9.0 955 10105 0.00 3.75 0.00 0.000 4 0.000 0.080 2887 3533 2192 0 0 5 0 0 0

10273 0.66 149.2 303.4 10.7 971 10283 0.00 3.72 0.00 0.000 6 0.000 0.074 2901 1943 2190 0 0 4 0 0 0

10601 0.66 149.2 271.5 9.7 1002 10610 0.00 3.72 0.00 0.000 4 0.000 0.080 2901 3528 2190 0 0 5 0 0 0

10780 0.60 149.2 252.3 11.2 1018 10790 0.15 3.70 0.00 0.000 6 0.204 0.074 2885 1950 2190 0 0 4 0 0 0

11108 0.72 170.7 224.8 8.3 1049 11139 0.12 3.72 20.05 0.871 4 0.130 0.079 2925 3529 2101 0 0 5 0 0 0

11297 0.63 170.7 203.1 12.2 1066 11308 0.20 3.75 0.00 0.000 6 0.202 0.074 2897 1946 2100 0 0 3 0 0 0

11627 0.73 187.1 174.3 8.5 1097 11648 0.00 3.72 14.95 0.831 4 0.000 0.079 2897 3529 2036 0 0 5 0 0 0

11817 0.73 187.1 154.8 10.9 1114 11827 0.00 3.75 0.00 0.000 6 0.000 0.073 2911 1946 2034 0 0 3 0 0 0

12146 0.82 194.3 123.6 8.9 1145 12161 0.12 3.72 7.47 0.750 4 0.114 0.079 2960 3528 2006 0 0 6 0 0 0

12325 0.70 194.3 101.4 12.7 1161 12335 0.25 3.72 0.00 0.000 6 0.202 0.074 2917 1949 2005 0 0 4 0 0 0

12675 0.83 221.5 71.8 8.0 1221 12708 0.12 3.78 24.12 0.802 4 0.128 0.081 2958 3528 1895 0 0 6 0 0 0

12849 0.76 221.5 51.7 12.3 1252 12856 0.15 3.78 0.00 0.000 6 0.199 0.074 2942 1943 1891 0 0 3 0 0 0

13195 0.83 221.5 18.0 10.3 1313 13202 0.00 3.75 0.00 0.000 4 0.000 0.082 2942 3528 1890 0 0 5 0 0 0

13341 end climb: SURFACE_DEPTH_REACHED

state 13341 begin surface coast

13353 end surface coast: CONTROL_FINISHED_OK

state 13354 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	367	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	15	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	18	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	-43284.973	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	235806,6714.570,-5732.007,38,1.0,38,-38.0	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	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	000350,6714.554,-5732.012,11,1.9,11,-38.0	MHEAD_RNG_PITCHd_Wd	162.0,38315,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	632

FREEZE	0.61,-0.823,-1.820,0,1,0	ALTIM_TOP_PING	19.7,19.1
FINISH	0.6,1.026697	ALTIM_BOTTOM_PING	600.2,67.5
SM_CCo	13374,75.00,0.768,0,0,1474,325.02	_24V_AH	22.2,67.516
SM_GC	1.43,0.00,0.00,75.00,0.000,0.000,0.768,131,2461,1474,-8.00,0.03,325.02	_10V_AH	10.1,36.114
RAFOS_CLK	858	FG_AHR_24Vo	0.000
RAFOS	1,1261613345,0.166667,0.151389,63,57,55,0,0,0,210,121,221,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6713.589844,-5736.966309,241209,000022,3,109,1.68	MEM	152504
IRIDIUM_FIX	6641.98,-5740.25,190399,202011	DATA_FILE_SIZE	53587,1341
TT8_MAMPS	0.026845	CAP_FILE_SIZE	157226,0
HUMID	48.81	CFSIZE	260165632,221347840
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,172,0,0
TCM_TEMP	16.60	SOUNDSPEED	1459.8
XPDR_PINGS	6	GPS	241209,034955,6714.479,-5731.157,40,1.6,40,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	302	164.95	SBE_CT	982	24	523.24
Roll_motor	170	105	397.27	SBE_O2	931	19	392.90
VBD_pump_during_apogee	321	1153	8232.72	nil	0	0	0.00
VBD_pump_during_surface	75	767	1278.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.75	nil	0	0	0.00
Iridium_during_connect	42	160	151.01	nil	0	0	0.00
Iridium_during_xfer	147	223	729.13
Transponder_ping	4	420	37.30
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.30
TT8	2356	19	474.11
LPSleep	7800	2	181.99
TT8_Active	603	19	121.38
TT8_Sampling	2575	39	1038.49
TT8_CF8	456	45	211.93
TT8_Kalman	0	0	0.00
Analog_circuits	1892	12	229.42
GPS_charging	0	0	0.00
Compass	2523	8	203.89
RAFOS	2160	1	32.72
Transponder	20	30	6.32

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	113	0.00	0.00	-95.12	0.000	2	0.000	0.000	123	2463	3051	0	0	0	0	0	0
116	-0.73	-146.0	3.1	-4.3	19	147	11.68	2.22	-10.55	0.000	4	0.303	0.105	2450	859	3399	0	0	1	0	0	0
302	-0.73	-146.0	26.7	-10.4	52	308	0.00	2.10	0.00	0.000	6	0.000	0.074	2450	2464	3401	0	0	0	0	0	0
644	-0.73	-146.0	61.3	-10.1	113	650	0.00	2.15	0.00	0.000	4	0.000	0.092	2451	860	3401	0	0	0	0	0	0
903	-0.73	-146.0	89.9	-10.8	159	908	0.00	2.08	0.00	0.000	6	0.000	0.075	2450	2464	3401	0	0	0	0	0	0
1234	-0.78	-146.0	122.6	-9.8	199	1238	0.00	2.17	0.00	0.000	4	0.000	0.093	2450	850	3401	0	0	0	0	0	0
1492	-0.83	-146.0	149.7	-10.5	222	1496	0.00	2.10	0.00	0.000	6	0.000	0.076	2450	2463	3400	0	0	0	0	0	0
1817	-0.91	-146.0	179.1	-8.3	252	1823	0.17	3.53	0.00	0.000	4	0.116	0.091	2379	3928	3399	0	0	6	0	0	0
2075	-0.77	-146.0	209.7	-12.4	274	2082	0.25	3.42	0.00	0.000	6	0.213	0.071	2436	2462	3399	0	0	3	0	0	0
2401	-0.82	-146.0	239.5	-8.8	305	2407	0.00	3.55	0.00	0.000	4	0.000	0.092	2437	3918	3398	0	0	4	0	0	0
2660	-0.89	-146.0	262.7	-8.9	327	2666	0.12	3.40	0.00	0.000	6	0.125	0.069	2396	2455	3397	0	0	4	0	0	0
2984	-0.84	-146.0	296.2	-9.7	358	2990	0.00	3.55	0.00	0.000	4	0.000	0.090	2396	3916	3397	0	0	4	0	0	0
3242	-0.77	-146.0	321.1	-9.5	380	3249	0.17	3.40	0.00	0.000	6	0.202	0.067	2436	2458	3397	0	0	3	0	0	0
3567	-0.85	-146.0	345.2	-7.3	411	3573	0.00	3.53	0.00	0.000	4	0.000	0.087	2436	3917	3398	0	0	4	0	0	0
3826	-0.93	-146.0	365.0	-7.4	433	3833	0.15	3.38	0.00	0.000	6	0.114	0.066	2384	2457	3398	0	0	4	0	0	0
4151	-0.84	-146.0	396.2	-9.4	464	4155	0.12	2.12	0.00	0.000	4	0.194	0.087	2419	850	3399	0	0	0	0	0	0
4408	-0.84	-146.0	419.3	-8.7	486	4414	0.00	2.08	0.00	0.000	6	0.000	0.069	2419	2477	3400	0	0	0	0	0	0
4733	-0.84	-146.0	445.3	-8.2	517	4738	0.00	3.47	0.00	0.000	4	0.000	0.087	2419	3922	3401	0	0	5	0	0	0
4857	-0.84	-146.0	455.9	-8.2	527	4862	0.00	3.38	0.00	0.000	6	0.000	0.065	2419	2457	3401	0	0	4	0	0	0
5181	-0.84	-146.0	482.7	-8.1	558	5186	0.00	3.55	0.00	0.000	4	0.000	0.086	2419	3922	3401	0	0	3	0	0	0
5439	-0.84	-146.0	505.1	-8.9	580	5445	0.00	3.38	0.00	0.000	6	0.000	0.065	2419	2459	3401	0	0	4	0	0	0
5763	-0.84	-146.0	533.2	-8.8	611	5767	0.00	2.12	0.00	0.000	4	0.000	0.087	2419	859	3402	0	0	0	0	0	0
6022	-0.84	-146.0	557.4	-9.3	634	6026	0.00	2.05	0.00	0.000	6	0.000	0.068	2419	2469	3402	0	0	0	0	0	0
6352	-0.84	-146.0	584.6	-8.1	665	6357	0.00	3.47	0.00	0.000	4	0.000	0.086	2419	3916	3402	0	0	5	0	0	0
6505	-0.84	-146.0	597.1	-8.7	678	6510	0.00	3.40	0.00	0.000	6	0.000	0.065	2419	2458	3402	0	0	3	0	0	0
6819	-0.89	-146.0	622.4	-7.9	690	6825	0.00	3.53	0.00	0.000	4	0.000	0.087	2419	3915	3402	0	0	4	0	0	0
6940	end dive: TARGET_DEPTH_EXCEEDED
state	6940	begin apogee
6950	-0.16	0.0	632.4	8.3	693	7078	0.75	0.00	125.12	1.154	6	0.179	0.000	2628	1942	2800	0	0	0	0	0	0
7079	end apogee: CONTROL_FINISHED_OK
state	7079	begin climb
7082	0.73	146.0	635.3	0.0	698	7219	0.98	2.05	129.75	1.098	4	0.130	0.089	2924	342	2203	0	0	0	0	0	0
7316	0.62	146.0	613.3	12.6	705	7320	0.15	1.90	0.00	0.000	6	0.196	0.061	2894	1972	2199	0	0	0	0	0	0
7636	0.62	146.0	579.6	10.4	727	7645	0.00	3.75	0.00	0.000	4	0.000	0.079	2893	3528	2195	0	0	5	0	0	0
7803	0.57	146.0	560.2	12.0	742	7813	0.15	3.75	0.00	0.000	6	0.211	0.074	2876	1952	2194	0	0	4	0	0	0
8132	0.64	146.0	528.9	9.5	773	8142	0.00	3.75	0.00	0.000	4	0.000	0.080	2876	3534	2194	0	0	5	0	0	0
8303	0.64	146.0	510.3	11.3	788	8310	0.00	3.75	0.00	0.000	6	0.000	0.075	2890	1936	2193	0	0	4	0	0	0
8629	0.64	146.0	478.4	9.6	819	8638	0.00	3.75	0.00	0.000	4	0.000	0.081	2890	3530	2192	0	0	5	0	0	0
8778	0.64	146.0	461.9	11.3	832	8784	0.00	3.72	0.00	0.000	6	0.000	0.074	2907	1951	2192	0	0	4	0	0	0
9102	0.64	146.0	426.2	11.1	863	9112	0.00	3.72	0.00	0.000	4	0.000	0.080	2907	3528	2192	0	0	5	0	0	0
9269	0.55	146.0	404.7	13.4	878	9280	0.22	3.72	0.00	0.000	6	0.202	0.074	2871	1947	2192	0	0	4	0	0	0
9598	0.67	146.0	372.6	9.5	909	9608	0.10	3.72	0.00	0.000	4	0.140	0.080	2903	3528	2192	0	0	5	0	0	0
9771	0.59	146.0	352.1	11.6	924	9778	0.15	3.75	0.00	0.000	6	0.204	0.074	2887	1939	2192	0	0	3	0	0	0
10096	0.66	149.2	321.9	9.0	955	10105	0.00	3.75	0.00	0.000	4	0.000	0.080	2887	3533	2192	0	0	5	0	0	0
10273	0.66	149.2	303.4	10.7	971	10283	0.00	3.72	0.00	0.000	6	0.000	0.074	2901	1943	2190	0	0	4	0	0	0
10601	0.66	149.2	271.5	9.7	1002	10610	0.00	3.72	0.00	0.000	4	0.000	0.080	2901	3528	2190	0	0	5	0	0	0
10780	0.60	149.2	252.3	11.2	1018	10790	0.15	3.70	0.00	0.000	6	0.204	0.074	2885	1950	2190	0	0	4	0	0	0
11108	0.72	170.7	224.8	8.3	1049	11139	0.12	3.72	20.05	0.871	4	0.130	0.079	2925	3529	2101	0	0	5	0	0	0
11297	0.63	170.7	203.1	12.2	1066	11308	0.20	3.75	0.00	0.000	6	0.202	0.074	2897	1946	2100	0	0	3	0	0	0
11627	0.73	187.1	174.3	8.5	1097	11648	0.00	3.72	14.95	0.831	4	0.000	0.079	2897	3529	2036	0	0	5	0	0	0
11817	0.73	187.1	154.8	10.9	1114	11827	0.00	3.75	0.00	0.000	6	0.000	0.073	2911	1946	2034	0	0	3	0	0	0
12146	0.82	194.3	123.6	8.9	1145	12161	0.12	3.72	7.47	0.750	4	0.114	0.079	2960	3528	2006	0	0	6	0	0	0
12325	0.70	194.3	101.4	12.7	1161	12335	0.25	3.72	0.00	0.000	6	0.202	0.074	2917	1949	2005	0	0	4	0	0	0
12675	0.83	221.5	71.8	8.0	1221	12708	0.12	3.78	24.12	0.802	4	0.128	0.081	2958	3528	1895	0	0	6	0	0	0
12849	0.76	221.5	51.7	12.3	1252	12856	0.15	3.78	0.00	0.000	6	0.199	0.074	2942	1943	1891	0	0	3	0	0	0
13195	0.83	221.5	18.0	10.3	1313	13202	0.00	3.75	0.00	0.000	4	0.000	0.082	2942	3528	1890	0	0	5	0	0	0
13341	end climb: SURFACE_DEPTH_REACHED
state	13341	begin surface coast
13353	end surface coast: CONTROL_FINISHED_OK
state	13354	begin surface