Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 373 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 90 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 373 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2700 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2000 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 18 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 24 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 -43367.531 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 -43367.531

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 90 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 2000 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2700 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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 373 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 224836,6716.957,-5736.425,38,1.7,38,-38.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6716.954,-5708.489

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 225438,6716.954,-5736.452,14,1.4,14,-38.1 MHEAD_RNG_PITCHd_Wd 128.1,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 594

Post-dive calculations and measurements:

FREEZE 0.46,-1.733,-1.041,0,1,0 ALTIM_TOP_PING 19.7,19.0

FINISH 0.5,1.015360 ALTIM_BOTTOM_PING 550.2,78.8

SM_CCo 12551,60.17,0.736,0,0,1474,325.02 _24V_AH 22.3,68.289

SM_GC 1.50,0.00,0.00,60.17,0.000,0.000,0.736,125,2687,1474,-8.02,-0.37,325.02 _10V_AH 10.1,36.596

RAFOS_CLK 800 FG_AHR_24Vo 0.000

RAFOS 0,1261699265,0.033333,0.018056,63,61,59,0,0,0,179,162,151,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6714.339844,-5738.620117,251209,000040,3,112,0.78 MEM 152624

IRIDIUM_FIX 6641.98,-5532.35,200399,191907 DATA_FILE_SIZE 53555,1318

TT8_MAMPS 0.026845 CAP_FILE_SIZE 152386,0

HUMID 46.65 CFSIZE 260165632,220860416

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,201,0,0

TCM_TEMP 17.20 SOUNDSPEED 1463.2

XPDR_PINGS 5 GPS 251209,022637,6716.821,-5734.401,30,1.0,30,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 303 166.96 SBE_CT 961 24 514.52

Roll_motor 169 95 362.82 SBE_O2 910 19 385.92

VBD_pump_during_apogee 328 1125 8250.13 nil 0 0 0.00

VBD_pump_during_surface 60 736 988.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.33 nil 0 0 0.00

Iridium_during_connect 39 160 141.51 nil 0 0 0.00

Iridium_during_xfer 165 223 822.69

Transponder_ping 3 420 30.44

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.86

TT8 2241 19 450.99

LPSleep 7304 2 170.41

TT8_Active 572 19 115.20

TT8_Sampling 2386 39 962.34

TT8_CF8 469 45 217.88

TT8_Kalman 0 0 0.00

Analog_circuits 1796 12 217.71

GPS_charging 0 0 0.00

Compass 2338 8 188.94

RAFOS 2520 1 38.18

Transponder 16 30 4.88

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 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 114 0.00 0.00 -95.05 0.000 2 0.000 0.000 129 2703 3065 0 0 0 0 0 0

117 -0.73 -146.0 3.2 -4.6 19 144 11.73 2.45 -9.68 0.000 4 0.304 0.096 2449 1084 3397 0 0 0 0 0 0

200 -0.73 -146.0 16.0 -12.0 34 206 0.00 2.38 0.00 0.000 6 0.000 0.074 2449 2687 3399 0 0 0 0 0 0

542 -0.73 -146.0 51.0 -9.8 95 548 0.00 3.00 0.00 0.000 4 0.000 0.093 2449 3930 3400 0 0 5 0 0 0

784 -0.73 -146.0 76.4 -10.5 138 790 0.00 2.85 0.00 0.000 6 0.000 0.066 2450 2697 3400 0 0 4 0 0 0

1128 -0.78 -146.0 109.8 -10.2 191 1133 0.00 3.00 0.00 0.000 4 0.000 0.091 2450 3922 3398 0 0 4 0 0 0

1281 -0.84 -146.0 125.0 -9.5 204 1286 0.00 2.83 0.00 0.000 6 0.000 0.067 2450 2690 3398 0 0 5 0 0 0

1608 -0.91 -146.0 155.9 -9.1 234 1614 0.17 3.00 0.00 0.000 4 0.115 0.092 2387 3924 3398 0 0 6 0 0 0

1783 -0.81 -146.0 177.5 -11.5 249 1788 0.17 2.88 0.00 0.000 6 0.209 0.067 2427 2693 3397 0 0 3 0 0 0

2107 -0.81 -146.0 206.2 -8.1 279 2112 0.00 3.00 0.00 0.000 4 0.000 0.091 2427 3932 3396 0 0 4 0 0 0

2238 -0.81 -146.0 217.3 -8.7 290 2242 0.00 2.85 0.00 0.000 6 0.000 0.064 2427 2688 3396 0 0 4 0 0 0

2562 -0.81 -146.0 246.1 -8.9 320 2567 0.00 3.00 0.00 0.000 4 0.000 0.089 2427 3933 3395 0 0 4 0 0 0

2758 -0.81 -146.0 263.4 -8.9 337 2763 0.00 2.83 0.00 0.000 6 0.000 0.063 2427 2701 3396 0 0 4 0 0 0

3083 -0.81 -146.0 291.0 -7.9 367 3088 0.00 2.95 0.00 0.000 4 0.000 0.087 2427 3928 3397 0 0 5 0 0 0

3261 -0.81 -146.0 306.6 -8.9 382 3268 0.00 2.80 0.00 0.000 6 0.000 0.062 2427 2702 3397 0 0 4 0 0 0

3587 -0.86 -146.0 331.9 -7.4 413 3592 0.00 2.95 0.00 0.000 4 0.000 0.086 2427 3928 3398 0 0 5 0 0 0

3775 -0.90 -146.0 347.0 -8.5 429 3780 0.00 2.83 0.00 0.000 6 0.000 0.061 2427 2690 3398 0 0 4 0 0 0

4099 -0.95 -146.0 371.2 -7.5 459 4105 0.15 2.97 0.00 0.000 4 0.115 0.083 2363 3923 3399 0 0 4 0 0 0

4290 -0.78 -146.0 391.1 -10.8 475 4297 0.30 2.80 0.00 0.000 6 0.205 0.061 2434 2697 3399 0 0 4 0 0 0

4616 -0.85 -146.0 416.0 -7.6 506 4621 0.00 2.95 0.00 0.000 4 0.000 0.084 2434 3922 3400 0 0 4 0 0 0

4814 -0.93 -146.0 431.9 -8.4 523 4820 0.15 2.78 0.00 0.000 6 0.117 0.061 2386 2702 3400 0 0 3 0 0 0

5138 -0.84 -146.0 462.6 -9.4 553 5144 0.12 2.97 0.00 0.000 4 0.203 0.085 2413 3922 3400 0 0 4 0 0 0

5279 -0.84 -146.0 475.5 -9.4 565 5284 0.00 2.80 0.00 0.000 6 0.000 0.061 2413 2699 3401 0 0 4 0 0 0

5603 -0.84 -146.0 504.7 -8.7 595 5608 0.00 3.00 0.00 0.000 4 0.000 0.086 2413 3935 3401 0 0 4 0 0 0

5756 -0.84 -146.0 518.0 -8.5 608 5761 0.00 2.83 0.00 0.000 6 0.000 0.061 2413 2698 3401 0 0 4 0 0 0

6081 -0.84 -146.0 546.7 -8.9 638 6086 0.00 2.97 0.00 0.000 4 0.000 0.085 2413 3930 3401 0 0 4 0 0 0

6195 -0.84 -146.0 556.0 -8.4 647 6201 0.00 2.80 0.00 0.000 6 0.000 0.061 2413 2699 3401 0 0 5 0 0 0

6519 -0.84 -146.0 583.3 -8.4 678 6524 0.00 2.97 0.00 0.000 4 0.000 0.085 2413 3928 3401 0 0 4 0 0 0

6646 end dive: TARGET_DEPTH_EXCEEDED

state 6646 begin apogee

6656 -0.16 0.0 594.3 9.2 689 6783 0.80 0.00 123.20 1.126 6 0.186 0.000 2630 2003 2800 0 0 0 0 0 0

6786 end apogee: CONTROL_FINISHED_OK

state 6786 begin climb

6788 0.73 146.0 597.8 0.0 702 6924 0.95 2.05 128.38 1.070 4 0.130 0.089 2921 409 2203 0 0 0 0 0 0

6980 0.65 146.0 581.7 11.6 720 6986 0.00 1.90 0.00 0.000 6 0.000 0.060 2921 2025 2200 0 0 0 0 0 0

7305 0.57 146.0 544.9 10.8 751 7315 0.20 3.80 0.00 0.000 4 0.207 0.077 2859 3592 2195 0 0 7 0 0 0

7455 0.57 146.0 530.1 10.0 764 7462 0.00 3.78 0.00 0.000 6 0.000 0.070 2874 2003 2195 0 0 4 0 0 0

7780 0.66 146.0 501.0 9.2 795 7790 0.00 3.75 0.00 0.000 4 0.000 0.078 2874 3594 2194 0 0 7 0 0 0

7913 0.66 146.0 487.1 10.1 807 7923 0.00 3.80 0.00 0.000 6 0.000 0.072 2891 1991 2193 0 0 3 0 0 0

8241 0.66 146.0 454.7 9.4 838 8251 0.00 3.75 0.00 0.000 4 0.000 0.078 2891 3589 2193 0 0 7 0 0 0

8405 0.61 146.0 436.6 11.3 852 8411 0.00 3.70 0.00 0.000 6 0.000 0.072 2907 1993 2193 0 0 3 0 0 0

8729 0.61 146.0 404.0 9.8 883 8738 0.00 3.75 0.00 0.000 4 0.000 0.078 2908 3588 2193 0 0 5 0 0 0

8886 0.51 146.0 385.9 11.7 897 8897 0.28 3.72 0.00 0.000 6 0.206 0.072 2859 2002 2193 0 0 3 0 0 0

9215 0.71 179.4 359.3 7.8 928 9251 0.20 3.85 27.48 0.960 4 0.107 0.080 2927 3588 2067 0 0 3 0 0 0

9404 0.59 179.4 335.3 13.6 945 9414 0.25 3.78 0.00 0.000 6 0.203 0.072 2885 1994 2063 0 0 3 0 0 0

9733 0.70 186.2 303.3 8.9 976 9747 0.00 3.80 6.50 0.804 4 0.000 0.079 2885 3579 2039 0 0 4 0 0 0

9878 0.70 186.2 288.1 11.0 989 9887 0.00 3.75 0.00 0.000 6 0.000 0.072 2900 1991 2039 0 0 3 0 0 0

10206 0.75 186.2 252.4 11.0 1020 10215 0.00 3.75 0.00 0.000 4 0.000 0.078 2899 3590 2039 0 0 5 0 0 0

10339 0.75 186.2 236.0 12.6 1032 10349 0.00 3.75 0.00 0.000 6 0.000 0.072 2916 1999 2039 0 0 3 0 0 0

10667 0.75 186.2 198.2 11.5 1063 10677 0.00 3.72 0.00 0.000 4 0.000 0.078 2916 3583 2038 0 0 5 0 0 0

10803 0.69 186.2 182.4 11.9 1075 10812 0.00 3.75 0.00 0.000 6 0.000 0.071 2933 1988 2038 0 0 3 0 0 0

11131 0.69 186.2 142.4 12.3 1106 11140 0.00 3.75 0.00 0.000 4 0.000 0.077 2933 3588 2038 0 0 5 0 0 0

11220 0.60 186.2 130.4 13.7 1114 11230 0.28 3.75 0.00 0.000 6 0.202 0.071 2884 1993 2038 0 0 3 0 0 0

11549 0.78 212.0 101.0 8.1 1145 11581 0.17 3.80 22.65 0.791 4 0.112 0.077 2944 3595 1934 0 0 4 0 0 0

11750 0.72 212.0 76.1 12.5 1179 11757 0.15 3.78 0.00 0.000 6 0.206 0.071 2929 1998 1933 0 0 3 0 0 0

12095 0.86 234.8 45.1 8.2 1240 12127 0.12 3.75 20.38 0.752 4 0.124 0.077 2970 3589 1841 0 0 6 0 0 0

12256 0.77 234.8 25.7 12.5 1269 12263 0.20 3.78 0.00 0.000 6 0.197 0.070 2941 2001 1839 0 0 3 0 0 0

12510 end climb: SURFACE_DEPTH_REACHED

state 12510 begin surface coast

12533 end surface coast: CONTROL_FINISHED_OK

state 12533 begin surface

ID	143	HEADING	90	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	373	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2700	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2000	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	18	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	24	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	-43367.531	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	224836,6716.957,-5736.425,38,1.7,38,-38.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6716.954,-5708.489
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	225438,6716.954,-5736.452,14,1.4,14,-38.1	MHEAD_RNG_PITCHd_Wd	128.1,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	594

FREEZE	0.46,-1.733,-1.041,0,1,0	ALTIM_TOP_PING	19.7,19.0
FINISH	0.5,1.015360	ALTIM_BOTTOM_PING	550.2,78.8
SM_CCo	12551,60.17,0.736,0,0,1474,325.02	_24V_AH	22.3,68.289
SM_GC	1.50,0.00,0.00,60.17,0.000,0.000,0.736,125,2687,1474,-8.02,-0.37,325.02	_10V_AH	10.1,36.596
RAFOS_CLK	800	FG_AHR_24Vo	0.000
RAFOS	0,1261699265,0.033333,0.018056,63,61,59,0,0,0,179,162,151,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6714.339844,-5738.620117,251209,000040,3,112,0.78	MEM	152624
IRIDIUM_FIX	6641.98,-5532.35,200399,191907	DATA_FILE_SIZE	53555,1318
TT8_MAMPS	0.026845	CAP_FILE_SIZE	152386,0
HUMID	46.65	CFSIZE	260165632,220860416
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,201,0,0
TCM_TEMP	17.20	SOUNDSPEED	1463.2
XPDR_PINGS	5	GPS	251209,022637,6716.821,-5734.401,30,1.0,30,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	303	166.96	SBE_CT	961	24	514.52
Roll_motor	169	95	362.82	SBE_O2	910	19	385.92
VBD_pump_during_apogee	328	1125	8250.13	nil	0	0	0.00
VBD_pump_during_surface	60	736	988.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.33	nil	0	0	0.00
Iridium_during_connect	39	160	141.51	nil	0	0	0.00
Iridium_during_xfer	165	223	822.69
Transponder_ping	3	420	30.44
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.86
TT8	2241	19	450.99
LPSleep	7304	2	170.41
TT8_Active	572	19	115.20
TT8_Sampling	2386	39	962.34
TT8_CF8	469	45	217.88
TT8_Kalman	0	0	0.00
Analog_circuits	1796	12	217.71
GPS_charging	0	0	0.00
Compass	2338	8	188.94
RAFOS	2520	1	38.18
Transponder	16	30	4.88

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	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	114	0.00	0.00	-95.05	0.000	2	0.000	0.000	129	2703	3065	0	0	0	0	0	0
117	-0.73	-146.0	3.2	-4.6	19	144	11.73	2.45	-9.68	0.000	4	0.304	0.096	2449	1084	3397	0	0	0	0	0	0
200	-0.73	-146.0	16.0	-12.0	34	206	0.00	2.38	0.00	0.000	6	0.000	0.074	2449	2687	3399	0	0	0	0	0	0
542	-0.73	-146.0	51.0	-9.8	95	548	0.00	3.00	0.00	0.000	4	0.000	0.093	2449	3930	3400	0	0	5	0	0	0
784	-0.73	-146.0	76.4	-10.5	138	790	0.00	2.85	0.00	0.000	6	0.000	0.066	2450	2697	3400	0	0	4	0	0	0
1128	-0.78	-146.0	109.8	-10.2	191	1133	0.00	3.00	0.00	0.000	4	0.000	0.091	2450	3922	3398	0	0	4	0	0	0
1281	-0.84	-146.0	125.0	-9.5	204	1286	0.00	2.83	0.00	0.000	6	0.000	0.067	2450	2690	3398	0	0	5	0	0	0
1608	-0.91	-146.0	155.9	-9.1	234	1614	0.17	3.00	0.00	0.000	4	0.115	0.092	2387	3924	3398	0	0	6	0	0	0
1783	-0.81	-146.0	177.5	-11.5	249	1788	0.17	2.88	0.00	0.000	6	0.209	0.067	2427	2693	3397	0	0	3	0	0	0
2107	-0.81	-146.0	206.2	-8.1	279	2112	0.00	3.00	0.00	0.000	4	0.000	0.091	2427	3932	3396	0	0	4	0	0	0
2238	-0.81	-146.0	217.3	-8.7	290	2242	0.00	2.85	0.00	0.000	6	0.000	0.064	2427	2688	3396	0	0	4	0	0	0
2562	-0.81	-146.0	246.1	-8.9	320	2567	0.00	3.00	0.00	0.000	4	0.000	0.089	2427	3933	3395	0	0	4	0	0	0
2758	-0.81	-146.0	263.4	-8.9	337	2763	0.00	2.83	0.00	0.000	6	0.000	0.063	2427	2701	3396	0	0	4	0	0	0
3083	-0.81	-146.0	291.0	-7.9	367	3088	0.00	2.95	0.00	0.000	4	0.000	0.087	2427	3928	3397	0	0	5	0	0	0
3261	-0.81	-146.0	306.6	-8.9	382	3268	0.00	2.80	0.00	0.000	6	0.000	0.062	2427	2702	3397	0	0	4	0	0	0
3587	-0.86	-146.0	331.9	-7.4	413	3592	0.00	2.95	0.00	0.000	4	0.000	0.086	2427	3928	3398	0	0	5	0	0	0
3775	-0.90	-146.0	347.0	-8.5	429	3780	0.00	2.83	0.00	0.000	6	0.000	0.061	2427	2690	3398	0	0	4	0	0	0
4099	-0.95	-146.0	371.2	-7.5	459	4105	0.15	2.97	0.00	0.000	4	0.115	0.083	2363	3923	3399	0	0	4	0	0	0
4290	-0.78	-146.0	391.1	-10.8	475	4297	0.30	2.80	0.00	0.000	6	0.205	0.061	2434	2697	3399	0	0	4	0	0	0
4616	-0.85	-146.0	416.0	-7.6	506	4621	0.00	2.95	0.00	0.000	4	0.000	0.084	2434	3922	3400	0	0	4	0	0	0
4814	-0.93	-146.0	431.9	-8.4	523	4820	0.15	2.78	0.00	0.000	6	0.117	0.061	2386	2702	3400	0	0	3	0	0	0
5138	-0.84	-146.0	462.6	-9.4	553	5144	0.12	2.97	0.00	0.000	4	0.203	0.085	2413	3922	3400	0	0	4	0	0	0
5279	-0.84	-146.0	475.5	-9.4	565	5284	0.00	2.80	0.00	0.000	6	0.000	0.061	2413	2699	3401	0	0	4	0	0	0
5603	-0.84	-146.0	504.7	-8.7	595	5608	0.00	3.00	0.00	0.000	4	0.000	0.086	2413	3935	3401	0	0	4	0	0	0
5756	-0.84	-146.0	518.0	-8.5	608	5761	0.00	2.83	0.00	0.000	6	0.000	0.061	2413	2698	3401	0	0	4	0	0	0
6081	-0.84	-146.0	546.7	-8.9	638	6086	0.00	2.97	0.00	0.000	4	0.000	0.085	2413	3930	3401	0	0	4	0	0	0
6195	-0.84	-146.0	556.0	-8.4	647	6201	0.00	2.80	0.00	0.000	6	0.000	0.061	2413	2699	3401	0	0	5	0	0	0
6519	-0.84	-146.0	583.3	-8.4	678	6524	0.00	2.97	0.00	0.000	4	0.000	0.085	2413	3928	3401	0	0	4	0	0	0
6646	end dive: TARGET_DEPTH_EXCEEDED
state	6646	begin apogee
6656	-0.16	0.0	594.3	9.2	689	6783	0.80	0.00	123.20	1.126	6	0.186	0.000	2630	2003	2800	0	0	0	0	0	0
6786	end apogee: CONTROL_FINISHED_OK
state	6786	begin climb
6788	0.73	146.0	597.8	0.0	702	6924	0.95	2.05	128.38	1.070	4	0.130	0.089	2921	409	2203	0	0	0	0	0	0
6980	0.65	146.0	581.7	11.6	720	6986	0.00	1.90	0.00	0.000	6	0.000	0.060	2921	2025	2200	0	0	0	0	0	0
7305	0.57	146.0	544.9	10.8	751	7315	0.20	3.80	0.00	0.000	4	0.207	0.077	2859	3592	2195	0	0	7	0	0	0
7455	0.57	146.0	530.1	10.0	764	7462	0.00	3.78	0.00	0.000	6	0.000	0.070	2874	2003	2195	0	0	4	0	0	0
7780	0.66	146.0	501.0	9.2	795	7790	0.00	3.75	0.00	0.000	4	0.000	0.078	2874	3594	2194	0	0	7	0	0	0
7913	0.66	146.0	487.1	10.1	807	7923	0.00	3.80	0.00	0.000	6	0.000	0.072	2891	1991	2193	0	0	3	0	0	0
8241	0.66	146.0	454.7	9.4	838	8251	0.00	3.75	0.00	0.000	4	0.000	0.078	2891	3589	2193	0	0	7	0	0	0
8405	0.61	146.0	436.6	11.3	852	8411	0.00	3.70	0.00	0.000	6	0.000	0.072	2907	1993	2193	0	0	3	0	0	0
8729	0.61	146.0	404.0	9.8	883	8738	0.00	3.75	0.00	0.000	4	0.000	0.078	2908	3588	2193	0	0	5	0	0	0
8886	0.51	146.0	385.9	11.7	897	8897	0.28	3.72	0.00	0.000	6	0.206	0.072	2859	2002	2193	0	0	3	0	0	0
9215	0.71	179.4	359.3	7.8	928	9251	0.20	3.85	27.48	0.960	4	0.107	0.080	2927	3588	2067	0	0	3	0	0	0
9404	0.59	179.4	335.3	13.6	945	9414	0.25	3.78	0.00	0.000	6	0.203	0.072	2885	1994	2063	0	0	3	0	0	0
9733	0.70	186.2	303.3	8.9	976	9747	0.00	3.80	6.50	0.804	4	0.000	0.079	2885	3579	2039	0	0	4	0	0	0
9878	0.70	186.2	288.1	11.0	989	9887	0.00	3.75	0.00	0.000	6	0.000	0.072	2900	1991	2039	0	0	3	0	0	0
10206	0.75	186.2	252.4	11.0	1020	10215	0.00	3.75	0.00	0.000	4	0.000	0.078	2899	3590	2039	0	0	5	0	0	0
10339	0.75	186.2	236.0	12.6	1032	10349	0.00	3.75	0.00	0.000	6	0.000	0.072	2916	1999	2039	0	0	3	0	0	0
10667	0.75	186.2	198.2	11.5	1063	10677	0.00	3.72	0.00	0.000	4	0.000	0.078	2916	3583	2038	0	0	5	0	0	0
10803	0.69	186.2	182.4	11.9	1075	10812	0.00	3.75	0.00	0.000	6	0.000	0.071	2933	1988	2038	0	0	3	0	0	0
11131	0.69	186.2	142.4	12.3	1106	11140	0.00	3.75	0.00	0.000	4	0.000	0.077	2933	3588	2038	0	0	5	0	0	0
11220	0.60	186.2	130.4	13.7	1114	11230	0.28	3.75	0.00	0.000	6	0.202	0.071	2884	1993	2038	0	0	3	0	0	0
11549	0.78	212.0	101.0	8.1	1145	11581	0.17	3.80	22.65	0.791	4	0.112	0.077	2944	3595	1934	0	0	4	0	0	0
11750	0.72	212.0	76.1	12.5	1179	11757	0.15	3.78	0.00	0.000	6	0.206	0.071	2929	1998	1933	0	0	3	0	0	0
12095	0.86	234.8	45.1	8.2	1240	12127	0.12	3.75	20.38	0.752	4	0.124	0.077	2970	3589	1841	0	0	6	0	0	0
12256	0.77	234.8	25.7	12.5	1269	12263	0.20	3.78	0.00	0.000	6	0.197	0.070	2941	2001	1839	0	0	3	0	0	0
12510	end climb: SURFACE_DEPTH_REACHED
state	12510	begin surface coast
12533	end surface coast: CONTROL_FINISHED_OK
state	12533	begin surface