Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 62 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 62 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 37 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 25 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 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 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -179891.89 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179891.89

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 37 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 62 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 124344,6704.023,-5650.256,0,3070.3,0,-37.5 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 6.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 124344,6704.023,-5650.256,0,3070.3,0,-37.5 MHEAD_RNG_PITCHd_Wd 176.8,2499,-18.9,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 495

Post-dive calculations and measurements:

FREEZE 6.91,3.982,-1.834,0,2,0 ALTIM_BOTTOM_PING 450.1,25.1

FINISH1 6.9,1.026482,25 _24V_AH 23.8,10.674

FINISH2 5.8 _10V_AH 10.3,5.730

RAFOS_CLK 440 FG_AHR_24Vo 0.000

RAFOS 0,1276790466,16.033333,16.018333,49,46,43,43,41,40,645,744,1035,1922,90,1914 FG_AHR_10Vo 0.000

RAFOS_FIX 6703.422852,-5645.919922,170610,161656,2,96,0.23 MEM 135720

IRIDIUM_FIX 6631.12,-5701.34,110999,060645 DATA_FILE_SIZE 47254,1190

TT8_MAMPS 0.027612 CAP_FILE_SIZE 118993,0

HUMID 39.64 CFSIZE 260165632,244342784

INTERNAL_PRESSURE 10.3617 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1466.0

XPDR_PINGS 0 GPS 170610,164656,6703.423,-5645.920,0,2096.5,0,-37.5

ALTIM_TOP_PING 19.7,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 187 12.47 SBE_CT 874 24 499.64

Roll_motor 95 96 219.37 SBE_O2 820 19 371.04

VBD_pump_during_apogee 324 1112 8589.91 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 17.49

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 1939 19 397.84

LPSleep 6489 2 154.42

TT8_Active 377 19 77.38

TT8_Sampling 1872 39 769.84

TT8_CF8 243 45 115.07

TT8_Kalman 0 0 0.00

Analog_circuits 1358 12 167.89

GPS_charging 0 0 0.00

Compass 1863 8 153.53

RAFOS 2520 3 77.87

Transponder 17 30 5.42

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

17 -0.80 -133.8 0.0 0.0 0 23 0.00 0.00 -4.30 0.000 2 0.000 0.000 3119 2201 3110 0 0 0 0 0 0

27 -0.81 -146.1 7.2 -0.0 1 48 0.50 2.17 -15.18 0.000 4 0.069 0.074 2926 842 3657 0 0 0 0 0 0

224 -0.81 -146.1 25.0 -9.3 36 229 0.00 2.30 0.00 0.000 6 0.000 0.063 2917 2254 3662 0 0 0 0 0 0

568 -0.81 -146.1 53.8 -8.5 97 574 0.00 2.25 0.00 0.000 4 0.000 0.060 2917 843 3662 0 0 0 0 0 0

597 -0.81 -146.1 56.3 -8.8 102 603 0.10 2.28 0.00 0.000 6 0.165 0.064 2934 2258 3662 0 0 0 0 0 0

942 -0.81 -146.1 80.5 -7.6 163 948 0.00 2.15 0.00 0.000 4 0.000 0.074 2926 3605 3663 0 0 0 0 0 0

972 -0.81 -146.1 82.7 -7.7 168 978 0.00 2.12 0.00 0.000 6 0.000 0.051 2926 2242 3663 0 0 0 0 0 0

1314 -0.81 -146.1 110.3 -8.2 218 1315 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2242 3663 0 0 0 0 0 0

1634 -0.81 -146.1 135.9 -8.5 248 1638 0.00 2.20 0.00 0.000 4 0.000 0.063 2926 835 3662 0 0 0 0 0 0

1713 -0.81 -146.1 142.9 -8.4 254 1719 0.00 2.28 0.00 0.000 6 0.000 0.065 2916 2251 3662 0 0 0 0 0 0

2039 -0.81 -146.1 171.3 -8.4 285 2040 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2251 3662 0 0 0 0 0 0

2359 -0.81 -146.1 198.7 -8.1 315 2360 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2251 3661 0 0 0 0 0 0

2678 -0.81 -146.1 223.6 -7.6 345 2682 0.00 0.00 0.00 0.000 6 0.000 0.000 2915 2251 3661 0 0 0 0 0 0

3005 -0.81 -146.1 248.9 -7.3 376 3006 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2251 3661 0 0 0 0 0 0

3324 -0.81 -146.1 271.6 -7.3 406 3328 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2251 3661 0 0 0 0 0 0

3652 -0.81 -146.1 295.6 -7.3 437 3656 0.00 2.15 0.00 0.000 4 0.000 0.077 2906 3607 3661 0 0 0 0 0 0

3665 -0.81 -146.1 296.8 -7.3 438 3669 0.12 2.10 0.00 0.000 6 0.156 0.051 2941 2250 3661 0 0 0 0 0 0

3990 -0.81 -146.1 316.5 -6.0 468 3994 0.00 2.20 0.00 0.000 4 0.000 0.062 2941 832 3662 0 0 0 0 0 0

4002 -0.81 -146.1 317.2 -5.9 468 4008 0.00 2.28 0.00 0.000 6 0.000 0.064 2933 2256 3662 0 0 0 0 0 0

4327 -0.81 -146.1 336.2 -5.9 499 4331 0.00 2.20 0.00 0.000 4 0.000 0.061 2933 847 3661 0 0 0 0 0 0

4350 -0.81 -146.1 337.6 -6.1 501 4354 0.00 2.25 0.00 0.000 6 0.000 0.064 2924 2251 3661 0 0 0 0 0 0

4675 -0.81 -146.1 358.4 -7.0 531 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 2252 3661 0 0 0 0 0 0

4997 -0.81 -146.1 380.7 -6.1 561 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 2251 3661 0 0 0 0 0 0

5325 -0.81 -146.1 397.4 -5.0 592 5328 0.00 2.12 0.00 0.000 4 0.000 0.074 2914 3605 3661 0 0 0 0 0 0

5352 -0.81 -146.1 399.2 -6.0 594 5359 0.10 2.08 0.00 0.000 6 0.156 0.050 2942 2238 3661 0 0 0 0 0 0

5678 -0.81 -146.1 415.7 -4.8 625 5682 0.00 2.17 0.00 0.000 4 0.000 0.072 2935 3600 3662 0 0 0 0 0 0

5707 -0.81 -146.1 417.3 -5.3 627 5710 0.00 2.05 0.00 0.000 6 0.000 0.050 2935 2250 3662 0 0 0 0 0 0

6037 -0.81 -146.1 433.9 -5.2 658 6043 0.00 2.20 0.00 0.000 4 0.000 0.060 2935 837 3662 0 0 0 0 0 0

6054 -0.81 -146.1 434.8 -5.1 659 6059 0.00 2.25 0.00 0.000 6 0.000 0.063 2926 2251 3662 0 0 0 0 0 0

6379 -0.81 -146.1 452.6 -5.9 690 6383 0.00 2.17 0.00 0.000 4 0.000 0.059 2925 847 3663 0 0 0 0 0 0

6443 -0.81 -146.1 455.8 -4.3 695 6447 0.00 2.25 0.00 0.000 6 0.000 0.062 2916 2261 3663 0 0 0 0 0 0

6531 end dive: BOTTOM_OBSTACLE_DETECTED

state 6532 begin apogee

6539 -0.17 0.0 460.2 5.2 703 6665 0.47 0.00 119.20 1.112 6 0.120 0.000 3078 2194 3058 0 0 0 0 0 0

6666 end apogee: CONTROL_FINISHED_OK

state 6666 begin climb

6669 0.81 146.1 461.1 0.0 716 6798 0.60 2.42 119.53 1.051 4 0.065 0.067 3295 3590 2461 0 0 0 0 0 0

6877 0.81 146.1 439.7 14.3 735 6882 0.00 2.28 0.00 0.000 6 0.000 0.048 3306 2200 2458 0 0 0 0 0 0

7202 0.81 146.1 396.1 14.0 765 7206 0.00 2.28 0.00 0.000 4 0.000 0.059 3316 790 2456 0 0 0 0 0 0

7263 0.81 146.1 387.7 13.4 770 7269 0.12 2.33 0.00 0.000 6 0.173 0.061 3285 2205 2456 0 0 0 0 0 0

7588 0.81 146.1 347.8 11.9 801 7592 0.00 2.22 0.00 0.000 4 0.000 0.070 3285 3591 2454 0 0 0 0 0 0

7746 0.81 146.1 325.7 14.2 814 7752 0.00 2.20 0.00 0.000 6 0.000 0.048 3292 2184 2454 0 0 0 0 0 0

8071 0.81 146.1 287.1 11.0 845 8075 0.00 2.17 0.00 0.000 4 0.000 0.057 3303 792 2454 0 0 0 0 0 0

8183 0.81 146.1 274.6 11.2 854 8189 0.00 2.28 0.00 0.000 6 0.000 0.058 3303 2209 2455 0 0 0 0 0 0

8508 0.81 146.1 237.8 11.5 885 8512 0.00 2.17 0.00 0.000 4 0.000 0.070 3303 3591 2455 0 0 0 0 0 0

8603 0.81 146.1 225.3 13.7 893 8610 0.10 2.17 0.00 0.000 6 0.187 0.049 3288 2188 2455 0 0 0 0 0 0

8931 0.81 146.1 191.9 10.2 924 8935 0.00 2.15 0.00 0.000 4 0.000 0.059 3296 793 2455 0 0 0 0 0 0

9021 0.81 146.1 182.5 10.3 931 9027 0.00 2.25 0.00 0.000 6 0.000 0.060 3296 2200 2456 0 0 0 0 0 0

9346 0.81 146.1 148.2 10.5 962 9350 0.00 2.22 0.00 0.000 4 0.000 0.071 3296 3595 2455 0 0 0 0 0 0

9447 0.81 146.1 135.9 12.7 971 9451 0.00 2.17 0.00 0.000 6 0.000 0.050 3306 2189 2455 0 0 0 0 0 0

9772 0.81 147.4 102.8 9.9 1001 9776 0.00 2.25 0.00 0.000 4 0.000 0.069 3306 3602 2455 0 0 0 0 0 0

9835 0.81 147.4 95.6 12.0 1009 9841 0.12 2.15 0.00 0.000 6 0.176 0.051 3283 2199 2455 0 0 0 0 0 0

10183 0.85 179.6 66.1 8.4 1070 10215 0.00 2.22 26.15 0.880 4 0.000 0.060 3291 788 2324 0 0 0 0 0 0

10267 0.87 192.8 58.7 9.3 1085 10283 0.00 2.28 11.38 0.795 6 0.000 0.061 3291 2201 2272 0 0 0 0 0 0

10621 0.88 202.7 24.8 9.5 1148 10637 0.00 2.30 9.05 0.763 4 0.000 0.073 3291 3597 2230 0 0 0 0 0 0

10733 0.94 249.7 13.7 7.7 1168 10780 0.00 2.20 39.22 0.835 6 0.000 0.051 3299 2202 2039 0 0 0 0 0 0

10815 end climb: SURFACE_OBSTACLE_DETECTED

state 10815 begin subsurface finish

10822 0.03 25.4 6.9 -8.3 1183 10859 0.55 2.33 -28.08 0.000 4 0.121 0.076 3119 788 2958 0 0 0 0 0 0

10860 end subsurface finish: CONTROL_FINISHED_OK

state 10860 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	62	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	37	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	25	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	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	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-179891.89	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	124344,6704.023,-5650.256,0,3070.3,0,-37.5	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	6.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	124344,6704.023,-5650.256,0,3070.3,0,-37.5	MHEAD_RNG_PITCHd_Wd	176.8,2499,-18.9,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	495

FREEZE	6.91,3.982,-1.834,0,2,0	ALTIM_BOTTOM_PING	450.1,25.1
FINISH1	6.9,1.026482,25	_24V_AH	23.8,10.674
FINISH2	5.8	_10V_AH	10.3,5.730
RAFOS_CLK	440	FG_AHR_24Vo	0.000
RAFOS	0,1276790466,16.033333,16.018333,49,46,43,43,41,40,645,744,1035,1922,90,1914	FG_AHR_10Vo	0.000
RAFOS_FIX	6703.422852,-5645.919922,170610,161656,2,96,0.23	MEM	135720
IRIDIUM_FIX	6631.12,-5701.34,110999,060645	DATA_FILE_SIZE	47254,1190
TT8_MAMPS	0.027612	CAP_FILE_SIZE	118993,0
HUMID	39.64	CFSIZE	260165632,244342784
INTERNAL_PRESSURE	10.3617	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1466.0
XPDR_PINGS	0	GPS	170610,164656,6703.423,-5645.920,0,2096.5,0,-37.5
ALTIM_TOP_PING	19.7,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	187	12.47	SBE_CT	874	24	499.64
Roll_motor	95	96	219.37	SBE_O2	820	19	371.04
VBD_pump_during_apogee	324	1112	8589.91	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	17.49
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	1939	19	397.84
LPSleep	6489	2	154.42
TT8_Active	377	19	77.38
TT8_Sampling	1872	39	769.84
TT8_CF8	243	45	115.07
TT8_Kalman	0	0	0.00
Analog_circuits	1358	12	167.89
GPS_charging	0	0	0.00
Compass	1863	8	153.53
RAFOS	2520	3	77.87
Transponder	17	30	5.42

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
17	-0.80	-133.8	0.0	0.0	0	23	0.00	0.00	-4.30	0.000	2	0.000	0.000	3119	2201	3110	0	0	0	0	0	0
27	-0.81	-146.1	7.2	-0.0	1	48	0.50	2.17	-15.18	0.000	4	0.069	0.074	2926	842	3657	0	0	0	0	0	0
224	-0.81	-146.1	25.0	-9.3	36	229	0.00	2.30	0.00	0.000	6	0.000	0.063	2917	2254	3662	0	0	0	0	0	0
568	-0.81	-146.1	53.8	-8.5	97	574	0.00	2.25	0.00	0.000	4	0.000	0.060	2917	843	3662	0	0	0	0	0	0
597	-0.81	-146.1	56.3	-8.8	102	603	0.10	2.28	0.00	0.000	6	0.165	0.064	2934	2258	3662	0	0	0	0	0	0
942	-0.81	-146.1	80.5	-7.6	163	948	0.00	2.15	0.00	0.000	4	0.000	0.074	2926	3605	3663	0	0	0	0	0	0
972	-0.81	-146.1	82.7	-7.7	168	978	0.00	2.12	0.00	0.000	6	0.000	0.051	2926	2242	3663	0	0	0	0	0	0
1314	-0.81	-146.1	110.3	-8.2	218	1315	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2242	3663	0	0	0	0	0	0
1634	-0.81	-146.1	135.9	-8.5	248	1638	0.00	2.20	0.00	0.000	4	0.000	0.063	2926	835	3662	0	0	0	0	0	0
1713	-0.81	-146.1	142.9	-8.4	254	1719	0.00	2.28	0.00	0.000	6	0.000	0.065	2916	2251	3662	0	0	0	0	0	0
2039	-0.81	-146.1	171.3	-8.4	285	2040	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2251	3662	0	0	0	0	0	0
2359	-0.81	-146.1	198.7	-8.1	315	2360	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2251	3661	0	0	0	0	0	0
2678	-0.81	-146.1	223.6	-7.6	345	2682	0.00	0.00	0.00	0.000	6	0.000	0.000	2915	2251	3661	0	0	0	0	0	0
3005	-0.81	-146.1	248.9	-7.3	376	3006	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2251	3661	0	0	0	0	0	0
3324	-0.81	-146.1	271.6	-7.3	406	3328	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2251	3661	0	0	0	0	0	0
3652	-0.81	-146.1	295.6	-7.3	437	3656	0.00	2.15	0.00	0.000	4	0.000	0.077	2906	3607	3661	0	0	0	0	0	0
3665	-0.81	-146.1	296.8	-7.3	438	3669	0.12	2.10	0.00	0.000	6	0.156	0.051	2941	2250	3661	0	0	0	0	0	0
3990	-0.81	-146.1	316.5	-6.0	468	3994	0.00	2.20	0.00	0.000	4	0.000	0.062	2941	832	3662	0	0	0	0	0	0
4002	-0.81	-146.1	317.2	-5.9	468	4008	0.00	2.28	0.00	0.000	6	0.000	0.064	2933	2256	3662	0	0	0	0	0	0
4327	-0.81	-146.1	336.2	-5.9	499	4331	0.00	2.20	0.00	0.000	4	0.000	0.061	2933	847	3661	0	0	0	0	0	0
4350	-0.81	-146.1	337.6	-6.1	501	4354	0.00	2.25	0.00	0.000	6	0.000	0.064	2924	2251	3661	0	0	0	0	0	0
4675	-0.81	-146.1	358.4	-7.0	531	4676	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	2252	3661	0	0	0	0	0	0
4997	-0.81	-146.1	380.7	-6.1	561	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	2251	3661	0	0	0	0	0	0
5325	-0.81	-146.1	397.4	-5.0	592	5328	0.00	2.12	0.00	0.000	4	0.000	0.074	2914	3605	3661	0	0	0	0	0	0
5352	-0.81	-146.1	399.2	-6.0	594	5359	0.10	2.08	0.00	0.000	6	0.156	0.050	2942	2238	3661	0	0	0	0	0	0
5678	-0.81	-146.1	415.7	-4.8	625	5682	0.00	2.17	0.00	0.000	4	0.000	0.072	2935	3600	3662	0	0	0	0	0	0
5707	-0.81	-146.1	417.3	-5.3	627	5710	0.00	2.05	0.00	0.000	6	0.000	0.050	2935	2250	3662	0	0	0	0	0	0
6037	-0.81	-146.1	433.9	-5.2	658	6043	0.00	2.20	0.00	0.000	4	0.000	0.060	2935	837	3662	0	0	0	0	0	0
6054	-0.81	-146.1	434.8	-5.1	659	6059	0.00	2.25	0.00	0.000	6	0.000	0.063	2926	2251	3662	0	0	0	0	0	0
6379	-0.81	-146.1	452.6	-5.9	690	6383	0.00	2.17	0.00	0.000	4	0.000	0.059	2925	847	3663	0	0	0	0	0	0
6443	-0.81	-146.1	455.8	-4.3	695	6447	0.00	2.25	0.00	0.000	6	0.000	0.062	2916	2261	3663	0	0	0	0	0	0
6531	end dive: BOTTOM_OBSTACLE_DETECTED
state	6532	begin apogee
6539	-0.17	0.0	460.2	5.2	703	6665	0.47	0.00	119.20	1.112	6	0.120	0.000	3078	2194	3058	0	0	0	0	0	0
6666	end apogee: CONTROL_FINISHED_OK
state	6666	begin climb
6669	0.81	146.1	461.1	0.0	716	6798	0.60	2.42	119.53	1.051	4	0.065	0.067	3295	3590	2461	0	0	0	0	0	0
6877	0.81	146.1	439.7	14.3	735	6882	0.00	2.28	0.00	0.000	6	0.000	0.048	3306	2200	2458	0	0	0	0	0	0
7202	0.81	146.1	396.1	14.0	765	7206	0.00	2.28	0.00	0.000	4	0.000	0.059	3316	790	2456	0	0	0	0	0	0
7263	0.81	146.1	387.7	13.4	770	7269	0.12	2.33	0.00	0.000	6	0.173	0.061	3285	2205	2456	0	0	0	0	0	0
7588	0.81	146.1	347.8	11.9	801	7592	0.00	2.22	0.00	0.000	4	0.000	0.070	3285	3591	2454	0	0	0	0	0	0
7746	0.81	146.1	325.7	14.2	814	7752	0.00	2.20	0.00	0.000	6	0.000	0.048	3292	2184	2454	0	0	0	0	0	0
8071	0.81	146.1	287.1	11.0	845	8075	0.00	2.17	0.00	0.000	4	0.000	0.057	3303	792	2454	0	0	0	0	0	0
8183	0.81	146.1	274.6	11.2	854	8189	0.00	2.28	0.00	0.000	6	0.000	0.058	3303	2209	2455	0	0	0	0	0	0
8508	0.81	146.1	237.8	11.5	885	8512	0.00	2.17	0.00	0.000	4	0.000	0.070	3303	3591	2455	0	0	0	0	0	0
8603	0.81	146.1	225.3	13.7	893	8610	0.10	2.17	0.00	0.000	6	0.187	0.049	3288	2188	2455	0	0	0	0	0	0
8931	0.81	146.1	191.9	10.2	924	8935	0.00	2.15	0.00	0.000	4	0.000	0.059	3296	793	2455	0	0	0	0	0	0
9021	0.81	146.1	182.5	10.3	931	9027	0.00	2.25	0.00	0.000	6	0.000	0.060	3296	2200	2456	0	0	0	0	0	0
9346	0.81	146.1	148.2	10.5	962	9350	0.00	2.22	0.00	0.000	4	0.000	0.071	3296	3595	2455	0	0	0	0	0	0
9447	0.81	146.1	135.9	12.7	971	9451	0.00	2.17	0.00	0.000	6	0.000	0.050	3306	2189	2455	0	0	0	0	0	0
9772	0.81	147.4	102.8	9.9	1001	9776	0.00	2.25	0.00	0.000	4	0.000	0.069	3306	3602	2455	0	0	0	0	0	0
9835	0.81	147.4	95.6	12.0	1009	9841	0.12	2.15	0.00	0.000	6	0.176	0.051	3283	2199	2455	0	0	0	0	0	0
10183	0.85	179.6	66.1	8.4	1070	10215	0.00	2.22	26.15	0.880	4	0.000	0.060	3291	788	2324	0	0	0	0	0	0
10267	0.87	192.8	58.7	9.3	1085	10283	0.00	2.28	11.38	0.795	6	0.000	0.061	3291	2201	2272	0	0	0	0	0	0
10621	0.88	202.7	24.8	9.5	1148	10637	0.00	2.30	9.05	0.763	4	0.000	0.073	3291	3597	2230	0	0	0	0	0	0
10733	0.94	249.7	13.7	7.7	1168	10780	0.00	2.20	39.22	0.835	6	0.000	0.051	3299	2202	2039	0	0	0	0	0	0
10815	end climb: SURFACE_OBSTACLE_DETECTED
state	10815	begin subsurface finish
10822	0.03	25.4	6.9	-8.3	1183	10859	0.55	2.33	-28.08	0.000	4	0.121	0.076	3119	788	2958	0	0	0	0	0	0
10860	end subsurface finish: CONTROL_FINISHED_OK
state	10860	begin surface