Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 135 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 135 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

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 16 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 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 15 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 0 T_GPS_CHARGE -30042.275 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 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 2390 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 2 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 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 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 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 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 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 -30042.275

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 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2390 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

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 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 135 NAV_MODE 2 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 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 113207,6657.769,-5738.056,30,1.1,30,-37.7 TGT_NAME TARGET_E_IN

_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 1.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 113732,6657.777,-5738.150,15,1.2,15,-37.7 MHEAD_RNG_PITCHd_Wd 67.7,37485,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 834

Post-dive calculations and measurements:

FINISH 1.5,1.026517 _24V_AH 22.7,34.579

SM_CCo 13035,0.00,0.000,0,0,1385,347.10 _10V_AH 10.2,17.899

SM_GC 1.21,7.45,0.00,0.00,0.083,0.000,0.000,128,2458,1385,-7.03,-0.06,347.10 FG_AHR_24Vo 0.000

RAFOS_CLK 838 FG_AHR_10Vo 0.000

RAFOS 0,1258286461,12.033333,12.016945,61,59,58,0,0,0,183,158,204,0,0,0 MEM 187984

RAFOS_FIX 6658.777832,-5740.554199,151109,121228,4,85,0.79 DATA_FILE_SIZE 44245,1061

IRIDIUM_FIX 6631.12,-5731.73,090299,080821 CAP_FILE_SIZE 133785,0

TT8_MAMPS 0.026845 CFSIZE 260165632,239316992

HUMID 49.21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.86753 SOUNDSPEED 1462.0

TCM_TEMP 17.40 CURRENT 0.536,258.6,1

XPDR_PINGS 13 GPS 151109,151637,6659.401,-5739.676,35,0.9,35,-37.7

ALTIM_TOP_PING 19.7,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 312 140.31 SBE_CT 764 24 416.73

Roll_motor 120 95 259.40 SBE_O2 764 19 329.72

VBD_pump_during_apogee 434 1310 12925.54 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 30 103 71.83 nil 0 0 0.00

Iridium_during_connect 36 160 133.91 nil 0 0 0.00

Iridium_during_xfer 136 223 692.53

Transponder_ping 3 420 33.37

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.76

TT8 2099 19 426.55

LPSleep 8208 2 193.41

TT8_Active 566 19 115.13

TT8_Sampling 2103 39 856.62

TT8_CF8 384 45 180.03

TT8_Kalman 0 0 0.00

Analog_circuits 1655 12 202.63

GPS_charging 0 0 0.00

Compass 2066 8 168.59

RAFOS 2520 1 38.56

Transponder 2 30 0.80

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 0 129 0.00 0.00 -110.70 0.000 2 0.000 0.000 124 2472 3120 0 0 0 0 0 0

132 -0.73 -146.0 3.0 -4.0 21 154 10.07 0.00 -7.70 0.000 6 0.312 0.000 2147 2472 3399 0 0 0 0 0 0

491 -0.73 -146.0 103.7 -25.0 84 495 0.00 2.47 0.00 0.000 4 0.000 0.095 2148 3914 3401 0 0 0 0 0 0

541 -0.73 -146.0 116.2 -25.1 88 545 0.00 2.42 0.00 0.000 6 0.000 0.070 2148 2450 3401 0 0 0 0 0 0

865 -0.73 -146.0 195.4 -23.8 118 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2450 3402 0 0 0 0 0 0

1185 -0.73 -146.0 266.3 -21.9 148 1189 0.00 2.50 0.00 0.000 4 0.000 0.092 2148 3913 3401 0 0 0 0 0 0

1395 -0.73 -146.0 313.2 -22.2 166 1399 0.00 2.40 0.00 0.000 6 0.000 0.069 2148 2452 3402 0 0 0 0 0 0

1719 -0.73 -146.0 382.7 -21.4 196 1723 0.00 2.50 0.00 0.000 4 0.000 0.092 2148 3912 3402 0 0 0 0 0 0

1861 -0.73 -146.0 413.8 -22.9 208 1865 0.00 2.38 0.00 0.000 6 0.000 0.070 2148 2463 3402 0 0 0 0 0 0

2185 -0.73 -146.0 481.8 -20.4 238 2189 0.00 2.45 0.00 0.000 4 0.000 0.092 2148 3907 3402 0 0 0 0 0 0

2291 -0.73 -146.0 504.3 -21.5 247 2296 0.00 2.35 0.00 0.000 6 0.000 0.070 2148 2472 3402 0 0 0 0 0 0

2616 -0.73 -146.0 568.3 -19.7 277 2620 0.00 2.45 0.00 0.000 4 0.000 0.092 2148 3914 3402 0 0 0 0 0 0

2699 -0.73 -146.0 585.8 -21.6 284 2703 0.00 2.35 0.00 0.000 6 0.000 0.070 2148 2476 3401 0 0 0 0 0 0

3013 -0.73 -146.0 648.6 -19.8 298 3018 0.00 2.45 0.00 0.000 4 0.000 0.092 2148 3919 3401 0 0 0 0 0 0

3102 -0.73 -146.0 667.1 -20.4 300 3109 0.00 2.35 0.00 0.000 6 0.000 0.069 2148 2480 3401 0 0 0 0 0 0

3415 -0.73 -146.0 727.8 -19.3 311 3419 0.00 2.42 0.00 0.000 4 0.000 0.092 2148 3910 3401 0 0 0 0 0 0

3503 -0.73 -146.0 745.7 -20.0 313 3509 0.00 2.35 0.00 0.000 6 0.000 0.069 2148 2492 3401 0 0 0 0 0 0

3817 -0.73 -146.0 805.2 -19.2 324 3821 0.00 2.40 0.00 0.000 4 0.000 0.092 2148 3907 3401 0 0 0 0 0 0

3933 -0.73 -146.0 829.1 -20.2 327 3937 0.00 2.35 0.00 0.000 6 0.000 0.069 2148 2494 3401 0 0 0 0 0 0

3974 end dive: TARGET_DEPTH_EXCEEDED

state 3974 begin apogee

3980 -0.16 0.0 837.3 20.2 329 4107 0.77 0.00 123.40 1.310 6 0.260 0.000 2331 1943 2800 0 0 0 0 0 0

4108 end apogee: CONTROL_FINISHED_OK

state 4108 begin climb

4110 0.73 146.0 849.8 0.0 333 4244 1.15 0.00 129.00 1.253 6 0.223 0.000 2607 1943 2204 0 0 0 0 0 0

4537 0.78 194.6 823.7 7.1 347 4583 0.12 0.00 42.05 1.226 6 0.175 0.000 2639 1943 2006 0 0 0 0 0 0

4900 0.81 213.8 794.0 8.4 359 4925 0.00 2.80 17.00 1.176 4 0.000 0.094 2640 356 1927 0 0 0 0 0 0

5177 0.83 233.1 770.7 8.4 367 5202 0.00 2.47 17.85 1.180 6 0.000 0.067 2640 1889 1848 0 0 0 0 0 0

5538 0.85 248.6 740.7 8.5 379 5555 0.00 0.00 14.52 1.157 6 0.000 0.000 2640 1889 1785 0 0 0 0 0 0

5843 0.86 254.3 713.0 8.9 389 5856 0.00 2.80 6.12 0.981 4 0.000 0.087 2640 3535 1762 0 0 0 0 0 0

5868 0.87 267.3 710.6 8.6 389 5888 0.00 2.70 13.48 1.131 6 0.000 0.073 2640 1924 1709 0 0 0 0 0 0

6213 0.88 274.2 679.2 8.9 401 6228 0.10 2.67 6.95 1.007 4 0.179 0.095 2665 365 1682 0 0 0 0 0 0

6481 0.88 274.2 654.2 9.5 409 6486 0.00 2.67 0.00 0.000 6 0.000 0.069 2666 2031 1680 0 0 0 0 0 0

6817 0.88 274.2 618.2 11.4 420 6821 0.00 2.53 0.00 0.000 4 0.000 0.090 2666 3538 1679 0 0 0 0 0 0

7051 0.88 274.2 592.5 10.9 429 7057 0.00 2.50 0.00 0.000 6 0.000 0.074 2666 2048 1677 0 0 0 0 0 0

7376 0.88 274.2 556.7 11.3 460 7377 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2048 1677 0 0 0 0 0 0

7696 0.88 274.2 521.5 11.4 490 7701 0.00 2.50 0.00 0.000 4 0.000 0.090 2665 3534 1677 0 0 0 0 0 0

7746 0.88 274.2 515.9 11.0 494 7751 0.00 2.45 0.00 0.000 6 0.000 0.073 2665 2045 1677 0 0 0 0 0 0

8070 0.88 274.2 480.6 10.7 524 8071 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2047 1677 0 0 0 0 0 0

8391 0.88 274.2 445.3 11.1 554 8396 0.00 2.50 0.00 0.000 4 0.000 0.089 2665 3535 1676 0 0 0 0 0 0

8469 0.88 274.2 436.8 9.7 560 8475 0.00 2.42 0.00 0.000 6 0.000 0.073 2666 2052 1676 0 0 0 0 0 0

8795 0.88 274.2 400.7 11.9 591 8799 0.00 2.75 0.00 0.000 4 0.000 0.094 2666 364 1676 0 0 0 0 0 0

9006 0.88 274.2 378.7 10.1 609 9013 0.00 2.70 0.00 0.000 6 0.000 0.070 2666 2072 1676 0 0 0 0 0 0

9331 0.88 274.2 346.5 10.8 640 9336 0.00 2.80 0.00 0.000 4 0.000 0.094 2666 365 1676 0 0 0 0 0 0

9588 0.88 274.2 319.8 9.8 662 9594 0.00 2.67 0.00 0.000 6 0.000 0.069 2666 2067 1676 0 0 0 0 0 0

9913 0.88 274.2 285.4 10.8 693 9917 0.00 2.80 0.00 0.000 4 0.000 0.094 2666 358 1676 0 0 0 0 0 0

10169 0.88 274.2 260.1 9.2 715 10176 0.00 2.70 0.00 0.000 6 0.000 0.069 2666 2076 1676 0 0 0 0 0 0

10495 0.88 274.2 232.4 9.7 746 10499 0.00 2.80 0.00 0.000 4 0.000 0.093 2666 364 1676 0 0 0 0 0 0

10579 0.89 283.9 224.5 8.8 753 10594 0.00 2.60 9.02 0.854 6 0.000 0.069 2666 2023 1642 0 0 0 0 0 0

10920 0.89 283.9 191.3 9.7 785 10924 0.00 2.72 0.00 0.000 4 0.000 0.094 2665 364 1640 0 0 0 0 0 0

11176 0.92 302.2 167.3 8.4 807 11198 0.00 2.65 16.77 0.869 6 0.000 0.068 2665 2050 1567 0 0 0 0 0 0

11516 0.92 302.2 136.4 9.6 839 11520 0.00 2.80 0.00 0.000 4 0.000 0.093 2666 354 1561 0 0 0 0 0 0

11611 0.92 302.2 126.8 10.9 847 11616 0.00 2.75 0.00 0.000 6 0.000 0.068 2665 2087 1560 0 0 0 0 0 0

11938 0.94 317.0 96.7 8.5 880 11956 0.00 2.50 12.77 0.803 4 0.000 0.086 2666 3536 1506 0 0 0 0 0 0

12040 0.94 317.0 87.2 10.1 898 12046 0.00 2.60 0.00 0.000 6 0.000 0.071 2665 1960 1504 0 0 0 0 0 0

12382 0.95 330.6 59.0 8.6 959 12403 0.00 2.67 12.70 0.772 4 0.000 0.091 2666 365 1450 0 0 0 0 0 0

12515 0.97 344.7 47.4 8.6 983 12535 0.12 2.80 13.00 0.760 6 0.174 0.067 2700 2125 1394 0 0 0 0 0 0

12870 0.97 344.7 11.1 11.2 1046 12877 0.00 2.88 0.00 0.000 4 0.000 0.091 2700 359 1388 0 0 0 0 0 0

12949 end climb: SURFACE_DEPTH_REACHED

state 12949 begin surface coast

12955 end surface coast: CONTROL_FINISHED_OK

state 12956 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	135	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
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	16	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	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	15	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	0	T_GPS_CHARGE	-30042.275	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	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	2390	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	2	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	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	113207,6657.769,-5738.056,30,1.1,30,-37.7	TGT_NAME	TARGET_E_IN
_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	1.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	113732,6657.777,-5738.150,15,1.2,15,-37.7	MHEAD_RNG_PITCHd_Wd	67.7,37485,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	834

FINISH	1.5,1.026517	_24V_AH	22.7,34.579
SM_CCo	13035,0.00,0.000,0,0,1385,347.10	_10V_AH	10.2,17.899
SM_GC	1.21,7.45,0.00,0.00,0.083,0.000,0.000,128,2458,1385,-7.03,-0.06,347.10	FG_AHR_24Vo	0.000
RAFOS_CLK	838	FG_AHR_10Vo	0.000
RAFOS	0,1258286461,12.033333,12.016945,61,59,58,0,0,0,183,158,204,0,0,0	MEM	187984
RAFOS_FIX	6658.777832,-5740.554199,151109,121228,4,85,0.79	DATA_FILE_SIZE	44245,1061
IRIDIUM_FIX	6631.12,-5731.73,090299,080821	CAP_FILE_SIZE	133785,0
TT8_MAMPS	0.026845	CFSIZE	260165632,239316992
HUMID	49.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.86753	SOUNDSPEED	1462.0
TCM_TEMP	17.40	CURRENT	0.536,258.6,1
XPDR_PINGS	13	GPS	151109,151637,6659.401,-5739.676,35,0.9,35,-37.7
ALTIM_TOP_PING	19.7,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	312	140.31	SBE_CT	764	24	416.73
Roll_motor	120	95	259.40	SBE_O2	764	19	329.72
VBD_pump_during_apogee	434	1310	12925.54	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	30	103	71.83	nil	0	0	0.00
Iridium_during_connect	36	160	133.91	nil	0	0	0.00
Iridium_during_xfer	136	223	692.53
Transponder_ping	3	420	33.37
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.76
TT8	2099	19	426.55
LPSleep	8208	2	193.41
TT8_Active	566	19	115.13
TT8_Sampling	2103	39	856.62
TT8_CF8	384	45	180.03
TT8_Kalman	0	0	0.00
Analog_circuits	1655	12	202.63
GPS_charging	0	0	0.00
Compass	2066	8	168.59
RAFOS	2520	1	38.56
Transponder	2	30	0.80

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	129	0.00	0.00	-110.70	0.000	2	0.000	0.000	124	2472	3120	0	0	0	0	0	0
132	-0.73	-146.0	3.0	-4.0	21	154	10.07	0.00	-7.70	0.000	6	0.312	0.000	2147	2472	3399	0	0	0	0	0	0
491	-0.73	-146.0	103.7	-25.0	84	495	0.00	2.47	0.00	0.000	4	0.000	0.095	2148	3914	3401	0	0	0	0	0	0
541	-0.73	-146.0	116.2	-25.1	88	545	0.00	2.42	0.00	0.000	6	0.000	0.070	2148	2450	3401	0	0	0	0	0	0
865	-0.73	-146.0	195.4	-23.8	118	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2450	3402	0	0	0	0	0	0
1185	-0.73	-146.0	266.3	-21.9	148	1189	0.00	2.50	0.00	0.000	4	0.000	0.092	2148	3913	3401	0	0	0	0	0	0
1395	-0.73	-146.0	313.2	-22.2	166	1399	0.00	2.40	0.00	0.000	6	0.000	0.069	2148	2452	3402	0	0	0	0	0	0
1719	-0.73	-146.0	382.7	-21.4	196	1723	0.00	2.50	0.00	0.000	4	0.000	0.092	2148	3912	3402	0	0	0	0	0	0
1861	-0.73	-146.0	413.8	-22.9	208	1865	0.00	2.38	0.00	0.000	6	0.000	0.070	2148	2463	3402	0	0	0	0	0	0
2185	-0.73	-146.0	481.8	-20.4	238	2189	0.00	2.45	0.00	0.000	4	0.000	0.092	2148	3907	3402	0	0	0	0	0	0
2291	-0.73	-146.0	504.3	-21.5	247	2296	0.00	2.35	0.00	0.000	6	0.000	0.070	2148	2472	3402	0	0	0	0	0	0
2616	-0.73	-146.0	568.3	-19.7	277	2620	0.00	2.45	0.00	0.000	4	0.000	0.092	2148	3914	3402	0	0	0	0	0	0
2699	-0.73	-146.0	585.8	-21.6	284	2703	0.00	2.35	0.00	0.000	6	0.000	0.070	2148	2476	3401	0	0	0	0	0	0
3013	-0.73	-146.0	648.6	-19.8	298	3018	0.00	2.45	0.00	0.000	4	0.000	0.092	2148	3919	3401	0	0	0	0	0	0
3102	-0.73	-146.0	667.1	-20.4	300	3109	0.00	2.35	0.00	0.000	6	0.000	0.069	2148	2480	3401	0	0	0	0	0	0
3415	-0.73	-146.0	727.8	-19.3	311	3419	0.00	2.42	0.00	0.000	4	0.000	0.092	2148	3910	3401	0	0	0	0	0	0
3503	-0.73	-146.0	745.7	-20.0	313	3509	0.00	2.35	0.00	0.000	6	0.000	0.069	2148	2492	3401	0	0	0	0	0	0
3817	-0.73	-146.0	805.2	-19.2	324	3821	0.00	2.40	0.00	0.000	4	0.000	0.092	2148	3907	3401	0	0	0	0	0	0
3933	-0.73	-146.0	829.1	-20.2	327	3937	0.00	2.35	0.00	0.000	6	0.000	0.069	2148	2494	3401	0	0	0	0	0	0
3974	end dive: TARGET_DEPTH_EXCEEDED
state	3974	begin apogee
3980	-0.16	0.0	837.3	20.2	329	4107	0.77	0.00	123.40	1.310	6	0.260	0.000	2331	1943	2800	0	0	0	0	0	0
4108	end apogee: CONTROL_FINISHED_OK
state	4108	begin climb
4110	0.73	146.0	849.8	0.0	333	4244	1.15	0.00	129.00	1.253	6	0.223	0.000	2607	1943	2204	0	0	0	0	0	0
4537	0.78	194.6	823.7	7.1	347	4583	0.12	0.00	42.05	1.226	6	0.175	0.000	2639	1943	2006	0	0	0	0	0	0
4900	0.81	213.8	794.0	8.4	359	4925	0.00	2.80	17.00	1.176	4	0.000	0.094	2640	356	1927	0	0	0	0	0	0
5177	0.83	233.1	770.7	8.4	367	5202	0.00	2.47	17.85	1.180	6	0.000	0.067	2640	1889	1848	0	0	0	0	0	0
5538	0.85	248.6	740.7	8.5	379	5555	0.00	0.00	14.52	1.157	6	0.000	0.000	2640	1889	1785	0	0	0	0	0	0
5843	0.86	254.3	713.0	8.9	389	5856	0.00	2.80	6.12	0.981	4	0.000	0.087	2640	3535	1762	0	0	0	0	0	0
5868	0.87	267.3	710.6	8.6	389	5888	0.00	2.70	13.48	1.131	6	0.000	0.073	2640	1924	1709	0	0	0	0	0	0
6213	0.88	274.2	679.2	8.9	401	6228	0.10	2.67	6.95	1.007	4	0.179	0.095	2665	365	1682	0	0	0	0	0	0
6481	0.88	274.2	654.2	9.5	409	6486	0.00	2.67	0.00	0.000	6	0.000	0.069	2666	2031	1680	0	0	0	0	0	0
6817	0.88	274.2	618.2	11.4	420	6821	0.00	2.53	0.00	0.000	4	0.000	0.090	2666	3538	1679	0	0	0	0	0	0
7051	0.88	274.2	592.5	10.9	429	7057	0.00	2.50	0.00	0.000	6	0.000	0.074	2666	2048	1677	0	0	0	0	0	0
7376	0.88	274.2	556.7	11.3	460	7377	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2048	1677	0	0	0	0	0	0
7696	0.88	274.2	521.5	11.4	490	7701	0.00	2.50	0.00	0.000	4	0.000	0.090	2665	3534	1677	0	0	0	0	0	0
7746	0.88	274.2	515.9	11.0	494	7751	0.00	2.45	0.00	0.000	6	0.000	0.073	2665	2045	1677	0	0	0	0	0	0
8070	0.88	274.2	480.6	10.7	524	8071	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2047	1677	0	0	0	0	0	0
8391	0.88	274.2	445.3	11.1	554	8396	0.00	2.50	0.00	0.000	4	0.000	0.089	2665	3535	1676	0	0	0	0	0	0
8469	0.88	274.2	436.8	9.7	560	8475	0.00	2.42	0.00	0.000	6	0.000	0.073	2666	2052	1676	0	0	0	0	0	0
8795	0.88	274.2	400.7	11.9	591	8799	0.00	2.75	0.00	0.000	4	0.000	0.094	2666	364	1676	0	0	0	0	0	0
9006	0.88	274.2	378.7	10.1	609	9013	0.00	2.70	0.00	0.000	6	0.000	0.070	2666	2072	1676	0	0	0	0	0	0
9331	0.88	274.2	346.5	10.8	640	9336	0.00	2.80	0.00	0.000	4	0.000	0.094	2666	365	1676	0	0	0	0	0	0
9588	0.88	274.2	319.8	9.8	662	9594	0.00	2.67	0.00	0.000	6	0.000	0.069	2666	2067	1676	0	0	0	0	0	0
9913	0.88	274.2	285.4	10.8	693	9917	0.00	2.80	0.00	0.000	4	0.000	0.094	2666	358	1676	0	0	0	0	0	0
10169	0.88	274.2	260.1	9.2	715	10176	0.00	2.70	0.00	0.000	6	0.000	0.069	2666	2076	1676	0	0	0	0	0	0
10495	0.88	274.2	232.4	9.7	746	10499	0.00	2.80	0.00	0.000	4	0.000	0.093	2666	364	1676	0	0	0	0	0	0
10579	0.89	283.9	224.5	8.8	753	10594	0.00	2.60	9.02	0.854	6	0.000	0.069	2666	2023	1642	0	0	0	0	0	0
10920	0.89	283.9	191.3	9.7	785	10924	0.00	2.72	0.00	0.000	4	0.000	0.094	2665	364	1640	0	0	0	0	0	0
11176	0.92	302.2	167.3	8.4	807	11198	0.00	2.65	16.77	0.869	6	0.000	0.068	2665	2050	1567	0	0	0	0	0	0
11516	0.92	302.2	136.4	9.6	839	11520	0.00	2.80	0.00	0.000	4	0.000	0.093	2666	354	1561	0	0	0	0	0	0
11611	0.92	302.2	126.8	10.9	847	11616	0.00	2.75	0.00	0.000	6	0.000	0.068	2665	2087	1560	0	0	0	0	0	0
11938	0.94	317.0	96.7	8.5	880	11956	0.00	2.50	12.77	0.803	4	0.000	0.086	2666	3536	1506	0	0	0	0	0	0
12040	0.94	317.0	87.2	10.1	898	12046	0.00	2.60	0.00	0.000	6	0.000	0.071	2665	1960	1504	0	0	0	0	0	0
12382	0.95	330.6	59.0	8.6	959	12403	0.00	2.67	12.70	0.772	4	0.000	0.091	2666	365	1450	0	0	0	0	0	0
12515	0.97	344.7	47.4	8.6	983	12535	0.12	2.80	13.00	0.760	6	0.174	0.067	2700	2125	1394	0	0	0	0	0	0
12870	0.97	344.7	11.1	11.2	1046	12877	0.00	2.88	0.00	0.000	4	0.000	0.091	2700	359	1388	0	0	0	0	0	0
12949	end climb: SURFACE_DEPTH_REACHED
state	12949	begin surface coast
12955	end surface coast: CONTROL_FINISHED_OK
state	12956	begin surface