Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 141 * 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 141 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 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 -30132.803 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 -30132.803

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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 141 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 100257,6657.678,-5733.937,38,2.3,57,-37.6 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101543,6657.640,-5734.034,10,1.7,16,-37.6 MHEAD_RNG_PITCHd_Wd 66.0,34694,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 814

Post-dive calculations and measurements:

FINISH 0.5,1.002759 _24V_AH 22.7,35.590

SM_CCo 12642,0.00,0.000,0,0,1176,398.37 _10V_AH 10.2,18.326

SM_GC 1.24,7.47,0.00,0.00,0.074,0.000,0.000,122,2468,1176,-7.05,0.23,398.37 FG_AHR_24Vo 0.000

RAFOS_CLK 842 FG_AHR_10Vo 0.000

RAFOS 0,1258372865,12.033333,12.018056,73,67,61,0,0,0,1052,213,185,0,0,0 MEM 187964

RAFOS_FIX 6700.301758,-5739.005859,161109,121239,5,83,0.76 DATA_FILE_SIZE 44193,1051

IRIDIUM_FIX 6625.71,-5734.67,100299,101058 CAP_FILE_SIZE 142469,0

TT8_MAMPS 0.026845 CFSIZE 260165632,238878720

HUMID 48.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.85776 SOUNDSPEED 1462.6

TCM_TEMP 17.50 CURRENT 0.445,250.1,1

XPDR_PINGS 13 GPS 161109,134830,6658.765,-5734.920,39,1.6,44,-37.7

ALTIM_TOP_PING 19.5,19.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 312 141.90 SBE_CT 751 24 409.65

Roll_motor 131 95 286.08 SBE_O2 755 19 326.06

VBD_pump_during_apogee 472 1300 13955.35 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 89 103 208.22 nil 0 0 0.00

Iridium_during_connect 105 160 382.44 nil 0 0 0.00

Iridium_during_xfer 322 223 1630.47

Transponder_ping 3 420 33.37

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.15

TT8 2084 19 423.58

LPSleep 7909 2 186.37

TT8_Active 563 19 114.52

TT8_Sampling 2153 39 876.82

TT8_CF8 708 45 331.65

TT8_Kalman 0 0 0.00

Analog_circuits 1692 12 207.18

GPS_charging 0 0 0.00

Compass 2108 8 172.08

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 0 115 0.00 0.00 -97.20 0.000 2 0.000 0.000 123 2468 3065 0 0 0 0 0 0

118 -0.73 -146.0 3.1 -4.2 19 144 10.15 0.00 -9.57 0.000 6 0.313 0.000 2150 2469 3398 0 0 0 0 0 0

480 -0.73 -146.0 105.6 -25.7 82 485 0.00 2.50 0.00 0.000 4 0.000 0.096 2150 3917 3401 0 0 0 0 0 0

553 -0.73 -146.0 124.0 -24.8 88 557 0.00 2.42 0.00 0.000 6 0.000 0.071 2151 2458 3401 0 0 0 0 0 0

879 -0.73 -146.0 204.3 -25.1 118 883 0.00 2.50 0.00 0.000 4 0.000 0.094 2150 3909 3401 0 0 0 0 0 0

1136 -0.73 -146.0 269.1 -23.9 140 1142 0.00 2.38 0.00 0.000 6 0.000 0.070 2151 2469 3401 0 0 0 0 0 0

1460 -0.73 -146.0 341.6 -22.4 171 1465 0.00 2.47 0.00 0.000 4 0.000 0.094 2151 3911 3401 0 0 0 0 0 0

1601 -0.73 -146.0 374.8 -24.2 183 1605 0.00 2.38 0.00 0.000 6 0.000 0.071 2151 2472 3400 0 0 0 0 0 0

1925 -0.73 -146.0 444.8 -21.1 213 1929 0.00 2.47 0.00 0.000 4 0.000 0.094 2151 3920 3400 0 0 0 0 0 0

2065 -0.73 -146.0 476.5 -23.7 225 2069 0.00 2.38 0.00 0.000 6 0.000 0.071 2151 2478 3400 0 0 0 0 0 0

2389 -0.73 -146.0 545.1 -20.7 255 2393 0.00 2.45 0.00 0.000 4 0.000 0.094 2151 3913 3400 0 0 0 0 0 0

2428 -0.73 -146.0 553.3 -21.9 258 2432 0.00 2.35 0.00 0.000 6 0.000 0.070 2151 2486 3400 0 0 0 0 0 0

2756 -0.73 -146.0 619.5 -20.3 283 2760 0.00 2.42 0.00 0.000 4 0.000 0.093 2151 3909 3400 0 0 0 0 0 0

2878 -0.73 -146.0 645.8 -21.7 286 2884 0.00 2.33 0.00 0.000 6 0.000 0.070 2151 2490 3400 0 0 0 0 0 0

3190 -0.73 -146.0 707.0 -19.7 297 3194 0.00 2.42 0.00 0.000 4 0.000 0.094 2150 3911 3400 0 0 0 0 0 0

3373 -0.73 -146.0 747.6 -21.9 302 3378 0.00 2.35 0.00 0.000 6 0.000 0.070 2150 2503 3400 0 0 0 0 0 0

3691 -0.73 -146.0 813.1 -20.4 313 3695 0.00 2.15 0.00 0.000 3 0.000 0.093 2151 3772 3400 0 0 0 0 0 0

3696 end dive: TARGET_DEPTH_EXCEEDED

state 3696 begin apogee

3703 -0.16 0.0 814.1 20.3 313 3829 0.73 0.00 122.22 1.301 6 0.255 0.000 2326 1946 2800 0 0 0 0 0 0

3830 end apogee: CONTROL_FINISHED_OK

state 3830 begin climb

3832 0.73 146.0 828.8 0.0 317 3970 1.20 2.92 128.32 1.243 4 0.226 0.091 2611 366 2202 0 0 0 0 0 0

4077 0.81 215.2 816.3 6.3 324 4147 0.15 2.70 61.08 1.215 6 0.170 0.068 2648 1954 1921 0 0 0 0 0 0

4482 0.81 218.9 782.0 9.0 338 4487 0.00 2.72 0.00 0.000 4 0.000 0.093 2648 365 1912 0 0 0 0 0 0

4739 0.82 226.6 758.7 8.8 345 4754 0.00 2.58 9.32 1.086 6 0.000 0.068 2648 1957 1877 0 0 0 0 0 0

5084 0.83 233.9 728.1 8.9 357 5098 0.00 2.75 8.02 1.058 4 0.000 0.094 2648 359 1846 0 0 0 0 0 0

5319 0.83 233.9 706.7 9.7 364 5323 0.00 2.72 0.00 0.000 6 0.000 0.070 2648 2055 1845 0 0 0 0 0 0

5653 0.83 233.9 673.7 10.3 375 5657 0.00 2.50 0.00 0.000 4 0.000 0.089 2648 3539 1844 0 0 0 0 0 0

5909 0.83 233.9 648.0 9.7 382 5916 0.00 2.40 0.00 0.000 6 0.000 0.073 2648 2086 1843 0 0 0 0 0 0

6222 0.83 233.9 616.6 10.4 393 6227 0.00 2.83 0.00 0.000 4 0.000 0.094 2648 363 1843 0 0 0 0 0 0

6288 0.83 234.6 610.2 9.1 395 6292 0.00 2.78 0.00 0.000 6 0.000 0.070 2648 2109 1843 0 0 0 0 0 0

6616 0.83 234.6 581.0 9.6 417 6621 0.00 2.88 0.00 0.000 4 0.000 0.094 2648 364 1843 0 0 0 0 0 0

6874 0.84 238.4 557.1 9.0 439 6884 0.00 2.80 5.18 0.885 6 0.000 0.071 2647 2132 1828 0 0 0 0 0 0

7203 0.84 238.4 525.8 10.0 470 7208 0.00 2.92 0.00 0.000 4 0.000 0.094 2648 360 1827 0 0 0 0 0 0

7448 0.84 242.9 502.8 9.0 491 7459 0.00 2.85 5.82 0.896 6 0.000 0.071 2648 2156 1809 0 0 0 0 0 0

7779 0.84 242.9 472.3 9.8 522 7780 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2156 1808 0 0 0 0 0 0

8098 0.84 242.9 438.8 10.5 552 8101 0.00 2.30 0.00 0.000 4 0.000 0.088 2648 3536 1808 0 0 0 0 0 0

8181 0.84 242.9 430.2 9.9 559 8187 0.00 2.28 0.00 0.000 6 0.000 0.073 2648 2156 1808 0 0 0 0 0 0

8505 0.84 242.9 396.0 10.7 590 8510 0.00 2.92 0.00 0.000 4 0.000 0.094 2648 363 1808 0 0 0 0 0 0

8567 0.84 242.9 389.9 9.4 595 8572 0.00 2.90 0.00 0.000 6 0.000 0.071 2648 2193 1808 0 0 0 0 0 0

8892 0.86 259.1 361.6 8.5 625 8913 0.00 3.05 15.52 0.975 4 0.000 0.092 2648 361 1741 0 0 0 0 0 0

9006 0.87 264.6 351.6 8.9 635 9017 0.00 2.70 6.07 0.833 6 0.000 0.069 2648 2053 1720 0 0 0 0 0 0

9335 0.87 267.4 322.7 9.1 666 9340 0.00 2.80 0.00 0.000 4 0.000 0.093 2648 360 1718 0 0 0 0 0 0

9429 0.91 298.2 314.8 7.9 674 9466 0.12 2.60 29.33 0.967 6 0.196 0.069 2679 1998 1584 0 0 0 0 0 0

9791 0.95 326.6 284.9 8.0 708 9822 0.00 2.80 25.00 0.932 4 0.000 0.094 2680 356 1467 0 0 0 0 0 0

9939 0.95 326.6 270.9 9.7 721 9946 0.00 2.88 0.00 0.000 6 0.000 0.067 2680 2135 1463 0 0 0 0 0 0

10264 0.95 326.6 239.3 10.5 752 10266 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2135 1460 0 0 0 0 0 0

10585 0.95 326.6 202.6 11.8 782 10590 0.00 2.38 0.00 0.000 4 0.000 0.088 2679 3547 1459 0 0 0 0 0 0

10625 0.95 326.6 197.7 11.4 785 10629 0.00 2.35 0.00 0.000 6 0.000 0.072 2680 2128 1459 0 0 0 0 0 0

10950 0.95 326.6 161.1 11.1 815 10954 0.00 2.38 0.00 0.000 4 0.000 0.086 2680 3540 1459 0 0 0 0 0 0

11044 0.95 326.6 151.5 9.9 823 11049 0.00 2.30 0.00 0.000 6 0.000 0.071 2680 2143 1459 0 0 0 0 0 0

11368 0.95 326.6 115.3 11.1 853 11373 0.00 2.90 0.00 0.000 4 0.000 0.090 2680 357 1459 0 0 0 0 0 0

11498 0.95 326.6 102.0 10.0 864 11503 0.00 2.83 0.00 0.000 6 0.000 0.067 2680 2152 1458 0 0 0 0 0 0

11839 0.95 326.6 69.4 9.5 922 11847 0.00 2.92 0.00 0.000 4 0.000 0.090 2680 363 1459 0 0 0 0 0 0

11886 0.96 337.1 65.0 8.7 930 11904 0.00 2.67 8.65 0.750 6 0.000 0.065 2680 2070 1425 0 0 0 0 0 0

12242 1.03 395.4 32.5 6.7 993 12297 0.15 2.60 48.05 0.776 4 0.184 0.086 2719 3547 1187 0 0 0 0 0 0

12449 1.03 395.4 11.1 11.2 1030 12455 0.00 2.65 0.00 0.000 6 0.000 0.069 2720 1957 1180 0 0 0 0 0 0

12541 end climb: SURFACE_DEPTH_REACHED

state 12541 begin surface coast

12566 end surface coast: CONTROL_FINISHED_OK

state 12566 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	141	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	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	-30132.803	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	100257,6657.678,-5733.937,38,2.3,57,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101543,6657.640,-5734.034,10,1.7,16,-37.6	MHEAD_RNG_PITCHd_Wd	66.0,34694,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	814

FINISH	0.5,1.002759	_24V_AH	22.7,35.590
SM_CCo	12642,0.00,0.000,0,0,1176,398.37	_10V_AH	10.2,18.326
SM_GC	1.24,7.47,0.00,0.00,0.074,0.000,0.000,122,2468,1176,-7.05,0.23,398.37	FG_AHR_24Vo	0.000
RAFOS_CLK	842	FG_AHR_10Vo	0.000
RAFOS	0,1258372865,12.033333,12.018056,73,67,61,0,0,0,1052,213,185,0,0,0	MEM	187964
RAFOS_FIX	6700.301758,-5739.005859,161109,121239,5,83,0.76	DATA_FILE_SIZE	44193,1051
IRIDIUM_FIX	6625.71,-5734.67,100299,101058	CAP_FILE_SIZE	142469,0
TT8_MAMPS	0.026845	CFSIZE	260165632,238878720
HUMID	48.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.85776	SOUNDSPEED	1462.6
TCM_TEMP	17.50	CURRENT	0.445,250.1,1
XPDR_PINGS	13	GPS	161109,134830,6658.765,-5734.920,39,1.6,44,-37.7
ALTIM_TOP_PING	19.5,19.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	312	141.90	SBE_CT	751	24	409.65
Roll_motor	131	95	286.08	SBE_O2	755	19	326.06
VBD_pump_during_apogee	472	1300	13955.35	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	89	103	208.22	nil	0	0	0.00
Iridium_during_connect	105	160	382.44	nil	0	0	0.00
Iridium_during_xfer	322	223	1630.47
Transponder_ping	3	420	33.37
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.15
TT8	2084	19	423.58
LPSleep	7909	2	186.37
TT8_Active	563	19	114.52
TT8_Sampling	2153	39	876.82
TT8_CF8	708	45	331.65
TT8_Kalman	0	0	0.00
Analog_circuits	1692	12	207.18
GPS_charging	0	0	0.00
Compass	2108	8	172.08
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	115	0.00	0.00	-97.20	0.000	2	0.000	0.000	123	2468	3065	0	0	0	0	0	0
118	-0.73	-146.0	3.1	-4.2	19	144	10.15	0.00	-9.57	0.000	6	0.313	0.000	2150	2469	3398	0	0	0	0	0	0
480	-0.73	-146.0	105.6	-25.7	82	485	0.00	2.50	0.00	0.000	4	0.000	0.096	2150	3917	3401	0	0	0	0	0	0
553	-0.73	-146.0	124.0	-24.8	88	557	0.00	2.42	0.00	0.000	6	0.000	0.071	2151	2458	3401	0	0	0	0	0	0
879	-0.73	-146.0	204.3	-25.1	118	883	0.00	2.50	0.00	0.000	4	0.000	0.094	2150	3909	3401	0	0	0	0	0	0
1136	-0.73	-146.0	269.1	-23.9	140	1142	0.00	2.38	0.00	0.000	6	0.000	0.070	2151	2469	3401	0	0	0	0	0	0
1460	-0.73	-146.0	341.6	-22.4	171	1465	0.00	2.47	0.00	0.000	4	0.000	0.094	2151	3911	3401	0	0	0	0	0	0
1601	-0.73	-146.0	374.8	-24.2	183	1605	0.00	2.38	0.00	0.000	6	0.000	0.071	2151	2472	3400	0	0	0	0	0	0
1925	-0.73	-146.0	444.8	-21.1	213	1929	0.00	2.47	0.00	0.000	4	0.000	0.094	2151	3920	3400	0	0	0	0	0	0
2065	-0.73	-146.0	476.5	-23.7	225	2069	0.00	2.38	0.00	0.000	6	0.000	0.071	2151	2478	3400	0	0	0	0	0	0
2389	-0.73	-146.0	545.1	-20.7	255	2393	0.00	2.45	0.00	0.000	4	0.000	0.094	2151	3913	3400	0	0	0	0	0	0
2428	-0.73	-146.0	553.3	-21.9	258	2432	0.00	2.35	0.00	0.000	6	0.000	0.070	2151	2486	3400	0	0	0	0	0	0
2756	-0.73	-146.0	619.5	-20.3	283	2760	0.00	2.42	0.00	0.000	4	0.000	0.093	2151	3909	3400	0	0	0	0	0	0
2878	-0.73	-146.0	645.8	-21.7	286	2884	0.00	2.33	0.00	0.000	6	0.000	0.070	2151	2490	3400	0	0	0	0	0	0
3190	-0.73	-146.0	707.0	-19.7	297	3194	0.00	2.42	0.00	0.000	4	0.000	0.094	2150	3911	3400	0	0	0	0	0	0
3373	-0.73	-146.0	747.6	-21.9	302	3378	0.00	2.35	0.00	0.000	6	0.000	0.070	2150	2503	3400	0	0	0	0	0	0
3691	-0.73	-146.0	813.1	-20.4	313	3695	0.00	2.15	0.00	0.000	3	0.000	0.093	2151	3772	3400	0	0	0	0	0	0
3696	end dive: TARGET_DEPTH_EXCEEDED
state	3696	begin apogee
3703	-0.16	0.0	814.1	20.3	313	3829	0.73	0.00	122.22	1.301	6	0.255	0.000	2326	1946	2800	0	0	0	0	0	0
3830	end apogee: CONTROL_FINISHED_OK
state	3830	begin climb
3832	0.73	146.0	828.8	0.0	317	3970	1.20	2.92	128.32	1.243	4	0.226	0.091	2611	366	2202	0	0	0	0	0	0
4077	0.81	215.2	816.3	6.3	324	4147	0.15	2.70	61.08	1.215	6	0.170	0.068	2648	1954	1921	0	0	0	0	0	0
4482	0.81	218.9	782.0	9.0	338	4487	0.00	2.72	0.00	0.000	4	0.000	0.093	2648	365	1912	0	0	0	0	0	0
4739	0.82	226.6	758.7	8.8	345	4754	0.00	2.58	9.32	1.086	6	0.000	0.068	2648	1957	1877	0	0	0	0	0	0
5084	0.83	233.9	728.1	8.9	357	5098	0.00	2.75	8.02	1.058	4	0.000	0.094	2648	359	1846	0	0	0	0	0	0
5319	0.83	233.9	706.7	9.7	364	5323	0.00	2.72	0.00	0.000	6	0.000	0.070	2648	2055	1845	0	0	0	0	0	0
5653	0.83	233.9	673.7	10.3	375	5657	0.00	2.50	0.00	0.000	4	0.000	0.089	2648	3539	1844	0	0	0	0	0	0
5909	0.83	233.9	648.0	9.7	382	5916	0.00	2.40	0.00	0.000	6	0.000	0.073	2648	2086	1843	0	0	0	0	0	0
6222	0.83	233.9	616.6	10.4	393	6227	0.00	2.83	0.00	0.000	4	0.000	0.094	2648	363	1843	0	0	0	0	0	0
6288	0.83	234.6	610.2	9.1	395	6292	0.00	2.78	0.00	0.000	6	0.000	0.070	2648	2109	1843	0	0	0	0	0	0
6616	0.83	234.6	581.0	9.6	417	6621	0.00	2.88	0.00	0.000	4	0.000	0.094	2648	364	1843	0	0	0	0	0	0
6874	0.84	238.4	557.1	9.0	439	6884	0.00	2.80	5.18	0.885	6	0.000	0.071	2647	2132	1828	0	0	0	0	0	0
7203	0.84	238.4	525.8	10.0	470	7208	0.00	2.92	0.00	0.000	4	0.000	0.094	2648	360	1827	0	0	0	0	0	0
7448	0.84	242.9	502.8	9.0	491	7459	0.00	2.85	5.82	0.896	6	0.000	0.071	2648	2156	1809	0	0	0	0	0	0
7779	0.84	242.9	472.3	9.8	522	7780	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2156	1808	0	0	0	0	0	0
8098	0.84	242.9	438.8	10.5	552	8101	0.00	2.30	0.00	0.000	4	0.000	0.088	2648	3536	1808	0	0	0	0	0	0
8181	0.84	242.9	430.2	9.9	559	8187	0.00	2.28	0.00	0.000	6	0.000	0.073	2648	2156	1808	0	0	0	0	0	0
8505	0.84	242.9	396.0	10.7	590	8510	0.00	2.92	0.00	0.000	4	0.000	0.094	2648	363	1808	0	0	0	0	0	0
8567	0.84	242.9	389.9	9.4	595	8572	0.00	2.90	0.00	0.000	6	0.000	0.071	2648	2193	1808	0	0	0	0	0	0
8892	0.86	259.1	361.6	8.5	625	8913	0.00	3.05	15.52	0.975	4	0.000	0.092	2648	361	1741	0	0	0	0	0	0
9006	0.87	264.6	351.6	8.9	635	9017	0.00	2.70	6.07	0.833	6	0.000	0.069	2648	2053	1720	0	0	0	0	0	0
9335	0.87	267.4	322.7	9.1	666	9340	0.00	2.80	0.00	0.000	4	0.000	0.093	2648	360	1718	0	0	0	0	0	0
9429	0.91	298.2	314.8	7.9	674	9466	0.12	2.60	29.33	0.967	6	0.196	0.069	2679	1998	1584	0	0	0	0	0	0
9791	0.95	326.6	284.9	8.0	708	9822	0.00	2.80	25.00	0.932	4	0.000	0.094	2680	356	1467	0	0	0	0	0	0
9939	0.95	326.6	270.9	9.7	721	9946	0.00	2.88	0.00	0.000	6	0.000	0.067	2680	2135	1463	0	0	0	0	0	0
10264	0.95	326.6	239.3	10.5	752	10266	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2135	1460	0	0	0	0	0	0
10585	0.95	326.6	202.6	11.8	782	10590	0.00	2.38	0.00	0.000	4	0.000	0.088	2679	3547	1459	0	0	0	0	0	0
10625	0.95	326.6	197.7	11.4	785	10629	0.00	2.35	0.00	0.000	6	0.000	0.072	2680	2128	1459	0	0	0	0	0	0
10950	0.95	326.6	161.1	11.1	815	10954	0.00	2.38	0.00	0.000	4	0.000	0.086	2680	3540	1459	0	0	0	0	0	0
11044	0.95	326.6	151.5	9.9	823	11049	0.00	2.30	0.00	0.000	6	0.000	0.071	2680	2143	1459	0	0	0	0	0	0
11368	0.95	326.6	115.3	11.1	853	11373	0.00	2.90	0.00	0.000	4	0.000	0.090	2680	357	1459	0	0	0	0	0	0
11498	0.95	326.6	102.0	10.0	864	11503	0.00	2.83	0.00	0.000	6	0.000	0.067	2680	2152	1458	0	0	0	0	0	0
11839	0.95	326.6	69.4	9.5	922	11847	0.00	2.92	0.00	0.000	4	0.000	0.090	2680	363	1459	0	0	0	0	0	0
11886	0.96	337.1	65.0	8.7	930	11904	0.00	2.67	8.65	0.750	6	0.000	0.065	2680	2070	1425	0	0	0	0	0	0
12242	1.03	395.4	32.5	6.7	993	12297	0.15	2.60	48.05	0.776	4	0.184	0.086	2719	3547	1187	0	0	0	0	0	0
12449	1.03	395.4	11.1	11.2	1030	12455	0.00	2.65	0.00	0.000	6	0.000	0.069	2720	1957	1180	0	0	0	0	0	0
12541	end climb: SURFACE_DEPTH_REACHED
state	12541	begin surface coast
12566	end surface coast: CONTROL_FINISHED_OK
state	12566	begin surface