Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 145 * 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 145 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 -30215.436 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 -30215.436

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 145 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 003337,6658.170,-5728.080,38,1.2,38,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 003925,6658.164,-5728.097,9,1.2,14,-37.6 MHEAD_RNG_PITCHd_Wd 65.4,30309,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 811

Post-dive calculations and measurements:

FINISH 0.6,1.026578 _24V_AH 22.7,36.217

SM_CCo 12641,0.00,0.000,0,0,1304,366.97 _10V_AH 10.1,18.597

SM_GC 1.21,7.35,0.00,0.00,0.076,0.000,0.000,128,2460,1304,-7.03,0.00,366.97 FG_AHR_24Vo 0.000

RAFOS_CLK 811 FG_AHR_10Vo 0.000

RAFOS 3,1258417503,0.433333,0.417500,106,57,56,0,0,0,907,211,174,0,0,0 MEM 187980

RAFOS_FIX 6654.962402,-5736.924805,171109,000026,5,86,0.00 DATA_FILE_SIZE 44231,1050

IRIDIUM_FIX 6631.12,-5731.73,100299,212120 CAP_FILE_SIZE 132734,0

TT8_MAMPS 0.029146 CFSIZE 260165632,238604288

HUMID 48.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.86753 SOUNDSPEED 1463.2

TCM_TEMP 17.50 CURRENT 0.304,256.5,1

XPDR_PINGS 10 GPS 171109,041207,6658.885,-5727.346,39,1.0,39,-37.6

ALTIM_TOP_PING 19.6,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 309 137.00 SBE_CT 751 24 409.67

Roll_motor 129 100 295.54 SBE_O2 753 19 324.87

VBD_pump_during_apogee 445 1298 13123.01 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 29 103 69.05 nil 0 0 0.00

Iridium_during_connect 31 160 115.61 nil 0 0 0.00

Iridium_during_xfer 170 223 864.66

Transponder_ping 2 420 26.22

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.88

TT8 2113 19 425.26

LPSleep 7821 2 182.48

TT8_Active 575 19 115.74

TT8_Sampling 2082 39 839.81

TT8_CF8 407 45 189.21

TT8_Kalman 0 0 0.00

Analog_circuits 1662 12 201.47

GPS_charging 0 0 0.00

Compass 2043 8 165.14

RAFOS 1440 1 21.82

Transponder 2 30 0.79

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 0 124 0.00 0.00 -105.90 0.000 2 0.000 0.000 120 2462 3105 0 0 0 0 0 0

128 -0.73 -146.0 3.2 -5.1 20 154 10.02 2.70 -7.97 0.000 4 0.309 0.095 2147 874 3399 0 0 0 0 0 0

182 -0.73 -146.0 19.5 -29.3 30 189 0.00 2.62 0.00 0.000 6 0.000 0.077 2147 2460 3400 0 0 0 0 0 0

527 -0.73 -146.0 117.2 -25.4 86 532 0.00 2.50 0.00 0.000 4 0.000 0.093 2148 3909 3401 0 0 0 0 0 0

685 -0.73 -146.0 157.5 -24.2 99 690 0.00 2.38 0.00 0.000 6 0.000 0.067 2147 2462 3401 0 0 0 0 0 0

1008 -0.73 -146.0 232.4 -23.0 130 1010 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2462 3401 0 0 0 0 0 0

1329 -0.73 -146.0 301.5 -21.7 160 1333 0.00 2.47 0.00 0.000 4 0.000 0.091 2147 3911 3401 0 0 0 0 0 0

1585 -0.73 -146.0 360.4 -23.1 182 1592 0.00 2.38 0.00 0.000 6 0.000 0.067 2147 2486 3400 0 0 0 0 0 0

1910 -0.73 -146.0 429.6 -21.4 213 1914 0.00 2.42 0.00 0.000 4 0.000 0.091 2147 3911 3401 0 0 0 0 0 0

2032 -0.73 -146.0 457.6 -22.3 223 2038 0.00 2.38 0.00 0.000 6 0.000 0.067 2147 2481 3401 0 0 0 0 0 0

2358 -0.73 -146.0 526.2 -20.8 254 2362 0.00 2.42 0.00 0.000 4 0.000 0.091 2147 3910 3401 0 0 0 0 0 0

2465 -0.73 -146.0 549.4 -21.8 263 2469 0.00 2.33 0.00 0.000 6 0.000 0.067 2147 2486 3401 0 0 0 0 0 0

2807 -0.73 -146.0 619.4 -20.2 289 2811 0.00 2.42 0.00 0.000 4 0.000 0.090 2147 3918 3401 0 0 0 0 0 0

2889 -0.73 -146.0 637.2 -21.6 291 2894 0.00 2.35 0.00 0.000 6 0.000 0.067 2147 2499 3401 0 0 0 0 0 0

3208 -0.73 -146.0 701.0 -20.0 302 3212 0.00 2.40 0.00 0.000 4 0.000 0.091 2147 3914 3401 0 0 0 0 0 0

3279 -0.73 -146.0 716.2 -20.5 304 3284 0.00 2.30 0.00 0.000 6 0.000 0.067 2147 2498 3400 0 0 0 0 0 0

3609 -0.73 -146.0 782.2 -20.3 315 3613 0.00 2.40 0.00 0.000 4 0.000 0.091 2147 3912 3400 0 0 0 0 0 0

3725 -0.73 -146.0 806.8 -20.0 318 3730 0.00 2.33 0.00 0.000 6 0.000 0.067 2147 2511 3400 0 0 0 0 0 0

3766 end dive: TARGET_DEPTH_EXCEEDED

state 3766 begin apogee

3771 -0.16 0.0 814.6 19.1 320 3897 0.75 0.00 122.30 1.299 6 0.246 0.000 2330 1944 2800 0 0 0 0 0 0

3898 end apogee: CONTROL_FINISHED_OK

state 3898 begin climb

3900 0.73 146.0 827.4 0.0 324 4034 1.15 0.00 127.80 1.241 6 0.218 0.000 2609 1944 2204 0 0 0 0 0 0

4330 0.80 209.0 802.6 6.5 338 4391 0.12 0.00 55.03 1.223 6 0.170 0.000 2642 1944 1946 0 0 0 0 0 0

4698 0.81 217.5 772.2 8.8 350 4712 0.00 2.83 7.45 1.018 4 0.000 0.084 2642 3530 1912 0 0 0 0 0 0

4717 0.81 217.5 770.3 9.2 350 4721 0.00 2.50 0.00 0.000 6 0.000 0.070 2643 2066 1912 0 0 0 0 0 0

5036 0.81 217.5 740.7 9.6 361 5040 0.00 2.83 0.00 0.000 4 0.000 0.091 2643 365 1910 0 0 0 0 0 0

5158 0.84 235.6 730.3 8.4 364 5180 0.00 2.78 17.17 1.170 6 0.000 0.068 2643 2092 1839 0 0 0 0 0 0

5498 0.84 235.6 699.1 9.2 376 5503 0.00 2.88 0.00 0.000 4 0.000 0.091 2643 367 1834 0 0 0 0 0 0

5704 0.84 238.0 680.6 9.1 382 5709 0.00 2.80 0.00 0.000 6 0.000 0.068 2643 2119 1832 0 0 0 0 0 0

6028 0.85 247.1 652.9 8.8 393 6044 0.00 2.92 10.62 1.098 4 0.000 0.092 2643 366 1792 0 0 0 0 0 0

6217 0.85 247.1 635.3 9.8 398 6224 0.00 3.00 0.00 0.000 6 0.000 0.069 2643 2235 1790 0 0 0 0 0 0

6530 0.85 247.1 606.4 9.6 409 6534 0.00 2.17 0.00 0.000 4 0.000 0.087 2643 3537 1790 0 0 0 0 0 0

6789 0.85 247.1 579.1 11.4 428 6793 0.00 2.12 0.00 0.000 6 0.000 0.071 2643 2250 1788 0 0 0 0 0 0

7119 0.85 247.1 542.2 11.7 459 7123 0.00 3.08 0.00 0.000 4 0.000 0.091 2643 366 1788 0 0 0 0 0 0

7292 0.85 247.1 524.4 10.4 474 7297 0.00 3.00 0.00 0.000 6 0.000 0.071 2643 2251 1787 0 0 0 0 0 0

7616 0.85 251.6 494.1 9.0 504 7628 0.00 2.17 4.80 0.833 4 0.000 0.088 2643 3545 1774 0 0 0 0 0 0

7880 0.85 251.6 467.9 10.3 527 7887 0.00 2.17 0.00 0.000 6 0.000 0.071 2643 2243 1774 0 0 0 0 0 0

8205 0.85 251.6 437.3 9.9 558 8208 0.00 2.17 0.00 0.000 4 0.000 0.089 2643 3538 1774 0 0 0 0 0 0

8368 0.86 254.1 422.1 9.1 572 8377 0.00 2.05 4.22 0.759 6 0.000 0.071 2643 2291 1763 0 0 0 0 0 0

8702 0.86 256.3 391.0 9.1 604 8707 0.00 3.15 0.00 0.000 4 0.000 0.091 2643 363 1762 0 0 0 0 0 0

8775 0.87 263.4 384.6 8.9 610 8791 0.00 3.10 9.85 0.961 6 0.000 0.071 2643 2311 1726 0 0 0 0 0 0

9110 0.92 302.7 358.8 7.5 641 9152 0.12 3.33 34.42 1.001 4 0.167 0.092 2678 361 1565 0 0 0 0 0 0

9370 0.92 302.7 335.4 9.4 664 9377 0.00 3.15 0.00 0.000 6 0.000 0.071 2678 2314 1560 0 0 0 0 0 0

9695 0.92 302.7 303.6 11.4 695 9700 0.00 3.22 0.00 0.000 4 0.000 0.091 2678 367 1559 0 0 0 0 0 0

9790 0.93 312.7 293.9 8.7 703 9805 0.00 3.10 9.05 0.881 6 0.000 0.069 2678 2303 1524 0 0 0 0 0 0

10125 0.93 312.7 257.1 11.5 734 10126 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2303 1522 0 0 0 0 0 0

10444 0.93 312.7 219.4 11.9 764 10449 0.00 3.20 0.00 0.000 4 0.000 0.091 2678 361 1521 0 0 0 0 0 0

10511 0.93 312.7 211.8 10.1 769 10517 0.00 3.05 0.00 0.000 6 0.000 0.068 2678 2286 1521 0 0 0 0 0 0

10836 0.93 312.7 173.5 13.0 800 10841 0.00 3.15 0.00 0.000 4 0.000 0.089 2679 364 1521 0 0 0 0 0 0

11092 0.93 312.7 142.1 12.0 822 11099 0.00 3.03 0.00 0.000 6 0.000 0.069 2678 2274 1521 0 0 0 0 0 0

11418 0.93 312.7 106.7 9.8 853 11423 0.00 3.12 0.00 0.000 4 0.000 0.090 2678 363 1521 0 0 0 0 0 0

11503 0.93 312.7 98.2 10.2 861 11511 0.00 3.08 0.00 0.000 6 0.000 0.069 2679 2306 1521 0 0 0 0 0 0

11845 0.93 312.7 66.4 9.3 922 11851 0.00 2.05 0.00 0.000 4 0.000 0.089 2678 3539 1521 0 0 0 0 0 0

11935 0.93 312.7 58.1 9.9 938 11941 0.00 2.03 0.00 0.000 6 0.000 0.068 2678 2295 1521 0 0 0 0 0 0

12276 0.99 364.1 28.1 7.0 999 12325 0.00 3.22 42.47 0.776 4 0.000 0.089 2678 361 1314 0 0 0 0 0 0

12342 0.99 364.1 21.6 12.9 1011 12350 0.00 3.15 0.00 0.000 6 0.000 0.067 2678 2312 1312 0 0 0 0 0 0

12544 end climb: SURFACE_DEPTH_REACHED

state 12544 begin surface coast

12565 end surface coast: CONTROL_FINISHED_OK

state 12565 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	145	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	-30215.436	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	003337,6658.170,-5728.080,38,1.2,38,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	003925,6658.164,-5728.097,9,1.2,14,-37.6	MHEAD_RNG_PITCHd_Wd	65.4,30309,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	811

FINISH	0.6,1.026578	_24V_AH	22.7,36.217
SM_CCo	12641,0.00,0.000,0,0,1304,366.97	_10V_AH	10.1,18.597
SM_GC	1.21,7.35,0.00,0.00,0.076,0.000,0.000,128,2460,1304,-7.03,0.00,366.97	FG_AHR_24Vo	0.000
RAFOS_CLK	811	FG_AHR_10Vo	0.000
RAFOS	3,1258417503,0.433333,0.417500,106,57,56,0,0,0,907,211,174,0,0,0	MEM	187980
RAFOS_FIX	6654.962402,-5736.924805,171109,000026,5,86,0.00	DATA_FILE_SIZE	44231,1050
IRIDIUM_FIX	6631.12,-5731.73,100299,212120	CAP_FILE_SIZE	132734,0
TT8_MAMPS	0.029146	CFSIZE	260165632,238604288
HUMID	48.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.86753	SOUNDSPEED	1463.2
TCM_TEMP	17.50	CURRENT	0.304,256.5,1
XPDR_PINGS	10	GPS	171109,041207,6658.885,-5727.346,39,1.0,39,-37.6
ALTIM_TOP_PING	19.6,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	309	137.00	SBE_CT	751	24	409.67
Roll_motor	129	100	295.54	SBE_O2	753	19	324.87
VBD_pump_during_apogee	445	1298	13123.01	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	29	103	69.05	nil	0	0	0.00
Iridium_during_connect	31	160	115.61	nil	0	0	0.00
Iridium_during_xfer	170	223	864.66
Transponder_ping	2	420	26.22
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.88
TT8	2113	19	425.26
LPSleep	7821	2	182.48
TT8_Active	575	19	115.74
TT8_Sampling	2082	39	839.81
TT8_CF8	407	45	189.21
TT8_Kalman	0	0	0.00
Analog_circuits	1662	12	201.47
GPS_charging	0	0	0.00
Compass	2043	8	165.14
RAFOS	1440	1	21.82
Transponder	2	30	0.79

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	124	0.00	0.00	-105.90	0.000	2	0.000	0.000	120	2462	3105	0	0	0	0	0	0
128	-0.73	-146.0	3.2	-5.1	20	154	10.02	2.70	-7.97	0.000	4	0.309	0.095	2147	874	3399	0	0	0	0	0	0
182	-0.73	-146.0	19.5	-29.3	30	189	0.00	2.62	0.00	0.000	6	0.000	0.077	2147	2460	3400	0	0	0	0	0	0
527	-0.73	-146.0	117.2	-25.4	86	532	0.00	2.50	0.00	0.000	4	0.000	0.093	2148	3909	3401	0	0	0	0	0	0
685	-0.73	-146.0	157.5	-24.2	99	690	0.00	2.38	0.00	0.000	6	0.000	0.067	2147	2462	3401	0	0	0	0	0	0
1008	-0.73	-146.0	232.4	-23.0	130	1010	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2462	3401	0	0	0	0	0	0
1329	-0.73	-146.0	301.5	-21.7	160	1333	0.00	2.47	0.00	0.000	4	0.000	0.091	2147	3911	3401	0	0	0	0	0	0
1585	-0.73	-146.0	360.4	-23.1	182	1592	0.00	2.38	0.00	0.000	6	0.000	0.067	2147	2486	3400	0	0	0	0	0	0
1910	-0.73	-146.0	429.6	-21.4	213	1914	0.00	2.42	0.00	0.000	4	0.000	0.091	2147	3911	3401	0	0	0	0	0	0
2032	-0.73	-146.0	457.6	-22.3	223	2038	0.00	2.38	0.00	0.000	6	0.000	0.067	2147	2481	3401	0	0	0	0	0	0
2358	-0.73	-146.0	526.2	-20.8	254	2362	0.00	2.42	0.00	0.000	4	0.000	0.091	2147	3910	3401	0	0	0	0	0	0
2465	-0.73	-146.0	549.4	-21.8	263	2469	0.00	2.33	0.00	0.000	6	0.000	0.067	2147	2486	3401	0	0	0	0	0	0
2807	-0.73	-146.0	619.4	-20.2	289	2811	0.00	2.42	0.00	0.000	4	0.000	0.090	2147	3918	3401	0	0	0	0	0	0
2889	-0.73	-146.0	637.2	-21.6	291	2894	0.00	2.35	0.00	0.000	6	0.000	0.067	2147	2499	3401	0	0	0	0	0	0
3208	-0.73	-146.0	701.0	-20.0	302	3212	0.00	2.40	0.00	0.000	4	0.000	0.091	2147	3914	3401	0	0	0	0	0	0
3279	-0.73	-146.0	716.2	-20.5	304	3284	0.00	2.30	0.00	0.000	6	0.000	0.067	2147	2498	3400	0	0	0	0	0	0
3609	-0.73	-146.0	782.2	-20.3	315	3613	0.00	2.40	0.00	0.000	4	0.000	0.091	2147	3912	3400	0	0	0	0	0	0
3725	-0.73	-146.0	806.8	-20.0	318	3730	0.00	2.33	0.00	0.000	6	0.000	0.067	2147	2511	3400	0	0	0	0	0	0
3766	end dive: TARGET_DEPTH_EXCEEDED
state	3766	begin apogee
3771	-0.16	0.0	814.6	19.1	320	3897	0.75	0.00	122.30	1.299	6	0.246	0.000	2330	1944	2800	0	0	0	0	0	0
3898	end apogee: CONTROL_FINISHED_OK
state	3898	begin climb
3900	0.73	146.0	827.4	0.0	324	4034	1.15	0.00	127.80	1.241	6	0.218	0.000	2609	1944	2204	0	0	0	0	0	0
4330	0.80	209.0	802.6	6.5	338	4391	0.12	0.00	55.03	1.223	6	0.170	0.000	2642	1944	1946	0	0	0	0	0	0
4698	0.81	217.5	772.2	8.8	350	4712	0.00	2.83	7.45	1.018	4	0.000	0.084	2642	3530	1912	0	0	0	0	0	0
4717	0.81	217.5	770.3	9.2	350	4721	0.00	2.50	0.00	0.000	6	0.000	0.070	2643	2066	1912	0	0	0	0	0	0
5036	0.81	217.5	740.7	9.6	361	5040	0.00	2.83	0.00	0.000	4	0.000	0.091	2643	365	1910	0	0	0	0	0	0
5158	0.84	235.6	730.3	8.4	364	5180	0.00	2.78	17.17	1.170	6	0.000	0.068	2643	2092	1839	0	0	0	0	0	0
5498	0.84	235.6	699.1	9.2	376	5503	0.00	2.88	0.00	0.000	4	0.000	0.091	2643	367	1834	0	0	0	0	0	0
5704	0.84	238.0	680.6	9.1	382	5709	0.00	2.80	0.00	0.000	6	0.000	0.068	2643	2119	1832	0	0	0	0	0	0
6028	0.85	247.1	652.9	8.8	393	6044	0.00	2.92	10.62	1.098	4	0.000	0.092	2643	366	1792	0	0	0	0	0	0
6217	0.85	247.1	635.3	9.8	398	6224	0.00	3.00	0.00	0.000	6	0.000	0.069	2643	2235	1790	0	0	0	0	0	0
6530	0.85	247.1	606.4	9.6	409	6534	0.00	2.17	0.00	0.000	4	0.000	0.087	2643	3537	1790	0	0	0	0	0	0
6789	0.85	247.1	579.1	11.4	428	6793	0.00	2.12	0.00	0.000	6	0.000	0.071	2643	2250	1788	0	0	0	0	0	0
7119	0.85	247.1	542.2	11.7	459	7123	0.00	3.08	0.00	0.000	4	0.000	0.091	2643	366	1788	0	0	0	0	0	0
7292	0.85	247.1	524.4	10.4	474	7297	0.00	3.00	0.00	0.000	6	0.000	0.071	2643	2251	1787	0	0	0	0	0	0
7616	0.85	251.6	494.1	9.0	504	7628	0.00	2.17	4.80	0.833	4	0.000	0.088	2643	3545	1774	0	0	0	0	0	0
7880	0.85	251.6	467.9	10.3	527	7887	0.00	2.17	0.00	0.000	6	0.000	0.071	2643	2243	1774	0	0	0	0	0	0
8205	0.85	251.6	437.3	9.9	558	8208	0.00	2.17	0.00	0.000	4	0.000	0.089	2643	3538	1774	0	0	0	0	0	0
8368	0.86	254.1	422.1	9.1	572	8377	0.00	2.05	4.22	0.759	6	0.000	0.071	2643	2291	1763	0	0	0	0	0	0
8702	0.86	256.3	391.0	9.1	604	8707	0.00	3.15	0.00	0.000	4	0.000	0.091	2643	363	1762	0	0	0	0	0	0
8775	0.87	263.4	384.6	8.9	610	8791	0.00	3.10	9.85	0.961	6	0.000	0.071	2643	2311	1726	0	0	0	0	0	0
9110	0.92	302.7	358.8	7.5	641	9152	0.12	3.33	34.42	1.001	4	0.167	0.092	2678	361	1565	0	0	0	0	0	0
9370	0.92	302.7	335.4	9.4	664	9377	0.00	3.15	0.00	0.000	6	0.000	0.071	2678	2314	1560	0	0	0	0	0	0
9695	0.92	302.7	303.6	11.4	695	9700	0.00	3.22	0.00	0.000	4	0.000	0.091	2678	367	1559	0	0	0	0	0	0
9790	0.93	312.7	293.9	8.7	703	9805	0.00	3.10	9.05	0.881	6	0.000	0.069	2678	2303	1524	0	0	0	0	0	0
10125	0.93	312.7	257.1	11.5	734	10126	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2303	1522	0	0	0	0	0	0
10444	0.93	312.7	219.4	11.9	764	10449	0.00	3.20	0.00	0.000	4	0.000	0.091	2678	361	1521	0	0	0	0	0	0
10511	0.93	312.7	211.8	10.1	769	10517	0.00	3.05	0.00	0.000	6	0.000	0.068	2678	2286	1521	0	0	0	0	0	0
10836	0.93	312.7	173.5	13.0	800	10841	0.00	3.15	0.00	0.000	4	0.000	0.089	2679	364	1521	0	0	0	0	0	0
11092	0.93	312.7	142.1	12.0	822	11099	0.00	3.03	0.00	0.000	6	0.000	0.069	2678	2274	1521	0	0	0	0	0	0
11418	0.93	312.7	106.7	9.8	853	11423	0.00	3.12	0.00	0.000	4	0.000	0.090	2678	363	1521	0	0	0	0	0	0
11503	0.93	312.7	98.2	10.2	861	11511	0.00	3.08	0.00	0.000	6	0.000	0.069	2679	2306	1521	0	0	0	0	0	0
11845	0.93	312.7	66.4	9.3	922	11851	0.00	2.05	0.00	0.000	4	0.000	0.089	2678	3539	1521	0	0	0	0	0	0
11935	0.93	312.7	58.1	9.9	938	11941	0.00	2.03	0.00	0.000	6	0.000	0.068	2678	2295	1521	0	0	0	0	0	0
12276	0.99	364.1	28.1	7.0	999	12325	0.00	3.22	42.47	0.776	4	0.000	0.089	2678	361	1314	0	0	0	0	0	0
12342	0.99	364.1	21.6	12.9	1011	12350	0.00	3.15	0.00	0.000	6	0.000	0.067	2678	2312	1312	0	0	0	0	0	0
12544	end climb: SURFACE_DEPTH_REACHED
state	12544	begin surface coast
12565	end surface coast: CONTROL_FINISHED_OK
state	12565	begin surface