Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 148 * 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 148 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 20 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 -30260.461 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 -30260.461

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 20 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 148 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 111807,6658.399,-5723.010,34,0.9,34,-37.6 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 112602,6658.425,-5723.078,11,1.0,11,-37.6 MHEAD_RNG_PITCHd_Wd 64.1,26711,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 798

Post-dive calculations and measurements:

FINISH 0.4,1.000681 _24V_AH 22.7,36.689

SM_CCo 12151,0.00,0.000,0,0,1321,362.80 _10V_AH 10.1,18.798

SM_GC 1.26,7.40,0.00,0.00,0.077,0.000,0.000,126,2460,1321,-7.04,0.00,362.80 FG_AHR_24Vo 0.000

RAFOS_CLK 789 FG_AHR_10Vo 0.000

RAFOS 0,1258459264,12.033333,12.017777,73,56,55,0,0,0,1099,182,119,0,0,0 MEM 188024

RAFOS_FIX 6654.399902,-5727.819336,171109,121222,6,106,2.23 DATA_FILE_SIZE 41046,1019

IRIDIUM_FIX 6625.71,-5719.52,110299,080811 CAP_FILE_SIZE 131268,0

TT8_MAMPS 0.026845 CFSIZE 260165632,238395392

HUMID 49.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88706 SOUNDSPEED 1463.5

TCM_TEMP 17.50 CURRENT 0.353,269.6,1

XPDR_PINGS 11 GPS 171109,145036,6700.391,-5724.000,35,0.8,40,-37.6

ALTIM_TOP_PING 19.4,19.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 309 138.39 SBE_CT 730 24 397.74

Roll_motor 134 93 285.91 SBE_O2 731 19 315.41

VBD_pump_during_apogee 441 1287 12913.63 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 53 103 124.88 nil 0 0 0.00

Iridium_during_connect 114 160 416.64 nil 0 0 0.00

Iridium_during_xfer 138 223 698.81

Transponder_ping 3 420 28.60

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.38

TT8 2028 19 408.10

LPSleep 7603 2 177.41

TT8_Active 554 19 111.58

TT8_Sampling 1975 39 796.58

TT8_CF8 479 45 222.50

TT8_Kalman 0 0 0.00

Analog_circuits 1608 12 194.99

GPS_charging 0 0 0.00

Compass 1942 8 156.96

RAFOS 2520 1 38.18

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 121 0.00 0.00 -102.45 0.000 2 0.000 0.000 128 2472 3169 0 0 0 0 0 0

124 -0.73 -146.0 3.8 -7.3 20 147 10.02 2.67 -5.95 0.000 4 0.310 0.094 2149 870 3397 0 0 0 0 0 0

220 -0.73 -146.0 33.1 -30.2 37 226 0.00 2.62 0.00 0.000 6 0.000 0.077 2149 2461 3400 0 0 0 0 0 0

563 -0.73 -146.0 128.5 -24.3 89 567 0.00 2.50 0.00 0.000 4 0.000 0.093 2150 3921 3400 0 0 0 0 0 0

726 -0.73 -146.0 168.9 -26.0 103 730 0.00 2.40 0.00 0.000 6 0.000 0.068 2150 2469 3400 0 0 0 0 0 0

1050 -0.73 -146.0 248.5 -24.0 133 1054 0.00 2.47 0.00 0.000 4 0.000 0.091 2150 3914 3399 0 0 0 0 0 0

1156 -0.73 -146.0 274.4 -23.5 142 1160 0.00 2.38 0.00 0.000 6 0.000 0.067 2150 2471 3400 0 0 0 0 0 0

1480 -0.73 -146.0 348.4 -21.6 172 1484 0.00 2.47 0.00 0.000 4 0.000 0.091 2150 3918 3400 0 0 0 0 0 0

1669 -0.73 -146.0 391.2 -23.2 188 1675 0.00 2.38 0.00 0.000 6 0.000 0.067 2150 2492 3400 0 0 0 0 0 0

1996 -0.73 -146.0 461.3 -21.8 219 2000 0.00 2.42 0.00 0.000 4 0.000 0.091 2150 3914 3400 0 0 0 0 0 0

2118 -0.73 -146.0 488.9 -22.4 229 2125 0.00 2.33 0.00 0.000 6 0.000 0.067 2150 2492 3400 0 0 0 0 0 0

2443 -0.73 -146.0 558.1 -21.1 260 2448 0.00 2.42 0.00 0.000 4 0.000 0.091 2150 3917 3400 0 0 0 0 0 0

2539 -0.73 -146.0 579.2 -21.8 268 2543 0.00 2.33 0.00 0.000 6 0.000 0.067 2150 2495 3400 0 0 0 0 0 0

2854 -0.73 -146.0 645.1 -20.4 284 2858 0.00 2.42 0.00 0.000 4 0.000 0.091 2149 3922 3400 0 0 0 0 0 0

2971 -0.73 -146.0 669.5 -19.7 287 2975 0.00 2.33 0.00 0.000 6 0.000 0.067 2150 2499 3400 0 0 0 0 0 0

3289 -0.73 -146.0 730.0 -18.8 298 3294 0.00 2.40 0.00 0.000 4 0.000 0.091 2150 3911 3400 0 0 0 0 0 0

3355 -0.73 -146.0 743.5 -20.4 300 3360 0.00 2.33 0.00 0.000 6 0.000 0.067 2150 2515 3400 0 0 0 0 0 0

3658 end dive: TARGET_DEPTH_EXCEEDED

state 3658 begin apogee

3664 -0.16 0.0 801.1 19.4 310 3789 0.73 0.00 121.93 1.288 6 0.240 0.000 2328 1947 2800 0 0 0 0 0 0

3790 end apogee: CONTROL_FINISHED_OK

state 3790 begin climb

3792 0.73 146.0 815.0 0.0 314 3929 1.15 2.97 127.50 1.231 4 0.212 0.090 2610 363 2203 0 0 0 0 0 0

4008 0.80 206.9 804.4 6.6 320 4069 0.12 2.70 54.50 1.200 6 0.202 0.067 2638 1951 1955 0 0 0 0 0 0

4376 0.83 227.7 775.4 8.3 332 4400 0.00 2.80 18.33 1.155 4 0.000 0.091 2638 372 1871 0 0 0 0 0 0

4613 0.83 227.7 754.0 9.5 339 4617 0.00 2.62 0.00 0.000 6 0.000 0.067 2638 1989 1866 0 0 0 0 0 0

4946 0.85 245.9 724.6 8.4 350 4971 0.00 2.83 16.62 1.158 4 0.000 0.092 2638 365 1796 0 0 0 0 0 0

5033 0.85 247.3 717.1 9.1 352 5038 0.00 2.80 0.00 0.000 6 0.000 0.069 2638 2086 1794 0 0 0 0 0 0

5347 0.87 262.9 690.8 8.5 362 5368 0.00 2.50 16.20 1.147 4 0.000 0.085 2638 3538 1727 0 0 0 0 0 0

5502 0.89 280.1 676.7 8.4 366 5525 0.12 2.47 16.52 1.137 6 0.184 0.071 2669 2063 1656 0 0 0 0 0 0

5849 0.89 280.1 638.3 11.8 378 5854 0.00 2.83 0.00 0.000 4 0.000 0.093 2669 358 1652 0 0 0 0 0 0

5965 0.89 280.1 625.8 11.0 381 5970 0.00 2.75 0.00 0.000 6 0.000 0.069 2669 2074 1650 0 0 0 0 0 0

6280 0.89 280.1 591.0 12.2 395 6285 0.00 2.45 0.00 0.000 4 0.000 0.087 2669 3536 1651 0 0 0 0 0 0

6403 0.89 280.1 576.7 11.0 405 6409 0.00 2.42 0.00 0.000 6 0.000 0.071 2669 2072 1650 0 0 0 0 0 0

6729 0.89 280.1 538.2 11.4 436 6733 0.00 2.47 0.00 0.000 4 0.000 0.087 2669 3537 1650 0 0 0 0 0 0

6806 0.89 280.1 529.5 11.0 442 6812 0.00 2.38 0.00 0.000 6 0.000 0.071 2669 2094 1650 0 0 0 0 0 0

7130 0.89 280.1 492.9 11.4 473 7135 0.00 2.83 0.00 0.000 4 0.000 0.093 2669 365 1650 0 0 0 0 0 0

7196 0.89 280.1 486.1 9.3 478 7204 0.00 2.75 0.00 0.000 6 0.000 0.071 2669 2099 1649 0 0 0 0 0 0

7522 0.89 280.1 454.9 11.0 509 7526 0.00 2.40 0.00 0.000 4 0.000 0.087 2669 3536 1649 0 0 0 0 0 0

7594 0.90 284.4 447.6 9.0 515 7605 0.00 2.33 4.15 0.746 6 0.000 0.071 2669 2127 1638 0 0 0 0 0 0

7923 0.90 284.4 413.5 10.9 546 7928 0.00 2.88 0.00 0.000 4 0.000 0.093 2669 365 1638 0 0 0 0 0 0

7955 0.90 284.4 410.2 10.2 548 7961 0.00 2.83 0.00 0.000 6 0.000 0.071 2669 2146 1638 0 0 0 0 0 0

8281 0.90 284.4 377.2 10.9 579 8282 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2146 1637 0 0 0 0 0 0

8601 0.90 284.4 341.5 11.9 609 8605 0.00 2.92 0.00 0.000 4 0.000 0.092 2669 359 1637 0 0 0 0 0 0

8696 0.90 284.4 330.9 11.0 617 8700 0.00 2.80 0.00 0.000 6 0.000 0.068 2669 2138 1637 0 0 0 0 0 0

9020 0.90 284.4 297.0 11.2 647 9024 0.00 2.33 0.00 0.000 4 0.000 0.087 2669 3536 1637 0 0 0 0 0 0

9116 0.90 284.4 286.8 11.1 655 9120 0.00 2.28 0.00 0.000 6 0.000 0.071 2669 2150 1637 0 0 0 0 0 0

9440 0.90 284.4 252.1 11.6 685 9444 0.00 2.33 0.00 0.000 4 0.000 0.087 2669 3534 1637 0 0 0 0 0 0

9603 0.90 284.4 235.1 9.9 699 9607 0.00 2.28 0.00 0.000 6 0.000 0.071 2669 2146 1637 0 0 0 0 0 0

9928 0.90 284.4 203.2 9.8 729 9932 0.00 2.35 0.00 0.000 4 0.000 0.087 2669 3544 1637 0 0 0 0 0 0

9967 0.90 284.4 199.3 9.6 732 9972 0.00 2.55 0.00 0.000 6 0.000 0.071 2669 1992 1637 0 0 0 0 0 0

10291 0.90 284.4 167.0 10.1 762 10296 0.00 2.62 0.00 0.000 4 0.000 0.092 2669 363 1637 0 0 0 0 0 0

10323 0.91 295.3 163.9 8.7 764 10340 0.00 2.72 10.45 0.820 6 0.000 0.067 2669 2102 1595 0 0 0 0 0 0

10658 0.91 295.3 129.4 10.1 796 10663 0.00 2.85 0.00 0.000 4 0.000 0.091 2669 357 1593 0 0 0 0 0 0

10826 0.93 314.9 114.4 8.3 810 10854 0.00 2.83 17.95 0.815 6 0.000 0.067 2669 2155 1515 0 0 0 0 0 0

11181 0.94 318.1 84.1 9.0 859 11187 0.00 2.33 0.00 0.000 4 0.000 0.087 2669 3537 1511 0 0 0 0 0 0

11219 0.94 318.1 80.3 9.4 866 11225 0.00 2.05 0.00 0.000 6 0.000 0.067 2670 2292 1511 0 0 0 0 0 0

11561 0.99 359.7 49.7 7.4 927 11605 0.12 3.20 37.60 0.775 4 0.207 0.086 2699 361 1331 0 0 0 0 0 0

11778 0.99 359.7 27.8 10.5 966 11785 0.00 3.12 0.00 0.000 6 0.000 0.069 2699 2306 1326 0 0 0 0 0 0

12051 end climb: SURFACE_DEPTH_REACHED

state 12052 begin surface coast

12075 end surface coast: CONTROL_FINISHED_OK

state 12076 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	148	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	20	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	-30260.461	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	111807,6658.399,-5723.010,34,0.9,34,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	112602,6658.425,-5723.078,11,1.0,11,-37.6	MHEAD_RNG_PITCHd_Wd	64.1,26711,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	798

FINISH	0.4,1.000681	_24V_AH	22.7,36.689
SM_CCo	12151,0.00,0.000,0,0,1321,362.80	_10V_AH	10.1,18.798
SM_GC	1.26,7.40,0.00,0.00,0.077,0.000,0.000,126,2460,1321,-7.04,0.00,362.80	FG_AHR_24Vo	0.000
RAFOS_CLK	789	FG_AHR_10Vo	0.000
RAFOS	0,1258459264,12.033333,12.017777,73,56,55,0,0,0,1099,182,119,0,0,0	MEM	188024
RAFOS_FIX	6654.399902,-5727.819336,171109,121222,6,106,2.23	DATA_FILE_SIZE	41046,1019
IRIDIUM_FIX	6625.71,-5719.52,110299,080811	CAP_FILE_SIZE	131268,0
TT8_MAMPS	0.026845	CFSIZE	260165632,238395392
HUMID	49.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88706	SOUNDSPEED	1463.5
TCM_TEMP	17.50	CURRENT	0.353,269.6,1
XPDR_PINGS	11	GPS	171109,145036,6700.391,-5724.000,35,0.8,40,-37.6
ALTIM_TOP_PING	19.4,19.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	309	138.39	SBE_CT	730	24	397.74
Roll_motor	134	93	285.91	SBE_O2	731	19	315.41
VBD_pump_during_apogee	441	1287	12913.63	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	53	103	124.88	nil	0	0	0.00
Iridium_during_connect	114	160	416.64	nil	0	0	0.00
Iridium_during_xfer	138	223	698.81
Transponder_ping	3	420	28.60
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.38
TT8	2028	19	408.10
LPSleep	7603	2	177.41
TT8_Active	554	19	111.58
TT8_Sampling	1975	39	796.58
TT8_CF8	479	45	222.50
TT8_Kalman	0	0	0.00
Analog_circuits	1608	12	194.99
GPS_charging	0	0	0.00
Compass	1942	8	156.96
RAFOS	2520	1	38.18
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	121	0.00	0.00	-102.45	0.000	2	0.000	0.000	128	2472	3169	0	0	0	0	0	0
124	-0.73	-146.0	3.8	-7.3	20	147	10.02	2.67	-5.95	0.000	4	0.310	0.094	2149	870	3397	0	0	0	0	0	0
220	-0.73	-146.0	33.1	-30.2	37	226	0.00	2.62	0.00	0.000	6	0.000	0.077	2149	2461	3400	0	0	0	0	0	0
563	-0.73	-146.0	128.5	-24.3	89	567	0.00	2.50	0.00	0.000	4	0.000	0.093	2150	3921	3400	0	0	0	0	0	0
726	-0.73	-146.0	168.9	-26.0	103	730	0.00	2.40	0.00	0.000	6	0.000	0.068	2150	2469	3400	0	0	0	0	0	0
1050	-0.73	-146.0	248.5	-24.0	133	1054	0.00	2.47	0.00	0.000	4	0.000	0.091	2150	3914	3399	0	0	0	0	0	0
1156	-0.73	-146.0	274.4	-23.5	142	1160	0.00	2.38	0.00	0.000	6	0.000	0.067	2150	2471	3400	0	0	0	0	0	0
1480	-0.73	-146.0	348.4	-21.6	172	1484	0.00	2.47	0.00	0.000	4	0.000	0.091	2150	3918	3400	0	0	0	0	0	0
1669	-0.73	-146.0	391.2	-23.2	188	1675	0.00	2.38	0.00	0.000	6	0.000	0.067	2150	2492	3400	0	0	0	0	0	0
1996	-0.73	-146.0	461.3	-21.8	219	2000	0.00	2.42	0.00	0.000	4	0.000	0.091	2150	3914	3400	0	0	0	0	0	0
2118	-0.73	-146.0	488.9	-22.4	229	2125	0.00	2.33	0.00	0.000	6	0.000	0.067	2150	2492	3400	0	0	0	0	0	0
2443	-0.73	-146.0	558.1	-21.1	260	2448	0.00	2.42	0.00	0.000	4	0.000	0.091	2150	3917	3400	0	0	0	0	0	0
2539	-0.73	-146.0	579.2	-21.8	268	2543	0.00	2.33	0.00	0.000	6	0.000	0.067	2150	2495	3400	0	0	0	0	0	0
2854	-0.73	-146.0	645.1	-20.4	284	2858	0.00	2.42	0.00	0.000	4	0.000	0.091	2149	3922	3400	0	0	0	0	0	0
2971	-0.73	-146.0	669.5	-19.7	287	2975	0.00	2.33	0.00	0.000	6	0.000	0.067	2150	2499	3400	0	0	0	0	0	0
3289	-0.73	-146.0	730.0	-18.8	298	3294	0.00	2.40	0.00	0.000	4	0.000	0.091	2150	3911	3400	0	0	0	0	0	0
3355	-0.73	-146.0	743.5	-20.4	300	3360	0.00	2.33	0.00	0.000	6	0.000	0.067	2150	2515	3400	0	0	0	0	0	0
3658	end dive: TARGET_DEPTH_EXCEEDED
state	3658	begin apogee
3664	-0.16	0.0	801.1	19.4	310	3789	0.73	0.00	121.93	1.288	6	0.240	0.000	2328	1947	2800	0	0	0	0	0	0
3790	end apogee: CONTROL_FINISHED_OK
state	3790	begin climb
3792	0.73	146.0	815.0	0.0	314	3929	1.15	2.97	127.50	1.231	4	0.212	0.090	2610	363	2203	0	0	0	0	0	0
4008	0.80	206.9	804.4	6.6	320	4069	0.12	2.70	54.50	1.200	6	0.202	0.067	2638	1951	1955	0	0	0	0	0	0
4376	0.83	227.7	775.4	8.3	332	4400	0.00	2.80	18.33	1.155	4	0.000	0.091	2638	372	1871	0	0	0	0	0	0
4613	0.83	227.7	754.0	9.5	339	4617	0.00	2.62	0.00	0.000	6	0.000	0.067	2638	1989	1866	0	0	0	0	0	0
4946	0.85	245.9	724.6	8.4	350	4971	0.00	2.83	16.62	1.158	4	0.000	0.092	2638	365	1796	0	0	0	0	0	0
5033	0.85	247.3	717.1	9.1	352	5038	0.00	2.80	0.00	0.000	6	0.000	0.069	2638	2086	1794	0	0	0	0	0	0
5347	0.87	262.9	690.8	8.5	362	5368	0.00	2.50	16.20	1.147	4	0.000	0.085	2638	3538	1727	0	0	0	0	0	0
5502	0.89	280.1	676.7	8.4	366	5525	0.12	2.47	16.52	1.137	6	0.184	0.071	2669	2063	1656	0	0	0	0	0	0
5849	0.89	280.1	638.3	11.8	378	5854	0.00	2.83	0.00	0.000	4	0.000	0.093	2669	358	1652	0	0	0	0	0	0
5965	0.89	280.1	625.8	11.0	381	5970	0.00	2.75	0.00	0.000	6	0.000	0.069	2669	2074	1650	0	0	0	0	0	0
6280	0.89	280.1	591.0	12.2	395	6285	0.00	2.45	0.00	0.000	4	0.000	0.087	2669	3536	1651	0	0	0	0	0	0
6403	0.89	280.1	576.7	11.0	405	6409	0.00	2.42	0.00	0.000	6	0.000	0.071	2669	2072	1650	0	0	0	0	0	0
6729	0.89	280.1	538.2	11.4	436	6733	0.00	2.47	0.00	0.000	4	0.000	0.087	2669	3537	1650	0	0	0	0	0	0
6806	0.89	280.1	529.5	11.0	442	6812	0.00	2.38	0.00	0.000	6	0.000	0.071	2669	2094	1650	0	0	0	0	0	0
7130	0.89	280.1	492.9	11.4	473	7135	0.00	2.83	0.00	0.000	4	0.000	0.093	2669	365	1650	0	0	0	0	0	0
7196	0.89	280.1	486.1	9.3	478	7204	0.00	2.75	0.00	0.000	6	0.000	0.071	2669	2099	1649	0	0	0	0	0	0
7522	0.89	280.1	454.9	11.0	509	7526	0.00	2.40	0.00	0.000	4	0.000	0.087	2669	3536	1649	0	0	0	0	0	0
7594	0.90	284.4	447.6	9.0	515	7605	0.00	2.33	4.15	0.746	6	0.000	0.071	2669	2127	1638	0	0	0	0	0	0
7923	0.90	284.4	413.5	10.9	546	7928	0.00	2.88	0.00	0.000	4	0.000	0.093	2669	365	1638	0	0	0	0	0	0
7955	0.90	284.4	410.2	10.2	548	7961	0.00	2.83	0.00	0.000	6	0.000	0.071	2669	2146	1638	0	0	0	0	0	0
8281	0.90	284.4	377.2	10.9	579	8282	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2146	1637	0	0	0	0	0	0
8601	0.90	284.4	341.5	11.9	609	8605	0.00	2.92	0.00	0.000	4	0.000	0.092	2669	359	1637	0	0	0	0	0	0
8696	0.90	284.4	330.9	11.0	617	8700	0.00	2.80	0.00	0.000	6	0.000	0.068	2669	2138	1637	0	0	0	0	0	0
9020	0.90	284.4	297.0	11.2	647	9024	0.00	2.33	0.00	0.000	4	0.000	0.087	2669	3536	1637	0	0	0	0	0	0
9116	0.90	284.4	286.8	11.1	655	9120	0.00	2.28	0.00	0.000	6	0.000	0.071	2669	2150	1637	0	0	0	0	0	0
9440	0.90	284.4	252.1	11.6	685	9444	0.00	2.33	0.00	0.000	4	0.000	0.087	2669	3534	1637	0	0	0	0	0	0
9603	0.90	284.4	235.1	9.9	699	9607	0.00	2.28	0.00	0.000	6	0.000	0.071	2669	2146	1637	0	0	0	0	0	0
9928	0.90	284.4	203.2	9.8	729	9932	0.00	2.35	0.00	0.000	4	0.000	0.087	2669	3544	1637	0	0	0	0	0	0
9967	0.90	284.4	199.3	9.6	732	9972	0.00	2.55	0.00	0.000	6	0.000	0.071	2669	1992	1637	0	0	0	0	0	0
10291	0.90	284.4	167.0	10.1	762	10296	0.00	2.62	0.00	0.000	4	0.000	0.092	2669	363	1637	0	0	0	0	0	0
10323	0.91	295.3	163.9	8.7	764	10340	0.00	2.72	10.45	0.820	6	0.000	0.067	2669	2102	1595	0	0	0	0	0	0
10658	0.91	295.3	129.4	10.1	796	10663	0.00	2.85	0.00	0.000	4	0.000	0.091	2669	357	1593	0	0	0	0	0	0
10826	0.93	314.9	114.4	8.3	810	10854	0.00	2.83	17.95	0.815	6	0.000	0.067	2669	2155	1515	0	0	0	0	0	0
11181	0.94	318.1	84.1	9.0	859	11187	0.00	2.33	0.00	0.000	4	0.000	0.087	2669	3537	1511	0	0	0	0	0	0
11219	0.94	318.1	80.3	9.4	866	11225	0.00	2.05	0.00	0.000	6	0.000	0.067	2670	2292	1511	0	0	0	0	0	0
11561	0.99	359.7	49.7	7.4	927	11605	0.12	3.20	37.60	0.775	4	0.207	0.086	2699	361	1331	0	0	0	0	0	0
11778	0.99	359.7	27.8	10.5	966	11785	0.00	3.12	0.00	0.000	6	0.000	0.069	2699	2306	1326	0	0	0	0	0	0
12051	end climb: SURFACE_DEPTH_REACHED
state	12052	begin surface coast
12075	end surface coast: CONTROL_FINISHED_OK
state	12076	begin surface