Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 150 * 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 150 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 21 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 -30310.391 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 -30310.391

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 150 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 181936,6700.553,-5723.896,35,1.7,40,-37.6 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 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 182516,6700.550,-5723.850,14,2.1,33,-37.6 MHEAD_RNG_PITCHd_Wd 92.9,26284,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 792

Post-dive calculations and measurements:

FINISH 0.5,1.008358 _24V_AH 22.8,37.005

SM_CCo 11647,0.00,0.000,0,0,1392,345.38 _10V_AH 10.1,18.931

SM_GC 1.35,7.32,0.00,0.00,0.075,0.000,0.000,124,2461,1392,-7.04,0.03,345.38 FG_AHR_24Vo 0.000

RAFOS_CLK 743 FG_AHR_10Vo 0.000

RAFOS 0,1258488080,20.033333,20.022223,60,56,55,0,0,0,220,1012,172,0,0,0 MEM 188032

RAFOS_FIX 6656.385742,-5728.493164,171109,202017,6,100,1.11 DATA_FILE_SIZE 40999,987

IRIDIUM_FIX 6631.12,-5725.81,110299,151506 CAP_FILE_SIZE 125866,0

TT8_MAMPS 0.026845 CFSIZE 260165632,238264320

HUMID 49.17 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88706 SOUNDSPEED 1463.3

TCM_TEMP 17.60 CURRENT 0.837,218.7,1

XPDR_PINGS 6 GPS 171109,214125,6700.063,-5720.707,38,1.3,38,-37.6

ALTIM_TOP_PING 19.9,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 312 140.38 SBE_CT 705 24 386.25

Roll_motor 127 92 270.69 SBE_O2 708 19 306.82

VBD_pump_during_apogee 423 1282 12374.79 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 72.19 nil 0 0 0.00

Iridium_during_connect 35 160 129.80 nil 0 0 0.00

Iridium_during_xfer 136 223 693.77

Transponder_ping 1 420 16.76

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.92

TT8 1950 19 392.47

LPSleep 7201 2 168.01

TT8_Active 552 19 111.22

TT8_Sampling 1916 39 772.85

TT8_CF8 379 45 176.12

TT8_Kalman 0 0 0.00

Analog_circuits 1562 12 189.40

GPS_charging 0 0 0.00

Compass 1861 8 150.37

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 130 0.00 0.00 -112.40 0.000 2 0.000 0.000 124 2479 3162 0 0 0 0 0 0

133 -0.73 -146.0 3.7 -6.8 22 156 10.15 2.67 -6.05 0.000 4 0.313 0.092 2149 864 3398 0 0 0 0 0 0

243 -0.73 -146.0 37.5 -30.9 41 249 0.00 2.60 0.00 0.000 6 0.000 0.074 2140 2457 3400 0 0 0 0 0 0

578 -0.73 -146.0 136.2 -27.4 90 582 0.00 2.50 0.00 0.000 4 0.000 0.090 2140 3917 3400 0 0 0 0 0 0

835 -0.73 -146.0 205.8 -24.7 112 841 0.00 2.45 0.00 0.000 6 0.000 0.067 2140 2463 3400 0 0 0 0 0 0

1160 -0.73 -146.0 281.3 -22.9 143 1164 0.00 2.50 0.00 0.000 4 0.000 0.091 2140 3921 3400 0 0 0 0 0 0

1394 -0.73 -146.0 335.7 -21.8 163 1401 0.00 2.42 0.00 0.000 6 0.000 0.067 2140 2472 3399 0 0 0 0 0 0

1721 -0.73 -146.0 404.7 -21.2 194 1725 0.00 2.47 0.00 0.000 4 0.000 0.089 2140 3922 3400 0 0 0 0 0 0

1793 -0.73 -146.0 421.2 -22.5 200 1798 0.00 2.38 0.00 0.000 6 0.000 0.067 2140 2475 3399 0 0 0 0 0 0

2117 -0.73 -146.0 490.6 -22.4 230 2122 0.00 2.45 0.00 0.000 4 0.000 0.091 2140 3911 3400 0 0 0 0 0 0

2168 -0.73 -146.0 502.6 -24.0 234 2172 0.00 2.35 0.00 0.000 6 0.000 0.067 2140 2480 3399 0 0 0 0 0 0

2492 -0.73 -146.0 574.8 -21.6 264 2497 0.00 2.45 0.00 0.000 4 0.000 0.091 2140 3915 3399 0 0 0 0 0 0

2633 -0.73 -146.0 606.7 -23.0 275 2637 0.00 2.35 0.00 0.000 6 0.000 0.067 2140 2484 3399 0 0 0 0 0 0

2955 -0.73 -146.0 672.6 -20.0 286 2960 0.00 2.45 0.00 0.000 4 0.000 0.091 2140 3922 3399 0 0 0 0 0 0

3023 -0.73 -146.0 686.8 -21.5 288 3027 0.00 2.35 0.00 0.000 6 0.000 0.067 2140 2488 3399 0 0 0 0 0 0

3351 -0.73 -146.0 753.4 -20.4 299 3355 0.00 2.42 0.00 0.000 4 0.000 0.091 2140 3912 3399 0 0 0 0 0 0

3481 -0.73 -146.0 781.0 -22.7 303 3485 0.00 2.33 0.00 0.000 6 0.000 0.067 2140 2496 3399 0 0 0 0 0 0

3538 end dive: TARGET_DEPTH_EXCEEDED

state 3538 begin apogee

3544 -0.16 0.0 793.3 20.7 305 3670 0.80 0.00 121.72 1.282 6 0.244 0.000 2333 1944 2800 0 0 0 0 0 0

3671 end apogee: CONTROL_FINISHED_OK

state 3671 begin climb

3673 0.73 146.0 806.1 0.0 309 3807 1.12 0.00 127.53 1.226 6 0.214 0.000 2609 1944 2203 0 0 0 0 0 0

4102 0.81 212.7 781.7 6.4 323 4167 0.12 2.97 57.70 1.202 4 0.176 0.082 2641 3538 1931 0 0 0 0 0 0

4319 0.84 236.5 763.6 8.2 329 4346 0.00 2.67 21.33 1.150 6 0.000 0.069 2641 1988 1834 0 0 0 0 0 0

4665 0.87 263.4 735.4 8.0 341 4698 0.00 2.80 24.33 1.165 4 0.000 0.091 2641 357 1726 0 0 0 0 0 0

4704 0.92 302.0 732.2 7.5 342 4749 0.15 2.83 35.92 1.166 6 0.167 0.067 2681 2067 1567 0 0 0 0 0 0

5067 0.92 302.0 693.6 11.2 354 5072 0.00 2.88 0.00 0.000 4 0.000 0.091 2681 361 1559 0 0 0 0 0 0

5116 0.92 302.0 688.2 10.0 355 5121 0.00 2.78 0.00 0.000 6 0.000 0.067 2681 2081 1558 0 0 0 0 0 0

5429 0.92 302.0 655.9 11.1 365 5433 0.00 2.47 0.00 0.000 4 0.000 0.087 2681 3541 1558 0 0 0 0 0 0

5681 0.92 302.0 629.0 11.0 372 5685 0.00 2.45 0.00 0.000 6 0.000 0.071 2681 2068 1557 0 0 0 0 0 0

5994 0.92 302.0 594.3 11.9 384 5998 0.00 2.50 0.00 0.000 4 0.000 0.085 2681 3547 1557 0 0 0 0 0 0

6044 0.92 302.0 588.5 11.1 388 6048 0.00 2.45 0.00 0.000 6 0.000 0.071 2681 2078 1556 0 0 0 0 0 0

6368 0.92 302.0 551.4 10.9 418 6372 0.00 2.47 0.00 0.000 4 0.000 0.086 2681 3544 1556 0 0 0 0 0 0

6440 0.92 302.0 544.3 9.6 424 6444 0.00 2.40 0.00 0.000 6 0.000 0.071 2681 2092 1556 0 0 0 0 0 0

6764 0.92 302.0 509.1 11.4 454 6765 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2093 1556 0 0 0 0 0 0

7084 0.92 302.0 473.1 11.5 484 7088 0.00 2.45 0.00 0.000 4 0.000 0.087 2681 3547 1556 0 0 0 0 0 0

7226 0.92 302.0 457.2 11.4 496 7230 0.00 2.40 0.00 0.000 6 0.000 0.071 2681 2091 1556 0 0 0 0 0 0

7551 0.92 302.0 418.7 12.2 526 7556 0.00 2.45 0.00 0.000 4 0.000 0.087 2681 3546 1556 0 0 0 0 0 0

7628 0.92 302.0 409.0 12.1 532 7635 0.00 2.40 0.00 0.000 6 0.000 0.071 2681 2109 1556 0 0 0 0 0 0

7955 0.92 302.0 369.3 12.1 563 7959 0.00 2.40 0.00 0.000 4 0.000 0.086 2681 3539 1556 0 0 0 0 0 0

8015 0.92 302.0 361.8 11.9 568 8019 0.00 2.33 0.00 0.000 6 0.000 0.071 2681 2116 1556 0 0 0 0 0 0

8348 0.92 302.0 323.1 12.1 599 8352 0.00 2.40 0.00 0.000 4 0.000 0.086 2681 3546 1556 0 0 0 0 0 0

8431 0.92 302.0 313.8 10.5 606 8435 0.00 2.35 0.00 0.000 6 0.000 0.071 2681 2115 1556 0 0 0 0 0 0

8756 0.92 302.0 278.0 11.0 636 8760 0.00 2.40 0.00 0.000 4 0.000 0.087 2681 3546 1555 0 0 0 0 0 0

8811 0.92 302.0 272.1 9.7 640 8817 0.00 2.35 0.00 0.000 6 0.000 0.070 2681 2136 1556 0 0 0 0 0 0

9137 0.92 302.0 237.2 11.2 671 9142 0.00 2.88 0.00 0.000 4 0.000 0.093 2681 359 1555 0 0 0 0 0 0

9302 0.92 305.8 222.3 9.0 685 9309 0.00 2.80 0.00 0.000 6 0.000 0.067 2681 2152 1554 0 0 0 0 0 0

9629 0.92 305.8 191.3 10.0 716 9633 0.00 2.30 0.00 0.000 4 0.000 0.085 2681 3540 1554 0 0 0 0 0 0

9671 0.92 305.8 186.9 9.3 719 9678 0.00 2.33 0.00 0.000 6 0.000 0.071 2681 2143 1554 0 0 0 0 0 0

9997 0.92 305.8 153.9 11.8 750 10002 0.00 2.88 0.00 0.000 4 0.000 0.091 2681 360 1554 0 0 0 0 0 0

10073 0.92 305.8 144.5 12.5 756 10080 0.00 2.78 0.00 0.000 6 0.000 0.065 2681 2143 1554 0 0 0 0 0 0

10398 0.92 305.8 107.9 11.3 787 10402 0.00 2.30 0.00 0.000 4 0.000 0.083 2681 3540 1554 0 0 0 0 0 0

10436 0.92 305.8 103.6 11.1 790 10442 0.00 2.28 0.00 0.000 6 0.000 0.068 2681 2170 1554 0 0 0 0 0 0

10780 0.94 319.1 73.9 8.6 847 10803 0.00 3.00 13.62 0.777 4 0.000 0.090 2681 362 1497 0 0 0 0 0 0

10896 0.94 319.1 63.0 10.5 867 10903 0.00 2.65 0.00 0.000 6 0.000 0.064 2681 2056 1495 0 0 0 0 0 0

11239 0.94 319.1 30.2 9.8 928 11245 0.00 2.78 0.00 0.000 4 0.000 0.089 2681 350 1495 0 0 0 0 0 0

11312 0.97 343.6 24.2 8.1 941 11342 0.00 2.47 21.08 0.763 6 0.000 0.064 2680 1944 1399 0 0 0 0 0 0

11546 end climb: SURFACE_DEPTH_REACHED

state 11546 begin surface coast

11570 end surface coast: CONTROL_FINISHED_OK

state 11571 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	150	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	21	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	-30310.391	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	181936,6700.553,-5723.896,35,1.7,40,-37.6	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	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	182516,6700.550,-5723.850,14,2.1,33,-37.6	MHEAD_RNG_PITCHd_Wd	92.9,26284,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	792

FINISH	0.5,1.008358	_24V_AH	22.8,37.005
SM_CCo	11647,0.00,0.000,0,0,1392,345.38	_10V_AH	10.1,18.931
SM_GC	1.35,7.32,0.00,0.00,0.075,0.000,0.000,124,2461,1392,-7.04,0.03,345.38	FG_AHR_24Vo	0.000
RAFOS_CLK	743	FG_AHR_10Vo	0.000
RAFOS	0,1258488080,20.033333,20.022223,60,56,55,0,0,0,220,1012,172,0,0,0	MEM	188032
RAFOS_FIX	6656.385742,-5728.493164,171109,202017,6,100,1.11	DATA_FILE_SIZE	40999,987
IRIDIUM_FIX	6631.12,-5725.81,110299,151506	CAP_FILE_SIZE	125866,0
TT8_MAMPS	0.026845	CFSIZE	260165632,238264320
HUMID	49.17	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88706	SOUNDSPEED	1463.3
TCM_TEMP	17.60	CURRENT	0.837,218.7,1
XPDR_PINGS	6	GPS	171109,214125,6700.063,-5720.707,38,1.3,38,-37.6
ALTIM_TOP_PING	19.9,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	312	140.38	SBE_CT	705	24	386.25
Roll_motor	127	92	270.69	SBE_O2	708	19	306.82
VBD_pump_during_apogee	423	1282	12374.79	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	72.19	nil	0	0	0.00
Iridium_during_connect	35	160	129.80	nil	0	0	0.00
Iridium_during_xfer	136	223	693.77
Transponder_ping	1	420	16.76
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.92
TT8	1950	19	392.47
LPSleep	7201	2	168.01
TT8_Active	552	19	111.22
TT8_Sampling	1916	39	772.85
TT8_CF8	379	45	176.12
TT8_Kalman	0	0	0.00
Analog_circuits	1562	12	189.40
GPS_charging	0	0	0.00
Compass	1861	8	150.37
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	130	0.00	0.00	-112.40	0.000	2	0.000	0.000	124	2479	3162	0	0	0	0	0	0
133	-0.73	-146.0	3.7	-6.8	22	156	10.15	2.67	-6.05	0.000	4	0.313	0.092	2149	864	3398	0	0	0	0	0	0
243	-0.73	-146.0	37.5	-30.9	41	249	0.00	2.60	0.00	0.000	6	0.000	0.074	2140	2457	3400	0	0	0	0	0	0
578	-0.73	-146.0	136.2	-27.4	90	582	0.00	2.50	0.00	0.000	4	0.000	0.090	2140	3917	3400	0	0	0	0	0	0
835	-0.73	-146.0	205.8	-24.7	112	841	0.00	2.45	0.00	0.000	6	0.000	0.067	2140	2463	3400	0	0	0	0	0	0
1160	-0.73	-146.0	281.3	-22.9	143	1164	0.00	2.50	0.00	0.000	4	0.000	0.091	2140	3921	3400	0	0	0	0	0	0
1394	-0.73	-146.0	335.7	-21.8	163	1401	0.00	2.42	0.00	0.000	6	0.000	0.067	2140	2472	3399	0	0	0	0	0	0
1721	-0.73	-146.0	404.7	-21.2	194	1725	0.00	2.47	0.00	0.000	4	0.000	0.089	2140	3922	3400	0	0	0	0	0	0
1793	-0.73	-146.0	421.2	-22.5	200	1798	0.00	2.38	0.00	0.000	6	0.000	0.067	2140	2475	3399	0	0	0	0	0	0
2117	-0.73	-146.0	490.6	-22.4	230	2122	0.00	2.45	0.00	0.000	4	0.000	0.091	2140	3911	3400	0	0	0	0	0	0
2168	-0.73	-146.0	502.6	-24.0	234	2172	0.00	2.35	0.00	0.000	6	0.000	0.067	2140	2480	3399	0	0	0	0	0	0
2492	-0.73	-146.0	574.8	-21.6	264	2497	0.00	2.45	0.00	0.000	4	0.000	0.091	2140	3915	3399	0	0	0	0	0	0
2633	-0.73	-146.0	606.7	-23.0	275	2637	0.00	2.35	0.00	0.000	6	0.000	0.067	2140	2484	3399	0	0	0	0	0	0
2955	-0.73	-146.0	672.6	-20.0	286	2960	0.00	2.45	0.00	0.000	4	0.000	0.091	2140	3922	3399	0	0	0	0	0	0
3023	-0.73	-146.0	686.8	-21.5	288	3027	0.00	2.35	0.00	0.000	6	0.000	0.067	2140	2488	3399	0	0	0	0	0	0
3351	-0.73	-146.0	753.4	-20.4	299	3355	0.00	2.42	0.00	0.000	4	0.000	0.091	2140	3912	3399	0	0	0	0	0	0
3481	-0.73	-146.0	781.0	-22.7	303	3485	0.00	2.33	0.00	0.000	6	0.000	0.067	2140	2496	3399	0	0	0	0	0	0
3538	end dive: TARGET_DEPTH_EXCEEDED
state	3538	begin apogee
3544	-0.16	0.0	793.3	20.7	305	3670	0.80	0.00	121.72	1.282	6	0.244	0.000	2333	1944	2800	0	0	0	0	0	0
3671	end apogee: CONTROL_FINISHED_OK
state	3671	begin climb
3673	0.73	146.0	806.1	0.0	309	3807	1.12	0.00	127.53	1.226	6	0.214	0.000	2609	1944	2203	0	0	0	0	0	0
4102	0.81	212.7	781.7	6.4	323	4167	0.12	2.97	57.70	1.202	4	0.176	0.082	2641	3538	1931	0	0	0	0	0	0
4319	0.84	236.5	763.6	8.2	329	4346	0.00	2.67	21.33	1.150	6	0.000	0.069	2641	1988	1834	0	0	0	0	0	0
4665	0.87	263.4	735.4	8.0	341	4698	0.00	2.80	24.33	1.165	4	0.000	0.091	2641	357	1726	0	0	0	0	0	0
4704	0.92	302.0	732.2	7.5	342	4749	0.15	2.83	35.92	1.166	6	0.167	0.067	2681	2067	1567	0	0	0	0	0	0
5067	0.92	302.0	693.6	11.2	354	5072	0.00	2.88	0.00	0.000	4	0.000	0.091	2681	361	1559	0	0	0	0	0	0
5116	0.92	302.0	688.2	10.0	355	5121	0.00	2.78	0.00	0.000	6	0.000	0.067	2681	2081	1558	0	0	0	0	0	0
5429	0.92	302.0	655.9	11.1	365	5433	0.00	2.47	0.00	0.000	4	0.000	0.087	2681	3541	1558	0	0	0	0	0	0
5681	0.92	302.0	629.0	11.0	372	5685	0.00	2.45	0.00	0.000	6	0.000	0.071	2681	2068	1557	0	0	0	0	0	0
5994	0.92	302.0	594.3	11.9	384	5998	0.00	2.50	0.00	0.000	4	0.000	0.085	2681	3547	1557	0	0	0	0	0	0
6044	0.92	302.0	588.5	11.1	388	6048	0.00	2.45	0.00	0.000	6	0.000	0.071	2681	2078	1556	0	0	0	0	0	0
6368	0.92	302.0	551.4	10.9	418	6372	0.00	2.47	0.00	0.000	4	0.000	0.086	2681	3544	1556	0	0	0	0	0	0
6440	0.92	302.0	544.3	9.6	424	6444	0.00	2.40	0.00	0.000	6	0.000	0.071	2681	2092	1556	0	0	0	0	0	0
6764	0.92	302.0	509.1	11.4	454	6765	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2093	1556	0	0	0	0	0	0
7084	0.92	302.0	473.1	11.5	484	7088	0.00	2.45	0.00	0.000	4	0.000	0.087	2681	3547	1556	0	0	0	0	0	0
7226	0.92	302.0	457.2	11.4	496	7230	0.00	2.40	0.00	0.000	6	0.000	0.071	2681	2091	1556	0	0	0	0	0	0
7551	0.92	302.0	418.7	12.2	526	7556	0.00	2.45	0.00	0.000	4	0.000	0.087	2681	3546	1556	0	0	0	0	0	0
7628	0.92	302.0	409.0	12.1	532	7635	0.00	2.40	0.00	0.000	6	0.000	0.071	2681	2109	1556	0	0	0	0	0	0
7955	0.92	302.0	369.3	12.1	563	7959	0.00	2.40	0.00	0.000	4	0.000	0.086	2681	3539	1556	0	0	0	0	0	0
8015	0.92	302.0	361.8	11.9	568	8019	0.00	2.33	0.00	0.000	6	0.000	0.071	2681	2116	1556	0	0	0	0	0	0
8348	0.92	302.0	323.1	12.1	599	8352	0.00	2.40	0.00	0.000	4	0.000	0.086	2681	3546	1556	0	0	0	0	0	0
8431	0.92	302.0	313.8	10.5	606	8435	0.00	2.35	0.00	0.000	6	0.000	0.071	2681	2115	1556	0	0	0	0	0	0
8756	0.92	302.0	278.0	11.0	636	8760	0.00	2.40	0.00	0.000	4	0.000	0.087	2681	3546	1555	0	0	0	0	0	0
8811	0.92	302.0	272.1	9.7	640	8817	0.00	2.35	0.00	0.000	6	0.000	0.070	2681	2136	1556	0	0	0	0	0	0
9137	0.92	302.0	237.2	11.2	671	9142	0.00	2.88	0.00	0.000	4	0.000	0.093	2681	359	1555	0	0	0	0	0	0
9302	0.92	305.8	222.3	9.0	685	9309	0.00	2.80	0.00	0.000	6	0.000	0.067	2681	2152	1554	0	0	0	0	0	0
9629	0.92	305.8	191.3	10.0	716	9633	0.00	2.30	0.00	0.000	4	0.000	0.085	2681	3540	1554	0	0	0	0	0	0
9671	0.92	305.8	186.9	9.3	719	9678	0.00	2.33	0.00	0.000	6	0.000	0.071	2681	2143	1554	0	0	0	0	0	0
9997	0.92	305.8	153.9	11.8	750	10002	0.00	2.88	0.00	0.000	4	0.000	0.091	2681	360	1554	0	0	0	0	0	0
10073	0.92	305.8	144.5	12.5	756	10080	0.00	2.78	0.00	0.000	6	0.000	0.065	2681	2143	1554	0	0	0	0	0	0
10398	0.92	305.8	107.9	11.3	787	10402	0.00	2.30	0.00	0.000	4	0.000	0.083	2681	3540	1554	0	0	0	0	0	0
10436	0.92	305.8	103.6	11.1	790	10442	0.00	2.28	0.00	0.000	6	0.000	0.068	2681	2170	1554	0	0	0	0	0	0
10780	0.94	319.1	73.9	8.6	847	10803	0.00	3.00	13.62	0.777	4	0.000	0.090	2681	362	1497	0	0	0	0	0	0
10896	0.94	319.1	63.0	10.5	867	10903	0.00	2.65	0.00	0.000	6	0.000	0.064	2681	2056	1495	0	0	0	0	0	0
11239	0.94	319.1	30.2	9.8	928	11245	0.00	2.78	0.00	0.000	4	0.000	0.089	2681	350	1495	0	0	0	0	0	0
11312	0.97	343.6	24.2	8.1	941	11342	0.00	2.47	21.08	0.763	6	0.000	0.064	2680	1944	1399	0	0	0	0	0	0
11546	end climb: SURFACE_DEPTH_REACHED
state	11546	begin surface coast
11570	end surface coast: CONTROL_FINISHED_OK
state	11571	begin surface