Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 151 * 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 151 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 15 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 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 -30324.299 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 -30324.299

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 15 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 151 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 214125,6700.063,-5720.707,38,1.3,38,-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 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 214626,6700.066,-5720.667,11,1.2,11,-37.6 MHEAD_RNG_PITCHd_Wd 69.6,24209,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 786

Post-dive calculations and measurements:

FINISH 0.5,1.005235 _24V_AH 22.8,37.156

SM_CCo 12033,0.00,0.000,0,0,1408,341.46 _10V_AH 10.2,18.997

SM_GC 1.38,7.15,0.00,0.00,0.067,0.000,0.000,126,2473,1408,-7.03,0.37,341.46 FG_AHR_24Vo 0.000

RAFOS_CLK 762 FG_AHR_10Vo 0.000

RAFOS 0,1258502464,0.033333,0.017778,60,58,58,0,0,0,117,163,188,0,0,0 MEM 188008

RAFOS_FIX 6657.195312,-5726.711914,181109,000017,6,119,0.70 DATA_FILE_SIZE 44107,1020

IRIDIUM_FIX 6636.54,-5814.88,110299,181815 CAP_FILE_SIZE 130085,0

TT8_MAMPS 0.026845 CFSIZE 260165632,238194688

HUMID 48.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89683 SOUNDSPEED 1464.9

TCM_TEMP 17.70 CURRENT 1.467,216.6,1

XPDR_PINGS 13 GPS 181109,003117,6657.195,-5726.712,0,6119.3,0,-37.6

ALTIM_TOP_PING 19.9,19.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 311 137.56 SBE_CT 731 24 400.24

Roll_motor 134 92 281.52 SBE_O2 727 19 315.18

VBD_pump_during_apogee 427 1268 12363.77 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 22 103 52.69 nil 0 0 0.00

Iridium_during_connect 32 160 118.00 nil 0 0 0.00

Iridium_during_xfer 136 223 692.14

Transponder_ping 3 420 33.52

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.77

TT8 1995 19 405.35

LPSleep 7454 2 175.63

TT8_Active 556 19 113.09

TT8_Sampling 1982 39 807.05

TT8_CF8 363 45 170.04

TT8_Kalman 0 0 0.00

Analog_circuits 1595 12 195.35

GPS_charging 0 0 0.00

Compass 1946 8 158.87

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 0 121 0.00 0.00 -103.38 0.000 2 0.000 0.000 123 2461 3176 0 0 0 0 0 0

124 -0.73 -146.0 3.7 -6.6 20 146 10.07 2.65 -5.68 0.000 4 0.311 0.092 2146 865 3398 0 0 0 0 0 0

264 -0.73 -146.0 48.0 -30.5 45 271 0.00 2.62 0.00 0.000 6 0.000 0.077 2146 2467 3400 0 0 0 0 0 0

598 -0.73 -146.0 142.6 -26.6 91 603 0.00 2.47 0.00 0.000 4 0.000 0.089 2146 3917 3400 0 0 0 0 0 0

855 -0.73 -146.0 211.0 -25.7 113 863 0.00 2.45 0.00 0.000 6 0.000 0.067 2146 2460 3400 0 0 0 0 0 0

1180 -0.73 -146.0 288.1 -22.8 144 1185 0.00 2.53 0.00 0.000 4 0.000 0.091 2146 3917 3400 0 0 0 0 0 0

1388 -0.73 -146.0 336.2 -23.4 162 1392 0.00 2.38 0.00 0.000 6 0.000 0.067 2146 2475 3399 0 0 0 0 0 0

1712 -0.73 -146.0 408.1 -21.7 192 1716 0.00 2.45 0.00 0.000 4 0.000 0.090 2147 3908 3400 0 0 0 0 0 0

1830 -0.73 -146.0 434.0 -21.8 202 1834 0.00 2.35 0.00 0.000 6 0.000 0.067 2146 2479 3399 0 0 0 0 0 0

2154 -0.73 -146.0 502.3 -20.7 232 2158 0.00 2.45 0.00 0.000 4 0.000 0.089 2147 3916 3400 0 0 0 0 0 0

2317 -0.73 -146.0 536.3 -21.1 246 2322 0.00 2.35 0.00 0.000 6 0.000 0.066 2147 2481 3400 0 0 0 0 0 0

2662 -0.73 -146.0 606.3 -19.7 276 2666 0.00 2.42 0.00 0.000 4 0.000 0.088 2146 3910 3400 0 0 0 0 0 0

2738 -0.73 -146.0 622.9 -21.4 278 2743 0.00 2.35 0.00 0.000 6 0.000 0.065 2146 2496 3400 0 0 0 0 0 0

3062 -0.73 -146.0 688.6 -20.2 289 3066 0.00 2.40 0.00 0.000 4 0.000 0.088 2146 3910 3400 0 0 0 0 0 0

3146 -0.73 -146.0 706.5 -20.6 291 3150 0.00 2.30 0.00 0.000 6 0.000 0.066 2146 2503 3400 0 0 0 0 0 0

3458 -0.73 -146.0 766.4 -19.2 301 3462 0.00 2.40 0.00 0.000 4 0.000 0.089 2146 3916 3400 0 0 0 0 0 0

3555 end dive: TARGET_DEPTH_EXCEEDED

state 3555 begin apogee

3563 -0.16 0.0 787.0 20.7 304 3688 0.73 0.00 121.55 1.269 6 0.249 0.000 2324 1948 2800 0 0 0 0 0 0

3689 end apogee: CONTROL_FINISHED_OK

state 3689 begin climb

3691 0.73 146.0 800.7 0.0 308 3826 1.17 2.90 127.65 1.213 4 0.221 0.089 2609 366 2204 0 0 0 0 0 0

3927 0.79 202.3 787.7 6.8 315 3983 0.12 2.67 49.75 1.178 6 0.194 0.064 2637 1955 1975 0 0 0 0 0 0

4306 0.79 202.3 756.1 9.2 328 4311 0.00 2.75 0.00 0.000 4 0.000 0.082 2637 3545 1968 0 0 0 0 0 0

4368 0.82 222.0 750.7 8.3 330 4392 0.00 2.67 17.15 1.128 6 0.000 0.067 2638 1968 1894 0 0 0 0 0 0

4706 0.82 222.0 719.9 9.6 341 4708 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 1968 1891 0 0 0 0 0 0

5011 0.82 222.0 689.6 10.0 351 5016 0.00 2.65 0.00 0.000 4 0.000 0.083 2638 3536 1889 0 0 0 0 0 0

5128 0.82 222.0 678.3 9.4 354 5133 0.00 2.60 0.00 0.000 6 0.000 0.070 2638 1994 1889 0 0 0 0 0 0

5447 0.85 245.6 651.9 8.2 365 5477 0.00 2.67 21.33 1.136 4 0.000 0.084 2638 3543 1796 0 0 0 0 0 0

5516 0.85 248.8 645.9 9.0 367 5525 0.00 2.78 4.07 0.755 6 0.000 0.070 2638 1891 1784 0 0 0 0 0 0

5850 0.86 255.0 616.4 8.9 378 5864 0.00 2.88 6.82 0.965 4 0.000 0.083 2638 3543 1759 0 0 0 0 0 0

5977 0.87 261.5 605.0 8.9 381 5991 0.00 2.92 7.53 0.983 6 0.000 0.072 2638 1791 1733 0 0 0 0 0 0

6312 0.89 277.0 576.4 8.5 409 6334 0.12 2.38 15.35 1.081 4 0.166 0.091 2672 359 1669 0 0 0 0 0 0

6415 0.89 282.8 567.2 8.9 418 6427 0.00 2.53 6.10 0.909 6 0.000 0.065 2672 1946 1646 0 0 0 0 0 0

6746 0.89 282.8 533.2 11.0 449 6750 0.00 2.62 0.00 0.000 4 0.000 0.092 2672 357 1644 0 0 0 0 0 0

6818 0.90 285.7 525.6 9.0 455 6822 0.00 2.53 0.00 0.000 6 0.000 0.067 2672 1952 1642 0 0 0 0 0 0

7142 0.90 285.7 493.3 11.4 485 7146 0.00 2.65 0.00 0.000 4 0.000 0.086 2673 3535 1642 0 0 0 0 0 0

7270 0.90 285.7 478.9 10.7 496 7275 0.00 2.58 0.00 0.000 6 0.000 0.071 2672 1978 1642 0 0 0 0 0 0

7595 0.90 285.7 441.9 11.9 526 7600 0.00 2.62 0.00 0.000 4 0.000 0.084 2672 3541 1642 0 0 0 0 0 0

7769 0.90 285.7 422.2 11.7 541 7774 0.00 2.58 0.00 0.000 6 0.000 0.071 2672 1982 1642 0 0 0 0 0 0

8094 0.90 285.7 384.0 12.8 571 8099 0.00 2.60 0.00 0.000 4 0.000 0.084 2672 3534 1642 0 0 0 0 0 0

8223 0.90 285.7 368.3 12.2 582 8227 0.00 2.55 0.00 0.000 6 0.000 0.071 2672 1986 1642 0 0 0 0 0 0

8548 0.90 285.7 328.5 12.2 612 8553 0.00 2.60 0.00 0.000 4 0.000 0.084 2672 3536 1642 0 0 0 0 0 0

8666 0.90 285.7 314.6 11.8 622 8670 0.00 2.53 0.00 0.000 6 0.000 0.071 2672 2002 1642 0 0 0 0 0 0

8991 0.90 285.7 278.7 11.0 652 8996 0.00 2.58 0.00 0.000 4 0.000 0.084 2672 3542 1642 0 0 0 0 0 0

9023 0.90 285.7 275.3 9.8 654 9029 0.00 2.53 0.00 0.000 6 0.000 0.071 2672 2004 1642 0 0 0 0 0 0

9348 0.90 285.7 244.0 9.6 685 9352 0.00 2.65 0.00 0.000 4 0.000 0.091 2672 362 1642 0 0 0 0 0 0

9402 0.90 285.7 238.6 9.4 689 9409 0.00 2.58 0.00 0.000 6 0.000 0.066 2672 2014 1642 0 0 0 0 0 0

9728 0.90 285.7 210.1 9.2 720 9733 0.00 2.53 0.00 0.000 4 0.000 0.084 2673 3538 1642 0 0 0 0 0 0

9960 0.90 285.7 186.1 11.5 740 9964 0.00 2.53 0.00 0.000 6 0.000 0.071 2672 1998 1641 0 0 0 0 0 0

10286 0.90 285.7 151.6 10.3 770 10291 0.00 2.55 0.00 0.000 4 0.000 0.082 2672 3535 1642 0 0 0 0 0 0

10471 0.91 296.4 133.5 8.7 786 10492 0.00 2.50 12.18 0.801 6 0.000 0.070 2672 2007 1590 0 0 0 0 0 0

10811 0.91 296.4 102.2 9.4 818 10816 0.00 2.58 0.00 0.000 4 0.000 0.084 2672 3539 1588 0 0 0 0 0 0

10895 0.92 306.2 94.5 8.8 830 10911 0.00 2.28 9.52 0.761 6 0.000 0.067 2672 2151 1551 0 0 0 0 0 0

11248 0.96 339.1 65.0 7.8 893 11284 0.00 2.42 28.45 0.784 4 0.000 0.084 2672 3534 1417 0 0 0 0 0 0

11302 0.96 339.1 60.1 9.3 903 11308 0.00 2.60 0.00 0.000 6 0.000 0.069 2672 1949 1414 0 0 0 0 0 0

11644 0.96 340.5 28.2 9.1 964 11649 0.00 2.70 0.00 0.000 4 0.000 0.083 2672 3534 1411 0 0 0 0 0 0

11660 0.96 340.5 26.5 9.3 967 11666 0.00 2.40 0.00 0.000 6 0.000 0.066 2673 2082 1411 0 0 0 0 0 0

11939 end climb: SURFACE_DEPTH_REACHED

state 11939 begin surface coast

11958 end surface coast: CONTROL_FINISHED_OK

state 11958 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	151	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	15	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	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	-30324.299	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	214125,6700.063,-5720.707,38,1.3,38,-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	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	214626,6700.066,-5720.667,11,1.2,11,-37.6	MHEAD_RNG_PITCHd_Wd	69.6,24209,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	786

FINISH	0.5,1.005235	_24V_AH	22.8,37.156
SM_CCo	12033,0.00,0.000,0,0,1408,341.46	_10V_AH	10.2,18.997
SM_GC	1.38,7.15,0.00,0.00,0.067,0.000,0.000,126,2473,1408,-7.03,0.37,341.46	FG_AHR_24Vo	0.000
RAFOS_CLK	762	FG_AHR_10Vo	0.000
RAFOS	0,1258502464,0.033333,0.017778,60,58,58,0,0,0,117,163,188,0,0,0	MEM	188008
RAFOS_FIX	6657.195312,-5726.711914,181109,000017,6,119,0.70	DATA_FILE_SIZE	44107,1020
IRIDIUM_FIX	6636.54,-5814.88,110299,181815	CAP_FILE_SIZE	130085,0
TT8_MAMPS	0.026845	CFSIZE	260165632,238194688
HUMID	48.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89683	SOUNDSPEED	1464.9
TCM_TEMP	17.70	CURRENT	1.467,216.6,1
XPDR_PINGS	13	GPS	181109,003117,6657.195,-5726.712,0,6119.3,0,-37.6
ALTIM_TOP_PING	19.9,19.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	311	137.56	SBE_CT	731	24	400.24
Roll_motor	134	92	281.52	SBE_O2	727	19	315.18
VBD_pump_during_apogee	427	1268	12363.77	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	22	103	52.69	nil	0	0	0.00
Iridium_during_connect	32	160	118.00	nil	0	0	0.00
Iridium_during_xfer	136	223	692.14
Transponder_ping	3	420	33.52
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.77
TT8	1995	19	405.35
LPSleep	7454	2	175.63
TT8_Active	556	19	113.09
TT8_Sampling	1982	39	807.05
TT8_CF8	363	45	170.04
TT8_Kalman	0	0	0.00
Analog_circuits	1595	12	195.35
GPS_charging	0	0	0.00
Compass	1946	8	158.87
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	121	0.00	0.00	-103.38	0.000	2	0.000	0.000	123	2461	3176	0	0	0	0	0	0
124	-0.73	-146.0	3.7	-6.6	20	146	10.07	2.65	-5.68	0.000	4	0.311	0.092	2146	865	3398	0	0	0	0	0	0
264	-0.73	-146.0	48.0	-30.5	45	271	0.00	2.62	0.00	0.000	6	0.000	0.077	2146	2467	3400	0	0	0	0	0	0
598	-0.73	-146.0	142.6	-26.6	91	603	0.00	2.47	0.00	0.000	4	0.000	0.089	2146	3917	3400	0	0	0	0	0	0
855	-0.73	-146.0	211.0	-25.7	113	863	0.00	2.45	0.00	0.000	6	0.000	0.067	2146	2460	3400	0	0	0	0	0	0
1180	-0.73	-146.0	288.1	-22.8	144	1185	0.00	2.53	0.00	0.000	4	0.000	0.091	2146	3917	3400	0	0	0	0	0	0
1388	-0.73	-146.0	336.2	-23.4	162	1392	0.00	2.38	0.00	0.000	6	0.000	0.067	2146	2475	3399	0	0	0	0	0	0
1712	-0.73	-146.0	408.1	-21.7	192	1716	0.00	2.45	0.00	0.000	4	0.000	0.090	2147	3908	3400	0	0	0	0	0	0
1830	-0.73	-146.0	434.0	-21.8	202	1834	0.00	2.35	0.00	0.000	6	0.000	0.067	2146	2479	3399	0	0	0	0	0	0
2154	-0.73	-146.0	502.3	-20.7	232	2158	0.00	2.45	0.00	0.000	4	0.000	0.089	2147	3916	3400	0	0	0	0	0	0
2317	-0.73	-146.0	536.3	-21.1	246	2322	0.00	2.35	0.00	0.000	6	0.000	0.066	2147	2481	3400	0	0	0	0	0	0
2662	-0.73	-146.0	606.3	-19.7	276	2666	0.00	2.42	0.00	0.000	4	0.000	0.088	2146	3910	3400	0	0	0	0	0	0
2738	-0.73	-146.0	622.9	-21.4	278	2743	0.00	2.35	0.00	0.000	6	0.000	0.065	2146	2496	3400	0	0	0	0	0	0
3062	-0.73	-146.0	688.6	-20.2	289	3066	0.00	2.40	0.00	0.000	4	0.000	0.088	2146	3910	3400	0	0	0	0	0	0
3146	-0.73	-146.0	706.5	-20.6	291	3150	0.00	2.30	0.00	0.000	6	0.000	0.066	2146	2503	3400	0	0	0	0	0	0
3458	-0.73	-146.0	766.4	-19.2	301	3462	0.00	2.40	0.00	0.000	4	0.000	0.089	2146	3916	3400	0	0	0	0	0	0
3555	end dive: TARGET_DEPTH_EXCEEDED
state	3555	begin apogee
3563	-0.16	0.0	787.0	20.7	304	3688	0.73	0.00	121.55	1.269	6	0.249	0.000	2324	1948	2800	0	0	0	0	0	0
3689	end apogee: CONTROL_FINISHED_OK
state	3689	begin climb
3691	0.73	146.0	800.7	0.0	308	3826	1.17	2.90	127.65	1.213	4	0.221	0.089	2609	366	2204	0	0	0	0	0	0
3927	0.79	202.3	787.7	6.8	315	3983	0.12	2.67	49.75	1.178	6	0.194	0.064	2637	1955	1975	0	0	0	0	0	0
4306	0.79	202.3	756.1	9.2	328	4311	0.00	2.75	0.00	0.000	4	0.000	0.082	2637	3545	1968	0	0	0	0	0	0
4368	0.82	222.0	750.7	8.3	330	4392	0.00	2.67	17.15	1.128	6	0.000	0.067	2638	1968	1894	0	0	0	0	0	0
4706	0.82	222.0	719.9	9.6	341	4708	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	1968	1891	0	0	0	0	0	0
5011	0.82	222.0	689.6	10.0	351	5016	0.00	2.65	0.00	0.000	4	0.000	0.083	2638	3536	1889	0	0	0	0	0	0
5128	0.82	222.0	678.3	9.4	354	5133	0.00	2.60	0.00	0.000	6	0.000	0.070	2638	1994	1889	0	0	0	0	0	0
5447	0.85	245.6	651.9	8.2	365	5477	0.00	2.67	21.33	1.136	4	0.000	0.084	2638	3543	1796	0	0	0	0	0	0
5516	0.85	248.8	645.9	9.0	367	5525	0.00	2.78	4.07	0.755	6	0.000	0.070	2638	1891	1784	0	0	0	0	0	0
5850	0.86	255.0	616.4	8.9	378	5864	0.00	2.88	6.82	0.965	4	0.000	0.083	2638	3543	1759	0	0	0	0	0	0
5977	0.87	261.5	605.0	8.9	381	5991	0.00	2.92	7.53	0.983	6	0.000	0.072	2638	1791	1733	0	0	0	0	0	0
6312	0.89	277.0	576.4	8.5	409	6334	0.12	2.38	15.35	1.081	4	0.166	0.091	2672	359	1669	0	0	0	0	0	0
6415	0.89	282.8	567.2	8.9	418	6427	0.00	2.53	6.10	0.909	6	0.000	0.065	2672	1946	1646	0	0	0	0	0	0
6746	0.89	282.8	533.2	11.0	449	6750	0.00	2.62	0.00	0.000	4	0.000	0.092	2672	357	1644	0	0	0	0	0	0
6818	0.90	285.7	525.6	9.0	455	6822	0.00	2.53	0.00	0.000	6	0.000	0.067	2672	1952	1642	0	0	0	0	0	0
7142	0.90	285.7	493.3	11.4	485	7146	0.00	2.65	0.00	0.000	4	0.000	0.086	2673	3535	1642	0	0	0	0	0	0
7270	0.90	285.7	478.9	10.7	496	7275	0.00	2.58	0.00	0.000	6	0.000	0.071	2672	1978	1642	0	0	0	0	0	0
7595	0.90	285.7	441.9	11.9	526	7600	0.00	2.62	0.00	0.000	4	0.000	0.084	2672	3541	1642	0	0	0	0	0	0
7769	0.90	285.7	422.2	11.7	541	7774	0.00	2.58	0.00	0.000	6	0.000	0.071	2672	1982	1642	0	0	0	0	0	0
8094	0.90	285.7	384.0	12.8	571	8099	0.00	2.60	0.00	0.000	4	0.000	0.084	2672	3534	1642	0	0	0	0	0	0
8223	0.90	285.7	368.3	12.2	582	8227	0.00	2.55	0.00	0.000	6	0.000	0.071	2672	1986	1642	0	0	0	0	0	0
8548	0.90	285.7	328.5	12.2	612	8553	0.00	2.60	0.00	0.000	4	0.000	0.084	2672	3536	1642	0	0	0	0	0	0
8666	0.90	285.7	314.6	11.8	622	8670	0.00	2.53	0.00	0.000	6	0.000	0.071	2672	2002	1642	0	0	0	0	0	0
8991	0.90	285.7	278.7	11.0	652	8996	0.00	2.58	0.00	0.000	4	0.000	0.084	2672	3542	1642	0	0	0	0	0	0
9023	0.90	285.7	275.3	9.8	654	9029	0.00	2.53	0.00	0.000	6	0.000	0.071	2672	2004	1642	0	0	0	0	0	0
9348	0.90	285.7	244.0	9.6	685	9352	0.00	2.65	0.00	0.000	4	0.000	0.091	2672	362	1642	0	0	0	0	0	0
9402	0.90	285.7	238.6	9.4	689	9409	0.00	2.58	0.00	0.000	6	0.000	0.066	2672	2014	1642	0	0	0	0	0	0
9728	0.90	285.7	210.1	9.2	720	9733	0.00	2.53	0.00	0.000	4	0.000	0.084	2673	3538	1642	0	0	0	0	0	0
9960	0.90	285.7	186.1	11.5	740	9964	0.00	2.53	0.00	0.000	6	0.000	0.071	2672	1998	1641	0	0	0	0	0	0
10286	0.90	285.7	151.6	10.3	770	10291	0.00	2.55	0.00	0.000	4	0.000	0.082	2672	3535	1642	0	0	0	0	0	0
10471	0.91	296.4	133.5	8.7	786	10492	0.00	2.50	12.18	0.801	6	0.000	0.070	2672	2007	1590	0	0	0	0	0	0
10811	0.91	296.4	102.2	9.4	818	10816	0.00	2.58	0.00	0.000	4	0.000	0.084	2672	3539	1588	0	0	0	0	0	0
10895	0.92	306.2	94.5	8.8	830	10911	0.00	2.28	9.52	0.761	6	0.000	0.067	2672	2151	1551	0	0	0	0	0	0
11248	0.96	339.1	65.0	7.8	893	11284	0.00	2.42	28.45	0.784	4	0.000	0.084	2672	3534	1417	0	0	0	0	0	0
11302	0.96	339.1	60.1	9.3	903	11308	0.00	2.60	0.00	0.000	6	0.000	0.069	2672	1949	1414	0	0	0	0	0	0
11644	0.96	340.5	28.2	9.1	964	11649	0.00	2.70	0.00	0.000	4	0.000	0.083	2672	3534	1411	0	0	0	0	0	0
11660	0.96	340.5	26.5	9.3	967	11666	0.00	2.40	0.00	0.000	6	0.000	0.066	2673	2082	1411	0	0	0	0	0	0
11939	end climb: SURFACE_DEPTH_REACHED
state	11939	begin surface coast
11958	end surface coast: CONTROL_FINISHED_OK
state	11958	begin surface