Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 152 * 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 152 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 19 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 -31351.67 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 -31351.67

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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 152 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 003117,6657.195,-5726.712,0,6119.3,0,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 013034,6701.086,-5719.594,100,99.0,119,-37.6 MHEAD_RNG_PITCHd_Wd 73.8,23089,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 780

Post-dive calculations and measurements:

FINISH 0.4,1.000947 _24V_AH 22.8,37.311

SM_CCo 12095,0.00,0.000,0,0,1257,378.50 _10V_AH 10.2,19.090

SM_GC 1.16,7.20,0.00,0.00,0.061,0.000,0.000,124,2463,1257,-7.04,0.08,378.50 FG_AHR_24Vo 0.000

RAFOS_CLK 819 FG_AHR_10Vo 0.000

RAFOS 0,1258516864,4.033333,4.017778,75,64,55,0,0,0,1105,203,159,0,0,0 MEM 188052

RAFOS_FIX 6700.097656,-5720.794922,181109,040444,4,107,0.19 DATA_FILE_SIZE 44183,1048

IRIDIUM_FIX 6631.12,-5724.14,110299,212147 CAP_FILE_SIZE 132836,0

TT8_MAMPS 0.029146 CFSIZE 260165632,238120960

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

INTERNAL_PRESSURE 8.87729 SOUNDSPEED 1464.5

TCM_TEMP 17.60 CURRENT 0.594,208.6,1

XPDR_PINGS 9 GPS 181109,045407,6701.948,-5719.746,45,1.2,45,-37.7

ALTIM_TOP_PING 19.8,19.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 298 128.57 SBE_CT 753 24 412.41

Roll_motor 131 92 277.62 SBE_O2 745 19 322.92

VBD_pump_during_apogee 449 1270 13019.35 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.22 nil 0 0 0.00

Iridium_during_connect 31 160 116.35 nil 0 0 0.00

Iridium_during_xfer 154 223 783.70

Transponder_ping 2 420 23.94

GUMSTIX_24V 0 0 0.00

GPS 122 50 62.27

TT8 2062 19 419.02

LPSleep 7307 2 172.18

TT8_Active 559 19 113.74

TT8_Sampling 2215 39 901.93

TT8_CF8 391 45 183.24

TT8_Kalman 0 0 0.00

Analog_circuits 1663 12 203.60

GPS_charging 0 0 0.00

Compass 2068 8 168.79

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 0 122 0.00 0.00 -103.07 0.000 2 0.000 0.000 126 2474 3124 0 0 0 0 0 0

124 -0.73 -146.0 3.4 -6.1 20 147 9.60 2.65 -7.43 0.000 4 0.298 0.093 2148 869 3397 0 0 0 0 0 0

198 -0.73 -146.0 25.3 -29.0 33 204 0.00 2.60 0.00 0.000 6 0.000 0.077 2148 2463 3400 0 0 0 0 0 0

542 -0.73 -146.0 120.9 -25.7 88 546 0.00 2.47 0.00 0.000 4 0.000 0.091 2148 3912 3400 0 0 0 0 0 0

799 -0.73 -146.0 184.7 -24.4 110 805 0.00 2.38 0.00 0.000 6 0.000 0.068 2149 2479 3400 0 0 0 0 0 0

1125 -0.73 -146.0 256.7 -22.3 141 1129 0.00 2.47 0.00 0.000 4 0.000 0.091 2148 3919 3400 0 0 0 0 0 0

1266 -0.73 -146.0 289.6 -23.7 153 1270 0.00 2.38 0.00 0.000 6 0.000 0.068 2149 2481 3400 0 0 0 0 0 0

1590 -0.73 -146.0 361.8 -21.8 183 1594 0.00 2.45 0.00 0.000 4 0.000 0.091 2149 3913 3400 0 0 0 0 0 0

1762 -0.73 -146.0 402.2 -23.1 198 1766 0.00 2.33 0.00 0.000 6 0.000 0.067 2149 2497 3400 0 0 0 0 0 0

2092 -0.73 -146.0 473.7 -21.8 229 2096 0.00 2.42 0.00 0.000 4 0.000 0.091 2148 3917 3400 0 0 0 0 0 0

2287 -0.73 -146.0 517.5 -21.4 246 2291 0.00 2.33 0.00 0.000 6 0.000 0.067 2148 2501 3400 0 0 0 0 0 0

2611 -0.73 -146.0 586.9 -21.2 276 2615 0.00 2.42 0.00 0.000 4 0.000 0.091 2149 3924 3400 0 0 0 0 0 0

2818 -0.73 -146.0 633.1 -21.9 285 2822 0.00 2.35 0.00 0.000 6 0.000 0.067 2148 2511 3401 0 0 0 0 0 0

3148 -0.73 -146.0 701.6 -20.9 296 3152 0.00 2.40 0.00 0.000 4 0.000 0.091 2149 3913 3401 0 0 0 0 0 0

3254 -0.73 -146.0 725.4 -22.8 299 3259 0.00 2.28 0.00 0.000 6 0.000 0.067 2149 2521 3400 0 0 0 0 0 0

3520 end dive: TARGET_DEPTH_EXCEEDED

state 3520 begin apogee

3526 -0.16 0.0 781.9 20.6 308 3651 0.73 0.00 121.88 1.271 6 0.230 0.000 2332 1951 2800 0 0 0 0 0 0

3652 end apogee: CONTROL_FINISHED_OK

state 3652 begin climb

3654 0.73 146.0 795.2 0.0 312 3789 1.08 2.92 127.20 1.215 4 0.196 0.090 2608 362 2203 0 0 0 0 0 0

3874 0.78 187.8 783.6 7.4 319 3919 0.00 2.70 37.15 1.168 6 0.000 0.066 2608 1956 2033 0 0 0 0 0 0

4243 0.84 238.6 757.5 7.0 331 4294 0.17 2.83 44.65 1.179 4 0.144 0.092 2658 364 1826 0 0 0 0 0 0

4496 0.84 238.6 734.3 9.8 338 4502 0.00 2.55 0.00 0.000 6 0.000 0.064 2659 1939 1821 0 0 0 0 0 0

4809 0.84 238.6 702.6 10.5 349 4813 0.00 2.72 0.00 0.000 4 0.000 0.084 2659 3544 1820 0 0 0 0 0 0

5004 0.84 238.6 682.3 10.2 355 5009 0.00 2.67 0.00 0.000 6 0.000 0.070 2659 1941 1818 0 0 0 0 0 0

5340 0.84 238.6 647.2 10.6 366 5344 0.00 2.70 0.00 0.000 4 0.000 0.084 2659 3542 1818 0 0 0 0 0 0

5478 0.84 238.6 633.2 10.1 370 5483 0.00 2.62 0.00 0.000 6 0.000 0.070 2659 1956 1817 0 0 0 0 0 0

5808 0.84 238.6 598.4 11.0 381 5812 0.00 2.67 0.00 0.000 4 0.000 0.084 2659 3541 1817 0 0 0 0 0 0

5873 0.84 238.6 591.6 10.1 386 5880 0.00 2.62 0.00 0.000 6 0.000 0.070 2659 1953 1817 0 0 0 0 0 0

6199 0.84 238.6 556.5 11.5 417 6204 0.00 2.67 0.00 0.000 4 0.000 0.084 2659 3543 1817 0 0 0 0 0 0

6271 0.84 238.6 548.6 10.5 423 6275 0.00 2.62 0.00 0.000 6 0.000 0.071 2658 1957 1817 0 0 0 0 0 0

6595 0.84 238.6 512.3 11.9 453 6599 0.00 2.65 0.00 0.000 4 0.000 0.084 2659 3535 1817 0 0 0 0 0 0

6660 0.84 238.6 504.9 11.3 458 6667 0.00 2.55 0.00 0.000 6 0.000 0.071 2659 1985 1817 0 0 0 0 0 0

6987 0.84 238.6 469.0 11.7 489 6991 0.00 2.60 0.00 0.000 4 0.000 0.084 2659 3534 1815 0 0 0 0 0 0

7138 0.84 238.6 453.6 9.4 502 7143 0.00 2.53 0.00 0.000 6 0.000 0.071 2659 2000 1815 0 0 0 0 0 0

7462 0.84 238.6 422.2 10.1 532 7467 0.00 2.65 0.00 0.000 4 0.000 0.093 2659 359 1815 0 0 0 0 0 0

7719 0.87 263.9 400.8 8.1 554 7747 0.00 2.58 21.02 1.004 6 0.000 0.067 2658 2017 1724 0 0 0 0 0 0

8064 0.87 263.9 369.8 9.2 587 8069 0.00 2.55 0.00 0.000 4 0.000 0.084 2659 3539 1720 0 0 0 0 0 0

8182 0.87 263.9 358.6 9.7 597 8187 0.00 2.47 0.00 0.000 6 0.000 0.071 2658 2044 1720 0 0 0 0 0 0

8506 0.87 263.9 326.1 10.5 627 8511 0.00 2.53 0.00 0.000 4 0.000 0.084 2659 3538 1720 0 0 0 0 0 0

8763 0.87 263.9 301.7 10.4 649 8770 0.00 2.45 0.00 0.000 6 0.000 0.070 2659 2081 1719 0 0 0 0 0 0

9089 0.87 263.9 268.1 10.5 680 9093 0.00 2.45 0.00 0.000 4 0.000 0.084 2659 3538 1719 0 0 0 0 0 0

9206 0.87 263.9 256.6 10.2 690 9210 0.00 2.42 0.00 0.000 6 0.000 0.070 2659 2067 1719 0 0 0 0 0 0

9530 0.87 263.9 223.3 9.5 720 9535 0.00 2.78 0.00 0.000 4 0.000 0.091 2659 352 1719 0 0 0 0 0 0

9607 0.87 263.9 216.0 9.7 726 9613 0.00 2.88 0.00 0.000 6 0.000 0.067 2659 2189 1718 0 0 0 0 0 0

9932 0.87 263.9 185.7 10.0 757 9937 0.00 2.97 0.00 0.000 4 0.000 0.090 2659 361 1718 0 0 0 0 0 0

10166 0.87 263.9 161.1 10.3 777 10173 0.00 2.88 0.00 0.000 6 0.000 0.066 2659 2204 1718 0 0 0 0 0 0

10491 0.87 263.9 131.3 9.5 808 10496 0.00 2.97 0.00 0.000 4 0.000 0.087 2659 363 1718 0 0 0 0 0 0

10507 0.87 263.9 129.9 9.4 809 10512 0.00 2.65 0.00 0.000 6 0.000 0.065 2659 2065 1719 0 0 0 0 0 0

10833 0.89 281.1 101.4 8.4 839 10854 0.00 2.45 15.50 0.786 4 0.000 0.081 2659 3534 1651 0 0 0 0 0 0

10922 0.92 308.3 94.0 8.0 853 10956 0.00 2.62 23.40 0.787 6 0.000 0.067 2659 1935 1542 0 0 0 0 0 0

11293 0.95 329.8 66.2 8.3 919 11321 0.12 2.80 18.35 0.762 4 0.195 0.081 2689 3539 1454 0 0 0 0 0 0

11338 0.98 356.2 62.6 8.1 927 11371 0.00 2.95 23.38 0.752 6 0.000 0.067 2689 1769 1345 0 0 0 0 0 0

11706 1.01 376.3 29.7 8.3 993 11729 0.00 2.30 16.77 0.734 4 0.000 0.087 2689 365 1264 0 0 0 0 0 0

11775 1.01 376.3 23.4 10.3 1005 11780 0.00 2.08 0.00 0.000 6 0.000 0.060 2690 1692 1260 0 0 0 0 0 0

11992 end climb: SURFACE_DEPTH_REACHED

state 11992 begin surface coast

12018 end surface coast: CONTROL_FINISHED_OK

state 12018 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	152	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	19	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	-31351.67	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	003117,6657.195,-5726.712,0,6119.3,0,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	013034,6701.086,-5719.594,100,99.0,119,-37.6	MHEAD_RNG_PITCHd_Wd	73.8,23089,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	780

FINISH	0.4,1.000947	_24V_AH	22.8,37.311
SM_CCo	12095,0.00,0.000,0,0,1257,378.50	_10V_AH	10.2,19.090
SM_GC	1.16,7.20,0.00,0.00,0.061,0.000,0.000,124,2463,1257,-7.04,0.08,378.50	FG_AHR_24Vo	0.000
RAFOS_CLK	819	FG_AHR_10Vo	0.000
RAFOS	0,1258516864,4.033333,4.017778,75,64,55,0,0,0,1105,203,159,0,0,0	MEM	188052
RAFOS_FIX	6700.097656,-5720.794922,181109,040444,4,107,0.19	DATA_FILE_SIZE	44183,1048
IRIDIUM_FIX	6631.12,-5724.14,110299,212147	CAP_FILE_SIZE	132836,0
TT8_MAMPS	0.029146	CFSIZE	260165632,238120960
HUMID	48.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87729	SOUNDSPEED	1464.5
TCM_TEMP	17.60	CURRENT	0.594,208.6,1
XPDR_PINGS	9	GPS	181109,045407,6701.948,-5719.746,45,1.2,45,-37.7
ALTIM_TOP_PING	19.8,19.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	298	128.57	SBE_CT	753	24	412.41
Roll_motor	131	92	277.62	SBE_O2	745	19	322.92
VBD_pump_during_apogee	449	1270	13019.35	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.22	nil	0	0	0.00
Iridium_during_connect	31	160	116.35	nil	0	0	0.00
Iridium_during_xfer	154	223	783.70
Transponder_ping	2	420	23.94
GUMSTIX_24V	0	0	0.00
GPS	122	50	62.27
TT8	2062	19	419.02
LPSleep	7307	2	172.18
TT8_Active	559	19	113.74
TT8_Sampling	2215	39	901.93
TT8_CF8	391	45	183.24
TT8_Kalman	0	0	0.00
Analog_circuits	1663	12	203.60
GPS_charging	0	0	0.00
Compass	2068	8	168.79
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	122	0.00	0.00	-103.07	0.000	2	0.000	0.000	126	2474	3124	0	0	0	0	0	0
124	-0.73	-146.0	3.4	-6.1	20	147	9.60	2.65	-7.43	0.000	4	0.298	0.093	2148	869	3397	0	0	0	0	0	0
198	-0.73	-146.0	25.3	-29.0	33	204	0.00	2.60	0.00	0.000	6	0.000	0.077	2148	2463	3400	0	0	0	0	0	0
542	-0.73	-146.0	120.9	-25.7	88	546	0.00	2.47	0.00	0.000	4	0.000	0.091	2148	3912	3400	0	0	0	0	0	0
799	-0.73	-146.0	184.7	-24.4	110	805	0.00	2.38	0.00	0.000	6	0.000	0.068	2149	2479	3400	0	0	0	0	0	0
1125	-0.73	-146.0	256.7	-22.3	141	1129	0.00	2.47	0.00	0.000	4	0.000	0.091	2148	3919	3400	0	0	0	0	0	0
1266	-0.73	-146.0	289.6	-23.7	153	1270	0.00	2.38	0.00	0.000	6	0.000	0.068	2149	2481	3400	0	0	0	0	0	0
1590	-0.73	-146.0	361.8	-21.8	183	1594	0.00	2.45	0.00	0.000	4	0.000	0.091	2149	3913	3400	0	0	0	0	0	0
1762	-0.73	-146.0	402.2	-23.1	198	1766	0.00	2.33	0.00	0.000	6	0.000	0.067	2149	2497	3400	0	0	0	0	0	0
2092	-0.73	-146.0	473.7	-21.8	229	2096	0.00	2.42	0.00	0.000	4	0.000	0.091	2148	3917	3400	0	0	0	0	0	0
2287	-0.73	-146.0	517.5	-21.4	246	2291	0.00	2.33	0.00	0.000	6	0.000	0.067	2148	2501	3400	0	0	0	0	0	0
2611	-0.73	-146.0	586.9	-21.2	276	2615	0.00	2.42	0.00	0.000	4	0.000	0.091	2149	3924	3400	0	0	0	0	0	0
2818	-0.73	-146.0	633.1	-21.9	285	2822	0.00	2.35	0.00	0.000	6	0.000	0.067	2148	2511	3401	0	0	0	0	0	0
3148	-0.73	-146.0	701.6	-20.9	296	3152	0.00	2.40	0.00	0.000	4	0.000	0.091	2149	3913	3401	0	0	0	0	0	0
3254	-0.73	-146.0	725.4	-22.8	299	3259	0.00	2.28	0.00	0.000	6	0.000	0.067	2149	2521	3400	0	0	0	0	0	0
3520	end dive: TARGET_DEPTH_EXCEEDED
state	3520	begin apogee
3526	-0.16	0.0	781.9	20.6	308	3651	0.73	0.00	121.88	1.271	6	0.230	0.000	2332	1951	2800	0	0	0	0	0	0
3652	end apogee: CONTROL_FINISHED_OK
state	3652	begin climb
3654	0.73	146.0	795.2	0.0	312	3789	1.08	2.92	127.20	1.215	4	0.196	0.090	2608	362	2203	0	0	0	0	0	0
3874	0.78	187.8	783.6	7.4	319	3919	0.00	2.70	37.15	1.168	6	0.000	0.066	2608	1956	2033	0	0	0	0	0	0
4243	0.84	238.6	757.5	7.0	331	4294	0.17	2.83	44.65	1.179	4	0.144	0.092	2658	364	1826	0	0	0	0	0	0
4496	0.84	238.6	734.3	9.8	338	4502	0.00	2.55	0.00	0.000	6	0.000	0.064	2659	1939	1821	0	0	0	0	0	0
4809	0.84	238.6	702.6	10.5	349	4813	0.00	2.72	0.00	0.000	4	0.000	0.084	2659	3544	1820	0	0	0	0	0	0
5004	0.84	238.6	682.3	10.2	355	5009	0.00	2.67	0.00	0.000	6	0.000	0.070	2659	1941	1818	0	0	0	0	0	0
5340	0.84	238.6	647.2	10.6	366	5344	0.00	2.70	0.00	0.000	4	0.000	0.084	2659	3542	1818	0	0	0	0	0	0
5478	0.84	238.6	633.2	10.1	370	5483	0.00	2.62	0.00	0.000	6	0.000	0.070	2659	1956	1817	0	0	0	0	0	0
5808	0.84	238.6	598.4	11.0	381	5812	0.00	2.67	0.00	0.000	4	0.000	0.084	2659	3541	1817	0	0	0	0	0	0
5873	0.84	238.6	591.6	10.1	386	5880	0.00	2.62	0.00	0.000	6	0.000	0.070	2659	1953	1817	0	0	0	0	0	0
6199	0.84	238.6	556.5	11.5	417	6204	0.00	2.67	0.00	0.000	4	0.000	0.084	2659	3543	1817	0	0	0	0	0	0
6271	0.84	238.6	548.6	10.5	423	6275	0.00	2.62	0.00	0.000	6	0.000	0.071	2658	1957	1817	0	0	0	0	0	0
6595	0.84	238.6	512.3	11.9	453	6599	0.00	2.65	0.00	0.000	4	0.000	0.084	2659	3535	1817	0	0	0	0	0	0
6660	0.84	238.6	504.9	11.3	458	6667	0.00	2.55	0.00	0.000	6	0.000	0.071	2659	1985	1817	0	0	0	0	0	0
6987	0.84	238.6	469.0	11.7	489	6991	0.00	2.60	0.00	0.000	4	0.000	0.084	2659	3534	1815	0	0	0	0	0	0
7138	0.84	238.6	453.6	9.4	502	7143	0.00	2.53	0.00	0.000	6	0.000	0.071	2659	2000	1815	0	0	0	0	0	0
7462	0.84	238.6	422.2	10.1	532	7467	0.00	2.65	0.00	0.000	4	0.000	0.093	2659	359	1815	0	0	0	0	0	0
7719	0.87	263.9	400.8	8.1	554	7747	0.00	2.58	21.02	1.004	6	0.000	0.067	2658	2017	1724	0	0	0	0	0	0
8064	0.87	263.9	369.8	9.2	587	8069	0.00	2.55	0.00	0.000	4	0.000	0.084	2659	3539	1720	0	0	0	0	0	0
8182	0.87	263.9	358.6	9.7	597	8187	0.00	2.47	0.00	0.000	6	0.000	0.071	2658	2044	1720	0	0	0	0	0	0
8506	0.87	263.9	326.1	10.5	627	8511	0.00	2.53	0.00	0.000	4	0.000	0.084	2659	3538	1720	0	0	0	0	0	0
8763	0.87	263.9	301.7	10.4	649	8770	0.00	2.45	0.00	0.000	6	0.000	0.070	2659	2081	1719	0	0	0	0	0	0
9089	0.87	263.9	268.1	10.5	680	9093	0.00	2.45	0.00	0.000	4	0.000	0.084	2659	3538	1719	0	0	0	0	0	0
9206	0.87	263.9	256.6	10.2	690	9210	0.00	2.42	0.00	0.000	6	0.000	0.070	2659	2067	1719	0	0	0	0	0	0
9530	0.87	263.9	223.3	9.5	720	9535	0.00	2.78	0.00	0.000	4	0.000	0.091	2659	352	1719	0	0	0	0	0	0
9607	0.87	263.9	216.0	9.7	726	9613	0.00	2.88	0.00	0.000	6	0.000	0.067	2659	2189	1718	0	0	0	0	0	0
9932	0.87	263.9	185.7	10.0	757	9937	0.00	2.97	0.00	0.000	4	0.000	0.090	2659	361	1718	0	0	0	0	0	0
10166	0.87	263.9	161.1	10.3	777	10173	0.00	2.88	0.00	0.000	6	0.000	0.066	2659	2204	1718	0	0	0	0	0	0
10491	0.87	263.9	131.3	9.5	808	10496	0.00	2.97	0.00	0.000	4	0.000	0.087	2659	363	1718	0	0	0	0	0	0
10507	0.87	263.9	129.9	9.4	809	10512	0.00	2.65	0.00	0.000	6	0.000	0.065	2659	2065	1719	0	0	0	0	0	0
10833	0.89	281.1	101.4	8.4	839	10854	0.00	2.45	15.50	0.786	4	0.000	0.081	2659	3534	1651	0	0	0	0	0	0
10922	0.92	308.3	94.0	8.0	853	10956	0.00	2.62	23.40	0.787	6	0.000	0.067	2659	1935	1542	0	0	0	0	0	0
11293	0.95	329.8	66.2	8.3	919	11321	0.12	2.80	18.35	0.762	4	0.195	0.081	2689	3539	1454	0	0	0	0	0	0
11338	0.98	356.2	62.6	8.1	927	11371	0.00	2.95	23.38	0.752	6	0.000	0.067	2689	1769	1345	0	0	0	0	0	0
11706	1.01	376.3	29.7	8.3	993	11729	0.00	2.30	16.77	0.734	4	0.000	0.087	2689	365	1264	0	0	0	0	0	0
11775	1.01	376.3	23.4	10.3	1005	11780	0.00	2.08	0.00	0.000	6	0.000	0.060	2690	1692	1260	0	0	0	0	0	0
11992	end climb: SURFACE_DEPTH_REACHED
state	11992	begin surface coast
12018	end surface coast: CONTROL_FINISHED_OK
state	12018	begin surface