Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 155 * 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 155 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 24 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 -31448.633 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 -31448.633

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 24 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 155 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 115337,6701.855,-5717.356,36,1.1,36,-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 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 115901,6701.867,-5717.426,12,1.1,17,-37.6 MHEAD_RNG_PITCHd_Wd 124.9,21354,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 779

Post-dive calculations and measurements:

FINISH 0.5,1.001471 _24V_AH 22.9,37.760

SM_CCo 11992,0.00,0.000,0,0,1407,341.46 _10V_AH 10.2,19.293

SM_GC 1.14,7.25,0.00,0.00,0.070,0.000,0.000,129,2457,1407,-7.03,-0.08,341.46 FG_AHR_24Vo 0.000

RAFOS_CLK 741 FG_AHR_10Vo 0.000

RAFOS 0,1258545665,12.033333,12.018056,70,64,56,0,0,0,210,222,121,0,0,0 MEM 188012

RAFOS_FIX 6701.347656,-5717.510742,181109,121255,5,99,0.46 DATA_FILE_SIZE 41004,1038

IRIDIUM_FIX 6631.12,-5713.57,120299,080803 CAP_FILE_SIZE 131486,0

TT8_MAMPS 0.026845 CFSIZE 260165632,237916160

HUMID 47.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1469.4

TCM_TEMP 18.00 CURRENT 0.694,271.6,1

XPDR_PINGS 12 GPS 181109,152037,6702.820,-5718.533,31,1.9,31,-37.7

ALTIM_TOP_PING 19.6,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 304 134.06 SBE_CT 746 24 410.31

Roll_motor 132 90 274.98 SBE_O2 731 19 318.40

VBD_pump_during_apogee 427 1238 12132.29 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 31 103 74.43 nil 0 0 0.00

Iridium_during_connect 33 160 122.47 nil 0 0 0.00

Iridium_during_xfer 140 223 715.54

Transponder_ping 3 420 31.26

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.78

TT8 1995 19 405.52

LPSleep 7372 2 173.71

TT8_Active 555 19 112.88

TT8_Sampling 2017 39 821.52

TT8_CF8 377 45 176.68

TT8_Kalman 0 0 0.00

Analog_circuits 1618 12 198.14

GPS_charging 0 0 0.00

Compass 1973 8 161.04

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 118 0.00 0.00 -100.57 0.000 2 0.000 0.000 124 2450 3103 0 0 0 0 0 0

120 -0.73 -146.0 3.1 -5.2 19 148 9.88 2.62 -8.15 0.000 4 0.304 0.091 2149 873 3399 0 0 0 0 0 0

289 -0.73 -146.0 51.9 -29.0 49 294 0.00 2.58 0.00 0.000 6 0.000 0.073 2149 2456 3401 0 0 0 0 0 0

627 -0.73 -146.0 145.8 -25.4 95 631 0.00 2.47 0.00 0.000 4 0.000 0.086 2149 3916 3400 0 0 0 0 0 0

738 -0.73 -146.0 176.0 -26.8 104 745 0.00 2.40 0.00 0.000 6 0.000 0.064 2149 2454 3400 0 0 0 0 0 0

1062 -0.73 -146.0 255.8 -23.9 135 1068 0.00 2.47 0.00 0.000 4 0.000 0.087 2149 3912 3400 0 0 0 0 0 0

1265 -0.73 -146.0 304.2 -24.1 153 1270 0.00 2.38 0.00 0.000 6 0.000 0.064 2148 2462 3399 0 0 0 0 0 0

1589 -0.73 -146.0 375.3 -21.1 183 1594 0.00 2.47 0.00 0.000 4 0.000 0.087 2149 3918 3399 0 0 0 0 0 0

1689 -0.73 -146.0 397.4 -21.6 191 1695 0.00 2.38 0.00 0.000 6 0.000 0.064 2149 2463 3400 0 0 0 0 0 0

2014 -0.73 -146.0 464.8 -21.4 222 2018 0.00 2.47 0.00 0.000 4 0.000 0.086 2149 3924 3400 0 0 0 0 0 0

2155 -0.73 -146.0 494.7 -21.7 234 2159 0.00 2.35 0.00 0.000 6 0.000 0.063 2148 2481 3400 0 0 0 0 0 0

2479 -0.73 -146.0 559.4 -19.9 264 2483 0.00 2.42 0.00 0.000 4 0.000 0.086 2149 3917 3400 0 0 0 0 0 0

2551 -0.73 -146.0 574.1 -20.2 270 2556 0.00 2.33 0.00 0.000 6 0.000 0.062 2149 2482 3400 0 0 0 0 0 0

2879 -0.73 -146.0 636.4 -18.6 290 2884 0.00 2.42 0.00 0.000 4 0.000 0.085 2149 3915 3400 0 0 0 0 0 0

3037 -0.73 -146.0 666.3 -19.0 294 3042 0.00 2.30 0.00 0.000 6 0.000 0.062 2149 2500 3400 0 0 0 0 0 0

3348 -0.73 -146.0 723.6 -18.7 305 3353 0.00 2.38 0.00 0.000 4 0.000 0.084 2149 3919 3400 0 0 0 0 0 0

3454 -0.73 -146.0 744.9 -20.6 308 3458 0.00 2.33 0.00 0.000 6 0.000 0.062 2149 2509 3400 0 0 0 0 0 0

3634 end dive: TARGET_DEPTH_EXCEEDED

state 3634 begin apogee

3639 -0.16 0.0 780.4 19.9 314 3764 0.73 0.00 120.75 1.239 6 0.233 0.000 2330 1949 2800 0 0 0 0 0 0

3764 end apogee: CONTROL_FINISHED_OK

state 3764 begin climb

3766 0.73 146.0 784.3 0.0 318 3902 1.10 2.83 124.88 1.187 4 0.205 0.085 2608 361 2203 0 0 0 0 0 0

3957 0.82 222.2 773.9 6.0 324 4033 0.15 2.67 67.25 1.156 6 0.140 0.058 2650 1965 1893 0 0 0 0 0 0

4352 0.82 222.2 740.4 9.9 337 4357 0.00 2.70 0.00 0.000 4 0.000 0.077 2649 3543 1886 0 0 0 0 0 0

4609 0.82 222.2 714.5 10.7 344 4616 0.00 2.62 0.00 0.000 6 0.000 0.064 2650 1964 1884 0 0 0 0 0 0

4921 0.82 222.2 680.9 11.2 355 4926 0.00 2.65 0.00 0.000 4 0.000 0.077 2649 3545 1884 0 0 0 0 0 0

5054 0.82 222.2 667.7 9.2 359 5058 0.00 2.55 0.00 0.000 6 0.000 0.064 2650 1990 1882 0 0 0 0 0 0

5389 0.82 222.2 632.5 10.8 370 5393 0.00 2.58 0.00 0.000 4 0.000 0.078 2649 3539 1883 0 0 0 0 0 0

5426 0.82 222.2 628.5 10.1 371 5430 0.00 2.55 0.00 0.000 6 0.000 0.065 2649 2003 1882 0 0 0 0 0 0

5748 0.82 222.2 595.9 10.2 383 5752 0.00 2.55 0.00 0.000 4 0.000 0.079 2649 3535 1882 0 0 0 0 0 0

5914 0.82 222.2 579.1 9.6 397 5921 0.00 2.53 0.00 0.000 6 0.000 0.064 2649 2010 1882 0 0 0 0 0 0

6239 0.82 222.2 548.2 9.8 428 6244 0.00 2.53 0.00 0.000 4 0.000 0.078 2649 3535 1882 0 0 0 0 0 0

6351 0.83 233.9 537.9 8.7 437 6367 0.00 2.45 9.43 0.981 6 0.000 0.065 2649 2024 1845 0 0 0 0 0 0

6685 0.83 233.9 505.5 9.6 469 6689 0.00 2.53 0.00 0.000 4 0.000 0.078 2649 3543 1844 0 0 0 0 0 0

6757 0.84 236.7 498.6 9.1 475 6769 0.00 2.47 4.03 0.707 6 0.000 0.065 2649 2032 1834 0 0 0 0 0 0

7086 0.84 236.7 467.4 10.1 506 7088 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2032 1834 0 0 0 0 0 0

7406 0.84 236.7 435.7 9.8 536 7411 0.00 2.50 0.00 0.000 4 0.000 0.079 2649 3538 1834 0 0 0 0 0 0

7479 0.84 236.7 428.4 9.5 542 7483 0.00 2.45 0.00 0.000 6 0.000 0.065 2649 2037 1834 0 0 0 0 0 0

7805 0.84 236.7 397.8 9.7 572 7809 0.00 2.70 0.00 0.000 4 0.000 0.086 2649 355 1834 0 0 0 0 0 0

8061 0.84 236.7 374.4 9.3 594 8068 0.00 2.62 0.00 0.000 6 0.000 0.061 2649 2051 1834 0 0 0 0 0 0

8386 0.84 241.9 346.3 8.9 625 8399 0.00 2.80 6.53 0.818 4 0.000 0.085 2649 361 1811 0 0 0 0 0 0

8437 0.85 249.9 341.6 8.8 629 8454 0.00 2.42 8.20 0.854 6 0.000 0.061 2649 1935 1780 0 0 0 0 0 0

8772 0.88 272.6 313.1 8.2 661 8798 0.00 2.60 20.48 0.920 4 0.000 0.085 2649 358 1688 0 0 0 0 0 0

8832 0.89 276.4 307.9 9.0 666 8843 0.00 2.28 4.78 0.690 6 0.000 0.060 2649 1813 1673 0 0 0 0 0 0

9161 0.89 279.5 277.5 9.0 697 9172 0.00 2.40 4.10 0.634 4 0.000 0.087 2649 342 1660 0 0 0 0 0 0

9330 0.90 285.7 261.6 8.9 712 9343 0.00 2.08 6.97 0.780 6 0.000 0.059 2649 1688 1634 0 0 0 0 0 0

9669 0.91 292.8 231.6 8.9 744 9683 0.00 2.22 7.50 0.782 4 0.000 0.087 2649 363 1606 0 0 0 0 0 0

9695 0.93 312.0 229.3 8.4 746 9720 0.12 1.90 17.73 0.848 6 0.156 0.058 2686 1602 1527 0 0 0 0 0 0

10046 0.93 312.0 190.8 11.8 779 10050 0.00 2.00 0.00 0.000 4 0.000 0.087 2686 363 1523 0 0 0 0 0 0

10147 0.93 312.0 179.3 11.1 788 10151 0.00 1.98 0.00 0.000 6 0.000 0.058 2686 1649 1523 0 0 0 0 0 0

10477 0.93 312.0 144.7 11.7 819 10482 0.00 3.10 0.00 0.000 4 0.000 0.076 2686 3534 1521 0 0 0 0 0 0

10673 0.93 312.0 122.3 11.1 836 10678 0.00 3.05 0.00 0.000 6 0.000 0.066 2686 1665 1522 0 0 0 0 0 0

11003 0.93 312.0 85.9 11.0 877 11009 0.00 3.08 0.00 0.000 4 0.000 0.074 2686 3538 1522 0 0 0 0 0 0

11076 0.93 312.0 78.0 11.0 890 11082 0.00 3.00 0.00 0.000 6 0.000 0.065 2686 1693 1521 0 0 0 0 0 0

11420 0.94 318.1 45.7 8.9 951 11435 0.00 3.05 5.57 0.644 4 0.000 0.074 2686 3546 1503 0 0 0 0 0 0

11518 0.94 318.1 36.3 9.5 968 11524 0.00 3.17 0.00 0.000 6 0.000 0.066 2686 1594 1502 0 0 0 0 0 0

11863 0.96 339.9 4.6 8.2 1029 11891 0.00 2.05 19.52 0.743 4 0.000 0.089 2686 361 1412 0 0 0 0 0 0

11895 end climb: SURFACE_DEPTH_REACHED

state 11895 begin surface coast

11913 end surface coast: CONTROL_FINISHED_OK

state 11913 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	155	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	24	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	-31448.633	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	115337,6701.855,-5717.356,36,1.1,36,-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	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	115901,6701.867,-5717.426,12,1.1,17,-37.6	MHEAD_RNG_PITCHd_Wd	124.9,21354,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	779

FINISH	0.5,1.001471	_24V_AH	22.9,37.760
SM_CCo	11992,0.00,0.000,0,0,1407,341.46	_10V_AH	10.2,19.293
SM_GC	1.14,7.25,0.00,0.00,0.070,0.000,0.000,129,2457,1407,-7.03,-0.08,341.46	FG_AHR_24Vo	0.000
RAFOS_CLK	741	FG_AHR_10Vo	0.000
RAFOS	0,1258545665,12.033333,12.018056,70,64,56,0,0,0,210,222,121,0,0,0	MEM	188012
RAFOS_FIX	6701.347656,-5717.510742,181109,121255,5,99,0.46	DATA_FILE_SIZE	41004,1038
IRIDIUM_FIX	6631.12,-5713.57,120299,080803	CAP_FILE_SIZE	131486,0
TT8_MAMPS	0.026845	CFSIZE	260165632,237916160
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1469.4
TCM_TEMP	18.00	CURRENT	0.694,271.6,1
XPDR_PINGS	12	GPS	181109,152037,6702.820,-5718.533,31,1.9,31,-37.7
ALTIM_TOP_PING	19.6,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	304	134.06	SBE_CT	746	24	410.31
Roll_motor	132	90	274.98	SBE_O2	731	19	318.40
VBD_pump_during_apogee	427	1238	12132.29	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	31	103	74.43	nil	0	0	0.00
Iridium_during_connect	33	160	122.47	nil	0	0	0.00
Iridium_during_xfer	140	223	715.54
Transponder_ping	3	420	31.26
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.78
TT8	1995	19	405.52
LPSleep	7372	2	173.71
TT8_Active	555	19	112.88
TT8_Sampling	2017	39	821.52
TT8_CF8	377	45	176.68
TT8_Kalman	0	0	0.00
Analog_circuits	1618	12	198.14
GPS_charging	0	0	0.00
Compass	1973	8	161.04
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	118	0.00	0.00	-100.57	0.000	2	0.000	0.000	124	2450	3103	0	0	0	0	0	0
120	-0.73	-146.0	3.1	-5.2	19	148	9.88	2.62	-8.15	0.000	4	0.304	0.091	2149	873	3399	0	0	0	0	0	0
289	-0.73	-146.0	51.9	-29.0	49	294	0.00	2.58	0.00	0.000	6	0.000	0.073	2149	2456	3401	0	0	0	0	0	0
627	-0.73	-146.0	145.8	-25.4	95	631	0.00	2.47	0.00	0.000	4	0.000	0.086	2149	3916	3400	0	0	0	0	0	0
738	-0.73	-146.0	176.0	-26.8	104	745	0.00	2.40	0.00	0.000	6	0.000	0.064	2149	2454	3400	0	0	0	0	0	0
1062	-0.73	-146.0	255.8	-23.9	135	1068	0.00	2.47	0.00	0.000	4	0.000	0.087	2149	3912	3400	0	0	0	0	0	0
1265	-0.73	-146.0	304.2	-24.1	153	1270	0.00	2.38	0.00	0.000	6	0.000	0.064	2148	2462	3399	0	0	0	0	0	0
1589	-0.73	-146.0	375.3	-21.1	183	1594	0.00	2.47	0.00	0.000	4	0.000	0.087	2149	3918	3399	0	0	0	0	0	0
1689	-0.73	-146.0	397.4	-21.6	191	1695	0.00	2.38	0.00	0.000	6	0.000	0.064	2149	2463	3400	0	0	0	0	0	0
2014	-0.73	-146.0	464.8	-21.4	222	2018	0.00	2.47	0.00	0.000	4	0.000	0.086	2149	3924	3400	0	0	0	0	0	0
2155	-0.73	-146.0	494.7	-21.7	234	2159	0.00	2.35	0.00	0.000	6	0.000	0.063	2148	2481	3400	0	0	0	0	0	0
2479	-0.73	-146.0	559.4	-19.9	264	2483	0.00	2.42	0.00	0.000	4	0.000	0.086	2149	3917	3400	0	0	0	0	0	0
2551	-0.73	-146.0	574.1	-20.2	270	2556	0.00	2.33	0.00	0.000	6	0.000	0.062	2149	2482	3400	0	0	0	0	0	0
2879	-0.73	-146.0	636.4	-18.6	290	2884	0.00	2.42	0.00	0.000	4	0.000	0.085	2149	3915	3400	0	0	0	0	0	0
3037	-0.73	-146.0	666.3	-19.0	294	3042	0.00	2.30	0.00	0.000	6	0.000	0.062	2149	2500	3400	0	0	0	0	0	0
3348	-0.73	-146.0	723.6	-18.7	305	3353	0.00	2.38	0.00	0.000	4	0.000	0.084	2149	3919	3400	0	0	0	0	0	0
3454	-0.73	-146.0	744.9	-20.6	308	3458	0.00	2.33	0.00	0.000	6	0.000	0.062	2149	2509	3400	0	0	0	0	0	0
3634	end dive: TARGET_DEPTH_EXCEEDED
state	3634	begin apogee
3639	-0.16	0.0	780.4	19.9	314	3764	0.73	0.00	120.75	1.239	6	0.233	0.000	2330	1949	2800	0	0	0	0	0	0
3764	end apogee: CONTROL_FINISHED_OK
state	3764	begin climb
3766	0.73	146.0	784.3	0.0	318	3902	1.10	2.83	124.88	1.187	4	0.205	0.085	2608	361	2203	0	0	0	0	0	0
3957	0.82	222.2	773.9	6.0	324	4033	0.15	2.67	67.25	1.156	6	0.140	0.058	2650	1965	1893	0	0	0	0	0	0
4352	0.82	222.2	740.4	9.9	337	4357	0.00	2.70	0.00	0.000	4	0.000	0.077	2649	3543	1886	0	0	0	0	0	0
4609	0.82	222.2	714.5	10.7	344	4616	0.00	2.62	0.00	0.000	6	0.000	0.064	2650	1964	1884	0	0	0	0	0	0
4921	0.82	222.2	680.9	11.2	355	4926	0.00	2.65	0.00	0.000	4	0.000	0.077	2649	3545	1884	0	0	0	0	0	0
5054	0.82	222.2	667.7	9.2	359	5058	0.00	2.55	0.00	0.000	6	0.000	0.064	2650	1990	1882	0	0	0	0	0	0
5389	0.82	222.2	632.5	10.8	370	5393	0.00	2.58	0.00	0.000	4	0.000	0.078	2649	3539	1883	0	0	0	0	0	0
5426	0.82	222.2	628.5	10.1	371	5430	0.00	2.55	0.00	0.000	6	0.000	0.065	2649	2003	1882	0	0	0	0	0	0
5748	0.82	222.2	595.9	10.2	383	5752	0.00	2.55	0.00	0.000	4	0.000	0.079	2649	3535	1882	0	0	0	0	0	0
5914	0.82	222.2	579.1	9.6	397	5921	0.00	2.53	0.00	0.000	6	0.000	0.064	2649	2010	1882	0	0	0	0	0	0
6239	0.82	222.2	548.2	9.8	428	6244	0.00	2.53	0.00	0.000	4	0.000	0.078	2649	3535	1882	0	0	0	0	0	0
6351	0.83	233.9	537.9	8.7	437	6367	0.00	2.45	9.43	0.981	6	0.000	0.065	2649	2024	1845	0	0	0	0	0	0
6685	0.83	233.9	505.5	9.6	469	6689	0.00	2.53	0.00	0.000	4	0.000	0.078	2649	3543	1844	0	0	0	0	0	0
6757	0.84	236.7	498.6	9.1	475	6769	0.00	2.47	4.03	0.707	6	0.000	0.065	2649	2032	1834	0	0	0	0	0	0
7086	0.84	236.7	467.4	10.1	506	7088	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2032	1834	0	0	0	0	0	0
7406	0.84	236.7	435.7	9.8	536	7411	0.00	2.50	0.00	0.000	4	0.000	0.079	2649	3538	1834	0	0	0	0	0	0
7479	0.84	236.7	428.4	9.5	542	7483	0.00	2.45	0.00	0.000	6	0.000	0.065	2649	2037	1834	0	0	0	0	0	0
7805	0.84	236.7	397.8	9.7	572	7809	0.00	2.70	0.00	0.000	4	0.000	0.086	2649	355	1834	0	0	0	0	0	0
8061	0.84	236.7	374.4	9.3	594	8068	0.00	2.62	0.00	0.000	6	0.000	0.061	2649	2051	1834	0	0	0	0	0	0
8386	0.84	241.9	346.3	8.9	625	8399	0.00	2.80	6.53	0.818	4	0.000	0.085	2649	361	1811	0	0	0	0	0	0
8437	0.85	249.9	341.6	8.8	629	8454	0.00	2.42	8.20	0.854	6	0.000	0.061	2649	1935	1780	0	0	0	0	0	0
8772	0.88	272.6	313.1	8.2	661	8798	0.00	2.60	20.48	0.920	4	0.000	0.085	2649	358	1688	0	0	0	0	0	0
8832	0.89	276.4	307.9	9.0	666	8843	0.00	2.28	4.78	0.690	6	0.000	0.060	2649	1813	1673	0	0	0	0	0	0
9161	0.89	279.5	277.5	9.0	697	9172	0.00	2.40	4.10	0.634	4	0.000	0.087	2649	342	1660	0	0	0	0	0	0
9330	0.90	285.7	261.6	8.9	712	9343	0.00	2.08	6.97	0.780	6	0.000	0.059	2649	1688	1634	0	0	0	0	0	0
9669	0.91	292.8	231.6	8.9	744	9683	0.00	2.22	7.50	0.782	4	0.000	0.087	2649	363	1606	0	0	0	0	0	0
9695	0.93	312.0	229.3	8.4	746	9720	0.12	1.90	17.73	0.848	6	0.156	0.058	2686	1602	1527	0	0	0	0	0	0
10046	0.93	312.0	190.8	11.8	779	10050	0.00	2.00	0.00	0.000	4	0.000	0.087	2686	363	1523	0	0	0	0	0	0
10147	0.93	312.0	179.3	11.1	788	10151	0.00	1.98	0.00	0.000	6	0.000	0.058	2686	1649	1523	0	0	0	0	0	0
10477	0.93	312.0	144.7	11.7	819	10482	0.00	3.10	0.00	0.000	4	0.000	0.076	2686	3534	1521	0	0	0	0	0	0
10673	0.93	312.0	122.3	11.1	836	10678	0.00	3.05	0.00	0.000	6	0.000	0.066	2686	1665	1522	0	0	0	0	0	0
11003	0.93	312.0	85.9	11.0	877	11009	0.00	3.08	0.00	0.000	4	0.000	0.074	2686	3538	1522	0	0	0	0	0	0
11076	0.93	312.0	78.0	11.0	890	11082	0.00	3.00	0.00	0.000	6	0.000	0.065	2686	1693	1521	0	0	0	0	0	0
11420	0.94	318.1	45.7	8.9	951	11435	0.00	3.05	5.57	0.644	4	0.000	0.074	2686	3546	1503	0	0	0	0	0	0
11518	0.94	318.1	36.3	9.5	968	11524	0.00	3.17	0.00	0.000	6	0.000	0.066	2686	1594	1502	0	0	0	0	0	0
11863	0.96	339.9	4.6	8.2	1029	11891	0.00	2.05	19.52	0.743	4	0.000	0.089	2686	361	1412	0	0	0	0	0	0
11895	end climb: SURFACE_DEPTH_REACHED
state	11895	begin surface coast
11913	end surface coast: CONTROL_FINISHED_OK
state	11913	begin surface