Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 158 * 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 158 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 -31524.711 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 -31524.711

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 158 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 220531,6702.483,-5715.228,41,2.0,41,-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 1.17 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 221055,6702.465,-5715.178,12,1.3,17,-37.6 MHEAD_RNG_PITCHd_Wd 79.7,19652,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 774

Post-dive calculations and measurements:

FINISH 0.4,1.001432 _24V_AH 22.9,38.204

SM_CCo 11878,0.00,0.000,0,0,1283,371.87 _10V_AH 10.2,19.492

SM_GC 1.20,7.25,0.00,0.00,0.067,0.000,0.000,129,2464,1283,-7.03,0.08,371.87 FG_AHR_24Vo 0.000

RAFOS_CLK 725 FG_AHR_10Vo 0.000

RAFOS 0,1258588864,0.033333,0.017778,62,61,59,0,0,0,184,196,167,0,0,0 MEM 187996

RAFOS_FIX 6702.758789,-5717.528320,191109,000040,3,92,0.20 DATA_FILE_SIZE 44084,1030

IRIDIUM_FIX 6636.54,-5710.59,120299,181808 CAP_FILE_SIZE 132329,0

TT8_MAMPS 0.026845 CFSIZE 260165632,237707264

HUMID 47.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89683 SOUNDSPEED 1469.5

TCM_TEMP 17.80 CURRENT 0.046,335.4,1

XPDR_PINGS 10 GPS 191109,013057,6703.190,-5713.100,32,2.1,51,-37.7

ALTIM_TOP_PING 19.6,19.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 306 134.38 SBE_CT 742 24 407.83

Roll_motor 128 88 262.63 SBE_O2 721 19 313.82

VBD_pump_during_apogee 447 1227 12585.17 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 28 103 67.13 nil 0 0 0.00

Iridium_during_connect 38 160 141.25 nil 0 0 0.00

Iridium_during_xfer 138 223 708.88

Transponder_ping 2 420 26.45

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.58

TT8 2015 19 409.45

LPSleep 7196 2 169.57

TT8_Active 560 19 113.86

TT8_Sampling 2049 39 834.53

TT8_CF8 383 45 179.62

TT8_Kalman 0 0 0.00

Analog_circuits 1638 12 200.55

GPS_charging 0 0 0.00

Compass 2006 8 163.70

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 -104.22 0.000 2 0.000 0.000 125 2465 3135 0 0 0 0 0 0

125 -0.73 -146.0 3.4 -6.3 20 147 9.93 2.60 -6.97 0.000 4 0.306 0.089 2150 870 3396 0 0 0 0 0 0

228 -0.73 -146.0 33.7 -30.4 38 233 0.00 2.55 0.00 0.000 6 0.000 0.073 2150 2451 3399 0 0 0 0 0 0

570 -0.73 -146.0 131.5 -27.4 89 574 0.00 2.53 0.00 0.000 4 0.000 0.088 2150 3923 3398 0 0 0 0 0 0

793 -0.73 -146.0 188.3 -24.4 108 799 0.00 2.42 0.00 0.000 6 0.000 0.064 2150 2450 3398 0 0 0 0 0 0

1119 -0.73 -146.0 264.9 -23.5 139 1123 0.00 2.50 0.00 0.000 4 0.000 0.087 2150 3914 3398 0 0 0 0 0 0

1365 -0.73 -146.0 321.6 -21.6 160 1370 0.00 2.38 0.00 0.000 6 0.000 0.064 2150 2469 3398 0 0 0 0 0 0

1689 -0.73 -146.0 387.5 -20.0 191 1693 0.00 2.47 0.00 0.000 4 0.000 0.086 2150 3914 3398 0 0 0 0 0 0

1862 -0.73 -146.0 424.9 -21.6 206 1867 0.00 2.35 0.00 0.000 6 0.000 0.063 2151 2483 3398 0 0 0 0 0 0

2187 -0.73 -146.0 490.9 -19.6 236 2191 0.00 2.45 0.00 0.000 4 0.000 0.085 2150 3919 3398 0 0 0 0 0 0

2309 -0.73 -146.0 516.1 -20.9 246 2315 0.00 2.35 0.00 0.000 6 0.000 0.062 2150 2486 3398 0 0 0 0 0 0

2634 -0.73 -146.0 579.7 -20.2 277 2638 0.00 2.45 0.00 0.000 4 0.000 0.084 2150 3916 3398 0 0 0 0 0 0

2785 -0.73 -146.0 610.9 -20.3 287 2790 0.00 2.35 0.00 0.000 6 0.000 0.062 2150 2482 3398 0 0 0 0 0 0

3103 -0.73 -146.0 671.4 -18.7 298 3107 0.00 2.45 0.00 0.000 4 0.000 0.084 2150 3925 3399 0 0 0 0 0 0

3298 -0.73 -146.0 710.1 -20.1 304 3302 0.00 2.33 0.00 0.000 6 0.000 0.061 2150 2502 3398 0 0 0 0 0 0

3633 -0.73 -146.0 761.6 -7.9 315 3637 0.00 2.40 0.00 0.000 4 0.000 0.084 2150 3919 3400 0 0 0 0 0 0

3738 -0.73 -146.0 761.6 -0.6 318 3742 0.00 2.20 0.00 0.000 6 0.000 0.058 2150 2559 3399 0 0 0 0 0 0

3789 end dive: NO_VERTICAL_VELOCITY

state 3789 begin apogee

3795 -0.16 0.0 761.6 0.0 320 3918 0.62 0.00 119.75 1.227 6 0.153 0.000 2338 1950 2800 0 0 0 0 0 0

3919 end apogee: CONTROL_FINISHED_OK

state 3919 begin climb

3921 0.73 146.0 761.4 0.0 324 4056 1.10 3.03 124.43 1.175 4 0.212 0.076 2611 3541 2202 0 0 0 0 0 0

4134 0.78 188.6 748.9 7.4 330 4179 0.00 2.78 37.55 1.130 6 0.000 0.062 2611 1954 2030 0 0 0 0 0 0

4516 0.82 222.8 720.8 7.7 343 4552 0.15 2.72 29.38 1.127 4 0.141 0.086 2651 358 1890 0 0 0 0 0 0

4591 0.85 246.7 714.7 8.2 345 4621 0.00 2.65 22.25 1.101 6 0.000 0.058 2652 2000 1793 0 0 0 0 0 0

4946 0.85 246.7 681.8 9.3 357 4950 0.00 2.70 0.00 0.000 4 0.000 0.085 2652 358 1789 0 0 0 0 0 0

5158 0.85 250.7 661.4 9.0 363 5168 0.00 2.55 3.88 0.709 6 0.000 0.059 2652 1995 1777 0 0 0 0 0 0

5482 0.88 271.7 633.2 8.3 374 5508 0.00 2.70 20.05 1.091 4 0.000 0.084 2651 359 1691 0 0 0 0 0 0

5577 0.88 271.7 624.5 9.6 376 5581 0.00 2.30 0.00 0.000 6 0.000 0.059 2652 1833 1688 0 0 0 0 0 0

5893 0.89 283.8 595.5 8.7 389 5913 0.00 2.47 11.50 1.023 4 0.000 0.086 2652 362 1641 0 0 0 0 0 0

5984 0.91 297.9 587.3 8.6 397 6004 0.00 2.53 13.73 1.033 6 0.000 0.061 2652 1980 1584 0 0 0 0 0 0

6329 0.91 297.9 555.3 9.6 430 6333 0.00 2.62 0.00 0.000 4 0.000 0.079 2652 3546 1581 0 0 0 0 0 0

6585 0.91 297.9 529.0 10.2 452 6595 0.00 2.35 0.00 0.000 6 0.000 0.064 2652 2142 1580 0 0 0 0 0 0

6910 0.91 297.9 495.1 10.1 483 6915 0.00 2.85 0.00 0.000 4 0.000 0.084 2652 359 1578 0 0 0 0 0 0

7028 0.91 297.9 483.2 10.3 493 7033 0.00 2.50 0.00 0.000 6 0.000 0.062 2652 1975 1577 0 0 0 0 0 0

7352 0.91 297.9 449.6 11.3 523 7354 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 1976 1577 0 0 0 0 0 0

7672 0.91 297.9 414.5 10.0 553 7677 0.00 2.60 0.00 0.000 4 0.000 0.085 2652 353 1577 0 0 0 0 0 0

7771 0.91 297.9 404.9 9.9 561 7778 0.00 2.53 0.00 0.000 6 0.000 0.060 2652 1971 1577 0 0 0 0 0 0

8097 0.91 297.9 371.2 11.0 592 8101 0.00 2.58 0.00 0.000 4 0.000 0.078 2652 3534 1577 0 0 0 0 0 0

8158 0.91 297.9 364.5 10.9 597 8163 0.00 2.67 0.00 0.000 6 0.000 0.066 2652 1890 1577 0 0 0 0 0 0

8483 0.91 297.9 329.5 10.7 627 8488 0.00 2.45 0.00 0.000 4 0.000 0.086 2651 350 1577 0 0 0 0 0 0

8582 0.91 297.9 318.5 11.3 635 8588 0.00 2.50 0.00 0.000 6 0.000 0.063 2652 1968 1577 0 0 0 0 0 0

8907 0.91 297.9 285.2 9.6 666 8911 0.00 2.60 0.00 0.000 4 0.000 0.079 2652 3542 1577 0 0 0 0 0 0

8994 0.91 297.9 276.4 9.7 673 9003 0.00 2.85 0.00 0.000 6 0.000 0.067 2652 1787 1577 0 0 0 0 0 0

9321 0.93 310.5 247.0 8.6 704 9341 0.12 2.90 11.02 0.840 4 0.163 0.075 2689 3537 1533 0 0 0 0 0 0

9386 0.93 310.5 240.4 10.6 710 9391 0.00 2.88 0.00 0.000 6 0.000 0.066 2689 1779 1532 0 0 0 0 0 0

9712 0.93 310.5 201.1 13.0 740 9716 0.00 2.28 0.00 0.000 4 0.000 0.087 2689 351 1532 0 0 0 0 0 0

9818 0.93 310.5 187.9 11.4 749 9822 0.00 2.22 0.00 0.000 6 0.000 0.058 2689 1810 1532 0 0 0 0 0 0

10142 0.93 310.5 151.7 11.4 779 10146 0.00 2.33 0.00 0.000 4 0.000 0.084 2689 350 1532 0 0 0 0 0 0

10394 0.93 310.5 123.6 11.3 801 10399 0.00 2.40 0.00 0.000 6 0.000 0.058 2689 1924 1532 0 0 0 0 0 0

10722 0.93 313.5 92.0 9.0 838 10731 0.00 2.58 4.10 0.576 4 0.000 0.084 2689 357 1520 0 0 0 0 0 0

10743 0.95 324.9 90.2 8.7 841 10760 0.00 2.65 11.23 0.750 6 0.000 0.061 2689 2076 1475 0 0 0 0 0 0

11095 0.95 324.9 59.6 9.3 904 11101 0.00 2.78 0.00 0.000 4 0.000 0.084 2689 349 1473 0 0 0 0 0 0

11218 0.96 333.8 48.5 8.8 926 11235 0.00 2.58 8.82 0.714 6 0.000 0.061 2689 2018 1438 0 0 0 0 0 0

11572 1.00 369.2 16.9 7.7 989 11609 0.00 2.72 30.15 0.746 4 0.000 0.084 2689 359 1292 0 0 0 0 0 0

11666 1.00 369.2 8.7 9.6 1006 11672 0.00 2.40 0.00 0.000 6 0.000 0.061 2689 1890 1288 0 0 0 0 0 0

11776 end climb: SURFACE_DEPTH_REACHED

state 11777 begin surface coast

11802 end surface coast: CONTROL_FINISHED_OK

state 11802 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	158	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	-31524.711	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	220531,6702.483,-5715.228,41,2.0,41,-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	1.17	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	221055,6702.465,-5715.178,12,1.3,17,-37.6	MHEAD_RNG_PITCHd_Wd	79.7,19652,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	774

FINISH	0.4,1.001432	_24V_AH	22.9,38.204
SM_CCo	11878,0.00,0.000,0,0,1283,371.87	_10V_AH	10.2,19.492
SM_GC	1.20,7.25,0.00,0.00,0.067,0.000,0.000,129,2464,1283,-7.03,0.08,371.87	FG_AHR_24Vo	0.000
RAFOS_CLK	725	FG_AHR_10Vo	0.000
RAFOS	0,1258588864,0.033333,0.017778,62,61,59,0,0,0,184,196,167,0,0,0	MEM	187996
RAFOS_FIX	6702.758789,-5717.528320,191109,000040,3,92,0.20	DATA_FILE_SIZE	44084,1030
IRIDIUM_FIX	6636.54,-5710.59,120299,181808	CAP_FILE_SIZE	132329,0
TT8_MAMPS	0.026845	CFSIZE	260165632,237707264
HUMID	47.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89683	SOUNDSPEED	1469.5
TCM_TEMP	17.80	CURRENT	0.046,335.4,1
XPDR_PINGS	10	GPS	191109,013057,6703.190,-5713.100,32,2.1,51,-37.7
ALTIM_TOP_PING	19.6,19.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	306	134.38	SBE_CT	742	24	407.83
Roll_motor	128	88	262.63	SBE_O2	721	19	313.82
VBD_pump_during_apogee	447	1227	12585.17	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	28	103	67.13	nil	0	0	0.00
Iridium_during_connect	38	160	141.25	nil	0	0	0.00
Iridium_during_xfer	138	223	708.88
Transponder_ping	2	420	26.45
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.58
TT8	2015	19	409.45
LPSleep	7196	2	169.57
TT8_Active	560	19	113.86
TT8_Sampling	2049	39	834.53
TT8_CF8	383	45	179.62
TT8_Kalman	0	0	0.00
Analog_circuits	1638	12	200.55
GPS_charging	0	0	0.00
Compass	2006	8	163.70
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	-104.22	0.000	2	0.000	0.000	125	2465	3135	0	0	0	0	0	0
125	-0.73	-146.0	3.4	-6.3	20	147	9.93	2.60	-6.97	0.000	4	0.306	0.089	2150	870	3396	0	0	0	0	0	0
228	-0.73	-146.0	33.7	-30.4	38	233	0.00	2.55	0.00	0.000	6	0.000	0.073	2150	2451	3399	0	0	0	0	0	0
570	-0.73	-146.0	131.5	-27.4	89	574	0.00	2.53	0.00	0.000	4	0.000	0.088	2150	3923	3398	0	0	0	0	0	0
793	-0.73	-146.0	188.3	-24.4	108	799	0.00	2.42	0.00	0.000	6	0.000	0.064	2150	2450	3398	0	0	0	0	0	0
1119	-0.73	-146.0	264.9	-23.5	139	1123	0.00	2.50	0.00	0.000	4	0.000	0.087	2150	3914	3398	0	0	0	0	0	0
1365	-0.73	-146.0	321.6	-21.6	160	1370	0.00	2.38	0.00	0.000	6	0.000	0.064	2150	2469	3398	0	0	0	0	0	0
1689	-0.73	-146.0	387.5	-20.0	191	1693	0.00	2.47	0.00	0.000	4	0.000	0.086	2150	3914	3398	0	0	0	0	0	0
1862	-0.73	-146.0	424.9	-21.6	206	1867	0.00	2.35	0.00	0.000	6	0.000	0.063	2151	2483	3398	0	0	0	0	0	0
2187	-0.73	-146.0	490.9	-19.6	236	2191	0.00	2.45	0.00	0.000	4	0.000	0.085	2150	3919	3398	0	0	0	0	0	0
2309	-0.73	-146.0	516.1	-20.9	246	2315	0.00	2.35	0.00	0.000	6	0.000	0.062	2150	2486	3398	0	0	0	0	0	0
2634	-0.73	-146.0	579.7	-20.2	277	2638	0.00	2.45	0.00	0.000	4	0.000	0.084	2150	3916	3398	0	0	0	0	0	0
2785	-0.73	-146.0	610.9	-20.3	287	2790	0.00	2.35	0.00	0.000	6	0.000	0.062	2150	2482	3398	0	0	0	0	0	0
3103	-0.73	-146.0	671.4	-18.7	298	3107	0.00	2.45	0.00	0.000	4	0.000	0.084	2150	3925	3399	0	0	0	0	0	0
3298	-0.73	-146.0	710.1	-20.1	304	3302	0.00	2.33	0.00	0.000	6	0.000	0.061	2150	2502	3398	0	0	0	0	0	0
3633	-0.73	-146.0	761.6	-7.9	315	3637	0.00	2.40	0.00	0.000	4	0.000	0.084	2150	3919	3400	0	0	0	0	0	0
3738	-0.73	-146.0	761.6	-0.6	318	3742	0.00	2.20	0.00	0.000	6	0.000	0.058	2150	2559	3399	0	0	0	0	0	0
3789	end dive: NO_VERTICAL_VELOCITY
state	3789	begin apogee
3795	-0.16	0.0	761.6	0.0	320	3918	0.62	0.00	119.75	1.227	6	0.153	0.000	2338	1950	2800	0	0	0	0	0	0
3919	end apogee: CONTROL_FINISHED_OK
state	3919	begin climb
3921	0.73	146.0	761.4	0.0	324	4056	1.10	3.03	124.43	1.175	4	0.212	0.076	2611	3541	2202	0	0	0	0	0	0
4134	0.78	188.6	748.9	7.4	330	4179	0.00	2.78	37.55	1.130	6	0.000	0.062	2611	1954	2030	0	0	0	0	0	0
4516	0.82	222.8	720.8	7.7	343	4552	0.15	2.72	29.38	1.127	4	0.141	0.086	2651	358	1890	0	0	0	0	0	0
4591	0.85	246.7	714.7	8.2	345	4621	0.00	2.65	22.25	1.101	6	0.000	0.058	2652	2000	1793	0	0	0	0	0	0
4946	0.85	246.7	681.8	9.3	357	4950	0.00	2.70	0.00	0.000	4	0.000	0.085	2652	358	1789	0	0	0	0	0	0
5158	0.85	250.7	661.4	9.0	363	5168	0.00	2.55	3.88	0.709	6	0.000	0.059	2652	1995	1777	0	0	0	0	0	0
5482	0.88	271.7	633.2	8.3	374	5508	0.00	2.70	20.05	1.091	4	0.000	0.084	2651	359	1691	0	0	0	0	0	0
5577	0.88	271.7	624.5	9.6	376	5581	0.00	2.30	0.00	0.000	6	0.000	0.059	2652	1833	1688	0	0	0	0	0	0
5893	0.89	283.8	595.5	8.7	389	5913	0.00	2.47	11.50	1.023	4	0.000	0.086	2652	362	1641	0	0	0	0	0	0
5984	0.91	297.9	587.3	8.6	397	6004	0.00	2.53	13.73	1.033	6	0.000	0.061	2652	1980	1584	0	0	0	0	0	0
6329	0.91	297.9	555.3	9.6	430	6333	0.00	2.62	0.00	0.000	4	0.000	0.079	2652	3546	1581	0	0	0	0	0	0
6585	0.91	297.9	529.0	10.2	452	6595	0.00	2.35	0.00	0.000	6	0.000	0.064	2652	2142	1580	0	0	0	0	0	0
6910	0.91	297.9	495.1	10.1	483	6915	0.00	2.85	0.00	0.000	4	0.000	0.084	2652	359	1578	0	0	0	0	0	0
7028	0.91	297.9	483.2	10.3	493	7033	0.00	2.50	0.00	0.000	6	0.000	0.062	2652	1975	1577	0	0	0	0	0	0
7352	0.91	297.9	449.6	11.3	523	7354	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	1976	1577	0	0	0	0	0	0
7672	0.91	297.9	414.5	10.0	553	7677	0.00	2.60	0.00	0.000	4	0.000	0.085	2652	353	1577	0	0	0	0	0	0
7771	0.91	297.9	404.9	9.9	561	7778	0.00	2.53	0.00	0.000	6	0.000	0.060	2652	1971	1577	0	0	0	0	0	0
8097	0.91	297.9	371.2	11.0	592	8101	0.00	2.58	0.00	0.000	4	0.000	0.078	2652	3534	1577	0	0	0	0	0	0
8158	0.91	297.9	364.5	10.9	597	8163	0.00	2.67	0.00	0.000	6	0.000	0.066	2652	1890	1577	0	0	0	0	0	0
8483	0.91	297.9	329.5	10.7	627	8488	0.00	2.45	0.00	0.000	4	0.000	0.086	2651	350	1577	0	0	0	0	0	0
8582	0.91	297.9	318.5	11.3	635	8588	0.00	2.50	0.00	0.000	6	0.000	0.063	2652	1968	1577	0	0	0	0	0	0
8907	0.91	297.9	285.2	9.6	666	8911	0.00	2.60	0.00	0.000	4	0.000	0.079	2652	3542	1577	0	0	0	0	0	0
8994	0.91	297.9	276.4	9.7	673	9003	0.00	2.85	0.00	0.000	6	0.000	0.067	2652	1787	1577	0	0	0	0	0	0
9321	0.93	310.5	247.0	8.6	704	9341	0.12	2.90	11.02	0.840	4	0.163	0.075	2689	3537	1533	0	0	0	0	0	0
9386	0.93	310.5	240.4	10.6	710	9391	0.00	2.88	0.00	0.000	6	0.000	0.066	2689	1779	1532	0	0	0	0	0	0
9712	0.93	310.5	201.1	13.0	740	9716	0.00	2.28	0.00	0.000	4	0.000	0.087	2689	351	1532	0	0	0	0	0	0
9818	0.93	310.5	187.9	11.4	749	9822	0.00	2.22	0.00	0.000	6	0.000	0.058	2689	1810	1532	0	0	0	0	0	0
10142	0.93	310.5	151.7	11.4	779	10146	0.00	2.33	0.00	0.000	4	0.000	0.084	2689	350	1532	0	0	0	0	0	0
10394	0.93	310.5	123.6	11.3	801	10399	0.00	2.40	0.00	0.000	6	0.000	0.058	2689	1924	1532	0	0	0	0	0	0
10722	0.93	313.5	92.0	9.0	838	10731	0.00	2.58	4.10	0.576	4	0.000	0.084	2689	357	1520	0	0	0	0	0	0
10743	0.95	324.9	90.2	8.7	841	10760	0.00	2.65	11.23	0.750	6	0.000	0.061	2689	2076	1475	0	0	0	0	0	0
11095	0.95	324.9	59.6	9.3	904	11101	0.00	2.78	0.00	0.000	4	0.000	0.084	2689	349	1473	0	0	0	0	0	0
11218	0.96	333.8	48.5	8.8	926	11235	0.00	2.58	8.82	0.714	6	0.000	0.061	2689	2018	1438	0	0	0	0	0	0
11572	1.00	369.2	16.9	7.7	989	11609	0.00	2.72	30.15	0.746	4	0.000	0.084	2689	359	1292	0	0	0	0	0	0
11666	1.00	369.2	8.7	9.6	1006	11672	0.00	2.40	0.00	0.000	6	0.000	0.061	2689	1890	1288	0	0	0	0	0	0
11776	end climb: SURFACE_DEPTH_REACHED
state	11777	begin surface coast
11802	end surface coast: CONTROL_FINISHED_OK
state	11802	begin surface