Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 168 * 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 168 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 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 -32483.521 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 2700 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 -32483.521

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 2700 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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 168 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 130637,6703.222,-5658.356,38,2.0,38,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 53 TGT_RADIUS 2000.000

_XMS_TOUTs 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 132040,6703.245,-5658.353,11,2.7,30,-37.6 MHEAD_RNG_PITCHd_Wd 128.4,7490,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 601

Post-dive calculations and measurements:

FINISH 0.4,1.026592 _24V_AH 23.1,39.893

SM_CCo 12793,88.75,0.726,0,0,1473,325.02 _10V_AH 10.2,20.302

SM_GC 1.22,0.00,0.00,88.75,0.000,0.000,0.726,128,2471,1473,-8.04,0.31,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 814 FG_AHR_10Vo 0.000

RAFOS 0,1258732864,16.033333,16.017778,66,60,59,0,0,0,205,158,184,0,0,0 MEM 188440

RAFOS_FIX 6701.097168,-5701.487793,201109,121201,3,77,0.29 DATA_FILE_SIZE 50466,1357

IRIDIUM_FIX 6636.54,-5658.34,140299,090953 CAP_FILE_SIZE 138867,0

TT8_MAMPS 0.029146 CFSIZE 260165632,236965888

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1470.6

TCM_TEMP 18.00 CURRENT 0.216,303.2,1

XPDR_PINGS 3 GPS 201109,165706,6703.970,-5657.293,39,1.1,39,-37.6

ALTIM_TOP_PING 19.7,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 300 147.07 SBE_CT 993 24 551.02

Roll_motor 76 92 162.38 SBE_O2 929 19 407.93

VBD_pump_during_apogee 261 1115 6739.86 nil 0 0 0.00

VBD_pump_during_surface 88 725 1487.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.80 nil 0 0 0.00

Iridium_during_connect 29 160 109.63 nil 0 0 0.00

Iridium_during_xfer 632 223 3258.42

Transponder_ping 1 420 9.70

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.69

TT8 2322 19 471.90

LPSleep 7871 2 185.48

TT8_Active 533 19 108.32

TT8_Sampling 2101 39 855.53

TT8_CF8 889 45 416.41

TT8_Kalman 0 0 0.00

Analog_circuits 1582 12 193.76

GPS_charging 0 0 0.00

Compass 2057 8 167.92

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 0 174 0.00 0.00 -155.07 0.000 2 0.000 0.000 131 2474 3150 0 0 0 0 0 0

177 -0.73 -146.0 3.3 -6.0 30 205 11.30 2.72 -6.38 0.000 4 0.301 0.091 2456 863 3399 0 0 0 0 0 0

357 -0.73 -146.0 30.7 -13.2 62 363 0.00 2.60 0.00 0.000 6 0.000 0.074 2456 2457 3401 0 0 0 0 0 0

703 -0.73 -146.0 70.4 -10.2 123 709 0.00 2.53 0.00 0.000 4 0.000 0.092 2456 3914 3401 0 0 0 0 0 0

816 -0.73 -146.0 83.0 -11.0 143 821 0.00 2.40 0.00 0.000 6 0.000 0.063 2456 2464 3401 0 0 0 0 0 0

1149 -0.73 -146.0 119.8 -10.3 187 1154 0.00 2.50 0.00 0.000 4 0.000 0.090 2456 3912 3401 0 0 0 0 0 0

1200 -0.73 -146.0 125.0 -10.4 191 1204 0.00 2.35 0.00 0.000 6 0.000 0.063 2455 2484 3401 0 0 0 0 0 0

1524 -0.73 -146.0 152.9 -8.0 221 1528 0.00 2.47 0.00 0.000 4 0.000 0.089 2456 3921 3401 0 0 0 0 0 0

1601 -0.73 -146.0 159.4 -8.8 227 1607 0.00 2.35 0.00 0.000 6 0.000 0.062 2456 2490 3401 0 0 0 0 0 0

1925 -0.73 -146.0 188.9 -9.4 258 1930 0.00 2.45 0.00 0.000 4 0.000 0.088 2456 3915 3401 0 0 0 0 0 0

1969 -0.73 -146.0 193.1 -9.5 261 1975 0.00 2.33 0.00 0.000 6 0.000 0.061 2456 2498 3401 0 0 0 0 0 0

2294 -0.73 -146.0 221.0 -8.1 292 2295 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2499 3402 0 0 0 0 0 0

2614 -0.73 -146.0 245.0 -7.3 322 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2499 3403 0 0 0 0 0 0

2933 -0.73 -146.0 268.0 -7.2 352 2934 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2499 3403 0 0 0 0 0 0

3251 -0.73 -146.0 293.2 -8.5 382 3255 0.00 2.42 0.00 0.000 4 0.000 0.086 2456 3918 3404 0 0 0 0 0 0

3358 -0.73 -146.0 302.8 -9.1 391 3362 0.00 2.33 0.00 0.000 6 0.000 0.059 2456 2487 3404 0 0 0 0 0 0

3682 -0.73 -146.0 331.5 -8.7 421 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2488 3405 0 0 0 0 0 0

4003 -0.73 -146.0 358.5 -7.8 451 4007 0.00 2.45 0.00 0.000 4 0.000 0.084 2456 3923 3405 0 0 0 0 0 0

4064 -0.73 -146.0 363.5 -7.7 456 4068 0.00 2.33 0.00 0.000 6 0.000 0.058 2456 2491 3405 0 0 0 0 0 0

4388 -0.73 -146.0 386.3 -6.7 486 4390 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2493 3405 0 0 0 0 0 0

4708 -0.73 -146.0 409.0 -7.7 516 4712 0.00 2.42 0.00 0.000 4 0.000 0.084 2456 3918 3406 0 0 0 0 0 0

4861 -0.73 -146.0 421.3 -8.4 529 4865 0.00 2.30 0.00 0.000 6 0.000 0.058 2456 2497 3406 0 0 0 0 0 0

5186 -0.73 -146.0 446.3 -7.6 559 5188 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2498 3406 0 0 0 0 0 0

5505 -0.73 -146.0 469.9 -7.2 589 5506 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2498 3407 0 0 0 0 0 0

5826 -0.73 -146.0 493.6 -7.6 619 5827 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2499 3407 0 0 0 0 0 0

6142 -0.73 -146.0 517.9 -7.3 649 6143 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2498 3407 0 0 0 0 0 0

6462 -0.73 -146.0 541.2 -7.1 679 6463 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2498 3407 0 0 0 0 0 0

6779 -0.73 -146.0 564.2 -7.0 709 6780 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2498 3407 0 0 0 0 0 0

7099 -0.73 -146.0 586.8 -7.2 739 7103 0.00 2.42 0.00 0.000 4 0.000 0.084 2456 3923 3407 0 0 0 0 0 0

7275 end dive: NO_VERTICAL_VELOCITY

state 7275 begin apogee

7283 -0.16 0.0 589.7 0.0 754 7410 0.60 0.00 119.38 1.115 6 0.139 0.000 2644 1950 2798 0 0 0 0 0 0

7411 end apogee: CONTROL_FINISHED_OK

state 7411 begin climb

7413 0.73 146.0 589.5 0.0 767 7539 0.93 0.00 121.90 1.067 6 0.127 0.000 2926 1950 2204 0 0 0 0 0 0

7852 0.73 146.0 543.3 11.6 809 7857 0.00 2.75 0.00 0.000 4 0.000 0.077 2926 3540 2196 0 0 0 0 0 0

7891 0.73 146.0 538.4 12.9 812 7895 0.00 2.70 0.00 0.000 6 0.000 0.065 2939 1949 2194 0 0 0 0 0 0

8215 0.73 146.0 498.9 12.3 842 8219 0.00 2.58 0.00 0.000 4 0.000 0.084 2950 362 2194 0 0 0 0 0 0

8246 0.73 146.0 494.7 13.4 844 8253 0.00 2.55 0.00 0.000 6 0.000 0.061 2950 1961 2194 0 0 0 0 0 0

8573 0.73 146.0 453.9 12.9 875 8578 0.00 2.60 0.00 0.000 4 0.000 0.085 2962 360 2193 0 0 0 0 0 0

8606 0.73 146.0 449.2 13.2 877 8612 0.00 2.47 0.00 0.000 6 0.000 0.061 2961 1949 2193 0 0 0 0 0 0

8930 0.73 146.0 407.1 13.0 908 8931 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 1949 2192 0 0 0 0 0 0

9250 0.73 146.0 365.4 13.3 938 9251 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 1949 2192 0 0 0 0 0 0

9569 0.73 146.0 324.0 13.1 968 9573 0.00 2.62 0.00 0.000 4 0.000 0.077 2962 3534 2192 0 0 0 0 0 0

9622 0.73 146.0 316.7 12.6 972 9629 0.17 2.62 0.00 0.000 6 0.199 0.067 2933 1942 2191 0 0 0 0 0 0

9948 0.73 146.0 282.3 10.1 1003 9952 0.00 2.53 0.00 0.000 4 0.000 0.085 2943 360 2191 0 0 0 0 0 0

9979 0.73 146.0 278.8 11.1 1005 9985 0.00 2.45 0.00 0.000 6 0.000 0.062 2943 1948 2191 0 0 0 0 0 0

10304 0.73 146.0 242.0 11.8 1036 10305 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 1948 2191 0 0 0 0 0 0

10623 0.73 146.0 206.6 10.3 1066 10624 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1948 2191 0 0 0 0 0 0

10944 0.73 146.0 174.7 10.2 1096 10945 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1948 2191 0 0 0 0 0 0

11260 0.73 146.0 141.8 10.0 1126 11261 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1948 2191 0 0 0 0 0 0

11578 0.75 162.2 112.1 8.5 1156 11592 0.00 0.00 12.05 0.751 6 0.000 0.000 2943 1949 2138 0 0 0 0 0 0

11916 0.75 162.2 81.3 10.6 1204 11920 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 1949 2137 0 0 0 0 0 0

12259 0.76 170.8 47.8 8.8 1265 12276 0.00 2.60 8.30 0.696 4 0.000 0.084 2954 365 2103 0 0 0 0 0 0

12388 0.76 170.8 35.0 10.3 1288 12393 0.00 2.42 0.00 0.000 6 0.000 0.060 2954 1938 2102 0 0 0 0 0 0

12732 0.76 170.8 3.9 11.0 1349 12737 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1937 2102 0 0 0 0 0 0

12752 end climb: SURFACE_DEPTH_REACHED

state 12752 begin surface coast

12776 end surface coast: CONTROL_FINISHED_OK

state 12776 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	168	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	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	-32483.521	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	2700	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	130637,6703.222,-5658.356,38,2.0,38,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	53	TGT_RADIUS	2000.000
_XMS_TOUTs	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	132040,6703.245,-5658.353,11,2.7,30,-37.6	MHEAD_RNG_PITCHd_Wd	128.4,7490,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	601

FINISH	0.4,1.026592	_24V_AH	23.1,39.893
SM_CCo	12793,88.75,0.726,0,0,1473,325.02	_10V_AH	10.2,20.302
SM_GC	1.22,0.00,0.00,88.75,0.000,0.000,0.726,128,2471,1473,-8.04,0.31,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	814	FG_AHR_10Vo	0.000
RAFOS	0,1258732864,16.033333,16.017778,66,60,59,0,0,0,205,158,184,0,0,0	MEM	188440
RAFOS_FIX	6701.097168,-5701.487793,201109,121201,3,77,0.29	DATA_FILE_SIZE	50466,1357
IRIDIUM_FIX	6636.54,-5658.34,140299,090953	CAP_FILE_SIZE	138867,0
TT8_MAMPS	0.029146	CFSIZE	260165632,236965888
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1470.6
TCM_TEMP	18.00	CURRENT	0.216,303.2,1
XPDR_PINGS	3	GPS	201109,165706,6703.970,-5657.293,39,1.1,39,-37.6
ALTIM_TOP_PING	19.7,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	300	147.07	SBE_CT	993	24	551.02
Roll_motor	76	92	162.38	SBE_O2	929	19	407.93
VBD_pump_during_apogee	261	1115	6739.86	nil	0	0	0.00
VBD_pump_during_surface	88	725	1487.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.80	nil	0	0	0.00
Iridium_during_connect	29	160	109.63	nil	0	0	0.00
Iridium_during_xfer	632	223	3258.42
Transponder_ping	1	420	9.70
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.69
TT8	2322	19	471.90
LPSleep	7871	2	185.48
TT8_Active	533	19	108.32
TT8_Sampling	2101	39	855.53
TT8_CF8	889	45	416.41
TT8_Kalman	0	0	0.00
Analog_circuits	1582	12	193.76
GPS_charging	0	0	0.00
Compass	2057	8	167.92
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	174	0.00	0.00	-155.07	0.000	2	0.000	0.000	131	2474	3150	0	0	0	0	0	0
177	-0.73	-146.0	3.3	-6.0	30	205	11.30	2.72	-6.38	0.000	4	0.301	0.091	2456	863	3399	0	0	0	0	0	0
357	-0.73	-146.0	30.7	-13.2	62	363	0.00	2.60	0.00	0.000	6	0.000	0.074	2456	2457	3401	0	0	0	0	0	0
703	-0.73	-146.0	70.4	-10.2	123	709	0.00	2.53	0.00	0.000	4	0.000	0.092	2456	3914	3401	0	0	0	0	0	0
816	-0.73	-146.0	83.0	-11.0	143	821	0.00	2.40	0.00	0.000	6	0.000	0.063	2456	2464	3401	0	0	0	0	0	0
1149	-0.73	-146.0	119.8	-10.3	187	1154	0.00	2.50	0.00	0.000	4	0.000	0.090	2456	3912	3401	0	0	0	0	0	0
1200	-0.73	-146.0	125.0	-10.4	191	1204	0.00	2.35	0.00	0.000	6	0.000	0.063	2455	2484	3401	0	0	0	0	0	0
1524	-0.73	-146.0	152.9	-8.0	221	1528	0.00	2.47	0.00	0.000	4	0.000	0.089	2456	3921	3401	0	0	0	0	0	0
1601	-0.73	-146.0	159.4	-8.8	227	1607	0.00	2.35	0.00	0.000	6	0.000	0.062	2456	2490	3401	0	0	0	0	0	0
1925	-0.73	-146.0	188.9	-9.4	258	1930	0.00	2.45	0.00	0.000	4	0.000	0.088	2456	3915	3401	0	0	0	0	0	0
1969	-0.73	-146.0	193.1	-9.5	261	1975	0.00	2.33	0.00	0.000	6	0.000	0.061	2456	2498	3401	0	0	0	0	0	0
2294	-0.73	-146.0	221.0	-8.1	292	2295	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2499	3402	0	0	0	0	0	0
2614	-0.73	-146.0	245.0	-7.3	322	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2499	3403	0	0	0	0	0	0
2933	-0.73	-146.0	268.0	-7.2	352	2934	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2499	3403	0	0	0	0	0	0
3251	-0.73	-146.0	293.2	-8.5	382	3255	0.00	2.42	0.00	0.000	4	0.000	0.086	2456	3918	3404	0	0	0	0	0	0
3358	-0.73	-146.0	302.8	-9.1	391	3362	0.00	2.33	0.00	0.000	6	0.000	0.059	2456	2487	3404	0	0	0	0	0	0
3682	-0.73	-146.0	331.5	-8.7	421	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2488	3405	0	0	0	0	0	0
4003	-0.73	-146.0	358.5	-7.8	451	4007	0.00	2.45	0.00	0.000	4	0.000	0.084	2456	3923	3405	0	0	0	0	0	0
4064	-0.73	-146.0	363.5	-7.7	456	4068	0.00	2.33	0.00	0.000	6	0.000	0.058	2456	2491	3405	0	0	0	0	0	0
4388	-0.73	-146.0	386.3	-6.7	486	4390	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2493	3405	0	0	0	0	0	0
4708	-0.73	-146.0	409.0	-7.7	516	4712	0.00	2.42	0.00	0.000	4	0.000	0.084	2456	3918	3406	0	0	0	0	0	0
4861	-0.73	-146.0	421.3	-8.4	529	4865	0.00	2.30	0.00	0.000	6	0.000	0.058	2456	2497	3406	0	0	0	0	0	0
5186	-0.73	-146.0	446.3	-7.6	559	5188	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2498	3406	0	0	0	0	0	0
5505	-0.73	-146.0	469.9	-7.2	589	5506	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2498	3407	0	0	0	0	0	0
5826	-0.73	-146.0	493.6	-7.6	619	5827	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2499	3407	0	0	0	0	0	0
6142	-0.73	-146.0	517.9	-7.3	649	6143	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2498	3407	0	0	0	0	0	0
6462	-0.73	-146.0	541.2	-7.1	679	6463	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2498	3407	0	0	0	0	0	0
6779	-0.73	-146.0	564.2	-7.0	709	6780	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2498	3407	0	0	0	0	0	0
7099	-0.73	-146.0	586.8	-7.2	739	7103	0.00	2.42	0.00	0.000	4	0.000	0.084	2456	3923	3407	0	0	0	0	0	0
7275	end dive: NO_VERTICAL_VELOCITY
state	7275	begin apogee
7283	-0.16	0.0	589.7	0.0	754	7410	0.60	0.00	119.38	1.115	6	0.139	0.000	2644	1950	2798	0	0	0	0	0	0
7411	end apogee: CONTROL_FINISHED_OK
state	7411	begin climb
7413	0.73	146.0	589.5	0.0	767	7539	0.93	0.00	121.90	1.067	6	0.127	0.000	2926	1950	2204	0	0	0	0	0	0
7852	0.73	146.0	543.3	11.6	809	7857	0.00	2.75	0.00	0.000	4	0.000	0.077	2926	3540	2196	0	0	0	0	0	0
7891	0.73	146.0	538.4	12.9	812	7895	0.00	2.70	0.00	0.000	6	0.000	0.065	2939	1949	2194	0	0	0	0	0	0
8215	0.73	146.0	498.9	12.3	842	8219	0.00	2.58	0.00	0.000	4	0.000	0.084	2950	362	2194	0	0	0	0	0	0
8246	0.73	146.0	494.7	13.4	844	8253	0.00	2.55	0.00	0.000	6	0.000	0.061	2950	1961	2194	0	0	0	0	0	0
8573	0.73	146.0	453.9	12.9	875	8578	0.00	2.60	0.00	0.000	4	0.000	0.085	2962	360	2193	0	0	0	0	0	0
8606	0.73	146.0	449.2	13.2	877	8612	0.00	2.47	0.00	0.000	6	0.000	0.061	2961	1949	2193	0	0	0	0	0	0
8930	0.73	146.0	407.1	13.0	908	8931	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	1949	2192	0	0	0	0	0	0
9250	0.73	146.0	365.4	13.3	938	9251	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	1949	2192	0	0	0	0	0	0
9569	0.73	146.0	324.0	13.1	968	9573	0.00	2.62	0.00	0.000	4	0.000	0.077	2962	3534	2192	0	0	0	0	0	0
9622	0.73	146.0	316.7	12.6	972	9629	0.17	2.62	0.00	0.000	6	0.199	0.067	2933	1942	2191	0	0	0	0	0	0
9948	0.73	146.0	282.3	10.1	1003	9952	0.00	2.53	0.00	0.000	4	0.000	0.085	2943	360	2191	0	0	0	0	0	0
9979	0.73	146.0	278.8	11.1	1005	9985	0.00	2.45	0.00	0.000	6	0.000	0.062	2943	1948	2191	0	0	0	0	0	0
10304	0.73	146.0	242.0	11.8	1036	10305	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	1948	2191	0	0	0	0	0	0
10623	0.73	146.0	206.6	10.3	1066	10624	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	1948	2191	0	0	0	0	0	0
10944	0.73	146.0	174.7	10.2	1096	10945	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	1948	2191	0	0	0	0	0	0
11260	0.73	146.0	141.8	10.0	1126	11261	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	1948	2191	0	0	0	0	0	0
11578	0.75	162.2	112.1	8.5	1156	11592	0.00	0.00	12.05	0.751	6	0.000	0.000	2943	1949	2138	0	0	0	0	0	0
11916	0.75	162.2	81.3	10.6	1204	11920	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	1949	2137	0	0	0	0	0	0
12259	0.76	170.8	47.8	8.8	1265	12276	0.00	2.60	8.30	0.696	4	0.000	0.084	2954	365	2103	0	0	0	0	0	0
12388	0.76	170.8	35.0	10.3	1288	12393	0.00	2.42	0.00	0.000	6	0.000	0.060	2954	1938	2102	0	0	0	0	0	0
12732	0.76	170.8	3.9	11.0	1349	12737	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1937	2102	0	0	0	0	0	0
12752	end climb: SURFACE_DEPTH_REACHED
state	12752	begin surface coast
12776	end surface coast: CONTROL_FINISHED_OK
state	12776	begin surface