Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 200 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 30 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2500 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2300 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 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 30 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -23503.887 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 2430 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 0 PITCH_GAIN 21 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 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 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 21 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 0 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 -23503.887

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 200 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 0 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 2430 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2300 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2500 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 30 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 30 NAV_MODE 0 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 115407,6712.762,-5713.894,35,1.5,35,-37.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.664,-5723.436

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120001,6712.812,-5713.966,10,1.8,15,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 545

Post-dive calculations and measurements:

FINISH 0.3,1.016918 _24V_AH 23.6,18.193

SM_CCo 11427,50.47,0.751,0,0,1677,275.23 _10V_AH 10.3,8.338

SM_GC 1.07,0.00,0.00,50.47,0.000,0.000,0.751,124,2513,1677,-7.21,0.40,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 711 FG_AHR_10Vo 0.000

RAFOS 0,1256385664,12.033333,12.017777,61,56,56,0,0,0,1138,214,198,0,0,0 MEM 150592

RAFOS_FIX 6711.049805,-5718.332520,241009,121240,6,84,2.83 DATA_FILE_SIZE 47269,1216

IRIDIUM_FIX 6647.44,-5712.55,180199,080855 CAP_FILE_SIZE 139719,0

TT8_MAMPS 0.027612 CFSIZE 260165632,248684544

HUMID 46.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91636 SOUNDSPEED 1466.9

TCM_TEMP 17.20 GPS 241009,151307,6713.146,-5715.930,26,1.7,26,-37.9

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 309 161.58 SBE_CT 891 24 505.06

Roll_motor 128 103 314.87 SBE_O2 828 19 371.28

VBD_pump_during_apogee 278 1079 7081.49 nil 0 0 0.00

VBD_pump_during_surface 50 750 894.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.34 nil 0 0 0.00

Iridium_during_connect 33 160 124.95 nil 0 0 0.00

Iridium_during_xfer 179 223 944.85

Transponder_ping 0 420 7.43

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.84

TT8 2045 19 419.59

LPSleep 6810 2 162.05

TT8_Active 471 19 96.76

TT8_Sampling 2107 39 866.49

TT8_CF8 410 45 194.14

TT8_Kalman 0 0 0.00

Analog_circuits 1548 12 191.43

GPS_charging 0 0 0.00

Compass 2070 8 170.58

RAFOS 2520 1 38.93

Transponder 0 30 0.17

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 -0.98 -146.0 0.0 0.0 0 98 0.00 0.00 -80.45 0.000 2 0.000 0.000 122 2513 3099 0 0 0 0 0 0

101 -0.98 -146.0 3.3 -6.4 16 127 9.70 2.42 -8.15 0.000 4 0.309 0.104 2103 3905 3398 0 0 0 0 0 0

196 -0.76 -146.0 20.9 -15.6 33 202 0.30 2.25 0.00 0.000 6 0.204 0.059 2179 2506 3400 0 0 0 0 0 0

539 -0.76 -146.0 60.1 -10.2 94 544 0.00 2.58 0.00 0.000 4 0.000 0.079 2179 915 3401 0 0 0 0 0 0

550 -0.76 -146.0 61.3 -10.4 96 555 0.00 2.70 0.00 0.000 6 0.000 0.072 2179 2574 3401 0 0 0 0 0 0

896 -0.83 -146.0 93.3 -9.4 157 902 0.00 2.70 0.00 0.000 4 0.000 0.079 2179 912 3400 0 0 0 0 0 0

969 -0.83 -146.0 101.4 -10.4 169 975 0.00 2.65 0.00 0.000 6 0.000 0.072 2179 2556 3401 0 0 0 0 0 0

1294 -0.91 -146.0 129.7 -8.8 200 1299 0.15 2.67 0.00 0.000 4 0.104 0.080 2128 915 3399 0 0 0 0 0 0

1551 -0.81 -146.0 158.9 -11.0 222 1558 0.15 2.62 0.00 0.000 6 0.226 0.073 2162 2549 3399 0 0 0 0 0 0

1876 -0.86 -146.0 188.4 -9.2 253 1880 0.00 2.25 0.00 0.000 4 0.000 0.091 2162 3920 3398 0 0 0 0 0 0

2134 -0.91 -146.0 211.9 -9.6 275 2140 0.00 2.15 0.00 0.000 6 0.000 0.060 2162 2547 3397 0 0 0 0 0 0

2459 -0.97 -146.0 242.4 -9.6 306 2464 0.15 2.25 0.00 0.000 4 0.107 0.086 2098 3911 3398 0 0 0 0 0 0

2488 -0.86 -146.0 245.6 -12.2 308 2493 0.22 2.15 0.00 0.000 6 0.215 0.059 2151 2539 3398 0 0 0 0 0 0

2812 -0.90 -146.0 277.4 -9.4 338 2817 0.00 2.22 0.00 0.000 4 0.000 0.087 2152 3908 3398 0 0 0 0 0 0

2839 -0.90 -146.0 280.1 -9.7 340 2845 0.00 2.17 0.00 0.000 6 0.000 0.058 2152 2541 3398 0 0 0 0 0 0

3164 -0.90 -146.0 306.5 -7.6 371 3169 0.00 2.58 0.00 0.000 4 0.000 0.077 2152 914 3397 0 0 0 0 0 0

3174 -0.90 -146.0 307.3 -7.4 371 3180 0.00 2.60 0.00 0.000 6 0.000 0.070 2152 2549 3397 0 0 0 0 0 0

3500 -0.95 -146.0 329.7 -6.3 402 3504 0.00 2.62 0.00 0.000 4 0.000 0.077 2152 904 3398 0 0 0 0 0 0

3509 -0.95 -146.0 330.3 -6.3 402 3515 0.00 2.62 0.00 0.000 6 0.000 0.070 2152 2553 3398 0 0 0 0 0 0

3834 -1.01 -146.0 351.7 -6.6 433 3840 0.15 2.65 0.00 0.000 4 0.104 0.077 2108 906 3399 0 0 0 0 0 0

3857 -0.93 -146.0 353.6 -8.3 434 3862 0.00 2.62 0.00 0.000 6 0.000 0.071 2108 2555 3399 0 0 0 0 0 0

4181 -0.84 -146.0 381.1 -8.6 465 4187 0.20 2.65 0.00 0.000 4 0.222 0.077 2167 910 3399 0 0 0 0 0 0

4192 -0.78 -146.0 382.0 -8.2 465 4198 0.00 2.60 0.00 0.000 6 0.000 0.071 2167 2544 3399 0 0 0 0 0 0

4517 -0.89 -146.0 401.2 -6.1 496 4521 0.00 2.60 0.00 0.000 4 0.000 0.076 2166 913 3399 0 0 0 0 0 0

4527 -0.98 -146.0 401.9 -6.1 496 4533 0.17 2.60 0.00 0.000 6 0.100 0.071 2103 2552 3399 0 0 0 0 0 0

4851 -0.88 -146.0 432.8 -10.0 527 4856 0.17 2.62 0.00 0.000 4 0.206 0.077 2156 914 3400 0 0 0 0 0 0

4861 -0.80 -146.0 433.8 -9.5 527 4868 0.00 2.65 0.00 0.000 6 0.000 0.072 2156 2570 3399 0 0 0 0 0 0

5187 -0.88 -146.0 457.7 -7.3 558 5191 0.00 2.65 0.00 0.000 4 0.000 0.076 2156 903 3400 0 0 0 0 0 0

5208 -0.94 -146.0 459.5 -8.4 559 5214 0.00 2.67 0.00 0.000 6 0.000 0.071 2156 2593 3400 0 0 0 0 0 0

5534 -1.02 -146.0 484.3 -7.7 590 5539 0.17 2.70 0.00 0.000 4 0.097 0.076 2097 907 3400 0 0 0 0 0 0

5619 -0.88 -146.0 493.1 -10.7 597 5624 0.17 2.65 0.00 0.000 6 0.219 0.070 2140 2582 3400 0 0 0 0 0 0

5943 -0.88 -146.0 519.8 -7.8 627 5948 0.00 2.65 0.00 0.000 4 0.000 0.075 2140 912 3401 0 0 0 0 0 0

5953 -0.88 -146.0 520.6 -7.9 627 5959 0.00 2.67 0.00 0.000 6 0.000 0.070 2140 2598 3401 0 0 0 0 0 0

6266 end dive: TARGET_DEPTH_EXCEEDED

state 6266 begin apogee

6271 -0.24 0.0 545.2 7.6 657 6392 0.70 0.00 117.22 1.079 6 0.181 0.000 2347 2291 2800 0 0 0 0 0 0

6393 end apogee: CONTROL_FINISHED_OK

state 6393 begin climb

6395 0.98 146.0 547.5 0.0 669 6528 1.25 2.83 120.10 1.032 4 0.110 0.078 2751 717 2201 0 0 0 0 0 0

6781 0.54 146.0 481.0 20.3 704 6788 0.55 2.60 0.00 0.000 6 0.202 0.064 2610 2303 2195 0 0 0 0 0 0

7106 0.47 146.0 442.1 11.6 735 7110 0.00 2.60 0.00 0.000 4 0.000 0.078 2620 722 2194 0 0 0 0 0 0

7363 0.41 146.0 412.0 11.8 757 7369 0.22 2.58 0.00 0.000 6 0.179 0.064 2562 2326 2193 0 0 0 0 0 0

7688 0.53 157.7 383.0 8.7 788 7703 0.12 2.65 9.27 0.858 4 0.117 0.078 2616 718 2155 0 0 0 0 0 0

7708 0.53 157.7 380.8 10.0 789 7714 0.00 2.58 0.00 0.000 6 0.000 0.066 2616 2316 2155 0 0 0 0 0 0

8033 0.46 157.7 343.0 12.1 820 8038 0.15 2.62 0.00 0.000 4 0.196 0.078 2591 714 2155 0 0 0 0 0 0

8290 0.51 157.7 316.1 10.2 842 8296 0.00 2.58 0.00 0.000 6 0.000 0.064 2591 2336 2154 0 0 0 0 0 0

8616 0.51 157.7 284.2 10.1 873 8621 0.00 2.60 0.00 0.000 4 0.000 0.078 2603 721 2154 0 0 0 0 0 0

8873 0.51 157.7 255.6 11.7 895 8879 0.00 2.58 0.00 0.000 6 0.000 0.064 2602 2325 2154 0 0 0 0 0 0

9198 0.51 157.7 221.3 10.5 926 9202 0.00 2.58 0.00 0.000 4 0.000 0.077 2614 718 2154 0 0 0 0 0 0

9454 0.51 157.7 193.9 10.4 948 9461 0.00 2.53 0.00 0.000 6 0.000 0.064 2614 2324 2154 0 0 0 0 0 0

9779 0.51 157.7 160.0 10.9 979 9784 0.00 2.58 0.00 0.000 4 0.000 0.078 2626 715 2154 0 0 0 0 0 0

10036 0.51 157.7 131.9 11.0 1001 10043 0.05 2.55 0.00 0.000 6 0.166 0.064 2599 2313 2154 0 0 0 0 0 0

10362 0.59 170.7 101.9 8.6 1032 10383 0.00 2.65 11.60 0.764 4 0.000 0.078 2609 714 2103 0 0 0 0 0 0

10637 0.70 193.9 78.1 8.2 1078 10663 0.15 2.58 19.85 0.778 6 0.113 0.064 2661 2343 2009 0 0 0 0 0 0

11001 0.70 193.9 41.6 9.4 1143 11006 0.00 2.62 0.00 0.000 4 0.000 0.080 2673 721 2005 0 0 0 0 0 0

11260 0.70 193.9 15.3 10.1 1189 11265 0.00 2.58 0.00 0.000 6 0.000 0.067 2673 2340 2003 0 0 0 0 0 0

11387 end climb: SURFACE_DEPTH_REACHED

state 11387 begin surface coast

11411 end surface coast: CONTROL_FINISHED_OK

state 11411 begin surface

ID	143	HEADING	200	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	30	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2500	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2300	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	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	30	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-23503.887	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	2430	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	0	PITCH_GAIN	21	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	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	115407,6712.762,-5713.894,35,1.5,35,-37.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.664,-5723.436
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120001,6712.812,-5713.966,10,1.8,15,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	545

FINISH	0.3,1.016918	_24V_AH	23.6,18.193
SM_CCo	11427,50.47,0.751,0,0,1677,275.23	_10V_AH	10.3,8.338
SM_GC	1.07,0.00,0.00,50.47,0.000,0.000,0.751,124,2513,1677,-7.21,0.40,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	711	FG_AHR_10Vo	0.000
RAFOS	0,1256385664,12.033333,12.017777,61,56,56,0,0,0,1138,214,198,0,0,0	MEM	150592
RAFOS_FIX	6711.049805,-5718.332520,241009,121240,6,84,2.83	DATA_FILE_SIZE	47269,1216
IRIDIUM_FIX	6647.44,-5712.55,180199,080855	CAP_FILE_SIZE	139719,0
TT8_MAMPS	0.027612	CFSIZE	260165632,248684544
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91636	SOUNDSPEED	1466.9
TCM_TEMP	17.20	GPS	241009,151307,6713.146,-5715.930,26,1.7,26,-37.9
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	309	161.58	SBE_CT	891	24	505.06
Roll_motor	128	103	314.87	SBE_O2	828	19	371.28
VBD_pump_during_apogee	278	1079	7081.49	nil	0	0	0.00
VBD_pump_during_surface	50	750	894.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.34	nil	0	0	0.00
Iridium_during_connect	33	160	124.95	nil	0	0	0.00
Iridium_during_xfer	179	223	944.85
Transponder_ping	0	420	7.43
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.84
TT8	2045	19	419.59
LPSleep	6810	2	162.05
TT8_Active	471	19	96.76
TT8_Sampling	2107	39	866.49
TT8_CF8	410	45	194.14
TT8_Kalman	0	0	0.00
Analog_circuits	1548	12	191.43
GPS_charging	0	0	0.00
Compass	2070	8	170.58
RAFOS	2520	1	38.93
Transponder	0	30	0.17

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	-0.98	-146.0	0.0	0.0	0	98	0.00	0.00	-80.45	0.000	2	0.000	0.000	122	2513	3099	0	0	0	0	0	0
101	-0.98	-146.0	3.3	-6.4	16	127	9.70	2.42	-8.15	0.000	4	0.309	0.104	2103	3905	3398	0	0	0	0	0	0
196	-0.76	-146.0	20.9	-15.6	33	202	0.30	2.25	0.00	0.000	6	0.204	0.059	2179	2506	3400	0	0	0	0	0	0
539	-0.76	-146.0	60.1	-10.2	94	544	0.00	2.58	0.00	0.000	4	0.000	0.079	2179	915	3401	0	0	0	0	0	0
550	-0.76	-146.0	61.3	-10.4	96	555	0.00	2.70	0.00	0.000	6	0.000	0.072	2179	2574	3401	0	0	0	0	0	0
896	-0.83	-146.0	93.3	-9.4	157	902	0.00	2.70	0.00	0.000	4	0.000	0.079	2179	912	3400	0	0	0	0	0	0
969	-0.83	-146.0	101.4	-10.4	169	975	0.00	2.65	0.00	0.000	6	0.000	0.072	2179	2556	3401	0	0	0	0	0	0
1294	-0.91	-146.0	129.7	-8.8	200	1299	0.15	2.67	0.00	0.000	4	0.104	0.080	2128	915	3399	0	0	0	0	0	0
1551	-0.81	-146.0	158.9	-11.0	222	1558	0.15	2.62	0.00	0.000	6	0.226	0.073	2162	2549	3399	0	0	0	0	0	0
1876	-0.86	-146.0	188.4	-9.2	253	1880	0.00	2.25	0.00	0.000	4	0.000	0.091	2162	3920	3398	0	0	0	0	0	0
2134	-0.91	-146.0	211.9	-9.6	275	2140	0.00	2.15	0.00	0.000	6	0.000	0.060	2162	2547	3397	0	0	0	0	0	0
2459	-0.97	-146.0	242.4	-9.6	306	2464	0.15	2.25	0.00	0.000	4	0.107	0.086	2098	3911	3398	0	0	0	0	0	0
2488	-0.86	-146.0	245.6	-12.2	308	2493	0.22	2.15	0.00	0.000	6	0.215	0.059	2151	2539	3398	0	0	0	0	0	0
2812	-0.90	-146.0	277.4	-9.4	338	2817	0.00	2.22	0.00	0.000	4	0.000	0.087	2152	3908	3398	0	0	0	0	0	0
2839	-0.90	-146.0	280.1	-9.7	340	2845	0.00	2.17	0.00	0.000	6	0.000	0.058	2152	2541	3398	0	0	0	0	0	0
3164	-0.90	-146.0	306.5	-7.6	371	3169	0.00	2.58	0.00	0.000	4	0.000	0.077	2152	914	3397	0	0	0	0	0	0
3174	-0.90	-146.0	307.3	-7.4	371	3180	0.00	2.60	0.00	0.000	6	0.000	0.070	2152	2549	3397	0	0	0	0	0	0
3500	-0.95	-146.0	329.7	-6.3	402	3504	0.00	2.62	0.00	0.000	4	0.000	0.077	2152	904	3398	0	0	0	0	0	0
3509	-0.95	-146.0	330.3	-6.3	402	3515	0.00	2.62	0.00	0.000	6	0.000	0.070	2152	2553	3398	0	0	0	0	0	0
3834	-1.01	-146.0	351.7	-6.6	433	3840	0.15	2.65	0.00	0.000	4	0.104	0.077	2108	906	3399	0	0	0	0	0	0
3857	-0.93	-146.0	353.6	-8.3	434	3862	0.00	2.62	0.00	0.000	6	0.000	0.071	2108	2555	3399	0	0	0	0	0	0
4181	-0.84	-146.0	381.1	-8.6	465	4187	0.20	2.65	0.00	0.000	4	0.222	0.077	2167	910	3399	0	0	0	0	0	0
4192	-0.78	-146.0	382.0	-8.2	465	4198	0.00	2.60	0.00	0.000	6	0.000	0.071	2167	2544	3399	0	0	0	0	0	0
4517	-0.89	-146.0	401.2	-6.1	496	4521	0.00	2.60	0.00	0.000	4	0.000	0.076	2166	913	3399	0	0	0	0	0	0
4527	-0.98	-146.0	401.9	-6.1	496	4533	0.17	2.60	0.00	0.000	6	0.100	0.071	2103	2552	3399	0	0	0	0	0	0
4851	-0.88	-146.0	432.8	-10.0	527	4856	0.17	2.62	0.00	0.000	4	0.206	0.077	2156	914	3400	0	0	0	0	0	0
4861	-0.80	-146.0	433.8	-9.5	527	4868	0.00	2.65	0.00	0.000	6	0.000	0.072	2156	2570	3399	0	0	0	0	0	0
5187	-0.88	-146.0	457.7	-7.3	558	5191	0.00	2.65	0.00	0.000	4	0.000	0.076	2156	903	3400	0	0	0	0	0	0
5208	-0.94	-146.0	459.5	-8.4	559	5214	0.00	2.67	0.00	0.000	6	0.000	0.071	2156	2593	3400	0	0	0	0	0	0
5534	-1.02	-146.0	484.3	-7.7	590	5539	0.17	2.70	0.00	0.000	4	0.097	0.076	2097	907	3400	0	0	0	0	0	0
5619	-0.88	-146.0	493.1	-10.7	597	5624	0.17	2.65	0.00	0.000	6	0.219	0.070	2140	2582	3400	0	0	0	0	0	0
5943	-0.88	-146.0	519.8	-7.8	627	5948	0.00	2.65	0.00	0.000	4	0.000	0.075	2140	912	3401	0	0	0	0	0	0
5953	-0.88	-146.0	520.6	-7.9	627	5959	0.00	2.67	0.00	0.000	6	0.000	0.070	2140	2598	3401	0	0	0	0	0	0
6266	end dive: TARGET_DEPTH_EXCEEDED
state	6266	begin apogee
6271	-0.24	0.0	545.2	7.6	657	6392	0.70	0.00	117.22	1.079	6	0.181	0.000	2347	2291	2800	0	0	0	0	0	0
6393	end apogee: CONTROL_FINISHED_OK
state	6393	begin climb
6395	0.98	146.0	547.5	0.0	669	6528	1.25	2.83	120.10	1.032	4	0.110	0.078	2751	717	2201	0	0	0	0	0	0
6781	0.54	146.0	481.0	20.3	704	6788	0.55	2.60	0.00	0.000	6	0.202	0.064	2610	2303	2195	0	0	0	0	0	0
7106	0.47	146.0	442.1	11.6	735	7110	0.00	2.60	0.00	0.000	4	0.000	0.078	2620	722	2194	0	0	0	0	0	0
7363	0.41	146.0	412.0	11.8	757	7369	0.22	2.58	0.00	0.000	6	0.179	0.064	2562	2326	2193	0	0	0	0	0	0
7688	0.53	157.7	383.0	8.7	788	7703	0.12	2.65	9.27	0.858	4	0.117	0.078	2616	718	2155	0	0	0	0	0	0
7708	0.53	157.7	380.8	10.0	789	7714	0.00	2.58	0.00	0.000	6	0.000	0.066	2616	2316	2155	0	0	0	0	0	0
8033	0.46	157.7	343.0	12.1	820	8038	0.15	2.62	0.00	0.000	4	0.196	0.078	2591	714	2155	0	0	0	0	0	0
8290	0.51	157.7	316.1	10.2	842	8296	0.00	2.58	0.00	0.000	6	0.000	0.064	2591	2336	2154	0	0	0	0	0	0
8616	0.51	157.7	284.2	10.1	873	8621	0.00	2.60	0.00	0.000	4	0.000	0.078	2603	721	2154	0	0	0	0	0	0
8873	0.51	157.7	255.6	11.7	895	8879	0.00	2.58	0.00	0.000	6	0.000	0.064	2602	2325	2154	0	0	0	0	0	0
9198	0.51	157.7	221.3	10.5	926	9202	0.00	2.58	0.00	0.000	4	0.000	0.077	2614	718	2154	0	0	0	0	0	0
9454	0.51	157.7	193.9	10.4	948	9461	0.00	2.53	0.00	0.000	6	0.000	0.064	2614	2324	2154	0	0	0	0	0	0
9779	0.51	157.7	160.0	10.9	979	9784	0.00	2.58	0.00	0.000	4	0.000	0.078	2626	715	2154	0	0	0	0	0	0
10036	0.51	157.7	131.9	11.0	1001	10043	0.05	2.55	0.00	0.000	6	0.166	0.064	2599	2313	2154	0	0	0	0	0	0
10362	0.59	170.7	101.9	8.6	1032	10383	0.00	2.65	11.60	0.764	4	0.000	0.078	2609	714	2103	0	0	0	0	0	0
10637	0.70	193.9	78.1	8.2	1078	10663	0.15	2.58	19.85	0.778	6	0.113	0.064	2661	2343	2009	0	0	0	0	0	0
11001	0.70	193.9	41.6	9.4	1143	11006	0.00	2.62	0.00	0.000	4	0.000	0.080	2673	721	2005	0	0	0	0	0	0
11260	0.70	193.9	15.3	10.1	1189	11265	0.00	2.58	0.00	0.000	6	0.000	0.067	2673	2340	2003	0	0	0	0	0	0
11387	end climb: SURFACE_DEPTH_REACHED
state	11387	begin surface coast
11411	end surface coast: CONTROL_FINISHED_OK
state	11411	begin surface