Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 307 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 307 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 20 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 18 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 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 3 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 2 T_GPS_CHARGE -41788.035 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 2690 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 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 0.045000002 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 425

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 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 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 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 -41788.035

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 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 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 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

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 20 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 307 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 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 122606,6707.069,-5704.784,32,0.8,32,-37.7 TGT_NAME TARGET_E

_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 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 123131,6707.125,-5704.842,12,0.9,17,-37.7 MHEAD_RNG_PITCHd_Wd 159.8,14363,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 551

Post-dive calculations and measurements:

FREEZE 0.19,0.045,-1.828,0,1,0 ALTIM_TOP_PING 19.8,19.0

FINISH 0.2,1.026774 ALTIM_BOTTOM_PING 400.7,171.9

SM_CCo 12134,128.82,0.722,0,0,1066,425.10 _24V_AH 22.7,59.504

SM_GC 0.87,0.00,0.00,128.82,0.000,0.000,0.722,125,2457,1066,-8.02,-0.06,425.10 _10V_AH 10.1,31.350

RAFOS_CLK 754 FG_AHR_24Vo 0.000

RAFOS 2,1260793023,12.300000,12.284166,58,57,56,0,0,0,213,156,188,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.608398,-5704.352539,141209,040400,2,82,0.34 MEM 152468

IRIDIUM_FIX 6636.54,-5702.96,100399,090921 DATA_FILE_SIZE 50408,1280

TT8_MAMPS 0.027612 CAP_FILE_SIZE 146020,0

HUMID 47.20 CFSIZE 260165632,226086912

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,62,0,0

TCM_TEMP 17.30 SOUNDSPEED 1467.0

XPDR_PINGS 1 GPS 141209,155737,6707.601,-5707.337,40,1.0,40,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 296 158.01 SBE_CT 938 24 511.50

Roll_motor 153 88 310.17 SBE_O2 873 19 376.88

VBD_pump_during_apogee 276 1074 6751.28 nil 0 0 0.00

VBD_pump_during_surface 128 721 2110.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.17 nil 0 0 0.00

Iridium_during_connect 35 160 129.89 nil 0 0 0.00

Iridium_during_xfer 133 223 677.91

Transponder_ping 1 420 14.30

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.83

TT8 2154 19 433.46

LPSleep 7137 2 166.53

TT8_Active 582 19 117.15

TT8_Sampling 2287 39 922.22

TT8_CF8 417 45 193.58

TT8_Kalman 0 0 0.00

Analog_circuits 1743 12 211.34

GPS_charging 0 0 0.00

Compass 2240 8 181.07

RAFOS 1080 1 16.36

Transponder 11 30 3.35

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 0 144 0.00 0.00 -125.65 0.000 2 0.000 0.000 129 2454 3200 0 0 0 0 0 0

148 -0.73 -146.0 3.2 -6.1 25 168 11.35 0.00 -5.07 0.000 6 0.297 0.000 2444 2454 3397 0 0 0 0 0 0

507 -0.73 -146.0 47.0 -11.0 89 513 0.00 3.22 0.00 0.000 4 0.000 0.089 2444 3913 3400 0 0 2 0 0 0

766 -0.73 -146.0 74.6 -10.6 135 771 0.00 3.08 0.00 0.000 6 0.000 0.064 2445 2460 3400 0 0 2 0 0 0

1110 -0.73 -146.0 107.8 -8.6 189 1115 0.00 3.22 0.00 0.000 4 0.000 0.088 2445 3923 3400 0 0 2 0 0 0

1368 -0.80 -146.0 130.9 -8.7 211 1374 0.00 3.05 0.00 0.000 6 0.000 0.064 2445 2486 3398 0 0 1 0 0 0

1693 -0.86 -146.0 155.3 -7.1 242 1698 0.00 3.17 0.00 0.000 4 0.000 0.087 2445 3916 3397 0 0 1 0 0 0

1951 -0.95 -146.0 173.6 -7.4 264 1957 0.20 2.95 0.00 0.000 6 0.107 0.064 2377 2535 3397 0 0 1 0 0 0

2275 -0.82 -146.0 206.5 -10.2 295 2281 0.20 3.08 0.00 0.000 4 0.203 0.084 2424 3915 3396 0 0 2 0 0 0

2488 -0.82 -146.0 225.2 -8.8 313 2495 0.00 2.85 0.00 0.000 6 0.000 0.061 2424 2570 3397 0 0 1 0 0 0

2814 -0.82 -146.0 253.1 -8.6 344 2819 0.00 2.97 0.00 0.000 4 0.000 0.084 2425 3916 3397 0 0 2 0 0 0

3049 -0.82 -146.0 274.0 -8.7 364 3055 0.00 2.80 0.00 0.000 6 0.000 0.061 2424 2599 3398 0 0 1 0 0 0

3374 -0.82 -146.0 301.4 -8.3 395 3378 0.00 2.92 0.00 0.000 4 0.000 0.084 2424 3919 3398 0 0 2 0 0 0

3582 -0.82 -146.0 318.7 -8.1 413 3586 0.00 2.78 0.00 0.000 6 0.000 0.060 2424 2620 3398 0 0 1 0 0 0

3906 -0.87 -146.0 345.4 -8.5 443 3911 0.00 2.90 0.00 0.000 4 0.000 0.084 2424 3926 3399 0 0 2 0 0 0

4026 -0.93 -146.0 355.5 -8.8 453 4031 0.00 2.75 0.00 0.000 6 0.000 0.059 2424 2637 3399 0 0 1 0 0 0

4351 -0.98 -146.0 381.6 -7.8 483 4356 0.15 2.90 0.00 0.000 4 0.112 0.081 2361 3927 3399 0 0 2 0 0 0

4414 -0.81 -146.0 387.8 -10.0 488 4419 0.25 2.75 0.00 0.000 6 0.203 0.058 2420 2638 3399 0 0 1 0 0 0

4739 -0.81 -146.0 412.5 -7.0 518 4743 0.00 2.88 0.00 0.000 4 0.000 0.083 2420 3920 3399 0 0 1 0 0 0

4869 -0.86 -146.0 422.5 -7.4 529 4873 0.00 2.70 0.00 0.000 6 0.000 0.058 2421 2659 3399 0 0 1 0 0 0

5194 -0.91 -146.0 447.3 -7.7 559 5198 0.00 2.85 0.00 0.000 4 0.000 0.082 2420 3926 3400 0 0 1 0 0 0

5335 -0.91 -146.0 458.7 -8.0 571 5339 0.00 2.70 0.00 0.000 6 0.000 0.058 2421 2665 3399 0 0 1 0 0 0

5661 -0.96 -146.0 483.8 -8.3 601 5666 0.12 2.85 0.00 0.000 4 0.122 0.079 2365 3928 3400 0 0 1 0 0 0

5797 -0.82 -146.0 498.3 -11.1 612 5803 0.22 2.67 0.00 0.000 6 0.200 0.057 2418 2686 3400 0 0 1 0 0 0

6122 -0.82 -146.0 525.6 -7.8 643 6127 0.00 2.78 0.00 0.000 4 0.000 0.081 2418 3915 3401 0 0 2 0 0 0

6233 -0.82 -146.0 534.4 -8.3 652 6239 0.00 2.62 0.00 0.000 6 0.000 0.058 2418 2702 3401 0 0 1 0 0 0

6470 end dive: TARGET_DEPTH_EXCEEDED

state 6470 begin apogee

6477 -0.16 0.0 551.1 7.0 675 6603 0.73 0.00 120.68 1.075 6 0.174 0.000 2626 1943 2800 0 0 0 0 0 0

6604 end apogee: CONTROL_FINISHED_OK

state 6604 begin climb

6606 0.73 146.0 554.3 0.0 688 6740 0.95 2.17 124.30 1.030 4 0.126 0.084 2923 372 2203 0 0 0 0 0 0

6855 0.67 146.0 532.7 12.3 711 6859 0.00 2.08 0.00 0.000 6 0.000 0.057 2923 1966 2198 0 0 0 0 0 0

7187 0.60 146.0 493.2 12.1 742 7193 0.15 3.35 0.00 0.000 4 0.202 0.074 2881 3528 2195 0 0 2 0 0 0

7332 0.60 146.0 477.1 10.3 754 7339 0.00 3.35 0.00 0.000 6 0.000 0.067 2893 1959 2193 0 0 1 0 0 0

7657 0.60 146.0 444.6 9.9 785 7663 0.00 3.35 0.00 0.000 4 0.000 0.075 2893 3530 2194 0 0 2 0 0 0

7775 0.60 146.0 430.9 11.8 795 7780 0.00 3.33 0.00 0.000 6 0.000 0.068 2908 1965 2193 0 0 1 0 0 0

8099 0.60 146.0 395.7 10.4 825 8104 0.00 3.33 0.00 0.000 4 0.000 0.075 2908 3528 2193 0 0 2 0 0 0

8206 0.53 146.0 383.8 11.9 834 8212 0.25 3.28 0.00 0.000 6 0.194 0.068 2861 1985 2192 0 0 2 0 0 0

8530 0.70 185.9 358.3 7.5 864 8572 0.17 3.42 31.80 0.934 4 0.104 0.075 2923 3531 2041 0 0 1 0 0 0

8679 0.64 185.9 340.8 12.2 877 8685 0.17 3.30 0.00 0.000 6 0.199 0.067 2898 2003 2037 0 0 1 0 0 0

9004 0.70 185.9 307.9 9.9 908 9009 0.00 3.33 0.00 0.000 4 0.000 0.075 2898 3528 2036 0 0 2 0 0 0

9110 0.70 185.9 296.9 10.1 917 9116 0.00 3.25 0.00 0.000 6 0.000 0.067 2909 2017 2036 0 0 1 0 0 0

9434 0.70 185.9 265.2 9.4 947 9440 0.00 3.28 0.00 0.000 4 0.000 0.076 2910 3528 2036 0 0 1 0 0 0

9512 0.70 185.9 256.9 10.7 953 9518 0.00 3.22 0.00 0.000 6 0.000 0.067 2924 2041 2035 0 0 0 0 0 0

9836 0.70 185.9 223.0 10.9 984 9842 0.00 3.25 0.00 0.000 4 0.000 0.076 2924 3529 2036 0 0 2 0 0 0

9899 0.64 185.9 215.5 12.3 989 9905 0.17 3.20 0.00 0.000 6 0.196 0.068 2897 2049 2035 0 0 1 0 0 0

10223 0.71 185.9 184.1 9.3 1019 10228 0.00 3.22 0.00 0.000 4 0.000 0.075 2897 3534 2035 0 0 2 0 0 0

10312 0.71 185.9 175.0 10.3 1026 10318 0.00 3.20 0.00 0.000 6 0.000 0.067 2908 2052 2033 0 0 1 0 0 0

10638 0.78 185.9 144.5 9.6 1057 10643 0.00 3.22 0.00 0.000 4 0.000 0.076 2909 3537 2033 0 0 2 0 0 0

10703 0.78 185.9 137.6 10.3 1062 10710 0.00 3.17 0.00 0.000 6 0.000 0.066 2923 2069 2033 0 0 1 0 0 0

11029 0.78 185.9 104.6 9.8 1093 11034 0.00 3.20 0.00 0.000 4 0.000 0.076 2923 3527 2034 0 0 1 0 0 0

11152 0.78 185.9 91.9 10.5 1110 11158 0.00 3.12 0.00 0.000 6 0.000 0.067 2936 2093 2034 0 0 1 0 0 0

11497 0.83 185.9 60.4 9.2 1171 11503 0.00 3.20 0.00 0.000 4 0.000 0.076 2936 3534 2034 0 0 0 0 0 0

11612 0.83 185.9 49.0 9.9 1191 11617 0.00 3.12 0.00 0.000 6 0.000 0.067 2950 2105 2033 0 0 1 0 0 0

11956 0.83 185.9 16.4 9.6 1252 11962 0.00 3.17 0.00 0.000 4 0.000 0.077 2950 3528 2034 0 0 0 0 0 0

12042 0.77 185.9 7.5 10.2 1267 12048 0.00 3.12 0.00 0.000 6 0.000 0.069 2964 2107 2034 0 0 1 0 0 0

12097 end climb: SURFACE_DEPTH_REACHED

state 12097 begin surface coast

12117 end surface coast: CONTROL_FINISHED_OK

state 12117 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	307	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	20	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	18	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	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	3	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	2	T_GPS_CHARGE	-41788.035	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	2690	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	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	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	122606,6707.069,-5704.784,32,0.8,32,-37.7	TGT_NAME	TARGET_E
_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	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	123131,6707.125,-5704.842,12,0.9,17,-37.7	MHEAD_RNG_PITCHd_Wd	159.8,14363,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	551

FREEZE	0.19,0.045,-1.828,0,1,0	ALTIM_TOP_PING	19.8,19.0
FINISH	0.2,1.026774	ALTIM_BOTTOM_PING	400.7,171.9
SM_CCo	12134,128.82,0.722,0,0,1066,425.10	_24V_AH	22.7,59.504
SM_GC	0.87,0.00,0.00,128.82,0.000,0.000,0.722,125,2457,1066,-8.02,-0.06,425.10	_10V_AH	10.1,31.350
RAFOS_CLK	754	FG_AHR_24Vo	0.000
RAFOS	2,1260793023,12.300000,12.284166,58,57,56,0,0,0,213,156,188,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.608398,-5704.352539,141209,040400,2,82,0.34	MEM	152468
IRIDIUM_FIX	6636.54,-5702.96,100399,090921	DATA_FILE_SIZE	50408,1280
TT8_MAMPS	0.027612	CAP_FILE_SIZE	146020,0
HUMID	47.20	CFSIZE	260165632,226086912
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,62,0,0
TCM_TEMP	17.30	SOUNDSPEED	1467.0
XPDR_PINGS	1	GPS	141209,155737,6707.601,-5707.337,40,1.0,40,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	296	158.01	SBE_CT	938	24	511.50
Roll_motor	153	88	310.17	SBE_O2	873	19	376.88
VBD_pump_during_apogee	276	1074	6751.28	nil	0	0	0.00
VBD_pump_during_surface	128	721	2110.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.17	nil	0	0	0.00
Iridium_during_connect	35	160	129.89	nil	0	0	0.00
Iridium_during_xfer	133	223	677.91
Transponder_ping	1	420	14.30
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.83
TT8	2154	19	433.46
LPSleep	7137	2	166.53
TT8_Active	582	19	117.15
TT8_Sampling	2287	39	922.22
TT8_CF8	417	45	193.58
TT8_Kalman	0	0	0.00
Analog_circuits	1743	12	211.34
GPS_charging	0	0	0.00
Compass	2240	8	181.07
RAFOS	1080	1	16.36
Transponder	11	30	3.35

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	144	0.00	0.00	-125.65	0.000	2	0.000	0.000	129	2454	3200	0	0	0	0	0	0
148	-0.73	-146.0	3.2	-6.1	25	168	11.35	0.00	-5.07	0.000	6	0.297	0.000	2444	2454	3397	0	0	0	0	0	0
507	-0.73	-146.0	47.0	-11.0	89	513	0.00	3.22	0.00	0.000	4	0.000	0.089	2444	3913	3400	0	0	2	0	0	0
766	-0.73	-146.0	74.6	-10.6	135	771	0.00	3.08	0.00	0.000	6	0.000	0.064	2445	2460	3400	0	0	2	0	0	0
1110	-0.73	-146.0	107.8	-8.6	189	1115	0.00	3.22	0.00	0.000	4	0.000	0.088	2445	3923	3400	0	0	2	0	0	0
1368	-0.80	-146.0	130.9	-8.7	211	1374	0.00	3.05	0.00	0.000	6	0.000	0.064	2445	2486	3398	0	0	1	0	0	0
1693	-0.86	-146.0	155.3	-7.1	242	1698	0.00	3.17	0.00	0.000	4	0.000	0.087	2445	3916	3397	0	0	1	0	0	0
1951	-0.95	-146.0	173.6	-7.4	264	1957	0.20	2.95	0.00	0.000	6	0.107	0.064	2377	2535	3397	0	0	1	0	0	0
2275	-0.82	-146.0	206.5	-10.2	295	2281	0.20	3.08	0.00	0.000	4	0.203	0.084	2424	3915	3396	0	0	2	0	0	0
2488	-0.82	-146.0	225.2	-8.8	313	2495	0.00	2.85	0.00	0.000	6	0.000	0.061	2424	2570	3397	0	0	1	0	0	0
2814	-0.82	-146.0	253.1	-8.6	344	2819	0.00	2.97	0.00	0.000	4	0.000	0.084	2425	3916	3397	0	0	2	0	0	0
3049	-0.82	-146.0	274.0	-8.7	364	3055	0.00	2.80	0.00	0.000	6	0.000	0.061	2424	2599	3398	0	0	1	0	0	0
3374	-0.82	-146.0	301.4	-8.3	395	3378	0.00	2.92	0.00	0.000	4	0.000	0.084	2424	3919	3398	0	0	2	0	0	0
3582	-0.82	-146.0	318.7	-8.1	413	3586	0.00	2.78	0.00	0.000	6	0.000	0.060	2424	2620	3398	0	0	1	0	0	0
3906	-0.87	-146.0	345.4	-8.5	443	3911	0.00	2.90	0.00	0.000	4	0.000	0.084	2424	3926	3399	0	0	2	0	0	0
4026	-0.93	-146.0	355.5	-8.8	453	4031	0.00	2.75	0.00	0.000	6	0.000	0.059	2424	2637	3399	0	0	1	0	0	0
4351	-0.98	-146.0	381.6	-7.8	483	4356	0.15	2.90	0.00	0.000	4	0.112	0.081	2361	3927	3399	0	0	2	0	0	0
4414	-0.81	-146.0	387.8	-10.0	488	4419	0.25	2.75	0.00	0.000	6	0.203	0.058	2420	2638	3399	0	0	1	0	0	0
4739	-0.81	-146.0	412.5	-7.0	518	4743	0.00	2.88	0.00	0.000	4	0.000	0.083	2420	3920	3399	0	0	1	0	0	0
4869	-0.86	-146.0	422.5	-7.4	529	4873	0.00	2.70	0.00	0.000	6	0.000	0.058	2421	2659	3399	0	0	1	0	0	0
5194	-0.91	-146.0	447.3	-7.7	559	5198	0.00	2.85	0.00	0.000	4	0.000	0.082	2420	3926	3400	0	0	1	0	0	0
5335	-0.91	-146.0	458.7	-8.0	571	5339	0.00	2.70	0.00	0.000	6	0.000	0.058	2421	2665	3399	0	0	1	0	0	0
5661	-0.96	-146.0	483.8	-8.3	601	5666	0.12	2.85	0.00	0.000	4	0.122	0.079	2365	3928	3400	0	0	1	0	0	0
5797	-0.82	-146.0	498.3	-11.1	612	5803	0.22	2.67	0.00	0.000	6	0.200	0.057	2418	2686	3400	0	0	1	0	0	0
6122	-0.82	-146.0	525.6	-7.8	643	6127	0.00	2.78	0.00	0.000	4	0.000	0.081	2418	3915	3401	0	0	2	0	0	0
6233	-0.82	-146.0	534.4	-8.3	652	6239	0.00	2.62	0.00	0.000	6	0.000	0.058	2418	2702	3401	0	0	1	0	0	0
6470	end dive: TARGET_DEPTH_EXCEEDED
state	6470	begin apogee
6477	-0.16	0.0	551.1	7.0	675	6603	0.73	0.00	120.68	1.075	6	0.174	0.000	2626	1943	2800	0	0	0	0	0	0
6604	end apogee: CONTROL_FINISHED_OK
state	6604	begin climb
6606	0.73	146.0	554.3	0.0	688	6740	0.95	2.17	124.30	1.030	4	0.126	0.084	2923	372	2203	0	0	0	0	0	0
6855	0.67	146.0	532.7	12.3	711	6859	0.00	2.08	0.00	0.000	6	0.000	0.057	2923	1966	2198	0	0	0	0	0	0
7187	0.60	146.0	493.2	12.1	742	7193	0.15	3.35	0.00	0.000	4	0.202	0.074	2881	3528	2195	0	0	2	0	0	0
7332	0.60	146.0	477.1	10.3	754	7339	0.00	3.35	0.00	0.000	6	0.000	0.067	2893	1959	2193	0	0	1	0	0	0
7657	0.60	146.0	444.6	9.9	785	7663	0.00	3.35	0.00	0.000	4	0.000	0.075	2893	3530	2194	0	0	2	0	0	0
7775	0.60	146.0	430.9	11.8	795	7780	0.00	3.33	0.00	0.000	6	0.000	0.068	2908	1965	2193	0	0	1	0	0	0
8099	0.60	146.0	395.7	10.4	825	8104	0.00	3.33	0.00	0.000	4	0.000	0.075	2908	3528	2193	0	0	2	0	0	0
8206	0.53	146.0	383.8	11.9	834	8212	0.25	3.28	0.00	0.000	6	0.194	0.068	2861	1985	2192	0	0	2	0	0	0
8530	0.70	185.9	358.3	7.5	864	8572	0.17	3.42	31.80	0.934	4	0.104	0.075	2923	3531	2041	0	0	1	0	0	0
8679	0.64	185.9	340.8	12.2	877	8685	0.17	3.30	0.00	0.000	6	0.199	0.067	2898	2003	2037	0	0	1	0	0	0
9004	0.70	185.9	307.9	9.9	908	9009	0.00	3.33	0.00	0.000	4	0.000	0.075	2898	3528	2036	0	0	2	0	0	0
9110	0.70	185.9	296.9	10.1	917	9116	0.00	3.25	0.00	0.000	6	0.000	0.067	2909	2017	2036	0	0	1	0	0	0
9434	0.70	185.9	265.2	9.4	947	9440	0.00	3.28	0.00	0.000	4	0.000	0.076	2910	3528	2036	0	0	1	0	0	0
9512	0.70	185.9	256.9	10.7	953	9518	0.00	3.22	0.00	0.000	6	0.000	0.067	2924	2041	2035	0	0	0	0	0	0
9836	0.70	185.9	223.0	10.9	984	9842	0.00	3.25	0.00	0.000	4	0.000	0.076	2924	3529	2036	0	0	2	0	0	0
9899	0.64	185.9	215.5	12.3	989	9905	0.17	3.20	0.00	0.000	6	0.196	0.068	2897	2049	2035	0	0	1	0	0	0
10223	0.71	185.9	184.1	9.3	1019	10228	0.00	3.22	0.00	0.000	4	0.000	0.075	2897	3534	2035	0	0	2	0	0	0
10312	0.71	185.9	175.0	10.3	1026	10318	0.00	3.20	0.00	0.000	6	0.000	0.067	2908	2052	2033	0	0	1	0	0	0
10638	0.78	185.9	144.5	9.6	1057	10643	0.00	3.22	0.00	0.000	4	0.000	0.076	2909	3537	2033	0	0	2	0	0	0
10703	0.78	185.9	137.6	10.3	1062	10710	0.00	3.17	0.00	0.000	6	0.000	0.066	2923	2069	2033	0	0	1	0	0	0
11029	0.78	185.9	104.6	9.8	1093	11034	0.00	3.20	0.00	0.000	4	0.000	0.076	2923	3527	2034	0	0	1	0	0	0
11152	0.78	185.9	91.9	10.5	1110	11158	0.00	3.12	0.00	0.000	6	0.000	0.067	2936	2093	2034	0	0	1	0	0	0
11497	0.83	185.9	60.4	9.2	1171	11503	0.00	3.20	0.00	0.000	4	0.000	0.076	2936	3534	2034	0	0	0	0	0	0
11612	0.83	185.9	49.0	9.9	1191	11617	0.00	3.12	0.00	0.000	6	0.000	0.067	2950	2105	2033	0	0	1	0	0	0
11956	0.83	185.9	16.4	9.6	1252	11962	0.00	3.17	0.00	0.000	4	0.000	0.077	2950	3528	2034	0	0	0	0	0	0
12042	0.77	185.9	7.5	10.2	1267	12048	0.00	3.12	0.00	0.000	6	0.000	0.069	2964	2107	2034	0	0	1	0	0	0
12097	end climb: SURFACE_DEPTH_REACHED
state	12097	begin surface coast
12117	end surface coast: CONTROL_FINISHED_OK
state	12117	begin surface