Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 314 * 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 314 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 22 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 -41900.379 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 -41900.379

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 22 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 314 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 120237,6708.431,-5707.395,37,1.0,37,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120832,6708.503,-5707.580,14,1.0,14,-37.7 MHEAD_RNG_PITCHd_Wd 163.5,17430,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 529

Post-dive calculations and measurements:

FREEZE 0.32,-0.386,-1.821,0,1,0 ALTIM_TOP_PING 20.0,19.6

FINISH 0.3,1.026689 ALTIM_BOTTOM_PING 450.2,141.6

SM_CCo 11738,127.62,0.718,0,0,1066,425.10 _24V_AH 22.7,60.376

SM_GC 1.13,0.00,0.00,127.62,0.000,0.000,0.718,129,2458,1066,-8.00,-0.06,425.10 _10V_AH 10.1,31.855

RAFOS_CLK 727 FG_AHR_24Vo 0.000

RAFOS 1,1260878950,12.166667,12.152778,72,67,65,0,0,0,188,205,122,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.832031,-5708.091309,151209,000056,2,73,0.65 MEM 152536

IRIDIUM_FIX 6641.98,-5706.23,110399,080857 DATA_FILE_SIZE 50441,1256

TT8_MAMPS 0.027612 CAP_FILE_SIZE 143870,0

HUMID 46.06 CFSIZE 260165632,225579008

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,95,0,0

TCM_TEMP 17.20 SOUNDSPEED 1466.4

XPDR_PINGS 2 GPS 151209,152801,6709.286,-5710.155,37,1.5,37,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 289 155.56 SBE_CT 921 24 502.07

Roll_motor 146 98 325.88 SBE_O2 856 19 369.57

VBD_pump_during_apogee 290 1059 6980.10 nil 0 0 0.00

VBD_pump_during_surface 127 717 2079.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 64.63 nil 0 0 0.00

Iridium_during_connect 31 160 114.53 nil 0 0 0.00

Iridium_during_xfer 175 223 888.37

Transponder_ping 2 420 19.07

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.24

TT8 2113 19 425.26

LPSleep 6845 2 159.72

TT8_Active 586 19 118.07

TT8_Sampling 2222 39 896.04

TT8_CF8 444 45 206.29

TT8_Kalman 0 0 0.00

Analog_circuits 1717 12 208.15

GPS_charging 0 0 0.00

Compass 2181 8 176.28

RAFOS 2160 1 32.72

Transponder 12 30 3.86

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 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 140 0.00 0.00 -119.28 0.000 2 0.000 0.000 124 2474 3125 0 0 0 0 0 0

142 -0.73 -146.0 3.2 -5.3 24 169 11.07 2.35 -7.38 0.000 4 0.289 0.098 2443 869 3399 0 0 0 0 0 0

186 -0.33 -146.0 12.4 -16.0 32 192 0.50 2.20 0.00 0.000 6 0.188 0.069 2577 2458 3400 0 0 0 0 0 0

532 -0.74 -146.0 33.8 -6.5 93 538 0.35 3.28 0.00 0.000 4 0.084 0.083 2440 3928 3401 0 0 2 0 0 0

790 -0.74 -146.0 64.3 -11.7 139 796 0.00 3.03 0.00 0.000 6 0.000 0.064 2439 2507 3401 0 0 3 0 0 0

1139 -0.74 -146.0 101.3 -9.9 200 1144 0.00 3.15 0.00 0.000 4 0.000 0.087 2439 3923 3400 0 0 3 0 0 0

1396 -0.74 -146.0 125.9 -9.9 222 1402 0.00 2.95 0.00 0.000 6 0.000 0.064 2440 2545 3398 0 0 2 0 0 0

1721 -0.79 -146.0 157.4 -9.4 253 1726 0.00 3.10 0.00 0.000 4 0.000 0.088 2439 3928 3398 0 0 2 0 0 0

1922 -0.87 -146.0 176.6 -9.4 270 1928 0.00 2.90 0.00 0.000 6 0.000 0.063 2440 2570 3397 0 0 2 0 0 0

2247 -0.95 -146.0 204.3 -7.8 301 2252 0.17 3.03 0.00 0.000 4 0.100 0.083 2363 3917 3397 0 0 2 0 0 0

2437 -0.78 -146.0 225.6 -10.7 317 2444 0.30 2.85 0.00 0.000 6 0.207 0.061 2434 2584 3396 0 0 1 0 0 0

2763 -0.85 -146.0 250.3 -7.2 348 2768 0.00 2.95 0.00 0.000 4 0.000 0.084 2434 3916 3397 0 0 3 0 0 0

2948 -0.92 -146.0 263.7 -6.7 364 2954 0.15 2.80 0.00 0.000 6 0.114 0.059 2385 2595 3397 0 0 2 0 0 0

3274 -0.84 -146.0 292.6 -9.0 394 3279 0.12 2.95 0.00 0.000 4 0.207 0.082 2412 3917 3398 0 0 3 0 0 0

3475 -0.84 -146.0 309.6 -8.0 411 3481 0.00 2.75 0.00 0.000 6 0.000 0.058 2412 2630 3398 0 0 2 0 0 0

3800 -0.84 -146.0 334.6 -7.6 442 3805 0.00 2.90 0.00 0.000 4 0.000 0.082 2412 3929 3399 0 0 2 0 0 0

3963 -0.84 -146.0 347.2 -7.5 456 3967 0.00 2.75 0.00 0.000 6 0.000 0.058 2412 2640 3400 0 0 2 0 0 0

4287 -0.84 -146.0 370.8 -7.2 486 4292 0.00 2.88 0.00 0.000 4 0.000 0.081 2412 3925 3400 0 0 2 0 0 0

4433 -0.84 -146.0 381.8 -8.0 498 4439 0.00 2.67 0.00 0.000 6 0.000 0.058 2412 2672 3401 0 0 3 0 0 0

4758 -0.84 -146.0 404.7 -6.7 529 4762 0.00 2.83 0.00 0.000 4 0.000 0.081 2412 3922 3401 0 0 2 0 0 0

4917 -0.84 -146.0 416.9 -7.8 542 4922 0.00 2.65 0.00 0.000 6 0.000 0.058 2412 2691 3400 0 0 2 0 0 0

5242 -0.84 -146.0 440.9 -7.5 573 5246 0.00 2.80 0.00 0.000 4 0.000 0.082 2412 3926 3401 0 0 3 0 0 0

5337 -0.84 -146.0 448.2 -7.9 581 5341 0.00 2.62 0.00 0.000 6 0.000 0.058 2412 2701 3401 0 0 3 0 0 0

5662 -0.84 -146.0 473.6 -8.2 611 5666 0.00 2.78 0.00 0.000 4 0.000 0.081 2412 3917 3401 0 0 2 0 0 0

5818 -0.84 -146.0 486.9 -8.5 624 5824 0.00 2.60 0.00 0.000 6 0.000 0.057 2412 2718 3401 0 0 2 0 0 0

6143 -0.84 -146.0 513.1 -7.1 655 6144 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2719 3402 0 0 0 0 0 0

6321 end dive: TARGET_DEPTH_EXCEEDED

state 6321 begin apogee

6327 -0.16 0.0 529.2 7.9 672 6454 0.77 0.00 120.82 1.059 6 0.181 0.000 2628 1941 2799 0 0 0 0 0 0

6455 end apogee: CONTROL_FINISHED_OK

state 6455 begin climb

6457 0.73 146.0 531.7 0.0 685 6591 0.95 2.15 123.78 1.016 4 0.128 0.084 2923 368 2202 0 0 0 0 0 0

6615 0.65 146.0 520.3 9.9 700 6619 0.00 2.12 0.00 0.000 6 0.000 0.057 2923 1973 2200 0 0 0 0 0 0

6939 0.58 146.0 481.1 12.2 730 6945 0.20 3.42 0.00 0.000 4 0.196 0.072 2868 3541 2194 0 0 3 0 0 0

7042 0.62 146.0 470.5 10.2 738 7048 0.00 3.42 0.00 0.000 6 0.000 0.066 2881 1955 2193 0 0 2 0 0 0

7367 0.70 155.6 441.5 8.8 769 7382 0.10 3.42 7.97 0.856 4 0.127 0.076 2917 3531 2164 0 0 2 0 0 0

7516 0.59 155.6 423.4 12.4 782 7524 0.17 3.35 0.00 0.000 6 0.192 0.068 2887 1974 2162 0 0 2 0 0 0

7841 0.65 155.6 392.9 9.4 813 7846 0.00 3.38 0.00 0.000 4 0.000 0.074 2887 3536 2162 0 0 2 0 0 0

7948 0.65 155.6 381.8 11.0 822 7953 0.00 3.33 0.00 0.000 6 0.000 0.067 2900 1988 2162 0 0 2 0 0 0

8272 0.65 155.6 350.3 9.8 852 8277 0.00 3.35 0.00 0.000 4 0.000 0.077 2900 3528 2161 0 0 2 0 0 0

8383 0.65 155.6 338.0 11.4 861 8389 0.00 3.30 0.00 0.000 6 0.000 0.067 2915 1993 2161 0 0 2 0 0 0

8707 0.65 155.6 301.6 12.0 892 8713 0.00 3.35 0.00 0.000 4 0.000 0.076 2914 3537 2161 0 0 2 0 0 0

8820 0.57 155.6 287.4 13.0 901 8827 0.22 3.28 0.00 0.000 6 0.197 0.067 2875 2024 2161 0 0 2 0 0 0

9147 0.66 155.6 255.2 9.3 932 9152 0.00 3.28 0.00 0.000 4 0.000 0.074 2875 3532 2161 0 0 3 0 0 0

9271 0.71 155.6 242.8 9.9 942 9277 0.00 3.25 0.00 0.000 6 0.000 0.067 2887 2036 2160 0 0 2 0 0 0

9596 0.82 188.4 214.2 7.8 973 9631 0.20 3.35 27.35 0.849 4 0.091 0.074 2959 3530 2030 0 0 2 0 0 0

9742 0.65 188.4 195.0 14.4 986 9749 0.30 3.25 0.00 0.000 6 0.201 0.067 2902 2055 2027 0 0 2 0 0 0

10068 0.71 188.4 165.0 10.2 1017 10073 0.00 3.28 0.00 0.000 4 0.000 0.074 2903 3541 2026 0 0 2 0 0 0

10141 0.71 188.4 156.7 11.1 1023 10146 0.00 3.20 0.00 0.000 6 0.000 0.065 2914 2080 2026 0 0 2 0 0 0

10465 0.71 188.4 122.1 10.6 1053 10470 0.00 3.22 0.00 0.000 4 0.000 0.074 2914 3541 2026 0 0 2 0 0 0

10553 0.71 188.4 111.8 11.4 1060 10559 0.00 3.17 0.00 0.000 6 0.000 0.064 2929 2088 2026 0 0 2 0 0 0

10891 0.78 188.4 77.3 9.4 1110 10897 0.00 3.22 0.00 0.000 4 0.000 0.074 2928 3539 2026 0 0 1 0 0 0

11005 0.78 188.4 66.4 9.3 1130 11011 0.00 3.15 0.00 0.000 6 0.000 0.065 2942 2100 2026 0 0 2 0 0 0

11350 0.84 199.4 37.8 8.7 1191 11367 0.00 3.17 10.38 0.706 4 0.000 0.074 2942 3532 1985 0 0 2 0 0 0

11460 0.84 199.4 27.0 10.7 1210 11465 0.00 3.15 0.00 0.000 6 0.000 0.067 2956 2104 1984 0 0 2 0 0 0

11700 end climb: SURFACE_DEPTH_REACHED

state 11700 begin surface coast

11721 end surface coast: CONTROL_FINISHED_OK

state 11721 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	314	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	22	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	-41900.379	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	120237,6708.431,-5707.395,37,1.0,37,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120832,6708.503,-5707.580,14,1.0,14,-37.7	MHEAD_RNG_PITCHd_Wd	163.5,17430,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	529

FREEZE	0.32,-0.386,-1.821,0,1,0	ALTIM_TOP_PING	20.0,19.6
FINISH	0.3,1.026689	ALTIM_BOTTOM_PING	450.2,141.6
SM_CCo	11738,127.62,0.718,0,0,1066,425.10	_24V_AH	22.7,60.376
SM_GC	1.13,0.00,0.00,127.62,0.000,0.000,0.718,129,2458,1066,-8.00,-0.06,425.10	_10V_AH	10.1,31.855
RAFOS_CLK	727	FG_AHR_24Vo	0.000
RAFOS	1,1260878950,12.166667,12.152778,72,67,65,0,0,0,188,205,122,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.832031,-5708.091309,151209,000056,2,73,0.65	MEM	152536
IRIDIUM_FIX	6641.98,-5706.23,110399,080857	DATA_FILE_SIZE	50441,1256
TT8_MAMPS	0.027612	CAP_FILE_SIZE	143870,0
HUMID	46.06	CFSIZE	260165632,225579008
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,95,0,0
TCM_TEMP	17.20	SOUNDSPEED	1466.4
XPDR_PINGS	2	GPS	151209,152801,6709.286,-5710.155,37,1.5,37,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	289	155.56	SBE_CT	921	24	502.07
Roll_motor	146	98	325.88	SBE_O2	856	19	369.57
VBD_pump_during_apogee	290	1059	6980.10	nil	0	0	0.00
VBD_pump_during_surface	127	717	2079.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	64.63	nil	0	0	0.00
Iridium_during_connect	31	160	114.53	nil	0	0	0.00
Iridium_during_xfer	175	223	888.37
Transponder_ping	2	420	19.07
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.24
TT8	2113	19	425.26
LPSleep	6845	2	159.72
TT8_Active	586	19	118.07
TT8_Sampling	2222	39	896.04
TT8_CF8	444	45	206.29
TT8_Kalman	0	0	0.00
Analog_circuits	1717	12	208.15
GPS_charging	0	0	0.00
Compass	2181	8	176.28
RAFOS	2160	1	32.72
Transponder	12	30	3.86

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	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	140	0.00	0.00	-119.28	0.000	2	0.000	0.000	124	2474	3125	0	0	0	0	0	0
142	-0.73	-146.0	3.2	-5.3	24	169	11.07	2.35	-7.38	0.000	4	0.289	0.098	2443	869	3399	0	0	0	0	0	0
186	-0.33	-146.0	12.4	-16.0	32	192	0.50	2.20	0.00	0.000	6	0.188	0.069	2577	2458	3400	0	0	0	0	0	0
532	-0.74	-146.0	33.8	-6.5	93	538	0.35	3.28	0.00	0.000	4	0.084	0.083	2440	3928	3401	0	0	2	0	0	0
790	-0.74	-146.0	64.3	-11.7	139	796	0.00	3.03	0.00	0.000	6	0.000	0.064	2439	2507	3401	0	0	3	0	0	0
1139	-0.74	-146.0	101.3	-9.9	200	1144	0.00	3.15	0.00	0.000	4	0.000	0.087	2439	3923	3400	0	0	3	0	0	0
1396	-0.74	-146.0	125.9	-9.9	222	1402	0.00	2.95	0.00	0.000	6	0.000	0.064	2440	2545	3398	0	0	2	0	0	0
1721	-0.79	-146.0	157.4	-9.4	253	1726	0.00	3.10	0.00	0.000	4	0.000	0.088	2439	3928	3398	0	0	2	0	0	0
1922	-0.87	-146.0	176.6	-9.4	270	1928	0.00	2.90	0.00	0.000	6	0.000	0.063	2440	2570	3397	0	0	2	0	0	0
2247	-0.95	-146.0	204.3	-7.8	301	2252	0.17	3.03	0.00	0.000	4	0.100	0.083	2363	3917	3397	0	0	2	0	0	0
2437	-0.78	-146.0	225.6	-10.7	317	2444	0.30	2.85	0.00	0.000	6	0.207	0.061	2434	2584	3396	0	0	1	0	0	0
2763	-0.85	-146.0	250.3	-7.2	348	2768	0.00	2.95	0.00	0.000	4	0.000	0.084	2434	3916	3397	0	0	3	0	0	0
2948	-0.92	-146.0	263.7	-6.7	364	2954	0.15	2.80	0.00	0.000	6	0.114	0.059	2385	2595	3397	0	0	2	0	0	0
3274	-0.84	-146.0	292.6	-9.0	394	3279	0.12	2.95	0.00	0.000	4	0.207	0.082	2412	3917	3398	0	0	3	0	0	0
3475	-0.84	-146.0	309.6	-8.0	411	3481	0.00	2.75	0.00	0.000	6	0.000	0.058	2412	2630	3398	0	0	2	0	0	0
3800	-0.84	-146.0	334.6	-7.6	442	3805	0.00	2.90	0.00	0.000	4	0.000	0.082	2412	3929	3399	0	0	2	0	0	0
3963	-0.84	-146.0	347.2	-7.5	456	3967	0.00	2.75	0.00	0.000	6	0.000	0.058	2412	2640	3400	0	0	2	0	0	0
4287	-0.84	-146.0	370.8	-7.2	486	4292	0.00	2.88	0.00	0.000	4	0.000	0.081	2412	3925	3400	0	0	2	0	0	0
4433	-0.84	-146.0	381.8	-8.0	498	4439	0.00	2.67	0.00	0.000	6	0.000	0.058	2412	2672	3401	0	0	3	0	0	0
4758	-0.84	-146.0	404.7	-6.7	529	4762	0.00	2.83	0.00	0.000	4	0.000	0.081	2412	3922	3401	0	0	2	0	0	0
4917	-0.84	-146.0	416.9	-7.8	542	4922	0.00	2.65	0.00	0.000	6	0.000	0.058	2412	2691	3400	0	0	2	0	0	0
5242	-0.84	-146.0	440.9	-7.5	573	5246	0.00	2.80	0.00	0.000	4	0.000	0.082	2412	3926	3401	0	0	3	0	0	0
5337	-0.84	-146.0	448.2	-7.9	581	5341	0.00	2.62	0.00	0.000	6	0.000	0.058	2412	2701	3401	0	0	3	0	0	0
5662	-0.84	-146.0	473.6	-8.2	611	5666	0.00	2.78	0.00	0.000	4	0.000	0.081	2412	3917	3401	0	0	2	0	0	0
5818	-0.84	-146.0	486.9	-8.5	624	5824	0.00	2.60	0.00	0.000	6	0.000	0.057	2412	2718	3401	0	0	2	0	0	0
6143	-0.84	-146.0	513.1	-7.1	655	6144	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2719	3402	0	0	0	0	0	0
6321	end dive: TARGET_DEPTH_EXCEEDED
state	6321	begin apogee
6327	-0.16	0.0	529.2	7.9	672	6454	0.77	0.00	120.82	1.059	6	0.181	0.000	2628	1941	2799	0	0	0	0	0	0
6455	end apogee: CONTROL_FINISHED_OK
state	6455	begin climb
6457	0.73	146.0	531.7	0.0	685	6591	0.95	2.15	123.78	1.016	4	0.128	0.084	2923	368	2202	0	0	0	0	0	0
6615	0.65	146.0	520.3	9.9	700	6619	0.00	2.12	0.00	0.000	6	0.000	0.057	2923	1973	2200	0	0	0	0	0	0
6939	0.58	146.0	481.1	12.2	730	6945	0.20	3.42	0.00	0.000	4	0.196	0.072	2868	3541	2194	0	0	3	0	0	0
7042	0.62	146.0	470.5	10.2	738	7048	0.00	3.42	0.00	0.000	6	0.000	0.066	2881	1955	2193	0	0	2	0	0	0
7367	0.70	155.6	441.5	8.8	769	7382	0.10	3.42	7.97	0.856	4	0.127	0.076	2917	3531	2164	0	0	2	0	0	0
7516	0.59	155.6	423.4	12.4	782	7524	0.17	3.35	0.00	0.000	6	0.192	0.068	2887	1974	2162	0	0	2	0	0	0
7841	0.65	155.6	392.9	9.4	813	7846	0.00	3.38	0.00	0.000	4	0.000	0.074	2887	3536	2162	0	0	2	0	0	0
7948	0.65	155.6	381.8	11.0	822	7953	0.00	3.33	0.00	0.000	6	0.000	0.067	2900	1988	2162	0	0	2	0	0	0
8272	0.65	155.6	350.3	9.8	852	8277	0.00	3.35	0.00	0.000	4	0.000	0.077	2900	3528	2161	0	0	2	0	0	0
8383	0.65	155.6	338.0	11.4	861	8389	0.00	3.30	0.00	0.000	6	0.000	0.067	2915	1993	2161	0	0	2	0	0	0
8707	0.65	155.6	301.6	12.0	892	8713	0.00	3.35	0.00	0.000	4	0.000	0.076	2914	3537	2161	0	0	2	0	0	0
8820	0.57	155.6	287.4	13.0	901	8827	0.22	3.28	0.00	0.000	6	0.197	0.067	2875	2024	2161	0	0	2	0	0	0
9147	0.66	155.6	255.2	9.3	932	9152	0.00	3.28	0.00	0.000	4	0.000	0.074	2875	3532	2161	0	0	3	0	0	0
9271	0.71	155.6	242.8	9.9	942	9277	0.00	3.25	0.00	0.000	6	0.000	0.067	2887	2036	2160	0	0	2	0	0	0
9596	0.82	188.4	214.2	7.8	973	9631	0.20	3.35	27.35	0.849	4	0.091	0.074	2959	3530	2030	0	0	2	0	0	0
9742	0.65	188.4	195.0	14.4	986	9749	0.30	3.25	0.00	0.000	6	0.201	0.067	2902	2055	2027	0	0	2	0	0	0
10068	0.71	188.4	165.0	10.2	1017	10073	0.00	3.28	0.00	0.000	4	0.000	0.074	2903	3541	2026	0	0	2	0	0	0
10141	0.71	188.4	156.7	11.1	1023	10146	0.00	3.20	0.00	0.000	6	0.000	0.065	2914	2080	2026	0	0	2	0	0	0
10465	0.71	188.4	122.1	10.6	1053	10470	0.00	3.22	0.00	0.000	4	0.000	0.074	2914	3541	2026	0	0	2	0	0	0
10553	0.71	188.4	111.8	11.4	1060	10559	0.00	3.17	0.00	0.000	6	0.000	0.064	2929	2088	2026	0	0	2	0	0	0
10891	0.78	188.4	77.3	9.4	1110	10897	0.00	3.22	0.00	0.000	4	0.000	0.074	2928	3539	2026	0	0	1	0	0	0
11005	0.78	188.4	66.4	9.3	1130	11011	0.00	3.15	0.00	0.000	6	0.000	0.065	2942	2100	2026	0	0	2	0	0	0
11350	0.84	199.4	37.8	8.7	1191	11367	0.00	3.17	10.38	0.706	4	0.000	0.074	2942	3532	1985	0	0	2	0	0	0
11460	0.84	199.4	27.0	10.7	1210	11465	0.00	3.15	0.00	0.000	6	0.000	0.067	2956	2104	1984	0	0	2	0	0	0
11700	end climb: SURFACE_DEPTH_REACHED
state	11700	begin surface coast
11721	end surface coast: CONTROL_FINISHED_OK
state	11721	begin surface