Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 32 * 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 32 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 25 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 -23538.545 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 -23538.545

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 25 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 32 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 183631,6714.072,-5719.660,46,1.8,46,-37.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6703.985,-5729.175

_XMS_NAKs 9 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 184216,6714.132,-5719.696,14,1.6,14,-37.9 MHEAD_RNG_PITCHd_Wd 237.9,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 570

Post-dive calculations and measurements:

FINISH 0.5,1.026418 _24V_AH 23.6,18.421

SM_CCo 12004,62.30,0.763,0,0,1678,275.23 _10V_AH 10.3,8.484

SM_GC 1.28,0.00,0.00,62.30,0.000,0.000,0.763,128,2506,1678,-7.20,0.17,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 745 FG_AHR_10Vo 0.000

RAFOS 0,1256414465,20.033333,20.018055,58,52,51,0,0,0,225,153,196,0,0,0 MEM 150592

RAFOS_FIX 6714.129395,-5726.650879,241009,202012,2,76,0.74 DATA_FILE_SIZE 50345,1262

IRIDIUM_FIX 6641.98,-5723.22,180199,151506 CAP_FILE_SIZE 146296,0

TT8_MAMPS 0.027612 CFSIZE 260165632,248537088

HUMID 47.44 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 17.10 GPS 241009,220507,6714.428,-5722.952,33,1.2,33,-37.9

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 311 161.86 SBE_CT 927 24 525.39

Roll_motor 122 102 294.43 SBE_O2 860 19 385.76

VBD_pump_during_apogee 275 1092 7111.63 nil 0 0 0.00

VBD_pump_during_surface 62 763 1122.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 20 103 49.82 nil 0 0 0.00

Iridium_during_connect 29 160 110.06 nil 0 0 0.00

Iridium_during_xfer 183 223 967.40

Transponder_ping 1 420 12.39

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.70

TT8 2114 19 433.75

LPSleep 7148 2 170.09

TT8_Active 470 19 96.53

TT8_Sampling 2267 39 932.27

TT8_CF8 412 45 195.20

TT8_Kalman 0 0 0.00

Analog_circuits 1614 12 199.59

GPS_charging 0 0 0.00

Compass 2230 8 183.77

RAFOS 2520 1 38.93

Transponder 0 30 0.16

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

15 -0.98 -146.0 0.0 0.0 0 98 0.00 0.00 -80.10 0.000 2 0.000 0.000 130 2513 3129 0 0 0 0 0 0

100 -0.98 -146.0 3.8 -7.8 16 122 9.73 2.45 -6.88 0.000 4 0.311 0.102 2105 3917 3399 0 0 0 0 0 0

319 -0.77 -146.0 40.0 -15.3 55 326 0.28 2.28 0.00 0.000 6 0.210 0.059 2173 2498 3401 0 0 0 0 0 0

663 -0.77 -146.0 76.7 -10.0 116 668 0.00 2.38 0.00 0.000 4 0.000 0.088 2173 3915 3400 0 0 0 0 0 0

764 -0.83 -146.0 86.5 -9.7 134 770 0.00 2.25 0.00 0.000 6 0.000 0.060 2174 2503 3400 0 0 0 0 0 0

1099 -0.88 -146.0 113.4 -7.9 179 1103 0.00 2.35 0.00 0.000 4 0.000 0.089 2174 3915 3400 0 0 0 0 0 0

1116 -0.94 -146.0 114.8 -7.9 180 1121 0.15 2.25 0.00 0.000 6 0.112 0.060 2123 2497 3400 0 0 0 0 0 0

1440 -0.84 -146.0 149.2 -11.3 210 1445 0.12 2.55 0.00 0.000 4 0.212 0.081 2161 916 3399 0 0 0 0 0 0

1450 -0.76 -146.0 150.4 -11.5 210 1456 0.00 2.55 0.00 0.000 6 0.000 0.073 2161 2498 3399 0 0 0 0 0 0

1776 -0.81 -146.0 179.8 -8.3 241 1780 0.00 2.58 0.00 0.000 4 0.000 0.080 2161 908 3398 0 0 0 0 0 0

1785 -0.81 -146.0 180.7 -8.7 241 1791 0.00 2.55 0.00 0.000 6 0.000 0.072 2162 2501 3398 0 0 0 0 0 0

2110 -0.81 -146.0 211.0 -9.5 272 2114 0.00 2.33 0.00 0.000 4 0.000 0.091 2161 3917 3398 0 0 0 0 0 0

2119 -0.81 -146.0 211.8 -9.4 272 2125 0.00 2.38 0.00 0.000 6 0.000 0.060 2161 2431 3398 0 0 0 0 0 0

2445 -0.88 -146.0 241.7 -9.0 303 2449 0.00 2.45 0.00 0.000 4 0.000 0.088 2161 3917 3398 0 0 0 0 0 0

2455 -0.94 -146.0 242.7 -8.8 303 2461 0.00 2.35 0.00 0.000 6 0.000 0.060 2161 2434 3398 0 0 0 0 0 0

2779 -1.00 -146.0 270.9 -8.3 334 2784 0.17 2.42 0.00 0.000 4 0.103 0.078 2100 915 3398 0 0 0 0 0 0

3037 -0.85 -146.0 300.0 -11.1 356 3043 0.20 2.42 0.00 0.000 6 0.220 0.071 2149 2443 3398 0 0 0 0 0 0

3361 -0.85 -146.0 325.8 -7.6 387 3366 0.00 2.40 0.00 0.000 4 0.000 0.087 2148 3921 3399 0 0 0 0 0 0

3619 -0.85 -146.0 346.3 -7.5 409 3625 0.00 2.33 0.00 0.000 6 0.000 0.059 2149 2434 3398 0 0 0 0 0 0

3944 -0.85 -146.0 370.9 -7.2 440 3948 0.00 2.42 0.00 0.000 4 0.000 0.085 2149 3918 3398 0 0 0 0 0 0

4102 -0.85 -146.0 383.0 -7.8 453 4108 0.00 2.33 0.00 0.000 6 0.000 0.058 2149 2430 3399 0 0 0 0 0 0

4426 -0.85 -146.0 407.1 -7.4 484 4430 0.00 2.42 0.00 0.000 4 0.000 0.084 2149 3910 3399 0 0 0 0 0 0

4454 -0.85 -146.0 409.2 -7.5 486 4459 0.00 2.30 0.00 0.000 6 0.000 0.058 2149 2427 3399 0 0 0 0 0 0

4779 -0.90 -146.0 433.7 -7.8 517 4782 0.00 2.42 0.00 0.000 4 0.000 0.084 2149 3910 3399 0 0 0 0 0 0

4812 -0.90 -146.0 436.4 -8.2 520 4817 0.00 2.30 0.00 0.000 6 0.000 0.058 2149 2433 3400 0 0 0 0 0 0

5137 -0.95 -146.0 461.4 -7.5 550 5141 0.00 2.40 0.00 0.000 4 0.000 0.084 2149 3910 3400 0 0 0 0 0 0

5147 -1.00 -146.0 462.2 -7.5 550 5153 0.12 2.30 0.00 0.000 6 0.117 0.058 2106 2433 3400 0 0 0 0 0 0

5472 -0.90 -146.0 491.5 -8.9 581 5477 0.12 2.42 0.00 0.000 4 0.211 0.082 2127 3915 3400 0 0 0 0 0 0

5483 -0.82 -146.0 492.6 -8.9 581 5489 0.15 2.25 0.00 0.000 6 0.207 0.057 2161 2472 3400 0 0 0 0 0 0

5807 -0.91 -146.0 515.4 -7.1 612 5812 0.00 2.35 0.00 0.000 4 0.000 0.084 2161 3921 3401 0 0 0 0 0 0

6065 -1.01 -146.0 534.6 -7.4 634 6072 0.17 2.22 0.00 0.000 6 0.102 0.056 2100 2476 3401 0 0 0 0 0 0

6390 -0.91 -146.0 564.3 -10.5 665 6395 0.15 2.35 0.00 0.000 4 0.201 0.081 2127 3921 3401 0 0 0 0 0 0

6433 -0.91 -146.0 568.7 -9.2 668 6439 0.00 2.28 0.00 0.000 6 0.000 0.056 2127 2481 3401 0 0 0 0 0 0

6448 end dive: TARGET_DEPTH_EXCEEDED

state 6448 begin apogee

6453 -0.24 0.0 570.2 9.6 670 6575 0.77 0.00 117.85 1.092 6 0.185 0.000 2346 2287 2800 0 0 0 0 0 0

6576 end apogee: CONTROL_FINISHED_OK

state 6576 begin climb

6578 0.98 146.0 574.0 0.0 682 6712 1.25 2.78 120.70 1.050 4 0.112 0.076 2749 728 2201 0 0 0 0 0 0

6964 0.54 146.0 510.5 19.6 717 6971 0.57 2.58 0.00 0.000 6 0.202 0.061 2605 2301 2195 0 0 0 0 0 0

7289 0.54 146.0 473.5 11.3 748 7293 0.00 2.60 0.00 0.000 4 0.000 0.077 2614 718 2194 0 0 0 0 0 0

7546 0.49 146.0 444.6 11.3 770 7552 0.00 2.53 0.00 0.000 6 0.000 0.063 2613 2302 2193 0 0 0 0 0 0

7871 0.42 146.0 407.6 11.2 801 7876 0.20 2.58 0.00 0.000 4 0.186 0.076 2573 718 2193 0 0 0 0 0 0

8128 0.50 151.1 383.9 9.0 823 8138 0.00 2.47 3.62 0.594 6 0.000 0.062 2573 2286 2183 0 0 0 0 0 0

8463 0.61 168.5 354.4 8.4 855 8485 0.15 2.58 15.62 0.903 4 0.100 0.077 2640 718 2114 0 0 0 0 0 0

8737 0.51 168.5 320.3 12.7 879 8744 0.17 2.50 0.00 0.000 6 0.186 0.064 2597 2289 2111 0 0 0 0 0 0

9062 0.51 168.5 286.9 10.4 910 9066 0.00 2.53 0.00 0.000 4 0.000 0.077 2607 721 2111 0 0 0 0 0 0

9318 0.51 168.5 260.5 9.9 932 9324 0.00 2.53 0.00 0.000 6 0.000 0.063 2607 2292 2111 0 0 0 0 0 0

9643 0.51 168.5 228.7 9.7 963 9647 0.00 2.53 0.00 0.000 4 0.000 0.077 2618 721 2111 0 0 0 0 0 0

9900 0.52 172.7 204.1 9.0 985 9910 0.00 2.47 5.03 0.672 6 0.000 0.064 2618 2295 2095 0 0 0 0 0 0

10235 0.52 172.7 170.5 9.7 1017 10239 0.00 2.53 0.00 0.000 4 0.000 0.078 2629 721 2095 0 0 0 0 0 0

10491 0.52 172.7 145.2 10.1 1039 10498 0.10 2.47 0.00 0.000 6 0.174 0.064 2601 2268 2094 0 0 0 0 0 0

10817 0.62 187.1 116.9 8.6 1070 10838 0.00 2.55 13.07 0.785 4 0.000 0.079 2610 728 2036 0 0 0 0 0 0

11092 0.72 187.1 90.1 10.1 1103 11098 0.15 2.45 0.00 0.000 6 0.112 0.065 2663 2275 2034 0 0 0 0 0 0

11437 0.67 187.1 51.1 11.0 1164 11442 0.00 2.50 0.00 0.000 4 0.000 0.081 2674 721 2034 0 0 0 0 0 0

11696 0.60 187.1 23.8 9.3 1210 11702 0.20 2.50 0.00 0.000 6 0.181 0.067 2623 2301 2034 0 0 0 0 0 0

11965 end climb: SURFACE_DEPTH_REACHED

state 11965 begin surface coast

11989 end surface coast: CONTROL_FINISHED_OK

state 11989 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	32	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	25	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	-23538.545	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	183631,6714.072,-5719.660,46,1.8,46,-37.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6703.985,-5729.175
_XMS_NAKs	9	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	184216,6714.132,-5719.696,14,1.6,14,-37.9	MHEAD_RNG_PITCHd_Wd	237.9,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	570

FINISH	0.5,1.026418	_24V_AH	23.6,18.421
SM_CCo	12004,62.30,0.763,0,0,1678,275.23	_10V_AH	10.3,8.484
SM_GC	1.28,0.00,0.00,62.30,0.000,0.000,0.763,128,2506,1678,-7.20,0.17,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	745	FG_AHR_10Vo	0.000
RAFOS	0,1256414465,20.033333,20.018055,58,52,51,0,0,0,225,153,196,0,0,0	MEM	150592
RAFOS_FIX	6714.129395,-5726.650879,241009,202012,2,76,0.74	DATA_FILE_SIZE	50345,1262
IRIDIUM_FIX	6641.98,-5723.22,180199,151506	CAP_FILE_SIZE	146296,0
TT8_MAMPS	0.027612	CFSIZE	260165632,248537088
HUMID	47.44	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	17.10	GPS	241009,220507,6714.428,-5722.952,33,1.2,33,-37.9
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	311	161.86	SBE_CT	927	24	525.39
Roll_motor	122	102	294.43	SBE_O2	860	19	385.76
VBD_pump_during_apogee	275	1092	7111.63	nil	0	0	0.00
VBD_pump_during_surface	62	763	1122.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	20	103	49.82	nil	0	0	0.00
Iridium_during_connect	29	160	110.06	nil	0	0	0.00
Iridium_during_xfer	183	223	967.40
Transponder_ping	1	420	12.39
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.70
TT8	2114	19	433.75
LPSleep	7148	2	170.09
TT8_Active	470	19	96.53
TT8_Sampling	2267	39	932.27
TT8_CF8	412	45	195.20
TT8_Kalman	0	0	0.00
Analog_circuits	1614	12	199.59
GPS_charging	0	0	0.00
Compass	2230	8	183.77
RAFOS	2520	1	38.93
Transponder	0	30	0.16

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
15	-0.98	-146.0	0.0	0.0	0	98	0.00	0.00	-80.10	0.000	2	0.000	0.000	130	2513	3129	0	0	0	0	0	0
100	-0.98	-146.0	3.8	-7.8	16	122	9.73	2.45	-6.88	0.000	4	0.311	0.102	2105	3917	3399	0	0	0	0	0	0
319	-0.77	-146.0	40.0	-15.3	55	326	0.28	2.28	0.00	0.000	6	0.210	0.059	2173	2498	3401	0	0	0	0	0	0
663	-0.77	-146.0	76.7	-10.0	116	668	0.00	2.38	0.00	0.000	4	0.000	0.088	2173	3915	3400	0	0	0	0	0	0
764	-0.83	-146.0	86.5	-9.7	134	770	0.00	2.25	0.00	0.000	6	0.000	0.060	2174	2503	3400	0	0	0	0	0	0
1099	-0.88	-146.0	113.4	-7.9	179	1103	0.00	2.35	0.00	0.000	4	0.000	0.089	2174	3915	3400	0	0	0	0	0	0
1116	-0.94	-146.0	114.8	-7.9	180	1121	0.15	2.25	0.00	0.000	6	0.112	0.060	2123	2497	3400	0	0	0	0	0	0
1440	-0.84	-146.0	149.2	-11.3	210	1445	0.12	2.55	0.00	0.000	4	0.212	0.081	2161	916	3399	0	0	0	0	0	0
1450	-0.76	-146.0	150.4	-11.5	210	1456	0.00	2.55	0.00	0.000	6	0.000	0.073	2161	2498	3399	0	0	0	0	0	0
1776	-0.81	-146.0	179.8	-8.3	241	1780	0.00	2.58	0.00	0.000	4	0.000	0.080	2161	908	3398	0	0	0	0	0	0
1785	-0.81	-146.0	180.7	-8.7	241	1791	0.00	2.55	0.00	0.000	6	0.000	0.072	2162	2501	3398	0	0	0	0	0	0
2110	-0.81	-146.0	211.0	-9.5	272	2114	0.00	2.33	0.00	0.000	4	0.000	0.091	2161	3917	3398	0	0	0	0	0	0
2119	-0.81	-146.0	211.8	-9.4	272	2125	0.00	2.38	0.00	0.000	6	0.000	0.060	2161	2431	3398	0	0	0	0	0	0
2445	-0.88	-146.0	241.7	-9.0	303	2449	0.00	2.45	0.00	0.000	4	0.000	0.088	2161	3917	3398	0	0	0	0	0	0
2455	-0.94	-146.0	242.7	-8.8	303	2461	0.00	2.35	0.00	0.000	6	0.000	0.060	2161	2434	3398	0	0	0	0	0	0
2779	-1.00	-146.0	270.9	-8.3	334	2784	0.17	2.42	0.00	0.000	4	0.103	0.078	2100	915	3398	0	0	0	0	0	0
3037	-0.85	-146.0	300.0	-11.1	356	3043	0.20	2.42	0.00	0.000	6	0.220	0.071	2149	2443	3398	0	0	0	0	0	0
3361	-0.85	-146.0	325.8	-7.6	387	3366	0.00	2.40	0.00	0.000	4	0.000	0.087	2148	3921	3399	0	0	0	0	0	0
3619	-0.85	-146.0	346.3	-7.5	409	3625	0.00	2.33	0.00	0.000	6	0.000	0.059	2149	2434	3398	0	0	0	0	0	0
3944	-0.85	-146.0	370.9	-7.2	440	3948	0.00	2.42	0.00	0.000	4	0.000	0.085	2149	3918	3398	0	0	0	0	0	0
4102	-0.85	-146.0	383.0	-7.8	453	4108	0.00	2.33	0.00	0.000	6	0.000	0.058	2149	2430	3399	0	0	0	0	0	0
4426	-0.85	-146.0	407.1	-7.4	484	4430	0.00	2.42	0.00	0.000	4	0.000	0.084	2149	3910	3399	0	0	0	0	0	0
4454	-0.85	-146.0	409.2	-7.5	486	4459	0.00	2.30	0.00	0.000	6	0.000	0.058	2149	2427	3399	0	0	0	0	0	0
4779	-0.90	-146.0	433.7	-7.8	517	4782	0.00	2.42	0.00	0.000	4	0.000	0.084	2149	3910	3399	0	0	0	0	0	0
4812	-0.90	-146.0	436.4	-8.2	520	4817	0.00	2.30	0.00	0.000	6	0.000	0.058	2149	2433	3400	0	0	0	0	0	0
5137	-0.95	-146.0	461.4	-7.5	550	5141	0.00	2.40	0.00	0.000	4	0.000	0.084	2149	3910	3400	0	0	0	0	0	0
5147	-1.00	-146.0	462.2	-7.5	550	5153	0.12	2.30	0.00	0.000	6	0.117	0.058	2106	2433	3400	0	0	0	0	0	0
5472	-0.90	-146.0	491.5	-8.9	581	5477	0.12	2.42	0.00	0.000	4	0.211	0.082	2127	3915	3400	0	0	0	0	0	0
5483	-0.82	-146.0	492.6	-8.9	581	5489	0.15	2.25	0.00	0.000	6	0.207	0.057	2161	2472	3400	0	0	0	0	0	0
5807	-0.91	-146.0	515.4	-7.1	612	5812	0.00	2.35	0.00	0.000	4	0.000	0.084	2161	3921	3401	0	0	0	0	0	0
6065	-1.01	-146.0	534.6	-7.4	634	6072	0.17	2.22	0.00	0.000	6	0.102	0.056	2100	2476	3401	0	0	0	0	0	0
6390	-0.91	-146.0	564.3	-10.5	665	6395	0.15	2.35	0.00	0.000	4	0.201	0.081	2127	3921	3401	0	0	0	0	0	0
6433	-0.91	-146.0	568.7	-9.2	668	6439	0.00	2.28	0.00	0.000	6	0.000	0.056	2127	2481	3401	0	0	0	0	0	0
6448	end dive: TARGET_DEPTH_EXCEEDED
state	6448	begin apogee
6453	-0.24	0.0	570.2	9.6	670	6575	0.77	0.00	117.85	1.092	6	0.185	0.000	2346	2287	2800	0	0	0	0	0	0
6576	end apogee: CONTROL_FINISHED_OK
state	6576	begin climb
6578	0.98	146.0	574.0	0.0	682	6712	1.25	2.78	120.70	1.050	4	0.112	0.076	2749	728	2201	0	0	0	0	0	0
6964	0.54	146.0	510.5	19.6	717	6971	0.57	2.58	0.00	0.000	6	0.202	0.061	2605	2301	2195	0	0	0	0	0	0
7289	0.54	146.0	473.5	11.3	748	7293	0.00	2.60	0.00	0.000	4	0.000	0.077	2614	718	2194	0	0	0	0	0	0
7546	0.49	146.0	444.6	11.3	770	7552	0.00	2.53	0.00	0.000	6	0.000	0.063	2613	2302	2193	0	0	0	0	0	0
7871	0.42	146.0	407.6	11.2	801	7876	0.20	2.58	0.00	0.000	4	0.186	0.076	2573	718	2193	0	0	0	0	0	0
8128	0.50	151.1	383.9	9.0	823	8138	0.00	2.47	3.62	0.594	6	0.000	0.062	2573	2286	2183	0	0	0	0	0	0
8463	0.61	168.5	354.4	8.4	855	8485	0.15	2.58	15.62	0.903	4	0.100	0.077	2640	718	2114	0	0	0	0	0	0
8737	0.51	168.5	320.3	12.7	879	8744	0.17	2.50	0.00	0.000	6	0.186	0.064	2597	2289	2111	0	0	0	0	0	0
9062	0.51	168.5	286.9	10.4	910	9066	0.00	2.53	0.00	0.000	4	0.000	0.077	2607	721	2111	0	0	0	0	0	0
9318	0.51	168.5	260.5	9.9	932	9324	0.00	2.53	0.00	0.000	6	0.000	0.063	2607	2292	2111	0	0	0	0	0	0
9643	0.51	168.5	228.7	9.7	963	9647	0.00	2.53	0.00	0.000	4	0.000	0.077	2618	721	2111	0	0	0	0	0	0
9900	0.52	172.7	204.1	9.0	985	9910	0.00	2.47	5.03	0.672	6	0.000	0.064	2618	2295	2095	0	0	0	0	0	0
10235	0.52	172.7	170.5	9.7	1017	10239	0.00	2.53	0.00	0.000	4	0.000	0.078	2629	721	2095	0	0	0	0	0	0
10491	0.52	172.7	145.2	10.1	1039	10498	0.10	2.47	0.00	0.000	6	0.174	0.064	2601	2268	2094	0	0	0	0	0	0
10817	0.62	187.1	116.9	8.6	1070	10838	0.00	2.55	13.07	0.785	4	0.000	0.079	2610	728	2036	0	0	0	0	0	0
11092	0.72	187.1	90.1	10.1	1103	11098	0.15	2.45	0.00	0.000	6	0.112	0.065	2663	2275	2034	0	0	0	0	0	0
11437	0.67	187.1	51.1	11.0	1164	11442	0.00	2.50	0.00	0.000	4	0.000	0.081	2674	721	2034	0	0	0	0	0	0
11696	0.60	187.1	23.8	9.3	1210	11702	0.20	2.50	0.00	0.000	6	0.181	0.067	2623	2301	2034	0	0	0	0	0	0
11965	end climb: SURFACE_DEPTH_REACHED
state	11965	begin surface coast
11989	end surface coast: CONTROL_FINISHED_OK
state	11989	begin surface