Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 320 * 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 320 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 21 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 16 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 -42055.746 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 -42055.746

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 320 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 083331,6708.574,-5708.428,35,1.6,35,-37.7 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 12 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 085042,6708.618,-5708.295,41,1.5,53,-37.8 MHEAD_RNG_PITCHd_Wd 163.2,17974,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 550

Post-dive calculations and measurements:

FREEZE 0.50,-0.544,-0.173,0,2,0 ALTIM_TOP_PING 19.9,19.8

FINISH 0.5,1.002370 ALTIM_BOTTOM_PING 450.4,140.2

SM_CCo 12030,123.72,0.723,0,0,1066,425.10 _24V_AH 22.6,61.172

SM_GC 1.34,0.00,0.00,123.72,0.000,0.000,0.723,126,2454,1066,-8.01,-0.17,425.10 _10V_AH 10.1,32.306

RAFOS_CLK 784 FG_AHR_24Vo 0.000

RAFOS 3,1260951905,8.433333,8.418056,64,55,51,0,0,0,213,147,174,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.132324,-5713.788574,151209,202012,3,79,0.64 MEM 152516

IRIDIUM_FIX 6636.54,-5709.24,120399,080844 DATA_FILE_SIZE 50360,1280

TT8_MAMPS 0.029913 CAP_FILE_SIZE 159292,0

HUMID 46.22 CFSIZE 260165632,225103872

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,86,0,0

TCM_TEMP 17.20 SOUNDSPEED 1465.9

XPDR_PINGS 1 GPS 161209,121500,6708.678,-5709.454,36,1.4,41,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 291 161.05 SBE_CT 937 24 508.48

Roll_motor 155 99 349.73 SBE_O2 874 19 375.38

VBD_pump_during_apogee 299 1085 7352.24 nil 0 0 0.00

VBD_pump_during_surface 123 722 2020.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 83 103 193.26 nil 0 0 0.00

Iridium_during_connect 114 160 415.49 nil 0 0 0.00

Iridium_during_xfer 515 223 2600.16

Transponder_ping 2 420 18.98

GUMSTIX_24V 0 0 0.00

GPS 54 50 27.74

TT8 2168 19 436.23

LPSleep 7148 2 166.77

TT8_Active 595 19 119.90

TT8_Sampling 2299 39 927.06

TT8_CF8 964 45 447.12

TT8_Kalman 0 0 0.00

Analog_circuits 1747 12 211.77

GPS_charging 0 0 0.00

Compass 2216 8 179.09

RAFOS 720 1 10.91

Transponder 15 30 4.79

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

16 -0.73 -146.0 0.0 0.0 0 139 0.00 0.00 -118.32 0.000 2 0.000 0.000 127 2457 3091 0 0 0 0 0 0

142 -0.73 -146.0 3.4 -5.6 24 169 11.18 3.40 -8.30 0.000 4 0.291 0.100 2443 3928 3398 0 0 2 0 0 0

303 -0.73 -146.0 26.6 -11.3 53 309 0.00 3.20 0.00 0.000 6 0.000 0.066 2444 2462 3400 0 0 3 0 0 0

647 -0.73 -146.0 58.4 -12.2 114 653 0.00 3.30 0.00 0.000 4 0.000 0.087 2444 3915 3401 0 0 3 0 0 0

861 -0.73 -146.0 79.8 -7.3 152 867 0.00 3.12 0.00 0.000 6 0.000 0.066 2444 2480 3401 0 0 3 0 0 0

1198 -0.73 -146.0 108.8 -8.9 203 1202 0.00 2.25 0.00 0.000 4 0.000 0.088 2444 862 3401 0 0 0 0 0 0

1456 -0.73 -146.0 137.1 -10.7 226 1460 0.00 2.33 0.00 0.000 6 0.000 0.072 2444 2545 3400 0 0 0 0 0 0

1781 -0.80 -146.0 169.1 -8.9 256 1783 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2544 3398 0 0 0 0 0 0

2101 -0.88 -146.0 191.1 -5.8 286 2106 0.12 3.12 0.00 0.000 4 0.117 0.087 2400 3918 3399 0 0 4 0 0 0

2343 -0.82 -146.0 209.5 -7.6 307 2348 0.00 2.97 0.00 0.000 6 0.000 0.064 2399 2548 3398 0 0 3 0 0 0

2668 -0.76 -146.0 232.2 -7.5 337 2674 0.17 3.12 0.00 0.000 4 0.203 0.083 2430 3920 3399 0 0 3 0 0 0

2889 -0.76 -146.0 249.2 -8.0 356 2893 0.00 2.90 0.00 0.000 6 0.000 0.061 2430 2586 3399 0 0 2 0 0 0

3213 -0.81 -146.0 277.7 -9.5 386 3218 0.00 3.05 0.00 0.000 4 0.000 0.084 2429 3918 3400 0 0 2 0 0 0

3376 -0.86 -146.0 293.4 -10.0 400 3381 0.00 2.85 0.00 0.000 6 0.000 0.060 2429 2608 3401 0 0 2 0 0 0

3701 -0.92 -146.0 322.7 -8.4 430 3706 0.10 2.97 0.00 0.000 4 0.126 0.081 2374 3917 3401 0 0 3 0 0 0

3846 -0.79 -146.0 337.8 -10.5 442 3853 0.22 2.83 0.00 0.000 6 0.203 0.058 2427 2615 3402 0 0 2 0 0 0

4172 -0.84 -146.0 360.7 -6.7 473 4177 0.00 2.95 0.00 0.000 4 0.000 0.082 2427 3917 3403 0 0 3 0 0 0

4362 -0.90 -146.0 374.0 -6.9 489 4368 0.00 2.80 0.00 0.000 6 0.000 0.058 2427 2631 3402 0 0 2 0 0 0

4687 -0.95 -146.0 395.0 -6.4 520 4693 0.15 2.95 0.00 0.000 4 0.112 0.080 2362 3929 3403 0 0 3 0 0 0

4856 -0.78 -146.0 410.7 -9.6 534 4862 0.30 2.78 0.00 0.000 6 0.203 0.058 2434 2667 3403 0 0 2 0 0 0

5181 -0.86 -146.0 432.2 -6.7 565 5186 0.00 2.90 0.00 0.000 4 0.000 0.082 2435 3925 3404 0 0 2 0 0 0

5312 -0.94 -146.0 441.5 -7.1 576 5317 0.15 2.75 0.00 0.000 6 0.112 0.058 2385 2678 3405 0 0 2 0 0 0

5636 -0.87 -146.0 470.9 -9.5 606 5641 0.00 2.88 0.00 0.000 4 0.000 0.082 2385 3923 3404 0 0 2 0 0 0

5743 -0.79 -146.0 481.4 -10.3 615 5748 0.20 2.70 0.00 0.000 6 0.195 0.058 2433 2690 3405 0 0 3 0 0 0

6067 -0.88 -146.0 506.6 -8.1 645 6072 0.00 2.85 0.00 0.000 4 0.000 0.082 2432 3917 3405 0 0 2 0 0 0

6236 -0.97 -146.0 520.1 -7.9 659 6242 0.17 2.67 0.00 0.000 6 0.107 0.058 2373 2714 3405 0 0 2 0 0 0

6526 end dive: TARGET_DEPTH_EXCEEDED

state 6526 begin apogee

6532 -0.16 0.0 550.2 10.9 687 6659 0.95 0.00 121.95 1.085 6 0.189 0.000 2628 1934 2799 0 0 0 0 0 0

6660 end apogee: CONTROL_FINISHED_OK

state 6660 begin climb

6662 0.73 146.0 554.0 0.0 700 6796 0.95 2.12 124.90 1.038 4 0.129 0.087 2922 354 2201 0 0 0 0 0 0

6842 0.65 146.0 541.0 11.1 717 6846 0.00 2.08 0.00 0.000 6 0.000 0.057 2921 1971 2198 0 0 0 0 0 0

7172 0.59 146.0 506.4 10.6 748 7178 0.17 3.47 0.00 0.000 4 0.199 0.074 2877 3530 2194 0 0 2 0 0 0

7262 0.59 146.0 497.6 9.9 755 7268 0.00 3.45 0.00 0.000 6 0.000 0.068 2891 1948 2193 0 0 3 0 0 0

7587 0.59 146.1 467.7 9.2 786 7592 0.00 3.47 0.00 0.000 4 0.000 0.077 2891 3527 2193 0 0 2 0 0 0

7733 0.59 146.1 452.7 10.5 798 7739 0.00 3.42 0.00 0.000 6 0.000 0.069 2906 1980 2192 0 0 0 0 0 0

8058 0.59 146.1 420.7 10.1 829 8063 0.00 3.38 0.00 0.000 4 0.000 0.077 2906 3527 2192 0 0 4 0 0 0

8169 0.51 146.1 407.9 11.3 838 8176 0.25 3.38 0.00 0.000 6 0.196 0.069 2861 1992 2192 0 0 1 0 0 0

8494 0.67 164.8 380.1 8.4 869 8517 0.15 3.38 15.07 0.928 4 0.110 0.075 2913 3530 2126 0 0 3 0 0 0

8629 0.61 164.8 363.6 12.4 881 8635 0.17 3.35 0.00 0.000 6 0.199 0.069 2887 1997 2124 0 0 1 0 0 0

8954 0.70 191.5 334.5 8.0 911 8986 0.00 3.42 22.92 0.929 4 0.000 0.076 2887 3526 2017 0 0 2 0 0 0

9109 0.70 191.5 319.5 10.4 925 9114 0.00 3.33 0.00 0.000 6 0.000 0.069 2899 2027 2015 0 0 0 0 0 0

9434 0.75 191.5 285.3 11.3 955 9439 0.10 3.35 0.00 0.000 4 0.124 0.077 2937 3534 2014 0 0 1 0 0 0

9513 0.65 191.5 273.4 15.8 961 9519 0.20 3.28 0.00 0.000 6 0.201 0.069 2903 2042 2014 0 0 1 0 0 0

9839 0.71 191.5 234.4 11.2 992 9844 0.00 3.30 0.00 0.000 4 0.000 0.076 2903 3532 2014 0 0 1 0 0 0

9928 0.71 191.5 224.0 10.3 999 9934 0.00 3.25 0.00 0.000 6 0.000 0.068 2915 2052 2014 0 0 1 0 0 0

10253 0.71 191.5 192.1 9.8 1030 10259 0.00 3.25 0.00 0.000 4 0.000 0.077 2915 3525 2013 0 0 2 0 0 0

10327 0.71 191.5 184.0 11.4 1036 10332 0.00 3.22 0.00 0.000 6 0.000 0.068 2930 2061 2012 0 0 1 0 0 0

10651 0.71 191.5 139.2 16.1 1066 10656 0.00 3.25 0.00 0.000 4 0.000 0.076 2929 3526 2012 0 0 1 0 0 0

10713 0.65 191.5 129.5 15.7 1071 10719 0.17 3.22 0.00 0.000 6 0.201 0.067 2903 2071 2012 0 0 0 0 0 0

11043 0.76 191.5 89.9 10.0 1109 11049 0.00 3.22 0.00 0.000 4 0.000 0.074 2904 3531 2012 0 0 2 0 0 0

11101 0.83 191.5 84.4 9.4 1119 11107 0.12 3.20 0.00 0.000 6 0.114 0.066 2958 2089 2012 0 0 0 0 0 0

11445 0.83 191.5 52.1 10.6 1180 11451 0.00 3.22 0.00 0.000 4 0.000 0.074 2958 3534 2013 0 0 1 0 0 0

11496 0.73 191.5 46.1 11.7 1189 11503 0.20 3.20 0.00 0.000 6 0.194 0.067 2926 2088 2013 0 0 1 0 0 0

11841 0.82 198.9 14.3 8.9 1250 11857 0.00 3.25 6.85 0.668 4 0.000 0.077 2926 3522 1989 0 0 1 0 0 0

11953 0.83 207.1 5.4 8.8 1270 11970 0.00 3.17 8.05 0.687 6 0.000 0.068 2938 2106 1954 0 0 0 0 0 0

11986 end climb: SURFACE_DEPTH_REACHED

state 11987 begin surface coast

12013 end surface coast: CONTROL_FINISHED_OK

state 12013 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	320	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	21	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	16	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	-42055.746	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	083331,6708.574,-5708.428,35,1.6,35,-37.7	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	12	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	085042,6708.618,-5708.295,41,1.5,53,-37.8	MHEAD_RNG_PITCHd_Wd	163.2,17974,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	550

FREEZE	0.50,-0.544,-0.173,0,2,0	ALTIM_TOP_PING	19.9,19.8
FINISH	0.5,1.002370	ALTIM_BOTTOM_PING	450.4,140.2
SM_CCo	12030,123.72,0.723,0,0,1066,425.10	_24V_AH	22.6,61.172
SM_GC	1.34,0.00,0.00,123.72,0.000,0.000,0.723,126,2454,1066,-8.01,-0.17,425.10	_10V_AH	10.1,32.306
RAFOS_CLK	784	FG_AHR_24Vo	0.000
RAFOS	3,1260951905,8.433333,8.418056,64,55,51,0,0,0,213,147,174,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.132324,-5713.788574,151209,202012,3,79,0.64	MEM	152516
IRIDIUM_FIX	6636.54,-5709.24,120399,080844	DATA_FILE_SIZE	50360,1280
TT8_MAMPS	0.029913	CAP_FILE_SIZE	159292,0
HUMID	46.22	CFSIZE	260165632,225103872
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,86,0,0
TCM_TEMP	17.20	SOUNDSPEED	1465.9
XPDR_PINGS	1	GPS	161209,121500,6708.678,-5709.454,36,1.4,41,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	291	161.05	SBE_CT	937	24	508.48
Roll_motor	155	99	349.73	SBE_O2	874	19	375.38
VBD_pump_during_apogee	299	1085	7352.24	nil	0	0	0.00
VBD_pump_during_surface	123	722	2020.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	83	103	193.26	nil	0	0	0.00
Iridium_during_connect	114	160	415.49	nil	0	0	0.00
Iridium_during_xfer	515	223	2600.16
Transponder_ping	2	420	18.98
GUMSTIX_24V	0	0	0.00
GPS	54	50	27.74
TT8	2168	19	436.23
LPSleep	7148	2	166.77
TT8_Active	595	19	119.90
TT8_Sampling	2299	39	927.06
TT8_CF8	964	45	447.12
TT8_Kalman	0	0	0.00
Analog_circuits	1747	12	211.77
GPS_charging	0	0	0.00
Compass	2216	8	179.09
RAFOS	720	1	10.91
Transponder	15	30	4.79

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
16	-0.73	-146.0	0.0	0.0	0	139	0.00	0.00	-118.32	0.000	2	0.000	0.000	127	2457	3091	0	0	0	0	0	0
142	-0.73	-146.0	3.4	-5.6	24	169	11.18	3.40	-8.30	0.000	4	0.291	0.100	2443	3928	3398	0	0	2	0	0	0
303	-0.73	-146.0	26.6	-11.3	53	309	0.00	3.20	0.00	0.000	6	0.000	0.066	2444	2462	3400	0	0	3	0	0	0
647	-0.73	-146.0	58.4	-12.2	114	653	0.00	3.30	0.00	0.000	4	0.000	0.087	2444	3915	3401	0	0	3	0	0	0
861	-0.73	-146.0	79.8	-7.3	152	867	0.00	3.12	0.00	0.000	6	0.000	0.066	2444	2480	3401	0	0	3	0	0	0
1198	-0.73	-146.0	108.8	-8.9	203	1202	0.00	2.25	0.00	0.000	4	0.000	0.088	2444	862	3401	0	0	0	0	0	0
1456	-0.73	-146.0	137.1	-10.7	226	1460	0.00	2.33	0.00	0.000	6	0.000	0.072	2444	2545	3400	0	0	0	0	0	0
1781	-0.80	-146.0	169.1	-8.9	256	1783	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2544	3398	0	0	0	0	0	0
2101	-0.88	-146.0	191.1	-5.8	286	2106	0.12	3.12	0.00	0.000	4	0.117	0.087	2400	3918	3399	0	0	4	0	0	0
2343	-0.82	-146.0	209.5	-7.6	307	2348	0.00	2.97	0.00	0.000	6	0.000	0.064	2399	2548	3398	0	0	3	0	0	0
2668	-0.76	-146.0	232.2	-7.5	337	2674	0.17	3.12	0.00	0.000	4	0.203	0.083	2430	3920	3399	0	0	3	0	0	0
2889	-0.76	-146.0	249.2	-8.0	356	2893	0.00	2.90	0.00	0.000	6	0.000	0.061	2430	2586	3399	0	0	2	0	0	0
3213	-0.81	-146.0	277.7	-9.5	386	3218	0.00	3.05	0.00	0.000	4	0.000	0.084	2429	3918	3400	0	0	2	0	0	0
3376	-0.86	-146.0	293.4	-10.0	400	3381	0.00	2.85	0.00	0.000	6	0.000	0.060	2429	2608	3401	0	0	2	0	0	0
3701	-0.92	-146.0	322.7	-8.4	430	3706	0.10	2.97	0.00	0.000	4	0.126	0.081	2374	3917	3401	0	0	3	0	0	0
3846	-0.79	-146.0	337.8	-10.5	442	3853	0.22	2.83	0.00	0.000	6	0.203	0.058	2427	2615	3402	0	0	2	0	0	0
4172	-0.84	-146.0	360.7	-6.7	473	4177	0.00	2.95	0.00	0.000	4	0.000	0.082	2427	3917	3403	0	0	3	0	0	0
4362	-0.90	-146.0	374.0	-6.9	489	4368	0.00	2.80	0.00	0.000	6	0.000	0.058	2427	2631	3402	0	0	2	0	0	0
4687	-0.95	-146.0	395.0	-6.4	520	4693	0.15	2.95	0.00	0.000	4	0.112	0.080	2362	3929	3403	0	0	3	0	0	0
4856	-0.78	-146.0	410.7	-9.6	534	4862	0.30	2.78	0.00	0.000	6	0.203	0.058	2434	2667	3403	0	0	2	0	0	0
5181	-0.86	-146.0	432.2	-6.7	565	5186	0.00	2.90	0.00	0.000	4	0.000	0.082	2435	3925	3404	0	0	2	0	0	0
5312	-0.94	-146.0	441.5	-7.1	576	5317	0.15	2.75	0.00	0.000	6	0.112	0.058	2385	2678	3405	0	0	2	0	0	0
5636	-0.87	-146.0	470.9	-9.5	606	5641	0.00	2.88	0.00	0.000	4	0.000	0.082	2385	3923	3404	0	0	2	0	0	0
5743	-0.79	-146.0	481.4	-10.3	615	5748	0.20	2.70	0.00	0.000	6	0.195	0.058	2433	2690	3405	0	0	3	0	0	0
6067	-0.88	-146.0	506.6	-8.1	645	6072	0.00	2.85	0.00	0.000	4	0.000	0.082	2432	3917	3405	0	0	2	0	0	0
6236	-0.97	-146.0	520.1	-7.9	659	6242	0.17	2.67	0.00	0.000	6	0.107	0.058	2373	2714	3405	0	0	2	0	0	0
6526	end dive: TARGET_DEPTH_EXCEEDED
state	6526	begin apogee
6532	-0.16	0.0	550.2	10.9	687	6659	0.95	0.00	121.95	1.085	6	0.189	0.000	2628	1934	2799	0	0	0	0	0	0
6660	end apogee: CONTROL_FINISHED_OK
state	6660	begin climb
6662	0.73	146.0	554.0	0.0	700	6796	0.95	2.12	124.90	1.038	4	0.129	0.087	2922	354	2201	0	0	0	0	0	0
6842	0.65	146.0	541.0	11.1	717	6846	0.00	2.08	0.00	0.000	6	0.000	0.057	2921	1971	2198	0	0	0	0	0	0
7172	0.59	146.0	506.4	10.6	748	7178	0.17	3.47	0.00	0.000	4	0.199	0.074	2877	3530	2194	0	0	2	0	0	0
7262	0.59	146.0	497.6	9.9	755	7268	0.00	3.45	0.00	0.000	6	0.000	0.068	2891	1948	2193	0	0	3	0	0	0
7587	0.59	146.1	467.7	9.2	786	7592	0.00	3.47	0.00	0.000	4	0.000	0.077	2891	3527	2193	0	0	2	0	0	0
7733	0.59	146.1	452.7	10.5	798	7739	0.00	3.42	0.00	0.000	6	0.000	0.069	2906	1980	2192	0	0	0	0	0	0
8058	0.59	146.1	420.7	10.1	829	8063	0.00	3.38	0.00	0.000	4	0.000	0.077	2906	3527	2192	0	0	4	0	0	0
8169	0.51	146.1	407.9	11.3	838	8176	0.25	3.38	0.00	0.000	6	0.196	0.069	2861	1992	2192	0	0	1	0	0	0
8494	0.67	164.8	380.1	8.4	869	8517	0.15	3.38	15.07	0.928	4	0.110	0.075	2913	3530	2126	0	0	3	0	0	0
8629	0.61	164.8	363.6	12.4	881	8635	0.17	3.35	0.00	0.000	6	0.199	0.069	2887	1997	2124	0	0	1	0	0	0
8954	0.70	191.5	334.5	8.0	911	8986	0.00	3.42	22.92	0.929	4	0.000	0.076	2887	3526	2017	0	0	2	0	0	0
9109	0.70	191.5	319.5	10.4	925	9114	0.00	3.33	0.00	0.000	6	0.000	0.069	2899	2027	2015	0	0	0	0	0	0
9434	0.75	191.5	285.3	11.3	955	9439	0.10	3.35	0.00	0.000	4	0.124	0.077	2937	3534	2014	0	0	1	0	0	0
9513	0.65	191.5	273.4	15.8	961	9519	0.20	3.28	0.00	0.000	6	0.201	0.069	2903	2042	2014	0	0	1	0	0	0
9839	0.71	191.5	234.4	11.2	992	9844	0.00	3.30	0.00	0.000	4	0.000	0.076	2903	3532	2014	0	0	1	0	0	0
9928	0.71	191.5	224.0	10.3	999	9934	0.00	3.25	0.00	0.000	6	0.000	0.068	2915	2052	2014	0	0	1	0	0	0
10253	0.71	191.5	192.1	9.8	1030	10259	0.00	3.25	0.00	0.000	4	0.000	0.077	2915	3525	2013	0	0	2	0	0	0
10327	0.71	191.5	184.0	11.4	1036	10332	0.00	3.22	0.00	0.000	6	0.000	0.068	2930	2061	2012	0	0	1	0	0	0
10651	0.71	191.5	139.2	16.1	1066	10656	0.00	3.25	0.00	0.000	4	0.000	0.076	2929	3526	2012	0	0	1	0	0	0
10713	0.65	191.5	129.5	15.7	1071	10719	0.17	3.22	0.00	0.000	6	0.201	0.067	2903	2071	2012	0	0	0	0	0	0
11043	0.76	191.5	89.9	10.0	1109	11049	0.00	3.22	0.00	0.000	4	0.000	0.074	2904	3531	2012	0	0	2	0	0	0
11101	0.83	191.5	84.4	9.4	1119	11107	0.12	3.20	0.00	0.000	6	0.114	0.066	2958	2089	2012	0	0	0	0	0	0
11445	0.83	191.5	52.1	10.6	1180	11451	0.00	3.22	0.00	0.000	4	0.000	0.074	2958	3534	2013	0	0	1	0	0	0
11496	0.73	191.5	46.1	11.7	1189	11503	0.20	3.20	0.00	0.000	6	0.194	0.067	2926	2088	2013	0	0	1	0	0	0
11841	0.82	198.9	14.3	8.9	1250	11857	0.00	3.25	6.85	0.668	4	0.000	0.077	2926	3522	1989	0	0	1	0	0	0
11953	0.83	207.1	5.4	8.8	1270	11970	0.00	3.17	8.05	0.687	6	0.000	0.068	2938	2106	1954	0	0	0	0	0	0
11986	end climb: SURFACE_DEPTH_REACHED
state	11987	begin surface coast
12013	end surface coast: CONTROL_FINISHED_OK
state	12013	begin surface