Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 362 * 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 362 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 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -43019.848 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 325

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 -43019.848

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 19 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 362 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 040027,6713.127,-5725.374,48,2.8,67,-37.9 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041622,6713.133,-5725.509,165,99.0,181,-37.9 MHEAD_RNG_PITCHd_Wd 162.6,32952,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 629

Post-dive calculations and measurements:

FREEZE 0.61,-0.749,-1.822,0,4,0 ALTIM_TOP_PING 19.5,19.5

FINISH 0.6,1.026718 ALTIM_BOTTOM_PING 551.0,111.1

SM_CCo 13333,58.55,0.749,0,0,1474,325.02 _24V_AH 22.2,66.798

SM_GC 1.34,0.00,0.00,58.55,0.000,0.000,0.749,130,2457,1474,-8.00,-0.08,325.02 _10V_AH 10.0,35.686

RAFOS_CLK 886 FG_AHR_24Vo 0.000

RAFOS 2,1261541824,4.300000,4.284444,62,56,52,0,0,0,220,197,116,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6712.101562,-5730.738281,231209,040400,2,98,2.22 MEM 152440

IRIDIUM_FIX 6641.98,-5718.55,190399,040429 DATA_FILE_SIZE 53624,1338

TT8_MAMPS 0.026845 CAP_FILE_SIZE 158808,0

HUMID 47.59 CFSIZE 260165632,221691904

INTERNAL_PRESSURE 8.848 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,174,0,0

TCM_TEMP 16.70 SOUNDSPEED 1461.5

XPDR_PINGS 6 GPS 231209,080215,6713.950,-5727.164,69,2.5,88,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 299 162.20 SBE_CT 978 24 521.52

Roll_motor 168 105 393.71 SBE_O2 925 19 390.34

VBD_pump_during_apogee 350 1145 8916.98 nil 0 0 0.00

VBD_pump_during_surface 58 749 974.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 89 103 203.66 nil 0 0 0.00

Iridium_during_connect 237 160 843.27 nil 0 0 0.00

Iridium_during_xfer 179 223 890.86

Transponder_ping 3 420 32.63

GUMSTIX_24V 0 0 0.00

GPS 183 50 91.67

TT8 2319 19 462.04

LPSleep 7931 2 183.22

TT8_Active 594 19 118.38

TT8_Sampling 2722 39 1086.71

TT8_CF8 775 45 356.22

TT8_Kalman 0 0 0.00

Analog_circuits 1880 12 225.62

GPS_charging 0 0 0.00

Compass 2500 8 200.06

RAFOS 1800 1 27.00

Transponder 16 30 4.86

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -95.75 0.000 2 0.000 0.000 130 2470 3047 0 0 0 0 0 0

116 -0.73 -146.0 3.4 -5.0 19 143 11.50 2.22 -10.12 0.000 4 0.299 0.105 2445 865 3398 0 0 0 0 0 0

396 -0.73 -146.0 43.6 -12.6 69 402 0.00 2.08 0.00 0.000 6 0.000 0.076 2445 2464 3401 0 0 0 0 0 0

740 -0.73 -146.0 79.3 -10.8 130 745 0.00 2.15 0.00 0.000 4 0.000 0.094 2445 852 3401 0 0 0 0 0 0

999 -0.73 -146.0 108.8 -11.7 170 1003 0.00 2.08 0.00 0.000 6 0.000 0.076 2445 2459 3401 0 0 0 0 0 0

1328 -0.77 -146.0 142.1 -9.4 201 1332 0.00 2.15 0.00 0.000 4 0.000 0.095 2445 847 3401 0 0 0 0 0 0

1585 -0.77 -146.0 166.5 -9.1 223 1591 0.00 2.12 0.00 0.000 6 0.000 0.077 2445 2462 3400 0 0 0 0 0 0

1913 -0.85 -146.0 191.8 -8.3 254 1918 0.00 3.55 0.00 0.000 4 0.000 0.095 2445 3929 3399 0 0 6 0 0 0

2171 -0.94 -146.0 214.2 -8.7 276 2178 0.20 3.40 0.00 0.000 6 0.109 0.071 2378 2467 3399 0 0 4 0 0 0

2496 -0.83 -146.0 247.9 -10.1 307 2500 0.17 2.15 0.00 0.000 4 0.200 0.091 2423 853 3399 0 0 0 0 0 0

2752 -0.83 -146.0 271.1 -8.9 329 2758 0.00 2.05 0.00 0.000 6 0.000 0.071 2423 2463 3399 0 0 0 0 0 0

3077 -0.83 -146.0 296.9 -7.9 360 3082 0.00 3.47 0.00 0.000 4 0.000 0.089 2423 3917 3399 0 0 6 0 0 0

3256 -0.83 -146.0 311.5 -8.5 375 3262 0.00 3.38 0.00 0.000 6 0.000 0.067 2423 2457 3400 0 0 3 0 0 0

3581 -0.83 -146.0 339.1 -8.3 406 3586 0.00 3.50 0.00 0.000 4 0.000 0.087 2423 3929 3401 0 0 6 0 0 0

3839 -0.83 -146.0 361.3 -8.6 428 3845 0.00 3.38 0.00 0.000 6 0.000 0.065 2423 2453 3402 0 0 4 0 0 0

4164 -0.83 -146.0 389.4 -8.8 459 4169 0.00 3.50 0.00 0.000 4 0.000 0.084 2423 3927 3403 0 0 6 0 0 0

4421 -0.83 -146.0 411.6 -7.5 481 4428 0.00 3.38 0.00 0.000 6 0.000 0.064 2423 2462 3403 0 0 3 0 0 0

4746 -0.83 -146.0 438.3 -8.6 512 4750 0.00 2.10 0.00 0.000 4 0.000 0.086 2423 844 3404 0 0 0 0 0 0

5005 -0.83 -146.0 462.3 -9.0 535 5010 0.00 2.05 0.00 0.000 6 0.000 0.067 2423 2463 3404 0 0 0 0 0 0

5335 -0.83 -146.0 487.8 -7.6 566 5341 0.00 3.45 0.00 0.000 4 0.000 0.085 2423 3915 3405 0 0 6 0 0 0

5467 -0.88 -146.0 497.9 -7.7 577 5472 0.00 3.35 0.00 0.000 6 0.000 0.064 2423 2458 3404 0 0 4 0 0 0

5792 -0.92 -146.0 522.8 -7.3 607 5797 0.00 3.50 0.00 0.000 4 0.000 0.085 2423 3924 3405 0 0 5 0 0 0

6050 -0.97 -146.0 542.7 -7.6 629 6056 0.15 3.38 0.00 0.000 6 0.115 0.065 2372 2459 3405 0 0 3 0 0 0

6374 -0.84 -146.0 572.9 -9.5 660 6379 0.17 2.12 0.00 0.000 4 0.206 0.087 2412 852 3405 0 0 0 0 0 0

6632 -0.84 -146.0 595.5 -8.5 682 6637 0.00 2.05 0.00 0.000 6 0.000 0.069 2412 2464 3405 0 0 0 0 0 0

6966 -0.84 -146.0 622.3 -8.3 697 6972 0.00 3.47 0.00 0.000 4 0.000 0.086 2413 3925 3405 0 0 6 0 0 0

7048 end dive: TARGET_DEPTH_EXCEEDED

state 7048 begin apogee

7058 -0.16 0.0 629.3 8.6 699 7189 0.77 0.00 125.62 1.146 6 0.185 0.000 2626 1936 2799 0 0 0 0 0 0

7190 end apogee: CONTROL_FINISHED_OK

state 7190 begin climb

7192 0.73 146.0 632.1 0.0 704 7329 0.98 2.05 129.20 1.091 4 0.133 0.090 2920 349 2203 0 0 0 0 0 0

7384 0.64 146.0 615.5 11.8 710 7389 0.00 1.95 0.00 0.000 6 0.000 0.060 2920 1956 2199 0 0 0 0 0 0

7712 0.56 146.0 577.3 11.8 732 7722 0.20 3.78 0.00 0.000 4 0.202 0.077 2858 3537 2196 0 0 5 0 0 0

7885 0.62 146.0 559.6 10.0 747 7891 0.00 3.72 0.00 0.000 6 0.000 0.071 2872 1952 2194 0 0 4 0 0 0

8210 0.72 155.7 530.2 8.8 778 8225 0.15 3.78 8.05 0.923 4 0.108 0.080 2926 3533 2164 0 0 5 0 0 0

8388 0.56 155.7 507.3 12.7 793 8395 0.28 3.72 0.00 0.000 6 0.206 0.074 2878 1941 2163 0 0 4 0 0 0

8713 0.66 169.3 476.9 8.6 824 8734 0.00 3.78 13.07 0.983 4 0.000 0.081 2878 3538 2108 0 0 4 0 0 0

8902 0.66 169.3 457.4 11.0 841 8911 0.00 3.75 0.00 0.000 6 0.000 0.074 2892 1946 2106 0 0 3 0 0 0

9231 0.66 169.3 424.7 10.0 872 9240 0.00 3.72 0.00 0.000 4 0.000 0.081 2893 3534 2106 0 0 5 0 0 0

9387 0.66 169.3 406.4 11.6 886 9393 0.00 3.72 0.00 0.000 6 0.000 0.075 2908 1944 2106 0 0 4 0 0 0

9711 0.66 169.3 370.2 10.4 916 9720 0.00 3.72 0.00 0.000 4 0.000 0.080 2909 3535 2105 0 0 5 0 0 0

9868 0.58 169.3 352.5 11.5 930 9878 0.20 3.72 0.00 0.000 6 0.200 0.075 2879 1943 2104 0 0 4 0 0 0

10197 0.70 193.4 325.3 8.2 961 10229 0.12 3.78 21.30 0.937 4 0.127 0.080 2919 3535 2009 0 0 6 0 0 0

10392 0.60 193.4 302.6 12.1 978 10398 0.20 3.75 0.00 0.000 6 0.202 0.074 2890 1937 2006 0 0 4 0 0 0

10716 0.68 193.4 271.9 9.5 1009 10725 0.00 3.72 0.00 0.000 4 0.000 0.078 2890 3532 2005 0 0 5 0 0 0

10862 0.68 193.4 255.9 11.6 1022 10872 0.00 3.70 0.00 0.000 6 0.000 0.074 2904 1953 2005 0 0 4 0 0 0

11191 0.68 193.4 219.7 11.4 1053 11196 0.00 3.70 0.00 0.000 4 0.000 0.079 2904 3532 2005 0 0 5 0 0 0

11337 0.68 193.4 201.7 12.8 1065 11343 0.00 3.72 0.00 0.000 6 0.000 0.074 2921 1936 2005 0 0 4 0 0 0

11661 0.68 193.4 162.0 11.9 1096 11670 0.00 3.72 0.00 0.000 4 0.000 0.077 2921 3535 2005 0 0 5 0 0 0

11795 0.63 193.4 145.2 11.7 1108 11805 0.17 3.70 0.00 0.000 6 0.199 0.072 2898 1948 2005 0 0 4 0 0 0

12124 0.77 195.1 114.5 9.1 1139 12134 0.12 3.72 0.00 0.000 4 0.126 0.077 2939 3534 2005 0 0 5 0 0 0

12263 0.71 195.1 98.9 10.5 1152 12270 0.15 3.70 0.00 0.000 6 0.205 0.072 2922 1948 2005 0 0 4 0 0 0

12610 0.81 203.8 68.8 8.8 1213 12626 0.00 3.72 9.65 0.740 4 0.000 0.078 2921 3534 1968 0 0 4 0 0 0

12789 0.82 207.8 51.8 9.0 1245 12801 0.00 3.72 5.10 0.644 6 0.000 0.074 2937 1950 1952 0 0 4 0 0 0

13140 0.93 252.2 23.1 7.3 1307 13188 0.15 3.78 38.53 0.776 4 0.111 0.081 2994 3531 1770 0 0 7 0 0 0

13291 0.76 252.2 3.3 14.9 1334 13297 0.30 3.75 0.00 0.000 6 0.191 0.072 2937 1950 1766 0 0 4 0 0 0

13302 end climb: SURFACE_DEPTH_REACHED

state 13302 begin surface coast

13314 end surface coast: CONTROL_FINISHED_OK

state 13315 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	362	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	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-43019.848	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	040027,6713.127,-5725.374,48,2.8,67,-37.9	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041622,6713.133,-5725.509,165,99.0,181,-37.9	MHEAD_RNG_PITCHd_Wd	162.6,32952,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	629

FREEZE	0.61,-0.749,-1.822,0,4,0	ALTIM_TOP_PING	19.5,19.5
FINISH	0.6,1.026718	ALTIM_BOTTOM_PING	551.0,111.1
SM_CCo	13333,58.55,0.749,0,0,1474,325.02	_24V_AH	22.2,66.798
SM_GC	1.34,0.00,0.00,58.55,0.000,0.000,0.749,130,2457,1474,-8.00,-0.08,325.02	_10V_AH	10.0,35.686
RAFOS_CLK	886	FG_AHR_24Vo	0.000
RAFOS	2,1261541824,4.300000,4.284444,62,56,52,0,0,0,220,197,116,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6712.101562,-5730.738281,231209,040400,2,98,2.22	MEM	152440
IRIDIUM_FIX	6641.98,-5718.55,190399,040429	DATA_FILE_SIZE	53624,1338
TT8_MAMPS	0.026845	CAP_FILE_SIZE	158808,0
HUMID	47.59	CFSIZE	260165632,221691904
INTERNAL_PRESSURE	8.848	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,174,0,0
TCM_TEMP	16.70	SOUNDSPEED	1461.5
XPDR_PINGS	6	GPS	231209,080215,6713.950,-5727.164,69,2.5,88,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	299	162.20	SBE_CT	978	24	521.52
Roll_motor	168	105	393.71	SBE_O2	925	19	390.34
VBD_pump_during_apogee	350	1145	8916.98	nil	0	0	0.00
VBD_pump_during_surface	58	749	974.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	89	103	203.66	nil	0	0	0.00
Iridium_during_connect	237	160	843.27	nil	0	0	0.00
Iridium_during_xfer	179	223	890.86
Transponder_ping	3	420	32.63
GUMSTIX_24V	0	0	0.00
GPS	183	50	91.67
TT8	2319	19	462.04
LPSleep	7931	2	183.22
TT8_Active	594	19	118.38
TT8_Sampling	2722	39	1086.71
TT8_CF8	775	45	356.22
TT8_Kalman	0	0	0.00
Analog_circuits	1880	12	225.62
GPS_charging	0	0	0.00
Compass	2500	8	200.06
RAFOS	1800	1	27.00
Transponder	16	30	4.86

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-95.75	0.000	2	0.000	0.000	130	2470	3047	0	0	0	0	0	0
116	-0.73	-146.0	3.4	-5.0	19	143	11.50	2.22	-10.12	0.000	4	0.299	0.105	2445	865	3398	0	0	0	0	0	0
396	-0.73	-146.0	43.6	-12.6	69	402	0.00	2.08	0.00	0.000	6	0.000	0.076	2445	2464	3401	0	0	0	0	0	0
740	-0.73	-146.0	79.3	-10.8	130	745	0.00	2.15	0.00	0.000	4	0.000	0.094	2445	852	3401	0	0	0	0	0	0
999	-0.73	-146.0	108.8	-11.7	170	1003	0.00	2.08	0.00	0.000	6	0.000	0.076	2445	2459	3401	0	0	0	0	0	0
1328	-0.77	-146.0	142.1	-9.4	201	1332	0.00	2.15	0.00	0.000	4	0.000	0.095	2445	847	3401	0	0	0	0	0	0
1585	-0.77	-146.0	166.5	-9.1	223	1591	0.00	2.12	0.00	0.000	6	0.000	0.077	2445	2462	3400	0	0	0	0	0	0
1913	-0.85	-146.0	191.8	-8.3	254	1918	0.00	3.55	0.00	0.000	4	0.000	0.095	2445	3929	3399	0	0	6	0	0	0
2171	-0.94	-146.0	214.2	-8.7	276	2178	0.20	3.40	0.00	0.000	6	0.109	0.071	2378	2467	3399	0	0	4	0	0	0
2496	-0.83	-146.0	247.9	-10.1	307	2500	0.17	2.15	0.00	0.000	4	0.200	0.091	2423	853	3399	0	0	0	0	0	0
2752	-0.83	-146.0	271.1	-8.9	329	2758	0.00	2.05	0.00	0.000	6	0.000	0.071	2423	2463	3399	0	0	0	0	0	0
3077	-0.83	-146.0	296.9	-7.9	360	3082	0.00	3.47	0.00	0.000	4	0.000	0.089	2423	3917	3399	0	0	6	0	0	0
3256	-0.83	-146.0	311.5	-8.5	375	3262	0.00	3.38	0.00	0.000	6	0.000	0.067	2423	2457	3400	0	0	3	0	0	0
3581	-0.83	-146.0	339.1	-8.3	406	3586	0.00	3.50	0.00	0.000	4	0.000	0.087	2423	3929	3401	0	0	6	0	0	0
3839	-0.83	-146.0	361.3	-8.6	428	3845	0.00	3.38	0.00	0.000	6	0.000	0.065	2423	2453	3402	0	0	4	0	0	0
4164	-0.83	-146.0	389.4	-8.8	459	4169	0.00	3.50	0.00	0.000	4	0.000	0.084	2423	3927	3403	0	0	6	0	0	0
4421	-0.83	-146.0	411.6	-7.5	481	4428	0.00	3.38	0.00	0.000	6	0.000	0.064	2423	2462	3403	0	0	3	0	0	0
4746	-0.83	-146.0	438.3	-8.6	512	4750	0.00	2.10	0.00	0.000	4	0.000	0.086	2423	844	3404	0	0	0	0	0	0
5005	-0.83	-146.0	462.3	-9.0	535	5010	0.00	2.05	0.00	0.000	6	0.000	0.067	2423	2463	3404	0	0	0	0	0	0
5335	-0.83	-146.0	487.8	-7.6	566	5341	0.00	3.45	0.00	0.000	4	0.000	0.085	2423	3915	3405	0	0	6	0	0	0
5467	-0.88	-146.0	497.9	-7.7	577	5472	0.00	3.35	0.00	0.000	6	0.000	0.064	2423	2458	3404	0	0	4	0	0	0
5792	-0.92	-146.0	522.8	-7.3	607	5797	0.00	3.50	0.00	0.000	4	0.000	0.085	2423	3924	3405	0	0	5	0	0	0
6050	-0.97	-146.0	542.7	-7.6	629	6056	0.15	3.38	0.00	0.000	6	0.115	0.065	2372	2459	3405	0	0	3	0	0	0
6374	-0.84	-146.0	572.9	-9.5	660	6379	0.17	2.12	0.00	0.000	4	0.206	0.087	2412	852	3405	0	0	0	0	0	0
6632	-0.84	-146.0	595.5	-8.5	682	6637	0.00	2.05	0.00	0.000	6	0.000	0.069	2412	2464	3405	0	0	0	0	0	0
6966	-0.84	-146.0	622.3	-8.3	697	6972	0.00	3.47	0.00	0.000	4	0.000	0.086	2413	3925	3405	0	0	6	0	0	0
7048	end dive: TARGET_DEPTH_EXCEEDED
state	7048	begin apogee
7058	-0.16	0.0	629.3	8.6	699	7189	0.77	0.00	125.62	1.146	6	0.185	0.000	2626	1936	2799	0	0	0	0	0	0
7190	end apogee: CONTROL_FINISHED_OK
state	7190	begin climb
7192	0.73	146.0	632.1	0.0	704	7329	0.98	2.05	129.20	1.091	4	0.133	0.090	2920	349	2203	0	0	0	0	0	0
7384	0.64	146.0	615.5	11.8	710	7389	0.00	1.95	0.00	0.000	6	0.000	0.060	2920	1956	2199	0	0	0	0	0	0
7712	0.56	146.0	577.3	11.8	732	7722	0.20	3.78	0.00	0.000	4	0.202	0.077	2858	3537	2196	0	0	5	0	0	0
7885	0.62	146.0	559.6	10.0	747	7891	0.00	3.72	0.00	0.000	6	0.000	0.071	2872	1952	2194	0	0	4	0	0	0
8210	0.72	155.7	530.2	8.8	778	8225	0.15	3.78	8.05	0.923	4	0.108	0.080	2926	3533	2164	0	0	5	0	0	0
8388	0.56	155.7	507.3	12.7	793	8395	0.28	3.72	0.00	0.000	6	0.206	0.074	2878	1941	2163	0	0	4	0	0	0
8713	0.66	169.3	476.9	8.6	824	8734	0.00	3.78	13.07	0.983	4	0.000	0.081	2878	3538	2108	0	0	4	0	0	0
8902	0.66	169.3	457.4	11.0	841	8911	0.00	3.75	0.00	0.000	6	0.000	0.074	2892	1946	2106	0	0	3	0	0	0
9231	0.66	169.3	424.7	10.0	872	9240	0.00	3.72	0.00	0.000	4	0.000	0.081	2893	3534	2106	0	0	5	0	0	0
9387	0.66	169.3	406.4	11.6	886	9393	0.00	3.72	0.00	0.000	6	0.000	0.075	2908	1944	2106	0	0	4	0	0	0
9711	0.66	169.3	370.2	10.4	916	9720	0.00	3.72	0.00	0.000	4	0.000	0.080	2909	3535	2105	0	0	5	0	0	0
9868	0.58	169.3	352.5	11.5	930	9878	0.20	3.72	0.00	0.000	6	0.200	0.075	2879	1943	2104	0	0	4	0	0	0
10197	0.70	193.4	325.3	8.2	961	10229	0.12	3.78	21.30	0.937	4	0.127	0.080	2919	3535	2009	0	0	6	0	0	0
10392	0.60	193.4	302.6	12.1	978	10398	0.20	3.75	0.00	0.000	6	0.202	0.074	2890	1937	2006	0	0	4	0	0	0
10716	0.68	193.4	271.9	9.5	1009	10725	0.00	3.72	0.00	0.000	4	0.000	0.078	2890	3532	2005	0	0	5	0	0	0
10862	0.68	193.4	255.9	11.6	1022	10872	0.00	3.70	0.00	0.000	6	0.000	0.074	2904	1953	2005	0	0	4	0	0	0
11191	0.68	193.4	219.7	11.4	1053	11196	0.00	3.70	0.00	0.000	4	0.000	0.079	2904	3532	2005	0	0	5	0	0	0
11337	0.68	193.4	201.7	12.8	1065	11343	0.00	3.72	0.00	0.000	6	0.000	0.074	2921	1936	2005	0	0	4	0	0	0
11661	0.68	193.4	162.0	11.9	1096	11670	0.00	3.72	0.00	0.000	4	0.000	0.077	2921	3535	2005	0	0	5	0	0	0
11795	0.63	193.4	145.2	11.7	1108	11805	0.17	3.70	0.00	0.000	6	0.199	0.072	2898	1948	2005	0	0	4	0	0	0
12124	0.77	195.1	114.5	9.1	1139	12134	0.12	3.72	0.00	0.000	4	0.126	0.077	2939	3534	2005	0	0	5	0	0	0
12263	0.71	195.1	98.9	10.5	1152	12270	0.15	3.70	0.00	0.000	6	0.205	0.072	2922	1948	2005	0	0	4	0	0	0
12610	0.81	203.8	68.8	8.8	1213	12626	0.00	3.72	9.65	0.740	4	0.000	0.078	2921	3534	1968	0	0	4	0	0	0
12789	0.82	207.8	51.8	9.0	1245	12801	0.00	3.72	5.10	0.644	6	0.000	0.074	2937	1950	1952	0	0	4	0	0	0
13140	0.93	252.2	23.1	7.3	1307	13188	0.15	3.78	38.53	0.776	4	0.111	0.081	2994	3531	1770	0	0	7	0	0	0
13291	0.76	252.2	3.3	14.9	1334	13297	0.30	3.75	0.00	0.000	6	0.191	0.072	2937	1950	1766	0	0	4	0	0	0
13302	end climb: SURFACE_DEPTH_REACHED
state	13302	begin surface coast
13314	end surface coast: CONTROL_FINISHED_OK
state	13315	begin surface