Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MAX 3717 ALTIM_TOP_TURN_MARGIN 0

DIVE 37 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 1 C_ROLL_DIVE 1850 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1700 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_NO_BLEED 500 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 21 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 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 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 460 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 330 CALL_TRIES 5 C_VBD 2940 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 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -4803.9272 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 15 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 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3025 FG_AHR_24V 0 SEABIRD_T_G 0.0043614767

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062996609

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -55.981045 SEABIRD_T_I 2.5014444e-05

MASS 51891 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_J 2.7838146e-06

NAV_MODE 2 PITCH_GAIN 38 AD7714Ch0Gain 128 SEABIRD_C_G -10.228213

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1292607

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001076734

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017059842

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.032000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-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 500 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 0.032000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 1 PRESSURE_SLOPE 0.0001168426 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -55.981045 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -4803.9272

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 15

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 172 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3025 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1700 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 1850 KERMIT 0 ROLL_MAX 3717 USE_ICE 0

C_VBD 2940 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51891 R_PORT_OVSHOOT 21 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.228213 VBD_MIN 460

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1292607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 3 SEABIRD_C_I -0.001076734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017059842 VBD_TIMEOUT 720

DIVE 37 NAV_MODE 2 SEABIRD_T_G 0.0043614767 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.00062996609 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.5014444e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.7838146e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 004807,6644.869,-5953.078,90,1.0,90,-38.0 TGT_NAME TARGET_W_IN

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 21 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 005914,6644.708,-5953.341,11,2.0,11,-38.0 MHEAD_RNG_PITCHd_Wd 349.9,23928,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 709

Post-dive calculations and measurements:

FINISH 1.5,1.004192 _24V_AH 23.3,9.344

SM_CCo 12735,0.00,0.000,0,0,1375,383.89 _10V_AH 10.2,4.019

SM_GC 2.52,8.40,0.00,0.00,0.053,0.000,0.000,149,1857,1375,-8.94,0.20,383.89 FG_AHR_24Vo 0.000

RAFOS_CLK 667 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 150740

IRIDIUM_FIX 6614.97,-6015.98,210199,000036 DATA_FILE_SIZE 47293,1217

TT8_MAMPS 0.052156 CAP_FILE_SIZE 141532,0

HUMID 38.85 CFSIZE 260165632,249421824

INTERNAL_PRESSURE 9.40466 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.80 SOUNDSPEED 1454.7

XPDR_PINGS 0 CURRENT 0.334,199.2,1

ALTIM_BOTTOM_PING 651.2,76.4 GPS 271009,043255,6643.887,-5958.906,59,1.4,59,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 240 124.60 SBE_CT 854 24 477.82

Roll_motor 73 86 149.39 SBE_O2 904 19 400.56

VBD_pump_during_apogee 458 1080 11546.46 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 149.58 nil 0 0 0.00

Iridium_during_connect 78 160 291.70 nil 0 0 0.00

Iridium_during_xfer 369 223 1917.55

Transponder_ping 1 420 17.13

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.92

TT8 0 19 0.00

LPSleep 9797 2 230.84

TT8_Active 532 19 108.24

TT8_Sampling 2429 39 989.25

TT8_CF8 618 45 289.86

TT8_Kalman 0 0 0.00

Analog_circuits 1547 12 189.43

GPS_charging 0 0 0.00

Compass 1964 8 160.32

RAFOS 1412 1 21.60

Transponder 15 30 4.80

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.64 -146.0 0.0 0.0 0 38 0.00 0.00 -24.85 0.000 2 0.000 0.000 120 1855 1980 0 0 0 0 0 0

40 -0.64 -146.0 3.0 -2.4 4 114 10.55 0.00 -59.53 0.000 6 0.240 0.000 2810 1855 3538 0 0 0 0 0 0

432 -0.49 -146.0 79.1 -18.7 78 438 0.17 2.33 0.00 0.000 4 0.173 0.075 2850 3259 3539 0 0 0 0 0 0

459 -0.49 -146.0 83.5 -15.2 84 465 0.00 2.33 0.00 0.000 6 0.000 0.065 2851 1849 3539 0 0 0 0 0 0

778 -0.49 -146.0 126.9 -13.2 126 781 0.00 2.35 0.00 0.000 4 0.000 0.078 2850 443 3539 0 0 0 0 0 0

812 -0.54 -146.0 131.6 -14.0 130 816 0.00 2.25 0.00 0.000 6 0.000 0.060 2842 1838 3539 0 0 0 0 0 0

1131 -0.54 -146.0 176.4 -13.1 161 1135 0.00 2.30 0.00 0.000 4 0.000 0.077 2842 442 3538 0 0 0 0 0 0

1166 -0.57 -146.0 181.0 -13.1 165 1169 0.00 2.25 0.00 0.000 6 0.000 0.059 2837 1845 3538 0 0 0 0 0 0

1483 -0.57 -146.0 221.4 -12.0 196 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1844 3539 0 0 0 0 0 0

1795 -0.61 -146.0 258.6 -11.9 226 1798 0.00 2.28 0.00 0.000 4 0.000 0.075 2838 3258 3538 0 0 0 0 0 0

1819 -0.71 -146.0 261.6 -11.3 228 1827 0.10 2.28 0.00 0.000 6 0.069 0.064 2781 1855 3538 0 0 0 0 0 0

2134 -0.60 -146.0 309.5 -15.3 259 2138 0.17 2.35 0.00 0.000 4 0.170 0.080 2831 407 3538 0 0 0 0 0 0

2216 -0.63 -146.0 319.6 -12.2 268 2223 0.00 2.30 0.00 0.000 6 0.000 0.059 2822 1847 3538 0 0 0 0 0 0

2530 -0.63 -146.0 355.6 -11.1 299 2534 0.00 2.30 0.00 0.000 4 0.000 0.078 2822 443 3538 0 0 0 0 0 0

2583 -0.66 -146.0 361.8 -11.7 305 2586 0.00 2.22 0.00 0.000 6 0.000 0.061 2822 1843 3538 0 0 0 0 0 0

2901 -0.66 -146.0 397.3 -10.8 336 2902 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 1843 3538 0 0 0 0 0 0

3212 -0.66 -146.0 431.9 -11.3 366 3213 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 1843 3538 0 0 0 0 0 0

3522 -0.70 -146.0 467.2 -11.8 396 3523 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 1844 3538 0 0 0 0 0 0

3833 -0.74 -146.0 504.1 -11.8 426 3837 0.10 2.30 0.00 0.000 4 0.123 0.077 2776 443 3538 0 0 0 0 0 0

3863 -0.65 -146.0 508.7 -16.1 429 3869 0.10 2.22 0.00 0.000 6 0.156 0.061 2810 1845 3538 0 0 0 0 0 0

4177 -0.65 -146.0 546.9 -11.2 460 4178 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1845 3539 0 0 0 0 0 0

4487 -0.65 -146.0 582.3 -10.9 490 4488 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1845 3539 0 0 0 0 0 0

4805 -0.65 -146.0 617.8 -11.0 511 4806 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1845 3540 0 0 0 0 0 0

5111 -0.65 -146.0 651.2 -11.0 521 5112 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1844 3540 0 0 0 0 0 0

5412 -0.65 -146.0 683.8 -10.7 531 5412 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1845 3541 0 0 0 0 0 0

5653 end dive: TARGET_DEPTH_EXCEEDED

state 5654 begin apogee

5657 -0.13 0.0 711.1 10.9 539 5780 0.52 0.00 121.55 1.081 6 0.142 0.000 2980 1691 2940 0 0 0 0 0 0

5781 end apogee: CONTROL_FINISHED_OK

state 5781 begin climb

5782 0.64 146.0 715.5 0.0 543 5914 0.73 2.47 125.72 1.048 4 0.091 0.075 3240 295 2343 0 0 0 0 0 0

6122 0.57 196.6 698.6 7.7 554 6171 0.12 2.30 43.95 1.023 6 0.175 0.053 3209 1710 2138 0 0 0 0 0 0

6496 0.63 240.8 668.0 8.0 567 6536 0.00 0.00 39.58 1.012 6 0.000 0.000 3209 1710 1958 0 0 0 0 0 0

6830 0.69 247.9 636.3 9.7 578 6838 0.10 0.00 6.47 0.825 6 0.114 0.000 3252 1710 1929 0 0 0 0 0 0

7133 0.62 247.9 598.6 12.6 588 7134 0.00 0.00 0.00 0.000 6 0.000 0.000 3253 1710 1925 0 0 0 0 0 0

7444 0.57 247.9 560.3 12.2 618 7445 0.15 0.00 0.00 0.000 6 0.163 0.000 3211 1711 1925 0 0 0 0 0 0

7754 0.64 253.8 530.7 9.7 648 7766 0.00 0.00 6.38 0.805 6 0.000 0.000 3211 1710 1905 0 0 0 0 0 0

8074 0.71 253.8 498.2 10.3 679 8078 0.12 2.30 0.00 0.000 4 0.107 0.067 3265 3106 1903 0 0 0 0 0 0

8104 0.62 253.8 494.3 14.3 682 8110 0.15 2.30 0.00 0.000 6 0.156 0.064 3227 1701 1903 0 0 0 0 0 0

8418 0.63 265.8 461.0 9.4 713 8436 0.00 2.35 11.85 0.869 4 0.000 0.078 3237 295 1856 0 0 0 0 0 0

8457 0.64 272.0 457.1 9.7 717 8471 0.00 2.25 7.18 0.779 6 0.000 0.053 3237 1701 1831 0 0 0 0 0 0

8780 0.64 272.0 423.8 10.1 749 8784 0.00 2.30 0.00 0.000 4 0.000 0.067 3237 3108 1827 0 0 0 0 0 0

8818 0.64 272.0 419.8 10.5 753 8824 0.00 2.30 0.00 0.000 6 0.000 0.062 3245 1701 1827 0 0 0 0 0 0

9133 0.64 272.0 385.0 11.8 784 9137 0.00 2.33 0.00 0.000 4 0.000 0.077 3255 288 1826 0 0 0 0 0 0

9193 0.64 272.0 377.8 12.4 791 9197 0.00 2.25 0.00 0.000 6 0.000 0.052 3255 1706 1826 0 0 0 0 0 0

9512 0.64 272.0 339.5 11.6 822 9513 0.00 0.00 0.00 0.000 6 0.000 0.000 3255 1706 1826 0 0 0 0 0 0

9823 0.64 272.0 304.4 10.9 852 9827 0.00 2.33 0.00 0.000 4 0.000 0.077 3265 290 1826 0 0 0 0 0 0

9914 0.64 272.0 293.6 11.9 862 9920 0.08 2.22 0.00 0.000 6 0.153 0.053 3237 1701 1826 0 0 0 0 0 0

10229 0.73 296.0 264.6 8.9 893 10255 0.00 2.33 21.98 0.800 4 0.000 0.076 3248 287 1732 0 0 0 0 0 0

10284 0.80 296.0 259.2 10.4 899 10290 0.08 2.25 0.00 0.000 6 0.079 0.053 3292 1691 1731 0 0 0 0 0 0

10599 0.75 296.0 220.5 12.6 930 10600 0.00 0.00 0.00 0.000 6 0.000 0.000 3291 1693 1728 0 0 0 0 0 0

10911 0.70 296.0 185.4 10.2 960 10915 0.15 2.30 0.00 0.000 4 0.172 0.070 3249 3112 1728 0 0 0 0 0 0

10958 0.76 299.3 180.9 9.8 965 10961 0.00 2.25 0.00 0.000 6 0.000 0.064 3259 1699 1727 0 0 0 0 0 0

11279 0.90 335.2 153.4 8.3 996 11319 0.15 0.00 35.47 0.752 6 0.097 0.000 3322 1699 1573 0 0 0 0 0 0

11627 0.85 335.2 110.0 11.8 1030 11630 0.00 2.35 0.00 0.000 4 0.000 0.079 3333 291 1564 0 0 0 0 0 0

11670 0.77 335.2 104.2 13.8 1035 11674 0.17 2.25 0.00 0.000 6 0.146 0.055 3275 1695 1564 0 0 0 0 0 0

11998 0.93 379.6 75.4 7.9 1092 12040 0.15 0.00 38.42 0.708 6 0.098 0.000 3336 1696 1391 0 0 0 0 0 0

12359 0.93 379.6 31.4 11.3 1160 12360 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 1696 1382 0 0 0 0 0 0

12630 end climb: SURFACE_DEPTH_REACHED

state 12630 begin surface coast

12663 end surface coast: CONTROL_FINISHED_OK

state 12663 begin surface

ID	172	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MAX	3717	ALTIM_TOP_TURN_MARGIN	0
DIVE	37	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	1	C_ROLL_DIVE	1850	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1700	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_NO_BLEED	500	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	21	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	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	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	460	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	330	CALL_TRIES	5	C_VBD	2940	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	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-4803.9272	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	15	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	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3025	FG_AHR_24V	0	SEABIRD_T_G	0.0043614767
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062996609
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-55.981045	SEABIRD_T_I	2.5014444e-05
MASS	51891	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_J	2.7838146e-06
NAV_MODE	2	PITCH_GAIN	38	AD7714Ch0Gain	128	SEABIRD_C_G	-10.228213
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1292607
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001076734
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017059842
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.032000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	004807,6644.869,-5953.078,90,1.0,90,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	21	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	005914,6644.708,-5953.341,11,2.0,11,-38.0	MHEAD_RNG_PITCHd_Wd	349.9,23928,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	709

FINISH	1.5,1.004192	_24V_AH	23.3,9.344
SM_CCo	12735,0.00,0.000,0,0,1375,383.89	_10V_AH	10.2,4.019
SM_GC	2.52,8.40,0.00,0.00,0.053,0.000,0.000,149,1857,1375,-8.94,0.20,383.89	FG_AHR_24Vo	0.000
RAFOS_CLK	667	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	150740
IRIDIUM_FIX	6614.97,-6015.98,210199,000036	DATA_FILE_SIZE	47293,1217
TT8_MAMPS	0.052156	CAP_FILE_SIZE	141532,0
HUMID	38.85	CFSIZE	260165632,249421824
INTERNAL_PRESSURE	9.40466	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.80	SOUNDSPEED	1454.7
XPDR_PINGS	0	CURRENT	0.334,199.2,1
ALTIM_BOTTOM_PING	651.2,76.4	GPS	271009,043255,6643.887,-5958.906,59,1.4,59,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	240	124.60	SBE_CT	854	24	477.82
Roll_motor	73	86	149.39	SBE_O2	904	19	400.56
VBD_pump_during_apogee	458	1080	11546.46	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	149.58	nil	0	0	0.00
Iridium_during_connect	78	160	291.70	nil	0	0	0.00
Iridium_during_xfer	369	223	1917.55
Transponder_ping	1	420	17.13
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.92
TT8	0	19	0.00
LPSleep	9797	2	230.84
TT8_Active	532	19	108.24
TT8_Sampling	2429	39	989.25
TT8_CF8	618	45	289.86
TT8_Kalman	0	0	0.00
Analog_circuits	1547	12	189.43
GPS_charging	0	0	0.00
Compass	1964	8	160.32
RAFOS	1412	1	21.60
Transponder	15	30	4.80

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.64	-146.0	0.0	0.0	0	38	0.00	0.00	-24.85	0.000	2	0.000	0.000	120	1855	1980	0	0	0	0	0	0
40	-0.64	-146.0	3.0	-2.4	4	114	10.55	0.00	-59.53	0.000	6	0.240	0.000	2810	1855	3538	0	0	0	0	0	0
432	-0.49	-146.0	79.1	-18.7	78	438	0.17	2.33	0.00	0.000	4	0.173	0.075	2850	3259	3539	0	0	0	0	0	0
459	-0.49	-146.0	83.5	-15.2	84	465	0.00	2.33	0.00	0.000	6	0.000	0.065	2851	1849	3539	0	0	0	0	0	0
778	-0.49	-146.0	126.9	-13.2	126	781	0.00	2.35	0.00	0.000	4	0.000	0.078	2850	443	3539	0	0	0	0	0	0
812	-0.54	-146.0	131.6	-14.0	130	816	0.00	2.25	0.00	0.000	6	0.000	0.060	2842	1838	3539	0	0	0	0	0	0
1131	-0.54	-146.0	176.4	-13.1	161	1135	0.00	2.30	0.00	0.000	4	0.000	0.077	2842	442	3538	0	0	0	0	0	0
1166	-0.57	-146.0	181.0	-13.1	165	1169	0.00	2.25	0.00	0.000	6	0.000	0.059	2837	1845	3538	0	0	0	0	0	0
1483	-0.57	-146.0	221.4	-12.0	196	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1844	3539	0	0	0	0	0	0
1795	-0.61	-146.0	258.6	-11.9	226	1798	0.00	2.28	0.00	0.000	4	0.000	0.075	2838	3258	3538	0	0	0	0	0	0
1819	-0.71	-146.0	261.6	-11.3	228	1827	0.10	2.28	0.00	0.000	6	0.069	0.064	2781	1855	3538	0	0	0	0	0	0
2134	-0.60	-146.0	309.5	-15.3	259	2138	0.17	2.35	0.00	0.000	4	0.170	0.080	2831	407	3538	0	0	0	0	0	0
2216	-0.63	-146.0	319.6	-12.2	268	2223	0.00	2.30	0.00	0.000	6	0.000	0.059	2822	1847	3538	0	0	0	0	0	0
2530	-0.63	-146.0	355.6	-11.1	299	2534	0.00	2.30	0.00	0.000	4	0.000	0.078	2822	443	3538	0	0	0	0	0	0
2583	-0.66	-146.0	361.8	-11.7	305	2586	0.00	2.22	0.00	0.000	6	0.000	0.061	2822	1843	3538	0	0	0	0	0	0
2901	-0.66	-146.0	397.3	-10.8	336	2902	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	1843	3538	0	0	0	0	0	0
3212	-0.66	-146.0	431.9	-11.3	366	3213	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	1843	3538	0	0	0	0	0	0
3522	-0.70	-146.0	467.2	-11.8	396	3523	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	1844	3538	0	0	0	0	0	0
3833	-0.74	-146.0	504.1	-11.8	426	3837	0.10	2.30	0.00	0.000	4	0.123	0.077	2776	443	3538	0	0	0	0	0	0
3863	-0.65	-146.0	508.7	-16.1	429	3869	0.10	2.22	0.00	0.000	6	0.156	0.061	2810	1845	3538	0	0	0	0	0	0
4177	-0.65	-146.0	546.9	-11.2	460	4178	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1845	3539	0	0	0	0	0	0
4487	-0.65	-146.0	582.3	-10.9	490	4488	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1845	3539	0	0	0	0	0	0
4805	-0.65	-146.0	617.8	-11.0	511	4806	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1845	3540	0	0	0	0	0	0
5111	-0.65	-146.0	651.2	-11.0	521	5112	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1844	3540	0	0	0	0	0	0
5412	-0.65	-146.0	683.8	-10.7	531	5412	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1845	3541	0	0	0	0	0	0
5653	end dive: TARGET_DEPTH_EXCEEDED
state	5654	begin apogee
5657	-0.13	0.0	711.1	10.9	539	5780	0.52	0.00	121.55	1.081	6	0.142	0.000	2980	1691	2940	0	0	0	0	0	0
5781	end apogee: CONTROL_FINISHED_OK
state	5781	begin climb
5782	0.64	146.0	715.5	0.0	543	5914	0.73	2.47	125.72	1.048	4	0.091	0.075	3240	295	2343	0	0	0	0	0	0
6122	0.57	196.6	698.6	7.7	554	6171	0.12	2.30	43.95	1.023	6	0.175	0.053	3209	1710	2138	0	0	0	0	0	0
6496	0.63	240.8	668.0	8.0	567	6536	0.00	0.00	39.58	1.012	6	0.000	0.000	3209	1710	1958	0	0	0	0	0	0
6830	0.69	247.9	636.3	9.7	578	6838	0.10	0.00	6.47	0.825	6	0.114	0.000	3252	1710	1929	0	0	0	0	0	0
7133	0.62	247.9	598.6	12.6	588	7134	0.00	0.00	0.00	0.000	6	0.000	0.000	3253	1710	1925	0	0	0	0	0	0
7444	0.57	247.9	560.3	12.2	618	7445	0.15	0.00	0.00	0.000	6	0.163	0.000	3211	1711	1925	0	0	0	0	0	0
7754	0.64	253.8	530.7	9.7	648	7766	0.00	0.00	6.38	0.805	6	0.000	0.000	3211	1710	1905	0	0	0	0	0	0
8074	0.71	253.8	498.2	10.3	679	8078	0.12	2.30	0.00	0.000	4	0.107	0.067	3265	3106	1903	0	0	0	0	0	0
8104	0.62	253.8	494.3	14.3	682	8110	0.15	2.30	0.00	0.000	6	0.156	0.064	3227	1701	1903	0	0	0	0	0	0
8418	0.63	265.8	461.0	9.4	713	8436	0.00	2.35	11.85	0.869	4	0.000	0.078	3237	295	1856	0	0	0	0	0	0
8457	0.64	272.0	457.1	9.7	717	8471	0.00	2.25	7.18	0.779	6	0.000	0.053	3237	1701	1831	0	0	0	0	0	0
8780	0.64	272.0	423.8	10.1	749	8784	0.00	2.30	0.00	0.000	4	0.000	0.067	3237	3108	1827	0	0	0	0	0	0
8818	0.64	272.0	419.8	10.5	753	8824	0.00	2.30	0.00	0.000	6	0.000	0.062	3245	1701	1827	0	0	0	0	0	0
9133	0.64	272.0	385.0	11.8	784	9137	0.00	2.33	0.00	0.000	4	0.000	0.077	3255	288	1826	0	0	0	0	0	0
9193	0.64	272.0	377.8	12.4	791	9197	0.00	2.25	0.00	0.000	6	0.000	0.052	3255	1706	1826	0	0	0	0	0	0
9512	0.64	272.0	339.5	11.6	822	9513	0.00	0.00	0.00	0.000	6	0.000	0.000	3255	1706	1826	0	0	0	0	0	0
9823	0.64	272.0	304.4	10.9	852	9827	0.00	2.33	0.00	0.000	4	0.000	0.077	3265	290	1826	0	0	0	0	0	0
9914	0.64	272.0	293.6	11.9	862	9920	0.08	2.22	0.00	0.000	6	0.153	0.053	3237	1701	1826	0	0	0	0	0	0
10229	0.73	296.0	264.6	8.9	893	10255	0.00	2.33	21.98	0.800	4	0.000	0.076	3248	287	1732	0	0	0	0	0	0
10284	0.80	296.0	259.2	10.4	899	10290	0.08	2.25	0.00	0.000	6	0.079	0.053	3292	1691	1731	0	0	0	0	0	0
10599	0.75	296.0	220.5	12.6	930	10600	0.00	0.00	0.00	0.000	6	0.000	0.000	3291	1693	1728	0	0	0	0	0	0
10911	0.70	296.0	185.4	10.2	960	10915	0.15	2.30	0.00	0.000	4	0.172	0.070	3249	3112	1728	0	0	0	0	0	0
10958	0.76	299.3	180.9	9.8	965	10961	0.00	2.25	0.00	0.000	6	0.000	0.064	3259	1699	1727	0	0	0	0	0	0
11279	0.90	335.2	153.4	8.3	996	11319	0.15	0.00	35.47	0.752	6	0.097	0.000	3322	1699	1573	0	0	0	0	0	0
11627	0.85	335.2	110.0	11.8	1030	11630	0.00	2.35	0.00	0.000	4	0.000	0.079	3333	291	1564	0	0	0	0	0	0
11670	0.77	335.2	104.2	13.8	1035	11674	0.17	2.25	0.00	0.000	6	0.146	0.055	3275	1695	1564	0	0	0	0	0	0
11998	0.93	379.6	75.4	7.9	1092	12040	0.15	0.00	38.42	0.708	6	0.098	0.000	3336	1696	1391	0	0	0	0	0	0
12359	0.93	379.6	31.4	11.3	1160	12360	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	1696	1382	0	0	0	0	0	0
12630	end climb: SURFACE_DEPTH_REACHED
state	12630	begin surface coast
12663	end surface coast: CONTROL_FINISHED_OK
state	12663	begin surface