Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 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 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 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 -23071.482 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 2 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 -23071.482

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 -1 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 2200 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2250 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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 5 NAV_MODE 2 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 031700,6700.265,-5700.473,39,1.9,44,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 032204,6700.299,-5700.591,15,1.9,17,-37.5 MHEAD_RNG_PITCHd_Wd 83.6,10378,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 690

Post-dive calculations and measurements:

FINISH 0.3,1.005731 _24V_AH 23.5,15.599

SM_CCo 14246,44.53,0.756,0,0,1677,275.23 _10V_AH 10.3,6.637

SM_GC 1.03,0.00,0.00,44.53,0.000,0.000,0.756,129,2246,1677,-7.19,-0.14,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 879 FG_AHR_10Vo 0.000

RAFOS 0,1256097666,4.033333,4.018333,65,64,59,0,0,0,165,190,1153,0,0,0 MEM 150256

RAFOS_FIX 6702.315918,-5704.767090,211009,040444,3,80,0.98 DATA_FILE_SIZE 50488,1345

IRIDIUM_FIX 6631.12,-5701.34,150199,010101 CAP_FILE_SIZE 161401,0

TT8_MAMPS 0.026845 CFSIZE 260165632,250368000

HUMID 45.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1468.6

TCM_TEMP 17.40 CURRENT 0.230,177.5,1

XPDR_PINGS 5 GPS 211009,072207,6659.989,-5701.543,37,1.5,37,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 306 161.10 SBE_CT 983 24 554.75

Roll_motor 132 99 310.35 SBE_O2 919 19 410.72

VBD_pump_during_apogee 291 1175 8062.46 nil 0 0 0.00

VBD_pump_during_surface 44 756 791.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.83 nil 0 0 0.00

Iridium_during_connect 32 160 121.97 nil 0 0 0.00

Iridium_during_xfer 133 223 700.94

Transponder_ping 1 420 12.34

GUMSTIX_24V 0 0 0.00

GPS 19 50 10.01

TT8 2570 19 527.40

LPSleep 8457 2 201.24

TT8_Active 484 19 99.40

TT8_Sampling 2721 39 1119.17

TT8_CF8 372 45 176.23

TT8_Kalman 0 0 0.00

Analog_circuits 1817 12 224.65

GPS_charging 0 0 0.00

Compass 2672 8 220.23

RAFOS 2520 1 38.93

Transponder 0 30 0.17

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 -0.98 -146.0 0.0 0.0 0 100 0.00 0.00 -82.62 0.000 2 0.000 0.000 122 1850 3173 0 0 0 0 0 0

102 -0.98 -146.0 3.4 -6.1 16 125 9.57 1.98 -6.10 0.000 4 0.306 0.100 2105 654 3399 0 0 0 0 0 0

316 -0.78 -146.0 38.2 -13.8 54 323 0.28 2.60 0.00 0.000 6 0.212 0.072 2173 2256 3401 0 0 0 0 0 0

660 -0.84 -146.0 73.7 -9.7 115 666 0.00 2.60 0.00 0.000 4 0.000 0.082 2173 660 3401 0 0 0 0 0 0

920 -0.84 -146.0 98.8 -9.0 161 925 0.00 2.50 0.00 0.000 6 0.000 0.071 2173 2255 3402 0 0 0 0 0 0

1246 -0.92 -146.0 125.7 -8.4 193 1251 0.12 2.60 0.00 0.000 4 0.115 0.082 2135 660 3401 0 0 0 0 0 0

1346 -0.86 -146.0 136.7 -11.3 201 1352 0.00 2.55 0.00 0.000 6 0.000 0.071 2135 2260 3401 0 0 0 0 0 0

1671 -0.86 -146.0 167.2 -9.1 232 1675 0.00 2.60 0.00 0.000 4 0.000 0.081 2135 649 3399 0 0 0 0 0 0

1928 -0.80 -146.0 193.8 -10.3 254 1934 0.12 2.67 0.00 0.000 6 0.227 0.071 2163 2331 3400 0 0 0 0 0 0

2253 -0.88 -146.0 221.8 -8.7 285 2258 0.00 2.70 0.00 0.000 4 0.000 0.081 2163 654 3399 0 0 0 0 0 0

2472 -0.93 -146.0 243.2 -9.4 304 2476 0.00 2.67 0.00 0.000 6 0.000 0.070 2163 2337 3399 0 0 0 0 0 0

2797 -1.01 -146.0 268.5 -7.1 334 2802 0.17 2.70 0.00 0.000 4 0.101 0.081 2108 654 3399 0 0 0 0 0 0

3056 -0.89 -146.0 294.5 -9.5 357 3062 0.15 2.58 0.00 0.000 6 0.218 0.071 2143 2278 3399 0 0 0 0 0 0

3381 -0.89 -146.0 318.9 -7.7 387 3385 0.00 2.60 0.00 0.000 4 0.000 0.081 2144 653 3399 0 0 0 0 0 0

3577 -0.89 -146.0 335.3 -8.2 404 3581 0.00 2.58 0.00 0.000 6 0.000 0.069 2144 2284 3399 0 0 0 0 0 0

3901 -0.89 -146.0 360.7 -7.9 434 3905 0.00 2.60 0.00 0.000 4 0.000 0.081 2143 655 3400 0 0 0 0 0 0

4157 -0.89 -146.0 383.4 -9.2 456 4164 0.00 2.50 0.00 0.000 6 0.000 0.068 2144 2219 3400 0 0 0 0 0 0

4482 -0.94 -146.0 409.0 -7.8 487 4487 0.00 2.50 0.00 0.000 4 0.000 0.080 2144 651 3400 0 0 0 0 0 0

4736 -0.94 -146.0 432.0 -8.8 509 4740 0.00 2.47 0.00 0.000 6 0.000 0.068 2144 2230 3400 0 0 0 0 0 0

5060 -1.00 -146.0 458.7 -8.0 539 5065 0.12 2.53 0.00 0.000 4 0.110 0.080 2101 656 3400 0 0 0 0 0 0

5318 -0.88 -146.0 486.2 -10.8 561 5324 0.17 2.38 0.00 0.000 6 0.210 0.067 2144 2173 3400 0 0 0 0 0 0

5644 -0.94 -146.0 513.4 -8.2 592 5648 0.00 2.40 0.00 0.000 4 0.000 0.080 2145 660 3401 0 0 0 0 0 0

5786 -0.94 -146.0 525.8 -8.8 604 5790 0.00 2.38 0.00 0.000 6 0.000 0.067 2145 2175 3401 0 0 0 0 0 0

6110 -1.00 -146.0 551.2 -7.6 634 6115 0.12 2.42 0.00 0.000 4 0.111 0.080 2101 659 3401 0 0 0 0 0 0

6368 -0.89 -146.0 577.8 -10.2 656 6375 0.15 2.38 0.00 0.000 6 0.212 0.067 2137 2180 3401 0 0 0 0 0 0

6692 -0.94 -146.0 602.3 -7.2 685 6696 0.00 2.42 0.00 0.000 4 0.000 0.080 2138 652 3401 0 0 0 0 0 0

6838 -0.94 -146.0 613.5 -7.5 689 6842 0.00 2.40 0.00 0.000 6 0.000 0.068 2138 2184 3401 0 0 0 0 0 0

7161 -0.99 -146.0 636.0 -7.2 700 7165 0.00 2.42 0.00 0.000 4 0.000 0.080 2138 655 3402 0 0 0 0 0 0

7419 -0.99 -146.0 657.3 -7.5 707 7425 0.00 2.30 0.00 0.000 6 0.000 0.067 2138 2131 3402 0 0 0 0 0 0

7732 -1.05 -146.0 679.0 -7.2 718 7737 0.15 2.35 0.00 0.000 4 0.105 0.080 2085 659 3402 0 0 0 0 0 0

7841 end dive: TARGET_DEPTH_EXCEEDED

state 7841 begin apogee

7849 -0.24 0.0 690.3 10.3 721 7972 0.90 0.00 119.75 1.175 6 0.186 0.000 2346 2205 2800 0 0 0 0 0 0

7973 end apogee: CONTROL_FINISHED_OK

state 7973 begin climb

7975 0.98 146.0 692.2 0.0 725 8107 1.25 2.88 121.93 1.127 4 0.107 0.082 2739 3781 2203 0 0 0 0 0 0

8359 0.48 146.0 622.4 22.7 736 8367 0.65 2.62 0.00 0.000 6 0.219 0.064 2593 2200 2193 0 0 0 0 0 0

8675 0.48 146.0 587.9 10.6 753 8680 0.00 2.67 0.00 0.000 4 0.000 0.084 2593 3789 2193 0 0 0 0 0 0

8933 0.42 146.0 558.7 11.7 775 8940 0.15 2.60 0.00 0.000 6 0.189 0.064 2568 2189 2193 0 0 0 0 0 0

9258 0.51 166.6 530.5 8.3 806 9280 0.00 2.70 16.30 1.005 4 0.000 0.082 2568 3787 2119 0 0 0 0 0 0

9532 0.56 166.6 503.9 10.5 830 9538 0.00 2.60 0.00 0.000 6 0.000 0.064 2579 2182 2116 0 0 0 0 0 0

9857 0.62 166.6 473.1 9.4 861 9862 0.15 2.67 0.00 0.000 4 0.106 0.084 2631 3784 2116 0 0 0 0 0 0

10115 0.47 166.6 437.3 15.0 883 10122 0.22 2.58 0.00 0.000 6 0.196 0.064 2588 2179 2115 0 0 0 0 0 0

10439 0.47 166.6 402.8 10.1 914 10444 0.00 2.65 0.00 0.000 4 0.000 0.083 2588 3791 2116 0 0 0 0 0 0

10697 0.47 166.6 372.9 12.4 936 10704 0.00 2.58 0.00 0.000 6 0.000 0.064 2598 2174 2115 0 0 0 0 0 0

11021 0.47 166.6 337.6 11.0 967 11026 0.00 2.65 0.00 0.000 4 0.000 0.082 2598 3795 2115 0 0 0 0 0 0

11278 0.47 166.6 304.2 12.7 989 11285 0.00 2.60 0.00 0.000 6 0.000 0.064 2610 2153 2115 0 0 0 0 0 0

11603 0.47 166.6 269.1 10.6 1020 11608 0.00 2.65 0.00 0.000 4 0.000 0.082 2610 3785 2115 0 0 0 0 0 0

11861 0.40 166.6 238.3 11.8 1042 11868 0.22 2.50 0.00 0.000 6 0.189 0.064 2565 2203 2114 0 0 0 0 0 0

12187 0.57 178.4 210.1 8.7 1073 12203 0.15 2.60 10.43 0.807 4 0.103 0.081 2617 3788 2070 0 0 0 0 0 0

12455 0.51 178.4 176.0 12.9 1096 12463 0.15 2.53 0.00 0.000 6 0.192 0.064 2594 2196 2069 0 0 0 0 0 0

12781 0.59 178.8 144.1 9.2 1127 12785 0.00 2.60 0.00 0.000 4 0.000 0.083 2594 3789 2069 0 0 0 0 0 0

13037 0.59 178.8 116.5 10.7 1149 13043 0.00 2.53 0.00 0.000 6 0.000 0.064 2604 2196 2068 0 0 0 0 0 0

13371 0.71 199.1 86.7 8.3 1193 13398 0.15 2.70 17.65 0.783 4 0.107 0.083 2658 3788 1985 0 0 0 0 0 0

13652 0.63 199.1 53.9 11.1 1243 13658 0.15 2.55 0.00 0.000 6 0.192 0.065 2635 2195 1983 0 0 0 0 0 0

13997 0.69 205.4 24.2 8.9 1304 14009 0.00 2.62 5.93 0.666 4 0.000 0.082 2635 3785 1961 0 0 0 0 0 0

14210 end climb: SURFACE_DEPTH_REACHED

state 14210 begin surface coast

14228 end surface coast: CONTROL_FINISHED_OK

state 14228 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	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	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	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	-23071.482	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	2	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	031700,6700.265,-5700.473,39,1.9,44,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	032204,6700.299,-5700.591,15,1.9,17,-37.5	MHEAD_RNG_PITCHd_Wd	83.6,10378,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	690

FINISH	0.3,1.005731	_24V_AH	23.5,15.599
SM_CCo	14246,44.53,0.756,0,0,1677,275.23	_10V_AH	10.3,6.637
SM_GC	1.03,0.00,0.00,44.53,0.000,0.000,0.756,129,2246,1677,-7.19,-0.14,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	879	FG_AHR_10Vo	0.000
RAFOS	0,1256097666,4.033333,4.018333,65,64,59,0,0,0,165,190,1153,0,0,0	MEM	150256
RAFOS_FIX	6702.315918,-5704.767090,211009,040444,3,80,0.98	DATA_FILE_SIZE	50488,1345
IRIDIUM_FIX	6631.12,-5701.34,150199,010101	CAP_FILE_SIZE	161401,0
TT8_MAMPS	0.026845	CFSIZE	260165632,250368000
HUMID	45.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1468.6
TCM_TEMP	17.40	CURRENT	0.230,177.5,1
XPDR_PINGS	5	GPS	211009,072207,6659.989,-5701.543,37,1.5,37,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	306	161.10	SBE_CT	983	24	554.75
Roll_motor	132	99	310.35	SBE_O2	919	19	410.72
VBD_pump_during_apogee	291	1175	8062.46	nil	0	0	0.00
VBD_pump_during_surface	44	756	791.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.83	nil	0	0	0.00
Iridium_during_connect	32	160	121.97	nil	0	0	0.00
Iridium_during_xfer	133	223	700.94
Transponder_ping	1	420	12.34
GUMSTIX_24V	0	0	0.00
GPS	19	50	10.01
TT8	2570	19	527.40
LPSleep	8457	2	201.24
TT8_Active	484	19	99.40
TT8_Sampling	2721	39	1119.17
TT8_CF8	372	45	176.23
TT8_Kalman	0	0	0.00
Analog_circuits	1817	12	224.65
GPS_charging	0	0	0.00
Compass	2672	8	220.23
RAFOS	2520	1	38.93
Transponder	0	30	0.17

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	-0.98	-146.0	0.0	0.0	0	100	0.00	0.00	-82.62	0.000	2	0.000	0.000	122	1850	3173	0	0	0	0	0	0
102	-0.98	-146.0	3.4	-6.1	16	125	9.57	1.98	-6.10	0.000	4	0.306	0.100	2105	654	3399	0	0	0	0	0	0
316	-0.78	-146.0	38.2	-13.8	54	323	0.28	2.60	0.00	0.000	6	0.212	0.072	2173	2256	3401	0	0	0	0	0	0
660	-0.84	-146.0	73.7	-9.7	115	666	0.00	2.60	0.00	0.000	4	0.000	0.082	2173	660	3401	0	0	0	0	0	0
920	-0.84	-146.0	98.8	-9.0	161	925	0.00	2.50	0.00	0.000	6	0.000	0.071	2173	2255	3402	0	0	0	0	0	0
1246	-0.92	-146.0	125.7	-8.4	193	1251	0.12	2.60	0.00	0.000	4	0.115	0.082	2135	660	3401	0	0	0	0	0	0
1346	-0.86	-146.0	136.7	-11.3	201	1352	0.00	2.55	0.00	0.000	6	0.000	0.071	2135	2260	3401	0	0	0	0	0	0
1671	-0.86	-146.0	167.2	-9.1	232	1675	0.00	2.60	0.00	0.000	4	0.000	0.081	2135	649	3399	0	0	0	0	0	0
1928	-0.80	-146.0	193.8	-10.3	254	1934	0.12	2.67	0.00	0.000	6	0.227	0.071	2163	2331	3400	0	0	0	0	0	0
2253	-0.88	-146.0	221.8	-8.7	285	2258	0.00	2.70	0.00	0.000	4	0.000	0.081	2163	654	3399	0	0	0	0	0	0
2472	-0.93	-146.0	243.2	-9.4	304	2476	0.00	2.67	0.00	0.000	6	0.000	0.070	2163	2337	3399	0	0	0	0	0	0
2797	-1.01	-146.0	268.5	-7.1	334	2802	0.17	2.70	0.00	0.000	4	0.101	0.081	2108	654	3399	0	0	0	0	0	0
3056	-0.89	-146.0	294.5	-9.5	357	3062	0.15	2.58	0.00	0.000	6	0.218	0.071	2143	2278	3399	0	0	0	0	0	0
3381	-0.89	-146.0	318.9	-7.7	387	3385	0.00	2.60	0.00	0.000	4	0.000	0.081	2144	653	3399	0	0	0	0	0	0
3577	-0.89	-146.0	335.3	-8.2	404	3581	0.00	2.58	0.00	0.000	6	0.000	0.069	2144	2284	3399	0	0	0	0	0	0
3901	-0.89	-146.0	360.7	-7.9	434	3905	0.00	2.60	0.00	0.000	4	0.000	0.081	2143	655	3400	0	0	0	0	0	0
4157	-0.89	-146.0	383.4	-9.2	456	4164	0.00	2.50	0.00	0.000	6	0.000	0.068	2144	2219	3400	0	0	0	0	0	0
4482	-0.94	-146.0	409.0	-7.8	487	4487	0.00	2.50	0.00	0.000	4	0.000	0.080	2144	651	3400	0	0	0	0	0	0
4736	-0.94	-146.0	432.0	-8.8	509	4740	0.00	2.47	0.00	0.000	6	0.000	0.068	2144	2230	3400	0	0	0	0	0	0
5060	-1.00	-146.0	458.7	-8.0	539	5065	0.12	2.53	0.00	0.000	4	0.110	0.080	2101	656	3400	0	0	0	0	0	0
5318	-0.88	-146.0	486.2	-10.8	561	5324	0.17	2.38	0.00	0.000	6	0.210	0.067	2144	2173	3400	0	0	0	0	0	0
5644	-0.94	-146.0	513.4	-8.2	592	5648	0.00	2.40	0.00	0.000	4	0.000	0.080	2145	660	3401	0	0	0	0	0	0
5786	-0.94	-146.0	525.8	-8.8	604	5790	0.00	2.38	0.00	0.000	6	0.000	0.067	2145	2175	3401	0	0	0	0	0	0
6110	-1.00	-146.0	551.2	-7.6	634	6115	0.12	2.42	0.00	0.000	4	0.111	0.080	2101	659	3401	0	0	0	0	0	0
6368	-0.89	-146.0	577.8	-10.2	656	6375	0.15	2.38	0.00	0.000	6	0.212	0.067	2137	2180	3401	0	0	0	0	0	0
6692	-0.94	-146.0	602.3	-7.2	685	6696	0.00	2.42	0.00	0.000	4	0.000	0.080	2138	652	3401	0	0	0	0	0	0
6838	-0.94	-146.0	613.5	-7.5	689	6842	0.00	2.40	0.00	0.000	6	0.000	0.068	2138	2184	3401	0	0	0	0	0	0
7161	-0.99	-146.0	636.0	-7.2	700	7165	0.00	2.42	0.00	0.000	4	0.000	0.080	2138	655	3402	0	0	0	0	0	0
7419	-0.99	-146.0	657.3	-7.5	707	7425	0.00	2.30	0.00	0.000	6	0.000	0.067	2138	2131	3402	0	0	0	0	0	0
7732	-1.05	-146.0	679.0	-7.2	718	7737	0.15	2.35	0.00	0.000	4	0.105	0.080	2085	659	3402	0	0	0	0	0	0
7841	end dive: TARGET_DEPTH_EXCEEDED
state	7841	begin apogee
7849	-0.24	0.0	690.3	10.3	721	7972	0.90	0.00	119.75	1.175	6	0.186	0.000	2346	2205	2800	0	0	0	0	0	0
7973	end apogee: CONTROL_FINISHED_OK
state	7973	begin climb
7975	0.98	146.0	692.2	0.0	725	8107	1.25	2.88	121.93	1.127	4	0.107	0.082	2739	3781	2203	0	0	0	0	0	0
8359	0.48	146.0	622.4	22.7	736	8367	0.65	2.62	0.00	0.000	6	0.219	0.064	2593	2200	2193	0	0	0	0	0	0
8675	0.48	146.0	587.9	10.6	753	8680	0.00	2.67	0.00	0.000	4	0.000	0.084	2593	3789	2193	0	0	0	0	0	0
8933	0.42	146.0	558.7	11.7	775	8940	0.15	2.60	0.00	0.000	6	0.189	0.064	2568	2189	2193	0	0	0	0	0	0
9258	0.51	166.6	530.5	8.3	806	9280	0.00	2.70	16.30	1.005	4	0.000	0.082	2568	3787	2119	0	0	0	0	0	0
9532	0.56	166.6	503.9	10.5	830	9538	0.00	2.60	0.00	0.000	6	0.000	0.064	2579	2182	2116	0	0	0	0	0	0
9857	0.62	166.6	473.1	9.4	861	9862	0.15	2.67	0.00	0.000	4	0.106	0.084	2631	3784	2116	0	0	0	0	0	0
10115	0.47	166.6	437.3	15.0	883	10122	0.22	2.58	0.00	0.000	6	0.196	0.064	2588	2179	2115	0	0	0	0	0	0
10439	0.47	166.6	402.8	10.1	914	10444	0.00	2.65	0.00	0.000	4	0.000	0.083	2588	3791	2116	0	0	0	0	0	0
10697	0.47	166.6	372.9	12.4	936	10704	0.00	2.58	0.00	0.000	6	0.000	0.064	2598	2174	2115	0	0	0	0	0	0
11021	0.47	166.6	337.6	11.0	967	11026	0.00	2.65	0.00	0.000	4	0.000	0.082	2598	3795	2115	0	0	0	0	0	0
11278	0.47	166.6	304.2	12.7	989	11285	0.00	2.60	0.00	0.000	6	0.000	0.064	2610	2153	2115	0	0	0	0	0	0
11603	0.47	166.6	269.1	10.6	1020	11608	0.00	2.65	0.00	0.000	4	0.000	0.082	2610	3785	2115	0	0	0	0	0	0
11861	0.40	166.6	238.3	11.8	1042	11868	0.22	2.50	0.00	0.000	6	0.189	0.064	2565	2203	2114	0	0	0	0	0	0
12187	0.57	178.4	210.1	8.7	1073	12203	0.15	2.60	10.43	0.807	4	0.103	0.081	2617	3788	2070	0	0	0	0	0	0
12455	0.51	178.4	176.0	12.9	1096	12463	0.15	2.53	0.00	0.000	6	0.192	0.064	2594	2196	2069	0	0	0	0	0	0
12781	0.59	178.8	144.1	9.2	1127	12785	0.00	2.60	0.00	0.000	4	0.000	0.083	2594	3789	2069	0	0	0	0	0	0
13037	0.59	178.8	116.5	10.7	1149	13043	0.00	2.53	0.00	0.000	6	0.000	0.064	2604	2196	2068	0	0	0	0	0	0
13371	0.71	199.1	86.7	8.3	1193	13398	0.15	2.70	17.65	0.783	4	0.107	0.083	2658	3788	1985	0	0	0	0	0	0
13652	0.63	199.1	53.9	11.1	1243	13658	0.15	2.55	0.00	0.000	6	0.192	0.065	2635	2195	1983	0	0	0	0	0	0
13997	0.69	205.4	24.2	8.9	1304	14009	0.00	2.62	5.93	0.666	4	0.000	0.082	2635	3785	1961	0	0	0	0	0	0
14210	end climb: SURFACE_DEPTH_REACHED
state	14210	begin surface coast
14228	end surface coast: CONTROL_FINISHED_OK
state	14228	begin surface