Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 57 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

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 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 32 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 23 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 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 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -179826.62 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179826.62

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 32 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 57 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 180207,6700.696,-5702.115,39,0.8,39,-37.5 TGT_NAME TARGET_test

_CALLS 2 TGT_LATLONG 6700.000,-5705.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181332,6700.659,-5702.129,13,0.9,13,-37.5 MHEAD_RNG_PITCHd_Wd 277.1,2409,-27.9,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 709

Post-dive calculations and measurements:

FREEZE 1.55,0.542,-0.885,0,1,0 ALTIM_TOP_PING 19.8,18.1

FINISH 1.5,1.013060 ALTIM_BOTTOM_PING 651.5,78.8

SM_CCo 11646,121.35,0.853,0,0,1835,300.00 _24V_AH 23.5,10.071

SM_GC 2.66,0.00,0.00,121.35,0.000,0.000,0.853,336,2261,1835,-12.77,0.28,300.00 _10V_AH 10.3,5.340

RAFOS_CLK 466 FG_AHR_24Vo 0.000

RAFOS 0,1276718472,20.033333,20.020000,44,44,43,42,40,40,296,1122,867,903,270,1875 FG_AHR_10Vo 0.000

RAFOS_FIX 6700.941895,-5706.312500,160610,202044,3,101,0.34 MEM 135660

IRIDIUM_FIX 6636.54,-5702.96,100999,181817 DATA_FILE_SIZE 44208,1107

TT8_MAMPS 0.026845 CAP_FILE_SIZE 126342,0

HUMID 39.01 CFSIZE 260165632,244723712

INTERNAL_PRESSURE 10.1957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.80 SOUNDSPEED 1460.7

XPDR_PINGS 0 GPS 160610,213136,6659.170,-5705.085,35,0.8,35,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 236 110.89 SBE_CT 805 24 454.23

Roll_motor 85 104 209.90 SBE_O2 788 19 352.15

VBD_pump_during_apogee 237 1294 7234.39 nil 0 0 0.00

VBD_pump_during_surface 121 852 2432.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 134.82 nil 0 0 0.00

Iridium_during_connect 66 160 251.02 nil 0 0 0.00

Iridium_during_xfer 327 223 1714.44

Transponder_ping 2 420 24.68

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.50

TT8 1878 19 385.52

LPSleep 7553 2 179.71

TT8_Active 468 19 96.20

TT8_Sampling 1776 39 730.42

TT8_CF8 768 45 363.35

TT8_Kalman 0 0 0.00

Analog_circuits 1382 12 170.90

GPS_charging 0 0 0.00

Compass 1752 8 144.44

RAFOS 2520 3 77.87

Transponder 19 30 6.06

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 -1.00 -62.2 0.0 0.0 0 52 0.00 0.00 -34.60 0.000 2 0.000 0.000 335 2252 2594 0 0 0 0 0 0

56 -1.09 -134.9 3.0 -2.2 7 123 9.85 2.35 -48.72 0.000 4 0.236 0.078 2876 845 3610 0 0 0 0 0 0

377 -1.09 -134.9 41.3 -13.1 65 383 0.00 2.33 0.00 0.000 6 0.000 0.067 2870 2252 3615 0 0 0 0 0 0

720 -1.09 -134.9 89.5 -13.3 126 726 0.00 2.30 0.00 0.000 4 0.000 0.064 2870 833 3616 0 0 0 0 0 0

845 -1.09 -134.9 106.4 -13.8 144 849 0.00 2.35 0.00 0.000 6 0.000 0.069 2860 2262 3615 0 0 0 0 0 0

1170 -1.09 -134.9 151.9 -13.6 174 1174 0.00 2.30 0.00 0.000 4 0.000 0.065 2860 836 3614 0 0 0 0 0 0

1271 -1.09 -134.9 165.1 -12.1 182 1277 0.10 2.33 0.00 0.000 6 0.191 0.070 2873 2253 3614 0 0 0 0 0 0

1596 -1.09 -134.9 202.2 -11.4 213 1600 0.00 2.17 0.00 0.000 4 0.000 0.080 2865 3604 3613 0 0 0 0 0 0

1628 -1.09 -134.9 206.5 -13.2 215 1634 0.00 2.15 0.00 0.000 6 0.000 0.056 2866 2241 3614 0 0 0 0 0 0

1953 -1.09 -134.9 245.5 -11.9 246 1957 0.00 2.20 0.00 0.000 4 0.000 0.066 2866 846 3614 0 0 0 0 0 0

1998 -1.09 -134.9 251.1 -12.0 249 2004 0.00 2.30 0.00 0.000 6 0.000 0.068 2857 2265 3613 0 0 0 0 0 0

2323 -1.09 -134.9 288.6 -11.0 280 2324 0.00 0.00 0.00 0.000 6 0.000 0.000 2857 2265 3614 0 0 0 0 0 0

2644 -1.09 -134.9 322.8 -10.4 310 2648 0.00 2.28 0.00 0.000 4 0.000 0.064 2857 836 3613 0 0 0 0 0 0

2688 -1.09 -134.9 327.9 -10.8 313 2694 0.10 2.28 0.00 0.000 6 0.186 0.067 2871 2249 3613 0 0 0 0 0 0

3013 -1.10 -138.5 358.9 -9.6 344 3014 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2249 3614 0 0 0 0 0 0

3335 -1.10 -138.5 390.7 -10.2 374 3339 0.00 2.22 0.00 0.000 4 0.000 0.063 2871 845 3614 0 0 0 0 0 0

3402 -1.10 -138.5 398.3 -10.5 379 3407 0.00 2.28 0.00 0.000 6 0.000 0.066 2864 2268 3614 0 0 0 0 0 0

3726 -1.10 -138.5 431.7 -10.4 410 3730 0.00 2.25 0.00 0.000 4 0.000 0.061 2864 843 3615 0 0 0 0 0 0

3755 -1.10 -138.5 434.8 -10.9 412 3760 0.00 2.28 0.00 0.000 6 0.000 0.065 2854 2257 3615 0 0 0 0 0 0

4080 -1.10 -138.5 468.8 -10.3 442 4081 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2256 3615 0 0 0 0 0 0

4401 -1.10 -138.5 503.0 -10.5 472 4405 0.00 2.22 0.00 0.000 4 0.000 0.062 2854 844 3616 0 0 0 0 0 0

4430 -1.10 -138.5 506.4 -11.2 474 4434 0.12 2.28 0.00 0.000 6 0.178 0.065 2877 2260 3616 0 0 0 0 0 0

4755 -1.11 -143.7 537.7 -9.4 504 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2260 3617 0 0 0 0 0 0

5075 -1.11 -146.1 568.2 -9.5 534 5077 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2260 3617 0 0 0 0 0 0

5395 -1.11 -146.1 598.0 -9.3 564 5399 0.00 2.12 0.00 0.000 4 0.000 0.077 2869 3602 3617 0 0 0 0 0 0

5434 -1.11 -146.1 602.4 -10.8 567 5438 0.00 2.10 0.00 0.000 6 0.000 0.053 2869 2240 3617 0 0 0 0 0 0

5764 -1.11 -146.1 635.3 -10.0 578 5768 0.00 2.15 0.00 0.000 4 0.000 0.064 2869 843 3617 0 0 0 0 0 0

5825 -1.11 -146.1 641.6 -10.0 579 5831 0.00 2.25 0.00 0.000 6 0.000 0.065 2859 2248 3617 0 0 0 0 0 0

6137 -1.11 -146.1 673.2 -10.0 590 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 2859 2248 3617 0 0 0 0 0 0

6447 -1.11 -146.1 703.8 -10.0 600 6449 0.00 0.00 0.00 0.000 6 0.000 0.000 2859 2248 3617 0 0 0 0 0 0

6502 end dive: TARGET_DEPTH_EXCEEDED

state 6502 begin apogee

6509 -0.17 0.0 710.2 10.4 602 6627 0.68 0.00 114.20 1.295 6 0.143 0.000 3073 2186 3058 0 0 0 0 0 0

6627 end apogee: CONTROL_FINISHED_OK

state 6627 begin climb

6630 1.11 146.1 712.8 0.0 606 6763 0.82 2.40 123.57 1.226 4 0.081 0.063 3365 797 2462 0 0 0 0 0 0

6791 1.11 146.1 695.3 15.3 611 6796 0.00 2.42 0.00 0.000 6 0.000 0.063 3365 2202 2460 0 0 0 0 0 0

7122 1.11 146.1 640.3 16.8 622 7126 0.00 2.30 0.00 0.000 4 0.000 0.072 3365 3601 2456 0 0 0 0 0 0

7184 1.11 146.1 629.1 17.5 624 7189 0.10 2.22 0.00 0.000 6 0.202 0.051 3354 2206 2456 0 0 0 0 0 0

7502 1.11 146.1 579.3 15.3 641 7503 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 2205 2455 0 0 0 0 0 0

7821 1.11 146.1 529.2 15.7 671 7825 0.00 2.28 0.00 0.000 4 0.000 0.071 3353 3597 2454 0 0 0 0 0 0

7849 1.11 146.1 524.6 17.0 673 7853 0.00 2.20 0.00 0.000 6 0.000 0.052 3361 2197 2454 0 0 0 0 0 0

8179 1.11 146.1 471.8 16.2 704 8180 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2197 2454 0 0 0 0 0 0

8498 1.11 146.1 421.3 15.6 734 8499 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2197 2453 0 0 0 0 0 0

8816 1.11 146.1 372.4 15.5 764 8817 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2196 2454 0 0 0 0 0 0

9138 1.11 146.1 321.6 15.9 794 9142 0.00 2.20 0.00 0.000 4 0.000 0.063 3371 794 2453 0 0 0 0 0 0

9160 1.11 146.1 317.3 15.7 795 9166 0.00 2.28 0.00 0.000 6 0.000 0.064 3371 2206 2453 0 0 0 0 0 0

9485 1.11 146.1 264.8 15.8 826 9489 0.00 2.20 0.00 0.000 4 0.000 0.074 3371 3592 2453 0 0 0 0 0 0

9504 1.11 146.1 261.8 15.7 827 9509 0.12 2.17 0.00 0.000 6 0.193 0.053 3351 2199 2453 0 0 0 0 0 0

9829 1.11 146.1 212.5 15.4 857 9830 0.00 0.00 0.00 0.000 6 0.000 0.000 3351 2199 2453 0 0 0 0 0 0

10150 1.11 146.1 164.9 14.0 887 10154 0.00 2.20 0.00 0.000 4 0.000 0.062 3359 788 2454 0 0 0 0 0 0

10182 1.11 146.1 159.8 13.9 889 10188 0.00 2.28 0.00 0.000 6 0.000 0.064 3359 2206 2454 0 0 0 0 0 0

10507 1.11 146.1 115.3 13.3 920 10511 0.00 2.20 0.00 0.000 4 0.000 0.074 3359 3596 2455 0 0 0 0 0 0

10525 1.11 146.1 112.9 13.3 921 10529 0.00 2.17 0.00 0.000 6 0.000 0.053 3369 2196 2455 0 0 0 0 0 0

10862 1.11 146.1 67.5 13.0 972 10868 0.00 2.25 0.00 0.000 4 0.000 0.073 3369 3594 2456 0 0 0 0 0 0

10914 1.11 146.1 60.5 13.8 981 10920 0.12 2.17 0.00 0.000 6 0.189 0.054 3348 2200 2456 0 0 0 0 0 0

11262 1.11 149.3 25.6 9.7 1042 11266 0.00 0.00 0.00 0.000 6 0.000 0.000 3347 2199 2456 0 0 0 0 0 0

11575 end climb: SURFACE_DEPTH_REACHED

state 11575 begin surface coast

11627 end surface coast: CONTROL_FINISHED_OK

state 11627 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	57	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
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	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	32	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	23	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	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	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-179826.62	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	180207,6700.696,-5702.115,39,0.8,39,-37.5	TGT_NAME	TARGET_test
_CALLS	2	TGT_LATLONG	6700.000,-5705.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181332,6700.659,-5702.129,13,0.9,13,-37.5	MHEAD_RNG_PITCHd_Wd	277.1,2409,-27.9,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	709

FREEZE	1.55,0.542,-0.885,0,1,0	ALTIM_TOP_PING	19.8,18.1
FINISH	1.5,1.013060	ALTIM_BOTTOM_PING	651.5,78.8
SM_CCo	11646,121.35,0.853,0,0,1835,300.00	_24V_AH	23.5,10.071
SM_GC	2.66,0.00,0.00,121.35,0.000,0.000,0.853,336,2261,1835,-12.77,0.28,300.00	_10V_AH	10.3,5.340
RAFOS_CLK	466	FG_AHR_24Vo	0.000
RAFOS	0,1276718472,20.033333,20.020000,44,44,43,42,40,40,296,1122,867,903,270,1875	FG_AHR_10Vo	0.000
RAFOS_FIX	6700.941895,-5706.312500,160610,202044,3,101,0.34	MEM	135660
IRIDIUM_FIX	6636.54,-5702.96,100999,181817	DATA_FILE_SIZE	44208,1107
TT8_MAMPS	0.026845	CAP_FILE_SIZE	126342,0
HUMID	39.01	CFSIZE	260165632,244723712
INTERNAL_PRESSURE	10.1957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.80	SOUNDSPEED	1460.7
XPDR_PINGS	0	GPS	160610,213136,6659.170,-5705.085,35,0.8,35,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	236	110.89	SBE_CT	805	24	454.23
Roll_motor	85	104	209.90	SBE_O2	788	19	352.15
VBD_pump_during_apogee	237	1294	7234.39	nil	0	0	0.00
VBD_pump_during_surface	121	852	2432.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	134.82	nil	0	0	0.00
Iridium_during_connect	66	160	251.02	nil	0	0	0.00
Iridium_during_xfer	327	223	1714.44
Transponder_ping	2	420	24.68
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.50
TT8	1878	19	385.52
LPSleep	7553	2	179.71
TT8_Active	468	19	96.20
TT8_Sampling	1776	39	730.42
TT8_CF8	768	45	363.35
TT8_Kalman	0	0	0.00
Analog_circuits	1382	12	170.90
GPS_charging	0	0	0.00
Compass	1752	8	144.44
RAFOS	2520	3	77.87
Transponder	19	30	6.06

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	-1.00	-62.2	0.0	0.0	0	52	0.00	0.00	-34.60	0.000	2	0.000	0.000	335	2252	2594	0	0	0	0	0	0
56	-1.09	-134.9	3.0	-2.2	7	123	9.85	2.35	-48.72	0.000	4	0.236	0.078	2876	845	3610	0	0	0	0	0	0
377	-1.09	-134.9	41.3	-13.1	65	383	0.00	2.33	0.00	0.000	6	0.000	0.067	2870	2252	3615	0	0	0	0	0	0
720	-1.09	-134.9	89.5	-13.3	126	726	0.00	2.30	0.00	0.000	4	0.000	0.064	2870	833	3616	0	0	0	0	0	0
845	-1.09	-134.9	106.4	-13.8	144	849	0.00	2.35	0.00	0.000	6	0.000	0.069	2860	2262	3615	0	0	0	0	0	0
1170	-1.09	-134.9	151.9	-13.6	174	1174	0.00	2.30	0.00	0.000	4	0.000	0.065	2860	836	3614	0	0	0	0	0	0
1271	-1.09	-134.9	165.1	-12.1	182	1277	0.10	2.33	0.00	0.000	6	0.191	0.070	2873	2253	3614	0	0	0	0	0	0
1596	-1.09	-134.9	202.2	-11.4	213	1600	0.00	2.17	0.00	0.000	4	0.000	0.080	2865	3604	3613	0	0	0	0	0	0
1628	-1.09	-134.9	206.5	-13.2	215	1634	0.00	2.15	0.00	0.000	6	0.000	0.056	2866	2241	3614	0	0	0	0	0	0
1953	-1.09	-134.9	245.5	-11.9	246	1957	0.00	2.20	0.00	0.000	4	0.000	0.066	2866	846	3614	0	0	0	0	0	0
1998	-1.09	-134.9	251.1	-12.0	249	2004	0.00	2.30	0.00	0.000	6	0.000	0.068	2857	2265	3613	0	0	0	0	0	0
2323	-1.09	-134.9	288.6	-11.0	280	2324	0.00	0.00	0.00	0.000	6	0.000	0.000	2857	2265	3614	0	0	0	0	0	0
2644	-1.09	-134.9	322.8	-10.4	310	2648	0.00	2.28	0.00	0.000	4	0.000	0.064	2857	836	3613	0	0	0	0	0	0
2688	-1.09	-134.9	327.9	-10.8	313	2694	0.10	2.28	0.00	0.000	6	0.186	0.067	2871	2249	3613	0	0	0	0	0	0
3013	-1.10	-138.5	358.9	-9.6	344	3014	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2249	3614	0	0	0	0	0	0
3335	-1.10	-138.5	390.7	-10.2	374	3339	0.00	2.22	0.00	0.000	4	0.000	0.063	2871	845	3614	0	0	0	0	0	0
3402	-1.10	-138.5	398.3	-10.5	379	3407	0.00	2.28	0.00	0.000	6	0.000	0.066	2864	2268	3614	0	0	0	0	0	0
3726	-1.10	-138.5	431.7	-10.4	410	3730	0.00	2.25	0.00	0.000	4	0.000	0.061	2864	843	3615	0	0	0	0	0	0
3755	-1.10	-138.5	434.8	-10.9	412	3760	0.00	2.28	0.00	0.000	6	0.000	0.065	2854	2257	3615	0	0	0	0	0	0
4080	-1.10	-138.5	468.8	-10.3	442	4081	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2256	3615	0	0	0	0	0	0
4401	-1.10	-138.5	503.0	-10.5	472	4405	0.00	2.22	0.00	0.000	4	0.000	0.062	2854	844	3616	0	0	0	0	0	0
4430	-1.10	-138.5	506.4	-11.2	474	4434	0.12	2.28	0.00	0.000	6	0.178	0.065	2877	2260	3616	0	0	0	0	0	0
4755	-1.11	-143.7	537.7	-9.4	504	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2260	3617	0	0	0	0	0	0
5075	-1.11	-146.1	568.2	-9.5	534	5077	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2260	3617	0	0	0	0	0	0
5395	-1.11	-146.1	598.0	-9.3	564	5399	0.00	2.12	0.00	0.000	4	0.000	0.077	2869	3602	3617	0	0	0	0	0	0
5434	-1.11	-146.1	602.4	-10.8	567	5438	0.00	2.10	0.00	0.000	6	0.000	0.053	2869	2240	3617	0	0	0	0	0	0
5764	-1.11	-146.1	635.3	-10.0	578	5768	0.00	2.15	0.00	0.000	4	0.000	0.064	2869	843	3617	0	0	0	0	0	0
5825	-1.11	-146.1	641.6	-10.0	579	5831	0.00	2.25	0.00	0.000	6	0.000	0.065	2859	2248	3617	0	0	0	0	0	0
6137	-1.11	-146.1	673.2	-10.0	590	6139	0.00	0.00	0.00	0.000	6	0.000	0.000	2859	2248	3617	0	0	0	0	0	0
6447	-1.11	-146.1	703.8	-10.0	600	6449	0.00	0.00	0.00	0.000	6	0.000	0.000	2859	2248	3617	0	0	0	0	0	0
6502	end dive: TARGET_DEPTH_EXCEEDED
state	6502	begin apogee
6509	-0.17	0.0	710.2	10.4	602	6627	0.68	0.00	114.20	1.295	6	0.143	0.000	3073	2186	3058	0	0	0	0	0	0
6627	end apogee: CONTROL_FINISHED_OK
state	6627	begin climb
6630	1.11	146.1	712.8	0.0	606	6763	0.82	2.40	123.57	1.226	4	0.081	0.063	3365	797	2462	0	0	0	0	0	0
6791	1.11	146.1	695.3	15.3	611	6796	0.00	2.42	0.00	0.000	6	0.000	0.063	3365	2202	2460	0	0	0	0	0	0
7122	1.11	146.1	640.3	16.8	622	7126	0.00	2.30	0.00	0.000	4	0.000	0.072	3365	3601	2456	0	0	0	0	0	0
7184	1.11	146.1	629.1	17.5	624	7189	0.10	2.22	0.00	0.000	6	0.202	0.051	3354	2206	2456	0	0	0	0	0	0
7502	1.11	146.1	579.3	15.3	641	7503	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	2205	2455	0	0	0	0	0	0
7821	1.11	146.1	529.2	15.7	671	7825	0.00	2.28	0.00	0.000	4	0.000	0.071	3353	3597	2454	0	0	0	0	0	0
7849	1.11	146.1	524.6	17.0	673	7853	0.00	2.20	0.00	0.000	6	0.000	0.052	3361	2197	2454	0	0	0	0	0	0
8179	1.11	146.1	471.8	16.2	704	8180	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2197	2454	0	0	0	0	0	0
8498	1.11	146.1	421.3	15.6	734	8499	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2197	2453	0	0	0	0	0	0
8816	1.11	146.1	372.4	15.5	764	8817	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2196	2454	0	0	0	0	0	0
9138	1.11	146.1	321.6	15.9	794	9142	0.00	2.20	0.00	0.000	4	0.000	0.063	3371	794	2453	0	0	0	0	0	0
9160	1.11	146.1	317.3	15.7	795	9166	0.00	2.28	0.00	0.000	6	0.000	0.064	3371	2206	2453	0	0	0	0	0	0
9485	1.11	146.1	264.8	15.8	826	9489	0.00	2.20	0.00	0.000	4	0.000	0.074	3371	3592	2453	0	0	0	0	0	0
9504	1.11	146.1	261.8	15.7	827	9509	0.12	2.17	0.00	0.000	6	0.193	0.053	3351	2199	2453	0	0	0	0	0	0
9829	1.11	146.1	212.5	15.4	857	9830	0.00	0.00	0.00	0.000	6	0.000	0.000	3351	2199	2453	0	0	0	0	0	0
10150	1.11	146.1	164.9	14.0	887	10154	0.00	2.20	0.00	0.000	4	0.000	0.062	3359	788	2454	0	0	0	0	0	0
10182	1.11	146.1	159.8	13.9	889	10188	0.00	2.28	0.00	0.000	6	0.000	0.064	3359	2206	2454	0	0	0	0	0	0
10507	1.11	146.1	115.3	13.3	920	10511	0.00	2.20	0.00	0.000	4	0.000	0.074	3359	3596	2455	0	0	0	0	0	0
10525	1.11	146.1	112.9	13.3	921	10529	0.00	2.17	0.00	0.000	6	0.000	0.053	3369	2196	2455	0	0	0	0	0	0
10862	1.11	146.1	67.5	13.0	972	10868	0.00	2.25	0.00	0.000	4	0.000	0.073	3369	3594	2456	0	0	0	0	0	0
10914	1.11	146.1	60.5	13.8	981	10920	0.12	2.17	0.00	0.000	6	0.189	0.054	3348	2200	2456	0	0	0	0	0	0
11262	1.11	149.3	25.6	9.7	1042	11266	0.00	0.00	0.00	0.000	6	0.000	0.000	3347	2199	2456	0	0	0	0	0	0
11575	end climb: SURFACE_DEPTH_REACHED
state	11575	begin surface coast
11627	end surface coast: CONTROL_FINISHED_OK
state	11627	begin surface