Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 97 * 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 97 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 24 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 -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -6053.5352 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 -6053.5352

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 -3

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 24 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 97 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 041231,6703.913,-5702.738,42,1.1,42,-37.6 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -78.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 042056,6704.003,-5702.991,11,1.8,11,-37.6 MHEAD_RNG_PITCHd_Wd 162.6,10984,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 626

Post-dive calculations and measurements:

FINISH 1.6,1.000230 _24V_AH 23.6,18.761

SM_CCo 11417,0.00,0.000,0,0,1674,310.55 _10V_AH 10.3,8.378

SM_GC 2.70,8.18,0.00,0.00,0.053,0.000,0.000,136,1856,1674,-8.95,0.17,310.55 FG_AHR_24Vo 0.000

RAFOS_CLK 519 FG_AHR_10Vo 0.000

RAFOS 1,1257480575,4.166667,4.159722,46,43,40,0,0,0,108,36,467,0,0,0 MEM 188436

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 47298,1147

IRIDIUM_FIX 6631.12,-5705.96,310199,000049 CAP_FILE_SIZE 134190,0

TT8_MAMPS 0.026078 CFSIZE 260165632,243445760

HUMID 39.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.60974 SOUNDSPEED 1470.9

TCM_TEMP 16.40 CURRENT 0.223,284.1,1

XPDR_PINGS 0 GPS 061109,073246,6703.551,-5703.431,8,3.8,27,-37.6

ALTIM_BOTTOM_PING 500.6,124.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 237 119.28 SBE_CT 795 24 450.79

Roll_motor 103 79 192.46 SBE_O2 846 19 379.76

VBD_pump_during_apogee 384 1007 9139.97 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 57 103 140.46 nil 0 0 0.00

Iridium_during_connect 113 160 428.34 nil 0 0 0.00

Iridium_during_xfer 167 223 879.74

Transponder_ping 1 420 9.91

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.19

TT8 2087 19 428.31

LPSleep 6955 2 165.50

TT8_Active 451 19 92.62

TT8_Sampling 1951 39 802.41

TT8_CF8 472 45 223.51

TT8_Kalman 0 0 0.00

Analog_circuits 1479 12 182.82

GPS_charging 0 0 0.00

Compass 1926 8 158.72

RAFOS 480 1 7.42

Transponder 10 30 3.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.64 -146.0 0.0 0.0 0 68 0.00 0.00 -50.85 0.000 2 0.000 0.000 139 1848 2709 0 0 0 0 0 0

70 -0.64 -146.0 3.2 -2.5 10 110 10.30 2.33 -22.95 0.000 4 0.237 0.079 2797 3261 3538 0 0 0 0 0 0

139 -0.60 -146.0 14.4 -17.6 24 146 0.12 2.28 0.00 0.000 6 0.160 0.057 2832 1847 3538 0 0 0 0 0 0

483 -0.60 -146.0 61.5 -13.7 85 488 0.00 2.28 0.00 0.000 4 0.000 0.071 2833 443 3539 0 0 0 0 0 0

584 -0.64 -146.0 75.0 -13.8 107 589 0.00 2.22 0.00 0.000 6 0.000 0.053 2824 1859 3538 0 0 0 0 0 0

923 -0.64 -146.0 124.1 -14.5 154 927 0.00 2.28 0.00 0.000 4 0.000 0.070 2824 443 3538 0 0 0 0 0 0

983 -0.68 -146.0 133.1 -13.9 160 987 0.00 2.17 0.00 0.000 6 0.000 0.053 2814 1855 3538 0 0 0 0 0 0

1311 -0.68 -146.0 176.8 -12.8 191 1315 0.00 2.28 0.00 0.000 4 0.000 0.069 2813 436 3537 0 0 0 0 0 0

1365 -0.68 -146.0 183.8 -12.3 196 1372 0.00 2.20 0.00 0.000 6 0.000 0.052 2807 1853 3538 0 0 0 0 0 0

1689 -0.68 -146.0 221.1 -10.5 227 1690 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1853 3537 0 0 0 0 0 0

2008 -0.68 -146.0 254.1 -10.3 257 2012 0.00 2.25 0.00 0.000 4 0.000 0.070 2807 442 3537 0 0 0 0 0 0

2035 -0.68 -146.0 257.0 -10.2 259 2041 0.00 2.17 0.00 0.000 6 0.000 0.052 2808 1850 3538 0 0 0 0 0 0

2359 -0.68 -146.0 290.5 -10.6 290 2363 0.00 2.22 0.00 0.000 4 0.000 0.068 2807 439 3537 0 0 0 0 0 0

2387 -0.68 -146.0 293.6 -11.7 292 2393 0.00 2.15 0.00 0.000 6 0.000 0.051 2807 1851 3538 0 0 0 0 0 0

2710 -0.68 -146.0 328.4 -10.8 323 2711 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1850 3538 0 0 0 0 0 0

3030 -0.68 -146.0 364.0 -11.4 353 3034 0.00 2.25 0.00 0.000 4 0.000 0.067 2807 438 3539 0 0 0 0 0 0

3066 -0.68 -146.0 368.7 -12.1 356 3072 0.00 2.15 0.00 0.000 6 0.000 0.051 2807 1851 3538 0 0 0 0 0 0

3390 -0.71 -146.0 405.8 -11.7 387 3394 0.00 2.25 0.00 0.000 4 0.000 0.067 2807 434 3538 0 0 0 0 0 0

3404 -0.71 -146.0 407.7 -12.2 388 3408 0.00 2.17 0.00 0.000 6 0.000 0.051 2808 1860 3538 0 0 0 0 0 0

3728 -0.75 -146.0 443.0 -10.8 418 3732 0.00 2.25 0.00 0.000 4 0.000 0.067 2807 437 3538 0 0 0 0 0 0

3751 -0.75 -146.0 445.8 -12.3 420 3755 0.00 2.15 0.00 0.000 6 0.000 0.051 2807 1851 3538 0 0 0 0 0 0

4081 -0.79 -146.0 481.3 -11.3 451 4083 0.10 0.00 0.00 0.000 6 0.113 0.000 2754 1851 3539 0 0 0 0 0 0

4400 -0.69 -146.0 527.0 -14.9 481 4402 0.15 0.00 0.00 0.000 6 0.154 0.000 2799 1852 3539 0 0 0 0 0 0

4716 -0.69 -146.0 564.2 -10.9 511 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1852 3540 0 0 0 0 0 0

5056 -0.69 -146.0 604.2 -11.8 541 5060 0.00 2.22 0.00 0.000 4 0.000 0.069 2799 441 3540 0 0 0 0 0 0

5101 -0.69 -146.0 609.9 -12.1 542 5105 0.00 2.17 0.00 0.000 6 0.000 0.051 2794 1853 3540 0 0 0 0 0 0

5266 end dive: TARGET_DEPTH_EXCEEDED

state 5266 begin apogee

5271 -0.13 0.0 629.0 11.5 548 5394 0.55 0.00 119.53 1.008 6 0.120 0.000 2981 1697 2940 0 0 0 0 0 0

5394 end apogee: CONTROL_FINISHED_OK

state 5394 begin climb

5396 0.64 146.0 631.1 0.0 552 5527 0.70 2.50 122.75 0.979 4 0.089 0.070 3235 294 2343 0 0 0 0 0 0

5791 0.55 222.7 627.0 6.5 564 5864 0.12 2.22 66.12 0.969 6 0.170 0.047 3203 1705 2032 0 0 0 0 0 0

6178 0.62 248.1 593.0 8.8 582 6206 0.00 2.42 22.15 0.925 4 0.000 0.070 3213 293 1927 0 0 0 0 0 0

6302 0.67 249.3 580.5 9.9 595 6307 0.00 2.22 0.00 0.000 6 0.000 0.047 3213 1700 1924 0 0 0 0 0 0

6627 0.72 265.4 548.1 9.3 626 6649 0.12 2.33 16.00 0.890 4 0.100 0.062 3272 3106 1856 0 0 0 0 0 0

6683 0.62 265.4 540.7 14.9 632 6688 0.20 2.30 0.00 0.000 6 0.163 0.058 3225 1699 1853 0 0 0 0 0 0

7006 0.62 265.4 504.8 10.4 662 7007 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 1699 1852 0 0 0 0 0 0

7326 0.62 265.4 471.6 10.7 692 7330 0.00 2.28 0.00 0.000 4 0.000 0.071 3235 288 1851 0 0 0 0 0 0

7340 0.62 265.4 470.0 10.7 693 7344 0.00 2.20 0.00 0.000 6 0.000 0.047 3235 1707 1851 0 0 0 0 0 0

7663 0.62 265.4 433.0 11.7 723 7667 0.00 2.22 0.00 0.000 4 0.000 0.061 3235 3106 1851 0 0 0 0 0 0

7681 0.62 265.4 430.7 12.7 724 7687 0.00 2.25 0.00 0.000 6 0.000 0.057 3244 1692 1850 0 0 0 0 0 0

8006 0.62 265.4 389.6 13.5 755 8010 0.00 2.25 0.00 0.000 4 0.000 0.061 3244 3106 1850 0 0 0 0 0 0

8024 0.62 265.4 386.8 14.0 756 8031 0.00 2.25 0.00 0.000 6 0.000 0.058 3253 1690 1850 0 0 0 0 0 0

8347 0.57 265.4 342.4 13.5 787 8349 0.15 0.00 0.00 0.000 6 0.161 0.000 3210 1690 1850 0 0 0 0 0 0

8667 0.64 265.4 309.5 10.1 817 8671 0.00 2.22 0.00 0.000 4 0.000 0.070 3219 290 1849 0 0 0 0 0 0

8685 0.71 266.2 307.6 10.0 818 8691 0.10 2.15 0.00 0.000 6 0.115 0.046 3268 1703 1849 0 0 0 0 0 0

9010 0.64 266.2 263.2 13.6 849 9015 0.12 2.22 0.00 0.000 4 0.166 0.062 3232 3103 1849 0 0 0 0 0 0

9080 0.64 266.2 254.7 11.2 856 9084 0.00 2.22 0.00 0.000 6 0.000 0.058 3241 1693 1849 0 0 0 0 0 0

9407 0.64 266.2 218.3 11.1 887 9411 0.00 2.20 0.00 0.000 4 0.000 0.070 3250 289 1849 0 0 0 0 0 0

9467 0.64 266.2 211.3 11.6 893 9471 0.00 2.15 0.00 0.000 6 0.000 0.047 3250 1701 1849 0 0 0 0 0 0

9796 0.64 266.2 171.7 12.8 924 9800 0.00 2.20 0.00 0.000 4 0.000 0.061 3250 3105 1849 0 0 0 0 0 0

9832 0.64 266.2 166.8 12.7 927 9838 0.00 2.17 0.00 0.000 6 0.000 0.055 3259 1700 1849 0 0 0 0 0 0

10156 0.64 266.2 128.7 11.1 958 10160 0.00 2.22 0.00 0.000 4 0.000 0.068 3267 289 1849 0 0 0 0 0 0

10210 0.64 266.2 122.1 11.3 963 10216 0.12 2.15 0.00 0.000 6 0.163 0.046 3230 1703 1849 0 0 0 0 0 0

10542 0.73 281.1 90.0 9.3 1003 10562 0.00 2.28 13.75 0.655 4 0.000 0.071 3241 290 1792 0 0 0 0 0 0

10573 0.84 306.7 87.3 8.8 1009 10602 0.15 2.15 23.98 0.655 6 0.091 0.046 3311 1701 1689 0 0 0 0 0 0

10940 0.77 306.7 43.7 11.9 1075 10946 0.12 2.25 0.00 0.000 4 0.163 0.061 3277 3110 1680 0 0 0 0 0 0

10965 0.77 306.7 40.8 11.8 1080 10972 0.00 2.25 0.00 0.000 6 0.000 0.059 3286 1701 1679 0 0 0 0 0 0

11309 end climb: SURFACE_DEPTH_REACHED

state 11309 begin surface coast

11342 end surface coast: CONTROL_FINISHED_OK

state 11342 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	97	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	24	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	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-6053.5352	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	041231,6703.913,-5702.738,42,1.1,42,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-78.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	042056,6704.003,-5702.991,11,1.8,11,-37.6	MHEAD_RNG_PITCHd_Wd	162.6,10984,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	626

FINISH	1.6,1.000230	_24V_AH	23.6,18.761
SM_CCo	11417,0.00,0.000,0,0,1674,310.55	_10V_AH	10.3,8.378
SM_GC	2.70,8.18,0.00,0.00,0.053,0.000,0.000,136,1856,1674,-8.95,0.17,310.55	FG_AHR_24Vo	0.000
RAFOS_CLK	519	FG_AHR_10Vo	0.000
RAFOS	1,1257480575,4.166667,4.159722,46,43,40,0,0,0,108,36,467,0,0,0	MEM	188436
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	47298,1147
IRIDIUM_FIX	6631.12,-5705.96,310199,000049	CAP_FILE_SIZE	134190,0
TT8_MAMPS	0.026078	CFSIZE	260165632,243445760
HUMID	39.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.60974	SOUNDSPEED	1470.9
TCM_TEMP	16.40	CURRENT	0.223,284.1,1
XPDR_PINGS	0	GPS	061109,073246,6703.551,-5703.431,8,3.8,27,-37.6
ALTIM_BOTTOM_PING	500.6,124.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	237	119.28	SBE_CT	795	24	450.79
Roll_motor	103	79	192.46	SBE_O2	846	19	379.76
VBD_pump_during_apogee	384	1007	9139.97	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	57	103	140.46	nil	0	0	0.00
Iridium_during_connect	113	160	428.34	nil	0	0	0.00
Iridium_during_xfer	167	223	879.74
Transponder_ping	1	420	9.91
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.19
TT8	2087	19	428.31
LPSleep	6955	2	165.50
TT8_Active	451	19	92.62
TT8_Sampling	1951	39	802.41
TT8_CF8	472	45	223.51
TT8_Kalman	0	0	0.00
Analog_circuits	1479	12	182.82
GPS_charging	0	0	0.00
Compass	1926	8	158.72
RAFOS	480	1	7.42
Transponder	10	30	3.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.64	-146.0	0.0	0.0	0	68	0.00	0.00	-50.85	0.000	2	0.000	0.000	139	1848	2709	0	0	0	0	0	0
70	-0.64	-146.0	3.2	-2.5	10	110	10.30	2.33	-22.95	0.000	4	0.237	0.079	2797	3261	3538	0	0	0	0	0	0
139	-0.60	-146.0	14.4	-17.6	24	146	0.12	2.28	0.00	0.000	6	0.160	0.057	2832	1847	3538	0	0	0	0	0	0
483	-0.60	-146.0	61.5	-13.7	85	488	0.00	2.28	0.00	0.000	4	0.000	0.071	2833	443	3539	0	0	0	0	0	0
584	-0.64	-146.0	75.0	-13.8	107	589	0.00	2.22	0.00	0.000	6	0.000	0.053	2824	1859	3538	0	0	0	0	0	0
923	-0.64	-146.0	124.1	-14.5	154	927	0.00	2.28	0.00	0.000	4	0.000	0.070	2824	443	3538	0	0	0	0	0	0
983	-0.68	-146.0	133.1	-13.9	160	987	0.00	2.17	0.00	0.000	6	0.000	0.053	2814	1855	3538	0	0	0	0	0	0
1311	-0.68	-146.0	176.8	-12.8	191	1315	0.00	2.28	0.00	0.000	4	0.000	0.069	2813	436	3537	0	0	0	0	0	0
1365	-0.68	-146.0	183.8	-12.3	196	1372	0.00	2.20	0.00	0.000	6	0.000	0.052	2807	1853	3538	0	0	0	0	0	0
1689	-0.68	-146.0	221.1	-10.5	227	1690	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	1853	3537	0	0	0	0	0	0
2008	-0.68	-146.0	254.1	-10.3	257	2012	0.00	2.25	0.00	0.000	4	0.000	0.070	2807	442	3537	0	0	0	0	0	0
2035	-0.68	-146.0	257.0	-10.2	259	2041	0.00	2.17	0.00	0.000	6	0.000	0.052	2808	1850	3538	0	0	0	0	0	0
2359	-0.68	-146.0	290.5	-10.6	290	2363	0.00	2.22	0.00	0.000	4	0.000	0.068	2807	439	3537	0	0	0	0	0	0
2387	-0.68	-146.0	293.6	-11.7	292	2393	0.00	2.15	0.00	0.000	6	0.000	0.051	2807	1851	3538	0	0	0	0	0	0
2710	-0.68	-146.0	328.4	-10.8	323	2711	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	1850	3538	0	0	0	0	0	0
3030	-0.68	-146.0	364.0	-11.4	353	3034	0.00	2.25	0.00	0.000	4	0.000	0.067	2807	438	3539	0	0	0	0	0	0
3066	-0.68	-146.0	368.7	-12.1	356	3072	0.00	2.15	0.00	0.000	6	0.000	0.051	2807	1851	3538	0	0	0	0	0	0
3390	-0.71	-146.0	405.8	-11.7	387	3394	0.00	2.25	0.00	0.000	4	0.000	0.067	2807	434	3538	0	0	0	0	0	0
3404	-0.71	-146.0	407.7	-12.2	388	3408	0.00	2.17	0.00	0.000	6	0.000	0.051	2808	1860	3538	0	0	0	0	0	0
3728	-0.75	-146.0	443.0	-10.8	418	3732	0.00	2.25	0.00	0.000	4	0.000	0.067	2807	437	3538	0	0	0	0	0	0
3751	-0.75	-146.0	445.8	-12.3	420	3755	0.00	2.15	0.00	0.000	6	0.000	0.051	2807	1851	3538	0	0	0	0	0	0
4081	-0.79	-146.0	481.3	-11.3	451	4083	0.10	0.00	0.00	0.000	6	0.113	0.000	2754	1851	3539	0	0	0	0	0	0
4400	-0.69	-146.0	527.0	-14.9	481	4402	0.15	0.00	0.00	0.000	6	0.154	0.000	2799	1852	3539	0	0	0	0	0	0
4716	-0.69	-146.0	564.2	-10.9	511	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1852	3540	0	0	0	0	0	0
5056	-0.69	-146.0	604.2	-11.8	541	5060	0.00	2.22	0.00	0.000	4	0.000	0.069	2799	441	3540	0	0	0	0	0	0
5101	-0.69	-146.0	609.9	-12.1	542	5105	0.00	2.17	0.00	0.000	6	0.000	0.051	2794	1853	3540	0	0	0	0	0	0
5266	end dive: TARGET_DEPTH_EXCEEDED
state	5266	begin apogee
5271	-0.13	0.0	629.0	11.5	548	5394	0.55	0.00	119.53	1.008	6	0.120	0.000	2981	1697	2940	0	0	0	0	0	0
5394	end apogee: CONTROL_FINISHED_OK
state	5394	begin climb
5396	0.64	146.0	631.1	0.0	552	5527	0.70	2.50	122.75	0.979	4	0.089	0.070	3235	294	2343	0	0	0	0	0	0
5791	0.55	222.7	627.0	6.5	564	5864	0.12	2.22	66.12	0.969	6	0.170	0.047	3203	1705	2032	0	0	0	0	0	0
6178	0.62	248.1	593.0	8.8	582	6206	0.00	2.42	22.15	0.925	4	0.000	0.070	3213	293	1927	0	0	0	0	0	0
6302	0.67	249.3	580.5	9.9	595	6307	0.00	2.22	0.00	0.000	6	0.000	0.047	3213	1700	1924	0	0	0	0	0	0
6627	0.72	265.4	548.1	9.3	626	6649	0.12	2.33	16.00	0.890	4	0.100	0.062	3272	3106	1856	0	0	0	0	0	0
6683	0.62	265.4	540.7	14.9	632	6688	0.20	2.30	0.00	0.000	6	0.163	0.058	3225	1699	1853	0	0	0	0	0	0
7006	0.62	265.4	504.8	10.4	662	7007	0.00	0.00	0.00	0.000	6	0.000	0.000	3225	1699	1852	0	0	0	0	0	0
7326	0.62	265.4	471.6	10.7	692	7330	0.00	2.28	0.00	0.000	4	0.000	0.071	3235	288	1851	0	0	0	0	0	0
7340	0.62	265.4	470.0	10.7	693	7344	0.00	2.20	0.00	0.000	6	0.000	0.047	3235	1707	1851	0	0	0	0	0	0
7663	0.62	265.4	433.0	11.7	723	7667	0.00	2.22	0.00	0.000	4	0.000	0.061	3235	3106	1851	0	0	0	0	0	0
7681	0.62	265.4	430.7	12.7	724	7687	0.00	2.25	0.00	0.000	6	0.000	0.057	3244	1692	1850	0	0	0	0	0	0
8006	0.62	265.4	389.6	13.5	755	8010	0.00	2.25	0.00	0.000	4	0.000	0.061	3244	3106	1850	0	0	0	0	0	0
8024	0.62	265.4	386.8	14.0	756	8031	0.00	2.25	0.00	0.000	6	0.000	0.058	3253	1690	1850	0	0	0	0	0	0
8347	0.57	265.4	342.4	13.5	787	8349	0.15	0.00	0.00	0.000	6	0.161	0.000	3210	1690	1850	0	0	0	0	0	0
8667	0.64	265.4	309.5	10.1	817	8671	0.00	2.22	0.00	0.000	4	0.000	0.070	3219	290	1849	0	0	0	0	0	0
8685	0.71	266.2	307.6	10.0	818	8691	0.10	2.15	0.00	0.000	6	0.115	0.046	3268	1703	1849	0	0	0	0	0	0
9010	0.64	266.2	263.2	13.6	849	9015	0.12	2.22	0.00	0.000	4	0.166	0.062	3232	3103	1849	0	0	0	0	0	0
9080	0.64	266.2	254.7	11.2	856	9084	0.00	2.22	0.00	0.000	6	0.000	0.058	3241	1693	1849	0	0	0	0	0	0
9407	0.64	266.2	218.3	11.1	887	9411	0.00	2.20	0.00	0.000	4	0.000	0.070	3250	289	1849	0	0	0	0	0	0
9467	0.64	266.2	211.3	11.6	893	9471	0.00	2.15	0.00	0.000	6	0.000	0.047	3250	1701	1849	0	0	0	0	0	0
9796	0.64	266.2	171.7	12.8	924	9800	0.00	2.20	0.00	0.000	4	0.000	0.061	3250	3105	1849	0	0	0	0	0	0
9832	0.64	266.2	166.8	12.7	927	9838	0.00	2.17	0.00	0.000	6	0.000	0.055	3259	1700	1849	0	0	0	0	0	0
10156	0.64	266.2	128.7	11.1	958	10160	0.00	2.22	0.00	0.000	4	0.000	0.068	3267	289	1849	0	0	0	0	0	0
10210	0.64	266.2	122.1	11.3	963	10216	0.12	2.15	0.00	0.000	6	0.163	0.046	3230	1703	1849	0	0	0	0	0	0
10542	0.73	281.1	90.0	9.3	1003	10562	0.00	2.28	13.75	0.655	4	0.000	0.071	3241	290	1792	0	0	0	0	0	0
10573	0.84	306.7	87.3	8.8	1009	10602	0.15	2.15	23.98	0.655	6	0.091	0.046	3311	1701	1689	0	0	0	0	0	0
10940	0.77	306.7	43.7	11.9	1075	10946	0.12	2.25	0.00	0.000	4	0.163	0.061	3277	3110	1680	0	0	0	0	0	0
10965	0.77	306.7	40.8	11.8	1080	10972	0.00	2.25	0.00	0.000	6	0.000	0.059	3286	1701	1679	0	0	0	0	0	0
11309	end climb: SURFACE_DEPTH_REACHED
state	11309	begin surface coast
11342	end surface coast: CONTROL_FINISHED_OK
state	11342	begin surface