Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 142 * 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 142 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 -30167.271 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 2390 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 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 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 31 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 20 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 -30167.271

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 1 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 2390 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 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 19 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 142 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 134830,6658.765,-5734.920,39,1.6,44,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 135420,6658.757,-5735.007,14,1.6,32,-37.7 MHEAD_RNG_PITCHd_Wd 102.6,34844,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 833

Post-dive calculations and measurements:

FINISH 0.4,1.026571 _24V_AH 22.7,35.747

SM_CCo 12754,0.00,0.000,0,0,1390,345.87 _10V_AH 10.2,18.395

SM_GC 1.33,7.32,0.00,0.00,0.079,0.000,0.000,126,2466,1390,-7.03,0.17,345.87 FG_AHR_24Vo 0.000

RAFOS_CLK 819 FG_AHR_10Vo 0.000

RAFOS 0,1258387264,16.033333,16.017778,73,58,57,0,0,0,154,117,133,0,0,0 MEM 187876

RAFOS_FIX 6656.631348,-5743.466309,161109,161617,6,92,0.77 DATA_FILE_SIZE 44106,1043

IRIDIUM_FIX 6625.71,-5734.67,100299,101002 CAP_FILE_SIZE 130366,0

TT8_MAMPS 0.026845 CFSIZE 260165632,238817280

HUMID 49.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87729 SOUNDSPEED 1461.9

TCM_TEMP 17.20 CURRENT 0.813,234.4,1

XPDR_PINGS 11 GPS 161109,172855,6658.494,-5734.221,40,0.9,40,-37.7

ALTIM_TOP_PING 19.8,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 309 137.16 SBE_CT 747 24 407.27

Roll_motor 116 95 251.14 SBE_O2 751 19 324.33

VBD_pump_during_apogee 427 1310 12709.94 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 27 103 64.51 nil 0 0 0.00

Iridium_during_connect 39 160 143.91 nil 0 0 0.00

Iridium_during_xfer 147 223 748.34

Transponder_ping 3 420 28.60

GUMSTIX_24V 0 0 0.00

GPS 33 50 17.26

TT8 2092 19 425.16

LPSleep 8024 2 189.08

TT8_Active 543 19 110.46

TT8_Sampling 2058 39 838.18

TT8_CF8 394 45 184.82

TT8_Kalman 0 0 0.00

Analog_circuits 1614 12 197.65

GPS_charging 0 0 0.00

Compass 2004 8 163.56

RAFOS 2520 1 38.56

Transponder 2 30 0.80

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 130 0.00 0.00 -112.85 0.000 2 0.000 0.000 121 2469 3111 0 0 0 0 0 0

134 -0.73 -146.0 3.4 -5.6 22 161 10.02 2.75 -7.43 0.000 4 0.310 0.095 2148 858 3399 0 0 0 0 0 0

235 -0.73 -146.0 35.3 -32.6 40 241 0.00 2.65 0.00 0.000 6 0.000 0.078 2147 2467 3400 0 0 0 0 0 0

573 -0.73 -146.0 128.1 -25.4 91 577 0.00 2.47 0.00 0.000 4 0.000 0.094 2148 3913 3401 0 0 0 0 0 0

690 -0.73 -146.0 158.9 -25.6 101 694 0.00 2.38 0.00 0.000 6 0.000 0.069 2148 2478 3401 0 0 0 0 0 0

1014 -0.73 -146.0 236.1 -23.1 131 1018 0.00 2.47 0.00 0.000 4 0.000 0.092 2148 3914 3401 0 0 0 0 0 0

1183 -0.73 -146.0 276.8 -24.0 146 1187 0.00 2.35 0.00 0.000 6 0.000 0.068 2148 2485 3401 0 0 0 0 0 0

1507 -0.73 -146.0 349.6 -22.7 176 1511 0.00 2.42 0.00 0.000 4 0.000 0.090 2148 3911 3401 0 0 0 0 0 0

1680 -0.73 -146.0 389.3 -22.9 191 1684 0.00 2.33 0.00 0.000 6 0.000 0.069 2148 2493 3401 0 0 0 0 0 0

2005 -0.73 -146.0 461.0 -21.6 221 2008 0.00 2.42 0.00 0.000 4 0.000 0.092 2148 3915 3401 0 0 0 0 0 0

2128 -0.73 -146.0 489.2 -23.5 232 2132 0.00 2.30 0.00 0.000 6 0.000 0.068 2148 2508 3401 0 0 0 0 0 0

2452 -0.73 -146.0 557.8 -20.5 262 2456 0.00 2.38 0.00 0.000 4 0.000 0.091 2148 3910 3401 0 0 0 0 0 0

2574 -0.73 -146.0 584.2 -21.8 272 2581 0.00 2.28 0.00 0.000 6 0.000 0.068 2148 2513 3401 0 0 0 0 0 0

2899 -0.73 -146.0 649.0 -19.7 288 2903 0.00 2.38 0.00 0.000 4 0.000 0.091 2148 3910 3401 0 0 0 0 0 0

2994 -0.73 -146.0 668.9 -21.6 290 3000 0.00 2.25 0.00 0.000 6 0.000 0.068 2148 2524 3401 0 0 0 0 0 0

3306 -0.73 -146.0 730.4 -19.7 301 3311 0.00 2.35 0.00 0.000 4 0.000 0.092 2148 3910 3401 0 0 0 0 0 0

3412 -0.73 -146.0 752.3 -20.6 304 3416 0.00 2.28 0.00 0.000 6 0.000 0.067 2148 2537 3401 0 0 0 0 0 0

3742 -0.73 -146.0 816.3 -19.4 315 3746 0.00 2.33 0.00 0.000 4 0.000 0.092 2148 3909 3401 0 0 0 0 0 0

3823 end dive: TARGET_DEPTH_EXCEEDED

state 3823 begin apogee

3830 -0.16 0.0 833.8 21.8 317 3956 0.73 0.00 122.55 1.310 6 0.249 0.000 2327 1952 2799 0 0 0 0 0 0

3957 end apogee: CONTROL_FINISHED_OK

state 3957 begin climb

3959 0.73 146.0 846.2 0.0 321 4094 1.17 0.00 128.23 1.252 6 0.219 0.000 2611 1952 2204 0 0 0 0 0 0

4387 0.80 209.6 822.8 6.5 335 4449 0.12 2.85 55.33 1.234 4 0.173 0.091 2644 361 1943 0 0 0 0 0 0

4533 0.82 225.6 811.2 8.5 339 4553 0.00 2.67 14.82 1.144 6 0.000 0.066 2643 1952 1879 0 0 0 0 0 0

4889 0.82 225.6 779.1 9.7 351 4894 0.00 2.72 0.00 0.000 4 0.000 0.085 2643 3539 1873 0 0 0 0 0 0

5011 0.82 225.6 767.6 9.3 354 5017 0.00 2.65 0.00 0.000 6 0.000 0.071 2643 1962 1872 0 0 0 0 0 0

5324 0.83 232.3 739.6 8.9 365 5337 0.00 2.70 6.30 0.996 4 0.000 0.085 2643 3537 1851 0 0 0 0 0 0

5438 0.83 232.3 729.2 9.2 368 5442 0.00 2.50 0.00 0.000 6 0.000 0.071 2643 2034 1850 0 0 0 0 0 0

5761 0.83 232.3 699.6 9.6 379 5766 0.00 2.55 0.00 0.000 4 0.000 0.087 2644 3543 1850 0 0 0 0 0 0

6018 0.85 246.8 677.2 8.6 386 6038 0.00 2.53 14.07 1.142 6 0.000 0.072 2644 2018 1793 0 0 0 0 0 0

6362 0.85 246.8 645.5 9.7 398 6367 0.00 2.58 0.00 0.000 4 0.000 0.087 2643 3539 1789 0 0 0 0 0 0

6619 0.85 246.8 622.4 9.3 405 6626 0.00 2.53 0.00 0.000 6 0.000 0.071 2643 2037 1789 0 0 0 0 0 0

6935 0.85 246.8 593.0 9.9 420 6939 0.00 2.53 0.00 0.000 4 0.000 0.087 2644 3538 1788 0 0 0 0 0 0

7119 0.85 246.8 575.0 9.5 436 7124 0.00 2.47 0.00 0.000 6 0.000 0.072 2643 2037 1788 0 0 0 0 0 0

7444 0.86 257.4 544.7 8.7 466 7460 0.00 2.80 9.90 1.040 4 0.000 0.094 2644 366 1749 0 0 0 0 0 0

7561 0.90 284.5 535.3 8.0 476 7593 0.12 2.80 24.98 1.101 6 0.210 0.071 2673 2114 1640 0 0 0 0 0 0

7911 0.90 284.5 500.6 11.3 509 7916 0.00 2.40 0.00 0.000 4 0.000 0.088 2674 3537 1634 0 0 0 0 0 0

7956 0.90 284.5 495.7 10.5 512 7962 0.00 2.35 0.00 0.000 6 0.000 0.071 2674 2119 1633 0 0 0 0 0 0

8283 0.90 284.5 459.0 12.0 543 8284 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2120 1632 0 0 0 0 0 0

8598 0.90 284.5 422.3 11.3 573 8603 0.00 2.40 0.00 0.000 4 0.000 0.088 2674 3542 1632 0 0 0 0 0 0

8642 0.90 284.5 417.4 11.1 576 8648 0.00 2.38 0.00 0.000 6 0.000 0.071 2674 2128 1633 0 0 0 0 0 0

8968 0.90 284.5 380.3 11.8 607 8969 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2128 1632 0 0 0 0 0 0

9287 0.90 284.5 344.3 11.2 637 9289 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2128 1632 0 0 0 0 0 0

9604 0.90 284.5 311.5 10.5 667 9608 0.00 2.38 0.00 0.000 4 0.000 0.088 2674 3543 1632 0 0 0 0 0 0

9655 0.92 302.7 306.7 8.4 671 9676 0.00 2.33 15.60 0.944 6 0.000 0.073 2674 2127 1565 0 0 0 0 0 0

9997 0.92 302.7 272.0 11.2 703 9998 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2128 1562 0 0 0 0 0 0

10314 0.92 302.7 234.9 11.9 733 10315 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2128 1562 0 0 0 0 0 0

10631 0.92 302.7 197.7 11.5 763 10635 0.00 2.38 0.00 0.000 4 0.000 0.087 2674 3540 1561 0 0 0 0 0 0

10725 0.92 302.7 188.2 9.5 771 10731 0.00 2.33 0.00 0.000 6 0.000 0.071 2673 2124 1560 0 0 0 0 0 0

11050 0.92 302.7 157.1 10.1 802 11051 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2124 1561 0 0 0 0 0 0

11370 0.92 302.7 124.6 10.3 832 11374 0.00 2.38 0.00 0.000 4 0.000 0.088 2674 3539 1561 0 0 0 0 0 0

11622 0.92 302.7 99.0 10.4 854 11628 0.00 2.20 0.00 0.000 6 0.000 0.071 2674 2185 1559 0 0 0 0 0 0

11961 0.95 332.6 67.2 7.9 915 11994 0.00 3.03 25.67 0.810 4 0.000 0.092 2674 364 1441 0 0 0 0 0 0

12017 0.97 343.2 62.5 8.7 925 12035 0.00 2.67 9.95 0.750 6 0.000 0.069 2674 2033 1399 0 0 0 0 0 0

12370 0.97 343.2 30.7 12.0 988 12376 0.00 2.53 0.00 0.000 4 0.000 0.087 2674 3536 1394 0 0 0 0 0 0

12415 0.97 343.2 25.9 10.6 996 12421 0.00 2.72 0.00 0.000 6 0.000 0.072 2673 1892 1393 0 0 0 0 0 0

12654 end climb: SURFACE_DEPTH_REACHED

state 12654 begin surface coast

12678 end surface coast: CONTROL_FINISHED_OK

state 12678 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	142	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	-30167.271	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	2390	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	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	134830,6658.765,-5734.920,39,1.6,44,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	135420,6658.757,-5735.007,14,1.6,32,-37.7	MHEAD_RNG_PITCHd_Wd	102.6,34844,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	833

FINISH	0.4,1.026571	_24V_AH	22.7,35.747
SM_CCo	12754,0.00,0.000,0,0,1390,345.87	_10V_AH	10.2,18.395
SM_GC	1.33,7.32,0.00,0.00,0.079,0.000,0.000,126,2466,1390,-7.03,0.17,345.87	FG_AHR_24Vo	0.000
RAFOS_CLK	819	FG_AHR_10Vo	0.000
RAFOS	0,1258387264,16.033333,16.017778,73,58,57,0,0,0,154,117,133,0,0,0	MEM	187876
RAFOS_FIX	6656.631348,-5743.466309,161109,161617,6,92,0.77	DATA_FILE_SIZE	44106,1043
IRIDIUM_FIX	6625.71,-5734.67,100299,101002	CAP_FILE_SIZE	130366,0
TT8_MAMPS	0.026845	CFSIZE	260165632,238817280
HUMID	49.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87729	SOUNDSPEED	1461.9
TCM_TEMP	17.20	CURRENT	0.813,234.4,1
XPDR_PINGS	11	GPS	161109,172855,6658.494,-5734.221,40,0.9,40,-37.7
ALTIM_TOP_PING	19.8,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	309	137.16	SBE_CT	747	24	407.27
Roll_motor	116	95	251.14	SBE_O2	751	19	324.33
VBD_pump_during_apogee	427	1310	12709.94	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	27	103	64.51	nil	0	0	0.00
Iridium_during_connect	39	160	143.91	nil	0	0	0.00
Iridium_during_xfer	147	223	748.34
Transponder_ping	3	420	28.60
GUMSTIX_24V	0	0	0.00
GPS	33	50	17.26
TT8	2092	19	425.16
LPSleep	8024	2	189.08
TT8_Active	543	19	110.46
TT8_Sampling	2058	39	838.18
TT8_CF8	394	45	184.82
TT8_Kalman	0	0	0.00
Analog_circuits	1614	12	197.65
GPS_charging	0	0	0.00
Compass	2004	8	163.56
RAFOS	2520	1	38.56
Transponder	2	30	0.80

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	130	0.00	0.00	-112.85	0.000	2	0.000	0.000	121	2469	3111	0	0	0	0	0	0
134	-0.73	-146.0	3.4	-5.6	22	161	10.02	2.75	-7.43	0.000	4	0.310	0.095	2148	858	3399	0	0	0	0	0	0
235	-0.73	-146.0	35.3	-32.6	40	241	0.00	2.65	0.00	0.000	6	0.000	0.078	2147	2467	3400	0	0	0	0	0	0
573	-0.73	-146.0	128.1	-25.4	91	577	0.00	2.47	0.00	0.000	4	0.000	0.094	2148	3913	3401	0	0	0	0	0	0
690	-0.73	-146.0	158.9	-25.6	101	694	0.00	2.38	0.00	0.000	6	0.000	0.069	2148	2478	3401	0	0	0	0	0	0
1014	-0.73	-146.0	236.1	-23.1	131	1018	0.00	2.47	0.00	0.000	4	0.000	0.092	2148	3914	3401	0	0	0	0	0	0
1183	-0.73	-146.0	276.8	-24.0	146	1187	0.00	2.35	0.00	0.000	6	0.000	0.068	2148	2485	3401	0	0	0	0	0	0
1507	-0.73	-146.0	349.6	-22.7	176	1511	0.00	2.42	0.00	0.000	4	0.000	0.090	2148	3911	3401	0	0	0	0	0	0
1680	-0.73	-146.0	389.3	-22.9	191	1684	0.00	2.33	0.00	0.000	6	0.000	0.069	2148	2493	3401	0	0	0	0	0	0
2005	-0.73	-146.0	461.0	-21.6	221	2008	0.00	2.42	0.00	0.000	4	0.000	0.092	2148	3915	3401	0	0	0	0	0	0
2128	-0.73	-146.0	489.2	-23.5	232	2132	0.00	2.30	0.00	0.000	6	0.000	0.068	2148	2508	3401	0	0	0	0	0	0
2452	-0.73	-146.0	557.8	-20.5	262	2456	0.00	2.38	0.00	0.000	4	0.000	0.091	2148	3910	3401	0	0	0	0	0	0
2574	-0.73	-146.0	584.2	-21.8	272	2581	0.00	2.28	0.00	0.000	6	0.000	0.068	2148	2513	3401	0	0	0	0	0	0
2899	-0.73	-146.0	649.0	-19.7	288	2903	0.00	2.38	0.00	0.000	4	0.000	0.091	2148	3910	3401	0	0	0	0	0	0
2994	-0.73	-146.0	668.9	-21.6	290	3000	0.00	2.25	0.00	0.000	6	0.000	0.068	2148	2524	3401	0	0	0	0	0	0
3306	-0.73	-146.0	730.4	-19.7	301	3311	0.00	2.35	0.00	0.000	4	0.000	0.092	2148	3910	3401	0	0	0	0	0	0
3412	-0.73	-146.0	752.3	-20.6	304	3416	0.00	2.28	0.00	0.000	6	0.000	0.067	2148	2537	3401	0	0	0	0	0	0
3742	-0.73	-146.0	816.3	-19.4	315	3746	0.00	2.33	0.00	0.000	4	0.000	0.092	2148	3909	3401	0	0	0	0	0	0
3823	end dive: TARGET_DEPTH_EXCEEDED
state	3823	begin apogee
3830	-0.16	0.0	833.8	21.8	317	3956	0.73	0.00	122.55	1.310	6	0.249	0.000	2327	1952	2799	0	0	0	0	0	0
3957	end apogee: CONTROL_FINISHED_OK
state	3957	begin climb
3959	0.73	146.0	846.2	0.0	321	4094	1.17	0.00	128.23	1.252	6	0.219	0.000	2611	1952	2204	0	0	0	0	0	0
4387	0.80	209.6	822.8	6.5	335	4449	0.12	2.85	55.33	1.234	4	0.173	0.091	2644	361	1943	0	0	0	0	0	0
4533	0.82	225.6	811.2	8.5	339	4553	0.00	2.67	14.82	1.144	6	0.000	0.066	2643	1952	1879	0	0	0	0	0	0
4889	0.82	225.6	779.1	9.7	351	4894	0.00	2.72	0.00	0.000	4	0.000	0.085	2643	3539	1873	0	0	0	0	0	0
5011	0.82	225.6	767.6	9.3	354	5017	0.00	2.65	0.00	0.000	6	0.000	0.071	2643	1962	1872	0	0	0	0	0	0
5324	0.83	232.3	739.6	8.9	365	5337	0.00	2.70	6.30	0.996	4	0.000	0.085	2643	3537	1851	0	0	0	0	0	0
5438	0.83	232.3	729.2	9.2	368	5442	0.00	2.50	0.00	0.000	6	0.000	0.071	2643	2034	1850	0	0	0	0	0	0
5761	0.83	232.3	699.6	9.6	379	5766	0.00	2.55	0.00	0.000	4	0.000	0.087	2644	3543	1850	0	0	0	0	0	0
6018	0.85	246.8	677.2	8.6	386	6038	0.00	2.53	14.07	1.142	6	0.000	0.072	2644	2018	1793	0	0	0	0	0	0
6362	0.85	246.8	645.5	9.7	398	6367	0.00	2.58	0.00	0.000	4	0.000	0.087	2643	3539	1789	0	0	0	0	0	0
6619	0.85	246.8	622.4	9.3	405	6626	0.00	2.53	0.00	0.000	6	0.000	0.071	2643	2037	1789	0	0	0	0	0	0
6935	0.85	246.8	593.0	9.9	420	6939	0.00	2.53	0.00	0.000	4	0.000	0.087	2644	3538	1788	0	0	0	0	0	0
7119	0.85	246.8	575.0	9.5	436	7124	0.00	2.47	0.00	0.000	6	0.000	0.072	2643	2037	1788	0	0	0	0	0	0
7444	0.86	257.4	544.7	8.7	466	7460	0.00	2.80	9.90	1.040	4	0.000	0.094	2644	366	1749	0	0	0	0	0	0
7561	0.90	284.5	535.3	8.0	476	7593	0.12	2.80	24.98	1.101	6	0.210	0.071	2673	2114	1640	0	0	0	0	0	0
7911	0.90	284.5	500.6	11.3	509	7916	0.00	2.40	0.00	0.000	4	0.000	0.088	2674	3537	1634	0	0	0	0	0	0
7956	0.90	284.5	495.7	10.5	512	7962	0.00	2.35	0.00	0.000	6	0.000	0.071	2674	2119	1633	0	0	0	0	0	0
8283	0.90	284.5	459.0	12.0	543	8284	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2120	1632	0	0	0	0	0	0
8598	0.90	284.5	422.3	11.3	573	8603	0.00	2.40	0.00	0.000	4	0.000	0.088	2674	3542	1632	0	0	0	0	0	0
8642	0.90	284.5	417.4	11.1	576	8648	0.00	2.38	0.00	0.000	6	0.000	0.071	2674	2128	1633	0	0	0	0	0	0
8968	0.90	284.5	380.3	11.8	607	8969	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2128	1632	0	0	0	0	0	0
9287	0.90	284.5	344.3	11.2	637	9289	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2128	1632	0	0	0	0	0	0
9604	0.90	284.5	311.5	10.5	667	9608	0.00	2.38	0.00	0.000	4	0.000	0.088	2674	3543	1632	0	0	0	0	0	0
9655	0.92	302.7	306.7	8.4	671	9676	0.00	2.33	15.60	0.944	6	0.000	0.073	2674	2127	1565	0	0	0	0	0	0
9997	0.92	302.7	272.0	11.2	703	9998	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2128	1562	0	0	0	0	0	0
10314	0.92	302.7	234.9	11.9	733	10315	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2128	1562	0	0	0	0	0	0
10631	0.92	302.7	197.7	11.5	763	10635	0.00	2.38	0.00	0.000	4	0.000	0.087	2674	3540	1561	0	0	0	0	0	0
10725	0.92	302.7	188.2	9.5	771	10731	0.00	2.33	0.00	0.000	6	0.000	0.071	2673	2124	1560	0	0	0	0	0	0
11050	0.92	302.7	157.1	10.1	802	11051	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2124	1561	0	0	0	0	0	0
11370	0.92	302.7	124.6	10.3	832	11374	0.00	2.38	0.00	0.000	4	0.000	0.088	2674	3539	1561	0	0	0	0	0	0
11622	0.92	302.7	99.0	10.4	854	11628	0.00	2.20	0.00	0.000	6	0.000	0.071	2674	2185	1559	0	0	0	0	0	0
11961	0.95	332.6	67.2	7.9	915	11994	0.00	3.03	25.67	0.810	4	0.000	0.092	2674	364	1441	0	0	0	0	0	0
12017	0.97	343.2	62.5	8.7	925	12035	0.00	2.67	9.95	0.750	6	0.000	0.069	2674	2033	1399	0	0	0	0	0	0
12370	0.97	343.2	30.7	12.0	988	12376	0.00	2.53	0.00	0.000	4	0.000	0.087	2674	3536	1394	0	0	0	0	0	0
12415	0.97	343.2	25.9	10.6	996	12421	0.00	2.72	0.00	0.000	6	0.000	0.072	2673	1892	1393	0	0	0	0	0	0
12654	end climb: SURFACE_DEPTH_REACHED
state	12654	begin surface coast
12678	end surface coast: CONTROL_FINISHED_OK
state	12678	begin surface