Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 149 * 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 149 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 17 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -30274.27 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 -30274.27

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 17 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 149 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 145036,6700.391,-5724.000,35,0.8,40,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 145544,6700.430,-5724.075,11,1.2,11,-37.6 MHEAD_RNG_PITCHd_Wd 131.3,26483,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 797

Post-dive calculations and measurements:

FINISH 0.5,1.002257 _24V_AH 22.8,36.850

SM_CCo 12106,0.00,0.000,0,0,1230,385.12 _10V_AH 10.2,18.866

SM_GC 1.15,7.43,0.00,0.00,0.071,0.000,0.000,124,2479,1230,-7.03,0.54,385.12 FG_AHR_24Vo 0.000

RAFOS_CLK 770 FG_AHR_10Vo 0.000

RAFOS 0,1258473662,16.033333,16.017221,66,59,57,0,0,0,1100,206,175,0,0,0 MEM 187996

RAFOS_FIX 6657.121582,-5728.285156,171109,161625,7,98,1.24 DATA_FILE_SIZE 40985,1027

IRIDIUM_FIX 6631.12,-5719.52,110299,111121 CAP_FILE_SIZE 132072,0

TT8_MAMPS 0.026845 CFSIZE 260165632,238325760

HUMID 48.38 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87729 SOUNDSPEED 1463.2

TCM_TEMP 17.50 CURRENT 0.655,250.8,1

XPDR_PINGS 8 GPS 171109,181936,6700.553,-5723.896,35,1.7,40,-37.6

ALTIM_TOP_PING 19.7,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 310 139.70 SBE_CT 734 24 401.87

Roll_motor 128 92 272.59 SBE_O2 739 19 320.15

VBD_pump_during_apogee 458 1286 13459.49 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 29 103 68.90 nil 0 0 0.00

Iridium_during_connect 31 160 116.02 nil 0 0 0.00

Iridium_during_xfer 136 223 692.87

Transponder_ping 2 420 21.55

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.72

TT8 2033 19 413.16

LPSleep 7409 2 174.58

TT8_Active 559 19 113.75

TT8_Sampling 2052 39 835.71

TT8_CF8 377 45 177.04

TT8_Kalman 0 0 0.00

Analog_circuits 1645 12 201.35

GPS_charging 0 0 0.00

Compass 2016 8 164.52

RAFOS 2520 1 38.56

Transponder 2 30 0.81

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

15 -0.73 -146.0 0.0 0.0 0 125 0.00 0.00 -107.18 0.000 2 0.000 0.000 126 2460 3167 0 0 0 0 0 0

128 -0.73 -146.0 3.6 -7.1 21 151 10.05 2.65 -5.90 0.000 4 0.311 0.091 2148 860 3397 0 0 0 0 0 0

336 -0.73 -146.0 66.8 -30.9 58 342 0.00 2.62 0.00 0.000 6 0.000 0.077 2148 2466 3400 0 0 0 0 0 0

673 -0.73 -146.0 156.5 -25.8 100 677 0.00 2.47 0.00 0.000 4 0.000 0.092 2148 3909 3400 0 0 0 0 0 0

802 -0.73 -146.0 188.4 -25.1 111 806 0.00 2.40 0.00 0.000 6 0.000 0.067 2148 2459 3399 0 0 0 0 0 0

1126 -0.73 -146.0 264.6 -23.0 141 1130 0.00 2.53 0.00 0.000 4 0.000 0.091 2148 3918 3400 0 0 0 0 0 0

1288 -0.73 -146.0 302.9 -23.1 155 1292 0.00 2.38 0.00 0.000 6 0.000 0.067 2148 2476 3400 0 0 0 0 0 0

1612 -0.73 -146.0 373.0 -22.0 185 1616 0.00 2.45 0.00 0.000 4 0.000 0.091 2148 3910 3399 0 0 0 0 0 0

1819 -0.73 -146.0 419.6 -22.0 203 1823 0.00 2.33 0.00 0.000 6 0.000 0.067 2148 2490 3400 0 0 0 0 0 0

2143 -0.73 -146.0 488.1 -21.3 233 2148 0.00 2.42 0.00 0.000 4 0.000 0.091 2148 3912 3400 0 0 0 0 0 0

2262 -0.73 -146.0 514.8 -23.3 243 2266 0.00 2.33 0.00 0.000 6 0.000 0.067 2149 2493 3400 0 0 0 0 0 0

2591 -0.73 -146.0 584.0 -20.3 274 2596 0.00 2.42 0.00 0.000 4 0.000 0.090 2148 3919 3400 0 0 0 0 0 0

2737 -0.73 -146.0 615.4 -22.0 283 2741 0.00 2.30 0.00 0.000 6 0.000 0.067 2149 2508 3399 0 0 0 0 0 0

3056 -0.73 -146.0 679.5 -19.8 294 3060 0.00 2.40 0.00 0.000 4 0.000 0.091 2149 3917 3399 0 0 0 0 0 0

3133 -0.73 -146.0 695.6 -21.7 296 3137 0.00 2.30 0.00 0.000 6 0.000 0.066 2148 2512 3399 0 0 0 0 0 0

3457 -0.73 -146.0 758.1 -19.0 307 3461 0.00 2.38 0.00 0.000 4 0.000 0.091 2148 3909 3399 0 0 0 0 0 0

3551 -0.73 -146.0 777.1 -19.3 310 3556 0.00 2.28 0.00 0.000 6 0.000 0.067 2148 2519 3399 0 0 0 0 0 0

3669 end dive: TARGET_DEPTH_EXCEEDED

state 3669 begin apogee

3675 -0.16 0.0 800.5 19.3 314 3801 0.75 0.00 121.95 1.286 6 0.249 0.000 2328 1950 2800 0 0 0 0 0 0

3802 end apogee: CONTROL_FINISHED_OK

state 3802 begin climb

3804 0.73 146.0 813.3 0.0 318 3940 1.15 2.92 127.00 1.230 4 0.219 0.091 2608 367 2204 0 0 0 0 0 0

3950 0.81 216.3 807.1 6.2 322 4021 0.15 2.78 63.78 1.193 6 0.149 0.065 2645 1955 1917 0 0 0 0 0 0

4357 0.81 216.3 770.5 9.3 336 4361 0.00 2.72 0.00 0.000 4 0.000 0.091 2646 361 1908 0 0 0 0 0 0

4614 0.83 234.8 747.8 8.4 343 4635 0.00 2.65 15.90 1.148 6 0.000 0.067 2646 2007 1841 0 0 0 0 0 0

4954 0.83 234.8 715.8 10.0 355 4958 0.00 2.60 0.00 0.000 4 0.000 0.085 2646 3542 1837 0 0 0 0 0 0

5206 0.83 234.8 690.7 9.8 362 5210 0.00 2.53 0.00 0.000 6 0.000 0.071 2646 2021 1836 0 0 0 0 0 0

5517 0.83 234.8 658.1 10.8 372 5522 0.00 2.72 0.00 0.000 4 0.000 0.093 2646 362 1835 0 0 0 0 0 0

5674 0.83 234.8 642.8 9.2 376 5680 0.00 2.62 0.00 0.000 6 0.000 0.067 2646 2048 1835 0 0 0 0 0 0

5986 0.83 234.8 614.5 9.9 387 5990 0.00 2.78 0.00 0.000 4 0.000 0.093 2646 365 1834 0 0 0 0 0 0

6017 0.83 234.8 611.2 9.9 388 6022 0.00 2.67 0.00 0.000 6 0.000 0.069 2646 2055 1834 0 0 0 0 0 0

6344 0.83 234.8 580.2 9.8 410 6348 0.00 2.47 0.00 0.000 4 0.000 0.087 2646 3539 1834 0 0 0 0 0 0

6600 0.83 234.8 556.0 9.2 432 6606 0.00 2.45 0.00 0.000 6 0.000 0.071 2646 2076 1834 0 0 0 0 0 0

6925 0.85 243.9 527.3 8.8 463 6940 0.00 2.53 8.23 0.999 4 0.000 0.087 2646 3541 1804 0 0 0 0 0 0

7137 0.91 295.5 510.1 7.0 482 7190 0.12 2.40 45.47 1.101 6 0.143 0.072 2681 2089 1594 0 0 0 0 0 0

7507 0.91 295.5 472.4 11.0 517 7511 0.00 2.88 0.00 0.000 4 0.000 0.093 2682 358 1587 0 0 0 0 0 0

7594 0.91 295.5 463.1 9.8 524 7601 0.00 2.78 0.00 0.000 6 0.000 0.069 2682 2090 1586 0 0 0 0 0 0

7921 0.91 295.5 427.9 11.1 555 7925 0.00 2.45 0.00 0.000 4 0.000 0.090 2682 3539 1585 0 0 0 0 0 0

8177 0.91 295.5 400.1 10.7 577 8184 0.00 2.38 0.00 0.000 6 0.000 0.072 2682 2102 1584 0 0 0 0 0 0

8502 0.91 295.5 364.9 10.9 608 8506 0.00 2.45 0.00 0.000 4 0.000 0.087 2682 3543 1584 0 0 0 0 0 0

8636 0.91 295.5 351.1 9.8 620 8641 0.00 2.38 0.00 0.000 6 0.000 0.071 2682 2108 1584 0 0 0 0 0 0

8962 0.91 295.5 317.3 10.6 650 8966 0.00 2.42 0.00 0.000 4 0.000 0.087 2682 3544 1584 0 0 0 0 0 0

9034 0.92 301.9 310.3 8.9 656 9046 0.00 2.35 4.93 0.765 6 0.000 0.072 2682 2124 1569 0 0 0 0 0 0

9364 0.92 301.9 277.3 10.8 687 9368 0.00 2.40 0.00 0.000 4 0.000 0.087 2682 3542 1568 0 0 0 0 0 0

9406 0.92 301.9 272.7 10.4 690 9413 0.00 2.38 0.00 0.000 6 0.000 0.071 2682 2131 1568 0 0 0 0 0 0

9731 0.92 301.9 237.9 11.3 721 9733 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2131 1568 0 0 0 0 0 0

10053 0.92 301.9 200.8 12.4 751 10057 0.00 2.38 0.00 0.000 4 0.000 0.086 2682 3539 1568 0 0 0 0 0 0

10125 0.92 301.9 192.0 11.3 757 10129 0.00 2.30 0.00 0.000 6 0.000 0.070 2682 2139 1568 0 0 0 0 0 0

10450 0.92 301.9 150.5 13.3 787 10455 0.00 2.35 0.00 0.000 4 0.000 0.085 2682 3539 1568 0 0 0 0 0 0

10534 0.92 301.9 140.5 11.3 794 10539 0.00 2.30 0.00 0.000 6 0.000 0.070 2682 2142 1568 0 0 0 0 0 0

10858 0.92 301.9 105.5 10.7 824 10863 0.00 2.88 0.00 0.000 4 0.000 0.091 2682 363 1568 0 0 0 0 0 0

11031 0.92 302.7 88.7 9.1 849 11037 0.00 2.80 0.00 0.000 6 0.000 0.066 2682 2155 1568 0 0 0 0 0 0

11375 0.94 322.7 59.7 8.3 910 11403 0.00 3.00 19.00 0.784 4 0.000 0.089 2682 365 1483 0 0 0 0 0 0

11431 0.97 347.3 55.1 8.1 920 11459 0.00 3.00 21.42 0.775 6 0.000 0.067 2682 2261 1383 0 0 0 0 0 0

11794 0.98 356.9 22.7 8.8 985 11812 0.00 3.20 8.77 0.716 4 0.000 0.087 2682 365 1343 0 0 0 0 0 0

11824 1.02 382.7 20.2 8.1 990 11857 0.08 3.08 22.50 0.747 6 0.133 0.069 2710 2302 1238 0 0 0 0 0 0

12012 end climb: SURFACE_DEPTH_REACHED

state 12012 begin surface coast

12030 end surface coast: CONTROL_FINISHED_OK

state 12030 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	149	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	17	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-30274.27	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	145036,6700.391,-5724.000,35,0.8,40,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	145544,6700.430,-5724.075,11,1.2,11,-37.6	MHEAD_RNG_PITCHd_Wd	131.3,26483,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	797

FINISH	0.5,1.002257	_24V_AH	22.8,36.850
SM_CCo	12106,0.00,0.000,0,0,1230,385.12	_10V_AH	10.2,18.866
SM_GC	1.15,7.43,0.00,0.00,0.071,0.000,0.000,124,2479,1230,-7.03,0.54,385.12	FG_AHR_24Vo	0.000
RAFOS_CLK	770	FG_AHR_10Vo	0.000
RAFOS	0,1258473662,16.033333,16.017221,66,59,57,0,0,0,1100,206,175,0,0,0	MEM	187996
RAFOS_FIX	6657.121582,-5728.285156,171109,161625,7,98,1.24	DATA_FILE_SIZE	40985,1027
IRIDIUM_FIX	6631.12,-5719.52,110299,111121	CAP_FILE_SIZE	132072,0
TT8_MAMPS	0.026845	CFSIZE	260165632,238325760
HUMID	48.38	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87729	SOUNDSPEED	1463.2
TCM_TEMP	17.50	CURRENT	0.655,250.8,1
XPDR_PINGS	8	GPS	171109,181936,6700.553,-5723.896,35,1.7,40,-37.6
ALTIM_TOP_PING	19.7,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	310	139.70	SBE_CT	734	24	401.87
Roll_motor	128	92	272.59	SBE_O2	739	19	320.15
VBD_pump_during_apogee	458	1286	13459.49	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	29	103	68.90	nil	0	0	0.00
Iridium_during_connect	31	160	116.02	nil	0	0	0.00
Iridium_during_xfer	136	223	692.87
Transponder_ping	2	420	21.55
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.72
TT8	2033	19	413.16
LPSleep	7409	2	174.58
TT8_Active	559	19	113.75
TT8_Sampling	2052	39	835.71
TT8_CF8	377	45	177.04
TT8_Kalman	0	0	0.00
Analog_circuits	1645	12	201.35
GPS_charging	0	0	0.00
Compass	2016	8	164.52
RAFOS	2520	1	38.56
Transponder	2	30	0.81

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
15	-0.73	-146.0	0.0	0.0	0	125	0.00	0.00	-107.18	0.000	2	0.000	0.000	126	2460	3167	0	0	0	0	0	0
128	-0.73	-146.0	3.6	-7.1	21	151	10.05	2.65	-5.90	0.000	4	0.311	0.091	2148	860	3397	0	0	0	0	0	0
336	-0.73	-146.0	66.8	-30.9	58	342	0.00	2.62	0.00	0.000	6	0.000	0.077	2148	2466	3400	0	0	0	0	0	0
673	-0.73	-146.0	156.5	-25.8	100	677	0.00	2.47	0.00	0.000	4	0.000	0.092	2148	3909	3400	0	0	0	0	0	0
802	-0.73	-146.0	188.4	-25.1	111	806	0.00	2.40	0.00	0.000	6	0.000	0.067	2148	2459	3399	0	0	0	0	0	0
1126	-0.73	-146.0	264.6	-23.0	141	1130	0.00	2.53	0.00	0.000	4	0.000	0.091	2148	3918	3400	0	0	0	0	0	0
1288	-0.73	-146.0	302.9	-23.1	155	1292	0.00	2.38	0.00	0.000	6	0.000	0.067	2148	2476	3400	0	0	0	0	0	0
1612	-0.73	-146.0	373.0	-22.0	185	1616	0.00	2.45	0.00	0.000	4	0.000	0.091	2148	3910	3399	0	0	0	0	0	0
1819	-0.73	-146.0	419.6	-22.0	203	1823	0.00	2.33	0.00	0.000	6	0.000	0.067	2148	2490	3400	0	0	0	0	0	0
2143	-0.73	-146.0	488.1	-21.3	233	2148	0.00	2.42	0.00	0.000	4	0.000	0.091	2148	3912	3400	0	0	0	0	0	0
2262	-0.73	-146.0	514.8	-23.3	243	2266	0.00	2.33	0.00	0.000	6	0.000	0.067	2149	2493	3400	0	0	0	0	0	0
2591	-0.73	-146.0	584.0	-20.3	274	2596	0.00	2.42	0.00	0.000	4	0.000	0.090	2148	3919	3400	0	0	0	0	0	0
2737	-0.73	-146.0	615.4	-22.0	283	2741	0.00	2.30	0.00	0.000	6	0.000	0.067	2149	2508	3399	0	0	0	0	0	0
3056	-0.73	-146.0	679.5	-19.8	294	3060	0.00	2.40	0.00	0.000	4	0.000	0.091	2149	3917	3399	0	0	0	0	0	0
3133	-0.73	-146.0	695.6	-21.7	296	3137	0.00	2.30	0.00	0.000	6	0.000	0.066	2148	2512	3399	0	0	0	0	0	0
3457	-0.73	-146.0	758.1	-19.0	307	3461	0.00	2.38	0.00	0.000	4	0.000	0.091	2148	3909	3399	0	0	0	0	0	0
3551	-0.73	-146.0	777.1	-19.3	310	3556	0.00	2.28	0.00	0.000	6	0.000	0.067	2148	2519	3399	0	0	0	0	0	0
3669	end dive: TARGET_DEPTH_EXCEEDED
state	3669	begin apogee
3675	-0.16	0.0	800.5	19.3	314	3801	0.75	0.00	121.95	1.286	6	0.249	0.000	2328	1950	2800	0	0	0	0	0	0
3802	end apogee: CONTROL_FINISHED_OK
state	3802	begin climb
3804	0.73	146.0	813.3	0.0	318	3940	1.15	2.92	127.00	1.230	4	0.219	0.091	2608	367	2204	0	0	0	0	0	0
3950	0.81	216.3	807.1	6.2	322	4021	0.15	2.78	63.78	1.193	6	0.149	0.065	2645	1955	1917	0	0	0	0	0	0
4357	0.81	216.3	770.5	9.3	336	4361	0.00	2.72	0.00	0.000	4	0.000	0.091	2646	361	1908	0	0	0	0	0	0
4614	0.83	234.8	747.8	8.4	343	4635	0.00	2.65	15.90	1.148	6	0.000	0.067	2646	2007	1841	0	0	0	0	0	0
4954	0.83	234.8	715.8	10.0	355	4958	0.00	2.60	0.00	0.000	4	0.000	0.085	2646	3542	1837	0	0	0	0	0	0
5206	0.83	234.8	690.7	9.8	362	5210	0.00	2.53	0.00	0.000	6	0.000	0.071	2646	2021	1836	0	0	0	0	0	0
5517	0.83	234.8	658.1	10.8	372	5522	0.00	2.72	0.00	0.000	4	0.000	0.093	2646	362	1835	0	0	0	0	0	0
5674	0.83	234.8	642.8	9.2	376	5680	0.00	2.62	0.00	0.000	6	0.000	0.067	2646	2048	1835	0	0	0	0	0	0
5986	0.83	234.8	614.5	9.9	387	5990	0.00	2.78	0.00	0.000	4	0.000	0.093	2646	365	1834	0	0	0	0	0	0
6017	0.83	234.8	611.2	9.9	388	6022	0.00	2.67	0.00	0.000	6	0.000	0.069	2646	2055	1834	0	0	0	0	0	0
6344	0.83	234.8	580.2	9.8	410	6348	0.00	2.47	0.00	0.000	4	0.000	0.087	2646	3539	1834	0	0	0	0	0	0
6600	0.83	234.8	556.0	9.2	432	6606	0.00	2.45	0.00	0.000	6	0.000	0.071	2646	2076	1834	0	0	0	0	0	0
6925	0.85	243.9	527.3	8.8	463	6940	0.00	2.53	8.23	0.999	4	0.000	0.087	2646	3541	1804	0	0	0	0	0	0
7137	0.91	295.5	510.1	7.0	482	7190	0.12	2.40	45.47	1.101	6	0.143	0.072	2681	2089	1594	0	0	0	0	0	0
7507	0.91	295.5	472.4	11.0	517	7511	0.00	2.88	0.00	0.000	4	0.000	0.093	2682	358	1587	0	0	0	0	0	0
7594	0.91	295.5	463.1	9.8	524	7601	0.00	2.78	0.00	0.000	6	0.000	0.069	2682	2090	1586	0	0	0	0	0	0
7921	0.91	295.5	427.9	11.1	555	7925	0.00	2.45	0.00	0.000	4	0.000	0.090	2682	3539	1585	0	0	0	0	0	0
8177	0.91	295.5	400.1	10.7	577	8184	0.00	2.38	0.00	0.000	6	0.000	0.072	2682	2102	1584	0	0	0	0	0	0
8502	0.91	295.5	364.9	10.9	608	8506	0.00	2.45	0.00	0.000	4	0.000	0.087	2682	3543	1584	0	0	0	0	0	0
8636	0.91	295.5	351.1	9.8	620	8641	0.00	2.38	0.00	0.000	6	0.000	0.071	2682	2108	1584	0	0	0	0	0	0
8962	0.91	295.5	317.3	10.6	650	8966	0.00	2.42	0.00	0.000	4	0.000	0.087	2682	3544	1584	0	0	0	0	0	0
9034	0.92	301.9	310.3	8.9	656	9046	0.00	2.35	4.93	0.765	6	0.000	0.072	2682	2124	1569	0	0	0	0	0	0
9364	0.92	301.9	277.3	10.8	687	9368	0.00	2.40	0.00	0.000	4	0.000	0.087	2682	3542	1568	0	0	0	0	0	0
9406	0.92	301.9	272.7	10.4	690	9413	0.00	2.38	0.00	0.000	6	0.000	0.071	2682	2131	1568	0	0	0	0	0	0
9731	0.92	301.9	237.9	11.3	721	9733	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2131	1568	0	0	0	0	0	0
10053	0.92	301.9	200.8	12.4	751	10057	0.00	2.38	0.00	0.000	4	0.000	0.086	2682	3539	1568	0	0	0	0	0	0
10125	0.92	301.9	192.0	11.3	757	10129	0.00	2.30	0.00	0.000	6	0.000	0.070	2682	2139	1568	0	0	0	0	0	0
10450	0.92	301.9	150.5	13.3	787	10455	0.00	2.35	0.00	0.000	4	0.000	0.085	2682	3539	1568	0	0	0	0	0	0
10534	0.92	301.9	140.5	11.3	794	10539	0.00	2.30	0.00	0.000	6	0.000	0.070	2682	2142	1568	0	0	0	0	0	0
10858	0.92	301.9	105.5	10.7	824	10863	0.00	2.88	0.00	0.000	4	0.000	0.091	2682	363	1568	0	0	0	0	0	0
11031	0.92	302.7	88.7	9.1	849	11037	0.00	2.80	0.00	0.000	6	0.000	0.066	2682	2155	1568	0	0	0	0	0	0
11375	0.94	322.7	59.7	8.3	910	11403	0.00	3.00	19.00	0.784	4	0.000	0.089	2682	365	1483	0	0	0	0	0	0
11431	0.97	347.3	55.1	8.1	920	11459	0.00	3.00	21.42	0.775	6	0.000	0.067	2682	2261	1383	0	0	0	0	0	0
11794	0.98	356.9	22.7	8.8	985	11812	0.00	3.20	8.77	0.716	4	0.000	0.087	2682	365	1343	0	0	0	0	0	0
11824	1.02	382.7	20.2	8.1	990	11857	0.08	3.08	22.50	0.747	6	0.133	0.069	2710	2302	1238	0	0	0	0	0	0
12012	end climb: SURFACE_DEPTH_REACHED
state	12012	begin surface coast
12030	end surface coast: CONTROL_FINISHED_OK
state	12030	begin surface