Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 153 * 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 153 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 20 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 18 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 -31390.264 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 -31390.264

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 20 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 153 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 045407,6701.948,-5719.746,45,1.2,45,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050022,6701.957,-5719.821,16,2.1,35,-37.7 MHEAD_RNG_PITCHd_Wd 77.9,23061,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 778

Post-dive calculations and measurements:

FINISH 0.5,1.026507 _24V_AH 22.8,37.461

SM_CCo 11720,0.00,0.000,0,0,1429,336.31 _10V_AH 10.2,19.155

SM_GC 1.28,7.25,0.00,0.00,0.074,0.000,0.000,128,2467,1429,-7.03,0.17,336.31 FG_AHR_24Vo 0.000

RAFOS_CLK 734 FG_AHR_10Vo 0.000

RAFOS 6,1258519742,4.833333,4.817222,62,58,55,0,0,0,212,222,127,0,0,0 MEM 188004

RAFOS_FIX 6700.097656,-5720.794922,181109,040444,4,107,0.19 DATA_FILE_SIZE 41004,1004

IRIDIUM_FIX 6631.12,-5713.57,120299,010150 CAP_FILE_SIZE 123380,0

TT8_MAMPS 0.028379 CFSIZE 260165632,238059520

HUMID 47.91 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90659 SOUNDSPEED 1466.4

TCM_TEMP 17.70 CURRENT 0.901,218.0,1

XPDR_PINGS 8 GPS 181109,081724,6701.570,-5718.517,41,1.2,41,-37.6

ALTIM_TOP_PING 19.3,19.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 302 132.28 SBE_CT 720 24 394.32

Roll_motor 116 94 250.10 SBE_O2 716 19 310.21

VBD_pump_during_apogee 413 1254 11830.03 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 68.85 nil 0 0 0.00

Iridium_during_connect 32 160 117.33 nil 0 0 0.00

Iridium_during_xfer 174 223 884.81

Transponder_ping 2 420 21.55

GUMSTIX_24V 0 0 0.00

GPS 37 50 19.36

TT8 1968 19 400.03

LPSleep 7259 2 171.04

TT8_Active 533 19 108.45

TT8_Sampling 1916 39 780.30

TT8_CF8 409 45 191.80

TT8_Kalman 0 0 0.00

Analog_circuits 1539 12 188.45

GPS_charging 0 0 0.00

Compass 1861 8 151.91

RAFOS 720 1 11.02

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 131 0.00 0.00 -112.10 0.000 2 0.000 0.000 123 2463 3182 0 0 0 0 0 0

135 -0.73 -146.0 3.6 -7.0 22 157 9.80 2.65 -5.45 0.000 4 0.303 0.092 2147 860 3398 0 0 0 0 0 0

253 -0.73 -146.0 40.7 -30.3 43 259 0.00 2.62 0.00 0.000 6 0.000 0.076 2147 2466 3400 0 0 0 0 0 0

589 -0.73 -146.0 133.6 -25.8 92 593 0.00 2.47 0.00 0.000 4 0.000 0.090 2147 3911 3401 0 0 0 0 0 0

801 -0.73 -146.0 187.7 -24.8 110 807 0.00 2.38 0.00 0.000 6 0.000 0.066 2147 2471 3399 0 0 0 0 0 0

1126 -0.73 -146.0 265.1 -24.2 141 1130 0.00 2.47 0.00 0.000 4 0.000 0.089 2147 3914 3400 0 0 0 0 0 0

1271 -0.73 -146.0 301.1 -23.8 153 1276 0.00 2.38 0.00 0.000 6 0.000 0.067 2147 2473 3399 0 0 0 0 0 0

1595 -0.73 -146.0 374.4 -22.1 184 1599 0.00 2.45 0.00 0.000 4 0.000 0.088 2147 3910 3399 0 0 0 0 0 0

1752 -0.73 -146.0 409.8 -22.1 197 1757 0.00 2.35 0.00 0.000 6 0.000 0.066 2147 2481 3400 0 0 0 0 0 0

2075 -0.73 -146.0 478.0 -21.3 228 2080 0.00 2.45 0.00 0.000 4 0.000 0.089 2147 3919 3399 0 0 0 0 0 0

2176 -0.73 -146.0 501.1 -22.6 236 2182 0.00 2.33 0.00 0.000 6 0.000 0.065 2146 2494 3400 0 0 0 0 0 0

2500 -0.73 -146.0 570.1 -20.7 267 2504 0.00 2.42 0.00 0.000 4 0.000 0.089 2147 3919 3400 0 0 0 0 0 0

2606 -0.73 -146.0 593.1 -21.4 276 2610 0.00 2.33 0.00 0.000 6 0.000 0.065 2147 2498 3400 0 0 0 0 0 0

2919 -0.73 -146.0 657.8 -20.0 288 2923 0.00 2.40 0.00 0.000 4 0.000 0.088 2147 3912 3400 0 0 0 0 0 0

2986 -0.73 -146.0 671.6 -20.2 290 2990 0.00 2.30 0.00 0.000 6 0.000 0.064 2147 2503 3400 0 0 0 0 0 0

3321 -0.73 -146.0 736.7 -19.8 301 3325 0.00 2.40 0.00 0.000 4 0.000 0.088 2147 3915 3400 0 0 0 0 0 0

3450 -0.73 -146.0 763.0 -21.2 305 3454 0.00 2.30 0.00 0.000 6 0.000 0.064 2147 2504 3399 0 0 0 0 0 0

3537 end dive: TARGET_DEPTH_EXCEEDED

state 3537 begin apogee

3543 -0.16 0.0 781.3 20.4 308 3667 0.73 0.00 121.28 1.254 6 0.235 0.000 2328 1947 2800 0 0 0 0 0 0

3668 end apogee: CONTROL_FINISHED_OK

state 3668 begin climb

3670 0.73 146.0 792.8 0.0 312 3803 1.12 0.00 126.47 1.200 6 0.210 0.000 2606 1948 2204 0 0 0 0 0 0

4098 0.80 206.9 766.9 6.6 326 4159 0.12 2.83 52.20 1.172 4 0.163 0.088 2641 368 1955 0 0 0 0 0 0

4339 0.82 223.7 745.9 8.5 333 4360 0.00 2.47 15.05 1.092 6 0.000 0.062 2641 1871 1888 0 0 0 0 0 0

4666 0.82 223.7 715.2 9.3 344 4670 0.00 2.50 0.00 0.000 4 0.000 0.089 2641 364 1884 0 0 0 0 0 0

4923 0.85 244.4 692.4 8.3 351 4948 0.00 2.50 19.25 1.118 6 0.000 0.062 2641 1954 1802 0 0 0 0 0 0

5268 0.85 244.4 659.0 10.4 363 5272 0.00 2.60 0.00 0.000 4 0.000 0.088 2641 368 1798 0 0 0 0 0 0

5322 0.85 244.4 653.4 9.5 364 5328 0.00 2.53 0.00 0.000 6 0.000 0.062 2641 1954 1798 0 0 0 0 0 0

5635 0.91 294.2 628.9 7.1 375 5685 0.12 2.75 43.30 1.123 4 0.154 0.089 2678 367 1599 0 0 0 0 0 0

5808 0.91 294.2 612.2 10.0 380 5812 0.00 2.80 0.00 0.000 6 0.000 0.063 2678 2114 1595 0 0 0 0 0 0

6136 0.91 294.2 577.5 10.9 402 6140 0.00 2.40 0.00 0.000 4 0.000 0.081 2678 3546 1593 0 0 0 0 0 0

6190 0.91 294.2 571.6 9.9 406 6196 0.00 2.42 0.00 0.000 6 0.000 0.065 2678 2102 1592 0 0 0 0 0 0

6516 0.91 294.2 535.9 10.9 437 6520 0.00 2.42 0.00 0.000 4 0.000 0.082 2678 3543 1592 0 0 0 0 0 0

6577 0.91 294.2 529.4 10.2 442 6581 0.00 2.38 0.00 0.000 6 0.000 0.066 2678 2100 1592 0 0 0 0 0 0

6901 0.91 294.2 493.1 12.2 472 6905 0.00 2.42 0.00 0.000 4 0.000 0.081 2678 3549 1592 0 0 0 0 0 0

6956 0.91 294.2 487.1 10.3 476 6963 0.00 2.35 0.00 0.000 6 0.000 0.067 2678 2113 1590 0 0 0 0 0 0

7282 0.91 294.2 450.1 11.5 507 7287 0.00 2.83 0.00 0.000 4 0.000 0.088 2678 358 1590 0 0 0 0 0 0

7325 0.91 294.2 445.3 10.1 510 7331 0.00 2.75 0.00 0.000 6 0.000 0.064 2678 2124 1589 0 0 0 0 0 0

7650 0.91 294.2 410.9 11.1 541 7654 0.00 2.35 0.00 0.000 4 0.000 0.082 2678 3542 1589 0 0 0 0 0 0

7823 0.91 294.2 393.1 11.3 556 7827 0.00 2.35 0.00 0.000 6 0.000 0.067 2678 2106 1589 0 0 0 0 0 0

8147 0.91 294.2 358.0 11.6 586 8151 0.00 2.40 0.00 0.000 4 0.000 0.082 2678 3542 1589 0 0 0 0 0 0

8204 0.91 294.2 352.2 9.9 591 8208 0.00 2.33 0.00 0.000 6 0.000 0.067 2678 2118 1589 0 0 0 0 0 0

8530 0.91 294.2 318.7 10.2 621 8531 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2119 1589 0 0 0 0 0 0

8848 0.91 294.2 284.4 10.4 651 8852 0.00 2.38 0.00 0.000 4 0.000 0.082 2678 3543 1589 0 0 0 0 0 0

8910 0.91 294.2 278.5 9.3 656 8915 0.00 2.30 0.00 0.000 6 0.000 0.067 2678 2132 1589 0 0 0 0 0 0

9234 0.91 294.2 245.3 10.5 686 9235 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2133 1589 0 0 0 0 0 0

9554 0.91 294.2 211.3 10.5 716 9555 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2133 1588 0 0 0 0 0 0

9874 0.91 294.2 175.6 11.7 746 9875 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2133 1589 0 0 0 0 0 0

10191 0.91 294.2 135.6 11.9 776 10196 0.00 2.38 0.00 0.000 4 0.000 0.081 2678 3550 1589 0 0 0 0 0 0

10226 0.91 294.2 131.5 12.2 779 10230 0.00 2.33 0.00 0.000 6 0.000 0.066 2678 2129 1589 0 0 0 0 0 0

10553 0.93 312.3 99.6 8.4 810 10575 0.00 2.42 15.02 0.778 4 0.000 0.081 2678 3546 1525 0 0 0 0 0 0

10611 0.93 312.3 94.4 9.2 820 10616 0.00 2.28 0.00 0.000 6 0.000 0.066 2678 2156 1522 0 0 0 0 0 0

10951 0.95 329.0 64.6 8.5 881 10972 0.00 2.92 14.90 0.765 4 0.000 0.086 2678 356 1457 0 0 0 0 0 0

11024 0.95 329.0 57.7 9.7 894 11030 0.00 2.95 0.00 0.000 6 0.000 0.062 2678 2238 1454 0 0 0 0 0 0

11366 0.96 335.1 26.0 8.9 955 11382 0.00 3.05 6.28 0.665 4 0.000 0.084 2678 367 1432 0 0 0 0 0 0

11451 0.96 335.1 17.6 10.7 970 11459 0.00 3.05 0.00 0.000 6 0.000 0.063 2678 2311 1432 0 0 0 0 0 0

11620 end climb: SURFACE_DEPTH_REACHED

state 11620 begin surface coast

11644 end surface coast: CONTROL_FINISHED_OK

state 11644 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	153	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	20	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	18	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	-31390.264	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	045407,6701.948,-5719.746,45,1.2,45,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050022,6701.957,-5719.821,16,2.1,35,-37.7	MHEAD_RNG_PITCHd_Wd	77.9,23061,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	778

FINISH	0.5,1.026507	_24V_AH	22.8,37.461
SM_CCo	11720,0.00,0.000,0,0,1429,336.31	_10V_AH	10.2,19.155
SM_GC	1.28,7.25,0.00,0.00,0.074,0.000,0.000,128,2467,1429,-7.03,0.17,336.31	FG_AHR_24Vo	0.000
RAFOS_CLK	734	FG_AHR_10Vo	0.000
RAFOS	6,1258519742,4.833333,4.817222,62,58,55,0,0,0,212,222,127,0,0,0	MEM	188004
RAFOS_FIX	6700.097656,-5720.794922,181109,040444,4,107,0.19	DATA_FILE_SIZE	41004,1004
IRIDIUM_FIX	6631.12,-5713.57,120299,010150	CAP_FILE_SIZE	123380,0
TT8_MAMPS	0.028379	CFSIZE	260165632,238059520
HUMID	47.91	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90659	SOUNDSPEED	1466.4
TCM_TEMP	17.70	CURRENT	0.901,218.0,1
XPDR_PINGS	8	GPS	181109,081724,6701.570,-5718.517,41,1.2,41,-37.6
ALTIM_TOP_PING	19.3,19.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	302	132.28	SBE_CT	720	24	394.32
Roll_motor	116	94	250.10	SBE_O2	716	19	310.21
VBD_pump_during_apogee	413	1254	11830.03	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	68.85	nil	0	0	0.00
Iridium_during_connect	32	160	117.33	nil	0	0	0.00
Iridium_during_xfer	174	223	884.81
Transponder_ping	2	420	21.55
GUMSTIX_24V	0	0	0.00
GPS	37	50	19.36
TT8	1968	19	400.03
LPSleep	7259	2	171.04
TT8_Active	533	19	108.45
TT8_Sampling	1916	39	780.30
TT8_CF8	409	45	191.80
TT8_Kalman	0	0	0.00
Analog_circuits	1539	12	188.45
GPS_charging	0	0	0.00
Compass	1861	8	151.91
RAFOS	720	1	11.02
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	131	0.00	0.00	-112.10	0.000	2	0.000	0.000	123	2463	3182	0	0	0	0	0	0
135	-0.73	-146.0	3.6	-7.0	22	157	9.80	2.65	-5.45	0.000	4	0.303	0.092	2147	860	3398	0	0	0	0	0	0
253	-0.73	-146.0	40.7	-30.3	43	259	0.00	2.62	0.00	0.000	6	0.000	0.076	2147	2466	3400	0	0	0	0	0	0
589	-0.73	-146.0	133.6	-25.8	92	593	0.00	2.47	0.00	0.000	4	0.000	0.090	2147	3911	3401	0	0	0	0	0	0
801	-0.73	-146.0	187.7	-24.8	110	807	0.00	2.38	0.00	0.000	6	0.000	0.066	2147	2471	3399	0	0	0	0	0	0
1126	-0.73	-146.0	265.1	-24.2	141	1130	0.00	2.47	0.00	0.000	4	0.000	0.089	2147	3914	3400	0	0	0	0	0	0
1271	-0.73	-146.0	301.1	-23.8	153	1276	0.00	2.38	0.00	0.000	6	0.000	0.067	2147	2473	3399	0	0	0	0	0	0
1595	-0.73	-146.0	374.4	-22.1	184	1599	0.00	2.45	0.00	0.000	4	0.000	0.088	2147	3910	3399	0	0	0	0	0	0
1752	-0.73	-146.0	409.8	-22.1	197	1757	0.00	2.35	0.00	0.000	6	0.000	0.066	2147	2481	3400	0	0	0	0	0	0
2075	-0.73	-146.0	478.0	-21.3	228	2080	0.00	2.45	0.00	0.000	4	0.000	0.089	2147	3919	3399	0	0	0	0	0	0
2176	-0.73	-146.0	501.1	-22.6	236	2182	0.00	2.33	0.00	0.000	6	0.000	0.065	2146	2494	3400	0	0	0	0	0	0
2500	-0.73	-146.0	570.1	-20.7	267	2504	0.00	2.42	0.00	0.000	4	0.000	0.089	2147	3919	3400	0	0	0	0	0	0
2606	-0.73	-146.0	593.1	-21.4	276	2610	0.00	2.33	0.00	0.000	6	0.000	0.065	2147	2498	3400	0	0	0	0	0	0
2919	-0.73	-146.0	657.8	-20.0	288	2923	0.00	2.40	0.00	0.000	4	0.000	0.088	2147	3912	3400	0	0	0	0	0	0
2986	-0.73	-146.0	671.6	-20.2	290	2990	0.00	2.30	0.00	0.000	6	0.000	0.064	2147	2503	3400	0	0	0	0	0	0
3321	-0.73	-146.0	736.7	-19.8	301	3325	0.00	2.40	0.00	0.000	4	0.000	0.088	2147	3915	3400	0	0	0	0	0	0
3450	-0.73	-146.0	763.0	-21.2	305	3454	0.00	2.30	0.00	0.000	6	0.000	0.064	2147	2504	3399	0	0	0	0	0	0
3537	end dive: TARGET_DEPTH_EXCEEDED
state	3537	begin apogee
3543	-0.16	0.0	781.3	20.4	308	3667	0.73	0.00	121.28	1.254	6	0.235	0.000	2328	1947	2800	0	0	0	0	0	0
3668	end apogee: CONTROL_FINISHED_OK
state	3668	begin climb
3670	0.73	146.0	792.8	0.0	312	3803	1.12	0.00	126.47	1.200	6	0.210	0.000	2606	1948	2204	0	0	0	0	0	0
4098	0.80	206.9	766.9	6.6	326	4159	0.12	2.83	52.20	1.172	4	0.163	0.088	2641	368	1955	0	0	0	0	0	0
4339	0.82	223.7	745.9	8.5	333	4360	0.00	2.47	15.05	1.092	6	0.000	0.062	2641	1871	1888	0	0	0	0	0	0
4666	0.82	223.7	715.2	9.3	344	4670	0.00	2.50	0.00	0.000	4	0.000	0.089	2641	364	1884	0	0	0	0	0	0
4923	0.85	244.4	692.4	8.3	351	4948	0.00	2.50	19.25	1.118	6	0.000	0.062	2641	1954	1802	0	0	0	0	0	0
5268	0.85	244.4	659.0	10.4	363	5272	0.00	2.60	0.00	0.000	4	0.000	0.088	2641	368	1798	0	0	0	0	0	0
5322	0.85	244.4	653.4	9.5	364	5328	0.00	2.53	0.00	0.000	6	0.000	0.062	2641	1954	1798	0	0	0	0	0	0
5635	0.91	294.2	628.9	7.1	375	5685	0.12	2.75	43.30	1.123	4	0.154	0.089	2678	367	1599	0	0	0	0	0	0
5808	0.91	294.2	612.2	10.0	380	5812	0.00	2.80	0.00	0.000	6	0.000	0.063	2678	2114	1595	0	0	0	0	0	0
6136	0.91	294.2	577.5	10.9	402	6140	0.00	2.40	0.00	0.000	4	0.000	0.081	2678	3546	1593	0	0	0	0	0	0
6190	0.91	294.2	571.6	9.9	406	6196	0.00	2.42	0.00	0.000	6	0.000	0.065	2678	2102	1592	0	0	0	0	0	0
6516	0.91	294.2	535.9	10.9	437	6520	0.00	2.42	0.00	0.000	4	0.000	0.082	2678	3543	1592	0	0	0	0	0	0
6577	0.91	294.2	529.4	10.2	442	6581	0.00	2.38	0.00	0.000	6	0.000	0.066	2678	2100	1592	0	0	0	0	0	0
6901	0.91	294.2	493.1	12.2	472	6905	0.00	2.42	0.00	0.000	4	0.000	0.081	2678	3549	1592	0	0	0	0	0	0
6956	0.91	294.2	487.1	10.3	476	6963	0.00	2.35	0.00	0.000	6	0.000	0.067	2678	2113	1590	0	0	0	0	0	0
7282	0.91	294.2	450.1	11.5	507	7287	0.00	2.83	0.00	0.000	4	0.000	0.088	2678	358	1590	0	0	0	0	0	0
7325	0.91	294.2	445.3	10.1	510	7331	0.00	2.75	0.00	0.000	6	0.000	0.064	2678	2124	1589	0	0	0	0	0	0
7650	0.91	294.2	410.9	11.1	541	7654	0.00	2.35	0.00	0.000	4	0.000	0.082	2678	3542	1589	0	0	0	0	0	0
7823	0.91	294.2	393.1	11.3	556	7827	0.00	2.35	0.00	0.000	6	0.000	0.067	2678	2106	1589	0	0	0	0	0	0
8147	0.91	294.2	358.0	11.6	586	8151	0.00	2.40	0.00	0.000	4	0.000	0.082	2678	3542	1589	0	0	0	0	0	0
8204	0.91	294.2	352.2	9.9	591	8208	0.00	2.33	0.00	0.000	6	0.000	0.067	2678	2118	1589	0	0	0	0	0	0
8530	0.91	294.2	318.7	10.2	621	8531	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2119	1589	0	0	0	0	0	0
8848	0.91	294.2	284.4	10.4	651	8852	0.00	2.38	0.00	0.000	4	0.000	0.082	2678	3543	1589	0	0	0	0	0	0
8910	0.91	294.2	278.5	9.3	656	8915	0.00	2.30	0.00	0.000	6	0.000	0.067	2678	2132	1589	0	0	0	0	0	0
9234	0.91	294.2	245.3	10.5	686	9235	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2133	1589	0	0	0	0	0	0
9554	0.91	294.2	211.3	10.5	716	9555	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2133	1588	0	0	0	0	0	0
9874	0.91	294.2	175.6	11.7	746	9875	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2133	1589	0	0	0	0	0	0
10191	0.91	294.2	135.6	11.9	776	10196	0.00	2.38	0.00	0.000	4	0.000	0.081	2678	3550	1589	0	0	0	0	0	0
10226	0.91	294.2	131.5	12.2	779	10230	0.00	2.33	0.00	0.000	6	0.000	0.066	2678	2129	1589	0	0	0	0	0	0
10553	0.93	312.3	99.6	8.4	810	10575	0.00	2.42	15.02	0.778	4	0.000	0.081	2678	3546	1525	0	0	0	0	0	0
10611	0.93	312.3	94.4	9.2	820	10616	0.00	2.28	0.00	0.000	6	0.000	0.066	2678	2156	1522	0	0	0	0	0	0
10951	0.95	329.0	64.6	8.5	881	10972	0.00	2.92	14.90	0.765	4	0.000	0.086	2678	356	1457	0	0	0	0	0	0
11024	0.95	329.0	57.7	9.7	894	11030	0.00	2.95	0.00	0.000	6	0.000	0.062	2678	2238	1454	0	0	0	0	0	0
11366	0.96	335.1	26.0	8.9	955	11382	0.00	3.05	6.28	0.665	4	0.000	0.084	2678	367	1432	0	0	0	0	0	0
11451	0.96	335.1	17.6	10.7	970	11459	0.00	3.05	0.00	0.000	6	0.000	0.063	2678	2311	1432	0	0	0	0	0	0
11620	end climb: SURFACE_DEPTH_REACHED
state	11620	begin surface coast
11644	end surface coast: CONTROL_FINISHED_OK
state	11644	begin surface