Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 154 * 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 154 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 22 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 -31428.836 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 -31428.836

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 22 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 154 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 081724,6701.570,-5718.517,41,1.2,41,-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 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 082634,6701.539,-5718.478,16,99.0,35,-37.6 MHEAD_RNG_PITCHd_Wd 75.6,22175,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 778

Post-dive calculations and measurements:

FINISH 0.4,1.001573 _24V_AH 22.9,37.615

SM_CCo 12315,0.00,0.000,0,0,1373,349.80 _10V_AH 10.2,19.226

SM_GC 1.19,7.30,0.00,0.00,0.075,0.000,0.000,124,2450,1373,-7.04,-0.28,349.80 FG_AHR_24Vo 0.000

RAFOS_CLK 771 FG_AHR_10Vo 0.000

RAFOS 1,1258531741,8.166667,8.150278,66,60,57,0,0,0,195,224,169,0,0,0 MEM 188044

RAFOS_FIX 6701.324219,-5720.243652,181109,080840,3,107,1.39 DATA_FILE_SIZE 44175,1066

IRIDIUM_FIX 6636.54,-5718.20,120299,080857 CAP_FILE_SIZE 137941,0

TT8_MAMPS 0.026845 CFSIZE 260165632,237981696

HUMID 47.08 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89683 SOUNDSPEED 1469.7

TCM_TEMP 17.90 CURRENT 0.116,270.7,1

XPDR_PINGS 10 GPS 181109,115337,6701.855,-5717.356,36,1.1,36,-37.6

ALTIM_TOP_PING 19.9,19.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 302 132.86 SBE_CT 772 24 424.83

Roll_motor 140 91 293.04 SBE_O2 742 19 323.14

VBD_pump_during_apogee 429 1241 12202.15 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 57 103 135.63 nil 0 0 0.00

Iridium_during_connect 60 160 221.39 nil 0 0 0.00

Iridium_during_xfer 216 223 1105.29

Transponder_ping 2 420 26.45

GUMSTIX_24V 0 0 0.00

GPS 37 50 19.35

TT8 2082 19 423.15

LPSleep 7565 2 178.26

TT8_Active 558 19 113.55

TT8_Sampling 2129 39 867.17

TT8_CF8 532 45 249.54

TT8_Kalman 0 0 0.00

Analog_circuits 1662 12 203.49

GPS_charging 0 0 0.00

Compass 2067 8 168.68

RAFOS 1080 1 16.52

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

15 -0.73 -146.0 0.0 0.0 0 119 0.00 0.00 -100.78 0.000 2 0.000 0.000 128 2467 3147 0 0 0 0 0 0

122 -0.73 -146.0 3.4 -6.3 19 145 9.82 2.65 -6.57 0.000 4 0.303 0.091 2150 865 3398 0 0 0 0 0 0

196 -0.73 -146.0 25.8 -29.9 32 202 0.00 2.60 0.00 0.000 6 0.000 0.074 2150 2456 3399 0 0 0 0 0 0

534 -0.73 -146.0 123.3 -26.6 85 538 0.00 2.50 0.00 0.000 4 0.000 0.090 2150 3915 3400 0 0 0 0 0 0

791 -0.73 -146.0 190.0 -24.2 107 798 0.00 2.40 0.00 0.000 6 0.000 0.066 2150 2483 3399 0 0 0 0 0 0

1115 -0.73 -146.0 261.5 -20.9 138 1120 0.00 2.45 0.00 0.000 4 0.000 0.090 2150 3913 3399 0 0 0 0 0 0

1312 -0.73 -146.0 304.4 -21.4 155 1316 0.00 2.35 0.00 0.000 6 0.000 0.066 2150 2485 3399 0 0 0 0 0 0

1636 -0.73 -146.0 370.8 -20.0 185 1640 0.00 2.45 0.00 0.000 4 0.000 0.089 2150 3913 3399 0 0 0 0 0 0

1753 -0.73 -146.0 396.2 -22.2 195 1757 0.00 2.35 0.00 0.000 6 0.000 0.065 2150 2480 3399 0 0 0 0 0 0

2077 -0.73 -146.0 463.9 -20.8 225 2081 0.00 2.45 0.00 0.000 4 0.000 0.088 2150 3920 3399 0 0 0 0 0 0

2210 -0.73 -146.0 493.0 -22.4 236 2216 0.00 2.33 0.00 0.000 6 0.000 0.064 2150 2494 3399 0 0 0 0 0 0

2536 -0.73 -146.0 559.7 -20.7 267 2540 0.00 2.42 0.00 0.000 4 0.000 0.087 2150 3922 3400 0 0 0 0 0 0

2602 -0.73 -146.0 574.7 -22.6 272 2608 0.00 2.33 0.00 0.000 6 0.000 0.064 2150 2495 3400 0 0 0 0 0 0

2920 -0.73 -146.0 638.3 -19.9 291 2924 0.00 2.42 0.00 0.000 4 0.000 0.087 2150 3923 3399 0 0 0 0 0 0

3097 -0.73 -146.0 675.2 -20.9 296 3101 0.00 2.35 0.00 0.000 6 0.000 0.064 2150 2507 3400 0 0 0 0 0 0

3421 -0.73 -146.0 739.4 -19.3 307 3425 0.00 2.40 0.00 0.000 4 0.000 0.087 2150 3924 3400 0 0 0 0 0 0

3537 -0.73 -146.0 762.6 -19.5 310 3541 0.00 2.33 0.00 0.000 6 0.000 0.063 2150 2521 3400 0 0 0 0 0 0

3639 end dive: TARGET_DEPTH_EXCEEDED

state 3639 begin apogee

3644 -0.16 0.0 782.2 19.2 314 3769 0.73 0.00 121.03 1.242 6 0.238 0.000 2329 1947 2800 0 0 0 0 0 0

3770 end apogee: CONTROL_FINISHED_OK

state 3770 begin climb

3771 0.73 146.0 787.7 0.0 318 3908 1.08 2.90 125.75 1.190 4 0.187 0.086 2611 375 2203 0 0 0 0 0 0

4043 0.78 191.3 771.0 7.3 326 4090 0.00 2.62 39.62 1.148 6 0.000 0.061 2611 1965 2019 0 0 0 0 0 0

4397 0.80 210.7 742.8 8.3 338 4422 0.12 2.78 17.48 1.103 4 0.163 0.087 2644 368 1939 0 0 0 0 0 0

4443 0.82 225.9 738.8 8.5 339 4464 0.00 2.58 14.38 1.075 6 0.000 0.060 2644 1961 1879 0 0 0 0 0 0

4799 0.82 225.9 704.3 10.5 351 4804 0.00 2.65 0.00 0.000 4 0.000 0.079 2644 3535 1876 0 0 0 0 0 0

4977 0.82 225.9 685.9 9.9 356 4982 0.00 2.60 0.00 0.000 6 0.000 0.065 2644 1989 1874 0 0 0 0 0 0

5301 0.82 225.9 653.2 10.3 367 5306 0.00 2.62 0.00 0.000 4 0.000 0.087 2644 362 1874 0 0 0 0 0 0

5396 0.82 225.9 644.1 9.6 370 5400 0.00 2.55 0.00 0.000 6 0.000 0.061 2644 1998 1874 0 0 0 0 0 0

5730 0.82 225.9 611.2 10.4 381 5734 0.00 2.65 0.00 0.000 4 0.000 0.087 2644 362 1873 0 0 0 0 0 0

5818 0.83 230.8 602.6 9.0 383 5828 0.00 2.62 4.93 0.821 6 0.000 0.062 2644 2052 1858 0 0 0 0 0 0

6154 0.83 230.8 571.1 9.5 413 6159 0.00 2.75 0.00 0.000 4 0.000 0.087 2644 358 1858 0 0 0 0 0 0

6411 0.85 250.6 549.2 8.3 435 6438 0.00 2.70 18.88 1.052 6 0.000 0.062 2644 2099 1776 0 0 0 0 0 0

6756 0.85 250.6 519.3 9.7 468 6760 0.00 2.85 0.00 0.000 4 0.000 0.087 2644 357 1772 0 0 0 0 0 0

7009 0.86 254.2 496.0 9.0 490 7020 0.00 2.72 3.88 0.686 6 0.000 0.064 2644 2096 1762 0 0 0 0 0 0

7338 0.89 277.8 469.1 8.2 521 7370 0.00 2.92 22.05 1.014 4 0.000 0.086 2644 361 1665 0 0 0 0 0 0

7622 0.89 277.8 443.2 9.5 546 7628 0.00 2.85 0.00 0.000 6 0.000 0.063 2644 2174 1662 0 0 0 0 0 0

7947 0.89 277.8 411.9 10.8 577 7951 0.00 2.95 0.00 0.000 4 0.000 0.084 2644 360 1662 0 0 0 0 0 0

8147 0.89 277.8 390.6 9.9 594 8153 0.00 2.80 0.00 0.000 6 0.000 0.061 2644 2154 1661 0 0 0 0 0 0

8472 0.89 277.8 357.4 10.9 625 8477 0.00 2.90 0.00 0.000 4 0.000 0.085 2644 362 1661 0 0 0 0 0 0

8533 0.89 277.8 350.7 11.2 630 8538 0.00 3.00 0.00 0.000 6 0.000 0.062 2644 2284 1661 0 0 0 0 0 0

8857 0.89 277.8 317.2 10.0 660 8862 0.00 3.10 0.00 0.000 4 0.000 0.084 2644 362 1661 0 0 0 0 0 0

8923 0.89 277.8 310.9 9.6 665 8931 0.00 3.00 0.00 0.000 6 0.000 0.062 2644 2288 1661 0 0 0 0 0 0

9247 0.89 279.6 281.8 9.1 696 9252 0.00 3.10 0.00 0.000 4 0.000 0.083 2644 361 1661 0 0 0 0 0 0

9287 0.89 279.6 278.1 10.0 699 9292 0.00 3.03 0.00 0.000 6 0.000 0.061 2644 2307 1661 0 0 0 0 0 0

9612 0.89 279.6 247.9 9.7 729 9617 0.00 3.12 0.00 0.000 4 0.000 0.082 2644 362 1661 0 0 0 0 0 0

9667 0.89 279.6 242.3 10.4 733 9673 0.00 3.03 0.00 0.000 6 0.000 0.062 2644 2315 1661 0 0 0 0 0 0

9993 0.89 279.6 209.9 9.8 764 9998 0.00 3.15 0.00 0.000 4 0.000 0.082 2644 350 1661 0 0 0 0 0 0

10077 0.89 283.7 202.1 9.0 771 10088 0.00 3.03 5.28 0.688 6 0.000 0.061 2644 2304 1643 0 0 0 0 0 0

10406 0.89 283.7 172.9 9.5 802 10410 0.10 2.05 0.00 0.000 4 0.172 0.081 2671 3537 1642 0 0 0 0 0 0

10443 0.89 283.7 169.0 11.1 805 10449 0.00 2.05 0.00 0.000 6 0.000 0.062 2671 2295 1642 0 0 0 0 0 0

10769 0.89 283.7 131.0 11.6 836 10773 0.00 2.05 0.00 0.000 4 0.000 0.077 2672 3537 1642 0 0 0 0 0 0

10828 0.89 283.7 125.0 9.6 841 10835 0.00 2.10 0.00 0.000 6 0.000 0.062 2672 2264 1642 0 0 0 0 0 0

11154 0.93 316.0 98.8 7.8 873 11188 0.00 2.22 28.10 0.784 4 0.000 0.081 2672 3537 1510 0 0 0 0 0 0

11394 0.93 316.0 76.0 9.4 916 11402 0.00 2.08 0.00 0.000 6 0.000 0.062 2672 2267 1504 0 0 0 0 0 0

11738 0.95 329.2 45.2 8.6 977 11755 0.00 2.20 11.60 0.732 4 0.000 0.078 2672 3536 1456 0 0 0 0 0 0

11839 0.95 329.2 35.6 9.4 995 11845 0.00 2.12 0.00 0.000 6 0.000 0.063 2672 2240 1454 0 0 0 0 0 0

12183 0.97 348.2 5.0 8.4 1056 12204 0.00 2.20 16.15 0.730 4 0.000 0.077 2672 3539 1379 0 0 0 0 0 0

12214 end climb: SURFACE_DEPTH_REACHED

state 12214 begin surface coast

12237 end surface coast: CONTROL_FINISHED_OK

state 12237 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	154	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	22	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	-31428.836	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	081724,6701.570,-5718.517,41,1.2,41,-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	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	082634,6701.539,-5718.478,16,99.0,35,-37.6	MHEAD_RNG_PITCHd_Wd	75.6,22175,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	778

FINISH	0.4,1.001573	_24V_AH	22.9,37.615
SM_CCo	12315,0.00,0.000,0,0,1373,349.80	_10V_AH	10.2,19.226
SM_GC	1.19,7.30,0.00,0.00,0.075,0.000,0.000,124,2450,1373,-7.04,-0.28,349.80	FG_AHR_24Vo	0.000
RAFOS_CLK	771	FG_AHR_10Vo	0.000
RAFOS	1,1258531741,8.166667,8.150278,66,60,57,0,0,0,195,224,169,0,0,0	MEM	188044
RAFOS_FIX	6701.324219,-5720.243652,181109,080840,3,107,1.39	DATA_FILE_SIZE	44175,1066
IRIDIUM_FIX	6636.54,-5718.20,120299,080857	CAP_FILE_SIZE	137941,0
TT8_MAMPS	0.026845	CFSIZE	260165632,237981696
HUMID	47.08	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89683	SOUNDSPEED	1469.7
TCM_TEMP	17.90	CURRENT	0.116,270.7,1
XPDR_PINGS	10	GPS	181109,115337,6701.855,-5717.356,36,1.1,36,-37.6
ALTIM_TOP_PING	19.9,19.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	302	132.86	SBE_CT	772	24	424.83
Roll_motor	140	91	293.04	SBE_O2	742	19	323.14
VBD_pump_during_apogee	429	1241	12202.15	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	135.63	nil	0	0	0.00
Iridium_during_connect	60	160	221.39	nil	0	0	0.00
Iridium_during_xfer	216	223	1105.29
Transponder_ping	2	420	26.45
GUMSTIX_24V	0	0	0.00
GPS	37	50	19.35
TT8	2082	19	423.15
LPSleep	7565	2	178.26
TT8_Active	558	19	113.55
TT8_Sampling	2129	39	867.17
TT8_CF8	532	45	249.54
TT8_Kalman	0	0	0.00
Analog_circuits	1662	12	203.49
GPS_charging	0	0	0.00
Compass	2067	8	168.68
RAFOS	1080	1	16.52
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
15	-0.73	-146.0	0.0	0.0	0	119	0.00	0.00	-100.78	0.000	2	0.000	0.000	128	2467	3147	0	0	0	0	0	0
122	-0.73	-146.0	3.4	-6.3	19	145	9.82	2.65	-6.57	0.000	4	0.303	0.091	2150	865	3398	0	0	0	0	0	0
196	-0.73	-146.0	25.8	-29.9	32	202	0.00	2.60	0.00	0.000	6	0.000	0.074	2150	2456	3399	0	0	0	0	0	0
534	-0.73	-146.0	123.3	-26.6	85	538	0.00	2.50	0.00	0.000	4	0.000	0.090	2150	3915	3400	0	0	0	0	0	0
791	-0.73	-146.0	190.0	-24.2	107	798	0.00	2.40	0.00	0.000	6	0.000	0.066	2150	2483	3399	0	0	0	0	0	0
1115	-0.73	-146.0	261.5	-20.9	138	1120	0.00	2.45	0.00	0.000	4	0.000	0.090	2150	3913	3399	0	0	0	0	0	0
1312	-0.73	-146.0	304.4	-21.4	155	1316	0.00	2.35	0.00	0.000	6	0.000	0.066	2150	2485	3399	0	0	0	0	0	0
1636	-0.73	-146.0	370.8	-20.0	185	1640	0.00	2.45	0.00	0.000	4	0.000	0.089	2150	3913	3399	0	0	0	0	0	0
1753	-0.73	-146.0	396.2	-22.2	195	1757	0.00	2.35	0.00	0.000	6	0.000	0.065	2150	2480	3399	0	0	0	0	0	0
2077	-0.73	-146.0	463.9	-20.8	225	2081	0.00	2.45	0.00	0.000	4	0.000	0.088	2150	3920	3399	0	0	0	0	0	0
2210	-0.73	-146.0	493.0	-22.4	236	2216	0.00	2.33	0.00	0.000	6	0.000	0.064	2150	2494	3399	0	0	0	0	0	0
2536	-0.73	-146.0	559.7	-20.7	267	2540	0.00	2.42	0.00	0.000	4	0.000	0.087	2150	3922	3400	0	0	0	0	0	0
2602	-0.73	-146.0	574.7	-22.6	272	2608	0.00	2.33	0.00	0.000	6	0.000	0.064	2150	2495	3400	0	0	0	0	0	0
2920	-0.73	-146.0	638.3	-19.9	291	2924	0.00	2.42	0.00	0.000	4	0.000	0.087	2150	3923	3399	0	0	0	0	0	0
3097	-0.73	-146.0	675.2	-20.9	296	3101	0.00	2.35	0.00	0.000	6	0.000	0.064	2150	2507	3400	0	0	0	0	0	0
3421	-0.73	-146.0	739.4	-19.3	307	3425	0.00	2.40	0.00	0.000	4	0.000	0.087	2150	3924	3400	0	0	0	0	0	0
3537	-0.73	-146.0	762.6	-19.5	310	3541	0.00	2.33	0.00	0.000	6	0.000	0.063	2150	2521	3400	0	0	0	0	0	0
3639	end dive: TARGET_DEPTH_EXCEEDED
state	3639	begin apogee
3644	-0.16	0.0	782.2	19.2	314	3769	0.73	0.00	121.03	1.242	6	0.238	0.000	2329	1947	2800	0	0	0	0	0	0
3770	end apogee: CONTROL_FINISHED_OK
state	3770	begin climb
3771	0.73	146.0	787.7	0.0	318	3908	1.08	2.90	125.75	1.190	4	0.187	0.086	2611	375	2203	0	0	0	0	0	0
4043	0.78	191.3	771.0	7.3	326	4090	0.00	2.62	39.62	1.148	6	0.000	0.061	2611	1965	2019	0	0	0	0	0	0
4397	0.80	210.7	742.8	8.3	338	4422	0.12	2.78	17.48	1.103	4	0.163	0.087	2644	368	1939	0	0	0	0	0	0
4443	0.82	225.9	738.8	8.5	339	4464	0.00	2.58	14.38	1.075	6	0.000	0.060	2644	1961	1879	0	0	0	0	0	0
4799	0.82	225.9	704.3	10.5	351	4804	0.00	2.65	0.00	0.000	4	0.000	0.079	2644	3535	1876	0	0	0	0	0	0
4977	0.82	225.9	685.9	9.9	356	4982	0.00	2.60	0.00	0.000	6	0.000	0.065	2644	1989	1874	0	0	0	0	0	0
5301	0.82	225.9	653.2	10.3	367	5306	0.00	2.62	0.00	0.000	4	0.000	0.087	2644	362	1874	0	0	0	0	0	0
5396	0.82	225.9	644.1	9.6	370	5400	0.00	2.55	0.00	0.000	6	0.000	0.061	2644	1998	1874	0	0	0	0	0	0
5730	0.82	225.9	611.2	10.4	381	5734	0.00	2.65	0.00	0.000	4	0.000	0.087	2644	362	1873	0	0	0	0	0	0
5818	0.83	230.8	602.6	9.0	383	5828	0.00	2.62	4.93	0.821	6	0.000	0.062	2644	2052	1858	0	0	0	0	0	0
6154	0.83	230.8	571.1	9.5	413	6159	0.00	2.75	0.00	0.000	4	0.000	0.087	2644	358	1858	0	0	0	0	0	0
6411	0.85	250.6	549.2	8.3	435	6438	0.00	2.70	18.88	1.052	6	0.000	0.062	2644	2099	1776	0	0	0	0	0	0
6756	0.85	250.6	519.3	9.7	468	6760	0.00	2.85	0.00	0.000	4	0.000	0.087	2644	357	1772	0	0	0	0	0	0
7009	0.86	254.2	496.0	9.0	490	7020	0.00	2.72	3.88	0.686	6	0.000	0.064	2644	2096	1762	0	0	0	0	0	0
7338	0.89	277.8	469.1	8.2	521	7370	0.00	2.92	22.05	1.014	4	0.000	0.086	2644	361	1665	0	0	0	0	0	0
7622	0.89	277.8	443.2	9.5	546	7628	0.00	2.85	0.00	0.000	6	0.000	0.063	2644	2174	1662	0	0	0	0	0	0
7947	0.89	277.8	411.9	10.8	577	7951	0.00	2.95	0.00	0.000	4	0.000	0.084	2644	360	1662	0	0	0	0	0	0
8147	0.89	277.8	390.6	9.9	594	8153	0.00	2.80	0.00	0.000	6	0.000	0.061	2644	2154	1661	0	0	0	0	0	0
8472	0.89	277.8	357.4	10.9	625	8477	0.00	2.90	0.00	0.000	4	0.000	0.085	2644	362	1661	0	0	0	0	0	0
8533	0.89	277.8	350.7	11.2	630	8538	0.00	3.00	0.00	0.000	6	0.000	0.062	2644	2284	1661	0	0	0	0	0	0
8857	0.89	277.8	317.2	10.0	660	8862	0.00	3.10	0.00	0.000	4	0.000	0.084	2644	362	1661	0	0	0	0	0	0
8923	0.89	277.8	310.9	9.6	665	8931	0.00	3.00	0.00	0.000	6	0.000	0.062	2644	2288	1661	0	0	0	0	0	0
9247	0.89	279.6	281.8	9.1	696	9252	0.00	3.10	0.00	0.000	4	0.000	0.083	2644	361	1661	0	0	0	0	0	0
9287	0.89	279.6	278.1	10.0	699	9292	0.00	3.03	0.00	0.000	6	0.000	0.061	2644	2307	1661	0	0	0	0	0	0
9612	0.89	279.6	247.9	9.7	729	9617	0.00	3.12	0.00	0.000	4	0.000	0.082	2644	362	1661	0	0	0	0	0	0
9667	0.89	279.6	242.3	10.4	733	9673	0.00	3.03	0.00	0.000	6	0.000	0.062	2644	2315	1661	0	0	0	0	0	0
9993	0.89	279.6	209.9	9.8	764	9998	0.00	3.15	0.00	0.000	4	0.000	0.082	2644	350	1661	0	0	0	0	0	0
10077	0.89	283.7	202.1	9.0	771	10088	0.00	3.03	5.28	0.688	6	0.000	0.061	2644	2304	1643	0	0	0	0	0	0
10406	0.89	283.7	172.9	9.5	802	10410	0.10	2.05	0.00	0.000	4	0.172	0.081	2671	3537	1642	0	0	0	0	0	0
10443	0.89	283.7	169.0	11.1	805	10449	0.00	2.05	0.00	0.000	6	0.000	0.062	2671	2295	1642	0	0	0	0	0	0
10769	0.89	283.7	131.0	11.6	836	10773	0.00	2.05	0.00	0.000	4	0.000	0.077	2672	3537	1642	0	0	0	0	0	0
10828	0.89	283.7	125.0	9.6	841	10835	0.00	2.10	0.00	0.000	6	0.000	0.062	2672	2264	1642	0	0	0	0	0	0
11154	0.93	316.0	98.8	7.8	873	11188	0.00	2.22	28.10	0.784	4	0.000	0.081	2672	3537	1510	0	0	0	0	0	0
11394	0.93	316.0	76.0	9.4	916	11402	0.00	2.08	0.00	0.000	6	0.000	0.062	2672	2267	1504	0	0	0	0	0	0
11738	0.95	329.2	45.2	8.6	977	11755	0.00	2.20	11.60	0.732	4	0.000	0.078	2672	3536	1456	0	0	0	0	0	0
11839	0.95	329.2	35.6	9.4	995	11845	0.00	2.12	0.00	0.000	6	0.000	0.063	2672	2240	1454	0	0	0	0	0	0
12183	0.97	348.2	5.0	8.4	1056	12204	0.00	2.20	16.15	0.730	4	0.000	0.077	2672	3539	1379	0	0	0	0	0	0
12214	end climb: SURFACE_DEPTH_REACHED
state	12214	begin surface coast
12237	end surface coast: CONTROL_FINISHED_OK
state	12237	begin surface