Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 169 * 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 169 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 578.41736 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 -32742.516 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 2690 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 578.41736

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 -32742.516

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 2690 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 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 169 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 165706,6703.970,-5657.293,39,1.1,39,-37.6 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 12 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 172536,6703.838,-5657.762,239,1.5,256,-37.6 MHEAD_RNG_PITCHd_Wd 157.6,7218,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 552

Post-dive calculations and measurements:

FINISH 0.3,1.014212 _24V_AH 23.2,40.071

SM_CCo 11228,226.95,0.705,0,0,441,578.42 _10V_AH 10.2,20.386

SM_GC 1.03,0.00,0.00,226.95,0.000,0.000,0.705,127,2472,441,-8.01,0.34,578.42 FG_AHR_24Vo 0.000

RAFOS_CLK 772 FG_AHR_10Vo 0.000

RAFOS 6,1258735746,16.833334,16.818333,60,59,58,0,0,0,201,142,190,0,0,0 MEM 187964

RAFOS_FIX 6701.097168,-5701.487793,201109,121201,3,77,0.29 DATA_FILE_SIZE 47363,1195

IRIDIUM_FIX 6636.54,-5702.96,140299,171743 CAP_FILE_SIZE 142540,0

TT8_MAMPS 0.027612 CFSIZE 260165632,236883968

HUMID 44.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.82846 SOUNDSPEED 1470.4

TCM_TEMP 17.90 CURRENT 0.145,262.9,1

XPDR_PINGS 3 GPS 201109,203807,6702.864,-5656.799,31,1.7,31,-37.6

ALTIM_TOP_PING 19.8,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 297 146.20 SBE_CT 873 24 486.50

Roll_motor 106 92 230.28 SBE_O2 817 19 360.23

VBD_pump_during_apogee 246 1089 6234.22 nil 0 0 0.00

VBD_pump_during_surface 226 704 3711.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 140 103 336.78 nil 0 0 0.00

Iridium_during_connect 202 160 751.93 nil 0 0 0.00

Iridium_during_xfer 710 223 3678.15

Transponder_ping 1 420 9.74

GUMSTIX_24V 0 0 0.00

GPS 258 50 131.77

TT8 2077 19 422.16

LPSleep 7015 2 165.31

TT8_Active 630 19 128.11

TT8_Sampling 2152 39 876.52

TT8_CF8 1283 45 601.25

TT8_Kalman 0 0 0.00

Analog_circuits 1613 12 197.55

GPS_charging 0 0 0.00

Compass 1882 8 153.60

RAFOS 1440 1 22.03

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 0 112 0.00 0.00 -93.20 0.000 2 0.000 0.000 126 2475 3035 0 0 0 0 0 0

115 -0.73 -146.0 3.1 -5.4 18 142 11.05 2.65 -10.12 0.000 4 0.298 0.093 2445 863 3397 0 0 0 0 0 0

395 -0.73 -146.0 47.4 -15.3 68 401 0.00 2.58 0.00 0.000 6 0.000 0.074 2445 2456 3400 0 0 0 0 0 0

738 -0.73 -146.0 92.4 -11.1 129 744 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2455 3400 0 0 0 0 0 0

1071 -0.73 -146.0 125.5 -9.9 167 1076 0.00 2.53 0.00 0.000 4 0.000 0.092 2445 3919 3400 0 0 0 0 0 0

1148 -0.73 -146.0 133.0 -9.7 173 1155 0.00 2.45 0.00 0.000 6 0.000 0.064 2445 2460 3400 0 0 0 0 0 0

1473 -0.73 -146.0 164.2 -10.3 204 1477 0.00 2.53 0.00 0.000 4 0.000 0.089 2445 3911 3400 0 0 0 0 0 0

1534 -0.73 -146.0 170.5 -10.7 209 1538 0.00 2.40 0.00 0.000 6 0.000 0.064 2445 2458 3400 0 0 0 0 0 0

1858 -0.73 -146.0 202.9 -10.0 239 1862 0.00 2.50 0.00 0.000 4 0.000 0.088 2445 3911 3400 0 0 0 0 0 0

1896 -0.73 -146.0 206.8 -10.2 242 1900 0.00 2.38 0.00 0.000 6 0.000 0.063 2445 2470 3400 0 0 0 0 0 0

2226 -0.73 -146.0 236.7 -8.3 273 2230 0.00 2.47 0.00 0.000 4 0.000 0.088 2445 3911 3401 0 0 0 0 0 0

2315 -0.73 -146.0 243.7 -7.8 280 2321 0.00 2.35 0.00 0.000 6 0.000 0.061 2445 2479 3401 0 0 0 0 0 0

2640 -0.73 -146.0 268.6 -8.2 311 2644 0.00 2.47 0.00 0.000 4 0.000 0.087 2445 3920 3402 0 0 0 0 0 0

2717 -0.73 -146.0 275.2 -8.6 317 2724 0.00 2.33 0.00 0.000 6 0.000 0.061 2445 2496 3402 0 0 0 0 0 0

3042 -0.73 -146.0 303.0 -8.5 348 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2496 3402 0 0 0 0 0 0

3362 -0.73 -146.0 331.4 -9.2 378 3363 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2496 3403 0 0 0 0 0 0

3680 -0.73 -146.0 362.7 -10.1 408 3684 0.00 2.42 0.00 0.000 4 0.000 0.084 2445 3912 3404 0 0 0 0 0 0

3734 -0.73 -146.0 368.5 -10.8 412 3740 0.00 2.35 0.00 0.000 6 0.000 0.059 2445 2499 3404 0 0 0 0 0 0

4059 -0.73 -146.0 400.8 -9.4 443 4063 0.00 2.42 0.00 0.000 4 0.000 0.084 2445 3918 3404 0 0 0 0 0 0

4108 -0.73 -146.0 405.4 -9.4 447 4112 0.00 2.30 0.00 0.000 6 0.000 0.058 2445 2504 3404 0 0 0 0 0 0

4432 -0.73 -146.0 434.0 -8.6 477 4433 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2505 3405 0 0 0 0 0 0

4752 -0.73 -146.0 460.5 -8.1 507 4756 0.00 2.42 0.00 0.000 4 0.000 0.084 2445 3919 3405 0 0 0 0 0 0

4797 -0.73 -146.0 464.3 -8.7 511 4801 0.00 2.30 0.00 0.000 6 0.000 0.058 2445 2504 3405 0 0 0 0 0 0

5121 -0.73 -146.0 488.7 -7.1 541 5125 0.00 2.42 0.00 0.000 4 0.000 0.084 2445 3922 3405 0 0 0 0 0 0

5204 -0.73 -146.0 495.0 -7.6 548 5210 0.00 2.30 0.00 0.000 6 0.000 0.058 2445 2504 3406 0 0 0 0 0 0

5528 -0.73 -146.0 518.6 -7.3 579 5529 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2505 3406 0 0 0 0 0 0

5849 -0.73 -146.0 543.0 -7.6 609 5853 0.00 2.40 0.00 0.000 4 0.000 0.083 2444 3912 3406 0 0 0 0 0 0

5948 -0.73 -146.0 551.0 -7.9 617 5955 0.00 2.28 0.00 0.000 6 0.000 0.058 2445 2509 3406 0 0 0 0 0 0

5963 end dive: TARGET_DEPTH_EXCEEDED

state 5963 begin apogee

5969 -0.16 0.0 552.1 7.8 619 6095 0.65 0.00 118.53 1.090 6 0.176 0.000 2629 1943 2800 0 0 0 0 0 0

6095 end apogee: CONTROL_FINISHED_OK

state 6096 begin climb

6097 0.73 146.0 555.0 0.0 632 6224 0.95 0.00 121.15 1.046 6 0.131 0.000 2915 1943 2203 0 0 0 0 0 0

6539 0.73 146.0 513.3 10.3 674 6543 0.00 2.78 0.00 0.000 4 0.000 0.077 2915 3547 2195 0 0 0 0 0 0

6582 0.73 146.0 508.1 12.1 677 6589 0.00 2.70 0.00 0.000 6 0.000 0.065 2928 1954 2193 0 0 0 0 0 0

6906 0.73 146.0 472.6 10.9 708 6911 0.00 2.70 0.00 0.000 4 0.000 0.077 2927 3546 2193 0 0 0 0 0 0

6938 0.73 146.0 468.8 11.5 710 6944 0.00 2.65 0.00 0.000 6 0.000 0.066 2940 1957 2192 0 0 0 0 0 0

7264 0.73 146.0 430.9 12.1 741 7269 0.00 2.67 0.00 0.000 4 0.000 0.077 2940 3548 2192 0 0 0 0 0 0

7285 0.73 146.0 428.0 12.6 742 7291 0.00 2.65 0.00 0.000 6 0.000 0.067 2952 1954 2192 0 0 0 0 0 0

7610 0.73 146.0 388.0 12.1 773 7614 0.00 2.55 0.00 0.000 4 0.000 0.085 2963 362 2192 0 0 0 0 0 0

7648 0.73 146.0 383.3 12.5 776 7653 0.17 2.50 0.00 0.000 6 0.199 0.063 2923 1967 2192 0 0 0 0 0 0

7972 0.73 146.0 351.4 9.9 806 7977 0.00 2.62 0.00 0.000 4 0.000 0.079 2923 3543 2192 0 0 0 0 0 0

8011 0.73 146.0 347.1 11.1 809 8016 0.00 2.62 0.00 0.000 6 0.000 0.067 2933 1956 2192 0 0 0 0 0 0

8335 0.73 146.0 311.0 11.6 839 8340 0.00 2.65 0.00 0.000 4 0.000 0.078 2933 3540 2192 0 0 0 0 0 0

8367 0.73 146.0 307.0 13.0 841 8374 0.00 2.65 0.00 0.000 6 0.000 0.067 2945 1962 2192 0 0 0 0 0 0

8692 0.73 146.0 267.4 11.8 872 8696 0.00 2.55 0.00 0.000 4 0.000 0.086 2957 362 2192 0 0 0 0 0 0

8843 0.73 146.0 248.2 12.7 885 8848 0.12 2.45 0.00 0.000 6 0.202 0.064 2930 1947 2192 0 0 0 0 0 0

9167 0.73 146.0 210.8 11.1 915 9168 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1947 2192 0 0 0 0 0 0

9487 0.73 146.0 173.3 11.1 945 9491 0.00 2.62 0.00 0.000 4 0.000 0.079 2929 3535 2191 0 0 0 0 0 0

9537 0.73 146.0 167.2 12.2 949 9541 0.00 2.62 0.00 0.000 6 0.000 0.067 2939 1936 2191 0 0 0 0 0 0

9860 0.73 146.0 131.3 10.2 979 9865 0.00 2.50 0.00 0.000 4 0.000 0.084 2951 364 2192 0 0 0 0 0 0

9904 0.73 146.0 126.2 11.3 982 9910 0.00 2.42 0.00 0.000 6 0.000 0.061 2951 1942 2192 0 0 0 0 0 0

10233 0.73 146.0 89.5 10.7 1021 10239 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 1941 2192 0 0 0 0 0 0

10576 0.73 146.0 54.4 9.8 1082 10581 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 1942 2192 0 0 0 0 0 0

10919 0.74 155.4 26.4 8.8 1143 10935 0.00 2.60 6.88 0.662 4 0.000 0.085 2963 358 2166 0 0 0 0 0 0

11048 0.74 155.4 13.7 9.2 1166 11054 0.15 2.42 0.00 0.000 6 0.184 0.061 2927 1935 2166 0 0 0 0 0 0

11187 end climb: SURFACE_DEPTH_REACHED

state 11187 begin surface coast

11211 end surface coast: CONTROL_FINISHED_OK

state 11211 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	169	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	578.41736	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	-32742.516	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	2690	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	165706,6703.970,-5657.293,39,1.1,39,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	12	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	172536,6703.838,-5657.762,239,1.5,256,-37.6	MHEAD_RNG_PITCHd_Wd	157.6,7218,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	552

FINISH	0.3,1.014212	_24V_AH	23.2,40.071
SM_CCo	11228,226.95,0.705,0,0,441,578.42	_10V_AH	10.2,20.386
SM_GC	1.03,0.00,0.00,226.95,0.000,0.000,0.705,127,2472,441,-8.01,0.34,578.42	FG_AHR_24Vo	0.000
RAFOS_CLK	772	FG_AHR_10Vo	0.000
RAFOS	6,1258735746,16.833334,16.818333,60,59,58,0,0,0,201,142,190,0,0,0	MEM	187964
RAFOS_FIX	6701.097168,-5701.487793,201109,121201,3,77,0.29	DATA_FILE_SIZE	47363,1195
IRIDIUM_FIX	6636.54,-5702.96,140299,171743	CAP_FILE_SIZE	142540,0
TT8_MAMPS	0.027612	CFSIZE	260165632,236883968
HUMID	44.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.82846	SOUNDSPEED	1470.4
TCM_TEMP	17.90	CURRENT	0.145,262.9,1
XPDR_PINGS	3	GPS	201109,203807,6702.864,-5656.799,31,1.7,31,-37.6
ALTIM_TOP_PING	19.8,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	297	146.20	SBE_CT	873	24	486.50
Roll_motor	106	92	230.28	SBE_O2	817	19	360.23
VBD_pump_during_apogee	246	1089	6234.22	nil	0	0	0.00
VBD_pump_during_surface	226	704	3711.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	140	103	336.78	nil	0	0	0.00
Iridium_during_connect	202	160	751.93	nil	0	0	0.00
Iridium_during_xfer	710	223	3678.15
Transponder_ping	1	420	9.74
GUMSTIX_24V	0	0	0.00
GPS	258	50	131.77
TT8	2077	19	422.16
LPSleep	7015	2	165.31
TT8_Active	630	19	128.11
TT8_Sampling	2152	39	876.52
TT8_CF8	1283	45	601.25
TT8_Kalman	0	0	0.00
Analog_circuits	1613	12	197.55
GPS_charging	0	0	0.00
Compass	1882	8	153.60
RAFOS	1440	1	22.03
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	112	0.00	0.00	-93.20	0.000	2	0.000	0.000	126	2475	3035	0	0	0	0	0	0
115	-0.73	-146.0	3.1	-5.4	18	142	11.05	2.65	-10.12	0.000	4	0.298	0.093	2445	863	3397	0	0	0	0	0	0
395	-0.73	-146.0	47.4	-15.3	68	401	0.00	2.58	0.00	0.000	6	0.000	0.074	2445	2456	3400	0	0	0	0	0	0
738	-0.73	-146.0	92.4	-11.1	129	744	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2455	3400	0	0	0	0	0	0
1071	-0.73	-146.0	125.5	-9.9	167	1076	0.00	2.53	0.00	0.000	4	0.000	0.092	2445	3919	3400	0	0	0	0	0	0
1148	-0.73	-146.0	133.0	-9.7	173	1155	0.00	2.45	0.00	0.000	6	0.000	0.064	2445	2460	3400	0	0	0	0	0	0
1473	-0.73	-146.0	164.2	-10.3	204	1477	0.00	2.53	0.00	0.000	4	0.000	0.089	2445	3911	3400	0	0	0	0	0	0
1534	-0.73	-146.0	170.5	-10.7	209	1538	0.00	2.40	0.00	0.000	6	0.000	0.064	2445	2458	3400	0	0	0	0	0	0
1858	-0.73	-146.0	202.9	-10.0	239	1862	0.00	2.50	0.00	0.000	4	0.000	0.088	2445	3911	3400	0	0	0	0	0	0
1896	-0.73	-146.0	206.8	-10.2	242	1900	0.00	2.38	0.00	0.000	6	0.000	0.063	2445	2470	3400	0	0	0	0	0	0
2226	-0.73	-146.0	236.7	-8.3	273	2230	0.00	2.47	0.00	0.000	4	0.000	0.088	2445	3911	3401	0	0	0	0	0	0
2315	-0.73	-146.0	243.7	-7.8	280	2321	0.00	2.35	0.00	0.000	6	0.000	0.061	2445	2479	3401	0	0	0	0	0	0
2640	-0.73	-146.0	268.6	-8.2	311	2644	0.00	2.47	0.00	0.000	4	0.000	0.087	2445	3920	3402	0	0	0	0	0	0
2717	-0.73	-146.0	275.2	-8.6	317	2724	0.00	2.33	0.00	0.000	6	0.000	0.061	2445	2496	3402	0	0	0	0	0	0
3042	-0.73	-146.0	303.0	-8.5	348	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2496	3402	0	0	0	0	0	0
3362	-0.73	-146.0	331.4	-9.2	378	3363	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2496	3403	0	0	0	0	0	0
3680	-0.73	-146.0	362.7	-10.1	408	3684	0.00	2.42	0.00	0.000	4	0.000	0.084	2445	3912	3404	0	0	0	0	0	0
3734	-0.73	-146.0	368.5	-10.8	412	3740	0.00	2.35	0.00	0.000	6	0.000	0.059	2445	2499	3404	0	0	0	0	0	0
4059	-0.73	-146.0	400.8	-9.4	443	4063	0.00	2.42	0.00	0.000	4	0.000	0.084	2445	3918	3404	0	0	0	0	0	0
4108	-0.73	-146.0	405.4	-9.4	447	4112	0.00	2.30	0.00	0.000	6	0.000	0.058	2445	2504	3404	0	0	0	0	0	0
4432	-0.73	-146.0	434.0	-8.6	477	4433	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2505	3405	0	0	0	0	0	0
4752	-0.73	-146.0	460.5	-8.1	507	4756	0.00	2.42	0.00	0.000	4	0.000	0.084	2445	3919	3405	0	0	0	0	0	0
4797	-0.73	-146.0	464.3	-8.7	511	4801	0.00	2.30	0.00	0.000	6	0.000	0.058	2445	2504	3405	0	0	0	0	0	0
5121	-0.73	-146.0	488.7	-7.1	541	5125	0.00	2.42	0.00	0.000	4	0.000	0.084	2445	3922	3405	0	0	0	0	0	0
5204	-0.73	-146.0	495.0	-7.6	548	5210	0.00	2.30	0.00	0.000	6	0.000	0.058	2445	2504	3406	0	0	0	0	0	0
5528	-0.73	-146.0	518.6	-7.3	579	5529	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2505	3406	0	0	0	0	0	0
5849	-0.73	-146.0	543.0	-7.6	609	5853	0.00	2.40	0.00	0.000	4	0.000	0.083	2444	3912	3406	0	0	0	0	0	0
5948	-0.73	-146.0	551.0	-7.9	617	5955	0.00	2.28	0.00	0.000	6	0.000	0.058	2445	2509	3406	0	0	0	0	0	0
5963	end dive: TARGET_DEPTH_EXCEEDED
state	5963	begin apogee
5969	-0.16	0.0	552.1	7.8	619	6095	0.65	0.00	118.53	1.090	6	0.176	0.000	2629	1943	2800	0	0	0	0	0	0
6095	end apogee: CONTROL_FINISHED_OK
state	6096	begin climb
6097	0.73	146.0	555.0	0.0	632	6224	0.95	0.00	121.15	1.046	6	0.131	0.000	2915	1943	2203	0	0	0	0	0	0
6539	0.73	146.0	513.3	10.3	674	6543	0.00	2.78	0.00	0.000	4	0.000	0.077	2915	3547	2195	0	0	0	0	0	0
6582	0.73	146.0	508.1	12.1	677	6589	0.00	2.70	0.00	0.000	6	0.000	0.065	2928	1954	2193	0	0	0	0	0	0
6906	0.73	146.0	472.6	10.9	708	6911	0.00	2.70	0.00	0.000	4	0.000	0.077	2927	3546	2193	0	0	0	0	0	0
6938	0.73	146.0	468.8	11.5	710	6944	0.00	2.65	0.00	0.000	6	0.000	0.066	2940	1957	2192	0	0	0	0	0	0
7264	0.73	146.0	430.9	12.1	741	7269	0.00	2.67	0.00	0.000	4	0.000	0.077	2940	3548	2192	0	0	0	0	0	0
7285	0.73	146.0	428.0	12.6	742	7291	0.00	2.65	0.00	0.000	6	0.000	0.067	2952	1954	2192	0	0	0	0	0	0
7610	0.73	146.0	388.0	12.1	773	7614	0.00	2.55	0.00	0.000	4	0.000	0.085	2963	362	2192	0	0	0	0	0	0
7648	0.73	146.0	383.3	12.5	776	7653	0.17	2.50	0.00	0.000	6	0.199	0.063	2923	1967	2192	0	0	0	0	0	0
7972	0.73	146.0	351.4	9.9	806	7977	0.00	2.62	0.00	0.000	4	0.000	0.079	2923	3543	2192	0	0	0	0	0	0
8011	0.73	146.0	347.1	11.1	809	8016	0.00	2.62	0.00	0.000	6	0.000	0.067	2933	1956	2192	0	0	0	0	0	0
8335	0.73	146.0	311.0	11.6	839	8340	0.00	2.65	0.00	0.000	4	0.000	0.078	2933	3540	2192	0	0	0	0	0	0
8367	0.73	146.0	307.0	13.0	841	8374	0.00	2.65	0.00	0.000	6	0.000	0.067	2945	1962	2192	0	0	0	0	0	0
8692	0.73	146.0	267.4	11.8	872	8696	0.00	2.55	0.00	0.000	4	0.000	0.086	2957	362	2192	0	0	0	0	0	0
8843	0.73	146.0	248.2	12.7	885	8848	0.12	2.45	0.00	0.000	6	0.202	0.064	2930	1947	2192	0	0	0	0	0	0
9167	0.73	146.0	210.8	11.1	915	9168	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1947	2192	0	0	0	0	0	0
9487	0.73	146.0	173.3	11.1	945	9491	0.00	2.62	0.00	0.000	4	0.000	0.079	2929	3535	2191	0	0	0	0	0	0
9537	0.73	146.0	167.2	12.2	949	9541	0.00	2.62	0.00	0.000	6	0.000	0.067	2939	1936	2191	0	0	0	0	0	0
9860	0.73	146.0	131.3	10.2	979	9865	0.00	2.50	0.00	0.000	4	0.000	0.084	2951	364	2192	0	0	0	0	0	0
9904	0.73	146.0	126.2	11.3	982	9910	0.00	2.42	0.00	0.000	6	0.000	0.061	2951	1942	2192	0	0	0	0	0	0
10233	0.73	146.0	89.5	10.7	1021	10239	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	1941	2192	0	0	0	0	0	0
10576	0.73	146.0	54.4	9.8	1082	10581	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	1942	2192	0	0	0	0	0	0
10919	0.74	155.4	26.4	8.8	1143	10935	0.00	2.60	6.88	0.662	4	0.000	0.085	2963	358	2166	0	0	0	0	0	0
11048	0.74	155.4	13.7	9.2	1166	11054	0.15	2.42	0.00	0.000	6	0.184	0.061	2927	1935	2166	0	0	0	0	0	0
11187	end climb: SURFACE_DEPTH_REACHED
state	11187	begin surface coast
11211	end surface coast: CONTROL_FINISHED_OK
state	11211	begin surface