Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 172 * 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 172 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 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 -32928.199 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 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 -32928.199

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 18 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 172 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 041324,6703.479,-5650.341,32,1.2,49,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 042008,6703.410,-5650.357,12,1.2,12,-37.5 MHEAD_RNG_PITCHd_Wd 281.7,33343,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 528

Post-dive calculations and measurements:

FINISH 0.5,1.024351 _24V_AH 23.2,40.529

SM_CCo 11259,59.12,0.709,0,0,1474,325.02 _10V_AH 10.2,20.618

SM_GC 1.07,0.00,0.00,59.12,0.000,0.000,0.709,128,2465,1474,-8.00,0.14,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 694 FG_AHR_10Vo 0.000

RAFOS 3,1258777503,4.433333,4.417500,59,58,56,0,0,0,191,211,227,0,0,0 MEM 187940

RAFOS_FIX 6701.097168,-5701.487793,201109,121201,3,77,0.29 DATA_FILE_SIZE 47364,1212

IRIDIUM_FIX 6631.12,-5641.49,150299,010149 CAP_FILE_SIZE 128427,0

TT8_MAMPS 0.026845 CFSIZE 260165632,236695552

HUMID 46.29 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92612 SOUNDSPEED 1469.7

TCM_TEMP 18.00 CURRENT 0.149,269.6,1

XPDR_PINGS 2 GPS 211109,073101,6702.910,-5655.778,69,1.8,69,-37.6

ALTIM_TOP_PING 19.8,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 289 141.92 SBE_CT 885 24 492.94

Roll_motor 112 102 266.43 SBE_O2 825 19 363.98

VBD_pump_during_apogee 293 1073 7309.61 nil 0 0 0.00

VBD_pump_during_surface 59 709 973.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.19 nil 0 0 0.00

Iridium_during_connect 36 160 134.21 nil 0 0 0.00

Iridium_during_xfer 222 223 1149.74

Transponder_ping 0 420 7.31

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.35

TT8 2112 19 429.20

LPSleep 6717 2 158.27

TT8_Active 525 19 106.84

TT8_Sampling 1900 39 773.98

TT8_CF8 461 45 216.04

TT8_Kalman 0 0 0.00

Analog_circuits 1526 12 186.83

GPS_charging 0 0 0.00

Compass 1873 8 152.90

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 0 168 0.00 0.00 -148.23 0.000 2 0.000 0.000 129 2462 3086 0 0 0 0 0 0

171 -0.73 -146.0 3.3 -6.2 28 198 10.88 2.58 -8.15 0.000 4 0.290 0.102 2444 3899 3400 0 0 0 0 0 0

450 -0.73 -146.0 45.2 -13.1 78 457 0.00 2.40 0.00 0.000 6 0.000 0.061 2444 2454 3402 0 0 0 0 0 0

795 -0.73 -146.0 89.8 -11.2 139 800 0.00 2.53 0.00 0.000 4 0.000 0.087 2444 3912 3401 0 0 0 0 0 0

896 -0.73 -146.0 101.6 -11.6 156 900 0.00 2.40 0.00 0.000 6 0.000 0.062 2445 2461 3401 0 0 0 0 0 0

1220 -0.73 -146.0 136.9 -11.1 186 1224 0.00 2.50 0.00 0.000 4 0.000 0.088 2445 3906 3401 0 0 0 0 0 0

1307 -0.73 -146.0 147.0 -11.6 193 1313 0.00 2.38 0.00 0.000 6 0.000 0.061 2445 2492 3402 0 0 0 0 0 0

1632 -0.73 -146.0 178.0 -8.1 224 1636 0.00 2.45 0.00 0.000 4 0.000 0.088 2445 3915 3401 0 0 0 0 0 0

1698 -0.73 -146.0 184.0 -8.8 229 1705 0.00 2.33 0.00 0.000 6 0.000 0.061 2444 2499 3402 0 0 0 0 0 0

2023 -0.73 -146.0 211.5 -8.8 260 2028 0.00 2.60 0.00 0.000 4 0.000 0.079 2445 870 3402 0 0 0 0 0 0

2044 -0.73 -146.0 213.6 -9.6 261 2050 0.00 2.65 0.00 0.000 6 0.000 0.070 2444 2532 3402 0 0 0 0 0 0

2369 -0.73 -146.0 244.1 -9.5 292 2373 0.00 2.35 0.00 0.000 4 0.000 0.088 2445 3912 3403 0 0 0 0 0 0

2418 -0.73 -146.0 248.9 -9.9 296 2422 0.00 2.30 0.00 0.000 6 0.000 0.061 2444 2505 3403 0 0 0 0 0 0

2743 -0.73 -146.0 278.2 -8.5 326 2747 0.00 2.40 0.00 0.000 4 0.000 0.085 2445 3913 3403 0 0 0 0 0 0

2826 -0.73 -146.0 285.6 -8.9 333 2830 0.00 2.28 0.00 0.000 6 0.000 0.060 2444 2517 3403 0 0 0 0 0 0

3152 -0.73 -146.0 313.4 -8.7 363 3157 0.00 2.62 0.00 0.000 4 0.000 0.077 2445 865 3404 0 0 0 0 0 0

3203 -0.73 -146.0 318.2 -9.8 367 3207 0.00 2.62 0.00 0.000 6 0.000 0.068 2444 2520 3404 0 0 0 0 0 0

3527 -0.73 -146.0 346.8 -8.5 397 3531 0.00 2.35 0.00 0.000 4 0.000 0.085 2444 3911 3404 0 0 0 0 0 0

3593 -0.73 -146.0 352.9 -9.1 402 3599 0.00 2.28 0.00 0.000 6 0.000 0.059 2444 2514 3405 0 0 0 0 0 0

3918 -0.73 -146.0 379.1 -7.9 433 3919 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2514 3404 0 0 0 0 0 0

4238 -0.73 -146.0 404.1 -7.8 463 4242 0.00 2.38 0.00 0.000 4 0.000 0.084 2444 3908 3405 0 0 0 0 0 0

4259 -0.73 -146.0 405.9 -7.6 464 4264 0.00 2.22 0.00 0.000 6 0.000 0.058 2445 2535 3405 0 0 0 0 0 0

4585 -0.73 -146.0 430.7 -7.9 495 4586 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2536 3405 0 0 0 0 0 0

4903 -0.73 -146.0 454.9 -7.3 525 4908 0.00 2.65 0.00 0.000 4 0.000 0.076 2445 863 3406 0 0 0 0 0 0

4958 -0.73 -146.0 459.4 -7.7 529 4964 0.00 2.62 0.00 0.000 6 0.000 0.067 2444 2529 3406 0 0 0 0 0 0

5283 -0.73 -146.0 482.4 -7.3 560 5284 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2529 3406 0 0 0 0 0 0

5602 -0.73 -146.0 506.0 -7.7 590 5603 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2528 3406 0 0 0 0 0 0

5908 end dive: TARGET_DEPTH_EXCEEDED

state 5909 begin apogee

5915 -0.16 0.0 528.9 7.7 619 6040 0.62 0.00 118.25 1.073 6 0.175 0.000 2627 1947 2799 0 0 0 0 0 0

6041 end apogee: CONTROL_FINISHED_OK

state 6041 begin climb

6043 0.73 146.0 531.9 0.0 632 6173 0.95 2.80 120.47 1.028 4 0.133 0.082 2926 367 2202 0 0 0 0 0 0

6184 0.73 146.0 521.8 10.3 645 6189 0.00 2.67 0.00 0.000 6 0.000 0.060 2926 1949 2199 0 0 0 0 0 0

6509 0.73 146.0 486.2 10.6 675 6510 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 1949 2195 0 0 0 0 0 0

6828 0.73 146.0 451.1 10.9 705 6832 0.00 2.60 0.00 0.000 4 0.000 0.084 2938 356 2193 0 0 0 0 0 0

6849 0.73 146.0 448.5 12.0 706 6855 0.00 2.47 0.00 0.000 6 0.000 0.061 2938 1939 2193 0 0 0 0 0 0

7173 0.73 146.0 409.8 11.8 737 7174 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1939 2193 0 0 0 0 0 0

7494 0.73 146.0 375.4 10.4 767 7498 0.00 2.67 0.00 0.000 4 0.000 0.078 2938 3546 2192 0 0 0 0 0 0

7544 0.73 146.0 369.5 11.7 771 7548 0.00 2.65 0.00 0.000 6 0.000 0.067 2951 1940 2192 0 0 0 0 0 0

7868 0.73 146.0 331.4 12.6 801 7872 0.00 2.67 0.00 0.000 4 0.000 0.078 2951 3537 2191 0 0 0 0 0 0

7895 0.73 146.0 327.8 13.8 803 7900 0.15 2.62 0.00 0.000 6 0.203 0.067 2929 1947 2192 0 0 0 0 0 0

8219 0.73 146.0 291.3 10.9 833 8220 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 1948 2191 0 0 0 0 0 0

8539 0.73 146.0 258.8 10.1 863 8544 0.00 2.53 0.00 0.000 4 0.000 0.085 2938 362 2191 0 0 0 0 0 0

8567 0.73 146.0 255.8 10.2 865 8572 0.00 2.45 0.00 0.000 6 0.000 0.063 2938 1946 2192 0 0 0 0 0 0

8892 0.73 146.0 219.7 11.4 895 8896 0.00 2.65 0.00 0.000 4 0.000 0.079 2939 3547 2191 0 0 0 0 0 0

8946 0.73 146.0 213.0 11.9 899 8952 0.00 2.62 0.00 0.000 6 0.000 0.066 2951 1947 2191 0 0 0 0 0 0

9271 0.73 146.0 176.5 11.2 930 9275 0.00 2.53 0.00 0.000 4 0.000 0.084 2962 359 2191 0 0 0 0 0 0

9291 0.73 146.0 174.0 11.9 931 9298 0.08 2.50 0.00 0.000 6 0.188 0.062 2930 1954 2191 0 0 0 0 0 0

9616 0.73 146.0 142.2 9.9 962 9621 0.00 2.62 0.00 0.000 4 0.000 0.078 2929 3542 2191 0 0 0 0 0 0

9678 0.73 146.0 135.6 10.6 967 9683 0.00 2.60 0.00 0.000 6 0.000 0.066 2939 1957 2191 0 0 0 0 0 0

10002 0.73 146.0 103.7 9.6 997 10007 0.00 2.55 0.00 0.000 4 0.000 0.084 2951 355 2191 0 0 0 0 0 0

10019 0.73 147.6 102.2 9.1 998 10023 0.00 2.53 0.00 0.000 6 0.000 0.062 2951 1994 2191 0 0 0 0 0 0

10360 0.73 147.6 72.4 9.7 1056 10366 0.00 2.55 0.00 0.000 4 0.000 0.077 2951 3536 2191 0 0 0 0 0 0

10417 0.73 147.6 66.6 10.5 1066 10424 0.15 2.58 0.00 0.000 6 0.196 0.067 2928 1969 2190 0 0 0 0 0 0

10763 0.74 159.3 38.4 8.7 1127 10779 0.00 2.58 9.75 0.699 4 0.000 0.084 2938 350 2150 0 0 0 0 0 0

10825 0.74 159.3 32.4 11.1 1138 10831 0.00 2.53 0.00 0.000 6 0.000 0.061 2938 1986 2149 0 0 0 0 0 0

11172 0.86 256.7 5.0 5.1 1199 11219 0.00 0.00 45.15 0.737 2 0.000 0.000 2938 1986 1915 0 0 0 0 0 0

11220 end climb: SURFACE_DEPTH_REACHED

state 11220 begin surface coast

11242 end surface coast: CONTROL_FINISHED_OK

state 11242 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	172	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	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	-32928.199	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	041324,6703.479,-5650.341,32,1.2,49,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	042008,6703.410,-5650.357,12,1.2,12,-37.5	MHEAD_RNG_PITCHd_Wd	281.7,33343,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	528

FINISH	0.5,1.024351	_24V_AH	23.2,40.529
SM_CCo	11259,59.12,0.709,0,0,1474,325.02	_10V_AH	10.2,20.618
SM_GC	1.07,0.00,0.00,59.12,0.000,0.000,0.709,128,2465,1474,-8.00,0.14,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	694	FG_AHR_10Vo	0.000
RAFOS	3,1258777503,4.433333,4.417500,59,58,56,0,0,0,191,211,227,0,0,0	MEM	187940
RAFOS_FIX	6701.097168,-5701.487793,201109,121201,3,77,0.29	DATA_FILE_SIZE	47364,1212
IRIDIUM_FIX	6631.12,-5641.49,150299,010149	CAP_FILE_SIZE	128427,0
TT8_MAMPS	0.026845	CFSIZE	260165632,236695552
HUMID	46.29	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92612	SOUNDSPEED	1469.7
TCM_TEMP	18.00	CURRENT	0.149,269.6,1
XPDR_PINGS	2	GPS	211109,073101,6702.910,-5655.778,69,1.8,69,-37.6
ALTIM_TOP_PING	19.8,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	289	141.92	SBE_CT	885	24	492.94
Roll_motor	112	102	266.43	SBE_O2	825	19	363.98
VBD_pump_during_apogee	293	1073	7309.61	nil	0	0	0.00
VBD_pump_during_surface	59	709	973.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.19	nil	0	0	0.00
Iridium_during_connect	36	160	134.21	nil	0	0	0.00
Iridium_during_xfer	222	223	1149.74
Transponder_ping	0	420	7.31
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.35
TT8	2112	19	429.20
LPSleep	6717	2	158.27
TT8_Active	525	19	106.84
TT8_Sampling	1900	39	773.98
TT8_CF8	461	45	216.04
TT8_Kalman	0	0	0.00
Analog_circuits	1526	12	186.83
GPS_charging	0	0	0.00
Compass	1873	8	152.90
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	168	0.00	0.00	-148.23	0.000	2	0.000	0.000	129	2462	3086	0	0	0	0	0	0
171	-0.73	-146.0	3.3	-6.2	28	198	10.88	2.58	-8.15	0.000	4	0.290	0.102	2444	3899	3400	0	0	0	0	0	0
450	-0.73	-146.0	45.2	-13.1	78	457	0.00	2.40	0.00	0.000	6	0.000	0.061	2444	2454	3402	0	0	0	0	0	0
795	-0.73	-146.0	89.8	-11.2	139	800	0.00	2.53	0.00	0.000	4	0.000	0.087	2444	3912	3401	0	0	0	0	0	0
896	-0.73	-146.0	101.6	-11.6	156	900	0.00	2.40	0.00	0.000	6	0.000	0.062	2445	2461	3401	0	0	0	0	0	0
1220	-0.73	-146.0	136.9	-11.1	186	1224	0.00	2.50	0.00	0.000	4	0.000	0.088	2445	3906	3401	0	0	0	0	0	0
1307	-0.73	-146.0	147.0	-11.6	193	1313	0.00	2.38	0.00	0.000	6	0.000	0.061	2445	2492	3402	0	0	0	0	0	0
1632	-0.73	-146.0	178.0	-8.1	224	1636	0.00	2.45	0.00	0.000	4	0.000	0.088	2445	3915	3401	0	0	0	0	0	0
1698	-0.73	-146.0	184.0	-8.8	229	1705	0.00	2.33	0.00	0.000	6	0.000	0.061	2444	2499	3402	0	0	0	0	0	0
2023	-0.73	-146.0	211.5	-8.8	260	2028	0.00	2.60	0.00	0.000	4	0.000	0.079	2445	870	3402	0	0	0	0	0	0
2044	-0.73	-146.0	213.6	-9.6	261	2050	0.00	2.65	0.00	0.000	6	0.000	0.070	2444	2532	3402	0	0	0	0	0	0
2369	-0.73	-146.0	244.1	-9.5	292	2373	0.00	2.35	0.00	0.000	4	0.000	0.088	2445	3912	3403	0	0	0	0	0	0
2418	-0.73	-146.0	248.9	-9.9	296	2422	0.00	2.30	0.00	0.000	6	0.000	0.061	2444	2505	3403	0	0	0	0	0	0
2743	-0.73	-146.0	278.2	-8.5	326	2747	0.00	2.40	0.00	0.000	4	0.000	0.085	2445	3913	3403	0	0	0	0	0	0
2826	-0.73	-146.0	285.6	-8.9	333	2830	0.00	2.28	0.00	0.000	6	0.000	0.060	2444	2517	3403	0	0	0	0	0	0
3152	-0.73	-146.0	313.4	-8.7	363	3157	0.00	2.62	0.00	0.000	4	0.000	0.077	2445	865	3404	0	0	0	0	0	0
3203	-0.73	-146.0	318.2	-9.8	367	3207	0.00	2.62	0.00	0.000	6	0.000	0.068	2444	2520	3404	0	0	0	0	0	0
3527	-0.73	-146.0	346.8	-8.5	397	3531	0.00	2.35	0.00	0.000	4	0.000	0.085	2444	3911	3404	0	0	0	0	0	0
3593	-0.73	-146.0	352.9	-9.1	402	3599	0.00	2.28	0.00	0.000	6	0.000	0.059	2444	2514	3405	0	0	0	0	0	0
3918	-0.73	-146.0	379.1	-7.9	433	3919	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2514	3404	0	0	0	0	0	0
4238	-0.73	-146.0	404.1	-7.8	463	4242	0.00	2.38	0.00	0.000	4	0.000	0.084	2444	3908	3405	0	0	0	0	0	0
4259	-0.73	-146.0	405.9	-7.6	464	4264	0.00	2.22	0.00	0.000	6	0.000	0.058	2445	2535	3405	0	0	0	0	0	0
4585	-0.73	-146.0	430.7	-7.9	495	4586	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2536	3405	0	0	0	0	0	0
4903	-0.73	-146.0	454.9	-7.3	525	4908	0.00	2.65	0.00	0.000	4	0.000	0.076	2445	863	3406	0	0	0	0	0	0
4958	-0.73	-146.0	459.4	-7.7	529	4964	0.00	2.62	0.00	0.000	6	0.000	0.067	2444	2529	3406	0	0	0	0	0	0
5283	-0.73	-146.0	482.4	-7.3	560	5284	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2529	3406	0	0	0	0	0	0
5602	-0.73	-146.0	506.0	-7.7	590	5603	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2528	3406	0	0	0	0	0	0
5908	end dive: TARGET_DEPTH_EXCEEDED
state	5909	begin apogee
5915	-0.16	0.0	528.9	7.7	619	6040	0.62	0.00	118.25	1.073	6	0.175	0.000	2627	1947	2799	0	0	0	0	0	0
6041	end apogee: CONTROL_FINISHED_OK
state	6041	begin climb
6043	0.73	146.0	531.9	0.0	632	6173	0.95	2.80	120.47	1.028	4	0.133	0.082	2926	367	2202	0	0	0	0	0	0
6184	0.73	146.0	521.8	10.3	645	6189	0.00	2.67	0.00	0.000	6	0.000	0.060	2926	1949	2199	0	0	0	0	0	0
6509	0.73	146.0	486.2	10.6	675	6510	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	1949	2195	0	0	0	0	0	0
6828	0.73	146.0	451.1	10.9	705	6832	0.00	2.60	0.00	0.000	4	0.000	0.084	2938	356	2193	0	0	0	0	0	0
6849	0.73	146.0	448.5	12.0	706	6855	0.00	2.47	0.00	0.000	6	0.000	0.061	2938	1939	2193	0	0	0	0	0	0
7173	0.73	146.0	409.8	11.8	737	7174	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1939	2193	0	0	0	0	0	0
7494	0.73	146.0	375.4	10.4	767	7498	0.00	2.67	0.00	0.000	4	0.000	0.078	2938	3546	2192	0	0	0	0	0	0
7544	0.73	146.0	369.5	11.7	771	7548	0.00	2.65	0.00	0.000	6	0.000	0.067	2951	1940	2192	0	0	0	0	0	0
7868	0.73	146.0	331.4	12.6	801	7872	0.00	2.67	0.00	0.000	4	0.000	0.078	2951	3537	2191	0	0	0	0	0	0
7895	0.73	146.0	327.8	13.8	803	7900	0.15	2.62	0.00	0.000	6	0.203	0.067	2929	1947	2192	0	0	0	0	0	0
8219	0.73	146.0	291.3	10.9	833	8220	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	1948	2191	0	0	0	0	0	0
8539	0.73	146.0	258.8	10.1	863	8544	0.00	2.53	0.00	0.000	4	0.000	0.085	2938	362	2191	0	0	0	0	0	0
8567	0.73	146.0	255.8	10.2	865	8572	0.00	2.45	0.00	0.000	6	0.000	0.063	2938	1946	2192	0	0	0	0	0	0
8892	0.73	146.0	219.7	11.4	895	8896	0.00	2.65	0.00	0.000	4	0.000	0.079	2939	3547	2191	0	0	0	0	0	0
8946	0.73	146.0	213.0	11.9	899	8952	0.00	2.62	0.00	0.000	6	0.000	0.066	2951	1947	2191	0	0	0	0	0	0
9271	0.73	146.0	176.5	11.2	930	9275	0.00	2.53	0.00	0.000	4	0.000	0.084	2962	359	2191	0	0	0	0	0	0
9291	0.73	146.0	174.0	11.9	931	9298	0.08	2.50	0.00	0.000	6	0.188	0.062	2930	1954	2191	0	0	0	0	0	0
9616	0.73	146.0	142.2	9.9	962	9621	0.00	2.62	0.00	0.000	4	0.000	0.078	2929	3542	2191	0	0	0	0	0	0
9678	0.73	146.0	135.6	10.6	967	9683	0.00	2.60	0.00	0.000	6	0.000	0.066	2939	1957	2191	0	0	0	0	0	0
10002	0.73	146.0	103.7	9.6	997	10007	0.00	2.55	0.00	0.000	4	0.000	0.084	2951	355	2191	0	0	0	0	0	0
10019	0.73	147.6	102.2	9.1	998	10023	0.00	2.53	0.00	0.000	6	0.000	0.062	2951	1994	2191	0	0	0	0	0	0
10360	0.73	147.6	72.4	9.7	1056	10366	0.00	2.55	0.00	0.000	4	0.000	0.077	2951	3536	2191	0	0	0	0	0	0
10417	0.73	147.6	66.6	10.5	1066	10424	0.15	2.58	0.00	0.000	6	0.196	0.067	2928	1969	2190	0	0	0	0	0	0
10763	0.74	159.3	38.4	8.7	1127	10779	0.00	2.58	9.75	0.699	4	0.000	0.084	2938	350	2150	0	0	0	0	0	0
10825	0.74	159.3	32.4	11.1	1138	10831	0.00	2.53	0.00	0.000	6	0.000	0.061	2938	1986	2149	0	0	0	0	0	0
11172	0.86	256.7	5.0	5.1	1199	11219	0.00	0.00	45.15	0.737	2	0.000	0.000	2938	1986	1915	0	0	0	0	0	0
11220	end climb: SURFACE_DEPTH_REACHED
state	11220	begin surface coast
11242	end surface coast: CONTROL_FINISHED_OK
state	11242	begin surface