Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 325 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 325 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 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 3 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 2 T_GPS_CHARGE -42112.797 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 0 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 0.045000002 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 425

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 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 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 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 -42112.797

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 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 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 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

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 17 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 325 NAV_MODE 0 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 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 023100,6708.813,-5706.466,42,1.1,47,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 023914,6708.869,-5706.623,12,1.2,12,-37.7 MHEAD_RNG_PITCHd_Wd 166.6,17291,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 515

Post-dive calculations and measurements:

FREEZE 0.67,-0.770,-1.818,0,1,0 ALTIM_TOP_PING 19.4,18.9

FINISH 0.7,1.026663 ALTIM_BOTTOM_PING 400.0,133.5

SM_CCo 10974,128.80,0.733,0,0,1065,425.10 _24V_AH 22.6,61.806

SM_GC 1.33,0.00,0.00,128.80,0.000,0.000,0.733,127,2465,1065,-8.01,0.14,425.10 _10V_AH 10.1,32.679

RAFOS_CLK 703 FG_AHR_24Vo 0.000

RAFOS 0,1261022462,4.033333,4.017222,55,55,54,0,0,0,196,205,1390,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.536133,-5711.700684,171209,040400,2,108,0.48 MEM 152564

IRIDIUM_FIX 6641.98,-5706.23,120399,191906 DATA_FILE_SIZE 47220,1175

TT8_MAMPS 0.027612 CAP_FILE_SIZE 139640,0

HUMID 47.36 CFSIZE 260165632,224755712

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,84,0,0

TCM_TEMP 16.80 SOUNDSPEED 1462.1

XPDR_PINGS 3 GPS 171209,054606,6708.842,-5706.350,36,1.1,36,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 295 163.50 SBE_CT 860 24 466.71

Roll_motor 139 98 309.24 SBE_O2 804 19 345.46

VBD_pump_during_apogee 303 1069 7343.23 nil 0 0 0.00

VBD_pump_during_surface 128 733 2134.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 63.78 nil 0 0 0.00

Iridium_during_connect 37 160 137.20 nil 0 0 0.00

Iridium_during_xfer 281 223 1418.79

Transponder_ping 2 420 21.36

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.83

TT8 2015 19 405.52

LPSleep 6328 2 147.66

TT8_Active 590 19 118.89

TT8_Sampling 2089 39 842.61

TT8_CF8 572 45 265.68

TT8_Kalman 0 0 0.00

Analog_circuits 1659 12 201.15

GPS_charging 0 0 0.00

Compass 2048 8 165.48

RAFOS 2520 1 38.18

Transponder 13 30 4.24

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 0 134 0.00 0.00 -115.07 0.000 2 0.000 0.000 124 2452 3071 0 0 0 0 0 0

138 -0.73 -146.0 3.1 -4.5 23 164 11.35 2.25 -9.38 0.000 4 0.295 0.098 2445 866 3398 0 0 0 0 0 0

266 -0.73 -146.0 20.7 -11.5 46 271 0.00 2.20 0.00 0.000 6 0.000 0.071 2444 2463 3401 0 0 0 0 0 0

609 -0.73 -146.0 56.4 -10.0 107 615 0.00 2.28 0.00 0.000 4 0.000 0.088 2445 852 3401 0 0 0 0 0 0

868 -0.73 -146.0 87.3 -12.8 153 873 0.00 2.28 0.00 0.000 6 0.000 0.073 2445 2494 3401 0 0 0 0 0 0

1204 -0.77 -146.0 125.6 -9.4 193 1209 0.00 3.22 0.00 0.000 4 0.000 0.092 2445 3916 3399 0 0 3 0 0 0

1357 -0.84 -146.0 139.9 -9.0 206 1362 0.00 3.08 0.00 0.000 6 0.000 0.067 2445 2517 3398 0 0 2 0 0 0

1682 -0.93 -146.0 165.9 -7.3 236 1688 0.17 3.17 0.00 0.000 4 0.110 0.087 2372 3918 3397 0 0 3 0 0 0

1902 -0.78 -146.0 188.5 -10.6 255 1908 0.25 2.92 0.00 0.000 6 0.201 0.064 2431 2571 3397 0 0 2 0 0 0

2227 -0.83 -146.0 213.3 -7.7 285 2232 0.00 3.08 0.00 0.000 4 0.000 0.086 2431 3926 3397 0 0 2 0 0 0

2429 -0.89 -146.0 230.5 -9.0 302 2435 0.00 2.90 0.00 0.000 6 0.000 0.062 2432 2588 3397 0 0 2 0 0 0

2755 -0.95 -146.0 258.9 -8.7 333 2761 0.15 3.03 0.00 0.000 4 0.117 0.084 2373 3925 3398 0 0 3 0 0 0

2946 -0.81 -146.0 281.3 -11.9 349 2953 0.22 2.83 0.00 0.000 6 0.201 0.061 2426 2620 3398 0 0 2 0 0 0

3272 -0.85 -146.0 309.0 -8.2 380 3277 0.00 2.95 0.00 0.000 4 0.000 0.085 2426 3924 3399 0 0 3 0 0 0

3457 -0.85 -146.0 324.9 -8.5 396 3462 0.00 2.75 0.00 0.000 6 0.000 0.061 2426 2653 3399 0 0 3 0 0 0

3781 -0.85 -146.0 352.7 -8.8 426 3786 0.00 2.92 0.00 0.000 4 0.000 0.086 2426 3929 3400 0 0 2 0 0 0

3972 -0.90 -146.0 369.9 -9.3 442 3977 0.00 2.75 0.00 0.000 6 0.000 0.061 2426 2673 3400 0 0 2 0 0 0

4297 -0.96 -146.0 397.6 -8.5 473 4303 0.15 2.88 0.00 0.000 4 0.113 0.084 2362 3926 3400 0 0 3 0 0 0

4460 -0.80 -146.0 416.3 -12.0 487 4466 0.28 2.70 0.00 0.000 6 0.207 0.061 2426 2699 3400 0 0 2 0 0 0

4786 -0.86 -146.0 443.1 -7.9 517 4790 0.00 2.85 0.00 0.000 4 0.000 0.085 2426 3920 3400 0 0 1 0 0 0

4953 -0.92 -146.0 457.5 -8.1 531 4959 0.00 2.62 0.00 0.000 6 0.000 0.060 2427 2728 3400 0 0 2 0 0 0

5278 -0.98 -146.0 482.1 -7.3 562 5284 0.17 2.78 0.00 0.000 4 0.107 0.084 2361 3921 3400 0 0 3 0 0 0

5381 -0.83 -146.0 492.9 -10.9 570 5387 0.25 2.58 0.00 0.000 6 0.207 0.060 2419 2743 3400 0 0 3 0 0 0

5650 end dive: TARGET_DEPTH_EXCEEDED

state 5650 begin apogee

5656 -0.16 0.0 515.6 7.4 596 5783 0.75 0.00 120.95 1.070 6 0.176 0.000 2630 1940 2800 0 0 0 0 0 0

5784 end apogee: CONTROL_FINISHED_OK

state 5784 begin climb

5787 0.73 146.0 517.7 0.0 609 5920 0.95 2.22 124.72 1.021 4 0.129 0.086 2923 354 2202 0 0 0 0 0 0

5977 0.65 146.0 501.8 11.4 627 5981 0.00 2.10 0.00 0.000 6 0.000 0.059 2923 1967 2198 0 0 0 0 0 0

6302 0.59 146.0 463.9 12.0 657 6308 0.17 3.47 0.00 0.000 4 0.199 0.076 2881 3528 2195 0 0 2 0 0 0

6454 0.59 146.0 447.5 10.3 670 6459 0.00 3.45 0.00 0.000 6 0.000 0.070 2894 1966 2194 0 0 1 0 0 0

6778 0.59 146.0 415.3 10.3 700 6784 0.00 3.42 0.00 0.000 4 0.000 0.078 2893 3528 2194 0 0 3 0 0 0

6898 0.54 146.0 402.4 11.1 710 6904 0.17 3.40 0.00 0.000 6 0.200 0.071 2868 1980 2192 0 0 1 0 0 0

7222 0.68 161.2 373.9 8.5 740 7244 0.12 3.42 12.25 0.906 4 0.122 0.077 2910 3520 2141 0 0 3 0 0 0

7384 0.61 161.2 354.4 12.6 754 7391 0.15 3.38 0.00 0.000 6 0.202 0.071 2892 1998 2139 0 0 2 0 0 0

7709 0.66 161.2 322.1 9.6 785 7714 0.00 3.38 0.00 0.000 4 0.000 0.078 2892 3525 2139 0 0 2 0 0 0

7827 0.66 161.2 310.3 10.4 795 7832 0.00 3.33 0.00 0.000 6 0.000 0.071 2904 2009 2138 0 0 2 0 0 0

8152 0.66 161.2 278.2 10.2 825 8157 0.00 3.35 0.00 0.000 4 0.000 0.078 2904 3528 2139 0 0 3 0 0 0

8264 0.66 161.2 265.2 11.6 834 8270 0.00 3.33 0.00 0.000 6 0.000 0.070 2919 2029 2139 0 0 2 0 0 0

8588 0.66 161.2 227.8 11.8 865 8593 0.00 3.35 0.00 0.000 4 0.000 0.078 2919 3526 2139 0 0 1 0 0 0

8695 0.59 161.2 214.0 13.5 874 8701 0.20 3.30 0.00 0.000 6 0.198 0.071 2887 2045 2139 0 0 1 0 0 0

9021 0.69 166.8 183.0 8.9 904 9034 0.00 3.33 5.97 0.729 4 0.000 0.077 2887 3533 2118 0 0 1 0 0 0

9176 0.74 166.8 167.1 10.7 918 9182 0.00 3.28 0.00 0.000 6 0.000 0.070 2899 2065 2117 0 0 1 0 0 0

9501 0.81 166.8 135.5 9.2 948 9507 0.15 3.30 0.00 0.000 4 0.101 0.077 2949 3536 2118 0 0 3 0 0 0

9579 0.69 166.8 125.6 13.5 954 9586 0.20 3.28 0.00 0.000 6 0.204 0.070 2916 2068 2117 0 0 1 0 0 0

9907 0.76 184.6 96.0 8.4 989 9933 0.00 3.28 16.05 0.782 4 0.000 0.077 2916 3526 2045 0 0 2 0 0 0

10084 0.76 184.6 79.5 9.7 1021 10090 0.00 3.22 0.00 0.000 6 0.000 0.070 2928 2094 2044 0 0 2 0 0 0

10431 0.87 212.1 52.5 8.0 1082 10463 0.12 3.25 23.73 0.773 4 0.109 0.078 2974 3525 1933 0 0 3 0 0 0

10565 0.76 212.1 36.9 12.6 1106 10571 0.20 3.25 0.00 0.000 6 0.199 0.071 2942 2103 1931 0 0 1 0 0 0

10909 0.76 212.1 4.3 9.5 1167 10914 0.00 3.28 0.00 0.000 4 0.000 0.080 2942 3536 1928 0 0 2 0 0 0

10931 end climb: SURFACE_DEPTH_REACHED

state 10931 begin surface coast

10955 end surface coast: CONTROL_FINISHED_OK

state 10955 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	325	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	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	3	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	2	T_GPS_CHARGE	-42112.797	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	0	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	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	023100,6708.813,-5706.466,42,1.1,47,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	023914,6708.869,-5706.623,12,1.2,12,-37.7	MHEAD_RNG_PITCHd_Wd	166.6,17291,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	515

FREEZE	0.67,-0.770,-1.818,0,1,0	ALTIM_TOP_PING	19.4,18.9
FINISH	0.7,1.026663	ALTIM_BOTTOM_PING	400.0,133.5
SM_CCo	10974,128.80,0.733,0,0,1065,425.10	_24V_AH	22.6,61.806
SM_GC	1.33,0.00,0.00,128.80,0.000,0.000,0.733,127,2465,1065,-8.01,0.14,425.10	_10V_AH	10.1,32.679
RAFOS_CLK	703	FG_AHR_24Vo	0.000
RAFOS	0,1261022462,4.033333,4.017222,55,55,54,0,0,0,196,205,1390,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.536133,-5711.700684,171209,040400,2,108,0.48	MEM	152564
IRIDIUM_FIX	6641.98,-5706.23,120399,191906	DATA_FILE_SIZE	47220,1175
TT8_MAMPS	0.027612	CAP_FILE_SIZE	139640,0
HUMID	47.36	CFSIZE	260165632,224755712
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,84,0,0
TCM_TEMP	16.80	SOUNDSPEED	1462.1
XPDR_PINGS	3	GPS	171209,054606,6708.842,-5706.350,36,1.1,36,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	295	163.50	SBE_CT	860	24	466.71
Roll_motor	139	98	309.24	SBE_O2	804	19	345.46
VBD_pump_during_apogee	303	1069	7343.23	nil	0	0	0.00
VBD_pump_during_surface	128	733	2134.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	63.78	nil	0	0	0.00
Iridium_during_connect	37	160	137.20	nil	0	0	0.00
Iridium_during_xfer	281	223	1418.79
Transponder_ping	2	420	21.36
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.83
TT8	2015	19	405.52
LPSleep	6328	2	147.66
TT8_Active	590	19	118.89
TT8_Sampling	2089	39	842.61
TT8_CF8	572	45	265.68
TT8_Kalman	0	0	0.00
Analog_circuits	1659	12	201.15
GPS_charging	0	0	0.00
Compass	2048	8	165.48
RAFOS	2520	1	38.18
Transponder	13	30	4.24

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	134	0.00	0.00	-115.07	0.000	2	0.000	0.000	124	2452	3071	0	0	0	0	0	0
138	-0.73	-146.0	3.1	-4.5	23	164	11.35	2.25	-9.38	0.000	4	0.295	0.098	2445	866	3398	0	0	0	0	0	0
266	-0.73	-146.0	20.7	-11.5	46	271	0.00	2.20	0.00	0.000	6	0.000	0.071	2444	2463	3401	0	0	0	0	0	0
609	-0.73	-146.0	56.4	-10.0	107	615	0.00	2.28	0.00	0.000	4	0.000	0.088	2445	852	3401	0	0	0	0	0	0
868	-0.73	-146.0	87.3	-12.8	153	873	0.00	2.28	0.00	0.000	6	0.000	0.073	2445	2494	3401	0	0	0	0	0	0
1204	-0.77	-146.0	125.6	-9.4	193	1209	0.00	3.22	0.00	0.000	4	0.000	0.092	2445	3916	3399	0	0	3	0	0	0
1357	-0.84	-146.0	139.9	-9.0	206	1362	0.00	3.08	0.00	0.000	6	0.000	0.067	2445	2517	3398	0	0	2	0	0	0
1682	-0.93	-146.0	165.9	-7.3	236	1688	0.17	3.17	0.00	0.000	4	0.110	0.087	2372	3918	3397	0	0	3	0	0	0
1902	-0.78	-146.0	188.5	-10.6	255	1908	0.25	2.92	0.00	0.000	6	0.201	0.064	2431	2571	3397	0	0	2	0	0	0
2227	-0.83	-146.0	213.3	-7.7	285	2232	0.00	3.08	0.00	0.000	4	0.000	0.086	2431	3926	3397	0	0	2	0	0	0
2429	-0.89	-146.0	230.5	-9.0	302	2435	0.00	2.90	0.00	0.000	6	0.000	0.062	2432	2588	3397	0	0	2	0	0	0
2755	-0.95	-146.0	258.9	-8.7	333	2761	0.15	3.03	0.00	0.000	4	0.117	0.084	2373	3925	3398	0	0	3	0	0	0
2946	-0.81	-146.0	281.3	-11.9	349	2953	0.22	2.83	0.00	0.000	6	0.201	0.061	2426	2620	3398	0	0	2	0	0	0
3272	-0.85	-146.0	309.0	-8.2	380	3277	0.00	2.95	0.00	0.000	4	0.000	0.085	2426	3924	3399	0	0	3	0	0	0
3457	-0.85	-146.0	324.9	-8.5	396	3462	0.00	2.75	0.00	0.000	6	0.000	0.061	2426	2653	3399	0	0	3	0	0	0
3781	-0.85	-146.0	352.7	-8.8	426	3786	0.00	2.92	0.00	0.000	4	0.000	0.086	2426	3929	3400	0	0	2	0	0	0
3972	-0.90	-146.0	369.9	-9.3	442	3977	0.00	2.75	0.00	0.000	6	0.000	0.061	2426	2673	3400	0	0	2	0	0	0
4297	-0.96	-146.0	397.6	-8.5	473	4303	0.15	2.88	0.00	0.000	4	0.113	0.084	2362	3926	3400	0	0	3	0	0	0
4460	-0.80	-146.0	416.3	-12.0	487	4466	0.28	2.70	0.00	0.000	6	0.207	0.061	2426	2699	3400	0	0	2	0	0	0
4786	-0.86	-146.0	443.1	-7.9	517	4790	0.00	2.85	0.00	0.000	4	0.000	0.085	2426	3920	3400	0	0	1	0	0	0
4953	-0.92	-146.0	457.5	-8.1	531	4959	0.00	2.62	0.00	0.000	6	0.000	0.060	2427	2728	3400	0	0	2	0	0	0
5278	-0.98	-146.0	482.1	-7.3	562	5284	0.17	2.78	0.00	0.000	4	0.107	0.084	2361	3921	3400	0	0	3	0	0	0
5381	-0.83	-146.0	492.9	-10.9	570	5387	0.25	2.58	0.00	0.000	6	0.207	0.060	2419	2743	3400	0	0	3	0	0	0
5650	end dive: TARGET_DEPTH_EXCEEDED
state	5650	begin apogee
5656	-0.16	0.0	515.6	7.4	596	5783	0.75	0.00	120.95	1.070	6	0.176	0.000	2630	1940	2800	0	0	0	0	0	0
5784	end apogee: CONTROL_FINISHED_OK
state	5784	begin climb
5787	0.73	146.0	517.7	0.0	609	5920	0.95	2.22	124.72	1.021	4	0.129	0.086	2923	354	2202	0	0	0	0	0	0
5977	0.65	146.0	501.8	11.4	627	5981	0.00	2.10	0.00	0.000	6	0.000	0.059	2923	1967	2198	0	0	0	0	0	0
6302	0.59	146.0	463.9	12.0	657	6308	0.17	3.47	0.00	0.000	4	0.199	0.076	2881	3528	2195	0	0	2	0	0	0
6454	0.59	146.0	447.5	10.3	670	6459	0.00	3.45	0.00	0.000	6	0.000	0.070	2894	1966	2194	0	0	1	0	0	0
6778	0.59	146.0	415.3	10.3	700	6784	0.00	3.42	0.00	0.000	4	0.000	0.078	2893	3528	2194	0	0	3	0	0	0
6898	0.54	146.0	402.4	11.1	710	6904	0.17	3.40	0.00	0.000	6	0.200	0.071	2868	1980	2192	0	0	1	0	0	0
7222	0.68	161.2	373.9	8.5	740	7244	0.12	3.42	12.25	0.906	4	0.122	0.077	2910	3520	2141	0	0	3	0	0	0
7384	0.61	161.2	354.4	12.6	754	7391	0.15	3.38	0.00	0.000	6	0.202	0.071	2892	1998	2139	0	0	2	0	0	0
7709	0.66	161.2	322.1	9.6	785	7714	0.00	3.38	0.00	0.000	4	0.000	0.078	2892	3525	2139	0	0	2	0	0	0
7827	0.66	161.2	310.3	10.4	795	7832	0.00	3.33	0.00	0.000	6	0.000	0.071	2904	2009	2138	0	0	2	0	0	0
8152	0.66	161.2	278.2	10.2	825	8157	0.00	3.35	0.00	0.000	4	0.000	0.078	2904	3528	2139	0	0	3	0	0	0
8264	0.66	161.2	265.2	11.6	834	8270	0.00	3.33	0.00	0.000	6	0.000	0.070	2919	2029	2139	0	0	2	0	0	0
8588	0.66	161.2	227.8	11.8	865	8593	0.00	3.35	0.00	0.000	4	0.000	0.078	2919	3526	2139	0	0	1	0	0	0
8695	0.59	161.2	214.0	13.5	874	8701	0.20	3.30	0.00	0.000	6	0.198	0.071	2887	2045	2139	0	0	1	0	0	0
9021	0.69	166.8	183.0	8.9	904	9034	0.00	3.33	5.97	0.729	4	0.000	0.077	2887	3533	2118	0	0	1	0	0	0
9176	0.74	166.8	167.1	10.7	918	9182	0.00	3.28	0.00	0.000	6	0.000	0.070	2899	2065	2117	0	0	1	0	0	0
9501	0.81	166.8	135.5	9.2	948	9507	0.15	3.30	0.00	0.000	4	0.101	0.077	2949	3536	2118	0	0	3	0	0	0
9579	0.69	166.8	125.6	13.5	954	9586	0.20	3.28	0.00	0.000	6	0.204	0.070	2916	2068	2117	0	0	1	0	0	0
9907	0.76	184.6	96.0	8.4	989	9933	0.00	3.28	16.05	0.782	4	0.000	0.077	2916	3526	2045	0	0	2	0	0	0
10084	0.76	184.6	79.5	9.7	1021	10090	0.00	3.22	0.00	0.000	6	0.000	0.070	2928	2094	2044	0	0	2	0	0	0
10431	0.87	212.1	52.5	8.0	1082	10463	0.12	3.25	23.73	0.773	4	0.109	0.078	2974	3525	1933	0	0	3	0	0	0
10565	0.76	212.1	36.9	12.6	1106	10571	0.20	3.25	0.00	0.000	6	0.199	0.071	2942	2103	1931	0	0	1	0	0	0
10909	0.76	212.1	4.3	9.5	1167	10914	0.00	3.28	0.00	0.000	4	0.000	0.080	2942	3536	1928	0	0	2	0	0	0
10931	end climb: SURFACE_DEPTH_REACHED
state	10931	begin surface coast
10955	end surface coast: CONTROL_FINISHED_OK
state	10955	begin surface