Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 334 * 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 334 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 15 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 28 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 -42242.98 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 -42242.98

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 15 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 334 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 065931,6708.114,-5704.704,38,1.1,38,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070444,6708.123,-5704.750,14,1.0,14,-37.7 MHEAD_RNG_PITCHd_Wd 165.8,15373,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 518

Post-dive calculations and measurements:

FREEZE 0.54,0.022,-1.126,0,1,0 ALTIM_TOP_PING 19.8,19.2

FINISH 0.5,1.016643 ALTIM_BOTTOM_PING 400.5,144.7

SM_CCo 10864,139.18,0.716,0,0,1066,425.10 _24V_AH 22.7,62.902

SM_GC 1.47,0.00,0.00,139.18,0.000,0.000,0.716,126,2469,1066,-8.02,0.25,425.10 _10V_AH 10.1,33.291

RAFOS_CLK 667 FG_AHR_24Vo 0.000

RAFOS 0,1261123265,8.033334,8.018056,57,54,51,0,0,0,205,186,130,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.091309,-5709.041992,181209,040456,2,94,1.23 MEM 152524

IRIDIUM_FIX 6636.54,-5659.96,140399,040442 DATA_FILE_SIZE 44148,1162

TT8_MAMPS 0.027612 CAP_FILE_SIZE 133050,0

HUMID 47.08 CFSIZE 260165632,224137216

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,91,0,0

TCM_TEMP 17.10 SOUNDSPEED 1467.6

XPDR_PINGS 1 GPS 181209,100937,6707.311,-5704.733,24,1.7,24,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 289 158.12 SBE_CT 845 24 460.48

Roll_motor 144 95 314.54 SBE_O2 791 19 341.16

VBD_pump_during_apogee 277 1045 6583.59 nil 0 0 0.00

VBD_pump_during_surface 139 716 2263.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 64.84 nil 0 0 0.00

Iridium_during_connect 30 160 111.26 nil 0 0 0.00

Iridium_during_xfer 134 223 679.81

Transponder_ping 1 420 16.68

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.25

TT8 1966 19 395.69

LPSleep 6311 2 147.25

TT8_Active 588 19 118.32

TT8_Sampling 2057 39 829.50

TT8_CF8 386 45 179.37

TT8_Kalman 0 0 0.00

Analog_circuits 1639 12 198.71

GPS_charging 0 0 0.00

Compass 2009 8 162.37

RAFOS 2520 1 38.18

Transponder 14 30 4.25

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.28 0.000 2 0.000 0.000 125 2468 3174 0 0 0 0 0 0

137 -0.73 -146.0 3.5 -6.0 23 163 11.15 2.33 -5.88 0.000 4 0.290 0.096 2447 845 3398 0 0 0 0 0 0

175 0.02 -146.0 12.0 -17.6 30 181 0.90 2.15 0.00 0.000 6 0.182 0.067 2692 2449 3400 0 0 0 0 0 0

520 -0.88 -146.0 35.7 -8.4 91 527 0.85 3.28 0.00 0.000 4 0.108 0.079 2411 3916 3401 0 0 3 0 0 0

612 -0.79 -146.0 45.4 -12.1 107 617 0.00 3.12 0.00 0.000 6 0.000 0.061 2411 2469 3401 0 0 3 0 0 0

957 -0.70 -146.0 90.2 -13.4 168 964 0.20 3.28 0.00 0.000 4 0.209 0.083 2455 3922 3401 0 0 3 0 0 0

970 -0.63 -146.0 92.3 -13.9 170 976 0.00 3.05 0.00 0.000 6 0.000 0.061 2455 2508 3400 0 0 3 0 0 0

1304 -0.72 -146.0 129.4 -9.4 207 1308 0.00 2.30 0.00 0.000 4 0.000 0.084 2455 856 3399 0 0 0 0 0 0

1445 -0.77 -146.0 142.0 -8.5 219 1450 0.00 2.33 0.00 0.000 6 0.000 0.068 2455 2548 3398 0 0 0 0 0 0

1770 -0.87 -146.0 161.6 -6.1 250 1775 0.15 2.40 0.00 0.000 4 0.104 0.084 2404 858 3397 0 0 0 0 0 0

2027 -0.81 -146.0 186.9 -11.1 272 2033 0.00 2.38 0.00 0.000 6 0.000 0.068 2404 2585 3397 0 0 0 0 0 0

2352 -0.81 -146.0 222.5 -11.7 303 2357 0.00 3.05 0.00 0.000 4 0.000 0.085 2404 3922 3396 0 0 2 0 0 0

2424 -0.81 -146.0 231.2 -12.5 309 2429 0.00 2.85 0.00 0.000 6 0.000 0.061 2404 2607 3396 0 0 3 0 0 0

2749 -0.81 -146.0 268.6 -11.0 339 2754 0.00 3.00 0.00 0.000 4 0.000 0.083 2403 3918 3396 0 0 2 0 0 0

2923 -0.81 -146.0 286.7 -10.3 354 2928 0.00 2.85 0.00 0.000 6 0.000 0.059 2404 2623 3396 0 0 1 0 0 0

3247 -0.81 -146.0 314.3 -8.4 384 3252 0.00 2.92 0.00 0.000 4 0.000 0.081 2404 3917 3397 0 0 3 0 0 0

3400 -0.81 -146.0 326.9 -8.1 397 3405 0.00 2.78 0.00 0.000 6 0.000 0.058 2404 2645 3398 0 0 2 0 0 0

3725 -0.81 -146.0 353.9 -8.7 427 3729 0.00 2.85 0.00 0.000 4 0.000 0.081 2403 3918 3399 0 0 3 0 0 0

3880 -0.81 -146.0 368.3 -9.3 440 3886 0.00 2.75 0.00 0.000 6 0.000 0.056 2404 2671 3399 0 0 1 0 0 0

4206 -0.81 -146.0 398.9 -9.7 471 4210 0.00 2.83 0.00 0.000 4 0.000 0.081 2404 3922 3399 0 0 2 0 0 0

4392 -0.81 -146.0 417.3 -9.3 487 4397 0.00 2.72 0.00 0.000 6 0.000 0.056 2404 2694 3400 0 0 1 0 0 0

4716 -0.81 -146.0 444.2 -7.7 517 4721 0.00 2.85 0.00 0.000 4 0.000 0.080 2404 3921 3400 0 0 1 0 0 0

4868 -0.81 -146.0 456.4 -7.9 530 4873 0.00 2.65 0.00 0.000 6 0.000 0.055 2404 2717 3401 0 0 2 0 0 0

5193 -0.81 -146.0 481.7 -8.3 560 5198 0.00 2.80 0.00 0.000 4 0.000 0.080 2404 3924 3401 0 0 3 0 0 0

5348 -0.81 -146.0 494.8 -8.0 573 5355 0.00 2.67 0.00 0.000 6 0.000 0.056 2404 2736 3401 0 0 1 0 0 0

5630 end dive: TARGET_DEPTH_EXCEEDED

state 5630 begin apogee

5636 -0.16 0.0 518.4 8.5 600 5764 0.80 0.00 120.62 1.045 6 0.176 0.000 2629 1945 2800 0 0 0 0 0 0

5766 end apogee: CONTROL_FINISHED_OK

state 5766 begin climb

5768 0.73 146.0 520.5 0.0 613 5902 0.93 2.17 123.22 1.002 4 0.123 0.084 2921 353 2202 0 0 0 0 0 0

5941 0.65 146.0 506.0 11.9 629 5947 0.00 2.05 0.00 0.000 6 0.000 0.054 2922 1976 2199 0 0 0 0 0 0

6266 0.58 146.0 468.3 11.8 660 6272 0.17 3.42 0.00 0.000 4 0.199 0.073 2880 3530 2195 0 0 4 0 0 0

6401 0.58 146.0 453.5 10.9 671 6407 0.00 3.45 0.00 0.000 6 0.000 0.066 2894 1964 2194 0 0 2 0 0 0

6725 0.58 146.0 419.8 10.4 702 6731 0.00 3.42 0.00 0.000 4 0.000 0.074 2893 3522 2194 0 0 3 0 0 0

6854 0.58 146.0 404.6 12.4 713 6860 0.12 3.40 0.00 0.000 6 0.209 0.067 2883 1981 2193 0 0 1 0 0 0

7179 0.64 146.0 372.3 10.3 743 7184 0.00 3.42 0.00 0.000 4 0.000 0.074 2883 3526 2193 0 0 3 0 0 0

7320 0.64 146.0 356.8 10.5 755 7325 0.00 3.35 0.00 0.000 6 0.000 0.066 2896 2002 2193 0 0 2 0 0 0

7644 0.64 146.0 323.4 10.2 785 7649 0.00 3.38 0.00 0.000 4 0.000 0.074 2896 3532 2192 0 0 3 0 0 0

7766 0.64 146.0 309.8 11.0 795 7773 0.00 3.33 0.00 0.000 6 0.000 0.065 2911 2022 2193 0 0 2 0 0 0

8091 0.64 146.0 277.1 10.0 826 8096 0.00 3.35 0.00 0.000 4 0.000 0.074 2911 3535 2193 0 0 3 0 0 0

8180 0.58 146.0 267.3 11.2 833 8187 0.20 3.33 0.00 0.000 6 0.199 0.065 2878 2028 2193 0 0 2 0 0 0

8505 0.71 175.0 241.9 7.9 864 8537 0.12 3.35 23.30 0.846 4 0.121 0.074 2922 3530 2084 0 0 4 0 0 0

8639 0.63 175.0 226.5 12.1 876 8645 0.17 3.35 0.00 0.000 6 0.202 0.065 2898 2038 2083 0 0 1 0 0 0

8964 0.69 175.0 193.8 10.1 906 8969 0.00 3.33 0.00 0.000 4 0.000 0.072 2897 3529 2082 0 0 3 0 0 0

9047 0.69 175.0 184.4 11.2 913 9053 0.00 3.33 0.00 0.000 6 0.000 0.064 2909 2043 2082 0 0 1 0 0 0

9372 0.69 175.0 152.4 9.9 943 9377 0.00 3.30 0.00 0.000 4 0.000 0.073 2909 3533 2082 0 0 4 0 0 0

9484 0.69 175.0 139.5 12.0 952 9490 0.00 3.28 0.00 0.000 6 0.000 0.064 2924 2063 2082 0 0 2 0 0 0

9810 0.75 175.0 103.9 9.7 983 9815 0.00 3.28 0.00 0.000 4 0.000 0.072 2924 3527 2082 0 0 3 0 0 0

9951 0.75 175.0 88.2 11.3 1004 9956 0.00 3.25 0.00 0.000 6 0.000 0.064 2939 2085 2082 0 0 1 0 0 0

10296 0.81 181.4 54.6 8.9 1065 10312 0.00 3.35 6.53 0.656 4 0.000 0.074 2939 3537 2058 0 0 2 0 0 0

10409 0.81 181.4 42.8 10.7 1085 10414 0.00 3.25 0.00 0.000 6 0.000 0.066 2953 2099 2058 0 0 1 0 0 0

10754 0.81 184.2 10.1 9.0 1146 10765 0.00 3.28 3.75 0.522 4 0.000 0.076 2953 3531 2049 0 0 2 0 0 0

10827 end climb: SURFACE_DEPTH_REACHED

state 10827 begin surface coast

10844 end surface coast: CONTROL_FINISHED_OK

state 10844 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	334	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	15	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	28	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	-42242.98	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	065931,6708.114,-5704.704,38,1.1,38,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070444,6708.123,-5704.750,14,1.0,14,-37.7	MHEAD_RNG_PITCHd_Wd	165.8,15373,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	518

FREEZE	0.54,0.022,-1.126,0,1,0	ALTIM_TOP_PING	19.8,19.2
FINISH	0.5,1.016643	ALTIM_BOTTOM_PING	400.5,144.7
SM_CCo	10864,139.18,0.716,0,0,1066,425.10	_24V_AH	22.7,62.902
SM_GC	1.47,0.00,0.00,139.18,0.000,0.000,0.716,126,2469,1066,-8.02,0.25,425.10	_10V_AH	10.1,33.291
RAFOS_CLK	667	FG_AHR_24Vo	0.000
RAFOS	0,1261123265,8.033334,8.018056,57,54,51,0,0,0,205,186,130,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.091309,-5709.041992,181209,040456,2,94,1.23	MEM	152524
IRIDIUM_FIX	6636.54,-5659.96,140399,040442	DATA_FILE_SIZE	44148,1162
TT8_MAMPS	0.027612	CAP_FILE_SIZE	133050,0
HUMID	47.08	CFSIZE	260165632,224137216
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
TCM_TEMP	17.10	SOUNDSPEED	1467.6
XPDR_PINGS	1	GPS	181209,100937,6707.311,-5704.733,24,1.7,24,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	289	158.12	SBE_CT	845	24	460.48
Roll_motor	144	95	314.54	SBE_O2	791	19	341.16
VBD_pump_during_apogee	277	1045	6583.59	nil	0	0	0.00
VBD_pump_during_surface	139	716	2263.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	64.84	nil	0	0	0.00
Iridium_during_connect	30	160	111.26	nil	0	0	0.00
Iridium_during_xfer	134	223	679.81
Transponder_ping	1	420	16.68
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.25
TT8	1966	19	395.69
LPSleep	6311	2	147.25
TT8_Active	588	19	118.32
TT8_Sampling	2057	39	829.50
TT8_CF8	386	45	179.37
TT8_Kalman	0	0	0.00
Analog_circuits	1639	12	198.71
GPS_charging	0	0	0.00
Compass	2009	8	162.37
RAFOS	2520	1	38.18
Transponder	14	30	4.25

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.28	0.000	2	0.000	0.000	125	2468	3174	0	0	0	0	0	0
137	-0.73	-146.0	3.5	-6.0	23	163	11.15	2.33	-5.88	0.000	4	0.290	0.096	2447	845	3398	0	0	0	0	0	0
175	0.02	-146.0	12.0	-17.6	30	181	0.90	2.15	0.00	0.000	6	0.182	0.067	2692	2449	3400	0	0	0	0	0	0
520	-0.88	-146.0	35.7	-8.4	91	527	0.85	3.28	0.00	0.000	4	0.108	0.079	2411	3916	3401	0	0	3	0	0	0
612	-0.79	-146.0	45.4	-12.1	107	617	0.00	3.12	0.00	0.000	6	0.000	0.061	2411	2469	3401	0	0	3	0	0	0
957	-0.70	-146.0	90.2	-13.4	168	964	0.20	3.28	0.00	0.000	4	0.209	0.083	2455	3922	3401	0	0	3	0	0	0
970	-0.63	-146.0	92.3	-13.9	170	976	0.00	3.05	0.00	0.000	6	0.000	0.061	2455	2508	3400	0	0	3	0	0	0
1304	-0.72	-146.0	129.4	-9.4	207	1308	0.00	2.30	0.00	0.000	4	0.000	0.084	2455	856	3399	0	0	0	0	0	0
1445	-0.77	-146.0	142.0	-8.5	219	1450	0.00	2.33	0.00	0.000	6	0.000	0.068	2455	2548	3398	0	0	0	0	0	0
1770	-0.87	-146.0	161.6	-6.1	250	1775	0.15	2.40	0.00	0.000	4	0.104	0.084	2404	858	3397	0	0	0	0	0	0
2027	-0.81	-146.0	186.9	-11.1	272	2033	0.00	2.38	0.00	0.000	6	0.000	0.068	2404	2585	3397	0	0	0	0	0	0
2352	-0.81	-146.0	222.5	-11.7	303	2357	0.00	3.05	0.00	0.000	4	0.000	0.085	2404	3922	3396	0	0	2	0	0	0
2424	-0.81	-146.0	231.2	-12.5	309	2429	0.00	2.85	0.00	0.000	6	0.000	0.061	2404	2607	3396	0	0	3	0	0	0
2749	-0.81	-146.0	268.6	-11.0	339	2754	0.00	3.00	0.00	0.000	4	0.000	0.083	2403	3918	3396	0	0	2	0	0	0
2923	-0.81	-146.0	286.7	-10.3	354	2928	0.00	2.85	0.00	0.000	6	0.000	0.059	2404	2623	3396	0	0	1	0	0	0
3247	-0.81	-146.0	314.3	-8.4	384	3252	0.00	2.92	0.00	0.000	4	0.000	0.081	2404	3917	3397	0	0	3	0	0	0
3400	-0.81	-146.0	326.9	-8.1	397	3405	0.00	2.78	0.00	0.000	6	0.000	0.058	2404	2645	3398	0	0	2	0	0	0
3725	-0.81	-146.0	353.9	-8.7	427	3729	0.00	2.85	0.00	0.000	4	0.000	0.081	2403	3918	3399	0	0	3	0	0	0
3880	-0.81	-146.0	368.3	-9.3	440	3886	0.00	2.75	0.00	0.000	6	0.000	0.056	2404	2671	3399	0	0	1	0	0	0
4206	-0.81	-146.0	398.9	-9.7	471	4210	0.00	2.83	0.00	0.000	4	0.000	0.081	2404	3922	3399	0	0	2	0	0	0
4392	-0.81	-146.0	417.3	-9.3	487	4397	0.00	2.72	0.00	0.000	6	0.000	0.056	2404	2694	3400	0	0	1	0	0	0
4716	-0.81	-146.0	444.2	-7.7	517	4721	0.00	2.85	0.00	0.000	4	0.000	0.080	2404	3921	3400	0	0	1	0	0	0
4868	-0.81	-146.0	456.4	-7.9	530	4873	0.00	2.65	0.00	0.000	6	0.000	0.055	2404	2717	3401	0	0	2	0	0	0
5193	-0.81	-146.0	481.7	-8.3	560	5198	0.00	2.80	0.00	0.000	4	0.000	0.080	2404	3924	3401	0	0	3	0	0	0
5348	-0.81	-146.0	494.8	-8.0	573	5355	0.00	2.67	0.00	0.000	6	0.000	0.056	2404	2736	3401	0	0	1	0	0	0
5630	end dive: TARGET_DEPTH_EXCEEDED
state	5630	begin apogee
5636	-0.16	0.0	518.4	8.5	600	5764	0.80	0.00	120.62	1.045	6	0.176	0.000	2629	1945	2800	0	0	0	0	0	0
5766	end apogee: CONTROL_FINISHED_OK
state	5766	begin climb
5768	0.73	146.0	520.5	0.0	613	5902	0.93	2.17	123.22	1.002	4	0.123	0.084	2921	353	2202	0	0	0	0	0	0
5941	0.65	146.0	506.0	11.9	629	5947	0.00	2.05	0.00	0.000	6	0.000	0.054	2922	1976	2199	0	0	0	0	0	0
6266	0.58	146.0	468.3	11.8	660	6272	0.17	3.42	0.00	0.000	4	0.199	0.073	2880	3530	2195	0	0	4	0	0	0
6401	0.58	146.0	453.5	10.9	671	6407	0.00	3.45	0.00	0.000	6	0.000	0.066	2894	1964	2194	0	0	2	0	0	0
6725	0.58	146.0	419.8	10.4	702	6731	0.00	3.42	0.00	0.000	4	0.000	0.074	2893	3522	2194	0	0	3	0	0	0
6854	0.58	146.0	404.6	12.4	713	6860	0.12	3.40	0.00	0.000	6	0.209	0.067	2883	1981	2193	0	0	1	0	0	0
7179	0.64	146.0	372.3	10.3	743	7184	0.00	3.42	0.00	0.000	4	0.000	0.074	2883	3526	2193	0	0	3	0	0	0
7320	0.64	146.0	356.8	10.5	755	7325	0.00	3.35	0.00	0.000	6	0.000	0.066	2896	2002	2193	0	0	2	0	0	0
7644	0.64	146.0	323.4	10.2	785	7649	0.00	3.38	0.00	0.000	4	0.000	0.074	2896	3532	2192	0	0	3	0	0	0
7766	0.64	146.0	309.8	11.0	795	7773	0.00	3.33	0.00	0.000	6	0.000	0.065	2911	2022	2193	0	0	2	0	0	0
8091	0.64	146.0	277.1	10.0	826	8096	0.00	3.35	0.00	0.000	4	0.000	0.074	2911	3535	2193	0	0	3	0	0	0
8180	0.58	146.0	267.3	11.2	833	8187	0.20	3.33	0.00	0.000	6	0.199	0.065	2878	2028	2193	0	0	2	0	0	0
8505	0.71	175.0	241.9	7.9	864	8537	0.12	3.35	23.30	0.846	4	0.121	0.074	2922	3530	2084	0	0	4	0	0	0
8639	0.63	175.0	226.5	12.1	876	8645	0.17	3.35	0.00	0.000	6	0.202	0.065	2898	2038	2083	0	0	1	0	0	0
8964	0.69	175.0	193.8	10.1	906	8969	0.00	3.33	0.00	0.000	4	0.000	0.072	2897	3529	2082	0	0	3	0	0	0
9047	0.69	175.0	184.4	11.2	913	9053	0.00	3.33	0.00	0.000	6	0.000	0.064	2909	2043	2082	0	0	1	0	0	0
9372	0.69	175.0	152.4	9.9	943	9377	0.00	3.30	0.00	0.000	4	0.000	0.073	2909	3533	2082	0	0	4	0	0	0
9484	0.69	175.0	139.5	12.0	952	9490	0.00	3.28	0.00	0.000	6	0.000	0.064	2924	2063	2082	0	0	2	0	0	0
9810	0.75	175.0	103.9	9.7	983	9815	0.00	3.28	0.00	0.000	4	0.000	0.072	2924	3527	2082	0	0	3	0	0	0
9951	0.75	175.0	88.2	11.3	1004	9956	0.00	3.25	0.00	0.000	6	0.000	0.064	2939	2085	2082	0	0	1	0	0	0
10296	0.81	181.4	54.6	8.9	1065	10312	0.00	3.35	6.53	0.656	4	0.000	0.074	2939	3537	2058	0	0	2	0	0	0
10409	0.81	181.4	42.8	10.7	1085	10414	0.00	3.25	0.00	0.000	6	0.000	0.066	2953	2099	2058	0	0	1	0	0	0
10754	0.81	184.2	10.1	9.0	1146	10765	0.00	3.28	3.75	0.522	4	0.000	0.076	2953	3531	2049	0	0	2	0	0	0
10827	end climb: SURFACE_DEPTH_REACHED
state	10827	begin surface coast
10844	end surface coast: CONTROL_FINISHED_OK
state	10844	begin surface