Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 69 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 69 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 2.5

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 26 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 39 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -179964.5 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.5 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179964.5

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 26 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 69 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 181207,6659.899,-5701.544,24,1.5,24,-37.5 TGT_NAME TARGET_test

_CALLS 2 TGT_LATLONG 6700.000,-5705.000

_XMS_NAKs 1 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 182408,6659.825,-5701.576,15,1.6,15,-37.5 MHEAD_RNG_PITCHd_Wd 314.9,2499,-27.3,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 707

Post-dive calculations and measurements:

FREEZE 1.83,-0.768,-1.789,0,1,0 ALTIM_TOP_PING 19.6,18.2

FINISH 1.8,1.026237 ALTIM_BOTTOM_PING 700.2,27.7

SM_CCo 11571,96.75,0.859,0,0,1836,300.00 _24V_AH 23.3,11.749

SM_GC 2.51,0.00,0.00,96.75,0.000,0.000,0.859,333,2273,1836,-12.78,0.68,300.00 _10V_AH 10.2,6.301

RAFOS_CLK 479 FG_AHR_24Vo 0.000

RAFOS 0,1276891265,20.033333,20.018055,47,46,42,41,39,39,1740,565,1871,1323,934,989 FG_AHR_10Vo 0.000

RAFOS_FIX 6702.218750,-5706.703613,180610,202044,3,81,0.69 MEM 135656

IRIDIUM_FIX 6631.12,-5658.34,120999,181817 DATA_FILE_SIZE 44170,1087

TT8_MAMPS 0.027612 CAP_FILE_SIZE 129061,0

HUMID 39.36 CFSIZE 260165632,243785728

INTERNAL_PRESSURE 10.1762 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.80 SOUNDSPEED 1457.1

XPDR_PINGS 0 GPS 180610,214037,6700.238,-5705.410,35,0.9,35,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 241 114.14 SBE_CT 786 24 439.75

Roll_motor 94 95 208.86 SBE_O2 781 19 346.00

VBD_pump_during_apogee 274 1303 8334.99 nil 0 0 0.00

VBD_pump_during_surface 96 859 1936.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 134.86 nil 0 0 0.00

Iridium_during_connect 62 160 231.51 nil 0 0 0.00

Iridium_during_xfer 370 223 1923.37

Transponder_ping 2 420 26.91

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.74

TT8 1863 19 378.71

LPSleep 7373 2 173.74

TT8_Active 484 19 98.52

TT8_Sampling 1859 39 757.27

TT8_CF8 805 45 377.52

TT8_Kalman 0 0 0.00

Analog_circuits 1444 12 176.77

GPS_charging 0 0 0.00

Compass 1828 8 149.23

RAFOS 2520 3 77.11

Transponder 21 30 6.50

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 -0.99 -64.6 0.0 0.0 0 83 0.00 0.00 -64.32 0.000 2 0.000 0.000 330 2269 2978 0 0 0 0 0 0

86 -1.09 -146.1 3.2 -0.9 13 128 10.02 2.22 -23.27 0.000 4 0.242 0.095 2862 3571 3657 0 0 0 0 0 0

286 -1.09 -146.1 35.5 -17.0 49 291 0.00 2.15 0.00 0.000 6 0.000 0.058 2861 2248 3662 0 0 0 0 0 0

629 -1.09 -146.1 91.0 -15.6 110 635 0.00 2.28 0.00 0.000 4 0.000 0.070 2861 841 3664 0 0 0 0 0 0

743 -1.09 -146.1 108.5 -15.6 126 748 0.10 2.33 0.00 0.000 6 0.187 0.071 2875 2241 3664 0 0 0 0 0 0

1067 -1.09 -146.1 152.2 -13.1 156 1071 0.00 2.20 0.00 0.000 4 0.000 0.081 2867 3596 3664 0 0 0 0 0 0

1157 -1.09 -146.1 164.5 -14.1 163 1163 0.00 2.15 0.00 0.000 6 0.000 0.058 2867 2243 3664 0 0 0 0 0 0

1482 -1.09 -146.1 206.8 -13.1 194 1486 0.00 2.25 0.00 0.000 4 0.000 0.069 2867 833 3664 0 0 0 0 0 0

1683 -1.09 -146.1 233.2 -13.1 211 1689 0.00 2.33 0.00 0.000 6 0.000 0.071 2859 2249 3663 0 0 0 0 0 0

2009 -1.09 -146.1 277.3 -13.4 242 2012 0.00 2.17 0.00 0.000 4 0.000 0.081 2848 3597 3663 0 0 0 0 0 0

2087 -1.09 -146.1 288.6 -14.8 248 2093 0.10 2.15 0.00 0.000 6 0.193 0.058 2871 2240 3663 0 0 0 0 0 0

2412 -1.09 -146.1 330.1 -12.8 279 2416 0.00 2.22 0.00 0.000 4 0.000 0.070 2871 842 3663 0 0 0 0 0 0

2546 -1.09 -146.1 348.0 -13.5 290 2551 0.00 2.33 0.00 0.000 6 0.000 0.071 2864 2262 3663 0 0 0 0 0 0

2871 -1.09 -146.1 390.1 -13.0 321 2874 0.00 2.12 0.00 0.000 4 0.000 0.081 2853 3596 3663 0 0 0 0 0 0

2955 -1.09 -146.1 401.7 -14.0 328 2959 0.00 2.15 0.00 0.000 6 0.000 0.058 2854 2238 3663 0 0 0 0 0 0

3280 -1.09 -146.1 444.4 -12.8 358 3285 0.10 2.25 0.00 0.000 4 0.193 0.070 2877 829 3663 0 0 0 0 0 0

3409 -1.09 -146.1 459.8 -11.9 369 3414 0.00 2.33 0.00 0.000 6 0.000 0.071 2870 2257 3663 0 0 0 0 0 0

3734 -1.09 -146.1 496.7 -11.2 399 3738 0.00 2.15 0.00 0.000 4 0.000 0.081 2859 3599 3663 0 0 0 0 0 0

3808 -1.09 -146.1 505.4 -11.9 405 3812 0.00 2.12 0.00 0.000 6 0.000 0.057 2860 2249 3663 0 0 0 0 0 0

4133 -1.09 -146.1 543.4 -11.7 435 4137 0.00 2.22 0.00 0.000 4 0.000 0.068 2859 839 3663 0 0 0 0 0 0

4256 -1.09 -146.1 558.7 -11.9 445 4262 0.10 2.30 0.00 0.000 6 0.186 0.070 2874 2255 3663 0 0 0 0 0 0

4581 -1.09 -146.1 593.8 -10.8 476 4585 0.00 2.15 0.00 0.000 4 0.000 0.080 2866 3601 3663 0 0 0 0 0 0

4664 -1.09 -146.1 603.6 -11.8 481 4669 0.00 2.12 0.00 0.000 6 0.000 0.057 2866 2245 3663 0 0 0 0 0 0

4977 -1.09 -146.1 637.0 -10.7 491 4981 0.00 2.22 0.00 0.000 4 0.000 0.068 2866 832 3663 0 0 0 0 0 0

5091 -1.09 -146.1 649.3 -10.3 494 5095 0.00 2.30 0.00 0.000 6 0.000 0.070 2856 2250 3664 0 0 0 0 0 0

5414 -1.09 -146.1 685.0 -11.1 505 5418 0.00 2.15 0.00 0.000 4 0.000 0.079 2845 3598 3663 0 0 0 0 0 0

5527 -1.09 -146.1 698.8 -12.9 508 5531 0.12 2.12 0.00 0.000 6 0.179 0.056 2877 2240 3663 0 0 0 0 0 0

5633 end dive: TARGET_DEPTH_EXCEEDED

state 5633 begin apogee

5640 -0.17 0.0 709.7 9.8 512 5767 0.62 0.00 123.62 1.304 6 0.134 0.000 3081 2239 3058 0 0 0 0 0 0

5767 end apogee: CONTROL_FINISHED_OK

state 5767 begin climb

5771 1.09 146.1 712.6 0.0 516 5904 0.77 2.42 124.12 1.235 4 0.078 0.074 3348 3591 2461 0 0 0 0 0 0

5932 1.09 146.1 697.3 15.5 521 5936 0.00 2.38 0.00 0.000 6 0.000 0.053 3358 2201 2458 0 0 0 0 0 0

6260 1.09 146.1 651.5 13.9 532 6265 0.00 2.35 0.00 0.000 4 0.000 0.065 3369 791 2457 0 0 0 0 0 0

6280 1.09 146.1 649.0 14.2 532 6284 0.00 2.38 0.00 0.000 6 0.000 0.065 3369 2203 2457 0 0 0 0 0 0

6593 1.09 146.1 603.8 14.4 542 6594 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2202 2456 0 0 0 0 0 0

6913 1.09 146.1 557.5 14.9 570 6918 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2202 2455 0 0 0 0 0 0

7241 1.09 146.1 510.3 13.6 601 7246 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2202 2455 0 0 0 0 0 0

7568 1.09 146.1 463.9 14.1 632 7569 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2202 2455 0 0 0 0 0 0

7884 1.09 146.1 420.5 13.5 662 7885 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2202 2455 0 0 0 0 0 0

8206 1.09 146.1 375.9 14.3 692 8211 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2202 2455 0 0 0 0 0 0

8533 1.09 146.1 328.8 14.3 723 8537 0.00 2.28 0.00 0.000 4 0.000 0.064 3378 788 2454 0 0 0 0 0 0

8561 1.09 146.1 324.5 13.8 725 8566 0.12 2.30 0.00 0.000 6 0.186 0.065 3348 2203 2455 0 0 0 0 0 0

8886 1.09 146.1 282.8 12.8 755 8887 0.00 0.00 0.00 0.000 6 0.000 0.000 3348 2203 2455 0 0 0 0 0 0

9204 1.09 146.1 243.9 11.9 785 9208 0.00 2.28 0.00 0.000 4 0.000 0.064 3355 785 2454 0 0 0 0 0 0

9215 1.09 146.1 242.5 11.7 785 9221 0.00 2.30 0.00 0.000 6 0.000 0.065 3356 2204 2455 0 0 0 0 0 0

9540 1.09 146.1 203.8 11.8 816 9541 0.00 0.00 0.00 0.000 6 0.000 0.000 3355 2204 2455 0 0 0 0 0 0

9861 1.09 146.1 168.1 11.1 846 9865 0.00 2.25 0.00 0.000 4 0.000 0.064 3365 785 2455 0 0 0 0 0 0

9900 1.09 146.1 163.7 10.9 849 9904 0.00 2.30 0.00 0.000 6 0.000 0.067 3365 2202 2455 0 0 0 0 0 0

10225 1.09 148.2 129.9 9.8 879 10229 0.00 2.20 0.00 0.000 4 0.000 0.077 3365 3598 2455 0 0 0 0 0 0

10259 1.09 148.2 126.1 11.6 881 10265 0.10 2.20 0.00 0.000 6 0.198 0.056 3352 2197 2456 0 0 0 0 0 0

10586 1.10 157.6 95.8 9.0 916 10602 0.00 2.22 9.27 0.853 4 0.000 0.067 3360 789 2415 0 0 0 0 0 0

10643 1.11 159.4 90.1 9.8 926 10648 0.00 2.30 0.00 0.000 6 0.000 0.068 3360 2199 2416 0 0 0 0 0 0

10986 1.11 159.4 52.8 10.9 987 10992 0.00 2.25 0.00 0.000 4 0.000 0.080 3360 3601 2415 0 0 0 0 0 0

11061 1.11 159.4 43.9 11.9 1000 11066 0.00 2.22 0.00 0.000 6 0.000 0.058 3370 2190 2415 0 0 0 0 0 0

11406 1.13 178.1 12.4 8.1 1061 11427 0.00 0.00 17.33 0.872 6 0.000 0.000 3370 2190 2332 0 0 0 0 0 0

11516 end climb: SURFACE_DEPTH_REACHED

state 11516 begin surface coast

11551 end surface coast: CONTROL_FINISHED_OK

state 11551 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	69	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	2.5
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	26	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	39	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-179964.5	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	181207,6659.899,-5701.544,24,1.5,24,-37.5	TGT_NAME	TARGET_test
_CALLS	2	TGT_LATLONG	6700.000,-5705.000
_XMS_NAKs	1	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	182408,6659.825,-5701.576,15,1.6,15,-37.5	MHEAD_RNG_PITCHd_Wd	314.9,2499,-27.3,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	707

FREEZE	1.83,-0.768,-1.789,0,1,0	ALTIM_TOP_PING	19.6,18.2
FINISH	1.8,1.026237	ALTIM_BOTTOM_PING	700.2,27.7
SM_CCo	11571,96.75,0.859,0,0,1836,300.00	_24V_AH	23.3,11.749
SM_GC	2.51,0.00,0.00,96.75,0.000,0.000,0.859,333,2273,1836,-12.78,0.68,300.00	_10V_AH	10.2,6.301
RAFOS_CLK	479	FG_AHR_24Vo	0.000
RAFOS	0,1276891265,20.033333,20.018055,47,46,42,41,39,39,1740,565,1871,1323,934,989	FG_AHR_10Vo	0.000
RAFOS_FIX	6702.218750,-5706.703613,180610,202044,3,81,0.69	MEM	135656
IRIDIUM_FIX	6631.12,-5658.34,120999,181817	DATA_FILE_SIZE	44170,1087
TT8_MAMPS	0.027612	CAP_FILE_SIZE	129061,0
HUMID	39.36	CFSIZE	260165632,243785728
INTERNAL_PRESSURE	10.1762	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.80	SOUNDSPEED	1457.1
XPDR_PINGS	0	GPS	180610,214037,6700.238,-5705.410,35,0.9,35,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	241	114.14	SBE_CT	786	24	439.75
Roll_motor	94	95	208.86	SBE_O2	781	19	346.00
VBD_pump_during_apogee	274	1303	8334.99	nil	0	0	0.00
VBD_pump_during_surface	96	859	1936.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	134.86	nil	0	0	0.00
Iridium_during_connect	62	160	231.51	nil	0	0	0.00
Iridium_during_xfer	370	223	1923.37
Transponder_ping	2	420	26.91
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.74
TT8	1863	19	378.71
LPSleep	7373	2	173.74
TT8_Active	484	19	98.52
TT8_Sampling	1859	39	757.27
TT8_CF8	805	45	377.52
TT8_Kalman	0	0	0.00
Analog_circuits	1444	12	176.77
GPS_charging	0	0	0.00
Compass	1828	8	149.23
RAFOS	2520	3	77.11
Transponder	21	30	6.50

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	-0.99	-64.6	0.0	0.0	0	83	0.00	0.00	-64.32	0.000	2	0.000	0.000	330	2269	2978	0	0	0	0	0	0
86	-1.09	-146.1	3.2	-0.9	13	128	10.02	2.22	-23.27	0.000	4	0.242	0.095	2862	3571	3657	0	0	0	0	0	0
286	-1.09	-146.1	35.5	-17.0	49	291	0.00	2.15	0.00	0.000	6	0.000	0.058	2861	2248	3662	0	0	0	0	0	0
629	-1.09	-146.1	91.0	-15.6	110	635	0.00	2.28	0.00	0.000	4	0.000	0.070	2861	841	3664	0	0	0	0	0	0
743	-1.09	-146.1	108.5	-15.6	126	748	0.10	2.33	0.00	0.000	6	0.187	0.071	2875	2241	3664	0	0	0	0	0	0
1067	-1.09	-146.1	152.2	-13.1	156	1071	0.00	2.20	0.00	0.000	4	0.000	0.081	2867	3596	3664	0	0	0	0	0	0
1157	-1.09	-146.1	164.5	-14.1	163	1163	0.00	2.15	0.00	0.000	6	0.000	0.058	2867	2243	3664	0	0	0	0	0	0
1482	-1.09	-146.1	206.8	-13.1	194	1486	0.00	2.25	0.00	0.000	4	0.000	0.069	2867	833	3664	0	0	0	0	0	0
1683	-1.09	-146.1	233.2	-13.1	211	1689	0.00	2.33	0.00	0.000	6	0.000	0.071	2859	2249	3663	0	0	0	0	0	0
2009	-1.09	-146.1	277.3	-13.4	242	2012	0.00	2.17	0.00	0.000	4	0.000	0.081	2848	3597	3663	0	0	0	0	0	0
2087	-1.09	-146.1	288.6	-14.8	248	2093	0.10	2.15	0.00	0.000	6	0.193	0.058	2871	2240	3663	0	0	0	0	0	0
2412	-1.09	-146.1	330.1	-12.8	279	2416	0.00	2.22	0.00	0.000	4	0.000	0.070	2871	842	3663	0	0	0	0	0	0
2546	-1.09	-146.1	348.0	-13.5	290	2551	0.00	2.33	0.00	0.000	6	0.000	0.071	2864	2262	3663	0	0	0	0	0	0
2871	-1.09	-146.1	390.1	-13.0	321	2874	0.00	2.12	0.00	0.000	4	0.000	0.081	2853	3596	3663	0	0	0	0	0	0
2955	-1.09	-146.1	401.7	-14.0	328	2959	0.00	2.15	0.00	0.000	6	0.000	0.058	2854	2238	3663	0	0	0	0	0	0
3280	-1.09	-146.1	444.4	-12.8	358	3285	0.10	2.25	0.00	0.000	4	0.193	0.070	2877	829	3663	0	0	0	0	0	0
3409	-1.09	-146.1	459.8	-11.9	369	3414	0.00	2.33	0.00	0.000	6	0.000	0.071	2870	2257	3663	0	0	0	0	0	0
3734	-1.09	-146.1	496.7	-11.2	399	3738	0.00	2.15	0.00	0.000	4	0.000	0.081	2859	3599	3663	0	0	0	0	0	0
3808	-1.09	-146.1	505.4	-11.9	405	3812	0.00	2.12	0.00	0.000	6	0.000	0.057	2860	2249	3663	0	0	0	0	0	0
4133	-1.09	-146.1	543.4	-11.7	435	4137	0.00	2.22	0.00	0.000	4	0.000	0.068	2859	839	3663	0	0	0	0	0	0
4256	-1.09	-146.1	558.7	-11.9	445	4262	0.10	2.30	0.00	0.000	6	0.186	0.070	2874	2255	3663	0	0	0	0	0	0
4581	-1.09	-146.1	593.8	-10.8	476	4585	0.00	2.15	0.00	0.000	4	0.000	0.080	2866	3601	3663	0	0	0	0	0	0
4664	-1.09	-146.1	603.6	-11.8	481	4669	0.00	2.12	0.00	0.000	6	0.000	0.057	2866	2245	3663	0	0	0	0	0	0
4977	-1.09	-146.1	637.0	-10.7	491	4981	0.00	2.22	0.00	0.000	4	0.000	0.068	2866	832	3663	0	0	0	0	0	0
5091	-1.09	-146.1	649.3	-10.3	494	5095	0.00	2.30	0.00	0.000	6	0.000	0.070	2856	2250	3664	0	0	0	0	0	0
5414	-1.09	-146.1	685.0	-11.1	505	5418	0.00	2.15	0.00	0.000	4	0.000	0.079	2845	3598	3663	0	0	0	0	0	0
5527	-1.09	-146.1	698.8	-12.9	508	5531	0.12	2.12	0.00	0.000	6	0.179	0.056	2877	2240	3663	0	0	0	0	0	0
5633	end dive: TARGET_DEPTH_EXCEEDED
state	5633	begin apogee
5640	-0.17	0.0	709.7	9.8	512	5767	0.62	0.00	123.62	1.304	6	0.134	0.000	3081	2239	3058	0	0	0	0	0	0
5767	end apogee: CONTROL_FINISHED_OK
state	5767	begin climb
5771	1.09	146.1	712.6	0.0	516	5904	0.77	2.42	124.12	1.235	4	0.078	0.074	3348	3591	2461	0	0	0	0	0	0
5932	1.09	146.1	697.3	15.5	521	5936	0.00	2.38	0.00	0.000	6	0.000	0.053	3358	2201	2458	0	0	0	0	0	0
6260	1.09	146.1	651.5	13.9	532	6265	0.00	2.35	0.00	0.000	4	0.000	0.065	3369	791	2457	0	0	0	0	0	0
6280	1.09	146.1	649.0	14.2	532	6284	0.00	2.38	0.00	0.000	6	0.000	0.065	3369	2203	2457	0	0	0	0	0	0
6593	1.09	146.1	603.8	14.4	542	6594	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2202	2456	0	0	0	0	0	0
6913	1.09	146.1	557.5	14.9	570	6918	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2202	2455	0	0	0	0	0	0
7241	1.09	146.1	510.3	13.6	601	7246	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2202	2455	0	0	0	0	0	0
7568	1.09	146.1	463.9	14.1	632	7569	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2202	2455	0	0	0	0	0	0
7884	1.09	146.1	420.5	13.5	662	7885	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2202	2455	0	0	0	0	0	0
8206	1.09	146.1	375.9	14.3	692	8211	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2202	2455	0	0	0	0	0	0
8533	1.09	146.1	328.8	14.3	723	8537	0.00	2.28	0.00	0.000	4	0.000	0.064	3378	788	2454	0	0	0	0	0	0
8561	1.09	146.1	324.5	13.8	725	8566	0.12	2.30	0.00	0.000	6	0.186	0.065	3348	2203	2455	0	0	0	0	0	0
8886	1.09	146.1	282.8	12.8	755	8887	0.00	0.00	0.00	0.000	6	0.000	0.000	3348	2203	2455	0	0	0	0	0	0
9204	1.09	146.1	243.9	11.9	785	9208	0.00	2.28	0.00	0.000	4	0.000	0.064	3355	785	2454	0	0	0	0	0	0
9215	1.09	146.1	242.5	11.7	785	9221	0.00	2.30	0.00	0.000	6	0.000	0.065	3356	2204	2455	0	0	0	0	0	0
9540	1.09	146.1	203.8	11.8	816	9541	0.00	0.00	0.00	0.000	6	0.000	0.000	3355	2204	2455	0	0	0	0	0	0
9861	1.09	146.1	168.1	11.1	846	9865	0.00	2.25	0.00	0.000	4	0.000	0.064	3365	785	2455	0	0	0	0	0	0
9900	1.09	146.1	163.7	10.9	849	9904	0.00	2.30	0.00	0.000	6	0.000	0.067	3365	2202	2455	0	0	0	0	0	0
10225	1.09	148.2	129.9	9.8	879	10229	0.00	2.20	0.00	0.000	4	0.000	0.077	3365	3598	2455	0	0	0	0	0	0
10259	1.09	148.2	126.1	11.6	881	10265	0.10	2.20	0.00	0.000	6	0.198	0.056	3352	2197	2456	0	0	0	0	0	0
10586	1.10	157.6	95.8	9.0	916	10602	0.00	2.22	9.27	0.853	4	0.000	0.067	3360	789	2415	0	0	0	0	0	0
10643	1.11	159.4	90.1	9.8	926	10648	0.00	2.30	0.00	0.000	6	0.000	0.068	3360	2199	2416	0	0	0	0	0	0
10986	1.11	159.4	52.8	10.9	987	10992	0.00	2.25	0.00	0.000	4	0.000	0.080	3360	3601	2415	0	0	0	0	0	0
11061	1.11	159.4	43.9	11.9	1000	11066	0.00	2.22	0.00	0.000	6	0.000	0.058	3370	2190	2415	0	0	0	0	0	0
11406	1.13	178.1	12.4	8.1	1061	11427	0.00	0.00	17.33	0.872	6	0.000	0.000	3370	2190	2332	0	0	0	0	0	0
11516	end climb: SURFACE_DEPTH_REACHED
state	11516	begin surface coast
11551	end surface coast: CONTROL_FINISHED_OK
state	11551	begin surface