Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 15 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 18 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 450 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 150 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 180 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80436.773 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2415 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 0 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 1 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 450 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 150

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80436.773

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 180

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2415 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 25 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 15 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 15 NAV_MODE 0 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 18 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 081011,130035,6634.871,-6028.841,42,0.9,42,-33.7 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 1.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081011,130505,6634.830,-6028.998,18,0.9,18,-33.7 MHEAD_RNG_PITCHd_Wd 105.6,167904,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.025229 _24V_AH 23.2,3.372

SM_CCo 8155,66.20,0.086,0,0,772,420.20 _10V_AH 10.3,3.351

SM_GC 1.77,7.43,0.75,66.20,0.070,0.073,0.086,128,2510,772,-7.11,0.59,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 529 FG_AHR_10Vo 0.000

RAFOS_FIX 6638.015625,-6029.224121,081011,121236,4,77,1.83 MEM 150448

IRIDIUM_FIX 6604.29,-6024.69,081011,111139 DATA_FILE_SIZE 33386,892

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 108815,0

HUMID 59.72 CFSIZE 260165632,246992896

INTERNAL_PRESSURE 9.78553 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

TCM_TEMP 16.20 SOUNDSPEED 1451.4

XPDR_PINGS 17 GPS 081011,152349,6634.325,-6027.195,27,1.0,27,-33.7

ALTIM_BOTTOM_PING 300.6,202.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 272 114.05 SBE_CT 639 23 344.24

Roll_motor 60 98 137.83 SBE_O2 627 5 76.23

VBD_pump_during_apogee 341 1163 9224.09 nil 0 0 0.00

VBD_pump_during_surface 66 85 131.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 170 247 979.77 nil 0 0 0.00

Transponder_ping 4 420 46.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.59

TT8 2129 18 410.39

LPSleep 4007 2 95.35

TT8_Active 527 18 101.70

TT8_Sampling 1673 41 722.87

TT8_CF8 169 47 83.63

TT8_Kalman 0 0 0.00

Analog_circuits 1544 12 190.96

GPS_charging 0 0 0.00

Compass 1492 6 103.62

RAFOS 0 0 0.00

Transponder 5 30 1.84

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 pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.77 -146.0 0.0 0.0 0 116 0.00 0.00 -97.57 0.000 2 0.000 0.000 125 2408 2129 0 0 0 0 0 0

119 -0.77 -146.0 3.0 -3.5 17 168 8.82 1.08 -33.83 0.000 4 0.272 0.099 2158 1806 3083 0 0 0 0 0 0

371 -0.77 -146.0 41.5 -12.3 61 377 0.00 1.27 0.00 0.000 6 0.000 0.078 2155 2516 3085 0 0 0 0 0 0

581 -0.77 -146.0 70.3 -14.3 98 587 0.00 1.17 0.00 0.000 4 0.000 0.088 2150 3220 3085 0 0 0 0 0 0

758 -0.77 -146.0 96.2 -14.5 129 765 0.00 1.17 0.00 0.000 6 0.000 0.057 2150 2509 3085 0 0 0 0 0 0

959 -0.77 -146.0 124.1 -14.1 150 963 0.00 1.23 0.00 0.000 4 0.000 0.085 2145 3216 3085 0 0 0 0 0 0

1042 -0.77 -146.0 135.2 -14.0 157 1049 0.00 1.17 0.00 0.000 6 0.000 0.056 2145 2505 3085 0 0 0 0 0 0

1261 -0.77 -146.0 165.3 -13.6 178 1265 0.00 1.15 0.00 0.000 4 0.000 0.065 2145 1802 3085 0 0 0 0 0 0

1277 -0.77 -146.0 166.9 -13.3 179 1284 0.00 1.27 0.00 0.000 6 0.000 0.076 2140 2516 3085 0 0 0 0 0 0

1496 -0.77 -146.0 197.0 -13.1 200 1500 0.00 1.15 0.00 0.000 4 0.000 0.089 2135 3211 3085 0 0 0 0 0 0

1576 -0.77 -146.0 207.9 -13.6 207 1580 0.10 1.15 0.00 0.000 6 0.166 0.056 2165 2511 3085 0 0 0 0 0 0

1801 -0.77 -146.0 233.2 -11.0 228 1805 0.00 1.23 0.00 0.000 4 0.000 0.086 2162 3220 3085 0 0 0 0 0 0

1836 -0.77 -146.0 237.2 -11.2 231 1839 0.00 1.17 0.00 0.000 6 0.000 0.057 2161 2507 3085 0 0 0 0 0 0

2060 -0.77 -146.0 262.4 -11.6 252 2064 0.00 1.23 0.00 0.000 4 0.000 0.088 2157 3214 3085 0 0 0 0 0 0

2084 -0.77 -146.0 265.1 -11.9 254 2087 0.00 1.15 0.00 0.000 6 0.000 0.057 2157 2513 3084 0 0 0 0 0 0

2308 -0.77 -146.0 290.2 -11.1 275 2312 0.00 1.23 0.00 0.000 4 0.000 0.086 2152 3222 3084 0 0 0 0 0 0

2343 -0.77 -146.0 294.2 -11.3 278 2346 0.00 1.17 0.00 0.000 6 0.000 0.054 2152 2502 3084 0 0 0 0 0 0

2568 -0.77 -146.0 320.3 -11.7 299 2572 0.00 1.23 0.00 0.000 4 0.000 0.083 2146 3217 3084 0 0 0 0 0 0

2641 -0.77 -146.0 328.4 -11.6 305 2648 0.00 1.15 0.00 0.000 6 0.000 0.054 2147 2508 3084 0 0 0 0 0 0

2860 -0.77 -146.0 354.4 -11.6 326 2863 0.00 1.23 0.00 0.000 4 0.000 0.082 2142 3224 3084 0 0 0 0 0 0

2888 -0.77 -146.0 357.2 -11.7 328 2895 0.00 1.17 0.00 0.000 6 0.000 0.051 2142 2501 3084 0 0 0 0 0 0

3107 -0.77 -146.0 383.3 -11.4 349 3111 0.00 1.23 0.00 0.000 4 0.000 0.083 2138 3216 3084 0 0 0 0 0 0

3179 -0.77 -146.0 391.4 -11.7 355 3186 0.00 1.15 0.00 0.000 6 0.000 0.051 2138 2505 3084 0 0 0 0 0 0

3399 -0.77 -146.0 418.2 -11.9 376 3402 0.00 1.23 0.00 0.000 4 0.000 0.083 2132 3221 3084 0 0 0 0 0 0

3422 -0.77 -146.0 421.1 -12.1 378 3426 0.10 1.15 0.00 0.000 6 0.160 0.055 2163 2511 3084 0 0 0 0 0 0

3647 -0.77 -146.0 443.0 -9.5 399 3648 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2511 3084 0 0 0 0 0 0

3728 end dive: TARGET_DEPTH_EXCEEDED

state 3728 begin apogee

3734 -0.16 0.0 450.8 -9.1 407 3858 0.60 0.00 117.85 1.164 6 0.142 0.000 2356 2193 2484 0 0 0 0 0 0

3859 end apogee: CONTROL_FINISHED_OK

state 3859 begin climb

3861 0.77 146.0 455.7 0.0 418 3991 0.90 0.00 124.00 1.111 6 0.068 0.000 2663 2193 1889 0 0 0 0 0 0

4200 0.77 146.0 431.5 11.7 450 4204 0.00 1.17 0.00 0.000 4 0.000 0.070 2668 1502 1879 0 0 0 0 0 0

4279 0.77 146.0 422.0 12.0 457 4283 0.00 1.25 0.00 0.000 6 0.000 0.067 2667 2205 1878 0 0 0 0 0 0

4504 0.77 146.0 393.7 12.8 478 4507 0.00 1.23 0.00 0.000 4 0.000 0.076 2668 2913 1877 0 0 0 0 0 0

4516 0.77 146.0 392.1 12.8 479 4520 0.00 1.25 0.00 0.000 6 0.000 0.061 2672 2203 1876 0 0 0 0 0 0

4740 0.77 146.0 364.6 12.3 500 4744 0.00 1.27 0.00 0.000 4 0.000 0.073 2673 2911 1876 0 0 0 0 0 0

4778 0.77 146.0 360.1 12.7 503 4786 0.00 1.25 0.00 0.000 6 0.000 0.060 2678 2195 1875 0 0 0 0 0 0

4998 0.77 146.0 332.8 11.8 524 5002 0.00 1.15 0.00 0.000 4 0.000 0.073 2683 1497 1875 0 0 0 0 0 0

5126 0.77 146.0 318.1 11.7 535 5134 0.00 1.23 0.00 0.000 6 0.000 0.067 2683 2204 1874 0 0 0 0 0 0

5346 0.77 146.0 292.1 12.0 556 5349 0.00 1.20 0.00 0.000 4 0.000 0.077 2683 2911 1874 0 0 0 0 0 0

5414 0.77 146.0 283.9 11.7 562 5418 0.00 1.23 0.00 0.000 6 0.000 0.063 2688 2201 1874 0 0 0 0 0 0

5638 0.77 146.0 256.3 12.3 583 5642 0.00 1.25 0.00 0.000 4 0.000 0.075 2688 2906 1874 0 0 0 0 0 0

5688 0.77 146.0 251.1 11.5 587 5696 0.10 1.23 0.00 0.000 6 0.181 0.061 2665 2195 1874 0 0 0 0 0 0

5909 0.77 147.9 228.6 9.9 608 5913 0.00 1.15 0.00 0.000 4 0.000 0.073 2669 1492 1874 0 0 0 0 0 0

5999 0.77 150.3 219.9 9.9 616 6003 0.00 1.23 0.00 0.000 6 0.000 0.069 2669 2207 1874 0 0 0 0 0 0

6224 0.78 151.8 197.1 9.9 637 6228 0.00 1.17 0.00 0.000 4 0.000 0.077 2668 2914 1874 0 0 0 0 0 0

6319 0.79 162.6 188.0 9.5 645 6338 0.00 1.23 12.48 0.975 6 0.000 0.062 2674 2196 1821 0 0 0 0 0 0

6550 0.80 171.9 164.6 9.6 667 6563 0.00 1.17 9.25 0.935 4 0.000 0.073 2679 1497 1784 0 0 0 0 0 0

6636 0.81 177.0 156.2 9.8 674 6646 0.00 1.23 6.07 0.858 6 0.000 0.068 2679 2203 1762 0 0 0 0 0 0

6869 0.81 178.7 131.7 9.9 696 6873 0.00 1.17 0.00 0.000 4 0.000 0.076 2679 2904 1761 0 0 0 0 0 0

6893 0.81 178.8 129.1 10.0 698 6896 0.00 1.23 0.00 0.000 6 0.000 0.062 2684 2196 1761 0 0 0 0 0 0

7117 0.84 206.3 107.8 8.7 719 7151 0.00 1.17 25.45 0.957 4 0.000 0.073 2689 1497 1642 0 0 0 0 0 0

7292 0.84 206.3 89.8 10.3 743 7299 0.00 1.23 0.00 0.000 6 0.000 0.067 2689 2202 1639 0 0 0 0 0 0

7502 0.84 206.3 66.1 10.5 780 7509 0.00 1.20 0.00 0.000 4 0.000 0.076 2689 2912 1638 0 0 0 0 0 0

7684 0.85 213.2 47.2 9.7 812 7697 0.00 1.25 6.28 0.835 6 0.000 0.063 2694 2193 1615 0 0 0 0 0 0

7900 0.93 277.0 27.7 7.1 850 7948 0.00 1.27 40.33 0.895 4 0.000 0.073 2694 2912 1353 0 0 0 0 0 0

8126 end climb: SURFACE_DEPTH_REACHED

state 8126 begin surface coast

8138 end surface coast: CONTROL_FINISHED_OK

state 8138 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	15	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	18	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	450	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	150	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	180	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80436.773	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2415	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	0	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	081011,130035,6634.871,-6028.841,42,0.9,42,-33.7	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	1.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081011,130505,6634.830,-6028.998,18,0.9,18,-33.7	MHEAD_RNG_PITCHd_Wd	105.6,167904,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	482

FINISH	1.2,1.025229	_24V_AH	23.2,3.372
SM_CCo	8155,66.20,0.086,0,0,772,420.20	_10V_AH	10.3,3.351
SM_GC	1.77,7.43,0.75,66.20,0.070,0.073,0.086,128,2510,772,-7.11,0.59,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	529	FG_AHR_10Vo	0.000
RAFOS_FIX	6638.015625,-6029.224121,081011,121236,4,77,1.83	MEM	150448
IRIDIUM_FIX	6604.29,-6024.69,081011,111139	DATA_FILE_SIZE	33386,892
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	108815,0
HUMID	59.72	CFSIZE	260165632,246992896
INTERNAL_PRESSURE	9.78553	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.20	SOUNDSPEED	1451.4
XPDR_PINGS	17	GPS	081011,152349,6634.325,-6027.195,27,1.0,27,-33.7
ALTIM_BOTTOM_PING	300.6,202.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	272	114.05	SBE_CT	639	23	344.24
Roll_motor	60	98	137.83	SBE_O2	627	5	76.23
VBD_pump_during_apogee	341	1163	9224.09	nil	0	0	0.00
VBD_pump_during_surface	66	85	131.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	170	247	979.77	nil	0	0	0.00
Transponder_ping	4	420	46.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.59
TT8	2129	18	410.39
LPSleep	4007	2	95.35
TT8_Active	527	18	101.70
TT8_Sampling	1673	41	722.87
TT8_CF8	169	47	83.63
TT8_Kalman	0	0	0.00
Analog_circuits	1544	12	190.96
GPS_charging	0	0	0.00
Compass	1492	6	103.62
RAFOS	0	0	0.00
Transponder	5	30	1.84

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	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.77	-146.0	0.0	0.0	0	116	0.00	0.00	-97.57	0.000	2	0.000	0.000	125	2408	2129	0	0	0	0	0	0
119	-0.77	-146.0	3.0	-3.5	17	168	8.82	1.08	-33.83	0.000	4	0.272	0.099	2158	1806	3083	0	0	0	0	0	0
371	-0.77	-146.0	41.5	-12.3	61	377	0.00	1.27	0.00	0.000	6	0.000	0.078	2155	2516	3085	0	0	0	0	0	0
581	-0.77	-146.0	70.3	-14.3	98	587	0.00	1.17	0.00	0.000	4	0.000	0.088	2150	3220	3085	0	0	0	0	0	0
758	-0.77	-146.0	96.2	-14.5	129	765	0.00	1.17	0.00	0.000	6	0.000	0.057	2150	2509	3085	0	0	0	0	0	0
959	-0.77	-146.0	124.1	-14.1	150	963	0.00	1.23	0.00	0.000	4	0.000	0.085	2145	3216	3085	0	0	0	0	0	0
1042	-0.77	-146.0	135.2	-14.0	157	1049	0.00	1.17	0.00	0.000	6	0.000	0.056	2145	2505	3085	0	0	0	0	0	0
1261	-0.77	-146.0	165.3	-13.6	178	1265	0.00	1.15	0.00	0.000	4	0.000	0.065	2145	1802	3085	0	0	0	0	0	0
1277	-0.77	-146.0	166.9	-13.3	179	1284	0.00	1.27	0.00	0.000	6	0.000	0.076	2140	2516	3085	0	0	0	0	0	0
1496	-0.77	-146.0	197.0	-13.1	200	1500	0.00	1.15	0.00	0.000	4	0.000	0.089	2135	3211	3085	0	0	0	0	0	0
1576	-0.77	-146.0	207.9	-13.6	207	1580	0.10	1.15	0.00	0.000	6	0.166	0.056	2165	2511	3085	0	0	0	0	0	0
1801	-0.77	-146.0	233.2	-11.0	228	1805	0.00	1.23	0.00	0.000	4	0.000	0.086	2162	3220	3085	0	0	0	0	0	0
1836	-0.77	-146.0	237.2	-11.2	231	1839	0.00	1.17	0.00	0.000	6	0.000	0.057	2161	2507	3085	0	0	0	0	0	0
2060	-0.77	-146.0	262.4	-11.6	252	2064	0.00	1.23	0.00	0.000	4	0.000	0.088	2157	3214	3085	0	0	0	0	0	0
2084	-0.77	-146.0	265.1	-11.9	254	2087	0.00	1.15	0.00	0.000	6	0.000	0.057	2157	2513	3084	0	0	0	0	0	0
2308	-0.77	-146.0	290.2	-11.1	275	2312	0.00	1.23	0.00	0.000	4	0.000	0.086	2152	3222	3084	0	0	0	0	0	0
2343	-0.77	-146.0	294.2	-11.3	278	2346	0.00	1.17	0.00	0.000	6	0.000	0.054	2152	2502	3084	0	0	0	0	0	0
2568	-0.77	-146.0	320.3	-11.7	299	2572	0.00	1.23	0.00	0.000	4	0.000	0.083	2146	3217	3084	0	0	0	0	0	0
2641	-0.77	-146.0	328.4	-11.6	305	2648	0.00	1.15	0.00	0.000	6	0.000	0.054	2147	2508	3084	0	0	0	0	0	0
2860	-0.77	-146.0	354.4	-11.6	326	2863	0.00	1.23	0.00	0.000	4	0.000	0.082	2142	3224	3084	0	0	0	0	0	0
2888	-0.77	-146.0	357.2	-11.7	328	2895	0.00	1.17	0.00	0.000	6	0.000	0.051	2142	2501	3084	0	0	0	0	0	0
3107	-0.77	-146.0	383.3	-11.4	349	3111	0.00	1.23	0.00	0.000	4	0.000	0.083	2138	3216	3084	0	0	0	0	0	0
3179	-0.77	-146.0	391.4	-11.7	355	3186	0.00	1.15	0.00	0.000	6	0.000	0.051	2138	2505	3084	0	0	0	0	0	0
3399	-0.77	-146.0	418.2	-11.9	376	3402	0.00	1.23	0.00	0.000	4	0.000	0.083	2132	3221	3084	0	0	0	0	0	0
3422	-0.77	-146.0	421.1	-12.1	378	3426	0.10	1.15	0.00	0.000	6	0.160	0.055	2163	2511	3084	0	0	0	0	0	0
3647	-0.77	-146.0	443.0	-9.5	399	3648	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2511	3084	0	0	0	0	0	0
3728	end dive: TARGET_DEPTH_EXCEEDED
state	3728	begin apogee
3734	-0.16	0.0	450.8	-9.1	407	3858	0.60	0.00	117.85	1.164	6	0.142	0.000	2356	2193	2484	0	0	0	0	0	0
3859	end apogee: CONTROL_FINISHED_OK
state	3859	begin climb
3861	0.77	146.0	455.7	0.0	418	3991	0.90	0.00	124.00	1.111	6	0.068	0.000	2663	2193	1889	0	0	0	0	0	0
4200	0.77	146.0	431.5	11.7	450	4204	0.00	1.17	0.00	0.000	4	0.000	0.070	2668	1502	1879	0	0	0	0	0	0
4279	0.77	146.0	422.0	12.0	457	4283	0.00	1.25	0.00	0.000	6	0.000	0.067	2667	2205	1878	0	0	0	0	0	0
4504	0.77	146.0	393.7	12.8	478	4507	0.00	1.23	0.00	0.000	4	0.000	0.076	2668	2913	1877	0	0	0	0	0	0
4516	0.77	146.0	392.1	12.8	479	4520	0.00	1.25	0.00	0.000	6	0.000	0.061	2672	2203	1876	0	0	0	0	0	0
4740	0.77	146.0	364.6	12.3	500	4744	0.00	1.27	0.00	0.000	4	0.000	0.073	2673	2911	1876	0	0	0	0	0	0
4778	0.77	146.0	360.1	12.7	503	4786	0.00	1.25	0.00	0.000	6	0.000	0.060	2678	2195	1875	0	0	0	0	0	0
4998	0.77	146.0	332.8	11.8	524	5002	0.00	1.15	0.00	0.000	4	0.000	0.073	2683	1497	1875	0	0	0	0	0	0
5126	0.77	146.0	318.1	11.7	535	5134	0.00	1.23	0.00	0.000	6	0.000	0.067	2683	2204	1874	0	0	0	0	0	0
5346	0.77	146.0	292.1	12.0	556	5349	0.00	1.20	0.00	0.000	4	0.000	0.077	2683	2911	1874	0	0	0	0	0	0
5414	0.77	146.0	283.9	11.7	562	5418	0.00	1.23	0.00	0.000	6	0.000	0.063	2688	2201	1874	0	0	0	0	0	0
5638	0.77	146.0	256.3	12.3	583	5642	0.00	1.25	0.00	0.000	4	0.000	0.075	2688	2906	1874	0	0	0	0	0	0
5688	0.77	146.0	251.1	11.5	587	5696	0.10	1.23	0.00	0.000	6	0.181	0.061	2665	2195	1874	0	0	0	0	0	0
5909	0.77	147.9	228.6	9.9	608	5913	0.00	1.15	0.00	0.000	4	0.000	0.073	2669	1492	1874	0	0	0	0	0	0
5999	0.77	150.3	219.9	9.9	616	6003	0.00	1.23	0.00	0.000	6	0.000	0.069	2669	2207	1874	0	0	0	0	0	0
6224	0.78	151.8	197.1	9.9	637	6228	0.00	1.17	0.00	0.000	4	0.000	0.077	2668	2914	1874	0	0	0	0	0	0
6319	0.79	162.6	188.0	9.5	645	6338	0.00	1.23	12.48	0.975	6	0.000	0.062	2674	2196	1821	0	0	0	0	0	0
6550	0.80	171.9	164.6	9.6	667	6563	0.00	1.17	9.25	0.935	4	0.000	0.073	2679	1497	1784	0	0	0	0	0	0
6636	0.81	177.0	156.2	9.8	674	6646	0.00	1.23	6.07	0.858	6	0.000	0.068	2679	2203	1762	0	0	0	0	0	0
6869	0.81	178.7	131.7	9.9	696	6873	0.00	1.17	0.00	0.000	4	0.000	0.076	2679	2904	1761	0	0	0	0	0	0
6893	0.81	178.8	129.1	10.0	698	6896	0.00	1.23	0.00	0.000	6	0.000	0.062	2684	2196	1761	0	0	0	0	0	0
7117	0.84	206.3	107.8	8.7	719	7151	0.00	1.17	25.45	0.957	4	0.000	0.073	2689	1497	1642	0	0	0	0	0	0
7292	0.84	206.3	89.8	10.3	743	7299	0.00	1.23	0.00	0.000	6	0.000	0.067	2689	2202	1639	0	0	0	0	0	0
7502	0.84	206.3	66.1	10.5	780	7509	0.00	1.20	0.00	0.000	4	0.000	0.076	2689	2912	1638	0	0	0	0	0	0
7684	0.85	213.2	47.2	9.7	812	7697	0.00	1.25	6.28	0.835	6	0.000	0.063	2694	2193	1615	0	0	0	0	0	0
7900	0.93	277.0	27.7	7.1	850	7948	0.00	1.27	40.33	0.895	4	0.000	0.073	2694	2912	1353	0	0	0	0	0	0
8126	end climb: SURFACE_DEPTH_REACHED
state	8126	begin surface coast
8138	end surface coast: CONTROL_FINISHED_OK
state	8138	begin surface