Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 159 * 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 159 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 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 990 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 300 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 360 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 3 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 6 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 -80715.969 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 2400 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 2 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 0 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 300

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 990 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 3 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 360

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 -80715.969

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 400

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 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 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

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 34 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 23 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 159 NAV_MODE 2 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 0 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 311011,085535,6649.443,-5957.692,38,1.0,38,-33.9 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.75 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -70.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 311011,090325,6649.419,-5957.676,15,1.3,16,-33.9 MHEAD_RNG_PITCHd_Wd 286.8,23024,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 724

Post-dive calculations and measurements:

FINISH 1.9,1.025170 _24V_AH 22.7,20.286

SM_CCo 13628,34.65,0.088,0,0,1261,300.00 _10V_AH 10.1,15.988

SM_GC 2.74,6.93,0.60,34.65,0.047,0.059,0.088,116,2508,1261,-7.07,-0.88,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 902 FG_AHR_10Vo 0.000

RAFOS 6,1320050943,8.833333,8.817500,81,63,58,0,0,0,782,219,206,0,0,0 MEM 150296

RAFOS_FIX 6646.600098,-5957.319336,311011,121228,6,110,0.44 DATA_FILE_SIZE 43365,1194

IRIDIUM_FIX 6620.33,-6003.10,311011,080819 CAP_FILE_SIZE 124578,0

TT8_MAMPS 0.029211,0.029211 CFSIZE 260165632,236957696

HUMID 57.48 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1451.6

TCM_TEMP 16.20 CURRENT 0.067, 89.4,1

XPDR_PINGS 24 GPS 311011,125335,6648.847,-6002.260,33,0.7,33,-33.9

ALTIM_BOTTOM_PING 601.4,160.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 255 98.17 SBE_CT 868 23 458.02

Roll_motor 37 96 82.98 SBE_O2 663 5 78.93

VBD_pump_during_apogee 315 1364 9788.92 nil 0 0 0.00

VBD_pump_during_surface 34 87 69.20 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 301 258 1768.63 nil 0 0 0.00

Transponder_ping 8 420 78.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.68

TT8 3289 18 621.63

LPSleep 7893 2 184.16

TT8_Active 528 18 99.95

TT8_Sampling 2253 41 954.29

TT8_CF8 208 47 100.84

TT8_Kalman 0 0 0.00

Analog_circuits 1833 12 222.27

GPS_charging 0 0 0.00

Compass 1937 6 131.89

RAFOS 2520 1 38.18

Transponder 19 30 5.92

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 47 0.00 0.00 -28.65 0.000 2 0.000 0.000 115 2515 1549 0 0 0 0 0 0

50 -0.73 -146.0 3.0 -1.9 4 192 8.43 1.17 -125.03 0.000 4 0.256 0.096 2154 3222 3081 0 0 0 0 0 0

306 -0.73 -146.0 25.5 -18.7 43 313 0.00 1.12 0.00 0.000 6 0.000 0.037 2154 2505 3083 0 0 0 0 0 0

642 -0.73 -146.0 76.4 -14.3 94 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2505 3083 0 0 0 0 0 0

980 -0.73 -146.0 127.8 -14.0 145 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2505 3083 0 0 0 0 0 0

1316 -0.73 -146.0 173.1 -13.6 196 1323 0.00 1.17 0.00 0.000 4 0.000 0.068 2150 3208 3083 0 0 0 0 0 0

1490 -0.73 -146.0 196.1 -12.7 222 1499 0.00 1.10 0.00 0.000 6 0.000 0.036 2149 2499 3083 0 0 0 0 0 0

1829 -0.73 -146.0 238.6 -12.4 273 1835 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2499 3083 0 0 0 0 0 0

2157 -0.73 -146.0 275.7 -11.4 306 2158 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2499 3083 0 0 0 0 0 0

2472 -0.73 -146.0 312.7 -12.1 331 2473 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2499 3083 0 0 0 0 0 0

2787 -0.73 -146.0 350.1 -11.3 356 2791 0.00 1.17 0.00 0.000 4 0.000 0.067 2145 3209 3083 0 0 0 0 0 0

2881 -0.73 -146.0 360.6 -11.4 363 2885 0.00 1.08 0.00 0.000 6 0.000 0.034 2145 2509 3083 0 0 0 0 0 0

3211 -0.73 -146.0 397.9 -11.4 389 3212 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2509 3083 0 0 0 0 0 0

3526 -0.73 -146.0 433.5 -11.1 414 3527 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2509 3083 0 0 0 0 0 0

3844 -0.73 -146.0 468.8 -11.0 439 3845 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2509 3083 0 0 0 0 0 0

4175 -0.73 -146.0 504.6 -10.7 464 4176 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2509 3083 0 0 0 0 0 0

4481 -0.73 -146.0 536.1 -10.2 474 4485 0.00 1.17 0.00 0.000 4 0.000 0.067 2140 3217 3084 0 0 0 0 0 0

4527 -0.73 -146.0 539.6 -10.2 475 4531 0.00 1.10 0.00 0.000 6 0.000 0.034 2140 2499 3084 0 0 0 0 0 0

4853 -0.73 -146.0 574.8 -10.4 486 4857 0.00 1.17 0.00 0.000 4 0.000 0.065 2136 3213 3084 0 0 0 0 0 0

4930 -0.73 -146.0 581.8 -10.5 488 4936 0.12 1.10 0.00 0.000 6 0.170 0.032 2166 2499 3084 0 0 0 0 0 0

5260 -0.73 -146.0 612.4 -9.0 499 5261 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2499 3084 0 0 0 0 0 0

5564 -0.73 -146.0 640.0 -9.1 509 5568 0.00 1.17 0.00 0.000 4 0.000 0.065 2163 3213 3085 0 0 0 0 0 0

5647 -0.73 -146.0 646.2 -9.2 511 5652 0.00 1.10 0.00 0.000 6 0.000 0.031 2163 2499 3085 0 0 0 0 0 0

5968 -0.73 -146.0 675.7 -8.7 522 5972 0.00 1.17 0.00 0.000 4 0.000 0.063 2158 3215 3085 0 0 0 0 0 0

6126 -0.73 -146.0 687.3 -8.7 526 6136 0.00 1.10 0.00 0.000 6 0.000 0.030 2158 2498 3085 0 0 0 0 0 0

6440 -0.73 -146.0 717.9 -9.0 537 6444 0.00 1.17 0.00 0.000 4 0.000 0.064 2153 3213 3085 0 0 0 0 0 0

6537 end dive: TARGET_DEPTH_EXCEEDED

state 6537 begin apogee

6544 -0.16 0.0 726.1 -8.2 540 6671 0.57 0.00 120.65 1.365 6 0.132 0.000 2341 2198 2485 0 0 0 0 0 0

6672 end apogee: CONTROL_FINISHED_OK

state 6672 begin climb

6674 0.73 146.0 730.6 0.0 544 6808 0.88 0.00 129.88 1.305 6 0.065 0.000 2638 2197 1889 0 0 0 0 0 0

7122 0.73 146.0 688.3 13.2 559 7126 0.00 1.25 0.00 0.000 4 0.000 0.053 2638 2903 1880 0 0 0 0 0 0

7206 0.73 146.0 680.1 12.5 561 7211 0.00 1.20 0.00 0.000 6 0.000 0.037 2642 2200 1879 0 0 0 0 0 0

7527 0.73 146.0 638.3 12.6 572 7531 0.00 1.23 0.00 0.000 4 0.000 0.054 2642 2906 1877 0 0 0 0 0 0

7631 0.73 146.0 625.3 13.0 575 7636 0.00 1.20 0.00 0.000 6 0.000 0.037 2647 2190 1877 0 0 0 0 0 0

7965 0.73 146.0 582.0 12.7 586 7966 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2190 1876 0 0 0 0 0 0

8271 0.73 146.0 545.9 11.5 596 8275 0.00 1.23 0.00 0.000 4 0.000 0.054 2647 2910 1877 0 0 0 0 0 0

8493 0.73 146.0 523.0 11.6 602 8504 0.00 1.17 0.00 0.000 6 0.000 0.036 2652 2193 1875 0 0 0 0 0 0

8812 0.73 146.0 483.7 11.8 619 8813 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2193 1875 0 0 0 0 0 0

9127 0.73 146.0 446.2 11.9 644 9128 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2193 1875 0 0 0 0 0 0

9443 0.73 146.0 408.2 12.0 669 9445 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2193 1875 0 0 0 0 0 0

9759 0.73 146.0 370.3 11.9 694 9763 0.00 1.05 0.00 0.000 4 0.000 0.050 2657 1500 1875 0 0 0 0 0 0

9879 0.73 146.0 356.2 11.7 703 9883 0.00 1.15 0.00 0.000 6 0.000 0.047 2657 2209 1875 0 0 0 0 0 0

10210 0.73 146.0 318.6 11.0 729 10211 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2209 1875 0 0 0 0 0 0

10523 0.73 146.0 284.5 10.4 754 10524 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2209 1875 0 0 0 0 0 0

10841 0.73 146.0 251.6 10.5 779 10844 0.00 1.10 0.00 0.000 4 0.000 0.057 2657 2901 1875 0 0 0 0 0 0

11099 0.73 146.0 224.1 10.5 817 11107 0.00 1.12 0.00 0.000 6 0.000 0.037 2661 2196 1875 0 0 0 0 0 0

11437 0.73 149.5 190.9 9.0 868 11444 0.00 1.17 0.00 0.000 4 0.000 0.054 2662 2907 1875 0 0 0 0 0 0

11585 0.74 158.1 177.2 8.8 890 11602 0.00 1.12 8.75 0.944 6 0.000 0.038 2666 2201 1841 0 0 0 0 0 0

11934 0.77 179.1 147.0 8.3 942 11956 0.00 0.00 19.60 1.001 6 0.000 0.000 2667 2200 1755 0 0 0 0 0 0

12288 0.77 179.1 111.9 10.3 995 12294 0.00 1.17 0.00 0.000 4 0.000 0.054 2667 2898 1752 0 0 0 0 0 0

12381 0.77 179.1 101.5 11.3 1009 12387 0.00 1.12 0.00 0.000 6 0.000 0.038 2671 2203 1752 0 0 0 0 0 0

12718 0.77 181.4 68.1 9.1 1060 12725 0.00 1.17 0.00 0.000 4 0.000 0.054 2671 2904 1751 0 0 0 0 0 0

12979 0.81 211.7 48.4 7.9 1099 13013 0.00 1.15 28.08 0.966 6 0.000 0.038 2676 2191 1622 0 0 0 0 0 0

13345 0.83 228.1 21.2 8.5 1154 13360 0.00 0.00 9.02 0.848 6 0.000 0.000 2676 2191 1554 0 0 0 0 0 0

13583 end climb: SURFACE_DEPTH_REACHED

state 13583 begin surface coast

13611 end surface coast: CONTROL_FINISHED_OK

state 13611 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	159	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	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	990	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	300	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	360	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	3	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	6	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	-80715.969	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	2400	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	2	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	0	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	311011,085535,6649.443,-5957.692,38,1.0,38,-33.9	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.75	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-70.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	311011,090325,6649.419,-5957.676,15,1.3,16,-33.9	MHEAD_RNG_PITCHd_Wd	286.8,23024,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	724

FINISH	1.9,1.025170	_24V_AH	22.7,20.286
SM_CCo	13628,34.65,0.088,0,0,1261,300.00	_10V_AH	10.1,15.988
SM_GC	2.74,6.93,0.60,34.65,0.047,0.059,0.088,116,2508,1261,-7.07,-0.88,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	902	FG_AHR_10Vo	0.000
RAFOS	6,1320050943,8.833333,8.817500,81,63,58,0,0,0,782,219,206,0,0,0	MEM	150296
RAFOS_FIX	6646.600098,-5957.319336,311011,121228,6,110,0.44	DATA_FILE_SIZE	43365,1194
IRIDIUM_FIX	6620.33,-6003.10,311011,080819	CAP_FILE_SIZE	124578,0
TT8_MAMPS	0.029211,0.029211	CFSIZE	260165632,236957696
HUMID	57.48	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1451.6
TCM_TEMP	16.20	CURRENT	0.067, 89.4,1
XPDR_PINGS	24	GPS	311011,125335,6648.847,-6002.260,33,0.7,33,-33.9
ALTIM_BOTTOM_PING	601.4,160.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	255	98.17	SBE_CT	868	23	458.02
Roll_motor	37	96	82.98	SBE_O2	663	5	78.93
VBD_pump_during_apogee	315	1364	9788.92	nil	0	0	0.00
VBD_pump_during_surface	34	87	69.20	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	301	258	1768.63	nil	0	0	0.00
Transponder_ping	8	420	78.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.68
TT8	3289	18	621.63
LPSleep	7893	2	184.16
TT8_Active	528	18	99.95
TT8_Sampling	2253	41	954.29
TT8_CF8	208	47	100.84
TT8_Kalman	0	0	0.00
Analog_circuits	1833	12	222.27
GPS_charging	0	0	0.00
Compass	1937	6	131.89
RAFOS	2520	1	38.18
Transponder	19	30	5.92

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	47	0.00	0.00	-28.65	0.000	2	0.000	0.000	115	2515	1549	0	0	0	0	0	0
50	-0.73	-146.0	3.0	-1.9	4	192	8.43	1.17	-125.03	0.000	4	0.256	0.096	2154	3222	3081	0	0	0	0	0	0
306	-0.73	-146.0	25.5	-18.7	43	313	0.00	1.12	0.00	0.000	6	0.000	0.037	2154	2505	3083	0	0	0	0	0	0
642	-0.73	-146.0	76.4	-14.3	94	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2505	3083	0	0	0	0	0	0
980	-0.73	-146.0	127.8	-14.0	145	986	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2505	3083	0	0	0	0	0	0
1316	-0.73	-146.0	173.1	-13.6	196	1323	0.00	1.17	0.00	0.000	4	0.000	0.068	2150	3208	3083	0	0	0	0	0	0
1490	-0.73	-146.0	196.1	-12.7	222	1499	0.00	1.10	0.00	0.000	6	0.000	0.036	2149	2499	3083	0	0	0	0	0	0
1829	-0.73	-146.0	238.6	-12.4	273	1835	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2499	3083	0	0	0	0	0	0
2157	-0.73	-146.0	275.7	-11.4	306	2158	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2499	3083	0	0	0	0	0	0
2472	-0.73	-146.0	312.7	-12.1	331	2473	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2499	3083	0	0	0	0	0	0
2787	-0.73	-146.0	350.1	-11.3	356	2791	0.00	1.17	0.00	0.000	4	0.000	0.067	2145	3209	3083	0	0	0	0	0	0
2881	-0.73	-146.0	360.6	-11.4	363	2885	0.00	1.08	0.00	0.000	6	0.000	0.034	2145	2509	3083	0	0	0	0	0	0
3211	-0.73	-146.0	397.9	-11.4	389	3212	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2509	3083	0	0	0	0	0	0
3526	-0.73	-146.0	433.5	-11.1	414	3527	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2509	3083	0	0	0	0	0	0
3844	-0.73	-146.0	468.8	-11.0	439	3845	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2509	3083	0	0	0	0	0	0
4175	-0.73	-146.0	504.6	-10.7	464	4176	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2509	3083	0	0	0	0	0	0
4481	-0.73	-146.0	536.1	-10.2	474	4485	0.00	1.17	0.00	0.000	4	0.000	0.067	2140	3217	3084	0	0	0	0	0	0
4527	-0.73	-146.0	539.6	-10.2	475	4531	0.00	1.10	0.00	0.000	6	0.000	0.034	2140	2499	3084	0	0	0	0	0	0
4853	-0.73	-146.0	574.8	-10.4	486	4857	0.00	1.17	0.00	0.000	4	0.000	0.065	2136	3213	3084	0	0	0	0	0	0
4930	-0.73	-146.0	581.8	-10.5	488	4936	0.12	1.10	0.00	0.000	6	0.170	0.032	2166	2499	3084	0	0	0	0	0	0
5260	-0.73	-146.0	612.4	-9.0	499	5261	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2499	3084	0	0	0	0	0	0
5564	-0.73	-146.0	640.0	-9.1	509	5568	0.00	1.17	0.00	0.000	4	0.000	0.065	2163	3213	3085	0	0	0	0	0	0
5647	-0.73	-146.0	646.2	-9.2	511	5652	0.00	1.10	0.00	0.000	6	0.000	0.031	2163	2499	3085	0	0	0	0	0	0
5968	-0.73	-146.0	675.7	-8.7	522	5972	0.00	1.17	0.00	0.000	4	0.000	0.063	2158	3215	3085	0	0	0	0	0	0
6126	-0.73	-146.0	687.3	-8.7	526	6136	0.00	1.10	0.00	0.000	6	0.000	0.030	2158	2498	3085	0	0	0	0	0	0
6440	-0.73	-146.0	717.9	-9.0	537	6444	0.00	1.17	0.00	0.000	4	0.000	0.064	2153	3213	3085	0	0	0	0	0	0
6537	end dive: TARGET_DEPTH_EXCEEDED
state	6537	begin apogee
6544	-0.16	0.0	726.1	-8.2	540	6671	0.57	0.00	120.65	1.365	6	0.132	0.000	2341	2198	2485	0	0	0	0	0	0
6672	end apogee: CONTROL_FINISHED_OK
state	6672	begin climb
6674	0.73	146.0	730.6	0.0	544	6808	0.88	0.00	129.88	1.305	6	0.065	0.000	2638	2197	1889	0	0	0	0	0	0
7122	0.73	146.0	688.3	13.2	559	7126	0.00	1.25	0.00	0.000	4	0.000	0.053	2638	2903	1880	0	0	0	0	0	0
7206	0.73	146.0	680.1	12.5	561	7211	0.00	1.20	0.00	0.000	6	0.000	0.037	2642	2200	1879	0	0	0	0	0	0
7527	0.73	146.0	638.3	12.6	572	7531	0.00	1.23	0.00	0.000	4	0.000	0.054	2642	2906	1877	0	0	0	0	0	0
7631	0.73	146.0	625.3	13.0	575	7636	0.00	1.20	0.00	0.000	6	0.000	0.037	2647	2190	1877	0	0	0	0	0	0
7965	0.73	146.0	582.0	12.7	586	7966	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2190	1876	0	0	0	0	0	0
8271	0.73	146.0	545.9	11.5	596	8275	0.00	1.23	0.00	0.000	4	0.000	0.054	2647	2910	1877	0	0	0	0	0	0
8493	0.73	146.0	523.0	11.6	602	8504	0.00	1.17	0.00	0.000	6	0.000	0.036	2652	2193	1875	0	0	0	0	0	0
8812	0.73	146.0	483.7	11.8	619	8813	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2193	1875	0	0	0	0	0	0
9127	0.73	146.0	446.2	11.9	644	9128	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2193	1875	0	0	0	0	0	0
9443	0.73	146.0	408.2	12.0	669	9445	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2193	1875	0	0	0	0	0	0
9759	0.73	146.0	370.3	11.9	694	9763	0.00	1.05	0.00	0.000	4	0.000	0.050	2657	1500	1875	0	0	0	0	0	0
9879	0.73	146.0	356.2	11.7	703	9883	0.00	1.15	0.00	0.000	6	0.000	0.047	2657	2209	1875	0	0	0	0	0	0
10210	0.73	146.0	318.6	11.0	729	10211	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2209	1875	0	0	0	0	0	0
10523	0.73	146.0	284.5	10.4	754	10524	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2209	1875	0	0	0	0	0	0
10841	0.73	146.0	251.6	10.5	779	10844	0.00	1.10	0.00	0.000	4	0.000	0.057	2657	2901	1875	0	0	0	0	0	0
11099	0.73	146.0	224.1	10.5	817	11107	0.00	1.12	0.00	0.000	6	0.000	0.037	2661	2196	1875	0	0	0	0	0	0
11437	0.73	149.5	190.9	9.0	868	11444	0.00	1.17	0.00	0.000	4	0.000	0.054	2662	2907	1875	0	0	0	0	0	0
11585	0.74	158.1	177.2	8.8	890	11602	0.00	1.12	8.75	0.944	6	0.000	0.038	2666	2201	1841	0	0	0	0	0	0
11934	0.77	179.1	147.0	8.3	942	11956	0.00	0.00	19.60	1.001	6	0.000	0.000	2667	2200	1755	0	0	0	0	0	0
12288	0.77	179.1	111.9	10.3	995	12294	0.00	1.17	0.00	0.000	4	0.000	0.054	2667	2898	1752	0	0	0	0	0	0
12381	0.77	179.1	101.5	11.3	1009	12387	0.00	1.12	0.00	0.000	6	0.000	0.038	2671	2203	1752	0	0	0	0	0	0
12718	0.77	181.4	68.1	9.1	1060	12725	0.00	1.17	0.00	0.000	4	0.000	0.054	2671	2904	1751	0	0	0	0	0	0
12979	0.81	211.7	48.4	7.9	1099	13013	0.00	1.15	28.08	0.966	6	0.000	0.038	2676	2191	1622	0	0	0	0	0	0
13345	0.83	228.1	21.2	8.5	1154	13360	0.00	0.00	9.02	0.848	6	0.000	0.000	2676	2191	1554	0	0	0	0	0	0
13583	end climb: SURFACE_DEPTH_REACHED
state	13583	begin surface coast
13611	end surface coast: CONTROL_FINISHED_OK
state	13611	begin surface