Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 16 * 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 16 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 17 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 -80438.023 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 -80438.023

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 17 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 19 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 16 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 081011,152349,6634.325,-6027.195,27,1.0,27,-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 1.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081011,152900,6634.323,-6027.258,21,0.9,21,-33.7 MHEAD_RNG_PITCHd_Wd 105.2,167006,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 486

Post-dive calculations and measurements:

FINISH 1.0,1.003186 ALTIM_BOTTOM_PING 350.4,155.8

SM_CCo 8384,68.15,0.085,0,0,771,420.20 _24V_AH 23.2,3.474

SM_GC 1.94,7.28,0.62,68.15,0.067,0.073,0.085,128,2516,771,-7.10,-0.57,420.20,0,0,0,0,0,0 _10V_AH 10.3,3.422

RAFOS_CLK 539 FG_AHR_24Vo 0.000

RAFOS 0,1318089665,16.033333,16.018055,58,58,58,0,0,0,190,206,579,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6638.015625,-6029.224121,081011,121236,4,77,1.83 MEM 150512

IRIDIUM_FIX 6604.29,-6027.36,081011,131359 DATA_FILE_SIZE 36758,915

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 113978,0

HUMID 59.56 CFSIZE 260165632,246931456

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

TCM_TEMP 16.20 SOUNDSPEED 1451.6

XPDR_PINGS 20 GPS 081011,175158,6633.369,-6025.434,44,1.3,47,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 273 114.21 SBE_CT 652 23 351.76

Roll_motor 61 93 133.33 SBE_O2 641 5 77.94

VBD_pump_during_apogee 339 1163 9164.70 nil 0 0 0.00

VBD_pump_during_surface 68 84 134.26 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 204 248 1179.70 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.19

TT8 2183 18 420.78

LPSleep 4020 2 95.66

TT8_Active 567 18 109.41

TT8_Sampling 1829 41 790.24

TT8_CF8 174 47 86.06

TT8_Kalman 0 0 0.00

Analog_circuits 1668 12 206.25

GPS_charging 0 0 0.00

Compass 1601 6 111.15

RAFOS 2520 1 38.93

Transponder 10 30 3.30

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 0 122 0.00 0.00 -103.07 0.000 2 0.000 0.000 126 2509 2222 0 0 0 0 0 0

125 -0.77 -146.0 3.2 -2.8 18 168 8.95 1.23 -29.05 0.000 4 0.273 0.093 2162 1797 3083 0 0 0 0 0 0

422 -0.77 -146.0 48.9 -13.5 70 428 0.00 1.27 0.00 0.000 6 0.000 0.073 2159 2511 3085 0 0 0 0 0 0

631 -0.77 -146.0 77.7 -14.6 107 638 0.00 1.17 0.00 0.000 4 0.000 0.084 2154 3216 3085 0 0 0 0 0 0

746 -0.77 -146.0 94.1 -14.0 127 753 0.00 1.17 0.00 0.000 6 0.000 0.054 2154 2504 3085 0 0 0 0 0 0

947 -0.77 -146.0 121.8 -13.0 149 951 0.00 1.23 0.00 0.000 4 0.000 0.082 2149 3213 3085 0 0 0 0 0 0

1007 -0.77 -146.0 129.5 -13.5 154 1014 0.00 1.15 0.00 0.000 6 0.000 0.052 2149 2510 3085 0 0 0 0 0 0

1227 -0.77 -146.0 157.7 -12.4 175 1230 0.00 1.23 0.00 0.000 4 0.000 0.082 2144 3219 3085 0 0 0 0 0 0

1276 -0.77 -146.0 163.5 -12.8 179 1283 0.00 1.17 0.00 0.000 6 0.000 0.054 2144 2504 3085 0 0 0 0 0 0

1496 -0.77 -146.0 190.1 -11.5 200 1500 0.00 1.23 0.00 0.000 4 0.000 0.083 2139 3213 3085 0 0 0 0 0 0

1556 -0.77 -146.0 197.0 -12.0 205 1564 0.00 1.15 0.00 0.000 6 0.000 0.054 2139 2509 3085 0 0 0 0 0 0

1776 -0.77 -146.0 222.9 -11.4 226 1779 0.00 1.23 0.00 0.000 4 0.000 0.083 2134 3221 3085 0 0 0 0 0 0

1837 -0.77 -146.0 229.8 -12.2 231 1844 0.10 1.17 0.00 0.000 6 0.163 0.055 2164 2505 3085 0 0 0 0 0 0

2057 -0.77 -146.0 254.0 -11.2 252 2061 0.00 1.23 0.00 0.000 4 0.000 0.083 2160 3218 3085 0 0 0 0 0 0

2092 -0.77 -146.0 258.1 -11.5 255 2095 0.00 1.17 0.00 0.000 6 0.000 0.057 2161 2505 3084 0 0 0 0 0 0

2316 -0.77 -146.0 283.4 -10.5 276 2320 0.00 1.23 0.00 0.000 4 0.000 0.082 2156 3219 3084 0 0 0 0 0 0

2343 -0.77 -146.0 285.8 -10.7 278 2350 0.00 1.17 0.00 0.000 6 0.000 0.054 2156 2502 3084 0 0 0 0 0 0

2563 -0.77 -146.0 309.2 -10.4 299 2566 0.00 1.23 0.00 0.000 4 0.000 0.084 2151 3214 3084 0 0 0 0 0 0

2657 -0.77 -146.0 318.6 -10.3 307 2664 0.00 1.15 0.00 0.000 6 0.000 0.055 2151 2509 3084 0 0 0 0 0 0

2876 -0.77 -146.0 343.0 -11.1 328 2880 0.00 1.15 0.00 0.000 4 0.000 0.066 2151 1804 3084 0 0 0 0 0 0

2937 -0.77 -146.0 349.4 -11.2 333 2950 0.00 1.25 0.00 0.000 6 0.000 0.075 2146 2516 3084 0 0 0 0 0 0

3159 -0.77 -146.0 375.2 -11.6 354 3163 0.00 1.15 0.00 0.000 4 0.000 0.087 2141 3215 3084 0 0 0 0 0 0

3254 -0.77 -146.0 385.8 -11.4 362 3261 0.00 1.15 0.00 0.000 6 0.000 0.054 2141 2506 3084 0 0 0 0 0 0

3473 -0.77 -146.0 411.7 -11.3 383 3477 0.00 1.23 0.00 0.000 4 0.000 0.084 2137 3221 3084 0 0 0 0 0 0

3564 -0.77 -146.0 422.2 -11.3 391 3568 0.08 1.15 0.00 0.000 6 0.166 0.054 2160 2511 3084 0 0 0 0 0 0

3791 -0.77 -146.0 444.5 -9.6 412 3795 0.00 1.12 0.00 0.000 4 0.000 0.063 2161 1812 3085 0 0 0 0 0 0

3818 -0.77 -146.0 447.2 -9.7 414 3821 0.00 1.23 0.00 0.000 6 0.000 0.073 2157 2512 3084 0 0 0 0 0 0

3849 end dive: TARGET_DEPTH_EXCEEDED

state 3849 begin apogee

3855 -0.16 0.0 450.8 -10.1 417 3978 0.62 0.00 117.80 1.164 6 0.145 0.000 2354 2194 2485 0 0 0 0 0 0

3979 end apogee: CONTROL_FINISHED_OK

state 3979 begin climb

3982 0.77 146.0 455.8 0.0 428 4119 0.90 1.27 124.30 1.110 4 0.068 0.071 2665 1499 1887 0 0 0 0 0 0

4358 0.77 146.0 427.0 11.3 462 4365 0.00 1.25 0.00 0.000 6 0.000 0.066 2665 2198 1879 0 0 0 0 0 0

4578 0.77 146.0 401.5 11.4 483 4581 0.00 1.23 0.00 0.000 4 0.000 0.075 2665 2907 1877 0 0 0 0 0 0

4694 0.77 146.0 388.0 12.4 493 4701 0.00 1.23 0.00 0.000 6 0.000 0.060 2670 2211 1876 0 0 0 0 0 0

4913 0.77 146.0 361.9 11.1 514 4917 0.00 1.17 0.00 0.000 4 0.000 0.071 2675 1497 1876 0 0 0 0 0 0

4970 0.77 146.0 355.5 11.3 519 4974 0.00 1.23 0.00 0.000 6 0.000 0.067 2675 2205 1875 0 0 0 0 0 0

5195 0.77 146.0 328.9 12.0 540 5198 0.00 1.23 0.00 0.000 4 0.000 0.069 2680 1496 1875 0 0 0 0 0 0

5267 0.77 146.0 320.9 11.8 546 5274 0.00 1.20 0.00 0.000 6 0.000 0.065 2680 2198 1875 0 0 0 0 0 0

5486 0.77 146.0 294.4 11.7 567 5490 0.00 1.20 0.00 0.000 4 0.000 0.075 2680 2908 1875 0 0 0 0 0 0

5704 0.77 146.0 268.3 12.3 586 5711 0.00 1.23 0.00 0.000 6 0.000 0.061 2685 2198 1874 0 0 0 0 0 0

5923 0.77 146.0 242.6 11.4 607 5927 0.00 1.15 0.00 0.000 4 0.000 0.072 2690 1493 1874 0 0 0 0 0 0

6130 0.77 146.0 220.5 10.4 625 6137 0.00 1.20 0.00 0.000 6 0.000 0.067 2690 2197 1874 0 0 0 0 0 0

6349 0.78 152.6 198.7 9.7 646 6362 0.00 1.20 4.43 0.783 4 0.000 0.075 2690 2902 1862 0 0 0 0 0 0

6476 0.78 152.6 185.7 11.1 657 6480 0.00 1.20 0.00 0.000 6 0.000 0.062 2695 2204 1862 0 0 0 0 0 0

6701 0.78 156.9 163.1 9.8 678 6712 0.00 1.27 5.10 0.822 4 0.000 0.073 2695 2909 1845 0 0 0 0 0 0

6762 0.78 156.9 157.1 10.5 683 6770 0.10 1.23 0.00 0.000 6 0.190 0.062 2672 2198 1845 0 0 0 0 0 0

6983 0.83 199.5 137.4 8.0 704 7022 0.00 0.00 36.90 0.972 6 0.000 0.000 2672 2198 1671 0 0 0 0 0 0

7235 0.83 199.5 111.9 10.3 728 7239 0.00 1.15 0.00 0.000 4 0.000 0.073 2677 1497 1666 0 0 0 0 0 0

7384 0.84 200.9 96.9 9.9 743 7390 0.00 1.23 0.00 0.000 6 0.000 0.069 2676 2201 1665 0 0 0 0 0 0

7593 0.84 200.9 75.4 11.4 780 7600 0.00 1.20 0.00 0.000 4 0.000 0.076 2676 2915 1665 0 0 0 0 0 0

7708 0.84 200.9 62.0 12.1 800 7715 0.00 1.25 0.00 0.000 6 0.000 0.063 2681 2193 1664 0 0 0 0 0 0

7918 0.88 232.9 42.7 8.5 837 7954 0.00 1.30 27.33 0.926 4 0.000 0.073 2681 2905 1534 0 0 0 0 0 0

7972 0.88 238.3 37.6 9.8 846 7985 0.00 1.25 5.57 0.765 6 0.000 0.063 2686 2197 1512 0 0 0 0 0 0

8189 0.92 272.9 17.6 8.4 884 8213 0.00 1.25 18.08 0.121 4 0.000 0.071 2686 2920 1371 0 0 0 0 0 0

8332 0.92 272.9 2.2 11.1 909 8339 0.00 1.27 0.00 0.000 6 0.000 0.063 2691 2197 1366 0 0 0 0 0 0

8344 end climb: SURFACE_DEPTH_REACHED

state 8344 begin surface coast

8368 end surface coast: CONTROL_FINISHED_OK

state 8368 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	16	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	17	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	-80438.023	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	081011,152349,6634.325,-6027.195,27,1.0,27,-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	1.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081011,152900,6634.323,-6027.258,21,0.9,21,-33.7	MHEAD_RNG_PITCHd_Wd	105.2,167006,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	486

FINISH	1.0,1.003186	ALTIM_BOTTOM_PING	350.4,155.8
SM_CCo	8384,68.15,0.085,0,0,771,420.20	_24V_AH	23.2,3.474
SM_GC	1.94,7.28,0.62,68.15,0.067,0.073,0.085,128,2516,771,-7.10,-0.57,420.20,0,0,0,0,0,0	_10V_AH	10.3,3.422
RAFOS_CLK	539	FG_AHR_24Vo	0.000
RAFOS	0,1318089665,16.033333,16.018055,58,58,58,0,0,0,190,206,579,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6638.015625,-6029.224121,081011,121236,4,77,1.83	MEM	150512
IRIDIUM_FIX	6604.29,-6027.36,081011,131359	DATA_FILE_SIZE	36758,915
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	113978,0
HUMID	59.56	CFSIZE	260165632,246931456
INTERNAL_PRESSURE	9.78553	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.20	SOUNDSPEED	1451.6
XPDR_PINGS	20	GPS	081011,175158,6633.369,-6025.434,44,1.3,47,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	273	114.21	SBE_CT	652	23	351.76
Roll_motor	61	93	133.33	SBE_O2	641	5	77.94
VBD_pump_during_apogee	339	1163	9164.70	nil	0	0	0.00
VBD_pump_during_surface	68	84	134.26	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	204	248	1179.70	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.19
TT8	2183	18	420.78
LPSleep	4020	2	95.66
TT8_Active	567	18	109.41
TT8_Sampling	1829	41	790.24
TT8_CF8	174	47	86.06
TT8_Kalman	0	0	0.00
Analog_circuits	1668	12	206.25
GPS_charging	0	0	0.00
Compass	1601	6	111.15
RAFOS	2520	1	38.93
Transponder	10	30	3.30

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	122	0.00	0.00	-103.07	0.000	2	0.000	0.000	126	2509	2222	0	0	0	0	0	0
125	-0.77	-146.0	3.2	-2.8	18	168	8.95	1.23	-29.05	0.000	4	0.273	0.093	2162	1797	3083	0	0	0	0	0	0
422	-0.77	-146.0	48.9	-13.5	70	428	0.00	1.27	0.00	0.000	6	0.000	0.073	2159	2511	3085	0	0	0	0	0	0
631	-0.77	-146.0	77.7	-14.6	107	638	0.00	1.17	0.00	0.000	4	0.000	0.084	2154	3216	3085	0	0	0	0	0	0
746	-0.77	-146.0	94.1	-14.0	127	753	0.00	1.17	0.00	0.000	6	0.000	0.054	2154	2504	3085	0	0	0	0	0	0
947	-0.77	-146.0	121.8	-13.0	149	951	0.00	1.23	0.00	0.000	4	0.000	0.082	2149	3213	3085	0	0	0	0	0	0
1007	-0.77	-146.0	129.5	-13.5	154	1014	0.00	1.15	0.00	0.000	6	0.000	0.052	2149	2510	3085	0	0	0	0	0	0
1227	-0.77	-146.0	157.7	-12.4	175	1230	0.00	1.23	0.00	0.000	4	0.000	0.082	2144	3219	3085	0	0	0	0	0	0
1276	-0.77	-146.0	163.5	-12.8	179	1283	0.00	1.17	0.00	0.000	6	0.000	0.054	2144	2504	3085	0	0	0	0	0	0
1496	-0.77	-146.0	190.1	-11.5	200	1500	0.00	1.23	0.00	0.000	4	0.000	0.083	2139	3213	3085	0	0	0	0	0	0
1556	-0.77	-146.0	197.0	-12.0	205	1564	0.00	1.15	0.00	0.000	6	0.000	0.054	2139	2509	3085	0	0	0	0	0	0
1776	-0.77	-146.0	222.9	-11.4	226	1779	0.00	1.23	0.00	0.000	4	0.000	0.083	2134	3221	3085	0	0	0	0	0	0
1837	-0.77	-146.0	229.8	-12.2	231	1844	0.10	1.17	0.00	0.000	6	0.163	0.055	2164	2505	3085	0	0	0	0	0	0
2057	-0.77	-146.0	254.0	-11.2	252	2061	0.00	1.23	0.00	0.000	4	0.000	0.083	2160	3218	3085	0	0	0	0	0	0
2092	-0.77	-146.0	258.1	-11.5	255	2095	0.00	1.17	0.00	0.000	6	0.000	0.057	2161	2505	3084	0	0	0	0	0	0
2316	-0.77	-146.0	283.4	-10.5	276	2320	0.00	1.23	0.00	0.000	4	0.000	0.082	2156	3219	3084	0	0	0	0	0	0
2343	-0.77	-146.0	285.8	-10.7	278	2350	0.00	1.17	0.00	0.000	6	0.000	0.054	2156	2502	3084	0	0	0	0	0	0
2563	-0.77	-146.0	309.2	-10.4	299	2566	0.00	1.23	0.00	0.000	4	0.000	0.084	2151	3214	3084	0	0	0	0	0	0
2657	-0.77	-146.0	318.6	-10.3	307	2664	0.00	1.15	0.00	0.000	6	0.000	0.055	2151	2509	3084	0	0	0	0	0	0
2876	-0.77	-146.0	343.0	-11.1	328	2880	0.00	1.15	0.00	0.000	4	0.000	0.066	2151	1804	3084	0	0	0	0	0	0
2937	-0.77	-146.0	349.4	-11.2	333	2950	0.00	1.25	0.00	0.000	6	0.000	0.075	2146	2516	3084	0	0	0	0	0	0
3159	-0.77	-146.0	375.2	-11.6	354	3163	0.00	1.15	0.00	0.000	4	0.000	0.087	2141	3215	3084	0	0	0	0	0	0
3254	-0.77	-146.0	385.8	-11.4	362	3261	0.00	1.15	0.00	0.000	6	0.000	0.054	2141	2506	3084	0	0	0	0	0	0
3473	-0.77	-146.0	411.7	-11.3	383	3477	0.00	1.23	0.00	0.000	4	0.000	0.084	2137	3221	3084	0	0	0	0	0	0
3564	-0.77	-146.0	422.2	-11.3	391	3568	0.08	1.15	0.00	0.000	6	0.166	0.054	2160	2511	3084	0	0	0	0	0	0
3791	-0.77	-146.0	444.5	-9.6	412	3795	0.00	1.12	0.00	0.000	4	0.000	0.063	2161	1812	3085	0	0	0	0	0	0
3818	-0.77	-146.0	447.2	-9.7	414	3821	0.00	1.23	0.00	0.000	6	0.000	0.073	2157	2512	3084	0	0	0	0	0	0
3849	end dive: TARGET_DEPTH_EXCEEDED
state	3849	begin apogee
3855	-0.16	0.0	450.8	-10.1	417	3978	0.62	0.00	117.80	1.164	6	0.145	0.000	2354	2194	2485	0	0	0	0	0	0
3979	end apogee: CONTROL_FINISHED_OK
state	3979	begin climb
3982	0.77	146.0	455.8	0.0	428	4119	0.90	1.27	124.30	1.110	4	0.068	0.071	2665	1499	1887	0	0	0	0	0	0
4358	0.77	146.0	427.0	11.3	462	4365	0.00	1.25	0.00	0.000	6	0.000	0.066	2665	2198	1879	0	0	0	0	0	0
4578	0.77	146.0	401.5	11.4	483	4581	0.00	1.23	0.00	0.000	4	0.000	0.075	2665	2907	1877	0	0	0	0	0	0
4694	0.77	146.0	388.0	12.4	493	4701	0.00	1.23	0.00	0.000	6	0.000	0.060	2670	2211	1876	0	0	0	0	0	0
4913	0.77	146.0	361.9	11.1	514	4917	0.00	1.17	0.00	0.000	4	0.000	0.071	2675	1497	1876	0	0	0	0	0	0
4970	0.77	146.0	355.5	11.3	519	4974	0.00	1.23	0.00	0.000	6	0.000	0.067	2675	2205	1875	0	0	0	0	0	0
5195	0.77	146.0	328.9	12.0	540	5198	0.00	1.23	0.00	0.000	4	0.000	0.069	2680	1496	1875	0	0	0	0	0	0
5267	0.77	146.0	320.9	11.8	546	5274	0.00	1.20	0.00	0.000	6	0.000	0.065	2680	2198	1875	0	0	0	0	0	0
5486	0.77	146.0	294.4	11.7	567	5490	0.00	1.20	0.00	0.000	4	0.000	0.075	2680	2908	1875	0	0	0	0	0	0
5704	0.77	146.0	268.3	12.3	586	5711	0.00	1.23	0.00	0.000	6	0.000	0.061	2685	2198	1874	0	0	0	0	0	0
5923	0.77	146.0	242.6	11.4	607	5927	0.00	1.15	0.00	0.000	4	0.000	0.072	2690	1493	1874	0	0	0	0	0	0
6130	0.77	146.0	220.5	10.4	625	6137	0.00	1.20	0.00	0.000	6	0.000	0.067	2690	2197	1874	0	0	0	0	0	0
6349	0.78	152.6	198.7	9.7	646	6362	0.00	1.20	4.43	0.783	4	0.000	0.075	2690	2902	1862	0	0	0	0	0	0
6476	0.78	152.6	185.7	11.1	657	6480	0.00	1.20	0.00	0.000	6	0.000	0.062	2695	2204	1862	0	0	0	0	0	0
6701	0.78	156.9	163.1	9.8	678	6712	0.00	1.27	5.10	0.822	4	0.000	0.073	2695	2909	1845	0	0	0	0	0	0
6762	0.78	156.9	157.1	10.5	683	6770	0.10	1.23	0.00	0.000	6	0.190	0.062	2672	2198	1845	0	0	0	0	0	0
6983	0.83	199.5	137.4	8.0	704	7022	0.00	0.00	36.90	0.972	6	0.000	0.000	2672	2198	1671	0	0	0	0	0	0
7235	0.83	199.5	111.9	10.3	728	7239	0.00	1.15	0.00	0.000	4	0.000	0.073	2677	1497	1666	0	0	0	0	0	0
7384	0.84	200.9	96.9	9.9	743	7390	0.00	1.23	0.00	0.000	6	0.000	0.069	2676	2201	1665	0	0	0	0	0	0
7593	0.84	200.9	75.4	11.4	780	7600	0.00	1.20	0.00	0.000	4	0.000	0.076	2676	2915	1665	0	0	0	0	0	0
7708	0.84	200.9	62.0	12.1	800	7715	0.00	1.25	0.00	0.000	6	0.000	0.063	2681	2193	1664	0	0	0	0	0	0
7918	0.88	232.9	42.7	8.5	837	7954	0.00	1.30	27.33	0.926	4	0.000	0.073	2681	2905	1534	0	0	0	0	0	0
7972	0.88	238.3	37.6	9.8	846	7985	0.00	1.25	5.57	0.765	6	0.000	0.063	2686	2197	1512	0	0	0	0	0	0
8189	0.92	272.9	17.6	8.4	884	8213	0.00	1.25	18.08	0.121	4	0.000	0.071	2686	2920	1371	0	0	0	0	0	0
8332	0.92	272.9	2.2	11.1	909	8339	0.00	1.27	0.00	0.000	6	0.000	0.063	2691	2197	1366	0	0	0	0	0	0
8344	end climb: SURFACE_DEPTH_REACHED
state	8344	begin surface coast
8368	end surface coast: CONTROL_FINISHED_OK
state	8368	begin surface