Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 164 * 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 164 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 38 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 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 -80722.266 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 -80722.266

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 38 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 24 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 164 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 011111,020424,6644.898,-6010.572,24,0.8,24,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.79 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.9 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 011111,020929,6644.829,-6010.537,39,0.8,39,-33.9 MHEAD_RNG_PITCHd_Wd 341.2,11416,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 561

Post-dive calculations and measurements:

FINISH 2.0,1.025384 _24V_AH 22.8,20.868

SM_CCo 10511,6.82,0.090,0,0,1261,300.00 _10V_AH 10.3,16.378

SM_GC 3.72,6.93,0.55,6.82,0.047,0.062,0.090,121,2521,1261,-7.06,-0.51,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 687 FG_AHR_10Vo 0.000

RAFOS 0,1320120063,4.033333,4.017500,107,62,61,0,0,0,633,160,197,0,0,0 MEM 150316

RAFOS_FIX 6645.538574,-6008.295410,011111,040412,5,111,0.25 DATA_FILE_SIZE 40020,1073

IRIDIUM_FIX 6614.97,-6011.26,311011,232318 CAP_FILE_SIZE 113132,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,236646400

HUMID 57.56 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1450.1

TCM_TEMP 16.20 CURRENT 0.057, 77.4,1

XPDR_PINGS 17 GPS 011111,050706,6646.068,-6012.822,46,0.9,46,-33.9

ALTIM_BOTTOM_PING 451.3,152.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 257 100.65 SBE_CT 783 23 414.92

Roll_motor 49 97 111.35 SBE_O2 605 5 72.29

VBD_pump_during_apogee 355 1266 10257.41 nil 0 0 0.00

VBD_pump_during_surface 6 89 13.93 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 174 256 1024.24 nil 0 0 0.00

Transponder_ping 5 420 52.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 26 11.25

TT8 2938 18 566.28

LPSleep 5226 2 124.35

TT8_Active 509 18 98.16

TT8_Sampling 1973 41 852.21

TT8_CF8 197 47 97.42

TT8_Kalman 0 0 0.00

Analog_circuits 1620 12 200.30

GPS_charging 0 0 0.00

Compass 1758 6 122.10

RAFOS 2520 1 38.93

Transponder 11 30 3.44

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

17 -0.73 -146.0 0.0 0.0 0 48 0.00 0.00 -29.33 0.000 2 0.000 0.000 124 2518 1657 0 0 0 0 0 0

51 -0.73 -146.0 3.1 -3.1 4 151 8.57 1.17 -85.75 0.000 4 0.257 0.098 2155 3216 3081 0 0 0 0 0 0

159 -0.73 -146.0 9.6 -16.1 19 166 0.00 1.12 0.00 0.000 6 0.000 0.036 2155 2505 3082 0 0 0 0 0 0

498 -0.73 -146.0 67.3 -13.0 70 504 0.00 1.10 0.00 0.000 4 0.000 0.046 2155 1812 3084 0 0 0 0 0 0

531 -0.73 -146.0 72.2 -14.1 75 538 0.00 1.20 0.00 0.000 6 0.000 0.057 2150 2506 3084 0 0 0 0 0 0

870 -0.73 -146.0 120.1 -14.1 126 876 0.00 1.15 0.00 0.000 4 0.000 0.070 2145 3219 3084 0 0 0 0 0 0

898 -0.73 -146.0 124.4 -15.5 130 905 0.00 1.12 0.00 0.000 6 0.000 0.037 2145 2505 3084 0 0 0 0 0 0

1235 -0.73 -146.0 176.3 -15.5 181 1244 0.00 1.20 0.00 0.000 4 0.000 0.067 2140 3218 3084 0 0 0 0 0 0

1283 -0.73 -146.0 183.6 -15.7 188 1290 0.00 1.12 0.00 0.000 6 0.000 0.036 2141 2500 3084 0 0 0 0 0 0

1622 -0.73 -146.0 235.1 -15.3 239 1629 0.00 1.17 0.00 0.000 4 0.000 0.066 2136 3204 3084 0 0 0 0 0 0

1700 -0.73 -146.0 247.4 -15.9 251 1708 0.08 1.08 0.00 0.000 6 0.161 0.036 2158 2512 3084 0 0 0 0 0 0

2026 -0.73 -146.0 288.2 -11.4 278 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2512 3084 0 0 0 0 0 0

2340 -0.73 -146.0 323.0 -10.6 303 2341 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2512 3084 0 0 0 0 0 0

2655 -0.73 -146.0 355.6 -10.1 328 2659 0.00 1.10 0.00 0.000 4 0.000 0.047 2159 1810 3084 0 0 0 0 0 0

2669 -0.73 -146.0 356.9 -10.0 329 2672 0.00 1.20 0.00 0.000 6 0.000 0.057 2156 2514 3084 0 0 0 0 0 0

2999 -0.73 -146.0 391.8 -10.6 355 3003 0.00 1.12 0.00 0.000 4 0.000 0.070 2151 3220 3084 0 0 0 0 0 0

3016 -0.73 -146.0 393.2 -10.6 356 3024 0.00 1.12 0.00 0.000 6 0.000 0.033 2151 2504 3084 0 0 0 0 0 0

3343 -0.73 -146.0 429.5 -11.0 382 3344 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2504 3083 0 0 0 0 0 0

3658 -0.73 -146.0 464.1 -11.4 407 3662 0.00 1.17 0.00 0.000 4 0.000 0.065 2146 3213 3084 0 0 0 0 0 0

3716 -0.73 -146.0 470.6 -11.6 411 3724 0.00 1.10 0.00 0.000 6 0.000 0.032 2146 2506 3083 0 0 0 0 0 0

4038 -0.73 -146.0 508.4 -11.7 434 4042 0.00 1.17 0.00 0.000 4 0.000 0.067 2141 3213 3084 0 0 0 0 0 0

4175 -0.73 -146.0 524.7 -12.2 438 4180 0.00 1.10 0.00 0.000 6 0.000 0.033 2141 2511 3084 0 0 0 0 0 0

4509 -0.73 -146.0 559.3 -10.0 449 4512 0.00 1.17 0.00 0.000 4 0.000 0.066 2137 3220 3085 0 0 0 0 0 0

4541 end dive: TARGET_DEPTH_EXCEEDED

state 4541 begin apogee

4548 -0.16 0.0 563.0 -10.6 450 4673 0.65 0.00 118.65 1.267 6 0.144 0.000 2343 2194 2485 0 0 0 0 0 0

4674 end apogee: CONTROL_FINISHED_OK

state 4674 begin climb

4676 0.73 146.0 568.6 0.0 454 4811 0.85 1.17 127.50 1.209 4 0.070 0.048 2638 1501 1887 0 0 0 0 0 0

4982 0.73 146.0 547.6 12.0 463 4987 0.00 1.25 0.00 0.000 6 0.000 0.046 2638 2209 1880 0 0 0 0 0 0

5304 0.73 146.0 508.3 11.3 474 5308 0.00 1.17 0.00 0.000 4 0.000 0.056 2638 2911 1878 0 0 0 0 0 0

5355 0.73 146.0 503.9 11.7 475 5360 0.00 1.20 0.00 0.000 6 0.000 0.036 2643 2205 1876 0 0 0 0 0 0

5686 0.73 146.0 463.1 11.6 501 5690 0.00 1.20 0.00 0.000 4 0.000 0.053 2643 2899 1876 0 0 0 0 0 0

5942 0.73 146.0 434.9 11.0 520 5950 0.00 1.17 0.00 0.000 6 0.000 0.036 2648 2194 1875 0 0 0 0 0 0

6269 0.73 146.0 402.6 10.2 546 6273 0.00 1.23 0.00 0.000 4 0.000 0.052 2648 2912 1875 0 0 0 0 0 0

6366 0.73 146.0 392.7 10.3 553 6376 0.00 1.17 0.00 0.000 6 0.000 0.035 2652 2198 1875 0 0 0 0 0 0

6692 0.73 146.0 358.5 10.2 579 6696 0.00 1.20 0.00 0.000 4 0.000 0.052 2652 2905 1875 0 0 0 0 0 0

6870 0.73 146.0 340.5 9.9 592 6877 0.00 1.15 0.00 0.000 6 0.000 0.036 2657 2195 1875 0 0 0 0 0 0

7194 0.73 146.0 308.3 9.6 618 7198 0.00 1.08 0.00 0.000 4 0.000 0.050 2662 1493 1875 0 0 0 0 0 0

7354 0.73 146.0 292.2 10.4 630 7358 0.00 1.15 0.00 0.000 6 0.000 0.047 2662 2202 1874 0 0 0 0 0 0

7683 0.73 146.0 257.2 10.6 656 7686 0.00 1.12 0.00 0.000 4 0.000 0.058 2662 2901 1874 0 0 0 0 0 0

7889 0.73 146.0 234.6 11.7 682 7896 0.10 1.12 0.00 0.000 6 0.155 0.039 2636 2204 1874 0 0 0 0 0 0

8227 0.73 146.0 201.2 9.7 733 8235 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2204 1874 0 0 0 0 0 0

8566 0.76 172.6 171.7 8.0 784 8595 0.00 1.20 21.30 1.018 4 0.000 0.055 2636 2897 1780 0 0 0 0 0 0

8682 0.76 172.6 161.2 9.7 801 8690 0.00 1.15 0.00 0.000 6 0.000 0.038 2639 2196 1779 0 0 0 0 0 0

9022 0.80 204.0 131.9 7.8 852 9056 0.00 1.27 27.92 1.000 4 0.000 0.054 2639 2910 1652 0 0 0 0 0 0

9241 0.80 204.0 112.0 9.2 885 9250 0.00 1.17 0.00 0.000 6 0.000 0.037 2644 2198 1648 0 0 0 0 0 0

9581 0.84 236.4 83.4 7.8 936 9614 0.00 1.27 28.00 0.976 4 0.000 0.054 2644 2908 1520 0 0 0 0 0 0

9715 0.84 236.4 70.7 10.1 956 9722 0.00 1.17 0.00 0.000 6 0.000 0.039 2649 2202 1518 0 0 0 0 0 0

10053 0.84 240.4 37.1 9.0 1007 10061 0.00 1.15 4.12 0.718 4 0.000 0.050 2655 1489 1503 0 0 0 0 0 0

10195 0.89 283.3 26.2 7.4 1028 10230 0.00 1.17 27.62 0.918 6 0.000 0.048 2654 2200 1329 0 0 0 0 0 0

10466 end climb: SURFACE_DEPTH_REACHED

state 10466 begin surface coast

10494 end surface coast: CONTROL_FINISHED_OK

state 10494 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	164	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	38	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	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	-80722.266	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	011111,020424,6644.898,-6010.572,24,0.8,24,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.79	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.9	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	011111,020929,6644.829,-6010.537,39,0.8,39,-33.9	MHEAD_RNG_PITCHd_Wd	341.2,11416,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	561

FINISH	2.0,1.025384	_24V_AH	22.8,20.868
SM_CCo	10511,6.82,0.090,0,0,1261,300.00	_10V_AH	10.3,16.378
SM_GC	3.72,6.93,0.55,6.82,0.047,0.062,0.090,121,2521,1261,-7.06,-0.51,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	687	FG_AHR_10Vo	0.000
RAFOS	0,1320120063,4.033333,4.017500,107,62,61,0,0,0,633,160,197,0,0,0	MEM	150316
RAFOS_FIX	6645.538574,-6008.295410,011111,040412,5,111,0.25	DATA_FILE_SIZE	40020,1073
IRIDIUM_FIX	6614.97,-6011.26,311011,232318	CAP_FILE_SIZE	113132,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,236646400
HUMID	57.56	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1450.1
TCM_TEMP	16.20	CURRENT	0.057, 77.4,1
XPDR_PINGS	17	GPS	011111,050706,6646.068,-6012.822,46,0.9,46,-33.9
ALTIM_BOTTOM_PING	451.3,152.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	257	100.65	SBE_CT	783	23	414.92
Roll_motor	49	97	111.35	SBE_O2	605	5	72.29
VBD_pump_during_apogee	355	1266	10257.41	nil	0	0	0.00
VBD_pump_during_surface	6	89	13.93	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	174	256	1024.24	nil	0	0	0.00
Transponder_ping	5	420	52.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	26	11.25
TT8	2938	18	566.28
LPSleep	5226	2	124.35
TT8_Active	509	18	98.16
TT8_Sampling	1973	41	852.21
TT8_CF8	197	47	97.42
TT8_Kalman	0	0	0.00
Analog_circuits	1620	12	200.30
GPS_charging	0	0	0.00
Compass	1758	6	122.10
RAFOS	2520	1	38.93
Transponder	11	30	3.44

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
17	-0.73	-146.0	0.0	0.0	0	48	0.00	0.00	-29.33	0.000	2	0.000	0.000	124	2518	1657	0	0	0	0	0	0
51	-0.73	-146.0	3.1	-3.1	4	151	8.57	1.17	-85.75	0.000	4	0.257	0.098	2155	3216	3081	0	0	0	0	0	0
159	-0.73	-146.0	9.6	-16.1	19	166	0.00	1.12	0.00	0.000	6	0.000	0.036	2155	2505	3082	0	0	0	0	0	0
498	-0.73	-146.0	67.3	-13.0	70	504	0.00	1.10	0.00	0.000	4	0.000	0.046	2155	1812	3084	0	0	0	0	0	0
531	-0.73	-146.0	72.2	-14.1	75	538	0.00	1.20	0.00	0.000	6	0.000	0.057	2150	2506	3084	0	0	0	0	0	0
870	-0.73	-146.0	120.1	-14.1	126	876	0.00	1.15	0.00	0.000	4	0.000	0.070	2145	3219	3084	0	0	0	0	0	0
898	-0.73	-146.0	124.4	-15.5	130	905	0.00	1.12	0.00	0.000	6	0.000	0.037	2145	2505	3084	0	0	0	0	0	0
1235	-0.73	-146.0	176.3	-15.5	181	1244	0.00	1.20	0.00	0.000	4	0.000	0.067	2140	3218	3084	0	0	0	0	0	0
1283	-0.73	-146.0	183.6	-15.7	188	1290	0.00	1.12	0.00	0.000	6	0.000	0.036	2141	2500	3084	0	0	0	0	0	0
1622	-0.73	-146.0	235.1	-15.3	239	1629	0.00	1.17	0.00	0.000	4	0.000	0.066	2136	3204	3084	0	0	0	0	0	0
1700	-0.73	-146.0	247.4	-15.9	251	1708	0.08	1.08	0.00	0.000	6	0.161	0.036	2158	2512	3084	0	0	0	0	0	0
2026	-0.73	-146.0	288.2	-11.4	278	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2512	3084	0	0	0	0	0	0
2340	-0.73	-146.0	323.0	-10.6	303	2341	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2512	3084	0	0	0	0	0	0
2655	-0.73	-146.0	355.6	-10.1	328	2659	0.00	1.10	0.00	0.000	4	0.000	0.047	2159	1810	3084	0	0	0	0	0	0
2669	-0.73	-146.0	356.9	-10.0	329	2672	0.00	1.20	0.00	0.000	6	0.000	0.057	2156	2514	3084	0	0	0	0	0	0
2999	-0.73	-146.0	391.8	-10.6	355	3003	0.00	1.12	0.00	0.000	4	0.000	0.070	2151	3220	3084	0	0	0	0	0	0
3016	-0.73	-146.0	393.2	-10.6	356	3024	0.00	1.12	0.00	0.000	6	0.000	0.033	2151	2504	3084	0	0	0	0	0	0
3343	-0.73	-146.0	429.5	-11.0	382	3344	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2504	3083	0	0	0	0	0	0
3658	-0.73	-146.0	464.1	-11.4	407	3662	0.00	1.17	0.00	0.000	4	0.000	0.065	2146	3213	3084	0	0	0	0	0	0
3716	-0.73	-146.0	470.6	-11.6	411	3724	0.00	1.10	0.00	0.000	6	0.000	0.032	2146	2506	3083	0	0	0	0	0	0
4038	-0.73	-146.0	508.4	-11.7	434	4042	0.00	1.17	0.00	0.000	4	0.000	0.067	2141	3213	3084	0	0	0	0	0	0
4175	-0.73	-146.0	524.7	-12.2	438	4180	0.00	1.10	0.00	0.000	6	0.000	0.033	2141	2511	3084	0	0	0	0	0	0
4509	-0.73	-146.0	559.3	-10.0	449	4512	0.00	1.17	0.00	0.000	4	0.000	0.066	2137	3220	3085	0	0	0	0	0	0
4541	end dive: TARGET_DEPTH_EXCEEDED
state	4541	begin apogee
4548	-0.16	0.0	563.0	-10.6	450	4673	0.65	0.00	118.65	1.267	6	0.144	0.000	2343	2194	2485	0	0	0	0	0	0
4674	end apogee: CONTROL_FINISHED_OK
state	4674	begin climb
4676	0.73	146.0	568.6	0.0	454	4811	0.85	1.17	127.50	1.209	4	0.070	0.048	2638	1501	1887	0	0	0	0	0	0
4982	0.73	146.0	547.6	12.0	463	4987	0.00	1.25	0.00	0.000	6	0.000	0.046	2638	2209	1880	0	0	0	0	0	0
5304	0.73	146.0	508.3	11.3	474	5308	0.00	1.17	0.00	0.000	4	0.000	0.056	2638	2911	1878	0	0	0	0	0	0
5355	0.73	146.0	503.9	11.7	475	5360	0.00	1.20	0.00	0.000	6	0.000	0.036	2643	2205	1876	0	0	0	0	0	0
5686	0.73	146.0	463.1	11.6	501	5690	0.00	1.20	0.00	0.000	4	0.000	0.053	2643	2899	1876	0	0	0	0	0	0
5942	0.73	146.0	434.9	11.0	520	5950	0.00	1.17	0.00	0.000	6	0.000	0.036	2648	2194	1875	0	0	0	0	0	0
6269	0.73	146.0	402.6	10.2	546	6273	0.00	1.23	0.00	0.000	4	0.000	0.052	2648	2912	1875	0	0	0	0	0	0
6366	0.73	146.0	392.7	10.3	553	6376	0.00	1.17	0.00	0.000	6	0.000	0.035	2652	2198	1875	0	0	0	0	0	0
6692	0.73	146.0	358.5	10.2	579	6696	0.00	1.20	0.00	0.000	4	0.000	0.052	2652	2905	1875	0	0	0	0	0	0
6870	0.73	146.0	340.5	9.9	592	6877	0.00	1.15	0.00	0.000	6	0.000	0.036	2657	2195	1875	0	0	0	0	0	0
7194	0.73	146.0	308.3	9.6	618	7198	0.00	1.08	0.00	0.000	4	0.000	0.050	2662	1493	1875	0	0	0	0	0	0
7354	0.73	146.0	292.2	10.4	630	7358	0.00	1.15	0.00	0.000	6	0.000	0.047	2662	2202	1874	0	0	0	0	0	0
7683	0.73	146.0	257.2	10.6	656	7686	0.00	1.12	0.00	0.000	4	0.000	0.058	2662	2901	1874	0	0	0	0	0	0
7889	0.73	146.0	234.6	11.7	682	7896	0.10	1.12	0.00	0.000	6	0.155	0.039	2636	2204	1874	0	0	0	0	0	0
8227	0.73	146.0	201.2	9.7	733	8235	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2204	1874	0	0	0	0	0	0
8566	0.76	172.6	171.7	8.0	784	8595	0.00	1.20	21.30	1.018	4	0.000	0.055	2636	2897	1780	0	0	0	0	0	0
8682	0.76	172.6	161.2	9.7	801	8690	0.00	1.15	0.00	0.000	6	0.000	0.038	2639	2196	1779	0	0	0	0	0	0
9022	0.80	204.0	131.9	7.8	852	9056	0.00	1.27	27.92	1.000	4	0.000	0.054	2639	2910	1652	0	0	0	0	0	0
9241	0.80	204.0	112.0	9.2	885	9250	0.00	1.17	0.00	0.000	6	0.000	0.037	2644	2198	1648	0	0	0	0	0	0
9581	0.84	236.4	83.4	7.8	936	9614	0.00	1.27	28.00	0.976	4	0.000	0.054	2644	2908	1520	0	0	0	0	0	0
9715	0.84	236.4	70.7	10.1	956	9722	0.00	1.17	0.00	0.000	6	0.000	0.039	2649	2202	1518	0	0	0	0	0	0
10053	0.84	240.4	37.1	9.0	1007	10061	0.00	1.15	4.12	0.718	4	0.000	0.050	2655	1489	1503	0	0	0	0	0	0
10195	0.89	283.3	26.2	7.4	1028	10230	0.00	1.17	27.62	0.918	6	0.000	0.048	2654	2200	1329	0	0	0	0	0	0
10466	end climb: SURFACE_DEPTH_REACHED
state	10466	begin surface coast
10494	end surface coast: CONTROL_FINISHED_OK
state	10494	begin surface