Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 167 * 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 167 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 28 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 -80726.047 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 -80726.047

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 28 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 167 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 011111,110354,6644.935,-6015.091,14,0.9,14,-33.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.77 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 011111,110906,6644.889,-6015.104,17,0.9,18,-33.9 MHEAD_RNG_PITCHd_Wd 75.5,153274,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 550

Post-dive calculations and measurements:

FINISH 1.8,1.017410 _24V_AH 22.8,21.205

SM_CCo 10604,9.45,0.090,0,0,1262,300.00 _10V_AH 10.2,16.605

SM_GC 3.96,7.03,0.55,9.45,0.050,0.059,0.090,122,2519,1262,-7.06,-0.57,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 690 FG_AHR_10Vo 0.000

RAFOS 0,1320148865,12.033333,12.018056,66,60,59,0,0,0,616,223,124,0,0,0 MEM 150328

RAFOS_FIX 6645.038086,-6009.820801,011111,121222,6,98,0.83 DATA_FILE_SIZE 40079,1100

IRIDIUM_FIX 6620.33,-6015.98,011111,080831 CAP_FILE_SIZE 111923,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,236462080

HUMID 57.44 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1450.0

TCM_TEMP 16.20 CURRENT 0.182,222.9,1

XPDR_PINGS 16 GPS 011111,140805,6645.378,-6014.034,28,1.0,28,-33.9

ALTIM_BOTTOM_PING 500.9,77.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 259 101.26 SBE_CT 802 23 424.91

Roll_motor 42 71 70.17 SBE_O2 625 5 74.79

VBD_pump_during_apogee 351 1261 10107.64 nil 0 0 0.00

VBD_pump_during_surface 9 89 19.28 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 205 245 1151.84 nil 0 0 0.00

Transponder_ping 5 420 52.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.28

TT8 2986 18 570.00

LPSleep 5286 2 124.55

TT8_Active 496 18 94.82

TT8_Sampling 1989 41 850.75

TT8_CF8 196 47 95.84

TT8_Kalman 0 0 0.00

Analog_circuits 1636 12 200.32

GPS_charging 0 0 0.00

Compass 1766 6 121.46

RAFOS 2520 1 38.56

Transponder 12 30 3.88

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

15 -0.73 -146.0 0.0 0.0 0 46 0.00 0.00 -28.60 0.000 2 0.000 0.000 116 2525 1649 0 0 0 0 0 0

49 -0.73 -146.0 3.1 -2.9 4 150 8.55 0.00 -87.88 0.000 6 0.259 0.000 2161 2525 3082 0 0 0 0 0 0

482 -0.73 -146.0 60.8 -14.8 69 491 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2526 3084 0 0 0 0 0 0

822 -0.73 -146.0 108.3 -13.7 120 828 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2526 3084 0 0 0 0 0 0

1159 -0.73 -146.0 155.0 -13.9 171 1166 0.00 1.17 0.00 0.000 4 0.000 0.046 2161 1813 3084 0 0 0 0 0 0

1207 -0.73 -146.0 161.3 -13.4 178 1213 0.00 1.17 0.00 0.000 6 0.000 0.057 2158 2500 3084 0 0 0 0 0 0

1545 -0.73 -146.0 208.9 -14.0 229 1554 0.00 1.15 0.00 0.000 4 0.000 0.071 2153 3216 3084 0 0 0 0 0 0

1574 -0.73 -146.0 212.9 -13.8 233 1583 0.00 1.10 0.00 0.000 6 0.000 0.036 2153 2507 3084 0 0 0 0 0 0

1919 -0.73 -146.0 257.9 -12.4 280 1922 0.00 1.08 0.00 0.000 4 0.000 0.047 2153 1821 3084 0 0 0 0 0 0

1946 -0.73 -146.0 261.3 -12.4 282 1950 0.00 1.17 0.00 0.000 6 0.000 0.059 2148 2505 3083 0 0 0 0 0 0

2277 -0.73 -146.0 300.3 -11.3 308 2281 0.00 1.12 0.00 0.000 4 0.000 0.072 2143 3212 3084 0 0 0 0 0 0

2470 -0.73 -146.0 323.5 -12.5 322 2477 0.00 1.10 0.00 0.000 6 0.000 0.037 2143 2506 3084 0 0 0 0 0 0

2794 -0.73 -146.0 361.8 -11.1 348 2798 0.00 1.17 0.00 0.000 4 0.000 0.068 2138 3211 3083 0 0 0 0 0 0

2823 -0.73 -146.0 365.0 -11.2 350 2826 0.00 1.10 0.00 0.000 6 0.000 0.036 2138 2502 3083 0 0 0 0 0 0

3153 -0.73 -146.0 402.0 -11.1 376 3157 0.00 1.08 0.00 0.000 4 0.000 0.045 2138 1813 3083 0 0 0 0 0 0

3237 -0.73 -146.0 410.9 -11.0 382 3246 0.12 1.23 0.00 0.000 6 0.174 0.056 2162 2521 3083 0 0 0 0 0 0

3560 -0.73 -146.0 442.2 -9.5 408 3565 0.00 1.15 0.00 0.000 4 0.000 0.043 2163 1815 3083 0 0 0 0 0 0

3592 -0.73 -146.0 444.7 -9.6 410 3600 0.00 1.20 0.00 0.000 6 0.000 0.055 2160 2512 3084 0 0 0 0 0 0

3916 -0.73 -146.0 477.3 -9.8 436 3920 0.00 1.12 0.00 0.000 4 0.000 0.043 2160 1819 3084 0 0 0 0 0 0

3969 -0.73 -146.0 482.8 -10.3 440 3973 0.00 1.17 0.00 0.000 6 0.000 0.057 2156 2509 3084 0 0 0 0 0 0

4291 -0.73 -146.0 516.2 -9.7 458 4292 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2509 3084 0 0 0 0 0 0

4591 end dive: TARGET_DEPTH_EXCEEDED

state 4591 begin apogee

4597 -0.16 0.0 552.7 -13.1 468 4723 0.57 0.00 118.90 1.261 6 0.131 0.000 2343 2182 2485 0 0 0 0 0 0

4724 end apogee: CONTROL_FINISHED_OK

state 4724 begin climb

4726 0.73 146.0 560.3 0.0 472 4861 0.85 1.20 127.25 1.206 4 0.073 0.051 2635 1507 1888 0 0 0 0 0 0

5052 0.73 146.0 540.8 11.1 482 5056 0.00 1.25 0.00 0.000 6 0.000 0.047 2635 2212 1880 0 0 0 0 0 0

5380 0.73 146.0 502.6 11.4 493 5384 0.00 1.15 0.00 0.000 4 0.000 0.055 2635 2904 1877 0 0 0 0 0 0

5525 0.73 146.0 484.4 11.7 503 5529 0.00 1.15 0.00 0.000 6 0.000 0.037 2640 2209 1877 0 0 0 0 0 0

5857 0.73 146.0 447.3 11.0 529 5860 0.00 1.12 0.00 0.000 4 0.000 0.050 2645 1493 1876 0 0 0 0 0 0

6094 0.73 146.0 421.2 11.0 547 6098 0.00 1.17 0.00 0.000 6 0.000 0.048 2645 2205 1876 0 0 0 0 0 0

6423 0.73 146.0 384.5 10.5 573 6424 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2205 1876 0 0 0 0 0 0

6740 0.73 146.0 352.0 9.4 598 6741 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2204 1876 0 0 0 0 0 0

7054 0.73 146.0 322.6 9.9 623 7058 0.00 1.12 0.00 0.000 4 0.000 0.057 2645 2901 1875 0 0 0 0 0 0

7098 0.73 146.0 318.5 10.1 626 7106 0.00 1.17 0.00 0.000 6 0.000 0.037 2650 2187 1876 0 0 0 0 0 0

7423 0.73 146.0 285.4 10.4 652 7425 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2187 1875 0 0 0 0 0 0

7737 0.73 146.2 254.9 9.2 677 7741 0.00 1.20 0.00 0.000 4 0.000 0.054 2650 2900 1874 0 0 0 0 0 0

7798 0.73 146.2 249.3 9.8 682 7805 0.00 1.12 0.00 0.000 6 0.000 0.037 2655 2200 1874 0 0 0 0 0 0

8136 0.74 154.7 219.1 8.8 733 8146 0.00 1.12 6.28 0.902 4 0.000 0.050 2660 1490 1853 0 0 0 0 0 0

8266 0.74 154.7 207.5 9.3 752 8273 0.00 1.15 0.00 0.000 6 0.000 0.048 2660 2196 1853 0 0 0 0 0 0

8603 0.75 162.9 177.8 8.8 803 8616 0.00 0.00 8.93 0.954 6 0.000 0.000 2660 2196 1820 0 0 0 0 0 0

8947 0.75 162.9 147.2 9.3 855 8954 0.00 1.12 0.00 0.000 4 0.000 0.058 2660 2899 1818 0 0 0 0 0 0

9180 0.75 162.9 124.7 9.6 890 9186 0.00 1.15 0.00 0.000 6 0.000 0.038 2665 2192 1818 0 0 0 0 0 0

9518 0.80 204.9 95.7 7.4 941 9560 0.00 1.27 36.40 0.991 4 0.000 0.054 2665 2906 1648 0 0 0 0 0 0

9627 0.80 204.9 85.3 10.5 957 9636 0.00 1.17 0.00 0.000 6 0.000 0.038 2670 2200 1646 0 0 0 0 0 0

9967 0.85 244.4 53.4 7.5 1008 10009 0.00 1.20 33.58 0.956 4 0.000 0.054 2669 2907 1488 0 0 0 0 0 0

10030 0.85 246.9 48.1 9.1 1017 10040 0.00 1.20 3.65 0.629 6 0.000 0.037 2674 2194 1477 0 0 0 0 0 0

10370 0.87 267.7 20.1 8.3 1068 10387 0.00 1.15 11.35 0.852 4 0.000 0.051 2680 1489 1392 0 0 0 0 0 0

10547 0.89 279.0 4.0 8.7 1094 10561 0.00 1.17 5.10 0.089 6 0.000 0.049 2679 2197 1345 0 0 0 0 0 0

10565 end climb: SURFACE_DEPTH_REACHED

state 10565 begin surface coast

10587 end surface coast: CONTROL_FINISHED_OK

state 10587 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	167	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	28	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	-80726.047	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	011111,110354,6644.935,-6015.091,14,0.9,14,-33.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.77	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	011111,110906,6644.889,-6015.104,17,0.9,18,-33.9	MHEAD_RNG_PITCHd_Wd	75.5,153274,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	550

FINISH	1.8,1.017410	_24V_AH	22.8,21.205
SM_CCo	10604,9.45,0.090,0,0,1262,300.00	_10V_AH	10.2,16.605
SM_GC	3.96,7.03,0.55,9.45,0.050,0.059,0.090,122,2519,1262,-7.06,-0.57,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	690	FG_AHR_10Vo	0.000
RAFOS	0,1320148865,12.033333,12.018056,66,60,59,0,0,0,616,223,124,0,0,0	MEM	150328
RAFOS_FIX	6645.038086,-6009.820801,011111,121222,6,98,0.83	DATA_FILE_SIZE	40079,1100
IRIDIUM_FIX	6620.33,-6015.98,011111,080831	CAP_FILE_SIZE	111923,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,236462080
HUMID	57.44	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1450.0
TCM_TEMP	16.20	CURRENT	0.182,222.9,1
XPDR_PINGS	16	GPS	011111,140805,6645.378,-6014.034,28,1.0,28,-33.9
ALTIM_BOTTOM_PING	500.9,77.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	259	101.26	SBE_CT	802	23	424.91
Roll_motor	42	71	70.17	SBE_O2	625	5	74.79
VBD_pump_during_apogee	351	1261	10107.64	nil	0	0	0.00
VBD_pump_during_surface	9	89	19.28	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	205	245	1151.84	nil	0	0	0.00
Transponder_ping	5	420	52.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.28
TT8	2986	18	570.00
LPSleep	5286	2	124.55
TT8_Active	496	18	94.82
TT8_Sampling	1989	41	850.75
TT8_CF8	196	47	95.84
TT8_Kalman	0	0	0.00
Analog_circuits	1636	12	200.32
GPS_charging	0	0	0.00
Compass	1766	6	121.46
RAFOS	2520	1	38.56
Transponder	12	30	3.88

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
15	-0.73	-146.0	0.0	0.0	0	46	0.00	0.00	-28.60	0.000	2	0.000	0.000	116	2525	1649	0	0	0	0	0	0
49	-0.73	-146.0	3.1	-2.9	4	150	8.55	0.00	-87.88	0.000	6	0.259	0.000	2161	2525	3082	0	0	0	0	0	0
482	-0.73	-146.0	60.8	-14.8	69	491	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2526	3084	0	0	0	0	0	0
822	-0.73	-146.0	108.3	-13.7	120	828	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2526	3084	0	0	0	0	0	0
1159	-0.73	-146.0	155.0	-13.9	171	1166	0.00	1.17	0.00	0.000	4	0.000	0.046	2161	1813	3084	0	0	0	0	0	0
1207	-0.73	-146.0	161.3	-13.4	178	1213	0.00	1.17	0.00	0.000	6	0.000	0.057	2158	2500	3084	0	0	0	0	0	0
1545	-0.73	-146.0	208.9	-14.0	229	1554	0.00	1.15	0.00	0.000	4	0.000	0.071	2153	3216	3084	0	0	0	0	0	0
1574	-0.73	-146.0	212.9	-13.8	233	1583	0.00	1.10	0.00	0.000	6	0.000	0.036	2153	2507	3084	0	0	0	0	0	0
1919	-0.73	-146.0	257.9	-12.4	280	1922	0.00	1.08	0.00	0.000	4	0.000	0.047	2153	1821	3084	0	0	0	0	0	0
1946	-0.73	-146.0	261.3	-12.4	282	1950	0.00	1.17	0.00	0.000	6	0.000	0.059	2148	2505	3083	0	0	0	0	0	0
2277	-0.73	-146.0	300.3	-11.3	308	2281	0.00	1.12	0.00	0.000	4	0.000	0.072	2143	3212	3084	0	0	0	0	0	0
2470	-0.73	-146.0	323.5	-12.5	322	2477	0.00	1.10	0.00	0.000	6	0.000	0.037	2143	2506	3084	0	0	0	0	0	0
2794	-0.73	-146.0	361.8	-11.1	348	2798	0.00	1.17	0.00	0.000	4	0.000	0.068	2138	3211	3083	0	0	0	0	0	0
2823	-0.73	-146.0	365.0	-11.2	350	2826	0.00	1.10	0.00	0.000	6	0.000	0.036	2138	2502	3083	0	0	0	0	0	0
3153	-0.73	-146.0	402.0	-11.1	376	3157	0.00	1.08	0.00	0.000	4	0.000	0.045	2138	1813	3083	0	0	0	0	0	0
3237	-0.73	-146.0	410.9	-11.0	382	3246	0.12	1.23	0.00	0.000	6	0.174	0.056	2162	2521	3083	0	0	0	0	0	0
3560	-0.73	-146.0	442.2	-9.5	408	3565	0.00	1.15	0.00	0.000	4	0.000	0.043	2163	1815	3083	0	0	0	0	0	0
3592	-0.73	-146.0	444.7	-9.6	410	3600	0.00	1.20	0.00	0.000	6	0.000	0.055	2160	2512	3084	0	0	0	0	0	0
3916	-0.73	-146.0	477.3	-9.8	436	3920	0.00	1.12	0.00	0.000	4	0.000	0.043	2160	1819	3084	0	0	0	0	0	0
3969	-0.73	-146.0	482.8	-10.3	440	3973	0.00	1.17	0.00	0.000	6	0.000	0.057	2156	2509	3084	0	0	0	0	0	0
4291	-0.73	-146.0	516.2	-9.7	458	4292	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2509	3084	0	0	0	0	0	0
4591	end dive: TARGET_DEPTH_EXCEEDED
state	4591	begin apogee
4597	-0.16	0.0	552.7	-13.1	468	4723	0.57	0.00	118.90	1.261	6	0.131	0.000	2343	2182	2485	0	0	0	0	0	0
4724	end apogee: CONTROL_FINISHED_OK
state	4724	begin climb
4726	0.73	146.0	560.3	0.0	472	4861	0.85	1.20	127.25	1.206	4	0.073	0.051	2635	1507	1888	0	0	0	0	0	0
5052	0.73	146.0	540.8	11.1	482	5056	0.00	1.25	0.00	0.000	6	0.000	0.047	2635	2212	1880	0	0	0	0	0	0
5380	0.73	146.0	502.6	11.4	493	5384	0.00	1.15	0.00	0.000	4	0.000	0.055	2635	2904	1877	0	0	0	0	0	0
5525	0.73	146.0	484.4	11.7	503	5529	0.00	1.15	0.00	0.000	6	0.000	0.037	2640	2209	1877	0	0	0	0	0	0
5857	0.73	146.0	447.3	11.0	529	5860	0.00	1.12	0.00	0.000	4	0.000	0.050	2645	1493	1876	0	0	0	0	0	0
6094	0.73	146.0	421.2	11.0	547	6098	0.00	1.17	0.00	0.000	6	0.000	0.048	2645	2205	1876	0	0	0	0	0	0
6423	0.73	146.0	384.5	10.5	573	6424	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2205	1876	0	0	0	0	0	0
6740	0.73	146.0	352.0	9.4	598	6741	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2204	1876	0	0	0	0	0	0
7054	0.73	146.0	322.6	9.9	623	7058	0.00	1.12	0.00	0.000	4	0.000	0.057	2645	2901	1875	0	0	0	0	0	0
7098	0.73	146.0	318.5	10.1	626	7106	0.00	1.17	0.00	0.000	6	0.000	0.037	2650	2187	1876	0	0	0	0	0	0
7423	0.73	146.0	285.4	10.4	652	7425	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2187	1875	0	0	0	0	0	0
7737	0.73	146.2	254.9	9.2	677	7741	0.00	1.20	0.00	0.000	4	0.000	0.054	2650	2900	1874	0	0	0	0	0	0
7798	0.73	146.2	249.3	9.8	682	7805	0.00	1.12	0.00	0.000	6	0.000	0.037	2655	2200	1874	0	0	0	0	0	0
8136	0.74	154.7	219.1	8.8	733	8146	0.00	1.12	6.28	0.902	4	0.000	0.050	2660	1490	1853	0	0	0	0	0	0
8266	0.74	154.7	207.5	9.3	752	8273	0.00	1.15	0.00	0.000	6	0.000	0.048	2660	2196	1853	0	0	0	0	0	0
8603	0.75	162.9	177.8	8.8	803	8616	0.00	0.00	8.93	0.954	6	0.000	0.000	2660	2196	1820	0	0	0	0	0	0
8947	0.75	162.9	147.2	9.3	855	8954	0.00	1.12	0.00	0.000	4	0.000	0.058	2660	2899	1818	0	0	0	0	0	0
9180	0.75	162.9	124.7	9.6	890	9186	0.00	1.15	0.00	0.000	6	0.000	0.038	2665	2192	1818	0	0	0	0	0	0
9518	0.80	204.9	95.7	7.4	941	9560	0.00	1.27	36.40	0.991	4	0.000	0.054	2665	2906	1648	0	0	0	0	0	0
9627	0.80	204.9	85.3	10.5	957	9636	0.00	1.17	0.00	0.000	6	0.000	0.038	2670	2200	1646	0	0	0	0	0	0
9967	0.85	244.4	53.4	7.5	1008	10009	0.00	1.20	33.58	0.956	4	0.000	0.054	2669	2907	1488	0	0	0	0	0	0
10030	0.85	246.9	48.1	9.1	1017	10040	0.00	1.20	3.65	0.629	6	0.000	0.037	2674	2194	1477	0	0	0	0	0	0
10370	0.87	267.7	20.1	8.3	1068	10387	0.00	1.15	11.35	0.852	4	0.000	0.051	2680	1489	1392	0	0	0	0	0	0
10547	0.89	279.0	4.0	8.7	1094	10561	0.00	1.17	5.10	0.089	6	0.000	0.049	2679	2197	1345	0	0	0	0	0	0
10565	end climb: SURFACE_DEPTH_REACHED
state	10565	begin surface coast
10587	end surface coast: CONTROL_FINISHED_OK
state	10587	begin surface