Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 172 * 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 172 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 39 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 29 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 -80732.336 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 -80732.336

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 39 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 29 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 172 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 021111,022635,6644.310,-6007.157,34,1.0,34,-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 2.74 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -73.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 021111,023119,6644.248,-6007.112,17,1.1,18,-33.9 MHEAD_RNG_PITCHd_Wd 65.3,147923,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 604

Post-dive calculations and measurements:

FINISH 1.8,1.003129 _24V_AH 22.7,21.776

SM_CCo 11014,15.65,0.090,0,0,1261,300.00 _10V_AH 10.3,17.001

SM_GC 4.00,6.95,0.60,15.65,0.049,0.051,0.090,119,2521,1261,-7.07,-0.59,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 721 FG_AHR_10Vo 0.000

RAFOS 0,1320206482,4.033333,4.022778,91,67,61,0,0,0,543,219,180,0,0,0 MEM 150284

RAFOS_FIX 6644.710938,-6001.639648,021111,040413,6,90,0.57 DATA_FILE_SIZE 39936,1079

IRIDIUM_FIX 6620.33,-5946.19,011111,232309 CAP_FILE_SIZE 114359,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,236134400

HUMID 57.83 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1450.4

TCM_TEMP 16.20 CURRENT 0.115,225.7,1

XPDR_PINGS 15 GPS 021111,053721,6645.294,-6006.262,35,1.3,35,-33.9

ALTIM_BOTTOM_PING 553.0,82.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 265 104.25 SBE_CT 785 23 413.84

Roll_motor 49 78 87.24 SBE_O2 611 5 72.68

VBD_pump_during_apogee 345 1289 10113.43 nil 0 0 0.00

VBD_pump_during_surface 15 89 31.80 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 171 250 979.44 nil 0 0 0.00

Transponder_ping 5 420 52.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.33

TT8 2963 18 571.06

LPSleep 5719 2 136.09

TT8_Active 517 18 99.72

TT8_Sampling 1939 41 837.56

TT8_CF8 199 47 98.35

TT8_Kalman 0 0 0.00

Analog_circuits 1625 12 200.91

GPS_charging 0 0 0.00

Compass 1751 6 121.58

RAFOS 2520 1 38.93

Transponder 14 30 4.47

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 -28.33 0.000 2 0.000 0.000 120 2497 1642 0 0 0 0 0 0

50 -0.73 -146.0 3.1 -1.5 4 162 8.73 1.10 -94.18 0.000 4 0.265 0.078 2162 1817 3081 0 0 0 0 0 0

263 -0.73 -146.0 26.3 -17.9 36 270 0.00 1.20 0.00 0.000 6 0.000 0.057 2159 2507 3084 0 0 0 0 0 0

602 -0.73 -146.0 79.7 -14.5 87 609 0.00 1.15 0.00 0.000 4 0.000 0.069 2153 3221 3084 0 0 0 0 0 0

636 -0.73 -146.0 85.1 -15.7 92 642 0.00 1.12 0.00 0.000 6 0.000 0.037 2154 2511 3084 0 0 0 0 0 0

975 -0.73 -146.0 134.1 -14.3 143 981 0.00 1.10 0.00 0.000 4 0.000 0.047 2154 1815 3084 0 0 0 0 0 0

1003 -0.73 -146.0 138.2 -14.8 147 1009 0.00 1.20 0.00 0.000 6 0.000 0.057 2149 2511 3084 0 0 0 0 0 0

1341 -0.73 -146.0 188.2 -14.7 198 1349 0.00 1.15 0.00 0.000 4 0.000 0.044 2148 1815 3084 0 0 0 0 0 0

1369 -0.73 -146.0 192.5 -14.6 202 1378 0.00 1.20 0.00 0.000 6 0.000 0.056 2144 2513 3084 0 0 0 0 0 0

1709 -0.73 -146.0 243.4 -14.0 253 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2514 3084 0 0 0 0 0 0

2033 -0.73 -146.0 287.5 -12.9 282 2037 0.00 1.12 0.00 0.000 4 0.000 0.071 2139 3216 3083 0 0 0 0 0 0

2073 -0.73 -146.0 292.8 -13.1 285 2077 0.00 1.12 0.00 0.000 6 0.000 0.037 2139 2499 3083 0 0 0 0 0 0

2404 -0.73 -146.0 335.3 -13.6 311 2408 0.00 1.08 0.00 0.000 4 0.000 0.046 2139 1812 3083 0 0 0 0 0 0

2526 -0.73 -146.0 350.8 -12.5 320 2530 0.08 1.20 0.00 0.000 6 0.160 0.056 2157 2513 3083 0 0 0 0 0 0

2855 -0.73 -146.0 388.1 -11.0 346 2856 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2513 3083 0 0 0 0 0 0

3173 -0.73 -146.0 422.3 -11.0 371 3177 0.00 1.12 0.00 0.000 4 0.000 0.070 2154 3219 3083 0 0 0 0 0 0

3228 -0.73 -146.0 428.4 -10.8 375 3231 0.00 1.10 0.00 0.000 6 0.000 0.034 2154 2509 3083 0 0 0 0 0 0

3557 -0.73 -146.0 464.1 -10.9 401 3561 0.00 1.08 0.00 0.000 4 0.000 0.045 2154 1817 3083 0 0 0 0 0 0

3576 -0.73 -146.0 465.8 -11.2 402 3586 0.00 1.17 0.00 0.000 6 0.000 0.055 2149 2509 3083 0 0 0 0 0 0

3907 -0.73 -146.0 503.8 -11.4 427 3910 0.00 1.12 0.00 0.000 4 0.000 0.068 2144 3220 3083 0 0 0 0 0 0

3924 -0.73 -146.0 503.8 -11.4 427 3930 0.00 1.12 0.00 0.000 6 0.000 0.032 2145 2504 3083 0 0 0 0 0 0

4246 -0.73 -146.0 539.6 -10.6 438 4247 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2503 3083 0 0 0 0 0 0

4551 -0.73 -146.0 572.9 -10.5 448 4555 0.00 1.17 0.00 0.000 4 0.000 0.064 2140 3213 3084 0 0 0 0 0 0

4609 -0.73 -146.0 577.0 -10.4 449 4617 0.00 1.10 0.00 0.000 6 0.000 0.031 2140 2505 3084 0 0 0 0 0 0

4859 end dive: TARGET_DEPTH_EXCEEDED

state 4859 begin apogee

4866 -0.16 0.0 607.2 -10.2 458 4992 0.62 0.00 119.20 1.290 6 0.135 0.000 2342 2188 2485 0 0 0 0 0 0

4993 end apogee: CONTROL_FINISHED_OK

state 4993 begin climb

4995 0.73 146.0 611.8 0.0 462 5131 0.85 1.20 128.23 1.234 4 0.070 0.049 2639 1511 1889 0 0 0 0 0 0

5330 0.73 146.0 588.3 11.5 472 5334 0.00 1.20 0.00 0.000 6 0.000 0.045 2639 2203 1881 0 0 0 0 0 0

5649 0.73 146.0 552.7 11.1 483 5653 0.00 1.17 0.00 0.000 4 0.000 0.056 2639 2906 1878 0 0 0 0 0 0

5733 0.73 146.0 544.7 11.8 485 5738 0.00 1.17 0.00 0.000 6 0.000 0.037 2644 2209 1877 0 0 0 0 0 0

6055 0.73 146.0 500.5 11.7 496 6057 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2210 1877 0 0 0 0 0 0

6376 0.73 146.0 460.1 12.1 520 6379 0.00 1.20 0.00 0.000 4 0.000 0.053 2644 2911 1876 0 0 0 0 0 0

6469 0.73 146.0 447.9 13.2 527 6472 0.00 1.15 0.00 0.000 6 0.000 0.036 2648 2201 1876 0 0 0 0 0 0

6802 0.73 146.0 405.5 12.9 553 6805 0.00 1.08 0.00 0.000 4 0.000 0.050 2654 1498 1876 0 0 0 0 0 0

6909 0.73 146.0 391.3 12.9 561 6912 0.00 1.15 0.00 0.000 6 0.000 0.046 2654 2203 1876 0 0 0 0 0 0

7239 0.73 146.0 349.2 12.0 587 7240 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2203 1876 0 0 0 0 0 0

7554 0.73 146.0 314.8 10.7 612 7558 0.00 1.15 0.00 0.000 4 0.000 0.047 2658 1493 1876 0 0 0 0 0 0

7705 0.73 146.0 299.8 9.9 623 7715 0.00 1.17 0.00 0.000 6 0.000 0.046 2658 2206 1876 0 0 0 0 0 0

8031 0.74 155.7 268.9 8.8 649 8045 0.00 1.08 7.03 0.942 4 0.000 0.054 2658 2904 1851 0 0 0 0 0 0

8170 0.74 155.7 256.1 9.5 659 8179 0.00 1.15 0.00 0.000 6 0.000 0.037 2663 2195 1850 0 0 0 0 0 0

8504 0.74 155.7 224.2 9.7 705 8511 0.00 1.05 0.00 0.000 4 0.000 0.050 2668 1497 1850 0 0 0 0 0 0

8764 0.74 155.7 199.6 9.3 744 8771 0.08 1.15 0.00 0.000 6 0.149 0.047 2645 2206 1850 0 0 0 0 0 0

9102 0.74 155.7 167.6 10.1 795 9111 0.00 1.10 0.00 0.000 4 0.000 0.058 2644 2898 1850 0 0 0 0 0 0

9362 0.77 183.6 143.7 8.0 834 9395 0.00 1.12 25.62 1.016 6 0.000 0.039 2647 2200 1735 0 0 0 0 0 0

9725 0.79 194.8 111.1 8.7 889 9747 0.00 1.25 10.43 0.949 4 0.000 0.054 2647 2910 1690 0 0 0 0 0 0

9779 0.79 194.8 105.7 10.4 897 9786 0.00 1.17 0.00 0.000 6 0.000 0.038 2652 2198 1689 0 0 0 0 0 0

10118 0.83 228.6 77.3 7.7 948 10153 0.00 1.15 29.80 0.976 4 0.000 0.052 2657 1494 1551 0 0 0 0 0 0

10378 0.83 235.2 53.0 8.9 987 10389 0.00 1.17 6.43 0.841 6 0.000 0.047 2657 2202 1526 0 0 0 0 0 0

10719 0.87 265.5 23.8 7.9 1038 10742 0.00 1.20 18.70 0.903 4 0.000 0.057 2657 2910 1402 0 0 0 0 0 0

10871 0.87 265.5 10.8 9.4 1060 10877 0.00 1.17 0.00 0.000 6 0.000 0.037 2662 2200 1398 0 0 0 0 0 0

10968 end climb: SURFACE_DEPTH_REACHED

state 10968 begin surface coast

10998 end surface coast: CONTROL_FINISHED_OK

state 10998 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	172	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	39	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	29	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	-80732.336	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	021111,022635,6644.310,-6007.157,34,1.0,34,-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	2.74	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-73.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	021111,023119,6644.248,-6007.112,17,1.1,18,-33.9	MHEAD_RNG_PITCHd_Wd	65.3,147923,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	604

FINISH	1.8,1.003129	_24V_AH	22.7,21.776
SM_CCo	11014,15.65,0.090,0,0,1261,300.00	_10V_AH	10.3,17.001
SM_GC	4.00,6.95,0.60,15.65,0.049,0.051,0.090,119,2521,1261,-7.07,-0.59,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	721	FG_AHR_10Vo	0.000
RAFOS	0,1320206482,4.033333,4.022778,91,67,61,0,0,0,543,219,180,0,0,0	MEM	150284
RAFOS_FIX	6644.710938,-6001.639648,021111,040413,6,90,0.57	DATA_FILE_SIZE	39936,1079
IRIDIUM_FIX	6620.33,-5946.19,011111,232309	CAP_FILE_SIZE	114359,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,236134400
HUMID	57.83	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1450.4
TCM_TEMP	16.20	CURRENT	0.115,225.7,1
XPDR_PINGS	15	GPS	021111,053721,6645.294,-6006.262,35,1.3,35,-33.9
ALTIM_BOTTOM_PING	553.0,82.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	265	104.25	SBE_CT	785	23	413.84
Roll_motor	49	78	87.24	SBE_O2	611	5	72.68
VBD_pump_during_apogee	345	1289	10113.43	nil	0	0	0.00
VBD_pump_during_surface	15	89	31.80	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	171	250	979.44	nil	0	0	0.00
Transponder_ping	5	420	52.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.33
TT8	2963	18	571.06
LPSleep	5719	2	136.09
TT8_Active	517	18	99.72
TT8_Sampling	1939	41	837.56
TT8_CF8	199	47	98.35
TT8_Kalman	0	0	0.00
Analog_circuits	1625	12	200.91
GPS_charging	0	0	0.00
Compass	1751	6	121.58
RAFOS	2520	1	38.93
Transponder	14	30	4.47

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	-28.33	0.000	2	0.000	0.000	120	2497	1642	0	0	0	0	0	0
50	-0.73	-146.0	3.1	-1.5	4	162	8.73	1.10	-94.18	0.000	4	0.265	0.078	2162	1817	3081	0	0	0	0	0	0
263	-0.73	-146.0	26.3	-17.9	36	270	0.00	1.20	0.00	0.000	6	0.000	0.057	2159	2507	3084	0	0	0	0	0	0
602	-0.73	-146.0	79.7	-14.5	87	609	0.00	1.15	0.00	0.000	4	0.000	0.069	2153	3221	3084	0	0	0	0	0	0
636	-0.73	-146.0	85.1	-15.7	92	642	0.00	1.12	0.00	0.000	6	0.000	0.037	2154	2511	3084	0	0	0	0	0	0
975	-0.73	-146.0	134.1	-14.3	143	981	0.00	1.10	0.00	0.000	4	0.000	0.047	2154	1815	3084	0	0	0	0	0	0
1003	-0.73	-146.0	138.2	-14.8	147	1009	0.00	1.20	0.00	0.000	6	0.000	0.057	2149	2511	3084	0	0	0	0	0	0
1341	-0.73	-146.0	188.2	-14.7	198	1349	0.00	1.15	0.00	0.000	4	0.000	0.044	2148	1815	3084	0	0	0	0	0	0
1369	-0.73	-146.0	192.5	-14.6	202	1378	0.00	1.20	0.00	0.000	6	0.000	0.056	2144	2513	3084	0	0	0	0	0	0
1709	-0.73	-146.0	243.4	-14.0	253	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2514	3084	0	0	0	0	0	0
2033	-0.73	-146.0	287.5	-12.9	282	2037	0.00	1.12	0.00	0.000	4	0.000	0.071	2139	3216	3083	0	0	0	0	0	0
2073	-0.73	-146.0	292.8	-13.1	285	2077	0.00	1.12	0.00	0.000	6	0.000	0.037	2139	2499	3083	0	0	0	0	0	0
2404	-0.73	-146.0	335.3	-13.6	311	2408	0.00	1.08	0.00	0.000	4	0.000	0.046	2139	1812	3083	0	0	0	0	0	0
2526	-0.73	-146.0	350.8	-12.5	320	2530	0.08	1.20	0.00	0.000	6	0.160	0.056	2157	2513	3083	0	0	0	0	0	0
2855	-0.73	-146.0	388.1	-11.0	346	2856	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2513	3083	0	0	0	0	0	0
3173	-0.73	-146.0	422.3	-11.0	371	3177	0.00	1.12	0.00	0.000	4	0.000	0.070	2154	3219	3083	0	0	0	0	0	0
3228	-0.73	-146.0	428.4	-10.8	375	3231	0.00	1.10	0.00	0.000	6	0.000	0.034	2154	2509	3083	0	0	0	0	0	0
3557	-0.73	-146.0	464.1	-10.9	401	3561	0.00	1.08	0.00	0.000	4	0.000	0.045	2154	1817	3083	0	0	0	0	0	0
3576	-0.73	-146.0	465.8	-11.2	402	3586	0.00	1.17	0.00	0.000	6	0.000	0.055	2149	2509	3083	0	0	0	0	0	0
3907	-0.73	-146.0	503.8	-11.4	427	3910	0.00	1.12	0.00	0.000	4	0.000	0.068	2144	3220	3083	0	0	0	0	0	0
3924	-0.73	-146.0	503.8	-11.4	427	3930	0.00	1.12	0.00	0.000	6	0.000	0.032	2145	2504	3083	0	0	0	0	0	0
4246	-0.73	-146.0	539.6	-10.6	438	4247	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2503	3083	0	0	0	0	0	0
4551	-0.73	-146.0	572.9	-10.5	448	4555	0.00	1.17	0.00	0.000	4	0.000	0.064	2140	3213	3084	0	0	0	0	0	0
4609	-0.73	-146.0	577.0	-10.4	449	4617	0.00	1.10	0.00	0.000	6	0.000	0.031	2140	2505	3084	0	0	0	0	0	0
4859	end dive: TARGET_DEPTH_EXCEEDED
state	4859	begin apogee
4866	-0.16	0.0	607.2	-10.2	458	4992	0.62	0.00	119.20	1.290	6	0.135	0.000	2342	2188	2485	0	0	0	0	0	0
4993	end apogee: CONTROL_FINISHED_OK
state	4993	begin climb
4995	0.73	146.0	611.8	0.0	462	5131	0.85	1.20	128.23	1.234	4	0.070	0.049	2639	1511	1889	0	0	0	0	0	0
5330	0.73	146.0	588.3	11.5	472	5334	0.00	1.20	0.00	0.000	6	0.000	0.045	2639	2203	1881	0	0	0	0	0	0
5649	0.73	146.0	552.7	11.1	483	5653	0.00	1.17	0.00	0.000	4	0.000	0.056	2639	2906	1878	0	0	0	0	0	0
5733	0.73	146.0	544.7	11.8	485	5738	0.00	1.17	0.00	0.000	6	0.000	0.037	2644	2209	1877	0	0	0	0	0	0
6055	0.73	146.0	500.5	11.7	496	6057	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2210	1877	0	0	0	0	0	0
6376	0.73	146.0	460.1	12.1	520	6379	0.00	1.20	0.00	0.000	4	0.000	0.053	2644	2911	1876	0	0	0	0	0	0
6469	0.73	146.0	447.9	13.2	527	6472	0.00	1.15	0.00	0.000	6	0.000	0.036	2648	2201	1876	0	0	0	0	0	0
6802	0.73	146.0	405.5	12.9	553	6805	0.00	1.08	0.00	0.000	4	0.000	0.050	2654	1498	1876	0	0	0	0	0	0
6909	0.73	146.0	391.3	12.9	561	6912	0.00	1.15	0.00	0.000	6	0.000	0.046	2654	2203	1876	0	0	0	0	0	0
7239	0.73	146.0	349.2	12.0	587	7240	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2203	1876	0	0	0	0	0	0
7554	0.73	146.0	314.8	10.7	612	7558	0.00	1.15	0.00	0.000	4	0.000	0.047	2658	1493	1876	0	0	0	0	0	0
7705	0.73	146.0	299.8	9.9	623	7715	0.00	1.17	0.00	0.000	6	0.000	0.046	2658	2206	1876	0	0	0	0	0	0
8031	0.74	155.7	268.9	8.8	649	8045	0.00	1.08	7.03	0.942	4	0.000	0.054	2658	2904	1851	0	0	0	0	0	0
8170	0.74	155.7	256.1	9.5	659	8179	0.00	1.15	0.00	0.000	6	0.000	0.037	2663	2195	1850	0	0	0	0	0	0
8504	0.74	155.7	224.2	9.7	705	8511	0.00	1.05	0.00	0.000	4	0.000	0.050	2668	1497	1850	0	0	0	0	0	0
8764	0.74	155.7	199.6	9.3	744	8771	0.08	1.15	0.00	0.000	6	0.149	0.047	2645	2206	1850	0	0	0	0	0	0
9102	0.74	155.7	167.6	10.1	795	9111	0.00	1.10	0.00	0.000	4	0.000	0.058	2644	2898	1850	0	0	0	0	0	0
9362	0.77	183.6	143.7	8.0	834	9395	0.00	1.12	25.62	1.016	6	0.000	0.039	2647	2200	1735	0	0	0	0	0	0
9725	0.79	194.8	111.1	8.7	889	9747	0.00	1.25	10.43	0.949	4	0.000	0.054	2647	2910	1690	0	0	0	0	0	0
9779	0.79	194.8	105.7	10.4	897	9786	0.00	1.17	0.00	0.000	6	0.000	0.038	2652	2198	1689	0	0	0	0	0	0
10118	0.83	228.6	77.3	7.7	948	10153	0.00	1.15	29.80	0.976	4	0.000	0.052	2657	1494	1551	0	0	0	0	0	0
10378	0.83	235.2	53.0	8.9	987	10389	0.00	1.17	6.43	0.841	6	0.000	0.047	2657	2202	1526	0	0	0	0	0	0
10719	0.87	265.5	23.8	7.9	1038	10742	0.00	1.20	18.70	0.903	4	0.000	0.057	2657	2910	1402	0	0	0	0	0	0
10871	0.87	265.5	10.8	9.4	1060	10877	0.00	1.17	0.00	0.000	6	0.000	0.037	2662	2200	1398	0	0	0	0	0	0
10968	end climb: SURFACE_DEPTH_REACHED
state	10968	begin surface coast
10998	end surface coast: CONTROL_FINISHED_OK
state	10998	begin surface