Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 18 * 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 18 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 20 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 25 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -80440.523 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 -80440.523

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 25 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 21 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 18 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 20 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 081011,201535,6633.046,-6023.665,39,0.8,39,-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 1.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081011,202025,6633.015,-6023.614,16,1.5,16,-33.7 MHEAD_RNG_PITCHd_Wd 104.1,165311,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 496

Post-dive calculations and measurements:

FINISH 1.2,1.022346 ALTIM_BOTTOM_PING 400.4,117.6

SM_CCo 8279,89.97,0.086,0,0,772,420.20 _24V_AH 23.2,3.673

SM_GC 1.86,7.25,1.77,89.97,0.064,0.063,0.086,127,2517,772,-7.11,-0.62,420.20,0,0,0,0,0,0 _10V_AH 10.3,3.559

RAFOS_CLK 535 FG_AHR_24Vo 0.000

RAFOS 1,1318104545,20.166666,20.151388,72,69,59,0,0,0,195,175,149,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6636.551758,-6021.986328,081011,202032,3,88,27.29 MEM 150464

IRIDIUM_FIX 6609.62,-6029.40,081011,171740 DATA_FILE_SIZE 36687,910

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 111150,0

HUMID 59.01 CFSIZE 260165632,246816768

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

TCM_TEMP 16.10 SOUNDSPEED 1451.4

XPDR_PINGS 16 GPS 081011,224154,6633.434,-6022.020,31,0.9,31,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 276 115.65 SBE_CT 653 23 352.14

Roll_motor 61 92 131.21 SBE_O2 637 5 77.48

VBD_pump_during_apogee 302 1171 8227.06 nil 0 0 0.00

VBD_pump_during_surface 89 85 178.85 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 187 249 1087.05 nil 0 0 0.00

Transponder_ping 5 420 48.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.97

TT8 2184 18 420.98

LPSleep 4014 2 95.52

TT8_Active 526 18 101.46

TT8_Sampling 1782 41 769.71

TT8_CF8 174 47 86.04

TT8_Kalman 0 0 0.00

Analog_circuits 1589 12 196.49

GPS_charging 0 0 0.00

Compass 1574 6 109.29

RAFOS 1440 1 22.25

Transponder 9 30 2.86

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 -0.77 -146.0 0.0 0.0 0 116 0.00 0.00 -97.43 0.000 2 0.000 0.000 125 2514 2150 0 0 0 0 0 0

118 -0.77 -146.0 3.0 -2.3 17 167 9.00 1.20 -31.40 0.000 4 0.276 0.093 2160 1807 3081 0 0 0 0 0 0

420 -0.77 -146.0 48.8 -13.8 70 426 0.00 1.25 0.00 0.000 6 0.000 0.076 2157 2503 3083 0 0 0 0 0 0

629 -0.77 -146.0 77.7 -14.5 107 636 0.00 1.20 0.00 0.000 4 0.000 0.086 2151 3221 3082 0 0 0 0 0 0

676 -0.77 -146.0 84.4 -14.6 115 683 0.00 1.17 0.00 0.000 6 0.000 0.057 2151 2514 3083 0 0 0 0 0 0

882 -0.77 -146.0 112.1 -13.4 144 886 0.00 1.23 0.00 0.000 4 0.000 0.085 2147 3219 3083 0 0 0 0 0 0

917 -0.77 -146.0 117.0 -13.6 147 920 0.00 1.17 0.00 0.000 6 0.000 0.057 2147 2511 3083 0 0 0 0 0 0

1141 -0.77 -146.0 147.4 -13.6 168 1145 0.00 1.23 0.00 0.000 4 0.000 0.084 2142 3218 3083 0 0 0 0 0 0

1202 -0.77 -146.0 155.3 -13.9 173 1210 0.00 1.17 0.00 0.000 6 0.000 0.056 2142 2509 3083 0 0 0 0 0 0

1421 -0.77 -146.0 185.1 -13.6 194 1425 0.00 1.23 0.00 0.000 4 0.000 0.085 2137 3217 3083 0 0 0 0 0 0

1493 -0.77 -146.0 194.5 -13.9 200 1500 0.00 1.17 0.00 0.000 6 0.000 0.057 2138 2504 3083 0 0 0 0 0 0

1714 -0.77 -146.0 224.3 -12.7 221 1718 0.12 1.23 0.00 0.000 4 0.184 0.086 2162 3213 3083 0 0 0 0 0 0

1827 -0.77 -146.0 237.6 -11.3 231 1830 0.00 1.15 0.00 0.000 6 0.000 0.056 2163 2511 3083 0 0 0 0 0 0

2051 -0.77 -146.0 262.5 -10.8 252 2055 0.00 1.23 0.00 0.000 4 0.000 0.084 2158 3221 3082 0 0 0 0 0 0

2088 -0.77 -146.0 266.0 -10.6 255 2095 0.00 1.17 0.00 0.000 6 0.000 0.056 2158 2505 3082 0 0 0 0 0 0

2307 -0.77 -146.0 289.8 -10.7 276 2311 0.00 1.23 0.00 0.000 4 0.000 0.086 2153 3215 3082 0 0 0 0 0 0

2343 -0.77 -146.0 293.6 -10.8 279 2347 0.00 1.15 0.00 0.000 6 0.000 0.056 2153 2512 3082 0 0 0 0 0 0

2568 -0.77 -146.0 318.2 -10.8 300 2571 0.00 1.23 0.00 0.000 4 0.000 0.085 2149 3222 3082 0 0 0 0 0 0

2595 -0.77 -146.0 320.8 -10.8 302 2602 0.00 1.17 0.00 0.000 6 0.000 0.055 2149 2505 3082 0 0 0 0 0 0

2814 -0.77 -146.0 345.9 -10.9 323 2818 0.00 1.23 0.00 0.000 4 0.000 0.085 2144 3217 3082 0 0 0 0 0 0

2882 -0.77 -146.0 353.6 -11.3 329 2885 0.00 1.15 0.00 0.000 6 0.000 0.056 2144 2509 3082 0 0 0 0 0 0

3106 -0.77 -146.0 379.4 -11.5 350 3110 0.00 1.15 0.00 0.000 4 0.000 0.066 2144 1802 3082 0 0 0 0 0 0

3130 -0.77 -146.0 382.1 -11.4 352 3133 0.00 1.25 0.00 0.000 6 0.000 0.074 2139 2513 3081 0 0 0 0 0 0

3357 -0.77 -146.0 407.7 -11.6 373 3360 0.00 1.15 0.00 0.000 4 0.000 0.086 2134 3214 3082 0 0 0 0 0 0

3542 -0.77 -146.0 428.7 -11.5 389 3549 0.10 1.15 0.00 0.000 6 0.162 0.054 2163 2505 3082 0 0 0 0 0 0

3760 end dive: TARGET_DEPTH_EXCEEDED

state 3760 begin apogee

3766 -0.16 0.0 450.2 -9.0 410 3891 0.60 0.00 116.97 1.171 6 0.143 0.000 2356 2186 2485 0 0 0 0 0 0

3891 end apogee: CONTROL_FINISHED_OK

state 3892 begin climb

3894 0.77 146.0 455.3 0.0 421 4026 0.90 1.25 124.10 1.114 4 0.067 0.070 2668 1502 1888 0 0 0 0 0 0

4278 0.77 146.0 424.7 12.2 455 4285 0.00 1.25 0.00 0.000 6 0.000 0.064 2668 2206 1879 0 0 0 0 0 0

4497 0.77 146.0 397.7 12.0 476 4501 0.00 1.25 0.00 0.000 4 0.000 0.069 2672 1495 1877 0 0 0 0 0 0

4536 0.77 146.0 393.6 11.8 479 4543 0.00 1.25 0.00 0.000 6 0.000 0.064 2672 2208 1877 0 0 0 0 0 0

4755 0.77 146.0 367.2 11.9 500 4759 0.00 1.20 0.00 0.000 4 0.000 0.073 2672 2913 1876 0 0 0 0 0 0

4771 0.77 146.0 365.8 12.1 501 4778 0.00 1.23 0.00 0.000 6 0.000 0.058 2677 2211 1875 0 0 0 0 0 0

4990 0.77 146.0 338.9 11.8 522 4994 0.00 1.17 0.00 0.000 4 0.000 0.070 2682 1496 1876 0 0 0 0 0 0

5104 0.77 146.0 325.5 11.7 532 5107 0.00 1.23 0.00 0.000 6 0.000 0.065 2682 2208 1875 0 0 0 0 0 0

5328 0.77 146.0 298.8 11.6 553 5332 0.00 1.23 0.00 0.000 4 0.000 0.068 2687 1496 1875 0 0 0 0 0 0

5352 0.77 146.0 296.2 11.8 555 5355 0.00 1.20 0.00 0.000 6 0.000 0.065 2687 2199 1875 0 0 0 0 0 0

5576 0.77 146.0 269.1 12.2 576 5580 0.00 1.20 0.00 0.000 4 0.000 0.068 2692 1497 1875 0 0 0 0 0 0

5756 0.77 146.0 247.6 12.1 592 5760 0.08 1.20 0.00 0.000 6 0.181 0.066 2671 2204 1875 0 0 0 0 0 0

5982 0.77 148.6 223.8 9.9 613 5985 0.00 1.17 0.00 0.000 4 0.000 0.075 2671 2911 1875 0 0 0 0 0 0

6084 0.78 156.9 213.6 9.6 622 6097 0.00 1.23 7.85 0.930 6 0.000 0.060 2674 2196 1845 0 0 0 0 0 0

6310 0.81 180.0 192.5 8.9 643 6335 0.00 1.17 20.95 0.993 4 0.000 0.070 2680 1491 1750 0 0 0 0 0 0

6448 0.81 180.0 178.7 10.4 655 6455 0.00 1.23 0.00 0.000 6 0.000 0.065 2679 2200 1748 0 0 0 0 0 0

6667 0.81 180.0 155.7 10.1 676 6670 0.00 1.20 0.00 0.000 4 0.000 0.068 2684 1498 1747 0 0 0 0 0 0

6750 0.81 180.0 147.6 10.2 683 6757 0.00 1.23 0.00 0.000 6 0.000 0.065 2684 2206 1746 0 0 0 0 0 0

6970 0.81 180.6 125.6 10.0 704 6973 0.00 1.15 0.00 0.000 4 0.000 0.071 2684 2902 1746 0 0 0 0 0 0

7053 0.81 180.6 117.2 10.6 711 7060 0.00 1.20 0.00 0.000 6 0.000 0.057 2689 2198 1745 0 0 0 0 0 0

7277 0.81 180.6 94.1 10.1 737 7283 0.00 1.12 0.00 0.000 4 0.000 0.070 2694 1497 1745 0 0 0 0 0 0

7537 0.82 186.5 69.1 9.7 783 7550 0.00 1.20 5.97 0.844 6 0.000 0.067 2695 2203 1725 0 0 0 0 0 0

7753 0.82 186.5 47.0 10.2 821 7760 0.00 1.17 0.00 0.000 4 0.000 0.075 2694 2910 1724 0 0 0 0 0 0

7778 0.83 193.2 44.6 9.7 825 7791 0.00 1.23 7.35 0.874 6 0.000 0.063 2699 2198 1696 0 0 0 0 0 0

7995 0.87 226.6 24.7 8.5 863 8020 0.00 1.20 19.58 0.890 4 0.000 0.072 2704 1492 1560 0 0 0 0 0 0

8243 end climb: SURFACE_DEPTH_REACHED

state 8244 begin surface coast

8261 end surface coast: CONTROL_FINISHED_OK

state 8261 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	18	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	20	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	25	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-80440.523	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	081011,201535,6633.046,-6023.665,39,0.8,39,-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	1.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081011,202025,6633.015,-6023.614,16,1.5,16,-33.7	MHEAD_RNG_PITCHd_Wd	104.1,165311,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	496

FINISH	1.2,1.022346	ALTIM_BOTTOM_PING	400.4,117.6
SM_CCo	8279,89.97,0.086,0,0,772,420.20	_24V_AH	23.2,3.673
SM_GC	1.86,7.25,1.77,89.97,0.064,0.063,0.086,127,2517,772,-7.11,-0.62,420.20,0,0,0,0,0,0	_10V_AH	10.3,3.559
RAFOS_CLK	535	FG_AHR_24Vo	0.000
RAFOS	1,1318104545,20.166666,20.151388,72,69,59,0,0,0,195,175,149,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6636.551758,-6021.986328,081011,202032,3,88,27.29	MEM	150464
IRIDIUM_FIX	6609.62,-6029.40,081011,171740	DATA_FILE_SIZE	36687,910
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	111150,0
HUMID	59.01	CFSIZE	260165632,246816768
INTERNAL_PRESSURE	9.78553	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.10	SOUNDSPEED	1451.4
XPDR_PINGS	16	GPS	081011,224154,6633.434,-6022.020,31,0.9,31,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	276	115.65	SBE_CT	653	23	352.14
Roll_motor	61	92	131.21	SBE_O2	637	5	77.48
VBD_pump_during_apogee	302	1171	8227.06	nil	0	0	0.00
VBD_pump_during_surface	89	85	178.85	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	187	249	1087.05	nil	0	0	0.00
Transponder_ping	5	420	48.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.97
TT8	2184	18	420.98
LPSleep	4014	2	95.52
TT8_Active	526	18	101.46
TT8_Sampling	1782	41	769.71
TT8_CF8	174	47	86.04
TT8_Kalman	0	0	0.00
Analog_circuits	1589	12	196.49
GPS_charging	0	0	0.00
Compass	1574	6	109.29
RAFOS	1440	1	22.25
Transponder	9	30	2.86

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	-0.77	-146.0	0.0	0.0	0	116	0.00	0.00	-97.43	0.000	2	0.000	0.000	125	2514	2150	0	0	0	0	0	0
118	-0.77	-146.0	3.0	-2.3	17	167	9.00	1.20	-31.40	0.000	4	0.276	0.093	2160	1807	3081	0	0	0	0	0	0
420	-0.77	-146.0	48.8	-13.8	70	426	0.00	1.25	0.00	0.000	6	0.000	0.076	2157	2503	3083	0	0	0	0	0	0
629	-0.77	-146.0	77.7	-14.5	107	636	0.00	1.20	0.00	0.000	4	0.000	0.086	2151	3221	3082	0	0	0	0	0	0
676	-0.77	-146.0	84.4	-14.6	115	683	0.00	1.17	0.00	0.000	6	0.000	0.057	2151	2514	3083	0	0	0	0	0	0
882	-0.77	-146.0	112.1	-13.4	144	886	0.00	1.23	0.00	0.000	4	0.000	0.085	2147	3219	3083	0	0	0	0	0	0
917	-0.77	-146.0	117.0	-13.6	147	920	0.00	1.17	0.00	0.000	6	0.000	0.057	2147	2511	3083	0	0	0	0	0	0
1141	-0.77	-146.0	147.4	-13.6	168	1145	0.00	1.23	0.00	0.000	4	0.000	0.084	2142	3218	3083	0	0	0	0	0	0
1202	-0.77	-146.0	155.3	-13.9	173	1210	0.00	1.17	0.00	0.000	6	0.000	0.056	2142	2509	3083	0	0	0	0	0	0
1421	-0.77	-146.0	185.1	-13.6	194	1425	0.00	1.23	0.00	0.000	4	0.000	0.085	2137	3217	3083	0	0	0	0	0	0
1493	-0.77	-146.0	194.5	-13.9	200	1500	0.00	1.17	0.00	0.000	6	0.000	0.057	2138	2504	3083	0	0	0	0	0	0
1714	-0.77	-146.0	224.3	-12.7	221	1718	0.12	1.23	0.00	0.000	4	0.184	0.086	2162	3213	3083	0	0	0	0	0	0
1827	-0.77	-146.0	237.6	-11.3	231	1830	0.00	1.15	0.00	0.000	6	0.000	0.056	2163	2511	3083	0	0	0	0	0	0
2051	-0.77	-146.0	262.5	-10.8	252	2055	0.00	1.23	0.00	0.000	4	0.000	0.084	2158	3221	3082	0	0	0	0	0	0
2088	-0.77	-146.0	266.0	-10.6	255	2095	0.00	1.17	0.00	0.000	6	0.000	0.056	2158	2505	3082	0	0	0	0	0	0
2307	-0.77	-146.0	289.8	-10.7	276	2311	0.00	1.23	0.00	0.000	4	0.000	0.086	2153	3215	3082	0	0	0	0	0	0
2343	-0.77	-146.0	293.6	-10.8	279	2347	0.00	1.15	0.00	0.000	6	0.000	0.056	2153	2512	3082	0	0	0	0	0	0
2568	-0.77	-146.0	318.2	-10.8	300	2571	0.00	1.23	0.00	0.000	4	0.000	0.085	2149	3222	3082	0	0	0	0	0	0
2595	-0.77	-146.0	320.8	-10.8	302	2602	0.00	1.17	0.00	0.000	6	0.000	0.055	2149	2505	3082	0	0	0	0	0	0
2814	-0.77	-146.0	345.9	-10.9	323	2818	0.00	1.23	0.00	0.000	4	0.000	0.085	2144	3217	3082	0	0	0	0	0	0
2882	-0.77	-146.0	353.6	-11.3	329	2885	0.00	1.15	0.00	0.000	6	0.000	0.056	2144	2509	3082	0	0	0	0	0	0
3106	-0.77	-146.0	379.4	-11.5	350	3110	0.00	1.15	0.00	0.000	4	0.000	0.066	2144	1802	3082	0	0	0	0	0	0
3130	-0.77	-146.0	382.1	-11.4	352	3133	0.00	1.25	0.00	0.000	6	0.000	0.074	2139	2513	3081	0	0	0	0	0	0
3357	-0.77	-146.0	407.7	-11.6	373	3360	0.00	1.15	0.00	0.000	4	0.000	0.086	2134	3214	3082	0	0	0	0	0	0
3542	-0.77	-146.0	428.7	-11.5	389	3549	0.10	1.15	0.00	0.000	6	0.162	0.054	2163	2505	3082	0	0	0	0	0	0
3760	end dive: TARGET_DEPTH_EXCEEDED
state	3760	begin apogee
3766	-0.16	0.0	450.2	-9.0	410	3891	0.60	0.00	116.97	1.171	6	0.143	0.000	2356	2186	2485	0	0	0	0	0	0
3891	end apogee: CONTROL_FINISHED_OK
state	3892	begin climb
3894	0.77	146.0	455.3	0.0	421	4026	0.90	1.25	124.10	1.114	4	0.067	0.070	2668	1502	1888	0	0	0	0	0	0
4278	0.77	146.0	424.7	12.2	455	4285	0.00	1.25	0.00	0.000	6	0.000	0.064	2668	2206	1879	0	0	0	0	0	0
4497	0.77	146.0	397.7	12.0	476	4501	0.00	1.25	0.00	0.000	4	0.000	0.069	2672	1495	1877	0	0	0	0	0	0
4536	0.77	146.0	393.6	11.8	479	4543	0.00	1.25	0.00	0.000	6	0.000	0.064	2672	2208	1877	0	0	0	0	0	0
4755	0.77	146.0	367.2	11.9	500	4759	0.00	1.20	0.00	0.000	4	0.000	0.073	2672	2913	1876	0	0	0	0	0	0
4771	0.77	146.0	365.8	12.1	501	4778	0.00	1.23	0.00	0.000	6	0.000	0.058	2677	2211	1875	0	0	0	0	0	0
4990	0.77	146.0	338.9	11.8	522	4994	0.00	1.17	0.00	0.000	4	0.000	0.070	2682	1496	1876	0	0	0	0	0	0
5104	0.77	146.0	325.5	11.7	532	5107	0.00	1.23	0.00	0.000	6	0.000	0.065	2682	2208	1875	0	0	0	0	0	0
5328	0.77	146.0	298.8	11.6	553	5332	0.00	1.23	0.00	0.000	4	0.000	0.068	2687	1496	1875	0	0	0	0	0	0
5352	0.77	146.0	296.2	11.8	555	5355	0.00	1.20	0.00	0.000	6	0.000	0.065	2687	2199	1875	0	0	0	0	0	0
5576	0.77	146.0	269.1	12.2	576	5580	0.00	1.20	0.00	0.000	4	0.000	0.068	2692	1497	1875	0	0	0	0	0	0
5756	0.77	146.0	247.6	12.1	592	5760	0.08	1.20	0.00	0.000	6	0.181	0.066	2671	2204	1875	0	0	0	0	0	0
5982	0.77	148.6	223.8	9.9	613	5985	0.00	1.17	0.00	0.000	4	0.000	0.075	2671	2911	1875	0	0	0	0	0	0
6084	0.78	156.9	213.6	9.6	622	6097	0.00	1.23	7.85	0.930	6	0.000	0.060	2674	2196	1845	0	0	0	0	0	0
6310	0.81	180.0	192.5	8.9	643	6335	0.00	1.17	20.95	0.993	4	0.000	0.070	2680	1491	1750	0	0	0	0	0	0
6448	0.81	180.0	178.7	10.4	655	6455	0.00	1.23	0.00	0.000	6	0.000	0.065	2679	2200	1748	0	0	0	0	0	0
6667	0.81	180.0	155.7	10.1	676	6670	0.00	1.20	0.00	0.000	4	0.000	0.068	2684	1498	1747	0	0	0	0	0	0
6750	0.81	180.0	147.6	10.2	683	6757	0.00	1.23	0.00	0.000	6	0.000	0.065	2684	2206	1746	0	0	0	0	0	0
6970	0.81	180.6	125.6	10.0	704	6973	0.00	1.15	0.00	0.000	4	0.000	0.071	2684	2902	1746	0	0	0	0	0	0
7053	0.81	180.6	117.2	10.6	711	7060	0.00	1.20	0.00	0.000	6	0.000	0.057	2689	2198	1745	0	0	0	0	0	0
7277	0.81	180.6	94.1	10.1	737	7283	0.00	1.12	0.00	0.000	4	0.000	0.070	2694	1497	1745	0	0	0	0	0	0
7537	0.82	186.5	69.1	9.7	783	7550	0.00	1.20	5.97	0.844	6	0.000	0.067	2695	2203	1725	0	0	0	0	0	0
7753	0.82	186.5	47.0	10.2	821	7760	0.00	1.17	0.00	0.000	4	0.000	0.075	2694	2910	1724	0	0	0	0	0	0
7778	0.83	193.2	44.6	9.7	825	7791	0.00	1.23	7.35	0.874	6	0.000	0.063	2699	2198	1696	0	0	0	0	0	0
7995	0.87	226.6	24.7	8.5	863	8020	0.00	1.20	19.58	0.890	4	0.000	0.072	2704	1492	1560	0	0	0	0	0	0
8243	end climb: SURFACE_DEPTH_REACHED
state	8244	begin surface coast
8261	end surface coast: CONTROL_FINISHED_OK
state	8261	begin surface