Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 2109 * 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 20

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 2109 HEADING 90 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 7 C_ROLL_DIVE 1700 ALTIM_PING_DELTA 50

D_TGT 940 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 1700 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -5500 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 443.50238 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 48 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 2 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 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 420 UPLOAD_DIVES_MAX 3 C_VBD 2250 DEVICE3 -1

T_MISSION 540 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_ABORT 720 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 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -6 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -260484.97 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 5 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 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 120 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 2300 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 645 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 250 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 2 PHONE_SUPPLY -1 SM_CC 443.50238

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 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 940 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 10 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 2.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_MIN 127 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 7 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

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 420

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 3

CAPUPLOAD 0 HEADING 90 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -260484.97

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 540

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 645 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2300 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1700 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 1700 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2250 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 3

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -6

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 2

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 27 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 48 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 2109 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 3 N_FILEKB 4 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 9 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 6 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 250112,114335,6058.413,-6031.428,29,1.1,29,-27.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6058.360,-6009.562

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.30 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -55.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 250112,115213,6058.360,-6031.818,21,1.7,22,-27.9 MHEAD_RNG_PITCHd_Wd 130.2,20000,-15.9,-7.460

SPEED_LIMITS 0.129,0.214 D_GRID 1631

Post-dive calculations and measurements:

FREEZE 1.56,-1.607,-1.847,2,1,0 ALTIM_TOP_PING 19.6,17.3

FINISH 1.6,1.027097 _24V_AH 22.1,54.619

SM_CCo 19887,72.00,0.074,0,0,442,443.50 _10V_AH 9.9,66.057

SM_GC 2.17,6.72,0.00,72.00,0.052,0.000,0.074,107,1720,442,-6.75,0.57,443.50,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 1239 FG_AHR_10Vo 0.000

RAFOS 0,1327492888,12.033333,12.024445,72,61,59,0,0,0,193,221,120,0,0,0 MEM 270292

RAFOS_FIX 6554.688965,-5924.217773,021211,121228,2,77,1.36 DATA_FILE_SIZE 16853,353

IRIDIUM_FIX 6037.25,-6043.37,240112,191945 CAP_FILE_SIZE 110601,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,207220736

HUMID 55.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1465.0

TCM_TEMP 17.20 CURRENT 0.299, 92.8,1

XPDR_PINGS 21 GPS 250112,172705,6057.465,-6032.036,37,0.9,41,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 237 87.41 SBE_CT 221 23 113.79

Roll_motor 53 97 115.09 SBE_O2 0 0 0.00

VBD_pump_during_apogee 379 1443 12118.19 nil 0 0 0.00

VBD_pump_during_surface 72 74 118.07 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 266 248 1463.69 nil 0 0 0.00

Transponder_ping 8 420 81.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.05

TT8 1312 18 243.06

LPSleep 16483 2 376.96

TT8_Active 517 18 95.81

TT8_Sampling 1699 41 705.57

TT8_CF8 476 47 225.93

TT8_Kalman 0 0 0.00

Analog_circuits 1612 12 191.61

GPS_charging 0 0 0.00

Compass 1432 6 95.56

RAFOS 4320 1 64.15

Transponder 25 30 7.61

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

18 -0.66 -116.8 0.0 0.0 0 105 0.00 0.00 -84.35 0.000 2 0.000 0.000 117 1699 1729 0 0 0 0 0 0

110 -0.66 -116.8 3.2 -1.2 3 157 8.38 1.15 -34.35 0.000 4 0.238 0.097 2081 990 2727 0 0 0 0 0 0

307 -0.66 -116.8 25.4 -11.1 9 311 0.00 1.08 0.00 0.000 6 0.000 0.023 2077 1783 2730 0 0 0 0 0 0

957 -0.66 -116.8 92.7 -10.2 30 960 0.00 0.93 0.00 0.000 4 0.000 0.031 2074 2412 2728 0 0 0 0 0 0

1069 -0.66 -116.8 100.3 -10.7 32 1072 0.00 1.20 0.00 0.000 6 0.000 0.057 2073 1709 2728 0 0 0 0 0 0

1697 -0.66 -116.8 175.2 -11.2 43 1700 0.00 1.08 0.00 0.000 4 0.000 0.028 2070 2414 2728 0 0 0 0 0 0

1942 -0.66 -116.8 195.1 -10.3 46 1946 0.00 1.23 0.00 0.000 6 0.000 0.056 2070 1697 2728 0 0 0 0 0 0

2570 -0.66 -116.8 248.7 -8.0 57 2574 0.00 1.08 0.00 0.000 4 0.000 0.027 2067 2412 2728 0 0 0 0 0 0

2828 -0.66 -116.8 266.1 -8.6 60 2835 0.00 1.20 0.00 0.000 6 0.000 0.056 2067 1701 2729 0 0 0 0 0 0

3444 -0.66 -116.8 329.5 -9.5 71 3448 0.00 1.17 0.00 0.000 4 0.000 0.071 2067 981 2730 0 0 0 0 0 0

3463 -0.66 -116.8 329.5 -9.5 71 3467 0.00 1.08 0.00 0.000 6 0.000 0.025 2062 1744 2730 0 0 0 0 0 0

4119 -0.66 -116.8 400.5 -10.7 82 4123 0.00 0.90 0.00 0.000 4 0.000 0.029 2059 2370 2731 0 0 0 0 0 0

4307 -0.66 -116.8 415.5 -10.9 84 4311 0.00 1.15 0.00 0.000 6 0.000 0.055 2059 1695 2731 0 0 0 0 0 0

4929 -0.66 -116.8 488.2 -10.5 95 4933 0.12 1.15 0.00 0.000 4 0.136 0.070 2093 992 2732 0 0 0 0 0 0

5009 -0.66 -116.8 494.6 -10.1 96 5013 0.00 1.00 0.00 0.000 6 0.000 0.024 2093 1672 2732 0 0 0 0 0 0

5670 -0.66 -116.8 550.5 -7.8 107 5674 0.00 1.05 0.00 0.000 4 0.000 0.034 2092 2382 2732 0 0 0 0 0 0

5816 -0.66 -116.8 560.6 -7.6 109 5820 0.00 1.15 0.00 0.000 6 0.000 0.052 2091 1698 2732 0 0 0 0 0 0

6477 -0.66 -116.8 604.7 -6.4 120 6478 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1698 2732 0 0 0 0 0 0

7085 -0.66 -116.8 644.7 -6.9 130 7088 0.00 1.05 0.00 0.000 4 0.000 0.034 2091 2377 2732 0 0 0 0 0 0

7153 -0.66 -116.8 649.9 -7.2 131 7157 0.00 1.15 0.00 0.000 6 0.000 0.054 2091 1697 2732 0 0 0 0 0 0

7828 -0.66 -116.8 700.9 -7.9 142 7832 0.00 1.15 0.00 0.000 4 0.000 0.068 2091 986 2732 0 0 0 0 0 0

7908 -0.66 -116.8 706.5 -8.0 143 7912 0.00 1.05 0.00 0.000 6 0.000 0.022 2091 1718 2732 0 0 0 0 0 0

8569 -0.66 -116.8 767.0 -9.4 154 8573 0.00 1.23 0.00 0.000 4 0.000 0.067 2091 989 2732 0 0 0 0 0 0

8715 -0.66 -116.8 779.4 -9.3 156 8718 0.00 1.02 0.00 0.000 6 0.000 0.023 2091 1691 2732 0 0 0 0 0 0

9377 -0.66 -116.8 838.0 -8.3 167 9381 0.00 1.02 0.00 0.000 4 0.000 0.034 2088 2383 2732 0 0 0 0 0 0

9389 -0.66 -116.8 838.0 -8.3 167 9393 0.00 1.15 0.00 0.000 6 0.000 0.053 2089 1699 2732 0 0 0 0 0 0

10052 -0.66 -116.8 887.0 -6.8 178 10056 0.00 1.05 0.00 0.000 4 0.000 0.033 2088 2377 2732 0 0 0 0 0 0

10065 -0.66 -116.8 887.0 -6.8 178 10069 0.00 1.15 0.00 0.000 6 0.000 0.053 2088 1698 2732 0 0 0 0 0 0

10726 -0.66 -116.8 925.8 -5.4 189 10730 0.00 1.05 0.00 0.000 4 0.000 0.032 2088 2372 2732 0 0 0 0 0 0

10806 -0.66 -116.8 929.4 -5.4 190 10810 0.00 1.15 0.00 0.000 6 0.000 0.053 2087 1694 2732 0 0 0 0 0 0

11039 end dive: TARGET_DEPTH_EXCEEDED

state 11039 begin apogee

11047 -0.16 0.0 943.2 -5.5 194 11155 0.45 0.00 104.22 1.444 6 0.084 0.000 2252 1693 2250 0 0 0 0 0 0

11160 end apogee: CONTROL_FINISHED_OK

state 11160 begin climb

11164 0.66 116.8 945.9 0.0 195 11286 0.73 1.25 111.18 1.403 4 0.047 0.033 2518 2379 1773 0 0 0 0 0 0

11294 0.87 290.4 951.8 0.0 197 11464 0.12 1.27 164.45 1.379 6 0.044 0.050 2584 1698 1065 0 0 0 0 0 0

12091 0.87 290.4 860.5 12.3 211 12095 0.00 1.17 0.00 0.000 4 0.000 0.063 2589 974 1057 0 0 0 0 0 0

12349 0.87 290.4 833.5 13.0 214 12358 0.00 1.10 0.00 0.000 6 0.000 0.031 2589 1680 1055 0 0 0 0 0 0

12964 0.87 290.4 749.7 12.5 225 12965 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 1680 1055 0 0 0 0 0 0

13570 0.87 290.4 679.2 11.5 235 13574 0.00 1.10 0.00 0.000 4 0.000 0.043 2589 2393 1054 0 0 0 0 0 0

13669 0.87 290.4 671.7 11.3 236 13673 0.00 1.15 0.00 0.000 6 0.000 0.046 2594 1693 1054 0 0 0 0 0 0

14312 0.87 290.4 597.7 10.8 247 14316 0.00 1.12 0.00 0.000 4 0.000 0.041 2594 2393 1054 0 0 0 0 0 0

14325 0.87 290.4 597.7 10.8 247 14328 0.00 1.15 0.00 0.000 6 0.000 0.046 2598 1695 1054 0 0 0 0 0 0

14985 0.87 290.4 524.0 11.3 258 14989 0.00 1.12 0.00 0.000 4 0.000 0.061 2604 986 1054 0 0 0 0 0 0

15242 0.87 290.4 499.7 12.1 261 15249 0.00 1.10 0.00 0.000 6 0.000 0.033 2603 1697 1054 0 0 0 0 0 0

15858 0.87 290.4 415.4 12.7 272 15863 0.00 1.17 0.00 0.000 4 0.000 0.057 2609 985 1054 0 0 0 0 0 0

16114 0.87 290.4 388.3 13.4 275 16121 0.00 1.10 0.00 0.000 6 0.000 0.032 2609 1701 1054 0 0 0 0 0 0

16729 0.87 290.4 296.5 13.7 286 16733 0.00 1.17 0.00 0.000 4 0.000 0.056 2614 987 1054 0 0 0 0 0 0

16973 0.87 290.4 268.5 14.0 289 16977 0.10 1.10 0.00 0.000 6 0.125 0.032 2581 1710 1054 0 0 0 0 0 0

17601 0.87 290.4 192.5 10.4 300 17605 0.00 1.17 0.00 0.000 4 0.000 0.057 2583 994 1054 0 0 0 0 0 0

17846 0.87 290.4 173.9 9.3 303 17849 0.00 1.08 0.00 0.000 6 0.000 0.031 2583 1697 1054 0 0 0 0 0 0

18474 0.87 292.3 122.6 7.4 314 18478 0.00 1.15 0.00 0.000 4 0.000 0.056 2587 992 1054 0 0 0 0 0 0

18732 0.87 292.3 105.9 8.2 317 18739 0.00 1.08 0.00 0.000 6 0.000 0.031 2588 1700 1053 0 0 0 0 0 0

19353 0.87 292.3 38.4 9.5 337 19357 0.00 1.15 0.00 0.000 4 0.000 0.057 2592 995 1054 0 0 0 0 0 0

19612 0.87 292.3 16.9 9.1 344 19619 0.00 1.08 0.00 0.000 6 0.000 0.028 2592 1707 1054 0 0 0 0 0 0

19830 end climb: SURFACE_DEPTH_REACHED

state 19830 begin surface coast

19867 end surface coast: CONTROL_FINISHED_OK

state 19867 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	2109	HEADING	90	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	7	C_ROLL_DIVE	1700	ALTIM_PING_DELTA	50
D_TGT	940	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	1700	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-5500	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	443.50238	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	48	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	2	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	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	420	UPLOAD_DIVES_MAX	3	C_VBD	2250	DEVICE3	-1
T_MISSION	540	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_ABORT	720	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	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-6	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-260484.97	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	5	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	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	120	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	2300	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	645	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	250112,114335,6058.413,-6031.428,29,1.1,29,-27.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6058.360,-6009.562
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.30	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-55.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	250112,115213,6058.360,-6031.818,21,1.7,22,-27.9	MHEAD_RNG_PITCHd_Wd	130.2,20000,-15.9,-7.460
SPEED_LIMITS	0.129,0.214	D_GRID	1631

FREEZE	1.56,-1.607,-1.847,2,1,0	ALTIM_TOP_PING	19.6,17.3
FINISH	1.6,1.027097	_24V_AH	22.1,54.619
SM_CCo	19887,72.00,0.074,0,0,442,443.50	_10V_AH	9.9,66.057
SM_GC	2.17,6.72,0.00,72.00,0.052,0.000,0.074,107,1720,442,-6.75,0.57,443.50,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	1239	FG_AHR_10Vo	0.000
RAFOS	0,1327492888,12.033333,12.024445,72,61,59,0,0,0,193,221,120,0,0,0	MEM	270292
RAFOS_FIX	6554.688965,-5924.217773,021211,121228,2,77,1.36	DATA_FILE_SIZE	16853,353
IRIDIUM_FIX	6037.25,-6043.37,240112,191945	CAP_FILE_SIZE	110601,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,207220736
HUMID	55.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1465.0
TCM_TEMP	17.20	CURRENT	0.299, 92.8,1
XPDR_PINGS	21	GPS	250112,172705,6057.465,-6032.036,37,0.9,41,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	237	87.41	SBE_CT	221	23	113.79
Roll_motor	53	97	115.09	SBE_O2	0	0	0.00
VBD_pump_during_apogee	379	1443	12118.19	nil	0	0	0.00
VBD_pump_during_surface	72	74	118.07	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	266	248	1463.69	nil	0	0	0.00
Transponder_ping	8	420	81.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.05
TT8	1312	18	243.06
LPSleep	16483	2	376.96
TT8_Active	517	18	95.81
TT8_Sampling	1699	41	705.57
TT8_CF8	476	47	225.93
TT8_Kalman	0	0	0.00
Analog_circuits	1612	12	191.61
GPS_charging	0	0	0.00
Compass	1432	6	95.56
RAFOS	4320	1	64.15
Transponder	25	30	7.61

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
18	-0.66	-116.8	0.0	0.0	0	105	0.00	0.00	-84.35	0.000	2	0.000	0.000	117	1699	1729	0	0	0	0	0	0
110	-0.66	-116.8	3.2	-1.2	3	157	8.38	1.15	-34.35	0.000	4	0.238	0.097	2081	990	2727	0	0	0	0	0	0
307	-0.66	-116.8	25.4	-11.1	9	311	0.00	1.08	0.00	0.000	6	0.000	0.023	2077	1783	2730	0	0	0	0	0	0
957	-0.66	-116.8	92.7	-10.2	30	960	0.00	0.93	0.00	0.000	4	0.000	0.031	2074	2412	2728	0	0	0	0	0	0
1069	-0.66	-116.8	100.3	-10.7	32	1072	0.00	1.20	0.00	0.000	6	0.000	0.057	2073	1709	2728	0	0	0	0	0	0
1697	-0.66	-116.8	175.2	-11.2	43	1700	0.00	1.08	0.00	0.000	4	0.000	0.028	2070	2414	2728	0	0	0	0	0	0
1942	-0.66	-116.8	195.1	-10.3	46	1946	0.00	1.23	0.00	0.000	6	0.000	0.056	2070	1697	2728	0	0	0	0	0	0
2570	-0.66	-116.8	248.7	-8.0	57	2574	0.00	1.08	0.00	0.000	4	0.000	0.027	2067	2412	2728	0	0	0	0	0	0
2828	-0.66	-116.8	266.1	-8.6	60	2835	0.00	1.20	0.00	0.000	6	0.000	0.056	2067	1701	2729	0	0	0	0	0	0
3444	-0.66	-116.8	329.5	-9.5	71	3448	0.00	1.17	0.00	0.000	4	0.000	0.071	2067	981	2730	0	0	0	0	0	0
3463	-0.66	-116.8	329.5	-9.5	71	3467	0.00	1.08	0.00	0.000	6	0.000	0.025	2062	1744	2730	0	0	0	0	0	0
4119	-0.66	-116.8	400.5	-10.7	82	4123	0.00	0.90	0.00	0.000	4	0.000	0.029	2059	2370	2731	0	0	0	0	0	0
4307	-0.66	-116.8	415.5	-10.9	84	4311	0.00	1.15	0.00	0.000	6	0.000	0.055	2059	1695	2731	0	0	0	0	0	0
4929	-0.66	-116.8	488.2	-10.5	95	4933	0.12	1.15	0.00	0.000	4	0.136	0.070	2093	992	2732	0	0	0	0	0	0
5009	-0.66	-116.8	494.6	-10.1	96	5013	0.00	1.00	0.00	0.000	6	0.000	0.024	2093	1672	2732	0	0	0	0	0	0
5670	-0.66	-116.8	550.5	-7.8	107	5674	0.00	1.05	0.00	0.000	4	0.000	0.034	2092	2382	2732	0	0	0	0	0	0
5816	-0.66	-116.8	560.6	-7.6	109	5820	0.00	1.15	0.00	0.000	6	0.000	0.052	2091	1698	2732	0	0	0	0	0	0
6477	-0.66	-116.8	604.7	-6.4	120	6478	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1698	2732	0	0	0	0	0	0
7085	-0.66	-116.8	644.7	-6.9	130	7088	0.00	1.05	0.00	0.000	4	0.000	0.034	2091	2377	2732	0	0	0	0	0	0
7153	-0.66	-116.8	649.9	-7.2	131	7157	0.00	1.15	0.00	0.000	6	0.000	0.054	2091	1697	2732	0	0	0	0	0	0
7828	-0.66	-116.8	700.9	-7.9	142	7832	0.00	1.15	0.00	0.000	4	0.000	0.068	2091	986	2732	0	0	0	0	0	0
7908	-0.66	-116.8	706.5	-8.0	143	7912	0.00	1.05	0.00	0.000	6	0.000	0.022	2091	1718	2732	0	0	0	0	0	0
8569	-0.66	-116.8	767.0	-9.4	154	8573	0.00	1.23	0.00	0.000	4	0.000	0.067	2091	989	2732	0	0	0	0	0	0
8715	-0.66	-116.8	779.4	-9.3	156	8718	0.00	1.02	0.00	0.000	6	0.000	0.023	2091	1691	2732	0	0	0	0	0	0
9377	-0.66	-116.8	838.0	-8.3	167	9381	0.00	1.02	0.00	0.000	4	0.000	0.034	2088	2383	2732	0	0	0	0	0	0
9389	-0.66	-116.8	838.0	-8.3	167	9393	0.00	1.15	0.00	0.000	6	0.000	0.053	2089	1699	2732	0	0	0	0	0	0
10052	-0.66	-116.8	887.0	-6.8	178	10056	0.00	1.05	0.00	0.000	4	0.000	0.033	2088	2377	2732	0	0	0	0	0	0
10065	-0.66	-116.8	887.0	-6.8	178	10069	0.00	1.15	0.00	0.000	6	0.000	0.053	2088	1698	2732	0	0	0	0	0	0
10726	-0.66	-116.8	925.8	-5.4	189	10730	0.00	1.05	0.00	0.000	4	0.000	0.032	2088	2372	2732	0	0	0	0	0	0
10806	-0.66	-116.8	929.4	-5.4	190	10810	0.00	1.15	0.00	0.000	6	0.000	0.053	2087	1694	2732	0	0	0	0	0	0
11039	end dive: TARGET_DEPTH_EXCEEDED
state	11039	begin apogee
11047	-0.16	0.0	943.2	-5.5	194	11155	0.45	0.00	104.22	1.444	6	0.084	0.000	2252	1693	2250	0	0	0	0	0	0
11160	end apogee: CONTROL_FINISHED_OK
state	11160	begin climb
11164	0.66	116.8	945.9	0.0	195	11286	0.73	1.25	111.18	1.403	4	0.047	0.033	2518	2379	1773	0	0	0	0	0	0
11294	0.87	290.4	951.8	0.0	197	11464	0.12	1.27	164.45	1.379	6	0.044	0.050	2584	1698	1065	0	0	0	0	0	0
12091	0.87	290.4	860.5	12.3	211	12095	0.00	1.17	0.00	0.000	4	0.000	0.063	2589	974	1057	0	0	0	0	0	0
12349	0.87	290.4	833.5	13.0	214	12358	0.00	1.10	0.00	0.000	6	0.000	0.031	2589	1680	1055	0	0	0	0	0	0
12964	0.87	290.4	749.7	12.5	225	12965	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	1680	1055	0	0	0	0	0	0
13570	0.87	290.4	679.2	11.5	235	13574	0.00	1.10	0.00	0.000	4	0.000	0.043	2589	2393	1054	0	0	0	0	0	0
13669	0.87	290.4	671.7	11.3	236	13673	0.00	1.15	0.00	0.000	6	0.000	0.046	2594	1693	1054	0	0	0	0	0	0
14312	0.87	290.4	597.7	10.8	247	14316	0.00	1.12	0.00	0.000	4	0.000	0.041	2594	2393	1054	0	0	0	0	0	0
14325	0.87	290.4	597.7	10.8	247	14328	0.00	1.15	0.00	0.000	6	0.000	0.046	2598	1695	1054	0	0	0	0	0	0
14985	0.87	290.4	524.0	11.3	258	14989	0.00	1.12	0.00	0.000	4	0.000	0.061	2604	986	1054	0	0	0	0	0	0
15242	0.87	290.4	499.7	12.1	261	15249	0.00	1.10	0.00	0.000	6	0.000	0.033	2603	1697	1054	0	0	0	0	0	0
15858	0.87	290.4	415.4	12.7	272	15863	0.00	1.17	0.00	0.000	4	0.000	0.057	2609	985	1054	0	0	0	0	0	0
16114	0.87	290.4	388.3	13.4	275	16121	0.00	1.10	0.00	0.000	6	0.000	0.032	2609	1701	1054	0	0	0	0	0	0
16729	0.87	290.4	296.5	13.7	286	16733	0.00	1.17	0.00	0.000	4	0.000	0.056	2614	987	1054	0	0	0	0	0	0
16973	0.87	290.4	268.5	14.0	289	16977	0.10	1.10	0.00	0.000	6	0.125	0.032	2581	1710	1054	0	0	0	0	0	0
17601	0.87	290.4	192.5	10.4	300	17605	0.00	1.17	0.00	0.000	4	0.000	0.057	2583	994	1054	0	0	0	0	0	0
17846	0.87	290.4	173.9	9.3	303	17849	0.00	1.08	0.00	0.000	6	0.000	0.031	2583	1697	1054	0	0	0	0	0	0
18474	0.87	292.3	122.6	7.4	314	18478	0.00	1.15	0.00	0.000	4	0.000	0.056	2587	992	1054	0	0	0	0	0	0
18732	0.87	292.3	105.9	8.2	317	18739	0.00	1.08	0.00	0.000	6	0.000	0.031	2588	1700	1053	0	0	0	0	0	0
19353	0.87	292.3	38.4	9.5	337	19357	0.00	1.15	0.00	0.000	4	0.000	0.057	2592	995	1054	0	0	0	0	0	0
19612	0.87	292.3	16.9	9.1	344	19619	0.00	1.08	0.00	0.000	6	0.000	0.028	2592	1707	1054	0	0	0	0	0	0
19830	end climb: SURFACE_DEPTH_REACHED
state	19830	begin surface coast
19867	end surface coast: CONTROL_FINISHED_OK
state	19867	begin surface