Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 23 * 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 23 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 25 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 28 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 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 -80446.797 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 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 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 -80446.797

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 28 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 20 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 23 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 25 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 091011,081404,6632.261,-6018.825,43,0.9,43,-33.6 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 2.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091011,081900,6632.267,-6018.791,20,0.9,20,-33.6 MHEAD_RNG_PITCHd_Wd 69.4,162515,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 504

Post-dive calculations and measurements:

FINISH 1.1,1.013303 _24V_AH 23.2,4.168

SM_CCo 8444,70.70,0.086,0,0,771,420.20 _10V_AH 10.2,3.907

SM_GC 2.14,7.25,0.55,70.70,0.067,0.076,0.086,122,2510,771,-7.11,-0.68,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 553 FG_AHR_10Vo 0.000

RAFOS 1,1318147746,8.166667,8.151667,67,59,59,0,0,0,596,213,193,0,0,0 MEM 150448

RAFOS_FIX 6634.451172,-6016.349609,091011,080819,5,78,14.01 DATA_FILE_SIZE 36692,921

IRIDIUM_FIX 6604.29,-6027.36,091011,050531 CAP_FILE_SIZE 109703,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,246542336

HUMID 57.87 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1451.4

TCM_TEMP 16.20 CURRENT 0.212,301.8,1

XPDR_PINGS 19 GPS 091011,104302,6633.626,-6018.688,33,0.8,34,-33.7

ALTIM_BOTTOM_PING 400.5,121.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 272 112.94 SBE_CT 670 23 361.23

Roll_motor 53 90 112.57 SBE_O2 646 5 78.61

VBD_pump_during_apogee 319 1168 8662.90 nil 0 0 0.00

VBD_pump_during_surface 70 86 141.79 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 188 254 1115.37 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.13

TT8 2531 18 483.06

LPSleep 3825 2 90.14

TT8_Active 529 18 101.11

TT8_Sampling 1773 41 758.40

TT8_CF8 177 47 86.88

TT8_Kalman 0 0 0.00

Analog_circuits 1584 12 193.92

GPS_charging 0 0 0.00

Compass 1568 6 107.83

RAFOS 1440 1 22.03

Transponder 12 30 3.77

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

16 -0.77 -146.0 0.0 0.0 0 116 0.00 0.00 -97.93 0.000 2 0.000 0.000 127 2525 2171 0 0 0 0 0 0

119 -0.77 -146.0 3.2 -2.4 15 169 8.93 1.25 -31.70 0.000 4 0.272 0.090 2164 1812 3083 0 0 0 0 0 0

186 -0.77 -146.0 13.5 -16.1 25 193 0.00 1.25 0.00 0.000 6 0.000 0.072 2161 2509 3083 0 0 0 0 0 0

394 -0.77 -146.0 45.9 -13.3 62 403 0.00 1.20 0.00 0.000 4 0.000 0.061 2161 1813 3084 0 0 0 0 0 0

410 -0.77 -146.0 48.0 -13.1 64 416 0.00 1.25 0.00 0.000 6 0.000 0.070 2156 2514 3084 0 0 0 0 0 0

614 -0.77 -146.0 76.6 -14.5 101 621 0.00 1.15 0.00 0.000 4 0.000 0.083 2151 3210 3084 0 0 0 0 0 0

651 -0.77 -146.0 81.5 -14.4 107 657 0.00 1.15 0.00 0.000 6 0.000 0.053 2151 2511 3085 0 0 0 0 0 0

859 -0.77 -146.0 110.5 -13.3 138 860 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2511 3085 0 0 0 0 0 0

1071 -0.77 -146.0 137.7 -12.4 158 1073 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2511 3085 0 0 0 0 0 0

1284 -0.77 -146.0 163.4 -11.5 178 1288 0.00 1.23 0.00 0.000 4 0.000 0.082 2146 3221 3084 0 0 0 0 0 0

1334 -0.77 -146.0 169.0 -12.3 182 1343 0.00 1.17 0.00 0.000 6 0.000 0.054 2146 2505 3085 0 0 0 0 0 0

1555 -0.77 -146.0 195.4 -11.4 203 1559 0.00 1.23 0.00 0.000 4 0.000 0.082 2141 3217 3085 0 0 0 0 0 0

1582 -0.77 -146.0 198.3 -11.6 205 1589 0.00 1.15 0.00 0.000 6 0.000 0.054 2141 2509 3085 0 0 0 0 0 0

1803 -0.77 -146.0 223.7 -11.5 226 1806 0.00 1.20 0.00 0.000 4 0.000 0.081 2137 3210 3084 0 0 0 0 0 0

1840 -0.77 -146.0 228.0 -12.0 229 1848 0.00 1.15 0.00 0.000 6 0.000 0.053 2137 2506 3084 0 0 0 0 0 0

2060 -0.77 -146.0 254.0 -11.5 250 2064 0.12 1.20 0.00 0.000 4 0.181 0.083 2163 3207 3084 0 0 0 0 0 0

2127 -0.77 -146.0 261.0 -9.9 256 2131 0.00 1.12 0.00 0.000 6 0.000 0.053 2163 2512 3084 0 0 0 0 0 0

2354 -0.77 -146.0 283.5 -9.7 277 2357 0.00 1.20 0.00 0.000 4 0.000 0.081 2158 3214 3084 0 0 0 0 0 0

2403 -0.77 -146.0 288.2 -10.1 281 2410 0.00 1.15 0.00 0.000 6 0.000 0.051 2158 2510 3084 0 0 0 0 0 0

2622 -0.77 -146.0 310.6 -10.0 302 2626 0.00 1.20 0.00 0.000 4 0.000 0.081 2153 3213 3084 0 0 0 0 0 0

2667 -0.77 -146.0 315.4 -10.7 306 2671 0.00 1.15 0.00 0.000 6 0.000 0.051 2154 2504 3083 0 0 0 0 0 0

2893 -0.77 -146.0 339.2 -11.0 327 2897 0.00 1.23 0.00 0.000 4 0.000 0.082 2150 3220 3084 0 0 0 0 0 0

2940 -0.77 -146.0 344.4 -10.8 331 2944 0.00 1.15 0.00 0.000 6 0.000 0.052 2151 2509 3084 0 0 0 0 0 0

3165 -0.77 -146.0 368.3 -10.4 352 3169 0.00 1.20 0.00 0.000 4 0.000 0.080 2146 3213 3084 0 0 0 0 0 0

3214 -0.77 -146.0 373.4 -11.2 356 3221 0.00 1.15 0.00 0.000 6 0.000 0.050 2145 2504 3084 0 0 0 0 0 0

3433 -0.77 -146.0 398.0 -10.8 377 3437 0.00 1.23 0.00 0.000 4 0.000 0.081 2141 3221 3083 0 0 0 0 0 0

3551 -0.77 -146.0 410.9 -10.8 387 3555 0.00 1.15 0.00 0.000 6 0.000 0.052 2141 2509 3083 0 0 0 0 0 0

3776 -0.77 -146.0 437.0 -11.6 408 3777 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2509 3084 0 0 0 0 0 0

3880 end dive: TARGET_DEPTH_EXCEEDED

state 3880 begin apogee

3886 -0.16 0.0 450.1 -12.3 418 4011 0.68 0.00 117.40 1.168 6 0.148 0.000 2354 2191 2484 0 0 0 0 0 0

4012 end apogee: CONTROL_FINISHED_OK

state 4012 begin climb

4014 0.77 146.0 456.1 0.0 429 4152 0.90 1.27 123.90 1.119 4 0.066 0.069 2667 1495 1887 0 0 0 0 0 0

4400 0.77 146.0 430.5 11.6 463 4407 0.00 1.25 0.00 0.000 6 0.000 0.063 2667 2201 1878 0 0 0 0 0 0

4620 0.77 146.0 404.5 11.8 484 4623 0.00 1.23 0.00 0.000 4 0.000 0.067 2671 1499 1877 0 0 0 0 0 0

4687 0.77 146.0 396.7 11.6 490 4691 0.00 1.23 0.00 0.000 6 0.000 0.063 2671 2203 1876 0 0 0 0 0 0

4915 0.77 146.0 371.4 11.4 511 4918 0.00 1.20 0.00 0.000 4 0.000 0.071 2671 2910 1876 0 0 0 0 0 0

5119 0.77 146.0 346.8 11.8 529 5126 0.00 1.23 0.00 0.000 6 0.000 0.057 2676 2203 1875 0 0 0 0 0 0

5338 0.77 146.0 321.6 11.7 550 5339 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2203 1875 0 0 0 0 0 0

5551 0.77 146.0 297.3 11.5 570 5552 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2203 1875 0 0 0 0 0 0

5763 0.77 146.0 273.3 11.0 590 5767 0.00 1.23 0.00 0.000 4 0.000 0.070 2676 2902 1875 0 0 0 0 0 0

5875 0.77 146.0 260.3 11.8 600 5879 0.00 1.20 0.00 0.000 6 0.000 0.057 2681 2198 1874 0 0 0 0 0 0

6100 0.77 146.0 235.9 10.7 621 6103 0.00 1.12 0.00 0.000 4 0.000 0.070 2686 1497 1874 0 0 0 0 0 0

6278 0.77 146.0 217.2 10.7 637 6281 0.00 1.20 0.00 0.000 6 0.000 0.065 2686 2205 1874 0 0 0 0 0 0

6502 0.77 146.0 194.1 10.1 658 6506 0.00 1.20 0.00 0.000 4 0.000 0.067 2691 1496 1874 0 0 0 0 0 0

6651 0.78 159.3 180.2 9.4 671 6666 0.00 1.20 10.02 0.954 6 0.000 0.063 2691 2208 1834 0 0 0 0 0 0

6889 0.81 182.1 157.1 9.0 693 6913 0.00 1.20 20.27 0.978 4 0.000 0.065 2696 1497 1741 0 0 0 0 0 0

6970 0.81 182.1 148.6 10.7 700 6974 0.00 1.20 0.00 0.000 6 0.000 0.063 2696 2197 1740 0 0 0 0 0 0

7195 0.81 182.1 124.6 10.9 721 7196 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2197 1738 0 0 0 0 0 0

7407 0.81 182.1 101.1 11.2 741 7411 0.00 1.17 0.00 0.000 4 0.000 0.067 2700 1499 1738 0 0 0 0 0 0

7595 0.83 193.2 82.5 9.5 774 7611 0.00 1.20 10.12 0.915 6 0.000 0.064 2700 2204 1696 0 0 0 0 0 0

7809 0.83 193.2 58.9 10.6 812 7816 0.00 1.20 0.00 0.000 4 0.000 0.067 2705 1497 1694 0 0 0 0 0 0

8064 0.83 196.4 31.4 9.9 858 8074 0.00 1.20 2.85 0.524 6 0.000 0.064 2705 2202 1684 0 0 0 0 0 0

8275 0.91 264.9 15.2 6.9 895 8314 0.00 1.25 35.08 0.114 4 0.000 0.067 2710 1490 1404 0 0 0 0 0 0

8375 0.91 264.9 6.0 11.1 912 8382 0.00 1.20 0.00 0.000 6 0.000 0.064 2709 2198 1398 0 0 0 0 0 0

8409 end climb: SURFACE_DEPTH_REACHED

state 8409 begin surface coast

8426 end surface coast: CONTROL_FINISHED_OK

state 8426 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	23	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	25	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	28	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	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	-80446.797	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	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	091011,081404,6632.261,-6018.825,43,0.9,43,-33.6	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	2.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091011,081900,6632.267,-6018.791,20,0.9,20,-33.6	MHEAD_RNG_PITCHd_Wd	69.4,162515,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	504

FINISH	1.1,1.013303	_24V_AH	23.2,4.168
SM_CCo	8444,70.70,0.086,0,0,771,420.20	_10V_AH	10.2,3.907
SM_GC	2.14,7.25,0.55,70.70,0.067,0.076,0.086,122,2510,771,-7.11,-0.68,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	553	FG_AHR_10Vo	0.000
RAFOS	1,1318147746,8.166667,8.151667,67,59,59,0,0,0,596,213,193,0,0,0	MEM	150448
RAFOS_FIX	6634.451172,-6016.349609,091011,080819,5,78,14.01	DATA_FILE_SIZE	36692,921
IRIDIUM_FIX	6604.29,-6027.36,091011,050531	CAP_FILE_SIZE	109703,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,246542336
HUMID	57.87	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1451.4
TCM_TEMP	16.20	CURRENT	0.212,301.8,1
XPDR_PINGS	19	GPS	091011,104302,6633.626,-6018.688,33,0.8,34,-33.7
ALTIM_BOTTOM_PING	400.5,121.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	272	112.94	SBE_CT	670	23	361.23
Roll_motor	53	90	112.57	SBE_O2	646	5	78.61
VBD_pump_during_apogee	319	1168	8662.90	nil	0	0	0.00
VBD_pump_during_surface	70	86	141.79	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	188	254	1115.37	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.13
TT8	2531	18	483.06
LPSleep	3825	2	90.14
TT8_Active	529	18	101.11
TT8_Sampling	1773	41	758.40
TT8_CF8	177	47	86.88
TT8_Kalman	0	0	0.00
Analog_circuits	1584	12	193.92
GPS_charging	0	0	0.00
Compass	1568	6	107.83
RAFOS	1440	1	22.03
Transponder	12	30	3.77

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
16	-0.77	-146.0	0.0	0.0	0	116	0.00	0.00	-97.93	0.000	2	0.000	0.000	127	2525	2171	0	0	0	0	0	0
119	-0.77	-146.0	3.2	-2.4	15	169	8.93	1.25	-31.70	0.000	4	0.272	0.090	2164	1812	3083	0	0	0	0	0	0
186	-0.77	-146.0	13.5	-16.1	25	193	0.00	1.25	0.00	0.000	6	0.000	0.072	2161	2509	3083	0	0	0	0	0	0
394	-0.77	-146.0	45.9	-13.3	62	403	0.00	1.20	0.00	0.000	4	0.000	0.061	2161	1813	3084	0	0	0	0	0	0
410	-0.77	-146.0	48.0	-13.1	64	416	0.00	1.25	0.00	0.000	6	0.000	0.070	2156	2514	3084	0	0	0	0	0	0
614	-0.77	-146.0	76.6	-14.5	101	621	0.00	1.15	0.00	0.000	4	0.000	0.083	2151	3210	3084	0	0	0	0	0	0
651	-0.77	-146.0	81.5	-14.4	107	657	0.00	1.15	0.00	0.000	6	0.000	0.053	2151	2511	3085	0	0	0	0	0	0
859	-0.77	-146.0	110.5	-13.3	138	860	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2511	3085	0	0	0	0	0	0
1071	-0.77	-146.0	137.7	-12.4	158	1073	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2511	3085	0	0	0	0	0	0
1284	-0.77	-146.0	163.4	-11.5	178	1288	0.00	1.23	0.00	0.000	4	0.000	0.082	2146	3221	3084	0	0	0	0	0	0
1334	-0.77	-146.0	169.0	-12.3	182	1343	0.00	1.17	0.00	0.000	6	0.000	0.054	2146	2505	3085	0	0	0	0	0	0
1555	-0.77	-146.0	195.4	-11.4	203	1559	0.00	1.23	0.00	0.000	4	0.000	0.082	2141	3217	3085	0	0	0	0	0	0
1582	-0.77	-146.0	198.3	-11.6	205	1589	0.00	1.15	0.00	0.000	6	0.000	0.054	2141	2509	3085	0	0	0	0	0	0
1803	-0.77	-146.0	223.7	-11.5	226	1806	0.00	1.20	0.00	0.000	4	0.000	0.081	2137	3210	3084	0	0	0	0	0	0
1840	-0.77	-146.0	228.0	-12.0	229	1848	0.00	1.15	0.00	0.000	6	0.000	0.053	2137	2506	3084	0	0	0	0	0	0
2060	-0.77	-146.0	254.0	-11.5	250	2064	0.12	1.20	0.00	0.000	4	0.181	0.083	2163	3207	3084	0	0	0	0	0	0
2127	-0.77	-146.0	261.0	-9.9	256	2131	0.00	1.12	0.00	0.000	6	0.000	0.053	2163	2512	3084	0	0	0	0	0	0
2354	-0.77	-146.0	283.5	-9.7	277	2357	0.00	1.20	0.00	0.000	4	0.000	0.081	2158	3214	3084	0	0	0	0	0	0
2403	-0.77	-146.0	288.2	-10.1	281	2410	0.00	1.15	0.00	0.000	6	0.000	0.051	2158	2510	3084	0	0	0	0	0	0
2622	-0.77	-146.0	310.6	-10.0	302	2626	0.00	1.20	0.00	0.000	4	0.000	0.081	2153	3213	3084	0	0	0	0	0	0
2667	-0.77	-146.0	315.4	-10.7	306	2671	0.00	1.15	0.00	0.000	6	0.000	0.051	2154	2504	3083	0	0	0	0	0	0
2893	-0.77	-146.0	339.2	-11.0	327	2897	0.00	1.23	0.00	0.000	4	0.000	0.082	2150	3220	3084	0	0	0	0	0	0
2940	-0.77	-146.0	344.4	-10.8	331	2944	0.00	1.15	0.00	0.000	6	0.000	0.052	2151	2509	3084	0	0	0	0	0	0
3165	-0.77	-146.0	368.3	-10.4	352	3169	0.00	1.20	0.00	0.000	4	0.000	0.080	2146	3213	3084	0	0	0	0	0	0
3214	-0.77	-146.0	373.4	-11.2	356	3221	0.00	1.15	0.00	0.000	6	0.000	0.050	2145	2504	3084	0	0	0	0	0	0
3433	-0.77	-146.0	398.0	-10.8	377	3437	0.00	1.23	0.00	0.000	4	0.000	0.081	2141	3221	3083	0	0	0	0	0	0
3551	-0.77	-146.0	410.9	-10.8	387	3555	0.00	1.15	0.00	0.000	6	0.000	0.052	2141	2509	3083	0	0	0	0	0	0
3776	-0.77	-146.0	437.0	-11.6	408	3777	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2509	3084	0	0	0	0	0	0
3880	end dive: TARGET_DEPTH_EXCEEDED
state	3880	begin apogee
3886	-0.16	0.0	450.1	-12.3	418	4011	0.68	0.00	117.40	1.168	6	0.148	0.000	2354	2191	2484	0	0	0	0	0	0
4012	end apogee: CONTROL_FINISHED_OK
state	4012	begin climb
4014	0.77	146.0	456.1	0.0	429	4152	0.90	1.27	123.90	1.119	4	0.066	0.069	2667	1495	1887	0	0	0	0	0	0
4400	0.77	146.0	430.5	11.6	463	4407	0.00	1.25	0.00	0.000	6	0.000	0.063	2667	2201	1878	0	0	0	0	0	0
4620	0.77	146.0	404.5	11.8	484	4623	0.00	1.23	0.00	0.000	4	0.000	0.067	2671	1499	1877	0	0	0	0	0	0
4687	0.77	146.0	396.7	11.6	490	4691	0.00	1.23	0.00	0.000	6	0.000	0.063	2671	2203	1876	0	0	0	0	0	0
4915	0.77	146.0	371.4	11.4	511	4918	0.00	1.20	0.00	0.000	4	0.000	0.071	2671	2910	1876	0	0	0	0	0	0
5119	0.77	146.0	346.8	11.8	529	5126	0.00	1.23	0.00	0.000	6	0.000	0.057	2676	2203	1875	0	0	0	0	0	0
5338	0.77	146.0	321.6	11.7	550	5339	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2203	1875	0	0	0	0	0	0
5551	0.77	146.0	297.3	11.5	570	5552	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2203	1875	0	0	0	0	0	0
5763	0.77	146.0	273.3	11.0	590	5767	0.00	1.23	0.00	0.000	4	0.000	0.070	2676	2902	1875	0	0	0	0	0	0
5875	0.77	146.0	260.3	11.8	600	5879	0.00	1.20	0.00	0.000	6	0.000	0.057	2681	2198	1874	0	0	0	0	0	0
6100	0.77	146.0	235.9	10.7	621	6103	0.00	1.12	0.00	0.000	4	0.000	0.070	2686	1497	1874	0	0	0	0	0	0
6278	0.77	146.0	217.2	10.7	637	6281	0.00	1.20	0.00	0.000	6	0.000	0.065	2686	2205	1874	0	0	0	0	0	0
6502	0.77	146.0	194.1	10.1	658	6506	0.00	1.20	0.00	0.000	4	0.000	0.067	2691	1496	1874	0	0	0	0	0	0
6651	0.78	159.3	180.2	9.4	671	6666	0.00	1.20	10.02	0.954	6	0.000	0.063	2691	2208	1834	0	0	0	0	0	0
6889	0.81	182.1	157.1	9.0	693	6913	0.00	1.20	20.27	0.978	4	0.000	0.065	2696	1497	1741	0	0	0	0	0	0
6970	0.81	182.1	148.6	10.7	700	6974	0.00	1.20	0.00	0.000	6	0.000	0.063	2696	2197	1740	0	0	0	0	0	0
7195	0.81	182.1	124.6	10.9	721	7196	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2197	1738	0	0	0	0	0	0
7407	0.81	182.1	101.1	11.2	741	7411	0.00	1.17	0.00	0.000	4	0.000	0.067	2700	1499	1738	0	0	0	0	0	0
7595	0.83	193.2	82.5	9.5	774	7611	0.00	1.20	10.12	0.915	6	0.000	0.064	2700	2204	1696	0	0	0	0	0	0
7809	0.83	193.2	58.9	10.6	812	7816	0.00	1.20	0.00	0.000	4	0.000	0.067	2705	1497	1694	0	0	0	0	0	0
8064	0.83	196.4	31.4	9.9	858	8074	0.00	1.20	2.85	0.524	6	0.000	0.064	2705	2202	1684	0	0	0	0	0	0
8275	0.91	264.9	15.2	6.9	895	8314	0.00	1.25	35.08	0.114	4	0.000	0.067	2710	1490	1404	0	0	0	0	0	0
8375	0.91	264.9	6.0	11.1	912	8382	0.00	1.20	0.00	0.000	6	0.000	0.064	2709	2198	1398	0	0	0	0	0	0
8409	end climb: SURFACE_DEPTH_REACHED
state	8409	begin surface coast
8426	end surface coast: CONTROL_FINISHED_OK
state	8426	begin surface