Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 277 * 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 277 HEADING -1 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 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 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 501.14789 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 25 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 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 3 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 2 T_GPS_CHARGE -81051.586 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 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 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 250 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 2 PHONE_SUPPLY -1 SM_CC 501.14789

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 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 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 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 3

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -81051.586

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 2

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 25 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 277 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 8 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 211111,161959,6648.162,-6002.383,39,0.8,39,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.23 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -70.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 211111,162630,6648.065,-6002.221,21,0.8,21,-33.9 MHEAD_RNG_PITCHd_Wd 238.3,31915,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 651

Post-dive calculations and measurements:

FREEZE 1.41,-0.695,-0.740,2,1,0 ALTIM_BOTTOM_PING 651.2,45.6

FINISH 1.4,1.010890 _24V_AH 22.6,35.119

SM_CCo 12365,105.85,0.087,0,0,442,501.15 _10V_AH 10.1,26.536

SM_GC 2.56,7.05,0.52,105.85,0.050,0.057,0.087,115,2512,442,-7.08,-0.85,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 816 FG_AHR_10Vo 0.000

RAFOS 4,1321893186,16.566668,16.551666,155,60,58,0,0,0,667,189,223,0,0,0 MEM 150252

RAFOS_FIX 6649.288574,-5957.119629,211111,161600,5,131,29.82 DATA_FILE_SIZE 43348,1141

IRIDIUM_FIX 6620.33,-5953.65,211111,090948 CAP_FILE_SIZE 123383,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,228712448

HUMID 55.78 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1452.2

TCM_TEMP 16.30 CURRENT 0.156, 75.4,1

XPDR_PINGS 20 GPS 211111,195705,6646.547,-6002.411,23,0.9,23,-33.9

ALTIM_TOP_PING 19.6,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 253 99.01 SBE_CT 828 23 434.85

Roll_motor 44 98 99.14 SBE_O2 634 5 75.12

VBD_pump_during_apogee 363 1318 10822.32 nil 0 0 0.00

VBD_pump_during_surface 105 87 208.62 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 257 285 1662.40 nil 0 0 0.00

Transponder_ping 7 420 71.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.07

TT8 3151 18 595.63

LPSleep 6770 2 157.97

TT8_Active 639 18 120.78

TT8_Sampling 2133 41 903.47

TT8_CF8 234 47 113.61

TT8_Kalman 0 0 0.00

Analog_circuits 1881 12 228.02

GPS_charging 0 0 0.00

Compass 1860 6 126.63

RAFOS 1080 1 16.36

Transponder 19 30 5.92

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 121 0.00 0.00 -103.32 0.000 2 0.000 0.000 117 2515 1898 0 0 0 0 0 0

124 -0.73 -146.0 3.0 -0.9 14 195 8.68 1.17 -53.75 0.000 4 0.254 0.099 2159 3211 3083 0 0 0 0 0 0

446 -0.73 -146.0 54.9 -15.9 62 453 0.00 1.10 0.00 0.000 6 0.000 0.036 2159 2513 3084 0 0 0 0 0 0

785 -0.73 -146.0 108.3 -14.3 113 792 0.00 1.17 0.00 0.000 4 0.000 0.066 2154 3209 3085 0 0 0 0 0 0

1044 -0.73 -146.0 146.1 -14.3 152 1051 0.00 1.10 0.00 0.000 6 0.000 0.035 2155 2504 3085 0 0 0 0 0 0

1381 -0.73 -146.0 194.3 -14.0 203 1390 0.00 1.20 0.00 0.000 4 0.000 0.066 2150 3215 3084 0 0 0 0 0 0

1642 -0.73 -146.0 230.6 -13.8 242 1649 0.00 1.10 0.00 0.000 6 0.000 0.035 2150 2513 3084 0 0 0 0 0 0

1972 -0.73 -146.0 271.7 -11.9 279 1976 0.00 1.17 0.00 0.000 4 0.000 0.066 2146 3211 3084 0 0 0 0 0 0

2070 -0.73 -146.0 282.7 -11.7 286 2077 0.00 1.12 0.00 0.000 6 0.000 0.034 2146 2500 3084 0 0 0 0 0 0

2395 -0.73 -146.0 322.8 -12.0 312 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2500 3084 0 0 0 0 0 0

2709 -0.73 -146.0 360.1 -11.5 337 2712 0.00 1.20 0.00 0.000 4 0.000 0.064 2141 3216 3084 0 0 0 0 0 0

2806 -0.73 -146.0 371.5 -12.2 344 2814 0.00 1.12 0.00 0.000 6 0.000 0.033 2141 2501 3084 0 0 0 0 0 0

3131 -0.73 -146.0 411.2 -11.9 370 3135 0.00 1.17 0.00 0.000 4 0.000 0.063 2137 3207 3084 0 0 0 0 0 0

3242 -0.73 -146.0 424.1 -11.9 378 3249 0.00 1.10 0.00 0.000 6 0.000 0.032 2137 2505 3084 0 0 0 0 0 0

3567 -0.73 -146.0 462.5 -11.5 404 3568 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2504 3085 0 0 0 0 0 0

3882 -0.73 -146.0 499.9 -11.4 429 3886 0.12 1.17 0.00 0.000 4 0.169 0.065 2163 3207 3085 0 0 0 0 0 0

3999 -0.73 -146.0 510.0 -10.0 433 4004 0.00 1.10 0.00 0.000 6 0.000 0.031 2164 2501 3085 0 0 0 0 0 0

4320 -0.73 -146.0 542.9 -9.5 444 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2501 3085 0 0 0 0 0 0

4626 -0.73 -146.0 572.3 -9.3 454 4627 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2501 3086 0 0 0 0 0 0

4934 -0.73 -146.0 600.4 -9.0 464 4938 0.00 1.17 0.00 0.000 4 0.000 0.063 2160 3209 3086 0 0 0 0 0 0

5092 -0.73 -146.0 612.9 -9.3 468 5101 0.00 1.08 0.00 0.000 6 0.000 0.031 2159 2499 3086 0 0 0 0 0 0

5405 -0.73 -146.0 645.2 -9.6 479 5407 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2499 3086 0 0 0 0 0 0

5470 end dive: TARGET_DEPTH_EXCEEDED

state 5470 begin apogee

5476 -0.16 0.0 651.2 -9.5 481 5603 0.55 0.00 121.47 1.318 6 0.126 0.000 2340 2195 2485 0 0 0 0 0 0

5603 end apogee: CONTROL_FINISHED_OK

state 5603 begin climb

5606 0.73 146.0 657.0 0.0 485 5744 0.85 1.23 130.35 1.258 4 0.068 0.047 2633 1504 1888 0 0 0 0 0 0

5961 0.73 146.0 632.4 10.6 495 5966 0.00 1.23 0.00 0.000 6 0.000 0.043 2633 2204 1880 0 0 0 0 0 0

6282 0.73 146.0 594.0 11.4 506 6283 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2204 1878 0 0 0 0 0 0

6588 0.73 146.0 559.8 11.0 516 6589 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2204 1877 0 0 0 0 0 0

6894 0.73 146.0 526.8 10.8 526 6896 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2204 1876 0 0 0 0 0 0

7203 0.73 146.0 492.0 11.2 539 7205 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2204 1876 0 0 0 0 0 0

7518 0.73 146.0 458.3 10.6 564 7522 0.00 1.12 0.00 0.000 4 0.000 0.057 2633 2898 1875 0 0 0 0 0 0

7624 0.73 146.0 446.6 11.0 572 7628 0.00 1.12 0.00 0.000 6 0.000 0.036 2637 2203 1875 0 0 0 0 0 0

7955 0.73 146.0 411.9 10.3 598 7959 0.00 1.08 0.00 0.000 4 0.000 0.047 2643 1496 1875 0 0 0 0 0 0

8103 0.73 146.0 396.4 10.8 609 8106 0.00 1.15 0.00 0.000 6 0.000 0.045 2643 2203 1875 0 0 0 0 0 0

8433 0.73 146.0 360.6 10.4 635 8436 0.00 1.12 0.00 0.000 4 0.000 0.055 2643 2904 1875 0 0 0 0 0 0

8526 0.73 146.0 350.4 11.0 642 8529 0.00 1.12 0.00 0.000 6 0.000 0.035 2648 2201 1875 0 0 0 0 0 0

8856 0.73 146.0 317.3 9.6 668 8857 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2201 1875 0 0 0 0 0 0

9172 0.73 153.7 288.4 8.8 693 9185 0.00 1.20 5.47 0.886 4 0.000 0.051 2648 2904 1858 0 0 0 0 0 0

9265 0.73 153.7 279.0 10.3 700 9268 0.00 1.12 0.00 0.000 6 0.000 0.036 2653 2203 1858 0 0 0 0 0 0

9590 0.73 153.7 248.1 9.3 727 9597 0.00 1.08 0.00 0.000 4 0.000 0.048 2657 1491 1858 0 0 0 0 0 0

9730 0.75 163.6 235.4 8.8 748 9746 0.00 1.15 10.45 0.995 6 0.000 0.044 2658 2203 1817 0 0 0 0 0 0

10078 0.75 163.6 203.0 9.3 800 10087 0.00 1.12 0.00 0.000 4 0.000 0.055 2658 2909 1816 0 0 0 0 0 0

10279 0.77 181.0 185.4 8.4 830 10301 0.00 1.15 16.05 1.011 6 0.000 0.035 2662 2195 1746 0 0 0 0 0 0

10633 0.81 215.9 156.8 7.7 883 10668 0.00 1.12 30.48 1.017 4 0.000 0.050 2667 1497 1604 0 0 0 0 0 0

10707 0.81 215.9 150.1 9.9 894 10714 0.00 1.17 0.00 0.000 6 0.000 0.044 2667 2201 1601 0 0 0 0 0 0

11046 0.81 215.9 114.8 10.0 945 11053 0.00 1.15 0.00 0.000 4 0.000 0.045 2672 1492 1599 0 0 0 0 0 0

11171 0.81 215.9 102.6 9.5 964 11180 0.00 1.17 0.00 0.000 6 0.000 0.045 2672 2207 1598 0 0 0 0 0 0

11511 0.81 215.9 71.2 9.9 1015 11518 0.00 1.12 0.00 0.000 4 0.000 0.055 2672 2904 1596 0 0 0 0 0 0

11610 0.81 215.9 61.3 9.7 1030 11617 0.00 1.15 0.00 0.000 6 0.000 0.036 2677 2196 1596 0 0 0 0 0 0

11949 0.86 259.7 35.3 7.3 1081 11990 0.00 1.12 36.08 0.962 4 0.000 0.050 2682 1497 1425 0 0 0 0 0 0

12036 0.88 275.2 28.7 8.5 1094 12058 0.00 1.17 12.95 0.903 6 0.000 0.044 2682 2201 1361 0 0 0 0 0 0

12333 end climb: SURFACE_DEPTH_REACHED

state 12333 begin surface coast

12348 end surface coast: FINISH_DEPTH_REACHED

state 12348 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	277	HEADING	-1	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	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	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	501.14789	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	25	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	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	3	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	2	T_GPS_CHARGE	-81051.586	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	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	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	211111,161959,6648.162,-6002.383,39,0.8,39,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.23	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-70.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	211111,162630,6648.065,-6002.221,21,0.8,21,-33.9	MHEAD_RNG_PITCHd_Wd	238.3,31915,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	651

FREEZE	1.41,-0.695,-0.740,2,1,0	ALTIM_BOTTOM_PING	651.2,45.6
FINISH	1.4,1.010890	_24V_AH	22.6,35.119
SM_CCo	12365,105.85,0.087,0,0,442,501.15	_10V_AH	10.1,26.536
SM_GC	2.56,7.05,0.52,105.85,0.050,0.057,0.087,115,2512,442,-7.08,-0.85,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	816	FG_AHR_10Vo	0.000
RAFOS	4,1321893186,16.566668,16.551666,155,60,58,0,0,0,667,189,223,0,0,0	MEM	150252
RAFOS_FIX	6649.288574,-5957.119629,211111,161600,5,131,29.82	DATA_FILE_SIZE	43348,1141
IRIDIUM_FIX	6620.33,-5953.65,211111,090948	CAP_FILE_SIZE	123383,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,228712448
HUMID	55.78	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1452.2
TCM_TEMP	16.30	CURRENT	0.156, 75.4,1
XPDR_PINGS	20	GPS	211111,195705,6646.547,-6002.411,23,0.9,23,-33.9
ALTIM_TOP_PING	19.6,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	253	99.01	SBE_CT	828	23	434.85
Roll_motor	44	98	99.14	SBE_O2	634	5	75.12
VBD_pump_during_apogee	363	1318	10822.32	nil	0	0	0.00
VBD_pump_during_surface	105	87	208.62	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	257	285	1662.40	nil	0	0	0.00
Transponder_ping	7	420	71.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.07
TT8	3151	18	595.63
LPSleep	6770	2	157.97
TT8_Active	639	18	120.78
TT8_Sampling	2133	41	903.47
TT8_CF8	234	47	113.61
TT8_Kalman	0	0	0.00
Analog_circuits	1881	12	228.02
GPS_charging	0	0	0.00
Compass	1860	6	126.63
RAFOS	1080	1	16.36
Transponder	19	30	5.92

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	121	0.00	0.00	-103.32	0.000	2	0.000	0.000	117	2515	1898	0	0	0	0	0	0
124	-0.73	-146.0	3.0	-0.9	14	195	8.68	1.17	-53.75	0.000	4	0.254	0.099	2159	3211	3083	0	0	0	0	0	0
446	-0.73	-146.0	54.9	-15.9	62	453	0.00	1.10	0.00	0.000	6	0.000	0.036	2159	2513	3084	0	0	0	0	0	0
785	-0.73	-146.0	108.3	-14.3	113	792	0.00	1.17	0.00	0.000	4	0.000	0.066	2154	3209	3085	0	0	0	0	0	0
1044	-0.73	-146.0	146.1	-14.3	152	1051	0.00	1.10	0.00	0.000	6	0.000	0.035	2155	2504	3085	0	0	0	0	0	0
1381	-0.73	-146.0	194.3	-14.0	203	1390	0.00	1.20	0.00	0.000	4	0.000	0.066	2150	3215	3084	0	0	0	0	0	0
1642	-0.73	-146.0	230.6	-13.8	242	1649	0.00	1.10	0.00	0.000	6	0.000	0.035	2150	2513	3084	0	0	0	0	0	0
1972	-0.73	-146.0	271.7	-11.9	279	1976	0.00	1.17	0.00	0.000	4	0.000	0.066	2146	3211	3084	0	0	0	0	0	0
2070	-0.73	-146.0	282.7	-11.7	286	2077	0.00	1.12	0.00	0.000	6	0.000	0.034	2146	2500	3084	0	0	0	0	0	0
2395	-0.73	-146.0	322.8	-12.0	312	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2500	3084	0	0	0	0	0	0
2709	-0.73	-146.0	360.1	-11.5	337	2712	0.00	1.20	0.00	0.000	4	0.000	0.064	2141	3216	3084	0	0	0	0	0	0
2806	-0.73	-146.0	371.5	-12.2	344	2814	0.00	1.12	0.00	0.000	6	0.000	0.033	2141	2501	3084	0	0	0	0	0	0
3131	-0.73	-146.0	411.2	-11.9	370	3135	0.00	1.17	0.00	0.000	4	0.000	0.063	2137	3207	3084	0	0	0	0	0	0
3242	-0.73	-146.0	424.1	-11.9	378	3249	0.00	1.10	0.00	0.000	6	0.000	0.032	2137	2505	3084	0	0	0	0	0	0
3567	-0.73	-146.0	462.5	-11.5	404	3568	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2504	3085	0	0	0	0	0	0
3882	-0.73	-146.0	499.9	-11.4	429	3886	0.12	1.17	0.00	0.000	4	0.169	0.065	2163	3207	3085	0	0	0	0	0	0
3999	-0.73	-146.0	510.0	-10.0	433	4004	0.00	1.10	0.00	0.000	6	0.000	0.031	2164	2501	3085	0	0	0	0	0	0
4320	-0.73	-146.0	542.9	-9.5	444	4321	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2501	3085	0	0	0	0	0	0
4626	-0.73	-146.0	572.3	-9.3	454	4627	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2501	3086	0	0	0	0	0	0
4934	-0.73	-146.0	600.4	-9.0	464	4938	0.00	1.17	0.00	0.000	4	0.000	0.063	2160	3209	3086	0	0	0	0	0	0
5092	-0.73	-146.0	612.9	-9.3	468	5101	0.00	1.08	0.00	0.000	6	0.000	0.031	2159	2499	3086	0	0	0	0	0	0
5405	-0.73	-146.0	645.2	-9.6	479	5407	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2499	3086	0	0	0	0	0	0
5470	end dive: TARGET_DEPTH_EXCEEDED
state	5470	begin apogee
5476	-0.16	0.0	651.2	-9.5	481	5603	0.55	0.00	121.47	1.318	6	0.126	0.000	2340	2195	2485	0	0	0	0	0	0
5603	end apogee: CONTROL_FINISHED_OK
state	5603	begin climb
5606	0.73	146.0	657.0	0.0	485	5744	0.85	1.23	130.35	1.258	4	0.068	0.047	2633	1504	1888	0	0	0	0	0	0
5961	0.73	146.0	632.4	10.6	495	5966	0.00	1.23	0.00	0.000	6	0.000	0.043	2633	2204	1880	0	0	0	0	0	0
6282	0.73	146.0	594.0	11.4	506	6283	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2204	1878	0	0	0	0	0	0
6588	0.73	146.0	559.8	11.0	516	6589	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2204	1877	0	0	0	0	0	0
6894	0.73	146.0	526.8	10.8	526	6896	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2204	1876	0	0	0	0	0	0
7203	0.73	146.0	492.0	11.2	539	7205	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2204	1876	0	0	0	0	0	0
7518	0.73	146.0	458.3	10.6	564	7522	0.00	1.12	0.00	0.000	4	0.000	0.057	2633	2898	1875	0	0	0	0	0	0
7624	0.73	146.0	446.6	11.0	572	7628	0.00	1.12	0.00	0.000	6	0.000	0.036	2637	2203	1875	0	0	0	0	0	0
7955	0.73	146.0	411.9	10.3	598	7959	0.00	1.08	0.00	0.000	4	0.000	0.047	2643	1496	1875	0	0	0	0	0	0
8103	0.73	146.0	396.4	10.8	609	8106	0.00	1.15	0.00	0.000	6	0.000	0.045	2643	2203	1875	0	0	0	0	0	0
8433	0.73	146.0	360.6	10.4	635	8436	0.00	1.12	0.00	0.000	4	0.000	0.055	2643	2904	1875	0	0	0	0	0	0
8526	0.73	146.0	350.4	11.0	642	8529	0.00	1.12	0.00	0.000	6	0.000	0.035	2648	2201	1875	0	0	0	0	0	0
8856	0.73	146.0	317.3	9.6	668	8857	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2201	1875	0	0	0	0	0	0
9172	0.73	153.7	288.4	8.8	693	9185	0.00	1.20	5.47	0.886	4	0.000	0.051	2648	2904	1858	0	0	0	0	0	0
9265	0.73	153.7	279.0	10.3	700	9268	0.00	1.12	0.00	0.000	6	0.000	0.036	2653	2203	1858	0	0	0	0	0	0
9590	0.73	153.7	248.1	9.3	727	9597	0.00	1.08	0.00	0.000	4	0.000	0.048	2657	1491	1858	0	0	0	0	0	0
9730	0.75	163.6	235.4	8.8	748	9746	0.00	1.15	10.45	0.995	6	0.000	0.044	2658	2203	1817	0	0	0	0	0	0
10078	0.75	163.6	203.0	9.3	800	10087	0.00	1.12	0.00	0.000	4	0.000	0.055	2658	2909	1816	0	0	0	0	0	0
10279	0.77	181.0	185.4	8.4	830	10301	0.00	1.15	16.05	1.011	6	0.000	0.035	2662	2195	1746	0	0	0	0	0	0
10633	0.81	215.9	156.8	7.7	883	10668	0.00	1.12	30.48	1.017	4	0.000	0.050	2667	1497	1604	0	0	0	0	0	0
10707	0.81	215.9	150.1	9.9	894	10714	0.00	1.17	0.00	0.000	6	0.000	0.044	2667	2201	1601	0	0	0	0	0	0
11046	0.81	215.9	114.8	10.0	945	11053	0.00	1.15	0.00	0.000	4	0.000	0.045	2672	1492	1599	0	0	0	0	0	0
11171	0.81	215.9	102.6	9.5	964	11180	0.00	1.17	0.00	0.000	6	0.000	0.045	2672	2207	1598	0	0	0	0	0	0
11511	0.81	215.9	71.2	9.9	1015	11518	0.00	1.12	0.00	0.000	4	0.000	0.055	2672	2904	1596	0	0	0	0	0	0
11610	0.81	215.9	61.3	9.7	1030	11617	0.00	1.15	0.00	0.000	6	0.000	0.036	2677	2196	1596	0	0	0	0	0	0
11949	0.86	259.7	35.3	7.3	1081	11990	0.00	1.12	36.08	0.962	4	0.000	0.050	2682	1497	1425	0	0	0	0	0	0
12036	0.88	275.2	28.7	8.5	1094	12058	0.00	1.17	12.95	0.903	6	0.000	0.044	2682	2201	1361	0	0	0	0	0	0
12333	end climb: SURFACE_DEPTH_REACHED
state	12333	begin surface coast
12348	end surface coast: FINISH_DEPTH_REACHED
state	12348	begin surface