Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 282 * 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 282 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 41 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 -81969.484 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 -81969.484

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 41 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 282 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 221111,082649,6646.218,-5959.535,0,7123.9,0,-33.9 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.37 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -35.7 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 221111,082649,6646.218,-5959.535,181,99.0,181,-33.9 MHEAD_RNG_PITCHd_Wd 283.0,32785,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 665

Post-dive calculations and measurements:

FREEZE 2.08,-3.493,-1.849,2,5,0 ALTIM_BOTTOM_PING 652.7,36.0

FINISH 2.1,1.027142 _24V_AH 22.6,35.719

SM_CCo 12664,94.47,0.087,0,0,441,501.15 _10V_AH 10.1,26.916

SM_GC 2.59,7.32,0.52,94.47,0.053,0.061,0.087,117,2512,441,-7.06,-0.82,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 916 FG_AHR_10Vo 0.000

RAFOS 0,1321963261,12.033333,12.016945,99,56,55,0,0,0,666,199,133,0,0,0 MEM 150176

RAFOS_FIX 6647.645020,-6000.118652,221111,121216,7,128,0.19 DATA_FILE_SIZE 46670,1171

IRIDIUM_FIX 6604.29,-5951.22,211111,232331 CAP_FILE_SIZE 126850,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,228384768

HUMID 56.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1453.8

TCM_TEMP 16.30 CURRENT 0.492, 46.4,1

XPDR_PINGS 5 GPS 221111,122716,6647.645,-6000.119,0,7127.7,0,-33.9

ALTIM_TOP_PING 19.5,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 257 103.40 SBE_CT 851 23 446.96

Roll_motor 39 96 87.03 SBE_O2 659 5 78.06

VBD_pump_during_apogee 375 1324 11229.46 nil 0 0 0.00

VBD_pump_during_surface 94 87 186.21 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 123 197 552.05 nil 0 0 0.00

Transponder_ping 4 420 37.97 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 26 49.29

TT8 3216 18 607.87

LPSleep 6975 2 162.75

TT8_Active 624 18 118.01

TT8_Sampling 2270 41 961.48

TT8_CF8 301 47 145.97

TT8_Kalman 0 0 0.00

Analog_circuits 1776 12 215.29

GPS_charging 0 0 0.00

Compass 1948 6 132.67

RAFOS 2520 1 38.18

Transponder 22 30 6.80

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 -0.73 -146.0 0.0 0.0 0 137 0.00 0.00 -118.35 0.000 2 0.000 0.000 117 2514 2171 0 0 0 0 0 0

140 -0.73 -146.0 3.6 -3.1 17 184 8.65 1.17 -29.95 0.000 4 0.257 0.096 2159 3214 3083 0 0 0 0 0 0

429 -0.73 -146.0 56.3 -15.7 60 438 0.00 1.10 0.00 0.000 6 0.000 0.034 2158 2512 3086 0 0 0 0 0 0

769 -0.73 -146.0 112.5 -15.5 111 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2512 3086 0 0 0 0 0 0

1105 -0.73 -146.0 164.0 -14.5 162 1111 0.00 1.17 0.00 0.000 4 0.000 0.067 2154 3209 3086 0 0 0 0 0 0

1299 -0.73 -146.0 191.4 -13.1 191 1306 0.00 1.10 0.00 0.000 6 0.000 0.035 2154 2503 3086 0 0 0 0 0 0

1635 -0.73 -146.0 235.5 -12.7 242 1641 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2503 3086 0 0 0 0 0 0

1970 -0.73 -146.0 277.3 -12.3 277 1973 0.00 1.20 0.00 0.000 4 0.000 0.066 2150 3214 3086 0 0 0 0 0 0

2093 -0.73 -146.0 292.5 -12.8 286 2101 0.00 1.12 0.00 0.000 6 0.000 0.034 2150 2503 3085 0 0 0 0 0 0

2418 -0.73 -146.0 332.9 -12.0 312 2422 0.00 1.20 0.00 0.000 4 0.000 0.066 2146 3216 3086 0 0 0 0 0 0

2498 -0.73 -146.0 342.5 -11.9 318 2501 0.00 1.10 0.00 0.000 6 0.000 0.034 2145 2506 3085 0 0 0 0 0 0

2828 -0.73 -146.0 382.4 -11.9 344 2832 0.00 1.17 0.00 0.000 4 0.000 0.064 2141 3210 3085 0 0 0 0 0 0

2872 -0.73 -146.0 387.4 -12.1 347 2880 0.00 1.10 0.00 0.000 6 0.000 0.032 2141 2506 3085 0 0 0 0 0 0

3199 -0.73 -146.0 426.4 -11.6 373 3200 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2506 3086 0 0 0 0 0 0

3511 -0.73 -146.0 463.5 -11.9 398 3515 0.00 1.17 0.00 0.000 4 0.000 0.063 2137 3210 3086 0 0 0 0 0 0

3621 -0.73 -146.0 476.9 -12.7 406 3630 0.12 1.10 0.00 0.000 6 0.165 0.031 2166 2499 3086 0 0 0 0 0 0

3967 -0.73 -146.0 514.0 -10.4 428 3971 0.00 1.17 0.00 0.000 4 0.000 0.063 2164 3209 3087 0 0 0 0 0 0

4051 -0.73 -146.0 521.0 -10.5 430 4056 0.00 1.08 0.00 0.000 6 0.000 0.028 2163 2508 3087 0 0 0 0 0 0

4373 -0.73 -146.0 556.1 -10.6 441 4375 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2508 3086 0 0 0 0 0 0

4678 -0.73 -146.0 587.0 -10.0 451 4681 0.00 1.17 0.00 0.000 4 0.000 0.063 2159 3213 3087 0 0 0 0 0 0

4777 -0.73 -146.0 597.0 -10.1 454 4781 0.00 1.08 0.00 0.000 6 0.000 0.028 2159 2500 3087 0 0 0 0 0 0

5118 -0.73 -146.0 630.6 -10.2 465 5122 0.00 1.17 0.00 0.000 4 0.000 0.062 2155 3209 3088 0 0 0 0 0 0

5208 -0.73 -146.0 637.5 -10.2 467 5216 0.00 1.08 0.00 0.000 6 0.000 0.028 2155 2510 3088 0 0 0 0 0 0

5459 end dive: TARGET_DEPTH_EXCEEDED

state 5459 begin apogee

5465 -0.16 0.0 665.3 -10.4 476 5594 0.57 0.00 122.18 1.324 6 0.126 0.000 2341 2186 2484 0 0 0 0 0 0

5595 end apogee: CONTROL_FINISHED_OK

state 5595 begin climb

5597 0.73 146.0 670.4 0.0 480 5737 0.85 1.17 130.52 1.262 4 0.066 0.047 2635 1509 1888 0 0 0 0 0 0

5928 0.73 146.0 647.5 10.4 490 5932 0.00 1.20 0.00 0.000 6 0.000 0.043 2635 2205 1881 0 0 0 0 0 0

6248 0.73 146.0 611.6 11.2 501 6249 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2205 1878 0 0 0 0 0 0

6554 0.73 146.0 577.6 11.2 511 6558 0.00 1.15 0.00 0.000 4 0.000 0.046 2639 1502 1877 0 0 0 0 0 0

6698 0.73 146.0 563.7 10.4 515 6703 0.00 1.17 0.00 0.000 6 0.000 0.044 2640 2204 1876 0 0 0 0 0 0

7026 0.73 146.0 526.8 11.1 526 7027 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2204 1876 0 0 0 0 0 0

7333 0.73 146.0 492.3 11.5 539 7334 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2204 1875 0 0 0 0 0 0

7651 0.73 146.0 457.4 10.8 564 7654 0.00 1.12 0.00 0.000 4 0.000 0.047 2644 1508 1875 0 0 0 0 0 0

7743 0.73 146.0 446.9 11.1 571 7747 0.00 1.12 0.00 0.000 6 0.000 0.047 2644 2196 1875 0 0 0 0 0 0

8075 0.73 146.0 409.5 11.2 597 8079 0.00 1.12 0.00 0.000 4 0.000 0.054 2644 2898 1875 0 0 0 0 0 0

8154 0.73 146.0 400.1 11.2 603 8158 0.00 1.10 0.00 0.000 6 0.000 0.035 2648 2211 1875 0 0 0 0 0 0

8485 0.73 146.0 365.4 10.5 629 8488 0.00 1.10 0.00 0.000 4 0.000 0.050 2654 1494 1875 0 0 0 0 0 0

8701 0.73 146.0 343.6 10.1 645 8711 0.00 1.17 0.00 0.000 6 0.000 0.045 2654 2207 1875 0 0 0 0 0 0

9027 0.73 146.0 308.4 10.7 671 9028 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2207 1875 0 0 0 0 0 0

9339 0.73 146.0 276.6 10.1 696 9343 0.00 1.15 0.00 0.000 4 0.000 0.047 2658 1492 1875 0 0 0 0 0 0

9474 0.73 146.0 263.3 9.4 706 9477 0.00 1.15 0.00 0.000 6 0.000 0.046 2658 2202 1875 0 0 0 0 0 0

9804 0.73 146.0 233.5 9.2 745 9812 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2202 1875 0 0 0 0 0 0

10143 0.75 162.4 203.5 8.5 796 10159 0.00 0.00 12.85 0.996 6 0.000 0.000 2658 2202 1822 0 0 0 0 0 0

10489 0.79 198.0 176.5 7.7 848 10531 0.00 1.17 31.50 1.024 4 0.000 0.048 2662 1498 1676 0 0 0 0 0 0

10717 0.79 198.0 155.9 9.3 882 10724 0.00 1.17 0.00 0.000 6 0.000 0.047 2662 2205 1673 0 0 0 0 0 0

11056 0.81 216.6 125.7 8.4 933 11078 0.00 0.00 16.10 0.975 6 0.000 0.000 2663 2204 1601 0 0 0 0 0 0

11412 0.82 223.7 93.7 8.9 986 11424 0.00 0.00 6.85 0.875 6 0.000 0.000 2662 2204 1574 0 0 0 0 0 0

11758 0.85 245.7 64.3 8.2 1038 11786 0.00 1.20 20.08 0.961 4 0.000 0.048 2667 1497 1482 0 0 0 0 0 0

11867 0.85 250.6 54.7 9.0 1054 11880 0.00 1.17 5.70 0.813 6 0.000 0.047 2667 2202 1462 0 0 0 0 0 0

12213 0.89 283.7 26.4 7.8 1106 12240 0.00 0.00 22.20 0.923 6 0.000 0.000 2667 2201 1327 0 0 0 0 0 0

12569 1.15 495.2 2.0 0.3 1160 12579 0.28 0.00 7.25 0.087 2 0.059 0.000 2786 2203 1260 0 0 0 0 0 0

12580 end climb: SURFACE_DEPTH_REACHED

state 12580 begin surface coast

12647 end surface coast: NO_VERTICAL_VELOCITY

state 12647 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	282	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	41	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	-81969.484	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	221111,082649,6646.218,-5959.535,0,7123.9,0,-33.9	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.37	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-35.7	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	221111,082649,6646.218,-5959.535,181,99.0,181,-33.9	MHEAD_RNG_PITCHd_Wd	283.0,32785,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	665

FREEZE	2.08,-3.493,-1.849,2,5,0	ALTIM_BOTTOM_PING	652.7,36.0
FINISH	2.1,1.027142	_24V_AH	22.6,35.719
SM_CCo	12664,94.47,0.087,0,0,441,501.15	_10V_AH	10.1,26.916
SM_GC	2.59,7.32,0.52,94.47,0.053,0.061,0.087,117,2512,441,-7.06,-0.82,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	916	FG_AHR_10Vo	0.000
RAFOS	0,1321963261,12.033333,12.016945,99,56,55,0,0,0,666,199,133,0,0,0	MEM	150176
RAFOS_FIX	6647.645020,-6000.118652,221111,121216,7,128,0.19	DATA_FILE_SIZE	46670,1171
IRIDIUM_FIX	6604.29,-5951.22,211111,232331	CAP_FILE_SIZE	126850,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,228384768
HUMID	56.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1453.8
TCM_TEMP	16.30	CURRENT	0.492, 46.4,1
XPDR_PINGS	5	GPS	221111,122716,6647.645,-6000.119,0,7127.7,0,-33.9
ALTIM_TOP_PING	19.5,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	257	103.40	SBE_CT	851	23	446.96
Roll_motor	39	96	87.03	SBE_O2	659	5	78.06
VBD_pump_during_apogee	375	1324	11229.46	nil	0	0	0.00
VBD_pump_during_surface	94	87	186.21	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	123	197	552.05	nil	0	0	0.00
Transponder_ping	4	420	37.97	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	26	49.29
TT8	3216	18	607.87
LPSleep	6975	2	162.75
TT8_Active	624	18	118.01
TT8_Sampling	2270	41	961.48
TT8_CF8	301	47	145.97
TT8_Kalman	0	0	0.00
Analog_circuits	1776	12	215.29
GPS_charging	0	0	0.00
Compass	1948	6	132.67
RAFOS	2520	1	38.18
Transponder	22	30	6.80

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	-0.73	-146.0	0.0	0.0	0	137	0.00	0.00	-118.35	0.000	2	0.000	0.000	117	2514	2171	0	0	0	0	0	0
140	-0.73	-146.0	3.6	-3.1	17	184	8.65	1.17	-29.95	0.000	4	0.257	0.096	2159	3214	3083	0	0	0	0	0	0
429	-0.73	-146.0	56.3	-15.7	60	438	0.00	1.10	0.00	0.000	6	0.000	0.034	2158	2512	3086	0	0	0	0	0	0
769	-0.73	-146.0	112.5	-15.5	111	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2512	3086	0	0	0	0	0	0
1105	-0.73	-146.0	164.0	-14.5	162	1111	0.00	1.17	0.00	0.000	4	0.000	0.067	2154	3209	3086	0	0	0	0	0	0
1299	-0.73	-146.0	191.4	-13.1	191	1306	0.00	1.10	0.00	0.000	6	0.000	0.035	2154	2503	3086	0	0	0	0	0	0
1635	-0.73	-146.0	235.5	-12.7	242	1641	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2503	3086	0	0	0	0	0	0
1970	-0.73	-146.0	277.3	-12.3	277	1973	0.00	1.20	0.00	0.000	4	0.000	0.066	2150	3214	3086	0	0	0	0	0	0
2093	-0.73	-146.0	292.5	-12.8	286	2101	0.00	1.12	0.00	0.000	6	0.000	0.034	2150	2503	3085	0	0	0	0	0	0
2418	-0.73	-146.0	332.9	-12.0	312	2422	0.00	1.20	0.00	0.000	4	0.000	0.066	2146	3216	3086	0	0	0	0	0	0
2498	-0.73	-146.0	342.5	-11.9	318	2501	0.00	1.10	0.00	0.000	6	0.000	0.034	2145	2506	3085	0	0	0	0	0	0
2828	-0.73	-146.0	382.4	-11.9	344	2832	0.00	1.17	0.00	0.000	4	0.000	0.064	2141	3210	3085	0	0	0	0	0	0
2872	-0.73	-146.0	387.4	-12.1	347	2880	0.00	1.10	0.00	0.000	6	0.000	0.032	2141	2506	3085	0	0	0	0	0	0
3199	-0.73	-146.0	426.4	-11.6	373	3200	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2506	3086	0	0	0	0	0	0
3511	-0.73	-146.0	463.5	-11.9	398	3515	0.00	1.17	0.00	0.000	4	0.000	0.063	2137	3210	3086	0	0	0	0	0	0
3621	-0.73	-146.0	476.9	-12.7	406	3630	0.12	1.10	0.00	0.000	6	0.165	0.031	2166	2499	3086	0	0	0	0	0	0
3967	-0.73	-146.0	514.0	-10.4	428	3971	0.00	1.17	0.00	0.000	4	0.000	0.063	2164	3209	3087	0	0	0	0	0	0
4051	-0.73	-146.0	521.0	-10.5	430	4056	0.00	1.08	0.00	0.000	6	0.000	0.028	2163	2508	3087	0	0	0	0	0	0
4373	-0.73	-146.0	556.1	-10.6	441	4375	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2508	3086	0	0	0	0	0	0
4678	-0.73	-146.0	587.0	-10.0	451	4681	0.00	1.17	0.00	0.000	4	0.000	0.063	2159	3213	3087	0	0	0	0	0	0
4777	-0.73	-146.0	597.0	-10.1	454	4781	0.00	1.08	0.00	0.000	6	0.000	0.028	2159	2500	3087	0	0	0	0	0	0
5118	-0.73	-146.0	630.6	-10.2	465	5122	0.00	1.17	0.00	0.000	4	0.000	0.062	2155	3209	3088	0	0	0	0	0	0
5208	-0.73	-146.0	637.5	-10.2	467	5216	0.00	1.08	0.00	0.000	6	0.000	0.028	2155	2510	3088	0	0	0	0	0	0
5459	end dive: TARGET_DEPTH_EXCEEDED
state	5459	begin apogee
5465	-0.16	0.0	665.3	-10.4	476	5594	0.57	0.00	122.18	1.324	6	0.126	0.000	2341	2186	2484	0	0	0	0	0	0
5595	end apogee: CONTROL_FINISHED_OK
state	5595	begin climb
5597	0.73	146.0	670.4	0.0	480	5737	0.85	1.17	130.52	1.262	4	0.066	0.047	2635	1509	1888	0	0	0	0	0	0
5928	0.73	146.0	647.5	10.4	490	5932	0.00	1.20	0.00	0.000	6	0.000	0.043	2635	2205	1881	0	0	0	0	0	0
6248	0.73	146.0	611.6	11.2	501	6249	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2205	1878	0	0	0	0	0	0
6554	0.73	146.0	577.6	11.2	511	6558	0.00	1.15	0.00	0.000	4	0.000	0.046	2639	1502	1877	0	0	0	0	0	0
6698	0.73	146.0	563.7	10.4	515	6703	0.00	1.17	0.00	0.000	6	0.000	0.044	2640	2204	1876	0	0	0	0	0	0
7026	0.73	146.0	526.8	11.1	526	7027	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2204	1876	0	0	0	0	0	0
7333	0.73	146.0	492.3	11.5	539	7334	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2204	1875	0	0	0	0	0	0
7651	0.73	146.0	457.4	10.8	564	7654	0.00	1.12	0.00	0.000	4	0.000	0.047	2644	1508	1875	0	0	0	0	0	0
7743	0.73	146.0	446.9	11.1	571	7747	0.00	1.12	0.00	0.000	6	0.000	0.047	2644	2196	1875	0	0	0	0	0	0
8075	0.73	146.0	409.5	11.2	597	8079	0.00	1.12	0.00	0.000	4	0.000	0.054	2644	2898	1875	0	0	0	0	0	0
8154	0.73	146.0	400.1	11.2	603	8158	0.00	1.10	0.00	0.000	6	0.000	0.035	2648	2211	1875	0	0	0	0	0	0
8485	0.73	146.0	365.4	10.5	629	8488	0.00	1.10	0.00	0.000	4	0.000	0.050	2654	1494	1875	0	0	0	0	0	0
8701	0.73	146.0	343.6	10.1	645	8711	0.00	1.17	0.00	0.000	6	0.000	0.045	2654	2207	1875	0	0	0	0	0	0
9027	0.73	146.0	308.4	10.7	671	9028	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2207	1875	0	0	0	0	0	0
9339	0.73	146.0	276.6	10.1	696	9343	0.00	1.15	0.00	0.000	4	0.000	0.047	2658	1492	1875	0	0	0	0	0	0
9474	0.73	146.0	263.3	9.4	706	9477	0.00	1.15	0.00	0.000	6	0.000	0.046	2658	2202	1875	0	0	0	0	0	0
9804	0.73	146.0	233.5	9.2	745	9812	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2202	1875	0	0	0	0	0	0
10143	0.75	162.4	203.5	8.5	796	10159	0.00	0.00	12.85	0.996	6	0.000	0.000	2658	2202	1822	0	0	0	0	0	0
10489	0.79	198.0	176.5	7.7	848	10531	0.00	1.17	31.50	1.024	4	0.000	0.048	2662	1498	1676	0	0	0	0	0	0
10717	0.79	198.0	155.9	9.3	882	10724	0.00	1.17	0.00	0.000	6	0.000	0.047	2662	2205	1673	0	0	0	0	0	0
11056	0.81	216.6	125.7	8.4	933	11078	0.00	0.00	16.10	0.975	6	0.000	0.000	2663	2204	1601	0	0	0	0	0	0
11412	0.82	223.7	93.7	8.9	986	11424	0.00	0.00	6.85	0.875	6	0.000	0.000	2662	2204	1574	0	0	0	0	0	0
11758	0.85	245.7	64.3	8.2	1038	11786	0.00	1.20	20.08	0.961	4	0.000	0.048	2667	1497	1482	0	0	0	0	0	0
11867	0.85	250.6	54.7	9.0	1054	11880	0.00	1.17	5.70	0.813	6	0.000	0.047	2667	2202	1462	0	0	0	0	0	0
12213	0.89	283.7	26.4	7.8	1106	12240	0.00	0.00	22.20	0.923	6	0.000	0.000	2667	2201	1327	0	0	0	0	0	0
12569	1.15	495.2	2.0	0.3	1160	12579	0.28	0.00	7.25	0.087	2	0.059	0.000	2786	2203	1260	0	0	0	0	0	0
12580	end climb: SURFACE_DEPTH_REACHED
state	12580	begin surface coast
12647	end surface coast: NO_VERTICAL_VELOCITY
state	12647	begin surface