Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 285 * 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 285 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 42 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 29 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 -82520.141 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 -82520.141

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 42 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 29 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 285 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 221111,162152,6645.708,-6002.138,181,99.0,181,-34.0 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 6.85 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo 1.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 221111,162152,6645.708,-6002.138,181,99.0,181,-34.0 MHEAD_RNG_PITCHd_Wd 246.1,30711,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 635

Post-dive calculations and measurements:

FREEZE 2.01,-0.170,-1.644,2,3,0 ALTIM_BOTTOM_PING 551.2,130.1

FINISH 2.0,1.024138 _24V_AH 22.6,36.091

SM_CCo 12077,81.07,0.087,0,0,441,501.15 _10V_AH 10.2,27.197

SM_GC 2.59,7.22,0.52,81.07,0.061,0.063,0.087,120,2508,441,-7.06,-0.88,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 848 FG_AHR_10Vo 0.000

RAFOS 2,1321993025,20.299999,20.284721,59,58,57,0,0,0,125,181,199,0,0,0 MEM 150252

RAFOS_FIX 6646.401367,-5959.785645,221111,202026,6,120,0.14 DATA_FILE_SIZE 43322,1131

IRIDIUM_FIX 6625.71,-6000.37,221111,131343 CAP_FILE_SIZE 117072,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,228200448

HUMID 56.49 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1454.5

TCM_TEMP 16.10 CURRENT 16.088, 45.2,1

XPDR_PINGS 6 GPS 221111,202826,6646.401,-5959.786,0,6120.3,0,-34.0

ALTIM_TOP_PING 19.9,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 169 37.04 SBE_CT 817 23 428.78

Roll_motor 42 68 66.01 SBE_O2 636 5 75.40

VBD_pump_during_apogee 388 1301 11427.44 nil 0 0 0.00

VBD_pump_during_surface 81 87 159.79 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 33.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 3124 18 596.37

LPSleep 6513 2 153.47

TT8_Active 522 18 99.75

TT8_Sampling 1931 41 826.00

TT8_CF8 166 47 81.27

TT8_Kalman 0 0 0.00

Analog_circuits 1509 12 184.80

GPS_charging 0 0 0.00

Compass 1910 6 131.36

RAFOS 1440 1 22.03

Transponder 16 30 4.97

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

17 -0.73 -146.0 0.0 0.0 0 26 0.00 0.00 -6.93 0.000 2 0.000 0.000 2442 2907 2279 0 0 0 0 0 0

28 -0.73 -146.0 8.4 0.0 1 63 0.75 1.75 -25.10 0.000 4 0.072 0.056 2169 1816 3083 0 0 0 0 0 0

228 -0.73 -146.0 40.5 -16.8 31 237 0.00 1.20 0.00 0.000 6 0.000 0.055 2164 2504 3085 0 0 0 0 0 0

570 -0.73 -146.0 94.8 -15.3 82 577 0.00 1.15 0.00 0.000 4 0.000 0.068 2159 3214 3085 0 0 0 0 0 0

829 -0.73 -146.0 134.6 -14.9 121 835 0.00 1.10 0.00 0.000 6 0.000 0.033 2159 2511 3085 0 0 0 0 0 0

1167 -0.73 -146.0 181.5 -12.9 172 1174 0.00 1.20 0.00 0.000 4 0.000 0.063 2155 3223 3085 0 0 0 0 0 0

1320 -0.73 -146.0 201.4 -13.4 195 1329 0.00 1.10 0.00 0.000 6 0.000 0.032 2154 2512 3085 0 0 0 0 0 0

1659 -0.73 -146.0 245.7 -12.8 246 1666 0.00 1.17 0.00 0.000 4 0.000 0.063 2150 3214 3085 0 0 0 0 0 0

1727 -0.73 -146.0 254.3 -13.1 254 1731 0.00 1.10 0.00 0.000 6 0.000 0.032 2150 2501 3085 0 0 0 0 0 0

2057 -0.73 -146.0 294.2 -11.7 280 2058 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2501 3085 0 0 0 0 0 0

2372 -0.73 -146.0 330.7 -11.3 305 2375 0.00 1.20 0.00 0.000 4 0.000 0.063 2145 3219 3084 0 0 0 0 0 0

2558 -0.73 -146.0 351.9 -11.5 319 2562 0.00 1.10 0.00 0.000 6 0.000 0.033 2145 2507 3084 0 0 0 0 0 0

2889 -0.73 -146.0 388.8 -11.1 345 2892 0.00 1.17 0.00 0.000 4 0.000 0.063 2141 3212 3084 0 0 0 0 0 0

2968 -0.73 -146.0 398.0 -11.3 351 2971 0.00 1.08 0.00 0.000 6 0.000 0.031 2141 2510 3084 0 0 0 0 0 0

3298 -0.73 -146.0 433.9 -10.9 377 3302 0.00 1.17 0.00 0.000 4 0.000 0.062 2137 3214 3085 0 0 0 0 0 0

3404 -0.73 -146.0 446.2 -11.5 385 3408 0.00 1.10 0.00 0.000 6 0.000 0.031 2136 2498 3084 0 0 0 0 0 0

3732 -0.73 -146.0 483.3 -11.4 411 3737 0.12 1.20 0.00 0.000 4 0.170 0.063 2164 3217 3085 0 0 0 0 0 0

3852 -0.73 -146.0 495.0 -9.6 420 3856 0.00 1.08 0.00 0.000 6 0.000 0.029 2164 2510 3085 0 0 0 0 0 0

4179 -0.73 -146.0 526.4 -9.7 433 4182 0.00 1.17 0.00 0.000 4 0.000 0.061 2159 3217 3086 0 0 0 0 0 0

4263 -0.73 -146.0 532.9 -9.7 435 4268 0.00 1.10 0.00 0.000 6 0.000 0.028 2159 2501 3085 0 0 0 0 0 0

4584 -0.73 -146.0 566.4 -9.9 446 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3086 0 0 0 0 0 0

4892 -0.73 -146.0 595.3 -9.3 456 4895 0.00 1.17 0.00 0.000 4 0.000 0.061 2154 3213 3086 0 0 0 0 0 0

5048 -0.73 -146.0 607.7 -9.3 460 5056 0.00 1.08 0.00 0.000 6 0.000 0.027 2155 2516 3086 0 0 0 0 0 0

5329 end dive: TARGET_DEPTH_EXCEEDED

state 5330 begin apogee

5336 -0.16 0.0 637.1 -9.2 470 5462 0.57 0.00 120.70 1.301 6 0.129 0.000 2341 2195 2485 0 0 0 0 0 0

5463 end apogee: CONTROL_FINISHED_OK

state 5463 begin climb

5465 0.73 146.0 640.5 0.0 474 5605 0.85 1.20 130.27 1.244 4 0.069 0.049 2635 1509 1888 0 0 0 0 0 0

5854 0.73 146.0 605.9 11.7 486 5859 0.00 1.23 0.00 0.000 6 0.000 0.041 2635 2214 1880 0 0 0 0 0 0

6189 0.73 146.0 567.9 11.2 497 6192 0.00 1.17 0.00 0.000 4 0.000 0.047 2640 1505 1879 0 0 0 0 0 0

6445 0.73 146.0 542.7 11.0 504 6453 0.00 1.17 0.00 0.000 6 0.000 0.044 2640 2204 1877 0 0 0 0 0 0

6760 0.73 146.0 504.8 11.2 515 6763 0.00 1.12 0.00 0.000 4 0.000 0.046 2644 1507 1877 0 0 0 0 0 0

6858 0.73 146.0 494.6 11.0 519 6867 0.00 1.15 0.00 0.000 6 0.000 0.045 2644 2204 1876 0 0 0 0 0 0

7182 0.73 146.0 458.7 10.9 545 7183 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2204 1876 0 0 0 0 0 0

7497 0.73 146.0 424.0 11.1 570 7498 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2204 1876 0 0 0 0 0 0

7813 0.73 146.0 390.0 10.6 595 7814 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2204 1876 0 0 0 0 0 0

8128 0.73 146.0 357.3 10.2 620 8129 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2204 1876 0 0 0 0 0 0

8443 0.73 146.0 325.4 10.0 645 8444 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2204 1876 0 0 0 0 0 0

8758 0.73 146.0 294.3 9.5 670 8761 0.00 1.12 0.00 0.000 4 0.000 0.046 2648 1501 1876 0 0 0 0 0 0

9014 0.73 146.0 269.9 9.6 689 9022 0.00 1.15 0.00 0.000 6 0.000 0.044 2648 2202 1876 0 0 0 0 0 0

9345 0.74 160.3 239.2 8.6 724 9364 0.00 1.12 11.23 0.995 4 0.000 0.046 2653 1508 1830 0 0 0 0 0 0

9452 0.75 163.0 229.5 9.1 740 9460 0.00 1.12 4.05 0.754 6 0.000 0.045 2652 2197 1820 0 0 0 0 0 0

9792 0.76 176.5 198.4 8.6 791 9807 0.00 0.00 13.12 0.995 6 0.000 0.000 2653 2197 1765 0 0 0 0 0 0

10139 0.76 176.5 166.6 9.2 843 10148 0.00 1.12 0.00 0.000 4 0.000 0.046 2657 1500 1763 0 0 0 0 0 0

10401 0.81 216.1 145.2 7.5 882 10443 0.00 1.15 34.70 1.008 6 0.000 0.044 2657 2205 1602 0 0 0 0 0 0

10775 0.81 216.4 111.8 9.2 938 10782 0.00 1.12 0.00 0.000 4 0.000 0.046 2661 1508 1597 0 0 0 0 0 0

10823 0.82 222.7 107.5 8.9 945 10836 0.00 1.15 5.78 0.835 6 0.000 0.044 2661 2206 1578 0 0 0 0 0 0

11167 0.85 251.1 78.6 8.0 997 11201 0.00 1.20 25.70 0.970 4 0.000 0.046 2665 1496 1460 0 0 0 0 0 0

11235 0.85 251.1 72.7 9.2 1007 11244 0.00 1.17 0.00 0.000 6 0.000 0.044 2665 2201 1458 0 0 0 0 0 0

11576 0.87 264.5 40.6 8.6 1058 11591 0.00 0.00 12.12 0.918 6 0.000 0.000 2665 2202 1405 0 0 0 0 0 0

11922 0.95 325.0 13.0 6.6 1110 11956 0.12 0.00 30.90 0.106 6 0.096 0.000 2716 2202 1159 0 0 0 0 0 0

12033 end climb: SURFACE_DEPTH_REACHED

state 12033 begin surface coast

12060 end surface coast: CONTROL_FINISHED_OK

state 12060 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	285	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	42	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	29	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	-82520.141	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	221111,162152,6645.708,-6002.138,181,99.0,181,-34.0	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	6.85	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	1.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	221111,162152,6645.708,-6002.138,181,99.0,181,-34.0	MHEAD_RNG_PITCHd_Wd	246.1,30711,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	635

FREEZE	2.01,-0.170,-1.644,2,3,0	ALTIM_BOTTOM_PING	551.2,130.1
FINISH	2.0,1.024138	_24V_AH	22.6,36.091
SM_CCo	12077,81.07,0.087,0,0,441,501.15	_10V_AH	10.2,27.197
SM_GC	2.59,7.22,0.52,81.07,0.061,0.063,0.087,120,2508,441,-7.06,-0.88,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	848	FG_AHR_10Vo	0.000
RAFOS	2,1321993025,20.299999,20.284721,59,58,57,0,0,0,125,181,199,0,0,0	MEM	150252
RAFOS_FIX	6646.401367,-5959.785645,221111,202026,6,120,0.14	DATA_FILE_SIZE	43322,1131
IRIDIUM_FIX	6625.71,-6000.37,221111,131343	CAP_FILE_SIZE	117072,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,228200448
HUMID	56.49	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1454.5
TCM_TEMP	16.10	CURRENT	16.088, 45.2,1
XPDR_PINGS	6	GPS	221111,202826,6646.401,-5959.786,0,6120.3,0,-34.0
ALTIM_TOP_PING	19.9,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	169	37.04	SBE_CT	817	23	428.78
Roll_motor	42	68	66.01	SBE_O2	636	5	75.40
VBD_pump_during_apogee	388	1301	11427.44	nil	0	0	0.00
VBD_pump_during_surface	81	87	159.79	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	33.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	3124	18	596.37
LPSleep	6513	2	153.47
TT8_Active	522	18	99.75
TT8_Sampling	1931	41	826.00
TT8_CF8	166	47	81.27
TT8_Kalman	0	0	0.00
Analog_circuits	1509	12	184.80
GPS_charging	0	0	0.00
Compass	1910	6	131.36
RAFOS	1440	1	22.03
Transponder	16	30	4.97

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
17	-0.73	-146.0	0.0	0.0	0	26	0.00	0.00	-6.93	0.000	2	0.000	0.000	2442	2907	2279	0	0	0	0	0	0
28	-0.73	-146.0	8.4	0.0	1	63	0.75	1.75	-25.10	0.000	4	0.072	0.056	2169	1816	3083	0	0	0	0	0	0
228	-0.73	-146.0	40.5	-16.8	31	237	0.00	1.20	0.00	0.000	6	0.000	0.055	2164	2504	3085	0	0	0	0	0	0
570	-0.73	-146.0	94.8	-15.3	82	577	0.00	1.15	0.00	0.000	4	0.000	0.068	2159	3214	3085	0	0	0	0	0	0
829	-0.73	-146.0	134.6	-14.9	121	835	0.00	1.10	0.00	0.000	6	0.000	0.033	2159	2511	3085	0	0	0	0	0	0
1167	-0.73	-146.0	181.5	-12.9	172	1174	0.00	1.20	0.00	0.000	4	0.000	0.063	2155	3223	3085	0	0	0	0	0	0
1320	-0.73	-146.0	201.4	-13.4	195	1329	0.00	1.10	0.00	0.000	6	0.000	0.032	2154	2512	3085	0	0	0	0	0	0
1659	-0.73	-146.0	245.7	-12.8	246	1666	0.00	1.17	0.00	0.000	4	0.000	0.063	2150	3214	3085	0	0	0	0	0	0
1727	-0.73	-146.0	254.3	-13.1	254	1731	0.00	1.10	0.00	0.000	6	0.000	0.032	2150	2501	3085	0	0	0	0	0	0
2057	-0.73	-146.0	294.2	-11.7	280	2058	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2501	3085	0	0	0	0	0	0
2372	-0.73	-146.0	330.7	-11.3	305	2375	0.00	1.20	0.00	0.000	4	0.000	0.063	2145	3219	3084	0	0	0	0	0	0
2558	-0.73	-146.0	351.9	-11.5	319	2562	0.00	1.10	0.00	0.000	6	0.000	0.033	2145	2507	3084	0	0	0	0	0	0
2889	-0.73	-146.0	388.8	-11.1	345	2892	0.00	1.17	0.00	0.000	4	0.000	0.063	2141	3212	3084	0	0	0	0	0	0
2968	-0.73	-146.0	398.0	-11.3	351	2971	0.00	1.08	0.00	0.000	6	0.000	0.031	2141	2510	3084	0	0	0	0	0	0
3298	-0.73	-146.0	433.9	-10.9	377	3302	0.00	1.17	0.00	0.000	4	0.000	0.062	2137	3214	3085	0	0	0	0	0	0
3404	-0.73	-146.0	446.2	-11.5	385	3408	0.00	1.10	0.00	0.000	6	0.000	0.031	2136	2498	3084	0	0	0	0	0	0
3732	-0.73	-146.0	483.3	-11.4	411	3737	0.12	1.20	0.00	0.000	4	0.170	0.063	2164	3217	3085	0	0	0	0	0	0
3852	-0.73	-146.0	495.0	-9.6	420	3856	0.00	1.08	0.00	0.000	6	0.000	0.029	2164	2510	3085	0	0	0	0	0	0
4179	-0.73	-146.0	526.4	-9.7	433	4182	0.00	1.17	0.00	0.000	4	0.000	0.061	2159	3217	3086	0	0	0	0	0	0
4263	-0.73	-146.0	532.9	-9.7	435	4268	0.00	1.10	0.00	0.000	6	0.000	0.028	2159	2501	3085	0	0	0	0	0	0
4584	-0.73	-146.0	566.4	-9.9	446	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3086	0	0	0	0	0	0
4892	-0.73	-146.0	595.3	-9.3	456	4895	0.00	1.17	0.00	0.000	4	0.000	0.061	2154	3213	3086	0	0	0	0	0	0
5048	-0.73	-146.0	607.7	-9.3	460	5056	0.00	1.08	0.00	0.000	6	0.000	0.027	2155	2516	3086	0	0	0	0	0	0
5329	end dive: TARGET_DEPTH_EXCEEDED
state	5330	begin apogee
5336	-0.16	0.0	637.1	-9.2	470	5462	0.57	0.00	120.70	1.301	6	0.129	0.000	2341	2195	2485	0	0	0	0	0	0
5463	end apogee: CONTROL_FINISHED_OK
state	5463	begin climb
5465	0.73	146.0	640.5	0.0	474	5605	0.85	1.20	130.27	1.244	4	0.069	0.049	2635	1509	1888	0	0	0	0	0	0
5854	0.73	146.0	605.9	11.7	486	5859	0.00	1.23	0.00	0.000	6	0.000	0.041	2635	2214	1880	0	0	0	0	0	0
6189	0.73	146.0	567.9	11.2	497	6192	0.00	1.17	0.00	0.000	4	0.000	0.047	2640	1505	1879	0	0	0	0	0	0
6445	0.73	146.0	542.7	11.0	504	6453	0.00	1.17	0.00	0.000	6	0.000	0.044	2640	2204	1877	0	0	0	0	0	0
6760	0.73	146.0	504.8	11.2	515	6763	0.00	1.12	0.00	0.000	4	0.000	0.046	2644	1507	1877	0	0	0	0	0	0
6858	0.73	146.0	494.6	11.0	519	6867	0.00	1.15	0.00	0.000	6	0.000	0.045	2644	2204	1876	0	0	0	0	0	0
7182	0.73	146.0	458.7	10.9	545	7183	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2204	1876	0	0	0	0	0	0
7497	0.73	146.0	424.0	11.1	570	7498	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2204	1876	0	0	0	0	0	0
7813	0.73	146.0	390.0	10.6	595	7814	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2204	1876	0	0	0	0	0	0
8128	0.73	146.0	357.3	10.2	620	8129	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2204	1876	0	0	0	0	0	0
8443	0.73	146.0	325.4	10.0	645	8444	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2204	1876	0	0	0	0	0	0
8758	0.73	146.0	294.3	9.5	670	8761	0.00	1.12	0.00	0.000	4	0.000	0.046	2648	1501	1876	0	0	0	0	0	0
9014	0.73	146.0	269.9	9.6	689	9022	0.00	1.15	0.00	0.000	6	0.000	0.044	2648	2202	1876	0	0	0	0	0	0
9345	0.74	160.3	239.2	8.6	724	9364	0.00	1.12	11.23	0.995	4	0.000	0.046	2653	1508	1830	0	0	0	0	0	0
9452	0.75	163.0	229.5	9.1	740	9460	0.00	1.12	4.05	0.754	6	0.000	0.045	2652	2197	1820	0	0	0	0	0	0
9792	0.76	176.5	198.4	8.6	791	9807	0.00	0.00	13.12	0.995	6	0.000	0.000	2653	2197	1765	0	0	0	0	0	0
10139	0.76	176.5	166.6	9.2	843	10148	0.00	1.12	0.00	0.000	4	0.000	0.046	2657	1500	1763	0	0	0	0	0	0
10401	0.81	216.1	145.2	7.5	882	10443	0.00	1.15	34.70	1.008	6	0.000	0.044	2657	2205	1602	0	0	0	0	0	0
10775	0.81	216.4	111.8	9.2	938	10782	0.00	1.12	0.00	0.000	4	0.000	0.046	2661	1508	1597	0	0	0	0	0	0
10823	0.82	222.7	107.5	8.9	945	10836	0.00	1.15	5.78	0.835	6	0.000	0.044	2661	2206	1578	0	0	0	0	0	0
11167	0.85	251.1	78.6	8.0	997	11201	0.00	1.20	25.70	0.970	4	0.000	0.046	2665	1496	1460	0	0	0	0	0	0
11235	0.85	251.1	72.7	9.2	1007	11244	0.00	1.17	0.00	0.000	6	0.000	0.044	2665	2201	1458	0	0	0	0	0	0
11576	0.87	264.5	40.6	8.6	1058	11591	0.00	0.00	12.12	0.918	6	0.000	0.000	2665	2202	1405	0	0	0	0	0	0
11922	0.95	325.0	13.0	6.6	1110	11956	0.12	0.00	30.90	0.106	6	0.096	0.000	2716	2202	1159	0	0	0	0	0	0
12033	end climb: SURFACE_DEPTH_REACHED
state	12033	begin surface coast
12060	end surface coast: CONTROL_FINISHED_OK
state	12060	begin surface