Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 105 * 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 105 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 112 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 990 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 350 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 27 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 330 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 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 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 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80647.641 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 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 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 350

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 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 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 330

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 -80647.641

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 -3

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 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 27 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 105 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 112 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 211011,002229,6657.398,-5732.714,44,0.7,44,-33.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211011,002812,6657.381,-5732.567,17,1.2,18,-33.6 MHEAD_RNG_PITCHd_Wd 267.9,129274,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 805

Post-dive calculations and measurements:

FINISH 1.7,1.009279 _24V_AH 22.9,13.351

SM_CCo 13657,63.20,0.084,0,0,1057,350.04 _10V_AH 10.2,11.105

SM_GC 2.63,6.97,0.60,63.20,0.055,0.061,0.084,122,2514,1057,-7.07,-0.65,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 889 FG_AHR_10Vo 0.000

RAFOS 2,1319156223,0.300000,0.284167,62,62,56,0,0,0,204,216,178,0,0,0 MEM 150224

RAFOS_FIX 6655.076660,-5716.812012,201011,202056,2,94,11.11 DATA_FILE_SIZE 43365,1134

IRIDIUM_FIX 6631.12,-5731.73,201011,202003 CAP_FILE_SIZE 121496,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,240746496

HUMID 58.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1456.6

TCM_TEMP 16.30 CURRENT 0.146, 67.9,1

XPDR_PINGS 22 GPS 211011,041929,6656.398,-5735.035,76,0.8,76,-33.5

ALTIM_BOTTOM_PING 750.8,106.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 263 103.80 SBE_CT 816 23 434.06

Roll_motor 37 73 63.82 SBE_O2 630 5 75.69

VBD_pump_during_apogee 310 1376 9777.77 nil 0 0 0.00

VBD_pump_during_surface 63 84 121.79 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 233 253 1352.90 nil 0 0 0.00

Transponder_ping 8 420 81.75 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.09

TT8 3143 18 599.90

LPSleep 8087 2 190.56

TT8_Active 505 18 96.43

TT8_Sampling 2133 41 912.46

TT8_CF8 202 47 99.01

TT8_Kalman 0 0 0.00

Analog_circuits 1721 12 210.70

GPS_charging 0 0 0.00

Compass 1879 6 129.18

RAFOS 1800 1 27.54

Transponder 24 30 7.56

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

16 -0.77 -146.0 0.0 0.0 0 82 0.00 0.00 -63.47 0.000 2 0.000 0.000 121 2520 1960 0 0 0 0 0 0

85 -0.77 -146.0 3.1 -1.0 10 155 8.50 0.00 -54.12 0.000 6 0.264 0.000 2144 2520 3082 0 0 0 0 0 0

486 -0.77 -146.0 67.9 -15.9 70 492 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2520 3085 0 0 0 0 0 0

822 -0.77 -146.0 119.5 -15.3 121 828 0.00 1.12 0.00 0.000 4 0.000 0.073 2141 3214 3085 0 0 0 0 0 0

928 -0.77 -146.0 135.6 -15.4 137 935 0.00 1.12 0.00 0.000 6 0.000 0.037 2140 2498 3085 0 0 0 0 0 0

1267 -0.77 -146.0 184.0 -14.2 188 1273 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2498 3085 0 0 0 0 0 0

1604 -0.77 -146.0 228.0 -12.5 239 1612 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2498 3085 0 0 0 0 0 0

1941 -0.77 -146.0 273.0 -13.7 278 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2498 3085 0 0 0 0 0 0

2258 -0.77 -146.0 315.9 -13.4 303 2260 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2498 3084 0 0 0 0 0 0

2576 -0.77 -146.0 355.7 -11.8 328 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2498 3084 0 0 0 0 0 0

2888 -0.77 -146.0 393.3 -11.4 353 2889 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2498 3085 0 0 0 0 0 0

3204 -0.77 -146.0 431.7 -12.4 378 3208 0.00 1.17 0.00 0.000 4 0.000 0.067 2136 3206 3084 0 0 0 0 0 0

3296 -0.77 -146.0 443.4 -12.8 385 3300 0.00 1.08 0.00 0.000 6 0.000 0.035 2136 2508 3084 0 0 0 0 0 0

3625 -0.77 -146.0 482.1 -11.6 411 3626 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2508 3084 0 0 0 0 0 0

3960 -0.77 -146.0 522.3 -11.8 429 3963 0.00 1.08 0.00 0.000 4 0.000 0.047 2136 1816 3084 0 0 0 0 0 0

4017 -0.77 -146.0 526.3 -11.9 430 4025 0.00 1.20 0.00 0.000 6 0.000 0.057 2132 2513 3084 0 0 0 0 0 0

4332 -0.77 -146.0 566.3 -12.0 441 4333 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2513 3085 0 0 0 0 0 0

4638 -0.77 -146.0 603.1 -11.8 451 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2513 3085 0 0 0 0 0 0

4944 -0.77 -146.0 639.8 -12.1 461 4947 0.00 1.10 0.00 0.000 4 0.000 0.070 2126 3211 3085 0 0 0 0 0 0

5028 -0.77 -146.0 647.8 -12.0 463 5033 0.00 1.10 0.00 0.000 6 0.000 0.034 2126 2503 3085 0 0 0 0 0 0

5348 -0.77 -146.0 689.3 -12.3 474 5350 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2503 3085 0 0 0 0 0 0

5657 -0.77 -146.0 725.6 -11.9 484 5661 0.00 1.17 0.00 0.000 4 0.000 0.067 2121 3214 3085 0 0 0 0 0 0

5735 -0.77 -146.0 734.1 -12.1 486 5741 0.12 1.10 0.00 0.000 6 0.179 0.034 2150 2501 3085 0 0 0 0 0 0

6062 -0.77 -146.0 770.0 -10.5 497 6063 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2501 3085 0 0 0 0 0 0

6369 -0.77 -146.0 801.6 -10.2 507 6373 0.00 1.17 0.00 0.000 4 0.000 0.067 2148 3213 3085 0 0 0 0 0 0

6402 end dive: TARGET_DEPTH_EXCEEDED

state 6402 begin apogee

6409 -0.16 0.0 805.2 -10.3 508 6536 0.60 0.00 121.72 1.376 6 0.137 0.000 2342 2204 2485 0 0 0 0 0 0

6537 end apogee: CONTROL_FINISHED_OK

state 6537 begin climb

6539 0.77 146.0 810.7 0.0 512 6676 0.88 1.25 129.20 1.320 4 0.071 0.053 2648 1499 1888 0 0 0 0 0 0

6893 0.77 146.0 780.8 12.5 522 6898 0.00 1.25 0.00 0.000 6 0.000 0.049 2648 2207 1880 0 0 0 0 0 0

7214 0.77 146.0 737.9 12.6 533 7217 0.00 1.17 0.00 0.000 4 0.000 0.059 2648 2905 1878 0 0 0 0 0 0

7418 0.77 146.0 712.0 13.0 539 7422 0.00 1.17 0.00 0.000 6 0.000 0.042 2652 2208 1876 0 0 0 0 0 0

7750 0.77 146.0 668.0 12.9 550 7752 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2208 1876 0 0 0 0 0 0

8058 0.77 146.0 626.7 13.6 560 8062 0.00 1.20 0.00 0.000 4 0.000 0.055 2652 2906 1875 0 0 0 0 0 0

8142 0.77 146.0 617.5 13.7 562 8147 0.00 1.20 0.00 0.000 6 0.000 0.040 2657 2188 1875 0 0 0 0 0 0

8463 0.77 146.0 571.9 13.3 573 8464 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2188 1875 0 0 0 0 0 0

8769 0.77 146.0 533.4 12.4 583 8770 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2188 1875 0 0 0 0 0 0

9083 0.77 146.0 493.6 12.7 595 9084 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2188 1874 0 0 0 0 0 0

9399 0.77 146.0 453.2 12.9 620 9403 0.00 1.23 0.00 0.000 4 0.000 0.057 2657 2910 1874 0 0 0 0 0 0

9586 0.77 146.0 429.2 12.4 634 9590 0.00 1.15 0.00 0.000 6 0.000 0.041 2662 2203 1874 0 0 0 0 0 0

9918 0.77 146.0 388.8 11.8 660 9919 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2203 1874 0 0 0 0 0 0

10231 0.77 146.0 351.3 11.9 685 10234 0.00 1.20 0.00 0.000 4 0.000 0.055 2662 2914 1874 0 0 0 0 0 0

10336 0.77 146.0 338.3 12.2 693 10340 0.00 1.17 0.00 0.000 6 0.000 0.040 2667 2186 1874 0 0 0 0 0 0

10667 0.77 146.0 298.6 12.1 719 10670 0.00 1.05 0.00 0.000 4 0.000 0.054 2672 1497 1874 0 0 0 0 0 0

10764 0.77 146.0 287.6 11.5 726 10772 0.00 1.17 0.00 0.000 6 0.000 0.049 2672 2209 1873 0 0 0 0 0 0

11091 0.77 146.0 250.4 11.3 752 11095 0.00 1.10 0.00 0.000 4 0.000 0.059 2671 2897 1874 0 0 0 0 0 0

11302 0.77 146.0 225.7 11.0 783 11311 0.00 1.12 0.00 0.000 6 0.000 0.041 2677 2200 1873 0 0 0 0 0 0

11642 0.77 146.0 188.6 10.7 834 11649 0.00 1.08 0.00 0.000 4 0.000 0.054 2682 1496 1874 0 0 0 0 0 0

11803 0.77 149.9 172.2 9.8 858 11810 0.10 1.15 0.00 0.000 6 0.163 0.051 2652 2205 1873 0 0 0 0 0 0

12142 0.80 168.0 141.3 9.2 909 12164 0.00 1.20 17.20 0.965 4 0.000 0.051 2655 1492 1799 0 0 0 0 0 0

12293 0.82 185.8 127.5 9.2 931 12315 0.00 1.15 16.23 0.943 6 0.000 0.050 2655 2195 1727 0 0 0 0 0 0

12646 0.82 185.8 91.8 10.5 984 12653 0.00 1.15 0.00 0.000 4 0.000 0.057 2655 2902 1724 0 0 0 0 0 0

12904 0.82 185.8 65.2 10.9 1023 12913 0.00 1.15 0.00 0.000 6 0.000 0.041 2660 2201 1723 0 0 0 0 0 0

13245 0.86 217.1 35.4 8.6 1074 13277 0.00 0.00 25.90 0.920 6 0.000 0.000 2660 2201 1598 0 0 0 0 0 0

13606 end climb: SURFACE_DEPTH_REACHED

state 13606 begin surface coast

13640 end surface coast: CONTROL_FINISHED_OK

state 13640 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	105	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	112	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	990	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	350	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	27	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	330	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	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	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	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80647.641	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	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	211011,002229,6657.398,-5732.714,44,0.7,44,-33.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211011,002812,6657.381,-5732.567,17,1.2,18,-33.6	MHEAD_RNG_PITCHd_Wd	267.9,129274,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	805

FINISH	1.7,1.009279	_24V_AH	22.9,13.351
SM_CCo	13657,63.20,0.084,0,0,1057,350.04	_10V_AH	10.2,11.105
SM_GC	2.63,6.97,0.60,63.20,0.055,0.061,0.084,122,2514,1057,-7.07,-0.65,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	889	FG_AHR_10Vo	0.000
RAFOS	2,1319156223,0.300000,0.284167,62,62,56,0,0,0,204,216,178,0,0,0	MEM	150224
RAFOS_FIX	6655.076660,-5716.812012,201011,202056,2,94,11.11	DATA_FILE_SIZE	43365,1134
IRIDIUM_FIX	6631.12,-5731.73,201011,202003	CAP_FILE_SIZE	121496,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,240746496
HUMID	58.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1456.6
TCM_TEMP	16.30	CURRENT	0.146, 67.9,1
XPDR_PINGS	22	GPS	211011,041929,6656.398,-5735.035,76,0.8,76,-33.5
ALTIM_BOTTOM_PING	750.8,106.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	263	103.80	SBE_CT	816	23	434.06
Roll_motor	37	73	63.82	SBE_O2	630	5	75.69
VBD_pump_during_apogee	310	1376	9777.77	nil	0	0	0.00
VBD_pump_during_surface	63	84	121.79	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	233	253	1352.90	nil	0	0	0.00
Transponder_ping	8	420	81.75	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.09
TT8	3143	18	599.90
LPSleep	8087	2	190.56
TT8_Active	505	18	96.43
TT8_Sampling	2133	41	912.46
TT8_CF8	202	47	99.01
TT8_Kalman	0	0	0.00
Analog_circuits	1721	12	210.70
GPS_charging	0	0	0.00
Compass	1879	6	129.18
RAFOS	1800	1	27.54
Transponder	24	30	7.56

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
16	-0.77	-146.0	0.0	0.0	0	82	0.00	0.00	-63.47	0.000	2	0.000	0.000	121	2520	1960	0	0	0	0	0	0
85	-0.77	-146.0	3.1	-1.0	10	155	8.50	0.00	-54.12	0.000	6	0.264	0.000	2144	2520	3082	0	0	0	0	0	0
486	-0.77	-146.0	67.9	-15.9	70	492	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2520	3085	0	0	0	0	0	0
822	-0.77	-146.0	119.5	-15.3	121	828	0.00	1.12	0.00	0.000	4	0.000	0.073	2141	3214	3085	0	0	0	0	0	0
928	-0.77	-146.0	135.6	-15.4	137	935	0.00	1.12	0.00	0.000	6	0.000	0.037	2140	2498	3085	0	0	0	0	0	0
1267	-0.77	-146.0	184.0	-14.2	188	1273	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2498	3085	0	0	0	0	0	0
1604	-0.77	-146.0	228.0	-12.5	239	1612	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2498	3085	0	0	0	0	0	0
1941	-0.77	-146.0	273.0	-13.7	278	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2498	3085	0	0	0	0	0	0
2258	-0.77	-146.0	315.9	-13.4	303	2260	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2498	3084	0	0	0	0	0	0
2576	-0.77	-146.0	355.7	-11.8	328	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2498	3084	0	0	0	0	0	0
2888	-0.77	-146.0	393.3	-11.4	353	2889	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2498	3085	0	0	0	0	0	0
3204	-0.77	-146.0	431.7	-12.4	378	3208	0.00	1.17	0.00	0.000	4	0.000	0.067	2136	3206	3084	0	0	0	0	0	0
3296	-0.77	-146.0	443.4	-12.8	385	3300	0.00	1.08	0.00	0.000	6	0.000	0.035	2136	2508	3084	0	0	0	0	0	0
3625	-0.77	-146.0	482.1	-11.6	411	3626	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2508	3084	0	0	0	0	0	0
3960	-0.77	-146.0	522.3	-11.8	429	3963	0.00	1.08	0.00	0.000	4	0.000	0.047	2136	1816	3084	0	0	0	0	0	0
4017	-0.77	-146.0	526.3	-11.9	430	4025	0.00	1.20	0.00	0.000	6	0.000	0.057	2132	2513	3084	0	0	0	0	0	0
4332	-0.77	-146.0	566.3	-12.0	441	4333	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2513	3085	0	0	0	0	0	0
4638	-0.77	-146.0	603.1	-11.8	451	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2513	3085	0	0	0	0	0	0
4944	-0.77	-146.0	639.8	-12.1	461	4947	0.00	1.10	0.00	0.000	4	0.000	0.070	2126	3211	3085	0	0	0	0	0	0
5028	-0.77	-146.0	647.8	-12.0	463	5033	0.00	1.10	0.00	0.000	6	0.000	0.034	2126	2503	3085	0	0	0	0	0	0
5348	-0.77	-146.0	689.3	-12.3	474	5350	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2503	3085	0	0	0	0	0	0
5657	-0.77	-146.0	725.6	-11.9	484	5661	0.00	1.17	0.00	0.000	4	0.000	0.067	2121	3214	3085	0	0	0	0	0	0
5735	-0.77	-146.0	734.1	-12.1	486	5741	0.12	1.10	0.00	0.000	6	0.179	0.034	2150	2501	3085	0	0	0	0	0	0
6062	-0.77	-146.0	770.0	-10.5	497	6063	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2501	3085	0	0	0	0	0	0
6369	-0.77	-146.0	801.6	-10.2	507	6373	0.00	1.17	0.00	0.000	4	0.000	0.067	2148	3213	3085	0	0	0	0	0	0
6402	end dive: TARGET_DEPTH_EXCEEDED
state	6402	begin apogee
6409	-0.16	0.0	805.2	-10.3	508	6536	0.60	0.00	121.72	1.376	6	0.137	0.000	2342	2204	2485	0	0	0	0	0	0
6537	end apogee: CONTROL_FINISHED_OK
state	6537	begin climb
6539	0.77	146.0	810.7	0.0	512	6676	0.88	1.25	129.20	1.320	4	0.071	0.053	2648	1499	1888	0	0	0	0	0	0
6893	0.77	146.0	780.8	12.5	522	6898	0.00	1.25	0.00	0.000	6	0.000	0.049	2648	2207	1880	0	0	0	0	0	0
7214	0.77	146.0	737.9	12.6	533	7217	0.00	1.17	0.00	0.000	4	0.000	0.059	2648	2905	1878	0	0	0	0	0	0
7418	0.77	146.0	712.0	13.0	539	7422	0.00	1.17	0.00	0.000	6	0.000	0.042	2652	2208	1876	0	0	0	0	0	0
7750	0.77	146.0	668.0	12.9	550	7752	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2208	1876	0	0	0	0	0	0
8058	0.77	146.0	626.7	13.6	560	8062	0.00	1.20	0.00	0.000	4	0.000	0.055	2652	2906	1875	0	0	0	0	0	0
8142	0.77	146.0	617.5	13.7	562	8147	0.00	1.20	0.00	0.000	6	0.000	0.040	2657	2188	1875	0	0	0	0	0	0
8463	0.77	146.0	571.9	13.3	573	8464	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2188	1875	0	0	0	0	0	0
8769	0.77	146.0	533.4	12.4	583	8770	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2188	1875	0	0	0	0	0	0
9083	0.77	146.0	493.6	12.7	595	9084	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2188	1874	0	0	0	0	0	0
9399	0.77	146.0	453.2	12.9	620	9403	0.00	1.23	0.00	0.000	4	0.000	0.057	2657	2910	1874	0	0	0	0	0	0
9586	0.77	146.0	429.2	12.4	634	9590	0.00	1.15	0.00	0.000	6	0.000	0.041	2662	2203	1874	0	0	0	0	0	0
9918	0.77	146.0	388.8	11.8	660	9919	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2203	1874	0	0	0	0	0	0
10231	0.77	146.0	351.3	11.9	685	10234	0.00	1.20	0.00	0.000	4	0.000	0.055	2662	2914	1874	0	0	0	0	0	0
10336	0.77	146.0	338.3	12.2	693	10340	0.00	1.17	0.00	0.000	6	0.000	0.040	2667	2186	1874	0	0	0	0	0	0
10667	0.77	146.0	298.6	12.1	719	10670	0.00	1.05	0.00	0.000	4	0.000	0.054	2672	1497	1874	0	0	0	0	0	0
10764	0.77	146.0	287.6	11.5	726	10772	0.00	1.17	0.00	0.000	6	0.000	0.049	2672	2209	1873	0	0	0	0	0	0
11091	0.77	146.0	250.4	11.3	752	11095	0.00	1.10	0.00	0.000	4	0.000	0.059	2671	2897	1874	0	0	0	0	0	0
11302	0.77	146.0	225.7	11.0	783	11311	0.00	1.12	0.00	0.000	6	0.000	0.041	2677	2200	1873	0	0	0	0	0	0
11642	0.77	146.0	188.6	10.7	834	11649	0.00	1.08	0.00	0.000	4	0.000	0.054	2682	1496	1874	0	0	0	0	0	0
11803	0.77	149.9	172.2	9.8	858	11810	0.10	1.15	0.00	0.000	6	0.163	0.051	2652	2205	1873	0	0	0	0	0	0
12142	0.80	168.0	141.3	9.2	909	12164	0.00	1.20	17.20	0.965	4	0.000	0.051	2655	1492	1799	0	0	0	0	0	0
12293	0.82	185.8	127.5	9.2	931	12315	0.00	1.15	16.23	0.943	6	0.000	0.050	2655	2195	1727	0	0	0	0	0	0
12646	0.82	185.8	91.8	10.5	984	12653	0.00	1.15	0.00	0.000	4	0.000	0.057	2655	2902	1724	0	0	0	0	0	0
12904	0.82	185.8	65.2	10.9	1023	12913	0.00	1.15	0.00	0.000	6	0.000	0.041	2660	2201	1723	0	0	0	0	0	0
13245	0.86	217.1	35.4	8.6	1074	13277	0.00	0.00	25.90	0.920	6	0.000	0.000	2660	2201	1598	0	0	0	0	0	0
13606	end climb: SURFACE_DEPTH_REACHED
state	13606	begin surface coast
13640	end surface coast: CONTROL_FINISHED_OK
state	13640	begin surface