Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 160 * 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 160 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 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 300 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 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 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80717.219 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 300

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 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 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 -80717.219

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 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 39 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 23 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 160 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 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 311011,125335,6648.847,-6002.260,33,0.7,33,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.80 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -71.7 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 311011,125825,6648.806,-6002.226,20,0.8,20,-33.9 MHEAD_RNG_PITCHd_Wd 283.7,19538,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 657

Post-dive calculations and measurements:

FINISH 1.8,1.016052 _24V_AH 22.7,20.405

SM_CCo 12250,11.20,0.089,0,0,1261,300.00 _10V_AH 10.3,16.068

SM_GC 4.07,6.97,0.57,11.20,0.049,0.054,0.089,123,2514,1261,-7.06,-0.88,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 804 FG_AHR_10Vo 0.000

RAFOS 6,1320065341,12.833333,12.816944,67,65,62,0,0,0,796,194,205,0,0,0 MEM 150316

RAFOS_FIX 6647.121094,-5956.505371,311011,121216,7,104,0.00 DATA_FILE_SIZE 43364,1116

IRIDIUM_FIX 6620.33,-6003.10,311011,090926 CAP_FILE_SIZE 118417,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 260165632,236900352

HUMID 57.91 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1451.4

TCM_TEMP 16.30 CURRENT 0.352,358.9,1

XPDR_PINGS 15 GPS 311011,162521,6650.461,-6007.788,56,2.0,56,-34.0

ALTIM_BOTTOM_PING 650.9,51.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 257 99.48 SBE_CT 809 23 426.76

Roll_motor 42 99 96.06 SBE_O2 620 5 73.78

VBD_pump_during_apogee 346 1321 10390.88 nil 0 0 0.00

VBD_pump_during_surface 11 88 22.56 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 176 261 1044.41 nil 0 0 0.00

Transponder_ping 6 420 57.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.77

TT8 3056 18 588.96

LPSleep 6729 2 160.11

TT8_Active 504 18 97.13

TT8_Sampling 2086 41 901.21

TT8_CF8 200 47 98.97

TT8_Kalman 0 0 0.00

Analog_circuits 1675 12 207.06

GPS_charging 0 0 0.00

Compass 1887 6 131.03

RAFOS 1080 1 16.69

Transponder 17 30 5.54

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 44 0.00 0.00 -26.25 0.000 2 0.000 0.000 116 2511 1614 0 0 0 0 0 0

47 -0.73 -146.0 3.1 -1.7 4 149 8.50 1.17 -86.28 0.000 4 0.257 0.099 2155 3213 3082 0 0 0 0 0 0

323 -0.73 -146.0 40.8 -17.7 45 332 0.00 1.10 0.00 0.000 6 0.000 0.037 2155 2512 3084 0 0 0 0 0 0

663 -0.73 -146.0 92.2 -15.1 96 670 0.00 1.17 0.00 0.000 4 0.000 0.068 2150 3211 3084 0 0 0 0 0 0

742 -0.73 -146.0 104.8 -16.1 108 749 0.00 1.10 0.00 0.000 6 0.000 0.035 2150 2505 3084 0 0 0 0 0 0

1080 -0.73 -146.0 153.0 -12.6 159 1087 0.00 1.17 0.00 0.000 4 0.000 0.068 2146 3207 3084 0 0 0 0 0 0

1120 -0.73 -146.0 158.1 -12.6 165 1129 0.00 1.08 0.00 0.000 6 0.000 0.036 2146 2514 3084 0 0 0 0 0 0

1458 -0.73 -146.0 201.8 -12.6 216 1464 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2514 3084 0 0 0 0 0 0

1797 -0.73 -146.0 245.6 -12.7 267 1803 0.00 1.17 0.00 0.000 4 0.000 0.069 2141 3214 3084 0 0 0 0 0 0

1891 -0.73 -146.0 257.8 -12.8 277 1895 0.00 1.10 0.00 0.000 6 0.000 0.036 2141 2504 3084 0 0 0 0 0 0

2222 -0.73 -146.0 300.5 -12.7 303 2226 0.00 1.17 0.00 0.000 4 0.000 0.068 2137 3209 3083 0 0 0 0 0 0

2306 -0.73 -146.0 310.9 -12.7 309 2317 0.12 1.10 0.00 0.000 6 0.171 0.034 2166 2505 3084 0 0 0 0 0 0

2630 -0.73 -146.0 348.1 -11.4 335 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2505 3084 0 0 0 0 0 0

2947 -0.73 -146.0 384.1 -11.3 360 2950 0.00 1.17 0.00 0.000 4 0.000 0.067 2163 3213 3084 0 0 0 0 0 0

2991 -0.73 -146.0 388.7 -11.3 363 2999 0.00 1.10 0.00 0.000 6 0.000 0.032 2163 2504 3084 0 0 0 0 0 0

3316 -0.73 -146.0 424.9 -10.9 389 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2504 3084 0 0 0 0 0 0

3631 -0.73 -146.0 457.6 -10.5 414 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2504 3084 0 0 0 0 0 0

3946 -0.73 -146.0 489.6 -10.1 439 3950 0.00 1.17 0.00 0.000 4 0.000 0.067 2158 3211 3084 0 0 0 0 0 0

4062 -0.73 -146.0 500.9 -10.5 447 4067 0.00 1.10 0.00 0.000 6 0.000 0.031 2158 2501 3084 0 0 0 0 0 0

4385 -0.73 -146.0 533.2 -9.7 458 4388 0.00 1.17 0.00 0.000 4 0.000 0.065 2154 3213 3084 0 0 0 0 0 0

4442 -0.73 -146.0 536.7 -9.8 459 4450 0.00 1.10 0.00 0.000 6 0.000 0.031 2154 2499 3085 0 0 0 0 0 0

4758 -0.73 -146.0 568.4 -8.7 470 4762 0.00 1.17 0.00 0.000 4 0.000 0.065 2149 3213 3085 0 0 0 0 0 0

4862 -0.73 -146.0 577.3 -8.8 473 4867 0.00 1.08 0.00 0.000 6 0.000 0.031 2149 2499 3085 0 0 0 0 0 0

5196 -0.73 -146.0 613.6 -11.5 484 5197 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2499 3085 0 0 0 0 0 0

5504 -0.73 -146.0 642.8 -9.5 494 5507 0.00 1.17 0.00 0.000 4 0.000 0.064 2144 3213 3086 0 0 0 0 0 0

5561 -0.73 -146.0 646.9 -10.1 495 5572 0.00 1.10 0.00 0.000 6 0.000 0.031 2144 2500 3086 0 0 0 0 0 0

5629 end dive: TARGET_DEPTH_EXCEEDED

state 5630 begin apogee

5635 -0.16 0.0 658.4 -12.2 498 5762 0.62 0.00 120.03 1.322 6 0.138 0.000 2344 2199 2485 0 0 0 0 0 0

5763 end apogee: CONTROL_FINISHED_OK

state 5763 begin climb

5765 0.73 146.0 666.6 0.0 502 5901 0.82 1.17 128.43 1.268 4 0.064 0.046 2635 1504 1889 0 0 0 0 0 0

6151 0.73 146.0 639.9 11.9 514 6156 0.00 1.23 0.00 0.000 6 0.000 0.047 2635 2205 1880 0 0 0 0 0 0

6478 0.73 146.0 599.9 11.0 525 6479 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2205 1878 0 0 0 0 0 0

6784 0.73 146.0 564.5 10.2 535 6786 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2205 1877 0 0 0 0 0 0

7091 0.73 146.0 531.9 11.5 545 7094 0.00 1.15 0.00 0.000 4 0.000 0.056 2635 2911 1877 0 0 0 0 0 0

7190 0.73 146.0 519.8 12.1 548 7193 0.00 1.15 0.00 0.000 6 0.000 0.036 2640 2204 1876 0 0 0 0 0 0

7516 0.73 146.0 482.9 10.5 565 7520 0.00 1.20 0.00 0.000 4 0.000 0.053 2640 2910 1876 0 0 0 0 0 0

7600 0.73 146.0 474.2 10.7 571 7608 0.00 1.17 0.00 0.000 6 0.000 0.035 2645 2194 1876 0 0 0 0 0 0

7925 0.73 146.0 440.8 10.4 597 7926 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2194 1876 0 0 0 0 0 0

8240 0.73 146.0 409.2 10.1 622 8244 0.00 1.20 0.00 0.000 4 0.000 0.054 2645 2904 1875 0 0 0 0 0 0

8483 0.73 146.0 383.4 11.0 640 8491 0.00 1.15 0.00 0.000 6 0.000 0.036 2650 2198 1876 0 0 0 0 0 0

8809 0.73 146.0 347.8 10.9 666 8813 0.00 1.20 0.00 0.000 4 0.000 0.054 2649 2910 1876 0 0 0 0 0 0

9009 0.73 146.0 324.9 11.5 681 9013 0.00 1.15 0.00 0.000 6 0.000 0.037 2654 2193 1876 0 0 0 0 0 0

9339 0.73 146.0 288.6 10.8 707 9343 0.00 1.20 0.00 0.000 4 0.000 0.054 2655 2908 1876 0 0 0 0 0 0

9596 0.73 146.0 260.9 10.8 726 9603 0.00 1.15 0.00 0.000 6 0.000 0.037 2659 2199 1876 0 0 0 0 0 0

9928 0.73 146.0 225.7 9.9 769 9936 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2199 1876 0 0 0 0 0 0

10268 0.80 207.0 196.3 6.6 820 10321 0.00 0.00 50.08 1.040 6 0.000 0.000 2659 2199 1640 0 0 0 0 0 0

10654 0.80 207.0 159.1 11.3 878 10660 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2199 1635 0 0 0 0 0 0

10990 0.80 207.0 118.1 11.9 929 10999 0.00 1.20 0.00 0.000 4 0.000 0.054 2659 2909 1635 0 0 0 0 0 0

11092 0.80 207.0 105.9 11.7 944 11099 0.00 1.15 0.00 0.000 6 0.000 0.037 2664 2200 1635 0 0 0 0 0 0

11430 0.80 207.0 71.0 9.6 995 11436 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2200 1633 0 0 0 0 0 0

11768 0.84 239.3 40.4 7.8 1046 11802 0.00 1.20 27.00 0.959 4 0.000 0.053 2664 2908 1508 0 0 0 0 0 0

11962 0.88 274.0 23.9 7.7 1075 11989 0.00 1.15 20.75 0.903 6 0.000 0.037 2668 2205 1366 0 0 0 0 0 0

12212 end climb: SURFACE_DEPTH_REACHED

state 12212 begin surface coast

12233 end surface coast: CONTROL_FINISHED_OK

state 12233 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	160	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	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	300	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	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	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80717.219	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	311011,125335,6648.847,-6002.260,33,0.7,33,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.80	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-71.7	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	311011,125825,6648.806,-6002.226,20,0.8,20,-33.9	MHEAD_RNG_PITCHd_Wd	283.7,19538,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	657

FINISH	1.8,1.016052	_24V_AH	22.7,20.405
SM_CCo	12250,11.20,0.089,0,0,1261,300.00	_10V_AH	10.3,16.068
SM_GC	4.07,6.97,0.57,11.20,0.049,0.054,0.089,123,2514,1261,-7.06,-0.88,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	804	FG_AHR_10Vo	0.000
RAFOS	6,1320065341,12.833333,12.816944,67,65,62,0,0,0,796,194,205,0,0,0	MEM	150316
RAFOS_FIX	6647.121094,-5956.505371,311011,121216,7,104,0.00	DATA_FILE_SIZE	43364,1116
IRIDIUM_FIX	6620.33,-6003.10,311011,090926	CAP_FILE_SIZE	118417,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	260165632,236900352
HUMID	57.91	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1451.4
TCM_TEMP	16.30	CURRENT	0.352,358.9,1
XPDR_PINGS	15	GPS	311011,162521,6650.461,-6007.788,56,2.0,56,-34.0
ALTIM_BOTTOM_PING	650.9,51.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	257	99.48	SBE_CT	809	23	426.76
Roll_motor	42	99	96.06	SBE_O2	620	5	73.78
VBD_pump_during_apogee	346	1321	10390.88	nil	0	0	0.00
VBD_pump_during_surface	11	88	22.56	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	176	261	1044.41	nil	0	0	0.00
Transponder_ping	6	420	57.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.77
TT8	3056	18	588.96
LPSleep	6729	2	160.11
TT8_Active	504	18	97.13
TT8_Sampling	2086	41	901.21
TT8_CF8	200	47	98.97
TT8_Kalman	0	0	0.00
Analog_circuits	1675	12	207.06
GPS_charging	0	0	0.00
Compass	1887	6	131.03
RAFOS	1080	1	16.69
Transponder	17	30	5.54

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	44	0.00	0.00	-26.25	0.000	2	0.000	0.000	116	2511	1614	0	0	0	0	0	0
47	-0.73	-146.0	3.1	-1.7	4	149	8.50	1.17	-86.28	0.000	4	0.257	0.099	2155	3213	3082	0	0	0	0	0	0
323	-0.73	-146.0	40.8	-17.7	45	332	0.00	1.10	0.00	0.000	6	0.000	0.037	2155	2512	3084	0	0	0	0	0	0
663	-0.73	-146.0	92.2	-15.1	96	670	0.00	1.17	0.00	0.000	4	0.000	0.068	2150	3211	3084	0	0	0	0	0	0
742	-0.73	-146.0	104.8	-16.1	108	749	0.00	1.10	0.00	0.000	6	0.000	0.035	2150	2505	3084	0	0	0	0	0	0
1080	-0.73	-146.0	153.0	-12.6	159	1087	0.00	1.17	0.00	0.000	4	0.000	0.068	2146	3207	3084	0	0	0	0	0	0
1120	-0.73	-146.0	158.1	-12.6	165	1129	0.00	1.08	0.00	0.000	6	0.000	0.036	2146	2514	3084	0	0	0	0	0	0
1458	-0.73	-146.0	201.8	-12.6	216	1464	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2514	3084	0	0	0	0	0	0
1797	-0.73	-146.0	245.6	-12.7	267	1803	0.00	1.17	0.00	0.000	4	0.000	0.069	2141	3214	3084	0	0	0	0	0	0
1891	-0.73	-146.0	257.8	-12.8	277	1895	0.00	1.10	0.00	0.000	6	0.000	0.036	2141	2504	3084	0	0	0	0	0	0
2222	-0.73	-146.0	300.5	-12.7	303	2226	0.00	1.17	0.00	0.000	4	0.000	0.068	2137	3209	3083	0	0	0	0	0	0
2306	-0.73	-146.0	310.9	-12.7	309	2317	0.12	1.10	0.00	0.000	6	0.171	0.034	2166	2505	3084	0	0	0	0	0	0
2630	-0.73	-146.0	348.1	-11.4	335	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2505	3084	0	0	0	0	0	0
2947	-0.73	-146.0	384.1	-11.3	360	2950	0.00	1.17	0.00	0.000	4	0.000	0.067	2163	3213	3084	0	0	0	0	0	0
2991	-0.73	-146.0	388.7	-11.3	363	2999	0.00	1.10	0.00	0.000	6	0.000	0.032	2163	2504	3084	0	0	0	0	0	0
3316	-0.73	-146.0	424.9	-10.9	389	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2504	3084	0	0	0	0	0	0
3631	-0.73	-146.0	457.6	-10.5	414	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2504	3084	0	0	0	0	0	0
3946	-0.73	-146.0	489.6	-10.1	439	3950	0.00	1.17	0.00	0.000	4	0.000	0.067	2158	3211	3084	0	0	0	0	0	0
4062	-0.73	-146.0	500.9	-10.5	447	4067	0.00	1.10	0.00	0.000	6	0.000	0.031	2158	2501	3084	0	0	0	0	0	0
4385	-0.73	-146.0	533.2	-9.7	458	4388	0.00	1.17	0.00	0.000	4	0.000	0.065	2154	3213	3084	0	0	0	0	0	0
4442	-0.73	-146.0	536.7	-9.8	459	4450	0.00	1.10	0.00	0.000	6	0.000	0.031	2154	2499	3085	0	0	0	0	0	0
4758	-0.73	-146.0	568.4	-8.7	470	4762	0.00	1.17	0.00	0.000	4	0.000	0.065	2149	3213	3085	0	0	0	0	0	0
4862	-0.73	-146.0	577.3	-8.8	473	4867	0.00	1.08	0.00	0.000	6	0.000	0.031	2149	2499	3085	0	0	0	0	0	0
5196	-0.73	-146.0	613.6	-11.5	484	5197	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2499	3085	0	0	0	0	0	0
5504	-0.73	-146.0	642.8	-9.5	494	5507	0.00	1.17	0.00	0.000	4	0.000	0.064	2144	3213	3086	0	0	0	0	0	0
5561	-0.73	-146.0	646.9	-10.1	495	5572	0.00	1.10	0.00	0.000	6	0.000	0.031	2144	2500	3086	0	0	0	0	0	0
5629	end dive: TARGET_DEPTH_EXCEEDED
state	5630	begin apogee
5635	-0.16	0.0	658.4	-12.2	498	5762	0.62	0.00	120.03	1.322	6	0.138	0.000	2344	2199	2485	0	0	0	0	0	0
5763	end apogee: CONTROL_FINISHED_OK
state	5763	begin climb
5765	0.73	146.0	666.6	0.0	502	5901	0.82	1.17	128.43	1.268	4	0.064	0.046	2635	1504	1889	0	0	0	0	0	0
6151	0.73	146.0	639.9	11.9	514	6156	0.00	1.23	0.00	0.000	6	0.000	0.047	2635	2205	1880	0	0	0	0	0	0
6478	0.73	146.0	599.9	11.0	525	6479	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2205	1878	0	0	0	0	0	0
6784	0.73	146.0	564.5	10.2	535	6786	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2205	1877	0	0	0	0	0	0
7091	0.73	146.0	531.9	11.5	545	7094	0.00	1.15	0.00	0.000	4	0.000	0.056	2635	2911	1877	0	0	0	0	0	0
7190	0.73	146.0	519.8	12.1	548	7193	0.00	1.15	0.00	0.000	6	0.000	0.036	2640	2204	1876	0	0	0	0	0	0
7516	0.73	146.0	482.9	10.5	565	7520	0.00	1.20	0.00	0.000	4	0.000	0.053	2640	2910	1876	0	0	0	0	0	0
7600	0.73	146.0	474.2	10.7	571	7608	0.00	1.17	0.00	0.000	6	0.000	0.035	2645	2194	1876	0	0	0	0	0	0
7925	0.73	146.0	440.8	10.4	597	7926	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2194	1876	0	0	0	0	0	0
8240	0.73	146.0	409.2	10.1	622	8244	0.00	1.20	0.00	0.000	4	0.000	0.054	2645	2904	1875	0	0	0	0	0	0
8483	0.73	146.0	383.4	11.0	640	8491	0.00	1.15	0.00	0.000	6	0.000	0.036	2650	2198	1876	0	0	0	0	0	0
8809	0.73	146.0	347.8	10.9	666	8813	0.00	1.20	0.00	0.000	4	0.000	0.054	2649	2910	1876	0	0	0	0	0	0
9009	0.73	146.0	324.9	11.5	681	9013	0.00	1.15	0.00	0.000	6	0.000	0.037	2654	2193	1876	0	0	0	0	0	0
9339	0.73	146.0	288.6	10.8	707	9343	0.00	1.20	0.00	0.000	4	0.000	0.054	2655	2908	1876	0	0	0	0	0	0
9596	0.73	146.0	260.9	10.8	726	9603	0.00	1.15	0.00	0.000	6	0.000	0.037	2659	2199	1876	0	0	0	0	0	0
9928	0.73	146.0	225.7	9.9	769	9936	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2199	1876	0	0	0	0	0	0
10268	0.80	207.0	196.3	6.6	820	10321	0.00	0.00	50.08	1.040	6	0.000	0.000	2659	2199	1640	0	0	0	0	0	0
10654	0.80	207.0	159.1	11.3	878	10660	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2199	1635	0	0	0	0	0	0
10990	0.80	207.0	118.1	11.9	929	10999	0.00	1.20	0.00	0.000	4	0.000	0.054	2659	2909	1635	0	0	0	0	0	0
11092	0.80	207.0	105.9	11.7	944	11099	0.00	1.15	0.00	0.000	6	0.000	0.037	2664	2200	1635	0	0	0	0	0	0
11430	0.80	207.0	71.0	9.6	995	11436	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2200	1633	0	0	0	0	0	0
11768	0.84	239.3	40.4	7.8	1046	11802	0.00	1.20	27.00	0.959	4	0.000	0.053	2664	2908	1508	0	0	0	0	0	0
11962	0.88	274.0	23.9	7.7	1075	11989	0.00	1.15	20.75	0.903	6	0.000	0.037	2668	2205	1366	0	0	0	0	0	0
12212	end climb: SURFACE_DEPTH_REACHED
state	12212	begin surface coast
12233	end surface coast: CONTROL_FINISHED_OK
state	12233	begin surface