Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 17 * 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 17 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 18 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 450 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 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 150 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 180 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 5 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 -80439.273 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 2415 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 0 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 1 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 420

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 450 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 150

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 -80439.273

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 180

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 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 2415 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

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 18 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 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 17 NAV_MODE 0 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 18 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 081011,175158,6633.369,-6025.434,44,1.3,47,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081011,175722,6633.349,-6025.368,22,1.1,22,-33.7 MHEAD_RNG_PITCHd_Wd 104.4,166300,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 492

Post-dive calculations and measurements:

FINISH 1.2,1.022193 ALTIM_BOTTOM_PING 400.2,114.8

SM_CCo 8105,71.90,0.085,0,0,771,420.20 _24V_AH 23.2,3.576

SM_GC 1.93,7.22,0.55,71.90,0.061,0.076,0.085,126,2510,771,-7.11,-0.71,420.20,0,0,0,0,0,0 _10V_AH 10.3,3.491

RAFOS_CLK 523 FG_AHR_24Vo 0.000

RAFOS 0,1318104064,20.033333,20.017778,89,60,58,0,0,0,590,191,174,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6638.015625,-6029.224121,081011,121236,4,77,1.83 MEM 150460

IRIDIUM_FIX 6604.29,-6024.69,081011,151536 DATA_FILE_SIZE 33405,888

TT8_MAMPS 0.029211,0.029211 CAP_FILE_SIZE 108467,0

HUMID 59.45 CFSIZE 260165632,246874112

INTERNAL_PRESSURE 9.78553 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

TCM_TEMP 16.20 SOUNDSPEED 1451.8

XPDR_PINGS 20 GPS 081011,201535,6633.046,-6023.665,39,0.8,39,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 274 114.37 SBE_CT 633 23 341.48

Roll_motor 58 89 121.94 SBE_O2 624 5 75.89

VBD_pump_during_apogee 323 1162 8718.95 nil 0 0 0.00

VBD_pump_during_surface 71 84 141.65 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 214 247 1229.51 nil 0 0 0.00

Transponder_ping 6 420 60.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.65

TT8 2117 18 408.00

LPSleep 3925 2 93.39

TT8_Active 521 18 100.57

TT8_Sampling 1776 41 767.28

TT8_CF8 170 47 84.16

TT8_Kalman 0 0 0.00

Analog_circuits 1596 12 197.35

GPS_charging 0 0 0.00

Compass 1537 6 106.74

RAFOS 720 1 11.12

Transponder 12 30 3.80

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

15 -0.77 -146.0 0.0 0.0 0 121 0.00 0.00 -102.88 0.000 2 0.000 0.000 127 2520 2238 0 0 0 0 0 0

124 -0.77 -146.0 3.4 -4.1 18 167 8.93 1.20 -26.90 0.000 4 0.275 0.090 2163 1804 3082 0 0 0 0 0 0

421 -0.77 -146.0 51.4 -14.5 70 427 0.00 1.25 0.00 0.000 6 0.000 0.075 2160 2504 3083 0 0 0 0 0 0

630 -0.77 -146.0 79.9 -12.9 107 637 0.00 1.23 0.00 0.000 4 0.000 0.063 2160 1793 3083 0 0 0 0 0 0

678 -0.77 -146.0 86.1 -13.4 115 684 0.00 1.27 0.00 0.000 6 0.000 0.073 2155 2510 3083 0 0 0 0 0 0

888 -0.77 -146.0 114.4 -12.9 143 892 0.00 1.17 0.00 0.000 4 0.000 0.086 2150 3217 3084 0 0 0 0 0 0

1024 -0.77 -146.0 131.9 -12.4 155 1028 0.00 1.17 0.00 0.000 6 0.000 0.057 2150 2506 3083 0 0 0 0 0 0

1249 -0.77 -146.0 159.7 -12.5 176 1253 0.00 1.23 0.00 0.000 4 0.000 0.085 2145 3216 3083 0 0 0 0 0 0

1343 -0.77 -146.0 171.9 -13.6 184 1350 0.00 1.17 0.00 0.000 6 0.000 0.057 2145 2506 3083 0 0 0 0 0 0

1563 -0.77 -146.0 201.3 -12.6 205 1566 0.00 1.23 0.00 0.000 4 0.000 0.085 2140 3215 3083 0 0 0 0 0 0

1612 -0.77 -146.0 207.1 -13.0 209 1619 0.00 1.17 0.00 0.000 6 0.000 0.057 2140 2508 3083 0 0 0 0 0 0

1832 -0.77 -146.0 234.2 -11.8 230 1835 0.00 1.23 0.00 0.000 4 0.000 0.086 2136 3218 3083 0 0 0 0 0 0

1900 -0.77 -146.0 242.5 -11.9 236 1904 0.08 1.17 0.00 0.000 6 0.164 0.057 2158 2505 3083 0 0 0 0 0 0

2125 -0.77 -146.0 268.1 -11.3 257 2129 0.00 1.15 0.00 0.000 4 0.000 0.067 2159 1804 3083 0 0 0 0 0 0

2152 -0.77 -146.0 271.0 -11.6 259 2159 0.00 1.25 0.00 0.000 6 0.000 0.074 2156 2513 3083 0 0 0 0 0 0

2372 -0.77 -146.0 297.1 -11.9 280 2375 0.00 1.15 0.00 0.000 4 0.000 0.087 2151 3213 3083 0 0 0 0 0 0

2488 -0.77 -146.0 310.6 -11.7 290 2495 0.00 1.15 0.00 0.000 6 0.000 0.054 2151 2509 3083 0 0 0 0 0 0

2707 -0.77 -146.0 336.0 -10.9 311 2711 0.00 1.23 0.00 0.000 4 0.000 0.084 2146 3222 3082 0 0 0 0 0 0

2731 -0.77 -146.0 338.6 -10.9 313 2734 0.00 1.17 0.00 0.000 6 0.000 0.057 2146 2505 3082 0 0 0 0 0 0

2955 -0.77 -146.0 364.1 -11.6 334 2959 0.00 1.23 0.00 0.000 4 0.000 0.085 2141 3219 3082 0 0 0 0 0 0

3004 -0.77 -146.0 369.4 -11.5 338 3012 0.00 1.17 0.00 0.000 6 0.000 0.056 2141 2505 3082 0 0 0 0 0 0

3224 -0.77 -146.0 393.8 -10.7 359 3228 0.00 1.23 0.00 0.000 4 0.000 0.083 2137 3220 3083 0 0 0 0 0 0

3294 -0.77 -146.0 401.5 -10.9 365 3298 0.08 1.15 0.00 0.000 6 0.164 0.055 2160 2512 3082 0 0 0 0 0 0

3519 -0.77 -146.0 422.8 -9.1 386 3523 0.00 1.20 0.00 0.000 4 0.000 0.083 2156 3214 3082 0 0 0 0 0 0

3554 -0.77 -146.0 426.3 -9.8 389 3558 0.00 1.15 0.00 0.000 6 0.000 0.054 2157 2506 3083 0 0 0 0 0 0

3779 -0.77 -146.0 447.6 -9.4 410 3783 0.00 1.20 0.00 0.000 4 0.000 0.083 2153 3212 3083 0 0 0 0 0 0

3801 end dive: TARGET_DEPTH_EXCEEDED

state 3801 begin apogee

3808 -0.16 0.0 450.1 -9.9 412 3932 0.65 0.00 117.38 1.163 6 0.145 0.000 2357 2196 2484 0 0 0 0 0 0

3932 end apogee: CONTROL_FINISHED_OK

state 3932 begin climb

3935 0.77 146.0 454.5 0.0 423 4071 0.90 1.27 124.15 1.106 4 0.063 0.072 2672 1500 1887 0 0 0 0 0 0

4290 0.77 146.0 425.9 13.4 455 4297 0.00 1.25 0.00 0.000 6 0.000 0.064 2671 2202 1879 0 0 0 0 0 0

4510 0.77 146.0 396.4 13.0 476 4513 0.00 1.23 0.00 0.000 4 0.000 0.069 2677 1500 1877 0 0 0 0 0 0

4544 0.77 146.0 391.8 13.0 479 4548 0.00 1.23 0.00 0.000 6 0.000 0.065 2677 2200 1877 0 0 0 0 0 0

4769 0.77 146.0 363.0 12.3 500 4772 0.00 1.20 0.00 0.000 4 0.000 0.073 2677 2904 1876 0 0 0 0 0 0

4971 0.77 146.0 336.2 13.0 518 4975 0.00 1.23 0.00 0.000 6 0.000 0.060 2682 2201 1875 0 0 0 0 0 0

5196 0.77 146.0 308.3 12.6 539 5199 0.00 1.17 0.00 0.000 4 0.000 0.073 2686 1489 1875 0 0 0 0 0 0

5245 0.77 146.0 302.6 12.4 543 5252 0.00 1.23 0.00 0.000 6 0.000 0.066 2687 2200 1875 0 0 0 0 0 0

5465 0.77 146.0 274.5 11.9 564 5466 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2200 1875 0 0 0 0 0 0

5677 0.77 146.0 248.7 11.9 584 5681 0.00 1.20 0.00 0.000 4 0.000 0.069 2691 1497 1875 0 0 0 0 0 0

5779 0.77 146.0 236.9 11.6 593 5783 0.00 1.20 0.00 0.000 6 0.000 0.064 2691 2203 1875 0 0 0 0 0 0

6004 0.77 146.0 212.6 10.4 614 6008 0.00 1.17 0.00 0.000 4 0.000 0.071 2691 2911 1875 0 0 0 0 0 0

6200 0.78 155.3 193.2 9.6 631 6212 0.10 1.23 6.53 0.893 6 0.190 0.060 2669 2196 1851 0 0 0 0 0 0

6426 0.84 201.4 174.5 7.9 652 6468 0.00 0.00 39.72 0.988 6 0.000 0.000 2669 2195 1662 0 0 0 0 0 0

6680 0.84 201.4 148.2 10.8 676 6684 0.00 1.15 0.00 0.000 4 0.000 0.073 2673 1496 1657 0 0 0 0 0 0

6714 0.84 201.4 144.5 10.8 679 6718 0.00 1.23 0.00 0.000 6 0.000 0.066 2673 2200 1657 0 0 0 0 0 0

6938 0.84 201.4 119.0 11.8 700 6942 0.00 1.20 0.00 0.000 4 0.000 0.074 2673 2913 1656 0 0 0 0 0 0

7022 0.84 201.4 109.3 12.4 707 7029 0.00 1.25 0.00 0.000 6 0.000 0.060 2678 2193 1656 0 0 0 0 0 0

7248 0.84 201.4 82.9 11.0 741 7255 0.00 1.15 0.00 0.000 4 0.000 0.074 2683 1494 1655 0 0 0 0 0 0

7279 0.84 201.4 79.7 11.0 746 7286 0.00 1.23 0.00 0.000 6 0.000 0.067 2683 2208 1655 0 0 0 0 0 0

7488 0.84 201.4 56.7 11.4 783 7495 0.00 1.17 0.00 0.000 4 0.000 0.076 2683 2904 1654 0 0 0 0 0 0

7608 0.84 201.4 43.3 11.2 804 7615 0.00 1.23 0.00 0.000 6 0.000 0.062 2688 2193 1654 0 0 0 0 0 0

7820 0.91 264.3 24.8 7.1 841 7862 0.00 1.15 35.42 0.890 4 0.000 0.071 2693 1493 1404 0 0 0 0 0 0

8020 0.91 264.4 6.7 10.0 876 8026 0.00 1.23 0.00 0.000 6 0.000 0.066 2693 2202 1398 0 0 0 0 0 0

8065 end climb: SURFACE_DEPTH_REACHED

state 8065 begin surface coast

8088 end surface coast: CONTROL_FINISHED_OK

state 8089 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	17	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	18	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	450	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	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	150	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	180	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	5	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	-80439.273	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	2415	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	0	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	081011,175158,6633.369,-6025.434,44,1.3,47,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081011,175722,6633.349,-6025.368,22,1.1,22,-33.7	MHEAD_RNG_PITCHd_Wd	104.4,166300,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	492

FINISH	1.2,1.022193	ALTIM_BOTTOM_PING	400.2,114.8
SM_CCo	8105,71.90,0.085,0,0,771,420.20	_24V_AH	23.2,3.576
SM_GC	1.93,7.22,0.55,71.90,0.061,0.076,0.085,126,2510,771,-7.11,-0.71,420.20,0,0,0,0,0,0	_10V_AH	10.3,3.491
RAFOS_CLK	523	FG_AHR_24Vo	0.000
RAFOS	0,1318104064,20.033333,20.017778,89,60,58,0,0,0,590,191,174,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6638.015625,-6029.224121,081011,121236,4,77,1.83	MEM	150460
IRIDIUM_FIX	6604.29,-6024.69,081011,151536	DATA_FILE_SIZE	33405,888
TT8_MAMPS	0.029211,0.029211	CAP_FILE_SIZE	108467,0
HUMID	59.45	CFSIZE	260165632,246874112
INTERNAL_PRESSURE	9.78553	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.20	SOUNDSPEED	1451.8
XPDR_PINGS	20	GPS	081011,201535,6633.046,-6023.665,39,0.8,39,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	274	114.37	SBE_CT	633	23	341.48
Roll_motor	58	89	121.94	SBE_O2	624	5	75.89
VBD_pump_during_apogee	323	1162	8718.95	nil	0	0	0.00
VBD_pump_during_surface	71	84	141.65	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	214	247	1229.51	nil	0	0	0.00
Transponder_ping	6	420	60.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.65
TT8	2117	18	408.00
LPSleep	3925	2	93.39
TT8_Active	521	18	100.57
TT8_Sampling	1776	41	767.28
TT8_CF8	170	47	84.16
TT8_Kalman	0	0	0.00
Analog_circuits	1596	12	197.35
GPS_charging	0	0	0.00
Compass	1537	6	106.74
RAFOS	720	1	11.12
Transponder	12	30	3.80

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
15	-0.77	-146.0	0.0	0.0	0	121	0.00	0.00	-102.88	0.000	2	0.000	0.000	127	2520	2238	0	0	0	0	0	0
124	-0.77	-146.0	3.4	-4.1	18	167	8.93	1.20	-26.90	0.000	4	0.275	0.090	2163	1804	3082	0	0	0	0	0	0
421	-0.77	-146.0	51.4	-14.5	70	427	0.00	1.25	0.00	0.000	6	0.000	0.075	2160	2504	3083	0	0	0	0	0	0
630	-0.77	-146.0	79.9	-12.9	107	637	0.00	1.23	0.00	0.000	4	0.000	0.063	2160	1793	3083	0	0	0	0	0	0
678	-0.77	-146.0	86.1	-13.4	115	684	0.00	1.27	0.00	0.000	6	0.000	0.073	2155	2510	3083	0	0	0	0	0	0
888	-0.77	-146.0	114.4	-12.9	143	892	0.00	1.17	0.00	0.000	4	0.000	0.086	2150	3217	3084	0	0	0	0	0	0
1024	-0.77	-146.0	131.9	-12.4	155	1028	0.00	1.17	0.00	0.000	6	0.000	0.057	2150	2506	3083	0	0	0	0	0	0
1249	-0.77	-146.0	159.7	-12.5	176	1253	0.00	1.23	0.00	0.000	4	0.000	0.085	2145	3216	3083	0	0	0	0	0	0
1343	-0.77	-146.0	171.9	-13.6	184	1350	0.00	1.17	0.00	0.000	6	0.000	0.057	2145	2506	3083	0	0	0	0	0	0
1563	-0.77	-146.0	201.3	-12.6	205	1566	0.00	1.23	0.00	0.000	4	0.000	0.085	2140	3215	3083	0	0	0	0	0	0
1612	-0.77	-146.0	207.1	-13.0	209	1619	0.00	1.17	0.00	0.000	6	0.000	0.057	2140	2508	3083	0	0	0	0	0	0
1832	-0.77	-146.0	234.2	-11.8	230	1835	0.00	1.23	0.00	0.000	4	0.000	0.086	2136	3218	3083	0	0	0	0	0	0
1900	-0.77	-146.0	242.5	-11.9	236	1904	0.08	1.17	0.00	0.000	6	0.164	0.057	2158	2505	3083	0	0	0	0	0	0
2125	-0.77	-146.0	268.1	-11.3	257	2129	0.00	1.15	0.00	0.000	4	0.000	0.067	2159	1804	3083	0	0	0	0	0	0
2152	-0.77	-146.0	271.0	-11.6	259	2159	0.00	1.25	0.00	0.000	6	0.000	0.074	2156	2513	3083	0	0	0	0	0	0
2372	-0.77	-146.0	297.1	-11.9	280	2375	0.00	1.15	0.00	0.000	4	0.000	0.087	2151	3213	3083	0	0	0	0	0	0
2488	-0.77	-146.0	310.6	-11.7	290	2495	0.00	1.15	0.00	0.000	6	0.000	0.054	2151	2509	3083	0	0	0	0	0	0
2707	-0.77	-146.0	336.0	-10.9	311	2711	0.00	1.23	0.00	0.000	4	0.000	0.084	2146	3222	3082	0	0	0	0	0	0
2731	-0.77	-146.0	338.6	-10.9	313	2734	0.00	1.17	0.00	0.000	6	0.000	0.057	2146	2505	3082	0	0	0	0	0	0
2955	-0.77	-146.0	364.1	-11.6	334	2959	0.00	1.23	0.00	0.000	4	0.000	0.085	2141	3219	3082	0	0	0	0	0	0
3004	-0.77	-146.0	369.4	-11.5	338	3012	0.00	1.17	0.00	0.000	6	0.000	0.056	2141	2505	3082	0	0	0	0	0	0
3224	-0.77	-146.0	393.8	-10.7	359	3228	0.00	1.23	0.00	0.000	4	0.000	0.083	2137	3220	3083	0	0	0	0	0	0
3294	-0.77	-146.0	401.5	-10.9	365	3298	0.08	1.15	0.00	0.000	6	0.164	0.055	2160	2512	3082	0	0	0	0	0	0
3519	-0.77	-146.0	422.8	-9.1	386	3523	0.00	1.20	0.00	0.000	4	0.000	0.083	2156	3214	3082	0	0	0	0	0	0
3554	-0.77	-146.0	426.3	-9.8	389	3558	0.00	1.15	0.00	0.000	6	0.000	0.054	2157	2506	3083	0	0	0	0	0	0
3779	-0.77	-146.0	447.6	-9.4	410	3783	0.00	1.20	0.00	0.000	4	0.000	0.083	2153	3212	3083	0	0	0	0	0	0
3801	end dive: TARGET_DEPTH_EXCEEDED
state	3801	begin apogee
3808	-0.16	0.0	450.1	-9.9	412	3932	0.65	0.00	117.38	1.163	6	0.145	0.000	2357	2196	2484	0	0	0	0	0	0
3932	end apogee: CONTROL_FINISHED_OK
state	3932	begin climb
3935	0.77	146.0	454.5	0.0	423	4071	0.90	1.27	124.15	1.106	4	0.063	0.072	2672	1500	1887	0	0	0	0	0	0
4290	0.77	146.0	425.9	13.4	455	4297	0.00	1.25	0.00	0.000	6	0.000	0.064	2671	2202	1879	0	0	0	0	0	0
4510	0.77	146.0	396.4	13.0	476	4513	0.00	1.23	0.00	0.000	4	0.000	0.069	2677	1500	1877	0	0	0	0	0	0
4544	0.77	146.0	391.8	13.0	479	4548	0.00	1.23	0.00	0.000	6	0.000	0.065	2677	2200	1877	0	0	0	0	0	0
4769	0.77	146.0	363.0	12.3	500	4772	0.00	1.20	0.00	0.000	4	0.000	0.073	2677	2904	1876	0	0	0	0	0	0
4971	0.77	146.0	336.2	13.0	518	4975	0.00	1.23	0.00	0.000	6	0.000	0.060	2682	2201	1875	0	0	0	0	0	0
5196	0.77	146.0	308.3	12.6	539	5199	0.00	1.17	0.00	0.000	4	0.000	0.073	2686	1489	1875	0	0	0	0	0	0
5245	0.77	146.0	302.6	12.4	543	5252	0.00	1.23	0.00	0.000	6	0.000	0.066	2687	2200	1875	0	0	0	0	0	0
5465	0.77	146.0	274.5	11.9	564	5466	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2200	1875	0	0	0	0	0	0
5677	0.77	146.0	248.7	11.9	584	5681	0.00	1.20	0.00	0.000	4	0.000	0.069	2691	1497	1875	0	0	0	0	0	0
5779	0.77	146.0	236.9	11.6	593	5783	0.00	1.20	0.00	0.000	6	0.000	0.064	2691	2203	1875	0	0	0	0	0	0
6004	0.77	146.0	212.6	10.4	614	6008	0.00	1.17	0.00	0.000	4	0.000	0.071	2691	2911	1875	0	0	0	0	0	0
6200	0.78	155.3	193.2	9.6	631	6212	0.10	1.23	6.53	0.893	6	0.190	0.060	2669	2196	1851	0	0	0	0	0	0
6426	0.84	201.4	174.5	7.9	652	6468	0.00	0.00	39.72	0.988	6	0.000	0.000	2669	2195	1662	0	0	0	0	0	0
6680	0.84	201.4	148.2	10.8	676	6684	0.00	1.15	0.00	0.000	4	0.000	0.073	2673	1496	1657	0	0	0	0	0	0
6714	0.84	201.4	144.5	10.8	679	6718	0.00	1.23	0.00	0.000	6	0.000	0.066	2673	2200	1657	0	0	0	0	0	0
6938	0.84	201.4	119.0	11.8	700	6942	0.00	1.20	0.00	0.000	4	0.000	0.074	2673	2913	1656	0	0	0	0	0	0
7022	0.84	201.4	109.3	12.4	707	7029	0.00	1.25	0.00	0.000	6	0.000	0.060	2678	2193	1656	0	0	0	0	0	0
7248	0.84	201.4	82.9	11.0	741	7255	0.00	1.15	0.00	0.000	4	0.000	0.074	2683	1494	1655	0	0	0	0	0	0
7279	0.84	201.4	79.7	11.0	746	7286	0.00	1.23	0.00	0.000	6	0.000	0.067	2683	2208	1655	0	0	0	0	0	0
7488	0.84	201.4	56.7	11.4	783	7495	0.00	1.17	0.00	0.000	4	0.000	0.076	2683	2904	1654	0	0	0	0	0	0
7608	0.84	201.4	43.3	11.2	804	7615	0.00	1.23	0.00	0.000	6	0.000	0.062	2688	2193	1654	0	0	0	0	0	0
7820	0.91	264.3	24.8	7.1	841	7862	0.00	1.15	35.42	0.890	4	0.000	0.071	2693	1493	1404	0	0	0	0	0	0
8020	0.91	264.4	6.7	10.0	876	8026	0.00	1.23	0.00	0.000	6	0.000	0.066	2693	2202	1398	0	0	0	0	0	0
8065	end climb: SURFACE_DEPTH_REACHED
state	8065	begin surface coast
8088	end surface coast: CONTROL_FINISHED_OK
state	8089	begin surface