Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 170 * 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 170 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 34 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 28 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 -80729.828 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 -80729.828

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 34 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 28 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 170 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 011111,201135,6646.915,-6011.082,34,0.9,34,-33.9 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.74 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.6 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 011111,201954,6646.875,-6011.339,19,0.9,20,-33.9 MHEAD_RNG_PITCHd_Wd 141.8,149846,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 576

Post-dive calculations and measurements:

FINISH 1.8,1.014471 _24V_AH 22.7,21.552

SM_CCo 10565,9.93,0.090,0,0,1261,300.00 _10V_AH 10.1,16.848

SM_GC 4.02,6.90,0.70,9.93,0.044,0.044,0.090,117,2504,1261,-7.08,0.93,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 688 FG_AHR_10Vo 0.000

RAFOS 1,1320178142,20.166666,20.150555,106,66,61,0,0,0,548,201,219,0,0,0 MEM 150336

RAFOS_FIX 6645.852051,-6007.390137,011111,202023,5,108,10.62 DATA_FILE_SIZE 40046,1072

IRIDIUM_FIX 6620.33,-6005.83,011111,202023 CAP_FILE_SIZE 116245,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,236261376

HUMID 57.24 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1449.9

TCM_TEMP 16.20 CURRENT 0.282,194.5,1

XPDR_PINGS 23 GPS 011111,231823,6645.000,-6008.543,39,0.8,39,-33.9

ALTIM_BOTTOM_PING 500.6,113.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 262 102.15 SBE_CT 779 23 411.09

Roll_motor 51 96 112.19 SBE_O2 610 5 72.62

VBD_pump_during_apogee 359 1280 10442.62 nil 0 0 0.00

VBD_pump_during_surface 9 89 20.17 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 327 248 1847.07 nil 0 0 0.00

Transponder_ping 7 420 69.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.60

TT8 2887 18 545.63

LPSleep 5390 2 125.75

TT8_Active 525 18 99.37

TT8_Sampling 2092 41 886.00

TT8_CF8 203 47 98.36

TT8_Kalman 0 0 0.00

Analog_circuits 1794 12 217.51

GPS_charging 0 0 0.00

Compass 1752 6 119.33

RAFOS 1440 1 21.82

Transponder 12 30 3.87

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 47 0.00 0.00 -29.02 0.000 2 0.000 0.000 117 2513 1650 0 0 0 0 0 0

50 -0.73 -146.0 3.1 -2.6 4 156 8.62 1.23 -91.20 0.000 4 0.262 0.096 2160 3212 3083 0 0 0 0 0 0

409 -0.73 -146.0 50.0 -16.2 58 419 0.00 1.12 0.00 0.000 6 0.000 0.037 2160 2499 3085 0 0 0 0 0 0

750 -0.73 -146.0 101.4 -15.2 109 756 0.00 1.20 0.00 0.000 4 0.000 0.066 2155 3213 3085 0 0 0 0 0 0

791 -0.73 -146.0 107.4 -15.3 115 798 0.00 1.10 0.00 0.000 6 0.000 0.037 2155 2512 3085 0 0 0 0 0 0

1128 -0.73 -146.0 158.3 -14.0 166 1138 0.00 1.10 0.00 0.000 4 0.000 0.047 2155 1814 3085 0 0 0 0 0 0

1171 -0.73 -146.0 164.1 -13.9 172 1178 0.00 1.17 0.00 0.000 6 0.000 0.057 2151 2497 3085 0 0 0 0 0 0

1511 -0.73 -146.0 208.3 -11.4 223 1518 0.00 1.15 0.00 0.000 4 0.000 0.072 2145 3213 3085 0 0 0 0 0 0

1630 -0.73 -146.0 223.3 -12.3 241 1637 0.00 1.10 0.00 0.000 6 0.000 0.037 2145 2514 3085 0 0 0 0 0 0

1969 -0.73 -146.0 267.5 -13.4 283 1973 0.00 1.10 0.00 0.000 4 0.000 0.046 2145 1812 3085 0 0 0 0 0 0

2014 -0.73 -146.0 273.1 -13.4 286 2024 0.00 1.23 0.00 0.000 6 0.000 0.056 2141 2518 3085 0 0 0 0 0 0

2337 -0.73 -146.0 318.0 -13.7 312 2341 0.00 1.10 0.00 0.000 4 0.000 0.070 2135 3210 3085 0 0 0 0 0 0

2416 -0.73 -146.0 329.0 -13.8 318 2421 0.08 1.10 0.00 0.000 6 0.158 0.037 2158 2501 3085 0 0 0 0 0 0

2745 -0.73 -146.0 367.3 -11.3 344 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2501 3084 0 0 0 0 0 0

3061 -0.73 -146.0 401.1 -11.0 369 3065 0.00 1.20 0.00 0.000 4 0.000 0.067 2155 3220 3084 0 0 0 0 0 0

3114 -0.73 -146.0 407.0 -11.0 373 3118 0.00 1.10 0.00 0.000 6 0.000 0.034 2155 2513 3084 0 0 0 0 0 0

3446 -0.73 -146.0 442.2 -10.8 399 3449 0.00 1.17 0.00 0.000 4 0.000 0.067 2151 3216 3084 0 0 0 0 0 0

3513 -0.73 -146.0 449.8 -11.0 404 3517 0.00 1.10 0.00 0.000 6 0.000 0.034 2150 2505 3084 0 0 0 0 0 0

3844 -0.73 -146.0 487.6 -11.4 430 3847 0.00 1.17 0.00 0.000 4 0.000 0.067 2146 3213 3084 0 0 0 0 0 0

3954 -0.73 -146.0 499.3 -10.7 438 3970 0.00 1.12 0.00 0.000 6 0.000 0.034 2146 2498 3084 0 0 0 0 0 0

4269 -0.73 -146.0 534.0 -10.9 449 4272 0.00 1.05 0.00 0.000 4 0.000 0.044 2146 1818 3084 0 0 0 0 0 0

4359 -0.73 -146.0 541.0 -10.6 451 4367 0.00 1.20 0.00 0.000 6 0.000 0.056 2141 2513 3084 0 0 0 0 0 0

4671 end dive: TARGET_DEPTH_EXCEEDED

state 4671 begin apogee

4678 -0.16 0.0 578.4 -11.0 462 4803 0.62 0.00 119.22 1.281 6 0.137 0.000 2342 2186 2485 0 0 0 0 0 0

4804 end apogee: CONTROL_FINISHED_OK

state 4804 begin climb

4806 0.73 146.0 582.1 0.0 466 4942 0.85 1.23 127.93 1.220 4 0.073 0.051 2636 1499 1889 0 0 0 0 0 0

5139 0.73 146.0 557.4 11.5 476 5144 0.00 1.25 0.00 0.000 6 0.000 0.047 2636 2206 1882 0 0 0 0 0 0

5460 0.73 146.0 518.3 11.5 487 5464 0.00 1.17 0.00 0.000 4 0.000 0.048 2641 1506 1879 0 0 0 0 0 0

5478 0.73 146.0 518.3 11.5 487 5482 0.00 1.20 0.00 0.000 6 0.000 0.047 2640 2203 1879 0 0 0 0 0 0

5797 0.73 146.0 478.9 11.7 505 5800 0.00 1.17 0.00 0.000 4 0.000 0.058 2641 2914 1879 0 0 0 0 0 0

5868 0.73 146.0 470.9 12.0 510 5876 0.00 1.20 0.00 0.000 6 0.000 0.037 2645 2198 1877 0 0 0 0 0 0

6194 0.73 146.0 433.1 11.1 536 6198 0.00 1.23 0.00 0.000 4 0.000 0.055 2645 2908 1877 0 0 0 0 0 0

6317 0.73 146.0 419.6 11.2 545 6325 0.00 1.20 0.00 0.000 6 0.000 0.037 2650 2187 1877 0 0 0 0 0 0

6642 0.73 146.0 384.9 10.2 571 6645 0.00 1.08 0.00 0.000 4 0.000 0.050 2655 1493 1877 0 0 0 0 0 0

6695 0.73 146.0 378.9 11.0 575 6698 0.00 1.17 0.00 0.000 6 0.000 0.048 2655 2208 1877 0 0 0 0 0 0

7025 0.73 146.0 341.1 11.4 601 7028 0.00 1.12 0.00 0.000 4 0.000 0.058 2655 2904 1877 0 0 0 0 0 0

7281 0.73 146.0 311.3 12.4 620 7289 0.00 1.17 0.00 0.000 6 0.000 0.038 2660 2192 1877 0 0 0 0 0 0

7607 0.73 146.0 272.7 11.7 646 7611 0.00 1.20 0.00 0.000 4 0.000 0.055 2660 2900 1877 0 0 0 0 0 0

7673 0.73 146.0 264.7 11.7 651 7677 0.08 1.15 0.00 0.000 6 0.160 0.037 2642 2190 1876 0 0 0 0 0 0

8004 0.74 154.8 233.5 8.8 690 8019 0.00 1.20 6.90 0.927 4 0.000 0.054 2641 2911 1853 0 0 0 0 0 0

8048 0.75 164.4 229.8 8.8 696 8062 0.00 1.17 10.20 0.985 6 0.000 0.037 2645 2189 1814 0 0 0 0 0 0

8394 0.77 184.6 201.3 8.3 748 8421 0.00 0.00 18.62 1.024 6 0.000 0.000 2646 2189 1732 0 0 0 0 0 0

8751 0.77 184.6 164.9 10.4 802 8758 0.00 1.23 0.00 0.000 4 0.000 0.055 2645 2907 1729 0 0 0 0 0 0

8798 0.77 184.6 159.5 11.3 809 8805 0.00 1.17 0.00 0.000 6 0.000 0.038 2650 2191 1729 0 0 0 0 0 0

9136 0.77 184.6 125.4 9.2 860 9142 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2191 1728 0 0 0 0 0 0

9473 0.79 196.9 93.9 8.7 911 9488 0.00 1.12 11.15 0.954 4 0.000 0.052 2655 1492 1682 0 0 0 0 0 0

9495 0.79 196.9 91.7 9.6 914 9502 0.00 1.17 0.00 0.000 6 0.000 0.050 2655 2200 1681 0 0 0 0 0 0

9833 0.80 207.7 59.6 8.7 965 9854 0.00 1.20 10.65 0.934 4 0.000 0.059 2655 2915 1637 0 0 0 0 0 0

10107 0.87 263.3 37.6 6.8 1006 10161 0.00 1.17 47.92 0.953 6 0.000 0.039 2660 2198 1411 0 0 0 0 0 0

10494 0.89 278.3 6.6 8.5 1064 10508 0.00 1.20 6.62 0.096 4 0.000 0.052 2660 2917 1350 0 0 0 0 0 0

10539 end climb: SURFACE_DEPTH_REACHED

state 10539 begin surface coast

10548 end surface coast: CONTROL_FINISHED_OK

state 10548 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	170	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	34	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	28	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	-80729.828	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	011111,201135,6646.915,-6011.082,34,0.9,34,-33.9	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.74	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.6	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	011111,201954,6646.875,-6011.339,19,0.9,20,-33.9	MHEAD_RNG_PITCHd_Wd	141.8,149846,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	576

FINISH	1.8,1.014471	_24V_AH	22.7,21.552
SM_CCo	10565,9.93,0.090,0,0,1261,300.00	_10V_AH	10.1,16.848
SM_GC	4.02,6.90,0.70,9.93,0.044,0.044,0.090,117,2504,1261,-7.08,0.93,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	688	FG_AHR_10Vo	0.000
RAFOS	1,1320178142,20.166666,20.150555,106,66,61,0,0,0,548,201,219,0,0,0	MEM	150336
RAFOS_FIX	6645.852051,-6007.390137,011111,202023,5,108,10.62	DATA_FILE_SIZE	40046,1072
IRIDIUM_FIX	6620.33,-6005.83,011111,202023	CAP_FILE_SIZE	116245,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,236261376
HUMID	57.24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1449.9
TCM_TEMP	16.20	CURRENT	0.282,194.5,1
XPDR_PINGS	23	GPS	011111,231823,6645.000,-6008.543,39,0.8,39,-33.9
ALTIM_BOTTOM_PING	500.6,113.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	262	102.15	SBE_CT	779	23	411.09
Roll_motor	51	96	112.19	SBE_O2	610	5	72.62
VBD_pump_during_apogee	359	1280	10442.62	nil	0	0	0.00
VBD_pump_during_surface	9	89	20.17	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	327	248	1847.07	nil	0	0	0.00
Transponder_ping	7	420	69.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.60
TT8	2887	18	545.63
LPSleep	5390	2	125.75
TT8_Active	525	18	99.37
TT8_Sampling	2092	41	886.00
TT8_CF8	203	47	98.36
TT8_Kalman	0	0	0.00
Analog_circuits	1794	12	217.51
GPS_charging	0	0	0.00
Compass	1752	6	119.33
RAFOS	1440	1	21.82
Transponder	12	30	3.87

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	47	0.00	0.00	-29.02	0.000	2	0.000	0.000	117	2513	1650	0	0	0	0	0	0
50	-0.73	-146.0	3.1	-2.6	4	156	8.62	1.23	-91.20	0.000	4	0.262	0.096	2160	3212	3083	0	0	0	0	0	0
409	-0.73	-146.0	50.0	-16.2	58	419	0.00	1.12	0.00	0.000	6	0.000	0.037	2160	2499	3085	0	0	0	0	0	0
750	-0.73	-146.0	101.4	-15.2	109	756	0.00	1.20	0.00	0.000	4	0.000	0.066	2155	3213	3085	0	0	0	0	0	0
791	-0.73	-146.0	107.4	-15.3	115	798	0.00	1.10	0.00	0.000	6	0.000	0.037	2155	2512	3085	0	0	0	0	0	0
1128	-0.73	-146.0	158.3	-14.0	166	1138	0.00	1.10	0.00	0.000	4	0.000	0.047	2155	1814	3085	0	0	0	0	0	0
1171	-0.73	-146.0	164.1	-13.9	172	1178	0.00	1.17	0.00	0.000	6	0.000	0.057	2151	2497	3085	0	0	0	0	0	0
1511	-0.73	-146.0	208.3	-11.4	223	1518	0.00	1.15	0.00	0.000	4	0.000	0.072	2145	3213	3085	0	0	0	0	0	0
1630	-0.73	-146.0	223.3	-12.3	241	1637	0.00	1.10	0.00	0.000	6	0.000	0.037	2145	2514	3085	0	0	0	0	0	0
1969	-0.73	-146.0	267.5	-13.4	283	1973	0.00	1.10	0.00	0.000	4	0.000	0.046	2145	1812	3085	0	0	0	0	0	0
2014	-0.73	-146.0	273.1	-13.4	286	2024	0.00	1.23	0.00	0.000	6	0.000	0.056	2141	2518	3085	0	0	0	0	0	0
2337	-0.73	-146.0	318.0	-13.7	312	2341	0.00	1.10	0.00	0.000	4	0.000	0.070	2135	3210	3085	0	0	0	0	0	0
2416	-0.73	-146.0	329.0	-13.8	318	2421	0.08	1.10	0.00	0.000	6	0.158	0.037	2158	2501	3085	0	0	0	0	0	0
2745	-0.73	-146.0	367.3	-11.3	344	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2501	3084	0	0	0	0	0	0
3061	-0.73	-146.0	401.1	-11.0	369	3065	0.00	1.20	0.00	0.000	4	0.000	0.067	2155	3220	3084	0	0	0	0	0	0
3114	-0.73	-146.0	407.0	-11.0	373	3118	0.00	1.10	0.00	0.000	6	0.000	0.034	2155	2513	3084	0	0	0	0	0	0
3446	-0.73	-146.0	442.2	-10.8	399	3449	0.00	1.17	0.00	0.000	4	0.000	0.067	2151	3216	3084	0	0	0	0	0	0
3513	-0.73	-146.0	449.8	-11.0	404	3517	0.00	1.10	0.00	0.000	6	0.000	0.034	2150	2505	3084	0	0	0	0	0	0
3844	-0.73	-146.0	487.6	-11.4	430	3847	0.00	1.17	0.00	0.000	4	0.000	0.067	2146	3213	3084	0	0	0	0	0	0
3954	-0.73	-146.0	499.3	-10.7	438	3970	0.00	1.12	0.00	0.000	6	0.000	0.034	2146	2498	3084	0	0	0	0	0	0
4269	-0.73	-146.0	534.0	-10.9	449	4272	0.00	1.05	0.00	0.000	4	0.000	0.044	2146	1818	3084	0	0	0	0	0	0
4359	-0.73	-146.0	541.0	-10.6	451	4367	0.00	1.20	0.00	0.000	6	0.000	0.056	2141	2513	3084	0	0	0	0	0	0
4671	end dive: TARGET_DEPTH_EXCEEDED
state	4671	begin apogee
4678	-0.16	0.0	578.4	-11.0	462	4803	0.62	0.00	119.22	1.281	6	0.137	0.000	2342	2186	2485	0	0	0	0	0	0
4804	end apogee: CONTROL_FINISHED_OK
state	4804	begin climb
4806	0.73	146.0	582.1	0.0	466	4942	0.85	1.23	127.93	1.220	4	0.073	0.051	2636	1499	1889	0	0	0	0	0	0
5139	0.73	146.0	557.4	11.5	476	5144	0.00	1.25	0.00	0.000	6	0.000	0.047	2636	2206	1882	0	0	0	0	0	0
5460	0.73	146.0	518.3	11.5	487	5464	0.00	1.17	0.00	0.000	4	0.000	0.048	2641	1506	1879	0	0	0	0	0	0
5478	0.73	146.0	518.3	11.5	487	5482	0.00	1.20	0.00	0.000	6	0.000	0.047	2640	2203	1879	0	0	0	0	0	0
5797	0.73	146.0	478.9	11.7	505	5800	0.00	1.17	0.00	0.000	4	0.000	0.058	2641	2914	1879	0	0	0	0	0	0
5868	0.73	146.0	470.9	12.0	510	5876	0.00	1.20	0.00	0.000	6	0.000	0.037	2645	2198	1877	0	0	0	0	0	0
6194	0.73	146.0	433.1	11.1	536	6198	0.00	1.23	0.00	0.000	4	0.000	0.055	2645	2908	1877	0	0	0	0	0	0
6317	0.73	146.0	419.6	11.2	545	6325	0.00	1.20	0.00	0.000	6	0.000	0.037	2650	2187	1877	0	0	0	0	0	0
6642	0.73	146.0	384.9	10.2	571	6645	0.00	1.08	0.00	0.000	4	0.000	0.050	2655	1493	1877	0	0	0	0	0	0
6695	0.73	146.0	378.9	11.0	575	6698	0.00	1.17	0.00	0.000	6	0.000	0.048	2655	2208	1877	0	0	0	0	0	0
7025	0.73	146.0	341.1	11.4	601	7028	0.00	1.12	0.00	0.000	4	0.000	0.058	2655	2904	1877	0	0	0	0	0	0
7281	0.73	146.0	311.3	12.4	620	7289	0.00	1.17	0.00	0.000	6	0.000	0.038	2660	2192	1877	0	0	0	0	0	0
7607	0.73	146.0	272.7	11.7	646	7611	0.00	1.20	0.00	0.000	4	0.000	0.055	2660	2900	1877	0	0	0	0	0	0
7673	0.73	146.0	264.7	11.7	651	7677	0.08	1.15	0.00	0.000	6	0.160	0.037	2642	2190	1876	0	0	0	0	0	0
8004	0.74	154.8	233.5	8.8	690	8019	0.00	1.20	6.90	0.927	4	0.000	0.054	2641	2911	1853	0	0	0	0	0	0
8048	0.75	164.4	229.8	8.8	696	8062	0.00	1.17	10.20	0.985	6	0.000	0.037	2645	2189	1814	0	0	0	0	0	0
8394	0.77	184.6	201.3	8.3	748	8421	0.00	0.00	18.62	1.024	6	0.000	0.000	2646	2189	1732	0	0	0	0	0	0
8751	0.77	184.6	164.9	10.4	802	8758	0.00	1.23	0.00	0.000	4	0.000	0.055	2645	2907	1729	0	0	0	0	0	0
8798	0.77	184.6	159.5	11.3	809	8805	0.00	1.17	0.00	0.000	6	0.000	0.038	2650	2191	1729	0	0	0	0	0	0
9136	0.77	184.6	125.4	9.2	860	9142	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2191	1728	0	0	0	0	0	0
9473	0.79	196.9	93.9	8.7	911	9488	0.00	1.12	11.15	0.954	4	0.000	0.052	2655	1492	1682	0	0	0	0	0	0
9495	0.79	196.9	91.7	9.6	914	9502	0.00	1.17	0.00	0.000	6	0.000	0.050	2655	2200	1681	0	0	0	0	0	0
9833	0.80	207.7	59.6	8.7	965	9854	0.00	1.20	10.65	0.934	4	0.000	0.059	2655	2915	1637	0	0	0	0	0	0
10107	0.87	263.3	37.6	6.8	1006	10161	0.00	1.17	47.92	0.953	6	0.000	0.039	2660	2198	1411	0	0	0	0	0	0
10494	0.89	278.3	6.6	8.5	1064	10508	0.00	1.20	6.62	0.096	4	0.000	0.052	2660	2917	1350	0	0	0	0	0	0
10539	end climb: SURFACE_DEPTH_REACHED
state	10539	begin surface coast
10548	end surface coast: CONTROL_FINISHED_OK
state	10548	begin surface