Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 175 * 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 175 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 38 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 -80736.133 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 -80736.133

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 38 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 175 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 021111,121958,6645.398,-6000.334,35,1.2,37,-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 2.69 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -73.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 021111,122706,6645.351,-6000.217,15,1.2,15,-33.9 MHEAD_RNG_PITCHd_Wd 82.9,142605,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 668

Post-dive calculations and measurements:

FINISH 1.8,1.012037 _24V_AH 22.6,22.127

SM_CCo 12790,7.03,0.090,0,0,1261,300.00 _10V_AH 10.1,17.243

SM_GC 4.10,7.05,0.55,7.03,0.045,0.058,0.090,118,2520,1261,-7.08,-0.62,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 839 FG_AHR_10Vo 0.000

RAFOS 2,1320236225,12.300000,12.284722,115,69,64,0,0,0,606,146,193,0,0,0 MEM 150304

RAFOS_FIX 6643.808105,-5954.880371,021111,121230,5,108,24.19 DATA_FILE_SIZE 43424,1167

IRIDIUM_FIX 6614.97,-5937.58,021111,121245 CAP_FILE_SIZE 122261,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,235929600

HUMID 57.04 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1451.7

TCM_TEMP 16.30 CURRENT 0.100,232.0,1

XPDR_PINGS 20 GPS 021111,160235,6645.833,-5957.472,38,0.9,38,-33.9

ALTIM_BOTTOM_PING 550.7,168.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 263 103.93 SBE_CT 848 23 445.42

Roll_motor 46 95 101.30 SBE_O2 648 5 76.86

VBD_pump_during_apogee 357 1325 10718.10 nil 0 0 0.00

VBD_pump_during_surface 7 89 14.21 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 257 251 1464.50 nil 0 0 0.00

Transponder_ping 6 420 64.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.41

TT8 3166 18 598.44

LPSleep 7205 2 168.11

TT8_Active 513 18 96.98

TT8_Sampling 2156 41 913.25

TT8_CF8 204 47 98.82

TT8_Kalman 0 0 0.00

Analog_circuits 1766 12 214.10

GPS_charging 0 0 0.00

Compass 1882 6 128.12

RAFOS 1080 1 16.36

Transponder 14 30 4.46

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 -0.73 -146.0 0.0 0.0 0 47 0.00 0.00 -29.45 0.000 2 0.000 0.000 120 2516 1657 0 0 0 0 0 0

50 -0.73 -146.0 3.1 -2.8 4 151 8.68 1.10 -85.22 0.000 4 0.263 0.096 2160 3209 3080 0 0 0 0 0 0

404 -0.73 -146.0 52.3 -15.2 57 413 0.00 1.10 0.00 0.000 6 0.000 0.036 2160 2508 3082 0 0 0 0 0 0

743 -0.73 -146.0 103.9 -15.0 108 750 0.00 1.17 0.00 0.000 4 0.000 0.065 2155 3208 3082 0 0 0 0 0 0

942 -0.73 -146.0 132.1 -13.4 138 949 0.00 1.10 0.00 0.000 6 0.000 0.036 2155 2505 3082 0 0 0 0 0 0

1280 -0.73 -146.0 177.9 -13.3 189 1290 0.00 1.08 0.00 0.000 4 0.000 0.045 2155 1817 3082 0 0 0 0 0 0

1345 -0.73 -146.0 186.3 -13.5 198 1352 0.00 1.17 0.00 0.000 6 0.000 0.057 2151 2502 3082 0 0 0 0 0 0

1682 -0.73 -146.0 233.7 -13.9 249 1691 0.00 1.12 0.00 0.000 4 0.000 0.071 2145 3207 3082 0 0 0 0 0 0

1771 -0.73 -146.0 246.0 -13.9 262 1778 0.00 1.08 0.00 0.000 6 0.000 0.035 2145 2513 3082 0 0 0 0 0 0

2100 -0.73 -146.0 289.3 -13.2 290 2103 0.00 1.10 0.00 0.000 4 0.000 0.047 2145 1809 3081 0 0 0 0 0 0

2170 -0.73 -146.0 298.1 -12.3 295 2178 0.00 1.23 0.00 0.000 6 0.000 0.056 2141 2517 3081 0 0 0 0 0 0

2495 -0.73 -146.0 338.4 -12.0 321 2496 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2517 3081 0 0 0 0 0 0

2811 -0.73 -146.0 374.5 -11.0 346 2815 0.00 1.10 0.00 0.000 4 0.000 0.070 2135 3211 3081 0 0 0 0 0 0

2974 -0.73 -146.0 393.3 -11.5 358 2983 0.12 1.12 0.00 0.000 6 0.172 0.034 2165 2495 3081 0 0 0 0 0 0

3298 -0.73 -146.0 424.6 -9.3 384 3299 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2495 3081 0 0 0 0 0 0

3613 -0.73 -146.0 453.4 -9.2 409 3614 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2495 3081 0 0 0 0 0 0

3931 -0.73 -146.0 482.7 -9.4 434 3934 0.00 1.20 0.00 0.000 4 0.000 0.066 2162 3217 3082 0 0 0 0 0 0

3961 -0.73 -146.0 485.4 -9.4 436 3969 0.00 1.12 0.00 0.000 6 0.000 0.032 2162 2496 3082 0 0 0 0 0 0

4294 -0.73 -146.0 518.1 -9.8 454 4295 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2496 3082 0 0 0 0 0 0

4598 -0.73 -146.0 547.8 -9.5 464 4599 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2496 3083 0 0 0 0 0 0

4906 -0.73 -146.0 576.2 -9.2 474 4909 0.00 1.20 0.00 0.000 4 0.000 0.066 2157 3220 3083 0 0 0 0 0 0

4950 -0.73 -146.0 579.4 -9.2 475 4955 0.00 1.12 0.00 0.000 6 0.000 0.031 2157 2497 3083 0 0 0 0 0 0

5280 -0.73 -146.0 610.5 -9.1 486 5282 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2497 3083 0 0 0 0 0 0

5584 -0.73 -146.0 639.0 -9.6 496 5587 0.00 1.17 0.00 0.000 4 0.000 0.065 2152 3210 3084 0 0 0 0 0 0

5617 -0.73 -146.0 642.4 -9.8 497 5620 0.00 1.08 0.00 0.000 6 0.000 0.031 2152 2501 3084 0 0 0 0 0 0

5894 end dive: TARGET_DEPTH_EXCEEDED

state 5894 begin apogee

5900 -0.16 0.0 670.0 -9.7 506 6027 0.57 0.00 119.97 1.326 6 0.131 0.000 2340 2197 2484 0 0 0 0 0 0

6028 end apogee: CONTROL_FINISHED_OK

state 6028 begin climb

6030 0.73 146.0 673.5 0.0 510 6167 0.85 1.23 129.10 1.268 4 0.072 0.048 2633 1506 1889 0 0 0 0 0 0

6353 0.73 146.0 648.7 11.0 520 6356 0.00 1.23 0.00 0.000 6 0.000 0.044 2633 2210 1882 0 0 0 0 0 0

6678 0.73 146.0 609.2 11.6 531 6682 0.00 1.15 0.00 0.000 4 0.000 0.054 2633 2904 1879 0 0 0 0 0 0

6795 0.73 146.0 597.3 11.9 534 6800 0.00 1.17 0.00 0.000 6 0.000 0.034 2637 2204 1878 0 0 0 0 0 0

7116 0.73 146.0 557.9 11.5 545 7120 0.00 1.10 0.00 0.000 4 0.000 0.048 2643 1497 1877 0 0 0 0 0 0

7222 0.73 146.0 546.8 11.2 548 7225 0.00 1.17 0.00 0.000 6 0.000 0.045 2643 2209 1877 0 0 0 0 0 0

7555 0.73 146.0 508.8 11.0 559 7556 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2209 1877 0 0 0 0 0 0

7873 0.73 146.0 473.1 11.3 580 7877 0.00 1.15 0.00 0.000 4 0.000 0.046 2647 1497 1876 0 0 0 0 0 0

7912 0.73 146.0 468.8 11.2 583 7916 0.00 1.15 0.00 0.000 6 0.000 0.045 2647 2204 1876 0 0 0 0 0 0

8243 0.73 146.0 432.1 11.1 609 8244 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2203 1876 0 0 0 0 0 0

8558 0.73 146.0 398.6 10.2 634 8561 0.00 1.15 0.00 0.000 4 0.000 0.047 2652 1491 1876 0 0 0 0 0 0

8602 0.73 146.0 394.3 10.3 637 8612 0.00 1.17 0.00 0.000 6 0.000 0.044 2652 2206 1876 0 0 0 0 0 0

8927 0.73 146.0 360.1 10.5 663 8928 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2206 1876 0 0 0 0 0 0

9241 0.73 146.0 325.9 11.1 688 9242 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2206 1876 0 0 0 0 0 0

9557 0.73 146.0 290.7 10.8 713 9560 0.00 1.15 0.00 0.000 4 0.000 0.048 2657 1492 1876 0 0 0 0 0 0

9720 0.73 146.0 274.0 10.5 725 9730 0.00 1.17 0.00 0.000 6 0.000 0.045 2657 2210 1876 0 0 0 0 0 0

10050 0.73 146.0 240.2 9.6 758 10056 0.00 1.15 0.00 0.000 4 0.000 0.047 2661 1492 1876 0 0 0 0 0 0

10135 0.73 146.0 231.7 9.4 771 10142 0.00 1.15 0.00 0.000 6 0.000 0.045 2661 2209 1876 0 0 0 0 0 0

10475 0.75 167.4 202.2 8.3 822 10503 0.00 1.17 17.35 1.014 4 0.000 0.047 2666 1491 1801 0 0 0 0 0 0

10754 0.75 167.4 174.8 9.5 864 10760 0.00 1.15 0.00 0.000 6 0.000 0.046 2666 2201 1800 0 0 0 0 0 0

11090 0.76 175.7 143.3 8.8 915 11104 0.00 1.17 8.07 0.926 4 0.000 0.049 2670 1494 1768 0 0 0 0 0 0

11310 0.76 175.7 122.3 9.7 948 11316 0.00 1.15 0.00 0.000 6 0.000 0.047 2670 2200 1767 0 0 0 0 0 0

11647 0.76 175.7 90.7 9.2 999 11654 0.00 1.12 0.00 0.000 4 0.000 0.057 2670 2907 1767 0 0 0 0 0 0

11748 0.76 175.7 81.2 9.4 1014 11756 0.08 1.15 0.00 0.000 6 0.158 0.037 2652 2197 1767 0 0 0 0 0 0

12088 0.81 211.6 54.1 7.7 1065 12124 0.00 1.12 31.48 0.971 4 0.000 0.051 2656 1497 1621 0 0 0 0 0 0

12356 0.86 259.0 34.2 7.2 1105 12404 0.00 1.15 40.35 0.940 6 0.000 0.047 2656 2195 1428 0 0 0 0 0 0

12739 0.91 294.4 3.1 7.7 1162 12753 0.12 0.00 11.40 0.086 2 0.093 0.000 2703 2195 1327 0 0 0 0 0 0

12754 end climb: SURFACE_DEPTH_REACHED

state 12754 begin surface coast

12773 end surface coast: CONTROL_FINISHED_OK

state 12773 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	175	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	38	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	-80736.133	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	021111,121958,6645.398,-6000.334,35,1.2,37,-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	2.69	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-73.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	021111,122706,6645.351,-6000.217,15,1.2,15,-33.9	MHEAD_RNG_PITCHd_Wd	82.9,142605,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	668

FINISH	1.8,1.012037	_24V_AH	22.6,22.127
SM_CCo	12790,7.03,0.090,0,0,1261,300.00	_10V_AH	10.1,17.243
SM_GC	4.10,7.05,0.55,7.03,0.045,0.058,0.090,118,2520,1261,-7.08,-0.62,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	839	FG_AHR_10Vo	0.000
RAFOS	2,1320236225,12.300000,12.284722,115,69,64,0,0,0,606,146,193,0,0,0	MEM	150304
RAFOS_FIX	6643.808105,-5954.880371,021111,121230,5,108,24.19	DATA_FILE_SIZE	43424,1167
IRIDIUM_FIX	6614.97,-5937.58,021111,121245	CAP_FILE_SIZE	122261,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,235929600
HUMID	57.04	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1451.7
TCM_TEMP	16.30	CURRENT	0.100,232.0,1
XPDR_PINGS	20	GPS	021111,160235,6645.833,-5957.472,38,0.9,38,-33.9
ALTIM_BOTTOM_PING	550.7,168.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	263	103.93	SBE_CT	848	23	445.42
Roll_motor	46	95	101.30	SBE_O2	648	5	76.86
VBD_pump_during_apogee	357	1325	10718.10	nil	0	0	0.00
VBD_pump_during_surface	7	89	14.21	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	257	251	1464.50	nil	0	0	0.00
Transponder_ping	6	420	64.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.41
TT8	3166	18	598.44
LPSleep	7205	2	168.11
TT8_Active	513	18	96.98
TT8_Sampling	2156	41	913.25
TT8_CF8	204	47	98.82
TT8_Kalman	0	0	0.00
Analog_circuits	1766	12	214.10
GPS_charging	0	0	0.00
Compass	1882	6	128.12
RAFOS	1080	1	16.36
Transponder	14	30	4.46

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	-0.73	-146.0	0.0	0.0	0	47	0.00	0.00	-29.45	0.000	2	0.000	0.000	120	2516	1657	0	0	0	0	0	0
50	-0.73	-146.0	3.1	-2.8	4	151	8.68	1.10	-85.22	0.000	4	0.263	0.096	2160	3209	3080	0	0	0	0	0	0
404	-0.73	-146.0	52.3	-15.2	57	413	0.00	1.10	0.00	0.000	6	0.000	0.036	2160	2508	3082	0	0	0	0	0	0
743	-0.73	-146.0	103.9	-15.0	108	750	0.00	1.17	0.00	0.000	4	0.000	0.065	2155	3208	3082	0	0	0	0	0	0
942	-0.73	-146.0	132.1	-13.4	138	949	0.00	1.10	0.00	0.000	6	0.000	0.036	2155	2505	3082	0	0	0	0	0	0
1280	-0.73	-146.0	177.9	-13.3	189	1290	0.00	1.08	0.00	0.000	4	0.000	0.045	2155	1817	3082	0	0	0	0	0	0
1345	-0.73	-146.0	186.3	-13.5	198	1352	0.00	1.17	0.00	0.000	6	0.000	0.057	2151	2502	3082	0	0	0	0	0	0
1682	-0.73	-146.0	233.7	-13.9	249	1691	0.00	1.12	0.00	0.000	4	0.000	0.071	2145	3207	3082	0	0	0	0	0	0
1771	-0.73	-146.0	246.0	-13.9	262	1778	0.00	1.08	0.00	0.000	6	0.000	0.035	2145	2513	3082	0	0	0	0	0	0
2100	-0.73	-146.0	289.3	-13.2	290	2103	0.00	1.10	0.00	0.000	4	0.000	0.047	2145	1809	3081	0	0	0	0	0	0
2170	-0.73	-146.0	298.1	-12.3	295	2178	0.00	1.23	0.00	0.000	6	0.000	0.056	2141	2517	3081	0	0	0	0	0	0
2495	-0.73	-146.0	338.4	-12.0	321	2496	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2517	3081	0	0	0	0	0	0
2811	-0.73	-146.0	374.5	-11.0	346	2815	0.00	1.10	0.00	0.000	4	0.000	0.070	2135	3211	3081	0	0	0	0	0	0
2974	-0.73	-146.0	393.3	-11.5	358	2983	0.12	1.12	0.00	0.000	6	0.172	0.034	2165	2495	3081	0	0	0	0	0	0
3298	-0.73	-146.0	424.6	-9.3	384	3299	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2495	3081	0	0	0	0	0	0
3613	-0.73	-146.0	453.4	-9.2	409	3614	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2495	3081	0	0	0	0	0	0
3931	-0.73	-146.0	482.7	-9.4	434	3934	0.00	1.20	0.00	0.000	4	0.000	0.066	2162	3217	3082	0	0	0	0	0	0
3961	-0.73	-146.0	485.4	-9.4	436	3969	0.00	1.12	0.00	0.000	6	0.000	0.032	2162	2496	3082	0	0	0	0	0	0
4294	-0.73	-146.0	518.1	-9.8	454	4295	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2496	3082	0	0	0	0	0	0
4598	-0.73	-146.0	547.8	-9.5	464	4599	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2496	3083	0	0	0	0	0	0
4906	-0.73	-146.0	576.2	-9.2	474	4909	0.00	1.20	0.00	0.000	4	0.000	0.066	2157	3220	3083	0	0	0	0	0	0
4950	-0.73	-146.0	579.4	-9.2	475	4955	0.00	1.12	0.00	0.000	6	0.000	0.031	2157	2497	3083	0	0	0	0	0	0
5280	-0.73	-146.0	610.5	-9.1	486	5282	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2497	3083	0	0	0	0	0	0
5584	-0.73	-146.0	639.0	-9.6	496	5587	0.00	1.17	0.00	0.000	4	0.000	0.065	2152	3210	3084	0	0	0	0	0	0
5617	-0.73	-146.0	642.4	-9.8	497	5620	0.00	1.08	0.00	0.000	6	0.000	0.031	2152	2501	3084	0	0	0	0	0	0
5894	end dive: TARGET_DEPTH_EXCEEDED
state	5894	begin apogee
5900	-0.16	0.0	670.0	-9.7	506	6027	0.57	0.00	119.97	1.326	6	0.131	0.000	2340	2197	2484	0	0	0	0	0	0
6028	end apogee: CONTROL_FINISHED_OK
state	6028	begin climb
6030	0.73	146.0	673.5	0.0	510	6167	0.85	1.23	129.10	1.268	4	0.072	0.048	2633	1506	1889	0	0	0	0	0	0
6353	0.73	146.0	648.7	11.0	520	6356	0.00	1.23	0.00	0.000	6	0.000	0.044	2633	2210	1882	0	0	0	0	0	0
6678	0.73	146.0	609.2	11.6	531	6682	0.00	1.15	0.00	0.000	4	0.000	0.054	2633	2904	1879	0	0	0	0	0	0
6795	0.73	146.0	597.3	11.9	534	6800	0.00	1.17	0.00	0.000	6	0.000	0.034	2637	2204	1878	0	0	0	0	0	0
7116	0.73	146.0	557.9	11.5	545	7120	0.00	1.10	0.00	0.000	4	0.000	0.048	2643	1497	1877	0	0	0	0	0	0
7222	0.73	146.0	546.8	11.2	548	7225	0.00	1.17	0.00	0.000	6	0.000	0.045	2643	2209	1877	0	0	0	0	0	0
7555	0.73	146.0	508.8	11.0	559	7556	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2209	1877	0	0	0	0	0	0
7873	0.73	146.0	473.1	11.3	580	7877	0.00	1.15	0.00	0.000	4	0.000	0.046	2647	1497	1876	0	0	0	0	0	0
7912	0.73	146.0	468.8	11.2	583	7916	0.00	1.15	0.00	0.000	6	0.000	0.045	2647	2204	1876	0	0	0	0	0	0
8243	0.73	146.0	432.1	11.1	609	8244	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2203	1876	0	0	0	0	0	0
8558	0.73	146.0	398.6	10.2	634	8561	0.00	1.15	0.00	0.000	4	0.000	0.047	2652	1491	1876	0	0	0	0	0	0
8602	0.73	146.0	394.3	10.3	637	8612	0.00	1.17	0.00	0.000	6	0.000	0.044	2652	2206	1876	0	0	0	0	0	0
8927	0.73	146.0	360.1	10.5	663	8928	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2206	1876	0	0	0	0	0	0
9241	0.73	146.0	325.9	11.1	688	9242	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2206	1876	0	0	0	0	0	0
9557	0.73	146.0	290.7	10.8	713	9560	0.00	1.15	0.00	0.000	4	0.000	0.048	2657	1492	1876	0	0	0	0	0	0
9720	0.73	146.0	274.0	10.5	725	9730	0.00	1.17	0.00	0.000	6	0.000	0.045	2657	2210	1876	0	0	0	0	0	0
10050	0.73	146.0	240.2	9.6	758	10056	0.00	1.15	0.00	0.000	4	0.000	0.047	2661	1492	1876	0	0	0	0	0	0
10135	0.73	146.0	231.7	9.4	771	10142	0.00	1.15	0.00	0.000	6	0.000	0.045	2661	2209	1876	0	0	0	0	0	0
10475	0.75	167.4	202.2	8.3	822	10503	0.00	1.17	17.35	1.014	4	0.000	0.047	2666	1491	1801	0	0	0	0	0	0
10754	0.75	167.4	174.8	9.5	864	10760	0.00	1.15	0.00	0.000	6	0.000	0.046	2666	2201	1800	0	0	0	0	0	0
11090	0.76	175.7	143.3	8.8	915	11104	0.00	1.17	8.07	0.926	4	0.000	0.049	2670	1494	1768	0	0	0	0	0	0
11310	0.76	175.7	122.3	9.7	948	11316	0.00	1.15	0.00	0.000	6	0.000	0.047	2670	2200	1767	0	0	0	0	0	0
11647	0.76	175.7	90.7	9.2	999	11654	0.00	1.12	0.00	0.000	4	0.000	0.057	2670	2907	1767	0	0	0	0	0	0
11748	0.76	175.7	81.2	9.4	1014	11756	0.08	1.15	0.00	0.000	6	0.158	0.037	2652	2197	1767	0	0	0	0	0	0
12088	0.81	211.6	54.1	7.7	1065	12124	0.00	1.12	31.48	0.971	4	0.000	0.051	2656	1497	1621	0	0	0	0	0	0
12356	0.86	259.0	34.2	7.2	1105	12404	0.00	1.15	40.35	0.940	6	0.000	0.047	2656	2195	1428	0	0	0	0	0	0
12739	0.91	294.4	3.1	7.7	1162	12753	0.12	0.00	11.40	0.086	2	0.093	0.000	2703	2195	1327	0	0	0	0	0	0
12754	end climb: SURFACE_DEPTH_REACHED
state	12754	begin surface coast
12773	end surface coast: CONTROL_FINISHED_OK
state	12773	begin surface