Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 2112 * 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 20

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 2112 HEADING 90 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 7 C_ROLL_DIVE 500 ALTIM_PING_DELTA 50

D_TGT 940 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 1700 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -5500 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 443.50238 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 50 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 2 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 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 420 UPLOAD_DIVES_MAX 3 C_VBD 2250 DEVICE3 -1

T_MISSION 540 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_ABORT 720 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 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -6 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -260669.92 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 5 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 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 120 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 2300 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 645 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 250 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 2 PHONE_SUPPLY -1 SM_CC 443.50238

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 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 940 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 10 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 2.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_MIN 127 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 7 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

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 420

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 3

CAPUPLOAD 0 HEADING 90 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -260669.92

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 540

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 645 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2300 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1700 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 500 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2250 LOGGERDEVICE3 -1 ROLL_DEG 35 UPLOAD_DIVES_MAX 3

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -6

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 2

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 120 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 50 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 2112 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 3 N_FILEKB 4 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 9 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 6 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 250112,173538,6057.421,-6031.994,181,99.0,181,-27.9 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6056.381,-6007.633

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.05 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -35.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 250112,235424,6056.381,-6029.866,43,1.0,43,-27.9 MHEAD_RNG_PITCHd_Wd 117.7,20000,-15.9,-7.460

SPEED_LIMITS 0.129,0.214 D_GRID 1658

Post-dive calculations and measurements:

FREEZE 1.51,NaN,-0.001,2,3,0 ALTIM_TOP_PING 19.0,17.3

FINISH 1.5,NaN _24V_AH 22.1,55.093

SM_CCo 19273,51.65,0.075,0,0,442,443.50 _10V_AH 9.9,66.208

SM_GC 2.52,6.60,2.00,51.65,0.043,0.066,0.075,121,500,442,-6.76,0.62,443.50,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 1199 FG_AHR_10Vo 0.000

RAFOS 0,1327536063,0.033333,0.017500,68,64,60,0,0,0,184,161,226,0,0,0 MEM 270332

RAFOS_FIX 6554.688965,-5924.217773,021211,121228,2,77,1.36 DATA_FILE_SIZE 16831,338

IRIDIUM_FIX 6032.86,-6035.64,250112,171707 CAP_FILE_SIZE 105545,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,207110144

HUMID 53.34 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1465.0

TCM_TEMP 17.70 CURRENT 0.296, 11.2,1

XPDR_PINGS 6 GPS 260112,051835,6055.230,-6031.452,37,0.9,37,-27.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 247 93.38 SBE_CT 215 23 110.55

Roll_motor 96 87 187.28 SBE_O2 0 0 0.00

VBD_pump_during_apogee 418 1449 13419.04 nil 0 0 0.00

VBD_pump_during_surface 51 74 85.58 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 125 240 666.44 nil 0 0 0.00

Transponder_ping 5 420 46.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 26 11.88

TT8 1272 18 235.63

LPSleep 16100 2 368.20

TT8_Active 564 18 104.50

TT8_Sampling 1499 41 622.40

TT8_CF8 476 47 226.23

TT8_Kalman 0 0 0.00

Analog_circuits 1470 12 174.70

GPS_charging 0 0 0.00

Compass 1305 6 87.10

RAFOS 5040 1 74.84

Transponder 25 30 7.60

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.66 -116.8 0.0 0.0 0 178 0.00 0.00 -153.23 0.000 2 0.000 0.000 111 492 2455 0 0 0 0 0 0

183 -0.66 -116.8 3.5 -1.2 5 203 8.40 1.95 -6.12 0.000 4 0.247 0.047 2073 1750 2730 0 0 0 0 0 0

349 -0.66 -116.8 37.0 -13.5 10 353 0.00 2.15 0.00 0.000 6 0.000 0.077 2073 492 2732 0 0 0 0 0 0

986 -0.66 -116.8 116.0 -11.1 29 990 0.00 1.88 0.00 0.000 4 0.000 0.027 2065 1769 2731 0 0 0 0 0 0

1237 -0.66 -116.8 136.0 -10.0 32 1241 0.00 2.22 0.00 0.000 6 0.000 0.076 2065 488 2731 0 0 0 0 0 0

1856 -0.66 -116.8 196.8 -9.3 42 1860 0.00 1.88 0.00 0.000 4 0.000 0.027 2056 1773 2731 0 0 0 0 0 0

2116 -0.66 -116.8 217.0 -9.8 45 2125 0.12 2.22 0.00 0.000 6 0.151 0.074 2086 495 2733 0 0 0 0 0 0

2732 -0.66 -116.8 282.8 -9.7 56 2733 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 495 2735 0 0 0 0 0 0

3336 -0.66 -116.8 341.8 -9.9 66 3337 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 495 2736 0 0 0 0 0 0

3943 -0.66 -116.8 398.6 -9.0 76 3947 0.00 1.88 0.00 0.000 4 0.000 0.024 2079 1771 2737 0 0 0 0 0 0

3962 -0.66 -116.8 398.6 -9.0 76 3966 0.00 2.15 0.00 0.000 6 0.000 0.068 2080 493 2737 0 0 0 0 0 0

4612 -0.66 -116.8 459.0 -9.4 87 4616 0.00 1.85 0.00 0.000 4 0.000 0.024 2073 1770 2738 0 0 0 0 0 0

4712 -0.66 -116.8 465.8 -9.5 88 4716 0.00 2.12 0.00 0.000 6 0.000 0.068 2073 495 2738 0 0 0 0 0 0

5347 -0.66 -116.8 527.9 -9.2 99 5351 0.00 1.85 0.00 0.000 4 0.000 0.023 2066 1780 2739 0 0 0 0 0 0

5459 -0.66 -116.8 534.3 -9.2 100 5463 0.00 2.17 0.00 0.000 6 0.000 0.067 2066 488 2738 0 0 0 0 0 0

6081 -0.66 -116.8 594.1 -8.8 111 6085 0.00 1.88 0.00 0.000 4 0.000 0.024 2060 1786 2739 0 0 0 0 0 0

6249 -0.66 -116.8 605.5 -8.5 113 6253 0.00 2.17 0.00 0.000 6 0.000 0.067 2060 495 2739 0 0 0 0 0 0

6884 -0.66 -116.8 661.0 -8.5 124 6887 0.00 1.88 0.00 0.000 4 0.000 0.024 2053 1803 2739 0 0 0 0 0 0

7078 -0.66 -116.8 671.8 -8.2 126 7086 0.12 2.20 0.00 0.000 6 0.138 0.067 2086 499 2740 0 0 0 0 0 0

7694 -0.66 -116.8 722.2 -7.5 137 7697 0.00 1.85 0.00 0.000 4 0.000 0.023 2079 1781 2740 0 0 0 0 0 0

7779 -0.66 -116.8 727.3 -7.5 138 7783 0.00 2.15 0.00 0.000 6 0.000 0.067 2079 498 2740 0 0 0 0 0 0

8433 -0.66 -116.8 778.5 -7.8 149 8437 0.00 1.85 0.00 0.000 4 0.000 0.023 2073 1778 2740 0 0 0 0 0 0

8493 -0.66 -116.8 778.5 -7.8 149 8500 0.00 2.15 0.00 0.000 6 0.000 0.067 2073 499 2740 0 0 0 0 0 0

9108 -0.66 -116.8 829.2 -7.8 160 9111 0.00 1.85 0.00 0.000 4 0.000 0.023 2067 1776 2740 0 0 0 0 0 0

9220 -0.66 -116.8 834.1 -7.6 161 9224 0.00 2.15 0.00 0.000 6 0.000 0.067 2067 499 2740 0 0 0 0 0 0

9841 -0.66 -116.8 880.2 -6.6 172 9845 0.00 1.85 0.00 0.000 4 0.000 0.023 2062 1788 2740 0 0 0 0 0 0

9975 -0.66 -116.8 888.8 -6.5 174 9979 0.00 2.17 0.00 0.000 6 0.000 0.067 2063 492 2740 0 0 0 0 0 0

10644 -0.66 -116.8 935.8 -7.6 185 10647 0.00 1.85 0.00 0.000 4 0.000 0.024 2057 1773 2740 0 0 0 0 0 0

10708 end dive: TARGET_DEPTH_EXCEEDED

state 10708 begin apogee

10717 -0.16 0.0 941.2 -7.7 186 10832 0.52 0.00 105.80 1.450 6 0.091 0.000 2242 1692 2250 0 0 0 0 0 0

10833 end apogee: CONTROL_FINISHED_OK

state 10833 begin climb

10837 0.66 116.8 945.5 0.0 187 10960 0.75 2.22 111.35 1.405 4 0.044 0.037 2522 2921 1772 0 0 0 0 0 0

11211 0.92 333.4 959.3 -1.8 193 11420 0.20 2.08 201.70 1.397 6 0.061 0.049 2613 1696 889 0 0 0 0 0 0

12081 0.92 333.4 868.4 11.5 208 12085 0.00 1.98 0.00 0.000 4 0.000 0.042 2614 2925 881 0 0 0 0 0 0

12240 0.92 333.4 851.6 12.0 210 12245 0.00 2.00 0.00 0.000 6 0.000 0.043 2622 1686 881 0 0 0 0 0 0

12889 0.92 333.4 764.5 12.4 221 12893 0.00 1.98 0.00 0.000 4 0.000 0.045 2622 2931 880 0 0 0 0 0 0

12909 0.92 333.4 764.5 12.4 221 12913 0.12 2.00 0.00 0.000 6 0.145 0.043 2598 1686 880 0 0 0 0 0 0

13563 0.92 333.4 690.3 10.7 232 13567 0.00 2.00 0.00 0.000 4 0.000 0.046 2598 2942 879 0 0 0 0 0 0

13689 0.92 333.4 682.4 11.0 233 13696 0.00 2.00 0.00 0.000 6 0.000 0.044 2605 1695 879 0 0 0 0 0 0

14304 0.92 333.4 602.3 11.9 244 14308 0.00 1.95 0.00 0.000 4 0.000 0.045 2605 2926 879 0 0 0 0 0 0

14423 0.92 333.4 593.6 12.1 245 14426 0.00 1.98 0.00 0.000 6 0.000 0.044 2614 1695 879 0 0 0 0 0 0

15043 0.92 333.4 511.0 12.2 256 15047 0.00 1.98 0.00 0.000 4 0.000 0.046 2614 2913 878 0 0 0 0 0 0

15117 0.92 333.4 502.6 12.3 257 15121 0.00 1.95 0.00 0.000 6 0.000 0.043 2622 1695 879 0 0 0 0 0 0

15790 0.92 333.4 418.6 12.7 268 15794 0.00 1.98 0.00 0.000 4 0.000 0.045 2622 2930 879 0 0 0 0 0 0

15804 0.92 333.4 418.6 12.7 268 15808 0.12 1.98 0.00 0.000 6 0.145 0.043 2597 1696 879 0 0 0 0 0 0

16462 0.92 333.4 341.5 11.6 279 16466 0.00 1.95 0.00 0.000 4 0.000 0.045 2597 2928 879 0 0 0 0 0 0

16574 0.92 333.4 332.7 11.8 280 16579 0.00 2.00 0.00 0.000 6 0.000 0.042 2604 1693 879 0 0 0 0 0 0

17206 0.92 333.4 247.2 12.5 291 17209 0.00 1.98 0.00 0.000 4 0.000 0.044 2604 2929 879 0 0 0 0 0 0

17341 0.92 333.4 229.8 12.5 293 17345 0.00 1.98 0.00 0.000 6 0.000 0.041 2613 1692 879 0 0 0 0 0 0

18009 0.92 333.4 143.6 13.1 304 18012 0.00 1.98 0.00 0.000 4 0.000 0.044 2612 2930 879 0 0 0 0 0 0

18081 0.92 333.4 134.4 13.2 305 18085 0.00 1.98 0.00 0.000 6 0.000 0.041 2621 1692 879 0 0 0 0 0 0

18723 0.92 333.4 48.6 12.0 321 18727 0.00 1.95 0.00 0.000 4 0.000 0.043 2621 2932 879 0 0 0 0 0 0

18829 0.92 333.4 35.9 12.4 324 18833 0.12 1.98 0.00 0.000 6 0.146 0.042 2597 1696 879 0 0 0 0 0 0

19223 end climb: SURFACE_DEPTH_REACHED

state 19223 begin surface coast

19251 end surface coast: CONTROL_FINISHED_OK

state 19251 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	2112	HEADING	90	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	7	C_ROLL_DIVE	500	ALTIM_PING_DELTA	50
D_TGT	940	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	1700	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-5500	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	443.50238	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	50	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	2	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	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	420	UPLOAD_DIVES_MAX	3	C_VBD	2250	DEVICE3	-1
T_MISSION	540	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_ABORT	720	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	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-6	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-260669.92	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	5	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	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	120	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	2300	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	645	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	250112,173538,6057.421,-6031.994,181,99.0,181,-27.9	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6056.381,-6007.633
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.05	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-35.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	250112,235424,6056.381,-6029.866,43,1.0,43,-27.9	MHEAD_RNG_PITCHd_Wd	117.7,20000,-15.9,-7.460
SPEED_LIMITS	0.129,0.214	D_GRID	1658

FREEZE	1.51,NaN,-0.001,2,3,0	ALTIM_TOP_PING	19.0,17.3
FINISH	1.5,NaN	_24V_AH	22.1,55.093
SM_CCo	19273,51.65,0.075,0,0,442,443.50	_10V_AH	9.9,66.208
SM_GC	2.52,6.60,2.00,51.65,0.043,0.066,0.075,121,500,442,-6.76,0.62,443.50,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	1199	FG_AHR_10Vo	0.000
RAFOS	0,1327536063,0.033333,0.017500,68,64,60,0,0,0,184,161,226,0,0,0	MEM	270332
RAFOS_FIX	6554.688965,-5924.217773,021211,121228,2,77,1.36	DATA_FILE_SIZE	16831,338
IRIDIUM_FIX	6032.86,-6035.64,250112,171707	CAP_FILE_SIZE	105545,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,207110144
HUMID	53.34	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1465.0
TCM_TEMP	17.70	CURRENT	0.296, 11.2,1
XPDR_PINGS	6	GPS	260112,051835,6055.230,-6031.452,37,0.9,37,-27.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	247	93.38	SBE_CT	215	23	110.55
Roll_motor	96	87	187.28	SBE_O2	0	0	0.00
VBD_pump_during_apogee	418	1449	13419.04	nil	0	0	0.00
VBD_pump_during_surface	51	74	85.58	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	125	240	666.44	nil	0	0	0.00
Transponder_ping	5	420	46.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	26	11.88
TT8	1272	18	235.63
LPSleep	16100	2	368.20
TT8_Active	564	18	104.50
TT8_Sampling	1499	41	622.40
TT8_CF8	476	47	226.23
TT8_Kalman	0	0	0.00
Analog_circuits	1470	12	174.70
GPS_charging	0	0	0.00
Compass	1305	6	87.10
RAFOS	5040	1	74.84
Transponder	25	30	7.60

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.66	-116.8	0.0	0.0	0	178	0.00	0.00	-153.23	0.000	2	0.000	0.000	111	492	2455	0	0	0	0	0	0
183	-0.66	-116.8	3.5	-1.2	5	203	8.40	1.95	-6.12	0.000	4	0.247	0.047	2073	1750	2730	0	0	0	0	0	0
349	-0.66	-116.8	37.0	-13.5	10	353	0.00	2.15	0.00	0.000	6	0.000	0.077	2073	492	2732	0	0	0	0	0	0
986	-0.66	-116.8	116.0	-11.1	29	990	0.00	1.88	0.00	0.000	4	0.000	0.027	2065	1769	2731	0	0	0	0	0	0
1237	-0.66	-116.8	136.0	-10.0	32	1241	0.00	2.22	0.00	0.000	6	0.000	0.076	2065	488	2731	0	0	0	0	0	0
1856	-0.66	-116.8	196.8	-9.3	42	1860	0.00	1.88	0.00	0.000	4	0.000	0.027	2056	1773	2731	0	0	0	0	0	0
2116	-0.66	-116.8	217.0	-9.8	45	2125	0.12	2.22	0.00	0.000	6	0.151	0.074	2086	495	2733	0	0	0	0	0	0
2732	-0.66	-116.8	282.8	-9.7	56	2733	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	495	2735	0	0	0	0	0	0
3336	-0.66	-116.8	341.8	-9.9	66	3337	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	495	2736	0	0	0	0	0	0
3943	-0.66	-116.8	398.6	-9.0	76	3947	0.00	1.88	0.00	0.000	4	0.000	0.024	2079	1771	2737	0	0	0	0	0	0
3962	-0.66	-116.8	398.6	-9.0	76	3966	0.00	2.15	0.00	0.000	6	0.000	0.068	2080	493	2737	0	0	0	0	0	0
4612	-0.66	-116.8	459.0	-9.4	87	4616	0.00	1.85	0.00	0.000	4	0.000	0.024	2073	1770	2738	0	0	0	0	0	0
4712	-0.66	-116.8	465.8	-9.5	88	4716	0.00	2.12	0.00	0.000	6	0.000	0.068	2073	495	2738	0	0	0	0	0	0
5347	-0.66	-116.8	527.9	-9.2	99	5351	0.00	1.85	0.00	0.000	4	0.000	0.023	2066	1780	2739	0	0	0	0	0	0
5459	-0.66	-116.8	534.3	-9.2	100	5463	0.00	2.17	0.00	0.000	6	0.000	0.067	2066	488	2738	0	0	0	0	0	0
6081	-0.66	-116.8	594.1	-8.8	111	6085	0.00	1.88	0.00	0.000	4	0.000	0.024	2060	1786	2739	0	0	0	0	0	0
6249	-0.66	-116.8	605.5	-8.5	113	6253	0.00	2.17	0.00	0.000	6	0.000	0.067	2060	495	2739	0	0	0	0	0	0
6884	-0.66	-116.8	661.0	-8.5	124	6887	0.00	1.88	0.00	0.000	4	0.000	0.024	2053	1803	2739	0	0	0	0	0	0
7078	-0.66	-116.8	671.8	-8.2	126	7086	0.12	2.20	0.00	0.000	6	0.138	0.067	2086	499	2740	0	0	0	0	0	0
7694	-0.66	-116.8	722.2	-7.5	137	7697	0.00	1.85	0.00	0.000	4	0.000	0.023	2079	1781	2740	0	0	0	0	0	0
7779	-0.66	-116.8	727.3	-7.5	138	7783	0.00	2.15	0.00	0.000	6	0.000	0.067	2079	498	2740	0	0	0	0	0	0
8433	-0.66	-116.8	778.5	-7.8	149	8437	0.00	1.85	0.00	0.000	4	0.000	0.023	2073	1778	2740	0	0	0	0	0	0
8493	-0.66	-116.8	778.5	-7.8	149	8500	0.00	2.15	0.00	0.000	6	0.000	0.067	2073	499	2740	0	0	0	0	0	0
9108	-0.66	-116.8	829.2	-7.8	160	9111	0.00	1.85	0.00	0.000	4	0.000	0.023	2067	1776	2740	0	0	0	0	0	0
9220	-0.66	-116.8	834.1	-7.6	161	9224	0.00	2.15	0.00	0.000	6	0.000	0.067	2067	499	2740	0	0	0	0	0	0
9841	-0.66	-116.8	880.2	-6.6	172	9845	0.00	1.85	0.00	0.000	4	0.000	0.023	2062	1788	2740	0	0	0	0	0	0
9975	-0.66	-116.8	888.8	-6.5	174	9979	0.00	2.17	0.00	0.000	6	0.000	0.067	2063	492	2740	0	0	0	0	0	0
10644	-0.66	-116.8	935.8	-7.6	185	10647	0.00	1.85	0.00	0.000	4	0.000	0.024	2057	1773	2740	0	0	0	0	0	0
10708	end dive: TARGET_DEPTH_EXCEEDED
state	10708	begin apogee
10717	-0.16	0.0	941.2	-7.7	186	10832	0.52	0.00	105.80	1.450	6	0.091	0.000	2242	1692	2250	0	0	0	0	0	0
10833	end apogee: CONTROL_FINISHED_OK
state	10833	begin climb
10837	0.66	116.8	945.5	0.0	187	10960	0.75	2.22	111.35	1.405	4	0.044	0.037	2522	2921	1772	0	0	0	0	0	0
11211	0.92	333.4	959.3	-1.8	193	11420	0.20	2.08	201.70	1.397	6	0.061	0.049	2613	1696	889	0	0	0	0	0	0
12081	0.92	333.4	868.4	11.5	208	12085	0.00	1.98	0.00	0.000	4	0.000	0.042	2614	2925	881	0	0	0	0	0	0
12240	0.92	333.4	851.6	12.0	210	12245	0.00	2.00	0.00	0.000	6	0.000	0.043	2622	1686	881	0	0	0	0	0	0
12889	0.92	333.4	764.5	12.4	221	12893	0.00	1.98	0.00	0.000	4	0.000	0.045	2622	2931	880	0	0	0	0	0	0
12909	0.92	333.4	764.5	12.4	221	12913	0.12	2.00	0.00	0.000	6	0.145	0.043	2598	1686	880	0	0	0	0	0	0
13563	0.92	333.4	690.3	10.7	232	13567	0.00	2.00	0.00	0.000	4	0.000	0.046	2598	2942	879	0	0	0	0	0	0
13689	0.92	333.4	682.4	11.0	233	13696	0.00	2.00	0.00	0.000	6	0.000	0.044	2605	1695	879	0	0	0	0	0	0
14304	0.92	333.4	602.3	11.9	244	14308	0.00	1.95	0.00	0.000	4	0.000	0.045	2605	2926	879	0	0	0	0	0	0
14423	0.92	333.4	593.6	12.1	245	14426	0.00	1.98	0.00	0.000	6	0.000	0.044	2614	1695	879	0	0	0	0	0	0
15043	0.92	333.4	511.0	12.2	256	15047	0.00	1.98	0.00	0.000	4	0.000	0.046	2614	2913	878	0	0	0	0	0	0
15117	0.92	333.4	502.6	12.3	257	15121	0.00	1.95	0.00	0.000	6	0.000	0.043	2622	1695	879	0	0	0	0	0	0
15790	0.92	333.4	418.6	12.7	268	15794	0.00	1.98	0.00	0.000	4	0.000	0.045	2622	2930	879	0	0	0	0	0	0
15804	0.92	333.4	418.6	12.7	268	15808	0.12	1.98	0.00	0.000	6	0.145	0.043	2597	1696	879	0	0	0	0	0	0
16462	0.92	333.4	341.5	11.6	279	16466	0.00	1.95	0.00	0.000	4	0.000	0.045	2597	2928	879	0	0	0	0	0	0
16574	0.92	333.4	332.7	11.8	280	16579	0.00	2.00	0.00	0.000	6	0.000	0.042	2604	1693	879	0	0	0	0	0	0
17206	0.92	333.4	247.2	12.5	291	17209	0.00	1.98	0.00	0.000	4	0.000	0.044	2604	2929	879	0	0	0	0	0	0
17341	0.92	333.4	229.8	12.5	293	17345	0.00	1.98	0.00	0.000	6	0.000	0.041	2613	1692	879	0	0	0	0	0	0
18009	0.92	333.4	143.6	13.1	304	18012	0.00	1.98	0.00	0.000	4	0.000	0.044	2612	2930	879	0	0	0	0	0	0
18081	0.92	333.4	134.4	13.2	305	18085	0.00	1.98	0.00	0.000	6	0.000	0.041	2621	1692	879	0	0	0	0	0	0
18723	0.92	333.4	48.6	12.0	321	18727	0.00	1.95	0.00	0.000	4	0.000	0.043	2621	2932	879	0	0	0	0	0	0
18829	0.92	333.4	35.9	12.4	324	18833	0.12	1.98	0.00	0.000	6	0.146	0.042	2597	1696	879	0	0	0	0	0	0
19223	end climb: SURFACE_DEPTH_REACHED
state	19223	begin surface coast
19251	end surface coast: CONTROL_FINISHED_OK
state	19251	begin surface