Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 2120 * 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 2120 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 3800 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 31 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 24 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 2 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 -261222.83 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 -261222.83

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 3800 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2250 LOGGERDEVICE3 -1 ROLL_DEG 35 UPLOAD_DIVES_MAX 2

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 31 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 24 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 2120 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 270112,123753,6048.905,-6033.823,42,0.9,42,-27.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6048.750,-6011.657

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.49 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -58.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 270112,124513,6048.750,-6033.801,21,1.0,22,-27.7 MHEAD_RNG_PITCHd_Wd 162.7,20000,-15.9,-7.460

SPEED_LIMITS 0.129,0.214 D_GRID 1571

Post-dive calculations and measurements:

FREEZE 1.66,-1.503,-1.768,2,1,0 ALTIM_TOP_PING 19.8,18.1

FINISH 1.7,1.025967 _24V_AH 22.1,56.319

SM_CCo 18109,0.00,0.000,0,0,439,444.24 _10V_AH 9.9,66.698

SM_GC 2.46,6.88,3.30,0.00,0.051,0.036,0.000,105,3790,439,-6.77,-1.10,444.24,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 1120 FG_AHR_10Vo 0.000

RAFOS 4,1327667587,12.566667,12.551945,66,60,58,0,0,0,192,213,143,0,0,0 MEM 270328

RAFOS_FIX 6554.688965,-5924.217773,021211,121228,2,77,1.36 DATA_FILE_SIZE 13535,319

IRIDIUM_FIX 6028.48,-6032.28,270112,070736 CAP_FILE_SIZE 98472,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,208510976

HUMID 54.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.85389 SOUNDSPEED 1465.0

TCM_TEMP 17.60 CURRENT 0.383, 18.8,1

XPDR_PINGS 18 GPS 270112,174906,6047.120,-6033.413,37,1.1,37,-27.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 253 97.23 SBE_CT 203 23 104.25

Roll_motor 53 212 253.68 SBE_O2 0 0 0.00

VBD_pump_during_apogee 526 1446 16829.11 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 221 246 1208.79 nil 0 0 0.00

Transponder_ping 8 420 74.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.21

TT8 1158 18 214.56

LPSleep 15099 2 345.32

TT8_Active 573 18 106.20

TT8_Sampling 1311 41 544.24

TT8_CF8 415 47 196.96

TT8_Kalman 0 0 0.00

Analog_circuits 1516 12 180.12

GPS_charging 0 0 0.00

Compass 1103 6 73.65

RAFOS 2880 1 42.77

Transponder 28 30 8.49

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 0 172 0.00 0.00 -146.98 0.000 2 0.000 0.000 100 3800 2604 0 0 0 0 0 0

177 -0.66 -116.8 4.6 -2.1 5 195 8.70 0.22 -2.75 0.000 4 0.253 0.213 2081 3942 2730 0 0 0 0 0 0

228 -0.66 -116.8 20.0 -11.6 6 231 0.00 0.30 0.00 0.000 6 0.000 0.051 2081 3778 2732 0 0 0 0 0 0

857 -0.66 -116.8 100.4 -11.5 27 860 0.00 0.25 0.00 0.000 4 0.000 0.057 2081 3913 2732 0 0 0 0 0 0

909 -0.66 -116.8 100.4 -11.5 27 913 0.00 0.22 0.00 0.000 6 0.000 0.057 2081 3795 2731 0 0 0 0 0 0

1530 -0.66 -116.8 166.0 -8.6 38 1533 0.00 0.22 0.00 0.000 4 0.000 0.068 2081 3912 2729 0 0 0 0 0 0

1642 -0.66 -116.8 170.7 -7.7 39 1646 0.00 0.22 0.00 0.000 6 0.000 0.056 2081 3790 2729 0 0 0 0 0 0

2270 -0.66 -116.8 222.8 -8.4 50 2274 0.00 0.25 0.00 0.000 4 0.000 0.069 2081 3918 2730 0 0 0 0 0 0

2356 -0.66 -116.8 228.7 -8.5 51 2359 0.00 0.22 0.00 0.000 6 0.000 0.053 2081 3788 2730 0 0 0 0 0 0

3010 -0.66 -116.8 284.4 -8.0 62 3013 0.00 0.25 0.00 0.000 4 0.000 0.070 2081 3920 2732 0 0 0 0 0 0

3049 -0.66 -116.8 284.4 -8.0 62 3053 0.00 0.22 0.00 0.000 6 0.000 0.053 2081 3776 2732 0 0 0 0 0 0

3684 -0.66 -116.8 335.2 -7.8 73 3687 0.00 0.25 0.00 0.000 4 0.000 0.072 2081 3913 2733 0 0 0 0 0 0

3736 -0.66 -116.8 335.2 -7.8 73 3740 0.00 0.17 0.00 0.000 6 0.000 0.054 2081 3835 2733 0 0 0 0 0 0

4357 -0.66 -116.8 399.1 -10.4 84 4360 0.00 0.20 0.00 0.000 4 0.000 0.074 2081 3928 2735 0 0 0 0 0 0

4410 -0.66 -116.8 399.1 -10.4 84 4414 0.00 0.25 0.00 0.000 6 0.000 0.049 2081 3737 2734 0 0 0 0 0 0

5032 -0.66 -116.8 468.5 -9.9 95 5036 0.00 0.32 0.00 0.000 4 0.000 0.067 2082 3917 2735 0 0 0 0 0 0

5071 -0.66 -116.8 468.5 -9.9 95 5075 0.00 0.25 0.00 0.000 6 0.000 0.050 2081 3740 2735 0 0 0 0 0 0

5707 -0.66 -116.8 526.2 -8.0 106 5711 0.00 0.30 0.00 0.000 4 0.000 0.069 2081 3911 2736 0 0 0 0 0 0

5740 -0.66 -116.8 526.2 -8.0 106 5744 0.00 0.25 0.00 0.000 6 0.000 0.048 2081 3720 2736 0 0 0 0 0 0

6381 -0.66 -116.8 578.7 -7.8 117 6385 0.00 0.35 0.00 0.000 4 0.000 0.064 2081 3914 2737 0 0 0 0 0 0

6415 -0.66 -116.8 578.7 -7.8 117 6418 0.00 0.25 0.00 0.000 6 0.000 0.047 2081 3723 2737 0 0 0 0 0 0

7055 -0.66 -116.8 629.6 -7.7 128 7059 0.00 0.35 0.00 0.000 4 0.000 0.067 2081 3918 2737 0 0 0 0 0 0

7094 -0.66 -116.8 629.6 -7.7 128 7098 0.00 0.25 0.00 0.000 6 0.000 0.048 2081 3733 2737 0 0 0 0 0 0

7729 -0.66 -116.8 680.3 -7.8 139 7733 0.00 0.32 0.00 0.000 4 0.000 0.067 2081 3919 2737 0 0 0 0 0 0

7802 -0.66 -116.8 685.6 -7.9 140 7805 0.00 0.25 0.00 0.000 6 0.000 0.045 2081 3722 2737 0 0 0 0 0 0

8469 -0.66 -116.8 741.5 -8.2 151 8473 0.00 0.35 0.00 0.000 4 0.000 0.066 2081 3918 2737 0 0 0 0 0 0

8502 -0.66 -116.8 741.5 -8.2 151 8506 0.00 0.25 0.00 0.000 6 0.000 0.047 2081 3721 2737 0 0 0 0 0 0

9144 -0.66 -116.8 803.0 -9.6 162 9148 0.00 0.35 0.00 0.000 4 0.000 0.067 2081 3916 2737 0 0 0 0 0 0

9212 -0.66 -116.8 809.8 -9.7 163 9215 0.00 0.25 0.00 0.000 6 0.000 0.047 2081 3718 2737 0 0 0 0 0 0

9886 -0.66 -116.8 878.4 -10.4 174 9890 0.00 0.35 0.00 0.000 4 0.000 0.067 2081 3915 2737 0 0 0 0 0 0

9939 -0.66 -116.8 878.4 -10.4 174 9943 0.00 0.25 0.00 0.000 6 0.000 0.047 2081 3722 2737 0 0 0 0 0 0

10496 end dive: TARGET_DEPTH_EXCEEDED

state 10496 begin apogee

10508 -0.16 0.0 944.3 -10.7 184 10621 0.47 0.00 105.60 1.447 6 0.098 0.000 2247 1701 2250 0 0 0 0 0 0

10622 end apogee: CONTROL_FINISHED_OK

state 10622 begin climb

10625 0.66 116.8 950.8 0.0 185 10749 0.75 2.30 111.93 1.408 4 0.048 0.061 2530 462 1773 0 0 0 0 0 0

10782 1.06 442.2 966.4 -6.5 188 11104 0.32 2.05 308.88 1.381 6 0.048 0.021 2650 1743 445 0 0 0 0 0 0

11743 1.06 442.2 856.6 13.2 204 11747 0.00 2.08 0.00 0.000 4 0.000 0.050 2658 460 439 0 0 0 0 0 0

11864 1.06 442.2 847.5 13.4 205 11871 0.00 1.85 0.00 0.000 6 0.000 0.031 2658 1672 439 0 0 0 0 0 0

12479 1.06 442.2 753.3 13.8 216 12483 0.00 1.98 0.00 0.000 4 0.000 0.050 2666 443 439 0 0 0 0 0 0

12512 1.06 442.2 753.3 13.8 216 12516 0.00 1.92 0.00 0.000 6 0.000 0.030 2667 1698 438 0 0 0 0 0 0

13154 1.06 442.2 655.2 14.9 227 13159 0.00 2.00 0.00 0.000 4 0.000 0.051 2675 458 438 0 0 0 0 0 0

13405 1.06 442.2 624.7 15.2 230 13409 0.12 1.90 0.00 0.000 6 0.129 0.033 2640 1702 438 0 0 0 0 0 0

14026 1.06 442.2 538.9 12.6 241 14030 0.00 1.95 0.00 0.000 4 0.000 0.049 2640 2945 438 0 0 0 0 0 0

14132 1.06 442.2 529.8 12.9 242 14135 0.00 1.95 0.00 0.000 6 0.000 0.037 2647 1689 438 0 0 0 0 0 0

14766 1.06 442.2 438.2 13.8 253 14769 0.00 2.00 0.00 0.000 4 0.000 0.047 2647 2934 438 0 0 0 0 0 0

14851 1.06 442.2 428.5 13.9 254 14855 0.00 1.98 0.00 0.000 6 0.000 0.037 2656 1696 438 0 0 0 0 0 0

15506 1.06 442.2 331.5 14.9 265 15510 0.00 2.00 0.00 0.000 4 0.000 0.049 2656 2938 438 0 0 0 0 0 0

15525 1.06 442.2 331.5 14.9 265 15529 0.00 1.92 0.00 0.000 6 0.000 0.037 2664 1696 438 0 0 0 0 0 0

16181 1.06 442.2 227.3 14.9 276 16185 0.00 1.95 0.00 0.000 4 0.000 0.054 2673 476 438 0 0 0 0 0 0

16267 1.06 442.2 216.6 15.0 277 16271 0.12 1.88 0.00 0.000 6 0.125 0.032 2638 1713 438 0 0 0 0 0 0

16922 1.06 442.2 129.8 12.9 288 16926 0.00 2.00 0.00 0.000 4 0.000 0.051 2645 472 438 0 0 0 0 0 0

17153 1.06 442.2 102.6 13.3 291 17157 0.00 1.88 0.00 0.000 6 0.000 0.031 2645 1698 439 0 0 0 0 0 0

17803 1.06 442.2 19.8 10.3 312 17807 0.00 2.00 0.00 0.000 4 0.000 0.057 2649 476 439 0 0 0 0 0 0

17839 1.06 442.2 16.4 9.9 313 17843 0.00 1.85 0.00 0.000 6 0.000 0.029 2649 1711 439 0 0 0 0 0 0

17991 end climb: SURFACE_DEPTH_REACHED

state 17991 begin surface coast

18025 end surface coast: CONTROL_FINISHED_OK

state 18025 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	2120	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	3800	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	31	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	24	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	2	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	-261222.83	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	270112,123753,6048.905,-6033.823,42,0.9,42,-27.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6048.750,-6011.657
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.49	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-58.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	270112,124513,6048.750,-6033.801,21,1.0,22,-27.7	MHEAD_RNG_PITCHd_Wd	162.7,20000,-15.9,-7.460
SPEED_LIMITS	0.129,0.214	D_GRID	1571

FREEZE	1.66,-1.503,-1.768,2,1,0	ALTIM_TOP_PING	19.8,18.1
FINISH	1.7,1.025967	_24V_AH	22.1,56.319
SM_CCo	18109,0.00,0.000,0,0,439,444.24	_10V_AH	9.9,66.698
SM_GC	2.46,6.88,3.30,0.00,0.051,0.036,0.000,105,3790,439,-6.77,-1.10,444.24,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	1120	FG_AHR_10Vo	0.000
RAFOS	4,1327667587,12.566667,12.551945,66,60,58,0,0,0,192,213,143,0,0,0	MEM	270328
RAFOS_FIX	6554.688965,-5924.217773,021211,121228,2,77,1.36	DATA_FILE_SIZE	13535,319
IRIDIUM_FIX	6028.48,-6032.28,270112,070736	CAP_FILE_SIZE	98472,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,208510976
HUMID	54.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.85389	SOUNDSPEED	1465.0
TCM_TEMP	17.60	CURRENT	0.383, 18.8,1
XPDR_PINGS	18	GPS	270112,174906,6047.120,-6033.413,37,1.1,37,-27.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	253	97.23	SBE_CT	203	23	104.25
Roll_motor	53	212	253.68	SBE_O2	0	0	0.00
VBD_pump_during_apogee	526	1446	16829.11	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	221	246	1208.79	nil	0	0	0.00
Transponder_ping	8	420	74.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.21
TT8	1158	18	214.56
LPSleep	15099	2	345.32
TT8_Active	573	18	106.20
TT8_Sampling	1311	41	544.24
TT8_CF8	415	47	196.96
TT8_Kalman	0	0	0.00
Analog_circuits	1516	12	180.12
GPS_charging	0	0	0.00
Compass	1103	6	73.65
RAFOS	2880	1	42.77
Transponder	28	30	8.49

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	172	0.00	0.00	-146.98	0.000	2	0.000	0.000	100	3800	2604	0	0	0	0	0	0
177	-0.66	-116.8	4.6	-2.1	5	195	8.70	0.22	-2.75	0.000	4	0.253	0.213	2081	3942	2730	0	0	0	0	0	0
228	-0.66	-116.8	20.0	-11.6	6	231	0.00	0.30	0.00	0.000	6	0.000	0.051	2081	3778	2732	0	0	0	0	0	0
857	-0.66	-116.8	100.4	-11.5	27	860	0.00	0.25	0.00	0.000	4	0.000	0.057	2081	3913	2732	0	0	0	0	0	0
909	-0.66	-116.8	100.4	-11.5	27	913	0.00	0.22	0.00	0.000	6	0.000	0.057	2081	3795	2731	0	0	0	0	0	0
1530	-0.66	-116.8	166.0	-8.6	38	1533	0.00	0.22	0.00	0.000	4	0.000	0.068	2081	3912	2729	0	0	0	0	0	0
1642	-0.66	-116.8	170.7	-7.7	39	1646	0.00	0.22	0.00	0.000	6	0.000	0.056	2081	3790	2729	0	0	0	0	0	0
2270	-0.66	-116.8	222.8	-8.4	50	2274	0.00	0.25	0.00	0.000	4	0.000	0.069	2081	3918	2730	0	0	0	0	0	0
2356	-0.66	-116.8	228.7	-8.5	51	2359	0.00	0.22	0.00	0.000	6	0.000	0.053	2081	3788	2730	0	0	0	0	0	0
3010	-0.66	-116.8	284.4	-8.0	62	3013	0.00	0.25	0.00	0.000	4	0.000	0.070	2081	3920	2732	0	0	0	0	0	0
3049	-0.66	-116.8	284.4	-8.0	62	3053	0.00	0.22	0.00	0.000	6	0.000	0.053	2081	3776	2732	0	0	0	0	0	0
3684	-0.66	-116.8	335.2	-7.8	73	3687	0.00	0.25	0.00	0.000	4	0.000	0.072	2081	3913	2733	0	0	0	0	0	0
3736	-0.66	-116.8	335.2	-7.8	73	3740	0.00	0.17	0.00	0.000	6	0.000	0.054	2081	3835	2733	0	0	0	0	0	0
4357	-0.66	-116.8	399.1	-10.4	84	4360	0.00	0.20	0.00	0.000	4	0.000	0.074	2081	3928	2735	0	0	0	0	0	0
4410	-0.66	-116.8	399.1	-10.4	84	4414	0.00	0.25	0.00	0.000	6	0.000	0.049	2081	3737	2734	0	0	0	0	0	0
5032	-0.66	-116.8	468.5	-9.9	95	5036	0.00	0.32	0.00	0.000	4	0.000	0.067	2082	3917	2735	0	0	0	0	0	0
5071	-0.66	-116.8	468.5	-9.9	95	5075	0.00	0.25	0.00	0.000	6	0.000	0.050	2081	3740	2735	0	0	0	0	0	0
5707	-0.66	-116.8	526.2	-8.0	106	5711	0.00	0.30	0.00	0.000	4	0.000	0.069	2081	3911	2736	0	0	0	0	0	0
5740	-0.66	-116.8	526.2	-8.0	106	5744	0.00	0.25	0.00	0.000	6	0.000	0.048	2081	3720	2736	0	0	0	0	0	0
6381	-0.66	-116.8	578.7	-7.8	117	6385	0.00	0.35	0.00	0.000	4	0.000	0.064	2081	3914	2737	0	0	0	0	0	0
6415	-0.66	-116.8	578.7	-7.8	117	6418	0.00	0.25	0.00	0.000	6	0.000	0.047	2081	3723	2737	0	0	0	0	0	0
7055	-0.66	-116.8	629.6	-7.7	128	7059	0.00	0.35	0.00	0.000	4	0.000	0.067	2081	3918	2737	0	0	0	0	0	0
7094	-0.66	-116.8	629.6	-7.7	128	7098	0.00	0.25	0.00	0.000	6	0.000	0.048	2081	3733	2737	0	0	0	0	0	0
7729	-0.66	-116.8	680.3	-7.8	139	7733	0.00	0.32	0.00	0.000	4	0.000	0.067	2081	3919	2737	0	0	0	0	0	0
7802	-0.66	-116.8	685.6	-7.9	140	7805	0.00	0.25	0.00	0.000	6	0.000	0.045	2081	3722	2737	0	0	0	0	0	0
8469	-0.66	-116.8	741.5	-8.2	151	8473	0.00	0.35	0.00	0.000	4	0.000	0.066	2081	3918	2737	0	0	0	0	0	0
8502	-0.66	-116.8	741.5	-8.2	151	8506	0.00	0.25	0.00	0.000	6	0.000	0.047	2081	3721	2737	0	0	0	0	0	0
9144	-0.66	-116.8	803.0	-9.6	162	9148	0.00	0.35	0.00	0.000	4	0.000	0.067	2081	3916	2737	0	0	0	0	0	0
9212	-0.66	-116.8	809.8	-9.7	163	9215	0.00	0.25	0.00	0.000	6	0.000	0.047	2081	3718	2737	0	0	0	0	0	0
9886	-0.66	-116.8	878.4	-10.4	174	9890	0.00	0.35	0.00	0.000	4	0.000	0.067	2081	3915	2737	0	0	0	0	0	0
9939	-0.66	-116.8	878.4	-10.4	174	9943	0.00	0.25	0.00	0.000	6	0.000	0.047	2081	3722	2737	0	0	0	0	0	0
10496	end dive: TARGET_DEPTH_EXCEEDED
state	10496	begin apogee
10508	-0.16	0.0	944.3	-10.7	184	10621	0.47	0.00	105.60	1.447	6	0.098	0.000	2247	1701	2250	0	0	0	0	0	0
10622	end apogee: CONTROL_FINISHED_OK
state	10622	begin climb
10625	0.66	116.8	950.8	0.0	185	10749	0.75	2.30	111.93	1.408	4	0.048	0.061	2530	462	1773	0	0	0	0	0	0
10782	1.06	442.2	966.4	-6.5	188	11104	0.32	2.05	308.88	1.381	6	0.048	0.021	2650	1743	445	0	0	0	0	0	0
11743	1.06	442.2	856.6	13.2	204	11747	0.00	2.08	0.00	0.000	4	0.000	0.050	2658	460	439	0	0	0	0	0	0
11864	1.06	442.2	847.5	13.4	205	11871	0.00	1.85	0.00	0.000	6	0.000	0.031	2658	1672	439	0	0	0	0	0	0
12479	1.06	442.2	753.3	13.8	216	12483	0.00	1.98	0.00	0.000	4	0.000	0.050	2666	443	439	0	0	0	0	0	0
12512	1.06	442.2	753.3	13.8	216	12516	0.00	1.92	0.00	0.000	6	0.000	0.030	2667	1698	438	0	0	0	0	0	0
13154	1.06	442.2	655.2	14.9	227	13159	0.00	2.00	0.00	0.000	4	0.000	0.051	2675	458	438	0	0	0	0	0	0
13405	1.06	442.2	624.7	15.2	230	13409	0.12	1.90	0.00	0.000	6	0.129	0.033	2640	1702	438	0	0	0	0	0	0
14026	1.06	442.2	538.9	12.6	241	14030	0.00	1.95	0.00	0.000	4	0.000	0.049	2640	2945	438	0	0	0	0	0	0
14132	1.06	442.2	529.8	12.9	242	14135	0.00	1.95	0.00	0.000	6	0.000	0.037	2647	1689	438	0	0	0	0	0	0
14766	1.06	442.2	438.2	13.8	253	14769	0.00	2.00	0.00	0.000	4	0.000	0.047	2647	2934	438	0	0	0	0	0	0
14851	1.06	442.2	428.5	13.9	254	14855	0.00	1.98	0.00	0.000	6	0.000	0.037	2656	1696	438	0	0	0	0	0	0
15506	1.06	442.2	331.5	14.9	265	15510	0.00	2.00	0.00	0.000	4	0.000	0.049	2656	2938	438	0	0	0	0	0	0
15525	1.06	442.2	331.5	14.9	265	15529	0.00	1.92	0.00	0.000	6	0.000	0.037	2664	1696	438	0	0	0	0	0	0
16181	1.06	442.2	227.3	14.9	276	16185	0.00	1.95	0.00	0.000	4	0.000	0.054	2673	476	438	0	0	0	0	0	0
16267	1.06	442.2	216.6	15.0	277	16271	0.12	1.88	0.00	0.000	6	0.125	0.032	2638	1713	438	0	0	0	0	0	0
16922	1.06	442.2	129.8	12.9	288	16926	0.00	2.00	0.00	0.000	4	0.000	0.051	2645	472	438	0	0	0	0	0	0
17153	1.06	442.2	102.6	13.3	291	17157	0.00	1.88	0.00	0.000	6	0.000	0.031	2645	1698	439	0	0	0	0	0	0
17803	1.06	442.2	19.8	10.3	312	17807	0.00	2.00	0.00	0.000	4	0.000	0.057	2649	476	439	0	0	0	0	0	0
17839	1.06	442.2	16.4	9.9	313	17843	0.00	1.85	0.00	0.000	6	0.000	0.029	2649	1711	439	0	0	0	0	0	0
17991	end climb: SURFACE_DEPTH_REACHED
state	17991	begin surface coast
18025	end surface coast: CONTROL_FINISHED_OK
state	18025	begin surface