Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 27 * 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 27 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 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 750 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80451.805 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 1 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

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 -80451.805

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 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 28 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 27 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 32 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 091011,185105,6632.371,-6015.003,32,1.0,32,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091011,185612,6632.405,-6015.015,18,1.2,18,-33.6 MHEAD_RNG_PITCHd_Wd 74.8,159873,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 512

Post-dive calculations and measurements:

FINISH 1.3,1.007534 _24V_AH 23.2,4.584

SM_CCo 9143,75.10,0.086,0,0,771,420.20 _10V_AH 10.3,4.208

SM_GC 2.20,7.15,0.57,75.10,0.060,0.076,0.086,124,2517,771,-7.07,-0.40,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 595 FG_AHR_10Vo 0.000

RAFOS 0,1318190465,20.033333,20.018055,64,60,55,0,0,0,192,214,146,0,0,0 MEM 150376

RAFOS_FIX 6633.971191,-6010.752930,091011,202055,5,83,0.73 DATA_FILE_SIZE 36736,987

IRIDIUM_FIX 6604.29,-6015.31,091011,161609 CAP_FILE_SIZE 116861,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,246284288

HUMID 57.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1452.7

TCM_TEMP 16.40 CURRENT 0.177,240.9,1

XPDR_PINGS 20 GPS 091011,213200,6632.888,-6014.592,35,0.7,35,-33.6

ALTIM_BOTTOM_PING 400.0,129.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 276 113.88 SBE_CT 712 23 383.89

Roll_motor 53 89 110.78 SBE_O2 695 5 84.56

VBD_pump_during_apogee 337 1203 9435.45 nil 0 0 0.00

VBD_pump_during_surface 75 85 149.28 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 198 250 1149.52 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.61

TT8 2704 18 521.11

LPSleep 4185 2 99.58

TT8_Active 540 18 104.09

TT8_Sampling 1938 41 836.98

TT8_CF8 182 47 90.30

TT8_Kalman 0 0 0.00

Analog_circuits 1677 12 207.31

GPS_charging 0 0 0.00

Compass 1722 6 119.58

RAFOS 2520 1 38.93

Transponder 9 30 2.87

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

15 -0.77 -146.0 0.0 0.0 0 114 0.00 0.00 -95.75 0.000 2 0.000 0.000 125 2514 2155 0 0 0 0 0 0

117 -0.77 -146.0 3.3 -3.4 16 166 8.85 1.25 -30.85 0.000 4 0.276 0.090 2147 1806 3083 0 0 0 0 0 0

415 -0.77 -146.0 53.9 -14.7 68 422 0.00 1.25 0.00 0.000 6 0.000 0.072 2144 2511 3085 0 0 0 0 0 0

624 -0.77 -146.0 86.0 -15.5 105 630 0.00 1.20 0.00 0.000 4 0.000 0.059 2144 1807 3085 0 0 0 0 0 0

829 -0.77 -146.0 115.2 -14.2 132 836 0.00 1.25 0.00 0.000 6 0.000 0.072 2139 2514 3085 0 0 0 0 0 0

1048 -0.77 -146.0 147.1 -14.5 153 1052 0.00 1.15 0.00 0.000 4 0.000 0.084 2133 3216 3085 0 0 0 0 0 0

1118 -0.77 -146.0 156.7 -14.1 159 1122 0.00 1.15 0.00 0.000 6 0.000 0.053 2134 2508 3085 0 0 0 0 0 0

1343 -0.77 -146.0 188.7 -13.8 180 1347 0.00 1.23 0.00 0.000 4 0.000 0.080 2129 3218 3085 0 0 0 0 0 0

1400 -0.77 -146.0 196.9 -14.3 185 1403 0.00 1.15 0.00 0.000 6 0.000 0.052 2129 2509 3085 0 0 0 0 0 0

1626 -0.77 -146.0 228.3 -13.6 206 1629 0.00 1.20 0.00 0.000 4 0.000 0.081 2124 3211 3085 0 0 0 0 0 0

1660 -0.77 -146.0 233.3 -13.7 209 1663 0.00 1.15 0.00 0.000 6 0.000 0.052 2124 2502 3085 0 0 0 0 0 0

1884 -0.77 -146.0 265.4 -14.4 230 1888 0.00 1.23 0.00 0.000 4 0.000 0.081 2119 3219 3085 0 0 0 0 0 0

1955 -0.77 -146.0 275.3 -15.0 236 1963 0.10 1.15 0.00 0.000 6 0.170 0.051 2149 2508 3085 0 0 0 0 0 0

2177 -0.77 -146.0 303.2 -12.2 257 2180 0.00 1.20 0.00 0.000 4 0.000 0.080 2146 3212 3085 0 0 0 0 0 0

2234 -0.77 -146.0 310.6 -12.3 262 2237 0.00 1.12 0.00 0.000 6 0.000 0.051 2146 2513 3085 0 0 0 0 0 0

2459 -0.77 -146.0 337.6 -11.5 283 2463 0.00 1.20 0.00 0.000 4 0.000 0.081 2141 3216 3085 0 0 0 0 0 0

2497 -0.77 -146.0 341.8 -11.5 286 2507 0.00 1.15 0.00 0.000 6 0.000 0.051 2141 2504 3084 0 0 0 0 0 0

2718 -0.77 -146.0 366.9 -10.8 307 2722 0.00 1.12 0.00 0.000 4 0.000 0.062 2141 1804 3084 0 0 0 0 0 0

2745 -0.77 -146.0 369.7 -11.0 309 2752 0.00 1.25 0.00 0.000 6 0.000 0.071 2137 2516 3084 0 0 0 0 0 0

2964 -0.77 -146.0 394.6 -11.4 330 2968 0.00 1.12 0.00 0.000 4 0.000 0.084 2132 3210 3084 0 0 0 0 0 0

3079 -0.77 -146.0 408.2 -12.3 340 3082 0.00 1.12 0.00 0.000 6 0.000 0.050 2131 2509 3084 0 0 0 0 0 0

3303 -0.77 -146.0 434.4 -11.6 361 3304 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2509 3084 0 0 0 0 0 0

3516 -0.77 -146.0 459.5 -12.7 381 3519 0.00 1.20 0.00 0.000 4 0.000 0.080 2127 3216 3084 0 0 0 0 0 0

3617 -0.77 -146.0 471.7 -12.1 390 3620 0.00 1.12 0.00 0.000 6 0.000 0.049 2126 2509 3084 0 0 0 0 0 0

3843 -0.77 -146.0 499.2 -12.2 411 3844 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2508 3084 0 0 0 0 0 0

3946 end dive: TARGET_DEPTH_EXCEEDED

state 3946 begin apogee

3952 -0.16 0.0 512.2 -12.2 421 4077 0.70 0.00 117.95 1.203 6 0.153 0.000 2344 2196 2485 0 0 0 0 0 0

4078 end apogee: CONTROL_FINISHED_OK

state 4078 begin climb

4080 0.77 146.0 517.6 0.0 432 4217 0.88 1.23 125.07 1.160 4 0.067 0.065 2649 1510 1887 0 0 0 0 0 0

4469 0.77 146.0 487.5 11.5 466 4479 0.00 1.23 0.00 0.000 6 0.000 0.062 2649 2205 1879 0 0 0 0 0 0

4690 0.77 146.0 461.7 11.7 487 4694 0.00 1.23 0.00 0.000 4 0.000 0.063 2653 1497 1877 0 0 0 0 0 0

4790 0.77 146.0 449.4 12.4 496 4794 0.00 1.23 0.00 0.000 6 0.000 0.063 2653 2204 1877 0 0 0 0 0 0

5015 0.77 146.0 421.2 12.7 517 5019 0.00 1.17 0.00 0.000 4 0.000 0.069 2653 2904 1876 0 0 0 0 0 0

5237 0.77 146.0 393.1 12.1 537 5240 0.00 1.17 0.00 0.000 6 0.000 0.051 2658 2208 1875 0 0 0 0 0 0

5461 0.77 146.0 366.2 12.1 558 5465 0.00 1.15 0.00 0.000 4 0.000 0.065 2663 1496 1875 0 0 0 0 0 0

5662 0.77 146.0 343.7 11.1 576 5665 0.00 1.20 0.00 0.000 6 0.000 0.063 2663 2202 1875 0 0 0 0 0 0

5888 0.77 146.1 320.1 10.0 597 5891 0.00 1.17 0.00 0.000 4 0.000 0.071 2663 2907 1874 0 0 0 0 0 0

5957 0.77 146.1 312.8 10.5 603 5961 0.00 1.20 0.00 0.000 6 0.000 0.054 2668 2198 1874 0 0 0 0 0 0

6181 0.77 146.1 290.3 10.3 624 6185 0.00 1.23 0.00 0.000 4 0.000 0.067 2668 2902 1874 0 0 0 0 0 0

6283 0.77 146.1 279.6 10.7 633 6287 0.00 1.20 0.00 0.000 6 0.000 0.054 2673 2188 1874 0 0 0 0 0 0

6508 0.77 149.0 256.6 9.9 654 6512 0.00 1.10 0.00 0.000 4 0.000 0.063 2678 1492 1874 0 0 0 0 0 0

6576 0.78 151.9 249.9 9.9 660 6588 0.00 1.20 4.03 0.754 6 0.000 0.062 2678 2207 1864 0 0 0 0 0 0

6800 0.79 160.3 227.9 9.6 681 6813 0.00 1.20 8.70 0.954 4 0.000 0.068 2678 2913 1831 0 0 0 0 0 0

6862 0.79 160.3 221.7 10.8 686 6872 0.00 1.20 0.00 0.000 6 0.000 0.054 2683 2203 1830 0 0 0 0 0 0

7083 0.79 160.7 198.3 10.0 707 7086 0.00 1.12 0.00 0.000 4 0.000 0.067 2688 1495 1830 0 0 0 0 0 0

7229 0.79 160.7 183.7 10.0 720 7233 0.10 1.20 0.00 0.000 6 0.177 0.064 2660 2204 1830 0 0 0 0 0 0

7454 0.79 165.8 161.5 9.8 741 7463 0.00 0.00 6.10 0.871 6 0.000 0.000 2660 2204 1809 0 0 0 0 0 0

7675 0.79 165.8 138.4 10.5 762 7679 0.00 1.17 0.00 0.000 4 0.000 0.064 2663 1497 1808 0 0 0 0 0 0

7757 0.79 165.8 130.3 10.1 769 7765 0.00 1.20 0.00 0.000 6 0.000 0.062 2664 2205 1808 0 0 0 0 0 0

7977 0.80 174.7 108.2 9.6 790 7990 0.00 0.00 9.00 0.920 6 0.000 0.000 2663 2205 1772 0 0 0 0 0 0

8203 0.85 215.2 87.4 8.1 824 8242 0.00 1.27 34.45 0.948 4 0.000 0.064 2668 1492 1607 0 0 0 0 0 0

8361 0.85 215.2 71.6 10.8 851 8368 0.00 1.23 0.00 0.000 6 0.000 0.063 2668 2199 1602 0 0 0 0 0 0

8566 0.86 218.5 50.7 9.8 888 8572 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2199 1600 0 0 0 0 0 0

8773 0.90 251.2 31.0 8.5 925 8806 0.00 0.00 28.67 0.908 6 0.000 0.000 2668 2199 1460 0 0 0 0 0 0

9004 0.91 260.5 10.7 9.6 966 9014 0.00 0.00 4.00 0.105 6 0.000 0.000 2668 2199 1422 0 0 0 0 0 0

9102 end climb: SURFACE_DEPTH_REACHED

state 9102 begin surface coast

9127 end surface coast: CONTROL_FINISHED_OK

state 9127 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	27	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	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	750	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80451.805	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	091011,185105,6632.371,-6015.003,32,1.0,32,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091011,185612,6632.405,-6015.015,18,1.2,18,-33.6	MHEAD_RNG_PITCHd_Wd	74.8,159873,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	512

FINISH	1.3,1.007534	_24V_AH	23.2,4.584
SM_CCo	9143,75.10,0.086,0,0,771,420.20	_10V_AH	10.3,4.208
SM_GC	2.20,7.15,0.57,75.10,0.060,0.076,0.086,124,2517,771,-7.07,-0.40,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	595	FG_AHR_10Vo	0.000
RAFOS	0,1318190465,20.033333,20.018055,64,60,55,0,0,0,192,214,146,0,0,0	MEM	150376
RAFOS_FIX	6633.971191,-6010.752930,091011,202055,5,83,0.73	DATA_FILE_SIZE	36736,987
IRIDIUM_FIX	6604.29,-6015.31,091011,161609	CAP_FILE_SIZE	116861,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,246284288
HUMID	57.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1452.7
TCM_TEMP	16.40	CURRENT	0.177,240.9,1
XPDR_PINGS	20	GPS	091011,213200,6632.888,-6014.592,35,0.7,35,-33.6
ALTIM_BOTTOM_PING	400.0,129.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	276	113.88	SBE_CT	712	23	383.89
Roll_motor	53	89	110.78	SBE_O2	695	5	84.56
VBD_pump_during_apogee	337	1203	9435.45	nil	0	0	0.00
VBD_pump_during_surface	75	85	149.28	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	198	250	1149.52	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.61
TT8	2704	18	521.11
LPSleep	4185	2	99.58
TT8_Active	540	18	104.09
TT8_Sampling	1938	41	836.98
TT8_CF8	182	47	90.30
TT8_Kalman	0	0	0.00
Analog_circuits	1677	12	207.31
GPS_charging	0	0	0.00
Compass	1722	6	119.58
RAFOS	2520	1	38.93
Transponder	9	30	2.87

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
15	-0.77	-146.0	0.0	0.0	0	114	0.00	0.00	-95.75	0.000	2	0.000	0.000	125	2514	2155	0	0	0	0	0	0
117	-0.77	-146.0	3.3	-3.4	16	166	8.85	1.25	-30.85	0.000	4	0.276	0.090	2147	1806	3083	0	0	0	0	0	0
415	-0.77	-146.0	53.9	-14.7	68	422	0.00	1.25	0.00	0.000	6	0.000	0.072	2144	2511	3085	0	0	0	0	0	0
624	-0.77	-146.0	86.0	-15.5	105	630	0.00	1.20	0.00	0.000	4	0.000	0.059	2144	1807	3085	0	0	0	0	0	0
829	-0.77	-146.0	115.2	-14.2	132	836	0.00	1.25	0.00	0.000	6	0.000	0.072	2139	2514	3085	0	0	0	0	0	0
1048	-0.77	-146.0	147.1	-14.5	153	1052	0.00	1.15	0.00	0.000	4	0.000	0.084	2133	3216	3085	0	0	0	0	0	0
1118	-0.77	-146.0	156.7	-14.1	159	1122	0.00	1.15	0.00	0.000	6	0.000	0.053	2134	2508	3085	0	0	0	0	0	0
1343	-0.77	-146.0	188.7	-13.8	180	1347	0.00	1.23	0.00	0.000	4	0.000	0.080	2129	3218	3085	0	0	0	0	0	0
1400	-0.77	-146.0	196.9	-14.3	185	1403	0.00	1.15	0.00	0.000	6	0.000	0.052	2129	2509	3085	0	0	0	0	0	0
1626	-0.77	-146.0	228.3	-13.6	206	1629	0.00	1.20	0.00	0.000	4	0.000	0.081	2124	3211	3085	0	0	0	0	0	0
1660	-0.77	-146.0	233.3	-13.7	209	1663	0.00	1.15	0.00	0.000	6	0.000	0.052	2124	2502	3085	0	0	0	0	0	0
1884	-0.77	-146.0	265.4	-14.4	230	1888	0.00	1.23	0.00	0.000	4	0.000	0.081	2119	3219	3085	0	0	0	0	0	0
1955	-0.77	-146.0	275.3	-15.0	236	1963	0.10	1.15	0.00	0.000	6	0.170	0.051	2149	2508	3085	0	0	0	0	0	0
2177	-0.77	-146.0	303.2	-12.2	257	2180	0.00	1.20	0.00	0.000	4	0.000	0.080	2146	3212	3085	0	0	0	0	0	0
2234	-0.77	-146.0	310.6	-12.3	262	2237	0.00	1.12	0.00	0.000	6	0.000	0.051	2146	2513	3085	0	0	0	0	0	0
2459	-0.77	-146.0	337.6	-11.5	283	2463	0.00	1.20	0.00	0.000	4	0.000	0.081	2141	3216	3085	0	0	0	0	0	0
2497	-0.77	-146.0	341.8	-11.5	286	2507	0.00	1.15	0.00	0.000	6	0.000	0.051	2141	2504	3084	0	0	0	0	0	0
2718	-0.77	-146.0	366.9	-10.8	307	2722	0.00	1.12	0.00	0.000	4	0.000	0.062	2141	1804	3084	0	0	0	0	0	0
2745	-0.77	-146.0	369.7	-11.0	309	2752	0.00	1.25	0.00	0.000	6	0.000	0.071	2137	2516	3084	0	0	0	0	0	0
2964	-0.77	-146.0	394.6	-11.4	330	2968	0.00	1.12	0.00	0.000	4	0.000	0.084	2132	3210	3084	0	0	0	0	0	0
3079	-0.77	-146.0	408.2	-12.3	340	3082	0.00	1.12	0.00	0.000	6	0.000	0.050	2131	2509	3084	0	0	0	0	0	0
3303	-0.77	-146.0	434.4	-11.6	361	3304	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2509	3084	0	0	0	0	0	0
3516	-0.77	-146.0	459.5	-12.7	381	3519	0.00	1.20	0.00	0.000	4	0.000	0.080	2127	3216	3084	0	0	0	0	0	0
3617	-0.77	-146.0	471.7	-12.1	390	3620	0.00	1.12	0.00	0.000	6	0.000	0.049	2126	2509	3084	0	0	0	0	0	0
3843	-0.77	-146.0	499.2	-12.2	411	3844	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2508	3084	0	0	0	0	0	0
3946	end dive: TARGET_DEPTH_EXCEEDED
state	3946	begin apogee
3952	-0.16	0.0	512.2	-12.2	421	4077	0.70	0.00	117.95	1.203	6	0.153	0.000	2344	2196	2485	0	0	0	0	0	0
4078	end apogee: CONTROL_FINISHED_OK
state	4078	begin climb
4080	0.77	146.0	517.6	0.0	432	4217	0.88	1.23	125.07	1.160	4	0.067	0.065	2649	1510	1887	0	0	0	0	0	0
4469	0.77	146.0	487.5	11.5	466	4479	0.00	1.23	0.00	0.000	6	0.000	0.062	2649	2205	1879	0	0	0	0	0	0
4690	0.77	146.0	461.7	11.7	487	4694	0.00	1.23	0.00	0.000	4	0.000	0.063	2653	1497	1877	0	0	0	0	0	0
4790	0.77	146.0	449.4	12.4	496	4794	0.00	1.23	0.00	0.000	6	0.000	0.063	2653	2204	1877	0	0	0	0	0	0
5015	0.77	146.0	421.2	12.7	517	5019	0.00	1.17	0.00	0.000	4	0.000	0.069	2653	2904	1876	0	0	0	0	0	0
5237	0.77	146.0	393.1	12.1	537	5240	0.00	1.17	0.00	0.000	6	0.000	0.051	2658	2208	1875	0	0	0	0	0	0
5461	0.77	146.0	366.2	12.1	558	5465	0.00	1.15	0.00	0.000	4	0.000	0.065	2663	1496	1875	0	0	0	0	0	0
5662	0.77	146.0	343.7	11.1	576	5665	0.00	1.20	0.00	0.000	6	0.000	0.063	2663	2202	1875	0	0	0	0	0	0
5888	0.77	146.1	320.1	10.0	597	5891	0.00	1.17	0.00	0.000	4	0.000	0.071	2663	2907	1874	0	0	0	0	0	0
5957	0.77	146.1	312.8	10.5	603	5961	0.00	1.20	0.00	0.000	6	0.000	0.054	2668	2198	1874	0	0	0	0	0	0
6181	0.77	146.1	290.3	10.3	624	6185	0.00	1.23	0.00	0.000	4	0.000	0.067	2668	2902	1874	0	0	0	0	0	0
6283	0.77	146.1	279.6	10.7	633	6287	0.00	1.20	0.00	0.000	6	0.000	0.054	2673	2188	1874	0	0	0	0	0	0
6508	0.77	149.0	256.6	9.9	654	6512	0.00	1.10	0.00	0.000	4	0.000	0.063	2678	1492	1874	0	0	0	0	0	0
6576	0.78	151.9	249.9	9.9	660	6588	0.00	1.20	4.03	0.754	6	0.000	0.062	2678	2207	1864	0	0	0	0	0	0
6800	0.79	160.3	227.9	9.6	681	6813	0.00	1.20	8.70	0.954	4	0.000	0.068	2678	2913	1831	0	0	0	0	0	0
6862	0.79	160.3	221.7	10.8	686	6872	0.00	1.20	0.00	0.000	6	0.000	0.054	2683	2203	1830	0	0	0	0	0	0
7083	0.79	160.7	198.3	10.0	707	7086	0.00	1.12	0.00	0.000	4	0.000	0.067	2688	1495	1830	0	0	0	0	0	0
7229	0.79	160.7	183.7	10.0	720	7233	0.10	1.20	0.00	0.000	6	0.177	0.064	2660	2204	1830	0	0	0	0	0	0
7454	0.79	165.8	161.5	9.8	741	7463	0.00	0.00	6.10	0.871	6	0.000	0.000	2660	2204	1809	0	0	0	0	0	0
7675	0.79	165.8	138.4	10.5	762	7679	0.00	1.17	0.00	0.000	4	0.000	0.064	2663	1497	1808	0	0	0	0	0	0
7757	0.79	165.8	130.3	10.1	769	7765	0.00	1.20	0.00	0.000	6	0.000	0.062	2664	2205	1808	0	0	0	0	0	0
7977	0.80	174.7	108.2	9.6	790	7990	0.00	0.00	9.00	0.920	6	0.000	0.000	2663	2205	1772	0	0	0	0	0	0
8203	0.85	215.2	87.4	8.1	824	8242	0.00	1.27	34.45	0.948	4	0.000	0.064	2668	1492	1607	0	0	0	0	0	0
8361	0.85	215.2	71.6	10.8	851	8368	0.00	1.23	0.00	0.000	6	0.000	0.063	2668	2199	1602	0	0	0	0	0	0
8566	0.86	218.5	50.7	9.8	888	8572	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2199	1600	0	0	0	0	0	0
8773	0.90	251.2	31.0	8.5	925	8806	0.00	0.00	28.67	0.908	6	0.000	0.000	2668	2199	1460	0	0	0	0	0	0
9004	0.91	260.5	10.7	9.6	966	9014	0.00	0.00	4.00	0.105	6	0.000	0.000	2668	2199	1422	0	0	0	0	0	0
9102	end climb: SURFACE_DEPTH_REACHED
state	9102	begin surface coast
9127	end surface coast: CONTROL_FINISHED_OK
state	9127	begin surface