Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 273 * 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 273 HEADING -1 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 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 7 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 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 501.14789 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 28 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 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 3 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 2 T_GPS_CHARGE -81047.703 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 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 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 250 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 2 PHONE_SUPPLY -1 SM_CC 501.14789

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 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 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 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 3

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -81047.703

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 2

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 39 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 273 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 8 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 211111,014140,6645.790,-5957.449,29,0.8,29,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.20 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -70.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 211111,014705,6645.687,-5957.384,39,1.1,39,-33.9 MHEAD_RNG_PITCHd_Wd 323.3,21166,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 679

Post-dive calculations and measurements:

FREEZE 1.58,-0.905,-1.674,2,1,0 ALTIM_BOTTOM_PING 652.1,72.2

FINISH 1.6,1.024601 _24V_AH 22.6,34.624

SM_CCo 12554,111.57,0.087,0,0,442,501.15 _10V_AH 10.1,26.203

SM_GC 2.19,7.00,0.52,111.57,0.050,0.060,0.087,121,2512,442,-7.06,-0.79,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 832 FG_AHR_10Vo 0.000

RAFOS 0,1321848061,4.033333,4.016944,115,59,58,0,0,0,670,146,212,0,0,0 MEM 150264

RAFOS_FIX 6643.774414,-5951.804199,211111,040430,6,107,0.55 DATA_FILE_SIZE 43372,1140

IRIDIUM_FIX 6620.33,-5941.47,201111,212157 CAP_FILE_SIZE 124128,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,228978688

HUMID 56.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1452.3

TCM_TEMP 16.20 CURRENT 0.292,127.8,1

XPDR_PINGS 18 GPS 211111,052034,6645.443,-5958.458,38,1.5,42,-33.9

ALTIM_TOP_PING 19.8,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 254 100.32 SBE_CT 827 23 434.00

Roll_motor 41 93 88.54 SBE_O2 636 5 75.35

VBD_pump_during_apogee 344 1337 10405.15 nil 0 0 0.00

VBD_pump_during_surface 111 87 219.91 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 188 256 1092.62 nil 0 0 0.00

Transponder_ping 7 420 68.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 26 11.11

TT8 3160 18 597.32

LPSleep 6885 2 160.65

TT8_Active 630 18 119.23

TT8_Sampling 2122 41 898.71

TT8_CF8 215 47 104.21

TT8_Kalman 0 0 0.00

Analog_circuits 1820 12 220.70

GPS_charging 0 0 0.00

Compass 1889 6 128.64

RAFOS 2520 1 38.18

Transponder 24 30 7.42

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 0 136 0.00 0.00 -118.03 0.000 2 0.000 0.000 120 2516 2086 0 0 0 0 0 0

139 -0.73 -146.0 3.0 -1.2 18 195 8.68 1.10 -39.70 0.000 4 0.255 0.093 2157 3216 3082 0 0 0 0 0 0

294 -0.73 -146.0 28.8 -19.7 41 301 0.00 1.12 0.00 0.000 6 0.000 0.033 2158 2499 3083 0 0 0 0 0 0

634 -0.73 -146.0 87.4 -16.2 92 640 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2499 3084 0 0 0 0 0 0

970 -0.73 -146.0 135.1 -14.3 143 979 0.00 1.08 0.00 0.000 4 0.000 0.044 2158 1814 3084 0 0 0 0 0 0

992 -0.73 -146.0 138.2 -13.9 146 999 0.00 1.20 0.00 0.000 6 0.000 0.054 2154 2511 3084 0 0 0 0 0 0

1328 -0.73 -146.0 184.6 -13.5 197 1334 0.00 1.12 0.00 0.000 4 0.000 0.068 2148 3213 3084 0 0 0 0 0 0

1402 -0.73 -146.0 194.6 -13.8 208 1409 0.00 1.10 0.00 0.000 6 0.000 0.033 2148 2505 3084 0 0 0 0 0 0

1740 -0.73 -146.0 238.2 -13.3 259 1749 0.00 1.17 0.00 0.000 4 0.000 0.063 2144 3210 3084 0 0 0 0 0 0

1756 -0.73 -146.0 240.2 -12.4 261 1763 0.00 1.10 0.00 0.000 6 0.000 0.034 2144 2500 3084 0 0 0 0 0 0

2088 -0.73 -146.0 281.8 -11.6 293 2092 0.00 1.20 0.00 0.000 4 0.000 0.063 2139 3216 3084 0 0 0 0 0 0

2119 -0.73 -146.0 284.9 -11.7 295 2129 0.00 1.12 0.00 0.000 6 0.000 0.032 2139 2503 3084 0 0 0 0 0 0

2445 -0.73 -146.0 324.0 -12.3 321 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2503 3084 0 0 0 0 0 0

2758 -0.73 -146.0 362.3 -12.1 346 2762 0.00 1.17 0.00 0.000 4 0.000 0.063 2135 3209 3084 0 0 0 0 0 0

2824 -0.73 -146.0 370.5 -12.8 351 2828 0.08 1.08 0.00 0.000 6 0.152 0.032 2158 2507 3084 0 0 0 0 0 0

3152 -0.73 -146.0 407.1 -10.9 377 3153 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2507 3084 0 0 0 0 0 0

3470 -0.73 -146.0 441.8 -11.4 402 3471 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2507 3084 0 0 0 0 0 0

3783 -0.73 -146.0 475.4 -10.2 427 3787 0.00 1.17 0.00 0.000 4 0.000 0.063 2156 3211 3085 0 0 0 0 0 0

3851 -0.73 -146.0 482.3 -10.4 432 3854 0.00 1.08 0.00 0.000 6 0.000 0.031 2156 2506 3084 0 0 0 0 0 0

4170 -0.73 -146.0 516.7 -10.8 450 4174 0.00 1.17 0.00 0.000 4 0.000 0.063 2151 3209 3085 0 0 0 0 0 0

4221 -0.73 -146.0 520.3 -10.7 451 4226 0.00 1.10 0.00 0.000 6 0.000 0.030 2151 2498 3085 0 0 0 0 0 0

4542 -0.73 -146.0 556.7 -10.9 462 4543 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2498 3085 0 0 0 0 0 0

4850 -0.73 -146.0 589.5 -10.5 472 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2498 3085 0 0 0 0 0 0

5154 -0.73 -146.0 620.8 -10.0 482 5158 0.00 1.20 0.00 0.000 4 0.000 0.062 2146 3219 3086 0 0 0 0 0 0

5172 -0.73 -146.0 620.8 -10.0 482 5177 0.00 1.10 0.00 0.000 6 0.000 0.030 2146 2513 3086 0 0 0 0 0 0

5493 -0.73 -146.0 655.3 -10.1 493 5494 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2513 3086 0 0 0 0 0 0

5735 end dive: TARGET_DEPTH_EXCEEDED

state 5735 begin apogee

5741 -0.16 0.0 681.0 -10.8 501 5871 0.60 0.00 121.65 1.337 6 0.130 0.000 2339 2196 2485 0 0 0 0 0 0

5872 end apogee: CONTROL_FINISHED_OK

state 5872 begin climb

5874 0.73 146.0 686.4 0.0 505 6012 0.85 1.23 130.60 1.275 4 0.066 0.048 2635 1505 1889 0 0 0 0 0 0

6262 0.73 146.0 656.3 11.3 517 6267 0.00 1.23 0.00 0.000 6 0.000 0.042 2635 2210 1880 0 0 0 0 0 0

6591 0.73 146.0 616.6 11.6 528 6595 0.00 1.15 0.00 0.000 4 0.000 0.054 2635 2908 1878 0 0 0 0 0 0

6729 0.73 146.0 600.4 12.1 532 6733 0.00 1.17 0.00 0.000 6 0.000 0.033 2639 2199 1877 0 0 0 0 0 0

7062 0.73 146.0 560.9 11.4 543 7066 0.00 1.08 0.00 0.000 4 0.000 0.049 2645 1499 1876 0 0 0 0 0 0

7200 0.73 146.0 546.2 11.1 547 7205 0.00 1.17 0.00 0.000 6 0.000 0.043 2645 2206 1876 0 0 0 0 0 0

7533 0.73 146.0 507.3 11.5 558 7537 0.00 1.15 0.00 0.000 4 0.000 0.044 2649 1494 1876 0 0 0 0 0 0

7632 0.73 146.0 497.0 11.2 562 7639 0.00 1.15 0.00 0.000 6 0.000 0.044 2649 2201 1875 0 0 0 0 0 0

7959 0.73 146.0 460.4 11.0 588 7962 0.00 1.12 0.00 0.000 4 0.000 0.056 2649 2900 1875 0 0 0 0 0 0

8037 0.73 146.0 451.0 11.3 594 8041 0.00 1.12 0.00 0.000 6 0.000 0.036 2654 2203 1875 0 0 0 0 0 0

8369 0.73 146.0 412.6 12.0 620 8373 0.00 1.17 0.00 0.000 4 0.000 0.050 2654 2901 1875 0 0 0 0 0 0

8534 0.73 146.0 393.2 12.1 632 8541 0.00 1.12 0.00 0.000 6 0.000 0.036 2658 2197 1874 0 0 0 0 0 0

8859 0.73 146.0 356.2 10.8 658 8863 0.00 1.08 0.00 0.000 4 0.000 0.048 2663 1491 1875 0 0 0 0 0 0

9075 0.73 146.0 333.6 10.3 674 9083 0.00 1.17 0.00 0.000 6 0.000 0.044 2663 2207 1875 0 0 0 0 0 0

9402 0.73 146.0 297.8 10.9 700 9403 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2207 1875 0 0 0 0 0 0

9716 0.73 146.0 262.8 11.0 725 9717 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2207 1874 0 0 0 0 0 0

10038 0.73 146.0 229.8 9.7 765 10045 0.00 1.10 0.00 0.000 4 0.000 0.056 2663 2895 1874 0 0 0 0 0 0

10239 0.73 146.0 209.8 9.3 795 10248 0.10 1.12 0.00 0.000 6 0.147 0.035 2636 2192 1874 0 0 0 0 0 0

10580 0.83 230.3 186.4 5.6 846 10654 0.00 0.00 68.97 1.030 6 0.000 0.000 2636 2192 1546 0 0 0 0 0 0

10985 0.84 236.3 151.4 8.9 907 10994 0.00 0.00 5.15 0.802 6 0.000 0.000 2636 2192 1521 0 0 0 0 0 0

11326 0.84 242.2 121.7 8.9 958 11342 0.12 0.00 6.57 0.868 6 0.084 0.000 2687 2192 1496 0 0 0 0 0 0

11673 0.84 242.2 81.8 11.6 1010 11679 0.00 1.08 0.00 0.000 4 0.000 0.051 2692 1498 1495 0 0 0 0 0 0

11930 0.84 242.2 52.0 9.8 1049 11937 0.00 1.15 0.00 0.000 6 0.000 0.045 2693 2201 1493 0 0 0 0 0 0

12269 0.87 262.4 20.8 8.3 1100 12285 0.00 0.00 11.35 0.877 6 0.000 0.000 2692 2201 1413 0 0 0 0 0 0

12510 end climb: SURFACE_DEPTH_REACHED

state 12511 begin surface coast

12537 end surface coast: CONTROL_FINISHED_OK

state 12537 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	273	HEADING	-1	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	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	7	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	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	501.14789	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	28	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	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	3	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	2	T_GPS_CHARGE	-81047.703	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	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	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	211111,014140,6645.790,-5957.449,29,0.8,29,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.20	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-70.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	211111,014705,6645.687,-5957.384,39,1.1,39,-33.9	MHEAD_RNG_PITCHd_Wd	323.3,21166,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	679

FREEZE	1.58,-0.905,-1.674,2,1,0	ALTIM_BOTTOM_PING	652.1,72.2
FINISH	1.6,1.024601	_24V_AH	22.6,34.624
SM_CCo	12554,111.57,0.087,0,0,442,501.15	_10V_AH	10.1,26.203
SM_GC	2.19,7.00,0.52,111.57,0.050,0.060,0.087,121,2512,442,-7.06,-0.79,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	832	FG_AHR_10Vo	0.000
RAFOS	0,1321848061,4.033333,4.016944,115,59,58,0,0,0,670,146,212,0,0,0	MEM	150264
RAFOS_FIX	6643.774414,-5951.804199,211111,040430,6,107,0.55	DATA_FILE_SIZE	43372,1140
IRIDIUM_FIX	6620.33,-5941.47,201111,212157	CAP_FILE_SIZE	124128,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,228978688
HUMID	56.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1452.3
TCM_TEMP	16.20	CURRENT	0.292,127.8,1
XPDR_PINGS	18	GPS	211111,052034,6645.443,-5958.458,38,1.5,42,-33.9
ALTIM_TOP_PING	19.8,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	254	100.32	SBE_CT	827	23	434.00
Roll_motor	41	93	88.54	SBE_O2	636	5	75.35
VBD_pump_during_apogee	344	1337	10405.15	nil	0	0	0.00
VBD_pump_during_surface	111	87	219.91	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	188	256	1092.62	nil	0	0	0.00
Transponder_ping	7	420	68.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	26	11.11
TT8	3160	18	597.32
LPSleep	6885	2	160.65
TT8_Active	630	18	119.23
TT8_Sampling	2122	41	898.71
TT8_CF8	215	47	104.21
TT8_Kalman	0	0	0.00
Analog_circuits	1820	12	220.70
GPS_charging	0	0	0.00
Compass	1889	6	128.64
RAFOS	2520	1	38.18
Transponder	24	30	7.42

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	136	0.00	0.00	-118.03	0.000	2	0.000	0.000	120	2516	2086	0	0	0	0	0	0
139	-0.73	-146.0	3.0	-1.2	18	195	8.68	1.10	-39.70	0.000	4	0.255	0.093	2157	3216	3082	0	0	0	0	0	0
294	-0.73	-146.0	28.8	-19.7	41	301	0.00	1.12	0.00	0.000	6	0.000	0.033	2158	2499	3083	0	0	0	0	0	0
634	-0.73	-146.0	87.4	-16.2	92	640	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2499	3084	0	0	0	0	0	0
970	-0.73	-146.0	135.1	-14.3	143	979	0.00	1.08	0.00	0.000	4	0.000	0.044	2158	1814	3084	0	0	0	0	0	0
992	-0.73	-146.0	138.2	-13.9	146	999	0.00	1.20	0.00	0.000	6	0.000	0.054	2154	2511	3084	0	0	0	0	0	0
1328	-0.73	-146.0	184.6	-13.5	197	1334	0.00	1.12	0.00	0.000	4	0.000	0.068	2148	3213	3084	0	0	0	0	0	0
1402	-0.73	-146.0	194.6	-13.8	208	1409	0.00	1.10	0.00	0.000	6	0.000	0.033	2148	2505	3084	0	0	0	0	0	0
1740	-0.73	-146.0	238.2	-13.3	259	1749	0.00	1.17	0.00	0.000	4	0.000	0.063	2144	3210	3084	0	0	0	0	0	0
1756	-0.73	-146.0	240.2	-12.4	261	1763	0.00	1.10	0.00	0.000	6	0.000	0.034	2144	2500	3084	0	0	0	0	0	0
2088	-0.73	-146.0	281.8	-11.6	293	2092	0.00	1.20	0.00	0.000	4	0.000	0.063	2139	3216	3084	0	0	0	0	0	0
2119	-0.73	-146.0	284.9	-11.7	295	2129	0.00	1.12	0.00	0.000	6	0.000	0.032	2139	2503	3084	0	0	0	0	0	0
2445	-0.73	-146.0	324.0	-12.3	321	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2503	3084	0	0	0	0	0	0
2758	-0.73	-146.0	362.3	-12.1	346	2762	0.00	1.17	0.00	0.000	4	0.000	0.063	2135	3209	3084	0	0	0	0	0	0
2824	-0.73	-146.0	370.5	-12.8	351	2828	0.08	1.08	0.00	0.000	6	0.152	0.032	2158	2507	3084	0	0	0	0	0	0
3152	-0.73	-146.0	407.1	-10.9	377	3153	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2507	3084	0	0	0	0	0	0
3470	-0.73	-146.0	441.8	-11.4	402	3471	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2507	3084	0	0	0	0	0	0
3783	-0.73	-146.0	475.4	-10.2	427	3787	0.00	1.17	0.00	0.000	4	0.000	0.063	2156	3211	3085	0	0	0	0	0	0
3851	-0.73	-146.0	482.3	-10.4	432	3854	0.00	1.08	0.00	0.000	6	0.000	0.031	2156	2506	3084	0	0	0	0	0	0
4170	-0.73	-146.0	516.7	-10.8	450	4174	0.00	1.17	0.00	0.000	4	0.000	0.063	2151	3209	3085	0	0	0	0	0	0
4221	-0.73	-146.0	520.3	-10.7	451	4226	0.00	1.10	0.00	0.000	6	0.000	0.030	2151	2498	3085	0	0	0	0	0	0
4542	-0.73	-146.0	556.7	-10.9	462	4543	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2498	3085	0	0	0	0	0	0
4850	-0.73	-146.0	589.5	-10.5	472	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2498	3085	0	0	0	0	0	0
5154	-0.73	-146.0	620.8	-10.0	482	5158	0.00	1.20	0.00	0.000	4	0.000	0.062	2146	3219	3086	0	0	0	0	0	0
5172	-0.73	-146.0	620.8	-10.0	482	5177	0.00	1.10	0.00	0.000	6	0.000	0.030	2146	2513	3086	0	0	0	0	0	0
5493	-0.73	-146.0	655.3	-10.1	493	5494	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2513	3086	0	0	0	0	0	0
5735	end dive: TARGET_DEPTH_EXCEEDED
state	5735	begin apogee
5741	-0.16	0.0	681.0	-10.8	501	5871	0.60	0.00	121.65	1.337	6	0.130	0.000	2339	2196	2485	0	0	0	0	0	0
5872	end apogee: CONTROL_FINISHED_OK
state	5872	begin climb
5874	0.73	146.0	686.4	0.0	505	6012	0.85	1.23	130.60	1.275	4	0.066	0.048	2635	1505	1889	0	0	0	0	0	0
6262	0.73	146.0	656.3	11.3	517	6267	0.00	1.23	0.00	0.000	6	0.000	0.042	2635	2210	1880	0	0	0	0	0	0
6591	0.73	146.0	616.6	11.6	528	6595	0.00	1.15	0.00	0.000	4	0.000	0.054	2635	2908	1878	0	0	0	0	0	0
6729	0.73	146.0	600.4	12.1	532	6733	0.00	1.17	0.00	0.000	6	0.000	0.033	2639	2199	1877	0	0	0	0	0	0
7062	0.73	146.0	560.9	11.4	543	7066	0.00	1.08	0.00	0.000	4	0.000	0.049	2645	1499	1876	0	0	0	0	0	0
7200	0.73	146.0	546.2	11.1	547	7205	0.00	1.17	0.00	0.000	6	0.000	0.043	2645	2206	1876	0	0	0	0	0	0
7533	0.73	146.0	507.3	11.5	558	7537	0.00	1.15	0.00	0.000	4	0.000	0.044	2649	1494	1876	0	0	0	0	0	0
7632	0.73	146.0	497.0	11.2	562	7639	0.00	1.15	0.00	0.000	6	0.000	0.044	2649	2201	1875	0	0	0	0	0	0
7959	0.73	146.0	460.4	11.0	588	7962	0.00	1.12	0.00	0.000	4	0.000	0.056	2649	2900	1875	0	0	0	0	0	0
8037	0.73	146.0	451.0	11.3	594	8041	0.00	1.12	0.00	0.000	6	0.000	0.036	2654	2203	1875	0	0	0	0	0	0
8369	0.73	146.0	412.6	12.0	620	8373	0.00	1.17	0.00	0.000	4	0.000	0.050	2654	2901	1875	0	0	0	0	0	0
8534	0.73	146.0	393.2	12.1	632	8541	0.00	1.12	0.00	0.000	6	0.000	0.036	2658	2197	1874	0	0	0	0	0	0
8859	0.73	146.0	356.2	10.8	658	8863	0.00	1.08	0.00	0.000	4	0.000	0.048	2663	1491	1875	0	0	0	0	0	0
9075	0.73	146.0	333.6	10.3	674	9083	0.00	1.17	0.00	0.000	6	0.000	0.044	2663	2207	1875	0	0	0	0	0	0
9402	0.73	146.0	297.8	10.9	700	9403	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2207	1875	0	0	0	0	0	0
9716	0.73	146.0	262.8	11.0	725	9717	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2207	1874	0	0	0	0	0	0
10038	0.73	146.0	229.8	9.7	765	10045	0.00	1.10	0.00	0.000	4	0.000	0.056	2663	2895	1874	0	0	0	0	0	0
10239	0.73	146.0	209.8	9.3	795	10248	0.10	1.12	0.00	0.000	6	0.147	0.035	2636	2192	1874	0	0	0	0	0	0
10580	0.83	230.3	186.4	5.6	846	10654	0.00	0.00	68.97	1.030	6	0.000	0.000	2636	2192	1546	0	0	0	0	0	0
10985	0.84	236.3	151.4	8.9	907	10994	0.00	0.00	5.15	0.802	6	0.000	0.000	2636	2192	1521	0	0	0	0	0	0
11326	0.84	242.2	121.7	8.9	958	11342	0.12	0.00	6.57	0.868	6	0.084	0.000	2687	2192	1496	0	0	0	0	0	0
11673	0.84	242.2	81.8	11.6	1010	11679	0.00	1.08	0.00	0.000	4	0.000	0.051	2692	1498	1495	0	0	0	0	0	0
11930	0.84	242.2	52.0	9.8	1049	11937	0.00	1.15	0.00	0.000	6	0.000	0.045	2693	2201	1493	0	0	0	0	0	0
12269	0.87	262.4	20.8	8.3	1100	12285	0.00	0.00	11.35	0.877	6	0.000	0.000	2692	2201	1413	0	0	0	0	0	0
12510	end climb: SURFACE_DEPTH_REACHED
state	12511	begin surface coast
12537	end surface coast: CONTROL_FINISHED_OK
state	12537	begin surface