Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 275 * 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 275 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 41 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 26 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 -81050.227 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 -81050.227

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 41 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 275 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 211111,090204,6647.817,-5959.453,48,1.3,52,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.74 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -75.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 211111,090743,6647.828,-5959.580,16,1.3,16,-33.9 MHEAD_RNG_PITCHd_Wd 263.6,33589,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 684

Post-dive calculations and measurements:

FREEZE 1.44,-1.035,-0.854,2,1,0 ALTIM_BOTTOM_PING 603.2,118.9

FINISH1 1.4,1.012590,0 _24V_AH 22.6,34.873

FINISH2 3.6 _10V_AH 10.1,26.382

RAFOS_CLK 844 FG_AHR_24Vo 0.000

RAFOS 0,1321876862,12.033333,12.017222,171,59,53,0,0,0,665,147,164,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.158203,-5957.054688,211111,121220,4,132,0.45 MEM 150164

IRIDIUM_FIX 6614.97,-5959.11,211111,050520 DATA_FILE_SIZE 43376,1171

TT8_MAMPS 0.028462,0.028462 CAP_FILE_SIZE 120702,0

HUMID 56.41 CFSIZE 260165632,228847616

INTERNAL_PRESSURE 9.94179 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1451.6

XPDR_PINGS 20 CURRENT 0.467,113.7,1

ALTIM_TOP_PING 19.6,17.6 GPS 211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 257 64.38 SBE_CT 850 23 446.38

Roll_motor 35 79 63.11 SBE_O2 654 5 77.45

VBD_pump_during_apogee 379 1340 11483.82 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 226 256 1317.77 nil 0 0 0.00

Transponder_ping 7 420 68.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.88

TT8 3130 18 591.66

LPSleep 7106 2 165.81

TT8_Active 604 18 114.32

TT8_Sampling 2113 41 895.10

TT8_CF8 204 47 98.84

TT8_Kalman 0 0 0.00

Analog_circuits 1832 12 222.10

GPS_charging 0 0 0.00

Compass 1871 6 127.37

RAFOS 2160 1 32.72

Transponder 17 30 5.44

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 0 132 0.00 0.00 -113.65 0.000 2 0.000 0.000 105 2500 2058 0 0 0 0 0 0

135 -0.73 -146.0 3.1 -1.1 17 190 8.80 1.12 -38.17 0.000 4 0.258 0.080 2160 1812 3082 0 0 0 0 0 0

444 -0.73 -146.0 55.7 -15.8 63 451 0.00 1.20 0.00 0.000 6 0.000 0.057 2157 2502 3085 0 0 0 0 0 0

782 -0.73 -146.0 109.1 -16.0 114 790 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2502 3085 0 0 0 0 0 0

1120 -0.73 -146.0 158.6 -14.2 165 1127 0.00 1.15 0.00 0.000 4 0.000 0.070 2152 3214 3085 0 0 0 0 0 0

1181 -0.73 -146.0 167.3 -14.6 174 1191 0.00 1.10 0.00 0.000 6 0.000 0.035 2152 2513 3085 0 0 0 0 0 0

1521 -0.73 -146.0 215.7 -14.0 225 1527 0.00 1.17 0.00 0.000 4 0.000 0.066 2147 3212 3085 0 0 0 0 0 0

1608 -0.73 -146.0 227.7 -13.2 238 1616 0.00 1.10 0.00 0.000 6 0.000 0.036 2147 2509 3085 0 0 0 0 0 0

1938 -0.73 -146.0 271.3 -12.6 276 1940 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2509 3085 0 0 0 0 0 0

2255 -0.73 -146.0 311.6 -13.1 301 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2510 3085 0 0 0 0 0 0

2572 -0.73 -146.0 351.3 -12.7 326 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2509 3085 0 0 0 0 0 0

2888 -0.73 -146.0 389.9 -11.9 351 2892 0.00 1.20 0.00 0.000 4 0.000 0.065 2143 3223 3085 0 0 0 0 0 0

3020 -0.73 -146.0 406.2 -12.0 361 3024 0.00 1.12 0.00 0.000 6 0.000 0.034 2143 2499 3085 0 0 0 0 0 0

3352 -0.73 -146.0 446.5 -12.1 387 3353 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2499 3085 0 0 0 0 0 0

3664 -0.73 -146.0 484.2 -12.1 412 3666 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2498 3084 0 0 0 0 0 0

3987 -0.73 -146.0 523.6 -12.2 429 3991 0.00 1.20 0.00 0.000 4 0.000 0.063 2138 3218 3085 0 0 0 0 0 0

4098 -0.73 -146.0 535.5 -12.0 432 4103 0.00 1.12 0.00 0.000 6 0.000 0.032 2138 2500 3085 0 0 0 0 0 0

4427 -0.73 -146.0 575.0 -11.7 443 4428 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2500 3085 0 0 0 0 0 0

4732 -0.73 -146.0 610.5 -11.6 453 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2500 3086 0 0 0 0 0 0

5039 -0.73 -146.0 646.1 -11.4 463 5042 0.00 1.20 0.00 0.000 4 0.000 0.063 2134 3220 3086 0 0 0 0 0 0

5105 -0.73 -146.0 653.9 -11.3 465 5109 0.10 1.10 0.00 0.000 6 0.141 0.032 2165 2502 3086 0 0 0 0 0 0

5442 end dive: TARGET_DEPTH_EXCEEDED

state 5442 begin apogee

5448 -0.16 0.0 685.9 -8.9 476 5577 0.52 0.00 122.15 1.340 6 0.121 0.000 2341 2184 2484 0 0 0 0 0 0

5578 end apogee: CONTROL_FINISHED_OK

state 5578 begin climb

5580 0.73 146.0 692.0 0.0 480 5720 0.85 1.20 130.82 1.279 4 0.066 0.049 2637 1508 1888 0 0 0 0 0 0

5970 0.73 146.0 661.2 11.4 492 5976 0.00 1.23 0.00 0.000 6 0.000 0.043 2636 2210 1880 0 0 0 0 0 0

6299 0.73 146.0 623.6 11.0 503 6300 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2210 1878 0 0 0 0 0 0

6604 0.73 146.0 591.6 10.2 513 6605 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2210 1877 0 0 0 0 0 0

6912 0.73 146.0 558.8 10.8 523 6913 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2210 1877 0 0 0 0 0 0

7216 0.73 146.0 526.9 10.4 533 7217 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2210 1875 0 0 0 0 0 0

7530 0.73 146.0 492.8 11.0 545 7531 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2210 1875 0 0 0 0 0 0

7846 0.73 146.0 458.0 11.0 570 7849 0.00 1.12 0.00 0.000 4 0.000 0.054 2637 2909 1876 0 0 0 0 0 0

8073 0.73 146.0 432.5 11.0 587 8077 0.00 1.12 0.00 0.000 6 0.000 0.035 2641 2207 1874 0 0 0 0 0 0

8403 0.73 146.0 396.6 11.1 613 8407 0.00 1.08 0.00 0.000 4 0.000 0.049 2647 1499 1874 0 0 0 0 0 0

8485 0.73 146.0 387.6 11.0 619 8489 0.00 1.15 0.00 0.000 6 0.000 0.044 2647 2209 1874 0 0 0 0 0 0

8816 0.73 146.0 352.3 11.3 645 8817 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2209 1874 0 0 0 0 0 0

9131 0.73 146.0 318.9 10.4 670 9135 0.00 1.12 0.00 0.000 4 0.000 0.055 2647 2910 1874 0 0 0 0 0 0

9202 0.73 146.0 312.1 10.0 675 9210 0.00 1.15 0.00 0.000 6 0.000 0.035 2651 2200 1874 0 0 0 0 0 0

9527 0.73 146.0 279.4 10.0 701 9528 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2200 1874 0 0 0 0 0 0

9843 0.73 146.0 248.1 9.5 727 9850 0.00 1.17 0.00 0.000 4 0.000 0.052 2651 2898 1874 0 0 0 0 0 0

10100 0.77 180.4 226.8 7.7 766 10137 0.00 1.12 27.85 1.051 6 0.000 0.036 2656 2195 1748 0 0 0 0 0 0

10469 0.77 180.4 194.1 9.9 821 10476 0.00 1.20 0.00 0.000 4 0.000 0.050 2656 2908 1744 0 0 0 0 0 0

10529 0.77 180.4 187.9 10.3 830 10538 0.00 1.15 0.00 0.000 6 0.000 0.036 2660 2199 1744 0 0 0 0 0 0

10868 0.78 188.2 156.9 8.8 881 10884 0.00 1.23 7.55 0.923 4 0.000 0.051 2660 2903 1717 0 0 0 0 0 0

10966 0.78 188.2 148.0 9.5 895 10972 0.00 1.15 0.00 0.000 6 0.000 0.037 2664 2198 1716 0 0 0 0 0 0

11304 0.80 209.0 118.3 8.3 946 11326 0.00 0.00 18.88 0.995 6 0.000 0.000 2664 2197 1632 0 0 0 0 0 0

11659 0.82 225.3 86.5 8.5 999 11679 0.00 1.12 14.62 0.962 4 0.000 0.050 2669 1493 1565 0 0 0 0 0 0

11883 0.82 225.3 65.7 9.3 1033 11890 0.00 1.17 0.00 0.000 6 0.000 0.045 2670 2206 1563 0 0 0 0 0 0

12221 0.86 256.9 38.2 7.8 1084 12254 0.00 0.00 27.73 0.960 6 0.000 0.000 2670 2206 1435 0 0 0 0 0 0

12587 0.91 293.4 9.4 7.6 1139 12609 0.00 1.17 17.90 0.100 4 0.000 0.054 2670 2911 1288 0 0 0 0 0 0

12664 0.94 317.9 3.2 8.1 1150 12682 0.00 1.15 11.62 0.087 6 0.000 0.034 2674 2200 1187 0 0 0 0 0 0

12687 end climb: FINISH_DEPTH_REACHED

state 12688 begin subsurface finish

12694 0.00 0.0 1.4 7.8 1153 12810 0.77 0.00 -105.47 0.000 6 0.068 0.000 2395 2200 2485 0 0 0 0 0 0

12811 end subsurface finish: CONTROL_FINISHED_OK

state 12811 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	275	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	41	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	26	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	-81050.227	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	211111,090204,6647.817,-5959.453,48,1.3,52,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.74	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-75.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	211111,090743,6647.828,-5959.580,16,1.3,16,-33.9	MHEAD_RNG_PITCHd_Wd	263.6,33589,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	684

FREEZE	1.44,-1.035,-0.854,2,1,0	ALTIM_BOTTOM_PING	603.2,118.9
FINISH1	1.4,1.012590,0	_24V_AH	22.6,34.873
FINISH2	3.6	_10V_AH	10.1,26.382
RAFOS_CLK	844	FG_AHR_24Vo	0.000
RAFOS	0,1321876862,12.033333,12.017222,171,59,53,0,0,0,665,147,164,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.158203,-5957.054688,211111,121220,4,132,0.45	MEM	150164
IRIDIUM_FIX	6614.97,-5959.11,211111,050520	DATA_FILE_SIZE	43376,1171
TT8_MAMPS	0.028462,0.028462	CAP_FILE_SIZE	120702,0
HUMID	56.41	CFSIZE	260165632,228847616
INTERNAL_PRESSURE	9.94179	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1451.6
XPDR_PINGS	20	CURRENT	0.467,113.7,1
ALTIM_TOP_PING	19.6,17.6	GPS	211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	257	64.38	SBE_CT	850	23	446.38
Roll_motor	35	79	63.11	SBE_O2	654	5	77.45
VBD_pump_during_apogee	379	1340	11483.82	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	226	256	1317.77	nil	0	0	0.00
Transponder_ping	7	420	68.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.88
TT8	3130	18	591.66
LPSleep	7106	2	165.81
TT8_Active	604	18	114.32
TT8_Sampling	2113	41	895.10
TT8_CF8	204	47	98.84
TT8_Kalman	0	0	0.00
Analog_circuits	1832	12	222.10
GPS_charging	0	0	0.00
Compass	1871	6	127.37
RAFOS	2160	1	32.72
Transponder	17	30	5.44

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	132	0.00	0.00	-113.65	0.000	2	0.000	0.000	105	2500	2058	0	0	0	0	0	0
135	-0.73	-146.0	3.1	-1.1	17	190	8.80	1.12	-38.17	0.000	4	0.258	0.080	2160	1812	3082	0	0	0	0	0	0
444	-0.73	-146.0	55.7	-15.8	63	451	0.00	1.20	0.00	0.000	6	0.000	0.057	2157	2502	3085	0	0	0	0	0	0
782	-0.73	-146.0	109.1	-16.0	114	790	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2502	3085	0	0	0	0	0	0
1120	-0.73	-146.0	158.6	-14.2	165	1127	0.00	1.15	0.00	0.000	4	0.000	0.070	2152	3214	3085	0	0	0	0	0	0
1181	-0.73	-146.0	167.3	-14.6	174	1191	0.00	1.10	0.00	0.000	6	0.000	0.035	2152	2513	3085	0	0	0	0	0	0
1521	-0.73	-146.0	215.7	-14.0	225	1527	0.00	1.17	0.00	0.000	4	0.000	0.066	2147	3212	3085	0	0	0	0	0	0
1608	-0.73	-146.0	227.7	-13.2	238	1616	0.00	1.10	0.00	0.000	6	0.000	0.036	2147	2509	3085	0	0	0	0	0	0
1938	-0.73	-146.0	271.3	-12.6	276	1940	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2509	3085	0	0	0	0	0	0
2255	-0.73	-146.0	311.6	-13.1	301	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2510	3085	0	0	0	0	0	0
2572	-0.73	-146.0	351.3	-12.7	326	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2509	3085	0	0	0	0	0	0
2888	-0.73	-146.0	389.9	-11.9	351	2892	0.00	1.20	0.00	0.000	4	0.000	0.065	2143	3223	3085	0	0	0	0	0	0
3020	-0.73	-146.0	406.2	-12.0	361	3024	0.00	1.12	0.00	0.000	6	0.000	0.034	2143	2499	3085	0	0	0	0	0	0
3352	-0.73	-146.0	446.5	-12.1	387	3353	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2499	3085	0	0	0	0	0	0
3664	-0.73	-146.0	484.2	-12.1	412	3666	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2498	3084	0	0	0	0	0	0
3987	-0.73	-146.0	523.6	-12.2	429	3991	0.00	1.20	0.00	0.000	4	0.000	0.063	2138	3218	3085	0	0	0	0	0	0
4098	-0.73	-146.0	535.5	-12.0	432	4103	0.00	1.12	0.00	0.000	6	0.000	0.032	2138	2500	3085	0	0	0	0	0	0
4427	-0.73	-146.0	575.0	-11.7	443	4428	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2500	3085	0	0	0	0	0	0
4732	-0.73	-146.0	610.5	-11.6	453	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2500	3086	0	0	0	0	0	0
5039	-0.73	-146.0	646.1	-11.4	463	5042	0.00	1.20	0.00	0.000	4	0.000	0.063	2134	3220	3086	0	0	0	0	0	0
5105	-0.73	-146.0	653.9	-11.3	465	5109	0.10	1.10	0.00	0.000	6	0.141	0.032	2165	2502	3086	0	0	0	0	0	0
5442	end dive: TARGET_DEPTH_EXCEEDED
state	5442	begin apogee
5448	-0.16	0.0	685.9	-8.9	476	5577	0.52	0.00	122.15	1.340	6	0.121	0.000	2341	2184	2484	0	0	0	0	0	0
5578	end apogee: CONTROL_FINISHED_OK
state	5578	begin climb
5580	0.73	146.0	692.0	0.0	480	5720	0.85	1.20	130.82	1.279	4	0.066	0.049	2637	1508	1888	0	0	0	0	0	0
5970	0.73	146.0	661.2	11.4	492	5976	0.00	1.23	0.00	0.000	6	0.000	0.043	2636	2210	1880	0	0	0	0	0	0
6299	0.73	146.0	623.6	11.0	503	6300	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2210	1878	0	0	0	0	0	0
6604	0.73	146.0	591.6	10.2	513	6605	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2210	1877	0	0	0	0	0	0
6912	0.73	146.0	558.8	10.8	523	6913	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2210	1877	0	0	0	0	0	0
7216	0.73	146.0	526.9	10.4	533	7217	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2210	1875	0	0	0	0	0	0
7530	0.73	146.0	492.8	11.0	545	7531	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2210	1875	0	0	0	0	0	0
7846	0.73	146.0	458.0	11.0	570	7849	0.00	1.12	0.00	0.000	4	0.000	0.054	2637	2909	1876	0	0	0	0	0	0
8073	0.73	146.0	432.5	11.0	587	8077	0.00	1.12	0.00	0.000	6	0.000	0.035	2641	2207	1874	0	0	0	0	0	0
8403	0.73	146.0	396.6	11.1	613	8407	0.00	1.08	0.00	0.000	4	0.000	0.049	2647	1499	1874	0	0	0	0	0	0
8485	0.73	146.0	387.6	11.0	619	8489	0.00	1.15	0.00	0.000	6	0.000	0.044	2647	2209	1874	0	0	0	0	0	0
8816	0.73	146.0	352.3	11.3	645	8817	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2209	1874	0	0	0	0	0	0
9131	0.73	146.0	318.9	10.4	670	9135	0.00	1.12	0.00	0.000	4	0.000	0.055	2647	2910	1874	0	0	0	0	0	0
9202	0.73	146.0	312.1	10.0	675	9210	0.00	1.15	0.00	0.000	6	0.000	0.035	2651	2200	1874	0	0	0	0	0	0
9527	0.73	146.0	279.4	10.0	701	9528	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2200	1874	0	0	0	0	0	0
9843	0.73	146.0	248.1	9.5	727	9850	0.00	1.17	0.00	0.000	4	0.000	0.052	2651	2898	1874	0	0	0	0	0	0
10100	0.77	180.4	226.8	7.7	766	10137	0.00	1.12	27.85	1.051	6	0.000	0.036	2656	2195	1748	0	0	0	0	0	0
10469	0.77	180.4	194.1	9.9	821	10476	0.00	1.20	0.00	0.000	4	0.000	0.050	2656	2908	1744	0	0	0	0	0	0
10529	0.77	180.4	187.9	10.3	830	10538	0.00	1.15	0.00	0.000	6	0.000	0.036	2660	2199	1744	0	0	0	0	0	0
10868	0.78	188.2	156.9	8.8	881	10884	0.00	1.23	7.55	0.923	4	0.000	0.051	2660	2903	1717	0	0	0	0	0	0
10966	0.78	188.2	148.0	9.5	895	10972	0.00	1.15	0.00	0.000	6	0.000	0.037	2664	2198	1716	0	0	0	0	0	0
11304	0.80	209.0	118.3	8.3	946	11326	0.00	0.00	18.88	0.995	6	0.000	0.000	2664	2197	1632	0	0	0	0	0	0
11659	0.82	225.3	86.5	8.5	999	11679	0.00	1.12	14.62	0.962	4	0.000	0.050	2669	1493	1565	0	0	0	0	0	0
11883	0.82	225.3	65.7	9.3	1033	11890	0.00	1.17	0.00	0.000	6	0.000	0.045	2670	2206	1563	0	0	0	0	0	0
12221	0.86	256.9	38.2	7.8	1084	12254	0.00	0.00	27.73	0.960	6	0.000	0.000	2670	2206	1435	0	0	0	0	0	0
12587	0.91	293.4	9.4	7.6	1139	12609	0.00	1.17	17.90	0.100	4	0.000	0.054	2670	2911	1288	0	0	0	0	0	0
12664	0.94	317.9	3.2	8.1	1150	12682	0.00	1.15	11.62	0.087	6	0.000	0.034	2674	2200	1187	0	0	0	0	0	0
12687	end climb: FINISH_DEPTH_REACHED
state	12688	begin subsurface finish
12694	0.00	0.0	1.4	7.8	1153	12810	0.77	0.00	-105.47	0.000	6	0.068	0.000	2395	2200	2485	0	0	0	0	0	0
12811	end subsurface finish: CONTROL_FINISHED_OK
state	12811	begin surface