Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 284 * 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 284 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 38 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 22 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 -82520.141 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 -82520.141

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 38 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 284 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 221111,162152,6645.708,-6002.138,0,4105.0,0,-34.0 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.61 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -49.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 221111,162152,6645.708,-6002.138,181,99.0,181,-34.0 MHEAD_RNG_PITCHd_Wd 336.1,30711,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 635

Post-dive calculations and measurements:

FREEZE 2.49,-1.691,-1.733,2,2,0 ALTIM_BOTTOM_PING 601.4,80.0

FINISH1 2.5,1.025449,100 _24V_AH 22.6,35.970

FINISH2 2.3 _10V_AH 10.1,27.133

RAFOS_CLK 857 FG_AHR_24Vo 0.000

RAFOS 5,1321980066,16.700001,16.684999,83,62,59,0,0,0,891,210,151,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6646.030273,-6000.128418,221111,161601,5,101,6.37 MEM 150240

IRIDIUM_FIX 6625.71,-6000.37,221111,131343 DATA_FILE_SIZE 43315,1132

TT8_MAMPS 0.029211,0.029211 CAP_FILE_SIZE 122873,0

HUMID 56.53 CFSIZE 260165632,228261888

INTERNAL_PRESSURE 9.90272 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1453.1

XPDR_PINGS 5 CURRENT 1.494,326.1,1

ALTIM_TOP_PING 19.7,17.9 GPS 221111,162152,6645.708,-6002.138,181,99.0,181,-34.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 250 61.34 SBE_CT 817 23 429.06

Roll_motor 49 80 90.45 SBE_O2 634 5 75.19

VBD_pump_during_apogee 359 1305 10597.14 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 123 241 673.29 nil 0 0 0.00

Transponder_ping 3 420 33.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 26 49.56

TT8 3067 18 579.60

LPSleep 6416 2 149.71

TT8_Active 554 18 104.80

TT8_Sampling 2294 41 971.66

TT8_CF8 211 47 102.29

TT8_Kalman 0 0 0.00

Analog_circuits 1725 12 209.11

GPS_charging 0 0 0.00

Compass 1968 6 134.03

RAFOS 1080 1 16.36

Transponder 17 30 5.41

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

16 -0.73 -146.0 0.0 0.0 0 119 0.00 0.00 -100.68 0.000 2 0.000 0.000 121 2505 1918 0 0 0 0 0 0

122 -0.73 -146.0 3.1 -1.2 15 193 8.55 1.17 -54.20 0.000 4 0.250 0.071 2158 1815 3083 0 0 0 0 0 0

228 -0.73 -146.0 15.8 -19.5 30 235 0.00 1.20 0.00 0.000 6 0.000 0.056 2155 2507 3084 0 0 0 0 0 0

567 -0.73 -146.0 81.5 -17.3 81 574 0.00 1.12 0.00 0.000 4 0.000 0.069 2150 3207 3085 0 0 0 0 0 0

700 -0.73 -146.0 104.0 -17.0 101 706 0.00 1.10 0.00 0.000 6 0.000 0.034 2150 2500 3085 0 0 0 0 0 0

1040 -0.73 -146.0 158.5 -15.2 152 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2500 3085 0 0 0 0 0 0

1377 -0.73 -146.0 205.1 -12.7 203 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2500 3085 0 0 0 0 0 0

1717 -0.73 -146.0 248.6 -12.8 254 1724 0.00 1.20 0.00 0.000 4 0.000 0.063 2146 3213 3085 0 0 0 0 0 0

1823 -0.73 -146.0 261.5 -12.0 263 1827 0.00 1.10 0.00 0.000 6 0.000 0.033 2146 2501 3084 0 0 0 0 0 0

2154 -0.73 -146.0 300.3 -11.4 289 2158 0.00 1.20 0.00 0.000 4 0.000 0.063 2141 3219 3084 0 0 0 0 0 0

2180 -0.73 -146.0 303.7 -11.5 291 2184 0.00 1.10 0.00 0.000 6 0.000 0.033 2141 2508 3084 0 0 0 0 0 0

2511 -0.73 -146.0 341.5 -11.5 317 2514 0.00 1.17 0.00 0.000 4 0.000 0.063 2137 3213 3084 0 0 0 0 0 0

2537 -0.73 -146.0 344.7 -11.3 319 2541 0.00 1.10 0.00 0.000 6 0.000 0.032 2137 2498 3085 0 0 0 0 0 0

2869 -0.73 -146.0 382.9 -11.6 345 2873 0.12 1.20 0.00 0.000 4 0.171 0.064 2164 3214 3085 0 0 0 0 0 0

3045 -0.73 -146.0 400.7 -10.0 358 3053 0.00 1.10 0.00 0.000 6 0.000 0.031 2163 2508 3085 0 0 0 0 0 0

3371 -0.73 -146.0 432.0 -9.2 384 3375 0.00 1.17 0.00 0.000 4 0.000 0.063 2159 3213 3085 0 0 0 0 0 0

3451 -0.73 -146.0 439.9 -9.3 390 3454 0.00 1.08 0.00 0.000 6 0.000 0.030 2159 2508 3085 0 0 0 0 0 0

3782 -0.73 -146.0 471.1 -9.5 416 3786 0.00 1.17 0.00 0.000 4 0.000 0.062 2154 3216 3086 0 0 0 0 0 0

3901 -0.73 -146.0 483.1 -9.6 425 3905 0.00 1.08 0.00 0.000 6 0.000 0.028 2155 2504 3085 0 0 0 0 0 0

4235 -0.73 -146.0 515.6 -10.0 444 4239 0.00 1.17 0.00 0.000 4 0.000 0.062 2150 3213 3086 0 0 0 0 0 0

4345 -0.73 -146.0 526.1 -10.2 447 4350 0.00 1.10 0.00 0.000 6 0.000 0.028 2150 2497 3086 0 0 0 0 0 0

4672 -0.73 -146.0 559.8 -10.1 458 4676 0.00 1.20 0.00 0.000 4 0.000 0.061 2145 3220 3087 0 0 0 0 0 0

4783 -0.73 -146.0 569.9 -10.1 461 4788 0.00 1.10 0.00 0.000 6 0.000 0.028 2145 2508 3086 0 0 0 0 0 0

5112 -0.73 -146.0 604.6 -10.2 472 5116 0.00 1.17 0.00 0.000 4 0.000 0.062 2141 3216 3086 0 0 0 0 0 0

5262 -0.73 -146.0 618.8 -10.7 476 5267 0.00 1.10 0.00 0.000 6 0.000 0.028 2141 2498 3086 0 0 0 0 0 0

5397 end dive: TARGET_DEPTH_EXCEEDED

state 5397 begin apogee

5403 -0.16 0.0 635.1 -10.5 481 5532 0.62 0.00 121.55 1.306 6 0.131 0.000 2341 2195 2484 0 0 0 0 0 0

5532 end apogee: CONTROL_FINISHED_OK

state 5532 begin climb

5535 0.73 146.0 640.2 0.0 485 5672 0.85 1.23 129.88 1.250 4 0.068 0.047 2634 1502 1889 0 0 0 0 0 0

5878 0.73 146.0 614.7 11.0 496 5882 0.00 1.23 0.00 0.000 6 0.000 0.043 2634 2212 1880 0 0 0 0 0 0

6218 0.73 146.0 577.4 11.0 507 6221 0.00 1.15 0.00 0.000 4 0.000 0.053 2634 2908 1878 0 0 0 0 0 0

6295 0.73 146.0 569.9 11.3 509 6300 0.00 1.15 0.00 0.000 6 0.000 0.034 2639 2209 1878 0 0 0 0 0 0

6623 0.73 146.0 530.1 12.0 520 6627 0.00 1.10 0.00 0.000 4 0.000 0.047 2644 1496 1876 0 0 0 0 0 0

6828 0.73 146.0 507.1 11.3 526 6832 0.00 1.15 0.00 0.000 6 0.000 0.043 2644 2201 1876 0 0 0 0 0 0

7151 0.73 146.0 470.5 11.1 549 7153 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2202 1876 0 0 0 0 0 0

7466 0.73 146.0 435.7 10.9 574 7470 0.00 1.12 0.00 0.000 4 0.000 0.044 2649 1497 1875 0 0 0 0 0 0

7722 0.73 146.0 408.2 10.9 593 7730 0.00 1.17 0.00 0.000 6 0.000 0.043 2648 2210 1875 0 0 0 0 0 0

8048 0.73 146.0 370.4 11.7 619 8049 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2210 1875 0 0 0 0 0 0

8363 0.73 146.0 334.1 11.4 644 8366 0.00 1.15 0.00 0.000 4 0.000 0.044 2653 1492 1875 0 0 0 0 0 0

8509 0.73 146.0 317.6 11.2 655 8512 0.00 1.15 0.00 0.000 6 0.000 0.043 2653 2205 1875 0 0 0 0 0 0

8839 0.73 146.0 281.0 10.7 681 8842 0.00 1.12 0.00 0.000 4 0.000 0.044 2657 1496 1875 0 0 0 0 0 0

9011 0.73 146.0 262.4 10.9 694 9015 0.00 1.12 0.00 0.000 6 0.000 0.043 2658 2197 1875 0 0 0 0 0 0

9343 0.73 146.0 228.3 9.9 735 9351 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2197 1875 0 0 0 0 0 0

9684 0.77 181.1 198.6 7.7 786 9718 0.00 1.17 28.38 1.030 4 0.000 0.045 2662 1494 1745 0 0 0 0 0 0

9745 0.77 181.1 193.4 9.3 795 9754 0.00 1.17 0.00 0.000 6 0.000 0.044 2662 2206 1744 0 0 0 0 0 0

10084 0.77 182.1 160.0 9.1 846 10090 0.00 1.12 0.00 0.000 4 0.000 0.055 2662 2908 1742 0 0 0 0 0 0

10310 0.77 182.1 138.5 9.6 880 10317 0.00 1.15 0.00 0.000 6 0.000 0.034 2666 2194 1741 0 0 0 0 0 0

10647 0.80 209.3 109.4 8.0 931 10676 0.00 1.12 24.12 0.985 4 0.000 0.048 2672 1491 1631 0 0 0 0 0 0

10928 0.80 210.5 83.9 9.1 973 10935 0.00 1.17 0.00 0.000 6 0.000 0.044 2672 2206 1627 0 0 0 0 0 0

11269 0.84 239.0 56.8 8.0 1024 11297 0.00 0.00 25.60 0.961 6 0.000 0.000 2671 2206 1510 0 0 0 0 0 0

11628 0.86 252.5 27.4 8.6 1078 11644 0.00 1.20 10.57 0.900 4 0.000 0.046 2676 1494 1455 0 0 0 0 0 0

11725 0.90 287.0 20.3 7.7 1092 11749 0.00 1.17 18.98 0.872 6 0.000 0.043 2676 2208 1313 0 0 0 0 0 0

11918 end climb: FINISH_DEPTH_REACHED

state 11918 begin subsurface finish

11925 0.12 100.0 2.5 9.5 1121 11996 0.70 1.10 -62.33 0.000 4 0.102 0.080 2443 2906 2077 0 0 0 0 0 0

11997 end subsurface finish: CONTROL_FINISHED_OK

state 11997 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	284	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	38	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	22	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	-82520.141	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	221111,162152,6645.708,-6002.138,0,4105.0,0,-34.0	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.61	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-49.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	221111,162152,6645.708,-6002.138,181,99.0,181,-34.0	MHEAD_RNG_PITCHd_Wd	336.1,30711,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	635

FREEZE	2.49,-1.691,-1.733,2,2,0	ALTIM_BOTTOM_PING	601.4,80.0
FINISH1	2.5,1.025449,100	_24V_AH	22.6,35.970
FINISH2	2.3	_10V_AH	10.1,27.133
RAFOS_CLK	857	FG_AHR_24Vo	0.000
RAFOS	5,1321980066,16.700001,16.684999,83,62,59,0,0,0,891,210,151,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6646.030273,-6000.128418,221111,161601,5,101,6.37	MEM	150240
IRIDIUM_FIX	6625.71,-6000.37,221111,131343	DATA_FILE_SIZE	43315,1132
TT8_MAMPS	0.029211,0.029211	CAP_FILE_SIZE	122873,0
HUMID	56.53	CFSIZE	260165632,228261888
INTERNAL_PRESSURE	9.90272	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1453.1
XPDR_PINGS	5	CURRENT	1.494,326.1,1
ALTIM_TOP_PING	19.7,17.9	GPS	221111,162152,6645.708,-6002.138,181,99.0,181,-34.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	250	61.34	SBE_CT	817	23	429.06
Roll_motor	49	80	90.45	SBE_O2	634	5	75.19
VBD_pump_during_apogee	359	1305	10597.14	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	123	241	673.29	nil	0	0	0.00
Transponder_ping	3	420	33.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	26	49.56
TT8	3067	18	579.60
LPSleep	6416	2	149.71
TT8_Active	554	18	104.80
TT8_Sampling	2294	41	971.66
TT8_CF8	211	47	102.29
TT8_Kalman	0	0	0.00
Analog_circuits	1725	12	209.11
GPS_charging	0	0	0.00
Compass	1968	6	134.03
RAFOS	1080	1	16.36
Transponder	17	30	5.41

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
16	-0.73	-146.0	0.0	0.0	0	119	0.00	0.00	-100.68	0.000	2	0.000	0.000	121	2505	1918	0	0	0	0	0	0
122	-0.73	-146.0	3.1	-1.2	15	193	8.55	1.17	-54.20	0.000	4	0.250	0.071	2158	1815	3083	0	0	0	0	0	0
228	-0.73	-146.0	15.8	-19.5	30	235	0.00	1.20	0.00	0.000	6	0.000	0.056	2155	2507	3084	0	0	0	0	0	0
567	-0.73	-146.0	81.5	-17.3	81	574	0.00	1.12	0.00	0.000	4	0.000	0.069	2150	3207	3085	0	0	0	0	0	0
700	-0.73	-146.0	104.0	-17.0	101	706	0.00	1.10	0.00	0.000	6	0.000	0.034	2150	2500	3085	0	0	0	0	0	0
1040	-0.73	-146.0	158.5	-15.2	152	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2500	3085	0	0	0	0	0	0
1377	-0.73	-146.0	205.1	-12.7	203	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2500	3085	0	0	0	0	0	0
1717	-0.73	-146.0	248.6	-12.8	254	1724	0.00	1.20	0.00	0.000	4	0.000	0.063	2146	3213	3085	0	0	0	0	0	0
1823	-0.73	-146.0	261.5	-12.0	263	1827	0.00	1.10	0.00	0.000	6	0.000	0.033	2146	2501	3084	0	0	0	0	0	0
2154	-0.73	-146.0	300.3	-11.4	289	2158	0.00	1.20	0.00	0.000	4	0.000	0.063	2141	3219	3084	0	0	0	0	0	0
2180	-0.73	-146.0	303.7	-11.5	291	2184	0.00	1.10	0.00	0.000	6	0.000	0.033	2141	2508	3084	0	0	0	0	0	0
2511	-0.73	-146.0	341.5	-11.5	317	2514	0.00	1.17	0.00	0.000	4	0.000	0.063	2137	3213	3084	0	0	0	0	0	0
2537	-0.73	-146.0	344.7	-11.3	319	2541	0.00	1.10	0.00	0.000	6	0.000	0.032	2137	2498	3085	0	0	0	0	0	0
2869	-0.73	-146.0	382.9	-11.6	345	2873	0.12	1.20	0.00	0.000	4	0.171	0.064	2164	3214	3085	0	0	0	0	0	0
3045	-0.73	-146.0	400.7	-10.0	358	3053	0.00	1.10	0.00	0.000	6	0.000	0.031	2163	2508	3085	0	0	0	0	0	0
3371	-0.73	-146.0	432.0	-9.2	384	3375	0.00	1.17	0.00	0.000	4	0.000	0.063	2159	3213	3085	0	0	0	0	0	0
3451	-0.73	-146.0	439.9	-9.3	390	3454	0.00	1.08	0.00	0.000	6	0.000	0.030	2159	2508	3085	0	0	0	0	0	0
3782	-0.73	-146.0	471.1	-9.5	416	3786	0.00	1.17	0.00	0.000	4	0.000	0.062	2154	3216	3086	0	0	0	0	0	0
3901	-0.73	-146.0	483.1	-9.6	425	3905	0.00	1.08	0.00	0.000	6	0.000	0.028	2155	2504	3085	0	0	0	0	0	0
4235	-0.73	-146.0	515.6	-10.0	444	4239	0.00	1.17	0.00	0.000	4	0.000	0.062	2150	3213	3086	0	0	0	0	0	0
4345	-0.73	-146.0	526.1	-10.2	447	4350	0.00	1.10	0.00	0.000	6	0.000	0.028	2150	2497	3086	0	0	0	0	0	0
4672	-0.73	-146.0	559.8	-10.1	458	4676	0.00	1.20	0.00	0.000	4	0.000	0.061	2145	3220	3087	0	0	0	0	0	0
4783	-0.73	-146.0	569.9	-10.1	461	4788	0.00	1.10	0.00	0.000	6	0.000	0.028	2145	2508	3086	0	0	0	0	0	0
5112	-0.73	-146.0	604.6	-10.2	472	5116	0.00	1.17	0.00	0.000	4	0.000	0.062	2141	3216	3086	0	0	0	0	0	0
5262	-0.73	-146.0	618.8	-10.7	476	5267	0.00	1.10	0.00	0.000	6	0.000	0.028	2141	2498	3086	0	0	0	0	0	0
5397	end dive: TARGET_DEPTH_EXCEEDED
state	5397	begin apogee
5403	-0.16	0.0	635.1	-10.5	481	5532	0.62	0.00	121.55	1.306	6	0.131	0.000	2341	2195	2484	0	0	0	0	0	0
5532	end apogee: CONTROL_FINISHED_OK
state	5532	begin climb
5535	0.73	146.0	640.2	0.0	485	5672	0.85	1.23	129.88	1.250	4	0.068	0.047	2634	1502	1889	0	0	0	0	0	0
5878	0.73	146.0	614.7	11.0	496	5882	0.00	1.23	0.00	0.000	6	0.000	0.043	2634	2212	1880	0	0	0	0	0	0
6218	0.73	146.0	577.4	11.0	507	6221	0.00	1.15	0.00	0.000	4	0.000	0.053	2634	2908	1878	0	0	0	0	0	0
6295	0.73	146.0	569.9	11.3	509	6300	0.00	1.15	0.00	0.000	6	0.000	0.034	2639	2209	1878	0	0	0	0	0	0
6623	0.73	146.0	530.1	12.0	520	6627	0.00	1.10	0.00	0.000	4	0.000	0.047	2644	1496	1876	0	0	0	0	0	0
6828	0.73	146.0	507.1	11.3	526	6832	0.00	1.15	0.00	0.000	6	0.000	0.043	2644	2201	1876	0	0	0	0	0	0
7151	0.73	146.0	470.5	11.1	549	7153	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2202	1876	0	0	0	0	0	0
7466	0.73	146.0	435.7	10.9	574	7470	0.00	1.12	0.00	0.000	4	0.000	0.044	2649	1497	1875	0	0	0	0	0	0
7722	0.73	146.0	408.2	10.9	593	7730	0.00	1.17	0.00	0.000	6	0.000	0.043	2648	2210	1875	0	0	0	0	0	0
8048	0.73	146.0	370.4	11.7	619	8049	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2210	1875	0	0	0	0	0	0
8363	0.73	146.0	334.1	11.4	644	8366	0.00	1.15	0.00	0.000	4	0.000	0.044	2653	1492	1875	0	0	0	0	0	0
8509	0.73	146.0	317.6	11.2	655	8512	0.00	1.15	0.00	0.000	6	0.000	0.043	2653	2205	1875	0	0	0	0	0	0
8839	0.73	146.0	281.0	10.7	681	8842	0.00	1.12	0.00	0.000	4	0.000	0.044	2657	1496	1875	0	0	0	0	0	0
9011	0.73	146.0	262.4	10.9	694	9015	0.00	1.12	0.00	0.000	6	0.000	0.043	2658	2197	1875	0	0	0	0	0	0
9343	0.73	146.0	228.3	9.9	735	9351	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2197	1875	0	0	0	0	0	0
9684	0.77	181.1	198.6	7.7	786	9718	0.00	1.17	28.38	1.030	4	0.000	0.045	2662	1494	1745	0	0	0	0	0	0
9745	0.77	181.1	193.4	9.3	795	9754	0.00	1.17	0.00	0.000	6	0.000	0.044	2662	2206	1744	0	0	0	0	0	0
10084	0.77	182.1	160.0	9.1	846	10090	0.00	1.12	0.00	0.000	4	0.000	0.055	2662	2908	1742	0	0	0	0	0	0
10310	0.77	182.1	138.5	9.6	880	10317	0.00	1.15	0.00	0.000	6	0.000	0.034	2666	2194	1741	0	0	0	0	0	0
10647	0.80	209.3	109.4	8.0	931	10676	0.00	1.12	24.12	0.985	4	0.000	0.048	2672	1491	1631	0	0	0	0	0	0
10928	0.80	210.5	83.9	9.1	973	10935	0.00	1.17	0.00	0.000	6	0.000	0.044	2672	2206	1627	0	0	0	0	0	0
11269	0.84	239.0	56.8	8.0	1024	11297	0.00	0.00	25.60	0.961	6	0.000	0.000	2671	2206	1510	0	0	0	0	0	0
11628	0.86	252.5	27.4	8.6	1078	11644	0.00	1.20	10.57	0.900	4	0.000	0.046	2676	1494	1455	0	0	0	0	0	0
11725	0.90	287.0	20.3	7.7	1092	11749	0.00	1.17	18.98	0.872	6	0.000	0.043	2676	2208	1313	0	0	0	0	0	0
11918	end climb: FINISH_DEPTH_REACHED
state	11918	begin subsurface finish
11925	0.12	100.0	2.5	9.5	1121	11996	0.70	1.10	-62.33	0.000	4	0.102	0.080	2443	2906	2077	0	0	0	0	0	0
11997	end subsurface finish: CONTROL_FINISHED_OK
state	11997	begin surface