Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 289 * 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 289 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 40 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 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 -83619.789 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 -83619.789

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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 27 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 289 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 231111,100122,6645.834,-6002.353,25,1.0,41,-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 2.10 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -49.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 231111,101237,6645.778,-6002.258,15,1.4,15,-33.9 MHEAD_RNG_PITCHd_Wd 280.0,30655,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 635

Post-dive calculations and measurements:

FREEZE 1.83,-0.981,-1.578,2,1,0 ALTIM_BOTTOM_PING 552.4,134.0

FINISH 1.8,1.023225 _24V_AH 22.6,36.566

SM_CCo 11978,100.95,0.086,0,0,442,501.15 _10V_AH 9.9,27.552

SM_GC 2.36,6.78,0.52,100.95,0.035,0.059,0.086,114,2510,442,-7.07,-0.90,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 790 FG_AHR_10Vo 0.000

RAFOS 0,1322049671,12.033333,12.019722,131,60,59,0,0,0,606,195,139,0,0,0 MEM 150192

RAFOS_FIX 6644.829590,-5956.738770,231111,121213,6,110,0.53 DATA_FILE_SIZE 43330,1124

IRIDIUM_FIX 6625.71,-6000.37,221111,131343 CAP_FILE_SIZE 126873,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,227930112

HUMID 55.67 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1453.7

TCM_TEMP 16.10 CURRENT 0.958, 92.7,1

XPDR_PINGS 35 GPS 231111,123013,6644.830,-5956.739,0,6109.8,0,-33.9

ALTIM_TOP_PING 19.4,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 228 85.17 SBE_CT 814 23 427.34

Roll_motor 44 65 65.29 SBE_O2 631 5 74.82

VBD_pump_during_apogee 366 1307 10814.90 nil 0 0 0.00

VBD_pump_during_surface 100 85 195.48 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 491 315 3502.44 nil 0 0 0.00

Transponder_ping 10 420 102.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.50

TT8 3070 18 568.80

LPSleep 6362 2 145.50

TT8_Active 688 18 127.46

TT8_Sampling 2347 41 974.63

TT8_CF8 308 47 146.13

TT8_Kalman 0 0 0.00

Analog_circuits 2186 12 259.70

GPS_charging 0 0 0.00

Compass 1865 6 124.49

RAFOS 2520 1 37.42

Transponder 16 30 4.82

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.73 -146.0 0.0 0.0 0 245 0.00 0.00 -220.45 0.000 6 0.000 0.000 116 2518 3081 0 0 0 0 0 0

248 -0.73 -146.0 2.1 -0.0 33 260 8.12 1.12 0.00 0.000 4 0.229 0.062 2159 3214 3082 0 0 0 0 0 0

511 -0.73 -146.0 61.8 -19.8 72 518 0.00 1.10 0.00 0.000 6 0.000 0.035 2159 2516 3083 0 0 0 0 0 0

849 -0.73 -146.0 122.6 -15.5 123 856 0.00 1.17 0.00 0.000 4 0.000 0.064 2155 3213 3084 0 0 0 0 0 0

950 -0.73 -146.0 138.8 -16.8 138 957 0.00 1.10 0.00 0.000 6 0.000 0.034 2155 2508 3084 0 0 0 0 0 0

1288 -0.73 -146.0 191.3 -14.5 189 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2508 3084 0 0 0 0 0 0

1627 -0.73 -146.0 235.3 -12.1 240 1633 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2508 3084 0 0 0 0 0 0

1954 -0.73 -146.0 274.2 -11.9 275 1958 0.00 1.17 0.00 0.000 4 0.000 0.065 2150 3207 3084 0 0 0 0 0 0

2073 -0.73 -146.0 289.4 -12.7 284 2077 0.00 1.10 0.00 0.000 6 0.000 0.033 2150 2498 3083 0 0 0 0 0 0

2403 -0.73 -146.0 329.8 -12.1 310 2404 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2498 3083 0 0 0 0 0 0

2717 -0.73 -146.0 368.1 -12.5 335 2719 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2499 3083 0 0 0 0 0 0

3035 -0.73 -146.0 405.5 -11.8 360 3039 0.00 1.17 0.00 0.000 4 0.000 0.062 2146 3204 3083 0 0 0 0 0 0

3119 -0.73 -146.0 415.2 -11.8 366 3127 0.00 1.10 0.00 0.000 6 0.000 0.031 2146 2501 3083 0 0 0 0 0 0

3444 -0.73 -146.0 452.3 -11.1 392 3448 0.00 1.17 0.00 0.000 4 0.000 0.062 2141 3208 3083 0 0 0 0 0 0

3488 -0.73 -146.0 457.0 -11.1 395 3496 0.00 1.10 0.00 0.000 6 0.000 0.031 2141 2503 3083 0 0 0 0 0 0

3814 -0.73 -146.0 492.2 -10.5 421 3817 0.00 1.17 0.00 0.000 4 0.000 0.061 2137 3208 3084 0 0 0 0 0 0

3882 -0.73 -146.0 499.5 -10.7 426 3886 0.00 1.08 0.00 0.000 6 0.000 0.031 2136 2506 3084 0 0 0 0 0 0

4202 -0.73 -146.0 534.8 -11.0 437 4204 0.12 0.00 0.00 0.000 6 0.169 0.000 2167 2505 3084 0 0 0 0 0 0

4508 -0.73 -146.0 563.8 -9.3 447 4512 0.00 1.17 0.00 0.000 4 0.000 0.062 2164 3212 3085 0 0 0 0 0 0

4576 -0.73 -146.0 570.2 -9.4 449 4580 0.00 1.08 0.00 0.000 6 0.000 0.029 2164 2502 3085 0 0 0 0 0 0

4915 -0.73 -146.0 602.4 -9.3 460 4916 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2502 3085 0 0 0 0 0 0

5223 -0.73 -146.0 631.3 -9.5 470 5224 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2502 3086 0 0 0 0 0 0

5280 end dive: TARGET_DEPTH_EXCEEDED

state 5280 begin apogee

5286 -0.16 0.0 637.3 -9.7 472 5415 0.55 0.00 121.15 1.307 6 0.126 0.000 2343 2198 2484 0 0 0 0 0 0

5415 end apogee: CONTROL_FINISHED_OK

state 5415 begin climb

5418 0.73 146.0 643.3 0.0 476 5557 0.82 1.20 130.45 1.251 4 0.066 0.047 2634 1508 1889 0 0 0 0 0 0

5807 0.73 146.0 616.1 11.1 488 5812 0.00 1.23 0.00 0.000 6 0.000 0.041 2634 2213 1880 0 0 0 0 0 0

6134 0.73 146.0 578.8 11.1 499 6138 0.00 1.17 0.00 0.000 4 0.000 0.046 2638 1504 1878 0 0 0 0 0 0

6300 0.73 146.0 560.2 11.3 504 6303 0.00 1.15 0.00 0.000 6 0.000 0.044 2639 2197 1877 0 0 0 0 0 0

6639 0.73 146.0 521.6 11.3 515 6640 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2198 1877 0 0 0 0 0 0

6956 0.73 146.0 486.0 10.9 530 6961 0.00 1.15 0.00 0.000 4 0.000 0.056 2638 2908 1876 0 0 0 0 0 0

7119 0.73 146.0 468.2 11.3 542 7127 0.00 1.15 0.00 0.000 6 0.000 0.035 2643 2205 1875 0 0 0 0 0 0

7447 0.73 146.0 432.1 10.9 568 7448 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2205 1875 0 0 0 0 0 0

7758 0.73 146.0 398.3 10.5 593 7762 0.00 1.17 0.00 0.000 4 0.000 0.050 2643 2902 1875 0 0 0 0 0 0

7943 0.73 146.0 377.6 11.1 607 7947 0.00 1.12 0.00 0.000 6 0.000 0.036 2648 2201 1876 0 0 0 0 0 0

8273 0.73 146.0 341.2 11.6 633 8277 0.00 1.08 0.00 0.000 4 0.000 0.049 2653 1495 1874 0 0 0 0 0 0

8399 0.73 146.0 327.7 11.3 642 8406 0.00 1.15 0.00 0.000 6 0.000 0.044 2653 2203 1874 0 0 0 0 0 0

8725 0.73 146.0 291.1 11.0 668 8728 0.00 1.12 0.00 0.000 4 0.000 0.046 2657 1499 1874 0 0 0 0 0 0

8880 0.73 146.0 275.6 10.3 679 8886 0.00 1.15 0.00 0.000 6 0.000 0.044 2657 2209 1874 0 0 0 0 0 0

9205 0.73 146.0 242.9 9.3 710 9212 0.00 1.12 0.00 0.000 4 0.000 0.055 2658 2911 1874 0 0 0 0 0 0

9279 0.73 146.2 236.0 9.2 721 9288 0.08 1.15 0.00 0.000 6 0.150 0.036 2638 2197 1874 0 0 0 0 0 0

9618 0.80 209.9 210.7 6.5 772 9678 0.00 1.12 52.38 1.041 4 0.000 0.049 2642 1493 1628 0 0 0 0 0 0

9766 0.80 209.9 197.6 10.0 794 9772 0.00 1.17 0.00 0.000 6 0.000 0.044 2642 2199 1624 0 0 0 0 0 0

10105 0.80 209.9 165.4 10.0 845 10114 0.00 1.15 0.00 0.000 4 0.000 0.057 2642 2900 1622 0 0 0 0 0 0

10200 0.80 209.9 156.1 9.6 859 10207 0.00 1.15 0.00 0.000 6 0.000 0.036 2646 2198 1622 0 0 0 0 0 0

10539 0.81 217.9 125.9 8.8 910 10553 0.00 1.08 7.10 0.889 4 0.000 0.045 2652 1488 1595 0 0 0 0 0 0

10599 0.83 230.8 120.5 8.6 919 10621 0.00 1.17 12.38 0.951 6 0.000 0.045 2652 2204 1543 0 0 0 0 0 0

10952 0.83 230.8 86.5 9.3 972 10958 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2204 1541 0 0 0 0 0 0

11289 0.87 262.5 57.0 7.8 1023 11323 0.00 1.15 27.60 0.963 4 0.000 0.054 2652 2916 1413 0 0 0 0 0 0

11391 0.87 267.4 48.7 9.0 1038 11404 0.00 1.17 5.10 0.774 6 0.000 0.037 2656 2204 1394 0 0 0 0 0 0

11737 0.90 285.7 20.2 8.4 1090 11752 0.00 1.15 9.88 0.851 4 0.000 0.051 2661 1491 1319 0 0 0 0 0 0

11805 0.90 285.7 12.8 11.6 1100 11812 0.00 1.17 0.00 0.000 6 0.000 0.046 2662 2198 1316 0 0 0 0 0 0

11935 end climb: SURFACE_DEPTH_REACHED

state 11935 begin surface coast

11962 end surface coast: CONTROL_FINISHED_OK

state 11962 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	289	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	40	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	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	-83619.789	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	231111,100122,6645.834,-6002.353,25,1.0,41,-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	2.10	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-49.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	231111,101237,6645.778,-6002.258,15,1.4,15,-33.9	MHEAD_RNG_PITCHd_Wd	280.0,30655,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	635

FREEZE	1.83,-0.981,-1.578,2,1,0	ALTIM_BOTTOM_PING	552.4,134.0
FINISH	1.8,1.023225	_24V_AH	22.6,36.566
SM_CCo	11978,100.95,0.086,0,0,442,501.15	_10V_AH	9.9,27.552
SM_GC	2.36,6.78,0.52,100.95,0.035,0.059,0.086,114,2510,442,-7.07,-0.90,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	790	FG_AHR_10Vo	0.000
RAFOS	0,1322049671,12.033333,12.019722,131,60,59,0,0,0,606,195,139,0,0,0	MEM	150192
RAFOS_FIX	6644.829590,-5956.738770,231111,121213,6,110,0.53	DATA_FILE_SIZE	43330,1124
IRIDIUM_FIX	6625.71,-6000.37,221111,131343	CAP_FILE_SIZE	126873,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,227930112
HUMID	55.67	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1453.7
TCM_TEMP	16.10	CURRENT	0.958, 92.7,1
XPDR_PINGS	35	GPS	231111,123013,6644.830,-5956.739,0,6109.8,0,-33.9
ALTIM_TOP_PING	19.4,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	228	85.17	SBE_CT	814	23	427.34
Roll_motor	44	65	65.29	SBE_O2	631	5	74.82
VBD_pump_during_apogee	366	1307	10814.90	nil	0	0	0.00
VBD_pump_during_surface	100	85	195.48	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	491	315	3502.44	nil	0	0	0.00
Transponder_ping	10	420	102.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.50
TT8	3070	18	568.80
LPSleep	6362	2	145.50
TT8_Active	688	18	127.46
TT8_Sampling	2347	41	974.63
TT8_CF8	308	47	146.13
TT8_Kalman	0	0	0.00
Analog_circuits	2186	12	259.70
GPS_charging	0	0	0.00
Compass	1865	6	124.49
RAFOS	2520	1	37.42
Transponder	16	30	4.82

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.73	-146.0	0.0	0.0	0	245	0.00	0.00	-220.45	0.000	6	0.000	0.000	116	2518	3081	0	0	0	0	0	0
248	-0.73	-146.0	2.1	-0.0	33	260	8.12	1.12	0.00	0.000	4	0.229	0.062	2159	3214	3082	0	0	0	0	0	0
511	-0.73	-146.0	61.8	-19.8	72	518	0.00	1.10	0.00	0.000	6	0.000	0.035	2159	2516	3083	0	0	0	0	0	0
849	-0.73	-146.0	122.6	-15.5	123	856	0.00	1.17	0.00	0.000	4	0.000	0.064	2155	3213	3084	0	0	0	0	0	0
950	-0.73	-146.0	138.8	-16.8	138	957	0.00	1.10	0.00	0.000	6	0.000	0.034	2155	2508	3084	0	0	0	0	0	0
1288	-0.73	-146.0	191.3	-14.5	189	1296	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2508	3084	0	0	0	0	0	0
1627	-0.73	-146.0	235.3	-12.1	240	1633	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2508	3084	0	0	0	0	0	0
1954	-0.73	-146.0	274.2	-11.9	275	1958	0.00	1.17	0.00	0.000	4	0.000	0.065	2150	3207	3084	0	0	0	0	0	0
2073	-0.73	-146.0	289.4	-12.7	284	2077	0.00	1.10	0.00	0.000	6	0.000	0.033	2150	2498	3083	0	0	0	0	0	0
2403	-0.73	-146.0	329.8	-12.1	310	2404	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2498	3083	0	0	0	0	0	0
2717	-0.73	-146.0	368.1	-12.5	335	2719	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2499	3083	0	0	0	0	0	0
3035	-0.73	-146.0	405.5	-11.8	360	3039	0.00	1.17	0.00	0.000	4	0.000	0.062	2146	3204	3083	0	0	0	0	0	0
3119	-0.73	-146.0	415.2	-11.8	366	3127	0.00	1.10	0.00	0.000	6	0.000	0.031	2146	2501	3083	0	0	0	0	0	0
3444	-0.73	-146.0	452.3	-11.1	392	3448	0.00	1.17	0.00	0.000	4	0.000	0.062	2141	3208	3083	0	0	0	0	0	0
3488	-0.73	-146.0	457.0	-11.1	395	3496	0.00	1.10	0.00	0.000	6	0.000	0.031	2141	2503	3083	0	0	0	0	0	0
3814	-0.73	-146.0	492.2	-10.5	421	3817	0.00	1.17	0.00	0.000	4	0.000	0.061	2137	3208	3084	0	0	0	0	0	0
3882	-0.73	-146.0	499.5	-10.7	426	3886	0.00	1.08	0.00	0.000	6	0.000	0.031	2136	2506	3084	0	0	0	0	0	0
4202	-0.73	-146.0	534.8	-11.0	437	4204	0.12	0.00	0.00	0.000	6	0.169	0.000	2167	2505	3084	0	0	0	0	0	0
4508	-0.73	-146.0	563.8	-9.3	447	4512	0.00	1.17	0.00	0.000	4	0.000	0.062	2164	3212	3085	0	0	0	0	0	0
4576	-0.73	-146.0	570.2	-9.4	449	4580	0.00	1.08	0.00	0.000	6	0.000	0.029	2164	2502	3085	0	0	0	0	0	0
4915	-0.73	-146.0	602.4	-9.3	460	4916	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2502	3085	0	0	0	0	0	0
5223	-0.73	-146.0	631.3	-9.5	470	5224	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2502	3086	0	0	0	0	0	0
5280	end dive: TARGET_DEPTH_EXCEEDED
state	5280	begin apogee
5286	-0.16	0.0	637.3	-9.7	472	5415	0.55	0.00	121.15	1.307	6	0.126	0.000	2343	2198	2484	0	0	0	0	0	0
5415	end apogee: CONTROL_FINISHED_OK
state	5415	begin climb
5418	0.73	146.0	643.3	0.0	476	5557	0.82	1.20	130.45	1.251	4	0.066	0.047	2634	1508	1889	0	0	0	0	0	0
5807	0.73	146.0	616.1	11.1	488	5812	0.00	1.23	0.00	0.000	6	0.000	0.041	2634	2213	1880	0	0	0	0	0	0
6134	0.73	146.0	578.8	11.1	499	6138	0.00	1.17	0.00	0.000	4	0.000	0.046	2638	1504	1878	0	0	0	0	0	0
6300	0.73	146.0	560.2	11.3	504	6303	0.00	1.15	0.00	0.000	6	0.000	0.044	2639	2197	1877	0	0	0	0	0	0
6639	0.73	146.0	521.6	11.3	515	6640	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2198	1877	0	0	0	0	0	0
6956	0.73	146.0	486.0	10.9	530	6961	0.00	1.15	0.00	0.000	4	0.000	0.056	2638	2908	1876	0	0	0	0	0	0
7119	0.73	146.0	468.2	11.3	542	7127	0.00	1.15	0.00	0.000	6	0.000	0.035	2643	2205	1875	0	0	0	0	0	0
7447	0.73	146.0	432.1	10.9	568	7448	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2205	1875	0	0	0	0	0	0
7758	0.73	146.0	398.3	10.5	593	7762	0.00	1.17	0.00	0.000	4	0.000	0.050	2643	2902	1875	0	0	0	0	0	0
7943	0.73	146.0	377.6	11.1	607	7947	0.00	1.12	0.00	0.000	6	0.000	0.036	2648	2201	1876	0	0	0	0	0	0
8273	0.73	146.0	341.2	11.6	633	8277	0.00	1.08	0.00	0.000	4	0.000	0.049	2653	1495	1874	0	0	0	0	0	0
8399	0.73	146.0	327.7	11.3	642	8406	0.00	1.15	0.00	0.000	6	0.000	0.044	2653	2203	1874	0	0	0	0	0	0
8725	0.73	146.0	291.1	11.0	668	8728	0.00	1.12	0.00	0.000	4	0.000	0.046	2657	1499	1874	0	0	0	0	0	0
8880	0.73	146.0	275.6	10.3	679	8886	0.00	1.15	0.00	0.000	6	0.000	0.044	2657	2209	1874	0	0	0	0	0	0
9205	0.73	146.0	242.9	9.3	710	9212	0.00	1.12	0.00	0.000	4	0.000	0.055	2658	2911	1874	0	0	0	0	0	0
9279	0.73	146.2	236.0	9.2	721	9288	0.08	1.15	0.00	0.000	6	0.150	0.036	2638	2197	1874	0	0	0	0	0	0
9618	0.80	209.9	210.7	6.5	772	9678	0.00	1.12	52.38	1.041	4	0.000	0.049	2642	1493	1628	0	0	0	0	0	0
9766	0.80	209.9	197.6	10.0	794	9772	0.00	1.17	0.00	0.000	6	0.000	0.044	2642	2199	1624	0	0	0	0	0	0
10105	0.80	209.9	165.4	10.0	845	10114	0.00	1.15	0.00	0.000	4	0.000	0.057	2642	2900	1622	0	0	0	0	0	0
10200	0.80	209.9	156.1	9.6	859	10207	0.00	1.15	0.00	0.000	6	0.000	0.036	2646	2198	1622	0	0	0	0	0	0
10539	0.81	217.9	125.9	8.8	910	10553	0.00	1.08	7.10	0.889	4	0.000	0.045	2652	1488	1595	0	0	0	0	0	0
10599	0.83	230.8	120.5	8.6	919	10621	0.00	1.17	12.38	0.951	6	0.000	0.045	2652	2204	1543	0	0	0	0	0	0
10952	0.83	230.8	86.5	9.3	972	10958	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2204	1541	0	0	0	0	0	0
11289	0.87	262.5	57.0	7.8	1023	11323	0.00	1.15	27.60	0.963	4	0.000	0.054	2652	2916	1413	0	0	0	0	0	0
11391	0.87	267.4	48.7	9.0	1038	11404	0.00	1.17	5.10	0.774	6	0.000	0.037	2656	2204	1394	0	0	0	0	0	0
11737	0.90	285.7	20.2	8.4	1090	11752	0.00	1.15	9.88	0.851	4	0.000	0.051	2661	1491	1319	0	0	0	0	0	0
11805	0.90	285.7	12.8	11.6	1100	11812	0.00	1.17	0.00	0.000	6	0.000	0.046	2662	2198	1316	0	0	0	0	0	0
11935	end climb: SURFACE_DEPTH_REACHED
state	11935	begin surface coast
11962	end surface coast: CONTROL_FINISHED_OK
state	11962	begin surface