Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 293 * 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 293 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 37 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 31 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 -84718.125 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 -84718.125

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 37 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 31 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 293 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 241111,001144,6640.961,-6004.403,0,2119.0,0,-33.9 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 1.85 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -13.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 241111,001144,6640.961,-6004.403,181,99.0,181,-33.9 MHEAD_RNG_PITCHd_Wd 352.8,28339,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 582

Post-dive calculations and measurements:

FREEZE 1.91,-0.739,-1.692,2,3,0 ALTIM_TOP_PING 19.5,17.5

FINISH 1.9,1.024855 _24V_AH 22.6,37.061

SM_CCo 10901,101.60,0.087,0,0,441,501.15 _10V_AH 10.1,27.894

SM_GC 3.01,7.18,0.52,101.60,0.060,0.056,0.087,121,2523,441,-7.07,-0.57,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 796 FG_AHR_10Vo 0.000

RAFOS 3,1322094301,0.433333,0.416944,123,67,57,0,0,0,762,210,180,0,0,0 MEM 150220

RAFOS_FIX 6643.473633,-5957.118652,241111,000036,4,111,8.50 DATA_FILE_SIZE 43340,1083

IRIDIUM_FIX 6620.33,-5953.65,231111,171757 CAP_FILE_SIZE 116401,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,227672064

HUMID 56.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1453.0

TCM_TEMP 16.30 CURRENT 1.622,337.8,1

XPDR_PINGS 7 GPS 241111,001144,6640.961,-6004.403,181,99.0,181,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 259 104.33 SBE_CT 781 23 410.07

Roll_motor 51 71 82.44 SBE_O2 611 5 72.46

VBD_pump_during_apogee 367 1275 10602.44 nil 0 0 0.00

VBD_pump_during_surface 101 87 200.25 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 123 241 675.06 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 2954 18 558.31

LPSleep 5643 2 131.67

TT8_Active 655 18 123.88

TT8_Sampling 2085 41 883.03

TT8_CF8 239 47 115.90

TT8_Kalman 0 0 0.00

Analog_circuits 1734 12 210.19

GPS_charging 0 0 0.00

Compass 1768 6 120.41

RAFOS 360 1 5.45

Transponder 13 30 4.00

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 0 169 0.00 0.00 -148.52 0.000 2 0.000 0.000 114 2504 2392 0 0 0 0 0 0

172 -0.73 -146.0 3.9 -16.7 23 210 8.85 1.10 -18.90 0.000 4 0.259 0.071 2157 1816 3083 0 0 0 0 0 0

276 -0.73 -146.0 25.4 -14.7 38 283 0.00 1.17 0.00 0.000 6 0.000 0.053 2155 2497 3085 0 0 0 0 0 0

614 -0.73 -146.0 84.6 -16.8 89 621 0.00 1.15 0.00 0.000 4 0.000 0.067 2149 3213 3085 0 0 0 0 0 0

754 -0.73 -146.0 106.5 -15.1 110 760 0.00 1.10 0.00 0.000 6 0.000 0.033 2149 2505 3085 0 0 0 0 0 0

1092 -0.73 -146.0 155.8 -13.9 161 1098 0.00 1.20 0.00 0.000 4 0.000 0.061 2145 3222 3085 0 0 0 0 0 0

1231 -0.73 -146.0 174.9 -13.0 182 1238 0.00 1.10 0.00 0.000 6 0.000 0.033 2145 2513 3085 0 0 0 0 0 0

1569 -0.73 -146.0 221.4 -13.6 233 1576 0.00 1.10 0.00 0.000 4 0.000 0.044 2145 1811 3085 0 0 0 0 0 0

1603 -0.73 -146.0 225.8 -13.0 238 1609 0.00 1.20 0.00 0.000 6 0.000 0.053 2140 2512 3085 0 0 0 0 0 0

1939 -0.73 -146.0 270.6 -13.3 278 1942 0.00 1.12 0.00 0.000 4 0.000 0.067 2135 3216 3085 0 0 0 0 0 0

2073 -0.73 -146.0 288.3 -12.9 288 2077 0.08 1.10 0.00 0.000 6 0.152 0.032 2158 2502 3085 0 0 0 0 0 0

2401 -0.73 -146.0 324.9 -10.2 314 2405 0.00 1.20 0.00 0.000 4 0.000 0.062 2155 3221 3085 0 0 0 0 0 0

2442 -0.73 -146.0 328.8 -10.3 317 2446 0.00 1.10 0.00 0.000 6 0.000 0.032 2155 2508 3085 0 0 0 0 0 0

2772 -0.73 -146.0 363.3 -10.6 343 2776 0.00 1.17 0.00 0.000 4 0.000 0.061 2151 3214 3085 0 0 0 0 0 0

2791 -0.73 -146.0 364.9 -10.8 344 2798 0.00 1.10 0.00 0.000 6 0.000 0.031 2151 2504 3085 0 0 0 0 0 0

3115 -0.73 -146.0 401.3 -11.4 370 3119 0.00 1.17 0.00 0.000 4 0.000 0.061 2146 3211 3085 0 0 0 0 0 0

3154 -0.73 -146.0 406.0 -11.2 373 3158 0.00 1.08 0.00 0.000 6 0.000 0.031 2147 2509 3086 0 0 0 0 0 0

3485 -0.73 -146.0 443.2 -10.8 399 3488 0.00 1.17 0.00 0.000 4 0.000 0.060 2142 3216 3086 0 0 0 0 0 0

3542 -0.73 -146.0 449.3 -11.4 403 3553 0.00 1.10 0.00 0.000 6 0.000 0.028 2142 2504 3086 0 0 0 0 0 0

3867 -0.73 -146.0 485.6 -11.1 429 3871 0.00 1.17 0.00 0.000 4 0.000 0.060 2138 3210 3087 0 0 0 0 0 0

3964 -0.73 -146.0 496.4 -11.5 436 3972 0.00 1.10 0.00 0.000 6 0.000 0.028 2138 2497 3086 0 0 0 0 0 0

4304 -0.73 -146.0 535.7 -11.2 449 4307 0.00 1.20 0.00 0.000 4 0.000 0.060 2133 3215 3087 0 0 0 0 0 0

4337 -0.73 -146.0 539.3 -11.0 450 4341 0.10 1.08 0.00 0.000 6 0.144 0.029 2164 2502 3087 0 0 0 0 0 0

4676 -0.73 -146.0 570.7 -9.9 461 4680 0.00 1.17 0.00 0.000 4 0.000 0.060 2162 3213 3087 0 0 0 0 0 0

4700 -0.73 -146.0 570.7 -9.9 461 4708 0.00 1.08 0.00 0.000 6 0.000 0.026 2162 2511 3087 0 0 0 0 0 0

4798 end dive: TARGET_DEPTH_EXCEEDED

state 4798 begin apogee

4804 -0.16 0.0 583.3 -10.2 465 4930 0.55 0.00 120.70 1.275 6 0.125 0.000 2341 2188 2485 0 0 0 0 0 0

4931 end apogee: CONTROL_FINISHED_OK

state 4931 begin climb

4933 0.73 146.0 588.6 0.0 469 5071 0.85 1.20 129.45 1.216 4 0.069 0.047 2635 1508 1889 0 0 0 0 0 0

5321 0.73 146.0 559.5 11.1 481 5326 0.00 1.23 0.00 0.000 6 0.000 0.041 2635 2215 1880 0 0 0 0 0 0

5657 0.73 146.0 523.0 10.6 492 5661 0.00 1.12 0.00 0.000 4 0.000 0.054 2635 2898 1878 0 0 0 0 0 0

5728 0.73 146.0 515.1 11.2 494 5733 0.00 1.15 0.00 0.000 6 0.000 0.033 2639 2207 1877 0 0 0 0 0 0

6055 0.73 146.0 478.7 10.4 513 6056 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2206 1877 0 0 0 0 0 0

6370 0.73 146.0 446.5 9.9 538 6371 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2206 1876 0 0 0 0 0 0

6686 0.73 146.0 414.5 10.6 563 6690 0.00 1.17 0.00 0.000 4 0.000 0.050 2639 2902 1875 0 0 0 0 0 0

6744 0.73 146.0 408.4 11.4 567 6754 0.00 1.15 0.00 0.000 6 0.000 0.033 2644 2195 1875 0 0 0 0 0 0

7068 0.73 146.0 371.5 11.2 593 7072 0.00 1.05 0.00 0.000 4 0.000 0.047 2649 1501 1875 0 0 0 0 0 0

7166 0.73 146.0 361.2 10.9 600 7174 0.00 1.17 0.00 0.000 6 0.000 0.042 2649 2215 1875 0 0 0 0 0 0

7491 0.73 146.0 326.7 10.6 626 7494 0.00 1.10 0.00 0.000 4 0.000 0.054 2649 2901 1875 0 0 0 0 0 0

7584 0.73 146.0 316.4 11.0 633 7587 0.00 1.12 0.00 0.000 6 0.000 0.034 2653 2200 1875 0 0 0 0 0 0

7914 0.73 146.0 282.1 10.4 659 7917 0.00 1.08 0.00 0.000 4 0.000 0.048 2659 1493 1875 0 0 0 0 0 0

8011 0.73 146.0 272.3 10.6 666 8019 0.00 1.17 0.00 0.000 6 0.000 0.042 2659 2210 1875 0 0 0 0 0 0

8340 0.73 146.0 237.9 10.0 701 8347 0.00 1.15 0.00 0.000 4 0.000 0.044 2663 1490 1875 0 0 0 0 0 0

8547 0.73 146.0 217.7 9.2 732 8554 0.08 1.15 0.00 0.000 6 0.150 0.044 2640 2206 1875 0 0 0 0 0 0

8885 0.79 201.7 191.2 6.8 783 8939 0.00 1.17 45.75 1.028 4 0.000 0.044 2643 1498 1661 0 0 0 0 0 0

9039 0.79 201.7 177.8 10.0 806 9046 0.00 1.15 0.00 0.000 6 0.000 0.043 2643 2194 1657 0 0 0 0 0 0

9377 0.82 223.5 149.7 8.3 857 9399 0.00 1.20 18.58 0.982 4 0.000 0.053 2642 2909 1573 0 0 0 0 0 0

9545 0.82 223.5 133.3 9.8 882 9552 0.00 1.15 0.00 0.000 6 0.000 0.034 2647 2202 1570 0 0 0 0 0 0

9884 0.85 248.4 103.4 8.1 933 9911 0.00 0.00 21.90 0.975 6 0.000 0.000 2647 2202 1471 0 0 0 0 0 0

10242 0.90 285.3 74.5 7.6 987 10279 0.12 1.15 31.50 0.965 4 0.087 0.049 2703 1495 1321 0 0 0 0 0 0

10525 0.90 285.3 40.9 10.5 1029 10532 0.00 1.17 0.00 0.000 6 0.000 0.044 2703 2207 1315 0 0 0 0 0 0

10864 end climb: SURFACE_DEPTH_REACHED

state 10864 begin surface coast

10884 end surface coast: CONTROL_FINISHED_OK

state 10884 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	293	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	37	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	31	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	-84718.125	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	241111,001144,6640.961,-6004.403,0,2119.0,0,-33.9	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	1.85	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-13.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	241111,001144,6640.961,-6004.403,181,99.0,181,-33.9	MHEAD_RNG_PITCHd_Wd	352.8,28339,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	582

FREEZE	1.91,-0.739,-1.692,2,3,0	ALTIM_TOP_PING	19.5,17.5
FINISH	1.9,1.024855	_24V_AH	22.6,37.061
SM_CCo	10901,101.60,0.087,0,0,441,501.15	_10V_AH	10.1,27.894
SM_GC	3.01,7.18,0.52,101.60,0.060,0.056,0.087,121,2523,441,-7.07,-0.57,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	796	FG_AHR_10Vo	0.000
RAFOS	3,1322094301,0.433333,0.416944,123,67,57,0,0,0,762,210,180,0,0,0	MEM	150220
RAFOS_FIX	6643.473633,-5957.118652,241111,000036,4,111,8.50	DATA_FILE_SIZE	43340,1083
IRIDIUM_FIX	6620.33,-5953.65,231111,171757	CAP_FILE_SIZE	116401,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,227672064
HUMID	56.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1453.0
TCM_TEMP	16.30	CURRENT	1.622,337.8,1
XPDR_PINGS	7	GPS	241111,001144,6640.961,-6004.403,181,99.0,181,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	259	104.33	SBE_CT	781	23	410.07
Roll_motor	51	71	82.44	SBE_O2	611	5	72.46
VBD_pump_during_apogee	367	1275	10602.44	nil	0	0	0.00
VBD_pump_during_surface	101	87	200.25	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	675.06	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	2954	18	558.31
LPSleep	5643	2	131.67
TT8_Active	655	18	123.88
TT8_Sampling	2085	41	883.03
TT8_CF8	239	47	115.90
TT8_Kalman	0	0	0.00
Analog_circuits	1734	12	210.19
GPS_charging	0	0	0.00
Compass	1768	6	120.41
RAFOS	360	1	5.45
Transponder	13	30	4.00

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	169	0.00	0.00	-148.52	0.000	2	0.000	0.000	114	2504	2392	0	0	0	0	0	0
172	-0.73	-146.0	3.9	-16.7	23	210	8.85	1.10	-18.90	0.000	4	0.259	0.071	2157	1816	3083	0	0	0	0	0	0
276	-0.73	-146.0	25.4	-14.7	38	283	0.00	1.17	0.00	0.000	6	0.000	0.053	2155	2497	3085	0	0	0	0	0	0
614	-0.73	-146.0	84.6	-16.8	89	621	0.00	1.15	0.00	0.000	4	0.000	0.067	2149	3213	3085	0	0	0	0	0	0
754	-0.73	-146.0	106.5	-15.1	110	760	0.00	1.10	0.00	0.000	6	0.000	0.033	2149	2505	3085	0	0	0	0	0	0
1092	-0.73	-146.0	155.8	-13.9	161	1098	0.00	1.20	0.00	0.000	4	0.000	0.061	2145	3222	3085	0	0	0	0	0	0
1231	-0.73	-146.0	174.9	-13.0	182	1238	0.00	1.10	0.00	0.000	6	0.000	0.033	2145	2513	3085	0	0	0	0	0	0
1569	-0.73	-146.0	221.4	-13.6	233	1576	0.00	1.10	0.00	0.000	4	0.000	0.044	2145	1811	3085	0	0	0	0	0	0
1603	-0.73	-146.0	225.8	-13.0	238	1609	0.00	1.20	0.00	0.000	6	0.000	0.053	2140	2512	3085	0	0	0	0	0	0
1939	-0.73	-146.0	270.6	-13.3	278	1942	0.00	1.12	0.00	0.000	4	0.000	0.067	2135	3216	3085	0	0	0	0	0	0
2073	-0.73	-146.0	288.3	-12.9	288	2077	0.08	1.10	0.00	0.000	6	0.152	0.032	2158	2502	3085	0	0	0	0	0	0
2401	-0.73	-146.0	324.9	-10.2	314	2405	0.00	1.20	0.00	0.000	4	0.000	0.062	2155	3221	3085	0	0	0	0	0	0
2442	-0.73	-146.0	328.8	-10.3	317	2446	0.00	1.10	0.00	0.000	6	0.000	0.032	2155	2508	3085	0	0	0	0	0	0
2772	-0.73	-146.0	363.3	-10.6	343	2776	0.00	1.17	0.00	0.000	4	0.000	0.061	2151	3214	3085	0	0	0	0	0	0
2791	-0.73	-146.0	364.9	-10.8	344	2798	0.00	1.10	0.00	0.000	6	0.000	0.031	2151	2504	3085	0	0	0	0	0	0
3115	-0.73	-146.0	401.3	-11.4	370	3119	0.00	1.17	0.00	0.000	4	0.000	0.061	2146	3211	3085	0	0	0	0	0	0
3154	-0.73	-146.0	406.0	-11.2	373	3158	0.00	1.08	0.00	0.000	6	0.000	0.031	2147	2509	3086	0	0	0	0	0	0
3485	-0.73	-146.0	443.2	-10.8	399	3488	0.00	1.17	0.00	0.000	4	0.000	0.060	2142	3216	3086	0	0	0	0	0	0
3542	-0.73	-146.0	449.3	-11.4	403	3553	0.00	1.10	0.00	0.000	6	0.000	0.028	2142	2504	3086	0	0	0	0	0	0
3867	-0.73	-146.0	485.6	-11.1	429	3871	0.00	1.17	0.00	0.000	4	0.000	0.060	2138	3210	3087	0	0	0	0	0	0
3964	-0.73	-146.0	496.4	-11.5	436	3972	0.00	1.10	0.00	0.000	6	0.000	0.028	2138	2497	3086	0	0	0	0	0	0
4304	-0.73	-146.0	535.7	-11.2	449	4307	0.00	1.20	0.00	0.000	4	0.000	0.060	2133	3215	3087	0	0	0	0	0	0
4337	-0.73	-146.0	539.3	-11.0	450	4341	0.10	1.08	0.00	0.000	6	0.144	0.029	2164	2502	3087	0	0	0	0	0	0
4676	-0.73	-146.0	570.7	-9.9	461	4680	0.00	1.17	0.00	0.000	4	0.000	0.060	2162	3213	3087	0	0	0	0	0	0
4700	-0.73	-146.0	570.7	-9.9	461	4708	0.00	1.08	0.00	0.000	6	0.000	0.026	2162	2511	3087	0	0	0	0	0	0
4798	end dive: TARGET_DEPTH_EXCEEDED
state	4798	begin apogee
4804	-0.16	0.0	583.3	-10.2	465	4930	0.55	0.00	120.70	1.275	6	0.125	0.000	2341	2188	2485	0	0	0	0	0	0
4931	end apogee: CONTROL_FINISHED_OK
state	4931	begin climb
4933	0.73	146.0	588.6	0.0	469	5071	0.85	1.20	129.45	1.216	4	0.069	0.047	2635	1508	1889	0	0	0	0	0	0
5321	0.73	146.0	559.5	11.1	481	5326	0.00	1.23	0.00	0.000	6	0.000	0.041	2635	2215	1880	0	0	0	0	0	0
5657	0.73	146.0	523.0	10.6	492	5661	0.00	1.12	0.00	0.000	4	0.000	0.054	2635	2898	1878	0	0	0	0	0	0
5728	0.73	146.0	515.1	11.2	494	5733	0.00	1.15	0.00	0.000	6	0.000	0.033	2639	2207	1877	0	0	0	0	0	0
6055	0.73	146.0	478.7	10.4	513	6056	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2206	1877	0	0	0	0	0	0
6370	0.73	146.0	446.5	9.9	538	6371	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2206	1876	0	0	0	0	0	0
6686	0.73	146.0	414.5	10.6	563	6690	0.00	1.17	0.00	0.000	4	0.000	0.050	2639	2902	1875	0	0	0	0	0	0
6744	0.73	146.0	408.4	11.4	567	6754	0.00	1.15	0.00	0.000	6	0.000	0.033	2644	2195	1875	0	0	0	0	0	0
7068	0.73	146.0	371.5	11.2	593	7072	0.00	1.05	0.00	0.000	4	0.000	0.047	2649	1501	1875	0	0	0	0	0	0
7166	0.73	146.0	361.2	10.9	600	7174	0.00	1.17	0.00	0.000	6	0.000	0.042	2649	2215	1875	0	0	0	0	0	0
7491	0.73	146.0	326.7	10.6	626	7494	0.00	1.10	0.00	0.000	4	0.000	0.054	2649	2901	1875	0	0	0	0	0	0
7584	0.73	146.0	316.4	11.0	633	7587	0.00	1.12	0.00	0.000	6	0.000	0.034	2653	2200	1875	0	0	0	0	0	0
7914	0.73	146.0	282.1	10.4	659	7917	0.00	1.08	0.00	0.000	4	0.000	0.048	2659	1493	1875	0	0	0	0	0	0
8011	0.73	146.0	272.3	10.6	666	8019	0.00	1.17	0.00	0.000	6	0.000	0.042	2659	2210	1875	0	0	0	0	0	0
8340	0.73	146.0	237.9	10.0	701	8347	0.00	1.15	0.00	0.000	4	0.000	0.044	2663	1490	1875	0	0	0	0	0	0
8547	0.73	146.0	217.7	9.2	732	8554	0.08	1.15	0.00	0.000	6	0.150	0.044	2640	2206	1875	0	0	0	0	0	0
8885	0.79	201.7	191.2	6.8	783	8939	0.00	1.17	45.75	1.028	4	0.000	0.044	2643	1498	1661	0	0	0	0	0	0
9039	0.79	201.7	177.8	10.0	806	9046	0.00	1.15	0.00	0.000	6	0.000	0.043	2643	2194	1657	0	0	0	0	0	0
9377	0.82	223.5	149.7	8.3	857	9399	0.00	1.20	18.58	0.982	4	0.000	0.053	2642	2909	1573	0	0	0	0	0	0
9545	0.82	223.5	133.3	9.8	882	9552	0.00	1.15	0.00	0.000	6	0.000	0.034	2647	2202	1570	0	0	0	0	0	0
9884	0.85	248.4	103.4	8.1	933	9911	0.00	0.00	21.90	0.975	6	0.000	0.000	2647	2202	1471	0	0	0	0	0	0
10242	0.90	285.3	74.5	7.6	987	10279	0.12	1.15	31.50	0.965	4	0.087	0.049	2703	1495	1321	0	0	0	0	0	0
10525	0.90	285.3	40.9	10.5	1029	10532	0.00	1.17	0.00	0.000	6	0.000	0.044	2703	2207	1315	0	0	0	0	0	0
10864	end climb: SURFACE_DEPTH_REACHED
state	10864	begin surface coast
10884	end surface coast: CONTROL_FINISHED_OK
state	10884	begin surface