Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 32 * 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 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 32 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 750 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 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 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 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 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 CALL_TRIES 5 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 5 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 5 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 0 T_GPS_CHARGE -80458.086 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 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 1 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 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 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 750 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 5 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 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

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 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

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 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80458.086

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 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 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 5

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 0

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 28 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 20 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 32 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 32 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 101011,081253,6631.203,-6009.142,38,0.9,38,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,081730,6631.250,-6009.024,15,1.4,15,-33.6 MHEAD_RNG_PITCHd_Wd 56.5,156625,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 522

Post-dive calculations and measurements:

FINISH 1.3,1.012165 _24V_AH 23.2,5.117

SM_CCo 9079,61.35,0.086,0,0,771,420.20 _10V_AH 10.2,4.571

SM_GC 2.20,7.10,0.55,61.35,0.052,0.072,0.086,125,2509,771,-7.07,-0.71,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 589 FG_AHR_10Vo 0.000

RAFOS 1,1318234142,8.166667,8.150556,64,59,58,0,0,0,162,193,184,0,0,0 MEM 150436

RAFOS_FIX 6633.522461,-6006.747070,101011,080812,4,77,7.82 DATA_FILE_SIZE 36714,975

IRIDIUM_FIX 6604.29,-6015.31,101011,050534 CAP_FILE_SIZE 114598,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,245968896

HUMID 57.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1453.7

TCM_TEMP 16.20 CURRENT 0.108,273.9,1

XPDR_PINGS 15 GPS 101011,105201,6632.476,-6008.931,41,0.8,41,-33.6

ALTIM_BOTTOM_PING 400.3,130.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 275 113.73 SBE_CT 704 23 379.33

Roll_motor 55 85 111.02 SBE_O2 691 5 84.04

VBD_pump_during_apogee 341 1205 9542.25 nil 0 0 0.00

VBD_pump_during_surface 61 85 121.95 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 175 255 1039.39 nil 0 0 0.00

Transponder_ping 4 420 46.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.51

TT8 2670 18 509.71

LPSleep 4161 2 98.04

TT8_Active 538 18 102.76

TT8_Sampling 1885 41 806.23

TT8_CF8 185 47 90.55

TT8_Kalman 0 0 0.00

Analog_circuits 1640 12 200.78

GPS_charging 0 0 0.00

Compass 1697 6 116.68

RAFOS 1440 1 22.03

Transponder 9 30 2.85

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.77 -146.0 0.0 0.0 0 114 0.00 0.00 -95.45 0.000 2 0.000 0.000 122 2514 2157 0 0 0 0 0 0

117 -0.77 -146.0 3.4 -3.1 15 167 8.95 1.25 -30.85 0.000 4 0.275 0.086 2147 1807 3082 0 0 0 0 0 0

415 -0.77 -146.0 53.8 -15.0 67 423 0.00 1.25 0.00 0.000 6 0.000 0.070 2145 2511 3085 0 0 0 0 0 0

623 -0.77 -146.0 85.1 -14.8 104 632 0.00 1.20 0.00 0.000 4 0.000 0.057 2144 1809 3085 0 0 0 0 0 0

821 -0.77 -146.0 112.7 -13.6 130 828 0.00 1.25 0.00 0.000 6 0.000 0.070 2140 2516 3085 0 0 0 0 0 0

1040 -0.77 -146.0 143.8 -13.8 151 1044 0.00 1.15 0.00 0.000 4 0.000 0.083 2135 3214 3085 0 0 0 0 0 0

1122 -0.77 -146.0 154.5 -13.4 158 1129 0.00 1.15 0.00 0.000 6 0.000 0.050 2135 2508 3085 0 0 0 0 0 0

1341 -0.77 -146.0 185.4 -13.9 179 1342 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2508 3085 0 0 0 0 0 0

1553 -0.77 -146.0 214.6 -13.5 199 1557 0.00 1.23 0.00 0.000 4 0.000 0.080 2130 3220 3085 0 0 0 0 0 0

1569 -0.77 -146.0 216.2 -13.4 200 1578 0.00 1.15 0.00 0.000 6 0.000 0.050 2130 2509 3085 0 0 0 0 0 0

1790 -0.77 -146.0 246.9 -13.1 221 1794 0.00 1.20 0.00 0.000 4 0.000 0.081 2125 3211 3085 0 0 0 0 0 0

1863 -0.77 -146.0 256.2 -13.7 227 1870 0.00 1.15 0.00 0.000 6 0.000 0.051 2125 2502 3085 0 0 0 0 0 0

2082 -0.77 -146.0 285.6 -12.9 248 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2502 3085 0 0 0 0 0 0

2295 -0.77 -146.0 312.2 -11.9 268 2298 0.00 1.23 0.00 0.000 4 0.000 0.081 2120 3219 3085 0 0 0 0 0 0

2373 -0.77 -146.0 322.1 -12.6 275 2378 0.08 1.15 0.00 0.000 6 0.177 0.051 2143 2505 3084 0 0 0 0 0 0

2599 -0.77 -146.0 346.7 -10.7 296 2603 0.00 1.20 0.00 0.000 4 0.000 0.081 2140 3210 3085 0 0 0 0 0 0

2634 -0.77 -146.0 350.9 -11.5 299 2638 0.00 1.12 0.00 0.000 6 0.000 0.051 2140 2511 3084 0 0 0 0 0 0

2859 -0.77 -146.0 377.0 -11.9 320 2863 0.00 1.20 0.00 0.000 4 0.000 0.080 2135 3216 3084 0 0 0 0 0 0

2873 -0.77 -146.0 378.7 -11.9 321 2876 0.00 1.15 0.00 0.000 6 0.000 0.050 2135 2501 3084 0 0 0 0 0 0

3099 -0.77 -146.0 406.9 -12.6 342 3102 0.00 1.23 0.00 0.000 4 0.000 0.080 2130 3220 3085 0 0 0 0 0 0

3123 -0.77 -146.0 409.9 -12.3 344 3127 0.00 1.15 0.00 0.000 6 0.000 0.050 2130 2504 3084 0 0 0 0 0 0

3349 -0.77 -146.0 438.1 -12.6 365 3353 0.00 1.20 0.00 0.000 4 0.000 0.080 2126 3211 3085 0 0 0 0 0 0

3397 -0.77 -146.0 444.1 -12.6 369 3400 0.00 1.12 0.00 0.000 6 0.000 0.047 2125 2505 3085 0 0 0 0 0 0

3621 -0.77 -146.0 472.1 -11.9 390 3625 0.00 1.20 0.00 0.000 4 0.000 0.080 2120 3213 3085 0 0 0 0 0 0

3733 -0.77 -146.0 485.9 -11.4 400 3737 0.08 1.12 0.00 0.000 6 0.174 0.048 2143 2505 3084 0 0 0 0 0 0

3959 -0.77 -146.0 512.1 -11.8 421 3963 0.00 1.20 0.00 0.000 4 0.000 0.080 2141 3214 3085 0 0 0 0 0 0

3992 end dive: BOTTOM_OBSTACLE_DETECTED

state 3992 begin apogee

3999 -0.16 0.0 516.8 -12.5 424 4125 0.62 0.00 118.12 1.206 6 0.150 0.000 2337 2190 2484 0 0 0 0 0 0

4126 end apogee: CONTROL_FINISHED_OK

state 4126 begin climb

4128 0.77 146.0 523.5 0.0 435 4266 0.90 1.23 125.25 1.165 4 0.067 0.065 2650 1504 1888 0 0 0 0 0 0

4444 0.77 146.0 499.2 11.9 463 4448 0.00 1.25 0.00 0.000 6 0.000 0.061 2650 2210 1880 0 0 0 0 0 0

4669 0.77 146.0 472.3 11.6 484 4673 0.00 1.20 0.00 0.000 4 0.000 0.070 2650 2906 1878 0 0 0 0 0 0

4925 0.77 146.0 440.3 12.5 507 4928 0.00 1.20 0.00 0.000 6 0.000 0.051 2655 2206 1876 0 0 0 0 0 0

5149 0.77 146.0 413.6 12.2 528 5153 0.00 1.25 0.00 0.000 4 0.000 0.067 2655 2912 1876 0 0 0 0 0 0

5239 0.77 146.0 402.5 12.8 536 5243 0.00 1.23 0.00 0.000 6 0.000 0.052 2659 2193 1876 0 0 0 0 0 0

5465 0.77 146.0 375.5 11.9 557 5469 0.00 1.12 0.00 0.000 4 0.000 0.063 2665 1495 1875 0 0 0 0 0 0

5602 0.77 146.0 359.0 12.1 569 5610 0.00 1.20 0.00 0.000 6 0.000 0.062 2665 2202 1875 0 0 0 0 0 0

5822 0.77 146.0 332.2 12.0 590 5826 0.00 1.17 0.00 0.000 4 0.000 0.072 2665 2905 1875 0 0 0 0 0 0

6047 0.77 146.0 304.1 12.6 610 6050 0.00 1.20 0.00 0.000 6 0.000 0.054 2670 2194 1875 0 0 0 0 0 0

6273 0.77 146.0 278.0 11.0 631 6276 0.00 1.10 0.00 0.000 4 0.000 0.063 2675 1499 1875 0 0 0 0 0 0

6373 0.77 146.0 266.3 11.2 640 6377 0.00 1.17 0.00 0.000 6 0.000 0.060 2675 2199 1875 0 0 0 0 0 0

6599 0.77 146.0 242.7 10.5 661 6603 0.00 1.17 0.00 0.000 4 0.000 0.060 2680 1496 1875 0 0 0 0 0 0

6727 0.77 149.4 230.1 9.8 672 6736 0.08 1.17 0.00 0.000 6 0.171 0.061 2658 2199 1875 0 0 0 0 0 0

6949 0.81 175.9 209.7 8.8 693 6976 0.00 0.00 23.40 1.001 6 0.000 0.000 2657 2199 1768 0 0 0 0 0 0

7188 0.81 175.9 185.0 10.7 716 7189 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2199 1765 0 0 0 0 0 0

7401 0.81 175.9 162.8 10.2 736 7405 0.00 1.17 0.00 0.000 4 0.000 0.060 2661 1495 1765 0 0 0 0 0 0

7605 0.82 189.5 143.3 9.4 754 7623 0.00 1.20 12.40 0.943 6 0.000 0.061 2661 2204 1711 0 0 0 0 0 0

7837 0.83 193.2 120.3 9.8 776 7847 0.00 0.00 4.40 0.748 6 0.000 0.000 2661 2204 1697 0 0 0 0 0 0

8059 0.84 207.2 99.4 9.4 797 8078 0.00 1.25 13.30 0.929 4 0.000 0.063 2666 1493 1639 0 0 0 0 0 0

8156 0.84 207.2 89.5 10.2 814 8163 0.00 1.20 0.00 0.000 6 0.000 0.062 2666 2196 1638 0 0 0 0 0 0

8362 0.84 207.2 67.5 11.7 851 8369 0.00 1.17 0.00 0.000 4 0.000 0.064 2670 1498 1637 0 0 0 0 0 0

8620 0.84 207.2 40.1 10.8 897 8627 0.00 1.20 0.00 0.000 6 0.000 0.063 2670 2204 1636 0 0 0 0 0 0

8826 0.94 287.4 21.5 6.3 934 8879 0.00 1.27 44.28 0.861 4 0.000 0.063 2676 1493 1311 0 0 0 0 0 0

9034 0.94 287.4 2.9 10.1 970 9040 0.00 1.23 0.00 0.000 6 0.000 0.063 2675 2199 1303 0 0 0 0 0 0

9045 end climb: SURFACE_DEPTH_REACHED

state 9045 begin surface coast

9063 end surface coast: CONTROL_FINISHED_OK

state 9063 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	32	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	750	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	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	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	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	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	CALL_TRIES	5	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	5	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	5	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	0	T_GPS_CHARGE	-80458.086	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	101011,081253,6631.203,-6009.142,38,0.9,38,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,081730,6631.250,-6009.024,15,1.4,15,-33.6	MHEAD_RNG_PITCHd_Wd	56.5,156625,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	522

FINISH	1.3,1.012165	_24V_AH	23.2,5.117
SM_CCo	9079,61.35,0.086,0,0,771,420.20	_10V_AH	10.2,4.571
SM_GC	2.20,7.10,0.55,61.35,0.052,0.072,0.086,125,2509,771,-7.07,-0.71,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	589	FG_AHR_10Vo	0.000
RAFOS	1,1318234142,8.166667,8.150556,64,59,58,0,0,0,162,193,184,0,0,0	MEM	150436
RAFOS_FIX	6633.522461,-6006.747070,101011,080812,4,77,7.82	DATA_FILE_SIZE	36714,975
IRIDIUM_FIX	6604.29,-6015.31,101011,050534	CAP_FILE_SIZE	114598,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,245968896
HUMID	57.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1453.7
TCM_TEMP	16.20	CURRENT	0.108,273.9,1
XPDR_PINGS	15	GPS	101011,105201,6632.476,-6008.931,41,0.8,41,-33.6
ALTIM_BOTTOM_PING	400.3,130.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	275	113.73	SBE_CT	704	23	379.33
Roll_motor	55	85	111.02	SBE_O2	691	5	84.04
VBD_pump_during_apogee	341	1205	9542.25	nil	0	0	0.00
VBD_pump_during_surface	61	85	121.95	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	175	255	1039.39	nil	0	0	0.00
Transponder_ping	4	420	46.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.51
TT8	2670	18	509.71
LPSleep	4161	2	98.04
TT8_Active	538	18	102.76
TT8_Sampling	1885	41	806.23
TT8_CF8	185	47	90.55
TT8_Kalman	0	0	0.00
Analog_circuits	1640	12	200.78
GPS_charging	0	0	0.00
Compass	1697	6	116.68
RAFOS	1440	1	22.03
Transponder	9	30	2.85

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.77	-146.0	0.0	0.0	0	114	0.00	0.00	-95.45	0.000	2	0.000	0.000	122	2514	2157	0	0	0	0	0	0
117	-0.77	-146.0	3.4	-3.1	15	167	8.95	1.25	-30.85	0.000	4	0.275	0.086	2147	1807	3082	0	0	0	0	0	0
415	-0.77	-146.0	53.8	-15.0	67	423	0.00	1.25	0.00	0.000	6	0.000	0.070	2145	2511	3085	0	0	0	0	0	0
623	-0.77	-146.0	85.1	-14.8	104	632	0.00	1.20	0.00	0.000	4	0.000	0.057	2144	1809	3085	0	0	0	0	0	0
821	-0.77	-146.0	112.7	-13.6	130	828	0.00	1.25	0.00	0.000	6	0.000	0.070	2140	2516	3085	0	0	0	0	0	0
1040	-0.77	-146.0	143.8	-13.8	151	1044	0.00	1.15	0.00	0.000	4	0.000	0.083	2135	3214	3085	0	0	0	0	0	0
1122	-0.77	-146.0	154.5	-13.4	158	1129	0.00	1.15	0.00	0.000	6	0.000	0.050	2135	2508	3085	0	0	0	0	0	0
1341	-0.77	-146.0	185.4	-13.9	179	1342	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2508	3085	0	0	0	0	0	0
1553	-0.77	-146.0	214.6	-13.5	199	1557	0.00	1.23	0.00	0.000	4	0.000	0.080	2130	3220	3085	0	0	0	0	0	0
1569	-0.77	-146.0	216.2	-13.4	200	1578	0.00	1.15	0.00	0.000	6	0.000	0.050	2130	2509	3085	0	0	0	0	0	0
1790	-0.77	-146.0	246.9	-13.1	221	1794	0.00	1.20	0.00	0.000	4	0.000	0.081	2125	3211	3085	0	0	0	0	0	0
1863	-0.77	-146.0	256.2	-13.7	227	1870	0.00	1.15	0.00	0.000	6	0.000	0.051	2125	2502	3085	0	0	0	0	0	0
2082	-0.77	-146.0	285.6	-12.9	248	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2502	3085	0	0	0	0	0	0
2295	-0.77	-146.0	312.2	-11.9	268	2298	0.00	1.23	0.00	0.000	4	0.000	0.081	2120	3219	3085	0	0	0	0	0	0
2373	-0.77	-146.0	322.1	-12.6	275	2378	0.08	1.15	0.00	0.000	6	0.177	0.051	2143	2505	3084	0	0	0	0	0	0
2599	-0.77	-146.0	346.7	-10.7	296	2603	0.00	1.20	0.00	0.000	4	0.000	0.081	2140	3210	3085	0	0	0	0	0	0
2634	-0.77	-146.0	350.9	-11.5	299	2638	0.00	1.12	0.00	0.000	6	0.000	0.051	2140	2511	3084	0	0	0	0	0	0
2859	-0.77	-146.0	377.0	-11.9	320	2863	0.00	1.20	0.00	0.000	4	0.000	0.080	2135	3216	3084	0	0	0	0	0	0
2873	-0.77	-146.0	378.7	-11.9	321	2876	0.00	1.15	0.00	0.000	6	0.000	0.050	2135	2501	3084	0	0	0	0	0	0
3099	-0.77	-146.0	406.9	-12.6	342	3102	0.00	1.23	0.00	0.000	4	0.000	0.080	2130	3220	3085	0	0	0	0	0	0
3123	-0.77	-146.0	409.9	-12.3	344	3127	0.00	1.15	0.00	0.000	6	0.000	0.050	2130	2504	3084	0	0	0	0	0	0
3349	-0.77	-146.0	438.1	-12.6	365	3353	0.00	1.20	0.00	0.000	4	0.000	0.080	2126	3211	3085	0	0	0	0	0	0
3397	-0.77	-146.0	444.1	-12.6	369	3400	0.00	1.12	0.00	0.000	6	0.000	0.047	2125	2505	3085	0	0	0	0	0	0
3621	-0.77	-146.0	472.1	-11.9	390	3625	0.00	1.20	0.00	0.000	4	0.000	0.080	2120	3213	3085	0	0	0	0	0	0
3733	-0.77	-146.0	485.9	-11.4	400	3737	0.08	1.12	0.00	0.000	6	0.174	0.048	2143	2505	3084	0	0	0	0	0	0
3959	-0.77	-146.0	512.1	-11.8	421	3963	0.00	1.20	0.00	0.000	4	0.000	0.080	2141	3214	3085	0	0	0	0	0	0
3992	end dive: BOTTOM_OBSTACLE_DETECTED
state	3992	begin apogee
3999	-0.16	0.0	516.8	-12.5	424	4125	0.62	0.00	118.12	1.206	6	0.150	0.000	2337	2190	2484	0	0	0	0	0	0
4126	end apogee: CONTROL_FINISHED_OK
state	4126	begin climb
4128	0.77	146.0	523.5	0.0	435	4266	0.90	1.23	125.25	1.165	4	0.067	0.065	2650	1504	1888	0	0	0	0	0	0
4444	0.77	146.0	499.2	11.9	463	4448	0.00	1.25	0.00	0.000	6	0.000	0.061	2650	2210	1880	0	0	0	0	0	0
4669	0.77	146.0	472.3	11.6	484	4673	0.00	1.20	0.00	0.000	4	0.000	0.070	2650	2906	1878	0	0	0	0	0	0
4925	0.77	146.0	440.3	12.5	507	4928	0.00	1.20	0.00	0.000	6	0.000	0.051	2655	2206	1876	0	0	0	0	0	0
5149	0.77	146.0	413.6	12.2	528	5153	0.00	1.25	0.00	0.000	4	0.000	0.067	2655	2912	1876	0	0	0	0	0	0
5239	0.77	146.0	402.5	12.8	536	5243	0.00	1.23	0.00	0.000	6	0.000	0.052	2659	2193	1876	0	0	0	0	0	0
5465	0.77	146.0	375.5	11.9	557	5469	0.00	1.12	0.00	0.000	4	0.000	0.063	2665	1495	1875	0	0	0	0	0	0
5602	0.77	146.0	359.0	12.1	569	5610	0.00	1.20	0.00	0.000	6	0.000	0.062	2665	2202	1875	0	0	0	0	0	0
5822	0.77	146.0	332.2	12.0	590	5826	0.00	1.17	0.00	0.000	4	0.000	0.072	2665	2905	1875	0	0	0	0	0	0
6047	0.77	146.0	304.1	12.6	610	6050	0.00	1.20	0.00	0.000	6	0.000	0.054	2670	2194	1875	0	0	0	0	0	0
6273	0.77	146.0	278.0	11.0	631	6276	0.00	1.10	0.00	0.000	4	0.000	0.063	2675	1499	1875	0	0	0	0	0	0
6373	0.77	146.0	266.3	11.2	640	6377	0.00	1.17	0.00	0.000	6	0.000	0.060	2675	2199	1875	0	0	0	0	0	0
6599	0.77	146.0	242.7	10.5	661	6603	0.00	1.17	0.00	0.000	4	0.000	0.060	2680	1496	1875	0	0	0	0	0	0
6727	0.77	149.4	230.1	9.8	672	6736	0.08	1.17	0.00	0.000	6	0.171	0.061	2658	2199	1875	0	0	0	0	0	0
6949	0.81	175.9	209.7	8.8	693	6976	0.00	0.00	23.40	1.001	6	0.000	0.000	2657	2199	1768	0	0	0	0	0	0
7188	0.81	175.9	185.0	10.7	716	7189	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2199	1765	0	0	0	0	0	0
7401	0.81	175.9	162.8	10.2	736	7405	0.00	1.17	0.00	0.000	4	0.000	0.060	2661	1495	1765	0	0	0	0	0	0
7605	0.82	189.5	143.3	9.4	754	7623	0.00	1.20	12.40	0.943	6	0.000	0.061	2661	2204	1711	0	0	0	0	0	0
7837	0.83	193.2	120.3	9.8	776	7847	0.00	0.00	4.40	0.748	6	0.000	0.000	2661	2204	1697	0	0	0	0	0	0
8059	0.84	207.2	99.4	9.4	797	8078	0.00	1.25	13.30	0.929	4	0.000	0.063	2666	1493	1639	0	0	0	0	0	0
8156	0.84	207.2	89.5	10.2	814	8163	0.00	1.20	0.00	0.000	6	0.000	0.062	2666	2196	1638	0	0	0	0	0	0
8362	0.84	207.2	67.5	11.7	851	8369	0.00	1.17	0.00	0.000	4	0.000	0.064	2670	1498	1637	0	0	0	0	0	0
8620	0.84	207.2	40.1	10.8	897	8627	0.00	1.20	0.00	0.000	6	0.000	0.063	2670	2204	1636	0	0	0	0	0	0
8826	0.94	287.4	21.5	6.3	934	8879	0.00	1.27	44.28	0.861	4	0.000	0.063	2676	1493	1311	0	0	0	0	0	0
9034	0.94	287.4	2.9	10.1	970	9040	0.00	1.23	0.00	0.000	6	0.000	0.063	2675	2199	1303	0	0	0	0	0	0
9045	end climb: SURFACE_DEPTH_REACHED
state	9045	begin surface coast
9063	end surface coast: CONTROL_FINISHED_OK
state	9063	begin surface