Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 33 * 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 33 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 40 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 29 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -80494.328 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 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 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 -80494.328

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 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 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 29 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 21 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 33 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 40 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 101011,110200,6632.532,-6008.711,12,1.3,12,-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 2.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,110736,6632.559,-6008.578,19,0.8,19,-33.6 MHEAD_RNG_PITCHd_Wd 112.5,155432,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 529

Post-dive calculations and measurements:

FINISH 1.4,1.024843 _24V_AH 23.2,5.219

SM_CCo 9334,51.38,0.086,0,0,771,420.20 _10V_AH 10.3,4.663

SM_GC 2.19,7.15,0.55,51.38,0.054,0.072,0.086,128,2522,771,-7.06,-0.40,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 606 FG_AHR_10Vo 0.000

RAFOS 0,1318248069,12.033333,12.019167,94,57,55,0,0,0,610,206,220,0,0,0 MEM 150372

RAFOS_FIX 6634.433594,-6003.793945,101011,121210,6,79,1.08 DATA_FILE_SIZE 40088,1010

IRIDIUM_FIX 6604.29,-6003.26,101011,101037 CAP_FILE_SIZE 125897,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,245886976

HUMID 56.93 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1453.7

TCM_TEMP 16.20 CURRENT 0.225,336.5,1

XPDR_PINGS 33 GPS 101011,134600,6633.461,-6007.076,21,0.9,21,-33.6

ALTIM_BOTTOM_PING 401.4,141.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 279 116.44 SBE_CT 727 23 391.68

Roll_motor 51 107 126.72 SBE_O2 717 5 87.27

VBD_pump_during_apogee 349 1211 9834.57 nil 0 0 0.00

VBD_pump_during_surface 51 86 103.03 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 9 420 90.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.73

TT8 2744 18 528.85

LPSleep 4286 2 101.99

TT8_Active 569 18 109.73

TT8_Sampling 1749 41 755.49

TT8_CF8 151 47 74.82

TT8_Kalman 0 0 0.00

Analog_circuits 1492 12 184.42

GPS_charging 0 0 0.00

Compass 1717 6 119.20

RAFOS 2520 1 38.93

Transponder 9 30 2.89

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.77 -146.0 0.0 0.0 0 137 0.00 0.00 -118.60 0.000 2 0.000 0.000 124 2512 2193 0 0 0 0 0 0

140 -0.77 -146.0 3.2 -2.7 19 189 8.93 1.17 -29.40 0.000 4 0.279 0.107 2140 3214 3081 0 0 0 0 0 0

439 -0.77 -146.0 55.9 -15.7 71 446 0.00 1.15 0.00 0.000 6 0.000 0.051 2140 2507 3083 0 0 0 0 0 0

647 -0.77 -146.0 89.0 -16.4 108 654 0.00 1.23 0.00 0.000 4 0.000 0.080 2136 3217 3083 0 0 0 0 0 0

905 -0.77 -146.0 129.2 -14.8 137 908 0.00 1.15 0.00 0.000 6 0.000 0.051 2135 2509 3083 0 0 0 0 0 0

1132 -0.77 -146.0 163.0 -15.7 158 1136 0.00 1.20 0.00 0.000 4 0.000 0.080 2131 3211 3083 0 0 0 0 0 0

1233 -0.77 -146.0 178.9 -15.2 167 1237 0.00 1.15 0.00 0.000 6 0.000 0.051 2131 2503 3083 0 0 0 0 0 0

1457 -0.77 -146.0 213.1 -15.5 188 1458 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2503 3083 0 0 0 0 0 0

1670 -0.77 -146.0 245.3 -14.7 208 1674 0.00 1.12 0.00 0.000 4 0.000 0.062 2131 1807 3083 0 0 0 0 0 0

1708 -0.77 -146.0 250.5 -15.0 211 1715 0.00 1.25 0.00 0.000 6 0.000 0.073 2126 2514 3082 0 0 0 0 0 0

1927 -0.77 -146.0 283.5 -14.0 232 1931 0.00 1.15 0.00 0.000 4 0.000 0.085 2120 3217 3082 0 0 0 0 0 0

2010 -0.77 -146.0 294.6 -13.9 239 2018 0.10 1.15 0.00 0.000 6 0.171 0.050 2150 2501 3082 0 0 0 0 0 0

2232 -0.77 -146.0 321.6 -11.9 260 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2501 3082 0 0 0 0 0 0

2451 -0.77 -146.0 347.9 -11.7 281 2455 0.00 1.23 0.00 0.000 4 0.000 0.081 2146 3220 3082 0 0 0 0 0 0

2511 -0.77 -146.0 354.6 -12.0 286 2519 0.00 1.15 0.00 0.000 6 0.000 0.051 2146 2505 3082 0 0 0 0 0 0

2731 -0.77 -146.0 381.5 -12.1 307 2732 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2505 3082 0 0 0 0 0 0

2943 -0.77 -146.0 407.9 -12.5 327 2947 0.00 1.20 0.00 0.000 4 0.000 0.081 2142 3211 3082 0 0 0 0 0 0

2979 -0.77 -146.0 412.2 -12.4 330 2983 0.00 1.12 0.00 0.000 6 0.000 0.050 2141 2508 3082 0 0 0 0 0 0

3204 -0.77 -146.0 440.7 -12.5 351 3207 0.00 1.12 0.00 0.000 4 0.000 0.060 2142 1806 3082 0 0 0 0 0 0

3252 -0.77 -146.0 446.6 -12.7 355 3260 0.00 1.23 0.00 0.000 6 0.000 0.071 2137 2510 3082 0 0 0 0 0 0

3472 -0.77 -146.0 474.1 -12.0 376 3476 0.00 1.15 0.00 0.000 4 0.000 0.083 2132 3217 3082 0 0 0 0 0 0

3622 -0.77 -146.0 492.2 -12.1 389 3631 0.00 1.15 0.00 0.000 6 0.000 0.050 2131 2502 3082 0 0 0 0 0 0

3842 -0.77 -146.0 519.4 -12.2 410 3843 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2502 3082 0 0 0 0 0 0

3913 end dive: BOTTOM_OBSTACLE_DETECTED

state 3913 begin apogee

3919 -0.16 0.0 528.7 -12.9 417 4045 0.68 0.00 117.72 1.212 6 0.158 0.000 2339 2191 2485 0 0 0 0 0 0

4046 end apogee: CONTROL_FINISHED_OK

state 4046 begin climb

4048 0.77 146.0 533.8 0.0 428 4178 0.93 0.00 125.95 1.183 6 0.083 0.000 2641 2190 1889 0 0 0 0 0 0

4387 0.77 146.0 510.7 10.8 461 4391 0.00 1.30 0.00 0.000 4 0.000 0.069 2641 2902 1880 0 0 0 0 0 0

4469 0.77 146.0 501.4 12.0 468 4476 0.00 1.23 0.00 0.000 6 0.000 0.052 2646 2199 1879 0 0 0 0 0 0

4690 0.77 146.0 475.1 12.1 489 4693 0.00 1.27 0.00 0.000 4 0.000 0.068 2646 2908 1877 0 0 0 0 0 0

4801 0.77 146.0 461.0 12.2 499 4805 0.00 1.23 0.00 0.000 6 0.000 0.052 2651 2196 1877 0 0 0 0 0 0

5026 0.77 146.0 434.9 11.5 520 5029 0.00 1.12 0.00 0.000 4 0.000 0.065 2656 1499 1877 0 0 0 0 0 0

5052 0.77 146.0 432.2 11.6 522 5060 0.00 1.20 0.00 0.000 6 0.000 0.061 2656 2203 1876 0 0 0 0 0 0

5272 0.77 146.0 406.5 11.7 543 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2203 1875 0 0 0 0 0 0

5484 0.77 146.0 382.3 11.5 563 5486 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2203 1875 0 0 0 0 0 0

5697 0.77 146.0 358.3 10.8 583 5700 0.00 1.20 0.00 0.000 4 0.000 0.061 2661 1493 1875 0 0 0 0 0 0

5958 0.77 146.0 330.6 10.6 606 5961 0.00 1.20 0.00 0.000 6 0.000 0.061 2661 2204 1875 0 0 0 0 0 0

6182 0.77 146.0 306.7 10.7 627 6186 0.00 1.20 0.00 0.000 4 0.000 0.061 2666 1491 1875 0 0 0 0 0 0

6399 0.77 146.0 284.1 10.3 646 6406 0.00 1.20 0.00 0.000 6 0.000 0.062 2666 2203 1875 0 0 0 0 0 0

6618 0.77 146.0 260.2 10.8 667 6622 0.00 1.20 0.00 0.000 4 0.000 0.063 2670 1491 1875 0 0 0 0 0 0

6743 0.77 146.0 246.9 10.6 678 6747 0.00 1.20 0.00 0.000 6 0.000 0.062 2670 2205 1875 0 0 0 0 0 0

6968 0.77 146.0 223.1 10.5 699 6972 0.00 1.17 0.00 0.000 4 0.000 0.061 2676 1497 1875 0 0 0 0 0 0

7095 0.77 146.0 210.3 10.4 710 7102 0.00 1.17 0.00 0.000 6 0.000 0.063 2676 2201 1875 0 0 0 0 0 0

7314 0.78 157.3 188.7 9.5 731 7328 0.00 1.17 8.25 0.932 4 0.000 0.071 2675 2905 1843 0 0 0 0 0 0

7350 0.80 170.6 185.7 9.4 734 7368 0.00 1.20 12.82 0.958 6 0.000 0.053 2680 2195 1789 0 0 0 0 0 0

7583 0.80 173.6 162.2 9.9 756 7595 0.00 1.15 3.78 0.701 4 0.000 0.065 2685 1496 1777 0 0 0 0 0 0

7734 0.81 176.6 147.5 9.9 769 7744 0.00 1.20 4.22 0.745 6 0.000 0.061 2685 2205 1765 0 0 0 0 0 0

7954 0.81 176.6 124.8 10.4 790 7955 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2205 1764 0 0 0 0 0 0

8166 0.81 176.6 103.1 10.7 810 8170 0.00 1.17 0.00 0.000 4 0.000 0.061 2690 1497 1763 0 0 0 0 0 0

8222 0.82 184.7 97.4 9.6 817 8238 0.00 1.20 8.62 0.907 6 0.000 0.061 2690 2208 1731 0 0 0 0 0 0

8439 0.82 184.7 74.7 10.4 855 8445 0.00 1.20 0.00 0.000 4 0.000 0.062 2695 1492 1729 0 0 0 0 0 0

8693 0.82 184.7 48.2 10.2 901 8703 0.10 1.20 0.00 0.000 6 0.174 0.062 2666 2202 1727 0 0 0 0 0 0

8904 0.85 209.4 30.2 8.9 938 8931 0.00 1.25 19.95 0.925 4 0.000 0.063 2669 1489 1630 0 0 0 0 0 0

9179 0.97 306.4 14.0 5.5 987 9234 0.10 1.23 48.50 0.109 6 0.069 0.063 2716 2206 1235 0 0 0 0 0 0

9299 end climb: SURFACE_DEPTH_REACHED

state 9299 begin surface coast

9317 end surface coast: CONTROL_FINISHED_OK

state 9317 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	33	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	40	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	29	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-80494.328	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	0	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	101011,110200,6632.532,-6008.711,12,1.3,12,-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	2.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,110736,6632.559,-6008.578,19,0.8,19,-33.6	MHEAD_RNG_PITCHd_Wd	112.5,155432,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	529

FINISH	1.4,1.024843	_24V_AH	23.2,5.219
SM_CCo	9334,51.38,0.086,0,0,771,420.20	_10V_AH	10.3,4.663
SM_GC	2.19,7.15,0.55,51.38,0.054,0.072,0.086,128,2522,771,-7.06,-0.40,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	606	FG_AHR_10Vo	0.000
RAFOS	0,1318248069,12.033333,12.019167,94,57,55,0,0,0,610,206,220,0,0,0	MEM	150372
RAFOS_FIX	6634.433594,-6003.793945,101011,121210,6,79,1.08	DATA_FILE_SIZE	40088,1010
IRIDIUM_FIX	6604.29,-6003.26,101011,101037	CAP_FILE_SIZE	125897,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,245886976
HUMID	56.93	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1453.7
TCM_TEMP	16.20	CURRENT	0.225,336.5,1
XPDR_PINGS	33	GPS	101011,134600,6633.461,-6007.076,21,0.9,21,-33.6
ALTIM_BOTTOM_PING	401.4,141.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	279	116.44	SBE_CT	727	23	391.68
Roll_motor	51	107	126.72	SBE_O2	717	5	87.27
VBD_pump_during_apogee	349	1211	9834.57	nil	0	0	0.00
VBD_pump_during_surface	51	86	103.03	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	9	420	90.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.73
TT8	2744	18	528.85
LPSleep	4286	2	101.99
TT8_Active	569	18	109.73
TT8_Sampling	1749	41	755.49
TT8_CF8	151	47	74.82
TT8_Kalman	0	0	0.00
Analog_circuits	1492	12	184.42
GPS_charging	0	0	0.00
Compass	1717	6	119.20
RAFOS	2520	1	38.93
Transponder	9	30	2.89

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.77	-146.0	0.0	0.0	0	137	0.00	0.00	-118.60	0.000	2	0.000	0.000	124	2512	2193	0	0	0	0	0	0
140	-0.77	-146.0	3.2	-2.7	19	189	8.93	1.17	-29.40	0.000	4	0.279	0.107	2140	3214	3081	0	0	0	0	0	0
439	-0.77	-146.0	55.9	-15.7	71	446	0.00	1.15	0.00	0.000	6	0.000	0.051	2140	2507	3083	0	0	0	0	0	0
647	-0.77	-146.0	89.0	-16.4	108	654	0.00	1.23	0.00	0.000	4	0.000	0.080	2136	3217	3083	0	0	0	0	0	0
905	-0.77	-146.0	129.2	-14.8	137	908	0.00	1.15	0.00	0.000	6	0.000	0.051	2135	2509	3083	0	0	0	0	0	0
1132	-0.77	-146.0	163.0	-15.7	158	1136	0.00	1.20	0.00	0.000	4	0.000	0.080	2131	3211	3083	0	0	0	0	0	0
1233	-0.77	-146.0	178.9	-15.2	167	1237	0.00	1.15	0.00	0.000	6	0.000	0.051	2131	2503	3083	0	0	0	0	0	0
1457	-0.77	-146.0	213.1	-15.5	188	1458	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2503	3083	0	0	0	0	0	0
1670	-0.77	-146.0	245.3	-14.7	208	1674	0.00	1.12	0.00	0.000	4	0.000	0.062	2131	1807	3083	0	0	0	0	0	0
1708	-0.77	-146.0	250.5	-15.0	211	1715	0.00	1.25	0.00	0.000	6	0.000	0.073	2126	2514	3082	0	0	0	0	0	0
1927	-0.77	-146.0	283.5	-14.0	232	1931	0.00	1.15	0.00	0.000	4	0.000	0.085	2120	3217	3082	0	0	0	0	0	0
2010	-0.77	-146.0	294.6	-13.9	239	2018	0.10	1.15	0.00	0.000	6	0.171	0.050	2150	2501	3082	0	0	0	0	0	0
2232	-0.77	-146.0	321.6	-11.9	260	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2501	3082	0	0	0	0	0	0
2451	-0.77	-146.0	347.9	-11.7	281	2455	0.00	1.23	0.00	0.000	4	0.000	0.081	2146	3220	3082	0	0	0	0	0	0
2511	-0.77	-146.0	354.6	-12.0	286	2519	0.00	1.15	0.00	0.000	6	0.000	0.051	2146	2505	3082	0	0	0	0	0	0
2731	-0.77	-146.0	381.5	-12.1	307	2732	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2505	3082	0	0	0	0	0	0
2943	-0.77	-146.0	407.9	-12.5	327	2947	0.00	1.20	0.00	0.000	4	0.000	0.081	2142	3211	3082	0	0	0	0	0	0
2979	-0.77	-146.0	412.2	-12.4	330	2983	0.00	1.12	0.00	0.000	6	0.000	0.050	2141	2508	3082	0	0	0	0	0	0
3204	-0.77	-146.0	440.7	-12.5	351	3207	0.00	1.12	0.00	0.000	4	0.000	0.060	2142	1806	3082	0	0	0	0	0	0
3252	-0.77	-146.0	446.6	-12.7	355	3260	0.00	1.23	0.00	0.000	6	0.000	0.071	2137	2510	3082	0	0	0	0	0	0
3472	-0.77	-146.0	474.1	-12.0	376	3476	0.00	1.15	0.00	0.000	4	0.000	0.083	2132	3217	3082	0	0	0	0	0	0
3622	-0.77	-146.0	492.2	-12.1	389	3631	0.00	1.15	0.00	0.000	6	0.000	0.050	2131	2502	3082	0	0	0	0	0	0
3842	-0.77	-146.0	519.4	-12.2	410	3843	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2502	3082	0	0	0	0	0	0
3913	end dive: BOTTOM_OBSTACLE_DETECTED
state	3913	begin apogee
3919	-0.16	0.0	528.7	-12.9	417	4045	0.68	0.00	117.72	1.212	6	0.158	0.000	2339	2191	2485	0	0	0	0	0	0
4046	end apogee: CONTROL_FINISHED_OK
state	4046	begin climb
4048	0.77	146.0	533.8	0.0	428	4178	0.93	0.00	125.95	1.183	6	0.083	0.000	2641	2190	1889	0	0	0	0	0	0
4387	0.77	146.0	510.7	10.8	461	4391	0.00	1.30	0.00	0.000	4	0.000	0.069	2641	2902	1880	0	0	0	0	0	0
4469	0.77	146.0	501.4	12.0	468	4476	0.00	1.23	0.00	0.000	6	0.000	0.052	2646	2199	1879	0	0	0	0	0	0
4690	0.77	146.0	475.1	12.1	489	4693	0.00	1.27	0.00	0.000	4	0.000	0.068	2646	2908	1877	0	0	0	0	0	0
4801	0.77	146.0	461.0	12.2	499	4805	0.00	1.23	0.00	0.000	6	0.000	0.052	2651	2196	1877	0	0	0	0	0	0
5026	0.77	146.0	434.9	11.5	520	5029	0.00	1.12	0.00	0.000	4	0.000	0.065	2656	1499	1877	0	0	0	0	0	0
5052	0.77	146.0	432.2	11.6	522	5060	0.00	1.20	0.00	0.000	6	0.000	0.061	2656	2203	1876	0	0	0	0	0	0
5272	0.77	146.0	406.5	11.7	543	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2203	1875	0	0	0	0	0	0
5484	0.77	146.0	382.3	11.5	563	5486	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2203	1875	0	0	0	0	0	0
5697	0.77	146.0	358.3	10.8	583	5700	0.00	1.20	0.00	0.000	4	0.000	0.061	2661	1493	1875	0	0	0	0	0	0
5958	0.77	146.0	330.6	10.6	606	5961	0.00	1.20	0.00	0.000	6	0.000	0.061	2661	2204	1875	0	0	0	0	0	0
6182	0.77	146.0	306.7	10.7	627	6186	0.00	1.20	0.00	0.000	4	0.000	0.061	2666	1491	1875	0	0	0	0	0	0
6399	0.77	146.0	284.1	10.3	646	6406	0.00	1.20	0.00	0.000	6	0.000	0.062	2666	2203	1875	0	0	0	0	0	0
6618	0.77	146.0	260.2	10.8	667	6622	0.00	1.20	0.00	0.000	4	0.000	0.063	2670	1491	1875	0	0	0	0	0	0
6743	0.77	146.0	246.9	10.6	678	6747	0.00	1.20	0.00	0.000	6	0.000	0.062	2670	2205	1875	0	0	0	0	0	0
6968	0.77	146.0	223.1	10.5	699	6972	0.00	1.17	0.00	0.000	4	0.000	0.061	2676	1497	1875	0	0	0	0	0	0
7095	0.77	146.0	210.3	10.4	710	7102	0.00	1.17	0.00	0.000	6	0.000	0.063	2676	2201	1875	0	0	0	0	0	0
7314	0.78	157.3	188.7	9.5	731	7328	0.00	1.17	8.25	0.932	4	0.000	0.071	2675	2905	1843	0	0	0	0	0	0
7350	0.80	170.6	185.7	9.4	734	7368	0.00	1.20	12.82	0.958	6	0.000	0.053	2680	2195	1789	0	0	0	0	0	0
7583	0.80	173.6	162.2	9.9	756	7595	0.00	1.15	3.78	0.701	4	0.000	0.065	2685	1496	1777	0	0	0	0	0	0
7734	0.81	176.6	147.5	9.9	769	7744	0.00	1.20	4.22	0.745	6	0.000	0.061	2685	2205	1765	0	0	0	0	0	0
7954	0.81	176.6	124.8	10.4	790	7955	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2205	1764	0	0	0	0	0	0
8166	0.81	176.6	103.1	10.7	810	8170	0.00	1.17	0.00	0.000	4	0.000	0.061	2690	1497	1763	0	0	0	0	0	0
8222	0.82	184.7	97.4	9.6	817	8238	0.00	1.20	8.62	0.907	6	0.000	0.061	2690	2208	1731	0	0	0	0	0	0
8439	0.82	184.7	74.7	10.4	855	8445	0.00	1.20	0.00	0.000	4	0.000	0.062	2695	1492	1729	0	0	0	0	0	0
8693	0.82	184.7	48.2	10.2	901	8703	0.10	1.20	0.00	0.000	6	0.174	0.062	2666	2202	1727	0	0	0	0	0	0
8904	0.85	209.4	30.2	8.9	938	8931	0.00	1.25	19.95	0.925	4	0.000	0.063	2669	1489	1630	0	0	0	0	0	0
9179	0.97	306.4	14.0	5.5	987	9234	0.10	1.23	48.50	0.109	6	0.069	0.063	2716	2206	1235	0	0	0	0	0	0
9299	end climb: SURFACE_DEPTH_REACHED
state	9299	begin surface coast
9317	end surface coast: CONTROL_FINISHED_OK
state	9317	begin surface