Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 97 * 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 97 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 112 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 990 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 350 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 330 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80637.539 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 350

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 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 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 330

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 -80637.539

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 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 -3

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 37 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 97 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 112 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 191011,180722,6701.335,-5706.875,38,1.2,38,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191011,181242,6701.366,-5706.957,21,1.1,21,-33.5 MHEAD_RNG_PITCHd_Wd 246.0,149122,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 732

Post-dive calculations and measurements:

FINISH 1.5,1.004243 _24V_AH 23.1,12.443

SM_CCo 12462,61.92,0.083,0,0,1058,350.04 _10V_AH 10.3,10.401

SM_GC 2.44,6.90,0.60,61.92,0.044,0.058,0.083,118,2516,1058,-7.08,-0.59,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 801 FG_AHR_10Vo 0.000

RAFOS 0,1319054489,20.033333,20.024723,64,63,57,0,0,0,162,196,215,0,0,0 MEM 150240

RAFOS_FIX 6659.445312,-5715.622070,191011,202028,4,90,0.87 DATA_FILE_SIZE 49940,1264

IRIDIUM_FIX 6631.12,-5708.95,191011,141453 CAP_FILE_SIZE 126076,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,241266688

HUMID 58.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1457.4

TCM_TEMP 16.50 CURRENT 0.210, 1.0,1

XPDR_PINGS 20 GPS 191011,214335,6700.924,-5709.958,34,0.9,34,-33.5

ALTIM_BOTTOM_PING 652.7,100.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 102.59 SBE_CT 912 23 489.67

Roll_motor 38 98 87.37 SBE_O2 708 5 85.75

VBD_pump_during_apogee 312 1329 9607.05 nil 0 0 0.00

VBD_pump_during_surface 61 83 119.28 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 206 254 1214.10 nil 0 0 0.00

Transponder_ping 7 420 72.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.36

TT8 3422 18 659.58

LPSleep 6484 2 154.29

TT8_Active 508 18 98.01

TT8_Sampling 2246 41 970.15

TT8_CF8 204 47 100.76

TT8_Kalman 0 0 0.00

Analog_circuits 1764 12 218.13

GPS_charging 0 0 0.00

Compass 2011 6 139.68

RAFOS 2520 1 38.93

Transponder 21 30 6.51

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 14 begin dive

17 -0.77 -146.0 0.0 0.0 0 98 0.00 0.00 -78.28 0.000 2 0.000 0.000 122 2524 2181 0 0 0 0 0 0

100 -0.77 -146.0 3.0 -0.6 12 154 8.50 1.12 -34.85 0.000 4 0.261 0.099 2142 3209 3082 0 0 0 0 0 0

402 -0.77 -146.0 52.8 -16.2 65 409 0.00 1.10 0.00 0.000 6 0.000 0.037 2142 2508 3083 0 0 0 0 0 0

741 -0.77 -146.0 105.3 -15.7 126 747 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2508 3084 0 0 0 0 0 0

1078 -0.77 -146.0 152.0 -13.7 187 1087 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2508 3084 0 0 0 0 0 0

1421 -0.77 -146.0 199.7 -14.2 248 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2508 3084 0 0 0 0 0 0

1757 -0.77 -146.0 243.7 -12.7 309 1763 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2508 3083 0 0 0 0 0 0

2087 -0.77 -146.0 282.9 -10.9 344 2091 0.00 1.17 0.00 0.000 4 0.000 0.070 2137 3207 3083 0 0 0 0 0 0

2134 -0.77 -146.0 288.5 -11.3 348 2138 0.00 1.10 0.00 0.000 6 0.000 0.037 2137 2500 3083 0 0 0 0 0 0

2465 -0.77 -146.0 327.2 -12.1 379 2466 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2500 3083 0 0 0 0 0 0

2785 -0.77 -146.0 365.4 -11.8 409 2789 0.00 1.17 0.00 0.000 4 0.000 0.067 2133 3207 3083 0 0 0 0 0 0

2878 -0.77 -146.0 376.9 -12.4 417 2886 0.00 1.10 0.00 0.000 6 0.000 0.034 2133 2498 3082 0 0 0 0 0 0

3205 -0.77 -146.0 416.7 -12.0 448 3207 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2498 3083 0 0 0 0 0 0

3525 -0.77 -146.0 453.9 -11.7 478 3526 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2499 3083 0 0 0 0 0 0

3844 -0.77 -146.0 491.6 -12.3 508 3850 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3083 0 0 0 0 0 0

4159 -0.77 -146.0 530.5 -12.2 523 4161 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2498 3083 0 0 0 0 0 0

4466 -0.77 -146.0 565.8 -11.5 533 4467 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2499 3083 0 0 0 0 0 0

4775 -0.77 -146.0 601.4 -11.4 543 4779 0.00 1.17 0.00 0.000 4 0.000 0.066 2128 3209 3083 0 0 0 0 0 0

4831 -0.77 -146.0 605.8 -11.4 544 4834 0.00 1.08 0.00 0.000 6 0.000 0.034 2128 2507 3083 0 0 0 0 0 0

5149 -0.77 -146.0 645.6 -11.6 555 5150 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2507 3083 0 0 0 0 0 0

5455 -0.77 -146.0 681.3 -11.8 565 5456 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2507 3083 0 0 0 0 0 0

5761 -0.77 -146.0 716.8 -11.7 575 5763 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2507 3083 0 0 0 0 0 0

5914 end dive: TARGET_DEPTH_EXCEEDED

state 5914 begin apogee

5920 -0.16 0.0 733.9 -11.1 580 6047 0.68 0.00 119.70 1.330 6 0.142 0.000 2344 2193 2485 0 0 0 0 0 0

6048 end apogee: CONTROL_FINISHED_OK

state 6048 begin climb

6050 0.77 146.0 738.6 0.0 584 6188 0.88 1.20 127.40 1.271 4 0.069 0.054 2649 1510 1888 0 0 0 0 0 0

6294 0.77 146.0 720.0 12.7 591 6298 0.00 1.20 0.00 0.000 6 0.000 0.048 2649 2197 1882 0 0 0 0 0 0

6619 0.77 146.0 675.8 12.8 602 6620 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2198 1878 0 0 0 0 0 0

6926 0.77 146.0 637.8 12.3 612 6929 0.00 1.17 0.00 0.000 4 0.000 0.057 2649 2908 1878 0 0 0 0 0 0

7054 0.77 146.0 624.9 12.4 615 7063 0.00 1.15 0.00 0.000 6 0.000 0.039 2654 2212 1877 0 0 0 0 0 0

7367 0.77 146.0 583.3 12.3 626 7371 0.00 1.20 0.00 0.000 4 0.000 0.055 2654 2910 1876 0 0 0 0 0 0

7422 0.77 146.0 578.8 12.3 627 7428 0.00 1.17 0.00 0.000 6 0.000 0.041 2658 2201 1876 0 0 0 0 0 0

7741 0.77 146.0 535.4 12.8 638 7742 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2200 1876 0 0 0 0 0 0

8048 0.77 146.0 496.2 12.8 648 8052 0.00 1.20 0.00 0.000 4 0.000 0.056 2658 2901 1876 0 0 0 0 0 0

8116 0.77 146.0 487.2 12.9 654 8119 0.00 1.15 0.00 0.000 6 0.000 0.041 2663 2199 1875 0 0 0 0 0 0

8446 0.77 146.0 444.9 12.9 685 8450 0.00 1.20 0.00 0.000 4 0.000 0.056 2663 2904 1875 0 0 0 0 0 0

8536 0.77 146.0 433.3 13.1 693 8539 0.00 1.15 0.00 0.000 6 0.000 0.041 2668 2200 1874 0 0 0 0 0 0

8868 0.77 146.0 390.4 12.9 724 8873 0.00 1.20 0.00 0.000 4 0.000 0.057 2668 2904 1875 0 0 0 0 0 0

8972 0.77 146.0 376.7 13.3 733 8979 0.00 1.15 0.00 0.000 6 0.000 0.041 2673 2198 1874 0 0 0 0 0 0

9299 0.77 146.0 333.3 13.0 764 9302 0.00 1.20 0.00 0.000 4 0.000 0.056 2672 2907 1874 0 0 0 0 0 0

9337 0.77 146.0 328.6 13.2 767 9347 0.08 1.15 0.00 0.000 6 0.168 0.041 2654 2203 1874 0 0 0 0 0 0

9662 0.77 146.0 290.4 11.3 798 9663 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2203 1874 0 0 0 0 0 0

9984 0.77 146.0 253.6 11.8 828 9990 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2203 1874 0 0 0 0 0 0

10320 0.77 146.0 213.4 11.2 887 10329 0.00 1.17 0.00 0.000 4 0.000 0.056 2654 2901 1874 0 0 0 0 0 0

10424 0.77 146.0 201.2 11.6 905 10431 0.00 1.15 0.00 0.000 6 0.000 0.040 2658 2186 1874 0 0 0 0 0 0

10763 0.79 162.3 166.5 9.2 966 10780 0.00 1.25 12.45 0.946 4 0.000 0.055 2658 2907 1823 0 0 0 0 0 0

10858 0.80 168.3 157.2 9.7 982 10874 0.00 1.15 6.88 0.860 6 0.000 0.041 2663 2200 1797 0 0 0 0 0 0

11209 0.80 174.0 124.3 9.7 1044 11222 0.00 1.17 6.18 0.832 4 0.000 0.053 2662 2906 1774 0 0 0 0 0 0

11334 0.80 174.0 111.4 10.4 1066 11341 0.00 1.15 0.00 0.000 6 0.000 0.041 2667 2200 1774 0 0 0 0 0 0

11672 0.84 202.2 77.7 8.7 1127 11707 0.00 1.12 25.00 0.923 4 0.000 0.054 2672 1494 1659 0 0 0 0 0 0

11742 0.84 202.2 70.8 10.5 1138 11748 0.00 1.17 0.00 0.000 6 0.000 0.050 2672 2200 1658 0 0 0 0 0 0

12079 0.86 216.6 36.9 9.3 1199 12095 0.00 1.20 12.70 0.883 4 0.000 0.060 2672 2910 1600 0 0 0 0 0 0

12184 0.86 219.9 26.3 9.8 1217 12192 0.00 1.17 2.50 0.402 6 0.000 0.041 2677 2201 1587 0 0 0 0 0 0

12426 end climb: SURFACE_DEPTH_REACHED

state 12426 begin surface coast

12445 end surface coast: CONTROL_FINISHED_OK

state 12446 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	97	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	112	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	990	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	350	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	330	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80637.539	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	191011,180722,6701.335,-5706.875,38,1.2,38,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191011,181242,6701.366,-5706.957,21,1.1,21,-33.5	MHEAD_RNG_PITCHd_Wd	246.0,149122,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	732

FINISH	1.5,1.004243	_24V_AH	23.1,12.443
SM_CCo	12462,61.92,0.083,0,0,1058,350.04	_10V_AH	10.3,10.401
SM_GC	2.44,6.90,0.60,61.92,0.044,0.058,0.083,118,2516,1058,-7.08,-0.59,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	801	FG_AHR_10Vo	0.000
RAFOS	0,1319054489,20.033333,20.024723,64,63,57,0,0,0,162,196,215,0,0,0	MEM	150240
RAFOS_FIX	6659.445312,-5715.622070,191011,202028,4,90,0.87	DATA_FILE_SIZE	49940,1264
IRIDIUM_FIX	6631.12,-5708.95,191011,141453	CAP_FILE_SIZE	126076,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,241266688
HUMID	58.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1457.4
TCM_TEMP	16.50	CURRENT	0.210, 1.0,1
XPDR_PINGS	20	GPS	191011,214335,6700.924,-5709.958,34,0.9,34,-33.5
ALTIM_BOTTOM_PING	652.7,100.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	102.59	SBE_CT	912	23	489.67
Roll_motor	38	98	87.37	SBE_O2	708	5	85.75
VBD_pump_during_apogee	312	1329	9607.05	nil	0	0	0.00
VBD_pump_during_surface	61	83	119.28	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	206	254	1214.10	nil	0	0	0.00
Transponder_ping	7	420	72.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.36
TT8	3422	18	659.58
LPSleep	6484	2	154.29
TT8_Active	508	18	98.01
TT8_Sampling	2246	41	970.15
TT8_CF8	204	47	100.76
TT8_Kalman	0	0	0.00
Analog_circuits	1764	12	218.13
GPS_charging	0	0	0.00
Compass	2011	6	139.68
RAFOS	2520	1	38.93
Transponder	21	30	6.51

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	14	begin dive
17	-0.77	-146.0	0.0	0.0	0	98	0.00	0.00	-78.28	0.000	2	0.000	0.000	122	2524	2181	0	0	0	0	0	0
100	-0.77	-146.0	3.0	-0.6	12	154	8.50	1.12	-34.85	0.000	4	0.261	0.099	2142	3209	3082	0	0	0	0	0	0
402	-0.77	-146.0	52.8	-16.2	65	409	0.00	1.10	0.00	0.000	6	0.000	0.037	2142	2508	3083	0	0	0	0	0	0
741	-0.77	-146.0	105.3	-15.7	126	747	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2508	3084	0	0	0	0	0	0
1078	-0.77	-146.0	152.0	-13.7	187	1087	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2508	3084	0	0	0	0	0	0
1421	-0.77	-146.0	199.7	-14.2	248	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2508	3084	0	0	0	0	0	0
1757	-0.77	-146.0	243.7	-12.7	309	1763	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2508	3083	0	0	0	0	0	0
2087	-0.77	-146.0	282.9	-10.9	344	2091	0.00	1.17	0.00	0.000	4	0.000	0.070	2137	3207	3083	0	0	0	0	0	0
2134	-0.77	-146.0	288.5	-11.3	348	2138	0.00	1.10	0.00	0.000	6	0.000	0.037	2137	2500	3083	0	0	0	0	0	0
2465	-0.77	-146.0	327.2	-12.1	379	2466	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2500	3083	0	0	0	0	0	0
2785	-0.77	-146.0	365.4	-11.8	409	2789	0.00	1.17	0.00	0.000	4	0.000	0.067	2133	3207	3083	0	0	0	0	0	0
2878	-0.77	-146.0	376.9	-12.4	417	2886	0.00	1.10	0.00	0.000	6	0.000	0.034	2133	2498	3082	0	0	0	0	0	0
3205	-0.77	-146.0	416.7	-12.0	448	3207	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2498	3083	0	0	0	0	0	0
3525	-0.77	-146.0	453.9	-11.7	478	3526	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2499	3083	0	0	0	0	0	0
3844	-0.77	-146.0	491.6	-12.3	508	3850	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3083	0	0	0	0	0	0
4159	-0.77	-146.0	530.5	-12.2	523	4161	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2498	3083	0	0	0	0	0	0
4466	-0.77	-146.0	565.8	-11.5	533	4467	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2499	3083	0	0	0	0	0	0
4775	-0.77	-146.0	601.4	-11.4	543	4779	0.00	1.17	0.00	0.000	4	0.000	0.066	2128	3209	3083	0	0	0	0	0	0
4831	-0.77	-146.0	605.8	-11.4	544	4834	0.00	1.08	0.00	0.000	6	0.000	0.034	2128	2507	3083	0	0	0	0	0	0
5149	-0.77	-146.0	645.6	-11.6	555	5150	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2507	3083	0	0	0	0	0	0
5455	-0.77	-146.0	681.3	-11.8	565	5456	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2507	3083	0	0	0	0	0	0
5761	-0.77	-146.0	716.8	-11.7	575	5763	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2507	3083	0	0	0	0	0	0
5914	end dive: TARGET_DEPTH_EXCEEDED
state	5914	begin apogee
5920	-0.16	0.0	733.9	-11.1	580	6047	0.68	0.00	119.70	1.330	6	0.142	0.000	2344	2193	2485	0	0	0	0	0	0
6048	end apogee: CONTROL_FINISHED_OK
state	6048	begin climb
6050	0.77	146.0	738.6	0.0	584	6188	0.88	1.20	127.40	1.271	4	0.069	0.054	2649	1510	1888	0	0	0	0	0	0
6294	0.77	146.0	720.0	12.7	591	6298	0.00	1.20	0.00	0.000	6	0.000	0.048	2649	2197	1882	0	0	0	0	0	0
6619	0.77	146.0	675.8	12.8	602	6620	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2198	1878	0	0	0	0	0	0
6926	0.77	146.0	637.8	12.3	612	6929	0.00	1.17	0.00	0.000	4	0.000	0.057	2649	2908	1878	0	0	0	0	0	0
7054	0.77	146.0	624.9	12.4	615	7063	0.00	1.15	0.00	0.000	6	0.000	0.039	2654	2212	1877	0	0	0	0	0	0
7367	0.77	146.0	583.3	12.3	626	7371	0.00	1.20	0.00	0.000	4	0.000	0.055	2654	2910	1876	0	0	0	0	0	0
7422	0.77	146.0	578.8	12.3	627	7428	0.00	1.17	0.00	0.000	6	0.000	0.041	2658	2201	1876	0	0	0	0	0	0
7741	0.77	146.0	535.4	12.8	638	7742	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2200	1876	0	0	0	0	0	0
8048	0.77	146.0	496.2	12.8	648	8052	0.00	1.20	0.00	0.000	4	0.000	0.056	2658	2901	1876	0	0	0	0	0	0
8116	0.77	146.0	487.2	12.9	654	8119	0.00	1.15	0.00	0.000	6	0.000	0.041	2663	2199	1875	0	0	0	0	0	0
8446	0.77	146.0	444.9	12.9	685	8450	0.00	1.20	0.00	0.000	4	0.000	0.056	2663	2904	1875	0	0	0	0	0	0
8536	0.77	146.0	433.3	13.1	693	8539	0.00	1.15	0.00	0.000	6	0.000	0.041	2668	2200	1874	0	0	0	0	0	0
8868	0.77	146.0	390.4	12.9	724	8873	0.00	1.20	0.00	0.000	4	0.000	0.057	2668	2904	1875	0	0	0	0	0	0
8972	0.77	146.0	376.7	13.3	733	8979	0.00	1.15	0.00	0.000	6	0.000	0.041	2673	2198	1874	0	0	0	0	0	0
9299	0.77	146.0	333.3	13.0	764	9302	0.00	1.20	0.00	0.000	4	0.000	0.056	2672	2907	1874	0	0	0	0	0	0
9337	0.77	146.0	328.6	13.2	767	9347	0.08	1.15	0.00	0.000	6	0.168	0.041	2654	2203	1874	0	0	0	0	0	0
9662	0.77	146.0	290.4	11.3	798	9663	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2203	1874	0	0	0	0	0	0
9984	0.77	146.0	253.6	11.8	828	9990	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2203	1874	0	0	0	0	0	0
10320	0.77	146.0	213.4	11.2	887	10329	0.00	1.17	0.00	0.000	4	0.000	0.056	2654	2901	1874	0	0	0	0	0	0
10424	0.77	146.0	201.2	11.6	905	10431	0.00	1.15	0.00	0.000	6	0.000	0.040	2658	2186	1874	0	0	0	0	0	0
10763	0.79	162.3	166.5	9.2	966	10780	0.00	1.25	12.45	0.946	4	0.000	0.055	2658	2907	1823	0	0	0	0	0	0
10858	0.80	168.3	157.2	9.7	982	10874	0.00	1.15	6.88	0.860	6	0.000	0.041	2663	2200	1797	0	0	0	0	0	0
11209	0.80	174.0	124.3	9.7	1044	11222	0.00	1.17	6.18	0.832	4	0.000	0.053	2662	2906	1774	0	0	0	0	0	0
11334	0.80	174.0	111.4	10.4	1066	11341	0.00	1.15	0.00	0.000	6	0.000	0.041	2667	2200	1774	0	0	0	0	0	0
11672	0.84	202.2	77.7	8.7	1127	11707	0.00	1.12	25.00	0.923	4	0.000	0.054	2672	1494	1659	0	0	0	0	0	0
11742	0.84	202.2	70.8	10.5	1138	11748	0.00	1.17	0.00	0.000	6	0.000	0.050	2672	2200	1658	0	0	0	0	0	0
12079	0.86	216.6	36.9	9.3	1199	12095	0.00	1.20	12.70	0.883	4	0.000	0.060	2672	2910	1600	0	0	0	0	0	0
12184	0.86	219.9	26.3	9.8	1217	12192	0.00	1.17	2.50	0.402	6	0.000	0.041	2677	2201	1587	0	0	0	0	0	0
12426	end climb: SURFACE_DEPTH_REACHED
state	12426	begin surface coast
12445	end surface coast: CONTROL_FINISHED_OK
state	12446	begin surface