Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 151 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 8 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -7909.3345 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 2 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 8

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -7909.3345

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 39 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 151 NAV_MODE 2 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 081010,023100,6703.792,-5653.707,38,1.1,38,-37.6 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 1.43 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 081010,023555,6703.808,-5653.796,9,1.1,14,-37.6 MHEAD_RNG_PITCHd_Wd 179.0,4445,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 541

Post-dive calculations and measurements:

FINISH 0.5,1.013366 _24V_AH 23.5,20.707

SM_CCo 11101,0.00,0.000,0,0,1456,359.61 _10V_AH 10.3,16.013

SM_GC 1.62,6.47,0.00,0.00,0.052,0.000,0.000,299,2779,1456,-6.73,-0.03,359.61 FG_AHR_24Vo 0.000

RAFOS_CLK 538 FG_AHR_10Vo 0.000

RAFOS 0,1286510462,4.033333,4.017222,75,43,41,39,39,38,1197,1518,651,1671,25,1802 MEM 189544

RAFOS_FIX 6704.319824,-5653.682617,081010,040453,7,92,0.14 DATA_FILE_SIZE 43265,1186

IRIDIUM_FIX 6631.12,-5646.10,071010,232342 CAP_FILE_SIZE 120697,0

TT8_MAMPS 0.028462 CFSIZE 260165632,239771648

HUMID 48.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.63162 SOUNDSPEED 1467.4

TCM_TEMP 15.90 CURRENT 0.046,227.2,1

XPDR_PINGS 0 GPS 081010,054300,6702.605,-5652.218,35,1.5,35,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 258 98.29 SBE_CT 818 24 461.75

Roll_motor 76 80 144.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 405 918 8739.22 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.48 nil 0 0 0.00

Iridium_during_connect 45 160 172.75 nil 0 0 0.00

Iridium_during_xfer 107 223 562.85 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.01

TT8 2946 19 604.53

LPSleep 5788 2 137.72

TT8_Active 470 19 96.52

TT8_Sampling 2072 39 852.21

TT8_CF8 140 45 66.46

TT8_Kalman 0 0 0.00

Analog_circuits 1457 12 180.16

GPS_charging 0 0 0.00

Compass 1862 15 287.81

RAFOS 2520 3 77.87

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 102 0.00 0.00 -84.65 0.000 2 0.000 0.000 303 2796 3324 0 0 0 0 0 0

104 -0.57 -146.0 5.2 -12.7 14 125 8.23 2.28 -4.05 0.000 4 0.259 0.055 2284 1365 3521 0 0 0 0 0 0

290 -0.57 -146.0 46.5 -13.9 47 297 0.00 2.30 0.00 0.000 6 0.000 0.057 2283 2774 3523 0 0 0 0 0 0

633 -0.57 -146.0 84.4 -10.5 108 640 0.00 1.92 0.00 0.000 4 0.000 0.067 2276 3933 3523 0 0 0 0 0 0

664 -0.57 -146.0 88.1 -11.5 113 671 0.00 1.85 0.00 0.000 6 0.000 0.044 2276 2771 3523 0 0 0 0 0 0

1000 -0.57 -146.0 124.6 -10.0 153 1004 0.00 1.92 0.00 0.000 4 0.000 0.069 2270 3927 3523 0 0 0 0 0 0

1056 -0.57 -146.0 131.0 -10.6 158 1060 0.00 1.83 0.00 0.000 6 0.000 0.044 2270 2773 3522 0 0 0 0 0 0

1387 -0.57 -146.0 166.6 -10.7 189 1391 0.00 1.92 0.00 0.000 4 0.000 0.069 2262 3930 3522 0 0 0 0 0 0

1421 -0.57 -146.0 170.8 -12.1 192 1424 0.00 1.83 0.00 0.000 6 0.000 0.044 2262 2776 3522 0 0 0 0 0 0

1751 -0.57 -146.0 206.6 -10.8 223 1754 0.00 2.17 0.00 0.000 4 0.000 0.047 2262 1367 3521 0 0 0 0 0 0

1796 -0.57 -146.0 211.3 -10.0 227 1801 0.12 2.30 0.00 0.000 6 0.174 0.057 2290 2785 3521 0 0 0 0 0 0

2121 -0.57 -146.0 237.7 -7.4 257 2123 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2785 3521 0 0 0 0 0 0

2441 -0.57 -146.0 262.2 -7.9 287 2443 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2785 3521 0 0 0 0 0 0

2759 -0.57 -146.0 287.0 -7.6 317 2763 0.00 2.20 0.00 0.000 4 0.000 0.047 2290 1361 3521 0 0 0 0 0 0

2810 -0.57 -146.0 291.3 -8.0 321 2814 0.00 2.28 0.00 0.000 6 0.000 0.057 2288 2780 3521 0 0 0 0 0 0

3139 -0.57 -146.0 316.1 -7.1 352 3143 0.00 1.90 0.00 0.000 4 0.000 0.069 2283 3928 3521 0 0 0 0 0 0

3172 -0.57 -146.0 318.8 -7.8 355 3176 0.00 1.83 0.00 0.000 6 0.000 0.044 2283 2764 3521 0 0 0 0 0 0

3503 -0.57 -146.0 343.3 -7.3 386 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2763 3521 0 0 0 0 0 0

3822 -0.57 -146.0 365.6 -7.2 416 3823 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2763 3521 0 0 0 0 0 0

4141 -0.57 -146.0 389.6 -7.5 446 4142 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2763 3522 0 0 0 0 0 0

4459 -0.57 -146.0 413.0 -6.8 476 4460 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2763 3521 0 0 0 0 0 0

4778 -0.57 -146.0 435.7 -7.1 506 4780 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2763 3522 0 0 0 0 0 0

5096 -0.57 -146.0 458.1 -7.1 536 5098 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2763 3522 0 0 0 0 0 0

5416 -0.57 -146.0 480.9 -7.1 566 5417 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2763 3523 0 0 0 0 0 0

5733 -0.57 -146.0 503.7 -6.9 596 5737 0.00 1.92 0.00 0.000 4 0.000 0.068 2276 3932 3523 0 0 0 0 0 0

5806 -0.57 -146.0 509.3 -7.8 602 5813 0.00 1.80 0.00 0.000 6 0.000 0.044 2276 2776 3523 0 0 0 0 0 0

6132 -0.57 -146.0 534.0 -7.9 633 6136 0.00 2.15 0.00 0.000 4 0.000 0.046 2276 1368 3523 0 0 0 0 0 0

6160 -0.57 -146.0 536.4 -8.5 635 6164 0.00 2.28 0.00 0.000 6 0.000 0.057 2274 2785 3523 0 0 0 0 0 0

6217 end dive: TARGET_DEPTH_EXCEEDED

state 6218 begin apogee

6222 -0.14 0.0 541.1 8.1 640 6345 0.45 0.00 116.88 0.918 4 0.135 0.000 2424 2606 2923 0 0 0 0 0 0

6346 end apogee: CONTROL_FINISHED_OK

state 6346 begin climb

6348 0.57 146.0 544.8 0.0 651 6476 0.68 2.35 120.70 0.903 4 0.080 0.046 2660 1184 2327 0 0 0 0 0 0

6645 0.57 146.0 517.5 11.7 677 6649 0.00 2.38 0.00 0.000 6 0.000 0.051 2660 2600 2319 0 0 0 0 0 0

6969 0.57 146.0 475.6 13.0 707 6973 0.00 2.28 0.00 0.000 4 0.000 0.048 2667 1187 2316 0 0 0 0 0 0

7176 0.57 146.0 449.9 12.8 725 7181 0.00 2.33 0.00 0.000 6 0.000 0.052 2666 2614 2315 0 0 0 0 0 0

7501 0.57 146.0 405.9 13.8 755 7502 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2614 2313 0 0 0 0 0 0

7820 0.57 146.0 363.2 13.2 785 7824 0.00 2.12 0.00 0.000 4 0.000 0.063 2666 3925 2313 0 0 0 0 0 0

7871 0.57 146.0 355.1 16.1 789 7875 0.00 2.08 0.00 0.000 6 0.000 0.041 2669 2604 2311 0 0 0 0 0 0

8201 0.57 146.0 308.6 14.1 820 8202 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2602 2311 0 0 0 0 0 0

8519 0.57 146.0 263.1 14.2 850 8523 0.00 2.17 0.00 0.000 4 0.000 0.063 2669 3933 2311 0 0 0 0 0 0

8568 0.57 146.0 254.9 16.8 854 8577 0.00 2.10 0.00 0.000 6 0.000 0.041 2677 2610 2311 0 0 0 0 0 0

8893 0.57 146.0 208.7 14.0 885 8897 0.00 2.17 0.00 0.000 4 0.000 0.063 2677 3932 2311 0 0 0 0 0 0

8927 0.57 146.0 203.7 15.2 888 8930 0.00 2.08 0.00 0.000 6 0.000 0.041 2684 2609 2311 0 0 0 0 0 0

9257 0.57 146.0 159.1 12.8 919 9261 0.00 2.15 0.00 0.000 4 0.000 0.063 2684 3930 2311 0 0 0 0 0 0

9294 0.57 146.0 153.4 14.9 922 9303 0.10 2.08 0.00 0.000 6 0.190 0.041 2664 2622 2311 0 0 0 0 0 0

9619 0.57 146.0 117.7 10.5 953 9623 0.00 2.12 0.00 0.000 4 0.000 0.063 2664 3932 2311 0 0 0 0 0 0

9653 0.57 146.0 113.8 11.7 956 9657 0.00 2.05 0.00 0.000 6 0.000 0.041 2667 2620 2311 0 0 0 0 0 0

9987 0.57 155.7 79.9 9.6 1004 10001 0.00 2.15 6.55 0.601 4 0.000 0.062 2666 3935 2288 0 0 0 0 0 0

10024 0.57 155.7 75.9 11.8 1010 10031 0.00 2.05 0.00 0.000 6 0.000 0.041 2667 2625 2287 0 0 0 0 0 0

10367 0.63 244.8 43.3 5.9 1071 10448 0.00 2.35 72.00 0.623 4 0.000 0.049 2666 1202 1922 0 0 0 0 0 0

10548 0.70 342.5 33.7 5.5 1102 10635 0.00 2.30 77.85 0.607 6 0.000 0.050 2666 2624 1524 0 0 0 0 0 0

10967 0.73 399.3 3.4 7.4 1176 10981 0.12 0.00 11.12 0.584 2 0.103 0.000 2724 2624 1462 0 0 0 0 0 0

10981 end climb: SURFACE_DEPTH_REACHED

state 10982 begin surface coast

11027 end surface coast: CONTROL_FINISHED_OK

state 11027 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	151	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	8	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-7909.3345	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	2	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	081010,023100,6703.792,-5653.707,38,1.1,38,-37.6	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	1.43	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	081010,023555,6703.808,-5653.796,9,1.1,14,-37.6	MHEAD_RNG_PITCHd_Wd	179.0,4445,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	541

FINISH	0.5,1.013366	_24V_AH	23.5,20.707
SM_CCo	11101,0.00,0.000,0,0,1456,359.61	_10V_AH	10.3,16.013
SM_GC	1.62,6.47,0.00,0.00,0.052,0.000,0.000,299,2779,1456,-6.73,-0.03,359.61	FG_AHR_24Vo	0.000
RAFOS_CLK	538	FG_AHR_10Vo	0.000
RAFOS	0,1286510462,4.033333,4.017222,75,43,41,39,39,38,1197,1518,651,1671,25,1802	MEM	189544
RAFOS_FIX	6704.319824,-5653.682617,081010,040453,7,92,0.14	DATA_FILE_SIZE	43265,1186
IRIDIUM_FIX	6631.12,-5646.10,071010,232342	CAP_FILE_SIZE	120697,0
TT8_MAMPS	0.028462	CFSIZE	260165632,239771648
HUMID	48.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.63162	SOUNDSPEED	1467.4
TCM_TEMP	15.90	CURRENT	0.046,227.2,1
XPDR_PINGS	0	GPS	081010,054300,6702.605,-5652.218,35,1.5,35,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	258	98.29	SBE_CT	818	24	461.75
Roll_motor	76	80	144.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	405	918	8739.22	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.48	nil	0	0	0.00
Iridium_during_connect	45	160	172.75	nil	0	0	0.00
Iridium_during_xfer	107	223	562.85	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.01
TT8	2946	19	604.53
LPSleep	5788	2	137.72
TT8_Active	470	19	96.52
TT8_Sampling	2072	39	852.21
TT8_CF8	140	45	66.46
TT8_Kalman	0	0	0.00
Analog_circuits	1457	12	180.16
GPS_charging	0	0	0.00
Compass	1862	15	287.81
RAFOS	2520	3	77.87
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	102	0.00	0.00	-84.65	0.000	2	0.000	0.000	303	2796	3324	0	0	0	0	0	0
104	-0.57	-146.0	5.2	-12.7	14	125	8.23	2.28	-4.05	0.000	4	0.259	0.055	2284	1365	3521	0	0	0	0	0	0
290	-0.57	-146.0	46.5	-13.9	47	297	0.00	2.30	0.00	0.000	6	0.000	0.057	2283	2774	3523	0	0	0	0	0	0
633	-0.57	-146.0	84.4	-10.5	108	640	0.00	1.92	0.00	0.000	4	0.000	0.067	2276	3933	3523	0	0	0	0	0	0
664	-0.57	-146.0	88.1	-11.5	113	671	0.00	1.85	0.00	0.000	6	0.000	0.044	2276	2771	3523	0	0	0	0	0	0
1000	-0.57	-146.0	124.6	-10.0	153	1004	0.00	1.92	0.00	0.000	4	0.000	0.069	2270	3927	3523	0	0	0	0	0	0
1056	-0.57	-146.0	131.0	-10.6	158	1060	0.00	1.83	0.00	0.000	6	0.000	0.044	2270	2773	3522	0	0	0	0	0	0
1387	-0.57	-146.0	166.6	-10.7	189	1391	0.00	1.92	0.00	0.000	4	0.000	0.069	2262	3930	3522	0	0	0	0	0	0
1421	-0.57	-146.0	170.8	-12.1	192	1424	0.00	1.83	0.00	0.000	6	0.000	0.044	2262	2776	3522	0	0	0	0	0	0
1751	-0.57	-146.0	206.6	-10.8	223	1754	0.00	2.17	0.00	0.000	4	0.000	0.047	2262	1367	3521	0	0	0	0	0	0
1796	-0.57	-146.0	211.3	-10.0	227	1801	0.12	2.30	0.00	0.000	6	0.174	0.057	2290	2785	3521	0	0	0	0	0	0
2121	-0.57	-146.0	237.7	-7.4	257	2123	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2785	3521	0	0	0	0	0	0
2441	-0.57	-146.0	262.2	-7.9	287	2443	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2785	3521	0	0	0	0	0	0
2759	-0.57	-146.0	287.0	-7.6	317	2763	0.00	2.20	0.00	0.000	4	0.000	0.047	2290	1361	3521	0	0	0	0	0	0
2810	-0.57	-146.0	291.3	-8.0	321	2814	0.00	2.28	0.00	0.000	6	0.000	0.057	2288	2780	3521	0	0	0	0	0	0
3139	-0.57	-146.0	316.1	-7.1	352	3143	0.00	1.90	0.00	0.000	4	0.000	0.069	2283	3928	3521	0	0	0	0	0	0
3172	-0.57	-146.0	318.8	-7.8	355	3176	0.00	1.83	0.00	0.000	6	0.000	0.044	2283	2764	3521	0	0	0	0	0	0
3503	-0.57	-146.0	343.3	-7.3	386	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2763	3521	0	0	0	0	0	0
3822	-0.57	-146.0	365.6	-7.2	416	3823	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2763	3521	0	0	0	0	0	0
4141	-0.57	-146.0	389.6	-7.5	446	4142	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2763	3522	0	0	0	0	0	0
4459	-0.57	-146.0	413.0	-6.8	476	4460	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2763	3521	0	0	0	0	0	0
4778	-0.57	-146.0	435.7	-7.1	506	4780	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2763	3522	0	0	0	0	0	0
5096	-0.57	-146.0	458.1	-7.1	536	5098	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2763	3522	0	0	0	0	0	0
5416	-0.57	-146.0	480.9	-7.1	566	5417	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2763	3523	0	0	0	0	0	0
5733	-0.57	-146.0	503.7	-6.9	596	5737	0.00	1.92	0.00	0.000	4	0.000	0.068	2276	3932	3523	0	0	0	0	0	0
5806	-0.57	-146.0	509.3	-7.8	602	5813	0.00	1.80	0.00	0.000	6	0.000	0.044	2276	2776	3523	0	0	0	0	0	0
6132	-0.57	-146.0	534.0	-7.9	633	6136	0.00	2.15	0.00	0.000	4	0.000	0.046	2276	1368	3523	0	0	0	0	0	0
6160	-0.57	-146.0	536.4	-8.5	635	6164	0.00	2.28	0.00	0.000	6	0.000	0.057	2274	2785	3523	0	0	0	0	0	0
6217	end dive: TARGET_DEPTH_EXCEEDED
state	6218	begin apogee
6222	-0.14	0.0	541.1	8.1	640	6345	0.45	0.00	116.88	0.918	4	0.135	0.000	2424	2606	2923	0	0	0	0	0	0
6346	end apogee: CONTROL_FINISHED_OK
state	6346	begin climb
6348	0.57	146.0	544.8	0.0	651	6476	0.68	2.35	120.70	0.903	4	0.080	0.046	2660	1184	2327	0	0	0	0	0	0
6645	0.57	146.0	517.5	11.7	677	6649	0.00	2.38	0.00	0.000	6	0.000	0.051	2660	2600	2319	0	0	0	0	0	0
6969	0.57	146.0	475.6	13.0	707	6973	0.00	2.28	0.00	0.000	4	0.000	0.048	2667	1187	2316	0	0	0	0	0	0
7176	0.57	146.0	449.9	12.8	725	7181	0.00	2.33	0.00	0.000	6	0.000	0.052	2666	2614	2315	0	0	0	0	0	0
7501	0.57	146.0	405.9	13.8	755	7502	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2614	2313	0	0	0	0	0	0
7820	0.57	146.0	363.2	13.2	785	7824	0.00	2.12	0.00	0.000	4	0.000	0.063	2666	3925	2313	0	0	0	0	0	0
7871	0.57	146.0	355.1	16.1	789	7875	0.00	2.08	0.00	0.000	6	0.000	0.041	2669	2604	2311	0	0	0	0	0	0
8201	0.57	146.0	308.6	14.1	820	8202	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2602	2311	0	0	0	0	0	0
8519	0.57	146.0	263.1	14.2	850	8523	0.00	2.17	0.00	0.000	4	0.000	0.063	2669	3933	2311	0	0	0	0	0	0
8568	0.57	146.0	254.9	16.8	854	8577	0.00	2.10	0.00	0.000	6	0.000	0.041	2677	2610	2311	0	0	0	0	0	0
8893	0.57	146.0	208.7	14.0	885	8897	0.00	2.17	0.00	0.000	4	0.000	0.063	2677	3932	2311	0	0	0	0	0	0
8927	0.57	146.0	203.7	15.2	888	8930	0.00	2.08	0.00	0.000	6	0.000	0.041	2684	2609	2311	0	0	0	0	0	0
9257	0.57	146.0	159.1	12.8	919	9261	0.00	2.15	0.00	0.000	4	0.000	0.063	2684	3930	2311	0	0	0	0	0	0
9294	0.57	146.0	153.4	14.9	922	9303	0.10	2.08	0.00	0.000	6	0.190	0.041	2664	2622	2311	0	0	0	0	0	0
9619	0.57	146.0	117.7	10.5	953	9623	0.00	2.12	0.00	0.000	4	0.000	0.063	2664	3932	2311	0	0	0	0	0	0
9653	0.57	146.0	113.8	11.7	956	9657	0.00	2.05	0.00	0.000	6	0.000	0.041	2667	2620	2311	0	0	0	0	0	0
9987	0.57	155.7	79.9	9.6	1004	10001	0.00	2.15	6.55	0.601	4	0.000	0.062	2666	3935	2288	0	0	0	0	0	0
10024	0.57	155.7	75.9	11.8	1010	10031	0.00	2.05	0.00	0.000	6	0.000	0.041	2667	2625	2287	0	0	0	0	0	0
10367	0.63	244.8	43.3	5.9	1071	10448	0.00	2.35	72.00	0.623	4	0.000	0.049	2666	1202	1922	0	0	0	0	0	0
10548	0.70	342.5	33.7	5.5	1102	10635	0.00	2.30	77.85	0.607	6	0.000	0.050	2666	2624	1524	0	0	0	0	0	0
10967	0.73	399.3	3.4	7.4	1176	10981	0.12	0.00	11.12	0.584	2	0.103	0.000	2724	2624	1462	0	0	0	0	0	0
10981	end climb: SURFACE_DEPTH_REACHED
state	10982	begin surface coast
11027	end surface coast: CONTROL_FINISHED_OK
state	11027	begin surface