Glider dive log

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 186 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 23 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 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 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 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 -2 T_GPS_CHARGE -29425.438 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -29425.438

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 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 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 23 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 186 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 200311,002202,6648.178,-6020.435,0,3100.0,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200311,002202,6648.178,-6020.435,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 118.1,155846,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 548

Post-dive calculations and measurements:

FREEZE 8.45,-1.732,-1.771,3,61,0 ALTIM_TOP_PING 19.7,18.3

FINISH1 8.5,1.025940,77 _24V_AH 22.7,26.964

FINISH2 7.0 _10V_AH 10.2,14.910

RAFOS_CLK 608 FG_AHR_24Vo 0.000

RAFOS 0,1300593663,4.033333,4.017500,104,60,58,55,53,51,636,129,214,232,189,144 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.425293,-6015.196777,200311,040424,3,106,0.39 MEM 150440

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40028,1080

TT8_MAMPS 0.026215 CAP_FILE_SIZE 127067,0

HUMID 46.88 CFSIZE 260165632,239480832

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1451.7

XPDR_PINGS 0 GPS 200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 330 128.66 SBE_CT 771 24 420.25

Roll_motor 90 88 181.80 SBE_O2 826 19 356.56

VBD_pump_during_apogee 365 1269 10541.35 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 99 103 232.46 nil 0 0 0.00

Iridium_during_connect 17 160 63.23 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 93.48

TT8 2566 19 521.56

LPSleep 5613 2 132.26

TT8_Active 518 19 105.44

TT8_Sampling 2013 39 820.07

TT8_CF8 398 45 186.71

TT8_Kalman 0 0 0.00

Analog_circuits 1451 12 177.66

GPS_charging 0 0 0.00

Compass 1700 15 260.20

RAFOS 2520 1 38.56

Transponder 11 30 3.50

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 149 0.00 0.00 -131.70 0.000 2 0.000 0.000 117 2489 3105 0 0 0 0 0 0

153 -0.62 -146.0 5.6 -6.0 23 185 12.60 2.40 -12.38 0.000 4 0.330 0.089 2653 3903 3630 0 0 0 0 0 0

440 -0.52 -146.0 65.7 -18.9 73 448 0.15 2.28 0.00 0.000 6 0.212 0.052 2690 2477 3631 0 0 0 0 0 0

778 -0.46 -146.0 120.9 -14.1 121 782 0.00 2.25 0.00 0.000 4 0.000 0.068 2691 1078 3631 0 0 0 0 0 0

789 -0.40 -146.0 122.5 -14.1 122 794 0.15 2.30 0.00 0.000 6 0.223 0.064 2727 2491 3631 0 0 0 0 0 0

1115 -0.45 -146.0 155.9 -9.6 152 1116 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2491 3631 0 0 0 0 0 0

1437 -0.51 -146.0 183.8 -8.3 182 1441 0.00 2.33 0.00 0.000 4 0.000 0.080 2727 3899 3631 0 0 0 0 0 0

1467 -0.59 -146.0 186.6 -8.8 184 1472 0.17 2.22 0.00 0.000 6 0.112 0.052 2667 2480 3631 0 0 0 0 0 0

1793 -0.53 -146.0 229.4 -13.5 214 1797 0.00 2.22 0.00 0.000 4 0.000 0.070 2667 1080 3630 0 0 0 0 0 0

1833 -0.48 -146.0 234.9 -13.4 217 1838 0.15 2.30 0.00 0.000 6 0.211 0.066 2703 2498 3630 0 0 0 0 0 0

2159 -0.52 -146.0 266.4 -9.2 247 2163 0.00 2.30 0.00 0.000 4 0.000 0.081 2704 3898 3631 0 0 0 0 0 0

2185 -0.57 -146.0 269.0 -9.1 249 2192 0.00 2.22 0.00 0.000 6 0.000 0.054 2703 2478 3630 0 0 0 0 0 0

2513 -0.61 -146.0 298.5 -8.5 280 2517 0.12 2.25 0.00 0.000 4 0.133 0.070 2662 1073 3631 0 0 0 0 0 0

2544 -0.57 -146.0 302.3 -11.6 282 2552 0.00 2.30 0.00 0.000 6 0.000 0.067 2661 2490 3630 0 0 0 0 0 0

2870 -0.51 -146.0 339.8 -11.9 313 2872 0.15 0.00 0.00 0.000 6 0.218 0.000 2696 2490 3630 0 0 0 0 0 0

3189 -0.55 -146.0 368.9 -9.2 343 3190 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2490 3631 0 0 0 0 0 0

3509 -0.59 -146.0 396.7 -8.4 373 3513 0.00 2.33 0.00 0.000 4 0.000 0.080 2696 3906 3631 0 0 0 0 0 0

3528 -0.64 -146.0 398.3 -8.3 374 3533 0.12 2.25 0.00 0.000 6 0.131 0.052 2655 2477 3631 0 0 0 0 0 0

3853 -0.58 -146.0 435.9 -12.6 404 3857 0.00 2.20 0.00 0.000 4 0.000 0.068 2655 1080 3631 0 0 0 0 0 0

3907 -0.56 -146.0 443.1 -12.2 408 3914 0.00 2.28 0.00 0.000 6 0.000 0.066 2655 2492 3631 0 0 0 0 0 0

4234 -0.51 -146.0 481.7 -11.6 439 4236 0.17 0.00 0.00 0.000 6 0.209 0.000 2698 2492 3631 0 0 0 0 0 0

4554 -0.56 -146.0 508.7 -8.4 469 4555 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2492 3632 0 0 0 0 0 0

4870 -0.62 -146.0 534.9 -8.3 499 4872 0.12 0.00 0.00 0.000 6 0.131 0.000 2656 2493 3632 0 0 0 0 0 0

4995 end dive: TARGET_DEPTH_EXCEEDED

state 4995 begin apogee

5001 -0.12 0.0 548.8 11.5 511 5132 0.55 0.00 122.10 1.269 6 0.197 0.000 2813 2271 3029 0 0 0 0 0 0

5132 end apogee: CONTROL_FINISHED_OK

state 5132 begin climb

5134 0.62 146.0 553.3 0.0 523 5269 0.80 2.58 125.18 1.225 4 0.137 0.069 3067 881 2433 0 0 0 0 0 0

5315 0.52 146.0 540.0 12.4 539 5323 0.15 2.45 0.00 0.000 6 0.193 0.058 3034 2275 2428 0 0 0 0 0 0

5641 0.46 146.0 505.4 10.8 570 5645 0.00 2.38 0.00 0.000 4 0.000 0.073 3033 3686 2424 0 0 0 0 0 0

5714 0.37 146.0 496.3 13.1 576 5719 0.22 2.33 0.00 0.000 6 0.197 0.057 2988 2283 2424 0 0 0 0 0 0

6040 0.44 178.5 468.9 8.5 606 6070 0.00 0.00 27.73 1.153 6 0.000 0.000 2988 2282 2302 0 0 0 0 0 0

6388 0.53 199.4 438.7 9.0 639 6410 0.15 0.00 19.45 1.121 6 0.096 0.000 3046 2283 2217 0 0 0 0 0 0

6727 0.50 199.4 396.5 12.0 671 6728 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2283 2213 0 0 0 0 0 0

7048 0.47 199.4 357.8 12.0 701 7053 0.12 2.33 0.00 0.000 4 0.186 0.073 3015 3687 2211 0 0 0 0 0 0

7102 0.47 199.4 350.6 12.5 705 7110 0.00 2.30 0.00 0.000 6 0.000 0.056 3023 2278 2211 0 0 0 0 0 0

7429 0.47 199.4 316.1 10.4 736 7433 0.00 2.28 0.00 0.000 4 0.000 0.070 3032 865 2211 0 0 0 0 0 0

7470 0.50 199.7 312.0 10.0 739 7474 0.00 2.28 0.00 0.000 6 0.000 0.060 3033 2278 2209 0 0 0 0 0 0

7795 0.50 199.7 277.8 10.1 769 7799 0.00 2.28 0.00 0.000 4 0.000 0.072 3032 3690 2209 0 0 0 0 0 0

7884 0.46 199.7 267.1 11.9 776 7891 0.12 2.28 0.00 0.000 6 0.205 0.057 3014 2273 2210 0 0 0 0 0 0

8209 0.54 226.9 238.9 8.7 807 8243 0.00 2.38 24.65 1.061 4 0.000 0.073 3021 864 2102 0 0 0 0 0 0

8272 0.63 230.7 233.2 9.8 812 8283 0.12 2.30 4.60 0.756 6 0.113 0.060 3072 2276 2089 0 0 0 0 0 0

8608 0.60 230.7 192.2 12.1 844 8612 0.00 2.30 0.00 0.000 4 0.000 0.073 3073 3688 2087 0 0 0 0 0 0

8694 0.54 230.7 180.5 14.0 851 8699 0.15 2.30 0.00 0.000 6 0.188 0.057 3045 2268 2086 0 0 0 0 0 0

9019 0.60 250.5 148.9 9.1 881 9043 0.00 2.38 18.80 1.004 4 0.000 0.072 3053 865 2007 0 0 0 0 0 0

9080 0.70 275.0 143.5 8.9 886 9114 0.10 2.30 23.40 0.995 6 0.125 0.060 3094 2280 1909 0 0 0 0 0 0

9431 0.70 275.0 102.1 11.5 919 9435 0.00 2.33 0.00 0.000 4 0.000 0.074 3093 3690 1902 0 0 0 0 0 0

9505 0.66 275.0 92.7 13.0 930 9512 0.00 2.30 0.00 0.000 6 0.000 0.060 3105 2269 1901 0 0 0 0 0 0

9850 0.66 275.0 54.6 10.6 991 9857 0.00 2.28 0.00 0.000 4 0.000 0.071 3113 861 1900 0 0 0 0 0 0

9914 0.66 275.0 47.4 11.5 1002 9921 0.12 2.28 0.00 0.000 6 0.195 0.060 3082 2276 1899 0 0 0 0 0 0

10260 0.71 278.7 15.7 9.8 1063 10267 0.00 2.28 0.00 0.000 4 0.000 0.073 3082 3687 1899 0 0 0 0 0 0

10309 0.74 278.7 10.4 11.2 1071 10315 0.00 2.30 0.00 0.000 6 0.000 0.060 3089 2264 1898 0 0 0 0 0 0

10327 end climb: FINISH_DEPTH_REACHED

state 10327 begin subsurface finish

10333 0.09 76.5 8.5 -9.9 1074 10370 0.60 2.33 -30.98 0.000 4 0.155 0.084 2901 866 2720 0 0 0 0 0 0

10371 end subsurface finish: CONTROL_FINISHED_OK

state 10371 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	186	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	23	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	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	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	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	-2	T_GPS_CHARGE	-29425.438	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	200311,002202,6648.178,-6020.435,0,3100.0,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200311,002202,6648.178,-6020.435,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	118.1,155846,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	548

FREEZE	8.45,-1.732,-1.771,3,61,0	ALTIM_TOP_PING	19.7,18.3
FINISH1	8.5,1.025940,77	_24V_AH	22.7,26.964
FINISH2	7.0	_10V_AH	10.2,14.910
RAFOS_CLK	608	FG_AHR_24Vo	0.000
RAFOS	0,1300593663,4.033333,4.017500,104,60,58,55,53,51,636,129,214,232,189,144	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.425293,-6015.196777,200311,040424,3,106,0.39	MEM	150440
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40028,1080
TT8_MAMPS	0.026215	CAP_FILE_SIZE	127067,0
HUMID	46.88	CFSIZE	260165632,239480832
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1451.7
XPDR_PINGS	0	GPS	200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	330	128.66	SBE_CT	771	24	420.25
Roll_motor	90	88	181.80	SBE_O2	826	19	356.56
VBD_pump_during_apogee	365	1269	10541.35	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	99	103	232.46	nil	0	0	0.00
Iridium_during_connect	17	160	63.23	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	93.48
TT8	2566	19	521.56
LPSleep	5613	2	132.26
TT8_Active	518	19	105.44
TT8_Sampling	2013	39	820.07
TT8_CF8	398	45	186.71
TT8_Kalman	0	0	0.00
Analog_circuits	1451	12	177.66
GPS_charging	0	0	0.00
Compass	1700	15	260.20
RAFOS	2520	1	38.56
Transponder	11	30	3.50

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	149	0.00	0.00	-131.70	0.000	2	0.000	0.000	117	2489	3105	0	0	0	0	0	0
153	-0.62	-146.0	5.6	-6.0	23	185	12.60	2.40	-12.38	0.000	4	0.330	0.089	2653	3903	3630	0	0	0	0	0	0
440	-0.52	-146.0	65.7	-18.9	73	448	0.15	2.28	0.00	0.000	6	0.212	0.052	2690	2477	3631	0	0	0	0	0	0
778	-0.46	-146.0	120.9	-14.1	121	782	0.00	2.25	0.00	0.000	4	0.000	0.068	2691	1078	3631	0	0	0	0	0	0
789	-0.40	-146.0	122.5	-14.1	122	794	0.15	2.30	0.00	0.000	6	0.223	0.064	2727	2491	3631	0	0	0	0	0	0
1115	-0.45	-146.0	155.9	-9.6	152	1116	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2491	3631	0	0	0	0	0	0
1437	-0.51	-146.0	183.8	-8.3	182	1441	0.00	2.33	0.00	0.000	4	0.000	0.080	2727	3899	3631	0	0	0	0	0	0
1467	-0.59	-146.0	186.6	-8.8	184	1472	0.17	2.22	0.00	0.000	6	0.112	0.052	2667	2480	3631	0	0	0	0	0	0
1793	-0.53	-146.0	229.4	-13.5	214	1797	0.00	2.22	0.00	0.000	4	0.000	0.070	2667	1080	3630	0	0	0	0	0	0
1833	-0.48	-146.0	234.9	-13.4	217	1838	0.15	2.30	0.00	0.000	6	0.211	0.066	2703	2498	3630	0	0	0	0	0	0
2159	-0.52	-146.0	266.4	-9.2	247	2163	0.00	2.30	0.00	0.000	4	0.000	0.081	2704	3898	3631	0	0	0	0	0	0
2185	-0.57	-146.0	269.0	-9.1	249	2192	0.00	2.22	0.00	0.000	6	0.000	0.054	2703	2478	3630	0	0	0	0	0	0
2513	-0.61	-146.0	298.5	-8.5	280	2517	0.12	2.25	0.00	0.000	4	0.133	0.070	2662	1073	3631	0	0	0	0	0	0
2544	-0.57	-146.0	302.3	-11.6	282	2552	0.00	2.30	0.00	0.000	6	0.000	0.067	2661	2490	3630	0	0	0	0	0	0
2870	-0.51	-146.0	339.8	-11.9	313	2872	0.15	0.00	0.00	0.000	6	0.218	0.000	2696	2490	3630	0	0	0	0	0	0
3189	-0.55	-146.0	368.9	-9.2	343	3190	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2490	3631	0	0	0	0	0	0
3509	-0.59	-146.0	396.7	-8.4	373	3513	0.00	2.33	0.00	0.000	4	0.000	0.080	2696	3906	3631	0	0	0	0	0	0
3528	-0.64	-146.0	398.3	-8.3	374	3533	0.12	2.25	0.00	0.000	6	0.131	0.052	2655	2477	3631	0	0	0	0	0	0
3853	-0.58	-146.0	435.9	-12.6	404	3857	0.00	2.20	0.00	0.000	4	0.000	0.068	2655	1080	3631	0	0	0	0	0	0
3907	-0.56	-146.0	443.1	-12.2	408	3914	0.00	2.28	0.00	0.000	6	0.000	0.066	2655	2492	3631	0	0	0	0	0	0
4234	-0.51	-146.0	481.7	-11.6	439	4236	0.17	0.00	0.00	0.000	6	0.209	0.000	2698	2492	3631	0	0	0	0	0	0
4554	-0.56	-146.0	508.7	-8.4	469	4555	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2492	3632	0	0	0	0	0	0
4870	-0.62	-146.0	534.9	-8.3	499	4872	0.12	0.00	0.00	0.000	6	0.131	0.000	2656	2493	3632	0	0	0	0	0	0
4995	end dive: TARGET_DEPTH_EXCEEDED
state	4995	begin apogee
5001	-0.12	0.0	548.8	11.5	511	5132	0.55	0.00	122.10	1.269	6	0.197	0.000	2813	2271	3029	0	0	0	0	0	0
5132	end apogee: CONTROL_FINISHED_OK
state	5132	begin climb
5134	0.62	146.0	553.3	0.0	523	5269	0.80	2.58	125.18	1.225	4	0.137	0.069	3067	881	2433	0	0	0	0	0	0
5315	0.52	146.0	540.0	12.4	539	5323	0.15	2.45	0.00	0.000	6	0.193	0.058	3034	2275	2428	0	0	0	0	0	0
5641	0.46	146.0	505.4	10.8	570	5645	0.00	2.38	0.00	0.000	4	0.000	0.073	3033	3686	2424	0	0	0	0	0	0
5714	0.37	146.0	496.3	13.1	576	5719	0.22	2.33	0.00	0.000	6	0.197	0.057	2988	2283	2424	0	0	0	0	0	0
6040	0.44	178.5	468.9	8.5	606	6070	0.00	0.00	27.73	1.153	6	0.000	0.000	2988	2282	2302	0	0	0	0	0	0
6388	0.53	199.4	438.7	9.0	639	6410	0.15	0.00	19.45	1.121	6	0.096	0.000	3046	2283	2217	0	0	0	0	0	0
6727	0.50	199.4	396.5	12.0	671	6728	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2283	2213	0	0	0	0	0	0
7048	0.47	199.4	357.8	12.0	701	7053	0.12	2.33	0.00	0.000	4	0.186	0.073	3015	3687	2211	0	0	0	0	0	0
7102	0.47	199.4	350.6	12.5	705	7110	0.00	2.30	0.00	0.000	6	0.000	0.056	3023	2278	2211	0	0	0	0	0	0
7429	0.47	199.4	316.1	10.4	736	7433	0.00	2.28	0.00	0.000	4	0.000	0.070	3032	865	2211	0	0	0	0	0	0
7470	0.50	199.7	312.0	10.0	739	7474	0.00	2.28	0.00	0.000	6	0.000	0.060	3033	2278	2209	0	0	0	0	0	0
7795	0.50	199.7	277.8	10.1	769	7799	0.00	2.28	0.00	0.000	4	0.000	0.072	3032	3690	2209	0	0	0	0	0	0
7884	0.46	199.7	267.1	11.9	776	7891	0.12	2.28	0.00	0.000	6	0.205	0.057	3014	2273	2210	0	0	0	0	0	0
8209	0.54	226.9	238.9	8.7	807	8243	0.00	2.38	24.65	1.061	4	0.000	0.073	3021	864	2102	0	0	0	0	0	0
8272	0.63	230.7	233.2	9.8	812	8283	0.12	2.30	4.60	0.756	6	0.113	0.060	3072	2276	2089	0	0	0	0	0	0
8608	0.60	230.7	192.2	12.1	844	8612	0.00	2.30	0.00	0.000	4	0.000	0.073	3073	3688	2087	0	0	0	0	0	0
8694	0.54	230.7	180.5	14.0	851	8699	0.15	2.30	0.00	0.000	6	0.188	0.057	3045	2268	2086	0	0	0	0	0	0
9019	0.60	250.5	148.9	9.1	881	9043	0.00	2.38	18.80	1.004	4	0.000	0.072	3053	865	2007	0	0	0	0	0	0
9080	0.70	275.0	143.5	8.9	886	9114	0.10	2.30	23.40	0.995	6	0.125	0.060	3094	2280	1909	0	0	0	0	0	0
9431	0.70	275.0	102.1	11.5	919	9435	0.00	2.33	0.00	0.000	4	0.000	0.074	3093	3690	1902	0	0	0	0	0	0
9505	0.66	275.0	92.7	13.0	930	9512	0.00	2.30	0.00	0.000	6	0.000	0.060	3105	2269	1901	0	0	0	0	0	0
9850	0.66	275.0	54.6	10.6	991	9857	0.00	2.28	0.00	0.000	4	0.000	0.071	3113	861	1900	0	0	0	0	0	0
9914	0.66	275.0	47.4	11.5	1002	9921	0.12	2.28	0.00	0.000	6	0.195	0.060	3082	2276	1899	0	0	0	0	0	0
10260	0.71	278.7	15.7	9.8	1063	10267	0.00	2.28	0.00	0.000	4	0.000	0.073	3082	3687	1899	0	0	0	0	0	0
10309	0.74	278.7	10.4	11.2	1071	10315	0.00	2.30	0.00	0.000	6	0.000	0.060	3089	2264	1898	0	0	0	0	0	0
10327	end climb: FINISH_DEPTH_REACHED
state	10327	begin subsurface finish
10333	0.09	76.5	8.5	-9.9	1074	10370	0.60	2.33	-30.98	0.000	4	0.155	0.084	2901	866	2720	0	0	0	0	0	0
10371	end subsurface finish: CONTROL_FINISHED_OK
state	10371	begin surface