Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 252 * 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 252 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 41 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 19 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 -8067.6675 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 -8067.6675

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 41 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 19 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 252 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 281010,050646,6703.438,-5649.865,6,99.0,26,-37.5 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 1.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281010,051123,6703.432,-5649.975,15,99.0,34,-37.5 MHEAD_RNG_PITCHd_Wd 264.1,162082,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 535

Post-dive calculations and measurements:

FINISH 0.8,1.006147 _24V_AH 23.4,31.713

SM_CCo 10719,0.00,0.000,0,0,1461,358.38 _10V_AH 10.2,24.705

SM_GC 1.95,6.57,0.00,0.00,0.061,0.000,0.000,304,2782,1461,-6.72,0.06,358.38 FG_AHR_24Vo 0.000

RAFOS_CLK 426 FG_AHR_10Vo 0.000

RAFOS 0,1288252865,8.033334,8.018056,49,46,46,44,42,41,204,1173,1308,1667,426,26 MEM 189608

RAFOS_FIX 6704.749023,-5650.375000,281010,040428,4,78,0.43 DATA_FILE_SIZE 39999,1130

IRIDIUM_FIX 6631.12,-5646.10,281010,020208 CAP_FILE_SIZE 117977,0

TT8_MAMPS 0.030709 CFSIZE 260165632,232108032

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.68045 SOUNDSPEED 1476.3

TCM_TEMP 17.00 CURRENT 0.066,310.4,1

XPDR_PINGS 0 GPS 281010,081225,6702.803,-5652.925,66,1.1,67,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 250 93.95 SBE_CT 775 24 435.50

Roll_motor 86 73 148.65 SBE_O2 0 0 0.00

VBD_pump_during_apogee 397 903 8404.64 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 25 103 61.66 nil 0 0 0.00

Iridium_during_connect 14 160 54.38 nil 0 0 0.00

Iridium_during_xfer 100 223 523.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 19.28

TT8 2789 19 566.80

LPSleep 5588 2 131.68

TT8_Active 483 19 98.26

TT8_Sampling 1985 39 808.45

TT8_CF8 163 45 76.59

TT8_Kalman 0 0 0.00

Analog_circuits 1449 12 177.38

GPS_charging 0 0 0.00

Compass 1800 15 275.51

RAFOS 720 3 22.03

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 0 101 0.00 0.00 -83.00 0.000 2 0.000 0.000 292 2777 3377 0 0 0 0 0 0

103 -0.57 -146.0 5.4 -12.3 14 123 8.20 1.92 -2.92 0.000 4 0.250 0.073 2280 3931 3522 0 0 0 0 0 0

340 -0.57 -146.0 57.5 -14.3 56 348 0.00 1.83 0.00 0.000 6 0.000 0.041 2280 2776 3524 0 0 0 0 0 0

684 -0.57 -146.0 96.2 -10.1 117 690 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2776 3523 0 0 0 0 0 0

1012 -0.57 -146.0 128.8 -9.7 151 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2776 3522 0 0 0 0 0 0

1332 -0.57 -146.0 157.5 -8.9 181 1333 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2776 3522 0 0 0 0 0 0

1649 -0.57 -146.0 189.2 -9.9 211 1653 0.00 2.17 0.00 0.000 4 0.000 0.044 2280 1372 3523 0 0 0 0 0 0

1673 -0.57 -146.0 191.6 -9.7 213 1677 0.00 2.30 0.00 0.000 6 0.000 0.056 2276 2791 3523 0 0 0 0 0 0

1998 -0.57 -146.0 220.8 -8.1 243 2002 0.00 2.20 0.00 0.000 4 0.000 0.043 2276 1363 3522 0 0 0 0 0 0

2019 -0.57 -146.0 222.8 -8.8 244 2027 0.00 2.28 0.00 0.000 6 0.000 0.055 2274 2776 3523 0 0 0 0 0 0

2344 -0.57 -146.0 250.6 -8.8 275 2345 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2776 3523 0 0 0 0 0 0

2666 -0.57 -146.0 278.5 -8.7 305 2670 0.00 2.17 0.00 0.000 4 0.000 0.043 2273 1373 3523 0 0 0 0 0 0

2723 -0.57 -146.0 283.5 -8.1 310 2727 0.00 2.25 0.00 0.000 6 0.000 0.055 2272 2778 3523 0 0 0 0 0 0

3048 -0.57 -146.0 311.5 -9.0 340 3052 0.00 2.17 0.00 0.000 4 0.000 0.042 2272 1362 3523 0 0 0 0 0 0

3087 -0.57 -146.0 315.2 -9.7 343 3091 0.00 2.25 0.00 0.000 6 0.000 0.055 2272 2757 3523 0 0 0 0 0 0

3413 -0.57 -146.0 344.9 -9.0 373 3416 0.00 1.92 0.00 0.000 4 0.000 0.065 2271 3931 3524 0 0 0 0 0 0

3447 -0.57 -146.0 348.2 -9.4 376 3451 0.00 1.83 0.00 0.000 6 0.000 0.041 2271 2762 3523 0 0 0 0 0 0

3777 -0.57 -146.0 378.0 -9.3 407 3781 0.00 2.12 0.00 0.000 4 0.000 0.044 2271 1369 3523 0 0 0 0 0 0

3803 -0.57 -146.0 380.7 -9.7 409 3811 0.00 2.28 0.00 0.000 6 0.000 0.054 2263 2764 3524 0 0 0 0 0 0

4129 -0.57 -146.0 411.2 -8.6 440 4133 0.00 1.90 0.00 0.000 4 0.000 0.066 2254 3935 3524 0 0 0 0 0 0

4167 -0.57 -146.0 415.1 -9.8 443 4175 0.10 1.85 0.00 0.000 6 0.135 0.041 2289 2763 3524 0 0 0 0 0 0

4493 -0.57 -146.0 437.4 -6.3 474 4497 0.00 2.15 0.00 0.000 4 0.000 0.044 2288 1371 3524 0 0 0 0 0 0

4531 -0.57 -146.0 440.2 -7.1 477 4539 0.00 2.28 0.00 0.000 6 0.000 0.055 2288 2767 3524 0 0 0 0 0 0

4858 -0.57 -146.0 461.8 -6.2 508 4861 0.00 2.15 0.00 0.000 4 0.000 0.043 2288 1368 3523 0 0 0 0 0 0

4907 -0.57 -146.0 465.4 -6.8 512 4915 0.00 2.25 0.00 0.000 6 0.000 0.055 2288 2748 3523 0 0 0 0 0 0

5233 -0.57 -146.0 486.5 -6.9 543 5237 0.00 2.15 0.00 0.000 4 0.000 0.043 2288 1361 3523 0 0 0 0 0 0

5316 -0.57 -146.0 493.1 -7.9 550 5323 0.00 2.22 0.00 0.000 6 0.000 0.055 2288 2738 3524 0 0 0 0 0 0

5642 -0.57 -146.0 516.4 -6.7 581 5646 0.00 1.95 0.00 0.000 4 0.000 0.066 2284 3928 3524 0 0 0 0 0 0

5721 -0.57 -146.0 522.3 -7.7 588 5725 0.00 1.85 0.00 0.000 6 0.000 0.041 2284 2742 3524 0 0 0 0 0 0

5902 end dive: TARGET_DEPTH_EXCEEDED

state 5902 begin apogee

5907 -0.14 0.0 535.1 6.8 605 6029 0.43 0.00 115.68 0.903 4 0.123 0.000 2428 2600 2922 0 0 0 0 0 0

6030 end apogee: CONTROL_FINISHED_OK

state 6030 begin climb

6032 0.57 146.0 538.4 0.0 616 6160 0.65 2.33 118.60 0.887 4 0.067 0.044 2665 1179 2329 0 0 0 0 0 0

6337 0.57 146.0 509.4 11.6 643 6345 0.00 2.40 0.00 0.000 6 0.000 0.050 2665 2603 2321 0 0 0 0 0 0

6663 0.57 146.0 465.6 12.9 674 6667 0.00 2.22 0.00 0.000 4 0.000 0.047 2666 1193 2319 0 0 0 0 0 0

6825 0.57 146.0 446.6 11.8 688 6829 0.00 2.35 0.00 0.000 6 0.000 0.051 2666 2640 2318 0 0 0 0 0 0

7149 0.57 146.0 402.1 13.6 718 7153 0.00 2.10 0.00 0.000 4 0.000 0.062 2666 3926 2317 0 0 0 0 0 0

7198 0.57 146.0 394.3 16.6 722 7206 0.00 2.05 0.00 0.000 6 0.000 0.040 2666 2645 2316 0 0 0 0 0 0

7524 0.57 146.0 350.8 13.1 753 7526 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2645 2316 0 0 0 0 0 0

7843 0.57 146.0 311.1 11.8 783 7844 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2645 2316 0 0 0 0 0 0

8163 0.57 146.0 271.3 12.4 813 8164 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2645 2315 0 0 0 0 0 0

8481 0.57 146.0 233.0 12.3 843 8485 0.00 2.28 0.00 0.000 4 0.000 0.047 2667 1182 2315 0 0 0 0 0 0

8531 0.57 146.0 227.5 10.4 847 8535 0.00 2.35 0.00 0.000 6 0.000 0.051 2667 2653 2316 0 0 0 0 0 0

8861 0.57 146.0 188.8 12.4 878 8865 0.00 2.08 0.00 0.000 4 0.000 0.062 2667 3925 2315 0 0 0 0 0 0

8963 0.57 146.0 174.1 14.3 887 8967 0.00 1.98 0.00 0.000 6 0.000 0.040 2667 2649 2314 0 0 0 0 0 0

9294 0.57 146.0 133.1 12.9 918 9295 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2647 2314 0 0 0 0 0 0

9617 0.57 146.0 96.5 10.2 951 9624 0.00 2.10 0.00 0.000 4 0.000 0.062 2666 3925 2314 0 0 0 0 0 0

9674 0.57 146.0 89.6 12.2 961 9681 0.00 1.98 0.00 0.000 6 0.000 0.038 2667 2654 2314 0 0 0 0 0 0

10016 0.61 215.8 58.4 6.8 1022 10078 0.00 2.33 53.42 0.608 4 0.000 0.046 2667 1196 2042 0 0 0 0 0 0

10124 0.65 271.1 50.5 7.4 1040 10176 0.00 2.33 44.30 0.597 6 0.000 0.050 2667 2641 1817 0 0 0 0 0 0

10509 0.70 355.7 15.5 6.1 1108 10585 0.10 2.40 65.55 0.577 4 0.116 0.044 2710 1190 1470 0 0 0 0 0 0

10609 0.70 355.7 4.4 12.0 1124 10618 0.00 2.35 0.00 0.000 6 0.000 0.049 2711 2622 1466 0 0 0 0 0 0

10622 end climb: SURFACE_DEPTH_REACHED

state 10622 begin surface coast

10645 end surface coast: CONTROL_FINISHED_OK

state 10645 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	252	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	41	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	19	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	-8067.6675	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	281010,050646,6703.438,-5649.865,6,99.0,26,-37.5	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	1.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281010,051123,6703.432,-5649.975,15,99.0,34,-37.5	MHEAD_RNG_PITCHd_Wd	264.1,162082,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	535

FINISH	0.8,1.006147	_24V_AH	23.4,31.713
SM_CCo	10719,0.00,0.000,0,0,1461,358.38	_10V_AH	10.2,24.705
SM_GC	1.95,6.57,0.00,0.00,0.061,0.000,0.000,304,2782,1461,-6.72,0.06,358.38	FG_AHR_24Vo	0.000
RAFOS_CLK	426	FG_AHR_10Vo	0.000
RAFOS	0,1288252865,8.033334,8.018056,49,46,46,44,42,41,204,1173,1308,1667,426,26	MEM	189608
RAFOS_FIX	6704.749023,-5650.375000,281010,040428,4,78,0.43	DATA_FILE_SIZE	39999,1130
IRIDIUM_FIX	6631.12,-5646.10,281010,020208	CAP_FILE_SIZE	117977,0
TT8_MAMPS	0.030709	CFSIZE	260165632,232108032
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.68045	SOUNDSPEED	1476.3
TCM_TEMP	17.00	CURRENT	0.066,310.4,1
XPDR_PINGS	0	GPS	281010,081225,6702.803,-5652.925,66,1.1,67,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	250	93.95	SBE_CT	775	24	435.50
Roll_motor	86	73	148.65	SBE_O2	0	0	0.00
VBD_pump_during_apogee	397	903	8404.64	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	25	103	61.66	nil	0	0	0.00
Iridium_during_connect	14	160	54.38	nil	0	0	0.00
Iridium_during_xfer	100	223	523.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	19.28
TT8	2789	19	566.80
LPSleep	5588	2	131.68
TT8_Active	483	19	98.26
TT8_Sampling	1985	39	808.45
TT8_CF8	163	45	76.59
TT8_Kalman	0	0	0.00
Analog_circuits	1449	12	177.38
GPS_charging	0	0	0.00
Compass	1800	15	275.51
RAFOS	720	3	22.03
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	101	0.00	0.00	-83.00	0.000	2	0.000	0.000	292	2777	3377	0	0	0	0	0	0
103	-0.57	-146.0	5.4	-12.3	14	123	8.20	1.92	-2.92	0.000	4	0.250	0.073	2280	3931	3522	0	0	0	0	0	0
340	-0.57	-146.0	57.5	-14.3	56	348	0.00	1.83	0.00	0.000	6	0.000	0.041	2280	2776	3524	0	0	0	0	0	0
684	-0.57	-146.0	96.2	-10.1	117	690	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2776	3523	0	0	0	0	0	0
1012	-0.57	-146.0	128.8	-9.7	151	1013	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2776	3522	0	0	0	0	0	0
1332	-0.57	-146.0	157.5	-8.9	181	1333	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2776	3522	0	0	0	0	0	0
1649	-0.57	-146.0	189.2	-9.9	211	1653	0.00	2.17	0.00	0.000	4	0.000	0.044	2280	1372	3523	0	0	0	0	0	0
1673	-0.57	-146.0	191.6	-9.7	213	1677	0.00	2.30	0.00	0.000	6	0.000	0.056	2276	2791	3523	0	0	0	0	0	0
1998	-0.57	-146.0	220.8	-8.1	243	2002	0.00	2.20	0.00	0.000	4	0.000	0.043	2276	1363	3522	0	0	0	0	0	0
2019	-0.57	-146.0	222.8	-8.8	244	2027	0.00	2.28	0.00	0.000	6	0.000	0.055	2274	2776	3523	0	0	0	0	0	0
2344	-0.57	-146.0	250.6	-8.8	275	2345	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2776	3523	0	0	0	0	0	0
2666	-0.57	-146.0	278.5	-8.7	305	2670	0.00	2.17	0.00	0.000	4	0.000	0.043	2273	1373	3523	0	0	0	0	0	0
2723	-0.57	-146.0	283.5	-8.1	310	2727	0.00	2.25	0.00	0.000	6	0.000	0.055	2272	2778	3523	0	0	0	0	0	0
3048	-0.57	-146.0	311.5	-9.0	340	3052	0.00	2.17	0.00	0.000	4	0.000	0.042	2272	1362	3523	0	0	0	0	0	0
3087	-0.57	-146.0	315.2	-9.7	343	3091	0.00	2.25	0.00	0.000	6	0.000	0.055	2272	2757	3523	0	0	0	0	0	0
3413	-0.57	-146.0	344.9	-9.0	373	3416	0.00	1.92	0.00	0.000	4	0.000	0.065	2271	3931	3524	0	0	0	0	0	0
3447	-0.57	-146.0	348.2	-9.4	376	3451	0.00	1.83	0.00	0.000	6	0.000	0.041	2271	2762	3523	0	0	0	0	0	0
3777	-0.57	-146.0	378.0	-9.3	407	3781	0.00	2.12	0.00	0.000	4	0.000	0.044	2271	1369	3523	0	0	0	0	0	0
3803	-0.57	-146.0	380.7	-9.7	409	3811	0.00	2.28	0.00	0.000	6	0.000	0.054	2263	2764	3524	0	0	0	0	0	0
4129	-0.57	-146.0	411.2	-8.6	440	4133	0.00	1.90	0.00	0.000	4	0.000	0.066	2254	3935	3524	0	0	0	0	0	0
4167	-0.57	-146.0	415.1	-9.8	443	4175	0.10	1.85	0.00	0.000	6	0.135	0.041	2289	2763	3524	0	0	0	0	0	0
4493	-0.57	-146.0	437.4	-6.3	474	4497	0.00	2.15	0.00	0.000	4	0.000	0.044	2288	1371	3524	0	0	0	0	0	0
4531	-0.57	-146.0	440.2	-7.1	477	4539	0.00	2.28	0.00	0.000	6	0.000	0.055	2288	2767	3524	0	0	0	0	0	0
4858	-0.57	-146.0	461.8	-6.2	508	4861	0.00	2.15	0.00	0.000	4	0.000	0.043	2288	1368	3523	0	0	0	0	0	0
4907	-0.57	-146.0	465.4	-6.8	512	4915	0.00	2.25	0.00	0.000	6	0.000	0.055	2288	2748	3523	0	0	0	0	0	0
5233	-0.57	-146.0	486.5	-6.9	543	5237	0.00	2.15	0.00	0.000	4	0.000	0.043	2288	1361	3523	0	0	0	0	0	0
5316	-0.57	-146.0	493.1	-7.9	550	5323	0.00	2.22	0.00	0.000	6	0.000	0.055	2288	2738	3524	0	0	0	0	0	0
5642	-0.57	-146.0	516.4	-6.7	581	5646	0.00	1.95	0.00	0.000	4	0.000	0.066	2284	3928	3524	0	0	0	0	0	0
5721	-0.57	-146.0	522.3	-7.7	588	5725	0.00	1.85	0.00	0.000	6	0.000	0.041	2284	2742	3524	0	0	0	0	0	0
5902	end dive: TARGET_DEPTH_EXCEEDED
state	5902	begin apogee
5907	-0.14	0.0	535.1	6.8	605	6029	0.43	0.00	115.68	0.903	4	0.123	0.000	2428	2600	2922	0	0	0	0	0	0
6030	end apogee: CONTROL_FINISHED_OK
state	6030	begin climb
6032	0.57	146.0	538.4	0.0	616	6160	0.65	2.33	118.60	0.887	4	0.067	0.044	2665	1179	2329	0	0	0	0	0	0
6337	0.57	146.0	509.4	11.6	643	6345	0.00	2.40	0.00	0.000	6	0.000	0.050	2665	2603	2321	0	0	0	0	0	0
6663	0.57	146.0	465.6	12.9	674	6667	0.00	2.22	0.00	0.000	4	0.000	0.047	2666	1193	2319	0	0	0	0	0	0
6825	0.57	146.0	446.6	11.8	688	6829	0.00	2.35	0.00	0.000	6	0.000	0.051	2666	2640	2318	0	0	0	0	0	0
7149	0.57	146.0	402.1	13.6	718	7153	0.00	2.10	0.00	0.000	4	0.000	0.062	2666	3926	2317	0	0	0	0	0	0
7198	0.57	146.0	394.3	16.6	722	7206	0.00	2.05	0.00	0.000	6	0.000	0.040	2666	2645	2316	0	0	0	0	0	0
7524	0.57	146.0	350.8	13.1	753	7526	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2645	2316	0	0	0	0	0	0
7843	0.57	146.0	311.1	11.8	783	7844	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2645	2316	0	0	0	0	0	0
8163	0.57	146.0	271.3	12.4	813	8164	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2645	2315	0	0	0	0	0	0
8481	0.57	146.0	233.0	12.3	843	8485	0.00	2.28	0.00	0.000	4	0.000	0.047	2667	1182	2315	0	0	0	0	0	0
8531	0.57	146.0	227.5	10.4	847	8535	0.00	2.35	0.00	0.000	6	0.000	0.051	2667	2653	2316	0	0	0	0	0	0
8861	0.57	146.0	188.8	12.4	878	8865	0.00	2.08	0.00	0.000	4	0.000	0.062	2667	3925	2315	0	0	0	0	0	0
8963	0.57	146.0	174.1	14.3	887	8967	0.00	1.98	0.00	0.000	6	0.000	0.040	2667	2649	2314	0	0	0	0	0	0
9294	0.57	146.0	133.1	12.9	918	9295	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2647	2314	0	0	0	0	0	0
9617	0.57	146.0	96.5	10.2	951	9624	0.00	2.10	0.00	0.000	4	0.000	0.062	2666	3925	2314	0	0	0	0	0	0
9674	0.57	146.0	89.6	12.2	961	9681	0.00	1.98	0.00	0.000	6	0.000	0.038	2667	2654	2314	0	0	0	0	0	0
10016	0.61	215.8	58.4	6.8	1022	10078	0.00	2.33	53.42	0.608	4	0.000	0.046	2667	1196	2042	0	0	0	0	0	0
10124	0.65	271.1	50.5	7.4	1040	10176	0.00	2.33	44.30	0.597	6	0.000	0.050	2667	2641	1817	0	0	0	0	0	0
10509	0.70	355.7	15.5	6.1	1108	10585	0.10	2.40	65.55	0.577	4	0.116	0.044	2710	1190	1470	0	0	0	0	0	0
10609	0.70	355.7	4.4	12.0	1124	10618	0.00	2.35	0.00	0.000	6	0.000	0.049	2711	2622	1466	0	0	0	0	0	0
10622	end climb: SURFACE_DEPTH_REACHED
state	10622	begin surface coast
10645	end surface coast: CONTROL_FINISHED_OK
state	10645	begin surface