Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 253 * 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 253 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 27 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 -8068.9224 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 -8068.9224

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 40 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 253 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 281010,081225,6702.803,-5652.925,66,1.1,67,-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 1.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281010,081644,6702.821,-5652.997,9,1.1,9,-37.5 MHEAD_RNG_PITCHd_Wd 283.3,159676,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 577

Post-dive calculations and measurements:

FINISH 1.2,1.025488 _24V_AH 23.3,31.796

SM_CCo 11247,53.40,0.076,0,0,1495,350.04 _10V_AH 10.2,24.775

SM_GC 1.93,0.00,0.00,53.40,0.000,0.000,0.076,297,2777,1495,-6.81,-0.08,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 449 FG_AHR_10Vo 0.000

RAFOS 1,1288253344,8.166667,8.151111,44,44,42,42,40,40,507,597,151,1902,1608,1775 MEM 189536

RAFOS_FIX 6704.749023,-5650.375000,281010,040428,4,78,0.43 DATA_FILE_SIZE 43339,1177

IRIDIUM_FIX 6631.12,-5641.49,281010,050514 CAP_FILE_SIZE 124399,0

TT8_MAMPS 0.028462 CFSIZE 260165632,232038400

HUMID 46.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.69998 SOUNDSPEED 1477.2

TCM_TEMP 17.00 CURRENT 0.084,135.7,1

XPDR_PINGS 0 GPS 281010,112706,6701.782,-5654.994,35,1.0,40,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 249 91.96 SBE_CT 809 24 452.61

Roll_motor 94 73 162.35 SBE_O2 0 0 0.00

VBD_pump_during_apogee 307 924 6629.16 nil 0 0 0.00

VBD_pump_during_surface 53 75 94.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.55 nil 0 0 0.00

Iridium_during_connect 16 160 60.81 nil 0 0 0.00

Iridium_during_xfer 101 223 529.96 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.22

TT8 2940 19 597.45

LPSleep 5930 2 139.74

TT8_Active 477 19 97.05

TT8_Sampling 2046 39 833.43

TT8_CF8 177 45 82.99

TT8_Kalman 0 0 0.00

Analog_circuits 1470 12 179.94

GPS_charging 0 0 0.00

Compass 1879 15 287.53

RAFOS 1800 3 55.08

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 0 103 0.00 0.00 -85.88 0.000 2 0.000 0.000 293 2782 3469 0 0 0 0 0 0

105 -0.57 -146.0 6.5 -16.1 14 120 8.15 1.95 -1.00 0.000 4 0.249 0.073 2276 3938 3522 0 0 0 0 0 0

264 -0.57 -146.0 47.3 -13.5 42 271 0.00 1.85 0.00 0.000 6 0.000 0.041 2275 2771 3524 0 0 0 0 0 0

607 -0.57 -146.0 95.5 -13.8 103 614 0.00 2.20 0.00 0.000 4 0.000 0.044 2275 1363 3524 0 0 0 0 0 0

680 -0.57 -146.0 105.3 -13.0 112 689 0.00 2.30 0.00 0.000 6 0.000 0.056 2274 2763 3523 0 0 0 0 0 0

1007 -0.57 -146.0 140.9 -9.0 143 1008 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2762 3522 0 0 0 0 0 0

1328 -0.57 -146.0 168.5 -8.7 173 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2763 3523 0 0 0 0 0 0

1656 -0.57 -146.0 199.2 -9.2 204 1660 0.00 2.17 0.00 0.000 4 0.000 0.044 2274 1366 3522 0 0 0 0 0 0

1699 -0.57 -146.0 204.0 -10.3 207 1706 0.00 2.30 0.00 0.000 6 0.000 0.055 2274 2775 3523 0 0 0 0 0 0

2025 -0.57 -146.0 234.4 -9.3 238 2028 0.00 1.90 0.00 0.000 4 0.000 0.066 2270 3933 3523 0 0 0 0 0 0

2074 -0.57 -146.0 239.2 -9.8 242 2081 0.00 1.83 0.00 0.000 6 0.000 0.041 2270 2785 3523 0 0 0 0 0 0

2400 -0.57 -146.0 268.5 -9.3 273 2404 0.00 2.17 0.00 0.000 4 0.000 0.044 2269 1370 3523 0 0 0 0 0 0

2433 -0.57 -146.0 272.0 -10.8 276 2437 0.00 2.28 0.00 0.000 6 0.000 0.055 2262 2790 3522 0 0 0 0 0 0

2758 -0.57 -146.0 305.7 -9.9 306 2762 0.00 2.17 0.00 0.000 4 0.000 0.043 2262 1372 3523 0 0 0 0 0 0

2813 -0.57 -146.0 311.2 -9.6 310 2820 0.12 2.30 0.00 0.000 6 0.169 0.056 2292 2793 3522 0 0 0 0 0 0

3139 -0.57 -146.0 336.0 -7.5 341 3143 0.00 2.20 0.00 0.000 4 0.000 0.043 2292 1362 3522 0 0 0 0 0 0

3171 -0.57 -146.0 338.6 -7.4 343 3178 0.00 2.30 0.00 0.000 6 0.000 0.055 2292 2788 3522 0 0 0 0 0 0

3497 -0.57 -146.0 361.5 -6.5 374 3501 0.00 2.20 0.00 0.000 4 0.000 0.043 2292 1369 3522 0 0 0 0 0 0

3518 -0.57 -146.0 363.3 -7.7 375 3525 0.00 2.25 0.00 0.000 6 0.000 0.055 2289 2766 3522 0 0 0 0 0 0

3844 -0.57 -146.0 384.6 -6.2 406 3845 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2767 3522 0 0 0 0 0 0

4163 -0.57 -146.0 406.4 -6.9 436 4164 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 2767 3523 0 0 0 0 0 0

4484 -0.57 -146.0 429.9 -8.0 466 4487 0.00 2.17 0.00 0.000 4 0.000 0.043 2288 1366 3523 0 0 0 0 0 0

4522 -0.57 -146.0 433.4 -8.4 469 4529 0.00 2.22 0.00 0.000 6 0.000 0.055 2288 2758 3523 0 0 0 0 0 0

4847 -0.57 -146.0 458.7 -8.1 500 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2758 3523 0 0 0 0 0 0

5167 -0.57 -146.0 482.5 -7.1 530 5170 0.00 2.15 0.00 0.000 4 0.000 0.043 2288 1371 3523 0 0 0 0 0 0

5268 -0.57 -146.0 490.1 -8.4 539 5272 0.00 2.20 0.00 0.000 6 0.000 0.054 2287 2749 3523 0 0 0 0 0 0

5594 -0.57 -146.0 515.0 -7.6 569 5595 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2749 3523 0 0 0 0 0 0

5913 -0.57 -146.0 538.7 -8.0 599 5917 0.00 2.12 0.00 0.000 4 0.000 0.043 2288 1372 3523 0 0 0 0 0 0

5974 -0.57 -146.0 543.9 -8.8 604 5982 0.00 2.25 0.00 0.000 6 0.000 0.055 2288 2748 3523 0 0 0 0 0 0

6300 -0.57 -146.0 568.2 -7.5 635 6303 0.00 1.95 0.00 0.000 4 0.000 0.065 2284 3935 3523 0 0 0 0 0 0

6373 -0.57 -146.0 573.6 -7.7 641 6380 0.00 1.85 0.00 0.000 6 0.000 0.041 2284 2752 3523 0 0 0 0 0 0

6430 end dive: TARGET_DEPTH_EXCEEDED

state 6430 begin apogee

6435 -0.14 0.0 577.7 7.3 647 6558 0.43 0.00 116.10 0.924 4 0.122 0.000 2428 2593 2923 0 0 0 0 0 0

6559 end apogee: CONTROL_FINISHED_OK

state 6559 begin climb

6560 0.57 146.0 580.3 0.0 658 6688 0.65 2.30 119.72 0.908 4 0.061 0.044 2669 1184 2327 0 0 0 0 0 0

6856 0.57 146.0 548.3 13.8 684 6864 0.00 2.40 0.00 0.000 6 0.000 0.050 2669 2600 2319 0 0 0 0 0 0

7181 0.57 146.0 502.2 14.4 715 7185 0.00 2.22 0.00 0.000 4 0.000 0.046 2675 1192 2317 0 0 0 0 0 0

7321 0.57 146.0 482.8 14.1 727 7325 0.00 2.30 0.00 0.000 6 0.000 0.050 2675 2625 2317 0 0 0 0 0 0

7646 0.57 146.0 434.9 14.9 757 7647 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2625 2315 0 0 0 0 0 0

7965 0.57 146.0 389.0 13.9 787 7969 0.00 2.15 0.00 0.000 4 0.000 0.062 2675 3932 2315 0 0 0 0 0 0

8013 0.57 146.0 380.8 16.6 791 8021 0.00 2.10 0.00 0.000 6 0.000 0.039 2682 2610 2314 0 0 0 0 0 0

8339 0.57 146.0 333.2 14.4 822 8343 0.00 2.17 0.00 0.000 4 0.000 0.062 2682 3929 2314 0 0 0 0 0 0

8384 0.57 146.0 326.1 16.3 826 8389 0.12 2.05 0.00 0.000 6 0.211 0.039 2661 2619 2313 0 0 0 0 0 0

8710 0.57 146.0 284.0 13.4 856 8711 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2619 2313 0 0 0 0 0 0

9028 0.57 146.0 243.7 11.9 886 9032 0.00 2.22 0.00 0.000 4 0.000 0.046 2666 1187 2313 0 0 0 0 0 0

9078 0.57 146.0 237.9 11.4 890 9083 0.00 2.33 0.00 0.000 6 0.000 0.051 2666 2641 2313 0 0 0 0 0 0

9409 0.57 146.0 197.3 12.6 921 9413 0.00 2.10 0.00 0.000 4 0.000 0.062 2665 3928 2313 0 0 0 0 0 0

9443 0.57 146.0 192.5 14.4 924 9447 0.00 2.05 0.00 0.000 6 0.000 0.039 2666 2613 2313 0 0 0 0 0 0

9773 0.57 146.0 153.7 12.1 955 9777 0.00 2.15 0.00 0.000 4 0.000 0.062 2666 3933 2313 0 0 0 0 0 0

9807 0.57 146.0 149.0 14.4 958 9810 0.00 2.05 0.00 0.000 6 0.000 0.039 2666 2615 2312 0 0 0 0 0 0

10137 0.57 146.0 106.4 12.5 989 10141 0.00 2.17 0.00 0.000 4 0.000 0.062 2666 3932 2312 0 0 0 0 0 0

10205 0.57 146.0 97.5 13.4 996 10213 0.00 2.03 0.00 0.000 6 0.000 0.038 2666 2630 2312 0 0 0 0 0 0

10548 0.57 146.0 63.2 10.0 1057 10555 0.00 2.22 0.00 0.000 4 0.000 0.047 2666 1192 2312 0 0 0 0 0 0

10656 0.59 187.4 54.1 8.1 1076 10695 0.00 2.28 31.35 0.605 6 0.000 0.050 2666 2623 2158 0 0 0 0 0 0

11031 0.63 238.6 20.1 7.6 1142 11081 0.00 2.20 40.70 0.582 4 0.000 0.061 2666 3921 1948 0 0 0 0 0 0

11213 end climb: SURFACE_DEPTH_REACHED

state 11213 begin surface coast

11231 end surface coast: CONTROL_FINISHED_OK

state 11231 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	253	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	27	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	-8068.9224	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	281010,081225,6702.803,-5652.925,66,1.1,67,-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	1.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281010,081644,6702.821,-5652.997,9,1.1,9,-37.5	MHEAD_RNG_PITCHd_Wd	283.3,159676,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	577

FINISH	1.2,1.025488	_24V_AH	23.3,31.796
SM_CCo	11247,53.40,0.076,0,0,1495,350.04	_10V_AH	10.2,24.775
SM_GC	1.93,0.00,0.00,53.40,0.000,0.000,0.076,297,2777,1495,-6.81,-0.08,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	449	FG_AHR_10Vo	0.000
RAFOS	1,1288253344,8.166667,8.151111,44,44,42,42,40,40,507,597,151,1902,1608,1775	MEM	189536
RAFOS_FIX	6704.749023,-5650.375000,281010,040428,4,78,0.43	DATA_FILE_SIZE	43339,1177
IRIDIUM_FIX	6631.12,-5641.49,281010,050514	CAP_FILE_SIZE	124399,0
TT8_MAMPS	0.028462	CFSIZE	260165632,232038400
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.69998	SOUNDSPEED	1477.2
TCM_TEMP	17.00	CURRENT	0.084,135.7,1
XPDR_PINGS	0	GPS	281010,112706,6701.782,-5654.994,35,1.0,40,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	249	91.96	SBE_CT	809	24	452.61
Roll_motor	94	73	162.35	SBE_O2	0	0	0.00
VBD_pump_during_apogee	307	924	6629.16	nil	0	0	0.00
VBD_pump_during_surface	53	75	94.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.55	nil	0	0	0.00
Iridium_during_connect	16	160	60.81	nil	0	0	0.00
Iridium_during_xfer	101	223	529.96	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.22
TT8	2940	19	597.45
LPSleep	5930	2	139.74
TT8_Active	477	19	97.05
TT8_Sampling	2046	39	833.43
TT8_CF8	177	45	82.99
TT8_Kalman	0	0	0.00
Analog_circuits	1470	12	179.94
GPS_charging	0	0	0.00
Compass	1879	15	287.53
RAFOS	1800	3	55.08
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	103	0.00	0.00	-85.88	0.000	2	0.000	0.000	293	2782	3469	0	0	0	0	0	0
105	-0.57	-146.0	6.5	-16.1	14	120	8.15	1.95	-1.00	0.000	4	0.249	0.073	2276	3938	3522	0	0	0	0	0	0
264	-0.57	-146.0	47.3	-13.5	42	271	0.00	1.85	0.00	0.000	6	0.000	0.041	2275	2771	3524	0	0	0	0	0	0
607	-0.57	-146.0	95.5	-13.8	103	614	0.00	2.20	0.00	0.000	4	0.000	0.044	2275	1363	3524	0	0	0	0	0	0
680	-0.57	-146.0	105.3	-13.0	112	689	0.00	2.30	0.00	0.000	6	0.000	0.056	2274	2763	3523	0	0	0	0	0	0
1007	-0.57	-146.0	140.9	-9.0	143	1008	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2762	3522	0	0	0	0	0	0
1328	-0.57	-146.0	168.5	-8.7	173	1334	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2763	3523	0	0	0	0	0	0
1656	-0.57	-146.0	199.2	-9.2	204	1660	0.00	2.17	0.00	0.000	4	0.000	0.044	2274	1366	3522	0	0	0	0	0	0
1699	-0.57	-146.0	204.0	-10.3	207	1706	0.00	2.30	0.00	0.000	6	0.000	0.055	2274	2775	3523	0	0	0	0	0	0
2025	-0.57	-146.0	234.4	-9.3	238	2028	0.00	1.90	0.00	0.000	4	0.000	0.066	2270	3933	3523	0	0	0	0	0	0
2074	-0.57	-146.0	239.2	-9.8	242	2081	0.00	1.83	0.00	0.000	6	0.000	0.041	2270	2785	3523	0	0	0	0	0	0
2400	-0.57	-146.0	268.5	-9.3	273	2404	0.00	2.17	0.00	0.000	4	0.000	0.044	2269	1370	3523	0	0	0	0	0	0
2433	-0.57	-146.0	272.0	-10.8	276	2437	0.00	2.28	0.00	0.000	6	0.000	0.055	2262	2790	3522	0	0	0	0	0	0
2758	-0.57	-146.0	305.7	-9.9	306	2762	0.00	2.17	0.00	0.000	4	0.000	0.043	2262	1372	3523	0	0	0	0	0	0
2813	-0.57	-146.0	311.2	-9.6	310	2820	0.12	2.30	0.00	0.000	6	0.169	0.056	2292	2793	3522	0	0	0	0	0	0
3139	-0.57	-146.0	336.0	-7.5	341	3143	0.00	2.20	0.00	0.000	4	0.000	0.043	2292	1362	3522	0	0	0	0	0	0
3171	-0.57	-146.0	338.6	-7.4	343	3178	0.00	2.30	0.00	0.000	6	0.000	0.055	2292	2788	3522	0	0	0	0	0	0
3497	-0.57	-146.0	361.5	-6.5	374	3501	0.00	2.20	0.00	0.000	4	0.000	0.043	2292	1369	3522	0	0	0	0	0	0
3518	-0.57	-146.0	363.3	-7.7	375	3525	0.00	2.25	0.00	0.000	6	0.000	0.055	2289	2766	3522	0	0	0	0	0	0
3844	-0.57	-146.0	384.6	-6.2	406	3845	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2767	3522	0	0	0	0	0	0
4163	-0.57	-146.0	406.4	-6.9	436	4164	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	2767	3523	0	0	0	0	0	0
4484	-0.57	-146.0	429.9	-8.0	466	4487	0.00	2.17	0.00	0.000	4	0.000	0.043	2288	1366	3523	0	0	0	0	0	0
4522	-0.57	-146.0	433.4	-8.4	469	4529	0.00	2.22	0.00	0.000	6	0.000	0.055	2288	2758	3523	0	0	0	0	0	0
4847	-0.57	-146.0	458.7	-8.1	500	4849	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2758	3523	0	0	0	0	0	0
5167	-0.57	-146.0	482.5	-7.1	530	5170	0.00	2.15	0.00	0.000	4	0.000	0.043	2288	1371	3523	0	0	0	0	0	0
5268	-0.57	-146.0	490.1	-8.4	539	5272	0.00	2.20	0.00	0.000	6	0.000	0.054	2287	2749	3523	0	0	0	0	0	0
5594	-0.57	-146.0	515.0	-7.6	569	5595	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2749	3523	0	0	0	0	0	0
5913	-0.57	-146.0	538.7	-8.0	599	5917	0.00	2.12	0.00	0.000	4	0.000	0.043	2288	1372	3523	0	0	0	0	0	0
5974	-0.57	-146.0	543.9	-8.8	604	5982	0.00	2.25	0.00	0.000	6	0.000	0.055	2288	2748	3523	0	0	0	0	0	0
6300	-0.57	-146.0	568.2	-7.5	635	6303	0.00	1.95	0.00	0.000	4	0.000	0.065	2284	3935	3523	0	0	0	0	0	0
6373	-0.57	-146.0	573.6	-7.7	641	6380	0.00	1.85	0.00	0.000	6	0.000	0.041	2284	2752	3523	0	0	0	0	0	0
6430	end dive: TARGET_DEPTH_EXCEEDED
state	6430	begin apogee
6435	-0.14	0.0	577.7	7.3	647	6558	0.43	0.00	116.10	0.924	4	0.122	0.000	2428	2593	2923	0	0	0	0	0	0
6559	end apogee: CONTROL_FINISHED_OK
state	6559	begin climb
6560	0.57	146.0	580.3	0.0	658	6688	0.65	2.30	119.72	0.908	4	0.061	0.044	2669	1184	2327	0	0	0	0	0	0
6856	0.57	146.0	548.3	13.8	684	6864	0.00	2.40	0.00	0.000	6	0.000	0.050	2669	2600	2319	0	0	0	0	0	0
7181	0.57	146.0	502.2	14.4	715	7185	0.00	2.22	0.00	0.000	4	0.000	0.046	2675	1192	2317	0	0	0	0	0	0
7321	0.57	146.0	482.8	14.1	727	7325	0.00	2.30	0.00	0.000	6	0.000	0.050	2675	2625	2317	0	0	0	0	0	0
7646	0.57	146.0	434.9	14.9	757	7647	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2625	2315	0	0	0	0	0	0
7965	0.57	146.0	389.0	13.9	787	7969	0.00	2.15	0.00	0.000	4	0.000	0.062	2675	3932	2315	0	0	0	0	0	0
8013	0.57	146.0	380.8	16.6	791	8021	0.00	2.10	0.00	0.000	6	0.000	0.039	2682	2610	2314	0	0	0	0	0	0
8339	0.57	146.0	333.2	14.4	822	8343	0.00	2.17	0.00	0.000	4	0.000	0.062	2682	3929	2314	0	0	0	0	0	0
8384	0.57	146.0	326.1	16.3	826	8389	0.12	2.05	0.00	0.000	6	0.211	0.039	2661	2619	2313	0	0	0	0	0	0
8710	0.57	146.0	284.0	13.4	856	8711	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2619	2313	0	0	0	0	0	0
9028	0.57	146.0	243.7	11.9	886	9032	0.00	2.22	0.00	0.000	4	0.000	0.046	2666	1187	2313	0	0	0	0	0	0
9078	0.57	146.0	237.9	11.4	890	9083	0.00	2.33	0.00	0.000	6	0.000	0.051	2666	2641	2313	0	0	0	0	0	0
9409	0.57	146.0	197.3	12.6	921	9413	0.00	2.10	0.00	0.000	4	0.000	0.062	2665	3928	2313	0	0	0	0	0	0
9443	0.57	146.0	192.5	14.4	924	9447	0.00	2.05	0.00	0.000	6	0.000	0.039	2666	2613	2313	0	0	0	0	0	0
9773	0.57	146.0	153.7	12.1	955	9777	0.00	2.15	0.00	0.000	4	0.000	0.062	2666	3933	2313	0	0	0	0	0	0
9807	0.57	146.0	149.0	14.4	958	9810	0.00	2.05	0.00	0.000	6	0.000	0.039	2666	2615	2312	0	0	0	0	0	0
10137	0.57	146.0	106.4	12.5	989	10141	0.00	2.17	0.00	0.000	4	0.000	0.062	2666	3932	2312	0	0	0	0	0	0
10205	0.57	146.0	97.5	13.4	996	10213	0.00	2.03	0.00	0.000	6	0.000	0.038	2666	2630	2312	0	0	0	0	0	0
10548	0.57	146.0	63.2	10.0	1057	10555	0.00	2.22	0.00	0.000	4	0.000	0.047	2666	1192	2312	0	0	0	0	0	0
10656	0.59	187.4	54.1	8.1	1076	10695	0.00	2.28	31.35	0.605	6	0.000	0.050	2666	2623	2158	0	0	0	0	0	0
11031	0.63	238.6	20.1	7.6	1142	11081	0.00	2.20	40.70	0.582	4	0.000	0.061	2666	3921	1948	0	0	0	0	0	0
11213	end climb: SURFACE_DEPTH_REACHED
state	11213	begin surface coast
11231	end surface coast: CONTROL_FINISHED_OK
state	11231	begin surface