Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 31 * 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 31 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2700 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2550 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 32 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 0 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 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 -2 T_GPS_CHARGE -7724.5635 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 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 3 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 -7724.5635

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 3 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2550 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2700 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

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 32 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 31 NAV_MODE 0 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 130910,170437,6642.455,-6022.229,35,1.3,35,-38.0 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 0.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130910,170933,6642.523,-6022.186,11,2.6,30,-38.0 MHEAD_RNG_PITCHd_Wd 114.2,159255,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 529

Post-dive calculations and measurements:

FINISH -0.0,1.024499 _24V_AH 23.2,7.906

SM_CCo 10353,0.00,0.000,0,0,992,473.67 _10V_AH 10.2,5.138

SM_GC 0.83,6.88,0.00,0.00,0.069,0.000,0.000,305,2704,992,-6.72,0.11,473.67 FG_AHR_24Vo 0.000

MAGERROR 2 FG_AHR_10Vo 0.000

RAFOS_CLK 551 MEM 151688

RAFOS_FIX 6643.429199,-6016.243164,130910,161642,3,93,1.01 DATA_FILE_SIZE 43403,1110

IRIDIUM_FIX 6620.33,-5636.79,130910,141419 CAP_FILE_SIZE 118817,0

TT8_MAMPS 0.031458 CFSIZE 260165632,249229312

HUMID 50.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.47536 SOUNDSPEED 1452.4

TCM_TEMP 3.30 GPS 130910,200355,6643.304,-6019.420,36,1.8,36,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 279 111.73 SBE_CT 894 24 497.94

Roll_motor 93 89 194.73 SBE_O2 921 19 406.02

VBD_pump_during_apogee 510 953 11296.60 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 70.38 nil 0 0 0.00

Iridium_during_connect 39 160 146.50 nil 0 0 0.00

Iridium_during_xfer 105 223 543.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.36

TT8 2507 19 509.45

LPSleep 6071 2 143.07

TT8_Active 715 19 145.36

TT8_Sampling 1262 39 514.03

TT8_CF8 106 45 49.69

TT8_Kalman 0 0 0.00

Analog_circuits 1556 12 190.53

GPS_charging 0 0 0.00

Compass 10438 15 1597.08

RAFOS 360 3 11.02

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

14 -0.57 -146.0 0.0 0.0 0 103 0.00 0.00 -86.28 0.000 2 0.000 0.000 306 2710 3230 0 0 0 0 0 0

105 -0.57 -146.0 6.3 -21.0 17 128 8.75 2.10 -5.40 0.000 4 0.280 0.090 2278 3929 3522 0 0 0 0 0 0

290 -0.57 -146.0 48.1 -15.8 50 297 0.00 2.03 0.00 0.000 6 0.000 0.049 2278 2689 3524 0 0 0 0 0 0

633 -0.57 -146.0 99.5 -14.5 111 639 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2689 3521 0 0 0 0 0 0

959 -0.57 -146.0 141.9 -11.6 142 963 0.00 2.12 0.00 0.000 4 0.000 0.077 2274 3931 3526 0 0 0 0 0 0

1053 -0.57 -146.0 153.4 -12.1 150 1057 0.00 2.00 0.00 0.000 6 0.000 0.050 2274 2694 3530 0 0 0 0 0 0

1377 -0.57 -146.0 191.4 -11.2 180 1381 0.00 2.22 0.00 0.000 4 0.000 0.055 2274 1295 3525 0 0 0 0 0 0

1419 -0.57 -146.0 196.2 -10.4 183 1427 0.00 2.35 0.00 0.000 6 0.000 0.066 2268 2699 3525 0 0 0 0 0 0

1744 -0.57 -146.0 230.4 -10.9 214 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2699 3525 0 0 0 0 0 0

2064 -0.57 -146.0 265.0 -10.7 244 2068 0.00 2.05 0.00 0.000 4 0.000 0.077 2261 3929 3524 0 0 0 0 0 0

2136 -0.57 -146.0 273.8 -12.3 250 2140 0.00 1.98 0.00 0.000 6 0.000 0.050 2261 2700 3524 0 0 0 0 0 0

2460 -0.57 -146.0 311.0 -11.0 280 2464 0.10 2.25 0.00 0.000 4 0.204 0.055 2285 1294 3522 0 0 0 0 0 0

2487 -0.57 -146.0 313.7 -9.4 282 2491 0.00 2.33 0.00 0.000 6 0.000 0.066 2286 2704 3523 0 0 0 0 0 0

2811 -0.57 -146.0 341.1 -7.7 312 2815 0.00 2.05 0.00 0.000 4 0.000 0.077 2278 3929 3522 0 0 0 0 0 0

2918 -0.57 -146.0 349.8 -8.0 321 2921 0.00 1.98 0.00 0.000 6 0.000 0.050 2279 2694 3522 0 0 0 0 0 0

3241 -0.57 -146.0 375.8 -8.2 351 3245 0.00 2.10 0.00 0.000 4 0.000 0.078 2275 3938 3523 0 0 0 0 0 0

3307 -0.57 -146.0 381.5 -8.5 356 3314 0.00 2.00 0.00 0.000 6 0.000 0.050 2274 2703 3522 0 0 0 0 0 0

3632 -0.57 -146.0 408.1 -8.2 387 3636 0.00 2.08 0.00 0.000 4 0.000 0.077 2272 3935 3522 0 0 0 0 0 0

3686 -0.57 -146.0 413.0 -8.7 391 3694 0.00 2.03 0.00 0.000 6 0.000 0.049 2271 2691 3522 0 0 0 0 0 0

4012 -0.57 -146.0 439.5 -8.0 422 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2691 3523 0 0 0 0 0 0

4331 -0.57 -146.0 464.7 -7.8 452 4335 0.00 2.08 0.00 0.000 4 0.000 0.076 2263 3929 3523 0 0 0 0 0 0

4381 -0.57 -146.0 469.2 -8.6 456 4385 0.00 1.95 0.00 0.000 6 0.000 0.048 2263 2702 3523 0 0 0 0 0 0

4704 -0.57 -146.0 497.0 -8.1 486 4708 0.00 2.10 0.00 0.000 4 0.000 0.077 2261 3937 3523 0 0 0 0 0 0

4758 -0.57 -146.0 501.5 -7.9 490 4766 0.00 2.00 0.00 0.000 6 0.000 0.048 2261 2694 3523 0 0 0 0 0 0

5083 end dive: TARGET_DEPTH_EXCEEDED

state 5083 begin apogee

5086 -0.14 0.0 529.7 9.7 521 5211 0.50 0.00 118.97 0.954 6 0.156 0.000 2430 2546 2926 0 0 0 0 0 0

5211 end apogee: CONTROL_FINISHED_OK

state 5211 begin climb

5213 0.57 146.0 532.4 0.0 533 5347 0.65 2.47 123.80 0.917 4 0.104 0.055 2663 1135 2328 0 0 0 0 0 0

5415 0.57 146.0 517.0 12.5 552 5419 0.00 2.45 0.00 0.000 6 0.000 0.057 2663 2552 2322 0 0 0 0 0 0

5738 0.57 146.0 476.2 13.2 582 5742 0.00 2.38 0.00 0.000 4 0.000 0.070 2663 3926 2317 0 0 0 0 0 0

5792 0.57 146.0 467.8 15.2 586 5800 0.00 2.33 0.00 0.000 6 0.000 0.046 2673 2542 2315 0 0 0 0 0 0

6118 0.57 146.0 423.6 13.9 617 6122 0.00 2.38 0.00 0.000 4 0.000 0.071 2672 3926 2315 0 0 0 0 0 0

6195 0.57 146.0 411.5 16.4 623 6201 0.00 2.22 0.00 0.000 6 0.000 0.047 2683 2550 2314 0 0 0 0 0 0

6519 0.57 146.0 366.4 14.0 654 6523 0.00 2.35 0.00 0.000 4 0.000 0.072 2683 3929 2314 0 0 0 0 0 0

6629 0.57 146.0 349.0 16.6 663 6637 0.10 2.25 0.00 0.000 6 0.194 0.046 2666 2550 2312 0 0 0 0 0 0

6954 0.57 146.0 311.0 11.5 694 6955 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2550 2313 0 0 0 0 0 0

7273 0.57 146.0 276.7 10.1 724 7277 0.00 2.33 0.00 0.000 4 0.000 0.071 2666 3927 2313 0 0 0 0 0 0

7326 0.57 146.0 269.9 12.5 728 7334 0.00 2.25 0.00 0.000 6 0.000 0.047 2674 2548 2313 0 0 0 0 0 0

7652 0.57 146.0 236.1 10.4 759 7653 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2549 2313 0 0 0 0 0 0

7971 0.57 146.0 204.1 10.1 789 7975 0.00 2.33 0.00 0.000 4 0.000 0.072 2673 3932 2313 0 0 0 0 0 0

8066 0.57 146.0 192.5 12.3 797 8070 0.00 2.22 0.00 0.000 6 0.000 0.047 2684 2541 2313 0 0 0 0 0 0

8389 0.57 146.0 157.4 10.6 827 8393 0.00 2.22 0.00 0.000 4 0.000 0.057 2694 1142 2313 0 0 0 0 0 0

8420 0.57 146.0 153.7 11.4 829 8429 0.10 2.33 0.00 0.000 6 0.177 0.059 2664 2552 2314 0 0 0 0 0 0

8747 0.60 198.8 126.2 7.6 860 8798 0.00 2.42 41.88 0.726 4 0.000 0.073 2664 3928 2109 0 0 0 0 0 0

8836 0.60 198.8 118.0 10.6 868 8843 0.00 2.25 0.00 0.000 6 0.000 0.048 2671 2554 2108 0 0 0 0 0 0

9167 0.64 253.8 90.9 7.5 909 9220 0.00 2.38 45.03 0.708 4 0.000 0.059 2674 1142 1884 0 0 0 0 0 0

9231 0.67 297.8 86.0 8.0 921 9278 0.00 2.40 37.83 0.682 6 0.000 0.059 2674 2557 1708 0 0 0 0 0 0

9615 0.69 341.4 49.7 8.0 990 9657 0.00 2.42 35.20 0.677 4 0.000 0.073 2674 3926 1531 0 0 0 0 0 0

9709 0.72 379.7 42.3 8.2 1007 9747 0.00 2.30 32.40 0.662 6 0.000 0.049 2678 2551 1377 0 0 0 0 0 0

10084 0.75 424.8 16.2 7.9 1074 10127 0.12 2.45 35.97 0.659 4 0.119 0.058 2726 1135 1193 0 0 0 0 0 0

10138 0.78 471.2 11.8 7.9 1084 10185 0.00 2.40 39.35 0.636 6 0.000 0.057 2726 2554 1002 0 0 0 0 0 0

10246 end climb: SURFACE_DEPTH_REACHED

state 10246 begin surface coast

10279 end surface coast: CONTROL_FINISHED_OK

state 10279 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	31	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2700	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2550	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	32	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	0	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	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	-2	T_GPS_CHARGE	-7724.5635	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	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	3	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	130910,170437,6642.455,-6022.229,35,1.3,35,-38.0	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	0.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130910,170933,6642.523,-6022.186,11,2.6,30,-38.0	MHEAD_RNG_PITCHd_Wd	114.2,159255,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	529

FINISH	-0.0,1.024499	_24V_AH	23.2,7.906
SM_CCo	10353,0.00,0.000,0,0,992,473.67	_10V_AH	10.2,5.138
SM_GC	0.83,6.88,0.00,0.00,0.069,0.000,0.000,305,2704,992,-6.72,0.11,473.67	FG_AHR_24Vo	0.000
MAGERROR	2	FG_AHR_10Vo	0.000
RAFOS_CLK	551	MEM	151688
RAFOS_FIX	6643.429199,-6016.243164,130910,161642,3,93,1.01	DATA_FILE_SIZE	43403,1110
IRIDIUM_FIX	6620.33,-5636.79,130910,141419	CAP_FILE_SIZE	118817,0
TT8_MAMPS	0.031458	CFSIZE	260165632,249229312
HUMID	50.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.47536	SOUNDSPEED	1452.4
TCM_TEMP	3.30	GPS	130910,200355,6643.304,-6019.420,36,1.8,36,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	279	111.73	SBE_CT	894	24	497.94
Roll_motor	93	89	194.73	SBE_O2	921	19	406.02
VBD_pump_during_apogee	510	953	11296.60	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	70.38	nil	0	0	0.00
Iridium_during_connect	39	160	146.50	nil	0	0	0.00
Iridium_during_xfer	105	223	543.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.36
TT8	2507	19	509.45
LPSleep	6071	2	143.07
TT8_Active	715	19	145.36
TT8_Sampling	1262	39	514.03
TT8_CF8	106	45	49.69
TT8_Kalman	0	0	0.00
Analog_circuits	1556	12	190.53
GPS_charging	0	0	0.00
Compass	10438	15	1597.08
RAFOS	360	3	11.02
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
14	-0.57	-146.0	0.0	0.0	0	103	0.00	0.00	-86.28	0.000	2	0.000	0.000	306	2710	3230	0	0	0	0	0	0
105	-0.57	-146.0	6.3	-21.0	17	128	8.75	2.10	-5.40	0.000	4	0.280	0.090	2278	3929	3522	0	0	0	0	0	0
290	-0.57	-146.0	48.1	-15.8	50	297	0.00	2.03	0.00	0.000	6	0.000	0.049	2278	2689	3524	0	0	0	0	0	0
633	-0.57	-146.0	99.5	-14.5	111	639	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2689	3521	0	0	0	0	0	0
959	-0.57	-146.0	141.9	-11.6	142	963	0.00	2.12	0.00	0.000	4	0.000	0.077	2274	3931	3526	0	0	0	0	0	0
1053	-0.57	-146.0	153.4	-12.1	150	1057	0.00	2.00	0.00	0.000	6	0.000	0.050	2274	2694	3530	0	0	0	0	0	0
1377	-0.57	-146.0	191.4	-11.2	180	1381	0.00	2.22	0.00	0.000	4	0.000	0.055	2274	1295	3525	0	0	0	0	0	0
1419	-0.57	-146.0	196.2	-10.4	183	1427	0.00	2.35	0.00	0.000	6	0.000	0.066	2268	2699	3525	0	0	0	0	0	0
1744	-0.57	-146.0	230.4	-10.9	214	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2699	3525	0	0	0	0	0	0
2064	-0.57	-146.0	265.0	-10.7	244	2068	0.00	2.05	0.00	0.000	4	0.000	0.077	2261	3929	3524	0	0	0	0	0	0
2136	-0.57	-146.0	273.8	-12.3	250	2140	0.00	1.98	0.00	0.000	6	0.000	0.050	2261	2700	3524	0	0	0	0	0	0
2460	-0.57	-146.0	311.0	-11.0	280	2464	0.10	2.25	0.00	0.000	4	0.204	0.055	2285	1294	3522	0	0	0	0	0	0
2487	-0.57	-146.0	313.7	-9.4	282	2491	0.00	2.33	0.00	0.000	6	0.000	0.066	2286	2704	3523	0	0	0	0	0	0
2811	-0.57	-146.0	341.1	-7.7	312	2815	0.00	2.05	0.00	0.000	4	0.000	0.077	2278	3929	3522	0	0	0	0	0	0
2918	-0.57	-146.0	349.8	-8.0	321	2921	0.00	1.98	0.00	0.000	6	0.000	0.050	2279	2694	3522	0	0	0	0	0	0
3241	-0.57	-146.0	375.8	-8.2	351	3245	0.00	2.10	0.00	0.000	4	0.000	0.078	2275	3938	3523	0	0	0	0	0	0
3307	-0.57	-146.0	381.5	-8.5	356	3314	0.00	2.00	0.00	0.000	6	0.000	0.050	2274	2703	3522	0	0	0	0	0	0
3632	-0.57	-146.0	408.1	-8.2	387	3636	0.00	2.08	0.00	0.000	4	0.000	0.077	2272	3935	3522	0	0	0	0	0	0
3686	-0.57	-146.0	413.0	-8.7	391	3694	0.00	2.03	0.00	0.000	6	0.000	0.049	2271	2691	3522	0	0	0	0	0	0
4012	-0.57	-146.0	439.5	-8.0	422	4013	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2691	3523	0	0	0	0	0	0
4331	-0.57	-146.0	464.7	-7.8	452	4335	0.00	2.08	0.00	0.000	4	0.000	0.076	2263	3929	3523	0	0	0	0	0	0
4381	-0.57	-146.0	469.2	-8.6	456	4385	0.00	1.95	0.00	0.000	6	0.000	0.048	2263	2702	3523	0	0	0	0	0	0
4704	-0.57	-146.0	497.0	-8.1	486	4708	0.00	2.10	0.00	0.000	4	0.000	0.077	2261	3937	3523	0	0	0	0	0	0
4758	-0.57	-146.0	501.5	-7.9	490	4766	0.00	2.00	0.00	0.000	6	0.000	0.048	2261	2694	3523	0	0	0	0	0	0
5083	end dive: TARGET_DEPTH_EXCEEDED
state	5083	begin apogee
5086	-0.14	0.0	529.7	9.7	521	5211	0.50	0.00	118.97	0.954	6	0.156	0.000	2430	2546	2926	0	0	0	0	0	0
5211	end apogee: CONTROL_FINISHED_OK
state	5211	begin climb
5213	0.57	146.0	532.4	0.0	533	5347	0.65	2.47	123.80	0.917	4	0.104	0.055	2663	1135	2328	0	0	0	0	0	0
5415	0.57	146.0	517.0	12.5	552	5419	0.00	2.45	0.00	0.000	6	0.000	0.057	2663	2552	2322	0	0	0	0	0	0
5738	0.57	146.0	476.2	13.2	582	5742	0.00	2.38	0.00	0.000	4	0.000	0.070	2663	3926	2317	0	0	0	0	0	0
5792	0.57	146.0	467.8	15.2	586	5800	0.00	2.33	0.00	0.000	6	0.000	0.046	2673	2542	2315	0	0	0	0	0	0
6118	0.57	146.0	423.6	13.9	617	6122	0.00	2.38	0.00	0.000	4	0.000	0.071	2672	3926	2315	0	0	0	0	0	0
6195	0.57	146.0	411.5	16.4	623	6201	0.00	2.22	0.00	0.000	6	0.000	0.047	2683	2550	2314	0	0	0	0	0	0
6519	0.57	146.0	366.4	14.0	654	6523	0.00	2.35	0.00	0.000	4	0.000	0.072	2683	3929	2314	0	0	0	0	0	0
6629	0.57	146.0	349.0	16.6	663	6637	0.10	2.25	0.00	0.000	6	0.194	0.046	2666	2550	2312	0	0	0	0	0	0
6954	0.57	146.0	311.0	11.5	694	6955	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2550	2313	0	0	0	0	0	0
7273	0.57	146.0	276.7	10.1	724	7277	0.00	2.33	0.00	0.000	4	0.000	0.071	2666	3927	2313	0	0	0	0	0	0
7326	0.57	146.0	269.9	12.5	728	7334	0.00	2.25	0.00	0.000	6	0.000	0.047	2674	2548	2313	0	0	0	0	0	0
7652	0.57	146.0	236.1	10.4	759	7653	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2549	2313	0	0	0	0	0	0
7971	0.57	146.0	204.1	10.1	789	7975	0.00	2.33	0.00	0.000	4	0.000	0.072	2673	3932	2313	0	0	0	0	0	0
8066	0.57	146.0	192.5	12.3	797	8070	0.00	2.22	0.00	0.000	6	0.000	0.047	2684	2541	2313	0	0	0	0	0	0
8389	0.57	146.0	157.4	10.6	827	8393	0.00	2.22	0.00	0.000	4	0.000	0.057	2694	1142	2313	0	0	0	0	0	0
8420	0.57	146.0	153.7	11.4	829	8429	0.10	2.33	0.00	0.000	6	0.177	0.059	2664	2552	2314	0	0	0	0	0	0
8747	0.60	198.8	126.2	7.6	860	8798	0.00	2.42	41.88	0.726	4	0.000	0.073	2664	3928	2109	0	0	0	0	0	0
8836	0.60	198.8	118.0	10.6	868	8843	0.00	2.25	0.00	0.000	6	0.000	0.048	2671	2554	2108	0	0	0	0	0	0
9167	0.64	253.8	90.9	7.5	909	9220	0.00	2.38	45.03	0.708	4	0.000	0.059	2674	1142	1884	0	0	0	0	0	0
9231	0.67	297.8	86.0	8.0	921	9278	0.00	2.40	37.83	0.682	6	0.000	0.059	2674	2557	1708	0	0	0	0	0	0
9615	0.69	341.4	49.7	8.0	990	9657	0.00	2.42	35.20	0.677	4	0.000	0.073	2674	3926	1531	0	0	0	0	0	0
9709	0.72	379.7	42.3	8.2	1007	9747	0.00	2.30	32.40	0.662	6	0.000	0.049	2678	2551	1377	0	0	0	0	0	0
10084	0.75	424.8	16.2	7.9	1074	10127	0.12	2.45	35.97	0.659	4	0.119	0.058	2726	1135	1193	0	0	0	0	0	0
10138	0.78	471.2	11.8	7.9	1084	10185	0.00	2.40	39.35	0.636	6	0.000	0.057	2726	2554	1002	0	0	0	0	0	0
10246	end climb: SURFACE_DEPTH_REACHED
state	10246	begin surface coast
10279	end surface coast: CONTROL_FINISHED_OK
state	10279	begin surface