Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 33 * 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 33 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 23 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 -7727.4785 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 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 -7727.4785

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 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 23 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 33 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 130910,230236,6641.708,-6019.213,37,0.8,37,-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 0.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130910,230702,6641.647,-6019.152,12,2.0,12,-38.0 MHEAD_RNG_PITCHd_Wd 113.5,157527,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 532

Post-dive calculations and measurements:

FINISH 0.0,1.017065 _24V_AH 23.2,8.117

SM_CCo 10585,0.00,0.000,0,0,1381,378.01 _10V_AH 10.3,5.325

SM_GC 0.83,6.68,0.00,0.00,0.068,0.000,0.000,301,2708,1381,-6.74,0.25,378.01 FG_AHR_24Vo 0.000

RAFOS_CLK 564 FG_AHR_10Vo 0.000

RAFOS 0,1284422463,0.033333,0.017500,43,43,42,42,42,42,748,1923,67,282,1044,1298 MEM 151632

RAFOS_FIX 6642.061523,-6013.495117,140910,000012,4,96,0.80 DATA_FILE_SIZE 43416,1129

IRIDIUM_FIX 6620.33,-6022.76,130910,202017 CAP_FILE_SIZE 121307,0

TT8_MAMPS 0.028462 CFSIZE 260165632,249094144

HUMID 49.56 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.52419 SOUNDSPEED 1452.9

TCM_TEMP 14.60 GPS 140910,020536,6641.002,-6015.769,36,1.4,41,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 283 112.78 SBE_CT 803 24 447.18

Roll_motor 100 86 202.41 SBE_O2 830 19 366.17

VBD_pump_during_apogee 429 953 9495.63 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 30 103 73.89 nil 0 0 0.00

Iridium_during_connect 37 160 139.55 nil 0 0 0.00

Iridium_during_xfer 91 223 471.67 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.02

TT8 2668 19 547.53

LPSleep 5563 2 132.38

TT8_Active 504 19 103.51

TT8_Sampling 2021 39 831.10

TT8_CF8 110 45 52.49

TT8_Kalman 0 0 0.00

Analog_circuits 1499 12 185.29

GPS_charging 0 0 0.00

Compass 1831 15 282.94

RAFOS 2520 3 77.87

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.57 -146.0 0.0 0.0 0 97 0.00 0.00 -80.38 0.000 2 0.000 0.000 305 2710 3264 0 0 0 0 0 0

99 -0.57 -146.0 6.4 -19.6 14 119 8.82 2.15 -4.62 0.000 4 0.283 0.086 2276 3929 3523 0 0 0 0 0 0

215 -0.57 -146.0 44.2 -16.0 34 221 0.00 2.00 0.00 0.000 6 0.000 0.049 2275 2699 3525 0 0 0 0 0 0

559 -0.57 -146.0 94.8 -12.7 95 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2699 3526 0 0 0 0 0 0

887 -0.57 -146.0 134.6 -11.6 129 891 0.00 2.10 0.00 0.000 4 0.000 0.078 2273 3925 3526 0 0 0 0 0 0

943 -0.57 -146.0 141.6 -12.2 134 947 0.00 1.98 0.00 0.000 6 0.000 0.050 2273 2697 3526 0 0 0 0 0 0

1275 -0.57 -146.0 181.1 -11.6 165 1278 0.00 2.08 0.00 0.000 4 0.000 0.078 2265 3926 3526 0 0 0 0 0 0

1320 -0.57 -146.0 186.7 -12.1 169 1323 0.00 1.98 0.00 0.000 6 0.000 0.050 2265 2689 3526 0 0 0 0 0 0

1649 -0.57 -146.0 223.1 -10.3 200 1653 0.00 2.08 0.00 0.000 4 0.000 0.079 2261 3925 3525 0 0 0 0 0 0

1732 -0.57 -146.0 231.8 -9.8 207 1740 0.08 2.00 0.00 0.000 6 0.174 0.050 2284 2702 3525 0 0 0 0 0 0

2057 -0.57 -146.0 259.2 -8.8 238 2059 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2702 3525 0 0 0 0 0 0

2378 -0.57 -146.0 285.9 -8.1 268 2382 0.00 2.05 0.00 0.000 4 0.000 0.079 2279 3925 3524 0 0 0 0 0 0

2450 -0.57 -146.0 292.4 -8.4 274 2457 0.00 2.00 0.00 0.000 6 0.000 0.051 2278 2699 3524 0 0 0 0 0 0

2775 -0.57 -146.0 318.7 -7.9 305 2779 0.00 2.05 0.00 0.000 4 0.000 0.080 2274 3925 3524 0 0 0 0 0 0

2813 -0.57 -146.0 322.1 -8.6 308 2821 0.00 2.00 0.00 0.000 6 0.000 0.050 2274 2693 3523 0 0 0 0 0 0

3139 -0.57 -146.0 349.0 -9.1 339 3142 0.00 2.20 0.00 0.000 4 0.000 0.054 2274 1290 3523 0 0 0 0 0 0

3194 -0.57 -146.0 354.2 -9.1 343 3201 0.00 2.30 0.00 0.000 6 0.000 0.067 2272 2704 3523 0 0 0 0 0 0

3518 -0.57 -146.0 384.4 -9.1 374 3522 0.00 2.05 0.00 0.000 4 0.000 0.077 2266 3931 3523 0 0 0 0 0 0

3569 -0.57 -146.0 389.3 -10.2 378 3576 0.00 1.95 0.00 0.000 6 0.000 0.050 2266 2695 3523 0 0 0 0 0 0

3893 -0.57 -146.0 418.8 -9.4 409 3897 0.00 2.08 0.00 0.000 4 0.000 0.079 2261 3927 3524 0 0 0 0 0 0

3987 -0.57 -146.0 427.6 -8.7 417 3995 0.00 1.98 0.00 0.000 6 0.000 0.050 2262 2705 3523 0 0 0 0 0 0

4313 -0.57 -146.0 456.6 -8.6 448 4317 0.10 2.05 0.00 0.000 4 0.200 0.077 2279 3928 3523 0 0 0 0 0 0

4352 -0.57 -146.0 459.8 -8.0 451 4355 0.00 1.95 0.00 0.000 6 0.000 0.049 2280 2689 3523 0 0 0 0 0 0

4682 -0.57 -146.0 485.0 -7.5 482 4683 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2690 3524 0 0 0 0 0 0

5001 -0.57 -146.0 509.3 -6.9 512 5005 0.00 2.05 0.00 0.000 4 0.000 0.077 2273 3928 3524 0 0 0 0 0 0

5057 -0.57 -146.0 514.4 -9.4 517 5062 0.00 1.98 0.00 0.000 6 0.000 0.050 2273 2705 3524 0 0 0 0 0 0

5290 end dive: TARGET_DEPTH_EXCEEDED

state 5290 begin apogee

5295 -0.14 0.0 532.2 6.9 539 5424 0.47 0.00 119.55 0.954 6 0.151 0.000 2426 2540 2922 0 0 0 0 0 0

5425 end apogee: CONTROL_FINISHED_OK

state 5425 begin climb

5426 0.57 146.0 533.4 0.0 551 5559 0.68 2.40 123.32 0.921 4 0.103 0.054 2659 1142 2326 0 0 0 0 0 0

5611 0.57 146.0 517.5 11.0 567 5618 0.00 2.47 0.00 0.000 6 0.000 0.057 2660 2560 2320 0 0 0 0 0 0

5935 0.57 146.0 477.9 12.2 598 5939 0.00 2.35 0.00 0.000 4 0.000 0.071 2660 3927 2315 0 0 0 0 0 0

6042 0.57 146.0 462.5 15.5 607 6046 0.00 2.28 0.00 0.000 6 0.000 0.047 2670 2540 2314 0 0 0 0 0 0

6366 0.57 146.0 420.4 12.8 637 6370 0.00 2.38 0.00 0.000 4 0.000 0.072 2670 3935 2313 0 0 0 0 0 0

6405 0.57 146.0 414.8 14.9 640 6409 0.00 2.28 0.00 0.000 6 0.000 0.047 2680 2545 2312 0 0 0 0 0 0

6729 0.57 146.0 372.1 13.3 670 6733 0.00 2.35 0.00 0.000 4 0.000 0.072 2680 3934 2312 0 0 0 0 0 0

6768 0.57 146.0 366.6 15.0 673 6772 0.12 2.25 0.00 0.000 6 0.215 0.047 2663 2548 2311 0 0 0 0 0 0

7092 0.57 146.0 328.4 11.8 703 7096 0.00 2.25 0.00 0.000 4 0.000 0.057 2672 1137 2312 0 0 0 0 0 0

7125 0.57 146.0 324.5 11.9 706 7129 0.00 2.33 0.00 0.000 6 0.000 0.059 2671 2554 2312 0 0 0 0 0 0

7449 0.57 146.0 286.1 11.0 736 7453 0.00 2.28 0.00 0.000 4 0.000 0.072 2671 3925 2312 0 0 0 0 0 0

7542 0.57 146.0 273.9 13.2 744 7550 0.00 2.25 0.00 0.000 6 0.000 0.047 2682 2539 2311 0 0 0 0 0 0

7867 0.57 146.0 236.0 11.7 775 7871 0.00 2.33 0.00 0.000 4 0.000 0.072 2682 3930 2311 0 0 0 0 0 0

7966 0.57 146.0 222.5 13.8 783 7975 0.10 2.22 0.00 0.000 6 0.194 0.047 2664 2555 2311 0 0 0 0 0 0

8291 0.57 146.0 188.9 11.2 814 8295 0.00 2.28 0.00 0.000 4 0.000 0.073 2663 3927 2311 0 0 0 0 0 0

8319 0.57 146.0 186.2 12.1 816 8323 0.00 2.20 0.00 0.000 6 0.000 0.047 2672 2551 2311 0 0 0 0 0 0

8644 0.60 189.4 158.1 8.0 846 8688 0.00 2.38 34.20 0.731 4 0.000 0.072 2672 3933 2147 0 0 0 0 0 0

8722 0.60 189.4 150.2 12.5 853 8726 0.00 2.28 0.00 0.000 6 0.000 0.048 2682 2542 2145 0 0 0 0 0 0

9047 0.60 189.4 115.3 10.5 883 9052 0.00 2.35 0.00 0.000 4 0.000 0.073 2682 3932 2142 0 0 0 0 0 0

9109 0.60 189.4 107.4 13.3 888 9113 0.00 2.25 0.00 0.000 6 0.000 0.049 2692 2548 2140 0 0 0 0 0 0

9448 0.60 194.5 74.8 9.8 942 9461 0.00 2.40 3.97 0.562 4 0.000 0.074 2692 3927 2129 0 0 0 0 0 0

9562 0.60 194.5 61.9 12.0 962 9570 0.12 2.22 0.00 0.000 6 0.210 0.049 2672 2548 2128 0 0 0 0 0 0

9907 0.60 202.5 32.5 9.6 1023 9921 0.00 2.33 8.40 0.672 4 0.000 0.059 2678 1145 2097 0 0 0 0 0 0

10173 0.72 374.1 18.1 2.1 1070 10319 0.00 2.30 139.60 0.653 6 0.000 0.062 2678 2549 1398 0 0 0 0 0 0

10467 end climb: SURFACE_DEPTH_REACHED

state 10467 begin surface coast

10512 end surface coast: CONTROL_FINISHED_OK

state 10512 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	33	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	23	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	-7727.4785	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	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	130910,230236,6641.708,-6019.213,37,0.8,37,-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	0.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130910,230702,6641.647,-6019.152,12,2.0,12,-38.0	MHEAD_RNG_PITCHd_Wd	113.5,157527,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	532

FINISH	0.0,1.017065	_24V_AH	23.2,8.117
SM_CCo	10585,0.00,0.000,0,0,1381,378.01	_10V_AH	10.3,5.325
SM_GC	0.83,6.68,0.00,0.00,0.068,0.000,0.000,301,2708,1381,-6.74,0.25,378.01	FG_AHR_24Vo	0.000
RAFOS_CLK	564	FG_AHR_10Vo	0.000
RAFOS	0,1284422463,0.033333,0.017500,43,43,42,42,42,42,748,1923,67,282,1044,1298	MEM	151632
RAFOS_FIX	6642.061523,-6013.495117,140910,000012,4,96,0.80	DATA_FILE_SIZE	43416,1129
IRIDIUM_FIX	6620.33,-6022.76,130910,202017	CAP_FILE_SIZE	121307,0
TT8_MAMPS	0.028462	CFSIZE	260165632,249094144
HUMID	49.56	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.52419	SOUNDSPEED	1452.9
TCM_TEMP	14.60	GPS	140910,020536,6641.002,-6015.769,36,1.4,41,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	283	112.78	SBE_CT	803	24	447.18
Roll_motor	100	86	202.41	SBE_O2	830	19	366.17
VBD_pump_during_apogee	429	953	9495.63	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	30	103	73.89	nil	0	0	0.00
Iridium_during_connect	37	160	139.55	nil	0	0	0.00
Iridium_during_xfer	91	223	471.67	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.02
TT8	2668	19	547.53
LPSleep	5563	2	132.38
TT8_Active	504	19	103.51
TT8_Sampling	2021	39	831.10
TT8_CF8	110	45	52.49
TT8_Kalman	0	0	0.00
Analog_circuits	1499	12	185.29
GPS_charging	0	0	0.00
Compass	1831	15	282.94
RAFOS	2520	3	77.87
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.57	-146.0	0.0	0.0	0	97	0.00	0.00	-80.38	0.000	2	0.000	0.000	305	2710	3264	0	0	0	0	0	0
99	-0.57	-146.0	6.4	-19.6	14	119	8.82	2.15	-4.62	0.000	4	0.283	0.086	2276	3929	3523	0	0	0	0	0	0
215	-0.57	-146.0	44.2	-16.0	34	221	0.00	2.00	0.00	0.000	6	0.000	0.049	2275	2699	3525	0	0	0	0	0	0
559	-0.57	-146.0	94.8	-12.7	95	565	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2699	3526	0	0	0	0	0	0
887	-0.57	-146.0	134.6	-11.6	129	891	0.00	2.10	0.00	0.000	4	0.000	0.078	2273	3925	3526	0	0	0	0	0	0
943	-0.57	-146.0	141.6	-12.2	134	947	0.00	1.98	0.00	0.000	6	0.000	0.050	2273	2697	3526	0	0	0	0	0	0
1275	-0.57	-146.0	181.1	-11.6	165	1278	0.00	2.08	0.00	0.000	4	0.000	0.078	2265	3926	3526	0	0	0	0	0	0
1320	-0.57	-146.0	186.7	-12.1	169	1323	0.00	1.98	0.00	0.000	6	0.000	0.050	2265	2689	3526	0	0	0	0	0	0
1649	-0.57	-146.0	223.1	-10.3	200	1653	0.00	2.08	0.00	0.000	4	0.000	0.079	2261	3925	3525	0	0	0	0	0	0
1732	-0.57	-146.0	231.8	-9.8	207	1740	0.08	2.00	0.00	0.000	6	0.174	0.050	2284	2702	3525	0	0	0	0	0	0
2057	-0.57	-146.0	259.2	-8.8	238	2059	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2702	3525	0	0	0	0	0	0
2378	-0.57	-146.0	285.9	-8.1	268	2382	0.00	2.05	0.00	0.000	4	0.000	0.079	2279	3925	3524	0	0	0	0	0	0
2450	-0.57	-146.0	292.4	-8.4	274	2457	0.00	2.00	0.00	0.000	6	0.000	0.051	2278	2699	3524	0	0	0	0	0	0
2775	-0.57	-146.0	318.7	-7.9	305	2779	0.00	2.05	0.00	0.000	4	0.000	0.080	2274	3925	3524	0	0	0	0	0	0
2813	-0.57	-146.0	322.1	-8.6	308	2821	0.00	2.00	0.00	0.000	6	0.000	0.050	2274	2693	3523	0	0	0	0	0	0
3139	-0.57	-146.0	349.0	-9.1	339	3142	0.00	2.20	0.00	0.000	4	0.000	0.054	2274	1290	3523	0	0	0	0	0	0
3194	-0.57	-146.0	354.2	-9.1	343	3201	0.00	2.30	0.00	0.000	6	0.000	0.067	2272	2704	3523	0	0	0	0	0	0
3518	-0.57	-146.0	384.4	-9.1	374	3522	0.00	2.05	0.00	0.000	4	0.000	0.077	2266	3931	3523	0	0	0	0	0	0
3569	-0.57	-146.0	389.3	-10.2	378	3576	0.00	1.95	0.00	0.000	6	0.000	0.050	2266	2695	3523	0	0	0	0	0	0
3893	-0.57	-146.0	418.8	-9.4	409	3897	0.00	2.08	0.00	0.000	4	0.000	0.079	2261	3927	3524	0	0	0	0	0	0
3987	-0.57	-146.0	427.6	-8.7	417	3995	0.00	1.98	0.00	0.000	6	0.000	0.050	2262	2705	3523	0	0	0	0	0	0
4313	-0.57	-146.0	456.6	-8.6	448	4317	0.10	2.05	0.00	0.000	4	0.200	0.077	2279	3928	3523	0	0	0	0	0	0
4352	-0.57	-146.0	459.8	-8.0	451	4355	0.00	1.95	0.00	0.000	6	0.000	0.049	2280	2689	3523	0	0	0	0	0	0
4682	-0.57	-146.0	485.0	-7.5	482	4683	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2690	3524	0	0	0	0	0	0
5001	-0.57	-146.0	509.3	-6.9	512	5005	0.00	2.05	0.00	0.000	4	0.000	0.077	2273	3928	3524	0	0	0	0	0	0
5057	-0.57	-146.0	514.4	-9.4	517	5062	0.00	1.98	0.00	0.000	6	0.000	0.050	2273	2705	3524	0	0	0	0	0	0
5290	end dive: TARGET_DEPTH_EXCEEDED
state	5290	begin apogee
5295	-0.14	0.0	532.2	6.9	539	5424	0.47	0.00	119.55	0.954	6	0.151	0.000	2426	2540	2922	0	0	0	0	0	0
5425	end apogee: CONTROL_FINISHED_OK
state	5425	begin climb
5426	0.57	146.0	533.4	0.0	551	5559	0.68	2.40	123.32	0.921	4	0.103	0.054	2659	1142	2326	0	0	0	0	0	0
5611	0.57	146.0	517.5	11.0	567	5618	0.00	2.47	0.00	0.000	6	0.000	0.057	2660	2560	2320	0	0	0	0	0	0
5935	0.57	146.0	477.9	12.2	598	5939	0.00	2.35	0.00	0.000	4	0.000	0.071	2660	3927	2315	0	0	0	0	0	0
6042	0.57	146.0	462.5	15.5	607	6046	0.00	2.28	0.00	0.000	6	0.000	0.047	2670	2540	2314	0	0	0	0	0	0
6366	0.57	146.0	420.4	12.8	637	6370	0.00	2.38	0.00	0.000	4	0.000	0.072	2670	3935	2313	0	0	0	0	0	0
6405	0.57	146.0	414.8	14.9	640	6409	0.00	2.28	0.00	0.000	6	0.000	0.047	2680	2545	2312	0	0	0	0	0	0
6729	0.57	146.0	372.1	13.3	670	6733	0.00	2.35	0.00	0.000	4	0.000	0.072	2680	3934	2312	0	0	0	0	0	0
6768	0.57	146.0	366.6	15.0	673	6772	0.12	2.25	0.00	0.000	6	0.215	0.047	2663	2548	2311	0	0	0	0	0	0
7092	0.57	146.0	328.4	11.8	703	7096	0.00	2.25	0.00	0.000	4	0.000	0.057	2672	1137	2312	0	0	0	0	0	0
7125	0.57	146.0	324.5	11.9	706	7129	0.00	2.33	0.00	0.000	6	0.000	0.059	2671	2554	2312	0	0	0	0	0	0
7449	0.57	146.0	286.1	11.0	736	7453	0.00	2.28	0.00	0.000	4	0.000	0.072	2671	3925	2312	0	0	0	0	0	0
7542	0.57	146.0	273.9	13.2	744	7550	0.00	2.25	0.00	0.000	6	0.000	0.047	2682	2539	2311	0	0	0	0	0	0
7867	0.57	146.0	236.0	11.7	775	7871	0.00	2.33	0.00	0.000	4	0.000	0.072	2682	3930	2311	0	0	0	0	0	0
7966	0.57	146.0	222.5	13.8	783	7975	0.10	2.22	0.00	0.000	6	0.194	0.047	2664	2555	2311	0	0	0	0	0	0
8291	0.57	146.0	188.9	11.2	814	8295	0.00	2.28	0.00	0.000	4	0.000	0.073	2663	3927	2311	0	0	0	0	0	0
8319	0.57	146.0	186.2	12.1	816	8323	0.00	2.20	0.00	0.000	6	0.000	0.047	2672	2551	2311	0	0	0	0	0	0
8644	0.60	189.4	158.1	8.0	846	8688	0.00	2.38	34.20	0.731	4	0.000	0.072	2672	3933	2147	0	0	0	0	0	0
8722	0.60	189.4	150.2	12.5	853	8726	0.00	2.28	0.00	0.000	6	0.000	0.048	2682	2542	2145	0	0	0	0	0	0
9047	0.60	189.4	115.3	10.5	883	9052	0.00	2.35	0.00	0.000	4	0.000	0.073	2682	3932	2142	0	0	0	0	0	0
9109	0.60	189.4	107.4	13.3	888	9113	0.00	2.25	0.00	0.000	6	0.000	0.049	2692	2548	2140	0	0	0	0	0	0
9448	0.60	194.5	74.8	9.8	942	9461	0.00	2.40	3.97	0.562	4	0.000	0.074	2692	3927	2129	0	0	0	0	0	0
9562	0.60	194.5	61.9	12.0	962	9570	0.12	2.22	0.00	0.000	6	0.210	0.049	2672	2548	2128	0	0	0	0	0	0
9907	0.60	202.5	32.5	9.6	1023	9921	0.00	2.33	8.40	0.672	4	0.000	0.059	2678	1145	2097	0	0	0	0	0	0
10173	0.72	374.1	18.1	2.1	1070	10319	0.00	2.30	139.60	0.653	6	0.000	0.062	2678	2549	1398	0	0	0	0	0	0
10467	end climb: SURFACE_DEPTH_REACHED
state	10467	begin surface coast
10512	end surface coast: CONTROL_FINISHED_OK
state	10512	begin surface