Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 343 * 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 343 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 32 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 -8216.2227 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 -8216.2227

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 32 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 343 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 151110,232607,6703.648,-5653.588,62,1.0,62,-37.6 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 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151110,233121,6703.656,-5653.552,16,1.7,16,-37.6 MHEAD_RNG_PITCHd_Wd 178.1,4189,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 541

Post-dive calculations and measurements:

FINISH 0.9,1.026204 _24V_AH 23.0,41.755

SM_CCo 11266,53.05,0.079,0,0,1496,350.04 _10V_AH 10.1,32.548

SM_GC 1.80,0.00,0.00,53.05,0.000,0.000,0.079,294,2780,1496,-6.81,0.00,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 449 FG_AHR_10Vo 0.000

RAFOS 0,1289865668,0.033333,0.018889,46,46,43,42,39,38,696,145,384,1391,1841,1886 MEM 189600

RAFOS_FIX 6707.062988,-5655.752441,161110,000056,2,100,1.44 DATA_FILE_SIZE 40009,1120

IRIDIUM_FIX 6631.12,-5701.34,151110,202044 CAP_FILE_SIZE 121389,0

TT8_MAMPS 0.028462 CFSIZE 260165632,225214464

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

INTERNAL_PRESSURE 8.69021 SOUNDSPEED 1476.1

TCM_TEMP 16.90 CURRENT 0.050,353.6,1

XPDR_PINGS 0 GPS 161110,024224,6703.046,-5651.695,53,1.7,53,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 247 88.94 SBE_CT 771 24 425.94

Roll_motor 85 74 145.45 SBE_O2 0 0 0.00

VBD_pump_during_apogee 312 903 6487.94 nil 0 0 0.00

VBD_pump_during_surface 53 78 96.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.47 nil 0 0 0.00

Iridium_during_connect 39 160 146.79 nil 0 0 0.00

Iridium_during_xfer 112 223 575.64 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.46

TT8 2859 19 575.40

LPSleep 6089 2 142.08

TT8_Active 469 19 94.37

TT8_Sampling 2042 39 823.49

TT8_CF8 193 45 89.56

TT8_Kalman 0 0 0.00

Analog_circuits 1436 12 174.10

GPS_charging 0 0 0.00

Compass 1824 15 276.41

RAFOS 2520 3 76.36

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 0 110 0.00 0.00 -91.62 0.000 6 0.000 0.000 295 2788 3520 0 0 0 0 0 0

112 -0.57 -146.0 6.1 -15.4 15 126 8.23 1.90 0.00 0.000 4 0.247 0.051 2276 3926 3521 0 0 0 0 0 0

377 -0.57 -146.0 53.2 -13.1 62 383 0.00 1.83 0.00 0.000 6 0.000 0.041 2276 2777 3524 0 0 0 0 0 0

721 -0.57 -146.0 92.9 -11.0 123 727 0.00 2.17 0.00 0.000 4 0.000 0.044 2276 1373 3522 0 0 0 0 0 0

845 -0.57 -146.0 106.0 -9.8 140 850 0.00 2.28 0.00 0.000 6 0.000 0.056 2274 2764 3523 0 0 0 0 0 0

1171 -0.57 -146.0 137.8 -9.4 170 1175 0.00 2.17 0.00 0.000 4 0.000 0.044 2275 1366 3522 0 0 0 0 0 0

1203 -0.57 -146.0 141.2 -9.9 172 1210 0.00 2.28 0.00 0.000 6 0.000 0.054 2274 2762 3522 0 0 0 0 0 0

1529 -0.57 -146.0 171.2 -8.6 203 1533 0.00 1.92 0.00 0.000 4 0.000 0.065 2272 3926 3522 0 0 0 0 0 0

1567 -0.57 -146.0 174.7 -9.5 206 1574 0.00 1.88 0.00 0.000 6 0.000 0.041 2272 2747 3522 0 0 0 0 0 0

1892 -0.57 -146.0 202.6 -8.7 237 1896 0.00 2.15 0.00 0.000 4 0.000 0.044 2272 1366 3522 0 0 0 0 0 0

1941 -0.57 -146.0 207.3 -9.3 241 1949 0.00 2.25 0.00 0.000 6 0.000 0.055 2272 2750 3522 0 0 0 0 0 0

2266 -0.57 -146.0 234.6 -8.4 272 2270 0.00 1.92 0.00 0.000 4 0.000 0.065 2272 3926 3522 0 0 0 0 0 0

2293 -0.57 -146.0 237.0 -8.4 274 2300 0.00 1.88 0.00 0.000 6 0.000 0.040 2271 2746 3522 0 0 0 0 0 0

2619 -0.57 -146.0 262.9 -8.2 305 2622 0.00 2.12 0.00 0.000 4 0.000 0.044 2272 1364 3522 0 0 0 0 0 0

2676 -0.57 -146.0 267.5 -8.2 310 2680 0.00 2.25 0.00 0.000 6 0.000 0.054 2272 2749 3522 0 0 0 0 0 0

3001 -0.57 -146.0 293.9 -8.0 340 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2749 3522 0 0 0 0 0 0

3320 -0.57 -146.0 320.7 -8.3 370 3321 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2749 3522 0 0 0 0 0 0

3639 -0.57 -146.0 345.1 -7.7 400 3640 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2749 3523 0 0 0 0 0 0

3959 -0.57 -146.0 367.8 -7.1 430 3960 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2749 3522 0 0 0 0 0 0

4275 -0.57 -146.0 391.2 -7.3 460 4279 0.00 1.98 0.00 0.000 4 0.000 0.064 2272 3946 3522 0 0 0 0 0 0

4336 -0.57 -146.0 395.7 -7.7 465 4343 0.00 1.92 0.00 0.000 6 0.000 0.040 2272 2720 3523 0 0 0 0 0 0

4661 -0.57 -146.0 418.2 -6.9 496 4662 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2720 3523 0 0 0 0 0 0

4983 -0.57 -146.0 439.1 -6.7 526 4989 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2720 3523 0 0 0 0 0 0

5308 -0.57 -146.0 461.0 -6.6 557 5312 0.00 2.03 0.00 0.000 4 0.000 0.066 2272 3942 3524 0 0 0 0 0 0

5354 -0.57 -146.0 464.2 -7.3 561 5358 0.00 1.90 0.00 0.000 6 0.000 0.040 2272 2730 3523 0 0 0 0 0 0

5684 -0.57 -146.0 486.4 -7.5 592 5685 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2729 3523 0 0 0 0 0 0

5999 -0.57 -146.0 508.8 -7.1 614 6003 0.00 2.08 0.00 0.000 4 0.000 0.044 2272 1374 3523 0 0 0 0 0 0

6037 -0.57 -146.0 511.8 -6.9 615 6041 0.00 2.20 0.00 0.000 6 0.000 0.054 2272 2729 3523 0 0 0 0 0 0

6373 -0.57 -146.0 534.8 -6.8 626 6374 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2729 3523 0 0 0 0 0 0

6493 end dive: TARGET_DEPTH_EXCEEDED

state 6493 begin apogee

6499 -0.14 0.0 542.8 6.5 630 6625 0.45 0.00 116.93 0.903 4 0.125 0.000 2424 2608 2924 0 0 0 0 0 0

6626 end apogee: CONTROL_FINISHED_OK

state 6626 begin climb

6629 0.57 146.0 545.8 0.0 634 6758 0.65 2.33 120.97 0.887 4 0.065 0.044 2662 1185 2327 0 0 0 0 0 0

6898 0.57 146.0 520.6 11.8 642 6902 0.00 2.40 0.00 0.000 6 0.000 0.050 2662 2605 2320 0 0 0 0 0 0

7218 0.57 146.0 478.3 13.8 661 7222 0.00 2.28 0.00 0.000 4 0.000 0.047 2663 1186 2316 0 0 0 0 0 0

7439 0.57 146.0 449.7 12.4 680 7447 0.00 2.33 0.00 0.000 6 0.000 0.051 2663 2604 2316 0 0 0 0 0 0

7766 0.57 146.0 406.0 13.5 711 7769 0.00 2.17 0.00 0.000 4 0.000 0.061 2663 3928 2314 0 0 0 0 0 0

7793 0.57 146.0 401.7 15.9 713 7800 0.00 2.10 0.00 0.000 6 0.000 0.040 2666 2599 2313 0 0 0 0 0 0

8118 0.57 146.0 359.2 13.0 744 8122 0.00 2.20 0.00 0.000 4 0.000 0.061 2666 3933 2313 0 0 0 0 0 0

8168 0.57 146.0 352.0 14.8 748 8172 0.00 2.05 0.00 0.000 6 0.000 0.039 2666 2630 2312 0 0 0 0 0 0

8498 0.57 146.0 310.8 12.4 779 8502 0.00 2.15 0.00 0.000 4 0.000 0.062 2666 3926 2312 0 0 0 0 0 0

8523 0.57 146.0 307.8 12.7 781 8527 0.00 2.05 0.00 0.000 6 0.000 0.039 2667 2619 2311 0 0 0 0 0 0

8853 0.57 146.0 265.8 12.6 812 8854 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2618 2312 0 0 0 0 0 0

9173 0.57 146.0 225.6 12.6 842 9174 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2617 2312 0 0 0 0 0 0

9494 0.57 146.0 183.7 12.8 872 9497 0.00 2.15 0.00 0.000 4 0.000 0.062 2666 3930 2312 0 0 0 0 0 0

9550 0.57 146.0 175.0 14.9 877 9554 0.00 2.03 0.00 0.000 6 0.000 0.038 2666 2634 2311 0 0 0 0 0 0

9881 0.57 146.0 136.4 11.3 908 9884 0.00 2.12 0.00 0.000 4 0.000 0.062 2667 3930 2311 0 0 0 0 0 0

9915 0.57 146.0 132.1 13.6 911 9919 0.00 2.03 0.00 0.000 6 0.000 0.038 2666 2635 2311 0 0 0 0 0 0

10242 0.57 146.0 96.5 10.7 944 10249 0.00 2.25 0.00 0.000 4 0.000 0.046 2666 1194 2311 0 0 0 0 0 0

10295 0.58 164.0 91.5 9.2 953 10315 0.00 2.30 13.38 0.617 6 0.000 0.050 2667 2630 2253 0 0 0 0 0 0

10653 0.58 164.0 53.7 10.6 1016 10660 0.00 2.10 0.00 0.000 4 0.000 0.061 2667 3924 2251 0 0 0 0 0 0

10689 0.58 164.0 49.1 12.9 1022 10697 0.00 2.05 0.00 0.000 6 0.000 0.039 2666 2614 2250 0 0 0 0 0 0

11035 0.61 212.1 17.5 7.8 1083 11079 0.00 2.30 38.83 0.584 4 0.000 0.046 2667 1194 2057 0 0 0 0 0 0

11142 0.63 238.2 9.0 8.8 1101 11174 0.00 2.30 22.12 0.571 6 0.000 0.050 2667 2610 1949 0 0 0 0 0 0

11212 end climb: SURFACE_DEPTH_REACHED

state 11212 begin surface coast

11252 end surface coast: CONTROL_FINISHED_OK

state 11252 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	343	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	32	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	-8216.2227	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	151110,232607,6703.648,-5653.588,62,1.0,62,-37.6	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	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151110,233121,6703.656,-5653.552,16,1.7,16,-37.6	MHEAD_RNG_PITCHd_Wd	178.1,4189,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	541

FINISH	0.9,1.026204	_24V_AH	23.0,41.755
SM_CCo	11266,53.05,0.079,0,0,1496,350.04	_10V_AH	10.1,32.548
SM_GC	1.80,0.00,0.00,53.05,0.000,0.000,0.079,294,2780,1496,-6.81,0.00,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	449	FG_AHR_10Vo	0.000
RAFOS	0,1289865668,0.033333,0.018889,46,46,43,42,39,38,696,145,384,1391,1841,1886	MEM	189600
RAFOS_FIX	6707.062988,-5655.752441,161110,000056,2,100,1.44	DATA_FILE_SIZE	40009,1120
IRIDIUM_FIX	6631.12,-5701.34,151110,202044	CAP_FILE_SIZE	121389,0
TT8_MAMPS	0.028462	CFSIZE	260165632,225214464
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.69021	SOUNDSPEED	1476.1
TCM_TEMP	16.90	CURRENT	0.050,353.6,1
XPDR_PINGS	0	GPS	161110,024224,6703.046,-5651.695,53,1.7,53,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	247	88.94	SBE_CT	771	24	425.94
Roll_motor	85	74	145.45	SBE_O2	0	0	0.00
VBD_pump_during_apogee	312	903	6487.94	nil	0	0	0.00
VBD_pump_during_surface	53	78	96.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.47	nil	0	0	0.00
Iridium_during_connect	39	160	146.79	nil	0	0	0.00
Iridium_during_xfer	112	223	575.64	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.46
TT8	2859	19	575.40
LPSleep	6089	2	142.08
TT8_Active	469	19	94.37
TT8_Sampling	2042	39	823.49
TT8_CF8	193	45	89.56
TT8_Kalman	0	0	0.00
Analog_circuits	1436	12	174.10
GPS_charging	0	0	0.00
Compass	1824	15	276.41
RAFOS	2520	3	76.36
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	110	0.00	0.00	-91.62	0.000	6	0.000	0.000	295	2788	3520	0	0	0	0	0	0
112	-0.57	-146.0	6.1	-15.4	15	126	8.23	1.90	0.00	0.000	4	0.247	0.051	2276	3926	3521	0	0	0	0	0	0
377	-0.57	-146.0	53.2	-13.1	62	383	0.00	1.83	0.00	0.000	6	0.000	0.041	2276	2777	3524	0	0	0	0	0	0
721	-0.57	-146.0	92.9	-11.0	123	727	0.00	2.17	0.00	0.000	4	0.000	0.044	2276	1373	3522	0	0	0	0	0	0
845	-0.57	-146.0	106.0	-9.8	140	850	0.00	2.28	0.00	0.000	6	0.000	0.056	2274	2764	3523	0	0	0	0	0	0
1171	-0.57	-146.0	137.8	-9.4	170	1175	0.00	2.17	0.00	0.000	4	0.000	0.044	2275	1366	3522	0	0	0	0	0	0
1203	-0.57	-146.0	141.2	-9.9	172	1210	0.00	2.28	0.00	0.000	6	0.000	0.054	2274	2762	3522	0	0	0	0	0	0
1529	-0.57	-146.0	171.2	-8.6	203	1533	0.00	1.92	0.00	0.000	4	0.000	0.065	2272	3926	3522	0	0	0	0	0	0
1567	-0.57	-146.0	174.7	-9.5	206	1574	0.00	1.88	0.00	0.000	6	0.000	0.041	2272	2747	3522	0	0	0	0	0	0
1892	-0.57	-146.0	202.6	-8.7	237	1896	0.00	2.15	0.00	0.000	4	0.000	0.044	2272	1366	3522	0	0	0	0	0	0
1941	-0.57	-146.0	207.3	-9.3	241	1949	0.00	2.25	0.00	0.000	6	0.000	0.055	2272	2750	3522	0	0	0	0	0	0
2266	-0.57	-146.0	234.6	-8.4	272	2270	0.00	1.92	0.00	0.000	4	0.000	0.065	2272	3926	3522	0	0	0	0	0	0
2293	-0.57	-146.0	237.0	-8.4	274	2300	0.00	1.88	0.00	0.000	6	0.000	0.040	2271	2746	3522	0	0	0	0	0	0
2619	-0.57	-146.0	262.9	-8.2	305	2622	0.00	2.12	0.00	0.000	4	0.000	0.044	2272	1364	3522	0	0	0	0	0	0
2676	-0.57	-146.0	267.5	-8.2	310	2680	0.00	2.25	0.00	0.000	6	0.000	0.054	2272	2749	3522	0	0	0	0	0	0
3001	-0.57	-146.0	293.9	-8.0	340	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2749	3522	0	0	0	0	0	0
3320	-0.57	-146.0	320.7	-8.3	370	3321	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2749	3522	0	0	0	0	0	0
3639	-0.57	-146.0	345.1	-7.7	400	3640	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2749	3523	0	0	0	0	0	0
3959	-0.57	-146.0	367.8	-7.1	430	3960	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2749	3522	0	0	0	0	0	0
4275	-0.57	-146.0	391.2	-7.3	460	4279	0.00	1.98	0.00	0.000	4	0.000	0.064	2272	3946	3522	0	0	0	0	0	0
4336	-0.57	-146.0	395.7	-7.7	465	4343	0.00	1.92	0.00	0.000	6	0.000	0.040	2272	2720	3523	0	0	0	0	0	0
4661	-0.57	-146.0	418.2	-6.9	496	4662	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2720	3523	0	0	0	0	0	0
4983	-0.57	-146.0	439.1	-6.7	526	4989	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2720	3523	0	0	0	0	0	0
5308	-0.57	-146.0	461.0	-6.6	557	5312	0.00	2.03	0.00	0.000	4	0.000	0.066	2272	3942	3524	0	0	0	0	0	0
5354	-0.57	-146.0	464.2	-7.3	561	5358	0.00	1.90	0.00	0.000	6	0.000	0.040	2272	2730	3523	0	0	0	0	0	0
5684	-0.57	-146.0	486.4	-7.5	592	5685	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2729	3523	0	0	0	0	0	0
5999	-0.57	-146.0	508.8	-7.1	614	6003	0.00	2.08	0.00	0.000	4	0.000	0.044	2272	1374	3523	0	0	0	0	0	0
6037	-0.57	-146.0	511.8	-6.9	615	6041	0.00	2.20	0.00	0.000	6	0.000	0.054	2272	2729	3523	0	0	0	0	0	0
6373	-0.57	-146.0	534.8	-6.8	626	6374	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2729	3523	0	0	0	0	0	0
6493	end dive: TARGET_DEPTH_EXCEEDED
state	6493	begin apogee
6499	-0.14	0.0	542.8	6.5	630	6625	0.45	0.00	116.93	0.903	4	0.125	0.000	2424	2608	2924	0	0	0	0	0	0
6626	end apogee: CONTROL_FINISHED_OK
state	6626	begin climb
6629	0.57	146.0	545.8	0.0	634	6758	0.65	2.33	120.97	0.887	4	0.065	0.044	2662	1185	2327	0	0	0	0	0	0
6898	0.57	146.0	520.6	11.8	642	6902	0.00	2.40	0.00	0.000	6	0.000	0.050	2662	2605	2320	0	0	0	0	0	0
7218	0.57	146.0	478.3	13.8	661	7222	0.00	2.28	0.00	0.000	4	0.000	0.047	2663	1186	2316	0	0	0	0	0	0
7439	0.57	146.0	449.7	12.4	680	7447	0.00	2.33	0.00	0.000	6	0.000	0.051	2663	2604	2316	0	0	0	0	0	0
7766	0.57	146.0	406.0	13.5	711	7769	0.00	2.17	0.00	0.000	4	0.000	0.061	2663	3928	2314	0	0	0	0	0	0
7793	0.57	146.0	401.7	15.9	713	7800	0.00	2.10	0.00	0.000	6	0.000	0.040	2666	2599	2313	0	0	0	0	0	0
8118	0.57	146.0	359.2	13.0	744	8122	0.00	2.20	0.00	0.000	4	0.000	0.061	2666	3933	2313	0	0	0	0	0	0
8168	0.57	146.0	352.0	14.8	748	8172	0.00	2.05	0.00	0.000	6	0.000	0.039	2666	2630	2312	0	0	0	0	0	0
8498	0.57	146.0	310.8	12.4	779	8502	0.00	2.15	0.00	0.000	4	0.000	0.062	2666	3926	2312	0	0	0	0	0	0
8523	0.57	146.0	307.8	12.7	781	8527	0.00	2.05	0.00	0.000	6	0.000	0.039	2667	2619	2311	0	0	0	0	0	0
8853	0.57	146.0	265.8	12.6	812	8854	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2618	2312	0	0	0	0	0	0
9173	0.57	146.0	225.6	12.6	842	9174	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2617	2312	0	0	0	0	0	0
9494	0.57	146.0	183.7	12.8	872	9497	0.00	2.15	0.00	0.000	4	0.000	0.062	2666	3930	2312	0	0	0	0	0	0
9550	0.57	146.0	175.0	14.9	877	9554	0.00	2.03	0.00	0.000	6	0.000	0.038	2666	2634	2311	0	0	0	0	0	0
9881	0.57	146.0	136.4	11.3	908	9884	0.00	2.12	0.00	0.000	4	0.000	0.062	2667	3930	2311	0	0	0	0	0	0
9915	0.57	146.0	132.1	13.6	911	9919	0.00	2.03	0.00	0.000	6	0.000	0.038	2666	2635	2311	0	0	0	0	0	0
10242	0.57	146.0	96.5	10.7	944	10249	0.00	2.25	0.00	0.000	4	0.000	0.046	2666	1194	2311	0	0	0	0	0	0
10295	0.58	164.0	91.5	9.2	953	10315	0.00	2.30	13.38	0.617	6	0.000	0.050	2667	2630	2253	0	0	0	0	0	0
10653	0.58	164.0	53.7	10.6	1016	10660	0.00	2.10	0.00	0.000	4	0.000	0.061	2667	3924	2251	0	0	0	0	0	0
10689	0.58	164.0	49.1	12.9	1022	10697	0.00	2.05	0.00	0.000	6	0.000	0.039	2666	2614	2250	0	0	0	0	0	0
11035	0.61	212.1	17.5	7.8	1083	11079	0.00	2.30	38.83	0.584	4	0.000	0.046	2667	1194	2057	0	0	0	0	0	0
11142	0.63	238.2	9.0	8.8	1101	11174	0.00	2.30	22.12	0.571	6	0.000	0.050	2667	2610	1949	0	0	0	0	0	0
11212	end climb: SURFACE_DEPTH_REACHED
state	11212	begin surface coast
11252	end surface coast: CONTROL_FINISHED_OK
state	11252	begin surface