Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 36 * 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 36 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 25 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 -7732.6748 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 -7732.6748

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 36 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 140910,081755,6642.416,-6009.721,39,1.0,39,-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 -72.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140910,082232,6642.420,-6009.672,12,1.1,12,-38.0 MHEAD_RNG_PITCHd_Wd 113.3,150541,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 575

Post-dive calculations and measurements:

FINISH -0.1,1.013543 _24V_AH 23.2,8.442

SM_CCo 11097,0.00,0.000,0,0,1496,350.04 _10V_AH 10.3,5.541

SM_GC 1.05,0.00,0.00,0.00,0.000,0.000,0.000,305,2704,1496,-6.78,0.08,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 589 FG_AHR_10Vo 0.000

RAFOS 3,1284452708,8.433333,8.418889,86,49,45,44,44,39,725,1474,836,1055,328,1546 MEM 151632

RAFOS_FIX 6643.126465,-6006.531738,140910,080832,3,106,2.46 DATA_FILE_SIZE 46705,1178

IRIDIUM_FIX 6614.97,-6001.83,140910,050522 CAP_FILE_SIZE 126089,0

TT8_MAMPS 0.028462 CFSIZE 260165632,248889344

HUMID 51.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.53396 SOUNDSPEED 1454.2

TCM_TEMP 14.40 GPS 140910,112931,6641.807,-6005.873,36,1.9,36,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 277 110.33 SBE_CT 832 24 463.54

Roll_motor 105 84 207.44 SBE_O2 870 19 383.76

VBD_pump_during_apogee 409 975 9274.37 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 28 103 68.60 nil 0 0 0.00

Iridium_during_connect 39 160 145.09 nil 0 0 0.00

Iridium_during_xfer 103 223 537.41 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 7.75

TT8 2787 19 571.86

LPSleep 5875 2 139.81

TT8_Active 500 19 102.74

TT8_Sampling 2119 39 871.59

TT8_CF8 111 45 52.74

TT8_Kalman 0 0 0.00

Analog_circuits 1531 12 189.27

GPS_charging 0 0 0.00

Compass 1912 15 295.42

RAFOS 1440 3 44.50

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 98 0.00 0.00 -81.10 0.000 2 0.000 0.000 302 2706 3238 0 0 0 0 0 0

99 -0.57 -146.0 5.5 -14.0 14 120 8.70 2.15 -5.35 0.000 4 0.278 0.085 2275 3931 3522 0 0 0 0 0 0

288 -0.57 -146.0 51.3 -14.1 47 295 0.00 2.03 0.00 0.000 6 0.000 0.049 2275 2695 3524 0 0 0 0 0 0

636 -0.57 -146.0 101.9 -14.2 108 640 0.00 2.12 0.00 0.000 4 0.000 0.077 2273 3930 3525 0 0 0 0 0 0

709 -0.57 -146.0 112.3 -14.2 114 713 0.00 1.98 0.00 0.000 6 0.000 0.050 2273 2702 3525 0 0 0 0 0 0

1038 -0.57 -146.0 151.2 -10.3 145 1039 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2702 3525 0 0 0 0 0 0

1357 -0.57 -146.0 189.9 -13.2 175 1361 0.00 2.05 0.00 0.000 4 0.000 0.077 2266 3922 3525 0 0 0 0 0 0

1413 -0.57 -146.0 197.5 -13.6 180 1417 0.00 1.95 0.00 0.000 6 0.000 0.051 2266 2699 3524 0 0 0 0 0 0

1743 -0.57 -146.0 236.4 -11.3 211 1744 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2698 3524 0 0 0 0 0 0

2062 -0.57 -146.0 271.3 -11.1 241 2065 0.00 2.05 0.00 0.000 4 0.000 0.079 2262 3922 3524 0 0 0 0 0 0

2139 -0.57 -146.0 280.0 -11.1 248 2144 0.10 1.98 0.00 0.000 6 0.196 0.051 2286 2696 3523 0 0 0 0 0 0

2469 -0.57 -146.0 309.3 -8.6 279 2473 0.00 2.22 0.00 0.000 4 0.000 0.055 2286 1294 3522 0 0 0 0 0 0

2512 -0.57 -146.0 313.3 -9.1 282 2519 0.00 2.33 0.00 0.000 6 0.000 0.067 2286 2691 3522 0 0 0 0 0 0

2837 -0.57 -146.0 340.6 -8.3 313 2841 0.00 2.05 0.00 0.000 4 0.000 0.077 2278 3929 3522 0 0 0 0 0 0

2964 -0.57 -146.0 352.3 -8.9 324 2972 0.00 1.98 0.00 0.000 6 0.000 0.050 2278 2706 3522 0 0 0 0 0 0

3290 -0.57 -146.0 380.6 -8.5 355 3294 0.00 2.05 0.00 0.000 4 0.000 0.078 2273 3928 3522 0 0 0 0 0 0

3339 -0.57 -146.0 385.3 -9.4 359 3346 0.00 2.00 0.00 0.000 6 0.000 0.050 2273 2691 3522 0 0 0 0 0 0

3664 -0.57 -146.0 411.7 -8.2 390 3668 0.00 2.08 0.00 0.000 4 0.000 0.077 2266 3938 3522 0 0 0 0 0 0

3742 -0.57 -146.0 418.6 -8.3 397 3746 0.00 1.95 0.00 0.000 6 0.000 0.050 2266 2700 3522 0 0 0 0 0 0

4072 -0.57 -146.0 447.1 -8.6 428 4074 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2699 3522 0 0 0 0 0 0

4392 -0.57 -146.0 473.8 -8.3 458 4395 0.00 2.05 0.00 0.000 4 0.000 0.076 2261 3933 3522 0 0 0 0 0 0

4516 -0.57 -146.0 485.4 -9.3 469 4520 0.10 1.95 0.00 0.000 6 0.193 0.050 2286 2695 3522 0 0 0 0 0 0

4845 -0.57 -146.0 509.7 -7.7 500 4849 0.00 2.05 0.00 0.000 4 0.000 0.076 2281 3931 3523 0 0 0 0 0 0

4883 -0.57 -146.0 512.9 -8.7 503 4891 0.00 1.98 0.00 0.000 6 0.000 0.049 2280 2705 3523 0 0 0 0 0 0

5209 -0.57 -146.0 538.7 -8.2 534 5213 0.00 2.03 0.00 0.000 4 0.000 0.076 2274 3928 3523 0 0 0 0 0 0

5242 -0.57 -146.0 541.5 -8.4 537 5246 0.00 1.98 0.00 0.000 6 0.000 0.049 2274 2701 3523 0 0 0 0 0 0

5571 -0.57 -146.0 567.8 -7.7 568 5575 0.00 2.05 0.00 0.000 4 0.000 0.076 2267 3928 3523 0 0 0 0 0 0

5598 -0.57 -146.0 570.3 -8.2 570 5606 0.00 1.98 0.00 0.000 6 0.000 0.048 2267 2693 3523 0 0 0 0 0 0

5656 end dive: TARGET_DEPTH_EXCEEDED

state 5656 begin apogee

5660 -0.14 0.0 575.1 8.3 576 5785 0.47 0.00 120.12 0.975 6 0.152 0.000 2420 2544 2923 0 0 0 0 0 0

5786 end apogee: CONTROL_FINISHED_OK

state 5786 begin climb

5787 0.57 146.0 578.1 0.0 587 5920 0.70 2.50 124.47 0.944 4 0.106 0.054 2660 1146 2326 0 0 0 0 0 0

5969 0.57 146.0 563.1 12.1 603 5977 0.00 2.47 0.00 0.000 6 0.000 0.057 2660 2548 2321 0 0 0 0 0 0

6294 0.57 146.0 521.4 13.1 634 6298 0.00 2.40 0.00 0.000 4 0.000 0.070 2660 3934 2315 0 0 0 0 0 0

6337 0.57 146.0 514.7 15.7 637 6345 0.00 2.33 0.00 0.000 6 0.000 0.047 2671 2549 2315 0 0 0 0 0 0

6663 0.57 146.0 470.6 13.2 668 6667 0.00 2.35 0.00 0.000 4 0.000 0.070 2671 3927 2314 0 0 0 0 0 0

6696 0.57 146.0 465.6 15.7 671 6701 0.00 2.25 0.00 0.000 6 0.000 0.047 2681 2545 2313 0 0 0 0 0 0

7026 0.57 146.0 421.2 13.1 702 7030 0.00 2.38 0.00 0.000 4 0.000 0.071 2681 3938 2313 0 0 0 0 0 0

7068 0.57 146.0 414.6 15.1 705 7077 0.10 2.25 0.00 0.000 6 0.194 0.046 2663 2560 2312 0 0 0 0 0 0

7394 0.57 146.0 375.6 12.5 736 7398 0.00 2.33 0.00 0.000 4 0.000 0.071 2664 3932 2312 0 0 0 0 0 0

7472 0.57 146.0 364.4 14.7 743 7476 0.00 2.22 0.00 0.000 6 0.000 0.047 2672 2550 2312 0 0 0 0 0 0

7802 0.57 146.0 322.7 12.7 774 7806 0.00 2.33 0.00 0.000 4 0.000 0.071 2672 3928 2312 0 0 0 0 0 0

7829 0.57 146.0 318.9 15.1 776 7833 0.00 2.22 0.00 0.000 6 0.000 0.047 2683 2542 2311 0 0 0 0 0 0

8153 0.57 146.0 276.5 12.4 806 8154 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2541 2312 0 0 0 0 0 0

8472 0.57 146.0 239.7 11.4 836 8476 0.00 2.30 0.00 0.000 4 0.000 0.071 2683 3928 2311 0 0 0 0 0 0

8534 0.57 146.0 231.4 13.7 841 8539 0.12 2.20 0.00 0.000 6 0.217 0.047 2664 2549 2311 0 0 0 0 0 0

8858 0.57 152.9 198.0 9.7 871 8871 0.00 2.35 4.55 0.620 4 0.000 0.072 2665 3933 2299 0 0 0 0 0 0

8943 0.57 152.9 188.0 12.3 878 8950 0.00 2.22 0.00 0.000 6 0.000 0.047 2673 2551 2299 0 0 0 0 0 0

9268 0.57 152.9 153.9 10.4 909 9269 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2551 2298 0 0 0 0 0 0

9589 0.59 183.8 124.8 8.6 939 9623 0.00 2.35 26.62 0.712 4 0.000 0.072 2673 3927 2173 0 0 0 0 0 0

9751 0.60 194.5 108.8 9.5 953 9770 0.00 2.25 10.10 0.685 6 0.000 0.047 2683 2551 2128 0 0 0 0 0 0

10101 0.60 194.5 76.6 10.2 1006 10108 0.00 2.25 0.00 0.000 4 0.000 0.057 2693 1141 2124 0 0 0 0 0 0

10137 0.60 194.5 72.9 10.7 1012 10144 0.00 2.33 0.00 0.000 6 0.000 0.060 2692 2554 2124 0 0 0 0 0 0

10483 0.65 278.9 42.9 6.1 1073 10560 0.00 2.40 69.00 0.679 4 0.000 0.072 2692 3923 1785 0 0 0 0 0 0

10616 0.65 278.9 30.8 11.7 1096 10623 0.00 2.28 0.00 0.000 6 0.000 0.049 2698 2547 1779 0 0 0 0 0 0

10961 0.70 346.7 7.8 6.9 1157 11026 0.00 2.40 54.97 0.654 4 0.000 0.058 2699 1146 1507 0 0 0 0 0 0

11036 end climb: SURFACE_DEPTH_REACHED

state 11037 begin surface coast

11082 end surface coast: CONTROL_FINISHED_OK

state 11082 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	36	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	25	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	-7732.6748	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	140910,081755,6642.416,-6009.721,39,1.0,39,-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	-72.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140910,082232,6642.420,-6009.672,12,1.1,12,-38.0	MHEAD_RNG_PITCHd_Wd	113.3,150541,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	575

FINISH	-0.1,1.013543	_24V_AH	23.2,8.442
SM_CCo	11097,0.00,0.000,0,0,1496,350.04	_10V_AH	10.3,5.541
SM_GC	1.05,0.00,0.00,0.00,0.000,0.000,0.000,305,2704,1496,-6.78,0.08,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	589	FG_AHR_10Vo	0.000
RAFOS	3,1284452708,8.433333,8.418889,86,49,45,44,44,39,725,1474,836,1055,328,1546	MEM	151632
RAFOS_FIX	6643.126465,-6006.531738,140910,080832,3,106,2.46	DATA_FILE_SIZE	46705,1178
IRIDIUM_FIX	6614.97,-6001.83,140910,050522	CAP_FILE_SIZE	126089,0
TT8_MAMPS	0.028462	CFSIZE	260165632,248889344
HUMID	51.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.53396	SOUNDSPEED	1454.2
TCM_TEMP	14.40	GPS	140910,112931,6641.807,-6005.873,36,1.9,36,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	277	110.33	SBE_CT	832	24	463.54
Roll_motor	105	84	207.44	SBE_O2	870	19	383.76
VBD_pump_during_apogee	409	975	9274.37	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	28	103	68.60	nil	0	0	0.00
Iridium_during_connect	39	160	145.09	nil	0	0	0.00
Iridium_during_xfer	103	223	537.41	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	7.75
TT8	2787	19	571.86
LPSleep	5875	2	139.81
TT8_Active	500	19	102.74
TT8_Sampling	2119	39	871.59
TT8_CF8	111	45	52.74
TT8_Kalman	0	0	0.00
Analog_circuits	1531	12	189.27
GPS_charging	0	0	0.00
Compass	1912	15	295.42
RAFOS	1440	3	44.50
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	98	0.00	0.00	-81.10	0.000	2	0.000	0.000	302	2706	3238	0	0	0	0	0	0
99	-0.57	-146.0	5.5	-14.0	14	120	8.70	2.15	-5.35	0.000	4	0.278	0.085	2275	3931	3522	0	0	0	0	0	0
288	-0.57	-146.0	51.3	-14.1	47	295	0.00	2.03	0.00	0.000	6	0.000	0.049	2275	2695	3524	0	0	0	0	0	0
636	-0.57	-146.0	101.9	-14.2	108	640	0.00	2.12	0.00	0.000	4	0.000	0.077	2273	3930	3525	0	0	0	0	0	0
709	-0.57	-146.0	112.3	-14.2	114	713	0.00	1.98	0.00	0.000	6	0.000	0.050	2273	2702	3525	0	0	0	0	0	0
1038	-0.57	-146.0	151.2	-10.3	145	1039	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2702	3525	0	0	0	0	0	0
1357	-0.57	-146.0	189.9	-13.2	175	1361	0.00	2.05	0.00	0.000	4	0.000	0.077	2266	3922	3525	0	0	0	0	0	0
1413	-0.57	-146.0	197.5	-13.6	180	1417	0.00	1.95	0.00	0.000	6	0.000	0.051	2266	2699	3524	0	0	0	0	0	0
1743	-0.57	-146.0	236.4	-11.3	211	1744	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2698	3524	0	0	0	0	0	0
2062	-0.57	-146.0	271.3	-11.1	241	2065	0.00	2.05	0.00	0.000	4	0.000	0.079	2262	3922	3524	0	0	0	0	0	0
2139	-0.57	-146.0	280.0	-11.1	248	2144	0.10	1.98	0.00	0.000	6	0.196	0.051	2286	2696	3523	0	0	0	0	0	0
2469	-0.57	-146.0	309.3	-8.6	279	2473	0.00	2.22	0.00	0.000	4	0.000	0.055	2286	1294	3522	0	0	0	0	0	0
2512	-0.57	-146.0	313.3	-9.1	282	2519	0.00	2.33	0.00	0.000	6	0.000	0.067	2286	2691	3522	0	0	0	0	0	0
2837	-0.57	-146.0	340.6	-8.3	313	2841	0.00	2.05	0.00	0.000	4	0.000	0.077	2278	3929	3522	0	0	0	0	0	0
2964	-0.57	-146.0	352.3	-8.9	324	2972	0.00	1.98	0.00	0.000	6	0.000	0.050	2278	2706	3522	0	0	0	0	0	0
3290	-0.57	-146.0	380.6	-8.5	355	3294	0.00	2.05	0.00	0.000	4	0.000	0.078	2273	3928	3522	0	0	0	0	0	0
3339	-0.57	-146.0	385.3	-9.4	359	3346	0.00	2.00	0.00	0.000	6	0.000	0.050	2273	2691	3522	0	0	0	0	0	0
3664	-0.57	-146.0	411.7	-8.2	390	3668	0.00	2.08	0.00	0.000	4	0.000	0.077	2266	3938	3522	0	0	0	0	0	0
3742	-0.57	-146.0	418.6	-8.3	397	3746	0.00	1.95	0.00	0.000	6	0.000	0.050	2266	2700	3522	0	0	0	0	0	0
4072	-0.57	-146.0	447.1	-8.6	428	4074	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2699	3522	0	0	0	0	0	0
4392	-0.57	-146.0	473.8	-8.3	458	4395	0.00	2.05	0.00	0.000	4	0.000	0.076	2261	3933	3522	0	0	0	0	0	0
4516	-0.57	-146.0	485.4	-9.3	469	4520	0.10	1.95	0.00	0.000	6	0.193	0.050	2286	2695	3522	0	0	0	0	0	0
4845	-0.57	-146.0	509.7	-7.7	500	4849	0.00	2.05	0.00	0.000	4	0.000	0.076	2281	3931	3523	0	0	0	0	0	0
4883	-0.57	-146.0	512.9	-8.7	503	4891	0.00	1.98	0.00	0.000	6	0.000	0.049	2280	2705	3523	0	0	0	0	0	0
5209	-0.57	-146.0	538.7	-8.2	534	5213	0.00	2.03	0.00	0.000	4	0.000	0.076	2274	3928	3523	0	0	0	0	0	0
5242	-0.57	-146.0	541.5	-8.4	537	5246	0.00	1.98	0.00	0.000	6	0.000	0.049	2274	2701	3523	0	0	0	0	0	0
5571	-0.57	-146.0	567.8	-7.7	568	5575	0.00	2.05	0.00	0.000	4	0.000	0.076	2267	3928	3523	0	0	0	0	0	0
5598	-0.57	-146.0	570.3	-8.2	570	5606	0.00	1.98	0.00	0.000	6	0.000	0.048	2267	2693	3523	0	0	0	0	0	0
5656	end dive: TARGET_DEPTH_EXCEEDED
state	5656	begin apogee
5660	-0.14	0.0	575.1	8.3	576	5785	0.47	0.00	120.12	0.975	6	0.152	0.000	2420	2544	2923	0	0	0	0	0	0
5786	end apogee: CONTROL_FINISHED_OK
state	5786	begin climb
5787	0.57	146.0	578.1	0.0	587	5920	0.70	2.50	124.47	0.944	4	0.106	0.054	2660	1146	2326	0	0	0	0	0	0
5969	0.57	146.0	563.1	12.1	603	5977	0.00	2.47	0.00	0.000	6	0.000	0.057	2660	2548	2321	0	0	0	0	0	0
6294	0.57	146.0	521.4	13.1	634	6298	0.00	2.40	0.00	0.000	4	0.000	0.070	2660	3934	2315	0	0	0	0	0	0
6337	0.57	146.0	514.7	15.7	637	6345	0.00	2.33	0.00	0.000	6	0.000	0.047	2671	2549	2315	0	0	0	0	0	0
6663	0.57	146.0	470.6	13.2	668	6667	0.00	2.35	0.00	0.000	4	0.000	0.070	2671	3927	2314	0	0	0	0	0	0
6696	0.57	146.0	465.6	15.7	671	6701	0.00	2.25	0.00	0.000	6	0.000	0.047	2681	2545	2313	0	0	0	0	0	0
7026	0.57	146.0	421.2	13.1	702	7030	0.00	2.38	0.00	0.000	4	0.000	0.071	2681	3938	2313	0	0	0	0	0	0
7068	0.57	146.0	414.6	15.1	705	7077	0.10	2.25	0.00	0.000	6	0.194	0.046	2663	2560	2312	0	0	0	0	0	0
7394	0.57	146.0	375.6	12.5	736	7398	0.00	2.33	0.00	0.000	4	0.000	0.071	2664	3932	2312	0	0	0	0	0	0
7472	0.57	146.0	364.4	14.7	743	7476	0.00	2.22	0.00	0.000	6	0.000	0.047	2672	2550	2312	0	0	0	0	0	0
7802	0.57	146.0	322.7	12.7	774	7806	0.00	2.33	0.00	0.000	4	0.000	0.071	2672	3928	2312	0	0	0	0	0	0
7829	0.57	146.0	318.9	15.1	776	7833	0.00	2.22	0.00	0.000	6	0.000	0.047	2683	2542	2311	0	0	0	0	0	0
8153	0.57	146.0	276.5	12.4	806	8154	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2541	2312	0	0	0	0	0	0
8472	0.57	146.0	239.7	11.4	836	8476	0.00	2.30	0.00	0.000	4	0.000	0.071	2683	3928	2311	0	0	0	0	0	0
8534	0.57	146.0	231.4	13.7	841	8539	0.12	2.20	0.00	0.000	6	0.217	0.047	2664	2549	2311	0	0	0	0	0	0
8858	0.57	152.9	198.0	9.7	871	8871	0.00	2.35	4.55	0.620	4	0.000	0.072	2665	3933	2299	0	0	0	0	0	0
8943	0.57	152.9	188.0	12.3	878	8950	0.00	2.22	0.00	0.000	6	0.000	0.047	2673	2551	2299	0	0	0	0	0	0
9268	0.57	152.9	153.9	10.4	909	9269	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2551	2298	0	0	0	0	0	0
9589	0.59	183.8	124.8	8.6	939	9623	0.00	2.35	26.62	0.712	4	0.000	0.072	2673	3927	2173	0	0	0	0	0	0
9751	0.60	194.5	108.8	9.5	953	9770	0.00	2.25	10.10	0.685	6	0.000	0.047	2683	2551	2128	0	0	0	0	0	0
10101	0.60	194.5	76.6	10.2	1006	10108	0.00	2.25	0.00	0.000	4	0.000	0.057	2693	1141	2124	0	0	0	0	0	0
10137	0.60	194.5	72.9	10.7	1012	10144	0.00	2.33	0.00	0.000	6	0.000	0.060	2692	2554	2124	0	0	0	0	0	0
10483	0.65	278.9	42.9	6.1	1073	10560	0.00	2.40	69.00	0.679	4	0.000	0.072	2692	3923	1785	0	0	0	0	0	0
10616	0.65	278.9	30.8	11.7	1096	10623	0.00	2.28	0.00	0.000	6	0.000	0.049	2698	2547	1779	0	0	0	0	0	0
10961	0.70	346.7	7.8	6.9	1157	11026	0.00	2.40	54.97	0.654	4	0.000	0.058	2699	1146	1507	0	0	0	0	0	0
11036	end climb: SURFACE_DEPTH_REACHED
state	11037	begin surface coast
11082	end surface coast: CONTROL_FINISHED_OK
state	11082	begin surface