Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 438 * 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 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 438 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 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 3 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 -8294.2529 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 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 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 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 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 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 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -8294.2529

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 0.1 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 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

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 43 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 438 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 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 021210,004322,6701.095,-5648.407,0,3077.0,0,-37.6 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,004322,6701.095,-5648.407,0,3077.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 42.4,3540,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 543

Post-dive calculations and measurements:

FREEZE 1.62,0.404,-1.779,0,8,0 ALTIM_TOP_PING 19.6,22.0

FINISH 1.6,1.026039 _24V_AH 22.8,53.185

SM_CCo 11252,228.30,0.077,0,0,440,609.08 _10V_AH 10.1,39.308

SM_GC 1.77,0.00,0.00,228.30,0.000,0.000,0.077,288,2778,440,-6.81,-0.06,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 504 FG_AHR_10Vo 0.000

RAFOS 0,1291262469,4.033333,4.019166,51,43,43,42,41,41,1488,26,1858,1618,1663,316 MEM 151684

RAFOS_FIX 6701.095215,-5648.407227,021210,000022,3,77,0.35 DATA_FILE_SIZE 40057,1140

IRIDIUM_FIX 6625.71,-5722.48,011210,000045 CAP_FILE_SIZE 120915,0

TT8_MAMPS 0.028462 CFSIZE 260165632,218804224

HUMID 43.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.56325 SOUNDSPEED 1476.4

TCM_TEMP 16.80 GPS 021210,064408,6656.004,-5642.248,49,1.0,49,-37.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 187 38.03 SBE_CT 788 24 431.32

Roll_motor 76 77 135.29 SBE_O2 0 0 0.00

VBD_pump_during_apogee 309 898 6330.44 nil 0 0 0.00

VBD_pump_during_surface 228 77 402.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 16.76 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2799 19 563.15

LPSleep 6141 2 143.28

TT8_Active 563 19 113.44

TT8_Sampling 1867 39 752.84

TT8_CF8 172 45 79.81

TT8_Kalman 0 0 0.00

Analog_circuits 1530 12 185.49

GPS_charging 0 0 0.00

Compass 1855 15 281.13

RAFOS 2520 3 76.36

Transponder 13 30 4.03

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

16 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -6.93 0.000 2 0.000 0.000 2493 2647 2933 0 0 0 0 0 0

27 -0.57 -146.0 9.8 -0.0 1 47 0.52 2.17 -13.55 0.000 4 0.083 0.077 2288 3926 3521 0 0 0 0 0 0

157 -0.61 -146.0 21.7 -10.9 23 164 0.00 1.77 0.00 0.000 6 0.000 0.039 2288 2773 3522 0 0 0 0 0 0

503 -0.64 -146.0 54.3 -7.4 84 510 0.00 2.15 0.00 0.000 4 0.000 0.042 2288 1372 3522 0 0 0 0 0 0

535 -0.68 -146.0 57.0 -8.1 89 541 0.00 2.25 0.00 0.000 6 0.000 0.054 2288 2774 3522 0 0 0 0 0 0

881 -0.72 -146.0 85.3 -8.1 150 888 0.12 1.90 0.00 0.000 4 0.100 0.065 2227 3926 3521 0 0 0 0 0 0

912 -0.67 -146.0 88.7 -11.3 155 919 0.10 1.80 0.00 0.000 6 0.180 0.040 2252 2776 3522 0 0 0 0 0 0

1250 -0.65 -146.0 126.2 -10.3 195 1254 0.00 2.17 0.00 0.000 4 0.000 0.043 2253 1370 3521 0 0 0 0 0 0

1310 -0.65 -146.0 132.3 -9.4 200 1317 0.00 2.25 0.00 0.000 6 0.000 0.054 2252 2772 3521 0 0 0 0 0 0

1636 -0.65 -146.0 164.9 -10.0 231 1639 0.00 1.90 0.00 0.000 4 0.000 0.064 2247 3925 3520 0 0 0 0 0 0

1715 -0.65 -146.0 173.4 -10.7 238 1719 0.00 1.77 0.00 0.000 6 0.000 0.040 2247 2776 3520 0 0 0 0 0 0

2045 -0.65 -146.0 210.4 -11.2 269 2049 0.00 2.15 0.00 0.000 4 0.000 0.043 2247 1373 3521 0 0 0 0 0 0

2067 -0.65 -146.0 212.8 -10.9 270 2075 0.00 2.28 0.00 0.000 6 0.000 0.054 2247 2786 3520 0 0 0 0 0 0

2392 -0.65 -146.0 246.2 -10.0 301 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2786 3520 0 0 0 0 0 0

2712 -0.65 -146.0 276.6 -9.8 331 2714 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2787 3520 0 0 0 0 0 0

3032 -0.65 -146.0 307.1 -8.7 361 3036 0.00 1.90 0.00 0.000 4 0.000 0.063 2247 3928 3520 0 0 0 0 0 0

3088 -0.65 -146.0 312.7 -9.7 366 3092 0.00 1.75 0.00 0.000 6 0.000 0.040 2247 2791 3520 0 0 0 0 0 0

3419 -0.65 -146.0 343.6 -8.8 397 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2791 3520 0 0 0 0 0 0

3738 -0.65 -146.0 369.2 -8.0 427 3741 0.00 1.88 0.00 0.000 4 0.000 0.064 2247 3933 3521 0 0 0 0 0 0

3806 -0.65 -146.0 374.5 -7.5 433 3810 0.00 1.77 0.00 0.000 6 0.000 0.040 2247 2812 3521 0 0 0 0 0 0

4138 -0.65 -146.0 399.8 -7.9 464 4143 0.00 2.22 0.00 0.000 4 0.000 0.041 2247 1364 3521 0 0 0 0 0 0

4165 -0.65 -146.0 402.3 -8.5 466 4172 0.00 2.33 0.00 0.000 6 0.000 0.054 2247 2815 3521 0 0 0 0 0 0

4491 -0.65 -146.0 428.2 -8.2 497 4492 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2815 3521 0 0 0 0 0 0

4811 -0.65 -146.0 453.0 -8.1 527 4812 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2815 3521 0 0 0 0 0 0

5130 -0.65 -146.0 478.1 -7.8 557 5131 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2815 3521 0 0 0 0 0 0

5456 -0.67 -146.0 505.4 -8.5 584 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2815 3522 0 0 0 0 0 0

5762 -0.69 -146.0 531.1 -8.2 594 5763 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2815 3522 0 0 0 0 0 0

5911 end dive: TARGET_DEPTH_EXCEEDED

state 5912 begin apogee

5917 -0.14 0.0 543.4 8.0 599 6043 0.52 0.00 117.50 0.898 4 0.127 0.000 2423 2601 2923 0 0 0 0 0 0

6044 end apogee: CONTROL_FINISHED_OK

state 6044 begin climb

6047 0.57 146.0 546.3 0.0 603 6177 0.65 2.33 121.55 0.880 4 0.060 0.043 2665 1181 2327 0 0 0 0 0 0

6345 0.54 146.0 516.7 12.8 612 6349 0.00 2.38 0.00 0.000 6 0.000 0.048 2665 2610 2319 0 0 0 0 0 0

6669 0.46 146.0 473.3 13.3 633 6674 0.15 2.25 0.00 0.000 4 0.187 0.045 2625 1186 2316 0 0 0 0 0 0

6889 0.51 171.1 451.5 8.8 652 6915 0.00 2.25 20.12 0.806 6 0.000 0.049 2625 2603 2225 0 0 0 0 0 0

7241 0.51 171.1 413.7 10.4 685 7244 0.00 2.15 0.00 0.000 4 0.000 0.060 2625 3925 2221 0 0 0 0 0 0

7320 0.48 171.1 404.1 12.4 692 7324 0.00 2.10 0.00 0.000 6 0.000 0.038 2625 2590 2219 0 0 0 0 0 0

7651 0.48 171.1 368.6 10.7 723 7652 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2589 2219 0 0 0 0 0 0

7970 0.48 171.1 336.0 10.3 753 7974 0.00 2.17 0.00 0.000 4 0.000 0.060 2626 3926 2219 0 0 0 0 0 0

8010 0.45 171.1 331.1 12.6 756 8017 0.00 2.05 0.00 0.000 6 0.000 0.037 2628 2599 2219 0 0 0 0 0 0

8335 0.45 171.1 297.9 10.1 787 8336 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2599 2219 0 0 0 0 0 0

8654 0.45 179.3 265.6 9.6 817 8667 0.00 2.25 7.60 0.652 4 0.000 0.060 2628 3928 2192 0 0 0 0 0 0

8725 0.43 179.3 257.7 12.1 823 8729 0.00 2.05 0.00 0.000 6 0.000 0.037 2628 2601 2191 0 0 0 0 0 0

9056 0.46 179.3 224.9 10.0 854 9060 0.00 2.17 0.00 0.000 4 0.000 0.044 2628 1198 2191 0 0 0 0 0 0

9079 0.52 179.3 222.7 10.2 856 9083 0.00 2.22 0.00 0.000 6 0.000 0.048 2628 2609 2191 0 0 0 0 0 0

9404 0.56 188.1 190.0 9.6 886 9419 0.00 2.17 8.85 0.633 4 0.000 0.059 2628 3922 2155 0 0 0 0 0 0

9465 0.56 188.1 183.1 11.6 891 9472 0.00 2.05 0.00 0.000 6 0.000 0.037 2628 2628 2154 0 0 0 0 0 0

9791 0.61 202.2 151.5 9.3 922 9807 0.12 0.00 13.02 0.640 6 0.099 0.000 2688 2628 2098 0 0 0 0 0 0

10127 0.55 202.2 109.0 12.7 953 10132 0.12 2.28 0.00 0.000 4 0.174 0.046 2654 1180 2096 0 0 0 0 0 0

10160 0.60 202.2 105.1 10.5 955 10167 0.00 2.30 0.00 0.000 6 0.000 0.047 2654 2626 2095 0 0 0 0 0 0

10501 0.60 212.9 69.7 9.5 1011 10514 0.00 0.00 10.10 0.588 6 0.000 0.000 2654 2627 2053 0 0 0 0 0 0

10854 0.65 224.3 35.2 9.5 1073 10867 0.00 0.00 10.40 0.574 6 0.000 0.000 2654 2627 2008 0 0 0 0 0 0

11204 0.72 224.3 4.2 11.2 1135 11212 0.15 2.28 0.00 0.000 4 0.091 0.047 2719 1193 2005 0 0 0 0 0 0

11218 end climb: SURFACE_DEPTH_REACHED

state 11218 begin surface coast

11234 end surface coast: CONTROL_FINISHED_OK

state 11234 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	438	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	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	3	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	-8294.2529	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	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	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	021210,004322,6701.095,-5648.407,0,3077.0,0,-37.6	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,004322,6701.095,-5648.407,0,3077.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	42.4,3540,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	543

FREEZE	1.62,0.404,-1.779,0,8,0	ALTIM_TOP_PING	19.6,22.0
FINISH	1.6,1.026039	_24V_AH	22.8,53.185
SM_CCo	11252,228.30,0.077,0,0,440,609.08	_10V_AH	10.1,39.308
SM_GC	1.77,0.00,0.00,228.30,0.000,0.000,0.077,288,2778,440,-6.81,-0.06,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	504	FG_AHR_10Vo	0.000
RAFOS	0,1291262469,4.033333,4.019166,51,43,43,42,41,41,1488,26,1858,1618,1663,316	MEM	151684
RAFOS_FIX	6701.095215,-5648.407227,021210,000022,3,77,0.35	DATA_FILE_SIZE	40057,1140
IRIDIUM_FIX	6625.71,-5722.48,011210,000045	CAP_FILE_SIZE	120915,0
TT8_MAMPS	0.028462	CFSIZE	260165632,218804224
HUMID	43.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.56325	SOUNDSPEED	1476.4
TCM_TEMP	16.80	GPS	021210,064408,6656.004,-5642.248,49,1.0,49,-37.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	187	38.03	SBE_CT	788	24	431.32
Roll_motor	76	77	135.29	SBE_O2	0	0	0.00
VBD_pump_during_apogee	309	898	6330.44	nil	0	0	0.00
VBD_pump_during_surface	228	77	402.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	16.76	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2799	19	563.15
LPSleep	6141	2	143.28
TT8_Active	563	19	113.44
TT8_Sampling	1867	39	752.84
TT8_CF8	172	45	79.81
TT8_Kalman	0	0	0.00
Analog_circuits	1530	12	185.49
GPS_charging	0	0	0.00
Compass	1855	15	281.13
RAFOS	2520	3	76.36
Transponder	13	30	4.03

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
16	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-6.93	0.000	2	0.000	0.000	2493	2647	2933	0	0	0	0	0	0
27	-0.57	-146.0	9.8	-0.0	1	47	0.52	2.17	-13.55	0.000	4	0.083	0.077	2288	3926	3521	0	0	0	0	0	0
157	-0.61	-146.0	21.7	-10.9	23	164	0.00	1.77	0.00	0.000	6	0.000	0.039	2288	2773	3522	0	0	0	0	0	0
503	-0.64	-146.0	54.3	-7.4	84	510	0.00	2.15	0.00	0.000	4	0.000	0.042	2288	1372	3522	0	0	0	0	0	0
535	-0.68	-146.0	57.0	-8.1	89	541	0.00	2.25	0.00	0.000	6	0.000	0.054	2288	2774	3522	0	0	0	0	0	0
881	-0.72	-146.0	85.3	-8.1	150	888	0.12	1.90	0.00	0.000	4	0.100	0.065	2227	3926	3521	0	0	0	0	0	0
912	-0.67	-146.0	88.7	-11.3	155	919	0.10	1.80	0.00	0.000	6	0.180	0.040	2252	2776	3522	0	0	0	0	0	0
1250	-0.65	-146.0	126.2	-10.3	195	1254	0.00	2.17	0.00	0.000	4	0.000	0.043	2253	1370	3521	0	0	0	0	0	0
1310	-0.65	-146.0	132.3	-9.4	200	1317	0.00	2.25	0.00	0.000	6	0.000	0.054	2252	2772	3521	0	0	0	0	0	0
1636	-0.65	-146.0	164.9	-10.0	231	1639	0.00	1.90	0.00	0.000	4	0.000	0.064	2247	3925	3520	0	0	0	0	0	0
1715	-0.65	-146.0	173.4	-10.7	238	1719	0.00	1.77	0.00	0.000	6	0.000	0.040	2247	2776	3520	0	0	0	0	0	0
2045	-0.65	-146.0	210.4	-11.2	269	2049	0.00	2.15	0.00	0.000	4	0.000	0.043	2247	1373	3521	0	0	0	0	0	0
2067	-0.65	-146.0	212.8	-10.9	270	2075	0.00	2.28	0.00	0.000	6	0.000	0.054	2247	2786	3520	0	0	0	0	0	0
2392	-0.65	-146.0	246.2	-10.0	301	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2786	3520	0	0	0	0	0	0
2712	-0.65	-146.0	276.6	-9.8	331	2714	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2787	3520	0	0	0	0	0	0
3032	-0.65	-146.0	307.1	-8.7	361	3036	0.00	1.90	0.00	0.000	4	0.000	0.063	2247	3928	3520	0	0	0	0	0	0
3088	-0.65	-146.0	312.7	-9.7	366	3092	0.00	1.75	0.00	0.000	6	0.000	0.040	2247	2791	3520	0	0	0	0	0	0
3419	-0.65	-146.0	343.6	-8.8	397	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2791	3520	0	0	0	0	0	0
3738	-0.65	-146.0	369.2	-8.0	427	3741	0.00	1.88	0.00	0.000	4	0.000	0.064	2247	3933	3521	0	0	0	0	0	0
3806	-0.65	-146.0	374.5	-7.5	433	3810	0.00	1.77	0.00	0.000	6	0.000	0.040	2247	2812	3521	0	0	0	0	0	0
4138	-0.65	-146.0	399.8	-7.9	464	4143	0.00	2.22	0.00	0.000	4	0.000	0.041	2247	1364	3521	0	0	0	0	0	0
4165	-0.65	-146.0	402.3	-8.5	466	4172	0.00	2.33	0.00	0.000	6	0.000	0.054	2247	2815	3521	0	0	0	0	0	0
4491	-0.65	-146.0	428.2	-8.2	497	4492	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2815	3521	0	0	0	0	0	0
4811	-0.65	-146.0	453.0	-8.1	527	4812	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2815	3521	0	0	0	0	0	0
5130	-0.65	-146.0	478.1	-7.8	557	5131	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2815	3521	0	0	0	0	0	0
5456	-0.67	-146.0	505.4	-8.5	584	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2815	3522	0	0	0	0	0	0
5762	-0.69	-146.0	531.1	-8.2	594	5763	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2815	3522	0	0	0	0	0	0
5911	end dive: TARGET_DEPTH_EXCEEDED
state	5912	begin apogee
5917	-0.14	0.0	543.4	8.0	599	6043	0.52	0.00	117.50	0.898	4	0.127	0.000	2423	2601	2923	0	0	0	0	0	0
6044	end apogee: CONTROL_FINISHED_OK
state	6044	begin climb
6047	0.57	146.0	546.3	0.0	603	6177	0.65	2.33	121.55	0.880	4	0.060	0.043	2665	1181	2327	0	0	0	0	0	0
6345	0.54	146.0	516.7	12.8	612	6349	0.00	2.38	0.00	0.000	6	0.000	0.048	2665	2610	2319	0	0	0	0	0	0
6669	0.46	146.0	473.3	13.3	633	6674	0.15	2.25	0.00	0.000	4	0.187	0.045	2625	1186	2316	0	0	0	0	0	0
6889	0.51	171.1	451.5	8.8	652	6915	0.00	2.25	20.12	0.806	6	0.000	0.049	2625	2603	2225	0	0	0	0	0	0
7241	0.51	171.1	413.7	10.4	685	7244	0.00	2.15	0.00	0.000	4	0.000	0.060	2625	3925	2221	0	0	0	0	0	0
7320	0.48	171.1	404.1	12.4	692	7324	0.00	2.10	0.00	0.000	6	0.000	0.038	2625	2590	2219	0	0	0	0	0	0
7651	0.48	171.1	368.6	10.7	723	7652	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2589	2219	0	0	0	0	0	0
7970	0.48	171.1	336.0	10.3	753	7974	0.00	2.17	0.00	0.000	4	0.000	0.060	2626	3926	2219	0	0	0	0	0	0
8010	0.45	171.1	331.1	12.6	756	8017	0.00	2.05	0.00	0.000	6	0.000	0.037	2628	2599	2219	0	0	0	0	0	0
8335	0.45	171.1	297.9	10.1	787	8336	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2599	2219	0	0	0	0	0	0
8654	0.45	179.3	265.6	9.6	817	8667	0.00	2.25	7.60	0.652	4	0.000	0.060	2628	3928	2192	0	0	0	0	0	0
8725	0.43	179.3	257.7	12.1	823	8729	0.00	2.05	0.00	0.000	6	0.000	0.037	2628	2601	2191	0	0	0	0	0	0
9056	0.46	179.3	224.9	10.0	854	9060	0.00	2.17	0.00	0.000	4	0.000	0.044	2628	1198	2191	0	0	0	0	0	0
9079	0.52	179.3	222.7	10.2	856	9083	0.00	2.22	0.00	0.000	6	0.000	0.048	2628	2609	2191	0	0	0	0	0	0
9404	0.56	188.1	190.0	9.6	886	9419	0.00	2.17	8.85	0.633	4	0.000	0.059	2628	3922	2155	0	0	0	0	0	0
9465	0.56	188.1	183.1	11.6	891	9472	0.00	2.05	0.00	0.000	6	0.000	0.037	2628	2628	2154	0	0	0	0	0	0
9791	0.61	202.2	151.5	9.3	922	9807	0.12	0.00	13.02	0.640	6	0.099	0.000	2688	2628	2098	0	0	0	0	0	0
10127	0.55	202.2	109.0	12.7	953	10132	0.12	2.28	0.00	0.000	4	0.174	0.046	2654	1180	2096	0	0	0	0	0	0
10160	0.60	202.2	105.1	10.5	955	10167	0.00	2.30	0.00	0.000	6	0.000	0.047	2654	2626	2095	0	0	0	0	0	0
10501	0.60	212.9	69.7	9.5	1011	10514	0.00	0.00	10.10	0.588	6	0.000	0.000	2654	2627	2053	0	0	0	0	0	0
10854	0.65	224.3	35.2	9.5	1073	10867	0.00	0.00	10.40	0.574	6	0.000	0.000	2654	2627	2008	0	0	0	0	0	0
11204	0.72	224.3	4.2	11.2	1135	11212	0.15	2.28	0.00	0.000	4	0.091	0.047	2719	1193	2005	0	0	0	0	0	0
11218	end climb: SURFACE_DEPTH_REACHED
state	11218	begin surface coast
11234	end surface coast: CONTROL_FINISHED_OK
state	11234	begin surface