Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 441 * 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 441 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 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -8297.8848 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 -8297.8848

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 42 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 441 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 021210,102102,6659.398,-5642.858,11,1.0,11,-37.4 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 7.87 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 6.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,102102,6659.398,-5642.858,11,1.0,11,-37.4 MHEAD_RNG_PITCHd_Wd 8.3,7635,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 489

Post-dive calculations and measurements:

FREEZE 1.07,1.784,-1.792,0,2,0 ALTIM_BOTTOM_PING 450.3,46.5

FINISH 1.1,1.026151 _24V_AH 23.0,53.519

SM_CCo 9406,200.62,0.076,0,0,440,609.08 _10V_AH 10.1,39.511

SM_GC 1.65,0.00,0.00,200.62,0.000,0.000,0.076,285,2790,440,-6.83,0.28,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 431 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.095215,-5648.407227,021210,000022,3,77,0.35 MEM 151652

IRIDIUM_FIX 6625.71,-5627.73,021210,060642 DATA_FILE_SIZE 36663,1020

TT8_MAMPS 0.028462 CAP_FILE_SIZE 109699,0

HUMID 43.93 CFSIZE 260165632,218628096

INTERNAL_PRESSURE 8.57302 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 SOUNDSPEED 1476.5

XPDR_PINGS 0 GPS 021210,154325,6704.005,-5647.474,41,1.3,41,-37.5

ALTIM_TOP_PING 19.8,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 194 40.56 SBE_CT 702 24 387.85

Roll_motor 81 71 134.10 SBE_O2 0 0 0.00

VBD_pump_during_apogee 333 852 6535.39 nil 0 0 0.00

VBD_pump_during_surface 200 75 349.47 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 14.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2434 19 489.85

LPSleep 4862 2 113.44

TT8_Active 560 19 112.74

TT8_Sampling 1654 39 666.92

TT8_CF8 157 45 72.90

TT8_Kalman 0 0 0.00

Analog_circuits 1433 12 173.76

GPS_charging 0 0 0.00

Compass 1645 15 249.36

RAFOS 0 0 0.00

Transponder 12 30 3.79

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 12 begin dive

15 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -6.30 0.000 2 0.000 0.000 2495 3924 2910 0 0 0 0 0 0

26 -0.57 -146.0 8.2 -0.0 1 51 0.57 4.10 -14.85 0.000 4 0.113 0.049 2295 1365 3521 0 0 0 0 0 0

87 -0.61 -146.0 13.9 -8.9 11 94 0.00 2.25 0.00 0.000 6 0.000 0.053 2293 2779 3522 0 0 0 0 0 0

433 -0.63 -146.0 45.2 -9.1 72 439 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2779 3523 0 0 0 0 0 0

778 -0.68 -146.0 73.0 -7.1 133 785 0.12 1.90 0.00 0.000 4 0.101 0.066 2235 3932 3522 0 0 0 0 0 0

810 -0.64 -146.0 76.0 -10.1 138 817 0.12 1.80 0.00 0.000 6 0.170 0.041 2268 2782 3522 0 0 0 0 0 0

1152 -0.64 -146.0 107.3 -9.7 192 1156 0.00 2.17 0.00 0.000 4 0.000 0.044 2269 1368 3521 0 0 0 0 0 0

1252 -0.68 -146.0 117.4 -9.4 200 1259 0.00 2.28 0.00 0.000 6 0.000 0.055 2265 2766 3521 0 0 0 0 0 0

1578 -0.68 -146.0 148.3 -9.6 231 1581 0.00 1.90 0.00 0.000 4 0.000 0.065 2256 3932 3520 0 0 0 0 0 0

1651 -0.68 -146.0 155.7 -10.2 237 1658 0.00 1.83 0.00 0.000 6 0.000 0.041 2256 2770 3520 0 0 0 0 0 0

1977 -0.68 -146.0 186.7 -9.6 268 1978 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2770 3520 0 0 0 0 0 0

2296 -0.68 -146.0 216.2 -9.4 298 2300 0.00 2.15 0.00 0.000 4 0.000 0.043 2256 1368 3520 0 0 0 0 0 0

2317 -0.68 -146.0 218.7 -10.2 299 2324 0.00 2.25 0.00 0.000 6 0.000 0.054 2252 2779 3520 0 0 0 0 0 0

2642 -0.68 -146.0 253.0 -10.4 330 2646 0.00 2.17 0.00 0.000 4 0.000 0.042 2252 1368 3520 0 0 0 0 0 0

2664 -0.68 -146.0 255.3 -10.5 332 2669 0.00 2.25 0.00 0.000 6 0.000 0.054 2249 2774 3519 0 0 0 0 0 0

2990 -0.68 -146.0 288.1 -9.7 362 2993 0.00 1.88 0.00 0.000 4 0.000 0.064 2242 3928 3520 0 0 0 0 0 0

3061 -0.68 -146.0 296.2 -11.4 368 3069 0.00 1.83 0.00 0.000 6 0.000 0.041 2242 2776 3520 0 0 0 0 0 0

3387 -0.68 -146.0 327.4 -9.4 399 3391 0.00 1.92 0.00 0.000 4 0.000 0.065 2235 3933 3520 0 0 0 0 0 0

3433 -0.65 -146.0 331.9 -10.1 403 3437 0.00 1.77 0.00 0.000 6 0.000 0.041 2235 2785 3520 0 0 0 0 0 0

3764 -0.65 -146.0 362.7 -9.1 434 3768 0.00 2.17 0.00 0.000 4 0.000 0.043 2235 1371 3519 0 0 0 0 0 0

3804 -0.65 -146.0 366.5 -8.9 437 3809 0.00 2.28 0.00 0.000 6 0.000 0.055 2235 2787 3520 0 0 0 0 0 0

4130 -0.65 -146.0 395.5 -9.7 467 4133 0.00 1.88 0.00 0.000 4 0.000 0.065 2235 3939 3520 0 0 0 0 0 0

4208 -0.65 -146.0 403.7 -10.5 474 4212 0.00 1.77 0.00 0.000 6 0.000 0.041 2234 2801 3520 0 0 0 0 0 0

4539 -0.65 -146.0 436.2 -9.8 505 4540 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2801 3520 0 0 0 0 0 0

4858 -0.65 -146.0 465.9 -9.2 535 4861 0.00 1.85 0.00 0.000 4 0.000 0.065 2234 3929 3520 0 0 0 0 0 0

4885 -0.65 -146.0 468.7 -9.2 537 4892 0.00 1.75 0.00 0.000 6 0.000 0.041 2235 2810 3520 0 0 0 0 0 0

5039 end dive: BOTTOM_OBSTACLE_DETECTED

state 5039 begin apogee

5044 -0.14 0.0 481.8 8.5 552 5168 0.57 0.00 116.30 0.853 4 0.130 0.000 2424 2603 2924 0 0 0 0 0 0

5168 end apogee: CONTROL_FINISHED_OK

state 5169 begin climb

5171 0.57 146.0 485.1 0.0 563 5300 0.65 2.30 119.70 0.838 4 0.063 0.043 2664 1183 2328 0 0 0 0 0 0

5455 0.55 146.0 459.6 11.2 589 5459 0.00 2.35 0.00 0.000 6 0.000 0.048 2664 2604 2321 0 0 0 0 0 0

5781 0.49 146.0 419.6 11.8 619 5785 0.12 2.22 0.00 0.000 4 0.191 0.044 2637 1193 2319 0 0 0 0 0 0

5961 0.52 169.7 403.0 8.9 635 5987 0.00 2.28 19.48 0.773 6 0.000 0.049 2637 2613 2230 0 0 0 0 0 0

6312 0.52 169.7 367.5 10.5 668 6316 0.00 2.15 0.00 0.000 4 0.000 0.060 2637 3926 2227 0 0 0 0 0 0

6347 0.49 169.7 363.3 12.6 671 6350 0.00 2.05 0.00 0.000 6 0.000 0.037 2639 2602 2225 0 0 0 0 0 0

6677 0.49 169.7 325.9 11.6 702 6681 0.00 2.15 0.00 0.000 4 0.000 0.060 2639 3925 2226 0 0 0 0 0 0

6717 0.44 169.7 321.1 13.0 705 6721 0.00 2.03 0.00 0.000 6 0.000 0.037 2642 2613 2225 0 0 0 0 0 0

7047 0.44 169.7 284.1 10.8 736 7048 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2613 2225 0 0 0 0 0 0

7367 0.44 172.6 250.8 9.9 766 7371 0.00 2.20 0.00 0.000 4 0.000 0.045 2642 1192 2225 0 0 0 0 0 0

7407 0.51 202.5 247.0 8.6 769 7439 0.00 2.30 27.48 0.702 6 0.000 0.048 2642 2636 2096 0 0 0 0 0 0

7760 0.55 206.4 213.2 9.8 802 7773 0.00 2.30 4.12 0.500 4 0.000 0.045 2642 1202 2080 0 0 0 0 0 0

7807 0.65 231.1 208.8 8.9 806 7835 0.12 2.28 21.67 0.676 6 0.099 0.047 2696 2628 1980 0 0 0 0 0 0

8155 0.60 231.1 160.3 14.4 838 8156 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2628 1975 0 0 0 0 0 0

8474 0.56 231.1 113.3 13.9 868 8476 0.15 0.00 0.00 0.000 6 0.174 0.000 2656 2628 1975 0 0 0 0 0 0

8803 0.61 231.1 75.2 11.2 917 8810 0.00 2.25 0.00 0.000 4 0.000 0.046 2655 1192 1974 0 0 0 0 0 0

8896 0.72 260.5 66.5 8.6 933 8927 0.15 2.25 24.38 0.600 6 0.090 0.048 2720 2605 1859 0 0 0 0 0 0

9265 0.72 260.5 14.9 12.3 998 9272 0.00 2.15 0.00 0.000 4 0.000 0.058 2720 3925 1853 0 0 0 0 0 0

9323 0.68 260.5 6.5 15.0 1008 9331 0.12 2.00 0.00 0.000 6 0.194 0.038 2694 2638 1852 0 0 0 0 0 0

9357 end climb: SURFACE_DEPTH_REACHED

state 9357 begin surface coast

9391 end surface coast: CONTROL_FINISHED_OK

state 9391 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	441	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	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-8297.8848	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	021210,102102,6659.398,-5642.858,11,1.0,11,-37.4	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	7.87	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	6.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,102102,6659.398,-5642.858,11,1.0,11,-37.4	MHEAD_RNG_PITCHd_Wd	8.3,7635,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	489

FREEZE	1.07,1.784,-1.792,0,2,0	ALTIM_BOTTOM_PING	450.3,46.5
FINISH	1.1,1.026151	_24V_AH	23.0,53.519
SM_CCo	9406,200.62,0.076,0,0,440,609.08	_10V_AH	10.1,39.511
SM_GC	1.65,0.00,0.00,200.62,0.000,0.000,0.076,285,2790,440,-6.83,0.28,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	431	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.095215,-5648.407227,021210,000022,3,77,0.35	MEM	151652
IRIDIUM_FIX	6625.71,-5627.73,021210,060642	DATA_FILE_SIZE	36663,1020
TT8_MAMPS	0.028462	CAP_FILE_SIZE	109699,0
HUMID	43.93	CFSIZE	260165632,218628096
INTERNAL_PRESSURE	8.57302	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1476.5
XPDR_PINGS	0	GPS	021210,154325,6704.005,-5647.474,41,1.3,41,-37.5
ALTIM_TOP_PING	19.8,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	194	40.56	SBE_CT	702	24	387.85
Roll_motor	81	71	134.10	SBE_O2	0	0	0.00
VBD_pump_during_apogee	333	852	6535.39	nil	0	0	0.00
VBD_pump_during_surface	200	75	349.47	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	14.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2434	19	489.85
LPSleep	4862	2	113.44
TT8_Active	560	19	112.74
TT8_Sampling	1654	39	666.92
TT8_CF8	157	45	72.90
TT8_Kalman	0	0	0.00
Analog_circuits	1433	12	173.76
GPS_charging	0	0	0.00
Compass	1645	15	249.36
RAFOS	0	0	0.00
Transponder	12	30	3.79

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	12	begin dive
15	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-6.30	0.000	2	0.000	0.000	2495	3924	2910	0	0	0	0	0	0
26	-0.57	-146.0	8.2	-0.0	1	51	0.57	4.10	-14.85	0.000	4	0.113	0.049	2295	1365	3521	0	0	0	0	0	0
87	-0.61	-146.0	13.9	-8.9	11	94	0.00	2.25	0.00	0.000	6	0.000	0.053	2293	2779	3522	0	0	0	0	0	0
433	-0.63	-146.0	45.2	-9.1	72	439	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2779	3523	0	0	0	0	0	0
778	-0.68	-146.0	73.0	-7.1	133	785	0.12	1.90	0.00	0.000	4	0.101	0.066	2235	3932	3522	0	0	0	0	0	0
810	-0.64	-146.0	76.0	-10.1	138	817	0.12	1.80	0.00	0.000	6	0.170	0.041	2268	2782	3522	0	0	0	0	0	0
1152	-0.64	-146.0	107.3	-9.7	192	1156	0.00	2.17	0.00	0.000	4	0.000	0.044	2269	1368	3521	0	0	0	0	0	0
1252	-0.68	-146.0	117.4	-9.4	200	1259	0.00	2.28	0.00	0.000	6	0.000	0.055	2265	2766	3521	0	0	0	0	0	0
1578	-0.68	-146.0	148.3	-9.6	231	1581	0.00	1.90	0.00	0.000	4	0.000	0.065	2256	3932	3520	0	0	0	0	0	0
1651	-0.68	-146.0	155.7	-10.2	237	1658	0.00	1.83	0.00	0.000	6	0.000	0.041	2256	2770	3520	0	0	0	0	0	0
1977	-0.68	-146.0	186.7	-9.6	268	1978	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2770	3520	0	0	0	0	0	0
2296	-0.68	-146.0	216.2	-9.4	298	2300	0.00	2.15	0.00	0.000	4	0.000	0.043	2256	1368	3520	0	0	0	0	0	0
2317	-0.68	-146.0	218.7	-10.2	299	2324	0.00	2.25	0.00	0.000	6	0.000	0.054	2252	2779	3520	0	0	0	0	0	0
2642	-0.68	-146.0	253.0	-10.4	330	2646	0.00	2.17	0.00	0.000	4	0.000	0.042	2252	1368	3520	0	0	0	0	0	0
2664	-0.68	-146.0	255.3	-10.5	332	2669	0.00	2.25	0.00	0.000	6	0.000	0.054	2249	2774	3519	0	0	0	0	0	0
2990	-0.68	-146.0	288.1	-9.7	362	2993	0.00	1.88	0.00	0.000	4	0.000	0.064	2242	3928	3520	0	0	0	0	0	0
3061	-0.68	-146.0	296.2	-11.4	368	3069	0.00	1.83	0.00	0.000	6	0.000	0.041	2242	2776	3520	0	0	0	0	0	0
3387	-0.68	-146.0	327.4	-9.4	399	3391	0.00	1.92	0.00	0.000	4	0.000	0.065	2235	3933	3520	0	0	0	0	0	0
3433	-0.65	-146.0	331.9	-10.1	403	3437	0.00	1.77	0.00	0.000	6	0.000	0.041	2235	2785	3520	0	0	0	0	0	0
3764	-0.65	-146.0	362.7	-9.1	434	3768	0.00	2.17	0.00	0.000	4	0.000	0.043	2235	1371	3519	0	0	0	0	0	0
3804	-0.65	-146.0	366.5	-8.9	437	3809	0.00	2.28	0.00	0.000	6	0.000	0.055	2235	2787	3520	0	0	0	0	0	0
4130	-0.65	-146.0	395.5	-9.7	467	4133	0.00	1.88	0.00	0.000	4	0.000	0.065	2235	3939	3520	0	0	0	0	0	0
4208	-0.65	-146.0	403.7	-10.5	474	4212	0.00	1.77	0.00	0.000	6	0.000	0.041	2234	2801	3520	0	0	0	0	0	0
4539	-0.65	-146.0	436.2	-9.8	505	4540	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2801	3520	0	0	0	0	0	0
4858	-0.65	-146.0	465.9	-9.2	535	4861	0.00	1.85	0.00	0.000	4	0.000	0.065	2234	3929	3520	0	0	0	0	0	0
4885	-0.65	-146.0	468.7	-9.2	537	4892	0.00	1.75	0.00	0.000	6	0.000	0.041	2235	2810	3520	0	0	0	0	0	0
5039	end dive: BOTTOM_OBSTACLE_DETECTED
state	5039	begin apogee
5044	-0.14	0.0	481.8	8.5	552	5168	0.57	0.00	116.30	0.853	4	0.130	0.000	2424	2603	2924	0	0	0	0	0	0
5168	end apogee: CONTROL_FINISHED_OK
state	5169	begin climb
5171	0.57	146.0	485.1	0.0	563	5300	0.65	2.30	119.70	0.838	4	0.063	0.043	2664	1183	2328	0	0	0	0	0	0
5455	0.55	146.0	459.6	11.2	589	5459	0.00	2.35	0.00	0.000	6	0.000	0.048	2664	2604	2321	0	0	0	0	0	0
5781	0.49	146.0	419.6	11.8	619	5785	0.12	2.22	0.00	0.000	4	0.191	0.044	2637	1193	2319	0	0	0	0	0	0
5961	0.52	169.7	403.0	8.9	635	5987	0.00	2.28	19.48	0.773	6	0.000	0.049	2637	2613	2230	0	0	0	0	0	0
6312	0.52	169.7	367.5	10.5	668	6316	0.00	2.15	0.00	0.000	4	0.000	0.060	2637	3926	2227	0	0	0	0	0	0
6347	0.49	169.7	363.3	12.6	671	6350	0.00	2.05	0.00	0.000	6	0.000	0.037	2639	2602	2225	0	0	0	0	0	0
6677	0.49	169.7	325.9	11.6	702	6681	0.00	2.15	0.00	0.000	4	0.000	0.060	2639	3925	2226	0	0	0	0	0	0
6717	0.44	169.7	321.1	13.0	705	6721	0.00	2.03	0.00	0.000	6	0.000	0.037	2642	2613	2225	0	0	0	0	0	0
7047	0.44	169.7	284.1	10.8	736	7048	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2613	2225	0	0	0	0	0	0
7367	0.44	172.6	250.8	9.9	766	7371	0.00	2.20	0.00	0.000	4	0.000	0.045	2642	1192	2225	0	0	0	0	0	0
7407	0.51	202.5	247.0	8.6	769	7439	0.00	2.30	27.48	0.702	6	0.000	0.048	2642	2636	2096	0	0	0	0	0	0
7760	0.55	206.4	213.2	9.8	802	7773	0.00	2.30	4.12	0.500	4	0.000	0.045	2642	1202	2080	0	0	0	0	0	0
7807	0.65	231.1	208.8	8.9	806	7835	0.12	2.28	21.67	0.676	6	0.099	0.047	2696	2628	1980	0	0	0	0	0	0
8155	0.60	231.1	160.3	14.4	838	8156	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2628	1975	0	0	0	0	0	0
8474	0.56	231.1	113.3	13.9	868	8476	0.15	0.00	0.00	0.000	6	0.174	0.000	2656	2628	1975	0	0	0	0	0	0
8803	0.61	231.1	75.2	11.2	917	8810	0.00	2.25	0.00	0.000	4	0.000	0.046	2655	1192	1974	0	0	0	0	0	0
8896	0.72	260.5	66.5	8.6	933	8927	0.15	2.25	24.38	0.600	6	0.090	0.048	2720	2605	1859	0	0	0	0	0	0
9265	0.72	260.5	14.9	12.3	998	9272	0.00	2.15	0.00	0.000	4	0.000	0.058	2720	3925	1853	0	0	0	0	0	0
9323	0.68	260.5	6.5	15.0	1008	9331	0.12	2.00	0.00	0.000	6	0.194	0.038	2694	2638	1852	0	0	0	0	0	0
9357	end climb: SURFACE_DEPTH_REACHED
state	9357	begin surface coast
9391	end surface coast: CONTROL_FINISHED_OK
state	9391	begin surface