Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 445 * 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 445 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -8300.4912 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 -8300.4912

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 40 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 445 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 021210,182102,6704.073,-5647.788,13,1.1,13,-37.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 3.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,182102,6704.073,-5647.788,13,1.1,13,-37.6 MHEAD_RNG_PITCHd_Wd 294.5,163907,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 477

Post-dive calculations and measurements:

FREEZE 1.17,2.249,-1.797,0,3,0 ALTIM_TOP_PING 19.9,18.9

FINISH 1.2,1.026186 ALTIM_BOTTOM_PING 450.7,40.5

SM_CCo 9403,200.98,0.076,0,0,440,609.08 _24V_AH 23.0,53.815

SM_GC 1.78,0.00,0.00,200.98,0.000,0.000,0.076,291,2783,440,-6.80,0.08,609.08 _10V_AH 10.1,39.744

RAFOS_CLK 429 FG_AHR_24Vo 0.000

RAFOS 0,1291334468,0.033333,0.018889,53,52,45,44,44,41,1132,758,1852,543,1225,286 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.470215,-5707.950684,031210,000056,2,79,0.76 MEM 151692

IRIDIUM_FIX 6636.54,-5647.69,021210,151558 DATA_FILE_SIZE 36659,1007

TT8_MAMPS 0.028462 CAP_FILE_SIZE 111612,0

HUMID 44.32 CFSIZE 260165632,218402816

INTERNAL_PRESSURE 8.58279 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 SOUNDSPEED 1476.4

XPDR_PINGS 0 GPS 031210,021845,6706.917,-5659.492,36,99.0,55,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 185 41.58 SBE_CT 692 24 382.47

Roll_motor 83 69 133.14 SBE_O2 0 0 0.00

VBD_pump_during_apogee 339 852 6651.54 nil 0 0 0.00

VBD_pump_during_surface 200 76 353.62 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 2436 19 490.27

LPSleep 4865 2 113.51

TT8_Active 584 19 117.61

TT8_Sampling 1634 39 659.03

TT8_CF8 156 45 72.61

TT8_Kalman 0 0 0.00

Analog_circuits 1455 12 176.44

GPS_charging 0 0 0.00

Compass 1624 15 246.04

RAFOS 2520 3 76.36

Transponder 12 30 3.78

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

16 -0.57 -146.0 0.0 0.0 0 51 0.00 1.83 -28.15 0.000 6 0.000 0.057 2494 2778 3520 0 0 0 0 0 0

54 -0.57 -146.0 5.2 -4.1 6 62 0.55 2.17 0.00 0.000 4 0.093 0.039 2293 1363 3520 0 0 0 0 0 0

109 -0.65 -146.0 9.8 -8.7 15 116 0.00 2.28 0.00 0.000 6 0.000 0.052 2288 2783 3521 0 0 0 0 0 0

455 -0.68 -146.0 43.8 -9.6 76 462 0.00 1.90 0.00 0.000 4 0.000 0.065 2287 3937 3521 0 0 0 0 0 0

548 -0.72 -146.0 52.6 -9.7 92 555 0.12 1.80 0.00 0.000 6 0.099 0.041 2228 2783 3520 0 0 0 0 0 0

894 -0.64 -146.0 99.2 -12.5 153 901 0.12 0.00 0.00 0.000 6 0.169 0.000 2262 2783 3519 0 0 0 0 0 0

1219 -0.64 -146.0 132.9 -10.4 184 1223 0.00 1.90 0.00 0.000 4 0.000 0.066 2255 3925 3519 0 0 0 0 0 0

1246 -0.64 -146.0 135.9 -10.7 186 1253 0.00 1.77 0.00 0.000 6 0.000 0.041 2255 2787 3519 0 0 0 0 0 0

1571 -0.64 -146.0 168.5 -10.0 217 1575 0.00 2.17 0.00 0.000 4 0.000 0.043 2255 1371 3518 0 0 0 0 0 0

1616 -0.67 -146.0 173.4 -10.4 220 1623 0.00 2.28 0.00 0.000 6 0.000 0.054 2249 2786 3518 0 0 0 0 0 0

1945 -0.67 -146.0 203.4 -8.8 251 1949 0.00 2.17 0.00 0.000 4 0.000 0.042 2249 1377 3517 0 0 0 0 0 0

1978 -0.67 -146.0 206.8 -8.8 253 1985 0.00 2.28 0.00 0.000 6 0.000 0.055 2248 2790 3518 0 0 0 0 0 0

2303 -0.67 -146.0 236.1 -8.9 284 2308 0.00 1.90 0.00 0.000 4 0.000 0.064 2242 3931 3517 0 0 0 0 0 0

2360 -0.67 -146.0 241.5 -9.2 289 2364 0.00 1.77 0.00 0.000 6 0.000 0.041 2242 2782 3517 0 0 0 0 0 0

2691 -0.67 -146.0 271.9 -9.5 320 2692 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2782 3517 0 0 0 0 0 0

3010 -0.67 -146.0 301.3 -9.2 350 3011 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2782 3517 0 0 0 0 0 0

3329 -0.67 -146.0 328.1 -8.6 380 3330 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2782 3518 0 0 0 0 0 0

3647 -0.67 -146.0 354.1 -7.4 410 3651 0.00 2.17 0.00 0.000 4 0.000 0.042 2242 1370 3518 0 0 0 0 0 0

3720 -0.69 -146.0 359.7 -7.1 416 3726 0.00 2.30 0.00 0.000 6 0.000 0.054 2235 2791 3518 0 0 0 0 0 0

4045 -0.69 -146.0 388.2 -8.9 447 4046 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2791 3518 0 0 0 0 0 0

4363 -0.69 -146.0 416.9 -8.7 477 4367 0.00 2.20 0.00 0.000 4 0.000 0.041 2235 1367 3518 0 0 0 0 0 0

4392 -0.69 -146.0 419.6 -9.4 479 4396 0.00 2.30 0.00 0.000 6 0.000 0.054 2235 2801 3518 0 0 0 0 0 0

4719 -0.69 -146.0 449.9 -9.6 509 4726 0.00 1.88 0.00 0.000 4 0.000 0.063 2235 3925 3518 0 0 0 0 0 0

4789 -0.69 -146.0 456.8 -10.0 515 4793 0.00 1.80 0.00 0.000 6 0.000 0.040 2235 2792 3518 0 0 0 0 0 0

5022 end dive: TARGET_DEPTH_EXCEEDED

state 5022 begin apogee

5028 -0.14 0.0 477.0 8.0 537 5149 0.57 0.00 115.90 0.852 4 0.127 0.000 2426 2602 2923 0 0 0 0 0 0

5150 end apogee: CONTROL_FINISHED_OK

state 5150 begin climb

5152 0.57 146.0 480.1 0.0 548 5286 0.65 2.28 119.53 0.838 4 0.063 0.043 2666 1190 2326 0 0 0 0 0 0

5424 0.54 146.0 453.4 12.2 572 5428 0.00 2.33 0.00 0.000 6 0.000 0.048 2666 2602 2320 0 0 0 0 0 0

5754 0.47 146.0 409.8 12.9 603 5759 0.15 2.22 0.00 0.000 4 0.186 0.045 2626 1189 2317 0 0 0 0 0 0

5944 0.53 152.3 391.1 9.7 619 5954 0.00 2.22 4.53 0.577 6 0.000 0.048 2626 2601 2304 0 0 0 0 0 0

6281 0.53 152.3 357.9 10.4 651 6284 0.00 2.15 0.00 0.000 4 0.000 0.060 2626 3930 2303 0 0 0 0 0 0

6315 0.50 152.3 353.5 13.2 654 6319 0.00 2.10 0.00 0.000 6 0.000 0.037 2626 2590 2302 0 0 0 0 0 0

6646 0.50 152.3 318.9 10.7 685 6650 0.00 2.15 0.00 0.000 4 0.000 0.045 2626 1189 2302 0 0 0 0 0 0

6696 0.56 152.3 313.8 10.1 689 6703 0.00 2.22 0.00 0.000 6 0.000 0.048 2626 2598 2302 0 0 0 0 0 0

7022 0.59 152.3 281.1 10.4 720 7026 0.12 2.17 0.00 0.000 4 0.098 0.060 2684 3932 2301 0 0 0 0 0 0

7095 0.45 152.3 270.3 16.0 726 7100 0.25 2.10 0.00 0.000 6 0.179 0.037 2623 2587 2301 0 0 0 0 0 0

7423 0.49 179.0 240.7 8.8 756 7456 0.00 2.25 23.35 0.697 4 0.000 0.045 2623 1189 2192 0 0 0 0 0 0

7480 0.59 210.0 235.5 8.6 761 7515 0.12 2.22 26.52 0.689 6 0.093 0.047 2681 2589 2066 0 0 0 0 0 0

7832 0.56 210.0 187.3 14.0 794 7836 0.00 2.20 0.00 0.000 4 0.000 0.058 2680 3934 2060 0 0 0 0 0 0

7871 0.49 210.0 181.3 15.5 797 7878 0.20 2.10 0.00 0.000 6 0.174 0.037 2632 2590 2059 0 0 0 0 0 0

8196 0.55 210.0 147.1 10.5 828 8200 0.00 2.15 0.00 0.000 4 0.000 0.045 2632 1192 2059 0 0 0 0 0 0

8269 0.67 233.9 140.2 8.9 834 8299 0.17 2.17 19.92 0.637 6 0.082 0.047 2706 2578 1967 0 0 0 0 0 0

8619 0.63 233.9 91.4 13.4 872 8626 0.00 2.17 0.00 0.000 4 0.000 0.058 2706 3927 1962 0 0 0 0 0 0

8650 0.55 233.9 87.0 14.7 877 8658 0.20 2.12 0.00 0.000 6 0.175 0.037 2656 2572 1961 0 0 0 0 0 0

8997 0.62 242.4 50.4 9.6 938 9011 0.00 2.12 7.07 0.543 4 0.000 0.044 2655 1196 1937 0 0 0 0 0 0

9069 0.74 267.7 43.9 8.8 950 9100 0.17 2.20 22.52 0.585 6 0.083 0.047 2730 2578 1831 0 0 0 0 0 0

9366 end climb: SURFACE_DEPTH_REACHED

state 9366 begin surface coast

9388 end surface coast: CONTROL_FINISHED_OK

state 9389 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	445	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-8300.4912	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	021210,182102,6704.073,-5647.788,13,1.1,13,-37.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	3.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,182102,6704.073,-5647.788,13,1.1,13,-37.6	MHEAD_RNG_PITCHd_Wd	294.5,163907,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	477

FREEZE	1.17,2.249,-1.797,0,3,0	ALTIM_TOP_PING	19.9,18.9
FINISH	1.2,1.026186	ALTIM_BOTTOM_PING	450.7,40.5
SM_CCo	9403,200.98,0.076,0,0,440,609.08	_24V_AH	23.0,53.815
SM_GC	1.78,0.00,0.00,200.98,0.000,0.000,0.076,291,2783,440,-6.80,0.08,609.08	_10V_AH	10.1,39.744
RAFOS_CLK	429	FG_AHR_24Vo	0.000
RAFOS	0,1291334468,0.033333,0.018889,53,52,45,44,44,41,1132,758,1852,543,1225,286	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.470215,-5707.950684,031210,000056,2,79,0.76	MEM	151692
IRIDIUM_FIX	6636.54,-5647.69,021210,151558	DATA_FILE_SIZE	36659,1007
TT8_MAMPS	0.028462	CAP_FILE_SIZE	111612,0
HUMID	44.32	CFSIZE	260165632,218402816
INTERNAL_PRESSURE	8.58279	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1476.4
XPDR_PINGS	0	GPS	031210,021845,6706.917,-5659.492,36,99.0,55,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	185	41.58	SBE_CT	692	24	382.47
Roll_motor	83	69	133.14	SBE_O2	0	0	0.00
VBD_pump_during_apogee	339	852	6651.54	nil	0	0	0.00
VBD_pump_during_surface	200	76	353.62	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	2436	19	490.27
LPSleep	4865	2	113.51
TT8_Active	584	19	117.61
TT8_Sampling	1634	39	659.03
TT8_CF8	156	45	72.61
TT8_Kalman	0	0	0.00
Analog_circuits	1455	12	176.44
GPS_charging	0	0	0.00
Compass	1624	15	246.04
RAFOS	2520	3	76.36
Transponder	12	30	3.78

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
16	-0.57	-146.0	0.0	0.0	0	51	0.00	1.83	-28.15	0.000	6	0.000	0.057	2494	2778	3520	0	0	0	0	0	0
54	-0.57	-146.0	5.2	-4.1	6	62	0.55	2.17	0.00	0.000	4	0.093	0.039	2293	1363	3520	0	0	0	0	0	0
109	-0.65	-146.0	9.8	-8.7	15	116	0.00	2.28	0.00	0.000	6	0.000	0.052	2288	2783	3521	0	0	0	0	0	0
455	-0.68	-146.0	43.8	-9.6	76	462	0.00	1.90	0.00	0.000	4	0.000	0.065	2287	3937	3521	0	0	0	0	0	0
548	-0.72	-146.0	52.6	-9.7	92	555	0.12	1.80	0.00	0.000	6	0.099	0.041	2228	2783	3520	0	0	0	0	0	0
894	-0.64	-146.0	99.2	-12.5	153	901	0.12	0.00	0.00	0.000	6	0.169	0.000	2262	2783	3519	0	0	0	0	0	0
1219	-0.64	-146.0	132.9	-10.4	184	1223	0.00	1.90	0.00	0.000	4	0.000	0.066	2255	3925	3519	0	0	0	0	0	0
1246	-0.64	-146.0	135.9	-10.7	186	1253	0.00	1.77	0.00	0.000	6	0.000	0.041	2255	2787	3519	0	0	0	0	0	0
1571	-0.64	-146.0	168.5	-10.0	217	1575	0.00	2.17	0.00	0.000	4	0.000	0.043	2255	1371	3518	0	0	0	0	0	0
1616	-0.67	-146.0	173.4	-10.4	220	1623	0.00	2.28	0.00	0.000	6	0.000	0.054	2249	2786	3518	0	0	0	0	0	0
1945	-0.67	-146.0	203.4	-8.8	251	1949	0.00	2.17	0.00	0.000	4	0.000	0.042	2249	1377	3517	0	0	0	0	0	0
1978	-0.67	-146.0	206.8	-8.8	253	1985	0.00	2.28	0.00	0.000	6	0.000	0.055	2248	2790	3518	0	0	0	0	0	0
2303	-0.67	-146.0	236.1	-8.9	284	2308	0.00	1.90	0.00	0.000	4	0.000	0.064	2242	3931	3517	0	0	0	0	0	0
2360	-0.67	-146.0	241.5	-9.2	289	2364	0.00	1.77	0.00	0.000	6	0.000	0.041	2242	2782	3517	0	0	0	0	0	0
2691	-0.67	-146.0	271.9	-9.5	320	2692	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2782	3517	0	0	0	0	0	0
3010	-0.67	-146.0	301.3	-9.2	350	3011	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2782	3517	0	0	0	0	0	0
3329	-0.67	-146.0	328.1	-8.6	380	3330	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2782	3518	0	0	0	0	0	0
3647	-0.67	-146.0	354.1	-7.4	410	3651	0.00	2.17	0.00	0.000	4	0.000	0.042	2242	1370	3518	0	0	0	0	0	0
3720	-0.69	-146.0	359.7	-7.1	416	3726	0.00	2.30	0.00	0.000	6	0.000	0.054	2235	2791	3518	0	0	0	0	0	0
4045	-0.69	-146.0	388.2	-8.9	447	4046	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2791	3518	0	0	0	0	0	0
4363	-0.69	-146.0	416.9	-8.7	477	4367	0.00	2.20	0.00	0.000	4	0.000	0.041	2235	1367	3518	0	0	0	0	0	0
4392	-0.69	-146.0	419.6	-9.4	479	4396	0.00	2.30	0.00	0.000	6	0.000	0.054	2235	2801	3518	0	0	0	0	0	0
4719	-0.69	-146.0	449.9	-9.6	509	4726	0.00	1.88	0.00	0.000	4	0.000	0.063	2235	3925	3518	0	0	0	0	0	0
4789	-0.69	-146.0	456.8	-10.0	515	4793	0.00	1.80	0.00	0.000	6	0.000	0.040	2235	2792	3518	0	0	0	0	0	0
5022	end dive: TARGET_DEPTH_EXCEEDED
state	5022	begin apogee
5028	-0.14	0.0	477.0	8.0	537	5149	0.57	0.00	115.90	0.852	4	0.127	0.000	2426	2602	2923	0	0	0	0	0	0
5150	end apogee: CONTROL_FINISHED_OK
state	5150	begin climb
5152	0.57	146.0	480.1	0.0	548	5286	0.65	2.28	119.53	0.838	4	0.063	0.043	2666	1190	2326	0	0	0	0	0	0
5424	0.54	146.0	453.4	12.2	572	5428	0.00	2.33	0.00	0.000	6	0.000	0.048	2666	2602	2320	0	0	0	0	0	0
5754	0.47	146.0	409.8	12.9	603	5759	0.15	2.22	0.00	0.000	4	0.186	0.045	2626	1189	2317	0	0	0	0	0	0
5944	0.53	152.3	391.1	9.7	619	5954	0.00	2.22	4.53	0.577	6	0.000	0.048	2626	2601	2304	0	0	0	0	0	0
6281	0.53	152.3	357.9	10.4	651	6284	0.00	2.15	0.00	0.000	4	0.000	0.060	2626	3930	2303	0	0	0	0	0	0
6315	0.50	152.3	353.5	13.2	654	6319	0.00	2.10	0.00	0.000	6	0.000	0.037	2626	2590	2302	0	0	0	0	0	0
6646	0.50	152.3	318.9	10.7	685	6650	0.00	2.15	0.00	0.000	4	0.000	0.045	2626	1189	2302	0	0	0	0	0	0
6696	0.56	152.3	313.8	10.1	689	6703	0.00	2.22	0.00	0.000	6	0.000	0.048	2626	2598	2302	0	0	0	0	0	0
7022	0.59	152.3	281.1	10.4	720	7026	0.12	2.17	0.00	0.000	4	0.098	0.060	2684	3932	2301	0	0	0	0	0	0
7095	0.45	152.3	270.3	16.0	726	7100	0.25	2.10	0.00	0.000	6	0.179	0.037	2623	2587	2301	0	0	0	0	0	0
7423	0.49	179.0	240.7	8.8	756	7456	0.00	2.25	23.35	0.697	4	0.000	0.045	2623	1189	2192	0	0	0	0	0	0
7480	0.59	210.0	235.5	8.6	761	7515	0.12	2.22	26.52	0.689	6	0.093	0.047	2681	2589	2066	0	0	0	0	0	0
7832	0.56	210.0	187.3	14.0	794	7836	0.00	2.20	0.00	0.000	4	0.000	0.058	2680	3934	2060	0	0	0	0	0	0
7871	0.49	210.0	181.3	15.5	797	7878	0.20	2.10	0.00	0.000	6	0.174	0.037	2632	2590	2059	0	0	0	0	0	0
8196	0.55	210.0	147.1	10.5	828	8200	0.00	2.15	0.00	0.000	4	0.000	0.045	2632	1192	2059	0	0	0	0	0	0
8269	0.67	233.9	140.2	8.9	834	8299	0.17	2.17	19.92	0.637	6	0.082	0.047	2706	2578	1967	0	0	0	0	0	0
8619	0.63	233.9	91.4	13.4	872	8626	0.00	2.17	0.00	0.000	4	0.000	0.058	2706	3927	1962	0	0	0	0	0	0
8650	0.55	233.9	87.0	14.7	877	8658	0.20	2.12	0.00	0.000	6	0.175	0.037	2656	2572	1961	0	0	0	0	0	0
8997	0.62	242.4	50.4	9.6	938	9011	0.00	2.12	7.07	0.543	4	0.000	0.044	2655	1196	1937	0	0	0	0	0	0
9069	0.74	267.7	43.9	8.8	950	9100	0.17	2.20	22.52	0.585	6	0.083	0.047	2730	2578	1831	0	0	0	0	0	0
9366	end climb: SURFACE_DEPTH_REACHED
state	9366	begin surface coast
9388	end surface coast: CONTROL_FINISHED_OK
state	9389	begin surface