Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 446 * 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 446 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 41 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 -8301.751 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 -8301.751

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 41 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 446 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 031210,021845,6706.917,-5659.492,36,99.0,55,-37.7 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 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031210,022749,6706.912,-5659.507,12,1.2,12,-37.7 MHEAD_RNG_PITCHd_Wd 292.0,156909,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 521

Post-dive calculations and measurements:

FREEZE 6.74,1.686,-1.802,0,1,0 ALTIM_TOP_PING 19.9,18.0

FINISH1 6.7,1.026237,62 _24V_AH 22.9,53.911

FINISH2 4.3 _10V_AH 10.1,39.806

RAFOS_CLK 374 FG_AHR_24Vo 0.000

RAFOS 0,1291348862,4.033333,4.017222,54,51,47,45,42,39,1198,682,1175,707,1657,987 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.470215,-5707.950684,031210,000056,2,79,0.76 MEM 151636

IRIDIUM_FIX 6636.54,-5652.31,021210,181802 DATA_FILE_SIZE 30139,887

TT8_MAMPS 0.028462 CAP_FILE_SIZE 112907,0

HUMID 46.81 CFSIZE 260165632,218345472

INTERNAL_PRESSURE 8.79764 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1475.8

XPDR_PINGS 0 GPS 031210,022749,6706.912,-5659.507,12,1.2,12,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 242 64.56 SBE_CT 609 24 335.01

Roll_motor 83 76 145.80 SBE_O2 0 0 0.00

VBD_pump_during_apogee 323 881 6535.21 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 30 103 71.68 nil 0 0 0.00

Iridium_during_connect 18 160 67.48 nil 0 0 0.00

Iridium_during_xfer 283 223 1449.85 nil 0 0 0.00

Transponder_ping 1 420 16.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.56

TT8 2174 19 437.57

LPSleep 5592 2 130.49

TT8_Active 456 19 91.93

TT8_Sampling 1873 39 755.41

TT8_CF8 306 45 142.20

TT8_Kalman 0 0 0.00

Analog_circuits 1312 12 159.10

GPS_charging 0 0 0.00

Compass 1538 15 233.04

RAFOS 2520 3 76.36

Transponder 14 30 4.27

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

15 -0.57 -146.0 0.0 0.0 0 155 0.00 0.00 -137.15 0.000 2 0.000 0.000 270 2785 3480 0 0 0 0 0 0

159 -0.57 -146.0 5.6 -10.7 24 173 8.27 1.92 -0.82 0.000 4 0.243 0.073 2275 3930 3521 0 0 0 0 0 0

288 -0.57 -146.0 34.3 -12.5 46 295 0.00 1.83 0.00 0.000 6 0.000 0.043 2275 2779 3523 0 0 0 0 0 0

633 -0.57 -146.0 73.1 -10.7 107 640 0.00 2.20 0.00 0.000 4 0.000 0.045 2274 1372 3522 0 0 0 0 0 0

676 -0.59 -146.0 77.6 -10.5 114 683 0.00 2.28 0.00 0.000 6 0.000 0.057 2275 2776 3521 0 0 0 0 0 0

1019 -0.59 -146.0 112.5 -10.1 164 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2776 3521 0 0 0 0 0 0

1340 -0.61 -146.0 143.9 -9.5 194 1341 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2776 3521 0 0 0 0 0 0

1659 -0.64 -146.0 171.8 -8.6 224 1665 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2776 3521 0 0 0 0 0 0

1986 -0.68 -146.0 201.1 -9.5 255 1990 0.00 2.17 0.00 0.000 4 0.000 0.044 2274 1372 3521 0 0 0 0 0 0

2036 -0.74 -146.0 206.5 -9.8 259 2044 0.12 2.28 0.00 0.000 6 0.095 0.054 2213 2775 3521 0 0 0 0 0 0

2363 -0.66 -146.0 249.0 -12.9 290 2367 0.15 1.92 0.00 0.000 4 0.168 0.064 2248 3929 3522 0 0 0 0 0 0

2408 -0.66 -146.0 254.2 -11.0 294 2411 0.00 1.80 0.00 0.000 6 0.000 0.041 2248 2765 3522 0 0 0 0 0 0

2739 -0.66 -146.0 287.8 -10.2 325 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2766 3522 0 0 0 0 0 0

3058 -0.66 -146.0 319.5 -9.4 355 3062 0.00 1.92 0.00 0.000 4 0.000 0.064 2241 3935 3523 0 0 0 0 0 0

3086 -0.66 -146.0 322.3 -9.7 357 3093 0.00 1.85 0.00 0.000 6 0.000 0.041 2241 2770 3523 0 0 0 0 0 0

3411 -0.66 -146.0 353.6 -10.5 388 3415 0.00 2.15 0.00 0.000 4 0.000 0.042 2241 1367 3524 0 0 0 0 0 0

3426 -0.66 -146.0 355.5 -10.5 389 3434 0.00 2.28 0.00 0.000 6 0.000 0.054 2235 2761 3524 0 0 0 0 0 0

3752 -0.64 -146.0 388.7 -11.0 420 3757 0.12 1.95 0.00 0.000 4 0.173 0.064 2264 3928 3524 0 0 0 0 0 0

3802 -0.70 -146.0 393.4 -8.6 424 3809 0.00 1.83 0.00 0.000 6 0.000 0.041 2263 2767 3524 0 0 0 0 0 0

4140 -0.74 -146.0 420.7 -8.2 441 4143 0.00 2.15 0.00 0.000 4 0.000 0.043 2263 1366 3525 0 0 0 0 0 0

4184 -0.80 -146.0 424.6 -8.4 442 4189 0.12 2.28 0.00 0.000 6 0.093 0.054 2197 2769 3525 0 0 0 0 0 0

4509 -0.71 -146.0 461.2 -11.6 453 4514 0.17 1.92 0.00 0.000 4 0.164 0.063 2240 3925 3525 0 0 0 0 0 0

4587 -0.71 -146.0 469.4 -9.7 455 4591 0.00 1.85 0.00 0.000 6 0.000 0.041 2240 2764 3525 0 0 0 0 0 0

4919 -0.71 -146.0 500.5 -9.4 466 4924 0.00 2.15 0.00 0.000 4 0.000 0.043 2239 1372 3525 0 0 0 0 0 0

4935 -0.71 -146.0 502.6 -9.3 466 4939 0.00 2.22 0.00 0.000 6 0.000 0.054 2235 2760 3525 0 0 0 0 0 0

5166 end dive: TARGET_DEPTH_EXCEEDED

state 5166 begin apogee

5171 -0.14 0.0 523.3 9.1 474 5299 0.57 0.00 118.40 0.881 4 0.125 0.000 2427 2595 2922 0 0 0 0 0 0

5299 end apogee: CONTROL_FINISHED_OK

state 5300 begin climb

5302 0.57 146.0 526.3 0.0 478 5432 0.65 2.30 120.62 0.869 4 0.061 0.044 2669 1180 2327 0 0 0 0 0 0

5639 0.54 146.0 494.4 11.2 488 5643 0.00 2.33 0.00 0.000 6 0.000 0.048 2669 2603 2319 0 0 0 0 0 0

5970 0.47 146.0 452.9 13.0 499 5974 0.15 2.22 0.00 0.000 4 0.187 0.046 2634 1189 2316 0 0 0 0 0 0

6148 0.49 146.0 434.0 10.2 504 6152 0.00 2.28 0.00 0.000 6 0.000 0.049 2634 2596 2316 0 0 0 0 0 0

6473 0.49 146.0 398.7 11.0 515 6477 0.00 2.17 0.00 0.000 4 0.000 0.060 2634 3936 2315 0 0 0 0 0 0

6534 0.44 146.0 391.1 13.1 520 6541 0.00 2.10 0.00 0.000 6 0.000 0.038 2639 2591 2314 0 0 0 0 0 0

6859 0.44 150.3 358.0 9.8 551 6863 0.00 2.17 0.00 0.000 4 0.000 0.045 2642 1193 2314 0 0 0 0 0 0

6900 0.47 150.3 354.1 10.0 554 6904 0.00 2.22 0.00 0.000 6 0.000 0.048 2641 2605 2314 0 0 0 0 0 0

7224 0.47 150.3 323.0 10.1 584 7226 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2605 2314 0 0 0 0 0 0

7543 0.47 150.3 292.1 10.2 614 7547 0.00 2.15 0.00 0.000 4 0.000 0.059 2642 3938 2314 0 0 0 0 0 0

7577 0.41 150.3 288.1 12.0 616 7584 0.15 2.08 0.00 0.000 6 0.193 0.037 2609 2607 2313 0 0 0 0 0 0

7902 0.49 200.0 262.7 7.7 647 7950 0.00 2.25 42.78 0.718 4 0.000 0.044 2609 1194 2106 0 0 0 0 0 0

7976 0.65 250.2 257.0 7.7 653 8024 0.20 2.28 42.03 0.705 6 0.074 0.048 2693 2613 1903 0 0 0 0 0 0

8344 0.60 250.2 202.2 15.0 687 8345 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2613 1893 0 0 0 0 0 0

8665 0.57 250.2 153.1 15.3 717 8670 0.12 2.25 0.00 0.000 4 0.177 0.046 2662 1187 1891 0 0 0 0 0 0

8728 0.65 250.2 144.9 11.8 722 8732 0.00 2.25 0.00 0.000 6 0.000 0.047 2662 2615 1891 0 0 0 0 0 0

9053 0.69 250.2 106.3 11.3 752 9055 0.10 0.00 0.00 0.000 6 0.113 0.000 2706 2615 1890 0 0 0 0 0 0

9387 0.69 250.2 59.6 13.4 807 9394 0.00 2.22 0.00 0.000 4 0.000 0.046 2707 1194 1890 0 0 0 0 0 0

9430 0.71 250.2 54.6 11.8 814 9437 0.00 2.20 0.00 0.000 6 0.000 0.048 2707 2596 1890 0 0 0 0 0 0

9776 0.71 250.2 11.5 11.5 875 9783 0.00 2.17 0.00 0.000 4 0.000 0.059 2707 3933 1889 0 0 0 0 0 0

9809 end climb: SURFACE_OBSTACLE_DETECTED

state 9809 begin subsurface finish

9818 0.04 62.0 6.7 -14.0 881 9855 0.70 2.25 -27.02 0.000 4 0.151 0.076 2492 3921 2673 0 0 0 0 0 0

9856 end subsurface finish: CONTROL_FINISHED_OK

state 9856 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	446	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	41	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	-8301.751	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	031210,021845,6706.917,-5659.492,36,99.0,55,-37.7	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	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031210,022749,6706.912,-5659.507,12,1.2,12,-37.7	MHEAD_RNG_PITCHd_Wd	292.0,156909,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	521

FREEZE	6.74,1.686,-1.802,0,1,0	ALTIM_TOP_PING	19.9,18.0
FINISH1	6.7,1.026237,62	_24V_AH	22.9,53.911
FINISH2	4.3	_10V_AH	10.1,39.806
RAFOS_CLK	374	FG_AHR_24Vo	0.000
RAFOS	0,1291348862,4.033333,4.017222,54,51,47,45,42,39,1198,682,1175,707,1657,987	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.470215,-5707.950684,031210,000056,2,79,0.76	MEM	151636
IRIDIUM_FIX	6636.54,-5652.31,021210,181802	DATA_FILE_SIZE	30139,887
TT8_MAMPS	0.028462	CAP_FILE_SIZE	112907,0
HUMID	46.81	CFSIZE	260165632,218345472
INTERNAL_PRESSURE	8.79764	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1475.8
XPDR_PINGS	0	GPS	031210,022749,6706.912,-5659.507,12,1.2,12,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	242	64.56	SBE_CT	609	24	335.01
Roll_motor	83	76	145.80	SBE_O2	0	0	0.00
VBD_pump_during_apogee	323	881	6535.21	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	30	103	71.68	nil	0	0	0.00
Iridium_during_connect	18	160	67.48	nil	0	0	0.00
Iridium_during_xfer	283	223	1449.85	nil	0	0	0.00
Transponder_ping	1	420	16.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.56
TT8	2174	19	437.57
LPSleep	5592	2	130.49
TT8_Active	456	19	91.93
TT8_Sampling	1873	39	755.41
TT8_CF8	306	45	142.20
TT8_Kalman	0	0	0.00
Analog_circuits	1312	12	159.10
GPS_charging	0	0	0.00
Compass	1538	15	233.04
RAFOS	2520	3	76.36
Transponder	14	30	4.27

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
15	-0.57	-146.0	0.0	0.0	0	155	0.00	0.00	-137.15	0.000	2	0.000	0.000	270	2785	3480	0	0	0	0	0	0
159	-0.57	-146.0	5.6	-10.7	24	173	8.27	1.92	-0.82	0.000	4	0.243	0.073	2275	3930	3521	0	0	0	0	0	0
288	-0.57	-146.0	34.3	-12.5	46	295	0.00	1.83	0.00	0.000	6	0.000	0.043	2275	2779	3523	0	0	0	0	0	0
633	-0.57	-146.0	73.1	-10.7	107	640	0.00	2.20	0.00	0.000	4	0.000	0.045	2274	1372	3522	0	0	0	0	0	0
676	-0.59	-146.0	77.6	-10.5	114	683	0.00	2.28	0.00	0.000	6	0.000	0.057	2275	2776	3521	0	0	0	0	0	0
1019	-0.59	-146.0	112.5	-10.1	164	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2776	3521	0	0	0	0	0	0
1340	-0.61	-146.0	143.9	-9.5	194	1341	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2776	3521	0	0	0	0	0	0
1659	-0.64	-146.0	171.8	-8.6	224	1665	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2776	3521	0	0	0	0	0	0
1986	-0.68	-146.0	201.1	-9.5	255	1990	0.00	2.17	0.00	0.000	4	0.000	0.044	2274	1372	3521	0	0	0	0	0	0
2036	-0.74	-146.0	206.5	-9.8	259	2044	0.12	2.28	0.00	0.000	6	0.095	0.054	2213	2775	3521	0	0	0	0	0	0
2363	-0.66	-146.0	249.0	-12.9	290	2367	0.15	1.92	0.00	0.000	4	0.168	0.064	2248	3929	3522	0	0	0	0	0	0
2408	-0.66	-146.0	254.2	-11.0	294	2411	0.00	1.80	0.00	0.000	6	0.000	0.041	2248	2765	3522	0	0	0	0	0	0
2739	-0.66	-146.0	287.8	-10.2	325	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2766	3522	0	0	0	0	0	0
3058	-0.66	-146.0	319.5	-9.4	355	3062	0.00	1.92	0.00	0.000	4	0.000	0.064	2241	3935	3523	0	0	0	0	0	0
3086	-0.66	-146.0	322.3	-9.7	357	3093	0.00	1.85	0.00	0.000	6	0.000	0.041	2241	2770	3523	0	0	0	0	0	0
3411	-0.66	-146.0	353.6	-10.5	388	3415	0.00	2.15	0.00	0.000	4	0.000	0.042	2241	1367	3524	0	0	0	0	0	0
3426	-0.66	-146.0	355.5	-10.5	389	3434	0.00	2.28	0.00	0.000	6	0.000	0.054	2235	2761	3524	0	0	0	0	0	0
3752	-0.64	-146.0	388.7	-11.0	420	3757	0.12	1.95	0.00	0.000	4	0.173	0.064	2264	3928	3524	0	0	0	0	0	0
3802	-0.70	-146.0	393.4	-8.6	424	3809	0.00	1.83	0.00	0.000	6	0.000	0.041	2263	2767	3524	0	0	0	0	0	0
4140	-0.74	-146.0	420.7	-8.2	441	4143	0.00	2.15	0.00	0.000	4	0.000	0.043	2263	1366	3525	0	0	0	0	0	0
4184	-0.80	-146.0	424.6	-8.4	442	4189	0.12	2.28	0.00	0.000	6	0.093	0.054	2197	2769	3525	0	0	0	0	0	0
4509	-0.71	-146.0	461.2	-11.6	453	4514	0.17	1.92	0.00	0.000	4	0.164	0.063	2240	3925	3525	0	0	0	0	0	0
4587	-0.71	-146.0	469.4	-9.7	455	4591	0.00	1.85	0.00	0.000	6	0.000	0.041	2240	2764	3525	0	0	0	0	0	0
4919	-0.71	-146.0	500.5	-9.4	466	4924	0.00	2.15	0.00	0.000	4	0.000	0.043	2239	1372	3525	0	0	0	0	0	0
4935	-0.71	-146.0	502.6	-9.3	466	4939	0.00	2.22	0.00	0.000	6	0.000	0.054	2235	2760	3525	0	0	0	0	0	0
5166	end dive: TARGET_DEPTH_EXCEEDED
state	5166	begin apogee
5171	-0.14	0.0	523.3	9.1	474	5299	0.57	0.00	118.40	0.881	4	0.125	0.000	2427	2595	2922	0	0	0	0	0	0
5299	end apogee: CONTROL_FINISHED_OK
state	5300	begin climb
5302	0.57	146.0	526.3	0.0	478	5432	0.65	2.30	120.62	0.869	4	0.061	0.044	2669	1180	2327	0	0	0	0	0	0
5639	0.54	146.0	494.4	11.2	488	5643	0.00	2.33	0.00	0.000	6	0.000	0.048	2669	2603	2319	0	0	0	0	0	0
5970	0.47	146.0	452.9	13.0	499	5974	0.15	2.22	0.00	0.000	4	0.187	0.046	2634	1189	2316	0	0	0	0	0	0
6148	0.49	146.0	434.0	10.2	504	6152	0.00	2.28	0.00	0.000	6	0.000	0.049	2634	2596	2316	0	0	0	0	0	0
6473	0.49	146.0	398.7	11.0	515	6477	0.00	2.17	0.00	0.000	4	0.000	0.060	2634	3936	2315	0	0	0	0	0	0
6534	0.44	146.0	391.1	13.1	520	6541	0.00	2.10	0.00	0.000	6	0.000	0.038	2639	2591	2314	0	0	0	0	0	0
6859	0.44	150.3	358.0	9.8	551	6863	0.00	2.17	0.00	0.000	4	0.000	0.045	2642	1193	2314	0	0	0	0	0	0
6900	0.47	150.3	354.1	10.0	554	6904	0.00	2.22	0.00	0.000	6	0.000	0.048	2641	2605	2314	0	0	0	0	0	0
7224	0.47	150.3	323.0	10.1	584	7226	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2605	2314	0	0	0	0	0	0
7543	0.47	150.3	292.1	10.2	614	7547	0.00	2.15	0.00	0.000	4	0.000	0.059	2642	3938	2314	0	0	0	0	0	0
7577	0.41	150.3	288.1	12.0	616	7584	0.15	2.08	0.00	0.000	6	0.193	0.037	2609	2607	2313	0	0	0	0	0	0
7902	0.49	200.0	262.7	7.7	647	7950	0.00	2.25	42.78	0.718	4	0.000	0.044	2609	1194	2106	0	0	0	0	0	0
7976	0.65	250.2	257.0	7.7	653	8024	0.20	2.28	42.03	0.705	6	0.074	0.048	2693	2613	1903	0	0	0	0	0	0
8344	0.60	250.2	202.2	15.0	687	8345	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2613	1893	0	0	0	0	0	0
8665	0.57	250.2	153.1	15.3	717	8670	0.12	2.25	0.00	0.000	4	0.177	0.046	2662	1187	1891	0	0	0	0	0	0
8728	0.65	250.2	144.9	11.8	722	8732	0.00	2.25	0.00	0.000	6	0.000	0.047	2662	2615	1891	0	0	0	0	0	0
9053	0.69	250.2	106.3	11.3	752	9055	0.10	0.00	0.00	0.000	6	0.113	0.000	2706	2615	1890	0	0	0	0	0	0
9387	0.69	250.2	59.6	13.4	807	9394	0.00	2.22	0.00	0.000	4	0.000	0.046	2707	1194	1890	0	0	0	0	0	0
9430	0.71	250.2	54.6	11.8	814	9437	0.00	2.20	0.00	0.000	6	0.000	0.048	2707	2596	1890	0	0	0	0	0	0
9776	0.71	250.2	11.5	11.5	875	9783	0.00	2.17	0.00	0.000	4	0.000	0.059	2707	3933	1889	0	0	0	0	0	0
9809	end climb: SURFACE_OBSTACLE_DETECTED
state	9809	begin subsurface finish
9818	0.04	62.0	6.7	-14.0	881	9855	0.70	2.25	-27.02	0.000	4	0.151	0.076	2492	3921	2673	0	0	0	0	0	0
9856	end subsurface finish: CONTROL_FINISHED_OK
state	9856	begin surface