Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 447 * 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 447 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 39 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 39 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 447 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 031210,022749,6706.912,-5659.507,12,1.2,12,-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 3.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.7 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 1.04,0.673,-0.977,0,2,0 ALTIM_BOTTOM_PING 500.6,104.4

FINISH 1.0,1.014437 _24V_AH 22.9,54.023

SM_CCo 10183,193.05,0.539,1,0,440,609.08 _10V_AH 10.1,39.862

SM_GC 1.85,0.00,0.00,193.05,0.000,0.000,0.539,289,2785,440,-6.82,0.14,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 441 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.470215,-5707.950684,031210,000056,2,79,0.76 MEM 151672

IRIDIUM_FIX 6636.54,-5652.31,021210,181802 DATA_FILE_SIZE 33428,909

TT8_MAMPS 0.029211 CAP_FILE_SIZE 115320,0

HUMID 43.97 CFSIZE 260165632,218279936

INTERNAL_PRESSURE 8.57302 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 16.80 SOUNDSPEED 1475.2

XPDR_PINGS 0 GPS 031210,080920,6705.763,-5706.033,38,3.2,57,-37.7

ALTIM_TOP_PING 19.8,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 196 46.60 SBE_CT 626 24 344.06

Roll_motor 97 106 236.87 SBE_O2 0 0 0.00

VBD_pump_during_apogee 371 882 7500.33 nil 0 0 0.00

VBD_pump_during_surface 193 539 2384.27 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 16.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2258 19 454.38

LPSleep 5825 2 135.93

TT8_Active 614 19 123.60

TT8_Sampling 1584 39 638.90

TT8_CF8 161 45 75.00

TT8_Kalman 0 0 0.00

Analog_circuits 1481 12 179.56

GPS_charging 0 0 0.00

Compass 1569 15 237.72

RAFOS 360 3 10.91

Transponder 14 30 4.37

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.57 -146.0 0.0 0.0 0 48 0.00 0.57 -27.95 0.000 3 0.000 0.106 2492 3570 3519 0 0 0 0 0 0

51 -0.57 -146.0 5.2 -3.9 5 59 0.55 3.42 0.00 0.000 4 0.108 0.037 2296 1367 3519 0 0 0 0 0 0

83 -0.79 -146.0 8.3 -8.8 10 90 0.20 2.28 0.00 0.000 6 0.076 0.052 2207 2788 3521 0 0 0 0 0 0

429 -0.64 -146.0 64.7 -15.3 71 436 0.20 1.88 0.00 0.000 4 0.169 0.062 2256 3925 3520 0 0 0 0 0 0

558 -0.62 -146.0 79.5 -11.1 93 565 0.00 1.77 0.00 0.000 6 0.000 0.041 2256 2778 3520 0 0 0 0 0 0

895 -0.62 -146.0 114.2 -10.2 141 899 0.00 1.90 0.00 0.000 4 0.000 0.066 2249 3932 3520 0 0 0 0 0 0

922 -0.59 -146.0 117.3 -10.1 143 930 0.08 1.80 0.00 0.000 6 0.142 0.041 2275 2799 3519 0 0 0 0 0 0

1249 -0.63 -146.0 146.3 -8.8 174 1253 0.00 2.20 0.00 0.000 4 0.000 0.044 2275 1369 3519 0 0 0 0 0 0

1282 -0.69 -146.0 149.4 -8.6 176 1289 0.00 2.30 0.00 0.000 6 0.000 0.055 2275 2786 3519 0 0 0 0 0 0

1607 -0.73 -146.0 175.6 -7.7 207 1612 0.10 2.22 0.00 0.000 4 0.113 0.044 2226 1364 3518 0 0 0 0 0 0

1628 -0.73 -146.0 177.7 -9.5 208 1636 0.00 2.30 0.00 0.000 6 0.000 0.054 2222 2794 3518 0 0 0 0 0 0

1954 -0.67 -146.0 214.7 -11.2 239 1959 0.12 2.25 0.00 0.000 4 0.181 0.042 2256 1369 3517 0 0 0 0 0 0

1987 -0.67 -146.0 218.2 -9.5 241 1994 0.00 2.30 0.00 0.000 6 0.000 0.055 2251 2790 3517 0 0 0 0 0 0

2313 -0.67 -146.0 248.7 -9.7 272 2317 0.00 1.88 0.00 0.000 4 0.000 0.065 2247 3928 3517 0 0 0 0 0 0

2375 -0.67 -146.0 255.0 -10.7 277 2382 0.00 1.80 0.00 0.000 6 0.000 0.041 2247 2781 3517 0 0 0 0 0 0

2701 -0.67 -146.0 286.0 -9.4 308 2705 0.00 2.17 0.00 0.000 4 0.000 0.043 2247 1371 3517 0 0 0 0 0 0

2739 -0.69 -146.0 290.1 -10.1 311 2746 0.00 2.28 0.00 0.000 6 0.000 0.054 2247 2789 3517 0 0 0 0 0 0

3064 -0.69 -146.0 320.9 -9.1 342 3068 0.00 2.20 0.00 0.000 4 0.000 0.041 2247 1364 3517 0 0 0 0 0 0

3106 -0.71 -146.0 324.8 -9.8 345 3110 0.00 2.28 0.00 0.000 6 0.000 0.054 2247 2781 3518 0 0 0 0 0 0

3432 -0.71 -146.0 352.4 -7.6 375 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2781 3518 0 0 0 0 0 0

3751 -0.71 -146.0 376.7 -8.3 405 3755 0.00 2.17 0.00 0.000 4 0.000 0.041 2247 1372 3518 0 0 0 0 0 0

3808 -0.75 -146.0 381.7 -9.0 410 3812 0.00 2.25 0.00 0.000 6 0.000 0.054 2247 2773 3518 0 0 0 0 0 0

4151 -0.75 -146.0 411.4 -8.8 434 4152 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2773 3518 0 0 0 0 0 0

4456 -0.75 -146.0 439.7 -9.4 444 4459 0.00 1.88 0.00 0.000 4 0.000 0.064 2246 3929 3518 0 0 0 0 0 0

4483 -0.75 -146.0 442.5 -9.4 444 4490 0.00 1.83 0.00 0.000 6 0.000 0.040 2246 2747 3518 0 0 0 0 0 0

4797 -0.77 -146.0 470.0 -8.1 455 4800 0.00 2.10 0.00 0.000 4 0.000 0.042 2247 1374 3518 0 0 0 0 0 0

4847 -0.81 -146.0 474.1 -7.4 456 4851 0.00 2.22 0.00 0.000 6 0.000 0.054 2247 2759 3518 0 0 0 0 0 0

5166 -0.83 -146.0 499.3 -8.1 467 5171 0.12 2.15 0.00 0.000 4 0.100 0.042 2183 1374 3518 0 0 0 0 0 0

5195 -0.77 -146.0 502.7 -12.1 468 5200 0.17 2.20 0.00 0.000 6 0.178 0.054 2224 2744 3518 0 0 0 0 0 0

5405 end dive: TARGET_DEPTH_EXCEEDED

state 5405 begin apogee

5412 -0.14 0.0 523.8 10.1 475 5538 0.60 0.00 116.62 0.882 4 0.131 0.000 2425 2594 2924 0 0 0 0 0 0

5539 end apogee: CONTROL_FINISHED_OK

state 5539 begin climb

5541 0.57 146.0 528.1 0.0 479 5671 0.65 2.30 121.12 0.868 4 0.062 0.043 2665 1179 2327 0 0 0 0 0 0

5851 0.54 146.0 501.6 11.5 488 5855 0.00 2.35 0.00 0.000 6 0.000 0.047 2665 2607 2320 0 0 0 0 0 0

6175 0.48 146.0 459.4 13.2 499 6179 0.12 2.25 0.00 0.000 4 0.194 0.045 2639 1182 2316 0 0 0 0 0 0

6344 0.50 146.0 441.3 10.3 504 6348 0.00 2.28 0.00 0.000 6 0.000 0.048 2639 2616 2317 0 0 0 0 0 0

6678 0.50 146.0 402.6 11.3 515 6679 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2616 2315 0 0 0 0 0 0

6998 0.48 146.0 367.5 10.2 543 7002 0.00 2.25 0.00 0.000 4 0.000 0.046 2642 1186 2315 0 0 0 0 0 0

7041 0.48 146.0 362.1 11.3 546 7048 0.00 2.25 0.00 0.000 6 0.000 0.047 2642 2587 2315 0 0 0 0 0 0

7367 0.48 146.0 325.4 11.4 577 7371 0.00 2.20 0.00 0.000 4 0.000 0.059 2642 3933 2315 0 0 0 0 0 0

7439 0.41 146.0 316.1 12.5 583 7447 0.15 2.08 0.00 0.000 6 0.197 0.037 2611 2599 2313 0 0 0 0 0 0

7766 0.48 174.7 287.2 8.7 614 7799 0.00 2.22 23.12 0.725 4 0.000 0.044 2611 1188 2209 0 0 0 0 0 0

7827 0.62 219.5 281.8 7.9 619 7870 0.17 2.30 37.40 0.721 6 0.080 0.048 2687 2618 2027 0 0 0 0 0 0

8196 0.57 219.5 227.3 15.0 654 8200 0.00 2.25 0.00 0.000 4 0.000 0.046 2691 1202 2019 0 0 0 0 0 0

8228 0.57 219.5 222.4 14.6 656 8236 0.08 2.25 0.00 0.000 6 0.152 0.047 2651 2599 2019 0 0 0 0 0 0

8554 0.60 219.5 182.7 12.0 687 8555 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2600 2017 0 0 0 0 0 0

8875 0.64 219.5 146.8 11.8 717 8881 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2600 2017 0 0 0 0 0 0

9202 0.69 219.5 109.7 11.4 748 9207 0.12 2.22 0.00 0.000 4 0.096 0.045 2704 1192 2017 0 0 0 0 0 0

9246 0.69 219.5 104.0 12.8 751 9253 0.00 2.28 0.00 0.000 6 0.000 0.048 2704 2605 2017 0 0 0 0 0 0

9588 0.65 219.5 59.2 12.9 809 9595 0.00 2.15 0.00 0.000 4 0.000 0.059 2704 3929 2016 0 0 0 0 0 0

9630 0.58 219.5 53.1 14.8 816 9638 0.17 2.08 0.00 0.000 6 0.181 0.037 2660 2597 2014 0 0 0 0 0 0

9978 0.68 258.4 22.4 8.2 877 10016 0.00 2.20 30.85 0.581 4 0.000 0.044 2660 1189 1869 0 0 0 0 0 0

10059 0.85 309.6 15.9 7.6 890 10107 0.25 2.30 42.20 0.571 6 0.071 0.048 2764 2620 1659 0 0 0 0 0 0

10150 end climb: SURFACE_DEPTH_REACHED

state 10150 begin surface coast

10168 end surface coast: CONTROL_FINISHED_OK

state 10168 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	447	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	39	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	031210,022749,6706.912,-5659.507,12,1.2,12,-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	3.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.7	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	1.04,0.673,-0.977,0,2,0	ALTIM_BOTTOM_PING	500.6,104.4
FINISH	1.0,1.014437	_24V_AH	22.9,54.023
SM_CCo	10183,193.05,0.539,1,0,440,609.08	_10V_AH	10.1,39.862
SM_GC	1.85,0.00,0.00,193.05,0.000,0.000,0.539,289,2785,440,-6.82,0.14,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	441	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.470215,-5707.950684,031210,000056,2,79,0.76	MEM	151672
IRIDIUM_FIX	6636.54,-5652.31,021210,181802	DATA_FILE_SIZE	33428,909
TT8_MAMPS	0.029211	CAP_FILE_SIZE	115320,0
HUMID	43.97	CFSIZE	260165632,218279936
INTERNAL_PRESSURE	8.57302	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	16.80	SOUNDSPEED	1475.2
XPDR_PINGS	0	GPS	031210,080920,6705.763,-5706.033,38,3.2,57,-37.7
ALTIM_TOP_PING	19.8,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	196	46.60	SBE_CT	626	24	344.06
Roll_motor	97	106	236.87	SBE_O2	0	0	0.00
VBD_pump_during_apogee	371	882	7500.33	nil	0	0	0.00
VBD_pump_during_surface	193	539	2384.27	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	16.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2258	19	454.38
LPSleep	5825	2	135.93
TT8_Active	614	19	123.60
TT8_Sampling	1584	39	638.90
TT8_CF8	161	45	75.00
TT8_Kalman	0	0	0.00
Analog_circuits	1481	12	179.56
GPS_charging	0	0	0.00
Compass	1569	15	237.72
RAFOS	360	3	10.91
Transponder	14	30	4.37

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.57	-146.0	0.0	0.0	0	48	0.00	0.57	-27.95	0.000	3	0.000	0.106	2492	3570	3519	0	0	0	0	0	0
51	-0.57	-146.0	5.2	-3.9	5	59	0.55	3.42	0.00	0.000	4	0.108	0.037	2296	1367	3519	0	0	0	0	0	0
83	-0.79	-146.0	8.3	-8.8	10	90	0.20	2.28	0.00	0.000	6	0.076	0.052	2207	2788	3521	0	0	0	0	0	0
429	-0.64	-146.0	64.7	-15.3	71	436	0.20	1.88	0.00	0.000	4	0.169	0.062	2256	3925	3520	0	0	0	0	0	0
558	-0.62	-146.0	79.5	-11.1	93	565	0.00	1.77	0.00	0.000	6	0.000	0.041	2256	2778	3520	0	0	0	0	0	0
895	-0.62	-146.0	114.2	-10.2	141	899	0.00	1.90	0.00	0.000	4	0.000	0.066	2249	3932	3520	0	0	0	0	0	0
922	-0.59	-146.0	117.3	-10.1	143	930	0.08	1.80	0.00	0.000	6	0.142	0.041	2275	2799	3519	0	0	0	0	0	0
1249	-0.63	-146.0	146.3	-8.8	174	1253	0.00	2.20	0.00	0.000	4	0.000	0.044	2275	1369	3519	0	0	0	0	0	0
1282	-0.69	-146.0	149.4	-8.6	176	1289	0.00	2.30	0.00	0.000	6	0.000	0.055	2275	2786	3519	0	0	0	0	0	0
1607	-0.73	-146.0	175.6	-7.7	207	1612	0.10	2.22	0.00	0.000	4	0.113	0.044	2226	1364	3518	0	0	0	0	0	0
1628	-0.73	-146.0	177.7	-9.5	208	1636	0.00	2.30	0.00	0.000	6	0.000	0.054	2222	2794	3518	0	0	0	0	0	0
1954	-0.67	-146.0	214.7	-11.2	239	1959	0.12	2.25	0.00	0.000	4	0.181	0.042	2256	1369	3517	0	0	0	0	0	0
1987	-0.67	-146.0	218.2	-9.5	241	1994	0.00	2.30	0.00	0.000	6	0.000	0.055	2251	2790	3517	0	0	0	0	0	0
2313	-0.67	-146.0	248.7	-9.7	272	2317	0.00	1.88	0.00	0.000	4	0.000	0.065	2247	3928	3517	0	0	0	0	0	0
2375	-0.67	-146.0	255.0	-10.7	277	2382	0.00	1.80	0.00	0.000	6	0.000	0.041	2247	2781	3517	0	0	0	0	0	0
2701	-0.67	-146.0	286.0	-9.4	308	2705	0.00	2.17	0.00	0.000	4	0.000	0.043	2247	1371	3517	0	0	0	0	0	0
2739	-0.69	-146.0	290.1	-10.1	311	2746	0.00	2.28	0.00	0.000	6	0.000	0.054	2247	2789	3517	0	0	0	0	0	0
3064	-0.69	-146.0	320.9	-9.1	342	3068	0.00	2.20	0.00	0.000	4	0.000	0.041	2247	1364	3517	0	0	0	0	0	0
3106	-0.71	-146.0	324.8	-9.8	345	3110	0.00	2.28	0.00	0.000	6	0.000	0.054	2247	2781	3518	0	0	0	0	0	0
3432	-0.71	-146.0	352.4	-7.6	375	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2781	3518	0	0	0	0	0	0
3751	-0.71	-146.0	376.7	-8.3	405	3755	0.00	2.17	0.00	0.000	4	0.000	0.041	2247	1372	3518	0	0	0	0	0	0
3808	-0.75	-146.0	381.7	-9.0	410	3812	0.00	2.25	0.00	0.000	6	0.000	0.054	2247	2773	3518	0	0	0	0	0	0
4151	-0.75	-146.0	411.4	-8.8	434	4152	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2773	3518	0	0	0	0	0	0
4456	-0.75	-146.0	439.7	-9.4	444	4459	0.00	1.88	0.00	0.000	4	0.000	0.064	2246	3929	3518	0	0	0	0	0	0
4483	-0.75	-146.0	442.5	-9.4	444	4490	0.00	1.83	0.00	0.000	6	0.000	0.040	2246	2747	3518	0	0	0	0	0	0
4797	-0.77	-146.0	470.0	-8.1	455	4800	0.00	2.10	0.00	0.000	4	0.000	0.042	2247	1374	3518	0	0	0	0	0	0
4847	-0.81	-146.0	474.1	-7.4	456	4851	0.00	2.22	0.00	0.000	6	0.000	0.054	2247	2759	3518	0	0	0	0	0	0
5166	-0.83	-146.0	499.3	-8.1	467	5171	0.12	2.15	0.00	0.000	4	0.100	0.042	2183	1374	3518	0	0	0	0	0	0
5195	-0.77	-146.0	502.7	-12.1	468	5200	0.17	2.20	0.00	0.000	6	0.178	0.054	2224	2744	3518	0	0	0	0	0	0
5405	end dive: TARGET_DEPTH_EXCEEDED
state	5405	begin apogee
5412	-0.14	0.0	523.8	10.1	475	5538	0.60	0.00	116.62	0.882	4	0.131	0.000	2425	2594	2924	0	0	0	0	0	0
5539	end apogee: CONTROL_FINISHED_OK
state	5539	begin climb
5541	0.57	146.0	528.1	0.0	479	5671	0.65	2.30	121.12	0.868	4	0.062	0.043	2665	1179	2327	0	0	0	0	0	0
5851	0.54	146.0	501.6	11.5	488	5855	0.00	2.35	0.00	0.000	6	0.000	0.047	2665	2607	2320	0	0	0	0	0	0
6175	0.48	146.0	459.4	13.2	499	6179	0.12	2.25	0.00	0.000	4	0.194	0.045	2639	1182	2316	0	0	0	0	0	0
6344	0.50	146.0	441.3	10.3	504	6348	0.00	2.28	0.00	0.000	6	0.000	0.048	2639	2616	2317	0	0	0	0	0	0
6678	0.50	146.0	402.6	11.3	515	6679	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2616	2315	0	0	0	0	0	0
6998	0.48	146.0	367.5	10.2	543	7002	0.00	2.25	0.00	0.000	4	0.000	0.046	2642	1186	2315	0	0	0	0	0	0
7041	0.48	146.0	362.1	11.3	546	7048	0.00	2.25	0.00	0.000	6	0.000	0.047	2642	2587	2315	0	0	0	0	0	0
7367	0.48	146.0	325.4	11.4	577	7371	0.00	2.20	0.00	0.000	4	0.000	0.059	2642	3933	2315	0	0	0	0	0	0
7439	0.41	146.0	316.1	12.5	583	7447	0.15	2.08	0.00	0.000	6	0.197	0.037	2611	2599	2313	0	0	0	0	0	0
7766	0.48	174.7	287.2	8.7	614	7799	0.00	2.22	23.12	0.725	4	0.000	0.044	2611	1188	2209	0	0	0	0	0	0
7827	0.62	219.5	281.8	7.9	619	7870	0.17	2.30	37.40	0.721	6	0.080	0.048	2687	2618	2027	0	0	0	0	0	0
8196	0.57	219.5	227.3	15.0	654	8200	0.00	2.25	0.00	0.000	4	0.000	0.046	2691	1202	2019	0	0	0	0	0	0
8228	0.57	219.5	222.4	14.6	656	8236	0.08	2.25	0.00	0.000	6	0.152	0.047	2651	2599	2019	0	0	0	0	0	0
8554	0.60	219.5	182.7	12.0	687	8555	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2600	2017	0	0	0	0	0	0
8875	0.64	219.5	146.8	11.8	717	8881	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2600	2017	0	0	0	0	0	0
9202	0.69	219.5	109.7	11.4	748	9207	0.12	2.22	0.00	0.000	4	0.096	0.045	2704	1192	2017	0	0	0	0	0	0
9246	0.69	219.5	104.0	12.8	751	9253	0.00	2.28	0.00	0.000	6	0.000	0.048	2704	2605	2017	0	0	0	0	0	0
9588	0.65	219.5	59.2	12.9	809	9595	0.00	2.15	0.00	0.000	4	0.000	0.059	2704	3929	2016	0	0	0	0	0	0
9630	0.58	219.5	53.1	14.8	816	9638	0.17	2.08	0.00	0.000	6	0.181	0.037	2660	2597	2014	0	0	0	0	0	0
9978	0.68	258.4	22.4	8.2	877	10016	0.00	2.20	30.85	0.581	4	0.000	0.044	2660	1189	1869	0	0	0	0	0	0
10059	0.85	309.6	15.9	7.6	890	10107	0.25	2.30	42.20	0.571	6	0.071	0.048	2764	2620	1659	0	0	0	0	0	0
10150	end climb: SURFACE_DEPTH_REACHED
state	10150	begin surface coast
10168	end surface coast: CONTROL_FINISHED_OK
state	10168	begin surface