Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 488 * 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 2.4000001

DIVE 488 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -2 T_GPS_CHARGE -8321.8584 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 2.4000001 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 -8321.8584

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 -2

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 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 488 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 111210,042453,6642.864,-6005.682,0,6094.7,0,-38.0 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 8.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111210,042453,6642.864,-6005.682,0,6094.7,0,-38.0 MHEAD_RNG_PITCHd_Wd 316.1,15012,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 587

Post-dive calculations and measurements:

FREEZE 8.58,-1.727,-1.744,2,6,0 ALTIM_TOP_PING 19.5,18.1

FINISH1 8.6,1.025543,96 _24V_AH 21.8,59.097

FINISH2 7.4 _10V_AH 9.9,42.892

RAFOS_CLK 601 FG_AHR_24Vo 0.000

RAFOS 0,1292054480,8.033334,8.022223,146,44,44,43,41,40,535,482,1634,1934,317,935 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.916504,-6009.669922,111210,080806,6,88,0.20 MEM 151648

IRIDIUM_FIX 6614.97,-5939.52,101210,050521 DATA_FILE_SIZE 33379,888

TT8_MAMPS 0.030709 CAP_FILE_SIZE 112710,0

HUMID 48.03 CFSIZE 260165632,215367680

INTERNAL_PRESSURE 8.60232 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.40 SOUNDSPEED 1448.0

XPDR_PINGS 0 GPS 111210,082306,6642.917,-6009.670,0,6088.2,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 207 42.60 SBE_CT 619 24 323.99

Roll_motor 94 74 154.20 SBE_O2 0 0 0.00

VBD_pump_during_apogee 380 976 8108.65 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 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 16.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2213 19 436.52

LPSleep 5872 2 134.29

TT8_Active 418 19 82.57

TT8_Sampling 1606 39 634.86

TT8_CF8 162 45 73.98

TT8_Kalman 0 0 0.00

Analog_circuits 1290 12 153.30

GPS_charging 0 0 0.00

Compass 1591 15 236.32

RAFOS 2520 3 74.84

Transponder 13 30 3.93

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 24 0.00 0.00 -5.80 0.000 2 0.000 0.000 2487 1190 2765 0 0 0 0 0 0

26 -0.57 -146.0 9.2 -0.0 1 57 0.52 4.72 -19.02 0.000 4 0.074 0.072 2268 3922 3521 0 0 0 0 0 0

261 -0.52 -146.0 44.3 -14.2 42 269 0.15 1.85 0.00 0.000 6 0.165 0.047 2308 2779 3523 0 0 0 0 0 0

608 -0.56 -146.0 81.8 -9.7 103 615 0.00 1.98 0.00 0.000 4 0.000 0.075 2306 3925 3522 0 0 0 0 0 0

651 -0.61 -146.0 86.1 -9.2 110 658 0.00 1.83 0.00 0.000 6 0.000 0.049 2305 2786 3522 0 0 0 0 0 0

993 -0.66 -146.0 116.0 -9.9 156 997 0.12 2.28 0.00 0.000 4 0.100 0.052 2249 1371 3521 0 0 0 0 0 0

1025 -0.62 -146.0 120.5 -13.9 158 1032 0.00 2.35 0.00 0.000 6 0.000 0.063 2248 2774 3521 0 0 0 0 0 0

1351 -0.56 -146.0 163.4 -11.3 189 1356 0.15 2.28 0.00 0.000 4 0.184 0.052 2289 1371 3521 0 0 0 0 0 0

1384 -0.60 -146.0 166.9 -9.7 191 1391 0.00 2.35 0.00 0.000 6 0.000 0.063 2289 2772 3521 0 0 0 0 0 0

1710 -0.64 -146.0 193.9 -8.1 222 1714 0.00 2.00 0.00 0.000 4 0.000 0.074 2283 3927 3521 0 0 0 0 0 0

1737 -0.68 -146.0 196.6 -8.7 224 1744 0.00 1.90 0.00 0.000 6 0.000 0.049 2283 2759 3521 0 0 0 0 0 0

2063 -0.71 -146.0 226.8 -8.6 255 2067 0.10 2.05 0.00 0.000 4 0.117 0.075 2235 3933 3521 0 0 0 0 0 0

2090 -0.67 -146.0 229.9 -10.8 257 2096 0.00 1.88 0.00 0.000 6 0.000 0.048 2235 2779 3521 0 0 0 0 0 0

2415 -0.62 -146.0 268.0 -12.7 288 2420 0.15 2.00 0.00 0.000 4 0.178 0.075 2270 3933 3521 0 0 0 0 0 0

2541 -0.67 -146.0 280.4 -9.6 299 2545 0.00 1.83 0.00 0.000 6 0.000 0.050 2270 2799 3520 0 0 0 0 0 0

2872 -0.67 -146.0 310.8 -10.0 330 2876 0.00 2.28 0.00 0.000 4 0.000 0.050 2270 1369 3520 0 0 0 0 0 0

2946 -0.71 -146.0 318.1 -9.7 336 2950 0.00 2.40 0.00 0.000 6 0.000 0.063 2265 2795 3520 0 0 0 0 0 0

3271 -0.71 -146.0 349.0 -9.4 366 3275 0.00 2.30 0.00 0.000 4 0.000 0.051 2265 1361 3520 0 0 0 0 0 0

3328 -0.76 -146.0 354.7 -9.6 370 3335 0.00 2.40 0.00 0.000 6 0.000 0.063 2264 2788 3520 0 0 0 0 0 0

3654 -0.78 -146.0 386.2 -9.7 401 3658 0.12 2.30 0.00 0.000 4 0.108 0.051 2208 1370 3521 0 0 0 0 0 0

3683 -0.73 -146.0 389.5 -12.1 403 3688 0.12 2.38 0.00 0.000 6 0.190 0.063 2233 2782 3520 0 0 0 0 0 0

4001 -0.69 -146.0 423.6 -10.4 419 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2782 3520 0 0 0 0 0 0

4306 -0.67 -146.0 454.3 -9.6 429 4311 0.00 2.30 0.00 0.000 4 0.000 0.051 2233 1362 3520 0 0 0 0 0 0

4363 -0.67 -146.0 459.8 -8.9 430 4369 0.00 2.38 0.00 0.000 6 0.000 0.062 2233 2777 3520 0 0 0 0 0 0

4676 -0.65 -146.0 489.5 -9.5 441 4678 0.10 0.00 0.00 0.000 6 0.199 0.000 2261 2777 3521 0 0 0 0 0 0

4983 -0.68 -146.0 513.4 -7.9 451 4987 0.00 2.25 0.00 0.000 4 0.000 0.051 2261 1371 3521 0 0 0 0 0 0

5012 -0.73 -146.0 515.7 -7.4 452 5016 0.00 2.35 0.00 0.000 6 0.000 0.062 2260 2773 3521 0 0 0 0 0 0

5347 -0.77 -146.0 540.4 -7.4 463 5348 0.00 0.00 0.00 0.000 6 0.000 0.000 2260 2773 3522 0 0 0 0 0 0

5654 -0.80 -146.0 564.8 -8.4 473 5656 0.12 0.00 0.00 0.000 6 0.109 0.000 2204 2773 3522 0 0 0 0 0 0

5865 end dive: TARGET_DEPTH_EXCEEDED

state 5865 begin apogee

5870 -0.14 0.0 588.6 11.0 480 6000 0.70 0.00 122.50 0.977 4 0.150 0.000 2420 2602 2924 0 0 0 0 0 0

6001 end apogee: CONTROL_FINISHED_OK

state 6001 begin climb

6003 0.57 146.0 592.9 0.0 484 6143 0.70 2.42 130.05 0.954 4 0.079 0.050 2658 1183 2326 0 0 0 0 0 0

6290 -1.77 146.0 572.0 22452.0 493 6300 2.62 2.47 0.00 0.000 6 0.153 0.054 1915 2608 2317 0 0 0 0 0 0

6631 -1.77 146.0 520.7 22452.0 504 6635 0.00 2.22 0.00 0.000 4 0.000 0.063 1904 3933 2308 0 0 0 0 0 0

6888 -1.77 146.0 472.2 22452.0 511 6892 0.00 2.10 0.00 0.000 6 0.000 0.043 1904 2649 2306 0 0 0 0 0 0

7208 -1.77 146.0 416.6 22452.0 522 7212 0.00 2.20 0.00 0.000 4 0.000 0.071 1897 3933 2308 0 0 0 0 0 0

7246 -1.77 146.0 409.1 22452.0 523 7250 0.00 2.00 0.00 0.000 6 0.000 0.043 1897 2685 2305 0 0 0 0 0 0

7576 -1.77 146.0 348.5 22452.0 551 7580 0.00 2.12 0.00 0.000 4 0.000 0.070 1885 3933 2307 0 0 0 0 0 0

7600 -1.77 146.0 343.9 22452.0 552 7606 0.00 1.98 0.00 0.000 6 0.000 0.044 1885 2692 2306 0 0 0 0 0 0

7927 -1.77 146.0 286.9 22452.0 583 7931 0.00 2.10 0.00 0.000 4 0.000 0.072 1880 3930 2307 0 0 0 0 0 0

8145 -1.77 146.0 247.2 22452.0 602 8152 0.00 1.98 0.00 0.000 6 0.000 0.042 1880 2690 2305 0 0 0 0 0 0

8471 -1.77 146.0 189.3 22452.0 633 8475 0.00 2.38 0.00 0.000 4 0.000 0.050 1879 1185 2306 0 0 0 0 0 0

8493 -1.77 146.0 185.0 22452.0 634 8500 0.15 2.53 0.00 0.000 6 0.207 0.057 1902 2731 2307 0 0 0 0 0 0

8818 -1.77 146.0 132.1 22452.0 665 8822 0.00 2.45 0.00 0.000 4 0.000 0.045 1902 1184 2304 0 0 0 0 0 0

9076 -0.40 146.0 88.9 17.4 693 9084 1.60 2.60 0.00 0.000 6 0.177 0.058 2341 2759 2306 0 0 0 0 0 0

9424 0.34 254.9 69.9 5.0 754 9521 0.77 2.62 88.05 0.675 4 0.166 0.054 2574 1193 1882 0 0 0 0 0 0

9776 0.78 303.2 44.1 7.8 815 9823 0.45 2.67 40.15 0.659 6 0.096 0.059 2732 2803 1685 0 0 0 0 0 0

10153 end climb: FINISH_DEPTH_REACHED

state 10154 begin subsurface finish

10161 0.06 96.1 8.6 -10.8 882 10197 0.75 2.30 -26.60 0.000 4 0.145 0.069 2498 1185 2534 0 0 0 0 0 0

10198 end subsurface finish: CONTROL_FINISHED_OK

state 10198 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	2.4000001
DIVE	488	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-2	T_GPS_CHARGE	-8321.8584	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	111210,042453,6642.864,-6005.682,0,6094.7,0,-38.0	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	8.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111210,042453,6642.864,-6005.682,0,6094.7,0,-38.0	MHEAD_RNG_PITCHd_Wd	316.1,15012,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	587

FREEZE	8.58,-1.727,-1.744,2,6,0	ALTIM_TOP_PING	19.5,18.1
FINISH1	8.6,1.025543,96	_24V_AH	21.8,59.097
FINISH2	7.4	_10V_AH	9.9,42.892
RAFOS_CLK	601	FG_AHR_24Vo	0.000
RAFOS	0,1292054480,8.033334,8.022223,146,44,44,43,41,40,535,482,1634,1934,317,935	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.916504,-6009.669922,111210,080806,6,88,0.20	MEM	151648
IRIDIUM_FIX	6614.97,-5939.52,101210,050521	DATA_FILE_SIZE	33379,888
TT8_MAMPS	0.030709	CAP_FILE_SIZE	112710,0
HUMID	48.03	CFSIZE	260165632,215367680
INTERNAL_PRESSURE	8.60232	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.40	SOUNDSPEED	1448.0
XPDR_PINGS	0	GPS	111210,082306,6642.917,-6009.670,0,6088.2,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	207	42.60	SBE_CT	619	24	323.99
Roll_motor	94	74	154.20	SBE_O2	0	0	0.00
VBD_pump_during_apogee	380	976	8108.65	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	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	16.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2213	19	436.52
LPSleep	5872	2	134.29
TT8_Active	418	19	82.57
TT8_Sampling	1606	39	634.86
TT8_CF8	162	45	73.98
TT8_Kalman	0	0	0.00
Analog_circuits	1290	12	153.30
GPS_charging	0	0	0.00
Compass	1591	15	236.32
RAFOS	2520	3	74.84
Transponder	13	30	3.93

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	24	0.00	0.00	-5.80	0.000	2	0.000	0.000	2487	1190	2765	0	0	0	0	0	0
26	-0.57	-146.0	9.2	-0.0	1	57	0.52	4.72	-19.02	0.000	4	0.074	0.072	2268	3922	3521	0	0	0	0	0	0
261	-0.52	-146.0	44.3	-14.2	42	269	0.15	1.85	0.00	0.000	6	0.165	0.047	2308	2779	3523	0	0	0	0	0	0
608	-0.56	-146.0	81.8	-9.7	103	615	0.00	1.98	0.00	0.000	4	0.000	0.075	2306	3925	3522	0	0	0	0	0	0
651	-0.61	-146.0	86.1	-9.2	110	658	0.00	1.83	0.00	0.000	6	0.000	0.049	2305	2786	3522	0	0	0	0	0	0
993	-0.66	-146.0	116.0	-9.9	156	997	0.12	2.28	0.00	0.000	4	0.100	0.052	2249	1371	3521	0	0	0	0	0	0
1025	-0.62	-146.0	120.5	-13.9	158	1032	0.00	2.35	0.00	0.000	6	0.000	0.063	2248	2774	3521	0	0	0	0	0	0
1351	-0.56	-146.0	163.4	-11.3	189	1356	0.15	2.28	0.00	0.000	4	0.184	0.052	2289	1371	3521	0	0	0	0	0	0
1384	-0.60	-146.0	166.9	-9.7	191	1391	0.00	2.35	0.00	0.000	6	0.000	0.063	2289	2772	3521	0	0	0	0	0	0
1710	-0.64	-146.0	193.9	-8.1	222	1714	0.00	2.00	0.00	0.000	4	0.000	0.074	2283	3927	3521	0	0	0	0	0	0
1737	-0.68	-146.0	196.6	-8.7	224	1744	0.00	1.90	0.00	0.000	6	0.000	0.049	2283	2759	3521	0	0	0	0	0	0
2063	-0.71	-146.0	226.8	-8.6	255	2067	0.10	2.05	0.00	0.000	4	0.117	0.075	2235	3933	3521	0	0	0	0	0	0
2090	-0.67	-146.0	229.9	-10.8	257	2096	0.00	1.88	0.00	0.000	6	0.000	0.048	2235	2779	3521	0	0	0	0	0	0
2415	-0.62	-146.0	268.0	-12.7	288	2420	0.15	2.00	0.00	0.000	4	0.178	0.075	2270	3933	3521	0	0	0	0	0	0
2541	-0.67	-146.0	280.4	-9.6	299	2545	0.00	1.83	0.00	0.000	6	0.000	0.050	2270	2799	3520	0	0	0	0	0	0
2872	-0.67	-146.0	310.8	-10.0	330	2876	0.00	2.28	0.00	0.000	4	0.000	0.050	2270	1369	3520	0	0	0	0	0	0
2946	-0.71	-146.0	318.1	-9.7	336	2950	0.00	2.40	0.00	0.000	6	0.000	0.063	2265	2795	3520	0	0	0	0	0	0
3271	-0.71	-146.0	349.0	-9.4	366	3275	0.00	2.30	0.00	0.000	4	0.000	0.051	2265	1361	3520	0	0	0	0	0	0
3328	-0.76	-146.0	354.7	-9.6	370	3335	0.00	2.40	0.00	0.000	6	0.000	0.063	2264	2788	3520	0	0	0	0	0	0
3654	-0.78	-146.0	386.2	-9.7	401	3658	0.12	2.30	0.00	0.000	4	0.108	0.051	2208	1370	3521	0	0	0	0	0	0
3683	-0.73	-146.0	389.5	-12.1	403	3688	0.12	2.38	0.00	0.000	6	0.190	0.063	2233	2782	3520	0	0	0	0	0	0
4001	-0.69	-146.0	423.6	-10.4	419	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2782	3520	0	0	0	0	0	0
4306	-0.67	-146.0	454.3	-9.6	429	4311	0.00	2.30	0.00	0.000	4	0.000	0.051	2233	1362	3520	0	0	0	0	0	0
4363	-0.67	-146.0	459.8	-8.9	430	4369	0.00	2.38	0.00	0.000	6	0.000	0.062	2233	2777	3520	0	0	0	0	0	0
4676	-0.65	-146.0	489.5	-9.5	441	4678	0.10	0.00	0.00	0.000	6	0.199	0.000	2261	2777	3521	0	0	0	0	0	0
4983	-0.68	-146.0	513.4	-7.9	451	4987	0.00	2.25	0.00	0.000	4	0.000	0.051	2261	1371	3521	0	0	0	0	0	0
5012	-0.73	-146.0	515.7	-7.4	452	5016	0.00	2.35	0.00	0.000	6	0.000	0.062	2260	2773	3521	0	0	0	0	0	0
5347	-0.77	-146.0	540.4	-7.4	463	5348	0.00	0.00	0.00	0.000	6	0.000	0.000	2260	2773	3522	0	0	0	0	0	0
5654	-0.80	-146.0	564.8	-8.4	473	5656	0.12	0.00	0.00	0.000	6	0.109	0.000	2204	2773	3522	0	0	0	0	0	0
5865	end dive: TARGET_DEPTH_EXCEEDED
state	5865	begin apogee
5870	-0.14	0.0	588.6	11.0	480	6000	0.70	0.00	122.50	0.977	4	0.150	0.000	2420	2602	2924	0	0	0	0	0	0
6001	end apogee: CONTROL_FINISHED_OK
state	6001	begin climb
6003	0.57	146.0	592.9	0.0	484	6143	0.70	2.42	130.05	0.954	4	0.079	0.050	2658	1183	2326	0	0	0	0	0	0
6290	-1.77	146.0	572.0	22452.0	493	6300	2.62	2.47	0.00	0.000	6	0.153	0.054	1915	2608	2317	0	0	0	0	0	0
6631	-1.77	146.0	520.7	22452.0	504	6635	0.00	2.22	0.00	0.000	4	0.000	0.063	1904	3933	2308	0	0	0	0	0	0
6888	-1.77	146.0	472.2	22452.0	511	6892	0.00	2.10	0.00	0.000	6	0.000	0.043	1904	2649	2306	0	0	0	0	0	0
7208	-1.77	146.0	416.6	22452.0	522	7212	0.00	2.20	0.00	0.000	4	0.000	0.071	1897	3933	2308	0	0	0	0	0	0
7246	-1.77	146.0	409.1	22452.0	523	7250	0.00	2.00	0.00	0.000	6	0.000	0.043	1897	2685	2305	0	0	0	0	0	0
7576	-1.77	146.0	348.5	22452.0	551	7580	0.00	2.12	0.00	0.000	4	0.000	0.070	1885	3933	2307	0	0	0	0	0	0
7600	-1.77	146.0	343.9	22452.0	552	7606	0.00	1.98	0.00	0.000	6	0.000	0.044	1885	2692	2306	0	0	0	0	0	0
7927	-1.77	146.0	286.9	22452.0	583	7931	0.00	2.10	0.00	0.000	4	0.000	0.072	1880	3930	2307	0	0	0	0	0	0
8145	-1.77	146.0	247.2	22452.0	602	8152	0.00	1.98	0.00	0.000	6	0.000	0.042	1880	2690	2305	0	0	0	0	0	0
8471	-1.77	146.0	189.3	22452.0	633	8475	0.00	2.38	0.00	0.000	4	0.000	0.050	1879	1185	2306	0	0	0	0	0	0
8493	-1.77	146.0	185.0	22452.0	634	8500	0.15	2.53	0.00	0.000	6	0.207	0.057	1902	2731	2307	0	0	0	0	0	0
8818	-1.77	146.0	132.1	22452.0	665	8822	0.00	2.45	0.00	0.000	4	0.000	0.045	1902	1184	2304	0	0	0	0	0	0
9076	-0.40	146.0	88.9	17.4	693	9084	1.60	2.60	0.00	0.000	6	0.177	0.058	2341	2759	2306	0	0	0	0	0	0
9424	0.34	254.9	69.9	5.0	754	9521	0.77	2.62	88.05	0.675	4	0.166	0.054	2574	1193	1882	0	0	0	0	0	0
9776	0.78	303.2	44.1	7.8	815	9823	0.45	2.67	40.15	0.659	6	0.096	0.059	2732	2803	1685	0	0	0	0	0	0
10153	end climb: FINISH_DEPTH_REACHED
state	10154	begin subsurface finish
10161	0.06	96.1	8.6	-10.8	882	10197	0.75	2.30	-26.60	0.000	4	0.145	0.069	2498	1185	2534	0	0	0	0	0	0
10198	end subsurface finish: CONTROL_FINISHED_OK
state	10198	begin surface