Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 492 * 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 492 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 37 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 492 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 111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0 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 9.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0 MHEAD_RNG_PITCHd_Wd 115.1,151542,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 569

Post-dive calculations and measurements:

FREEZE 8.67,-1.720,-1.751,2,10,0 ALTIM_BOTTOM_PING 551.7,66.1

FINISH1 8.7,1.025652,91 _24V_AH 21.8,59.398

FINISH2 7.3 _10V_AH 9.9,43.095

RAFOS_CLK 563 FG_AHR_24Vo 0.000

RAFOS_FIX 6644.775391,-6012.579102,111210,161649,7,91,0.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6614.97,-5939.52,101210,050521 MEM 151648

TT8_MAMPS 0.028462 DATA_FILE_SIZE 30077,826

HUMID 48.11 CAP_FILE_SIZE 102767,0

INTERNAL_PRESSURE 8.60232 CFSIZE 260165632,215166976

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1448.2

ALTIM_TOP_PING 19.7,17.9 GPS 111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 214 42.61 SBE_CT 575 24 301.02

Roll_motor 88 73 141.93 SBE_O2 0 0 0.00

VBD_pump_during_apogee 409 963 8605.36 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 2 420 18.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1995 19 393.52

LPSleep 5666 2 129.58

TT8_Active 425 19 83.98

TT8_Sampling 1423 39 562.74

TT8_CF8 159 45 72.73

TT8_Kalman 0 0 0.00

Analog_circuits 1224 12 145.47

GPS_charging 0 0 0.00

Compass 1414 15 209.99

RAFOS 0 0 0.00

Transponder 16 30 4.77

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

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -6.07 0.000 2 0.000 0.000 2485 1196 2784 0 0 0 0 0 0

27 -0.57 -146.0 11.0 -0.0 1 53 0.50 4.65 -16.88 0.000 4 0.067 0.070 2273 3928 3521 0 0 0 0 0 0

240 -0.53 -146.0 43.5 -15.5 38 247 0.00 1.85 0.00 0.000 6 0.000 0.046 2273 2774 3523 0 0 0 0 0 0

586 -0.49 -146.0 90.7 -12.4 99 593 0.15 2.25 0.00 0.000 4 0.180 0.051 2314 1374 3522 0 0 0 0 0 0

652 -0.58 -146.0 97.4 -9.2 110 659 0.00 2.33 0.00 0.000 6 0.000 0.062 2314 2780 3523 0 0 0 0 0 0

980 -0.65 -146.0 125.6 -8.4 143 985 0.15 2.28 0.00 0.000 4 0.098 0.051 2248 1374 3522 0 0 0 0 0 0

1023 -0.61 -146.0 130.9 -12.1 146 1030 0.00 2.33 0.00 0.000 6 0.000 0.062 2248 2781 3521 0 0 0 0 0 0

1349 -0.55 -146.0 173.5 -13.7 177 1354 0.17 2.30 0.00 0.000 4 0.178 0.051 2297 1364 3521 0 0 0 0 0 0

1390 -0.62 -146.0 178.1 -10.2 180 1394 0.00 2.33 0.00 0.000 6 0.000 0.061 2296 2770 3521 0 0 0 0 0 0

1716 -0.68 -146.0 207.8 -9.2 210 1718 0.12 0.00 0.00 0.000 6 0.105 0.000 2245 2770 3521 0 0 0 0 0 0

2034 -0.64 -146.0 246.5 -12.8 240 2038 0.00 2.25 0.00 0.000 4 0.000 0.052 2245 1366 3521 0 0 0 0 0 0

2119 -0.64 -146.0 256.8 -12.4 247 2123 0.00 2.30 0.00 0.000 6 0.000 0.063 2244 2752 3521 0 0 0 0 0 0

2444 -0.61 -146.0 293.7 -10.5 277 2446 0.12 0.00 0.00 0.000 6 0.191 0.000 2276 2752 3520 0 0 0 0 0 0

2763 -0.65 -146.0 320.7 -8.4 307 2767 0.00 2.22 0.00 0.000 4 0.000 0.052 2277 1365 3521 0 0 0 0 0 0

2793 -0.71 -146.0 323.4 -8.9 309 2797 0.00 2.28 0.00 0.000 6 0.000 0.061 2276 2740 3520 0 0 0 0 0 0

3119 -0.75 -146.0 352.6 -9.5 339 3123 0.12 2.03 0.00 0.000 4 0.105 0.073 2222 3928 3520 0 0 0 0 0 0

3175 -0.69 -146.0 359.8 -13.4 344 3179 0.00 1.90 0.00 0.000 6 0.000 0.047 2222 2738 3520 0 0 0 0 0 0

3526 -0.63 -146.0 405.1 -12.8 375 3531 0.17 2.08 0.00 0.000 4 0.174 0.073 2266 3936 3520 0 0 0 0 0 0

3611 -0.68 -146.0 413.8 -9.5 377 3615 0.00 1.92 0.00 0.000 6 0.000 0.047 2265 2753 3520 0 0 0 0 0 0

3935 -0.72 -146.0 441.3 -8.1 388 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2752 3520 0 0 0 0 0 0

4242 -0.76 -146.0 465.5 -8.0 398 4246 0.10 2.03 0.00 0.000 4 0.119 0.073 2217 3931 3521 0 0 0 0 0 0

4269 -0.72 -146.0 468.3 -10.7 398 4276 0.00 1.90 0.00 0.000 6 0.000 0.046 2216 2750 3520 0 0 0 0 0 0

4583 -0.67 -146.0 502.8 -11.0 409 4585 0.15 0.00 0.00 0.000 6 0.182 0.000 2256 2750 3521 0 0 0 0 0 0

4890 -0.70 -146.0 526.8 -7.8 419 4893 0.00 2.03 0.00 0.000 4 0.000 0.072 2257 3931 3522 0 0 0 0 0 0

4925 -0.74 -146.0 529.9 -8.3 420 4929 0.00 1.90 0.00 0.000 6 0.000 0.047 2257 2756 3522 0 0 0 0 0 0

5268 -0.77 -146.0 556.3 -7.5 431 5269 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2756 3522 0 0 0 0 0 0

5416 end dive: TARGET_DEPTH_EXCEEDED

state 5417 begin apogee

5423 -0.14 0.0 569.1 8.4 436 5552 0.50 0.00 122.40 0.964 4 0.135 0.000 2420 2592 2924 0 0 0 0 0 0

5553 end apogee: CONTROL_FINISHED_OK

state 5553 begin climb

5555 0.57 146.0 570.8 0.0 440 5692 0.68 0.00 129.70 0.939 6 0.087 0.000 2657 2592 2327 0 0 0 0 0 0

6016 -1.70 146.0 523.1 19166.3 455 6026 2.45 2.40 0.00 0.000 4 0.159 0.067 1936 3929 2315 0 0 0 0 0 0

6055 -1.70 146.0 522.9 19166.3 456 6059 0.00 2.17 0.00 0.000 6 0.000 0.044 1936 2607 2311 0 0 0 0 0 0

6385 -1.70 146.0 468.5 19166.3 467 6389 0.00 2.28 0.00 0.000 4 0.000 0.068 1929 3935 2310 0 0 0 0 0 0

6424 -1.70 146.0 461.4 19166.3 468 6428 0.00 2.20 0.00 0.000 6 0.000 0.044 1928 2568 2309 0 0 0 0 0 0

6748 -1.70 146.0 404.5 19166.3 479 6752 0.00 2.30 0.00 0.000 4 0.000 0.068 1925 3933 2308 0 0 0 0 0 0

6763 -1.70 146.0 401.7 19166.3 479 6767 0.00 2.25 0.00 0.000 6 0.000 0.044 1925 2542 2308 0 0 0 0 0 0

7094 -1.70 146.0 345.0 19166.3 510 7099 0.00 2.35 0.00 0.000 4 0.000 0.065 1913 3936 2307 0 0 0 0 0 0

7352 -1.70 146.0 295.7 19166.3 532 7359 0.00 2.30 0.00 0.000 6 0.000 0.045 1912 2512 2307 0 0 0 0 0 0

7677 -1.70 146.0 240.1 19166.3 563 7682 0.00 2.40 0.00 0.000 4 0.000 0.069 1904 3933 2308 0 0 0 0 0 0

7696 -1.70 146.0 237.2 19166.3 564 7700 0.00 2.22 0.00 0.000 6 0.000 0.044 1905 2548 2307 0 0 0 0 0 0

8021 -1.70 146.0 184.9 19166.3 594 8025 0.00 2.12 0.00 0.000 4 0.000 0.045 1904 1180 2307 0 0 0 0 0 0

8046 -1.70 146.0 181.1 19166.3 596 8051 0.12 2.28 0.00 0.000 6 0.214 0.055 1921 2574 2308 0 0 0 0 0 0

8371 -1.70 146.0 128.2 19166.3 626 8375 0.00 2.20 0.00 0.000 4 0.000 0.046 1921 1176 2306 0 0 0 0 0 0

8423 -1.70 146.0 120.0 19166.3 630 8427 0.00 2.28 0.00 0.000 6 0.000 0.057 1913 2570 2308 0 0 0 0 0 0

8759 -0.32 146.0 66.9 16.4 679 8767 1.65 2.28 0.00 0.000 4 0.203 0.049 2366 1184 2307 0 0 0 0 0 0

8883 0.45 252.6 60.1 5.1 700 8976 0.85 2.38 86.70 0.667 6 0.146 0.058 2618 2627 1893 0 0 0 0 0 0

9316 0.81 339.0 35.2 6.0 776 9398 0.30 2.33 70.72 0.647 4 0.083 0.067 2741 3939 1537 0 0 0 0 0 0

9452 0.81 339.0 21.4 13.4 799 9459 0.00 2.17 0.00 0.000 6 0.000 0.046 2744 2624 1532 0 0 0 0 0 0

9565 end climb: FINISH_DEPTH_REACHED

state 9567 begin subsurface finish

9574 0.06 90.7 8.7 -10.8 819 9616 0.80 2.38 -31.77 0.000 4 0.147 0.066 2497 1190 2555 0 0 0 0 0 0

9616 end subsurface finish: CONTROL_FINISHED_OK

state 9617 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	492	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0	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	9.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0	MHEAD_RNG_PITCHd_Wd	115.1,151542,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	569

FREEZE	8.67,-1.720,-1.751,2,10,0	ALTIM_BOTTOM_PING	551.7,66.1
FINISH1	8.7,1.025652,91	_24V_AH	21.8,59.398
FINISH2	7.3	_10V_AH	9.9,43.095
RAFOS_CLK	563	FG_AHR_24Vo	0.000
RAFOS_FIX	6644.775391,-6012.579102,111210,161649,7,91,0.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6614.97,-5939.52,101210,050521	MEM	151648
TT8_MAMPS	0.028462	DATA_FILE_SIZE	30077,826
HUMID	48.11	CAP_FILE_SIZE	102767,0
INTERNAL_PRESSURE	8.60232	CFSIZE	260165632,215166976
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1448.2
ALTIM_TOP_PING	19.7,17.9	GPS	111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	214	42.61	SBE_CT	575	24	301.02
Roll_motor	88	73	141.93	SBE_O2	0	0	0.00
VBD_pump_during_apogee	409	963	8605.36	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	2	420	18.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1995	19	393.52
LPSleep	5666	2	129.58
TT8_Active	425	19	83.98
TT8_Sampling	1423	39	562.74
TT8_CF8	159	45	72.73
TT8_Kalman	0	0	0.00
Analog_circuits	1224	12	145.47
GPS_charging	0	0	0.00
Compass	1414	15	209.99
RAFOS	0	0	0.00
Transponder	16	30	4.77

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
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-6.07	0.000	2	0.000	0.000	2485	1196	2784	0	0	0	0	0	0
27	-0.57	-146.0	11.0	-0.0	1	53	0.50	4.65	-16.88	0.000	4	0.067	0.070	2273	3928	3521	0	0	0	0	0	0
240	-0.53	-146.0	43.5	-15.5	38	247	0.00	1.85	0.00	0.000	6	0.000	0.046	2273	2774	3523	0	0	0	0	0	0
586	-0.49	-146.0	90.7	-12.4	99	593	0.15	2.25	0.00	0.000	4	0.180	0.051	2314	1374	3522	0	0	0	0	0	0
652	-0.58	-146.0	97.4	-9.2	110	659	0.00	2.33	0.00	0.000	6	0.000	0.062	2314	2780	3523	0	0	0	0	0	0
980	-0.65	-146.0	125.6	-8.4	143	985	0.15	2.28	0.00	0.000	4	0.098	0.051	2248	1374	3522	0	0	0	0	0	0
1023	-0.61	-146.0	130.9	-12.1	146	1030	0.00	2.33	0.00	0.000	6	0.000	0.062	2248	2781	3521	0	0	0	0	0	0
1349	-0.55	-146.0	173.5	-13.7	177	1354	0.17	2.30	0.00	0.000	4	0.178	0.051	2297	1364	3521	0	0	0	0	0	0
1390	-0.62	-146.0	178.1	-10.2	180	1394	0.00	2.33	0.00	0.000	6	0.000	0.061	2296	2770	3521	0	0	0	0	0	0
1716	-0.68	-146.0	207.8	-9.2	210	1718	0.12	0.00	0.00	0.000	6	0.105	0.000	2245	2770	3521	0	0	0	0	0	0
2034	-0.64	-146.0	246.5	-12.8	240	2038	0.00	2.25	0.00	0.000	4	0.000	0.052	2245	1366	3521	0	0	0	0	0	0
2119	-0.64	-146.0	256.8	-12.4	247	2123	0.00	2.30	0.00	0.000	6	0.000	0.063	2244	2752	3521	0	0	0	0	0	0
2444	-0.61	-146.0	293.7	-10.5	277	2446	0.12	0.00	0.00	0.000	6	0.191	0.000	2276	2752	3520	0	0	0	0	0	0
2763	-0.65	-146.0	320.7	-8.4	307	2767	0.00	2.22	0.00	0.000	4	0.000	0.052	2277	1365	3521	0	0	0	0	0	0
2793	-0.71	-146.0	323.4	-8.9	309	2797	0.00	2.28	0.00	0.000	6	0.000	0.061	2276	2740	3520	0	0	0	0	0	0
3119	-0.75	-146.0	352.6	-9.5	339	3123	0.12	2.03	0.00	0.000	4	0.105	0.073	2222	3928	3520	0	0	0	0	0	0
3175	-0.69	-146.0	359.8	-13.4	344	3179	0.00	1.90	0.00	0.000	6	0.000	0.047	2222	2738	3520	0	0	0	0	0	0
3526	-0.63	-146.0	405.1	-12.8	375	3531	0.17	2.08	0.00	0.000	4	0.174	0.073	2266	3936	3520	0	0	0	0	0	0
3611	-0.68	-146.0	413.8	-9.5	377	3615	0.00	1.92	0.00	0.000	6	0.000	0.047	2265	2753	3520	0	0	0	0	0	0
3935	-0.72	-146.0	441.3	-8.1	388	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2752	3520	0	0	0	0	0	0
4242	-0.76	-146.0	465.5	-8.0	398	4246	0.10	2.03	0.00	0.000	4	0.119	0.073	2217	3931	3521	0	0	0	0	0	0
4269	-0.72	-146.0	468.3	-10.7	398	4276	0.00	1.90	0.00	0.000	6	0.000	0.046	2216	2750	3520	0	0	0	0	0	0
4583	-0.67	-146.0	502.8	-11.0	409	4585	0.15	0.00	0.00	0.000	6	0.182	0.000	2256	2750	3521	0	0	0	0	0	0
4890	-0.70	-146.0	526.8	-7.8	419	4893	0.00	2.03	0.00	0.000	4	0.000	0.072	2257	3931	3522	0	0	0	0	0	0
4925	-0.74	-146.0	529.9	-8.3	420	4929	0.00	1.90	0.00	0.000	6	0.000	0.047	2257	2756	3522	0	0	0	0	0	0
5268	-0.77	-146.0	556.3	-7.5	431	5269	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2756	3522	0	0	0	0	0	0
5416	end dive: TARGET_DEPTH_EXCEEDED
state	5417	begin apogee
5423	-0.14	0.0	569.1	8.4	436	5552	0.50	0.00	122.40	0.964	4	0.135	0.000	2420	2592	2924	0	0	0	0	0	0
5553	end apogee: CONTROL_FINISHED_OK
state	5553	begin climb
5555	0.57	146.0	570.8	0.0	440	5692	0.68	0.00	129.70	0.939	6	0.087	0.000	2657	2592	2327	0	0	0	0	0	0
6016	-1.70	146.0	523.1	19166.3	455	6026	2.45	2.40	0.00	0.000	4	0.159	0.067	1936	3929	2315	0	0	0	0	0	0
6055	-1.70	146.0	522.9	19166.3	456	6059	0.00	2.17	0.00	0.000	6	0.000	0.044	1936	2607	2311	0	0	0	0	0	0
6385	-1.70	146.0	468.5	19166.3	467	6389	0.00	2.28	0.00	0.000	4	0.000	0.068	1929	3935	2310	0	0	0	0	0	0
6424	-1.70	146.0	461.4	19166.3	468	6428	0.00	2.20	0.00	0.000	6	0.000	0.044	1928	2568	2309	0	0	0	0	0	0
6748	-1.70	146.0	404.5	19166.3	479	6752	0.00	2.30	0.00	0.000	4	0.000	0.068	1925	3933	2308	0	0	0	0	0	0
6763	-1.70	146.0	401.7	19166.3	479	6767	0.00	2.25	0.00	0.000	6	0.000	0.044	1925	2542	2308	0	0	0	0	0	0
7094	-1.70	146.0	345.0	19166.3	510	7099	0.00	2.35	0.00	0.000	4	0.000	0.065	1913	3936	2307	0	0	0	0	0	0
7352	-1.70	146.0	295.7	19166.3	532	7359	0.00	2.30	0.00	0.000	6	0.000	0.045	1912	2512	2307	0	0	0	0	0	0
7677	-1.70	146.0	240.1	19166.3	563	7682	0.00	2.40	0.00	0.000	4	0.000	0.069	1904	3933	2308	0	0	0	0	0	0
7696	-1.70	146.0	237.2	19166.3	564	7700	0.00	2.22	0.00	0.000	6	0.000	0.044	1905	2548	2307	0	0	0	0	0	0
8021	-1.70	146.0	184.9	19166.3	594	8025	0.00	2.12	0.00	0.000	4	0.000	0.045	1904	1180	2307	0	0	0	0	0	0
8046	-1.70	146.0	181.1	19166.3	596	8051	0.12	2.28	0.00	0.000	6	0.214	0.055	1921	2574	2308	0	0	0	0	0	0
8371	-1.70	146.0	128.2	19166.3	626	8375	0.00	2.20	0.00	0.000	4	0.000	0.046	1921	1176	2306	0	0	0	0	0	0
8423	-1.70	146.0	120.0	19166.3	630	8427	0.00	2.28	0.00	0.000	6	0.000	0.057	1913	2570	2308	0	0	0	0	0	0
8759	-0.32	146.0	66.9	16.4	679	8767	1.65	2.28	0.00	0.000	4	0.203	0.049	2366	1184	2307	0	0	0	0	0	0
8883	0.45	252.6	60.1	5.1	700	8976	0.85	2.38	86.70	0.667	6	0.146	0.058	2618	2627	1893	0	0	0	0	0	0
9316	0.81	339.0	35.2	6.0	776	9398	0.30	2.33	70.72	0.647	4	0.083	0.067	2741	3939	1537	0	0	0	0	0	0
9452	0.81	339.0	21.4	13.4	799	9459	0.00	2.17	0.00	0.000	6	0.000	0.046	2744	2624	1532	0	0	0	0	0	0
9565	end climb: FINISH_DEPTH_REACHED
state	9567	begin subsurface finish
9574	0.06	90.7	8.7	-10.8	819	9616	0.80	2.38	-31.77	0.000	4	0.147	0.066	2497	1190	2555	0	0	0	0	0	0
9616	end subsurface finish: CONTROL_FINISHED_OK
state	9617	begin surface