Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 528 * 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 528 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 41 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 -9814.2949 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 -9814.2949

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 41 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 528 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 181210,091936,6703.212,-5652.552,33,1.1,39,-37.6 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 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181210,092532,6703.279,-5652.657,10,1.3,10,-37.6 MHEAD_RNG_PITCHd_Wd 136.3,3402,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 528

Post-dive calculations and measurements:

FREEZE 7.26,3.194,-1.821,0,1,0 ALTIM_BOTTOM_PING 501.3,33.9

FINISH1 7.3,1.026381,55 _24V_AH 22.3,64.054

FINISH2 4.9 _10V_AH 9.9,45.812

RAFOS_CLK 494 FG_AHR_24Vo 0.000

RAFOS 0,1292673664,12.033333,12.017777,50,50,45,45,42,40,653,1709,1577,1224,145,1777 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.943359,-5656.664062,181210,080856,2,68,0.75 MEM 151620

IRIDIUM_FIX 6631.12,-5626.24,181210,050506 DATA_FILE_SIZE 33406,943

TT8_MAMPS 0.030709 CAP_FILE_SIZE 114623,0

HUMID 47.83 CFSIZE 260165632,212664320

INTERNAL_PRESSURE 8.76834 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.50 SOUNDSPEED 1468.7

XPDR_PINGS 0 GPS 181210,092532,6703.279,-5652.657,10,1.3,10,-37.6

ALTIM_TOP_PING 19.5,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 241 59.97 SBE_CT 650 24 347.94

Roll_motor 89 79 159.14 SBE_O2 0 0 0.00

VBD_pump_during_apogee 322 904 6506.52 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 31 103 72.31 nil 0 0 0.00

Iridium_during_connect 44 160 157.82 nil 0 0 0.00

Iridium_during_xfer 135 223 672.09 nil 0 0 0.00

Transponder_ping 1 420 16.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.62

TT8 2279 19 449.53

LPSleep 5935 2 135.73

TT8_Active 467 19 92.29

TT8_Sampling 1752 39 692.58

TT8_CF8 248 45 113.07

TT8_Kalman 0 0 0.00

Analog_circuits 1315 12 156.30

GPS_charging 0 0 0.00

Compass 1528 15 226.92

RAFOS 1080 3 32.08

Transponder 14 30 4.23

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 0 151 0.00 0.00 -130.65 0.000 2 0.000 0.000 265 2802 3389 0 0 0 0 0 0

155 -0.57 -146.0 5.1 -8.3 23 175 8.40 2.30 -2.80 0.000 4 0.242 0.060 2283 1368 3522 0 0 0 0 0 0

278 -0.57 -146.0 30.1 -11.1 44 285 0.00 2.30 0.00 0.000 6 0.000 0.058 2276 2762 3523 0 0 0 0 0 0

624 -0.57 -146.0 70.3 -11.4 105 631 0.00 1.95 0.00 0.000 4 0.000 0.069 2273 3926 3522 0 0 0 0 0 0

695 -0.59 -146.0 78.1 -11.2 117 702 0.00 1.83 0.00 0.000 6 0.000 0.045 2272 2785 3523 0 0 0 0 0 0

1034 -0.59 -146.0 109.7 -9.0 168 1038 0.00 2.22 0.00 0.000 4 0.000 0.047 2272 1362 3523 0 0 0 0 0 0

1069 -0.61 -146.0 113.1 -9.4 170 1075 0.00 2.33 0.00 0.000 6 0.000 0.059 2272 2785 3523 0 0 0 0 0 0

1394 -0.64 -146.0 144.4 -10.2 201 1398 0.00 1.92 0.00 0.000 4 0.000 0.070 2272 3920 3522 0 0 0 0 0 0

1498 -0.69 -146.0 154.2 -8.7 210 1501 0.00 1.80 0.00 0.000 6 0.000 0.045 2272 2779 3522 0 0 0 0 0 0

1829 -0.72 -146.0 184.3 -9.4 241 1833 0.00 2.22 0.00 0.000 4 0.000 0.047 2272 1366 3523 0 0 0 0 0 0

1870 -0.77 -146.0 188.3 -10.2 244 1875 0.12 2.33 0.00 0.000 6 0.096 0.058 2211 2781 3523 0 0 0 0 0 0

2196 -0.68 -146.0 231.5 -13.7 274 2198 0.15 0.00 0.00 0.000 6 0.171 0.000 2251 2781 3523 0 0 0 0 0 0

2514 -0.68 -146.0 263.7 -9.6 304 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2781 3523 0 0 0 0 0 0

2835 -0.68 -146.0 292.0 -8.6 334 2838 0.00 1.90 0.00 0.000 4 0.000 0.067 2247 3932 3524 0 0 0 0 0 0

2869 -0.68 -146.0 295.6 -10.2 337 2873 0.00 1.85 0.00 0.000 6 0.000 0.044 2247 2757 3524 0 0 0 0 0 0

3201 -0.68 -146.0 327.3 -9.6 368 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2756 3524 0 0 0 0 0 0

3520 -0.68 -146.0 359.6 -9.9 398 3524 0.00 2.00 0.00 0.000 4 0.000 0.069 2247 3935 3524 0 0 0 0 0 0

3593 -0.68 -146.0 367.2 -9.7 404 3600 0.00 1.88 0.00 0.000 6 0.000 0.045 2247 2766 3524 0 0 0 0 0 0

3919 -0.68 -146.0 396.7 -8.5 435 3923 0.00 2.20 0.00 0.000 4 0.000 0.047 2247 1360 3524 0 0 0 0 0 0

3940 -0.68 -146.0 399.0 -9.6 436 3947 0.00 2.33 0.00 0.000 6 0.000 0.059 2247 2781 3524 0 0 0 0 0 0

4265 -0.68 -146.0 428.0 -8.9 448 4266 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2781 3523 0 0 0 0 0 0

4570 -0.68 -146.0 455.7 -8.7 458 4574 0.00 2.22 0.00 0.000 4 0.000 0.047 2247 1370 3522 0 0 0 0 0 0

4609 -0.71 -146.0 459.2 -8.9 459 4613 0.00 2.30 0.00 0.000 6 0.000 0.060 2247 2775 3523 0 0 0 0 0 0

4934 -0.71 -146.0 486.9 -8.4 470 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2775 3522 0 0 0 0 0 0

5240 -0.73 -146.0 511.5 -8.3 480 5244 0.00 2.22 0.00 0.000 4 0.000 0.047 2247 1364 3522 0 0 0 0 0 0

5304 -0.78 -146.0 516.8 -8.0 482 5308 0.00 2.33 0.00 0.000 6 0.000 0.059 2247 2773 3522 0 0 0 0 0 0

5368 end dive: BOTTOM_OBSTACLE_DETECTED

state 5368 begin apogee

5374 -0.14 0.0 521.9 7.4 484 5501 0.52 0.00 119.82 0.904 4 0.127 0.000 2423 2600 2923 0 0 0 0 0 0

5502 end apogee: CONTROL_FINISHED_OK

state 5502 begin climb

5504 0.57 146.0 524.8 0.0 488 5640 0.68 2.35 124.53 0.883 4 0.063 0.047 2669 1186 2327 0 0 0 0 0 0

5646 0.53 146.0 515.2 11.6 492 5651 0.00 2.50 0.00 0.000 6 0.000 0.052 2669 2598 2325 0 0 0 0 0 0

5965 0.47 146.0 473.7 13.0 503 5970 0.15 2.28 0.00 0.000 4 0.184 0.063 2630 3938 2317 0 0 0 0 0 0

6003 0.44 146.0 468.7 12.3 504 6007 0.00 2.15 0.00 0.000 6 0.000 0.042 2634 2606 2315 0 0 0 0 0 0

6334 0.44 146.4 434.6 10.0 515 6338 0.00 2.22 0.00 0.000 4 0.000 0.050 2635 1188 2316 0 0 0 0 0 0

6350 0.44 155.4 432.9 9.6 515 6363 0.00 2.30 7.35 0.736 6 0.000 0.053 2635 2621 2290 0 0 0 0 0 0

6669 0.45 172.9 402.8 9.2 526 6687 0.00 0.00 16.40 0.798 6 0.000 0.000 2635 2621 2218 0 0 0 0 0 0

6989 0.49 192.8 373.2 9.1 554 7008 0.00 0.00 17.80 0.787 6 0.000 0.000 2635 2621 2137 0 0 0 0 0 0

7324 0.53 200.9 342.2 9.6 586 7337 0.00 2.22 8.02 0.718 4 0.000 0.065 2635 3923 2104 0 0 0 0 0 0

7349 0.56 200.9 339.6 10.2 588 7353 0.00 2.10 0.00 0.000 6 0.000 0.042 2636 2597 2103 0 0 0 0 0 0

7681 0.60 200.9 305.0 10.6 619 7682 0.10 0.00 0.00 0.000 6 0.115 0.000 2683 2596 2101 0 0 0 0 0 0

7999 0.56 200.9 260.2 15.0 649 8003 0.00 2.22 0.00 0.000 4 0.000 0.065 2683 3925 2100 0 0 0 0 0 0

8033 0.47 200.9 254.5 16.6 651 8041 0.22 2.10 0.00 0.000 6 0.177 0.043 2627 2606 2099 0 0 0 0 0 0

8359 0.54 209.8 220.5 9.6 682 8369 0.00 0.00 8.73 0.679 6 0.000 0.000 2627 2606 2067 0 0 0 0 0 0

8687 0.62 226.8 190.2 9.2 713 8709 0.12 2.30 15.60 0.692 4 0.095 0.050 2684 1197 1997 0 0 0 0 0 0

8722 0.62 226.8 186.0 11.9 716 8726 0.00 2.28 0.00 0.000 6 0.000 0.052 2684 2614 1997 0 0 0 0 0 0

9047 0.62 226.8 140.6 13.8 746 9051 0.00 2.25 0.00 0.000 4 0.000 0.049 2684 1192 1994 0 0 0 0 0 0

9086 0.62 226.8 135.4 12.2 749 9093 0.00 2.25 0.00 0.000 6 0.000 0.052 2684 2587 1994 0 0 0 0 0 0

9413 0.62 226.8 94.2 11.5 784 9420 0.00 2.20 0.00 0.000 4 0.000 0.063 2685 3932 1992 0 0 0 0 0 0

9455 0.58 226.8 88.8 13.4 791 9462 0.00 2.12 0.00 0.000 6 0.000 0.041 2690 2579 1992 0 0 0 0 0 0

9800 0.58 226.8 50.1 10.3 852 9807 0.00 2.25 0.00 0.000 4 0.000 0.063 2690 3928 1992 0 0 0 0 0 0

9871 0.54 226.8 41.6 13.2 864 9879 0.15 2.08 0.00 0.000 6 0.179 0.041 2653 2597 1992 0 0 0 0 0 0

10216 0.61 231.0 11.4 9.8 925 10229 0.00 2.25 4.43 0.480 4 0.000 0.050 2652 1202 1981 0 0 0 0 0 0

10290 end climb: SURFACE_OBSTACLE_DETECTED

state 10290 begin subsurface finish

10299 0.04 54.9 7.3 -4.8 938 10330 0.50 2.28 -23.55 0.000 4 0.135 0.080 2488 3933 2702 0 0 0 0 0 0

10331 end subsurface finish: CONTROL_FINISHED_OK

state 10331 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	528	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	41	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	-9814.2949	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	181210,091936,6703.212,-5652.552,33,1.1,39,-37.6	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	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181210,092532,6703.279,-5652.657,10,1.3,10,-37.6	MHEAD_RNG_PITCHd_Wd	136.3,3402,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	528

FREEZE	7.26,3.194,-1.821,0,1,0	ALTIM_BOTTOM_PING	501.3,33.9
FINISH1	7.3,1.026381,55	_24V_AH	22.3,64.054
FINISH2	4.9	_10V_AH	9.9,45.812
RAFOS_CLK	494	FG_AHR_24Vo	0.000
RAFOS	0,1292673664,12.033333,12.017777,50,50,45,45,42,40,653,1709,1577,1224,145,1777	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.943359,-5656.664062,181210,080856,2,68,0.75	MEM	151620
IRIDIUM_FIX	6631.12,-5626.24,181210,050506	DATA_FILE_SIZE	33406,943
TT8_MAMPS	0.030709	CAP_FILE_SIZE	114623,0
HUMID	47.83	CFSIZE	260165632,212664320
INTERNAL_PRESSURE	8.76834	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.50	SOUNDSPEED	1468.7
XPDR_PINGS	0	GPS	181210,092532,6703.279,-5652.657,10,1.3,10,-37.6
ALTIM_TOP_PING	19.5,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	241	59.97	SBE_CT	650	24	347.94
Roll_motor	89	79	159.14	SBE_O2	0	0	0.00
VBD_pump_during_apogee	322	904	6506.52	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	31	103	72.31	nil	0	0	0.00
Iridium_during_connect	44	160	157.82	nil	0	0	0.00
Iridium_during_xfer	135	223	672.09	nil	0	0	0.00
Transponder_ping	1	420	16.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.62
TT8	2279	19	449.53
LPSleep	5935	2	135.73
TT8_Active	467	19	92.29
TT8_Sampling	1752	39	692.58
TT8_CF8	248	45	113.07
TT8_Kalman	0	0	0.00
Analog_circuits	1315	12	156.30
GPS_charging	0	0	0.00
Compass	1528	15	226.92
RAFOS	1080	3	32.08
Transponder	14	30	4.23

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	151	0.00	0.00	-130.65	0.000	2	0.000	0.000	265	2802	3389	0	0	0	0	0	0
155	-0.57	-146.0	5.1	-8.3	23	175	8.40	2.30	-2.80	0.000	4	0.242	0.060	2283	1368	3522	0	0	0	0	0	0
278	-0.57	-146.0	30.1	-11.1	44	285	0.00	2.30	0.00	0.000	6	0.000	0.058	2276	2762	3523	0	0	0	0	0	0
624	-0.57	-146.0	70.3	-11.4	105	631	0.00	1.95	0.00	0.000	4	0.000	0.069	2273	3926	3522	0	0	0	0	0	0
695	-0.59	-146.0	78.1	-11.2	117	702	0.00	1.83	0.00	0.000	6	0.000	0.045	2272	2785	3523	0	0	0	0	0	0
1034	-0.59	-146.0	109.7	-9.0	168	1038	0.00	2.22	0.00	0.000	4	0.000	0.047	2272	1362	3523	0	0	0	0	0	0
1069	-0.61	-146.0	113.1	-9.4	170	1075	0.00	2.33	0.00	0.000	6	0.000	0.059	2272	2785	3523	0	0	0	0	0	0
1394	-0.64	-146.0	144.4	-10.2	201	1398	0.00	1.92	0.00	0.000	4	0.000	0.070	2272	3920	3522	0	0	0	0	0	0
1498	-0.69	-146.0	154.2	-8.7	210	1501	0.00	1.80	0.00	0.000	6	0.000	0.045	2272	2779	3522	0	0	0	0	0	0
1829	-0.72	-146.0	184.3	-9.4	241	1833	0.00	2.22	0.00	0.000	4	0.000	0.047	2272	1366	3523	0	0	0	0	0	0
1870	-0.77	-146.0	188.3	-10.2	244	1875	0.12	2.33	0.00	0.000	6	0.096	0.058	2211	2781	3523	0	0	0	0	0	0
2196	-0.68	-146.0	231.5	-13.7	274	2198	0.15	0.00	0.00	0.000	6	0.171	0.000	2251	2781	3523	0	0	0	0	0	0
2514	-0.68	-146.0	263.7	-9.6	304	2515	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2781	3523	0	0	0	0	0	0
2835	-0.68	-146.0	292.0	-8.6	334	2838	0.00	1.90	0.00	0.000	4	0.000	0.067	2247	3932	3524	0	0	0	0	0	0
2869	-0.68	-146.0	295.6	-10.2	337	2873	0.00	1.85	0.00	0.000	6	0.000	0.044	2247	2757	3524	0	0	0	0	0	0
3201	-0.68	-146.0	327.3	-9.6	368	3202	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2756	3524	0	0	0	0	0	0
3520	-0.68	-146.0	359.6	-9.9	398	3524	0.00	2.00	0.00	0.000	4	0.000	0.069	2247	3935	3524	0	0	0	0	0	0
3593	-0.68	-146.0	367.2	-9.7	404	3600	0.00	1.88	0.00	0.000	6	0.000	0.045	2247	2766	3524	0	0	0	0	0	0
3919	-0.68	-146.0	396.7	-8.5	435	3923	0.00	2.20	0.00	0.000	4	0.000	0.047	2247	1360	3524	0	0	0	0	0	0
3940	-0.68	-146.0	399.0	-9.6	436	3947	0.00	2.33	0.00	0.000	6	0.000	0.059	2247	2781	3524	0	0	0	0	0	0
4265	-0.68	-146.0	428.0	-8.9	448	4266	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2781	3523	0	0	0	0	0	0
4570	-0.68	-146.0	455.7	-8.7	458	4574	0.00	2.22	0.00	0.000	4	0.000	0.047	2247	1370	3522	0	0	0	0	0	0
4609	-0.71	-146.0	459.2	-8.9	459	4613	0.00	2.30	0.00	0.000	6	0.000	0.060	2247	2775	3523	0	0	0	0	0	0
4934	-0.71	-146.0	486.9	-8.4	470	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2775	3522	0	0	0	0	0	0
5240	-0.73	-146.0	511.5	-8.3	480	5244	0.00	2.22	0.00	0.000	4	0.000	0.047	2247	1364	3522	0	0	0	0	0	0
5304	-0.78	-146.0	516.8	-8.0	482	5308	0.00	2.33	0.00	0.000	6	0.000	0.059	2247	2773	3522	0	0	0	0	0	0
5368	end dive: BOTTOM_OBSTACLE_DETECTED
state	5368	begin apogee
5374	-0.14	0.0	521.9	7.4	484	5501	0.52	0.00	119.82	0.904	4	0.127	0.000	2423	2600	2923	0	0	0	0	0	0
5502	end apogee: CONTROL_FINISHED_OK
state	5502	begin climb
5504	0.57	146.0	524.8	0.0	488	5640	0.68	2.35	124.53	0.883	4	0.063	0.047	2669	1186	2327	0	0	0	0	0	0
5646	0.53	146.0	515.2	11.6	492	5651	0.00	2.50	0.00	0.000	6	0.000	0.052	2669	2598	2325	0	0	0	0	0	0
5965	0.47	146.0	473.7	13.0	503	5970	0.15	2.28	0.00	0.000	4	0.184	0.063	2630	3938	2317	0	0	0	0	0	0
6003	0.44	146.0	468.7	12.3	504	6007	0.00	2.15	0.00	0.000	6	0.000	0.042	2634	2606	2315	0	0	0	0	0	0
6334	0.44	146.4	434.6	10.0	515	6338	0.00	2.22	0.00	0.000	4	0.000	0.050	2635	1188	2316	0	0	0	0	0	0
6350	0.44	155.4	432.9	9.6	515	6363	0.00	2.30	7.35	0.736	6	0.000	0.053	2635	2621	2290	0	0	0	0	0	0
6669	0.45	172.9	402.8	9.2	526	6687	0.00	0.00	16.40	0.798	6	0.000	0.000	2635	2621	2218	0	0	0	0	0	0
6989	0.49	192.8	373.2	9.1	554	7008	0.00	0.00	17.80	0.787	6	0.000	0.000	2635	2621	2137	0	0	0	0	0	0
7324	0.53	200.9	342.2	9.6	586	7337	0.00	2.22	8.02	0.718	4	0.000	0.065	2635	3923	2104	0	0	0	0	0	0
7349	0.56	200.9	339.6	10.2	588	7353	0.00	2.10	0.00	0.000	6	0.000	0.042	2636	2597	2103	0	0	0	0	0	0
7681	0.60	200.9	305.0	10.6	619	7682	0.10	0.00	0.00	0.000	6	0.115	0.000	2683	2596	2101	0	0	0	0	0	0
7999	0.56	200.9	260.2	15.0	649	8003	0.00	2.22	0.00	0.000	4	0.000	0.065	2683	3925	2100	0	0	0	0	0	0
8033	0.47	200.9	254.5	16.6	651	8041	0.22	2.10	0.00	0.000	6	0.177	0.043	2627	2606	2099	0	0	0	0	0	0
8359	0.54	209.8	220.5	9.6	682	8369	0.00	0.00	8.73	0.679	6	0.000	0.000	2627	2606	2067	0	0	0	0	0	0
8687	0.62	226.8	190.2	9.2	713	8709	0.12	2.30	15.60	0.692	4	0.095	0.050	2684	1197	1997	0	0	0	0	0	0
8722	0.62	226.8	186.0	11.9	716	8726	0.00	2.28	0.00	0.000	6	0.000	0.052	2684	2614	1997	0	0	0	0	0	0
9047	0.62	226.8	140.6	13.8	746	9051	0.00	2.25	0.00	0.000	4	0.000	0.049	2684	1192	1994	0	0	0	0	0	0
9086	0.62	226.8	135.4	12.2	749	9093	0.00	2.25	0.00	0.000	6	0.000	0.052	2684	2587	1994	0	0	0	0	0	0
9413	0.62	226.8	94.2	11.5	784	9420	0.00	2.20	0.00	0.000	4	0.000	0.063	2685	3932	1992	0	0	0	0	0	0
9455	0.58	226.8	88.8	13.4	791	9462	0.00	2.12	0.00	0.000	6	0.000	0.041	2690	2579	1992	0	0	0	0	0	0
9800	0.58	226.8	50.1	10.3	852	9807	0.00	2.25	0.00	0.000	4	0.000	0.063	2690	3928	1992	0	0	0	0	0	0
9871	0.54	226.8	41.6	13.2	864	9879	0.15	2.08	0.00	0.000	6	0.179	0.041	2653	2597	1992	0	0	0	0	0	0
10216	0.61	231.0	11.4	9.8	925	10229	0.00	2.25	4.43	0.480	4	0.000	0.050	2652	1202	1981	0	0	0	0	0	0
10290	end climb: SURFACE_OBSTACLE_DETECTED
state	10290	begin subsurface finish
10299	0.04	54.9	7.3	-4.8	938	10330	0.50	2.28	-23.55	0.000	4	0.135	0.080	2488	3933	2702	0	0	0	0	0	0
10331	end subsurface finish: CONTROL_FINISHED_OK
state	10331	begin surface