Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 547 * 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 547 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 41 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 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 -3 T_GPS_CHARGE -9833.3086 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 -9833.3086

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 41 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 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 547 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 201210,104355,6704.424,-5653.782,37,1.5,37,-37.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201210,104920,6704.455,-5653.852,14,1.6,14,-37.6 MHEAD_RNG_PITCHd_Wd 293.9,159756,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 527

Post-dive calculations and measurements:

FREEZE 1.22,-0.295,-1.329,0,1,0 ALTIM_TOP_PING 19.3,17.1

FINISH 1.2,1.019609 ALTIM_BOTTOM_PING 502.2,41.3

SM_CCo 10459,233.48,0.081,0,0,440,609.08 _24V_AH 22.5,65.632

SM_GC 1.91,0.00,0.00,233.48,0.000,0.000,0.081,293,2780,440,-6.81,0.00,609.08 _10V_AH 9.9,46.897

RAFOS_CLK 429 FG_AHR_24Vo 0.000

RAFOS 0,1292846478,12.033333,12.021667,44,40,40,40,39,39,783,127,145,746,340,1649 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.197266,-5700.949219,201210,121244,3,90,1.48 MEM 151724

IRIDIUM_FIX 6636.54,-5655.33,201210,070746 DATA_FILE_SIZE 33395,939

TT8_MAMPS 0.028462 CAP_FILE_SIZE 120758,0

HUMID 44.13 CFSIZE 260165632,211603456

INTERNAL_PRESSURE 8.54372 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.50 SOUNDSPEED 1471.7

XPDR_PINGS 1 GPS 201210,134937,6706.096,-5700.115,31,1.2,31,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 240 96.10 SBE_CT 646 24 348.99

Roll_motor 79 77 137.95 SBE_O2 0 0 0.00

VBD_pump_during_apogee 338 893 6796.22 nil 0 0 0.00

VBD_pump_during_surface 233 81 425.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.20 nil 0 0 0.00

Iridium_during_connect 23 160 85.71 nil 0 0 0.00

Iridium_during_xfer 125 223 627.25 nil 0 0 0.00

Transponder_ping 2 420 21.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.42

TT8 2316 19 456.82

LPSleep 5982 2 136.80

TT8_Active 684 19 134.97

TT8_Sampling 1791 39 708.10

TT8_CF8 263 45 119.99

TT8_Kalman 0 0 0.00

Analog_circuits 1563 12 185.80

GPS_charging 0 0 0.00

Compass 1595 15 236.93

RAFOS 2520 3 74.84

Transponder 19 30 5.72

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 15 begin dive

17 -0.57 -146.0 0.0 0.0 0 151 0.00 0.00 -130.62 0.000 2 0.000 0.000 289 2777 3355 0 0 0 0 0 0

155 -0.57 -146.0 5.7 -10.2 23 175 8.25 1.92 -3.40 0.000 4 0.241 0.077 2276 3932 3522 0 0 0 0 0 0

378 -0.57 -146.0 44.7 -11.7 62 384 0.00 1.85 0.00 0.000 6 0.000 0.045 2276 2776 3523 0 0 0 0 0 0

724 -0.57 -146.0 83.8 -9.8 123 730 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2776 3522 0 0 0 0 0 0

1064 -0.59 -146.0 120.0 -9.1 167 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2776 3522 0 0 0 0 0 0

1385 -0.63 -146.0 148.6 -8.3 197 1389 0.00 2.20 0.00 0.000 4 0.000 0.047 2276 1369 3521 0 0 0 0 0 0

1418 -0.68 -146.0 151.7 -9.0 199 1425 0.00 2.35 0.00 0.000 6 0.000 0.059 2275 2792 3521 0 0 0 0 0 0

1744 -0.74 -146.0 178.0 -8.2 230 1749 0.10 2.25 0.00 0.000 4 0.114 0.047 2227 1373 3521 0 0 0 0 0 0

1784 -0.72 -146.0 182.1 -10.6 233 1788 0.00 2.33 0.00 0.000 6 0.000 0.058 2222 2785 3521 0 0 0 0 0 0

2111 -0.67 -146.0 216.4 -9.9 263 2113 0.12 0.00 0.00 0.000 6 0.177 0.000 2256 2785 3521 0 0 0 0 0 0

2428 -0.70 -146.0 241.1 -7.7 293 2432 0.00 2.22 0.00 0.000 4 0.000 0.045 2256 1364 3522 0 0 0 0 0 0

2515 -0.75 -146.0 248.6 -8.8 300 2519 0.00 2.30 0.00 0.000 6 0.000 0.056 2251 2782 3522 0 0 0 0 0 0

2841 -0.77 -146.0 278.9 -8.7 330 2842 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2782 3523 0 0 0 0 0 0

3162 -0.79 -146.0 305.1 -8.0 360 3166 0.00 2.20 0.00 0.000 4 0.000 0.044 2251 1370 3524 0 0 0 0 0 0

3184 -0.82 -146.0 307.4 -8.6 361 3191 0.10 2.33 0.00 0.000 6 0.106 0.056 2194 2789 3524 0 0 0 0 0 0

3509 -0.74 -146.0 348.0 -13.3 392 3511 0.15 0.00 0.00 0.000 6 0.170 0.000 2235 2789 3525 0 0 0 0 0 0

3828 -0.74 -146.0 377.0 -8.1 422 3832 0.00 2.22 0.00 0.000 4 0.000 0.044 2235 1360 3526 0 0 0 0 0 0

3891 -0.76 -146.0 382.0 -7.7 427 3895 0.00 2.33 0.00 0.000 6 0.000 0.055 2235 2784 3526 0 0 0 0 0 0

4224 -0.76 -146.0 411.5 -9.2 450 4228 0.00 1.88 0.00 0.000 4 0.000 0.066 2231 3929 3527 0 0 0 0 0 0

4246 -0.76 -146.0 414.0 -9.6 450 4250 0.00 1.83 0.00 0.000 6 0.000 0.041 2231 2771 3527 0 0 0 0 0 0

4565 -0.76 -146.0 442.5 -8.9 461 4569 0.00 2.20 0.00 0.000 4 0.000 0.044 2230 1360 3528 0 0 0 0 0 0

4598 -0.76 -146.0 445.5 -8.4 462 4602 0.00 2.30 0.00 0.000 6 0.000 0.054 2230 2769 3528 0 0 0 0 0 0

4930 -0.76 -146.0 474.9 -8.9 473 4931 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2770 3528 0 0 0 0 0 0

5243 -0.76 -146.0 502.2 -8.9 483 5244 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2769 3529 0 0 0 0 0 0

5538 end dive: TARGET_DEPTH_EXCEEDED

state 5538 begin apogee

5544 -0.14 0.0 529.5 9.5 493 5672 0.57 0.00 120.57 0.894 4 0.125 0.000 2423 2592 2922 0 0 0 0 0 0

5673 end apogee: CONTROL_FINISHED_OK

state 5673 begin climb

5675 0.57 146.0 533.3 0.0 497 5807 0.68 2.35 122.38 0.878 4 0.070 0.063 2665 3934 2326 0 0 0 0 0 0

5915 0.45 146.0 507.2 16.2 504 5920 0.17 2.22 0.00 0.000 6 0.185 0.038 2623 2588 2320 0 0 0 0 0 0

6234 0.46 148.2 474.3 9.9 515 6238 0.00 2.22 0.00 0.000 4 0.000 0.062 2623 3929 2317 0 0 0 0 0 0

6492 0.43 148.2 443.0 12.8 522 6498 0.00 2.12 0.00 0.000 6 0.000 0.039 2623 2584 2317 0 0 0 0 0 0

6806 0.46 148.3 410.6 10.0 533 6810 0.00 2.15 0.00 0.000 4 0.000 0.047 2624 1196 2317 0 0 0 0 0 0

6845 0.53 161.4 406.8 9.4 534 6867 0.00 2.25 13.00 0.770 6 0.000 0.050 2623 2607 2263 0 0 0 0 0 0

7184 0.59 181.3 375.2 9.1 561 7208 0.12 2.25 17.70 0.773 4 0.096 0.062 2683 3929 2182 0 0 0 0 0 0

7236 0.47 181.3 368.1 14.9 565 7243 0.22 2.12 0.00 0.000 6 0.173 0.039 2629 2594 2181 0 0 0 0 0 0

7561 0.51 181.3 333.3 10.6 596 7565 0.00 2.20 0.00 0.000 4 0.000 0.047 2628 1196 2179 0 0 0 0 0 0

7613 0.60 194.2 328.4 9.4 600 7631 0.12 2.25 11.70 0.729 6 0.096 0.050 2685 2592 2131 0 0 0 0 0 0

7949 0.54 194.2 281.1 14.0 631 7951 0.12 0.00 0.00 0.000 6 0.187 0.000 2653 2593 2128 0 0 0 0 0 0

8268 0.54 194.2 241.3 12.7 661 8269 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2593 2126 0 0 0 0 0 0

8588 0.54 194.2 201.4 12.0 691 8592 0.00 2.20 0.00 0.000 4 0.000 0.047 2653 1186 2126 0 0 0 0 0 0

8618 0.58 194.2 197.7 12.0 693 8622 0.00 2.22 0.00 0.000 6 0.000 0.050 2653 2588 2127 0 0 0 0 0 0

8943 0.58 194.2 159.1 11.2 723 8947 0.00 2.17 0.00 0.000 4 0.000 0.062 2653 3926 2126 0 0 0 0 0 0

8987 0.56 194.2 153.4 13.3 726 8994 0.00 2.12 0.00 0.000 6 0.000 0.040 2655 2578 2125 0 0 0 0 0 0

9313 0.58 194.2 118.1 10.5 757 9317 0.00 2.15 0.00 0.000 4 0.000 0.047 2655 1189 2125 0 0 0 0 0 0

9379 0.66 203.1 111.6 9.6 762 9397 0.00 2.22 8.65 0.600 6 0.000 0.050 2655 2578 2094 0 0 0 0 0 0

9728 0.70 203.1 77.8 10.2 814 9735 0.12 2.22 0.00 0.000 4 0.099 0.063 2712 3928 2092 0 0 0 0 0 0

9777 0.58 203.1 71.4 15.4 822 9784 0.20 2.12 0.00 0.000 6 0.176 0.040 2665 2577 2092 0 0 0 0 0 0

10125 0.64 220.3 37.1 9.2 883 10149 0.00 2.22 15.62 0.594 4 0.000 0.047 2665 1193 2024 0 0 0 0 0 0

10185 0.75 253.6 31.4 8.5 893 10222 0.15 2.20 28.42 0.589 6 0.090 0.050 2729 2564 1888 0 0 0 0 0 0

10416 end climb: SURFACE_DEPTH_REACHED

state 10416 begin surface coast

10443 end surface coast: CONTROL_FINISHED_OK

state 10443 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	547	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	41	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	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	-3	T_GPS_CHARGE	-9833.3086	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	201210,104355,6704.424,-5653.782,37,1.5,37,-37.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201210,104920,6704.455,-5653.852,14,1.6,14,-37.6	MHEAD_RNG_PITCHd_Wd	293.9,159756,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	527

FREEZE	1.22,-0.295,-1.329,0,1,0	ALTIM_TOP_PING	19.3,17.1
FINISH	1.2,1.019609	ALTIM_BOTTOM_PING	502.2,41.3
SM_CCo	10459,233.48,0.081,0,0,440,609.08	_24V_AH	22.5,65.632
SM_GC	1.91,0.00,0.00,233.48,0.000,0.000,0.081,293,2780,440,-6.81,0.00,609.08	_10V_AH	9.9,46.897
RAFOS_CLK	429	FG_AHR_24Vo	0.000
RAFOS	0,1292846478,12.033333,12.021667,44,40,40,40,39,39,783,127,145,746,340,1649	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.197266,-5700.949219,201210,121244,3,90,1.48	MEM	151724
IRIDIUM_FIX	6636.54,-5655.33,201210,070746	DATA_FILE_SIZE	33395,939
TT8_MAMPS	0.028462	CAP_FILE_SIZE	120758,0
HUMID	44.13	CFSIZE	260165632,211603456
INTERNAL_PRESSURE	8.54372	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.50	SOUNDSPEED	1471.7
XPDR_PINGS	1	GPS	201210,134937,6706.096,-5700.115,31,1.2,31,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	240	96.10	SBE_CT	646	24	348.99
Roll_motor	79	77	137.95	SBE_O2	0	0	0.00
VBD_pump_during_apogee	338	893	6796.22	nil	0	0	0.00
VBD_pump_during_surface	233	81	425.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.20	nil	0	0	0.00
Iridium_during_connect	23	160	85.71	nil	0	0	0.00
Iridium_during_xfer	125	223	627.25	nil	0	0	0.00
Transponder_ping	2	420	21.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.42
TT8	2316	19	456.82
LPSleep	5982	2	136.80
TT8_Active	684	19	134.97
TT8_Sampling	1791	39	708.10
TT8_CF8	263	45	119.99
TT8_Kalman	0	0	0.00
Analog_circuits	1563	12	185.80
GPS_charging	0	0	0.00
Compass	1595	15	236.93
RAFOS	2520	3	74.84
Transponder	19	30	5.72

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	15	begin dive
17	-0.57	-146.0	0.0	0.0	0	151	0.00	0.00	-130.62	0.000	2	0.000	0.000	289	2777	3355	0	0	0	0	0	0
155	-0.57	-146.0	5.7	-10.2	23	175	8.25	1.92	-3.40	0.000	4	0.241	0.077	2276	3932	3522	0	0	0	0	0	0
378	-0.57	-146.0	44.7	-11.7	62	384	0.00	1.85	0.00	0.000	6	0.000	0.045	2276	2776	3523	0	0	0	0	0	0
724	-0.57	-146.0	83.8	-9.8	123	730	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2776	3522	0	0	0	0	0	0
1064	-0.59	-146.0	120.0	-9.1	167	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2776	3522	0	0	0	0	0	0
1385	-0.63	-146.0	148.6	-8.3	197	1389	0.00	2.20	0.00	0.000	4	0.000	0.047	2276	1369	3521	0	0	0	0	0	0
1418	-0.68	-146.0	151.7	-9.0	199	1425	0.00	2.35	0.00	0.000	6	0.000	0.059	2275	2792	3521	0	0	0	0	0	0
1744	-0.74	-146.0	178.0	-8.2	230	1749	0.10	2.25	0.00	0.000	4	0.114	0.047	2227	1373	3521	0	0	0	0	0	0
1784	-0.72	-146.0	182.1	-10.6	233	1788	0.00	2.33	0.00	0.000	6	0.000	0.058	2222	2785	3521	0	0	0	0	0	0
2111	-0.67	-146.0	216.4	-9.9	263	2113	0.12	0.00	0.00	0.000	6	0.177	0.000	2256	2785	3521	0	0	0	0	0	0
2428	-0.70	-146.0	241.1	-7.7	293	2432	0.00	2.22	0.00	0.000	4	0.000	0.045	2256	1364	3522	0	0	0	0	0	0
2515	-0.75	-146.0	248.6	-8.8	300	2519	0.00	2.30	0.00	0.000	6	0.000	0.056	2251	2782	3522	0	0	0	0	0	0
2841	-0.77	-146.0	278.9	-8.7	330	2842	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2782	3523	0	0	0	0	0	0
3162	-0.79	-146.0	305.1	-8.0	360	3166	0.00	2.20	0.00	0.000	4	0.000	0.044	2251	1370	3524	0	0	0	0	0	0
3184	-0.82	-146.0	307.4	-8.6	361	3191	0.10	2.33	0.00	0.000	6	0.106	0.056	2194	2789	3524	0	0	0	0	0	0
3509	-0.74	-146.0	348.0	-13.3	392	3511	0.15	0.00	0.00	0.000	6	0.170	0.000	2235	2789	3525	0	0	0	0	0	0
3828	-0.74	-146.0	377.0	-8.1	422	3832	0.00	2.22	0.00	0.000	4	0.000	0.044	2235	1360	3526	0	0	0	0	0	0
3891	-0.76	-146.0	382.0	-7.7	427	3895	0.00	2.33	0.00	0.000	6	0.000	0.055	2235	2784	3526	0	0	0	0	0	0
4224	-0.76	-146.0	411.5	-9.2	450	4228	0.00	1.88	0.00	0.000	4	0.000	0.066	2231	3929	3527	0	0	0	0	0	0
4246	-0.76	-146.0	414.0	-9.6	450	4250	0.00	1.83	0.00	0.000	6	0.000	0.041	2231	2771	3527	0	0	0	0	0	0
4565	-0.76	-146.0	442.5	-8.9	461	4569	0.00	2.20	0.00	0.000	4	0.000	0.044	2230	1360	3528	0	0	0	0	0	0
4598	-0.76	-146.0	445.5	-8.4	462	4602	0.00	2.30	0.00	0.000	6	0.000	0.054	2230	2769	3528	0	0	0	0	0	0
4930	-0.76	-146.0	474.9	-8.9	473	4931	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2770	3528	0	0	0	0	0	0
5243	-0.76	-146.0	502.2	-8.9	483	5244	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2769	3529	0	0	0	0	0	0
5538	end dive: TARGET_DEPTH_EXCEEDED
state	5538	begin apogee
5544	-0.14	0.0	529.5	9.5	493	5672	0.57	0.00	120.57	0.894	4	0.125	0.000	2423	2592	2922	0	0	0	0	0	0
5673	end apogee: CONTROL_FINISHED_OK
state	5673	begin climb
5675	0.57	146.0	533.3	0.0	497	5807	0.68	2.35	122.38	0.878	4	0.070	0.063	2665	3934	2326	0	0	0	0	0	0
5915	0.45	146.0	507.2	16.2	504	5920	0.17	2.22	0.00	0.000	6	0.185	0.038	2623	2588	2320	0	0	0	0	0	0
6234	0.46	148.2	474.3	9.9	515	6238	0.00	2.22	0.00	0.000	4	0.000	0.062	2623	3929	2317	0	0	0	0	0	0
6492	0.43	148.2	443.0	12.8	522	6498	0.00	2.12	0.00	0.000	6	0.000	0.039	2623	2584	2317	0	0	0	0	0	0
6806	0.46	148.3	410.6	10.0	533	6810	0.00	2.15	0.00	0.000	4	0.000	0.047	2624	1196	2317	0	0	0	0	0	0
6845	0.53	161.4	406.8	9.4	534	6867	0.00	2.25	13.00	0.770	6	0.000	0.050	2623	2607	2263	0	0	0	0	0	0
7184	0.59	181.3	375.2	9.1	561	7208	0.12	2.25	17.70	0.773	4	0.096	0.062	2683	3929	2182	0	0	0	0	0	0
7236	0.47	181.3	368.1	14.9	565	7243	0.22	2.12	0.00	0.000	6	0.173	0.039	2629	2594	2181	0	0	0	0	0	0
7561	0.51	181.3	333.3	10.6	596	7565	0.00	2.20	0.00	0.000	4	0.000	0.047	2628	1196	2179	0	0	0	0	0	0
7613	0.60	194.2	328.4	9.4	600	7631	0.12	2.25	11.70	0.729	6	0.096	0.050	2685	2592	2131	0	0	0	0	0	0
7949	0.54	194.2	281.1	14.0	631	7951	0.12	0.00	0.00	0.000	6	0.187	0.000	2653	2593	2128	0	0	0	0	0	0
8268	0.54	194.2	241.3	12.7	661	8269	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2593	2126	0	0	0	0	0	0
8588	0.54	194.2	201.4	12.0	691	8592	0.00	2.20	0.00	0.000	4	0.000	0.047	2653	1186	2126	0	0	0	0	0	0
8618	0.58	194.2	197.7	12.0	693	8622	0.00	2.22	0.00	0.000	6	0.000	0.050	2653	2588	2127	0	0	0	0	0	0
8943	0.58	194.2	159.1	11.2	723	8947	0.00	2.17	0.00	0.000	4	0.000	0.062	2653	3926	2126	0	0	0	0	0	0
8987	0.56	194.2	153.4	13.3	726	8994	0.00	2.12	0.00	0.000	6	0.000	0.040	2655	2578	2125	0	0	0	0	0	0
9313	0.58	194.2	118.1	10.5	757	9317	0.00	2.15	0.00	0.000	4	0.000	0.047	2655	1189	2125	0	0	0	0	0	0
9379	0.66	203.1	111.6	9.6	762	9397	0.00	2.22	8.65	0.600	6	0.000	0.050	2655	2578	2094	0	0	0	0	0	0
9728	0.70	203.1	77.8	10.2	814	9735	0.12	2.22	0.00	0.000	4	0.099	0.063	2712	3928	2092	0	0	0	0	0	0
9777	0.58	203.1	71.4	15.4	822	9784	0.20	2.12	0.00	0.000	6	0.176	0.040	2665	2577	2092	0	0	0	0	0	0
10125	0.64	220.3	37.1	9.2	883	10149	0.00	2.22	15.62	0.594	4	0.000	0.047	2665	1193	2024	0	0	0	0	0	0
10185	0.75	253.6	31.4	8.5	893	10222	0.15	2.20	28.42	0.589	6	0.090	0.050	2729	2564	1888	0	0	0	0	0	0
10416	end climb: SURFACE_DEPTH_REACHED
state	10416	begin surface coast
10443	end surface coast: CONTROL_FINISHED_OK
state	10443	begin surface