Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 548 * 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 548 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 40 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 -3 T_GPS_CHARGE -9834.5645 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 -9834.5645

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 40 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 548 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 201210,134937,6706.096,-5700.115,31,1.2,31,-37.7 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201210,135643,6706.154,-5700.316,9,1.3,14,-37.7 MHEAD_RNG_PITCHd_Wd 292.4,155964,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 554

Post-dive calculations and measurements:

FREEZE 7.00,0.583,-1.803,0,1,0 ALTIM_TOP_PING 19.9,17.4

FINISH1 7.0,1.026312,58 _24V_AH 22.4,65.725

FINISH2 4.9 _10V_AH 9.9,46.961

RAFOS_CLK 455 FG_AHR_24Vo 0.000

RAFOS 0,1292860885,16.033333,16.023611,41,41,40,40,39,38,1168,1732,230,848,1425,1498 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.581055,-5710.215332,201210,161632,3,72,0.97 MEM 151664

IRIDIUM_FIX 6641.98,-5703.22,201210,101007 DATA_FILE_SIZE 36656,961

TT8_MAMPS 0.028462 CAP_FILE_SIZE 124364,0

HUMID 48.18 CFSIZE 260165632,211537920

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 1470.8

XPDR_PINGS 0 GPS 201210,164032,6709.581,-5710.215,0,3072.3,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 238 66.03 SBE_CT 660 24 355.21

Roll_motor 90 78 158.94 SBE_O2 0 0 0.00

VBD_pump_during_apogee 351 916 7210.79 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 59 103 137.77 nil 0 0 0.00

Iridium_during_connect 26 160 93.54 nil 0 0 0.00

Iridium_during_xfer 130 223 651.56 nil 0 0 0.00

Transponder_ping 2 420 21.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.58

TT8 2343 19 462.25

LPSleep 6427 2 146.98

TT8_Active 481 19 94.98

TT8_Sampling 1888 39 746.54

TT8_CF8 260 45 118.63

TT8_Kalman 0 0 0.00

Analog_circuits 1396 12 165.87

GPS_charging 0 0 0.00

Compass 1646 15 244.52

RAFOS 2520 3 74.84

Transponder 18 30 5.55

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 0 149 0.00 0.00 -130.30 0.000 2 0.000 0.000 283 2781 3332 0 0 0 0 0 0

153 -0.57 -146.0 5.4 -11.3 23 173 8.23 1.90 -3.88 0.000 4 0.239 0.079 2277 3925 3520 0 0 0 0 0 0

348 -0.57 -146.0 38.2 -11.2 57 355 0.00 1.83 0.00 0.000 6 0.000 0.045 2277 2785 3521 0 0 0 0 0 0

693 -0.57 -146.0 74.6 -10.0 118 700 0.00 2.22 0.00 0.000 4 0.000 0.047 2277 1371 3521 0 0 0 0 0 0

839 -0.62 -146.0 88.4 -9.3 143 846 0.00 2.30 0.00 0.000 6 0.000 0.059 2275 2766 3520 0 0 0 0 0 0

1179 -0.66 -146.0 119.2 -9.0 185 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2766 3520 0 0 0 0 0 0

1499 -0.70 -146.0 145.9 -8.4 215 1503 0.00 2.20 0.00 0.000 4 0.000 0.046 2275 1362 3520 0 0 0 0 0 0

1522 -0.75 -146.0 148.1 -8.4 216 1529 0.12 2.28 0.00 0.000 6 0.095 0.057 2215 2765 3520 0 0 0 0 0 0

1848 -0.68 -146.0 185.9 -11.9 247 1850 0.15 0.00 0.00 0.000 6 0.167 0.000 2257 2765 3521 0 0 0 0 0 0

2167 -0.71 -146.0 213.8 -8.4 277 2168 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2765 3521 0 0 0 0 0 0

2489 -0.73 -146.0 238.8 -7.9 307 2493 0.00 2.17 0.00 0.000 4 0.000 0.045 2257 1371 3522 0 0 0 0 0 0

2533 -0.78 -146.0 242.9 -8.1 310 2540 0.00 2.28 0.00 0.000 6 0.000 0.057 2257 2761 3522 0 0 0 0 0 0

2860 -0.81 -146.0 270.7 -8.3 341 2862 0.12 0.00 0.00 0.000 6 0.101 0.000 2194 2762 3523 0 0 0 0 0 0

3177 -0.72 -146.0 307.0 -11.2 371 3182 0.17 2.22 0.00 0.000 4 0.160 0.044 2243 1367 3523 0 0 0 0 0 0

3211 -0.72 -146.0 310.3 -8.5 373 3217 0.00 2.25 0.00 0.000 6 0.000 0.057 2240 2757 3523 0 0 0 0 0 0

3536 -0.72 -146.0 339.2 -9.2 404 3537 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2757 3524 0 0 0 0 0 0

3857 -0.72 -146.0 369.0 -9.2 434 3863 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2757 3525 0 0 0 0 0 0

4184 -0.72 -146.0 399.6 -8.6 465 4185 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2757 3525 0 0 0 0 0 0

4499 -0.72 -146.0 425.1 -7.7 476 4500 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2757 3526 0 0 0 0 0 0

4807 -0.72 -146.0 450.0 -8.9 486 4811 0.00 2.20 0.00 0.000 4 0.000 0.045 2240 1363 3526 0 0 0 0 0 0

4836 -0.72 -146.0 453.1 -9.4 487 4840 0.00 2.28 0.00 0.000 6 0.000 0.056 2235 2755 3526 0 0 0 0 0 0

5178 -0.72 -146.0 483.8 -8.8 498 5182 0.00 1.92 0.00 0.000 4 0.000 0.067 2227 3927 3526 0 0 0 0 0 0

5200 -0.72 -146.0 486.1 -9.6 498 5204 0.00 1.85 0.00 0.000 6 0.000 0.043 2228 2759 3526 0 0 0 0 0 0

5521 -0.72 -146.0 513.6 -7.5 509 5525 0.00 2.17 0.00 0.000 4 0.000 0.045 2227 1374 3525 0 0 0 0 0 0

5577 -0.72 -146.0 519.4 -8.2 510 5584 0.00 2.28 0.00 0.000 6 0.000 0.058 2222 2754 3526 0 0 0 0 0 0

5894 -0.72 -146.0 551.3 -10.0 521 5895 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2754 3525 0 0 0 0 0 0

5949 end dive: TARGET_DEPTH_EXCEEDED

state 5949 begin apogee

5955 -0.14 0.0 556.1 8.8 523 6082 0.62 0.00 120.97 0.916 4 0.130 0.000 2426 2595 2923 0 0 0 0 0 0

6083 end apogee: CONTROL_FINISHED_OK

state 6083 begin climb

6085 0.57 146.0 558.2 0.0 527 6221 0.65 2.35 124.28 0.899 4 0.060 0.046 2667 1184 2326 0 0 0 0 0 0

6429 0.57 146.0 524.7 12.6 537 6433 0.00 2.33 0.00 0.000 6 0.000 0.050 2666 2603 2319 0 0 0 0 0 0

6755 0.52 146.0 482.0 12.8 548 6759 0.00 2.25 0.00 0.000 4 0.000 0.048 2671 1189 2316 0 0 0 0 0 0

6967 0.52 146.0 456.7 11.3 554 6971 0.00 2.28 0.00 0.000 6 0.000 0.051 2670 2612 2316 0 0 0 0 0 0

7292 0.46 146.0 416.9 12.5 565 7296 0.17 2.15 0.00 0.000 4 0.180 0.063 2622 3924 2315 0 0 0 0 0 0

7341 0.46 146.0 410.6 11.7 566 7345 0.00 2.08 0.00 0.000 6 0.000 0.041 2624 2606 2314 0 0 0 0 0 0

7667 0.48 146.0 377.9 10.1 590 7671 0.00 2.22 0.00 0.000 4 0.000 0.048 2624 1190 2314 0 0 0 0 0 0

7696 0.53 146.0 374.5 10.2 592 7700 0.00 2.28 0.00 0.000 6 0.000 0.052 2624 2614 2315 0 0 0 0 0 0

8027 0.56 146.0 340.8 10.2 623 8031 0.00 2.15 0.00 0.000 4 0.000 0.063 2624 3929 2315 0 0 0 0 0 0

8079 0.53 146.0 334.4 13.1 627 8083 0.00 2.08 0.00 0.000 6 0.000 0.041 2624 2606 2314 0 0 0 0 0 0

8410 0.55 146.0 297.6 10.9 658 8414 0.00 2.22 0.00 0.000 4 0.000 0.048 2624 1189 2313 0 0 0 0 0 0

8461 0.62 146.0 292.1 10.2 662 8466 0.15 2.28 0.00 0.000 6 0.090 0.051 2691 2614 2314 0 0 0 0 0 0

8787 0.54 146.0 245.9 13.9 692 8792 0.15 2.15 0.00 0.000 4 0.185 0.062 2651 3925 2313 0 0 0 0 0 0

8815 0.46 146.0 241.9 14.7 694 8820 0.12 2.08 0.00 0.000 6 0.196 0.041 2624 2612 2313 0 0 0 0 0 0

9141 0.51 163.1 213.0 9.2 724 9164 0.00 2.28 13.45 0.682 4 0.000 0.047 2624 1198 2257 0 0 0 0 0 0

9193 0.62 201.6 208.4 8.2 728 9233 0.15 2.30 33.30 0.693 6 0.086 0.050 2689 2621 2101 0 0 0 0 0 0

9550 0.59 201.6 160.9 13.3 762 9554 0.00 2.17 0.00 0.000 4 0.000 0.063 2689 3931 2094 0 0 0 0 0 0

9579 0.52 201.6 156.8 15.2 764 9584 0.17 2.10 0.00 0.000 6 0.179 0.041 2646 2609 2092 0 0 0 0 0 0

9906 0.56 201.6 122.4 10.9 794 9910 0.00 2.22 0.00 0.000 4 0.000 0.048 2647 1187 2092 0 0 0 0 0 0

9942 0.65 201.6 118.6 10.6 796 9949 0.12 2.28 0.00 0.000 6 0.097 0.051 2701 2612 2092 0 0 0 0 0 0

10278 0.61 201.6 72.2 13.4 845 10285 0.00 2.17 0.00 0.000 4 0.000 0.063 2701 3932 2091 0 0 0 0 0 0

10314 0.52 201.6 66.6 15.5 851 10321 0.22 2.05 0.00 0.000 6 0.174 0.041 2643 2634 2090 0 0 0 0 0 0

10662 0.61 225.6 34.7 8.9 912 10687 0.00 2.35 19.65 0.599 4 0.000 0.047 2643 1186 2002 0 0 0 0 0 0

10779 0.77 273.2 24.7 7.8 932 10826 0.22 2.30 39.60 0.591 6 0.076 0.050 2737 2610 1808 0 0 0 0 0 0

10914 end climb: SURFACE_OBSTACLE_DETECTED

state 10914 begin subsurface finish

10921 0.04 58.2 7.0 -12.6 955 10957 0.77 2.35 -29.23 0.000 4 0.144 0.061 2495 1190 2688 0 0 0 0 0 0

10958 end subsurface finish: CONTROL_FINISHED_OK

state 10958 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	548	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	40	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	-3	T_GPS_CHARGE	-9834.5645	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	201210,134937,6706.096,-5700.115,31,1.2,31,-37.7	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201210,135643,6706.154,-5700.316,9,1.3,14,-37.7	MHEAD_RNG_PITCHd_Wd	292.4,155964,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	554

FREEZE	7.00,0.583,-1.803,0,1,0	ALTIM_TOP_PING	19.9,17.4
FINISH1	7.0,1.026312,58	_24V_AH	22.4,65.725
FINISH2	4.9	_10V_AH	9.9,46.961
RAFOS_CLK	455	FG_AHR_24Vo	0.000
RAFOS	0,1292860885,16.033333,16.023611,41,41,40,40,39,38,1168,1732,230,848,1425,1498	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.581055,-5710.215332,201210,161632,3,72,0.97	MEM	151664
IRIDIUM_FIX	6641.98,-5703.22,201210,101007	DATA_FILE_SIZE	36656,961
TT8_MAMPS	0.028462	CAP_FILE_SIZE	124364,0
HUMID	48.18	CFSIZE	260165632,211537920
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	1470.8
XPDR_PINGS	0	GPS	201210,164032,6709.581,-5710.215,0,3072.3,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	238	66.03	SBE_CT	660	24	355.21
Roll_motor	90	78	158.94	SBE_O2	0	0	0.00
VBD_pump_during_apogee	351	916	7210.79	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	59	103	137.77	nil	0	0	0.00
Iridium_during_connect	26	160	93.54	nil	0	0	0.00
Iridium_during_xfer	130	223	651.56	nil	0	0	0.00
Transponder_ping	2	420	21.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.58
TT8	2343	19	462.25
LPSleep	6427	2	146.98
TT8_Active	481	19	94.98
TT8_Sampling	1888	39	746.54
TT8_CF8	260	45	118.63
TT8_Kalman	0	0	0.00
Analog_circuits	1396	12	165.87
GPS_charging	0	0	0.00
Compass	1646	15	244.52
RAFOS	2520	3	74.84
Transponder	18	30	5.55

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	149	0.00	0.00	-130.30	0.000	2	0.000	0.000	283	2781	3332	0	0	0	0	0	0
153	-0.57	-146.0	5.4	-11.3	23	173	8.23	1.90	-3.88	0.000	4	0.239	0.079	2277	3925	3520	0	0	0	0	0	0
348	-0.57	-146.0	38.2	-11.2	57	355	0.00	1.83	0.00	0.000	6	0.000	0.045	2277	2785	3521	0	0	0	0	0	0
693	-0.57	-146.0	74.6	-10.0	118	700	0.00	2.22	0.00	0.000	4	0.000	0.047	2277	1371	3521	0	0	0	0	0	0
839	-0.62	-146.0	88.4	-9.3	143	846	0.00	2.30	0.00	0.000	6	0.000	0.059	2275	2766	3520	0	0	0	0	0	0
1179	-0.66	-146.0	119.2	-9.0	185	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2766	3520	0	0	0	0	0	0
1499	-0.70	-146.0	145.9	-8.4	215	1503	0.00	2.20	0.00	0.000	4	0.000	0.046	2275	1362	3520	0	0	0	0	0	0
1522	-0.75	-146.0	148.1	-8.4	216	1529	0.12	2.28	0.00	0.000	6	0.095	0.057	2215	2765	3520	0	0	0	0	0	0
1848	-0.68	-146.0	185.9	-11.9	247	1850	0.15	0.00	0.00	0.000	6	0.167	0.000	2257	2765	3521	0	0	0	0	0	0
2167	-0.71	-146.0	213.8	-8.4	277	2168	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2765	3521	0	0	0	0	0	0
2489	-0.73	-146.0	238.8	-7.9	307	2493	0.00	2.17	0.00	0.000	4	0.000	0.045	2257	1371	3522	0	0	0	0	0	0
2533	-0.78	-146.0	242.9	-8.1	310	2540	0.00	2.28	0.00	0.000	6	0.000	0.057	2257	2761	3522	0	0	0	0	0	0
2860	-0.81	-146.0	270.7	-8.3	341	2862	0.12	0.00	0.00	0.000	6	0.101	0.000	2194	2762	3523	0	0	0	0	0	0
3177	-0.72	-146.0	307.0	-11.2	371	3182	0.17	2.22	0.00	0.000	4	0.160	0.044	2243	1367	3523	0	0	0	0	0	0
3211	-0.72	-146.0	310.3	-8.5	373	3217	0.00	2.25	0.00	0.000	6	0.000	0.057	2240	2757	3523	0	0	0	0	0	0
3536	-0.72	-146.0	339.2	-9.2	404	3537	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2757	3524	0	0	0	0	0	0
3857	-0.72	-146.0	369.0	-9.2	434	3863	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2757	3525	0	0	0	0	0	0
4184	-0.72	-146.0	399.6	-8.6	465	4185	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2757	3525	0	0	0	0	0	0
4499	-0.72	-146.0	425.1	-7.7	476	4500	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2757	3526	0	0	0	0	0	0
4807	-0.72	-146.0	450.0	-8.9	486	4811	0.00	2.20	0.00	0.000	4	0.000	0.045	2240	1363	3526	0	0	0	0	0	0
4836	-0.72	-146.0	453.1	-9.4	487	4840	0.00	2.28	0.00	0.000	6	0.000	0.056	2235	2755	3526	0	0	0	0	0	0
5178	-0.72	-146.0	483.8	-8.8	498	5182	0.00	1.92	0.00	0.000	4	0.000	0.067	2227	3927	3526	0	0	0	0	0	0
5200	-0.72	-146.0	486.1	-9.6	498	5204	0.00	1.85	0.00	0.000	6	0.000	0.043	2228	2759	3526	0	0	0	0	0	0
5521	-0.72	-146.0	513.6	-7.5	509	5525	0.00	2.17	0.00	0.000	4	0.000	0.045	2227	1374	3525	0	0	0	0	0	0
5577	-0.72	-146.0	519.4	-8.2	510	5584	0.00	2.28	0.00	0.000	6	0.000	0.058	2222	2754	3526	0	0	0	0	0	0
5894	-0.72	-146.0	551.3	-10.0	521	5895	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2754	3525	0	0	0	0	0	0
5949	end dive: TARGET_DEPTH_EXCEEDED
state	5949	begin apogee
5955	-0.14	0.0	556.1	8.8	523	6082	0.62	0.00	120.97	0.916	4	0.130	0.000	2426	2595	2923	0	0	0	0	0	0
6083	end apogee: CONTROL_FINISHED_OK
state	6083	begin climb
6085	0.57	146.0	558.2	0.0	527	6221	0.65	2.35	124.28	0.899	4	0.060	0.046	2667	1184	2326	0	0	0	0	0	0
6429	0.57	146.0	524.7	12.6	537	6433	0.00	2.33	0.00	0.000	6	0.000	0.050	2666	2603	2319	0	0	0	0	0	0
6755	0.52	146.0	482.0	12.8	548	6759	0.00	2.25	0.00	0.000	4	0.000	0.048	2671	1189	2316	0	0	0	0	0	0
6967	0.52	146.0	456.7	11.3	554	6971	0.00	2.28	0.00	0.000	6	0.000	0.051	2670	2612	2316	0	0	0	0	0	0
7292	0.46	146.0	416.9	12.5	565	7296	0.17	2.15	0.00	0.000	4	0.180	0.063	2622	3924	2315	0	0	0	0	0	0
7341	0.46	146.0	410.6	11.7	566	7345	0.00	2.08	0.00	0.000	6	0.000	0.041	2624	2606	2314	0	0	0	0	0	0
7667	0.48	146.0	377.9	10.1	590	7671	0.00	2.22	0.00	0.000	4	0.000	0.048	2624	1190	2314	0	0	0	0	0	0
7696	0.53	146.0	374.5	10.2	592	7700	0.00	2.28	0.00	0.000	6	0.000	0.052	2624	2614	2315	0	0	0	0	0	0
8027	0.56	146.0	340.8	10.2	623	8031	0.00	2.15	0.00	0.000	4	0.000	0.063	2624	3929	2315	0	0	0	0	0	0
8079	0.53	146.0	334.4	13.1	627	8083	0.00	2.08	0.00	0.000	6	0.000	0.041	2624	2606	2314	0	0	0	0	0	0
8410	0.55	146.0	297.6	10.9	658	8414	0.00	2.22	0.00	0.000	4	0.000	0.048	2624	1189	2313	0	0	0	0	0	0
8461	0.62	146.0	292.1	10.2	662	8466	0.15	2.28	0.00	0.000	6	0.090	0.051	2691	2614	2314	0	0	0	0	0	0
8787	0.54	146.0	245.9	13.9	692	8792	0.15	2.15	0.00	0.000	4	0.185	0.062	2651	3925	2313	0	0	0	0	0	0
8815	0.46	146.0	241.9	14.7	694	8820	0.12	2.08	0.00	0.000	6	0.196	0.041	2624	2612	2313	0	0	0	0	0	0
9141	0.51	163.1	213.0	9.2	724	9164	0.00	2.28	13.45	0.682	4	0.000	0.047	2624	1198	2257	0	0	0	0	0	0
9193	0.62	201.6	208.4	8.2	728	9233	0.15	2.30	33.30	0.693	6	0.086	0.050	2689	2621	2101	0	0	0	0	0	0
9550	0.59	201.6	160.9	13.3	762	9554	0.00	2.17	0.00	0.000	4	0.000	0.063	2689	3931	2094	0	0	0	0	0	0
9579	0.52	201.6	156.8	15.2	764	9584	0.17	2.10	0.00	0.000	6	0.179	0.041	2646	2609	2092	0	0	0	0	0	0
9906	0.56	201.6	122.4	10.9	794	9910	0.00	2.22	0.00	0.000	4	0.000	0.048	2647	1187	2092	0	0	0	0	0	0
9942	0.65	201.6	118.6	10.6	796	9949	0.12	2.28	0.00	0.000	6	0.097	0.051	2701	2612	2092	0	0	0	0	0	0
10278	0.61	201.6	72.2	13.4	845	10285	0.00	2.17	0.00	0.000	4	0.000	0.063	2701	3932	2091	0	0	0	0	0	0
10314	0.52	201.6	66.6	15.5	851	10321	0.22	2.05	0.00	0.000	6	0.174	0.041	2643	2634	2090	0	0	0	0	0	0
10662	0.61	225.6	34.7	8.9	912	10687	0.00	2.35	19.65	0.599	4	0.000	0.047	2643	1186	2002	0	0	0	0	0	0
10779	0.77	273.2	24.7	7.8	932	10826	0.22	2.30	39.60	0.591	6	0.076	0.050	2737	2610	1808	0	0	0	0	0	0
10914	end climb: SURFACE_OBSTACLE_DETECTED
state	10914	begin subsurface finish
10921	0.04	58.2	7.0	-12.6	955	10957	0.77	2.35	-29.23	0.000	4	0.144	0.061	2495	1190	2688	0	0	0	0	0	0
10958	end subsurface finish: CONTROL_FINISHED_OK
state	10958	begin surface