Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 565 * 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 565 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -9850.9922 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 -9850.9922

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 31 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 565 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 231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1 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 7.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1 MHEAD_RNG_PITCHd_Wd 282.8,97974,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1200

Post-dive calculations and measurements:

FREEZE 8.33,-1.753,-1.773,2,4,0 ALTIM_BOTTOM_PING 502.0,9.8

FINISH1 8.3,1.025961,75 _24V_AH 21.8,67.701

FINISH2 6.4 _10V_AH 9.8,48.133

RAFOS_CLK 588 FG_AHR_24Vo 0.000

RAFOS 6,1293094142,8.833333,8.817223,93,46,45,44,43,40,591,822,1192,896,508,984 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.111328,-5831.410645,231210,080832,6,89,20.65 MEM 151680

IRIDIUM_FIX 6641.98,-5815.55,221210,151515 DATA_FILE_SIZE 33425,932

TT8_MAMPS 0.028462 CAP_FILE_SIZE 112098,0

HUMID 49.01 CFSIZE 260165632,210440192

INTERNAL_PRESSURE 8.61208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.30 SOUNDSPEED 1452.0

XPDR_PINGS 0 GPS 231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1

ALTIM_TOP_PING 19.2,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 201 16.67 SBE_CT 650 24 340.30

Roll_motor 99 74 163.03 SBE_O2 0 0 0.00

VBD_pump_during_apogee 358 921 7188.82 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 16.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2317 19 452.50

LPSleep 5752 2 130.23

TT8_Active 414 19 80.89

TT8_Sampling 1615 39 631.87

TT8_CF8 177 45 79.72

TT8_Kalman 0 0 0.00

Analog_circuits 1290 12 151.80

GPS_charging 0 0 0.00

Compass 1600 15 235.32

RAFOS 360 3 10.58

Transponder 14 30 4.16

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 -6.12 0.000 2 0.000 0.000 2480 3921 2830 0 0 0 0 0 0

28 -0.57 -146.0 8.7 -0.0 1 53 0.50 4.20 -17.67 0.000 4 0.086 0.055 2296 1367 3515 0 0 0 0 0 0

229 -0.57 -146.0 32.3 -12.4 36 236 0.00 2.35 0.00 0.000 6 0.000 0.061 2292 2775 3517 0 0 0 0 0 0

574 -0.57 -146.0 71.2 -10.1 97 581 0.00 1.98 0.00 0.000 4 0.000 0.073 2286 3931 3518 0 0 0 0 0 0

634 -0.60 -146.0 77.4 -10.4 107 640 0.00 1.85 0.00 0.000 6 0.000 0.048 2286 2779 3518 0 0 0 0 0 0

980 -0.63 -146.0 111.9 -9.8 158 981 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2779 3518 0 0 0 0 0 0

1299 -0.67 -146.0 143.2 -9.7 188 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2779 3517 0 0 0 0 0 0

1619 -0.72 -146.0 171.3 -8.5 218 1624 0.12 2.00 0.00 0.000 4 0.104 0.075 2227 3932 3517 0 0 0 0 0 0

1665 -0.66 -146.0 176.8 -12.1 222 1670 0.12 1.85 0.00 0.000 6 0.172 0.049 2259 2795 3516 0 0 0 0 0 0

1996 -0.66 -146.0 209.4 -9.6 253 2000 0.00 2.30 0.00 0.000 4 0.000 0.052 2259 1368 3516 0 0 0 0 0 0

2059 -0.69 -146.0 215.5 -9.2 258 2063 0.00 2.38 0.00 0.000 6 0.000 0.063 2259 2787 3516 0 0 0 0 0 0

2390 -0.69 -146.0 247.1 -9.6 289 2394 0.00 2.28 0.00 0.000 4 0.000 0.052 2259 1371 3516 0 0 0 0 0 0

2414 -0.71 -146.0 249.4 -9.7 291 2418 0.00 2.35 0.00 0.000 6 0.000 0.063 2259 2781 3516 0 0 0 0 0 0

2739 -0.71 -146.0 278.2 -8.7 321 2743 0.00 2.30 0.00 0.000 4 0.000 0.051 2259 1362 3515 0 0 0 0 0 0

2772 -0.75 -146.0 281.4 -8.8 323 2779 0.00 2.35 0.00 0.000 6 0.000 0.063 2259 2774 3515 0 0 0 0 0 0

3098 -0.77 -146.0 309.8 -8.1 354 3102 0.00 1.98 0.00 0.000 4 0.000 0.073 2251 3929 3515 0 0 0 0 0 0

3125 -0.77 -146.0 312.6 -9.1 356 3132 0.00 1.88 0.00 0.000 6 0.000 0.048 2251 2761 3515 0 0 0 0 0 0

3451 -0.77 -146.0 340.2 -8.7 387 3455 0.00 2.22 0.00 0.000 4 0.000 0.050 2251 1371 3516 0 0 0 0 0 0

3474 -0.77 -146.0 342.1 -8.1 388 3481 0.00 2.35 0.00 0.000 6 0.000 0.063 2249 2772 3516 0 0 0 0 0 0

3799 -0.77 -146.0 368.8 -8.0 419 3803 0.00 1.98 0.00 0.000 4 0.000 0.073 2247 3926 3516 0 0 0 0 0 0

3824 -0.77 -146.0 370.9 -8.8 421 3827 0.00 1.88 0.00 0.000 6 0.000 0.047 2247 2773 3516 0 0 0 0 0 0

4155 -0.77 -146.0 398.4 -8.2 452 4156 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2773 3516 0 0 0 0 0 0

4482 -0.77 -146.0 424.1 -7.6 464 4486 0.00 2.22 0.00 0.000 4 0.000 0.050 2247 1369 3516 0 0 0 0 0 0

4521 -0.80 -146.0 427.3 -7.7 465 4525 0.00 2.35 0.00 0.000 6 0.000 0.062 2247 2770 3516 0 0 0 0 0 0

4846 -0.80 -146.0 454.1 -8.6 476 4847 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2771 3516 0 0 0 0 0 0

5151 -0.80 -146.0 481.4 -9.0 486 5155 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1360 3517 0 0 0 0 0 0

5191 -0.83 -146.0 485.1 -8.8 487 5196 0.12 2.33 0.00 0.000 6 0.099 0.061 2191 2764 3517 0 0 0 0 0 0

5333 end dive: BOTTOM_OBSTACLE_DETECTED

state 5333 begin apogee

5339 -0.14 0.0 502.0 12.5 492 5467 0.75 0.00 121.03 0.921 4 0.146 0.000 2423 2594 2923 0 0 0 0 0 0

5468 end apogee: CONTROL_FINISHED_OK

state 5468 begin climb

5470 0.57 146.0 507.0 0.0 496 5606 0.70 2.40 128.32 0.895 4 0.076 0.050 2664 1184 2326 0 0 0 0 0 0

5791 0.57 146.0 481.4 10.5 505 5798 0.00 2.45 0.00 0.000 6 0.000 0.055 2664 2600 2317 0 0 0 0 0 0

6104 0.52 146.0 446.9 11.0 516 6108 0.00 2.30 0.00 0.000 4 0.000 0.054 2666 1180 2314 0 0 0 0 0 0

6302 0.52 150.5 426.9 9.8 522 6307 0.00 2.38 0.00 0.000 6 0.000 0.056 2666 2618 2313 0 0 0 0 0 0

6619 0.48 150.5 392.4 10.8 535 6624 0.12 2.20 0.00 0.000 4 0.201 0.068 2635 3925 2313 0 0 0 0 0 0

6664 0.44 150.5 387.3 11.5 538 6671 0.00 2.15 0.00 0.000 6 0.000 0.046 2636 2597 2312 0 0 0 0 0 0

6989 0.45 175.3 358.3 8.9 569 7023 0.00 2.35 23.83 0.819 4 0.000 0.069 2635 3932 2207 0 0 0 0 0 0

7059 0.43 175.3 351.4 10.8 575 7063 0.00 2.15 0.00 0.000 6 0.000 0.045 2638 2613 2205 0 0 0 0 0 0

7392 0.46 178.6 319.6 9.8 606 7404 0.00 2.33 3.92 0.582 4 0.000 0.054 2638 1192 2194 0 0 0 0 0 0

7451 0.54 203.8 314.2 8.8 611 7484 0.00 2.33 23.27 0.796 6 0.000 0.057 2638 2615 2091 0 0 0 0 0 0

7803 0.60 221.8 281.1 9.2 644 7826 0.00 2.22 16.42 0.772 4 0.000 0.067 2638 3934 2017 0 0 0 0 0 0

7853 0.60 221.8 275.7 10.6 648 7861 0.00 2.12 0.00 0.000 6 0.000 0.044 2638 2615 2014 0 0 0 0 0 0

8180 0.66 237.9 245.3 9.3 679 8203 0.15 2.33 14.75 0.750 4 0.096 0.054 2704 1186 1951 0 0 0 0 0 0

8255 0.66 237.9 235.6 13.6 685 8262 0.00 2.35 0.00 0.000 6 0.000 0.056 2704 2609 1950 0 0 0 0 0 0

8580 0.62 237.9 190.5 13.6 716 8582 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2609 1947 0 0 0 0 0 0

8900 0.60 237.9 148.6 13.0 746 8905 0.12 2.25 0.00 0.000 4 0.185 0.068 2671 3930 1946 0 0 0 0 0 0

8929 0.60 237.9 144.8 13.2 748 8933 0.00 2.12 0.00 0.000 6 0.000 0.045 2671 2599 1945 0 0 0 0 0 0

9261 0.64 237.9 110.3 10.2 779 9265 0.00 2.25 0.00 0.000 4 0.000 0.069 2671 3933 1945 0 0 0 0 0 0

9294 0.64 237.9 106.3 11.7 781 9301 0.00 2.10 0.00 0.000 6 0.000 0.046 2670 2618 1945 0 0 0 0 0 0

9636 0.71 251.0 73.8 9.4 836 9655 0.00 2.30 11.88 0.672 4 0.000 0.053 2671 1182 1898 0 0 0 0 0 0

9718 0.83 266.2 66.4 9.3 850 9744 0.20 2.35 14.60 0.666 6 0.087 0.057 2752 2611 1835 0 0 0 0 0 0

10082 0.79 266.2 20.0 12.3 914 10092 0.00 2.22 0.00 0.000 4 0.000 0.070 2752 3924 1830 0 0 0 0 0 0

10160 end climb: FINISH_DEPTH_REACHED

state 10160 begin subsurface finish

10170 0.05 75.5 8.3 -15.8 927 10200 0.88 0.00 -25.50 0.000 6 0.160 0.000 2495 2593 2617 0 0 0 0 0 0

10201 end subsurface finish: CONTROL_FINISHED_OK

state 10201 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	565	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-9850.9922	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	231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1	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	7.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1	MHEAD_RNG_PITCHd_Wd	282.8,97974,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1200

FREEZE	8.33,-1.753,-1.773,2,4,0	ALTIM_BOTTOM_PING	502.0,9.8
FINISH1	8.3,1.025961,75	_24V_AH	21.8,67.701
FINISH2	6.4	_10V_AH	9.8,48.133
RAFOS_CLK	588	FG_AHR_24Vo	0.000
RAFOS	6,1293094142,8.833333,8.817223,93,46,45,44,43,40,591,822,1192,896,508,984	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.111328,-5831.410645,231210,080832,6,89,20.65	MEM	151680
IRIDIUM_FIX	6641.98,-5815.55,221210,151515	DATA_FILE_SIZE	33425,932
TT8_MAMPS	0.028462	CAP_FILE_SIZE	112098,0
HUMID	49.01	CFSIZE	260165632,210440192
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.30	SOUNDSPEED	1452.0
XPDR_PINGS	0	GPS	231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1
ALTIM_TOP_PING	19.2,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	201	16.67	SBE_CT	650	24	340.30
Roll_motor	99	74	163.03	SBE_O2	0	0	0.00
VBD_pump_during_apogee	358	921	7188.82	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	16.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2317	19	452.50
LPSleep	5752	2	130.23
TT8_Active	414	19	80.89
TT8_Sampling	1615	39	631.87
TT8_CF8	177	45	79.72
TT8_Kalman	0	0	0.00
Analog_circuits	1290	12	151.80
GPS_charging	0	0	0.00
Compass	1600	15	235.32
RAFOS	360	3	10.58
Transponder	14	30	4.16

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	-6.12	0.000	2	0.000	0.000	2480	3921	2830	0	0	0	0	0	0
28	-0.57	-146.0	8.7	-0.0	1	53	0.50	4.20	-17.67	0.000	4	0.086	0.055	2296	1367	3515	0	0	0	0	0	0
229	-0.57	-146.0	32.3	-12.4	36	236	0.00	2.35	0.00	0.000	6	0.000	0.061	2292	2775	3517	0	0	0	0	0	0
574	-0.57	-146.0	71.2	-10.1	97	581	0.00	1.98	0.00	0.000	4	0.000	0.073	2286	3931	3518	0	0	0	0	0	0
634	-0.60	-146.0	77.4	-10.4	107	640	0.00	1.85	0.00	0.000	6	0.000	0.048	2286	2779	3518	0	0	0	0	0	0
980	-0.63	-146.0	111.9	-9.8	158	981	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2779	3518	0	0	0	0	0	0
1299	-0.67	-146.0	143.2	-9.7	188	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2779	3517	0	0	0	0	0	0
1619	-0.72	-146.0	171.3	-8.5	218	1624	0.12	2.00	0.00	0.000	4	0.104	0.075	2227	3932	3517	0	0	0	0	0	0
1665	-0.66	-146.0	176.8	-12.1	222	1670	0.12	1.85	0.00	0.000	6	0.172	0.049	2259	2795	3516	0	0	0	0	0	0
1996	-0.66	-146.0	209.4	-9.6	253	2000	0.00	2.30	0.00	0.000	4	0.000	0.052	2259	1368	3516	0	0	0	0	0	0
2059	-0.69	-146.0	215.5	-9.2	258	2063	0.00	2.38	0.00	0.000	6	0.000	0.063	2259	2787	3516	0	0	0	0	0	0
2390	-0.69	-146.0	247.1	-9.6	289	2394	0.00	2.28	0.00	0.000	4	0.000	0.052	2259	1371	3516	0	0	0	0	0	0
2414	-0.71	-146.0	249.4	-9.7	291	2418	0.00	2.35	0.00	0.000	6	0.000	0.063	2259	2781	3516	0	0	0	0	0	0
2739	-0.71	-146.0	278.2	-8.7	321	2743	0.00	2.30	0.00	0.000	4	0.000	0.051	2259	1362	3515	0	0	0	0	0	0
2772	-0.75	-146.0	281.4	-8.8	323	2779	0.00	2.35	0.00	0.000	6	0.000	0.063	2259	2774	3515	0	0	0	0	0	0
3098	-0.77	-146.0	309.8	-8.1	354	3102	0.00	1.98	0.00	0.000	4	0.000	0.073	2251	3929	3515	0	0	0	0	0	0
3125	-0.77	-146.0	312.6	-9.1	356	3132	0.00	1.88	0.00	0.000	6	0.000	0.048	2251	2761	3515	0	0	0	0	0	0
3451	-0.77	-146.0	340.2	-8.7	387	3455	0.00	2.22	0.00	0.000	4	0.000	0.050	2251	1371	3516	0	0	0	0	0	0
3474	-0.77	-146.0	342.1	-8.1	388	3481	0.00	2.35	0.00	0.000	6	0.000	0.063	2249	2772	3516	0	0	0	0	0	0
3799	-0.77	-146.0	368.8	-8.0	419	3803	0.00	1.98	0.00	0.000	4	0.000	0.073	2247	3926	3516	0	0	0	0	0	0
3824	-0.77	-146.0	370.9	-8.8	421	3827	0.00	1.88	0.00	0.000	6	0.000	0.047	2247	2773	3516	0	0	0	0	0	0
4155	-0.77	-146.0	398.4	-8.2	452	4156	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2773	3516	0	0	0	0	0	0
4482	-0.77	-146.0	424.1	-7.6	464	4486	0.00	2.22	0.00	0.000	4	0.000	0.050	2247	1369	3516	0	0	0	0	0	0
4521	-0.80	-146.0	427.3	-7.7	465	4525	0.00	2.35	0.00	0.000	6	0.000	0.062	2247	2770	3516	0	0	0	0	0	0
4846	-0.80	-146.0	454.1	-8.6	476	4847	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2771	3516	0	0	0	0	0	0
5151	-0.80	-146.0	481.4	-9.0	486	5155	0.00	2.28	0.00	0.000	4	0.000	0.050	2247	1360	3517	0	0	0	0	0	0
5191	-0.83	-146.0	485.1	-8.8	487	5196	0.12	2.33	0.00	0.000	6	0.099	0.061	2191	2764	3517	0	0	0	0	0	0
5333	end dive: BOTTOM_OBSTACLE_DETECTED
state	5333	begin apogee
5339	-0.14	0.0	502.0	12.5	492	5467	0.75	0.00	121.03	0.921	4	0.146	0.000	2423	2594	2923	0	0	0	0	0	0
5468	end apogee: CONTROL_FINISHED_OK
state	5468	begin climb
5470	0.57	146.0	507.0	0.0	496	5606	0.70	2.40	128.32	0.895	4	0.076	0.050	2664	1184	2326	0	0	0	0	0	0
5791	0.57	146.0	481.4	10.5	505	5798	0.00	2.45	0.00	0.000	6	0.000	0.055	2664	2600	2317	0	0	0	0	0	0
6104	0.52	146.0	446.9	11.0	516	6108	0.00	2.30	0.00	0.000	4	0.000	0.054	2666	1180	2314	0	0	0	0	0	0
6302	0.52	150.5	426.9	9.8	522	6307	0.00	2.38	0.00	0.000	6	0.000	0.056	2666	2618	2313	0	0	0	0	0	0
6619	0.48	150.5	392.4	10.8	535	6624	0.12	2.20	0.00	0.000	4	0.201	0.068	2635	3925	2313	0	0	0	0	0	0
6664	0.44	150.5	387.3	11.5	538	6671	0.00	2.15	0.00	0.000	6	0.000	0.046	2636	2597	2312	0	0	0	0	0	0
6989	0.45	175.3	358.3	8.9	569	7023	0.00	2.35	23.83	0.819	4	0.000	0.069	2635	3932	2207	0	0	0	0	0	0
7059	0.43	175.3	351.4	10.8	575	7063	0.00	2.15	0.00	0.000	6	0.000	0.045	2638	2613	2205	0	0	0	0	0	0
7392	0.46	178.6	319.6	9.8	606	7404	0.00	2.33	3.92	0.582	4	0.000	0.054	2638	1192	2194	0	0	0	0	0	0
7451	0.54	203.8	314.2	8.8	611	7484	0.00	2.33	23.27	0.796	6	0.000	0.057	2638	2615	2091	0	0	0	0	0	0
7803	0.60	221.8	281.1	9.2	644	7826	0.00	2.22	16.42	0.772	4	0.000	0.067	2638	3934	2017	0	0	0	0	0	0
7853	0.60	221.8	275.7	10.6	648	7861	0.00	2.12	0.00	0.000	6	0.000	0.044	2638	2615	2014	0	0	0	0	0	0
8180	0.66	237.9	245.3	9.3	679	8203	0.15	2.33	14.75	0.750	4	0.096	0.054	2704	1186	1951	0	0	0	0	0	0
8255	0.66	237.9	235.6	13.6	685	8262	0.00	2.35	0.00	0.000	6	0.000	0.056	2704	2609	1950	0	0	0	0	0	0
8580	0.62	237.9	190.5	13.6	716	8582	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2609	1947	0	0	0	0	0	0
8900	0.60	237.9	148.6	13.0	746	8905	0.12	2.25	0.00	0.000	4	0.185	0.068	2671	3930	1946	0	0	0	0	0	0
8929	0.60	237.9	144.8	13.2	748	8933	0.00	2.12	0.00	0.000	6	0.000	0.045	2671	2599	1945	0	0	0	0	0	0
9261	0.64	237.9	110.3	10.2	779	9265	0.00	2.25	0.00	0.000	4	0.000	0.069	2671	3933	1945	0	0	0	0	0	0
9294	0.64	237.9	106.3	11.7	781	9301	0.00	2.10	0.00	0.000	6	0.000	0.046	2670	2618	1945	0	0	0	0	0	0
9636	0.71	251.0	73.8	9.4	836	9655	0.00	2.30	11.88	0.672	4	0.000	0.053	2671	1182	1898	0	0	0	0	0	0
9718	0.83	266.2	66.4	9.3	850	9744	0.20	2.35	14.60	0.666	6	0.087	0.057	2752	2611	1835	0	0	0	0	0	0
10082	0.79	266.2	20.0	12.3	914	10092	0.00	2.22	0.00	0.000	4	0.000	0.070	2752	3924	1830	0	0	0	0	0	0
10160	end climb: FINISH_DEPTH_REACHED
state	10160	begin subsurface finish
10170	0.05	75.5	8.3	-15.8	927	10200	0.88	0.00	-25.50	0.000	6	0.160	0.000	2495	2593	2617	0	0	0	0	0	0
10201	end subsurface finish: CONTROL_FINISHED_OK
state	10201	begin surface