Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 576 * 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 576 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 32 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 -2 T_GPS_CHARGE -9854.7578 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 -9854.7578

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 32 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 576 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 241210,204424,6703.919,-5901.203,37,1.4,37,-38.2 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 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241210,205626,6703.914,-5900.861,12,1.1,12,-38.2 MHEAD_RNG_PITCHd_Wd 277.6,72384,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1213

Post-dive calculations and measurements:

FREEZE 0.98,-1.501,-1.774,2,1,0 ALTIM_TOP_PING 19.7,19.1

FINISH 1.0,1.026054 ALTIM_BOTTOM_PING 601.8,11.3

SM_CCo 11723,208.15,0.085,0,0,440,609.08 _24V_AH 21.6,68.752

SM_GC 1.75,0.00,0.00,208.15,0.000,0.000,0.085,293,2778,440,-6.82,-0.06,609.08 _10V_AH 9.8,48.802

RAFOS_CLK 626 FG_AHR_24Vo 0.000

RAFOS 4,1293222785,20.566668,20.551390,55,46,44,41,39,37,597,1192,300,1771,851,235 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.307129,-5854.137695,241210,161653,6,104,0.10 MEM 151680

IRIDIUM_FIX 6636.54,-5839.46,241210,101009 DATA_FILE_SIZE 36739,966

TT8_MAMPS 0.029211 CAP_FILE_SIZE 127957,0

HUMID 45.90 CFSIZE 260165632,209776640

INTERNAL_PRESSURE 8.44606 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1454.5

XPDR_PINGS 0 GPS 251210,001707,6701.542,-5901.147,27,1.5,27,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 247 97.04 SBE_CT 671 24 348.13

Roll_motor 84 74 135.44 SBE_O2 0 0 0.00

VBD_pump_during_apogee 382 979 8099.12 nil 0 0 0.00

VBD_pump_during_surface 208 84 381.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 71.06 nil 0 0 0.00

Iridium_during_connect 16 160 57.61 nil 0 0 0.00

Iridium_during_xfer 380 223 1832.49 nil 0 0 0.00

Transponder_ping 2 420 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.48

TT8 2336 19 456.10

LPSleep 7109 2 160.95

TT8_Active 716 19 139.96

TT8_Sampling 2038 39 797.67

TT8_CF8 465 45 209.31

TT8_Kalman 0 0 0.00

Analog_circuits 1622 12 190.81

GPS_charging 0 0 0.00

Compass 1633 15 240.17

RAFOS 720 3 21.17

Transponder 17 30 5.20

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.57 -146.0 0.0 0.0 0 163 0.00 0.00 -140.85 0.000 2 0.000 0.000 300 2780 3357 0 0 0 0 0 0

166 -0.57 -146.0 6.1 -15.8 25 185 8.48 2.30 -3.28 0.000 4 0.248 0.063 2283 1369 3522 0 0 0 0 0 0

289 -0.57 -146.0 35.8 -13.1 46 296 0.00 2.38 0.00 0.000 6 0.000 0.064 2277 2777 3524 0 0 0 0 0 0

635 -0.57 -146.0 78.5 -11.3 107 642 0.00 1.98 0.00 0.000 4 0.000 0.073 2273 3928 3523 0 0 0 0 0 0

734 -0.57 -146.0 89.5 -11.0 124 741 0.00 1.88 0.00 0.000 6 0.000 0.050 2272 2782 3523 0 0 0 0 0 0

1066 -0.57 -146.0 124.8 -10.0 163 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2782 3523 0 0 0 0 0 0

1387 -0.57 -146.0 155.7 -10.2 193 1391 0.00 2.28 0.00 0.000 4 0.000 0.053 2272 1371 3523 0 0 0 0 0 0

1450 -0.61 -146.0 161.9 -9.1 198 1454 0.00 2.35 0.00 0.000 6 0.000 0.064 2272 2778 3523 0 0 0 0 0 0

1776 -0.63 -146.0 191.7 -8.7 228 1777 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2778 3523 0 0 0 0 0 0

2097 -0.67 -146.0 219.9 -8.7 258 2101 0.00 2.30 0.00 0.000 4 0.000 0.053 2272 1364 3523 0 0 0 0 0 0

2159 -0.72 -146.0 225.6 -8.6 263 2163 0.00 2.35 0.00 0.000 6 0.000 0.063 2272 2764 3523 0 0 0 0 0 0

2491 -0.76 -146.0 255.3 -9.5 294 2493 0.12 0.00 0.00 0.000 6 0.106 0.000 2217 2765 3523 0 0 0 0 0 0

2808 -0.69 -146.0 296.4 -12.5 324 2812 0.12 2.03 0.00 0.000 4 0.179 0.073 2244 3930 3523 0 0 0 0 0 0

2835 -0.66 -146.0 299.9 -12.1 326 2843 0.00 1.92 0.00 0.000 6 0.000 0.048 2243 2751 3523 0 0 0 0 0 0

3160 -0.66 -146.0 333.9 -9.9 357 3161 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2750 3524 0 0 0 0 0 0

3483 -0.66 -146.0 364.6 -9.4 387 3489 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2751 3524 0 0 0 0 0 0

3810 -0.66 -146.0 395.4 -9.2 418 3814 0.00 2.03 0.00 0.000 4 0.000 0.074 2235 3933 3524 0 0 0 0 0 0

3838 -0.66 -146.0 398.5 -10.1 420 3844 0.00 1.92 0.00 0.000 6 0.000 0.048 2235 2754 3525 0 0 0 0 0 0

4162 -0.66 -146.0 429.6 -9.5 432 4163 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2754 3524 0 0 0 0 0 0

4468 -0.66 -146.0 458.8 -9.4 442 4472 0.00 2.20 0.00 0.000 4 0.000 0.051 2235 1372 3525 0 0 0 0 0 0

4507 -0.66 -146.0 462.6 -9.5 443 4511 0.00 2.33 0.00 0.000 6 0.000 0.063 2235 2768 3525 0 0 0 0 0 0

4831 -0.66 -146.0 492.8 -9.4 454 4832 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2768 3525 0 0 0 0 0 0

5137 -0.66 -146.0 521.8 -9.4 464 5138 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2768 3526 0 0 0 0 0 0

5445 -0.66 -146.0 551.8 -9.9 474 5449 0.00 2.25 0.00 0.000 4 0.000 0.050 2235 1363 3526 0 0 0 0 0 0

5467 -0.66 -146.0 554.3 -9.9 474 5474 0.00 2.33 0.00 0.000 6 0.000 0.062 2235 2761 3526 0 0 0 0 0 0

5781 -0.66 -146.0 584.2 -9.5 485 5782 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2762 3527 0 0 0 0 0 0

5966 end dive: BOTTOM_OBSTACLE_DETECTED

state 5966 begin apogee

5973 -0.14 0.0 601.8 9.6 491 6104 0.57 0.00 124.70 0.980 4 0.134 0.000 2421 2593 2923 0 0 0 0 0 0

6105 end apogee: CONTROL_FINISHED_OK

state 6105 begin climb

6107 0.57 146.0 606.6 0.0 495 6245 0.70 2.42 130.50 0.955 4 0.072 0.050 2663 1176 2328 0 0 0 0 0 0

6422 0.57 146.0 581.3 11.2 505 6426 0.00 2.45 0.00 0.000 6 0.000 0.056 2663 2600 2320 0 0 0 0 0 0

6757 0.52 146.0 543.5 11.3 516 6761 0.00 2.33 0.00 0.000 4 0.000 0.055 2665 1180 2316 0 0 0 0 0 0

6969 0.52 146.0 520.9 10.3 522 6973 0.00 2.35 0.00 0.000 6 0.000 0.057 2665 2604 2316 0 0 0 0 0 0

7293 0.46 146.0 484.4 11.3 533 7298 0.15 2.25 0.00 0.000 4 0.194 0.068 2626 3928 2315 0 0 0 0 0 0

7343 0.44 146.0 478.7 10.9 534 7347 0.00 2.15 0.00 0.000 6 0.000 0.045 2626 2589 2314 0 0 0 0 0 0

7656 0.45 170.2 450.6 8.9 544 7678 0.00 0.00 20.27 0.867 6 0.000 0.000 2626 2589 2228 0 0 0 0 0 0

7963 0.50 198.9 423.7 8.7 554 7992 0.00 0.00 25.65 0.855 6 0.000 0.000 2626 2588 2112 0 0 0 0 0 0

8302 0.57 220.1 393.2 9.0 569 8324 0.10 0.00 19.40 0.830 6 0.116 0.000 2673 2588 2024 0 0 0 0 0 0

8639 0.57 220.1 350.8 13.1 601 8643 0.00 2.28 0.00 0.000 4 0.000 0.069 2672 3935 2019 0 0 0 0 0 0

8672 0.52 220.1 345.9 15.0 603 8680 0.12 2.15 0.00 0.000 6 0.192 0.045 2645 2597 2018 0 0 0 0 0 0

8998 0.57 220.1 310.0 11.1 634 9002 0.00 2.28 0.00 0.000 4 0.000 0.054 2645 1180 2018 0 0 0 0 0 0

9043 0.66 230.2 305.3 9.5 637 9061 0.12 2.33 9.57 0.753 6 0.100 0.056 2697 2612 1984 0 0 0 0 0 0

9379 0.61 230.2 258.5 14.3 669 9383 0.00 2.22 0.00 0.000 4 0.000 0.067 2697 3933 1981 0 0 0 0 0 0

9421 0.53 230.2 252.2 15.7 672 9425 0.20 2.12 0.00 0.000 6 0.182 0.045 2647 2606 1979 0 0 0 0 0 0

9746 0.58 230.2 216.8 10.0 702 9750 0.00 2.28 0.00 0.000 4 0.000 0.054 2648 1187 1979 0 0 0 0 0 0

9791 0.68 230.2 212.2 10.1 705 9798 0.12 2.33 0.00 0.000 6 0.102 0.055 2699 2621 1979 0 0 0 0 0 0

10117 0.64 230.2 167.8 13.7 736 10121 0.00 2.20 0.00 0.000 4 0.000 0.068 2699 3929 1979 0 0 0 0 0 0

10146 0.58 230.2 163.3 15.8 738 10151 0.15 2.12 0.00 0.000 6 0.189 0.045 2663 2608 1978 0 0 0 0 0 0

10472 0.61 230.2 127.5 11.3 768 10477 0.00 2.28 0.00 0.000 4 0.000 0.054 2663 1189 1978 0 0 0 0 0 0

10506 0.69 230.2 123.7 10.2 770 10514 0.10 2.30 0.00 0.000 6 0.118 0.056 2705 2597 1978 0 0 0 0 0 0

10840 0.67 230.2 80.1 12.3 814 10847 0.00 2.25 0.00 0.000 4 0.000 0.067 2705 3934 1978 0 0 0 0 0 0

10894 0.60 230.2 72.5 14.2 823 10901 0.15 2.17 0.00 0.000 6 0.190 0.045 2667 2588 1978 0 0 0 0 0 0

11242 0.69 277.9 40.9 7.8 884 11288 0.00 0.00 40.58 0.643 6 0.000 0.000 2667 2587 1790 0 0 0 0 0 0

11625 0.82 291.4 11.8 9.4 952 11645 0.20 2.28 11.95 0.626 4 0.087 0.068 2749 3926 1734 0 0 0 0 0 0

11694 end climb: SURFACE_DEPTH_REACHED

state 11694 begin surface coast

11706 end surface coast: CONTROL_FINISHED_OK

state 11706 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	576	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	32	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	-2	T_GPS_CHARGE	-9854.7578	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	241210,204424,6703.919,-5901.203,37,1.4,37,-38.2	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	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241210,205626,6703.914,-5900.861,12,1.1,12,-38.2	MHEAD_RNG_PITCHd_Wd	277.6,72384,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1213

FREEZE	0.98,-1.501,-1.774,2,1,0	ALTIM_TOP_PING	19.7,19.1
FINISH	1.0,1.026054	ALTIM_BOTTOM_PING	601.8,11.3
SM_CCo	11723,208.15,0.085,0,0,440,609.08	_24V_AH	21.6,68.752
SM_GC	1.75,0.00,0.00,208.15,0.000,0.000,0.085,293,2778,440,-6.82,-0.06,609.08	_10V_AH	9.8,48.802
RAFOS_CLK	626	FG_AHR_24Vo	0.000
RAFOS	4,1293222785,20.566668,20.551390,55,46,44,41,39,37,597,1192,300,1771,851,235	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.307129,-5854.137695,241210,161653,6,104,0.10	MEM	151680
IRIDIUM_FIX	6636.54,-5839.46,241210,101009	DATA_FILE_SIZE	36739,966
TT8_MAMPS	0.029211	CAP_FILE_SIZE	127957,0
HUMID	45.90	CFSIZE	260165632,209776640
INTERNAL_PRESSURE	8.44606	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1454.5
XPDR_PINGS	0	GPS	251210,001707,6701.542,-5901.147,27,1.5,27,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	247	97.04	SBE_CT	671	24	348.13
Roll_motor	84	74	135.44	SBE_O2	0	0	0.00
VBD_pump_during_apogee	382	979	8099.12	nil	0	0	0.00
VBD_pump_during_surface	208	84	381.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	71.06	nil	0	0	0.00
Iridium_during_connect	16	160	57.61	nil	0	0	0.00
Iridium_during_xfer	380	223	1832.49	nil	0	0	0.00
Transponder_ping	2	420	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.48
TT8	2336	19	456.10
LPSleep	7109	2	160.95
TT8_Active	716	19	139.96
TT8_Sampling	2038	39	797.67
TT8_CF8	465	45	209.31
TT8_Kalman	0	0	0.00
Analog_circuits	1622	12	190.81
GPS_charging	0	0	0.00
Compass	1633	15	240.17
RAFOS	720	3	21.17
Transponder	17	30	5.20

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.57	-146.0	0.0	0.0	0	163	0.00	0.00	-140.85	0.000	2	0.000	0.000	300	2780	3357	0	0	0	0	0	0
166	-0.57	-146.0	6.1	-15.8	25	185	8.48	2.30	-3.28	0.000	4	0.248	0.063	2283	1369	3522	0	0	0	0	0	0
289	-0.57	-146.0	35.8	-13.1	46	296	0.00	2.38	0.00	0.000	6	0.000	0.064	2277	2777	3524	0	0	0	0	0	0
635	-0.57	-146.0	78.5	-11.3	107	642	0.00	1.98	0.00	0.000	4	0.000	0.073	2273	3928	3523	0	0	0	0	0	0
734	-0.57	-146.0	89.5	-11.0	124	741	0.00	1.88	0.00	0.000	6	0.000	0.050	2272	2782	3523	0	0	0	0	0	0
1066	-0.57	-146.0	124.8	-10.0	163	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2782	3523	0	0	0	0	0	0
1387	-0.57	-146.0	155.7	-10.2	193	1391	0.00	2.28	0.00	0.000	4	0.000	0.053	2272	1371	3523	0	0	0	0	0	0
1450	-0.61	-146.0	161.9	-9.1	198	1454	0.00	2.35	0.00	0.000	6	0.000	0.064	2272	2778	3523	0	0	0	0	0	0
1776	-0.63	-146.0	191.7	-8.7	228	1777	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2778	3523	0	0	0	0	0	0
2097	-0.67	-146.0	219.9	-8.7	258	2101	0.00	2.30	0.00	0.000	4	0.000	0.053	2272	1364	3523	0	0	0	0	0	0
2159	-0.72	-146.0	225.6	-8.6	263	2163	0.00	2.35	0.00	0.000	6	0.000	0.063	2272	2764	3523	0	0	0	0	0	0
2491	-0.76	-146.0	255.3	-9.5	294	2493	0.12	0.00	0.00	0.000	6	0.106	0.000	2217	2765	3523	0	0	0	0	0	0
2808	-0.69	-146.0	296.4	-12.5	324	2812	0.12	2.03	0.00	0.000	4	0.179	0.073	2244	3930	3523	0	0	0	0	0	0
2835	-0.66	-146.0	299.9	-12.1	326	2843	0.00	1.92	0.00	0.000	6	0.000	0.048	2243	2751	3523	0	0	0	0	0	0
3160	-0.66	-146.0	333.9	-9.9	357	3161	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2750	3524	0	0	0	0	0	0
3483	-0.66	-146.0	364.6	-9.4	387	3489	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2751	3524	0	0	0	0	0	0
3810	-0.66	-146.0	395.4	-9.2	418	3814	0.00	2.03	0.00	0.000	4	0.000	0.074	2235	3933	3524	0	0	0	0	0	0
3838	-0.66	-146.0	398.5	-10.1	420	3844	0.00	1.92	0.00	0.000	6	0.000	0.048	2235	2754	3525	0	0	0	0	0	0
4162	-0.66	-146.0	429.6	-9.5	432	4163	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2754	3524	0	0	0	0	0	0
4468	-0.66	-146.0	458.8	-9.4	442	4472	0.00	2.20	0.00	0.000	4	0.000	0.051	2235	1372	3525	0	0	0	0	0	0
4507	-0.66	-146.0	462.6	-9.5	443	4511	0.00	2.33	0.00	0.000	6	0.000	0.063	2235	2768	3525	0	0	0	0	0	0
4831	-0.66	-146.0	492.8	-9.4	454	4832	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2768	3525	0	0	0	0	0	0
5137	-0.66	-146.0	521.8	-9.4	464	5138	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2768	3526	0	0	0	0	0	0
5445	-0.66	-146.0	551.8	-9.9	474	5449	0.00	2.25	0.00	0.000	4	0.000	0.050	2235	1363	3526	0	0	0	0	0	0
5467	-0.66	-146.0	554.3	-9.9	474	5474	0.00	2.33	0.00	0.000	6	0.000	0.062	2235	2761	3526	0	0	0	0	0	0
5781	-0.66	-146.0	584.2	-9.5	485	5782	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2762	3527	0	0	0	0	0	0
5966	end dive: BOTTOM_OBSTACLE_DETECTED
state	5966	begin apogee
5973	-0.14	0.0	601.8	9.6	491	6104	0.57	0.00	124.70	0.980	4	0.134	0.000	2421	2593	2923	0	0	0	0	0	0
6105	end apogee: CONTROL_FINISHED_OK
state	6105	begin climb
6107	0.57	146.0	606.6	0.0	495	6245	0.70	2.42	130.50	0.955	4	0.072	0.050	2663	1176	2328	0	0	0	0	0	0
6422	0.57	146.0	581.3	11.2	505	6426	0.00	2.45	0.00	0.000	6	0.000	0.056	2663	2600	2320	0	0	0	0	0	0
6757	0.52	146.0	543.5	11.3	516	6761	0.00	2.33	0.00	0.000	4	0.000	0.055	2665	1180	2316	0	0	0	0	0	0
6969	0.52	146.0	520.9	10.3	522	6973	0.00	2.35	0.00	0.000	6	0.000	0.057	2665	2604	2316	0	0	0	0	0	0
7293	0.46	146.0	484.4	11.3	533	7298	0.15	2.25	0.00	0.000	4	0.194	0.068	2626	3928	2315	0	0	0	0	0	0
7343	0.44	146.0	478.7	10.9	534	7347	0.00	2.15	0.00	0.000	6	0.000	0.045	2626	2589	2314	0	0	0	0	0	0
7656	0.45	170.2	450.6	8.9	544	7678	0.00	0.00	20.27	0.867	6	0.000	0.000	2626	2589	2228	0	0	0	0	0	0
7963	0.50	198.9	423.7	8.7	554	7992	0.00	0.00	25.65	0.855	6	0.000	0.000	2626	2588	2112	0	0	0	0	0	0
8302	0.57	220.1	393.2	9.0	569	8324	0.10	0.00	19.40	0.830	6	0.116	0.000	2673	2588	2024	0	0	0	0	0	0
8639	0.57	220.1	350.8	13.1	601	8643	0.00	2.28	0.00	0.000	4	0.000	0.069	2672	3935	2019	0	0	0	0	0	0
8672	0.52	220.1	345.9	15.0	603	8680	0.12	2.15	0.00	0.000	6	0.192	0.045	2645	2597	2018	0	0	0	0	0	0
8998	0.57	220.1	310.0	11.1	634	9002	0.00	2.28	0.00	0.000	4	0.000	0.054	2645	1180	2018	0	0	0	0	0	0
9043	0.66	230.2	305.3	9.5	637	9061	0.12	2.33	9.57	0.753	6	0.100	0.056	2697	2612	1984	0	0	0	0	0	0
9379	0.61	230.2	258.5	14.3	669	9383	0.00	2.22	0.00	0.000	4	0.000	0.067	2697	3933	1981	0	0	0	0	0	0
9421	0.53	230.2	252.2	15.7	672	9425	0.20	2.12	0.00	0.000	6	0.182	0.045	2647	2606	1979	0	0	0	0	0	0
9746	0.58	230.2	216.8	10.0	702	9750	0.00	2.28	0.00	0.000	4	0.000	0.054	2648	1187	1979	0	0	0	0	0	0
9791	0.68	230.2	212.2	10.1	705	9798	0.12	2.33	0.00	0.000	6	0.102	0.055	2699	2621	1979	0	0	0	0	0	0
10117	0.64	230.2	167.8	13.7	736	10121	0.00	2.20	0.00	0.000	4	0.000	0.068	2699	3929	1979	0	0	0	0	0	0
10146	0.58	230.2	163.3	15.8	738	10151	0.15	2.12	0.00	0.000	6	0.189	0.045	2663	2608	1978	0	0	0	0	0	0
10472	0.61	230.2	127.5	11.3	768	10477	0.00	2.28	0.00	0.000	4	0.000	0.054	2663	1189	1978	0	0	0	0	0	0
10506	0.69	230.2	123.7	10.2	770	10514	0.10	2.30	0.00	0.000	6	0.118	0.056	2705	2597	1978	0	0	0	0	0	0
10840	0.67	230.2	80.1	12.3	814	10847	0.00	2.25	0.00	0.000	4	0.000	0.067	2705	3934	1978	0	0	0	0	0	0
10894	0.60	230.2	72.5	14.2	823	10901	0.15	2.17	0.00	0.000	6	0.190	0.045	2667	2588	1978	0	0	0	0	0	0
11242	0.69	277.9	40.9	7.8	884	11288	0.00	0.00	40.58	0.643	6	0.000	0.000	2667	2587	1790	0	0	0	0	0	0
11625	0.82	291.4	11.8	9.4	952	11645	0.20	2.28	11.95	0.626	4	0.087	0.068	2749	3926	1734	0	0	0	0	0	0
11694	end climb: SURFACE_DEPTH_REACHED
state	11694	begin surface coast
11706	end surface coast: CONTROL_FINISHED_OK
state	11706	begin surface