Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 584 * 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 584 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -9859.7803 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 -9859.7803

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 30 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 584 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 261210,002920,6655.893,-5921.149,0,4097.2,0,-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 9.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,002920,6655.893,-5921.149,0,4097.2,0,-38.1 MHEAD_RNG_PITCHd_Wd 283.2,52306,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1028

Post-dive calculations and measurements:

FREEZE 8.79,-1.719,-1.750,2,5,0 ALTIM_BOTTOM_PING 602.0,10.7

FINISH1 8.8,1.025637,91 _24V_AH 21.6,69.627

FINISH2 7.6 _10V_AH 9.7,49.321

RAFOS_CLK 677 FG_AHR_24Vo 0.000

RAFOS 0,1293336082,4.033333,4.022778,48,44,41,40,38,38,675,696,127,1088,476,1446 FG_AHR_10Vo 0.000

RAFOS_FIX 6654.962402,-5924.071289,261210,040400,4,111,0.19 MEM 151696

IRIDIUM_FIX 6631.12,-5917.28,251210,080854 DATA_FILE_SIZE 33378,943

TT8_MAMPS 0.029211 CAP_FILE_SIZE 112156,0

HUMID 49.88 CFSIZE 260165632,209281024

INTERNAL_PRESSURE 8.60232 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.20 SOUNDSPEED 1450.6

XPDR_PINGS 0 GPS 261210,043200,6654.962,-5924.071,0,4111.2,0,-38.1

ALTIM_TOP_PING 19.8,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 193 18.39 SBE_CT 659 24 341.67

Roll_motor 75 85 139.63 SBE_O2 0 0 0.00

VBD_pump_during_apogee 379 982 8045.42 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 2 420 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2351 19 454.44

LPSleep 7185 2 161.00

TT8_Active 408 19 78.90

TT8_Sampling 1550 39 600.55

TT8_CF8 183 45 81.56

TT8_Kalman 0 0 0.00

Analog_circuits 1255 12 146.13

GPS_charging 0 0 0.00

Compass 1540 15 224.20

RAFOS 2520 3 73.33

Transponder 17 30 5.15

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 25 0.00 0.00 -6.35 0.000 2 0.000 0.000 2501 1186 2834 0 0 0 0 0 0

28 -0.57 -146.0 11.0 -0.0 1 53 0.57 4.70 -15.48 0.000 4 0.092 0.073 2286 3925 3522 0 0 0 0 0 0

268 -0.57 -146.0 42.0 -13.0 43 275 0.00 1.88 0.00 0.000 6 0.000 0.048 2286 2776 3523 0 0 0 0 0 0

614 -0.57 -146.0 84.8 -12.1 104 621 0.00 2.28 0.00 0.000 4 0.000 0.052 2286 1368 3523 0 0 0 0 0 0

657 -0.60 -146.0 89.9 -11.5 111 664 0.00 2.38 0.00 0.000 6 0.000 0.063 2286 2781 3523 0 0 0 0 0 0

990 -0.63 -146.0 123.0 -9.9 150 994 0.00 1.95 0.00 0.000 4 0.000 0.074 2286 3930 3522 0 0 0 0 0 0

1037 -0.68 -146.0 127.7 -9.7 154 1041 0.00 1.85 0.00 0.000 6 0.000 0.050 2286 2812 3522 0 0 0 0 0 0

1368 -0.72 -146.0 157.6 -9.4 185 1373 0.12 2.35 0.00 0.000 4 0.109 0.053 2233 1364 3522 0 0 0 0 0 0

1425 -0.72 -146.0 164.3 -12.1 190 1429 0.00 2.42 0.00 0.000 6 0.000 0.063 2228 2805 3522 0 0 0 0 0 0

1750 -0.67 -146.0 205.4 -12.7 220 1752 0.12 0.00 0.00 0.000 6 0.187 0.000 2261 2805 3521 0 0 0 0 0 0

2069 -0.69 -146.0 235.1 -9.2 250 2071 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2805 3521 0 0 0 0 0 0

2390 -0.72 -146.0 264.1 -8.9 280 2396 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2806 3521 0 0 0 0 0 0

2719 -0.76 -146.0 291.9 -8.7 311 2723 0.00 2.35 0.00 0.000 4 0.000 0.053 2261 1362 3521 0 0 0 0 0 0

2748 -0.80 -146.0 294.8 -9.3 313 2753 0.12 2.40 0.00 0.000 6 0.100 0.063 2206 2799 3521 0 0 0 0 0 0

3075 -0.73 -146.0 333.4 -11.8 343 3079 0.12 1.95 0.00 0.000 4 0.189 0.074 2231 3935 3521 0 0 0 0 0 0

3101 -0.69 -146.0 336.6 -10.9 345 3108 0.00 1.85 0.00 0.000 6 0.000 0.049 2231 2787 3521 0 0 0 0 0 0

3428 -0.67 -146.0 367.5 -9.5 376 3432 0.00 2.28 0.00 0.000 4 0.000 0.050 2231 1363 3521 0 0 0 0 0 0

3461 -0.67 -146.0 370.9 -9.3 378 3469 0.12 2.38 0.00 0.000 6 0.176 0.063 2261 2792 3521 0 0 0 0 0 0

3788 -0.71 -146.0 394.8 -7.3 409 3790 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2792 3522 0 0 0 0 0 0

4107 -0.75 -146.0 417.8 -7.1 424 4111 0.00 2.28 0.00 0.000 4 0.000 0.051 2261 1372 3522 0 0 0 0 0 0

4145 -0.82 -146.0 420.8 -6.9 425 4150 0.15 2.38 0.00 0.000 6 0.090 0.063 2196 2793 3522 0 0 0 0 0 0

4471 -0.74 -146.0 456.2 -11.3 436 4475 0.15 1.95 0.00 0.000 4 0.181 0.073 2229 3929 3522 0 0 0 0 0 0

4515 -0.74 -146.0 461.1 -9.9 437 4518 0.00 1.83 0.00 0.000 6 0.000 0.047 2229 2791 3522 0 0 0 0 0 0

4845 -0.74 -146.0 493.2 -10.2 448 4846 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2792 3522 0 0 0 0 0 0

5152 -0.74 -146.0 524.1 -10.5 458 5153 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2791 3522 0 0 0 0 0 0

5457 -0.74 -146.0 554.1 -9.8 468 5461 0.00 2.30 0.00 0.000 4 0.000 0.050 2229 1363 3522 0 0 0 0 0 0

5487 -0.74 -146.0 556.9 -9.3 469 5491 0.00 2.38 0.00 0.000 6 0.000 0.062 2222 2788 3523 0 0 0 0 0 0

5823 -0.71 -146.0 590.4 -10.0 480 5827 0.00 1.92 0.00 0.000 4 0.000 0.073 2219 3929 3523 0 0 0 0 0 0

5858 -0.68 -146.0 594.2 -10.8 481 5862 0.12 1.88 0.00 0.000 6 0.168 0.047 2252 2775 3523 0 0 0 0 0 0

5954 end dive: BOTTOM_OBSTACLE_DETECTED

state 5954 begin apogee

5961 -0.14 0.0 602.0 7.9 484 6091 0.52 0.00 123.35 0.982 4 0.129 0.000 2426 2597 2924 0 0 0 0 0 0

6092 end apogee: CONTROL_FINISHED_OK

state 6092 begin climb

6094 0.57 146.0 606.0 0.0 488 6229 0.62 0.00 130.15 0.955 6 0.073 0.000 2659 2597 2327 0 0 0 0 0 0

6543 0.52 146.0 562.8 11.5 503 6547 0.00 2.35 0.00 0.000 4 0.000 0.069 2659 3932 2317 0 0 0 0 0 0

6598 0.43 146.0 555.2 14.4 504 6606 0.17 2.20 0.00 0.000 6 0.194 0.045 2619 2603 2315 0 0 0 0 0 0

6912 0.47 162.8 526.1 9.2 515 6928 0.00 0.00 13.98 0.884 6 0.000 0.000 2619 2603 2259 0 0 0 0 0 0

7218 0.52 168.1 496.9 9.8 525 7226 0.00 0.00 6.00 0.769 6 0.000 0.000 2618 2603 2237 0 0 0 0 0 0

7524 0.58 190.9 468.7 8.9 535 7550 0.12 2.28 20.62 0.881 4 0.099 0.067 2675 3932 2147 0 0 0 0 0 0

7605 0.49 190.9 458.4 15.3 536 7609 0.17 2.15 0.00 0.000 6 0.189 0.045 2634 2614 2143 0 0 0 0 0 0

7923 0.52 190.9 425.8 10.0 547 7924 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2613 2142 0 0 0 0 0 0

8232 0.56 211.1 396.4 9.1 559 8255 0.00 2.38 18.85 0.842 4 0.000 0.054 2634 1185 2062 0 0 0 0 0 0

8291 0.67 238.6 391.1 8.7 564 8326 0.17 2.33 25.42 0.835 6 0.087 0.056 2704 2606 1949 0 0 0 0 0 0

8643 0.61 238.6 340.9 14.4 597 8645 0.12 0.00 0.00 0.000 6 0.192 0.000 2673 2607 1942 0 0 0 0 0 0

8961 0.61 238.6 303.2 11.7 627 8962 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2607 1941 0 0 0 0 0 0

9281 0.61 238.6 266.2 11.4 657 9283 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2607 1940 0 0 0 0 0 0

9602 0.61 238.6 228.6 11.7 687 9608 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2606 1939 0 0 0 0 0 0

9931 0.64 238.6 190.0 11.8 718 9937 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2607 1939 0 0 0 0 0 0

10259 0.67 240.1 154.2 9.9 749 10265 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2607 1939 0 0 0 0 0 0

10586 0.73 263.8 122.7 8.9 780 10610 0.12 0.00 21.33 0.707 6 0.109 0.000 2725 2607 1847 0 0 0 0 0 0

10937 0.73 263.8 77.5 13.2 827 10943 0.00 2.33 0.00 0.000 4 0.000 0.056 2725 1181 1842 0 0 0 0 0 0

10996 0.77 263.8 70.7 12.1 837 11003 0.00 2.33 0.00 0.000 6 0.000 0.057 2725 2602 1842 0 0 0 0 0 0

11342 0.77 263.8 30.9 11.5 898 11349 0.00 2.30 0.00 0.000 4 0.000 0.056 2725 1193 1840 0 0 0 0 0 0

11395 0.84 285.8 25.7 9.0 907 11420 0.00 2.30 19.50 0.662 6 0.000 0.059 2725 2597 1757 0 0 0 0 0 0

11573 end climb: FINISH_DEPTH_REACHED

state 11573 begin subsurface finish

11580 0.06 91.4 8.8 -8.4 938 11611 0.73 2.35 -23.85 0.000 4 0.147 0.086 2500 3926 2553 0 0 0 0 0 0

11612 end subsurface finish: CONTROL_FINISHED_OK

state 11612 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	584	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-9859.7803	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	261210,002920,6655.893,-5921.149,0,4097.2,0,-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	9.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,002920,6655.893,-5921.149,0,4097.2,0,-38.1	MHEAD_RNG_PITCHd_Wd	283.2,52306,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1028

FREEZE	8.79,-1.719,-1.750,2,5,0	ALTIM_BOTTOM_PING	602.0,10.7
FINISH1	8.8,1.025637,91	_24V_AH	21.6,69.627
FINISH2	7.6	_10V_AH	9.7,49.321
RAFOS_CLK	677	FG_AHR_24Vo	0.000
RAFOS	0,1293336082,4.033333,4.022778,48,44,41,40,38,38,675,696,127,1088,476,1446	FG_AHR_10Vo	0.000
RAFOS_FIX	6654.962402,-5924.071289,261210,040400,4,111,0.19	MEM	151696
IRIDIUM_FIX	6631.12,-5917.28,251210,080854	DATA_FILE_SIZE	33378,943
TT8_MAMPS	0.029211	CAP_FILE_SIZE	112156,0
HUMID	49.88	CFSIZE	260165632,209281024
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1450.6
XPDR_PINGS	0	GPS	261210,043200,6654.962,-5924.071,0,4111.2,0,-38.1
ALTIM_TOP_PING	19.8,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	193	18.39	SBE_CT	659	24	341.67
Roll_motor	75	85	139.63	SBE_O2	0	0	0.00
VBD_pump_during_apogee	379	982	8045.42	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	2	420	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2351	19	454.44
LPSleep	7185	2	161.00
TT8_Active	408	19	78.90
TT8_Sampling	1550	39	600.55
TT8_CF8	183	45	81.56
TT8_Kalman	0	0	0.00
Analog_circuits	1255	12	146.13
GPS_charging	0	0	0.00
Compass	1540	15	224.20
RAFOS	2520	3	73.33
Transponder	17	30	5.15

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	25	0.00	0.00	-6.35	0.000	2	0.000	0.000	2501	1186	2834	0	0	0	0	0	0
28	-0.57	-146.0	11.0	-0.0	1	53	0.57	4.70	-15.48	0.000	4	0.092	0.073	2286	3925	3522	0	0	0	0	0	0
268	-0.57	-146.0	42.0	-13.0	43	275	0.00	1.88	0.00	0.000	6	0.000	0.048	2286	2776	3523	0	0	0	0	0	0
614	-0.57	-146.0	84.8	-12.1	104	621	0.00	2.28	0.00	0.000	4	0.000	0.052	2286	1368	3523	0	0	0	0	0	0
657	-0.60	-146.0	89.9	-11.5	111	664	0.00	2.38	0.00	0.000	6	0.000	0.063	2286	2781	3523	0	0	0	0	0	0
990	-0.63	-146.0	123.0	-9.9	150	994	0.00	1.95	0.00	0.000	4	0.000	0.074	2286	3930	3522	0	0	0	0	0	0
1037	-0.68	-146.0	127.7	-9.7	154	1041	0.00	1.85	0.00	0.000	6	0.000	0.050	2286	2812	3522	0	0	0	0	0	0
1368	-0.72	-146.0	157.6	-9.4	185	1373	0.12	2.35	0.00	0.000	4	0.109	0.053	2233	1364	3522	0	0	0	0	0	0
1425	-0.72	-146.0	164.3	-12.1	190	1429	0.00	2.42	0.00	0.000	6	0.000	0.063	2228	2805	3522	0	0	0	0	0	0
1750	-0.67	-146.0	205.4	-12.7	220	1752	0.12	0.00	0.00	0.000	6	0.187	0.000	2261	2805	3521	0	0	0	0	0	0
2069	-0.69	-146.0	235.1	-9.2	250	2071	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2805	3521	0	0	0	0	0	0
2390	-0.72	-146.0	264.1	-8.9	280	2396	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2806	3521	0	0	0	0	0	0
2719	-0.76	-146.0	291.9	-8.7	311	2723	0.00	2.35	0.00	0.000	4	0.000	0.053	2261	1362	3521	0	0	0	0	0	0
2748	-0.80	-146.0	294.8	-9.3	313	2753	0.12	2.40	0.00	0.000	6	0.100	0.063	2206	2799	3521	0	0	0	0	0	0
3075	-0.73	-146.0	333.4	-11.8	343	3079	0.12	1.95	0.00	0.000	4	0.189	0.074	2231	3935	3521	0	0	0	0	0	0
3101	-0.69	-146.0	336.6	-10.9	345	3108	0.00	1.85	0.00	0.000	6	0.000	0.049	2231	2787	3521	0	0	0	0	0	0
3428	-0.67	-146.0	367.5	-9.5	376	3432	0.00	2.28	0.00	0.000	4	0.000	0.050	2231	1363	3521	0	0	0	0	0	0
3461	-0.67	-146.0	370.9	-9.3	378	3469	0.12	2.38	0.00	0.000	6	0.176	0.063	2261	2792	3521	0	0	0	0	0	0
3788	-0.71	-146.0	394.8	-7.3	409	3790	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2792	3522	0	0	0	0	0	0
4107	-0.75	-146.0	417.8	-7.1	424	4111	0.00	2.28	0.00	0.000	4	0.000	0.051	2261	1372	3522	0	0	0	0	0	0
4145	-0.82	-146.0	420.8	-6.9	425	4150	0.15	2.38	0.00	0.000	6	0.090	0.063	2196	2793	3522	0	0	0	0	0	0
4471	-0.74	-146.0	456.2	-11.3	436	4475	0.15	1.95	0.00	0.000	4	0.181	0.073	2229	3929	3522	0	0	0	0	0	0
4515	-0.74	-146.0	461.1	-9.9	437	4518	0.00	1.83	0.00	0.000	6	0.000	0.047	2229	2791	3522	0	0	0	0	0	0
4845	-0.74	-146.0	493.2	-10.2	448	4846	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2792	3522	0	0	0	0	0	0
5152	-0.74	-146.0	524.1	-10.5	458	5153	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2791	3522	0	0	0	0	0	0
5457	-0.74	-146.0	554.1	-9.8	468	5461	0.00	2.30	0.00	0.000	4	0.000	0.050	2229	1363	3522	0	0	0	0	0	0
5487	-0.74	-146.0	556.9	-9.3	469	5491	0.00	2.38	0.00	0.000	6	0.000	0.062	2222	2788	3523	0	0	0	0	0	0
5823	-0.71	-146.0	590.4	-10.0	480	5827	0.00	1.92	0.00	0.000	4	0.000	0.073	2219	3929	3523	0	0	0	0	0	0
5858	-0.68	-146.0	594.2	-10.8	481	5862	0.12	1.88	0.00	0.000	6	0.168	0.047	2252	2775	3523	0	0	0	0	0	0
5954	end dive: BOTTOM_OBSTACLE_DETECTED
state	5954	begin apogee
5961	-0.14	0.0	602.0	7.9	484	6091	0.52	0.00	123.35	0.982	4	0.129	0.000	2426	2597	2924	0	0	0	0	0	0
6092	end apogee: CONTROL_FINISHED_OK
state	6092	begin climb
6094	0.57	146.0	606.0	0.0	488	6229	0.62	0.00	130.15	0.955	6	0.073	0.000	2659	2597	2327	0	0	0	0	0	0
6543	0.52	146.0	562.8	11.5	503	6547	0.00	2.35	0.00	0.000	4	0.000	0.069	2659	3932	2317	0	0	0	0	0	0
6598	0.43	146.0	555.2	14.4	504	6606	0.17	2.20	0.00	0.000	6	0.194	0.045	2619	2603	2315	0	0	0	0	0	0
6912	0.47	162.8	526.1	9.2	515	6928	0.00	0.00	13.98	0.884	6	0.000	0.000	2619	2603	2259	0	0	0	0	0	0
7218	0.52	168.1	496.9	9.8	525	7226	0.00	0.00	6.00	0.769	6	0.000	0.000	2618	2603	2237	0	0	0	0	0	0
7524	0.58	190.9	468.7	8.9	535	7550	0.12	2.28	20.62	0.881	4	0.099	0.067	2675	3932	2147	0	0	0	0	0	0
7605	0.49	190.9	458.4	15.3	536	7609	0.17	2.15	0.00	0.000	6	0.189	0.045	2634	2614	2143	0	0	0	0	0	0
7923	0.52	190.9	425.8	10.0	547	7924	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2613	2142	0	0	0	0	0	0
8232	0.56	211.1	396.4	9.1	559	8255	0.00	2.38	18.85	0.842	4	0.000	0.054	2634	1185	2062	0	0	0	0	0	0
8291	0.67	238.6	391.1	8.7	564	8326	0.17	2.33	25.42	0.835	6	0.087	0.056	2704	2606	1949	0	0	0	0	0	0
8643	0.61	238.6	340.9	14.4	597	8645	0.12	0.00	0.00	0.000	6	0.192	0.000	2673	2607	1942	0	0	0	0	0	0
8961	0.61	238.6	303.2	11.7	627	8962	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2607	1941	0	0	0	0	0	0
9281	0.61	238.6	266.2	11.4	657	9283	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2607	1940	0	0	0	0	0	0
9602	0.61	238.6	228.6	11.7	687	9608	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2606	1939	0	0	0	0	0	0
9931	0.64	238.6	190.0	11.8	718	9937	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2607	1939	0	0	0	0	0	0
10259	0.67	240.1	154.2	9.9	749	10265	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2607	1939	0	0	0	0	0	0
10586	0.73	263.8	122.7	8.9	780	10610	0.12	0.00	21.33	0.707	6	0.109	0.000	2725	2607	1847	0	0	0	0	0	0
10937	0.73	263.8	77.5	13.2	827	10943	0.00	2.33	0.00	0.000	4	0.000	0.056	2725	1181	1842	0	0	0	0	0	0
10996	0.77	263.8	70.7	12.1	837	11003	0.00	2.33	0.00	0.000	6	0.000	0.057	2725	2602	1842	0	0	0	0	0	0
11342	0.77	263.8	30.9	11.5	898	11349	0.00	2.30	0.00	0.000	4	0.000	0.056	2725	1193	1840	0	0	0	0	0	0
11395	0.84	285.8	25.7	9.0	907	11420	0.00	2.30	19.50	0.662	6	0.000	0.059	2725	2597	1757	0	0	0	0	0	0
11573	end climb: FINISH_DEPTH_REACHED
state	11573	begin subsurface finish
11580	0.06	91.4	8.8	-8.4	938	11611	0.73	2.35	-23.85	0.000	4	0.147	0.086	2500	3926	2553	0	0	0	0	0	0
11612	end subsurface finish: CONTROL_FINISHED_OK
state	11612	begin surface