Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 590 * 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 590 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 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 -2 T_GPS_CHARGE -9861.1309 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 -9861.1309

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 31 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 590 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 261210,230537,6648.702,-5942.010,36,1.0,36,-38.0 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 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,231956,6648.306,-5941.368,13,1.3,13,-38.0 MHEAD_RNG_PITCHd_Wd 294.3,33611,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 894

Post-dive calculations and measurements:

FREEZE 8.73,-1.649,-1.747,2,1,0 ALTIM_BOTTOM_PING 600.1,10.9

FINISH1 8.7,1.025581,94 _24V_AH 21.5,70.222

FINISH2 7.2 _10V_AH 9.8,49.685

RAFOS_CLK 555 FG_AHR_24Vo 0.000

RAFOS 0,1293408066,0.033333,0.018333,103,52,51,48,47,41,700,407,1670,596,683,336 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.448242,-5941.744629,271210,000053,6,89,0.41 MEM 151692

IRIDIUM_FIX 6631.12,-5905.01,251210,111108 DATA_FILE_SIZE 33402,892

TT8_MAMPS 0.029211 CAP_FILE_SIZE 118968,0

HUMID 49.05 CFSIZE 260165632,208924672

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

TCM_TEMP 14.70 SOUNDSPEED 1448.6

XPDR_PINGS 0 GPS 271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 271 91.82 SBE_CT 621 24 320.89

Roll_motor 89 81 156.73 SBE_O2 0 0 0.00

VBD_pump_during_apogee 254 984 5388.30 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 25 103 55.36 nil 0 0 0.00

Iridium_during_connect 39 160 137.00 nil 0 0 0.00

Iridium_during_xfer 446 223 2140.18 nil 0 0 0.00

Transponder_ping 2 420 20.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.13

TT8 2228 19 434.99

LPSleep 6019 2 136.26

TT8_Active 416 19 81.25

TT8_Sampling 2082 39 814.52

TT8_CF8 503 45 226.53

TT8_Kalman 0 0 0.00

Analog_circuits 1296 12 152.47

GPS_charging 0 0 0.00

Compass 1594 15 234.45

RAFOS 2520 3 74.09

Transponder 19 30 5.72

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 189 0.00 0.00 -164.77 0.000 6 0.000 0.000 294 2785 3519 0 0 0 0 0 0

192 -0.57 -146.0 2.0 0.2 30 205 8.43 1.98 0.00 0.000 4 0.248 0.062 2276 3932 3520 0 0 0 0 0 0

370 -0.38 -146.0 5.5 -11.7 61 378 0.25 1.90 0.00 0.000 6 0.168 0.050 2344 2777 3522 0 0 0 0 0 0

719 -0.46 -146.0 42.9 -8.7 122 726 0.00 2.30 0.00 0.000 4 0.000 0.055 2344 1362 3521 0 0 0 0 0 0

746 -0.56 -146.0 45.4 -8.3 126 753 0.15 2.35 0.00 0.000 6 0.089 0.065 2279 2768 3521 0 0 0 0 0 0

1092 -0.56 -146.0 86.3 -11.1 187 1099 0.00 2.00 0.00 0.000 4 0.000 0.076 2272 3928 3521 0 0 0 0 0 0

1133 -0.56 -146.0 91.0 -11.6 194 1140 0.00 1.92 0.00 0.000 6 0.000 0.053 2272 2771 3521 0 0 0 0 0 0

1470 -0.56 -146.0 132.5 -12.6 232 1473 0.00 2.03 0.00 0.000 4 0.000 0.079 2272 3933 3521 0 0 0 0 0 0

1538 -0.56 -146.0 141.4 -12.5 238 1542 0.00 1.88 0.00 0.000 6 0.000 0.052 2272 2788 3521 0 0 0 0 0 0

1870 -0.56 -146.0 177.2 -8.9 269 1874 0.00 2.28 0.00 0.000 4 0.000 0.054 2272 1369 3521 0 0 0 0 0 0

1944 -0.60 -146.0 183.6 -8.2 275 1948 0.00 2.40 0.00 0.000 6 0.000 0.067 2272 2785 3521 0 0 0 0 0 0

2270 -0.60 -146.0 210.3 -8.1 305 2271 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2785 3521 0 0 0 0 0 0

2592 -0.63 -146.0 236.8 -9.0 335 2596 0.00 1.98 0.00 0.000 4 0.000 0.077 2272 3926 3521 0 0 0 0 0 0

2628 -0.66 -146.0 240.4 -9.3 338 2631 0.00 1.85 0.00 0.000 6 0.000 0.052 2271 2788 3521 0 0 0 0 0 0

2960 -0.70 -146.0 270.7 -8.5 369 2964 0.00 2.30 0.00 0.000 4 0.000 0.054 2272 1368 3521 0 0 0 0 0 0

2983 -0.75 -146.0 273.0 -9.2 370 2990 0.12 2.38 0.00 0.000 6 0.101 0.066 2216 2782 3521 0 0 0 0 0 0

3309 -0.68 -146.0 312.1 -12.3 401 3314 0.12 2.00 0.00 0.000 4 0.186 0.077 2247 3930 3521 0 0 0 0 0 0

3354 -0.68 -146.0 317.4 -11.3 405 3358 0.00 1.85 0.00 0.000 6 0.000 0.050 2247 2789 3521 0 0 0 0 0 0

3685 -0.68 -146.0 351.3 -10.9 436 3689 0.00 2.28 0.00 0.000 4 0.000 0.053 2247 1369 3521 0 0 0 0 0 0

3726 -0.71 -146.0 355.8 -10.9 439 3730 0.00 2.38 0.00 0.000 6 0.000 0.066 2247 2786 3521 0 0 0 0 0 0

4051 -0.71 -146.0 392.1 -11.4 469 4055 0.00 1.95 0.00 0.000 4 0.000 0.076 2247 3929 3522 0 0 0 0 0 0

4078 -0.71 -146.0 395.3 -11.5 471 4085 0.00 1.90 0.00 0.000 6 0.000 0.050 2247 2785 3521 0 0 0 0 0 0

4403 -0.71 -146.0 430.8 -10.6 485 4407 0.00 2.28 0.00 0.000 4 0.000 0.052 2247 1363 3522 0 0 0 0 0 0

4442 -0.74 -146.0 434.9 -10.3 486 4446 0.00 2.40 0.00 0.000 6 0.000 0.064 2247 2795 3522 0 0 0 0 0 0

4768 -0.74 -146.0 466.5 -9.6 497 4772 0.00 1.98 0.00 0.000 4 0.000 0.076 2247 3928 3523 0 0 0 0 0 0

4797 -0.74 -146.0 469.7 -9.9 497 4804 0.00 1.85 0.00 0.000 6 0.000 0.050 2247 2785 3522 0 0 0 0 0 0

5110 -0.74 -146.0 497.4 -8.6 508 5111 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2786 3523 0 0 0 0 0 0

5416 -0.74 -146.0 523.1 -8.4 518 5417 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2785 3522 0 0 0 0 0 0

5723 -0.74 -146.0 548.1 -8.3 528 5727 0.00 2.28 0.00 0.000 4 0.000 0.051 2247 1361 3523 0 0 0 0 0 0

5756 -0.77 -146.0 551.2 -8.8 529 5760 0.00 2.42 0.00 0.000 6 0.000 0.063 2246 2796 3523 0 0 0 0 0 0

6085 -0.77 -146.0 578.9 -8.5 540 6087 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2796 3523 0 0 0 0 0 0

6332 end dive: BOTTOM_OBSTACLE_DETECTED

state 6332 begin apogee

6339 -0.14 0.0 600.1 8.6 548 6469 0.55 0.00 123.25 0.985 4 0.138 0.000 2423 2600 2926 0 0 0 0 0 0

6470 end apogee: CONTROL_FINISHED_OK

state 6470 begin climb

6473 0.57 146.0 605.0 0.0 552 6613 0.68 2.45 131.30 0.961 4 0.070 0.051 2659 1178 2327 0 0 0 0 0 0

6764 -1.83 146.0 584.4 24391.7 561 6774 2.72 2.50 0.00 0.000 6 0.153 0.055 1889 2603 2317 0 0 0 0 0 0

7099 -1.83 146.0 535.2 24391.7 572 7103 0.00 2.33 0.00 0.000 4 0.000 0.050 1886 1173 2308 0 0 0 0 0 0

7356 -1.83 146.0 491.9 24391.7 579 7360 0.00 2.40 0.00 0.000 6 0.000 0.056 1875 2639 2308 0 0 0 0 0 0

7674 -1.83 146.0 436.5 24391.7 590 7675 0.00 0.00 0.00 0.000 6 0.000 0.000 1873 2639 2308 0 0 0 0 0 0

7986 -1.83 146.0 381.2 24391.7 606 7990 0.00 2.15 0.00 0.000 4 0.000 0.061 1861 3938 2305 0 0 0 0 0 0

8059 -1.83 146.0 366.4 24391.7 612 8066 0.00 2.12 0.00 0.000 6 0.000 0.050 1861 2642 2307 0 0 0 0 0 0

8385 -1.83 146.0 305.7 24391.7 643 8389 0.00 2.33 0.00 0.000 4 0.000 0.047 1860 1171 2307 0 0 0 0 0 0

8643 -1.83 146.0 254.6 24391.7 665 8651 0.17 2.38 0.00 0.000 6 0.272 0.052 1880 2642 2306 0 0 0 0 0 0

8969 -1.83 146.0 195.2 24391.7 696 8973 0.00 2.12 0.00 0.000 4 0.000 0.060 1872 3932 2305 0 0 0 0 0 0

9229 -1.83 146.0 147.2 24391.7 719 9233 0.00 2.15 0.00 0.000 6 0.000 0.047 1871 2606 2306 0 0 0 0 0 0

9555 -1.83 146.0 96.2 24391.7 751 9562 0.00 2.20 0.00 0.000 4 0.000 0.063 1859 3922 2304 0 0 0 0 0 0

9676 -1.83 146.0 75.1 24391.7 772 9684 0.00 2.05 0.00 0.000 6 0.000 0.048 1860 2650 2305 0 0 0 0 0 0

10024 -1.83 146.0 27.0 24391.7 833 10031 0.00 2.35 0.00 0.000 4 0.000 0.049 1860 1175 2305 0 0 0 0 0 0

10284 -1.83 146.0 13.2 24391.7 879 10292 0.17 2.47 0.00 0.000 6 0.252 0.057 1883 2682 2305 0 0 0 0 0 0

10342 end climb: FINISH_DEPTH_REACHED

state 10342 begin subsurface finish

10350 0.06 94.2 8.7 -24391.7 889 10370 2.35 2.35 -7.10 0.000 4 0.219 0.067 2484 1188 2541 0 0 0 0 0 0

10371 end subsurface finish: CONTROL_FINISHED_OK

state 10371 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	590	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	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	-2	T_GPS_CHARGE	-9861.1309	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	261210,230537,6648.702,-5942.010,36,1.0,36,-38.0	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	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,231956,6648.306,-5941.368,13,1.3,13,-38.0	MHEAD_RNG_PITCHd_Wd	294.3,33611,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	894

FREEZE	8.73,-1.649,-1.747,2,1,0	ALTIM_BOTTOM_PING	600.1,10.9
FINISH1	8.7,1.025581,94	_24V_AH	21.5,70.222
FINISH2	7.2	_10V_AH	9.8,49.685
RAFOS_CLK	555	FG_AHR_24Vo	0.000
RAFOS	0,1293408066,0.033333,0.018333,103,52,51,48,47,41,700,407,1670,596,683,336	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.448242,-5941.744629,271210,000053,6,89,0.41	MEM	151692
IRIDIUM_FIX	6631.12,-5905.01,251210,111108	DATA_FILE_SIZE	33402,892
TT8_MAMPS	0.029211	CAP_FILE_SIZE	118968,0
HUMID	49.05	CFSIZE	260165632,208924672
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1448.6
XPDR_PINGS	0	GPS	271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	271	91.82	SBE_CT	621	24	320.89
Roll_motor	89	81	156.73	SBE_O2	0	0	0.00
VBD_pump_during_apogee	254	984	5388.30	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	25	103	55.36	nil	0	0	0.00
Iridium_during_connect	39	160	137.00	nil	0	0	0.00
Iridium_during_xfer	446	223	2140.18	nil	0	0	0.00
Transponder_ping	2	420	20.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.13
TT8	2228	19	434.99
LPSleep	6019	2	136.26
TT8_Active	416	19	81.25
TT8_Sampling	2082	39	814.52
TT8_CF8	503	45	226.53
TT8_Kalman	0	0	0.00
Analog_circuits	1296	12	152.47
GPS_charging	0	0	0.00
Compass	1594	15	234.45
RAFOS	2520	3	74.09
Transponder	19	30	5.72

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	189	0.00	0.00	-164.77	0.000	6	0.000	0.000	294	2785	3519	0	0	0	0	0	0
192	-0.57	-146.0	2.0	0.2	30	205	8.43	1.98	0.00	0.000	4	0.248	0.062	2276	3932	3520	0	0	0	0	0	0
370	-0.38	-146.0	5.5	-11.7	61	378	0.25	1.90	0.00	0.000	6	0.168	0.050	2344	2777	3522	0	0	0	0	0	0
719	-0.46	-146.0	42.9	-8.7	122	726	0.00	2.30	0.00	0.000	4	0.000	0.055	2344	1362	3521	0	0	0	0	0	0
746	-0.56	-146.0	45.4	-8.3	126	753	0.15	2.35	0.00	0.000	6	0.089	0.065	2279	2768	3521	0	0	0	0	0	0
1092	-0.56	-146.0	86.3	-11.1	187	1099	0.00	2.00	0.00	0.000	4	0.000	0.076	2272	3928	3521	0	0	0	0	0	0
1133	-0.56	-146.0	91.0	-11.6	194	1140	0.00	1.92	0.00	0.000	6	0.000	0.053	2272	2771	3521	0	0	0	0	0	0
1470	-0.56	-146.0	132.5	-12.6	232	1473	0.00	2.03	0.00	0.000	4	0.000	0.079	2272	3933	3521	0	0	0	0	0	0
1538	-0.56	-146.0	141.4	-12.5	238	1542	0.00	1.88	0.00	0.000	6	0.000	0.052	2272	2788	3521	0	0	0	0	0	0
1870	-0.56	-146.0	177.2	-8.9	269	1874	0.00	2.28	0.00	0.000	4	0.000	0.054	2272	1369	3521	0	0	0	0	0	0
1944	-0.60	-146.0	183.6	-8.2	275	1948	0.00	2.40	0.00	0.000	6	0.000	0.067	2272	2785	3521	0	0	0	0	0	0
2270	-0.60	-146.0	210.3	-8.1	305	2271	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2785	3521	0	0	0	0	0	0
2592	-0.63	-146.0	236.8	-9.0	335	2596	0.00	1.98	0.00	0.000	4	0.000	0.077	2272	3926	3521	0	0	0	0	0	0
2628	-0.66	-146.0	240.4	-9.3	338	2631	0.00	1.85	0.00	0.000	6	0.000	0.052	2271	2788	3521	0	0	0	0	0	0
2960	-0.70	-146.0	270.7	-8.5	369	2964	0.00	2.30	0.00	0.000	4	0.000	0.054	2272	1368	3521	0	0	0	0	0	0
2983	-0.75	-146.0	273.0	-9.2	370	2990	0.12	2.38	0.00	0.000	6	0.101	0.066	2216	2782	3521	0	0	0	0	0	0
3309	-0.68	-146.0	312.1	-12.3	401	3314	0.12	2.00	0.00	0.000	4	0.186	0.077	2247	3930	3521	0	0	0	0	0	0
3354	-0.68	-146.0	317.4	-11.3	405	3358	0.00	1.85	0.00	0.000	6	0.000	0.050	2247	2789	3521	0	0	0	0	0	0
3685	-0.68	-146.0	351.3	-10.9	436	3689	0.00	2.28	0.00	0.000	4	0.000	0.053	2247	1369	3521	0	0	0	0	0	0
3726	-0.71	-146.0	355.8	-10.9	439	3730	0.00	2.38	0.00	0.000	6	0.000	0.066	2247	2786	3521	0	0	0	0	0	0
4051	-0.71	-146.0	392.1	-11.4	469	4055	0.00	1.95	0.00	0.000	4	0.000	0.076	2247	3929	3522	0	0	0	0	0	0
4078	-0.71	-146.0	395.3	-11.5	471	4085	0.00	1.90	0.00	0.000	6	0.000	0.050	2247	2785	3521	0	0	0	0	0	0
4403	-0.71	-146.0	430.8	-10.6	485	4407	0.00	2.28	0.00	0.000	4	0.000	0.052	2247	1363	3522	0	0	0	0	0	0
4442	-0.74	-146.0	434.9	-10.3	486	4446	0.00	2.40	0.00	0.000	6	0.000	0.064	2247	2795	3522	0	0	0	0	0	0
4768	-0.74	-146.0	466.5	-9.6	497	4772	0.00	1.98	0.00	0.000	4	0.000	0.076	2247	3928	3523	0	0	0	0	0	0
4797	-0.74	-146.0	469.7	-9.9	497	4804	0.00	1.85	0.00	0.000	6	0.000	0.050	2247	2785	3522	0	0	0	0	0	0
5110	-0.74	-146.0	497.4	-8.6	508	5111	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2786	3523	0	0	0	0	0	0
5416	-0.74	-146.0	523.1	-8.4	518	5417	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2785	3522	0	0	0	0	0	0
5723	-0.74	-146.0	548.1	-8.3	528	5727	0.00	2.28	0.00	0.000	4	0.000	0.051	2247	1361	3523	0	0	0	0	0	0
5756	-0.77	-146.0	551.2	-8.8	529	5760	0.00	2.42	0.00	0.000	6	0.000	0.063	2246	2796	3523	0	0	0	0	0	0
6085	-0.77	-146.0	578.9	-8.5	540	6087	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2796	3523	0	0	0	0	0	0
6332	end dive: BOTTOM_OBSTACLE_DETECTED
state	6332	begin apogee
6339	-0.14	0.0	600.1	8.6	548	6469	0.55	0.00	123.25	0.985	4	0.138	0.000	2423	2600	2926	0	0	0	0	0	0
6470	end apogee: CONTROL_FINISHED_OK
state	6470	begin climb
6473	0.57	146.0	605.0	0.0	552	6613	0.68	2.45	131.30	0.961	4	0.070	0.051	2659	1178	2327	0	0	0	0	0	0
6764	-1.83	146.0	584.4	24391.7	561	6774	2.72	2.50	0.00	0.000	6	0.153	0.055	1889	2603	2317	0	0	0	0	0	0
7099	-1.83	146.0	535.2	24391.7	572	7103	0.00	2.33	0.00	0.000	4	0.000	0.050	1886	1173	2308	0	0	0	0	0	0
7356	-1.83	146.0	491.9	24391.7	579	7360	0.00	2.40	0.00	0.000	6	0.000	0.056	1875	2639	2308	0	0	0	0	0	0
7674	-1.83	146.0	436.5	24391.7	590	7675	0.00	0.00	0.00	0.000	6	0.000	0.000	1873	2639	2308	0	0	0	0	0	0
7986	-1.83	146.0	381.2	24391.7	606	7990	0.00	2.15	0.00	0.000	4	0.000	0.061	1861	3938	2305	0	0	0	0	0	0
8059	-1.83	146.0	366.4	24391.7	612	8066	0.00	2.12	0.00	0.000	6	0.000	0.050	1861	2642	2307	0	0	0	0	0	0
8385	-1.83	146.0	305.7	24391.7	643	8389	0.00	2.33	0.00	0.000	4	0.000	0.047	1860	1171	2307	0	0	0	0	0	0
8643	-1.83	146.0	254.6	24391.7	665	8651	0.17	2.38	0.00	0.000	6	0.272	0.052	1880	2642	2306	0	0	0	0	0	0
8969	-1.83	146.0	195.2	24391.7	696	8973	0.00	2.12	0.00	0.000	4	0.000	0.060	1872	3932	2305	0	0	0	0	0	0
9229	-1.83	146.0	147.2	24391.7	719	9233	0.00	2.15	0.00	0.000	6	0.000	0.047	1871	2606	2306	0	0	0	0	0	0
9555	-1.83	146.0	96.2	24391.7	751	9562	0.00	2.20	0.00	0.000	4	0.000	0.063	1859	3922	2304	0	0	0	0	0	0
9676	-1.83	146.0	75.1	24391.7	772	9684	0.00	2.05	0.00	0.000	6	0.000	0.048	1860	2650	2305	0	0	0	0	0	0
10024	-1.83	146.0	27.0	24391.7	833	10031	0.00	2.35	0.00	0.000	4	0.000	0.049	1860	1175	2305	0	0	0	0	0	0
10284	-1.83	146.0	13.2	24391.7	879	10292	0.17	2.47	0.00	0.000	6	0.252	0.057	1883	2682	2305	0	0	0	0	0	0
10342	end climb: FINISH_DEPTH_REACHED
state	10342	begin subsurface finish
10350	0.06	94.2	8.7	-24391.7	889	10370	2.35	2.35	-7.10	0.000	4	0.219	0.067	2484	1188	2541	0	0	0	0	0	0
10371	end subsurface finish: CONTROL_FINISHED_OK
state	10371	begin surface