Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 184 HD_C 9.9999997e-06 ROLL_MIN 223 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_MAX 3813 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING 180 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4708 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12223 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 50 SM_CC 400 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.5

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2914 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 50000 PITCH_VBD_SHIFT 0.00125 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 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 -33812.152 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 80

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3934 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2670 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043635513

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.061352 SEABIRD_T_H 0.0006292222

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001157311 SEABIRD_T_I 2.4569574e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6955906e-06

MASS 51696 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.09016

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1251791

FERRY_MAX 45 PITCH_AD_RATE 170 COMPASS_USE 1 SEABIRD_C_I -0.0014842621

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019950744

HD_A 0.003 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 170 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 180 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3934 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4708

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00125 T_ABORT 720

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001157311 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.061352 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 50000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -33812.152

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 80 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 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 184 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 2.5 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2670 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2914 LOGGERDEVICE3 -1 ROLL_MAX 3813 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 223 VBD_CNV -0.24529999

DEVICE1 2 MASS 51696 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 28 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.09016 VBD_MIN 470

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1251791 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0014842621 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 6 NAV_MODE 0 SEABIRD_C_J 0.00019950744 VBD_TIMEOUT 540

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043635513 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.0006292222 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.4569574e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.6955906e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 160910,014646,6643.197,-6008.568,12,4.1,31,-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 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,015128,6643.130,-6008.461,16,4.3,35,-38.0 MHEAD_RNG_PITCHd_Wd 315.2,12932,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 570

Post-dive calculations and measurements:

FINISH 0.1,1.016090 _24V_AH 23.1,2.861

SM_CCo 11420,44.60,0.631,3,0,1282,400.08 _10V_AH 10.2,2.208

SM_GC 1.16,0.00,0.00,44.60,0.000,0.000,0.631,150,2588,1282,-7.88,-0.34,400.08 FG_AHR_24Vo 0.000

RAFOS_CLK 361 FG_AHR_10Vo 0.000

RAFOS 0,1284609662,4.033333,4.017222,59,59,58,57,56,55,198,634,215,217,148,190 MEM 151692

RAFOS_FIX 6642.505371,-6005.817871,160910,040417,6,100,0.24 DATA_FILE_SIZE 46768,1203

IRIDIUM_FIX 6620.33,-6013.28,150910,232357 CAP_FILE_SIZE 138337,0

TT8_MAMPS 0.027713 CFSIZE 260165632,250707968

HUMID 51.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

INTERNAL_PRESSURE 8.83813 SOUNDSPEED 1453.1

TCM_TEMP 14.60 GPS 160910,050500,6642.293,-6011.466,39,1.5,45,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 283 138.83 SBE_CT 858 24 476.08

Roll_motor 104 94 229.97 SBE_O2 869 19 381.50

VBD_pump_during_apogee 432 1113 11129.45 nil 0 0 0.00

VBD_pump_during_surface 44 631 650.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.61 nil 0 0 0.00

Iridium_during_connect 37 160 139.55 nil 0 0 0.00

Iridium_during_xfer 97 223 501.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 18.95

TT8 2922 19 593.85

LPSleep 5840 2 137.62

TT8_Active 590 19 120.03

TT8_Sampling 2331 39 949.34

TT8_CF8 105 45 49.46

TT8_Kalman 0 0 0.00

Analog_circuits 1710 12 209.38

GPS_charging 0 0 0.00

Compass 2108 15 322.53

RAFOS 2520 3 77.11

Transponder 0 5 0.03

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

15 -0.66 -146.0 0.0 0.0 0 110 0.00 0.00 -93.07 0.000 2 0.000 0.000 151 2612 3139 0 0 0 0 0 0

112 -0.66 -146.0 5.4 -14.9 16 138 10.70 2.03 -6.93 0.000 4 0.284 0.093 2444 3812 3514 0 0 0 0 0 0

217 -0.64 -146.0 31.0 -12.7 34 224 0.00 1.98 0.00 0.000 6 0.000 0.054 2444 2598 3515 0 0 0 0 0 0

562 -0.65 -146.0 71.4 -9.3 95 569 0.00 2.03 0.00 0.000 4 0.000 0.080 2435 3804 3516 0 0 0 0 0 0

738 -0.65 -146.0 89.4 -10.7 126 745 0.00 1.95 0.00 0.000 6 0.000 0.053 2435 2591 3515 0 0 0 0 0 0

1074 -0.65 -146.0 125.3 -10.3 166 1078 0.00 2.03 0.00 0.000 4 0.000 0.082 2425 3805 3516 0 0 0 0 0 0

1191 -0.66 -146.0 137.3 -9.9 176 1198 0.00 1.95 0.00 0.000 6 0.000 0.053 2426 2594 3515 0 0 0 0 0 0

1515 -0.66 -146.0 173.2 -11.6 207 1520 0.12 2.05 0.00 0.000 4 0.194 0.082 2448 3804 3515 0 0 0 0 0 0

1565 -0.70 -146.0 178.4 -9.9 211 1572 0.00 1.92 0.00 0.000 6 0.000 0.052 2448 2592 3515 0 0 0 0 0 0

1890 -0.73 -146.0 208.6 -9.3 242 1894 0.00 2.03 0.00 0.000 4 0.000 0.083 2439 3813 3515 0 0 0 0 0 0

2014 -0.77 -146.0 220.7 -9.5 253 2018 0.00 1.92 0.00 0.000 6 0.000 0.052 2439 2596 3514 0 0 0 0 0 0

2345 -0.80 -146.0 250.6 -8.6 284 2349 0.00 2.03 0.00 0.000 4 0.000 0.083 2431 3811 3514 0 0 0 0 0 0

2424 -0.82 -146.0 257.5 -9.1 291 2428 0.00 1.92 0.00 0.000 6 0.000 0.053 2430 2606 3514 0 0 0 0 0 0

2754 -0.85 -146.0 284.3 -7.7 322 2758 0.10 2.00 0.00 0.000 4 0.134 0.082 2389 3807 3513 0 0 0 0 0 0

2888 -0.85 -146.0 297.3 -9.3 334 2892 0.00 1.90 0.00 0.000 6 0.000 0.052 2389 2598 3513 0 0 0 0 0 0

3217 -0.85 -146.0 329.8 -9.8 365 3221 0.00 2.00 0.00 0.000 4 0.000 0.081 2380 3813 3513 0 0 0 0 0 0

3274 -0.85 -146.0 336.1 -11.5 370 3277 0.00 1.92 0.00 0.000 6 0.000 0.052 2380 2592 3513 0 0 0 0 0 0

3604 -0.84 -146.0 373.1 -11.2 401 3607 0.00 2.00 0.00 0.000 4 0.000 0.080 2371 3812 3513 0 0 0 0 0 0

3717 -0.82 -146.0 386.5 -11.9 411 3722 0.08 1.92 0.00 0.000 6 0.181 0.052 2403 2600 3514 0 0 0 0 0 0

4047 -0.82 -146.0 416.6 -8.4 442 4050 0.00 1.98 0.00 0.000 4 0.000 0.080 2397 3806 3514 0 0 0 0 0 0

4148 -0.83 -146.0 425.8 -9.0 451 4152 0.00 1.90 0.00 0.000 6 0.000 0.051 2397 2593 3514 0 0 0 0 0 0

4478 -0.83 -146.0 455.6 -8.7 482 4482 0.00 1.98 0.00 0.000 4 0.000 0.080 2388 3805 3514 0 0 0 0 0 0

4583 -0.83 -146.0 465.7 -9.4 491 4591 0.00 1.90 0.00 0.000 6 0.000 0.050 2388 2602 3514 0 0 0 0 0 0

4909 -0.83 -146.0 497.7 -10.3 522 4913 0.00 2.00 0.00 0.000 4 0.000 0.080 2379 3813 3515 0 0 0 0 0 0

4979 -0.83 -146.0 505.4 -10.8 528 4987 0.00 1.92 0.00 0.000 6 0.000 0.050 2379 2599 3514 0 0 0 0 0 0

5305 -0.83 -146.0 539.8 -11.1 559 5309 0.00 1.98 0.00 0.000 4 0.000 0.080 2371 3807 3515 0 0 0 0 0 0

5440 -0.82 -146.0 555.0 -11.4 571 5444 0.12 1.90 0.00 0.000 6 0.194 0.053 2400 2596 3515 0 0 0 0 0 0

5598 end dive: TARGET_DEPTH_EXCEEDED

state 5598 begin apogee

5602 -0.14 0.0 570.6 9.4 586 5736 0.70 0.00 127.82 1.113 6 0.153 0.000 2621 2492 2913 0 0 0 0 0 0

5737 end apogee: CONTROL_FINISHED_OK

state 5737 begin climb

5738 0.66 146.0 575.5 0.0 598 5876 0.77 2.55 127.70 1.066 4 0.090 0.078 2886 1096 2318 0 0 0 0 0 0

5888 0.61 146.0 566.9 10.9 612 5892 0.00 2.47 0.00 0.000 6 0.000 0.063 2886 2495 2316 0 0 0 0 0 0

6212 0.56 146.0 527.2 12.3 642 6217 0.12 2.30 0.00 0.000 4 0.195 0.081 2858 3817 2311 0 0 0 0 0 0

6432 0.51 146.0 499.3 12.6 661 6436 0.12 2.17 0.00 0.000 6 0.243 0.057 2842 2499 2309 0 0 0 0 0 0

6756 0.50 146.0 465.8 10.5 691 6760 0.00 2.22 0.00 0.000 4 0.000 0.078 2842 3813 2308 0 0 0 0 0 0

6925 0.46 146.0 446.3 12.2 706 6929 0.00 2.12 0.00 0.000 6 0.000 0.056 2848 2500 2308 0 0 0 0 0 0

7255 0.44 146.0 410.2 10.9 737 7260 0.15 2.22 0.00 0.000 4 0.223 0.078 2816 3822 2308 0 0 0 0 0 0

7388 0.43 146.0 396.0 10.3 748 7396 0.00 2.15 0.00 0.000 6 0.000 0.055 2822 2502 2307 0 0 0 0 0 0

7713 0.46 173.1 366.4 8.7 779 7740 0.00 2.25 22.27 0.974 4 0.000 0.075 2822 3821 2210 0 0 0 0 0 0

7845 0.47 180.2 352.7 9.7 790 7858 0.00 2.20 7.82 0.871 6 0.000 0.054 2832 2494 2179 0 0 0 0 0 0

8176 0.50 200.7 322.1 9.1 821 8202 0.00 2.35 19.27 0.942 4 0.000 0.076 2832 3822 2095 0 0 0 0 0 0

8381 0.50 200.7 299.4 11.5 839 8389 0.00 2.17 0.00 0.000 6 0.000 0.054 2841 2508 2091 0 0 0 0 0 0

8709 0.50 200.7 264.7 11.2 870 8713 0.00 2.17 0.00 0.000 4 0.000 0.075 2840 3813 2090 0 0 0 0 0 0

8842 0.49 200.7 247.7 11.8 881 8849 0.00 2.15 0.00 0.000 6 0.000 0.056 2849 2488 2089 0 0 0 0 0 0

9167 0.49 206.0 213.7 9.8 912 9180 0.00 2.25 4.97 0.733 4 0.000 0.075 2849 3816 2074 0 0 0 0 0 0

9420 0.48 206.0 185.1 12.3 934 9428 0.10 2.15 0.00 0.000 6 0.206 0.055 2833 2500 2074 0 0 0 0 0 0

9746 0.54 227.4 156.4 9.0 965 9772 0.00 2.28 19.92 0.869 4 0.000 0.075 2833 3815 1987 0 0 0 0 0 0

9883 0.55 227.4 142.7 10.4 977 9891 0.00 2.17 0.00 0.000 6 0.000 0.055 2839 2499 1984 0 0 0 0 0 0

10209 0.62 256.9 115.2 8.6 1008 10243 0.00 2.28 25.98 0.855 4 0.000 0.076 2839 3815 1866 0 0 0 0 0 0

10300 0.64 256.9 106.8 10.2 1016 10304 0.00 2.17 0.00 0.000 6 0.000 0.056 2848 2494 1862 0 0 0 0 0 0

10640 0.74 306.9 79.2 7.7 1069 10693 0.17 2.35 42.53 0.836 4 0.108 0.075 2910 3812 1661 0 0 0 0 0 0

10851 0.73 306.9 52.8 12.9 1106 10858 0.00 2.17 0.00 0.000 6 0.000 0.057 2919 2502 1655 0 0 0 0 0 0

11198 0.79 349.0 18.9 8.1 1167 11240 0.00 2.28 34.55 0.806 4 0.000 0.073 2919 3822 1490 0 0 0 0 0 0

11369 end climb: SURFACE_DEPTH_REACHED

state 11369 begin surface coast

11404 end surface coast: CONTROL_FINISHED_OK

state 11404 begin surface

ID	184	HD_C	9.9999997e-06	ROLL_MIN	223	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3813	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING	180	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4708	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12223	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	50	SM_CC	400	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.5
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2914	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	50000	PITCH_VBD_SHIFT	0.00125	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	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	-33812.152	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	80
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3934	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2670	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043635513
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.061352	SEABIRD_T_H	0.0006292222
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001157311	SEABIRD_T_I	2.4569574e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6955906e-06
MASS	51696	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.09016
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1251791
FERRY_MAX	45	PITCH_AD_RATE	170	COMPASS_USE	1	SEABIRD_C_I	-0.0014842621
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019950744
HD_A	0.003	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	160910,014646,6643.197,-6008.568,12,4.1,31,-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	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,015128,6643.130,-6008.461,16,4.3,35,-38.0	MHEAD_RNG_PITCHd_Wd	315.2,12932,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	570

FINISH	0.1,1.016090	_24V_AH	23.1,2.861
SM_CCo	11420,44.60,0.631,3,0,1282,400.08	_10V_AH	10.2,2.208
SM_GC	1.16,0.00,0.00,44.60,0.000,0.000,0.631,150,2588,1282,-7.88,-0.34,400.08	FG_AHR_24Vo	0.000
RAFOS_CLK	361	FG_AHR_10Vo	0.000
RAFOS	0,1284609662,4.033333,4.017222,59,59,58,57,56,55,198,634,215,217,148,190	MEM	151692
RAFOS_FIX	6642.505371,-6005.817871,160910,040417,6,100,0.24	DATA_FILE_SIZE	46768,1203
IRIDIUM_FIX	6620.33,-6013.28,150910,232357	CAP_FILE_SIZE	138337,0
TT8_MAMPS	0.027713	CFSIZE	260165632,250707968
HUMID	51.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
INTERNAL_PRESSURE	8.83813	SOUNDSPEED	1453.1
TCM_TEMP	14.60	GPS	160910,050500,6642.293,-6011.466,39,1.5,45,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	283	138.83	SBE_CT	858	24	476.08
Roll_motor	104	94	229.97	SBE_O2	869	19	381.50
VBD_pump_during_apogee	432	1113	11129.45	nil	0	0	0.00
VBD_pump_during_surface	44	631	650.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.61	nil	0	0	0.00
Iridium_during_connect	37	160	139.55	nil	0	0	0.00
Iridium_during_xfer	97	223	501.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	18.95
TT8	2922	19	593.85
LPSleep	5840	2	137.62
TT8_Active	590	19	120.03
TT8_Sampling	2331	39	949.34
TT8_CF8	105	45	49.46
TT8_Kalman	0	0	0.00
Analog_circuits	1710	12	209.38
GPS_charging	0	0	0.00
Compass	2108	15	322.53
RAFOS	2520	3	77.11
Transponder	0	5	0.03

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
15	-0.66	-146.0	0.0	0.0	0	110	0.00	0.00	-93.07	0.000	2	0.000	0.000	151	2612	3139	0	0	0	0	0	0
112	-0.66	-146.0	5.4	-14.9	16	138	10.70	2.03	-6.93	0.000	4	0.284	0.093	2444	3812	3514	0	0	0	0	0	0
217	-0.64	-146.0	31.0	-12.7	34	224	0.00	1.98	0.00	0.000	6	0.000	0.054	2444	2598	3515	0	0	0	0	0	0
562	-0.65	-146.0	71.4	-9.3	95	569	0.00	2.03	0.00	0.000	4	0.000	0.080	2435	3804	3516	0	0	0	0	0	0
738	-0.65	-146.0	89.4	-10.7	126	745	0.00	1.95	0.00	0.000	6	0.000	0.053	2435	2591	3515	0	0	0	0	0	0
1074	-0.65	-146.0	125.3	-10.3	166	1078	0.00	2.03	0.00	0.000	4	0.000	0.082	2425	3805	3516	0	0	0	0	0	0
1191	-0.66	-146.0	137.3	-9.9	176	1198	0.00	1.95	0.00	0.000	6	0.000	0.053	2426	2594	3515	0	0	0	0	0	0
1515	-0.66	-146.0	173.2	-11.6	207	1520	0.12	2.05	0.00	0.000	4	0.194	0.082	2448	3804	3515	0	0	0	0	0	0
1565	-0.70	-146.0	178.4	-9.9	211	1572	0.00	1.92	0.00	0.000	6	0.000	0.052	2448	2592	3515	0	0	0	0	0	0
1890	-0.73	-146.0	208.6	-9.3	242	1894	0.00	2.03	0.00	0.000	4	0.000	0.083	2439	3813	3515	0	0	0	0	0	0
2014	-0.77	-146.0	220.7	-9.5	253	2018	0.00	1.92	0.00	0.000	6	0.000	0.052	2439	2596	3514	0	0	0	0	0	0
2345	-0.80	-146.0	250.6	-8.6	284	2349	0.00	2.03	0.00	0.000	4	0.000	0.083	2431	3811	3514	0	0	0	0	0	0
2424	-0.82	-146.0	257.5	-9.1	291	2428	0.00	1.92	0.00	0.000	6	0.000	0.053	2430	2606	3514	0	0	0	0	0	0
2754	-0.85	-146.0	284.3	-7.7	322	2758	0.10	2.00	0.00	0.000	4	0.134	0.082	2389	3807	3513	0	0	0	0	0	0
2888	-0.85	-146.0	297.3	-9.3	334	2892	0.00	1.90	0.00	0.000	6	0.000	0.052	2389	2598	3513	0	0	0	0	0	0
3217	-0.85	-146.0	329.8	-9.8	365	3221	0.00	2.00	0.00	0.000	4	0.000	0.081	2380	3813	3513	0	0	0	0	0	0
3274	-0.85	-146.0	336.1	-11.5	370	3277	0.00	1.92	0.00	0.000	6	0.000	0.052	2380	2592	3513	0	0	0	0	0	0
3604	-0.84	-146.0	373.1	-11.2	401	3607	0.00	2.00	0.00	0.000	4	0.000	0.080	2371	3812	3513	0	0	0	0	0	0
3717	-0.82	-146.0	386.5	-11.9	411	3722	0.08	1.92	0.00	0.000	6	0.181	0.052	2403	2600	3514	0	0	0	0	0	0
4047	-0.82	-146.0	416.6	-8.4	442	4050	0.00	1.98	0.00	0.000	4	0.000	0.080	2397	3806	3514	0	0	0	0	0	0
4148	-0.83	-146.0	425.8	-9.0	451	4152	0.00	1.90	0.00	0.000	6	0.000	0.051	2397	2593	3514	0	0	0	0	0	0
4478	-0.83	-146.0	455.6	-8.7	482	4482	0.00	1.98	0.00	0.000	4	0.000	0.080	2388	3805	3514	0	0	0	0	0	0
4583	-0.83	-146.0	465.7	-9.4	491	4591	0.00	1.90	0.00	0.000	6	0.000	0.050	2388	2602	3514	0	0	0	0	0	0
4909	-0.83	-146.0	497.7	-10.3	522	4913	0.00	2.00	0.00	0.000	4	0.000	0.080	2379	3813	3515	0	0	0	0	0	0
4979	-0.83	-146.0	505.4	-10.8	528	4987	0.00	1.92	0.00	0.000	6	0.000	0.050	2379	2599	3514	0	0	0	0	0	0
5305	-0.83	-146.0	539.8	-11.1	559	5309	0.00	1.98	0.00	0.000	4	0.000	0.080	2371	3807	3515	0	0	0	0	0	0
5440	-0.82	-146.0	555.0	-11.4	571	5444	0.12	1.90	0.00	0.000	6	0.194	0.053	2400	2596	3515	0	0	0	0	0	0
5598	end dive: TARGET_DEPTH_EXCEEDED
state	5598	begin apogee
5602	-0.14	0.0	570.6	9.4	586	5736	0.70	0.00	127.82	1.113	6	0.153	0.000	2621	2492	2913	0	0	0	0	0	0
5737	end apogee: CONTROL_FINISHED_OK
state	5737	begin climb
5738	0.66	146.0	575.5	0.0	598	5876	0.77	2.55	127.70	1.066	4	0.090	0.078	2886	1096	2318	0	0	0	0	0	0
5888	0.61	146.0	566.9	10.9	612	5892	0.00	2.47	0.00	0.000	6	0.000	0.063	2886	2495	2316	0	0	0	0	0	0
6212	0.56	146.0	527.2	12.3	642	6217	0.12	2.30	0.00	0.000	4	0.195	0.081	2858	3817	2311	0	0	0	0	0	0
6432	0.51	146.0	499.3	12.6	661	6436	0.12	2.17	0.00	0.000	6	0.243	0.057	2842	2499	2309	0	0	0	0	0	0
6756	0.50	146.0	465.8	10.5	691	6760	0.00	2.22	0.00	0.000	4	0.000	0.078	2842	3813	2308	0	0	0	0	0	0
6925	0.46	146.0	446.3	12.2	706	6929	0.00	2.12	0.00	0.000	6	0.000	0.056	2848	2500	2308	0	0	0	0	0	0
7255	0.44	146.0	410.2	10.9	737	7260	0.15	2.22	0.00	0.000	4	0.223	0.078	2816	3822	2308	0	0	0	0	0	0
7388	0.43	146.0	396.0	10.3	748	7396	0.00	2.15	0.00	0.000	6	0.000	0.055	2822	2502	2307	0	0	0	0	0	0
7713	0.46	173.1	366.4	8.7	779	7740	0.00	2.25	22.27	0.974	4	0.000	0.075	2822	3821	2210	0	0	0	0	0	0
7845	0.47	180.2	352.7	9.7	790	7858	0.00	2.20	7.82	0.871	6	0.000	0.054	2832	2494	2179	0	0	0	0	0	0
8176	0.50	200.7	322.1	9.1	821	8202	0.00	2.35	19.27	0.942	4	0.000	0.076	2832	3822	2095	0	0	0	0	0	0
8381	0.50	200.7	299.4	11.5	839	8389	0.00	2.17	0.00	0.000	6	0.000	0.054	2841	2508	2091	0	0	0	0	0	0
8709	0.50	200.7	264.7	11.2	870	8713	0.00	2.17	0.00	0.000	4	0.000	0.075	2840	3813	2090	0	0	0	0	0	0
8842	0.49	200.7	247.7	11.8	881	8849	0.00	2.15	0.00	0.000	6	0.000	0.056	2849	2488	2089	0	0	0	0	0	0
9167	0.49	206.0	213.7	9.8	912	9180	0.00	2.25	4.97	0.733	4	0.000	0.075	2849	3816	2074	0	0	0	0	0	0
9420	0.48	206.0	185.1	12.3	934	9428	0.10	2.15	0.00	0.000	6	0.206	0.055	2833	2500	2074	0	0	0	0	0	0
9746	0.54	227.4	156.4	9.0	965	9772	0.00	2.28	19.92	0.869	4	0.000	0.075	2833	3815	1987	0	0	0	0	0	0
9883	0.55	227.4	142.7	10.4	977	9891	0.00	2.17	0.00	0.000	6	0.000	0.055	2839	2499	1984	0	0	0	0	0	0
10209	0.62	256.9	115.2	8.6	1008	10243	0.00	2.28	25.98	0.855	4	0.000	0.076	2839	3815	1866	0	0	0	0	0	0
10300	0.64	256.9	106.8	10.2	1016	10304	0.00	2.17	0.00	0.000	6	0.000	0.056	2848	2494	1862	0	0	0	0	0	0
10640	0.74	306.9	79.2	7.7	1069	10693	0.17	2.35	42.53	0.836	4	0.108	0.075	2910	3812	1661	0	0	0	0	0	0
10851	0.73	306.9	52.8	12.9	1106	10858	0.00	2.17	0.00	0.000	6	0.000	0.057	2919	2502	1655	0	0	0	0	0	0
11198	0.79	349.0	18.9	8.1	1167	11240	0.00	2.28	34.55	0.806	4	0.000	0.073	2919	3822	1490	0	0	0	0	0	0
11369	end climb: SURFACE_DEPTH_REACHED
state	11369	begin surface coast
11404	end surface coast: CONTROL_FINISHED_OK
state	11404	begin surface