Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 609 * 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 609 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 20 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 20 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 609 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 281210,122913,6643.751,-6007.282,0,5123.2,0,-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 10.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -7.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0 MHEAD_RNG_PITCHd_Wd 309.9,13701,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 585

Post-dive calculations and measurements:

FREEZE 2.53,-1.687,-1.673,2,20,2 ALTIM_TOP_PING 20.0,18.9

FINISH 2.5,1.024597 _24V_AH 21.5,72.039

SM_CCo 11339,217.60,0.600,1,0,440,609.08 _10V_AH 9.7,50.522

SM_GC 2.62,0.00,0.00,217.60,0.000,0.000,0.600,314,2791,440,-6.76,0.31,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 678 FG_AHR_10Vo 0.000

RAFOS 0,1293552083,16.033333,16.023056,119,45,43,43,40,40,514,1180,1046,1628,173,1265 MEM 151756

RAFOS_FIX 6643.491211,-6009.707031,281210,161636,5,115,0.13 DATA_FILE_SIZE 33385,936

IRIDIUM_FIX 6631.12,-5905.01,251210,111108 CAP_FILE_SIZE 120544,0

TT8_MAMPS 0.029211 CFSIZE 260165632,208068608

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.407 SOUNDSPEED 1449.1

TCM_TEMP 14.00 GPS 281210,162236,6643.491,-6009.707,0,5114.8,0,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 205 53.56 SBE_CT 653 24 337.41

Roll_motor 92 76 152.47 SBE_O2 0 0 0.00

VBD_pump_during_apogee 430 976 9050.91 nil 0 0 0.00

VBD_pump_during_surface 217 599 2805.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 15.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2348 19 453.78

LPSleep 6784 2 152.02

TT8_Active 669 19 129.38

TT8_Sampling 1641 39 635.57

TT8_CF8 199 45 88.91

TT8_Kalman 0 0 0.00

Analog_circuits 1571 12 182.88

GPS_charging 0 0 0.00

Compass 1625 15 236.44

RAFOS 2520 3 73.33

Transponder 13 30 3.85

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 -6.43 0.000 2 0.000 0.000 2508 3929 2645 0 0 0 0 0 0

28 -0.57 -146.0 12.1 -0.0 1 58 0.57 4.30 -18.67 0.000 4 0.083 0.060 2293 1369 3523 0 0 0 0 0 0

229 -0.57 -146.0 42.1 -13.6 36 235 0.00 2.38 0.00 0.000 6 0.000 0.066 2293 2780 3525 0 0 0 0 0 0

574 -0.57 -146.0 85.6 -10.9 97 581 0.00 2.30 0.00 0.000 4 0.000 0.054 2292 1366 3524 0 0 0 0 0 0

612 -0.59 -146.0 89.8 -11.3 103 618 0.00 2.38 0.00 0.000 6 0.000 0.066 2292 2778 3524 0 0 0 0 0 0

944 -0.62 -146.0 124.7 -10.1 142 948 0.00 1.98 0.00 0.000 4 0.000 0.076 2286 3931 3525 0 0 0 0 0 0

972 -0.66 -146.0 127.9 -10.5 144 979 0.00 1.88 0.00 0.000 6 0.000 0.051 2286 2777 3524 0 0 0 0 0 0

1299 -0.69 -146.0 161.1 -9.8 175 1301 0.10 0.00 0.00 0.000 6 0.122 0.000 2243 2777 3523 0 0 0 0 0 0

1616 -0.66 -146.0 200.1 -12.1 205 1620 0.00 2.25 0.00 0.000 4 0.000 0.053 2243 1371 3523 0 0 0 0 0 0

1639 -0.62 -146.0 202.8 -11.4 207 1644 0.12 2.35 0.00 0.000 6 0.184 0.065 2267 2770 3523 0 0 0 0 0 0

1965 -0.65 -146.0 234.9 -9.1 237 1966 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2770 3523 0 0 0 0 0 0

2288 -0.68 -146.0 262.5 -8.2 267 2295 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2771 3523 0 0 0 0 0 0

2615 -0.72 -146.0 290.1 -8.6 298 2616 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2770 3523 0 0 0 0 0 0

2934 -0.76 -146.0 316.1 -8.0 328 2941 0.12 0.00 0.00 0.000 6 0.109 0.000 2217 2770 3523 0 0 0 0 0 0

3260 -0.71 -146.0 353.0 -11.9 359 3264 0.00 2.25 0.00 0.000 4 0.000 0.053 2217 1370 3523 0 0 0 0 0 0

3293 -0.67 -146.0 356.9 -10.6 361 3300 0.15 2.35 0.00 0.000 6 0.176 0.066 2256 2766 3523 0 0 0 0 0 0

3619 -0.70 -146.0 383.8 -8.4 392 3623 0.00 2.00 0.00 0.000 4 0.000 0.076 2250 3931 3523 0 0 0 0 0 0

3655 -0.72 -146.0 386.9 -8.5 395 3658 0.00 1.88 0.00 0.000 6 0.000 0.050 2250 2766 3523 0 0 0 0 0 0

3991 -0.75 -146.0 416.3 -8.6 415 3992 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2765 3523 0 0 0 0 0 0

4296 -0.77 -146.0 442.0 -8.4 425 4300 0.00 2.22 0.00 0.000 4 0.000 0.051 2250 1368 3524 0 0 0 0 0 0

4330 -0.81 -146.0 445.1 -8.4 426 4335 0.10 2.35 0.00 0.000 6 0.114 0.064 2202 2767 3524 0 0 0 0 0 0

4660 -0.74 -146.0 482.1 -11.4 437 4662 0.12 0.00 0.00 0.000 6 0.187 0.000 2233 2767 3523 0 0 0 0 0 0

4967 -0.74 -146.0 510.7 -9.2 447 4968 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2767 3524 0 0 0 0 0 0

5272 -0.74 -146.0 539.2 -9.3 457 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2768 3525 0 0 0 0 0 0

5579 -0.74 -146.0 567.4 -9.3 467 5583 0.00 2.25 0.00 0.000 4 0.000 0.051 2233 1360 3524 0 0 0 0 0 0

5612 -0.74 -146.0 570.8 -9.8 468 5616 0.00 2.35 0.00 0.000 6 0.000 0.063 2233 2762 3525 0 0 0 0 0 0

5785 end dive: TARGET_DEPTH_EXCEEDED

state 5785 begin apogee

5791 -0.14 0.0 586.7 9.2 474 5920 0.57 0.00 124.05 0.977 4 0.136 0.000 2420 2595 2923 0 0 0 0 0 0

5921 end apogee: CONTROL_FINISHED_OK

state 5921 begin climb

5923 0.57 146.0 589.8 0.0 478 6063 0.70 2.42 130.65 0.949 4 0.073 0.050 2661 1186 2327 0 0 0 0 0 0

6288 0.57 146.0 561.4 10.2 489 6292 0.00 2.42 0.00 0.000 6 0.000 0.057 2661 2600 2318 0 0 0 0 0 0

6618 0.53 146.0 525.1 10.9 500 6622 0.00 2.33 0.00 0.000 4 0.000 0.054 2662 1180 2315 0 0 0 0 0 0

6797 0.53 146.0 506.5 10.1 505 6802 0.00 2.38 0.00 0.000 6 0.000 0.058 2662 2613 2315 0 0 0 0 0 0

7116 0.48 146.0 471.4 11.2 516 7121 0.12 2.22 0.00 0.000 4 0.205 0.070 2631 3928 2314 0 0 0 0 0 0

7171 0.45 146.0 464.9 11.4 517 7178 0.00 2.15 0.00 0.000 6 0.000 0.046 2631 2599 2313 0 0 0 0 0 0

7488 0.46 162.2 435.5 9.3 528 7508 0.00 2.33 13.02 0.849 4 0.000 0.053 2631 1193 2261 0 0 0 0 0 0

7543 0.55 187.4 430.0 8.8 529 7572 0.00 2.35 23.38 0.856 6 0.000 0.057 2631 2613 2158 0 0 0 0 0 0

7886 0.60 195.5 397.4 9.6 542 7899 0.10 2.30 7.70 0.773 4 0.119 0.070 2677 3932 2125 0 0 0 0 0 0

7951 0.52 195.5 388.3 15.4 547 7959 0.15 2.12 0.00 0.000 6 0.197 0.046 2643 2612 2123 0 0 0 0 0 0

8277 0.55 195.9 354.4 10.0 578 8281 0.00 2.28 0.00 0.000 4 0.000 0.054 2643 1194 2123 0 0 0 0 0 0

8324 0.63 195.9 349.8 10.2 582 8329 0.10 2.35 0.00 0.000 6 0.118 0.057 2683 2622 2123 0 0 0 0 0 0

8651 0.60 195.9 310.9 11.3 612 8655 0.00 2.20 0.00 0.000 4 0.000 0.069 2683 3928 2122 0 0 0 0 0 0

8707 0.52 195.9 303.0 13.5 616 8714 0.17 2.12 0.00 0.000 6 0.191 0.046 2643 2612 2121 0 0 0 0 0 0

9033 0.58 238.2 275.3 8.0 647 9078 0.00 2.33 37.40 0.783 4 0.000 0.053 2643 1188 1952 0 0 0 0 0 0

9116 0.74 303.8 269.5 7.0 654 9183 0.20 2.35 57.22 0.767 6 0.086 0.056 2723 2617 1683 0 0 0 0 0 0

9501 0.74 303.8 216.6 14.3 690 9505 0.00 2.22 0.00 0.000 4 0.000 0.068 2723 3931 1672 0 0 0 0 0 0

9541 0.71 303.8 210.1 16.5 693 9545 0.00 2.15 0.00 0.000 6 0.000 0.046 2724 2612 1671 0 0 0 0 0 0

9866 0.71 303.8 163.7 13.5 723 9870 0.00 2.30 0.00 0.000 4 0.000 0.056 2725 1187 1669 0 0 0 0 0 0

9900 0.75 303.8 159.3 12.4 725 9907 0.00 2.33 0.00 0.000 6 0.000 0.057 2725 2602 1669 0 0 0 0 0 0

10225 0.75 303.8 117.5 12.7 756 10226 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2602 1668 0 0 0 0 0 0

10558 0.77 303.8 79.0 10.9 802 10564 0.00 2.25 0.00 0.000 4 0.000 0.071 2725 3926 1667 0 0 0 0 0 0

10588 0.77 303.8 74.8 12.9 807 10595 0.00 2.15 0.00 0.000 6 0.000 0.047 2725 2600 1667 0 0 0 0 0 0

10936 0.85 311.2 40.7 9.7 868 10949 0.00 2.33 4.85 0.589 4 0.000 0.056 2724 1188 1654 0 0 0 0 0 0

10997 0.97 347.9 35.5 8.3 878 11039 0.17 2.28 32.65 0.663 6 0.091 0.057 2792 2582 1505 0 0 0 0 0 0

11293 end climb: SURFACE_DEPTH_REACHED

state 11293 begin surface coast

11321 end surface coast: CONTROL_FINISHED_OK

state 11321 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	609	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	20	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	281210,122913,6643.751,-6007.282,0,5123.2,0,-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	10.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-7.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0	MHEAD_RNG_PITCHd_Wd	309.9,13701,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	585

FREEZE	2.53,-1.687,-1.673,2,20,2	ALTIM_TOP_PING	20.0,18.9
FINISH	2.5,1.024597	_24V_AH	21.5,72.039
SM_CCo	11339,217.60,0.600,1,0,440,609.08	_10V_AH	9.7,50.522
SM_GC	2.62,0.00,0.00,217.60,0.000,0.000,0.600,314,2791,440,-6.76,0.31,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	678	FG_AHR_10Vo	0.000
RAFOS	0,1293552083,16.033333,16.023056,119,45,43,43,40,40,514,1180,1046,1628,173,1265	MEM	151756
RAFOS_FIX	6643.491211,-6009.707031,281210,161636,5,115,0.13	DATA_FILE_SIZE	33385,936
IRIDIUM_FIX	6631.12,-5905.01,251210,111108	CAP_FILE_SIZE	120544,0
TT8_MAMPS	0.029211	CFSIZE	260165632,208068608
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.407	SOUNDSPEED	1449.1
TCM_TEMP	14.00	GPS	281210,162236,6643.491,-6009.707,0,5114.8,0,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	205	53.56	SBE_CT	653	24	337.41
Roll_motor	92	76	152.47	SBE_O2	0	0	0.00
VBD_pump_during_apogee	430	976	9050.91	nil	0	0	0.00
VBD_pump_during_surface	217	599	2805.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	15.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2348	19	453.78
LPSleep	6784	2	152.02
TT8_Active	669	19	129.38
TT8_Sampling	1641	39	635.57
TT8_CF8	199	45	88.91
TT8_Kalman	0	0	0.00
Analog_circuits	1571	12	182.88
GPS_charging	0	0	0.00
Compass	1625	15	236.44
RAFOS	2520	3	73.33
Transponder	13	30	3.85

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	-6.43	0.000	2	0.000	0.000	2508	3929	2645	0	0	0	0	0	0
28	-0.57	-146.0	12.1	-0.0	1	58	0.57	4.30	-18.67	0.000	4	0.083	0.060	2293	1369	3523	0	0	0	0	0	0
229	-0.57	-146.0	42.1	-13.6	36	235	0.00	2.38	0.00	0.000	6	0.000	0.066	2293	2780	3525	0	0	0	0	0	0
574	-0.57	-146.0	85.6	-10.9	97	581	0.00	2.30	0.00	0.000	4	0.000	0.054	2292	1366	3524	0	0	0	0	0	0
612	-0.59	-146.0	89.8	-11.3	103	618	0.00	2.38	0.00	0.000	6	0.000	0.066	2292	2778	3524	0	0	0	0	0	0
944	-0.62	-146.0	124.7	-10.1	142	948	0.00	1.98	0.00	0.000	4	0.000	0.076	2286	3931	3525	0	0	0	0	0	0
972	-0.66	-146.0	127.9	-10.5	144	979	0.00	1.88	0.00	0.000	6	0.000	0.051	2286	2777	3524	0	0	0	0	0	0
1299	-0.69	-146.0	161.1	-9.8	175	1301	0.10	0.00	0.00	0.000	6	0.122	0.000	2243	2777	3523	0	0	0	0	0	0
1616	-0.66	-146.0	200.1	-12.1	205	1620	0.00	2.25	0.00	0.000	4	0.000	0.053	2243	1371	3523	0	0	0	0	0	0
1639	-0.62	-146.0	202.8	-11.4	207	1644	0.12	2.35	0.00	0.000	6	0.184	0.065	2267	2770	3523	0	0	0	0	0	0
1965	-0.65	-146.0	234.9	-9.1	237	1966	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2770	3523	0	0	0	0	0	0
2288	-0.68	-146.0	262.5	-8.2	267	2295	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2771	3523	0	0	0	0	0	0
2615	-0.72	-146.0	290.1	-8.6	298	2616	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2770	3523	0	0	0	0	0	0
2934	-0.76	-146.0	316.1	-8.0	328	2941	0.12	0.00	0.00	0.000	6	0.109	0.000	2217	2770	3523	0	0	0	0	0	0
3260	-0.71	-146.0	353.0	-11.9	359	3264	0.00	2.25	0.00	0.000	4	0.000	0.053	2217	1370	3523	0	0	0	0	0	0
3293	-0.67	-146.0	356.9	-10.6	361	3300	0.15	2.35	0.00	0.000	6	0.176	0.066	2256	2766	3523	0	0	0	0	0	0
3619	-0.70	-146.0	383.8	-8.4	392	3623	0.00	2.00	0.00	0.000	4	0.000	0.076	2250	3931	3523	0	0	0	0	0	0
3655	-0.72	-146.0	386.9	-8.5	395	3658	0.00	1.88	0.00	0.000	6	0.000	0.050	2250	2766	3523	0	0	0	0	0	0
3991	-0.75	-146.0	416.3	-8.6	415	3992	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	2765	3523	0	0	0	0	0	0
4296	-0.77	-146.0	442.0	-8.4	425	4300	0.00	2.22	0.00	0.000	4	0.000	0.051	2250	1368	3524	0	0	0	0	0	0
4330	-0.81	-146.0	445.1	-8.4	426	4335	0.10	2.35	0.00	0.000	6	0.114	0.064	2202	2767	3524	0	0	0	0	0	0
4660	-0.74	-146.0	482.1	-11.4	437	4662	0.12	0.00	0.00	0.000	6	0.187	0.000	2233	2767	3523	0	0	0	0	0	0
4967	-0.74	-146.0	510.7	-9.2	447	4968	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2767	3524	0	0	0	0	0	0
5272	-0.74	-146.0	539.2	-9.3	457	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2768	3525	0	0	0	0	0	0
5579	-0.74	-146.0	567.4	-9.3	467	5583	0.00	2.25	0.00	0.000	4	0.000	0.051	2233	1360	3524	0	0	0	0	0	0
5612	-0.74	-146.0	570.8	-9.8	468	5616	0.00	2.35	0.00	0.000	6	0.000	0.063	2233	2762	3525	0	0	0	0	0	0
5785	end dive: TARGET_DEPTH_EXCEEDED
state	5785	begin apogee
5791	-0.14	0.0	586.7	9.2	474	5920	0.57	0.00	124.05	0.977	4	0.136	0.000	2420	2595	2923	0	0	0	0	0	0
5921	end apogee: CONTROL_FINISHED_OK
state	5921	begin climb
5923	0.57	146.0	589.8	0.0	478	6063	0.70	2.42	130.65	0.949	4	0.073	0.050	2661	1186	2327	0	0	0	0	0	0
6288	0.57	146.0	561.4	10.2	489	6292	0.00	2.42	0.00	0.000	6	0.000	0.057	2661	2600	2318	0	0	0	0	0	0
6618	0.53	146.0	525.1	10.9	500	6622	0.00	2.33	0.00	0.000	4	0.000	0.054	2662	1180	2315	0	0	0	0	0	0
6797	0.53	146.0	506.5	10.1	505	6802	0.00	2.38	0.00	0.000	6	0.000	0.058	2662	2613	2315	0	0	0	0	0	0
7116	0.48	146.0	471.4	11.2	516	7121	0.12	2.22	0.00	0.000	4	0.205	0.070	2631	3928	2314	0	0	0	0	0	0
7171	0.45	146.0	464.9	11.4	517	7178	0.00	2.15	0.00	0.000	6	0.000	0.046	2631	2599	2313	0	0	0	0	0	0
7488	0.46	162.2	435.5	9.3	528	7508	0.00	2.33	13.02	0.849	4	0.000	0.053	2631	1193	2261	0	0	0	0	0	0
7543	0.55	187.4	430.0	8.8	529	7572	0.00	2.35	23.38	0.856	6	0.000	0.057	2631	2613	2158	0	0	0	0	0	0
7886	0.60	195.5	397.4	9.6	542	7899	0.10	2.30	7.70	0.773	4	0.119	0.070	2677	3932	2125	0	0	0	0	0	0
7951	0.52	195.5	388.3	15.4	547	7959	0.15	2.12	0.00	0.000	6	0.197	0.046	2643	2612	2123	0	0	0	0	0	0
8277	0.55	195.9	354.4	10.0	578	8281	0.00	2.28	0.00	0.000	4	0.000	0.054	2643	1194	2123	0	0	0	0	0	0
8324	0.63	195.9	349.8	10.2	582	8329	0.10	2.35	0.00	0.000	6	0.118	0.057	2683	2622	2123	0	0	0	0	0	0
8651	0.60	195.9	310.9	11.3	612	8655	0.00	2.20	0.00	0.000	4	0.000	0.069	2683	3928	2122	0	0	0	0	0	0
8707	0.52	195.9	303.0	13.5	616	8714	0.17	2.12	0.00	0.000	6	0.191	0.046	2643	2612	2121	0	0	0	0	0	0
9033	0.58	238.2	275.3	8.0	647	9078	0.00	2.33	37.40	0.783	4	0.000	0.053	2643	1188	1952	0	0	0	0	0	0
9116	0.74	303.8	269.5	7.0	654	9183	0.20	2.35	57.22	0.767	6	0.086	0.056	2723	2617	1683	0	0	0	0	0	0
9501	0.74	303.8	216.6	14.3	690	9505	0.00	2.22	0.00	0.000	4	0.000	0.068	2723	3931	1672	0	0	0	0	0	0
9541	0.71	303.8	210.1	16.5	693	9545	0.00	2.15	0.00	0.000	6	0.000	0.046	2724	2612	1671	0	0	0	0	0	0
9866	0.71	303.8	163.7	13.5	723	9870	0.00	2.30	0.00	0.000	4	0.000	0.056	2725	1187	1669	0	0	0	0	0	0
9900	0.75	303.8	159.3	12.4	725	9907	0.00	2.33	0.00	0.000	6	0.000	0.057	2725	2602	1669	0	0	0	0	0	0
10225	0.75	303.8	117.5	12.7	756	10226	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2602	1668	0	0	0	0	0	0
10558	0.77	303.8	79.0	10.9	802	10564	0.00	2.25	0.00	0.000	4	0.000	0.071	2725	3926	1667	0	0	0	0	0	0
10588	0.77	303.8	74.8	12.9	807	10595	0.00	2.15	0.00	0.000	6	0.000	0.047	2725	2600	1667	0	0	0	0	0	0
10936	0.85	311.2	40.7	9.7	868	10949	0.00	2.33	4.85	0.589	4	0.000	0.056	2724	1188	1654	0	0	0	0	0	0
10997	0.97	347.9	35.5	8.3	878	11039	0.17	2.28	32.65	0.663	6	0.091	0.057	2792	2582	1505	0	0	0	0	0	0
11293	end climb: SURFACE_DEPTH_REACHED
state	11293	begin surface coast
11321	end surface coast: CONTROL_FINISHED_OK
state	11321	begin surface