Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 614 * 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 614 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -10231.755 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 -10231.755

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 614 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 291210,001122,6642.535,-6015.641,0,3104.3,0,-38.0 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 40.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -8.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 291210,001122,6642.535,-6015.641,0,3104.3,0,-38.0 MHEAD_RNG_PITCHd_Wd 113.8,154663,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 544

Post-dive calculations and measurements:

FREEZE 1.22,-1.696,-1.688,2,25,1 ALTIM_TOP_PING 19.3,18.6

FINISH 1.2,1.024824 ALTIM_BOTTOM_PING 300.3,12.9

SM_CCo 5611,190.88,0.597,1,0,439,609.08 _24V_AH 22.1,72.527

SM_GC 2.39,0.00,0.00,190.88,0.000,0.000,0.597,299,2789,439,-6.80,0.25,609.08 _10V_AH 9.7,50.765

RAFOS_CLK 353 FG_AHR_24Vo 0.000

RAFOS 0,1293595263,4.033333,4.017500,75,46,43,41,41,40,619,1070,348,503,1733,1154 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.484375,-6012.286621,291210,040459,5,109,0.17 MEM 151700

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 23395,635

TT8_MAMPS 0.02996 CAP_FILE_SIZE 71691,0

HUMID 46.88 CFSIZE 260165632,207867904

INTERNAL_PRESSURE 8.407 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 14.00 SOUNDSPEED 1444.6

XPDR_PINGS 0 GPS 291210,041859,6642.484,-6012.287,0,5108.8,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 173 36.46 SBE_CT 440 24 233.57

Roll_motor 45 172 171.27 SBE_O2 0 0 0.00

VBD_pump_during_apogee 442 816 7986.87 nil 0 0 0.00

VBD_pump_during_surface 190 597 2520.31 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 0 420 6.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1507 19 291.29

LPSleep 2608 2 58.45

TT8_Active 607 19 117.46

TT8_Sampling 1038 39 402.08

TT8_CF8 123 45 54.83

TT8_Kalman 0 0 0.00

Analog_circuits 1197 12 139.38

GPS_charging 0 0 0.00

Compass 1037 15 151.00

RAFOS 2160 3 62.86

Transponder 7 30 2.06

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

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -6.15 0.000 2 0.000 0.000 2487 1193 3034 0 0 0 0 0 0

28 -0.57 -146.0 41.6 -0.0 1 41 0.52 0.28 -5.47 0.000 4 0.086 0.172 2294 1372 3524 0 0 0 0 0 0

121 -0.57 -146.0 52.4 -12.9 17 128 0.00 2.33 0.00 0.000 6 0.000 0.063 2293 2777 3526 0 0 0 0 0 0

467 -0.57 -146.0 92.8 -11.0 78 474 0.00 2.25 0.00 0.000 4 0.000 0.052 2293 1374 3525 0 0 0 0 0 0

528 -0.62 -146.0 99.3 -10.4 88 535 0.00 2.33 0.00 0.000 6 0.000 0.065 2292 2772 3525 0 0 0 0 0 0

856 -0.65 -146.0 132.1 -9.5 119 860 0.00 2.25 0.00 0.000 4 0.000 0.053 2292 1371 3525 0 0 0 0 0 0

909 -0.71 -146.0 137.4 -9.6 123 913 0.15 2.35 0.00 0.000 6 0.096 0.064 2228 2769 3525 0 0 0 0 0 0

1239 -0.64 -146.0 183.8 -13.8 154 1241 0.15 0.00 0.00 0.000 6 0.174 0.000 2269 2769 3525 0 0 0 0 0 0

1558 -0.64 -146.0 217.5 -10.6 184 1562 0.00 2.25 0.00 0.000 4 0.000 0.053 2269 1368 3524 0 0 0 0 0 0

1625 -0.68 -146.0 224.4 -9.8 189 1632 0.00 2.35 0.00 0.000 6 0.000 0.066 2266 2761 3524 0 0 0 0 0 0

1951 -0.70 -146.0 258.3 -10.0 220 1955 0.00 2.22 0.00 0.000 4 0.000 0.052 2265 1375 3524 0 0 0 0 0 0

1995 -0.75 -146.0 263.1 -9.8 223 2002 0.00 2.30 0.00 0.000 6 0.000 0.065 2265 2749 3524 0 0 0 0 0 0

2321 -0.78 -146.0 293.1 -8.8 254 2323 0.12 0.00 0.00 0.000 6 0.111 0.000 2211 2749 3524 0 0 0 0 0 0

2384 end dive: BOTTOM_OBSTACLE_DETECTED

state 2384 begin apogee

2390 -0.14 0.0 300.3 12.0 260 2517 0.68 0.00 119.70 0.816 4 0.151 0.000 2418 2598 2923 0 0 0 0 0 0

2518 end apogee: CONTROL_FINISHED_OK

state 2518 begin climb

2520 0.57 146.0 305.2 0.0 271 2659 0.73 2.42 124.72 0.791 4 0.089 0.053 2662 1181 2326 0 0 0 0 0 0

2790 0.58 156.9 288.6 9.5 295 2808 0.00 2.47 9.12 0.719 6 0.000 0.058 2662 2600 2285 0 0 0 0 0 0

3126 0.59 174.1 255.7 9.2 327 3149 0.00 2.35 15.70 0.760 4 0.000 0.054 2662 1180 2215 0 0 0 0 0 0

3313 0.64 191.0 238.9 9.2 343 3334 0.00 2.38 16.33 0.752 6 0.000 0.059 2661 2602 2143 0 0 0 0 0 0

3662 0.68 212.8 205.9 9.0 376 3688 0.00 2.30 19.55 0.744 4 0.000 0.072 2661 3919 2054 0 0 0 0 0 0

3719 0.68 212.8 200.3 10.5 381 3723 0.00 2.15 0.00 0.000 6 0.000 0.047 2662 2600 2050 0 0 0 0 0 0

4045 0.74 242.8 171.8 8.6 411 4080 0.15 2.30 26.30 0.731 4 0.103 0.054 2723 1187 1932 0 0 0 0 0 0

4107 0.74 242.8 164.5 11.6 416 4114 0.00 2.38 0.00 0.000 6 0.000 0.058 2722 2614 1929 0 0 0 0 0 0

4433 0.72 242.8 123.7 12.0 447 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2614 1926 0 0 0 0 0 0

4758 0.72 242.8 86.0 11.1 488 4764 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2614 1924 0 0 0 0 0 0

5103 0.79 326.1 54.0 6.2 549 5183 0.00 2.45 70.05 0.668 4 0.000 0.055 2723 1186 1591 0 0 0 0 0 0

5260 0.95 375.5 42.2 7.7 576 5308 0.17 2.40 41.28 0.651 6 0.090 0.060 2790 2625 1391 0 0 0 0 0 0

5572 end climb: SURFACE_DEPTH_REACHED

state 5572 begin surface coast

5594 end surface coast: CONTROL_FINISHED_OK

state 5594 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	614	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-10231.755	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	291210,001122,6642.535,-6015.641,0,3104.3,0,-38.0	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	40.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-8.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	291210,001122,6642.535,-6015.641,0,3104.3,0,-38.0	MHEAD_RNG_PITCHd_Wd	113.8,154663,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	544

FREEZE	1.22,-1.696,-1.688,2,25,1	ALTIM_TOP_PING	19.3,18.6
FINISH	1.2,1.024824	ALTIM_BOTTOM_PING	300.3,12.9
SM_CCo	5611,190.88,0.597,1,0,439,609.08	_24V_AH	22.1,72.527
SM_GC	2.39,0.00,0.00,190.88,0.000,0.000,0.597,299,2789,439,-6.80,0.25,609.08	_10V_AH	9.7,50.765
RAFOS_CLK	353	FG_AHR_24Vo	0.000
RAFOS	0,1293595263,4.033333,4.017500,75,46,43,41,41,40,619,1070,348,503,1733,1154	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.484375,-6012.286621,291210,040459,5,109,0.17	MEM	151700
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	23395,635
TT8_MAMPS	0.02996	CAP_FILE_SIZE	71691,0
HUMID	46.88	CFSIZE	260165632,207867904
INTERNAL_PRESSURE	8.407	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	14.00	SOUNDSPEED	1444.6
XPDR_PINGS	0	GPS	291210,041859,6642.484,-6012.287,0,5108.8,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	173	36.46	SBE_CT	440	24	233.57
Roll_motor	45	172	171.27	SBE_O2	0	0	0.00
VBD_pump_during_apogee	442	816	7986.87	nil	0	0	0.00
VBD_pump_during_surface	190	597	2520.31	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	0	420	6.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1507	19	291.29
LPSleep	2608	2	58.45
TT8_Active	607	19	117.46
TT8_Sampling	1038	39	402.08
TT8_CF8	123	45	54.83
TT8_Kalman	0	0	0.00
Analog_circuits	1197	12	139.38
GPS_charging	0	0	0.00
Compass	1037	15	151.00
RAFOS	2160	3	62.86
Transponder	7	30	2.06

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
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-6.15	0.000	2	0.000	0.000	2487	1193	3034	0	0	0	0	0	0
28	-0.57	-146.0	41.6	-0.0	1	41	0.52	0.28	-5.47	0.000	4	0.086	0.172	2294	1372	3524	0	0	0	0	0	0
121	-0.57	-146.0	52.4	-12.9	17	128	0.00	2.33	0.00	0.000	6	0.000	0.063	2293	2777	3526	0	0	0	0	0	0
467	-0.57	-146.0	92.8	-11.0	78	474	0.00	2.25	0.00	0.000	4	0.000	0.052	2293	1374	3525	0	0	0	0	0	0
528	-0.62	-146.0	99.3	-10.4	88	535	0.00	2.33	0.00	0.000	6	0.000	0.065	2292	2772	3525	0	0	0	0	0	0
856	-0.65	-146.0	132.1	-9.5	119	860	0.00	2.25	0.00	0.000	4	0.000	0.053	2292	1371	3525	0	0	0	0	0	0
909	-0.71	-146.0	137.4	-9.6	123	913	0.15	2.35	0.00	0.000	6	0.096	0.064	2228	2769	3525	0	0	0	0	0	0
1239	-0.64	-146.0	183.8	-13.8	154	1241	0.15	0.00	0.00	0.000	6	0.174	0.000	2269	2769	3525	0	0	0	0	0	0
1558	-0.64	-146.0	217.5	-10.6	184	1562	0.00	2.25	0.00	0.000	4	0.000	0.053	2269	1368	3524	0	0	0	0	0	0
1625	-0.68	-146.0	224.4	-9.8	189	1632	0.00	2.35	0.00	0.000	6	0.000	0.066	2266	2761	3524	0	0	0	0	0	0
1951	-0.70	-146.0	258.3	-10.0	220	1955	0.00	2.22	0.00	0.000	4	0.000	0.052	2265	1375	3524	0	0	0	0	0	0
1995	-0.75	-146.0	263.1	-9.8	223	2002	0.00	2.30	0.00	0.000	6	0.000	0.065	2265	2749	3524	0	0	0	0	0	0
2321	-0.78	-146.0	293.1	-8.8	254	2323	0.12	0.00	0.00	0.000	6	0.111	0.000	2211	2749	3524	0	0	0	0	0	0
2384	end dive: BOTTOM_OBSTACLE_DETECTED
state	2384	begin apogee
2390	-0.14	0.0	300.3	12.0	260	2517	0.68	0.00	119.70	0.816	4	0.151	0.000	2418	2598	2923	0	0	0	0	0	0
2518	end apogee: CONTROL_FINISHED_OK
state	2518	begin climb
2520	0.57	146.0	305.2	0.0	271	2659	0.73	2.42	124.72	0.791	4	0.089	0.053	2662	1181	2326	0	0	0	0	0	0
2790	0.58	156.9	288.6	9.5	295	2808	0.00	2.47	9.12	0.719	6	0.000	0.058	2662	2600	2285	0	0	0	0	0	0
3126	0.59	174.1	255.7	9.2	327	3149	0.00	2.35	15.70	0.760	4	0.000	0.054	2662	1180	2215	0	0	0	0	0	0
3313	0.64	191.0	238.9	9.2	343	3334	0.00	2.38	16.33	0.752	6	0.000	0.059	2661	2602	2143	0	0	0	0	0	0
3662	0.68	212.8	205.9	9.0	376	3688	0.00	2.30	19.55	0.744	4	0.000	0.072	2661	3919	2054	0	0	0	0	0	0
3719	0.68	212.8	200.3	10.5	381	3723	0.00	2.15	0.00	0.000	6	0.000	0.047	2662	2600	2050	0	0	0	0	0	0
4045	0.74	242.8	171.8	8.6	411	4080	0.15	2.30	26.30	0.731	4	0.103	0.054	2723	1187	1932	0	0	0	0	0	0
4107	0.74	242.8	164.5	11.6	416	4114	0.00	2.38	0.00	0.000	6	0.000	0.058	2722	2614	1929	0	0	0	0	0	0
4433	0.72	242.8	123.7	12.0	447	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2614	1926	0	0	0	0	0	0
4758	0.72	242.8	86.0	11.1	488	4764	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2614	1924	0	0	0	0	0	0
5103	0.79	326.1	54.0	6.2	549	5183	0.00	2.45	70.05	0.668	4	0.000	0.055	2723	1186	1591	0	0	0	0	0	0
5260	0.95	375.5	42.2	7.7	576	5308	0.17	2.40	41.28	0.651	6	0.090	0.060	2790	2625	1391	0	0	0	0	0	0
5572	end climb: SURFACE_DEPTH_REACHED
state	5572	begin surface coast
5594	end surface coast: CONTROL_FINISHED_OK
state	5594	begin surface