Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 638 * 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 638 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -11339.555 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 -11339.555

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 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 638 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 311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8 MHEAD_RNG_PITCHd_Wd 106.3,118993,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 881

Post-dive calculations and measurements:

FREEZE 8.65,-1.757,-1.781,2,4,0 ALTIM_BOTTOM_PING 500.5,9.8

FINISH1 8.6,1.026074,70 _24V_AH 21.6,74.752

FINISH2 7.3 _10V_AH 9.7,51.889

RAFOS_CLK 565 FG_AHR_24Vo 0.000

RAFOS_FIX 6639.487793,-5921.346680,311210,040413,5,88,0.26 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 MEM 151716

TT8_MAMPS 0.029211 DATA_FILE_SIZE 30134,891

HUMID 49.13 CAP_FILE_SIZE 103995,0

INTERNAL_PRESSURE 8.60232 CFSIZE 260165632,206737408

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1448.7

ALTIM_TOP_PING 19.8,18.5 GPS 311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 197 16.09 SBE_CT 622 24 322.49

Roll_motor 88 174 332.57 SBE_O2 0 0 0.00

VBD_pump_during_apogee 386 924 7710.43 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 18.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2194 19 423.99

LPSleep 5290 2 118.55

TT8_Active 416 19 80.54

TT8_Sampling 1540 39 596.68

TT8_CF8 189 45 84.61

TT8_Kalman 0 0 0.00

Analog_circuits 1259 12 146.59

GPS_charging 0 0 0.00

Compass 1526 15 222.03

RAFOS 0 0 0.00

Transponder 16 30 4.94

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 -6.30 0.000 2 0.000 0.000 2500 1193 2879 0 0 0 0 0 0

28 -0.57 -146.0 10.0 -0.0 1 47 0.57 0.30 -15.18 0.000 4 0.109 0.174 2299 1375 3520 0 0 0 0 0 0

164 -0.57 -146.0 23.9 -9.6 24 171 0.00 2.33 0.00 0.000 6 0.000 0.063 2293 2780 3524 0 0 0 0 0 0

509 -0.57 -146.0 68.5 -11.8 85 516 0.00 2.28 0.00 0.000 4 0.000 0.054 2293 1373 3523 0 0 0 0 0 0

558 -0.57 -146.0 74.5 -12.4 93 565 0.00 2.33 0.00 0.000 6 0.000 0.064 2293 2768 3523 0 0 0 0 0 0

906 -0.61 -146.0 109.6 -9.2 146 907 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2769 3523 0 0 0 0 0 0

1226 -0.67 -146.0 138.6 -8.4 176 1230 0.00 2.25 0.00 0.000 4 0.000 0.054 2293 1369 3522 0 0 0 0 0 0

1282 -0.74 -146.0 144.0 -8.6 180 1290 0.17 2.33 0.00 0.000 6 0.091 0.064 2220 2765 3522 0 0 0 0 0 0

1608 -0.67 -146.0 188.7 -14.2 211 1613 0.12 2.28 0.00 0.000 4 0.187 0.053 2253 1366 3522 0 0 0 0 0 0

1641 -0.67 -146.0 193.2 -11.7 213 1648 0.00 2.33 0.00 0.000 6 0.000 0.065 2252 2747 3522 0 0 0 0 0 0

1967 -0.67 -146.0 227.2 -9.7 244 1971 0.00 2.22 0.00 0.000 4 0.000 0.053 2252 1367 3521 0 0 0 0 0 0

1999 -0.67 -146.0 230.6 -9.5 246 2006 0.00 2.30 0.00 0.000 6 0.000 0.064 2252 2745 3521 0 0 0 0 0 0

2325 -0.67 -146.0 259.2 -8.4 277 2329 0.00 2.20 0.00 0.000 4 0.000 0.053 2252 1372 3521 0 0 0 0 0 0

2378 -0.70 -146.0 263.8 -8.7 281 2382 0.00 2.25 0.00 0.000 6 0.000 0.063 2251 2726 3521 0 0 0 0 0 0

2703 -0.70 -146.0 295.2 -10.1 311 2706 0.00 2.20 0.00 0.000 4 0.000 0.053 2251 1371 3520 0 0 0 0 0 0

2720 -0.70 -146.0 296.9 -10.1 312 2727 0.00 2.28 0.00 0.000 6 0.000 0.063 2251 2736 3521 0 0 0 0 0 0

3046 -0.70 -146.0 328.6 -9.5 343 3047 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2736 3521 0 0 0 0 0 0

3369 -0.70 -146.0 357.8 -8.8 373 3373 0.00 2.20 0.00 0.000 4 0.000 0.052 2251 1365 3521 0 0 0 0 0 0

3436 -0.74 -146.0 364.2 -8.5 378 3443 0.00 2.28 0.00 0.000 6 0.000 0.063 2250 2719 3521 0 0 0 0 0 0

3763 -0.76 -146.0 392.1 -8.9 409 3764 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2719 3521 0 0 0 0 0 0

4071 -0.78 -146.0 420.1 -9.0 425 4075 0.00 2.15 0.00 0.000 4 0.000 0.050 2250 1372 3522 0 0 0 0 0 0

4094 -0.81 -146.0 422.4 -9.1 425 4099 0.10 2.25 0.00 0.000 6 0.116 0.063 2205 2715 3522 0 0 0 0 0 0

4408 -0.74 -146.0 458.4 -11.5 435 4412 0.12 2.08 0.00 0.000 4 0.185 0.073 2229 3928 3522 0 0 0 0 0 0

4446 -0.74 -146.0 462.6 -9.7 436 4450 0.00 1.95 0.00 0.000 6 0.000 0.049 2229 2719 3522 0 0 0 0 0 0

4783 -0.74 -146.0 493.7 -9.1 447 4787 0.00 2.08 0.00 0.000 4 0.000 0.074 2222 3932 3522 0 0 0 0 0 0

4807 -0.71 -146.0 496.1 -9.8 447 4810 0.00 1.95 0.00 0.000 6 0.000 0.048 2222 2720 3522 0 0 0 0 0 0

4852 end dive: BOTTOM_OBSTACLE_DETECTED

state 4852 begin apogee

4858 -0.14 0.0 500.5 10.1 449 4988 0.62 0.00 122.15 0.924 4 0.139 0.000 2421 2604 2923 0 0 0 0 0 0

4988 end apogee: CONTROL_FINISHED_OK

state 4989 begin climb

4991 0.57 146.0 504.7 0.0 453 5132 0.70 2.42 129.10 0.894 4 0.076 0.050 2661 1186 2327 0 0 0 0 0 0

5257 0.57 146.0 484.8 10.5 461 5261 0.00 2.47 0.00 0.000 6 0.000 0.056 2661 2601 2320 0 0 0 0 0 0

5587 0.53 146.0 448.0 11.1 472 5591 0.00 2.33 0.00 0.000 4 0.000 0.054 2662 1182 2316 0 0 0 0 0 0

5825 0.54 160.5 424.8 9.3 479 5844 0.00 2.33 12.00 0.822 6 0.000 0.057 2662 2603 2268 0 0 0 0 0 0

6159 0.51 160.5 390.2 10.3 495 6163 0.00 2.25 0.00 0.000 4 0.000 0.070 2662 3930 2265 0 0 0 0 0 0

6193 0.43 160.5 385.8 11.8 498 6198 0.17 2.15 0.00 0.000 6 0.197 0.046 2618 2594 2264 0 0 0 0 0 0

6526 0.51 204.8 358.9 8.0 529 6571 0.00 2.38 38.78 0.826 4 0.000 0.053 2618 1184 2087 0 0 0 0 0 0

6588 0.65 252.6 353.8 7.8 534 6639 0.20 2.35 42.35 0.809 6 0.081 0.057 2696 2600 1893 0 0 0 0 0 0

6957 0.62 252.6 301.9 14.0 569 6958 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2601 1882 0 0 0 0 0 0

7279 0.60 252.6 259.6 13.1 599 7285 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2601 1881 0 0 0 0 0 0

7606 0.60 252.6 214.2 14.2 630 7610 0.00 2.28 0.00 0.000 4 0.000 0.054 2697 1193 1880 0 0 0 0 0 0

7664 0.63 252.6 206.5 12.9 635 7668 0.00 2.28 0.00 0.000 6 0.000 0.057 2697 2590 1880 0 0 0 0 0 0

7989 0.63 252.6 167.3 10.8 665 7990 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2590 1879 0 0 0 0 0 0

8310 0.63 252.6 130.7 11.7 695 8314 0.00 2.28 0.00 0.000 4 0.000 0.070 2697 3934 1879 0 0 0 0 0 0

8328 0.63 252.6 128.0 12.3 696 8332 0.00 2.15 0.00 0.000 6 0.000 0.047 2697 2594 1878 0 0 0 0 0 0

8658 0.65 252.6 92.0 10.8 733 8665 0.00 2.25 0.00 0.000 4 0.000 0.054 2698 1183 1878 0 0 0 0 0 0

8689 0.70 252.6 88.8 10.2 738 8696 0.00 2.35 0.00 0.000 6 0.000 0.057 2698 2610 1878 0 0 0 0 0 0

9036 0.75 257.7 56.6 9.8 799 9043 0.00 2.22 0.00 0.000 4 0.000 0.070 2698 3934 1877 0 0 0 0 0 0

9067 0.75 257.7 53.3 10.2 804 9074 0.00 2.10 0.00 0.000 6 0.000 0.047 2698 2621 1877 0 0 0 0 0 0

9413 0.82 303.8 22.4 7.9 865 9463 0.12 2.35 41.90 0.655 4 0.113 0.054 2750 1186 1685 0 0 0 0 0 0

9531 end climb: FINISH_DEPTH_REACHED

state 9532 begin subsurface finish

9541 0.05 70.0 8.6 -10.3 885 9577 0.85 0.00 -28.48 0.000 6 0.158 0.000 2495 2600 2639 0 0 0 0 0 0

9578 end subsurface finish: CONTROL_FINISHED_OK

state 9578 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	638	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-11339.555	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	311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8	MHEAD_RNG_PITCHd_Wd	106.3,118993,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	881

FREEZE	8.65,-1.757,-1.781,2,4,0	ALTIM_BOTTOM_PING	500.5,9.8
FINISH1	8.6,1.026074,70	_24V_AH	21.6,74.752
FINISH2	7.3	_10V_AH	9.7,51.889
RAFOS_CLK	565	FG_AHR_24Vo	0.000
RAFOS_FIX	6639.487793,-5921.346680,311210,040413,5,88,0.26	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	MEM	151716
TT8_MAMPS	0.029211	DATA_FILE_SIZE	30134,891
HUMID	49.13	CAP_FILE_SIZE	103995,0
INTERNAL_PRESSURE	8.60232	CFSIZE	260165632,206737408
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1448.7
ALTIM_TOP_PING	19.8,18.5	GPS	311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	197	16.09	SBE_CT	622	24	322.49
Roll_motor	88	174	332.57	SBE_O2	0	0	0.00
VBD_pump_during_apogee	386	924	7710.43	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	18.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2194	19	423.99
LPSleep	5290	2	118.55
TT8_Active	416	19	80.54
TT8_Sampling	1540	39	596.68
TT8_CF8	189	45	84.61
TT8_Kalman	0	0	0.00
Analog_circuits	1259	12	146.59
GPS_charging	0	0	0.00
Compass	1526	15	222.03
RAFOS	0	0	0.00
Transponder	16	30	4.94

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	-6.30	0.000	2	0.000	0.000	2500	1193	2879	0	0	0	0	0	0
28	-0.57	-146.0	10.0	-0.0	1	47	0.57	0.30	-15.18	0.000	4	0.109	0.174	2299	1375	3520	0	0	0	0	0	0
164	-0.57	-146.0	23.9	-9.6	24	171	0.00	2.33	0.00	0.000	6	0.000	0.063	2293	2780	3524	0	0	0	0	0	0
509	-0.57	-146.0	68.5	-11.8	85	516	0.00	2.28	0.00	0.000	4	0.000	0.054	2293	1373	3523	0	0	0	0	0	0
558	-0.57	-146.0	74.5	-12.4	93	565	0.00	2.33	0.00	0.000	6	0.000	0.064	2293	2768	3523	0	0	0	0	0	0
906	-0.61	-146.0	109.6	-9.2	146	907	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2769	3523	0	0	0	0	0	0
1226	-0.67	-146.0	138.6	-8.4	176	1230	0.00	2.25	0.00	0.000	4	0.000	0.054	2293	1369	3522	0	0	0	0	0	0
1282	-0.74	-146.0	144.0	-8.6	180	1290	0.17	2.33	0.00	0.000	6	0.091	0.064	2220	2765	3522	0	0	0	0	0	0
1608	-0.67	-146.0	188.7	-14.2	211	1613	0.12	2.28	0.00	0.000	4	0.187	0.053	2253	1366	3522	0	0	0	0	0	0
1641	-0.67	-146.0	193.2	-11.7	213	1648	0.00	2.33	0.00	0.000	6	0.000	0.065	2252	2747	3522	0	0	0	0	0	0
1967	-0.67	-146.0	227.2	-9.7	244	1971	0.00	2.22	0.00	0.000	4	0.000	0.053	2252	1367	3521	0	0	0	0	0	0
1999	-0.67	-146.0	230.6	-9.5	246	2006	0.00	2.30	0.00	0.000	6	0.000	0.064	2252	2745	3521	0	0	0	0	0	0
2325	-0.67	-146.0	259.2	-8.4	277	2329	0.00	2.20	0.00	0.000	4	0.000	0.053	2252	1372	3521	0	0	0	0	0	0
2378	-0.70	-146.0	263.8	-8.7	281	2382	0.00	2.25	0.00	0.000	6	0.000	0.063	2251	2726	3521	0	0	0	0	0	0
2703	-0.70	-146.0	295.2	-10.1	311	2706	0.00	2.20	0.00	0.000	4	0.000	0.053	2251	1371	3520	0	0	0	0	0	0
2720	-0.70	-146.0	296.9	-10.1	312	2727	0.00	2.28	0.00	0.000	6	0.000	0.063	2251	2736	3521	0	0	0	0	0	0
3046	-0.70	-146.0	328.6	-9.5	343	3047	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2736	3521	0	0	0	0	0	0
3369	-0.70	-146.0	357.8	-8.8	373	3373	0.00	2.20	0.00	0.000	4	0.000	0.052	2251	1365	3521	0	0	0	0	0	0
3436	-0.74	-146.0	364.2	-8.5	378	3443	0.00	2.28	0.00	0.000	6	0.000	0.063	2250	2719	3521	0	0	0	0	0	0
3763	-0.76	-146.0	392.1	-8.9	409	3764	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2719	3521	0	0	0	0	0	0
4071	-0.78	-146.0	420.1	-9.0	425	4075	0.00	2.15	0.00	0.000	4	0.000	0.050	2250	1372	3522	0	0	0	0	0	0
4094	-0.81	-146.0	422.4	-9.1	425	4099	0.10	2.25	0.00	0.000	6	0.116	0.063	2205	2715	3522	0	0	0	0	0	0
4408	-0.74	-146.0	458.4	-11.5	435	4412	0.12	2.08	0.00	0.000	4	0.185	0.073	2229	3928	3522	0	0	0	0	0	0
4446	-0.74	-146.0	462.6	-9.7	436	4450	0.00	1.95	0.00	0.000	6	0.000	0.049	2229	2719	3522	0	0	0	0	0	0
4783	-0.74	-146.0	493.7	-9.1	447	4787	0.00	2.08	0.00	0.000	4	0.000	0.074	2222	3932	3522	0	0	0	0	0	0
4807	-0.71	-146.0	496.1	-9.8	447	4810	0.00	1.95	0.00	0.000	6	0.000	0.048	2222	2720	3522	0	0	0	0	0	0
4852	end dive: BOTTOM_OBSTACLE_DETECTED
state	4852	begin apogee
4858	-0.14	0.0	500.5	10.1	449	4988	0.62	0.00	122.15	0.924	4	0.139	0.000	2421	2604	2923	0	0	0	0	0	0
4988	end apogee: CONTROL_FINISHED_OK
state	4989	begin climb
4991	0.57	146.0	504.7	0.0	453	5132	0.70	2.42	129.10	0.894	4	0.076	0.050	2661	1186	2327	0	0	0	0	0	0
5257	0.57	146.0	484.8	10.5	461	5261	0.00	2.47	0.00	0.000	6	0.000	0.056	2661	2601	2320	0	0	0	0	0	0
5587	0.53	146.0	448.0	11.1	472	5591	0.00	2.33	0.00	0.000	4	0.000	0.054	2662	1182	2316	0	0	0	0	0	0
5825	0.54	160.5	424.8	9.3	479	5844	0.00	2.33	12.00	0.822	6	0.000	0.057	2662	2603	2268	0	0	0	0	0	0
6159	0.51	160.5	390.2	10.3	495	6163	0.00	2.25	0.00	0.000	4	0.000	0.070	2662	3930	2265	0	0	0	0	0	0
6193	0.43	160.5	385.8	11.8	498	6198	0.17	2.15	0.00	0.000	6	0.197	0.046	2618	2594	2264	0	0	0	0	0	0
6526	0.51	204.8	358.9	8.0	529	6571	0.00	2.38	38.78	0.826	4	0.000	0.053	2618	1184	2087	0	0	0	0	0	0
6588	0.65	252.6	353.8	7.8	534	6639	0.20	2.35	42.35	0.809	6	0.081	0.057	2696	2600	1893	0	0	0	0	0	0
6957	0.62	252.6	301.9	14.0	569	6958	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2601	1882	0	0	0	0	0	0
7279	0.60	252.6	259.6	13.1	599	7285	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2601	1881	0	0	0	0	0	0
7606	0.60	252.6	214.2	14.2	630	7610	0.00	2.28	0.00	0.000	4	0.000	0.054	2697	1193	1880	0	0	0	0	0	0
7664	0.63	252.6	206.5	12.9	635	7668	0.00	2.28	0.00	0.000	6	0.000	0.057	2697	2590	1880	0	0	0	0	0	0
7989	0.63	252.6	167.3	10.8	665	7990	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2590	1879	0	0	0	0	0	0
8310	0.63	252.6	130.7	11.7	695	8314	0.00	2.28	0.00	0.000	4	0.000	0.070	2697	3934	1879	0	0	0	0	0	0
8328	0.63	252.6	128.0	12.3	696	8332	0.00	2.15	0.00	0.000	6	0.000	0.047	2697	2594	1878	0	0	0	0	0	0
8658	0.65	252.6	92.0	10.8	733	8665	0.00	2.25	0.00	0.000	4	0.000	0.054	2698	1183	1878	0	0	0	0	0	0
8689	0.70	252.6	88.8	10.2	738	8696	0.00	2.35	0.00	0.000	6	0.000	0.057	2698	2610	1878	0	0	0	0	0	0
9036	0.75	257.7	56.6	9.8	799	9043	0.00	2.22	0.00	0.000	4	0.000	0.070	2698	3934	1877	0	0	0	0	0	0
9067	0.75	257.7	53.3	10.2	804	9074	0.00	2.10	0.00	0.000	6	0.000	0.047	2698	2621	1877	0	0	0	0	0	0
9413	0.82	303.8	22.4	7.9	865	9463	0.12	2.35	41.90	0.655	4	0.113	0.054	2750	1186	1685	0	0	0	0	0	0
9531	end climb: FINISH_DEPTH_REACHED
state	9532	begin subsurface finish
9541	0.05	70.0	8.6	-10.3	885	9577	0.85	0.00	-28.48	0.000	6	0.158	0.000	2495	2600	2639	0	0	0	0	0	0
9578	end subsurface finish: CONTROL_FINISHED_OK
state	9578	begin surface