Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 650 * 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 650 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 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 34 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 650 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 010111,003524,6638.911,-5900.403,0,5100.4,0,-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 3.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010111,003524,6638.911,-5900.403,0,5100.4,0,-37.8 MHEAD_RNG_PITCHd_Wd 102.8,105510,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 829

Post-dive calculations and measurements:

FREEZE 8.89,-1.757,-1.784,2,16,0 ALTIM_BOTTOM_PING 500.5,9.9

FINISH1 8.9,1.026117,68 _24V_AH 21.6,75.736

FINISH2 6.7 _10V_AH 9.7,52.390

RAFOS_CLK 576 FG_AHR_24Vo 0.000

RAFOS 0,1293854465,4.033333,4.018055,50,45,45,42,41,40,684,1146,1878,1046,264,559 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.102051,-5855.079590,010111,040412,3,105,0.27 MEM 151740

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 33387,908

TT8_MAMPS 0.029211 CAP_FILE_SIZE 109130,0

HUMID 50.11 CFSIZE 260165632,206213120

INTERNAL_PRESSURE 8.61208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.20 SOUNDSPEED 1450.0

XPDR_PINGS 0 GPS 010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8

ALTIM_TOP_PING 19.8,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 203 16.70 SBE_CT 633 24 328.50

Roll_motor 98 73 155.93 SBE_O2 0 0 0.00

VBD_pump_during_apogee 352 920 7010.11 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 1 420 15.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2267 19 438.10

LPSleep 5399 2 120.99

TT8_Active 410 19 79.28

TT8_Sampling 1573 39 609.41

TT8_CF8 189 45 84.48

TT8_Kalman 0 0 0.00

Analog_circuits 1268 12 147.62

GPS_charging 0 0 0.00

Compass 1561 15 227.21

RAFOS 2520 3 73.33

Transponder 14 30 4.12

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.57 -146.0 0.0 0.0 0 52 0.00 1.92 -31.27 0.000 6 0.000 0.065 2497 2779 3520 0 0 0 0 0 0

56 -0.57 -146.0 5.4 -4.6 6 63 0.57 2.25 0.00 0.000 4 0.112 0.047 2298 1367 3521 0 0 0 0 0 0

197 -0.60 -146.0 19.7 -14.1 30 203 0.00 2.38 0.00 0.000 6 0.000 0.062 2293 2786 3521 0 0 0 0 0 0

543 -0.62 -146.0 61.2 -10.5 91 550 0.00 1.95 0.00 0.000 4 0.000 0.073 2288 3931 3521 0 0 0 0 0 0

648 -0.67 -146.0 72.6 -10.7 109 655 0.00 1.85 0.00 0.000 6 0.000 0.049 2287 2780 3521 0 0 0 0 0 0

996 -0.71 -146.0 108.1 -9.6 163 1001 0.12 2.28 0.00 0.000 4 0.109 0.053 2235 1372 3521 0 0 0 0 0 0

1036 -0.67 -146.0 113.0 -12.1 166 1040 0.00 2.35 0.00 0.000 6 0.000 0.063 2231 2773 3521 0 0 0 0 0 0

1362 -0.62 -146.0 155.1 -13.0 196 1367 0.15 2.30 0.00 0.000 4 0.183 0.053 2271 1375 3521 0 0 0 0 0 0

1406 -0.68 -146.0 160.1 -9.4 199 1413 0.00 2.30 0.00 0.000 6 0.000 0.063 2270 2758 3521 0 0 0 0 0 0

1732 -0.72 -146.0 189.6 -9.7 230 1733 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2758 3520 0 0 0 0 0 0

2054 -0.76 -146.0 217.3 -8.0 260 2058 0.12 2.25 0.00 0.000 4 0.110 0.053 2220 1374 3520 0 0 0 0 0 0

2092 -0.72 -146.0 221.7 -10.4 263 2099 0.00 2.30 0.00 0.000 6 0.000 0.063 2217 2745 3520 0 0 0 0 0 0

2419 -0.67 -146.0 261.4 -12.3 294 2424 0.15 2.25 0.00 0.000 4 0.181 0.052 2258 1368 3519 0 0 0 0 0 0

2446 -0.67 -146.0 264.6 -9.7 296 2453 0.00 2.28 0.00 0.000 6 0.000 0.063 2257 2737 3519 0 0 0 0 0 0

2773 -0.69 -146.0 293.8 -9.4 327 2774 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2737 3519 0 0 0 0 0 0

3094 -0.72 -146.0 323.4 -10.0 357 3098 0.00 2.20 0.00 0.000 4 0.000 0.052 2257 1366 3519 0 0 0 0 0 0

3138 -0.78 -146.0 328.1 -9.6 360 3145 0.00 2.30 0.00 0.000 6 0.000 0.062 2253 2739 3519 0 0 0 0 0 0

3464 -0.80 -146.0 355.9 -8.1 391 3469 0.10 2.03 0.00 0.000 4 0.123 0.073 2203 3926 3519 0 0 0 0 0 0

3498 -0.73 -146.0 359.6 -11.1 393 3505 0.12 1.95 0.00 0.000 6 0.181 0.047 2234 2730 3519 0 0 0 0 0 0

3823 -0.73 -146.0 391.8 -9.4 424 3827 0.00 2.17 0.00 0.000 4 0.000 0.050 2234 1374 3519 0 0 0 0 0 0

3886 -0.75 -146.0 397.8 -9.6 429 3893 0.00 2.28 0.00 0.000 6 0.000 0.062 2234 2730 3520 0 0 0 0 0 0

4221 -0.75 -146.0 429.3 -9.6 442 4222 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2730 3520 0 0 0 0 0 0

4526 -0.75 -146.0 459.4 -10.0 452 4530 0.00 2.20 0.00 0.000 4 0.000 0.050 2234 1368 3520 0 0 0 0 0 0

4566 -0.75 -146.0 463.4 -9.7 453 4570 0.00 2.28 0.00 0.000 6 0.000 0.062 2234 2730 3520 0 0 0 0 0 0

4905 -0.75 -146.0 495.2 -9.2 464 4908 0.00 2.03 0.00 0.000 4 0.000 0.071 2227 3933 3520 0 0 0 0 0 0

4955 end dive: BOTTOM_OBSTACLE_DETECTED

state 4955 begin apogee

4964 -0.14 0.0 500.5 9.8 465 5093 0.62 0.00 121.82 0.920 4 0.137 0.000 2427 2594 2924 0 0 0 0 0 0

5093 end apogee: CONTROL_FINISHED_OK

state 5094 begin climb

5096 0.57 146.0 505.0 0.0 469 5237 0.68 2.40 129.35 0.895 4 0.068 0.050 2665 1189 2326 0 0 0 0 0 0

5347 0.57 146.0 487.2 10.2 477 5351 0.00 2.50 0.00 0.000 6 0.000 0.054 2665 2603 2319 0 0 0 0 0 0

5672 0.53 146.0 450.5 11.4 488 5676 0.00 2.33 0.00 0.000 4 0.000 0.053 2665 1186 2315 0 0 0 0 0 0

5924 0.53 146.0 423.1 11.4 495 5928 0.00 2.35 0.00 0.000 6 0.000 0.056 2665 2605 2315 0 0 0 0 0 0

6248 0.48 146.0 386.0 11.5 512 6253 0.12 2.22 0.00 0.000 4 0.203 0.068 2635 3935 2314 0 0 0 0 0 0

6281 0.45 146.0 381.6 12.3 514 6288 0.00 2.15 0.00 0.000 6 0.000 0.044 2635 2593 2313 0 0 0 0 0 0

6606 0.45 156.5 349.4 9.5 545 6619 0.00 2.33 8.07 0.766 4 0.000 0.052 2635 1188 2283 0 0 0 0 0 0

6667 0.54 187.3 344.1 8.6 550 6701 0.00 2.30 28.08 0.815 6 0.000 0.055 2635 2600 2159 0 0 0 0 0 0

7020 0.58 195.7 310.4 9.6 583 7033 0.00 2.30 7.82 0.737 4 0.000 0.067 2635 3925 2124 0 0 0 0 0 0

7057 0.58 195.7 306.6 11.0 586 7061 0.00 2.17 0.00 0.000 6 0.000 0.044 2635 2589 2122 0 0 0 0 0 0

7383 0.65 224.7 277.2 8.7 616 7414 0.15 0.00 26.38 0.778 6 0.097 0.000 2697 2588 2006 0 0 0 0 0 0

7732 0.62 224.7 230.9 14.4 649 7733 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2587 2000 0 0 0 0 0 0

8054 0.59 224.7 187.9 12.9 679 8058 0.00 2.22 0.00 0.000 4 0.000 0.052 2697 1187 1999 0 0 0 0 0 0

8089 0.59 224.7 183.1 11.9 681 8096 0.12 2.35 0.00 0.000 6 0.177 0.056 2665 2617 1999 0 0 0 0 0 0

8415 0.63 224.7 148.2 10.3 712 8419 0.00 2.20 0.00 0.000 4 0.000 0.067 2665 3925 1998 0 0 0 0 0 0

8461 0.63 224.7 142.6 12.1 716 8464 0.00 2.12 0.00 0.000 6 0.000 0.045 2665 2609 1997 0 0 0 0 0 0

8792 0.70 241.6 109.2 9.2 747 8815 0.10 2.30 14.70 0.696 4 0.121 0.054 2705 1192 1936 0 0 0 0 0 0

8876 0.73 241.6 100.2 11.8 754 8880 0.00 2.35 0.00 0.000 6 0.000 0.056 2706 2618 1935 0 0 0 0 0 0

9219 0.73 241.6 59.1 11.3 814 9226 0.00 2.30 0.00 0.000 4 0.000 0.053 2706 1186 1933 0 0 0 0 0 0

9267 0.78 241.6 53.8 10.7 822 9274 0.00 2.28 0.00 0.000 6 0.000 0.056 2705 2584 1933 0 0 0 0 0 0

9614 0.80 259.6 21.1 9.2 883 9639 0.00 2.33 16.42 0.658 4 0.000 0.070 2706 3926 1863 0 0 0 0 0 0

9665 0.77 259.6 16.6 10.1 891 9671 0.00 2.15 0.00 0.000 6 0.000 0.045 2705 2602 1860 0 0 0 0 0 0

9733 end climb: FINISH_DEPTH_REACHED

state 9733 begin subsurface finish

9740 0.04 67.8 8.9 -12.1 903 9771 0.65 2.35 -23.98 0.000 4 0.151 0.064 2504 1184 2649 0 0 0 0 0 0

9772 end subsurface finish: CONTROL_FINISHED_OK

state 9772 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	650	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	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	010111,003524,6638.911,-5900.403,0,5100.4,0,-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	3.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010111,003524,6638.911,-5900.403,0,5100.4,0,-37.8	MHEAD_RNG_PITCHd_Wd	102.8,105510,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	829

FREEZE	8.89,-1.757,-1.784,2,16,0	ALTIM_BOTTOM_PING	500.5,9.9
FINISH1	8.9,1.026117,68	_24V_AH	21.6,75.736
FINISH2	6.7	_10V_AH	9.7,52.390
RAFOS_CLK	576	FG_AHR_24Vo	0.000
RAFOS	0,1293854465,4.033333,4.018055,50,45,45,42,41,40,684,1146,1878,1046,264,559	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.102051,-5855.079590,010111,040412,3,105,0.27	MEM	151740
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	33387,908
TT8_MAMPS	0.029211	CAP_FILE_SIZE	109130,0
HUMID	50.11	CFSIZE	260165632,206213120
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1450.0
XPDR_PINGS	0	GPS	010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8
ALTIM_TOP_PING	19.8,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	203	16.70	SBE_CT	633	24	328.50
Roll_motor	98	73	155.93	SBE_O2	0	0	0.00
VBD_pump_during_apogee	352	920	7010.11	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	1	420	15.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2267	19	438.10
LPSleep	5399	2	120.99
TT8_Active	410	19	79.28
TT8_Sampling	1573	39	609.41
TT8_CF8	189	45	84.48
TT8_Kalman	0	0	0.00
Analog_circuits	1268	12	147.62
GPS_charging	0	0	0.00
Compass	1561	15	227.21
RAFOS	2520	3	73.33
Transponder	14	30	4.12

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.57	-146.0	0.0	0.0	0	52	0.00	1.92	-31.27	0.000	6	0.000	0.065	2497	2779	3520	0	0	0	0	0	0
56	-0.57	-146.0	5.4	-4.6	6	63	0.57	2.25	0.00	0.000	4	0.112	0.047	2298	1367	3521	0	0	0	0	0	0
197	-0.60	-146.0	19.7	-14.1	30	203	0.00	2.38	0.00	0.000	6	0.000	0.062	2293	2786	3521	0	0	0	0	0	0
543	-0.62	-146.0	61.2	-10.5	91	550	0.00	1.95	0.00	0.000	4	0.000	0.073	2288	3931	3521	0	0	0	0	0	0
648	-0.67	-146.0	72.6	-10.7	109	655	0.00	1.85	0.00	0.000	6	0.000	0.049	2287	2780	3521	0	0	0	0	0	0
996	-0.71	-146.0	108.1	-9.6	163	1001	0.12	2.28	0.00	0.000	4	0.109	0.053	2235	1372	3521	0	0	0	0	0	0
1036	-0.67	-146.0	113.0	-12.1	166	1040	0.00	2.35	0.00	0.000	6	0.000	0.063	2231	2773	3521	0	0	0	0	0	0
1362	-0.62	-146.0	155.1	-13.0	196	1367	0.15	2.30	0.00	0.000	4	0.183	0.053	2271	1375	3521	0	0	0	0	0	0
1406	-0.68	-146.0	160.1	-9.4	199	1413	0.00	2.30	0.00	0.000	6	0.000	0.063	2270	2758	3521	0	0	0	0	0	0
1732	-0.72	-146.0	189.6	-9.7	230	1733	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2758	3520	0	0	0	0	0	0
2054	-0.76	-146.0	217.3	-8.0	260	2058	0.12	2.25	0.00	0.000	4	0.110	0.053	2220	1374	3520	0	0	0	0	0	0
2092	-0.72	-146.0	221.7	-10.4	263	2099	0.00	2.30	0.00	0.000	6	0.000	0.063	2217	2745	3520	0	0	0	0	0	0
2419	-0.67	-146.0	261.4	-12.3	294	2424	0.15	2.25	0.00	0.000	4	0.181	0.052	2258	1368	3519	0	0	0	0	0	0
2446	-0.67	-146.0	264.6	-9.7	296	2453	0.00	2.28	0.00	0.000	6	0.000	0.063	2257	2737	3519	0	0	0	0	0	0
2773	-0.69	-146.0	293.8	-9.4	327	2774	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2737	3519	0	0	0	0	0	0
3094	-0.72	-146.0	323.4	-10.0	357	3098	0.00	2.20	0.00	0.000	4	0.000	0.052	2257	1366	3519	0	0	0	0	0	0
3138	-0.78	-146.0	328.1	-9.6	360	3145	0.00	2.30	0.00	0.000	6	0.000	0.062	2253	2739	3519	0	0	0	0	0	0
3464	-0.80	-146.0	355.9	-8.1	391	3469	0.10	2.03	0.00	0.000	4	0.123	0.073	2203	3926	3519	0	0	0	0	0	0
3498	-0.73	-146.0	359.6	-11.1	393	3505	0.12	1.95	0.00	0.000	6	0.181	0.047	2234	2730	3519	0	0	0	0	0	0
3823	-0.73	-146.0	391.8	-9.4	424	3827	0.00	2.17	0.00	0.000	4	0.000	0.050	2234	1374	3519	0	0	0	0	0	0
3886	-0.75	-146.0	397.8	-9.6	429	3893	0.00	2.28	0.00	0.000	6	0.000	0.062	2234	2730	3520	0	0	0	0	0	0
4221	-0.75	-146.0	429.3	-9.6	442	4222	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2730	3520	0	0	0	0	0	0
4526	-0.75	-146.0	459.4	-10.0	452	4530	0.00	2.20	0.00	0.000	4	0.000	0.050	2234	1368	3520	0	0	0	0	0	0
4566	-0.75	-146.0	463.4	-9.7	453	4570	0.00	2.28	0.00	0.000	6	0.000	0.062	2234	2730	3520	0	0	0	0	0	0
4905	-0.75	-146.0	495.2	-9.2	464	4908	0.00	2.03	0.00	0.000	4	0.000	0.071	2227	3933	3520	0	0	0	0	0	0
4955	end dive: BOTTOM_OBSTACLE_DETECTED
state	4955	begin apogee
4964	-0.14	0.0	500.5	9.8	465	5093	0.62	0.00	121.82	0.920	4	0.137	0.000	2427	2594	2924	0	0	0	0	0	0
5093	end apogee: CONTROL_FINISHED_OK
state	5094	begin climb
5096	0.57	146.0	505.0	0.0	469	5237	0.68	2.40	129.35	0.895	4	0.068	0.050	2665	1189	2326	0	0	0	0	0	0
5347	0.57	146.0	487.2	10.2	477	5351	0.00	2.50	0.00	0.000	6	0.000	0.054	2665	2603	2319	0	0	0	0	0	0
5672	0.53	146.0	450.5	11.4	488	5676	0.00	2.33	0.00	0.000	4	0.000	0.053	2665	1186	2315	0	0	0	0	0	0
5924	0.53	146.0	423.1	11.4	495	5928	0.00	2.35	0.00	0.000	6	0.000	0.056	2665	2605	2315	0	0	0	0	0	0
6248	0.48	146.0	386.0	11.5	512	6253	0.12	2.22	0.00	0.000	4	0.203	0.068	2635	3935	2314	0	0	0	0	0	0
6281	0.45	146.0	381.6	12.3	514	6288	0.00	2.15	0.00	0.000	6	0.000	0.044	2635	2593	2313	0	0	0	0	0	0
6606	0.45	156.5	349.4	9.5	545	6619	0.00	2.33	8.07	0.766	4	0.000	0.052	2635	1188	2283	0	0	0	0	0	0
6667	0.54	187.3	344.1	8.6	550	6701	0.00	2.30	28.08	0.815	6	0.000	0.055	2635	2600	2159	0	0	0	0	0	0
7020	0.58	195.7	310.4	9.6	583	7033	0.00	2.30	7.82	0.737	4	0.000	0.067	2635	3925	2124	0	0	0	0	0	0
7057	0.58	195.7	306.6	11.0	586	7061	0.00	2.17	0.00	0.000	6	0.000	0.044	2635	2589	2122	0	0	0	0	0	0
7383	0.65	224.7	277.2	8.7	616	7414	0.15	0.00	26.38	0.778	6	0.097	0.000	2697	2588	2006	0	0	0	0	0	0
7732	0.62	224.7	230.9	14.4	649	7733	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2587	2000	0	0	0	0	0	0
8054	0.59	224.7	187.9	12.9	679	8058	0.00	2.22	0.00	0.000	4	0.000	0.052	2697	1187	1999	0	0	0	0	0	0
8089	0.59	224.7	183.1	11.9	681	8096	0.12	2.35	0.00	0.000	6	0.177	0.056	2665	2617	1999	0	0	0	0	0	0
8415	0.63	224.7	148.2	10.3	712	8419	0.00	2.20	0.00	0.000	4	0.000	0.067	2665	3925	1998	0	0	0	0	0	0
8461	0.63	224.7	142.6	12.1	716	8464	0.00	2.12	0.00	0.000	6	0.000	0.045	2665	2609	1997	0	0	0	0	0	0
8792	0.70	241.6	109.2	9.2	747	8815	0.10	2.30	14.70	0.696	4	0.121	0.054	2705	1192	1936	0	0	0	0	0	0
8876	0.73	241.6	100.2	11.8	754	8880	0.00	2.35	0.00	0.000	6	0.000	0.056	2706	2618	1935	0	0	0	0	0	0
9219	0.73	241.6	59.1	11.3	814	9226	0.00	2.30	0.00	0.000	4	0.000	0.053	2706	1186	1933	0	0	0	0	0	0
9267	0.78	241.6	53.8	10.7	822	9274	0.00	2.28	0.00	0.000	6	0.000	0.056	2705	2584	1933	0	0	0	0	0	0
9614	0.80	259.6	21.1	9.2	883	9639	0.00	2.33	16.42	0.658	4	0.000	0.070	2706	3926	1863	0	0	0	0	0	0
9665	0.77	259.6	16.6	10.1	891	9671	0.00	2.15	0.00	0.000	6	0.000	0.045	2705	2602	1860	0	0	0	0	0	0
9733	end climb: FINISH_DEPTH_REACHED
state	9733	begin subsurface finish
9740	0.04	67.8	8.9	-12.1	903	9771	0.65	2.35	-23.98	0.000	4	0.151	0.064	2504	1184	2649	0	0	0	0	0	0
9772	end subsurface finish: CONTROL_FINISHED_OK
state	9772	begin surface