Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 667 * 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 667 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -3 T_GPS_CHARGE -11340.817 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 -11340.817

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 -3

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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 667 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 020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6 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 8.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6 MHEAD_RNG_PITCHd_Wd 103.0,73691,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 721

Post-dive calculations and measurements:

FREEZE 8.97,-1.748,-1.791,2,13,0 ALTIM_BOTTOM_PING 450.4,9.2

FINISH1 9.0,1.026211,63 _24V_AH 21.9,77.084

FINISH2 7.6 _10V_AH 9.7,53.226

RAFOS_CLK 514 FG_AHR_24Vo 0.000

RAFOS 0,1293998464,20.033333,20.017778,45,43,43,41,41,40,955,521,1521,785,969,1437 FG_AHR_10Vo 0.000

RAFOS_FIX 6646.413086,-5816.849609,020111,202037,5,124,0.20 MEM 151716

IRIDIUM_FIX 6609.62,-5920.79,301210,222215 DATA_FILE_SIZE 30113,880

TT8_MAMPS 0.028462 CAP_FILE_SIZE 105636,0

HUMID 49.56 CFSIZE 260165632,205377536

INTERNAL_PRESSURE 8.62185 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.30 SOUNDSPEED 1452.0

XPDR_PINGS 0 GPS 020111,203537,6646.413,-5816.850,0,5123.6,0,-37.6

ALTIM_TOP_PING 19.8,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 201 16.08 SBE_CT 613 24 322.50

Roll_motor 96 73 155.04 SBE_O2 0 0 0.00

VBD_pump_during_apogee 343 880 6617.54 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 13.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2162 19 417.93

LPSleep 4724 2 105.85

TT8_Active 395 19 76.37

TT8_Sampling 1532 39 593.44

TT8_CF8 186 45 82.91

TT8_Kalman 0 0 0.00

Analog_circuits 1227 12 142.83

GPS_charging 0 0 0.00

Compass 1516 15 220.69

RAFOS 2520 3 73.33

Transponder 12 30 3.60

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 -6.20 0.000 2 0.000 0.000 2497 3918 2932 0 0 0 0 0 0

28 -0.57 -146.0 10.5 -0.0 1 53 0.62 4.22 -13.23 0.000 4 0.123 0.055 2289 1377 3523 0 0 0 0 0 0

105 -0.57 -146.0 17.7 -10.9 14 112 0.00 2.33 0.00 0.000 6 0.000 0.060 2287 2786 3523 0 0 0 0 0 0

451 -0.57 -146.0 57.7 -11.0 75 458 0.00 2.28 0.00 0.000 4 0.000 0.051 2287 1371 3523 0 0 0 0 0 0

489 -0.60 -146.0 61.6 -10.0 81 496 0.00 2.30 0.00 0.000 6 0.000 0.061 2287 2759 3523 0 0 0 0 0 0

836 -0.64 -146.0 94.9 -9.2 142 842 0.00 2.00 0.00 0.000 4 0.000 0.073 2285 3926 3522 0 0 0 0 0 0

878 -0.71 -146.0 98.7 -9.0 149 885 0.12 1.88 0.00 0.000 6 0.108 0.048 2231 2760 3522 0 0 0 0 0 0

1213 -0.66 -146.0 139.1 -11.5 181 1217 0.12 2.25 0.00 0.000 4 0.183 0.052 2264 1369 3522 0 0 0 0 0 0

1337 -0.69 -146.0 151.4 -9.4 191 1344 0.00 2.30 0.00 0.000 6 0.000 0.063 2264 2738 3522 0 0 0 0 0 0

1663 -0.72 -146.0 182.6 -10.0 222 1667 0.00 2.03 0.00 0.000 4 0.000 0.073 2255 3933 3521 0 0 0 0 0 0

1732 -0.75 -146.0 189.6 -10.0 228 1735 0.00 1.95 0.00 0.000 6 0.000 0.050 2255 2739 3521 0 0 0 0 0 0

2063 -0.75 -146.0 224.7 -11.1 259 2067 0.00 2.20 0.00 0.000 4 0.000 0.052 2255 1365 3521 0 0 0 0 0 0

2096 -0.78 -146.0 228.5 -11.2 261 2102 0.00 2.28 0.00 0.000 6 0.000 0.063 2252 2737 3520 0 0 0 0 0 0

2421 -0.78 -146.0 261.2 -9.3 292 2425 0.00 2.03 0.00 0.000 4 0.000 0.073 2247 3932 3520 0 0 0 0 0 0

2438 -0.78 -146.0 262.9 -9.0 293 2444 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2731 3520 0 0 0 0 0 0

2763 -0.78 -146.0 293.1 -8.8 324 2767 0.00 2.17 0.00 0.000 4 0.000 0.050 2247 1364 3520 0 0 0 0 0 0

2820 -0.81 -146.0 298.1 -8.9 328 2827 0.10 2.28 0.00 0.000 6 0.113 0.061 2201 2722 3520 0 0 0 0 0 0

3145 -0.74 -146.0 334.8 -11.3 359 3150 0.12 2.08 0.00 0.000 4 0.186 0.071 2225 3926 3520 0 0 0 0 0 0

3202 -0.74 -146.0 340.9 -10.3 363 3208 0.00 1.95 0.00 0.000 6 0.000 0.047 2226 2727 3520 0 0 0 0 0 0

3528 -0.72 -146.0 373.9 -10.6 394 3531 0.00 2.05 0.00 0.000 4 0.000 0.072 2223 3930 3521 0 0 0 0 0 0

3563 -0.69 -146.0 377.7 -11.2 397 3567 0.12 1.95 0.00 0.000 6 0.164 0.047 2256 2731 3521 0 0 0 0 0 0

3886 -0.72 -146.0 405.6 -8.5 423 3890 0.00 2.05 0.00 0.000 4 0.000 0.072 2250 3935 3521 0 0 0 0 0 0

3915 -0.75 -146.0 408.4 -8.9 423 3921 0.00 1.95 0.00 0.000 6 0.000 0.047 2249 2738 3521 0 0 0 0 0 0

4229 -0.78 -146.0 436.8 -9.1 434 4233 0.00 2.17 0.00 0.000 4 0.000 0.050 2249 1370 3522 0 0 0 0 0 0

4259 -0.81 -146.0 439.7 -9.1 435 4263 0.00 2.28 0.00 0.000 6 0.000 0.061 2247 2743 3521 0 0 0 0 0 0

4382 end dive: BOTTOM_OBSTACLE_DETECTED

state 4382 begin apogee

4390 -0.14 0.0 450.4 8.9 439 4516 0.55 0.00 120.93 0.881 4 0.132 0.000 2425 2603 2923 0 0 0 0 0 0

4517 end apogee: CONTROL_FINISHED_OK

state 4517 begin climb

4520 0.57 146.0 455.1 0.0 443 4657 0.68 2.40 126.68 0.858 4 0.070 0.050 2664 1186 2329 0 0 0 0 0 0

4816 0.57 148.0 433.3 9.9 452 4820 0.00 2.45 0.00 0.000 6 0.000 0.055 2664 2609 2321 0 0 0 0 0 0

5152 0.53 148.0 396.8 10.9 463 5156 0.00 2.30 0.00 0.000 4 0.000 0.053 2666 1182 2317 0 0 0 0 0 0

5396 0.53 148.0 371.6 10.1 484 5400 0.00 2.33 0.00 0.000 6 0.000 0.057 2666 2596 2317 0 0 0 0 0 0

5727 0.49 148.0 334.7 10.8 515 5732 0.12 2.25 0.00 0.000 4 0.201 0.067 2635 3929 2316 0 0 0 0 0 0

5794 0.46 148.0 327.0 11.6 520 5801 0.00 2.15 0.00 0.000 6 0.000 0.044 2635 2597 2315 0 0 0 0 0 0

6120 0.47 162.5 297.4 9.3 551 6143 0.00 2.30 13.45 0.771 4 0.000 0.053 2635 1201 2260 0 0 0 0 0 0

6172 0.54 179.1 292.5 9.2 555 6193 0.00 2.28 16.15 0.765 6 0.000 0.055 2635 2596 2192 0 0 0 0 0 0

6514 0.59 185.4 259.8 9.7 587 6524 0.00 0.00 6.20 0.675 6 0.000 0.000 2635 2596 2167 0 0 0 0 0 0

6843 0.64 185.4 226.5 10.5 618 6848 0.12 2.25 0.00 0.000 4 0.102 0.067 2689 3929 2165 0 0 0 0 0 0

6875 0.54 185.4 221.8 16.5 620 6882 0.15 2.12 0.00 0.000 6 0.193 0.044 2652 2604 2164 0 0 0 0 0 0

7201 0.57 185.4 185.6 10.6 651 7202 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2603 2164 0 0 0 0 0 0

7522 0.61 195.0 153.3 9.6 681 7537 0.00 2.30 9.40 0.686 4 0.000 0.068 2653 3926 2128 0 0 0 0 0 0

7556 0.61 195.0 149.7 10.3 684 7560 0.00 2.15 0.00 0.000 6 0.000 0.044 2652 2596 2125 0 0 0 0 0 0

7883 0.68 253.0 121.0 7.3 714 7941 0.12 2.38 50.38 0.682 4 0.106 0.053 2704 1187 1890 0 0 0 0 0 0

8008 0.74 253.0 106.9 11.6 725 8015 0.00 2.35 0.00 0.000 6 0.000 0.055 2704 2601 1886 0 0 0 0 0 0

8350 0.74 253.0 65.1 11.7 781 8356 0.00 2.28 0.00 0.000 4 0.000 0.054 2704 1191 1882 0 0 0 0 0 0

8369 0.77 253.0 62.9 11.5 784 8376 0.00 2.30 0.00 0.000 6 0.000 0.056 2704 2587 1882 0 0 0 0 0 0

8715 0.81 253.9 28.4 10.0 845 8722 0.00 2.28 0.00 0.000 4 0.000 0.068 2704 3932 1880 0 0 0 0 0 0

8855 0.81 253.9 13.0 10.3 869 8862 0.00 2.17 0.00 0.000 6 0.000 0.046 2704 2587 1878 0 0 0 0 0 0

8890 end climb: FINISH_DEPTH_REACHED

state 8890 begin subsurface finish

8897 0.04 63.2 9.0 -10.3 875 8928 0.68 2.25 -22.83 0.000 4 0.146 0.063 2493 1188 2666 0 0 0 0 0 0

8929 end subsurface finish: CONTROL_FINISHED_OK

state 8929 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	667	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-3	T_GPS_CHARGE	-11340.817	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	020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6	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	8.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6	MHEAD_RNG_PITCHd_Wd	103.0,73691,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	721

FREEZE	8.97,-1.748,-1.791,2,13,0	ALTIM_BOTTOM_PING	450.4,9.2
FINISH1	9.0,1.026211,63	_24V_AH	21.9,77.084
FINISH2	7.6	_10V_AH	9.7,53.226
RAFOS_CLK	514	FG_AHR_24Vo	0.000
RAFOS	0,1293998464,20.033333,20.017778,45,43,43,41,41,40,955,521,1521,785,969,1437	FG_AHR_10Vo	0.000
RAFOS_FIX	6646.413086,-5816.849609,020111,202037,5,124,0.20	MEM	151716
IRIDIUM_FIX	6609.62,-5920.79,301210,222215	DATA_FILE_SIZE	30113,880
TT8_MAMPS	0.028462	CAP_FILE_SIZE	105636,0
HUMID	49.56	CFSIZE	260165632,205377536
INTERNAL_PRESSURE	8.62185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.30	SOUNDSPEED	1452.0
XPDR_PINGS	0	GPS	020111,203537,6646.413,-5816.850,0,5123.6,0,-37.6
ALTIM_TOP_PING	19.8,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	201	16.08	SBE_CT	613	24	322.50
Roll_motor	96	73	155.04	SBE_O2	0	0	0.00
VBD_pump_during_apogee	343	880	6617.54	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	13.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2162	19	417.93
LPSleep	4724	2	105.85
TT8_Active	395	19	76.37
TT8_Sampling	1532	39	593.44
TT8_CF8	186	45	82.91
TT8_Kalman	0	0	0.00
Analog_circuits	1227	12	142.83
GPS_charging	0	0	0.00
Compass	1516	15	220.69
RAFOS	2520	3	73.33
Transponder	12	30	3.60

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	-6.20	0.000	2	0.000	0.000	2497	3918	2932	0	0	0	0	0	0
28	-0.57	-146.0	10.5	-0.0	1	53	0.62	4.22	-13.23	0.000	4	0.123	0.055	2289	1377	3523	0	0	0	0	0	0
105	-0.57	-146.0	17.7	-10.9	14	112	0.00	2.33	0.00	0.000	6	0.000	0.060	2287	2786	3523	0	0	0	0	0	0
451	-0.57	-146.0	57.7	-11.0	75	458	0.00	2.28	0.00	0.000	4	0.000	0.051	2287	1371	3523	0	0	0	0	0	0
489	-0.60	-146.0	61.6	-10.0	81	496	0.00	2.30	0.00	0.000	6	0.000	0.061	2287	2759	3523	0	0	0	0	0	0
836	-0.64	-146.0	94.9	-9.2	142	842	0.00	2.00	0.00	0.000	4	0.000	0.073	2285	3926	3522	0	0	0	0	0	0
878	-0.71	-146.0	98.7	-9.0	149	885	0.12	1.88	0.00	0.000	6	0.108	0.048	2231	2760	3522	0	0	0	0	0	0
1213	-0.66	-146.0	139.1	-11.5	181	1217	0.12	2.25	0.00	0.000	4	0.183	0.052	2264	1369	3522	0	0	0	0	0	0
1337	-0.69	-146.0	151.4	-9.4	191	1344	0.00	2.30	0.00	0.000	6	0.000	0.063	2264	2738	3522	0	0	0	0	0	0
1663	-0.72	-146.0	182.6	-10.0	222	1667	0.00	2.03	0.00	0.000	4	0.000	0.073	2255	3933	3521	0	0	0	0	0	0
1732	-0.75	-146.0	189.6	-10.0	228	1735	0.00	1.95	0.00	0.000	6	0.000	0.050	2255	2739	3521	0	0	0	0	0	0
2063	-0.75	-146.0	224.7	-11.1	259	2067	0.00	2.20	0.00	0.000	4	0.000	0.052	2255	1365	3521	0	0	0	0	0	0
2096	-0.78	-146.0	228.5	-11.2	261	2102	0.00	2.28	0.00	0.000	6	0.000	0.063	2252	2737	3520	0	0	0	0	0	0
2421	-0.78	-146.0	261.2	-9.3	292	2425	0.00	2.03	0.00	0.000	4	0.000	0.073	2247	3932	3520	0	0	0	0	0	0
2438	-0.78	-146.0	262.9	-9.0	293	2444	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2731	3520	0	0	0	0	0	0
2763	-0.78	-146.0	293.1	-8.8	324	2767	0.00	2.17	0.00	0.000	4	0.000	0.050	2247	1364	3520	0	0	0	0	0	0
2820	-0.81	-146.0	298.1	-8.9	328	2827	0.10	2.28	0.00	0.000	6	0.113	0.061	2201	2722	3520	0	0	0	0	0	0
3145	-0.74	-146.0	334.8	-11.3	359	3150	0.12	2.08	0.00	0.000	4	0.186	0.071	2225	3926	3520	0	0	0	0	0	0
3202	-0.74	-146.0	340.9	-10.3	363	3208	0.00	1.95	0.00	0.000	6	0.000	0.047	2226	2727	3520	0	0	0	0	0	0
3528	-0.72	-146.0	373.9	-10.6	394	3531	0.00	2.05	0.00	0.000	4	0.000	0.072	2223	3930	3521	0	0	0	0	0	0
3563	-0.69	-146.0	377.7	-11.2	397	3567	0.12	1.95	0.00	0.000	6	0.164	0.047	2256	2731	3521	0	0	0	0	0	0
3886	-0.72	-146.0	405.6	-8.5	423	3890	0.00	2.05	0.00	0.000	4	0.000	0.072	2250	3935	3521	0	0	0	0	0	0
3915	-0.75	-146.0	408.4	-8.9	423	3921	0.00	1.95	0.00	0.000	6	0.000	0.047	2249	2738	3521	0	0	0	0	0	0
4229	-0.78	-146.0	436.8	-9.1	434	4233	0.00	2.17	0.00	0.000	4	0.000	0.050	2249	1370	3522	0	0	0	0	0	0
4259	-0.81	-146.0	439.7	-9.1	435	4263	0.00	2.28	0.00	0.000	6	0.000	0.061	2247	2743	3521	0	0	0	0	0	0
4382	end dive: BOTTOM_OBSTACLE_DETECTED
state	4382	begin apogee
4390	-0.14	0.0	450.4	8.9	439	4516	0.55	0.00	120.93	0.881	4	0.132	0.000	2425	2603	2923	0	0	0	0	0	0
4517	end apogee: CONTROL_FINISHED_OK
state	4517	begin climb
4520	0.57	146.0	455.1	0.0	443	4657	0.68	2.40	126.68	0.858	4	0.070	0.050	2664	1186	2329	0	0	0	0	0	0
4816	0.57	148.0	433.3	9.9	452	4820	0.00	2.45	0.00	0.000	6	0.000	0.055	2664	2609	2321	0	0	0	0	0	0
5152	0.53	148.0	396.8	10.9	463	5156	0.00	2.30	0.00	0.000	4	0.000	0.053	2666	1182	2317	0	0	0	0	0	0
5396	0.53	148.0	371.6	10.1	484	5400	0.00	2.33	0.00	0.000	6	0.000	0.057	2666	2596	2317	0	0	0	0	0	0
5727	0.49	148.0	334.7	10.8	515	5732	0.12	2.25	0.00	0.000	4	0.201	0.067	2635	3929	2316	0	0	0	0	0	0
5794	0.46	148.0	327.0	11.6	520	5801	0.00	2.15	0.00	0.000	6	0.000	0.044	2635	2597	2315	0	0	0	0	0	0
6120	0.47	162.5	297.4	9.3	551	6143	0.00	2.30	13.45	0.771	4	0.000	0.053	2635	1201	2260	0	0	0	0	0	0
6172	0.54	179.1	292.5	9.2	555	6193	0.00	2.28	16.15	0.765	6	0.000	0.055	2635	2596	2192	0	0	0	0	0	0
6514	0.59	185.4	259.8	9.7	587	6524	0.00	0.00	6.20	0.675	6	0.000	0.000	2635	2596	2167	0	0	0	0	0	0
6843	0.64	185.4	226.5	10.5	618	6848	0.12	2.25	0.00	0.000	4	0.102	0.067	2689	3929	2165	0	0	0	0	0	0
6875	0.54	185.4	221.8	16.5	620	6882	0.15	2.12	0.00	0.000	6	0.193	0.044	2652	2604	2164	0	0	0	0	0	0
7201	0.57	185.4	185.6	10.6	651	7202	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2603	2164	0	0	0	0	0	0
7522	0.61	195.0	153.3	9.6	681	7537	0.00	2.30	9.40	0.686	4	0.000	0.068	2653	3926	2128	0	0	0	0	0	0
7556	0.61	195.0	149.7	10.3	684	7560	0.00	2.15	0.00	0.000	6	0.000	0.044	2652	2596	2125	0	0	0	0	0	0
7883	0.68	253.0	121.0	7.3	714	7941	0.12	2.38	50.38	0.682	4	0.106	0.053	2704	1187	1890	0	0	0	0	0	0
8008	0.74	253.0	106.9	11.6	725	8015	0.00	2.35	0.00	0.000	6	0.000	0.055	2704	2601	1886	0	0	0	0	0	0
8350	0.74	253.0	65.1	11.7	781	8356	0.00	2.28	0.00	0.000	4	0.000	0.054	2704	1191	1882	0	0	0	0	0	0
8369	0.77	253.0	62.9	11.5	784	8376	0.00	2.30	0.00	0.000	6	0.000	0.056	2704	2587	1882	0	0	0	0	0	0
8715	0.81	253.9	28.4	10.0	845	8722	0.00	2.28	0.00	0.000	4	0.000	0.068	2704	3932	1880	0	0	0	0	0	0
8855	0.81	253.9	13.0	10.3	869	8862	0.00	2.17	0.00	0.000	6	0.000	0.046	2704	2587	1878	0	0	0	0	0	0
8890	end climb: FINISH_DEPTH_REACHED
state	8890	begin subsurface finish
8897	0.04	63.2	9.0	-10.3	875	8928	0.68	2.25	-22.83	0.000	4	0.146	0.063	2493	1188	2666	0	0	0	0	0	0
8929	end subsurface finish: CONTROL_FINISHED_OK
state	8929	begin surface