Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 714 * 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 714 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 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 33 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 -11387.251 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 5 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 -11387.251

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 42 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 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 714 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 080111,142801,6709.662,-5706.118,39,1.4,39,-37.8 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080111,143802,6709.745,-5706.366,12,1.1,12,-37.8 MHEAD_RNG_PITCHd_Wd 171.1,18218,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 483

Post-dive calculations and measurements:

FREEZE 0.98,2.080,-1.049,0,1,0 ALTIM_TOP_PING 19.9,18.1

FINISH 1.0,1.015457 _24V_AH 22.7,81.721

SM_CCo 9879,211.07,0.080,0,0,440,609.08 _10V_AH 9.8,56.125

SM_GC 1.67,0.00,0.00,211.07,0.000,0.000,0.080,294,2801,440,-6.80,0.59,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 392 FG_AHR_10Vo 0.000

RAFOS 0,1294502487,16.033333,16.024166,46,45,44,43,39,39,891,908,806,149,1040,1315 MEM 151732

RAFOS_FIX 6712.104492,-5713.421387,080111,161656,2,104,0.87 DATA_FILE_SIZE 33386,948

IRIDIUM_FIX 6647.44,-5700.20,080111,141413 CAP_FILE_SIZE 117329,0

TT8_MAMPS 0.029211 CFSIZE 260165632,202690560

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1473.0

TCM_TEMP 16.40 GPS 080111,172806,6710.796,-5708.403,8,1.4,25,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 234 92.76 SBE_CT 651 24 355.14

Roll_motor 78 68 120.67 SBE_O2 0 0 0.00

VBD_pump_during_apogee 347 850 6710.86 nil 0 0 0.00

VBD_pump_during_surface 211 79 381.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 136.97 nil 0 0 0.00

Iridium_during_connect 62 160 226.37 nil 0 0 0.00

Iridium_during_xfer 210 223 1065.31 nil 0 0 0.00

Transponder_ping 1 420 11.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.45

TT8 2288 19 446.67

LPSleep 5511 2 124.77

TT8_Active 669 19 130.70

TT8_Sampling 1867 39 730.46

TT8_CF8 370 45 166.67

TT8_Kalman 0 0 0.00

Analog_circuits 1525 12 179.39

GPS_charging 0 0 0.00

Compass 1539 15 226.28

RAFOS 2520 3 74.09

Transponder 9 30 2.85

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 157 0.00 0.00 -135.32 0.000 2 0.000 0.000 271 2790 3462 0 0 0 0 0 0

161 -0.57 -146.0 5.4 -12.6 24 181 8.30 2.33 -1.17 0.000 4 0.235 0.057 2282 1367 3522 0 0 0 0 0 0

302 -0.60 -146.0 33.5 -9.6 48 309 0.00 2.33 0.00 0.000 6 0.000 0.057 2280 2777 3523 0 0 0 0 0 0

649 -0.60 -146.0 71.2 -10.4 109 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2777 3522 0 0 0 0 0 0

995 -0.63 -146.0 102.0 -9.1 168 999 0.00 2.22 0.00 0.000 4 0.000 0.047 2280 1374 3522 0 0 0 0 0 0

1043 -0.68 -146.0 106.5 -9.7 172 1047 0.00 2.33 0.00 0.000 6 0.000 0.058 2278 2782 3521 0 0 0 0 0 0

1370 -0.72 -146.0 137.3 -9.0 202 1374 0.10 1.92 0.00 0.000 4 0.112 0.068 2223 3931 3521 0 0 0 0 0 0

1398 -0.67 -146.0 140.7 -11.5 204 1406 0.12 1.83 0.00 0.000 6 0.167 0.044 2256 2775 3521 0 0 0 0 0 0

1727 -0.67 -146.0 173.0 -9.6 235 1731 0.00 2.20 0.00 0.000 4 0.000 0.047 2256 1373 3521 0 0 0 0 0 0

1783 -0.71 -146.0 178.9 -9.8 239 1790 0.00 2.30 0.00 0.000 6 0.000 0.058 2249 2764 3521 0 0 0 0 0 0

2110 -0.71 -146.0 210.0 -9.7 270 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2764 3521 0 0 0 0 0 0

2431 -0.71 -146.0 239.7 -9.3 300 2434 0.00 1.95 0.00 0.000 4 0.000 0.067 2247 3926 3522 0 0 0 0 0 0

2470 -0.71 -146.0 244.0 -9.6 303 2477 0.00 1.85 0.00 0.000 6 0.000 0.044 2247 2767 3522 0 0 0 0 0 0

2795 -0.71 -146.0 275.4 -10.1 334 2796 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2766 3522 0 0 0 0 0 0

3117 -0.71 -146.0 304.2 -8.7 364 3121 0.00 2.20 0.00 0.000 4 0.000 0.045 2247 1363 3523 0 0 0 0 0 0

3197 -0.75 -146.0 311.7 -8.5 371 3201 0.00 2.30 0.00 0.000 6 0.000 0.057 2247 2760 3523 0 0 0 0 0 0

3523 -0.75 -146.0 339.9 -8.5 401 3524 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2760 3523 0 0 0 0 0 0

3844 -0.77 -146.0 365.7 -7.9 431 3848 0.00 1.95 0.00 0.000 4 0.000 0.066 2247 3927 3523 0 0 0 0 0 0

3907 -0.80 -146.0 371.1 -8.2 436 3914 0.00 1.90 0.00 0.000 6 0.000 0.043 2247 2753 3524 0 0 0 0 0 0

4233 -0.83 -146.0 397.8 -8.2 467 4238 0.12 2.17 0.00 0.000 4 0.100 0.044 2181 1369 3524 0 0 0 0 0 0

4272 -0.74 -146.0 402.0 -11.4 469 4277 0.20 2.30 0.00 0.000 6 0.167 0.057 2232 2768 3524 0 0 0 0 0 0

4602 -0.74 -146.0 431.8 -9.0 480 4606 0.00 1.95 0.00 0.000 4 0.000 0.065 2225 3935 3525 0 0 0 0 0 0

4652 -0.74 -146.0 437.1 -10.6 481 4656 0.00 1.88 0.00 0.000 6 0.000 0.044 2225 2756 3524 0 0 0 0 0 0

4981 -0.74 -146.0 467.8 -9.0 492 4982 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2755 3525 0 0 0 0 0 0

5127 end dive: TARGET_DEPTH_EXCEEDED

state 5127 begin apogee

5133 -0.14 0.0 483.3 9.8 497 5261 0.60 0.00 120.38 0.851 4 0.127 0.000 2423 2599 2923 0 0 0 0 0 0

5262 end apogee: CONTROL_FINISHED_OK

state 5262 begin climb

5265 0.57 146.0 486.9 0.0 501 5392 0.62 0.00 121.90 0.836 6 0.070 0.000 2660 2599 2326 0 0 0 0 0 0

5697 0.52 146.0 440.5 13.3 515 5701 0.00 2.22 0.00 0.000 4 0.000 0.062 2660 3928 2319 0 0 0 0 0 0

5719 0.45 146.0 437.3 13.5 515 5726 0.15 2.12 0.00 0.000 6 0.191 0.040 2624 2593 2317 0 0 0 0 0 0

6033 0.48 146.7 406.7 10.0 526 6034 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2592 2317 0 0 0 0 0 0

6349 0.51 147.8 374.5 9.9 550 6353 0.00 2.20 0.00 0.000 4 0.000 0.062 2624 3927 2317 0 0 0 0 0 0

6389 0.48 147.8 369.8 11.9 553 6394 0.00 2.10 0.00 0.000 6 0.000 0.040 2624 2600 2316 0 0 0 0 0 0

6721 0.51 147.8 335.7 10.3 584 6725 0.00 2.20 0.00 0.000 4 0.000 0.061 2625 3930 2317 0 0 0 0 0 0

6761 0.48 147.8 330.9 12.3 587 6766 0.00 2.05 0.00 0.000 6 0.000 0.039 2624 2632 2316 0 0 0 0 0 0

7094 0.51 147.8 297.8 10.3 618 7098 0.00 2.28 0.00 0.000 4 0.000 0.047 2625 1185 2316 0 0 0 0 0 0

7117 0.57 164.1 295.5 9.2 619 7138 0.10 2.35 14.65 0.710 6 0.108 0.050 2675 2642 2254 0 0 0 0 0 0

7464 0.52 164.1 250.3 12.4 652 7466 0.12 0.00 0.00 0.000 6 0.186 0.000 2642 2642 2252 0 0 0 0 0 0

7783 0.52 164.1 215.1 12.0 682 7785 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2642 2251 0 0 0 0 0 0

8101 0.52 164.1 180.7 10.8 712 8106 0.00 2.28 0.00 0.000 4 0.000 0.047 2642 1197 2251 0 0 0 0 0 0

8125 0.55 164.1 178.2 10.1 713 8131 0.00 2.33 0.00 0.000 6 0.000 0.050 2642 2637 2251 0 0 0 0 0 0

8451 0.58 176.5 145.1 9.4 744 8467 0.00 2.15 11.80 0.624 4 0.000 0.060 2642 3930 2203 0 0 0 0 0 0

8507 0.58 176.5 138.9 12.4 748 8514 0.00 2.03 0.00 0.000 6 0.000 0.040 2642 2649 2201 0 0 0 0 0 0

8833 0.66 221.0 111.3 7.9 779 8878 0.12 2.33 37.47 0.623 4 0.099 0.047 2701 1194 2022 0 0 0 0 0 0

8948 0.66 221.0 98.9 10.6 789 8955 0.00 2.35 0.00 0.000 6 0.000 0.050 2701 2644 2018 0 0 0 0 0 0

9294 0.66 221.0 58.9 11.1 850 9300 0.00 2.10 0.00 0.000 4 0.000 0.062 2701 3929 2015 0 0 0 0 0 0

9347 0.61 221.0 51.9 14.0 859 9355 0.12 2.05 0.00 0.000 6 0.188 0.040 2673 2635 2013 0 0 0 0 0 0

9695 0.66 221.0 18.9 10.2 920 9702 0.00 2.28 0.00 0.000 4 0.000 0.049 2673 1197 2014 0 0 0 0 0 0

9756 0.79 271.2 13.9 7.7 930 9805 0.15 2.33 41.33 0.574 6 0.088 0.052 2740 2634 1817 0 0 0 0 0 0

9838 end climb: SURFACE_DEPTH_REACHED

state 9839 begin surface coast

9861 end surface coast: CONTROL_FINISHED_OK

state 9861 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	714	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	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	33	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	-11387.251	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	080111,142801,6709.662,-5706.118,39,1.4,39,-37.8	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080111,143802,6709.745,-5706.366,12,1.1,12,-37.8	MHEAD_RNG_PITCHd_Wd	171.1,18218,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	483

FREEZE	0.98,2.080,-1.049,0,1,0	ALTIM_TOP_PING	19.9,18.1
FINISH	1.0,1.015457	_24V_AH	22.7,81.721
SM_CCo	9879,211.07,0.080,0,0,440,609.08	_10V_AH	9.8,56.125
SM_GC	1.67,0.00,0.00,211.07,0.000,0.000,0.080,294,2801,440,-6.80,0.59,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	392	FG_AHR_10Vo	0.000
RAFOS	0,1294502487,16.033333,16.024166,46,45,44,43,39,39,891,908,806,149,1040,1315	MEM	151732
RAFOS_FIX	6712.104492,-5713.421387,080111,161656,2,104,0.87	DATA_FILE_SIZE	33386,948
IRIDIUM_FIX	6647.44,-5700.20,080111,141413	CAP_FILE_SIZE	117329,0
TT8_MAMPS	0.029211	CFSIZE	260165632,202690560
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1473.0
TCM_TEMP	16.40	GPS	080111,172806,6710.796,-5708.403,8,1.4,25,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	234	92.76	SBE_CT	651	24	355.14
Roll_motor	78	68	120.67	SBE_O2	0	0	0.00
VBD_pump_during_apogee	347	850	6710.86	nil	0	0	0.00
VBD_pump_during_surface	211	79	381.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	136.97	nil	0	0	0.00
Iridium_during_connect	62	160	226.37	nil	0	0	0.00
Iridium_during_xfer	210	223	1065.31	nil	0	0	0.00
Transponder_ping	1	420	11.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.45
TT8	2288	19	446.67
LPSleep	5511	2	124.77
TT8_Active	669	19	130.70
TT8_Sampling	1867	39	730.46
TT8_CF8	370	45	166.67
TT8_Kalman	0	0	0.00
Analog_circuits	1525	12	179.39
GPS_charging	0	0	0.00
Compass	1539	15	226.28
RAFOS	2520	3	74.09
Transponder	9	30	2.85

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	157	0.00	0.00	-135.32	0.000	2	0.000	0.000	271	2790	3462	0	0	0	0	0	0
161	-0.57	-146.0	5.4	-12.6	24	181	8.30	2.33	-1.17	0.000	4	0.235	0.057	2282	1367	3522	0	0	0	0	0	0
302	-0.60	-146.0	33.5	-9.6	48	309	0.00	2.33	0.00	0.000	6	0.000	0.057	2280	2777	3523	0	0	0	0	0	0
649	-0.60	-146.0	71.2	-10.4	109	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2777	3522	0	0	0	0	0	0
995	-0.63	-146.0	102.0	-9.1	168	999	0.00	2.22	0.00	0.000	4	0.000	0.047	2280	1374	3522	0	0	0	0	0	0
1043	-0.68	-146.0	106.5	-9.7	172	1047	0.00	2.33	0.00	0.000	6	0.000	0.058	2278	2782	3521	0	0	0	0	0	0
1370	-0.72	-146.0	137.3	-9.0	202	1374	0.10	1.92	0.00	0.000	4	0.112	0.068	2223	3931	3521	0	0	0	0	0	0
1398	-0.67	-146.0	140.7	-11.5	204	1406	0.12	1.83	0.00	0.000	6	0.167	0.044	2256	2775	3521	0	0	0	0	0	0
1727	-0.67	-146.0	173.0	-9.6	235	1731	0.00	2.20	0.00	0.000	4	0.000	0.047	2256	1373	3521	0	0	0	0	0	0
1783	-0.71	-146.0	178.9	-9.8	239	1790	0.00	2.30	0.00	0.000	6	0.000	0.058	2249	2764	3521	0	0	0	0	0	0
2110	-0.71	-146.0	210.0	-9.7	270	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2764	3521	0	0	0	0	0	0
2431	-0.71	-146.0	239.7	-9.3	300	2434	0.00	1.95	0.00	0.000	4	0.000	0.067	2247	3926	3522	0	0	0	0	0	0
2470	-0.71	-146.0	244.0	-9.6	303	2477	0.00	1.85	0.00	0.000	6	0.000	0.044	2247	2767	3522	0	0	0	0	0	0
2795	-0.71	-146.0	275.4	-10.1	334	2796	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2766	3522	0	0	0	0	0	0
3117	-0.71	-146.0	304.2	-8.7	364	3121	0.00	2.20	0.00	0.000	4	0.000	0.045	2247	1363	3523	0	0	0	0	0	0
3197	-0.75	-146.0	311.7	-8.5	371	3201	0.00	2.30	0.00	0.000	6	0.000	0.057	2247	2760	3523	0	0	0	0	0	0
3523	-0.75	-146.0	339.9	-8.5	401	3524	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2760	3523	0	0	0	0	0	0
3844	-0.77	-146.0	365.7	-7.9	431	3848	0.00	1.95	0.00	0.000	4	0.000	0.066	2247	3927	3523	0	0	0	0	0	0
3907	-0.80	-146.0	371.1	-8.2	436	3914	0.00	1.90	0.00	0.000	6	0.000	0.043	2247	2753	3524	0	0	0	0	0	0
4233	-0.83	-146.0	397.8	-8.2	467	4238	0.12	2.17	0.00	0.000	4	0.100	0.044	2181	1369	3524	0	0	0	0	0	0
4272	-0.74	-146.0	402.0	-11.4	469	4277	0.20	2.30	0.00	0.000	6	0.167	0.057	2232	2768	3524	0	0	0	0	0	0
4602	-0.74	-146.0	431.8	-9.0	480	4606	0.00	1.95	0.00	0.000	4	0.000	0.065	2225	3935	3525	0	0	0	0	0	0
4652	-0.74	-146.0	437.1	-10.6	481	4656	0.00	1.88	0.00	0.000	6	0.000	0.044	2225	2756	3524	0	0	0	0	0	0
4981	-0.74	-146.0	467.8	-9.0	492	4982	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2755	3525	0	0	0	0	0	0
5127	end dive: TARGET_DEPTH_EXCEEDED
state	5127	begin apogee
5133	-0.14	0.0	483.3	9.8	497	5261	0.60	0.00	120.38	0.851	4	0.127	0.000	2423	2599	2923	0	0	0	0	0	0
5262	end apogee: CONTROL_FINISHED_OK
state	5262	begin climb
5265	0.57	146.0	486.9	0.0	501	5392	0.62	0.00	121.90	0.836	6	0.070	0.000	2660	2599	2326	0	0	0	0	0	0
5697	0.52	146.0	440.5	13.3	515	5701	0.00	2.22	0.00	0.000	4	0.000	0.062	2660	3928	2319	0	0	0	0	0	0
5719	0.45	146.0	437.3	13.5	515	5726	0.15	2.12	0.00	0.000	6	0.191	0.040	2624	2593	2317	0	0	0	0	0	0
6033	0.48	146.7	406.7	10.0	526	6034	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2592	2317	0	0	0	0	0	0
6349	0.51	147.8	374.5	9.9	550	6353	0.00	2.20	0.00	0.000	4	0.000	0.062	2624	3927	2317	0	0	0	0	0	0
6389	0.48	147.8	369.8	11.9	553	6394	0.00	2.10	0.00	0.000	6	0.000	0.040	2624	2600	2316	0	0	0	0	0	0
6721	0.51	147.8	335.7	10.3	584	6725	0.00	2.20	0.00	0.000	4	0.000	0.061	2625	3930	2317	0	0	0	0	0	0
6761	0.48	147.8	330.9	12.3	587	6766	0.00	2.05	0.00	0.000	6	0.000	0.039	2624	2632	2316	0	0	0	0	0	0
7094	0.51	147.8	297.8	10.3	618	7098	0.00	2.28	0.00	0.000	4	0.000	0.047	2625	1185	2316	0	0	0	0	0	0
7117	0.57	164.1	295.5	9.2	619	7138	0.10	2.35	14.65	0.710	6	0.108	0.050	2675	2642	2254	0	0	0	0	0	0
7464	0.52	164.1	250.3	12.4	652	7466	0.12	0.00	0.00	0.000	6	0.186	0.000	2642	2642	2252	0	0	0	0	0	0
7783	0.52	164.1	215.1	12.0	682	7785	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2642	2251	0	0	0	0	0	0
8101	0.52	164.1	180.7	10.8	712	8106	0.00	2.28	0.00	0.000	4	0.000	0.047	2642	1197	2251	0	0	0	0	0	0
8125	0.55	164.1	178.2	10.1	713	8131	0.00	2.33	0.00	0.000	6	0.000	0.050	2642	2637	2251	0	0	0	0	0	0
8451	0.58	176.5	145.1	9.4	744	8467	0.00	2.15	11.80	0.624	4	0.000	0.060	2642	3930	2203	0	0	0	0	0	0
8507	0.58	176.5	138.9	12.4	748	8514	0.00	2.03	0.00	0.000	6	0.000	0.040	2642	2649	2201	0	0	0	0	0	0
8833	0.66	221.0	111.3	7.9	779	8878	0.12	2.33	37.47	0.623	4	0.099	0.047	2701	1194	2022	0	0	0	0	0	0
8948	0.66	221.0	98.9	10.6	789	8955	0.00	2.35	0.00	0.000	6	0.000	0.050	2701	2644	2018	0	0	0	0	0	0
9294	0.66	221.0	58.9	11.1	850	9300	0.00	2.10	0.00	0.000	4	0.000	0.062	2701	3929	2015	0	0	0	0	0	0
9347	0.61	221.0	51.9	14.0	859	9355	0.12	2.05	0.00	0.000	6	0.188	0.040	2673	2635	2013	0	0	0	0	0	0
9695	0.66	221.0	18.9	10.2	920	9702	0.00	2.28	0.00	0.000	4	0.000	0.049	2673	1197	2014	0	0	0	0	0	0
9756	0.79	271.2	13.9	7.7	930	9805	0.15	2.33	41.33	0.574	6	0.088	0.052	2740	2634	1817	0	0	0	0	0	0
9838	end climb: SURFACE_DEPTH_REACHED
state	9839	begin surface coast
9861	end surface coast: CONTROL_FINISHED_OK
state	9861	begin surface