Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 715 * 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 715 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 45 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 -11388.506 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 -11388.506

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 40 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 45 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 715 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 080111,172806,6710.796,-5708.403,8,1.4,25,-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 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080111,173726,6710.876,-5708.759,11,1.4,11,-37.8 MHEAD_RNG_PITCHd_Wd 172.0,20917,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 498

Post-dive calculations and measurements:

FREEZE 1.07,2.255,-1.683,0,1,0 ALTIM_TOP_PING 19.9,18.2

FINISH 1.1,1.024584 _24V_AH 22.7,81.819

SM_CCo 9604,223.93,0.080,0,0,439,609.08 _10V_AH 9.8,56.187

SM_GC 1.69,0.00,0.00,223.93,0.000,0.000,0.080,288,2805,439,-6.82,0.71,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 380 FG_AHR_10Vo 0.000

RAFOS 0,1294516871,20.033333,20.019722,52,45,41,40,37,36,903,913,1071,26,483,1523 MEM 151644

RAFOS_FIX 6712.104492,-5713.421387,080111,161656,2,104,0.87 DATA_FILE_SIZE 33402,903

IRIDIUM_FIX 6641.98,-5701.58,080111,171728 CAP_FILE_SIZE 115691,0

TT8_MAMPS 0.031458 CFSIZE 260165632,202629120

HUMID 45.86 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.56325 SOUNDSPEED 1473.1

TCM_TEMP 16.30 GPS 080111,202316,6711.115,-5709.632,30,1.3,40,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 236 92.56 SBE_CT 621 24 338.55

Roll_motor 77 70 123.86 SBE_O2 0 0 0.00

VBD_pump_during_apogee 323 862 6345.13 nil 0 0 0.00

VBD_pump_during_surface 223 79 404.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 129.37 nil 0 0 0.00

Iridium_during_connect 35 160 128.32 nil 0 0 0.00

Iridium_during_xfer 227 223 1150.79 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.73

TT8 2190 19 427.53

LPSleep 5349 2 121.10

TT8_Active 662 19 129.33

TT8_Sampling 1866 39 730.21

TT8_CF8 327 45 147.29

TT8_Kalman 0 0 0.00

Analog_circuits 1510 12 177.66

GPS_charging 0 0 0.00

Compass 1542 15 226.75

RAFOS 1080 3 31.75

Transponder 11 30 3.37

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 0 154 0.00 0.00 -134.68 0.000 2 0.000 0.000 280 2802 3447 0 0 0 0 0 0

159 -0.57 -146.0 5.3 -12.0 24 179 8.27 2.33 -1.48 0.000 4 0.236 0.058 2282 1370 3523 0 0 0 0 0 0

338 -0.60 -146.0 38.9 -10.8 55 345 0.00 2.30 0.00 0.000 6 0.000 0.058 2275 2761 3524 0 0 0 0 0 0

685 -0.60 -146.0 78.2 -10.0 116 690 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2761 3523 0 0 0 0 0 0

1028 -0.60 -146.0 114.9 -10.5 165 1031 0.00 1.98 0.00 0.000 4 0.000 0.069 2275 3932 3522 0 0 0 0 0 0

1053 -0.62 -146.0 117.6 -11.5 167 1057 0.00 1.80 0.00 0.000 6 0.000 0.046 2275 2794 3522 0 0 0 0 0 0

1385 -0.66 -146.0 151.3 -9.3 198 1389 0.00 2.25 0.00 0.000 4 0.000 0.047 2275 1362 3523 0 0 0 0 0 0

1466 -0.72 -146.0 158.8 -9.0 205 1470 0.00 2.33 0.00 0.000 6 0.000 0.058 2275 2769 3522 0 0 0 0 0 0

1792 -0.77 -146.0 184.6 -7.3 235 1796 0.12 1.98 0.00 0.000 4 0.097 0.069 2208 3928 3522 0 0 0 0 0 0

1831 -0.68 -146.0 189.0 -11.9 238 1839 0.17 1.88 0.00 0.000 6 0.156 0.044 2257 2757 3522 0 0 0 0 0 0

2158 -0.71 -146.0 216.8 -8.2 269 2162 0.00 2.17 0.00 0.000 4 0.000 0.047 2257 1366 3523 0 0 0 0 0 0

2244 -0.75 -146.0 223.5 -7.6 276 2248 0.00 2.28 0.00 0.000 6 0.000 0.057 2250 2745 3522 0 0 0 0 0 0

2570 -0.75 -146.0 250.4 -8.0 306 2573 0.00 2.00 0.00 0.000 4 0.000 0.068 2248 3933 3523 0 0 0 0 0 0

2598 -0.75 -146.0 253.0 -8.2 308 2604 0.00 1.92 0.00 0.000 6 0.000 0.044 2247 2728 3523 0 0 0 0 0 0

2923 -0.75 -146.0 280.8 -9.2 339 2927 0.00 2.12 0.00 0.000 4 0.000 0.046 2247 1368 3524 0 0 0 0 0 0

2947 -0.75 -146.0 283.0 -8.8 341 2951 0.00 2.28 0.00 0.000 6 0.000 0.057 2247 2747 3523 0 0 0 0 0 0

3273 -0.75 -146.0 311.6 -8.5 371 3274 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2748 3524 0 0 0 0 0 0

3594 -0.77 -146.0 338.1 -8.1 401 3600 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2748 3525 0 0 0 0 0 0

3923 -0.80 -146.0 368.4 -9.7 432 3927 0.00 2.00 0.00 0.000 4 0.000 0.067 2247 3936 3525 0 0 0 0 0 0

3998 -0.83 -146.0 376.1 -9.6 438 4005 0.12 1.92 0.00 0.000 6 0.098 0.042 2183 2730 3525 0 0 0 0 0 0

4341 -0.73 -146.0 422.6 -14.7 461 4346 0.20 2.15 0.00 0.000 4 0.163 0.043 2239 1370 3526 0 0 0 0 0 0

4370 -0.73 -146.0 426.7 -11.9 462 4374 0.00 2.22 0.00 0.000 6 0.000 0.056 2235 2740 3526 0 0 0 0 0 0

4707 -0.73 -146.0 460.8 -9.6 473 4711 0.00 2.00 0.00 0.000 4 0.000 0.065 2227 3934 3526 0 0 0 0 0 0

4751 -0.73 -146.0 465.6 -10.8 474 4755 0.00 1.92 0.00 0.000 6 0.000 0.043 2227 2728 3526 0 0 0 0 0 0

5082 -0.73 -146.0 495.0 -8.7 485 5083 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2728 3526 0 0 0 0 0 0

5141 end dive: TARGET_DEPTH_EXCEEDED

state 5141 begin apogee

5148 -0.14 0.0 500.4 9.1 487 5276 0.60 0.00 120.95 0.863 4 0.126 0.000 2424 2603 2923 0 0 0 0 0 0

5277 end apogee: CONTROL_FINISHED_OK

state 5277 begin climb

5280 0.57 146.0 503.2 0.0 491 5412 0.65 2.33 122.43 0.851 4 0.063 0.046 2664 1182 2327 0 0 0 0 0 0

5563 0.57 146.0 475.8 11.6 499 5570 0.00 2.35 0.00 0.000 6 0.000 0.051 2664 2612 2321 0 0 0 0 0 0

5876 0.52 146.0 435.3 13.0 510 5880 0.00 2.28 0.00 0.000 4 0.000 0.047 2666 1178 2318 0 0 0 0 0 0

6114 0.52 146.0 408.7 10.8 517 6118 0.00 2.30 0.00 0.000 6 0.000 0.050 2666 2604 2318 0 0 0 0 0 0

6439 0.46 146.0 368.8 11.8 542 6444 0.15 2.17 0.00 0.000 4 0.184 0.062 2625 3927 2317 0 0 0 0 0 0

6469 0.43 146.0 365.2 12.4 544 6473 0.00 2.10 0.00 0.000 6 0.000 0.041 2625 2600 2316 0 0 0 0 0 0

6800 0.45 146.0 332.4 10.4 575 6804 0.00 2.20 0.00 0.000 4 0.000 0.063 2625 3926 2316 0 0 0 0 0 0

6823 0.45 146.0 329.9 10.4 576 6830 0.00 2.05 0.00 0.000 6 0.000 0.040 2625 2628 2316 0 0 0 0 0 0

7149 0.49 179.5 300.4 8.5 607 7179 0.00 0.00 27.77 0.729 6 0.000 0.000 2625 2628 2191 0 0 0 0 0 0

7498 0.56 205.9 271.3 8.8 640 7525 0.00 2.28 22.70 0.709 4 0.000 0.046 2625 1196 2084 0 0 0 0 0 0

7539 0.65 239.9 267.7 8.4 643 7576 0.17 2.33 30.08 0.701 6 0.080 0.049 2702 2643 1944 0 0 0 0 0 0

7902 0.59 239.9 211.9 16.4 677 7904 0.12 0.00 0.00 0.000 6 0.184 0.000 2670 2643 1936 0 0 0 0 0 0

8220 0.62 239.9 170.2 13.0 707 8222 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2643 1934 0 0 0 0 0 0

8541 0.65 239.9 126.5 13.5 737 8544 0.00 2.12 0.00 0.000 4 0.000 0.062 2670 3931 1934 0 0 0 0 0 0

8558 0.67 239.9 123.8 13.3 738 8565 0.00 2.03 0.00 0.000 6 0.000 0.040 2670 2635 1933 0 0 0 0 0 0

8891 0.71 239.9 84.1 11.3 781 8898 0.10 2.28 0.00 0.000 4 0.116 0.047 2717 1199 1933 0 0 0 0 0 0

8964 0.71 239.9 74.6 13.8 793 8971 0.00 2.33 0.00 0.000 6 0.000 0.050 2717 2642 1933 0 0 0 0 0 0

9310 0.71 239.9 30.7 11.4 854 9316 0.00 2.10 0.00 0.000 4 0.000 0.062 2718 3926 1933 0 0 0 0 0 0

9341 0.66 239.9 26.5 13.5 859 9348 0.12 2.05 0.00 0.000 6 0.194 0.040 2689 2631 1932 0 0 0 0 0 0

9559 end climb: SURFACE_DEPTH_REACHED

state 9559 begin surface coast

9587 end surface coast: CONTROL_FINISHED_OK

state 9588 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	715	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	45	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	-11388.506	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	080111,172806,6710.796,-5708.403,8,1.4,25,-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	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080111,173726,6710.876,-5708.759,11,1.4,11,-37.8	MHEAD_RNG_PITCHd_Wd	172.0,20917,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	498

FREEZE	1.07,2.255,-1.683,0,1,0	ALTIM_TOP_PING	19.9,18.2
FINISH	1.1,1.024584	_24V_AH	22.7,81.819
SM_CCo	9604,223.93,0.080,0,0,439,609.08	_10V_AH	9.8,56.187
SM_GC	1.69,0.00,0.00,223.93,0.000,0.000,0.080,288,2805,439,-6.82,0.71,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	380	FG_AHR_10Vo	0.000
RAFOS	0,1294516871,20.033333,20.019722,52,45,41,40,37,36,903,913,1071,26,483,1523	MEM	151644
RAFOS_FIX	6712.104492,-5713.421387,080111,161656,2,104,0.87	DATA_FILE_SIZE	33402,903
IRIDIUM_FIX	6641.98,-5701.58,080111,171728	CAP_FILE_SIZE	115691,0
TT8_MAMPS	0.031458	CFSIZE	260165632,202629120
HUMID	45.86	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.56325	SOUNDSPEED	1473.1
TCM_TEMP	16.30	GPS	080111,202316,6711.115,-5709.632,30,1.3,40,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	236	92.56	SBE_CT	621	24	338.55
Roll_motor	77	70	123.86	SBE_O2	0	0	0.00
VBD_pump_during_apogee	323	862	6345.13	nil	0	0	0.00
VBD_pump_during_surface	223	79	404.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	129.37	nil	0	0	0.00
Iridium_during_connect	35	160	128.32	nil	0	0	0.00
Iridium_during_xfer	227	223	1150.79	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.73
TT8	2190	19	427.53
LPSleep	5349	2	121.10
TT8_Active	662	19	129.33
TT8_Sampling	1866	39	730.21
TT8_CF8	327	45	147.29
TT8_Kalman	0	0	0.00
Analog_circuits	1510	12	177.66
GPS_charging	0	0	0.00
Compass	1542	15	226.75
RAFOS	1080	3	31.75
Transponder	11	30	3.37

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	154	0.00	0.00	-134.68	0.000	2	0.000	0.000	280	2802	3447	0	0	0	0	0	0
159	-0.57	-146.0	5.3	-12.0	24	179	8.27	2.33	-1.48	0.000	4	0.236	0.058	2282	1370	3523	0	0	0	0	0	0
338	-0.60	-146.0	38.9	-10.8	55	345	0.00	2.30	0.00	0.000	6	0.000	0.058	2275	2761	3524	0	0	0	0	0	0
685	-0.60	-146.0	78.2	-10.0	116	690	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2761	3523	0	0	0	0	0	0
1028	-0.60	-146.0	114.9	-10.5	165	1031	0.00	1.98	0.00	0.000	4	0.000	0.069	2275	3932	3522	0	0	0	0	0	0
1053	-0.62	-146.0	117.6	-11.5	167	1057	0.00	1.80	0.00	0.000	6	0.000	0.046	2275	2794	3522	0	0	0	0	0	0
1385	-0.66	-146.0	151.3	-9.3	198	1389	0.00	2.25	0.00	0.000	4	0.000	0.047	2275	1362	3523	0	0	0	0	0	0
1466	-0.72	-146.0	158.8	-9.0	205	1470	0.00	2.33	0.00	0.000	6	0.000	0.058	2275	2769	3522	0	0	0	0	0	0
1792	-0.77	-146.0	184.6	-7.3	235	1796	0.12	1.98	0.00	0.000	4	0.097	0.069	2208	3928	3522	0	0	0	0	0	0
1831	-0.68	-146.0	189.0	-11.9	238	1839	0.17	1.88	0.00	0.000	6	0.156	0.044	2257	2757	3522	0	0	0	0	0	0
2158	-0.71	-146.0	216.8	-8.2	269	2162	0.00	2.17	0.00	0.000	4	0.000	0.047	2257	1366	3523	0	0	0	0	0	0
2244	-0.75	-146.0	223.5	-7.6	276	2248	0.00	2.28	0.00	0.000	6	0.000	0.057	2250	2745	3522	0	0	0	0	0	0
2570	-0.75	-146.0	250.4	-8.0	306	2573	0.00	2.00	0.00	0.000	4	0.000	0.068	2248	3933	3523	0	0	0	0	0	0
2598	-0.75	-146.0	253.0	-8.2	308	2604	0.00	1.92	0.00	0.000	6	0.000	0.044	2247	2728	3523	0	0	0	0	0	0
2923	-0.75	-146.0	280.8	-9.2	339	2927	0.00	2.12	0.00	0.000	4	0.000	0.046	2247	1368	3524	0	0	0	0	0	0
2947	-0.75	-146.0	283.0	-8.8	341	2951	0.00	2.28	0.00	0.000	6	0.000	0.057	2247	2747	3523	0	0	0	0	0	0
3273	-0.75	-146.0	311.6	-8.5	371	3274	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2748	3524	0	0	0	0	0	0
3594	-0.77	-146.0	338.1	-8.1	401	3600	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2748	3525	0	0	0	0	0	0
3923	-0.80	-146.0	368.4	-9.7	432	3927	0.00	2.00	0.00	0.000	4	0.000	0.067	2247	3936	3525	0	0	0	0	0	0
3998	-0.83	-146.0	376.1	-9.6	438	4005	0.12	1.92	0.00	0.000	6	0.098	0.042	2183	2730	3525	0	0	0	0	0	0
4341	-0.73	-146.0	422.6	-14.7	461	4346	0.20	2.15	0.00	0.000	4	0.163	0.043	2239	1370	3526	0	0	0	0	0	0
4370	-0.73	-146.0	426.7	-11.9	462	4374	0.00	2.22	0.00	0.000	6	0.000	0.056	2235	2740	3526	0	0	0	0	0	0
4707	-0.73	-146.0	460.8	-9.6	473	4711	0.00	2.00	0.00	0.000	4	0.000	0.065	2227	3934	3526	0	0	0	0	0	0
4751	-0.73	-146.0	465.6	-10.8	474	4755	0.00	1.92	0.00	0.000	6	0.000	0.043	2227	2728	3526	0	0	0	0	0	0
5082	-0.73	-146.0	495.0	-8.7	485	5083	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2728	3526	0	0	0	0	0	0
5141	end dive: TARGET_DEPTH_EXCEEDED
state	5141	begin apogee
5148	-0.14	0.0	500.4	9.1	487	5276	0.60	0.00	120.95	0.863	4	0.126	0.000	2424	2603	2923	0	0	0	0	0	0
5277	end apogee: CONTROL_FINISHED_OK
state	5277	begin climb
5280	0.57	146.0	503.2	0.0	491	5412	0.65	2.33	122.43	0.851	4	0.063	0.046	2664	1182	2327	0	0	0	0	0	0
5563	0.57	146.0	475.8	11.6	499	5570	0.00	2.35	0.00	0.000	6	0.000	0.051	2664	2612	2321	0	0	0	0	0	0
5876	0.52	146.0	435.3	13.0	510	5880	0.00	2.28	0.00	0.000	4	0.000	0.047	2666	1178	2318	0	0	0	0	0	0
6114	0.52	146.0	408.7	10.8	517	6118	0.00	2.30	0.00	0.000	6	0.000	0.050	2666	2604	2318	0	0	0	0	0	0
6439	0.46	146.0	368.8	11.8	542	6444	0.15	2.17	0.00	0.000	4	0.184	0.062	2625	3927	2317	0	0	0	0	0	0
6469	0.43	146.0	365.2	12.4	544	6473	0.00	2.10	0.00	0.000	6	0.000	0.041	2625	2600	2316	0	0	0	0	0	0
6800	0.45	146.0	332.4	10.4	575	6804	0.00	2.20	0.00	0.000	4	0.000	0.063	2625	3926	2316	0	0	0	0	0	0
6823	0.45	146.0	329.9	10.4	576	6830	0.00	2.05	0.00	0.000	6	0.000	0.040	2625	2628	2316	0	0	0	0	0	0
7149	0.49	179.5	300.4	8.5	607	7179	0.00	0.00	27.77	0.729	6	0.000	0.000	2625	2628	2191	0	0	0	0	0	0
7498	0.56	205.9	271.3	8.8	640	7525	0.00	2.28	22.70	0.709	4	0.000	0.046	2625	1196	2084	0	0	0	0	0	0
7539	0.65	239.9	267.7	8.4	643	7576	0.17	2.33	30.08	0.701	6	0.080	0.049	2702	2643	1944	0	0	0	0	0	0
7902	0.59	239.9	211.9	16.4	677	7904	0.12	0.00	0.00	0.000	6	0.184	0.000	2670	2643	1936	0	0	0	0	0	0
8220	0.62	239.9	170.2	13.0	707	8222	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2643	1934	0	0	0	0	0	0
8541	0.65	239.9	126.5	13.5	737	8544	0.00	2.12	0.00	0.000	4	0.000	0.062	2670	3931	1934	0	0	0	0	0	0
8558	0.67	239.9	123.8	13.3	738	8565	0.00	2.03	0.00	0.000	6	0.000	0.040	2670	2635	1933	0	0	0	0	0	0
8891	0.71	239.9	84.1	11.3	781	8898	0.10	2.28	0.00	0.000	4	0.116	0.047	2717	1199	1933	0	0	0	0	0	0
8964	0.71	239.9	74.6	13.8	793	8971	0.00	2.33	0.00	0.000	6	0.000	0.050	2717	2642	1933	0	0	0	0	0	0
9310	0.71	239.9	30.7	11.4	854	9316	0.00	2.10	0.00	0.000	4	0.000	0.062	2718	3926	1933	0	0	0	0	0	0
9341	0.66	239.9	26.5	13.5	859	9348	0.12	2.05	0.00	0.000	6	0.194	0.040	2689	2631	1932	0	0	0	0	0	0
9559	end climb: SURFACE_DEPTH_REACHED
state	9559	begin surface coast
9587	end surface coast: CONTROL_FINISHED_OK
state	9588	begin surface