Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 716 * 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 716 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 41 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 -11389.762 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 -11389.762

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 41 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 716 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 080111,202316,6711.115,-5709.632,30,1.3,40,-37.8 TGT_NAME TARGET_E

_CALLS 1 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 -62.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080111,202908,6711.130,-5709.792,14,1.2,14,-37.8 MHEAD_RNG_PITCHd_Wd 171.5,21780,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 518

Post-dive calculations and measurements:

FREEZE 1.06,2.200,-0.874,0,1,0 ALTIM_TOP_PING 19.6,18.7

FINISH 1.1,1.012881 _24V_AH 22.6,81.907

SM_CCo 10371,237.60,0.080,0,0,440,609.08 _10V_AH 9.8,56.249

SM_GC 1.74,0.00,0.00,237.60,0.000,0.000,0.080,291,2789,440,-6.81,0.25,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 409 FG_AHR_10Vo 0.000

RAFOS 2,1294517823,20.299999,20.284166,48,46,44,41,40,39,608,593,433,1039,1733,1665 MEM 151704

RAFOS_FIX 6712.877930,-5714.986816,080111,202000,2,87,4.37 DATA_FILE_SIZE 33314,942

IRIDIUM_FIX 6647.44,-5712.55,080111,171731 CAP_FILE_SIZE 120143,0

TT8_MAMPS 0.028462 CFSIZE 260165632,202563584

HUMID 45.78 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.56325 SOUNDSPEED 1472.5

TCM_TEMP 16.20 GPS 080111,232821,6710.840,-5708.378,35,99.0,55,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 237 94.19 SBE_CT 648 24 351.92

Roll_motor 83 68 129.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 305 874 6034.62 nil 0 0 0.00

VBD_pump_during_surface 237 79 427.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.10 nil 0 0 0.00

Iridium_during_connect 16 160 60.38 nil 0 0 0.00

Iridium_during_xfer 141 223 710.84 nil 0 0 0.00

Transponder_ping 1 420 14.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.14

TT8 2307 19 450.53

LPSleep 5871 2 132.92

TT8_Active 662 19 129.34

TT8_Sampling 1815 39 710.12

TT8_CF8 318 45 143.16

TT8_Kalman 0 0 0.00

Analog_circuits 1552 12 182.55

GPS_charging 0 0 0.00

Compass 1619 15 238.10

RAFOS 1080 3 31.75

Transponder 11 30 3.38

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 -134.77 0.000 2 0.000 0.000 278 2806 3470 0 0 0 0 0 0

161 -0.57 -146.0 5.1 -8.6 24 180 8.38 2.35 -1.02 0.000 4 0.237 0.058 2285 1371 3522 0 0 0 0 0 0

317 -0.61 -146.0 34.6 -9.8 51 324 0.00 2.30 0.00 0.000 6 0.000 0.058 2279 2762 3524 0 0 0 0 0 0

662 -0.61 -146.0 75.2 -11.5 112 669 0.00 1.98 0.00 0.000 4 0.000 0.069 2275 3934 3523 0 0 0 0 0 0

706 -0.61 -146.0 80.3 -12.3 119 712 0.00 1.85 0.00 0.000 6 0.000 0.046 2274 2783 3521 0 0 0 0 0 0

1043 -0.63 -146.0 114.7 -8.8 166 1047 0.00 2.22 0.00 0.000 4 0.000 0.048 2274 1368 3521 0 0 0 0 0 0

1107 -0.67 -146.0 120.7 -9.4 171 1112 0.00 2.30 0.00 0.000 6 0.000 0.060 2274 2766 3521 0 0 0 0 0 0

1440 -0.71 -146.0 150.3 -8.3 202 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2766 3521 0 0 0 0 0 0

1757 -0.75 -146.0 175.0 -7.7 232 1762 0.12 2.25 0.00 0.000 4 0.099 0.047 2214 1370 3521 0 0 0 0 0 0

1787 -0.72 -146.0 178.0 -10.9 234 1792 0.12 2.30 0.00 0.000 6 0.176 0.059 2239 2759 3520 0 0 0 0 0 0

2114 -0.72 -146.0 211.0 -10.6 264 2118 0.00 1.98 0.00 0.000 4 0.000 0.067 2232 3931 3520 0 0 0 0 0 0

2195 -0.72 -146.0 219.8 -10.5 271 2199 0.00 1.88 0.00 0.000 6 0.000 0.045 2232 2761 3521 0 0 0 0 0 0

2527 -0.72 -146.0 252.2 -9.2 302 2531 0.00 1.98 0.00 0.000 4 0.000 0.067 2223 3929 3521 0 0 0 0 0 0

2558 -0.69 -146.0 255.0 -9.2 304 2564 0.00 1.85 0.00 0.000 6 0.000 0.044 2223 2773 3521 0 0 0 0 0 0

2883 -0.65 -146.0 287.6 -10.4 335 2888 0.15 2.22 0.00 0.000 4 0.161 0.046 2267 1366 3521 0 0 0 0 0 0

2942 -0.72 -146.0 292.6 -8.0 340 2946 0.00 2.33 0.00 0.000 6 0.000 0.057 2261 2777 3521 0 0 0 0 0 0

3268 -0.77 -146.0 318.0 -7.0 370 3270 0.10 0.00 0.00 0.000 6 0.112 0.000 2211 2777 3522 0 0 0 0 0 0

3586 -0.71 -146.0 347.5 -9.7 400 3591 0.12 2.25 0.00 0.000 4 0.168 0.046 2245 1362 3523 0 0 0 0 0 0

3650 -0.75 -146.0 352.9 -7.9 405 3654 0.00 2.30 0.00 0.000 6 0.000 0.056 2245 2761 3523 0 0 0 0 0 0

3976 -0.77 -146.0 378.9 -8.2 435 3980 0.00 2.20 0.00 0.000 4 0.000 0.044 2246 1370 3523 0 0 0 0 0 0

3999 -0.79 -146.0 381.2 -8.9 436 4006 0.00 2.25 0.00 0.000 6 0.000 0.056 2245 2737 3523 0 0 0 0 0 0

4324 -0.81 -146.0 408.8 -8.9 461 4328 0.00 2.00 0.00 0.000 4 0.000 0.066 2245 3928 3523 0 0 0 0 0 0

4381 -0.85 -146.0 414.2 -8.7 462 4385 0.10 1.92 0.00 0.000 6 0.060 0.043 2166 2739 3523 0 0 0 0 0 0

4700 -0.71 -146.0 455.1 -13.0 473 4702 0.28 0.00 0.00 0.000 6 0.158 0.000 2245 2738 3524 0 0 0 0 0 0

5006 -0.74 -146.0 479.3 -7.2 483 5007 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2738 3524 0 0 0 0 0 0

5313 -0.76 -146.0 504.2 -8.3 493 5314 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2738 3524 0 0 0 0 0 0

5492 end dive: TARGET_DEPTH_EXCEEDED

state 5492 begin apogee

5499 -0.14 0.0 520.1 8.7 499 5626 0.52 0.00 121.22 0.874 4 0.122 0.000 2423 2600 2923 0 0 0 0 0 0

5627 end apogee: CONTROL_FINISHED_OK

state 5627 begin climb

5630 0.57 146.0 523.8 0.0 503 5765 0.65 2.33 123.30 0.864 4 0.064 0.046 2662 1178 2326 0 0 0 0 0 0

5910 0.57 146.0 498.2 12.2 511 5915 0.00 2.35 0.00 0.000 6 0.000 0.050 2662 2605 2322 0 0 0 0 0 0

6224 0.52 146.0 458.4 12.7 521 6228 0.00 2.25 0.00 0.000 4 0.000 0.047 2663 1188 2318 0 0 0 0 0 0

6483 0.52 146.0 428.1 12.6 528 6487 0.00 2.25 0.00 0.000 6 0.000 0.050 2663 2598 2318 0 0 0 0 0 0

6807 0.47 146.0 386.3 13.4 545 6812 0.12 2.20 0.00 0.000 4 0.193 0.062 2631 3930 2316 0 0 0 0 0 0

6841 0.43 146.0 381.5 13.1 547 6848 0.00 2.12 0.00 0.000 6 0.000 0.040 2634 2588 2315 0 0 0 0 0 0

7167 0.43 146.0 346.5 10.3 578 7168 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2588 2315 0 0 0 0 0 0

7488 0.43 146.0 312.5 10.7 608 7494 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2588 2316 0 0 0 0 0 0

7817 0.44 159.7 279.0 9.4 639 7832 0.00 2.25 10.77 0.685 4 0.000 0.061 2633 3930 2272 0 0 0 0 0 0

7850 0.44 159.7 275.0 11.2 641 7856 0.00 2.12 0.00 0.000 6 0.000 0.040 2636 2591 2271 0 0 0 0 0 0

8175 0.44 159.7 241.0 10.9 672 8179 0.00 2.25 0.00 0.000 4 0.000 0.063 2636 3936 2271 0 0 0 0 0 0

8228 0.41 159.7 234.7 13.3 676 8233 0.12 2.10 0.00 0.000 6 0.186 0.040 2607 2607 2270 0 0 0 0 0 0

8554 0.52 208.3 207.9 7.8 706 8602 0.10 2.28 41.72 0.678 4 0.110 0.047 2658 1196 2072 0 0 0 0 0 0

8644 0.59 208.3 198.6 10.7 714 8648 0.00 2.30 0.00 0.000 6 0.000 0.050 2658 2611 2070 0 0 0 0 0 0

8977 0.61 208.3 160.3 11.1 745 8981 0.00 2.15 0.00 0.000 4 0.000 0.061 2658 3923 2067 0 0 0 0 0 0

9037 0.61 208.3 152.1 13.1 750 9044 0.00 2.08 0.00 0.000 6 0.000 0.040 2660 2608 2065 0 0 0 0 0 0

9364 0.64 208.3 115.9 10.7 781 9368 0.00 2.22 0.00 0.000 4 0.000 0.047 2662 1198 2065 0 0 0 0 0 0

9432 0.72 217.9 109.2 9.6 786 9450 0.12 2.25 8.35 0.588 6 0.100 0.050 2718 2594 2033 0 0 0 0 0 0

9786 0.67 217.9 65.0 11.7 842 9791 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2593 2032 0 0 0 0 0 0

10131 0.63 217.9 22.8 12.4 903 10138 0.15 2.22 0.00 0.000 4 0.171 0.062 2677 3925 2031 0 0 0 0 0 0

10285 0.63 217.9 6.0 11.0 930 10291 0.00 2.10 0.00 0.000 6 0.000 0.041 2676 2601 2029 0 0 0 0 0 0

10317 end climb: SURFACE_DEPTH_REACHED

state 10318 begin surface coast

10354 end surface coast: CONTROL_FINISHED_OK

state 10354 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	716	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	41	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	-11389.762	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	080111,202316,6711.115,-5709.632,30,1.3,40,-37.8	TGT_NAME	TARGET_E
_CALLS	1	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	-62.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080111,202908,6711.130,-5709.792,14,1.2,14,-37.8	MHEAD_RNG_PITCHd_Wd	171.5,21780,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	518

FREEZE	1.06,2.200,-0.874,0,1,0	ALTIM_TOP_PING	19.6,18.7
FINISH	1.1,1.012881	_24V_AH	22.6,81.907
SM_CCo	10371,237.60,0.080,0,0,440,609.08	_10V_AH	9.8,56.249
SM_GC	1.74,0.00,0.00,237.60,0.000,0.000,0.080,291,2789,440,-6.81,0.25,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	409	FG_AHR_10Vo	0.000
RAFOS	2,1294517823,20.299999,20.284166,48,46,44,41,40,39,608,593,433,1039,1733,1665	MEM	151704
RAFOS_FIX	6712.877930,-5714.986816,080111,202000,2,87,4.37	DATA_FILE_SIZE	33314,942
IRIDIUM_FIX	6647.44,-5712.55,080111,171731	CAP_FILE_SIZE	120143,0
TT8_MAMPS	0.028462	CFSIZE	260165632,202563584
HUMID	45.78	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.56325	SOUNDSPEED	1472.5
TCM_TEMP	16.20	GPS	080111,232821,6710.840,-5708.378,35,99.0,55,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	237	94.19	SBE_CT	648	24	351.92
Roll_motor	83	68	129.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	305	874	6034.62	nil	0	0	0.00
VBD_pump_during_surface	237	79	427.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.10	nil	0	0	0.00
Iridium_during_connect	16	160	60.38	nil	0	0	0.00
Iridium_during_xfer	141	223	710.84	nil	0	0	0.00
Transponder_ping	1	420	14.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.14
TT8	2307	19	450.53
LPSleep	5871	2	132.92
TT8_Active	662	19	129.34
TT8_Sampling	1815	39	710.12
TT8_CF8	318	45	143.16
TT8_Kalman	0	0	0.00
Analog_circuits	1552	12	182.55
GPS_charging	0	0	0.00
Compass	1619	15	238.10
RAFOS	1080	3	31.75
Transponder	11	30	3.38

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	-134.77	0.000	2	0.000	0.000	278	2806	3470	0	0	0	0	0	0
161	-0.57	-146.0	5.1	-8.6	24	180	8.38	2.35	-1.02	0.000	4	0.237	0.058	2285	1371	3522	0	0	0	0	0	0
317	-0.61	-146.0	34.6	-9.8	51	324	0.00	2.30	0.00	0.000	6	0.000	0.058	2279	2762	3524	0	0	0	0	0	0
662	-0.61	-146.0	75.2	-11.5	112	669	0.00	1.98	0.00	0.000	4	0.000	0.069	2275	3934	3523	0	0	0	0	0	0
706	-0.61	-146.0	80.3	-12.3	119	712	0.00	1.85	0.00	0.000	6	0.000	0.046	2274	2783	3521	0	0	0	0	0	0
1043	-0.63	-146.0	114.7	-8.8	166	1047	0.00	2.22	0.00	0.000	4	0.000	0.048	2274	1368	3521	0	0	0	0	0	0
1107	-0.67	-146.0	120.7	-9.4	171	1112	0.00	2.30	0.00	0.000	6	0.000	0.060	2274	2766	3521	0	0	0	0	0	0
1440	-0.71	-146.0	150.3	-8.3	202	1441	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2766	3521	0	0	0	0	0	0
1757	-0.75	-146.0	175.0	-7.7	232	1762	0.12	2.25	0.00	0.000	4	0.099	0.047	2214	1370	3521	0	0	0	0	0	0
1787	-0.72	-146.0	178.0	-10.9	234	1792	0.12	2.30	0.00	0.000	6	0.176	0.059	2239	2759	3520	0	0	0	0	0	0
2114	-0.72	-146.0	211.0	-10.6	264	2118	0.00	1.98	0.00	0.000	4	0.000	0.067	2232	3931	3520	0	0	0	0	0	0
2195	-0.72	-146.0	219.8	-10.5	271	2199	0.00	1.88	0.00	0.000	6	0.000	0.045	2232	2761	3521	0	0	0	0	0	0
2527	-0.72	-146.0	252.2	-9.2	302	2531	0.00	1.98	0.00	0.000	4	0.000	0.067	2223	3929	3521	0	0	0	0	0	0
2558	-0.69	-146.0	255.0	-9.2	304	2564	0.00	1.85	0.00	0.000	6	0.000	0.044	2223	2773	3521	0	0	0	0	0	0
2883	-0.65	-146.0	287.6	-10.4	335	2888	0.15	2.22	0.00	0.000	4	0.161	0.046	2267	1366	3521	0	0	0	0	0	0
2942	-0.72	-146.0	292.6	-8.0	340	2946	0.00	2.33	0.00	0.000	6	0.000	0.057	2261	2777	3521	0	0	0	0	0	0
3268	-0.77	-146.0	318.0	-7.0	370	3270	0.10	0.00	0.00	0.000	6	0.112	0.000	2211	2777	3522	0	0	0	0	0	0
3586	-0.71	-146.0	347.5	-9.7	400	3591	0.12	2.25	0.00	0.000	4	0.168	0.046	2245	1362	3523	0	0	0	0	0	0
3650	-0.75	-146.0	352.9	-7.9	405	3654	0.00	2.30	0.00	0.000	6	0.000	0.056	2245	2761	3523	0	0	0	0	0	0
3976	-0.77	-146.0	378.9	-8.2	435	3980	0.00	2.20	0.00	0.000	4	0.000	0.044	2246	1370	3523	0	0	0	0	0	0
3999	-0.79	-146.0	381.2	-8.9	436	4006	0.00	2.25	0.00	0.000	6	0.000	0.056	2245	2737	3523	0	0	0	0	0	0
4324	-0.81	-146.0	408.8	-8.9	461	4328	0.00	2.00	0.00	0.000	4	0.000	0.066	2245	3928	3523	0	0	0	0	0	0
4381	-0.85	-146.0	414.2	-8.7	462	4385	0.10	1.92	0.00	0.000	6	0.060	0.043	2166	2739	3523	0	0	0	0	0	0
4700	-0.71	-146.0	455.1	-13.0	473	4702	0.28	0.00	0.00	0.000	6	0.158	0.000	2245	2738	3524	0	0	0	0	0	0
5006	-0.74	-146.0	479.3	-7.2	483	5007	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2738	3524	0	0	0	0	0	0
5313	-0.76	-146.0	504.2	-8.3	493	5314	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2738	3524	0	0	0	0	0	0
5492	end dive: TARGET_DEPTH_EXCEEDED
state	5492	begin apogee
5499	-0.14	0.0	520.1	8.7	499	5626	0.52	0.00	121.22	0.874	4	0.122	0.000	2423	2600	2923	0	0	0	0	0	0
5627	end apogee: CONTROL_FINISHED_OK
state	5627	begin climb
5630	0.57	146.0	523.8	0.0	503	5765	0.65	2.33	123.30	0.864	4	0.064	0.046	2662	1178	2326	0	0	0	0	0	0
5910	0.57	146.0	498.2	12.2	511	5915	0.00	2.35	0.00	0.000	6	0.000	0.050	2662	2605	2322	0	0	0	0	0	0
6224	0.52	146.0	458.4	12.7	521	6228	0.00	2.25	0.00	0.000	4	0.000	0.047	2663	1188	2318	0	0	0	0	0	0
6483	0.52	146.0	428.1	12.6	528	6487	0.00	2.25	0.00	0.000	6	0.000	0.050	2663	2598	2318	0	0	0	0	0	0
6807	0.47	146.0	386.3	13.4	545	6812	0.12	2.20	0.00	0.000	4	0.193	0.062	2631	3930	2316	0	0	0	0	0	0
6841	0.43	146.0	381.5	13.1	547	6848	0.00	2.12	0.00	0.000	6	0.000	0.040	2634	2588	2315	0	0	0	0	0	0
7167	0.43	146.0	346.5	10.3	578	7168	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2588	2315	0	0	0	0	0	0
7488	0.43	146.0	312.5	10.7	608	7494	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2588	2316	0	0	0	0	0	0
7817	0.44	159.7	279.0	9.4	639	7832	0.00	2.25	10.77	0.685	4	0.000	0.061	2633	3930	2272	0	0	0	0	0	0
7850	0.44	159.7	275.0	11.2	641	7856	0.00	2.12	0.00	0.000	6	0.000	0.040	2636	2591	2271	0	0	0	0	0	0
8175	0.44	159.7	241.0	10.9	672	8179	0.00	2.25	0.00	0.000	4	0.000	0.063	2636	3936	2271	0	0	0	0	0	0
8228	0.41	159.7	234.7	13.3	676	8233	0.12	2.10	0.00	0.000	6	0.186	0.040	2607	2607	2270	0	0	0	0	0	0
8554	0.52	208.3	207.9	7.8	706	8602	0.10	2.28	41.72	0.678	4	0.110	0.047	2658	1196	2072	0	0	0	0	0	0
8644	0.59	208.3	198.6	10.7	714	8648	0.00	2.30	0.00	0.000	6	0.000	0.050	2658	2611	2070	0	0	0	0	0	0
8977	0.61	208.3	160.3	11.1	745	8981	0.00	2.15	0.00	0.000	4	0.000	0.061	2658	3923	2067	0	0	0	0	0	0
9037	0.61	208.3	152.1	13.1	750	9044	0.00	2.08	0.00	0.000	6	0.000	0.040	2660	2608	2065	0	0	0	0	0	0
9364	0.64	208.3	115.9	10.7	781	9368	0.00	2.22	0.00	0.000	4	0.000	0.047	2662	1198	2065	0	0	0	0	0	0
9432	0.72	217.9	109.2	9.6	786	9450	0.12	2.25	8.35	0.588	6	0.100	0.050	2718	2594	2033	0	0	0	0	0	0
9786	0.67	217.9	65.0	11.7	842	9791	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2593	2032	0	0	0	0	0	0
10131	0.63	217.9	22.8	12.4	903	10138	0.15	2.22	0.00	0.000	4	0.171	0.062	2677	3925	2031	0	0	0	0	0	0
10285	0.63	217.9	6.0	11.0	930	10291	0.00	2.10	0.00	0.000	6	0.000	0.041	2676	2601	2029	0	0	0	0	0	0
10317	end climb: SURFACE_DEPTH_REACHED
state	10318	begin surface coast
10354	end surface coast: CONTROL_FINISHED_OK
state	10354	begin surface