Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 723 * 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 723 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 27 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 -11398.557 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 -11398.557

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 27 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 723 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 090111,164326,6711.886,-5711.667,51,99.0,71,-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 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090111,164955,6711.943,-5711.925,10,1.4,15,-37.8 MHEAD_RNG_PITCHd_Wd 171.6,23934,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 519

Post-dive calculations and measurements:

FREEZE 1.00,2.445,-0.751,0,1,0 ALTIM_TOP_PING 19.5,18.8

FINISH 1.0,1.011062 _24V_AH 22.6,82.547

SM_CCo 10097,206.45,0.080,0,0,440,609.08 _10V_AH 9.8,56.681

SM_GC 1.70,0.00,0.00,206.45,0.000,0.000,0.080,284,2782,440,-6.84,0.06,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 397 FG_AHR_10Vo 0.000

RAFOS 4,1294590783,16.566668,16.550833,44,44,43,41,41,40,43,673,714,882,1631,979 MEM 151624

RAFOS_FIX 6709.722168,-5708.197754,090111,121228,2,84,0.43 DATA_FILE_SIZE 33395,922

IRIDIUM_FIX 6641.98,-5715.55,090111,131301 CAP_FILE_SIZE 120113,0

TT8_MAMPS 0.028462 CFSIZE 260165632,202153984

HUMID 45.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1473.4

TCM_TEMP 16.50 GPS 090111,194336,6712.524,-5712.974,35,1.1,35,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 236 93.62 SBE_CT 633 24 343.66

Roll_motor 90 72 148.68 SBE_O2 0 0 0.00

VBD_pump_during_apogee 348 875 6906.30 nil 0 0 0.00

VBD_pump_during_surface 206 79 371.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.22 nil 0 0 0.00

Iridium_during_connect 38 160 138.41 nil 0 0 0.00

Iridium_during_xfer 156 223 789.45 nil 0 0 0.00

Transponder_ping 1 420 14.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.07

TT8 2240 19 437.41

LPSleep 5634 2 127.55

TT8_Active 666 19 130.16

TT8_Sampling 1836 39 718.46

TT8_CF8 319 45 143.81

TT8_Kalman 0 0 0.00

Analog_circuits 1558 12 183.25

GPS_charging 0 0 0.00

Compass 1604 15 235.80

RAFOS 0 0 0.00

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 158 0.00 0.00 -135.68 0.000 2 0.000 0.000 275 2787 3463 0 0 0 0 0 0

161 -0.57 -146.0 5.0 -10.8 24 181 8.35 2.33 -1.17 0.000 4 0.236 0.058 2284 1366 3522 0 0 0 0 0 0

357 -0.60 -146.0 38.6 -10.9 58 364 0.00 2.33 0.00 0.000 6 0.000 0.057 2277 2774 3523 0 0 0 0 0 0

704 -0.62 -146.0 77.0 -10.7 119 710 0.00 1.95 0.00 0.000 4 0.000 0.068 2274 3932 3522 0 0 0 0 0 0

826 -0.65 -146.0 90.3 -10.4 140 833 0.00 1.80 0.00 0.000 6 0.000 0.045 2275 2813 3521 0 0 0 0 0 0

1159 -0.68 -146.0 122.9 -9.8 179 1163 0.00 2.30 0.00 0.000 4 0.000 0.047 2275 1363 3521 0 0 0 0 0 0

1266 -0.73 -146.0 133.5 -9.3 188 1274 0.10 2.38 0.00 0.000 6 0.106 0.058 2224 2796 3521 0 0 0 0 0 0

1592 -0.69 -146.0 171.7 -11.6 219 1596 0.00 2.25 0.00 0.000 4 0.000 0.046 2223 1370 3521 0 0 0 0 0 0

1622 -0.65 -146.0 175.3 -11.7 221 1627 0.15 2.33 0.00 0.000 6 0.164 0.058 2263 2778 3521 0 0 0 0 0 0

1953 -0.69 -146.0 206.2 -9.7 252 1957 0.00 1.95 0.00 0.000 4 0.000 0.067 2256 3923 3521 0 0 0 0 0 0

1992 -0.72 -146.0 210.3 -10.4 255 1998 0.00 1.85 0.00 0.000 6 0.000 0.044 2256 2772 3521 0 0 0 0 0 0

2318 -0.75 -146.0 241.2 -9.2 286 2322 0.00 2.20 0.00 0.000 4 0.000 0.045 2256 1372 3521 0 0 0 0 0 0

2398 -0.80 -146.0 249.0 -9.2 293 2402 0.00 2.33 0.00 0.000 6 0.000 0.057 2248 2780 3522 0 0 0 0 0 0

2724 -0.80 -146.0 278.6 -8.8 323 2728 0.00 2.28 0.00 0.000 4 0.000 0.046 2248 1365 3523 0 0 0 0 0 0

2753 -0.82 -146.0 281.2 -8.9 325 2758 0.12 2.30 0.00 0.000 6 0.091 0.057 2187 2760 3522 0 0 0 0 0 0

3080 -0.72 -146.0 321.8 -12.4 355 3085 0.20 1.95 0.00 0.000 4 0.159 0.063 2236 3928 3523 0 0 0 0 0 0

3149 -0.72 -146.0 329.1 -9.0 360 3155 0.00 1.88 0.00 0.000 6 0.000 0.043 2236 2754 3523 0 0 0 0 0 0

3474 -0.72 -146.0 357.7 -8.6 391 3478 0.00 2.15 0.00 0.000 4 0.000 0.046 2236 1370 3523 0 0 0 0 0 0

3508 -0.72 -146.0 360.9 -8.9 393 3514 0.00 2.28 0.00 0.000 6 0.000 0.056 2235 2755 3523 0 0 0 0 0 0

3834 -0.72 -146.0 387.5 -7.8 424 3835 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2755 3524 0 0 0 0 0 0

4146 -0.72 -146.0 412.7 -8.1 444 4147 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2755 3524 0 0 0 0 0 0

4453 -0.72 -146.0 436.7 -8.1 454 4457 0.00 1.98 0.00 0.000 4 0.000 0.066 2228 3933 3524 0 0 0 0 0 0

4488 -0.72 -146.0 439.7 -8.9 455 4492 0.00 1.90 0.00 0.000 6 0.000 0.043 2228 2742 3525 0 0 0 0 0 0

4830 -0.72 -146.0 469.4 -8.9 466 4834 0.00 2.00 0.00 0.000 4 0.000 0.065 2222 3927 3525 0 0 0 0 0 0

4881 -0.72 -146.0 474.2 -10.5 467 4884 0.00 1.85 0.00 0.000 6 0.000 0.043 2222 2763 3524 0 0 0 0 0 0

5205 -0.72 -146.0 508.1 -11.2 478 5209 0.00 1.98 0.00 0.000 4 0.000 0.067 2222 3926 3525 0 0 0 0 0 0

5266 -0.72 -146.0 515.1 -10.6 479 5272 0.00 1.85 0.00 0.000 6 0.000 0.043 2222 2765 3525 0 0 0 0 0 0

5331 end dive: TARGET_DEPTH_EXCEEDED

state 5331 begin apogee

5339 -0.14 0.0 521.7 9.9 482 5466 0.60 0.00 121.00 0.876 4 0.126 0.000 2420 2596 2923 0 0 0 0 0 0

5467 end apogee: CONTROL_FINISHED_OK

state 5467 begin climb

5470 0.57 146.0 523.9 0.0 486 5603 0.68 2.30 123.15 0.866 4 0.066 0.045 2665 1186 2327 0 0 0 0 0 0

5773 0.57 146.0 495.9 10.8 495 5777 0.00 2.33 0.00 0.000 6 0.000 0.050 2665 2601 2321 0 0 0 0 0 0

6097 0.50 146.0 453.4 13.5 506 6101 0.00 2.17 0.00 0.000 4 0.000 0.061 2665 3928 2318 0 0 0 0 0 0

6317 0.39 146.0 419.9 14.8 512 6322 0.22 2.15 0.00 0.000 6 0.181 0.040 2606 2565 2316 0 0 0 0 0 0

6640 0.48 192.1 393.7 7.9 527 6685 0.00 2.30 37.92 0.783 4 0.000 0.060 2606 3926 2139 0 0 0 0 0 0

6704 0.55 197.2 387.9 9.8 532 6715 0.15 2.15 5.65 0.620 6 0.088 0.040 2675 2574 2119 0 0 0 0 0 0

7035 0.52 197.2 343.0 14.1 563 7040 0.12 2.28 0.00 0.000 4 0.178 0.062 2642 3936 2114 0 0 0 0 0 0

7088 0.52 197.2 335.6 13.8 567 7092 0.00 2.12 0.00 0.000 6 0.000 0.040 2642 2590 2114 0 0 0 0 0 0

7419 0.55 197.2 297.1 11.3 598 7423 0.00 2.22 0.00 0.000 4 0.000 0.061 2641 3928 2114 0 0 0 0 0 0

7449 0.55 197.2 293.5 13.2 600 7453 0.00 2.10 0.00 0.000 6 0.000 0.039 2642 2598 2114 0 0 0 0 0 0

7781 0.58 197.2 256.8 10.5 631 7785 0.00 2.17 0.00 0.000 4 0.000 0.047 2642 1199 2114 0 0 0 0 0 0

7800 0.62 197.2 254.8 10.6 632 7804 0.00 2.28 0.00 0.000 6 0.000 0.049 2642 2613 2114 0 0 0 0 0 0

8126 0.65 197.2 219.0 10.8 662 8128 0.12 0.00 0.00 0.000 6 0.099 0.000 2698 2613 2113 0 0 0 0 0 0

8444 0.60 197.2 173.6 14.5 692 8446 0.12 0.00 0.00 0.000 6 0.174 0.000 2665 2613 2114 0 0 0 0 0 0

8762 0.60 197.2 136.8 10.9 722 8766 0.00 2.15 0.00 0.000 4 0.000 0.061 2665 3926 2114 0 0 0 0 0 0

8818 0.56 197.2 129.6 13.2 726 8825 0.00 2.10 0.00 0.000 6 0.000 0.039 2665 2598 2112 0 0 0 0 0 0

9147 0.58 197.2 95.0 10.8 761 9153 0.00 2.22 0.00 0.000 4 0.000 0.047 2666 1184 2113 0 0 0 0 0 0

9196 0.66 210.2 90.3 9.4 769 9215 0.00 2.28 11.55 0.595 6 0.000 0.050 2665 2599 2065 0 0 0 0 0 0

9558 0.74 251.0 56.3 8.1 832 9601 0.12 2.22 35.17 0.594 4 0.101 0.060 2723 3934 1898 0 0 0 0 0 0

9684 0.67 251.0 39.6 15.4 853 9691 0.12 2.10 0.00 0.000 6 0.188 0.040 2694 2616 1894 0 0 0 0 0 0

10030 0.76 323.1 4.8 6.7 914 10047 0.00 0.00 14.43 0.565 2 0.000 0.000 2694 2617 1822 0 0 0 0 0 0

10048 end climb: SURFACE_DEPTH_REACHED

state 10048 begin surface coast

10080 end surface coast: CONTROL_FINISHED_OK

state 10081 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	723	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	27	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	-11398.557	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	090111,164326,6711.886,-5711.667,51,99.0,71,-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	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090111,164955,6711.943,-5711.925,10,1.4,15,-37.8	MHEAD_RNG_PITCHd_Wd	171.6,23934,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	519

FREEZE	1.00,2.445,-0.751,0,1,0	ALTIM_TOP_PING	19.5,18.8
FINISH	1.0,1.011062	_24V_AH	22.6,82.547
SM_CCo	10097,206.45,0.080,0,0,440,609.08	_10V_AH	9.8,56.681
SM_GC	1.70,0.00,0.00,206.45,0.000,0.000,0.080,284,2782,440,-6.84,0.06,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	397	FG_AHR_10Vo	0.000
RAFOS	4,1294590783,16.566668,16.550833,44,44,43,41,41,40,43,673,714,882,1631,979	MEM	151624
RAFOS_FIX	6709.722168,-5708.197754,090111,121228,2,84,0.43	DATA_FILE_SIZE	33395,922
IRIDIUM_FIX	6641.98,-5715.55,090111,131301	CAP_FILE_SIZE	120113,0
TT8_MAMPS	0.028462	CFSIZE	260165632,202153984
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1473.4
TCM_TEMP	16.50	GPS	090111,194336,6712.524,-5712.974,35,1.1,35,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	236	93.62	SBE_CT	633	24	343.66
Roll_motor	90	72	148.68	SBE_O2	0	0	0.00
VBD_pump_during_apogee	348	875	6906.30	nil	0	0	0.00
VBD_pump_during_surface	206	79	371.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.22	nil	0	0	0.00
Iridium_during_connect	38	160	138.41	nil	0	0	0.00
Iridium_during_xfer	156	223	789.45	nil	0	0	0.00
Transponder_ping	1	420	14.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.07
TT8	2240	19	437.41
LPSleep	5634	2	127.55
TT8_Active	666	19	130.16
TT8_Sampling	1836	39	718.46
TT8_CF8	319	45	143.81
TT8_Kalman	0	0	0.00
Analog_circuits	1558	12	183.25
GPS_charging	0	0	0.00
Compass	1604	15	235.80
RAFOS	0	0	0.00
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	158	0.00	0.00	-135.68	0.000	2	0.000	0.000	275	2787	3463	0	0	0	0	0	0
161	-0.57	-146.0	5.0	-10.8	24	181	8.35	2.33	-1.17	0.000	4	0.236	0.058	2284	1366	3522	0	0	0	0	0	0
357	-0.60	-146.0	38.6	-10.9	58	364	0.00	2.33	0.00	0.000	6	0.000	0.057	2277	2774	3523	0	0	0	0	0	0
704	-0.62	-146.0	77.0	-10.7	119	710	0.00	1.95	0.00	0.000	4	0.000	0.068	2274	3932	3522	0	0	0	0	0	0
826	-0.65	-146.0	90.3	-10.4	140	833	0.00	1.80	0.00	0.000	6	0.000	0.045	2275	2813	3521	0	0	0	0	0	0
1159	-0.68	-146.0	122.9	-9.8	179	1163	0.00	2.30	0.00	0.000	4	0.000	0.047	2275	1363	3521	0	0	0	0	0	0
1266	-0.73	-146.0	133.5	-9.3	188	1274	0.10	2.38	0.00	0.000	6	0.106	0.058	2224	2796	3521	0	0	0	0	0	0
1592	-0.69	-146.0	171.7	-11.6	219	1596	0.00	2.25	0.00	0.000	4	0.000	0.046	2223	1370	3521	0	0	0	0	0	0
1622	-0.65	-146.0	175.3	-11.7	221	1627	0.15	2.33	0.00	0.000	6	0.164	0.058	2263	2778	3521	0	0	0	0	0	0
1953	-0.69	-146.0	206.2	-9.7	252	1957	0.00	1.95	0.00	0.000	4	0.000	0.067	2256	3923	3521	0	0	0	0	0	0
1992	-0.72	-146.0	210.3	-10.4	255	1998	0.00	1.85	0.00	0.000	6	0.000	0.044	2256	2772	3521	0	0	0	0	0	0
2318	-0.75	-146.0	241.2	-9.2	286	2322	0.00	2.20	0.00	0.000	4	0.000	0.045	2256	1372	3521	0	0	0	0	0	0
2398	-0.80	-146.0	249.0	-9.2	293	2402	0.00	2.33	0.00	0.000	6	0.000	0.057	2248	2780	3522	0	0	0	0	0	0
2724	-0.80	-146.0	278.6	-8.8	323	2728	0.00	2.28	0.00	0.000	4	0.000	0.046	2248	1365	3523	0	0	0	0	0	0
2753	-0.82	-146.0	281.2	-8.9	325	2758	0.12	2.30	0.00	0.000	6	0.091	0.057	2187	2760	3522	0	0	0	0	0	0
3080	-0.72	-146.0	321.8	-12.4	355	3085	0.20	1.95	0.00	0.000	4	0.159	0.063	2236	3928	3523	0	0	0	0	0	0
3149	-0.72	-146.0	329.1	-9.0	360	3155	0.00	1.88	0.00	0.000	6	0.000	0.043	2236	2754	3523	0	0	0	0	0	0
3474	-0.72	-146.0	357.7	-8.6	391	3478	0.00	2.15	0.00	0.000	4	0.000	0.046	2236	1370	3523	0	0	0	0	0	0
3508	-0.72	-146.0	360.9	-8.9	393	3514	0.00	2.28	0.00	0.000	6	0.000	0.056	2235	2755	3523	0	0	0	0	0	0
3834	-0.72	-146.0	387.5	-7.8	424	3835	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2755	3524	0	0	0	0	0	0
4146	-0.72	-146.0	412.7	-8.1	444	4147	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2755	3524	0	0	0	0	0	0
4453	-0.72	-146.0	436.7	-8.1	454	4457	0.00	1.98	0.00	0.000	4	0.000	0.066	2228	3933	3524	0	0	0	0	0	0
4488	-0.72	-146.0	439.7	-8.9	455	4492	0.00	1.90	0.00	0.000	6	0.000	0.043	2228	2742	3525	0	0	0	0	0	0
4830	-0.72	-146.0	469.4	-8.9	466	4834	0.00	2.00	0.00	0.000	4	0.000	0.065	2222	3927	3525	0	0	0	0	0	0
4881	-0.72	-146.0	474.2	-10.5	467	4884	0.00	1.85	0.00	0.000	6	0.000	0.043	2222	2763	3524	0	0	0	0	0	0
5205	-0.72	-146.0	508.1	-11.2	478	5209	0.00	1.98	0.00	0.000	4	0.000	0.067	2222	3926	3525	0	0	0	0	0	0
5266	-0.72	-146.0	515.1	-10.6	479	5272	0.00	1.85	0.00	0.000	6	0.000	0.043	2222	2765	3525	0	0	0	0	0	0
5331	end dive: TARGET_DEPTH_EXCEEDED
state	5331	begin apogee
5339	-0.14	0.0	521.7	9.9	482	5466	0.60	0.00	121.00	0.876	4	0.126	0.000	2420	2596	2923	0	0	0	0	0	0
5467	end apogee: CONTROL_FINISHED_OK
state	5467	begin climb
5470	0.57	146.0	523.9	0.0	486	5603	0.68	2.30	123.15	0.866	4	0.066	0.045	2665	1186	2327	0	0	0	0	0	0
5773	0.57	146.0	495.9	10.8	495	5777	0.00	2.33	0.00	0.000	6	0.000	0.050	2665	2601	2321	0	0	0	0	0	0
6097	0.50	146.0	453.4	13.5	506	6101	0.00	2.17	0.00	0.000	4	0.000	0.061	2665	3928	2318	0	0	0	0	0	0
6317	0.39	146.0	419.9	14.8	512	6322	0.22	2.15	0.00	0.000	6	0.181	0.040	2606	2565	2316	0	0	0	0	0	0
6640	0.48	192.1	393.7	7.9	527	6685	0.00	2.30	37.92	0.783	4	0.000	0.060	2606	3926	2139	0	0	0	0	0	0
6704	0.55	197.2	387.9	9.8	532	6715	0.15	2.15	5.65	0.620	6	0.088	0.040	2675	2574	2119	0	0	0	0	0	0
7035	0.52	197.2	343.0	14.1	563	7040	0.12	2.28	0.00	0.000	4	0.178	0.062	2642	3936	2114	0	0	0	0	0	0
7088	0.52	197.2	335.6	13.8	567	7092	0.00	2.12	0.00	0.000	6	0.000	0.040	2642	2590	2114	0	0	0	0	0	0
7419	0.55	197.2	297.1	11.3	598	7423	0.00	2.22	0.00	0.000	4	0.000	0.061	2641	3928	2114	0	0	0	0	0	0
7449	0.55	197.2	293.5	13.2	600	7453	0.00	2.10	0.00	0.000	6	0.000	0.039	2642	2598	2114	0	0	0	0	0	0
7781	0.58	197.2	256.8	10.5	631	7785	0.00	2.17	0.00	0.000	4	0.000	0.047	2642	1199	2114	0	0	0	0	0	0
7800	0.62	197.2	254.8	10.6	632	7804	0.00	2.28	0.00	0.000	6	0.000	0.049	2642	2613	2114	0	0	0	0	0	0
8126	0.65	197.2	219.0	10.8	662	8128	0.12	0.00	0.00	0.000	6	0.099	0.000	2698	2613	2113	0	0	0	0	0	0
8444	0.60	197.2	173.6	14.5	692	8446	0.12	0.00	0.00	0.000	6	0.174	0.000	2665	2613	2114	0	0	0	0	0	0
8762	0.60	197.2	136.8	10.9	722	8766	0.00	2.15	0.00	0.000	4	0.000	0.061	2665	3926	2114	0	0	0	0	0	0
8818	0.56	197.2	129.6	13.2	726	8825	0.00	2.10	0.00	0.000	6	0.000	0.039	2665	2598	2112	0	0	0	0	0	0
9147	0.58	197.2	95.0	10.8	761	9153	0.00	2.22	0.00	0.000	4	0.000	0.047	2666	1184	2113	0	0	0	0	0	0
9196	0.66	210.2	90.3	9.4	769	9215	0.00	2.28	11.55	0.595	6	0.000	0.050	2665	2599	2065	0	0	0	0	0	0
9558	0.74	251.0	56.3	8.1	832	9601	0.12	2.22	35.17	0.594	4	0.101	0.060	2723	3934	1898	0	0	0	0	0	0
9684	0.67	251.0	39.6	15.4	853	9691	0.12	2.10	0.00	0.000	6	0.188	0.040	2694	2616	1894	0	0	0	0	0	0
10030	0.76	323.1	4.8	6.7	914	10047	0.00	0.00	14.43	0.565	2	0.000	0.000	2694	2617	1822	0	0	0	0	0	0
10048	end climb: SURFACE_DEPTH_REACHED
state	10048	begin surface coast
10080	end surface coast: CONTROL_FINISHED_OK
state	10081	begin surface