Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 725 * 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 725 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 28 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 -11401.072 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 -11401.072

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 28 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 725 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 090111,223731,6712.164,-5712.951,53,1.1,54,-37.9 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 1.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090111,224332,6712.155,-5713.114,11,1.4,17,-37.9 MHEAD_RNG_PITCHd_Wd 171.0,24827,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 521

Post-dive calculations and measurements:

FREEZE 0.93,2.378,-1.615,0,1,0 ALTIM_TOP_PING 19.2,17.9

FINISH 0.9,1.023613 _24V_AH 22.6,82.733

SM_CCo 10046,235.75,0.079,0,0,440,609.08 _10V_AH 9.8,56.805

SM_GC 1.63,0.00,0.00,235.75,0.000,0.000,0.079,283,2785,440,-6.84,0.14,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 398 FG_AHR_10Vo 0.000

RAFOS 0,1294617689,0.033333,0.024722,51,45,43,43,41,39,238,637,989,203,1827,1713 MEM 151680

RAFOS_FIX 6713.354980,-5717.477539,100111,000056,2,89,0.52 DATA_FILE_SIZE 33420,906

IRIDIUM_FIX 6641.98,-5726.21,090111,191959 CAP_FILE_SIZE 119454,0

TT8_MAMPS 0.029211 CFSIZE 260165632,202035200

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

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1473.5

TCM_TEMP 16.40 GPS 100111,013700,6712.006,-5711.414,36,1.0,37,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 234 91.43 SBE_CT 623 24 338.17

Roll_motor 91 68 141.91 SBE_O2 0 0 0.00

VBD_pump_during_apogee 306 877 6072.59 nil 0 0 0.00

VBD_pump_during_surface 235 78 419.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.62 nil 0 0 0.00

Iridium_during_connect 24 160 88.10 nil 0 0 0.00

Iridium_during_xfer 139 223 704.03 nil 0 0 0.00

Transponder_ping 1 420 14.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.67

TT8 2246 19 438.54

LPSleep 5642 2 127.74

TT8_Active 661 19 129.19

TT8_Sampling 1786 39 698.89

TT8_CF8 320 45 144.25

TT8_Kalman 0 0 0.00

Analog_circuits 1535 12 180.62

GPS_charging 0 0 0.00

Compass 1577 15 231.82

RAFOS 2520 3 74.09

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 0 155 0.00 0.00 -133.98 0.000 2 0.000 0.000 268 2791 3471 0 0 0 0 0 0

159 -0.57 -146.0 5.6 -11.0 24 174 8.30 2.33 -0.95 0.000 4 0.235 0.055 2282 1355 3520 0 0 0 0 0 0

361 -0.60 -146.0 41.2 -11.6 59 368 0.00 2.35 0.00 0.000 6 0.000 0.058 2275 2777 3522 0 0 0 0 0 0

708 -0.60 -146.0 81.9 -10.4 120 714 0.00 1.95 0.00 0.000 4 0.000 0.068 2275 3935 3521 0 0 0 0 0 0

763 -0.64 -146.0 87.4 -9.6 129 770 0.00 1.85 0.00 0.000 6 0.000 0.045 2275 2782 3521 0 0 0 0 0 0

1103 -0.68 -146.0 118.8 -9.3 172 1107 0.00 2.25 0.00 0.000 4 0.000 0.047 2275 1365 3520 0 0 0 0 0 0

1157 -0.73 -146.0 123.9 -9.0 176 1161 0.10 2.33 0.00 0.000 6 0.106 0.058 2225 2780 3520 0 0 0 0 0 0

1489 -0.68 -146.0 164.7 -12.4 207 1493 0.00 2.28 0.00 0.000 4 0.000 0.047 2224 1368 3520 0 0 0 0 0 0

1539 -0.65 -146.0 171.1 -12.6 211 1546 0.15 2.30 0.00 0.000 6 0.165 0.057 2263 2760 3520 0 0 0 0 0 0

1866 -0.69 -146.0 202.0 -9.1 242 1870 0.00 1.98 0.00 0.000 4 0.000 0.067 2256 3920 3520 0 0 0 0 0 0

1901 -0.72 -146.0 205.2 -9.2 245 1905 0.00 1.88 0.00 0.000 6 0.000 0.044 2256 2766 3520 0 0 0 0 0 0

2233 -0.75 -146.0 234.3 -8.1 276 2237 0.00 2.20 0.00 0.000 4 0.000 0.047 2256 1368 3520 0 0 0 0 0 0

2284 -0.80 -146.0 238.7 -8.3 280 2291 0.00 2.28 0.00 0.000 6 0.000 0.057 2248 2745 3520 0 0 0 0 0 0

2610 -0.80 -146.0 265.6 -8.6 311 2614 0.00 2.00 0.00 0.000 4 0.000 0.067 2247 3920 3520 0 0 0 0 0 0

2673 -0.83 -146.0 271.4 -8.6 316 2680 0.12 1.88 0.00 0.000 6 0.097 0.044 2182 2749 3521 0 0 0 0 0 0

3000 -0.72 -146.0 312.2 -12.6 347 3005 0.20 2.20 0.00 0.000 4 0.163 0.045 2239 1360 3521 0 0 0 0 0 0

3063 -0.75 -146.0 318.4 -8.1 352 3068 0.00 2.28 0.00 0.000 6 0.000 0.056 2235 2744 3521 0 0 0 0 0 0

3389 -0.75 -146.0 345.7 -8.2 382 3393 0.00 2.00 0.00 0.000 4 0.000 0.067 2228 3921 3522 0 0 0 0 0 0

3417 -0.75 -146.0 348.4 -8.7 384 3424 0.00 1.90 0.00 0.000 6 0.000 0.042 2227 2731 3522 0 0 0 0 0 0

3744 -0.75 -146.0 379.2 -9.0 415 3745 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2731 3522 0 0 0 0 0 0

4059 -0.75 -146.0 408.0 -8.8 439 4063 0.00 2.03 0.00 0.000 4 0.000 0.067 2222 3928 3522 0 0 0 0 0 0

4099 -0.72 -146.0 412.2 -10.1 440 4102 0.00 1.88 0.00 0.000 6 0.000 0.042 2222 2754 3523 0 0 0 0 0 0

4436 -0.70 -146.0 443.2 -8.9 451 4440 0.00 2.15 0.00 0.000 4 0.000 0.045 2222 1372 3523 0 0 0 0 0 0

4547 -0.70 -146.0 453.6 -9.3 454 4551 0.00 2.25 0.00 0.000 6 0.000 0.056 2222 2739 3523 0 0 0 0 0 0

4866 -0.70 -146.0 481.8 -9.1 465 4867 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2739 3523 0 0 0 0 0 0

5172 -0.70 -146.0 508.9 -8.8 475 5173 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2739 3524 0 0 0 0 0 0

5322 end dive: TARGET_DEPTH_EXCEEDED

state 5322 begin apogee

5329 -0.14 0.0 522.3 8.7 480 5457 0.62 0.00 120.97 0.877 4 0.126 0.000 2427 2604 2923 0 0 0 0 0 0

5457 end apogee: CONTROL_FINISHED_OK

state 5457 begin climb

5460 0.57 146.0 523.9 0.0 484 5591 0.65 2.35 123.00 0.864 4 0.062 0.045 2668 1181 2327 0 0 0 0 0 0

5737 0.57 146.0 495.6 12.8 492 5741 0.00 2.33 0.00 0.000 6 0.000 0.050 2668 2600 2321 0 0 0 0 0 0

6063 0.51 146.0 453.0 12.9 503 6068 0.00 2.22 0.00 0.000 4 0.000 0.047 2673 1180 2318 0 0 0 0 0 0

6316 0.48 146.0 422.8 11.8 510 6321 0.15 2.30 0.00 0.000 6 0.173 0.050 2635 2608 2318 0 0 0 0 0 0

6640 0.48 146.0 389.8 10.2 527 6644 0.00 2.15 0.00 0.000 4 0.000 0.061 2634 3924 2317 0 0 0 0 0 0

6680 0.44 146.0 385.1 12.2 530 6684 0.00 2.10 0.00 0.000 6 0.000 0.040 2636 2598 2316 0 0 0 0 0 0

7007 0.45 153.9 351.9 9.6 560 7020 0.00 2.22 6.35 0.659 4 0.000 0.060 2636 3928 2294 0 0 0 0 0 0

7048 0.41 153.9 346.9 12.1 563 7056 0.12 2.05 0.00 0.000 6 0.185 0.039 2607 2631 2294 0 0 0 0 0 0

7374 0.49 187.2 320.0 8.5 594 7406 0.00 0.00 29.50 0.745 6 0.000 0.000 2607 2631 2159 0 0 0 0 0 0

7723 0.60 218.1 291.1 8.6 627 7757 0.17 2.30 26.40 0.724 4 0.079 0.045 2692 1195 2033 0 0 0 0 0 0

7781 0.60 218.1 283.8 14.4 632 7785 0.00 2.33 0.00 0.000 6 0.000 0.050 2692 2626 2032 0 0 0 0 0 0

8107 0.55 218.1 234.4 14.6 662 8111 0.12 2.17 0.00 0.000 4 0.180 0.062 2658 3924 2028 0 0 0 0 0 0

8128 0.52 218.1 231.0 15.1 663 8135 0.00 2.08 0.00 0.000 6 0.000 0.040 2662 2612 2026 0 0 0 0 0 0

8454 0.52 218.1 189.3 12.8 694 8455 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2612 2026 0 0 0 0 0 0

8776 0.54 218.1 150.4 11.9 724 8780 0.00 2.22 0.00 0.000 4 0.000 0.047 2662 1188 2025 0 0 0 0 0 0

8822 0.62 218.1 144.8 11.2 728 8826 0.00 2.28 0.00 0.000 6 0.000 0.050 2662 2614 2026 0 0 0 0 0 0

9148 0.66 218.1 108.5 10.5 758 9152 0.00 2.15 0.00 0.000 4 0.000 0.061 2662 3928 2026 0 0 0 0 0 0

9206 0.66 218.1 101.4 13.5 763 9210 0.00 2.08 0.00 0.000 6 0.000 0.040 2662 2617 2025 0 0 0 0 0 0

9551 0.72 220.6 61.2 9.9 823 9559 0.12 2.28 0.00 0.000 4 0.103 0.047 2718 1187 2025 0 0 0 0 0 0

9611 0.72 220.6 54.2 12.3 833 9618 0.00 2.30 0.00 0.000 6 0.000 0.050 2718 2615 2025 0 0 0 0 0 0

9959 0.67 220.6 10.0 14.1 894 9965 0.00 2.15 0.00 0.000 4 0.000 0.063 2718 3922 2025 0 0 0 0 0 0

9995 0.61 220.6 4.8 14.0 900 10002 0.17 2.12 0.00 0.000 6 0.182 0.041 2673 2586 2025 0 0 0 0 0 0

10008 end climb: SURFACE_DEPTH_REACHED

state 10008 begin surface coast

10030 end surface coast: CONTROL_FINISHED_OK

state 10030 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	725	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	28	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	-11401.072	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	090111,223731,6712.164,-5712.951,53,1.1,54,-37.9	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	1.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090111,224332,6712.155,-5713.114,11,1.4,17,-37.9	MHEAD_RNG_PITCHd_Wd	171.0,24827,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	521

FREEZE	0.93,2.378,-1.615,0,1,0	ALTIM_TOP_PING	19.2,17.9
FINISH	0.9,1.023613	_24V_AH	22.6,82.733
SM_CCo	10046,235.75,0.079,0,0,440,609.08	_10V_AH	9.8,56.805
SM_GC	1.63,0.00,0.00,235.75,0.000,0.000,0.079,283,2785,440,-6.84,0.14,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	398	FG_AHR_10Vo	0.000
RAFOS	0,1294617689,0.033333,0.024722,51,45,43,43,41,39,238,637,989,203,1827,1713	MEM	151680
RAFOS_FIX	6713.354980,-5717.477539,100111,000056,2,89,0.52	DATA_FILE_SIZE	33420,906
IRIDIUM_FIX	6641.98,-5726.21,090111,191959	CAP_FILE_SIZE	119454,0
TT8_MAMPS	0.029211	CFSIZE	260165632,202035200
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1473.5
TCM_TEMP	16.40	GPS	100111,013700,6712.006,-5711.414,36,1.0,37,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	234	91.43	SBE_CT	623	24	338.17
Roll_motor	91	68	141.91	SBE_O2	0	0	0.00
VBD_pump_during_apogee	306	877	6072.59	nil	0	0	0.00
VBD_pump_during_surface	235	78	419.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.62	nil	0	0	0.00
Iridium_during_connect	24	160	88.10	nil	0	0	0.00
Iridium_during_xfer	139	223	704.03	nil	0	0	0.00
Transponder_ping	1	420	14.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.67
TT8	2246	19	438.54
LPSleep	5642	2	127.74
TT8_Active	661	19	129.19
TT8_Sampling	1786	39	698.89
TT8_CF8	320	45	144.25
TT8_Kalman	0	0	0.00
Analog_circuits	1535	12	180.62
GPS_charging	0	0	0.00
Compass	1577	15	231.82
RAFOS	2520	3	74.09
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	155	0.00	0.00	-133.98	0.000	2	0.000	0.000	268	2791	3471	0	0	0	0	0	0
159	-0.57	-146.0	5.6	-11.0	24	174	8.30	2.33	-0.95	0.000	4	0.235	0.055	2282	1355	3520	0	0	0	0	0	0
361	-0.60	-146.0	41.2	-11.6	59	368	0.00	2.35	0.00	0.000	6	0.000	0.058	2275	2777	3522	0	0	0	0	0	0
708	-0.60	-146.0	81.9	-10.4	120	714	0.00	1.95	0.00	0.000	4	0.000	0.068	2275	3935	3521	0	0	0	0	0	0
763	-0.64	-146.0	87.4	-9.6	129	770	0.00	1.85	0.00	0.000	6	0.000	0.045	2275	2782	3521	0	0	0	0	0	0
1103	-0.68	-146.0	118.8	-9.3	172	1107	0.00	2.25	0.00	0.000	4	0.000	0.047	2275	1365	3520	0	0	0	0	0	0
1157	-0.73	-146.0	123.9	-9.0	176	1161	0.10	2.33	0.00	0.000	6	0.106	0.058	2225	2780	3520	0	0	0	0	0	0
1489	-0.68	-146.0	164.7	-12.4	207	1493	0.00	2.28	0.00	0.000	4	0.000	0.047	2224	1368	3520	0	0	0	0	0	0
1539	-0.65	-146.0	171.1	-12.6	211	1546	0.15	2.30	0.00	0.000	6	0.165	0.057	2263	2760	3520	0	0	0	0	0	0
1866	-0.69	-146.0	202.0	-9.1	242	1870	0.00	1.98	0.00	0.000	4	0.000	0.067	2256	3920	3520	0	0	0	0	0	0
1901	-0.72	-146.0	205.2	-9.2	245	1905	0.00	1.88	0.00	0.000	6	0.000	0.044	2256	2766	3520	0	0	0	0	0	0
2233	-0.75	-146.0	234.3	-8.1	276	2237	0.00	2.20	0.00	0.000	4	0.000	0.047	2256	1368	3520	0	0	0	0	0	0
2284	-0.80	-146.0	238.7	-8.3	280	2291	0.00	2.28	0.00	0.000	6	0.000	0.057	2248	2745	3520	0	0	0	0	0	0
2610	-0.80	-146.0	265.6	-8.6	311	2614	0.00	2.00	0.00	0.000	4	0.000	0.067	2247	3920	3520	0	0	0	0	0	0
2673	-0.83	-146.0	271.4	-8.6	316	2680	0.12	1.88	0.00	0.000	6	0.097	0.044	2182	2749	3521	0	0	0	0	0	0
3000	-0.72	-146.0	312.2	-12.6	347	3005	0.20	2.20	0.00	0.000	4	0.163	0.045	2239	1360	3521	0	0	0	0	0	0
3063	-0.75	-146.0	318.4	-8.1	352	3068	0.00	2.28	0.00	0.000	6	0.000	0.056	2235	2744	3521	0	0	0	0	0	0
3389	-0.75	-146.0	345.7	-8.2	382	3393	0.00	2.00	0.00	0.000	4	0.000	0.067	2228	3921	3522	0	0	0	0	0	0
3417	-0.75	-146.0	348.4	-8.7	384	3424	0.00	1.90	0.00	0.000	6	0.000	0.042	2227	2731	3522	0	0	0	0	0	0
3744	-0.75	-146.0	379.2	-9.0	415	3745	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2731	3522	0	0	0	0	0	0
4059	-0.75	-146.0	408.0	-8.8	439	4063	0.00	2.03	0.00	0.000	4	0.000	0.067	2222	3928	3522	0	0	0	0	0	0
4099	-0.72	-146.0	412.2	-10.1	440	4102	0.00	1.88	0.00	0.000	6	0.000	0.042	2222	2754	3523	0	0	0	0	0	0
4436	-0.70	-146.0	443.2	-8.9	451	4440	0.00	2.15	0.00	0.000	4	0.000	0.045	2222	1372	3523	0	0	0	0	0	0
4547	-0.70	-146.0	453.6	-9.3	454	4551	0.00	2.25	0.00	0.000	6	0.000	0.056	2222	2739	3523	0	0	0	0	0	0
4866	-0.70	-146.0	481.8	-9.1	465	4867	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2739	3523	0	0	0	0	0	0
5172	-0.70	-146.0	508.9	-8.8	475	5173	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2739	3524	0	0	0	0	0	0
5322	end dive: TARGET_DEPTH_EXCEEDED
state	5322	begin apogee
5329	-0.14	0.0	522.3	8.7	480	5457	0.62	0.00	120.97	0.877	4	0.126	0.000	2427	2604	2923	0	0	0	0	0	0
5457	end apogee: CONTROL_FINISHED_OK
state	5457	begin climb
5460	0.57	146.0	523.9	0.0	484	5591	0.65	2.35	123.00	0.864	4	0.062	0.045	2668	1181	2327	0	0	0	0	0	0
5737	0.57	146.0	495.6	12.8	492	5741	0.00	2.33	0.00	0.000	6	0.000	0.050	2668	2600	2321	0	0	0	0	0	0
6063	0.51	146.0	453.0	12.9	503	6068	0.00	2.22	0.00	0.000	4	0.000	0.047	2673	1180	2318	0	0	0	0	0	0
6316	0.48	146.0	422.8	11.8	510	6321	0.15	2.30	0.00	0.000	6	0.173	0.050	2635	2608	2318	0	0	0	0	0	0
6640	0.48	146.0	389.8	10.2	527	6644	0.00	2.15	0.00	0.000	4	0.000	0.061	2634	3924	2317	0	0	0	0	0	0
6680	0.44	146.0	385.1	12.2	530	6684	0.00	2.10	0.00	0.000	6	0.000	0.040	2636	2598	2316	0	0	0	0	0	0
7007	0.45	153.9	351.9	9.6	560	7020	0.00	2.22	6.35	0.659	4	0.000	0.060	2636	3928	2294	0	0	0	0	0	0
7048	0.41	153.9	346.9	12.1	563	7056	0.12	2.05	0.00	0.000	6	0.185	0.039	2607	2631	2294	0	0	0	0	0	0
7374	0.49	187.2	320.0	8.5	594	7406	0.00	0.00	29.50	0.745	6	0.000	0.000	2607	2631	2159	0	0	0	0	0	0
7723	0.60	218.1	291.1	8.6	627	7757	0.17	2.30	26.40	0.724	4	0.079	0.045	2692	1195	2033	0	0	0	0	0	0
7781	0.60	218.1	283.8	14.4	632	7785	0.00	2.33	0.00	0.000	6	0.000	0.050	2692	2626	2032	0	0	0	0	0	0
8107	0.55	218.1	234.4	14.6	662	8111	0.12	2.17	0.00	0.000	4	0.180	0.062	2658	3924	2028	0	0	0	0	0	0
8128	0.52	218.1	231.0	15.1	663	8135	0.00	2.08	0.00	0.000	6	0.000	0.040	2662	2612	2026	0	0	0	0	0	0
8454	0.52	218.1	189.3	12.8	694	8455	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2612	2026	0	0	0	0	0	0
8776	0.54	218.1	150.4	11.9	724	8780	0.00	2.22	0.00	0.000	4	0.000	0.047	2662	1188	2025	0	0	0	0	0	0
8822	0.62	218.1	144.8	11.2	728	8826	0.00	2.28	0.00	0.000	6	0.000	0.050	2662	2614	2026	0	0	0	0	0	0
9148	0.66	218.1	108.5	10.5	758	9152	0.00	2.15	0.00	0.000	4	0.000	0.061	2662	3928	2026	0	0	0	0	0	0
9206	0.66	218.1	101.4	13.5	763	9210	0.00	2.08	0.00	0.000	6	0.000	0.040	2662	2617	2025	0	0	0	0	0	0
9551	0.72	220.6	61.2	9.9	823	9559	0.12	2.28	0.00	0.000	4	0.103	0.047	2718	1187	2025	0	0	0	0	0	0
9611	0.72	220.6	54.2	12.3	833	9618	0.00	2.30	0.00	0.000	6	0.000	0.050	2718	2615	2025	0	0	0	0	0	0
9959	0.67	220.6	10.0	14.1	894	9965	0.00	2.15	0.00	0.000	4	0.000	0.063	2718	3922	2025	0	0	0	0	0	0
9995	0.61	220.6	4.8	14.0	900	10002	0.17	2.12	0.00	0.000	6	0.182	0.041	2673	2586	2025	0	0	0	0	0	0
10008	end climb: SURFACE_DEPTH_REACHED
state	10008	begin surface coast
10030	end surface coast: CONTROL_FINISHED_OK
state	10030	begin surface