Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 739 * 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 739 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 39 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -11420.51 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 -11420.51

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 39 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 739 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 110111,140016,6715.784,-5719.362,8,99.0,27,-38.0 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 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110111,140636,6715.829,-5719.514,41,1.0,41,-38.0 MHEAD_RNG_PITCHd_Wd 174.2,32899,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 498

Post-dive calculations and measurements:

FREEZE 0.92,2.113,-0.859,0,1,0 ALTIM_TOP_PING 19.5,18.0

FINISH 0.9,1.012671 _24V_AH 22.7,83.980

SM_CCo 9940,217.52,0.078,0,0,440,609.08 _10V_AH 9.8,57.653

SM_GC 1.67,0.00,0.00,217.52,0.000,0.000,0.078,295,2785,440,-6.81,0.14,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 394 FG_AHR_10Vo 0.000

RAFOS 0,1294761662,16.033333,16.017221,53,48,45,42,42,39,1828,1242,799,1665,162,586 MEM 151704

RAFOS_FIX 6715.821777,-5718.764160,110111,161600,4,81,0.06 DATA_FILE_SIZE 33339,928

IRIDIUM_FIX 6647.44,-5729.59,110111,111157 CAP_FILE_SIZE 116191,0

TT8_MAMPS 0.029211 CFSIZE 260165632,201224192

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

INTERNAL_PRESSURE 8.58279 SOUNDSPEED 1473.4

TCM_TEMP 16.50 GPS 110111,165758,6716.186,-5719.799,9,99.0,28,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 235 90.93 SBE_CT 638 24 347.78

Roll_motor 80 78 142.23 SBE_O2 0 0 0.00

VBD_pump_during_apogee 334 861 6540.17 nil 0 0 0.00

VBD_pump_during_surface 217 78 385.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.77 nil 0 0 0.00

Iridium_during_connect 20 160 75.98 nil 0 0 0.00

Iridium_during_xfer 137 223 694.40 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 50 21.60

TT8 2274 19 444.06

LPSleep 5505 2 124.63

TT8_Active 661 19 129.04

TT8_Sampling 1792 39 701.33

TT8_CF8 321 45 144.72

TT8_Kalman 0 0 0.00

Analog_circuits 1528 12 179.76

GPS_charging 0 0 0.00

Compass 1578 15 232.05

RAFOS 2520 3 74.09

Transponder 14 30 4.18

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 0 156 0.00 0.00 -135.45 0.000 2 0.000 0.000 301 2794 3500 0 0 0 0 0 0

161 -0.57 -146.0 5.4 -13.4 24 175 8.23 2.33 -0.40 0.000 4 0.236 0.055 2284 1366 3521 0 0 0 0 0 0

346 -0.60 -146.0 39.8 -11.4 56 353 0.00 2.33 0.00 0.000 6 0.000 0.057 2276 2778 3523 0 0 0 0 0 0

693 -0.63 -146.0 79.2 -10.8 117 700 0.00 2.22 0.00 0.000 4 0.000 0.047 2276 1368 3522 0 0 0 0 0 0

732 -0.66 -146.0 83.2 -10.4 123 738 0.00 2.33 0.00 0.000 6 0.000 0.057 2275 2775 3522 0 0 0 0 0 0

1074 -0.70 -146.0 116.4 -9.6 169 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2775 3521 0 0 0 0 0 0

1395 -0.74 -146.0 145.0 -8.7 199 1400 0.12 2.25 0.00 0.000 4 0.096 0.046 2215 1363 3521 0 0 0 0 0 0

1424 -0.71 -146.0 148.5 -12.0 201 1429 0.15 2.35 0.00 0.000 6 0.164 0.056 2246 2789 3521 0 0 0 0 0 0

1752 -0.71 -146.0 183.0 -9.9 231 1753 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2789 3521 0 0 0 0 0 0

2071 -0.71 -146.0 214.2 -10.1 261 2077 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2789 3521 0 0 0 0 0 0

2399 -0.71 -146.0 243.8 -8.4 292 2403 0.00 2.22 0.00 0.000 4 0.000 0.044 2246 1373 3521 0 0 0 0 0 0

2452 -0.75 -146.0 248.5 -8.8 296 2456 0.00 2.30 0.00 0.000 6 0.000 0.057 2246 2776 3521 0 0 0 0 0 0

2783 -0.75 -146.0 274.5 -7.7 327 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2776 3521 0 0 0 0 0 0

3106 -0.77 -146.0 300.3 -8.5 357 3109 0.00 1.95 0.00 0.000 4 0.000 0.067 2246 3935 3521 0 0 0 0 0 0

3145 -0.79 -146.0 304.0 -8.9 360 3151 0.00 1.85 0.00 0.000 6 0.000 0.042 2246 2775 3521 0 0 0 0 0 0

3471 -0.82 -146.0 330.8 -8.3 391 3476 0.10 2.22 0.00 0.000 4 0.111 0.045 2192 1365 3522 0 0 0 0 0 0

3504 -0.74 -146.0 334.5 -11.0 393 3511 0.15 2.33 0.00 0.000 6 0.163 0.056 2229 2775 3522 0 0 0 0 0 0

3830 -0.74 -146.0 365.5 -9.2 424 3834 0.00 2.20 0.00 0.000 4 0.000 0.044 2229 1373 3523 0 0 0 0 0 0

3882 -0.74 -146.0 370.4 -9.7 428 3886 0.00 2.30 0.00 0.000 6 0.000 0.056 2229 2768 3523 0 0 0 0 0 0

4207 -0.74 -146.0 399.5 -8.9 458 4208 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2768 3523 0 0 0 0 0 0

4524 -0.74 -146.0 429.1 -9.5 469 4528 0.00 2.20 0.00 0.000 4 0.000 0.044 2229 1364 3523 0 0 0 0 0 0

4559 -0.74 -146.0 432.5 -9.2 470 4564 0.00 2.33 0.00 0.000 6 0.000 0.055 2229 2777 3523 0 0 0 0 0 0

4896 -0.74 -146.0 463.8 -9.4 481 4898 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2777 3524 0 0 0 0 0 0

5202 -0.74 -146.0 490.4 -8.6 491 5206 0.00 2.22 0.00 0.000 4 0.000 0.044 2229 1372 3524 0 0 0 0 0 0

5235 -0.74 -146.0 493.6 -9.0 492 5239 0.00 2.30 0.00 0.000 6 0.000 0.056 2229 2768 3524 0 0 0 0 0 0

5318 end dive: TARGET_DEPTH_EXCEEDED

state 5318 begin apogee

5325 -0.14 0.0 500.7 8.4 495 5453 0.57 0.00 121.00 0.861 4 0.123 0.000 2421 2602 2923 0 0 0 0 0 0

5454 end apogee: CONTROL_FINISHED_OK

state 5454 begin climb

5457 0.57 146.0 503.8 0.0 499 5589 0.65 2.33 122.90 0.848 4 0.063 0.044 2662 1186 2327 0 0 0 0 0 0

5769 0.57 146.0 474.2 11.4 508 5773 0.00 2.33 0.00 0.000 6 0.000 0.050 2663 2610 2321 0 0 0 0 0 0

6083 0.52 146.0 434.7 12.5 518 6087 0.00 2.25 0.00 0.000 4 0.000 0.046 2666 1180 2318 0 0 0 0 0 0

6318 0.52 146.0 407.4 10.9 525 6323 0.00 2.30 0.00 0.000 6 0.000 0.050 2666 2604 2318 0 0 0 0 0 0

6648 0.47 146.0 367.0 12.6 551 6653 0.15 2.17 0.00 0.000 4 0.183 0.061 2625 3925 2316 0 0 0 0 0 0

6671 0.43 146.0 364.1 12.1 552 6678 0.00 2.10 0.00 0.000 6 0.000 0.040 2625 2588 2316 0 0 0 0 0 0

6997 0.46 148.2 331.0 9.9 583 7001 0.00 2.20 0.00 0.000 4 0.000 0.045 2625 1185 2316 0 0 0 0 0 0

7027 0.52 155.1 328.2 9.7 585 7040 0.00 2.28 7.28 0.666 6 0.000 0.050 2625 2595 2290 0 0 0 0 0 0

7360 0.56 166.5 296.5 9.5 616 7376 0.00 2.20 11.20 0.695 4 0.000 0.060 2625 3925 2244 0 0 0 0 0 0

7467 0.56 166.5 284.2 11.9 625 7471 0.00 2.12 0.00 0.000 6 0.000 0.040 2625 2589 2241 0 0 0 0 0 0

7802 0.62 207.3 254.5 8.1 656 7845 0.15 0.00 35.55 0.701 6 0.088 0.000 2693 2588 2075 0 0 0 0 0 0

8164 0.58 207.3 201.6 15.2 690 8169 0.12 2.22 0.00 0.000 4 0.171 0.062 2660 3926 2070 0 0 0 0 0 0

8192 0.55 207.3 197.2 15.6 692 8199 0.00 2.08 0.00 0.000 6 0.000 0.039 2662 2618 2068 0 0 0 0 0 0

8518 0.55 207.3 156.4 12.3 723 8519 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2618 2068 0 0 0 0 0 0

8837 0.57 207.3 120.5 11.0 753 8841 0.00 2.20 0.00 0.000 4 0.000 0.062 2662 3932 2068 0 0 0 0 0 0

8855 0.57 207.3 118.3 11.7 754 8858 0.00 2.05 0.00 0.000 6 0.000 0.039 2662 2636 2067 0 0 0 0 0 0

9190 0.61 211.3 83.7 9.8 799 9197 0.00 2.28 0.00 0.000 4 0.000 0.046 2662 1191 2067 0 0 0 0 0 0

9238 0.72 252.2 79.7 8.1 807 9281 0.12 2.33 36.55 0.602 6 0.098 0.050 2719 2635 1894 0 0 0 0 0 0

9621 0.72 252.2 32.1 12.7 874 9627 0.00 2.15 0.00 0.000 4 0.000 0.062 2719 3931 1888 0 0 0 0 0 0

9657 0.66 252.2 27.2 14.3 880 9665 0.12 2.03 0.00 0.000 6 0.187 0.039 2690 2649 1888 0 0 0 0 0 0

9895 end climb: SURFACE_DEPTH_REACHED

state 9895 begin surface coast

9923 end surface coast: CONTROL_FINISHED_OK

state 9924 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	739	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	39	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-11420.51	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	110111,140016,6715.784,-5719.362,8,99.0,27,-38.0	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	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110111,140636,6715.829,-5719.514,41,1.0,41,-38.0	MHEAD_RNG_PITCHd_Wd	174.2,32899,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	498

FREEZE	0.92,2.113,-0.859,0,1,0	ALTIM_TOP_PING	19.5,18.0
FINISH	0.9,1.012671	_24V_AH	22.7,83.980
SM_CCo	9940,217.52,0.078,0,0,440,609.08	_10V_AH	9.8,57.653
SM_GC	1.67,0.00,0.00,217.52,0.000,0.000,0.078,295,2785,440,-6.81,0.14,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	394	FG_AHR_10Vo	0.000
RAFOS	0,1294761662,16.033333,16.017221,53,48,45,42,42,39,1828,1242,799,1665,162,586	MEM	151704
RAFOS_FIX	6715.821777,-5718.764160,110111,161600,4,81,0.06	DATA_FILE_SIZE	33339,928
IRIDIUM_FIX	6647.44,-5729.59,110111,111157	CAP_FILE_SIZE	116191,0
TT8_MAMPS	0.029211	CFSIZE	260165632,201224192
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.58279	SOUNDSPEED	1473.4
TCM_TEMP	16.50	GPS	110111,165758,6716.186,-5719.799,9,99.0,28,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	235	90.93	SBE_CT	638	24	347.78
Roll_motor	80	78	142.23	SBE_O2	0	0	0.00
VBD_pump_during_apogee	334	861	6540.17	nil	0	0	0.00
VBD_pump_during_surface	217	78	385.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.77	nil	0	0	0.00
Iridium_during_connect	20	160	75.98	nil	0	0	0.00
Iridium_during_xfer	137	223	694.40	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	50	21.60
TT8	2274	19	444.06
LPSleep	5505	2	124.63
TT8_Active	661	19	129.04
TT8_Sampling	1792	39	701.33
TT8_CF8	321	45	144.72
TT8_Kalman	0	0	0.00
Analog_circuits	1528	12	179.76
GPS_charging	0	0	0.00
Compass	1578	15	232.05
RAFOS	2520	3	74.09
Transponder	14	30	4.18

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	156	0.00	0.00	-135.45	0.000	2	0.000	0.000	301	2794	3500	0	0	0	0	0	0
161	-0.57	-146.0	5.4	-13.4	24	175	8.23	2.33	-0.40	0.000	4	0.236	0.055	2284	1366	3521	0	0	0	0	0	0
346	-0.60	-146.0	39.8	-11.4	56	353	0.00	2.33	0.00	0.000	6	0.000	0.057	2276	2778	3523	0	0	0	0	0	0
693	-0.63	-146.0	79.2	-10.8	117	700	0.00	2.22	0.00	0.000	4	0.000	0.047	2276	1368	3522	0	0	0	0	0	0
732	-0.66	-146.0	83.2	-10.4	123	738	0.00	2.33	0.00	0.000	6	0.000	0.057	2275	2775	3522	0	0	0	0	0	0
1074	-0.70	-146.0	116.4	-9.6	169	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2775	3521	0	0	0	0	0	0
1395	-0.74	-146.0	145.0	-8.7	199	1400	0.12	2.25	0.00	0.000	4	0.096	0.046	2215	1363	3521	0	0	0	0	0	0
1424	-0.71	-146.0	148.5	-12.0	201	1429	0.15	2.35	0.00	0.000	6	0.164	0.056	2246	2789	3521	0	0	0	0	0	0
1752	-0.71	-146.0	183.0	-9.9	231	1753	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2789	3521	0	0	0	0	0	0
2071	-0.71	-146.0	214.2	-10.1	261	2077	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2789	3521	0	0	0	0	0	0
2399	-0.71	-146.0	243.8	-8.4	292	2403	0.00	2.22	0.00	0.000	4	0.000	0.044	2246	1373	3521	0	0	0	0	0	0
2452	-0.75	-146.0	248.5	-8.8	296	2456	0.00	2.30	0.00	0.000	6	0.000	0.057	2246	2776	3521	0	0	0	0	0	0
2783	-0.75	-146.0	274.5	-7.7	327	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2776	3521	0	0	0	0	0	0
3106	-0.77	-146.0	300.3	-8.5	357	3109	0.00	1.95	0.00	0.000	4	0.000	0.067	2246	3935	3521	0	0	0	0	0	0
3145	-0.79	-146.0	304.0	-8.9	360	3151	0.00	1.85	0.00	0.000	6	0.000	0.042	2246	2775	3521	0	0	0	0	0	0
3471	-0.82	-146.0	330.8	-8.3	391	3476	0.10	2.22	0.00	0.000	4	0.111	0.045	2192	1365	3522	0	0	0	0	0	0
3504	-0.74	-146.0	334.5	-11.0	393	3511	0.15	2.33	0.00	0.000	6	0.163	0.056	2229	2775	3522	0	0	0	0	0	0
3830	-0.74	-146.0	365.5	-9.2	424	3834	0.00	2.20	0.00	0.000	4	0.000	0.044	2229	1373	3523	0	0	0	0	0	0
3882	-0.74	-146.0	370.4	-9.7	428	3886	0.00	2.30	0.00	0.000	6	0.000	0.056	2229	2768	3523	0	0	0	0	0	0
4207	-0.74	-146.0	399.5	-8.9	458	4208	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2768	3523	0	0	0	0	0	0
4524	-0.74	-146.0	429.1	-9.5	469	4528	0.00	2.20	0.00	0.000	4	0.000	0.044	2229	1364	3523	0	0	0	0	0	0
4559	-0.74	-146.0	432.5	-9.2	470	4564	0.00	2.33	0.00	0.000	6	0.000	0.055	2229	2777	3523	0	0	0	0	0	0
4896	-0.74	-146.0	463.8	-9.4	481	4898	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2777	3524	0	0	0	0	0	0
5202	-0.74	-146.0	490.4	-8.6	491	5206	0.00	2.22	0.00	0.000	4	0.000	0.044	2229	1372	3524	0	0	0	0	0	0
5235	-0.74	-146.0	493.6	-9.0	492	5239	0.00	2.30	0.00	0.000	6	0.000	0.056	2229	2768	3524	0	0	0	0	0	0
5318	end dive: TARGET_DEPTH_EXCEEDED
state	5318	begin apogee
5325	-0.14	0.0	500.7	8.4	495	5453	0.57	0.00	121.00	0.861	4	0.123	0.000	2421	2602	2923	0	0	0	0	0	0
5454	end apogee: CONTROL_FINISHED_OK
state	5454	begin climb
5457	0.57	146.0	503.8	0.0	499	5589	0.65	2.33	122.90	0.848	4	0.063	0.044	2662	1186	2327	0	0	0	0	0	0
5769	0.57	146.0	474.2	11.4	508	5773	0.00	2.33	0.00	0.000	6	0.000	0.050	2663	2610	2321	0	0	0	0	0	0
6083	0.52	146.0	434.7	12.5	518	6087	0.00	2.25	0.00	0.000	4	0.000	0.046	2666	1180	2318	0	0	0	0	0	0
6318	0.52	146.0	407.4	10.9	525	6323	0.00	2.30	0.00	0.000	6	0.000	0.050	2666	2604	2318	0	0	0	0	0	0
6648	0.47	146.0	367.0	12.6	551	6653	0.15	2.17	0.00	0.000	4	0.183	0.061	2625	3925	2316	0	0	0	0	0	0
6671	0.43	146.0	364.1	12.1	552	6678	0.00	2.10	0.00	0.000	6	0.000	0.040	2625	2588	2316	0	0	0	0	0	0
6997	0.46	148.2	331.0	9.9	583	7001	0.00	2.20	0.00	0.000	4	0.000	0.045	2625	1185	2316	0	0	0	0	0	0
7027	0.52	155.1	328.2	9.7	585	7040	0.00	2.28	7.28	0.666	6	0.000	0.050	2625	2595	2290	0	0	0	0	0	0
7360	0.56	166.5	296.5	9.5	616	7376	0.00	2.20	11.20	0.695	4	0.000	0.060	2625	3925	2244	0	0	0	0	0	0
7467	0.56	166.5	284.2	11.9	625	7471	0.00	2.12	0.00	0.000	6	0.000	0.040	2625	2589	2241	0	0	0	0	0	0
7802	0.62	207.3	254.5	8.1	656	7845	0.15	0.00	35.55	0.701	6	0.088	0.000	2693	2588	2075	0	0	0	0	0	0
8164	0.58	207.3	201.6	15.2	690	8169	0.12	2.22	0.00	0.000	4	0.171	0.062	2660	3926	2070	0	0	0	0	0	0
8192	0.55	207.3	197.2	15.6	692	8199	0.00	2.08	0.00	0.000	6	0.000	0.039	2662	2618	2068	0	0	0	0	0	0
8518	0.55	207.3	156.4	12.3	723	8519	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2618	2068	0	0	0	0	0	0
8837	0.57	207.3	120.5	11.0	753	8841	0.00	2.20	0.00	0.000	4	0.000	0.062	2662	3932	2068	0	0	0	0	0	0
8855	0.57	207.3	118.3	11.7	754	8858	0.00	2.05	0.00	0.000	6	0.000	0.039	2662	2636	2067	0	0	0	0	0	0
9190	0.61	211.3	83.7	9.8	799	9197	0.00	2.28	0.00	0.000	4	0.000	0.046	2662	1191	2067	0	0	0	0	0	0
9238	0.72	252.2	79.7	8.1	807	9281	0.12	2.33	36.55	0.602	6	0.098	0.050	2719	2635	1894	0	0	0	0	0	0
9621	0.72	252.2	32.1	12.7	874	9627	0.00	2.15	0.00	0.000	4	0.000	0.062	2719	3931	1888	0	0	0	0	0	0
9657	0.66	252.2	27.2	14.3	880	9665	0.12	2.03	0.00	0.000	6	0.187	0.039	2690	2649	1888	0	0	0	0	0	0
9895	end climb: SURFACE_DEPTH_REACHED
state	9895	begin surface coast
9923	end surface coast: CONTROL_FINISHED_OK
state	9924	begin surface