Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 756 * 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 756 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 31 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 -11445.465 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 -11445.465

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 31 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 756 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 130111,122625,6714.589,-5718.722,40,1.1,41,-37.9 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 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 130111,123501,6714.618,-5719.001,9,1.1,14,-37.9 MHEAD_RNG_PITCHd_Wd 171.8,31051,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 524

Post-dive calculations and measurements:

FREEZE 0.99,1.867,-1.075,0,1,0 ALTIM_TOP_PING 19.5,17.6

FINISH 1.0,1.015854 _24V_AH 22.7,85.490

SM_CCo 10501,222.02,0.078,0,0,440,609.08 _10V_AH 9.8,58.672

SM_GC 1.57,0.00,0.00,222.02,0.000,0.000,0.078,297,2797,440,-6.80,0.48,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

RAFOS 2,1294921024,12.300000,12.284445,43,43,41,39,38,38,26,597,962,789,446,1670 MEM 151700

RAFOS_FIX 6714.707031,-5717.289062,130111,080828,2,80,0.09 DATA_FILE_SIZE 33367,962

IRIDIUM_FIX 6652.93,-5726.60,130111,121258 CAP_FILE_SIZE 118624,0

TT8_MAMPS 0.029211 CFSIZE 260165632,200261632

HUMID 45.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1473.6

TCM_TEMP 16.50 GPS 130111,153537,6714.337,-5719.261,28,1.3,29,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 235 90.12 SBE_CT 661 24 360.42

Roll_motor 83 84 159.12 SBE_O2 0 0 0.00

VBD_pump_during_apogee 325 875 6468.10 nil 0 0 0.00

VBD_pump_during_surface 222 78 393.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 135.98 nil 0 0 0.00

Iridium_during_connect 89 160 326.07 nil 0 0 0.00

Iridium_during_xfer 142 223 720.04 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.42

TT8 2332 19 455.27

LPSleep 6007 2 135.99

TT8_Active 664 19 129.75

TT8_Sampling 1909 39 746.94

TT8_CF8 334 45 150.51

TT8_Kalman 0 0 0.00

Analog_circuits 1557 12 183.14

GPS_charging 0 0 0.00

Compass 1614 15 237.39

RAFOS 720 3 21.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 162 0.00 0.00 -138.18 0.000 6 0.000 0.000 277 2789 3520 0 0 0 0 0 0

165 -0.57 -146.0 6.8 -14.7 25 179 8.27 2.33 0.00 0.000 4 0.236 0.041 2283 1365 3522 0 0 0 0 0 0

390 -0.59 -146.0 45.5 -10.5 64 397 0.00 2.33 0.00 0.000 6 0.000 0.057 2276 2772 3523 0 0 0 0 0 0

736 -0.62 -146.0 82.4 -11.1 125 743 0.00 2.22 0.00 0.000 4 0.000 0.045 2275 1376 3522 0 0 0 0 0 0

768 -0.65 -146.0 86.0 -10.7 130 775 0.00 2.33 0.00 0.000 6 0.000 0.057 2275 2780 3522 0 0 0 0 0 0

1109 -0.69 -146.0 120.0 -9.6 173 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2780 3521 0 0 0 0 0 0

1426 -0.73 -146.0 147.5 -8.7 203 1428 0.10 0.00 0.00 0.000 6 0.109 0.000 2224 2780 3521 0 0 0 0 0 0

1744 -0.69 -146.0 183.7 -11.1 233 1748 0.00 2.25 0.00 0.000 4 0.000 0.045 2224 1370 3521 0 0 0 0 0 0

1784 -0.67 -146.0 188.5 -11.8 236 1789 0.12 2.30 0.00 0.000 6 0.171 0.057 2255 2766 3520 0 0 0 0 0 0

2111 -0.70 -146.0 217.0 -8.2 266 2114 0.00 1.95 0.00 0.000 4 0.000 0.067 2248 3928 3521 0 0 0 0 0 0

2160 -0.70 -146.0 221.5 -8.7 270 2167 0.00 1.85 0.00 0.000 6 0.000 0.043 2247 2770 3521 0 0 0 0 0 0

2486 -0.70 -146.0 248.6 -8.5 301 2490 0.00 2.22 0.00 0.000 4 0.000 0.044 2248 1363 3521 0 0 0 0 0 0

2516 -0.72 -146.0 251.2 -8.6 303 2520 0.00 2.33 0.00 0.000 6 0.000 0.056 2248 2773 3521 0 0 0 0 0 0

2842 -0.72 -146.0 278.4 -8.5 333 2845 0.00 1.95 0.00 0.000 4 0.000 0.067 2247 3930 3521 0 0 0 0 0 0

2900 -0.75 -146.0 283.8 -9.0 338 2903 0.00 1.85 0.00 0.000 6 0.000 0.042 2247 2770 3521 0 0 0 0 0 0

3231 -0.75 -146.0 312.6 -8.6 369 3235 0.00 2.20 0.00 0.000 4 0.000 0.044 2247 1362 3523 0 0 0 0 0 0

3282 -0.79 -146.0 317.6 -9.3 373 3289 0.00 2.30 0.00 0.000 6 0.000 0.055 2247 2760 3522 0 0 0 0 0 0

3609 -0.82 -146.0 346.8 -9.2 404 3613 0.10 2.22 0.00 0.000 4 0.111 0.044 2191 1361 3524 0 0 0 0 0 0

3655 -0.75 -146.0 352.3 -11.9 408 3660 0.15 2.28 0.00 0.000 6 0.162 0.055 2230 2745 3523 0 0 0 0 0 0

3982 -0.75 -146.0 385.2 -9.9 438 3986 0.00 2.00 0.00 0.000 4 0.000 0.064 2223 3937 3523 0 0 0 0 0 0

4010 -0.75 -146.0 388.3 -10.0 440 4017 0.00 1.92 0.00 0.000 6 0.000 0.041 2223 2729 3524 0 0 0 0 0 0

4339 -0.75 -146.0 422.8 -10.6 458 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2729 3523 0 0 0 0 0 0

4644 -0.75 -146.0 455.5 -11.4 468 4645 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2729 3524 0 0 0 0 0 0

4950 -0.75 -146.0 487.0 -10.2 478 4951 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2729 3524 0 0 0 0 0 0

5259 -0.75 -146.0 516.9 -9.6 488 5263 0.00 2.15 0.00 0.000 4 0.000 0.044 2223 1366 3524 0 0 0 0 0 0

5287 -0.75 -146.0 520.1 -9.8 488 5294 0.00 2.28 0.00 0.000 6 0.000 0.054 2222 2747 3524 0 0 0 0 0 0

5352 end dive: TARGET_DEPTH_EXCEEDED

state 5352 begin apogee

5359 -0.14 0.0 526.3 9.3 491 5488 0.62 0.00 121.53 0.876 4 0.123 0.000 2428 2600 2923 0 0 0 0 0 0

5488 end apogee: CONTROL_FINISHED_OK

state 5489 begin climb

5491 0.57 146.0 529.6 0.0 495 5624 0.65 2.33 123.10 0.865 4 0.057 0.044 2673 1180 2327 0 0 0 0 0 0

5804 0.55 146.0 499.3 12.3 504 5809 0.00 2.33 0.00 0.000 6 0.000 0.050 2673 2603 2321 0 0 0 0 0 0

6119 0.49 146.0 459.4 12.6 514 6124 0.15 2.25 0.00 0.000 4 0.178 0.045 2638 1185 2318 0 0 0 0 0 0

6321 0.55 170.3 440.3 8.9 520 6348 0.00 2.30 20.40 0.793 6 0.000 0.050 2637 2610 2227 0 0 0 0 0 0

6655 0.55 170.3 404.8 11.1 531 6659 0.00 2.17 0.00 0.000 4 0.000 0.062 2638 3932 2224 0 0 0 0 0 0

6671 0.55 170.3 402.6 11.0 531 6674 0.00 2.10 0.00 0.000 6 0.000 0.038 2642 2603 2223 0 0 0 0 0 0

6996 0.55 170.3 367.4 10.5 559 7000 0.00 2.20 0.00 0.000 4 0.000 0.046 2641 1196 2223 0 0 0 0 0 0

7023 0.58 170.3 364.4 10.3 561 7030 0.00 2.30 0.00 0.000 6 0.000 0.049 2642 2623 2224 0 0 0 0 0 0

7350 0.58 170.3 330.3 11.3 592 7353 0.00 2.15 0.00 0.000 4 0.000 0.061 2642 3925 2223 0 0 0 0 0 0

7373 0.58 170.3 327.4 11.9 594 7377 0.00 2.05 0.00 0.000 6 0.000 0.039 2647 2628 2222 0 0 0 0 0 0

7705 0.58 170.3 290.9 10.8 625 7709 0.00 2.22 0.00 0.000 4 0.000 0.046 2649 1198 2222 0 0 0 0 0 0

7746 0.63 170.3 286.8 10.1 628 7750 0.00 2.30 0.00 0.000 6 0.000 0.050 2649 2629 2222 0 0 0 0 0 0

8071 0.63 170.3 251.3 11.1 658 8075 0.00 2.12 0.00 0.000 4 0.000 0.060 2649 3923 2222 0 0 0 0 0 0

8119 0.60 170.3 245.5 13.1 662 8123 0.00 2.03 0.00 0.000 6 0.000 0.040 2652 2644 2222 0 0 0 0 0 0

8450 0.60 170.3 209.6 10.3 693 8451 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2643 2222 0 0 0 0 0 0

8772 0.60 170.3 177.1 10.6 723 8778 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2643 2222 0 0 0 0 0 0

9099 0.60 173.8 143.1 9.8 754 9106 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2644 2222 0 0 0 0 0 0

9428 0.62 173.8 111.0 10.2 785 9432 0.00 2.30 0.00 0.000 4 0.000 0.045 2653 1186 2222 0 0 0 0 0 0

9462 0.68 174.7 107.3 10.0 787 9473 0.12 2.38 4.28 0.483 6 0.097 0.050 2710 2655 2211 0 0 0 0 0 0

9812 0.61 174.7 62.7 11.9 844 9818 0.15 0.00 0.00 0.000 6 0.172 0.000 2669 2654 2211 0 0 0 0 0 0

10159 0.68 241.4 33.5 6.9 905 10223 0.00 2.15 56.00 0.578 4 0.000 0.062 2669 3923 1937 0 0 0 0 0 0

10305 0.71 241.4 18.8 11.6 930 10313 0.10 1.98 0.00 0.000 6 0.113 0.039 2712 2683 1931 0 0 0 0 0 0

10460 end climb: SURFACE_DEPTH_REACHED

state 10460 begin surface coast

10483 end surface coast: CONTROL_FINISHED_OK

state 10483 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	756	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	31	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	-11445.465	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	130111,122625,6714.589,-5718.722,40,1.1,41,-37.9	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	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	130111,123501,6714.618,-5719.001,9,1.1,14,-37.9	MHEAD_RNG_PITCHd_Wd	171.8,31051,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	524

FREEZE	0.99,1.867,-1.075,0,1,0	ALTIM_TOP_PING	19.5,17.6
FINISH	1.0,1.015854	_24V_AH	22.7,85.490
SM_CCo	10501,222.02,0.078,0,0,440,609.08	_10V_AH	9.8,58.672
SM_GC	1.57,0.00,0.00,222.02,0.000,0.000,0.078,297,2797,440,-6.80,0.48,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
RAFOS	2,1294921024,12.300000,12.284445,43,43,41,39,38,38,26,597,962,789,446,1670	MEM	151700
RAFOS_FIX	6714.707031,-5717.289062,130111,080828,2,80,0.09	DATA_FILE_SIZE	33367,962
IRIDIUM_FIX	6652.93,-5726.60,130111,121258	CAP_FILE_SIZE	118624,0
TT8_MAMPS	0.029211	CFSIZE	260165632,200261632
HUMID	45.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1473.6
TCM_TEMP	16.50	GPS	130111,153537,6714.337,-5719.261,28,1.3,29,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	235	90.12	SBE_CT	661	24	360.42
Roll_motor	83	84	159.12	SBE_O2	0	0	0.00
VBD_pump_during_apogee	325	875	6468.10	nil	0	0	0.00
VBD_pump_during_surface	222	78	393.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	135.98	nil	0	0	0.00
Iridium_during_connect	89	160	326.07	nil	0	0	0.00
Iridium_during_xfer	142	223	720.04	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.42
TT8	2332	19	455.27
LPSleep	6007	2	135.99
TT8_Active	664	19	129.75
TT8_Sampling	1909	39	746.94
TT8_CF8	334	45	150.51
TT8_Kalman	0	0	0.00
Analog_circuits	1557	12	183.14
GPS_charging	0	0	0.00
Compass	1614	15	237.39
RAFOS	720	3	21.17
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	162	0.00	0.00	-138.18	0.000	6	0.000	0.000	277	2789	3520	0	0	0	0	0	0
165	-0.57	-146.0	6.8	-14.7	25	179	8.27	2.33	0.00	0.000	4	0.236	0.041	2283	1365	3522	0	0	0	0	0	0
390	-0.59	-146.0	45.5	-10.5	64	397	0.00	2.33	0.00	0.000	6	0.000	0.057	2276	2772	3523	0	0	0	0	0	0
736	-0.62	-146.0	82.4	-11.1	125	743	0.00	2.22	0.00	0.000	4	0.000	0.045	2275	1376	3522	0	0	0	0	0	0
768	-0.65	-146.0	86.0	-10.7	130	775	0.00	2.33	0.00	0.000	6	0.000	0.057	2275	2780	3522	0	0	0	0	0	0
1109	-0.69	-146.0	120.0	-9.6	173	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2780	3521	0	0	0	0	0	0
1426	-0.73	-146.0	147.5	-8.7	203	1428	0.10	0.00	0.00	0.000	6	0.109	0.000	2224	2780	3521	0	0	0	0	0	0
1744	-0.69	-146.0	183.7	-11.1	233	1748	0.00	2.25	0.00	0.000	4	0.000	0.045	2224	1370	3521	0	0	0	0	0	0
1784	-0.67	-146.0	188.5	-11.8	236	1789	0.12	2.30	0.00	0.000	6	0.171	0.057	2255	2766	3520	0	0	0	0	0	0
2111	-0.70	-146.0	217.0	-8.2	266	2114	0.00	1.95	0.00	0.000	4	0.000	0.067	2248	3928	3521	0	0	0	0	0	0
2160	-0.70	-146.0	221.5	-8.7	270	2167	0.00	1.85	0.00	0.000	6	0.000	0.043	2247	2770	3521	0	0	0	0	0	0
2486	-0.70	-146.0	248.6	-8.5	301	2490	0.00	2.22	0.00	0.000	4	0.000	0.044	2248	1363	3521	0	0	0	0	0	0
2516	-0.72	-146.0	251.2	-8.6	303	2520	0.00	2.33	0.00	0.000	6	0.000	0.056	2248	2773	3521	0	0	0	0	0	0
2842	-0.72	-146.0	278.4	-8.5	333	2845	0.00	1.95	0.00	0.000	4	0.000	0.067	2247	3930	3521	0	0	0	0	0	0
2900	-0.75	-146.0	283.8	-9.0	338	2903	0.00	1.85	0.00	0.000	6	0.000	0.042	2247	2770	3521	0	0	0	0	0	0
3231	-0.75	-146.0	312.6	-8.6	369	3235	0.00	2.20	0.00	0.000	4	0.000	0.044	2247	1362	3523	0	0	0	0	0	0
3282	-0.79	-146.0	317.6	-9.3	373	3289	0.00	2.30	0.00	0.000	6	0.000	0.055	2247	2760	3522	0	0	0	0	0	0
3609	-0.82	-146.0	346.8	-9.2	404	3613	0.10	2.22	0.00	0.000	4	0.111	0.044	2191	1361	3524	0	0	0	0	0	0
3655	-0.75	-146.0	352.3	-11.9	408	3660	0.15	2.28	0.00	0.000	6	0.162	0.055	2230	2745	3523	0	0	0	0	0	0
3982	-0.75	-146.0	385.2	-9.9	438	3986	0.00	2.00	0.00	0.000	4	0.000	0.064	2223	3937	3523	0	0	0	0	0	0
4010	-0.75	-146.0	388.3	-10.0	440	4017	0.00	1.92	0.00	0.000	6	0.000	0.041	2223	2729	3524	0	0	0	0	0	0
4339	-0.75	-146.0	422.8	-10.6	458	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2729	3523	0	0	0	0	0	0
4644	-0.75	-146.0	455.5	-11.4	468	4645	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2729	3524	0	0	0	0	0	0
4950	-0.75	-146.0	487.0	-10.2	478	4951	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2729	3524	0	0	0	0	0	0
5259	-0.75	-146.0	516.9	-9.6	488	5263	0.00	2.15	0.00	0.000	4	0.000	0.044	2223	1366	3524	0	0	0	0	0	0
5287	-0.75	-146.0	520.1	-9.8	488	5294	0.00	2.28	0.00	0.000	6	0.000	0.054	2222	2747	3524	0	0	0	0	0	0
5352	end dive: TARGET_DEPTH_EXCEEDED
state	5352	begin apogee
5359	-0.14	0.0	526.3	9.3	491	5488	0.62	0.00	121.53	0.876	4	0.123	0.000	2428	2600	2923	0	0	0	0	0	0
5488	end apogee: CONTROL_FINISHED_OK
state	5489	begin climb
5491	0.57	146.0	529.6	0.0	495	5624	0.65	2.33	123.10	0.865	4	0.057	0.044	2673	1180	2327	0	0	0	0	0	0
5804	0.55	146.0	499.3	12.3	504	5809	0.00	2.33	0.00	0.000	6	0.000	0.050	2673	2603	2321	0	0	0	0	0	0
6119	0.49	146.0	459.4	12.6	514	6124	0.15	2.25	0.00	0.000	4	0.178	0.045	2638	1185	2318	0	0	0	0	0	0
6321	0.55	170.3	440.3	8.9	520	6348	0.00	2.30	20.40	0.793	6	0.000	0.050	2637	2610	2227	0	0	0	0	0	0
6655	0.55	170.3	404.8	11.1	531	6659	0.00	2.17	0.00	0.000	4	0.000	0.062	2638	3932	2224	0	0	0	0	0	0
6671	0.55	170.3	402.6	11.0	531	6674	0.00	2.10	0.00	0.000	6	0.000	0.038	2642	2603	2223	0	0	0	0	0	0
6996	0.55	170.3	367.4	10.5	559	7000	0.00	2.20	0.00	0.000	4	0.000	0.046	2641	1196	2223	0	0	0	0	0	0
7023	0.58	170.3	364.4	10.3	561	7030	0.00	2.30	0.00	0.000	6	0.000	0.049	2642	2623	2224	0	0	0	0	0	0
7350	0.58	170.3	330.3	11.3	592	7353	0.00	2.15	0.00	0.000	4	0.000	0.061	2642	3925	2223	0	0	0	0	0	0
7373	0.58	170.3	327.4	11.9	594	7377	0.00	2.05	0.00	0.000	6	0.000	0.039	2647	2628	2222	0	0	0	0	0	0
7705	0.58	170.3	290.9	10.8	625	7709	0.00	2.22	0.00	0.000	4	0.000	0.046	2649	1198	2222	0	0	0	0	0	0
7746	0.63	170.3	286.8	10.1	628	7750	0.00	2.30	0.00	0.000	6	0.000	0.050	2649	2629	2222	0	0	0	0	0	0
8071	0.63	170.3	251.3	11.1	658	8075	0.00	2.12	0.00	0.000	4	0.000	0.060	2649	3923	2222	0	0	0	0	0	0
8119	0.60	170.3	245.5	13.1	662	8123	0.00	2.03	0.00	0.000	6	0.000	0.040	2652	2644	2222	0	0	0	0	0	0
8450	0.60	170.3	209.6	10.3	693	8451	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2643	2222	0	0	0	0	0	0
8772	0.60	170.3	177.1	10.6	723	8778	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2643	2222	0	0	0	0	0	0
9099	0.60	173.8	143.1	9.8	754	9106	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2644	2222	0	0	0	0	0	0
9428	0.62	173.8	111.0	10.2	785	9432	0.00	2.30	0.00	0.000	4	0.000	0.045	2653	1186	2222	0	0	0	0	0	0
9462	0.68	174.7	107.3	10.0	787	9473	0.12	2.38	4.28	0.483	6	0.097	0.050	2710	2655	2211	0	0	0	0	0	0
9812	0.61	174.7	62.7	11.9	844	9818	0.15	0.00	0.00	0.000	6	0.172	0.000	2669	2654	2211	0	0	0	0	0	0
10159	0.68	241.4	33.5	6.9	905	10223	0.00	2.15	56.00	0.578	4	0.000	0.062	2669	3923	1937	0	0	0	0	0	0
10305	0.71	241.4	18.8	11.6	930	10313	0.10	1.98	0.00	0.000	6	0.113	0.039	2712	2683	1931	0	0	0	0	0	0
10460	end climb: SURFACE_DEPTH_REACHED
state	10460	begin surface coast
10483	end surface coast: CONTROL_FINISHED_OK
state	10483	begin surface