Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 757 * 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 757 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 41 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 34 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 -11446.723 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 -11446.723

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 41 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 34 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 757 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 130111,153537,6714.337,-5719.261,28,1.3,29,-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 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130111,154213,6714.390,-5719.363,8,1.3,13,-37.9 MHEAD_RNG_PITCHd_Wd 170.9,30950,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 541

Post-dive calculations and measurements:

FREEZE 1.01,1.866,-0.883,0,1,0 ALTIM_TOP_PING 19.8,18.1

FINISH 1.0,1.013028 _24V_AH 22.6,85.579

SM_CCo 10517,243.05,0.078,0,0,441,609.08 _10V_AH 9.8,58.735

SM_GC 1.64,0.00,0.00,243.05,0.000,0.000,0.078,286,2785,441,-6.83,0.14,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 410 FG_AHR_10Vo 0.000

RAFOS 0,1294934463,16.033333,16.017500,45,45,43,43,42,42,339,977,353,1807,26,905 MEM 151768

RAFOS_FIX 6715.763184,-5723.618164,130111,161640,3,114,1.09 DATA_FILE_SIZE 33389,932

IRIDIUM_FIX 6647.44,-5717.22,130111,121213 CAP_FILE_SIZE 119163,0

TT8_MAMPS 0.028462 CFSIZE 260165632,200196096

HUMID 44.92 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.58279 SOUNDSPEED 1474.0

TCM_TEMP 16.60 GPS 130111,184337,6714.541,-5718.905,31,0.9,31,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 235 91.46 SBE_CT 641 24 348.06

Roll_motor 82 66 124.36 SBE_O2 0 0 0.00

VBD_pump_during_apogee 292 886 5860.60 nil 0 0 0.00

VBD_pump_during_surface 243 78 428.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 64.74 nil 0 0 0.00

Iridium_during_connect 44 160 159.86 nil 0 0 0.00

Iridium_during_xfer 155 223 785.95 nil 0 0 0.00

Transponder_ping 1 420 14.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.06

TT8 2293 19 447.76

LPSleep 6131 2 138.80

TT8_Active 653 19 127.50

TT8_Sampling 1768 39 691.90

TT8_CF8 325 45 146.69

TT8_Kalman 0 0 0.00

Analog_circuits 1505 12 177.09

GPS_charging 0 0 0.00

Compass 1537 15 225.99

RAFOS 2520 3 74.09

Transponder 11 30 3.38

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 157 0.00 0.00 -135.77 0.000 2 0.000 0.000 283 2798 3463 0 0 0 0 0 0

162 -0.57 -146.0 5.1 -11.3 24 181 8.27 2.35 -1.15 0.000 4 0.236 0.059 2286 1367 3521 0 0 0 0 0 0

346 -0.61 -146.0 38.6 -10.5 56 353 0.00 2.33 0.00 0.000 6 0.000 0.057 2285 2774 3523 0 0 0 0 0 0

694 -0.65 -146.0 74.7 -9.8 117 700 0.00 1.95 0.00 0.000 4 0.000 0.067 2277 3933 3521 0 0 0 0 0 0

783 -0.69 -146.0 83.5 -9.8 132 790 0.00 1.85 0.00 0.000 6 0.000 0.044 2277 2776 3521 0 0 0 0 0 0

1127 -0.73 -146.0 116.4 -9.9 178 1132 0.10 2.22 0.00 0.000 4 0.108 0.045 2227 1368 3520 0 0 0 0 0 0

1171 -0.69 -146.0 122.0 -12.5 181 1178 0.00 2.33 0.00 0.000 6 0.000 0.057 2222 2774 3521 0 0 0 0 0 0

1497 -0.64 -146.0 163.5 -12.7 212 1499 0.15 0.00 0.00 0.000 6 0.165 0.000 2264 2774 3521 0 0 0 0 0 0

1815 -0.68 -146.0 192.7 -8.3 242 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2774 3521 0 0 0 0 0 0

2134 -0.73 -146.0 219.0 -7.9 272 2138 0.00 1.95 0.00 0.000 4 0.000 0.067 2261 3940 3521 0 0 0 0 0 0

2169 -0.78 -146.0 222.2 -9.1 275 2174 0.08 1.90 0.00 0.000 6 0.064 0.042 2213 2767 3521 0 0 0 0 0 0

2500 -0.73 -146.0 261.1 -12.0 306 2504 0.00 2.20 0.00 0.000 4 0.000 0.044 2212 1366 3521 0 0 0 0 0 0

2549 -0.70 -146.0 266.7 -12.3 310 2554 0.15 2.33 0.00 0.000 6 0.164 0.056 2248 2776 3521 0 0 0 0 0 0

2877 -0.72 -146.0 298.3 -9.0 340 2881 0.00 2.22 0.00 0.000 4 0.000 0.044 2249 1362 3522 0 0 0 0 0 0

2920 -0.76 -146.0 302.4 -9.5 343 2925 0.00 2.30 0.00 0.000 6 0.000 0.054 2247 2760 3521 0 0 0 0 0 0

3247 -0.79 -146.0 331.4 -8.9 373 3250 0.00 1.95 0.00 0.000 4 0.000 0.065 2241 3927 3522 0 0 0 0 0 0

3298 -0.81 -146.0 336.2 -9.2 377 3305 0.00 1.88 0.00 0.000 6 0.000 0.041 2241 2753 3522 0 0 0 0 0 0

3624 -0.81 -146.0 364.2 -8.4 408 3625 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2753 3523 0 0 0 0 0 0

3943 -0.81 -146.0 390.5 -8.2 438 3947 0.00 2.17 0.00 0.000 4 0.000 0.044 2241 1370 3523 0 0 0 0 0 0

4006 -0.84 -146.0 395.9 -8.5 443 4011 0.10 2.28 0.00 0.000 6 0.106 0.055 2188 2758 3523 0 0 0 0 0 0

4322 -0.75 -146.0 432.6 -11.8 455 4324 0.15 0.00 0.00 0.000 6 0.164 0.000 2229 2758 3524 0 0 0 0 0 0

4627 -0.75 -146.0 460.8 -8.9 465 4628 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2758 3524 0 0 0 0 0 0

4934 -0.75 -146.0 489.2 -9.3 475 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2758 3524 0 0 0 0 0 0

5239 -0.75 -146.0 516.5 -8.9 485 5243 0.00 1.98 0.00 0.000 4 0.000 0.064 2222 3921 3524 0 0 0 0 0 0

5275 -0.75 -146.0 519.9 -9.8 486 5278 0.00 1.88 0.00 0.000 6 0.000 0.041 2222 2743 3524 0 0 0 0 0 0

5491 end dive: TARGET_DEPTH_EXCEEDED

state 5491 begin apogee

5498 -0.14 0.0 542.1 10.2 493 5626 0.60 0.00 121.40 0.887 4 0.123 0.000 2421 2602 2924 0 0 0 0 0 0

5627 end apogee: CONTROL_FINISHED_OK

state 5627 begin climb

5630 0.57 146.0 545.7 0.0 497 5760 0.62 0.00 123.53 0.875 6 0.067 0.000 2660 2602 2327 0 0 0 0 0 0

6097 0.53 146.0 493.8 12.9 512 6101 0.00 2.20 0.00 0.000 4 0.000 0.060 2660 3929 2319 0 0 0 0 0 0

6153 0.43 146.0 485.0 15.8 513 6161 0.17 2.08 0.00 0.000 6 0.182 0.038 2616 2605 2317 0 0 0 0 0 0

6467 0.48 153.6 453.2 9.6 524 6479 0.00 2.28 6.50 0.692 4 0.000 0.061 2616 3928 2295 0 0 0 0 0 0

6501 0.48 153.6 449.6 10.2 525 6505 0.00 2.05 0.00 0.000 6 0.000 0.038 2616 2627 2294 0 0 0 0 0 0

6838 0.54 176.8 418.8 8.9 536 6865 0.10 2.28 20.90 0.785 4 0.109 0.044 2672 1187 2202 0 0 0 0 0 0

6887 0.54 176.8 412.8 12.2 536 6891 0.00 2.33 0.00 0.000 6 0.000 0.049 2672 2625 2202 0 0 0 0 0 0

7211 0.51 176.8 369.1 14.6 558 7216 0.12 2.30 0.00 0.000 4 0.182 0.047 2641 1195 2199 0 0 0 0 0 0

7255 0.57 176.8 362.8 11.4 561 7262 0.00 2.28 0.00 0.000 6 0.000 0.049 2642 2608 2199 0 0 0 0 0 0

7581 0.57 176.8 325.0 12.1 592 7585 0.00 2.17 0.00 0.000 4 0.000 0.062 2642 3924 2199 0 0 0 0 0 0

7614 0.54 176.8 320.4 14.0 594 7620 0.00 2.10 0.00 0.000 6 0.000 0.039 2646 2598 2198 0 0 0 0 0 0

7941 0.54 176.8 282.2 11.5 625 7942 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2598 2198 0 0 0 0 0 0

8260 0.54 176.8 247.4 10.7 655 8264 0.00 2.20 0.00 0.000 4 0.000 0.046 2649 1188 2198 0 0 0 0 0 0

8290 0.58 176.8 244.1 10.1 657 8294 0.00 2.28 0.00 0.000 6 0.000 0.050 2648 2612 2198 0 0 0 0 0 0

8616 0.58 176.8 208.1 11.3 687 8620 0.00 2.15 0.00 0.000 4 0.000 0.060 2648 3924 2198 0 0 0 0 0 0

8649 0.55 176.8 203.8 12.9 689 8656 0.00 2.10 0.00 0.000 6 0.000 0.039 2652 2597 2197 0 0 0 0 0 0

8975 0.57 176.8 168.6 10.4 720 8979 0.00 2.20 0.00 0.000 4 0.000 0.060 2652 3926 2197 0 0 0 0 0 0

9015 0.54 176.8 163.9 12.4 723 9019 0.00 2.05 0.00 0.000 6 0.000 0.038 2655 2629 2196 0 0 0 0 0 0

9346 0.54 176.8 129.0 10.4 754 9350 0.00 2.25 0.00 0.000 4 0.000 0.046 2655 1186 2197 0 0 0 0 0 0

9399 0.60 176.8 123.9 10.2 758 9403 0.00 2.33 0.00 0.000 6 0.000 0.049 2655 2629 2197 0 0 0 0 0 0

9731 0.63 176.8 89.5 10.0 797 9738 0.00 2.28 0.00 0.000 4 0.000 0.045 2655 1195 2197 0 0 0 0 0 0

9763 0.70 200.6 86.7 8.9 802 9789 0.12 2.28 20.15 0.602 6 0.099 0.049 2712 2606 2105 0 0 0 0 0 0

10131 0.66 200.6 41.1 12.0 866 10137 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 2606 2101 0 0 0 0 0 0

10474 end climb: SURFACE_DEPTH_REACHED

state 10474 begin surface coast

10500 end surface coast: CONTROL_FINISHED_OK

state 10500 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	757	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	41	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	34	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	-11446.723	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	130111,153537,6714.337,-5719.261,28,1.3,29,-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	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130111,154213,6714.390,-5719.363,8,1.3,13,-37.9	MHEAD_RNG_PITCHd_Wd	170.9,30950,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	541

FREEZE	1.01,1.866,-0.883,0,1,0	ALTIM_TOP_PING	19.8,18.1
FINISH	1.0,1.013028	_24V_AH	22.6,85.579
SM_CCo	10517,243.05,0.078,0,0,441,609.08	_10V_AH	9.8,58.735
SM_GC	1.64,0.00,0.00,243.05,0.000,0.000,0.078,286,2785,441,-6.83,0.14,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	410	FG_AHR_10Vo	0.000
RAFOS	0,1294934463,16.033333,16.017500,45,45,43,43,42,42,339,977,353,1807,26,905	MEM	151768
RAFOS_FIX	6715.763184,-5723.618164,130111,161640,3,114,1.09	DATA_FILE_SIZE	33389,932
IRIDIUM_FIX	6647.44,-5717.22,130111,121213	CAP_FILE_SIZE	119163,0
TT8_MAMPS	0.028462	CFSIZE	260165632,200196096
HUMID	44.92	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.58279	SOUNDSPEED	1474.0
TCM_TEMP	16.60	GPS	130111,184337,6714.541,-5718.905,31,0.9,31,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	235	91.46	SBE_CT	641	24	348.06
Roll_motor	82	66	124.36	SBE_O2	0	0	0.00
VBD_pump_during_apogee	292	886	5860.60	nil	0	0	0.00
VBD_pump_during_surface	243	78	428.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	64.74	nil	0	0	0.00
Iridium_during_connect	44	160	159.86	nil	0	0	0.00
Iridium_during_xfer	155	223	785.95	nil	0	0	0.00
Transponder_ping	1	420	14.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.06
TT8	2293	19	447.76
LPSleep	6131	2	138.80
TT8_Active	653	19	127.50
TT8_Sampling	1768	39	691.90
TT8_CF8	325	45	146.69
TT8_Kalman	0	0	0.00
Analog_circuits	1505	12	177.09
GPS_charging	0	0	0.00
Compass	1537	15	225.99
RAFOS	2520	3	74.09
Transponder	11	30	3.38

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	157	0.00	0.00	-135.77	0.000	2	0.000	0.000	283	2798	3463	0	0	0	0	0	0
162	-0.57	-146.0	5.1	-11.3	24	181	8.27	2.35	-1.15	0.000	4	0.236	0.059	2286	1367	3521	0	0	0	0	0	0
346	-0.61	-146.0	38.6	-10.5	56	353	0.00	2.33	0.00	0.000	6	0.000	0.057	2285	2774	3523	0	0	0	0	0	0
694	-0.65	-146.0	74.7	-9.8	117	700	0.00	1.95	0.00	0.000	4	0.000	0.067	2277	3933	3521	0	0	0	0	0	0
783	-0.69	-146.0	83.5	-9.8	132	790	0.00	1.85	0.00	0.000	6	0.000	0.044	2277	2776	3521	0	0	0	0	0	0
1127	-0.73	-146.0	116.4	-9.9	178	1132	0.10	2.22	0.00	0.000	4	0.108	0.045	2227	1368	3520	0	0	0	0	0	0
1171	-0.69	-146.0	122.0	-12.5	181	1178	0.00	2.33	0.00	0.000	6	0.000	0.057	2222	2774	3521	0	0	0	0	0	0
1497	-0.64	-146.0	163.5	-12.7	212	1499	0.15	0.00	0.00	0.000	6	0.165	0.000	2264	2774	3521	0	0	0	0	0	0
1815	-0.68	-146.0	192.7	-8.3	242	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2774	3521	0	0	0	0	0	0
2134	-0.73	-146.0	219.0	-7.9	272	2138	0.00	1.95	0.00	0.000	4	0.000	0.067	2261	3940	3521	0	0	0	0	0	0
2169	-0.78	-146.0	222.2	-9.1	275	2174	0.08	1.90	0.00	0.000	6	0.064	0.042	2213	2767	3521	0	0	0	0	0	0
2500	-0.73	-146.0	261.1	-12.0	306	2504	0.00	2.20	0.00	0.000	4	0.000	0.044	2212	1366	3521	0	0	0	0	0	0
2549	-0.70	-146.0	266.7	-12.3	310	2554	0.15	2.33	0.00	0.000	6	0.164	0.056	2248	2776	3521	0	0	0	0	0	0
2877	-0.72	-146.0	298.3	-9.0	340	2881	0.00	2.22	0.00	0.000	4	0.000	0.044	2249	1362	3522	0	0	0	0	0	0
2920	-0.76	-146.0	302.4	-9.5	343	2925	0.00	2.30	0.00	0.000	6	0.000	0.054	2247	2760	3521	0	0	0	0	0	0
3247	-0.79	-146.0	331.4	-8.9	373	3250	0.00	1.95	0.00	0.000	4	0.000	0.065	2241	3927	3522	0	0	0	0	0	0
3298	-0.81	-146.0	336.2	-9.2	377	3305	0.00	1.88	0.00	0.000	6	0.000	0.041	2241	2753	3522	0	0	0	0	0	0
3624	-0.81	-146.0	364.2	-8.4	408	3625	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2753	3523	0	0	0	0	0	0
3943	-0.81	-146.0	390.5	-8.2	438	3947	0.00	2.17	0.00	0.000	4	0.000	0.044	2241	1370	3523	0	0	0	0	0	0
4006	-0.84	-146.0	395.9	-8.5	443	4011	0.10	2.28	0.00	0.000	6	0.106	0.055	2188	2758	3523	0	0	0	0	0	0
4322	-0.75	-146.0	432.6	-11.8	455	4324	0.15	0.00	0.00	0.000	6	0.164	0.000	2229	2758	3524	0	0	0	0	0	0
4627	-0.75	-146.0	460.8	-8.9	465	4628	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2758	3524	0	0	0	0	0	0
4934	-0.75	-146.0	489.2	-9.3	475	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2758	3524	0	0	0	0	0	0
5239	-0.75	-146.0	516.5	-8.9	485	5243	0.00	1.98	0.00	0.000	4	0.000	0.064	2222	3921	3524	0	0	0	0	0	0
5275	-0.75	-146.0	519.9	-9.8	486	5278	0.00	1.88	0.00	0.000	6	0.000	0.041	2222	2743	3524	0	0	0	0	0	0
5491	end dive: TARGET_DEPTH_EXCEEDED
state	5491	begin apogee
5498	-0.14	0.0	542.1	10.2	493	5626	0.60	0.00	121.40	0.887	4	0.123	0.000	2421	2602	2924	0	0	0	0	0	0
5627	end apogee: CONTROL_FINISHED_OK
state	5627	begin climb
5630	0.57	146.0	545.7	0.0	497	5760	0.62	0.00	123.53	0.875	6	0.067	0.000	2660	2602	2327	0	0	0	0	0	0
6097	0.53	146.0	493.8	12.9	512	6101	0.00	2.20	0.00	0.000	4	0.000	0.060	2660	3929	2319	0	0	0	0	0	0
6153	0.43	146.0	485.0	15.8	513	6161	0.17	2.08	0.00	0.000	6	0.182	0.038	2616	2605	2317	0	0	0	0	0	0
6467	0.48	153.6	453.2	9.6	524	6479	0.00	2.28	6.50	0.692	4	0.000	0.061	2616	3928	2295	0	0	0	0	0	0
6501	0.48	153.6	449.6	10.2	525	6505	0.00	2.05	0.00	0.000	6	0.000	0.038	2616	2627	2294	0	0	0	0	0	0
6838	0.54	176.8	418.8	8.9	536	6865	0.10	2.28	20.90	0.785	4	0.109	0.044	2672	1187	2202	0	0	0	0	0	0
6887	0.54	176.8	412.8	12.2	536	6891	0.00	2.33	0.00	0.000	6	0.000	0.049	2672	2625	2202	0	0	0	0	0	0
7211	0.51	176.8	369.1	14.6	558	7216	0.12	2.30	0.00	0.000	4	0.182	0.047	2641	1195	2199	0	0	0	0	0	0
7255	0.57	176.8	362.8	11.4	561	7262	0.00	2.28	0.00	0.000	6	0.000	0.049	2642	2608	2199	0	0	0	0	0	0
7581	0.57	176.8	325.0	12.1	592	7585	0.00	2.17	0.00	0.000	4	0.000	0.062	2642	3924	2199	0	0	0	0	0	0
7614	0.54	176.8	320.4	14.0	594	7620	0.00	2.10	0.00	0.000	6	0.000	0.039	2646	2598	2198	0	0	0	0	0	0
7941	0.54	176.8	282.2	11.5	625	7942	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2598	2198	0	0	0	0	0	0
8260	0.54	176.8	247.4	10.7	655	8264	0.00	2.20	0.00	0.000	4	0.000	0.046	2649	1188	2198	0	0	0	0	0	0
8290	0.58	176.8	244.1	10.1	657	8294	0.00	2.28	0.00	0.000	6	0.000	0.050	2648	2612	2198	0	0	0	0	0	0
8616	0.58	176.8	208.1	11.3	687	8620	0.00	2.15	0.00	0.000	4	0.000	0.060	2648	3924	2198	0	0	0	0	0	0
8649	0.55	176.8	203.8	12.9	689	8656	0.00	2.10	0.00	0.000	6	0.000	0.039	2652	2597	2197	0	0	0	0	0	0
8975	0.57	176.8	168.6	10.4	720	8979	0.00	2.20	0.00	0.000	4	0.000	0.060	2652	3926	2197	0	0	0	0	0	0
9015	0.54	176.8	163.9	12.4	723	9019	0.00	2.05	0.00	0.000	6	0.000	0.038	2655	2629	2196	0	0	0	0	0	0
9346	0.54	176.8	129.0	10.4	754	9350	0.00	2.25	0.00	0.000	4	0.000	0.046	2655	1186	2197	0	0	0	0	0	0
9399	0.60	176.8	123.9	10.2	758	9403	0.00	2.33	0.00	0.000	6	0.000	0.049	2655	2629	2197	0	0	0	0	0	0
9731	0.63	176.8	89.5	10.0	797	9738	0.00	2.28	0.00	0.000	4	0.000	0.045	2655	1195	2197	0	0	0	0	0	0
9763	0.70	200.6	86.7	8.9	802	9789	0.12	2.28	20.15	0.602	6	0.099	0.049	2712	2606	2105	0	0	0	0	0	0
10131	0.66	200.6	41.1	12.0	866	10137	0.00	0.00	0.00	0.000	6	0.000	0.000	2711	2606	2101	0	0	0	0	0	0
10474	end climb: SURFACE_DEPTH_REACHED
state	10474	begin surface coast
10500	end surface coast: CONTROL_FINISHED_OK
state	10500	begin surface