Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 758 * 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 758 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 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 -11447.979 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 -11447.979

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 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 758 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 130111,184337,6714.541,-5718.905,31,0.9,31,-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 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130111,184926,6714.587,-5718.981,8,1.3,8,-37.9 MHEAD_RNG_PITCHd_Wd 171.7,31001,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 524

Post-dive calculations and measurements:

FREEZE 1.02,1.861,-0.860,0,1,0 ALTIM_TOP_PING 19.6,18.6

FINISH 1.0,1.012689 _24V_AH 22.7,85.670

SM_CCo 9798,221.82,0.078,0,0,440,609.08 _10V_AH 9.8,58.797

SM_GC 1.75,0.00,0.00,221.82,0.000,0.000,0.078,298,2786,440,-6.80,0.17,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 386 FG_AHR_10Vo 0.000

RAFOS 0,1294948891,20.033333,20.025278,48,44,42,41,41,40,424,898,935,980,1278,1816 MEM 151680

RAFOS_FIX 6715.611816,-5722.672363,130111,202001,3,76,0.48 DATA_FILE_SIZE 30047,889

IRIDIUM_FIX 6641.98,-5755.56,130111,151503 CAP_FILE_SIZE 118487,0

TT8_MAMPS 0.029211 CFSIZE 260165632,200142848

HUMID 45.23 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1474.5

TCM_TEMP 16.80 GPS 130111,213836,6714.784,-5719.136,36,1.0,37,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 234 92.50 SBE_CT 610 24 332.76

Roll_motor 99 71 162.22 SBE_O2 0 0 0.00

VBD_pump_during_apogee 321 875 6396.40 nil 0 0 0.00

VBD_pump_during_surface 221 78 392.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.52 nil 0 0 0.00

Iridium_during_connect 19 160 72.59 nil 0 0 0.00

Iridium_during_xfer 142 223 722.52 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.50

TT8 2190 19 427.59

LPSleep 5445 2 123.28

TT8_Active 676 19 132.03

TT8_Sampling 1748 39 684.01

TT8_CF8 325 45 146.32

TT8_Kalman 0 0 0.00

Analog_circuits 1553 12 182.64

GPS_charging 0 0 0.00

Compass 1562 15 229.73

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 0 156 0.00 0.00 -135.25 0.000 2 0.000 0.000 279 2786 3483 0 0 0 0 0 0

161 -0.57 -146.0 5.6 -11.5 24 176 8.25 1.95 -0.73 0.000 4 0.235 0.072 2276 3935 3521 0 0 0 0 0 0

431 -0.60 -146.0 50.9 -11.0 71 438 0.00 1.85 0.00 0.000 6 0.000 0.044 2275 2782 3523 0 0 0 0 0 0

779 -0.63 -146.0 84.5 -9.3 132 786 0.00 2.22 0.00 0.000 4 0.000 0.046 2275 1366 3522 0 0 0 0 0 0

811 -0.66 -146.0 87.8 -9.7 137 818 0.00 2.30 0.00 0.000 6 0.000 0.057 2275 2759 3522 0 0 0 0 0 0

1153 -0.70 -146.0 117.9 -8.8 180 1157 0.00 2.20 0.00 0.000 4 0.000 0.045 2275 1365 3521 0 0 0 0 0 0

1186 -0.76 -146.0 121.2 -9.2 182 1194 0.12 2.30 0.00 0.000 6 0.091 0.057 2214 2756 3521 0 0 0 0 0 0

1513 -0.69 -146.0 160.5 -11.9 213 1518 0.12 2.22 0.00 0.000 4 0.171 0.044 2248 1372 3521 0 0 0 0 0 0

1546 -0.69 -146.0 164.3 -9.3 215 1553 0.00 2.30 0.00 0.000 6 0.000 0.057 2247 2762 3520 0 0 0 0 0 0

1873 -0.69 -146.0 193.5 -8.9 246 1876 0.00 1.98 0.00 0.000 4 0.000 0.067 2247 3932 3521 0 0 0 0 0 0

1923 -0.72 -146.0 198.5 -8.8 250 1930 0.00 1.90 0.00 0.000 6 0.000 0.043 2248 2746 3521 0 0 0 0 0 0

2250 -0.72 -146.0 227.6 -9.2 281 2254 0.00 2.15 0.00 0.000 4 0.000 0.044 2247 1369 3521 0 0 0 0 0 0

2295 -0.75 -146.0 232.1 -9.3 284 2302 0.00 2.28 0.00 0.000 6 0.000 0.057 2247 2746 3521 0 0 0 0 0 0

2622 -0.75 -146.0 262.2 -9.2 315 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2746 3521 0 0 0 0 0 0

2943 -0.75 -146.0 291.8 -9.4 345 2946 0.00 1.98 0.00 0.000 4 0.000 0.067 2247 3931 3522 0 0 0 0 0 0

3001 -0.78 -146.0 297.3 -9.1 350 3005 0.00 1.90 0.00 0.000 6 0.000 0.041 2247 2738 3522 0 0 0 0 0 0

3333 -0.81 -146.0 327.8 -9.5 381 3337 0.00 2.15 0.00 0.000 4 0.000 0.043 2247 1369 3522 0 0 0 0 0 0

3391 -0.86 -146.0 333.3 -9.7 386 3396 0.15 2.28 0.00 0.000 6 0.081 0.055 2176 2750 3522 0 0 0 0 0 0

3717 -0.75 -146.0 375.7 -12.7 416 3722 0.20 2.03 0.00 0.000 4 0.155 0.064 2226 3936 3523 0 0 0 0 0 0

3773 -0.75 -146.0 382.2 -10.7 420 3780 0.00 1.90 0.00 0.000 6 0.000 0.041 2226 2741 3523 0 0 0 0 0 0

4116 -0.75 -146.0 416.1 -10.4 443 4120 0.00 2.12 0.00 0.000 4 0.000 0.044 2225 1372 3524 0 0 0 0 0 0

4154 -0.75 -146.0 420.4 -10.0 444 4159 0.00 2.25 0.00 0.000 6 0.000 0.055 2222 2739 3523 0 0 0 0 0 0

4481 -0.75 -146.0 451.0 -9.6 455 4485 0.00 2.00 0.00 0.000 4 0.000 0.066 2222 3926 3524 0 0 0 0 0 0

4537 -0.75 -146.0 456.8 -9.8 456 4541 0.00 1.90 0.00 0.000 6 0.000 0.041 2222 2731 3524 0 0 0 0 0 0

4857 -0.75 -146.0 488.2 -10.2 467 4861 0.00 2.12 0.00 0.000 4 0.000 0.043 2221 1375 3524 0 0 0 0 0 0

4886 -0.75 -146.0 491.2 -10.2 468 4890 0.00 2.25 0.00 0.000 6 0.000 0.055 2222 2741 3524 0 0 0 0 0 0

5222 -0.75 -146.0 523.5 -9.4 479 5227 0.00 2.00 0.00 0.000 4 0.000 0.065 2220 3930 3524 0 0 0 0 0 0

5230 end dive: TARGET_DEPTH_EXCEEDED

state 5230 begin apogee

5239 -0.14 0.0 524.7 9.5 479 5368 0.62 0.00 121.22 0.875 4 0.125 0.000 2423 2590 2923 0 0 0 0 0 0

5369 end apogee: CONTROL_FINISHED_OK

state 5369 begin climb

5372 0.57 146.0 527.8 0.0 483 5507 0.65 2.28 123.20 0.862 4 0.060 0.044 2666 1191 2326 0 0 0 0 0 0

5693 0.57 146.0 495.8 12.3 493 5697 0.00 2.30 0.00 0.000 6 0.000 0.050 2666 2602 2321 0 0 0 0 0 0

6017 0.52 146.0 453.0 13.4 504 6021 0.00 2.25 0.00 0.000 4 0.000 0.045 2666 1185 2318 0 0 0 0 0 0

6236 0.52 146.0 425.9 11.6 510 6240 0.00 2.30 0.00 0.000 6 0.000 0.050 2666 2615 2318 0 0 0 0 0 0

6558 0.48 146.0 385.2 12.5 527 6564 0.12 2.17 0.00 0.000 4 0.188 0.060 2633 3932 2317 0 0 0 0 0 0

6610 0.44 146.0 378.6 12.7 531 6616 0.00 2.08 0.00 0.000 6 0.000 0.039 2636 2613 2316 0 0 0 0 0 0

6935 0.44 146.0 343.2 11.0 562 6936 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2612 2316 0 0 0 0 0 0

7254 0.44 146.0 307.8 10.9 592 7258 0.00 2.20 0.00 0.000 4 0.000 0.061 2635 3929 2316 0 0 0 0 0 0

7275 0.44 146.0 304.9 12.5 593 7282 0.00 2.08 0.00 0.000 6 0.000 0.039 2639 2610 2315 0 0 0 0 0 0

7602 0.44 146.0 269.1 10.5 624 7606 0.00 2.17 0.00 0.000 4 0.000 0.060 2639 3928 2315 0 0 0 0 0 0

7647 0.40 146.0 263.6 12.2 627 7654 0.12 2.05 0.00 0.000 6 0.186 0.038 2610 2633 2315 0 0 0 0 0 0

7973 0.49 190.6 236.6 7.9 658 8017 0.00 2.33 36.42 0.689 4 0.000 0.046 2610 1191 2145 0 0 0 0 0 0

8035 0.63 238.3 231.4 7.8 663 8085 0.20 2.35 41.12 0.681 6 0.070 0.049 2695 2636 1949 0 0 0 0 0 0

8404 0.61 238.3 179.4 14.2 698 8408 0.00 2.30 0.00 0.000 4 0.000 0.046 2697 1196 1941 0 0 0 0 0 0

8457 0.64 238.3 172.5 12.8 702 8461 0.00 2.28 0.00 0.000 6 0.000 0.049 2697 2621 1941 0 0 0 0 0 0

8788 0.64 238.3 125.3 14.0 733 8792 0.00 2.15 0.00 0.000 4 0.000 0.060 2697 3925 1939 0 0 0 0 0 0

8810 0.60 238.3 121.6 15.7 734 8817 0.12 2.08 0.00 0.000 6 0.181 0.039 2668 2613 1937 0 0 0 0 0 0

9145 0.65 238.3 82.5 11.4 778 9152 0.00 2.22 0.00 0.000 4 0.000 0.046 2668 1185 1938 0 0 0 0 0 0

9183 0.73 238.3 78.5 10.5 784 9190 0.12 2.30 0.00 0.000 6 0.099 0.048 2723 2619 1938 0 0 0 0 0 0

9532 0.70 238.3 31.2 13.1 845 9538 0.00 2.25 0.00 0.000 4 0.000 0.047 2725 1186 1937 0 0 0 0 0 0

9619 0.70 238.3 20.3 11.9 860 9626 0.00 2.30 0.00 0.000 6 0.000 0.048 2724 2617 1937 0 0 0 0 0 0

9758 end climb: SURFACE_DEPTH_REACHED

state 9758 begin surface coast

9780 end surface coast: CONTROL_FINISHED_OK

state 9780 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	758	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	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	-11447.979	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	130111,184337,6714.541,-5718.905,31,0.9,31,-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	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130111,184926,6714.587,-5718.981,8,1.3,8,-37.9	MHEAD_RNG_PITCHd_Wd	171.7,31001,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	524

FREEZE	1.02,1.861,-0.860,0,1,0	ALTIM_TOP_PING	19.6,18.6
FINISH	1.0,1.012689	_24V_AH	22.7,85.670
SM_CCo	9798,221.82,0.078,0,0,440,609.08	_10V_AH	9.8,58.797
SM_GC	1.75,0.00,0.00,221.82,0.000,0.000,0.078,298,2786,440,-6.80,0.17,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	386	FG_AHR_10Vo	0.000
RAFOS	0,1294948891,20.033333,20.025278,48,44,42,41,41,40,424,898,935,980,1278,1816	MEM	151680
RAFOS_FIX	6715.611816,-5722.672363,130111,202001,3,76,0.48	DATA_FILE_SIZE	30047,889
IRIDIUM_FIX	6641.98,-5755.56,130111,151503	CAP_FILE_SIZE	118487,0
TT8_MAMPS	0.029211	CFSIZE	260165632,200142848
HUMID	45.23	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1474.5
TCM_TEMP	16.80	GPS	130111,213836,6714.784,-5719.136,36,1.0,37,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	234	92.50	SBE_CT	610	24	332.76
Roll_motor	99	71	162.22	SBE_O2	0	0	0.00
VBD_pump_during_apogee	321	875	6396.40	nil	0	0	0.00
VBD_pump_during_surface	221	78	392.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.52	nil	0	0	0.00
Iridium_during_connect	19	160	72.59	nil	0	0	0.00
Iridium_during_xfer	142	223	722.52	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.50
TT8	2190	19	427.59
LPSleep	5445	2	123.28
TT8_Active	676	19	132.03
TT8_Sampling	1748	39	684.01
TT8_CF8	325	45	146.32
TT8_Kalman	0	0	0.00
Analog_circuits	1553	12	182.64
GPS_charging	0	0	0.00
Compass	1562	15	229.73
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	156	0.00	0.00	-135.25	0.000	2	0.000	0.000	279	2786	3483	0	0	0	0	0	0
161	-0.57	-146.0	5.6	-11.5	24	176	8.25	1.95	-0.73	0.000	4	0.235	0.072	2276	3935	3521	0	0	0	0	0	0
431	-0.60	-146.0	50.9	-11.0	71	438	0.00	1.85	0.00	0.000	6	0.000	0.044	2275	2782	3523	0	0	0	0	0	0
779	-0.63	-146.0	84.5	-9.3	132	786	0.00	2.22	0.00	0.000	4	0.000	0.046	2275	1366	3522	0	0	0	0	0	0
811	-0.66	-146.0	87.8	-9.7	137	818	0.00	2.30	0.00	0.000	6	0.000	0.057	2275	2759	3522	0	0	0	0	0	0
1153	-0.70	-146.0	117.9	-8.8	180	1157	0.00	2.20	0.00	0.000	4	0.000	0.045	2275	1365	3521	0	0	0	0	0	0
1186	-0.76	-146.0	121.2	-9.2	182	1194	0.12	2.30	0.00	0.000	6	0.091	0.057	2214	2756	3521	0	0	0	0	0	0
1513	-0.69	-146.0	160.5	-11.9	213	1518	0.12	2.22	0.00	0.000	4	0.171	0.044	2248	1372	3521	0	0	0	0	0	0
1546	-0.69	-146.0	164.3	-9.3	215	1553	0.00	2.30	0.00	0.000	6	0.000	0.057	2247	2762	3520	0	0	0	0	0	0
1873	-0.69	-146.0	193.5	-8.9	246	1876	0.00	1.98	0.00	0.000	4	0.000	0.067	2247	3932	3521	0	0	0	0	0	0
1923	-0.72	-146.0	198.5	-8.8	250	1930	0.00	1.90	0.00	0.000	6	0.000	0.043	2248	2746	3521	0	0	0	0	0	0
2250	-0.72	-146.0	227.6	-9.2	281	2254	0.00	2.15	0.00	0.000	4	0.000	0.044	2247	1369	3521	0	0	0	0	0	0
2295	-0.75	-146.0	232.1	-9.3	284	2302	0.00	2.28	0.00	0.000	6	0.000	0.057	2247	2746	3521	0	0	0	0	0	0
2622	-0.75	-146.0	262.2	-9.2	315	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2746	3521	0	0	0	0	0	0
2943	-0.75	-146.0	291.8	-9.4	345	2946	0.00	1.98	0.00	0.000	4	0.000	0.067	2247	3931	3522	0	0	0	0	0	0
3001	-0.78	-146.0	297.3	-9.1	350	3005	0.00	1.90	0.00	0.000	6	0.000	0.041	2247	2738	3522	0	0	0	0	0	0
3333	-0.81	-146.0	327.8	-9.5	381	3337	0.00	2.15	0.00	0.000	4	0.000	0.043	2247	1369	3522	0	0	0	0	0	0
3391	-0.86	-146.0	333.3	-9.7	386	3396	0.15	2.28	0.00	0.000	6	0.081	0.055	2176	2750	3522	0	0	0	0	0	0
3717	-0.75	-146.0	375.7	-12.7	416	3722	0.20	2.03	0.00	0.000	4	0.155	0.064	2226	3936	3523	0	0	0	0	0	0
3773	-0.75	-146.0	382.2	-10.7	420	3780	0.00	1.90	0.00	0.000	6	0.000	0.041	2226	2741	3523	0	0	0	0	0	0
4116	-0.75	-146.0	416.1	-10.4	443	4120	0.00	2.12	0.00	0.000	4	0.000	0.044	2225	1372	3524	0	0	0	0	0	0
4154	-0.75	-146.0	420.4	-10.0	444	4159	0.00	2.25	0.00	0.000	6	0.000	0.055	2222	2739	3523	0	0	0	0	0	0
4481	-0.75	-146.0	451.0	-9.6	455	4485	0.00	2.00	0.00	0.000	4	0.000	0.066	2222	3926	3524	0	0	0	0	0	0
4537	-0.75	-146.0	456.8	-9.8	456	4541	0.00	1.90	0.00	0.000	6	0.000	0.041	2222	2731	3524	0	0	0	0	0	0
4857	-0.75	-146.0	488.2	-10.2	467	4861	0.00	2.12	0.00	0.000	4	0.000	0.043	2221	1375	3524	0	0	0	0	0	0
4886	-0.75	-146.0	491.2	-10.2	468	4890	0.00	2.25	0.00	0.000	6	0.000	0.055	2222	2741	3524	0	0	0	0	0	0
5222	-0.75	-146.0	523.5	-9.4	479	5227	0.00	2.00	0.00	0.000	4	0.000	0.065	2220	3930	3524	0	0	0	0	0	0
5230	end dive: TARGET_DEPTH_EXCEEDED
state	5230	begin apogee
5239	-0.14	0.0	524.7	9.5	479	5368	0.62	0.00	121.22	0.875	4	0.125	0.000	2423	2590	2923	0	0	0	0	0	0
5369	end apogee: CONTROL_FINISHED_OK
state	5369	begin climb
5372	0.57	146.0	527.8	0.0	483	5507	0.65	2.28	123.20	0.862	4	0.060	0.044	2666	1191	2326	0	0	0	0	0	0
5693	0.57	146.0	495.8	12.3	493	5697	0.00	2.30	0.00	0.000	6	0.000	0.050	2666	2602	2321	0	0	0	0	0	0
6017	0.52	146.0	453.0	13.4	504	6021	0.00	2.25	0.00	0.000	4	0.000	0.045	2666	1185	2318	0	0	0	0	0	0
6236	0.52	146.0	425.9	11.6	510	6240	0.00	2.30	0.00	0.000	6	0.000	0.050	2666	2615	2318	0	0	0	0	0	0
6558	0.48	146.0	385.2	12.5	527	6564	0.12	2.17	0.00	0.000	4	0.188	0.060	2633	3932	2317	0	0	0	0	0	0
6610	0.44	146.0	378.6	12.7	531	6616	0.00	2.08	0.00	0.000	6	0.000	0.039	2636	2613	2316	0	0	0	0	0	0
6935	0.44	146.0	343.2	11.0	562	6936	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2612	2316	0	0	0	0	0	0
7254	0.44	146.0	307.8	10.9	592	7258	0.00	2.20	0.00	0.000	4	0.000	0.061	2635	3929	2316	0	0	0	0	0	0
7275	0.44	146.0	304.9	12.5	593	7282	0.00	2.08	0.00	0.000	6	0.000	0.039	2639	2610	2315	0	0	0	0	0	0
7602	0.44	146.0	269.1	10.5	624	7606	0.00	2.17	0.00	0.000	4	0.000	0.060	2639	3928	2315	0	0	0	0	0	0
7647	0.40	146.0	263.6	12.2	627	7654	0.12	2.05	0.00	0.000	6	0.186	0.038	2610	2633	2315	0	0	0	0	0	0
7973	0.49	190.6	236.6	7.9	658	8017	0.00	2.33	36.42	0.689	4	0.000	0.046	2610	1191	2145	0	0	0	0	0	0
8035	0.63	238.3	231.4	7.8	663	8085	0.20	2.35	41.12	0.681	6	0.070	0.049	2695	2636	1949	0	0	0	0	0	0
8404	0.61	238.3	179.4	14.2	698	8408	0.00	2.30	0.00	0.000	4	0.000	0.046	2697	1196	1941	0	0	0	0	0	0
8457	0.64	238.3	172.5	12.8	702	8461	0.00	2.28	0.00	0.000	6	0.000	0.049	2697	2621	1941	0	0	0	0	0	0
8788	0.64	238.3	125.3	14.0	733	8792	0.00	2.15	0.00	0.000	4	0.000	0.060	2697	3925	1939	0	0	0	0	0	0
8810	0.60	238.3	121.6	15.7	734	8817	0.12	2.08	0.00	0.000	6	0.181	0.039	2668	2613	1937	0	0	0	0	0	0
9145	0.65	238.3	82.5	11.4	778	9152	0.00	2.22	0.00	0.000	4	0.000	0.046	2668	1185	1938	0	0	0	0	0	0
9183	0.73	238.3	78.5	10.5	784	9190	0.12	2.30	0.00	0.000	6	0.099	0.048	2723	2619	1938	0	0	0	0	0	0
9532	0.70	238.3	31.2	13.1	845	9538	0.00	2.25	0.00	0.000	4	0.000	0.047	2725	1186	1937	0	0	0	0	0	0
9619	0.70	238.3	20.3	11.9	860	9626	0.00	2.30	0.00	0.000	6	0.000	0.048	2724	2617	1937	0	0	0	0	0	0
9758	end climb: SURFACE_DEPTH_REACHED
state	9758	begin surface coast
9780	end surface coast: CONTROL_FINISHED_OK
state	9780	begin surface