Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 759 * 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 759 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 33 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 -11449.234 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 -11449.234

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 33 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 759 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 130111,213836,6714.784,-5719.136,36,1.0,37,-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 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130111,214502,6714.789,-5719.270,12,1.1,12,-37.9 MHEAD_RNG_PITCHd_Wd 171.9,31410,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 524

Post-dive calculations and measurements:

FREEZE 0.96,1.942,-0.728,0,1,0 ALTIM_TOP_PING 19.9,18.5

FINISH 1.0,1.010729 _24V_AH 22.7,85.765

SM_CCo 10153,211.95,0.079,0,0,440,609.08 _10V_AH 9.8,58.859

SM_GC 1.64,0.00,0.00,211.95,0.000,0.000,0.079,294,2780,440,-6.81,0.00,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 397 FG_AHR_10Vo 0.000

RAFOS 0,1294963262,0.033333,0.017222,54,49,49,45,42,41,1429,1791,446,922,1388,163 MEM 151700

RAFOS_FIX 6715.611816,-5722.672363,130111,202001,3,76,0.48 DATA_FILE_SIZE 33349,918

IRIDIUM_FIX 6641.98,-5738.53,130111,181801 CAP_FILE_SIZE 120524,0

TT8_MAMPS 0.030709 CFSIZE 260165632,200073216

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

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1474.4

TCM_TEMP 16.70 GPS 140111,003937,6714.519,-5718.851,27,1.5,28,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 233 93.48 SBE_CT 630 24 343.76

Roll_motor 90 74 154.14 SBE_O2 0 0 0.00

VBD_pump_during_apogee 342 873 6796.22 nil 0 0 0.00

VBD_pump_during_surface 211 78 379.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 52.05 nil 0 0 0.00

Iridium_during_connect 21 160 77.96 nil 0 0 0.00

Iridium_during_xfer 165 223 838.62 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.43

TT8 2237 19 436.81

LPSleep 5715 2 129.40

TT8_Active 662 19 129.30

TT8_Sampling 1809 39 707.74

TT8_CF8 331 45 149.39

TT8_Kalman 0 0 0.00

Analog_circuits 1542 12 181.42

GPS_charging 0 0 0.00

Compass 1587 15 233.31

RAFOS 1800 3 52.92

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 -135.20 0.000 2 0.000 0.000 287 2787 3435 0 0 0 0 0 0

161 -0.57 -146.0 5.0 -9.1 24 181 8.23 2.30 -1.75 0.000 4 0.233 0.057 2282 1372 3522 0 0 0 0 0 0

346 -0.60 -146.0 38.7 -11.3 56 353 0.00 2.33 0.00 0.000 6 0.000 0.057 2275 2777 3524 0 0 0 0 0 0

693 -0.63 -146.0 75.9 -9.3 117 700 0.00 2.25 0.00 0.000 4 0.000 0.045 2275 1365 3523 0 0 0 0 0 0

772 -0.68 -146.0 83.4 -9.6 130 779 0.00 2.30 0.00 0.000 6 0.000 0.057 2275 2760 3522 0 0 0 0 0 0

1116 -0.72 -146.0 114.5 -8.8 177 1120 0.00 1.98 0.00 0.000 4 0.000 0.067 2275 3931 3522 0 0 0 0 0 0

1152 -0.77 -146.0 117.8 -9.3 180 1156 0.15 1.90 0.00 0.000 6 0.085 0.042 2204 2744 3521 0 0 0 0 0 0

1484 -0.69 -146.0 163.0 -13.5 211 1488 0.17 2.05 0.00 0.000 4 0.158 0.066 2247 3937 3521 0 0 0 0 0 0

1527 -0.69 -146.0 168.9 -11.9 214 1534 0.00 1.90 0.00 0.000 6 0.000 0.042 2247 2743 3521 0 0 0 0 0 0

1854 -0.69 -146.0 202.8 -9.9 245 1858 0.00 2.15 0.00 0.000 4 0.000 0.044 2247 1365 3521 0 0 0 0 0 0

1929 -0.72 -146.0 210.5 -10.1 251 1934 0.00 2.28 0.00 0.000 6 0.000 0.056 2246 2744 3521 0 0 0 0 0 0

2255 -0.72 -146.0 240.8 -9.0 281 2257 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2744 3522 0 0 0 0 0 0

2576 -0.72 -146.0 267.7 -8.0 311 2580 0.00 2.00 0.00 0.000 4 0.000 0.067 2247 3929 3521 0 0 0 0 0 0

2604 -0.74 -146.0 270.2 -7.7 313 2611 0.00 1.92 0.00 0.000 6 0.000 0.041 2247 2722 3522 0 0 0 0 0 0

2931 -0.76 -146.0 296.3 -8.4 344 2934 0.00 2.05 0.00 0.000 4 0.000 0.067 2247 3931 3523 0 0 0 0 0 0

2970 -0.79 -146.0 299.8 -8.3 347 2978 0.00 1.90 0.00 0.000 6 0.000 0.041 2247 2740 3523 0 0 0 0 0 0

3296 -0.82 -146.0 326.5 -8.6 378 3301 0.10 2.17 0.00 0.000 4 0.112 0.044 2191 1369 3523 0 0 0 0 0 0

3327 -0.77 -146.0 329.7 -10.7 380 3331 0.15 2.28 0.00 0.000 6 0.157 0.055 2222 2752 3523 0 0 0 0 0 0

3652 -0.77 -146.0 362.8 -10.1 410 3656 0.00 1.95 0.00 0.000 4 0.000 0.065 2222 3928 3524 0 0 0 0 0 0

3714 -0.77 -146.0 369.2 -10.1 415 3721 0.00 1.88 0.00 0.000 6 0.000 0.041 2222 2750 3524 0 0 0 0 0 0

4060 -0.77 -146.0 403.9 -10.1 446 4061 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2749 3524 0 0 0 0 0 0

4366 -0.77 -146.0 434.5 -9.8 456 4370 0.00 2.00 0.00 0.000 4 0.000 0.065 2219 3933 3524 0 0 0 0 0 0

4403 -0.74 -146.0 438.3 -10.8 457 4406 0.00 1.88 0.00 0.000 6 0.000 0.041 2219 2754 3524 0 0 0 0 0 0

4745 -0.72 -146.0 472.0 -9.4 468 4749 0.00 2.15 0.00 0.000 4 0.000 0.044 2219 1372 3524 0 0 0 0 0 0

4790 -0.72 -146.0 476.5 -9.2 469 4794 0.00 2.30 0.00 0.000 6 0.000 0.055 2216 2767 3524 0 0 0 0 0 0

5110 -0.69 -146.0 507.2 -9.6 480 5112 0.12 0.00 0.00 0.000 6 0.171 0.000 2251 2768 3525 0 0 0 0 0 0

5351 end dive: TARGET_DEPTH_EXCEEDED

state 5351 begin apogee

5358 -0.14 0.0 526.4 8.0 488 5487 0.50 0.00 121.68 0.874 4 0.116 0.000 2423 2602 2924 0 0 0 0 0 0

5488 end apogee: CONTROL_FINISHED_OK

state 5488 begin climb

5490 0.57 146.0 529.7 0.0 492 5624 0.65 2.30 123.32 0.864 4 0.059 0.044 2666 1189 2327 0 0 0 0 0 0

5788 0.57 146.0 501.8 11.4 501 5792 0.00 2.33 0.00 0.000 6 0.000 0.050 2666 2608 2320 0 0 0 0 0 0

6119 0.52 146.0 460.0 12.4 512 6123 0.00 2.25 0.00 0.000 4 0.000 0.045 2666 1191 2318 0 0 0 0 0 0

6331 0.52 146.0 435.8 10.7 518 6335 0.00 2.28 0.00 0.000 6 0.000 0.050 2666 2605 2318 0 0 0 0 0 0

6652 0.47 146.0 397.5 12.2 529 6656 0.15 2.17 0.00 0.000 4 0.180 0.060 2625 3929 2317 0 0 0 0 0 0

6695 0.47 146.0 391.7 12.1 532 6702 0.00 2.10 0.00 0.000 6 0.000 0.038 2625 2595 2316 0 0 0 0 0 0

7022 0.50 148.4 359.5 9.9 563 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2595 2315 0 0 0 0 0 0

7342 0.53 148.4 328.0 10.1 593 7346 0.00 2.20 0.00 0.000 4 0.000 0.060 2625 3928 2316 0 0 0 0 0 0

7405 0.53 148.4 320.7 11.6 598 7409 0.00 2.08 0.00 0.000 6 0.000 0.038 2625 2613 2315 0 0 0 0 0 0

7737 0.57 159.0 287.3 9.5 629 7752 0.00 2.25 10.45 0.686 4 0.000 0.046 2624 1192 2273 0 0 0 0 0 0

7778 0.63 168.4 283.5 9.6 632 7794 0.15 2.30 9.45 0.667 6 0.084 0.049 2693 2630 2237 0 0 0 0 0 0

8120 0.57 168.4 235.9 14.4 664 8125 0.12 2.17 0.00 0.000 4 0.184 0.060 2660 3931 2235 0 0 0 0 0 0

8143 0.50 168.4 232.7 13.8 665 8150 0.00 2.08 0.00 0.000 6 0.000 0.038 2662 2615 2234 0 0 0 0 0 0

8469 0.50 168.4 193.6 11.9 696 8473 0.00 2.17 0.00 0.000 4 0.000 0.060 2662 3931 2234 0 0 0 0 0 0

8499 0.45 168.4 189.7 13.3 698 8505 0.10 2.05 0.00 0.000 6 0.145 0.038 2624 2643 2233 0 0 0 0 0 0

8832 0.52 188.2 157.7 9.1 729 8856 0.00 2.35 17.73 0.642 4 0.000 0.045 2624 1200 2155 0 0 0 0 0 0

8919 0.65 219.9 150.2 8.5 736 8952 0.17 2.30 27.73 0.639 6 0.076 0.048 2700 2626 2025 0 0 0 0 0 0

9272 0.62 219.9 101.1 13.2 769 9276 0.00 2.15 0.00 0.000 4 0.000 0.060 2700 3925 2020 0 0 0 0 0 0

9296 0.57 219.9 97.7 14.1 771 9303 0.17 2.05 0.00 0.000 6 0.171 0.038 2657 2626 2018 0 0 0 0 0 0

9644 0.65 236.9 61.8 9.2 832 9663 0.00 2.33 14.50 0.586 4 0.000 0.045 2657 1198 1956 0 0 0 0 0 0

9752 0.77 256.7 52.2 9.1 850 9777 0.17 2.25 17.85 0.580 6 0.081 0.049 2733 2606 1875 0 0 0 0 0 0

10110 end climb: SURFACE_DEPTH_REACHED

state 10111 begin surface coast

10135 end surface coast: CONTROL_FINISHED_OK

state 10136 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	759	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	33	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	-11449.234	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	130111,213836,6714.784,-5719.136,36,1.0,37,-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	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130111,214502,6714.789,-5719.270,12,1.1,12,-37.9	MHEAD_RNG_PITCHd_Wd	171.9,31410,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	524

FREEZE	0.96,1.942,-0.728,0,1,0	ALTIM_TOP_PING	19.9,18.5
FINISH	1.0,1.010729	_24V_AH	22.7,85.765
SM_CCo	10153,211.95,0.079,0,0,440,609.08	_10V_AH	9.8,58.859
SM_GC	1.64,0.00,0.00,211.95,0.000,0.000,0.079,294,2780,440,-6.81,0.00,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	397	FG_AHR_10Vo	0.000
RAFOS	0,1294963262,0.033333,0.017222,54,49,49,45,42,41,1429,1791,446,922,1388,163	MEM	151700
RAFOS_FIX	6715.611816,-5722.672363,130111,202001,3,76,0.48	DATA_FILE_SIZE	33349,918
IRIDIUM_FIX	6641.98,-5738.53,130111,181801	CAP_FILE_SIZE	120524,0
TT8_MAMPS	0.030709	CFSIZE	260165632,200073216
HUMID	45.23	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1474.4
TCM_TEMP	16.70	GPS	140111,003937,6714.519,-5718.851,27,1.5,28,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	233	93.48	SBE_CT	630	24	343.76
Roll_motor	90	74	154.14	SBE_O2	0	0	0.00
VBD_pump_during_apogee	342	873	6796.22	nil	0	0	0.00
VBD_pump_during_surface	211	78	379.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	52.05	nil	0	0	0.00
Iridium_during_connect	21	160	77.96	nil	0	0	0.00
Iridium_during_xfer	165	223	838.62	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.43
TT8	2237	19	436.81
LPSleep	5715	2	129.40
TT8_Active	662	19	129.30
TT8_Sampling	1809	39	707.74
TT8_CF8	331	45	149.39
TT8_Kalman	0	0	0.00
Analog_circuits	1542	12	181.42
GPS_charging	0	0	0.00
Compass	1587	15	233.31
RAFOS	1800	3	52.92
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	-135.20	0.000	2	0.000	0.000	287	2787	3435	0	0	0	0	0	0
161	-0.57	-146.0	5.0	-9.1	24	181	8.23	2.30	-1.75	0.000	4	0.233	0.057	2282	1372	3522	0	0	0	0	0	0
346	-0.60	-146.0	38.7	-11.3	56	353	0.00	2.33	0.00	0.000	6	0.000	0.057	2275	2777	3524	0	0	0	0	0	0
693	-0.63	-146.0	75.9	-9.3	117	700	0.00	2.25	0.00	0.000	4	0.000	0.045	2275	1365	3523	0	0	0	0	0	0
772	-0.68	-146.0	83.4	-9.6	130	779	0.00	2.30	0.00	0.000	6	0.000	0.057	2275	2760	3522	0	0	0	0	0	0
1116	-0.72	-146.0	114.5	-8.8	177	1120	0.00	1.98	0.00	0.000	4	0.000	0.067	2275	3931	3522	0	0	0	0	0	0
1152	-0.77	-146.0	117.8	-9.3	180	1156	0.15	1.90	0.00	0.000	6	0.085	0.042	2204	2744	3521	0	0	0	0	0	0
1484	-0.69	-146.0	163.0	-13.5	211	1488	0.17	2.05	0.00	0.000	4	0.158	0.066	2247	3937	3521	0	0	0	0	0	0
1527	-0.69	-146.0	168.9	-11.9	214	1534	0.00	1.90	0.00	0.000	6	0.000	0.042	2247	2743	3521	0	0	0	0	0	0
1854	-0.69	-146.0	202.8	-9.9	245	1858	0.00	2.15	0.00	0.000	4	0.000	0.044	2247	1365	3521	0	0	0	0	0	0
1929	-0.72	-146.0	210.5	-10.1	251	1934	0.00	2.28	0.00	0.000	6	0.000	0.056	2246	2744	3521	0	0	0	0	0	0
2255	-0.72	-146.0	240.8	-9.0	281	2257	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2744	3522	0	0	0	0	0	0
2576	-0.72	-146.0	267.7	-8.0	311	2580	0.00	2.00	0.00	0.000	4	0.000	0.067	2247	3929	3521	0	0	0	0	0	0
2604	-0.74	-146.0	270.2	-7.7	313	2611	0.00	1.92	0.00	0.000	6	0.000	0.041	2247	2722	3522	0	0	0	0	0	0
2931	-0.76	-146.0	296.3	-8.4	344	2934	0.00	2.05	0.00	0.000	4	0.000	0.067	2247	3931	3523	0	0	0	0	0	0
2970	-0.79	-146.0	299.8	-8.3	347	2978	0.00	1.90	0.00	0.000	6	0.000	0.041	2247	2740	3523	0	0	0	0	0	0
3296	-0.82	-146.0	326.5	-8.6	378	3301	0.10	2.17	0.00	0.000	4	0.112	0.044	2191	1369	3523	0	0	0	0	0	0
3327	-0.77	-146.0	329.7	-10.7	380	3331	0.15	2.28	0.00	0.000	6	0.157	0.055	2222	2752	3523	0	0	0	0	0	0
3652	-0.77	-146.0	362.8	-10.1	410	3656	0.00	1.95	0.00	0.000	4	0.000	0.065	2222	3928	3524	0	0	0	0	0	0
3714	-0.77	-146.0	369.2	-10.1	415	3721	0.00	1.88	0.00	0.000	6	0.000	0.041	2222	2750	3524	0	0	0	0	0	0
4060	-0.77	-146.0	403.9	-10.1	446	4061	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2749	3524	0	0	0	0	0	0
4366	-0.77	-146.0	434.5	-9.8	456	4370	0.00	2.00	0.00	0.000	4	0.000	0.065	2219	3933	3524	0	0	0	0	0	0
4403	-0.74	-146.0	438.3	-10.8	457	4406	0.00	1.88	0.00	0.000	6	0.000	0.041	2219	2754	3524	0	0	0	0	0	0
4745	-0.72	-146.0	472.0	-9.4	468	4749	0.00	2.15	0.00	0.000	4	0.000	0.044	2219	1372	3524	0	0	0	0	0	0
4790	-0.72	-146.0	476.5	-9.2	469	4794	0.00	2.30	0.00	0.000	6	0.000	0.055	2216	2767	3524	0	0	0	0	0	0
5110	-0.69	-146.0	507.2	-9.6	480	5112	0.12	0.00	0.00	0.000	6	0.171	0.000	2251	2768	3525	0	0	0	0	0	0
5351	end dive: TARGET_DEPTH_EXCEEDED
state	5351	begin apogee
5358	-0.14	0.0	526.4	8.0	488	5487	0.50	0.00	121.68	0.874	4	0.116	0.000	2423	2602	2924	0	0	0	0	0	0
5488	end apogee: CONTROL_FINISHED_OK
state	5488	begin climb
5490	0.57	146.0	529.7	0.0	492	5624	0.65	2.30	123.32	0.864	4	0.059	0.044	2666	1189	2327	0	0	0	0	0	0
5788	0.57	146.0	501.8	11.4	501	5792	0.00	2.33	0.00	0.000	6	0.000	0.050	2666	2608	2320	0	0	0	0	0	0
6119	0.52	146.0	460.0	12.4	512	6123	0.00	2.25	0.00	0.000	4	0.000	0.045	2666	1191	2318	0	0	0	0	0	0
6331	0.52	146.0	435.8	10.7	518	6335	0.00	2.28	0.00	0.000	6	0.000	0.050	2666	2605	2318	0	0	0	0	0	0
6652	0.47	146.0	397.5	12.2	529	6656	0.15	2.17	0.00	0.000	4	0.180	0.060	2625	3929	2317	0	0	0	0	0	0
6695	0.47	146.0	391.7	12.1	532	6702	0.00	2.10	0.00	0.000	6	0.000	0.038	2625	2595	2316	0	0	0	0	0	0
7022	0.50	148.4	359.5	9.9	563	7023	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2595	2315	0	0	0	0	0	0
7342	0.53	148.4	328.0	10.1	593	7346	0.00	2.20	0.00	0.000	4	0.000	0.060	2625	3928	2316	0	0	0	0	0	0
7405	0.53	148.4	320.7	11.6	598	7409	0.00	2.08	0.00	0.000	6	0.000	0.038	2625	2613	2315	0	0	0	0	0	0
7737	0.57	159.0	287.3	9.5	629	7752	0.00	2.25	10.45	0.686	4	0.000	0.046	2624	1192	2273	0	0	0	0	0	0
7778	0.63	168.4	283.5	9.6	632	7794	0.15	2.30	9.45	0.667	6	0.084	0.049	2693	2630	2237	0	0	0	0	0	0
8120	0.57	168.4	235.9	14.4	664	8125	0.12	2.17	0.00	0.000	4	0.184	0.060	2660	3931	2235	0	0	0	0	0	0
8143	0.50	168.4	232.7	13.8	665	8150	0.00	2.08	0.00	0.000	6	0.000	0.038	2662	2615	2234	0	0	0	0	0	0
8469	0.50	168.4	193.6	11.9	696	8473	0.00	2.17	0.00	0.000	4	0.000	0.060	2662	3931	2234	0	0	0	0	0	0
8499	0.45	168.4	189.7	13.3	698	8505	0.10	2.05	0.00	0.000	6	0.145	0.038	2624	2643	2233	0	0	0	0	0	0
8832	0.52	188.2	157.7	9.1	729	8856	0.00	2.35	17.73	0.642	4	0.000	0.045	2624	1200	2155	0	0	0	0	0	0
8919	0.65	219.9	150.2	8.5	736	8952	0.17	2.30	27.73	0.639	6	0.076	0.048	2700	2626	2025	0	0	0	0	0	0
9272	0.62	219.9	101.1	13.2	769	9276	0.00	2.15	0.00	0.000	4	0.000	0.060	2700	3925	2020	0	0	0	0	0	0
9296	0.57	219.9	97.7	14.1	771	9303	0.17	2.05	0.00	0.000	6	0.171	0.038	2657	2626	2018	0	0	0	0	0	0
9644	0.65	236.9	61.8	9.2	832	9663	0.00	2.33	14.50	0.586	4	0.000	0.045	2657	1198	1956	0	0	0	0	0	0
9752	0.77	256.7	52.2	9.1	850	9777	0.17	2.25	17.85	0.580	6	0.081	0.049	2733	2606	1875	0	0	0	0	0	0
10110	end climb: SURFACE_DEPTH_REACHED
state	10111	begin surface coast
10135	end surface coast: CONTROL_FINISHED_OK
state	10136	begin surface