Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 760 * 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 760 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 27 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 -11450.49 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 -11450.49

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 27 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 760 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 140111,003937,6714.519,-5718.851,27,1.5,28,-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 -59.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140111,004526,6714.507,-5719.034,12,1.3,12,-37.9 MHEAD_RNG_PITCHd_Wd 171.5,30926,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 524

Post-dive calculations and measurements:

FREEZE 0.86,1.849,-1.665,0,1,0 ALTIM_TOP_PING 19.9,19.1

FINISH 0.9,1.024359 _24V_AH 22.7,85.853

SM_CCo 10437,228.82,0.079,0,0,440,609.08 _10V_AH 9.8,58.922

SM_GC 1.67,0.00,0.00,228.82,0.000,0.000,0.079,295,2792,440,-6.80,0.34,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS 4,1294965183,0.566667,0.550833,48,47,44,43,40,40,243,162,733,741,250,431 MEM 151692

RAFOS_FIX 6716.733398,-5725.643066,140111,000028,2,76,0.00 DATA_FILE_SIZE 33375,956

IRIDIUM_FIX 6641.98,-5715.55,130111,212156 CAP_FILE_SIZE 118879,0

TT8_MAMPS 0.028462 CFSIZE 260165632,200011776

HUMID 45.51 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1474.0

TCM_TEMP 16.50 GPS 140111,034536,6714.114,-5718.168,42,1.3,54,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 234 92.33 SBE_CT 657 24 358.30

Roll_motor 83 73 139.20 SBE_O2 0 0 0.00

VBD_pump_during_apogee 308 875 6123.24 nil 0 0 0.00

VBD_pump_during_surface 228 78 409.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 72.77 nil 0 0 0.00

Iridium_during_connect 16 160 60.97 nil 0 0 0.00

Iridium_during_xfer 142 223 720.14 nil 0 0 0.00

Transponder_ping 1 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.33

TT8 2370 19 462.70

LPSleep 5847 2 132.39

TT8_Active 665 19 129.83

TT8_Sampling 1819 39 711.84

TT8_CF8 329 45 148.21

TT8_Kalman 0 0 0.00

Analog_circuits 1558 12 183.30

GPS_charging 0 0 0.00

Compass 1628 15 239.42

RAFOS 360 3 10.58

Transponder 13 30 3.91

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 0 161 0.00 0.00 -137.57 0.000 6 0.000 0.000 286 2781 3520 0 0 0 0 0 0

164 -0.57 -146.0 6.0 -12.4 24 178 8.23 2.28 0.00 0.000 4 0.234 0.038 2284 1367 3522 0 0 0 0 0 0

365 -0.62 -146.0 40.0 -10.3 59 372 0.00 2.33 0.00 0.000 6 0.000 0.056 2279 2778 3523 0 0 0 0 0 0

712 -0.65 -146.0 74.3 -9.7 120 718 0.00 2.20 0.00 0.000 4 0.000 0.045 2279 1377 3522 0 0 0 0 0 0

756 -0.69 -146.0 78.4 -9.3 127 763 0.00 2.33 0.00 0.000 6 0.000 0.057 2275 2784 3522 0 0 0 0 0 0

1103 -0.74 -146.0 111.4 -9.5 178 1108 0.10 2.28 0.00 0.000 4 0.110 0.044 2226 1369 3521 0 0 0 0 0 0

1166 -0.72 -146.0 118.8 -12.2 183 1170 0.00 2.30 0.00 0.000 6 0.000 0.056 2222 2764 3520 0 0 0 0 0 0

1492 -0.67 -146.0 157.7 -11.4 213 1497 0.12 1.98 0.00 0.000 4 0.173 0.066 2249 3933 3521 0 0 0 0 0 0

1527 -0.67 -146.0 161.4 -10.4 216 1531 0.00 1.90 0.00 0.000 6 0.000 0.042 2249 2760 3520 0 0 0 0 0 0

1858 -0.67 -146.0 193.2 -9.7 247 1862 0.00 2.17 0.00 0.000 4 0.000 0.044 2249 1370 3520 0 0 0 0 0 0

1927 -0.70 -146.0 199.7 -10.0 253 1931 0.00 2.30 0.00 0.000 6 0.000 0.057 2248 2766 3520 0 0 0 0 0 0

2253 -0.70 -146.0 229.6 -9.0 283 2257 0.00 1.95 0.00 0.000 4 0.000 0.067 2248 3926 3521 0 0 0 0 0 0

2322 -0.73 -146.0 235.8 -9.2 289 2326 0.00 1.88 0.00 0.000 6 0.000 0.041 2247 2750 3521 0 0 0 0 0 0

2654 -0.73 -146.0 263.3 -8.2 320 2657 0.00 2.15 0.00 0.000 4 0.000 0.044 2248 1370 3521 0 0 0 0 0 0

2704 -0.76 -146.0 267.6 -8.6 324 2711 0.00 2.30 0.00 0.000 6 0.000 0.055 2247 2766 3521 0 0 0 0 0 0

3031 -0.79 -146.0 295.3 -8.8 355 3032 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2766 3522 0 0 0 0 0 0

3351 -0.81 -146.0 322.3 -8.4 385 3358 0.10 0.00 0.00 0.000 6 0.112 0.000 2192 2766 3522 0 0 0 0 0 0

3677 -0.73 -146.0 362.0 -12.5 416 3679 0.15 0.00 0.00 0.000 6 0.159 0.000 2234 2766 3523 0 0 0 0 0 0

3996 -0.73 -146.0 392.7 -9.3 446 3997 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2766 3523 0 0 0 0 0 0

4325 -0.73 -146.0 421.9 -8.6 462 4326 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2766 3523 0 0 0 0 0 0

4631 -0.73 -146.0 449.8 -9.2 472 4636 0.00 2.20 0.00 0.000 4 0.000 0.043 2233 1366 3524 0 0 0 0 0 0

4688 -0.77 -146.0 455.2 -9.3 473 4693 0.00 2.30 0.00 0.000 6 0.000 0.055 2234 2763 3524 0 0 0 0 0 0

5002 -0.77 -146.0 483.6 -9.3 483 5003 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2763 3524 0 0 0 0 0 0

5308 -0.77 -146.0 512.2 -9.3 493 5312 0.00 1.98 0.00 0.000 4 0.000 0.065 2230 3925 3524 0 0 0 0 0 0

5344 -0.77 -146.0 515.6 -10.0 494 5348 0.00 1.88 0.00 0.000 6 0.000 0.041 2230 2747 3524 0 0 0 0 0 0

5437 end dive: TARGET_DEPTH_EXCEEDED

state 5437 begin apogee

5444 -0.14 0.0 524.4 9.0 497 5573 0.57 0.00 121.18 0.875 4 0.119 0.000 2422 2603 2923 0 0 0 0 0 0

5573 end apogee: CONTROL_FINISHED_OK

state 5574 begin climb

5576 0.57 146.0 527.8 0.0 501 5708 0.65 2.30 123.00 0.863 4 0.057 0.043 2666 1187 2327 0 0 0 0 0 0

5860 0.57 146.0 501.9 12.0 509 5867 0.00 2.33 0.00 0.000 6 0.000 0.049 2667 2609 2320 0 0 0 0 0 0

6174 0.52 146.0 463.7 12.4 520 6178 0.00 2.25 0.00 0.000 4 0.000 0.045 2672 1182 2318 0 0 0 0 0 0

6416 0.52 146.0 434.0 12.8 527 6420 0.00 2.30 0.00 0.000 6 0.000 0.050 2673 2609 2318 0 0 0 0 0 0

6738 0.46 146.0 391.6 13.2 541 6743 0.17 2.17 0.00 0.000 4 0.174 0.061 2624 3935 2316 0 0 0 0 0 0

6783 0.46 146.0 385.7 12.7 544 6790 0.00 2.10 0.00 0.000 6 0.000 0.038 2624 2604 2315 0 0 0 0 0 0

7109 0.49 146.0 352.5 10.2 575 7113 0.00 2.20 0.00 0.000 4 0.000 0.045 2624 1195 2316 0 0 0 0 0 0

7127 0.54 150.6 350.8 9.8 576 7134 0.00 2.30 0.00 0.000 6 0.000 0.049 2624 2620 2315 0 0 0 0 0 0

7453 0.57 151.2 317.1 10.0 607 7463 0.10 0.00 3.33 0.457 6 0.110 0.000 2676 2620 2309 0 0 0 0 0 0

7782 0.51 151.2 273.9 13.5 638 7786 0.12 2.17 0.00 0.000 4 0.177 0.060 2644 3933 2309 0 0 0 0 0 0

7826 0.47 151.2 267.7 12.9 641 7833 0.00 2.08 0.00 0.000 6 0.000 0.038 2648 2617 2308 0 0 0 0 0 0

8151 0.47 151.2 231.9 10.6 672 8155 0.00 2.22 0.00 0.000 4 0.000 0.046 2649 1188 2308 0 0 0 0 0 0

8171 0.47 151.2 230.0 10.7 673 8175 0.00 2.30 0.00 0.000 6 0.000 0.049 2649 2619 2308 0 0 0 0 0 0

8497 0.47 151.9 196.0 10.0 703 8501 0.00 2.15 0.00 0.000 4 0.000 0.060 2649 3923 2308 0 0 0 0 0 0

8558 0.42 151.9 188.8 11.5 708 8566 0.17 2.08 0.00 0.000 6 0.174 0.038 2608 2608 2308 0 0 0 0 0 0

8884 0.54 222.7 165.6 6.7 739 8952 0.12 2.33 60.72 0.646 4 0.095 0.045 2672 1202 2014 0 0 0 0 0 0

8981 0.58 225.1 156.0 9.9 747 8988 0.00 2.30 0.00 0.000 6 0.000 0.047 2671 2613 2012 0 0 0 0 0 0

9307 0.60 225.1 121.7 10.4 778 9308 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2613 2006 0 0 0 0 0 0

9632 0.64 225.1 86.7 11.6 818 9639 0.00 2.22 0.00 0.000 4 0.000 0.046 2672 1198 2005 0 0 0 0 0 0

9697 0.71 225.1 79.9 10.3 829 9704 0.00 2.28 0.00 0.000 6 0.000 0.049 2672 2611 2005 0 0 0 0 0 0

10045 0.76 227.3 41.1 9.9 890 10053 0.12 2.17 0.00 0.000 4 0.099 0.061 2730 3925 2004 0 0 0 0 0 0

10101 0.66 227.3 33.3 15.1 899 10109 0.17 2.08 0.00 0.000 6 0.176 0.038 2690 2609 2003 0 0 0 0 0 0

10393 end climb: SURFACE_DEPTH_REACHED

state 10393 begin surface coast

10420 end surface coast: CONTROL_FINISHED_OK

state 10420 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	760	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	27	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	-11450.49	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	140111,003937,6714.519,-5718.851,27,1.5,28,-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	-59.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140111,004526,6714.507,-5719.034,12,1.3,12,-37.9	MHEAD_RNG_PITCHd_Wd	171.5,30926,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	524

FREEZE	0.86,1.849,-1.665,0,1,0	ALTIM_TOP_PING	19.9,19.1
FINISH	0.9,1.024359	_24V_AH	22.7,85.853
SM_CCo	10437,228.82,0.079,0,0,440,609.08	_10V_AH	9.8,58.922
SM_GC	1.67,0.00,0.00,228.82,0.000,0.000,0.079,295,2792,440,-6.80,0.34,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS	4,1294965183,0.566667,0.550833,48,47,44,43,40,40,243,162,733,741,250,431	MEM	151692
RAFOS_FIX	6716.733398,-5725.643066,140111,000028,2,76,0.00	DATA_FILE_SIZE	33375,956
IRIDIUM_FIX	6641.98,-5715.55,130111,212156	CAP_FILE_SIZE	118879,0
TT8_MAMPS	0.028462	CFSIZE	260165632,200011776
HUMID	45.51	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1474.0
TCM_TEMP	16.50	GPS	140111,034536,6714.114,-5718.168,42,1.3,54,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	234	92.33	SBE_CT	657	24	358.30
Roll_motor	83	73	139.20	SBE_O2	0	0	0.00
VBD_pump_during_apogee	308	875	6123.24	nil	0	0	0.00
VBD_pump_during_surface	228	78	409.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	72.77	nil	0	0	0.00
Iridium_during_connect	16	160	60.97	nil	0	0	0.00
Iridium_during_xfer	142	223	720.14	nil	0	0	0.00
Transponder_ping	1	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.33
TT8	2370	19	462.70
LPSleep	5847	2	132.39
TT8_Active	665	19	129.83
TT8_Sampling	1819	39	711.84
TT8_CF8	329	45	148.21
TT8_Kalman	0	0	0.00
Analog_circuits	1558	12	183.30
GPS_charging	0	0	0.00
Compass	1628	15	239.42
RAFOS	360	3	10.58
Transponder	13	30	3.91

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	161	0.00	0.00	-137.57	0.000	6	0.000	0.000	286	2781	3520	0	0	0	0	0	0
164	-0.57	-146.0	6.0	-12.4	24	178	8.23	2.28	0.00	0.000	4	0.234	0.038	2284	1367	3522	0	0	0	0	0	0
365	-0.62	-146.0	40.0	-10.3	59	372	0.00	2.33	0.00	0.000	6	0.000	0.056	2279	2778	3523	0	0	0	0	0	0
712	-0.65	-146.0	74.3	-9.7	120	718	0.00	2.20	0.00	0.000	4	0.000	0.045	2279	1377	3522	0	0	0	0	0	0
756	-0.69	-146.0	78.4	-9.3	127	763	0.00	2.33	0.00	0.000	6	0.000	0.057	2275	2784	3522	0	0	0	0	0	0
1103	-0.74	-146.0	111.4	-9.5	178	1108	0.10	2.28	0.00	0.000	4	0.110	0.044	2226	1369	3521	0	0	0	0	0	0
1166	-0.72	-146.0	118.8	-12.2	183	1170	0.00	2.30	0.00	0.000	6	0.000	0.056	2222	2764	3520	0	0	0	0	0	0
1492	-0.67	-146.0	157.7	-11.4	213	1497	0.12	1.98	0.00	0.000	4	0.173	0.066	2249	3933	3521	0	0	0	0	0	0
1527	-0.67	-146.0	161.4	-10.4	216	1531	0.00	1.90	0.00	0.000	6	0.000	0.042	2249	2760	3520	0	0	0	0	0	0
1858	-0.67	-146.0	193.2	-9.7	247	1862	0.00	2.17	0.00	0.000	4	0.000	0.044	2249	1370	3520	0	0	0	0	0	0
1927	-0.70	-146.0	199.7	-10.0	253	1931	0.00	2.30	0.00	0.000	6	0.000	0.057	2248	2766	3520	0	0	0	0	0	0
2253	-0.70	-146.0	229.6	-9.0	283	2257	0.00	1.95	0.00	0.000	4	0.000	0.067	2248	3926	3521	0	0	0	0	0	0
2322	-0.73	-146.0	235.8	-9.2	289	2326	0.00	1.88	0.00	0.000	6	0.000	0.041	2247	2750	3521	0	0	0	0	0	0
2654	-0.73	-146.0	263.3	-8.2	320	2657	0.00	2.15	0.00	0.000	4	0.000	0.044	2248	1370	3521	0	0	0	0	0	0
2704	-0.76	-146.0	267.6	-8.6	324	2711	0.00	2.30	0.00	0.000	6	0.000	0.055	2247	2766	3521	0	0	0	0	0	0
3031	-0.79	-146.0	295.3	-8.8	355	3032	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2766	3522	0	0	0	0	0	0
3351	-0.81	-146.0	322.3	-8.4	385	3358	0.10	0.00	0.00	0.000	6	0.112	0.000	2192	2766	3522	0	0	0	0	0	0
3677	-0.73	-146.0	362.0	-12.5	416	3679	0.15	0.00	0.00	0.000	6	0.159	0.000	2234	2766	3523	0	0	0	0	0	0
3996	-0.73	-146.0	392.7	-9.3	446	3997	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2766	3523	0	0	0	0	0	0
4325	-0.73	-146.0	421.9	-8.6	462	4326	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2766	3523	0	0	0	0	0	0
4631	-0.73	-146.0	449.8	-9.2	472	4636	0.00	2.20	0.00	0.000	4	0.000	0.043	2233	1366	3524	0	0	0	0	0	0
4688	-0.77	-146.0	455.2	-9.3	473	4693	0.00	2.30	0.00	0.000	6	0.000	0.055	2234	2763	3524	0	0	0	0	0	0
5002	-0.77	-146.0	483.6	-9.3	483	5003	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2763	3524	0	0	0	0	0	0
5308	-0.77	-146.0	512.2	-9.3	493	5312	0.00	1.98	0.00	0.000	4	0.000	0.065	2230	3925	3524	0	0	0	0	0	0
5344	-0.77	-146.0	515.6	-10.0	494	5348	0.00	1.88	0.00	0.000	6	0.000	0.041	2230	2747	3524	0	0	0	0	0	0
5437	end dive: TARGET_DEPTH_EXCEEDED
state	5437	begin apogee
5444	-0.14	0.0	524.4	9.0	497	5573	0.57	0.00	121.18	0.875	4	0.119	0.000	2422	2603	2923	0	0	0	0	0	0
5573	end apogee: CONTROL_FINISHED_OK
state	5574	begin climb
5576	0.57	146.0	527.8	0.0	501	5708	0.65	2.30	123.00	0.863	4	0.057	0.043	2666	1187	2327	0	0	0	0	0	0
5860	0.57	146.0	501.9	12.0	509	5867	0.00	2.33	0.00	0.000	6	0.000	0.049	2667	2609	2320	0	0	0	0	0	0
6174	0.52	146.0	463.7	12.4	520	6178	0.00	2.25	0.00	0.000	4	0.000	0.045	2672	1182	2318	0	0	0	0	0	0
6416	0.52	146.0	434.0	12.8	527	6420	0.00	2.30	0.00	0.000	6	0.000	0.050	2673	2609	2318	0	0	0	0	0	0
6738	0.46	146.0	391.6	13.2	541	6743	0.17	2.17	0.00	0.000	4	0.174	0.061	2624	3935	2316	0	0	0	0	0	0
6783	0.46	146.0	385.7	12.7	544	6790	0.00	2.10	0.00	0.000	6	0.000	0.038	2624	2604	2315	0	0	0	0	0	0
7109	0.49	146.0	352.5	10.2	575	7113	0.00	2.20	0.00	0.000	4	0.000	0.045	2624	1195	2316	0	0	0	0	0	0
7127	0.54	150.6	350.8	9.8	576	7134	0.00	2.30	0.00	0.000	6	0.000	0.049	2624	2620	2315	0	0	0	0	0	0
7453	0.57	151.2	317.1	10.0	607	7463	0.10	0.00	3.33	0.457	6	0.110	0.000	2676	2620	2309	0	0	0	0	0	0
7782	0.51	151.2	273.9	13.5	638	7786	0.12	2.17	0.00	0.000	4	0.177	0.060	2644	3933	2309	0	0	0	0	0	0
7826	0.47	151.2	267.7	12.9	641	7833	0.00	2.08	0.00	0.000	6	0.000	0.038	2648	2617	2308	0	0	0	0	0	0
8151	0.47	151.2	231.9	10.6	672	8155	0.00	2.22	0.00	0.000	4	0.000	0.046	2649	1188	2308	0	0	0	0	0	0
8171	0.47	151.2	230.0	10.7	673	8175	0.00	2.30	0.00	0.000	6	0.000	0.049	2649	2619	2308	0	0	0	0	0	0
8497	0.47	151.9	196.0	10.0	703	8501	0.00	2.15	0.00	0.000	4	0.000	0.060	2649	3923	2308	0	0	0	0	0	0
8558	0.42	151.9	188.8	11.5	708	8566	0.17	2.08	0.00	0.000	6	0.174	0.038	2608	2608	2308	0	0	0	0	0	0
8884	0.54	222.7	165.6	6.7	739	8952	0.12	2.33	60.72	0.646	4	0.095	0.045	2672	1202	2014	0	0	0	0	0	0
8981	0.58	225.1	156.0	9.9	747	8988	0.00	2.30	0.00	0.000	6	0.000	0.047	2671	2613	2012	0	0	0	0	0	0
9307	0.60	225.1	121.7	10.4	778	9308	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2613	2006	0	0	0	0	0	0
9632	0.64	225.1	86.7	11.6	818	9639	0.00	2.22	0.00	0.000	4	0.000	0.046	2672	1198	2005	0	0	0	0	0	0
9697	0.71	225.1	79.9	10.3	829	9704	0.00	2.28	0.00	0.000	6	0.000	0.049	2672	2611	2005	0	0	0	0	0	0
10045	0.76	227.3	41.1	9.9	890	10053	0.12	2.17	0.00	0.000	4	0.099	0.061	2730	3925	2004	0	0	0	0	0	0
10101	0.66	227.3	33.3	15.1	899	10109	0.17	2.08	0.00	0.000	6	0.176	0.038	2690	2609	2003	0	0	0	0	0	0
10393	end climb: SURFACE_DEPTH_REACHED
state	10393	begin surface coast
10420	end surface coast: CONTROL_FINISHED_OK
state	10420	begin surface