Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 763 * 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 763 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 23 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 -11454.262 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 -11454.262

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 23 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 763 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 140111,091736,6714.867,-5721.178,43,1.7,48,-38.0 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 -52.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140111,092416,6714.851,-5721.413,10,2.1,29,-38.0 MHEAD_RNG_PITCHd_Wd 170.3,32618,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 546

Post-dive calculations and measurements:

FREEZE 1.16,1.896,-1.812,0,1,0 ALTIM_TOP_PING 19.6,999.0

FINISH 1.2,1.026420 _24V_AH 22.6,86.120

SM_CCo 10736,220.85,0.078,0,0,440,609.08 _10V_AH 9.8,59.105

SM_GC 1.56,0.00,0.00,220.85,0.000,0.000,0.078,289,2792,440,-6.80,0.34,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 422 FG_AHR_10Vo 0.000

RAFOS 0,1295006471,12.033333,12.019722,47,43,42,42,41,40,900,1733,243,1274,1109,1288 MEM 151704

RAFOS_FIX 6716.009766,-5729.850098,140111,080856,2,81,1.05 DATA_FILE_SIZE 33381,945

IRIDIUM_FIX 6647.44,-5732.58,140111,060626 CAP_FILE_SIZE 124542,0

TT8_MAMPS 0.028462 CFSIZE 260165632,199831552

HUMID 46.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1473.2

TCM_TEMP 16.30 GPS 140111,122855,6714.689,-5722.791,40,1.3,40,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 237 92.75 SBE_CT 650 24 352.79

Roll_motor 100 70 159.66 SBE_O2 0 0 0.00

VBD_pump_during_apogee 323 888 6499.56 nil 0 0 0.00

VBD_pump_during_surface 220 78 389.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 54.92 nil 0 0 0.00

Iridium_during_connect 39 160 142.97 nil 0 0 0.00

Iridium_during_xfer 155 223 784.79 nil 0 0 0.00

Transponder_ping 1 420 14.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.21

TT8 2346 19 458.06

LPSleep 6083 2 137.72

TT8_Active 668 19 130.47

TT8_Sampling 1925 39 753.17

TT8_CF8 339 45 152.87

TT8_Kalman 0 0 0.00

Analog_circuits 1600 12 188.27

GPS_charging 0 0 0.00

Compass 1686 15 247.88

RAFOS 1080 3 31.75

Transponder 11 30 3.43

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 0 164 0.00 0.00 -139.80 0.000 6 0.000 0.000 255 2780 3521 0 0 0 0 0 0

167 -0.57 -146.0 6.1 -15.2 25 181 8.50 2.30 0.00 0.000 4 0.238 0.040 2286 1360 3522 0 0 0 0 0 0

385 -0.60 -146.0 43.4 -11.4 63 392 0.00 2.35 0.00 0.000 6 0.000 0.057 2284 2784 3524 0 0 0 0 0 0

733 -0.64 -146.0 74.7 -8.2 124 740 0.00 2.25 0.00 0.000 4 0.000 0.044 2284 1370 3523 0 0 0 0 0 0

811 -0.70 -146.0 80.8 -8.1 137 818 0.00 2.33 0.00 0.000 6 0.000 0.057 2275 2777 3523 0 0 0 0 0 0

1151 -0.74 -146.0 111.9 -9.5 186 1156 0.12 1.95 0.00 0.000 4 0.094 0.067 2207 3927 3521 0 0 0 0 0 0

1209 -0.67 -146.0 120.0 -15.8 191 1213 0.17 1.83 0.00 0.000 6 0.156 0.044 2255 2784 3521 0 0 0 0 0 0

1539 -0.67 -146.0 157.1 -10.7 222 1543 0.00 2.22 0.00 0.000 4 0.000 0.044 2255 1367 3521 0 0 0 0 0 0

1591 -0.71 -146.0 162.5 -10.4 226 1596 0.00 2.35 0.00 0.000 6 0.000 0.057 2248 2789 3520 0 0 0 0 0 0

1917 -0.71 -146.0 198.5 -11.4 256 1921 0.00 2.22 0.00 0.000 4 0.000 0.044 2248 1375 3521 0 0 0 0 0 0

1949 -0.71 -146.0 202.4 -11.0 258 1956 0.00 2.30 0.00 0.000 6 0.000 0.057 2248 2767 3520 0 0 0 0 0 0

2276 -0.71 -146.0 236.6 -10.2 289 2280 0.00 1.95 0.00 0.000 4 0.000 0.067 2242 3927 3521 0 0 0 0 0 0

2311 -0.71 -146.0 240.3 -11.2 292 2315 0.00 1.85 0.00 0.000 6 0.000 0.042 2242 2770 3521 0 0 0 0 0 0

2642 -0.71 -146.0 272.2 -9.4 323 2646 0.00 2.17 0.00 0.000 4 0.000 0.043 2242 1372 3521 0 0 0 0 0 0

2684 -0.73 -146.0 276.1 -9.5 326 2688 0.00 2.30 0.00 0.000 6 0.000 0.056 2235 2766 3521 0 0 0 0 0 0

3010 -0.73 -146.0 307.4 -9.4 356 3011 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2766 3521 0 0 0 0 0 0

3333 -0.73 -146.0 336.3 -8.8 386 3337 0.00 1.95 0.00 0.000 4 0.000 0.066 2235 3926 3523 0 0 0 0 0 0

3415 -0.73 -146.0 344.4 -9.8 393 3418 0.00 1.85 0.00 0.000 6 0.000 0.041 2235 2768 3523 0 0 0 0 0 0

3746 -0.73 -146.0 374.8 -9.4 424 3750 0.00 2.17 0.00 0.000 4 0.000 0.043 2235 1371 3523 0 0 0 0 0 0

3787 -0.73 -146.0 378.8 -9.6 427 3791 0.00 2.33 0.00 0.000 6 0.000 0.055 2234 2782 3523 0 0 0 0 0 0

4112 -0.73 -146.0 409.5 -9.6 451 4116 0.00 1.92 0.00 0.000 4 0.000 0.065 2235 3932 3524 0 0 0 0 0 0

4181 -0.73 -146.0 416.3 -9.9 453 4185 0.00 1.83 0.00 0.000 6 0.000 0.041 2235 2782 3523 0 0 0 0 0 0

4524 -0.73 -146.0 445.8 -8.2 464 4528 0.00 2.22 0.00 0.000 4 0.000 0.042 2235 1369 3524 0 0 0 0 0 0

4551 -0.73 -146.0 448.2 -8.2 464 4558 0.00 2.35 0.00 0.000 6 0.000 0.055 2234 2792 3524 0 0 0 0 0 0

4865 -0.73 -146.0 474.6 -8.3 475 4869 0.00 2.22 0.00 0.000 4 0.000 0.042 2234 1371 3524 0 0 0 0 0 0

4901 -0.73 -146.0 477.6 -8.7 476 4905 0.00 2.33 0.00 0.000 6 0.000 0.054 2234 2783 3524 0 0 0 0 0 0

5231 -0.73 -146.0 503.8 -8.2 487 5235 0.00 1.95 0.00 0.000 4 0.000 0.066 2232 3930 3524 0 0 0 0 0 0

5270 -0.73 -146.0 507.5 -8.6 488 5274 0.00 1.88 0.00 0.000 6 0.000 0.041 2232 2769 3524 0 0 0 0 0 0

5607 -0.73 -146.0 537.5 -9.1 499 5611 0.00 2.17 0.00 0.000 4 0.000 0.043 2232 1372 3524 0 0 0 0 0 0

5671 -0.75 -146.0 543.4 -9.2 501 5675 0.00 2.30 0.00 0.000 6 0.000 0.056 2229 2771 3524 0 0 0 0 0 0

5695 end dive: TARGET_DEPTH_EXCEEDED

state 5695 begin apogee

5703 -0.14 0.0 546.3 9.2 501 5836 0.60 0.00 121.90 0.889 4 0.122 0.000 2426 2604 2923 0 0 0 0 0 0

5837 end apogee: CONTROL_FINISHED_OK

state 5837 begin climb

5840 0.57 146.0 549.3 0.0 506 5973 0.65 2.33 123.60 0.881 4 0.055 0.043 2674 1187 2327 0 0 0 0 0 0

6182 0.55 146.0 514.2 13.0 516 6187 0.00 2.33 0.00 0.000 6 0.000 0.050 2673 2611 2320 0 0 0 0 0 0

6501 0.49 146.0 473.0 12.8 527 6506 0.15 2.25 0.00 0.000 4 0.179 0.045 2640 1180 2318 0 0 0 0 0 0

6708 0.52 146.0 452.4 10.4 533 6713 0.00 2.33 0.00 0.000 6 0.000 0.050 2640 2619 2318 0 0 0 0 0 0

7033 0.53 154.2 420.3 9.6 544 7044 0.00 2.17 6.07 0.675 4 0.000 0.060 2640 3925 2297 0 0 0 0 0 0

7090 0.48 154.2 413.8 11.5 545 7097 0.00 2.08 0.00 0.000 6 0.000 0.039 2645 2600 2295 0 0 0 0 0 0

7409 0.48 154.2 380.2 10.7 566 7410 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2600 2295 0 0 0 0 0 0

7730 0.48 154.2 345.3 10.9 596 7736 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2600 2295 0 0 0 0 0 0

8058 0.48 154.2 309.4 10.9 627 8062 0.00 2.25 0.00 0.000 4 0.000 0.061 2645 3930 2295 0 0 0 0 0 0

8160 0.44 154.2 296.3 13.0 635 8168 0.12 2.05 0.00 0.000 6 0.189 0.038 2617 2634 2294 0 0 0 0 0 0

8487 0.50 173.4 266.4 9.1 666 8510 0.00 2.35 18.23 0.704 4 0.000 0.045 2618 1197 2216 0 0 0 0 0 0

8560 0.63 205.6 260.1 8.5 672 8594 0.17 2.33 28.23 0.700 6 0.076 0.049 2695 2637 2084 0 0 0 0 0 0

8913 0.58 205.6 209.1 15.0 705 8917 0.12 2.12 0.00 0.000 4 0.177 0.060 2662 3925 2077 0 0 0 0 0 0

8953 0.55 205.6 202.8 15.2 708 8957 0.00 2.05 0.00 0.000 6 0.000 0.038 2662 2630 2076 0 0 0 0 0 0

9285 0.55 205.6 160.0 12.5 739 9289 0.00 2.25 0.00 0.000 4 0.000 0.046 2663 1194 2076 0 0 0 0 0 0

9326 0.61 205.6 154.9 11.8 742 9330 0.00 2.30 0.00 0.000 6 0.000 0.049 2663 2635 2076 0 0 0 0 0 0

9652 0.63 205.6 116.9 11.4 772 9653 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2634 2076 0 0 0 0 0 0

9979 0.67 205.6 83.6 10.4 816 9986 0.00 2.12 0.00 0.000 4 0.000 0.060 2663 3924 2075 0 0 0 0 0 0

10011 0.67 205.6 79.9 12.4 821 10018 0.00 2.08 0.00 0.000 6 0.000 0.038 2665 2609 2075 0 0 0 0 0 0

10360 0.73 236.1 45.0 8.6 882 10391 0.12 2.33 25.50 0.584 4 0.103 0.047 2725 1191 1959 0 0 0 0 0 0

10487 0.73 236.1 29.5 12.1 904 10494 0.00 2.28 0.00 0.000 6 0.000 0.048 2725 2599 1956 0 0 0 0 0 0

10693 end climb: SURFACE_DEPTH_REACHED

state 10693 begin surface coast

10718 end surface coast: CONTROL_FINISHED_OK

state 10718 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	763	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	23	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	-11454.262	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	140111,091736,6714.867,-5721.178,43,1.7,48,-38.0	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	-52.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140111,092416,6714.851,-5721.413,10,2.1,29,-38.0	MHEAD_RNG_PITCHd_Wd	170.3,32618,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	546

FREEZE	1.16,1.896,-1.812,0,1,0	ALTIM_TOP_PING	19.6,999.0
FINISH	1.2,1.026420	_24V_AH	22.6,86.120
SM_CCo	10736,220.85,0.078,0,0,440,609.08	_10V_AH	9.8,59.105
SM_GC	1.56,0.00,0.00,220.85,0.000,0.000,0.078,289,2792,440,-6.80,0.34,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	422	FG_AHR_10Vo	0.000
RAFOS	0,1295006471,12.033333,12.019722,47,43,42,42,41,40,900,1733,243,1274,1109,1288	MEM	151704
RAFOS_FIX	6716.009766,-5729.850098,140111,080856,2,81,1.05	DATA_FILE_SIZE	33381,945
IRIDIUM_FIX	6647.44,-5732.58,140111,060626	CAP_FILE_SIZE	124542,0
TT8_MAMPS	0.028462	CFSIZE	260165632,199831552
HUMID	46.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1473.2
TCM_TEMP	16.30	GPS	140111,122855,6714.689,-5722.791,40,1.3,40,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	237	92.75	SBE_CT	650	24	352.79
Roll_motor	100	70	159.66	SBE_O2	0	0	0.00
VBD_pump_during_apogee	323	888	6499.56	nil	0	0	0.00
VBD_pump_during_surface	220	78	389.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	54.92	nil	0	0	0.00
Iridium_during_connect	39	160	142.97	nil	0	0	0.00
Iridium_during_xfer	155	223	784.79	nil	0	0	0.00
Transponder_ping	1	420	14.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.21
TT8	2346	19	458.06
LPSleep	6083	2	137.72
TT8_Active	668	19	130.47
TT8_Sampling	1925	39	753.17
TT8_CF8	339	45	152.87
TT8_Kalman	0	0	0.00
Analog_circuits	1600	12	188.27
GPS_charging	0	0	0.00
Compass	1686	15	247.88
RAFOS	1080	3	31.75
Transponder	11	30	3.43

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	164	0.00	0.00	-139.80	0.000	6	0.000	0.000	255	2780	3521	0	0	0	0	0	0
167	-0.57	-146.0	6.1	-15.2	25	181	8.50	2.30	0.00	0.000	4	0.238	0.040	2286	1360	3522	0	0	0	0	0	0
385	-0.60	-146.0	43.4	-11.4	63	392	0.00	2.35	0.00	0.000	6	0.000	0.057	2284	2784	3524	0	0	0	0	0	0
733	-0.64	-146.0	74.7	-8.2	124	740	0.00	2.25	0.00	0.000	4	0.000	0.044	2284	1370	3523	0	0	0	0	0	0
811	-0.70	-146.0	80.8	-8.1	137	818	0.00	2.33	0.00	0.000	6	0.000	0.057	2275	2777	3523	0	0	0	0	0	0
1151	-0.74	-146.0	111.9	-9.5	186	1156	0.12	1.95	0.00	0.000	4	0.094	0.067	2207	3927	3521	0	0	0	0	0	0
1209	-0.67	-146.0	120.0	-15.8	191	1213	0.17	1.83	0.00	0.000	6	0.156	0.044	2255	2784	3521	0	0	0	0	0	0
1539	-0.67	-146.0	157.1	-10.7	222	1543	0.00	2.22	0.00	0.000	4	0.000	0.044	2255	1367	3521	0	0	0	0	0	0
1591	-0.71	-146.0	162.5	-10.4	226	1596	0.00	2.35	0.00	0.000	6	0.000	0.057	2248	2789	3520	0	0	0	0	0	0
1917	-0.71	-146.0	198.5	-11.4	256	1921	0.00	2.22	0.00	0.000	4	0.000	0.044	2248	1375	3521	0	0	0	0	0	0
1949	-0.71	-146.0	202.4	-11.0	258	1956	0.00	2.30	0.00	0.000	6	0.000	0.057	2248	2767	3520	0	0	0	0	0	0
2276	-0.71	-146.0	236.6	-10.2	289	2280	0.00	1.95	0.00	0.000	4	0.000	0.067	2242	3927	3521	0	0	0	0	0	0
2311	-0.71	-146.0	240.3	-11.2	292	2315	0.00	1.85	0.00	0.000	6	0.000	0.042	2242	2770	3521	0	0	0	0	0	0
2642	-0.71	-146.0	272.2	-9.4	323	2646	0.00	2.17	0.00	0.000	4	0.000	0.043	2242	1372	3521	0	0	0	0	0	0
2684	-0.73	-146.0	276.1	-9.5	326	2688	0.00	2.30	0.00	0.000	6	0.000	0.056	2235	2766	3521	0	0	0	0	0	0
3010	-0.73	-146.0	307.4	-9.4	356	3011	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2766	3521	0	0	0	0	0	0
3333	-0.73	-146.0	336.3	-8.8	386	3337	0.00	1.95	0.00	0.000	4	0.000	0.066	2235	3926	3523	0	0	0	0	0	0
3415	-0.73	-146.0	344.4	-9.8	393	3418	0.00	1.85	0.00	0.000	6	0.000	0.041	2235	2768	3523	0	0	0	0	0	0
3746	-0.73	-146.0	374.8	-9.4	424	3750	0.00	2.17	0.00	0.000	4	0.000	0.043	2235	1371	3523	0	0	0	0	0	0
3787	-0.73	-146.0	378.8	-9.6	427	3791	0.00	2.33	0.00	0.000	6	0.000	0.055	2234	2782	3523	0	0	0	0	0	0
4112	-0.73	-146.0	409.5	-9.6	451	4116	0.00	1.92	0.00	0.000	4	0.000	0.065	2235	3932	3524	0	0	0	0	0	0
4181	-0.73	-146.0	416.3	-9.9	453	4185	0.00	1.83	0.00	0.000	6	0.000	0.041	2235	2782	3523	0	0	0	0	0	0
4524	-0.73	-146.0	445.8	-8.2	464	4528	0.00	2.22	0.00	0.000	4	0.000	0.042	2235	1369	3524	0	0	0	0	0	0
4551	-0.73	-146.0	448.2	-8.2	464	4558	0.00	2.35	0.00	0.000	6	0.000	0.055	2234	2792	3524	0	0	0	0	0	0
4865	-0.73	-146.0	474.6	-8.3	475	4869	0.00	2.22	0.00	0.000	4	0.000	0.042	2234	1371	3524	0	0	0	0	0	0
4901	-0.73	-146.0	477.6	-8.7	476	4905	0.00	2.33	0.00	0.000	6	0.000	0.054	2234	2783	3524	0	0	0	0	0	0
5231	-0.73	-146.0	503.8	-8.2	487	5235	0.00	1.95	0.00	0.000	4	0.000	0.066	2232	3930	3524	0	0	0	0	0	0
5270	-0.73	-146.0	507.5	-8.6	488	5274	0.00	1.88	0.00	0.000	6	0.000	0.041	2232	2769	3524	0	0	0	0	0	0
5607	-0.73	-146.0	537.5	-9.1	499	5611	0.00	2.17	0.00	0.000	4	0.000	0.043	2232	1372	3524	0	0	0	0	0	0
5671	-0.75	-146.0	543.4	-9.2	501	5675	0.00	2.30	0.00	0.000	6	0.000	0.056	2229	2771	3524	0	0	0	0	0	0
5695	end dive: TARGET_DEPTH_EXCEEDED
state	5695	begin apogee
5703	-0.14	0.0	546.3	9.2	501	5836	0.60	0.00	121.90	0.889	4	0.122	0.000	2426	2604	2923	0	0	0	0	0	0
5837	end apogee: CONTROL_FINISHED_OK
state	5837	begin climb
5840	0.57	146.0	549.3	0.0	506	5973	0.65	2.33	123.60	0.881	4	0.055	0.043	2674	1187	2327	0	0	0	0	0	0
6182	0.55	146.0	514.2	13.0	516	6187	0.00	2.33	0.00	0.000	6	0.000	0.050	2673	2611	2320	0	0	0	0	0	0
6501	0.49	146.0	473.0	12.8	527	6506	0.15	2.25	0.00	0.000	4	0.179	0.045	2640	1180	2318	0	0	0	0	0	0
6708	0.52	146.0	452.4	10.4	533	6713	0.00	2.33	0.00	0.000	6	0.000	0.050	2640	2619	2318	0	0	0	0	0	0
7033	0.53	154.2	420.3	9.6	544	7044	0.00	2.17	6.07	0.675	4	0.000	0.060	2640	3925	2297	0	0	0	0	0	0
7090	0.48	154.2	413.8	11.5	545	7097	0.00	2.08	0.00	0.000	6	0.000	0.039	2645	2600	2295	0	0	0	0	0	0
7409	0.48	154.2	380.2	10.7	566	7410	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2600	2295	0	0	0	0	0	0
7730	0.48	154.2	345.3	10.9	596	7736	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2600	2295	0	0	0	0	0	0
8058	0.48	154.2	309.4	10.9	627	8062	0.00	2.25	0.00	0.000	4	0.000	0.061	2645	3930	2295	0	0	0	0	0	0
8160	0.44	154.2	296.3	13.0	635	8168	0.12	2.05	0.00	0.000	6	0.189	0.038	2617	2634	2294	0	0	0	0	0	0
8487	0.50	173.4	266.4	9.1	666	8510	0.00	2.35	18.23	0.704	4	0.000	0.045	2618	1197	2216	0	0	0	0	0	0
8560	0.63	205.6	260.1	8.5	672	8594	0.17	2.33	28.23	0.700	6	0.076	0.049	2695	2637	2084	0	0	0	0	0	0
8913	0.58	205.6	209.1	15.0	705	8917	0.12	2.12	0.00	0.000	4	0.177	0.060	2662	3925	2077	0	0	0	0	0	0
8953	0.55	205.6	202.8	15.2	708	8957	0.00	2.05	0.00	0.000	6	0.000	0.038	2662	2630	2076	0	0	0	0	0	0
9285	0.55	205.6	160.0	12.5	739	9289	0.00	2.25	0.00	0.000	4	0.000	0.046	2663	1194	2076	0	0	0	0	0	0
9326	0.61	205.6	154.9	11.8	742	9330	0.00	2.30	0.00	0.000	6	0.000	0.049	2663	2635	2076	0	0	0	0	0	0
9652	0.63	205.6	116.9	11.4	772	9653	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2634	2076	0	0	0	0	0	0
9979	0.67	205.6	83.6	10.4	816	9986	0.00	2.12	0.00	0.000	4	0.000	0.060	2663	3924	2075	0	0	0	0	0	0
10011	0.67	205.6	79.9	12.4	821	10018	0.00	2.08	0.00	0.000	6	0.000	0.038	2665	2609	2075	0	0	0	0	0	0
10360	0.73	236.1	45.0	8.6	882	10391	0.12	2.33	25.50	0.584	4	0.103	0.047	2725	1191	1959	0	0	0	0	0	0
10487	0.73	236.1	29.5	12.1	904	10494	0.00	2.28	0.00	0.000	6	0.000	0.048	2725	2599	1956	0	0	0	0	0	0
10693	end climb: SURFACE_DEPTH_REACHED
state	10693	begin surface coast
10718	end surface coast: CONTROL_FINISHED_OK
state	10718	begin surface