Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 79 * 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 0

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 79 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 41 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 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 8 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 -7788.8647 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 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 2 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 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 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 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 5 HD_A 0.003 PROTOCOL 9 T_GPS 8

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 -7788.8647

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 0.30000001 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 -1

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 0

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 24 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 79 NAV_MODE 2 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 8 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 220910,170443,6703.819,-5656.546,23,1.6,29,-37.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220910,170934,6703.810,-5656.630,9,5.4,28,-37.6 MHEAD_RNG_PITCHd_Wd 268.5,157499,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 592

Post-dive calculations and measurements:

FINISH 0.1,1.018495 _24V_AH 23.5,13.029

SM_CCo 11730,28.90,0.082,0,0,1495,350.04 _10V_AH 10.3,9.500

SM_GC 1.31,0.00,0.00,28.90,0.000,0.000,0.082,298,2779,1495,-6.80,-0.03,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 567 FG_AHR_10Vo 0.000

RAFOS 0,1285185663,20.033333,20.017500,75,45,44,44,44,41,1174,306,156,371,325,1225 MEM 151720

RAFOS_FIX 6706.036133,-5656.298340,220910,161602,7,100,0.44 DATA_FILE_SIZE 49995,1254

IRIDIUM_FIX 6631.12,-5658.34,220910,141430 CAP_FILE_SIZE 122099,0

TT8_MAMPS 0.030709 CFSIZE 260165632,245415936

HUMID 50.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.65115 SOUNDSPEED 1468.5

TCM_TEMP 16.20 CURRENT 0.038,127.7,1

XPDR_PINGS 0 GPS 220910,202757,6702.863,-5659.003,22,2.2,41,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 262 98.81 SBE_CT 870 24 491.21

Roll_motor 68 100 161.54 SBE_O2 930 19 415.69

VBD_pump_during_apogee 351 947 7818.77 nil 0 0 0.00

VBD_pump_during_surface 28 81 55.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 54.28 nil 0 0 0.00

Iridium_during_connect 44 160 167.58 nil 0 0 0.00

Iridium_during_xfer 104 223 546.66 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.69

TT8 3083 19 632.68

LPSleep 6236 2 148.39

TT8_Active 490 19 100.62

TT8_Sampling 2163 39 889.51

TT8_CF8 114 45 54.21

TT8_Kalman 0 0 0.00

Analog_circuits 1502 12 185.66

GPS_charging 0 0 0.00

Compass 1939 15 299.72

RAFOS 1440 3 44.50

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 112 0.00 0.00 -94.38 0.000 2 0.000 0.000 297 2781 3402 0 0 0 0 0 0

113 -0.57 -146.0 6.2 -18.2 16 134 8.30 1.90 -2.22 0.000 4 0.262 0.071 2276 3926 3522 0 0 0 0 0 0

375 -0.57 -146.0 61.3 -12.0 62 382 0.00 1.83 0.00 0.000 6 0.000 0.042 2275 2779 3524 0 0 0 0 0 0

719 -0.57 -146.0 99.0 -10.7 123 725 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2779 3524 0 0 0 0 0 0

1051 -0.57 -146.0 133.8 -10.4 155 1055 0.00 2.20 0.00 0.000 4 0.000 0.046 2275 1369 3524 0 0 0 0 0 0

1083 -0.57 -146.0 137.4 -10.5 157 1091 0.00 2.30 0.00 0.000 6 0.000 0.057 2273 2773 3524 0 0 0 0 0 0

1409 -0.57 -146.0 172.0 -10.8 188 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2773 3523 0 0 0 0 0 0

1729 -0.57 -146.0 204.5 -10.0 218 1733 0.00 2.17 0.00 0.000 4 0.000 0.045 2273 1363 3522 0 0 0 0 0 0

1772 -0.57 -146.0 209.3 -10.2 221 1780 0.00 2.28 0.00 0.000 6 0.000 0.057 2266 2765 3522 0 0 0 0 0 0

2098 -0.57 -146.0 241.2 -9.3 252 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2765 3522 0 0 0 0 0 0

2417 -0.57 -146.0 270.8 -9.4 282 2419 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2765 3522 0 0 0 0 0 0

2738 -0.57 -146.0 299.8 -8.9 312 2739 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2765 3522 0 0 0 0 0 0

3054 -0.57 -146.0 328.5 -8.8 342 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2765 3522 0 0 0 0 0 0

3373 -0.57 -146.0 358.5 -9.7 372 3374 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2764 3522 0 0 0 0 0 0

3692 -0.57 -146.0 388.8 -9.4 402 3695 0.00 1.88 0.00 0.000 4 0.000 0.068 2259 3931 3522 0 0 0 0 0 0

3718 -0.57 -146.0 391.7 -9.9 404 3727 0.08 1.85 0.00 0.000 6 0.151 0.042 2285 2762 3522 0 0 0 0 0 0

4045 -0.57 -146.0 418.1 -8.6 435 4049 0.00 2.15 0.00 0.000 4 0.000 0.047 2285 1367 3522 0 0 0 0 0 0

4076 -0.57 -146.0 420.9 -8.3 437 4084 0.00 2.25 0.00 0.000 6 0.000 0.057 2285 2761 3522 0 0 0 0 0 0

4402 -0.57 -146.0 446.9 -7.3 468 4404 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2761 3522 0 0 0 0 0 0

4723 -0.57 -146.0 470.4 -7.2 498 4724 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2762 3522 0 0 0 0 0 0

5040 -0.57 -146.0 491.9 -6.4 528 5044 0.00 1.90 0.00 0.000 4 0.000 0.068 2278 3931 3521 0 0 0 0 0 0

5088 -0.57 -146.0 495.5 -7.7 532 5096 0.00 1.85 0.00 0.000 6 0.000 0.043 2278 2759 3521 0 0 0 0 0 0

5415 -0.57 -146.0 518.5 -7.2 563 5416 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2759 3521 0 0 0 0 0 0

5735 -0.57 -146.0 541.6 -7.4 593 5738 0.00 1.90 0.00 0.000 4 0.000 0.069 2271 3932 3521 0 0 0 0 0 0

5761 -0.57 -146.0 543.9 -7.6 595 5769 0.00 1.85 0.00 0.000 6 0.000 0.043 2271 2757 3521 0 0 0 0 0 0

6087 -0.57 -146.0 568.9 -7.8 626 6090 0.00 2.12 0.00 0.000 4 0.000 0.045 2272 1373 3521 0 0 0 0 0 0

6154 -0.57 -146.0 574.5 -8.0 632 6159 0.00 2.20 0.00 0.000 6 0.000 0.057 2264 2756 3521 0 0 0 0 0 0

6366 end dive: TARGET_DEPTH_EXCEEDED

state 6366 begin apogee

6370 -0.14 0.0 592.5 8.7 652 6493 0.50 0.00 117.30 0.948 4 0.145 0.000 2428 2603 2923 0 0 0 0 0 0

6494 end apogee: CONTROL_FINISHED_OK

state 6494 begin climb

6495 0.57 146.0 595.4 0.0 663 6630 0.68 2.35 121.70 0.930 4 0.084 0.045 2658 1190 2326 0 0 0 0 0 0

6814 0.57 146.0 565.5 11.1 691 6822 0.00 2.38 0.00 0.000 6 0.000 0.051 2658 2597 2318 0 0 0 0 0 0

7139 0.57 146.0 525.5 12.9 722 7143 0.00 2.28 0.00 0.000 4 0.000 0.048 2666 1188 2316 0 0 0 0 0 0

7272 0.57 146.0 508.6 11.9 733 7280 0.00 2.38 0.00 0.000 6 0.000 0.052 2667 2630 2315 0 0 0 0 0 0

7597 0.57 146.0 465.9 13.2 764 7601 0.00 2.15 0.00 0.000 4 0.000 0.064 2667 3933 2314 0 0 0 0 0 0

7645 0.57 146.0 458.1 15.8 768 7653 0.00 2.10 0.00 0.000 6 0.000 0.041 2674 2628 2313 0 0 0 0 0 0

7971 0.57 146.0 411.9 13.6 799 7972 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2629 2313 0 0 0 0 0 0

8290 0.57 146.0 367.7 13.3 829 8294 0.00 2.12 0.00 0.000 4 0.000 0.063 2674 3932 2312 0 0 0 0 0 0

8320 0.57 146.0 362.8 15.3 831 8328 0.00 2.08 0.00 0.000 6 0.000 0.041 2683 2631 2312 0 0 0 0 0 0

8646 0.57 146.0 317.4 13.8 862 8650 0.00 2.12 0.00 0.000 4 0.000 0.063 2683 3927 2312 0 0 0 0 0 0

8694 0.57 146.0 309.8 15.8 866 8704 0.10 2.05 0.00 0.000 6 0.187 0.041 2663 2637 2311 0 0 0 0 0 0

9020 0.57 146.0 271.8 11.4 897 9021 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2637 2312 0 0 0 0 0 0

9339 0.57 146.0 234.1 12.1 927 9340 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2637 2312 0 0 0 0 0 0

9659 0.57 146.0 195.0 12.2 957 9663 0.00 2.10 0.00 0.000 4 0.000 0.064 2662 3933 2311 0 0 0 0 0 0

9727 0.57 146.0 185.3 15.3 963 9730 0.00 2.00 0.00 0.000 6 0.000 0.041 2667 2642 2311 0 0 0 0 0 0

10056 0.57 146.0 143.8 11.7 994 10058 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2641 2310 0 0 0 0 0 0

10375 0.57 146.0 107.9 10.3 1024 10377 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2641 2311 0 0 0 0 0 0

10706 0.57 146.0 71.9 10.9 1077 10713 0.00 2.10 0.00 0.000 4 0.000 0.064 2667 3927 2311 0 0 0 0 0 0

10804 0.57 146.0 61.4 10.8 1094 10811 0.00 1.95 0.00 0.000 6 0.000 0.041 2673 2665 2311 0 0 0 0 0 0

11147 0.63 236.8 35.1 5.8 1155 11223 0.00 2.45 70.03 0.617 4 0.000 0.048 2677 1184 1956 0 0 0 0 0 0

11256 0.65 274.5 27.3 8.3 1173 11295 0.00 2.47 30.83 0.606 6 0.000 0.052 2678 2688 1802 0 0 0 0 0 0

11631 0.73 394.3 3.3 4.5 1239 11644 0.00 0.00 11.18 0.577 2 0.000 0.000 2677 2688 1740 0 0 0 0 0 0

11644 end climb: SURFACE_DEPTH_REACHED

state 11645 begin surface coast

11716 end surface coast: CONTROL_FINISHED_OK

state 11716 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	79	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	41	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	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	8	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	-7788.8647	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	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	2	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	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	220910,170443,6703.819,-5656.546,23,1.6,29,-37.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220910,170934,6703.810,-5656.630,9,5.4,28,-37.6	MHEAD_RNG_PITCHd_Wd	268.5,157499,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	592

FINISH	0.1,1.018495	_24V_AH	23.5,13.029
SM_CCo	11730,28.90,0.082,0,0,1495,350.04	_10V_AH	10.3,9.500
SM_GC	1.31,0.00,0.00,28.90,0.000,0.000,0.082,298,2779,1495,-6.80,-0.03,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	567	FG_AHR_10Vo	0.000
RAFOS	0,1285185663,20.033333,20.017500,75,45,44,44,44,41,1174,306,156,371,325,1225	MEM	151720
RAFOS_FIX	6706.036133,-5656.298340,220910,161602,7,100,0.44	DATA_FILE_SIZE	49995,1254
IRIDIUM_FIX	6631.12,-5658.34,220910,141430	CAP_FILE_SIZE	122099,0
TT8_MAMPS	0.030709	CFSIZE	260165632,245415936
HUMID	50.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.65115	SOUNDSPEED	1468.5
TCM_TEMP	16.20	CURRENT	0.038,127.7,1
XPDR_PINGS	0	GPS	220910,202757,6702.863,-5659.003,22,2.2,41,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	262	98.81	SBE_CT	870	24	491.21
Roll_motor	68	100	161.54	SBE_O2	930	19	415.69
VBD_pump_during_apogee	351	947	7818.77	nil	0	0	0.00
VBD_pump_during_surface	28	81	55.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	54.28	nil	0	0	0.00
Iridium_during_connect	44	160	167.58	nil	0	0	0.00
Iridium_during_xfer	104	223	546.66	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.69
TT8	3083	19	632.68
LPSleep	6236	2	148.39
TT8_Active	490	19	100.62
TT8_Sampling	2163	39	889.51
TT8_CF8	114	45	54.21
TT8_Kalman	0	0	0.00
Analog_circuits	1502	12	185.66
GPS_charging	0	0	0.00
Compass	1939	15	299.72
RAFOS	1440	3	44.50
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	112	0.00	0.00	-94.38	0.000	2	0.000	0.000	297	2781	3402	0	0	0	0	0	0
113	-0.57	-146.0	6.2	-18.2	16	134	8.30	1.90	-2.22	0.000	4	0.262	0.071	2276	3926	3522	0	0	0	0	0	0
375	-0.57	-146.0	61.3	-12.0	62	382	0.00	1.83	0.00	0.000	6	0.000	0.042	2275	2779	3524	0	0	0	0	0	0
719	-0.57	-146.0	99.0	-10.7	123	725	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2779	3524	0	0	0	0	0	0
1051	-0.57	-146.0	133.8	-10.4	155	1055	0.00	2.20	0.00	0.000	4	0.000	0.046	2275	1369	3524	0	0	0	0	0	0
1083	-0.57	-146.0	137.4	-10.5	157	1091	0.00	2.30	0.00	0.000	6	0.000	0.057	2273	2773	3524	0	0	0	0	0	0
1409	-0.57	-146.0	172.0	-10.8	188	1410	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2773	3523	0	0	0	0	0	0
1729	-0.57	-146.0	204.5	-10.0	218	1733	0.00	2.17	0.00	0.000	4	0.000	0.045	2273	1363	3522	0	0	0	0	0	0
1772	-0.57	-146.0	209.3	-10.2	221	1780	0.00	2.28	0.00	0.000	6	0.000	0.057	2266	2765	3522	0	0	0	0	0	0
2098	-0.57	-146.0	241.2	-9.3	252	2100	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2765	3522	0	0	0	0	0	0
2417	-0.57	-146.0	270.8	-9.4	282	2419	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2765	3522	0	0	0	0	0	0
2738	-0.57	-146.0	299.8	-8.9	312	2739	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2765	3522	0	0	0	0	0	0
3054	-0.57	-146.0	328.5	-8.8	342	3056	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2765	3522	0	0	0	0	0	0
3373	-0.57	-146.0	358.5	-9.7	372	3374	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2764	3522	0	0	0	0	0	0
3692	-0.57	-146.0	388.8	-9.4	402	3695	0.00	1.88	0.00	0.000	4	0.000	0.068	2259	3931	3522	0	0	0	0	0	0
3718	-0.57	-146.0	391.7	-9.9	404	3727	0.08	1.85	0.00	0.000	6	0.151	0.042	2285	2762	3522	0	0	0	0	0	0
4045	-0.57	-146.0	418.1	-8.6	435	4049	0.00	2.15	0.00	0.000	4	0.000	0.047	2285	1367	3522	0	0	0	0	0	0
4076	-0.57	-146.0	420.9	-8.3	437	4084	0.00	2.25	0.00	0.000	6	0.000	0.057	2285	2761	3522	0	0	0	0	0	0
4402	-0.57	-146.0	446.9	-7.3	468	4404	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2761	3522	0	0	0	0	0	0
4723	-0.57	-146.0	470.4	-7.2	498	4724	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2762	3522	0	0	0	0	0	0
5040	-0.57	-146.0	491.9	-6.4	528	5044	0.00	1.90	0.00	0.000	4	0.000	0.068	2278	3931	3521	0	0	0	0	0	0
5088	-0.57	-146.0	495.5	-7.7	532	5096	0.00	1.85	0.00	0.000	6	0.000	0.043	2278	2759	3521	0	0	0	0	0	0
5415	-0.57	-146.0	518.5	-7.2	563	5416	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	2759	3521	0	0	0	0	0	0
5735	-0.57	-146.0	541.6	-7.4	593	5738	0.00	1.90	0.00	0.000	4	0.000	0.069	2271	3932	3521	0	0	0	0	0	0
5761	-0.57	-146.0	543.9	-7.6	595	5769	0.00	1.85	0.00	0.000	6	0.000	0.043	2271	2757	3521	0	0	0	0	0	0
6087	-0.57	-146.0	568.9	-7.8	626	6090	0.00	2.12	0.00	0.000	4	0.000	0.045	2272	1373	3521	0	0	0	0	0	0
6154	-0.57	-146.0	574.5	-8.0	632	6159	0.00	2.20	0.00	0.000	6	0.000	0.057	2264	2756	3521	0	0	0	0	0	0
6366	end dive: TARGET_DEPTH_EXCEEDED
state	6366	begin apogee
6370	-0.14	0.0	592.5	8.7	652	6493	0.50	0.00	117.30	0.948	4	0.145	0.000	2428	2603	2923	0	0	0	0	0	0
6494	end apogee: CONTROL_FINISHED_OK
state	6494	begin climb
6495	0.57	146.0	595.4	0.0	663	6630	0.68	2.35	121.70	0.930	4	0.084	0.045	2658	1190	2326	0	0	0	0	0	0
6814	0.57	146.0	565.5	11.1	691	6822	0.00	2.38	0.00	0.000	6	0.000	0.051	2658	2597	2318	0	0	0	0	0	0
7139	0.57	146.0	525.5	12.9	722	7143	0.00	2.28	0.00	0.000	4	0.000	0.048	2666	1188	2316	0	0	0	0	0	0
7272	0.57	146.0	508.6	11.9	733	7280	0.00	2.38	0.00	0.000	6	0.000	0.052	2667	2630	2315	0	0	0	0	0	0
7597	0.57	146.0	465.9	13.2	764	7601	0.00	2.15	0.00	0.000	4	0.000	0.064	2667	3933	2314	0	0	0	0	0	0
7645	0.57	146.0	458.1	15.8	768	7653	0.00	2.10	0.00	0.000	6	0.000	0.041	2674	2628	2313	0	0	0	0	0	0
7971	0.57	146.0	411.9	13.6	799	7972	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2629	2313	0	0	0	0	0	0
8290	0.57	146.0	367.7	13.3	829	8294	0.00	2.12	0.00	0.000	4	0.000	0.063	2674	3932	2312	0	0	0	0	0	0
8320	0.57	146.0	362.8	15.3	831	8328	0.00	2.08	0.00	0.000	6	0.000	0.041	2683	2631	2312	0	0	0	0	0	0
8646	0.57	146.0	317.4	13.8	862	8650	0.00	2.12	0.00	0.000	4	0.000	0.063	2683	3927	2312	0	0	0	0	0	0
8694	0.57	146.0	309.8	15.8	866	8704	0.10	2.05	0.00	0.000	6	0.187	0.041	2663	2637	2311	0	0	0	0	0	0
9020	0.57	146.0	271.8	11.4	897	9021	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2637	2312	0	0	0	0	0	0
9339	0.57	146.0	234.1	12.1	927	9340	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2637	2312	0	0	0	0	0	0
9659	0.57	146.0	195.0	12.2	957	9663	0.00	2.10	0.00	0.000	4	0.000	0.064	2662	3933	2311	0	0	0	0	0	0
9727	0.57	146.0	185.3	15.3	963	9730	0.00	2.00	0.00	0.000	6	0.000	0.041	2667	2642	2311	0	0	0	0	0	0
10056	0.57	146.0	143.8	11.7	994	10058	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2641	2310	0	0	0	0	0	0
10375	0.57	146.0	107.9	10.3	1024	10377	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2641	2311	0	0	0	0	0	0
10706	0.57	146.0	71.9	10.9	1077	10713	0.00	2.10	0.00	0.000	4	0.000	0.064	2667	3927	2311	0	0	0	0	0	0
10804	0.57	146.0	61.4	10.8	1094	10811	0.00	1.95	0.00	0.000	6	0.000	0.041	2673	2665	2311	0	0	0	0	0	0
11147	0.63	236.8	35.1	5.8	1155	11223	0.00	2.45	70.03	0.617	4	0.000	0.048	2677	1184	1956	0	0	0	0	0	0
11256	0.65	274.5	27.3	8.3	1173	11295	0.00	2.47	30.83	0.606	6	0.000	0.052	2678	2688	1802	0	0	0	0	0	0
11631	0.73	394.3	3.3	4.5	1239	11644	0.00	0.00	11.18	0.577	2	0.000	0.000	2677	2688	1740	0	0	0	0	0	0
11644	end climb: SURFACE_DEPTH_REACHED
state	11645	begin surface coast
11716	end surface coast: CONTROL_FINISHED_OK
state	11716	begin surface