Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 797 * 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 797 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -2 T_GPS_CHARGE -12213.804 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 -12213.804

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 -2

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 797 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 210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2 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 10.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2 MHEAD_RNG_PITCHd_Wd 295.7,30657,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 846

Post-dive calculations and measurements:

FREEZE 8.82,-1.758,-1.763,2,15,0 ALTIM_BOTTOM_PING 600.8,11.9

FINISH1 8.8,1.025811,83 _24V_AH 21.3,90.164

FINISH2 7.4 _10V_AH 9.7,61.683

RAFOS_CLK 690 FG_AHR_24Vo 0.000

RAFOS 0,1295582473,4.033333,4.020278,114,47,47,47,44,43,630,1207,989,1560,869,1549 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.284180,-5950.695801,210111,040416,7,111,0.30 MEM 151712

IRIDIUM_FIX 6641.98,-5833.70,170111,181821 DATA_FILE_SIZE 33364,983

TT8_MAMPS 0.028462 CAP_FILE_SIZE 115966,0

HUMID 50.31 CFSIZE 260165632,197459968

INTERNAL_PRESSURE 8.60232 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.10 SOUNDSPEED 1449.2

XPDR_PINGS 0 GPS 210111,042716,6647.284,-5950.696,0,7111.0,0,-38.2

ALTIM_TOP_PING 19.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 185 16.27 SBE_CT 686 24 350.90

Roll_motor 75 74 119.84 SBE_O2 0 0 0.00

VBD_pump_during_apogee 407 979 8502.20 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 22.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2449 19 473.31

LPSleep 7155 2 160.33

TT8_Active 444 19 85.98

TT8_Sampling 1676 39 649.21

TT8_CF8 227 45 101.52

TT8_Kalman 0 0 0.00

Analog_circuits 1346 12 156.73

GPS_charging 0 0 0.00

Compass 1655 15 240.85

RAFOS 2520 3 73.33

Transponder 20 30 6.03

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

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -5.78 0.000 2 0.000 0.000 2499 3927 2855 0 0 0 0 0 0

28 -0.57 -146.0 12.4 -0.0 1 53 0.57 4.25 -14.10 0.000 4 0.099 0.055 2296 1364 3522 0 0 0 0 0 0

186 -0.59 -146.0 29.6 -11.1 28 192 0.00 2.38 0.00 0.000 6 0.000 0.063 2292 2780 3524 0 0 0 0 0 0

532 -0.59 -146.0 75.1 -12.2 89 539 0.00 2.33 0.00 0.000 4 0.000 0.053 2292 1369 3523 0 0 0 0 0 0

598 -0.62 -146.0 82.9 -11.0 100 605 0.00 2.38 0.00 0.000 6 0.000 0.063 2292 2771 3523 0 0 0 0 0 0

943 -0.65 -146.0 118.2 -10.4 146 949 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2771 3523 0 0 0 0 0 0

1273 -0.70 -146.0 149.3 -9.1 177 1277 0.12 2.03 0.00 0.000 4 0.104 0.075 2235 3934 3521 0 0 0 0 0 0

1303 -0.67 -146.0 153.0 -12.4 179 1309 0.00 1.92 0.00 0.000 6 0.000 0.049 2235 2753 3522 0 0 0 0 0 0

1629 -0.62 -146.0 197.2 -13.6 210 1634 0.15 2.28 0.00 0.000 4 0.171 0.052 2277 1364 3521 0 0 0 0 0 0

1709 -0.68 -146.0 206.5 -10.7 216 1716 0.00 2.35 0.00 0.000 6 0.000 0.063 2274 2758 3522 0 0 0 0 0 0

2036 -0.71 -146.0 238.8 -8.9 247 2037 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2758 3521 0 0 0 0 0 0

2357 -0.76 -146.0 266.1 -8.5 277 2363 0.12 0.00 0.00 0.000 6 0.104 0.000 2220 2758 3521 0 0 0 0 0 0

2684 -0.70 -146.0 305.1 -12.0 308 2685 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2758 3521 0 0 0 0 0 0

3003 -0.65 -146.0 341.2 -11.3 338 3008 0.15 2.30 0.00 0.000 4 0.170 0.052 2262 1363 3521 0 0 0 0 0 0

3033 -0.65 -146.0 344.2 -8.7 340 3037 0.00 2.38 0.00 0.000 6 0.000 0.063 2261 2760 3521 0 0 0 0 0 0

3359 -0.69 -146.0 370.3 -7.9 370 3360 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2759 3521 0 0 0 0 0 0

3682 -0.73 -146.0 395.4 -8.0 400 3686 0.00 2.25 0.00 0.000 4 0.000 0.051 2261 1370 3521 0 0 0 0 0 0

3712 -0.78 -146.0 398.3 -8.3 402 3716 0.12 2.35 0.00 0.000 6 0.099 0.063 2207 2754 3521 0 0 0 0 0 0

4042 -0.72 -146.0 435.4 -11.5 414 4044 0.12 0.00 0.00 0.000 6 0.182 0.000 2239 2754 3521 0 0 0 0 0 0

4347 -0.72 -146.0 463.6 -9.3 424 4348 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2754 3522 0 0 0 0 0 0

4653 -0.72 -146.0 490.7 -8.7 434 4657 0.00 2.25 0.00 0.000 4 0.000 0.050 2239 1367 3522 0 0 0 0 0 0

4688 -0.72 -146.0 493.9 -9.0 435 4692 0.00 2.33 0.00 0.000 6 0.000 0.061 2235 2750 3522 0 0 0 0 0 0

5019 -0.72 -146.0 522.3 -8.7 446 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2750 3522 0 0 0 0 0 0

5329 -0.72 -146.0 550.4 -9.2 456 5333 0.00 2.25 0.00 0.000 4 0.000 0.050 2235 1362 3522 0 0 0 0 0 0

5352 -0.72 -146.0 553.0 -9.2 456 5359 0.00 2.33 0.00 0.000 6 0.000 0.061 2235 2745 3523 0 0 0 0 0 0

5665 -0.72 -146.0 580.4 -8.5 467 5666 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2745 3523 0 0 0 0 0 0

5912 end dive: BOTTOM_OBSTACLE_DETECTED

state 5912 begin apogee

5918 -0.14 0.0 600.8 8.3 475 6050 0.57 0.00 124.57 0.980 4 0.130 0.000 2420 2599 2923 0 0 0 0 0 0

6051 end apogee: CONTROL_FINISHED_OK

state 6051 begin climb

6054 0.57 146.0 603.9 0.0 479 6193 0.70 2.45 131.48 0.955 4 0.063 0.050 2669 1178 2327 0 0 0 0 0 0

6340 0.54 146.0 578.4 11.6 488 6344 0.00 2.50 0.00 0.000 6 0.000 0.056 2669 2601 2320 0 0 0 0 0 0

6671 0.48 146.0 536.8 12.8 499 6675 0.15 2.30 0.00 0.000 4 0.183 0.053 2630 1189 2316 0 0 0 0 0 0

6861 0.54 159.3 518.6 9.4 504 6877 0.00 2.38 11.02 0.864 6 0.000 0.057 2630 2619 2273 0 0 0 0 0 0

7205 0.54 165.7 484.9 9.7 516 7219 0.00 2.28 7.00 0.793 4 0.000 0.069 2630 3925 2246 0 0 0 0 0 0

7265 0.52 165.7 478.1 10.9 517 7272 0.00 2.15 0.00 0.000 6 0.000 0.045 2630 2605 2245 0 0 0 0 0 0

7579 0.55 185.8 449.4 9.1 528 7600 0.00 0.00 19.17 0.868 6 0.000 0.000 2630 2605 2165 0 0 0 0 0 0

7884 0.59 189.0 419.8 9.9 538 7890 0.10 2.28 0.00 0.000 4 0.117 0.070 2677 3930 2160 0 0 0 0 0 0

7941 0.49 189.0 411.6 15.1 539 7946 0.17 2.12 0.00 0.000 6 0.184 0.046 2636 2622 2159 0 0 0 0 0 0

8266 0.52 189.0 377.0 10.6 561 8270 0.00 2.33 0.00 0.000 4 0.000 0.052 2636 1184 2159 0 0 0 0 0 0

8330 0.61 198.8 370.4 9.5 566 8347 0.10 2.35 11.85 0.808 6 0.109 0.057 2679 2617 2112 0 0 0 0 0 0

8666 0.57 198.8 327.6 13.0 597 8670 0.00 2.20 0.00 0.000 4 0.000 0.068 2679 3926 2109 0 0 0 0 0 0

8725 0.49 198.8 319.3 15.0 601 8732 0.17 2.15 0.00 0.000 6 0.185 0.045 2638 2604 2109 0 0 0 0 0 0

9051 0.54 213.0 286.2 9.3 632 9070 0.00 0.00 13.35 0.773 6 0.000 0.000 2638 2604 2055 0 0 0 0 0 0

9390 0.60 214.2 252.8 9.9 664 9391 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2604 2052 0 0 0 0 0 0

9711 0.67 230.9 223.6 9.2 694 9730 0.15 0.00 17.05 0.748 6 0.090 0.000 2698 2604 1980 0 0 0 0 0 0

10048 0.65 230.9 180.0 12.6 726 10054 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2604 1976 0 0 0 0 0 0

10374 0.65 230.9 142.6 10.9 757 10378 0.00 2.28 0.00 0.000 4 0.000 0.054 2699 1195 1976 0 0 0 0 0 0

10420 0.69 234.7 138.0 9.8 761 10432 0.00 2.35 4.15 0.566 6 0.000 0.057 2698 2626 1965 0 0 0 0 0 0

10751 0.69 237.1 104.8 9.9 792 10763 0.00 2.28 3.88 0.539 4 0.000 0.071 2699 3929 1955 0 0 0 0 0 0

10822 0.66 237.1 96.8 11.6 800 10829 0.00 2.12 0.00 0.000 6 0.000 0.046 2699 2623 1953 0 0 0 0 0 0

11171 0.71 255.9 64.1 9.1 861 11195 0.00 0.00 17.98 0.684 6 0.000 0.000 2700 2623 1878 0 0 0 0 0 0

11537 0.79 309.1 34.5 7.5 925 11589 0.00 0.00 45.83 0.659 6 0.000 0.000 2699 2623 1661 0 0 0 0 0 0

11832 end climb: FINISH_DEPTH_REACHED

state 11832 begin subsurface finish

11840 0.05 82.9 8.8 -9.2 977 11876 0.62 0.00 -28.33 0.000 6 0.131 0.000 2497 2623 2587 0 0 0 0 0 0

11877 end subsurface finish: CONTROL_FINISHED_OK

state 11877 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	797	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-2	T_GPS_CHARGE	-12213.804	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	210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2	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	10.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2	MHEAD_RNG_PITCHd_Wd	295.7,30657,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	846

FREEZE	8.82,-1.758,-1.763,2,15,0	ALTIM_BOTTOM_PING	600.8,11.9
FINISH1	8.8,1.025811,83	_24V_AH	21.3,90.164
FINISH2	7.4	_10V_AH	9.7,61.683
RAFOS_CLK	690	FG_AHR_24Vo	0.000
RAFOS	0,1295582473,4.033333,4.020278,114,47,47,47,44,43,630,1207,989,1560,869,1549	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.284180,-5950.695801,210111,040416,7,111,0.30	MEM	151712
IRIDIUM_FIX	6641.98,-5833.70,170111,181821	DATA_FILE_SIZE	33364,983
TT8_MAMPS	0.028462	CAP_FILE_SIZE	115966,0
HUMID	50.31	CFSIZE	260165632,197459968
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	SOUNDSPEED	1449.2
XPDR_PINGS	0	GPS	210111,042716,6647.284,-5950.696,0,7111.0,0,-38.2
ALTIM_TOP_PING	19.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	185	16.27	SBE_CT	686	24	350.90
Roll_motor	75	74	119.84	SBE_O2	0	0	0.00
VBD_pump_during_apogee	407	979	8502.20	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	22.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2449	19	473.31
LPSleep	7155	2	160.33
TT8_Active	444	19	85.98
TT8_Sampling	1676	39	649.21
TT8_CF8	227	45	101.52
TT8_Kalman	0	0	0.00
Analog_circuits	1346	12	156.73
GPS_charging	0	0	0.00
Compass	1655	15	240.85
RAFOS	2520	3	73.33
Transponder	20	30	6.03

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
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-5.78	0.000	2	0.000	0.000	2499	3927	2855	0	0	0	0	0	0
28	-0.57	-146.0	12.4	-0.0	1	53	0.57	4.25	-14.10	0.000	4	0.099	0.055	2296	1364	3522	0	0	0	0	0	0
186	-0.59	-146.0	29.6	-11.1	28	192	0.00	2.38	0.00	0.000	6	0.000	0.063	2292	2780	3524	0	0	0	0	0	0
532	-0.59	-146.0	75.1	-12.2	89	539	0.00	2.33	0.00	0.000	4	0.000	0.053	2292	1369	3523	0	0	0	0	0	0
598	-0.62	-146.0	82.9	-11.0	100	605	0.00	2.38	0.00	0.000	6	0.000	0.063	2292	2771	3523	0	0	0	0	0	0
943	-0.65	-146.0	118.2	-10.4	146	949	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2771	3523	0	0	0	0	0	0
1273	-0.70	-146.0	149.3	-9.1	177	1277	0.12	2.03	0.00	0.000	4	0.104	0.075	2235	3934	3521	0	0	0	0	0	0
1303	-0.67	-146.0	153.0	-12.4	179	1309	0.00	1.92	0.00	0.000	6	0.000	0.049	2235	2753	3522	0	0	0	0	0	0
1629	-0.62	-146.0	197.2	-13.6	210	1634	0.15	2.28	0.00	0.000	4	0.171	0.052	2277	1364	3521	0	0	0	0	0	0
1709	-0.68	-146.0	206.5	-10.7	216	1716	0.00	2.35	0.00	0.000	6	0.000	0.063	2274	2758	3522	0	0	0	0	0	0
2036	-0.71	-146.0	238.8	-8.9	247	2037	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2758	3521	0	0	0	0	0	0
2357	-0.76	-146.0	266.1	-8.5	277	2363	0.12	0.00	0.00	0.000	6	0.104	0.000	2220	2758	3521	0	0	0	0	0	0
2684	-0.70	-146.0	305.1	-12.0	308	2685	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2758	3521	0	0	0	0	0	0
3003	-0.65	-146.0	341.2	-11.3	338	3008	0.15	2.30	0.00	0.000	4	0.170	0.052	2262	1363	3521	0	0	0	0	0	0
3033	-0.65	-146.0	344.2	-8.7	340	3037	0.00	2.38	0.00	0.000	6	0.000	0.063	2261	2760	3521	0	0	0	0	0	0
3359	-0.69	-146.0	370.3	-7.9	370	3360	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2759	3521	0	0	0	0	0	0
3682	-0.73	-146.0	395.4	-8.0	400	3686	0.00	2.25	0.00	0.000	4	0.000	0.051	2261	1370	3521	0	0	0	0	0	0
3712	-0.78	-146.0	398.3	-8.3	402	3716	0.12	2.35	0.00	0.000	6	0.099	0.063	2207	2754	3521	0	0	0	0	0	0
4042	-0.72	-146.0	435.4	-11.5	414	4044	0.12	0.00	0.00	0.000	6	0.182	0.000	2239	2754	3521	0	0	0	0	0	0
4347	-0.72	-146.0	463.6	-9.3	424	4348	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2754	3522	0	0	0	0	0	0
4653	-0.72	-146.0	490.7	-8.7	434	4657	0.00	2.25	0.00	0.000	4	0.000	0.050	2239	1367	3522	0	0	0	0	0	0
4688	-0.72	-146.0	493.9	-9.0	435	4692	0.00	2.33	0.00	0.000	6	0.000	0.061	2235	2750	3522	0	0	0	0	0	0
5019	-0.72	-146.0	522.3	-8.7	446	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2750	3522	0	0	0	0	0	0
5329	-0.72	-146.0	550.4	-9.2	456	5333	0.00	2.25	0.00	0.000	4	0.000	0.050	2235	1362	3522	0	0	0	0	0	0
5352	-0.72	-146.0	553.0	-9.2	456	5359	0.00	2.33	0.00	0.000	6	0.000	0.061	2235	2745	3523	0	0	0	0	0	0
5665	-0.72	-146.0	580.4	-8.5	467	5666	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2745	3523	0	0	0	0	0	0
5912	end dive: BOTTOM_OBSTACLE_DETECTED
state	5912	begin apogee
5918	-0.14	0.0	600.8	8.3	475	6050	0.57	0.00	124.57	0.980	4	0.130	0.000	2420	2599	2923	0	0	0	0	0	0
6051	end apogee: CONTROL_FINISHED_OK
state	6051	begin climb
6054	0.57	146.0	603.9	0.0	479	6193	0.70	2.45	131.48	0.955	4	0.063	0.050	2669	1178	2327	0	0	0	0	0	0
6340	0.54	146.0	578.4	11.6	488	6344	0.00	2.50	0.00	0.000	6	0.000	0.056	2669	2601	2320	0	0	0	0	0	0
6671	0.48	146.0	536.8	12.8	499	6675	0.15	2.30	0.00	0.000	4	0.183	0.053	2630	1189	2316	0	0	0	0	0	0
6861	0.54	159.3	518.6	9.4	504	6877	0.00	2.38	11.02	0.864	6	0.000	0.057	2630	2619	2273	0	0	0	0	0	0
7205	0.54	165.7	484.9	9.7	516	7219	0.00	2.28	7.00	0.793	4	0.000	0.069	2630	3925	2246	0	0	0	0	0	0
7265	0.52	165.7	478.1	10.9	517	7272	0.00	2.15	0.00	0.000	6	0.000	0.045	2630	2605	2245	0	0	0	0	0	0
7579	0.55	185.8	449.4	9.1	528	7600	0.00	0.00	19.17	0.868	6	0.000	0.000	2630	2605	2165	0	0	0	0	0	0
7884	0.59	189.0	419.8	9.9	538	7890	0.10	2.28	0.00	0.000	4	0.117	0.070	2677	3930	2160	0	0	0	0	0	0
7941	0.49	189.0	411.6	15.1	539	7946	0.17	2.12	0.00	0.000	6	0.184	0.046	2636	2622	2159	0	0	0	0	0	0
8266	0.52	189.0	377.0	10.6	561	8270	0.00	2.33	0.00	0.000	4	0.000	0.052	2636	1184	2159	0	0	0	0	0	0
8330	0.61	198.8	370.4	9.5	566	8347	0.10	2.35	11.85	0.808	6	0.109	0.057	2679	2617	2112	0	0	0	0	0	0
8666	0.57	198.8	327.6	13.0	597	8670	0.00	2.20	0.00	0.000	4	0.000	0.068	2679	3926	2109	0	0	0	0	0	0
8725	0.49	198.8	319.3	15.0	601	8732	0.17	2.15	0.00	0.000	6	0.185	0.045	2638	2604	2109	0	0	0	0	0	0
9051	0.54	213.0	286.2	9.3	632	9070	0.00	0.00	13.35	0.773	6	0.000	0.000	2638	2604	2055	0	0	0	0	0	0
9390	0.60	214.2	252.8	9.9	664	9391	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2604	2052	0	0	0	0	0	0
9711	0.67	230.9	223.6	9.2	694	9730	0.15	0.00	17.05	0.748	6	0.090	0.000	2698	2604	1980	0	0	0	0	0	0
10048	0.65	230.9	180.0	12.6	726	10054	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2604	1976	0	0	0	0	0	0
10374	0.65	230.9	142.6	10.9	757	10378	0.00	2.28	0.00	0.000	4	0.000	0.054	2699	1195	1976	0	0	0	0	0	0
10420	0.69	234.7	138.0	9.8	761	10432	0.00	2.35	4.15	0.566	6	0.000	0.057	2698	2626	1965	0	0	0	0	0	0
10751	0.69	237.1	104.8	9.9	792	10763	0.00	2.28	3.88	0.539	4	0.000	0.071	2699	3929	1955	0	0	0	0	0	0
10822	0.66	237.1	96.8	11.6	800	10829	0.00	2.12	0.00	0.000	6	0.000	0.046	2699	2623	1953	0	0	0	0	0	0
11171	0.71	255.9	64.1	9.1	861	11195	0.00	0.00	17.98	0.684	6	0.000	0.000	2700	2623	1878	0	0	0	0	0	0
11537	0.79	309.1	34.5	7.5	925	11589	0.00	0.00	45.83	0.659	6	0.000	0.000	2699	2623	1661	0	0	0	0	0	0
11832	end climb: FINISH_DEPTH_REACHED
state	11832	begin subsurface finish
11840	0.05	82.9	8.8	-9.2	977	11876	0.62	0.00	-28.33	0.000	6	0.131	0.000	2497	2623	2587	0	0	0	0	0	0
11877	end subsurface finish: CONTROL_FINISHED_OK
state	11877	begin surface