Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 803 * 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 803 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -12582.993 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 -12582.993

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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 21 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 803 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 210111,202658,6644.896,-6005.101,0,7132.6,0,-38.2 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210111,202658,6644.896,-6005.101,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 302.0,15379,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 608

Post-dive calculations and measurements:

FREEZE 8.46,-1.732,-1.740,2,21,0 ALTIM_TOP_PING 19.1,999.0

FINISH1 8.5,1.025491,99 _24V_AH 21.2,90.851

FINISH2 7.0 _10V_AH 9.7,62.064

RAFOS_CLK 728 FG_AHR_24Vo 0.000

RAFOS 0,1295654467,0.033333,0.018611,98,44,43,43,38,38,607,990,856,856,1198,1496 FG_AHR_10Vo 0.000

RAFOS_FIX 6643.148438,-6008.409668,220111,000025,7,116,0.28 MEM 151656

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33370,965

TT8_MAMPS 0.028462 CAP_FILE_SIZE 126064,0

HUMID 50.15 CFSIZE 260165632,197079040

INTERNAL_PRESSURE 8.59255 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1448.7

XPDR_PINGS 0 GPS 220111,002725,6643.148,-6008.410,0,7116.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 247 69.67 SBE_CT 672 24 341.98

Roll_motor 83 87 154.24 SBE_O2 0 0 0.00

VBD_pump_during_apogee 415 982 8656.50 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 98 103 215.08 nil 0 0 0.00

Iridium_during_connect 20 160 67.90 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 17.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 89.05

TT8 2360 19 456.15

LPSleep 7073 2 158.50

TT8_Active 520 19 100.56

TT8_Sampling 1938 39 750.70

TT8_CF8 712 45 317.35

TT8_Kalman 0 0 0.00

Analog_circuits 1442 12 167.90

GPS_charging 0 0 0.00

Compass 1622 15 236.02

RAFOS 2520 3 73.33

Transponder 15 30 4.42

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 142 0.00 0.00 -123.10 0.000 2 0.000 0.000 296 2782 3190 0 0 0 0 0 0

148 -0.57 -146.0 5.4 -10.5 22 173 8.55 2.40 -6.62 0.000 4 0.247 0.066 2282 1366 3523 0 0 0 0 0 0

209 -0.53 -146.0 25.9 -17.5 32 216 0.00 2.40 0.00 0.000 6 0.000 0.066 2275 2778 3524 0 0 0 0 0 0

557 -0.49 -146.0 77.1 -13.1 93 564 0.15 2.03 0.00 0.000 4 0.175 0.076 2313 3927 3524 0 0 0 0 0 0

658 -0.56 -146.0 87.8 -10.1 110 665 0.00 1.88 0.00 0.000 6 0.000 0.051 2313 2796 3523 0 0 0 0 0 0

999 -0.63 -146.0 118.0 -8.9 153 1001 0.12 0.00 0.00 0.000 6 0.100 0.000 2255 2796 3524 0 0 0 0 0 0

1317 -0.60 -146.0 157.5 -12.5 183 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2796 3523 0 0 0 0 0 0

1640 -0.60 -146.0 195.8 -10.9 213 1643 0.00 2.00 0.00 0.000 4 0.000 0.077 2247 3929 3523 0 0 0 0 0 0

1663 -0.60 -146.0 199.1 -11.6 215 1668 0.08 1.90 0.00 0.000 6 0.148 0.050 2272 2799 3523 0 0 0 0 0 0

1995 -0.64 -146.0 232.4 -10.1 246 1998 0.00 2.00 0.00 0.000 4 0.000 0.078 2272 3929 3523 0 0 0 0 0 0

2034 -0.69 -146.0 236.7 -10.2 249 2041 0.00 1.88 0.00 0.000 6 0.000 0.051 2271 2800 3523 0 0 0 0 0 0

2360 -0.72 -146.0 266.5 -8.8 280 2364 0.00 2.33 0.00 0.000 4 0.000 0.053 2271 1365 3523 0 0 0 0 0 0

2436 -0.78 -146.0 273.1 -8.8 286 2441 0.08 2.45 0.00 0.000 6 0.068 0.066 2217 2802 3523 0 0 0 0 0 0

2768 -0.72 -146.0 312.6 -12.4 317 2771 0.00 1.98 0.00 0.000 4 0.000 0.075 2210 3935 3523 0 0 0 0 0 0

2825 -0.65 -146.0 320.1 -13.3 322 2830 0.20 1.88 0.00 0.000 6 0.161 0.050 2265 2789 3523 0 0 0 0 0 0

3158 -0.70 -146.0 350.2 -9.0 353 3159 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2790 3523 0 0 0 0 0 0

3475 -0.75 -146.0 378.0 -8.6 383 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2789 3523 0 0 0 0 0 0

3796 -0.80 -146.0 406.2 -8.9 409 3798 0.15 0.00 0.00 0.000 6 0.092 0.000 2198 2789 3523 0 0 0 0 0 0

4098 -0.73 -146.0 444.0 -12.4 419 4100 0.15 0.00 0.00 0.000 6 0.173 0.000 2238 2789 3523 0 0 0 0 0 0

4403 -0.73 -146.0 471.9 -9.1 429 4407 0.00 2.33 0.00 0.000 4 0.000 0.050 2238 1363 3524 0 0 0 0 0 0

4442 -0.75 -146.0 475.6 -9.0 430 4446 0.00 2.42 0.00 0.000 6 0.000 0.063 2235 2796 3524 0 0 0 0 0 0

4769 -0.75 -146.0 507.3 -9.3 441 4770 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2797 3524 0 0 0 0 0 0

5073 -0.75 -146.0 537.7 -8.5 451 5077 0.00 2.33 0.00 0.000 4 0.000 0.050 2235 1363 3524 0 0 0 0 0 0

5119 -0.78 -146.0 542.1 -9.3 452 5123 0.00 2.42 0.00 0.000 6 0.000 0.062 2235 2794 3524 0 0 0 0 0 0

5449 -0.78 -146.0 572.8 -9.6 463 5450 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2793 3525 0 0 0 0 0 0

5755 -0.78 -146.0 599.9 -8.7 473 5763 0.00 2.35 0.00 0.000 4 0.000 0.052 2235 1362 3525 0 0 0 0 0 0

5832 -1.07 -146.0 600.1 0.2 475 5837 0.30 2.40 0.00 0.000 6 0.078 0.060 2124 2780 3525 0 0 0 0 0 0

5914 end dive: NO_VERTICAL_VELOCITY

state 5914 begin apogee

5921 -0.14 0.0 600.1 0.0 478 6054 0.88 0.00 125.00 0.982 4 0.092 0.000 2429 2597 2923 0 0 0 0 0 0

6055 end apogee: CONTROL_FINISHED_OK

state 6055 begin climb

6058 0.57 146.0 600.0 0.0 482 6199 0.68 2.42 132.05 0.955 4 0.077 0.050 2658 1184 2326 0 0 0 0 0 0

6325 0.57 146.0 585.0 11.1 490 6329 0.00 2.53 0.00 0.000 6 0.000 0.056 2658 2602 2319 0 0 0 0 0 0

6644 0.55 146.0 549.9 10.6 501 6648 0.00 2.28 0.00 0.000 4 0.000 0.069 2658 3934 2315 0 0 0 0 0 0

6680 0.46 146.0 545.8 12.5 502 6685 0.15 2.20 0.00 0.000 6 0.198 0.046 2625 2596 2314 0 0 0 0 0 0

7024 0.52 179.5 517.0 8.5 513 7057 0.00 2.38 27.95 0.907 4 0.000 0.052 2625 1187 2190 0 0 0 0 0 0

7081 0.61 209.4 512.3 8.6 514 7116 0.15 2.33 27.55 0.891 6 0.088 0.057 2690 2594 2069 0 0 0 0 0 0

7430 0.58 209.4 465.8 14.1 526 7431 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2594 2060 0 0 0 0 0 0

7738 0.54 209.4 424.0 13.7 536 7740 0.15 0.00 0.00 0.000 6 0.177 0.000 2650 2594 2059 0 0 0 0 0 0

8045 0.58 209.4 391.1 10.3 550 8046 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2595 2058 0 0 0 0 0 0

8367 0.63 209.4 356.7 10.7 580 8373 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2594 2058 0 0 0 0 0 0

8696 0.68 209.4 322.7 10.1 611 8701 0.12 2.30 0.00 0.000 4 0.100 0.054 2704 1182 2057 0 0 0 0 0 0

8718 0.68 209.4 319.6 11.7 612 8725 0.00 2.33 0.00 0.000 6 0.000 0.056 2704 2596 2058 0 0 0 0 0 0

9044 0.63 209.4 277.2 12.7 643 9048 0.00 2.28 0.00 0.000 4 0.000 0.068 2704 3930 2057 0 0 0 0 0 0

9117 0.55 209.4 265.7 15.7 649 9125 0.20 2.17 0.00 0.000 6 0.177 0.046 2652 2600 2056 0 0 0 0 0 0

9443 0.61 223.8 234.7 9.3 680 9460 0.00 2.30 12.15 0.751 4 0.000 0.053 2652 1192 2009 0 0 0 0 0 0

9531 0.74 259.7 227.3 8.3 687 9569 0.17 2.30 32.30 0.751 6 0.084 0.057 2724 2591 1864 0 0 0 0 0 0

9890 0.74 259.7 179.8 13.2 720 9894 0.00 2.28 0.00 0.000 4 0.000 0.069 2725 3926 1856 0 0 0 0 0 0

9943 0.68 259.7 172.5 14.4 724 9947 0.00 2.17 0.00 0.000 6 0.000 0.047 2725 2592 1854 0 0 0 0 0 0

10275 0.68 259.7 132.1 12.1 755 10276 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2591 1854 0 0 0 0 0 0

10593 0.68 259.7 96.5 11.2 787 10599 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2591 1853 0 0 0 0 0 0

10939 0.69 275.1 63.0 9.3 848 10958 0.00 2.30 12.60 0.681 4 0.000 0.070 2725 3927 1802 0 0 0 0 0 0

10994 0.67 275.1 57.6 10.6 857 11001 0.12 2.17 0.00 0.000 6 0.194 0.047 2695 2598 1800 0 0 0 0 0 0

11344 0.81 327.7 32.7 7.6 918 11398 0.12 2.33 46.10 0.656 4 0.104 0.054 2748 1192 1586 0 0 0 0 0 0

11468 0.90 327.7 20.5 10.5 939 11475 0.00 2.38 0.00 0.000 6 0.000 0.058 2748 2611 1581 0 0 0 0 0 0

11585 end climb: FINISH_DEPTH_REACHED

state 11585 begin subsurface finish

11592 0.06 98.6 8.5 -9.9 959 11629 0.77 2.35 -30.02 0.000 4 0.137 0.087 2502 3925 2523 0 0 0 0 0 0

11630 end subsurface finish: CONTROL_FINISHED_OK

state 11630 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	803	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-12582.993	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	210111,202658,6644.896,-6005.101,0,7132.6,0,-38.2	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210111,202658,6644.896,-6005.101,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	302.0,15379,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	608

FREEZE	8.46,-1.732,-1.740,2,21,0	ALTIM_TOP_PING	19.1,999.0
FINISH1	8.5,1.025491,99	_24V_AH	21.2,90.851
FINISH2	7.0	_10V_AH	9.7,62.064
RAFOS_CLK	728	FG_AHR_24Vo	0.000
RAFOS	0,1295654467,0.033333,0.018611,98,44,43,43,38,38,607,990,856,856,1198,1496	FG_AHR_10Vo	0.000
RAFOS_FIX	6643.148438,-6008.409668,220111,000025,7,116,0.28	MEM	151656
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33370,965
TT8_MAMPS	0.028462	CAP_FILE_SIZE	126064,0
HUMID	50.15	CFSIZE	260165632,197079040
INTERNAL_PRESSURE	8.59255	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1448.7
XPDR_PINGS	0	GPS	220111,002725,6643.148,-6008.410,0,7116.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	247	69.67	SBE_CT	672	24	341.98
Roll_motor	83	87	154.24	SBE_O2	0	0	0.00
VBD_pump_during_apogee	415	982	8656.50	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	98	103	215.08	nil	0	0	0.00
Iridium_during_connect	20	160	67.90	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	17.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	89.05
TT8	2360	19	456.15
LPSleep	7073	2	158.50
TT8_Active	520	19	100.56
TT8_Sampling	1938	39	750.70
TT8_CF8	712	45	317.35
TT8_Kalman	0	0	0.00
Analog_circuits	1442	12	167.90
GPS_charging	0	0	0.00
Compass	1622	15	236.02
RAFOS	2520	3	73.33
Transponder	15	30	4.42

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	142	0.00	0.00	-123.10	0.000	2	0.000	0.000	296	2782	3190	0	0	0	0	0	0
148	-0.57	-146.0	5.4	-10.5	22	173	8.55	2.40	-6.62	0.000	4	0.247	0.066	2282	1366	3523	0	0	0	0	0	0
209	-0.53	-146.0	25.9	-17.5	32	216	0.00	2.40	0.00	0.000	6	0.000	0.066	2275	2778	3524	0	0	0	0	0	0
557	-0.49	-146.0	77.1	-13.1	93	564	0.15	2.03	0.00	0.000	4	0.175	0.076	2313	3927	3524	0	0	0	0	0	0
658	-0.56	-146.0	87.8	-10.1	110	665	0.00	1.88	0.00	0.000	6	0.000	0.051	2313	2796	3523	0	0	0	0	0	0
999	-0.63	-146.0	118.0	-8.9	153	1001	0.12	0.00	0.00	0.000	6	0.100	0.000	2255	2796	3524	0	0	0	0	0	0
1317	-0.60	-146.0	157.5	-12.5	183	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2254	2796	3523	0	0	0	0	0	0
1640	-0.60	-146.0	195.8	-10.9	213	1643	0.00	2.00	0.00	0.000	4	0.000	0.077	2247	3929	3523	0	0	0	0	0	0
1663	-0.60	-146.0	199.1	-11.6	215	1668	0.08	1.90	0.00	0.000	6	0.148	0.050	2272	2799	3523	0	0	0	0	0	0
1995	-0.64	-146.0	232.4	-10.1	246	1998	0.00	2.00	0.00	0.000	4	0.000	0.078	2272	3929	3523	0	0	0	0	0	0
2034	-0.69	-146.0	236.7	-10.2	249	2041	0.00	1.88	0.00	0.000	6	0.000	0.051	2271	2800	3523	0	0	0	0	0	0
2360	-0.72	-146.0	266.5	-8.8	280	2364	0.00	2.33	0.00	0.000	4	0.000	0.053	2271	1365	3523	0	0	0	0	0	0
2436	-0.78	-146.0	273.1	-8.8	286	2441	0.08	2.45	0.00	0.000	6	0.068	0.066	2217	2802	3523	0	0	0	0	0	0
2768	-0.72	-146.0	312.6	-12.4	317	2771	0.00	1.98	0.00	0.000	4	0.000	0.075	2210	3935	3523	0	0	0	0	0	0
2825	-0.65	-146.0	320.1	-13.3	322	2830	0.20	1.88	0.00	0.000	6	0.161	0.050	2265	2789	3523	0	0	0	0	0	0
3158	-0.70	-146.0	350.2	-9.0	353	3159	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2790	3523	0	0	0	0	0	0
3475	-0.75	-146.0	378.0	-8.6	383	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2789	3523	0	0	0	0	0	0
3796	-0.80	-146.0	406.2	-8.9	409	3798	0.15	0.00	0.00	0.000	6	0.092	0.000	2198	2789	3523	0	0	0	0	0	0
4098	-0.73	-146.0	444.0	-12.4	419	4100	0.15	0.00	0.00	0.000	6	0.173	0.000	2238	2789	3523	0	0	0	0	0	0
4403	-0.73	-146.0	471.9	-9.1	429	4407	0.00	2.33	0.00	0.000	4	0.000	0.050	2238	1363	3524	0	0	0	0	0	0
4442	-0.75	-146.0	475.6	-9.0	430	4446	0.00	2.42	0.00	0.000	6	0.000	0.063	2235	2796	3524	0	0	0	0	0	0
4769	-0.75	-146.0	507.3	-9.3	441	4770	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2797	3524	0	0	0	0	0	0
5073	-0.75	-146.0	537.7	-8.5	451	5077	0.00	2.33	0.00	0.000	4	0.000	0.050	2235	1363	3524	0	0	0	0	0	0
5119	-0.78	-146.0	542.1	-9.3	452	5123	0.00	2.42	0.00	0.000	6	0.000	0.062	2235	2794	3524	0	0	0	0	0	0
5449	-0.78	-146.0	572.8	-9.6	463	5450	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2793	3525	0	0	0	0	0	0
5755	-0.78	-146.0	599.9	-8.7	473	5763	0.00	2.35	0.00	0.000	4	0.000	0.052	2235	1362	3525	0	0	0	0	0	0
5832	-1.07	-146.0	600.1	0.2	475	5837	0.30	2.40	0.00	0.000	6	0.078	0.060	2124	2780	3525	0	0	0	0	0	0
5914	end dive: NO_VERTICAL_VELOCITY
state	5914	begin apogee
5921	-0.14	0.0	600.1	0.0	478	6054	0.88	0.00	125.00	0.982	4	0.092	0.000	2429	2597	2923	0	0	0	0	0	0
6055	end apogee: CONTROL_FINISHED_OK
state	6055	begin climb
6058	0.57	146.0	600.0	0.0	482	6199	0.68	2.42	132.05	0.955	4	0.077	0.050	2658	1184	2326	0	0	0	0	0	0
6325	0.57	146.0	585.0	11.1	490	6329	0.00	2.53	0.00	0.000	6	0.000	0.056	2658	2602	2319	0	0	0	0	0	0
6644	0.55	146.0	549.9	10.6	501	6648	0.00	2.28	0.00	0.000	4	0.000	0.069	2658	3934	2315	0	0	0	0	0	0
6680	0.46	146.0	545.8	12.5	502	6685	0.15	2.20	0.00	0.000	6	0.198	0.046	2625	2596	2314	0	0	0	0	0	0
7024	0.52	179.5	517.0	8.5	513	7057	0.00	2.38	27.95	0.907	4	0.000	0.052	2625	1187	2190	0	0	0	0	0	0
7081	0.61	209.4	512.3	8.6	514	7116	0.15	2.33	27.55	0.891	6	0.088	0.057	2690	2594	2069	0	0	0	0	0	0
7430	0.58	209.4	465.8	14.1	526	7431	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2594	2060	0	0	0	0	0	0
7738	0.54	209.4	424.0	13.7	536	7740	0.15	0.00	0.00	0.000	6	0.177	0.000	2650	2594	2059	0	0	0	0	0	0
8045	0.58	209.4	391.1	10.3	550	8046	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2595	2058	0	0	0	0	0	0
8367	0.63	209.4	356.7	10.7	580	8373	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2594	2058	0	0	0	0	0	0
8696	0.68	209.4	322.7	10.1	611	8701	0.12	2.30	0.00	0.000	4	0.100	0.054	2704	1182	2057	0	0	0	0	0	0
8718	0.68	209.4	319.6	11.7	612	8725	0.00	2.33	0.00	0.000	6	0.000	0.056	2704	2596	2058	0	0	0	0	0	0
9044	0.63	209.4	277.2	12.7	643	9048	0.00	2.28	0.00	0.000	4	0.000	0.068	2704	3930	2057	0	0	0	0	0	0
9117	0.55	209.4	265.7	15.7	649	9125	0.20	2.17	0.00	0.000	6	0.177	0.046	2652	2600	2056	0	0	0	0	0	0
9443	0.61	223.8	234.7	9.3	680	9460	0.00	2.30	12.15	0.751	4	0.000	0.053	2652	1192	2009	0	0	0	0	0	0
9531	0.74	259.7	227.3	8.3	687	9569	0.17	2.30	32.30	0.751	6	0.084	0.057	2724	2591	1864	0	0	0	0	0	0
9890	0.74	259.7	179.8	13.2	720	9894	0.00	2.28	0.00	0.000	4	0.000	0.069	2725	3926	1856	0	0	0	0	0	0
9943	0.68	259.7	172.5	14.4	724	9947	0.00	2.17	0.00	0.000	6	0.000	0.047	2725	2592	1854	0	0	0	0	0	0
10275	0.68	259.7	132.1	12.1	755	10276	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2591	1854	0	0	0	0	0	0
10593	0.68	259.7	96.5	11.2	787	10599	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2591	1853	0	0	0	0	0	0
10939	0.69	275.1	63.0	9.3	848	10958	0.00	2.30	12.60	0.681	4	0.000	0.070	2725	3927	1802	0	0	0	0	0	0
10994	0.67	275.1	57.6	10.6	857	11001	0.12	2.17	0.00	0.000	6	0.194	0.047	2695	2598	1800	0	0	0	0	0	0
11344	0.81	327.7	32.7	7.6	918	11398	0.12	2.33	46.10	0.656	4	0.104	0.054	2748	1192	1586	0	0	0	0	0	0
11468	0.90	327.7	20.5	10.5	939	11475	0.00	2.38	0.00	0.000	6	0.000	0.058	2748	2611	1581	0	0	0	0	0	0
11585	end climb: FINISH_DEPTH_REACHED
state	11585	begin subsurface finish
11592	0.06	98.6	8.5	-9.9	959	11629	0.77	2.35	-30.02	0.000	4	0.137	0.087	2502	3925	2523	0	0	0	0	0	0
11630	end subsurface finish: CONTROL_FINISHED_OK
state	11630	begin surface