Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 804 * 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 804 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 33 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 -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 33 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 804 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 220111,002725,6643.148,-6008.410,0,7116.0,0,-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 10.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,002725,6643.148,-6008.410,0,7116.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 315.2,12965,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 570

Post-dive calculations and measurements:

FREEZE 8.48,-1.717,-1.739,2,22,0 ALTIM_TOP_PING 19.9,18.6

FINISH1 8.5,1.025478,99 _24V_AH 21.3,90.951

FINISH2 7.1 _10V_AH 9.7,62.119

RAFOS_CLK 649 FG_AHR_24Vo 0.000

RAFOS 0,1295668871,4.033333,4.019722,106,46,46,41,40,39,574,1420,26,704,1238,1797 FG_AHR_10Vo 0.000

RAFOS_FIX 6643.905762,-6013.252441,220111,040444,6,131,0.26 MEM 151660

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33326,930

TT8_MAMPS 0.028462 CAP_FILE_SIZE 106808,0

HUMID 50.66 CFSIZE 260165632,197033984

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

TCM_TEMP 14.00 SOUNDSPEED 1448.6

XPDR_PINGS 0 GPS 220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 192 16.42 SBE_CT 649 24 332.09

Roll_motor 66 85 121.09 SBE_O2 0 0 0.00

VBD_pump_during_apogee 404 963 8300.71 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 1 420 15.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2291 19 442.85

LPSleep 6695 2 150.02

TT8_Active 414 19 80.00

TT8_Sampling 1501 39 581.26

TT8_CF8 226 45 101.11

TT8_Kalman 0 0 0.00

Analog_circuits 1237 12 144.06

GPS_charging 0 0 0.00

Compass 1496 15 217.78

RAFOS 2520 3 73.33

Transponder 13 30 3.85

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

17 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.62 0.000 2 0.000 0.000 2502 3925 2767 0 0 0 0 0 0

28 -0.57 -146.0 11.5 -0.0 1 53 0.57 4.28 -16.73 0.000 4 0.094 0.057 2296 1374 3522 0 0 0 0 0 0

208 -0.57 -146.0 32.5 -12.8 32 215 0.00 2.35 0.00 0.000 6 0.000 0.063 2291 2777 3523 0 0 0 0 0 0

555 -0.57 -146.0 78.0 -12.0 93 562 0.00 2.00 0.00 0.000 4 0.000 0.075 2283 3928 3522 0 0 0 0 0 0

620 -0.57 -146.0 86.0 -11.8 104 627 0.00 1.88 0.00 0.000 6 0.000 0.050 2283 2791 3522 0 0 0 0 0 0

955 -0.57 -146.0 125.2 -11.0 145 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2791 3522 0 0 0 0 0 0

1274 -0.59 -146.0 159.5 -11.2 175 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2791 3521 0 0 0 0 0 0

1604 -0.63 -146.0 193.1 -9.8 206 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2791 3521 0 0 0 0 0 0

1934 -0.69 -146.0 225.5 -9.3 237 1937 0.00 1.98 0.00 0.000 4 0.000 0.076 2277 3927 3521 0 0 0 0 0 0

1974 -0.73 -146.0 229.6 -9.5 240 1982 0.10 1.88 0.00 0.000 6 0.115 0.050 2232 2795 3521 0 0 0 0 0 0

2302 -0.69 -146.0 264.6 -10.0 271 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2796 3521 0 0 0 0 0 0

2623 -0.67 -146.0 299.6 -10.7 301 2628 0.00 2.00 0.00 0.000 4 0.000 0.076 2224 3932 3520 0 0 0 0 0 0

2662 -0.62 -146.0 304.6 -11.4 304 2670 0.17 1.85 0.00 0.000 6 0.155 0.050 2273 2811 3520 0 0 0 0 0 0

2989 -0.68 -146.0 328.7 -6.8 335 2993 0.00 2.35 0.00 0.000 4 0.000 0.052 2273 1372 3520 0 0 0 0 0 0

3052 -0.76 -146.0 332.9 -7.2 340 3057 0.12 2.42 0.00 0.000 6 0.097 0.064 2221 2796 3520 0 0 0 0 0 0

3384 -0.72 -146.0 368.4 -10.9 371 3387 0.00 1.98 0.00 0.000 4 0.000 0.074 2214 3932 3520 0 0 0 0 0 0

3430 -0.67 -146.0 373.9 -11.8 375 3435 0.15 1.85 0.00 0.000 6 0.161 0.049 2253 2797 3520 0 0 0 0 0 0

3781 -0.70 -146.0 405.7 -8.9 404 3785 0.00 2.30 0.00 0.000 4 0.000 0.051 2254 1371 3521 0 0 0 0 0 0

3845 -0.76 -146.0 411.7 -8.9 406 3850 0.00 2.42 0.00 0.000 6 0.000 0.063 2249 2792 3521 0 0 0 0 0 0

4182 -0.79 -146.0 442.7 -9.0 417 4183 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2793 3521 0 0 0 0 0 0

4489 -0.82 -146.0 469.9 -8.8 427 4490 0.10 0.00 0.00 0.000 6 0.117 0.000 2200 2793 3522 0 0 0 0 0 0

4794 -0.75 -146.0 505.6 -11.9 437 4799 0.12 2.38 0.00 0.000 4 0.176 0.051 2232 1362 3522 0 0 0 0 0 0

4839 -0.77 -146.0 510.7 -10.4 438 4843 0.00 2.42 0.00 0.000 6 0.000 0.062 2230 2786 3522 0 0 0 0 0 0

5159 -0.77 -146.0 541.9 -9.7 449 5160 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2786 3522 0 0 0 0 0 0

5461 end dive: TARGET_DEPTH_EXCEEDED

state 5461 begin apogee

5468 -0.14 0.0 571.7 9.8 459 5597 0.60 0.00 123.65 0.964 4 0.131 0.000 2423 2603 2923 0 0 0 0 0 0

5598 end apogee: CONTROL_FINISHED_OK

state 5598 begin climb

5600 0.57 146.0 573.9 0.0 463 5737 0.65 0.00 130.77 0.937 6 0.070 0.000 2660 2603 2326 0 0 0 0 0 0

6065 0.54 146.0 528.9 11.2 478 6066 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2602 2317 0 0 0 0 0 0

6370 0.50 146.0 495.3 10.9 488 6371 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2602 2316 0 0 0 0 0 0

6676 0.47 146.0 461.9 10.5 498 6681 0.12 2.30 0.00 0.000 4 0.193 0.069 2628 3936 2315 0 0 0 0 0 0

6711 0.47 146.0 458.4 10.3 499 6716 0.00 2.17 0.00 0.000 6 0.000 0.046 2628 2592 2314 0 0 0 0 0 0

7055 0.52 179.9 429.7 8.4 510 7086 0.00 0.00 28.55 0.862 6 0.000 0.000 2628 2591 2189 0 0 0 0 0 0

7392 0.58 185.0 397.6 9.8 521 7400 0.10 0.00 5.40 0.706 6 0.115 0.000 2678 2591 2168 0 0 0 0 0 0

7718 0.55 185.0 358.2 12.1 552 7722 0.00 2.28 0.00 0.000 4 0.000 0.054 2679 1190 2167 0 0 0 0 0 0

7786 0.55 185.0 350.4 10.5 557 7793 0.00 2.38 0.00 0.000 6 0.000 0.057 2679 2623 2167 0 0 0 0 0 0

8112 0.52 185.0 311.5 12.5 588 8114 0.12 0.00 0.00 0.000 6 0.187 0.000 2647 2623 2166 0 0 0 0 0 0

8430 0.56 185.0 278.6 10.4 618 8431 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2623 2165 0 0 0 0 0 0

8754 0.63 221.2 249.4 8.3 648 8790 0.00 2.28 31.85 0.767 4 0.000 0.070 2647 3931 2021 0 0 0 0 0 0

8825 0.67 227.1 242.7 9.7 654 8837 0.12 2.17 6.43 0.666 6 0.100 0.046 2696 2595 1997 0 0 0 0 0 0

9156 0.67 227.1 207.1 11.0 685 9158 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2595 1992 0 0 0 0 0 0

9479 0.67 227.1 171.7 11.3 715 9483 0.00 2.30 0.00 0.000 4 0.000 0.070 2696 3928 1992 0 0 0 0 0 0

9521 0.64 227.1 166.1 12.9 718 9524 0.00 2.15 0.00 0.000 6 0.000 0.046 2696 2614 1991 0 0 0 0 0 0

9852 0.64 239.6 132.6 9.4 749 9866 0.00 0.00 11.45 0.705 6 0.000 0.000 2697 2614 1946 0 0 0 0 0 0

10183 0.70 257.8 98.7 9.2 781 10208 0.00 2.33 17.12 0.696 4 0.000 0.056 2697 1189 1870 0 0 0 0 0 0

10255 0.83 313.9 93.1 7.4 793 10311 0.12 2.38 49.08 0.682 6 0.102 0.058 2751 2619 1642 0 0 0 0 0 0

10653 0.86 313.9 46.6 10.5 862 10660 0.00 2.35 0.00 0.000 4 0.000 0.057 2751 1196 1630 0 0 0 0 0 0

10696 0.92 317.8 42.2 9.8 869 10703 0.00 2.35 0.00 0.000 6 0.000 0.057 2751 2610 1630 0 0 0 0 0 0

11006 end climb: FINISH_DEPTH_REACHED

state 11006 begin subsurface finish

11014 0.06 99.2 8.5 -10.7 924 11051 0.80 2.30 -27.88 0.000 4 0.143 0.086 2502 3934 2520 0 0 0 0 0 0

11052 end subsurface finish: CONTROL_FINISHED_OK

state 11052 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	804	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	33	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	-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	220111,002725,6643.148,-6008.410,0,7116.0,0,-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	10.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,002725,6643.148,-6008.410,0,7116.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	315.2,12965,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	570

FREEZE	8.48,-1.717,-1.739,2,22,0	ALTIM_TOP_PING	19.9,18.6
FINISH1	8.5,1.025478,99	_24V_AH	21.3,90.951
FINISH2	7.1	_10V_AH	9.7,62.119
RAFOS_CLK	649	FG_AHR_24Vo	0.000
RAFOS	0,1295668871,4.033333,4.019722,106,46,46,41,40,39,574,1420,26,704,1238,1797	FG_AHR_10Vo	0.000
RAFOS_FIX	6643.905762,-6013.252441,220111,040444,6,131,0.26	MEM	151660
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33326,930
TT8_MAMPS	0.028462	CAP_FILE_SIZE	106808,0
HUMID	50.66	CFSIZE	260165632,197033984
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1448.6
XPDR_PINGS	0	GPS	220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	192	16.42	SBE_CT	649	24	332.09
Roll_motor	66	85	121.09	SBE_O2	0	0	0.00
VBD_pump_during_apogee	404	963	8300.71	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	1	420	15.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2291	19	442.85
LPSleep	6695	2	150.02
TT8_Active	414	19	80.00
TT8_Sampling	1501	39	581.26
TT8_CF8	226	45	101.11
TT8_Kalman	0	0	0.00
Analog_circuits	1237	12	144.06
GPS_charging	0	0	0.00
Compass	1496	15	217.78
RAFOS	2520	3	73.33
Transponder	13	30	3.85

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
17	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.62	0.000	2	0.000	0.000	2502	3925	2767	0	0	0	0	0	0
28	-0.57	-146.0	11.5	-0.0	1	53	0.57	4.28	-16.73	0.000	4	0.094	0.057	2296	1374	3522	0	0	0	0	0	0
208	-0.57	-146.0	32.5	-12.8	32	215	0.00	2.35	0.00	0.000	6	0.000	0.063	2291	2777	3523	0	0	0	0	0	0
555	-0.57	-146.0	78.0	-12.0	93	562	0.00	2.00	0.00	0.000	4	0.000	0.075	2283	3928	3522	0	0	0	0	0	0
620	-0.57	-146.0	86.0	-11.8	104	627	0.00	1.88	0.00	0.000	6	0.000	0.050	2283	2791	3522	0	0	0	0	0	0
955	-0.57	-146.0	125.2	-11.0	145	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2791	3522	0	0	0	0	0	0
1274	-0.59	-146.0	159.5	-11.2	175	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2791	3521	0	0	0	0	0	0
1604	-0.63	-146.0	193.1	-9.8	206	1610	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2791	3521	0	0	0	0	0	0
1934	-0.69	-146.0	225.5	-9.3	237	1937	0.00	1.98	0.00	0.000	4	0.000	0.076	2277	3927	3521	0	0	0	0	0	0
1974	-0.73	-146.0	229.6	-9.5	240	1982	0.10	1.88	0.00	0.000	6	0.115	0.050	2232	2795	3521	0	0	0	0	0	0
2302	-0.69	-146.0	264.6	-10.0	271	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2796	3521	0	0	0	0	0	0
2623	-0.67	-146.0	299.6	-10.7	301	2628	0.00	2.00	0.00	0.000	4	0.000	0.076	2224	3932	3520	0	0	0	0	0	0
2662	-0.62	-146.0	304.6	-11.4	304	2670	0.17	1.85	0.00	0.000	6	0.155	0.050	2273	2811	3520	0	0	0	0	0	0
2989	-0.68	-146.0	328.7	-6.8	335	2993	0.00	2.35	0.00	0.000	4	0.000	0.052	2273	1372	3520	0	0	0	0	0	0
3052	-0.76	-146.0	332.9	-7.2	340	3057	0.12	2.42	0.00	0.000	6	0.097	0.064	2221	2796	3520	0	0	0	0	0	0
3384	-0.72	-146.0	368.4	-10.9	371	3387	0.00	1.98	0.00	0.000	4	0.000	0.074	2214	3932	3520	0	0	0	0	0	0
3430	-0.67	-146.0	373.9	-11.8	375	3435	0.15	1.85	0.00	0.000	6	0.161	0.049	2253	2797	3520	0	0	0	0	0	0
3781	-0.70	-146.0	405.7	-8.9	404	3785	0.00	2.30	0.00	0.000	4	0.000	0.051	2254	1371	3521	0	0	0	0	0	0
3845	-0.76	-146.0	411.7	-8.9	406	3850	0.00	2.42	0.00	0.000	6	0.000	0.063	2249	2792	3521	0	0	0	0	0	0
4182	-0.79	-146.0	442.7	-9.0	417	4183	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2793	3521	0	0	0	0	0	0
4489	-0.82	-146.0	469.9	-8.8	427	4490	0.10	0.00	0.00	0.000	6	0.117	0.000	2200	2793	3522	0	0	0	0	0	0
4794	-0.75	-146.0	505.6	-11.9	437	4799	0.12	2.38	0.00	0.000	4	0.176	0.051	2232	1362	3522	0	0	0	0	0	0
4839	-0.77	-146.0	510.7	-10.4	438	4843	0.00	2.42	0.00	0.000	6	0.000	0.062	2230	2786	3522	0	0	0	0	0	0
5159	-0.77	-146.0	541.9	-9.7	449	5160	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2786	3522	0	0	0	0	0	0
5461	end dive: TARGET_DEPTH_EXCEEDED
state	5461	begin apogee
5468	-0.14	0.0	571.7	9.8	459	5597	0.60	0.00	123.65	0.964	4	0.131	0.000	2423	2603	2923	0	0	0	0	0	0
5598	end apogee: CONTROL_FINISHED_OK
state	5598	begin climb
5600	0.57	146.0	573.9	0.0	463	5737	0.65	0.00	130.77	0.937	6	0.070	0.000	2660	2603	2326	0	0	0	0	0	0
6065	0.54	146.0	528.9	11.2	478	6066	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2602	2317	0	0	0	0	0	0
6370	0.50	146.0	495.3	10.9	488	6371	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2602	2316	0	0	0	0	0	0
6676	0.47	146.0	461.9	10.5	498	6681	0.12	2.30	0.00	0.000	4	0.193	0.069	2628	3936	2315	0	0	0	0	0	0
6711	0.47	146.0	458.4	10.3	499	6716	0.00	2.17	0.00	0.000	6	0.000	0.046	2628	2592	2314	0	0	0	0	0	0
7055	0.52	179.9	429.7	8.4	510	7086	0.00	0.00	28.55	0.862	6	0.000	0.000	2628	2591	2189	0	0	0	0	0	0
7392	0.58	185.0	397.6	9.8	521	7400	0.10	0.00	5.40	0.706	6	0.115	0.000	2678	2591	2168	0	0	0	0	0	0
7718	0.55	185.0	358.2	12.1	552	7722	0.00	2.28	0.00	0.000	4	0.000	0.054	2679	1190	2167	0	0	0	0	0	0
7786	0.55	185.0	350.4	10.5	557	7793	0.00	2.38	0.00	0.000	6	0.000	0.057	2679	2623	2167	0	0	0	0	0	0
8112	0.52	185.0	311.5	12.5	588	8114	0.12	0.00	0.00	0.000	6	0.187	0.000	2647	2623	2166	0	0	0	0	0	0
8430	0.56	185.0	278.6	10.4	618	8431	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2623	2165	0	0	0	0	0	0
8754	0.63	221.2	249.4	8.3	648	8790	0.00	2.28	31.85	0.767	4	0.000	0.070	2647	3931	2021	0	0	0	0	0	0
8825	0.67	227.1	242.7	9.7	654	8837	0.12	2.17	6.43	0.666	6	0.100	0.046	2696	2595	1997	0	0	0	0	0	0
9156	0.67	227.1	207.1	11.0	685	9158	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2595	1992	0	0	0	0	0	0
9479	0.67	227.1	171.7	11.3	715	9483	0.00	2.30	0.00	0.000	4	0.000	0.070	2696	3928	1992	0	0	0	0	0	0
9521	0.64	227.1	166.1	12.9	718	9524	0.00	2.15	0.00	0.000	6	0.000	0.046	2696	2614	1991	0	0	0	0	0	0
9852	0.64	239.6	132.6	9.4	749	9866	0.00	0.00	11.45	0.705	6	0.000	0.000	2697	2614	1946	0	0	0	0	0	0
10183	0.70	257.8	98.7	9.2	781	10208	0.00	2.33	17.12	0.696	4	0.000	0.056	2697	1189	1870	0	0	0	0	0	0
10255	0.83	313.9	93.1	7.4	793	10311	0.12	2.38	49.08	0.682	6	0.102	0.058	2751	2619	1642	0	0	0	0	0	0
10653	0.86	313.9	46.6	10.5	862	10660	0.00	2.35	0.00	0.000	4	0.000	0.057	2751	1196	1630	0	0	0	0	0	0
10696	0.92	317.8	42.2	9.8	869	10703	0.00	2.35	0.00	0.000	6	0.000	0.057	2751	2610	1630	0	0	0	0	0	0
11006	end climb: FINISH_DEPTH_REACHED
state	11006	begin subsurface finish
11014	0.06	99.2	8.5	-10.7	924	11051	0.80	2.30	-27.88	0.000	4	0.143	0.086	2502	3934	2520	0	0	0	0	0	0
11052	end subsurface finish: CONTROL_FINISHED_OK
state	11052	begin surface