Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 806 * 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 806 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 30 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 30 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 806 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 220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 113.3,152836,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 556

Post-dive calculations and measurements:

FREEZE 8.43,-1.739,-1.751,2,24,0 ALTIM_TOP_PING 19.7,18.2

FINISH1 8.4,1.025648,91 _24V_AH 21.3,91.151

FINISH2 7.0 _10V_AH 9.6,62.227

RAFOS_CLK 563 FG_AHR_24Vo 0.000

RAFOS 6,1295686145,8.833333,8.818055,100,51,45,43,41,39,824,1814,1383,320,699,1897 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.518555,-6011.608887,220111,080825,7,110,6.41 MEM 151684

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 30063,866

TT8_MAMPS 0.028462 CAP_FILE_SIZE 108160,0

HUMID 48.50 CFSIZE 260165632,196919296

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

TCM_TEMP 14.40 SOUNDSPEED 1447.9

XPDR_PINGS 0 GPS 220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 229 43.51 SBE_CT 602 24 308.01

Roll_motor 94 85 173.10 SBE_O2 0 0 0.00

VBD_pump_during_apogee 450 960 9212.03 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 2113 19 404.19

LPSleep 5386 2 119.45

TT8_Active 471 19 90.11

TT8_Sampling 1541 39 590.74

TT8_CF8 215 45 94.93

TT8_Kalman 0 0 0.00

Analog_circuits 1334 12 153.76

GPS_charging 0 0 0.00

Compass 1525 15 219.68

RAFOS 0 0 0.00

Transponder 13 30 3.81

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 -6.22 0.000 2 0.000 0.000 2504 2594 2779 0 0 0 0 0 0

29 -0.57 -146.0 8.7 -0.0 1 54 0.57 2.40 -19.10 0.000 4 0.074 0.086 2275 3926 3521 0 0 0 0 0 0

67 -0.57 -146.0 11.8 -8.9 7 74 0.00 1.88 0.00 0.000 6 0.000 0.048 2275 2777 3522 0 0 0 0 0 0

415 -0.53 -146.0 64.3 -15.2 68 421 0.00 2.28 0.00 0.000 4 0.000 0.051 2275 1368 3522 0 0 0 0 0 0

476 -0.53 -146.0 72.9 -13.5 78 482 0.00 2.38 0.00 0.000 6 0.000 0.063 2275 2778 3522 0 0 0 0 0 0

819 -0.53 -146.0 117.7 -12.1 127 823 0.00 2.00 0.00 0.000 4 0.000 0.075 2275 3930 3521 0 0 0 0 0 0

888 -0.53 -146.0 125.5 -11.3 133 892 0.00 1.88 0.00 0.000 6 0.000 0.050 2275 2781 3521 0 0 0 0 0 0

1219 -0.53 -146.0 160.9 -10.4 164 1223 0.00 2.30 0.00 0.000 4 0.000 0.052 2275 1374 3521 0 0 0 0 0 0

1250 -0.55 -146.0 163.9 -10.5 166 1254 0.00 2.38 0.00 0.000 6 0.000 0.064 2275 2778 3521 0 0 0 0 0 0

1577 -0.58 -146.0 196.1 -9.3 196 1580 0.00 2.00 0.00 0.000 4 0.000 0.076 2275 3935 3521 0 0 0 0 0 0

1602 -0.62 -146.0 198.4 -9.2 198 1606 0.00 1.90 0.00 0.000 6 0.000 0.050 2275 2770 3520 0 0 0 0 0 0

1934 -0.66 -146.0 229.9 -8.9 229 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2770 3520 0 0 0 0 0 0

2255 -0.70 -146.0 258.2 -8.6 259 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2770 3520 0 0 0 0 0 0

2583 -0.75 -146.0 286.0 -7.5 290 2590 0.12 0.00 0.00 0.000 6 0.103 0.000 2220 2770 3520 0 0 0 0 0 0

2910 -0.70 -146.0 322.1 -12.1 321 2914 0.00 2.03 0.00 0.000 4 0.000 0.075 2213 3932 3520 0 0 0 0 0 0

2945 -0.64 -146.0 326.5 -12.8 324 2949 0.12 1.95 0.00 0.000 6 0.131 0.049 2267 2769 3520 0 0 0 0 0 0

3276 -0.69 -146.0 356.6 -9.0 355 3280 0.00 2.28 0.00 0.000 4 0.000 0.052 2267 1367 3519 0 0 0 0 0 0

3334 -0.75 -146.0 362.0 -9.3 360 3338 0.00 2.40 0.00 0.000 6 0.000 0.063 2262 2773 3519 0 0 0 0 0 0

3660 -0.80 -146.0 392.8 -9.0 390 3662 0.12 0.00 0.00 0.000 6 0.103 0.000 2204 2773 3520 0 0 0 0 0 0

3969 -0.74 -146.0 430.7 -12.6 404 3974 0.12 2.05 0.00 0.000 4 0.177 0.073 2229 3935 3519 0 0 0 0 0 0

4019 -0.74 -146.0 436.8 -10.5 405 4023 0.00 1.90 0.00 0.000 6 0.000 0.048 2230 2771 3520 0 0 0 0 0 0

4344 -0.74 -146.0 470.7 -10.6 416 4348 0.00 2.28 0.00 0.000 4 0.000 0.050 2230 1361 3520 0 0 0 0 0 0

4378 -0.74 -146.0 474.5 -10.9 417 4382 0.00 2.38 0.00 0.000 6 0.000 0.062 2230 2768 3520 0 0 0 0 0 0

4707 -0.74 -146.0 507.4 -10.0 428 4711 0.00 2.00 0.00 0.000 4 0.000 0.073 2222 3930 3520 0 0 0 0 0 0

4743 -0.71 -146.0 511.1 -10.9 429 4746 0.00 1.90 0.00 0.000 6 0.000 0.047 2222 2763 3521 0 0 0 0 0 0

5085 -0.71 -146.0 545.1 -9.8 440 5089 0.00 2.28 0.00 0.000 4 0.000 0.050 2222 1367 3521 0 0 0 0 0 0

5114 -0.71 -146.0 548.2 -10.1 441 5118 0.00 2.38 0.00 0.000 6 0.000 0.062 2222 2776 3521 0 0 0 0 0 0

5201 end dive: TARGET_DEPTH_EXCEEDED

state 5201 begin apogee

5208 -0.14 0.0 557.1 10.0 444 5341 0.62 0.00 123.00 0.960 4 0.136 0.000 2419 2594 2923 0 0 0 0 0 0

5341 end apogee: CONTROL_FINISHED_OK

state 5341 begin climb

5344 0.57 146.0 560.5 0.0 448 5484 0.70 2.42 130.82 0.934 4 0.067 0.050 2665 1177 2326 0 0 0 0 0 0

5687 -1.65 146.0 533.2 19765.9 458 5699 2.47 2.45 0.00 0.000 6 0.146 0.055 1949 2609 2316 0 0 0 0 0 0

6007 -1.65 146.0 488.0 19765.9 469 6011 0.00 2.30 0.00 0.000 4 0.000 0.053 1948 1187 2311 0 0 0 0 0 0

6198 -1.65 146.0 455.8 19765.9 474 6205 0.00 2.35 0.00 0.000 6 0.000 0.060 1944 2594 2311 0 0 0 0 0 0

6512 -1.65 146.0 405.2 19765.9 485 6516 0.00 2.28 0.00 0.000 4 0.000 0.070 1938 3929 2309 0 0 0 0 0 0

6522 -1.65 146.0 402.6 19765.9 485 6527 0.00 2.22 0.00 0.000 6 0.000 0.044 1938 2560 2308 0 0 0 0 0 0

6849 -1.65 146.0 350.2 19765.9 515 6853 0.00 2.20 0.00 0.000 4 0.000 0.050 1937 1192 2309 0 0 0 0 0 0

7109 -1.65 146.0 306.4 19765.9 537 7115 0.00 2.22 0.00 0.000 6 0.000 0.059 1929 2526 2308 0 0 0 0 0 0

7435 -1.65 146.0 253.5 19765.9 568 7439 0.00 2.15 0.00 0.000 4 0.000 0.050 1927 1189 2309 0 0 0 0 0 0

7460 -1.65 146.0 249.7 19765.9 570 7464 0.00 2.17 0.00 0.000 6 0.000 0.059 1919 2493 2309 0 0 0 0 0 0

7786 -1.65 146.0 197.0 19765.9 600 7790 0.00 2.10 0.00 0.000 4 0.000 0.047 1919 1182 2306 0 0 0 0 0 0

7811 -1.65 146.0 193.3 19765.9 602 7816 0.12 2.15 0.00 0.000 6 0.194 0.057 1938 2475 2309 0 0 0 0 0 0

8139 -1.65 146.0 145.5 19765.9 632 8143 0.00 2.05 0.00 0.000 4 0.000 0.046 1938 1184 2306 0 0 0 0 0 0

8151 -1.65 146.0 143.7 19765.9 633 8155 0.00 2.15 0.00 0.000 6 0.000 0.057 1931 2478 2309 0 0 0 0 0 0

8480 -0.53 146.0 95.5 15.0 666 8488 1.50 2.12 0.00 0.000 4 0.230 0.048 2290 1187 2309 0 0 0 0 0 0

8558 0.39 212.9 89.0 6.9 679 8619 1.00 2.12 54.58 0.689 6 0.125 0.060 2597 2459 2055 0 0 0 0 0 0

8961 0.77 334.7 70.2 4.4 749 9074 0.30 2.58 101.43 0.666 4 0.073 0.068 2726 3928 1556 0 0 0 0 0 0

9082 0.83 359.8 61.2 8.8 769 9113 0.00 2.53 21.60 0.640 6 0.000 0.047 2728 2424 1455 0 0 0 0 0 0

9456 0.95 383.2 25.9 8.9 834 9482 0.15 2.08 19.05 0.644 4 0.090 0.057 2791 1194 1358 0 0 0 0 0 0

9594 end climb: FINISH_DEPTH_REACHED

state 9594 begin subsurface finish

9604 0.06 90.9 8.4 -12.1 858 9652 0.95 2.35 -38.22 0.000 4 0.148 0.067 2498 1180 2556 0 0 0 0 0 0

9653 end subsurface finish: CONTROL_FINISHED_OK

state 9653 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	806	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	30	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	220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	113.3,152836,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	556

FREEZE	8.43,-1.739,-1.751,2,24,0	ALTIM_TOP_PING	19.7,18.2
FINISH1	8.4,1.025648,91	_24V_AH	21.3,91.151
FINISH2	7.0	_10V_AH	9.6,62.227
RAFOS_CLK	563	FG_AHR_24Vo	0.000
RAFOS	6,1295686145,8.833333,8.818055,100,51,45,43,41,39,824,1814,1383,320,699,1897	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.518555,-6011.608887,220111,080825,7,110,6.41	MEM	151684
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	30063,866
TT8_MAMPS	0.028462	CAP_FILE_SIZE	108160,0
HUMID	48.50	CFSIZE	260165632,196919296
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.40	SOUNDSPEED	1447.9
XPDR_PINGS	0	GPS	220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	229	43.51	SBE_CT	602	24	308.01
Roll_motor	94	85	173.10	SBE_O2	0	0	0.00
VBD_pump_during_apogee	450	960	9212.03	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	2113	19	404.19
LPSleep	5386	2	119.45
TT8_Active	471	19	90.11
TT8_Sampling	1541	39	590.74
TT8_CF8	215	45	94.93
TT8_Kalman	0	0	0.00
Analog_circuits	1334	12	153.76
GPS_charging	0	0	0.00
Compass	1525	15	219.68
RAFOS	0	0	0.00
Transponder	13	30	3.81

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	-6.22	0.000	2	0.000	0.000	2504	2594	2779	0	0	0	0	0	0
29	-0.57	-146.0	8.7	-0.0	1	54	0.57	2.40	-19.10	0.000	4	0.074	0.086	2275	3926	3521	0	0	0	0	0	0
67	-0.57	-146.0	11.8	-8.9	7	74	0.00	1.88	0.00	0.000	6	0.000	0.048	2275	2777	3522	0	0	0	0	0	0
415	-0.53	-146.0	64.3	-15.2	68	421	0.00	2.28	0.00	0.000	4	0.000	0.051	2275	1368	3522	0	0	0	0	0	0
476	-0.53	-146.0	72.9	-13.5	78	482	0.00	2.38	0.00	0.000	6	0.000	0.063	2275	2778	3522	0	0	0	0	0	0
819	-0.53	-146.0	117.7	-12.1	127	823	0.00	2.00	0.00	0.000	4	0.000	0.075	2275	3930	3521	0	0	0	0	0	0
888	-0.53	-146.0	125.5	-11.3	133	892	0.00	1.88	0.00	0.000	6	0.000	0.050	2275	2781	3521	0	0	0	0	0	0
1219	-0.53	-146.0	160.9	-10.4	164	1223	0.00	2.30	0.00	0.000	4	0.000	0.052	2275	1374	3521	0	0	0	0	0	0
1250	-0.55	-146.0	163.9	-10.5	166	1254	0.00	2.38	0.00	0.000	6	0.000	0.064	2275	2778	3521	0	0	0	0	0	0
1577	-0.58	-146.0	196.1	-9.3	196	1580	0.00	2.00	0.00	0.000	4	0.000	0.076	2275	3935	3521	0	0	0	0	0	0
1602	-0.62	-146.0	198.4	-9.2	198	1606	0.00	1.90	0.00	0.000	6	0.000	0.050	2275	2770	3520	0	0	0	0	0	0
1934	-0.66	-146.0	229.9	-8.9	229	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2770	3520	0	0	0	0	0	0
2255	-0.70	-146.0	258.2	-8.6	259	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2770	3520	0	0	0	0	0	0
2583	-0.75	-146.0	286.0	-7.5	290	2590	0.12	0.00	0.00	0.000	6	0.103	0.000	2220	2770	3520	0	0	0	0	0	0
2910	-0.70	-146.0	322.1	-12.1	321	2914	0.00	2.03	0.00	0.000	4	0.000	0.075	2213	3932	3520	0	0	0	0	0	0
2945	-0.64	-146.0	326.5	-12.8	324	2949	0.12	1.95	0.00	0.000	6	0.131	0.049	2267	2769	3520	0	0	0	0	0	0
3276	-0.69	-146.0	356.6	-9.0	355	3280	0.00	2.28	0.00	0.000	4	0.000	0.052	2267	1367	3519	0	0	0	0	0	0
3334	-0.75	-146.0	362.0	-9.3	360	3338	0.00	2.40	0.00	0.000	6	0.000	0.063	2262	2773	3519	0	0	0	0	0	0
3660	-0.80	-146.0	392.8	-9.0	390	3662	0.12	0.00	0.00	0.000	6	0.103	0.000	2204	2773	3520	0	0	0	0	0	0
3969	-0.74	-146.0	430.7	-12.6	404	3974	0.12	2.05	0.00	0.000	4	0.177	0.073	2229	3935	3519	0	0	0	0	0	0
4019	-0.74	-146.0	436.8	-10.5	405	4023	0.00	1.90	0.00	0.000	6	0.000	0.048	2230	2771	3520	0	0	0	0	0	0
4344	-0.74	-146.0	470.7	-10.6	416	4348	0.00	2.28	0.00	0.000	4	0.000	0.050	2230	1361	3520	0	0	0	0	0	0
4378	-0.74	-146.0	474.5	-10.9	417	4382	0.00	2.38	0.00	0.000	6	0.000	0.062	2230	2768	3520	0	0	0	0	0	0
4707	-0.74	-146.0	507.4	-10.0	428	4711	0.00	2.00	0.00	0.000	4	0.000	0.073	2222	3930	3520	0	0	0	0	0	0
4743	-0.71	-146.0	511.1	-10.9	429	4746	0.00	1.90	0.00	0.000	6	0.000	0.047	2222	2763	3521	0	0	0	0	0	0
5085	-0.71	-146.0	545.1	-9.8	440	5089	0.00	2.28	0.00	0.000	4	0.000	0.050	2222	1367	3521	0	0	0	0	0	0
5114	-0.71	-146.0	548.2	-10.1	441	5118	0.00	2.38	0.00	0.000	6	0.000	0.062	2222	2776	3521	0	0	0	0	0	0
5201	end dive: TARGET_DEPTH_EXCEEDED
state	5201	begin apogee
5208	-0.14	0.0	557.1	10.0	444	5341	0.62	0.00	123.00	0.960	4	0.136	0.000	2419	2594	2923	0	0	0	0	0	0
5341	end apogee: CONTROL_FINISHED_OK
state	5341	begin climb
5344	0.57	146.0	560.5	0.0	448	5484	0.70	2.42	130.82	0.934	4	0.067	0.050	2665	1177	2326	0	0	0	0	0	0
5687	-1.65	146.0	533.2	19765.9	458	5699	2.47	2.45	0.00	0.000	6	0.146	0.055	1949	2609	2316	0	0	0	0	0	0
6007	-1.65	146.0	488.0	19765.9	469	6011	0.00	2.30	0.00	0.000	4	0.000	0.053	1948	1187	2311	0	0	0	0	0	0
6198	-1.65	146.0	455.8	19765.9	474	6205	0.00	2.35	0.00	0.000	6	0.000	0.060	1944	2594	2311	0	0	0	0	0	0
6512	-1.65	146.0	405.2	19765.9	485	6516	0.00	2.28	0.00	0.000	4	0.000	0.070	1938	3929	2309	0	0	0	0	0	0
6522	-1.65	146.0	402.6	19765.9	485	6527	0.00	2.22	0.00	0.000	6	0.000	0.044	1938	2560	2308	0	0	0	0	0	0
6849	-1.65	146.0	350.2	19765.9	515	6853	0.00	2.20	0.00	0.000	4	0.000	0.050	1937	1192	2309	0	0	0	0	0	0
7109	-1.65	146.0	306.4	19765.9	537	7115	0.00	2.22	0.00	0.000	6	0.000	0.059	1929	2526	2308	0	0	0	0	0	0
7435	-1.65	146.0	253.5	19765.9	568	7439	0.00	2.15	0.00	0.000	4	0.000	0.050	1927	1189	2309	0	0	0	0	0	0
7460	-1.65	146.0	249.7	19765.9	570	7464	0.00	2.17	0.00	0.000	6	0.000	0.059	1919	2493	2309	0	0	0	0	0	0
7786	-1.65	146.0	197.0	19765.9	600	7790	0.00	2.10	0.00	0.000	4	0.000	0.047	1919	1182	2306	0	0	0	0	0	0
7811	-1.65	146.0	193.3	19765.9	602	7816	0.12	2.15	0.00	0.000	6	0.194	0.057	1938	2475	2309	0	0	0	0	0	0
8139	-1.65	146.0	145.5	19765.9	632	8143	0.00	2.05	0.00	0.000	4	0.000	0.046	1938	1184	2306	0	0	0	0	0	0
8151	-1.65	146.0	143.7	19765.9	633	8155	0.00	2.15	0.00	0.000	6	0.000	0.057	1931	2478	2309	0	0	0	0	0	0
8480	-0.53	146.0	95.5	15.0	666	8488	1.50	2.12	0.00	0.000	4	0.230	0.048	2290	1187	2309	0	0	0	0	0	0
8558	0.39	212.9	89.0	6.9	679	8619	1.00	2.12	54.58	0.689	6	0.125	0.060	2597	2459	2055	0	0	0	0	0	0
8961	0.77	334.7	70.2	4.4	749	9074	0.30	2.58	101.43	0.666	4	0.073	0.068	2726	3928	1556	0	0	0	0	0	0
9082	0.83	359.8	61.2	8.8	769	9113	0.00	2.53	21.60	0.640	6	0.000	0.047	2728	2424	1455	0	0	0	0	0	0
9456	0.95	383.2	25.9	8.9	834	9482	0.15	2.08	19.05	0.644	4	0.090	0.057	2791	1194	1358	0	0	0	0	0	0
9594	end climb: FINISH_DEPTH_REACHED
state	9594	begin subsurface finish
9604	0.06	90.9	8.4	-12.1	858	9652	0.95	2.35	-38.22	0.000	4	0.148	0.067	2498	1180	2556	0	0	0	0	0	0
9653	end subsurface finish: CONTROL_FINISHED_OK
state	9653	begin surface