Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 808 * 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 808 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 18 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 -12952.191 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 -12952.191

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 18 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 808 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 220111,122734,6642.760,-6007.815,0,7127.3,0,-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 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -19.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,122734,6642.760,-6007.815,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 113.6,149085,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 587

Post-dive calculations and measurements:

FREEZE 7.55,-1.749,-1.759,2,26,0 ALTIM_TOP_PING 19.4,17.9

FINISH1 7.5,1.025774,85 _24V_AH 21.2,91.387

FINISH2 5.9 _10V_AH 9.6,62.356

RAFOS_CLK 694 FG_AHR_24Vo 0.000

RAFOS 0,1295712065,16.033333,16.018055,142,46,41,40,40,39,634,606,1782,8,148,1042 FG_AHR_10Vo 0.000

RAFOS_FIX 6644.402832,-6005.021484,220111,161613,6,135,0.25 MEM 151676

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33423,897

TT8_MAMPS 0.028462 CAP_FILE_SIZE 119785,0

HUMID 50.27 CFSIZE 260165632,196792320

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 1449.1

XPDR_PINGS 0 GPS 220111,163013,6644.403,-6005.021,0,6135.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 247 61.42 SBE_CT 624 24 317.78

Roll_motor 86 168 309.52 SBE_O2 0 0 0.00

VBD_pump_during_apogee 390 976 8086.37 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 98 103 215.93 nil 0 0 0.00

Iridium_during_connect 20 160 68.68 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 15.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 88.13

TT8 2204 19 421.56

LPSleep 6857 2 152.08

TT8_Active 511 19 97.91

TT8_Sampling 1896 39 726.93

TT8_CF8 713 45 314.74

TT8_Kalman 0 0 0.00

Analog_circuits 1409 12 162.32

GPS_charging 0 0 0.00

Compass 1579 15 227.48

RAFOS 2520 3 72.58

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

16 -0.57 -146.0 0.0 0.0 0 149 0.00 0.00 -129.57 0.000 2 0.000 0.000 298 2785 3079 0 0 0 0 0 0

155 -0.57 -146.0 5.7 -10.4 23 180 8.55 2.03 -8.80 0.000 4 0.247 0.091 2278 3932 3523 0 0 0 0 0 0

392 -0.52 -146.0 53.6 -15.2 64 398 0.00 1.88 0.00 0.000 6 0.000 0.052 2277 2785 3524 0 0 0 0 0 0

738 -0.49 -146.0 101.9 -13.3 124 743 0.12 2.33 0.00 0.000 4 0.181 0.054 2311 1365 3523 0 0 0 0 0 0

762 -0.52 -146.0 105.1 -12.1 125 769 0.00 2.40 0.00 0.000 6 0.000 0.066 2311 2788 3524 0 0 0 0 0 0

1093 -0.58 -146.0 136.2 -9.5 156 1097 0.00 2.33 0.00 0.000 4 0.000 0.053 2311 1370 3524 0 0 0 0 0 0

1138 -0.67 -146.0 141.2 -9.3 159 1145 0.15 2.38 0.00 0.000 6 0.089 0.065 2248 2775 3523 0 0 0 0 0 0

1464 -0.64 -146.0 184.9 -13.1 190 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2774 3523 0 0 0 0 0 0

1786 -0.61 -146.0 224.5 -11.5 220 1791 0.12 2.33 0.00 0.000 4 0.177 0.053 2281 1366 3523 0 0 0 0 0 0

1828 -0.68 -146.0 229.1 -9.6 223 1832 0.00 2.38 0.00 0.000 6 0.000 0.065 2278 2769 3523 0 0 0 0 0 0

2155 -0.72 -146.0 259.8 -9.2 253 2159 0.10 2.05 0.00 0.000 4 0.114 0.076 2226 3928 3523 0 0 0 0 0 0

2304 -0.68 -146.0 278.4 -12.3 266 2309 0.10 1.90 0.00 0.000 6 0.179 0.050 2250 2781 3523 0 0 0 0 0 0

2636 -0.68 -146.0 313.6 -10.1 297 2640 0.00 2.28 0.00 0.000 4 0.000 0.052 2251 1371 3523 0 0 0 0 0 0

2670 -0.68 -146.0 317.3 -10.5 300 2674 0.00 2.40 0.00 0.000 6 0.000 0.065 2248 2785 3523 0 0 0 0 0 0

3006 -0.68 -146.0 350.4 -9.5 331 3009 0.00 1.98 0.00 0.000 4 0.000 0.076 2248 3929 3523 0 0 0 0 0 0

3044 -0.68 -146.0 354.9 -10.5 334 3051 0.00 1.88 0.00 0.000 6 0.000 0.050 2248 2782 3523 0 0 0 0 0 0

3370 -0.68 -146.0 385.6 -9.2 365 3374 0.00 2.00 0.00 0.000 4 0.000 0.076 2248 3928 3523 0 0 0 0 0 0

3396 -0.68 -146.0 387.8 -9.5 367 3400 0.00 1.92 0.00 0.000 6 0.000 0.050 2247 2782 3523 0 0 0 0 0 0

3740 -0.68 -146.0 420.0 -9.3 386 3744 0.00 2.30 0.00 0.000 4 0.000 0.050 2247 1368 3523 0 0 0 0 0 0

3774 -0.70 -146.0 423.2 -9.0 387 3778 0.00 2.42 0.00 0.000 6 0.000 0.063 2248 2788 3524 0 0 0 0 0 0

4106 -0.70 -146.0 452.6 -9.1 398 4109 0.00 1.98 0.00 0.000 4 0.000 0.075 2248 3931 3524 0 0 0 0 0 0

4151 -0.73 -146.0 457.1 -9.3 399 4155 0.00 1.88 0.00 0.000 6 0.000 0.050 2247 2782 3524 0 0 0 0 0 0

4482 -0.73 -146.0 486.4 -8.8 410 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2782 3524 0 0 0 0 0 0

4787 -0.73 -146.0 514.5 -9.2 420 4791 0.00 2.05 0.00 0.000 4 0.000 0.076 2247 3947 3525 0 0 0 0 0 0

4822 -0.73 -146.0 517.6 -9.2 421 4825 0.00 1.90 0.00 0.000 6 0.000 0.048 2247 2785 3525 0 0 0 0 0 0

5165 -0.73 -146.0 548.8 -9.3 432 5166 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2785 3525 0 0 0 0 0 0

5473 -0.73 -146.0 576.4 -8.9 442 5474 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2785 3525 0 0 0 0 0 0

5589 end dive: TARGET_DEPTH_EXCEEDED

state 5589 begin apogee

5597 -0.14 0.0 587.3 8.9 446 5728 0.55 0.00 124.75 0.977 4 0.131 0.000 2425 2595 2923 0 0 0 0 0 0

5729 end apogee: CONTROL_FINISHED_OK

state 5729 begin climb

5732 0.57 146.0 592.5 0.0 450 5872 0.68 2.42 131.82 0.950 4 0.070 0.051 2659 1180 2327 0 0 0 0 0 0

6034 0.57 146.0 569.7 10.9 458 6041 0.00 2.47 0.00 0.000 6 0.000 0.057 2659 2604 2318 0 0 0 0 0 0

6351 0.54 146.0 535.3 11.3 469 6355 0.00 2.33 0.00 0.000 4 0.000 0.054 2662 1188 2315 0 0 0 0 0 0

6604 0.54 149.4 508.3 9.8 476 6608 0.00 2.35 0.00 0.000 6 0.000 0.057 2662 2603 2315 0 0 0 0 0 0

6926 0.51 149.4 474.2 11.0 487 6930 0.00 2.28 0.00 0.000 4 0.000 0.069 2661 3936 2314 0 0 0 0 0 0

6948 0.44 149.4 471.0 11.9 487 6955 0.17 2.20 0.00 0.000 6 0.192 0.045 2618 2589 2313 0 0 0 0 0 0

7263 0.52 185.6 444.1 8.3 498 7298 0.00 0.00 33.40 0.878 6 0.000 0.000 2618 2589 2166 0 0 0 0 0 0

7598 0.62 227.8 416.1 8.1 509 7638 0.17 0.00 36.65 0.857 6 0.081 0.000 2691 2589 1994 0 0 0 0 0 0

7957 0.62 227.8 372.6 11.7 533 7961 0.00 2.25 0.00 0.000 4 0.000 0.054 2693 1190 1987 0 0 0 0 0 0

7980 0.62 227.8 369.9 11.5 535 7984 0.00 2.33 0.00 0.000 6 0.000 0.056 2693 2599 1987 0 0 0 0 0 0

8306 0.62 227.8 330.5 11.9 565 8307 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2599 1985 0 0 0 0 0 0

8628 0.62 227.8 292.7 11.2 595 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2599 1985 0 0 0 0 0 0

8958 0.62 227.8 253.3 12.1 626 8962 0.00 2.30 0.00 0.000 4 0.000 0.055 2693 1184 1984 0 0 0 0 0 0

8991 0.65 227.8 249.0 10.7 628 8998 0.00 2.33 0.00 0.000 6 0.000 0.056 2693 2599 1984 0 0 0 0 0 0

9317 0.65 227.8 210.5 12.6 659 9321 0.00 2.30 0.00 0.000 4 0.000 0.055 2693 1184 1984 0 0 0 0 0 0

9367 0.69 227.8 204.4 11.9 663 9374 0.00 2.30 0.00 0.000 6 0.000 0.057 2693 2582 1984 0 0 0 0 0 0

9693 0.69 227.8 168.6 10.2 694 9694 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2582 1983 0 0 0 0 0 0

10013 0.69 232.2 136.4 9.8 724 10020 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2582 1983 0 0 0 0 0 0

10343 0.75 254.7 106.2 9.0 755 10370 0.00 2.30 22.62 0.704 4 0.000 0.054 2693 1192 1884 0 0 0 0 0 0

10384 0.84 301.6 102.6 7.8 758 10435 0.15 2.30 41.20 0.682 6 0.092 0.057 2757 2581 1693 0 0 0 0 0 0

10776 0.84 301.6 54.1 11.8 824 10783 0.00 2.30 0.00 0.000 4 0.000 0.057 2761 1182 1683 0 0 0 0 0 0

10801 0.84 301.6 51.1 11.4 828 10808 0.00 2.30 0.00 0.000 6 0.000 0.057 2761 2568 1682 0 0 0 0 0 0

11150 0.84 301.6 9.4 12.4 889 11156 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2568 1680 0 0 0 0 0 0

11162 end climb: FINISH_DEPTH_REACHED

state 11162 begin subsurface finish

11170 0.06 84.7 7.5 -12.3 891 11208 0.85 2.40 -30.55 0.000 4 0.148 0.067 2500 1184 2580 0 0 0 0 0 0

11208 end subsurface finish: CONTROL_FINISHED_OK

state 11209 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	808	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	18	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	-12952.191	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	220111,122734,6642.760,-6007.815,0,7127.3,0,-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	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-19.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,122734,6642.760,-6007.815,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	113.6,149085,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	587

FREEZE	7.55,-1.749,-1.759,2,26,0	ALTIM_TOP_PING	19.4,17.9
FINISH1	7.5,1.025774,85	_24V_AH	21.2,91.387
FINISH2	5.9	_10V_AH	9.6,62.356
RAFOS_CLK	694	FG_AHR_24Vo	0.000
RAFOS	0,1295712065,16.033333,16.018055,142,46,41,40,40,39,634,606,1782,8,148,1042	FG_AHR_10Vo	0.000
RAFOS_FIX	6644.402832,-6005.021484,220111,161613,6,135,0.25	MEM	151676
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33423,897
TT8_MAMPS	0.028462	CAP_FILE_SIZE	119785,0
HUMID	50.27	CFSIZE	260165632,196792320
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	1449.1
XPDR_PINGS	0	GPS	220111,163013,6644.403,-6005.021,0,6135.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	247	61.42	SBE_CT	624	24	317.78
Roll_motor	86	168	309.52	SBE_O2	0	0	0.00
VBD_pump_during_apogee	390	976	8086.37	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	215.93	nil	0	0	0.00
Iridium_during_connect	20	160	68.68	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	15.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	88.13
TT8	2204	19	421.56
LPSleep	6857	2	152.08
TT8_Active	511	19	97.91
TT8_Sampling	1896	39	726.93
TT8_CF8	713	45	314.74
TT8_Kalman	0	0	0.00
Analog_circuits	1409	12	162.32
GPS_charging	0	0	0.00
Compass	1579	15	227.48
RAFOS	2520	3	72.58
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
16	-0.57	-146.0	0.0	0.0	0	149	0.00	0.00	-129.57	0.000	2	0.000	0.000	298	2785	3079	0	0	0	0	0	0
155	-0.57	-146.0	5.7	-10.4	23	180	8.55	2.03	-8.80	0.000	4	0.247	0.091	2278	3932	3523	0	0	0	0	0	0
392	-0.52	-146.0	53.6	-15.2	64	398	0.00	1.88	0.00	0.000	6	0.000	0.052	2277	2785	3524	0	0	0	0	0	0
738	-0.49	-146.0	101.9	-13.3	124	743	0.12	2.33	0.00	0.000	4	0.181	0.054	2311	1365	3523	0	0	0	0	0	0
762	-0.52	-146.0	105.1	-12.1	125	769	0.00	2.40	0.00	0.000	6	0.000	0.066	2311	2788	3524	0	0	0	0	0	0
1093	-0.58	-146.0	136.2	-9.5	156	1097	0.00	2.33	0.00	0.000	4	0.000	0.053	2311	1370	3524	0	0	0	0	0	0
1138	-0.67	-146.0	141.2	-9.3	159	1145	0.15	2.38	0.00	0.000	6	0.089	0.065	2248	2775	3523	0	0	0	0	0	0
1464	-0.64	-146.0	184.9	-13.1	190	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2774	3523	0	0	0	0	0	0
1786	-0.61	-146.0	224.5	-11.5	220	1791	0.12	2.33	0.00	0.000	4	0.177	0.053	2281	1366	3523	0	0	0	0	0	0
1828	-0.68	-146.0	229.1	-9.6	223	1832	0.00	2.38	0.00	0.000	6	0.000	0.065	2278	2769	3523	0	0	0	0	0	0
2155	-0.72	-146.0	259.8	-9.2	253	2159	0.10	2.05	0.00	0.000	4	0.114	0.076	2226	3928	3523	0	0	0	0	0	0
2304	-0.68	-146.0	278.4	-12.3	266	2309	0.10	1.90	0.00	0.000	6	0.179	0.050	2250	2781	3523	0	0	0	0	0	0
2636	-0.68	-146.0	313.6	-10.1	297	2640	0.00	2.28	0.00	0.000	4	0.000	0.052	2251	1371	3523	0	0	0	0	0	0
2670	-0.68	-146.0	317.3	-10.5	300	2674	0.00	2.40	0.00	0.000	6	0.000	0.065	2248	2785	3523	0	0	0	0	0	0
3006	-0.68	-146.0	350.4	-9.5	331	3009	0.00	1.98	0.00	0.000	4	0.000	0.076	2248	3929	3523	0	0	0	0	0	0
3044	-0.68	-146.0	354.9	-10.5	334	3051	0.00	1.88	0.00	0.000	6	0.000	0.050	2248	2782	3523	0	0	0	0	0	0
3370	-0.68	-146.0	385.6	-9.2	365	3374	0.00	2.00	0.00	0.000	4	0.000	0.076	2248	3928	3523	0	0	0	0	0	0
3396	-0.68	-146.0	387.8	-9.5	367	3400	0.00	1.92	0.00	0.000	6	0.000	0.050	2247	2782	3523	0	0	0	0	0	0
3740	-0.68	-146.0	420.0	-9.3	386	3744	0.00	2.30	0.00	0.000	4	0.000	0.050	2247	1368	3523	0	0	0	0	0	0
3774	-0.70	-146.0	423.2	-9.0	387	3778	0.00	2.42	0.00	0.000	6	0.000	0.063	2248	2788	3524	0	0	0	0	0	0
4106	-0.70	-146.0	452.6	-9.1	398	4109	0.00	1.98	0.00	0.000	4	0.000	0.075	2248	3931	3524	0	0	0	0	0	0
4151	-0.73	-146.0	457.1	-9.3	399	4155	0.00	1.88	0.00	0.000	6	0.000	0.050	2247	2782	3524	0	0	0	0	0	0
4482	-0.73	-146.0	486.4	-8.8	410	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2782	3524	0	0	0	0	0	0
4787	-0.73	-146.0	514.5	-9.2	420	4791	0.00	2.05	0.00	0.000	4	0.000	0.076	2247	3947	3525	0	0	0	0	0	0
4822	-0.73	-146.0	517.6	-9.2	421	4825	0.00	1.90	0.00	0.000	6	0.000	0.048	2247	2785	3525	0	0	0	0	0	0
5165	-0.73	-146.0	548.8	-9.3	432	5166	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2785	3525	0	0	0	0	0	0
5473	-0.73	-146.0	576.4	-8.9	442	5474	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2785	3525	0	0	0	0	0	0
5589	end dive: TARGET_DEPTH_EXCEEDED
state	5589	begin apogee
5597	-0.14	0.0	587.3	8.9	446	5728	0.55	0.00	124.75	0.977	4	0.131	0.000	2425	2595	2923	0	0	0	0	0	0
5729	end apogee: CONTROL_FINISHED_OK
state	5729	begin climb
5732	0.57	146.0	592.5	0.0	450	5872	0.68	2.42	131.82	0.950	4	0.070	0.051	2659	1180	2327	0	0	0	0	0	0
6034	0.57	146.0	569.7	10.9	458	6041	0.00	2.47	0.00	0.000	6	0.000	0.057	2659	2604	2318	0	0	0	0	0	0
6351	0.54	146.0	535.3	11.3	469	6355	0.00	2.33	0.00	0.000	4	0.000	0.054	2662	1188	2315	0	0	0	0	0	0
6604	0.54	149.4	508.3	9.8	476	6608	0.00	2.35	0.00	0.000	6	0.000	0.057	2662	2603	2315	0	0	0	0	0	0
6926	0.51	149.4	474.2	11.0	487	6930	0.00	2.28	0.00	0.000	4	0.000	0.069	2661	3936	2314	0	0	0	0	0	0
6948	0.44	149.4	471.0	11.9	487	6955	0.17	2.20	0.00	0.000	6	0.192	0.045	2618	2589	2313	0	0	0	0	0	0
7263	0.52	185.6	444.1	8.3	498	7298	0.00	0.00	33.40	0.878	6	0.000	0.000	2618	2589	2166	0	0	0	0	0	0
7598	0.62	227.8	416.1	8.1	509	7638	0.17	0.00	36.65	0.857	6	0.081	0.000	2691	2589	1994	0	0	0	0	0	0
7957	0.62	227.8	372.6	11.7	533	7961	0.00	2.25	0.00	0.000	4	0.000	0.054	2693	1190	1987	0	0	0	0	0	0
7980	0.62	227.8	369.9	11.5	535	7984	0.00	2.33	0.00	0.000	6	0.000	0.056	2693	2599	1987	0	0	0	0	0	0
8306	0.62	227.8	330.5	11.9	565	8307	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2599	1985	0	0	0	0	0	0
8628	0.62	227.8	292.7	11.2	595	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2599	1985	0	0	0	0	0	0
8958	0.62	227.8	253.3	12.1	626	8962	0.00	2.30	0.00	0.000	4	0.000	0.055	2693	1184	1984	0	0	0	0	0	0
8991	0.65	227.8	249.0	10.7	628	8998	0.00	2.33	0.00	0.000	6	0.000	0.056	2693	2599	1984	0	0	0	0	0	0
9317	0.65	227.8	210.5	12.6	659	9321	0.00	2.30	0.00	0.000	4	0.000	0.055	2693	1184	1984	0	0	0	0	0	0
9367	0.69	227.8	204.4	11.9	663	9374	0.00	2.30	0.00	0.000	6	0.000	0.057	2693	2582	1984	0	0	0	0	0	0
9693	0.69	227.8	168.6	10.2	694	9694	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2582	1983	0	0	0	0	0	0
10013	0.69	232.2	136.4	9.8	724	10020	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2582	1983	0	0	0	0	0	0
10343	0.75	254.7	106.2	9.0	755	10370	0.00	2.30	22.62	0.704	4	0.000	0.054	2693	1192	1884	0	0	0	0	0	0
10384	0.84	301.6	102.6	7.8	758	10435	0.15	2.30	41.20	0.682	6	0.092	0.057	2757	2581	1693	0	0	0	0	0	0
10776	0.84	301.6	54.1	11.8	824	10783	0.00	2.30	0.00	0.000	4	0.000	0.057	2761	1182	1683	0	0	0	0	0	0
10801	0.84	301.6	51.1	11.4	828	10808	0.00	2.30	0.00	0.000	6	0.000	0.057	2761	2568	1682	0	0	0	0	0	0
11150	0.84	301.6	9.4	12.4	889	11156	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2568	1680	0	0	0	0	0	0
11162	end climb: FINISH_DEPTH_REACHED
state	11162	begin subsurface finish
11170	0.06	84.7	7.5	-12.3	891	11208	0.85	2.40	-30.55	0.000	4	0.148	0.067	2500	1184	2580	0	0	0	0	0	0
11208	end subsurface finish: CONTROL_FINISHED_OK
state	11209	begin surface