Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 809 * 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 809 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 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 -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 33 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 809 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 220111,163013,6644.403,-6005.021,0,6135.0,0,-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 8.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,163013,6644.403,-6005.021,0,6135.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 114.6,146388,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 620

Post-dive calculations and measurements:

FREEZE 6.93,-1.705,-1.754,2,27,0 ALTIM_TOP_PING 19.9,19.2

FINISH1 6.9,1.025702,88 _24V_AH 21.1,91.459

FINISH2 4.0 _10V_AH 9.6,62.409

RAFOS_CLK 582 FG_AHR_24Vo 0.000

RAFOS 0,1295726465,20.033333,20.018055,95,42,42,42,41,41,639,1807,1037,1103,675,1645 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.361816,-6003.547852,220111,202024,5,96,0.29 MEM 151680

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 30042,801

TT8_MAMPS 0.031458 CAP_FILE_SIZE 107570,0

HUMID 49.40 CFSIZE 260165632,196747264

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

TCM_TEMP 14.60 SOUNDSPEED 1449.2

XPDR_PINGS 0 GPS 220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 260 44.17 SBE_CT 560 24 284.01

Roll_motor 103 76 166.70 SBE_O2 0 0 0.00

VBD_pump_during_apogee 255 999 5400.29 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 17.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2070 19 395.93

LPSleep 5873 2 130.26

TT8_Active 306 19 58.62

TT8_Sampling 1559 39 597.64

TT8_CF8 225 45 99.26

TT8_Kalman 0 0 0.00

Analog_circuits 1141 12 131.50

GPS_charging 0 0 0.00

Compass 1544 15 222.42

RAFOS 2160 3 62.21

Transponder 15 30 4.32

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 12 begin dive

17 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.50 0.000 2 0.000 0.000 2499 1184 2802 0 0 0 0 0 0

27 -0.57 -146.0 9.8 -0.0 1 53 0.57 4.78 -17.17 0.000 4 0.086 0.073 2282 3936 3519 0 0 0 0 0 0

275 -0.57 -146.0 41.6 -12.9 44 281 0.00 1.88 0.00 0.000 6 0.000 0.050 2282 2781 3519 0 0 0 0 0 0

621 -0.57 -146.0 85.3 -11.9 105 628 0.00 2.30 0.00 0.000 4 0.000 0.051 2282 1366 3519 0 0 0 0 0 0

659 -0.57 -146.0 89.8 -11.3 111 666 0.00 2.38 0.00 0.000 6 0.000 0.063 2278 2778 3519 0 0 0 0 0 0

997 -0.57 -146.0 128.1 -11.7 150 1001 0.00 1.98 0.00 0.000 4 0.000 0.076 2272 3927 3519 0 0 0 0 0 0

1024 -0.57 -146.0 131.7 -11.9 152 1031 0.00 1.88 0.00 0.000 6 0.000 0.050 2272 2778 3519 0 0 0 0 0 0

1351 -0.57 -146.0 167.5 -10.6 183 1355 0.00 2.28 0.00 0.000 4 0.000 0.052 2272 1369 3519 0 0 0 0 0 0

1374 -0.57 -146.0 170.1 -10.7 184 1380 0.00 2.42 0.00 0.000 6 0.000 0.065 2272 2787 3519 0 0 0 0 0 0

1700 -0.60 -146.0 202.2 -9.6 215 1704 0.00 1.98 0.00 0.000 4 0.000 0.076 2272 3932 3519 0 0 0 0 0 0

1741 -0.63 -146.0 206.4 -9.6 218 1747 0.00 1.88 0.00 0.000 6 0.000 0.050 2272 2784 3519 0 0 0 0 0 0

2067 -0.66 -146.0 237.6 -9.3 249 2071 0.00 2.30 0.00 0.000 4 0.000 0.052 2272 1363 3518 0 0 0 0 0 0

2120 -0.72 -146.0 242.8 -10.2 253 2124 0.00 2.42 0.00 0.000 6 0.000 0.064 2272 2797 3518 0 0 0 0 0 0

2446 -0.77 -146.0 273.1 -9.0 283 2448 0.12 0.00 0.00 0.000 6 0.109 0.000 2218 2797 3518 0 0 0 0 0 0

2764 -0.72 -146.0 309.9 -11.2 313 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2797 3517 0 0 0 0 0 0

3087 -0.67 -146.0 346.8 -12.0 343 3092 0.15 2.38 0.00 0.000 4 0.171 0.052 2259 1372 3517 0 0 0 0 0 0

3119 -0.69 -146.0 350.4 -10.1 345 3124 0.00 2.42 0.00 0.000 6 0.000 0.065 2257 2801 3517 0 0 0 0 0 0

3447 -0.72 -146.0 380.6 -9.1 375 3450 0.00 1.95 0.00 0.000 4 0.000 0.075 2248 3931 3517 0 0 0 0 0 0

3509 -0.75 -146.0 386.7 -9.6 380 3515 0.00 1.90 0.00 0.000 6 0.000 0.050 2248 2783 3517 0 0 0 0 0 0

3838 -0.75 -146.0 417.2 -9.2 400 3842 0.00 2.30 0.00 0.000 4 0.000 0.050 2248 1369 3518 0 0 0 0 0 0

3869 -0.77 -146.0 420.1 -9.7 401 3873 0.00 2.42 0.00 0.000 6 0.000 0.063 2247 2800 3517 0 0 0 0 0 0

4207 -0.77 -146.0 451.6 -9.5 412 4211 0.00 1.95 0.00 0.000 4 0.000 0.074 2247 3933 3517 0 0 0 0 0 0

4277 -0.80 -146.0 458.8 -9.6 414 4281 0.00 1.85 0.00 0.000 6 0.000 0.049 2247 2798 3517 0 0 0 0 0 0

4620 -0.82 -146.0 491.3 -9.5 425 4624 0.10 2.33 0.00 0.000 4 0.119 0.050 2197 1369 3518 0 0 0 0 0 0

4664 -0.77 -146.0 496.6 -12.0 426 4669 0.12 2.40 0.00 0.000 6 0.181 0.063 2220 2793 3518 0 0 0 0 0 0

4984 -0.75 -146.0 532.0 -10.9 437 4988 0.00 2.30 0.00 0.000 4 0.000 0.050 2220 1370 3518 0 0 0 0 0 0

5014 -0.75 -146.0 535.4 -11.1 438 5018 0.00 2.38 0.00 0.000 6 0.000 0.062 2220 2783 3518 0 0 0 0 0 0

5351 -0.73 -146.0 571.3 -10.8 449 5355 0.00 2.00 0.00 0.000 4 0.000 0.073 2215 3935 3518 0 0 0 0 0 0

5458 -0.70 -146.0 583.7 -11.2 452 5462 0.12 1.85 0.00 0.000 6 0.165 0.048 2247 2796 3518 0 0 0 0 0 0

5797 -0.74 -146.0 611.7 -8.2 463 5801 0.00 2.30 0.00 0.000 4 0.000 0.049 2248 1367 3518 0 0 0 0 0 0

5830 -0.79 -146.0 615.0 -8.3 464 5835 0.00 2.40 0.00 0.000 6 0.000 0.062 2247 2793 3519 0 0 0 0 0 0

5913 end dive: TARGET_DEPTH_EXCEEDED

state 5913 begin apogee

5920 -0.14 0.0 622.1 8.3 467 6051 0.55 0.00 123.50 1.000 4 0.130 0.000 2425 2595 2923 0 0 0 0 0 0

6052 end apogee: CONTROL_FINISHED_OK

state 6052 begin climb

6054 0.57 146.0 625.9 0.0 471 6197 0.68 2.42 132.48 0.970 4 0.063 0.050 2665 1186 2326 0 0 0 0 0 0

6371 -1.92 146.0 600.5 22628.5 480 6379 2.78 2.45 0.00 0.000 6 0.142 0.056 1863 2602 2318 0 0 0 0 0 0

6686 -1.92 146.0 551.4 22628.5 491 6690 0.00 2.28 0.00 0.000 4 0.000 0.044 1862 1171 2308 0 0 0 0 0 0

6945 -1.92 146.0 504.0 22628.5 498 6949 0.00 2.40 0.00 0.000 6 0.000 0.051 1850 2645 2307 0 0 0 0 0 0

7259 -1.92 146.0 447.8 22628.5 508 7263 0.00 2.15 0.00 0.000 4 0.000 0.068 1839 3918 2308 0 0 0 0 0 0

7518 -1.92 146.0 396.5 22628.5 515 7522 0.00 2.03 0.00 0.000 6 0.000 0.044 1838 2668 2305 0 0 0 0 0 0

7849 -1.92 146.0 335.5 22628.5 546 7850 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2666 2307 0 0 0 0 0 0

8167 -1.92 146.0 278.0 22628.5 576 8171 0.00 2.40 0.00 0.000 4 0.000 0.051 1836 1183 2307 0 0 0 0 0 0

8429 -1.92 146.0 230.0 22628.5 599 8434 0.15 2.40 0.00 0.000 6 0.261 0.054 1852 2643 2306 0 0 0 0 0 0

8755 -1.92 146.0 171.3 22628.5 629 8759 0.00 2.35 0.00 0.000 4 0.000 0.047 1852 1181 2306 0 0 0 0 0 0

8778 -1.92 146.0 167.0 22628.5 630 8785 0.00 2.38 0.00 0.000 6 0.000 0.054 1842 2617 2307 0 0 0 0 0 0

9104 -1.92 146.0 112.5 22628.5 661 9109 0.00 2.33 0.00 0.000 4 0.000 0.050 1842 1186 2307 0 0 0 0 0 0

9184 -1.92 146.0 99.9 22628.5 667 9191 0.00 2.40 0.00 0.000 6 0.000 0.058 1831 2623 2307 0 0 0 0 0 0

9532 -1.92 146.0 54.3 22628.5 728 9538 0.00 2.20 0.00 0.000 4 0.000 0.063 1820 3930 2306 0 0 0 0 0 0

9574 -1.92 146.0 48.8 22628.5 735 9582 0.17 2.22 0.00 0.000 6 0.250 0.044 1856 2563 2305 0 0 0 0 0 0

9922 -1.92 146.0 8.9 22628.5 796 9929 0.00 2.22 0.00 0.000 4 0.000 0.050 1856 1185 2306 0 0 0 0 0 0

9935 end climb: FINISH_DEPTH_REACHED

state 9935 begin subsurface finish

9946 0.06 88.2 6.9 -22628.5 798 9967 2.50 2.35 -10.40 0.000 4 0.211 0.063 2487 1181 2564 0 0 0 0 0 0

9968 end subsurface finish: CONTROL_FINISHED_OK

state 9968 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	809	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	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	-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	220111,163013,6644.403,-6005.021,0,6135.0,0,-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	8.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,163013,6644.403,-6005.021,0,6135.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	114.6,146388,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	620

FREEZE	6.93,-1.705,-1.754,2,27,0	ALTIM_TOP_PING	19.9,19.2
FINISH1	6.9,1.025702,88	_24V_AH	21.1,91.459
FINISH2	4.0	_10V_AH	9.6,62.409
RAFOS_CLK	582	FG_AHR_24Vo	0.000
RAFOS	0,1295726465,20.033333,20.018055,95,42,42,42,41,41,639,1807,1037,1103,675,1645	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.361816,-6003.547852,220111,202024,5,96,0.29	MEM	151680
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	30042,801
TT8_MAMPS	0.031458	CAP_FILE_SIZE	107570,0
HUMID	49.40	CFSIZE	260165632,196747264
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1449.2
XPDR_PINGS	0	GPS	220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	260	44.17	SBE_CT	560	24	284.01
Roll_motor	103	76	166.70	SBE_O2	0	0	0.00
VBD_pump_during_apogee	255	999	5400.29	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	17.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2070	19	395.93
LPSleep	5873	2	130.26
TT8_Active	306	19	58.62
TT8_Sampling	1559	39	597.64
TT8_CF8	225	45	99.26
TT8_Kalman	0	0	0.00
Analog_circuits	1141	12	131.50
GPS_charging	0	0	0.00
Compass	1544	15	222.42
RAFOS	2160	3	62.21
Transponder	15	30	4.32

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	12	begin dive
17	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.50	0.000	2	0.000	0.000	2499	1184	2802	0	0	0	0	0	0
27	-0.57	-146.0	9.8	-0.0	1	53	0.57	4.78	-17.17	0.000	4	0.086	0.073	2282	3936	3519	0	0	0	0	0	0
275	-0.57	-146.0	41.6	-12.9	44	281	0.00	1.88	0.00	0.000	6	0.000	0.050	2282	2781	3519	0	0	0	0	0	0
621	-0.57	-146.0	85.3	-11.9	105	628	0.00	2.30	0.00	0.000	4	0.000	0.051	2282	1366	3519	0	0	0	0	0	0
659	-0.57	-146.0	89.8	-11.3	111	666	0.00	2.38	0.00	0.000	6	0.000	0.063	2278	2778	3519	0	0	0	0	0	0
997	-0.57	-146.0	128.1	-11.7	150	1001	0.00	1.98	0.00	0.000	4	0.000	0.076	2272	3927	3519	0	0	0	0	0	0
1024	-0.57	-146.0	131.7	-11.9	152	1031	0.00	1.88	0.00	0.000	6	0.000	0.050	2272	2778	3519	0	0	0	0	0	0
1351	-0.57	-146.0	167.5	-10.6	183	1355	0.00	2.28	0.00	0.000	4	0.000	0.052	2272	1369	3519	0	0	0	0	0	0
1374	-0.57	-146.0	170.1	-10.7	184	1380	0.00	2.42	0.00	0.000	6	0.000	0.065	2272	2787	3519	0	0	0	0	0	0
1700	-0.60	-146.0	202.2	-9.6	215	1704	0.00	1.98	0.00	0.000	4	0.000	0.076	2272	3932	3519	0	0	0	0	0	0
1741	-0.63	-146.0	206.4	-9.6	218	1747	0.00	1.88	0.00	0.000	6	0.000	0.050	2272	2784	3519	0	0	0	0	0	0
2067	-0.66	-146.0	237.6	-9.3	249	2071	0.00	2.30	0.00	0.000	4	0.000	0.052	2272	1363	3518	0	0	0	0	0	0
2120	-0.72	-146.0	242.8	-10.2	253	2124	0.00	2.42	0.00	0.000	6	0.000	0.064	2272	2797	3518	0	0	0	0	0	0
2446	-0.77	-146.0	273.1	-9.0	283	2448	0.12	0.00	0.00	0.000	6	0.109	0.000	2218	2797	3518	0	0	0	0	0	0
2764	-0.72	-146.0	309.9	-11.2	313	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2797	3517	0	0	0	0	0	0
3087	-0.67	-146.0	346.8	-12.0	343	3092	0.15	2.38	0.00	0.000	4	0.171	0.052	2259	1372	3517	0	0	0	0	0	0
3119	-0.69	-146.0	350.4	-10.1	345	3124	0.00	2.42	0.00	0.000	6	0.000	0.065	2257	2801	3517	0	0	0	0	0	0
3447	-0.72	-146.0	380.6	-9.1	375	3450	0.00	1.95	0.00	0.000	4	0.000	0.075	2248	3931	3517	0	0	0	0	0	0
3509	-0.75	-146.0	386.7	-9.6	380	3515	0.00	1.90	0.00	0.000	6	0.000	0.050	2248	2783	3517	0	0	0	0	0	0
3838	-0.75	-146.0	417.2	-9.2	400	3842	0.00	2.30	0.00	0.000	4	0.000	0.050	2248	1369	3518	0	0	0	0	0	0
3869	-0.77	-146.0	420.1	-9.7	401	3873	0.00	2.42	0.00	0.000	6	0.000	0.063	2247	2800	3517	0	0	0	0	0	0
4207	-0.77	-146.0	451.6	-9.5	412	4211	0.00	1.95	0.00	0.000	4	0.000	0.074	2247	3933	3517	0	0	0	0	0	0
4277	-0.80	-146.0	458.8	-9.6	414	4281	0.00	1.85	0.00	0.000	6	0.000	0.049	2247	2798	3517	0	0	0	0	0	0
4620	-0.82	-146.0	491.3	-9.5	425	4624	0.10	2.33	0.00	0.000	4	0.119	0.050	2197	1369	3518	0	0	0	0	0	0
4664	-0.77	-146.0	496.6	-12.0	426	4669	0.12	2.40	0.00	0.000	6	0.181	0.063	2220	2793	3518	0	0	0	0	0	0
4984	-0.75	-146.0	532.0	-10.9	437	4988	0.00	2.30	0.00	0.000	4	0.000	0.050	2220	1370	3518	0	0	0	0	0	0
5014	-0.75	-146.0	535.4	-11.1	438	5018	0.00	2.38	0.00	0.000	6	0.000	0.062	2220	2783	3518	0	0	0	0	0	0
5351	-0.73	-146.0	571.3	-10.8	449	5355	0.00	2.00	0.00	0.000	4	0.000	0.073	2215	3935	3518	0	0	0	0	0	0
5458	-0.70	-146.0	583.7	-11.2	452	5462	0.12	1.85	0.00	0.000	6	0.165	0.048	2247	2796	3518	0	0	0	0	0	0
5797	-0.74	-146.0	611.7	-8.2	463	5801	0.00	2.30	0.00	0.000	4	0.000	0.049	2248	1367	3518	0	0	0	0	0	0
5830	-0.79	-146.0	615.0	-8.3	464	5835	0.00	2.40	0.00	0.000	6	0.000	0.062	2247	2793	3519	0	0	0	0	0	0
5913	end dive: TARGET_DEPTH_EXCEEDED
state	5913	begin apogee
5920	-0.14	0.0	622.1	8.3	467	6051	0.55	0.00	123.50	1.000	4	0.130	0.000	2425	2595	2923	0	0	0	0	0	0
6052	end apogee: CONTROL_FINISHED_OK
state	6052	begin climb
6054	0.57	146.0	625.9	0.0	471	6197	0.68	2.42	132.48	0.970	4	0.063	0.050	2665	1186	2326	0	0	0	0	0	0
6371	-1.92	146.0	600.5	22628.5	480	6379	2.78	2.45	0.00	0.000	6	0.142	0.056	1863	2602	2318	0	0	0	0	0	0
6686	-1.92	146.0	551.4	22628.5	491	6690	0.00	2.28	0.00	0.000	4	0.000	0.044	1862	1171	2308	0	0	0	0	0	0
6945	-1.92	146.0	504.0	22628.5	498	6949	0.00	2.40	0.00	0.000	6	0.000	0.051	1850	2645	2307	0	0	0	0	0	0
7259	-1.92	146.0	447.8	22628.5	508	7263	0.00	2.15	0.00	0.000	4	0.000	0.068	1839	3918	2308	0	0	0	0	0	0
7518	-1.92	146.0	396.5	22628.5	515	7522	0.00	2.03	0.00	0.000	6	0.000	0.044	1838	2668	2305	0	0	0	0	0	0
7849	-1.92	146.0	335.5	22628.5	546	7850	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2666	2307	0	0	0	0	0	0
8167	-1.92	146.0	278.0	22628.5	576	8171	0.00	2.40	0.00	0.000	4	0.000	0.051	1836	1183	2307	0	0	0	0	0	0
8429	-1.92	146.0	230.0	22628.5	599	8434	0.15	2.40	0.00	0.000	6	0.261	0.054	1852	2643	2306	0	0	0	0	0	0
8755	-1.92	146.0	171.3	22628.5	629	8759	0.00	2.35	0.00	0.000	4	0.000	0.047	1852	1181	2306	0	0	0	0	0	0
8778	-1.92	146.0	167.0	22628.5	630	8785	0.00	2.38	0.00	0.000	6	0.000	0.054	1842	2617	2307	0	0	0	0	0	0
9104	-1.92	146.0	112.5	22628.5	661	9109	0.00	2.33	0.00	0.000	4	0.000	0.050	1842	1186	2307	0	0	0	0	0	0
9184	-1.92	146.0	99.9	22628.5	667	9191	0.00	2.40	0.00	0.000	6	0.000	0.058	1831	2623	2307	0	0	0	0	0	0
9532	-1.92	146.0	54.3	22628.5	728	9538	0.00	2.20	0.00	0.000	4	0.000	0.063	1820	3930	2306	0	0	0	0	0	0
9574	-1.92	146.0	48.8	22628.5	735	9582	0.17	2.22	0.00	0.000	6	0.250	0.044	1856	2563	2305	0	0	0	0	0	0
9922	-1.92	146.0	8.9	22628.5	796	9929	0.00	2.22	0.00	0.000	4	0.000	0.050	1856	1185	2306	0	0	0	0	0	0
9935	end climb: FINISH_DEPTH_REACHED
state	9935	begin subsurface finish
9946	0.06	88.2	6.9	-22628.5	798	9967	2.50	2.35	-10.40	0.000	4	0.211	0.063	2487	1181	2564	0	0	0	0	0	0
9968	end subsurface finish: CONTROL_FINISHED_OK
state	9968	begin surface