Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 814 * 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 814 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -13322.154 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 -13322.154

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 814 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 230111,082725,6642.542,-5946.409,0,7117.0,0,-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 12.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -8.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230111,082725,6642.542,-5946.409,0,7117.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 111.8,134293,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 786

Post-dive calculations and measurements:

FREEZE 6.42,-1.718,-1.766,2,32,0 ALTIM_BOTTOM_PING 601.8,11.9

FINISH1 6.4,1.025880,79 _24V_AH 21.2,92.006

FINISH2 2.3 _10V_AH 9.6,62.720

RAFOS_CLK 587 FG_AHR_24Vo 0.000

RAFOS 0,1295784069,12.033333,12.019167,144,47,41,40,40,38,680,1526,549,1260,1360,1846 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.673828,-5941.649902,230111,121249,5,103,0.27 MEM 151708

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 30001,837

TT8_MAMPS 0.028462 CAP_FILE_SIZE 107359,0

HUMID 49.21 CFSIZE 260165632,196440064

INTERNAL_PRESSURE 8.61208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1448.9

XPDR_PINGS 0 GPS 230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 242 40.87 SBE_CT 585 24 298.00

Roll_motor 104 87 194.39 SBE_O2 0 0 0.00

VBD_pump_during_apogee 255 988 5362.04 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 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2131 19 407.63

LPSleep 5946 2 131.87

TT8_Active 325 19 62.22

TT8_Sampling 1498 39 574.36

TT8_CF8 215 45 95.14

TT8_Kalman 0 0 0.00

Analog_circuits 1138 12 131.20

GPS_charging 0 0 0.00

Compass 1483 15 213.59

RAFOS 2520 3 72.58

Transponder 17 30 5.15

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 24 0.00 0.00 -5.57 0.000 2 0.000 0.000 2492 1186 2845 0 0 0 0 0 0

28 -0.57 -146.0 12.5 -0.0 1 53 0.57 4.75 -14.82 0.000 4 0.124 0.070 2282 3936 3523 0 0 0 0 0 0

111 -0.51 -146.0 23.2 -15.7 15 118 0.00 1.88 0.00 0.000 6 0.000 0.049 2282 2780 3524 0 0 0 0 0 0

459 -0.48 -146.0 75.1 -13.0 76 466 0.12 2.30 0.00 0.000 4 0.184 0.051 2315 1370 3524 0 0 0 0 0 0

532 -0.54 -146.0 82.3 -8.5 88 539 0.00 2.38 0.00 0.000 6 0.000 0.063 2314 2772 3523 0 0 0 0 0 0

878 -0.60 -146.0 113.7 -9.1 137 881 0.00 2.00 0.00 0.000 4 0.000 0.076 2314 3929 3523 0 0 0 0 0 0

917 -0.70 -146.0 117.3 -8.4 140 924 0.17 1.90 0.00 0.000 6 0.083 0.049 2240 2775 3522 0 0 0 0 0 0

1243 -0.65 -146.0 156.6 -11.9 171 1247 0.00 2.28 0.00 0.000 4 0.000 0.051 2239 1372 3522 0 0 0 0 0 0

1271 -0.61 -146.0 160.4 -13.3 173 1279 0.15 2.38 0.00 0.000 6 0.171 0.063 2273 2780 3522 0 0 0 0 0 0

1599 -0.64 -146.0 192.9 -9.3 204 1603 0.00 2.30 0.00 0.000 4 0.000 0.052 2273 1367 3521 0 0 0 0 0 0

1621 -0.67 -146.0 195.3 -9.5 205 1628 0.00 2.38 0.00 0.000 6 0.000 0.063 2273 2776 3521 0 0 0 0 0 0

1949 -0.70 -146.0 224.5 -9.2 236 1953 0.00 2.30 0.00 0.000 4 0.000 0.053 2273 1367 3521 0 0 0 0 0 0

1990 -0.75 -146.0 228.7 -9.7 239 1995 0.12 2.38 0.00 0.000 6 0.099 0.063 2220 2765 3521 0 0 0 0 0 0

2317 -0.69 -146.0 270.8 -12.8 269 2321 0.12 2.03 0.00 0.000 4 0.183 0.074 2246 3927 3521 0 0 0 0 0 0

2385 -0.69 -146.0 278.6 -10.2 275 2389 0.00 1.95 0.00 0.000 6 0.000 0.050 2246 2765 3521 0 0 0 0 0 0

2716 -0.69 -146.0 312.8 -10.6 306 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2765 3521 0 0 0 0 0 0

3036 -0.69 -146.0 344.9 -9.4 336 3040 0.00 2.28 0.00 0.000 4 0.000 0.052 2246 1363 3521 0 0 0 0 0 0

3059 -0.69 -146.0 347.4 -9.6 337 3065 0.00 2.40 0.00 0.000 6 0.000 0.063 2241 2773 3521 0 0 0 0 0 0

3385 -0.69 -146.0 378.8 -9.8 368 3386 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2773 3520 0 0 0 0 0 0

3702 -0.69 -146.0 409.0 -9.8 392 3706 0.00 2.28 0.00 0.000 4 0.000 0.051 2241 1370 3521 0 0 0 0 0 0

3777 -0.72 -146.0 416.5 -9.2 394 3781 0.00 2.35 0.00 0.000 6 0.000 0.063 2235 2762 3521 0 0 0 0 0 0

4102 -0.72 -146.0 447.6 -9.4 405 4106 0.00 2.00 0.00 0.000 4 0.000 0.073 2232 3928 3522 0 0 0 0 0 0

4130 -0.72 -146.0 450.7 -10.3 405 4136 0.00 1.92 0.00 0.000 6 0.000 0.048 2233 2748 3522 0 0 0 0 0 0

4443 -0.72 -146.0 479.8 -9.3 416 4447 0.00 2.22 0.00 0.000 4 0.000 0.050 2233 1367 3522 0 0 0 0 0 0

4467 -0.72 -146.0 482.1 -10.0 416 4473 0.00 2.35 0.00 0.000 6 0.000 0.062 2231 2762 3522 0 0 0 0 0 0

4781 -0.72 -146.0 511.1 -9.3 427 4782 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2763 3522 0 0 0 0 0 0

5087 -0.72 -146.0 540.8 -9.8 437 5088 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2762 3523 0 0 0 0 0 0

5393 -0.72 -146.0 571.4 -10.1 447 5397 0.00 2.25 0.00 0.000 4 0.000 0.050 2230 1370 3523 0 0 0 0 0 0

5422 -0.72 -146.0 574.4 -10.0 448 5426 0.00 2.33 0.00 0.000 6 0.000 0.062 2230 2752 3523 0 0 0 0 0 0

5698 end dive: BOTTOM_OBSTACLE_DETECTED

state 5698 begin apogee

5705 -0.14 0.0 601.8 10.1 457 5838 0.60 0.00 124.10 0.988 4 0.135 0.000 2422 2599 2923 0 0 0 0 0 0

5838 end apogee: CONTROL_FINISHED_OK

state 5838 begin climb

5841 0.57 146.0 606.8 0.0 461 5983 0.70 2.42 131.80 0.959 4 0.070 0.050 2665 1190 2326 0 0 0 0 0 0

6152 -1.83 146.0 583.4 21839.5 470 6164 2.67 2.45 0.00 0.000 6 0.146 0.055 1893 2606 2316 0 0 0 0 0 0

6472 -1.83 146.0 535.1 21839.5 481 6476 0.00 2.20 0.00 0.000 4 0.000 0.056 1881 3940 2307 0 0 0 0 0 0

6544 -1.83 146.0 520.7 21839.5 483 6548 0.00 2.28 0.00 0.000 6 0.000 0.047 1881 2546 2309 0 0 0 0 0 0

6870 -1.83 146.0 463.8 21839.5 494 6874 0.00 2.38 0.00 0.000 4 0.000 0.067 1870 3930 2308 0 0 0 0 0 0

6881 -1.83 146.0 460.7 21839.5 494 6885 0.00 2.28 0.00 0.000 6 0.000 0.045 1869 2532 2307 0 0 0 0 0 0

7201 -1.83 146.0 403.6 21839.5 505 7205 0.00 2.42 0.00 0.000 4 0.000 0.072 1861 3931 2309 0 0 0 0 0 0

7235 -1.83 146.0 397.2 21839.5 506 7242 0.00 2.30 0.00 0.000 6 0.000 0.044 1861 2519 2307 0 0 0 0 0 0

7561 -1.83 146.0 338.1 21839.5 537 7565 0.00 2.42 0.00 0.000 4 0.000 0.068 1850 3930 2307 0 0 0 0 0 0

7823 -1.83 146.0 286.6 21839.5 560 7827 0.15 2.35 0.00 0.000 6 0.216 0.046 1882 2496 2307 0 0 0 0 0 0

8149 -1.83 146.0 232.8 21839.5 590 8153 0.00 2.45 0.00 0.000 4 0.000 0.068 1872 3930 2307 0 0 0 0 0 0

8273 -1.83 146.0 208.7 21839.5 600 8280 0.00 2.30 0.00 0.000 6 0.000 0.045 1871 2524 2308 0 0 0 0 0 0

8599 -1.83 146.0 133.7 21839.5 631 8603 0.00 2.40 0.00 0.000 4 0.000 0.068 1860 3929 2308 0 0 0 0 0 0

8610 -1.83 146.0 131.0 21839.5 631 8617 0.00 2.28 0.00 0.000 6 0.000 0.042 1860 2519 2306 0 0 0 0 0 0

8936 -1.83 146.0 104.8 21839.5 662 8940 0.00 2.38 0.00 0.000 4 0.000 0.058 1848 3940 2306 0 0 0 0 0 0

9079 -1.83 146.0 103.9 21839.5 674 9084 0.15 2.40 0.00 0.000 6 0.243 0.044 1878 2467 2306 0 0 0 0 0 0

9423 -1.83 146.0 60.5 21839.5 731 9430 0.00 2.05 0.00 0.000 4 0.000 0.050 1878 1183 2306 0 0 0 0 0 0

9558 -1.83 146.0 48.9 21839.5 754 9565 0.00 2.05 0.00 0.000 6 0.000 0.057 1870 2429 2306 0 0 0 0 0 0

9906 -1.83 146.0 19.8 21839.5 815 9913 0.00 2.00 0.00 0.000 4 0.000 0.050 1870 1181 2306 0 0 0 0 0 0

9999 -1.83 146.0 9.3 21839.5 831 10006 0.00 1.83 0.00 0.000 6 0.000 0.054 1861 2306 2306 0 0 0 0 0 0

10012 end climb: FINISH_DEPTH_REACHED

state 10012 begin subsurface finish

10021 0.05 79.5 6.4 -21839.5 833 10046 2.40 2.30 -13.98 0.000 4 0.210 0.088 2479 3913 2599 0 0 0 0 0 0

10047 end subsurface finish: CONTROL_FINISHED_OK

state 10047 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	814	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-13322.154	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	230111,082725,6642.542,-5946.409,0,7117.0,0,-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	12.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-8.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230111,082725,6642.542,-5946.409,0,7117.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	111.8,134293,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	786

FREEZE	6.42,-1.718,-1.766,2,32,0	ALTIM_BOTTOM_PING	601.8,11.9
FINISH1	6.4,1.025880,79	_24V_AH	21.2,92.006
FINISH2	2.3	_10V_AH	9.6,62.720
RAFOS_CLK	587	FG_AHR_24Vo	0.000
RAFOS	0,1295784069,12.033333,12.019167,144,47,41,40,40,38,680,1526,549,1260,1360,1846	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.673828,-5941.649902,230111,121249,5,103,0.27	MEM	151708
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	30001,837
TT8_MAMPS	0.028462	CAP_FILE_SIZE	107359,0
HUMID	49.21	CFSIZE	260165632,196440064
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1448.9
XPDR_PINGS	0	GPS	230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	242	40.87	SBE_CT	585	24	298.00
Roll_motor	104	87	194.39	SBE_O2	0	0	0.00
VBD_pump_during_apogee	255	988	5362.04	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	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2131	19	407.63
LPSleep	5946	2	131.87
TT8_Active	325	19	62.22
TT8_Sampling	1498	39	574.36
TT8_CF8	215	45	95.14
TT8_Kalman	0	0	0.00
Analog_circuits	1138	12	131.20
GPS_charging	0	0	0.00
Compass	1483	15	213.59
RAFOS	2520	3	72.58
Transponder	17	30	5.15

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	24	0.00	0.00	-5.57	0.000	2	0.000	0.000	2492	1186	2845	0	0	0	0	0	0
28	-0.57	-146.0	12.5	-0.0	1	53	0.57	4.75	-14.82	0.000	4	0.124	0.070	2282	3936	3523	0	0	0	0	0	0
111	-0.51	-146.0	23.2	-15.7	15	118	0.00	1.88	0.00	0.000	6	0.000	0.049	2282	2780	3524	0	0	0	0	0	0
459	-0.48	-146.0	75.1	-13.0	76	466	0.12	2.30	0.00	0.000	4	0.184	0.051	2315	1370	3524	0	0	0	0	0	0
532	-0.54	-146.0	82.3	-8.5	88	539	0.00	2.38	0.00	0.000	6	0.000	0.063	2314	2772	3523	0	0	0	0	0	0
878	-0.60	-146.0	113.7	-9.1	137	881	0.00	2.00	0.00	0.000	4	0.000	0.076	2314	3929	3523	0	0	0	0	0	0
917	-0.70	-146.0	117.3	-8.4	140	924	0.17	1.90	0.00	0.000	6	0.083	0.049	2240	2775	3522	0	0	0	0	0	0
1243	-0.65	-146.0	156.6	-11.9	171	1247	0.00	2.28	0.00	0.000	4	0.000	0.051	2239	1372	3522	0	0	0	0	0	0
1271	-0.61	-146.0	160.4	-13.3	173	1279	0.15	2.38	0.00	0.000	6	0.171	0.063	2273	2780	3522	0	0	0	0	0	0
1599	-0.64	-146.0	192.9	-9.3	204	1603	0.00	2.30	0.00	0.000	4	0.000	0.052	2273	1367	3521	0	0	0	0	0	0
1621	-0.67	-146.0	195.3	-9.5	205	1628	0.00	2.38	0.00	0.000	6	0.000	0.063	2273	2776	3521	0	0	0	0	0	0
1949	-0.70	-146.0	224.5	-9.2	236	1953	0.00	2.30	0.00	0.000	4	0.000	0.053	2273	1367	3521	0	0	0	0	0	0
1990	-0.75	-146.0	228.7	-9.7	239	1995	0.12	2.38	0.00	0.000	6	0.099	0.063	2220	2765	3521	0	0	0	0	0	0
2317	-0.69	-146.0	270.8	-12.8	269	2321	0.12	2.03	0.00	0.000	4	0.183	0.074	2246	3927	3521	0	0	0	0	0	0
2385	-0.69	-146.0	278.6	-10.2	275	2389	0.00	1.95	0.00	0.000	6	0.000	0.050	2246	2765	3521	0	0	0	0	0	0
2716	-0.69	-146.0	312.8	-10.6	306	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2765	3521	0	0	0	0	0	0
3036	-0.69	-146.0	344.9	-9.4	336	3040	0.00	2.28	0.00	0.000	4	0.000	0.052	2246	1363	3521	0	0	0	0	0	0
3059	-0.69	-146.0	347.4	-9.6	337	3065	0.00	2.40	0.00	0.000	6	0.000	0.063	2241	2773	3521	0	0	0	0	0	0
3385	-0.69	-146.0	378.8	-9.8	368	3386	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2773	3520	0	0	0	0	0	0
3702	-0.69	-146.0	409.0	-9.8	392	3706	0.00	2.28	0.00	0.000	4	0.000	0.051	2241	1370	3521	0	0	0	0	0	0
3777	-0.72	-146.0	416.5	-9.2	394	3781	0.00	2.35	0.00	0.000	6	0.000	0.063	2235	2762	3521	0	0	0	0	0	0
4102	-0.72	-146.0	447.6	-9.4	405	4106	0.00	2.00	0.00	0.000	4	0.000	0.073	2232	3928	3522	0	0	0	0	0	0
4130	-0.72	-146.0	450.7	-10.3	405	4136	0.00	1.92	0.00	0.000	6	0.000	0.048	2233	2748	3522	0	0	0	0	0	0
4443	-0.72	-146.0	479.8	-9.3	416	4447	0.00	2.22	0.00	0.000	4	0.000	0.050	2233	1367	3522	0	0	0	0	0	0
4467	-0.72	-146.0	482.1	-10.0	416	4473	0.00	2.35	0.00	0.000	6	0.000	0.062	2231	2762	3522	0	0	0	0	0	0
4781	-0.72	-146.0	511.1	-9.3	427	4782	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2763	3522	0	0	0	0	0	0
5087	-0.72	-146.0	540.8	-9.8	437	5088	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2762	3523	0	0	0	0	0	0
5393	-0.72	-146.0	571.4	-10.1	447	5397	0.00	2.25	0.00	0.000	4	0.000	0.050	2230	1370	3523	0	0	0	0	0	0
5422	-0.72	-146.0	574.4	-10.0	448	5426	0.00	2.33	0.00	0.000	6	0.000	0.062	2230	2752	3523	0	0	0	0	0	0
5698	end dive: BOTTOM_OBSTACLE_DETECTED
state	5698	begin apogee
5705	-0.14	0.0	601.8	10.1	457	5838	0.60	0.00	124.10	0.988	4	0.135	0.000	2422	2599	2923	0	0	0	0	0	0
5838	end apogee: CONTROL_FINISHED_OK
state	5838	begin climb
5841	0.57	146.0	606.8	0.0	461	5983	0.70	2.42	131.80	0.959	4	0.070	0.050	2665	1190	2326	0	0	0	0	0	0
6152	-1.83	146.0	583.4	21839.5	470	6164	2.67	2.45	0.00	0.000	6	0.146	0.055	1893	2606	2316	0	0	0	0	0	0
6472	-1.83	146.0	535.1	21839.5	481	6476	0.00	2.20	0.00	0.000	4	0.000	0.056	1881	3940	2307	0	0	0	0	0	0
6544	-1.83	146.0	520.7	21839.5	483	6548	0.00	2.28	0.00	0.000	6	0.000	0.047	1881	2546	2309	0	0	0	0	0	0
6870	-1.83	146.0	463.8	21839.5	494	6874	0.00	2.38	0.00	0.000	4	0.000	0.067	1870	3930	2308	0	0	0	0	0	0
6881	-1.83	146.0	460.7	21839.5	494	6885	0.00	2.28	0.00	0.000	6	0.000	0.045	1869	2532	2307	0	0	0	0	0	0
7201	-1.83	146.0	403.6	21839.5	505	7205	0.00	2.42	0.00	0.000	4	0.000	0.072	1861	3931	2309	0	0	0	0	0	0
7235	-1.83	146.0	397.2	21839.5	506	7242	0.00	2.30	0.00	0.000	6	0.000	0.044	1861	2519	2307	0	0	0	0	0	0
7561	-1.83	146.0	338.1	21839.5	537	7565	0.00	2.42	0.00	0.000	4	0.000	0.068	1850	3930	2307	0	0	0	0	0	0
7823	-1.83	146.0	286.6	21839.5	560	7827	0.15	2.35	0.00	0.000	6	0.216	0.046	1882	2496	2307	0	0	0	0	0	0
8149	-1.83	146.0	232.8	21839.5	590	8153	0.00	2.45	0.00	0.000	4	0.000	0.068	1872	3930	2307	0	0	0	0	0	0
8273	-1.83	146.0	208.7	21839.5	600	8280	0.00	2.30	0.00	0.000	6	0.000	0.045	1871	2524	2308	0	0	0	0	0	0
8599	-1.83	146.0	133.7	21839.5	631	8603	0.00	2.40	0.00	0.000	4	0.000	0.068	1860	3929	2308	0	0	0	0	0	0
8610	-1.83	146.0	131.0	21839.5	631	8617	0.00	2.28	0.00	0.000	6	0.000	0.042	1860	2519	2306	0	0	0	0	0	0
8936	-1.83	146.0	104.8	21839.5	662	8940	0.00	2.38	0.00	0.000	4	0.000	0.058	1848	3940	2306	0	0	0	0	0	0
9079	-1.83	146.0	103.9	21839.5	674	9084	0.15	2.40	0.00	0.000	6	0.243	0.044	1878	2467	2306	0	0	0	0	0	0
9423	-1.83	146.0	60.5	21839.5	731	9430	0.00	2.05	0.00	0.000	4	0.000	0.050	1878	1183	2306	0	0	0	0	0	0
9558	-1.83	146.0	48.9	21839.5	754	9565	0.00	2.05	0.00	0.000	6	0.000	0.057	1870	2429	2306	0	0	0	0	0	0
9906	-1.83	146.0	19.8	21839.5	815	9913	0.00	2.00	0.00	0.000	4	0.000	0.050	1870	1181	2306	0	0	0	0	0	0
9999	-1.83	146.0	9.3	21839.5	831	10006	0.00	1.83	0.00	0.000	6	0.000	0.054	1861	2306	2306	0	0	0	0	0	0
10012	end climb: FINISH_DEPTH_REACHED
state	10012	begin subsurface finish
10021	0.05	79.5	6.4	-21839.5	833	10046	2.40	2.30	-13.98	0.000	4	0.210	0.088	2479	3913	2599	0	0	0	0	0	0
10047	end subsurface finish: CONTROL_FINISHED_OK
state	10047	begin surface