Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 901 * 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 901 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 20 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 1 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 -3 T_GPS_CHARGE -14695.74 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 1 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 -14695.74

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 -3

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 20 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 901 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 030211,161835,6658.958,-5808.898,37,1.4,47,-37.8 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030211,161835,6658.958,-5808.898,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd 292.4,104054,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 976

Post-dive calculations and measurements:

FREEZE 0.60,-1.310,-0.896,3,7,0 ALTIM_TOP_PING 19.9,18.0

FINISH 0.6,1.013206 ALTIM_BOTTOM_PING 600.7,11.9

SM_CCo 11728,205.88,0.084,0,0,439,609.08 _24V_AH 21.4,100.754

SM_GC 1.32,0.00,0.00,205.88,0.000,0.000,0.084,299,2783,439,-6.79,0.08,609.08 _10V_AH 9.6,68.175

RAFOS_CLK 664 FG_AHR_24Vo 0.000

RAFOS 1,1296749345,16.166666,16.151388,43,42,40,39,38,38,26,717,456,1500,915,1749 FG_AHR_10Vo 0.000

RAFOS_FIX 6702.917969,-5806.691406,030211,161656,2,70,4.42 MEM 151676

IRIDIUM_FIX 6631.12,-5800.84,030211,161619 DATA_FILE_SIZE 33379,947

TT8_MAMPS 0.028462 CAP_FILE_SIZE 119779,0

HUMID 47.04 CFSIZE 260165632,191303680

INTERNAL_PRESSURE 8.44606 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1455.1

XPDR_PINGS 0 GPS 030211,195136,6658.083,-5811.587,41,1.2,47,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 90.48 SBE_CT 659 24 338.52

Roll_motor 80 77 132.36 SBE_O2 0 0 0.00

VBD_pump_during_apogee 348 971 7242.08 nil 0 0 0.00

VBD_pump_during_surface 205 84 370.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 84 103 186.65 nil 0 0 0.00

Iridium_during_connect 78 160 268.54 nil 0 0 0.00

Iridium_during_xfer 60 223 288.04 nil 0 0 0.00

Transponder_ping 2 420 22.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 88.11

TT8 2321 19 443.93

LPSleep 7229 2 160.33

TT8_Active 702 19 134.40

TT8_Sampling 2057 39 788.44

TT8_CF8 346 45 152.59

TT8_Kalman 0 0 0.00

Analog_circuits 1586 12 182.81

GPS_charging 0 0 0.00

Compass 1596 15 229.93

RAFOS 1080 3 31.10

Transponder 20 30 5.91

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 183 0.00 0.00 -157.68 0.000 6 0.000 0.000 263 2772 3520 0 0 0 0 0 0

186 -0.57 -146.0 6.2 -15.4 28 200 8.52 2.03 0.00 0.000 4 0.244 0.057 2277 3941 3522 0 0 0 0 0 0

328 -0.53 -146.0 36.2 -13.4 52 334 0.00 1.90 0.00 0.000 6 0.000 0.048 2277 2772 3522 0 0 0 0 0 0

676 -0.53 -146.0 78.1 -10.6 113 683 0.00 2.25 0.00 0.000 4 0.000 0.050 2277 1370 3522 0 0 0 0 0 0

727 -0.57 -146.0 83.0 -10.0 121 734 0.00 2.38 0.00 0.000 6 0.000 0.061 2275 2779 3522 0 0 0 0 0 0

1067 -0.57 -146.0 114.0 -9.1 168 1072 0.00 2.33 0.00 0.000 4 0.000 0.050 2275 1361 3522 0 0 0 0 0 0

1101 -0.60 -146.0 117.6 -9.3 170 1108 0.00 2.38 0.00 0.000 6 0.000 0.061 2275 2760 3523 0 0 0 0 0 0

1429 -0.63 -146.0 146.8 -8.8 201 1433 0.00 2.25 0.00 0.000 4 0.000 0.050 2275 1370 3522 0 0 0 0 0 0

1470 -0.68 -146.0 150.6 -9.3 204 1475 0.00 2.35 0.00 0.000 6 0.000 0.061 2275 2762 3522 0 0 0 0 0 0

1798 -0.71 -146.0 179.7 -10.1 234 1801 0.00 2.05 0.00 0.000 4 0.000 0.073 2275 3935 3522 0 0 0 0 0 0

1849 -0.76 -146.0 185.0 -9.5 238 1856 0.12 1.95 0.00 0.000 6 0.095 0.047 2219 2758 3522 0 0 0 0 0 0

2176 -0.70 -146.0 225.9 -12.3 269 2181 0.12 2.28 0.00 0.000 4 0.173 0.049 2252 1367 3522 0 0 0 0 0 0

2205 -0.70 -146.0 229.3 -10.7 271 2209 0.00 2.35 0.00 0.000 6 0.000 0.061 2247 2760 3522 0 0 0 0 0 0

2532 -0.70 -146.0 261.9 -10.4 301 2533 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2761 3522 0 0 0 0 0 0

2853 -0.70 -146.0 294.8 -10.4 331 2856 0.00 2.05 0.00 0.000 4 0.000 0.072 2247 3936 3522 0 0 0 0 0 0

2900 -0.70 -146.0 300.1 -10.6 335 2904 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2757 3522 0 0 0 0 0 0

3232 -0.70 -146.0 333.5 -9.5 366 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2757 3523 0 0 0 0 0 0

3554 -0.70 -146.0 363.6 -9.7 396 3558 0.00 2.08 0.00 0.000 4 0.000 0.072 2247 3935 3523 0 0 0 0 0 0

3593 -0.70 -146.0 367.9 -9.6 399 3600 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2757 3523 0 0 0 0 0 0

3919 -0.70 -146.0 397.4 -8.8 430 3921 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2757 3523 0 0 0 0 0 0

4228 -0.70 -146.0 426.0 -9.4 442 4232 0.00 2.25 0.00 0.000 4 0.000 0.048 2247 1370 3523 0 0 0 0 0 0

4280 -0.73 -146.0 431.3 -9.9 443 4284 0.00 2.35 0.00 0.000 6 0.000 0.060 2247 2762 3523 0 0 0 0 0 0

4601 -0.73 -146.0 459.7 -8.8 454 4602 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2762 3523 0 0 0 0 0 0

4906 -0.73 -146.0 486.5 -8.7 464 4910 0.00 2.03 0.00 0.000 4 0.000 0.070 2247 3927 3524 0 0 0 0 0 0

4941 -0.73 -146.0 489.6 -9.6 465 4945 0.00 1.92 0.00 0.000 6 0.000 0.046 2247 2745 3524 0 0 0 0 0 0

5284 -0.73 -146.0 520.2 -9.0 476 5285 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2745 3523 0 0 0 0 0 0

5589 -0.73 -146.0 548.1 -9.2 486 5590 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2745 3524 0 0 0 0 0 0

5895 -0.73 -146.0 576.1 -9.1 496 5896 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2745 3524 0 0 0 0 0 0

6172 end dive: BOTTOM_OBSTACLE_DETECTED

state 6172 begin apogee

6180 -0.14 0.0 600.7 8.9 505 6311 0.55 0.00 123.90 0.972 4 0.129 0.000 2423 2597 2923 0 0 0 0 0 0

6311 end apogee: CONTROL_FINISHED_OK

state 6312 begin climb

6316 0.57 146.0 605.6 0.0 509 6454 0.68 2.40 131.50 0.945 4 0.067 0.048 2660 1188 2327 0 0 0 0 0 0

6576 0.57 146.0 587.2 10.4 516 6580 0.00 2.47 0.00 0.000 6 0.000 0.053 2661 2602 2319 0 0 0 0 0 0

6896 0.53 146.0 552.7 10.9 527 6900 0.00 2.28 0.00 0.000 4 0.000 0.050 2662 1189 2316 0 0 0 0 0 0

7081 0.53 146.0 533.5 10.7 532 7086 0.00 2.33 0.00 0.000 6 0.000 0.054 2661 2615 2315 0 0 0 0 0 0

7395 0.48 146.0 500.3 10.6 542 7399 0.00 2.20 0.00 0.000 4 0.000 0.065 2662 3928 2314 0 0 0 0 0 0

7463 0.39 146.0 491.7 13.0 544 7468 0.22 2.12 0.00 0.000 6 0.182 0.043 2604 2618 2313 0 0 0 0 0 0

7795 0.49 208.0 467.4 7.1 555 7853 0.00 0.00 52.67 0.880 6 0.000 0.000 2604 2617 2074 0 0 0 0 0 0

8160 0.63 254.3 439.6 7.9 567 8203 0.20 0.00 40.25 0.858 6 0.076 0.000 2689 2617 1885 0 0 0 0 0 0

8498 0.61 254.3 393.1 14.2 580 8502 0.00 2.30 0.00 0.000 4 0.000 0.052 2690 1197 1877 0 0 0 0 0 0

8538 0.61 254.3 387.5 13.5 583 8542 0.00 2.33 0.00 0.000 6 0.000 0.054 2690 2628 1876 0 0 0 0 0 0

8866 0.59 254.3 343.2 13.6 613 8872 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2628 1875 0 0 0 0 0 0

9196 0.57 254.3 298.4 13.9 644 9203 0.12 0.00 0.00 0.000 6 0.187 0.000 2658 2628 1874 0 0 0 0 0 0

9524 0.61 254.3 262.3 10.5 675 9530 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2628 1873 0 0 0 0 0 0

9854 0.66 258.4 227.2 9.8 706 9860 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2628 1873 0 0 0 0 0 0

10185 0.72 258.4 194.3 10.1 737 10190 0.15 2.35 0.00 0.000 4 0.093 0.051 2724 1193 1873 0 0 0 0 0 0

10249 0.69 258.4 185.9 13.3 742 10253 0.00 2.35 0.00 0.000 6 0.000 0.053 2724 2626 1873 0 0 0 0 0 0

10575 0.63 258.4 137.8 15.8 772 10580 0.15 2.25 0.00 0.000 4 0.180 0.066 2683 3925 1872 0 0 0 0 0 0

10630 0.63 258.4 128.9 15.6 776 10637 0.00 2.10 0.00 0.000 6 0.000 0.044 2683 2630 1870 0 0 0 0 0 0

10963 0.63 258.4 87.1 12.1 816 10970 0.00 2.35 0.00 0.000 4 0.000 0.052 2684 1186 1871 0 0 0 0 0 0

11012 0.70 258.4 81.7 10.8 824 11019 0.00 2.40 0.00 0.000 6 0.000 0.054 2684 2632 1871 0 0 0 0 0 0

11361 0.74 258.4 40.3 13.7 885 11368 0.00 2.22 0.00 0.000 4 0.000 0.065 2684 3935 1870 0 0 0 0 0 0

11437 0.74 258.4 28.2 15.5 898 11444 0.00 2.12 0.00 0.000 6 0.000 0.044 2685 2634 1870 0 0 0 0 0 0

11684 end climb: SURFACE_DEPTH_REACHED

state 11685 begin surface coast

11710 end surface coast: FINISH_DEPTH_REACHED

state 11710 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	901	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	20	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	1	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	-3	T_GPS_CHARGE	-14695.74	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	030211,161835,6658.958,-5808.898,37,1.4,47,-37.8	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030211,161835,6658.958,-5808.898,181,99.0,181,-37.8	MHEAD_RNG_PITCHd_Wd	292.4,104054,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	976

FREEZE	0.60,-1.310,-0.896,3,7,0	ALTIM_TOP_PING	19.9,18.0
FINISH	0.6,1.013206	ALTIM_BOTTOM_PING	600.7,11.9
SM_CCo	11728,205.88,0.084,0,0,439,609.08	_24V_AH	21.4,100.754
SM_GC	1.32,0.00,0.00,205.88,0.000,0.000,0.084,299,2783,439,-6.79,0.08,609.08	_10V_AH	9.6,68.175
RAFOS_CLK	664	FG_AHR_24Vo	0.000
RAFOS	1,1296749345,16.166666,16.151388,43,42,40,39,38,38,26,717,456,1500,915,1749	FG_AHR_10Vo	0.000
RAFOS_FIX	6702.917969,-5806.691406,030211,161656,2,70,4.42	MEM	151676
IRIDIUM_FIX	6631.12,-5800.84,030211,161619	DATA_FILE_SIZE	33379,947
TT8_MAMPS	0.028462	CAP_FILE_SIZE	119779,0
HUMID	47.04	CFSIZE	260165632,191303680
INTERNAL_PRESSURE	8.44606	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1455.1
XPDR_PINGS	0	GPS	030211,195136,6658.083,-5811.587,41,1.2,47,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	90.48	SBE_CT	659	24	338.52
Roll_motor	80	77	132.36	SBE_O2	0	0	0.00
VBD_pump_during_apogee	348	971	7242.08	nil	0	0	0.00
VBD_pump_during_surface	205	84	370.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	84	103	186.65	nil	0	0	0.00
Iridium_during_connect	78	160	268.54	nil	0	0	0.00
Iridium_during_xfer	60	223	288.04	nil	0	0	0.00
Transponder_ping	2	420	22.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	88.11
TT8	2321	19	443.93
LPSleep	7229	2	160.33
TT8_Active	702	19	134.40
TT8_Sampling	2057	39	788.44
TT8_CF8	346	45	152.59
TT8_Kalman	0	0	0.00
Analog_circuits	1586	12	182.81
GPS_charging	0	0	0.00
Compass	1596	15	229.93
RAFOS	1080	3	31.10
Transponder	20	30	5.91

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	183	0.00	0.00	-157.68	0.000	6	0.000	0.000	263	2772	3520	0	0	0	0	0	0
186	-0.57	-146.0	6.2	-15.4	28	200	8.52	2.03	0.00	0.000	4	0.244	0.057	2277	3941	3522	0	0	0	0	0	0
328	-0.53	-146.0	36.2	-13.4	52	334	0.00	1.90	0.00	0.000	6	0.000	0.048	2277	2772	3522	0	0	0	0	0	0
676	-0.53	-146.0	78.1	-10.6	113	683	0.00	2.25	0.00	0.000	4	0.000	0.050	2277	1370	3522	0	0	0	0	0	0
727	-0.57	-146.0	83.0	-10.0	121	734	0.00	2.38	0.00	0.000	6	0.000	0.061	2275	2779	3522	0	0	0	0	0	0
1067	-0.57	-146.0	114.0	-9.1	168	1072	0.00	2.33	0.00	0.000	4	0.000	0.050	2275	1361	3522	0	0	0	0	0	0
1101	-0.60	-146.0	117.6	-9.3	170	1108	0.00	2.38	0.00	0.000	6	0.000	0.061	2275	2760	3523	0	0	0	0	0	0
1429	-0.63	-146.0	146.8	-8.8	201	1433	0.00	2.25	0.00	0.000	4	0.000	0.050	2275	1370	3522	0	0	0	0	0	0
1470	-0.68	-146.0	150.6	-9.3	204	1475	0.00	2.35	0.00	0.000	6	0.000	0.061	2275	2762	3522	0	0	0	0	0	0
1798	-0.71	-146.0	179.7	-10.1	234	1801	0.00	2.05	0.00	0.000	4	0.000	0.073	2275	3935	3522	0	0	0	0	0	0
1849	-0.76	-146.0	185.0	-9.5	238	1856	0.12	1.95	0.00	0.000	6	0.095	0.047	2219	2758	3522	0	0	0	0	0	0
2176	-0.70	-146.0	225.9	-12.3	269	2181	0.12	2.28	0.00	0.000	4	0.173	0.049	2252	1367	3522	0	0	0	0	0	0
2205	-0.70	-146.0	229.3	-10.7	271	2209	0.00	2.35	0.00	0.000	6	0.000	0.061	2247	2760	3522	0	0	0	0	0	0
2532	-0.70	-146.0	261.9	-10.4	301	2533	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2761	3522	0	0	0	0	0	0
2853	-0.70	-146.0	294.8	-10.4	331	2856	0.00	2.05	0.00	0.000	4	0.000	0.072	2247	3936	3522	0	0	0	0	0	0
2900	-0.70	-146.0	300.1	-10.6	335	2904	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2757	3522	0	0	0	0	0	0
3232	-0.70	-146.0	333.5	-9.5	366	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2757	3523	0	0	0	0	0	0
3554	-0.70	-146.0	363.6	-9.7	396	3558	0.00	2.08	0.00	0.000	4	0.000	0.072	2247	3935	3523	0	0	0	0	0	0
3593	-0.70	-146.0	367.9	-9.6	399	3600	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2757	3523	0	0	0	0	0	0
3919	-0.70	-146.0	397.4	-8.8	430	3921	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2757	3523	0	0	0	0	0	0
4228	-0.70	-146.0	426.0	-9.4	442	4232	0.00	2.25	0.00	0.000	4	0.000	0.048	2247	1370	3523	0	0	0	0	0	0
4280	-0.73	-146.0	431.3	-9.9	443	4284	0.00	2.35	0.00	0.000	6	0.000	0.060	2247	2762	3523	0	0	0	0	0	0
4601	-0.73	-146.0	459.7	-8.8	454	4602	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2762	3523	0	0	0	0	0	0
4906	-0.73	-146.0	486.5	-8.7	464	4910	0.00	2.03	0.00	0.000	4	0.000	0.070	2247	3927	3524	0	0	0	0	0	0
4941	-0.73	-146.0	489.6	-9.6	465	4945	0.00	1.92	0.00	0.000	6	0.000	0.046	2247	2745	3524	0	0	0	0	0	0
5284	-0.73	-146.0	520.2	-9.0	476	5285	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2745	3523	0	0	0	0	0	0
5589	-0.73	-146.0	548.1	-9.2	486	5590	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2745	3524	0	0	0	0	0	0
5895	-0.73	-146.0	576.1	-9.1	496	5896	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2745	3524	0	0	0	0	0	0
6172	end dive: BOTTOM_OBSTACLE_DETECTED
state	6172	begin apogee
6180	-0.14	0.0	600.7	8.9	505	6311	0.55	0.00	123.90	0.972	4	0.129	0.000	2423	2597	2923	0	0	0	0	0	0
6311	end apogee: CONTROL_FINISHED_OK
state	6312	begin climb
6316	0.57	146.0	605.6	0.0	509	6454	0.68	2.40	131.50	0.945	4	0.067	0.048	2660	1188	2327	0	0	0	0	0	0
6576	0.57	146.0	587.2	10.4	516	6580	0.00	2.47	0.00	0.000	6	0.000	0.053	2661	2602	2319	0	0	0	0	0	0
6896	0.53	146.0	552.7	10.9	527	6900	0.00	2.28	0.00	0.000	4	0.000	0.050	2662	1189	2316	0	0	0	0	0	0
7081	0.53	146.0	533.5	10.7	532	7086	0.00	2.33	0.00	0.000	6	0.000	0.054	2661	2615	2315	0	0	0	0	0	0
7395	0.48	146.0	500.3	10.6	542	7399	0.00	2.20	0.00	0.000	4	0.000	0.065	2662	3928	2314	0	0	0	0	0	0
7463	0.39	146.0	491.7	13.0	544	7468	0.22	2.12	0.00	0.000	6	0.182	0.043	2604	2618	2313	0	0	0	0	0	0
7795	0.49	208.0	467.4	7.1	555	7853	0.00	0.00	52.67	0.880	6	0.000	0.000	2604	2617	2074	0	0	0	0	0	0
8160	0.63	254.3	439.6	7.9	567	8203	0.20	0.00	40.25	0.858	6	0.076	0.000	2689	2617	1885	0	0	0	0	0	0
8498	0.61	254.3	393.1	14.2	580	8502	0.00	2.30	0.00	0.000	4	0.000	0.052	2690	1197	1877	0	0	0	0	0	0
8538	0.61	254.3	387.5	13.5	583	8542	0.00	2.33	0.00	0.000	6	0.000	0.054	2690	2628	1876	0	0	0	0	0	0
8866	0.59	254.3	343.2	13.6	613	8872	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2628	1875	0	0	0	0	0	0
9196	0.57	254.3	298.4	13.9	644	9203	0.12	0.00	0.00	0.000	6	0.187	0.000	2658	2628	1874	0	0	0	0	0	0
9524	0.61	254.3	262.3	10.5	675	9530	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2628	1873	0	0	0	0	0	0
9854	0.66	258.4	227.2	9.8	706	9860	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2628	1873	0	0	0	0	0	0
10185	0.72	258.4	194.3	10.1	737	10190	0.15	2.35	0.00	0.000	4	0.093	0.051	2724	1193	1873	0	0	0	0	0	0
10249	0.69	258.4	185.9	13.3	742	10253	0.00	2.35	0.00	0.000	6	0.000	0.053	2724	2626	1873	0	0	0	0	0	0
10575	0.63	258.4	137.8	15.8	772	10580	0.15	2.25	0.00	0.000	4	0.180	0.066	2683	3925	1872	0	0	0	0	0	0
10630	0.63	258.4	128.9	15.6	776	10637	0.00	2.10	0.00	0.000	6	0.000	0.044	2683	2630	1870	0	0	0	0	0	0
10963	0.63	258.4	87.1	12.1	816	10970	0.00	2.35	0.00	0.000	4	0.000	0.052	2684	1186	1871	0	0	0	0	0	0
11012	0.70	258.4	81.7	10.8	824	11019	0.00	2.40	0.00	0.000	6	0.000	0.054	2684	2632	1871	0	0	0	0	0	0
11361	0.74	258.4	40.3	13.7	885	11368	0.00	2.22	0.00	0.000	4	0.000	0.065	2684	3935	1870	0	0	0	0	0	0
11437	0.74	258.4	28.2	15.5	898	11444	0.00	2.12	0.00	0.000	6	0.000	0.044	2685	2634	1870	0	0	0	0	0	0
11684	end climb: SURFACE_DEPTH_REACHED
state	11685	begin surface coast
11710	end surface coast: FINISH_DEPTH_REACHED
state	11710	begin surface