Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 913 * 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 913 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 25 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 -15626.439 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 -15626.439

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 913 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 050211,060337,6652.731,-5820.178,35,1.1,35,-37.7 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050211,061020,6652.698,-5820.057,13,1.3,13,-37.7 MHEAD_RNG_PITCHd_Wd 297.8,93533,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 872

Post-dive calculations and measurements:

FREEZE 8.11,-1.812,-1.818,3,1,0 ALTIM_BOTTOM_PING 551.9,11.4

FINISH1 8.1,1.026616,43 _24V_AH 21.5,102.062

FINISH2 4.7 _10V_AH 9.7,68.985

RAFOS_CLK 568 FG_AHR_24Vo 0.000

RAFOS 0,1296892866,8.033334,8.018333,49,48,46,45,43,41,425,548,1352,154,1851,808 FG_AHR_10Vo 0.000

RAFOS_FIX 6653.437012,-5823.503418,050211,080828,4,92,0.32 MEM 151648

IRIDIUM_FIX 6631.12,-5818.88,050211,020256 DATA_FILE_SIZE 33402,914

TT8_MAMPS 0.029211 CAP_FILE_SIZE 120708,0

HUMID 49.48 CFSIZE 260165632,190681088

INTERNAL_PRESSURE 8.64138 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.40 SOUNDSPEED 1453.5

XPDR_PINGS 3 GPS 050211,083928,6653.437,-5823.503,0,4092.2,0,-37.7

ALTIM_TOP_PING 19.5,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 244 61.52 SBE_CT 635 24 327.81

Roll_motor 95 72 148.75 SBE_O2 0 0 0.00

VBD_pump_during_apogee 364 942 7385.47 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 28 103 62.67 nil 0 0 0.00

Iridium_during_connect 16 160 58.37 nil 0 0 0.00

Iridium_during_xfer 183 223 880.94 nil 0 0 0.00

Transponder_ping 3 420 27.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.67

TT8 2257 19 436.22

LPSleep 6247 2 139.99

TT8_Active 502 19 97.04

TT8_Sampling 1822 39 705.83

TT8_CF8 372 45 165.85

TT8_Kalman 0 0 0.00

Analog_circuits 1399 12 162.94

GPS_charging 0 0 0.00

Compass 1595 15 232.07

RAFOS 2520 3 73.33

Transponder 18 30 5.46

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 0 175 0.00 0.00 -153.07 0.000 2 0.000 0.000 292 2789 3508 0 0 0 0 0 0

178 -0.57 -146.0 5.7 -14.8 27 192 8.38 1.98 0.00 0.000 4 0.244 0.058 2278 3934 3511 0 0 0 0 0 0

331 -0.57 -146.0 37.4 -11.5 53 338 0.00 1.88 0.00 0.000 6 0.000 0.050 2278 2781 3512 0 0 0 0 0 0

679 -0.57 -146.0 74.8 -9.3 114 685 0.00 2.28 0.00 0.000 4 0.000 0.050 2278 1374 3513 0 0 0 0 0 0

746 -0.59 -146.0 80.8 -8.7 125 753 0.00 2.35 0.00 0.000 6 0.000 0.063 2275 2760 3513 0 0 0 0 0 0

1091 -0.59 -146.0 114.6 -9.6 173 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2761 3513 0 0 0 0 0 0

1411 -0.61 -146.0 144.4 -8.6 203 1415 0.00 2.03 0.00 0.000 4 0.000 0.073 2275 3930 3512 0 0 0 0 0 0

1440 -0.64 -146.0 147.3 -8.6 205 1446 0.00 1.98 0.00 0.000 6 0.000 0.049 2275 2739 3512 0 0 0 0 0 0

1766 -0.67 -146.0 175.0 -8.3 236 1770 0.00 2.22 0.00 0.000 4 0.000 0.050 2275 1365 3512 0 0 0 0 0 0

1808 -0.72 -146.0 178.7 -8.8 239 1812 0.00 2.35 0.00 0.000 6 0.000 0.061 2275 2741 3512 0 0 0 0 0 0

2135 -0.76 -146.0 206.2 -8.5 269 2139 0.12 2.10 0.00 0.000 4 0.101 0.072 2213 3928 3511 0 0 0 0 0 0

2181 -0.68 -146.0 211.5 -12.9 273 2186 0.15 1.98 0.00 0.000 6 0.164 0.047 2251 2732 3511 0 0 0 0 0 0

2513 -0.68 -146.0 243.6 -9.4 304 2514 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2732 3512 0 0 0 0 0 0

2836 -0.68 -146.0 274.1 -9.3 334 2840 0.00 2.12 0.00 0.000 4 0.000 0.072 2247 3936 3512 0 0 0 0 0 0

2898 -0.68 -146.0 281.0 -10.0 339 2905 0.00 1.98 0.00 0.000 6 0.000 0.047 2247 2745 3512 0 0 0 0 0 0

3224 -0.68 -146.0 313.8 -9.9 370 3228 0.00 2.10 0.00 0.000 4 0.000 0.071 2247 3936 3512 0 0 0 0 0 0

3248 -0.68 -146.0 316.3 -10.4 372 3252 0.00 1.95 0.00 0.000 6 0.000 0.047 2246 2741 3512 0 0 0 0 0 0

3582 -0.68 -146.0 350.5 -10.1 403 3586 0.00 2.20 0.00 0.000 4 0.000 0.047 2247 1373 3512 0 0 0 0 0 0

3615 -0.68 -146.0 354.3 -10.0 405 3622 0.00 2.33 0.00 0.000 6 0.000 0.060 2247 2748 3512 0 0 0 0 0 0

3942 -0.68 -146.0 385.0 -9.1 436 3946 0.00 2.08 0.00 0.000 4 0.000 0.071 2247 3934 3513 0 0 0 0 0 0

3989 -0.68 -146.0 389.8 -9.9 440 3993 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2756 3513 0 0 0 0 0 0

4322 -0.68 -146.0 420.9 -9.4 458 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2755 3513 0 0 0 0 0 0

4629 -0.68 -146.0 448.7 -9.0 468 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2756 3513 0 0 0 0 0 0

4935 -0.68 -146.0 476.2 -9.0 478 4939 0.00 2.25 0.00 0.000 4 0.000 0.048 2247 1370 3514 0 0 0 0 0 0

4970 -0.70 -146.0 479.3 -9.1 479 4975 0.00 2.35 0.00 0.000 6 0.000 0.060 2247 2758 3514 0 0 0 0 0 0

5308 -0.70 -146.0 509.6 -9.1 490 5309 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2758 3514 0 0 0 0 0 0

5613 -0.70 -146.0 537.9 -9.3 500 5614 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2758 3514 0 0 0 0 0 0

5767 end dive: BOTTOM_OBSTACLE_DETECTED

state 5767 begin apogee

5775 -0.14 0.0 551.9 9.1 505 5904 0.55 0.00 121.22 0.942 4 0.132 0.000 2422 2601 2923 0 0 0 0 0 0

5904 end apogee: CONTROL_FINISHED_OK

state 5904 begin climb

5907 0.57 146.0 556.8 0.0 509 6047 0.70 2.42 130.32 0.916 4 0.070 0.050 2665 1180 2327 0 0 0 0 0 0

6205 0.57 146.0 533.6 10.8 518 6209 0.00 2.47 0.00 0.000 6 0.000 0.054 2665 2609 2319 0 0 0 0 0 0

6542 0.52 146.0 495.7 11.3 529 6546 0.00 2.30 0.00 0.000 4 0.000 0.051 2666 1181 2316 0 0 0 0 0 0

6779 0.52 146.0 470.0 10.9 536 6783 0.00 2.35 0.00 0.000 6 0.000 0.055 2666 2613 2316 0 0 0 0 0 0

7113 0.47 146.0 433.3 11.1 547 7118 0.15 2.22 0.00 0.000 4 0.192 0.066 2627 3925 2314 0 0 0 0 0 0

7180 0.44 146.0 425.4 10.4 549 7184 0.00 2.15 0.00 0.000 6 0.000 0.044 2628 2604 2313 0 0 0 0 0 0

7503 0.46 176.5 397.4 8.6 561 7531 0.00 0.00 25.33 0.834 6 0.000 0.000 2628 2603 2202 0 0 0 0 0 0

7852 0.52 200.3 366.7 8.9 594 7878 0.00 2.28 21.08 0.813 4 0.000 0.067 2628 3926 2106 0 0 0 0 0 0

7913 0.52 200.3 360.5 11.3 599 7917 0.00 2.15 0.00 0.000 6 0.000 0.044 2628 2608 2103 0 0 0 0 0 0

8240 0.58 215.4 329.9 9.3 629 8263 0.10 2.33 14.05 0.783 4 0.116 0.051 2679 1199 2044 0 0 0 0 0 0

8298 0.58 215.4 322.9 12.4 634 8302 0.00 2.30 0.00 0.000 6 0.000 0.054 2680 2613 2043 0 0 0 0 0 0

8625 0.56 215.4 280.5 13.4 664 8629 0.00 2.20 0.00 0.000 4 0.000 0.066 2679 3925 2039 0 0 0 0 0 0

8688 0.50 215.4 271.3 14.6 669 8693 0.17 2.12 0.00 0.000 6 0.184 0.044 2635 2617 2038 0 0 0 0 0 0

9023 0.57 235.2 239.5 9.1 700 9046 0.00 2.38 17.60 0.747 4 0.000 0.051 2635 1193 1963 0 0 0 0 0 0

9073 0.71 274.0 235.0 8.2 704 9117 0.20 2.33 34.88 0.737 6 0.077 0.054 2719 2619 1804 0 0 0 0 0 0

9436 0.66 274.0 180.9 15.1 738 9441 0.12 2.20 0.00 0.000 4 0.190 0.065 2687 3925 1796 0 0 0 0 0 0

9477 0.66 274.0 174.9 14.4 741 9481 0.00 2.12 0.00 0.000 6 0.000 0.044 2690 2618 1794 0 0 0 0 0 0

9809 0.66 274.0 134.4 11.5 772 9813 0.00 2.30 0.00 0.000 4 0.000 0.051 2690 1187 1794 0 0 0 0 0 0

9875 0.73 274.0 127.2 11.2 777 9879 0.00 2.35 0.00 0.000 6 0.000 0.054 2690 2619 1793 0 0 0 0 0 0

10206 0.76 274.0 89.0 11.2 816 10213 0.00 2.33 0.00 0.000 4 0.000 0.052 2691 1195 1793 0 0 0 0 0 0

10272 0.84 274.0 81.7 11.3 827 10280 0.15 2.30 0.00 0.000 6 0.090 0.054 2753 2592 1792 0 0 0 0 0 0

10623 0.78 274.0 26.9 14.6 888 10630 0.00 2.30 0.00 0.000 4 0.000 0.067 2753 3936 1791 0 0 0 0 0 0

10733 end climb: FINISH_DEPTH_REACHED

state 10733 begin subsurface finish

10743 0.03 43.4 8.1 -16.8 907 10786 0.93 2.40 -35.03 0.000 4 0.164 0.064 2493 1178 2749 0 0 0 0 0 0

10786 end subsurface finish: CONTROL_FINISHED_OK

state 10786 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	913	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	25	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	-15626.439	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	050211,060337,6652.731,-5820.178,35,1.1,35,-37.7	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050211,061020,6652.698,-5820.057,13,1.3,13,-37.7	MHEAD_RNG_PITCHd_Wd	297.8,93533,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	872

FREEZE	8.11,-1.812,-1.818,3,1,0	ALTIM_BOTTOM_PING	551.9,11.4
FINISH1	8.1,1.026616,43	_24V_AH	21.5,102.062
FINISH2	4.7	_10V_AH	9.7,68.985
RAFOS_CLK	568	FG_AHR_24Vo	0.000
RAFOS	0,1296892866,8.033334,8.018333,49,48,46,45,43,41,425,548,1352,154,1851,808	FG_AHR_10Vo	0.000
RAFOS_FIX	6653.437012,-5823.503418,050211,080828,4,92,0.32	MEM	151648
IRIDIUM_FIX	6631.12,-5818.88,050211,020256	DATA_FILE_SIZE	33402,914
TT8_MAMPS	0.029211	CAP_FILE_SIZE	120708,0
HUMID	49.48	CFSIZE	260165632,190681088
INTERNAL_PRESSURE	8.64138	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.40	SOUNDSPEED	1453.5
XPDR_PINGS	3	GPS	050211,083928,6653.437,-5823.503,0,4092.2,0,-37.7
ALTIM_TOP_PING	19.5,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	244	61.52	SBE_CT	635	24	327.81
Roll_motor	95	72	148.75	SBE_O2	0	0	0.00
VBD_pump_during_apogee	364	942	7385.47	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	28	103	62.67	nil	0	0	0.00
Iridium_during_connect	16	160	58.37	nil	0	0	0.00
Iridium_during_xfer	183	223	880.94	nil	0	0	0.00
Transponder_ping	3	420	27.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.67
TT8	2257	19	436.22
LPSleep	6247	2	139.99
TT8_Active	502	19	97.04
TT8_Sampling	1822	39	705.83
TT8_CF8	372	45	165.85
TT8_Kalman	0	0	0.00
Analog_circuits	1399	12	162.94
GPS_charging	0	0	0.00
Compass	1595	15	232.07
RAFOS	2520	3	73.33
Transponder	18	30	5.46

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	175	0.00	0.00	-153.07	0.000	2	0.000	0.000	292	2789	3508	0	0	0	0	0	0
178	-0.57	-146.0	5.7	-14.8	27	192	8.38	1.98	0.00	0.000	4	0.244	0.058	2278	3934	3511	0	0	0	0	0	0
331	-0.57	-146.0	37.4	-11.5	53	338	0.00	1.88	0.00	0.000	6	0.000	0.050	2278	2781	3512	0	0	0	0	0	0
679	-0.57	-146.0	74.8	-9.3	114	685	0.00	2.28	0.00	0.000	4	0.000	0.050	2278	1374	3513	0	0	0	0	0	0
746	-0.59	-146.0	80.8	-8.7	125	753	0.00	2.35	0.00	0.000	6	0.000	0.063	2275	2760	3513	0	0	0	0	0	0
1091	-0.59	-146.0	114.6	-9.6	173	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2761	3513	0	0	0	0	0	0
1411	-0.61	-146.0	144.4	-8.6	203	1415	0.00	2.03	0.00	0.000	4	0.000	0.073	2275	3930	3512	0	0	0	0	0	0
1440	-0.64	-146.0	147.3	-8.6	205	1446	0.00	1.98	0.00	0.000	6	0.000	0.049	2275	2739	3512	0	0	0	0	0	0
1766	-0.67	-146.0	175.0	-8.3	236	1770	0.00	2.22	0.00	0.000	4	0.000	0.050	2275	1365	3512	0	0	0	0	0	0
1808	-0.72	-146.0	178.7	-8.8	239	1812	0.00	2.35	0.00	0.000	6	0.000	0.061	2275	2741	3512	0	0	0	0	0	0
2135	-0.76	-146.0	206.2	-8.5	269	2139	0.12	2.10	0.00	0.000	4	0.101	0.072	2213	3928	3511	0	0	0	0	0	0
2181	-0.68	-146.0	211.5	-12.9	273	2186	0.15	1.98	0.00	0.000	6	0.164	0.047	2251	2732	3511	0	0	0	0	0	0
2513	-0.68	-146.0	243.6	-9.4	304	2514	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2732	3512	0	0	0	0	0	0
2836	-0.68	-146.0	274.1	-9.3	334	2840	0.00	2.12	0.00	0.000	4	0.000	0.072	2247	3936	3512	0	0	0	0	0	0
2898	-0.68	-146.0	281.0	-10.0	339	2905	0.00	1.98	0.00	0.000	6	0.000	0.047	2247	2745	3512	0	0	0	0	0	0
3224	-0.68	-146.0	313.8	-9.9	370	3228	0.00	2.10	0.00	0.000	4	0.000	0.071	2247	3936	3512	0	0	0	0	0	0
3248	-0.68	-146.0	316.3	-10.4	372	3252	0.00	1.95	0.00	0.000	6	0.000	0.047	2246	2741	3512	0	0	0	0	0	0
3582	-0.68	-146.0	350.5	-10.1	403	3586	0.00	2.20	0.00	0.000	4	0.000	0.047	2247	1373	3512	0	0	0	0	0	0
3615	-0.68	-146.0	354.3	-10.0	405	3622	0.00	2.33	0.00	0.000	6	0.000	0.060	2247	2748	3512	0	0	0	0	0	0
3942	-0.68	-146.0	385.0	-9.1	436	3946	0.00	2.08	0.00	0.000	4	0.000	0.071	2247	3934	3513	0	0	0	0	0	0
3989	-0.68	-146.0	389.8	-9.9	440	3993	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2756	3513	0	0	0	0	0	0
4322	-0.68	-146.0	420.9	-9.4	458	4323	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2755	3513	0	0	0	0	0	0
4629	-0.68	-146.0	448.7	-9.0	468	4631	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2756	3513	0	0	0	0	0	0
4935	-0.68	-146.0	476.2	-9.0	478	4939	0.00	2.25	0.00	0.000	4	0.000	0.048	2247	1370	3514	0	0	0	0	0	0
4970	-0.70	-146.0	479.3	-9.1	479	4975	0.00	2.35	0.00	0.000	6	0.000	0.060	2247	2758	3514	0	0	0	0	0	0
5308	-0.70	-146.0	509.6	-9.1	490	5309	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2758	3514	0	0	0	0	0	0
5613	-0.70	-146.0	537.9	-9.3	500	5614	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2758	3514	0	0	0	0	0	0
5767	end dive: BOTTOM_OBSTACLE_DETECTED
state	5767	begin apogee
5775	-0.14	0.0	551.9	9.1	505	5904	0.55	0.00	121.22	0.942	4	0.132	0.000	2422	2601	2923	0	0	0	0	0	0
5904	end apogee: CONTROL_FINISHED_OK
state	5904	begin climb
5907	0.57	146.0	556.8	0.0	509	6047	0.70	2.42	130.32	0.916	4	0.070	0.050	2665	1180	2327	0	0	0	0	0	0
6205	0.57	146.0	533.6	10.8	518	6209	0.00	2.47	0.00	0.000	6	0.000	0.054	2665	2609	2319	0	0	0	0	0	0
6542	0.52	146.0	495.7	11.3	529	6546	0.00	2.30	0.00	0.000	4	0.000	0.051	2666	1181	2316	0	0	0	0	0	0
6779	0.52	146.0	470.0	10.9	536	6783	0.00	2.35	0.00	0.000	6	0.000	0.055	2666	2613	2316	0	0	0	0	0	0
7113	0.47	146.0	433.3	11.1	547	7118	0.15	2.22	0.00	0.000	4	0.192	0.066	2627	3925	2314	0	0	0	0	0	0
7180	0.44	146.0	425.4	10.4	549	7184	0.00	2.15	0.00	0.000	6	0.000	0.044	2628	2604	2313	0	0	0	0	0	0
7503	0.46	176.5	397.4	8.6	561	7531	0.00	0.00	25.33	0.834	6	0.000	0.000	2628	2603	2202	0	0	0	0	0	0
7852	0.52	200.3	366.7	8.9	594	7878	0.00	2.28	21.08	0.813	4	0.000	0.067	2628	3926	2106	0	0	0	0	0	0
7913	0.52	200.3	360.5	11.3	599	7917	0.00	2.15	0.00	0.000	6	0.000	0.044	2628	2608	2103	0	0	0	0	0	0
8240	0.58	215.4	329.9	9.3	629	8263	0.10	2.33	14.05	0.783	4	0.116	0.051	2679	1199	2044	0	0	0	0	0	0
8298	0.58	215.4	322.9	12.4	634	8302	0.00	2.30	0.00	0.000	6	0.000	0.054	2680	2613	2043	0	0	0	0	0	0
8625	0.56	215.4	280.5	13.4	664	8629	0.00	2.20	0.00	0.000	4	0.000	0.066	2679	3925	2039	0	0	0	0	0	0
8688	0.50	215.4	271.3	14.6	669	8693	0.17	2.12	0.00	0.000	6	0.184	0.044	2635	2617	2038	0	0	0	0	0	0
9023	0.57	235.2	239.5	9.1	700	9046	0.00	2.38	17.60	0.747	4	0.000	0.051	2635	1193	1963	0	0	0	0	0	0
9073	0.71	274.0	235.0	8.2	704	9117	0.20	2.33	34.88	0.737	6	0.077	0.054	2719	2619	1804	0	0	0	0	0	0
9436	0.66	274.0	180.9	15.1	738	9441	0.12	2.20	0.00	0.000	4	0.190	0.065	2687	3925	1796	0	0	0	0	0	0
9477	0.66	274.0	174.9	14.4	741	9481	0.00	2.12	0.00	0.000	6	0.000	0.044	2690	2618	1794	0	0	0	0	0	0
9809	0.66	274.0	134.4	11.5	772	9813	0.00	2.30	0.00	0.000	4	0.000	0.051	2690	1187	1794	0	0	0	0	0	0
9875	0.73	274.0	127.2	11.2	777	9879	0.00	2.35	0.00	0.000	6	0.000	0.054	2690	2619	1793	0	0	0	0	0	0
10206	0.76	274.0	89.0	11.2	816	10213	0.00	2.33	0.00	0.000	4	0.000	0.052	2691	1195	1793	0	0	0	0	0	0
10272	0.84	274.0	81.7	11.3	827	10280	0.15	2.30	0.00	0.000	6	0.090	0.054	2753	2592	1792	0	0	0	0	0	0
10623	0.78	274.0	26.9	14.6	888	10630	0.00	2.30	0.00	0.000	4	0.000	0.067	2753	3936	1791	0	0	0	0	0	0
10733	end climb: FINISH_DEPTH_REACHED
state	10733	begin subsurface finish
10743	0.03	43.4	8.1	-16.8	907	10786	0.93	2.40	-35.03	0.000	4	0.164	0.064	2493	1178	2749	0	0	0	0	0	0
10786	end subsurface finish: CONTROL_FINISHED_OK
state	10786	begin surface