Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 184 HD_C 9.9999997e-06 ROLL_MIN 223 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_MAX 3813 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING 180 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2800 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4708 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12223 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.5

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2914 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 50000 PITCH_VBD_SHIFT 0.00125 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 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 -33817.172 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 80

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3934 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2670 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043635513

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.061352 SEABIRD_T_H 0.0006292222

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001157311 SEABIRD_T_I 2.4569574e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6955906e-06

MASS 51696 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.09016

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1251791

FERRY_MAX 45 PITCH_AD_RATE 170 COMPASS_USE 1 SEABIRD_C_I -0.0014842621

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019950744

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 170 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 180 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3934 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4708

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00125 T_ABORT 720

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001157311 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.061352 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 50000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -33817.172

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 80 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 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 184 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 2.5 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

C_PITCH 2670 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2750 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2800 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2914 LOGGERDEVICE3 -1 ROLL_MAX 3813 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 223 VBD_CNV -0.24529999

DEVICE1 2 MASS 51696 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 23 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.09016 VBD_MIN 470

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1251791 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0014842621 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 10 NAV_MODE 0 SEABIRD_C_J 0.00019950744 VBD_TIMEOUT 540

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043635513 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.0006292222 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.4569574e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.6955906e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 160910,145424,6641.894,-6009.199,25,1.4,43,-38.0 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,145826,6641.846,-6009.101,16,0.9,16,-38.0 MHEAD_RNG_PITCHd_Wd 112.9,150416,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 575

Post-dive calculations and measurements:

FINISH 0.4,1.011335 _24V_AH 23.0,3.378

SM_CCo 12308,57.67,0.657,4,0,1487,350.04 _10V_AH 10.2,2.515

SM_GC 1.22,0.00,0.00,57.67,0.000,0.000,0.657,150,2801,1487,-7.87,0.03,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 397 FG_AHR_10Vo 0.000

RAFOS 0,1284652867,16.033333,16.018612,135,127,67,63,62,61,616,617,179,194,211,220 MEM 151676

RAFOS_FIX 6642.502930,-6003.999512,160910,161607,7,116,0.74 DATA_FILE_SIZE 49996,1301

IRIDIUM_FIX 6609.62,-5959.84,160910,111158 CAP_FILE_SIZE 134487,0

TT8_MAMPS 0.027713 CFSIZE 260165632,250425344

HUMID 48.46 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

INTERNAL_PRESSURE 8.8479 SOUNDSPEED 1453.0

TCM_TEMP 14.50 GPS 160910,182710,6642.561,-6006.171,37,1.6,40,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 284 135.16 SBE_CT 927 24 512.10

Roll_motor 85 81 160.92 SBE_O2 941 19 411.22

VBD_pump_during_apogee 367 1117 9443.21 nil 0 0 0.00

VBD_pump_during_surface 57 657 871.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.71 nil 0 0 0.00

Iridium_during_connect 13 160 50.47 nil 0 0 0.00

Iridium_during_xfer 101 223 521.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.58

TT8 3083 19 626.53

LPSleep 6658 2 156.88

TT8_Active 536 19 109.02

TT8_Sampling 2274 39 926.00

TT8_CF8 111 45 52.15

TT8_Kalman 0 0 0.00

Analog_circuits 1632 12 199.83

GPS_charging 0 0 0.00

Compass 2092 15 320.15

RAFOS 2520 3 77.11

Transponder 0 5 0.03

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 13 begin dive

14 -0.66 -146.0 0.0 0.0 0 98 0.00 0.00 -80.88 0.000 2 0.000 0.000 157 2797 3141 0 0 0 0 0 0

99 -0.66 -146.0 5.8 -13.5 14 125 10.70 2.35 -6.78 0.000 4 0.285 0.080 2450 1391 3514 0 0 0 0 0 0

378 -0.66 -146.0 51.3 -12.2 63 385 0.00 2.35 0.00 0.000 6 0.000 0.060 2443 2803 3516 0 0 0 0 0 0

722 -0.66 -146.0 91.5 -10.3 124 729 0.00 1.65 0.00 0.000 4 0.000 0.079 2435 3808 3517 0 0 0 0 0 0

818 -0.66 -146.0 101.5 -9.6 140 825 0.00 1.60 0.00 0.000 6 0.000 0.049 2435 2811 3516 0 0 0 0 0 0

1143 -0.66 -146.0 133.6 -10.1 171 1147 0.00 2.33 0.00 0.000 4 0.000 0.065 2435 1397 3516 0 0 0 0 0 0

1193 -0.66 -146.0 139.0 -10.8 175 1197 0.12 2.30 0.00 0.000 6 0.195 0.062 2454 2801 3516 0 0 0 0 0 0

1522 -0.66 -146.0 168.8 -8.8 206 1526 0.00 1.67 0.00 0.000 4 0.000 0.080 2449 3813 3516 0 0 0 0 0 0

1590 -0.66 -146.0 175.0 -8.8 212 1594 0.00 1.62 0.00 0.000 6 0.000 0.050 2449 2794 3515 0 0 0 0 0 0

1920 -0.66 -146.0 203.4 -8.3 243 1924 0.00 1.70 0.00 0.000 4 0.000 0.080 2441 3815 3515 0 0 0 0 0 0

1954 -0.66 -146.0 206.3 -8.5 246 1957 0.00 1.60 0.00 0.000 6 0.000 0.051 2442 2809 3515 0 0 0 0 0 0

2284 -0.66 -146.0 234.0 -8.2 277 2288 0.00 2.25 0.00 0.000 4 0.000 0.065 2441 1400 3515 0 0 0 0 0 0

2323 -0.66 -146.0 237.3 -8.5 280 2327 0.00 2.30 0.00 0.000 6 0.000 0.063 2433 2807 3515 0 0 0 0 0 0

2647 -0.66 -146.0 266.1 -8.7 310 2649 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2807 3514 0 0 0 0 0 0

2966 -0.66 -146.0 293.6 -8.5 340 2967 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2807 3514 0 0 0 0 0 0

3285 -0.66 -146.0 318.9 -7.9 370 3286 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2807 3514 0 0 0 0 0 0

3604 -0.66 -146.0 343.6 -7.3 400 3605 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2807 3514 0 0 0 0 0 0

3924 -0.66 -146.0 366.8 -7.4 430 3925 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2807 3514 0 0 0 0 0 0

4240 -0.66 -146.0 390.7 -7.6 460 4243 0.00 1.62 0.00 0.000 4 0.000 0.080 2426 3816 3514 0 0 0 0 0 0

4277 -0.66 -146.0 393.9 -8.1 463 4286 0.08 1.60 0.00 0.000 6 0.167 0.048 2448 2794 3514 0 0 0 0 0 0

4603 -0.66 -146.0 414.9 -6.5 494 4604 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2795 3514 0 0 0 0 0 0

4922 -0.66 -146.0 436.4 -7.0 524 4923 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2795 3514 0 0 0 0 0 0

5241 -0.66 -146.0 458.1 -7.0 554 5245 0.00 2.22 0.00 0.000 4 0.000 0.063 2448 1395 3515 0 0 0 0 0 0

5280 -0.66 -146.0 460.8 -7.0 557 5284 0.00 2.25 0.00 0.000 6 0.000 0.060 2443 2793 3515 0 0 0 0 0 0

5604 -0.66 -146.0 483.3 -7.0 587 5605 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2793 3515 0 0 0 0 0 0

5923 -0.66 -146.0 506.2 -7.3 617 5924 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2792 3515 0 0 0 0 0 0

6242 -0.66 -146.0 529.2 -7.3 647 6245 0.00 1.62 0.00 0.000 4 0.000 0.082 2435 3803 3515 0 0 0 0 0 0

6268 -0.66 -146.0 531.3 -7.5 649 6276 0.00 1.58 0.00 0.000 6 0.000 0.047 2435 2795 3516 0 0 0 0 0 0

6593 -0.66 -146.0 554.7 -7.1 680 6598 0.00 2.22 0.00 0.000 4 0.000 0.067 2436 1391 3516 0 0 0 0 0 0

6625 -0.66 -146.0 557.2 -7.5 682 6633 0.08 2.28 0.00 0.000 6 0.169 0.061 2449 2788 3516 0 0 0 0 0 0

6896 end dive: TARGET_DEPTH_EXCEEDED

state 6896 begin apogee

6899 -0.14 0.0 575.5 6.6 708 7031 0.52 0.00 126.80 1.118 4 0.147 0.000 2619 2789 2914 0 0 0 0 0 0

7032 end apogee: CONTROL_FINISHED_OK

state 7032 begin climb

7034 0.66 146.0 580.1 0.0 720 7171 0.80 2.55 128.45 1.080 4 0.096 0.069 2874 1352 2318 0 0 0 0 0 0

7343 0.66 146.0 553.7 11.3 748 7352 0.00 2.42 0.00 0.000 6 0.000 0.063 2874 2741 2310 0 0 0 0 0 0

7669 0.66 146.0 513.8 12.2 779 7673 0.00 2.38 0.00 0.000 4 0.000 0.073 2884 1347 2307 0 0 0 0 0 0

7857 0.66 146.0 490.8 11.9 795 7866 0.00 2.40 0.00 0.000 6 0.000 0.062 2884 2762 2307 0 0 0 0 0 0

8183 0.66 146.0 450.1 12.9 826 8187 0.00 1.75 0.00 0.000 4 0.000 0.079 2885 3807 2307 0 0 0 0 0 0

8231 0.66 146.0 443.0 14.4 830 8240 0.00 1.73 0.00 0.000 6 0.000 0.051 2891 2765 2305 0 0 0 0 0 0

8557 0.66 146.0 402.8 11.9 861 8561 0.00 1.77 0.00 0.000 4 0.000 0.077 2891 3807 2305 0 0 0 0 0 0

8647 0.66 146.0 390.4 14.1 869 8651 0.00 1.67 0.00 0.000 6 0.000 0.051 2899 2762 2304 0 0 0 0 0 0

8977 0.66 146.0 349.2 12.0 900 8981 0.00 1.73 0.00 0.000 4 0.000 0.077 2899 3810 2305 0 0 0 0 0 0

9078 0.66 146.0 335.8 13.2 909 9081 0.00 1.65 0.00 0.000 6 0.000 0.052 2906 2761 2304 0 0 0 0 0 0

9408 0.66 146.0 294.2 12.5 940 9411 0.00 1.75 0.00 0.000 4 0.000 0.077 2906 3815 2304 0 0 0 0 0 0

9445 0.66 146.0 288.7 14.1 943 9454 0.12 1.67 0.00 0.000 6 0.227 0.051 2882 2786 2304 0 0 0 0 0 0

9771 0.66 146.0 252.8 10.3 974 9775 0.00 1.73 0.00 0.000 4 0.000 0.077 2882 3812 2304 0 0 0 0 0 0

9883 0.66 146.0 239.9 11.8 984 9887 0.00 1.62 0.00 0.000 6 0.000 0.052 2887 2793 2304 0 0 0 0 0 0

10213 0.66 146.0 205.3 10.6 1015 10217 0.00 2.35 0.00 0.000 4 0.000 0.076 2898 1349 2304 0 0 0 0 0 0

10262 0.66 146.0 199.6 10.7 1019 10267 0.00 2.33 0.00 0.000 6 0.000 0.060 2899 2797 2304 0 0 0 0 0 0

10587 0.66 146.0 163.0 10.9 1049 10590 0.00 1.62 0.00 0.000 4 0.000 0.079 2898 3806 2304 0 0 0 0 0 0

10688 0.66 146.0 151.1 11.1 1058 10691 0.00 1.60 0.00 0.000 6 0.000 0.052 2905 2799 2304 0 0 0 0 0 0

11018 0.66 146.0 115.1 10.2 1089 11021 0.00 1.65 0.00 0.000 4 0.000 0.078 2905 3815 2304 0 0 0 0 0 0

11242 0.66 146.0 90.9 10.2 1116 11249 0.08 1.60 0.00 0.000 6 0.203 0.053 2885 2806 2304 0 0 0 0 0 0

11586 0.79 256.1 69.9 4.9 1177 11685 0.12 1.75 89.88 0.828 4 0.125 0.078 2925 3807 1868 0 0 0 0 0 0

11736 0.79 256.1 55.0 12.5 1203 11743 0.00 1.62 0.00 0.000 6 0.000 0.053 2933 2837 1863 0 0 0 0 0 0

12082 0.83 283.4 15.1 8.7 1264 12112 0.00 2.55 22.23 0.795 4 0.000 0.073 2943 1350 1757 0 0 0 0 0 0

12252 end climb: SURFACE_DEPTH_REACHED

state 12252 begin surface coast

12292 end surface coast: CONTROL_FINISHED_OK

state 12292 begin surface

ID	184	HD_C	9.9999997e-06	ROLL_MIN	223	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3813	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING	180	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2800	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4708	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12223	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.5
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2914	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	50000	PITCH_VBD_SHIFT	0.00125	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	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	-33817.172	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	80
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3934	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2670	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043635513
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.061352	SEABIRD_T_H	0.0006292222
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001157311	SEABIRD_T_I	2.4569574e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6955906e-06
MASS	51696	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.09016
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1251791
FERRY_MAX	45	PITCH_AD_RATE	170	COMPASS_USE	1	SEABIRD_C_I	-0.0014842621
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019950744
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	160910,145424,6641.894,-6009.199,25,1.4,43,-38.0	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,145826,6641.846,-6009.101,16,0.9,16,-38.0	MHEAD_RNG_PITCHd_Wd	112.9,150416,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	575

FINISH	0.4,1.011335	_24V_AH	23.0,3.378
SM_CCo	12308,57.67,0.657,4,0,1487,350.04	_10V_AH	10.2,2.515
SM_GC	1.22,0.00,0.00,57.67,0.000,0.000,0.657,150,2801,1487,-7.87,0.03,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	397	FG_AHR_10Vo	0.000
RAFOS	0,1284652867,16.033333,16.018612,135,127,67,63,62,61,616,617,179,194,211,220	MEM	151676
RAFOS_FIX	6642.502930,-6003.999512,160910,161607,7,116,0.74	DATA_FILE_SIZE	49996,1301
IRIDIUM_FIX	6609.62,-5959.84,160910,111158	CAP_FILE_SIZE	134487,0
TT8_MAMPS	0.027713	CFSIZE	260165632,250425344
HUMID	48.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
INTERNAL_PRESSURE	8.8479	SOUNDSPEED	1453.0
TCM_TEMP	14.50	GPS	160910,182710,6642.561,-6006.171,37,1.6,40,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	284	135.16	SBE_CT	927	24	512.10
Roll_motor	85	81	160.92	SBE_O2	941	19	411.22
VBD_pump_during_apogee	367	1117	9443.21	nil	0	0	0.00
VBD_pump_during_surface	57	657	871.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.71	nil	0	0	0.00
Iridium_during_connect	13	160	50.47	nil	0	0	0.00
Iridium_during_xfer	101	223	521.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.58
TT8	3083	19	626.53
LPSleep	6658	2	156.88
TT8_Active	536	19	109.02
TT8_Sampling	2274	39	926.00
TT8_CF8	111	45	52.15
TT8_Kalman	0	0	0.00
Analog_circuits	1632	12	199.83
GPS_charging	0	0	0.00
Compass	2092	15	320.15
RAFOS	2520	3	77.11
Transponder	0	5	0.03

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	13	begin dive
14	-0.66	-146.0	0.0	0.0	0	98	0.00	0.00	-80.88	0.000	2	0.000	0.000	157	2797	3141	0	0	0	0	0	0
99	-0.66	-146.0	5.8	-13.5	14	125	10.70	2.35	-6.78	0.000	4	0.285	0.080	2450	1391	3514	0	0	0	0	0	0
378	-0.66	-146.0	51.3	-12.2	63	385	0.00	2.35	0.00	0.000	6	0.000	0.060	2443	2803	3516	0	0	0	0	0	0
722	-0.66	-146.0	91.5	-10.3	124	729	0.00	1.65	0.00	0.000	4	0.000	0.079	2435	3808	3517	0	0	0	0	0	0
818	-0.66	-146.0	101.5	-9.6	140	825	0.00	1.60	0.00	0.000	6	0.000	0.049	2435	2811	3516	0	0	0	0	0	0
1143	-0.66	-146.0	133.6	-10.1	171	1147	0.00	2.33	0.00	0.000	4	0.000	0.065	2435	1397	3516	0	0	0	0	0	0
1193	-0.66	-146.0	139.0	-10.8	175	1197	0.12	2.30	0.00	0.000	6	0.195	0.062	2454	2801	3516	0	0	0	0	0	0
1522	-0.66	-146.0	168.8	-8.8	206	1526	0.00	1.67	0.00	0.000	4	0.000	0.080	2449	3813	3516	0	0	0	0	0	0
1590	-0.66	-146.0	175.0	-8.8	212	1594	0.00	1.62	0.00	0.000	6	0.000	0.050	2449	2794	3515	0	0	0	0	0	0
1920	-0.66	-146.0	203.4	-8.3	243	1924	0.00	1.70	0.00	0.000	4	0.000	0.080	2441	3815	3515	0	0	0	0	0	0
1954	-0.66	-146.0	206.3	-8.5	246	1957	0.00	1.60	0.00	0.000	6	0.000	0.051	2442	2809	3515	0	0	0	0	0	0
2284	-0.66	-146.0	234.0	-8.2	277	2288	0.00	2.25	0.00	0.000	4	0.000	0.065	2441	1400	3515	0	0	0	0	0	0
2323	-0.66	-146.0	237.3	-8.5	280	2327	0.00	2.30	0.00	0.000	6	0.000	0.063	2433	2807	3515	0	0	0	0	0	0
2647	-0.66	-146.0	266.1	-8.7	310	2649	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2807	3514	0	0	0	0	0	0
2966	-0.66	-146.0	293.6	-8.5	340	2967	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2807	3514	0	0	0	0	0	0
3285	-0.66	-146.0	318.9	-7.9	370	3286	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2807	3514	0	0	0	0	0	0
3604	-0.66	-146.0	343.6	-7.3	400	3605	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2807	3514	0	0	0	0	0	0
3924	-0.66	-146.0	366.8	-7.4	430	3925	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2807	3514	0	0	0	0	0	0
4240	-0.66	-146.0	390.7	-7.6	460	4243	0.00	1.62	0.00	0.000	4	0.000	0.080	2426	3816	3514	0	0	0	0	0	0
4277	-0.66	-146.0	393.9	-8.1	463	4286	0.08	1.60	0.00	0.000	6	0.167	0.048	2448	2794	3514	0	0	0	0	0	0
4603	-0.66	-146.0	414.9	-6.5	494	4604	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2795	3514	0	0	0	0	0	0
4922	-0.66	-146.0	436.4	-7.0	524	4923	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2795	3514	0	0	0	0	0	0
5241	-0.66	-146.0	458.1	-7.0	554	5245	0.00	2.22	0.00	0.000	4	0.000	0.063	2448	1395	3515	0	0	0	0	0	0
5280	-0.66	-146.0	460.8	-7.0	557	5284	0.00	2.25	0.00	0.000	6	0.000	0.060	2443	2793	3515	0	0	0	0	0	0
5604	-0.66	-146.0	483.3	-7.0	587	5605	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2793	3515	0	0	0	0	0	0
5923	-0.66	-146.0	506.2	-7.3	617	5924	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2792	3515	0	0	0	0	0	0
6242	-0.66	-146.0	529.2	-7.3	647	6245	0.00	1.62	0.00	0.000	4	0.000	0.082	2435	3803	3515	0	0	0	0	0	0
6268	-0.66	-146.0	531.3	-7.5	649	6276	0.00	1.58	0.00	0.000	6	0.000	0.047	2435	2795	3516	0	0	0	0	0	0
6593	-0.66	-146.0	554.7	-7.1	680	6598	0.00	2.22	0.00	0.000	4	0.000	0.067	2436	1391	3516	0	0	0	0	0	0
6625	-0.66	-146.0	557.2	-7.5	682	6633	0.08	2.28	0.00	0.000	6	0.169	0.061	2449	2788	3516	0	0	0	0	0	0
6896	end dive: TARGET_DEPTH_EXCEEDED
state	6896	begin apogee
6899	-0.14	0.0	575.5	6.6	708	7031	0.52	0.00	126.80	1.118	4	0.147	0.000	2619	2789	2914	0	0	0	0	0	0
7032	end apogee: CONTROL_FINISHED_OK
state	7032	begin climb
7034	0.66	146.0	580.1	0.0	720	7171	0.80	2.55	128.45	1.080	4	0.096	0.069	2874	1352	2318	0	0	0	0	0	0
7343	0.66	146.0	553.7	11.3	748	7352	0.00	2.42	0.00	0.000	6	0.000	0.063	2874	2741	2310	0	0	0	0	0	0
7669	0.66	146.0	513.8	12.2	779	7673	0.00	2.38	0.00	0.000	4	0.000	0.073	2884	1347	2307	0	0	0	0	0	0
7857	0.66	146.0	490.8	11.9	795	7866	0.00	2.40	0.00	0.000	6	0.000	0.062	2884	2762	2307	0	0	0	0	0	0
8183	0.66	146.0	450.1	12.9	826	8187	0.00	1.75	0.00	0.000	4	0.000	0.079	2885	3807	2307	0	0	0	0	0	0
8231	0.66	146.0	443.0	14.4	830	8240	0.00	1.73	0.00	0.000	6	0.000	0.051	2891	2765	2305	0	0	0	0	0	0
8557	0.66	146.0	402.8	11.9	861	8561	0.00	1.77	0.00	0.000	4	0.000	0.077	2891	3807	2305	0	0	0	0	0	0
8647	0.66	146.0	390.4	14.1	869	8651	0.00	1.67	0.00	0.000	6	0.000	0.051	2899	2762	2304	0	0	0	0	0	0
8977	0.66	146.0	349.2	12.0	900	8981	0.00	1.73	0.00	0.000	4	0.000	0.077	2899	3810	2305	0	0	0	0	0	0
9078	0.66	146.0	335.8	13.2	909	9081	0.00	1.65	0.00	0.000	6	0.000	0.052	2906	2761	2304	0	0	0	0	0	0
9408	0.66	146.0	294.2	12.5	940	9411	0.00	1.75	0.00	0.000	4	0.000	0.077	2906	3815	2304	0	0	0	0	0	0
9445	0.66	146.0	288.7	14.1	943	9454	0.12	1.67	0.00	0.000	6	0.227	0.051	2882	2786	2304	0	0	0	0	0	0
9771	0.66	146.0	252.8	10.3	974	9775	0.00	1.73	0.00	0.000	4	0.000	0.077	2882	3812	2304	0	0	0	0	0	0
9883	0.66	146.0	239.9	11.8	984	9887	0.00	1.62	0.00	0.000	6	0.000	0.052	2887	2793	2304	0	0	0	0	0	0
10213	0.66	146.0	205.3	10.6	1015	10217	0.00	2.35	0.00	0.000	4	0.000	0.076	2898	1349	2304	0	0	0	0	0	0
10262	0.66	146.0	199.6	10.7	1019	10267	0.00	2.33	0.00	0.000	6	0.000	0.060	2899	2797	2304	0	0	0	0	0	0
10587	0.66	146.0	163.0	10.9	1049	10590	0.00	1.62	0.00	0.000	4	0.000	0.079	2898	3806	2304	0	0	0	0	0	0
10688	0.66	146.0	151.1	11.1	1058	10691	0.00	1.60	0.00	0.000	6	0.000	0.052	2905	2799	2304	0	0	0	0	0	0
11018	0.66	146.0	115.1	10.2	1089	11021	0.00	1.65	0.00	0.000	4	0.000	0.078	2905	3815	2304	0	0	0	0	0	0
11242	0.66	146.0	90.9	10.2	1116	11249	0.08	1.60	0.00	0.000	6	0.203	0.053	2885	2806	2304	0	0	0	0	0	0
11586	0.79	256.1	69.9	4.9	1177	11685	0.12	1.75	89.88	0.828	4	0.125	0.078	2925	3807	1868	0	0	0	0	0	0
11736	0.79	256.1	55.0	12.5	1203	11743	0.00	1.62	0.00	0.000	6	0.000	0.053	2933	2837	1863	0	0	0	0	0	0
12082	0.83	283.4	15.1	8.7	1264	12112	0.00	2.55	22.23	0.795	4	0.000	0.073	2943	1350	1757	0	0	0	0	0	0
12252	end climb: SURFACE_DEPTH_REACHED
state	12252	begin surface coast
12292	end surface coast: CONTROL_FINISHED_OK
state	12292	begin surface