Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 588 * 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 588 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 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 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 -9859.7803 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 4 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 -9859.7803

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 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 588 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 261210,162952,6651.937,-5933.688,0,6106.7,0,-38.1 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 9.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,162952,6651.937,-5933.688,0,6106.7,0,-38.1 MHEAD_RNG_PITCHd_Wd 287.1,40995,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 934

Post-dive calculations and measurements:

FREEZE 8.40,-1.741,-1.774,2,9,0 ALTIM_BOTTOM_PING 550.1,10.2

FINISH1 8.4,1.025985,74 _24V_AH 21.6,69.993

FINISH2 6.6 _10V_AH 9.8,49.566

RAFOS_CLK 624 FG_AHR_24Vo 0.000

RAFOS 0,1293393665,20.033333,20.018055,64,47,46,45,45,42,713,1893,1916,1527,989,1841 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.187988,-5940.518066,261210,202044,3,93,0.45 MEM 151696

IRIDIUM_FIX 6631.12,-5917.28,251210,080854 DATA_FILE_SIZE 33378,913

TT8_MAMPS 0.031458 CAP_FILE_SIZE 107475,0

HUMID 49.72 CFSIZE 260165632,209043456

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

TCM_TEMP 14.20 SOUNDSPEED 1449.6

XPDR_PINGS 0 GPS 261210,201144,6650.188,-5940.518,0,3093.3,0,-38.1

ALTIM_TOP_PING 19.5,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 205 18.71 SBE_CT 636 24 330.06

Roll_motor 75 85 140.56 SBE_O2 0 0 0.00

VBD_pump_during_apogee 410 955 8481.38 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 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2211 19 431.66

LPSleep 6300 2 142.64

TT8_Active 447 19 87.42

TT8_Sampling 1547 39 605.29

TT8_CF8 176 45 79.40

TT8_Kalman 0 0 0.00

Analog_circuits 1288 12 151.52

GPS_charging 0 0 0.00

Compass 1530 15 225.01

RAFOS 1440 3 42.34

Transponder 18 30 5.51

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.78 0.000 2 0.000 0.000 2497 3930 2839 0 0 0 0 0 0

27 -0.57 -146.0 10.9 -0.0 1 52 0.57 4.22 -15.43 0.000 4 0.099 0.057 2293 1371 3523 0 0 0 0 0 0

256 -0.60 -146.0 37.3 -11.6 41 263 0.00 2.38 0.00 0.000 6 0.000 0.063 2292 2783 3525 0 0 0 0 0 0

602 -0.60 -146.0 82.6 -12.6 102 608 0.00 1.98 0.00 0.000 4 0.000 0.075 2288 3935 3523 0 0 0 0 0 0

645 -0.63 -146.0 87.7 -11.9 109 652 0.00 1.90 0.00 0.000 6 0.000 0.050 2288 2786 3523 0 0 0 0 0 0

984 -0.66 -146.0 121.7 -9.4 150 988 0.00 2.28 0.00 0.000 4 0.000 0.052 2288 1363 3523 0 0 0 0 0 0

1018 -0.71 -146.0 125.4 -10.4 152 1025 0.12 2.38 0.00 0.000 6 0.104 0.063 2236 2787 3522 0 0 0 0 0 0

1345 -0.66 -146.0 164.5 -11.4 183 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2786 3523 0 0 0 0 0 0

1663 -0.61 -146.0 200.7 -11.6 213 1667 0.15 1.98 0.00 0.000 4 0.174 0.076 2271 3933 3522 0 0 0 0 0 0

1702 -0.65 -146.0 204.8 -9.2 216 1709 0.00 1.90 0.00 0.000 6 0.000 0.050 2271 2774 3522 0 0 0 0 0 0

2028 -0.68 -146.0 231.9 -8.1 247 2029 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2774 3522 0 0 0 0 0 0

2349 -0.72 -146.0 257.6 -7.9 277 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2774 3522 0 0 0 0 0 0

2677 -0.77 -146.0 287.7 -9.7 308 2681 0.12 2.28 0.00 0.000 4 0.107 0.053 2215 1368 3522 0 0 0 0 0 0

2698 -0.77 -146.0 290.6 -11.3 309 2705 0.00 2.38 0.00 0.000 6 0.000 0.064 2209 2778 3522 0 0 0 0 0 0

3024 -0.69 -146.0 333.1 -13.0 340 3026 0.15 0.00 0.00 0.000 6 0.184 0.000 2248 2778 3522 0 0 0 0 0 0

3342 -0.69 -146.0 365.9 -9.9 370 3343 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2779 3522 0 0 0 0 0 0

3662 -0.69 -146.0 399.0 -10.2 400 3670 0.00 2.30 0.00 0.000 4 0.000 0.051 2249 1364 3522 0 0 0 0 0 0

3692 -0.72 -146.0 402.5 -10.0 401 3699 0.00 2.35 0.00 0.000 6 0.000 0.063 2248 2773 3522 0 0 0 0 0 0

4005 -0.72 -146.0 432.4 -9.3 412 4006 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2773 3522 0 0 0 0 0 0

4312 -0.72 -146.0 460.4 -9.1 422 4313 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2774 3522 0 0 0 0 0 0

4617 -0.72 -146.0 489.2 -9.2 432 4619 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2773 3522 0 0 0 0 0 0

4924 -0.74 -146.0 518.0 -9.2 442 4928 0.00 2.25 0.00 0.000 4 0.000 0.051 2248 1370 3523 0 0 0 0 0 0

4954 -0.77 -146.0 520.6 -8.9 443 4958 0.00 2.33 0.00 0.000 6 0.000 0.063 2247 2765 3523 0 0 0 0 0 0

5289 -0.79 -146.0 549.5 -8.5 454 5296 0.00 1.98 0.00 0.000 4 0.000 0.073 2247 3928 3523 0 0 0 0 0 0

5299 end dive: BOTTOM_OBSTACLE_DETECTED

state 5299 begin apogee

5307 -0.14 0.0 550.8 8.7 454 5436 0.55 0.00 122.20 0.955 4 0.133 0.000 2425 2589 2924 0 0 0 0 0 0

5437 end apogee: CONTROL_FINISHED_OK

state 5437 begin climb

5440 0.57 146.0 555.0 0.0 458 5581 0.68 2.40 130.10 0.929 4 0.068 0.050 2663 1186 2326 0 0 0 0 0 0

5726 0.57 146.0 533.4 10.4 467 5731 0.00 2.47 0.00 0.000 6 0.000 0.056 2663 2608 2318 0 0 0 0 0 0

6058 0.52 146.0 496.8 11.1 478 6062 0.00 2.33 0.00 0.000 4 0.000 0.053 2663 1191 2315 0 0 0 0 0 0

6275 0.52 146.0 473.6 10.4 484 6279 0.00 2.33 0.00 0.000 6 0.000 0.057 2663 2610 2315 0 0 0 0 0 0

6595 0.48 146.0 439.0 10.9 495 6600 0.12 2.25 0.00 0.000 4 0.205 0.069 2633 3929 2314 0 0 0 0 0 0

6630 0.44 146.0 435.1 11.2 496 6634 0.00 2.15 0.00 0.000 6 0.000 0.045 2635 2603 2312 0 0 0 0 0 0

6966 0.46 180.4 405.9 8.4 507 6997 0.00 0.00 28.75 0.856 6 0.000 0.000 2635 2602 2187 0 0 0 0 0 0

7313 0.51 198.0 374.5 9.2 534 7332 0.00 0.00 15.70 0.822 6 0.000 0.000 2635 2602 2114 0 0 0 0 0 0

7650 0.55 198.0 339.7 10.5 566 7654 0.00 2.28 0.00 0.000 4 0.000 0.053 2634 1191 2111 0 0 0 0 0 0

7690 0.64 198.6 335.7 10.0 569 7695 0.12 2.33 0.00 0.000 6 0.101 0.057 2686 2614 2111 0 0 0 0 0 0

8016 0.60 198.6 293.0 12.9 599 8020 0.00 2.22 0.00 0.000 4 0.000 0.069 2686 3928 2110 0 0 0 0 0 0

8090 0.52 198.6 282.5 15.1 605 8094 0.17 2.12 0.00 0.000 6 0.190 0.046 2645 2619 2109 0 0 0 0 0 0

8417 0.57 211.9 251.5 9.4 635 8440 0.00 2.38 12.62 0.758 4 0.000 0.054 2645 1186 2059 0 0 0 0 0 0

8475 0.69 243.2 246.1 8.6 640 8510 0.15 2.38 28.52 0.760 6 0.094 0.057 2706 2627 1930 0 0 0 0 0 0

8827 0.66 243.2 201.0 13.2 673 8829 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2626 1924 0 0 0 0 0 0

9150 0.64 243.2 160.6 12.8 703 9156 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2626 1922 0 0 0 0 0 0

9475 0.64 243.2 122.8 10.6 734 9476 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2627 1922 0 0 0 0 0 0

9799 0.64 251.0 89.6 9.6 773 9812 0.00 2.20 6.65 0.654 4 0.000 0.070 2706 3928 1899 0 0 0 0 0 0

9859 0.62 251.0 82.8 11.6 783 9866 0.12 2.15 0.00 0.000 6 0.197 0.047 2676 2607 1896 0 0 0 0 0 0

10209 0.72 290.4 53.8 8.2 844 10250 0.00 2.30 34.35 0.675 4 0.000 0.054 2676 1193 1740 0 0 0 0 0 0

10315 0.89 326.1 43.9 8.4 862 10357 0.25 2.33 32.05 0.656 6 0.077 0.057 2774 2602 1591 0 0 0 0 0 0

10564 end climb: FINISH_DEPTH_REACHED

state 10564 begin subsurface finish

10572 0.05 74.3 8.4 -14.9 906 10614 0.93 2.28 -33.80 0.000 4 0.158 0.086 2498 3925 2623 0 0 0 0 0 0

10615 end subsurface finish: CONTROL_FINISHED_OK

state 10615 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	588	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	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	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	-9859.7803	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	261210,162952,6651.937,-5933.688,0,6106.7,0,-38.1	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	9.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,162952,6651.937,-5933.688,0,6106.7,0,-38.1	MHEAD_RNG_PITCHd_Wd	287.1,40995,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	934

FREEZE	8.40,-1.741,-1.774,2,9,0	ALTIM_BOTTOM_PING	550.1,10.2
FINISH1	8.4,1.025985,74	_24V_AH	21.6,69.993
FINISH2	6.6	_10V_AH	9.8,49.566
RAFOS_CLK	624	FG_AHR_24Vo	0.000
RAFOS	0,1293393665,20.033333,20.018055,64,47,46,45,45,42,713,1893,1916,1527,989,1841	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.187988,-5940.518066,261210,202044,3,93,0.45	MEM	151696
IRIDIUM_FIX	6631.12,-5917.28,251210,080854	DATA_FILE_SIZE	33378,913
TT8_MAMPS	0.031458	CAP_FILE_SIZE	107475,0
HUMID	49.72	CFSIZE	260165632,209043456
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1449.6
XPDR_PINGS	0	GPS	261210,201144,6650.188,-5940.518,0,3093.3,0,-38.1
ALTIM_TOP_PING	19.5,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	205	18.71	SBE_CT	636	24	330.06
Roll_motor	75	85	140.56	SBE_O2	0	0	0.00
VBD_pump_during_apogee	410	955	8481.38	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	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2211	19	431.66
LPSleep	6300	2	142.64
TT8_Active	447	19	87.42
TT8_Sampling	1547	39	605.29
TT8_CF8	176	45	79.40
TT8_Kalman	0	0	0.00
Analog_circuits	1288	12	151.52
GPS_charging	0	0	0.00
Compass	1530	15	225.01
RAFOS	1440	3	42.34
Transponder	18	30	5.51

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.78	0.000	2	0.000	0.000	2497	3930	2839	0	0	0	0	0	0
27	-0.57	-146.0	10.9	-0.0	1	52	0.57	4.22	-15.43	0.000	4	0.099	0.057	2293	1371	3523	0	0	0	0	0	0
256	-0.60	-146.0	37.3	-11.6	41	263	0.00	2.38	0.00	0.000	6	0.000	0.063	2292	2783	3525	0	0	0	0	0	0
602	-0.60	-146.0	82.6	-12.6	102	608	0.00	1.98	0.00	0.000	4	0.000	0.075	2288	3935	3523	0	0	0	0	0	0
645	-0.63	-146.0	87.7	-11.9	109	652	0.00	1.90	0.00	0.000	6	0.000	0.050	2288	2786	3523	0	0	0	0	0	0
984	-0.66	-146.0	121.7	-9.4	150	988	0.00	2.28	0.00	0.000	4	0.000	0.052	2288	1363	3523	0	0	0	0	0	0
1018	-0.71	-146.0	125.4	-10.4	152	1025	0.12	2.38	0.00	0.000	6	0.104	0.063	2236	2787	3522	0	0	0	0	0	0
1345	-0.66	-146.0	164.5	-11.4	183	1346	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2786	3523	0	0	0	0	0	0
1663	-0.61	-146.0	200.7	-11.6	213	1667	0.15	1.98	0.00	0.000	4	0.174	0.076	2271	3933	3522	0	0	0	0	0	0
1702	-0.65	-146.0	204.8	-9.2	216	1709	0.00	1.90	0.00	0.000	6	0.000	0.050	2271	2774	3522	0	0	0	0	0	0
2028	-0.68	-146.0	231.9	-8.1	247	2029	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2774	3522	0	0	0	0	0	0
2349	-0.72	-146.0	257.6	-7.9	277	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2774	3522	0	0	0	0	0	0
2677	-0.77	-146.0	287.7	-9.7	308	2681	0.12	2.28	0.00	0.000	4	0.107	0.053	2215	1368	3522	0	0	0	0	0	0
2698	-0.77	-146.0	290.6	-11.3	309	2705	0.00	2.38	0.00	0.000	6	0.000	0.064	2209	2778	3522	0	0	0	0	0	0
3024	-0.69	-146.0	333.1	-13.0	340	3026	0.15	0.00	0.00	0.000	6	0.184	0.000	2248	2778	3522	0	0	0	0	0	0
3342	-0.69	-146.0	365.9	-9.9	370	3343	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2779	3522	0	0	0	0	0	0
3662	-0.69	-146.0	399.0	-10.2	400	3670	0.00	2.30	0.00	0.000	4	0.000	0.051	2249	1364	3522	0	0	0	0	0	0
3692	-0.72	-146.0	402.5	-10.0	401	3699	0.00	2.35	0.00	0.000	6	0.000	0.063	2248	2773	3522	0	0	0	0	0	0
4005	-0.72	-146.0	432.4	-9.3	412	4006	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2773	3522	0	0	0	0	0	0
4312	-0.72	-146.0	460.4	-9.1	422	4313	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2774	3522	0	0	0	0	0	0
4617	-0.72	-146.0	489.2	-9.2	432	4619	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2773	3522	0	0	0	0	0	0
4924	-0.74	-146.0	518.0	-9.2	442	4928	0.00	2.25	0.00	0.000	4	0.000	0.051	2248	1370	3523	0	0	0	0	0	0
4954	-0.77	-146.0	520.6	-8.9	443	4958	0.00	2.33	0.00	0.000	6	0.000	0.063	2247	2765	3523	0	0	0	0	0	0
5289	-0.79	-146.0	549.5	-8.5	454	5296	0.00	1.98	0.00	0.000	4	0.000	0.073	2247	3928	3523	0	0	0	0	0	0
5299	end dive: BOTTOM_OBSTACLE_DETECTED
state	5299	begin apogee
5307	-0.14	0.0	550.8	8.7	454	5436	0.55	0.00	122.20	0.955	4	0.133	0.000	2425	2589	2924	0	0	0	0	0	0
5437	end apogee: CONTROL_FINISHED_OK
state	5437	begin climb
5440	0.57	146.0	555.0	0.0	458	5581	0.68	2.40	130.10	0.929	4	0.068	0.050	2663	1186	2326	0	0	0	0	0	0
5726	0.57	146.0	533.4	10.4	467	5731	0.00	2.47	0.00	0.000	6	0.000	0.056	2663	2608	2318	0	0	0	0	0	0
6058	0.52	146.0	496.8	11.1	478	6062	0.00	2.33	0.00	0.000	4	0.000	0.053	2663	1191	2315	0	0	0	0	0	0
6275	0.52	146.0	473.6	10.4	484	6279	0.00	2.33	0.00	0.000	6	0.000	0.057	2663	2610	2315	0	0	0	0	0	0
6595	0.48	146.0	439.0	10.9	495	6600	0.12	2.25	0.00	0.000	4	0.205	0.069	2633	3929	2314	0	0	0	0	0	0
6630	0.44	146.0	435.1	11.2	496	6634	0.00	2.15	0.00	0.000	6	0.000	0.045	2635	2603	2312	0	0	0	0	0	0
6966	0.46	180.4	405.9	8.4	507	6997	0.00	0.00	28.75	0.856	6	0.000	0.000	2635	2602	2187	0	0	0	0	0	0
7313	0.51	198.0	374.5	9.2	534	7332	0.00	0.00	15.70	0.822	6	0.000	0.000	2635	2602	2114	0	0	0	0	0	0
7650	0.55	198.0	339.7	10.5	566	7654	0.00	2.28	0.00	0.000	4	0.000	0.053	2634	1191	2111	0	0	0	0	0	0
7690	0.64	198.6	335.7	10.0	569	7695	0.12	2.33	0.00	0.000	6	0.101	0.057	2686	2614	2111	0	0	0	0	0	0
8016	0.60	198.6	293.0	12.9	599	8020	0.00	2.22	0.00	0.000	4	0.000	0.069	2686	3928	2110	0	0	0	0	0	0
8090	0.52	198.6	282.5	15.1	605	8094	0.17	2.12	0.00	0.000	6	0.190	0.046	2645	2619	2109	0	0	0	0	0	0
8417	0.57	211.9	251.5	9.4	635	8440	0.00	2.38	12.62	0.758	4	0.000	0.054	2645	1186	2059	0	0	0	0	0	0
8475	0.69	243.2	246.1	8.6	640	8510	0.15	2.38	28.52	0.760	6	0.094	0.057	2706	2627	1930	0	0	0	0	0	0
8827	0.66	243.2	201.0	13.2	673	8829	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2626	1924	0	0	0	0	0	0
9150	0.64	243.2	160.6	12.8	703	9156	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2626	1922	0	0	0	0	0	0
9475	0.64	243.2	122.8	10.6	734	9476	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2627	1922	0	0	0	0	0	0
9799	0.64	251.0	89.6	9.6	773	9812	0.00	2.20	6.65	0.654	4	0.000	0.070	2706	3928	1899	0	0	0	0	0	0
9859	0.62	251.0	82.8	11.6	783	9866	0.12	2.15	0.00	0.000	6	0.197	0.047	2676	2607	1896	0	0	0	0	0	0
10209	0.72	290.4	53.8	8.2	844	10250	0.00	2.30	34.35	0.675	4	0.000	0.054	2676	1193	1740	0	0	0	0	0	0
10315	0.89	326.1	43.9	8.4	862	10357	0.25	2.33	32.05	0.656	6	0.077	0.057	2774	2602	1591	0	0	0	0	0	0
10564	end climb: FINISH_DEPTH_REACHED
state	10564	begin subsurface finish
10572	0.05	74.3	8.4	-14.9	906	10614	0.93	2.28	-33.80	0.000	4	0.158	0.086	2498	3925	2623	0	0	0	0	0	0
10615	end subsurface finish: CONTROL_FINISHED_OK
state	10615	begin surface