Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 7 * 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 7 ESCAPE_HEADING 180 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2500 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 400 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 14 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 0 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 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 -33813.406 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 0.0099999998 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 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 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 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 -33813.406

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 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 2.5 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2670 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 14 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 7 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 160910,050500,6642.293,-6011.466,39,1.5,45,-38.0 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 -73.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,050949,6642.228,-6011.551,13,2.0,18,-38.0 MHEAD_RNG_PITCHd_Wd 325.3,11068,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 553

Post-dive calculations and measurements:

FINISH 0.4,1.024550 _24V_AH 23.1,3.001

SM_CCo 11092,30.05,0.591,2,0,1282,400.08 _10V_AH 10.2,2.284

SM_GC 1.15,0.00,0.00,30.05,0.000,0.000,0.591,151,2608,1282,-7.87,0.23,400.08 FG_AHR_24Vo 0.000

RAFOS_CLK 348 FG_AHR_10Vo 0.000

RAFOS 0,1284624065,8.033334,8.018056,72,63,62,60,59,58,600,601,223,163,189,197 MEM 151696

RAFOS_FIX 6642.505371,-6005.817871,160910,040417,6,100,0.24 DATA_FILE_SIZE 46770,1178

IRIDIUM_FIX 6614.97,-6008.55,160910,010105 CAP_FILE_SIZE 131952,0

TT8_MAMPS 0.032207 CFSIZE 260165632,250638336

HUMID 51.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 8.8479 SOUNDSPEED 1452.7

TCM_TEMP 14.70 GPS 160910,081707,6642.435,-6014.987,34,1.5,35,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 286 139.45 SBE_CT 839 24 465.40

Roll_motor 96 102 229.52 SBE_O2 848 19 372.35

VBD_pump_during_apogee 442 1110 11358.61 nil 0 0 0.00

VBD_pump_during_surface 30 590 409.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 57.30 nil 0 0 0.00

Iridium_during_connect 49 160 182.50 nil 0 0 0.00

Iridium_during_xfer 109 223 561.61 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 10.03

TT8 2812 19 571.47

LPSleep 5643 2 132.96

TT8_Active 580 19 117.96

TT8_Sampling 2288 39 931.87

TT8_CF8 103 45 48.36

TT8_Kalman 0 0 0.00

Analog_circuits 1679 12 205.61

GPS_charging 0 0 0.00

Compass 2059 15 315.16

RAFOS 720 3 22.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.66 -146.0 0.0 0.0 0 110 0.00 0.00 -93.05 0.000 2 0.000 0.000 150 2588 3145 0 0 0 0 0 0

112 -0.66 -146.0 5.3 -12.3 16 138 10.77 2.10 -6.80 0.000 4 0.286 0.092 2442 3824 3513 0 0 0 0 0 0

334 -0.66 -146.0 45.9 -12.4 55 341 0.00 1.98 0.00 0.000 6 0.000 0.050 2441 2596 3515 0 0 0 0 0 0

679 -0.67 -146.0 82.2 -9.0 116 686 0.00 2.05 0.00 0.000 4 0.000 0.077 2432 3813 3515 0 0 0 0 0 0

737 -0.68 -146.0 88.4 -10.8 126 744 0.00 1.95 0.00 0.000 6 0.000 0.050 2433 2594 3515 0 0 0 0 0 0

1068 -0.69 -146.0 126.0 -10.9 166 1072 0.00 2.03 0.00 0.000 4 0.000 0.078 2424 3815 3515 0 0 0 0 0 0

1125 -0.70 -146.0 132.5 -11.7 171 1128 0.00 1.92 0.00 0.000 6 0.000 0.050 2424 2599 3515 0 0 0 0 0 0

1455 -0.70 -146.0 168.0 -9.6 202 1458 0.00 2.03 0.00 0.000 4 0.000 0.080 2415 3821 3515 0 0 0 0 0 0

1515 -0.72 -146.0 174.5 -10.3 207 1523 0.00 1.95 0.00 0.000 6 0.000 0.051 2415 2603 3514 0 0 0 0 0 0

1840 -0.72 -146.0 209.4 -11.0 238 1844 0.00 2.00 0.00 0.000 4 0.000 0.080 2406 3814 3514 0 0 0 0 0 0

1930 -0.72 -146.0 219.8 -11.3 246 1935 0.12 1.92 0.00 0.000 6 0.190 0.052 2435 2589 3514 0 0 0 0 0 0

2260 -0.74 -146.0 250.2 -8.9 277 2264 0.00 2.03 0.00 0.000 4 0.000 0.080 2428 3816 3513 0 0 0 0 0 0

2430 -0.77 -146.0 265.7 -9.3 292 2434 0.00 1.92 0.00 0.000 6 0.000 0.052 2428 2596 3513 0 0 0 0 0 0

2760 -0.79 -146.0 293.5 -7.9 323 2764 0.00 2.00 0.00 0.000 4 0.000 0.080 2419 3813 3513 0 0 0 0 0 0

2850 -0.82 -146.0 301.1 -8.4 331 2853 0.00 1.92 0.00 0.000 6 0.000 0.051 2420 2593 3513 0 0 0 0 0 0

3180 -0.84 -146.0 329.7 -8.8 362 3184 0.00 2.00 0.00 0.000 4 0.000 0.079 2411 3813 3512 0 0 0 0 0 0

3286 -0.85 -146.0 339.9 -9.6 371 3293 0.00 1.92 0.00 0.000 6 0.000 0.050 2411 2599 3513 0 0 0 0 0 0

3611 -0.87 -146.0 370.0 -9.1 402 3615 0.00 2.00 0.00 0.000 4 0.000 0.079 2402 3821 3513 0 0 0 0 0 0

3694 -0.88 -146.0 378.4 -9.6 409 3702 0.00 1.95 0.00 0.000 6 0.000 0.050 2402 2593 3512 0 0 0 0 0 0

4019 -0.88 -146.0 409.4 -9.2 440 4023 0.00 2.00 0.00 0.000 4 0.000 0.077 2393 3819 3513 0 0 0 0 0 0

4135 -0.88 -146.0 421.0 -10.0 450 4143 0.00 1.92 0.00 0.000 6 0.000 0.050 2393 2604 3513 0 0 0 0 0 0

4460 -0.88 -146.0 452.4 -9.5 481 4464 0.00 2.03 0.00 0.000 4 0.000 0.078 2384 3836 3513 0 0 0 0 0 0

4539 -0.88 -146.0 460.2 -9.8 488 4544 0.00 1.98 0.00 0.000 6 0.000 0.050 2384 2592 3513 0 0 0 0 0 0

4869 -0.88 -146.0 492.3 -10.2 519 4873 0.00 2.00 0.00 0.000 4 0.000 0.076 2376 3825 3513 0 0 0 0 0 0

4970 -0.88 -146.0 503.3 -11.0 528 4973 0.00 1.92 0.00 0.000 6 0.000 0.050 2375 2592 3513 0 0 0 0 0 0

5300 -0.87 -146.0 539.4 -10.9 559 5303 0.00 2.00 0.00 0.000 4 0.000 0.078 2366 3821 3514 0 0 0 0 0 0

5382 -0.86 -146.0 549.3 -12.1 566 5390 0.00 1.92 0.00 0.000 6 0.000 0.050 2366 2602 3514 0 0 0 0 0 0

5420 end dive: TARGET_DEPTH_EXCEEDED

state 5420 begin apogee

5423 -0.14 0.0 553.5 11.4 570 5558 0.82 0.00 127.50 1.111 6 0.161 0.000 2620 2499 2914 0 0 0 0 0 0

5559 end apogee: CONTROL_FINISHED_OK

state 5559 begin climb

5560 0.66 146.0 558.4 0.0 582 5698 0.77 2.55 127.47 1.063 4 0.090 0.076 2885 1100 2318 0 0 0 0 0 0

5725 0.62 146.0 548.7 11.4 597 5733 0.00 2.50 0.00 0.000 6 0.000 0.060 2885 2498 2314 0 0 0 0 0 0

6051 0.57 146.0 509.6 12.2 628 6056 0.12 2.28 0.00 0.000 4 0.197 0.079 2858 3822 2309 0 0 0 0 0 0

6234 0.51 146.0 485.8 13.5 644 6242 0.00 2.20 0.00 0.000 6 0.000 0.055 2865 2508 2308 0 0 0 0 0 0

6560 0.48 146.0 449.0 11.5 675 6565 0.15 2.20 0.00 0.000 4 0.223 0.076 2832 3822 2308 0 0 0 0 0 0

6711 0.45 146.0 431.9 11.2 688 6715 0.00 2.15 0.00 0.000 6 0.000 0.056 2838 2500 2307 0 0 0 0 0 0

7042 0.45 151.3 399.1 9.8 719 7054 0.00 2.25 3.90 0.687 4 0.000 0.076 2838 3810 2297 0 0 0 0 0 0

7216 0.42 151.3 379.5 11.5 734 7224 0.12 2.15 0.00 0.000 6 0.207 0.055 2815 2500 2297 0 0 0 0 0 0

7542 0.49 198.9 353.2 7.8 765 7590 0.00 2.30 42.70 0.980 4 0.000 0.075 2814 3816 2102 0 0 0 0 0 0

7714 0.50 198.9 337.2 10.2 780 7718 0.00 2.17 0.00 0.000 6 0.000 0.054 2821 2500 2097 0 0 0 0 0 0

8044 0.56 226.1 307.4 8.7 811 8078 0.00 2.35 23.77 0.939 4 0.000 0.075 2822 3823 1991 0 0 0 0 0 0

8251 0.58 226.1 286.0 10.9 829 8259 0.00 2.20 0.00 0.000 6 0.000 0.054 2830 2498 1987 0 0 0 0 0 0

8577 0.61 226.1 254.4 10.0 860 8581 0.10 2.25 0.00 0.000 4 0.129 0.074 2864 3823 1986 0 0 0 0 0 0

8705 0.58 226.1 237.1 14.6 871 8712 0.00 2.15 0.00 0.000 6 0.000 0.054 2873 2494 1986 0 0 0 0 0 0

9029 0.58 226.1 197.9 11.5 902 9033 0.00 2.20 0.00 0.000 4 0.000 0.074 2873 3823 1986 0 0 0 0 0 0

9251 0.56 226.1 169.6 11.8 921 9260 0.10 2.15 0.00 0.000 6 0.193 0.054 2856 2503 1987 0 0 0 0 0 0

9578 0.64 281.8 144.5 7.4 952 9633 0.00 2.45 47.17 0.873 4 0.000 0.080 2864 1093 1763 0 0 0 0 0 0

9779 0.68 281.8 126.5 10.0 970 9784 0.00 2.35 0.00 0.000 6 0.000 0.054 2864 2511 1758 0 0 0 0 0 0

10108 0.71 281.8 91.9 10.7 1007 10115 0.10 2.15 0.00 0.000 4 0.132 0.074 2898 3806 1758 0 0 0 0 0 0

10346 0.71 281.8 61.7 12.8 1049 10353 0.00 2.12 0.00 0.000 6 0.000 0.055 2908 2499 1755 0 0 0 0 0 0

10692 0.83 367.7 29.9 6.0 1110 10769 0.00 0.00 70.15 0.815 6 0.000 0.000 2908 2499 1413 0 0 0 0 0 0

11037 end climb: SURFACE_DEPTH_REACHED

state 11037 begin surface coast

11078 end surface coast: CONTROL_FINISHED_OK

state 11078 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	7	ESCAPE_HEADING	180	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2500	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	400	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	14	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	0	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	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	-33813.406	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	0.0099999998	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	160910,050500,6642.293,-6011.466,39,1.5,45,-38.0	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	-73.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,050949,6642.228,-6011.551,13,2.0,18,-38.0	MHEAD_RNG_PITCHd_Wd	325.3,11068,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	553

FINISH	0.4,1.024550	_24V_AH	23.1,3.001
SM_CCo	11092,30.05,0.591,2,0,1282,400.08	_10V_AH	10.2,2.284
SM_GC	1.15,0.00,0.00,30.05,0.000,0.000,0.591,151,2608,1282,-7.87,0.23,400.08	FG_AHR_24Vo	0.000
RAFOS_CLK	348	FG_AHR_10Vo	0.000
RAFOS	0,1284624065,8.033334,8.018056,72,63,62,60,59,58,600,601,223,163,189,197	MEM	151696
RAFOS_FIX	6642.505371,-6005.817871,160910,040417,6,100,0.24	DATA_FILE_SIZE	46770,1178
IRIDIUM_FIX	6614.97,-6008.55,160910,010105	CAP_FILE_SIZE	131952,0
TT8_MAMPS	0.032207	CFSIZE	260165632,250638336
HUMID	51.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	8.8479	SOUNDSPEED	1452.7
TCM_TEMP	14.70	GPS	160910,081707,6642.435,-6014.987,34,1.5,35,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	286	139.45	SBE_CT	839	24	465.40
Roll_motor	96	102	229.52	SBE_O2	848	19	372.35
VBD_pump_during_apogee	442	1110	11358.61	nil	0	0	0.00
VBD_pump_during_surface	30	590	409.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	57.30	nil	0	0	0.00
Iridium_during_connect	49	160	182.50	nil	0	0	0.00
Iridium_during_xfer	109	223	561.61	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	10.03
TT8	2812	19	571.47
LPSleep	5643	2	132.96
TT8_Active	580	19	117.96
TT8_Sampling	2288	39	931.87
TT8_CF8	103	45	48.36
TT8_Kalman	0	0	0.00
Analog_circuits	1679	12	205.61
GPS_charging	0	0	0.00
Compass	2059	15	315.16
RAFOS	720	3	22.03
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.66	-146.0	0.0	0.0	0	110	0.00	0.00	-93.05	0.000	2	0.000	0.000	150	2588	3145	0	0	0	0	0	0
112	-0.66	-146.0	5.3	-12.3	16	138	10.77	2.10	-6.80	0.000	4	0.286	0.092	2442	3824	3513	0	0	0	0	0	0
334	-0.66	-146.0	45.9	-12.4	55	341	0.00	1.98	0.00	0.000	6	0.000	0.050	2441	2596	3515	0	0	0	0	0	0
679	-0.67	-146.0	82.2	-9.0	116	686	0.00	2.05	0.00	0.000	4	0.000	0.077	2432	3813	3515	0	0	0	0	0	0
737	-0.68	-146.0	88.4	-10.8	126	744	0.00	1.95	0.00	0.000	6	0.000	0.050	2433	2594	3515	0	0	0	0	0	0
1068	-0.69	-146.0	126.0	-10.9	166	1072	0.00	2.03	0.00	0.000	4	0.000	0.078	2424	3815	3515	0	0	0	0	0	0
1125	-0.70	-146.0	132.5	-11.7	171	1128	0.00	1.92	0.00	0.000	6	0.000	0.050	2424	2599	3515	0	0	0	0	0	0
1455	-0.70	-146.0	168.0	-9.6	202	1458	0.00	2.03	0.00	0.000	4	0.000	0.080	2415	3821	3515	0	0	0	0	0	0
1515	-0.72	-146.0	174.5	-10.3	207	1523	0.00	1.95	0.00	0.000	6	0.000	0.051	2415	2603	3514	0	0	0	0	0	0
1840	-0.72	-146.0	209.4	-11.0	238	1844	0.00	2.00	0.00	0.000	4	0.000	0.080	2406	3814	3514	0	0	0	0	0	0
1930	-0.72	-146.0	219.8	-11.3	246	1935	0.12	1.92	0.00	0.000	6	0.190	0.052	2435	2589	3514	0	0	0	0	0	0
2260	-0.74	-146.0	250.2	-8.9	277	2264	0.00	2.03	0.00	0.000	4	0.000	0.080	2428	3816	3513	0	0	0	0	0	0
2430	-0.77	-146.0	265.7	-9.3	292	2434	0.00	1.92	0.00	0.000	6	0.000	0.052	2428	2596	3513	0	0	0	0	0	0
2760	-0.79	-146.0	293.5	-7.9	323	2764	0.00	2.00	0.00	0.000	4	0.000	0.080	2419	3813	3513	0	0	0	0	0	0
2850	-0.82	-146.0	301.1	-8.4	331	2853	0.00	1.92	0.00	0.000	6	0.000	0.051	2420	2593	3513	0	0	0	0	0	0
3180	-0.84	-146.0	329.7	-8.8	362	3184	0.00	2.00	0.00	0.000	4	0.000	0.079	2411	3813	3512	0	0	0	0	0	0
3286	-0.85	-146.0	339.9	-9.6	371	3293	0.00	1.92	0.00	0.000	6	0.000	0.050	2411	2599	3513	0	0	0	0	0	0
3611	-0.87	-146.0	370.0	-9.1	402	3615	0.00	2.00	0.00	0.000	4	0.000	0.079	2402	3821	3513	0	0	0	0	0	0
3694	-0.88	-146.0	378.4	-9.6	409	3702	0.00	1.95	0.00	0.000	6	0.000	0.050	2402	2593	3512	0	0	0	0	0	0
4019	-0.88	-146.0	409.4	-9.2	440	4023	0.00	2.00	0.00	0.000	4	0.000	0.077	2393	3819	3513	0	0	0	0	0	0
4135	-0.88	-146.0	421.0	-10.0	450	4143	0.00	1.92	0.00	0.000	6	0.000	0.050	2393	2604	3513	0	0	0	0	0	0
4460	-0.88	-146.0	452.4	-9.5	481	4464	0.00	2.03	0.00	0.000	4	0.000	0.078	2384	3836	3513	0	0	0	0	0	0
4539	-0.88	-146.0	460.2	-9.8	488	4544	0.00	1.98	0.00	0.000	6	0.000	0.050	2384	2592	3513	0	0	0	0	0	0
4869	-0.88	-146.0	492.3	-10.2	519	4873	0.00	2.00	0.00	0.000	4	0.000	0.076	2376	3825	3513	0	0	0	0	0	0
4970	-0.88	-146.0	503.3	-11.0	528	4973	0.00	1.92	0.00	0.000	6	0.000	0.050	2375	2592	3513	0	0	0	0	0	0
5300	-0.87	-146.0	539.4	-10.9	559	5303	0.00	2.00	0.00	0.000	4	0.000	0.078	2366	3821	3514	0	0	0	0	0	0
5382	-0.86	-146.0	549.3	-12.1	566	5390	0.00	1.92	0.00	0.000	6	0.000	0.050	2366	2602	3514	0	0	0	0	0	0
5420	end dive: TARGET_DEPTH_EXCEEDED
state	5420	begin apogee
5423	-0.14	0.0	553.5	11.4	570	5558	0.82	0.00	127.50	1.111	6	0.161	0.000	2620	2499	2914	0	0	0	0	0	0
5559	end apogee: CONTROL_FINISHED_OK
state	5559	begin climb
5560	0.66	146.0	558.4	0.0	582	5698	0.77	2.55	127.47	1.063	4	0.090	0.076	2885	1100	2318	0	0	0	0	0	0
5725	0.62	146.0	548.7	11.4	597	5733	0.00	2.50	0.00	0.000	6	0.000	0.060	2885	2498	2314	0	0	0	0	0	0
6051	0.57	146.0	509.6	12.2	628	6056	0.12	2.28	0.00	0.000	4	0.197	0.079	2858	3822	2309	0	0	0	0	0	0
6234	0.51	146.0	485.8	13.5	644	6242	0.00	2.20	0.00	0.000	6	0.000	0.055	2865	2508	2308	0	0	0	0	0	0
6560	0.48	146.0	449.0	11.5	675	6565	0.15	2.20	0.00	0.000	4	0.223	0.076	2832	3822	2308	0	0	0	0	0	0
6711	0.45	146.0	431.9	11.2	688	6715	0.00	2.15	0.00	0.000	6	0.000	0.056	2838	2500	2307	0	0	0	0	0	0
7042	0.45	151.3	399.1	9.8	719	7054	0.00	2.25	3.90	0.687	4	0.000	0.076	2838	3810	2297	0	0	0	0	0	0
7216	0.42	151.3	379.5	11.5	734	7224	0.12	2.15	0.00	0.000	6	0.207	0.055	2815	2500	2297	0	0	0	0	0	0
7542	0.49	198.9	353.2	7.8	765	7590	0.00	2.30	42.70	0.980	4	0.000	0.075	2814	3816	2102	0	0	0	0	0	0
7714	0.50	198.9	337.2	10.2	780	7718	0.00	2.17	0.00	0.000	6	0.000	0.054	2821	2500	2097	0	0	0	0	0	0
8044	0.56	226.1	307.4	8.7	811	8078	0.00	2.35	23.77	0.939	4	0.000	0.075	2822	3823	1991	0	0	0	0	0	0
8251	0.58	226.1	286.0	10.9	829	8259	0.00	2.20	0.00	0.000	6	0.000	0.054	2830	2498	1987	0	0	0	0	0	0
8577	0.61	226.1	254.4	10.0	860	8581	0.10	2.25	0.00	0.000	4	0.129	0.074	2864	3823	1986	0	0	0	0	0	0
8705	0.58	226.1	237.1	14.6	871	8712	0.00	2.15	0.00	0.000	6	0.000	0.054	2873	2494	1986	0	0	0	0	0	0
9029	0.58	226.1	197.9	11.5	902	9033	0.00	2.20	0.00	0.000	4	0.000	0.074	2873	3823	1986	0	0	0	0	0	0
9251	0.56	226.1	169.6	11.8	921	9260	0.10	2.15	0.00	0.000	6	0.193	0.054	2856	2503	1987	0	0	0	0	0	0
9578	0.64	281.8	144.5	7.4	952	9633	0.00	2.45	47.17	0.873	4	0.000	0.080	2864	1093	1763	0	0	0	0	0	0
9779	0.68	281.8	126.5	10.0	970	9784	0.00	2.35	0.00	0.000	6	0.000	0.054	2864	2511	1758	0	0	0	0	0	0
10108	0.71	281.8	91.9	10.7	1007	10115	0.10	2.15	0.00	0.000	4	0.132	0.074	2898	3806	1758	0	0	0	0	0	0
10346	0.71	281.8	61.7	12.8	1049	10353	0.00	2.12	0.00	0.000	6	0.000	0.055	2908	2499	1755	0	0	0	0	0	0
10692	0.83	367.7	29.9	6.0	1110	10769	0.00	0.00	70.15	0.815	6	0.000	0.000	2908	2499	1413	0	0	0	0	0	0
11037	end climb: SURFACE_DEPTH_REACHED
state	11037	begin surface coast
11078	end surface coast: CONTROL_FINISHED_OK
state	11078	begin surface