Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 8 * 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 8 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 23 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 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 -33814.66 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 -33814.66

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 23 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 8 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 160910,081707,6642.435,-6014.987,34,1.5,35,-38.0 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,082302,6642.444,-6015.118,16,1.4,16,-38.0 MHEAD_RNG_PITCHd_Wd 113.7,154338,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 544

Post-dive calculations and measurements:

FINISH 0.4,1.011213 _24V_AH 23.1,3.128

SM_CCo 11355,13.70,0.376,1,0,1487,350.04 _10V_AH 10.2,2.359

SM_GC 1.26,0.00,0.00,13.70,0.000,0.000,0.376,148,2797,1487,-7.88,-0.08,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 360 FG_AHR_10Vo 0.000

RAFOS 1,1284624546,8.166667,8.151667,85,75,70,68,63,60,550,549,213,204,143,188 MEM 151700

RAFOS_FIX 6642.641602,-6011.061035,160910,080848,6,96,8.73 DATA_FILE_SIZE 46665,1214

IRIDIUM_FIX 6614.97,-6009.24,160910,050532 CAP_FILE_SIZE 127695,0

TT8_MAMPS 0.027713 CFSIZE 260165632,250572800

HUMID 50.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

INTERNAL_PRESSURE 8.8479 SOUNDSPEED 1452.2

TCM_TEMP 14.60 GPS 160910,113436,6642.366,-6012.330,28,1.7,29,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 284 136.90 SBE_CT 865 24 479.82

Roll_motor 82 104 198.58 SBE_O2 874 19 383.82

VBD_pump_during_apogee 416 1102 10616.20 nil 0 0 0.00

VBD_pump_during_surface 13 375 118.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 64 103 152.77 nil 0 0 0.00

Iridium_during_connect 24 160 90.31 nil 0 0 0.00

Iridium_during_xfer 102 223 530.56 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.92

TT8 2857 19 580.70

LPSleep 6035 2 142.22

TT8_Active 537 19 109.12

TT8_Sampling 2224 39 905.59

TT8_CF8 104 45 48.84

TT8_Kalman 0 0 0.00

Analog_circuits 1596 12 195.36

GPS_charging 0 0 0.00

Compass 1989 15 304.42

RAFOS 1440 3 44.06

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 0 112 0.00 0.00 -94.40 0.000 2 0.000 0.000 151 2609 3190 0 0 0 0 0 0

113 -0.66 -146.0 6.0 -16.0 16 139 10.70 2.12 -5.80 0.000 4 0.285 0.091 2453 1385 3514 0 0 0 0 0 0

239 -0.66 -146.0 37.7 -12.0 38 246 0.00 2.38 0.00 0.000 6 0.000 0.063 2446 2802 3517 0 0 0 0 0 0

584 -0.66 -146.0 74.1 -9.2 99 590 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2803 3517 0 0 0 0 0 0

929 -0.66 -146.0 108.1 -10.4 154 932 0.00 2.33 0.00 0.000 4 0.000 0.065 2446 1386 3517 0 0 0 0 0 0

988 -0.66 -146.0 115.0 -11.1 159 996 0.00 2.35 0.00 0.000 6 0.000 0.060 2437 2799 3517 0 0 0 0 0 0

1314 -0.66 -146.0 152.5 -11.1 190 1318 0.00 1.70 0.00 0.000 4 0.000 0.080 2429 3809 3517 0 0 0 0 0 0

1425 -0.66 -146.0 164.8 -10.4 200 1430 0.00 1.62 0.00 0.000 6 0.000 0.050 2429 2790 3517 0 0 0 0 0 0

1755 -0.66 -146.0 198.7 -10.6 231 1759 0.00 2.25 0.00 0.000 4 0.000 0.067 2429 1390 3517 0 0 0 0 0 0

1775 -0.66 -146.0 201.0 -10.0 232 1784 0.10 2.35 0.00 0.000 6 0.170 0.060 2449 2818 3517 0 0 0 0 0 0

2101 -0.66 -146.0 228.7 -8.3 263 2105 0.00 2.30 0.00 0.000 4 0.000 0.064 2450 1391 3516 0 0 0 0 0 0

2155 -0.66 -146.0 233.5 -8.4 267 2163 0.00 2.35 0.00 0.000 6 0.000 0.062 2442 2814 3516 0 0 0 0 0 0

2480 -0.66 -146.0 260.6 -8.2 298 2484 0.00 1.62 0.00 0.000 4 0.000 0.081 2435 3816 3515 0 0 0 0 0 0

2526 -0.66 -146.0 264.5 -8.0 302 2529 0.00 1.58 0.00 0.000 6 0.000 0.050 2435 2822 3515 0 0 0 0 0 0

2856 -0.66 -146.0 291.8 -8.0 333 2860 0.00 2.28 0.00 0.000 4 0.000 0.065 2436 1396 3515 0 0 0 0 0 0

2940 -0.66 -146.0 298.6 -7.9 340 2945 0.12 2.30 0.00 0.000 6 0.195 0.063 2456 2824 3515 0 0 0 0 0 0

3264 -0.66 -146.0 319.2 -6.5 370 3265 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2825 3515 0 0 0 0 0 0

3583 -0.66 -146.0 340.8 -6.9 400 3587 0.00 2.28 0.00 0.000 4 0.000 0.063 2456 1400 3515 0 0 0 0 0 0

3615 -0.66 -146.0 343.4 -7.3 402 3623 0.00 2.30 0.00 0.000 6 0.000 0.060 2449 2808 3515 0 0 0 0 0 0

3941 -0.66 -146.0 368.5 -7.8 433 3945 0.00 2.28 0.00 0.000 4 0.000 0.063 2449 1395 3514 0 0 0 0 0 0

3967 -0.66 -146.0 370.8 -7.7 435 3974 0.00 2.33 0.00 0.000 6 0.000 0.061 2441 2816 3515 0 0 0 0 0 0

4292 -0.66 -146.0 398.3 -8.1 466 4293 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2816 3515 0 0 0 0 0 0

4613 -0.66 -146.0 423.6 -7.3 496 4614 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2816 3515 0 0 0 0 0 0

4930 -0.66 -146.0 446.8 -7.2 526 4934 0.00 2.28 0.00 0.000 4 0.000 0.063 2441 1401 3515 0 0 0 0 0 0

4973 -0.66 -146.0 450.3 -7.4 529 4981 0.00 2.30 0.00 0.000 6 0.000 0.061 2432 2808 3515 0 0 0 0 0 0

5298 -0.66 -146.0 475.1 -7.3 560 5299 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2809 3515 0 0 0 0 0 0

5618 -0.66 -146.0 498.2 -7.4 590 5619 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2808 3515 0 0 0 0 0 0

5937 -0.66 -146.0 521.9 -7.7 620 5939 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2809 3516 0 0 0 0 0 0

6231 end dive: TARGET_DEPTH_EXCEEDED

state 6232 begin apogee

6236 -0.14 0.0 544.3 7.5 648 6370 0.57 0.00 127.18 1.102 4 0.151 0.000 2615 2745 2914 0 0 0 0 0 0

6370 end apogee: CONTROL_FINISHED_OK

state 6371 begin climb

6372 0.66 146.0 548.9 0.0 660 6510 0.80 2.47 127.72 1.057 4 0.090 0.068 2877 1347 2318 0 0 0 0 0 0

6716 0.66 146.0 518.6 11.4 691 6724 0.00 2.42 0.00 0.000 6 0.000 0.064 2877 2743 2310 0 0 0 0 0 0

7042 0.66 146.0 478.1 12.5 722 7046 0.00 2.38 0.00 0.000 4 0.000 0.071 2887 1344 2308 0 0 0 0 0 0

7269 0.66 146.0 450.5 12.4 742 7278 0.00 2.40 0.00 0.000 6 0.000 0.063 2887 2761 2308 0 0 0 0 0 0

7595 0.66 146.0 409.2 13.1 773 7599 0.00 1.75 0.00 0.000 4 0.000 0.080 2887 3821 2308 0 0 0 0 0 0

7666 0.66 146.0 398.7 14.7 779 7674 0.00 1.75 0.00 0.000 6 0.000 0.051 2895 2763 2307 0 0 0 0 0 0

7992 0.66 146.0 353.6 13.9 810 7996 0.00 1.77 0.00 0.000 4 0.000 0.078 2895 3805 2307 0 0 0 0 0 0

8047 0.66 146.0 345.3 16.1 815 8051 0.00 1.67 0.00 0.000 6 0.000 0.052 2902 2760 2305 0 0 0 0 0 0

8377 0.66 146.0 299.1 13.2 846 8381 0.00 1.73 0.00 0.000 4 0.000 0.078 2903 3810 2306 0 0 0 0 0 0

8448 0.66 146.0 288.6 13.6 852 8456 0.00 1.70 0.00 0.000 6 0.000 0.051 2910 2768 2305 0 0 0 0 0 0

8774 0.66 146.0 248.6 11.8 883 8778 0.00 1.75 0.00 0.000 4 0.000 0.078 2910 3806 2305 0 0 0 0 0 0

8908 0.66 146.0 231.1 13.6 895 8913 0.15 1.65 0.00 0.000 6 0.226 0.054 2885 2757 2305 0 0 0 0 0 0

9238 0.68 167.9 200.1 9.0 926 9261 0.00 1.85 17.58 0.887 4 0.000 0.077 2885 3817 2229 0 0 0 0 0 0

9468 0.68 167.9 175.0 11.6 946 9476 0.00 1.67 0.00 0.000 6 0.000 0.053 2890 2786 2226 0 0 0 0 0 0

9794 0.70 177.6 141.7 9.6 977 9806 0.00 0.00 9.23 0.819 6 0.000 0.000 2890 2786 2189 0 0 0 0 0 0

10123 0.70 177.6 108.2 10.2 1008 10127 0.00 1.73 0.00 0.000 4 0.000 0.078 2890 3805 2188 0 0 0 0 0 0

10269 0.70 184.2 93.5 9.7 1026 10283 0.00 1.65 6.85 0.777 6 0.000 0.054 2898 2783 2163 0 0 0 0 0 0

10620 0.73 207.9 64.0 8.9 1088 10651 0.00 2.45 21.70 0.840 4 0.000 0.074 2908 1355 2066 0 0 0 0 0 0

10730 0.76 226.6 54.2 9.1 1107 10755 0.00 2.40 17.10 0.819 6 0.000 0.060 2908 2802 1990 0 0 0 0 0 0

11092 0.89 334.8 23.3 5.0 1171 11192 0.15 1.80 89.55 0.801 4 0.112 0.076 2959 3805 1549 0 0 0 0 0 0

11243 0.89 334.8 10.3 11.3 1197 11250 0.00 1.65 0.00 0.000 6 0.000 0.052 2967 2797 1542 0 0 0 0 0 0

11311 end climb: SURFACE_DEPTH_REACHED

state 11311 begin surface coast

11340 end surface coast: CONTROL_FINISHED_OK

state 11341 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	8	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	23	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	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	-33814.66	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	160910,081707,6642.435,-6014.987,34,1.5,35,-38.0	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,082302,6642.444,-6015.118,16,1.4,16,-38.0	MHEAD_RNG_PITCHd_Wd	113.7,154338,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	544

FINISH	0.4,1.011213	_24V_AH	23.1,3.128
SM_CCo	11355,13.70,0.376,1,0,1487,350.04	_10V_AH	10.2,2.359
SM_GC	1.26,0.00,0.00,13.70,0.000,0.000,0.376,148,2797,1487,-7.88,-0.08,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	360	FG_AHR_10Vo	0.000
RAFOS	1,1284624546,8.166667,8.151667,85,75,70,68,63,60,550,549,213,204,143,188	MEM	151700
RAFOS_FIX	6642.641602,-6011.061035,160910,080848,6,96,8.73	DATA_FILE_SIZE	46665,1214
IRIDIUM_FIX	6614.97,-6009.24,160910,050532	CAP_FILE_SIZE	127695,0
TT8_MAMPS	0.027713	CFSIZE	260165632,250572800
HUMID	50.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
INTERNAL_PRESSURE	8.8479	SOUNDSPEED	1452.2
TCM_TEMP	14.60	GPS	160910,113436,6642.366,-6012.330,28,1.7,29,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	284	136.90	SBE_CT	865	24	479.82
Roll_motor	82	104	198.58	SBE_O2	874	19	383.82
VBD_pump_during_apogee	416	1102	10616.20	nil	0	0	0.00
VBD_pump_during_surface	13	375	118.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	64	103	152.77	nil	0	0	0.00
Iridium_during_connect	24	160	90.31	nil	0	0	0.00
Iridium_during_xfer	102	223	530.56	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.92
TT8	2857	19	580.70
LPSleep	6035	2	142.22
TT8_Active	537	19	109.12
TT8_Sampling	2224	39	905.59
TT8_CF8	104	45	48.84
TT8_Kalman	0	0	0.00
Analog_circuits	1596	12	195.36
GPS_charging	0	0	0.00
Compass	1989	15	304.42
RAFOS	1440	3	44.06
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	112	0.00	0.00	-94.40	0.000	2	0.000	0.000	151	2609	3190	0	0	0	0	0	0
113	-0.66	-146.0	6.0	-16.0	16	139	10.70	2.12	-5.80	0.000	4	0.285	0.091	2453	1385	3514	0	0	0	0	0	0
239	-0.66	-146.0	37.7	-12.0	38	246	0.00	2.38	0.00	0.000	6	0.000	0.063	2446	2802	3517	0	0	0	0	0	0
584	-0.66	-146.0	74.1	-9.2	99	590	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2803	3517	0	0	0	0	0	0
929	-0.66	-146.0	108.1	-10.4	154	932	0.00	2.33	0.00	0.000	4	0.000	0.065	2446	1386	3517	0	0	0	0	0	0
988	-0.66	-146.0	115.0	-11.1	159	996	0.00	2.35	0.00	0.000	6	0.000	0.060	2437	2799	3517	0	0	0	0	0	0
1314	-0.66	-146.0	152.5	-11.1	190	1318	0.00	1.70	0.00	0.000	4	0.000	0.080	2429	3809	3517	0	0	0	0	0	0
1425	-0.66	-146.0	164.8	-10.4	200	1430	0.00	1.62	0.00	0.000	6	0.000	0.050	2429	2790	3517	0	0	0	0	0	0
1755	-0.66	-146.0	198.7	-10.6	231	1759	0.00	2.25	0.00	0.000	4	0.000	0.067	2429	1390	3517	0	0	0	0	0	0
1775	-0.66	-146.0	201.0	-10.0	232	1784	0.10	2.35	0.00	0.000	6	0.170	0.060	2449	2818	3517	0	0	0	0	0	0
2101	-0.66	-146.0	228.7	-8.3	263	2105	0.00	2.30	0.00	0.000	4	0.000	0.064	2450	1391	3516	0	0	0	0	0	0
2155	-0.66	-146.0	233.5	-8.4	267	2163	0.00	2.35	0.00	0.000	6	0.000	0.062	2442	2814	3516	0	0	0	0	0	0
2480	-0.66	-146.0	260.6	-8.2	298	2484	0.00	1.62	0.00	0.000	4	0.000	0.081	2435	3816	3515	0	0	0	0	0	0
2526	-0.66	-146.0	264.5	-8.0	302	2529	0.00	1.58	0.00	0.000	6	0.000	0.050	2435	2822	3515	0	0	0	0	0	0
2856	-0.66	-146.0	291.8	-8.0	333	2860	0.00	2.28	0.00	0.000	4	0.000	0.065	2436	1396	3515	0	0	0	0	0	0
2940	-0.66	-146.0	298.6	-7.9	340	2945	0.12	2.30	0.00	0.000	6	0.195	0.063	2456	2824	3515	0	0	0	0	0	0
3264	-0.66	-146.0	319.2	-6.5	370	3265	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2825	3515	0	0	0	0	0	0
3583	-0.66	-146.0	340.8	-6.9	400	3587	0.00	2.28	0.00	0.000	4	0.000	0.063	2456	1400	3515	0	0	0	0	0	0
3615	-0.66	-146.0	343.4	-7.3	402	3623	0.00	2.30	0.00	0.000	6	0.000	0.060	2449	2808	3515	0	0	0	0	0	0
3941	-0.66	-146.0	368.5	-7.8	433	3945	0.00	2.28	0.00	0.000	4	0.000	0.063	2449	1395	3514	0	0	0	0	0	0
3967	-0.66	-146.0	370.8	-7.7	435	3974	0.00	2.33	0.00	0.000	6	0.000	0.061	2441	2816	3515	0	0	0	0	0	0
4292	-0.66	-146.0	398.3	-8.1	466	4293	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2816	3515	0	0	0	0	0	0
4613	-0.66	-146.0	423.6	-7.3	496	4614	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2816	3515	0	0	0	0	0	0
4930	-0.66	-146.0	446.8	-7.2	526	4934	0.00	2.28	0.00	0.000	4	0.000	0.063	2441	1401	3515	0	0	0	0	0	0
4973	-0.66	-146.0	450.3	-7.4	529	4981	0.00	2.30	0.00	0.000	6	0.000	0.061	2432	2808	3515	0	0	0	0	0	0
5298	-0.66	-146.0	475.1	-7.3	560	5299	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2809	3515	0	0	0	0	0	0
5618	-0.66	-146.0	498.2	-7.4	590	5619	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2808	3515	0	0	0	0	0	0
5937	-0.66	-146.0	521.9	-7.7	620	5939	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2809	3516	0	0	0	0	0	0
6231	end dive: TARGET_DEPTH_EXCEEDED
state	6232	begin apogee
6236	-0.14	0.0	544.3	7.5	648	6370	0.57	0.00	127.18	1.102	4	0.151	0.000	2615	2745	2914	0	0	0	0	0	0
6370	end apogee: CONTROL_FINISHED_OK
state	6371	begin climb
6372	0.66	146.0	548.9	0.0	660	6510	0.80	2.47	127.72	1.057	4	0.090	0.068	2877	1347	2318	0	0	0	0	0	0
6716	0.66	146.0	518.6	11.4	691	6724	0.00	2.42	0.00	0.000	6	0.000	0.064	2877	2743	2310	0	0	0	0	0	0
7042	0.66	146.0	478.1	12.5	722	7046	0.00	2.38	0.00	0.000	4	0.000	0.071	2887	1344	2308	0	0	0	0	0	0
7269	0.66	146.0	450.5	12.4	742	7278	0.00	2.40	0.00	0.000	6	0.000	0.063	2887	2761	2308	0	0	0	0	0	0
7595	0.66	146.0	409.2	13.1	773	7599	0.00	1.75	0.00	0.000	4	0.000	0.080	2887	3821	2308	0	0	0	0	0	0
7666	0.66	146.0	398.7	14.7	779	7674	0.00	1.75	0.00	0.000	6	0.000	0.051	2895	2763	2307	0	0	0	0	0	0
7992	0.66	146.0	353.6	13.9	810	7996	0.00	1.77	0.00	0.000	4	0.000	0.078	2895	3805	2307	0	0	0	0	0	0
8047	0.66	146.0	345.3	16.1	815	8051	0.00	1.67	0.00	0.000	6	0.000	0.052	2902	2760	2305	0	0	0	0	0	0
8377	0.66	146.0	299.1	13.2	846	8381	0.00	1.73	0.00	0.000	4	0.000	0.078	2903	3810	2306	0	0	0	0	0	0
8448	0.66	146.0	288.6	13.6	852	8456	0.00	1.70	0.00	0.000	6	0.000	0.051	2910	2768	2305	0	0	0	0	0	0
8774	0.66	146.0	248.6	11.8	883	8778	0.00	1.75	0.00	0.000	4	0.000	0.078	2910	3806	2305	0	0	0	0	0	0
8908	0.66	146.0	231.1	13.6	895	8913	0.15	1.65	0.00	0.000	6	0.226	0.054	2885	2757	2305	0	0	0	0	0	0
9238	0.68	167.9	200.1	9.0	926	9261	0.00	1.85	17.58	0.887	4	0.000	0.077	2885	3817	2229	0	0	0	0	0	0
9468	0.68	167.9	175.0	11.6	946	9476	0.00	1.67	0.00	0.000	6	0.000	0.053	2890	2786	2226	0	0	0	0	0	0
9794	0.70	177.6	141.7	9.6	977	9806	0.00	0.00	9.23	0.819	6	0.000	0.000	2890	2786	2189	0	0	0	0	0	0
10123	0.70	177.6	108.2	10.2	1008	10127	0.00	1.73	0.00	0.000	4	0.000	0.078	2890	3805	2188	0	0	0	0	0	0
10269	0.70	184.2	93.5	9.7	1026	10283	0.00	1.65	6.85	0.777	6	0.000	0.054	2898	2783	2163	0	0	0	0	0	0
10620	0.73	207.9	64.0	8.9	1088	10651	0.00	2.45	21.70	0.840	4	0.000	0.074	2908	1355	2066	0	0	0	0	0	0
10730	0.76	226.6	54.2	9.1	1107	10755	0.00	2.40	17.10	0.819	6	0.000	0.060	2908	2802	1990	0	0	0	0	0	0
11092	0.89	334.8	23.3	5.0	1171	11192	0.15	1.80	89.55	0.801	4	0.112	0.076	2959	3805	1549	0	0	0	0	0	0
11243	0.89	334.8	10.3	11.3	1197	11250	0.00	1.65	0.00	0.000	6	0.000	0.052	2967	2797	1542	0	0	0	0	0	0
11311	end climb: SURFACE_DEPTH_REACHED
state	11311	begin surface coast
11340	end surface coast: CONTROL_FINISHED_OK
state	11341	begin surface