Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 896 * 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 896 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -13775.042 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -13775.042

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 28 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 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 896 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 020211,231524,6659.578,-5754.050,64,1.5,82,-37.8 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020211,232829,6659.511,-5754.479,144,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd 293.3,114509,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 919

Post-dive calculations and measurements:

FREEZE 1.59,-1.479,-1.826,3,2,0 ALTIM_TOP_PING 19.7,19.2

FINISH 1.6,1.026794 ALTIM_BOTTOM_PING 602.2,11.9

SM_CCo 12210,235.45,0.085,0,0,440,609.08 _24V_AH 21.3,100.230

SM_GC 1.24,0.00,0.00,235.45,0.000,0.000,0.085,293,2777,440,-6.79,-0.08,609.08 _10V_AH 9.6,67.819

RAFOS_CLK 661 FG_AHR_24Vo 0.000

RAFOS 0,1296691266,0.033333,0.018333,44,44,43,42,40,39,726,420,673,1741,1079,1662 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.096191,-5801.115234,030211,000056,2,78,2.42 MEM 151712

IRIDIUM_FIX 6631.12,-5759.10,020211,232328 DATA_FILE_SIZE 36687,991

TT8_MAMPS 0.029211 CAP_FILE_SIZE 128414,0

HUMID 47.48 CFSIZE 260165632,191651840

INTERNAL_PRESSURE 8.42653 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1454.0

XPDR_PINGS 1 GPS 030211,025837,6659.553,-5758.528,46,2.0,46,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 93.60 SBE_CT 690 24 352.93

Roll_motor 80 80 137.86 SBE_O2 0 0 0.00

VBD_pump_during_apogee 316 972 6550.67 nil 0 0 0.00

VBD_pump_during_surface 235 84 425.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 85 103 187.11 nil 0 0 0.00

Iridium_during_connect 115 160 394.45 nil 0 0 0.00

Iridium_during_xfer 74 223 353.03 nil 0 0 0.00

Transponder_ping 2 420 22.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 184 50 88.37

TT8 2500 19 478.13

LPSleep 7500 2 166.33

TT8_Active 686 19 131.36

TT8_Sampling 2204 39 844.94

TT8_CF8 371 45 163.76

TT8_Kalman 0 0 0.00

Analog_circuits 1620 12 186.69

GPS_charging 0 0 0.00

Compass 1691 15 243.59

RAFOS 2520 3 72.58

Transponder 17 30 5.10

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 174 0.00 0.00 -151.07 0.000 2 0.000 0.000 266 2788 3434 0 0 0 0 0 0

177 -0.57 -146.0 5.9 -13.4 27 197 8.52 1.98 -1.62 0.000 4 0.245 0.079 2278 3930 3522 0 0 0 0 0 0

341 -0.57 -146.0 44.9 -12.8 55 347 0.00 1.92 0.00 0.000 6 0.000 0.050 2277 2766 3523 0 0 0 0 0 0

689 -0.57 -146.0 83.7 -9.1 116 695 0.00 2.28 0.00 0.000 4 0.000 0.050 2277 1370 3524 0 0 0 0 0 0

868 -0.62 -146.0 100.5 -9.3 146 875 0.00 2.33 0.00 0.000 6 0.000 0.063 2275 2743 3524 0 0 0 0 0 0

1195 -0.64 -146.0 130.0 -8.2 177 1196 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2743 3523 0 0 0 0 0 0

1515 -0.67 -146.0 158.6 -8.7 207 1521 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2743 3523 0 0 0 0 0 0

1845 -0.70 -146.0 187.8 -8.9 238 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2742 3523 0 0 0 0 0 0

2175 -0.74 -146.0 217.1 -8.6 269 2180 0.12 2.25 0.00 0.000 4 0.099 0.050 2219 1371 3523 0 0 0 0 0 0

2205 -0.72 -146.0 220.6 -10.7 271 2209 0.00 2.35 0.00 0.000 6 0.000 0.062 2216 2745 3523 0 0 0 0 0 0

2532 -0.65 -146.0 259.9 -12.0 301 2536 0.17 2.08 0.00 0.000 4 0.168 0.072 2259 3927 3523 0 0 0 0 0 0

2582 -0.68 -146.0 265.4 -9.5 305 2589 0.00 1.98 0.00 0.000 6 0.000 0.047 2258 2733 3523 0 0 0 0 0 0

2909 -0.70 -146.0 293.2 -8.8 336 2910 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2733 3523 0 0 0 0 0 0

3230 -0.70 -146.0 320.6 -8.1 366 3236 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2733 3524 0 0 0 0 0 0

3557 -0.72 -146.0 348.6 -9.2 397 3561 0.00 2.10 0.00 0.000 4 0.000 0.073 2249 3926 3524 0 0 0 0 0 0

3609 -0.75 -146.0 353.7 -9.8 401 3613 0.00 1.95 0.00 0.000 6 0.000 0.047 2249 2735 3524 0 0 0 0 0 0

3941 -0.75 -146.0 384.6 -9.2 432 3942 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3524 0 0 0 0 0 0

4278 -0.75 -146.0 413.7 -8.6 454 4279 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2735 3524 0 0 0 0 0 0

4581 -0.75 -146.0 439.3 -8.4 464 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3524 0 0 0 0 0 0

4887 -0.75 -146.0 467.0 -9.1 474 4888 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3525 0 0 0 0 0 0

5196 -0.75 -146.0 494.5 -8.8 484 5197 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3525 0 0 0 0 0 0

5499 -0.75 -146.0 519.7 -8.1 494 5500 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3526 0 0 0 0 0 0

5805 -0.75 -146.0 545.2 -8.3 504 5807 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3525 0 0 0 0 0 0

6113 -0.75 -146.0 569.6 -7.9 514 6114 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2735 3526 0 0 0 0 0 0

6418 -0.77 -146.0 593.6 -7.8 524 6422 0.00 2.08 0.00 0.000 4 0.000 0.072 2242 3927 3526 0 0 0 0 0 0

6454 -0.77 -146.0 596.6 -9.6 525 6458 0.00 1.92 0.00 0.000 6 0.000 0.047 2241 2752 3526 0 0 0 0 0 0

6520 end dive: BOTTOM_OBSTACLE_DETECTED

state 6520 begin apogee

6528 -0.14 0.0 602.2 8.3 527 6659 0.57 0.00 124.57 0.972 4 0.130 0.000 2424 2590 2923 0 0 0 0 0 0

6660 end apogee: CONTROL_FINISHED_OK

state 6660 begin climb

6663 0.57 146.0 606.1 0.0 531 6803 0.68 2.40 131.68 0.946 4 0.065 0.048 2662 1187 2327 0 0 0 0 0 0

6933 0.57 146.0 584.7 11.0 539 6937 0.00 2.50 0.00 0.000 6 0.000 0.054 2662 2601 2320 0 0 0 0 0 0

7247 0.52 146.0 546.9 12.3 549 7251 0.00 2.30 0.00 0.000 4 0.000 0.051 2665 1187 2316 0 0 0 0 0 0

7467 0.52 146.0 522.3 11.3 555 7471 0.00 2.35 0.00 0.000 6 0.000 0.055 2665 2620 2316 0 0 0 0 0 0

7786 0.48 146.0 485.6 11.3 566 7790 0.12 2.22 0.00 0.000 4 0.194 0.067 2633 3926 2314 0 0 0 0 0 0

7850 0.44 146.0 478.3 11.8 568 7854 0.00 2.15 0.00 0.000 6 0.000 0.044 2635 2605 2313 0 0 0 0 0 0

8193 0.46 169.3 445.8 8.9 579 8218 0.00 2.35 18.95 0.858 4 0.000 0.050 2635 1191 2232 0 0 0 0 0 0

8253 0.53 191.0 440.2 9.0 580 8278 0.00 2.33 20.33 0.846 6 0.000 0.054 2635 2608 2144 0 0 0 0 0 0

8602 0.57 198.8 406.9 9.6 592 8616 0.00 2.30 7.45 0.765 4 0.000 0.067 2635 3929 2112 0 0 0 0 0 0

8650 0.57 198.8 401.1 11.8 593 8654 0.00 2.15 0.00 0.000 6 0.000 0.044 2635 2607 2110 0 0 0 0 0 0

8977 0.62 212.7 369.5 9.4 623 9001 0.12 2.33 13.32 0.804 4 0.103 0.051 2693 1199 2056 0 0 0 0 0 0

9015 0.59 212.7 364.9 13.1 626 9019 0.00 2.30 0.00 0.000 6 0.000 0.054 2693 2607 2055 0 0 0 0 0 0

9341 0.55 212.7 318.5 14.6 656 9346 0.15 2.25 0.00 0.000 4 0.184 0.066 2652 3925 2052 0 0 0 0 0 0

9373 0.55 212.7 313.6 13.8 658 9380 0.00 2.15 0.00 0.000 6 0.000 0.043 2653 2602 2051 0 0 0 0 0 0

9700 0.58 212.7 276.7 11.3 689 9701 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2602 2051 0 0 0 0 0 0

10020 0.61 212.7 242.0 10.9 719 10026 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2602 2051 0 0 0 0 0 0

10349 0.64 212.7 207.4 10.4 750 10353 0.00 2.28 0.00 0.000 4 0.000 0.067 2652 3932 2051 0 0 0 0 0 0

10407 0.64 212.7 200.1 12.4 754 10413 0.00 2.15 0.00 0.000 6 0.000 0.044 2653 2614 2049 0 0 0 0 0 0

10735 0.68 212.7 164.4 11.0 785 10739 0.12 2.30 0.00 0.000 4 0.104 0.067 2706 3926 2050 0 0 0 0 0 0

10809 0.58 212.7 152.9 16.4 791 10814 0.17 2.10 0.00 0.000 6 0.179 0.044 2662 2636 2049 0 0 0 0 0 0

11142 0.61 212.7 115.6 10.7 822 11146 0.00 2.33 0.00 0.000 4 0.000 0.050 2662 1194 2049 0 0 0 0 0 0

11205 0.68 212.7 108.9 10.1 827 11209 0.00 2.38 0.00 0.000 6 0.000 0.054 2662 2624 2049 0 0 0 0 0 0

11547 0.72 212.7 73.0 10.1 879 11554 0.12 2.38 0.00 0.000 4 0.103 0.050 2717 1188 2049 0 0 0 0 0 0

11703 0.72 212.7 53.7 11.8 906 11710 0.00 2.30 0.00 0.000 6 0.000 0.054 2718 2575 2049 0 0 0 0 0 0

12053 0.62 212.7 14.2 11.1 967 12061 0.15 2.35 0.00 0.000 4 0.175 0.067 2676 3922 2049 0 0 0 0 0 0

12074 0.57 212.7 11.9 10.3 970 12081 0.00 2.17 0.00 0.000 6 0.000 0.045 2676 2588 2048 0 0 0 0 0 0

12165 end climb: SURFACE_DEPTH_REACHED

state 12165 begin surface coast

12192 end surface coast: CONTROL_FINISHED_OK

state 12192 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	896	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-13775.042	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	020211,231524,6659.578,-5754.050,64,1.5,82,-37.8	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020211,232829,6659.511,-5754.479,144,99.0,181,-37.8	MHEAD_RNG_PITCHd_Wd	293.3,114509,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	919

FREEZE	1.59,-1.479,-1.826,3,2,0	ALTIM_TOP_PING	19.7,19.2
FINISH	1.6,1.026794	ALTIM_BOTTOM_PING	602.2,11.9
SM_CCo	12210,235.45,0.085,0,0,440,609.08	_24V_AH	21.3,100.230
SM_GC	1.24,0.00,0.00,235.45,0.000,0.000,0.085,293,2777,440,-6.79,-0.08,609.08	_10V_AH	9.6,67.819
RAFOS_CLK	661	FG_AHR_24Vo	0.000
RAFOS	0,1296691266,0.033333,0.018333,44,44,43,42,40,39,726,420,673,1741,1079,1662	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.096191,-5801.115234,030211,000056,2,78,2.42	MEM	151712
IRIDIUM_FIX	6631.12,-5759.10,020211,232328	DATA_FILE_SIZE	36687,991
TT8_MAMPS	0.029211	CAP_FILE_SIZE	128414,0
HUMID	47.48	CFSIZE	260165632,191651840
INTERNAL_PRESSURE	8.42653	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1454.0
XPDR_PINGS	1	GPS	030211,025837,6659.553,-5758.528,46,2.0,46,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	93.60	SBE_CT	690	24	352.93
Roll_motor	80	80	137.86	SBE_O2	0	0	0.00
VBD_pump_during_apogee	316	972	6550.67	nil	0	0	0.00
VBD_pump_during_surface	235	84	425.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	85	103	187.11	nil	0	0	0.00
Iridium_during_connect	115	160	394.45	nil	0	0	0.00
Iridium_during_xfer	74	223	353.03	nil	0	0	0.00
Transponder_ping	2	420	22.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	184	50	88.37
TT8	2500	19	478.13
LPSleep	7500	2	166.33
TT8_Active	686	19	131.36
TT8_Sampling	2204	39	844.94
TT8_CF8	371	45	163.76
TT8_Kalman	0	0	0.00
Analog_circuits	1620	12	186.69
GPS_charging	0	0	0.00
Compass	1691	15	243.59
RAFOS	2520	3	72.58
Transponder	17	30	5.10

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	174	0.00	0.00	-151.07	0.000	2	0.000	0.000	266	2788	3434	0	0	0	0	0	0
177	-0.57	-146.0	5.9	-13.4	27	197	8.52	1.98	-1.62	0.000	4	0.245	0.079	2278	3930	3522	0	0	0	0	0	0
341	-0.57	-146.0	44.9	-12.8	55	347	0.00	1.92	0.00	0.000	6	0.000	0.050	2277	2766	3523	0	0	0	0	0	0
689	-0.57	-146.0	83.7	-9.1	116	695	0.00	2.28	0.00	0.000	4	0.000	0.050	2277	1370	3524	0	0	0	0	0	0
868	-0.62	-146.0	100.5	-9.3	146	875	0.00	2.33	0.00	0.000	6	0.000	0.063	2275	2743	3524	0	0	0	0	0	0
1195	-0.64	-146.0	130.0	-8.2	177	1196	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2743	3523	0	0	0	0	0	0
1515	-0.67	-146.0	158.6	-8.7	207	1521	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2743	3523	0	0	0	0	0	0
1845	-0.70	-146.0	187.8	-8.9	238	1851	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2742	3523	0	0	0	0	0	0
2175	-0.74	-146.0	217.1	-8.6	269	2180	0.12	2.25	0.00	0.000	4	0.099	0.050	2219	1371	3523	0	0	0	0	0	0
2205	-0.72	-146.0	220.6	-10.7	271	2209	0.00	2.35	0.00	0.000	6	0.000	0.062	2216	2745	3523	0	0	0	0	0	0
2532	-0.65	-146.0	259.9	-12.0	301	2536	0.17	2.08	0.00	0.000	4	0.168	0.072	2259	3927	3523	0	0	0	0	0	0
2582	-0.68	-146.0	265.4	-9.5	305	2589	0.00	1.98	0.00	0.000	6	0.000	0.047	2258	2733	3523	0	0	0	0	0	0
2909	-0.70	-146.0	293.2	-8.8	336	2910	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2733	3523	0	0	0	0	0	0
3230	-0.70	-146.0	320.6	-8.1	366	3236	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2733	3524	0	0	0	0	0	0
3557	-0.72	-146.0	348.6	-9.2	397	3561	0.00	2.10	0.00	0.000	4	0.000	0.073	2249	3926	3524	0	0	0	0	0	0
3609	-0.75	-146.0	353.7	-9.8	401	3613	0.00	1.95	0.00	0.000	6	0.000	0.047	2249	2735	3524	0	0	0	0	0	0
3941	-0.75	-146.0	384.6	-9.2	432	3942	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3524	0	0	0	0	0	0
4278	-0.75	-146.0	413.7	-8.6	454	4279	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	2735	3524	0	0	0	0	0	0
4581	-0.75	-146.0	439.3	-8.4	464	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3524	0	0	0	0	0	0
4887	-0.75	-146.0	467.0	-9.1	474	4888	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3525	0	0	0	0	0	0
5196	-0.75	-146.0	494.5	-8.8	484	5197	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3525	0	0	0	0	0	0
5499	-0.75	-146.0	519.7	-8.1	494	5500	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3526	0	0	0	0	0	0
5805	-0.75	-146.0	545.2	-8.3	504	5807	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3525	0	0	0	0	0	0
6113	-0.75	-146.0	569.6	-7.9	514	6114	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2735	3526	0	0	0	0	0	0
6418	-0.77	-146.0	593.6	-7.8	524	6422	0.00	2.08	0.00	0.000	4	0.000	0.072	2242	3927	3526	0	0	0	0	0	0
6454	-0.77	-146.0	596.6	-9.6	525	6458	0.00	1.92	0.00	0.000	6	0.000	0.047	2241	2752	3526	0	0	0	0	0	0
6520	end dive: BOTTOM_OBSTACLE_DETECTED
state	6520	begin apogee
6528	-0.14	0.0	602.2	8.3	527	6659	0.57	0.00	124.57	0.972	4	0.130	0.000	2424	2590	2923	0	0	0	0	0	0
6660	end apogee: CONTROL_FINISHED_OK
state	6660	begin climb
6663	0.57	146.0	606.1	0.0	531	6803	0.68	2.40	131.68	0.946	4	0.065	0.048	2662	1187	2327	0	0	0	0	0	0
6933	0.57	146.0	584.7	11.0	539	6937	0.00	2.50	0.00	0.000	6	0.000	0.054	2662	2601	2320	0	0	0	0	0	0
7247	0.52	146.0	546.9	12.3	549	7251	0.00	2.30	0.00	0.000	4	0.000	0.051	2665	1187	2316	0	0	0	0	0	0
7467	0.52	146.0	522.3	11.3	555	7471	0.00	2.35	0.00	0.000	6	0.000	0.055	2665	2620	2316	0	0	0	0	0	0
7786	0.48	146.0	485.6	11.3	566	7790	0.12	2.22	0.00	0.000	4	0.194	0.067	2633	3926	2314	0	0	0	0	0	0
7850	0.44	146.0	478.3	11.8	568	7854	0.00	2.15	0.00	0.000	6	0.000	0.044	2635	2605	2313	0	0	0	0	0	0
8193	0.46	169.3	445.8	8.9	579	8218	0.00	2.35	18.95	0.858	4	0.000	0.050	2635	1191	2232	0	0	0	0	0	0
8253	0.53	191.0	440.2	9.0	580	8278	0.00	2.33	20.33	0.846	6	0.000	0.054	2635	2608	2144	0	0	0	0	0	0
8602	0.57	198.8	406.9	9.6	592	8616	0.00	2.30	7.45	0.765	4	0.000	0.067	2635	3929	2112	0	0	0	0	0	0
8650	0.57	198.8	401.1	11.8	593	8654	0.00	2.15	0.00	0.000	6	0.000	0.044	2635	2607	2110	0	0	0	0	0	0
8977	0.62	212.7	369.5	9.4	623	9001	0.12	2.33	13.32	0.804	4	0.103	0.051	2693	1199	2056	0	0	0	0	0	0
9015	0.59	212.7	364.9	13.1	626	9019	0.00	2.30	0.00	0.000	6	0.000	0.054	2693	2607	2055	0	0	0	0	0	0
9341	0.55	212.7	318.5	14.6	656	9346	0.15	2.25	0.00	0.000	4	0.184	0.066	2652	3925	2052	0	0	0	0	0	0
9373	0.55	212.7	313.6	13.8	658	9380	0.00	2.15	0.00	0.000	6	0.000	0.043	2653	2602	2051	0	0	0	0	0	0
9700	0.58	212.7	276.7	11.3	689	9701	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2602	2051	0	0	0	0	0	0
10020	0.61	212.7	242.0	10.9	719	10026	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2602	2051	0	0	0	0	0	0
10349	0.64	212.7	207.4	10.4	750	10353	0.00	2.28	0.00	0.000	4	0.000	0.067	2652	3932	2051	0	0	0	0	0	0
10407	0.64	212.7	200.1	12.4	754	10413	0.00	2.15	0.00	0.000	6	0.000	0.044	2653	2614	2049	0	0	0	0	0	0
10735	0.68	212.7	164.4	11.0	785	10739	0.12	2.30	0.00	0.000	4	0.104	0.067	2706	3926	2050	0	0	0	0	0	0
10809	0.58	212.7	152.9	16.4	791	10814	0.17	2.10	0.00	0.000	6	0.179	0.044	2662	2636	2049	0	0	0	0	0	0
11142	0.61	212.7	115.6	10.7	822	11146	0.00	2.33	0.00	0.000	4	0.000	0.050	2662	1194	2049	0	0	0	0	0	0
11205	0.68	212.7	108.9	10.1	827	11209	0.00	2.38	0.00	0.000	6	0.000	0.054	2662	2624	2049	0	0	0	0	0	0
11547	0.72	212.7	73.0	10.1	879	11554	0.12	2.38	0.00	0.000	4	0.103	0.050	2717	1188	2049	0	0	0	0	0	0
11703	0.72	212.7	53.7	11.8	906	11710	0.00	2.30	0.00	0.000	6	0.000	0.054	2718	2575	2049	0	0	0	0	0	0
12053	0.62	212.7	14.2	11.1	967	12061	0.15	2.35	0.00	0.000	4	0.175	0.067	2676	3922	2049	0	0	0	0	0	0
12074	0.57	212.7	11.9	10.3	970	12081	0.00	2.17	0.00	0.000	6	0.000	0.045	2676	2588	2048	0	0	0	0	0	0
12165	end climb: SURFACE_DEPTH_REACHED
state	12165	begin surface coast
12192	end surface coast: CONTROL_FINISHED_OK
state	12192	begin surface