Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 899 * 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 899 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 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -14327.379 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 -14327.379

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 36 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 899 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 030211,094050,6657.534,-5800.920,118,99.0,137,-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 1.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -46.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030211,094050,6657.534,-5800.920,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd 294.5,109054,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 937

Post-dive calculations and measurements:

FREEZE 1.77,-1.293,-1.831,3,5,0 ALTIM_TOP_PING 19.5,19.7

FINISH 1.8,1.026846 ALTIM_BOTTOM_PING 600.0,11.9

SM_CCo 11611,203.15,0.085,0,0,439,609.08 _24V_AH 21.3,100.551

SM_GC 1.30,0.00,0.00,203.15,0.000,0.000,0.085,295,2791,439,-6.79,0.31,609.08 _10V_AH 9.6,68.038

RAFOS_CLK 670 FG_AHR_24Vo 0.000

RAFOS 0,1296734468,12.033333,12.018888,60,46,46,43,40,38,1224,26,932,44,548,70 FG_AHR_10Vo 0.000

RAFOS_FIX 6753.183594,-5427.954590,030211,121232,2,94,18.41 MEM 151644

IRIDIUM_FIX 6636.54,-5830.05,030211,090926 DATA_FILE_SIZE 33396,962

TT8_MAMPS 0.029211 CAP_FILE_SIZE 124090,0

HUMID 46.57 CFSIZE 260165632,191447040

INTERNAL_PRESSURE 8.4363 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1454.9

XPDR_PINGS 0 GPS 030211,131714,6657.972,-5805.040,152,1.7,169,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 240 93.16 SBE_CT 668 24 341.80

Roll_motor 77 81 133.99 SBE_O2 0 0 0.00

VBD_pump_during_apogee 360 972 7472.80 nil 0 0 0.00

VBD_pump_during_surface 203 84 367.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 88 103 193.16 nil 0 0 0.00

Iridium_during_connect 95 160 325.39 nil 0 0 0.00

Iridium_during_xfer 207 223 983.81 nil 0 0 0.00

Transponder_ping 2 420 20.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 88.08

TT8 2376 19 454.41

LPSleep 7057 2 156.50

TT8_Active 690 19 132.12

TT8_Sampling 2232 39 855.43

TT8_CF8 378 45 166.65

TT8_Kalman 0 0 0.00

Analog_circuits 1591 12 183.31

GPS_charging 0 0 0.00

Compass 1625 15 234.08

RAFOS 2520 3 72.58

Transponder 20 30 6.01

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 0 169 0.00 0.00 -147.32 0.000 2 0.000 0.000 252 2790 3428 0 0 0 0 0 0

172 -0.57 -146.0 6.3 -14.2 26 192 8.50 2.00 -1.83 0.000 4 0.241 0.081 2276 3930 3523 0 0 0 0 0 0

288 -0.52 -146.0 34.6 -14.1 45 295 0.12 1.88 0.00 0.000 6 0.167 0.050 2309 2783 3523 0 0 0 0 0 0

636 -0.58 -146.0 72.7 -11.3 106 642 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 2782 3524 0 0 0 0 0 0

987 -0.67 -146.0 102.3 -6.6 165 991 0.15 2.05 0.00 0.000 4 0.086 0.076 2235 3924 3524 0 0 0 0 0 0

1027 -0.61 -146.0 106.5 -11.7 168 1034 0.15 1.90 0.00 0.000 6 0.157 0.050 2276 2781 3524 0 0 0 0 0 0

1353 -0.65 -146.0 138.2 -9.8 199 1355 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2781 3523 0 0 0 0 0 0

1677 -0.69 -146.0 167.3 -9.0 229 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2781 3523 0 0 0 0 0 0

2007 -0.73 -146.0 197.8 -9.1 260 2012 0.12 2.33 0.00 0.000 4 0.094 0.050 2222 1369 3523 0 0 0 0 0 0

2064 -0.70 -146.0 205.0 -12.5 265 2069 0.00 2.42 0.00 0.000 6 0.000 0.062 2222 2780 3523 0 0 0 0 0 0

2391 -0.64 -146.0 247.4 -12.8 295 2396 0.15 2.35 0.00 0.000 4 0.169 0.050 2263 1372 3523 0 0 0 0 0 0

2436 -0.69 -146.0 252.7 -10.3 298 2442 0.00 2.38 0.00 0.000 6 0.000 0.061 2261 2773 3523 0 0 0 0 0 0

2762 -0.71 -146.0 286.2 -10.0 329 2766 0.00 2.28 0.00 0.000 4 0.000 0.048 2261 1372 3524 0 0 0 0 0 0

2804 -0.75 -146.0 290.6 -10.1 332 2808 0.00 2.38 0.00 0.000 6 0.000 0.061 2261 2773 3524 0 0 0 0 0 0

3130 -0.78 -146.0 322.4 -9.7 362 3135 0.12 2.33 0.00 0.000 4 0.099 0.049 2198 1361 3524 0 0 0 0 0 0

3164 -0.72 -146.0 326.7 -12.6 364 3171 0.20 2.38 0.00 0.000 6 0.160 0.060 2243 2766 3524 0 0 0 0 0 0

3490 -0.72 -146.0 360.2 -9.9 395 3491 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2766 3524 0 0 0 0 0 0

3812 -0.72 -146.0 392.0 -10.1 425 3818 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2766 3525 0 0 0 0 0 0

4140 -0.72 -146.0 424.9 -9.9 441 4141 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2766 3525 0 0 0 0 0 0

4445 -0.72 -146.0 455.3 -9.8 451 4446 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2766 3526 0 0 0 0 0 0

4751 -0.72 -146.0 484.1 -9.7 461 4756 0.00 2.28 0.00 0.000 4 0.000 0.048 2243 1367 3526 0 0 0 0 0 0

4798 -0.75 -146.0 488.7 -9.9 462 4802 0.00 2.35 0.00 0.000 6 0.000 0.060 2243 2756 3526 0 0 0 0 0 0

5117 -0.75 -146.0 518.2 -9.2 473 5118 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2757 3526 0 0 0 0 0 0

5423 -0.75 -146.0 546.2 -8.9 483 5424 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2756 3526 0 0 0 0 0 0

5730 -0.75 -146.0 573.9 -9.2 493 5731 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2756 3526 0 0 0 0 0 0

6006 end dive: BOTTOM_OBSTACLE_DETECTED

state 6006 begin apogee

6013 -0.14 0.0 600.0 9.5 502 6146 0.55 0.00 124.43 0.972 4 0.131 0.000 2420 2601 2923 0 0 0 0 0 0

6146 end apogee: CONTROL_FINISHED_OK

state 6146 begin climb

6149 0.57 146.0 605.6 0.0 506 6289 0.70 2.42 131.73 0.946 4 0.067 0.048 2663 1184 2327 0 0 0 0 0 0

6458 0.57 146.0 582.8 10.3 515 6465 0.00 2.47 0.00 0.000 6 0.000 0.054 2663 2607 2318 0 0 0 0 0 0

6773 0.52 146.0 548.4 11.1 526 6777 0.00 2.30 0.00 0.000 4 0.000 0.051 2666 1183 2316 0 0 0 0 0 0

7005 0.52 146.0 522.8 11.7 533 7009 0.00 2.38 0.00 0.000 6 0.000 0.055 2665 2621 2315 0 0 0 0 0 0

7342 0.47 146.0 480.9 12.8 544 7346 0.15 2.22 0.00 0.000 4 0.190 0.067 2626 3925 2314 0 0 0 0 0 0

7403 0.45 146.0 472.9 12.3 545 7410 0.00 2.15 0.00 0.000 6 0.000 0.044 2626 2601 2313 0 0 0 0 0 0

7717 0.47 146.0 440.7 10.0 556 7718 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2600 2313 0 0 0 0 0 0

8024 0.51 155.0 410.5 9.6 566 8032 0.00 0.00 6.50 0.751 6 0.000 0.000 2626 2601 2291 0 0 0 0 0 0

8339 0.55 174.0 382.1 9.1 588 8363 0.00 2.30 18.17 0.825 4 0.000 0.067 2626 3928 2212 0 0 0 0 0 0

8416 0.55 174.0 374.3 10.2 594 8423 0.00 2.12 0.00 0.000 6 0.000 0.044 2626 2618 2211 0 0 0 0 0 0

8744 0.61 205.7 347.2 8.5 625 8775 0.12 0.00 28.23 0.810 6 0.097 0.000 2684 2618 2084 0 0 0 0 0 0

9092 0.58 205.7 302.6 13.1 658 9096 0.00 2.30 0.00 0.000 4 0.000 0.051 2686 1192 2078 0 0 0 0 0 0

9123 0.58 205.7 298.5 13.2 660 9127 0.00 2.35 0.00 0.000 6 0.000 0.054 2686 2625 2078 0 0 0 0 0 0

9455 0.54 205.7 252.0 14.2 691 9456 0.12 0.00 0.00 0.000 6 0.187 0.000 2654 2625 2077 0 0 0 0 0 0

9773 0.57 205.7 211.3 12.1 721 9777 0.00 2.20 0.00 0.000 4 0.000 0.067 2654 3928 2076 0 0 0 0 0 0

9803 0.57 205.7 207.5 14.2 723 9807 0.00 2.12 0.00 0.000 6 0.000 0.044 2654 2619 2074 0 0 0 0 0 0

10135 0.60 205.7 168.6 11.0 754 10139 0.00 2.33 0.00 0.000 4 0.000 0.050 2654 1185 2075 0 0 0 0 0 0

10180 0.68 205.7 163.5 11.5 757 10187 0.12 2.38 0.00 0.000 6 0.098 0.054 2709 2631 2075 0 0 0 0 0 0

10507 0.62 205.7 118.6 13.8 788 10512 0.12 2.20 0.00 0.000 4 0.186 0.066 2677 3925 2075 0 0 0 0 0 0

10565 0.57 205.7 111.1 12.9 792 10572 0.00 2.10 0.00 0.000 6 0.000 0.043 2679 2632 2074 0 0 0 0 0 0

10904 0.57 205.7 76.9 10.0 843 10911 0.00 2.33 0.00 0.000 4 0.000 0.050 2679 1184 2074 0 0 0 0 0 0

10976 0.64 241.6 70.7 8.3 855 11012 0.00 2.40 30.35 0.656 6 0.000 0.054 2679 2631 1937 0 0 0 0 0 0

11353 0.68 241.6 32.1 11.9 921 11360 0.00 2.33 0.00 0.000 4 0.000 0.050 2679 1188 1930 0 0 0 0 0 0

11385 0.78 266.3 29.4 8.9 926 11416 0.12 2.38 21.42 0.632 6 0.102 0.054 2732 2622 1836 0 0 0 0 0 0

11571 end climb: SURFACE_DEPTH_REACHED

state 11571 begin surface coast

11593 end surface coast: CONTROL_FINISHED_OK

state 11593 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	899	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	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-14327.379	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	030211,094050,6657.534,-5800.920,118,99.0,137,-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	1.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-46.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030211,094050,6657.534,-5800.920,181,99.0,181,-37.8	MHEAD_RNG_PITCHd_Wd	294.5,109054,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	937

FREEZE	1.77,-1.293,-1.831,3,5,0	ALTIM_TOP_PING	19.5,19.7
FINISH	1.8,1.026846	ALTIM_BOTTOM_PING	600.0,11.9
SM_CCo	11611,203.15,0.085,0,0,439,609.08	_24V_AH	21.3,100.551
SM_GC	1.30,0.00,0.00,203.15,0.000,0.000,0.085,295,2791,439,-6.79,0.31,609.08	_10V_AH	9.6,68.038
RAFOS_CLK	670	FG_AHR_24Vo	0.000
RAFOS	0,1296734468,12.033333,12.018888,60,46,46,43,40,38,1224,26,932,44,548,70	FG_AHR_10Vo	0.000
RAFOS_FIX	6753.183594,-5427.954590,030211,121232,2,94,18.41	MEM	151644
IRIDIUM_FIX	6636.54,-5830.05,030211,090926	DATA_FILE_SIZE	33396,962
TT8_MAMPS	0.029211	CAP_FILE_SIZE	124090,0
HUMID	46.57	CFSIZE	260165632,191447040
INTERNAL_PRESSURE	8.4363	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1454.9
XPDR_PINGS	0	GPS	030211,131714,6657.972,-5805.040,152,1.7,169,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	240	93.16	SBE_CT	668	24	341.80
Roll_motor	77	81	133.99	SBE_O2	0	0	0.00
VBD_pump_during_apogee	360	972	7472.80	nil	0	0	0.00
VBD_pump_during_surface	203	84	367.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	88	103	193.16	nil	0	0	0.00
Iridium_during_connect	95	160	325.39	nil	0	0	0.00
Iridium_during_xfer	207	223	983.81	nil	0	0	0.00
Transponder_ping	2	420	20.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	88.08
TT8	2376	19	454.41
LPSleep	7057	2	156.50
TT8_Active	690	19	132.12
TT8_Sampling	2232	39	855.43
TT8_CF8	378	45	166.65
TT8_Kalman	0	0	0.00
Analog_circuits	1591	12	183.31
GPS_charging	0	0	0.00
Compass	1625	15	234.08
RAFOS	2520	3	72.58
Transponder	20	30	6.01

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	169	0.00	0.00	-147.32	0.000	2	0.000	0.000	252	2790	3428	0	0	0	0	0	0
172	-0.57	-146.0	6.3	-14.2	26	192	8.50	2.00	-1.83	0.000	4	0.241	0.081	2276	3930	3523	0	0	0	0	0	0
288	-0.52	-146.0	34.6	-14.1	45	295	0.12	1.88	0.00	0.000	6	0.167	0.050	2309	2783	3523	0	0	0	0	0	0
636	-0.58	-146.0	72.7	-11.3	106	642	0.00	0.00	0.00	0.000	6	0.000	0.000	2309	2782	3524	0	0	0	0	0	0
987	-0.67	-146.0	102.3	-6.6	165	991	0.15	2.05	0.00	0.000	4	0.086	0.076	2235	3924	3524	0	0	0	0	0	0
1027	-0.61	-146.0	106.5	-11.7	168	1034	0.15	1.90	0.00	0.000	6	0.157	0.050	2276	2781	3524	0	0	0	0	0	0
1353	-0.65	-146.0	138.2	-9.8	199	1355	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2781	3523	0	0	0	0	0	0
1677	-0.69	-146.0	167.3	-9.0	229	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2781	3523	0	0	0	0	0	0
2007	-0.73	-146.0	197.8	-9.1	260	2012	0.12	2.33	0.00	0.000	4	0.094	0.050	2222	1369	3523	0	0	0	0	0	0
2064	-0.70	-146.0	205.0	-12.5	265	2069	0.00	2.42	0.00	0.000	6	0.000	0.062	2222	2780	3523	0	0	0	0	0	0
2391	-0.64	-146.0	247.4	-12.8	295	2396	0.15	2.35	0.00	0.000	4	0.169	0.050	2263	1372	3523	0	0	0	0	0	0
2436	-0.69	-146.0	252.7	-10.3	298	2442	0.00	2.38	0.00	0.000	6	0.000	0.061	2261	2773	3523	0	0	0	0	0	0
2762	-0.71	-146.0	286.2	-10.0	329	2766	0.00	2.28	0.00	0.000	4	0.000	0.048	2261	1372	3524	0	0	0	0	0	0
2804	-0.75	-146.0	290.6	-10.1	332	2808	0.00	2.38	0.00	0.000	6	0.000	0.061	2261	2773	3524	0	0	0	0	0	0
3130	-0.78	-146.0	322.4	-9.7	362	3135	0.12	2.33	0.00	0.000	4	0.099	0.049	2198	1361	3524	0	0	0	0	0	0
3164	-0.72	-146.0	326.7	-12.6	364	3171	0.20	2.38	0.00	0.000	6	0.160	0.060	2243	2766	3524	0	0	0	0	0	0
3490	-0.72	-146.0	360.2	-9.9	395	3491	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2766	3524	0	0	0	0	0	0
3812	-0.72	-146.0	392.0	-10.1	425	3818	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2766	3525	0	0	0	0	0	0
4140	-0.72	-146.0	424.9	-9.9	441	4141	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2766	3525	0	0	0	0	0	0
4445	-0.72	-146.0	455.3	-9.8	451	4446	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2766	3526	0	0	0	0	0	0
4751	-0.72	-146.0	484.1	-9.7	461	4756	0.00	2.28	0.00	0.000	4	0.000	0.048	2243	1367	3526	0	0	0	0	0	0
4798	-0.75	-146.0	488.7	-9.9	462	4802	0.00	2.35	0.00	0.000	6	0.000	0.060	2243	2756	3526	0	0	0	0	0	0
5117	-0.75	-146.0	518.2	-9.2	473	5118	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2757	3526	0	0	0	0	0	0
5423	-0.75	-146.0	546.2	-8.9	483	5424	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2756	3526	0	0	0	0	0	0
5730	-0.75	-146.0	573.9	-9.2	493	5731	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2756	3526	0	0	0	0	0	0
6006	end dive: BOTTOM_OBSTACLE_DETECTED
state	6006	begin apogee
6013	-0.14	0.0	600.0	9.5	502	6146	0.55	0.00	124.43	0.972	4	0.131	0.000	2420	2601	2923	0	0	0	0	0	0
6146	end apogee: CONTROL_FINISHED_OK
state	6146	begin climb
6149	0.57	146.0	605.6	0.0	506	6289	0.70	2.42	131.73	0.946	4	0.067	0.048	2663	1184	2327	0	0	0	0	0	0
6458	0.57	146.0	582.8	10.3	515	6465	0.00	2.47	0.00	0.000	6	0.000	0.054	2663	2607	2318	0	0	0	0	0	0
6773	0.52	146.0	548.4	11.1	526	6777	0.00	2.30	0.00	0.000	4	0.000	0.051	2666	1183	2316	0	0	0	0	0	0
7005	0.52	146.0	522.8	11.7	533	7009	0.00	2.38	0.00	0.000	6	0.000	0.055	2665	2621	2315	0	0	0	0	0	0
7342	0.47	146.0	480.9	12.8	544	7346	0.15	2.22	0.00	0.000	4	0.190	0.067	2626	3925	2314	0	0	0	0	0	0
7403	0.45	146.0	472.9	12.3	545	7410	0.00	2.15	0.00	0.000	6	0.000	0.044	2626	2601	2313	0	0	0	0	0	0
7717	0.47	146.0	440.7	10.0	556	7718	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2600	2313	0	0	0	0	0	0
8024	0.51	155.0	410.5	9.6	566	8032	0.00	0.00	6.50	0.751	6	0.000	0.000	2626	2601	2291	0	0	0	0	0	0
8339	0.55	174.0	382.1	9.1	588	8363	0.00	2.30	18.17	0.825	4	0.000	0.067	2626	3928	2212	0	0	0	0	0	0
8416	0.55	174.0	374.3	10.2	594	8423	0.00	2.12	0.00	0.000	6	0.000	0.044	2626	2618	2211	0	0	0	0	0	0
8744	0.61	205.7	347.2	8.5	625	8775	0.12	0.00	28.23	0.810	6	0.097	0.000	2684	2618	2084	0	0	0	0	0	0
9092	0.58	205.7	302.6	13.1	658	9096	0.00	2.30	0.00	0.000	4	0.000	0.051	2686	1192	2078	0	0	0	0	0	0
9123	0.58	205.7	298.5	13.2	660	9127	0.00	2.35	0.00	0.000	6	0.000	0.054	2686	2625	2078	0	0	0	0	0	0
9455	0.54	205.7	252.0	14.2	691	9456	0.12	0.00	0.00	0.000	6	0.187	0.000	2654	2625	2077	0	0	0	0	0	0
9773	0.57	205.7	211.3	12.1	721	9777	0.00	2.20	0.00	0.000	4	0.000	0.067	2654	3928	2076	0	0	0	0	0	0
9803	0.57	205.7	207.5	14.2	723	9807	0.00	2.12	0.00	0.000	6	0.000	0.044	2654	2619	2074	0	0	0	0	0	0
10135	0.60	205.7	168.6	11.0	754	10139	0.00	2.33	0.00	0.000	4	0.000	0.050	2654	1185	2075	0	0	0	0	0	0
10180	0.68	205.7	163.5	11.5	757	10187	0.12	2.38	0.00	0.000	6	0.098	0.054	2709	2631	2075	0	0	0	0	0	0
10507	0.62	205.7	118.6	13.8	788	10512	0.12	2.20	0.00	0.000	4	0.186	0.066	2677	3925	2075	0	0	0	0	0	0
10565	0.57	205.7	111.1	12.9	792	10572	0.00	2.10	0.00	0.000	6	0.000	0.043	2679	2632	2074	0	0	0	0	0	0
10904	0.57	205.7	76.9	10.0	843	10911	0.00	2.33	0.00	0.000	4	0.000	0.050	2679	1184	2074	0	0	0	0	0	0
10976	0.64	241.6	70.7	8.3	855	11012	0.00	2.40	30.35	0.656	6	0.000	0.054	2679	2631	1937	0	0	0	0	0	0
11353	0.68	241.6	32.1	11.9	921	11360	0.00	2.33	0.00	0.000	4	0.000	0.050	2679	1188	1930	0	0	0	0	0	0
11385	0.78	266.3	29.4	8.9	926	11416	0.12	2.38	21.42	0.632	6	0.102	0.054	2732	2622	1836	0	0	0	0	0	0
11571	end climb: SURFACE_DEPTH_REACHED
state	11571	begin surface coast
11593	end surface coast: CONTROL_FINISHED_OK
state	11593	begin surface