Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 9 * 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 9 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 18 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 -33815.914 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 -33815.914

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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 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 9 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 160910,113436,6642.366,-6012.330,28,1.7,29,-38.0 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,113902,6642.378,-6012.267,11,1.5,11,-38.0 MHEAD_RNG_PITCHd_Wd 113.5,152374,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 561

Post-dive calculations and measurements:

FINISH 0.6,1.024604 _24V_AH 23.1,3.254

SM_CCo 11577,6.00,0.108,0,0,1488,350.04 _10V_AH 10.2,2.435

SM_GC 2.88,0.00,0.00,6.00,0.000,0.000,0.108,157,2796,1488,-7.86,-0.11,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 366 FG_AHR_10Vo 0.000

RAFOS 0,1284638469,12.033333,12.019167,110,97,76,66,65,60,595,595,205,177,190,215 MEM 151676

RAFOS_FIX 6642.190430,-6008.331543,160910,121216,7,117,1.00 DATA_FILE_SIZE 46726,1229

IRIDIUM_FIX 6609.62,-6011.94,160910,080815 CAP_FILE_SIZE 124920,0

TT8_MAMPS 0.028462 CFSIZE 260165632,250507264

HUMID 50.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.8479 SOUNDSPEED 1452.9

TCM_TEMP 14.60 GPS 160910,145424,6641.894,-6009.199,25,1.4,43,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 284 135.58 SBE_CT 874 24 484.98

Roll_motor 68 106 168.32 SBE_O2 880 19 386.27

VBD_pump_during_apogee 419 1114 10799.74 nil 0 0 0.00

VBD_pump_during_surface 6 107 14.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.60 nil 0 0 0.00

Iridium_during_connect 18 160 67.06 nil 0 0 0.00

Iridium_during_xfer 123 223 635.94 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.40

TT8 2901 19 589.56

LPSleep 6192 2 145.90

TT8_Active 487 19 99.00

TT8_Sampling 2198 39 895.34

TT8_CF8 101 45 47.72

TT8_Kalman 0 0 0.00

Analog_circuits 1533 12 187.73

GPS_charging 0 0 0.00

Compass 1990 15 304.62

RAFOS 2520 3 77.11

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.66 -146.0 0.0 0.0 0 97 0.00 0.00 -80.90 0.000 2 0.000 0.000 148 2798 3114 0 0 0 0 0 0

99 -0.66 -146.0 5.5 -14.3 14 125 10.75 2.38 -7.38 0.000 4 0.285 0.090 2453 1398 3515 0 0 0 0 0 0

377 -0.66 -146.0 55.4 -11.0 63 384 0.00 2.33 0.00 0.000 6 0.000 0.061 2446 2809 3518 0 0 0 0 0 0

722 -0.66 -146.0 90.1 -9.7 124 729 0.00 2.30 0.00 0.000 4 0.000 0.063 2446 1398 3518 0 0 0 0 0 0

813 -0.66 -146.0 99.2 -9.8 140 820 0.00 2.33 0.00 0.000 6 0.000 0.062 2437 2802 3518 0 0 0 0 0 0

1144 -0.66 -146.0 134.0 -11.0 172 1148 0.00 1.70 0.00 0.000 4 0.000 0.080 2429 3809 3517 0 0 0 0 0 0

1204 -0.66 -146.0 141.1 -12.1 177 1212 0.00 1.62 0.00 0.000 6 0.000 0.049 2430 2801 3517 0 0 0 0 0 0

1530 -0.66 -146.0 178.4 -10.4 208 1531 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2802 3517 0 0 0 0 0 0

1849 -0.66 -146.0 209.8 -9.5 238 1850 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2802 3517 0 0 0 0 0 0

2167 -0.66 -146.0 240.2 -9.6 268 2171 0.00 1.65 0.00 0.000 4 0.000 0.082 2422 3806 3517 0 0 0 0 0 0

2212 -0.66 -146.0 244.6 -9.8 272 2217 0.08 1.60 0.00 0.000 6 0.172 0.050 2452 2799 3516 0 0 0 0 0 0

2542 -0.66 -146.0 270.7 -7.8 303 2543 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2799 3516 0 0 0 0 0 0

2862 -0.66 -146.0 295.0 -7.5 333 2866 0.00 2.25 0.00 0.000 4 0.000 0.066 2452 1389 3516 0 0 0 0 0 0

2889 -0.66 -146.0 297.5 -8.0 335 2893 0.00 2.28 0.00 0.000 6 0.000 0.063 2446 2796 3516 0 0 0 0 0 0

3219 -0.66 -146.0 323.3 -7.6 366 3223 0.00 1.67 0.00 0.000 4 0.000 0.080 2438 3818 3515 0 0 0 0 0 0

3268 -0.66 -146.0 327.3 -8.0 370 3276 0.00 1.62 0.00 0.000 6 0.000 0.049 2438 2790 3516 0 0 0 0 0 0

3594 -0.66 -146.0 350.8 -6.9 401 3595 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2790 3515 0 0 0 0 0 0

3913 -0.66 -146.0 373.2 -7.0 431 3917 0.00 1.65 0.00 0.000 4 0.000 0.080 2431 3807 3516 0 0 0 0 0 0

3947 -0.66 -146.0 375.8 -7.8 434 3951 0.00 1.60 0.00 0.000 6 0.000 0.049 2431 2792 3516 0 0 0 0 0 0

4277 -0.66 -146.0 400.7 -7.6 465 4278 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2792 3516 0 0 0 0 0 0

4596 -0.66 -146.0 424.9 -7.6 495 4597 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2792 3516 0 0 0 0 0 0

4915 -0.66 -146.0 449.5 -7.8 525 4916 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2792 3516 0 0 0 0 0 0

5233 -0.66 -146.0 474.6 -8.1 555 5237 0.00 1.70 0.00 0.000 4 0.000 0.080 2424 3809 3517 0 0 0 0 0 0

5267 -0.66 -146.0 477.4 -8.6 558 5272 0.10 1.58 0.00 0.000 6 0.162 0.049 2454 2801 3517 0 0 0 0 0 0

5597 -0.66 -146.0 498.9 -6.5 589 5598 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2799 3517 0 0 0 0 0 0

5916 -0.66 -146.0 518.9 -6.4 619 5920 0.00 2.25 0.00 0.000 4 0.000 0.066 2455 1394 3517 0 0 0 0 0 0

5944 -0.66 -146.0 520.8 -6.0 621 5948 0.00 2.30 0.00 0.000 6 0.000 0.063 2448 2815 3517 0 0 0 0 0 0

6268 -0.66 -146.0 542.9 -6.7 651 6269 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2815 3517 0 0 0 0 0 0

6543 end dive: TARGET_DEPTH_EXCEEDED

state 6543 begin apogee

6547 -0.14 0.0 561.5 6.8 677 6681 0.52 0.00 127.53 1.115 4 0.147 0.000 2616 2753 2914 0 0 0 0 0 0

6681 end apogee: CONTROL_FINISHED_OK

state 6682 begin climb

6683 0.66 146.0 566.3 0.0 689 6820 0.82 1.90 127.95 1.069 4 0.091 0.081 2880 3806 2318 0 0 0 0 0 0

7071 0.66 146.0 524.1 13.5 724 7080 0.00 1.80 0.00 0.000 6 0.000 0.053 2888 2743 2308 0 0 0 0 0 0

7397 0.66 146.0 483.9 12.1 755 7401 0.00 2.35 0.00 0.000 4 0.000 0.074 2898 1336 2307 0 0 0 0 0 0

7531 0.66 146.0 467.2 12.2 767 7536 0.00 2.38 0.00 0.000 6 0.000 0.063 2899 2764 2306 0 0 0 0 0 0

7855 0.66 146.0 423.9 14.2 797 7859 0.00 1.73 0.00 0.000 4 0.000 0.080 2898 3810 2305 0 0 0 0 0 0

8027 0.66 146.0 397.9 15.4 812 8036 0.00 1.73 0.00 0.000 6 0.000 0.052 2906 2764 2305 0 0 0 0 0 0

8355 0.66 146.0 353.6 13.6 843 8358 0.00 1.75 0.00 0.000 4 0.000 0.078 2906 3810 2305 0 0 0 0 0 0

8500 0.66 146.0 331.2 14.7 856 8505 0.12 1.65 0.00 0.000 6 0.223 0.052 2887 2764 2304 0 0 0 0 0 0

8830 0.66 146.0 288.1 12.7 887 8834 0.00 1.77 0.00 0.000 4 0.000 0.077 2887 3812 2304 0 0 0 0 0 0

8999 0.66 146.0 264.7 14.0 902 9003 0.00 1.65 0.00 0.000 6 0.000 0.053 2892 2788 2304 0 0 0 0 0 0

9328 0.66 146.0 223.7 11.8 933 9332 0.00 1.67 0.00 0.000 4 0.000 0.076 2892 3812 2304 0 0 0 0 0 0

9441 0.66 146.0 209.3 12.6 943 9445 0.00 1.62 0.00 0.000 6 0.000 0.053 2900 2799 2304 0 0 0 0 0 0

9770 0.66 146.0 172.6 10.2 974 9774 0.00 1.65 0.00 0.000 4 0.000 0.078 2900 3810 2304 0 0 0 0 0 0

9942 0.66 146.0 152.9 10.6 989 9951 0.00 1.60 0.00 0.000 6 0.000 0.051 2907 2807 2304 0 0 0 0 0 0

10269 0.69 170.0 121.5 8.9 1020 10290 0.00 0.00 19.35 0.858 6 0.000 0.000 2907 2807 2220 0 0 0 0 0 0

10613 0.73 205.3 90.0 8.4 1062 10650 0.00 1.77 30.73 0.845 4 0.000 0.077 2908 3809 2076 0 0 0 0 0 0

10862 0.73 205.3 63.4 10.9 1106 10869 0.00 1.65 0.00 0.000 6 0.000 0.053 2915 2797 2071 0 0 0 0 0 0

11207 0.81 271.4 30.9 6.9 1167 11272 0.00 2.53 55.42 0.810 4 0.000 0.072 2925 1357 1806 0 0 0 0 0 0

11329 0.90 341.9 23.2 6.7 1188 11394 0.10 2.42 58.47 0.776 6 0.130 0.058 2958 2796 1520 0 0 0 0 0 0

11533 end climb: SURFACE_DEPTH_REACHED

state 11533 begin surface coast

11563 end surface coast: CONTROL_FINISHED_OK

state 11563 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	9	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	18	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	-33815.914	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	160910,113436,6642.366,-6012.330,28,1.7,29,-38.0	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,113902,6642.378,-6012.267,11,1.5,11,-38.0	MHEAD_RNG_PITCHd_Wd	113.5,152374,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	561

FINISH	0.6,1.024604	_24V_AH	23.1,3.254
SM_CCo	11577,6.00,0.108,0,0,1488,350.04	_10V_AH	10.2,2.435
SM_GC	2.88,0.00,0.00,6.00,0.000,0.000,0.108,157,2796,1488,-7.86,-0.11,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	366	FG_AHR_10Vo	0.000
RAFOS	0,1284638469,12.033333,12.019167,110,97,76,66,65,60,595,595,205,177,190,215	MEM	151676
RAFOS_FIX	6642.190430,-6008.331543,160910,121216,7,117,1.00	DATA_FILE_SIZE	46726,1229
IRIDIUM_FIX	6609.62,-6011.94,160910,080815	CAP_FILE_SIZE	124920,0
TT8_MAMPS	0.028462	CFSIZE	260165632,250507264
HUMID	50.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.8479	SOUNDSPEED	1452.9
TCM_TEMP	14.60	GPS	160910,145424,6641.894,-6009.199,25,1.4,43,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	284	135.58	SBE_CT	874	24	484.98
Roll_motor	68	106	168.32	SBE_O2	880	19	386.27
VBD_pump_during_apogee	419	1114	10799.74	nil	0	0	0.00
VBD_pump_during_surface	6	107	14.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.60	nil	0	0	0.00
Iridium_during_connect	18	160	67.06	nil	0	0	0.00
Iridium_during_xfer	123	223	635.94	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.40
TT8	2901	19	589.56
LPSleep	6192	2	145.90
TT8_Active	487	19	99.00
TT8_Sampling	2198	39	895.34
TT8_CF8	101	45	47.72
TT8_Kalman	0	0	0.00
Analog_circuits	1533	12	187.73
GPS_charging	0	0	0.00
Compass	1990	15	304.62
RAFOS	2520	3	77.11
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.66	-146.0	0.0	0.0	0	97	0.00	0.00	-80.90	0.000	2	0.000	0.000	148	2798	3114	0	0	0	0	0	0
99	-0.66	-146.0	5.5	-14.3	14	125	10.75	2.38	-7.38	0.000	4	0.285	0.090	2453	1398	3515	0	0	0	0	0	0
377	-0.66	-146.0	55.4	-11.0	63	384	0.00	2.33	0.00	0.000	6	0.000	0.061	2446	2809	3518	0	0	0	0	0	0
722	-0.66	-146.0	90.1	-9.7	124	729	0.00	2.30	0.00	0.000	4	0.000	0.063	2446	1398	3518	0	0	0	0	0	0
813	-0.66	-146.0	99.2	-9.8	140	820	0.00	2.33	0.00	0.000	6	0.000	0.062	2437	2802	3518	0	0	0	0	0	0
1144	-0.66	-146.0	134.0	-11.0	172	1148	0.00	1.70	0.00	0.000	4	0.000	0.080	2429	3809	3517	0	0	0	0	0	0
1204	-0.66	-146.0	141.1	-12.1	177	1212	0.00	1.62	0.00	0.000	6	0.000	0.049	2430	2801	3517	0	0	0	0	0	0
1530	-0.66	-146.0	178.4	-10.4	208	1531	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	2802	3517	0	0	0	0	0	0
1849	-0.66	-146.0	209.8	-9.5	238	1850	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	2802	3517	0	0	0	0	0	0
2167	-0.66	-146.0	240.2	-9.6	268	2171	0.00	1.65	0.00	0.000	4	0.000	0.082	2422	3806	3517	0	0	0	0	0	0
2212	-0.66	-146.0	244.6	-9.8	272	2217	0.08	1.60	0.00	0.000	6	0.172	0.050	2452	2799	3516	0	0	0	0	0	0
2542	-0.66	-146.0	270.7	-7.8	303	2543	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2799	3516	0	0	0	0	0	0
2862	-0.66	-146.0	295.0	-7.5	333	2866	0.00	2.25	0.00	0.000	4	0.000	0.066	2452	1389	3516	0	0	0	0	0	0
2889	-0.66	-146.0	297.5	-8.0	335	2893	0.00	2.28	0.00	0.000	6	0.000	0.063	2446	2796	3516	0	0	0	0	0	0
3219	-0.66	-146.0	323.3	-7.6	366	3223	0.00	1.67	0.00	0.000	4	0.000	0.080	2438	3818	3515	0	0	0	0	0	0
3268	-0.66	-146.0	327.3	-8.0	370	3276	0.00	1.62	0.00	0.000	6	0.000	0.049	2438	2790	3516	0	0	0	0	0	0
3594	-0.66	-146.0	350.8	-6.9	401	3595	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2790	3515	0	0	0	0	0	0
3913	-0.66	-146.0	373.2	-7.0	431	3917	0.00	1.65	0.00	0.000	4	0.000	0.080	2431	3807	3516	0	0	0	0	0	0
3947	-0.66	-146.0	375.8	-7.8	434	3951	0.00	1.60	0.00	0.000	6	0.000	0.049	2431	2792	3516	0	0	0	0	0	0
4277	-0.66	-146.0	400.7	-7.6	465	4278	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2792	3516	0	0	0	0	0	0
4596	-0.66	-146.0	424.9	-7.6	495	4597	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2792	3516	0	0	0	0	0	0
4915	-0.66	-146.0	449.5	-7.8	525	4916	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2792	3516	0	0	0	0	0	0
5233	-0.66	-146.0	474.6	-8.1	555	5237	0.00	1.70	0.00	0.000	4	0.000	0.080	2424	3809	3517	0	0	0	0	0	0
5267	-0.66	-146.0	477.4	-8.6	558	5272	0.10	1.58	0.00	0.000	6	0.162	0.049	2454	2801	3517	0	0	0	0	0	0
5597	-0.66	-146.0	498.9	-6.5	589	5598	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2799	3517	0	0	0	0	0	0
5916	-0.66	-146.0	518.9	-6.4	619	5920	0.00	2.25	0.00	0.000	4	0.000	0.066	2455	1394	3517	0	0	0	0	0	0
5944	-0.66	-146.0	520.8	-6.0	621	5948	0.00	2.30	0.00	0.000	6	0.000	0.063	2448	2815	3517	0	0	0	0	0	0
6268	-0.66	-146.0	542.9	-6.7	651	6269	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2815	3517	0	0	0	0	0	0
6543	end dive: TARGET_DEPTH_EXCEEDED
state	6543	begin apogee
6547	-0.14	0.0	561.5	6.8	677	6681	0.52	0.00	127.53	1.115	4	0.147	0.000	2616	2753	2914	0	0	0	0	0	0
6681	end apogee: CONTROL_FINISHED_OK
state	6682	begin climb
6683	0.66	146.0	566.3	0.0	689	6820	0.82	1.90	127.95	1.069	4	0.091	0.081	2880	3806	2318	0	0	0	0	0	0
7071	0.66	146.0	524.1	13.5	724	7080	0.00	1.80	0.00	0.000	6	0.000	0.053	2888	2743	2308	0	0	0	0	0	0
7397	0.66	146.0	483.9	12.1	755	7401	0.00	2.35	0.00	0.000	4	0.000	0.074	2898	1336	2307	0	0	0	0	0	0
7531	0.66	146.0	467.2	12.2	767	7536	0.00	2.38	0.00	0.000	6	0.000	0.063	2899	2764	2306	0	0	0	0	0	0
7855	0.66	146.0	423.9	14.2	797	7859	0.00	1.73	0.00	0.000	4	0.000	0.080	2898	3810	2305	0	0	0	0	0	0
8027	0.66	146.0	397.9	15.4	812	8036	0.00	1.73	0.00	0.000	6	0.000	0.052	2906	2764	2305	0	0	0	0	0	0
8355	0.66	146.0	353.6	13.6	843	8358	0.00	1.75	0.00	0.000	4	0.000	0.078	2906	3810	2305	0	0	0	0	0	0
8500	0.66	146.0	331.2	14.7	856	8505	0.12	1.65	0.00	0.000	6	0.223	0.052	2887	2764	2304	0	0	0	0	0	0
8830	0.66	146.0	288.1	12.7	887	8834	0.00	1.77	0.00	0.000	4	0.000	0.077	2887	3812	2304	0	0	0	0	0	0
8999	0.66	146.0	264.7	14.0	902	9003	0.00	1.65	0.00	0.000	6	0.000	0.053	2892	2788	2304	0	0	0	0	0	0
9328	0.66	146.0	223.7	11.8	933	9332	0.00	1.67	0.00	0.000	4	0.000	0.076	2892	3812	2304	0	0	0	0	0	0
9441	0.66	146.0	209.3	12.6	943	9445	0.00	1.62	0.00	0.000	6	0.000	0.053	2900	2799	2304	0	0	0	0	0	0
9770	0.66	146.0	172.6	10.2	974	9774	0.00	1.65	0.00	0.000	4	0.000	0.078	2900	3810	2304	0	0	0	0	0	0
9942	0.66	146.0	152.9	10.6	989	9951	0.00	1.60	0.00	0.000	6	0.000	0.051	2907	2807	2304	0	0	0	0	0	0
10269	0.69	170.0	121.5	8.9	1020	10290	0.00	0.00	19.35	0.858	6	0.000	0.000	2907	2807	2220	0	0	0	0	0	0
10613	0.73	205.3	90.0	8.4	1062	10650	0.00	1.77	30.73	0.845	4	0.000	0.077	2908	3809	2076	0	0	0	0	0	0
10862	0.73	205.3	63.4	10.9	1106	10869	0.00	1.65	0.00	0.000	6	0.000	0.053	2915	2797	2071	0	0	0	0	0	0
11207	0.81	271.4	30.9	6.9	1167	11272	0.00	2.53	55.42	0.810	4	0.000	0.072	2925	1357	1806	0	0	0	0	0	0
11329	0.90	341.9	23.2	6.7	1188	11394	0.10	2.42	58.47	0.776	6	0.130	0.058	2958	2796	1520	0	0	0	0	0	0
11533	end climb: SURFACE_DEPTH_REACHED
state	11533	begin surface coast
11563	end surface coast: CONTROL_FINISHED_OK
state	11563	begin surface