Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 435 * 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 1.8

DIVE 435 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 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 43 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 9 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 -8294.2529 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 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 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 9 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 -8294.2529

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 43 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 435 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 011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6 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 69.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 6.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 131.1,9416,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 633

Post-dive calculations and measurements:

FINISH1 23.4,1.026156,66 ALTIM_BOTTOM_PING 18.8,18.2

FINISH2 22.7 _24V_AH 22.3,52.938

RAFOS_CLK 554 _10V_AH 10.1,39.109

RAFOS 0,1291233666,20.033333,20.018333,45,43,42,41,40,39,676,768,1863,786,405,276 FG_AHR_24Vo 0.000

RAFOS_FIX 1710.104004,1726.181641,071104,040443,16776,18,0.00 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6625.71,-5722.48,011210,000045 MEM 151652

TT8_MAMPS 0.028462 DATA_FILE_SIZE 36651,993

HUMID 48.58 CAP_FILE_SIZE 115818,0

INTERNAL_PRESSURE 8.76834 CFSIZE 260165632,219004928

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1473.3

ALTIM_TOP_PING 17.3,17.3 GPS 011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 208 15.78 SBE_CT 688 24 368.30

Roll_motor 85 65 123.47 SBE_O2 0 0 0.00

VBD_pump_during_apogee 246 980 5397.58 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 16.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2466 19 496.31

LPSleep 6956 2 162.31

TT8_Active 279 19 56.16

TT8_Sampling 1712 39 690.43

TT8_CF8 164 45 76.43

TT8_Kalman 0 0 0.00

Analog_circuits 1178 12 142.86

GPS_charging 0 0 0.00

Compass 1700 15 257.66

RAFOS 720 3 21.82

Transponder 13 30 4.06

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 24 0.00 0.00 -6.55 0.000 2 0.000 0.000 2491 3925 3521 0 0 0 0 0 0

27 -0.57 -146.0 69.9 -0.0 1 35 0.60 4.07 0.00 0.000 4 0.145 0.039 2299 1368 3523 0 0 0 0 0 0

126 -0.66 -146.0 76.6 -6.3 18 134 0.10 2.28 0.00 0.000 6 0.110 0.054 2251 2783 3524 0 0 0 0 0 0

466 -0.63 -146.0 113.2 -10.7 68 469 0.00 1.90 0.00 0.000 4 0.000 0.065 2247 3935 3525 0 0 0 0 0 0

549 -0.61 -146.0 123.2 -11.7 75 556 0.12 1.77 0.00 0.000 6 0.163 0.039 2282 2784 3525 0 0 0 0 0 0

875 -0.67 -146.0 151.3 -7.6 106 879 0.00 2.20 0.00 0.000 4 0.000 0.043 2282 1371 3525 0 0 0 0 0 0

920 -0.75 -146.0 154.9 -7.6 109 927 0.12 2.28 0.00 0.000 6 0.098 0.054 2219 2790 3525 0 0 0 0 0 0

1245 -0.68 -146.0 194.0 -12.4 140 1249 0.12 1.88 0.00 0.000 4 0.177 0.064 2246 3929 3525 0 0 0 0 0 0

1307 -0.68 -146.0 200.6 -9.5 145 1314 0.00 1.80 0.00 0.000 6 0.000 0.039 2246 2766 3525 0 0 0 0 0 0

1634 -0.68 -146.0 229.5 -8.5 176 1638 0.00 2.15 0.00 0.000 4 0.000 0.042 2245 1365 3525 0 0 0 0 0 0

1669 -0.68 -146.0 232.5 -8.9 179 1673 0.00 2.25 0.00 0.000 6 0.000 0.054 2243 2770 3525 0 0 0 0 0 0

1994 -0.68 -146.0 260.3 -8.6 209 1998 0.00 1.90 0.00 0.000 4 0.000 0.063 2235 3935 3526 0 0 0 0 0 0

2056 -0.68 -146.0 266.0 -8.9 214 2063 0.00 1.83 0.00 0.000 6 0.000 0.039 2235 2756 3526 0 0 0 0 0 0

2381 -0.68 -146.0 295.7 -9.5 245 2382 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2756 3526 0 0 0 0 0 0

2701 -0.68 -146.0 326.4 -9.5 275 2705 0.00 1.92 0.00 0.000 4 0.000 0.063 2228 3928 3526 0 0 0 0 0 0

2729 -0.65 -146.0 329.4 -10.4 277 2736 0.05 1.83 0.00 0.000 6 0.147 0.038 2262 2771 3526 0 0 0 0 0 0

3055 -0.69 -146.0 353.0 -7.0 308 3058 0.00 1.90 0.00 0.000 4 0.000 0.063 2255 3929 3527 0 0 0 0 0 0

3078 -0.73 -146.0 354.7 -6.8 310 3082 0.00 1.80 0.00 0.000 6 0.000 0.039 2254 2763 3527 0 0 0 0 0 0

3410 -0.76 -146.0 378.2 -6.9 341 3414 0.00 2.15 0.00 0.000 4 0.000 0.043 2255 1369 3527 0 0 0 0 0 0

3437 -0.80 -146.0 380.5 -7.8 343 3444 0.00 2.25 0.00 0.000 6 0.000 0.054 2252 2770 3527 0 0 0 0 0 0

3763 -0.82 -146.0 406.1 -8.4 374 3765 0.12 0.00 0.00 0.000 6 0.101 0.000 2190 2770 3527 0 0 0 0 0 0

4081 -0.71 -146.0 445.8 -12.3 404 4083 0.20 0.00 0.00 0.000 6 0.162 0.000 2246 2770 3527 0 0 0 0 0 0

4400 -0.71 -146.0 472.3 -7.9 434 4404 0.00 1.92 0.00 0.000 4 0.000 0.064 2240 3923 3527 0 0 0 0 0 0

4434 -0.71 -146.0 475.3 -9.3 437 4438 0.00 1.83 0.00 0.000 6 0.000 0.041 2240 2747 3527 0 0 0 0 0 0

4784 -0.71 -146.0 505.4 -8.3 466 4787 0.00 1.95 0.00 0.000 4 0.000 0.065 2233 3928 3527 0 0 0 0 0 0

4833 -0.71 -146.0 510.0 -9.0 467 4837 0.00 1.85 0.00 0.000 6 0.000 0.041 2233 2768 3528 0 0 0 0 0 0

5159 -0.71 -146.0 537.0 -8.1 478 5160 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2769 3528 0 0 0 0 0 0

5464 -0.71 -146.0 562.1 -8.2 488 5465 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2769 3527 0 0 0 0 0 0

5770 -0.71 -146.0 586.7 -8.2 498 5771 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2769 3527 0 0 0 0 0 0

6077 -0.71 -146.0 614.1 -8.9 508 6081 0.00 2.17 0.00 0.000 4 0.000 0.045 2233 1367 3526 0 0 0 0 0 0

6109 -0.71 -146.0 617.3 -9.1 509 6113 0.00 2.30 0.00 0.000 6 0.000 0.057 2230 2783 3526 0 0 0 0 0 0

6289 end dive: TARGET_DEPTH_EXCEEDED

state 6289 begin apogee

6295 -0.14 0.0 633.2 8.9 515 6425 0.60 0.00 121.12 0.981 4 0.134 0.000 2425 2608 2922 0 0 0 0 0 0

6425 end apogee: CONTROL_FINISHED_OK

state 6425 begin climb

6427 0.57 146.0 636.2 0.0 519 6564 0.68 2.38 125.68 0.960 4 0.064 0.046 2670 1188 2326 0 0 0 0 0 0

6699 0.57 146.0 610.4 24095.6 527 6703 0.00 2.42 0.00 0.000 6 0.000 0.051 2670 2607 2318 0 0 0 0 0 0

7018 0.57 146.0 569.6 24095.6 538 7022 0.00 2.28 0.00 0.000 4 0.000 0.047 2672 1186 2314 0 0 0 0 0 0

7255 0.57 146.0 541.9 24095.6 545 7259 0.00 2.33 0.00 0.000 6 0.000 0.053 2673 2617 2313 0 0 0 0 0 0

7590 0.57 146.0 499.7 24095.6 556 7594 0.00 2.17 0.00 0.000 4 0.000 0.063 2673 3925 2312 0 0 0 0 0 0

7645 0.57 146.0 491.5 24095.6 560 7653 0.00 2.08 0.00 0.000 6 0.000 0.042 2679 2599 2310 0 0 0 0 0 0

7971 0.57 146.0 447.5 24095.6 591 7975 0.00 2.22 0.00 0.000 4 0.000 0.063 2679 3934 2310 0 0 0 0 0 0

8039 0.57 146.0 436.6 24095.6 596 8045 0.00 2.08 0.00 0.000 6 0.000 0.041 2683 2610 2309 0 0 0 0 0 0

8364 0.57 146.0 391.3 24095.6 627 8365 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2610 2309 0 0 0 0 0 0

8684 0.57 146.0 348.8 24095.6 657 8688 0.00 2.20 0.00 0.000 4 0.000 0.064 2682 3929 2309 0 0 0 0 0 0

8746 0.57 146.0 339.2 24095.6 662 8751 0.12 2.05 0.00 0.000 6 0.208 0.041 2660 2616 2308 0 0 0 0 0 0

9073 0.57 146.0 298.7 24095.6 692 9077 0.00 2.15 0.00 0.000 4 0.000 0.063 2660 3924 2308 0 0 0 0 0 0

9113 0.57 146.0 292.7 24095.6 695 9117 0.00 2.03 0.00 0.000 6 0.000 0.041 2663 2626 2307 0 0 0 0 0 0

9444 0.57 146.0 248.4 24095.6 726 9448 0.00 2.15 0.00 0.000 4 0.000 0.063 2663 3925 2307 0 0 0 0 0 0

9480 0.57 146.0 243.5 24095.6 729 9484 0.00 2.03 0.00 0.000 6 0.000 0.041 2665 2642 2307 0 0 0 0 0 0

9811 0.57 146.0 198.7 24095.6 760 9814 0.00 2.12 0.00 0.000 4 0.000 0.062 2665 3925 2307 0 0 0 0 0 0

9850 0.57 146.0 192.8 24095.6 763 9857 0.00 2.03 0.00 0.000 6 0.000 0.040 2666 2639 2307 0 0 0 0 0 0

10175 0.57 146.0 153.0 24095.6 794 10176 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2639 2307 0 0 0 0 0 0

10495 0.57 146.0 115.6 24095.6 824 10497 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2639 2308 0 0 0 0 0 0

10821 0.57 146.0 82.4 24095.6 869 10827 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2639 2309 0 0 0 0 0 0

11164 0.57 146.0 50.8 24095.6 930 11170 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2639 2310 0 0 0 0 0 0

11505 end climb: SURFACE_OBSTACLE_DETECTED

state 11505 begin subsurface finish

11512 0.04 65.9 23.4 -24095.6 991 11525 0.55 0.00 -5.35 0.000 6 0.154 0.000 2495 2639 2657 0 0 0 0 0 0

11526 end subsurface finish: CONTROL_FINISHED_OK

state 11526 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	1.8
DIVE	435	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	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	43	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	9	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	-8294.2529	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	011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6	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	69.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	6.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	131.1,9416,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	633

FINISH1	23.4,1.026156,66	ALTIM_BOTTOM_PING	18.8,18.2
FINISH2	22.7	_24V_AH	22.3,52.938
RAFOS_CLK	554	_10V_AH	10.1,39.109
RAFOS	0,1291233666,20.033333,20.018333,45,43,42,41,40,39,676,768,1863,786,405,276	FG_AHR_24Vo	0.000
RAFOS_FIX	1710.104004,1726.181641,071104,040443,16776,18,0.00	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6625.71,-5722.48,011210,000045	MEM	151652
TT8_MAMPS	0.028462	DATA_FILE_SIZE	36651,993
HUMID	48.58	CAP_FILE_SIZE	115818,0
INTERNAL_PRESSURE	8.76834	CFSIZE	260165632,219004928
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1473.3
ALTIM_TOP_PING	17.3,17.3	GPS	011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	208	15.78	SBE_CT	688	24	368.30
Roll_motor	85	65	123.47	SBE_O2	0	0	0.00
VBD_pump_during_apogee	246	980	5397.58	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	16.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2466	19	496.31
LPSleep	6956	2	162.31
TT8_Active	279	19	56.16
TT8_Sampling	1712	39	690.43
TT8_CF8	164	45	76.43
TT8_Kalman	0	0	0.00
Analog_circuits	1178	12	142.86
GPS_charging	0	0	0.00
Compass	1700	15	257.66
RAFOS	720	3	21.82
Transponder	13	30	4.06

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	24	0.00	0.00	-6.55	0.000	2	0.000	0.000	2491	3925	3521	0	0	0	0	0	0
27	-0.57	-146.0	69.9	-0.0	1	35	0.60	4.07	0.00	0.000	4	0.145	0.039	2299	1368	3523	0	0	0	0	0	0
126	-0.66	-146.0	76.6	-6.3	18	134	0.10	2.28	0.00	0.000	6	0.110	0.054	2251	2783	3524	0	0	0	0	0	0
466	-0.63	-146.0	113.2	-10.7	68	469	0.00	1.90	0.00	0.000	4	0.000	0.065	2247	3935	3525	0	0	0	0	0	0
549	-0.61	-146.0	123.2	-11.7	75	556	0.12	1.77	0.00	0.000	6	0.163	0.039	2282	2784	3525	0	0	0	0	0	0
875	-0.67	-146.0	151.3	-7.6	106	879	0.00	2.20	0.00	0.000	4	0.000	0.043	2282	1371	3525	0	0	0	0	0	0
920	-0.75	-146.0	154.9	-7.6	109	927	0.12	2.28	0.00	0.000	6	0.098	0.054	2219	2790	3525	0	0	0	0	0	0
1245	-0.68	-146.0	194.0	-12.4	140	1249	0.12	1.88	0.00	0.000	4	0.177	0.064	2246	3929	3525	0	0	0	0	0	0
1307	-0.68	-146.0	200.6	-9.5	145	1314	0.00	1.80	0.00	0.000	6	0.000	0.039	2246	2766	3525	0	0	0	0	0	0
1634	-0.68	-146.0	229.5	-8.5	176	1638	0.00	2.15	0.00	0.000	4	0.000	0.042	2245	1365	3525	0	0	0	0	0	0
1669	-0.68	-146.0	232.5	-8.9	179	1673	0.00	2.25	0.00	0.000	6	0.000	0.054	2243	2770	3525	0	0	0	0	0	0
1994	-0.68	-146.0	260.3	-8.6	209	1998	0.00	1.90	0.00	0.000	4	0.000	0.063	2235	3935	3526	0	0	0	0	0	0
2056	-0.68	-146.0	266.0	-8.9	214	2063	0.00	1.83	0.00	0.000	6	0.000	0.039	2235	2756	3526	0	0	0	0	0	0
2381	-0.68	-146.0	295.7	-9.5	245	2382	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2756	3526	0	0	0	0	0	0
2701	-0.68	-146.0	326.4	-9.5	275	2705	0.00	1.92	0.00	0.000	4	0.000	0.063	2228	3928	3526	0	0	0	0	0	0
2729	-0.65	-146.0	329.4	-10.4	277	2736	0.05	1.83	0.00	0.000	6	0.147	0.038	2262	2771	3526	0	0	0	0	0	0
3055	-0.69	-146.0	353.0	-7.0	308	3058	0.00	1.90	0.00	0.000	4	0.000	0.063	2255	3929	3527	0	0	0	0	0	0
3078	-0.73	-146.0	354.7	-6.8	310	3082	0.00	1.80	0.00	0.000	6	0.000	0.039	2254	2763	3527	0	0	0	0	0	0
3410	-0.76	-146.0	378.2	-6.9	341	3414	0.00	2.15	0.00	0.000	4	0.000	0.043	2255	1369	3527	0	0	0	0	0	0
3437	-0.80	-146.0	380.5	-7.8	343	3444	0.00	2.25	0.00	0.000	6	0.000	0.054	2252	2770	3527	0	0	0	0	0	0
3763	-0.82	-146.0	406.1	-8.4	374	3765	0.12	0.00	0.00	0.000	6	0.101	0.000	2190	2770	3527	0	0	0	0	0	0
4081	-0.71	-146.0	445.8	-12.3	404	4083	0.20	0.00	0.00	0.000	6	0.162	0.000	2246	2770	3527	0	0	0	0	0	0
4400	-0.71	-146.0	472.3	-7.9	434	4404	0.00	1.92	0.00	0.000	4	0.000	0.064	2240	3923	3527	0	0	0	0	0	0
4434	-0.71	-146.0	475.3	-9.3	437	4438	0.00	1.83	0.00	0.000	6	0.000	0.041	2240	2747	3527	0	0	0	0	0	0
4784	-0.71	-146.0	505.4	-8.3	466	4787	0.00	1.95	0.00	0.000	4	0.000	0.065	2233	3928	3527	0	0	0	0	0	0
4833	-0.71	-146.0	510.0	-9.0	467	4837	0.00	1.85	0.00	0.000	6	0.000	0.041	2233	2768	3528	0	0	0	0	0	0
5159	-0.71	-146.0	537.0	-8.1	478	5160	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2769	3528	0	0	0	0	0	0
5464	-0.71	-146.0	562.1	-8.2	488	5465	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2769	3527	0	0	0	0	0	0
5770	-0.71	-146.0	586.7	-8.2	498	5771	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2769	3527	0	0	0	0	0	0
6077	-0.71	-146.0	614.1	-8.9	508	6081	0.00	2.17	0.00	0.000	4	0.000	0.045	2233	1367	3526	0	0	0	0	0	0
6109	-0.71	-146.0	617.3	-9.1	509	6113	0.00	2.30	0.00	0.000	6	0.000	0.057	2230	2783	3526	0	0	0	0	0	0
6289	end dive: TARGET_DEPTH_EXCEEDED
state	6289	begin apogee
6295	-0.14	0.0	633.2	8.9	515	6425	0.60	0.00	121.12	0.981	4	0.134	0.000	2425	2608	2922	0	0	0	0	0	0
6425	end apogee: CONTROL_FINISHED_OK
state	6425	begin climb
6427	0.57	146.0	636.2	0.0	519	6564	0.68	2.38	125.68	0.960	4	0.064	0.046	2670	1188	2326	0	0	0	0	0	0
6699	0.57	146.0	610.4	24095.6	527	6703	0.00	2.42	0.00	0.000	6	0.000	0.051	2670	2607	2318	0	0	0	0	0	0
7018	0.57	146.0	569.6	24095.6	538	7022	0.00	2.28	0.00	0.000	4	0.000	0.047	2672	1186	2314	0	0	0	0	0	0
7255	0.57	146.0	541.9	24095.6	545	7259	0.00	2.33	0.00	0.000	6	0.000	0.053	2673	2617	2313	0	0	0	0	0	0
7590	0.57	146.0	499.7	24095.6	556	7594	0.00	2.17	0.00	0.000	4	0.000	0.063	2673	3925	2312	0	0	0	0	0	0
7645	0.57	146.0	491.5	24095.6	560	7653	0.00	2.08	0.00	0.000	6	0.000	0.042	2679	2599	2310	0	0	0	0	0	0
7971	0.57	146.0	447.5	24095.6	591	7975	0.00	2.22	0.00	0.000	4	0.000	0.063	2679	3934	2310	0	0	0	0	0	0
8039	0.57	146.0	436.6	24095.6	596	8045	0.00	2.08	0.00	0.000	6	0.000	0.041	2683	2610	2309	0	0	0	0	0	0
8364	0.57	146.0	391.3	24095.6	627	8365	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2610	2309	0	0	0	0	0	0
8684	0.57	146.0	348.8	24095.6	657	8688	0.00	2.20	0.00	0.000	4	0.000	0.064	2682	3929	2309	0	0	0	0	0	0
8746	0.57	146.0	339.2	24095.6	662	8751	0.12	2.05	0.00	0.000	6	0.208	0.041	2660	2616	2308	0	0	0	0	0	0
9073	0.57	146.0	298.7	24095.6	692	9077	0.00	2.15	0.00	0.000	4	0.000	0.063	2660	3924	2308	0	0	0	0	0	0
9113	0.57	146.0	292.7	24095.6	695	9117	0.00	2.03	0.00	0.000	6	0.000	0.041	2663	2626	2307	0	0	0	0	0	0
9444	0.57	146.0	248.4	24095.6	726	9448	0.00	2.15	0.00	0.000	4	0.000	0.063	2663	3925	2307	0	0	0	0	0	0
9480	0.57	146.0	243.5	24095.6	729	9484	0.00	2.03	0.00	0.000	6	0.000	0.041	2665	2642	2307	0	0	0	0	0	0
9811	0.57	146.0	198.7	24095.6	760	9814	0.00	2.12	0.00	0.000	4	0.000	0.062	2665	3925	2307	0	0	0	0	0	0
9850	0.57	146.0	192.8	24095.6	763	9857	0.00	2.03	0.00	0.000	6	0.000	0.040	2666	2639	2307	0	0	0	0	0	0
10175	0.57	146.0	153.0	24095.6	794	10176	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2639	2307	0	0	0	0	0	0
10495	0.57	146.0	115.6	24095.6	824	10497	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2639	2308	0	0	0	0	0	0
10821	0.57	146.0	82.4	24095.6	869	10827	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2639	2309	0	0	0	0	0	0
11164	0.57	146.0	50.8	24095.6	930	11170	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2639	2310	0	0	0	0	0	0
11505	end climb: SURFACE_OBSTACLE_DETECTED
state	11505	begin subsurface finish
11512	0.04	65.9	23.4	-24095.6	991	11525	0.55	0.00	-5.35	0.000	6	0.154	0.000	2495	2639	2657	0	0	0	0	0	0
11526	end subsurface finish: CONTROL_FINISHED_OK
state	11526	begin surface