Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 612 * 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 612 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -2 T_GPS_CHARGE -10231.755 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 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 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 -10231.755

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 -2

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 612 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 281210,202432,6644.398,-6015.772,0,6132.3,0,-38.0 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 11.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -7.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281210,202432,6644.398,-6015.772,0,6132.3,0,-38.0 MHEAD_RNG_PITCHd_Wd 115.1,153946,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 545

Post-dive calculations and measurements:

FREEZE 8.49,-1.687,-1.689,2,23,0 ALTIM_BOTTOM_PING 500.5,71.9

FINISH1 8.5,1.024756,135 _24V_AH 21.5,72.336

FINISH2 7.8 _10V_AH 9.7,50.671

RAFOS_CLK 611 FG_AHR_24Vo 0.000

RAFOS 0,1293580869,0.033333,0.019167,84,47,45,43,40,39,587,928,26,312,674,1781 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.535156,-6015.640625,291210,000022,3,104,0.25 MEM 151700

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 30111,885

TT8_MAMPS 0.031458 CAP_FILE_SIZE 115966,0

HUMID 49.52 CFSIZE 260165632,207929344

INTERNAL_PRESSURE 8.57302 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1448.5

XPDR_PINGS 0 GPS 291210,001122,6642.535,-6015.641,0,3104.3,0,-38.0

ALTIM_TOP_PING 19.6,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 208 20.99 SBE_CT 618 24 318.91

Roll_motor 102 76 169.04 SBE_O2 0 0 0.00

VBD_pump_during_apogee 423 951 8672.26 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 2 420 18.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2180 19 421.34

LPSleep 6079 2 136.22

TT8_Active 442 19 85.55

TT8_Sampling 1566 39 606.72

TT8_CF8 193 45 86.19

TT8_Kalman 0 0 0.00

Analog_circuits 1325 12 154.26

GPS_charging 0 0 0.00

Compass 1549 15 225.51

RAFOS 1440 3 41.90

Transponder 17 30 4.99

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

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -6.10 0.000 2 0.000 0.000 2511 3928 2622 0 0 0 0 0 0

28 -0.57 -146.0 12.7 -0.0 1 52 0.60 0.00 -18.80 0.000 4 0.081 0.000 2287 3928 3523 0 0 0 0 0 0

59 -0.52 -146.0 15.8 -11.9 6 66 0.00 1.85 0.00 0.000 6 0.000 0.049 2288 2778 3524 0 0 0 0 0 0

405 -0.52 -146.0 73.3 -12.9 67 412 0.00 2.25 0.00 0.000 4 0.000 0.054 2287 1373 3525 0 0 0 0 0 0

504 -0.52 -146.0 84.3 -11.3 84 511 0.00 2.35 0.00 0.000 6 0.000 0.065 2287 2783 3525 0 0 0 0 0 0

844 -0.52 -146.0 120.7 -10.4 128 848 0.00 2.28 0.00 0.000 4 0.000 0.053 2287 1371 3524 0 0 0 0 0 0

897 -0.57 -146.0 126.2 -10.7 132 901 0.00 2.35 0.00 0.000 6 0.000 0.065 2287 2769 3524 0 0 0 0 0 0

1228 -0.61 -146.0 160.3 -10.2 163 1231 0.00 1.98 0.00 0.000 4 0.000 0.076 2286 3934 3524 0 0 0 0 0 0

1264 -0.65 -146.0 163.9 -11.0 166 1267 0.00 1.90 0.00 0.000 6 0.000 0.050 2285 2758 3524 0 0 0 0 0 0

1595 -0.70 -146.0 195.2 -8.9 197 1600 0.10 2.25 0.00 0.000 4 0.121 0.054 2242 1364 3524 0 0 0 0 0 0

1628 -0.70 -146.0 199.0 -11.3 199 1635 0.00 2.35 0.00 0.000 6 0.000 0.065 2239 2774 3523 0 0 0 0 0 0

1954 -0.66 -146.0 237.0 -12.3 230 1958 0.00 1.98 0.00 0.000 4 0.000 0.075 2230 3929 3524 0 0 0 0 0 0

2057 -0.63 -146.0 249.8 -12.4 239 2061 0.15 1.85 0.00 0.000 6 0.171 0.051 2271 2781 3523 0 0 0 0 0 0

2388 -0.68 -146.0 279.9 -8.6 270 2392 0.00 2.28 0.00 0.000 4 0.000 0.054 2271 1362 3523 0 0 0 0 0 0

2433 -0.74 -146.0 284.0 -8.9 273 2440 0.00 2.40 0.00 0.000 6 0.000 0.065 2271 2787 3523 0 0 0 0 0 0

2759 -0.79 -146.0 310.7 -8.1 304 2763 0.15 2.30 0.00 0.000 4 0.102 0.053 2209 1372 3523 0 0 0 0 0 0

2805 -0.74 -146.0 315.6 -11.3 308 2810 0.12 2.35 0.00 0.000 6 0.187 0.066 2234 2781 3523 0 0 0 0 0 0

3133 -0.74 -146.0 347.8 -9.5 338 3137 0.00 2.28 0.00 0.000 4 0.000 0.053 2234 1366 3523 0 0 0 0 0 0

3174 -0.74 -146.0 351.9 -9.3 341 3178 0.00 2.35 0.00 0.000 6 0.000 0.065 2233 2766 3523 0 0 0 0 0 0

3500 -0.74 -146.0 382.3 -8.9 371 3503 0.00 2.00 0.00 0.000 4 0.000 0.076 2228 3933 3523 0 0 0 0 0 0

3525 -0.72 -146.0 384.6 -9.5 373 3528 0.00 1.90 0.00 0.000 6 0.000 0.049 2228 2755 3523 0 0 0 0 0 0

3871 -0.72 -146.0 417.9 -9.4 394 3872 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2756 3523 0 0 0 0 0 0

4177 -0.72 -146.0 447.4 -9.6 404 4178 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2755 3523 0 0 0 0 0 0

4482 -0.72 -146.0 477.1 -9.4 414 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2755 3524 0 0 0 0 0 0

4788 -0.72 -146.0 506.4 -9.5 424 4789 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2756 3524 0 0 0 0 0 0

5095 -0.72 -146.0 535.7 -9.7 434 5099 0.00 2.22 0.00 0.000 4 0.000 0.051 2228 1362 3525 0 0 0 0 0 0

5151 -0.72 -146.0 541.2 -9.1 435 5155 0.00 2.33 0.00 0.000 6 0.000 0.062 2228 2766 3525 0 0 0 0 0 0

5216 end dive: TARGET_DEPTH_EXCEEDED

state 5217 begin apogee

5222 -0.14 0.0 547.7 9.8 437 5353 0.60 0.00 123.62 0.952 4 0.140 0.000 2420 2596 2922 0 0 0 0 0 0

5354 end apogee: CONTROL_FINISHED_OK

state 5354 begin climb

5356 0.57 146.0 552.4 0.0 441 5498 0.70 2.42 130.15 0.927 4 0.076 0.050 2659 1185 2326 0 0 0 0 0 0

5632 0.57 146.0 532.0 10.5 449 5639 0.00 2.50 0.00 0.000 6 0.000 0.056 2659 2604 2318 0 0 0 0 0 0

5946 0.53 146.0 496.7 11.5 460 5950 0.00 2.33 0.00 0.000 4 0.000 0.053 2662 1184 2315 0 0 0 0 0 0

6136 0.53 146.0 476.4 10.4 465 6140 0.00 2.38 0.00 0.000 6 0.000 0.058 2662 2619 2315 0 0 0 0 0 0

6455 0.49 146.0 441.0 11.2 476 6459 0.00 2.22 0.00 0.000 4 0.000 0.069 2662 3935 2313 0 0 0 0 0 0

6490 0.40 146.0 436.7 12.8 477 6495 0.22 2.12 0.00 0.000 6 0.192 0.046 2604 2608 2313 0 0 0 0 0 0

6820 0.50 197.1 410.6 7.6 488 6869 0.00 2.35 42.30 0.856 4 0.000 0.070 2604 3924 2118 0 0 0 0 0 0

6893 0.57 197.1 404.5 10.0 490 6898 0.17 2.12 0.00 0.000 6 0.088 0.045 2674 2621 2115 0 0 0 0 0 0

7217 0.54 197.1 364.8 12.3 518 7221 0.00 2.30 0.00 0.000 4 0.000 0.053 2676 1189 2111 0 0 0 0 0 0

7265 0.57 197.1 359.5 10.8 522 7269 0.00 2.33 0.00 0.000 6 0.000 0.057 2676 2613 2111 0 0 0 0 0 0

7590 0.57 197.1 321.3 12.0 552 7594 0.00 2.20 0.00 0.000 4 0.000 0.069 2676 3929 2110 0 0 0 0 0 0

7626 0.50 197.1 316.9 13.5 555 7630 0.15 2.10 0.00 0.000 6 0.195 0.045 2639 2613 2109 0 0 0 0 0 0

7956 0.56 210.8 285.6 9.4 586 7973 0.00 2.30 12.07 0.770 4 0.000 0.052 2639 1194 2063 0 0 0 0 0 0

8014 0.69 246.5 280.5 8.4 590 8054 0.17 2.33 32.03 0.779 6 0.088 0.057 2710 2618 1918 0 0 0 0 0 0

8372 0.66 246.5 230.7 14.0 624 8373 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2618 1910 0 0 0 0 0 0

8692 0.64 246.5 188.3 13.4 654 8697 0.00 2.15 0.00 0.000 4 0.000 0.069 2710 3919 1909 0 0 0 0 0 0

8739 0.58 246.5 181.3 14.7 658 8744 0.17 2.10 0.00 0.000 6 0.185 0.047 2665 2610 1908 0 0 0 0 0 0

9072 0.66 270.2 149.5 8.9 689 9098 0.00 2.35 20.27 0.718 4 0.000 0.055 2665 1190 1820 0 0 0 0 0 0

9118 0.79 298.8 145.5 8.7 693 9153 0.17 2.35 25.85 0.702 6 0.090 0.057 2736 2610 1704 0 0 0 0 0 0

9471 0.79 298.8 99.8 12.8 726 9478 0.00 2.22 0.00 0.000 4 0.000 0.070 2736 3930 1695 0 0 0 0 0 0

9490 0.79 298.8 97.3 12.7 729 9497 0.00 2.17 0.00 0.000 6 0.000 0.047 2736 2595 1695 0 0 0 0 0 0

9837 0.81 298.8 56.7 10.9 790 9844 0.00 2.25 0.00 0.000 4 0.000 0.056 2736 1189 1694 0 0 0 0 0 0

9874 0.91 325.8 53.1 8.8 796 9905 0.00 2.33 22.70 0.670 6 0.000 0.058 2736 2596 1593 0 0 0 0 0 0

10244 0.99 342.0 21.3 9.3 861 10265 0.17 2.30 14.85 0.656 4 0.093 0.073 2804 3933 1527 0 0 0 0 0 0

10290 0.91 342.0 15.8 14.0 868 10297 0.15 2.17 0.00 0.000 6 0.209 0.047 2774 2592 1525 0 0 0 0 0 0

10353 end climb: FINISH_DEPTH_REACHED

state 10354 begin subsurface finish

10360 0.09 134.8 8.5 -10.1 879 10396 0.85 2.33 -25.67 0.000 4 0.158 0.067 2513 1190 2377 0 0 0 0 0 0

10397 end subsurface finish: CONTROL_FINISHED_OK

state 10397 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	612	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-2	T_GPS_CHARGE	-10231.755	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	281210,202432,6644.398,-6015.772,0,6132.3,0,-38.0	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	11.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-7.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281210,202432,6644.398,-6015.772,0,6132.3,0,-38.0	MHEAD_RNG_PITCHd_Wd	115.1,153946,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	545

FREEZE	8.49,-1.687,-1.689,2,23,0	ALTIM_BOTTOM_PING	500.5,71.9
FINISH1	8.5,1.024756,135	_24V_AH	21.5,72.336
FINISH2	7.8	_10V_AH	9.7,50.671
RAFOS_CLK	611	FG_AHR_24Vo	0.000
RAFOS	0,1293580869,0.033333,0.019167,84,47,45,43,40,39,587,928,26,312,674,1781	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.535156,-6015.640625,291210,000022,3,104,0.25	MEM	151700
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	30111,885
TT8_MAMPS	0.031458	CAP_FILE_SIZE	115966,0
HUMID	49.52	CFSIZE	260165632,207929344
INTERNAL_PRESSURE	8.57302	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1448.5
XPDR_PINGS	0	GPS	291210,001122,6642.535,-6015.641,0,3104.3,0,-38.0
ALTIM_TOP_PING	19.6,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	208	20.99	SBE_CT	618	24	318.91
Roll_motor	102	76	169.04	SBE_O2	0	0	0.00
VBD_pump_during_apogee	423	951	8672.26	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	2	420	18.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2180	19	421.34
LPSleep	6079	2	136.22
TT8_Active	442	19	85.55
TT8_Sampling	1566	39	606.72
TT8_CF8	193	45	86.19
TT8_Kalman	0	0	0.00
Analog_circuits	1325	12	154.26
GPS_charging	0	0	0.00
Compass	1549	15	225.51
RAFOS	1440	3	41.90
Transponder	17	30	4.99

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
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-6.10	0.000	2	0.000	0.000	2511	3928	2622	0	0	0	0	0	0
28	-0.57	-146.0	12.7	-0.0	1	52	0.60	0.00	-18.80	0.000	4	0.081	0.000	2287	3928	3523	0	0	0	0	0	0
59	-0.52	-146.0	15.8	-11.9	6	66	0.00	1.85	0.00	0.000	6	0.000	0.049	2288	2778	3524	0	0	0	0	0	0
405	-0.52	-146.0	73.3	-12.9	67	412	0.00	2.25	0.00	0.000	4	0.000	0.054	2287	1373	3525	0	0	0	0	0	0
504	-0.52	-146.0	84.3	-11.3	84	511	0.00	2.35	0.00	0.000	6	0.000	0.065	2287	2783	3525	0	0	0	0	0	0
844	-0.52	-146.0	120.7	-10.4	128	848	0.00	2.28	0.00	0.000	4	0.000	0.053	2287	1371	3524	0	0	0	0	0	0
897	-0.57	-146.0	126.2	-10.7	132	901	0.00	2.35	0.00	0.000	6	0.000	0.065	2287	2769	3524	0	0	0	0	0	0
1228	-0.61	-146.0	160.3	-10.2	163	1231	0.00	1.98	0.00	0.000	4	0.000	0.076	2286	3934	3524	0	0	0	0	0	0
1264	-0.65	-146.0	163.9	-11.0	166	1267	0.00	1.90	0.00	0.000	6	0.000	0.050	2285	2758	3524	0	0	0	0	0	0
1595	-0.70	-146.0	195.2	-8.9	197	1600	0.10	2.25	0.00	0.000	4	0.121	0.054	2242	1364	3524	0	0	0	0	0	0
1628	-0.70	-146.0	199.0	-11.3	199	1635	0.00	2.35	0.00	0.000	6	0.000	0.065	2239	2774	3523	0	0	0	0	0	0
1954	-0.66	-146.0	237.0	-12.3	230	1958	0.00	1.98	0.00	0.000	4	0.000	0.075	2230	3929	3524	0	0	0	0	0	0
2057	-0.63	-146.0	249.8	-12.4	239	2061	0.15	1.85	0.00	0.000	6	0.171	0.051	2271	2781	3523	0	0	0	0	0	0
2388	-0.68	-146.0	279.9	-8.6	270	2392	0.00	2.28	0.00	0.000	4	0.000	0.054	2271	1362	3523	0	0	0	0	0	0
2433	-0.74	-146.0	284.0	-8.9	273	2440	0.00	2.40	0.00	0.000	6	0.000	0.065	2271	2787	3523	0	0	0	0	0	0
2759	-0.79	-146.0	310.7	-8.1	304	2763	0.15	2.30	0.00	0.000	4	0.102	0.053	2209	1372	3523	0	0	0	0	0	0
2805	-0.74	-146.0	315.6	-11.3	308	2810	0.12	2.35	0.00	0.000	6	0.187	0.066	2234	2781	3523	0	0	0	0	0	0
3133	-0.74	-146.0	347.8	-9.5	338	3137	0.00	2.28	0.00	0.000	4	0.000	0.053	2234	1366	3523	0	0	0	0	0	0
3174	-0.74	-146.0	351.9	-9.3	341	3178	0.00	2.35	0.00	0.000	6	0.000	0.065	2233	2766	3523	0	0	0	0	0	0
3500	-0.74	-146.0	382.3	-8.9	371	3503	0.00	2.00	0.00	0.000	4	0.000	0.076	2228	3933	3523	0	0	0	0	0	0
3525	-0.72	-146.0	384.6	-9.5	373	3528	0.00	1.90	0.00	0.000	6	0.000	0.049	2228	2755	3523	0	0	0	0	0	0
3871	-0.72	-146.0	417.9	-9.4	394	3872	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2756	3523	0	0	0	0	0	0
4177	-0.72	-146.0	447.4	-9.6	404	4178	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2755	3523	0	0	0	0	0	0
4482	-0.72	-146.0	477.1	-9.4	414	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2755	3524	0	0	0	0	0	0
4788	-0.72	-146.0	506.4	-9.5	424	4789	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2756	3524	0	0	0	0	0	0
5095	-0.72	-146.0	535.7	-9.7	434	5099	0.00	2.22	0.00	0.000	4	0.000	0.051	2228	1362	3525	0	0	0	0	0	0
5151	-0.72	-146.0	541.2	-9.1	435	5155	0.00	2.33	0.00	0.000	6	0.000	0.062	2228	2766	3525	0	0	0	0	0	0
5216	end dive: TARGET_DEPTH_EXCEEDED
state	5217	begin apogee
5222	-0.14	0.0	547.7	9.8	437	5353	0.60	0.00	123.62	0.952	4	0.140	0.000	2420	2596	2922	0	0	0	0	0	0
5354	end apogee: CONTROL_FINISHED_OK
state	5354	begin climb
5356	0.57	146.0	552.4	0.0	441	5498	0.70	2.42	130.15	0.927	4	0.076	0.050	2659	1185	2326	0	0	0	0	0	0
5632	0.57	146.0	532.0	10.5	449	5639	0.00	2.50	0.00	0.000	6	0.000	0.056	2659	2604	2318	0	0	0	0	0	0
5946	0.53	146.0	496.7	11.5	460	5950	0.00	2.33	0.00	0.000	4	0.000	0.053	2662	1184	2315	0	0	0	0	0	0
6136	0.53	146.0	476.4	10.4	465	6140	0.00	2.38	0.00	0.000	6	0.000	0.058	2662	2619	2315	0	0	0	0	0	0
6455	0.49	146.0	441.0	11.2	476	6459	0.00	2.22	0.00	0.000	4	0.000	0.069	2662	3935	2313	0	0	0	0	0	0
6490	0.40	146.0	436.7	12.8	477	6495	0.22	2.12	0.00	0.000	6	0.192	0.046	2604	2608	2313	0	0	0	0	0	0
6820	0.50	197.1	410.6	7.6	488	6869	0.00	2.35	42.30	0.856	4	0.000	0.070	2604	3924	2118	0	0	0	0	0	0
6893	0.57	197.1	404.5	10.0	490	6898	0.17	2.12	0.00	0.000	6	0.088	0.045	2674	2621	2115	0	0	0	0	0	0
7217	0.54	197.1	364.8	12.3	518	7221	0.00	2.30	0.00	0.000	4	0.000	0.053	2676	1189	2111	0	0	0	0	0	0
7265	0.57	197.1	359.5	10.8	522	7269	0.00	2.33	0.00	0.000	6	0.000	0.057	2676	2613	2111	0	0	0	0	0	0
7590	0.57	197.1	321.3	12.0	552	7594	0.00	2.20	0.00	0.000	4	0.000	0.069	2676	3929	2110	0	0	0	0	0	0
7626	0.50	197.1	316.9	13.5	555	7630	0.15	2.10	0.00	0.000	6	0.195	0.045	2639	2613	2109	0	0	0	0	0	0
7956	0.56	210.8	285.6	9.4	586	7973	0.00	2.30	12.07	0.770	4	0.000	0.052	2639	1194	2063	0	0	0	0	0	0
8014	0.69	246.5	280.5	8.4	590	8054	0.17	2.33	32.03	0.779	6	0.088	0.057	2710	2618	1918	0	0	0	0	0	0
8372	0.66	246.5	230.7	14.0	624	8373	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2618	1910	0	0	0	0	0	0
8692	0.64	246.5	188.3	13.4	654	8697	0.00	2.15	0.00	0.000	4	0.000	0.069	2710	3919	1909	0	0	0	0	0	0
8739	0.58	246.5	181.3	14.7	658	8744	0.17	2.10	0.00	0.000	6	0.185	0.047	2665	2610	1908	0	0	0	0	0	0
9072	0.66	270.2	149.5	8.9	689	9098	0.00	2.35	20.27	0.718	4	0.000	0.055	2665	1190	1820	0	0	0	0	0	0
9118	0.79	298.8	145.5	8.7	693	9153	0.17	2.35	25.85	0.702	6	0.090	0.057	2736	2610	1704	0	0	0	0	0	0
9471	0.79	298.8	99.8	12.8	726	9478	0.00	2.22	0.00	0.000	4	0.000	0.070	2736	3930	1695	0	0	0	0	0	0
9490	0.79	298.8	97.3	12.7	729	9497	0.00	2.17	0.00	0.000	6	0.000	0.047	2736	2595	1695	0	0	0	0	0	0
9837	0.81	298.8	56.7	10.9	790	9844	0.00	2.25	0.00	0.000	4	0.000	0.056	2736	1189	1694	0	0	0	0	0	0
9874	0.91	325.8	53.1	8.8	796	9905	0.00	2.33	22.70	0.670	6	0.000	0.058	2736	2596	1593	0	0	0	0	0	0
10244	0.99	342.0	21.3	9.3	861	10265	0.17	2.30	14.85	0.656	4	0.093	0.073	2804	3933	1527	0	0	0	0	0	0
10290	0.91	342.0	15.8	14.0	868	10297	0.15	2.17	0.00	0.000	6	0.209	0.047	2774	2592	1525	0	0	0	0	0	0
10353	end climb: FINISH_DEPTH_REACHED
state	10354	begin subsurface finish
10360	0.09	134.8	8.5	-10.1	879	10396	0.85	2.33	-25.67	0.000	4	0.158	0.067	2513	1190	2377	0	0	0	0	0	0
10397	end subsurface finish: CONTROL_FINISHED_OK
state	10397	begin surface