Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 615 * 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 615 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 31 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 -10600.926 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 -10600.926

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 31 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 615 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 291210,041859,6642.484,-6012.287,0,5108.8,0,-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 2.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -44.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 291210,041859,6642.484,-6012.287,181,99.0,181,-38.0 MHEAD_RNG_PITCHd_Wd 113.6,152339,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 561

Post-dive calculations and measurements:

FREEZE 8.84,-1.693,-1.707,2,26,0 ALTIM_BOTTOM_PING 550.1,10.5

FINISH1 8.8,1.025011,122 _24V_AH 21.5,72.635

FINISH2 8.1 _10V_AH 9.7,50.836

RAFOS_CLK 666 FG_AHR_24Vo 0.000

RAFOS 5,1293597664,4.700000,4.684444,62,49,45,44,41,41,946,635,1841,195,217,1307 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.594238,-6011.708984,291210,040406,6,101,1.90 MEM 151748

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 33353,919

TT8_MAMPS 0.031458 CAP_FILE_SIZE 121736,0

HUMID 49.72 CFSIZE 260165632,207765504

INTERNAL_PRESSURE 8.58279 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 291210,042306,6642.594,-6011.709,0,6101.0,0,-38.0

ALTIM_TOP_PING 19.4,20.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 257 67.70 SBE_CT 638 24 329.72

Roll_motor 107 76 176.28 SBE_O2 0 0 0.00

VBD_pump_during_apogee 426 952 8734.01 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 98 103 218.65 nil 0 0 0.00

Iridium_during_connect 17 160 59.94 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 24.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 89.04

TT8 2242 19 433.37

LPSleep 6327 2 141.77

TT8_Active 538 19 104.04

TT8_Sampling 1934 39 749.04

TT8_CF8 511 45 227.65

TT8_Kalman 0 0 0.00

Analog_circuits 1459 12 169.88

GPS_charging 0 0 0.00

Compass 1605 15 233.63

RAFOS 360 3 10.48

Transponder 24 30 7.10

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.57 -146.0 0.0 0.0 0 140 0.00 0.00 -119.72 0.000 2 0.000 0.000 299 2790 3079 0 0 0 0 0 0

145 -0.57 -146.0 6.0 -14.4 21 170 8.60 2.35 -8.45 0.000 4 0.257 0.068 2282 1370 3522 0 0 0 0 0 0

284 -0.54 -146.0 42.5 -15.5 45 291 0.00 2.35 0.00 0.000 6 0.000 0.067 2277 2777 3524 0 0 0 0 0 0

631 -0.50 -146.0 91.0 -12.5 106 638 0.12 2.30 0.00 0.000 4 0.189 0.054 2309 1365 3525 0 0 0 0 0 0

721 -0.57 -146.0 99.8 -9.2 121 727 0.00 2.35 0.00 0.000 6 0.000 0.066 2307 2773 3524 0 0 0 0 0 0

1048 -0.63 -146.0 130.3 -9.2 152 1053 0.10 2.30 0.00 0.000 4 0.119 0.054 2259 1371 3524 0 0 0 0 0 0

1078 -0.63 -146.0 133.6 -10.8 154 1082 0.00 2.30 0.00 0.000 6 0.000 0.066 2259 2753 3523 0 0 0 0 0 0

1403 -0.61 -146.0 173.1 -11.7 184 1407 0.00 2.25 0.00 0.000 4 0.000 0.054 2259 1368 3524 0 0 0 0 0 0

1445 -0.61 -146.0 177.9 -11.1 187 1449 0.00 2.30 0.00 0.000 6 0.000 0.066 2259 2746 3524 0 0 0 0 0 0

1770 -0.61 -146.0 213.8 -10.2 217 1774 0.00 2.22 0.00 0.000 4 0.000 0.053 2259 1361 3524 0 0 0 0 0 0

1798 -0.61 -146.0 217.0 -10.8 219 1802 0.00 2.30 0.00 0.000 6 0.000 0.065 2259 2735 3524 0 0 0 0 0 0

2129 -0.61 -146.0 251.0 -10.3 250 2133 0.00 2.22 0.00 0.000 4 0.000 0.054 2259 1367 3524 0 0 0 0 0 0

2174 -0.64 -146.0 255.7 -10.4 253 2181 0.00 2.28 0.00 0.000 6 0.000 0.066 2259 2716 3524 0 0 0 0 0 0

2500 -0.64 -146.0 286.8 -9.3 284 2501 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2716 3524 0 0 0 0 0 0

2820 -0.64 -146.0 315.9 -8.6 314 2824 0.00 2.08 0.00 0.000 4 0.000 0.076 2253 3938 3524 0 0 0 0 0 0

2893 -0.67 -146.0 322.9 -9.3 320 2900 0.00 2.03 0.00 0.000 6 0.000 0.051 2252 2690 3524 0 0 0 0 0 0

3219 -0.67 -146.0 352.5 -9.1 351 3223 0.00 2.12 0.00 0.000 4 0.000 0.076 2248 3929 3523 0 0 0 0 0 0

3247 -0.67 -146.0 355.4 -9.2 353 3255 0.00 2.00 0.00 0.000 6 0.000 0.050 2248 2706 3524 0 0 0 0 0 0

3573 -0.67 -146.0 384.4 -8.7 384 3577 0.00 2.12 0.00 0.000 4 0.000 0.053 2248 1371 3524 0 0 0 0 0 0

3609 -0.69 -146.0 387.7 -9.0 387 3613 0.00 2.22 0.00 0.000 6 0.000 0.065 2248 2705 3524 0 0 0 0 0 0

3939 -0.69 -146.0 417.3 -9.1 406 3943 0.00 2.08 0.00 0.000 4 0.000 0.075 2247 3929 3524 0 0 0 0 0 0

3991 -0.72 -146.0 422.5 -9.3 407 3995 0.00 1.98 0.00 0.000 6 0.000 0.050 2247 2706 3524 0 0 0 0 0 0

4315 -0.72 -146.0 453.1 -9.5 418 4316 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2705 3525 0 0 0 0 0 0

4622 -0.72 -146.0 482.8 -9.7 428 4625 0.00 2.12 0.00 0.000 4 0.000 0.051 2247 1368 3525 0 0 0 0 0 0

4650 -0.74 -146.0 485.7 -10.2 428 4657 0.00 2.22 0.00 0.000 6 0.000 0.064 2247 2709 3525 0 0 0 0 0 0

4964 -0.76 -146.0 514.9 -9.4 439 4968 0.00 2.08 0.00 0.000 4 0.000 0.075 2247 3928 3526 0 0 0 0 0 0

4999 -0.79 -146.0 518.2 -9.4 440 5003 0.00 1.98 0.00 0.000 6 0.000 0.049 2247 2703 3526 0 0 0 0 0 0

5342 -0.81 -146.0 548.4 -8.3 451 5345 0.00 2.10 0.00 0.000 4 0.000 0.075 2247 3929 3526 0 0 0 0 0 0

5358 end dive: BOTTOM_OBSTACLE_DETECTED

state 5358 begin apogee

5366 -0.14 0.0 550.1 8.3 451 5497 0.55 0.00 124.03 0.952 4 0.138 0.000 2423 2589 2923 0 0 0 0 0 0

5498 end apogee: CONTROL_FINISHED_OK

state 5498 begin climb

5500 0.57 146.0 554.8 0.0 455 5642 0.70 2.47 129.77 0.925 4 0.090 0.071 2654 3926 2326 0 0 0 0 0 0

5816 0.48 146.0 522.8 12.3 465 5820 0.00 2.30 0.00 0.000 6 0.000 0.044 2660 2593 2318 0 0 0 0 0 0

6135 0.44 146.0 488.8 10.7 476 6140 0.15 2.28 0.00 0.000 4 0.185 0.054 2622 1182 2316 0 0 0 0 0 0

6326 0.54 195.8 474.0 7.7 481 6373 0.00 2.38 42.25 0.882 6 0.000 0.057 2622 2617 2124 0 0 0 0 0 0

6699 0.61 206.9 441.2 9.5 494 6714 0.15 2.22 10.40 0.819 4 0.092 0.068 2685 3929 2077 0 0 0 0 0 0

6731 0.55 206.9 436.8 14.3 495 6736 0.15 2.17 0.00 0.000 6 0.193 0.045 2652 2599 2075 0 0 0 0 0 0

7062 0.57 206.9 400.0 11.0 506 7066 0.00 2.28 0.00 0.000 4 0.000 0.054 2652 1180 2073 0 0 0 0 0 0

7108 0.64 206.9 395.1 10.1 508 7112 0.00 2.33 0.00 0.000 6 0.000 0.057 2652 2593 2073 0 0 0 0 0 0

7439 0.67 206.9 358.2 11.2 539 7443 0.12 2.25 0.00 0.000 4 0.104 0.069 2703 3927 2072 0 0 0 0 0 0

7479 0.55 206.9 352.1 16.7 542 7486 0.20 2.17 0.00 0.000 6 0.190 0.046 2653 2586 2071 0 0 0 0 0 0

7804 0.58 206.9 316.2 10.1 573 7808 0.00 2.28 0.00 0.000 4 0.000 0.070 2653 3926 2071 0 0 0 0 0 0

7831 0.58 206.9 312.9 11.8 575 7838 0.00 2.15 0.00 0.000 6 0.000 0.045 2653 2598 2071 0 0 0 0 0 0

8157 0.62 206.9 280.0 10.3 606 8162 0.00 2.25 0.00 0.000 4 0.000 0.054 2653 1184 2071 0 0 0 0 0 0

8175 0.66 206.9 278.2 10.2 607 8180 0.10 2.35 0.00 0.000 6 0.118 0.057 2695 2620 2071 0 0 0 0 0 0

8508 0.64 206.9 235.7 12.3 638 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2620 2072 0 0 0 0 0 0

8826 0.64 206.9 198.4 11.0 668 8830 0.00 2.20 0.00 0.000 4 0.000 0.070 2695 3924 2071 0 0 0 0 0 0

8848 0.59 206.9 195.4 12.8 669 8856 0.12 2.15 0.00 0.000 6 0.197 0.046 2666 2594 2071 0 0 0 0 0 0

9174 0.66 241.2 166.3 8.4 700 9211 0.00 2.38 29.67 0.726 4 0.000 0.071 2666 3930 1938 0 0 0 0 0 0

9256 0.70 241.2 158.6 10.0 707 9264 0.10 2.15 0.00 0.000 6 0.121 0.045 2704 2617 1935 0 0 0 0 0 0

9582 0.70 241.2 125.1 10.7 738 9583 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2617 1933 0 0 0 0 0 0

9904 0.70 249.3 93.8 9.6 773 9918 0.00 2.38 7.43 0.662 4 0.000 0.055 2705 1189 1906 0 0 0 0 0 0

9948 0.78 277.4 89.7 8.7 780 9978 0.00 2.38 25.45 0.685 6 0.000 0.058 2705 2629 1792 0 0 0 0 0 0

10318 0.91 344.5 56.4 6.9 845 10384 0.17 2.40 57.53 0.664 4 0.090 0.054 2779 1189 1516 0 0 0 0 0 0

10431 0.95 344.5 44.2 11.8 864 10438 0.00 2.40 0.00 0.000 6 0.000 0.059 2779 2628 1510 0 0 0 0 0 0

10709 end climb: FINISH_DEPTH_REACHED

state 10709 begin subsurface finish

10716 0.08 122.2 8.8 -10.7 913 10751 0.90 0.00 -27.05 0.000 6 0.150 0.000 2502 2628 2428 0 0 0 0 0 0

10752 end subsurface finish: CONTROL_FINISHED_OK

state 10752 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	615	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	31	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	-10600.926	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	291210,041859,6642.484,-6012.287,0,5108.8,0,-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	2.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-44.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	291210,041859,6642.484,-6012.287,181,99.0,181,-38.0	MHEAD_RNG_PITCHd_Wd	113.6,152339,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	561

FREEZE	8.84,-1.693,-1.707,2,26,0	ALTIM_BOTTOM_PING	550.1,10.5
FINISH1	8.8,1.025011,122	_24V_AH	21.5,72.635
FINISH2	8.1	_10V_AH	9.7,50.836
RAFOS_CLK	666	FG_AHR_24Vo	0.000
RAFOS	5,1293597664,4.700000,4.684444,62,49,45,44,41,41,946,635,1841,195,217,1307	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.594238,-6011.708984,291210,040406,6,101,1.90	MEM	151748
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	33353,919
TT8_MAMPS	0.031458	CAP_FILE_SIZE	121736,0
HUMID	49.72	CFSIZE	260165632,207765504
INTERNAL_PRESSURE	8.58279	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	291210,042306,6642.594,-6011.709,0,6101.0,0,-38.0
ALTIM_TOP_PING	19.4,20.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	257	67.70	SBE_CT	638	24	329.72
Roll_motor	107	76	176.28	SBE_O2	0	0	0.00
VBD_pump_during_apogee	426	952	8734.01	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	98	103	218.65	nil	0	0	0.00
Iridium_during_connect	17	160	59.94	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	24.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	89.04
TT8	2242	19	433.37
LPSleep	6327	2	141.77
TT8_Active	538	19	104.04
TT8_Sampling	1934	39	749.04
TT8_CF8	511	45	227.65
TT8_Kalman	0	0	0.00
Analog_circuits	1459	12	169.88
GPS_charging	0	0	0.00
Compass	1605	15	233.63
RAFOS	360	3	10.48
Transponder	24	30	7.10

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.57	-146.0	0.0	0.0	0	140	0.00	0.00	-119.72	0.000	2	0.000	0.000	299	2790	3079	0	0	0	0	0	0
145	-0.57	-146.0	6.0	-14.4	21	170	8.60	2.35	-8.45	0.000	4	0.257	0.068	2282	1370	3522	0	0	0	0	0	0
284	-0.54	-146.0	42.5	-15.5	45	291	0.00	2.35	0.00	0.000	6	0.000	0.067	2277	2777	3524	0	0	0	0	0	0
631	-0.50	-146.0	91.0	-12.5	106	638	0.12	2.30	0.00	0.000	4	0.189	0.054	2309	1365	3525	0	0	0	0	0	0
721	-0.57	-146.0	99.8	-9.2	121	727	0.00	2.35	0.00	0.000	6	0.000	0.066	2307	2773	3524	0	0	0	0	0	0
1048	-0.63	-146.0	130.3	-9.2	152	1053	0.10	2.30	0.00	0.000	4	0.119	0.054	2259	1371	3524	0	0	0	0	0	0
1078	-0.63	-146.0	133.6	-10.8	154	1082	0.00	2.30	0.00	0.000	6	0.000	0.066	2259	2753	3523	0	0	0	0	0	0
1403	-0.61	-146.0	173.1	-11.7	184	1407	0.00	2.25	0.00	0.000	4	0.000	0.054	2259	1368	3524	0	0	0	0	0	0
1445	-0.61	-146.0	177.9	-11.1	187	1449	0.00	2.30	0.00	0.000	6	0.000	0.066	2259	2746	3524	0	0	0	0	0	0
1770	-0.61	-146.0	213.8	-10.2	217	1774	0.00	2.22	0.00	0.000	4	0.000	0.053	2259	1361	3524	0	0	0	0	0	0
1798	-0.61	-146.0	217.0	-10.8	219	1802	0.00	2.30	0.00	0.000	6	0.000	0.065	2259	2735	3524	0	0	0	0	0	0
2129	-0.61	-146.0	251.0	-10.3	250	2133	0.00	2.22	0.00	0.000	4	0.000	0.054	2259	1367	3524	0	0	0	0	0	0
2174	-0.64	-146.0	255.7	-10.4	253	2181	0.00	2.28	0.00	0.000	6	0.000	0.066	2259	2716	3524	0	0	0	0	0	0
2500	-0.64	-146.0	286.8	-9.3	284	2501	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2716	3524	0	0	0	0	0	0
2820	-0.64	-146.0	315.9	-8.6	314	2824	0.00	2.08	0.00	0.000	4	0.000	0.076	2253	3938	3524	0	0	0	0	0	0
2893	-0.67	-146.0	322.9	-9.3	320	2900	0.00	2.03	0.00	0.000	6	0.000	0.051	2252	2690	3524	0	0	0	0	0	0
3219	-0.67	-146.0	352.5	-9.1	351	3223	0.00	2.12	0.00	0.000	4	0.000	0.076	2248	3929	3523	0	0	0	0	0	0
3247	-0.67	-146.0	355.4	-9.2	353	3255	0.00	2.00	0.00	0.000	6	0.000	0.050	2248	2706	3524	0	0	0	0	0	0
3573	-0.67	-146.0	384.4	-8.7	384	3577	0.00	2.12	0.00	0.000	4	0.000	0.053	2248	1371	3524	0	0	0	0	0	0
3609	-0.69	-146.0	387.7	-9.0	387	3613	0.00	2.22	0.00	0.000	6	0.000	0.065	2248	2705	3524	0	0	0	0	0	0
3939	-0.69	-146.0	417.3	-9.1	406	3943	0.00	2.08	0.00	0.000	4	0.000	0.075	2247	3929	3524	0	0	0	0	0	0
3991	-0.72	-146.0	422.5	-9.3	407	3995	0.00	1.98	0.00	0.000	6	0.000	0.050	2247	2706	3524	0	0	0	0	0	0
4315	-0.72	-146.0	453.1	-9.5	418	4316	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2705	3525	0	0	0	0	0	0
4622	-0.72	-146.0	482.8	-9.7	428	4625	0.00	2.12	0.00	0.000	4	0.000	0.051	2247	1368	3525	0	0	0	0	0	0
4650	-0.74	-146.0	485.7	-10.2	428	4657	0.00	2.22	0.00	0.000	6	0.000	0.064	2247	2709	3525	0	0	0	0	0	0
4964	-0.76	-146.0	514.9	-9.4	439	4968	0.00	2.08	0.00	0.000	4	0.000	0.075	2247	3928	3526	0	0	0	0	0	0
4999	-0.79	-146.0	518.2	-9.4	440	5003	0.00	1.98	0.00	0.000	6	0.000	0.049	2247	2703	3526	0	0	0	0	0	0
5342	-0.81	-146.0	548.4	-8.3	451	5345	0.00	2.10	0.00	0.000	4	0.000	0.075	2247	3929	3526	0	0	0	0	0	0
5358	end dive: BOTTOM_OBSTACLE_DETECTED
state	5358	begin apogee
5366	-0.14	0.0	550.1	8.3	451	5497	0.55	0.00	124.03	0.952	4	0.138	0.000	2423	2589	2923	0	0	0	0	0	0
5498	end apogee: CONTROL_FINISHED_OK
state	5498	begin climb
5500	0.57	146.0	554.8	0.0	455	5642	0.70	2.47	129.77	0.925	4	0.090	0.071	2654	3926	2326	0	0	0	0	0	0
5816	0.48	146.0	522.8	12.3	465	5820	0.00	2.30	0.00	0.000	6	0.000	0.044	2660	2593	2318	0	0	0	0	0	0
6135	0.44	146.0	488.8	10.7	476	6140	0.15	2.28	0.00	0.000	4	0.185	0.054	2622	1182	2316	0	0	0	0	0	0
6326	0.54	195.8	474.0	7.7	481	6373	0.00	2.38	42.25	0.882	6	0.000	0.057	2622	2617	2124	0	0	0	0	0	0
6699	0.61	206.9	441.2	9.5	494	6714	0.15	2.22	10.40	0.819	4	0.092	0.068	2685	3929	2077	0	0	0	0	0	0
6731	0.55	206.9	436.8	14.3	495	6736	0.15	2.17	0.00	0.000	6	0.193	0.045	2652	2599	2075	0	0	0	0	0	0
7062	0.57	206.9	400.0	11.0	506	7066	0.00	2.28	0.00	0.000	4	0.000	0.054	2652	1180	2073	0	0	0	0	0	0
7108	0.64	206.9	395.1	10.1	508	7112	0.00	2.33	0.00	0.000	6	0.000	0.057	2652	2593	2073	0	0	0	0	0	0
7439	0.67	206.9	358.2	11.2	539	7443	0.12	2.25	0.00	0.000	4	0.104	0.069	2703	3927	2072	0	0	0	0	0	0
7479	0.55	206.9	352.1	16.7	542	7486	0.20	2.17	0.00	0.000	6	0.190	0.046	2653	2586	2071	0	0	0	0	0	0
7804	0.58	206.9	316.2	10.1	573	7808	0.00	2.28	0.00	0.000	4	0.000	0.070	2653	3926	2071	0	0	0	0	0	0
7831	0.58	206.9	312.9	11.8	575	7838	0.00	2.15	0.00	0.000	6	0.000	0.045	2653	2598	2071	0	0	0	0	0	0
8157	0.62	206.9	280.0	10.3	606	8162	0.00	2.25	0.00	0.000	4	0.000	0.054	2653	1184	2071	0	0	0	0	0	0
8175	0.66	206.9	278.2	10.2	607	8180	0.10	2.35	0.00	0.000	6	0.118	0.057	2695	2620	2071	0	0	0	0	0	0
8508	0.64	206.9	235.7	12.3	638	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2620	2072	0	0	0	0	0	0
8826	0.64	206.9	198.4	11.0	668	8830	0.00	2.20	0.00	0.000	4	0.000	0.070	2695	3924	2071	0	0	0	0	0	0
8848	0.59	206.9	195.4	12.8	669	8856	0.12	2.15	0.00	0.000	6	0.197	0.046	2666	2594	2071	0	0	0	0	0	0
9174	0.66	241.2	166.3	8.4	700	9211	0.00	2.38	29.67	0.726	4	0.000	0.071	2666	3930	1938	0	0	0	0	0	0
9256	0.70	241.2	158.6	10.0	707	9264	0.10	2.15	0.00	0.000	6	0.121	0.045	2704	2617	1935	0	0	0	0	0	0
9582	0.70	241.2	125.1	10.7	738	9583	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2617	1933	0	0	0	0	0	0
9904	0.70	249.3	93.8	9.6	773	9918	0.00	2.38	7.43	0.662	4	0.000	0.055	2705	1189	1906	0	0	0	0	0	0
9948	0.78	277.4	89.7	8.7	780	9978	0.00	2.38	25.45	0.685	6	0.000	0.058	2705	2629	1792	0	0	0	0	0	0
10318	0.91	344.5	56.4	6.9	845	10384	0.17	2.40	57.53	0.664	4	0.090	0.054	2779	1189	1516	0	0	0	0	0	0
10431	0.95	344.5	44.2	11.8	864	10438	0.00	2.40	0.00	0.000	6	0.000	0.059	2779	2628	1510	0	0	0	0	0	0
10709	end climb: FINISH_DEPTH_REACHED
state	10709	begin subsurface finish
10716	0.08	122.2	8.8	-10.7	913	10751	0.90	0.00	-27.05	0.000	6	0.150	0.000	2502	2628	2428	0	0	0	0	0	0
10752	end subsurface finish: CONTROL_FINISHED_OK
state	10752	begin surface