Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 631 * 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 631 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -11338.299 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 -11338.299

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 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 21 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 631 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 301210,121456,6641.634,-5943.247,0,4104.2,0,-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 8.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 301210,121456,6641.634,-5943.247,0,4104.2,0,-38.0 MHEAD_RNG_PITCHd_Wd 110.6,132596,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 812

Post-dive calculations and measurements:

FREEZE 8.92,-1.754,-1.763,2,42,0 ALTIM_BOTTOM_PING 602.1,11.0

FINISH1 8.9,1.025812,83 _24V_AH 21.4,74.126

FINISH2 6.0 _10V_AH 9.7,51.549

RAFOS_CLK 675 FG_AHR_24Vo 0.000

RAFOS 5,1293712863,12.700000,12.684167,68,47,47,45,42,40,872,1522,1113,1345,370,764 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.871582,-5941.357910,301210,121257,6,96,4.05 MEM 151732

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 33391,948

TT8_MAMPS 0.029211 CAP_FILE_SIZE 115771,0

HUMID 49.40 CFSIZE 260165632,207073280

INTERNAL_PRESSURE 8.59255 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.20 SOUNDSPEED 1449.1

XPDR_PINGS 0 GPS 301210,121456,6641.634,-5943.247,0,4104.2,0,-38.0

ALTIM_TOP_PING 19.2,15.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 198 18.23 SBE_CT 662 24 340.37

Roll_motor 88 74 140.78 SBE_O2 0 0 0.00

VBD_pump_during_apogee 379 985 7999.44 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 24.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2359 19 456.01

LPSleep 6999 2 156.84

TT8_Active 412 19 79.65

TT8_Sampling 1660 39 642.86

TT8_CF8 199 45 88.93

TT8_Kalman 0 0 0.00

Analog_circuits 1310 12 152.59

GPS_charging 0 0 0.00

Compass 1640 15 238.72

RAFOS 720 3 20.95

Transponder 23 30 6.79

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 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.62 0.000 2 0.000 0.000 2496 1189 2824 0 0 0 0 0 0

27 -0.57 -146.0 10.1 -0.0 1 52 0.55 4.72 -16.40 0.000 4 0.083 0.073 2282 3926 3521 0 0 0 0 0 0

234 -0.57 -146.0 37.3 -13.8 37 241 0.00 1.85 0.00 0.000 6 0.000 0.050 2282 2780 3523 0 0 0 0 0 0

579 -0.57 -146.0 84.3 -11.7 98 586 0.00 2.28 0.00 0.000 4 0.000 0.054 2282 1374 3522 0 0 0 0 0 0

605 -0.57 -146.0 87.6 -12.4 102 611 0.00 2.33 0.00 0.000 6 0.000 0.065 2279 2757 3523 0 0 0 0 0 0

943 -0.57 -146.0 125.8 -10.3 143 944 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2756 3523 0 0 0 0 0 0

1263 -0.59 -146.0 159.3 -11.4 173 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2757 3523 0 0 0 0 0 0

1582 -0.63 -146.0 190.4 -9.7 203 1586 0.00 2.25 0.00 0.000 4 0.000 0.054 2280 1365 3522 0 0 0 0 0 0

1605 -0.67 -146.0 193.0 -9.8 204 1611 0.00 2.33 0.00 0.000 6 0.000 0.065 2279 2761 3522 0 0 0 0 0 0

1931 -0.72 -146.0 220.5 -8.2 235 1933 0.10 0.00 0.00 0.000 6 0.123 0.000 2237 2761 3522 0 0 0 0 0 0

2249 -0.70 -146.0 255.8 -11.2 265 2253 0.00 2.25 0.00 0.000 4 0.000 0.054 2237 1367 3522 0 0 0 0 0 0

2290 -0.70 -146.0 260.5 -11.0 268 2294 0.00 2.30 0.00 0.000 6 0.000 0.065 2235 2751 3523 0 0 0 0 0 0

2615 -0.67 -146.0 297.9 -11.2 298 2617 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2751 3523 0 0 0 0 0 0

2937 -0.65 -146.0 332.4 -10.1 328 2943 0.10 0.00 0.00 0.000 6 0.198 0.000 2260 2751 3522 0 0 0 0 0 0

3263 -0.69 -146.0 360.3 -8.5 359 3267 0.00 2.22 0.00 0.000 4 0.000 0.053 2260 1371 3522 0 0 0 0 0 0

3285 -0.72 -146.0 362.4 -8.6 360 3291 0.00 2.33 0.00 0.000 6 0.000 0.065 2259 2764 3523 0 0 0 0 0 0

3611 -0.76 -146.0 390.0 -8.7 391 3615 0.00 2.25 0.00 0.000 4 0.000 0.052 2259 1365 3523 0 0 0 0 0 0

3641 -0.80 -146.0 392.8 -8.9 393 3646 0.12 2.33 0.00 0.000 6 0.106 0.064 2204 2762 3522 0 0 0 0 0 0

3959 -0.73 -146.0 429.6 -11.8 407 3963 0.12 2.25 0.00 0.000 4 0.187 0.051 2236 1373 3523 0 0 0 0 0 0

3988 -0.73 -146.0 432.9 -10.2 408 3992 0.00 2.30 0.00 0.000 6 0.000 0.064 2235 2754 3523 0 0 0 0 0 0

4323 -0.73 -146.0 464.2 -9.4 419 4324 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2755 3523 0 0 0 0 0 0

4629 -0.73 -146.0 495.2 -10.2 429 4630 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2754 3523 0 0 0 0 0 0

4936 -0.73 -146.0 527.0 -10.2 439 4940 0.00 2.22 0.00 0.000 4 0.000 0.051 2235 1367 3523 0 0 0 0 0 0

4957 -0.73 -146.0 529.4 -9.9 439 4964 0.00 2.30 0.00 0.000 6 0.000 0.063 2235 2740 3523 0 0 0 0 0 0

5270 -0.73 -146.0 558.5 -9.1 450 5274 0.00 2.03 0.00 0.000 4 0.000 0.074 2230 3938 3523 0 0 0 0 0 0

5340 -0.73 -146.0 565.1 -9.6 452 5344 0.00 1.92 0.00 0.000 6 0.000 0.049 2230 2742 3524 0 0 0 0 0 0

5681 -0.73 -146.0 596.2 -9.0 463 5686 0.00 2.20 0.00 0.000 4 0.000 0.051 2230 1370 3524 0 0 0 0 0 0

5709 -0.73 -146.0 599.0 -9.2 463 5716 0.00 2.28 0.00 0.000 6 0.000 0.063 2229 2741 3524 0 0 0 0 0 0

5747 end dive: BOTTOM_OBSTACLE_DETECTED

state 5747 begin apogee

5754 -0.14 0.0 602.1 9.1 465 5885 0.60 0.00 124.82 0.985 4 0.141 0.000 2421 2602 2923 0 0 0 0 0 0

5885 end apogee: CONTROL_FINISHED_OK

state 5886 begin climb

5889 0.57 146.0 606.3 0.0 469 6029 0.70 2.45 132.12 0.954 4 0.071 0.050 2662 1179 2327 0 0 0 0 0 0

6180 0.57 146.0 582.9 10.8 478 6185 0.00 2.50 0.00 0.000 6 0.000 0.056 2662 2601 2318 0 0 0 0 0 0

6511 0.53 146.0 545.3 11.5 489 6515 0.00 2.28 0.00 0.000 4 0.000 0.070 2662 3928 2315 0 0 0 0 0 0

6754 0.42 146.0 512.9 13.2 496 6759 0.20 2.17 0.00 0.000 6 0.196 0.046 2612 2584 2312 0 0 0 0 0 0

7078 0.50 177.3 484.6 8.6 507 7110 0.00 0.00 25.67 0.888 6 0.000 0.000 2612 2584 2201 0 0 0 0 0 0

7418 0.58 200.7 454.6 8.9 518 7444 0.15 2.33 20.73 0.868 4 0.096 0.069 2676 3934 2107 0 0 0 0 0 0

7491 0.51 200.7 444.7 15.8 519 7495 0.15 2.20 0.00 0.000 6 0.197 0.047 2641 2595 2103 0 0 0 0 0 0

7815 0.55 200.7 408.6 10.8 530 7820 0.00 2.25 0.00 0.000 4 0.000 0.054 2641 1185 2102 0 0 0 0 0 0

7845 0.62 200.7 405.5 10.1 531 7850 0.10 2.33 0.00 0.000 6 0.114 0.057 2681 2605 2102 0 0 0 0 0 0

8176 0.59 200.7 364.9 12.0 558 8177 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2605 2102 0 0 0 0 0 0

8496 0.56 200.7 328.1 11.3 588 8500 0.00 2.28 0.00 0.000 4 0.000 0.054 2683 1187 2101 0 0 0 0 0 0

8527 0.56 200.7 324.8 10.8 590 8531 0.00 2.28 0.00 0.000 6 0.000 0.057 2683 2584 2101 0 0 0 0 0 0

8852 0.53 200.7 286.8 11.4 620 8854 0.12 0.00 0.00 0.000 6 0.197 0.000 2652 2584 2100 0 0 0 0 0 0

9171 0.57 201.3 255.3 10.0 650 9172 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2585 2100 0 0 0 0 0 0

9491 0.62 222.9 225.1 9.0 680 9516 0.00 2.33 20.30 0.757 4 0.000 0.054 2651 1196 2013 0 0 0 0 0 0

9537 0.71 243.8 220.8 9.0 684 9563 0.15 2.30 19.58 0.737 6 0.096 0.057 2715 2583 1928 0 0 0 0 0 0

9890 0.69 243.8 174.9 13.5 717 9894 0.00 2.28 0.00 0.000 4 0.000 0.070 2714 3925 1922 0 0 0 0 0 0

9948 0.61 243.8 166.4 15.2 721 9955 0.15 2.17 0.00 0.000 6 0.197 0.047 2678 2592 1920 0 0 0 0 0 0

10273 0.66 243.8 132.8 10.7 752 10274 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2592 1920 0 0 0 0 0 0

10594 0.72 244.4 99.5 10.0 782 10600 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2592 1920 0 0 0 0 0 0

10938 0.81 279.4 71.7 8.4 843 10975 0.17 2.38 30.25 0.683 4 0.093 0.056 2749 1182 1783 0 0 0 0 0 0

11073 0.81 279.4 56.3 10.7 866 11080 0.00 2.38 0.00 0.000 6 0.000 0.058 2748 2612 1778 0 0 0 0 0 0

11420 0.81 279.4 16.8 10.5 927 11427 0.00 2.33 0.00 0.000 4 0.000 0.055 2749 1188 1776 0 0 0 0 0 0

11502 0.86 311.9 9.4 8.5 941 11513 0.00 2.30 5.90 0.608 2 0.000 0.059 2749 2578 1758 0 0 0 0 0 0

11514 end climb: FINISH_DEPTH_REACHED

state 11514 begin subsurface finish

11521 0.05 82.8 8.9 -9.0 942 11557 0.80 0.00 -27.50 0.000 6 0.155 0.000 2503 2579 2588 0 0 0 0 0 0

11558 end subsurface finish: CONTROL_FINISHED_OK

state 11558 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	631	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-11338.299	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	301210,121456,6641.634,-5943.247,0,4104.2,0,-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	8.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	301210,121456,6641.634,-5943.247,0,4104.2,0,-38.0	MHEAD_RNG_PITCHd_Wd	110.6,132596,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	812

FREEZE	8.92,-1.754,-1.763,2,42,0	ALTIM_BOTTOM_PING	602.1,11.0
FINISH1	8.9,1.025812,83	_24V_AH	21.4,74.126
FINISH2	6.0	_10V_AH	9.7,51.549
RAFOS_CLK	675	FG_AHR_24Vo	0.000
RAFOS	5,1293712863,12.700000,12.684167,68,47,47,45,42,40,872,1522,1113,1345,370,764	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.871582,-5941.357910,301210,121257,6,96,4.05	MEM	151732
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	33391,948
TT8_MAMPS	0.029211	CAP_FILE_SIZE	115771,0
HUMID	49.40	CFSIZE	260165632,207073280
INTERNAL_PRESSURE	8.59255	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1449.1
XPDR_PINGS	0	GPS	301210,121456,6641.634,-5943.247,0,4104.2,0,-38.0
ALTIM_TOP_PING	19.2,15.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	198	18.23	SBE_CT	662	24	340.37
Roll_motor	88	74	140.78	SBE_O2	0	0	0.00
VBD_pump_during_apogee	379	985	7999.44	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	24.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2359	19	456.01
LPSleep	6999	2	156.84
TT8_Active	412	19	79.65
TT8_Sampling	1660	39	642.86
TT8_CF8	199	45	88.93
TT8_Kalman	0	0	0.00
Analog_circuits	1310	12	152.59
GPS_charging	0	0	0.00
Compass	1640	15	238.72
RAFOS	720	3	20.95
Transponder	23	30	6.79

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	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.62	0.000	2	0.000	0.000	2496	1189	2824	0	0	0	0	0	0
27	-0.57	-146.0	10.1	-0.0	1	52	0.55	4.72	-16.40	0.000	4	0.083	0.073	2282	3926	3521	0	0	0	0	0	0
234	-0.57	-146.0	37.3	-13.8	37	241	0.00	1.85	0.00	0.000	6	0.000	0.050	2282	2780	3523	0	0	0	0	0	0
579	-0.57	-146.0	84.3	-11.7	98	586	0.00	2.28	0.00	0.000	4	0.000	0.054	2282	1374	3522	0	0	0	0	0	0
605	-0.57	-146.0	87.6	-12.4	102	611	0.00	2.33	0.00	0.000	6	0.000	0.065	2279	2757	3523	0	0	0	0	0	0
943	-0.57	-146.0	125.8	-10.3	143	944	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2756	3523	0	0	0	0	0	0
1263	-0.59	-146.0	159.3	-11.4	173	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2757	3523	0	0	0	0	0	0
1582	-0.63	-146.0	190.4	-9.7	203	1586	0.00	2.25	0.00	0.000	4	0.000	0.054	2280	1365	3522	0	0	0	0	0	0
1605	-0.67	-146.0	193.0	-9.8	204	1611	0.00	2.33	0.00	0.000	6	0.000	0.065	2279	2761	3522	0	0	0	0	0	0
1931	-0.72	-146.0	220.5	-8.2	235	1933	0.10	0.00	0.00	0.000	6	0.123	0.000	2237	2761	3522	0	0	0	0	0	0
2249	-0.70	-146.0	255.8	-11.2	265	2253	0.00	2.25	0.00	0.000	4	0.000	0.054	2237	1367	3522	0	0	0	0	0	0
2290	-0.70	-146.0	260.5	-11.0	268	2294	0.00	2.30	0.00	0.000	6	0.000	0.065	2235	2751	3523	0	0	0	0	0	0
2615	-0.67	-146.0	297.9	-11.2	298	2617	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2751	3523	0	0	0	0	0	0
2937	-0.65	-146.0	332.4	-10.1	328	2943	0.10	0.00	0.00	0.000	6	0.198	0.000	2260	2751	3522	0	0	0	0	0	0
3263	-0.69	-146.0	360.3	-8.5	359	3267	0.00	2.22	0.00	0.000	4	0.000	0.053	2260	1371	3522	0	0	0	0	0	0
3285	-0.72	-146.0	362.4	-8.6	360	3291	0.00	2.33	0.00	0.000	6	0.000	0.065	2259	2764	3523	0	0	0	0	0	0
3611	-0.76	-146.0	390.0	-8.7	391	3615	0.00	2.25	0.00	0.000	4	0.000	0.052	2259	1365	3523	0	0	0	0	0	0
3641	-0.80	-146.0	392.8	-8.9	393	3646	0.12	2.33	0.00	0.000	6	0.106	0.064	2204	2762	3522	0	0	0	0	0	0
3959	-0.73	-146.0	429.6	-11.8	407	3963	0.12	2.25	0.00	0.000	4	0.187	0.051	2236	1373	3523	0	0	0	0	0	0
3988	-0.73	-146.0	432.9	-10.2	408	3992	0.00	2.30	0.00	0.000	6	0.000	0.064	2235	2754	3523	0	0	0	0	0	0
4323	-0.73	-146.0	464.2	-9.4	419	4324	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2755	3523	0	0	0	0	0	0
4629	-0.73	-146.0	495.2	-10.2	429	4630	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2754	3523	0	0	0	0	0	0
4936	-0.73	-146.0	527.0	-10.2	439	4940	0.00	2.22	0.00	0.000	4	0.000	0.051	2235	1367	3523	0	0	0	0	0	0
4957	-0.73	-146.0	529.4	-9.9	439	4964	0.00	2.30	0.00	0.000	6	0.000	0.063	2235	2740	3523	0	0	0	0	0	0
5270	-0.73	-146.0	558.5	-9.1	450	5274	0.00	2.03	0.00	0.000	4	0.000	0.074	2230	3938	3523	0	0	0	0	0	0
5340	-0.73	-146.0	565.1	-9.6	452	5344	0.00	1.92	0.00	0.000	6	0.000	0.049	2230	2742	3524	0	0	0	0	0	0
5681	-0.73	-146.0	596.2	-9.0	463	5686	0.00	2.20	0.00	0.000	4	0.000	0.051	2230	1370	3524	0	0	0	0	0	0
5709	-0.73	-146.0	599.0	-9.2	463	5716	0.00	2.28	0.00	0.000	6	0.000	0.063	2229	2741	3524	0	0	0	0	0	0
5747	end dive: BOTTOM_OBSTACLE_DETECTED
state	5747	begin apogee
5754	-0.14	0.0	602.1	9.1	465	5885	0.60	0.00	124.82	0.985	4	0.141	0.000	2421	2602	2923	0	0	0	0	0	0
5885	end apogee: CONTROL_FINISHED_OK
state	5886	begin climb
5889	0.57	146.0	606.3	0.0	469	6029	0.70	2.45	132.12	0.954	4	0.071	0.050	2662	1179	2327	0	0	0	0	0	0
6180	0.57	146.0	582.9	10.8	478	6185	0.00	2.50	0.00	0.000	6	0.000	0.056	2662	2601	2318	0	0	0	0	0	0
6511	0.53	146.0	545.3	11.5	489	6515	0.00	2.28	0.00	0.000	4	0.000	0.070	2662	3928	2315	0	0	0	0	0	0
6754	0.42	146.0	512.9	13.2	496	6759	0.20	2.17	0.00	0.000	6	0.196	0.046	2612	2584	2312	0	0	0	0	0	0
7078	0.50	177.3	484.6	8.6	507	7110	0.00	0.00	25.67	0.888	6	0.000	0.000	2612	2584	2201	0	0	0	0	0	0
7418	0.58	200.7	454.6	8.9	518	7444	0.15	2.33	20.73	0.868	4	0.096	0.069	2676	3934	2107	0	0	0	0	0	0
7491	0.51	200.7	444.7	15.8	519	7495	0.15	2.20	0.00	0.000	6	0.197	0.047	2641	2595	2103	0	0	0	0	0	0
7815	0.55	200.7	408.6	10.8	530	7820	0.00	2.25	0.00	0.000	4	0.000	0.054	2641	1185	2102	0	0	0	0	0	0
7845	0.62	200.7	405.5	10.1	531	7850	0.10	2.33	0.00	0.000	6	0.114	0.057	2681	2605	2102	0	0	0	0	0	0
8176	0.59	200.7	364.9	12.0	558	8177	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2605	2102	0	0	0	0	0	0
8496	0.56	200.7	328.1	11.3	588	8500	0.00	2.28	0.00	0.000	4	0.000	0.054	2683	1187	2101	0	0	0	0	0	0
8527	0.56	200.7	324.8	10.8	590	8531	0.00	2.28	0.00	0.000	6	0.000	0.057	2683	2584	2101	0	0	0	0	0	0
8852	0.53	200.7	286.8	11.4	620	8854	0.12	0.00	0.00	0.000	6	0.197	0.000	2652	2584	2100	0	0	0	0	0	0
9171	0.57	201.3	255.3	10.0	650	9172	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2585	2100	0	0	0	0	0	0
9491	0.62	222.9	225.1	9.0	680	9516	0.00	2.33	20.30	0.757	4	0.000	0.054	2651	1196	2013	0	0	0	0	0	0
9537	0.71	243.8	220.8	9.0	684	9563	0.15	2.30	19.58	0.737	6	0.096	0.057	2715	2583	1928	0	0	0	0	0	0
9890	0.69	243.8	174.9	13.5	717	9894	0.00	2.28	0.00	0.000	4	0.000	0.070	2714	3925	1922	0	0	0	0	0	0
9948	0.61	243.8	166.4	15.2	721	9955	0.15	2.17	0.00	0.000	6	0.197	0.047	2678	2592	1920	0	0	0	0	0	0
10273	0.66	243.8	132.8	10.7	752	10274	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2592	1920	0	0	0	0	0	0
10594	0.72	244.4	99.5	10.0	782	10600	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2592	1920	0	0	0	0	0	0
10938	0.81	279.4	71.7	8.4	843	10975	0.17	2.38	30.25	0.683	4	0.093	0.056	2749	1182	1783	0	0	0	0	0	0
11073	0.81	279.4	56.3	10.7	866	11080	0.00	2.38	0.00	0.000	6	0.000	0.058	2748	2612	1778	0	0	0	0	0	0
11420	0.81	279.4	16.8	10.5	927	11427	0.00	2.33	0.00	0.000	4	0.000	0.055	2749	1188	1776	0	0	0	0	0	0
11502	0.86	311.9	9.4	8.5	941	11513	0.00	2.30	5.90	0.608	2	0.000	0.059	2749	2578	1758	0	0	0	0	0	0
11514	end climb: FINISH_DEPTH_REACHED
state	11514	begin subsurface finish
11521	0.05	82.8	8.9	-9.0	942	11557	0.80	0.00	-27.50	0.000	6	0.155	0.000	2503	2579	2588	0	0	0	0	0	0
11558	end subsurface finish: CONTROL_FINISHED_OK
state	11558	begin surface