Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 643 * 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 643 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 27 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 20 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 -11339.555 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 -11339.555

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 27 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 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 643 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 311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8 MHEAD_RNG_PITCHd_Wd 104.5,114158,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 868

Post-dive calculations and measurements:

FREEZE 8.59,-1.757,-1.784,2,9,0 ALTIM_BOTTOM_PING 500.5,9.7

FINISH1 8.6,1.026123,68 _24V_AH 21.6,75.183

FINISH2 6.0 _10V_AH 9.7,52.100

RAFOS_CLK 549 FG_AHR_24Vo 0.000

RAFOS 0,1293811264,16.033333,16.017778,53,50,46,44,44,41,1212,557,1018,223,990,25 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.492676,-5909.194336,311210,161618,5,94,0.23 MEM 151712

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 30042,860

TT8_MAMPS 0.029211 CAP_FILE_SIZE 107671,0

HUMID 49.37 CFSIZE 260165632,206516224

INTERNAL_PRESSURE 8.60232 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.20 SOUNDSPEED 1449.4

XPDR_PINGS 0 GPS 311210,162718,6639.493,-5909.194,0,5094.4,0,-37.8

ALTIM_TOP_PING 20.0,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 205 18.60 SBE_CT 599 24 310.70

Roll_motor 96 74 156.59 SBE_O2 0 0 0.00

VBD_pump_during_apogee 419 924 8376.57 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 15.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2128 19 411.19

LPSleep 5083 2 113.90

TT8_Active 451 19 87.33

TT8_Sampling 1525 39 590.64

TT8_CF8 193 45 86.05

TT8_Kalman 0 0 0.00

Analog_circuits 1299 12 151.32

GPS_charging 0 0 0.00

Compass 1512 15 220.13

RAFOS 2520 3 73.33

Transponder 14 30 4.12

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 -5.53 0.000 2 0.000 0.000 2494 3933 2887 0 0 0 0 0 0

27 -0.57 -146.0 11.3 -0.0 1 52 0.57 4.25 -13.93 0.000 4 0.102 0.057 2292 1365 3523 0 0 0 0 0 0

98 -0.57 -146.0 17.9 -10.3 13 105 0.00 2.35 0.00 0.000 6 0.000 0.062 2289 2783 3523 0 0 0 0 0 0

444 -0.57 -146.0 60.9 -11.8 74 451 0.00 2.28 0.00 0.000 4 0.000 0.053 2289 1368 3524 0 0 0 0 0 0

476 -0.57 -146.0 64.7 -12.1 79 483 0.00 2.35 0.00 0.000 6 0.000 0.063 2286 2781 3523 0 0 0 0 0 0

827 -0.59 -146.0 102.4 -9.9 139 828 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2781 3523 0 0 0 0 0 0

1146 -0.64 -146.0 134.6 -9.6 169 1150 0.00 2.28 0.00 0.000 4 0.000 0.054 2286 1368 3523 0 0 0 0 0 0

1179 -0.69 -146.0 138.4 -10.2 171 1185 0.00 2.33 0.00 0.000 6 0.000 0.063 2286 2756 3523 0 0 0 0 0 0

1505 -0.75 -146.0 168.7 -9.1 202 1510 0.15 2.28 0.00 0.000 4 0.101 0.054 2224 1363 3522 0 0 0 0 0 0

1545 -0.71 -146.0 173.6 -12.8 205 1549 0.00 2.28 0.00 0.000 6 0.000 0.063 2222 2734 3522 0 0 0 0 0 0

1871 -0.64 -146.0 214.8 -12.0 235 1876 0.15 2.05 0.00 0.000 4 0.181 0.075 2256 3931 3523 0 0 0 0 0 0

1915 -0.67 -146.0 219.8 -9.9 238 1922 0.00 1.95 0.00 0.000 6 0.000 0.050 2256 2737 3523 0 0 0 0 0 0

2242 -0.67 -146.0 250.6 -9.0 269 2246 0.00 2.20 0.00 0.000 4 0.000 0.053 2256 1372 3523 0 0 0 0 0 0

2275 -0.69 -146.0 253.8 -8.9 271 2282 0.00 2.30 0.00 0.000 6 0.000 0.064 2253 2743 3522 0 0 0 0 0 0

2601 -0.69 -146.0 283.0 -9.1 302 2605 0.00 2.20 0.00 0.000 4 0.000 0.052 2253 1371 3522 0 0 0 0 0 0

2635 -0.72 -146.0 286.2 -9.1 304 2641 0.00 2.30 0.00 0.000 6 0.000 0.064 2252 2737 3522 0 0 0 0 0 0

2960 -0.72 -146.0 314.5 -9.1 335 2964 0.00 2.22 0.00 0.000 4 0.000 0.052 2252 1366 3522 0 0 0 0 0 0

2990 -0.75 -146.0 317.5 -9.8 337 2994 0.00 2.28 0.00 0.000 6 0.000 0.063 2252 2734 3522 0 0 0 0 0 0

3316 -0.77 -146.0 349.8 -10.2 367 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2734 3522 0 0 0 0 0 0

3637 -0.80 -146.0 381.1 -9.6 397 3641 0.00 2.20 0.00 0.000 4 0.000 0.052 2252 1368 3522 0 0 0 0 0 0

3677 -0.83 -146.0 385.2 -9.4 400 3684 0.12 2.25 0.00 0.000 6 0.105 0.063 2198 2721 3522 0 0 0 0 0 0

3997 -0.75 -146.0 422.9 -11.6 419 4001 0.12 2.10 0.00 0.000 4 0.186 0.073 2222 3936 3522 0 0 0 0 0 0

4081 -0.75 -146.0 431.9 -9.4 421 4084 0.00 1.92 0.00 0.000 6 0.000 0.049 2222 2737 3523 0 0 0 0 0 0

4400 -0.72 -146.0 463.4 -10.2 432 4404 0.00 2.17 0.00 0.000 4 0.000 0.052 2222 1372 3523 0 0 0 0 0 0

4452 -0.72 -146.0 469.0 -10.5 433 4456 0.00 2.28 0.00 0.000 6 0.000 0.063 2222 2727 3523 0 0 0 0 0 0

4740 end dive: BOTTOM_OBSTACLE_DETECTED

state 4740 begin apogee

4746 -0.14 0.0 500.5 11.1 443 4875 0.60 0.00 122.45 0.925 4 0.139 0.000 2413 2604 2923 0 0 0 0 0 0

4876 end apogee: CONTROL_FINISHED_OK

state 4876 begin climb

4879 0.57 146.0 505.7 0.0 447 5019 0.73 2.42 129.35 0.895 4 0.080 0.051 2659 1179 2325 0 0 0 0 0 0

5183 0.58 167.3 483.9 9.0 456 5208 0.00 2.47 18.92 0.847 6 0.000 0.057 2659 2602 2240 0 0 0 0 0 0

5547 0.56 167.3 443.9 11.6 468 5551 0.00 2.33 0.00 0.000 4 0.000 0.054 2662 1189 2234 0 0 0 0 0 0

5747 0.56 167.3 420.6 11.2 474 5751 0.00 2.33 0.00 0.000 6 0.000 0.057 2661 2610 2235 0 0 0 0 0 0

6074 0.54 167.3 381.8 12.1 493 6078 0.00 2.20 0.00 0.000 4 0.000 0.069 2661 3925 2233 0 0 0 0 0 0

6125 0.46 167.3 374.2 14.4 497 6130 0.15 2.12 0.00 0.000 6 0.205 0.046 2625 2615 2232 0 0 0 0 0 0

6451 0.51 173.0 340.9 9.7 527 6464 0.00 2.30 5.62 0.702 4 0.000 0.053 2625 1184 2216 0 0 0 0 0 0

6499 0.62 186.8 336.4 9.4 531 6523 0.15 2.33 13.23 0.790 6 0.093 0.057 2687 2612 2162 0 0 0 0 0 0

6842 0.57 186.8 293.0 11.8 563 6846 0.00 2.20 0.00 0.000 4 0.000 0.069 2687 3927 2159 0 0 0 0 0 0

6864 0.49 186.8 289.7 12.8 564 6872 0.20 2.12 0.00 0.000 6 0.189 0.045 2637 2603 2158 0 0 0 0 0 0

7190 0.56 233.0 264.1 7.9 595 7237 0.00 2.35 40.70 0.773 4 0.000 0.054 2637 1195 1972 0 0 0 0 0 0

7270 0.71 287.8 258.3 7.5 602 7326 0.20 2.33 48.20 0.755 6 0.083 0.056 2717 2608 1748 0 0 0 0 0 0

7644 0.68 287.8 204.3 14.4 637 7645 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2608 1736 0 0 0 0 0 0

7961 0.68 287.8 160.0 13.8 667 7965 0.00 2.28 0.00 0.000 4 0.000 0.054 2718 1194 1735 0 0 0 0 0 0

8001 0.72 287.8 154.8 12.2 670 8005 0.00 2.30 0.00 0.000 6 0.000 0.057 2718 2605 1734 0 0 0 0 0 0

8326 0.72 287.8 114.0 11.9 700 8330 0.00 2.22 0.00 0.000 4 0.000 0.070 2718 3925 1734 0 0 0 0 0 0

8349 0.70 287.8 111.1 12.8 702 8353 0.00 2.12 0.00 0.000 6 0.000 0.046 2718 2599 1732 0 0 0 0 0 0

8688 0.70 287.8 68.9 10.9 754 8695 0.00 2.25 0.00 0.000 4 0.000 0.054 2718 1187 1732 0 0 0 0 0 0

8743 0.78 320.1 64.0 8.5 763 8778 0.00 2.35 26.08 0.672 6 0.000 0.058 2718 2611 1617 0 0 0 0 0 0

9117 0.84 336.4 26.8 9.2 829 9141 0.00 2.40 14.75 0.653 4 0.000 0.055 2718 1186 1550 0 0 0 0 0 0

9154 0.91 336.4 22.9 10.5 835 9162 0.12 2.28 0.00 0.000 6 0.104 0.056 2772 2574 1549 0 0 0 0 0 0

9260 end climb: FINISH_DEPTH_REACHED

state 9260 begin subsurface finish

9267 0.04 67.5 8.6 -15.4 853 9308 0.93 0.00 -36.40 0.000 6 0.160 0.000 2495 2575 2648 0 0 0 0 0 0

9309 end subsurface finish: CONTROL_FINISHED_OK

state 9309 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	643	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	27	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	20	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	-11339.555	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	311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8	MHEAD_RNG_PITCHd_Wd	104.5,114158,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	868

FREEZE	8.59,-1.757,-1.784,2,9,0	ALTIM_BOTTOM_PING	500.5,9.7
FINISH1	8.6,1.026123,68	_24V_AH	21.6,75.183
FINISH2	6.0	_10V_AH	9.7,52.100
RAFOS_CLK	549	FG_AHR_24Vo	0.000
RAFOS	0,1293811264,16.033333,16.017778,53,50,46,44,44,41,1212,557,1018,223,990,25	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.492676,-5909.194336,311210,161618,5,94,0.23	MEM	151712
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	30042,860
TT8_MAMPS	0.029211	CAP_FILE_SIZE	107671,0
HUMID	49.37	CFSIZE	260165632,206516224
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1449.4
XPDR_PINGS	0	GPS	311210,162718,6639.493,-5909.194,0,5094.4,0,-37.8
ALTIM_TOP_PING	20.0,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	205	18.60	SBE_CT	599	24	310.70
Roll_motor	96	74	156.59	SBE_O2	0	0	0.00
VBD_pump_during_apogee	419	924	8376.57	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	15.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2128	19	411.19
LPSleep	5083	2	113.90
TT8_Active	451	19	87.33
TT8_Sampling	1525	39	590.64
TT8_CF8	193	45	86.05
TT8_Kalman	0	0	0.00
Analog_circuits	1299	12	151.32
GPS_charging	0	0	0.00
Compass	1512	15	220.13
RAFOS	2520	3	73.33
Transponder	14	30	4.12

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	-5.53	0.000	2	0.000	0.000	2494	3933	2887	0	0	0	0	0	0
27	-0.57	-146.0	11.3	-0.0	1	52	0.57	4.25	-13.93	0.000	4	0.102	0.057	2292	1365	3523	0	0	0	0	0	0
98	-0.57	-146.0	17.9	-10.3	13	105	0.00	2.35	0.00	0.000	6	0.000	0.062	2289	2783	3523	0	0	0	0	0	0
444	-0.57	-146.0	60.9	-11.8	74	451	0.00	2.28	0.00	0.000	4	0.000	0.053	2289	1368	3524	0	0	0	0	0	0
476	-0.57	-146.0	64.7	-12.1	79	483	0.00	2.35	0.00	0.000	6	0.000	0.063	2286	2781	3523	0	0	0	0	0	0
827	-0.59	-146.0	102.4	-9.9	139	828	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2781	3523	0	0	0	0	0	0
1146	-0.64	-146.0	134.6	-9.6	169	1150	0.00	2.28	0.00	0.000	4	0.000	0.054	2286	1368	3523	0	0	0	0	0	0
1179	-0.69	-146.0	138.4	-10.2	171	1185	0.00	2.33	0.00	0.000	6	0.000	0.063	2286	2756	3523	0	0	0	0	0	0
1505	-0.75	-146.0	168.7	-9.1	202	1510	0.15	2.28	0.00	0.000	4	0.101	0.054	2224	1363	3522	0	0	0	0	0	0
1545	-0.71	-146.0	173.6	-12.8	205	1549	0.00	2.28	0.00	0.000	6	0.000	0.063	2222	2734	3522	0	0	0	0	0	0
1871	-0.64	-146.0	214.8	-12.0	235	1876	0.15	2.05	0.00	0.000	4	0.181	0.075	2256	3931	3523	0	0	0	0	0	0
1915	-0.67	-146.0	219.8	-9.9	238	1922	0.00	1.95	0.00	0.000	6	0.000	0.050	2256	2737	3523	0	0	0	0	0	0
2242	-0.67	-146.0	250.6	-9.0	269	2246	0.00	2.20	0.00	0.000	4	0.000	0.053	2256	1372	3523	0	0	0	0	0	0
2275	-0.69	-146.0	253.8	-8.9	271	2282	0.00	2.30	0.00	0.000	6	0.000	0.064	2253	2743	3522	0	0	0	0	0	0
2601	-0.69	-146.0	283.0	-9.1	302	2605	0.00	2.20	0.00	0.000	4	0.000	0.052	2253	1371	3522	0	0	0	0	0	0
2635	-0.72	-146.0	286.2	-9.1	304	2641	0.00	2.30	0.00	0.000	6	0.000	0.064	2252	2737	3522	0	0	0	0	0	0
2960	-0.72	-146.0	314.5	-9.1	335	2964	0.00	2.22	0.00	0.000	4	0.000	0.052	2252	1366	3522	0	0	0	0	0	0
2990	-0.75	-146.0	317.5	-9.8	337	2994	0.00	2.28	0.00	0.000	6	0.000	0.063	2252	2734	3522	0	0	0	0	0	0
3316	-0.77	-146.0	349.8	-10.2	367	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2734	3522	0	0	0	0	0	0
3637	-0.80	-146.0	381.1	-9.6	397	3641	0.00	2.20	0.00	0.000	4	0.000	0.052	2252	1368	3522	0	0	0	0	0	0
3677	-0.83	-146.0	385.2	-9.4	400	3684	0.12	2.25	0.00	0.000	6	0.105	0.063	2198	2721	3522	0	0	0	0	0	0
3997	-0.75	-146.0	422.9	-11.6	419	4001	0.12	2.10	0.00	0.000	4	0.186	0.073	2222	3936	3522	0	0	0	0	0	0
4081	-0.75	-146.0	431.9	-9.4	421	4084	0.00	1.92	0.00	0.000	6	0.000	0.049	2222	2737	3523	0	0	0	0	0	0
4400	-0.72	-146.0	463.4	-10.2	432	4404	0.00	2.17	0.00	0.000	4	0.000	0.052	2222	1372	3523	0	0	0	0	0	0
4452	-0.72	-146.0	469.0	-10.5	433	4456	0.00	2.28	0.00	0.000	6	0.000	0.063	2222	2727	3523	0	0	0	0	0	0
4740	end dive: BOTTOM_OBSTACLE_DETECTED
state	4740	begin apogee
4746	-0.14	0.0	500.5	11.1	443	4875	0.60	0.00	122.45	0.925	4	0.139	0.000	2413	2604	2923	0	0	0	0	0	0
4876	end apogee: CONTROL_FINISHED_OK
state	4876	begin climb
4879	0.57	146.0	505.7	0.0	447	5019	0.73	2.42	129.35	0.895	4	0.080	0.051	2659	1179	2325	0	0	0	0	0	0
5183	0.58	167.3	483.9	9.0	456	5208	0.00	2.47	18.92	0.847	6	0.000	0.057	2659	2602	2240	0	0	0	0	0	0
5547	0.56	167.3	443.9	11.6	468	5551	0.00	2.33	0.00	0.000	4	0.000	0.054	2662	1189	2234	0	0	0	0	0	0
5747	0.56	167.3	420.6	11.2	474	5751	0.00	2.33	0.00	0.000	6	0.000	0.057	2661	2610	2235	0	0	0	0	0	0
6074	0.54	167.3	381.8	12.1	493	6078	0.00	2.20	0.00	0.000	4	0.000	0.069	2661	3925	2233	0	0	0	0	0	0
6125	0.46	167.3	374.2	14.4	497	6130	0.15	2.12	0.00	0.000	6	0.205	0.046	2625	2615	2232	0	0	0	0	0	0
6451	0.51	173.0	340.9	9.7	527	6464	0.00	2.30	5.62	0.702	4	0.000	0.053	2625	1184	2216	0	0	0	0	0	0
6499	0.62	186.8	336.4	9.4	531	6523	0.15	2.33	13.23	0.790	6	0.093	0.057	2687	2612	2162	0	0	0	0	0	0
6842	0.57	186.8	293.0	11.8	563	6846	0.00	2.20	0.00	0.000	4	0.000	0.069	2687	3927	2159	0	0	0	0	0	0
6864	0.49	186.8	289.7	12.8	564	6872	0.20	2.12	0.00	0.000	6	0.189	0.045	2637	2603	2158	0	0	0	0	0	0
7190	0.56	233.0	264.1	7.9	595	7237	0.00	2.35	40.70	0.773	4	0.000	0.054	2637	1195	1972	0	0	0	0	0	0
7270	0.71	287.8	258.3	7.5	602	7326	0.20	2.33	48.20	0.755	6	0.083	0.056	2717	2608	1748	0	0	0	0	0	0
7644	0.68	287.8	204.3	14.4	637	7645	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2608	1736	0	0	0	0	0	0
7961	0.68	287.8	160.0	13.8	667	7965	0.00	2.28	0.00	0.000	4	0.000	0.054	2718	1194	1735	0	0	0	0	0	0
8001	0.72	287.8	154.8	12.2	670	8005	0.00	2.30	0.00	0.000	6	0.000	0.057	2718	2605	1734	0	0	0	0	0	0
8326	0.72	287.8	114.0	11.9	700	8330	0.00	2.22	0.00	0.000	4	0.000	0.070	2718	3925	1734	0	0	0	0	0	0
8349	0.70	287.8	111.1	12.8	702	8353	0.00	2.12	0.00	0.000	6	0.000	0.046	2718	2599	1732	0	0	0	0	0	0
8688	0.70	287.8	68.9	10.9	754	8695	0.00	2.25	0.00	0.000	4	0.000	0.054	2718	1187	1732	0	0	0	0	0	0
8743	0.78	320.1	64.0	8.5	763	8778	0.00	2.35	26.08	0.672	6	0.000	0.058	2718	2611	1617	0	0	0	0	0	0
9117	0.84	336.4	26.8	9.2	829	9141	0.00	2.40	14.75	0.653	4	0.000	0.055	2718	1186	1550	0	0	0	0	0	0
9154	0.91	336.4	22.9	10.5	835	9162	0.12	2.28	0.00	0.000	6	0.104	0.056	2772	2574	1549	0	0	0	0	0	0
9260	end climb: FINISH_DEPTH_REACHED
state	9260	begin subsurface finish
9267	0.04	67.5	8.6	-15.4	853	9308	0.93	0.00	-36.40	0.000	6	0.160	0.000	2495	2575	2648	0	0	0	0	0	0
9309	end subsurface finish: CONTROL_FINISHED_OK
state	9309	begin surface