Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 686 * 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 686 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 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -11352.118 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 -11352.118

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 686 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 040111,161525,6656.679,-5738.396,36,1.9,36,-37.6 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 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040111,162856,6656.711,-5738.272,13,1.2,13,-37.6 MHEAD_RNG_PITCHd_Wd 109.8,38127,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 819

Post-dive calculations and measurements:

FREEZE 0.93,-1.525,-1.082,0,1,0 ALTIM_TOP_PING 19.9,18.4

FINISH 0.9,1.015974 ALTIM_BOTTOM_PING 550.1,10.8

SM_CCo 10647,218.43,0.083,0,0,440,609.08 _24V_AH 21.5,78.818

SM_GC 1.58,0.00,0.00,218.43,0.000,0.000,0.083,297,2788,440,-6.80,0.23,609.08 _10V_AH 9.7,54.235

RAFOS_CLK 565 FG_AHR_24Vo 0.000

RAFOS 1,1294157344,16.166666,16.151112,52,51,46,43,40,40,1174,497,1285,948,343,978 FG_AHR_10Vo 0.000

RAFOS_FIX 6656.581543,-5741.310547,040111,161622,3,118,2.57 MEM 151636

IRIDIUM_FIX 6631.12,-5736.37,040111,131320 DATA_FILE_SIZE 33378,915

TT8_MAMPS 0.028462 CAP_FILE_SIZE 127765,0

HUMID 45.51 CFSIZE 260165632,204419072

INTERNAL_PRESSURE 8.46559 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.60 SOUNDSPEED 1457.7

XPDR_PINGS 0 GPS 040111,193207,6657.204,-5734.269,31,1.1,31,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 247 90.45 SBE_CT 634 24 327.58

Roll_motor 101 80 176.07 SBE_O2 0 0 0.00

VBD_pump_during_apogee 354 944 7191.70 nil 0 0 0.00

VBD_pump_during_surface 218 82 387.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.11 nil 0 0 0.00

Iridium_during_connect 42 160 146.83 nil 0 0 0.00

Iridium_during_xfer 396 223 1900.86 nil 0 0 0.00

Transponder_ping 2 420 20.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.94

TT8 2266 19 437.97

LPSleep 6148 2 137.76

TT8_Active 698 19 134.96

TT8_Sampling 2058 39 797.00

TT8_CF8 525 45 234.10

TT8_Kalman 0 0 0.00

Analog_circuits 1607 12 187.12

GPS_charging 0 0 0.00

Compass 1606 15 233.78

RAFOS 1080 3 31.43

Transponder 18 30 5.46

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 164 0.00 0.00 -140.40 0.000 2 0.000 0.000 296 2789 3320 0 0 0 0 0 0

167 -0.57 -146.0 5.5 -13.2 25 186 8.50 1.95 -4.05 0.000 4 0.247 0.080 2279 3934 3521 0 0 0 0 0 0

351 -0.59 -146.0 41.8 -11.3 57 357 0.00 1.88 0.00 0.000 6 0.000 0.050 2279 2777 3523 0 0 0 0 0 0

697 -0.59 -146.0 78.1 -9.7 118 705 0.00 2.28 0.00 0.000 4 0.000 0.052 2279 1370 3522 0 0 0 0 0 0

759 -0.62 -146.0 83.9 -9.3 128 766 0.00 2.35 0.00 0.000 6 0.000 0.064 2276 2763 3522 0 0 0 0 0 0

1101 -0.64 -146.0 115.1 -10.0 175 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2764 3522 0 0 0 0 0 0

1421 -0.67 -146.0 147.7 -10.5 205 1425 0.00 2.28 0.00 0.000 4 0.000 0.052 2276 1364 3522 0 0 0 0 0 0

1462 -0.71 -146.0 152.1 -10.2 208 1466 0.00 2.33 0.00 0.000 6 0.000 0.063 2275 2760 3522 0 0 0 0 0 0

1788 -0.74 -146.0 182.6 -8.9 238 1793 0.10 2.28 0.00 0.000 4 0.116 0.052 2229 1363 3522 0 0 0 0 0 0

1845 -0.70 -146.0 189.0 -11.5 242 1851 0.00 2.33 0.00 0.000 6 0.000 0.063 2225 2760 3522 0 0 0 0 0 0

2170 -0.65 -146.0 227.8 -11.5 273 2172 0.15 0.00 0.00 0.000 6 0.174 0.000 2266 2760 3522 0 0 0 0 0 0

2489 -0.68 -146.0 252.3 -7.3 303 2494 0.00 2.25 0.00 0.000 4 0.000 0.051 2266 1361 3522 0 0 0 0 0 0

2542 -0.73 -146.0 256.3 -7.6 307 2546 0.00 2.30 0.00 0.000 6 0.000 0.062 2265 2745 3522 0 0 0 0 0 0

2868 -0.76 -146.0 281.5 -8.2 337 2873 0.10 2.22 0.00 0.000 4 0.117 0.051 2218 1370 3523 0 0 0 0 0 0

2901 -0.72 -146.0 285.2 -11.0 339 2908 0.00 2.30 0.00 0.000 6 0.000 0.062 2217 2738 3523 0 0 0 0 0 0

3227 -0.66 -146.0 325.3 -12.1 370 3231 0.15 2.05 0.00 0.000 4 0.177 0.072 2252 3936 3523 0 0 0 0 0 0

3255 -0.66 -146.0 328.6 -10.9 372 3259 0.00 1.98 0.00 0.000 6 0.000 0.047 2252 2724 3523 0 0 0 0 0 0

3587 -0.66 -146.0 360.6 -9.5 403 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 2252 2724 3524 0 0 0 0 0 0

3908 -0.66 -146.0 389.0 -8.6 433 3912 0.00 2.05 0.00 0.000 4 0.000 0.072 2247 3928 3524 0 0 0 0 0 0

3944 -0.66 -146.0 392.5 -9.1 436 3948 0.00 1.92 0.00 0.000 6 0.000 0.048 2247 2734 3524 0 0 0 0 0 0

4276 -0.66 -146.0 422.0 -9.1 452 4280 0.00 2.17 0.00 0.000 4 0.000 0.050 2247 1368 3524 0 0 0 0 0 0

4298 -0.66 -146.0 424.3 -9.3 452 4305 0.00 2.28 0.00 0.000 6 0.000 0.061 2247 2738 3524 0 0 0 0 0 0

4613 -0.66 -146.0 453.8 -9.6 463 4617 0.00 2.03 0.00 0.000 4 0.000 0.072 2247 3935 3525 0 0 0 0 0 0

4669 -0.69 -146.0 459.4 -9.6 464 4673 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2754 3525 0 0 0 0 0 0

4988 -0.69 -146.0 487.3 -8.7 475 4992 0.00 2.20 0.00 0.000 4 0.000 0.050 2247 1368 3525 0 0 0 0 0 0

5028 -0.72 -146.0 491.0 -8.8 476 5032 0.00 2.28 0.00 0.000 6 0.000 0.061 2247 2740 3525 0 0 0 0 0 0

5352 -0.72 -146.0 516.2 -7.7 487 5355 0.00 2.00 0.00 0.000 4 0.000 0.071 2247 3927 3525 0 0 0 0 0 0

5390 -0.74 -146.0 519.1 -8.6 488 5393 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2726 3525 0 0 0 0 0 0

5731 -0.74 -146.0 545.5 -7.6 499 5732 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2726 3525 0 0 0 0 0 0

5793 end dive: BOTTOM_OBSTACLE_DETECTED

state 5793 begin apogee

5800 -0.14 0.0 550.1 7.7 501 5930 0.57 0.00 124.15 0.945 4 0.135 0.000 2432 2597 2923 0 0 0 0 0 0

5931 end apogee: CONTROL_FINISHED_OK

state 5931 begin climb

5934 0.57 146.0 553.5 0.0 505 6075 0.65 2.42 129.82 0.921 4 0.066 0.050 2663 1185 2326 0 0 0 0 0 0

6209 0.57 146.0 530.5 12.0 513 6216 0.00 2.45 0.00 0.000 6 0.000 0.055 2663 2599 2318 0 0 0 0 0 0

6524 0.53 146.0 492.4 12.2 524 6528 0.00 2.33 0.00 0.000 4 0.000 0.052 2665 1177 2315 0 0 0 0 0 0

6769 0.53 146.0 465.3 10.2 531 6773 0.00 2.35 0.00 0.000 6 0.000 0.057 2665 2601 2314 0 0 0 0 0 0

7101 0.49 146.0 428.0 11.3 542 7106 0.12 2.25 0.00 0.000 4 0.201 0.067 2635 3934 2313 0 0 0 0 0 0

7156 0.45 146.0 421.4 11.2 543 7163 0.00 2.15 0.00 0.000 6 0.000 0.044 2635 2602 2312 0 0 0 0 0 0

7473 0.46 166.2 391.8 9.1 558 7492 0.00 0.00 16.05 0.828 6 0.000 0.000 2635 2603 2244 0 0 0 0 0 0

7811 0.50 198.9 362.5 8.5 590 7845 0.00 2.35 29.05 0.825 4 0.000 0.067 2635 3929 2112 0 0 0 0 0 0

7860 0.56 247.1 358.5 7.8 594 7908 0.00 2.15 42.97 0.812 6 0.000 0.044 2635 2612 1915 0 0 0 0 0 0

8230 0.65 261.1 327.5 9.4 628 8247 0.15 2.30 12.00 0.773 4 0.094 0.052 2698 1193 1857 0 0 0 0 0 0

8318 0.68 261.1 316.4 13.4 635 8323 0.00 2.35 0.00 0.000 6 0.000 0.055 2698 2614 1855 0 0 0 0 0 0

8644 0.68 261.1 268.2 15.0 665 8648 0.00 2.20 0.00 0.000 4 0.000 0.066 2698 3925 1852 0 0 0 0 0 0

8666 0.64 261.1 264.4 16.3 666 8673 0.00 2.15 0.00 0.000 6 0.000 0.044 2700 2596 1851 0 0 0 0 0 0

8991 0.64 261.1 215.6 14.4 697 8995 0.00 2.25 0.00 0.000 4 0.000 0.053 2700 1194 1850 0 0 0 0 0 0

9039 0.67 261.1 209.3 12.8 701 9044 0.00 2.28 0.00 0.000 6 0.000 0.055 2700 2596 1851 0 0 0 0 0 0

9366 0.67 261.1 163.5 14.0 731 9370 0.00 2.22 0.00 0.000 4 0.000 0.067 2700 3929 1850 0 0 0 0 0 0

9382 0.64 261.1 160.7 14.6 732 9389 0.00 2.17 0.00 0.000 6 0.000 0.044 2700 2586 1849 0 0 0 0 0 0

9707 0.64 261.1 113.2 14.4 763 9711 0.00 2.22 0.00 0.000 4 0.000 0.053 2701 1191 1849 0 0 0 0 0 0

9764 0.67 261.1 105.5 13.4 767 9771 0.00 2.28 0.00 0.000 6 0.000 0.055 2701 2581 1849 0 0 0 0 0 0

10106 0.67 261.1 61.7 12.9 824 10113 0.00 2.25 0.00 0.000 4 0.000 0.066 2701 3933 1849 0 0 0 0 0 0

10143 0.64 261.1 56.3 14.6 830 10149 0.00 2.17 0.00 0.000 6 0.000 0.044 2701 2581 1847 0 0 0 0 0 0

10490 0.66 261.1 13.2 10.5 891 10497 0.00 2.25 0.00 0.000 4 0.000 0.052 2701 1181 1847 0 0 0 0 0 0

10584 0.74 263.8 4.0 9.9 907 10591 0.00 2.25 0.00 0.000 6 0.000 0.055 2701 2557 1847 0 0 0 0 0 0

10596 end climb: SURFACE_DEPTH_REACHED

state 10597 begin surface coast

10629 end surface coast: CONTROL_FINISHED_OK

state 10630 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	686	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	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-11352.118	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	040111,161525,6656.679,-5738.396,36,1.9,36,-37.6	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	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040111,162856,6656.711,-5738.272,13,1.2,13,-37.6	MHEAD_RNG_PITCHd_Wd	109.8,38127,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	819

FREEZE	0.93,-1.525,-1.082,0,1,0	ALTIM_TOP_PING	19.9,18.4
FINISH	0.9,1.015974	ALTIM_BOTTOM_PING	550.1,10.8
SM_CCo	10647,218.43,0.083,0,0,440,609.08	_24V_AH	21.5,78.818
SM_GC	1.58,0.00,0.00,218.43,0.000,0.000,0.083,297,2788,440,-6.80,0.23,609.08	_10V_AH	9.7,54.235
RAFOS_CLK	565	FG_AHR_24Vo	0.000
RAFOS	1,1294157344,16.166666,16.151112,52,51,46,43,40,40,1174,497,1285,948,343,978	FG_AHR_10Vo	0.000
RAFOS_FIX	6656.581543,-5741.310547,040111,161622,3,118,2.57	MEM	151636
IRIDIUM_FIX	6631.12,-5736.37,040111,131320	DATA_FILE_SIZE	33378,915
TT8_MAMPS	0.028462	CAP_FILE_SIZE	127765,0
HUMID	45.51	CFSIZE	260165632,204419072
INTERNAL_PRESSURE	8.46559	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	SOUNDSPEED	1457.7
XPDR_PINGS	0	GPS	040111,193207,6657.204,-5734.269,31,1.1,31,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	247	90.45	SBE_CT	634	24	327.58
Roll_motor	101	80	176.07	SBE_O2	0	0	0.00
VBD_pump_during_apogee	354	944	7191.70	nil	0	0	0.00
VBD_pump_during_surface	218	82	387.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.11	nil	0	0	0.00
Iridium_during_connect	42	160	146.83	nil	0	0	0.00
Iridium_during_xfer	396	223	1900.86	nil	0	0	0.00
Transponder_ping	2	420	20.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.94
TT8	2266	19	437.97
LPSleep	6148	2	137.76
TT8_Active	698	19	134.96
TT8_Sampling	2058	39	797.00
TT8_CF8	525	45	234.10
TT8_Kalman	0	0	0.00
Analog_circuits	1607	12	187.12
GPS_charging	0	0	0.00
Compass	1606	15	233.78
RAFOS	1080	3	31.43
Transponder	18	30	5.46

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	164	0.00	0.00	-140.40	0.000	2	0.000	0.000	296	2789	3320	0	0	0	0	0	0
167	-0.57	-146.0	5.5	-13.2	25	186	8.50	1.95	-4.05	0.000	4	0.247	0.080	2279	3934	3521	0	0	0	0	0	0
351	-0.59	-146.0	41.8	-11.3	57	357	0.00	1.88	0.00	0.000	6	0.000	0.050	2279	2777	3523	0	0	0	0	0	0
697	-0.59	-146.0	78.1	-9.7	118	705	0.00	2.28	0.00	0.000	4	0.000	0.052	2279	1370	3522	0	0	0	0	0	0
759	-0.62	-146.0	83.9	-9.3	128	766	0.00	2.35	0.00	0.000	6	0.000	0.064	2276	2763	3522	0	0	0	0	0	0
1101	-0.64	-146.0	115.1	-10.0	175	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2764	3522	0	0	0	0	0	0
1421	-0.67	-146.0	147.7	-10.5	205	1425	0.00	2.28	0.00	0.000	4	0.000	0.052	2276	1364	3522	0	0	0	0	0	0
1462	-0.71	-146.0	152.1	-10.2	208	1466	0.00	2.33	0.00	0.000	6	0.000	0.063	2275	2760	3522	0	0	0	0	0	0
1788	-0.74	-146.0	182.6	-8.9	238	1793	0.10	2.28	0.00	0.000	4	0.116	0.052	2229	1363	3522	0	0	0	0	0	0
1845	-0.70	-146.0	189.0	-11.5	242	1851	0.00	2.33	0.00	0.000	6	0.000	0.063	2225	2760	3522	0	0	0	0	0	0
2170	-0.65	-146.0	227.8	-11.5	273	2172	0.15	0.00	0.00	0.000	6	0.174	0.000	2266	2760	3522	0	0	0	0	0	0
2489	-0.68	-146.0	252.3	-7.3	303	2494	0.00	2.25	0.00	0.000	4	0.000	0.051	2266	1361	3522	0	0	0	0	0	0
2542	-0.73	-146.0	256.3	-7.6	307	2546	0.00	2.30	0.00	0.000	6	0.000	0.062	2265	2745	3522	0	0	0	0	0	0
2868	-0.76	-146.0	281.5	-8.2	337	2873	0.10	2.22	0.00	0.000	4	0.117	0.051	2218	1370	3523	0	0	0	0	0	0
2901	-0.72	-146.0	285.2	-11.0	339	2908	0.00	2.30	0.00	0.000	6	0.000	0.062	2217	2738	3523	0	0	0	0	0	0
3227	-0.66	-146.0	325.3	-12.1	370	3231	0.15	2.05	0.00	0.000	4	0.177	0.072	2252	3936	3523	0	0	0	0	0	0
3255	-0.66	-146.0	328.6	-10.9	372	3259	0.00	1.98	0.00	0.000	6	0.000	0.047	2252	2724	3523	0	0	0	0	0	0
3587	-0.66	-146.0	360.6	-9.5	403	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	2252	2724	3524	0	0	0	0	0	0
3908	-0.66	-146.0	389.0	-8.6	433	3912	0.00	2.05	0.00	0.000	4	0.000	0.072	2247	3928	3524	0	0	0	0	0	0
3944	-0.66	-146.0	392.5	-9.1	436	3948	0.00	1.92	0.00	0.000	6	0.000	0.048	2247	2734	3524	0	0	0	0	0	0
4276	-0.66	-146.0	422.0	-9.1	452	4280	0.00	2.17	0.00	0.000	4	0.000	0.050	2247	1368	3524	0	0	0	0	0	0
4298	-0.66	-146.0	424.3	-9.3	452	4305	0.00	2.28	0.00	0.000	6	0.000	0.061	2247	2738	3524	0	0	0	0	0	0
4613	-0.66	-146.0	453.8	-9.6	463	4617	0.00	2.03	0.00	0.000	4	0.000	0.072	2247	3935	3525	0	0	0	0	0	0
4669	-0.69	-146.0	459.4	-9.6	464	4673	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2754	3525	0	0	0	0	0	0
4988	-0.69	-146.0	487.3	-8.7	475	4992	0.00	2.20	0.00	0.000	4	0.000	0.050	2247	1368	3525	0	0	0	0	0	0
5028	-0.72	-146.0	491.0	-8.8	476	5032	0.00	2.28	0.00	0.000	6	0.000	0.061	2247	2740	3525	0	0	0	0	0	0
5352	-0.72	-146.0	516.2	-7.7	487	5355	0.00	2.00	0.00	0.000	4	0.000	0.071	2247	3927	3525	0	0	0	0	0	0
5390	-0.74	-146.0	519.1	-8.6	488	5393	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2726	3525	0	0	0	0	0	0
5731	-0.74	-146.0	545.5	-7.6	499	5732	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2726	3525	0	0	0	0	0	0
5793	end dive: BOTTOM_OBSTACLE_DETECTED
state	5793	begin apogee
5800	-0.14	0.0	550.1	7.7	501	5930	0.57	0.00	124.15	0.945	4	0.135	0.000	2432	2597	2923	0	0	0	0	0	0
5931	end apogee: CONTROL_FINISHED_OK
state	5931	begin climb
5934	0.57	146.0	553.5	0.0	505	6075	0.65	2.42	129.82	0.921	4	0.066	0.050	2663	1185	2326	0	0	0	0	0	0
6209	0.57	146.0	530.5	12.0	513	6216	0.00	2.45	0.00	0.000	6	0.000	0.055	2663	2599	2318	0	0	0	0	0	0
6524	0.53	146.0	492.4	12.2	524	6528	0.00	2.33	0.00	0.000	4	0.000	0.052	2665	1177	2315	0	0	0	0	0	0
6769	0.53	146.0	465.3	10.2	531	6773	0.00	2.35	0.00	0.000	6	0.000	0.057	2665	2601	2314	0	0	0	0	0	0
7101	0.49	146.0	428.0	11.3	542	7106	0.12	2.25	0.00	0.000	4	0.201	0.067	2635	3934	2313	0	0	0	0	0	0
7156	0.45	146.0	421.4	11.2	543	7163	0.00	2.15	0.00	0.000	6	0.000	0.044	2635	2602	2312	0	0	0	0	0	0
7473	0.46	166.2	391.8	9.1	558	7492	0.00	0.00	16.05	0.828	6	0.000	0.000	2635	2603	2244	0	0	0	0	0	0
7811	0.50	198.9	362.5	8.5	590	7845	0.00	2.35	29.05	0.825	4	0.000	0.067	2635	3929	2112	0	0	0	0	0	0
7860	0.56	247.1	358.5	7.8	594	7908	0.00	2.15	42.97	0.812	6	0.000	0.044	2635	2612	1915	0	0	0	0	0	0
8230	0.65	261.1	327.5	9.4	628	8247	0.15	2.30	12.00	0.773	4	0.094	0.052	2698	1193	1857	0	0	0	0	0	0
8318	0.68	261.1	316.4	13.4	635	8323	0.00	2.35	0.00	0.000	6	0.000	0.055	2698	2614	1855	0	0	0	0	0	0
8644	0.68	261.1	268.2	15.0	665	8648	0.00	2.20	0.00	0.000	4	0.000	0.066	2698	3925	1852	0	0	0	0	0	0
8666	0.64	261.1	264.4	16.3	666	8673	0.00	2.15	0.00	0.000	6	0.000	0.044	2700	2596	1851	0	0	0	0	0	0
8991	0.64	261.1	215.6	14.4	697	8995	0.00	2.25	0.00	0.000	4	0.000	0.053	2700	1194	1850	0	0	0	0	0	0
9039	0.67	261.1	209.3	12.8	701	9044	0.00	2.28	0.00	0.000	6	0.000	0.055	2700	2596	1851	0	0	0	0	0	0
9366	0.67	261.1	163.5	14.0	731	9370	0.00	2.22	0.00	0.000	4	0.000	0.067	2700	3929	1850	0	0	0	0	0	0
9382	0.64	261.1	160.7	14.6	732	9389	0.00	2.17	0.00	0.000	6	0.000	0.044	2700	2586	1849	0	0	0	0	0	0
9707	0.64	261.1	113.2	14.4	763	9711	0.00	2.22	0.00	0.000	4	0.000	0.053	2701	1191	1849	0	0	0	0	0	0
9764	0.67	261.1	105.5	13.4	767	9771	0.00	2.28	0.00	0.000	6	0.000	0.055	2701	2581	1849	0	0	0	0	0	0
10106	0.67	261.1	61.7	12.9	824	10113	0.00	2.25	0.00	0.000	4	0.000	0.066	2701	3933	1849	0	0	0	0	0	0
10143	0.64	261.1	56.3	14.6	830	10149	0.00	2.17	0.00	0.000	6	0.000	0.044	2701	2581	1847	0	0	0	0	0	0
10490	0.66	261.1	13.2	10.5	891	10497	0.00	2.25	0.00	0.000	4	0.000	0.052	2701	1181	1847	0	0	0	0	0	0
10584	0.74	263.8	4.0	9.9	907	10591	0.00	2.25	0.00	0.000	6	0.000	0.055	2701	2557	1847	0	0	0	0	0	0
10596	end climb: SURFACE_DEPTH_REACHED
state	10597	begin surface coast
10629	end surface coast: CONTROL_FINISHED_OK
state	10630	begin surface