Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 722 * 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 722 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 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 39 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 -11397.298 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 5 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 -11397.298

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 42 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 39 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 722 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 090111,133136,6710.970,-5710.338,38,1.1,45,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090111,133732,6710.999,-5710.521,12,1.1,12,-37.8 MHEAD_RNG_PITCHd_Wd 170.1,21999,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 537

Post-dive calculations and measurements:

FREEZE 1.28,2.428,-1.814,0,1,0 ALTIM_TOP_PING 19.7,18.1

FINISH 1.3,1.026413 _24V_AH 22.5,82.450

SM_CCo 10788,211.12,0.079,0,0,441,609.08 _10V_AH 9.8,56.619

SM_GC 1.71,0.00,0.00,211.12,0.000,0.000,0.079,294,2786,441,-6.80,0.17,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 431 FG_AHR_10Vo 0.000

RAFOS 0,1294588862,16.033333,16.017221,49,47,46,45,41,40,889,1349,537,511,26,1159 MEM 151660

RAFOS_FIX 6709.722168,-5708.197754,090111,121228,2,84,0.43 DATA_FILE_SIZE 36704,980

IRIDIUM_FIX 6641.98,-5718.55,090111,101029 CAP_FILE_SIZE 127114,0

TT8_MAMPS 0.029211 CFSIZE 260165632,202207232

HUMID 45.98 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1473.2

TCM_TEMP 16.40 GPS 090111,164326,6711.886,-5711.667,51,99.0,71,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 234 89.17 SBE_CT 673 24 363.49

Roll_motor 103 69 162.23 SBE_O2 0 0 0.00

VBD_pump_during_apogee 346 890 6936.24 nil 0 0 0.00

VBD_pump_during_surface 211 78 374.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 67.26 nil 0 0 0.00

Iridium_during_connect 22 160 80.49 nil 0 0 0.00

Iridium_during_xfer 141 223 708.65 nil 0 0 0.00

Transponder_ping 1 420 14.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.67

TT8 2391 19 466.79

LPSleep 6025 2 136.40

TT8_Active 697 19 136.26

TT8_Sampling 1913 39 748.61

TT8_CF8 335 45 151.13

TT8_Kalman 0 0 0.00

Analog_circuits 1648 12 193.86

GPS_charging 0 0 0.00

Compass 1712 15 251.68

RAFOS 1800 3 52.92

Transponder 11 30 3.37

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 0 150 0.00 0.00 -129.05 0.000 2 0.000 0.000 275 2793 3378 0 0 0 0 0 0

155 -0.57 -146.0 5.5 -11.5 23 174 8.25 2.28 -2.88 0.000 4 0.235 0.057 2283 1365 3521 0 0 0 0 0 0

351 -0.61 -146.0 38.5 -9.5 57 357 0.00 2.30 0.00 0.000 6 0.000 0.057 2277 2763 3523 0 0 0 0 0 0

697 -0.64 -146.0 73.9 -10.4 118 703 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2764 3521 0 0 0 0 0 0

1045 -0.66 -146.0 108.0 -8.9 172 1048 0.00 1.98 0.00 0.000 4 0.000 0.067 2271 3938 3521 0 0 0 0 0 0

1107 -0.70 -146.0 114.5 -10.5 177 1114 0.00 1.85 0.00 0.000 6 0.000 0.045 2270 2786 3521 0 0 0 0 0 0

1434 -0.73 -146.0 144.2 -8.4 208 1438 0.00 2.25 0.00 0.000 4 0.000 0.047 2271 1368 3521 0 0 0 0 0 0

1536 -0.78 -146.0 152.5 -7.6 216 1543 0.12 2.30 0.00 0.000 6 0.092 0.058 2202 2759 3521 0 0 0 0 0 0

1862 -0.70 -146.0 192.1 -12.6 247 1866 0.17 2.00 0.00 0.000 4 0.164 0.067 2245 3931 3521 0 0 0 0 0 0

1925 -0.70 -146.0 198.6 -9.1 252 1932 0.00 1.88 0.00 0.000 6 0.000 0.044 2245 2749 3521 0 0 0 0 0 0

2251 -0.70 -146.0 229.0 -9.0 283 2255 0.00 2.17 0.00 0.000 4 0.000 0.046 2245 1359 3521 0 0 0 0 0 0

2307 -0.72 -146.0 234.3 -9.3 287 2314 0.00 2.30 0.00 0.000 6 0.000 0.057 2243 2751 3521 0 0 0 0 0 0

2633 -0.72 -146.0 264.5 -9.2 318 2637 0.00 1.98 0.00 0.000 4 0.000 0.067 2242 3926 3521 0 0 0 0 0 0

2729 -0.72 -146.0 273.4 -9.4 326 2736 0.00 1.88 0.00 0.000 6 0.000 0.044 2242 2756 3521 0 0 0 0 0 0

3055 -0.72 -146.0 302.1 -8.8 357 3059 0.00 2.17 0.00 0.000 4 0.000 0.045 2242 1362 3522 0 0 0 0 0 0

3120 -0.76 -146.0 307.8 -8.8 362 3124 0.00 2.28 0.00 0.000 6 0.000 0.056 2235 2744 3522 0 0 0 0 0 0

3446 -0.76 -146.0 337.9 -9.2 392 3450 0.00 2.00 0.00 0.000 4 0.000 0.067 2235 3942 3523 0 0 0 0 0 0

3485 -0.76 -146.0 341.9 -10.2 395 3492 0.00 1.92 0.00 0.000 6 0.000 0.043 2235 2735 3523 0 0 0 0 0 0

3810 -0.76 -146.0 374.7 -10.1 426 3814 0.00 2.15 0.00 0.000 4 0.000 0.044 2235 1368 3523 0 0 0 0 0 0

3861 -0.76 -146.0 380.0 -10.5 430 3868 0.00 2.25 0.00 0.000 6 0.000 0.056 2235 2737 3523 0 0 0 0 0 0

4184 -0.76 -146.0 412.2 -10.0 453 4188 0.00 2.17 0.00 0.000 4 0.000 0.044 2235 1363 3524 0 0 0 0 0 0

4213 -0.76 -146.0 415.5 -10.9 454 4217 0.00 2.25 0.00 0.000 6 0.000 0.055 2235 2738 3524 0 0 0 0 0 0

4555 -0.76 -146.0 449.4 -9.8 465 4562 0.00 2.00 0.00 0.000 4 0.000 0.067 2235 3926 3524 0 0 0 0 0 0

4596 -0.76 -146.0 453.9 -10.3 466 4600 0.00 1.92 0.00 0.000 6 0.000 0.042 2235 2736 3524 0 0 0 0 0 0

4933 -0.76 -146.0 485.0 -9.1 477 4936 0.00 2.03 0.00 0.000 4 0.000 0.067 2234 3928 3524 0 0 0 0 0 0

4972 -0.76 -146.0 489.1 -9.9 478 4975 0.00 1.90 0.00 0.000 6 0.000 0.042 2234 2724 3525 0 0 0 0 0 0

5307 -0.76 -146.0 520.6 -9.2 489 5309 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2724 3525 0 0 0 0 0 0

5519 end dive: TARGET_DEPTH_EXCEEDED

state 5519 begin apogee

5526 -0.14 0.0 539.4 8.9 496 5654 0.57 0.00 121.15 0.890 4 0.125 0.000 2424 2601 2922 0 0 0 0 0 0

5655 end apogee: CONTROL_FINISHED_OK

state 5655 begin climb

5657 0.57 146.0 542.6 0.0 500 5793 0.65 2.33 123.62 0.879 4 0.064 0.046 2662 1185 2327 0 0 0 0 0 0

5958 0.57 146.0 515.4 10.2 509 5962 0.00 2.35 0.00 0.000 6 0.000 0.051 2662 2610 2321 0 0 0 0 0 0

6288 0.52 146.0 477.7 12.3 520 6292 0.00 2.28 0.00 0.000 4 0.000 0.047 2666 1183 2318 0 0 0 0 0 0

6546 0.52 146.0 447.4 11.0 527 6553 0.00 2.28 0.00 0.000 6 0.000 0.050 2666 2593 2318 0 0 0 0 0 0

6860 0.47 146.0 409.8 11.9 538 6865 0.15 2.22 0.00 0.000 4 0.184 0.061 2626 3936 2317 0 0 0 0 0 0

6887 0.44 146.0 406.3 12.1 538 6894 0.00 2.12 0.00 0.000 6 0.000 0.040 2626 2593 2316 0 0 0 0 0 0

7215 0.47 158.7 375.3 9.4 565 7230 0.00 2.25 10.40 0.737 4 0.000 0.063 2625 3929 2275 0 0 0 0 0 0

7249 0.47 158.7 371.3 10.1 568 7253 0.00 2.10 0.00 0.000 6 0.000 0.039 2625 2605 2273 0 0 0 0 0 0

7581 0.50 162.1 339.3 9.8 599 7593 0.00 2.28 4.07 0.546 4 0.000 0.047 2625 1195 2262 0 0 0 0 0 0

7607 0.55 164.5 336.8 9.9 601 7619 0.00 2.25 4.18 0.547 6 0.000 0.050 2625 2606 2252 0 0 0 0 0 0

7937 0.59 164.5 304.4 10.2 632 7942 0.12 2.22 0.00 0.000 4 0.096 0.062 2685 3935 2251 0 0 0 0 0 0

7959 0.54 164.5 301.3 13.2 633 7966 0.15 2.12 0.00 0.000 6 0.186 0.040 2653 2595 2250 0 0 0 0 0 0

8285 0.54 164.5 261.3 11.7 664 8286 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2595 2250 0 0 0 0 0 0

8606 0.54 164.5 224.6 11.7 694 8610 0.00 2.22 0.00 0.000 4 0.000 0.061 2653 3926 2250 0 0 0 0 0 0

8624 0.51 164.5 222.1 11.9 695 8628 0.00 2.08 0.00 0.000 6 0.000 0.040 2655 2611 2249 0 0 0 0 0 0

8952 0.51 164.5 183.4 11.8 725 8956 0.00 2.17 0.00 0.000 4 0.000 0.062 2655 3926 2249 0 0 0 0 0 0

8968 0.49 164.5 181.1 11.4 726 8975 0.00 2.08 0.00 0.000 6 0.000 0.039 2655 2612 2250 0 0 0 0 0 0

9293 0.49 164.5 144.1 11.0 757 9297 0.00 2.20 0.00 0.000 4 0.000 0.046 2655 1201 2250 0 0 0 0 0 0

9315 0.49 164.5 141.5 11.6 758 9322 0.00 2.30 0.00 0.000 6 0.000 0.048 2655 2627 2250 0 0 0 0 0 0

9641 0.49 168.0 106.3 9.8 789 9654 0.00 2.17 4.75 0.510 4 0.000 0.062 2655 3925 2236 0 0 0 0 0 0

9684 0.45 168.0 101.7 11.4 792 9691 0.12 2.08 0.00 0.000 6 0.191 0.040 2624 2612 2235 0 0 0 0 0 0

10033 0.59 262.1 79.2 5.7 851 10119 0.12 2.30 78.03 0.607 4 0.094 0.046 2686 1197 1852 0 0 0 0 0 0

10140 0.65 262.1 69.0 11.0 869 10147 0.00 2.28 0.00 0.000 6 0.000 0.050 2686 2601 1849 0 0 0 0 0 0

10488 0.71 262.1 31.6 11.3 930 10495 0.00 2.20 0.00 0.000 4 0.000 0.062 2686 3928 1844 0 0 0 0 0 0

10611 0.71 262.1 15.7 14.6 951 10618 0.00 2.05 0.00 0.000 6 0.000 0.040 2686 2617 1841 0 0 0 0 0 0

10744 end climb: SURFACE_DEPTH_REACHED

state 10744 begin surface coast

10771 end surface coast: CONTROL_FINISHED_OK

state 10772 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	722	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	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	39	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	-11397.298	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	090111,133136,6710.970,-5710.338,38,1.1,45,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090111,133732,6710.999,-5710.521,12,1.1,12,-37.8	MHEAD_RNG_PITCHd_Wd	170.1,21999,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	537

FREEZE	1.28,2.428,-1.814,0,1,0	ALTIM_TOP_PING	19.7,18.1
FINISH	1.3,1.026413	_24V_AH	22.5,82.450
SM_CCo	10788,211.12,0.079,0,0,441,609.08	_10V_AH	9.8,56.619
SM_GC	1.71,0.00,0.00,211.12,0.000,0.000,0.079,294,2786,441,-6.80,0.17,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	431	FG_AHR_10Vo	0.000
RAFOS	0,1294588862,16.033333,16.017221,49,47,46,45,41,40,889,1349,537,511,26,1159	MEM	151660
RAFOS_FIX	6709.722168,-5708.197754,090111,121228,2,84,0.43	DATA_FILE_SIZE	36704,980
IRIDIUM_FIX	6641.98,-5718.55,090111,101029	CAP_FILE_SIZE	127114,0
TT8_MAMPS	0.029211	CFSIZE	260165632,202207232
HUMID	45.98	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1473.2
TCM_TEMP	16.40	GPS	090111,164326,6711.886,-5711.667,51,99.0,71,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	234	89.17	SBE_CT	673	24	363.49
Roll_motor	103	69	162.23	SBE_O2	0	0	0.00
VBD_pump_during_apogee	346	890	6936.24	nil	0	0	0.00
VBD_pump_during_surface	211	78	374.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	67.26	nil	0	0	0.00
Iridium_during_connect	22	160	80.49	nil	0	0	0.00
Iridium_during_xfer	141	223	708.65	nil	0	0	0.00
Transponder_ping	1	420	14.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.67
TT8	2391	19	466.79
LPSleep	6025	2	136.40
TT8_Active	697	19	136.26
TT8_Sampling	1913	39	748.61
TT8_CF8	335	45	151.13
TT8_Kalman	0	0	0.00
Analog_circuits	1648	12	193.86
GPS_charging	0	0	0.00
Compass	1712	15	251.68
RAFOS	1800	3	52.92
Transponder	11	30	3.37

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	150	0.00	0.00	-129.05	0.000	2	0.000	0.000	275	2793	3378	0	0	0	0	0	0
155	-0.57	-146.0	5.5	-11.5	23	174	8.25	2.28	-2.88	0.000	4	0.235	0.057	2283	1365	3521	0	0	0	0	0	0
351	-0.61	-146.0	38.5	-9.5	57	357	0.00	2.30	0.00	0.000	6	0.000	0.057	2277	2763	3523	0	0	0	0	0	0
697	-0.64	-146.0	73.9	-10.4	118	703	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	2764	3521	0	0	0	0	0	0
1045	-0.66	-146.0	108.0	-8.9	172	1048	0.00	1.98	0.00	0.000	4	0.000	0.067	2271	3938	3521	0	0	0	0	0	0
1107	-0.70	-146.0	114.5	-10.5	177	1114	0.00	1.85	0.00	0.000	6	0.000	0.045	2270	2786	3521	0	0	0	0	0	0
1434	-0.73	-146.0	144.2	-8.4	208	1438	0.00	2.25	0.00	0.000	4	0.000	0.047	2271	1368	3521	0	0	0	0	0	0
1536	-0.78	-146.0	152.5	-7.6	216	1543	0.12	2.30	0.00	0.000	6	0.092	0.058	2202	2759	3521	0	0	0	0	0	0
1862	-0.70	-146.0	192.1	-12.6	247	1866	0.17	2.00	0.00	0.000	4	0.164	0.067	2245	3931	3521	0	0	0	0	0	0
1925	-0.70	-146.0	198.6	-9.1	252	1932	0.00	1.88	0.00	0.000	6	0.000	0.044	2245	2749	3521	0	0	0	0	0	0
2251	-0.70	-146.0	229.0	-9.0	283	2255	0.00	2.17	0.00	0.000	4	0.000	0.046	2245	1359	3521	0	0	0	0	0	0
2307	-0.72	-146.0	234.3	-9.3	287	2314	0.00	2.30	0.00	0.000	6	0.000	0.057	2243	2751	3521	0	0	0	0	0	0
2633	-0.72	-146.0	264.5	-9.2	318	2637	0.00	1.98	0.00	0.000	4	0.000	0.067	2242	3926	3521	0	0	0	0	0	0
2729	-0.72	-146.0	273.4	-9.4	326	2736	0.00	1.88	0.00	0.000	6	0.000	0.044	2242	2756	3521	0	0	0	0	0	0
3055	-0.72	-146.0	302.1	-8.8	357	3059	0.00	2.17	0.00	0.000	4	0.000	0.045	2242	1362	3522	0	0	0	0	0	0
3120	-0.76	-146.0	307.8	-8.8	362	3124	0.00	2.28	0.00	0.000	6	0.000	0.056	2235	2744	3522	0	0	0	0	0	0
3446	-0.76	-146.0	337.9	-9.2	392	3450	0.00	2.00	0.00	0.000	4	0.000	0.067	2235	3942	3523	0	0	0	0	0	0
3485	-0.76	-146.0	341.9	-10.2	395	3492	0.00	1.92	0.00	0.000	6	0.000	0.043	2235	2735	3523	0	0	0	0	0	0
3810	-0.76	-146.0	374.7	-10.1	426	3814	0.00	2.15	0.00	0.000	4	0.000	0.044	2235	1368	3523	0	0	0	0	0	0
3861	-0.76	-146.0	380.0	-10.5	430	3868	0.00	2.25	0.00	0.000	6	0.000	0.056	2235	2737	3523	0	0	0	0	0	0
4184	-0.76	-146.0	412.2	-10.0	453	4188	0.00	2.17	0.00	0.000	4	0.000	0.044	2235	1363	3524	0	0	0	0	0	0
4213	-0.76	-146.0	415.5	-10.9	454	4217	0.00	2.25	0.00	0.000	6	0.000	0.055	2235	2738	3524	0	0	0	0	0	0
4555	-0.76	-146.0	449.4	-9.8	465	4562	0.00	2.00	0.00	0.000	4	0.000	0.067	2235	3926	3524	0	0	0	0	0	0
4596	-0.76	-146.0	453.9	-10.3	466	4600	0.00	1.92	0.00	0.000	6	0.000	0.042	2235	2736	3524	0	0	0	0	0	0
4933	-0.76	-146.0	485.0	-9.1	477	4936	0.00	2.03	0.00	0.000	4	0.000	0.067	2234	3928	3524	0	0	0	0	0	0
4972	-0.76	-146.0	489.1	-9.9	478	4975	0.00	1.90	0.00	0.000	6	0.000	0.042	2234	2724	3525	0	0	0	0	0	0
5307	-0.76	-146.0	520.6	-9.2	489	5309	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2724	3525	0	0	0	0	0	0
5519	end dive: TARGET_DEPTH_EXCEEDED
state	5519	begin apogee
5526	-0.14	0.0	539.4	8.9	496	5654	0.57	0.00	121.15	0.890	4	0.125	0.000	2424	2601	2922	0	0	0	0	0	0
5655	end apogee: CONTROL_FINISHED_OK
state	5655	begin climb
5657	0.57	146.0	542.6	0.0	500	5793	0.65	2.33	123.62	0.879	4	0.064	0.046	2662	1185	2327	0	0	0	0	0	0
5958	0.57	146.0	515.4	10.2	509	5962	0.00	2.35	0.00	0.000	6	0.000	0.051	2662	2610	2321	0	0	0	0	0	0
6288	0.52	146.0	477.7	12.3	520	6292	0.00	2.28	0.00	0.000	4	0.000	0.047	2666	1183	2318	0	0	0	0	0	0
6546	0.52	146.0	447.4	11.0	527	6553	0.00	2.28	0.00	0.000	6	0.000	0.050	2666	2593	2318	0	0	0	0	0	0
6860	0.47	146.0	409.8	11.9	538	6865	0.15	2.22	0.00	0.000	4	0.184	0.061	2626	3936	2317	0	0	0	0	0	0
6887	0.44	146.0	406.3	12.1	538	6894	0.00	2.12	0.00	0.000	6	0.000	0.040	2626	2593	2316	0	0	0	0	0	0
7215	0.47	158.7	375.3	9.4	565	7230	0.00	2.25	10.40	0.737	4	0.000	0.063	2625	3929	2275	0	0	0	0	0	0
7249	0.47	158.7	371.3	10.1	568	7253	0.00	2.10	0.00	0.000	6	0.000	0.039	2625	2605	2273	0	0	0	0	0	0
7581	0.50	162.1	339.3	9.8	599	7593	0.00	2.28	4.07	0.546	4	0.000	0.047	2625	1195	2262	0	0	0	0	0	0
7607	0.55	164.5	336.8	9.9	601	7619	0.00	2.25	4.18	0.547	6	0.000	0.050	2625	2606	2252	0	0	0	0	0	0
7937	0.59	164.5	304.4	10.2	632	7942	0.12	2.22	0.00	0.000	4	0.096	0.062	2685	3935	2251	0	0	0	0	0	0
7959	0.54	164.5	301.3	13.2	633	7966	0.15	2.12	0.00	0.000	6	0.186	0.040	2653	2595	2250	0	0	0	0	0	0
8285	0.54	164.5	261.3	11.7	664	8286	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2595	2250	0	0	0	0	0	0
8606	0.54	164.5	224.6	11.7	694	8610	0.00	2.22	0.00	0.000	4	0.000	0.061	2653	3926	2250	0	0	0	0	0	0
8624	0.51	164.5	222.1	11.9	695	8628	0.00	2.08	0.00	0.000	6	0.000	0.040	2655	2611	2249	0	0	0	0	0	0
8952	0.51	164.5	183.4	11.8	725	8956	0.00	2.17	0.00	0.000	4	0.000	0.062	2655	3926	2249	0	0	0	0	0	0
8968	0.49	164.5	181.1	11.4	726	8975	0.00	2.08	0.00	0.000	6	0.000	0.039	2655	2612	2250	0	0	0	0	0	0
9293	0.49	164.5	144.1	11.0	757	9297	0.00	2.20	0.00	0.000	4	0.000	0.046	2655	1201	2250	0	0	0	0	0	0
9315	0.49	164.5	141.5	11.6	758	9322	0.00	2.30	0.00	0.000	6	0.000	0.048	2655	2627	2250	0	0	0	0	0	0
9641	0.49	168.0	106.3	9.8	789	9654	0.00	2.17	4.75	0.510	4	0.000	0.062	2655	3925	2236	0	0	0	0	0	0
9684	0.45	168.0	101.7	11.4	792	9691	0.12	2.08	0.00	0.000	6	0.191	0.040	2624	2612	2235	0	0	0	0	0	0
10033	0.59	262.1	79.2	5.7	851	10119	0.12	2.30	78.03	0.607	4	0.094	0.046	2686	1197	1852	0	0	0	0	0	0
10140	0.65	262.1	69.0	11.0	869	10147	0.00	2.28	0.00	0.000	6	0.000	0.050	2686	2601	1849	0	0	0	0	0	0
10488	0.71	262.1	31.6	11.3	930	10495	0.00	2.20	0.00	0.000	4	0.000	0.062	2686	3928	1844	0	0	0	0	0	0
10611	0.71	262.1	15.7	14.6	951	10618	0.00	2.05	0.00	0.000	6	0.000	0.040	2686	2617	1841	0	0	0	0	0	0
10744	end climb: SURFACE_DEPTH_REACHED
state	10744	begin surface coast
10771	end surface coast: CONTROL_FINISHED_OK
state	10772	begin surface