Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 766 * 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 766 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -11458.035 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 -11458.035

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 37 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 30 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 766 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 140111,181655,6714.146,-5725.026,39,0.9,40,-38.0 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 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140111,182250,6714.172,-5725.106,13,1.2,13,-38.0 MHEAD_RNG_PITCHd_Wd 165.7,33854,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 595

Post-dive calculations and measurements:

FREEZE 0.81,1.810,-0.400,0,1,0 ALTIM_TOP_PING 19.4,18.1

FINISH 0.8,1.005855 _24V_AH 22.4,86.399

SM_CCo 11698,187.50,0.079,0,0,440,609.08 _10V_AH 9.8,59.290

SM_GC 1.51,0.00,0.00,187.50,0.000,0.000,0.079,293,2781,440,-6.81,0.03,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 447 FG_AHR_10Vo 0.000

RAFOS 0,1295035272,20.033333,20.020000,47,47,44,44,42,41,1894,1301,1573,336,1797,701 MEM 151704

RAFOS_FIX 6714.848145,-5730.255859,140111,202000,2,96,0.45 DATA_FILE_SIZE 36683,995

IRIDIUM_FIX 6647.44,-5732.58,140111,151500 CAP_FILE_SIZE 123320,0

TT8_MAMPS 0.028462 CFSIZE 260165632,199659520

HUMID 45.19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.56325 SOUNDSPEED 1472.6

TCM_TEMP 16.30 GPS 140111,214301,6714.027,-5723.688,34,1.6,35,-37.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 235 90.78 SBE_CT 683 24 367.28

Roll_motor 87 77 150.79 SBE_O2 0 0 0.00

VBD_pump_during_apogee 376 924 7789.00 nil 0 0 0.00

VBD_pump_during_surface 187 78 330.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.81 nil 0 0 0.00

Iridium_during_connect 17 160 63.29 nil 0 0 0.00

Iridium_during_xfer 144 223 721.72 nil 0 0 0.00

Transponder_ping 1 420 16.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.72

TT8 2375 19 463.78

LPSleep 7054 2 159.70

TT8_Active 688 19 134.34

TT8_Sampling 1798 39 703.48

TT8_CF8 339 45 152.63

TT8_Kalman 0 0 0.00

Analog_circuits 1594 12 187.56

GPS_charging 0 0 0.00

Compass 1605 15 236.01

RAFOS 2520 3 74.09

Transponder 13 30 3.90

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 -140.73 0.000 2 0.000 0.000 280 2793 3514 0 0 0 0 0 0

167 -0.57 -146.0 5.5 -12.9 25 180 8.32 2.33 0.00 0.000 4 0.236 0.041 2283 1357 3516 0 0 0 0 0 0

407 -0.60 -146.0 43.6 -10.8 67 414 0.00 2.35 0.00 0.000 6 0.000 0.057 2276 2780 3517 0 0 0 0 0 0

754 -0.60 -146.0 77.8 -10.3 128 760 0.00 1.98 0.00 0.000 4 0.000 0.069 2275 3935 3517 0 0 0 0 0 0

798 -0.63 -146.0 82.6 -11.6 135 805 0.00 1.88 0.00 0.000 6 0.000 0.044 2274 2764 3518 0 0 0 0 0 0

1141 -0.67 -146.0 115.4 -8.9 181 1146 0.00 2.20 0.00 0.000 4 0.000 0.045 2274 1366 3517 0 0 0 0 0 0

1181 -0.73 -146.0 119.2 -8.7 184 1188 0.10 2.33 0.00 0.000 6 0.105 0.058 2225 2771 3516 0 0 0 0 0 0

1507 -0.69 -146.0 156.6 -11.4 215 1510 0.00 1.95 0.00 0.000 4 0.000 0.067 2222 3928 3516 0 0 0 0 0 0

1543 -0.65 -146.0 161.0 -12.5 218 1547 0.15 1.85 0.00 0.000 6 0.154 0.043 2264 2754 3515 0 0 0 0 0 0

1875 -0.69 -146.0 188.3 -7.8 249 1879 0.00 2.15 0.00 0.000 4 0.000 0.044 2265 1373 3515 0 0 0 0 0 0

1909 -0.74 -146.0 191.1 -8.1 251 1916 0.00 2.30 0.00 0.000 6 0.000 0.057 2261 2766 3516 0 0 0 0 0 0

2235 -0.78 -146.0 217.6 -8.9 282 2240 0.10 1.98 0.00 0.000 4 0.111 0.067 2205 3928 3516 0 0 0 0 0 0

2264 -0.73 -146.0 220.8 -11.1 284 2271 0.12 1.85 0.00 0.000 6 0.165 0.041 2238 2765 3516 0 0 0 0 0 0

2589 -0.73 -146.0 253.9 -10.3 315 2593 0.00 2.17 0.00 0.000 4 0.000 0.044 2238 1369 3517 0 0 0 0 0 0

2634 -0.73 -146.0 258.7 -10.3 318 2641 0.00 2.33 0.00 0.000 6 0.000 0.056 2235 2780 3517 0 0 0 0 0 0

2960 -0.73 -146.0 291.4 -10.2 349 2964 0.00 2.22 0.00 0.000 4 0.000 0.044 2235 1373 3517 0 0 0 0 0 0

2994 -0.73 -146.0 294.9 -10.2 351 3000 0.00 2.30 0.00 0.000 6 0.000 0.056 2235 2769 3517 0 0 0 0 0 0

3319 -0.73 -146.0 324.7 -9.0 382 3321 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2769 3518 0 0 0 0 0 0

3642 -0.73 -146.0 352.8 -8.9 412 3648 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2769 3518 0 0 0 0 0 0

3970 -0.73 -146.0 382.5 -9.0 443 3976 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2769 3518 0 0 0 0 0 0

4312 -0.73 -146.0 414.0 -8.9 466 4316 0.00 2.20 0.00 0.000 4 0.000 0.044 2235 1368 3519 0 0 0 0 0 0

4368 -0.76 -146.0 419.6 -9.3 467 4372 0.00 2.33 0.00 0.000 6 0.000 0.056 2235 2780 3519 0 0 0 0 0 0

4683 -0.76 -146.0 447.0 -8.7 477 4687 0.00 2.25 0.00 0.000 4 0.000 0.043 2234 1370 3519 0 0 0 0 0 0

4722 -0.76 -146.0 450.6 -8.6 478 4726 0.00 2.30 0.00 0.000 6 0.000 0.054 2234 2770 3519 0 0 0 0 0 0

5046 -0.76 -146.0 477.4 -8.2 489 5048 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2770 3519 0 0 0 0 0 0

5353 -0.76 -146.0 502.7 -8.5 499 5355 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2770 3520 0 0 0 0 0 0

5658 -0.76 -146.0 532.0 -10.5 509 5660 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2770 3520 0 0 0 0 0 0

5965 -0.76 -146.0 560.9 -9.1 519 5969 0.00 1.95 0.00 0.000 4 0.000 0.067 2234 3926 3521 0 0 0 0 0 0

5994 -0.76 -146.0 563.4 -9.4 519 6000 0.00 1.85 0.00 0.000 6 0.000 0.041 2233 2748 3520 0 0 0 0 0 0

6304 end dive: TARGET_DEPTH_EXCEEDED

state 6304 begin apogee

6311 -0.14 0.0 595.3 10.2 530 6441 0.57 0.00 121.45 0.924 4 0.123 0.000 2424 2592 2923 0 0 0 0 0 0

6442 end apogee: CONTROL_FINISHED_OK

state 6442 begin climb

6445 0.57 146.0 598.2 0.0 534 6576 0.62 0.00 124.82 0.910 6 0.065 0.000 2665 2591 2327 0 0 0 0 0 0

6907 0.52 146.0 547.2 11.9 549 6911 0.00 2.22 0.00 0.000 4 0.000 0.061 2665 3932 2319 0 0 0 0 0 0

6930 0.43 146.0 544.0 12.7 549 6937 0.20 2.12 0.00 0.000 6 0.172 0.038 2617 2591 2317 0 0 0 0 0 0

7245 0.48 177.8 517.2 8.5 560 7277 0.00 2.33 26.58 0.847 4 0.000 0.062 2618 3928 2198 0 0 0 0 0 0

7295 0.51 177.9 512.2 10.0 561 7299 0.00 2.12 0.00 0.000 6 0.000 0.039 2618 2598 2195 0 0 0 0 0 0

7615 0.57 177.9 480.3 10.2 572 7619 0.12 2.22 0.00 0.000 4 0.093 0.047 2680 1187 2194 0 0 0 0 0 0

7642 0.57 177.9 476.8 12.5 572 7648 0.00 2.25 0.00 0.000 6 0.000 0.050 2679 2597 2194 0 0 0 0 0 0

7955 0.52 177.9 429.3 15.9 583 7960 0.12 2.22 0.00 0.000 4 0.184 0.062 2646 3931 2193 0 0 0 0 0 0

7984 0.48 177.9 424.8 15.8 583 7990 0.00 2.10 0.00 0.000 6 0.000 0.039 2650 2600 2191 0 0 0 0 0 0

8300 0.48 177.9 384.6 12.3 600 8304 0.00 2.20 0.00 0.000 4 0.000 0.047 2653 1199 2191 0 0 0 0 0 0

8330 0.51 177.9 381.0 12.3 602 8334 0.00 2.25 0.00 0.000 6 0.000 0.049 2653 2612 2191 0 0 0 0 0 0

8658 0.51 177.9 340.1 12.3 632 8662 0.00 2.25 0.00 0.000 4 0.000 0.047 2653 1194 2191 0 0 0 0 0 0

8676 0.51 177.9 337.5 12.6 633 8680 0.00 2.25 0.00 0.000 6 0.000 0.049 2653 2603 2191 0 0 0 0 0 0

9002 0.51 177.9 296.3 12.7 663 9006 0.00 2.17 0.00 0.000 4 0.000 0.061 2653 3928 2191 0 0 0 0 0 0

9054 0.46 177.9 288.7 14.9 667 9058 0.00 2.08 0.00 0.000 6 0.000 0.040 2655 2615 2190 0 0 0 0 0 0

9385 0.46 177.9 246.9 12.0 698 9386 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2614 2190 0 0 0 0 0 0

9705 0.46 177.9 208.5 11.9 728 9707 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2614 2190 0 0 0 0 0 0

10026 0.46 177.9 171.4 10.9 758 10032 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2614 2190 0 0 0 0 0 0

10353 0.46 177.9 133.5 11.1 789 10354 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2613 2190 0 0 0 0 0 0

10673 0.49 177.9 98.2 11.1 820 10680 0.00 2.17 0.00 0.000 4 0.000 0.061 2655 3927 2190 0 0 0 0 0 0

10761 0.47 177.9 86.9 13.5 835 10767 0.00 2.05 0.00 0.000 6 0.000 0.038 2655 2626 2190 0 0 0 0 0 0

11111 0.51 190.2 53.5 9.4 896 11124 0.00 0.00 10.82 0.575 6 0.000 0.000 2655 2626 2146 0 0 0 0 0 0

11466 0.60 249.7 24.5 7.3 958 11524 0.00 2.30 50.03 0.575 4 0.000 0.046 2655 1198 1903 0 0 0 0 0 0

11560 0.78 301.2 17.2 7.6 974 11613 0.20 2.33 42.58 0.565 6 0.078 0.050 2745 2639 1693 0 0 0 0 0 0

11663 end climb: SURFACE_DEPTH_REACHED

state 11664 begin surface coast

11681 end surface coast: CONTROL_FINISHED_OK

state 11681 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	766	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-11458.035	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	140111,181655,6714.146,-5725.026,39,0.9,40,-38.0	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	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140111,182250,6714.172,-5725.106,13,1.2,13,-38.0	MHEAD_RNG_PITCHd_Wd	165.7,33854,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	595

FREEZE	0.81,1.810,-0.400,0,1,0	ALTIM_TOP_PING	19.4,18.1
FINISH	0.8,1.005855	_24V_AH	22.4,86.399
SM_CCo	11698,187.50,0.079,0,0,440,609.08	_10V_AH	9.8,59.290
SM_GC	1.51,0.00,0.00,187.50,0.000,0.000,0.079,293,2781,440,-6.81,0.03,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	447	FG_AHR_10Vo	0.000
RAFOS	0,1295035272,20.033333,20.020000,47,47,44,44,42,41,1894,1301,1573,336,1797,701	MEM	151704
RAFOS_FIX	6714.848145,-5730.255859,140111,202000,2,96,0.45	DATA_FILE_SIZE	36683,995
IRIDIUM_FIX	6647.44,-5732.58,140111,151500	CAP_FILE_SIZE	123320,0
TT8_MAMPS	0.028462	CFSIZE	260165632,199659520
HUMID	45.19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.56325	SOUNDSPEED	1472.6
TCM_TEMP	16.30	GPS	140111,214301,6714.027,-5723.688,34,1.6,35,-37.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	235	90.78	SBE_CT	683	24	367.28
Roll_motor	87	77	150.79	SBE_O2	0	0	0.00
VBD_pump_during_apogee	376	924	7789.00	nil	0	0	0.00
VBD_pump_during_surface	187	78	330.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.81	nil	0	0	0.00
Iridium_during_connect	17	160	63.29	nil	0	0	0.00
Iridium_during_xfer	144	223	721.72	nil	0	0	0.00
Transponder_ping	1	420	16.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.72
TT8	2375	19	463.78
LPSleep	7054	2	159.70
TT8_Active	688	19	134.34
TT8_Sampling	1798	39	703.48
TT8_CF8	339	45	152.63
TT8_Kalman	0	0	0.00
Analog_circuits	1594	12	187.56
GPS_charging	0	0	0.00
Compass	1605	15	236.01
RAFOS	2520	3	74.09
Transponder	13	30	3.90

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	-140.73	0.000	2	0.000	0.000	280	2793	3514	0	0	0	0	0	0
167	-0.57	-146.0	5.5	-12.9	25	180	8.32	2.33	0.00	0.000	4	0.236	0.041	2283	1357	3516	0	0	0	0	0	0
407	-0.60	-146.0	43.6	-10.8	67	414	0.00	2.35	0.00	0.000	6	0.000	0.057	2276	2780	3517	0	0	0	0	0	0
754	-0.60	-146.0	77.8	-10.3	128	760	0.00	1.98	0.00	0.000	4	0.000	0.069	2275	3935	3517	0	0	0	0	0	0
798	-0.63	-146.0	82.6	-11.6	135	805	0.00	1.88	0.00	0.000	6	0.000	0.044	2274	2764	3518	0	0	0	0	0	0
1141	-0.67	-146.0	115.4	-8.9	181	1146	0.00	2.20	0.00	0.000	4	0.000	0.045	2274	1366	3517	0	0	0	0	0	0
1181	-0.73	-146.0	119.2	-8.7	184	1188	0.10	2.33	0.00	0.000	6	0.105	0.058	2225	2771	3516	0	0	0	0	0	0
1507	-0.69	-146.0	156.6	-11.4	215	1510	0.00	1.95	0.00	0.000	4	0.000	0.067	2222	3928	3516	0	0	0	0	0	0
1543	-0.65	-146.0	161.0	-12.5	218	1547	0.15	1.85	0.00	0.000	6	0.154	0.043	2264	2754	3515	0	0	0	0	0	0
1875	-0.69	-146.0	188.3	-7.8	249	1879	0.00	2.15	0.00	0.000	4	0.000	0.044	2265	1373	3515	0	0	0	0	0	0
1909	-0.74	-146.0	191.1	-8.1	251	1916	0.00	2.30	0.00	0.000	6	0.000	0.057	2261	2766	3516	0	0	0	0	0	0
2235	-0.78	-146.0	217.6	-8.9	282	2240	0.10	1.98	0.00	0.000	4	0.111	0.067	2205	3928	3516	0	0	0	0	0	0
2264	-0.73	-146.0	220.8	-11.1	284	2271	0.12	1.85	0.00	0.000	6	0.165	0.041	2238	2765	3516	0	0	0	0	0	0
2589	-0.73	-146.0	253.9	-10.3	315	2593	0.00	2.17	0.00	0.000	4	0.000	0.044	2238	1369	3517	0	0	0	0	0	0
2634	-0.73	-146.0	258.7	-10.3	318	2641	0.00	2.33	0.00	0.000	6	0.000	0.056	2235	2780	3517	0	0	0	0	0	0
2960	-0.73	-146.0	291.4	-10.2	349	2964	0.00	2.22	0.00	0.000	4	0.000	0.044	2235	1373	3517	0	0	0	0	0	0
2994	-0.73	-146.0	294.9	-10.2	351	3000	0.00	2.30	0.00	0.000	6	0.000	0.056	2235	2769	3517	0	0	0	0	0	0
3319	-0.73	-146.0	324.7	-9.0	382	3321	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2769	3518	0	0	0	0	0	0
3642	-0.73	-146.0	352.8	-8.9	412	3648	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2769	3518	0	0	0	0	0	0
3970	-0.73	-146.0	382.5	-9.0	443	3976	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2769	3518	0	0	0	0	0	0
4312	-0.73	-146.0	414.0	-8.9	466	4316	0.00	2.20	0.00	0.000	4	0.000	0.044	2235	1368	3519	0	0	0	0	0	0
4368	-0.76	-146.0	419.6	-9.3	467	4372	0.00	2.33	0.00	0.000	6	0.000	0.056	2235	2780	3519	0	0	0	0	0	0
4683	-0.76	-146.0	447.0	-8.7	477	4687	0.00	2.25	0.00	0.000	4	0.000	0.043	2234	1370	3519	0	0	0	0	0	0
4722	-0.76	-146.0	450.6	-8.6	478	4726	0.00	2.30	0.00	0.000	6	0.000	0.054	2234	2770	3519	0	0	0	0	0	0
5046	-0.76	-146.0	477.4	-8.2	489	5048	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2770	3519	0	0	0	0	0	0
5353	-0.76	-146.0	502.7	-8.5	499	5355	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2770	3520	0	0	0	0	0	0
5658	-0.76	-146.0	532.0	-10.5	509	5660	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2770	3520	0	0	0	0	0	0
5965	-0.76	-146.0	560.9	-9.1	519	5969	0.00	1.95	0.00	0.000	4	0.000	0.067	2234	3926	3521	0	0	0	0	0	0
5994	-0.76	-146.0	563.4	-9.4	519	6000	0.00	1.85	0.00	0.000	6	0.000	0.041	2233	2748	3520	0	0	0	0	0	0
6304	end dive: TARGET_DEPTH_EXCEEDED
state	6304	begin apogee
6311	-0.14	0.0	595.3	10.2	530	6441	0.57	0.00	121.45	0.924	4	0.123	0.000	2424	2592	2923	0	0	0	0	0	0
6442	end apogee: CONTROL_FINISHED_OK
state	6442	begin climb
6445	0.57	146.0	598.2	0.0	534	6576	0.62	0.00	124.82	0.910	6	0.065	0.000	2665	2591	2327	0	0	0	0	0	0
6907	0.52	146.0	547.2	11.9	549	6911	0.00	2.22	0.00	0.000	4	0.000	0.061	2665	3932	2319	0	0	0	0	0	0
6930	0.43	146.0	544.0	12.7	549	6937	0.20	2.12	0.00	0.000	6	0.172	0.038	2617	2591	2317	0	0	0	0	0	0
7245	0.48	177.8	517.2	8.5	560	7277	0.00	2.33	26.58	0.847	4	0.000	0.062	2618	3928	2198	0	0	0	0	0	0
7295	0.51	177.9	512.2	10.0	561	7299	0.00	2.12	0.00	0.000	6	0.000	0.039	2618	2598	2195	0	0	0	0	0	0
7615	0.57	177.9	480.3	10.2	572	7619	0.12	2.22	0.00	0.000	4	0.093	0.047	2680	1187	2194	0	0	0	0	0	0
7642	0.57	177.9	476.8	12.5	572	7648	0.00	2.25	0.00	0.000	6	0.000	0.050	2679	2597	2194	0	0	0	0	0	0
7955	0.52	177.9	429.3	15.9	583	7960	0.12	2.22	0.00	0.000	4	0.184	0.062	2646	3931	2193	0	0	0	0	0	0
7984	0.48	177.9	424.8	15.8	583	7990	0.00	2.10	0.00	0.000	6	0.000	0.039	2650	2600	2191	0	0	0	0	0	0
8300	0.48	177.9	384.6	12.3	600	8304	0.00	2.20	0.00	0.000	4	0.000	0.047	2653	1199	2191	0	0	0	0	0	0
8330	0.51	177.9	381.0	12.3	602	8334	0.00	2.25	0.00	0.000	6	0.000	0.049	2653	2612	2191	0	0	0	0	0	0
8658	0.51	177.9	340.1	12.3	632	8662	0.00	2.25	0.00	0.000	4	0.000	0.047	2653	1194	2191	0	0	0	0	0	0
8676	0.51	177.9	337.5	12.6	633	8680	0.00	2.25	0.00	0.000	6	0.000	0.049	2653	2603	2191	0	0	0	0	0	0
9002	0.51	177.9	296.3	12.7	663	9006	0.00	2.17	0.00	0.000	4	0.000	0.061	2653	3928	2191	0	0	0	0	0	0
9054	0.46	177.9	288.7	14.9	667	9058	0.00	2.08	0.00	0.000	6	0.000	0.040	2655	2615	2190	0	0	0	0	0	0
9385	0.46	177.9	246.9	12.0	698	9386	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2614	2190	0	0	0	0	0	0
9705	0.46	177.9	208.5	11.9	728	9707	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2614	2190	0	0	0	0	0	0
10026	0.46	177.9	171.4	10.9	758	10032	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2614	2190	0	0	0	0	0	0
10353	0.46	177.9	133.5	11.1	789	10354	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2613	2190	0	0	0	0	0	0
10673	0.49	177.9	98.2	11.1	820	10680	0.00	2.17	0.00	0.000	4	0.000	0.061	2655	3927	2190	0	0	0	0	0	0
10761	0.47	177.9	86.9	13.5	835	10767	0.00	2.05	0.00	0.000	6	0.000	0.038	2655	2626	2190	0	0	0	0	0	0
11111	0.51	190.2	53.5	9.4	896	11124	0.00	0.00	10.82	0.575	6	0.000	0.000	2655	2626	2146	0	0	0	0	0	0
11466	0.60	249.7	24.5	7.3	958	11524	0.00	2.30	50.03	0.575	4	0.000	0.046	2655	1198	1903	0	0	0	0	0	0
11560	0.78	301.2	17.2	7.6	974	11613	0.20	2.33	42.58	0.565	6	0.078	0.050	2745	2639	1693	0	0	0	0	0	0
11663	end climb: SURFACE_DEPTH_REACHED
state	11664	begin surface coast
11681	end surface coast: CONTROL_FINISHED_OK
state	11681	begin surface