Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 805 * 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 805 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -12582.993 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 -12582.993

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 805 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 220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2 MHEAD_RNG_PITCHd_Wd 114.8,152382,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 559

Post-dive calculations and measurements:

FREEZE 8.59,-1.737,-1.748,2,23,0 ALTIM_TOP_PING 19.8,999.0

FINISH1 8.6,1.025599,93 _24V_AH 21.4,91.046

FINISH2 6.7 _10V_AH 9.7,62.175

RAFOS_CLK 617 FG_AHR_24Vo 0.000

RAFOS 0,1295683265,8.033334,8.018056,113,50,43,43,43,42,611,1188,296,758,1140,386 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.782715,-6012.526367,220111,080828,6,112,0.28 MEM 151680

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 30054,883

TT8_MAMPS 0.029211 CAP_FILE_SIZE 115468,0

HUMID 50.00 CFSIZE 260165632,196972544

INTERNAL_PRESSURE 8.60232 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.10 SOUNDSPEED 1448.9

XPDR_PINGS 0 GPS 220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 192 16.71 SBE_CT 617 24 316.91

Roll_motor 107 75 174.15 SBE_O2 0 0 0.00

VBD_pump_during_apogee 374 957 7664.17 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 15.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2241 19 433.19

LPSleep 6116 2 137.05

TT8_Active 418 19 80.81

TT8_Sampling 1598 39 618.98

TT8_CF8 230 45 102.49

TT8_Kalman 0 0 0.00

Analog_circuits 1305 12 152.00

GPS_charging 0 0 0.00

Compass 1581 15 230.16

RAFOS 2520 3 73.33

Transponder 13 30 3.91

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 12 begin dive

17 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.60 0.000 2 0.000 0.000 2502 3935 2761 0 0 0 0 0 0

28 -0.57 -146.0 11.4 -0.0 1 52 0.57 0.00 -16.77 0.000 4 0.091 0.000 2294 3935 3518 0 0 0 0 0 0

60 -0.66 -146.0 14.2 -7.9 6 67 0.00 1.88 0.00 0.000 6 0.000 0.048 2295 2774 3519 0 0 0 0 0 0

407 -0.66 -146.0 60.8 -11.8 67 414 0.00 2.28 0.00 0.000 4 0.000 0.052 2294 1363 3520 0 0 0 0 0 0

513 -0.69 -146.0 73.1 -10.4 85 521 0.12 2.35 0.00 0.000 6 0.101 0.063 2239 2762 3520 0 0 0 0 0 0

852 -0.62 -146.0 123.8 -14.4 131 856 0.12 2.03 0.00 0.000 4 0.178 0.074 2265 3928 3520 0 0 0 0 0 0

890 -0.60 -146.0 129.2 -12.0 134 897 0.00 1.90 0.00 0.000 6 0.000 0.050 2265 2763 3520 0 0 0 0 0 0

1218 -0.60 -146.0 164.3 -10.7 165 1222 0.00 2.25 0.00 0.000 4 0.000 0.053 2265 1370 3519 0 0 0 0 0 0

1248 -0.60 -146.0 167.6 -10.6 167 1252 0.00 2.38 0.00 0.000 6 0.000 0.064 2261 2776 3519 0 0 0 0 0 0

1574 -0.60 -146.0 201.2 -9.7 197 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2776 3519 0 0 0 0 0 0

1895 -0.60 -146.0 231.3 -8.8 227 1899 0.00 2.00 0.00 0.000 4 0.000 0.076 2253 3930 3519 0 0 0 0 0 0

1934 -0.60 -146.0 235.6 -10.0 230 1940 0.00 1.92 0.00 0.000 6 0.000 0.050 2253 2767 3519 0 0 0 0 0 0

2260 -0.60 -146.0 264.9 -8.7 261 2264 0.00 2.28 0.00 0.000 4 0.000 0.052 2253 1364 3519 0 0 0 0 0 0

2321 -0.63 -146.0 270.7 -9.0 266 2328 0.00 2.38 0.00 0.000 6 0.000 0.064 2249 2768 3518 0 0 0 0 0 0

2648 -0.63 -146.0 300.2 -9.6 297 2652 0.00 2.00 0.00 0.000 4 0.000 0.076 2248 3927 3518 0 0 0 0 0 0

2721 -0.63 -146.0 308.2 -10.9 303 2727 0.00 1.90 0.00 0.000 6 0.000 0.050 2248 2777 3519 0 0 0 0 0 0

3047 -0.63 -146.0 339.0 -9.4 334 3051 0.00 2.00 0.00 0.000 4 0.000 0.076 2247 3927 3518 0 0 0 0 0 0

3117 -0.63 -146.0 345.9 -10.4 340 3121 0.00 1.85 0.00 0.000 6 0.000 0.050 2247 2791 3518 0 0 0 0 0 0

3449 -0.63 -146.0 378.0 -9.6 371 3453 0.00 2.30 0.00 0.000 4 0.000 0.051 2247 1367 3518 0 0 0 0 0 0

3501 -0.66 -146.0 382.9 -8.9 375 3505 0.00 2.38 0.00 0.000 6 0.000 0.063 2248 2778 3518 0 0 0 0 0 0

3845 -0.66 -146.0 415.3 -9.5 397 3849 0.00 1.98 0.00 0.000 4 0.000 0.074 2247 3928 3518 0 0 0 0 0 0

3884 -0.69 -146.0 419.5 -10.2 398 3888 0.00 1.88 0.00 0.000 6 0.000 0.049 2247 2779 3518 0 0 0 0 0 0

4223 -0.71 -146.0 451.7 -9.7 409 4226 0.00 2.00 0.00 0.000 4 0.000 0.076 2247 3928 3518 0 0 0 0 0 0

4258 -0.73 -146.0 455.5 -10.3 410 4262 0.00 1.88 0.00 0.000 6 0.000 0.048 2247 2790 3518 0 0 0 0 0 0

4600 -0.76 -146.0 487.9 -9.2 421 4604 0.00 2.30 0.00 0.000 4 0.000 0.050 2247 1365 3519 0 0 0 0 0 0

4664 -0.80 -146.0 493.9 -9.5 423 4669 0.00 2.40 0.00 0.000 6 0.000 0.063 2247 2786 3518 0 0 0 0 0 0

5001 -0.83 -146.0 523.7 -8.6 434 5005 0.12 2.00 0.00 0.000 4 0.105 0.073 2180 3938 3519 0 0 0 0 0 0

5023 -0.78 -146.0 526.1 -10.1 434 5027 0.17 1.92 0.00 0.000 6 0.165 0.047 2225 2770 3519 0 0 0 0 0 0

5342 -0.78 -146.0 558.6 -10.4 445 5346 0.00 2.28 0.00 0.000 4 0.000 0.050 2225 1365 3519 0 0 0 0 0 0

5349 end dive: TARGET_DEPTH_EXCEEDED

state 5349 begin apogee

5358 -0.14 0.0 559.9 10.5 445 5490 0.65 0.00 122.78 0.957 4 0.135 0.000 2426 2601 2923 0 0 0 0 0 0

5490 end apogee: CONTROL_FINISHED_OK

state 5491 begin climb

5493 0.57 146.0 564.5 0.0 449 5638 0.68 2.42 130.57 0.933 4 0.065 0.050 2666 1191 2326 0 0 0 0 0 0

5779 0.57 146.0 543.0 11.5 458 5783 0.00 2.45 0.00 0.000 6 0.000 0.055 2666 2601 2320 0 0 0 0 0 0

6110 0.52 146.0 504.9 11.3 469 6114 0.00 2.30 0.00 0.000 4 0.000 0.054 2666 1186 2316 0 0 0 0 0 0

6318 0.52 146.0 481.9 10.5 475 6322 0.00 2.35 0.00 0.000 6 0.000 0.057 2666 2617 2316 0 0 0 0 0 0

6643 0.48 146.0 444.9 11.5 486 6645 0.12 0.00 0.00 0.000 6 0.193 0.000 2634 2617 2315 0 0 0 0 0 0

6948 0.51 156.1 415.1 9.5 496 6963 0.00 2.28 7.95 0.791 4 0.000 0.069 2634 3929 2286 0 0 0 0 0 0

6998 0.49 156.1 409.6 11.4 497 7001 0.00 2.15 0.00 0.000 6 0.000 0.045 2634 2599 2284 0 0 0 0 0 0

7327 0.52 169.5 378.3 9.4 521 7350 0.00 2.35 13.18 0.821 4 0.000 0.053 2635 1190 2230 0 0 0 0 0 0

7397 0.60 178.1 371.0 9.6 527 7413 0.10 2.30 8.45 0.769 6 0.111 0.056 2679 2593 2200 0 0 0 0 0 0

7739 0.57 178.1 329.6 12.0 559 7743 0.00 2.25 0.00 0.000 4 0.000 0.067 2680 3931 2197 0 0 0 0 0 0

7781 0.48 178.1 324.2 13.6 562 7785 0.20 2.17 0.00 0.000 6 0.181 0.046 2632 2600 2195 0 0 0 0 0 0

8107 0.57 226.5 296.2 7.8 592 8155 0.00 2.33 43.25 0.794 4 0.000 0.052 2632 1186 1998 0 0 0 0 0 0

8174 0.70 281.4 291.5 7.5 597 8231 0.20 2.35 48.05 0.776 6 0.078 0.056 2714 2612 1775 0 0 0 0 0 0

8549 0.70 281.4 239.7 14.2 632 8553 0.00 2.30 0.00 0.000 4 0.000 0.054 2715 1192 1763 0 0 0 0 0 0

8570 0.70 281.4 236.4 14.0 633 8577 0.00 2.30 0.00 0.000 6 0.000 0.055 2715 2587 1762 0 0 0 0 0 0

8899 0.70 281.4 192.1 13.5 664 8903 0.00 2.28 0.00 0.000 4 0.000 0.054 2715 1189 1761 0 0 0 0 0 0

8928 0.73 281.4 188.0 13.0 666 8932 0.00 2.30 0.00 0.000 6 0.000 0.056 2715 2583 1761 0 0 0 0 0 0

9261 0.73 281.4 146.7 11.7 697 9262 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2583 1760 0 0 0 0 0 0

9582 0.76 281.4 109.7 11.5 727 9586 0.00 2.28 0.00 0.000 4 0.000 0.056 2715 1186 1759 0 0 0 0 0 0

9615 0.82 281.4 105.5 10.2 729 9622 0.00 2.33 0.00 0.000 6 0.000 0.057 2715 2585 1759 0 0 0 0 0 0

9957 0.87 282.1 70.9 10.0 785 9965 0.10 2.33 0.00 0.000 4 0.113 0.070 2762 3936 1757 0 0 0 0 0 0

9979 0.87 282.1 68.6 10.4 788 9986 0.00 2.22 0.00 0.000 6 0.000 0.048 2766 2585 1756 0 0 0 0 0 0

10327 0.84 282.1 27.2 11.8 849 10333 0.00 2.28 0.00 0.000 4 0.000 0.057 2767 1184 1756 0 0 0 0 0 0

10408 0.84 282.1 17.9 10.4 863 10415 0.00 2.35 0.00 0.000 6 0.000 0.057 2767 2594 1756 0 0 0 0 0 0

10493 end climb: FINISH_DEPTH_REACHED

state 10494 begin subsurface finish

10502 0.06 93.3 8.6 -10.6 878 10532 0.88 0.00 -25.10 0.000 6 0.153 0.000 2504 2595 2544 0 0 0 0 0 0

10533 end subsurface finish: CONTROL_FINISHED_OK

state 10533 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	805	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-12582.993	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	220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2	MHEAD_RNG_PITCHd_Wd	114.8,152382,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	559

FREEZE	8.59,-1.737,-1.748,2,23,0	ALTIM_TOP_PING	19.8,999.0
FINISH1	8.6,1.025599,93	_24V_AH	21.4,91.046
FINISH2	6.7	_10V_AH	9.7,62.175
RAFOS_CLK	617	FG_AHR_24Vo	0.000
RAFOS	0,1295683265,8.033334,8.018056,113,50,43,43,43,42,611,1188,296,758,1140,386	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.782715,-6012.526367,220111,080828,6,112,0.28	MEM	151680
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	30054,883
TT8_MAMPS	0.029211	CAP_FILE_SIZE	115468,0
HUMID	50.00	CFSIZE	260165632,196972544
INTERNAL_PRESSURE	8.60232	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	SOUNDSPEED	1448.9
XPDR_PINGS	0	GPS	220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	192	16.71	SBE_CT	617	24	316.91
Roll_motor	107	75	174.15	SBE_O2	0	0	0.00
VBD_pump_during_apogee	374	957	7664.17	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	15.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2241	19	433.19
LPSleep	6116	2	137.05
TT8_Active	418	19	80.81
TT8_Sampling	1598	39	618.98
TT8_CF8	230	45	102.49
TT8_Kalman	0	0	0.00
Analog_circuits	1305	12	152.00
GPS_charging	0	0	0.00
Compass	1581	15	230.16
RAFOS	2520	3	73.33
Transponder	13	30	3.91

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	12	begin dive
17	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.60	0.000	2	0.000	0.000	2502	3935	2761	0	0	0	0	0	0
28	-0.57	-146.0	11.4	-0.0	1	52	0.57	0.00	-16.77	0.000	4	0.091	0.000	2294	3935	3518	0	0	0	0	0	0
60	-0.66	-146.0	14.2	-7.9	6	67	0.00	1.88	0.00	0.000	6	0.000	0.048	2295	2774	3519	0	0	0	0	0	0
407	-0.66	-146.0	60.8	-11.8	67	414	0.00	2.28	0.00	0.000	4	0.000	0.052	2294	1363	3520	0	0	0	0	0	0
513	-0.69	-146.0	73.1	-10.4	85	521	0.12	2.35	0.00	0.000	6	0.101	0.063	2239	2762	3520	0	0	0	0	0	0
852	-0.62	-146.0	123.8	-14.4	131	856	0.12	2.03	0.00	0.000	4	0.178	0.074	2265	3928	3520	0	0	0	0	0	0
890	-0.60	-146.0	129.2	-12.0	134	897	0.00	1.90	0.00	0.000	6	0.000	0.050	2265	2763	3520	0	0	0	0	0	0
1218	-0.60	-146.0	164.3	-10.7	165	1222	0.00	2.25	0.00	0.000	4	0.000	0.053	2265	1370	3519	0	0	0	0	0	0
1248	-0.60	-146.0	167.6	-10.6	167	1252	0.00	2.38	0.00	0.000	6	0.000	0.064	2261	2776	3519	0	0	0	0	0	0
1574	-0.60	-146.0	201.2	-9.7	197	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2776	3519	0	0	0	0	0	0
1895	-0.60	-146.0	231.3	-8.8	227	1899	0.00	2.00	0.00	0.000	4	0.000	0.076	2253	3930	3519	0	0	0	0	0	0
1934	-0.60	-146.0	235.6	-10.0	230	1940	0.00	1.92	0.00	0.000	6	0.000	0.050	2253	2767	3519	0	0	0	0	0	0
2260	-0.60	-146.0	264.9	-8.7	261	2264	0.00	2.28	0.00	0.000	4	0.000	0.052	2253	1364	3519	0	0	0	0	0	0
2321	-0.63	-146.0	270.7	-9.0	266	2328	0.00	2.38	0.00	0.000	6	0.000	0.064	2249	2768	3518	0	0	0	0	0	0
2648	-0.63	-146.0	300.2	-9.6	297	2652	0.00	2.00	0.00	0.000	4	0.000	0.076	2248	3927	3518	0	0	0	0	0	0
2721	-0.63	-146.0	308.2	-10.9	303	2727	0.00	1.90	0.00	0.000	6	0.000	0.050	2248	2777	3519	0	0	0	0	0	0
3047	-0.63	-146.0	339.0	-9.4	334	3051	0.00	2.00	0.00	0.000	4	0.000	0.076	2247	3927	3518	0	0	0	0	0	0
3117	-0.63	-146.0	345.9	-10.4	340	3121	0.00	1.85	0.00	0.000	6	0.000	0.050	2247	2791	3518	0	0	0	0	0	0
3449	-0.63	-146.0	378.0	-9.6	371	3453	0.00	2.30	0.00	0.000	4	0.000	0.051	2247	1367	3518	0	0	0	0	0	0
3501	-0.66	-146.0	382.9	-8.9	375	3505	0.00	2.38	0.00	0.000	6	0.000	0.063	2248	2778	3518	0	0	0	0	0	0
3845	-0.66	-146.0	415.3	-9.5	397	3849	0.00	1.98	0.00	0.000	4	0.000	0.074	2247	3928	3518	0	0	0	0	0	0
3884	-0.69	-146.0	419.5	-10.2	398	3888	0.00	1.88	0.00	0.000	6	0.000	0.049	2247	2779	3518	0	0	0	0	0	0
4223	-0.71	-146.0	451.7	-9.7	409	4226	0.00	2.00	0.00	0.000	4	0.000	0.076	2247	3928	3518	0	0	0	0	0	0
4258	-0.73	-146.0	455.5	-10.3	410	4262	0.00	1.88	0.00	0.000	6	0.000	0.048	2247	2790	3518	0	0	0	0	0	0
4600	-0.76	-146.0	487.9	-9.2	421	4604	0.00	2.30	0.00	0.000	4	0.000	0.050	2247	1365	3519	0	0	0	0	0	0
4664	-0.80	-146.0	493.9	-9.5	423	4669	0.00	2.40	0.00	0.000	6	0.000	0.063	2247	2786	3518	0	0	0	0	0	0
5001	-0.83	-146.0	523.7	-8.6	434	5005	0.12	2.00	0.00	0.000	4	0.105	0.073	2180	3938	3519	0	0	0	0	0	0
5023	-0.78	-146.0	526.1	-10.1	434	5027	0.17	1.92	0.00	0.000	6	0.165	0.047	2225	2770	3519	0	0	0	0	0	0
5342	-0.78	-146.0	558.6	-10.4	445	5346	0.00	2.28	0.00	0.000	4	0.000	0.050	2225	1365	3519	0	0	0	0	0	0
5349	end dive: TARGET_DEPTH_EXCEEDED
state	5349	begin apogee
5358	-0.14	0.0	559.9	10.5	445	5490	0.65	0.00	122.78	0.957	4	0.135	0.000	2426	2601	2923	0	0	0	0	0	0
5490	end apogee: CONTROL_FINISHED_OK
state	5491	begin climb
5493	0.57	146.0	564.5	0.0	449	5638	0.68	2.42	130.57	0.933	4	0.065	0.050	2666	1191	2326	0	0	0	0	0	0
5779	0.57	146.0	543.0	11.5	458	5783	0.00	2.45	0.00	0.000	6	0.000	0.055	2666	2601	2320	0	0	0	0	0	0
6110	0.52	146.0	504.9	11.3	469	6114	0.00	2.30	0.00	0.000	4	0.000	0.054	2666	1186	2316	0	0	0	0	0	0
6318	0.52	146.0	481.9	10.5	475	6322	0.00	2.35	0.00	0.000	6	0.000	0.057	2666	2617	2316	0	0	0	0	0	0
6643	0.48	146.0	444.9	11.5	486	6645	0.12	0.00	0.00	0.000	6	0.193	0.000	2634	2617	2315	0	0	0	0	0	0
6948	0.51	156.1	415.1	9.5	496	6963	0.00	2.28	7.95	0.791	4	0.000	0.069	2634	3929	2286	0	0	0	0	0	0
6998	0.49	156.1	409.6	11.4	497	7001	0.00	2.15	0.00	0.000	6	0.000	0.045	2634	2599	2284	0	0	0	0	0	0
7327	0.52	169.5	378.3	9.4	521	7350	0.00	2.35	13.18	0.821	4	0.000	0.053	2635	1190	2230	0	0	0	0	0	0
7397	0.60	178.1	371.0	9.6	527	7413	0.10	2.30	8.45	0.769	6	0.111	0.056	2679	2593	2200	0	0	0	0	0	0
7739	0.57	178.1	329.6	12.0	559	7743	0.00	2.25	0.00	0.000	4	0.000	0.067	2680	3931	2197	0	0	0	0	0	0
7781	0.48	178.1	324.2	13.6	562	7785	0.20	2.17	0.00	0.000	6	0.181	0.046	2632	2600	2195	0	0	0	0	0	0
8107	0.57	226.5	296.2	7.8	592	8155	0.00	2.33	43.25	0.794	4	0.000	0.052	2632	1186	1998	0	0	0	0	0	0
8174	0.70	281.4	291.5	7.5	597	8231	0.20	2.35	48.05	0.776	6	0.078	0.056	2714	2612	1775	0	0	0	0	0	0
8549	0.70	281.4	239.7	14.2	632	8553	0.00	2.30	0.00	0.000	4	0.000	0.054	2715	1192	1763	0	0	0	0	0	0
8570	0.70	281.4	236.4	14.0	633	8577	0.00	2.30	0.00	0.000	6	0.000	0.055	2715	2587	1762	0	0	0	0	0	0
8899	0.70	281.4	192.1	13.5	664	8903	0.00	2.28	0.00	0.000	4	0.000	0.054	2715	1189	1761	0	0	0	0	0	0
8928	0.73	281.4	188.0	13.0	666	8932	0.00	2.30	0.00	0.000	6	0.000	0.056	2715	2583	1761	0	0	0	0	0	0
9261	0.73	281.4	146.7	11.7	697	9262	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2583	1760	0	0	0	0	0	0
9582	0.76	281.4	109.7	11.5	727	9586	0.00	2.28	0.00	0.000	4	0.000	0.056	2715	1186	1759	0	0	0	0	0	0
9615	0.82	281.4	105.5	10.2	729	9622	0.00	2.33	0.00	0.000	6	0.000	0.057	2715	2585	1759	0	0	0	0	0	0
9957	0.87	282.1	70.9	10.0	785	9965	0.10	2.33	0.00	0.000	4	0.113	0.070	2762	3936	1757	0	0	0	0	0	0
9979	0.87	282.1	68.6	10.4	788	9986	0.00	2.22	0.00	0.000	6	0.000	0.048	2766	2585	1756	0	0	0	0	0	0
10327	0.84	282.1	27.2	11.8	849	10333	0.00	2.28	0.00	0.000	4	0.000	0.057	2767	1184	1756	0	0	0	0	0	0
10408	0.84	282.1	17.9	10.4	863	10415	0.00	2.35	0.00	0.000	6	0.000	0.057	2767	2594	1756	0	0	0	0	0	0
10493	end climb: FINISH_DEPTH_REACHED
state	10494	begin subsurface finish
10502	0.06	93.3	8.6	-10.6	878	10532	0.88	0.00	-25.10	0.000	6	0.153	0.000	2504	2595	2544	0	0	0	0	0	0
10533	end subsurface finish: CONTROL_FINISHED_OK
state	10533	begin surface