Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 810 * 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 810 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 26 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 -12952.191 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 -12952.191

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 26 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 810 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 220111,201924,6642.362,-6003.548,0,5095.6,0,-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 7.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2 MHEAD_RNG_PITCHd_Wd 113.1,146295,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 619

Post-dive calculations and measurements:

FREEZE 8.43,-1.747,-1.761,2,28,0 ALTIM_TOP_PING 19.5,18.1

FINISH1 8.4,1.025790,84 _24V_AH 21.1,91.559

FINISH2 5.9 _10V_AH 9.7,62.466

RAFOS_CLK 694 FG_AHR_24Vo 0.000

RAFOS 5,1295728863,20.700001,20.684166,87,45,45,42,39,39,932,461,1617,1500,662,1240 FG_AHR_10Vo 0.000

RAFOS_FIX 6643.083496,-6001.984375,220111,202034,7,93,3.59 MEM 151684

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33377,938

TT8_MAMPS 0.031458 CAP_FILE_SIZE 117374,0

HUMID 50.35 CFSIZE 260165632,196677632

INTERNAL_PRESSURE 8.61208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.10 SOUNDSPEED 1450.1

XPDR_PINGS 0 GPS 220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 195 19.42 SBE_CT 655 24 331.88

Roll_motor 82 166 287.83 SBE_O2 0 0 0.00

VBD_pump_during_apogee 395 992 8287.43 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 2 420 17.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2313 19 447.08

LPSleep 7466 2 167.29

TT8_Active 426 19 82.44

TT8_Sampling 1617 39 626.32

TT8_CF8 236 45 105.30

TT8_Kalman 0 0 0.00

Analog_circuits 1319 12 153.55

GPS_charging 0 0 0.00

Compass 1605 15 233.59

RAFOS 720 3 20.95

Transponder 17 30 5.20

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -5.55 0.000 2 0.000 0.000 2487 1181 2771 0 0 0 0 0 0

28 -0.57 -146.0 8.9 -0.0 1 53 0.52 0.32 -19.20 0.000 4 0.070 0.166 2282 1373 3521 0 0 0 0 0 0

133 -0.57 -146.0 21.5 -14.5 19 140 0.00 2.35 0.00 0.000 6 0.000 0.062 2276 2776 3524 0 0 0 0 0 0

479 -0.53 -146.0 74.5 -14.5 80 486 0.00 1.98 0.00 0.000 4 0.000 0.075 2273 3927 3523 0 0 0 0 0 0

518 -0.49 -146.0 79.9 -13.9 86 526 0.15 1.90 0.00 0.000 6 0.155 0.049 2314 2776 3523 0 0 0 0 0 0

863 -0.55 -146.0 113.3 -8.6 134 867 0.00 2.28 0.00 0.000 4 0.000 0.051 2314 1368 3523 0 0 0 0 0 0

893 -0.62 -146.0 116.2 -8.8 136 898 0.12 2.38 0.00 0.000 6 0.097 0.063 2256 2777 3523 0 0 0 0 0 0

1220 -0.60 -146.0 157.7 -12.5 166 1223 0.00 1.98 0.00 0.000 4 0.000 0.075 2248 3927 3522 0 0 0 0 0 0

1266 -0.57 -146.0 163.7 -13.5 170 1270 0.15 1.88 0.00 0.000 6 0.161 0.050 2288 2778 3522 0 0 0 0 0 0

1598 -0.62 -146.0 195.2 -8.7 201 1602 0.00 2.28 0.00 0.000 4 0.000 0.051 2289 1370 3521 0 0 0 0 0 0

1628 -0.69 -146.0 198.1 -9.1 203 1633 0.10 2.38 0.00 0.000 6 0.108 0.064 2243 2773 3521 0 0 0 0 0 0

1954 -0.66 -146.0 235.6 -11.5 233 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2773 3521 0 0 0 0 0 0

2274 -0.66 -146.0 271.5 -11.2 263 2275 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2773 3521 0 0 0 0 0 0

2593 -0.66 -146.0 305.8 -10.6 293 2597 0.00 2.00 0.00 0.000 4 0.000 0.074 2237 3932 3520 0 0 0 0 0 0

2639 -0.66 -146.0 311.3 -11.8 297 2643 0.00 1.98 0.00 0.000 6 0.000 0.049 2236 2730 3520 0 0 0 0 0 0

2970 -0.64 -146.0 347.1 -10.6 328 2975 0.10 2.25 0.00 0.000 4 0.188 0.051 2262 1364 3520 0 0 0 0 0 0

2994 -0.64 -146.0 349.3 -9.2 330 3002 0.00 2.35 0.00 0.000 6 0.000 0.063 2261 2752 3520 0 0 0 0 0 0

3328 -0.68 -146.0 376.4 -7.5 361 3332 0.00 2.05 0.00 0.000 4 0.000 0.076 2261 3926 3520 0 0 0 0 0 0

3379 -0.72 -146.0 380.6 -7.9 365 3386 0.00 1.92 0.00 0.000 6 0.000 0.050 2261 2754 3520 0 0 0 0 0 0

3703 -0.76 -146.0 405.3 -7.6 392 3704 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2753 3520 0 0 0 0 0 0

4009 -0.80 -146.0 430.2 -8.2 402 4014 0.12 2.08 0.00 0.000 4 0.102 0.074 2193 3932 3521 0 0 0 0 0 0

4044 -0.70 -146.0 434.2 -12.6 403 4049 0.20 1.92 0.00 0.000 6 0.158 0.048 2247 2751 3521 0 0 0 0 0 0

4383 -0.70 -146.0 465.9 -9.1 414 4384 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2751 3521 0 0 0 0 0 0

4686 -0.70 -146.0 493.0 -8.8 424 4687 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2751 3521 0 0 0 0 0 0

4993 -0.70 -146.0 519.0 -8.3 434 4994 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2751 3522 0 0 0 0 0 0

5298 -0.70 -146.0 544.8 -8.6 444 5302 0.00 2.08 0.00 0.000 4 0.000 0.074 2247 3935 3522 0 0 0 0 0 0

5325 -0.70 -146.0 547.5 -9.0 444 5332 0.00 1.92 0.00 0.000 6 0.000 0.048 2247 2757 3522 0 0 0 0 0 0

5640 -0.73 -146.0 575.4 -9.0 455 5641 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2757 3522 0 0 0 0 0 0

5946 -0.75 -146.0 603.1 -8.9 465 5947 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2757 3523 0 0 0 0 0 0

6126 end dive: TARGET_DEPTH_EXCEEDED

state 6126 begin apogee

6133 -0.14 0.0 619.9 8.9 471 6264 0.55 0.00 124.60 0.993 4 0.127 0.000 2425 2596 2923 0 0 0 0 0 0

6265 end apogee: CONTROL_FINISHED_OK

state 6265 begin climb

6268 0.57 146.0 623.8 0.0 475 6410 0.70 2.45 132.23 0.965 4 0.077 0.070 2663 3926 2327 0 0 0 0 0 0

6607 0.47 146.0 590.2 14.2 485 6611 0.15 2.28 0.00 0.000 6 0.196 0.044 2631 2594 2318 0 0 0 0 0 0

6921 0.48 161.2 560.5 9.3 495 6940 0.00 2.35 12.80 0.884 4 0.000 0.054 2631 1189 2265 0 0 0 0 0 0

7150 0.56 175.2 540.0 9.4 501 7170 0.00 2.35 13.95 0.890 6 0.000 0.057 2630 2606 2207 0 0 0 0 0 0

7498 0.61 179.3 506.5 9.8 513 7505 0.12 0.00 4.65 0.695 6 0.101 0.000 2685 2606 2191 0 0 0 0 0 0

7802 0.56 179.3 467.6 12.7 523 7803 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2606 2189 0 0 0 0 0 0

8110 0.51 179.3 428.6 12.8 533 8114 0.15 2.28 0.00 0.000 4 0.175 0.069 2643 3933 2189 0 0 0 0 0 0

8137 0.48 179.3 424.8 12.5 533 8144 0.00 2.17 0.00 0.000 6 0.000 0.045 2645 2598 2188 0 0 0 0 0 0

8454 0.51 186.2 393.7 9.7 548 8467 0.00 2.35 7.45 0.778 4 0.000 0.054 2645 1192 2163 0 0 0 0 0 0

8492 0.56 190.5 390.0 9.8 551 8504 0.00 2.33 5.43 0.698 6 0.000 0.057 2645 2609 2146 0 0 0 0 0 0

8824 0.60 193.4 357.0 9.9 582 8832 0.00 0.00 3.92 0.599 6 0.000 0.000 2646 2609 2134 0 0 0 0 0 0

9151 0.63 193.4 324.5 10.0 613 9153 0.10 0.00 0.00 0.000 6 0.114 0.000 2689 2609 2133 0 0 0 0 0 0

9470 0.60 193.4 286.7 11.3 643 9471 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2609 2133 0 0 0 0 0 0

9790 0.57 193.4 250.2 11.0 673 9797 0.12 0.00 0.00 0.000 6 0.180 0.000 2657 2609 2133 0 0 0 0 0 0

10117 0.61 212.4 220.8 9.1 704 10140 0.00 2.40 18.10 0.756 4 0.000 0.054 2657 1189 2056 0 0 0 0 0 0

10169 0.70 219.1 215.8 9.7 708 10187 0.12 2.35 7.20 0.682 6 0.103 0.057 2709 2601 2029 0 0 0 0 0 0

10505 0.67 219.1 173.8 12.7 740 10509 0.00 2.25 0.00 0.000 4 0.000 0.070 2709 3932 2025 0 0 0 0 0 0

10546 0.59 219.1 168.1 14.2 743 10551 0.17 2.20 0.00 0.000 6 0.184 0.046 2665 2590 2024 0 0 0 0 0 0

10873 0.67 250.6 138.3 8.5 773 10907 0.00 2.38 27.75 0.718 4 0.000 0.054 2665 1181 1900 0 0 0 0 0 0

10948 0.81 293.0 132.4 8.0 779 10991 0.20 2.35 37.47 0.701 6 0.081 0.057 2747 2595 1727 0 0 0 0 0 0

11319 0.81 293.0 86.3 12.5 823 11325 0.00 2.33 0.00 0.000 4 0.000 0.057 2750 1185 1717 0 0 0 0 0 0

11338 0.81 293.0 83.6 12.4 826 11345 0.00 2.30 0.00 0.000 6 0.000 0.056 2749 2574 1716 0 0 0 0 0 0

11685 0.81 293.0 40.9 12.2 887 11692 0.00 2.28 0.00 0.000 4 0.000 0.057 2751 1181 1714 0 0 0 0 0 0

11705 0.81 293.0 38.4 12.4 890 11711 0.00 2.30 0.00 0.000 6 0.000 0.055 2751 2573 1714 0 0 0 0 0 0

11943 end climb: FINISH_DEPTH_REACHED

state 11943 begin subsurface finish

11950 0.05 83.9 8.4 -12.9 932 11986 0.82 0.00 -28.95 0.000 6 0.151 0.000 2500 2573 2583 0 0 0 0 0 0

11987 end subsurface finish: CONTROL_FINISHED_OK

state 11987 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	810	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	26	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	-12952.191	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	220111,201924,6642.362,-6003.548,0,5095.6,0,-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	7.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2	MHEAD_RNG_PITCHd_Wd	113.1,146295,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	619

FREEZE	8.43,-1.747,-1.761,2,28,0	ALTIM_TOP_PING	19.5,18.1
FINISH1	8.4,1.025790,84	_24V_AH	21.1,91.559
FINISH2	5.9	_10V_AH	9.7,62.466
RAFOS_CLK	694	FG_AHR_24Vo	0.000
RAFOS	5,1295728863,20.700001,20.684166,87,45,45,42,39,39,932,461,1617,1500,662,1240	FG_AHR_10Vo	0.000
RAFOS_FIX	6643.083496,-6001.984375,220111,202034,7,93,3.59	MEM	151684
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33377,938
TT8_MAMPS	0.031458	CAP_FILE_SIZE	117374,0
HUMID	50.35	CFSIZE	260165632,196677632
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	SOUNDSPEED	1450.1
XPDR_PINGS	0	GPS	220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	195	19.42	SBE_CT	655	24	331.88
Roll_motor	82	166	287.83	SBE_O2	0	0	0.00
VBD_pump_during_apogee	395	992	8287.43	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	2	420	17.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2313	19	447.08
LPSleep	7466	2	167.29
TT8_Active	426	19	82.44
TT8_Sampling	1617	39	626.32
TT8_CF8	236	45	105.30
TT8_Kalman	0	0	0.00
Analog_circuits	1319	12	153.55
GPS_charging	0	0	0.00
Compass	1605	15	233.59
RAFOS	720	3	20.95
Transponder	17	30	5.20

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-5.55	0.000	2	0.000	0.000	2487	1181	2771	0	0	0	0	0	0
28	-0.57	-146.0	8.9	-0.0	1	53	0.52	0.32	-19.20	0.000	4	0.070	0.166	2282	1373	3521	0	0	0	0	0	0
133	-0.57	-146.0	21.5	-14.5	19	140	0.00	2.35	0.00	0.000	6	0.000	0.062	2276	2776	3524	0	0	0	0	0	0
479	-0.53	-146.0	74.5	-14.5	80	486	0.00	1.98	0.00	0.000	4	0.000	0.075	2273	3927	3523	0	0	0	0	0	0
518	-0.49	-146.0	79.9	-13.9	86	526	0.15	1.90	0.00	0.000	6	0.155	0.049	2314	2776	3523	0	0	0	0	0	0
863	-0.55	-146.0	113.3	-8.6	134	867	0.00	2.28	0.00	0.000	4	0.000	0.051	2314	1368	3523	0	0	0	0	0	0
893	-0.62	-146.0	116.2	-8.8	136	898	0.12	2.38	0.00	0.000	6	0.097	0.063	2256	2777	3523	0	0	0	0	0	0
1220	-0.60	-146.0	157.7	-12.5	166	1223	0.00	1.98	0.00	0.000	4	0.000	0.075	2248	3927	3522	0	0	0	0	0	0
1266	-0.57	-146.0	163.7	-13.5	170	1270	0.15	1.88	0.00	0.000	6	0.161	0.050	2288	2778	3522	0	0	0	0	0	0
1598	-0.62	-146.0	195.2	-8.7	201	1602	0.00	2.28	0.00	0.000	4	0.000	0.051	2289	1370	3521	0	0	0	0	0	0
1628	-0.69	-146.0	198.1	-9.1	203	1633	0.10	2.38	0.00	0.000	6	0.108	0.064	2243	2773	3521	0	0	0	0	0	0
1954	-0.66	-146.0	235.6	-11.5	233	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2773	3521	0	0	0	0	0	0
2274	-0.66	-146.0	271.5	-11.2	263	2275	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2773	3521	0	0	0	0	0	0
2593	-0.66	-146.0	305.8	-10.6	293	2597	0.00	2.00	0.00	0.000	4	0.000	0.074	2237	3932	3520	0	0	0	0	0	0
2639	-0.66	-146.0	311.3	-11.8	297	2643	0.00	1.98	0.00	0.000	6	0.000	0.049	2236	2730	3520	0	0	0	0	0	0
2970	-0.64	-146.0	347.1	-10.6	328	2975	0.10	2.25	0.00	0.000	4	0.188	0.051	2262	1364	3520	0	0	0	0	0	0
2994	-0.64	-146.0	349.3	-9.2	330	3002	0.00	2.35	0.00	0.000	6	0.000	0.063	2261	2752	3520	0	0	0	0	0	0
3328	-0.68	-146.0	376.4	-7.5	361	3332	0.00	2.05	0.00	0.000	4	0.000	0.076	2261	3926	3520	0	0	0	0	0	0
3379	-0.72	-146.0	380.6	-7.9	365	3386	0.00	1.92	0.00	0.000	6	0.000	0.050	2261	2754	3520	0	0	0	0	0	0
3703	-0.76	-146.0	405.3	-7.6	392	3704	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2753	3520	0	0	0	0	0	0
4009	-0.80	-146.0	430.2	-8.2	402	4014	0.12	2.08	0.00	0.000	4	0.102	0.074	2193	3932	3521	0	0	0	0	0	0
4044	-0.70	-146.0	434.2	-12.6	403	4049	0.20	1.92	0.00	0.000	6	0.158	0.048	2247	2751	3521	0	0	0	0	0	0
4383	-0.70	-146.0	465.9	-9.1	414	4384	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2751	3521	0	0	0	0	0	0
4686	-0.70	-146.0	493.0	-8.8	424	4687	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2751	3521	0	0	0	0	0	0
4993	-0.70	-146.0	519.0	-8.3	434	4994	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2751	3522	0	0	0	0	0	0
5298	-0.70	-146.0	544.8	-8.6	444	5302	0.00	2.08	0.00	0.000	4	0.000	0.074	2247	3935	3522	0	0	0	0	0	0
5325	-0.70	-146.0	547.5	-9.0	444	5332	0.00	1.92	0.00	0.000	6	0.000	0.048	2247	2757	3522	0	0	0	0	0	0
5640	-0.73	-146.0	575.4	-9.0	455	5641	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2757	3522	0	0	0	0	0	0
5946	-0.75	-146.0	603.1	-8.9	465	5947	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2757	3523	0	0	0	0	0	0
6126	end dive: TARGET_DEPTH_EXCEEDED
state	6126	begin apogee
6133	-0.14	0.0	619.9	8.9	471	6264	0.55	0.00	124.60	0.993	4	0.127	0.000	2425	2596	2923	0	0	0	0	0	0
6265	end apogee: CONTROL_FINISHED_OK
state	6265	begin climb
6268	0.57	146.0	623.8	0.0	475	6410	0.70	2.45	132.23	0.965	4	0.077	0.070	2663	3926	2327	0	0	0	0	0	0
6607	0.47	146.0	590.2	14.2	485	6611	0.15	2.28	0.00	0.000	6	0.196	0.044	2631	2594	2318	0	0	0	0	0	0
6921	0.48	161.2	560.5	9.3	495	6940	0.00	2.35	12.80	0.884	4	0.000	0.054	2631	1189	2265	0	0	0	0	0	0
7150	0.56	175.2	540.0	9.4	501	7170	0.00	2.35	13.95	0.890	6	0.000	0.057	2630	2606	2207	0	0	0	0	0	0
7498	0.61	179.3	506.5	9.8	513	7505	0.12	0.00	4.65	0.695	6	0.101	0.000	2685	2606	2191	0	0	0	0	0	0
7802	0.56	179.3	467.6	12.7	523	7803	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2606	2189	0	0	0	0	0	0
8110	0.51	179.3	428.6	12.8	533	8114	0.15	2.28	0.00	0.000	4	0.175	0.069	2643	3933	2189	0	0	0	0	0	0
8137	0.48	179.3	424.8	12.5	533	8144	0.00	2.17	0.00	0.000	6	0.000	0.045	2645	2598	2188	0	0	0	0	0	0
8454	0.51	186.2	393.7	9.7	548	8467	0.00	2.35	7.45	0.778	4	0.000	0.054	2645	1192	2163	0	0	0	0	0	0
8492	0.56	190.5	390.0	9.8	551	8504	0.00	2.33	5.43	0.698	6	0.000	0.057	2645	2609	2146	0	0	0	0	0	0
8824	0.60	193.4	357.0	9.9	582	8832	0.00	0.00	3.92	0.599	6	0.000	0.000	2646	2609	2134	0	0	0	0	0	0
9151	0.63	193.4	324.5	10.0	613	9153	0.10	0.00	0.00	0.000	6	0.114	0.000	2689	2609	2133	0	0	0	0	0	0
9470	0.60	193.4	286.7	11.3	643	9471	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2609	2133	0	0	0	0	0	0
9790	0.57	193.4	250.2	11.0	673	9797	0.12	0.00	0.00	0.000	6	0.180	0.000	2657	2609	2133	0	0	0	0	0	0
10117	0.61	212.4	220.8	9.1	704	10140	0.00	2.40	18.10	0.756	4	0.000	0.054	2657	1189	2056	0	0	0	0	0	0
10169	0.70	219.1	215.8	9.7	708	10187	0.12	2.35	7.20	0.682	6	0.103	0.057	2709	2601	2029	0	0	0	0	0	0
10505	0.67	219.1	173.8	12.7	740	10509	0.00	2.25	0.00	0.000	4	0.000	0.070	2709	3932	2025	0	0	0	0	0	0
10546	0.59	219.1	168.1	14.2	743	10551	0.17	2.20	0.00	0.000	6	0.184	0.046	2665	2590	2024	0	0	0	0	0	0
10873	0.67	250.6	138.3	8.5	773	10907	0.00	2.38	27.75	0.718	4	0.000	0.054	2665	1181	1900	0	0	0	0	0	0
10948	0.81	293.0	132.4	8.0	779	10991	0.20	2.35	37.47	0.701	6	0.081	0.057	2747	2595	1727	0	0	0	0	0	0
11319	0.81	293.0	86.3	12.5	823	11325	0.00	2.33	0.00	0.000	4	0.000	0.057	2750	1185	1717	0	0	0	0	0	0
11338	0.81	293.0	83.6	12.4	826	11345	0.00	2.30	0.00	0.000	6	0.000	0.056	2749	2574	1716	0	0	0	0	0	0
11685	0.81	293.0	40.9	12.2	887	11692	0.00	2.28	0.00	0.000	4	0.000	0.057	2751	1181	1714	0	0	0	0	0	0
11705	0.81	293.0	38.4	12.4	890	11711	0.00	2.30	0.00	0.000	6	0.000	0.055	2751	2573	1714	0	0	0	0	0	0
11943	end climb: FINISH_DEPTH_REACHED
state	11943	begin subsurface finish
11950	0.05	83.9	8.4	-12.9	932	11986	0.82	0.00	-28.95	0.000	6	0.151	0.000	2500	2573	2583	0	0	0	0	0	0
11987	end subsurface finish: CONTROL_FINISHED_OK
state	11987	begin surface