Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 827 * 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 827 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 20 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 -13323.409 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 -13323.409

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 31 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 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 827 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 250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 12.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 105.4,90124,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 793

Post-dive calculations and measurements:

FREEZE 1.72,-1.609,-1.806,3,5,0 ALTIM_TOP_PING 19.9,18.5

FINISH 1.7,1.026510 ALTIM_BOTTOM_PING 600.3,12.0

SM_CCo 11419,205.82,0.585,1,0,439,609.08 _24V_AH 21.3,93.504

SM_GC 1.34,0.00,0.00,205.82,0.000,0.000,0.585,293,2788,439,-6.81,0.23,609.08 _10V_AH 9.7,63.578

RAFOS_CLK 679 FG_AHR_24Vo 0.000

RAFOS 0,1295971264,16.033333,16.017778,52,43,43,42,42,41,715,442,1454,828,1561,1644 FG_AHR_10Vo 0.000

RAFOS_FIX 6644.569336,-5843.502441,250111,080844,2,96,0.82 MEM 151704

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33388,939

TT8_MAMPS 0.028462 CAP_FILE_SIZE 118299,0

HUMID 47.91 CFSIZE 260165632,195579904

INTERNAL_PRESSURE 8.4363 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 14.40 SOUNDSPEED 1451.5

XPDR_PINGS 0 GPS 250111,175136,6642.492,-5839.451,39,1.1,45,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 192 40.14 SBE_CT 656 24 335.41

Roll_motor 93 74 147.35 SBE_O2 0 0 0.00

VBD_pump_during_apogee 388 976 8067.73 nil 0 0 0.00

VBD_pump_during_surface 205 585 2565.67 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 20.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2351 19 454.39

LPSleep 6859 2 153.69

TT8_Active 615 19 118.89

TT8_Sampling 1618 39 626.78

TT8_CF8 251 45 111.85

TT8_Kalman 0 0 0.00

Analog_circuits 1498 12 174.41

GPS_charging 0 0 0.00

Compass 1601 15 233.01

RAFOS 2520 3 73.33

Transponder 17 30 5.15

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 -5.53 0.000 2 0.000 0.000 2489 1179 2986 0 0 0 0 0 0

27 -0.57 -146.0 13.4 -0.0 1 47 0.52 4.75 -11.02 0.000 4 0.086 0.069 2288 3936 3521 0 0 0 0 0 0

236 -0.59 -146.0 35.9 -11.1 37 243 0.00 1.90 0.00 0.000 6 0.000 0.047 2287 2778 3521 0 0 0 0 0 0

583 -0.62 -146.0 73.9 -10.0 98 590 0.00 2.30 0.00 0.000 4 0.000 0.053 2288 1372 3521 0 0 0 0 0 0

633 -0.66 -146.0 78.9 -7.8 106 639 0.00 2.35 0.00 0.000 6 0.000 0.062 2288 2758 3521 0 0 0 0 0 0

979 -0.70 -146.0 112.8 -11.6 157 984 0.10 2.28 0.00 0.000 4 0.119 0.051 2242 1372 3521 0 0 0 0 0 0

1012 -0.67 -146.0 117.5 -13.8 159 1019 0.00 2.33 0.00 0.000 6 0.000 0.063 2234 2752 3520 0 0 0 0 0 0

1338 -0.61 -146.0 160.7 -13.1 190 1340 0.15 0.00 0.00 0.000 6 0.178 0.000 2275 2752 3520 0 0 0 0 0 0

1656 -0.65 -146.0 190.9 -9.0 220 1660 0.00 2.28 0.00 0.000 4 0.000 0.052 2276 1363 3520 0 0 0 0 0 0

1693 -0.71 -146.0 194.4 -9.5 223 1697 0.00 2.35 0.00 0.000 6 0.000 0.062 2276 2752 3520 0 0 0 0 0 0

2025 -0.76 -146.0 226.1 -9.5 254 2030 0.12 2.08 0.00 0.000 4 0.103 0.074 2215 3936 3519 0 0 0 0 0 0

2061 -0.70 -146.0 230.3 -13.2 257 2066 0.08 1.98 0.00 0.000 6 0.147 0.047 2247 2755 3519 0 0 0 0 0 0

2394 -0.70 -146.0 265.0 -9.8 288 2398 0.00 2.28 0.00 0.000 4 0.000 0.051 2248 1361 3520 0 0 0 0 0 0

2447 -0.73 -146.0 270.4 -9.7 292 2451 0.00 2.35 0.00 0.000 6 0.000 0.063 2248 2754 3519 0 0 0 0 0 0

2773 -0.73 -146.0 303.6 -10.2 322 2774 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2754 3519 0 0 0 0 0 0

3096 -0.73 -146.0 334.1 -9.0 352 3102 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2754 3519 0 0 0 0 0 0

3425 -0.73 -146.0 363.7 -9.4 383 3429 0.00 2.25 0.00 0.000 4 0.000 0.051 2248 1369 3519 0 0 0 0 0 0

3449 -0.73 -146.0 366.4 -9.7 384 3456 0.00 2.33 0.00 0.000 6 0.000 0.062 2247 2748 3519 0 0 0 0 0 0

3775 -0.73 -146.0 396.4 -9.3 415 3779 0.00 2.05 0.00 0.000 4 0.000 0.073 2248 3934 3519 0 0 0 0 0 0

3826 -0.75 -146.0 401.4 -9.9 419 3830 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2754 3520 0 0 0 0 0 0

4151 -0.75 -146.0 433.1 -10.3 430 4152 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2753 3519 0 0 0 0 0 0

4458 -0.75 -146.0 463.8 -9.8 440 4459 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2753 3519 0 0 0 0 0 0

4764 -0.75 -146.0 491.1 -8.9 450 4765 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2753 3520 0 0 0 0 0 0

5070 -0.77 -146.0 518.3 -8.9 460 5074 0.00 2.05 0.00 0.000 4 0.000 0.073 2241 3935 3520 0 0 0 0 0 0

5101 -0.77 -146.0 521.1 -9.7 460 5107 0.00 1.95 0.00 0.000 6 0.000 0.047 2240 2754 3520 0 0 0 0 0 0

5416 -0.77 -146.0 551.5 -9.8 471 5420 0.00 2.25 0.00 0.000 4 0.000 0.050 2240 1359 3519 0 0 0 0 0 0

5455 -0.81 -146.0 555.7 -10.1 472 5459 0.00 2.38 0.00 0.000 6 0.000 0.061 2235 2769 3520 0 0 0 0 0 0

5780 -0.81 -146.0 588.3 -10.0 483 5781 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2769 3520 0 0 0 0 0 0

5901 end dive: BOTTOM_OBSTACLE_DETECTED

state 5901 begin apogee

5908 -0.14 0.0 600.3 9.8 487 6037 0.60 0.00 122.88 0.976 4 0.131 0.000 2427 2599 2923 0 0 0 0 0 0

6037 end apogee: CONTROL_FINISHED_OK

state 6037 begin climb

6040 0.57 146.0 605.4 0.0 491 6179 0.68 2.42 131.23 0.949 4 0.063 0.050 2667 1187 2327 0 0 0 0 0 0

6343 0.57 146.0 583.0 10.6 500 6347 0.00 2.45 0.00 0.000 6 0.000 0.056 2667 2606 2318 0 0 0 0 0 0

6662 0.51 146.0 549.2 10.6 511 6666 0.00 2.33 0.00 0.000 4 0.000 0.052 2670 1185 2315 0 0 0 0 0 0

6876 0.52 155.8 528.1 9.5 517 6893 0.00 2.35 7.85 0.820 6 0.000 0.057 2670 2606 2287 0 0 0 0 0 0

7202 0.47 155.8 492.3 11.4 528 7207 0.15 2.28 0.00 0.000 4 0.190 0.069 2631 3929 2285 0 0 0 0 0 0

7241 0.45 155.8 487.4 11.5 529 7245 0.00 2.15 0.00 0.000 6 0.000 0.044 2631 2604 2284 0 0 0 0 0 0

7576 0.46 178.9 457.3 8.9 540 7600 0.00 0.00 21.55 0.870 6 0.000 0.000 2631 2603 2192 0 0 0 0 0 0

7886 0.52 205.2 430.1 8.8 550 7918 0.00 2.35 23.67 0.853 4 0.000 0.053 2632 1199 2085 0 0 0 0 0 0

7936 0.61 234.2 425.3 8.7 551 7971 0.12 2.33 26.90 0.838 6 0.098 0.057 2688 2610 1967 0 0 0 0 0 0

8286 0.58 234.2 377.3 14.8 572 8287 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2610 1959 0 0 0 0 0 0

8604 0.56 234.2 330.2 14.4 602 8609 0.12 2.30 0.00 0.000 4 0.193 0.054 2656 1195 1957 0 0 0 0 0 0

8620 0.56 234.2 327.9 13.6 603 8627 0.00 2.33 0.00 0.000 6 0.000 0.056 2656 2603 1957 0 0 0 0 0 0

8947 0.60 234.2 292.9 10.9 634 8949 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2603 1956 0 0 0 0 0 0

9269 0.64 234.2 257.5 11.6 664 9275 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2603 1955 0 0 0 0 0 0

9598 0.69 234.2 217.8 12.3 695 9602 0.12 2.30 0.00 0.000 4 0.102 0.054 2711 1193 1955 0 0 0 0 0 0

9614 0.71 234.2 215.1 12.8 696 9621 0.00 2.33 0.00 0.000 6 0.000 0.056 2711 2609 1956 0 0 0 0 0 0

9941 0.68 234.2 165.6 14.8 727 9945 0.00 2.33 0.00 0.000 4 0.000 0.054 2711 1188 1956 0 0 0 0 0 0

10004 0.68 234.2 156.6 13.7 732 10008 0.00 2.33 0.00 0.000 6 0.000 0.057 2711 2599 1956 0 0 0 0 0 0

10331 0.65 234.2 111.8 13.0 762 10335 0.00 2.28 0.00 0.000 4 0.000 0.070 2712 3928 1955 0 0 0 0 0 0

10347 0.61 234.2 109.1 14.2 763 10354 0.15 2.20 0.00 0.000 6 0.185 0.045 2674 2586 1954 0 0 0 0 0 0

10688 0.68 264.2 76.1 8.6 816 10718 0.00 2.40 24.90 0.673 4 0.000 0.069 2674 3933 1844 0 0 0 0 0 0

10749 0.70 264.2 70.2 10.3 826 10755 0.00 2.20 0.00 0.000 6 0.000 0.046 2674 2594 1842 0 0 0 0 0 0

11098 0.78 264.2 39.3 11.0 887 11105 0.15 2.28 0.00 0.000 4 0.093 0.052 2736 1188 1839 0 0 0 0 0 0

11159 0.81 297.7 34.0 8.5 897 11195 0.00 2.33 29.05 0.646 6 0.000 0.058 2736 2585 1708 0 0 0 0 0 0

11391 end climb: SURFACE_DEPTH_REACHED

state 11391 begin surface coast

11401 end surface coast: FINISH_DEPTH_REACHED

state 11401 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	827	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	20	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	-13323.409	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	250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	12.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	105.4,90124,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	793

FREEZE	1.72,-1.609,-1.806,3,5,0	ALTIM_TOP_PING	19.9,18.5
FINISH	1.7,1.026510	ALTIM_BOTTOM_PING	600.3,12.0
SM_CCo	11419,205.82,0.585,1,0,439,609.08	_24V_AH	21.3,93.504
SM_GC	1.34,0.00,0.00,205.82,0.000,0.000,0.585,293,2788,439,-6.81,0.23,609.08	_10V_AH	9.7,63.578
RAFOS_CLK	679	FG_AHR_24Vo	0.000
RAFOS	0,1295971264,16.033333,16.017778,52,43,43,42,42,41,715,442,1454,828,1561,1644	FG_AHR_10Vo	0.000
RAFOS_FIX	6644.569336,-5843.502441,250111,080844,2,96,0.82	MEM	151704
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33388,939
TT8_MAMPS	0.028462	CAP_FILE_SIZE	118299,0
HUMID	47.91	CFSIZE	260165632,195579904
INTERNAL_PRESSURE	8.4363	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	14.40	SOUNDSPEED	1451.5
XPDR_PINGS	0	GPS	250111,175136,6642.492,-5839.451,39,1.1,45,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	192	40.14	SBE_CT	656	24	335.41
Roll_motor	93	74	147.35	SBE_O2	0	0	0.00
VBD_pump_during_apogee	388	976	8067.73	nil	0	0	0.00
VBD_pump_during_surface	205	585	2565.67	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	20.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2351	19	454.39
LPSleep	6859	2	153.69
TT8_Active	615	19	118.89
TT8_Sampling	1618	39	626.78
TT8_CF8	251	45	111.85
TT8_Kalman	0	0	0.00
Analog_circuits	1498	12	174.41
GPS_charging	0	0	0.00
Compass	1601	15	233.01
RAFOS	2520	3	73.33
Transponder	17	30	5.15

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	-5.53	0.000	2	0.000	0.000	2489	1179	2986	0	0	0	0	0	0
27	-0.57	-146.0	13.4	-0.0	1	47	0.52	4.75	-11.02	0.000	4	0.086	0.069	2288	3936	3521	0	0	0	0	0	0
236	-0.59	-146.0	35.9	-11.1	37	243	0.00	1.90	0.00	0.000	6	0.000	0.047	2287	2778	3521	0	0	0	0	0	0
583	-0.62	-146.0	73.9	-10.0	98	590	0.00	2.30	0.00	0.000	4	0.000	0.053	2288	1372	3521	0	0	0	0	0	0
633	-0.66	-146.0	78.9	-7.8	106	639	0.00	2.35	0.00	0.000	6	0.000	0.062	2288	2758	3521	0	0	0	0	0	0
979	-0.70	-146.0	112.8	-11.6	157	984	0.10	2.28	0.00	0.000	4	0.119	0.051	2242	1372	3521	0	0	0	0	0	0
1012	-0.67	-146.0	117.5	-13.8	159	1019	0.00	2.33	0.00	0.000	6	0.000	0.063	2234	2752	3520	0	0	0	0	0	0
1338	-0.61	-146.0	160.7	-13.1	190	1340	0.15	0.00	0.00	0.000	6	0.178	0.000	2275	2752	3520	0	0	0	0	0	0
1656	-0.65	-146.0	190.9	-9.0	220	1660	0.00	2.28	0.00	0.000	4	0.000	0.052	2276	1363	3520	0	0	0	0	0	0
1693	-0.71	-146.0	194.4	-9.5	223	1697	0.00	2.35	0.00	0.000	6	0.000	0.062	2276	2752	3520	0	0	0	0	0	0
2025	-0.76	-146.0	226.1	-9.5	254	2030	0.12	2.08	0.00	0.000	4	0.103	0.074	2215	3936	3519	0	0	0	0	0	0
2061	-0.70	-146.0	230.3	-13.2	257	2066	0.08	1.98	0.00	0.000	6	0.147	0.047	2247	2755	3519	0	0	0	0	0	0
2394	-0.70	-146.0	265.0	-9.8	288	2398	0.00	2.28	0.00	0.000	4	0.000	0.051	2248	1361	3520	0	0	0	0	0	0
2447	-0.73	-146.0	270.4	-9.7	292	2451	0.00	2.35	0.00	0.000	6	0.000	0.063	2248	2754	3519	0	0	0	0	0	0
2773	-0.73	-146.0	303.6	-10.2	322	2774	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2754	3519	0	0	0	0	0	0
3096	-0.73	-146.0	334.1	-9.0	352	3102	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2754	3519	0	0	0	0	0	0
3425	-0.73	-146.0	363.7	-9.4	383	3429	0.00	2.25	0.00	0.000	4	0.000	0.051	2248	1369	3519	0	0	0	0	0	0
3449	-0.73	-146.0	366.4	-9.7	384	3456	0.00	2.33	0.00	0.000	6	0.000	0.062	2247	2748	3519	0	0	0	0	0	0
3775	-0.73	-146.0	396.4	-9.3	415	3779	0.00	2.05	0.00	0.000	4	0.000	0.073	2248	3934	3519	0	0	0	0	0	0
3826	-0.75	-146.0	401.4	-9.9	419	3830	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2754	3520	0	0	0	0	0	0
4151	-0.75	-146.0	433.1	-10.3	430	4152	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2753	3519	0	0	0	0	0	0
4458	-0.75	-146.0	463.8	-9.8	440	4459	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2753	3519	0	0	0	0	0	0
4764	-0.75	-146.0	491.1	-8.9	450	4765	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2753	3520	0	0	0	0	0	0
5070	-0.77	-146.0	518.3	-8.9	460	5074	0.00	2.05	0.00	0.000	4	0.000	0.073	2241	3935	3520	0	0	0	0	0	0
5101	-0.77	-146.0	521.1	-9.7	460	5107	0.00	1.95	0.00	0.000	6	0.000	0.047	2240	2754	3520	0	0	0	0	0	0
5416	-0.77	-146.0	551.5	-9.8	471	5420	0.00	2.25	0.00	0.000	4	0.000	0.050	2240	1359	3519	0	0	0	0	0	0
5455	-0.81	-146.0	555.7	-10.1	472	5459	0.00	2.38	0.00	0.000	6	0.000	0.061	2235	2769	3520	0	0	0	0	0	0
5780	-0.81	-146.0	588.3	-10.0	483	5781	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2769	3520	0	0	0	0	0	0
5901	end dive: BOTTOM_OBSTACLE_DETECTED
state	5901	begin apogee
5908	-0.14	0.0	600.3	9.8	487	6037	0.60	0.00	122.88	0.976	4	0.131	0.000	2427	2599	2923	0	0	0	0	0	0
6037	end apogee: CONTROL_FINISHED_OK
state	6037	begin climb
6040	0.57	146.0	605.4	0.0	491	6179	0.68	2.42	131.23	0.949	4	0.063	0.050	2667	1187	2327	0	0	0	0	0	0
6343	0.57	146.0	583.0	10.6	500	6347	0.00	2.45	0.00	0.000	6	0.000	0.056	2667	2606	2318	0	0	0	0	0	0
6662	0.51	146.0	549.2	10.6	511	6666	0.00	2.33	0.00	0.000	4	0.000	0.052	2670	1185	2315	0	0	0	0	0	0
6876	0.52	155.8	528.1	9.5	517	6893	0.00	2.35	7.85	0.820	6	0.000	0.057	2670	2606	2287	0	0	0	0	0	0
7202	0.47	155.8	492.3	11.4	528	7207	0.15	2.28	0.00	0.000	4	0.190	0.069	2631	3929	2285	0	0	0	0	0	0
7241	0.45	155.8	487.4	11.5	529	7245	0.00	2.15	0.00	0.000	6	0.000	0.044	2631	2604	2284	0	0	0	0	0	0
7576	0.46	178.9	457.3	8.9	540	7600	0.00	0.00	21.55	0.870	6	0.000	0.000	2631	2603	2192	0	0	0	0	0	0
7886	0.52	205.2	430.1	8.8	550	7918	0.00	2.35	23.67	0.853	4	0.000	0.053	2632	1199	2085	0	0	0	0	0	0
7936	0.61	234.2	425.3	8.7	551	7971	0.12	2.33	26.90	0.838	6	0.098	0.057	2688	2610	1967	0	0	0	0	0	0
8286	0.58	234.2	377.3	14.8	572	8287	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2610	1959	0	0	0	0	0	0
8604	0.56	234.2	330.2	14.4	602	8609	0.12	2.30	0.00	0.000	4	0.193	0.054	2656	1195	1957	0	0	0	0	0	0
8620	0.56	234.2	327.9	13.6	603	8627	0.00	2.33	0.00	0.000	6	0.000	0.056	2656	2603	1957	0	0	0	0	0	0
8947	0.60	234.2	292.9	10.9	634	8949	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2603	1956	0	0	0	0	0	0
9269	0.64	234.2	257.5	11.6	664	9275	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2603	1955	0	0	0	0	0	0
9598	0.69	234.2	217.8	12.3	695	9602	0.12	2.30	0.00	0.000	4	0.102	0.054	2711	1193	1955	0	0	0	0	0	0
9614	0.71	234.2	215.1	12.8	696	9621	0.00	2.33	0.00	0.000	6	0.000	0.056	2711	2609	1956	0	0	0	0	0	0
9941	0.68	234.2	165.6	14.8	727	9945	0.00	2.33	0.00	0.000	4	0.000	0.054	2711	1188	1956	0	0	0	0	0	0
10004	0.68	234.2	156.6	13.7	732	10008	0.00	2.33	0.00	0.000	6	0.000	0.057	2711	2599	1956	0	0	0	0	0	0
10331	0.65	234.2	111.8	13.0	762	10335	0.00	2.28	0.00	0.000	4	0.000	0.070	2712	3928	1955	0	0	0	0	0	0
10347	0.61	234.2	109.1	14.2	763	10354	0.15	2.20	0.00	0.000	6	0.185	0.045	2674	2586	1954	0	0	0	0	0	0
10688	0.68	264.2	76.1	8.6	816	10718	0.00	2.40	24.90	0.673	4	0.000	0.069	2674	3933	1844	0	0	0	0	0	0
10749	0.70	264.2	70.2	10.3	826	10755	0.00	2.20	0.00	0.000	6	0.000	0.046	2674	2594	1842	0	0	0	0	0	0
11098	0.78	264.2	39.3	11.0	887	11105	0.15	2.28	0.00	0.000	4	0.093	0.052	2736	1188	1839	0	0	0	0	0	0
11159	0.81	297.7	34.0	8.5	897	11195	0.00	2.33	29.05	0.646	6	0.000	0.058	2736	2585	1708	0	0	0	0	0	0
11391	end climb: SURFACE_DEPTH_REACHED
state	11391	begin surface coast
11401	end surface coast: FINISH_DEPTH_REACHED
state	11401	begin surface