Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 842 * 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 842 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 24 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 -13332.397 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 -13332.397

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 842 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 270111,153656,6642.949,-5755.699,33,3.2,52,-37.4 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270111,155902,6642.743,-5755.502,11,1.6,11,-37.4 MHEAD_RNG_PITCHd_Wd 89.8,61512,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 631

Post-dive calculations and measurements:

FREEZE 8.57,-1.634,-1.820,3,1,0 ALTIM_BOTTOM_PING 600.0,11.9

FINISH1 8.6,1.026628,43 _24V_AH 21.2,95.043

FINISH2 6.6 _10V_AH 9.6,64.525

RAFOS_CLK 591 FG_AHR_24Vo 0.000

RAFOS 0,1296144063,16.033333,16.017500,46,45,44,43,41,41,1674,908,880,1578,693,1370 FG_AHR_10Vo 0.000

RAFOS_FIX 6644.674316,-5755.731445,270111,161612,4,96,1.65 MEM 151680

IRIDIUM_FIX 6614.97,-5747.57,270111,151516 DATA_FILE_SIZE 33413,902

TT8_MAMPS 0.028462 CAP_FILE_SIZE 131102,0

HUMID 49.92 CFSIZE 260165632,194629632

INTERNAL_PRESSURE 8.64138 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.50 SOUNDSPEED 1453.3

XPDR_PINGS 0 GPS 270111,163512,6644.674,-5755.731,0,4096.0,0,-37.4

ALTIM_TOP_PING 19.5,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 246 61.23 SBE_CT 627 24 319.48

Roll_motor 98 154 323.34 SBE_O2 0 0 0.00

VBD_pump_during_apogee 361 973 7448.72 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 54 103 118.72 nil 0 0 0.00

Iridium_during_connect 33 160 112.92 nil 0 0 0.00

Iridium_during_xfer 675 223 3193.69 nil 0 0 0.00

Transponder_ping 2 420 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.00

TT8 2219 19 424.47

LPSleep 6766 2 150.05

TT8_Active 492 19 94.17

TT8_Sampling 2335 39 895.16

TT8_CF8 718 45 316.60

TT8_Kalman 0 0 0.00

Analog_circuits 1404 12 161.79

GPS_charging 0 0 0.00

Compass 1593 15 229.50

RAFOS 2520 3 72.58

Transponder 17 30 5.10

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

16 -0.57 -146.0 0.0 0.0 0 175 0.00 0.00 -152.75 0.000 2 0.000 0.000 300 2783 3402 0 0 0 0 0 0

178 -0.57 -146.0 5.1 -10.2 27 198 8.40 2.33 -2.50 0.000 4 0.246 0.063 2282 1363 3521 0 0 0 0 0 0

381 -0.57 -146.0 40.3 -11.6 62 387 0.00 2.40 0.00 0.000 6 0.000 0.060 2276 2782 3524 0 0 0 0 0 0

727 -0.57 -146.0 79.2 -10.2 123 733 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2782 3524 0 0 0 0 0 0

1070 -0.57 -146.0 116.1 -9.9 171 1074 0.00 2.30 0.00 0.000 4 0.000 0.050 2276 1370 3523 0 0 0 0 0 0

1104 -0.57 -146.0 119.7 -10.5 173 1111 0.00 2.42 0.00 0.000 6 0.000 0.063 2274 2789 3523 0 0 0 0 0 0

1432 -0.59 -146.0 151.8 -9.9 204 1436 0.00 2.30 0.00 0.000 4 0.000 0.050 2275 1374 3522 0 0 0 0 0 0

1467 -0.62 -146.0 155.3 -9.9 206 1473 0.00 2.40 0.00 0.000 6 0.000 0.063 2275 2778 3522 0 0 0 0 0 0

1793 -0.65 -146.0 187.0 -9.3 237 1797 0.00 1.98 0.00 0.000 4 0.000 0.073 2273 3928 3522 0 0 0 0 0 0

1864 -0.70 -146.0 193.7 -9.9 243 1867 0.00 1.88 0.00 0.000 6 0.000 0.049 2273 2781 3522 0 0 0 0 0 0

2197 -0.73 -146.0 221.4 -7.9 274 2201 0.00 2.28 0.00 0.000 4 0.000 0.050 2272 1372 3522 0 0 0 0 0 0

2231 -0.78 -146.0 224.3 -7.9 276 2238 0.15 2.42 0.00 0.000 6 0.086 0.062 2206 2791 3522 0 0 0 0 0 0

2558 -0.69 -146.0 264.3 -12.7 307 2560 0.17 0.00 0.00 0.000 6 0.175 0.000 2254 2790 3522 0 0 0 0 0 0

2875 -0.69 -146.0 295.4 -9.5 337 2879 0.00 2.30 0.00 0.000 4 0.000 0.049 2254 1371 3523 0 0 0 0 0 0

2906 -0.69 -146.0 298.1 -9.6 339 2910 0.00 2.40 0.00 0.000 6 0.000 0.061 2248 2779 3523 0 0 0 0 0 0

3232 -0.69 -146.0 329.6 -9.2 369 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2779 3524 0 0 0 0 0 0

3551 -0.69 -146.0 360.5 -9.4 399 3552 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2779 3523 0 0 0 0 0 0

3871 -0.69 -146.0 389.4 -9.1 429 3875 0.00 2.30 0.00 0.000 4 0.000 0.049 2248 1366 3524 0 0 0 0 0 0

3897 -0.69 -146.0 391.8 -9.0 431 3901 0.00 2.40 0.00 0.000 6 0.000 0.060 2248 2780 3524 0 0 0 0 0 0

4214 -0.69 -146.0 419.7 -8.9 447 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2780 3525 0 0 0 0 0 0

4520 -0.69 -146.0 446.6 -8.6 457 4524 0.00 2.30 0.00 0.000 4 0.000 0.049 2247 1371 3524 0 0 0 0 0 0

4566 -0.72 -146.0 450.8 -9.0 458 4570 0.00 2.40 0.00 0.000 6 0.000 0.060 2247 2782 3525 0 0 0 0 0 0

4891 -0.72 -146.0 480.0 -9.2 469 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2782 3525 0 0 0 0 0 0

5198 -0.72 -146.0 508.3 -9.3 479 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2782 3525 0 0 0 0 0 0

5503 -0.72 -146.0 535.7 -8.6 489 5507 0.00 2.00 0.00 0.000 4 0.000 0.070 2241 3938 3526 0 0 0 0 0 0

5541 -0.72 -146.0 539.4 -9.3 490 5545 0.00 1.95 0.00 0.000 6 0.000 0.046 2241 2768 3526 0 0 0 0 0 0

5879 -0.72 -146.0 570.5 -9.5 501 5883 0.00 2.28 0.00 0.000 4 0.000 0.048 2241 1367 3526 0 0 0 0 0 0

5918 -0.74 -146.0 574.6 -9.4 502 5922 0.00 2.38 0.00 0.000 6 0.000 0.060 2241 2779 3526 0 0 0 0 0 0

6183 end dive: BOTTOM_OBSTACLE_DETECTED

state 6183 begin apogee

6190 -0.14 0.0 600.0 9.8 511 6322 0.57 0.00 124.50 0.973 4 0.131 0.000 2425 2596 2923 0 0 0 0 0 0

6322 end apogee: CONTROL_FINISHED_OK

state 6322 begin climb

6325 0.57 146.0 605.5 0.0 515 6467 0.68 2.40 131.82 0.949 4 0.067 0.048 2663 1183 2326 0 0 0 0 0 0

6570 0.57 156.0 589.5 9.5 522 6585 0.00 2.53 9.25 0.835 6 0.000 0.053 2663 2602 2287 0 0 0 0 0 0

6918 0.53 156.0 550.7 11.8 534 6922 0.00 2.33 0.00 0.000 4 0.000 0.051 2664 1177 2281 0 0 0 0 0 0

7117 0.53 156.0 529.0 11.1 540 7121 0.00 2.35 0.00 0.000 6 0.000 0.054 2664 2611 2281 0 0 0 0 0 0

7453 0.49 156.0 490.2 11.4 551 7457 0.00 2.20 0.00 0.000 4 0.000 0.066 2663 3925 2280 0 0 0 0 0 0

7510 0.41 156.0 482.6 13.3 552 7517 0.22 2.15 0.00 0.000 6 0.184 0.044 2607 2599 2278 0 0 0 0 0 0

7824 0.51 205.4 457.5 7.7 563 7875 0.00 2.40 43.10 0.877 4 0.000 0.050 2607 1181 2084 0 0 0 0 0 0

7901 0.67 264.9 451.7 7.3 565 7961 0.25 2.35 52.40 0.864 6 0.070 0.054 2708 2606 1841 0 0 0 0 0 0

8272 0.63 264.9 394.4 16.1 578 8276 0.00 2.28 0.00 0.000 4 0.000 0.052 2708 1195 1830 0 0 0 0 0 0

8306 0.63 264.9 389.0 14.9 580 8313 0.12 2.30 0.00 0.000 6 0.177 0.054 2676 2604 1830 0 0 0 0 0 0

8631 0.63 264.9 346.3 13.8 611 8635 0.00 2.30 0.00 0.000 4 0.000 0.052 2676 1190 1828 0 0 0 0 0 0

8665 0.68 264.9 341.7 13.0 613 8672 0.00 2.30 0.00 0.000 6 0.000 0.054 2676 2586 1828 0 0 0 0 0 0

8991 0.68 264.9 296.7 13.9 644 8995 0.00 2.25 0.00 0.000 4 0.000 0.051 2677 1190 1827 0 0 0 0 0 0

9020 0.72 264.9 292.8 12.9 646 9025 0.00 2.30 0.00 0.000 6 0.000 0.054 2677 2583 1827 0 0 0 0 0 0

9347 0.72 264.9 250.5 13.0 676 9348 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2583 1826 0 0 0 0 0 0

9668 0.74 264.9 211.9 12.5 706 9673 0.10 2.28 0.00 0.000 4 0.115 0.051 2724 1191 1826 0 0 0 0 0 0

9709 0.74 264.9 205.6 15.0 709 9713 0.00 2.30 0.00 0.000 6 0.000 0.054 2725 2583 1826 0 0 0 0 0 0

10035 0.69 264.9 154.3 15.6 739 10039 0.00 2.28 0.00 0.000 4 0.000 0.052 2724 1191 1825 0 0 0 0 0 0

10064 0.66 264.9 150.0 15.5 741 10069 0.15 2.28 0.00 0.000 6 0.169 0.053 2686 2582 1825 0 0 0 0 0 0

10395 0.69 264.9 109.5 11.1 772 10399 0.00 2.28 0.00 0.000 4 0.000 0.051 2686 1187 1825 0 0 0 0 0 0

10466 0.76 264.9 102.1 10.5 778 10471 0.10 2.28 0.00 0.000 6 0.112 0.054 2729 2564 1825 0 0 0 0 0 0

10813 0.74 264.9 52.5 13.9 837 10820 0.00 2.33 0.00 0.000 4 0.000 0.066 2729 3928 1824 0 0 0 0 0 0

10953 0.69 264.9 31.4 14.9 861 10961 0.12 2.20 0.00 0.000 6 0.190 0.044 2702 2569 1824 0 0 0 0 0 0

11153 end climb: FINISH_DEPTH_REACHED

state 11153 begin subsurface finish

11161 0.03 42.8 8.6 -10.5 896 11197 0.68 2.33 -28.60 0.000 4 0.142 0.061 2491 1178 2751 0 0 0 0 0 0

11198 end subsurface finish: CONTROL_FINISHED_OK

state 11198 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	842	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	24	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	-13332.397	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	270111,153656,6642.949,-5755.699,33,3.2,52,-37.4	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270111,155902,6642.743,-5755.502,11,1.6,11,-37.4	MHEAD_RNG_PITCHd_Wd	89.8,61512,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	631

FREEZE	8.57,-1.634,-1.820,3,1,0	ALTIM_BOTTOM_PING	600.0,11.9
FINISH1	8.6,1.026628,43	_24V_AH	21.2,95.043
FINISH2	6.6	_10V_AH	9.6,64.525
RAFOS_CLK	591	FG_AHR_24Vo	0.000
RAFOS	0,1296144063,16.033333,16.017500,46,45,44,43,41,41,1674,908,880,1578,693,1370	FG_AHR_10Vo	0.000
RAFOS_FIX	6644.674316,-5755.731445,270111,161612,4,96,1.65	MEM	151680
IRIDIUM_FIX	6614.97,-5747.57,270111,151516	DATA_FILE_SIZE	33413,902
TT8_MAMPS	0.028462	CAP_FILE_SIZE	131102,0
HUMID	49.92	CFSIZE	260165632,194629632
INTERNAL_PRESSURE	8.64138	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.50	SOUNDSPEED	1453.3
XPDR_PINGS	0	GPS	270111,163512,6644.674,-5755.731,0,4096.0,0,-37.4
ALTIM_TOP_PING	19.5,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	246	61.23	SBE_CT	627	24	319.48
Roll_motor	98	154	323.34	SBE_O2	0	0	0.00
VBD_pump_during_apogee	361	973	7448.72	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	54	103	118.72	nil	0	0	0.00
Iridium_during_connect	33	160	112.92	nil	0	0	0.00
Iridium_during_xfer	675	223	3193.69	nil	0	0	0.00
Transponder_ping	2	420	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.00
TT8	2219	19	424.47
LPSleep	6766	2	150.05
TT8_Active	492	19	94.17
TT8_Sampling	2335	39	895.16
TT8_CF8	718	45	316.60
TT8_Kalman	0	0	0.00
Analog_circuits	1404	12	161.79
GPS_charging	0	0	0.00
Compass	1593	15	229.50
RAFOS	2520	3	72.58
Transponder	17	30	5.10

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
16	-0.57	-146.0	0.0	0.0	0	175	0.00	0.00	-152.75	0.000	2	0.000	0.000	300	2783	3402	0	0	0	0	0	0
178	-0.57	-146.0	5.1	-10.2	27	198	8.40	2.33	-2.50	0.000	4	0.246	0.063	2282	1363	3521	0	0	0	0	0	0
381	-0.57	-146.0	40.3	-11.6	62	387	0.00	2.40	0.00	0.000	6	0.000	0.060	2276	2782	3524	0	0	0	0	0	0
727	-0.57	-146.0	79.2	-10.2	123	733	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2782	3524	0	0	0	0	0	0
1070	-0.57	-146.0	116.1	-9.9	171	1074	0.00	2.30	0.00	0.000	4	0.000	0.050	2276	1370	3523	0	0	0	0	0	0
1104	-0.57	-146.0	119.7	-10.5	173	1111	0.00	2.42	0.00	0.000	6	0.000	0.063	2274	2789	3523	0	0	0	0	0	0
1432	-0.59	-146.0	151.8	-9.9	204	1436	0.00	2.30	0.00	0.000	4	0.000	0.050	2275	1374	3522	0	0	0	0	0	0
1467	-0.62	-146.0	155.3	-9.9	206	1473	0.00	2.40	0.00	0.000	6	0.000	0.063	2275	2778	3522	0	0	0	0	0	0
1793	-0.65	-146.0	187.0	-9.3	237	1797	0.00	1.98	0.00	0.000	4	0.000	0.073	2273	3928	3522	0	0	0	0	0	0
1864	-0.70	-146.0	193.7	-9.9	243	1867	0.00	1.88	0.00	0.000	6	0.000	0.049	2273	2781	3522	0	0	0	0	0	0
2197	-0.73	-146.0	221.4	-7.9	274	2201	0.00	2.28	0.00	0.000	4	0.000	0.050	2272	1372	3522	0	0	0	0	0	0
2231	-0.78	-146.0	224.3	-7.9	276	2238	0.15	2.42	0.00	0.000	6	0.086	0.062	2206	2791	3522	0	0	0	0	0	0
2558	-0.69	-146.0	264.3	-12.7	307	2560	0.17	0.00	0.00	0.000	6	0.175	0.000	2254	2790	3522	0	0	0	0	0	0
2875	-0.69	-146.0	295.4	-9.5	337	2879	0.00	2.30	0.00	0.000	4	0.000	0.049	2254	1371	3523	0	0	0	0	0	0
2906	-0.69	-146.0	298.1	-9.6	339	2910	0.00	2.40	0.00	0.000	6	0.000	0.061	2248	2779	3523	0	0	0	0	0	0
3232	-0.69	-146.0	329.6	-9.2	369	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2779	3524	0	0	0	0	0	0
3551	-0.69	-146.0	360.5	-9.4	399	3552	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2779	3523	0	0	0	0	0	0
3871	-0.69	-146.0	389.4	-9.1	429	3875	0.00	2.30	0.00	0.000	4	0.000	0.049	2248	1366	3524	0	0	0	0	0	0
3897	-0.69	-146.0	391.8	-9.0	431	3901	0.00	2.40	0.00	0.000	6	0.000	0.060	2248	2780	3524	0	0	0	0	0	0
4214	-0.69	-146.0	419.7	-8.9	447	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2780	3525	0	0	0	0	0	0
4520	-0.69	-146.0	446.6	-8.6	457	4524	0.00	2.30	0.00	0.000	4	0.000	0.049	2247	1371	3524	0	0	0	0	0	0
4566	-0.72	-146.0	450.8	-9.0	458	4570	0.00	2.40	0.00	0.000	6	0.000	0.060	2247	2782	3525	0	0	0	0	0	0
4891	-0.72	-146.0	480.0	-9.2	469	4892	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2782	3525	0	0	0	0	0	0
5198	-0.72	-146.0	508.3	-9.3	479	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2782	3525	0	0	0	0	0	0
5503	-0.72	-146.0	535.7	-8.6	489	5507	0.00	2.00	0.00	0.000	4	0.000	0.070	2241	3938	3526	0	0	0	0	0	0
5541	-0.72	-146.0	539.4	-9.3	490	5545	0.00	1.95	0.00	0.000	6	0.000	0.046	2241	2768	3526	0	0	0	0	0	0
5879	-0.72	-146.0	570.5	-9.5	501	5883	0.00	2.28	0.00	0.000	4	0.000	0.048	2241	1367	3526	0	0	0	0	0	0
5918	-0.74	-146.0	574.6	-9.4	502	5922	0.00	2.38	0.00	0.000	6	0.000	0.060	2241	2779	3526	0	0	0	0	0	0
6183	end dive: BOTTOM_OBSTACLE_DETECTED
state	6183	begin apogee
6190	-0.14	0.0	600.0	9.8	511	6322	0.57	0.00	124.50	0.973	4	0.131	0.000	2425	2596	2923	0	0	0	0	0	0
6322	end apogee: CONTROL_FINISHED_OK
state	6322	begin climb
6325	0.57	146.0	605.5	0.0	515	6467	0.68	2.40	131.82	0.949	4	0.067	0.048	2663	1183	2326	0	0	0	0	0	0
6570	0.57	156.0	589.5	9.5	522	6585	0.00	2.53	9.25	0.835	6	0.000	0.053	2663	2602	2287	0	0	0	0	0	0
6918	0.53	156.0	550.7	11.8	534	6922	0.00	2.33	0.00	0.000	4	0.000	0.051	2664	1177	2281	0	0	0	0	0	0
7117	0.53	156.0	529.0	11.1	540	7121	0.00	2.35	0.00	0.000	6	0.000	0.054	2664	2611	2281	0	0	0	0	0	0
7453	0.49	156.0	490.2	11.4	551	7457	0.00	2.20	0.00	0.000	4	0.000	0.066	2663	3925	2280	0	0	0	0	0	0
7510	0.41	156.0	482.6	13.3	552	7517	0.22	2.15	0.00	0.000	6	0.184	0.044	2607	2599	2278	0	0	0	0	0	0
7824	0.51	205.4	457.5	7.7	563	7875	0.00	2.40	43.10	0.877	4	0.000	0.050	2607	1181	2084	0	0	0	0	0	0
7901	0.67	264.9	451.7	7.3	565	7961	0.25	2.35	52.40	0.864	6	0.070	0.054	2708	2606	1841	0	0	0	0	0	0
8272	0.63	264.9	394.4	16.1	578	8276	0.00	2.28	0.00	0.000	4	0.000	0.052	2708	1195	1830	0	0	0	0	0	0
8306	0.63	264.9	389.0	14.9	580	8313	0.12	2.30	0.00	0.000	6	0.177	0.054	2676	2604	1830	0	0	0	0	0	0
8631	0.63	264.9	346.3	13.8	611	8635	0.00	2.30	0.00	0.000	4	0.000	0.052	2676	1190	1828	0	0	0	0	0	0
8665	0.68	264.9	341.7	13.0	613	8672	0.00	2.30	0.00	0.000	6	0.000	0.054	2676	2586	1828	0	0	0	0	0	0
8991	0.68	264.9	296.7	13.9	644	8995	0.00	2.25	0.00	0.000	4	0.000	0.051	2677	1190	1827	0	0	0	0	0	0
9020	0.72	264.9	292.8	12.9	646	9025	0.00	2.30	0.00	0.000	6	0.000	0.054	2677	2583	1827	0	0	0	0	0	0
9347	0.72	264.9	250.5	13.0	676	9348	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2583	1826	0	0	0	0	0	0
9668	0.74	264.9	211.9	12.5	706	9673	0.10	2.28	0.00	0.000	4	0.115	0.051	2724	1191	1826	0	0	0	0	0	0
9709	0.74	264.9	205.6	15.0	709	9713	0.00	2.30	0.00	0.000	6	0.000	0.054	2725	2583	1826	0	0	0	0	0	0
10035	0.69	264.9	154.3	15.6	739	10039	0.00	2.28	0.00	0.000	4	0.000	0.052	2724	1191	1825	0	0	0	0	0	0
10064	0.66	264.9	150.0	15.5	741	10069	0.15	2.28	0.00	0.000	6	0.169	0.053	2686	2582	1825	0	0	0	0	0	0
10395	0.69	264.9	109.5	11.1	772	10399	0.00	2.28	0.00	0.000	4	0.000	0.051	2686	1187	1825	0	0	0	0	0	0
10466	0.76	264.9	102.1	10.5	778	10471	0.10	2.28	0.00	0.000	6	0.112	0.054	2729	2564	1825	0	0	0	0	0	0
10813	0.74	264.9	52.5	13.9	837	10820	0.00	2.33	0.00	0.000	4	0.000	0.066	2729	3928	1824	0	0	0	0	0	0
10953	0.69	264.9	31.4	14.9	861	10961	0.12	2.20	0.00	0.000	6	0.190	0.044	2702	2569	1824	0	0	0	0	0	0
11153	end climb: FINISH_DEPTH_REACHED
state	11153	begin subsurface finish
11161	0.03	42.8	8.6	-10.5	896	11197	0.68	2.33	-28.60	0.000	4	0.142	0.061	2491	1178	2751	0	0	0	0	0	0
11198	end subsurface finish: CONTROL_FINISHED_OK
state	11198	begin surface