Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 845 * 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 845 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 32 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 -3 T_GPS_CHARGE -13517.851 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 -13517.851

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 32 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 845 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 280111,025801,6643.458,-5746.208,60,1.1,60,-37.4 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 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280111,032337,6643.600,-5746.183,108,1.9,108,-37.4 MHEAD_RNG_PITCHd_Wd 86.9,55283,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 616

Post-dive calculations and measurements:

FREEZE 6.77,-0.829,-1.830,3,4,0 ALTIM_BOTTOM_PING 601.0,12.0

FINISH1 6.8,1.026768,36 _24V_AH 21.3,95.380

FINISH2 3.3 _10V_AH 9.6,64.752

RAFOS_CLK 607 FG_AHR_24Vo 0.000

RAFOS 0,1296187270,4.033333,4.019444,42,42,42,41,38,36,1676,564,1201,135,750,862 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.414062,-5749.919434,280111,000022,3,86,0.38 MEM 151556

IRIDIUM_FIX 6609.62,-5757.95,280111,030347 DATA_FILE_SIZE 33375,934

TT8_MAMPS 0.028462 CAP_FILE_SIZE 132682,0

HUMID 49.33 CFSIZE 260165632,194416640

INTERNAL_PRESSURE 8.66091 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1454.7

XPDR_PINGS 0 GPS 280111,032337,6643.600,-5746.183,108,1.9,108,-37.4

ALTIM_TOP_PING 19.8,17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 247 63.16 SBE_CT 648 24 331.74

Roll_motor 93 159 317.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 370 972 7665.40 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 87 103 191.92 nil 0 0 0.00

Iridium_during_connect 94 160 323.53 nil 0 0 0.00

Iridium_during_xfer 647 223 3074.04 nil 0 0 0.00

Transponder_ping 2 420 20.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 110 50 53.25

TT8 2296 19 439.09

LPSleep 6964 2 154.44

TT8_Active 526 19 100.63

TT8_Sampling 2544 39 975.06

TT8_CF8 701 45 309.13

TT8_Kalman 0 0 0.00

Analog_circuits 1458 12 167.97

GPS_charging 0 0 0.00

Compass 1636 15 235.63

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 0 182 0.00 0.00 -159.40 0.000 6 0.000 0.000 229 2783 3519 0 0 0 0 0 0

185 -0.57 -146.0 5.9 -12.3 28 199 8.77 2.03 0.00 0.000 4 0.247 0.063 2279 3935 3523 0 0 0 0 0 0

339 -0.57 -146.0 40.1 -13.1 54 346 0.00 1.92 0.00 0.000 6 0.000 0.051 2279 2777 3524 0 0 0 0 0 0

685 -0.57 -146.0 82.9 -10.6 115 691 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2777 3524 0 0 0 0 0 0

1026 -0.57 -146.0 118.6 -10.1 160 1030 0.00 2.28 0.00 0.000 4 0.000 0.052 2279 1369 3523 0 0 0 0 0 0

1060 -0.60 -146.0 122.2 -10.7 162 1067 0.00 2.40 0.00 0.000 6 0.000 0.063 2275 2776 3523 0 0 0 0 0 0

1386 -0.62 -146.0 155.2 -10.0 193 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2776 3523 0 0 0 0 0 0

1708 -0.65 -146.0 189.3 -10.7 223 1712 0.00 2.30 0.00 0.000 4 0.000 0.052 2275 1366 3523 0 0 0 0 0 0

1805 -0.71 -146.0 199.9 -10.6 231 1809 0.00 2.40 0.00 0.000 6 0.000 0.063 2275 2777 3523 0 0 0 0 0 0

2137 -0.75 -146.0 231.4 -9.1 262 2141 0.12 2.03 0.00 0.000 4 0.099 0.073 2215 3929 3522 0 0 0 0 0 0

2175 -0.67 -146.0 236.2 -13.6 265 2183 0.15 1.90 0.00 0.000 6 0.165 0.048 2254 2780 3523 0 0 0 0 0 0

2501 -0.67 -146.0 270.1 -10.2 296 2502 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2780 3523 0 0 0 0 0 0

2820 -0.67 -146.0 302.7 -10.1 326 2824 0.00 2.33 0.00 0.000 4 0.000 0.051 2254 1368 3523 0 0 0 0 0 0

2868 -0.70 -146.0 307.4 -10.0 330 2872 0.00 2.40 0.00 0.000 6 0.000 0.062 2248 2787 3523 0 0 0 0 0 0

3194 -0.70 -146.0 339.3 -9.7 360 3198 0.00 2.30 0.00 0.000 4 0.000 0.050 2248 1370 3523 0 0 0 0 0 0

3252 -0.72 -146.0 345.1 -10.1 364 3258 0.00 2.40 0.00 0.000 6 0.000 0.062 2248 2777 3523 0 0 0 0 0 0

3578 -0.72 -146.0 376.2 -9.9 395 3579 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2777 3524 0 0 0 0 0 0

3897 -0.72 -146.0 406.1 -9.5 421 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2777 3525 0 0 0 0 0 0

4200 -0.72 -146.0 435.7 -9.6 431 4204 0.00 2.30 0.00 0.000 4 0.000 0.050 2248 1363 3525 0 0 0 0 0 0

4230 -0.72 -146.0 438.5 -9.7 432 4234 0.00 2.38 0.00 0.000 6 0.000 0.060 2247 2773 3524 0 0 0 0 0 0

4567 -0.72 -146.0 469.0 -9.0 443 4568 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2773 3525 0 0 0 0 0 0

4873 -0.72 -146.0 497.5 -9.6 453 4877 0.00 2.28 0.00 0.000 4 0.000 0.049 2248 1370 3525 0 0 0 0 0 0

4904 -0.72 -146.0 500.2 -8.9 454 4909 0.00 2.35 0.00 0.000 6 0.000 0.061 2247 2761 3525 0 0 0 0 0 0

5241 -0.72 -146.0 531.6 -9.2 465 5245 0.00 2.28 0.00 0.000 4 0.000 0.049 2248 1361 3525 0 0 0 0 0 0

5263 -0.72 -146.0 534.1 -9.9 465 5270 0.00 2.38 0.00 0.000 6 0.000 0.060 2248 2757 3525 0 0 0 0 0 0

5578 -0.72 -146.0 563.0 -9.1 476 5579 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2756 3525 0 0 0 0 0 0

5883 -0.72 -146.0 590.8 -9.2 486 5884 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2757 3525 0 0 0 0 0 0

6007 end dive: BOTTOM_OBSTACLE_DETECTED

state 6007 begin apogee

6015 -0.14 0.0 601.0 8.3 490 6146 0.55 0.00 124.60 0.972 4 0.132 0.000 2424 2600 2923 0 0 0 0 0 0

6147 end apogee: CONTROL_FINISHED_OK

state 6147 begin climb

6150 0.57 146.0 605.5 0.0 494 6292 0.70 2.42 131.88 0.942 4 0.072 0.050 2666 1189 2326 0 0 0 0 0 0

6478 0.57 146.0 577.7 10.9 504 6483 0.00 2.45 0.00 0.000 6 0.000 0.055 2666 2609 2318 0 0 0 0 0 0

6803 0.51 146.0 540.3 11.8 515 6807 0.00 2.30 0.00 0.000 4 0.000 0.052 2666 1185 2315 0 0 0 0 0 0

7006 0.51 146.0 518.2 11.0 521 7011 0.00 2.33 0.00 0.000 6 0.000 0.056 2666 2602 2315 0 0 0 0 0 0

7337 0.46 146.0 480.1 11.5 532 7342 0.15 2.25 0.00 0.000 4 0.193 0.067 2627 3926 2314 0 0 0 0 0 0

7398 0.44 146.0 472.9 10.8 533 7406 0.00 2.12 0.00 0.000 6 0.000 0.044 2628 2605 2312 0 0 0 0 0 0

7713 0.45 163.4 443.8 9.2 544 7732 0.00 2.35 14.00 0.848 4 0.000 0.051 2628 1191 2256 0 0 0 0 0 0

7768 0.54 193.1 438.8 8.6 545 7802 0.00 2.35 27.20 0.852 6 0.000 0.055 2628 2611 2134 0 0 0 0 0 0

8120 0.60 213.8 407.3 9.0 557 8141 0.12 0.00 18.48 0.832 6 0.100 0.000 2684 2611 2051 0 0 0 0 0 0

8468 0.56 213.8 361.7 13.7 586 8472 0.00 2.30 0.00 0.000 4 0.000 0.052 2686 1196 2045 0 0 0 0 0 0

8508 0.56 213.8 356.2 13.2 589 8512 0.00 2.33 0.00 0.000 6 0.000 0.055 2686 2616 2045 0 0 0 0 0 0

8835 0.52 213.8 309.3 15.0 619 8836 0.15 0.00 0.00 0.000 6 0.185 0.000 2646 2617 2044 0 0 0 0 0 0

9152 0.57 213.8 270.1 11.7 649 9156 0.00 2.30 0.00 0.000 4 0.000 0.052 2646 1195 2044 0 0 0 0 0 0

9175 0.63 213.8 267.4 11.2 650 9182 0.00 2.35 0.00 0.000 6 0.000 0.055 2646 2611 2044 0 0 0 0 0 0

9501 0.66 213.8 232.9 10.2 681 9506 0.12 2.25 0.00 0.000 4 0.103 0.067 2699 3926 2044 0 0 0 0 0 0

9528 0.60 213.8 229.1 14.7 683 9536 0.15 2.12 0.00 0.000 6 0.190 0.044 2668 2608 2042 0 0 0 0 0 0

9854 0.60 213.8 193.2 10.7 714 9858 0.00 2.30 0.00 0.000 4 0.000 0.052 2668 1191 2042 0 0 0 0 0 0

9900 0.67 237.5 188.6 8.9 717 9929 0.00 2.33 20.52 0.721 6 0.000 0.054 2668 2591 1954 0 0 0 0 0 0

10248 0.69 237.8 152.5 10.0 750 10252 0.00 2.28 0.00 0.000 4 0.000 0.052 2668 1182 1950 0 0 0 0 0 0

10304 0.77 257.9 147.1 9.1 754 10333 0.17 2.28 18.52 0.694 6 0.087 0.055 2739 2571 1870 0 0 0 0 0 0

10653 0.70 257.9 94.5 14.3 790 10660 0.15 2.33 0.00 0.000 4 0.179 0.067 2700 3927 1865 0 0 0 0 0 0

10703 0.67 257.9 87.7 13.9 798 10709 0.00 2.22 0.00 0.000 6 0.000 0.044 2701 2562 1864 0 0 0 0 0 0

11050 0.67 257.9 50.0 11.4 859 11057 0.00 2.22 0.00 0.000 4 0.000 0.052 2701 1184 1864 0 0 0 0 0 0

11076 0.69 257.9 47.1 11.5 863 11083 0.00 2.25 0.00 0.000 6 0.000 0.052 2701 2566 1864 0 0 0 0 0 0

11425 0.76 319.5 8.5 7.2 924 11442 0.00 0.00 14.93 0.627 2 0.000 0.000 2701 2566 1801 0 0 0 0 0 0

11442 end climb: SURFACE_OBSTACLE_DETECTED

state 11443 begin subsurface finish

11451 0.02 35.9 6.8 -7.7 926 11499 0.68 2.30 -38.65 0.000 4 0.136 0.083 2486 3932 2777 0 0 0 0 0 0

11500 end subsurface finish: CONTROL_FINISHED_OK

state 11500 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	845	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	32	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	-3	T_GPS_CHARGE	-13517.851	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	280111,025801,6643.458,-5746.208,60,1.1,60,-37.4	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	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280111,032337,6643.600,-5746.183,108,1.9,108,-37.4	MHEAD_RNG_PITCHd_Wd	86.9,55283,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	616

FREEZE	6.77,-0.829,-1.830,3,4,0	ALTIM_BOTTOM_PING	601.0,12.0
FINISH1	6.8,1.026768,36	_24V_AH	21.3,95.380
FINISH2	3.3	_10V_AH	9.6,64.752
RAFOS_CLK	607	FG_AHR_24Vo	0.000
RAFOS	0,1296187270,4.033333,4.019444,42,42,42,41,38,36,1676,564,1201,135,750,862	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.414062,-5749.919434,280111,000022,3,86,0.38	MEM	151556
IRIDIUM_FIX	6609.62,-5757.95,280111,030347	DATA_FILE_SIZE	33375,934
TT8_MAMPS	0.028462	CAP_FILE_SIZE	132682,0
HUMID	49.33	CFSIZE	260165632,194416640
INTERNAL_PRESSURE	8.66091	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1454.7
XPDR_PINGS	0	GPS	280111,032337,6643.600,-5746.183,108,1.9,108,-37.4
ALTIM_TOP_PING	19.8,17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	247	63.16	SBE_CT	648	24	331.74
Roll_motor	93	159	317.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	370	972	7665.40	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	87	103	191.92	nil	0	0	0.00
Iridium_during_connect	94	160	323.53	nil	0	0	0.00
Iridium_during_xfer	647	223	3074.04	nil	0	0	0.00
Transponder_ping	2	420	20.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	110	50	53.25
TT8	2296	19	439.09
LPSleep	6964	2	154.44
TT8_Active	526	19	100.63
TT8_Sampling	2544	39	975.06
TT8_CF8	701	45	309.13
TT8_Kalman	0	0	0.00
Analog_circuits	1458	12	167.97
GPS_charging	0	0	0.00
Compass	1636	15	235.63
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	182	0.00	0.00	-159.40	0.000	6	0.000	0.000	229	2783	3519	0	0	0	0	0	0
185	-0.57	-146.0	5.9	-12.3	28	199	8.77	2.03	0.00	0.000	4	0.247	0.063	2279	3935	3523	0	0	0	0	0	0
339	-0.57	-146.0	40.1	-13.1	54	346	0.00	1.92	0.00	0.000	6	0.000	0.051	2279	2777	3524	0	0	0	0	0	0
685	-0.57	-146.0	82.9	-10.6	115	691	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2777	3524	0	0	0	0	0	0
1026	-0.57	-146.0	118.6	-10.1	160	1030	0.00	2.28	0.00	0.000	4	0.000	0.052	2279	1369	3523	0	0	0	0	0	0
1060	-0.60	-146.0	122.2	-10.7	162	1067	0.00	2.40	0.00	0.000	6	0.000	0.063	2275	2776	3523	0	0	0	0	0	0
1386	-0.62	-146.0	155.2	-10.0	193	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2776	3523	0	0	0	0	0	0
1708	-0.65	-146.0	189.3	-10.7	223	1712	0.00	2.30	0.00	0.000	4	0.000	0.052	2275	1366	3523	0	0	0	0	0	0
1805	-0.71	-146.0	199.9	-10.6	231	1809	0.00	2.40	0.00	0.000	6	0.000	0.063	2275	2777	3523	0	0	0	0	0	0
2137	-0.75	-146.0	231.4	-9.1	262	2141	0.12	2.03	0.00	0.000	4	0.099	0.073	2215	3929	3522	0	0	0	0	0	0
2175	-0.67	-146.0	236.2	-13.6	265	2183	0.15	1.90	0.00	0.000	6	0.165	0.048	2254	2780	3523	0	0	0	0	0	0
2501	-0.67	-146.0	270.1	-10.2	296	2502	0.00	0.00	0.00	0.000	6	0.000	0.000	2254	2780	3523	0	0	0	0	0	0
2820	-0.67	-146.0	302.7	-10.1	326	2824	0.00	2.33	0.00	0.000	4	0.000	0.051	2254	1368	3523	0	0	0	0	0	0
2868	-0.70	-146.0	307.4	-10.0	330	2872	0.00	2.40	0.00	0.000	6	0.000	0.062	2248	2787	3523	0	0	0	0	0	0
3194	-0.70	-146.0	339.3	-9.7	360	3198	0.00	2.30	0.00	0.000	4	0.000	0.050	2248	1370	3523	0	0	0	0	0	0
3252	-0.72	-146.0	345.1	-10.1	364	3258	0.00	2.40	0.00	0.000	6	0.000	0.062	2248	2777	3523	0	0	0	0	0	0
3578	-0.72	-146.0	376.2	-9.9	395	3579	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2777	3524	0	0	0	0	0	0
3897	-0.72	-146.0	406.1	-9.5	421	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2777	3525	0	0	0	0	0	0
4200	-0.72	-146.0	435.7	-9.6	431	4204	0.00	2.30	0.00	0.000	4	0.000	0.050	2248	1363	3525	0	0	0	0	0	0
4230	-0.72	-146.0	438.5	-9.7	432	4234	0.00	2.38	0.00	0.000	6	0.000	0.060	2247	2773	3524	0	0	0	0	0	0
4567	-0.72	-146.0	469.0	-9.0	443	4568	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2773	3525	0	0	0	0	0	0
4873	-0.72	-146.0	497.5	-9.6	453	4877	0.00	2.28	0.00	0.000	4	0.000	0.049	2248	1370	3525	0	0	0	0	0	0
4904	-0.72	-146.0	500.2	-8.9	454	4909	0.00	2.35	0.00	0.000	6	0.000	0.061	2247	2761	3525	0	0	0	0	0	0
5241	-0.72	-146.0	531.6	-9.2	465	5245	0.00	2.28	0.00	0.000	4	0.000	0.049	2248	1361	3525	0	0	0	0	0	0
5263	-0.72	-146.0	534.1	-9.9	465	5270	0.00	2.38	0.00	0.000	6	0.000	0.060	2248	2757	3525	0	0	0	0	0	0
5578	-0.72	-146.0	563.0	-9.1	476	5579	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2756	3525	0	0	0	0	0	0
5883	-0.72	-146.0	590.8	-9.2	486	5884	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2757	3525	0	0	0	0	0	0
6007	end dive: BOTTOM_OBSTACLE_DETECTED
state	6007	begin apogee
6015	-0.14	0.0	601.0	8.3	490	6146	0.55	0.00	124.60	0.972	4	0.132	0.000	2424	2600	2923	0	0	0	0	0	0
6147	end apogee: CONTROL_FINISHED_OK
state	6147	begin climb
6150	0.57	146.0	605.5	0.0	494	6292	0.70	2.42	131.88	0.942	4	0.072	0.050	2666	1189	2326	0	0	0	0	0	0
6478	0.57	146.0	577.7	10.9	504	6483	0.00	2.45	0.00	0.000	6	0.000	0.055	2666	2609	2318	0	0	0	0	0	0
6803	0.51	146.0	540.3	11.8	515	6807	0.00	2.30	0.00	0.000	4	0.000	0.052	2666	1185	2315	0	0	0	0	0	0
7006	0.51	146.0	518.2	11.0	521	7011	0.00	2.33	0.00	0.000	6	0.000	0.056	2666	2602	2315	0	0	0	0	0	0
7337	0.46	146.0	480.1	11.5	532	7342	0.15	2.25	0.00	0.000	4	0.193	0.067	2627	3926	2314	0	0	0	0	0	0
7398	0.44	146.0	472.9	10.8	533	7406	0.00	2.12	0.00	0.000	6	0.000	0.044	2628	2605	2312	0	0	0	0	0	0
7713	0.45	163.4	443.8	9.2	544	7732	0.00	2.35	14.00	0.848	4	0.000	0.051	2628	1191	2256	0	0	0	0	0	0
7768	0.54	193.1	438.8	8.6	545	7802	0.00	2.35	27.20	0.852	6	0.000	0.055	2628	2611	2134	0	0	0	0	0	0
8120	0.60	213.8	407.3	9.0	557	8141	0.12	0.00	18.48	0.832	6	0.100	0.000	2684	2611	2051	0	0	0	0	0	0
8468	0.56	213.8	361.7	13.7	586	8472	0.00	2.30	0.00	0.000	4	0.000	0.052	2686	1196	2045	0	0	0	0	0	0
8508	0.56	213.8	356.2	13.2	589	8512	0.00	2.33	0.00	0.000	6	0.000	0.055	2686	2616	2045	0	0	0	0	0	0
8835	0.52	213.8	309.3	15.0	619	8836	0.15	0.00	0.00	0.000	6	0.185	0.000	2646	2617	2044	0	0	0	0	0	0
9152	0.57	213.8	270.1	11.7	649	9156	0.00	2.30	0.00	0.000	4	0.000	0.052	2646	1195	2044	0	0	0	0	0	0
9175	0.63	213.8	267.4	11.2	650	9182	0.00	2.35	0.00	0.000	6	0.000	0.055	2646	2611	2044	0	0	0	0	0	0
9501	0.66	213.8	232.9	10.2	681	9506	0.12	2.25	0.00	0.000	4	0.103	0.067	2699	3926	2044	0	0	0	0	0	0
9528	0.60	213.8	229.1	14.7	683	9536	0.15	2.12	0.00	0.000	6	0.190	0.044	2668	2608	2042	0	0	0	0	0	0
9854	0.60	213.8	193.2	10.7	714	9858	0.00	2.30	0.00	0.000	4	0.000	0.052	2668	1191	2042	0	0	0	0	0	0
9900	0.67	237.5	188.6	8.9	717	9929	0.00	2.33	20.52	0.721	6	0.000	0.054	2668	2591	1954	0	0	0	0	0	0
10248	0.69	237.8	152.5	10.0	750	10252	0.00	2.28	0.00	0.000	4	0.000	0.052	2668	1182	1950	0	0	0	0	0	0
10304	0.77	257.9	147.1	9.1	754	10333	0.17	2.28	18.52	0.694	6	0.087	0.055	2739	2571	1870	0	0	0	0	0	0
10653	0.70	257.9	94.5	14.3	790	10660	0.15	2.33	0.00	0.000	4	0.179	0.067	2700	3927	1865	0	0	0	0	0	0
10703	0.67	257.9	87.7	13.9	798	10709	0.00	2.22	0.00	0.000	6	0.000	0.044	2701	2562	1864	0	0	0	0	0	0
11050	0.67	257.9	50.0	11.4	859	11057	0.00	2.22	0.00	0.000	4	0.000	0.052	2701	1184	1864	0	0	0	0	0	0
11076	0.69	257.9	47.1	11.5	863	11083	0.00	2.25	0.00	0.000	6	0.000	0.052	2701	2566	1864	0	0	0	0	0	0
11425	0.76	319.5	8.5	7.2	924	11442	0.00	0.00	14.93	0.627	2	0.000	0.000	2701	2566	1801	0	0	0	0	0	0
11442	end climb: SURFACE_OBSTACLE_DETECTED
state	11443	begin subsurface finish
11451	0.02	35.9	6.8	-7.7	926	11499	0.68	2.30	-38.65	0.000	4	0.136	0.083	2486	3932	2777	0	0	0	0	0	0
11500	end subsurface finish: CONTROL_FINISHED_OK
state	11500	begin surface