Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 850 * 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 850 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 1 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 -13522.884 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 1 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 -13522.884

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 35 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 850 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 280111,205527,6649.130,-5732.507,31,99.0,50,-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 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280111,212044,6649.070,-5731.662,12,1.9,12,-37.4 MHEAD_RNG_PITCHd_Wd 88.1,40740,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 717

Post-dive calculations and measurements:

FREEZE 1.16,-0.701,-1.830,2,2,0 ALTIM_TOP_PING 19.7,17.8

FINISH 1.2,1.026821 ALTIM_BOTTOM_PING 601.6,11.9

SM_CCo 11608,217.40,0.084,0,0,440,609.08 _24V_AH 21.4,96.023

SM_GC 1.56,0.00,0.00,217.40,0.000,0.000,0.084,296,2779,440,-6.80,-0.03,609.08 _10V_AH 9.7,65.114

RAFOS_CLK 613 FG_AHR_24Vo 0.000

RAFOS 6,1296247742,20.833334,20.817223,50,47,46,42,40,40,1792,277,1072,517,710,1295 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.625977,-5735.714355,280111,202013,3,75,0.08 MEM 151644

IRIDIUM_FIX 6548.42,-6540.00,280111,212139 DATA_FILE_SIZE 33356,949

TT8_MAMPS 0.030709 CAP_FILE_SIZE 136518,0

HUMID 45.70 CFSIZE 260165632,194109440

INTERNAL_PRESSURE 8.46559 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.30 SOUNDSPEED 1458.6

XPDR_PINGS 0 GPS 290111,003954,6649.666,-5728.902,23,1.1,40,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 243 91.89 SBE_CT 657 24 337.92

Roll_motor 93 73 146.55 SBE_O2 0 0 0.00

VBD_pump_during_apogee 342 969 7103.64 nil 0 0 0.00

VBD_pump_during_surface 217 84 391.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 88 103 194.42 nil 0 0 0.00

Iridium_during_connect 103 160 353.45 nil 0 0 0.00

Iridium_during_xfer 661 223 3157.52 nil 0 0 0.00

Transponder_ping 2 420 20.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.48

TT8 2319 19 448.18

LPSleep 7112 2 159.38

TT8_Active 701 19 135.51

TT8_Sampling 2498 39 967.47

TT8_CF8 715 45 318.58

TT8_Kalman 0 0 0.00

Analog_circuits 1613 12 187.78

GPS_charging 0 0 0.00

Compass 1617 15 235.34

RAFOS 1800 3 52.38

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.57 -146.0 0.0 0.0 0 175 0.00 0.00 -154.50 0.000 6 0.000 0.000 286 2792 3519 0 0 0 0 0 0

179 -0.57 -146.0 5.9 -12.4 27 193 8.40 1.98 0.00 0.000 4 0.243 0.060 2276 3932 3522 0 0 0 0 0 0

358 -0.57 -146.0 40.6 -11.4 58 364 0.00 1.88 0.00 0.000 6 0.000 0.050 2276 2781 3523 0 0 0 0 0 0

705 -0.57 -146.0 75.3 -8.7 119 712 0.00 2.30 0.00 0.000 4 0.000 0.050 2276 1368 3523 0 0 0 0 0 0

913 -0.61 -146.0 95.1 -9.6 155 920 0.00 2.35 0.00 0.000 6 0.000 0.062 2275 2751 3523 0 0 0 0 0 0

1245 -0.63 -146.0 125.9 -8.8 190 1248 0.00 2.03 0.00 0.000 4 0.000 0.073 2275 3930 3523 0 0 0 0 0 0

1273 -0.66 -146.0 128.7 -8.7 192 1280 0.00 1.95 0.00 0.000 6 0.000 0.049 2275 2751 3522 0 0 0 0 0 0

1600 -0.69 -146.0 156.7 -8.8 223 1601 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2751 3522 0 0 0 0 0 0

1921 -0.73 -146.0 186.7 -9.2 253 1926 0.10 2.25 0.00 0.000 4 0.109 0.050 2225 1366 3523 0 0 0 0 0 0

1986 -0.70 -146.0 194.1 -11.5 258 1990 0.00 2.33 0.00 0.000 6 0.000 0.061 2222 2752 3523 0 0 0 0 0 0

2312 -0.64 -146.0 232.0 -11.2 288 2314 0.15 0.00 0.00 0.000 6 0.171 0.000 2263 2753 3522 0 0 0 0 0 0

2631 -0.67 -146.0 258.8 -8.3 318 2635 0.00 2.03 0.00 0.000 4 0.000 0.071 2257 3934 3522 0 0 0 0 0 0

2659 -0.69 -146.0 261.3 -8.9 320 2666 0.00 1.95 0.00 0.000 6 0.000 0.047 2257 2732 3522 0 0 0 0 0 0

2986 -0.69 -146.0 293.0 -10.5 351 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2732 3523 0 0 0 0 0 0

3307 -0.69 -146.0 325.6 -9.7 381 3313 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2732 3524 0 0 0 0 0 0

3638 -0.71 -146.0 356.4 -9.2 412 3642 0.00 2.17 0.00 0.000 4 0.000 0.048 2257 1371 3524 0 0 0 0 0 0

3661 -0.74 -146.0 359.1 -9.3 413 3668 0.00 2.30 0.00 0.000 6 0.000 0.060 2249 2733 3524 0 0 0 0 0 0

3987 -0.74 -146.0 390.9 -9.8 444 3991 0.00 2.05 0.00 0.000 4 0.000 0.070 2247 3930 3525 0 0 0 0 0 0

4015 -0.74 -146.0 393.9 -10.2 446 4022 0.00 1.98 0.00 0.000 6 0.000 0.047 2247 2728 3525 0 0 0 0 0 0

4331 -0.74 -146.0 425.3 -9.9 461 4332 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2729 3525 0 0 0 0 0 0

4638 -0.74 -146.0 455.0 -9.7 471 4639 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2729 3525 0 0 0 0 0 0

4943 -0.74 -146.0 483.7 -9.5 481 4947 0.00 2.08 0.00 0.000 4 0.000 0.072 2247 3926 3525 0 0 0 0 0 0

4971 -0.74 -146.0 486.7 -9.6 481 4978 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2738 3525 0 0 0 0 0 0

5286 -0.74 -146.0 515.4 -9.3 492 5290 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1364 3525 0 0 0 0 0 0

5313 -0.74 -146.0 518.2 -9.7 492 5320 0.00 2.33 0.00 0.000 6 0.000 0.060 2247 2738 3525 0 0 0 0 0 0

5627 -0.74 -146.0 546.2 -8.9 503 5631 0.00 2.05 0.00 0.000 4 0.000 0.071 2247 3930 3525 0 0 0 0 0 0

5663 -0.74 -146.0 549.4 -9.2 504 5670 0.00 1.98 0.00 0.000 6 0.000 0.047 2246 2731 3525 0 0 0 0 0 0

6007 -0.74 -146.0 580.1 -8.9 515 6008 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2731 3525 0 0 0 0 0 0

6251 end dive: BOTTOM_OBSTACLE_DETECTED

state 6251 begin apogee

6259 -0.14 0.0 601.6 8.6 523 6390 0.55 0.00 124.18 0.969 4 0.131 0.000 2424 2600 2923 0 0 0 0 0 0

6391 end apogee: CONTROL_FINISHED_OK

state 6391 begin climb

6394 0.57 146.0 606.5 0.0 527 6536 0.68 2.42 130.88 0.944 4 0.069 0.049 2661 1177 2326 0 0 0 0 0 0

6699 0.57 146.0 582.4 11.2 536 6703 0.00 2.42 0.00 0.000 6 0.000 0.054 2661 2600 2318 0 0 0 0 0 0

7014 0.52 146.0 546.9 11.6 546 7018 0.00 2.30 0.00 0.000 4 0.000 0.052 2662 1188 2315 0 0 0 0 0 0

7228 0.52 146.0 523.3 10.8 552 7232 0.00 2.35 0.00 0.000 6 0.000 0.057 2662 2608 2315 0 0 0 0 0 0

7546 0.48 146.0 487.3 11.5 563 7548 0.12 0.00 0.00 0.000 6 0.197 0.000 2630 2608 2313 0 0 0 0 0 0

7853 0.49 162.2 458.5 9.3 573 7872 0.00 2.30 12.93 0.848 4 0.000 0.068 2631 3928 2261 0 0 0 0 0 0

7902 0.47 162.2 453.6 11.2 574 7906 0.00 2.15 0.00 0.000 6 0.000 0.044 2631 2594 2259 0 0 0 0 0 0

8221 0.51 172.5 423.3 9.5 585 8236 0.00 2.28 10.32 0.819 4 0.000 0.050 2631 1180 2218 0 0 0 0 0 0

8266 0.59 181.9 419.0 9.6 586 8284 0.10 2.33 9.77 0.796 6 0.112 0.055 2676 2603 2181 0 0 0 0 0 0

8596 0.54 181.9 378.5 12.5 607 8600 0.00 2.22 0.00 0.000 4 0.000 0.067 2677 3926 2177 0 0 0 0 0 0

8641 0.46 181.9 371.8 15.3 610 8648 0.20 2.12 0.00 0.000 6 0.187 0.044 2628 2605 2176 0 0 0 0 0 0

8967 0.51 201.8 341.0 9.1 641 8990 0.00 2.38 18.10 0.806 4 0.000 0.052 2628 1185 2100 0 0 0 0 0 0

9016 0.62 228.1 336.7 8.8 645 9050 0.15 2.38 24.15 0.793 6 0.089 0.055 2690 2622 1991 0 0 0 0 0 0

9369 0.58 228.1 285.9 15.2 678 9370 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2622 1985 0 0 0 0 0 0

9690 0.54 228.1 237.3 15.0 708 9697 0.15 0.00 0.00 0.000 6 0.185 0.000 2651 2622 1982 0 0 0 0 0 0

10017 0.58 228.1 199.1 11.6 739 10022 0.00 2.30 0.00 0.000 4 0.000 0.051 2651 1195 1983 0 0 0 0 0 0

10040 0.64 228.1 196.3 11.4 740 10047 0.00 2.35 0.00 0.000 6 0.000 0.054 2651 2618 1982 0 0 0 0 0 0

10367 0.69 228.1 157.3 12.0 771 10372 0.12 2.33 0.00 0.000 4 0.099 0.050 2706 1188 1982 0 0 0 0 0 0

10402 0.69 228.1 152.7 14.4 774 10406 0.00 2.33 0.00 0.000 6 0.000 0.054 2705 2602 1982 0 0 0 0 0 0

10734 0.65 228.1 106.5 14.3 805 10738 0.00 2.25 0.00 0.000 4 0.000 0.066 2706 3933 1982 0 0 0 0 0 0

10764 0.58 228.1 101.5 17.8 807 10769 0.17 2.15 0.00 0.000 6 0.180 0.044 2660 2610 1982 0 0 0 0 0 0

11113 0.63 228.1 60.9 11.5 866 11119 0.00 2.30 0.00 0.000 4 0.000 0.051 2660 1187 1982 0 0 0 0 0 0

11161 0.75 242.7 55.8 9.3 874 11180 0.15 2.33 12.15 0.633 6 0.089 0.054 2723 2593 1932 0 0 0 0 0 0

11521 0.71 242.7 9.4 13.5 937 11528 0.00 2.28 0.00 0.000 4 0.000 0.051 2724 1191 1929 0 0 0 0 0 0

11574 end climb: SURFACE_DEPTH_REACHED

state 11574 begin surface coast

11587 end surface coast: CONTROL_FINISHED_OK

state 11588 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	850	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	1	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	-13522.884	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	280111,205527,6649.130,-5732.507,31,99.0,50,-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	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280111,212044,6649.070,-5731.662,12,1.9,12,-37.4	MHEAD_RNG_PITCHd_Wd	88.1,40740,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	717

FREEZE	1.16,-0.701,-1.830,2,2,0	ALTIM_TOP_PING	19.7,17.8
FINISH	1.2,1.026821	ALTIM_BOTTOM_PING	601.6,11.9
SM_CCo	11608,217.40,0.084,0,0,440,609.08	_24V_AH	21.4,96.023
SM_GC	1.56,0.00,0.00,217.40,0.000,0.000,0.084,296,2779,440,-6.80,-0.03,609.08	_10V_AH	9.7,65.114
RAFOS_CLK	613	FG_AHR_24Vo	0.000
RAFOS	6,1296247742,20.833334,20.817223,50,47,46,42,40,40,1792,277,1072,517,710,1295	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.625977,-5735.714355,280111,202013,3,75,0.08	MEM	151644
IRIDIUM_FIX	6548.42,-6540.00,280111,212139	DATA_FILE_SIZE	33356,949
TT8_MAMPS	0.030709	CAP_FILE_SIZE	136518,0
HUMID	45.70	CFSIZE	260165632,194109440
INTERNAL_PRESSURE	8.46559	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.30	SOUNDSPEED	1458.6
XPDR_PINGS	0	GPS	290111,003954,6649.666,-5728.902,23,1.1,40,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	243	91.89	SBE_CT	657	24	337.92
Roll_motor	93	73	146.55	SBE_O2	0	0	0.00
VBD_pump_during_apogee	342	969	7103.64	nil	0	0	0.00
VBD_pump_during_surface	217	84	391.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	88	103	194.42	nil	0	0	0.00
Iridium_during_connect	103	160	353.45	nil	0	0	0.00
Iridium_during_xfer	661	223	3157.52	nil	0	0	0.00
Transponder_ping	2	420	20.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.48
TT8	2319	19	448.18
LPSleep	7112	2	159.38
TT8_Active	701	19	135.51
TT8_Sampling	2498	39	967.47
TT8_CF8	715	45	318.58
TT8_Kalman	0	0	0.00
Analog_circuits	1613	12	187.78
GPS_charging	0	0	0.00
Compass	1617	15	235.34
RAFOS	1800	3	52.38
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.57	-146.0	0.0	0.0	0	175	0.00	0.00	-154.50	0.000	6	0.000	0.000	286	2792	3519	0	0	0	0	0	0
179	-0.57	-146.0	5.9	-12.4	27	193	8.40	1.98	0.00	0.000	4	0.243	0.060	2276	3932	3522	0	0	0	0	0	0
358	-0.57	-146.0	40.6	-11.4	58	364	0.00	1.88	0.00	0.000	6	0.000	0.050	2276	2781	3523	0	0	0	0	0	0
705	-0.57	-146.0	75.3	-8.7	119	712	0.00	2.30	0.00	0.000	4	0.000	0.050	2276	1368	3523	0	0	0	0	0	0
913	-0.61	-146.0	95.1	-9.6	155	920	0.00	2.35	0.00	0.000	6	0.000	0.062	2275	2751	3523	0	0	0	0	0	0
1245	-0.63	-146.0	125.9	-8.8	190	1248	0.00	2.03	0.00	0.000	4	0.000	0.073	2275	3930	3523	0	0	0	0	0	0
1273	-0.66	-146.0	128.7	-8.7	192	1280	0.00	1.95	0.00	0.000	6	0.000	0.049	2275	2751	3522	0	0	0	0	0	0
1600	-0.69	-146.0	156.7	-8.8	223	1601	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2751	3522	0	0	0	0	0	0
1921	-0.73	-146.0	186.7	-9.2	253	1926	0.10	2.25	0.00	0.000	4	0.109	0.050	2225	1366	3523	0	0	0	0	0	0
1986	-0.70	-146.0	194.1	-11.5	258	1990	0.00	2.33	0.00	0.000	6	0.000	0.061	2222	2752	3523	0	0	0	0	0	0
2312	-0.64	-146.0	232.0	-11.2	288	2314	0.15	0.00	0.00	0.000	6	0.171	0.000	2263	2753	3522	0	0	0	0	0	0
2631	-0.67	-146.0	258.8	-8.3	318	2635	0.00	2.03	0.00	0.000	4	0.000	0.071	2257	3934	3522	0	0	0	0	0	0
2659	-0.69	-146.0	261.3	-8.9	320	2666	0.00	1.95	0.00	0.000	6	0.000	0.047	2257	2732	3522	0	0	0	0	0	0
2986	-0.69	-146.0	293.0	-10.5	351	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2732	3523	0	0	0	0	0	0
3307	-0.69	-146.0	325.6	-9.7	381	3313	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2732	3524	0	0	0	0	0	0
3638	-0.71	-146.0	356.4	-9.2	412	3642	0.00	2.17	0.00	0.000	4	0.000	0.048	2257	1371	3524	0	0	0	0	0	0
3661	-0.74	-146.0	359.1	-9.3	413	3668	0.00	2.30	0.00	0.000	6	0.000	0.060	2249	2733	3524	0	0	0	0	0	0
3987	-0.74	-146.0	390.9	-9.8	444	3991	0.00	2.05	0.00	0.000	4	0.000	0.070	2247	3930	3525	0	0	0	0	0	0
4015	-0.74	-146.0	393.9	-10.2	446	4022	0.00	1.98	0.00	0.000	6	0.000	0.047	2247	2728	3525	0	0	0	0	0	0
4331	-0.74	-146.0	425.3	-9.9	461	4332	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2729	3525	0	0	0	0	0	0
4638	-0.74	-146.0	455.0	-9.7	471	4639	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2729	3525	0	0	0	0	0	0
4943	-0.74	-146.0	483.7	-9.5	481	4947	0.00	2.08	0.00	0.000	4	0.000	0.072	2247	3926	3525	0	0	0	0	0	0
4971	-0.74	-146.0	486.7	-9.6	481	4978	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2738	3525	0	0	0	0	0	0
5286	-0.74	-146.0	515.4	-9.3	492	5290	0.00	2.22	0.00	0.000	4	0.000	0.049	2247	1364	3525	0	0	0	0	0	0
5313	-0.74	-146.0	518.2	-9.7	492	5320	0.00	2.33	0.00	0.000	6	0.000	0.060	2247	2738	3525	0	0	0	0	0	0
5627	-0.74	-146.0	546.2	-8.9	503	5631	0.00	2.05	0.00	0.000	4	0.000	0.071	2247	3930	3525	0	0	0	0	0	0
5663	-0.74	-146.0	549.4	-9.2	504	5670	0.00	1.98	0.00	0.000	6	0.000	0.047	2246	2731	3525	0	0	0	0	0	0
6007	-0.74	-146.0	580.1	-8.9	515	6008	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2731	3525	0	0	0	0	0	0
6251	end dive: BOTTOM_OBSTACLE_DETECTED
state	6251	begin apogee
6259	-0.14	0.0	601.6	8.6	523	6390	0.55	0.00	124.18	0.969	4	0.131	0.000	2424	2600	2923	0	0	0	0	0	0
6391	end apogee: CONTROL_FINISHED_OK
state	6391	begin climb
6394	0.57	146.0	606.5	0.0	527	6536	0.68	2.42	130.88	0.944	4	0.069	0.049	2661	1177	2326	0	0	0	0	0	0
6699	0.57	146.0	582.4	11.2	536	6703	0.00	2.42	0.00	0.000	6	0.000	0.054	2661	2600	2318	0	0	0	0	0	0
7014	0.52	146.0	546.9	11.6	546	7018	0.00	2.30	0.00	0.000	4	0.000	0.052	2662	1188	2315	0	0	0	0	0	0
7228	0.52	146.0	523.3	10.8	552	7232	0.00	2.35	0.00	0.000	6	0.000	0.057	2662	2608	2315	0	0	0	0	0	0
7546	0.48	146.0	487.3	11.5	563	7548	0.12	0.00	0.00	0.000	6	0.197	0.000	2630	2608	2313	0	0	0	0	0	0
7853	0.49	162.2	458.5	9.3	573	7872	0.00	2.30	12.93	0.848	4	0.000	0.068	2631	3928	2261	0	0	0	0	0	0
7902	0.47	162.2	453.6	11.2	574	7906	0.00	2.15	0.00	0.000	6	0.000	0.044	2631	2594	2259	0	0	0	0	0	0
8221	0.51	172.5	423.3	9.5	585	8236	0.00	2.28	10.32	0.819	4	0.000	0.050	2631	1180	2218	0	0	0	0	0	0
8266	0.59	181.9	419.0	9.6	586	8284	0.10	2.33	9.77	0.796	6	0.112	0.055	2676	2603	2181	0	0	0	0	0	0
8596	0.54	181.9	378.5	12.5	607	8600	0.00	2.22	0.00	0.000	4	0.000	0.067	2677	3926	2177	0	0	0	0	0	0
8641	0.46	181.9	371.8	15.3	610	8648	0.20	2.12	0.00	0.000	6	0.187	0.044	2628	2605	2176	0	0	0	0	0	0
8967	0.51	201.8	341.0	9.1	641	8990	0.00	2.38	18.10	0.806	4	0.000	0.052	2628	1185	2100	0	0	0	0	0	0
9016	0.62	228.1	336.7	8.8	645	9050	0.15	2.38	24.15	0.793	6	0.089	0.055	2690	2622	1991	0	0	0	0	0	0
9369	0.58	228.1	285.9	15.2	678	9370	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2622	1985	0	0	0	0	0	0
9690	0.54	228.1	237.3	15.0	708	9697	0.15	0.00	0.00	0.000	6	0.185	0.000	2651	2622	1982	0	0	0	0	0	0
10017	0.58	228.1	199.1	11.6	739	10022	0.00	2.30	0.00	0.000	4	0.000	0.051	2651	1195	1983	0	0	0	0	0	0
10040	0.64	228.1	196.3	11.4	740	10047	0.00	2.35	0.00	0.000	6	0.000	0.054	2651	2618	1982	0	0	0	0	0	0
10367	0.69	228.1	157.3	12.0	771	10372	0.12	2.33	0.00	0.000	4	0.099	0.050	2706	1188	1982	0	0	0	0	0	0
10402	0.69	228.1	152.7	14.4	774	10406	0.00	2.33	0.00	0.000	6	0.000	0.054	2705	2602	1982	0	0	0	0	0	0
10734	0.65	228.1	106.5	14.3	805	10738	0.00	2.25	0.00	0.000	4	0.000	0.066	2706	3933	1982	0	0	0	0	0	0
10764	0.58	228.1	101.5	17.8	807	10769	0.17	2.15	0.00	0.000	6	0.180	0.044	2660	2610	1982	0	0	0	0	0	0
11113	0.63	228.1	60.9	11.5	866	11119	0.00	2.30	0.00	0.000	4	0.000	0.051	2660	1187	1982	0	0	0	0	0	0
11161	0.75	242.7	55.8	9.3	874	11180	0.15	2.33	12.15	0.633	6	0.089	0.054	2723	2593	1932	0	0	0	0	0	0
11521	0.71	242.7	9.4	13.5	937	11528	0.00	2.28	0.00	0.000	4	0.000	0.051	2724	1191	1929	0	0	0	0	0	0
11574	end climb: SURFACE_DEPTH_REACHED
state	11574	begin surface coast
11587	end surface coast: CONTROL_FINISHED_OK
state	11588	begin surface