Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 138 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 138 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 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 0.0012300001 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 -27951.119 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

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 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 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 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 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 -27951.119

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 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 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 138 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2 TGT_NAME midTARGET

_CALLS 3 TGT_LATLONG 6656.000,-5813.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2 MHEAD_RNG_PITCHd_Wd 232.9,48784,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 740

Post-dive calculations and measurements:

FREEZE 8.43,-1.662,-1.827,3,13,0 ALTIM_TOP_PING 19.8,18.6

FINISH1 8.4,1.026731,38 _24V_AH 23.0,20.171

FINISH2 7.0 _10V_AH 10.3,11.115

RAFOS_CLK 672 FG_AHR_24Vo 0.000

RAFOS 0,1299830465,8.033334,8.018056,65,61,60,54,53,52,215,174,201,162,190,146 FG_AHR_10Vo 0.000

RAFOS_FIX 6720.910156,-5802.658691,110311,080840,3,125,0.34 MEM 150560

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 50014,1235

TT8_MAMPS 0.026964 CAP_FILE_SIZE 129435,0

HUMID 46.02 CFSIZE 260165632,243077120

INTERNAL_PRESSURE 8.71127 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.60 SOUNDSPEED 1460.3

XPDR_PINGS 0 GPS 110311,084240,6720.910,-5802.659,0,3125.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 221 25.00 SBE_CT 876 24 484.04

Roll_motor 73 66 112.70 SBE_O2 947 19 414.21

VBD_pump_during_apogee 359 1311 10860.14 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 21.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 3002 19 616.11

LPSleep 7202 2 171.37

TT8_Active 403 19 82.72

TT8_Sampling 1985 39 816.51

TT8_CF8 166 45 78.93

TT8_Kalman 0 0 0.00

Analog_circuits 1433 12 177.16

GPS_charging 0 0 0.00

Compass 1970 15 304.45

RAFOS 2520 1 38.93

Transponder 17 30 5.52

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.47 0.000 2 0.000 0.000 2884 859 3119 0 0 0 0 0 0

26 -0.62 -146.0 10.1 -0.0 1 51 0.60 4.90 -13.00 0.000 4 0.111 0.065 2670 3899 3629 0 0 0 0 0 0

155 -0.56 -146.0 26.5 -14.9 23 162 0.00 2.17 0.00 0.000 6 0.000 0.041 2670 2478 3630 0 0 0 0 0 0

500 -0.47 -146.0 78.6 -12.7 84 507 0.15 0.00 0.00 0.000 6 0.222 0.000 2705 2477 3630 0 0 0 0 0 0

843 -0.49 -146.0 113.6 -10.8 134 847 0.00 2.28 0.00 0.000 4 0.000 0.067 2705 3899 3628 0 0 0 0 0 0

864 -0.52 -146.0 116.2 -11.2 135 871 0.00 2.15 0.00 0.000 6 0.000 0.041 2705 2489 3628 0 0 0 0 0 0

1190 -0.55 -146.0 146.4 -8.9 166 1191 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2489 3627 0 0 0 0 0 0

1510 -0.59 -146.0 179.2 -10.3 196 1511 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2489 3626 0 0 0 0 0 0

1830 -0.64 -146.0 210.6 -9.4 226 1837 0.15 0.00 0.00 0.000 6 0.116 0.000 2654 2489 3626 0 0 0 0 0 0

2155 -0.57 -146.0 252.3 -13.1 257 2157 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2488 3626 0 0 0 0 0 0

2476 -0.51 -146.0 293.3 -12.2 287 2480 0.17 2.25 0.00 0.000 4 0.205 0.067 2697 3897 3625 0 0 0 0 0 0

2519 -0.58 -146.0 297.8 -8.7 290 2526 0.00 2.15 0.00 0.000 6 0.000 0.040 2697 2481 3626 0 0 0 0 0 0

2845 -0.64 -146.0 323.5 -8.0 321 2850 0.12 2.25 0.00 0.000 4 0.130 0.064 2655 3896 3625 0 0 0 0 0 0

2866 -0.64 -146.0 325.7 -9.2 322 2874 0.00 2.15 0.00 0.000 6 0.000 0.039 2655 2493 3625 0 0 0 0 0 0

3192 -0.58 -146.0 363.2 -12.2 353 3193 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2493 3627 0 0 0 0 0 0

3511 -0.53 -146.0 401.9 -12.2 383 3515 0.15 2.25 0.00 0.000 4 0.205 0.065 2691 3894 3628 0 0 0 0 0 0

3528 -0.49 -146.0 404.0 -12.1 384 3532 0.00 2.12 0.00 0.000 6 0.000 0.038 2691 2487 3628 0 0 0 0 0 0

3854 -0.52 -146.0 434.4 -9.5 414 3856 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2486 3628 0 0 0 0 0 0

4174 -0.56 -146.0 463.4 -9.0 444 4178 0.00 2.22 0.00 0.000 4 0.000 0.066 2691 3891 3628 0 0 0 0 0 0

4197 -0.61 -146.0 465.7 -9.0 446 4201 0.00 2.12 0.00 0.000 6 0.000 0.039 2691 2487 3628 0 0 0 0 0 0

4528 -0.64 -146.0 495.2 -9.0 477 4530 0.12 0.00 0.00 0.000 6 0.126 0.000 2647 2486 3629 0 0 0 0 0 0

4847 -0.58 -146.0 533.3 -12.1 507 4851 0.00 2.22 0.00 0.000 4 0.000 0.067 2647 3898 3628 0 0 0 0 0 0

4890 -0.54 -146.0 539.0 -12.8 510 4898 0.15 2.15 0.00 0.000 6 0.206 0.040 2684 2476 3628 0 0 0 0 0 0

5217 -0.56 -146.0 569.5 -9.1 541 5218 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2476 3629 0 0 0 0 0 0

5536 -0.59 -146.0 598.2 -8.8 571 5540 0.00 2.25 0.00 0.000 4 0.000 0.067 2684 3900 3629 0 0 0 0 0 0

5571 -0.64 -146.0 601.9 -9.4 573 5575 0.00 2.15 0.00 0.000 6 0.000 0.041 2684 2485 3628 0 0 0 0 0 0

5901 -0.67 -146.0 632.2 -9.2 584 5906 0.12 2.15 0.00 0.000 4 0.130 0.057 2642 1093 3629 0 0 0 0 0 0

5916 -0.67 -146.0 633.9 -8.9 584 5921 0.00 2.20 0.00 0.000 6 0.000 0.054 2642 2498 3628 0 0 0 0 0 0

6236 -0.91 -146.0 649.9 -0.1 595 6241 0.20 2.22 0.00 0.000 4 0.096 0.058 2561 1086 3628 0 0 0 0 0 0

6298 end dive: NO_VERTICAL_VELOCITY

state 6298 begin apogee

6305 -0.12 0.0 650.0 0.0 597 6432 0.77 0.00 120.88 1.312 6 0.135 0.000 2816 2290 3030 0 0 0 0 0 0

6433 end apogee: CONTROL_FINISHED_OK

state 6433 begin climb

6435 0.62 146.0 649.8 0.0 601 6570 0.77 2.53 124.18 1.268 4 0.132 0.061 3055 3682 2433 0 0 0 0 0 0

6772 0.49 146.0 607.9 14.3 611 6777 0.17 2.30 0.00 0.000 6 0.187 0.047 3024 2283 2425 0 0 0 0 0 0

7101 0.47 146.0 574.6 10.5 637 7102 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2282 2424 0 0 0 0 0 0

7421 0.45 146.0 541.6 10.6 667 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2283 2423 0 0 0 0 0 0

7739 0.45 153.3 510.3 9.7 697 7749 0.00 0.00 5.60 0.897 6 0.000 0.000 3024 2283 2404 0 0 0 0 0 0

8069 0.47 162.8 479.0 9.6 728 8080 0.00 0.00 9.85 1.071 6 0.000 0.000 3024 2283 2366 0 0 0 0 0 0

8396 0.47 162.8 446.1 10.1 759 8398 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2283 2365 0 0 0 0 0 0

8715 0.47 162.8 413.9 10.1 789 8719 0.00 2.25 0.00 0.000 4 0.000 0.062 3023 3682 2363 0 0 0 0 0 0

8766 0.43 162.8 408.3 11.3 793 8770 0.00 2.22 0.00 0.000 6 0.000 0.047 3031 2267 2363 0 0 0 0 0 0

9092 0.43 163.1 374.8 10.0 823 9093 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2266 2363 0 0 0 0 0 0

9411 0.41 163.1 343.1 10.1 853 9412 0.12 0.00 0.00 0.000 6 0.198 0.000 3001 2266 2363 0 0 0 0 0 0

9728 0.48 184.2 315.8 9.0 883 9754 0.00 2.38 19.10 1.076 4 0.000 0.061 3001 3694 2279 0 0 0 0 0 0

9795 0.51 184.2 309.1 11.0 889 9799 0.00 2.22 0.00 0.000 6 0.000 0.047 3007 2275 2278 0 0 0 0 0 0

10126 0.58 204.3 277.3 9.1 920 10149 0.12 0.00 18.58 1.047 6 0.109 0.000 3060 2275 2197 0 0 0 0 0 0

10467 0.54 204.3 234.5 12.3 952 10468 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2274 2193 0 0 0 0 0 0

10788 0.50 204.3 196.3 11.6 982 10793 0.12 2.28 0.00 0.000 4 0.182 0.059 3028 3684 2193 0 0 0 0 0 0

10850 0.50 204.3 189.0 11.5 987 10854 0.00 2.20 0.00 0.000 6 0.000 0.044 3036 2273 2193 0 0 0 0 0 0

11177 0.55 224.7 160.7 9.1 1017 11201 0.00 2.30 18.45 0.963 4 0.000 0.059 3042 871 2113 0 0 0 0 0 0

11236 0.64 238.3 154.9 9.4 1022 11259 0.00 2.22 13.50 0.927 6 0.000 0.046 3042 2281 2057 0 0 0 0 0 0

11578 0.68 238.3 120.4 10.1 1054 11580 0.12 0.00 0.00 0.000 6 0.104 0.000 3094 2281 2054 0 0 0 0 0 0

11904 0.64 238.3 77.8 12.4 1098 11911 0.00 2.22 0.00 0.000 4 0.000 0.062 3095 3692 2053 0 0 0 0 0 0

11975 0.59 238.3 68.6 13.0 1110 11982 0.17 2.22 0.00 0.000 6 0.183 0.045 3058 2267 2053 0 0 0 0 0 0

12322 0.69 280.9 36.4 8.0 1171 12358 0.00 0.00 29.77 0.984 6 0.000 0.000 3059 2267 1882 0 0 0 0 0 0

12646 end climb: FINISH_DEPTH_REACHED

state 12646 begin subsurface finish

12652 0.05 37.7 8.4 -11.0 1228 12694 0.55 0.00 -34.45 0.000 6 0.148 0.000 2882 2264 2875 0 0 0 0 0 0

12695 end subsurface finish: CONTROL_FINISHED_OK

state 12695 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	138	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	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	0.0012300001	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	-27951.119	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
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	110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2	TGT_NAME	midTARGET
_CALLS	3	TGT_LATLONG	6656.000,-5813.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2	MHEAD_RNG_PITCHd_Wd	232.9,48784,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	740

FREEZE	8.43,-1.662,-1.827,3,13,0	ALTIM_TOP_PING	19.8,18.6
FINISH1	8.4,1.026731,38	_24V_AH	23.0,20.171
FINISH2	7.0	_10V_AH	10.3,11.115
RAFOS_CLK	672	FG_AHR_24Vo	0.000
RAFOS	0,1299830465,8.033334,8.018056,65,61,60,54,53,52,215,174,201,162,190,146	FG_AHR_10Vo	0.000
RAFOS_FIX	6720.910156,-5802.658691,110311,080840,3,125,0.34	MEM	150560
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	50014,1235
TT8_MAMPS	0.026964	CAP_FILE_SIZE	129435,0
HUMID	46.02	CFSIZE	260165632,243077120
INTERNAL_PRESSURE	8.71127	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.60	SOUNDSPEED	1460.3
XPDR_PINGS	0	GPS	110311,084240,6720.910,-5802.659,0,3125.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	221	25.00	SBE_CT	876	24	484.04
Roll_motor	73	66	112.70	SBE_O2	947	19	414.21
VBD_pump_during_apogee	359	1311	10860.14	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	21.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	3002	19	616.11
LPSleep	7202	2	171.37
TT8_Active	403	19	82.72
TT8_Sampling	1985	39	816.51
TT8_CF8	166	45	78.93
TT8_Kalman	0	0	0.00
Analog_circuits	1433	12	177.16
GPS_charging	0	0	0.00
Compass	1970	15	304.45
RAFOS	2520	1	38.93
Transponder	17	30	5.52

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.47	0.000	2	0.000	0.000	2884	859	3119	0	0	0	0	0	0
26	-0.62	-146.0	10.1	-0.0	1	51	0.60	4.90	-13.00	0.000	4	0.111	0.065	2670	3899	3629	0	0	0	0	0	0
155	-0.56	-146.0	26.5	-14.9	23	162	0.00	2.17	0.00	0.000	6	0.000	0.041	2670	2478	3630	0	0	0	0	0	0
500	-0.47	-146.0	78.6	-12.7	84	507	0.15	0.00	0.00	0.000	6	0.222	0.000	2705	2477	3630	0	0	0	0	0	0
843	-0.49	-146.0	113.6	-10.8	134	847	0.00	2.28	0.00	0.000	4	0.000	0.067	2705	3899	3628	0	0	0	0	0	0
864	-0.52	-146.0	116.2	-11.2	135	871	0.00	2.15	0.00	0.000	6	0.000	0.041	2705	2489	3628	0	0	0	0	0	0
1190	-0.55	-146.0	146.4	-8.9	166	1191	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2489	3627	0	0	0	0	0	0
1510	-0.59	-146.0	179.2	-10.3	196	1511	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2489	3626	0	0	0	0	0	0
1830	-0.64	-146.0	210.6	-9.4	226	1837	0.15	0.00	0.00	0.000	6	0.116	0.000	2654	2489	3626	0	0	0	0	0	0
2155	-0.57	-146.0	252.3	-13.1	257	2157	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2488	3626	0	0	0	0	0	0
2476	-0.51	-146.0	293.3	-12.2	287	2480	0.17	2.25	0.00	0.000	4	0.205	0.067	2697	3897	3625	0	0	0	0	0	0
2519	-0.58	-146.0	297.8	-8.7	290	2526	0.00	2.15	0.00	0.000	6	0.000	0.040	2697	2481	3626	0	0	0	0	0	0
2845	-0.64	-146.0	323.5	-8.0	321	2850	0.12	2.25	0.00	0.000	4	0.130	0.064	2655	3896	3625	0	0	0	0	0	0
2866	-0.64	-146.0	325.7	-9.2	322	2874	0.00	2.15	0.00	0.000	6	0.000	0.039	2655	2493	3625	0	0	0	0	0	0
3192	-0.58	-146.0	363.2	-12.2	353	3193	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2493	3627	0	0	0	0	0	0
3511	-0.53	-146.0	401.9	-12.2	383	3515	0.15	2.25	0.00	0.000	4	0.205	0.065	2691	3894	3628	0	0	0	0	0	0
3528	-0.49	-146.0	404.0	-12.1	384	3532	0.00	2.12	0.00	0.000	6	0.000	0.038	2691	2487	3628	0	0	0	0	0	0
3854	-0.52	-146.0	434.4	-9.5	414	3856	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2486	3628	0	0	0	0	0	0
4174	-0.56	-146.0	463.4	-9.0	444	4178	0.00	2.22	0.00	0.000	4	0.000	0.066	2691	3891	3628	0	0	0	0	0	0
4197	-0.61	-146.0	465.7	-9.0	446	4201	0.00	2.12	0.00	0.000	6	0.000	0.039	2691	2487	3628	0	0	0	0	0	0
4528	-0.64	-146.0	495.2	-9.0	477	4530	0.12	0.00	0.00	0.000	6	0.126	0.000	2647	2486	3629	0	0	0	0	0	0
4847	-0.58	-146.0	533.3	-12.1	507	4851	0.00	2.22	0.00	0.000	4	0.000	0.067	2647	3898	3628	0	0	0	0	0	0
4890	-0.54	-146.0	539.0	-12.8	510	4898	0.15	2.15	0.00	0.000	6	0.206	0.040	2684	2476	3628	0	0	0	0	0	0
5217	-0.56	-146.0	569.5	-9.1	541	5218	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2476	3629	0	0	0	0	0	0
5536	-0.59	-146.0	598.2	-8.8	571	5540	0.00	2.25	0.00	0.000	4	0.000	0.067	2684	3900	3629	0	0	0	0	0	0
5571	-0.64	-146.0	601.9	-9.4	573	5575	0.00	2.15	0.00	0.000	6	0.000	0.041	2684	2485	3628	0	0	0	0	0	0
5901	-0.67	-146.0	632.2	-9.2	584	5906	0.12	2.15	0.00	0.000	4	0.130	0.057	2642	1093	3629	0	0	0	0	0	0
5916	-0.67	-146.0	633.9	-8.9	584	5921	0.00	2.20	0.00	0.000	6	0.000	0.054	2642	2498	3628	0	0	0	0	0	0
6236	-0.91	-146.0	649.9	-0.1	595	6241	0.20	2.22	0.00	0.000	4	0.096	0.058	2561	1086	3628	0	0	0	0	0	0
6298	end dive: NO_VERTICAL_VELOCITY
state	6298	begin apogee
6305	-0.12	0.0	650.0	0.0	597	6432	0.77	0.00	120.88	1.312	6	0.135	0.000	2816	2290	3030	0	0	0	0	0	0
6433	end apogee: CONTROL_FINISHED_OK
state	6433	begin climb
6435	0.62	146.0	649.8	0.0	601	6570	0.77	2.53	124.18	1.268	4	0.132	0.061	3055	3682	2433	0	0	0	0	0	0
6772	0.49	146.0	607.9	14.3	611	6777	0.17	2.30	0.00	0.000	6	0.187	0.047	3024	2283	2425	0	0	0	0	0	0
7101	0.47	146.0	574.6	10.5	637	7102	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2282	2424	0	0	0	0	0	0
7421	0.45	146.0	541.6	10.6	667	7422	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2283	2423	0	0	0	0	0	0
7739	0.45	153.3	510.3	9.7	697	7749	0.00	0.00	5.60	0.897	6	0.000	0.000	3024	2283	2404	0	0	0	0	0	0
8069	0.47	162.8	479.0	9.6	728	8080	0.00	0.00	9.85	1.071	6	0.000	0.000	3024	2283	2366	0	0	0	0	0	0
8396	0.47	162.8	446.1	10.1	759	8398	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2283	2365	0	0	0	0	0	0
8715	0.47	162.8	413.9	10.1	789	8719	0.00	2.25	0.00	0.000	4	0.000	0.062	3023	3682	2363	0	0	0	0	0	0
8766	0.43	162.8	408.3	11.3	793	8770	0.00	2.22	0.00	0.000	6	0.000	0.047	3031	2267	2363	0	0	0	0	0	0
9092	0.43	163.1	374.8	10.0	823	9093	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	2266	2363	0	0	0	0	0	0
9411	0.41	163.1	343.1	10.1	853	9412	0.12	0.00	0.00	0.000	6	0.198	0.000	3001	2266	2363	0	0	0	0	0	0
9728	0.48	184.2	315.8	9.0	883	9754	0.00	2.38	19.10	1.076	4	0.000	0.061	3001	3694	2279	0	0	0	0	0	0
9795	0.51	184.2	309.1	11.0	889	9799	0.00	2.22	0.00	0.000	6	0.000	0.047	3007	2275	2278	0	0	0	0	0	0
10126	0.58	204.3	277.3	9.1	920	10149	0.12	0.00	18.58	1.047	6	0.109	0.000	3060	2275	2197	0	0	0	0	0	0
10467	0.54	204.3	234.5	12.3	952	10468	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2274	2193	0	0	0	0	0	0
10788	0.50	204.3	196.3	11.6	982	10793	0.12	2.28	0.00	0.000	4	0.182	0.059	3028	3684	2193	0	0	0	0	0	0
10850	0.50	204.3	189.0	11.5	987	10854	0.00	2.20	0.00	0.000	6	0.000	0.044	3036	2273	2193	0	0	0	0	0	0
11177	0.55	224.7	160.7	9.1	1017	11201	0.00	2.30	18.45	0.963	4	0.000	0.059	3042	871	2113	0	0	0	0	0	0
11236	0.64	238.3	154.9	9.4	1022	11259	0.00	2.22	13.50	0.927	6	0.000	0.046	3042	2281	2057	0	0	0	0	0	0
11578	0.68	238.3	120.4	10.1	1054	11580	0.12	0.00	0.00	0.000	6	0.104	0.000	3094	2281	2054	0	0	0	0	0	0
11904	0.64	238.3	77.8	12.4	1098	11911	0.00	2.22	0.00	0.000	4	0.000	0.062	3095	3692	2053	0	0	0	0	0	0
11975	0.59	238.3	68.6	13.0	1110	11982	0.17	2.22	0.00	0.000	6	0.183	0.045	3058	2267	2053	0	0	0	0	0	0
12322	0.69	280.9	36.4	8.0	1171	12358	0.00	0.00	29.77	0.984	6	0.000	0.000	3059	2267	1882	0	0	0	0	0	0
12646	end climb: FINISH_DEPTH_REACHED
state	12646	begin subsurface finish
12652	0.05	37.7	8.4	-11.0	1228	12694	0.55	0.00	-34.45	0.000	6	0.148	0.000	2882	2264	2875	0	0	0	0	0	0
12695	end subsurface finish: CONTROL_FINISHED_OK
state	12695	begin surface