Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 187 * 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 187 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 24 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 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 -2 T_GPS_CHARGE -29425.438 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 -29425.438

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 -2

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 24 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 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 187 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 200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2 MHEAD_RNG_PITCHd_Wd 119.4,151428,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 582

Post-dive calculations and measurements:

FREEZE 8.55,-1.744,-1.769,3,62,0 ALTIM_BOTTOM_PING 550.8,45.0

FINISH1 8.6,1.025912,78 _24V_AH 22.7,27.102

FINISH2 6.6 _10V_AH 10.2,14.977

RAFOS_CLK 593 FG_AHR_24Vo 0.000

RAFOS 0,1300608071,8.033334,8.019722,135,62,60,57,56,54,592,141,219,132,210,85 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.032715,-6009.453125,200311,080825,7,124,0.29 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43390,1101

TT8_MAMPS 0.026215 CAP_FILE_SIZE 127334,0

HUMID 46.57 CFSIZE 260165632,239411200

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.6

XPDR_PINGS 0 GPS 200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2

ALTIM_TOP_PING 20.0,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 222 26.78 SBE_CT 785 24 428.02

Roll_motor 111 83 211.67 SBE_O2 839 19 362.19

VBD_pump_during_apogee 416 1287 12159.53 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 19.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2664 19 541.35

LPSleep 5727 2 134.96

TT8_Active 479 19 97.45

TT8_Sampling 1780 39 725.01

TT8_CF8 160 45 75.27

TT8_Kalman 0 0 0.00

Analog_circuits 1444 12 176.78

GPS_charging 0 0 0.00

Compass 1765 15 270.14

RAFOS 2520 1 38.56

Transponder 15 30 4.90

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 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.03 0.000 2 0.000 0.000 2901 866 2957 0 0 0 0 0 0

27 -0.62 -146.0 9.8 -0.0 1 58 0.65 5.07 -18.83 0.000 4 0.097 0.083 2666 3897 3629 0 0 0 0 0 0

273 -0.55 -146.0 48.8 -17.1 44 280 0.00 2.25 0.00 0.000 6 0.000 0.055 2666 2487 3630 0 0 0 0 0 0

619 -0.43 -146.0 112.4 -15.4 99 624 0.20 2.25 0.00 0.000 4 0.219 0.067 2715 1079 3630 0 0 0 0 0 0

663 -0.47 -146.0 118.6 -11.3 102 670 0.00 2.30 0.00 0.000 6 0.000 0.064 2715 2500 3629 0 0 0 0 0 0

992 -0.49 -146.0 152.7 -11.0 133 996 0.00 2.30 0.00 0.000 4 0.000 0.070 2715 1071 3629 0 0 0 0 0 0

1009 -0.52 -146.0 155.0 -11.3 134 1013 0.00 2.30 0.00 0.000 6 0.000 0.067 2715 2489 3630 0 0 0 0 0 0

1336 -0.56 -146.0 187.1 -8.6 164 1341 0.00 2.33 0.00 0.000 4 0.000 0.082 2715 3899 3629 0 0 0 0 0 0

1355 -0.61 -146.0 188.9 -8.7 165 1359 0.15 2.22 0.00 0.000 6 0.119 0.054 2665 2483 3629 0 0 0 0 0 0

1680 -0.54 -146.0 230.6 -13.8 195 1684 0.00 2.25 0.00 0.000 4 0.000 0.070 2664 1074 3629 0 0 0 0 0 0

1725 -0.50 -146.0 237.0 -13.8 199 1730 0.15 2.30 0.00 0.000 6 0.223 0.067 2699 2489 3628 0 0 0 0 0 0

2051 -0.54 -146.0 271.3 -10.2 229 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2489 3628 0 0 0 0 0 0

2372 -0.58 -146.0 301.1 -8.8 259 2376 0.00 2.30 0.00 0.000 4 0.000 0.080 2699 3901 3628 0 0 0 0 0 0

2406 -0.65 -146.0 304.4 -8.5 261 2413 0.15 2.22 0.00 0.000 6 0.122 0.053 2650 2481 3628 0 0 0 0 0 0

2731 -0.58 -146.0 345.0 -13.4 292 2732 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2481 3628 0 0 0 0 0 0

3051 -0.50 -146.0 387.4 -12.9 322 3055 0.20 2.22 0.00 0.000 4 0.214 0.065 2699 1083 3628 0 0 0 0 0 0

3066 -0.46 -146.0 389.8 -12.6 323 3073 0.00 2.28 0.00 0.000 6 0.000 0.064 2699 2497 3628 0 0 0 0 0 0

3392 -0.52 -146.0 416.3 -7.6 354 3393 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2497 3628 0 0 0 0 0 0

3712 -0.58 -146.0 440.8 -8.2 384 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2497 3628 0 0 0 0 0 0

4030 -0.65 -146.0 466.0 -8.3 414 4032 0.15 0.00 0.00 0.000 6 0.124 0.000 2649 2497 3628 0 0 0 0 0 0

4347 -0.59 -146.0 503.5 -11.8 444 4348 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2498 3628 0 0 0 0 0 0

4667 -0.53 -146.0 541.3 -11.7 474 4672 0.15 2.28 0.00 0.000 4 0.212 0.066 2685 1073 3629 0 0 0 0 0 0

4707 -0.57 -146.0 545.5 -9.0 477 4711 0.00 2.28 0.00 0.000 6 0.000 0.063 2685 2490 3629 0 0 0 0 0 0

5033 -0.61 -146.0 572.6 -8.0 507 5037 0.00 2.25 0.00 0.000 4 0.000 0.066 2685 1083 3629 0 0 0 0 0 0

5043 -0.66 -146.0 573.6 -7.9 507 5050 0.00 2.28 0.00 0.000 6 0.000 0.063 2685 2500 3629 0 0 0 0 0 0

5133 end dive: BOTTOM_OBSTACLE_DETECTED

state 5133 begin apogee

5138 -0.12 0.0 581.5 7.9 516 5270 0.43 0.00 121.38 1.287 6 0.184 0.000 2813 2264 3030 0 0 0 0 0 0

5270 end apogee: CONTROL_FINISHED_OK

state 5271 begin climb

5273 0.62 146.0 583.4 0.0 528 5408 0.77 2.58 125.53 1.242 4 0.131 0.070 3063 878 2433 0 0 0 0 0 0

5505 0.53 146.0 562.9 12.7 549 5510 0.00 2.40 0.00 0.000 6 0.000 0.057 3063 2274 2427 0 0 0 0 0 0

5831 0.42 146.0 522.3 12.4 579 5836 0.22 2.38 0.00 0.000 4 0.184 0.070 3006 3688 2425 0 0 0 0 0 0

5871 0.40 146.0 517.8 10.7 582 5875 0.00 2.35 0.00 0.000 6 0.000 0.057 3014 2275 2424 0 0 0 0 0 0

6197 0.40 146.0 485.5 10.1 612 6201 0.00 2.33 0.00 0.000 4 0.000 0.070 3024 867 2423 0 0 0 0 0 0

6230 0.40 146.0 481.8 10.3 614 6238 0.12 2.33 0.00 0.000 6 0.191 0.059 2996 2283 2423 0 0 0 0 0 0

6556 0.45 160.7 452.4 9.3 645 6573 0.00 2.33 12.30 1.099 4 0.000 0.073 2996 3687 2374 0 0 0 0 0 0

6645 0.45 160.7 442.5 11.4 652 6653 0.00 2.30 0.00 0.000 6 0.000 0.056 3003 2275 2373 0 0 0 0 0 0

6971 0.49 181.2 411.9 9.1 683 6997 0.00 2.40 18.92 1.126 4 0.000 0.069 3014 860 2290 0 0 0 0 0 0

7016 0.55 200.0 407.8 9.1 687 7039 0.00 2.35 18.25 1.111 6 0.000 0.058 3014 2285 2214 0 0 0 0 0 0

7358 0.60 215.3 375.7 9.3 719 7381 0.12 2.38 14.35 1.077 4 0.107 0.072 3068 3683 2151 0 0 0 0 0 0

7440 0.50 215.3 364.3 16.2 726 7445 0.20 2.33 0.00 0.000 6 0.189 0.057 3027 2271 2150 0 0 0 0 0 0

7764 0.50 215.3 329.0 10.6 756 7768 0.00 2.30 0.00 0.000 4 0.000 0.069 3036 862 2148 0 0 0 0 0 0

7793 0.54 215.3 326.0 10.2 758 7797 0.00 2.28 0.00 0.000 6 0.000 0.057 3036 2281 2147 0 0 0 0 0 0

8118 0.54 215.3 290.9 10.8 788 8122 0.00 2.28 0.00 0.000 4 0.000 0.071 3036 3693 2147 0 0 0 0 0 0

8191 0.50 215.3 281.9 13.6 794 8195 0.00 2.30 0.00 0.000 6 0.000 0.057 3046 2265 2146 0 0 0 0 0 0

8522 0.50 215.3 245.5 10.3 825 8526 0.00 2.25 0.00 0.000 4 0.000 0.067 3055 857 2146 0 0 0 0 0 0

8554 0.50 215.3 241.8 10.6 827 8562 0.08 2.30 0.00 0.000 6 0.164 0.057 3017 2276 2145 0 0 0 0 0 0

8880 0.61 253.1 212.8 8.3 858 8925 0.12 2.42 33.85 1.056 4 0.109 0.071 3071 3695 1997 0 0 0 0 0 0

8977 0.55 253.1 200.6 13.7 866 8984 0.15 2.35 0.00 0.000 6 0.184 0.057 3043 2264 1994 0 0 0 0 0 0

9302 0.62 270.0 168.2 9.2 897 9325 0.00 2.30 15.82 0.991 4 0.000 0.067 3046 861 1928 0 0 0 0 0 0

9360 0.73 287.2 163.0 9.2 902 9384 0.15 2.30 17.35 0.981 6 0.103 0.057 3107 2280 1859 0 0 0 0 0 0

9701 0.73 287.2 117.1 13.3 934 9705 0.00 2.33 0.00 0.000 4 0.000 0.070 3108 3698 1852 0 0 0 0 0 0

9781 0.68 287.2 105.5 15.9 941 9785 0.12 2.30 0.00 0.000 6 0.204 0.058 3089 2276 1851 0 0 0 0 0 0

10122 0.72 322.3 69.2 8.4 997 10158 0.00 2.40 31.35 0.978 4 0.000 0.069 3098 865 1716 0 0 0 0 0 0

10228 0.79 322.3 59.0 10.2 1015 10234 0.00 2.30 0.00 0.000 6 0.000 0.057 3097 2279 1711 0 0 0 0 0 0

10573 0.86 335.7 24.1 9.4 1076 10587 0.12 2.30 6.95 0.930 4 0.107 0.068 3147 3691 1659 0 0 0 0 0 0

10658 0.80 335.7 12.1 16.9 1090 10666 0.15 2.30 0.00 0.000 6 0.210 0.056 3123 2274 1656 0 0 0 0 0 0

10677 end climb: FINISH_DEPTH_REACHED

state 10677 begin subsurface finish

10682 0.10 77.9 8.6 -15.9 1093 10731 0.73 2.35 -41.58 0.000 4 0.173 0.080 2904 865 2715 0 0 0 0 0 0

10732 end subsurface finish: CONTROL_FINISHED_OK

state 10732 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	187	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	24	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	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	-2	T_GPS_CHARGE	-29425.438	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	200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2	MHEAD_RNG_PITCHd_Wd	119.4,151428,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	582

FREEZE	8.55,-1.744,-1.769,3,62,0	ALTIM_BOTTOM_PING	550.8,45.0
FINISH1	8.6,1.025912,78	_24V_AH	22.7,27.102
FINISH2	6.6	_10V_AH	10.2,14.977
RAFOS_CLK	593	FG_AHR_24Vo	0.000
RAFOS	0,1300608071,8.033334,8.019722,135,62,60,57,56,54,592,141,219,132,210,85	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.032715,-6009.453125,200311,080825,7,124,0.29	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43390,1101
TT8_MAMPS	0.026215	CAP_FILE_SIZE	127334,0
HUMID	46.57	CFSIZE	260165632,239411200
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.6
XPDR_PINGS	0	GPS	200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2
ALTIM_TOP_PING	20.0,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	222	26.78	SBE_CT	785	24	428.02
Roll_motor	111	83	211.67	SBE_O2	839	19	362.19
VBD_pump_during_apogee	416	1287	12159.53	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	19.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2664	19	541.35
LPSleep	5727	2	134.96
TT8_Active	479	19	97.45
TT8_Sampling	1780	39	725.01
TT8_CF8	160	45	75.27
TT8_Kalman	0	0	0.00
Analog_circuits	1444	12	176.78
GPS_charging	0	0	0.00
Compass	1765	15	270.14
RAFOS	2520	1	38.56
Transponder	15	30	4.90

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	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-7.03	0.000	2	0.000	0.000	2901	866	2957	0	0	0	0	0	0
27	-0.62	-146.0	9.8	-0.0	1	58	0.65	5.07	-18.83	0.000	4	0.097	0.083	2666	3897	3629	0	0	0	0	0	0
273	-0.55	-146.0	48.8	-17.1	44	280	0.00	2.25	0.00	0.000	6	0.000	0.055	2666	2487	3630	0	0	0	0	0	0
619	-0.43	-146.0	112.4	-15.4	99	624	0.20	2.25	0.00	0.000	4	0.219	0.067	2715	1079	3630	0	0	0	0	0	0
663	-0.47	-146.0	118.6	-11.3	102	670	0.00	2.30	0.00	0.000	6	0.000	0.064	2715	2500	3629	0	0	0	0	0	0
992	-0.49	-146.0	152.7	-11.0	133	996	0.00	2.30	0.00	0.000	4	0.000	0.070	2715	1071	3629	0	0	0	0	0	0
1009	-0.52	-146.0	155.0	-11.3	134	1013	0.00	2.30	0.00	0.000	6	0.000	0.067	2715	2489	3630	0	0	0	0	0	0
1336	-0.56	-146.0	187.1	-8.6	164	1341	0.00	2.33	0.00	0.000	4	0.000	0.082	2715	3899	3629	0	0	0	0	0	0
1355	-0.61	-146.0	188.9	-8.7	165	1359	0.15	2.22	0.00	0.000	6	0.119	0.054	2665	2483	3629	0	0	0	0	0	0
1680	-0.54	-146.0	230.6	-13.8	195	1684	0.00	2.25	0.00	0.000	4	0.000	0.070	2664	1074	3629	0	0	0	0	0	0
1725	-0.50	-146.0	237.0	-13.8	199	1730	0.15	2.30	0.00	0.000	6	0.223	0.067	2699	2489	3628	0	0	0	0	0	0
2051	-0.54	-146.0	271.3	-10.2	229	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2489	3628	0	0	0	0	0	0
2372	-0.58	-146.0	301.1	-8.8	259	2376	0.00	2.30	0.00	0.000	4	0.000	0.080	2699	3901	3628	0	0	0	0	0	0
2406	-0.65	-146.0	304.4	-8.5	261	2413	0.15	2.22	0.00	0.000	6	0.122	0.053	2650	2481	3628	0	0	0	0	0	0
2731	-0.58	-146.0	345.0	-13.4	292	2732	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2481	3628	0	0	0	0	0	0
3051	-0.50	-146.0	387.4	-12.9	322	3055	0.20	2.22	0.00	0.000	4	0.214	0.065	2699	1083	3628	0	0	0	0	0	0
3066	-0.46	-146.0	389.8	-12.6	323	3073	0.00	2.28	0.00	0.000	6	0.000	0.064	2699	2497	3628	0	0	0	0	0	0
3392	-0.52	-146.0	416.3	-7.6	354	3393	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2497	3628	0	0	0	0	0	0
3712	-0.58	-146.0	440.8	-8.2	384	3713	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2497	3628	0	0	0	0	0	0
4030	-0.65	-146.0	466.0	-8.3	414	4032	0.15	0.00	0.00	0.000	6	0.124	0.000	2649	2497	3628	0	0	0	0	0	0
4347	-0.59	-146.0	503.5	-11.8	444	4348	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2498	3628	0	0	0	0	0	0
4667	-0.53	-146.0	541.3	-11.7	474	4672	0.15	2.28	0.00	0.000	4	0.212	0.066	2685	1073	3629	0	0	0	0	0	0
4707	-0.57	-146.0	545.5	-9.0	477	4711	0.00	2.28	0.00	0.000	6	0.000	0.063	2685	2490	3629	0	0	0	0	0	0
5033	-0.61	-146.0	572.6	-8.0	507	5037	0.00	2.25	0.00	0.000	4	0.000	0.066	2685	1083	3629	0	0	0	0	0	0
5043	-0.66	-146.0	573.6	-7.9	507	5050	0.00	2.28	0.00	0.000	6	0.000	0.063	2685	2500	3629	0	0	0	0	0	0
5133	end dive: BOTTOM_OBSTACLE_DETECTED
state	5133	begin apogee
5138	-0.12	0.0	581.5	7.9	516	5270	0.43	0.00	121.38	1.287	6	0.184	0.000	2813	2264	3030	0	0	0	0	0	0
5270	end apogee: CONTROL_FINISHED_OK
state	5271	begin climb
5273	0.62	146.0	583.4	0.0	528	5408	0.77	2.58	125.53	1.242	4	0.131	0.070	3063	878	2433	0	0	0	0	0	0
5505	0.53	146.0	562.9	12.7	549	5510	0.00	2.40	0.00	0.000	6	0.000	0.057	3063	2274	2427	0	0	0	0	0	0
5831	0.42	146.0	522.3	12.4	579	5836	0.22	2.38	0.00	0.000	4	0.184	0.070	3006	3688	2425	0	0	0	0	0	0
5871	0.40	146.0	517.8	10.7	582	5875	0.00	2.35	0.00	0.000	6	0.000	0.057	3014	2275	2424	0	0	0	0	0	0
6197	0.40	146.0	485.5	10.1	612	6201	0.00	2.33	0.00	0.000	4	0.000	0.070	3024	867	2423	0	0	0	0	0	0
6230	0.40	146.0	481.8	10.3	614	6238	0.12	2.33	0.00	0.000	6	0.191	0.059	2996	2283	2423	0	0	0	0	0	0
6556	0.45	160.7	452.4	9.3	645	6573	0.00	2.33	12.30	1.099	4	0.000	0.073	2996	3687	2374	0	0	0	0	0	0
6645	0.45	160.7	442.5	11.4	652	6653	0.00	2.30	0.00	0.000	6	0.000	0.056	3003	2275	2373	0	0	0	0	0	0
6971	0.49	181.2	411.9	9.1	683	6997	0.00	2.40	18.92	1.126	4	0.000	0.069	3014	860	2290	0	0	0	0	0	0
7016	0.55	200.0	407.8	9.1	687	7039	0.00	2.35	18.25	1.111	6	0.000	0.058	3014	2285	2214	0	0	0	0	0	0
7358	0.60	215.3	375.7	9.3	719	7381	0.12	2.38	14.35	1.077	4	0.107	0.072	3068	3683	2151	0	0	0	0	0	0
7440	0.50	215.3	364.3	16.2	726	7445	0.20	2.33	0.00	0.000	6	0.189	0.057	3027	2271	2150	0	0	0	0	0	0
7764	0.50	215.3	329.0	10.6	756	7768	0.00	2.30	0.00	0.000	4	0.000	0.069	3036	862	2148	0	0	0	0	0	0
7793	0.54	215.3	326.0	10.2	758	7797	0.00	2.28	0.00	0.000	6	0.000	0.057	3036	2281	2147	0	0	0	0	0	0
8118	0.54	215.3	290.9	10.8	788	8122	0.00	2.28	0.00	0.000	4	0.000	0.071	3036	3693	2147	0	0	0	0	0	0
8191	0.50	215.3	281.9	13.6	794	8195	0.00	2.30	0.00	0.000	6	0.000	0.057	3046	2265	2146	0	0	0	0	0	0
8522	0.50	215.3	245.5	10.3	825	8526	0.00	2.25	0.00	0.000	4	0.000	0.067	3055	857	2146	0	0	0	0	0	0
8554	0.50	215.3	241.8	10.6	827	8562	0.08	2.30	0.00	0.000	6	0.164	0.057	3017	2276	2145	0	0	0	0	0	0
8880	0.61	253.1	212.8	8.3	858	8925	0.12	2.42	33.85	1.056	4	0.109	0.071	3071	3695	1997	0	0	0	0	0	0
8977	0.55	253.1	200.6	13.7	866	8984	0.15	2.35	0.00	0.000	6	0.184	0.057	3043	2264	1994	0	0	0	0	0	0
9302	0.62	270.0	168.2	9.2	897	9325	0.00	2.30	15.82	0.991	4	0.000	0.067	3046	861	1928	0	0	0	0	0	0
9360	0.73	287.2	163.0	9.2	902	9384	0.15	2.30	17.35	0.981	6	0.103	0.057	3107	2280	1859	0	0	0	0	0	0
9701	0.73	287.2	117.1	13.3	934	9705	0.00	2.33	0.00	0.000	4	0.000	0.070	3108	3698	1852	0	0	0	0	0	0
9781	0.68	287.2	105.5	15.9	941	9785	0.12	2.30	0.00	0.000	6	0.204	0.058	3089	2276	1851	0	0	0	0	0	0
10122	0.72	322.3	69.2	8.4	997	10158	0.00	2.40	31.35	0.978	4	0.000	0.069	3098	865	1716	0	0	0	0	0	0
10228	0.79	322.3	59.0	10.2	1015	10234	0.00	2.30	0.00	0.000	6	0.000	0.057	3097	2279	1711	0	0	0	0	0	0
10573	0.86	335.7	24.1	9.4	1076	10587	0.12	2.30	6.95	0.930	4	0.107	0.068	3147	3691	1659	0	0	0	0	0	0
10658	0.80	335.7	12.1	16.9	1090	10666	0.15	2.30	0.00	0.000	6	0.210	0.056	3123	2274	1656	0	0	0	0	0	0
10677	end climb: FINISH_DEPTH_REACHED
state	10677	begin subsurface finish
10682	0.10	77.9	8.6	-15.9	1093	10731	0.73	2.35	-41.58	0.000	4	0.173	0.080	2904	865	2715	0	0	0	0	0	0
10732	end subsurface finish: CONTROL_FINISHED_OK
state	10732	begin surface