Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 219 * 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 219 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 30 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 -30532.186 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 -30532.186

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 30 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 219 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 260311,044656,6719.733,-5759.885,0,2140.5,0,-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 6.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2 MHEAD_RNG_PITCHd_Wd 159.0,60458,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 849

Post-dive calculations and measurements:

FREEZE 8.43,-1.717,-1.830,3,94,0 ALTIM_BOTTOM_PING 500.3,43.2

FINISH1 8.4,1.026780,35 _24V_AH 22.8,31.876

FINISH2 6.0 _10V_AH 10.2,17.554

RAFOS_CLK 520 FG_AHR_24Vo 0.000

RAFOS 0,1301126472,8.033334,8.020000,66,60,55,55,52,52,207,127,191,174,152,219 FG_AHR_10Vo 0.000

RAFOS_FIX 6719.733398,-5759.884766,260311,040456,2,140,0.10 MEM 150556

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40127,1023

TT8_MAMPS 0.028462 CAP_FILE_SIZE 108446,0

HUMID 45.15 CFSIZE 260165632,236990464

INTERNAL_PRESSURE 8.7308 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1459.6

XPDR_PINGS 0 GPS 260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2

ALTIM_TOP_PING 19.6,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 218 21.70 SBE_CT 724 24 396.49

Roll_motor 78 72 129.83 SBE_O2 772 19 334.81

VBD_pump_during_apogee 388 1240 10988.90 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 1 420 16.76 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2424 19 492.61

LPSleep 5181 2 122.08

TT8_Active 428 19 87.12

TT8_Sampling 1630 39 663.84

TT8_CF8 136 45 64.09

TT8_Kalman 0 0 0.00

Analog_circuits 1303 12 159.53

GPS_charging 0 0 0.00

Compass 1615 15 247.20

RAFOS 1440 1 22.03

Transponder 14 30 4.35

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.65 0.000 2 0.000 0.000 2884 2280 3082 0 0 0 0 0 0

26 -0.62 -146.0 6.6 -0.0 1 57 0.62 1.95 -20.55 0.000 4 0.106 0.072 2666 1084 3628 0 0 0 0 0 0

127 -0.55 -146.0 15.3 -14.1 18 134 0.00 2.22 0.00 0.000 6 0.000 0.053 2665 2492 3629 0 0 0 0 0 0

472 -0.45 -146.0 70.1 -15.6 79 479 0.20 0.00 0.00 0.000 6 0.219 0.000 2714 2492 3630 0 0 0 0 0 0

815 -0.48 -146.0 104.9 -10.0 136 819 0.00 2.25 0.00 0.000 4 0.000 0.070 2714 3898 3629 0 0 0 0 0 0

844 -0.53 -146.0 107.8 -9.6 138 848 0.00 2.17 0.00 0.000 6 0.000 0.041 2714 2478 3629 0 0 0 0 0 0

1170 -0.59 -146.0 138.8 -9.3 168 1174 0.12 2.33 0.00 0.000 4 0.129 0.068 2673 3906 3627 0 0 0 0 0 0

1182 -0.64 -146.0 140.0 -9.4 169 1186 0.00 2.20 0.00 0.000 6 0.000 0.041 2673 2479 3627 0 0 0 0 0 0

1507 -0.61 -146.0 181.5 -12.0 199 1508 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2478 3626 0 0 0 0 0 0

1829 -0.59 -146.0 219.4 -11.6 229 1833 0.00 2.28 0.00 0.000 4 0.000 0.066 2673 3897 3625 0 0 0 0 0 0

1846 -0.56 -146.0 221.8 -12.1 230 1850 0.00 2.17 0.00 0.000 6 0.000 0.040 2673 2482 3625 0 0 0 0 0 0

2176 -0.54 -146.0 259.7 -11.4 261 2177 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2482 3625 0 0 0 0 0 0

2495 -0.54 -146.0 295.5 -11.3 291 2500 0.00 2.28 0.00 0.000 4 0.000 0.065 2673 3906 3626 0 0 0 0 0 0

2524 -0.54 -146.0 298.9 -11.5 293 2528 0.00 2.15 0.00 0.000 6 0.000 0.039 2673 2484 3626 0 0 0 0 0 0

2855 -0.54 -146.0 333.8 -10.2 324 2859 0.00 2.25 0.00 0.000 4 0.000 0.065 2672 3897 3627 0 0 0 0 0 0

2876 -0.54 -146.0 336.1 -9.9 325 2883 0.00 2.12 0.00 0.000 6 0.000 0.038 2672 2487 3627 0 0 0 0 0 0

3203 -0.54 -146.0 367.4 -9.2 356 3207 0.00 2.25 0.00 0.000 4 0.000 0.064 2672 3899 3628 0 0 0 0 0 0

3220 -0.54 -146.0 369.1 -9.6 357 3224 0.00 2.12 0.00 0.000 6 0.000 0.038 2673 2489 3628 0 0 0 0 0 0

3552 -0.54 -146.0 400.8 -9.9 388 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2489 3627 0 0 0 0 0 0

3871 -0.54 -146.0 432.9 -10.3 418 3874 0.00 2.15 0.00 0.000 4 0.000 0.054 2672 1091 3628 0 0 0 0 0 0

3884 -0.54 -146.0 434.3 -10.6 419 3888 0.00 2.20 0.00 0.000 6 0.000 0.053 2672 2500 3627 0 0 0 0 0 0

4209 -0.54 -146.0 466.9 -10.0 449 4213 0.00 2.22 0.00 0.000 4 0.000 0.070 2672 3897 3627 0 0 0 0 0 0

4241 -0.54 -146.0 470.3 -10.2 451 4248 0.00 2.15 0.00 0.000 6 0.000 0.040 2673 2488 3628 0 0 0 0 0 0

4566 -0.54 -146.0 502.5 -10.1 482 4567 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2488 3627 0 0 0 0 0 0

4830 end dive: BOTTOM_OBSTACLE_DETECTED

state 4830 begin apogee

4836 -0.12 0.0 529.6 10.1 507 4961 0.50 0.00 119.70 1.241 6 0.188 0.000 2816 2250 3030 0 0 0 0 0 0

4962 end apogee: CONTROL_FINISHED_OK

state 4962 begin climb

4964 0.62 146.0 534.1 0.0 518 5097 0.77 2.47 123.85 1.194 4 0.136 0.060 3064 891 2433 0 0 0 0 0 0

5177 0.52 146.0 516.3 12.5 537 5182 0.00 2.35 0.00 0.000 6 0.000 0.046 3063 2281 2428 0 0 0 0 0 0

5504 0.43 146.0 475.6 12.5 567 5509 0.22 2.30 0.00 0.000 4 0.187 0.061 3004 3684 2425 0 0 0 0 0 0

5567 0.39 146.0 468.4 11.0 572 5571 0.00 2.25 0.00 0.000 6 0.000 0.045 3012 2284 2424 0 0 0 0 0 0

5893 0.39 148.2 435.3 9.9 602 5894 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2285 2423 0 0 0 0 0 0

6212 0.41 159.7 404.0 9.5 632 6230 0.00 0.00 11.45 1.040 6 0.000 0.000 3012 2284 2377 0 0 0 0 0 0

6550 0.41 159.7 370.9 10.1 664 6554 0.00 2.25 0.00 0.000 4 0.000 0.060 3012 3693 2376 0 0 0 0 0 0

6601 0.37 159.7 365.0 12.4 668 6606 0.15 2.20 0.00 0.000 6 0.191 0.044 2986 2276 2376 0 0 0 0 0 0

6926 0.46 184.4 335.7 8.9 698 6954 0.00 2.25 22.20 1.084 4 0.000 0.058 2989 871 2277 0 0 0 0 0 0

6989 0.60 205.6 330.2 9.0 703 7016 0.20 2.22 19.88 1.058 6 0.086 0.047 3072 2281 2190 0 0 0 0 0 0

7342 0.52 205.6 281.1 14.0 736 7347 0.15 2.25 0.00 0.000 4 0.184 0.061 3033 3681 2185 0 0 0 0 0 0

7450 0.49 205.6 267.4 12.9 745 7454 0.00 2.20 0.00 0.000 6 0.000 0.046 3042 2279 2184 0 0 0 0 0 0

7780 0.46 205.6 228.3 11.9 776 7781 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2279 2183 0 0 0 0 0 0

8101 0.42 205.6 190.0 12.0 806 8108 0.15 0.00 0.00 0.000 6 0.179 0.000 3003 2279 2182 0 0 0 0 0 0

8427 0.56 268.8 165.1 7.1 837 8492 0.12 2.38 54.08 1.003 4 0.106 0.059 3068 867 1932 0 0 0 0 0 0

8542 0.60 268.8 153.0 11.2 847 8549 0.00 2.22 0.00 0.000 6 0.000 0.044 3067 2278 1929 0 0 0 0 0 0

8867 0.60 268.8 111.6 12.9 878 8871 0.00 2.25 0.00 0.000 4 0.000 0.059 3068 3680 1925 0 0 0 0 0 0

8922 0.56 268.8 103.8 14.1 882 8930 0.12 2.20 0.00 0.000 6 0.186 0.044 3046 2269 1922 0 0 0 0 0 0

9264 0.63 278.0 69.2 9.6 940 9277 0.00 2.30 7.82 0.815 4 0.000 0.060 3047 864 1896 0 0 0 0 0 0

9334 0.78 309.8 63.1 8.5 952 9371 0.20 2.22 29.45 0.922 6 0.088 0.044 3125 2283 1765 0 0 0 0 0 0

9684 end climb: FINISH_DEPTH_REACHED

state 9685 begin subsurface finish

9690 0.04 35.3 8.4 -17.9 1014 9743 0.80 2.22 -43.88 0.000 4 0.173 0.073 2887 3680 2888 0 0 0 0 0 0

9744 end subsurface finish: CONTROL_FINISHED_OK

state 9744 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	219	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	30	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	-30532.186	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	260311,044656,6719.733,-5759.885,0,2140.5,0,-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	6.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2	MHEAD_RNG_PITCHd_Wd	159.0,60458,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	849

FREEZE	8.43,-1.717,-1.830,3,94,0	ALTIM_BOTTOM_PING	500.3,43.2
FINISH1	8.4,1.026780,35	_24V_AH	22.8,31.876
FINISH2	6.0	_10V_AH	10.2,17.554
RAFOS_CLK	520	FG_AHR_24Vo	0.000
RAFOS	0,1301126472,8.033334,8.020000,66,60,55,55,52,52,207,127,191,174,152,219	FG_AHR_10Vo	0.000
RAFOS_FIX	6719.733398,-5759.884766,260311,040456,2,140,0.10	MEM	150556
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40127,1023
TT8_MAMPS	0.028462	CAP_FILE_SIZE	108446,0
HUMID	45.15	CFSIZE	260165632,236990464
INTERNAL_PRESSURE	8.7308	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1459.6
XPDR_PINGS	0	GPS	260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2
ALTIM_TOP_PING	19.6,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	218	21.70	SBE_CT	724	24	396.49
Roll_motor	78	72	129.83	SBE_O2	772	19	334.81
VBD_pump_during_apogee	388	1240	10988.90	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	1	420	16.76	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2424	19	492.61
LPSleep	5181	2	122.08
TT8_Active	428	19	87.12
TT8_Sampling	1630	39	663.84
TT8_CF8	136	45	64.09
TT8_Kalman	0	0	0.00
Analog_circuits	1303	12	159.53
GPS_charging	0	0	0.00
Compass	1615	15	247.20
RAFOS	1440	1	22.03
Transponder	14	30	4.35

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.65	0.000	2	0.000	0.000	2884	2280	3082	0	0	0	0	0	0
26	-0.62	-146.0	6.6	-0.0	1	57	0.62	1.95	-20.55	0.000	4	0.106	0.072	2666	1084	3628	0	0	0	0	0	0
127	-0.55	-146.0	15.3	-14.1	18	134	0.00	2.22	0.00	0.000	6	0.000	0.053	2665	2492	3629	0	0	0	0	0	0
472	-0.45	-146.0	70.1	-15.6	79	479	0.20	0.00	0.00	0.000	6	0.219	0.000	2714	2492	3630	0	0	0	0	0	0
815	-0.48	-146.0	104.9	-10.0	136	819	0.00	2.25	0.00	0.000	4	0.000	0.070	2714	3898	3629	0	0	0	0	0	0
844	-0.53	-146.0	107.8	-9.6	138	848	0.00	2.17	0.00	0.000	6	0.000	0.041	2714	2478	3629	0	0	0	0	0	0
1170	-0.59	-146.0	138.8	-9.3	168	1174	0.12	2.33	0.00	0.000	4	0.129	0.068	2673	3906	3627	0	0	0	0	0	0
1182	-0.64	-146.0	140.0	-9.4	169	1186	0.00	2.20	0.00	0.000	6	0.000	0.041	2673	2479	3627	0	0	0	0	0	0
1507	-0.61	-146.0	181.5	-12.0	199	1508	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2478	3626	0	0	0	0	0	0
1829	-0.59	-146.0	219.4	-11.6	229	1833	0.00	2.28	0.00	0.000	4	0.000	0.066	2673	3897	3625	0	0	0	0	0	0
1846	-0.56	-146.0	221.8	-12.1	230	1850	0.00	2.17	0.00	0.000	6	0.000	0.040	2673	2482	3625	0	0	0	0	0	0
2176	-0.54	-146.0	259.7	-11.4	261	2177	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2482	3625	0	0	0	0	0	0
2495	-0.54	-146.0	295.5	-11.3	291	2500	0.00	2.28	0.00	0.000	4	0.000	0.065	2673	3906	3626	0	0	0	0	0	0
2524	-0.54	-146.0	298.9	-11.5	293	2528	0.00	2.15	0.00	0.000	6	0.000	0.039	2673	2484	3626	0	0	0	0	0	0
2855	-0.54	-146.0	333.8	-10.2	324	2859	0.00	2.25	0.00	0.000	4	0.000	0.065	2672	3897	3627	0	0	0	0	0	0
2876	-0.54	-146.0	336.1	-9.9	325	2883	0.00	2.12	0.00	0.000	6	0.000	0.038	2672	2487	3627	0	0	0	0	0	0
3203	-0.54	-146.0	367.4	-9.2	356	3207	0.00	2.25	0.00	0.000	4	0.000	0.064	2672	3899	3628	0	0	0	0	0	0
3220	-0.54	-146.0	369.1	-9.6	357	3224	0.00	2.12	0.00	0.000	6	0.000	0.038	2673	2489	3628	0	0	0	0	0	0
3552	-0.54	-146.0	400.8	-9.9	388	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2489	3627	0	0	0	0	0	0
3871	-0.54	-146.0	432.9	-10.3	418	3874	0.00	2.15	0.00	0.000	4	0.000	0.054	2672	1091	3628	0	0	0	0	0	0
3884	-0.54	-146.0	434.3	-10.6	419	3888	0.00	2.20	0.00	0.000	6	0.000	0.053	2672	2500	3627	0	0	0	0	0	0
4209	-0.54	-146.0	466.9	-10.0	449	4213	0.00	2.22	0.00	0.000	4	0.000	0.070	2672	3897	3627	0	0	0	0	0	0
4241	-0.54	-146.0	470.3	-10.2	451	4248	0.00	2.15	0.00	0.000	6	0.000	0.040	2673	2488	3628	0	0	0	0	0	0
4566	-0.54	-146.0	502.5	-10.1	482	4567	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2488	3627	0	0	0	0	0	0
4830	end dive: BOTTOM_OBSTACLE_DETECTED
state	4830	begin apogee
4836	-0.12	0.0	529.6	10.1	507	4961	0.50	0.00	119.70	1.241	6	0.188	0.000	2816	2250	3030	0	0	0	0	0	0
4962	end apogee: CONTROL_FINISHED_OK
state	4962	begin climb
4964	0.62	146.0	534.1	0.0	518	5097	0.77	2.47	123.85	1.194	4	0.136	0.060	3064	891	2433	0	0	0	0	0	0
5177	0.52	146.0	516.3	12.5	537	5182	0.00	2.35	0.00	0.000	6	0.000	0.046	3063	2281	2428	0	0	0	0	0	0
5504	0.43	146.0	475.6	12.5	567	5509	0.22	2.30	0.00	0.000	4	0.187	0.061	3004	3684	2425	0	0	0	0	0	0
5567	0.39	146.0	468.4	11.0	572	5571	0.00	2.25	0.00	0.000	6	0.000	0.045	3012	2284	2424	0	0	0	0	0	0
5893	0.39	148.2	435.3	9.9	602	5894	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2285	2423	0	0	0	0	0	0
6212	0.41	159.7	404.0	9.5	632	6230	0.00	0.00	11.45	1.040	6	0.000	0.000	3012	2284	2377	0	0	0	0	0	0
6550	0.41	159.7	370.9	10.1	664	6554	0.00	2.25	0.00	0.000	4	0.000	0.060	3012	3693	2376	0	0	0	0	0	0
6601	0.37	159.7	365.0	12.4	668	6606	0.15	2.20	0.00	0.000	6	0.191	0.044	2986	2276	2376	0	0	0	0	0	0
6926	0.46	184.4	335.7	8.9	698	6954	0.00	2.25	22.20	1.084	4	0.000	0.058	2989	871	2277	0	0	0	0	0	0
6989	0.60	205.6	330.2	9.0	703	7016	0.20	2.22	19.88	1.058	6	0.086	0.047	3072	2281	2190	0	0	0	0	0	0
7342	0.52	205.6	281.1	14.0	736	7347	0.15	2.25	0.00	0.000	4	0.184	0.061	3033	3681	2185	0	0	0	0	0	0
7450	0.49	205.6	267.4	12.9	745	7454	0.00	2.20	0.00	0.000	6	0.000	0.046	3042	2279	2184	0	0	0	0	0	0
7780	0.46	205.6	228.3	11.9	776	7781	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2279	2183	0	0	0	0	0	0
8101	0.42	205.6	190.0	12.0	806	8108	0.15	0.00	0.00	0.000	6	0.179	0.000	3003	2279	2182	0	0	0	0	0	0
8427	0.56	268.8	165.1	7.1	837	8492	0.12	2.38	54.08	1.003	4	0.106	0.059	3068	867	1932	0	0	0	0	0	0
8542	0.60	268.8	153.0	11.2	847	8549	0.00	2.22	0.00	0.000	6	0.000	0.044	3067	2278	1929	0	0	0	0	0	0
8867	0.60	268.8	111.6	12.9	878	8871	0.00	2.25	0.00	0.000	4	0.000	0.059	3068	3680	1925	0	0	0	0	0	0
8922	0.56	268.8	103.8	14.1	882	8930	0.12	2.20	0.00	0.000	6	0.186	0.044	3046	2269	1922	0	0	0	0	0	0
9264	0.63	278.0	69.2	9.6	940	9277	0.00	2.30	7.82	0.815	4	0.000	0.060	3047	864	1896	0	0	0	0	0	0
9334	0.78	309.8	63.1	8.5	952	9371	0.20	2.22	29.45	0.922	6	0.088	0.044	3125	2283	1765	0	0	0	0	0	0
9684	end climb: FINISH_DEPTH_REACHED
state	9685	begin subsurface finish
9690	0.04	35.3	8.4	-17.9	1014	9743	0.80	2.22	-43.88	0.000	4	0.173	0.073	2887	3680	2888	0	0	0	0	0	0
9744	end subsurface finish: CONTROL_FINISHED_OK
state	9744	begin surface