Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 220 * 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 220 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 31 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 31 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 220 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 6.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 2.8 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 7.38,-1.634,-1.831,3,95,1 ALTIM_BOTTOM_PING 500.5,20.2

FINISH1 7.4,1.026799,34 _24V_AH 22.9,31.984

FINISH2 4.8 _10V_AH 10.2,17.613

RAFOS_CLK 505 FG_AHR_24Vo 0.000

RAFOS 3,1301127906,8.433333,8.418333,58,53,52,52,51,48,207,153,179,168,223,128 FG_AHR_10Vo 0.000

RAFOS_FIX 6720.620117,-5757.952637,260311,080856,2,110,0.15 MEM 150556

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40084,1007

TT8_MAMPS 0.026215 CAP_FILE_SIZE 110082,0

HUMID 44.80 CFSIZE 260165632,236929024

INTERNAL_PRESSURE 8.74057 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1463.5

XPDR_PINGS 0 GPS 260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2

ALTIM_TOP_PING 19.9,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 222 23.32 SBE_CT 712 24 391.41

Roll_motor 84 71 137.38 SBE_O2 758 19 330.00

VBD_pump_during_apogee 337 1197 9257.17 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 19.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2407 19 489.22

LPSleep 5017 2 118.22

TT8_Active 408 19 82.91

TT8_Sampling 1601 39 652.01

TT8_CF8 139 45 65.20

TT8_Kalman 0 0 0.00

Analog_circuits 1258 12 154.02

GPS_charging 0 0 0.00

Compass 1584 15 242.49

RAFOS 1080 1 16.52

Transponder 17 30 5.22

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 -7.43 0.000 2 0.000 0.000 2887 3680 3114 0 0 0 0 0 0

28 -0.62 -146.0 7.4 -0.0 1 54 0.62 4.12 -16.40 0.000 4 0.106 0.053 2670 1080 3629 0 0 0 0 0 0

162 -0.56 -146.0 23.7 -12.4 24 168 0.00 2.22 0.00 0.000 6 0.000 0.053 2670 2492 3629 0 0 0 0 0 0

506 -0.46 -146.0 77.3 -16.4 85 513 0.17 2.28 0.00 0.000 4 0.223 0.069 2712 3898 3629 0 0 0 0 0 0

532 -0.42 -146.0 81.2 -14.6 89 538 0.00 2.20 0.00 0.000 6 0.000 0.041 2712 2474 3630 0 0 0 0 0 0

870 -0.45 -146.0 115.1 -9.3 136 874 0.00 2.30 0.00 0.000 4 0.000 0.067 2712 3906 3628 0 0 0 0 0 0

891 -0.49 -146.0 117.5 -9.7 137 898 0.00 2.15 0.00 0.000 6 0.000 0.040 2712 2489 3628 0 0 0 0 0 0

1218 -0.55 -146.0 146.9 -8.6 168 1222 0.00 2.20 0.00 0.000 4 0.000 0.060 2712 1077 3627 0 0 0 0 0 0

1251 -0.61 -146.0 150.2 -9.2 170 1258 0.15 2.22 0.00 0.000 6 0.122 0.055 2664 2495 3627 0 0 0 0 0 0

1576 -0.56 -146.0 188.5 -11.4 201 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2495 3626 0 0 0 0 0 0

1897 -0.51 -146.0 225.7 -12.2 231 1902 0.12 2.28 0.00 0.000 4 0.221 0.071 2691 3903 3626 0 0 0 0 0 0

1926 -0.51 -146.0 229.1 -10.7 233 1930 0.00 2.17 0.00 0.000 6 0.000 0.041 2691 2483 3626 0 0 0 0 0 0

2257 -0.54 -146.0 258.9 -8.8 264 2261 0.00 2.28 0.00 0.000 4 0.000 0.067 2691 3902 3626 0 0 0 0 0 0

2275 -0.58 -146.0 260.5 -8.6 265 2279 0.00 2.15 0.00 0.000 6 0.000 0.039 2691 2486 3626 0 0 0 0 0 0

2606 -0.62 -146.0 288.9 -8.4 296 2610 0.00 2.25 0.00 0.000 4 0.000 0.066 2691 3897 3625 0 0 0 0 0 0

2650 -0.69 -146.0 292.6 -8.0 299 2658 0.15 2.15 0.00 0.000 6 0.116 0.038 2639 2489 3626 0 0 0 0 0 0

2976 -0.59 -146.0 332.1 -13.2 330 2981 0.12 2.28 0.00 0.000 4 0.216 0.066 2667 3900 3626 0 0 0 0 0 0

2998 -0.53 -146.0 335.1 -12.8 331 3004 0.00 2.12 0.00 0.000 6 0.000 0.038 2667 2490 3626 0 0 0 0 0 0

3323 -0.51 -146.0 368.6 -11.4 362 3328 0.10 2.28 0.00 0.000 4 0.213 0.066 2691 3904 3627 0 0 0 0 0 0

3334 -0.51 -146.0 370.1 -11.8 362 3341 0.00 2.15 0.00 0.000 6 0.000 0.037 2691 2489 3627 0 0 0 0 0 0

3660 -0.56 -146.0 398.7 -8.7 393 3661 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2489 3627 0 0 0 0 0 0

3980 -0.62 -146.0 425.5 -8.2 423 3981 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2489 3627 0 0 0 0 0 0

4298 -0.68 -146.0 451.1 -7.5 453 4300 0.15 0.00 0.00 0.000 6 0.120 0.000 2639 2489 3627 0 0 0 0 0 0

4615 -0.60 -146.0 487.8 -11.7 483 4617 0.12 0.00 0.00 0.000 6 0.210 0.000 2667 2489 3628 0 0 0 0 0 0

4793 end dive: BOTTOM_OBSTACLE_DETECTED

state 4793 begin apogee

4800 -0.12 0.0 505.8 9.8 500 4924 0.50 0.00 119.15 1.197 6 0.183 0.000 2815 2246 3030 0 0 0 0 0 0

4925 end apogee: CONTROL_FINISHED_OK

state 4925 begin climb

4927 0.62 146.0 509.4 0.0 511 5060 0.75 2.38 122.60 1.156 4 0.125 0.056 3061 888 2433 0 0 0 0 0 0

5099 0.54 146.0 494.8 12.8 526 5106 0.00 2.33 0.00 0.000 6 0.000 0.044 3061 2274 2429 0 0 0 0 0 0

5426 0.44 146.0 453.8 12.5 557 5431 0.20 2.33 0.00 0.000 4 0.183 0.057 3010 3690 2426 0 0 0 0 0 0

5568 0.39 146.0 437.0 11.6 569 5572 0.00 2.20 0.00 0.000 6 0.000 0.042 3017 2291 2425 0 0 0 0 0 0

5894 0.37 157.2 404.6 9.5 599 5906 0.12 0.00 9.57 0.969 6 0.190 0.000 2988 2291 2387 0 0 0 0 0 0

6222 0.48 209.8 379.2 7.6 630 6272 0.00 0.00 45.65 1.092 6 0.000 0.000 2988 2291 2173 0 0 0 0 0 0

6591 0.58 235.0 347.9 8.8 665 6620 0.17 0.00 22.15 1.035 6 0.086 0.000 3059 2291 2072 0 0 0 0 0 0

6938 0.52 235.0 296.6 15.0 698 6942 0.00 2.22 0.00 0.000 4 0.000 0.057 3059 3693 2067 0 0 0 0 0 0

6977 0.46 235.0 290.3 16.5 701 6985 0.20 2.20 0.00 0.000 6 0.179 0.044 3017 2272 2066 0 0 0 0 0 0

7303 0.49 235.0 254.9 10.3 732 7307 0.00 2.20 0.00 0.000 4 0.000 0.057 3025 862 2066 0 0 0 0 0 0

7354 0.58 244.3 249.8 9.6 736 7369 0.00 2.20 8.75 0.896 6 0.000 0.043 3026 2287 2033 0 0 0 0 0 0

7695 0.61 253.8 215.1 9.6 768 7711 0.10 2.25 9.77 0.907 4 0.116 0.057 3072 3682 1994 0 0 0 0 0 0

7775 0.56 253.8 204.4 14.5 775 7780 0.15 2.20 0.00 0.000 6 0.183 0.044 3045 2265 1993 0 0 0 0 0 0

8100 0.56 253.8 166.3 12.4 805 8104 0.00 2.20 0.00 0.000 4 0.000 0.057 3052 865 1992 0 0 0 0 0 0

8201 0.60 253.8 153.6 13.4 813 8208 0.00 2.20 0.00 0.000 6 0.000 0.044 3052 2281 1990 0 0 0 0 0 0

8526 0.60 253.8 112.6 12.5 844 8530 0.00 2.20 0.00 0.000 4 0.000 0.058 3052 3681 1990 0 0 0 0 0 0

8577 0.60 253.8 105.9 13.5 848 8581 0.00 2.17 0.00 0.000 6 0.000 0.044 3061 2273 1990 0 0 0 0 0 0

8919 0.63 253.8 64.1 10.4 905 8926 0.00 2.17 0.00 0.000 4 0.000 0.057 3071 868 1990 0 0 0 0 0 0

9006 0.66 256.5 55.4 9.9 920 9013 0.00 2.15 0.00 0.000 6 0.000 0.043 3071 2275 1989 0 0 0 0 0 0

9350 0.66 256.5 20.7 13.0 981 9358 0.00 2.17 0.00 0.000 4 0.000 0.057 3071 3680 1989 0 0 0 0 0 0

9409 0.66 256.5 13.4 11.8 991 9416 0.00 2.17 0.00 0.000 6 0.000 0.043 3081 2270 1989 0 0 0 0 0 0

9459 end climb: SURFACE_OBSTACLE_DETECTED

state 9459 begin subsurface finish

9466 0.04 34.3 7.4 -11.7 1000 9508 0.65 2.25 -36.42 0.000 4 0.168 0.070 2884 867 2892 0 0 0 0 0 0

9509 end subsurface finish: CONTROL_FINISHED_OK

state 9509 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	220	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	31	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	6.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	2.8	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	7.38,-1.634,-1.831,3,95,1	ALTIM_BOTTOM_PING	500.5,20.2
FINISH1	7.4,1.026799,34	_24V_AH	22.9,31.984
FINISH2	4.8	_10V_AH	10.2,17.613
RAFOS_CLK	505	FG_AHR_24Vo	0.000
RAFOS	3,1301127906,8.433333,8.418333,58,53,52,52,51,48,207,153,179,168,223,128	FG_AHR_10Vo	0.000
RAFOS_FIX	6720.620117,-5757.952637,260311,080856,2,110,0.15	MEM	150556
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40084,1007
TT8_MAMPS	0.026215	CAP_FILE_SIZE	110082,0
HUMID	44.80	CFSIZE	260165632,236929024
INTERNAL_PRESSURE	8.74057	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1463.5
XPDR_PINGS	0	GPS	260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2
ALTIM_TOP_PING	19.9,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	222	23.32	SBE_CT	712	24	391.41
Roll_motor	84	71	137.38	SBE_O2	758	19	330.00
VBD_pump_during_apogee	337	1197	9257.17	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	19.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2407	19	489.22
LPSleep	5017	2	118.22
TT8_Active	408	19	82.91
TT8_Sampling	1601	39	652.01
TT8_CF8	139	45	65.20
TT8_Kalman	0	0	0.00
Analog_circuits	1258	12	154.02
GPS_charging	0	0	0.00
Compass	1584	15	242.49
RAFOS	1080	1	16.52
Transponder	17	30	5.22

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	-7.43	0.000	2	0.000	0.000	2887	3680	3114	0	0	0	0	0	0
28	-0.62	-146.0	7.4	-0.0	1	54	0.62	4.12	-16.40	0.000	4	0.106	0.053	2670	1080	3629	0	0	0	0	0	0
162	-0.56	-146.0	23.7	-12.4	24	168	0.00	2.22	0.00	0.000	6	0.000	0.053	2670	2492	3629	0	0	0	0	0	0
506	-0.46	-146.0	77.3	-16.4	85	513	0.17	2.28	0.00	0.000	4	0.223	0.069	2712	3898	3629	0	0	0	0	0	0
532	-0.42	-146.0	81.2	-14.6	89	538	0.00	2.20	0.00	0.000	6	0.000	0.041	2712	2474	3630	0	0	0	0	0	0
870	-0.45	-146.0	115.1	-9.3	136	874	0.00	2.30	0.00	0.000	4	0.000	0.067	2712	3906	3628	0	0	0	0	0	0
891	-0.49	-146.0	117.5	-9.7	137	898	0.00	2.15	0.00	0.000	6	0.000	0.040	2712	2489	3628	0	0	0	0	0	0
1218	-0.55	-146.0	146.9	-8.6	168	1222	0.00	2.20	0.00	0.000	4	0.000	0.060	2712	1077	3627	0	0	0	0	0	0
1251	-0.61	-146.0	150.2	-9.2	170	1258	0.15	2.22	0.00	0.000	6	0.122	0.055	2664	2495	3627	0	0	0	0	0	0
1576	-0.56	-146.0	188.5	-11.4	201	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2495	3626	0	0	0	0	0	0
1897	-0.51	-146.0	225.7	-12.2	231	1902	0.12	2.28	0.00	0.000	4	0.221	0.071	2691	3903	3626	0	0	0	0	0	0
1926	-0.51	-146.0	229.1	-10.7	233	1930	0.00	2.17	0.00	0.000	6	0.000	0.041	2691	2483	3626	0	0	0	0	0	0
2257	-0.54	-146.0	258.9	-8.8	264	2261	0.00	2.28	0.00	0.000	4	0.000	0.067	2691	3902	3626	0	0	0	0	0	0
2275	-0.58	-146.0	260.5	-8.6	265	2279	0.00	2.15	0.00	0.000	6	0.000	0.039	2691	2486	3626	0	0	0	0	0	0
2606	-0.62	-146.0	288.9	-8.4	296	2610	0.00	2.25	0.00	0.000	4	0.000	0.066	2691	3897	3625	0	0	0	0	0	0
2650	-0.69	-146.0	292.6	-8.0	299	2658	0.15	2.15	0.00	0.000	6	0.116	0.038	2639	2489	3626	0	0	0	0	0	0
2976	-0.59	-146.0	332.1	-13.2	330	2981	0.12	2.28	0.00	0.000	4	0.216	0.066	2667	3900	3626	0	0	0	0	0	0
2998	-0.53	-146.0	335.1	-12.8	331	3004	0.00	2.12	0.00	0.000	6	0.000	0.038	2667	2490	3626	0	0	0	0	0	0
3323	-0.51	-146.0	368.6	-11.4	362	3328	0.10	2.28	0.00	0.000	4	0.213	0.066	2691	3904	3627	0	0	0	0	0	0
3334	-0.51	-146.0	370.1	-11.8	362	3341	0.00	2.15	0.00	0.000	6	0.000	0.037	2691	2489	3627	0	0	0	0	0	0
3660	-0.56	-146.0	398.7	-8.7	393	3661	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2489	3627	0	0	0	0	0	0
3980	-0.62	-146.0	425.5	-8.2	423	3981	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2489	3627	0	0	0	0	0	0
4298	-0.68	-146.0	451.1	-7.5	453	4300	0.15	0.00	0.00	0.000	6	0.120	0.000	2639	2489	3627	0	0	0	0	0	0
4615	-0.60	-146.0	487.8	-11.7	483	4617	0.12	0.00	0.00	0.000	6	0.210	0.000	2667	2489	3628	0	0	0	0	0	0
4793	end dive: BOTTOM_OBSTACLE_DETECTED
state	4793	begin apogee
4800	-0.12	0.0	505.8	9.8	500	4924	0.50	0.00	119.15	1.197	6	0.183	0.000	2815	2246	3030	0	0	0	0	0	0
4925	end apogee: CONTROL_FINISHED_OK
state	4925	begin climb
4927	0.62	146.0	509.4	0.0	511	5060	0.75	2.38	122.60	1.156	4	0.125	0.056	3061	888	2433	0	0	0	0	0	0
5099	0.54	146.0	494.8	12.8	526	5106	0.00	2.33	0.00	0.000	6	0.000	0.044	3061	2274	2429	0	0	0	0	0	0
5426	0.44	146.0	453.8	12.5	557	5431	0.20	2.33	0.00	0.000	4	0.183	0.057	3010	3690	2426	0	0	0	0	0	0
5568	0.39	146.0	437.0	11.6	569	5572	0.00	2.20	0.00	0.000	6	0.000	0.042	3017	2291	2425	0	0	0	0	0	0
5894	0.37	157.2	404.6	9.5	599	5906	0.12	0.00	9.57	0.969	6	0.190	0.000	2988	2291	2387	0	0	0	0	0	0
6222	0.48	209.8	379.2	7.6	630	6272	0.00	0.00	45.65	1.092	6	0.000	0.000	2988	2291	2173	0	0	0	0	0	0
6591	0.58	235.0	347.9	8.8	665	6620	0.17	0.00	22.15	1.035	6	0.086	0.000	3059	2291	2072	0	0	0	0	0	0
6938	0.52	235.0	296.6	15.0	698	6942	0.00	2.22	0.00	0.000	4	0.000	0.057	3059	3693	2067	0	0	0	0	0	0
6977	0.46	235.0	290.3	16.5	701	6985	0.20	2.20	0.00	0.000	6	0.179	0.044	3017	2272	2066	0	0	0	0	0	0
7303	0.49	235.0	254.9	10.3	732	7307	0.00	2.20	0.00	0.000	4	0.000	0.057	3025	862	2066	0	0	0	0	0	0
7354	0.58	244.3	249.8	9.6	736	7369	0.00	2.20	8.75	0.896	6	0.000	0.043	3026	2287	2033	0	0	0	0	0	0
7695	0.61	253.8	215.1	9.6	768	7711	0.10	2.25	9.77	0.907	4	0.116	0.057	3072	3682	1994	0	0	0	0	0	0
7775	0.56	253.8	204.4	14.5	775	7780	0.15	2.20	0.00	0.000	6	0.183	0.044	3045	2265	1993	0	0	0	0	0	0
8100	0.56	253.8	166.3	12.4	805	8104	0.00	2.20	0.00	0.000	4	0.000	0.057	3052	865	1992	0	0	0	0	0	0
8201	0.60	253.8	153.6	13.4	813	8208	0.00	2.20	0.00	0.000	6	0.000	0.044	3052	2281	1990	0	0	0	0	0	0
8526	0.60	253.8	112.6	12.5	844	8530	0.00	2.20	0.00	0.000	4	0.000	0.058	3052	3681	1990	0	0	0	0	0	0
8577	0.60	253.8	105.9	13.5	848	8581	0.00	2.17	0.00	0.000	6	0.000	0.044	3061	2273	1990	0	0	0	0	0	0
8919	0.63	253.8	64.1	10.4	905	8926	0.00	2.17	0.00	0.000	4	0.000	0.057	3071	868	1990	0	0	0	0	0	0
9006	0.66	256.5	55.4	9.9	920	9013	0.00	2.15	0.00	0.000	6	0.000	0.043	3071	2275	1989	0	0	0	0	0	0
9350	0.66	256.5	20.7	13.0	981	9358	0.00	2.17	0.00	0.000	4	0.000	0.057	3071	3680	1989	0	0	0	0	0	0
9409	0.66	256.5	13.4	11.8	991	9416	0.00	2.17	0.00	0.000	6	0.000	0.043	3081	2270	1989	0	0	0	0	0	0
9459	end climb: SURFACE_OBSTACLE_DETECTED
state	9459	begin subsurface finish
9466	0.04	34.3	7.4	-11.7	1000	9508	0.65	2.25	-36.42	0.000	4	0.168	0.070	2884	867	2892	0	0	0	0	0	0
9509	end subsurface finish: CONTROL_FINISHED_OK
state	9509	begin surface