Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 270 * 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 270 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 39 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 1 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 -34413.234 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 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -34413.234

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 35 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 39 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 270 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 300311,204800,6702.295,-5648.344,181,99.0,181,-37.7 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -42.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300311,204800,6702.295,-5648.344,181,99.0,181,-37.7 MHEAD_RNG_PITCHd_Wd 295.7,162794,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 547

Post-dive calculations and measurements:

FREEZE 1.74,-1.609,-1.804,3,19,0 ALTIM_TOP_PING 19.4,17.9

FINISH 1.7,1.026469 _24V_AH 22.8,37.178

SM_CCo 10383,137.98,0.065,0,0,751,559.04 _10V_AH 10.2,20.373

SM_GC 2.70,0.00,0.00,137.98,0.000,0.000,0.065,114,2504,751,-8.60,0.40,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 574 FG_AHR_10Vo 0.000

RAFOS 0,1301544066,4.033333,4.018333,63,60,57,57,51,49,200,119,182,1601,220,144 MEM 150432

RAFOS_FIX 6702.293457,-5659.113770,310311,040400,2,142,0.27 DATA_FILE_SIZE 43342,1085

IRIDIUM_FIX 6641.98,-5656.94,290311,060610 CAP_FILE_SIZE 131104,0

TT8_MAMPS 0.026215 CFSIZE 260165632,234340352

HUMID 44.48 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.51595 SOUNDSPEED 1465.4

TCM_TEMP 17.10 GPS 310311,044800,6702.293,-5659.114,0,2141.5,0,-37.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 327 181.78 SBE_CT 761 24 416.58

Roll_motor 103 68 159.93 SBE_O2 821 19 355.99

VBD_pump_during_apogee 330 1230 9271.55 nil 0 0 0.00

VBD_pump_during_surface 137 65 204.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 232.18 nil 0 0 0.00

Iridium_during_connect 17 160 63.44 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 14.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 93.48

TT8 2600 19 528.42

LPSleep 5556 2 130.92

TT8_Active 658 19 133.80

TT8_Sampling 2048 39 834.02

TT8_CF8 409 45 191.65

TT8_Kalman 0 0 0.00

Analog_circuits 1613 12 197.52

GPS_charging 0 0 0.00

Compass 1731 15 264.96

RAFOS 2520 1 38.56

Transponder 11 30 3.51

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.62 -146.0 0.0 0.0 0 216 0.00 0.00 -191.80 0.000 6 0.000 0.000 110 2498 3627 0 0 0 0 0 0

218 -0.62 -146.0 6.7 -13.8 34 238 12.85 2.25 0.00 0.000 4 0.327 0.063 2654 3886 3629 0 0 0 0 0 0

329 -0.56 -146.0 38.5 -15.4 53 336 0.00 2.15 0.00 0.000 6 0.000 0.039 2654 2484 3629 0 0 0 0 0 0

674 -0.47 -146.0 93.5 -16.5 114 681 0.20 2.30 0.00 0.000 4 0.207 0.064 2705 3891 3629 0 0 0 0 0 0

734 -0.54 -146.0 100.4 -9.6 124 738 0.00 2.17 0.00 0.000 6 0.000 0.040 2705 2480 3629 0 0 0 0 0 0

1059 -0.58 -146.0 134.5 -9.9 154 1063 0.00 2.20 0.00 0.000 4 0.000 0.057 2705 1082 3627 0 0 0 0 0 0

1160 -0.64 -146.0 144.8 -9.8 162 1168 0.15 2.22 0.00 0.000 6 0.115 0.053 2654 2484 3627 0 0 0 0 0 0

1485 -0.58 -146.0 185.7 -12.7 193 1489 0.00 2.28 0.00 0.000 4 0.000 0.068 2654 3907 3626 0 0 0 0 0 0

1547 -0.55 -146.0 193.4 -11.7 198 1552 0.12 2.17 0.00 0.000 6 0.194 0.039 2683 2476 3626 0 0 0 0 0 0

1872 -0.55 -146.0 225.2 -9.2 228 1873 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2477 3627 0 0 0 0 0 0

2194 -0.55 -146.0 254.8 -9.6 258 2198 0.00 2.15 0.00 0.000 4 0.000 0.055 2683 1086 3628 0 0 0 0 0 0

2235 -0.57 -146.0 259.2 -10.4 261 2239 0.00 2.22 0.00 0.000 6 0.000 0.051 2683 2497 3628 0 0 0 0 0 0

2559 -0.57 -146.0 291.7 -10.1 291 2563 0.00 2.25 0.00 0.000 4 0.000 0.067 2683 3899 3629 0 0 0 0 0 0

2616 -0.62 -146.0 297.3 -9.5 295 2623 0.00 2.12 0.00 0.000 6 0.000 0.038 2683 2489 3629 0 0 0 0 0 0

2943 -0.64 -146.0 328.5 -9.5 326 2944 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2489 3629 0 0 0 0 0 0

3261 -0.67 -146.0 355.3 -7.8 356 3265 0.12 2.17 0.00 0.000 4 0.129 0.052 2640 1086 3630 0 0 0 0 0 0

3294 -0.61 -146.0 358.9 -10.8 358 3302 0.00 2.22 0.00 0.000 6 0.000 0.051 2640 2498 3630 0 0 0 0 0 0

3620 -0.53 -146.0 394.5 -11.2 389 3625 0.17 2.28 0.00 0.000 4 0.204 0.066 2685 3904 3631 0 0 0 0 0 0

3729 -0.58 -146.0 404.2 -8.9 398 3733 0.00 2.15 0.00 0.000 6 0.000 0.037 2684 2485 3631 0 0 0 0 0 0

4059 -0.62 -146.0 435.3 -10.1 429 4063 0.00 2.12 0.00 0.000 4 0.000 0.051 2684 1092 3633 0 0 0 0 0 0

4105 -0.67 -146.0 440.2 -10.9 433 4110 0.12 2.20 0.00 0.000 6 0.123 0.049 2643 2500 3632 0 0 0 0 0 0

4430 -0.60 -146.0 479.3 -11.3 463 4434 0.00 2.22 0.00 0.000 4 0.000 0.064 2642 3898 3633 0 0 0 0 0 0

4476 -0.56 -146.0 484.4 -10.9 467 4481 0.15 2.12 0.00 0.000 6 0.194 0.037 2678 2482 3633 0 0 0 0 0 0

4802 -0.58 -146.0 510.3 -8.1 497 4806 0.00 2.12 0.00 0.000 4 0.000 0.051 2679 1093 3635 0 0 0 0 0 0

4881 -0.62 -146.0 517.1 -8.6 504 4885 0.00 2.20 0.00 0.000 6 0.000 0.050 2679 2497 3635 0 0 0 0 0 0

5209 -0.65 -146.0 544.5 -8.4 534 5213 0.00 2.22 0.00 0.000 4 0.000 0.066 2679 3899 3635 0 0 0 0 0 0

5235 end dive: TARGET_DEPTH_EXCEEDED

state 5236 begin apogee

5243 -0.12 0.0 547.2 9.3 536 5375 0.45 0.00 121.07 1.230 6 0.180 0.000 2813 2274 3030 0 0 0 0 0 0

5375 end apogee: CONTROL_FINISHED_OK

state 5375 begin climb

5377 0.62 146.0 550.7 0.0 548 5511 0.77 2.53 123.30 1.190 4 0.135 0.057 3062 875 2433 0 0 0 0 0 0

5539 0.55 146.0 538.0 12.6 562 5545 0.00 2.38 0.00 0.000 6 0.000 0.044 3063 2278 2429 0 0 0 0 0 0

5865 0.48 146.0 497.8 12.0 593 5870 0.15 2.30 0.00 0.000 4 0.181 0.059 3025 3694 2426 0 0 0 0 0 0

5906 0.44 146.0 492.9 11.9 596 5910 0.00 2.25 0.00 0.000 6 0.000 0.043 3033 2279 2426 0 0 0 0 0 0

6231 0.42 146.0 459.5 10.2 626 6236 0.12 2.25 0.00 0.000 4 0.187 0.057 3012 868 2424 0 0 0 0 0 0

6248 0.42 146.0 457.8 10.2 627 6252 0.00 2.22 0.00 0.000 6 0.000 0.045 3011 2278 2423 0 0 0 0 0 0

6574 0.43 157.2 427.9 9.5 657 6589 0.00 2.30 9.02 1.001 4 0.000 0.060 3012 3687 2389 0 0 0 0 0 0

6656 0.43 157.2 418.4 12.2 664 6663 0.00 2.22 0.00 0.000 6 0.000 0.044 3022 2269 2388 0 0 0 0 0 0

6983 0.44 162.4 385.7 9.8 695 6996 0.00 2.28 5.95 0.885 4 0.000 0.057 3022 3693 2367 0 0 0 0 0 0

7031 0.40 162.4 380.1 12.0 699 7036 0.15 2.22 0.00 0.000 6 0.187 0.044 2995 2263 2367 0 0 0 0 0 0

7357 0.52 203.3 352.0 8.1 729 7398 0.10 0.00 36.15 1.092 6 0.118 0.000 3040 2264 2201 0 0 0 0 0 0

7715 0.52 203.3 308.2 12.9 763 7719 0.00 2.30 0.00 0.000 4 0.000 0.057 3040 3689 2196 0 0 0 0 0 0

7738 0.49 203.3 305.2 13.8 765 7742 0.00 2.22 0.00 0.000 6 0.000 0.042 3050 2274 2195 0 0 0 0 0 0

8064 0.47 203.3 261.3 13.4 795 8066 0.12 0.00 0.00 0.000 6 0.181 0.000 3020 2273 2195 0 0 0 0 0 0

8381 0.53 225.8 229.5 9.0 825 8408 0.00 2.28 19.75 0.984 4 0.000 0.055 3028 873 2108 0 0 0 0 0 0

8415 0.59 233.7 226.4 9.6 828 8428 0.00 2.22 8.20 0.860 6 0.000 0.043 3028 2281 2078 0 0 0 0 0 0

8745 0.65 233.7 191.5 10.5 859 8750 0.12 2.22 0.00 0.000 4 0.103 0.057 3083 3683 2075 0 0 0 0 0 0

8772 0.61 233.7 187.7 14.4 861 8780 0.12 2.22 0.00 0.000 6 0.190 0.041 3063 2263 2074 0 0 0 0 0 0

9099 0.61 233.7 143.9 14.3 892 9100 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2263 2074 0 0 0 0 0 0

9417 0.61 233.7 103.9 10.5 922 9421 0.00 2.17 0.00 0.000 4 0.000 0.054 3072 862 2074 0 0 0 0 0 0

9463 0.63 233.7 98.9 10.8 926 9470 0.00 2.17 0.00 0.000 6 0.000 0.041 3072 2287 2073 0 0 0 0 0 0

9807 0.67 233.7 61.9 10.6 987 9814 0.00 2.17 0.00 0.000 4 0.000 0.057 3072 3684 2073 0 0 0 0 0 0

9849 0.67 233.7 57.0 11.7 994 9856 0.00 2.20 0.00 0.000 6 0.000 0.041 3082 2259 2072 0 0 0 0 0 0

10195 0.68 244.2 22.1 9.5 1055 10208 0.00 2.25 7.12 0.777 4 0.000 0.052 3082 3693 2034 0 0 0 0 0 0

10266 0.65 244.2 13.7 13.9 1067 10273 0.00 2.20 0.00 0.000 6 0.000 0.041 3092 2270 2033 0 0 0 0 0 0

10354 end climb: SURFACE_DEPTH_REACHED

state 10354 begin surface coast

10366 end surface coast: FINISH_DEPTH_REACHED

state 10367 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	270	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	39	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	1	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	-34413.234	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	300311,204800,6702.295,-5648.344,181,99.0,181,-37.7	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-42.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300311,204800,6702.295,-5648.344,181,99.0,181,-37.7	MHEAD_RNG_PITCHd_Wd	295.7,162794,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	547

FREEZE	1.74,-1.609,-1.804,3,19,0	ALTIM_TOP_PING	19.4,17.9
FINISH	1.7,1.026469	_24V_AH	22.8,37.178
SM_CCo	10383,137.98,0.065,0,0,751,559.04	_10V_AH	10.2,20.373
SM_GC	2.70,0.00,0.00,137.98,0.000,0.000,0.065,114,2504,751,-8.60,0.40,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	574	FG_AHR_10Vo	0.000
RAFOS	0,1301544066,4.033333,4.018333,63,60,57,57,51,49,200,119,182,1601,220,144	MEM	150432
RAFOS_FIX	6702.293457,-5659.113770,310311,040400,2,142,0.27	DATA_FILE_SIZE	43342,1085
IRIDIUM_FIX	6641.98,-5656.94,290311,060610	CAP_FILE_SIZE	131104,0
TT8_MAMPS	0.026215	CFSIZE	260165632,234340352
HUMID	44.48	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.51595	SOUNDSPEED	1465.4
TCM_TEMP	17.10	GPS	310311,044800,6702.293,-5659.114,0,2141.5,0,-37.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	327	181.78	SBE_CT	761	24	416.58
Roll_motor	103	68	159.93	SBE_O2	821	19	355.99
VBD_pump_during_apogee	330	1230	9271.55	nil	0	0	0.00
VBD_pump_during_surface	137	65	204.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	232.18	nil	0	0	0.00
Iridium_during_connect	17	160	63.44	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	14.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	93.48
TT8	2600	19	528.42
LPSleep	5556	2	130.92
TT8_Active	658	19	133.80
TT8_Sampling	2048	39	834.02
TT8_CF8	409	45	191.65
TT8_Kalman	0	0	0.00
Analog_circuits	1613	12	197.52
GPS_charging	0	0	0.00
Compass	1731	15	264.96
RAFOS	2520	1	38.56
Transponder	11	30	3.51

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.62	-146.0	0.0	0.0	0	216	0.00	0.00	-191.80	0.000	6	0.000	0.000	110	2498	3627	0	0	0	0	0	0
218	-0.62	-146.0	6.7	-13.8	34	238	12.85	2.25	0.00	0.000	4	0.327	0.063	2654	3886	3629	0	0	0	0	0	0
329	-0.56	-146.0	38.5	-15.4	53	336	0.00	2.15	0.00	0.000	6	0.000	0.039	2654	2484	3629	0	0	0	0	0	0
674	-0.47	-146.0	93.5	-16.5	114	681	0.20	2.30	0.00	0.000	4	0.207	0.064	2705	3891	3629	0	0	0	0	0	0
734	-0.54	-146.0	100.4	-9.6	124	738	0.00	2.17	0.00	0.000	6	0.000	0.040	2705	2480	3629	0	0	0	0	0	0
1059	-0.58	-146.0	134.5	-9.9	154	1063	0.00	2.20	0.00	0.000	4	0.000	0.057	2705	1082	3627	0	0	0	0	0	0
1160	-0.64	-146.0	144.8	-9.8	162	1168	0.15	2.22	0.00	0.000	6	0.115	0.053	2654	2484	3627	0	0	0	0	0	0
1485	-0.58	-146.0	185.7	-12.7	193	1489	0.00	2.28	0.00	0.000	4	0.000	0.068	2654	3907	3626	0	0	0	0	0	0
1547	-0.55	-146.0	193.4	-11.7	198	1552	0.12	2.17	0.00	0.000	6	0.194	0.039	2683	2476	3626	0	0	0	0	0	0
1872	-0.55	-146.0	225.2	-9.2	228	1873	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2477	3627	0	0	0	0	0	0
2194	-0.55	-146.0	254.8	-9.6	258	2198	0.00	2.15	0.00	0.000	4	0.000	0.055	2683	1086	3628	0	0	0	0	0	0
2235	-0.57	-146.0	259.2	-10.4	261	2239	0.00	2.22	0.00	0.000	6	0.000	0.051	2683	2497	3628	0	0	0	0	0	0
2559	-0.57	-146.0	291.7	-10.1	291	2563	0.00	2.25	0.00	0.000	4	0.000	0.067	2683	3899	3629	0	0	0	0	0	0
2616	-0.62	-146.0	297.3	-9.5	295	2623	0.00	2.12	0.00	0.000	6	0.000	0.038	2683	2489	3629	0	0	0	0	0	0
2943	-0.64	-146.0	328.5	-9.5	326	2944	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2489	3629	0	0	0	0	0	0
3261	-0.67	-146.0	355.3	-7.8	356	3265	0.12	2.17	0.00	0.000	4	0.129	0.052	2640	1086	3630	0	0	0	0	0	0
3294	-0.61	-146.0	358.9	-10.8	358	3302	0.00	2.22	0.00	0.000	6	0.000	0.051	2640	2498	3630	0	0	0	0	0	0
3620	-0.53	-146.0	394.5	-11.2	389	3625	0.17	2.28	0.00	0.000	4	0.204	0.066	2685	3904	3631	0	0	0	0	0	0
3729	-0.58	-146.0	404.2	-8.9	398	3733	0.00	2.15	0.00	0.000	6	0.000	0.037	2684	2485	3631	0	0	0	0	0	0
4059	-0.62	-146.0	435.3	-10.1	429	4063	0.00	2.12	0.00	0.000	4	0.000	0.051	2684	1092	3633	0	0	0	0	0	0
4105	-0.67	-146.0	440.2	-10.9	433	4110	0.12	2.20	0.00	0.000	6	0.123	0.049	2643	2500	3632	0	0	0	0	0	0
4430	-0.60	-146.0	479.3	-11.3	463	4434	0.00	2.22	0.00	0.000	4	0.000	0.064	2642	3898	3633	0	0	0	0	0	0
4476	-0.56	-146.0	484.4	-10.9	467	4481	0.15	2.12	0.00	0.000	6	0.194	0.037	2678	2482	3633	0	0	0	0	0	0
4802	-0.58	-146.0	510.3	-8.1	497	4806	0.00	2.12	0.00	0.000	4	0.000	0.051	2679	1093	3635	0	0	0	0	0	0
4881	-0.62	-146.0	517.1	-8.6	504	4885	0.00	2.20	0.00	0.000	6	0.000	0.050	2679	2497	3635	0	0	0	0	0	0
5209	-0.65	-146.0	544.5	-8.4	534	5213	0.00	2.22	0.00	0.000	4	0.000	0.066	2679	3899	3635	0	0	0	0	0	0
5235	end dive: TARGET_DEPTH_EXCEEDED
state	5236	begin apogee
5243	-0.12	0.0	547.2	9.3	536	5375	0.45	0.00	121.07	1.230	6	0.180	0.000	2813	2274	3030	0	0	0	0	0	0
5375	end apogee: CONTROL_FINISHED_OK
state	5375	begin climb
5377	0.62	146.0	550.7	0.0	548	5511	0.77	2.53	123.30	1.190	4	0.135	0.057	3062	875	2433	0	0	0	0	0	0
5539	0.55	146.0	538.0	12.6	562	5545	0.00	2.38	0.00	0.000	6	0.000	0.044	3063	2278	2429	0	0	0	0	0	0
5865	0.48	146.0	497.8	12.0	593	5870	0.15	2.30	0.00	0.000	4	0.181	0.059	3025	3694	2426	0	0	0	0	0	0
5906	0.44	146.0	492.9	11.9	596	5910	0.00	2.25	0.00	0.000	6	0.000	0.043	3033	2279	2426	0	0	0	0	0	0
6231	0.42	146.0	459.5	10.2	626	6236	0.12	2.25	0.00	0.000	4	0.187	0.057	3012	868	2424	0	0	0	0	0	0
6248	0.42	146.0	457.8	10.2	627	6252	0.00	2.22	0.00	0.000	6	0.000	0.045	3011	2278	2423	0	0	0	0	0	0
6574	0.43	157.2	427.9	9.5	657	6589	0.00	2.30	9.02	1.001	4	0.000	0.060	3012	3687	2389	0	0	0	0	0	0
6656	0.43	157.2	418.4	12.2	664	6663	0.00	2.22	0.00	0.000	6	0.000	0.044	3022	2269	2388	0	0	0	0	0	0
6983	0.44	162.4	385.7	9.8	695	6996	0.00	2.28	5.95	0.885	4	0.000	0.057	3022	3693	2367	0	0	0	0	0	0
7031	0.40	162.4	380.1	12.0	699	7036	0.15	2.22	0.00	0.000	6	0.187	0.044	2995	2263	2367	0	0	0	0	0	0
7357	0.52	203.3	352.0	8.1	729	7398	0.10	0.00	36.15	1.092	6	0.118	0.000	3040	2264	2201	0	0	0	0	0	0
7715	0.52	203.3	308.2	12.9	763	7719	0.00	2.30	0.00	0.000	4	0.000	0.057	3040	3689	2196	0	0	0	0	0	0
7738	0.49	203.3	305.2	13.8	765	7742	0.00	2.22	0.00	0.000	6	0.000	0.042	3050	2274	2195	0	0	0	0	0	0
8064	0.47	203.3	261.3	13.4	795	8066	0.12	0.00	0.00	0.000	6	0.181	0.000	3020	2273	2195	0	0	0	0	0	0
8381	0.53	225.8	229.5	9.0	825	8408	0.00	2.28	19.75	0.984	4	0.000	0.055	3028	873	2108	0	0	0	0	0	0
8415	0.59	233.7	226.4	9.6	828	8428	0.00	2.22	8.20	0.860	6	0.000	0.043	3028	2281	2078	0	0	0	0	0	0
8745	0.65	233.7	191.5	10.5	859	8750	0.12	2.22	0.00	0.000	4	0.103	0.057	3083	3683	2075	0	0	0	0	0	0
8772	0.61	233.7	187.7	14.4	861	8780	0.12	2.22	0.00	0.000	6	0.190	0.041	3063	2263	2074	0	0	0	0	0	0
9099	0.61	233.7	143.9	14.3	892	9100	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2263	2074	0	0	0	0	0	0
9417	0.61	233.7	103.9	10.5	922	9421	0.00	2.17	0.00	0.000	4	0.000	0.054	3072	862	2074	0	0	0	0	0	0
9463	0.63	233.7	98.9	10.8	926	9470	0.00	2.17	0.00	0.000	6	0.000	0.041	3072	2287	2073	0	0	0	0	0	0
9807	0.67	233.7	61.9	10.6	987	9814	0.00	2.17	0.00	0.000	4	0.000	0.057	3072	3684	2073	0	0	0	0	0	0
9849	0.67	233.7	57.0	11.7	994	9856	0.00	2.20	0.00	0.000	6	0.000	0.041	3082	2259	2072	0	0	0	0	0	0
10195	0.68	244.2	22.1	9.5	1055	10208	0.00	2.25	7.12	0.777	4	0.000	0.052	3082	3693	2034	0	0	0	0	0	0
10266	0.65	244.2	13.7	13.9	1067	10273	0.00	2.20	0.00	0.000	6	0.000	0.041	3092	2270	2033	0	0	0	0	0	0
10354	end climb: SURFACE_DEPTH_REACHED
state	10354	begin surface coast
10366	end surface coast: FINISH_DEPTH_REACHED
state	10367	begin surface