Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 312 * 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 312 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 21 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -2 T_GPS_CHARGE -35151.645 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 -35151.645

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 21 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 312 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 080411,003034,6655.604,-6004.218,0,3113.0,0,-37.5 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 8.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080411,003034,6655.604,-6004.218,0,3113.0,0,-37.5 MHEAD_RNG_PITCHd_Wd 254.1,26754,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 730

Post-dive calculations and measurements:

FINISH1 80.5,1.026261,61 ALTIM_BOTTOM_PING 81.0,22.0

FINISH2 79.8 _24V_AH 22.2,43.210

RAFOS_CLK 642 _10V_AH 10.2,23.912

RAFOS 0,1302235261,4.033333,4.016944,110,62,58,54,51,50,683,152,199,163,134,223 FG_AHR_24Vo 0.000

RAFOS_FIX 6656.416504,-6010.206055,080411,040422,6,123,0.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 MEM 150564

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40041,1052

HUMID 48.26 CAP_FILE_SIZE 114388,0

INTERNAL_PRESSURE 8.69174 CFSIZE 260165632,231047168

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1454.1

ALTIM_TOP_PING 22.1,20.6 GPS 080411,042722,6656.417,-6010.206,0,6122.8,0,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 230 19.94 SBE_CT 752 24 401.08

Roll_motor 78 81 140.46 SBE_O2 812 19 342.85

VBD_pump_during_apogee 252 1343 7517.42 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 20.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2640 19 536.57

LPSleep 6844 2 161.27

TT8_Active 283 19 57.54

TT8_Sampling 1715 39 698.53

TT8_CF8 156 45 73.17

TT8_Kalman 0 0 0.00

Analog_circuits 1174 12 143.78

GPS_charging 0 0 0.00

Compass 1704 15 260.72

RAFOS 2520 1 38.56

Transponder 17 30 5.46

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 -7.15 0.000 2 0.000 0.000 2898 3693 3007 0 0 0 0 0 0

27 -0.62 -146.0 9.6 -0.0 1 53 0.65 4.25 -17.77 0.000 4 0.106 0.066 2671 1076 3628 0 0 0 0 0 0

223 -0.53 -146.0 39.2 -17.3 35 230 0.00 2.30 0.00 0.000 6 0.000 0.064 2670 2486 3629 0 0 0 0 0 0

572 -0.41 -146.0 104.3 -18.6 95 577 0.22 2.33 0.00 0.000 4 0.230 0.077 2724 3899 3629 0 0 0 0 0 0

635 -0.48 -146.0 112.7 -11.6 100 639 0.00 2.22 0.00 0.000 6 0.000 0.048 2724 2480 3629 0 0 0 0 0 0

965 -0.52 -146.0 147.7 -10.6 131 969 0.00 2.35 0.00 0.000 4 0.000 0.078 2724 3899 3628 0 0 0 0 0 0

993 -0.57 -146.0 150.6 -10.4 133 998 0.15 2.25 0.00 0.000 6 0.119 0.050 2674 2480 3628 0 0 0 0 0 0

1319 -0.49 -146.0 195.3 -14.0 163 1324 0.12 2.38 0.00 0.000 4 0.221 0.079 2701 3900 3628 0 0 0 0 0 0

1370 -0.54 -146.0 201.4 -10.2 167 1374 0.00 2.25 0.00 0.000 6 0.000 0.050 2701 2481 3628 0 0 0 0 0 0

1697 -0.54 -146.0 234.4 -9.8 197 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2481 3628 0 0 0 0 0 0

2016 -0.57 -146.0 265.1 -9.9 227 2017 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2481 3628 0 0 0 0 0 0

2333 -0.61 -146.0 294.6 -9.0 257 2334 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2480 3628 0 0 0 0 0 0

2652 -0.65 -146.0 322.9 -9.0 287 2657 0.15 2.25 0.00 0.000 4 0.125 0.068 2652 1081 3627 0 0 0 0 0 0

2681 -0.61 -146.0 326.3 -12.4 289 2685 0.00 2.30 0.00 0.000 6 0.000 0.066 2651 2488 3627 0 0 0 0 0 0

3006 -0.53 -146.0 369.0 -13.0 319 3011 0.15 2.35 0.00 0.000 4 0.219 0.081 2687 3903 3626 0 0 0 0 0 0

3057 -0.58 -146.0 374.7 -10.1 323 3061 0.00 2.22 0.00 0.000 6 0.000 0.050 2687 2489 3626 0 0 0 0 0 0

3388 -0.58 -146.0 406.8 -9.6 354 3390 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2489 3627 0 0 0 0 0 0

3707 -0.60 -146.0 437.6 -9.5 384 3708 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2489 3627 0 0 0 0 0 0

4027 -0.62 -146.0 468.7 -10.1 414 4028 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2488 3628 0 0 0 0 0 0

4344 -0.64 -146.0 498.9 -9.5 444 4345 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2489 3628 0 0 0 0 0 0

4664 -0.67 -146.0 528.1 -9.2 474 4666 0.12 0.00 0.00 0.000 6 0.138 0.000 2645 2489 3628 0 0 0 0 0 0

4981 -0.59 -146.0 567.1 -12.5 504 4982 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2489 3629 0 0 0 0 0 0

5320 -0.53 -146.0 608.0 -12.1 532 5322 0.17 0.00 0.00 0.000 6 0.207 0.000 2687 2489 3628 0 0 0 0 0 0

5625 -0.57 -146.0 634.7 -8.3 542 5627 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2488 3629 0 0 0 0 0 0

5898 end dive: BOTTOM_OBSTACLE_DETECTED

state 5898 begin apogee

5903 -0.12 0.0 658.0 8.7 551 6033 0.43 0.00 123.07 1.343 6 0.188 0.000 2811 2250 3030 0 0 0 0 0 0

6034 end apogee: CONTROL_FINISHED_OK

state 6034 begin climb

6036 0.62 146.0 661.6 0.0 555 6175 0.80 2.42 129.00 1.296 4 0.145 0.067 3061 880 2432 0 0 0 0 0 0

6266 0.62 146.0 642.9 22302.4 562 6270 0.00 2.42 0.00 0.000 6 0.000 0.054 3061 2276 2426 0 0 0 0 0 0

6589 0.62 146.0 604.3 22302.4 573 6593 0.00 2.38 0.00 0.000 4 0.000 0.070 3061 3688 2425 0 0 0 0 0 0

6664 0.62 146.0 594.8 22302.4 576 6668 0.00 2.30 0.00 0.000 6 0.000 0.054 3071 2281 2425 0 0 0 0 0 0

6994 0.62 146.0 554.4 22302.4 607 6996 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2281 2424 0 0 0 0 0 0

7315 0.62 146.0 515.8 22302.4 637 7319 0.00 2.30 0.00 0.000 4 0.000 0.070 3082 858 2424 0 0 0 0 0 0

7355 0.62 146.0 510.6 22302.4 640 7359 0.00 2.30 0.00 0.000 6 0.000 0.057 3081 2290 2423 0 0 0 0 0 0

7682 0.62 146.0 470.0 22302.4 670 7686 0.00 2.25 0.00 0.000 4 0.000 0.070 3081 3683 2423 0 0 0 0 0 0

7748 0.62 146.0 460.0 22302.4 675 7755 0.00 2.25 0.00 0.000 6 0.000 0.054 3091 2274 2423 0 0 0 0 0 0

8075 0.62 146.0 417.3 22302.4 706 8079 0.00 2.30 0.00 0.000 4 0.000 0.067 3091 3686 2423 0 0 0 0 0 0

8126 0.62 146.0 409.9 22302.4 710 8131 0.15 2.25 0.00 0.000 6 0.210 0.053 3066 2273 2422 0 0 0 0 0 0

8451 0.62 146.0 372.8 22302.4 740 8452 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2273 2422 0 0 0 0 0 0

8773 0.62 146.0 337.6 22302.4 770 8779 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2273 2422 0 0 0 0 0 0

9099 0.62 146.0 302.1 22302.4 801 9104 0.00 2.30 0.00 0.000 4 0.000 0.067 3065 3687 2423 0 0 0 0 0 0

9144 0.62 146.0 296.8 22302.4 804 9151 0.00 2.25 0.00 0.000 6 0.000 0.052 3075 2273 2422 0 0 0 0 0 0

9471 0.62 146.0 262.1 22302.4 835 9472 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2273 2422 0 0 0 0 0 0

9789 0.62 146.0 227.6 22302.4 865 9794 0.00 2.30 0.00 0.000 4 0.000 0.066 3074 3689 2422 0 0 0 0 0 0

9822 0.62 146.0 223.6 22302.4 867 9829 0.00 2.25 0.00 0.000 6 0.000 0.052 3084 2274 2422 0 0 0 0 0 0

10148 0.62 146.0 190.2 22302.4 898 10149 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2274 2422 0 0 0 0 0 0

10467 0.62 146.0 160.3 22302.4 928 10471 0.00 2.28 0.00 0.000 4 0.000 0.067 3084 3687 2422 0 0 0 0 0 0

10598 0.62 146.0 146.5 22302.4 939 10605 0.12 2.25 0.00 0.000 6 0.207 0.053 3066 2270 2423 0 0 0 0 0 0

10923 0.62 146.0 122.0 22302.4 970 10927 0.00 2.25 0.00 0.000 4 0.000 0.067 3075 859 2423 0 0 0 0 0 0

10956 0.62 146.0 119.9 22302.4 972 10963 0.00 2.28 0.00 0.000 6 0.000 0.056 3075 2281 2423 0 0 0 0 0 0

11282 0.62 146.0 98.5 22302.4 1004 11289 0.00 2.28 0.00 0.000 4 0.000 0.071 3075 3696 2423 0 0 0 0 0 0

11402 0.62 146.0 89.4 22302.4 1025 11409 0.00 2.28 0.00 0.000 6 0.000 0.054 3085 2267 2423 0 0 0 0 0 0

11550 end climb: SURFACE_OBSTACLE_DETECTED

state 11550 begin subsurface finish

11556 0.07 60.7 80.5 -22302.4 1051 11564 0.65 2.35 -2.67 0.000 4 0.174 0.081 2894 858 2792 0 0 0 0 0 0

11565 end subsurface finish: CONTROL_FINISHED_OK

state 11565 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	312	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	21	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-2	T_GPS_CHARGE	-35151.645	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	080411,003034,6655.604,-6004.218,0,3113.0,0,-37.5	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	8.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080411,003034,6655.604,-6004.218,0,3113.0,0,-37.5	MHEAD_RNG_PITCHd_Wd	254.1,26754,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	730

FINISH1	80.5,1.026261,61	ALTIM_BOTTOM_PING	81.0,22.0
FINISH2	79.8	_24V_AH	22.2,43.210
RAFOS_CLK	642	_10V_AH	10.2,23.912
RAFOS	0,1302235261,4.033333,4.016944,110,62,58,54,51,50,683,152,199,163,134,223	FG_AHR_24Vo	0.000
RAFOS_FIX	6656.416504,-6010.206055,080411,040422,6,123,0.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	MEM	150564
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40041,1052
HUMID	48.26	CAP_FILE_SIZE	114388,0
INTERNAL_PRESSURE	8.69174	CFSIZE	260165632,231047168
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1454.1
ALTIM_TOP_PING	22.1,20.6	GPS	080411,042722,6656.417,-6010.206,0,6122.8,0,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	230	19.94	SBE_CT	752	24	401.08
Roll_motor	78	81	140.46	SBE_O2	812	19	342.85
VBD_pump_during_apogee	252	1343	7517.42	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	20.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2640	19	536.57
LPSleep	6844	2	161.27
TT8_Active	283	19	57.54
TT8_Sampling	1715	39	698.53
TT8_CF8	156	45	73.17
TT8_Kalman	0	0	0.00
Analog_circuits	1174	12	143.78
GPS_charging	0	0	0.00
Compass	1704	15	260.72
RAFOS	2520	1	38.56
Transponder	17	30	5.46

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	-7.15	0.000	2	0.000	0.000	2898	3693	3007	0	0	0	0	0	0
27	-0.62	-146.0	9.6	-0.0	1	53	0.65	4.25	-17.77	0.000	4	0.106	0.066	2671	1076	3628	0	0	0	0	0	0
223	-0.53	-146.0	39.2	-17.3	35	230	0.00	2.30	0.00	0.000	6	0.000	0.064	2670	2486	3629	0	0	0	0	0	0
572	-0.41	-146.0	104.3	-18.6	95	577	0.22	2.33	0.00	0.000	4	0.230	0.077	2724	3899	3629	0	0	0	0	0	0
635	-0.48	-146.0	112.7	-11.6	100	639	0.00	2.22	0.00	0.000	6	0.000	0.048	2724	2480	3629	0	0	0	0	0	0
965	-0.52	-146.0	147.7	-10.6	131	969	0.00	2.35	0.00	0.000	4	0.000	0.078	2724	3899	3628	0	0	0	0	0	0
993	-0.57	-146.0	150.6	-10.4	133	998	0.15	2.25	0.00	0.000	6	0.119	0.050	2674	2480	3628	0	0	0	0	0	0
1319	-0.49	-146.0	195.3	-14.0	163	1324	0.12	2.38	0.00	0.000	4	0.221	0.079	2701	3900	3628	0	0	0	0	0	0
1370	-0.54	-146.0	201.4	-10.2	167	1374	0.00	2.25	0.00	0.000	6	0.000	0.050	2701	2481	3628	0	0	0	0	0	0
1697	-0.54	-146.0	234.4	-9.8	197	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2481	3628	0	0	0	0	0	0
2016	-0.57	-146.0	265.1	-9.9	227	2017	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2481	3628	0	0	0	0	0	0
2333	-0.61	-146.0	294.6	-9.0	257	2334	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2480	3628	0	0	0	0	0	0
2652	-0.65	-146.0	322.9	-9.0	287	2657	0.15	2.25	0.00	0.000	4	0.125	0.068	2652	1081	3627	0	0	0	0	0	0
2681	-0.61	-146.0	326.3	-12.4	289	2685	0.00	2.30	0.00	0.000	6	0.000	0.066	2651	2488	3627	0	0	0	0	0	0
3006	-0.53	-146.0	369.0	-13.0	319	3011	0.15	2.35	0.00	0.000	4	0.219	0.081	2687	3903	3626	0	0	0	0	0	0
3057	-0.58	-146.0	374.7	-10.1	323	3061	0.00	2.22	0.00	0.000	6	0.000	0.050	2687	2489	3626	0	0	0	0	0	0
3388	-0.58	-146.0	406.8	-9.6	354	3390	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2489	3627	0	0	0	0	0	0
3707	-0.60	-146.0	437.6	-9.5	384	3708	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2489	3627	0	0	0	0	0	0
4027	-0.62	-146.0	468.7	-10.1	414	4028	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2488	3628	0	0	0	0	0	0
4344	-0.64	-146.0	498.9	-9.5	444	4345	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2489	3628	0	0	0	0	0	0
4664	-0.67	-146.0	528.1	-9.2	474	4666	0.12	0.00	0.00	0.000	6	0.138	0.000	2645	2489	3628	0	0	0	0	0	0
4981	-0.59	-146.0	567.1	-12.5	504	4982	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2489	3629	0	0	0	0	0	0
5320	-0.53	-146.0	608.0	-12.1	532	5322	0.17	0.00	0.00	0.000	6	0.207	0.000	2687	2489	3628	0	0	0	0	0	0
5625	-0.57	-146.0	634.7	-8.3	542	5627	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2488	3629	0	0	0	0	0	0
5898	end dive: BOTTOM_OBSTACLE_DETECTED
state	5898	begin apogee
5903	-0.12	0.0	658.0	8.7	551	6033	0.43	0.00	123.07	1.343	6	0.188	0.000	2811	2250	3030	0	0	0	0	0	0
6034	end apogee: CONTROL_FINISHED_OK
state	6034	begin climb
6036	0.62	146.0	661.6	0.0	555	6175	0.80	2.42	129.00	1.296	4	0.145	0.067	3061	880	2432	0	0	0	0	0	0
6266	0.62	146.0	642.9	22302.4	562	6270	0.00	2.42	0.00	0.000	6	0.000	0.054	3061	2276	2426	0	0	0	0	0	0
6589	0.62	146.0	604.3	22302.4	573	6593	0.00	2.38	0.00	0.000	4	0.000	0.070	3061	3688	2425	0	0	0	0	0	0
6664	0.62	146.0	594.8	22302.4	576	6668	0.00	2.30	0.00	0.000	6	0.000	0.054	3071	2281	2425	0	0	0	0	0	0
6994	0.62	146.0	554.4	22302.4	607	6996	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2281	2424	0	0	0	0	0	0
7315	0.62	146.0	515.8	22302.4	637	7319	0.00	2.30	0.00	0.000	4	0.000	0.070	3082	858	2424	0	0	0	0	0	0
7355	0.62	146.0	510.6	22302.4	640	7359	0.00	2.30	0.00	0.000	6	0.000	0.057	3081	2290	2423	0	0	0	0	0	0
7682	0.62	146.0	470.0	22302.4	670	7686	0.00	2.25	0.00	0.000	4	0.000	0.070	3081	3683	2423	0	0	0	0	0	0
7748	0.62	146.0	460.0	22302.4	675	7755	0.00	2.25	0.00	0.000	6	0.000	0.054	3091	2274	2423	0	0	0	0	0	0
8075	0.62	146.0	417.3	22302.4	706	8079	0.00	2.30	0.00	0.000	4	0.000	0.067	3091	3686	2423	0	0	0	0	0	0
8126	0.62	146.0	409.9	22302.4	710	8131	0.15	2.25	0.00	0.000	6	0.210	0.053	3066	2273	2422	0	0	0	0	0	0
8451	0.62	146.0	372.8	22302.4	740	8452	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2273	2422	0	0	0	0	0	0
8773	0.62	146.0	337.6	22302.4	770	8779	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2273	2422	0	0	0	0	0	0
9099	0.62	146.0	302.1	22302.4	801	9104	0.00	2.30	0.00	0.000	4	0.000	0.067	3065	3687	2423	0	0	0	0	0	0
9144	0.62	146.0	296.8	22302.4	804	9151	0.00	2.25	0.00	0.000	6	0.000	0.052	3075	2273	2422	0	0	0	0	0	0
9471	0.62	146.0	262.1	22302.4	835	9472	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2273	2422	0	0	0	0	0	0
9789	0.62	146.0	227.6	22302.4	865	9794	0.00	2.30	0.00	0.000	4	0.000	0.066	3074	3689	2422	0	0	0	0	0	0
9822	0.62	146.0	223.6	22302.4	867	9829	0.00	2.25	0.00	0.000	6	0.000	0.052	3084	2274	2422	0	0	0	0	0	0
10148	0.62	146.0	190.2	22302.4	898	10149	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2274	2422	0	0	0	0	0	0
10467	0.62	146.0	160.3	22302.4	928	10471	0.00	2.28	0.00	0.000	4	0.000	0.067	3084	3687	2422	0	0	0	0	0	0
10598	0.62	146.0	146.5	22302.4	939	10605	0.12	2.25	0.00	0.000	6	0.207	0.053	3066	2270	2423	0	0	0	0	0	0
10923	0.62	146.0	122.0	22302.4	970	10927	0.00	2.25	0.00	0.000	4	0.000	0.067	3075	859	2423	0	0	0	0	0	0
10956	0.62	146.0	119.9	22302.4	972	10963	0.00	2.28	0.00	0.000	6	0.000	0.056	3075	2281	2423	0	0	0	0	0	0
11282	0.62	146.0	98.5	22302.4	1004	11289	0.00	2.28	0.00	0.000	4	0.000	0.071	3075	3696	2423	0	0	0	0	0	0
11402	0.62	146.0	89.4	22302.4	1025	11409	0.00	2.28	0.00	0.000	6	0.000	0.054	3085	2267	2423	0	0	0	0	0	0
11550	end climb: SURFACE_OBSTACLE_DETECTED
state	11550	begin subsurface finish
11556	0.07	60.7	80.5	-22302.4	1051	11564	0.65	2.35	-2.67	0.000	4	0.174	0.081	2894	858	2792	0	0	0	0	0	0
11565	end subsurface finish: CONTROL_FINISHED_OK
state	11565	begin surface