Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 314 * 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 314 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 26 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 26 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 314 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 080411,082328,6654.027,-6014.769,0,4111.0,0,-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 87.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 5.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080411,082328,6654.027,-6014.769,0,4111.0,0,-37.5 MHEAD_RNG_PITCHd_Wd 241.4,20308,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 615

Post-dive calculations and measurements:

FREEZE 2.24,-1.749,-1.771,3,40,2 ALTIM_TOP_PING 19.8,18.1

FINISH 2.2,1.026001 _24V_AH 22.2,43.437

SM_CCo 11474,119.82,0.075,0,0,750,559.04 _10V_AH 10.2,24.038

SM_GC 3.47,0.00,0.00,119.82,0.000,0.000,0.075,113,2503,750,-8.60,0.37,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 638 FG_AHR_10Vo 0.000

RAFOS 0,1302264066,12.033333,12.018333,166,67,66,62,55,52,619,170,213,199,114,181 MEM 150564

RAFOS_FIX 6654.027344,-6014.769043,080411,080828,4,111,0.39 DATA_FILE_SIZE 40006,1093

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 CAP_FILE_SIZE 127118,0

TT8_MAMPS 0.026215 CFSIZE 260165632,230912000

HUMID 46.53 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.45736 SOUNDSPEED 1453.9

TCM_TEMP 16.10 GPS 080411,082328,6654.027,-6014.769,181,99.0,181,-37.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 218 59.26 SBE_CT 783 24 417.30

Roll_motor 94 86 181.02 SBE_O2 842 19 355.45

VBD_pump_during_apogee 387 1311 11281.17 nil 0 0 0.00

VBD_pump_during_surface 119 74 199.43 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 2801 19 569.21

LPSleep 6452 2 152.04

TT8_Active 519 19 105.52

TT8_Sampling 1794 39 730.71

TT8_CF8 171 45 80.43

TT8_Kalman 0 0 0.00

Analog_circuits 1484 12 181.71

GPS_charging 0 0 0.00

Compass 1782 15 272.68

RAFOS 2520 1 38.56

Transponder 17 30 5.37

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 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.77 -5.68 0.000 3 0.000 0.086 2896 3182 3636 0 0 0 0 0 0

27 -0.62 -146.0 88.6 -0.0 1 34 0.70 3.35 0.00 0.000 4 0.135 0.054 2668 1074 3637 0 0 0 0 0 0

92 -0.54 -146.0 96.6 -14.2 12 99 0.00 2.30 0.00 0.000 6 0.000 0.062 2667 2496 3637 0 0 0 0 0 0

425 -0.43 -146.0 152.0 -16.0 45 430 0.20 2.28 0.00 0.000 4 0.219 0.061 2716 1074 3637 0 0 0 0 0 0

469 -0.48 -146.0 157.8 -10.5 48 476 0.00 2.30 0.00 0.000 6 0.000 0.060 2716 2498 3637 0 0 0 0 0 0

798 -0.51 -146.0 190.4 -10.0 79 804 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2498 3637 0 0 0 0 0 0

1125 -0.55 -146.0 222.0 -8.6 110 1126 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2498 3636 0 0 0 0 0 0

1443 -0.61 -146.0 248.7 -8.3 140 1445 0.15 0.00 0.00 0.000 6 0.121 0.000 2664 2498 3636 0 0 0 0 0 0

1760 -0.54 -146.0 289.0 -12.7 170 1764 0.00 2.30 0.00 0.000 4 0.000 0.077 2664 3897 3635 0 0 0 0 0 0

1805 -0.50 -146.0 294.9 -12.6 174 1810 0.15 2.22 0.00 0.000 6 0.210 0.049 2699 2484 3635 0 0 0 0 0 0

2131 -0.53 -146.0 326.0 -9.4 204 2135 0.00 2.22 0.00 0.000 4 0.000 0.063 2699 1076 3635 0 0 0 0 0 0

2152 -0.56 -146.0 328.1 -8.8 205 2159 0.00 2.30 0.00 0.000 6 0.000 0.061 2699 2497 3634 0 0 0 0 0 0

2480 -0.60 -146.0 357.7 -8.9 236 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2497 3635 0 0 0 0 0 0

2798 -0.65 -146.0 386.2 -8.7 266 2803 0.15 2.33 0.00 0.000 4 0.121 0.076 2648 3904 3635 0 0 0 0 0 0

2816 -0.65 -146.0 388.0 -9.0 267 2820 0.00 2.22 0.00 0.000 6 0.000 0.047 2648 2484 3635 0 0 0 0 0 0

3147 -0.56 -146.0 430.3 -12.6 298 3151 0.12 2.25 0.00 0.000 4 0.219 0.061 2676 1084 3635 0 0 0 0 0 0

3164 -0.49 -146.0 432.3 -11.6 299 3169 0.00 2.28 0.00 0.000 6 0.000 0.061 2676 2488 3635 0 0 0 0 0 0

3489 -0.49 -146.0 464.0 -9.9 329 3493 0.00 2.33 0.00 0.000 4 0.000 0.077 2676 3906 3635 0 0 0 0 0 0

3519 -0.49 -146.0 466.8 -9.3 331 3523 0.00 2.22 0.00 0.000 6 0.000 0.047 2676 2487 3634 0 0 0 0 0 0

3844 -0.49 -146.0 497.7 -9.2 361 3845 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2487 3635 0 0 0 0 0 0

4164 -0.49 -146.0 527.3 -9.7 391 4165 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2487 3636 0 0 0 0 0 0

4482 -0.49 -146.0 557.9 -9.1 421 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2488 3636 0 0 0 0 0 0

4800 -0.49 -146.0 587.5 -9.4 451 4801 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2488 3636 0 0 0 0 0 0

5110 -0.64 -146.0 611.5 -3.2 469 5114 0.00 2.33 0.00 0.000 4 0.000 0.073 2676 3903 3636 0 0 0 0 0 0

5244 end dive: NO_VERTICAL_VELOCITY

state 5244 begin apogee

5251 -0.12 0.0 611.4 0.0 473 5381 0.43 0.00 124.30 1.312 6 0.138 0.000 2814 2272 3029 0 0 0 0 0 0

5382 end apogee: CONTROL_FINISHED_OK

state 5382 begin climb

5384 0.62 146.0 611.4 0.0 477 5523 0.77 2.58 128.77 1.259 4 0.137 0.067 3049 3691 2433 0 0 0 0 0 0

5601 0.50 146.0 595.3 14.2 484 5609 0.12 2.42 0.00 0.000 6 0.194 0.050 3034 2281 2428 0 0 0 0 0 0

5927 0.47 149.0 563.2 9.9 515 5928 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2281 2424 0 0 0 0 0 0

6248 0.44 149.0 530.8 10.4 545 6254 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2281 2424 0 0 0 0 0 0

6575 0.42 149.0 497.1 10.1 576 6580 0.12 2.33 0.00 0.000 4 0.205 0.066 3001 3694 2423 0 0 0 0 0 0

6614 0.42 149.0 493.0 10.1 579 6618 0.00 2.30 0.00 0.000 6 0.000 0.051 3009 2263 2423 0 0 0 0 0 0

6942 0.48 180.6 464.8 8.5 609 6973 0.00 0.00 29.62 1.187 6 0.000 0.000 3009 2263 2293 0 0 0 0 0 0

7289 0.55 196.2 433.0 9.3 642 7312 0.10 2.40 14.77 1.112 4 0.119 0.066 3056 3698 2230 0 0 0 0 0 0

7348 0.48 196.2 425.6 14.2 647 7353 0.17 2.33 0.00 0.000 6 0.194 0.051 3025 2265 2229 0 0 0 0 0 0

7673 0.52 204.3 392.0 9.6 677 7686 0.00 2.35 8.20 1.003 4 0.000 0.066 3032 856 2197 0 0 0 0 0 0

7721 0.57 204.3 387.3 10.2 681 7725 0.00 2.30 0.00 0.000 6 0.000 0.053 3032 2279 2195 0 0 0 0 0 0

8046 0.60 204.3 354.8 10.0 711 8050 0.00 2.30 0.00 0.000 4 0.000 0.067 3032 3694 2195 0 0 0 0 0 0

8109 0.60 204.3 347.6 12.0 716 8113 0.00 2.28 0.00 0.000 6 0.000 0.051 3042 2271 2194 0 0 0 0 0 0

8434 0.61 208.6 314.1 9.8 746 8447 0.00 2.25 5.40 0.861 4 0.000 0.064 3053 865 2178 0 0 0 0 0 0

8474 0.61 211.7 309.9 9.9 749 8485 0.00 2.28 4.35 0.764 6 0.000 0.053 3052 2287 2166 0 0 0 0 0 0

8811 0.61 211.7 276.4 10.3 781 8815 0.00 2.25 0.00 0.000 4 0.000 0.067 3053 3688 2166 0 0 0 0 0 0

8862 0.57 211.7 270.6 13.3 785 8866 0.00 2.25 0.00 0.000 6 0.000 0.051 3063 2276 2166 0 0 0 0 0 0

9187 0.57 211.7 235.5 10.7 815 9188 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2276 2166 0 0 0 0 0 0

9507 0.57 211.7 201.2 10.5 845 9511 0.00 2.30 0.00 0.000 4 0.000 0.065 3063 3688 2166 0 0 0 0 0 0

9546 0.55 211.7 196.5 11.6 848 9551 0.12 2.25 0.00 0.000 6 0.190 0.050 3043 2271 2165 0 0 0 0 0 0

9872 0.63 243.1 168.1 8.5 878 9908 0.00 2.33 29.80 1.040 4 0.000 0.066 3042 874 2038 0 0 0 0 0 0

9943 0.80 288.7 162.3 7.9 884 9993 0.22 2.25 42.10 1.022 6 0.091 0.051 3129 2278 1852 0 0 0 0 0 0

10311 0.77 288.7 110.7 13.8 919 10315 0.00 2.28 0.00 0.000 4 0.000 0.067 3128 3680 1843 0 0 0 0 0 0

10407 0.70 288.7 95.9 14.9 929 10415 0.17 2.28 0.00 0.000 6 0.203 0.052 3096 2270 1840 0 0 0 0 0 0

10754 0.75 292.0 60.2 9.8 990 10761 0.00 2.28 0.00 0.000 4 0.000 0.065 3103 861 1839 0 0 0 0 0 0

10796 0.81 292.0 56.0 10.2 997 10803 0.00 2.25 0.00 0.000 6 0.000 0.053 3103 2271 1838 0 0 0 0 0 0

11142 0.84 292.0 21.2 10.6 1058 11148 0.00 2.28 0.00 0.000 4 0.000 0.068 3103 3692 1837 0 0 0 0 0 0

11195 0.84 292.0 15.4 11.2 1067 11201 0.00 2.28 0.00 0.000 6 0.000 0.053 3112 2269 1836 0 0 0 0 0 0

11315 end climb: SURFACE_DEPTH_REACHED

state 11315 begin surface coast

11336 end surface coast: CONTROL_FINISHED_OK

state 11337 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	314	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	26	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	080411,082328,6654.027,-6014.769,0,4111.0,0,-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	87.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	5.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080411,082328,6654.027,-6014.769,0,4111.0,0,-37.5	MHEAD_RNG_PITCHd_Wd	241.4,20308,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	615

FREEZE	2.24,-1.749,-1.771,3,40,2	ALTIM_TOP_PING	19.8,18.1
FINISH	2.2,1.026001	_24V_AH	22.2,43.437
SM_CCo	11474,119.82,0.075,0,0,750,559.04	_10V_AH	10.2,24.038
SM_GC	3.47,0.00,0.00,119.82,0.000,0.000,0.075,113,2503,750,-8.60,0.37,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	638	FG_AHR_10Vo	0.000
RAFOS	0,1302264066,12.033333,12.018333,166,67,66,62,55,52,619,170,213,199,114,181	MEM	150564
RAFOS_FIX	6654.027344,-6014.769043,080411,080828,4,111,0.39	DATA_FILE_SIZE	40006,1093
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	CAP_FILE_SIZE	127118,0
TT8_MAMPS	0.026215	CFSIZE	260165632,230912000
HUMID	46.53	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.45736	SOUNDSPEED	1453.9
TCM_TEMP	16.10	GPS	080411,082328,6654.027,-6014.769,181,99.0,181,-37.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	218	59.26	SBE_CT	783	24	417.30
Roll_motor	94	86	181.02	SBE_O2	842	19	355.45
VBD_pump_during_apogee	387	1311	11281.17	nil	0	0	0.00
VBD_pump_during_surface	119	74	199.43	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	2801	19	569.21
LPSleep	6452	2	152.04
TT8_Active	519	19	105.52
TT8_Sampling	1794	39	730.71
TT8_CF8	171	45	80.43
TT8_Kalman	0	0	0.00
Analog_circuits	1484	12	181.71
GPS_charging	0	0	0.00
Compass	1782	15	272.68
RAFOS	2520	1	38.56
Transponder	17	30	5.37

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	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.77	-5.68	0.000	3	0.000	0.086	2896	3182	3636	0	0	0	0	0	0
27	-0.62	-146.0	88.6	-0.0	1	34	0.70	3.35	0.00	0.000	4	0.135	0.054	2668	1074	3637	0	0	0	0	0	0
92	-0.54	-146.0	96.6	-14.2	12	99	0.00	2.30	0.00	0.000	6	0.000	0.062	2667	2496	3637	0	0	0	0	0	0
425	-0.43	-146.0	152.0	-16.0	45	430	0.20	2.28	0.00	0.000	4	0.219	0.061	2716	1074	3637	0	0	0	0	0	0
469	-0.48	-146.0	157.8	-10.5	48	476	0.00	2.30	0.00	0.000	6	0.000	0.060	2716	2498	3637	0	0	0	0	0	0
798	-0.51	-146.0	190.4	-10.0	79	804	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2498	3637	0	0	0	0	0	0
1125	-0.55	-146.0	222.0	-8.6	110	1126	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2498	3636	0	0	0	0	0	0
1443	-0.61	-146.0	248.7	-8.3	140	1445	0.15	0.00	0.00	0.000	6	0.121	0.000	2664	2498	3636	0	0	0	0	0	0
1760	-0.54	-146.0	289.0	-12.7	170	1764	0.00	2.30	0.00	0.000	4	0.000	0.077	2664	3897	3635	0	0	0	0	0	0
1805	-0.50	-146.0	294.9	-12.6	174	1810	0.15	2.22	0.00	0.000	6	0.210	0.049	2699	2484	3635	0	0	0	0	0	0
2131	-0.53	-146.0	326.0	-9.4	204	2135	0.00	2.22	0.00	0.000	4	0.000	0.063	2699	1076	3635	0	0	0	0	0	0
2152	-0.56	-146.0	328.1	-8.8	205	2159	0.00	2.30	0.00	0.000	6	0.000	0.061	2699	2497	3634	0	0	0	0	0	0
2480	-0.60	-146.0	357.7	-8.9	236	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2497	3635	0	0	0	0	0	0
2798	-0.65	-146.0	386.2	-8.7	266	2803	0.15	2.33	0.00	0.000	4	0.121	0.076	2648	3904	3635	0	0	0	0	0	0
2816	-0.65	-146.0	388.0	-9.0	267	2820	0.00	2.22	0.00	0.000	6	0.000	0.047	2648	2484	3635	0	0	0	0	0	0
3147	-0.56	-146.0	430.3	-12.6	298	3151	0.12	2.25	0.00	0.000	4	0.219	0.061	2676	1084	3635	0	0	0	0	0	0
3164	-0.49	-146.0	432.3	-11.6	299	3169	0.00	2.28	0.00	0.000	6	0.000	0.061	2676	2488	3635	0	0	0	0	0	0
3489	-0.49	-146.0	464.0	-9.9	329	3493	0.00	2.33	0.00	0.000	4	0.000	0.077	2676	3906	3635	0	0	0	0	0	0
3519	-0.49	-146.0	466.8	-9.3	331	3523	0.00	2.22	0.00	0.000	6	0.000	0.047	2676	2487	3634	0	0	0	0	0	0
3844	-0.49	-146.0	497.7	-9.2	361	3845	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2487	3635	0	0	0	0	0	0
4164	-0.49	-146.0	527.3	-9.7	391	4165	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2487	3636	0	0	0	0	0	0
4482	-0.49	-146.0	557.9	-9.1	421	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2488	3636	0	0	0	0	0	0
4800	-0.49	-146.0	587.5	-9.4	451	4801	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2488	3636	0	0	0	0	0	0
5110	-0.64	-146.0	611.5	-3.2	469	5114	0.00	2.33	0.00	0.000	4	0.000	0.073	2676	3903	3636	0	0	0	0	0	0
5244	end dive: NO_VERTICAL_VELOCITY
state	5244	begin apogee
5251	-0.12	0.0	611.4	0.0	473	5381	0.43	0.00	124.30	1.312	6	0.138	0.000	2814	2272	3029	0	0	0	0	0	0
5382	end apogee: CONTROL_FINISHED_OK
state	5382	begin climb
5384	0.62	146.0	611.4	0.0	477	5523	0.77	2.58	128.77	1.259	4	0.137	0.067	3049	3691	2433	0	0	0	0	0	0
5601	0.50	146.0	595.3	14.2	484	5609	0.12	2.42	0.00	0.000	6	0.194	0.050	3034	2281	2428	0	0	0	0	0	0
5927	0.47	149.0	563.2	9.9	515	5928	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2281	2424	0	0	0	0	0	0
6248	0.44	149.0	530.8	10.4	545	6254	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2281	2424	0	0	0	0	0	0
6575	0.42	149.0	497.1	10.1	576	6580	0.12	2.33	0.00	0.000	4	0.205	0.066	3001	3694	2423	0	0	0	0	0	0
6614	0.42	149.0	493.0	10.1	579	6618	0.00	2.30	0.00	0.000	6	0.000	0.051	3009	2263	2423	0	0	0	0	0	0
6942	0.48	180.6	464.8	8.5	609	6973	0.00	0.00	29.62	1.187	6	0.000	0.000	3009	2263	2293	0	0	0	0	0	0
7289	0.55	196.2	433.0	9.3	642	7312	0.10	2.40	14.77	1.112	4	0.119	0.066	3056	3698	2230	0	0	0	0	0	0
7348	0.48	196.2	425.6	14.2	647	7353	0.17	2.33	0.00	0.000	6	0.194	0.051	3025	2265	2229	0	0	0	0	0	0
7673	0.52	204.3	392.0	9.6	677	7686	0.00	2.35	8.20	1.003	4	0.000	0.066	3032	856	2197	0	0	0	0	0	0
7721	0.57	204.3	387.3	10.2	681	7725	0.00	2.30	0.00	0.000	6	0.000	0.053	3032	2279	2195	0	0	0	0	0	0
8046	0.60	204.3	354.8	10.0	711	8050	0.00	2.30	0.00	0.000	4	0.000	0.067	3032	3694	2195	0	0	0	0	0	0
8109	0.60	204.3	347.6	12.0	716	8113	0.00	2.28	0.00	0.000	6	0.000	0.051	3042	2271	2194	0	0	0	0	0	0
8434	0.61	208.6	314.1	9.8	746	8447	0.00	2.25	5.40	0.861	4	0.000	0.064	3053	865	2178	0	0	0	0	0	0
8474	0.61	211.7	309.9	9.9	749	8485	0.00	2.28	4.35	0.764	6	0.000	0.053	3052	2287	2166	0	0	0	0	0	0
8811	0.61	211.7	276.4	10.3	781	8815	0.00	2.25	0.00	0.000	4	0.000	0.067	3053	3688	2166	0	0	0	0	0	0
8862	0.57	211.7	270.6	13.3	785	8866	0.00	2.25	0.00	0.000	6	0.000	0.051	3063	2276	2166	0	0	0	0	0	0
9187	0.57	211.7	235.5	10.7	815	9188	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2276	2166	0	0	0	0	0	0
9507	0.57	211.7	201.2	10.5	845	9511	0.00	2.30	0.00	0.000	4	0.000	0.065	3063	3688	2166	0	0	0	0	0	0
9546	0.55	211.7	196.5	11.6	848	9551	0.12	2.25	0.00	0.000	6	0.190	0.050	3043	2271	2165	0	0	0	0	0	0
9872	0.63	243.1	168.1	8.5	878	9908	0.00	2.33	29.80	1.040	4	0.000	0.066	3042	874	2038	0	0	0	0	0	0
9943	0.80	288.7	162.3	7.9	884	9993	0.22	2.25	42.10	1.022	6	0.091	0.051	3129	2278	1852	0	0	0	0	0	0
10311	0.77	288.7	110.7	13.8	919	10315	0.00	2.28	0.00	0.000	4	0.000	0.067	3128	3680	1843	0	0	0	0	0	0
10407	0.70	288.7	95.9	14.9	929	10415	0.17	2.28	0.00	0.000	6	0.203	0.052	3096	2270	1840	0	0	0	0	0	0
10754	0.75	292.0	60.2	9.8	990	10761	0.00	2.28	0.00	0.000	4	0.000	0.065	3103	861	1839	0	0	0	0	0	0
10796	0.81	292.0	56.0	10.2	997	10803	0.00	2.25	0.00	0.000	6	0.000	0.053	3103	2271	1838	0	0	0	0	0	0
11142	0.84	292.0	21.2	10.6	1058	11148	0.00	2.28	0.00	0.000	4	0.000	0.068	3103	3692	1837	0	0	0	0	0	0
11195	0.84	292.0	15.4	11.2	1067	11201	0.00	2.28	0.00	0.000	6	0.000	0.053	3112	2269	1836	0	0	0	0	0	0
11315	end climb: SURFACE_DEPTH_REACHED
state	11315	begin surface coast
11336	end surface coast: CONTROL_FINISHED_OK
state	11337	begin surface