Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 315 * 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 315 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 22 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -35520.223 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 -35520.223

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 22 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 315 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,-6014.769,181,99.0,181,-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 3.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080411,082328,6654.027,-6014.769,181,99.0,181,-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 8.94,-1.741,-1.782,3,41,0 ALTIM_BOTTOM_PING 551.3,42.9

FINISH1 8.9,1.026084,69 _24V_AH 22.3,43.583

FINISH2 8.1 _10V_AH 10.0,24.118

RAFOS_CLK 626 FG_AHR_24Vo 0.000

RAFOS 0,1302278466,16.033333,16.018333,123,60,54,54,53,52,611,210,232,159,219,111 FG_AHR_10Vo 0.000

RAFOS_FIX 6654.027344,-6014.769043,080411,080828,4,111,0.39 MEM 150436

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 43445,1101

TT8_MAMPS 0.029211 CAP_FILE_SIZE 132413,0

HUMID 47.51 CFSIZE 260165632,230838272

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.2

XPDR_PINGS 0 GPS 080411,082328,6654.027,-6014.769,181,99.0,181,-37.5

ALTIM_TOP_PING 19.6,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 333 131.84 SBE_CT 783 24 419.56

Roll_motor 108 87 213.45 SBE_O2 840 19 355.93

VBD_pump_during_apogee 412 1295 11908.47 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 98 103 227.07 nil 0 0 0.00

Iridium_during_connect 17 160 62.15 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 18.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 91.64

TT8 2639 19 525.72

LPSleep 5713 2 131.98

TT8_Active 588 19 117.19

TT8_Sampling 2075 39 828.50

TT8_CF8 432 45 198.76

TT8_Kalman 0 0 0.00

Analog_circuits 1578 12 189.43

GPS_charging 0 0 0.00

Compass 1759 15 263.94

RAFOS 1080 1 16.20

Transponder 15 30 4.80

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 0 167 0.00 0.00 -147.55 0.000 2 0.000 0.000 113 2504 3159 0 0 0 0 0 0

170 -0.62 -146.0 5.5 -7.8 26 202 13.18 2.30 -10.88 0.000 4 0.334 0.073 2651 1069 3629 0 0 0 0 0 0

332 -0.50 -146.0 43.9 -18.1 54 339 0.17 2.33 0.00 0.000 6 0.217 0.064 2695 2491 3631 0 0 0 0 0 0

677 -0.41 -146.0 99.1 -14.3 115 685 0.12 2.35 0.00 0.000 4 0.233 0.079 2724 3907 3631 0 0 0 0 0 0

742 -0.46 -146.0 107.0 -10.9 121 748 0.00 2.25 0.00 0.000 6 0.000 0.048 2724 2474 3631 0 0 0 0 0 0

1067 -0.49 -146.0 140.3 -10.0 152 1071 0.00 2.22 0.00 0.000 4 0.000 0.066 2725 1074 3631 0 0 0 0 0 0

1088 -0.52 -146.0 142.7 -10.3 153 1095 0.00 2.30 0.00 0.000 6 0.000 0.063 2725 2497 3631 0 0 0 0 0 0

1414 -0.57 -146.0 173.3 -9.4 184 1419 0.15 2.35 0.00 0.000 4 0.121 0.079 2673 3903 3631 0 0 0 0 0 0

1429 -0.57 -146.0 175.1 -9.6 185 1436 0.00 2.22 0.00 0.000 6 0.000 0.050 2673 2487 3630 0 0 0 0 0 0

1757 -0.50 -146.0 218.5 -13.2 216 1761 0.12 2.35 0.00 0.000 4 0.226 0.077 2700 3899 3630 0 0 0 0 0 0

1786 -0.50 -146.0 222.2 -11.6 218 1791 0.00 2.22 0.00 0.000 6 0.000 0.050 2701 2489 3630 0 0 0 0 0 0

2111 -0.50 -146.0 255.6 -10.3 248 2112 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2489 3631 0 0 0 0 0 0

2432 -0.50 -146.0 288.1 -9.6 278 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2489 3631 0 0 0 0 0 0

2753 -0.53 -146.0 317.4 -8.6 308 2759 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2489 3630 0 0 0 0 0 0

3080 -0.56 -146.0 345.8 -8.2 339 3081 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2489 3630 0 0 0 0 0 0

3398 -0.60 -146.0 373.3 -8.6 369 3402 0.00 2.25 0.00 0.000 4 0.000 0.065 2701 1080 3631 0 0 0 0 0 0

3426 -0.65 -146.0 376.2 -9.5 371 3433 0.15 2.30 0.00 0.000 6 0.122 0.062 2651 2495 3630 0 0 0 0 0 0

3751 -0.57 -146.0 417.5 -13.5 402 3755 0.00 2.30 0.00 0.000 4 0.000 0.078 2651 3899 3630 0 0 0 0 0 0

3791 -0.51 -146.0 422.7 -13.2 405 3796 0.17 2.22 0.00 0.000 6 0.199 0.049 2694 2486 3630 0 0 0 0 0 0

4116 -0.55 -146.0 452.4 -8.7 435 4117 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2486 3631 0 0 0 0 0 0

4438 -0.59 -146.0 480.3 -9.0 465 4442 0.00 2.22 0.00 0.000 4 0.000 0.064 2694 1080 3632 0 0 0 0 0 0

4460 -0.62 -146.0 482.7 -8.9 466 4467 0.00 2.30 0.00 0.000 6 0.000 0.062 2694 2499 3632 0 0 0 0 0 0

4786 -0.67 -146.0 509.8 -8.4 497 4791 0.15 2.33 0.00 0.000 4 0.118 0.077 2641 3905 3631 0 0 0 0 0 0

4803 -0.67 -146.0 511.6 -9.0 498 4807 0.00 2.22 0.00 0.000 6 0.000 0.048 2641 2482 3631 0 0 0 0 0 0

5133 -0.58 -146.0 555.6 -13.8 529 5138 0.12 2.25 0.00 0.000 4 0.220 0.063 2669 1081 3632 0 0 0 0 0 0

5162 -0.54 -146.0 559.4 -13.4 531 5166 0.00 2.28 0.00 0.000 6 0.000 0.062 2669 2489 3632 0 0 0 0 0 0

5358 end dive: BOTTOM_OBSTACLE_DETECTED

state 5358 begin apogee

5364 -0.12 0.0 580.3 11.0 549 5496 0.50 0.00 123.82 1.296 6 0.188 0.000 2813 2265 3030 0 0 0 0 0 0

5496 end apogee: CONTROL_FINISHED_OK

state 5496 begin climb

5498 0.62 146.0 585.3 0.0 561 5641 0.80 2.60 128.60 1.248 4 0.138 0.070 3065 881 2431 0 0 0 0 0 0

5680 0.54 146.0 573.7 11.2 577 5687 0.00 2.47 0.00 0.000 6 0.000 0.055 3065 2283 2429 0 0 0 0 0 0

6007 0.45 146.0 537.0 12.3 608 6012 0.20 2.40 0.00 0.000 4 0.181 0.069 3013 3687 2424 0 0 0 0 0 0

6073 0.43 146.0 529.3 10.5 613 6081 0.00 2.33 0.00 0.000 6 0.000 0.054 3021 2282 2424 0 0 0 0 0 0

6400 0.47 178.7 500.8 8.5 644 6435 0.00 2.42 28.00 1.180 4 0.000 0.069 3031 868 2300 0 0 0 0 0 0

6470 0.52 193.2 494.5 9.3 650 6493 0.00 2.33 14.52 1.120 6 0.000 0.054 3031 2278 2240 0 0 0 0 0 0

6810 0.52 193.2 460.9 10.2 682 6814 0.00 2.33 0.00 0.000 4 0.000 0.070 3031 3698 2237 0 0 0 0 0 0

6856 0.49 193.2 455.8 11.9 686 6860 0.00 2.33 0.00 0.000 6 0.000 0.054 3041 2264 2236 0 0 0 0 0 0

7181 0.49 193.2 421.1 10.4 716 7185 0.00 2.25 0.00 0.000 4 0.000 0.067 3052 865 2235 0 0 0 0 0 0

7220 0.49 193.2 416.8 11.4 719 7224 0.00 2.28 0.00 0.000 6 0.000 0.055 3052 2278 2234 0 0 0 0 0 0

7546 0.49 193.2 380.9 10.8 749 7550 0.00 2.30 0.00 0.000 4 0.000 0.070 3052 3686 2234 0 0 0 0 0 0

7587 0.43 193.2 376.1 13.1 752 7592 0.20 2.25 0.00 0.000 6 0.181 0.054 3011 2270 2234 0 0 0 0 0 0

7912 0.55 237.3 349.5 8.0 782 7957 0.00 2.40 39.10 1.132 4 0.000 0.068 3015 860 2061 0 0 0 0 0 0

7998 0.73 280.6 342.5 8.0 789 8049 0.25 2.33 40.15 1.107 6 0.084 0.055 3113 2277 1885 0 0 0 0 0 0

8366 0.64 280.6 279.2 17.3 824 8370 0.15 2.30 0.00 0.000 4 0.196 0.069 3075 3682 1876 0 0 0 0 0 0

8423 0.64 280.6 270.4 15.0 829 8427 0.00 2.30 0.00 0.000 6 0.000 0.055 3083 2270 1873 0 0 0 0 0 0

8748 0.64 280.6 226.3 13.8 859 8752 0.00 2.28 0.00 0.000 4 0.000 0.067 3093 855 1873 0 0 0 0 0 0

8814 0.64 280.6 217.2 13.4 864 8821 0.00 2.28 0.00 0.000 6 0.000 0.054 3094 2274 1871 0 0 0 0 0 0

9139 0.64 280.6 174.2 12.5 895 9143 0.00 2.30 0.00 0.000 4 0.000 0.070 3093 3684 1871 0 0 0 0 0 0

9183 0.60 280.6 168.2 13.9 898 9190 0.17 2.28 0.00 0.000 6 0.191 0.055 3059 2270 1870 0 0 0 0 0 0

9508 0.70 301.1 138.3 9.1 929 9532 0.00 2.35 17.17 1.004 4 0.000 0.070 3059 867 1801 0 0 0 0 0 0

9571 0.84 322.7 132.4 9.0 934 9601 0.22 2.28 20.70 0.998 6 0.090 0.055 3145 2276 1713 0 0 0 0 0 0

9928 0.80 322.7 78.8 13.3 980 9935 0.00 2.33 0.00 0.000 4 0.000 0.072 3145 3691 1707 0 0 0 0 0 0

9981 0.73 322.7 70.6 15.4 989 9989 0.20 2.30 0.00 0.000 6 0.204 0.057 3105 2269 1705 0 0 0 0 0 0

10327 0.79 324.7 35.3 9.9 1050 10334 0.00 2.28 0.00 0.000 4 0.000 0.069 3111 868 1704 0 0 0 0 0 0

10391 0.86 324.7 28.7 10.2 1061 10398 0.00 2.25 0.00 0.000 6 0.000 0.054 3111 2277 1703 0 0 0 0 0 0

10577 end climb: FINISH_DEPTH_REACHED

state 10577 begin subsurface finish

10583 0.09 69.4 8.9 -10.6 1094 10628 0.68 2.38 -36.95 0.000 4 0.149 0.088 2899 3686 2749 0 0 0 0 0 0

10629 end subsurface finish: CONTROL_FINISHED_OK

state 10629 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	315	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	22	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-35520.223	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,-6014.769,181,99.0,181,-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	3.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080411,082328,6654.027,-6014.769,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	241.4,20308,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	615

FREEZE	8.94,-1.741,-1.782,3,41,0	ALTIM_BOTTOM_PING	551.3,42.9
FINISH1	8.9,1.026084,69	_24V_AH	22.3,43.583
FINISH2	8.1	_10V_AH	10.0,24.118
RAFOS_CLK	626	FG_AHR_24Vo	0.000
RAFOS	0,1302278466,16.033333,16.018333,123,60,54,54,53,52,611,210,232,159,219,111	FG_AHR_10Vo	0.000
RAFOS_FIX	6654.027344,-6014.769043,080411,080828,4,111,0.39	MEM	150436
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	43445,1101
TT8_MAMPS	0.029211	CAP_FILE_SIZE	132413,0
HUMID	47.51	CFSIZE	260165632,230838272
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.2
XPDR_PINGS	0	GPS	080411,082328,6654.027,-6014.769,181,99.0,181,-37.5
ALTIM_TOP_PING	19.6,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	333	131.84	SBE_CT	783	24	419.56
Roll_motor	108	87	213.45	SBE_O2	840	19	355.93
VBD_pump_during_apogee	412	1295	11908.47	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	98	103	227.07	nil	0	0	0.00
Iridium_during_connect	17	160	62.15	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	18.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	91.64
TT8	2639	19	525.72
LPSleep	5713	2	131.98
TT8_Active	588	19	117.19
TT8_Sampling	2075	39	828.50
TT8_CF8	432	45	198.76
TT8_Kalman	0	0	0.00
Analog_circuits	1578	12	189.43
GPS_charging	0	0	0.00
Compass	1759	15	263.94
RAFOS	1080	1	16.20
Transponder	15	30	4.80

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	167	0.00	0.00	-147.55	0.000	2	0.000	0.000	113	2504	3159	0	0	0	0	0	0
170	-0.62	-146.0	5.5	-7.8	26	202	13.18	2.30	-10.88	0.000	4	0.334	0.073	2651	1069	3629	0	0	0	0	0	0
332	-0.50	-146.0	43.9	-18.1	54	339	0.17	2.33	0.00	0.000	6	0.217	0.064	2695	2491	3631	0	0	0	0	0	0
677	-0.41	-146.0	99.1	-14.3	115	685	0.12	2.35	0.00	0.000	4	0.233	0.079	2724	3907	3631	0	0	0	0	0	0
742	-0.46	-146.0	107.0	-10.9	121	748	0.00	2.25	0.00	0.000	6	0.000	0.048	2724	2474	3631	0	0	0	0	0	0
1067	-0.49	-146.0	140.3	-10.0	152	1071	0.00	2.22	0.00	0.000	4	0.000	0.066	2725	1074	3631	0	0	0	0	0	0
1088	-0.52	-146.0	142.7	-10.3	153	1095	0.00	2.30	0.00	0.000	6	0.000	0.063	2725	2497	3631	0	0	0	0	0	0
1414	-0.57	-146.0	173.3	-9.4	184	1419	0.15	2.35	0.00	0.000	4	0.121	0.079	2673	3903	3631	0	0	0	0	0	0
1429	-0.57	-146.0	175.1	-9.6	185	1436	0.00	2.22	0.00	0.000	6	0.000	0.050	2673	2487	3630	0	0	0	0	0	0
1757	-0.50	-146.0	218.5	-13.2	216	1761	0.12	2.35	0.00	0.000	4	0.226	0.077	2700	3899	3630	0	0	0	0	0	0
1786	-0.50	-146.0	222.2	-11.6	218	1791	0.00	2.22	0.00	0.000	6	0.000	0.050	2701	2489	3630	0	0	0	0	0	0
2111	-0.50	-146.0	255.6	-10.3	248	2112	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2489	3631	0	0	0	0	0	0
2432	-0.50	-146.0	288.1	-9.6	278	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2489	3631	0	0	0	0	0	0
2753	-0.53	-146.0	317.4	-8.6	308	2759	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2489	3630	0	0	0	0	0	0
3080	-0.56	-146.0	345.8	-8.2	339	3081	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2489	3630	0	0	0	0	0	0
3398	-0.60	-146.0	373.3	-8.6	369	3402	0.00	2.25	0.00	0.000	4	0.000	0.065	2701	1080	3631	0	0	0	0	0	0
3426	-0.65	-146.0	376.2	-9.5	371	3433	0.15	2.30	0.00	0.000	6	0.122	0.062	2651	2495	3630	0	0	0	0	0	0
3751	-0.57	-146.0	417.5	-13.5	402	3755	0.00	2.30	0.00	0.000	4	0.000	0.078	2651	3899	3630	0	0	0	0	0	0
3791	-0.51	-146.0	422.7	-13.2	405	3796	0.17	2.22	0.00	0.000	6	0.199	0.049	2694	2486	3630	0	0	0	0	0	0
4116	-0.55	-146.0	452.4	-8.7	435	4117	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2486	3631	0	0	0	0	0	0
4438	-0.59	-146.0	480.3	-9.0	465	4442	0.00	2.22	0.00	0.000	4	0.000	0.064	2694	1080	3632	0	0	0	0	0	0
4460	-0.62	-146.0	482.7	-8.9	466	4467	0.00	2.30	0.00	0.000	6	0.000	0.062	2694	2499	3632	0	0	0	0	0	0
4786	-0.67	-146.0	509.8	-8.4	497	4791	0.15	2.33	0.00	0.000	4	0.118	0.077	2641	3905	3631	0	0	0	0	0	0
4803	-0.67	-146.0	511.6	-9.0	498	4807	0.00	2.22	0.00	0.000	6	0.000	0.048	2641	2482	3631	0	0	0	0	0	0
5133	-0.58	-146.0	555.6	-13.8	529	5138	0.12	2.25	0.00	0.000	4	0.220	0.063	2669	1081	3632	0	0	0	0	0	0
5162	-0.54	-146.0	559.4	-13.4	531	5166	0.00	2.28	0.00	0.000	6	0.000	0.062	2669	2489	3632	0	0	0	0	0	0
5358	end dive: BOTTOM_OBSTACLE_DETECTED
state	5358	begin apogee
5364	-0.12	0.0	580.3	11.0	549	5496	0.50	0.00	123.82	1.296	6	0.188	0.000	2813	2265	3030	0	0	0	0	0	0
5496	end apogee: CONTROL_FINISHED_OK
state	5496	begin climb
5498	0.62	146.0	585.3	0.0	561	5641	0.80	2.60	128.60	1.248	4	0.138	0.070	3065	881	2431	0	0	0	0	0	0
5680	0.54	146.0	573.7	11.2	577	5687	0.00	2.47	0.00	0.000	6	0.000	0.055	3065	2283	2429	0	0	0	0	0	0
6007	0.45	146.0	537.0	12.3	608	6012	0.20	2.40	0.00	0.000	4	0.181	0.069	3013	3687	2424	0	0	0	0	0	0
6073	0.43	146.0	529.3	10.5	613	6081	0.00	2.33	0.00	0.000	6	0.000	0.054	3021	2282	2424	0	0	0	0	0	0
6400	0.47	178.7	500.8	8.5	644	6435	0.00	2.42	28.00	1.180	4	0.000	0.069	3031	868	2300	0	0	0	0	0	0
6470	0.52	193.2	494.5	9.3	650	6493	0.00	2.33	14.52	1.120	6	0.000	0.054	3031	2278	2240	0	0	0	0	0	0
6810	0.52	193.2	460.9	10.2	682	6814	0.00	2.33	0.00	0.000	4	0.000	0.070	3031	3698	2237	0	0	0	0	0	0
6856	0.49	193.2	455.8	11.9	686	6860	0.00	2.33	0.00	0.000	6	0.000	0.054	3041	2264	2236	0	0	0	0	0	0
7181	0.49	193.2	421.1	10.4	716	7185	0.00	2.25	0.00	0.000	4	0.000	0.067	3052	865	2235	0	0	0	0	0	0
7220	0.49	193.2	416.8	11.4	719	7224	0.00	2.28	0.00	0.000	6	0.000	0.055	3052	2278	2234	0	0	0	0	0	0
7546	0.49	193.2	380.9	10.8	749	7550	0.00	2.30	0.00	0.000	4	0.000	0.070	3052	3686	2234	0	0	0	0	0	0
7587	0.43	193.2	376.1	13.1	752	7592	0.20	2.25	0.00	0.000	6	0.181	0.054	3011	2270	2234	0	0	0	0	0	0
7912	0.55	237.3	349.5	8.0	782	7957	0.00	2.40	39.10	1.132	4	0.000	0.068	3015	860	2061	0	0	0	0	0	0
7998	0.73	280.6	342.5	8.0	789	8049	0.25	2.33	40.15	1.107	6	0.084	0.055	3113	2277	1885	0	0	0	0	0	0
8366	0.64	280.6	279.2	17.3	824	8370	0.15	2.30	0.00	0.000	4	0.196	0.069	3075	3682	1876	0	0	0	0	0	0
8423	0.64	280.6	270.4	15.0	829	8427	0.00	2.30	0.00	0.000	6	0.000	0.055	3083	2270	1873	0	0	0	0	0	0
8748	0.64	280.6	226.3	13.8	859	8752	0.00	2.28	0.00	0.000	4	0.000	0.067	3093	855	1873	0	0	0	0	0	0
8814	0.64	280.6	217.2	13.4	864	8821	0.00	2.28	0.00	0.000	6	0.000	0.054	3094	2274	1871	0	0	0	0	0	0
9139	0.64	280.6	174.2	12.5	895	9143	0.00	2.30	0.00	0.000	4	0.000	0.070	3093	3684	1871	0	0	0	0	0	0
9183	0.60	280.6	168.2	13.9	898	9190	0.17	2.28	0.00	0.000	6	0.191	0.055	3059	2270	1870	0	0	0	0	0	0
9508	0.70	301.1	138.3	9.1	929	9532	0.00	2.35	17.17	1.004	4	0.000	0.070	3059	867	1801	0	0	0	0	0	0
9571	0.84	322.7	132.4	9.0	934	9601	0.22	2.28	20.70	0.998	6	0.090	0.055	3145	2276	1713	0	0	0	0	0	0
9928	0.80	322.7	78.8	13.3	980	9935	0.00	2.33	0.00	0.000	4	0.000	0.072	3145	3691	1707	0	0	0	0	0	0
9981	0.73	322.7	70.6	15.4	989	9989	0.20	2.30	0.00	0.000	6	0.204	0.057	3105	2269	1705	0	0	0	0	0	0
10327	0.79	324.7	35.3	9.9	1050	10334	0.00	2.28	0.00	0.000	4	0.000	0.069	3111	868	1704	0	0	0	0	0	0
10391	0.86	324.7	28.7	10.2	1061	10398	0.00	2.25	0.00	0.000	6	0.000	0.054	3111	2277	1703	0	0	0	0	0	0
10577	end climb: FINISH_DEPTH_REACHED
state	10577	begin subsurface finish
10583	0.09	69.4	8.9	-10.6	1094	10628	0.68	2.38	-36.95	0.000	4	0.149	0.088	2899	3686	2749	0	0	0	0	0	0
10629	end subsurface finish: CONTROL_FINISHED_OK
state	10629	begin surface