Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 487 * 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 487 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 400 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -40322.797 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 400

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 -40322.797

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 34 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 31 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 487 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 240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 29.9,5746,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 535

Post-dive calculations and measurements:

FREEZE 1.58,-1.282,-1.810,3,22,0 ALTIM_TOP_PING 19.3,18.0

FINISH 1.6,1.026556 ALTIM_BOTTOM_PING 450.7,50.6

SM_CCo 9042,76.80,0.063,0,0,1398,400.08 _24V_AH 22.3,63.853

SM_GC 3.00,0.00,0.00,76.80,0.000,0.000,0.063,105,2499,1398,-8.62,0.25,400.08 _10V_AH 10.1,32.711

RAFOS_CLK 468 FG_AHR_24Vo 0.000

RAFOS 2,1303676222,20.299999,20.283890,63,61,59,59,55,51,213,204,170,187,119,1900 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.833008,-5649.697266,240411,202044,3,123,0.76 MEM 150600

IRIDIUM_FIX 6641.98,-5653.92,220411,151557 DATA_FILE_SIZE 36694,948

TT8_MAMPS 0.026215 CAP_FILE_SIZE 108898,0

HUMID 44.95 CFSIZE 260165632,222375936

INTERNAL_PRESSURE 8.60385 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1467.8

XPDR_PINGS 0 GPS 240411,204344,6705.833,-5649.697,0,3123.3,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 219 56.92 SBE_CT 668 24 357.62

Roll_motor 98 77 169.85 SBE_O2 711 19 301.45

VBD_pump_during_apogee 314 1181 8276.73 nil 0 0 0.00

VBD_pump_during_surface 76 62 107.43 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 1 420 14.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2295 19 461.90

LPSleep 4752 2 110.88

TT8_Active 435 19 87.59

TT8_Sampling 1543 39 622.52

TT8_CF8 164 45 76.43

TT8_Kalman 0 0 0.00

Analog_circuits 1265 12 153.32

GPS_charging 0 0 0.00

Compass 1530 15 231.91

RAFOS 1440 1 21.82

Transponder 12 30 3.78

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 -6.78 0.000 2 0.000 0.000 2880 2266 3160 0 0 0 0 0 0

28 -0.62 -146.0 8.9 -0.0 1 49 0.60 2.70 -12.35 0.000 4 0.106 0.077 2669 3894 3628 0 0 0 0 0 0

56 -0.74 -146.0 11.0 -6.6 5 64 0.12 2.12 0.00 0.000 6 0.138 0.038 2628 2481 3629 0 0 0 0 0 0

402 -0.57 -146.0 76.4 -18.4 66 410 0.20 2.15 0.00 0.000 4 0.220 0.051 2675 1092 3628 0 0 0 0 0 0

451 -0.57 -146.0 84.0 -13.3 74 458 0.00 2.20 0.00 0.000 6 0.000 0.054 2675 2492 3628 0 0 0 0 0 0

790 -0.53 -146.0 125.6 -11.9 117 794 0.00 2.30 0.00 0.000 4 0.000 0.070 2675 3906 3627 0 0 0 0 0 0

868 -0.53 -146.0 134.6 -10.8 123 874 0.00 2.17 0.00 0.000 6 0.000 0.041 2676 2487 3626 0 0 0 0 0 0

1193 -0.53 -146.0 166.1 -9.6 154 1198 0.00 2.30 0.00 0.000 4 0.000 0.066 2675 3902 3625 0 0 0 0 0 0

1227 -0.55 -146.0 169.7 -9.8 156 1233 0.00 2.15 0.00 0.000 6 0.000 0.040 2676 2488 3625 0 0 0 0 0 0

1553 -0.55 -146.0 200.4 -9.6 187 1557 0.00 2.17 0.00 0.000 4 0.000 0.054 2675 1079 3624 0 0 0 0 0 0

1595 -0.58 -146.0 204.6 -9.6 190 1599 0.00 2.20 0.00 0.000 6 0.000 0.052 2675 2491 3624 0 0 0 0 0 0

1920 -0.58 -146.0 236.2 -9.2 220 1924 0.00 2.25 0.00 0.000 4 0.000 0.067 2675 3898 3623 0 0 0 0 0 0

1999 -0.62 -146.0 243.5 -9.1 226 2006 0.00 2.15 0.00 0.000 6 0.000 0.039 2675 2483 3623 0 0 0 0 0 0

2327 -0.62 -146.0 273.7 -9.0 257 2331 0.00 2.15 0.00 0.000 4 0.000 0.052 2675 1085 3624 0 0 0 0 0 0

2367 -0.65 -146.0 277.8 -9.7 260 2371 0.00 2.20 0.00 0.000 6 0.000 0.051 2675 2493 3624 0 0 0 0 0 0

2693 -0.65 -146.0 306.6 -8.6 290 2697 0.00 2.25 0.00 0.000 4 0.000 0.067 2675 3903 3624 0 0 0 0 0 0

2779 -0.69 -146.0 314.0 -8.2 297 2784 0.12 2.15 0.00 0.000 6 0.120 0.038 2633 2484 3624 0 0 0 0 0 0

3105 -0.60 -146.0 353.2 -12.1 327 3110 0.15 2.20 0.00 0.000 4 0.212 0.052 2667 1084 3625 0 0 0 0 0 0

3183 -0.63 -146.0 361.0 -8.6 333 3190 0.00 2.22 0.00 0.000 6 0.000 0.050 2667 2500 3625 0 0 0 0 0 0

3508 -0.63 -146.0 389.5 -8.6 364 3512 0.00 2.22 0.00 0.000 4 0.000 0.066 2667 3897 3625 0 0 0 0 0 0

3617 -0.65 -146.0 399.0 -9.1 373 3620 0.00 2.12 0.00 0.000 6 0.000 0.037 2667 2490 3625 0 0 0 0 0 0

3942 -0.65 -146.0 428.1 -9.5 403 3946 0.00 2.17 0.00 0.000 4 0.000 0.051 2667 1089 3625 0 0 0 0 0 0

3982 -0.68 -146.0 432.0 -9.2 406 3987 0.00 2.20 0.00 0.000 6 0.000 0.051 2667 2499 3625 0 0 0 0 0 0

4308 -0.68 -146.0 463.1 -9.6 436 4309 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2499 3626 0 0 0 0 0 0

4550 end dive: BOTTOM_OBSTACLE_DETECTED

state 4550 begin apogee

4556 -0.12 0.0 486.7 9.9 459 4686 0.50 0.00 119.65 1.182 6 0.186 0.000 2812 2254 3030 0 0 0 0 0 0

4687 end apogee: CONTROL_FINISHED_OK

state 4687 begin climb

4689 0.62 146.0 491.2 0.0 471 4824 0.77 2.45 124.53 1.138 4 0.133 0.060 3062 892 2433 0 0 0 0 0 0

4842 0.55 146.0 481.7 10.0 485 4847 0.00 2.38 0.00 0.000 6 0.000 0.046 3062 2274 2430 0 0 0 0 0 0

5168 0.48 146.0 442.8 12.7 515 5172 0.15 2.33 0.00 0.000 4 0.181 0.063 3024 3692 2427 0 0 0 0 0 0

5191 0.43 146.0 440.0 12.1 517 5195 0.00 2.22 0.00 0.000 6 0.000 0.044 3031 2291 2427 0 0 0 0 0 0

5518 0.41 146.0 406.1 10.3 547 5520 0.12 0.00 0.00 0.000 6 0.184 0.000 3001 2291 2426 0 0 0 0 0 0

5835 0.51 189.6 380.4 8.0 577 5880 0.00 2.28 36.80 1.080 4 0.000 0.059 3001 3684 2257 0 0 0 0 0 0

5886 0.60 225.6 376.1 8.3 581 5926 0.15 2.25 33.05 1.059 6 0.093 0.044 3069 2268 2110 0 0 0 0 0 0

6244 0.55 225.6 324.7 15.0 615 6248 0.00 2.22 0.00 0.000 4 0.000 0.060 3080 866 2102 0 0 0 0 0 0

6257 0.50 225.6 322.8 14.9 616 6262 0.20 2.20 0.00 0.000 6 0.176 0.046 3027 2280 2100 0 0 0 0 0 0

6582 0.53 225.6 284.7 11.6 646 6586 0.00 2.25 0.00 0.000 4 0.000 0.061 3027 3684 2099 0 0 0 0 0 0

6623 0.56 225.6 279.7 12.7 649 6627 0.00 2.20 0.00 0.000 6 0.000 0.044 3034 2271 2099 0 0 0 0 0 0

6950 0.59 225.6 242.2 11.2 679 6954 0.00 2.20 0.00 0.000 4 0.000 0.057 3043 864 2098 0 0 0 0 0 0

6961 0.61 225.6 240.7 11.2 679 6967 0.00 2.17 0.00 0.000 6 0.000 0.044 3043 2279 2096 0 0 0 0 0 0

7287 0.61 225.6 202.6 12.0 710 7291 0.00 2.22 0.00 0.000 4 0.000 0.061 3043 3683 2097 0 0 0 0 0 0

7330 0.61 225.6 196.5 13.9 713 7337 0.00 2.20 0.00 0.000 6 0.000 0.044 3053 2279 2097 0 0 0 0 0 0

7656 0.61 225.6 153.8 13.0 744 7660 0.00 2.25 0.00 0.000 4 0.000 0.059 3053 3690 2097 0 0 0 0 0 0

7667 0.61 225.6 152.4 12.7 745 7672 0.00 2.20 0.00 0.000 6 0.000 0.042 3063 2267 2096 0 0 0 0 0 0

7992 0.61 225.6 111.1 12.0 775 7996 0.00 2.17 0.00 0.000 4 0.000 0.057 3074 868 2096 0 0 0 0 0 0

8036 0.64 225.6 106.3 10.5 778 8043 0.00 2.15 0.00 0.000 6 0.000 0.045 3074 2276 2096 0 0 0 0 0 0

8375 0.64 225.6 71.4 10.5 833 8382 0.00 2.20 0.00 0.000 4 0.000 0.060 3074 3684 2096 0 0 0 0 0 0

8416 0.64 225.6 66.3 13.1 840 8423 0.00 2.20 0.00 0.000 6 0.000 0.044 3083 2265 2096 0 0 0 0 0 0

8762 0.64 225.6 27.9 10.9 901 8768 0.00 2.20 0.00 0.000 4 0.000 0.058 3094 866 2095 0 0 0 0 0 0

8781 0.64 225.6 25.8 11.1 904 8788 0.00 2.17 0.00 0.000 6 0.000 0.047 3093 2274 2095 0 0 0 0 0 0

8995 end climb: SURFACE_DEPTH_REACHED

state 8995 begin surface coast

9024 end surface coast: CONTROL_FINISHED_OK

state 9025 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	487	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	400	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-40322.797	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	240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	29.9,5746,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	535

FREEZE	1.58,-1.282,-1.810,3,22,0	ALTIM_TOP_PING	19.3,18.0
FINISH	1.6,1.026556	ALTIM_BOTTOM_PING	450.7,50.6
SM_CCo	9042,76.80,0.063,0,0,1398,400.08	_24V_AH	22.3,63.853
SM_GC	3.00,0.00,0.00,76.80,0.000,0.000,0.063,105,2499,1398,-8.62,0.25,400.08	_10V_AH	10.1,32.711
RAFOS_CLK	468	FG_AHR_24Vo	0.000
RAFOS	2,1303676222,20.299999,20.283890,63,61,59,59,55,51,213,204,170,187,119,1900	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.833008,-5649.697266,240411,202044,3,123,0.76	MEM	150600
IRIDIUM_FIX	6641.98,-5653.92,220411,151557	DATA_FILE_SIZE	36694,948
TT8_MAMPS	0.026215	CAP_FILE_SIZE	108898,0
HUMID	44.95	CFSIZE	260165632,222375936
INTERNAL_PRESSURE	8.60385	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1467.8
XPDR_PINGS	0	GPS	240411,204344,6705.833,-5649.697,0,3123.3,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	219	56.92	SBE_CT	668	24	357.62
Roll_motor	98	77	169.85	SBE_O2	711	19	301.45
VBD_pump_during_apogee	314	1181	8276.73	nil	0	0	0.00
VBD_pump_during_surface	76	62	107.43	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	1	420	14.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2295	19	461.90
LPSleep	4752	2	110.88
TT8_Active	435	19	87.59
TT8_Sampling	1543	39	622.52
TT8_CF8	164	45	76.43
TT8_Kalman	0	0	0.00
Analog_circuits	1265	12	153.32
GPS_charging	0	0	0.00
Compass	1530	15	231.91
RAFOS	1440	1	21.82
Transponder	12	30	3.78

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	-6.78	0.000	2	0.000	0.000	2880	2266	3160	0	0	0	0	0	0
28	-0.62	-146.0	8.9	-0.0	1	49	0.60	2.70	-12.35	0.000	4	0.106	0.077	2669	3894	3628	0	0	0	0	0	0
56	-0.74	-146.0	11.0	-6.6	5	64	0.12	2.12	0.00	0.000	6	0.138	0.038	2628	2481	3629	0	0	0	0	0	0
402	-0.57	-146.0	76.4	-18.4	66	410	0.20	2.15	0.00	0.000	4	0.220	0.051	2675	1092	3628	0	0	0	0	0	0
451	-0.57	-146.0	84.0	-13.3	74	458	0.00	2.20	0.00	0.000	6	0.000	0.054	2675	2492	3628	0	0	0	0	0	0
790	-0.53	-146.0	125.6	-11.9	117	794	0.00	2.30	0.00	0.000	4	0.000	0.070	2675	3906	3627	0	0	0	0	0	0
868	-0.53	-146.0	134.6	-10.8	123	874	0.00	2.17	0.00	0.000	6	0.000	0.041	2676	2487	3626	0	0	0	0	0	0
1193	-0.53	-146.0	166.1	-9.6	154	1198	0.00	2.30	0.00	0.000	4	0.000	0.066	2675	3902	3625	0	0	0	0	0	0
1227	-0.55	-146.0	169.7	-9.8	156	1233	0.00	2.15	0.00	0.000	6	0.000	0.040	2676	2488	3625	0	0	0	0	0	0
1553	-0.55	-146.0	200.4	-9.6	187	1557	0.00	2.17	0.00	0.000	4	0.000	0.054	2675	1079	3624	0	0	0	0	0	0
1595	-0.58	-146.0	204.6	-9.6	190	1599	0.00	2.20	0.00	0.000	6	0.000	0.052	2675	2491	3624	0	0	0	0	0	0
1920	-0.58	-146.0	236.2	-9.2	220	1924	0.00	2.25	0.00	0.000	4	0.000	0.067	2675	3898	3623	0	0	0	0	0	0
1999	-0.62	-146.0	243.5	-9.1	226	2006	0.00	2.15	0.00	0.000	6	0.000	0.039	2675	2483	3623	0	0	0	0	0	0
2327	-0.62	-146.0	273.7	-9.0	257	2331	0.00	2.15	0.00	0.000	4	0.000	0.052	2675	1085	3624	0	0	0	0	0	0
2367	-0.65	-146.0	277.8	-9.7	260	2371	0.00	2.20	0.00	0.000	6	0.000	0.051	2675	2493	3624	0	0	0	0	0	0
2693	-0.65	-146.0	306.6	-8.6	290	2697	0.00	2.25	0.00	0.000	4	0.000	0.067	2675	3903	3624	0	0	0	0	0	0
2779	-0.69	-146.0	314.0	-8.2	297	2784	0.12	2.15	0.00	0.000	6	0.120	0.038	2633	2484	3624	0	0	0	0	0	0
3105	-0.60	-146.0	353.2	-12.1	327	3110	0.15	2.20	0.00	0.000	4	0.212	0.052	2667	1084	3625	0	0	0	0	0	0
3183	-0.63	-146.0	361.0	-8.6	333	3190	0.00	2.22	0.00	0.000	6	0.000	0.050	2667	2500	3625	0	0	0	0	0	0
3508	-0.63	-146.0	389.5	-8.6	364	3512	0.00	2.22	0.00	0.000	4	0.000	0.066	2667	3897	3625	0	0	0	0	0	0
3617	-0.65	-146.0	399.0	-9.1	373	3620	0.00	2.12	0.00	0.000	6	0.000	0.037	2667	2490	3625	0	0	0	0	0	0
3942	-0.65	-146.0	428.1	-9.5	403	3946	0.00	2.17	0.00	0.000	4	0.000	0.051	2667	1089	3625	0	0	0	0	0	0
3982	-0.68	-146.0	432.0	-9.2	406	3987	0.00	2.20	0.00	0.000	6	0.000	0.051	2667	2499	3625	0	0	0	0	0	0
4308	-0.68	-146.0	463.1	-9.6	436	4309	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2499	3626	0	0	0	0	0	0
4550	end dive: BOTTOM_OBSTACLE_DETECTED
state	4550	begin apogee
4556	-0.12	0.0	486.7	9.9	459	4686	0.50	0.00	119.65	1.182	6	0.186	0.000	2812	2254	3030	0	0	0	0	0	0
4687	end apogee: CONTROL_FINISHED_OK
state	4687	begin climb
4689	0.62	146.0	491.2	0.0	471	4824	0.77	2.45	124.53	1.138	4	0.133	0.060	3062	892	2433	0	0	0	0	0	0
4842	0.55	146.0	481.7	10.0	485	4847	0.00	2.38	0.00	0.000	6	0.000	0.046	3062	2274	2430	0	0	0	0	0	0
5168	0.48	146.0	442.8	12.7	515	5172	0.15	2.33	0.00	0.000	4	0.181	0.063	3024	3692	2427	0	0	0	0	0	0
5191	0.43	146.0	440.0	12.1	517	5195	0.00	2.22	0.00	0.000	6	0.000	0.044	3031	2291	2427	0	0	0	0	0	0
5518	0.41	146.0	406.1	10.3	547	5520	0.12	0.00	0.00	0.000	6	0.184	0.000	3001	2291	2426	0	0	0	0	0	0
5835	0.51	189.6	380.4	8.0	577	5880	0.00	2.28	36.80	1.080	4	0.000	0.059	3001	3684	2257	0	0	0	0	0	0
5886	0.60	225.6	376.1	8.3	581	5926	0.15	2.25	33.05	1.059	6	0.093	0.044	3069	2268	2110	0	0	0	0	0	0
6244	0.55	225.6	324.7	15.0	615	6248	0.00	2.22	0.00	0.000	4	0.000	0.060	3080	866	2102	0	0	0	0	0	0
6257	0.50	225.6	322.8	14.9	616	6262	0.20	2.20	0.00	0.000	6	0.176	0.046	3027	2280	2100	0	0	0	0	0	0
6582	0.53	225.6	284.7	11.6	646	6586	0.00	2.25	0.00	0.000	4	0.000	0.061	3027	3684	2099	0	0	0	0	0	0
6623	0.56	225.6	279.7	12.7	649	6627	0.00	2.20	0.00	0.000	6	0.000	0.044	3034	2271	2099	0	0	0	0	0	0
6950	0.59	225.6	242.2	11.2	679	6954	0.00	2.20	0.00	0.000	4	0.000	0.057	3043	864	2098	0	0	0	0	0	0
6961	0.61	225.6	240.7	11.2	679	6967	0.00	2.17	0.00	0.000	6	0.000	0.044	3043	2279	2096	0	0	0	0	0	0
7287	0.61	225.6	202.6	12.0	710	7291	0.00	2.22	0.00	0.000	4	0.000	0.061	3043	3683	2097	0	0	0	0	0	0
7330	0.61	225.6	196.5	13.9	713	7337	0.00	2.20	0.00	0.000	6	0.000	0.044	3053	2279	2097	0	0	0	0	0	0
7656	0.61	225.6	153.8	13.0	744	7660	0.00	2.25	0.00	0.000	4	0.000	0.059	3053	3690	2097	0	0	0	0	0	0
7667	0.61	225.6	152.4	12.7	745	7672	0.00	2.20	0.00	0.000	6	0.000	0.042	3063	2267	2096	0	0	0	0	0	0
7992	0.61	225.6	111.1	12.0	775	7996	0.00	2.17	0.00	0.000	4	0.000	0.057	3074	868	2096	0	0	0	0	0	0
8036	0.64	225.6	106.3	10.5	778	8043	0.00	2.15	0.00	0.000	6	0.000	0.045	3074	2276	2096	0	0	0	0	0	0
8375	0.64	225.6	71.4	10.5	833	8382	0.00	2.20	0.00	0.000	4	0.000	0.060	3074	3684	2096	0	0	0	0	0	0
8416	0.64	225.6	66.3	13.1	840	8423	0.00	2.20	0.00	0.000	6	0.000	0.044	3083	2265	2096	0	0	0	0	0	0
8762	0.64	225.6	27.9	10.9	901	8768	0.00	2.20	0.00	0.000	4	0.000	0.058	3094	866	2095	0	0	0	0	0	0
8781	0.64	225.6	25.8	11.1	904	8788	0.00	2.17	0.00	0.000	6	0.000	0.047	3093	2274	2095	0	0	0	0	0	0
8995	end climb: SURFACE_DEPTH_REACHED
state	8995	begin surface coast
9024	end surface coast: CONTROL_FINISHED_OK
state	9025	begin surface