Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 494 * 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 494 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 34 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 -3 T_GPS_CHARGE -41429.52 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 -41429.52

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 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 494 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 250411,123928,6659.216,-5646.230,0,4112.5,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250411,123928,6659.216,-5646.230,0,4112.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 27.3,7123,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 541

Post-dive calculations and measurements:

FREEZE 1.26,-1.158,-1.714,2,29,0 ALTIM_TOP_PING 19.5,18.0

FINISH 1.3,1.025188 ALTIM_BOTTOM_PING 450.7,90.7

SM_CCo 10017,148.65,0.062,0,0,751,559.04 _24V_AH 22.2,64.615

SM_GC 2.26,0.00,0.00,148.65,0.000,0.000,0.062,114,2498,751,-8.60,0.23,559.04 _10V_AH 10.1,33.152

RAFOS_CLK 523 FG_AHR_24Vo 0.000

RAFOS 0,1303747269,16.033333,16.019167,67,65,57,57,52,51,174,217,202,161,117,147 FG_AHR_10Vo 0.000

RAFOS_FIX 6702.428223,-5645.507324,250411,161622,3,94,0.41 MEM 150616

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40042,1039

TT8_MAMPS 0.026215 CAP_FILE_SIZE 122061,0

HUMID 44.21 CFSIZE 260165632,221970432

INTERNAL_PRESSURE 8.53548 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.30 SOUNDSPEED 1468.8

XPDR_PINGS 0 GPS 250411,164322,6702.428,-5645.507,0,3094.3,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 219 59.34 SBE_CT 733 24 390.62

Roll_motor 109 167 408.93 SBE_O2 780 19 329.26

VBD_pump_during_apogee 311 1202 8320.21 nil 0 0 0.00

VBD_pump_during_surface 148 61 204.49 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 13.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2539 19 510.88

LPSleep 5223 2 121.86

TT8_Active 538 19 108.41

TT8_Sampling 1742 39 702.49

TT8_CF8 191 45 89.04

TT8_Kalman 0 0 0.00

Analog_circuits 1458 12 176.73

GPS_charging 0 0 0.00

Compass 1726 15 261.59

RAFOS 2520 1 38.18

Transponder 12 30 3.82

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

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.95 0.000 2 0.000 0.000 2883 3681 3103 0 0 0 0 0 0

26 -0.62 -146.0 7.6 -0.0 1 46 0.62 0.38 -15.32 0.000 4 0.109 0.168 2667 3903 3627 0 0 0 0 0 0

134 -0.57 -146.0 19.8 -14.6 19 141 0.00 2.17 0.00 0.000 6 0.000 0.041 2668 2476 3629 0 0 0 0 0 0

479 -0.50 -146.0 73.2 -15.8 80 486 0.12 2.17 0.00 0.000 4 0.212 0.056 2696 1087 3628 0 0 0 0 0 0

517 -0.50 -146.0 78.3 -12.9 86 524 0.00 2.20 0.00 0.000 6 0.000 0.055 2696 2487 3628 0 0 0 0 0 0

858 -0.50 -146.0 117.8 -10.4 133 862 0.00 2.28 0.00 0.000 4 0.000 0.072 2697 3897 3627 0 0 0 0 0 0

933 -0.55 -146.0 125.2 -9.9 139 937 0.00 2.17 0.00 0.000 6 0.000 0.044 2696 2481 3626 0 0 0 0 0 0

1260 -0.59 -146.0 157.8 -9.9 169 1264 0.00 2.17 0.00 0.000 4 0.000 0.057 2696 1082 3624 0 0 0 0 0 0

1357 -0.66 -146.0 167.1 -9.6 177 1361 0.15 2.22 0.00 0.000 6 0.119 0.056 2646 2493 3623 0 0 0 0 0 0

1687 -0.59 -146.0 208.5 -13.0 208 1691 0.00 2.30 0.00 0.000 4 0.000 0.071 2646 3905 3622 0 0 0 0 0 0

1773 -0.55 -146.0 219.0 -11.9 215 1777 0.15 2.17 0.00 0.000 6 0.197 0.042 2682 2484 3622 0 0 0 0 0 0

2098 -0.58 -146.0 249.1 -9.1 245 2102 0.00 2.20 0.00 0.000 4 0.000 0.056 2682 1075 3622 0 0 0 0 0 0

2189 -0.62 -146.0 257.6 -10.0 253 2193 0.00 2.22 0.00 0.000 6 0.000 0.055 2682 2490 3622 0 0 0 0 0 0

2515 -0.65 -146.0 286.5 -9.0 283 2519 0.00 2.28 0.00 0.000 4 0.000 0.069 2682 3899 3622 0 0 0 0 0 0

2604 -0.71 -146.0 294.6 -8.9 290 2611 0.15 2.15 0.00 0.000 6 0.115 0.041 2631 2488 3622 0 0 0 0 0 0

2929 -0.62 -146.0 334.4 -12.4 321 2934 0.12 2.20 0.00 0.000 4 0.220 0.054 2659 1081 3623 0 0 0 0 0 0

2973 -0.62 -146.0 339.4 -10.4 324 2980 0.00 2.20 0.00 0.000 6 0.000 0.054 2660 2491 3623 0 0 0 0 0 0

3300 -0.62 -146.0 370.2 -9.0 355 3304 0.00 2.25 0.00 0.000 4 0.000 0.068 2659 3899 3624 0 0 0 0 0 0

3367 -0.62 -146.0 376.6 -8.7 360 3374 0.00 2.15 0.00 0.000 6 0.000 0.040 2659 2481 3624 0 0 0 0 0 0

3692 -0.62 -146.0 405.0 -9.2 391 3696 0.00 2.17 0.00 0.000 4 0.000 0.054 2659 1087 3624 0 0 0 0 0 0

3744 -0.62 -146.0 409.9 -9.4 395 3748 0.00 2.20 0.00 0.000 6 0.000 0.053 2659 2492 3625 0 0 0 0 0 0

4071 -0.62 -146.0 439.4 -9.2 425 4075 0.00 2.28 0.00 0.000 4 0.000 0.067 2659 3899 3624 0 0 0 0 0 0

4134 -0.64 -146.0 445.3 -9.2 430 4138 0.00 2.17 0.00 0.000 6 0.000 0.039 2659 2483 3625 0 0 0 0 0 0

4459 -0.64 -146.0 474.4 -9.1 460 4463 0.00 2.17 0.00 0.000 4 0.000 0.054 2659 1075 3625 0 0 0 0 0 0

4514 -0.66 -146.0 479.6 -8.6 464 4521 0.00 2.25 0.00 0.000 6 0.000 0.052 2659 2499 3625 0 0 0 0 0 0

4841 -0.66 -146.0 509.9 -9.6 495 4845 0.00 2.28 0.00 0.000 4 0.000 0.067 2659 3907 3626 0 0 0 0 0 0

4953 -0.66 -146.0 520.9 -9.1 504 4960 0.00 2.17 0.00 0.000 6 0.000 0.039 2659 2488 3626 0 0 0 0 0 0

5021 end dive: BOTTOM_OBSTACLE_DETECTED

state 5021 begin apogee

5028 -0.12 0.0 527.4 9.4 511 5159 0.55 0.00 120.65 1.203 6 0.186 0.000 2816 2250 3030 0 0 0 0 0 0

5160 end apogee: CONTROL_FINISHED_OK

state 5160 begin climb

5163 0.62 146.0 530.7 0.0 523 5294 0.77 0.00 125.62 1.161 6 0.132 0.000 3055 2250 2434 0 0 0 0 0 0

5610 0.55 146.0 483.8 12.2 565 5614 0.00 2.35 0.00 0.000 4 0.000 0.060 3055 3682 2428 0 0 0 0 0 0

5659 0.45 146.0 476.6 14.2 569 5667 0.20 2.20 0.00 0.000 6 0.184 0.044 3015 2282 2428 0 0 0 0 0 0

5985 0.45 146.0 443.2 10.6 600 5989 0.00 2.22 0.00 0.000 4 0.000 0.060 3024 869 2427 0 0 0 0 0 0

5995 0.45 148.9 441.9 9.9 600 6002 0.00 2.20 0.00 0.000 6 0.000 0.047 3024 2284 2427 0 0 0 0 0 0

6321 0.47 160.4 410.6 9.5 631 6343 0.00 2.30 12.50 1.015 4 0.000 0.062 3024 3683 2375 0 0 0 0 0 0

6371 0.43 160.4 405.0 11.9 635 6378 0.00 2.20 0.00 0.000 6 0.000 0.044 3034 2274 2375 0 0 0 0 0 0

6698 0.43 160.4 369.9 10.4 666 6702 0.00 2.25 0.00 0.000 4 0.000 0.059 3034 3691 2374 0 0 0 0 0 0

6708 0.43 160.4 368.4 10.6 666 6716 0.10 2.22 0.00 0.000 6 0.174 0.042 3006 2275 2373 0 0 0 0 0 0

7035 0.52 198.8 341.0 8.2 697 7078 0.00 2.35 33.72 1.058 4 0.000 0.060 3006 3682 2219 0 0 0 0 0 0

7241 0.57 199.8 321.2 10.0 715 7249 0.00 2.22 0.00 0.000 6 0.000 0.043 3014 2265 2216 0 0 0 0 0 0

7568 0.63 210.1 291.6 9.5 746 7584 0.15 2.30 10.68 0.937 4 0.091 0.057 3081 3688 2172 0 0 0 0 0 0

7733 0.55 210.1 266.1 15.8 760 7738 0.17 2.22 0.00 0.000 6 0.190 0.044 3047 2269 2172 0 0 0 0 0 0

8058 0.55 210.1 227.2 12.3 790 8062 0.00 2.20 0.00 0.000 4 0.000 0.058 3055 863 2170 0 0 0 0 0 0

8092 0.55 210.1 222.9 12.5 793 8097 0.00 2.20 0.00 0.000 6 0.000 0.046 3055 2277 2169 0 0 0 0 0 0

8423 0.55 210.1 180.9 12.4 824 8427 0.00 2.20 0.00 0.000 4 0.000 0.060 3055 3680 2169 0 0 0 0 0 0

8478 0.52 210.1 173.1 13.6 828 8486 0.12 2.17 0.00 0.000 6 0.182 0.044 3034 2271 2169 0 0 0 0 0 0

8804 0.56 210.1 137.2 10.5 859 8808 0.00 2.20 0.00 0.000 4 0.000 0.057 3042 858 2169 0 0 0 0 0 0

8856 0.63 210.1 131.6 11.0 863 8860 0.00 2.20 0.00 0.000 6 0.000 0.046 3042 2276 2168 0 0 0 0 0 0

9183 0.69 218.6 96.8 9.6 896 9197 0.12 2.30 8.48 0.809 4 0.103 0.060 3098 3692 2138 0 0 0 0 0 0

9205 0.69 218.6 94.4 11.2 899 9212 0.00 2.20 0.00 0.000 6 0.000 0.041 3109 2268 2138 0 0 0 0 0 0

9550 0.64 218.6 47.7 13.1 960 9557 0.12 2.28 0.00 0.000 4 0.194 0.057 3077 3686 2138 0 0 0 0 0 0

9564 0.61 218.6 45.8 13.2 962 9571 0.00 2.17 0.00 0.000 6 0.000 0.043 3085 2273 2138 0 0 0 0 0 0

9909 0.61 218.6 9.3 10.3 1023 9915 0.00 2.28 0.00 0.000 4 0.000 0.059 3085 3693 2138 0 0 0 0 0 0

9923 0.61 218.6 7.8 10.9 1025 9930 0.12 2.22 0.00 0.000 6 0.187 0.044 3065 2264 2138 0 0 0 0 0 0

9966 end climb: SURFACE_DEPTH_REACHED

state 9966 begin surface coast

9999 end surface coast: CONTROL_FINISHED_OK

state 10000 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	494	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	34	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	-3	T_GPS_CHARGE	-41429.52	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	250411,123928,6659.216,-5646.230,0,4112.5,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250411,123928,6659.216,-5646.230,0,4112.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	27.3,7123,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	541

FREEZE	1.26,-1.158,-1.714,2,29,0	ALTIM_TOP_PING	19.5,18.0
FINISH	1.3,1.025188	ALTIM_BOTTOM_PING	450.7,90.7
SM_CCo	10017,148.65,0.062,0,0,751,559.04	_24V_AH	22.2,64.615
SM_GC	2.26,0.00,0.00,148.65,0.000,0.000,0.062,114,2498,751,-8.60,0.23,559.04	_10V_AH	10.1,33.152
RAFOS_CLK	523	FG_AHR_24Vo	0.000
RAFOS	0,1303747269,16.033333,16.019167,67,65,57,57,52,51,174,217,202,161,117,147	FG_AHR_10Vo	0.000
RAFOS_FIX	6702.428223,-5645.507324,250411,161622,3,94,0.41	MEM	150616
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40042,1039
TT8_MAMPS	0.026215	CAP_FILE_SIZE	122061,0
HUMID	44.21	CFSIZE	260165632,221970432
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.30	SOUNDSPEED	1468.8
XPDR_PINGS	0	GPS	250411,164322,6702.428,-5645.507,0,3094.3,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	219	59.34	SBE_CT	733	24	390.62
Roll_motor	109	167	408.93	SBE_O2	780	19	329.26
VBD_pump_during_apogee	311	1202	8320.21	nil	0	0	0.00
VBD_pump_during_surface	148	61	204.49	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	13.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2539	19	510.88
LPSleep	5223	2	121.86
TT8_Active	538	19	108.41
TT8_Sampling	1742	39	702.49
TT8_CF8	191	45	89.04
TT8_Kalman	0	0	0.00
Analog_circuits	1458	12	176.73
GPS_charging	0	0	0.00
Compass	1726	15	261.59
RAFOS	2520	1	38.18
Transponder	12	30	3.82

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
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.95	0.000	2	0.000	0.000	2883	3681	3103	0	0	0	0	0	0
26	-0.62	-146.0	7.6	-0.0	1	46	0.62	0.38	-15.32	0.000	4	0.109	0.168	2667	3903	3627	0	0	0	0	0	0
134	-0.57	-146.0	19.8	-14.6	19	141	0.00	2.17	0.00	0.000	6	0.000	0.041	2668	2476	3629	0	0	0	0	0	0
479	-0.50	-146.0	73.2	-15.8	80	486	0.12	2.17	0.00	0.000	4	0.212	0.056	2696	1087	3628	0	0	0	0	0	0
517	-0.50	-146.0	78.3	-12.9	86	524	0.00	2.20	0.00	0.000	6	0.000	0.055	2696	2487	3628	0	0	0	0	0	0
858	-0.50	-146.0	117.8	-10.4	133	862	0.00	2.28	0.00	0.000	4	0.000	0.072	2697	3897	3627	0	0	0	0	0	0
933	-0.55	-146.0	125.2	-9.9	139	937	0.00	2.17	0.00	0.000	6	0.000	0.044	2696	2481	3626	0	0	0	0	0	0
1260	-0.59	-146.0	157.8	-9.9	169	1264	0.00	2.17	0.00	0.000	4	0.000	0.057	2696	1082	3624	0	0	0	0	0	0
1357	-0.66	-146.0	167.1	-9.6	177	1361	0.15	2.22	0.00	0.000	6	0.119	0.056	2646	2493	3623	0	0	0	0	0	0
1687	-0.59	-146.0	208.5	-13.0	208	1691	0.00	2.30	0.00	0.000	4	0.000	0.071	2646	3905	3622	0	0	0	0	0	0
1773	-0.55	-146.0	219.0	-11.9	215	1777	0.15	2.17	0.00	0.000	6	0.197	0.042	2682	2484	3622	0	0	0	0	0	0
2098	-0.58	-146.0	249.1	-9.1	245	2102	0.00	2.20	0.00	0.000	4	0.000	0.056	2682	1075	3622	0	0	0	0	0	0
2189	-0.62	-146.0	257.6	-10.0	253	2193	0.00	2.22	0.00	0.000	6	0.000	0.055	2682	2490	3622	0	0	0	0	0	0
2515	-0.65	-146.0	286.5	-9.0	283	2519	0.00	2.28	0.00	0.000	4	0.000	0.069	2682	3899	3622	0	0	0	0	0	0
2604	-0.71	-146.0	294.6	-8.9	290	2611	0.15	2.15	0.00	0.000	6	0.115	0.041	2631	2488	3622	0	0	0	0	0	0
2929	-0.62	-146.0	334.4	-12.4	321	2934	0.12	2.20	0.00	0.000	4	0.220	0.054	2659	1081	3623	0	0	0	0	0	0
2973	-0.62	-146.0	339.4	-10.4	324	2980	0.00	2.20	0.00	0.000	6	0.000	0.054	2660	2491	3623	0	0	0	0	0	0
3300	-0.62	-146.0	370.2	-9.0	355	3304	0.00	2.25	0.00	0.000	4	0.000	0.068	2659	3899	3624	0	0	0	0	0	0
3367	-0.62	-146.0	376.6	-8.7	360	3374	0.00	2.15	0.00	0.000	6	0.000	0.040	2659	2481	3624	0	0	0	0	0	0
3692	-0.62	-146.0	405.0	-9.2	391	3696	0.00	2.17	0.00	0.000	4	0.000	0.054	2659	1087	3624	0	0	0	0	0	0
3744	-0.62	-146.0	409.9	-9.4	395	3748	0.00	2.20	0.00	0.000	6	0.000	0.053	2659	2492	3625	0	0	0	0	0	0
4071	-0.62	-146.0	439.4	-9.2	425	4075	0.00	2.28	0.00	0.000	4	0.000	0.067	2659	3899	3624	0	0	0	0	0	0
4134	-0.64	-146.0	445.3	-9.2	430	4138	0.00	2.17	0.00	0.000	6	0.000	0.039	2659	2483	3625	0	0	0	0	0	0
4459	-0.64	-146.0	474.4	-9.1	460	4463	0.00	2.17	0.00	0.000	4	0.000	0.054	2659	1075	3625	0	0	0	0	0	0
4514	-0.66	-146.0	479.6	-8.6	464	4521	0.00	2.25	0.00	0.000	6	0.000	0.052	2659	2499	3625	0	0	0	0	0	0
4841	-0.66	-146.0	509.9	-9.6	495	4845	0.00	2.28	0.00	0.000	4	0.000	0.067	2659	3907	3626	0	0	0	0	0	0
4953	-0.66	-146.0	520.9	-9.1	504	4960	0.00	2.17	0.00	0.000	6	0.000	0.039	2659	2488	3626	0	0	0	0	0	0
5021	end dive: BOTTOM_OBSTACLE_DETECTED
state	5021	begin apogee
5028	-0.12	0.0	527.4	9.4	511	5159	0.55	0.00	120.65	1.203	6	0.186	0.000	2816	2250	3030	0	0	0	0	0	0
5160	end apogee: CONTROL_FINISHED_OK
state	5160	begin climb
5163	0.62	146.0	530.7	0.0	523	5294	0.77	0.00	125.62	1.161	6	0.132	0.000	3055	2250	2434	0	0	0	0	0	0
5610	0.55	146.0	483.8	12.2	565	5614	0.00	2.35	0.00	0.000	4	0.000	0.060	3055	3682	2428	0	0	0	0	0	0
5659	0.45	146.0	476.6	14.2	569	5667	0.20	2.20	0.00	0.000	6	0.184	0.044	3015	2282	2428	0	0	0	0	0	0
5985	0.45	146.0	443.2	10.6	600	5989	0.00	2.22	0.00	0.000	4	0.000	0.060	3024	869	2427	0	0	0	0	0	0
5995	0.45	148.9	441.9	9.9	600	6002	0.00	2.20	0.00	0.000	6	0.000	0.047	3024	2284	2427	0	0	0	0	0	0
6321	0.47	160.4	410.6	9.5	631	6343	0.00	2.30	12.50	1.015	4	0.000	0.062	3024	3683	2375	0	0	0	0	0	0
6371	0.43	160.4	405.0	11.9	635	6378	0.00	2.20	0.00	0.000	6	0.000	0.044	3034	2274	2375	0	0	0	0	0	0
6698	0.43	160.4	369.9	10.4	666	6702	0.00	2.25	0.00	0.000	4	0.000	0.059	3034	3691	2374	0	0	0	0	0	0
6708	0.43	160.4	368.4	10.6	666	6716	0.10	2.22	0.00	0.000	6	0.174	0.042	3006	2275	2373	0	0	0	0	0	0
7035	0.52	198.8	341.0	8.2	697	7078	0.00	2.35	33.72	1.058	4	0.000	0.060	3006	3682	2219	0	0	0	0	0	0
7241	0.57	199.8	321.2	10.0	715	7249	0.00	2.22	0.00	0.000	6	0.000	0.043	3014	2265	2216	0	0	0	0	0	0
7568	0.63	210.1	291.6	9.5	746	7584	0.15	2.30	10.68	0.937	4	0.091	0.057	3081	3688	2172	0	0	0	0	0	0
7733	0.55	210.1	266.1	15.8	760	7738	0.17	2.22	0.00	0.000	6	0.190	0.044	3047	2269	2172	0	0	0	0	0	0
8058	0.55	210.1	227.2	12.3	790	8062	0.00	2.20	0.00	0.000	4	0.000	0.058	3055	863	2170	0	0	0	0	0	0
8092	0.55	210.1	222.9	12.5	793	8097	0.00	2.20	0.00	0.000	6	0.000	0.046	3055	2277	2169	0	0	0	0	0	0
8423	0.55	210.1	180.9	12.4	824	8427	0.00	2.20	0.00	0.000	4	0.000	0.060	3055	3680	2169	0	0	0	0	0	0
8478	0.52	210.1	173.1	13.6	828	8486	0.12	2.17	0.00	0.000	6	0.182	0.044	3034	2271	2169	0	0	0	0	0	0
8804	0.56	210.1	137.2	10.5	859	8808	0.00	2.20	0.00	0.000	4	0.000	0.057	3042	858	2169	0	0	0	0	0	0
8856	0.63	210.1	131.6	11.0	863	8860	0.00	2.20	0.00	0.000	6	0.000	0.046	3042	2276	2168	0	0	0	0	0	0
9183	0.69	218.6	96.8	9.6	896	9197	0.12	2.30	8.48	0.809	4	0.103	0.060	3098	3692	2138	0	0	0	0	0	0
9205	0.69	218.6	94.4	11.2	899	9212	0.00	2.20	0.00	0.000	6	0.000	0.041	3109	2268	2138	0	0	0	0	0	0
9550	0.64	218.6	47.7	13.1	960	9557	0.12	2.28	0.00	0.000	4	0.194	0.057	3077	3686	2138	0	0	0	0	0	0
9564	0.61	218.6	45.8	13.2	962	9571	0.00	2.17	0.00	0.000	6	0.000	0.043	3085	2273	2138	0	0	0	0	0	0
9909	0.61	218.6	9.3	10.3	1023	9915	0.00	2.28	0.00	0.000	4	0.000	0.059	3085	3693	2138	0	0	0	0	0	0
9923	0.61	218.6	7.8	10.9	1025	9930	0.12	2.22	0.00	0.000	6	0.187	0.044	3065	2264	2138	0	0	0	0	0	0
9966	end climb: SURFACE_DEPTH_REACHED
state	9966	begin surface coast
9999	end surface coast: CONTROL_FINISHED_OK
state	10000	begin surface