Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 499 * 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 499 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 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 -42904.84 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 -42904.84

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 499 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 260411,003512,6655.710,-5649.561,0,2095.5,0,-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 3.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260411,003512,6655.710,-5649.561,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 42.4,13549,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 611

Post-dive calculations and measurements:

FREEZE 1.33,-1.659,-1.729,2,34,0 ALTIM_TOP_PING 19.9,18.9

FINISH 1.3,1.025411 ALTIM_BOTTOM_PING 551.2,30.9

SM_CCo 10527,124.55,0.064,0,0,750,559.04 _24V_AH 22.1,65.097

SM_GC 2.43,0.00,0.00,124.55,0.000,0.000,0.064,105,2503,750,-8.62,0.37,559.04 _10V_AH 10.1,33.497

RAFOS_CLK 579 FG_AHR_24Vo 0.000

RAFOS 0,1303790466,4.033333,4.018333,69,57,57,55,54,52,208,188,135,170,146,120 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.756348,-5649.629395,260411,040444,3,139,1.12 MEM 150500

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43350,1106

TT8_MAMPS 0.026964 CAP_FILE_SIZE 134288,0

HUMID 44.36 CFSIZE 260165632,221675520

INTERNAL_PRESSURE 8.52572 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1467.2

XPDR_PINGS 0 GPS 260411,044344,6704.756,-5649.629,0,3139.3,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 325 181.97 SBE_CT 778 24 412.96

Roll_motor 108 92 221.24 SBE_O2 834 19 350.35

VBD_pump_during_apogee 364 1235 9940.02 nil 0 0 0.00

VBD_pump_during_surface 124 64 176.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 223.89 nil 0 0 0.00

Iridium_during_connect 17 160 61.42 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 18.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.56

TT8 2664 19 535.99

LPSleep 5526 2 128.94

TT8_Active 642 19 129.37

TT8_Sampling 2116 39 853.36

TT8_CF8 516 45 239.59

TT8_Kalman 0 0 0.00

Analog_circuits 1639 12 198.74

GPS_charging 0 0 0.00

Compass 1800 15 272.78

RAFOS 2520 1 38.18

Transponder 15 30 4.84

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

15 -0.62 -146.0 0.0 0.0 0 169 0.00 0.00 -148.77 0.000 2 0.000 0.000 112 2503 3335 0 0 0 0 0 0

172 -0.62 -146.0 5.0 -8.7 26 198 13.12 2.38 -6.62 0.000 4 0.325 0.093 2650 3885 3628 0 0 0 0 0 0

245 -0.53 -146.0 25.4 -17.6 38 253 0.15 2.17 0.00 0.000 6 0.200 0.045 2687 2493 3630 0 0 0 0 0 0

591 -0.50 -146.0 70.9 -12.4 99 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2492 3630 0 0 0 0 0 0

935 -0.48 -146.0 112.3 -11.4 151 939 0.00 2.22 0.00 0.000 4 0.000 0.062 2688 1085 3629 0 0 0 0 0 0

976 -0.48 -146.0 116.9 -10.9 154 980 0.00 2.28 0.00 0.000 6 0.000 0.063 2688 2481 3629 0 0 0 0 0 0

1301 -0.48 -146.0 155.1 -11.2 184 1305 0.00 2.38 0.00 0.000 4 0.000 0.079 2688 3909 3628 0 0 0 0 0 0

1386 -0.52 -146.0 164.0 -10.2 191 1393 0.00 2.20 0.00 0.000 6 0.000 0.045 2688 2486 3627 0 0 0 0 0 0

1714 -0.54 -146.0 195.2 -8.5 222 1718 0.00 2.22 0.00 0.000 4 0.000 0.062 2688 1079 3627 0 0 0 0 0 0

1775 -0.59 -146.0 200.5 -7.8 227 1782 0.00 2.30 0.00 0.000 6 0.000 0.060 2688 2499 3627 0 0 0 0 0 0

2103 -0.61 -146.0 226.6 -8.1 258 2107 0.00 2.33 0.00 0.000 4 0.000 0.074 2688 3908 3628 0 0 0 0 0 0

2170 -0.67 -146.0 232.3 -7.9 263 2178 0.12 2.17 0.00 0.000 6 0.122 0.042 2645 2488 3628 0 0 0 0 0 0

2496 -0.60 -146.0 269.1 -11.5 294 2500 0.00 2.20 0.00 0.000 4 0.000 0.057 2645 1079 3628 0 0 0 0 0 0

2581 -0.57 -146.0 278.9 -11.4 301 2586 0.15 2.28 0.00 0.000 6 0.209 0.057 2679 2496 3629 0 0 0 0 0 0

2908 -0.57 -146.0 309.5 -9.9 331 2912 0.00 2.28 0.00 0.000 4 0.000 0.071 2679 3899 3630 0 0 0 0 0 0

2986 -0.61 -146.0 317.2 -9.2 337 2993 0.00 2.15 0.00 0.000 6 0.000 0.040 2679 2487 3630 0 0 0 0 0 0

3312 -0.64 -146.0 349.5 -9.7 368 3313 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2487 3631 0 0 0 0 0 0

3631 -0.66 -146.0 379.6 -9.2 398 3636 0.00 2.17 0.00 0.000 4 0.000 0.054 2679 1087 3633 0 0 0 0 0 0

3667 -0.70 -146.0 382.9 -9.9 401 3672 0.12 2.22 0.00 0.000 6 0.125 0.054 2637 2497 3633 0 0 0 0 0 0

3992 -0.63 -146.0 421.9 -11.6 431 3996 0.00 2.28 0.00 0.000 4 0.000 0.069 2636 3906 3633 0 0 0 0 0 0

4070 -0.58 -146.0 431.0 -11.2 437 4077 0.15 2.17 0.00 0.000 6 0.200 0.039 2672 2488 3633 0 0 0 0 0 0

4395 -0.58 -146.0 459.2 -8.6 468 4399 0.00 2.20 0.00 0.000 4 0.000 0.054 2673 1079 3634 0 0 0 0 0 0

4465 -0.63 -146.0 465.0 -8.0 474 4469 0.00 2.22 0.00 0.000 6 0.000 0.052 2672 2491 3635 0 0 0 0 0 0

4792 -0.63 -146.0 491.2 -8.2 504 4796 0.00 2.28 0.00 0.000 4 0.000 0.067 2672 3904 3635 0 0 0 0 0 0

4867 -0.67 -146.0 497.8 -9.1 510 4871 0.00 2.17 0.00 0.000 6 0.000 0.038 2673 2485 3635 0 0 0 0 0 0

5198 -0.67 -146.0 526.3 -8.4 541 5202 0.00 2.17 0.00 0.000 4 0.000 0.052 2673 1079 3636 0 0 0 0 0 0

5238 -0.71 -146.0 529.8 -8.2 544 5243 0.12 2.22 0.00 0.000 6 0.124 0.051 2629 2502 3636 0 0 0 0 0 0

5562 end dive: BOTTOM_OBSTACLE_DETECTED

state 5562 begin apogee

5568 -0.12 0.0 567.5 11.4 574 5702 0.68 0.00 123.95 1.235 6 0.191 0.000 2816 2258 3030 0 0 0 0 0 0

5703 end apogee: CONTROL_FINISHED_OK

state 5703 begin climb

5705 0.62 146.0 571.3 0.0 586 5842 0.77 2.45 127.35 1.196 4 0.132 0.061 3064 886 2433 0 0 0 0 0 0

5934 0.56 146.0 550.6 11.8 606 5938 0.00 2.35 0.00 0.000 6 0.000 0.047 3064 2277 2429 0 0 0 0 0 0

6265 0.47 146.0 509.7 12.4 637 6269 0.17 2.30 0.00 0.000 4 0.187 0.062 3020 3684 2427 0 0 0 0 0 0

6332 0.44 146.0 502.0 11.4 642 6339 0.00 2.22 0.00 0.000 6 0.000 0.045 3028 2286 2426 0 0 0 0 0 0

6657 0.44 147.4 470.1 9.9 673 6661 0.00 2.25 0.00 0.000 4 0.000 0.060 3028 3693 2426 0 0 0 0 0 0

6698 0.39 147.4 465.4 12.6 676 6702 0.17 2.20 0.00 0.000 6 0.189 0.044 2995 2275 2425 0 0 0 0 0 0

7023 0.50 193.4 439.1 7.9 706 7071 0.00 2.35 40.20 1.125 4 0.000 0.062 3002 872 2240 0 0 0 0 0 0

7084 0.63 228.6 434.2 8.4 711 7124 0.17 2.28 32.30 1.099 6 0.085 0.047 3078 2282 2098 0 0 0 0 0 0

7443 0.56 228.6 380.8 15.3 745 7448 0.12 2.22 0.00 0.000 4 0.188 0.060 3047 3683 2089 0 0 0 0 0 0

7506 0.56 228.6 371.7 14.1 750 7510 0.00 2.22 0.00 0.000 6 0.000 0.044 3055 2275 2088 0 0 0 0 0 0

7833 0.53 228.6 328.7 13.7 780 7837 0.00 2.25 0.00 0.000 4 0.000 0.058 3066 858 2087 0 0 0 0 0 0

7843 0.51 228.6 326.8 13.9 780 7851 0.15 2.20 0.00 0.000 6 0.174 0.044 3027 2281 2086 0 0 0 0 0 0

8169 0.55 228.6 289.0 11.6 811 8173 0.00 2.22 0.00 0.000 4 0.000 0.060 3027 3686 2085 0 0 0 0 0 0

8209 0.58 228.6 284.1 13.0 814 8216 0.00 2.22 0.00 0.000 6 0.000 0.044 3033 2262 2085 0 0 0 0 0 0

8534 0.61 228.6 245.3 11.6 845 8538 0.00 2.17 0.00 0.000 4 0.000 0.057 3042 865 2085 0 0 0 0 0 0

8564 0.66 228.6 241.9 12.2 847 8569 0.10 2.17 0.00 0.000 6 0.121 0.045 3089 2279 2084 0 0 0 0 0 0

8890 0.59 228.6 191.2 15.6 877 8894 0.12 2.20 0.00 0.000 4 0.187 0.059 3057 3684 2084 0 0 0 0 0 0

8934 0.59 228.6 184.3 14.7 880 8941 0.00 2.20 0.00 0.000 6 0.000 0.044 3066 2272 2083 0 0 0 0 0 0

9259 0.59 228.6 138.9 14.1 911 9263 0.00 2.20 0.00 0.000 4 0.000 0.057 3077 863 2084 0 0 0 0 0 0

9269 0.57 228.6 137.3 14.2 911 9276 0.00 2.17 0.00 0.000 6 0.000 0.043 3077 2279 2083 0 0 0 0 0 0

9596 0.57 228.6 94.0 10.8 946 9603 0.00 2.20 0.00 0.000 4 0.000 0.059 3077 3680 2083 0 0 0 0 0 0

9622 0.55 228.6 91.3 11.5 950 9629 0.17 2.20 0.00 0.000 6 0.184 0.042 3041 2260 2084 0 0 0 0 0 0

9969 0.70 275.8 65.2 7.8 1011 10017 0.15 0.00 40.25 0.914 6 0.093 0.000 3108 2260 1903 0 0 0 0 0 0

10356 0.70 275.8 18.4 12.7 1079 10363 0.00 2.30 0.00 0.000 4 0.000 0.058 3108 3689 1899 0 0 0 0 0 0

10370 0.68 275.8 16.5 13.1 1081 10378 0.12 2.20 0.00 0.000 6 0.188 0.043 3087 2275 1897 0 0 0 0 0 0

10486 end climb: SURFACE_DEPTH_REACHED

state 10486 begin surface coast

10509 end surface coast: FINISH_DEPTH_REACHED

state 10509 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	499	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	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	-42904.84	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	260411,003512,6655.710,-5649.561,0,2095.5,0,-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	3.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260411,003512,6655.710,-5649.561,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	42.4,13549,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	611

FREEZE	1.33,-1.659,-1.729,2,34,0	ALTIM_TOP_PING	19.9,18.9
FINISH	1.3,1.025411	ALTIM_BOTTOM_PING	551.2,30.9
SM_CCo	10527,124.55,0.064,0,0,750,559.04	_24V_AH	22.1,65.097
SM_GC	2.43,0.00,0.00,124.55,0.000,0.000,0.064,105,2503,750,-8.62,0.37,559.04	_10V_AH	10.1,33.497
RAFOS_CLK	579	FG_AHR_24Vo	0.000
RAFOS	0,1303790466,4.033333,4.018333,69,57,57,55,54,52,208,188,135,170,146,120	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.756348,-5649.629395,260411,040444,3,139,1.12	MEM	150500
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43350,1106
TT8_MAMPS	0.026964	CAP_FILE_SIZE	134288,0
HUMID	44.36	CFSIZE	260165632,221675520
INTERNAL_PRESSURE	8.52572	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1467.2
XPDR_PINGS	0	GPS	260411,044344,6704.756,-5649.629,0,3139.3,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	325	181.97	SBE_CT	778	24	412.96
Roll_motor	108	92	221.24	SBE_O2	834	19	350.35
VBD_pump_during_apogee	364	1235	9940.02	nil	0	0	0.00
VBD_pump_during_surface	124	64	176.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	223.89	nil	0	0	0.00
Iridium_during_connect	17	160	61.42	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	18.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.56
TT8	2664	19	535.99
LPSleep	5526	2	128.94
TT8_Active	642	19	129.37
TT8_Sampling	2116	39	853.36
TT8_CF8	516	45	239.59
TT8_Kalman	0	0	0.00
Analog_circuits	1639	12	198.74
GPS_charging	0	0	0.00
Compass	1800	15	272.78
RAFOS	2520	1	38.18
Transponder	15	30	4.84

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
15	-0.62	-146.0	0.0	0.0	0	169	0.00	0.00	-148.77	0.000	2	0.000	0.000	112	2503	3335	0	0	0	0	0	0
172	-0.62	-146.0	5.0	-8.7	26	198	13.12	2.38	-6.62	0.000	4	0.325	0.093	2650	3885	3628	0	0	0	0	0	0
245	-0.53	-146.0	25.4	-17.6	38	253	0.15	2.17	0.00	0.000	6	0.200	0.045	2687	2493	3630	0	0	0	0	0	0
591	-0.50	-146.0	70.9	-12.4	99	597	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2492	3630	0	0	0	0	0	0
935	-0.48	-146.0	112.3	-11.4	151	939	0.00	2.22	0.00	0.000	4	0.000	0.062	2688	1085	3629	0	0	0	0	0	0
976	-0.48	-146.0	116.9	-10.9	154	980	0.00	2.28	0.00	0.000	6	0.000	0.063	2688	2481	3629	0	0	0	0	0	0
1301	-0.48	-146.0	155.1	-11.2	184	1305	0.00	2.38	0.00	0.000	4	0.000	0.079	2688	3909	3628	0	0	0	0	0	0
1386	-0.52	-146.0	164.0	-10.2	191	1393	0.00	2.20	0.00	0.000	6	0.000	0.045	2688	2486	3627	0	0	0	0	0	0
1714	-0.54	-146.0	195.2	-8.5	222	1718	0.00	2.22	0.00	0.000	4	0.000	0.062	2688	1079	3627	0	0	0	0	0	0
1775	-0.59	-146.0	200.5	-7.8	227	1782	0.00	2.30	0.00	0.000	6	0.000	0.060	2688	2499	3627	0	0	0	0	0	0
2103	-0.61	-146.0	226.6	-8.1	258	2107	0.00	2.33	0.00	0.000	4	0.000	0.074	2688	3908	3628	0	0	0	0	0	0
2170	-0.67	-146.0	232.3	-7.9	263	2178	0.12	2.17	0.00	0.000	6	0.122	0.042	2645	2488	3628	0	0	0	0	0	0
2496	-0.60	-146.0	269.1	-11.5	294	2500	0.00	2.20	0.00	0.000	4	0.000	0.057	2645	1079	3628	0	0	0	0	0	0
2581	-0.57	-146.0	278.9	-11.4	301	2586	0.15	2.28	0.00	0.000	6	0.209	0.057	2679	2496	3629	0	0	0	0	0	0
2908	-0.57	-146.0	309.5	-9.9	331	2912	0.00	2.28	0.00	0.000	4	0.000	0.071	2679	3899	3630	0	0	0	0	0	0
2986	-0.61	-146.0	317.2	-9.2	337	2993	0.00	2.15	0.00	0.000	6	0.000	0.040	2679	2487	3630	0	0	0	0	0	0
3312	-0.64	-146.0	349.5	-9.7	368	3313	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2487	3631	0	0	0	0	0	0
3631	-0.66	-146.0	379.6	-9.2	398	3636	0.00	2.17	0.00	0.000	4	0.000	0.054	2679	1087	3633	0	0	0	0	0	0
3667	-0.70	-146.0	382.9	-9.9	401	3672	0.12	2.22	0.00	0.000	6	0.125	0.054	2637	2497	3633	0	0	0	0	0	0
3992	-0.63	-146.0	421.9	-11.6	431	3996	0.00	2.28	0.00	0.000	4	0.000	0.069	2636	3906	3633	0	0	0	0	0	0
4070	-0.58	-146.0	431.0	-11.2	437	4077	0.15	2.17	0.00	0.000	6	0.200	0.039	2672	2488	3633	0	0	0	0	0	0
4395	-0.58	-146.0	459.2	-8.6	468	4399	0.00	2.20	0.00	0.000	4	0.000	0.054	2673	1079	3634	0	0	0	0	0	0
4465	-0.63	-146.0	465.0	-8.0	474	4469	0.00	2.22	0.00	0.000	6	0.000	0.052	2672	2491	3635	0	0	0	0	0	0
4792	-0.63	-146.0	491.2	-8.2	504	4796	0.00	2.28	0.00	0.000	4	0.000	0.067	2672	3904	3635	0	0	0	0	0	0
4867	-0.67	-146.0	497.8	-9.1	510	4871	0.00	2.17	0.00	0.000	6	0.000	0.038	2673	2485	3635	0	0	0	0	0	0
5198	-0.67	-146.0	526.3	-8.4	541	5202	0.00	2.17	0.00	0.000	4	0.000	0.052	2673	1079	3636	0	0	0	0	0	0
5238	-0.71	-146.0	529.8	-8.2	544	5243	0.12	2.22	0.00	0.000	6	0.124	0.051	2629	2502	3636	0	0	0	0	0	0
5562	end dive: BOTTOM_OBSTACLE_DETECTED
state	5562	begin apogee
5568	-0.12	0.0	567.5	11.4	574	5702	0.68	0.00	123.95	1.235	6	0.191	0.000	2816	2258	3030	0	0	0	0	0	0
5703	end apogee: CONTROL_FINISHED_OK
state	5703	begin climb
5705	0.62	146.0	571.3	0.0	586	5842	0.77	2.45	127.35	1.196	4	0.132	0.061	3064	886	2433	0	0	0	0	0	0
5934	0.56	146.0	550.6	11.8	606	5938	0.00	2.35	0.00	0.000	6	0.000	0.047	3064	2277	2429	0	0	0	0	0	0
6265	0.47	146.0	509.7	12.4	637	6269	0.17	2.30	0.00	0.000	4	0.187	0.062	3020	3684	2427	0	0	0	0	0	0
6332	0.44	146.0	502.0	11.4	642	6339	0.00	2.22	0.00	0.000	6	0.000	0.045	3028	2286	2426	0	0	0	0	0	0
6657	0.44	147.4	470.1	9.9	673	6661	0.00	2.25	0.00	0.000	4	0.000	0.060	3028	3693	2426	0	0	0	0	0	0
6698	0.39	147.4	465.4	12.6	676	6702	0.17	2.20	0.00	0.000	6	0.189	0.044	2995	2275	2425	0	0	0	0	0	0
7023	0.50	193.4	439.1	7.9	706	7071	0.00	2.35	40.20	1.125	4	0.000	0.062	3002	872	2240	0	0	0	0	0	0
7084	0.63	228.6	434.2	8.4	711	7124	0.17	2.28	32.30	1.099	6	0.085	0.047	3078	2282	2098	0	0	0	0	0	0
7443	0.56	228.6	380.8	15.3	745	7448	0.12	2.22	0.00	0.000	4	0.188	0.060	3047	3683	2089	0	0	0	0	0	0
7506	0.56	228.6	371.7	14.1	750	7510	0.00	2.22	0.00	0.000	6	0.000	0.044	3055	2275	2088	0	0	0	0	0	0
7833	0.53	228.6	328.7	13.7	780	7837	0.00	2.25	0.00	0.000	4	0.000	0.058	3066	858	2087	0	0	0	0	0	0
7843	0.51	228.6	326.8	13.9	780	7851	0.15	2.20	0.00	0.000	6	0.174	0.044	3027	2281	2086	0	0	0	0	0	0
8169	0.55	228.6	289.0	11.6	811	8173	0.00	2.22	0.00	0.000	4	0.000	0.060	3027	3686	2085	0	0	0	0	0	0
8209	0.58	228.6	284.1	13.0	814	8216	0.00	2.22	0.00	0.000	6	0.000	0.044	3033	2262	2085	0	0	0	0	0	0
8534	0.61	228.6	245.3	11.6	845	8538	0.00	2.17	0.00	0.000	4	0.000	0.057	3042	865	2085	0	0	0	0	0	0
8564	0.66	228.6	241.9	12.2	847	8569	0.10	2.17	0.00	0.000	6	0.121	0.045	3089	2279	2084	0	0	0	0	0	0
8890	0.59	228.6	191.2	15.6	877	8894	0.12	2.20	0.00	0.000	4	0.187	0.059	3057	3684	2084	0	0	0	0	0	0
8934	0.59	228.6	184.3	14.7	880	8941	0.00	2.20	0.00	0.000	6	0.000	0.044	3066	2272	2083	0	0	0	0	0	0
9259	0.59	228.6	138.9	14.1	911	9263	0.00	2.20	0.00	0.000	4	0.000	0.057	3077	863	2084	0	0	0	0	0	0
9269	0.57	228.6	137.3	14.2	911	9276	0.00	2.17	0.00	0.000	6	0.000	0.043	3077	2279	2083	0	0	0	0	0	0
9596	0.57	228.6	94.0	10.8	946	9603	0.00	2.20	0.00	0.000	4	0.000	0.059	3077	3680	2083	0	0	0	0	0	0
9622	0.55	228.6	91.3	11.5	950	9629	0.17	2.20	0.00	0.000	6	0.184	0.042	3041	2260	2084	0	0	0	0	0	0
9969	0.70	275.8	65.2	7.8	1011	10017	0.15	0.00	40.25	0.914	6	0.093	0.000	3108	2260	1903	0	0	0	0	0	0
10356	0.70	275.8	18.4	12.7	1079	10363	0.00	2.30	0.00	0.000	4	0.000	0.058	3108	3689	1899	0	0	0	0	0	0
10370	0.68	275.8	16.5	13.1	1081	10378	0.12	2.20	0.00	0.000	6	0.188	0.043	3087	2275	1897	0	0	0	0	0	0
10486	end climb: SURFACE_DEPTH_REACHED
state	10486	begin surface coast
10509	end surface coast: FINISH_DEPTH_REACHED
state	10509	begin surface