Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 55 * 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 55 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 9 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 -22775.168 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 100 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 9 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 -22775.168

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 26 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 55 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 280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0 TGT_NAME TARGET_W

_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 9.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0 MHEAD_RNG_PITCHd_Wd 238.3,20574,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 602

Post-dive calculations and measurements:

FREEZE 8.62,-1.738,-1.770,3,32,0 ALTIM_BOTTOM_PING 550.3,36.0

FINISH1 8.6,1.025913,78 _24V_AH 23.1,11.064

FINISH2 6.9 _10V_AH 10.3,5.380

RAFOS_CLK 601 FG_AHR_24Vo 0.000

RAFOS 0,1298908867,16.033333,16.018612,144,66,65,59,57,54,605,200,177,222,164,116 FG_AHR_10Vo 0.000

RAFOS_FIX 6652.792969,-6017.644531,280211,161602,3,123,0.23 MEM 150732

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43404,1129

TT8_MAMPS 0.026215 CAP_FILE_SIZE 118926,0

HUMID 46.57 CFSIZE 260165632,248262656

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

TCM_TEMP 16.10 SOUNDSPEED 1452.6

XPDR_PINGS 0 GPS 280211,162202,6652.793,-6017.645,0,3122.7,0,-38.0

ALTIM_TOP_PING 19.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 239 27.66 SBE_CT 806 24 447.00

Roll_motor 76 84 150.45 SBE_O2 871 19 382.42

VBD_pump_during_apogee 407 1285 12112.54 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 19.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2658 19 545.54

LPSleep 5923 2 140.93

TT8_Active 455 19 93.47

TT8_Sampling 1757 39 722.57

TT8_CF8 160 45 76.05

TT8_Kalman 0 0 0.00

Analog_circuits 1394 12 172.37

GPS_charging 0 0 0.00

Compass 1754 15 271.05

RAFOS 2520 1 38.93

Transponder 16 30 5.00

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 -7.05 0.000 2 0.000 0.000 2899 2270 2975 0 0 0 0 0 0

27 -0.62 -146.0 10.8 -0.0 1 52 0.65 2.70 -17.42 0.000 4 0.090 0.085 2664 3902 3627 0 0 0 0 0 0

104 -0.49 -146.0 21.5 -17.7 14 112 0.15 2.25 0.00 0.000 6 0.233 0.050 2697 2489 3629 0 0 0 0 0 0

450 -0.39 -146.0 84.7 -15.1 75 457 0.15 2.30 0.00 0.000 4 0.239 0.068 2732 1076 3629 0 0 0 0 0 0

492 -0.39 -146.0 90.5 -12.4 82 499 0.00 2.30 0.00 0.000 6 0.000 0.060 2732 2500 3628 0 0 0 0 0 0

829 -0.41 -146.0 126.4 -11.7 121 833 0.00 2.28 0.00 0.000 4 0.000 0.078 2732 3899 3628 0 0 0 0 0 0

840 -0.44 -146.0 127.8 -11.9 121 847 0.00 2.22 0.00 0.000 6 0.000 0.046 2732 2472 3628 0 0 0 0 0 0

1165 -0.49 -146.0 163.1 -9.1 152 1169 0.00 2.22 0.00 0.000 4 0.000 0.068 2732 1083 3627 0 0 0 0 0 0

1217 -0.57 -146.0 167.5 -8.5 156 1222 0.17 2.28 0.00 0.000 6 0.117 0.061 2672 2501 3628 0 0 0 0 0 0

1548 -0.49 -146.0 210.5 -13.5 187 1550 0.12 0.00 0.00 0.000 6 0.233 0.000 2699 2501 3627 0 0 0 0 0 0

1866 -0.49 -146.0 246.1 -11.2 217 1867 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2501 3627 0 0 0 0 0 0

2186 -0.49 -146.0 280.4 -10.1 247 2187 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2501 3627 0 0 0 0 0 0

2505 -0.49 -146.0 311.8 -9.0 277 2506 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2502 3626 0 0 0 0 0 0

2824 -0.49 -146.0 341.1 -9.4 307 2825 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2502 3626 0 0 0 0 0 0

3142 -0.51 -146.0 370.6 -8.9 337 3146 0.00 2.22 0.00 0.000 4 0.000 0.064 2700 1087 3626 0 0 0 0 0 0

3175 -0.54 -146.0 373.8 -8.9 339 3181 0.00 2.25 0.00 0.000 6 0.000 0.060 2700 2499 3627 0 0 0 0 0 0

3503 -0.57 -146.0 400.1 -7.8 370 3509 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2499 3627 0 0 0 0 0 0

3830 -0.60 -146.0 428.1 -9.1 401 3831 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2499 3627 0 0 0 0 0 0

4148 -0.62 -146.0 458.7 -10.0 431 4150 0.12 0.00 0.00 0.000 6 0.135 0.000 2659 2500 3627 0 0 0 0 0 0

4466 -0.55 -146.0 498.5 -12.7 461 4470 0.00 2.25 0.00 0.000 4 0.000 0.077 2659 3905 3627 0 0 0 0 0 0

4488 -0.48 -146.0 501.3 -11.7 462 4495 0.17 2.20 0.00 0.000 6 0.207 0.047 2702 2483 3628 0 0 0 0 0 0

4813 -0.53 -146.0 529.4 -8.4 493 4815 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2483 3627 0 0 0 0 0 0

5132 -0.57 -146.0 556.7 -8.5 523 5133 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2483 3628 0 0 0 0 0 0

5310 end dive: BOTTOM_OBSTACLE_DETECTED

state 5310 begin apogee

5316 -0.12 0.0 571.9 8.9 540 5446 0.38 0.00 121.18 1.286 6 0.184 0.000 2816 2260 3029 0 0 0 0 0 0

5447 end apogee: CONTROL_FINISHED_OK

state 5447 begin climb

5449 0.62 146.0 576.9 0.0 552 5581 0.77 2.45 123.97 1.233 4 0.143 0.071 3060 877 2432 0 0 0 0 0 0

5628 0.54 146.0 564.2 11.2 568 5632 0.00 2.40 0.00 0.000 6 0.000 0.057 3060 2272 2428 0 0 0 0 0 0

5959 0.45 146.0 522.6 12.6 599 5963 0.20 2.40 0.00 0.000 4 0.181 0.069 3008 3694 2424 0 0 0 0 0 0

6055 0.40 146.0 511.9 11.2 607 6059 0.00 2.30 0.00 0.000 6 0.000 0.053 3016 2283 2423 0 0 0 0 0 0

6385 0.42 164.3 480.5 9.2 638 6405 0.00 0.00 15.35 1.115 6 0.000 0.000 3017 2283 2359 0 0 0 0 0 0

6724 0.45 185.5 449.4 9.0 670 6749 0.00 2.42 19.45 1.127 4 0.000 0.067 3016 3694 2273 0 0 0 0 0 0

6806 0.42 185.5 440.7 11.5 677 6813 0.00 2.33 0.00 0.000 6 0.000 0.050 3027 2270 2271 0 0 0 0 0 0

7131 0.42 186.8 408.1 9.9 708 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2270 2269 0 0 0 0 0 0

7452 0.44 202.1 377.7 9.3 738 7475 0.00 2.38 15.25 1.086 4 0.000 0.066 3027 3692 2206 0 0 0 0 0 0

7532 0.41 202.1 368.9 11.7 745 7537 0.15 2.30 0.00 0.000 6 0.189 0.052 3001 2271 2204 0 0 0 0 0 0

7858 0.50 220.5 340.0 9.2 775 7881 0.00 2.38 17.40 1.082 4 0.000 0.068 3001 870 2131 0 0 0 0 0 0

7920 0.65 238.7 334.0 9.2 780 7949 0.20 2.30 17.92 1.073 6 0.096 0.052 3077 2284 2056 0 0 0 0 0 0

8266 0.58 238.7 281.4 14.7 813 8270 0.00 2.30 0.00 0.000 4 0.000 0.068 3077 3693 2051 0 0 0 0 0 0

8334 0.50 238.7 270.9 16.5 819 8339 0.22 2.30 0.00 0.000 6 0.184 0.054 3029 2269 2050 0 0 0 0 0 0

8659 0.55 238.7 239.0 10.4 849 8661 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2269 2050 0 0 0 0 0 0

8981 0.63 256.4 207.0 9.2 879 9005 0.12 2.33 16.02 1.004 4 0.115 0.065 3079 3691 1983 0 0 0 0 0 0

9033 0.57 256.4 200.1 14.1 883 9040 0.15 2.28 0.00 0.000 6 0.190 0.051 3051 2275 1982 0 0 0 0 0 0

9359 0.61 256.4 164.7 11.1 914 9364 0.00 2.28 0.00 0.000 4 0.000 0.067 3055 868 1980 0 0 0 0 0 0

9388 0.69 256.4 161.6 10.9 916 9392 0.00 2.25 0.00 0.000 6 0.000 0.051 3055 2288 1979 0 0 0 0 0 0

9718 0.75 266.0 128.4 9.6 947 9734 0.15 2.30 9.60 0.913 4 0.103 0.069 3114 3685 1944 0 0 0 0 0 0

9767 0.65 266.0 121.7 15.3 951 9775 0.20 2.28 0.00 0.000 6 0.201 0.052 3073 2264 1944 0 0 0 0 0 0

10099 0.77 322.1 91.6 7.4 991 10157 0.12 0.00 51.60 0.999 6 0.114 0.000 3123 2265 1715 0 0 0 0 0 0

10494 0.77 322.1 45.7 12.8 1061 10500 0.00 2.35 0.00 0.000 4 0.000 0.066 3123 3688 1706 0 0 0 0 0 0

10552 0.73 322.1 37.5 14.3 1071 10560 0.12 2.30 0.00 0.000 6 0.207 0.054 3103 2266 1705 0 0 0 0 0 0

10835 end climb: FINISH_DEPTH_REACHED

state 10835 begin subsurface finish

10841 0.10 77.8 8.6 -11.0 1121 10889 0.65 2.30 -38.33 0.000 4 0.162 0.081 2903 856 2715 0 0 0 0 0 0

10890 end subsurface finish: CONTROL_FINISHED_OK

state 10890 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	55	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	9	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	-22775.168	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	280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0	TGT_NAME	TARGET_W
_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	9.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0	MHEAD_RNG_PITCHd_Wd	238.3,20574,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	602

FREEZE	8.62,-1.738,-1.770,3,32,0	ALTIM_BOTTOM_PING	550.3,36.0
FINISH1	8.6,1.025913,78	_24V_AH	23.1,11.064
FINISH2	6.9	_10V_AH	10.3,5.380
RAFOS_CLK	601	FG_AHR_24Vo	0.000
RAFOS	0,1298908867,16.033333,16.018612,144,66,65,59,57,54,605,200,177,222,164,116	FG_AHR_10Vo	0.000
RAFOS_FIX	6652.792969,-6017.644531,280211,161602,3,123,0.23	MEM	150732
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43404,1129
TT8_MAMPS	0.026215	CAP_FILE_SIZE	118926,0
HUMID	46.57	CFSIZE	260165632,248262656
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.6
XPDR_PINGS	0	GPS	280211,162202,6652.793,-6017.645,0,3122.7,0,-38.0
ALTIM_TOP_PING	19.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	239	27.66	SBE_CT	806	24	447.00
Roll_motor	76	84	150.45	SBE_O2	871	19	382.42
VBD_pump_during_apogee	407	1285	12112.54	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	19.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2658	19	545.54
LPSleep	5923	2	140.93
TT8_Active	455	19	93.47
TT8_Sampling	1757	39	722.57
TT8_CF8	160	45	76.05
TT8_Kalman	0	0	0.00
Analog_circuits	1394	12	172.37
GPS_charging	0	0	0.00
Compass	1754	15	271.05
RAFOS	2520	1	38.93
Transponder	16	30	5.00

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	-7.05	0.000	2	0.000	0.000	2899	2270	2975	0	0	0	0	0	0
27	-0.62	-146.0	10.8	-0.0	1	52	0.65	2.70	-17.42	0.000	4	0.090	0.085	2664	3902	3627	0	0	0	0	0	0
104	-0.49	-146.0	21.5	-17.7	14	112	0.15	2.25	0.00	0.000	6	0.233	0.050	2697	2489	3629	0	0	0	0	0	0
450	-0.39	-146.0	84.7	-15.1	75	457	0.15	2.30	0.00	0.000	4	0.239	0.068	2732	1076	3629	0	0	0	0	0	0
492	-0.39	-146.0	90.5	-12.4	82	499	0.00	2.30	0.00	0.000	6	0.000	0.060	2732	2500	3628	0	0	0	0	0	0
829	-0.41	-146.0	126.4	-11.7	121	833	0.00	2.28	0.00	0.000	4	0.000	0.078	2732	3899	3628	0	0	0	0	0	0
840	-0.44	-146.0	127.8	-11.9	121	847	0.00	2.22	0.00	0.000	6	0.000	0.046	2732	2472	3628	0	0	0	0	0	0
1165	-0.49	-146.0	163.1	-9.1	152	1169	0.00	2.22	0.00	0.000	4	0.000	0.068	2732	1083	3627	0	0	0	0	0	0
1217	-0.57	-146.0	167.5	-8.5	156	1222	0.17	2.28	0.00	0.000	6	0.117	0.061	2672	2501	3628	0	0	0	0	0	0
1548	-0.49	-146.0	210.5	-13.5	187	1550	0.12	0.00	0.00	0.000	6	0.233	0.000	2699	2501	3627	0	0	0	0	0	0
1866	-0.49	-146.0	246.1	-11.2	217	1867	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2501	3627	0	0	0	0	0	0
2186	-0.49	-146.0	280.4	-10.1	247	2187	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2501	3627	0	0	0	0	0	0
2505	-0.49	-146.0	311.8	-9.0	277	2506	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2502	3626	0	0	0	0	0	0
2824	-0.49	-146.0	341.1	-9.4	307	2825	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2502	3626	0	0	0	0	0	0
3142	-0.51	-146.0	370.6	-8.9	337	3146	0.00	2.22	0.00	0.000	4	0.000	0.064	2700	1087	3626	0	0	0	0	0	0
3175	-0.54	-146.0	373.8	-8.9	339	3181	0.00	2.25	0.00	0.000	6	0.000	0.060	2700	2499	3627	0	0	0	0	0	0
3503	-0.57	-146.0	400.1	-7.8	370	3509	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2499	3627	0	0	0	0	0	0
3830	-0.60	-146.0	428.1	-9.1	401	3831	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2499	3627	0	0	0	0	0	0
4148	-0.62	-146.0	458.7	-10.0	431	4150	0.12	0.00	0.00	0.000	6	0.135	0.000	2659	2500	3627	0	0	0	0	0	0
4466	-0.55	-146.0	498.5	-12.7	461	4470	0.00	2.25	0.00	0.000	4	0.000	0.077	2659	3905	3627	0	0	0	0	0	0
4488	-0.48	-146.0	501.3	-11.7	462	4495	0.17	2.20	0.00	0.000	6	0.207	0.047	2702	2483	3628	0	0	0	0	0	0
4813	-0.53	-146.0	529.4	-8.4	493	4815	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2483	3627	0	0	0	0	0	0
5132	-0.57	-146.0	556.7	-8.5	523	5133	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2483	3628	0	0	0	0	0	0
5310	end dive: BOTTOM_OBSTACLE_DETECTED
state	5310	begin apogee
5316	-0.12	0.0	571.9	8.9	540	5446	0.38	0.00	121.18	1.286	6	0.184	0.000	2816	2260	3029	0	0	0	0	0	0
5447	end apogee: CONTROL_FINISHED_OK
state	5447	begin climb
5449	0.62	146.0	576.9	0.0	552	5581	0.77	2.45	123.97	1.233	4	0.143	0.071	3060	877	2432	0	0	0	0	0	0
5628	0.54	146.0	564.2	11.2	568	5632	0.00	2.40	0.00	0.000	6	0.000	0.057	3060	2272	2428	0	0	0	0	0	0
5959	0.45	146.0	522.6	12.6	599	5963	0.20	2.40	0.00	0.000	4	0.181	0.069	3008	3694	2424	0	0	0	0	0	0
6055	0.40	146.0	511.9	11.2	607	6059	0.00	2.30	0.00	0.000	6	0.000	0.053	3016	2283	2423	0	0	0	0	0	0
6385	0.42	164.3	480.5	9.2	638	6405	0.00	0.00	15.35	1.115	6	0.000	0.000	3017	2283	2359	0	0	0	0	0	0
6724	0.45	185.5	449.4	9.0	670	6749	0.00	2.42	19.45	1.127	4	0.000	0.067	3016	3694	2273	0	0	0	0	0	0
6806	0.42	185.5	440.7	11.5	677	6813	0.00	2.33	0.00	0.000	6	0.000	0.050	3027	2270	2271	0	0	0	0	0	0
7131	0.42	186.8	408.1	9.9	708	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2270	2269	0	0	0	0	0	0
7452	0.44	202.1	377.7	9.3	738	7475	0.00	2.38	15.25	1.086	4	0.000	0.066	3027	3692	2206	0	0	0	0	0	0
7532	0.41	202.1	368.9	11.7	745	7537	0.15	2.30	0.00	0.000	6	0.189	0.052	3001	2271	2204	0	0	0	0	0	0
7858	0.50	220.5	340.0	9.2	775	7881	0.00	2.38	17.40	1.082	4	0.000	0.068	3001	870	2131	0	0	0	0	0	0
7920	0.65	238.7	334.0	9.2	780	7949	0.20	2.30	17.92	1.073	6	0.096	0.052	3077	2284	2056	0	0	0	0	0	0
8266	0.58	238.7	281.4	14.7	813	8270	0.00	2.30	0.00	0.000	4	0.000	0.068	3077	3693	2051	0	0	0	0	0	0
8334	0.50	238.7	270.9	16.5	819	8339	0.22	2.30	0.00	0.000	6	0.184	0.054	3029	2269	2050	0	0	0	0	0	0
8659	0.55	238.7	239.0	10.4	849	8661	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2269	2050	0	0	0	0	0	0
8981	0.63	256.4	207.0	9.2	879	9005	0.12	2.33	16.02	1.004	4	0.115	0.065	3079	3691	1983	0	0	0	0	0	0
9033	0.57	256.4	200.1	14.1	883	9040	0.15	2.28	0.00	0.000	6	0.190	0.051	3051	2275	1982	0	0	0	0	0	0
9359	0.61	256.4	164.7	11.1	914	9364	0.00	2.28	0.00	0.000	4	0.000	0.067	3055	868	1980	0	0	0	0	0	0
9388	0.69	256.4	161.6	10.9	916	9392	0.00	2.25	0.00	0.000	6	0.000	0.051	3055	2288	1979	0	0	0	0	0	0
9718	0.75	266.0	128.4	9.6	947	9734	0.15	2.30	9.60	0.913	4	0.103	0.069	3114	3685	1944	0	0	0	0	0	0
9767	0.65	266.0	121.7	15.3	951	9775	0.20	2.28	0.00	0.000	6	0.201	0.052	3073	2264	1944	0	0	0	0	0	0
10099	0.77	322.1	91.6	7.4	991	10157	0.12	0.00	51.60	0.999	6	0.114	0.000	3123	2265	1715	0	0	0	0	0	0
10494	0.77	322.1	45.7	12.8	1061	10500	0.00	2.35	0.00	0.000	4	0.000	0.066	3123	3688	1706	0	0	0	0	0	0
10552	0.73	322.1	37.5	14.3	1071	10560	0.12	2.30	0.00	0.000	6	0.207	0.054	3103	2266	1705	0	0	0	0	0	0
10835	end climb: FINISH_DEPTH_REACHED
state	10835	begin subsurface finish
10841	0.10	77.8	8.6	-11.0	1121	10889	0.65	2.30	-38.33	0.000	4	0.162	0.081	2903	856	2715	0	0	0	0	0	0
10890	end subsurface finish: CONTROL_FINISHED_OK
state	10890	begin surface