Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 632 * 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 632 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 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -48258.941 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 -48258.941

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 28 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 28 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 632 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 160511,004600,6704.509,-5652.200,36,1.3,36,-37.6 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160511,010526,6704.598,-5652.468,12,1.2,12,-37.6 MHEAD_RNG_PITCHd_Wd 170.1,4378,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 491

Post-dive calculations and measurements:

FREEZE 6.47,-1.636,-1.830,2,1,0 ALTIM_BOTTOM_PING 450.1,53.3

FINISH1 6.5,1.026798,34 _24V_AH 22.1,83.232

FINISH2 4.4 _10V_AH 10.0,42.908

RAFOS_CLK 436 FG_AHR_24Vo 0.000

RAFOS 5,1305506462,0.700000,0.683889,63,61,56,56,55,55,211,153,199,221,182,139 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.376953,-5656.416504,160511,000012,2,102,0.62 MEM 150396

IRIDIUM_FIX 6631.12,-5653.72,150511,222226 DATA_FILE_SIZE 40058,1001

TT8_MAMPS 0.026215 CAP_FILE_SIZE 121856,0

HUMID 45.70 CFSIZE 260165632,212758528

INTERNAL_PRESSURE 8.74057 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1465.6

XPDR_PINGS 31 GPS 160511,010526,6704.598,-5652.468,12,1.2,12,-37.6

ALTIM_TOP_PING 19.5,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 321 120.53 SBE_CT 706 24 374.51

Roll_motor 84 130 244.15 SBE_O2 753 19 316.39

VBD_pump_during_apogee 377 1188 9905.65 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 57 103 131.59 nil 0 0 0.00

Iridium_during_connect 57 160 203.08 nil 0 0 0.00

Iridium_during_xfer 591 223 2914.28 nil 0 0 0.00

Transponder_ping 9 420 85.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.16

TT8 2375 19 473.29

LPSleep 4856 2 112.19

TT8_Active 534 19 106.43

TT8_Sampling 2245 39 896.27

TT8_CF8 590 45 271.37

TT8_Kalman 0 0 0.00

Analog_circuits 1414 12 169.79

GPS_charging 0 0 0.00

Compass 1590 15 238.52

RAFOS 0 0 0.00

Transponder 12 30 3.74

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 0 145 0.00 0.00 -126.50 0.000 2 0.000 0.000 105 2500 3313 0 0 0 0 0 0

151 -0.62 -146.0 5.1 -6.3 22 177 13.18 2.40 -7.07 0.000 4 0.321 0.092 2653 3895 3630 0 0 0 0 0 0

255 -0.55 -146.0 30.2 -16.2 39 263 0.12 2.22 0.00 0.000 6 0.197 0.053 2684 2492 3632 0 0 0 0 0 0

602 -0.50 -146.0 80.5 -13.4 100 608 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2492 3632 0 0 0 0 0 0

937 -0.48 -146.0 121.6 -11.4 144 941 0.00 2.28 0.00 0.000 4 0.000 0.070 2684 1080 3630 0 0 0 0 0 0

977 -0.48 -146.0 126.2 -11.6 147 981 0.00 2.30 0.00 0.000 6 0.000 0.067 2684 2489 3630 0 0 0 0 0 0

1302 -0.48 -146.0 162.1 -10.8 177 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2489 3629 0 0 0 0 0 0

1624 -0.48 -146.0 197.3 -11.0 207 1628 0.00 2.35 0.00 0.000 4 0.000 0.080 2684 3907 3629 0 0 0 0 0 0

1656 -0.50 -146.0 200.7 -10.8 209 1660 0.00 2.25 0.00 0.000 6 0.000 0.051 2684 2484 3628 0 0 0 0 0 0

1981 -0.50 -146.0 235.0 -10.4 239 1982 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2483 3629 0 0 0 0 0 0

2303 -0.52 -146.0 265.8 -9.0 269 2307 0.00 2.25 0.00 0.000 4 0.000 0.067 2684 1078 3630 0 0 0 0 0 0

2314 -0.52 -146.0 267.2 -8.9 269 2321 0.00 2.30 0.00 0.000 6 0.000 0.064 2684 2496 3630 0 0 0 0 0 0

2640 -0.54 -146.0 294.8 -8.1 300 2642 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2496 3631 0 0 0 0 0 0

2962 -0.57 -146.0 319.7 -8.1 330 2966 0.00 2.33 0.00 0.000 4 0.000 0.076 2684 3906 3632 0 0 0 0 0 0

2973 -0.60 -146.0 321.0 -8.2 330 2980 0.00 2.25 0.00 0.000 6 0.000 0.045 2684 2474 3632 0 0 0 0 0 0

3299 -0.63 -146.0 348.2 -8.5 361 3303 0.00 2.20 0.00 0.000 4 0.000 0.063 2684 1086 3633 0 0 0 0 0 0

3312 -0.66 -146.0 349.3 -8.1 362 3320 0.12 2.28 0.00 0.000 6 0.124 0.061 2642 2499 3632 0 0 0 0 0 0

3646 -0.59 -146.0 388.7 -12.0 393 3648 0.12 0.00 0.00 0.000 6 0.205 0.000 2671 2499 3633 0 0 0 0 0 0

3965 -0.59 -146.0 419.5 -9.4 423 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2499 3634 0 0 0 0 0 0

4286 -0.59 -146.0 449.3 -9.3 453 4295 0.00 2.33 0.00 0.000 4 0.000 0.074 2671 3909 3635 0 0 0 0 0 0

4330 -0.63 -146.0 453.7 -10.0 456 4337 0.00 2.20 0.00 0.000 6 0.000 0.046 2671 2492 3635 0 0 0 0 0 0

4655 -0.63 -146.0 485.7 -11.0 487 4659 0.00 2.30 0.00 0.000 4 0.000 0.071 2671 3900 3636 0 0 0 0 0 0

4673 -0.63 -146.0 487.5 -10.9 488 4677 0.00 2.20 0.00 0.000 6 0.000 0.045 2671 2479 3635 0 0 0 0 0 0

4688 end dive: BOTTOM_OBSTACLE_DETECTED

state 4688 begin apogee

4695 -0.12 0.0 489.6 11.2 489 4828 0.47 0.05 124.62 1.188 6 0.175 0.131 2812 2291 3030 0 0 0 0 0 0

4829 end apogee: CONTROL_FINISHED_OK

state 4829 begin climb

4833 0.62 146.0 494.8 0.0 501 4966 0.80 0.00 127.90 1.147 6 0.135 0.000 3055 2291 2434 0 0 0 0 0 0

5285 0.55 146.0 449.7 11.2 544 5289 0.00 2.28 0.00 0.000 4 0.000 0.070 3054 3674 2429 0 0 0 0 0 0

5387 0.46 146.0 436.8 12.6 553 5392 0.20 2.22 0.00 0.000 6 0.183 0.053 3014 2287 2428 0 0 0 0 0 0

5713 0.53 179.9 409.2 8.4 583 5748 0.00 2.33 29.30 1.076 4 0.000 0.067 3022 870 2295 0 0 0 0 0 0

5802 0.61 188.4 401.2 9.6 590 5821 0.10 2.25 8.45 0.932 6 0.119 0.056 3071 2271 2262 0 0 0 0 0 0

6139 0.53 188.4 354.8 14.5 622 6143 0.12 2.30 0.00 0.000 4 0.184 0.068 3039 3691 2260 0 0 0 0 0 0

6264 0.50 188.4 338.1 14.2 632 6271 0.00 2.22 0.00 0.000 6 0.000 0.051 3047 2276 2259 0 0 0 0 0 0

6589 0.50 188.4 298.7 11.8 663 6594 0.00 2.25 0.00 0.000 4 0.000 0.067 3058 869 2259 0 0 0 0 0 0

6646 0.50 188.4 292.5 10.3 668 6651 0.12 2.22 0.00 0.000 6 0.177 0.054 3027 2283 2258 0 0 0 0 0 0

6972 0.58 220.1 263.3 8.5 698 7007 0.00 2.35 28.55 1.015 4 0.000 0.067 3027 3687 2131 0 0 0 0 0 0

7094 0.61 220.1 251.2 10.8 708 7100 0.00 2.25 0.00 0.000 6 0.000 0.051 3034 2276 2131 0 0 0 0 0 0

7419 0.64 220.1 218.8 10.3 739 7424 0.10 2.28 0.00 0.000 4 0.118 0.066 3095 860 2128 0 0 0 0 0 0

7483 0.61 220.1 210.3 14.6 744 7488 0.12 2.22 0.00 0.000 6 0.183 0.054 3064 2277 2127 0 0 0 0 0 0

7809 0.59 220.1 168.8 11.6 774 7813 0.00 2.25 0.00 0.000 4 0.000 0.067 3064 3692 2126 0 0 0 0 0 0

7906 0.55 220.1 156.5 13.5 782 7910 0.00 2.22 0.00 0.000 6 0.000 0.050 3073 2276 2126 0 0 0 0 0 0

8237 0.55 220.1 117.6 10.8 813 8241 0.00 2.30 0.00 0.000 4 0.000 0.065 3083 857 2126 0 0 0 0 0 0

8335 0.55 220.1 107.9 10.1 821 8340 0.15 2.25 0.00 0.000 6 0.170 0.054 3044 2286 2126 0 0 0 0 0 0

8674 0.69 267.7 82.7 7.8 872 8723 0.12 2.35 42.17 0.923 4 0.099 0.067 3101 3683 1937 0 0 0 0 0 0

8793 0.66 267.7 68.6 13.2 892 8800 0.12 2.25 0.00 0.000 6 0.187 0.051 3081 2268 1935 0 0 0 0 0 0

9142 0.73 282.1 35.2 9.3 953 9161 0.00 2.33 10.38 0.903 4 0.000 0.070 3086 867 1878 0 0 0 0 0 0

9209 0.84 293.2 28.9 9.5 964 9223 0.12 2.22 5.90 0.777 6 0.106 0.054 3140 2274 1834 0 0 0 0 0 0

9368 end climb: SURFACE_OBSTACLE_DETECTED

state 9368 begin subsurface finish

9376 0.04 34.4 6.5 -14.5 992 9432 0.85 2.30 -46.75 0.000 4 0.169 0.084 2887 3683 2890 0 0 0 0 0 0

9432 end subsurface finish: CONTROL_FINISHED_OK

state 9432 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	632	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	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-48258.941	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	160511,004600,6704.509,-5652.200,36,1.3,36,-37.6	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160511,010526,6704.598,-5652.468,12,1.2,12,-37.6	MHEAD_RNG_PITCHd_Wd	170.1,4378,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	491

FREEZE	6.47,-1.636,-1.830,2,1,0	ALTIM_BOTTOM_PING	450.1,53.3
FINISH1	6.5,1.026798,34	_24V_AH	22.1,83.232
FINISH2	4.4	_10V_AH	10.0,42.908
RAFOS_CLK	436	FG_AHR_24Vo	0.000
RAFOS	5,1305506462,0.700000,0.683889,63,61,56,56,55,55,211,153,199,221,182,139	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.376953,-5656.416504,160511,000012,2,102,0.62	MEM	150396
IRIDIUM_FIX	6631.12,-5653.72,150511,222226	DATA_FILE_SIZE	40058,1001
TT8_MAMPS	0.026215	CAP_FILE_SIZE	121856,0
HUMID	45.70	CFSIZE	260165632,212758528
INTERNAL_PRESSURE	8.74057	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1465.6
XPDR_PINGS	31	GPS	160511,010526,6704.598,-5652.468,12,1.2,12,-37.6
ALTIM_TOP_PING	19.5,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	321	120.53	SBE_CT	706	24	374.51
Roll_motor	84	130	244.15	SBE_O2	753	19	316.39
VBD_pump_during_apogee	377	1188	9905.65	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	57	103	131.59	nil	0	0	0.00
Iridium_during_connect	57	160	203.08	nil	0	0	0.00
Iridium_during_xfer	591	223	2914.28	nil	0	0	0.00
Transponder_ping	9	420	85.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.16
TT8	2375	19	473.29
LPSleep	4856	2	112.19
TT8_Active	534	19	106.43
TT8_Sampling	2245	39	896.27
TT8_CF8	590	45	271.37
TT8_Kalman	0	0	0.00
Analog_circuits	1414	12	169.79
GPS_charging	0	0	0.00
Compass	1590	15	238.52
RAFOS	0	0	0.00
Transponder	12	30	3.74

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	145	0.00	0.00	-126.50	0.000	2	0.000	0.000	105	2500	3313	0	0	0	0	0	0
151	-0.62	-146.0	5.1	-6.3	22	177	13.18	2.40	-7.07	0.000	4	0.321	0.092	2653	3895	3630	0	0	0	0	0	0
255	-0.55	-146.0	30.2	-16.2	39	263	0.12	2.22	0.00	0.000	6	0.197	0.053	2684	2492	3632	0	0	0	0	0	0
602	-0.50	-146.0	80.5	-13.4	100	608	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2492	3632	0	0	0	0	0	0
937	-0.48	-146.0	121.6	-11.4	144	941	0.00	2.28	0.00	0.000	4	0.000	0.070	2684	1080	3630	0	0	0	0	0	0
977	-0.48	-146.0	126.2	-11.6	147	981	0.00	2.30	0.00	0.000	6	0.000	0.067	2684	2489	3630	0	0	0	0	0	0
1302	-0.48	-146.0	162.1	-10.8	177	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2489	3629	0	0	0	0	0	0
1624	-0.48	-146.0	197.3	-11.0	207	1628	0.00	2.35	0.00	0.000	4	0.000	0.080	2684	3907	3629	0	0	0	0	0	0
1656	-0.50	-146.0	200.7	-10.8	209	1660	0.00	2.25	0.00	0.000	6	0.000	0.051	2684	2484	3628	0	0	0	0	0	0
1981	-0.50	-146.0	235.0	-10.4	239	1982	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2483	3629	0	0	0	0	0	0
2303	-0.52	-146.0	265.8	-9.0	269	2307	0.00	2.25	0.00	0.000	4	0.000	0.067	2684	1078	3630	0	0	0	0	0	0
2314	-0.52	-146.0	267.2	-8.9	269	2321	0.00	2.30	0.00	0.000	6	0.000	0.064	2684	2496	3630	0	0	0	0	0	0
2640	-0.54	-146.0	294.8	-8.1	300	2642	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2496	3631	0	0	0	0	0	0
2962	-0.57	-146.0	319.7	-8.1	330	2966	0.00	2.33	0.00	0.000	4	0.000	0.076	2684	3906	3632	0	0	0	0	0	0
2973	-0.60	-146.0	321.0	-8.2	330	2980	0.00	2.25	0.00	0.000	6	0.000	0.045	2684	2474	3632	0	0	0	0	0	0
3299	-0.63	-146.0	348.2	-8.5	361	3303	0.00	2.20	0.00	0.000	4	0.000	0.063	2684	1086	3633	0	0	0	0	0	0
3312	-0.66	-146.0	349.3	-8.1	362	3320	0.12	2.28	0.00	0.000	6	0.124	0.061	2642	2499	3632	0	0	0	0	0	0
3646	-0.59	-146.0	388.7	-12.0	393	3648	0.12	0.00	0.00	0.000	6	0.205	0.000	2671	2499	3633	0	0	0	0	0	0
3965	-0.59	-146.0	419.5	-9.4	423	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2499	3634	0	0	0	0	0	0
4286	-0.59	-146.0	449.3	-9.3	453	4295	0.00	2.33	0.00	0.000	4	0.000	0.074	2671	3909	3635	0	0	0	0	0	0
4330	-0.63	-146.0	453.7	-10.0	456	4337	0.00	2.20	0.00	0.000	6	0.000	0.046	2671	2492	3635	0	0	0	0	0	0
4655	-0.63	-146.0	485.7	-11.0	487	4659	0.00	2.30	0.00	0.000	4	0.000	0.071	2671	3900	3636	0	0	0	0	0	0
4673	-0.63	-146.0	487.5	-10.9	488	4677	0.00	2.20	0.00	0.000	6	0.000	0.045	2671	2479	3635	0	0	0	0	0	0
4688	end dive: BOTTOM_OBSTACLE_DETECTED
state	4688	begin apogee
4695	-0.12	0.0	489.6	11.2	489	4828	0.47	0.05	124.62	1.188	6	0.175	0.131	2812	2291	3030	0	0	0	0	0	0
4829	end apogee: CONTROL_FINISHED_OK
state	4829	begin climb
4833	0.62	146.0	494.8	0.0	501	4966	0.80	0.00	127.90	1.147	6	0.135	0.000	3055	2291	2434	0	0	0	0	0	0
5285	0.55	146.0	449.7	11.2	544	5289	0.00	2.28	0.00	0.000	4	0.000	0.070	3054	3674	2429	0	0	0	0	0	0
5387	0.46	146.0	436.8	12.6	553	5392	0.20	2.22	0.00	0.000	6	0.183	0.053	3014	2287	2428	0	0	0	0	0	0
5713	0.53	179.9	409.2	8.4	583	5748	0.00	2.33	29.30	1.076	4	0.000	0.067	3022	870	2295	0	0	0	0	0	0
5802	0.61	188.4	401.2	9.6	590	5821	0.10	2.25	8.45	0.932	6	0.119	0.056	3071	2271	2262	0	0	0	0	0	0
6139	0.53	188.4	354.8	14.5	622	6143	0.12	2.30	0.00	0.000	4	0.184	0.068	3039	3691	2260	0	0	0	0	0	0
6264	0.50	188.4	338.1	14.2	632	6271	0.00	2.22	0.00	0.000	6	0.000	0.051	3047	2276	2259	0	0	0	0	0	0
6589	0.50	188.4	298.7	11.8	663	6594	0.00	2.25	0.00	0.000	4	0.000	0.067	3058	869	2259	0	0	0	0	0	0
6646	0.50	188.4	292.5	10.3	668	6651	0.12	2.22	0.00	0.000	6	0.177	0.054	3027	2283	2258	0	0	0	0	0	0
6972	0.58	220.1	263.3	8.5	698	7007	0.00	2.35	28.55	1.015	4	0.000	0.067	3027	3687	2131	0	0	0	0	0	0
7094	0.61	220.1	251.2	10.8	708	7100	0.00	2.25	0.00	0.000	6	0.000	0.051	3034	2276	2131	0	0	0	0	0	0
7419	0.64	220.1	218.8	10.3	739	7424	0.10	2.28	0.00	0.000	4	0.118	0.066	3095	860	2128	0	0	0	0	0	0
7483	0.61	220.1	210.3	14.6	744	7488	0.12	2.22	0.00	0.000	6	0.183	0.054	3064	2277	2127	0	0	0	0	0	0
7809	0.59	220.1	168.8	11.6	774	7813	0.00	2.25	0.00	0.000	4	0.000	0.067	3064	3692	2126	0	0	0	0	0	0
7906	0.55	220.1	156.5	13.5	782	7910	0.00	2.22	0.00	0.000	6	0.000	0.050	3073	2276	2126	0	0	0	0	0	0
8237	0.55	220.1	117.6	10.8	813	8241	0.00	2.30	0.00	0.000	4	0.000	0.065	3083	857	2126	0	0	0	0	0	0
8335	0.55	220.1	107.9	10.1	821	8340	0.15	2.25	0.00	0.000	6	0.170	0.054	3044	2286	2126	0	0	0	0	0	0
8674	0.69	267.7	82.7	7.8	872	8723	0.12	2.35	42.17	0.923	4	0.099	0.067	3101	3683	1937	0	0	0	0	0	0
8793	0.66	267.7	68.6	13.2	892	8800	0.12	2.25	0.00	0.000	6	0.187	0.051	3081	2268	1935	0	0	0	0	0	0
9142	0.73	282.1	35.2	9.3	953	9161	0.00	2.33	10.38	0.903	4	0.000	0.070	3086	867	1878	0	0	0	0	0	0
9209	0.84	293.2	28.9	9.5	964	9223	0.12	2.22	5.90	0.777	6	0.106	0.054	3140	2274	1834	0	0	0	0	0	0
9368	end climb: SURFACE_OBSTACLE_DETECTED
state	9368	begin subsurface finish
9376	0.04	34.4	6.5	-14.5	992	9432	0.85	2.30	-46.75	0.000	4	0.169	0.084	2887	3683	2890	0	0	0	0	0	0
9432	end subsurface finish: CONTROL_FINISHED_OK
state	9432	begin surface