Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 92 * 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 92 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 28 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 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 -3 T_GPS_CHARGE -23883.268 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 -23883.268

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 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 92 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 070311,004240,6720.211,-5803.545,0,3121.7,0,-38.2 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 2.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070311,004240,6720.211,-5803.545,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 158.5,63184,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 919

Post-dive calculations and measurements:

FREEZE 1.63,-1.368,-1.823,3,69,0 ALTIM_TOP_PING 19.8,999.0

FINISH 1.6,1.026743 ALTIM_BOTTOM_PING 550.4,88.7

SM_CCo 11616,118.38,0.067,0,0,751,559.04 _24V_AH 23.1,16.086

SM_GC 2.07,0.00,0.00,118.38,0.000,0.000,0.067,107,2504,751,-8.62,0.40,559.04 _10V_AH 10.3,8.362

RAFOS_CLK 650 FG_AHR_24Vo 0.000

RAFOS 0,1299470471,4.033333,4.019722,59,58,58,57,53,51,130,160,215,191,1630,145 FG_AHR_10Vo 0.000

RAFOS_FIX 6721.272949,-5801.601074,070311,040444,3,138,0.17 MEM 150628

IRIDIUM_FIX 6647.44,-5812.63,050311,151532 DATA_FILE_SIZE 46654,1167

TT8_MAMPS 0.026215 CAP_FILE_SIZE 140437,0

HUMID 44.09 CFSIZE 260165632,245358592

INTERNAL_PRESSURE 8.50619 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1460.9

XPDR_PINGS 0 GPS 070311,044344,6721.273,-5801.601,0,3137.7,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 331 189.57 SBE_CT 823 24 456.54

Roll_motor 95 74 165.04 SBE_O2 897 19 393.84

VBD_pump_during_apogee 359 1305 10854.21 nil 0 0 0.00

VBD_pump_during_surface 118 66 181.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 236.93 nil 0 0 0.00

Iridium_during_connect 17 160 64.13 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 183 50 94.39

TT8 2831 19 580.88

LPSleep 6366 2 151.47

TT8_Active 636 19 130.63

TT8_Sampling 2220 39 913.10

TT8_CF8 408 45 193.28

TT8_Kalman 0 0 0.00

Analog_circuits 1669 12 206.32

GPS_charging 0 0 0.00

Compass 1902 15 293.98

RAFOS 2520 1 38.93

Transponder 16 30 5.04

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 0 169 0.00 0.00 -148.82 0.000 2 0.000 0.000 111 2504 3242 0 0 0 0 0 0

171 -0.62 -146.0 5.5 -7.1 26 203 12.45 2.33 -9.07 0.000 4 0.331 0.074 2653 1075 3630 0 0 0 0 0 0

295 -0.53 -146.0 32.8 -16.4 47 303 0.12 2.28 0.00 0.000 6 0.228 0.059 2684 2489 3630 0 0 0 0 0 0

641 -0.46 -146.0 86.6 -15.1 108 649 0.12 2.30 0.00 0.000 4 0.239 0.075 2713 3905 3630 0 0 0 0 0 0

696 -0.52 -146.0 93.4 -10.9 117 703 0.00 2.20 0.00 0.000 6 0.000 0.047 2713 2485 3630 0 0 0 0 0 0

1026 -0.55 -146.0 128.3 -10.3 153 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2485 3630 0 0 0 0 0 0

1346 -0.58 -146.0 158.5 -8.7 183 1348 0.12 0.00 0.00 0.000 6 0.138 0.000 2673 2485 3629 0 0 0 0 0 0

1663 -0.54 -146.0 196.9 -11.9 213 1667 0.00 2.20 0.00 0.000 4 0.000 0.062 2674 1083 3628 0 0 0 0 0 0

1679 -0.49 -146.0 199.0 -12.1 214 1687 0.12 2.22 0.00 0.000 6 0.227 0.057 2701 2500 3628 0 0 0 0 0 0

2005 -0.52 -146.0 231.5 -10.0 245 2009 0.00 2.25 0.00 0.000 4 0.000 0.073 2701 3897 3629 0 0 0 0 0 0

2026 -0.55 -146.0 233.9 -10.3 246 2033 0.00 2.15 0.00 0.000 6 0.000 0.044 2702 2488 3629 0 0 0 0 0 0

2352 -0.59 -146.0 263.4 -8.4 277 2356 0.00 2.28 0.00 0.000 4 0.000 0.070 2701 3900 3630 0 0 0 0 0 0

2375 -0.63 -146.0 265.2 -8.1 279 2380 0.12 2.15 0.00 0.000 6 0.125 0.043 2660 2487 3629 0 0 0 0 0 0

2700 -0.57 -146.0 301.7 -11.3 309 2704 0.00 2.25 0.00 0.000 4 0.000 0.068 2660 3902 3630 0 0 0 0 0 0

2740 -0.53 -146.0 306.2 -11.3 312 2745 0.12 2.15 0.00 0.000 6 0.206 0.042 2689 2486 3630 0 0 0 0 0 0

3066 -0.53 -146.0 334.4 -8.5 342 3067 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2486 3632 0 0 0 0 0 0

3387 -0.53 -146.0 361.4 -8.4 372 3393 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2486 3633 0 0 0 0 0 0

3714 -0.53 -146.0 390.9 -9.9 403 3715 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2486 3634 0 0 0 0 0 0

4033 -0.53 -146.0 420.1 -9.2 433 4034 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2486 3635 0 0 0 0 0 0

4352 -0.53 -146.0 448.8 -9.1 463 4359 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2485 3635 0 0 0 0 0 0

4679 -0.53 -146.0 477.2 -8.4 494 4683 0.00 2.17 0.00 0.000 4 0.000 0.060 2689 1076 3635 0 0 0 0 0 0

4691 -0.53 -146.0 478.4 -8.6 495 4695 0.00 2.20 0.00 0.000 6 0.000 0.057 2689 2490 3635 0 0 0 0 0 0

5017 -0.55 -146.0 507.2 -8.3 525 5018 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2490 3635 0 0 0 0 0 0

5337 -0.58 -146.0 534.6 -8.9 555 5338 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2490 3635 0 0 0 0 0 0

5654 -0.60 -146.0 562.6 -9.0 585 5658 0.00 2.25 0.00 0.000 4 0.000 0.074 2689 3905 3635 0 0 0 0 0 0

5698 -0.65 -146.0 566.8 -9.2 588 5705 0.12 2.17 0.00 0.000 6 0.123 0.044 2646 2486 3635 0 0 0 0 0 0

6031 -0.58 -146.0 608.5 -13.0 616 6033 0.12 0.00 0.00 0.000 6 0.223 0.000 2674 2486 3634 0 0 0 0 0 0

6182 end dive: BOTTOM_OBSTACLE_DETECTED

state 6182 begin apogee

6188 -0.12 0.0 624.9 10.4 621 6315 0.47 0.00 121.57 1.306 6 0.190 0.000 2816 2254 3029 0 0 0 0 0 0

6316 end apogee: CONTROL_FINISHED_OK

state 6316 begin climb

6318 0.62 146.0 629.2 0.0 625 6453 0.75 2.50 123.88 1.261 4 0.122 0.067 3063 881 2433 0 0 0 0 0 0

6572 0.54 146.0 604.6 13.4 632 6579 0.00 2.35 0.00 0.000 6 0.000 0.051 3062 2273 2427 0 0 0 0 0 0

6896 0.45 146.0 564.1 12.1 661 6901 0.17 2.33 0.00 0.000 4 0.189 0.067 3017 3689 2424 0 0 0 0 0 0

6997 0.40 146.0 552.6 11.6 669 7005 0.12 2.25 0.00 0.000 6 0.194 0.050 2997 2292 2424 0 0 0 0 0 0

7323 0.48 189.8 525.6 8.0 700 7368 0.00 2.40 36.80 1.200 4 0.000 0.067 3002 864 2255 0 0 0 0 0 0

7408 0.59 219.0 518.4 8.7 707 7441 0.15 2.33 27.00 1.174 6 0.100 0.052 3065 2286 2137 0 0 0 0 0 0

7766 0.54 219.0 471.7 12.9 741 7770 0.00 2.28 0.00 0.000 4 0.000 0.067 3065 3689 2128 0 0 0 0 0 0

7878 0.46 219.0 454.5 15.7 750 7886 0.22 2.25 0.00 0.000 6 0.177 0.051 3016 2277 2127 0 0 0 0 0 0

8204 0.53 238.9 423.6 9.1 781 8227 0.00 2.38 17.10 1.111 4 0.000 0.066 3019 865 2055 0 0 0 0 0 0

8266 0.64 259.9 417.8 9.0 786 8296 0.15 2.30 20.20 1.119 6 0.105 0.052 3082 2285 1969 0 0 0 0 0 0

8613 0.57 259.9 368.0 15.0 819 8618 0.12 2.28 0.00 0.000 4 0.183 0.066 3051 3694 1962 0 0 0 0 0 0

8725 0.57 259.9 352.7 13.4 829 8729 0.00 2.25 0.00 0.000 6 0.000 0.051 3058 2275 1960 0 0 0 0 0 0

9052 0.53 259.9 310.0 13.5 859 9056 0.00 2.28 0.00 0.000 4 0.000 0.063 3059 3692 1959 0 0 0 0 0 0

9095 0.48 259.9 303.2 14.7 862 9103 0.17 2.25 0.00 0.000 6 0.184 0.050 3024 2266 1959 0 0 0 0 0 0

9421 0.51 259.9 265.7 12.2 893 9425 0.00 2.22 0.00 0.000 4 0.000 0.065 3029 864 1958 0 0 0 0 0 0

9483 0.59 259.9 258.4 11.5 898 9487 0.00 2.22 0.00 0.000 6 0.000 0.050 3029 2278 1956 0 0 0 0 0 0

9813 0.63 259.9 218.0 11.6 929 9818 0.10 2.25 0.00 0.000 4 0.121 0.064 3072 3694 1956 0 0 0 0 0 0

9887 0.57 259.9 206.2 17.4 935 9892 0.12 2.22 0.00 0.000 6 0.183 0.049 3050 2267 1956 0 0 0 0 0 0

10211 0.57 259.9 162.8 13.0 965 10215 0.00 2.20 0.00 0.000 4 0.000 0.064 3056 867 1956 0 0 0 0 0 0

10272 0.60 259.9 154.9 12.5 970 10279 0.00 2.20 0.00 0.000 6 0.000 0.050 3056 2276 1956 0 0 0 0 0 0

10597 0.60 259.9 113.8 12.9 1001 10601 0.00 2.22 0.00 0.000 4 0.000 0.063 3055 3684 1956 0 0 0 0 0 0

10686 0.60 259.9 101.0 13.8 1008 10693 0.00 2.20 0.00 0.000 6 0.000 0.047 3065 2273 1956 0 0 0 0 0 0

11031 0.63 259.9 63.4 10.2 1068 11038 0.00 2.22 0.00 0.000 4 0.000 0.063 3072 863 1956 0 0 0 0 0 0

11085 0.70 261.3 57.9 9.9 1077 11092 0.00 2.20 0.00 0.000 6 0.000 0.047 3072 2279 1956 0 0 0 0 0 0

11432 0.76 287.0 23.8 8.8 1138 11451 0.10 2.30 13.27 0.929 4 0.122 0.063 3114 3687 1859 0 0 0 0 0 0

11538 0.71 287.0 8.3 16.0 1156 11546 0.12 2.20 0.00 0.000 6 0.210 0.050 3096 2282 1855 0 0 0 0 0 0

11576 end climb: SURFACE_DEPTH_REACHED

state 11577 begin surface coast

11600 end surface coast: CONTROL_FINISHED_OK

state 11600 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	92	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	28	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	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	-3	T_GPS_CHARGE	-23883.268	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	070311,004240,6720.211,-5803.545,0,3121.7,0,-38.2	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	2.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070311,004240,6720.211,-5803.545,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	158.5,63184,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	919

FREEZE	1.63,-1.368,-1.823,3,69,0	ALTIM_TOP_PING	19.8,999.0
FINISH	1.6,1.026743	ALTIM_BOTTOM_PING	550.4,88.7
SM_CCo	11616,118.38,0.067,0,0,751,559.04	_24V_AH	23.1,16.086
SM_GC	2.07,0.00,0.00,118.38,0.000,0.000,0.067,107,2504,751,-8.62,0.40,559.04	_10V_AH	10.3,8.362
RAFOS_CLK	650	FG_AHR_24Vo	0.000
RAFOS	0,1299470471,4.033333,4.019722,59,58,58,57,53,51,130,160,215,191,1630,145	FG_AHR_10Vo	0.000
RAFOS_FIX	6721.272949,-5801.601074,070311,040444,3,138,0.17	MEM	150628
IRIDIUM_FIX	6647.44,-5812.63,050311,151532	DATA_FILE_SIZE	46654,1167
TT8_MAMPS	0.026215	CAP_FILE_SIZE	140437,0
HUMID	44.09	CFSIZE	260165632,245358592
INTERNAL_PRESSURE	8.50619	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1460.9
XPDR_PINGS	0	GPS	070311,044344,6721.273,-5801.601,0,3137.7,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	331	189.57	SBE_CT	823	24	456.54
Roll_motor	95	74	165.04	SBE_O2	897	19	393.84
VBD_pump_during_apogee	359	1305	10854.21	nil	0	0	0.00
VBD_pump_during_surface	118	66	181.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	236.93	nil	0	0	0.00
Iridium_during_connect	17	160	64.13	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	183	50	94.39
TT8	2831	19	580.88
LPSleep	6366	2	151.47
TT8_Active	636	19	130.63
TT8_Sampling	2220	39	913.10
TT8_CF8	408	45	193.28
TT8_Kalman	0	0	0.00
Analog_circuits	1669	12	206.32
GPS_charging	0	0	0.00
Compass	1902	15	293.98
RAFOS	2520	1	38.93
Transponder	16	30	5.04

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	169	0.00	0.00	-148.82	0.000	2	0.000	0.000	111	2504	3242	0	0	0	0	0	0
171	-0.62	-146.0	5.5	-7.1	26	203	12.45	2.33	-9.07	0.000	4	0.331	0.074	2653	1075	3630	0	0	0	0	0	0
295	-0.53	-146.0	32.8	-16.4	47	303	0.12	2.28	0.00	0.000	6	0.228	0.059	2684	2489	3630	0	0	0	0	0	0
641	-0.46	-146.0	86.6	-15.1	108	649	0.12	2.30	0.00	0.000	4	0.239	0.075	2713	3905	3630	0	0	0	0	0	0
696	-0.52	-146.0	93.4	-10.9	117	703	0.00	2.20	0.00	0.000	6	0.000	0.047	2713	2485	3630	0	0	0	0	0	0
1026	-0.55	-146.0	128.3	-10.3	153	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2485	3630	0	0	0	0	0	0
1346	-0.58	-146.0	158.5	-8.7	183	1348	0.12	0.00	0.00	0.000	6	0.138	0.000	2673	2485	3629	0	0	0	0	0	0
1663	-0.54	-146.0	196.9	-11.9	213	1667	0.00	2.20	0.00	0.000	4	0.000	0.062	2674	1083	3628	0	0	0	0	0	0
1679	-0.49	-146.0	199.0	-12.1	214	1687	0.12	2.22	0.00	0.000	6	0.227	0.057	2701	2500	3628	0	0	0	0	0	0
2005	-0.52	-146.0	231.5	-10.0	245	2009	0.00	2.25	0.00	0.000	4	0.000	0.073	2701	3897	3629	0	0	0	0	0	0
2026	-0.55	-146.0	233.9	-10.3	246	2033	0.00	2.15	0.00	0.000	6	0.000	0.044	2702	2488	3629	0	0	0	0	0	0
2352	-0.59	-146.0	263.4	-8.4	277	2356	0.00	2.28	0.00	0.000	4	0.000	0.070	2701	3900	3630	0	0	0	0	0	0
2375	-0.63	-146.0	265.2	-8.1	279	2380	0.12	2.15	0.00	0.000	6	0.125	0.043	2660	2487	3629	0	0	0	0	0	0
2700	-0.57	-146.0	301.7	-11.3	309	2704	0.00	2.25	0.00	0.000	4	0.000	0.068	2660	3902	3630	0	0	0	0	0	0
2740	-0.53	-146.0	306.2	-11.3	312	2745	0.12	2.15	0.00	0.000	6	0.206	0.042	2689	2486	3630	0	0	0	0	0	0
3066	-0.53	-146.0	334.4	-8.5	342	3067	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2486	3632	0	0	0	0	0	0
3387	-0.53	-146.0	361.4	-8.4	372	3393	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2486	3633	0	0	0	0	0	0
3714	-0.53	-146.0	390.9	-9.9	403	3715	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2486	3634	0	0	0	0	0	0
4033	-0.53	-146.0	420.1	-9.2	433	4034	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2486	3635	0	0	0	0	0	0
4352	-0.53	-146.0	448.8	-9.1	463	4359	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2485	3635	0	0	0	0	0	0
4679	-0.53	-146.0	477.2	-8.4	494	4683	0.00	2.17	0.00	0.000	4	0.000	0.060	2689	1076	3635	0	0	0	0	0	0
4691	-0.53	-146.0	478.4	-8.6	495	4695	0.00	2.20	0.00	0.000	6	0.000	0.057	2689	2490	3635	0	0	0	0	0	0
5017	-0.55	-146.0	507.2	-8.3	525	5018	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2490	3635	0	0	0	0	0	0
5337	-0.58	-146.0	534.6	-8.9	555	5338	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2490	3635	0	0	0	0	0	0
5654	-0.60	-146.0	562.6	-9.0	585	5658	0.00	2.25	0.00	0.000	4	0.000	0.074	2689	3905	3635	0	0	0	0	0	0
5698	-0.65	-146.0	566.8	-9.2	588	5705	0.12	2.17	0.00	0.000	6	0.123	0.044	2646	2486	3635	0	0	0	0	0	0
6031	-0.58	-146.0	608.5	-13.0	616	6033	0.12	0.00	0.00	0.000	6	0.223	0.000	2674	2486	3634	0	0	0	0	0	0
6182	end dive: BOTTOM_OBSTACLE_DETECTED
state	6182	begin apogee
6188	-0.12	0.0	624.9	10.4	621	6315	0.47	0.00	121.57	1.306	6	0.190	0.000	2816	2254	3029	0	0	0	0	0	0
6316	end apogee: CONTROL_FINISHED_OK
state	6316	begin climb
6318	0.62	146.0	629.2	0.0	625	6453	0.75	2.50	123.88	1.261	4	0.122	0.067	3063	881	2433	0	0	0	0	0	0
6572	0.54	146.0	604.6	13.4	632	6579	0.00	2.35	0.00	0.000	6	0.000	0.051	3062	2273	2427	0	0	0	0	0	0
6896	0.45	146.0	564.1	12.1	661	6901	0.17	2.33	0.00	0.000	4	0.189	0.067	3017	3689	2424	0	0	0	0	0	0
6997	0.40	146.0	552.6	11.6	669	7005	0.12	2.25	0.00	0.000	6	0.194	0.050	2997	2292	2424	0	0	0	0	0	0
7323	0.48	189.8	525.6	8.0	700	7368	0.00	2.40	36.80	1.200	4	0.000	0.067	3002	864	2255	0	0	0	0	0	0
7408	0.59	219.0	518.4	8.7	707	7441	0.15	2.33	27.00	1.174	6	0.100	0.052	3065	2286	2137	0	0	0	0	0	0
7766	0.54	219.0	471.7	12.9	741	7770	0.00	2.28	0.00	0.000	4	0.000	0.067	3065	3689	2128	0	0	0	0	0	0
7878	0.46	219.0	454.5	15.7	750	7886	0.22	2.25	0.00	0.000	6	0.177	0.051	3016	2277	2127	0	0	0	0	0	0
8204	0.53	238.9	423.6	9.1	781	8227	0.00	2.38	17.10	1.111	4	0.000	0.066	3019	865	2055	0	0	0	0	0	0
8266	0.64	259.9	417.8	9.0	786	8296	0.15	2.30	20.20	1.119	6	0.105	0.052	3082	2285	1969	0	0	0	0	0	0
8613	0.57	259.9	368.0	15.0	819	8618	0.12	2.28	0.00	0.000	4	0.183	0.066	3051	3694	1962	0	0	0	0	0	0
8725	0.57	259.9	352.7	13.4	829	8729	0.00	2.25	0.00	0.000	6	0.000	0.051	3058	2275	1960	0	0	0	0	0	0
9052	0.53	259.9	310.0	13.5	859	9056	0.00	2.28	0.00	0.000	4	0.000	0.063	3059	3692	1959	0	0	0	0	0	0
9095	0.48	259.9	303.2	14.7	862	9103	0.17	2.25	0.00	0.000	6	0.184	0.050	3024	2266	1959	0	0	0	0	0	0
9421	0.51	259.9	265.7	12.2	893	9425	0.00	2.22	0.00	0.000	4	0.000	0.065	3029	864	1958	0	0	0	0	0	0
9483	0.59	259.9	258.4	11.5	898	9487	0.00	2.22	0.00	0.000	6	0.000	0.050	3029	2278	1956	0	0	0	0	0	0
9813	0.63	259.9	218.0	11.6	929	9818	0.10	2.25	0.00	0.000	4	0.121	0.064	3072	3694	1956	0	0	0	0	0	0
9887	0.57	259.9	206.2	17.4	935	9892	0.12	2.22	0.00	0.000	6	0.183	0.049	3050	2267	1956	0	0	0	0	0	0
10211	0.57	259.9	162.8	13.0	965	10215	0.00	2.20	0.00	0.000	4	0.000	0.064	3056	867	1956	0	0	0	0	0	0
10272	0.60	259.9	154.9	12.5	970	10279	0.00	2.20	0.00	0.000	6	0.000	0.050	3056	2276	1956	0	0	0	0	0	0
10597	0.60	259.9	113.8	12.9	1001	10601	0.00	2.22	0.00	0.000	4	0.000	0.063	3055	3684	1956	0	0	0	0	0	0
10686	0.60	259.9	101.0	13.8	1008	10693	0.00	2.20	0.00	0.000	6	0.000	0.047	3065	2273	1956	0	0	0	0	0	0
11031	0.63	259.9	63.4	10.2	1068	11038	0.00	2.22	0.00	0.000	4	0.000	0.063	3072	863	1956	0	0	0	0	0	0
11085	0.70	261.3	57.9	9.9	1077	11092	0.00	2.20	0.00	0.000	6	0.000	0.047	3072	2279	1956	0	0	0	0	0	0
11432	0.76	287.0	23.8	8.8	1138	11451	0.10	2.30	13.27	0.929	4	0.122	0.063	3114	3687	1859	0	0	0	0	0	0
11538	0.71	287.0	8.3	16.0	1156	11546	0.12	2.20	0.00	0.000	6	0.210	0.050	3096	2282	1855	0	0	0	0	0	0
11576	end climb: SURFACE_DEPTH_REACHED
state	11577	begin surface coast
11600	end surface coast: CONTROL_FINISHED_OK
state	11600	begin surface