Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 216 * 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 216 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 25 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 35 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 -30532.186 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 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 -30532.186

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 25 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 35 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 216 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 250311,164656,6716.117,-5807.223,0,2099.0,0,-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 2.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -26.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250311,164656,6716.117,-5807.223,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 151.2,62155,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 987

Post-dive calculations and measurements:

FINISH1 32.8,1.026809,34 ALTIM_BOTTOM_PING 33.7,20.4

FINISH2 31.7 _24V_AH 22.6,31.497

RAFOS_CLK 658 _10V_AH 10.2,17.361

RAFOS 0,1301083263,20.033333,20.017500,67,66,59,52,52,51,205,118,162,130,150,176 FG_AHR_24Vo 0.000

RAFOS_FIX 6718.357422,-5805.202148,250311,202000,2,106,0.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 MEM 150460

TT8_MAMPS 0.026215 DATA_FILE_SIZE 43360,1099

HUMID 46.29 CAP_FILE_SIZE 126902,0

INTERNAL_PRESSURE 8.72104 CFSIZE 260165632,237170688

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1458.1

ALTIM_TOP_PING 20.2,19.9 GPS 250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 328 121.45 SBE_CT 781 24 423.76

Roll_motor 83 75 142.23 SBE_O2 842 19 361.96

VBD_pump_during_apogee 249 1331 7505.67 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 100 103 233.24 nil 0 0 0.00

Iridium_during_connect 17 160 62.93 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 23.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 93.48

TT8 2636 19 535.72

LPSleep 6789 2 159.97

TT8_Active 400 19 81.38

TT8_Sampling 2082 39 848.13

TT8_CF8 388 45 182.17

TT8_Kalman 0 0 0.00

Analog_circuits 1349 12 165.18

GPS_charging 0 0 0.00

Compass 1762 15 269.74

RAFOS 1440 1 22.03

Transponder 21 30 6.67

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 0 163 0.00 0.00 -143.10 0.000 2 0.000 0.000 113 2504 3232 0 0 0 0 0 0

166 -0.62 -146.0 5.5 -4.7 25 196 12.80 2.30 -9.82 0.000 4 0.328 0.074 2654 1067 3630 0 0 0 0 0 0

283 -0.50 -146.0 29.1 -15.2 45 291 0.17 2.22 0.00 0.000 6 0.213 0.056 2698 2480 3631 0 0 0 0 0 0

629 -0.47 -146.0 75.0 -13.1 106 636 0.00 2.30 0.00 0.000 4 0.000 0.074 2698 3897 3631 0 0 0 0 0 0

649 -0.45 -146.0 77.8 -13.4 109 656 0.00 2.20 0.00 0.000 6 0.000 0.044 2698 2470 3631 0 0 0 0 0 0

990 -0.45 -146.0 124.2 -12.4 154 994 0.00 2.33 0.00 0.000 4 0.000 0.070 2698 3904 3630 0 0 0 0 0 0

1018 -0.45 -146.0 127.8 -12.7 156 1022 0.00 2.20 0.00 0.000 6 0.000 0.044 2698 2491 3630 0 0 0 0 0 0

1343 -0.45 -146.0 165.4 -11.9 186 1347 0.00 2.22 0.00 0.000 4 0.000 0.060 2698 1085 3630 0 0 0 0 0 0

1400 -0.49 -146.0 172.2 -11.8 191 1404 0.00 2.22 0.00 0.000 6 0.000 0.057 2698 2491 3630 0 0 0 0 0 0

1725 -0.51 -146.0 204.8 -8.1 221 1729 0.00 2.28 0.00 0.000 4 0.000 0.076 2698 3899 3629 0 0 0 0 0 0

1800 -0.57 -146.0 210.4 -7.2 227 1803 0.00 2.17 0.00 0.000 6 0.000 0.045 2698 2488 3629 0 0 0 0 0 0

2125 -0.61 -146.0 235.3 -8.2 257 2126 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2488 3629 0 0 0 0 0 0

2445 -0.66 -146.0 261.6 -8.2 287 2447 0.15 0.00 0.00 0.000 6 0.126 0.000 2649 2488 3629 0 0 0 0 0 0

2763 -0.58 -146.0 298.9 -12.2 317 2767 0.00 2.20 0.00 0.000 4 0.000 0.059 2649 1086 3631 0 0 0 0 0 0

2774 -0.50 -146.0 300.7 -12.7 317 2782 0.20 2.22 0.00 0.000 6 0.212 0.057 2698 2497 3630 0 0 0 0 0 0

3100 -0.56 -146.0 331.1 -9.4 348 3104 0.00 2.28 0.00 0.000 4 0.000 0.072 2698 3905 3631 0 0 0 0 0 0

3123 -0.61 -146.0 333.3 -9.6 350 3127 0.00 2.17 0.00 0.000 6 0.000 0.041 2698 2487 3631 0 0 0 0 0 0

3449 -0.67 -146.0 365.3 -9.6 380 3451 0.15 0.00 0.00 0.000 6 0.125 0.000 2648 2487 3632 0 0 0 0 0 0

3767 -0.59 -146.0 407.4 -13.4 410 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2487 3633 0 0 0 0 0 0

4088 -0.51 -146.0 450.6 -13.5 440 4090 0.17 0.00 0.00 0.000 6 0.207 0.000 2691 2487 3634 0 0 0 0 0 0

4406 -0.54 -146.0 481.0 -9.4 470 4410 0.00 2.20 0.00 0.000 4 0.000 0.058 2691 1085 3634 0 0 0 0 0 0

4447 -0.59 -146.0 485.1 -9.8 473 4451 0.00 2.20 0.00 0.000 6 0.000 0.054 2692 2490 3634 0 0 0 0 0 0

4772 -0.63 -146.0 516.0 -9.5 503 4776 0.00 2.30 0.00 0.000 4 0.000 0.073 2691 3906 3634 0 0 0 0 0 0

4794 -0.68 -146.0 518.4 -9.8 504 4802 0.15 2.17 0.00 0.000 6 0.116 0.042 2639 2493 3634 0 0 0 0 0 0

5119 -0.59 -146.0 561.3 -13.0 535 5124 0.12 2.22 0.00 0.000 4 0.220 0.058 2666 1086 3634 0 0 0 0 0 0

5142 -0.52 -146.0 564.2 -12.5 537 5146 0.00 2.20 0.00 0.000 6 0.000 0.055 2666 2489 3634 0 0 0 0 0 0

5469 -0.50 -146.0 596.8 -10.0 567 5474 0.12 2.30 0.00 0.000 4 0.215 0.072 2698 3898 3634 0 0 0 0 0 0

5479 -0.50 -146.0 598.1 -9.9 567 5486 0.00 2.17 0.00 0.000 6 0.000 0.041 2698 2479 3634 0 0 0 0 0 0

5814 -0.57 -146.0 624.5 -7.9 580 5816 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2480 3635 0 0 0 0 0 0

6122 -0.63 -146.0 648.3 -7.9 590 6124 0.12 0.00 0.00 0.000 6 0.132 0.000 2655 2479 3634 0 0 0 0 0 0

6271 end dive: BOTTOM_OBSTACLE_DETECTED

state 6271 begin apogee

6276 -0.12 0.0 665.0 11.2 595 6406 0.55 0.00 122.88 1.331 6 0.192 0.000 2812 2266 3029 0 0 0 0 0 0

6407 end apogee: CONTROL_FINISHED_OK

state 6407 begin climb

6408 0.62 146.0 668.2 0.0 599 6541 0.80 0.00 126.62 1.278 6 0.136 0.000 3056 2265 2434 0 0 0 0 0 0

6834 0.62 146.0 620.0 24596.4 613 6838 0.00 2.40 0.00 0.000 4 0.000 0.063 3056 3684 2425 0 0 0 0 0 0

6938 0.62 146.0 604.4 24596.4 616 6942 0.00 2.28 0.00 0.000 6 0.000 0.048 3066 2284 2424 0 0 0 0 0 0

7262 0.62 146.0 559.8 24596.4 643 7264 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2284 2424 0 0 0 0 0 0

7583 0.62 146.0 517.3 24596.4 673 7584 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2284 2423 0 0 0 0 0 0

7901 0.62 146.0 476.3 24596.4 703 7905 0.00 2.28 0.00 0.000 4 0.000 0.063 3066 3697 2423 0 0 0 0 0 0

7963 0.62 146.0 467.4 24596.4 708 7967 0.00 2.25 0.00 0.000 6 0.000 0.048 3076 2267 2423 0 0 0 0 0 0

8288 0.62 146.0 423.4 24596.4 738 8292 0.00 2.22 0.00 0.000 4 0.000 0.060 3086 860 2423 0 0 0 0 0 0

8329 0.62 146.0 417.9 24596.4 741 8333 0.00 2.25 0.00 0.000 6 0.000 0.050 3086 2278 2422 0 0 0 0 0 0

8656 0.62 146.0 371.7 24596.4 771 8660 0.00 2.22 0.00 0.000 4 0.000 0.063 3086 3684 2422 0 0 0 0 0 0

8756 0.62 146.0 355.5 24596.4 779 8764 0.12 2.22 0.00 0.000 6 0.220 0.047 3069 2272 2422 0 0 0 0 0 0

9081 0.62 146.0 314.2 24596.4 810 9083 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2272 2422 0 0 0 0 0 0

9403 0.62 146.0 273.5 24596.4 840 9409 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2272 2422 0 0 0 0 0 0

9730 0.62 146.0 234.1 24596.4 871 9734 0.00 2.28 0.00 0.000 4 0.000 0.061 3066 3691 2421 0 0 0 0 0 0

9807 0.62 146.0 223.7 24596.4 877 9814 0.00 2.22 0.00 0.000 6 0.000 0.048 3076 2275 2421 0 0 0 0 0 0

10132 0.62 146.0 183.9 24596.4 908 10134 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2275 2421 0 0 0 0 0 0

10454 0.62 146.0 145.7 24596.4 938 10460 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2274 2422 0 0 0 0 0 0

10781 0.62 146.0 110.6 24596.4 969 10785 0.00 2.20 0.00 0.000 4 0.000 0.060 3086 867 2422 0 0 0 0 0 0

10877 0.62 146.0 100.1 24596.4 977 10881 0.00 2.22 0.00 0.000 6 0.000 0.049 3086 2284 2422 0 0 0 0 0 0

11221 0.62 146.0 65.8 24596.4 1037 11228 0.00 2.22 0.00 0.000 4 0.000 0.063 3086 3694 2423 0 0 0 0 0 0

11379 0.62 146.0 49.2 24596.4 1064 11386 0.12 2.22 0.00 0.000 6 0.211 0.047 3068 2267 2423 0 0 0 0 0 0

11564 end climb: SURFACE_OBSTACLE_DETECTED

state 11564 begin subsurface finish

11570 0.04 33.8 32.8 -24596.4 1097 11584 0.60 2.20 -6.03 0.000 4 0.175 0.073 2886 870 2896 0 0 0 0 0 0

11585 end subsurface finish: CONTROL_FINISHED_OK

state 11585 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	216	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	25	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	35	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	-30532.186	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	250311,164656,6716.117,-5807.223,0,2099.0,0,-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	2.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-26.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250311,164656,6716.117,-5807.223,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	151.2,62155,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	987

FINISH1	32.8,1.026809,34	ALTIM_BOTTOM_PING	33.7,20.4
FINISH2	31.7	_24V_AH	22.6,31.497
RAFOS_CLK	658	_10V_AH	10.2,17.361
RAFOS	0,1301083263,20.033333,20.017500,67,66,59,52,52,51,205,118,162,130,150,176	FG_AHR_24Vo	0.000
RAFOS_FIX	6718.357422,-5805.202148,250311,202000,2,106,0.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	MEM	150460
TT8_MAMPS	0.026215	DATA_FILE_SIZE	43360,1099
HUMID	46.29	CAP_FILE_SIZE	126902,0
INTERNAL_PRESSURE	8.72104	CFSIZE	260165632,237170688
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1458.1
ALTIM_TOP_PING	20.2,19.9	GPS	250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	328	121.45	SBE_CT	781	24	423.76
Roll_motor	83	75	142.23	SBE_O2	842	19	361.96
VBD_pump_during_apogee	249	1331	7505.67	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	100	103	233.24	nil	0	0	0.00
Iridium_during_connect	17	160	62.93	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	23.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	93.48
TT8	2636	19	535.72
LPSleep	6789	2	159.97
TT8_Active	400	19	81.38
TT8_Sampling	2082	39	848.13
TT8_CF8	388	45	182.17
TT8_Kalman	0	0	0.00
Analog_circuits	1349	12	165.18
GPS_charging	0	0	0.00
Compass	1762	15	269.74
RAFOS	1440	1	22.03
Transponder	21	30	6.67

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	163	0.00	0.00	-143.10	0.000	2	0.000	0.000	113	2504	3232	0	0	0	0	0	0
166	-0.62	-146.0	5.5	-4.7	25	196	12.80	2.30	-9.82	0.000	4	0.328	0.074	2654	1067	3630	0	0	0	0	0	0
283	-0.50	-146.0	29.1	-15.2	45	291	0.17	2.22	0.00	0.000	6	0.213	0.056	2698	2480	3631	0	0	0	0	0	0
629	-0.47	-146.0	75.0	-13.1	106	636	0.00	2.30	0.00	0.000	4	0.000	0.074	2698	3897	3631	0	0	0	0	0	0
649	-0.45	-146.0	77.8	-13.4	109	656	0.00	2.20	0.00	0.000	6	0.000	0.044	2698	2470	3631	0	0	0	0	0	0
990	-0.45	-146.0	124.2	-12.4	154	994	0.00	2.33	0.00	0.000	4	0.000	0.070	2698	3904	3630	0	0	0	0	0	0
1018	-0.45	-146.0	127.8	-12.7	156	1022	0.00	2.20	0.00	0.000	6	0.000	0.044	2698	2491	3630	0	0	0	0	0	0
1343	-0.45	-146.0	165.4	-11.9	186	1347	0.00	2.22	0.00	0.000	4	0.000	0.060	2698	1085	3630	0	0	0	0	0	0
1400	-0.49	-146.0	172.2	-11.8	191	1404	0.00	2.22	0.00	0.000	6	0.000	0.057	2698	2491	3630	0	0	0	0	0	0
1725	-0.51	-146.0	204.8	-8.1	221	1729	0.00	2.28	0.00	0.000	4	0.000	0.076	2698	3899	3629	0	0	0	0	0	0
1800	-0.57	-146.0	210.4	-7.2	227	1803	0.00	2.17	0.00	0.000	6	0.000	0.045	2698	2488	3629	0	0	0	0	0	0
2125	-0.61	-146.0	235.3	-8.2	257	2126	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2488	3629	0	0	0	0	0	0
2445	-0.66	-146.0	261.6	-8.2	287	2447	0.15	0.00	0.00	0.000	6	0.126	0.000	2649	2488	3629	0	0	0	0	0	0
2763	-0.58	-146.0	298.9	-12.2	317	2767	0.00	2.20	0.00	0.000	4	0.000	0.059	2649	1086	3631	0	0	0	0	0	0
2774	-0.50	-146.0	300.7	-12.7	317	2782	0.20	2.22	0.00	0.000	6	0.212	0.057	2698	2497	3630	0	0	0	0	0	0
3100	-0.56	-146.0	331.1	-9.4	348	3104	0.00	2.28	0.00	0.000	4	0.000	0.072	2698	3905	3631	0	0	0	0	0	0
3123	-0.61	-146.0	333.3	-9.6	350	3127	0.00	2.17	0.00	0.000	6	0.000	0.041	2698	2487	3631	0	0	0	0	0	0
3449	-0.67	-146.0	365.3	-9.6	380	3451	0.15	0.00	0.00	0.000	6	0.125	0.000	2648	2487	3632	0	0	0	0	0	0
3767	-0.59	-146.0	407.4	-13.4	410	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2487	3633	0	0	0	0	0	0
4088	-0.51	-146.0	450.6	-13.5	440	4090	0.17	0.00	0.00	0.000	6	0.207	0.000	2691	2487	3634	0	0	0	0	0	0
4406	-0.54	-146.0	481.0	-9.4	470	4410	0.00	2.20	0.00	0.000	4	0.000	0.058	2691	1085	3634	0	0	0	0	0	0
4447	-0.59	-146.0	485.1	-9.8	473	4451	0.00	2.20	0.00	0.000	6	0.000	0.054	2692	2490	3634	0	0	0	0	0	0
4772	-0.63	-146.0	516.0	-9.5	503	4776	0.00	2.30	0.00	0.000	4	0.000	0.073	2691	3906	3634	0	0	0	0	0	0
4794	-0.68	-146.0	518.4	-9.8	504	4802	0.15	2.17	0.00	0.000	6	0.116	0.042	2639	2493	3634	0	0	0	0	0	0
5119	-0.59	-146.0	561.3	-13.0	535	5124	0.12	2.22	0.00	0.000	4	0.220	0.058	2666	1086	3634	0	0	0	0	0	0
5142	-0.52	-146.0	564.2	-12.5	537	5146	0.00	2.20	0.00	0.000	6	0.000	0.055	2666	2489	3634	0	0	0	0	0	0
5469	-0.50	-146.0	596.8	-10.0	567	5474	0.12	2.30	0.00	0.000	4	0.215	0.072	2698	3898	3634	0	0	0	0	0	0
5479	-0.50	-146.0	598.1	-9.9	567	5486	0.00	2.17	0.00	0.000	6	0.000	0.041	2698	2479	3634	0	0	0	0	0	0
5814	-0.57	-146.0	624.5	-7.9	580	5816	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2480	3635	0	0	0	0	0	0
6122	-0.63	-146.0	648.3	-7.9	590	6124	0.12	0.00	0.00	0.000	6	0.132	0.000	2655	2479	3634	0	0	0	0	0	0
6271	end dive: BOTTOM_OBSTACLE_DETECTED
state	6271	begin apogee
6276	-0.12	0.0	665.0	11.2	595	6406	0.55	0.00	122.88	1.331	6	0.192	0.000	2812	2266	3029	0	0	0	0	0	0
6407	end apogee: CONTROL_FINISHED_OK
state	6407	begin climb
6408	0.62	146.0	668.2	0.0	599	6541	0.80	0.00	126.62	1.278	6	0.136	0.000	3056	2265	2434	0	0	0	0	0	0
6834	0.62	146.0	620.0	24596.4	613	6838	0.00	2.40	0.00	0.000	4	0.000	0.063	3056	3684	2425	0	0	0	0	0	0
6938	0.62	146.0	604.4	24596.4	616	6942	0.00	2.28	0.00	0.000	6	0.000	0.048	3066	2284	2424	0	0	0	0	0	0
7262	0.62	146.0	559.8	24596.4	643	7264	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2284	2424	0	0	0	0	0	0
7583	0.62	146.0	517.3	24596.4	673	7584	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2284	2423	0	0	0	0	0	0
7901	0.62	146.0	476.3	24596.4	703	7905	0.00	2.28	0.00	0.000	4	0.000	0.063	3066	3697	2423	0	0	0	0	0	0
7963	0.62	146.0	467.4	24596.4	708	7967	0.00	2.25	0.00	0.000	6	0.000	0.048	3076	2267	2423	0	0	0	0	0	0
8288	0.62	146.0	423.4	24596.4	738	8292	0.00	2.22	0.00	0.000	4	0.000	0.060	3086	860	2423	0	0	0	0	0	0
8329	0.62	146.0	417.9	24596.4	741	8333	0.00	2.25	0.00	0.000	6	0.000	0.050	3086	2278	2422	0	0	0	0	0	0
8656	0.62	146.0	371.7	24596.4	771	8660	0.00	2.22	0.00	0.000	4	0.000	0.063	3086	3684	2422	0	0	0	0	0	0
8756	0.62	146.0	355.5	24596.4	779	8764	0.12	2.22	0.00	0.000	6	0.220	0.047	3069	2272	2422	0	0	0	0	0	0
9081	0.62	146.0	314.2	24596.4	810	9083	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2272	2422	0	0	0	0	0	0
9403	0.62	146.0	273.5	24596.4	840	9409	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2272	2422	0	0	0	0	0	0
9730	0.62	146.0	234.1	24596.4	871	9734	0.00	2.28	0.00	0.000	4	0.000	0.061	3066	3691	2421	0	0	0	0	0	0
9807	0.62	146.0	223.7	24596.4	877	9814	0.00	2.22	0.00	0.000	6	0.000	0.048	3076	2275	2421	0	0	0	0	0	0
10132	0.62	146.0	183.9	24596.4	908	10134	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2275	2421	0	0	0	0	0	0
10454	0.62	146.0	145.7	24596.4	938	10460	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2274	2422	0	0	0	0	0	0
10781	0.62	146.0	110.6	24596.4	969	10785	0.00	2.20	0.00	0.000	4	0.000	0.060	3086	867	2422	0	0	0	0	0	0
10877	0.62	146.0	100.1	24596.4	977	10881	0.00	2.22	0.00	0.000	6	0.000	0.049	3086	2284	2422	0	0	0	0	0	0
11221	0.62	146.0	65.8	24596.4	1037	11228	0.00	2.22	0.00	0.000	4	0.000	0.063	3086	3694	2423	0	0	0	0	0	0
11379	0.62	146.0	49.2	24596.4	1064	11386	0.12	2.22	0.00	0.000	6	0.211	0.047	3068	2267	2423	0	0	0	0	0	0
11564	end climb: SURFACE_OBSTACLE_DETECTED
state	11564	begin subsurface finish
11570	0.04	33.8	32.8	-24596.4	1097	11584	0.60	2.20	-6.03	0.000	4	0.175	0.073	2886	870	2896	0	0	0	0	0	0
11585	end subsurface finish: CONTROL_FINISHED_OK
state	11585	begin surface