Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 268 * 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 268 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 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 34 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 -33675.066 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -33675.066

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 36 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 34 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 268 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 300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7 TGT_NAME TARGET_W2

_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 8.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 2.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7 MHEAD_RNG_PITCHd_Wd 295.7,162794,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 547

Post-dive calculations and measurements:

FREEZE 1.38,-1.613,-1.830,3,17,0 ALTIM_TOP_PING 19.6,17.6

FINISH 1.4,1.026847 _24V_AH 23.0,36.943

SM_CCo 10652,134.07,0.063,0,0,750,559.04 _10V_AH 10.3,20.212

SM_GC 2.41,0.00,0.00,134.07,0.000,0.000,0.063,109,2495,750,-8.61,0.14,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 550 FG_AHR_10Vo 0.000

RAFOS 0,1301529666,0.033333,0.018333,63,63,57,54,52,51,176,214,200,159,123,227 MEM 150552

RAFOS_FIX 6702.295410,-5648.343750,300311,202000,2,121,0.28 DATA_FILE_SIZE 43378,1115

IRIDIUM_FIX 6641.98,-5656.94,290311,060610 CAP_FILE_SIZE 121304,0

TT8_MAMPS 0.027713 CFSIZE 260165632,234487808

HUMID 44.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.52572 SOUNDSPEED 1468.3

TCM_TEMP 17.00 GPS 300311,204800,6702.295,-5648.344,181,99.0,181,-37.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 64.16 SBE_CT 784 24 433.03

Roll_motor 94 67 146.09 SBE_O2 843 19 368.72

VBD_pump_during_apogee 321 1211 8947.82 nil 0 0 0.00

VBD_pump_during_surface 134 62 193.44 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 1 420 14.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2668 19 547.52

LPSleep 5746 2 136.74

TT8_Active 503 19 103.24

TT8_Sampling 1771 39 728.38

TT8_CF8 158 45 74.92

TT8_Kalman 0 0 0.00

Analog_circuits 1429 12 176.64

GPS_charging 0 0 0.00

Compass 1761 15 272.17

RAFOS 1080 1 16.69

Transponder 11 30 3.54

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.38 0.000 2 0.000 0.000 2886 3683 3161 0 0 0 0 0 0

26 -0.62 -146.0 10.2 -0.0 1 46 0.62 4.07 -11.20 0.000 4 0.110 0.048 2671 1084 3628 0 0 0 0 0 0

255 -0.58 -146.0 41.3 -13.9 41 262 0.00 2.22 0.00 0.000 6 0.000 0.050 2670 2491 3629 0 0 0 0 0 0

600 -0.51 -146.0 91.1 -13.5 102 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2491 3628 0 0 0 0 0 0

930 -0.47 -146.0 132.5 -12.3 139 935 0.15 2.28 0.00 0.000 4 0.220 0.067 2705 3899 3626 0 0 0 0 0 0

993 -0.55 -146.0 138.8 -9.8 144 997 0.00 2.15 0.00 0.000 6 0.000 0.039 2705 2484 3625 0 0 0 0 0 0

1319 -0.61 -146.0 167.9 -8.2 174 1320 0.12 0.00 0.00 0.000 6 0.122 0.000 2662 2483 3623 0 0 0 0 0 0

1637 -0.56 -146.0 203.1 -10.8 204 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2483 3623 0 0 0 0 0 0

1957 -0.52 -146.0 237.8 -10.5 234 1962 0.12 2.28 0.00 0.000 4 0.207 0.063 2690 3899 3622 0 0 0 0 0 0

1979 -0.52 -146.0 240.3 -10.4 236 1983 0.00 2.15 0.00 0.000 6 0.000 0.036 2690 2482 3622 0 0 0 0 0 0

2307 -0.56 -146.0 266.3 -7.5 266 2311 0.00 2.12 0.00 0.000 4 0.000 0.052 2691 1094 3623 0 0 0 0 0 0

2340 -0.61 -146.0 269.2 -7.9 268 2347 0.00 2.17 0.00 0.000 6 0.000 0.048 2691 2504 3622 0 0 0 0 0 0

2666 -0.65 -146.0 293.8 -7.7 299 2668 0.12 0.00 0.00 0.000 6 0.120 0.000 2646 2504 3623 0 0 0 0 0 0

2984 -0.59 -146.0 328.4 -11.1 329 2988 0.00 2.20 0.00 0.000 4 0.000 0.064 2646 3904 3623 0 0 0 0 0 0

3040 -0.55 -146.0 334.5 -10.8 333 3047 0.15 2.12 0.00 0.000 6 0.198 0.035 2682 2489 3624 0 0 0 0 0 0

3365 -0.59 -146.0 362.2 -8.8 364 3369 0.00 2.12 0.00 0.000 4 0.000 0.050 2682 1091 3624 0 0 0 0 0 0

3398 -0.61 -146.0 365.3 -9.3 366 3405 0.00 2.17 0.00 0.000 6 0.000 0.047 2682 2494 3624 0 0 0 0 0 0

3725 -0.65 -146.0 392.1 -8.5 397 3729 0.00 2.20 0.00 0.000 4 0.000 0.063 2682 3897 3624 0 0 0 0 0 0

3823 -0.70 -146.0 400.4 -9.2 405 3827 0.15 2.10 0.00 0.000 6 0.114 0.035 2629 2487 3624 0 0 0 0 0 0

4148 -0.61 -146.0 440.1 -12.1 435 4152 0.12 2.28 0.00 0.000 4 0.222 0.060 2658 3905 3625 0 0 0 0 0 0

4193 -0.61 -146.0 445.1 -10.7 439 4197 0.00 2.12 0.00 0.000 6 0.000 0.034 2658 2489 3625 0 0 0 0 0 0

4518 -0.61 -146.0 477.6 -10.2 469 4522 0.00 2.15 0.00 0.000 4 0.000 0.048 2658 1083 3626 0 0 0 0 0 0

4584 -0.61 -146.0 484.6 -10.4 474 4591 0.00 2.17 0.00 0.000 6 0.000 0.047 2658 2494 3626 0 0 0 0 0 0

4911 -0.61 -146.0 515.9 -9.7 505 4915 0.00 2.20 0.00 0.000 4 0.000 0.063 2658 3897 3626 0 0 0 0 0 0

5008 -0.61 -146.0 525.7 -9.8 513 5012 0.00 2.12 0.00 0.000 6 0.000 0.034 2658 2483 3626 0 0 0 0 0 0

5235 end dive: TARGET_DEPTH_EXCEEDED

state 5235 begin apogee

5242 -0.12 0.0 547.1 9.0 534 5366 0.52 0.00 118.43 1.212 6 0.187 0.000 2811 2246 3030 0 0 0 0 0 0

5367 end apogee: CONTROL_FINISHED_OK

state 5367 begin climb

5369 0.62 146.0 550.0 0.0 545 5500 0.80 2.53 122.28 1.167 4 0.137 0.054 3056 3689 2433 0 0 0 0 0 0

5513 0.51 146.0 538.2 12.4 558 5518 0.15 2.33 0.00 0.000 6 0.184 0.038 3033 2298 2431 0 0 0 0 0 0

5838 0.48 146.0 502.4 10.5 588 5839 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2297 2426 0 0 0 0 0 0

6158 0.45 146.0 470.2 10.1 618 6159 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2297 2425 0 0 0 0 0 0

6478 0.41 146.0 437.0 11.0 648 6483 0.12 2.20 0.00 0.000 4 0.203 0.056 3001 3686 2424 0 0 0 0 0 0

6499 0.39 146.0 434.1 10.9 649 6507 0.00 2.20 0.00 0.000 6 0.000 0.039 3009 2264 2424 0 0 0 0 0 0

6826 0.40 157.2 403.7 9.5 680 6841 0.00 2.30 9.05 0.969 4 0.000 0.055 3009 3680 2389 0 0 0 0 0 0

6875 0.40 157.2 398.3 10.8 684 6882 0.00 2.20 0.00 0.000 6 0.000 0.038 3019 2276 2389 0 0 0 0 0 0

7202 0.40 157.2 365.7 10.0 715 7206 0.00 2.25 0.00 0.000 4 0.000 0.055 3019 3692 2388 0 0 0 0 0 0

7246 0.37 157.2 360.4 12.0 718 7254 0.17 2.20 0.00 0.000 6 0.177 0.039 2985 2267 2388 0 0 0 0 0 0

7573 0.52 213.5 334.9 7.4 749 7625 0.15 0.00 49.25 1.064 6 0.090 0.000 3050 2266 2159 0 0 0 0 0 0

7939 0.52 213.5 290.2 12.8 784 7943 0.00 2.25 0.00 0.000 4 0.000 0.054 3049 3684 2152 0 0 0 0 0 0

7978 0.48 213.5 284.9 13.5 787 7986 0.15 2.20 0.00 0.000 6 0.180 0.040 3021 2276 2151 0 0 0 0 0 0

8303 0.53 213.5 250.5 10.7 818 8307 0.00 2.20 0.00 0.000 4 0.000 0.053 3028 870 2150 0 0 0 0 0 0

8333 0.59 213.5 247.5 10.8 820 8337 0.00 2.17 0.00 0.000 6 0.000 0.041 3028 2287 2149 0 0 0 0 0 0

8658 0.62 213.5 211.7 10.6 850 8663 0.10 2.17 0.00 0.000 4 0.116 0.056 3076 3684 2149 0 0 0 0 0 0

8710 0.55 213.5 204.3 16.4 854 8714 0.17 2.15 0.00 0.000 6 0.181 0.040 3040 2275 2149 0 0 0 0 0 0

9039 0.55 213.5 165.7 11.0 885 9043 0.00 2.20 0.00 0.000 4 0.000 0.054 3043 864 2149 0 0 0 0 0 0

9050 0.55 213.5 164.3 11.2 885 9057 0.00 2.17 0.00 0.000 6 0.000 0.038 3043 2284 2148 0 0 0 0 0 0

9375 0.58 213.5 128.7 10.6 916 9379 0.00 2.17 0.00 0.000 4 0.000 0.055 3043 3691 2148 0 0 0 0 0 0

9437 0.58 213.5 121.3 12.4 921 9441 0.00 2.15 0.00 0.000 6 0.000 0.038 3053 2270 2147 0 0 0 0 0 0

9771 0.61 213.5 85.5 10.8 964 9778 0.00 2.20 0.00 0.000 4 0.000 0.054 3052 3682 2148 0 0 0 0 0 0

9857 0.61 213.5 75.4 11.6 979 9864 0.00 2.15 0.00 0.000 6 0.000 0.038 3062 2274 2148 0 0 0 0 0 0

10204 0.66 226.5 42.0 9.4 1040 10217 0.00 0.00 10.32 0.838 6 0.000 0.000 3061 2274 2106 0 0 0 0 0 0

10556 0.71 250.5 8.5 8.9 1102 10578 0.00 2.30 11.73 0.823 4 0.000 0.053 3062 3692 2007 0 0 0 0 0 0

10604 end climb: SURFACE_DEPTH_REACHED

state 10605 begin surface coast

10632 end surface coast: CONTROL_FINISHED_OK

state 10632 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	268	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	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	34	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	-33675.066	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	300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7	TGT_NAME	TARGET_W2
_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	8.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	2.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7	MHEAD_RNG_PITCHd_Wd	295.7,162794,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	547

FREEZE	1.38,-1.613,-1.830,3,17,0	ALTIM_TOP_PING	19.6,17.6
FINISH	1.4,1.026847	_24V_AH	23.0,36.943
SM_CCo	10652,134.07,0.063,0,0,750,559.04	_10V_AH	10.3,20.212
SM_GC	2.41,0.00,0.00,134.07,0.000,0.000,0.063,109,2495,750,-8.61,0.14,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	550	FG_AHR_10Vo	0.000
RAFOS	0,1301529666,0.033333,0.018333,63,63,57,54,52,51,176,214,200,159,123,227	MEM	150552
RAFOS_FIX	6702.295410,-5648.343750,300311,202000,2,121,0.28	DATA_FILE_SIZE	43378,1115
IRIDIUM_FIX	6641.98,-5656.94,290311,060610	CAP_FILE_SIZE	121304,0
TT8_MAMPS	0.027713	CFSIZE	260165632,234487808
HUMID	44.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.52572	SOUNDSPEED	1468.3
TCM_TEMP	17.00	GPS	300311,204800,6702.295,-5648.344,181,99.0,181,-37.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	64.16	SBE_CT	784	24	433.03
Roll_motor	94	67	146.09	SBE_O2	843	19	368.72
VBD_pump_during_apogee	321	1211	8947.82	nil	0	0	0.00
VBD_pump_during_surface	134	62	193.44	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	1	420	14.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2668	19	547.52
LPSleep	5746	2	136.74
TT8_Active	503	19	103.24
TT8_Sampling	1771	39	728.38
TT8_CF8	158	45	74.92
TT8_Kalman	0	0	0.00
Analog_circuits	1429	12	176.64
GPS_charging	0	0	0.00
Compass	1761	15	272.17
RAFOS	1080	1	16.69
Transponder	11	30	3.54

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.38	0.000	2	0.000	0.000	2886	3683	3161	0	0	0	0	0	0
26	-0.62	-146.0	10.2	-0.0	1	46	0.62	4.07	-11.20	0.000	4	0.110	0.048	2671	1084	3628	0	0	0	0	0	0
255	-0.58	-146.0	41.3	-13.9	41	262	0.00	2.22	0.00	0.000	6	0.000	0.050	2670	2491	3629	0	0	0	0	0	0
600	-0.51	-146.0	91.1	-13.5	102	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2491	3628	0	0	0	0	0	0
930	-0.47	-146.0	132.5	-12.3	139	935	0.15	2.28	0.00	0.000	4	0.220	0.067	2705	3899	3626	0	0	0	0	0	0
993	-0.55	-146.0	138.8	-9.8	144	997	0.00	2.15	0.00	0.000	6	0.000	0.039	2705	2484	3625	0	0	0	0	0	0
1319	-0.61	-146.0	167.9	-8.2	174	1320	0.12	0.00	0.00	0.000	6	0.122	0.000	2662	2483	3623	0	0	0	0	0	0
1637	-0.56	-146.0	203.1	-10.8	204	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2483	3623	0	0	0	0	0	0
1957	-0.52	-146.0	237.8	-10.5	234	1962	0.12	2.28	0.00	0.000	4	0.207	0.063	2690	3899	3622	0	0	0	0	0	0
1979	-0.52	-146.0	240.3	-10.4	236	1983	0.00	2.15	0.00	0.000	6	0.000	0.036	2690	2482	3622	0	0	0	0	0	0
2307	-0.56	-146.0	266.3	-7.5	266	2311	0.00	2.12	0.00	0.000	4	0.000	0.052	2691	1094	3623	0	0	0	0	0	0
2340	-0.61	-146.0	269.2	-7.9	268	2347	0.00	2.17	0.00	0.000	6	0.000	0.048	2691	2504	3622	0	0	0	0	0	0
2666	-0.65	-146.0	293.8	-7.7	299	2668	0.12	0.00	0.00	0.000	6	0.120	0.000	2646	2504	3623	0	0	0	0	0	0
2984	-0.59	-146.0	328.4	-11.1	329	2988	0.00	2.20	0.00	0.000	4	0.000	0.064	2646	3904	3623	0	0	0	0	0	0
3040	-0.55	-146.0	334.5	-10.8	333	3047	0.15	2.12	0.00	0.000	6	0.198	0.035	2682	2489	3624	0	0	0	0	0	0
3365	-0.59	-146.0	362.2	-8.8	364	3369	0.00	2.12	0.00	0.000	4	0.000	0.050	2682	1091	3624	0	0	0	0	0	0
3398	-0.61	-146.0	365.3	-9.3	366	3405	0.00	2.17	0.00	0.000	6	0.000	0.047	2682	2494	3624	0	0	0	0	0	0
3725	-0.65	-146.0	392.1	-8.5	397	3729	0.00	2.20	0.00	0.000	4	0.000	0.063	2682	3897	3624	0	0	0	0	0	0
3823	-0.70	-146.0	400.4	-9.2	405	3827	0.15	2.10	0.00	0.000	6	0.114	0.035	2629	2487	3624	0	0	0	0	0	0
4148	-0.61	-146.0	440.1	-12.1	435	4152	0.12	2.28	0.00	0.000	4	0.222	0.060	2658	3905	3625	0	0	0	0	0	0
4193	-0.61	-146.0	445.1	-10.7	439	4197	0.00	2.12	0.00	0.000	6	0.000	0.034	2658	2489	3625	0	0	0	0	0	0
4518	-0.61	-146.0	477.6	-10.2	469	4522	0.00	2.15	0.00	0.000	4	0.000	0.048	2658	1083	3626	0	0	0	0	0	0
4584	-0.61	-146.0	484.6	-10.4	474	4591	0.00	2.17	0.00	0.000	6	0.000	0.047	2658	2494	3626	0	0	0	0	0	0
4911	-0.61	-146.0	515.9	-9.7	505	4915	0.00	2.20	0.00	0.000	4	0.000	0.063	2658	3897	3626	0	0	0	0	0	0
5008	-0.61	-146.0	525.7	-9.8	513	5012	0.00	2.12	0.00	0.000	6	0.000	0.034	2658	2483	3626	0	0	0	0	0	0
5235	end dive: TARGET_DEPTH_EXCEEDED
state	5235	begin apogee
5242	-0.12	0.0	547.1	9.0	534	5366	0.52	0.00	118.43	1.212	6	0.187	0.000	2811	2246	3030	0	0	0	0	0	0
5367	end apogee: CONTROL_FINISHED_OK
state	5367	begin climb
5369	0.62	146.0	550.0	0.0	545	5500	0.80	2.53	122.28	1.167	4	0.137	0.054	3056	3689	2433	0	0	0	0	0	0
5513	0.51	146.0	538.2	12.4	558	5518	0.15	2.33	0.00	0.000	6	0.184	0.038	3033	2298	2431	0	0	0	0	0	0
5838	0.48	146.0	502.4	10.5	588	5839	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2297	2426	0	0	0	0	0	0
6158	0.45	146.0	470.2	10.1	618	6159	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2297	2425	0	0	0	0	0	0
6478	0.41	146.0	437.0	11.0	648	6483	0.12	2.20	0.00	0.000	4	0.203	0.056	3001	3686	2424	0	0	0	0	0	0
6499	0.39	146.0	434.1	10.9	649	6507	0.00	2.20	0.00	0.000	6	0.000	0.039	3009	2264	2424	0	0	0	0	0	0
6826	0.40	157.2	403.7	9.5	680	6841	0.00	2.30	9.05	0.969	4	0.000	0.055	3009	3680	2389	0	0	0	0	0	0
6875	0.40	157.2	398.3	10.8	684	6882	0.00	2.20	0.00	0.000	6	0.000	0.038	3019	2276	2389	0	0	0	0	0	0
7202	0.40	157.2	365.7	10.0	715	7206	0.00	2.25	0.00	0.000	4	0.000	0.055	3019	3692	2388	0	0	0	0	0	0
7246	0.37	157.2	360.4	12.0	718	7254	0.17	2.20	0.00	0.000	6	0.177	0.039	2985	2267	2388	0	0	0	0	0	0
7573	0.52	213.5	334.9	7.4	749	7625	0.15	0.00	49.25	1.064	6	0.090	0.000	3050	2266	2159	0	0	0	0	0	0
7939	0.52	213.5	290.2	12.8	784	7943	0.00	2.25	0.00	0.000	4	0.000	0.054	3049	3684	2152	0	0	0	0	0	0
7978	0.48	213.5	284.9	13.5	787	7986	0.15	2.20	0.00	0.000	6	0.180	0.040	3021	2276	2151	0	0	0	0	0	0
8303	0.53	213.5	250.5	10.7	818	8307	0.00	2.20	0.00	0.000	4	0.000	0.053	3028	870	2150	0	0	0	0	0	0
8333	0.59	213.5	247.5	10.8	820	8337	0.00	2.17	0.00	0.000	6	0.000	0.041	3028	2287	2149	0	0	0	0	0	0
8658	0.62	213.5	211.7	10.6	850	8663	0.10	2.17	0.00	0.000	4	0.116	0.056	3076	3684	2149	0	0	0	0	0	0
8710	0.55	213.5	204.3	16.4	854	8714	0.17	2.15	0.00	0.000	6	0.181	0.040	3040	2275	2149	0	0	0	0	0	0
9039	0.55	213.5	165.7	11.0	885	9043	0.00	2.20	0.00	0.000	4	0.000	0.054	3043	864	2149	0	0	0	0	0	0
9050	0.55	213.5	164.3	11.2	885	9057	0.00	2.17	0.00	0.000	6	0.000	0.038	3043	2284	2148	0	0	0	0	0	0
9375	0.58	213.5	128.7	10.6	916	9379	0.00	2.17	0.00	0.000	4	0.000	0.055	3043	3691	2148	0	0	0	0	0	0
9437	0.58	213.5	121.3	12.4	921	9441	0.00	2.15	0.00	0.000	6	0.000	0.038	3053	2270	2147	0	0	0	0	0	0
9771	0.61	213.5	85.5	10.8	964	9778	0.00	2.20	0.00	0.000	4	0.000	0.054	3052	3682	2148	0	0	0	0	0	0
9857	0.61	213.5	75.4	11.6	979	9864	0.00	2.15	0.00	0.000	6	0.000	0.038	3062	2274	2148	0	0	0	0	0	0
10204	0.66	226.5	42.0	9.4	1040	10217	0.00	0.00	10.32	0.838	6	0.000	0.000	3061	2274	2106	0	0	0	0	0	0
10556	0.71	250.5	8.5	8.9	1102	10578	0.00	2.30	11.73	0.823	4	0.000	0.053	3062	3692	2007	0	0	0	0	0	0
10604	end climb: SURFACE_DEPTH_REACHED
state	10605	begin surface coast
10632	end surface coast: CONTROL_FINISHED_OK
state	10632	begin surface