Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 51 * 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 51 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 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 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -22406.588 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 -22406.588

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 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 51 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 280211,003056,6654.028,-5949.924,0,2126.0,0,-38.0 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,003056,6654.028,-5949.924,0,2126.0,0,-38.0 MHEAD_RNG_PITCHd_Wd 272.9,32272,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 855

Post-dive calculations and measurements:

FINISH1 56.6,1.026368,55 ALTIM_BOTTOM_PING 56.9,18.0

FINISH2 56.6 _24V_AH 22.7,10.500

RAFOS_CLK 644 _10V_AH 10.3,5.097

RAFOS 0,1298865665,4.033333,4.018055,79,62,59,56,54,53,660,175,211,197,134,120 FG_AHR_24Vo 0.000

RAFOS_FIX 6654.703613,-6010.605469,280211,040436,4,105,1.11 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 MEM 150732

TT8_MAMPS 0.029211 DATA_FILE_SIZE 40040,1034

HUMID 47.51 CAP_FILE_SIZE 116820,0

INTERNAL_PRESSURE 8.68197 CFSIZE 260165632,248528896

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1454.1

ALTIM_TOP_PING 19.6,16.8 GPS 280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 224 19.66 SBE_CT 739 24 402.96

Roll_motor 86 78 152.33 SBE_O2 800 19 345.16

VBD_pump_during_apogee 302 1369 9409.98 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 23.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2598 19 533.25

LPSleep 7034 2 167.37

TT8_Active 321 19 65.99

TT8_Sampling 1692 39 695.95

TT8_CF8 155 45 73.47

TT8_Kalman 0 0 0.00

Analog_circuits 1220 12 150.86

GPS_charging 0 0 0.00

Compass 1679 15 259.48

RAFOS 2520 1 38.93

Transponder 19 30 6.06

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.70 0.000 2 0.000 0.000 2893 3691 3054 0 0 0 0 0 0

26 -0.62 -146.0 11.5 -0.0 1 52 0.65 4.10 -14.90 0.000 4 0.118 0.057 2668 1076 3630 0 0 0 0 0 0

272 -0.53 -146.0 53.4 -20.1 44 279 0.00 2.25 0.00 0.000 6 0.000 0.061 2668 2487 3630 0 0 0 0 0 0

616 -0.41 -146.0 116.1 -13.9 97 618 0.22 0.00 0.00 0.000 6 0.223 0.000 2724 2487 3629 0 0 0 0 0 0

936 -0.43 -146.0 153.3 -11.5 127 940 0.00 2.25 0.00 0.000 4 0.000 0.067 2724 1074 3629 0 0 0 0 0 0

979 -0.49 -146.0 158.8 -12.2 130 986 0.00 2.25 0.00 0.000 6 0.000 0.062 2724 2501 3629 0 0 0 0 0 0

1306 -0.53 -146.0 196.5 -12.0 161 1310 0.00 2.25 0.00 0.000 4 0.000 0.078 2724 3904 3629 0 0 0 0 0 0

1328 -0.58 -146.0 199.8 -13.1 162 1336 0.10 2.22 0.00 0.000 6 0.095 0.049 2670 2483 3629 0 0 0 0 0 0

1653 -0.50 -146.0 245.8 -13.0 193 1658 0.12 2.25 0.00 0.000 4 0.225 0.069 2698 1076 3628 0 0 0 0 0 0

1716 -0.53 -146.0 252.4 -9.5 198 1720 0.00 2.25 0.00 0.000 6 0.000 0.063 2698 2491 3628 0 0 0 0 0 0

2047 -0.53 -146.0 282.0 -8.6 229 2051 0.00 2.22 0.00 0.000 4 0.000 0.068 2697 1082 3628 0 0 0 0 0 0

2076 -0.53 -146.0 284.6 -8.9 231 2080 0.00 2.22 0.00 0.000 6 0.000 0.062 2697 2494 3628 0 0 0 0 0 0

2401 -0.53 -146.0 314.4 -9.1 261 2402 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2494 3628 0 0 0 0 0 0

2722 -0.53 -146.0 345.3 -10.1 291 2726 0.00 2.25 0.00 0.000 4 0.000 0.067 2698 1079 3628 0 0 0 0 0 0

2750 -0.53 -146.0 348.6 -10.9 293 2754 0.00 2.22 0.00 0.000 6 0.000 0.061 2698 2490 3627 0 0 0 0 0 0

3080 -0.53 -146.0 383.2 -10.7 324 3083 0.00 2.25 0.00 0.000 4 0.000 0.066 2698 1072 3627 0 0 0 0 0 0

3103 -0.53 -146.0 385.8 -11.2 326 3107 0.00 2.25 0.00 0.000 6 0.000 0.060 2698 2491 3628 0 0 0 0 0 0

3430 -0.55 -146.0 418.0 -9.3 356 3431 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2491 3627 0 0 0 0 0 0

3748 -0.57 -146.0 448.3 -9.6 386 3749 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2491 3628 0 0 0 0 0 0

4067 -0.59 -146.0 480.6 -10.4 416 4070 0.00 2.22 0.00 0.000 4 0.000 0.065 2698 1083 3628 0 0 0 0 0 0

4101 -0.63 -146.0 484.5 -11.2 419 4106 0.12 2.22 0.00 0.000 6 0.135 0.060 2657 2503 3628 0 0 0 0 0 0

4427 -0.55 -146.0 526.3 -12.9 449 4428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2503 3628 0 0 0 0 0 0

4746 -0.48 -146.0 566.6 -12.7 479 4748 0.20 0.00 0.00 0.000 6 0.212 0.000 2706 2502 3629 0 0 0 0 0 0

5063 -0.54 -146.0 593.3 -7.7 509 5065 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2503 3629 0 0 0 0 0 0

5393 -0.59 -146.0 619.8 -8.1 525 5394 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2503 3629 0 0 0 0 0 0

5700 -0.66 -146.0 643.4 -7.6 535 5702 0.17 0.00 0.00 0.000 6 0.115 0.000 2646 2503 3630 0 0 0 0 0 0

6005 -0.57 -146.0 680.8 -12.5 545 6007 0.12 0.00 0.00 0.000 6 0.224 0.000 2674 2502 3629 0 0 0 0 0 0

6279 end dive: BOTTOM_OBSTACLE_DETECTED

state 6279 begin apogee

6285 -0.12 0.0 708.8 10.0 554 6414 0.47 0.00 122.68 1.369 6 0.191 0.000 2815 2258 3030 0 0 0 0 0 0

6415 end apogee: CONTROL_FINISHED_OK

state 6415 begin climb

6417 0.62 146.0 712.2 0.0 558 6553 0.77 2.53 125.43 1.328 4 0.140 0.072 3062 880 2433 0 0 0 0 0 0

6558 0.56 205.4 702.2 7.3 562 6620 0.00 2.45 54.62 1.276 6 0.000 0.055 3062 2275 2191 0 0 0 0 0 0

6939 0.56 205.4 648.7 23739.5 575 6944 0.00 2.38 0.00 0.000 4 0.000 0.070 3062 3689 2179 0 0 0 0 0 0

7036 0.56 205.4 633.7 23739.5 578 7040 0.00 2.33 0.00 0.000 6 0.000 0.054 3071 2287 2178 0 0 0 0 0 0

7353 0.56 205.4 586.2 23739.5 593 7354 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2286 2177 0 0 0 0 0 0

7673 0.56 205.4 537.8 23739.5 623 7674 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2286 2176 0 0 0 0 0 0

7991 0.56 205.4 489.5 23739.5 653 7995 0.00 2.30 0.00 0.000 4 0.000 0.067 3071 3699 2176 0 0 0 0 0 0

8030 0.56 205.4 482.6 23739.5 656 8038 0.12 2.28 0.00 0.000 6 0.198 0.054 3051 2270 2176 0 0 0 0 0 0

8355 0.56 205.4 436.1 23739.5 687 8357 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2269 2176 0 0 0 0 0 0

8675 0.56 205.4 394.9 23739.5 717 8679 0.00 2.30 0.00 0.000 4 0.000 0.066 3051 3692 2176 0 0 0 0 0 0

8704 0.56 205.4 391.0 23739.5 719 8708 0.00 2.25 0.00 0.000 6 0.000 0.054 3058 2264 2175 0 0 0 0 0 0

9029 0.56 205.4 346.6 23739.5 749 9033 0.00 2.30 0.00 0.000 4 0.000 0.066 3059 3701 2175 0 0 0 0 0 0

9057 0.56 205.4 342.6 23739.5 751 9062 0.00 2.25 0.00 0.000 6 0.000 0.053 3070 2268 2175 0 0 0 0 0 0

9383 0.56 205.4 298.4 23739.5 781 9384 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2268 2175 0 0 0 0 0 0

9705 0.56 205.4 256.9 23739.5 811 9709 0.00 2.28 0.00 0.000 4 0.000 0.065 3070 3700 2175 0 0 0 0 0 0

9727 0.56 205.4 253.3 23739.5 812 9735 0.12 2.22 0.00 0.000 6 0.194 0.052 3049 2268 2175 0 0 0 0 0 0

10052 0.56 205.4 216.7 23739.5 843 10054 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2268 2175 0 0 0 0 0 0

10371 0.56 205.4 184.8 23739.5 873 10375 0.00 2.28 0.00 0.000 4 0.000 0.064 3049 3692 2175 0 0 0 0 0 0

10412 0.56 205.4 180.6 23739.5 876 10416 0.00 2.20 0.00 0.000 6 0.000 0.052 3056 2276 2175 0 0 0 0 0 0

10737 0.56 205.4 151.4 23739.5 906 10741 0.00 2.22 0.00 0.000 4 0.000 0.067 3065 861 2175 0 0 0 0 0 0

10776 0.56 205.4 147.6 23739.5 909 10780 0.00 2.22 0.00 0.000 6 0.000 0.053 3065 2292 2174 0 0 0 0 0 0

11101 0.56 205.4 115.1 23739.5 939 11105 0.00 2.20 0.00 0.000 4 0.000 0.067 3066 3693 2174 0 0 0 0 0 0

11232 0.56 205.4 101.6 23739.5 950 11236 0.00 2.20 0.00 0.000 6 0.000 0.053 3074 2276 2174 0 0 0 0 0 0

11574 0.56 205.4 62.4 23739.5 1009 11581 0.00 2.25 0.00 0.000 4 0.000 0.066 3074 3684 2174 0 0 0 0 0 0

11616 0.56 205.4 59.1 23739.5 1016 11624 0.15 2.22 0.00 0.000 6 0.190 0.052 3045 2262 2174 0 0 0 0 0 0

11707 end climb: SURFACE_OBSTACLE_DETECTED

state 11707 begin subsurface finish

11714 0.07 55.5 56.6 -23739.5 1032 11730 0.47 2.28 -5.78 0.000 4 0.156 0.076 2891 3684 2809 0 0 0 0 0 0

11730 end subsurface finish: CONTROL_FINISHED_OK

state 11730 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	51	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	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	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-22406.588	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	280211,003056,6654.028,-5949.924,0,2126.0,0,-38.0	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,003056,6654.028,-5949.924,0,2126.0,0,-38.0	MHEAD_RNG_PITCHd_Wd	272.9,32272,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	855

FINISH1	56.6,1.026368,55	ALTIM_BOTTOM_PING	56.9,18.0
FINISH2	56.6	_24V_AH	22.7,10.500
RAFOS_CLK	644	_10V_AH	10.3,5.097
RAFOS	0,1298865665,4.033333,4.018055,79,62,59,56,54,53,660,175,211,197,134,120	FG_AHR_24Vo	0.000
RAFOS_FIX	6654.703613,-6010.605469,280211,040436,4,105,1.11	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	MEM	150732
TT8_MAMPS	0.029211	DATA_FILE_SIZE	40040,1034
HUMID	47.51	CAP_FILE_SIZE	116820,0
INTERNAL_PRESSURE	8.68197	CFSIZE	260165632,248528896
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1454.1
ALTIM_TOP_PING	19.6,16.8	GPS	280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	224	19.66	SBE_CT	739	24	402.96
Roll_motor	86	78	152.33	SBE_O2	800	19	345.16
VBD_pump_during_apogee	302	1369	9409.98	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	23.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2598	19	533.25
LPSleep	7034	2	167.37
TT8_Active	321	19	65.99
TT8_Sampling	1692	39	695.95
TT8_CF8	155	45	73.47
TT8_Kalman	0	0	0.00
Analog_circuits	1220	12	150.86
GPS_charging	0	0	0.00
Compass	1679	15	259.48
RAFOS	2520	1	38.93
Transponder	19	30	6.06

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.70	0.000	2	0.000	0.000	2893	3691	3054	0	0	0	0	0	0
26	-0.62	-146.0	11.5	-0.0	1	52	0.65	4.10	-14.90	0.000	4	0.118	0.057	2668	1076	3630	0	0	0	0	0	0
272	-0.53	-146.0	53.4	-20.1	44	279	0.00	2.25	0.00	0.000	6	0.000	0.061	2668	2487	3630	0	0	0	0	0	0
616	-0.41	-146.0	116.1	-13.9	97	618	0.22	0.00	0.00	0.000	6	0.223	0.000	2724	2487	3629	0	0	0	0	0	0
936	-0.43	-146.0	153.3	-11.5	127	940	0.00	2.25	0.00	0.000	4	0.000	0.067	2724	1074	3629	0	0	0	0	0	0
979	-0.49	-146.0	158.8	-12.2	130	986	0.00	2.25	0.00	0.000	6	0.000	0.062	2724	2501	3629	0	0	0	0	0	0
1306	-0.53	-146.0	196.5	-12.0	161	1310	0.00	2.25	0.00	0.000	4	0.000	0.078	2724	3904	3629	0	0	0	0	0	0
1328	-0.58	-146.0	199.8	-13.1	162	1336	0.10	2.22	0.00	0.000	6	0.095	0.049	2670	2483	3629	0	0	0	0	0	0
1653	-0.50	-146.0	245.8	-13.0	193	1658	0.12	2.25	0.00	0.000	4	0.225	0.069	2698	1076	3628	0	0	0	0	0	0
1716	-0.53	-146.0	252.4	-9.5	198	1720	0.00	2.25	0.00	0.000	6	0.000	0.063	2698	2491	3628	0	0	0	0	0	0
2047	-0.53	-146.0	282.0	-8.6	229	2051	0.00	2.22	0.00	0.000	4	0.000	0.068	2697	1082	3628	0	0	0	0	0	0
2076	-0.53	-146.0	284.6	-8.9	231	2080	0.00	2.22	0.00	0.000	6	0.000	0.062	2697	2494	3628	0	0	0	0	0	0
2401	-0.53	-146.0	314.4	-9.1	261	2402	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2494	3628	0	0	0	0	0	0
2722	-0.53	-146.0	345.3	-10.1	291	2726	0.00	2.25	0.00	0.000	4	0.000	0.067	2698	1079	3628	0	0	0	0	0	0
2750	-0.53	-146.0	348.6	-10.9	293	2754	0.00	2.22	0.00	0.000	6	0.000	0.061	2698	2490	3627	0	0	0	0	0	0
3080	-0.53	-146.0	383.2	-10.7	324	3083	0.00	2.25	0.00	0.000	4	0.000	0.066	2698	1072	3627	0	0	0	0	0	0
3103	-0.53	-146.0	385.8	-11.2	326	3107	0.00	2.25	0.00	0.000	6	0.000	0.060	2698	2491	3628	0	0	0	0	0	0
3430	-0.55	-146.0	418.0	-9.3	356	3431	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2491	3627	0	0	0	0	0	0
3748	-0.57	-146.0	448.3	-9.6	386	3749	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2491	3628	0	0	0	0	0	0
4067	-0.59	-146.0	480.6	-10.4	416	4070	0.00	2.22	0.00	0.000	4	0.000	0.065	2698	1083	3628	0	0	0	0	0	0
4101	-0.63	-146.0	484.5	-11.2	419	4106	0.12	2.22	0.00	0.000	6	0.135	0.060	2657	2503	3628	0	0	0	0	0	0
4427	-0.55	-146.0	526.3	-12.9	449	4428	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2503	3628	0	0	0	0	0	0
4746	-0.48	-146.0	566.6	-12.7	479	4748	0.20	0.00	0.00	0.000	6	0.212	0.000	2706	2502	3629	0	0	0	0	0	0
5063	-0.54	-146.0	593.3	-7.7	509	5065	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2503	3629	0	0	0	0	0	0
5393	-0.59	-146.0	619.8	-8.1	525	5394	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2503	3629	0	0	0	0	0	0
5700	-0.66	-146.0	643.4	-7.6	535	5702	0.17	0.00	0.00	0.000	6	0.115	0.000	2646	2503	3630	0	0	0	0	0	0
6005	-0.57	-146.0	680.8	-12.5	545	6007	0.12	0.00	0.00	0.000	6	0.224	0.000	2674	2502	3629	0	0	0	0	0	0
6279	end dive: BOTTOM_OBSTACLE_DETECTED
state	6279	begin apogee
6285	-0.12	0.0	708.8	10.0	554	6414	0.47	0.00	122.68	1.369	6	0.191	0.000	2815	2258	3030	0	0	0	0	0	0
6415	end apogee: CONTROL_FINISHED_OK
state	6415	begin climb
6417	0.62	146.0	712.2	0.0	558	6553	0.77	2.53	125.43	1.328	4	0.140	0.072	3062	880	2433	0	0	0	0	0	0
6558	0.56	205.4	702.2	7.3	562	6620	0.00	2.45	54.62	1.276	6	0.000	0.055	3062	2275	2191	0	0	0	0	0	0
6939	0.56	205.4	648.7	23739.5	575	6944	0.00	2.38	0.00	0.000	4	0.000	0.070	3062	3689	2179	0	0	0	0	0	0
7036	0.56	205.4	633.7	23739.5	578	7040	0.00	2.33	0.00	0.000	6	0.000	0.054	3071	2287	2178	0	0	0	0	0	0
7353	0.56	205.4	586.2	23739.5	593	7354	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2286	2177	0	0	0	0	0	0
7673	0.56	205.4	537.8	23739.5	623	7674	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2286	2176	0	0	0	0	0	0
7991	0.56	205.4	489.5	23739.5	653	7995	0.00	2.30	0.00	0.000	4	0.000	0.067	3071	3699	2176	0	0	0	0	0	0
8030	0.56	205.4	482.6	23739.5	656	8038	0.12	2.28	0.00	0.000	6	0.198	0.054	3051	2270	2176	0	0	0	0	0	0
8355	0.56	205.4	436.1	23739.5	687	8357	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2269	2176	0	0	0	0	0	0
8675	0.56	205.4	394.9	23739.5	717	8679	0.00	2.30	0.00	0.000	4	0.000	0.066	3051	3692	2176	0	0	0	0	0	0
8704	0.56	205.4	391.0	23739.5	719	8708	0.00	2.25	0.00	0.000	6	0.000	0.054	3058	2264	2175	0	0	0	0	0	0
9029	0.56	205.4	346.6	23739.5	749	9033	0.00	2.30	0.00	0.000	4	0.000	0.066	3059	3701	2175	0	0	0	0	0	0
9057	0.56	205.4	342.6	23739.5	751	9062	0.00	2.25	0.00	0.000	6	0.000	0.053	3070	2268	2175	0	0	0	0	0	0
9383	0.56	205.4	298.4	23739.5	781	9384	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	2268	2175	0	0	0	0	0	0
9705	0.56	205.4	256.9	23739.5	811	9709	0.00	2.28	0.00	0.000	4	0.000	0.065	3070	3700	2175	0	0	0	0	0	0
9727	0.56	205.4	253.3	23739.5	812	9735	0.12	2.22	0.00	0.000	6	0.194	0.052	3049	2268	2175	0	0	0	0	0	0
10052	0.56	205.4	216.7	23739.5	843	10054	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2268	2175	0	0	0	0	0	0
10371	0.56	205.4	184.8	23739.5	873	10375	0.00	2.28	0.00	0.000	4	0.000	0.064	3049	3692	2175	0	0	0	0	0	0
10412	0.56	205.4	180.6	23739.5	876	10416	0.00	2.20	0.00	0.000	6	0.000	0.052	3056	2276	2175	0	0	0	0	0	0
10737	0.56	205.4	151.4	23739.5	906	10741	0.00	2.22	0.00	0.000	4	0.000	0.067	3065	861	2175	0	0	0	0	0	0
10776	0.56	205.4	147.6	23739.5	909	10780	0.00	2.22	0.00	0.000	6	0.000	0.053	3065	2292	2174	0	0	0	0	0	0
11101	0.56	205.4	115.1	23739.5	939	11105	0.00	2.20	0.00	0.000	4	0.000	0.067	3066	3693	2174	0	0	0	0	0	0
11232	0.56	205.4	101.6	23739.5	950	11236	0.00	2.20	0.00	0.000	6	0.000	0.053	3074	2276	2174	0	0	0	0	0	0
11574	0.56	205.4	62.4	23739.5	1009	11581	0.00	2.25	0.00	0.000	4	0.000	0.066	3074	3684	2174	0	0	0	0	0	0
11616	0.56	205.4	59.1	23739.5	1016	11624	0.15	2.22	0.00	0.000	6	0.190	0.052	3045	2262	2174	0	0	0	0	0	0
11707	end climb: SURFACE_OBSTACLE_DETECTED
state	11707	begin subsurface finish
11714	0.07	55.5	56.6	-23739.5	1032	11730	0.47	2.28	-5.78	0.000	4	0.156	0.076	2891	3684	2809	0	0	0	0	0	0
11730	end subsurface finish: CONTROL_FINISHED_OK
state	11730	begin surface