Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 93 * 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 93 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 24 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -24252.846 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 -24252.846

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 24 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 31 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 93 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 070311,044344,6721.273,-5801.601,0,3137.7,0,-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 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -23.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070311,044344,6721.273,-5801.601,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 160.7,63009,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 859

Post-dive calculations and measurements:

FREEZE 1.98,-1.257,-1.826,3,70,2 ALTIM_TOP_PING 19.4,17.6

FINISH 2.0,1.026770 _24V_AH 23.1,16.211

SM_CCo 11420,126.40,0.067,0,0,750,559.04 _10V_AH 10.3,8.447

SM_GC 2.11,0.00,0.00,126.40,0.000,0.000,0.067,117,2472,750,-8.59,-0.48,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 639 FG_AHR_10Vo 0.000

RAFOS 0,1299484871,8.033334,8.019722,61,58,57,57,55,49,184,162,119,217,199,142 MEM 150608

RAFOS_FIX 6721.272949,-5801.601074,070311,040444,3,138,0.17 DATA_FILE_SIZE 46672,1189

IRIDIUM_FIX 6647.44,-5812.63,050311,151532 CAP_FILE_SIZE 130822,0

TT8_MAMPS 0.029211 CFSIZE 260165632,245301248

HUMID 43.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.49642 SOUNDSPEED 1462.7

TCM_TEMP 16.70 GPS 070311,083838,6723.123,-5753.658,38,1.3,38,-38.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 328 183.32 SBE_CT 835 24 463.21

Roll_motor 76 74 130.75 SBE_O2 910 19 399.59

VBD_pump_during_apogee 349 1274 10299.84 nil 0 0 0.00

VBD_pump_during_surface 126 66 194.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 236.00 nil 0 0 0.00

Iridium_during_connect 17 160 63.40 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 16.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 94.39

TT8 2801 19 574.72

LPSleep 6249 2 148.70

TT8_Active 635 19 130.32

TT8_Sampling 2182 39 897.48

TT8_CF8 391 45 185.07

TT8_Kalman 0 0 0.00

Analog_circuits 1641 12 202.84

GPS_charging 0 0 0.00

Compass 1866 15 288.37

RAFOS 1800 1 27.81

Transponder 13 30 4.09

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 0 168 0.00 0.00 -148.80 0.000 2 0.000 0.000 107 2505 3066 0 0 0 0 0 0

171 -0.62 -146.0 5.4 -9.6 26 208 12.32 2.33 -14.93 0.000 4 0.329 0.074 2653 1074 3628 0 0 0 0 0 0

344 -0.53 -146.0 36.1 -16.5 56 352 0.15 2.25 0.00 0.000 6 0.223 0.058 2690 2492 3629 0 0 0 0 0 0

690 -0.49 -146.0 86.2 -12.9 117 697 0.00 2.28 0.00 0.000 4 0.000 0.073 2690 3899 3628 0 0 0 0 0 0

704 -0.45 -146.0 87.9 -12.7 119 711 0.00 2.20 0.00 0.000 6 0.000 0.043 2690 2481 3628 0 0 0 0 0 0

1036 -0.41 -146.0 129.3 -12.7 158 1040 0.15 2.22 0.00 0.000 4 0.218 0.064 2727 1088 3628 0 0 0 0 0 0

1092 -0.51 -146.0 135.0 -8.7 162 1099 0.00 2.22 0.00 0.000 6 0.000 0.059 2727 2496 3628 0 0 0 0 0 0

1418 -0.58 -146.0 162.7 -9.0 193 1420 0.15 0.00 0.00 0.000 6 0.120 0.000 2677 2496 3628 0 0 0 0 0 0

1736 -0.54 -146.0 202.1 -12.2 223 1740 0.00 2.28 0.00 0.000 4 0.000 0.074 2677 3906 3628 0 0 0 0 0 0

1771 -0.51 -146.0 206.5 -12.9 226 1775 0.00 2.17 0.00 0.000 6 0.000 0.044 2677 2490 3628 0 0 0 0 0 0

2101 -0.47 -146.0 247.1 -12.3 257 2103 0.12 0.00 0.00 0.000 6 0.223 0.000 2705 2490 3628 0 0 0 0 0 0

2420 -0.51 -146.0 279.7 -9.8 287 2421 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2489 3628 0 0 0 0 0 0

2740 -0.56 -146.0 309.7 -8.5 317 2741 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2489 3629 0 0 0 0 0 0

3059 -0.62 -146.0 338.1 -8.6 347 3066 0.12 0.00 0.00 0.000 6 0.126 0.000 2663 2489 3630 0 0 0 0 0 0

3385 -0.57 -146.0 374.8 -11.3 378 3389 0.00 2.25 0.00 0.000 4 0.000 0.068 2663 3908 3630 0 0 0 0 0 0

3406 -0.52 -146.0 377.4 -11.2 379 3414 0.12 2.15 0.00 0.000 6 0.207 0.039 2692 2483 3631 0 0 0 0 0 0

3732 -0.54 -146.0 404.7 -7.7 410 3736 0.00 2.28 0.00 0.000 4 0.000 0.067 2692 3906 3632 0 0 0 0 0 0

3777 -0.60 -146.0 408.3 -7.6 414 3781 0.00 2.12 0.00 0.000 6 0.000 0.039 2692 2489 3632 0 0 0 0 0 0

4108 -0.63 -146.0 433.5 -7.4 445 4109 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2489 3633 0 0 0 0 0 0

4430 -0.65 -146.0 459.7 -8.9 475 4436 0.12 0.00 0.00 0.000 6 0.125 0.000 2649 2489 3634 0 0 0 0 0 0

4756 -0.57 -146.0 500.1 -12.7 506 4758 0.12 0.00 0.00 0.000 6 0.218 0.000 2677 2489 3635 0 0 0 0 0 0

5073 -0.57 -146.0 532.9 -10.4 536 5074 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2489 3635 0 0 0 0 0 0

5393 -0.57 -146.0 567.8 -11.4 566 5394 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2487 3635 0 0 0 0 0 0

5713 -0.82 -146.0 597.8 -0.1 596 5715 0.22 0.00 0.00 0.000 6 0.101 0.000 2596 2486 3636 0 0 0 0 0 0

5836 end dive: NO_VERTICAL_VELOCITY

state 5837 begin apogee

5842 -0.12 0.0 597.8 0.0 608 5974 0.68 0.00 120.93 1.274 6 0.128 0.000 2820 2257 3030 0 0 0 0 0 0

5974 end apogee: CONTROL_FINISHED_OK

state 5975 begin climb

5976 0.62 146.0 597.8 0.0 620 6110 0.75 2.42 123.10 1.235 4 0.135 0.061 3063 879 2432 0 0 0 0 0 0

6283 0.53 146.0 574.8 11.2 647 6290 0.00 2.30 0.00 0.000 6 0.000 0.050 3064 2276 2425 0 0 0 0 0 0

6609 0.43 146.0 536.9 11.8 678 6614 0.22 2.35 0.00 0.000 4 0.181 0.065 3002 3696 2422 0 0 0 0 0 0

6694 0.41 150.8 528.2 9.8 685 6698 0.00 2.25 0.00 0.000 6 0.000 0.048 3010 2284 2423 0 0 0 0 0 0

7020 0.46 191.5 501.4 8.1 715 7065 0.00 2.35 38.00 1.180 4 0.000 0.063 3019 871 2248 0 0 0 0 0 0

7106 0.55 224.1 494.1 8.5 722 7146 0.00 2.30 29.55 1.158 6 0.000 0.051 3019 2284 2115 0 0 0 0 0 0

7464 0.58 228.3 459.8 9.8 756 7468 0.00 2.30 0.00 0.000 4 0.000 0.066 3019 3692 2107 0 0 0 0 0 0

7558 0.58 228.3 448.9 11.7 764 7565 0.00 2.25 0.00 0.000 6 0.000 0.049 3029 2278 2106 0 0 0 0 0 0

7883 0.58 228.3 411.8 11.8 795 7884 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2278 2104 0 0 0 0 0 0

8203 0.58 228.3 373.4 12.4 825 8205 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2278 2103 0 0 0 0 0 0

8523 0.58 228.3 333.6 12.3 855 8527 0.00 2.25 0.00 0.000 4 0.000 0.061 3029 3686 2102 0 0 0 0 0 0

8563 0.58 228.3 328.1 13.1 858 8568 0.00 2.20 0.00 0.000 6 0.000 0.047 3039 2272 2102 0 0 0 0 0 0

8889 0.56 228.3 286.5 12.8 888 8890 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2272 2102 0 0 0 0 0 0

9208 0.56 228.3 245.7 12.6 918 9212 0.00 2.20 0.00 0.000 4 0.000 0.061 3048 863 2102 0 0 0 0 0 0

9252 0.59 228.3 239.9 12.1 921 9259 0.00 2.17 0.00 0.000 6 0.000 0.047 3048 2279 2102 0 0 0 0 0 0

9579 0.59 228.3 200.1 12.0 952 9583 0.00 2.20 0.00 0.000 4 0.000 0.061 3048 3684 2102 0 0 0 0 0 0

9686 0.56 228.3 185.5 14.0 961 9690 0.00 2.20 0.00 0.000 6 0.000 0.047 3057 2267 2103 0 0 0 0 0 0

10011 0.56 228.3 147.9 11.3 991 10015 0.00 2.17 0.00 0.000 4 0.000 0.061 3067 865 2103 0 0 0 0 0 0

10054 0.56 228.3 143.0 10.9 994 10061 0.00 2.22 0.00 0.000 6 0.000 0.047 3067 2280 2103 0 0 0 0 0 0

10380 0.56 228.3 107.8 10.5 1025 10383 0.00 2.17 0.00 0.000 4 0.000 0.062 3066 3682 2103 0 0 0 0 0 0

10505 0.51 228.3 91.8 13.1 1041 10513 0.17 2.17 0.00 0.000 6 0.175 0.047 3029 2265 2103 0 0 0 0 0 0

10851 0.65 269.7 58.0 8.1 1102 10899 0.12 2.30 38.28 0.928 4 0.116 0.064 3087 869 1929 0 0 0 0 0 0

10950 0.67 269.7 47.0 11.4 1119 10957 0.00 2.25 0.00 0.000 6 0.000 0.048 3087 2280 1925 0 0 0 0 0 0

11295 0.65 269.7 6.5 12.3 1180 11304 0.00 2.22 0.00 0.000 4 0.000 0.065 3087 3684 1921 0 0 0 0 0 0

11324 end climb: SURFACE_DEPTH_REACHED

state 11324 begin surface coast

11346 end surface coast: CONTROL_FINISHED_OK

state 11348 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	93	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	24	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-24252.846	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	070311,044344,6721.273,-5801.601,0,3137.7,0,-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	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-23.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070311,044344,6721.273,-5801.601,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	160.7,63009,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	859

FREEZE	1.98,-1.257,-1.826,3,70,2	ALTIM_TOP_PING	19.4,17.6
FINISH	2.0,1.026770	_24V_AH	23.1,16.211
SM_CCo	11420,126.40,0.067,0,0,750,559.04	_10V_AH	10.3,8.447
SM_GC	2.11,0.00,0.00,126.40,0.000,0.000,0.067,117,2472,750,-8.59,-0.48,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	639	FG_AHR_10Vo	0.000
RAFOS	0,1299484871,8.033334,8.019722,61,58,57,57,55,49,184,162,119,217,199,142	MEM	150608
RAFOS_FIX	6721.272949,-5801.601074,070311,040444,3,138,0.17	DATA_FILE_SIZE	46672,1189
IRIDIUM_FIX	6647.44,-5812.63,050311,151532	CAP_FILE_SIZE	130822,0
TT8_MAMPS	0.029211	CFSIZE	260165632,245301248
HUMID	43.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.49642	SOUNDSPEED	1462.7
TCM_TEMP	16.70	GPS	070311,083838,6723.123,-5753.658,38,1.3,38,-38.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	328	183.32	SBE_CT	835	24	463.21
Roll_motor	76	74	130.75	SBE_O2	910	19	399.59
VBD_pump_during_apogee	349	1274	10299.84	nil	0	0	0.00
VBD_pump_during_surface	126	66	194.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	236.00	nil	0	0	0.00
Iridium_during_connect	17	160	63.40	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	16.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	94.39
TT8	2801	19	574.72
LPSleep	6249	2	148.70
TT8_Active	635	19	130.32
TT8_Sampling	2182	39	897.48
TT8_CF8	391	45	185.07
TT8_Kalman	0	0	0.00
Analog_circuits	1641	12	202.84
GPS_charging	0	0	0.00
Compass	1866	15	288.37
RAFOS	1800	1	27.81
Transponder	13	30	4.09

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	168	0.00	0.00	-148.80	0.000	2	0.000	0.000	107	2505	3066	0	0	0	0	0	0
171	-0.62	-146.0	5.4	-9.6	26	208	12.32	2.33	-14.93	0.000	4	0.329	0.074	2653	1074	3628	0	0	0	0	0	0
344	-0.53	-146.0	36.1	-16.5	56	352	0.15	2.25	0.00	0.000	6	0.223	0.058	2690	2492	3629	0	0	0	0	0	0
690	-0.49	-146.0	86.2	-12.9	117	697	0.00	2.28	0.00	0.000	4	0.000	0.073	2690	3899	3628	0	0	0	0	0	0
704	-0.45	-146.0	87.9	-12.7	119	711	0.00	2.20	0.00	0.000	6	0.000	0.043	2690	2481	3628	0	0	0	0	0	0
1036	-0.41	-146.0	129.3	-12.7	158	1040	0.15	2.22	0.00	0.000	4	0.218	0.064	2727	1088	3628	0	0	0	0	0	0
1092	-0.51	-146.0	135.0	-8.7	162	1099	0.00	2.22	0.00	0.000	6	0.000	0.059	2727	2496	3628	0	0	0	0	0	0
1418	-0.58	-146.0	162.7	-9.0	193	1420	0.15	0.00	0.00	0.000	6	0.120	0.000	2677	2496	3628	0	0	0	0	0	0
1736	-0.54	-146.0	202.1	-12.2	223	1740	0.00	2.28	0.00	0.000	4	0.000	0.074	2677	3906	3628	0	0	0	0	0	0
1771	-0.51	-146.0	206.5	-12.9	226	1775	0.00	2.17	0.00	0.000	6	0.000	0.044	2677	2490	3628	0	0	0	0	0	0
2101	-0.47	-146.0	247.1	-12.3	257	2103	0.12	0.00	0.00	0.000	6	0.223	0.000	2705	2490	3628	0	0	0	0	0	0
2420	-0.51	-146.0	279.7	-9.8	287	2421	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2489	3628	0	0	0	0	0	0
2740	-0.56	-146.0	309.7	-8.5	317	2741	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2489	3629	0	0	0	0	0	0
3059	-0.62	-146.0	338.1	-8.6	347	3066	0.12	0.00	0.00	0.000	6	0.126	0.000	2663	2489	3630	0	0	0	0	0	0
3385	-0.57	-146.0	374.8	-11.3	378	3389	0.00	2.25	0.00	0.000	4	0.000	0.068	2663	3908	3630	0	0	0	0	0	0
3406	-0.52	-146.0	377.4	-11.2	379	3414	0.12	2.15	0.00	0.000	6	0.207	0.039	2692	2483	3631	0	0	0	0	0	0
3732	-0.54	-146.0	404.7	-7.7	410	3736	0.00	2.28	0.00	0.000	4	0.000	0.067	2692	3906	3632	0	0	0	0	0	0
3777	-0.60	-146.0	408.3	-7.6	414	3781	0.00	2.12	0.00	0.000	6	0.000	0.039	2692	2489	3632	0	0	0	0	0	0
4108	-0.63	-146.0	433.5	-7.4	445	4109	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2489	3633	0	0	0	0	0	0
4430	-0.65	-146.0	459.7	-8.9	475	4436	0.12	0.00	0.00	0.000	6	0.125	0.000	2649	2489	3634	0	0	0	0	0	0
4756	-0.57	-146.0	500.1	-12.7	506	4758	0.12	0.00	0.00	0.000	6	0.218	0.000	2677	2489	3635	0	0	0	0	0	0
5073	-0.57	-146.0	532.9	-10.4	536	5074	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2489	3635	0	0	0	0	0	0
5393	-0.57	-146.0	567.8	-11.4	566	5394	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2487	3635	0	0	0	0	0	0
5713	-0.82	-146.0	597.8	-0.1	596	5715	0.22	0.00	0.00	0.000	6	0.101	0.000	2596	2486	3636	0	0	0	0	0	0
5836	end dive: NO_VERTICAL_VELOCITY
state	5837	begin apogee
5842	-0.12	0.0	597.8	0.0	608	5974	0.68	0.00	120.93	1.274	6	0.128	0.000	2820	2257	3030	0	0	0	0	0	0
5974	end apogee: CONTROL_FINISHED_OK
state	5975	begin climb
5976	0.62	146.0	597.8	0.0	620	6110	0.75	2.42	123.10	1.235	4	0.135	0.061	3063	879	2432	0	0	0	0	0	0
6283	0.53	146.0	574.8	11.2	647	6290	0.00	2.30	0.00	0.000	6	0.000	0.050	3064	2276	2425	0	0	0	0	0	0
6609	0.43	146.0	536.9	11.8	678	6614	0.22	2.35	0.00	0.000	4	0.181	0.065	3002	3696	2422	0	0	0	0	0	0
6694	0.41	150.8	528.2	9.8	685	6698	0.00	2.25	0.00	0.000	6	0.000	0.048	3010	2284	2423	0	0	0	0	0	0
7020	0.46	191.5	501.4	8.1	715	7065	0.00	2.35	38.00	1.180	4	0.000	0.063	3019	871	2248	0	0	0	0	0	0
7106	0.55	224.1	494.1	8.5	722	7146	0.00	2.30	29.55	1.158	6	0.000	0.051	3019	2284	2115	0	0	0	0	0	0
7464	0.58	228.3	459.8	9.8	756	7468	0.00	2.30	0.00	0.000	4	0.000	0.066	3019	3692	2107	0	0	0	0	0	0
7558	0.58	228.3	448.9	11.7	764	7565	0.00	2.25	0.00	0.000	6	0.000	0.049	3029	2278	2106	0	0	0	0	0	0
7883	0.58	228.3	411.8	11.8	795	7884	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2278	2104	0	0	0	0	0	0
8203	0.58	228.3	373.4	12.4	825	8205	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2278	2103	0	0	0	0	0	0
8523	0.58	228.3	333.6	12.3	855	8527	0.00	2.25	0.00	0.000	4	0.000	0.061	3029	3686	2102	0	0	0	0	0	0
8563	0.58	228.3	328.1	13.1	858	8568	0.00	2.20	0.00	0.000	6	0.000	0.047	3039	2272	2102	0	0	0	0	0	0
8889	0.56	228.3	286.5	12.8	888	8890	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2272	2102	0	0	0	0	0	0
9208	0.56	228.3	245.7	12.6	918	9212	0.00	2.20	0.00	0.000	4	0.000	0.061	3048	863	2102	0	0	0	0	0	0
9252	0.59	228.3	239.9	12.1	921	9259	0.00	2.17	0.00	0.000	6	0.000	0.047	3048	2279	2102	0	0	0	0	0	0
9579	0.59	228.3	200.1	12.0	952	9583	0.00	2.20	0.00	0.000	4	0.000	0.061	3048	3684	2102	0	0	0	0	0	0
9686	0.56	228.3	185.5	14.0	961	9690	0.00	2.20	0.00	0.000	6	0.000	0.047	3057	2267	2103	0	0	0	0	0	0
10011	0.56	228.3	147.9	11.3	991	10015	0.00	2.17	0.00	0.000	4	0.000	0.061	3067	865	2103	0	0	0	0	0	0
10054	0.56	228.3	143.0	10.9	994	10061	0.00	2.22	0.00	0.000	6	0.000	0.047	3067	2280	2103	0	0	0	0	0	0
10380	0.56	228.3	107.8	10.5	1025	10383	0.00	2.17	0.00	0.000	4	0.000	0.062	3066	3682	2103	0	0	0	0	0	0
10505	0.51	228.3	91.8	13.1	1041	10513	0.17	2.17	0.00	0.000	6	0.175	0.047	3029	2265	2103	0	0	0	0	0	0
10851	0.65	269.7	58.0	8.1	1102	10899	0.12	2.30	38.28	0.928	4	0.116	0.064	3087	869	1929	0	0	0	0	0	0
10950	0.67	269.7	47.0	11.4	1119	10957	0.00	2.25	0.00	0.000	6	0.000	0.048	3087	2280	1925	0	0	0	0	0	0
11295	0.65	269.7	6.5	12.3	1180	11304	0.00	2.22	0.00	0.000	4	0.000	0.065	3087	3684	1921	0	0	0	0	0	0
11324	end climb: SURFACE_DEPTH_REACHED
state	11324	begin surface coast
11346	end surface coast: CONTROL_FINISHED_OK
state	11348	begin surface