Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 316 * 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 316 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 24 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -2 T_GPS_CHARGE -35520.223 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 -35520.223

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 24 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 316 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 080411,082328,6654.027,-6014.769,181,99.0,181,-37.5 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 12.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080411,082328,6654.027,-6014.769,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd 241.4,20308,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 615

Post-dive calculations and measurements:

FREEZE 8.54,-1.722,-1.779,3,42,0 ALTIM_TOP_PING 19.7,999.0

FINISH1 8.5,1.026045,71 _24V_AH 22.3,43.718

FINISH2 6.7 _10V_AH 10.2,24.184

RAFOS_CLK 608 FG_AHR_24Vo 0.000

RAFOS 2,1302279423,16.299999,16.284166,101,59,57,54,53,53,694,192,156,224,169,206 FG_AHR_10Vo 0.000

RAFOS_FIX -200.000000,-200.000000,160812,232303,7,107,0.23 MEM 150564

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 43367,1113

TT8_MAMPS 0.026215 CAP_FILE_SIZE 122100,0

HUMID 47.59 CFSIZE 260165632,230780928

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1452.6

XPDR_PINGS 0 GPS 160812,232803,-200.000,-200.000,0,7107.1,0,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 223 25.78 SBE_CT 794 24 425.12

Roll_motor 96 80 172.99 SBE_O2 848 19 359.38

VBD_pump_during_apogee 401 1298 11624.14 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 18.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2716 19 551.91

LPSleep 5868 2 138.28

TT8_Active 451 19 91.82

TT8_Sampling 1775 39 722.87

TT8_CF8 158 45 74.24

TT8_Kalman 0 0 0.00

Analog_circuits 1397 12 171.05

GPS_charging 0 0 0.00

Compass 1760 15 269.32

RAFOS 1440 1 22.03

Transponder 16 30 4.90

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 12 begin dive

15 -0.62 -146.0 0.0 0.0 0 23 0.00 0.00 -6.43 0.000 2 0.000 0.000 2898 3686 3031 0 0 0 0 0 0

26 -0.62 -146.0 14.2 -0.0 1 51 0.68 4.28 -13.23 0.000 4 0.113 0.065 2667 1073 3630 0 0 0 0 0 0

237 -0.53 -146.0 49.1 -17.2 38 244 0.00 2.33 0.00 0.000 6 0.000 0.066 2667 2495 3631 0 0 0 0 0 0

577 -0.40 -146.0 113.7 -17.6 92 582 0.25 2.33 0.00 0.000 4 0.218 0.080 2733 3899 3630 0 0 0 0 0 0

629 -0.50 -146.0 120.0 -10.0 96 633 0.00 2.22 0.00 0.000 6 0.000 0.050 2734 2487 3631 0 0 0 0 0 0

954 -0.57 -146.0 150.4 -9.0 126 956 0.17 0.00 0.00 0.000 6 0.115 0.000 2673 2487 3629 0 0 0 0 0 0

1273 -0.49 -146.0 194.7 -14.2 156 1274 0.12 0.00 0.00 0.000 6 0.223 0.000 2700 2487 3629 0 0 0 0 0 0

1591 -0.49 -146.0 230.7 -10.6 186 1595 0.00 2.35 0.00 0.000 4 0.000 0.079 2700 3899 3630 0 0 0 0 0 0

1630 -0.53 -146.0 234.7 -10.7 189 1634 0.00 2.22 0.00 0.000 6 0.000 0.050 2700 2488 3630 0 0 0 0 0 0

1955 -0.55 -146.0 267.1 -10.3 219 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2489 3629 0 0 0 0 0 0

2276 -0.57 -146.0 298.7 -9.5 249 2280 0.00 2.35 0.00 0.000 4 0.000 0.078 2700 3900 3629 0 0 0 0 0 0

2286 -0.60 -146.0 300.0 -9.2 249 2295 0.00 2.22 0.00 0.000 6 0.000 0.048 2700 2484 3629 0 0 0 0 0 0

2613 -0.63 -146.0 329.8 -9.5 280 2614 0.12 0.00 0.00 0.000 6 0.134 0.000 2659 2484 3628 0 0 0 0 0 0

2930 -0.57 -146.0 370.6 -12.9 310 2931 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2484 3628 0 0 0 0 0 0

3250 -0.50 -146.0 410.0 -11.8 340 3252 0.15 0.00 0.00 0.000 6 0.209 0.000 2694 2484 3629 0 0 0 0 0 0

3567 -0.54 -146.0 439.4 -8.7 370 3571 0.00 2.22 0.00 0.000 4 0.000 0.067 2694 1083 3629 0 0 0 0 0 0

3590 -0.57 -146.0 441.6 -9.3 371 3596 0.00 2.30 0.00 0.000 6 0.000 0.063 2694 2498 3629 0 0 0 0 0 0

3917 -0.61 -146.0 469.6 -8.8 402 3921 0.00 2.33 0.00 0.000 4 0.000 0.080 2694 3899 3630 0 0 0 0 0 0

3946 -0.66 -146.0 472.4 -8.9 404 3951 0.15 2.22 0.00 0.000 6 0.119 0.048 2643 2483 3629 0 0 0 0 0 0

4277 -0.57 -146.0 513.7 -12.8 435 4279 0.15 0.00 0.00 0.000 6 0.212 0.000 2678 2483 3629 0 0 0 0 0 0

4595 -0.57 -146.0 544.6 -9.2 465 4596 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2483 3629 0 0 0 0 0 0

4915 -0.57 -146.0 574.8 -9.8 495 4920 0.00 2.35 0.00 0.000 4 0.000 0.075 2678 3900 3630 0 0 0 0 0 0

4944 -0.60 -146.0 577.8 -10.2 497 4948 0.00 2.22 0.00 0.000 6 0.000 0.047 2678 2479 3630 0 0 0 0 0 0

5151 end dive: NO_VERTICAL_VELOCITY

state 5151 begin apogee

5156 -0.12 0.0 581.0 0.0 516 5287 0.43 0.00 122.57 1.298 6 0.140 0.000 2818 2259 3029 0 0 0 0 0 0

5288 end apogee: CONTROL_FINISHED_OK

state 5288 begin climb

5290 0.62 146.0 581.1 0.0 528 5424 0.77 0.00 127.97 1.251 6 0.141 0.000 3051 2259 2434 0 0 0 0 0 0

5740 0.57 146.0 542.2 10.6 571 5744 0.00 2.45 0.00 0.000 4 0.000 0.067 3051 3692 2426 0 0 0 0 0 0

5825 0.46 146.0 531.4 12.6 578 5830 0.17 2.33 0.00 0.000 6 0.188 0.054 3020 2286 2425 0 0 0 0 0 0

6155 0.49 170.5 501.6 8.9 609 6181 0.00 2.40 21.20 1.161 4 0.000 0.071 3028 863 2335 0 0 0 0 0 0

6210 0.52 176.3 496.5 9.7 613 6221 0.00 2.35 6.65 0.967 6 0.000 0.056 3028 2284 2311 0 0 0 0 0 0

6540 0.52 176.3 464.0 10.1 644 6544 0.00 2.30 0.00 0.000 4 0.000 0.070 3028 3690 2308 0 0 0 0 0 0

6613 0.48 176.3 455.8 11.6 650 6619 0.00 2.30 0.00 0.000 6 0.000 0.054 3039 2269 2308 0 0 0 0 0 0

6939 0.48 176.3 422.5 10.2 681 6943 0.00 2.28 0.00 0.000 4 0.000 0.069 3049 858 2308 0 0 0 0 0 0

7012 0.48 176.3 415.0 10.1 687 7016 0.00 2.30 0.00 0.000 6 0.000 0.056 3048 2285 2306 0 0 0 0 0 0

7343 0.48 176.3 381.1 10.4 718 7347 0.00 2.25 0.00 0.000 4 0.000 0.069 3049 3687 2306 0 0 0 0 0 0

7376 0.43 176.3 377.2 11.6 720 7383 0.20 2.28 0.00 0.000 6 0.186 0.054 3007 2265 2306 0 0 0 0 0 0

7701 0.55 227.1 352.1 7.7 751 7757 0.10 2.38 45.58 1.136 4 0.124 0.069 3062 866 2102 0 0 0 0 0 0

7795 0.55 227.1 341.8 12.1 759 7802 0.00 2.35 0.00 0.000 6 0.000 0.055 3063 2280 2098 0 0 0 0 0 0

8121 0.55 227.1 304.6 11.8 790 8125 0.00 2.30 0.00 0.000 4 0.000 0.070 3062 3698 2095 0 0 0 0 0 0

8161 0.52 227.1 299.5 13.4 793 8166 0.15 2.28 0.00 0.000 6 0.190 0.054 3035 2274 2095 0 0 0 0 0 0

8487 0.60 246.5 268.8 9.1 823 8510 0.00 2.33 17.05 1.058 4 0.000 0.067 3042 859 2025 0 0 0 0 0 0

8538 0.71 263.9 264.1 9.2 827 8561 0.15 2.30 17.40 1.037 6 0.106 0.054 3104 2280 1954 0 0 0 0 0 0

8881 0.67 263.9 217.6 13.6 859 8885 0.00 2.30 0.00 0.000 4 0.000 0.069 3104 3695 1948 0 0 0 0 0 0

8926 0.59 263.9 211.1 15.0 863 8931 0.22 2.30 0.00 0.000 6 0.199 0.056 3057 2276 1946 0 0 0 0 0 0

9252 0.66 263.9 178.2 10.1 893 9256 0.00 2.28 0.00 0.000 4 0.000 0.069 3064 860 1946 0 0 0 0 0 0

9315 0.74 273.5 172.1 9.6 898 9330 0.10 2.28 9.35 0.943 6 0.123 0.056 3105 2276 1915 0 0 0 0 0 0

9655 0.74 273.5 130.3 11.8 930 9659 0.00 2.28 0.00 0.000 4 0.000 0.070 3105 3687 1911 0 0 0 0 0 0

9733 0.69 273.5 119.6 14.2 936 9740 0.00 2.28 0.00 0.000 6 0.000 0.056 3115 2270 1910 0 0 0 0 0 0

10066 0.69 273.5 81.5 11.5 982 10073 0.00 2.25 0.00 0.000 4 0.000 0.067 3124 863 1909 0 0 0 0 0 0

10119 0.69 273.5 75.5 11.0 991 10127 0.15 2.28 0.00 0.000 6 0.193 0.056 3087 2282 1908 0 0 0 0 0 0

10466 0.79 310.3 44.7 8.3 1052 10508 0.00 2.35 33.75 0.986 4 0.000 0.073 3086 3685 1763 0 0 0 0 0 0

10538 0.85 310.3 38.1 10.3 1064 10545 0.12 2.30 0.00 0.000 6 0.108 0.055 3141 2274 1761 0 0 0 0 0 0

10769 end climb: FINISH_DEPTH_REACHED

state 10769 begin subsurface finish

10776 0.09 71.3 8.5 -12.9 1105 10824 0.80 2.28 -39.22 0.000 4 0.170 0.079 2903 867 2741 0 0 0 0 0 0

10824 end subsurface finish: CONTROL_FINISHED_OK

state 10825 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	316	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	24	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-2	T_GPS_CHARGE	-35520.223	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	080411,082328,6654.027,-6014.769,181,99.0,181,-37.5	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	12.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080411,082328,6654.027,-6014.769,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	241.4,20308,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	615

FREEZE	8.54,-1.722,-1.779,3,42,0	ALTIM_TOP_PING	19.7,999.0
FINISH1	8.5,1.026045,71	_24V_AH	22.3,43.718
FINISH2	6.7	_10V_AH	10.2,24.184
RAFOS_CLK	608	FG_AHR_24Vo	0.000
RAFOS	2,1302279423,16.299999,16.284166,101,59,57,54,53,53,694,192,156,224,169,206	FG_AHR_10Vo	0.000
RAFOS_FIX	-200.000000,-200.000000,160812,232303,7,107,0.23	MEM	150564
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	43367,1113
TT8_MAMPS	0.026215	CAP_FILE_SIZE	122100,0
HUMID	47.59	CFSIZE	260165632,230780928
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.6
XPDR_PINGS	0	GPS	160812,232803,-200.000,-200.000,0,7107.1,0,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	223	25.78	SBE_CT	794	24	425.12
Roll_motor	96	80	172.99	SBE_O2	848	19	359.38
VBD_pump_during_apogee	401	1298	11624.14	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	18.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2716	19	551.91
LPSleep	5868	2	138.28
TT8_Active	451	19	91.82
TT8_Sampling	1775	39	722.87
TT8_CF8	158	45	74.24
TT8_Kalman	0	0	0.00
Analog_circuits	1397	12	171.05
GPS_charging	0	0	0.00
Compass	1760	15	269.32
RAFOS	1440	1	22.03
Transponder	16	30	4.90

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	12	begin dive
15	-0.62	-146.0	0.0	0.0	0	23	0.00	0.00	-6.43	0.000	2	0.000	0.000	2898	3686	3031	0	0	0	0	0	0
26	-0.62	-146.0	14.2	-0.0	1	51	0.68	4.28	-13.23	0.000	4	0.113	0.065	2667	1073	3630	0	0	0	0	0	0
237	-0.53	-146.0	49.1	-17.2	38	244	0.00	2.33	0.00	0.000	6	0.000	0.066	2667	2495	3631	0	0	0	0	0	0
577	-0.40	-146.0	113.7	-17.6	92	582	0.25	2.33	0.00	0.000	4	0.218	0.080	2733	3899	3630	0	0	0	0	0	0
629	-0.50	-146.0	120.0	-10.0	96	633	0.00	2.22	0.00	0.000	6	0.000	0.050	2734	2487	3631	0	0	0	0	0	0
954	-0.57	-146.0	150.4	-9.0	126	956	0.17	0.00	0.00	0.000	6	0.115	0.000	2673	2487	3629	0	0	0	0	0	0
1273	-0.49	-146.0	194.7	-14.2	156	1274	0.12	0.00	0.00	0.000	6	0.223	0.000	2700	2487	3629	0	0	0	0	0	0
1591	-0.49	-146.0	230.7	-10.6	186	1595	0.00	2.35	0.00	0.000	4	0.000	0.079	2700	3899	3630	0	0	0	0	0	0
1630	-0.53	-146.0	234.7	-10.7	189	1634	0.00	2.22	0.00	0.000	6	0.000	0.050	2700	2488	3630	0	0	0	0	0	0
1955	-0.55	-146.0	267.1	-10.3	219	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2489	3629	0	0	0	0	0	0
2276	-0.57	-146.0	298.7	-9.5	249	2280	0.00	2.35	0.00	0.000	4	0.000	0.078	2700	3900	3629	0	0	0	0	0	0
2286	-0.60	-146.0	300.0	-9.2	249	2295	0.00	2.22	0.00	0.000	6	0.000	0.048	2700	2484	3629	0	0	0	0	0	0
2613	-0.63	-146.0	329.8	-9.5	280	2614	0.12	0.00	0.00	0.000	6	0.134	0.000	2659	2484	3628	0	0	0	0	0	0
2930	-0.57	-146.0	370.6	-12.9	310	2931	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2484	3628	0	0	0	0	0	0
3250	-0.50	-146.0	410.0	-11.8	340	3252	0.15	0.00	0.00	0.000	6	0.209	0.000	2694	2484	3629	0	0	0	0	0	0
3567	-0.54	-146.0	439.4	-8.7	370	3571	0.00	2.22	0.00	0.000	4	0.000	0.067	2694	1083	3629	0	0	0	0	0	0
3590	-0.57	-146.0	441.6	-9.3	371	3596	0.00	2.30	0.00	0.000	6	0.000	0.063	2694	2498	3629	0	0	0	0	0	0
3917	-0.61	-146.0	469.6	-8.8	402	3921	0.00	2.33	0.00	0.000	4	0.000	0.080	2694	3899	3630	0	0	0	0	0	0
3946	-0.66	-146.0	472.4	-8.9	404	3951	0.15	2.22	0.00	0.000	6	0.119	0.048	2643	2483	3629	0	0	0	0	0	0
4277	-0.57	-146.0	513.7	-12.8	435	4279	0.15	0.00	0.00	0.000	6	0.212	0.000	2678	2483	3629	0	0	0	0	0	0
4595	-0.57	-146.0	544.6	-9.2	465	4596	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2483	3629	0	0	0	0	0	0
4915	-0.57	-146.0	574.8	-9.8	495	4920	0.00	2.35	0.00	0.000	4	0.000	0.075	2678	3900	3630	0	0	0	0	0	0
4944	-0.60	-146.0	577.8	-10.2	497	4948	0.00	2.22	0.00	0.000	6	0.000	0.047	2678	2479	3630	0	0	0	0	0	0
5151	end dive: NO_VERTICAL_VELOCITY
state	5151	begin apogee
5156	-0.12	0.0	581.0	0.0	516	5287	0.43	0.00	122.57	1.298	6	0.140	0.000	2818	2259	3029	0	0	0	0	0	0
5288	end apogee: CONTROL_FINISHED_OK
state	5288	begin climb
5290	0.62	146.0	581.1	0.0	528	5424	0.77	0.00	127.97	1.251	6	0.141	0.000	3051	2259	2434	0	0	0	0	0	0
5740	0.57	146.0	542.2	10.6	571	5744	0.00	2.45	0.00	0.000	4	0.000	0.067	3051	3692	2426	0	0	0	0	0	0
5825	0.46	146.0	531.4	12.6	578	5830	0.17	2.33	0.00	0.000	6	0.188	0.054	3020	2286	2425	0	0	0	0	0	0
6155	0.49	170.5	501.6	8.9	609	6181	0.00	2.40	21.20	1.161	4	0.000	0.071	3028	863	2335	0	0	0	0	0	0
6210	0.52	176.3	496.5	9.7	613	6221	0.00	2.35	6.65	0.967	6	0.000	0.056	3028	2284	2311	0	0	0	0	0	0
6540	0.52	176.3	464.0	10.1	644	6544	0.00	2.30	0.00	0.000	4	0.000	0.070	3028	3690	2308	0	0	0	0	0	0
6613	0.48	176.3	455.8	11.6	650	6619	0.00	2.30	0.00	0.000	6	0.000	0.054	3039	2269	2308	0	0	0	0	0	0
6939	0.48	176.3	422.5	10.2	681	6943	0.00	2.28	0.00	0.000	4	0.000	0.069	3049	858	2308	0	0	0	0	0	0
7012	0.48	176.3	415.0	10.1	687	7016	0.00	2.30	0.00	0.000	6	0.000	0.056	3048	2285	2306	0	0	0	0	0	0
7343	0.48	176.3	381.1	10.4	718	7347	0.00	2.25	0.00	0.000	4	0.000	0.069	3049	3687	2306	0	0	0	0	0	0
7376	0.43	176.3	377.2	11.6	720	7383	0.20	2.28	0.00	0.000	6	0.186	0.054	3007	2265	2306	0	0	0	0	0	0
7701	0.55	227.1	352.1	7.7	751	7757	0.10	2.38	45.58	1.136	4	0.124	0.069	3062	866	2102	0	0	0	0	0	0
7795	0.55	227.1	341.8	12.1	759	7802	0.00	2.35	0.00	0.000	6	0.000	0.055	3063	2280	2098	0	0	0	0	0	0
8121	0.55	227.1	304.6	11.8	790	8125	0.00	2.30	0.00	0.000	4	0.000	0.070	3062	3698	2095	0	0	0	0	0	0
8161	0.52	227.1	299.5	13.4	793	8166	0.15	2.28	0.00	0.000	6	0.190	0.054	3035	2274	2095	0	0	0	0	0	0
8487	0.60	246.5	268.8	9.1	823	8510	0.00	2.33	17.05	1.058	4	0.000	0.067	3042	859	2025	0	0	0	0	0	0
8538	0.71	263.9	264.1	9.2	827	8561	0.15	2.30	17.40	1.037	6	0.106	0.054	3104	2280	1954	0	0	0	0	0	0
8881	0.67	263.9	217.6	13.6	859	8885	0.00	2.30	0.00	0.000	4	0.000	0.069	3104	3695	1948	0	0	0	0	0	0
8926	0.59	263.9	211.1	15.0	863	8931	0.22	2.30	0.00	0.000	6	0.199	0.056	3057	2276	1946	0	0	0	0	0	0
9252	0.66	263.9	178.2	10.1	893	9256	0.00	2.28	0.00	0.000	4	0.000	0.069	3064	860	1946	0	0	0	0	0	0
9315	0.74	273.5	172.1	9.6	898	9330	0.10	2.28	9.35	0.943	6	0.123	0.056	3105	2276	1915	0	0	0	0	0	0
9655	0.74	273.5	130.3	11.8	930	9659	0.00	2.28	0.00	0.000	4	0.000	0.070	3105	3687	1911	0	0	0	0	0	0
9733	0.69	273.5	119.6	14.2	936	9740	0.00	2.28	0.00	0.000	6	0.000	0.056	3115	2270	1910	0	0	0	0	0	0
10066	0.69	273.5	81.5	11.5	982	10073	0.00	2.25	0.00	0.000	4	0.000	0.067	3124	863	1909	0	0	0	0	0	0
10119	0.69	273.5	75.5	11.0	991	10127	0.15	2.28	0.00	0.000	6	0.193	0.056	3087	2282	1908	0	0	0	0	0	0
10466	0.79	310.3	44.7	8.3	1052	10508	0.00	2.35	33.75	0.986	4	0.000	0.073	3086	3685	1763	0	0	0	0	0	0
10538	0.85	310.3	38.1	10.3	1064	10545	0.12	2.30	0.00	0.000	6	0.108	0.055	3141	2274	1761	0	0	0	0	0	0
10769	end climb: FINISH_DEPTH_REACHED
state	10769	begin subsurface finish
10776	0.09	71.3	8.5	-12.9	1105	10824	0.80	2.28	-39.22	0.000	4	0.170	0.079	2903	867	2741	0	0	0	0	0	0
10824	end subsurface finish: CONTROL_FINISHED_OK
state	10825	begin surface