Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 471 * 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 471 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 400 R_PORT_OVSHOOT 33 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 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 -40322.797 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 400

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 -40322.797

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 33 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 471 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 230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 178.2,11067,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 470

Post-dive calculations and measurements:

FREEZE 8.92,-1.731,-1.838,3,6,0 ALTIM_TOP_PING 19.4,17.9

FINISH1 8.9,1.026883,30 _24V_AH 22.5,62.265

FINISH2 6.4 _10V_AH 10.2,31.851

RAFOS_CLK 448 FG_AHR_24Vo 0.000

RAFOS 0,1303545662,8.033334,8.017222,71,61,60,55,54,52,228,172,203,130,155,185 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.620117,-5657.720703,230411,040444,3,121,0.04 MEM 150600

IRIDIUM_FIX 6641.98,-5653.92,220411,151557 DATA_FILE_SIZE 36700,920

TT8_MAMPS 0.029211 CAP_FILE_SIZE 101189,0

HUMID 44.48 CFSIZE 260165632,223211520

INTERNAL_PRESSURE 8.7601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.30 SOUNDSPEED 1468.6

XPDR_PINGS 0 GPS 230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 233 25.33 SBE_CT 644 24 347.76

Roll_motor 82 68 127.03 SBE_O2 695 19 297.13

VBD_pump_during_apogee 364 1170 9604.42 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 1 420 11.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2199 19 446.96

LPSleep 4566 2 107.61

TT8_Active 411 19 83.54

TT8_Sampling 1468 39 598.10

TT8_CF8 160 45 75.16

TT8_Kalman 0 0 0.00

Analog_circuits 1210 12 148.15

GPS_charging 0 0 0.00

Compass 1464 15 224.12

RAFOS 2160 1 33.05

Transponder 9 30 2.97

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.00 0.000 2 0.000 0.000 2882 3692 3135 0 0 0 0 0 0

26 -0.62 -146.0 9.3 -0.0 1 52 0.62 4.15 -12.57 0.000 4 0.118 0.050 2669 1075 3630 0 0 0 0 0 0

129 -0.57 -146.0 20.1 -12.7 18 136 0.00 2.22 0.00 0.000 6 0.000 0.051 2669 2487 3630 0 0 0 0 0 0

474 -0.49 -146.0 71.3 -15.3 79 482 0.15 2.20 0.00 0.000 4 0.220 0.053 2704 1081 3629 0 0 0 0 0 0

489 -0.41 -146.0 73.7 -15.7 81 496 0.00 2.22 0.00 0.000 6 0.000 0.052 2704 2493 3629 0 0 0 0 0 0

828 -0.44 -146.0 113.0 -10.8 131 832 0.00 2.25 0.00 0.000 4 0.000 0.069 2704 3902 3628 0 0 0 0 0 0

873 -0.52 -146.0 117.9 -10.0 134 880 0.00 2.15 0.00 0.000 6 0.000 0.041 2704 2479 3627 0 0 0 0 0 0

1201 -0.58 -146.0 149.0 -9.2 165 1205 0.00 2.30 0.00 0.000 4 0.000 0.067 2704 3899 3625 0 0 0 0 0 0

1244 -0.67 -146.0 153.2 -8.9 168 1252 0.17 2.15 0.00 0.000 6 0.108 0.041 2643 2486 3625 0 0 0 0 0 0

1570 -0.58 -146.0 193.6 -11.8 199 1575 0.12 2.17 0.00 0.000 4 0.218 0.055 2671 1088 3624 0 0 0 0 0 0

1581 -0.50 -146.0 195.2 -12.1 199 1588 0.10 2.22 0.00 0.000 6 0.233 0.053 2693 2499 3624 0 0 0 0 0 0

1907 -0.55 -146.0 220.3 -7.7 230 1911 0.00 2.22 0.00 0.000 4 0.000 0.068 2693 3897 3623 0 0 0 0 0 0

1925 -0.61 -146.0 221.8 -7.7 231 1929 0.00 2.15 0.00 0.000 6 0.000 0.040 2693 2491 3623 0 0 0 0 0 0

2257 -0.66 -146.0 248.8 -8.2 262 2262 0.12 2.17 0.00 0.000 4 0.133 0.052 2650 1086 3623 0 0 0 0 0 0

2278 -0.66 -146.0 251.0 -9.5 263 2285 0.00 2.20 0.00 0.000 6 0.000 0.052 2650 2497 3623 0 0 0 0 0 0

2604 -0.61 -146.0 289.9 -12.2 294 2608 0.00 2.25 0.00 0.000 4 0.000 0.068 2650 3898 3624 0 0 0 0 0 0

2631 -0.56 -146.0 293.4 -12.7 296 2638 0.12 2.15 0.00 0.000 6 0.206 0.039 2679 2478 3624 0 0 0 0 0 0

2957 -0.59 -146.0 324.8 -9.3 327 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2478 3624 0 0 0 0 0 0

3278 -0.61 -146.0 354.1 -9.0 357 3284 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2478 3625 0 0 0 0 0 0

3607 -0.64 -146.0 383.1 -8.6 388 3611 0.00 2.28 0.00 0.000 4 0.000 0.063 2679 3905 3626 0 0 0 0 0 0

3617 -0.67 -146.0 384.3 -8.6 388 3624 0.00 2.15 0.00 0.000 6 0.000 0.037 2679 2476 3625 0 0 0 0 0 0

3944 -0.72 -146.0 412.1 -8.2 419 3948 0.15 2.30 0.00 0.000 4 0.116 0.063 2626 3905 3626 0 0 0 0 0 0

3961 -0.72 -146.0 413.8 -8.6 420 3965 0.00 2.15 0.00 0.000 6 0.000 0.038 2626 2486 3625 0 0 0 0 0 0

4293 -0.62 -146.0 455.5 -13.1 451 4295 0.15 0.00 0.00 0.000 6 0.213 0.000 2661 2486 3626 0 0 0 0 0 0

4428 end dive: TARGET_DEPTH_EXCEEDED

state 4428 begin apogee

4433 -0.12 0.0 470.1 10.5 464 4559 0.52 0.00 119.38 1.170 6 0.180 0.000 2815 2257 3030 0 0 0 0 0 0

4560 end apogee: CONTROL_FINISHED_OK

state 4560 begin climb

4562 0.62 146.0 474.6 0.0 475 4695 0.77 2.45 123.90 1.123 4 0.131 0.057 3066 897 2434 0 0 0 0 0 0

4757 0.55 146.0 459.1 11.6 492 4764 0.00 2.30 0.00 0.000 6 0.000 0.044 3066 2279 2430 0 0 0 0 0 0

5083 0.48 146.0 417.9 13.6 523 5087 0.17 2.28 0.00 0.000 4 0.174 0.059 3020 3689 2428 0 0 0 0 0 0

5241 0.44 146.0 397.9 12.6 537 5245 0.00 2.15 0.00 0.000 6 0.000 0.041 3028 2299 2427 0 0 0 0 0 0

5572 0.45 152.3 363.5 9.7 568 5582 0.00 0.00 5.60 0.796 6 0.000 0.000 3028 2299 2409 0 0 0 0 0 0

5902 0.48 183.6 334.0 8.6 599 5932 0.00 0.00 27.92 1.042 6 0.000 0.000 3028 2299 2281 0 0 0 0 0 0

6248 0.48 183.6 300.4 10.7 632 6252 0.00 2.20 0.00 0.000 4 0.000 0.057 3027 3690 2278 0 0 0 0 0 0

6292 0.48 183.6 294.9 12.6 635 6299 0.00 2.22 0.00 0.000 6 0.000 0.041 3038 2273 2277 0 0 0 0 0 0

6619 0.48 183.6 255.0 12.8 666 6623 0.00 2.20 0.00 0.000 4 0.000 0.055 3048 865 2277 0 0 0 0 0 0

6684 0.48 183.6 247.1 12.5 671 6688 0.00 2.17 0.00 0.000 6 0.000 0.043 3048 2287 2275 0 0 0 0 0 0

7009 0.48 183.6 207.2 11.9 701 7013 0.00 2.17 0.00 0.000 4 0.000 0.058 3048 3685 2276 0 0 0 0 0 0

7094 0.44 183.6 196.2 12.9 708 7099 0.17 2.17 0.00 0.000 6 0.176 0.042 3012 2262 2275 0 0 0 0 0 0

7420 0.60 256.5 171.0 6.6 738 7486 0.15 0.00 62.53 0.967 6 0.091 0.000 3080 2262 1983 0 0 0 0 0 0

7804 0.58 256.5 122.1 12.6 774 7808 0.00 2.25 0.00 0.000 4 0.000 0.055 3080 3681 1975 0 0 0 0 0 0

7844 0.55 256.5 116.3 15.0 777 7848 0.17 2.20 0.00 0.000 6 0.177 0.041 3044 2271 1973 0 0 0 0 0 0

8177 0.63 256.5 83.5 10.1 822 8184 0.00 2.20 0.00 0.000 4 0.000 0.057 3044 871 1972 0 0 0 0 0 0

8260 0.81 285.9 76.2 8.6 836 8291 0.22 2.15 25.38 0.891 6 0.083 0.042 3136 2278 1864 0 0 0 0 0 0

8630 0.75 285.9 19.4 14.7 901 8637 0.12 2.25 0.00 0.000 4 0.186 0.058 3105 3686 1858 0 0 0 0 0 0

8700 end climb: FINISH_DEPTH_REACHED

state 8700 begin subsurface finish

8709 0.04 30.2 8.9 -14.3 913 8750 0.77 0.00 -34.78 0.000 6 0.168 0.000 2880 2268 2909 0 0 0 0 0 0

8751 end subsurface finish: CONTROL_FINISHED_OK

state 8751 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	471	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	400	R_PORT_OVSHOOT	33	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	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	-40322.797	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	230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	178.2,11067,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	470

FREEZE	8.92,-1.731,-1.838,3,6,0	ALTIM_TOP_PING	19.4,17.9
FINISH1	8.9,1.026883,30	_24V_AH	22.5,62.265
FINISH2	6.4	_10V_AH	10.2,31.851
RAFOS_CLK	448	FG_AHR_24Vo	0.000
RAFOS	0,1303545662,8.033334,8.017222,71,61,60,55,54,52,228,172,203,130,155,185	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.620117,-5657.720703,230411,040444,3,121,0.04	MEM	150600
IRIDIUM_FIX	6641.98,-5653.92,220411,151557	DATA_FILE_SIZE	36700,920
TT8_MAMPS	0.029211	CAP_FILE_SIZE	101189,0
HUMID	44.48	CFSIZE	260165632,223211520
INTERNAL_PRESSURE	8.7601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.30	SOUNDSPEED	1468.6
XPDR_PINGS	0	GPS	230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	233	25.33	SBE_CT	644	24	347.76
Roll_motor	82	68	127.03	SBE_O2	695	19	297.13
VBD_pump_during_apogee	364	1170	9604.42	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	1	420	11.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2199	19	446.96
LPSleep	4566	2	107.61
TT8_Active	411	19	83.54
TT8_Sampling	1468	39	598.10
TT8_CF8	160	45	75.16
TT8_Kalman	0	0	0.00
Analog_circuits	1210	12	148.15
GPS_charging	0	0	0.00
Compass	1464	15	224.12
RAFOS	2160	1	33.05
Transponder	9	30	2.97

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.00	0.000	2	0.000	0.000	2882	3692	3135	0	0	0	0	0	0
26	-0.62	-146.0	9.3	-0.0	1	52	0.62	4.15	-12.57	0.000	4	0.118	0.050	2669	1075	3630	0	0	0	0	0	0
129	-0.57	-146.0	20.1	-12.7	18	136	0.00	2.22	0.00	0.000	6	0.000	0.051	2669	2487	3630	0	0	0	0	0	0
474	-0.49	-146.0	71.3	-15.3	79	482	0.15	2.20	0.00	0.000	4	0.220	0.053	2704	1081	3629	0	0	0	0	0	0
489	-0.41	-146.0	73.7	-15.7	81	496	0.00	2.22	0.00	0.000	6	0.000	0.052	2704	2493	3629	0	0	0	0	0	0
828	-0.44	-146.0	113.0	-10.8	131	832	0.00	2.25	0.00	0.000	4	0.000	0.069	2704	3902	3628	0	0	0	0	0	0
873	-0.52	-146.0	117.9	-10.0	134	880	0.00	2.15	0.00	0.000	6	0.000	0.041	2704	2479	3627	0	0	0	0	0	0
1201	-0.58	-146.0	149.0	-9.2	165	1205	0.00	2.30	0.00	0.000	4	0.000	0.067	2704	3899	3625	0	0	0	0	0	0
1244	-0.67	-146.0	153.2	-8.9	168	1252	0.17	2.15	0.00	0.000	6	0.108	0.041	2643	2486	3625	0	0	0	0	0	0
1570	-0.58	-146.0	193.6	-11.8	199	1575	0.12	2.17	0.00	0.000	4	0.218	0.055	2671	1088	3624	0	0	0	0	0	0
1581	-0.50	-146.0	195.2	-12.1	199	1588	0.10	2.22	0.00	0.000	6	0.233	0.053	2693	2499	3624	0	0	0	0	0	0
1907	-0.55	-146.0	220.3	-7.7	230	1911	0.00	2.22	0.00	0.000	4	0.000	0.068	2693	3897	3623	0	0	0	0	0	0
1925	-0.61	-146.0	221.8	-7.7	231	1929	0.00	2.15	0.00	0.000	6	0.000	0.040	2693	2491	3623	0	0	0	0	0	0
2257	-0.66	-146.0	248.8	-8.2	262	2262	0.12	2.17	0.00	0.000	4	0.133	0.052	2650	1086	3623	0	0	0	0	0	0
2278	-0.66	-146.0	251.0	-9.5	263	2285	0.00	2.20	0.00	0.000	6	0.000	0.052	2650	2497	3623	0	0	0	0	0	0
2604	-0.61	-146.0	289.9	-12.2	294	2608	0.00	2.25	0.00	0.000	4	0.000	0.068	2650	3898	3624	0	0	0	0	0	0
2631	-0.56	-146.0	293.4	-12.7	296	2638	0.12	2.15	0.00	0.000	6	0.206	0.039	2679	2478	3624	0	0	0	0	0	0
2957	-0.59	-146.0	324.8	-9.3	327	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2478	3624	0	0	0	0	0	0
3278	-0.61	-146.0	354.1	-9.0	357	3284	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2478	3625	0	0	0	0	0	0
3607	-0.64	-146.0	383.1	-8.6	388	3611	0.00	2.28	0.00	0.000	4	0.000	0.063	2679	3905	3626	0	0	0	0	0	0
3617	-0.67	-146.0	384.3	-8.6	388	3624	0.00	2.15	0.00	0.000	6	0.000	0.037	2679	2476	3625	0	0	0	0	0	0
3944	-0.72	-146.0	412.1	-8.2	419	3948	0.15	2.30	0.00	0.000	4	0.116	0.063	2626	3905	3626	0	0	0	0	0	0
3961	-0.72	-146.0	413.8	-8.6	420	3965	0.00	2.15	0.00	0.000	6	0.000	0.038	2626	2486	3625	0	0	0	0	0	0
4293	-0.62	-146.0	455.5	-13.1	451	4295	0.15	0.00	0.00	0.000	6	0.213	0.000	2661	2486	3626	0	0	0	0	0	0
4428	end dive: TARGET_DEPTH_EXCEEDED
state	4428	begin apogee
4433	-0.12	0.0	470.1	10.5	464	4559	0.52	0.00	119.38	1.170	6	0.180	0.000	2815	2257	3030	0	0	0	0	0	0
4560	end apogee: CONTROL_FINISHED_OK
state	4560	begin climb
4562	0.62	146.0	474.6	0.0	475	4695	0.77	2.45	123.90	1.123	4	0.131	0.057	3066	897	2434	0	0	0	0	0	0
4757	0.55	146.0	459.1	11.6	492	4764	0.00	2.30	0.00	0.000	6	0.000	0.044	3066	2279	2430	0	0	0	0	0	0
5083	0.48	146.0	417.9	13.6	523	5087	0.17	2.28	0.00	0.000	4	0.174	0.059	3020	3689	2428	0	0	0	0	0	0
5241	0.44	146.0	397.9	12.6	537	5245	0.00	2.15	0.00	0.000	6	0.000	0.041	3028	2299	2427	0	0	0	0	0	0
5572	0.45	152.3	363.5	9.7	568	5582	0.00	0.00	5.60	0.796	6	0.000	0.000	3028	2299	2409	0	0	0	0	0	0
5902	0.48	183.6	334.0	8.6	599	5932	0.00	0.00	27.92	1.042	6	0.000	0.000	3028	2299	2281	0	0	0	0	0	0
6248	0.48	183.6	300.4	10.7	632	6252	0.00	2.20	0.00	0.000	4	0.000	0.057	3027	3690	2278	0	0	0	0	0	0
6292	0.48	183.6	294.9	12.6	635	6299	0.00	2.22	0.00	0.000	6	0.000	0.041	3038	2273	2277	0	0	0	0	0	0
6619	0.48	183.6	255.0	12.8	666	6623	0.00	2.20	0.00	0.000	4	0.000	0.055	3048	865	2277	0	0	0	0	0	0
6684	0.48	183.6	247.1	12.5	671	6688	0.00	2.17	0.00	0.000	6	0.000	0.043	3048	2287	2275	0	0	0	0	0	0
7009	0.48	183.6	207.2	11.9	701	7013	0.00	2.17	0.00	0.000	4	0.000	0.058	3048	3685	2276	0	0	0	0	0	0
7094	0.44	183.6	196.2	12.9	708	7099	0.17	2.17	0.00	0.000	6	0.176	0.042	3012	2262	2275	0	0	0	0	0	0
7420	0.60	256.5	171.0	6.6	738	7486	0.15	0.00	62.53	0.967	6	0.091	0.000	3080	2262	1983	0	0	0	0	0	0
7804	0.58	256.5	122.1	12.6	774	7808	0.00	2.25	0.00	0.000	4	0.000	0.055	3080	3681	1975	0	0	0	0	0	0
7844	0.55	256.5	116.3	15.0	777	7848	0.17	2.20	0.00	0.000	6	0.177	0.041	3044	2271	1973	0	0	0	0	0	0
8177	0.63	256.5	83.5	10.1	822	8184	0.00	2.20	0.00	0.000	4	0.000	0.057	3044	871	1972	0	0	0	0	0	0
8260	0.81	285.9	76.2	8.6	836	8291	0.22	2.15	25.38	0.891	6	0.083	0.042	3136	2278	1864	0	0	0	0	0	0
8630	0.75	285.9	19.4	14.7	901	8637	0.12	2.25	0.00	0.000	4	0.186	0.058	3105	3686	1858	0	0	0	0	0	0
8700	end climb: FINISH_DEPTH_REACHED
state	8700	begin subsurface finish
8709	0.04	30.2	8.9	-14.3	913	8750	0.77	0.00	-34.78	0.000	6	0.168	0.000	2880	2268	2909	0	0	0	0	0	0
8751	end subsurface finish: CONTROL_FINISHED_OK
state	8751	begin surface