Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 52 * 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 52 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 31 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 52 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 280211,041736,6654.704,-6010.605,0,4104.8,0,-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 64.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 2.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0 MHEAD_RNG_PITCHd_Wd 247.6,22799,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 651

Post-dive calculations and measurements:

FINISH1 9.9,1.026174,65 ALTIM_BOTTOM_PING 653.5,20.9

FINISH2 9.3 _24V_AH 22.6,10.641

RAFOS_CLK 607 _10V_AH 10.3,5.160

RAFOS 6,1298868544,4.833333,4.817778,87,66,63,53,50,48,752,215,198,118,155,166 FG_AHR_24Vo 0.000

RAFOS_FIX 6655.514160,-6005.677734,280211,040432,5,101,9.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 MEM 150716

TT8_MAMPS 0.026215 DATA_FILE_SIZE 39989,1048

HUMID 46.73 CAP_FILE_SIZE 114932,0

INTERNAL_PRESSURE 8.66244 CFSIZE 260165632,248467456

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 SOUNDSPEED 1453.5

ALTIM_TOP_PING 19.4,14.1 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 4 229 21.27 SBE_CT 748 24 406.19

Roll_motor 79 97 176.15 SBE_O2 811 19 348.51

VBD_pump_during_apogee 410 1330 12328.39 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 23.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2567 19 526.70

LPSleep 6301 2 149.94

TT8_Active 424 19 87.14

TT8_Sampling 1700 39 699.14

TT8_CF8 158 45 74.73

TT8_Kalman 0 0 0.00

Analog_circuits 1345 12 166.31

GPS_charging 0 0 0.00

Compass 1695 15 262.02

RAFOS 0 0 0.00

Transponder 19 30 6.01

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 25 0.00 0.65 -6.55 0.000 3 0.000 0.098 2891 3235 3634 0 0 0 0 0 0

28 -0.62 -146.0 67.2 -0.0 1 35 0.62 3.38 0.00 0.000 4 0.116 0.052 2670 1069 3635 0 0 0 0 0 0

104 -0.53 -146.0 81.2 -18.2 14 111 0.00 2.22 0.00 0.000 6 0.000 0.060 2670 2485 3635 0 0 0 0 0 0

442 -0.42 -146.0 139.8 -14.7 55 447 0.20 2.28 0.00 0.000 4 0.227 0.073 2718 3907 3634 0 0 0 0 0 0

494 -0.48 -146.0 145.0 -8.2 59 498 0.00 2.20 0.00 0.000 6 0.000 0.047 2718 2487 3634 0 0 0 0 0 0

820 -0.52 -146.0 178.3 -11.3 89 824 0.00 2.22 0.00 0.000 4 0.000 0.067 2719 1081 3634 0 0 0 0 0 0

887 -0.56 -146.0 186.3 -11.8 94 895 0.12 2.22 0.00 0.000 6 0.137 0.060 2679 2490 3633 0 0 0 0 0 0

1214 -0.50 -146.0 236.6 -14.7 125 1218 0.00 2.30 0.00 0.000 4 0.000 0.077 2679 3898 3632 0 0 0 0 0 0

1235 -0.44 -146.0 240.0 -13.7 126 1243 0.15 2.17 0.00 0.000 6 0.210 0.048 2714 2487 3633 0 0 0 0 0 0

1561 -0.49 -146.0 267.4 -8.6 157 1565 0.00 2.22 0.00 0.000 4 0.000 0.066 2715 1076 3633 0 0 0 0 0 0

1623 -0.56 -146.0 273.0 -8.7 162 1627 0.00 2.22 0.00 0.000 6 0.000 0.060 2715 2492 3632 0 0 0 0 0 0

1953 -0.62 -146.0 305.8 -9.9 193 1955 0.15 0.00 0.00 0.000 6 0.122 0.000 2665 2492 3632 0 0 0 0 0 0

2272 -0.55 -146.0 345.2 -11.4 223 2276 0.00 2.22 0.00 0.000 4 0.000 0.065 2665 1088 3631 0 0 0 0 0 0

2318 -0.51 -146.0 350.5 -11.5 226 2325 0.12 2.22 0.00 0.000 6 0.230 0.061 2693 2489 3631 0 0 0 0 0 0

2643 -0.51 -146.0 379.6 -8.4 257 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2489 3632 0 0 0 0 0 0

2964 -0.51 -146.0 406.7 -8.1 287 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2489 3632 0 0 0 0 0 0

3291 -0.51 -146.0 434.0 -9.0 318 3292 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2489 3632 0 0 0 0 0 0

3609 -0.51 -146.0 463.5 -9.1 348 3610 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2489 3632 0 0 0 0 0 0

3930 -0.53 -146.0 492.7 -9.4 378 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2489 3632 0 0 0 0 0 0

4257 -0.55 -146.0 523.7 -9.4 409 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2490 3633 0 0 0 0 0 0

4577 -0.58 -146.0 552.0 -9.2 439 4583 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2490 3633 0 0 0 0 0 0

4904 -0.60 -146.0 579.4 -8.0 470 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2490 3633 0 0 0 0 0 0

5230 -0.62 -146.0 605.7 -8.1 497 5234 0.00 2.25 0.00 0.000 4 0.000 0.064 2693 1080 3633 0 0 0 0 0 0

5252 -0.65 -146.0 607.8 -8.6 497 5257 0.12 2.22 0.00 0.000 6 0.135 0.062 2652 2497 3633 0 0 0 0 0 0

5565 -0.58 -146.0 642.3 -11.5 507 5566 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2498 3633 0 0 0 0 0 0

5658 end dive: TARGET_DEPTH_EXCEEDED

state 5658 begin apogee

5664 -0.12 0.0 653.5 12.1 510 5793 0.57 0.00 123.28 1.330 6 0.207 0.000 2816 2270 3029 0 0 0 0 0 0

5794 end apogee: CONTROL_FINISHED_OK

state 5794 begin climb

5796 0.62 146.0 659.1 0.0 514 5932 0.77 2.53 125.00 1.287 4 0.142 0.071 3061 885 2432 0 0 0 0 0 0

5943 0.59 227.1 650.2 6.3 518 6024 0.00 2.42 73.88 1.245 6 0.000 0.056 3061 2273 2103 0 0 0 0 0 0

6341 0.59 227.1 595.3 19974.5 533 6345 0.00 2.40 0.00 0.000 4 0.000 0.071 3061 3694 2091 0 0 0 0 0 0

6448 0.59 227.1 577.9 19974.5 542 6452 0.00 2.35 0.00 0.000 6 0.000 0.054 3071 2282 2090 0 0 0 0 0 0

6773 0.59 227.1 527.3 19974.5 572 6777 0.00 2.33 0.00 0.000 4 0.000 0.067 3071 3692 2088 0 0 0 0 0 0

6817 0.59 227.1 519.8 19974.5 575 6824 0.00 2.30 0.00 0.000 6 0.000 0.054 3081 2274 2087 0 0 0 0 0 0

7144 0.59 227.1 465.3 19974.5 606 7148 0.00 2.35 0.00 0.000 4 0.000 0.068 3080 3698 2087 0 0 0 0 0 0

7184 0.59 227.1 457.8 19974.5 609 7189 0.15 2.28 0.00 0.000 6 0.194 0.054 3055 2273 2087 0 0 0 0 0 0

7509 0.59 227.1 410.8 19974.5 639 7510 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2273 2087 0 0 0 0 0 0

7829 0.59 227.1 365.6 19974.5 669 7833 0.00 2.30 0.00 0.000 4 0.000 0.067 3055 3694 2087 0 0 0 0 0 0

7874 0.59 227.1 358.5 19974.5 673 7878 0.00 2.28 0.00 0.000 6 0.000 0.054 3063 2270 2087 0 0 0 0 0 0

8199 0.59 227.1 310.3 19974.5 703 8201 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2270 2087 0 0 0 0 0 0

8519 0.59 227.1 271.7 19974.5 733 8523 0.00 2.30 0.00 0.000 4 0.000 0.067 3062 3697 2087 0 0 0 0 0 0

8570 0.59 227.1 265.3 19974.5 737 8575 0.00 2.25 0.00 0.000 6 0.000 0.052 3073 2269 2086 0 0 0 0 0 0

8901 0.59 227.1 226.0 19974.5 768 8902 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2269 2086 0 0 0 0 0 0

9221 0.59 227.1 184.9 19974.5 798 9225 0.00 2.28 0.00 0.000 4 0.000 0.063 3073 3691 2086 0 0 0 0 0 0

9253 0.59 227.1 181.0 19974.5 800 9260 0.00 2.22 0.00 0.000 6 0.000 0.051 3083 2274 2086 0 0 0 0 0 0

9580 0.59 227.1 144.3 19974.5 831 9584 0.00 2.22 0.00 0.000 4 0.000 0.067 3093 867 2086 0 0 0 0 0 0

9613 0.59 227.1 139.8 19974.5 833 9621 0.15 2.22 0.00 0.000 6 0.184 0.054 3053 2281 2084 0 0 0 0 0 0

9939 0.59 227.1 109.6 19974.5 864 9943 0.00 2.22 0.00 0.000 4 0.000 0.068 3053 3694 2085 0 0 0 0 0 0

9979 0.59 227.1 106.9 19974.5 867 9983 0.00 2.25 0.00 0.000 6 0.000 0.052 3059 2264 2085 0 0 0 0 0 0

10316 0.64 237.5 83.5 9.5 916 10328 0.00 0.00 8.80 0.828 6 0.000 0.000 3059 2265 2060 0 0 0 0 0 0

10668 0.79 319.7 58.7 6.2 978 10763 0.17 2.42 79.10 0.957 4 0.103 0.063 3125 3688 1724 0 0 0 0 1 0

10926 0.73 319.7 22.8 16.0 1023 10934 0.15 2.30 0.00 0.000 6 0.195 0.050 3099 2270 1717 0 0 0 0 0 0

11037 end climb: SURFACE_OBSTACLE_DETECTED

state 11037 begin subsurface finish

11043 0.08 65.0 9.9 -13.8 1042 11079 0.62 0.00 -32.47 0.000 6 0.132 0.000 2896 2269 2766 0 0 0 0 0 0

11080 end subsurface finish: CONTROL_FINISHED_OK

state 11080 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	52	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	280211,041736,6654.704,-6010.605,0,4104.8,0,-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	64.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	2.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0	MHEAD_RNG_PITCHd_Wd	247.6,22799,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	651

FINISH1	9.9,1.026174,65	ALTIM_BOTTOM_PING	653.5,20.9
FINISH2	9.3	_24V_AH	22.6,10.641
RAFOS_CLK	607	_10V_AH	10.3,5.160
RAFOS	6,1298868544,4.833333,4.817778,87,66,63,53,50,48,752,215,198,118,155,166	FG_AHR_24Vo	0.000
RAFOS_FIX	6655.514160,-6005.677734,280211,040432,5,101,9.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	MEM	150716
TT8_MAMPS	0.026215	DATA_FILE_SIZE	39989,1048
HUMID	46.73	CAP_FILE_SIZE	114932,0
INTERNAL_PRESSURE	8.66244	CFSIZE	260165632,248467456
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	SOUNDSPEED	1453.5
ALTIM_TOP_PING	19.4,14.1	GPS	280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	229	21.27	SBE_CT	748	24	406.19
Roll_motor	79	97	176.15	SBE_O2	811	19	348.51
VBD_pump_during_apogee	410	1330	12328.39	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	23.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2567	19	526.70
LPSleep	6301	2	149.94
TT8_Active	424	19	87.14
TT8_Sampling	1700	39	699.14
TT8_CF8	158	45	74.73
TT8_Kalman	0	0	0.00
Analog_circuits	1345	12	166.31
GPS_charging	0	0	0.00
Compass	1695	15	262.02
RAFOS	0	0	0.00
Transponder	19	30	6.01

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	25	0.00	0.65	-6.55	0.000	3	0.000	0.098	2891	3235	3634	0	0	0	0	0	0
28	-0.62	-146.0	67.2	-0.0	1	35	0.62	3.38	0.00	0.000	4	0.116	0.052	2670	1069	3635	0	0	0	0	0	0
104	-0.53	-146.0	81.2	-18.2	14	111	0.00	2.22	0.00	0.000	6	0.000	0.060	2670	2485	3635	0	0	0	0	0	0
442	-0.42	-146.0	139.8	-14.7	55	447	0.20	2.28	0.00	0.000	4	0.227	0.073	2718	3907	3634	0	0	0	0	0	0
494	-0.48	-146.0	145.0	-8.2	59	498	0.00	2.20	0.00	0.000	6	0.000	0.047	2718	2487	3634	0	0	0	0	0	0
820	-0.52	-146.0	178.3	-11.3	89	824	0.00	2.22	0.00	0.000	4	0.000	0.067	2719	1081	3634	0	0	0	0	0	0
887	-0.56	-146.0	186.3	-11.8	94	895	0.12	2.22	0.00	0.000	6	0.137	0.060	2679	2490	3633	0	0	0	0	0	0
1214	-0.50	-146.0	236.6	-14.7	125	1218	0.00	2.30	0.00	0.000	4	0.000	0.077	2679	3898	3632	0	0	0	0	0	0
1235	-0.44	-146.0	240.0	-13.7	126	1243	0.15	2.17	0.00	0.000	6	0.210	0.048	2714	2487	3633	0	0	0	0	0	0
1561	-0.49	-146.0	267.4	-8.6	157	1565	0.00	2.22	0.00	0.000	4	0.000	0.066	2715	1076	3633	0	0	0	0	0	0
1623	-0.56	-146.0	273.0	-8.7	162	1627	0.00	2.22	0.00	0.000	6	0.000	0.060	2715	2492	3632	0	0	0	0	0	0
1953	-0.62	-146.0	305.8	-9.9	193	1955	0.15	0.00	0.00	0.000	6	0.122	0.000	2665	2492	3632	0	0	0	0	0	0
2272	-0.55	-146.0	345.2	-11.4	223	2276	0.00	2.22	0.00	0.000	4	0.000	0.065	2665	1088	3631	0	0	0	0	0	0
2318	-0.51	-146.0	350.5	-11.5	226	2325	0.12	2.22	0.00	0.000	6	0.230	0.061	2693	2489	3631	0	0	0	0	0	0
2643	-0.51	-146.0	379.6	-8.4	257	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2489	3632	0	0	0	0	0	0
2964	-0.51	-146.0	406.7	-8.1	287	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2489	3632	0	0	0	0	0	0
3291	-0.51	-146.0	434.0	-9.0	318	3292	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2489	3632	0	0	0	0	0	0
3609	-0.51	-146.0	463.5	-9.1	348	3610	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2489	3632	0	0	0	0	0	0
3930	-0.53	-146.0	492.7	-9.4	378	3936	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2489	3632	0	0	0	0	0	0
4257	-0.55	-146.0	523.7	-9.4	409	4258	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2490	3633	0	0	0	0	0	0
4577	-0.58	-146.0	552.0	-9.2	439	4583	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2490	3633	0	0	0	0	0	0
4904	-0.60	-146.0	579.4	-8.0	470	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2490	3633	0	0	0	0	0	0
5230	-0.62	-146.0	605.7	-8.1	497	5234	0.00	2.25	0.00	0.000	4	0.000	0.064	2693	1080	3633	0	0	0	0	0	0
5252	-0.65	-146.0	607.8	-8.6	497	5257	0.12	2.22	0.00	0.000	6	0.135	0.062	2652	2497	3633	0	0	0	0	0	0
5565	-0.58	-146.0	642.3	-11.5	507	5566	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2498	3633	0	0	0	0	0	0
5658	end dive: TARGET_DEPTH_EXCEEDED
state	5658	begin apogee
5664	-0.12	0.0	653.5	12.1	510	5793	0.57	0.00	123.28	1.330	6	0.207	0.000	2816	2270	3029	0	0	0	0	0	0
5794	end apogee: CONTROL_FINISHED_OK
state	5794	begin climb
5796	0.62	146.0	659.1	0.0	514	5932	0.77	2.53	125.00	1.287	4	0.142	0.071	3061	885	2432	0	0	0	0	0	0
5943	0.59	227.1	650.2	6.3	518	6024	0.00	2.42	73.88	1.245	6	0.000	0.056	3061	2273	2103	0	0	0	0	0	0
6341	0.59	227.1	595.3	19974.5	533	6345	0.00	2.40	0.00	0.000	4	0.000	0.071	3061	3694	2091	0	0	0	0	0	0
6448	0.59	227.1	577.9	19974.5	542	6452	0.00	2.35	0.00	0.000	6	0.000	0.054	3071	2282	2090	0	0	0	0	0	0
6773	0.59	227.1	527.3	19974.5	572	6777	0.00	2.33	0.00	0.000	4	0.000	0.067	3071	3692	2088	0	0	0	0	0	0
6817	0.59	227.1	519.8	19974.5	575	6824	0.00	2.30	0.00	0.000	6	0.000	0.054	3081	2274	2087	0	0	0	0	0	0
7144	0.59	227.1	465.3	19974.5	606	7148	0.00	2.35	0.00	0.000	4	0.000	0.068	3080	3698	2087	0	0	0	0	0	0
7184	0.59	227.1	457.8	19974.5	609	7189	0.15	2.28	0.00	0.000	6	0.194	0.054	3055	2273	2087	0	0	0	0	0	0
7509	0.59	227.1	410.8	19974.5	639	7510	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2273	2087	0	0	0	0	0	0
7829	0.59	227.1	365.6	19974.5	669	7833	0.00	2.30	0.00	0.000	4	0.000	0.067	3055	3694	2087	0	0	0	0	0	0
7874	0.59	227.1	358.5	19974.5	673	7878	0.00	2.28	0.00	0.000	6	0.000	0.054	3063	2270	2087	0	0	0	0	0	0
8199	0.59	227.1	310.3	19974.5	703	8201	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2270	2087	0	0	0	0	0	0
8519	0.59	227.1	271.7	19974.5	733	8523	0.00	2.30	0.00	0.000	4	0.000	0.067	3062	3697	2087	0	0	0	0	0	0
8570	0.59	227.1	265.3	19974.5	737	8575	0.00	2.25	0.00	0.000	6	0.000	0.052	3073	2269	2086	0	0	0	0	0	0
8901	0.59	227.1	226.0	19974.5	768	8902	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2269	2086	0	0	0	0	0	0
9221	0.59	227.1	184.9	19974.5	798	9225	0.00	2.28	0.00	0.000	4	0.000	0.063	3073	3691	2086	0	0	0	0	0	0
9253	0.59	227.1	181.0	19974.5	800	9260	0.00	2.22	0.00	0.000	6	0.000	0.051	3083	2274	2086	0	0	0	0	0	0
9580	0.59	227.1	144.3	19974.5	831	9584	0.00	2.22	0.00	0.000	4	0.000	0.067	3093	867	2086	0	0	0	0	0	0
9613	0.59	227.1	139.8	19974.5	833	9621	0.15	2.22	0.00	0.000	6	0.184	0.054	3053	2281	2084	0	0	0	0	0	0
9939	0.59	227.1	109.6	19974.5	864	9943	0.00	2.22	0.00	0.000	4	0.000	0.068	3053	3694	2085	0	0	0	0	0	0
9979	0.59	227.1	106.9	19974.5	867	9983	0.00	2.25	0.00	0.000	6	0.000	0.052	3059	2264	2085	0	0	0	0	0	0
10316	0.64	237.5	83.5	9.5	916	10328	0.00	0.00	8.80	0.828	6	0.000	0.000	3059	2265	2060	0	0	0	0	0	0
10668	0.79	319.7	58.7	6.2	978	10763	0.17	2.42	79.10	0.957	4	0.103	0.063	3125	3688	1724	0	0	0	0	1	0
10926	0.73	319.7	22.8	16.0	1023	10934	0.15	2.30	0.00	0.000	6	0.195	0.050	3099	2270	1717	0	0	0	0	0	0
11037	end climb: SURFACE_OBSTACLE_DETECTED
state	11037	begin subsurface finish
11043	0.08	65.0	9.9	-13.8	1042	11079	0.62	0.00	-32.47	0.000	6	0.132	0.000	2896	2269	2766	0	0	0	0	0	0
11080	end subsurface finish: CONTROL_FINISHED_OK
state	11080	begin surface