Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 54 * 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 54 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 27 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -22775.168 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 -22775.168

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 27 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 54 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 280211,082432,6654.949,-6011.002,0,6095.5,0,-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 2.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,082432,6654.949,-6011.002,181,99.0,181,-38.0 MHEAD_RNG_PITCHd_Wd 246.4,23055,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 651

Post-dive calculations and measurements:

FREEZE 8.24,-1.734,-1.772,3,31,0 ALTIM_TOP_PING 19.3,999.0

FINISH1 8.2,1.025947,76 _24V_AH 23.0,10.929

FINISH2 6.5 _10V_AH 10.3,5.314

RAFOS_CLK 662 FG_AHR_24Vo 0.000

RAFOS 0,1298894471,12.033333,12.019722,125,62,61,58,56,55,605,146,208,225,135,182 FG_AHR_10Vo 0.000

RAFOS_FIX 6654.421875,-6016.263184,280211,121216,7,108,0.27 MEM 150660

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43379,1147

TT8_MAMPS 0.026215 CAP_FILE_SIZE 132946,0

HUMID 46.22 CFSIZE 260165632,248320000

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

TCM_TEMP 16.20 SOUNDSPEED 1452.8

XPDR_PINGS 0 GPS 280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 332 129.63 SBE_CT 816 24 450.92

Roll_motor 87 78 159.21 SBE_O2 880 19 384.56

VBD_pump_during_apogee 431 1302 12916.11 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 100 103 237.83 nil 0 0 0.00

Iridium_during_connect 16 160 62.18 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 24.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 94.40

TT8 2702 19 554.58

LPSleep 6357 2 151.27

TT8_Active 600 19 123.21

TT8_Sampling 2148 39 883.59

TT8_CF8 381 45 180.28

TT8_Kalman 0 0 0.00

Analog_circuits 1606 12 198.62

GPS_charging 0 0 0.00

Compass 1831 15 282.98

RAFOS 2520 1 38.93

Transponder 21 30 6.69

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 0 179 0.00 0.00 -159.65 0.000 2 0.000 0.000 107 2495 3164 0 0 0 0 0 0

182 -0.62 -146.0 5.3 -8.6 28 213 12.43 2.28 -11.00 0.000 4 0.332 0.077 2655 1077 3629 0 0 0 0 0 0

461 -0.48 -146.0 69.5 -18.3 77 469 0.20 2.30 0.00 0.000 6 0.233 0.063 2703 2496 3631 0 0 0 0 0 0

797 -0.42 -146.0 127.1 -16.8 123 801 0.00 2.30 0.00 0.000 4 0.000 0.067 2703 1068 3631 0 0 0 0 0 0

881 -0.42 -146.0 140.1 -14.0 130 885 0.00 2.28 0.00 0.000 6 0.000 0.063 2703 2498 3630 0 0 0 0 0 0

1208 -0.38 -146.0 182.5 -11.9 160 1210 0.12 0.00 0.00 0.000 6 0.230 0.000 2733 2498 3630 0 0 0 0 0 0

1525 -0.44 -146.0 211.6 -8.1 190 1529 0.00 2.25 0.00 0.000 4 0.000 0.067 2733 1077 3630 0 0 0 0 0 0

1555 -0.49 -146.0 213.7 -7.7 192 1559 0.00 2.28 0.00 0.000 6 0.000 0.063 2733 2494 3630 0 0 0 0 0 0

1881 -0.56 -146.0 237.2 -8.9 222 1886 0.15 2.33 0.00 0.000 4 0.122 0.079 2682 3906 3629 0 0 0 0 0 0

1899 -0.59 -146.0 238.9 -9.6 223 1903 0.00 2.22 0.00 0.000 6 0.000 0.049 2682 2486 3629 0 0 0 0 0 0

2224 -0.54 -146.0 282.5 -11.6 253 2228 0.00 2.22 0.00 0.000 4 0.000 0.070 2682 1080 3629 0 0 0 0 0 0

2323 -0.52 -146.0 294.0 -11.3 261 2330 0.00 2.28 0.00 0.000 6 0.000 0.063 2682 2494 3629 0 0 0 0 0 0

2648 -0.48 -146.0 328.0 -11.5 292 2652 0.00 2.25 0.00 0.000 4 0.000 0.068 2682 1076 3629 0 0 0 0 0 0

2670 -0.43 -146.0 330.8 -11.7 293 2677 0.15 2.25 0.00 0.000 6 0.213 0.062 2717 2490 3629 0 0 0 0 0 0

2996 -0.48 -146.0 359.5 -9.1 324 2997 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2490 3630 0 0 0 0 0 0

3317 -0.54 -146.0 389.0 -9.0 354 3321 0.00 2.33 0.00 0.000 4 0.000 0.077 2717 3907 3630 0 0 0 0 0 0

3346 -0.60 -146.0 391.9 -9.0 356 3351 0.15 2.20 0.00 0.000 6 0.118 0.049 2666 2486 3630 0 0 0 0 0 0

3677 -0.54 -146.0 432.6 -12.1 387 3681 0.00 2.22 0.00 0.000 4 0.000 0.067 2666 1081 3630 0 0 0 0 0 0

3729 -0.50 -146.0 439.1 -12.3 391 3734 0.12 2.25 0.00 0.000 6 0.230 0.063 2693 2491 3630 0 0 0 0 0 0

4054 -0.50 -146.0 470.4 -9.3 421 4055 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2491 3631 0 0 0 0 0 0

4375 -0.50 -146.0 500.6 -9.5 451 4381 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2491 3631 0 0 0 0 0 0

4702 -0.50 -146.0 531.0 -9.3 482 4703 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2492 3632 0 0 0 0 0 0

5019 -0.50 -146.0 560.9 -9.5 512 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2491 3632 0 0 0 0 0 0

5339 -0.50 -146.0 589.7 -9.3 542 5340 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2492 3632 0 0 0 0 0 0

5649 -0.77 -146.0 603.9 -0.0 560 5654 0.22 2.28 0.00 0.000 4 0.099 0.073 2611 3902 3633 0 0 0 0 0 0

5736 end dive: NO_VERTICAL_VELOCITY

state 5736 begin apogee

5743 -0.12 0.0 603.9 0.0 562 5875 0.65 0.00 122.47 1.303 6 0.149 0.000 2820 2265 3029 0 0 0 0 0 0

5876 end apogee: CONTROL_FINISHED_OK

state 5876 begin climb

5878 0.62 146.0 603.8 0.0 567 6016 0.77 2.60 125.47 1.253 4 0.135 0.069 3056 3675 2433 0 0 0 0 0 0

6063 0.46 146.0 588.5 14.8 578 6068 0.20 2.40 0.00 0.000 6 0.186 0.052 3020 2273 2428 0 0 0 0 0 0

6388 0.43 146.0 554.4 10.0 608 6393 0.00 2.40 0.00 0.000 4 0.000 0.067 3020 3692 2423 0 0 0 0 0 0

6444 0.36 146.0 547.4 13.3 612 6451 0.17 2.33 0.00 0.000 6 0.187 0.052 2986 2273 2423 0 0 0 0 0 0

6771 0.46 187.5 520.5 8.1 643 6810 0.00 0.00 35.47 1.191 6 0.000 0.000 2986 2273 2265 0 0 0 0 0 0

7128 0.58 221.1 490.9 8.4 677 7165 0.20 2.45 30.42 1.171 4 0.087 0.067 3063 3679 2128 0 0 0 0 0 0

7207 0.48 221.1 480.2 15.9 684 7212 0.20 2.33 0.00 0.000 6 0.182 0.053 3024 2275 2124 0 0 0 0 0 0

7532 0.48 221.1 442.3 11.6 714 7533 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2275 2121 0 0 0 0 0 0

7852 0.48 221.1 406.3 10.7 744 7856 0.00 2.33 0.00 0.000 4 0.000 0.067 3023 3689 2119 0 0 0 0 0 0

7891 0.48 221.1 401.7 11.9 747 7895 0.00 2.25 0.00 0.000 6 0.000 0.052 3030 2273 2119 0 0 0 0 0 0

8217 0.48 221.1 365.3 11.6 777 8218 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2272 2119 0 0 0 0 0 0

8536 0.50 221.1 325.1 12.6 807 8540 0.00 2.28 0.00 0.000 4 0.000 0.067 3031 3690 2118 0 0 0 0 0 0

8586 0.50 221.1 318.1 14.5 811 8591 0.00 2.22 0.00 0.000 6 0.000 0.051 3041 2272 2118 0 0 0 0 0 0

8913 0.50 221.1 282.6 10.4 841 8914 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2272 2118 0 0 0 0 0 0

9231 0.50 221.1 248.1 11.1 871 9235 0.00 2.28 0.00 0.000 4 0.000 0.066 3041 3697 2118 0 0 0 0 0 0

9286 0.47 221.1 241.5 12.5 875 9294 0.12 2.25 0.00 0.000 6 0.200 0.050 3020 2264 2118 0 0 0 0 0 0

9612 0.58 255.1 216.3 8.4 906 9646 0.00 2.42 29.42 1.045 4 0.000 0.064 3020 3698 1990 0 0 0 0 0 0

9674 0.65 255.1 210.4 10.7 911 9682 0.12 2.30 0.00 0.000 6 0.111 0.050 3076 2271 1988 0 0 0 0 0 0

9999 0.65 255.1 168.6 10.5 942 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2271 1985 0 0 0 0 0 0

10320 0.65 255.1 132.5 13.2 972 10324 0.00 2.30 0.00 0.000 4 0.000 0.065 3076 3692 1985 0 0 0 0 0 0

10372 0.60 255.1 125.0 15.6 976 10376 0.00 2.25 0.00 0.000 6 0.000 0.051 3086 2275 1984 0 0 0 0 0 0

10703 0.72 328.4 92.0 6.6 1015 10778 0.00 2.42 65.88 0.991 4 0.000 0.064 3086 3680 1689 0 0 0 0 0 0

10798 0.79 352.5 83.9 8.9 1031 10828 0.00 2.33 21.90 0.937 6 0.000 0.052 3096 2277 1592 0 0 0 0 0 0

11166 0.84 353.4 45.4 10.0 1096 11173 0.12 2.35 0.00 0.000 4 0.113 0.064 3143 3692 1583 0 0 0 0 0 0

11191 0.84 353.4 42.2 11.6 1100 11198 0.00 2.30 0.00 0.000 6 0.000 0.052 3153 2271 1582 0 0 0 0 0 0

11408 end climb: FINISH_DEPTH_REACHED

state 11408 begin subsurface finish

11414 0.09 76.2 8.2 -16.0 1138 11467 0.85 0.00 -46.05 0.000 6 0.174 0.000 2899 2270 2722 0 0 0 0 0 0

11467 end subsurface finish: CONTROL_FINISHED_OK

state 11467 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	54	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	27	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-22775.168	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	280211,082432,6654.949,-6011.002,0,6095.5,0,-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	2.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,082432,6654.949,-6011.002,181,99.0,181,-38.0	MHEAD_RNG_PITCHd_Wd	246.4,23055,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	651

FREEZE	8.24,-1.734,-1.772,3,31,0	ALTIM_TOP_PING	19.3,999.0
FINISH1	8.2,1.025947,76	_24V_AH	23.0,10.929
FINISH2	6.5	_10V_AH	10.3,5.314
RAFOS_CLK	662	FG_AHR_24Vo	0.000
RAFOS	0,1298894471,12.033333,12.019722,125,62,61,58,56,55,605,146,208,225,135,182	FG_AHR_10Vo	0.000
RAFOS_FIX	6654.421875,-6016.263184,280211,121216,7,108,0.27	MEM	150660
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43379,1147
TT8_MAMPS	0.026215	CAP_FILE_SIZE	132946,0
HUMID	46.22	CFSIZE	260165632,248320000
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.8
XPDR_PINGS	0	GPS	280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	332	129.63	SBE_CT	816	24	450.92
Roll_motor	87	78	159.21	SBE_O2	880	19	384.56
VBD_pump_during_apogee	431	1302	12916.11	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	100	103	237.83	nil	0	0	0.00
Iridium_during_connect	16	160	62.18	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	24.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	94.40
TT8	2702	19	554.58
LPSleep	6357	2	151.27
TT8_Active	600	19	123.21
TT8_Sampling	2148	39	883.59
TT8_CF8	381	45	180.28
TT8_Kalman	0	0	0.00
Analog_circuits	1606	12	198.62
GPS_charging	0	0	0.00
Compass	1831	15	282.98
RAFOS	2520	1	38.93
Transponder	21	30	6.69

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	179	0.00	0.00	-159.65	0.000	2	0.000	0.000	107	2495	3164	0	0	0	0	0	0
182	-0.62	-146.0	5.3	-8.6	28	213	12.43	2.28	-11.00	0.000	4	0.332	0.077	2655	1077	3629	0	0	0	0	0	0
461	-0.48	-146.0	69.5	-18.3	77	469	0.20	2.30	0.00	0.000	6	0.233	0.063	2703	2496	3631	0	0	0	0	0	0
797	-0.42	-146.0	127.1	-16.8	123	801	0.00	2.30	0.00	0.000	4	0.000	0.067	2703	1068	3631	0	0	0	0	0	0
881	-0.42	-146.0	140.1	-14.0	130	885	0.00	2.28	0.00	0.000	6	0.000	0.063	2703	2498	3630	0	0	0	0	0	0
1208	-0.38	-146.0	182.5	-11.9	160	1210	0.12	0.00	0.00	0.000	6	0.230	0.000	2733	2498	3630	0	0	0	0	0	0
1525	-0.44	-146.0	211.6	-8.1	190	1529	0.00	2.25	0.00	0.000	4	0.000	0.067	2733	1077	3630	0	0	0	0	0	0
1555	-0.49	-146.0	213.7	-7.7	192	1559	0.00	2.28	0.00	0.000	6	0.000	0.063	2733	2494	3630	0	0	0	0	0	0
1881	-0.56	-146.0	237.2	-8.9	222	1886	0.15	2.33	0.00	0.000	4	0.122	0.079	2682	3906	3629	0	0	0	0	0	0
1899	-0.59	-146.0	238.9	-9.6	223	1903	0.00	2.22	0.00	0.000	6	0.000	0.049	2682	2486	3629	0	0	0	0	0	0
2224	-0.54	-146.0	282.5	-11.6	253	2228	0.00	2.22	0.00	0.000	4	0.000	0.070	2682	1080	3629	0	0	0	0	0	0
2323	-0.52	-146.0	294.0	-11.3	261	2330	0.00	2.28	0.00	0.000	6	0.000	0.063	2682	2494	3629	0	0	0	0	0	0
2648	-0.48	-146.0	328.0	-11.5	292	2652	0.00	2.25	0.00	0.000	4	0.000	0.068	2682	1076	3629	0	0	0	0	0	0
2670	-0.43	-146.0	330.8	-11.7	293	2677	0.15	2.25	0.00	0.000	6	0.213	0.062	2717	2490	3629	0	0	0	0	0	0
2996	-0.48	-146.0	359.5	-9.1	324	2997	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2490	3630	0	0	0	0	0	0
3317	-0.54	-146.0	389.0	-9.0	354	3321	0.00	2.33	0.00	0.000	4	0.000	0.077	2717	3907	3630	0	0	0	0	0	0
3346	-0.60	-146.0	391.9	-9.0	356	3351	0.15	2.20	0.00	0.000	6	0.118	0.049	2666	2486	3630	0	0	0	0	0	0
3677	-0.54	-146.0	432.6	-12.1	387	3681	0.00	2.22	0.00	0.000	4	0.000	0.067	2666	1081	3630	0	0	0	0	0	0
3729	-0.50	-146.0	439.1	-12.3	391	3734	0.12	2.25	0.00	0.000	6	0.230	0.063	2693	2491	3630	0	0	0	0	0	0
4054	-0.50	-146.0	470.4	-9.3	421	4055	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2491	3631	0	0	0	0	0	0
4375	-0.50	-146.0	500.6	-9.5	451	4381	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2491	3631	0	0	0	0	0	0
4702	-0.50	-146.0	531.0	-9.3	482	4703	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2492	3632	0	0	0	0	0	0
5019	-0.50	-146.0	560.9	-9.5	512	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2491	3632	0	0	0	0	0	0
5339	-0.50	-146.0	589.7	-9.3	542	5340	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2492	3632	0	0	0	0	0	0
5649	-0.77	-146.0	603.9	-0.0	560	5654	0.22	2.28	0.00	0.000	4	0.099	0.073	2611	3902	3633	0	0	0	0	0	0
5736	end dive: NO_VERTICAL_VELOCITY
state	5736	begin apogee
5743	-0.12	0.0	603.9	0.0	562	5875	0.65	0.00	122.47	1.303	6	0.149	0.000	2820	2265	3029	0	0	0	0	0	0
5876	end apogee: CONTROL_FINISHED_OK
state	5876	begin climb
5878	0.62	146.0	603.8	0.0	567	6016	0.77	2.60	125.47	1.253	4	0.135	0.069	3056	3675	2433	0	0	0	0	0	0
6063	0.46	146.0	588.5	14.8	578	6068	0.20	2.40	0.00	0.000	6	0.186	0.052	3020	2273	2428	0	0	0	0	0	0
6388	0.43	146.0	554.4	10.0	608	6393	0.00	2.40	0.00	0.000	4	0.000	0.067	3020	3692	2423	0	0	0	0	0	0
6444	0.36	146.0	547.4	13.3	612	6451	0.17	2.33	0.00	0.000	6	0.187	0.052	2986	2273	2423	0	0	0	0	0	0
6771	0.46	187.5	520.5	8.1	643	6810	0.00	0.00	35.47	1.191	6	0.000	0.000	2986	2273	2265	0	0	0	0	0	0
7128	0.58	221.1	490.9	8.4	677	7165	0.20	2.45	30.42	1.171	4	0.087	0.067	3063	3679	2128	0	0	0	0	0	0
7207	0.48	221.1	480.2	15.9	684	7212	0.20	2.33	0.00	0.000	6	0.182	0.053	3024	2275	2124	0	0	0	0	0	0
7532	0.48	221.1	442.3	11.6	714	7533	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2275	2121	0	0	0	0	0	0
7852	0.48	221.1	406.3	10.7	744	7856	0.00	2.33	0.00	0.000	4	0.000	0.067	3023	3689	2119	0	0	0	0	0	0
7891	0.48	221.1	401.7	11.9	747	7895	0.00	2.25	0.00	0.000	6	0.000	0.052	3030	2273	2119	0	0	0	0	0	0
8217	0.48	221.1	365.3	11.6	777	8218	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	2272	2119	0	0	0	0	0	0
8536	0.50	221.1	325.1	12.6	807	8540	0.00	2.28	0.00	0.000	4	0.000	0.067	3031	3690	2118	0	0	0	0	0	0
8586	0.50	221.1	318.1	14.5	811	8591	0.00	2.22	0.00	0.000	6	0.000	0.051	3041	2272	2118	0	0	0	0	0	0
8913	0.50	221.1	282.6	10.4	841	8914	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2272	2118	0	0	0	0	0	0
9231	0.50	221.1	248.1	11.1	871	9235	0.00	2.28	0.00	0.000	4	0.000	0.066	3041	3697	2118	0	0	0	0	0	0
9286	0.47	221.1	241.5	12.5	875	9294	0.12	2.25	0.00	0.000	6	0.200	0.050	3020	2264	2118	0	0	0	0	0	0
9612	0.58	255.1	216.3	8.4	906	9646	0.00	2.42	29.42	1.045	4	0.000	0.064	3020	3698	1990	0	0	0	0	0	0
9674	0.65	255.1	210.4	10.7	911	9682	0.12	2.30	0.00	0.000	6	0.111	0.050	3076	2271	1988	0	0	0	0	0	0
9999	0.65	255.1	168.6	10.5	942	10000	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2271	1985	0	0	0	0	0	0
10320	0.65	255.1	132.5	13.2	972	10324	0.00	2.30	0.00	0.000	4	0.000	0.065	3076	3692	1985	0	0	0	0	0	0
10372	0.60	255.1	125.0	15.6	976	10376	0.00	2.25	0.00	0.000	6	0.000	0.051	3086	2275	1984	0	0	0	0	0	0
10703	0.72	328.4	92.0	6.6	1015	10778	0.00	2.42	65.88	0.991	4	0.000	0.064	3086	3680	1689	0	0	0	0	0	0
10798	0.79	352.5	83.9	8.9	1031	10828	0.00	2.33	21.90	0.937	6	0.000	0.052	3096	2277	1592	0	0	0	0	0	0
11166	0.84	353.4	45.4	10.0	1096	11173	0.12	2.35	0.00	0.000	4	0.113	0.064	3143	3692	1583	0	0	0	0	0	0
11191	0.84	353.4	42.2	11.6	1100	11198	0.00	2.30	0.00	0.000	6	0.000	0.052	3153	2271	1582	0	0	0	0	0	0
11408	end climb: FINISH_DEPTH_REACHED
state	11408	begin subsurface finish
11414	0.09	76.2	8.2	-16.0	1138	11467	0.85	0.00	-46.05	0.000	6	0.174	0.000	2899	2270	2722	0	0	0	0	0	0
11467	end subsurface finish: CONTROL_FINISHED_OK
state	11467	begin surface