Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 559 * 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 559 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 21 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 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 -46593.008 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 -46593.008

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 21 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 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 559 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 060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6 MHEAD_RNG_PITCHd_Wd 118.1,158020,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 544

Post-dive calculations and measurements:

FREEZE 8.77,-1.708,-1.766,2,94,0 ALTIM_BOTTOM_PING 500.1,84.0

FINISH1 8.8,1.025861,80 _24V_AH 21.6,74.036

FINISH2 7.3 _10V_AH 10.0,38.254

RAFOS_CLK 568 FG_AHR_24Vo 0.000

RAFOS 0,1304668866,8.033334,8.018333,120,62,56,55,52,52,613,218,144,188,176,130 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.460938,-6016.395508,060511,080825,7,116,0.41 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40076,1051

TT8_MAMPS 0.026215 CAP_FILE_SIZE 121710,0

HUMID 48.42 CFSIZE 260165632,217198592

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.0

XPDR_PINGS 0 GPS 060511,082725,6650.461,-6016.396,0,7116.1,0,-37.6

ALTIM_TOP_PING 20.0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 227 26.01 SBE_CT 750 24 389.26

Roll_motor 108 176 414.24 SBE_O2 800 19 328.40

VBD_pump_during_apogee 410 1280 11362.52 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 15.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2548 19 507.58

LPSleep 5402 2 124.81

TT8_Active 464 19 92.44

TT8_Sampling 1712 39 683.83

TT8_CF8 201 45 92.50

TT8_Kalman 0 0 0.00

Analog_circuits 1395 12 167.42

GPS_charging 0 0 0.00

Compass 1698 15 254.82

RAFOS 2520 1 37.80

Transponder 14 30 4.30

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 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.80 0.000 2 0.000 0.000 2899 3687 2927 0 0 0 0 0 0

27 -0.62 -146.0 12.0 -0.0 1 52 0.65 0.35 -17.48 0.000 4 0.106 0.177 2671 3899 3629 0 0 0 0 0 0

262 -0.54 -146.0 49.5 -16.7 42 268 0.00 2.28 0.00 0.000 6 0.000 0.058 2671 2489 3631 0 0 0 0 0 0

609 -0.41 -146.0 113.8 -18.1 97 614 0.22 2.38 0.00 0.000 4 0.227 0.083 2725 3899 3631 0 0 0 0 0 0

684 -0.50 -146.0 122.9 -9.1 103 688 0.00 2.28 0.00 0.000 6 0.000 0.058 2725 2489 3631 0 0 0 0 0 0

1010 -0.54 -146.0 155.3 -10.0 133 1015 0.12 2.33 0.00 0.000 4 0.133 0.076 2683 1073 3630 0 0 0 0 0 0

1050 -0.51 -146.0 160.3 -13.5 136 1054 0.00 2.35 0.00 0.000 6 0.000 0.073 2683 2489 3630 0 0 0 0 0 0

1377 -0.47 -146.0 201.1 -12.2 166 1381 0.00 2.38 0.00 0.000 4 0.000 0.090 2683 3901 3630 0 0 0 0 0 0

1444 -0.47 -146.0 209.9 -11.8 171 1451 0.00 2.28 0.00 0.000 6 0.000 0.059 2683 2478 3630 0 0 0 0 0 0

1770 -0.44 -146.0 249.9 -11.9 202 1774 0.15 2.30 0.00 0.000 4 0.216 0.075 2718 1079 3629 0 0 0 0 0 0

1787 -0.44 -146.0 252.1 -12.5 203 1791 0.00 2.33 0.00 0.000 6 0.000 0.073 2718 2492 3629 0 0 0 0 0 0

2113 -0.51 -146.0 280.6 -8.4 233 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2491 3629 0 0 0 0 0 0

2431 -0.59 -146.0 305.9 -8.1 263 2436 0.15 2.40 0.00 0.000 4 0.120 0.089 2665 3910 3629 0 0 0 0 0 0

2461 -0.59 -146.0 308.8 -10.9 265 2465 0.00 2.28 0.00 0.000 6 0.000 0.059 2665 2487 3629 0 0 0 0 0 0

2786 -0.54 -146.0 348.8 -12.0 295 2791 0.00 2.28 0.00 0.000 4 0.000 0.073 2665 1079 3628 0 0 0 0 0 0

2820 -0.51 -146.0 353.0 -12.9 297 2827 0.12 2.35 0.00 0.000 6 0.213 0.072 2693 2496 3629 0 0 0 0 0 0

3146 -0.54 -146.0 382.9 -8.9 328 3150 0.00 2.35 0.00 0.000 4 0.000 0.087 2692 3900 3629 0 0 0 0 0 0

3210 -0.60 -146.0 388.5 -8.9 333 3214 0.00 2.25 0.00 0.000 6 0.000 0.057 2693 2488 3628 0 0 0 0 0 0

3536 -0.64 -146.0 415.1 -8.3 363 3538 0.12 0.00 0.00 0.000 6 0.134 0.000 2651 2488 3629 0 0 0 0 0 0

3853 -0.57 -146.0 452.1 -11.5 393 3857 0.00 2.28 0.00 0.000 4 0.000 0.072 2651 1078 3629 0 0 0 0 0 0

3883 -0.51 -146.0 455.6 -11.6 395 3888 0.17 2.35 0.00 0.000 6 0.207 0.070 2692 2498 3629 0 0 0 0 0 0

4208 -0.56 -146.0 482.3 -8.2 425 4213 0.00 2.35 0.00 0.000 4 0.000 0.086 2692 3906 3629 0 0 0 0 0 0

4243 -0.62 -146.0 485.1 -8.1 427 4249 0.00 2.25 0.00 0.000 6 0.000 0.056 2692 2489 3629 0 0 0 0 0 0

4568 -0.67 -146.0 511.6 -8.1 458 4573 0.12 2.30 0.00 0.000 4 0.128 0.071 2649 1077 3629 0 0 0 0 0 0

4588 -0.67 -146.0 513.4 -8.8 459 4593 0.00 2.35 0.00 0.000 6 0.000 0.071 2648 2495 3629 0 0 0 0 0 0

4837 end dive: TARGET_DEPTH_EXCEEDED

state 4837 begin apogee

4844 -0.12 0.0 544.1 12.2 482 4977 0.60 0.00 124.93 1.281 6 0.206 0.000 2810 2266 3030 0 0 0 0 0 0

4978 end apogee: CONTROL_FINISHED_OK

state 4978 begin climb

4980 0.62 146.0 549.6 0.0 494 5124 0.85 2.65 131.55 1.230 4 0.147 0.078 3068 877 2433 0 0 0 0 0 0

5172 0.56 146.0 537.8 10.6 511 5176 0.00 2.50 0.00 0.000 6 0.000 0.063 3068 2276 2430 0 0 0 0 0 0

5497 0.49 146.0 501.8 11.3 541 5502 0.17 2.42 0.00 0.000 4 0.181 0.080 3024 3694 2427 0 0 0 0 0 0

5553 0.46 146.0 495.9 10.4 545 5560 0.00 2.38 0.00 0.000 6 0.000 0.063 3031 2270 2427 0 0 0 0 0 0

5879 0.50 179.6 466.0 8.5 576 5911 0.00 0.00 29.38 1.165 6 0.000 0.000 3032 2270 2298 0 0 0 0 0 0

6229 0.55 196.0 433.9 9.2 609 6253 0.00 2.35 15.68 1.112 4 0.000 0.080 3042 863 2229 0 0 0 0 0 0

6289 0.60 198.7 428.2 9.9 614 6293 0.00 2.33 0.00 0.000 6 0.000 0.065 3042 2279 2227 0 0 0 0 0 0

6616 0.63 204.0 395.4 9.8 644 6631 0.00 2.42 8.25 0.998 4 0.000 0.080 3042 3698 2198 0 0 0 0 0 0

6685 0.60 204.0 387.6 12.1 650 6689 0.00 2.35 0.00 0.000 6 0.000 0.063 3052 2264 2197 0 0 0 0 0 0

7010 0.60 204.0 353.1 10.3 680 7014 0.00 2.33 0.00 0.000 4 0.000 0.078 3063 860 2196 0 0 0 0 0 0

7043 0.60 204.0 349.6 10.7 682 7050 0.00 2.33 0.00 0.000 6 0.000 0.065 3062 2278 2195 0 0 0 0 0 0

7369 0.60 204.0 315.3 10.7 713 7373 0.00 2.33 0.00 0.000 4 0.000 0.080 3062 3687 2195 0 0 0 0 0 0

7421 0.55 204.0 309.1 12.4 717 7426 0.12 2.33 0.00 0.000 6 0.195 0.064 3043 2265 2195 0 0 0 0 0 0

7747 0.63 239.9 279.6 8.3 747 7785 0.00 2.35 33.42 1.092 4 0.000 0.078 3048 863 2051 0 0 0 0 0 0

7839 0.76 274.3 271.8 8.4 754 7880 0.17 2.38 32.72 1.073 6 0.095 0.066 3118 2282 1910 0 0 0 0 0 0

8198 0.69 274.3 219.8 14.7 788 8203 0.12 2.35 0.00 0.000 4 0.188 0.080 3088 3693 1902 0 0 0 0 0 0

8244 0.69 274.3 213.1 14.4 792 8248 0.00 2.35 0.00 0.000 6 0.000 0.065 3096 2265 1901 0 0 0 0 0 0

8569 0.69 274.3 174.4 11.6 822 8573 0.00 2.30 0.00 0.000 4 0.000 0.079 3106 863 1900 0 0 0 0 0 0

8609 0.69 274.3 170.0 11.3 825 8614 0.00 2.30 0.00 0.000 6 0.000 0.067 3107 2274 1899 0 0 0 0 0 0

8936 0.69 274.3 133.7 11.0 855 8940 0.00 2.33 0.00 0.000 4 0.000 0.082 3107 3686 1899 0 0 0 0 0 0

9003 0.64 274.3 125.2 13.5 860 9010 0.17 2.33 0.00 0.000 6 0.197 0.067 3073 2266 1897 0 0 0 0 0 0

9331 0.76 305.1 96.6 8.6 894 9367 0.12 2.38 27.10 1.007 4 0.109 0.080 3137 868 1785 0 0 0 0 0 0

9432 0.76 305.1 85.7 10.6 911 9439 0.00 2.35 0.00 0.000 6 0.000 0.068 3137 2281 1782 0 0 0 0 0 0

9778 0.76 305.1 46.7 10.4 972 9785 0.00 2.35 0.00 0.000 4 0.000 0.083 3137 3687 1779 0 0 0 0 0 0

9832 0.73 305.1 39.8 13.3 981 9839 0.17 2.33 0.00 0.000 6 0.200 0.067 3104 2274 1779 0 0 0 0 0 0

10180 0.85 339.2 9.5 8.4 1042 10190 0.10 0.00 7.75 0.881 2 0.123 0.000 3146 2274 1719 0 0 0 0 0 0

10191 end climb: FINISH_DEPTH_REACHED

state 10191 begin subsurface finish

10198 0.10 80.4 8.8 -8.6 1043 10246 0.82 2.38 -37.92 0.000 4 0.172 0.090 2900 864 2706 0 0 0 0 0 0

10247 end subsurface finish: CONTROL_FINISHED_OK

state 10247 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	559	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	21	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	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	-46593.008	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	060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6	MHEAD_RNG_PITCHd_Wd	118.1,158020,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	544

FREEZE	8.77,-1.708,-1.766,2,94,0	ALTIM_BOTTOM_PING	500.1,84.0
FINISH1	8.8,1.025861,80	_24V_AH	21.6,74.036
FINISH2	7.3	_10V_AH	10.0,38.254
RAFOS_CLK	568	FG_AHR_24Vo	0.000
RAFOS	0,1304668866,8.033334,8.018333,120,62,56,55,52,52,613,218,144,188,176,130	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.460938,-6016.395508,060511,080825,7,116,0.41	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40076,1051
TT8_MAMPS	0.026215	CAP_FILE_SIZE	121710,0
HUMID	48.42	CFSIZE	260165632,217198592
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.0
XPDR_PINGS	0	GPS	060511,082725,6650.461,-6016.396,0,7116.1,0,-37.6
ALTIM_TOP_PING	20.0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	227	26.01	SBE_CT	750	24	389.26
Roll_motor	108	176	414.24	SBE_O2	800	19	328.40
VBD_pump_during_apogee	410	1280	11362.52	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	15.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2548	19	507.58
LPSleep	5402	2	124.81
TT8_Active	464	19	92.44
TT8_Sampling	1712	39	683.83
TT8_CF8	201	45	92.50
TT8_Kalman	0	0	0.00
Analog_circuits	1395	12	167.42
GPS_charging	0	0	0.00
Compass	1698	15	254.82
RAFOS	2520	1	37.80
Transponder	14	30	4.30

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	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.80	0.000	2	0.000	0.000	2899	3687	2927	0	0	0	0	0	0
27	-0.62	-146.0	12.0	-0.0	1	52	0.65	0.35	-17.48	0.000	4	0.106	0.177	2671	3899	3629	0	0	0	0	0	0
262	-0.54	-146.0	49.5	-16.7	42	268	0.00	2.28	0.00	0.000	6	0.000	0.058	2671	2489	3631	0	0	0	0	0	0
609	-0.41	-146.0	113.8	-18.1	97	614	0.22	2.38	0.00	0.000	4	0.227	0.083	2725	3899	3631	0	0	0	0	0	0
684	-0.50	-146.0	122.9	-9.1	103	688	0.00	2.28	0.00	0.000	6	0.000	0.058	2725	2489	3631	0	0	0	0	0	0
1010	-0.54	-146.0	155.3	-10.0	133	1015	0.12	2.33	0.00	0.000	4	0.133	0.076	2683	1073	3630	0	0	0	0	0	0
1050	-0.51	-146.0	160.3	-13.5	136	1054	0.00	2.35	0.00	0.000	6	0.000	0.073	2683	2489	3630	0	0	0	0	0	0
1377	-0.47	-146.0	201.1	-12.2	166	1381	0.00	2.38	0.00	0.000	4	0.000	0.090	2683	3901	3630	0	0	0	0	0	0
1444	-0.47	-146.0	209.9	-11.8	171	1451	0.00	2.28	0.00	0.000	6	0.000	0.059	2683	2478	3630	0	0	0	0	0	0
1770	-0.44	-146.0	249.9	-11.9	202	1774	0.15	2.30	0.00	0.000	4	0.216	0.075	2718	1079	3629	0	0	0	0	0	0
1787	-0.44	-146.0	252.1	-12.5	203	1791	0.00	2.33	0.00	0.000	6	0.000	0.073	2718	2492	3629	0	0	0	0	0	0
2113	-0.51	-146.0	280.6	-8.4	233	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2491	3629	0	0	0	0	0	0
2431	-0.59	-146.0	305.9	-8.1	263	2436	0.15	2.40	0.00	0.000	4	0.120	0.089	2665	3910	3629	0	0	0	0	0	0
2461	-0.59	-146.0	308.8	-10.9	265	2465	0.00	2.28	0.00	0.000	6	0.000	0.059	2665	2487	3629	0	0	0	0	0	0
2786	-0.54	-146.0	348.8	-12.0	295	2791	0.00	2.28	0.00	0.000	4	0.000	0.073	2665	1079	3628	0	0	0	0	0	0
2820	-0.51	-146.0	353.0	-12.9	297	2827	0.12	2.35	0.00	0.000	6	0.213	0.072	2693	2496	3629	0	0	0	0	0	0
3146	-0.54	-146.0	382.9	-8.9	328	3150	0.00	2.35	0.00	0.000	4	0.000	0.087	2692	3900	3629	0	0	0	0	0	0
3210	-0.60	-146.0	388.5	-8.9	333	3214	0.00	2.25	0.00	0.000	6	0.000	0.057	2693	2488	3628	0	0	0	0	0	0
3536	-0.64	-146.0	415.1	-8.3	363	3538	0.12	0.00	0.00	0.000	6	0.134	0.000	2651	2488	3629	0	0	0	0	0	0
3853	-0.57	-146.0	452.1	-11.5	393	3857	0.00	2.28	0.00	0.000	4	0.000	0.072	2651	1078	3629	0	0	0	0	0	0
3883	-0.51	-146.0	455.6	-11.6	395	3888	0.17	2.35	0.00	0.000	6	0.207	0.070	2692	2498	3629	0	0	0	0	0	0
4208	-0.56	-146.0	482.3	-8.2	425	4213	0.00	2.35	0.00	0.000	4	0.000	0.086	2692	3906	3629	0	0	0	0	0	0
4243	-0.62	-146.0	485.1	-8.1	427	4249	0.00	2.25	0.00	0.000	6	0.000	0.056	2692	2489	3629	0	0	0	0	0	0
4568	-0.67	-146.0	511.6	-8.1	458	4573	0.12	2.30	0.00	0.000	4	0.128	0.071	2649	1077	3629	0	0	0	0	0	0
4588	-0.67	-146.0	513.4	-8.8	459	4593	0.00	2.35	0.00	0.000	6	0.000	0.071	2648	2495	3629	0	0	0	0	0	0
4837	end dive: TARGET_DEPTH_EXCEEDED
state	4837	begin apogee
4844	-0.12	0.0	544.1	12.2	482	4977	0.60	0.00	124.93	1.281	6	0.206	0.000	2810	2266	3030	0	0	0	0	0	0
4978	end apogee: CONTROL_FINISHED_OK
state	4978	begin climb
4980	0.62	146.0	549.6	0.0	494	5124	0.85	2.65	131.55	1.230	4	0.147	0.078	3068	877	2433	0	0	0	0	0	0
5172	0.56	146.0	537.8	10.6	511	5176	0.00	2.50	0.00	0.000	6	0.000	0.063	3068	2276	2430	0	0	0	0	0	0
5497	0.49	146.0	501.8	11.3	541	5502	0.17	2.42	0.00	0.000	4	0.181	0.080	3024	3694	2427	0	0	0	0	0	0
5553	0.46	146.0	495.9	10.4	545	5560	0.00	2.38	0.00	0.000	6	0.000	0.063	3031	2270	2427	0	0	0	0	0	0
5879	0.50	179.6	466.0	8.5	576	5911	0.00	0.00	29.38	1.165	6	0.000	0.000	3032	2270	2298	0	0	0	0	0	0
6229	0.55	196.0	433.9	9.2	609	6253	0.00	2.35	15.68	1.112	4	0.000	0.080	3042	863	2229	0	0	0	0	0	0
6289	0.60	198.7	428.2	9.9	614	6293	0.00	2.33	0.00	0.000	6	0.000	0.065	3042	2279	2227	0	0	0	0	0	0
6616	0.63	204.0	395.4	9.8	644	6631	0.00	2.42	8.25	0.998	4	0.000	0.080	3042	3698	2198	0	0	0	0	0	0
6685	0.60	204.0	387.6	12.1	650	6689	0.00	2.35	0.00	0.000	6	0.000	0.063	3052	2264	2197	0	0	0	0	0	0
7010	0.60	204.0	353.1	10.3	680	7014	0.00	2.33	0.00	0.000	4	0.000	0.078	3063	860	2196	0	0	0	0	0	0
7043	0.60	204.0	349.6	10.7	682	7050	0.00	2.33	0.00	0.000	6	0.000	0.065	3062	2278	2195	0	0	0	0	0	0
7369	0.60	204.0	315.3	10.7	713	7373	0.00	2.33	0.00	0.000	4	0.000	0.080	3062	3687	2195	0	0	0	0	0	0
7421	0.55	204.0	309.1	12.4	717	7426	0.12	2.33	0.00	0.000	6	0.195	0.064	3043	2265	2195	0	0	0	0	0	0
7747	0.63	239.9	279.6	8.3	747	7785	0.00	2.35	33.42	1.092	4	0.000	0.078	3048	863	2051	0	0	0	0	0	0
7839	0.76	274.3	271.8	8.4	754	7880	0.17	2.38	32.72	1.073	6	0.095	0.066	3118	2282	1910	0	0	0	0	0	0
8198	0.69	274.3	219.8	14.7	788	8203	0.12	2.35	0.00	0.000	4	0.188	0.080	3088	3693	1902	0	0	0	0	0	0
8244	0.69	274.3	213.1	14.4	792	8248	0.00	2.35	0.00	0.000	6	0.000	0.065	3096	2265	1901	0	0	0	0	0	0
8569	0.69	274.3	174.4	11.6	822	8573	0.00	2.30	0.00	0.000	4	0.000	0.079	3106	863	1900	0	0	0	0	0	0
8609	0.69	274.3	170.0	11.3	825	8614	0.00	2.30	0.00	0.000	6	0.000	0.067	3107	2274	1899	0	0	0	0	0	0
8936	0.69	274.3	133.7	11.0	855	8940	0.00	2.33	0.00	0.000	4	0.000	0.082	3107	3686	1899	0	0	0	0	0	0
9003	0.64	274.3	125.2	13.5	860	9010	0.17	2.33	0.00	0.000	6	0.197	0.067	3073	2266	1897	0	0	0	0	0	0
9331	0.76	305.1	96.6	8.6	894	9367	0.12	2.38	27.10	1.007	4	0.109	0.080	3137	868	1785	0	0	0	0	0	0
9432	0.76	305.1	85.7	10.6	911	9439	0.00	2.35	0.00	0.000	6	0.000	0.068	3137	2281	1782	0	0	0	0	0	0
9778	0.76	305.1	46.7	10.4	972	9785	0.00	2.35	0.00	0.000	4	0.000	0.083	3137	3687	1779	0	0	0	0	0	0
9832	0.73	305.1	39.8	13.3	981	9839	0.17	2.33	0.00	0.000	6	0.200	0.067	3104	2274	1779	0	0	0	0	0	0
10180	0.85	339.2	9.5	8.4	1042	10190	0.10	0.00	7.75	0.881	2	0.123	0.000	3146	2274	1719	0	0	0	0	0	0
10191	end climb: FINISH_DEPTH_REACHED
state	10191	begin subsurface finish
10198	0.10	80.4	8.8	-8.6	1043	10246	0.82	2.38	-37.92	0.000	4	0.172	0.090	2900	864	2706	0	0	0	0	0	0
10247	end subsurface finish: CONTROL_FINISHED_OK
state	10247	begin surface