Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 56 * 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 56 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 56 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 280211,162202,6652.793,-6017.645,0,3122.7,0,-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 9.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,162202,6652.793,-6017.645,0,3122.7,0,-38.0 MHEAD_RNG_PITCHd_Wd 238.6,17394,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 587

Post-dive calculations and measurements:

FREEZE 8.99,-1.735,-1.769,3,33,0 ALTIM_TOP_PING 19.7,19.2

FINISH1 9.0,1.025895,79 _24V_AH 23.1,11.203

FINISH2 8.0 _10V_AH 10.3,5.446

RAFOS_CLK 607 FG_AHR_24Vo 0.000

RAFOS 0,1298923269,20.033333,20.019167,133,66,62,62,58,56,584,210,167,186,141,198 FG_AHR_10Vo 0.000

RAFOS_FIX 6649.386230,-6023.021973,280211,202028,6,115,0.51 MEM 150716

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43323,1134

TT8_MAMPS 0.026964 CAP_FILE_SIZE 117245,0

HUMID 46.22 CFSIZE 260165632,248201216

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 1452.7

XPDR_PINGS 1 GPS 280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 237 26.30 SBE_CT 808 24 448.17

Roll_motor 76 78 139.65 SBE_O2 869 19 381.49

VBD_pump_during_apogee 421 1278 12452.41 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 21.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2665 19 546.81

LPSleep 5954 2 141.68

TT8_Active 471 19 96.83

TT8_Sampling 1746 39 718.31

TT8_CF8 155 45 73.60

TT8_Kalman 0 0 0.00

Analog_circuits 1401 12 173.23

GPS_charging 0 0 0.00

Compass 1740 15 268.92

RAFOS 2160 1 33.37

Transponder 15 30 4.88

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 0.00 -7.28 0.000 2 0.000 0.000 2903 855 2973 0 0 0 0 0 0

27 -0.62 -146.0 10.5 -0.0 1 58 0.68 4.97 -17.48 0.000 4 0.100 0.075 2664 3893 3628 0 0 0 0 0 0

100 -0.48 -146.0 21.0 -18.4 13 107 0.17 2.20 0.00 0.000 6 0.229 0.049 2705 2489 3629 0 0 0 0 0 0

445 -0.39 -146.0 80.4 -16.9 74 453 0.12 2.35 0.00 0.000 4 0.237 0.075 2733 3904 3629 0 0 0 0 0 0

516 -0.44 -146.0 89.5 -11.2 86 523 0.00 2.22 0.00 0.000 6 0.000 0.048 2733 2486 3629 0 0 0 0 0 0

847 -0.47 -146.0 129.1 -11.2 124 849 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2486 3629 0 0 0 0 0 0

1167 -0.52 -146.0 152.8 -6.3 154 1172 0.12 2.25 0.00 0.000 4 0.136 0.070 2693 1086 3628 0 0 0 0 0 0

1206 -0.52 -146.0 156.7 -10.2 157 1213 0.00 2.25 0.00 0.000 6 0.000 0.063 2693 2486 3628 0 0 0 0 0 0

1531 -0.47 -146.0 202.6 -13.2 188 1532 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2485 3628 0 0 0 0 0 0

1851 -0.44 -146.0 240.9 -11.7 218 1855 0.00 2.28 0.00 0.000 4 0.000 0.079 2693 3898 3627 0 0 0 0 0 0

1891 -0.44 -146.0 246.4 -13.7 221 1895 0.00 2.20 0.00 0.000 6 0.000 0.050 2692 2492 3627 0 0 0 0 0 0

2217 -0.44 -146.0 285.3 -10.9 251 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2492 3627 0 0 0 0 0 0

2535 -0.44 -146.0 320.8 -11.4 281 2539 0.00 2.22 0.00 0.000 4 0.000 0.067 2693 1075 3626 0 0 0 0 0 0

2545 -0.44 -146.0 322.2 -11.0 281 2553 0.00 2.28 0.00 0.000 6 0.000 0.062 2693 2486 3626 0 0 0 0 0 0

2871 -0.44 -146.0 355.2 -9.3 312 2872 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2485 3626 0 0 0 0 0 0

3191 -0.44 -146.0 385.7 -9.9 342 3192 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2485 3627 0 0 0 0 0 0

3511 -0.44 -146.0 416.3 -9.6 372 3515 0.00 2.30 0.00 0.000 4 0.000 0.078 2692 3904 3627 0 0 0 0 0 0

3551 -0.47 -146.0 420.3 -9.8 375 3555 0.00 2.17 0.00 0.000 6 0.000 0.048 2693 2487 3627 0 0 0 0 0 0

3876 -0.47 -146.0 449.8 -8.9 405 3877 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2486 3628 0 0 0 0 0 0

4198 -0.47 -146.0 478.6 -9.0 435 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2487 3628 0 0 0 0 0 0

4524 -0.49 -146.0 509.3 -9.8 466 4528 0.00 2.20 0.00 0.000 4 0.000 0.065 2693 1086 3628 0 0 0 0 0 0

4558 -0.52 -146.0 512.6 -9.3 468 4564 0.00 2.25 0.00 0.000 6 0.000 0.062 2692 2500 3628 0 0 0 0 0 0

4884 -0.52 -146.0 542.6 -9.4 499 4885 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2500 3628 0 0 0 0 0 0

5203 -0.88 -146.0 566.8 0.1 529 5205 0.32 0.00 0.00 0.000 6 0.102 0.000 2578 2501 3629 0 0 0 0 0 0

5306 end dive: NO_VERTICAL_VELOCITY

state 5306 begin apogee

5311 -0.12 0.0 566.7 0.0 539 5442 0.70 0.00 121.53 1.278 6 0.118 0.000 2819 2257 3029 0 0 0 0 0 0

5443 end apogee: CONTROL_FINISHED_OK

state 5443 begin climb

5445 0.62 146.0 566.8 0.0 551 5582 0.75 2.60 125.15 1.229 4 0.132 0.068 3051 3675 2433 0 0 0 0 0 0

5629 0.48 146.0 553.1 14.2 568 5634 0.17 2.38 0.00 0.000 6 0.191 0.052 3021 2281 2429 0 0 0 0 0 0

5954 0.45 149.0 520.5 9.9 598 5955 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2281 2424 0 0 0 0 0 0

6274 0.42 149.0 489.3 10.3 628 6275 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2281 2423 0 0 0 0 0 0

6592 0.41 156.8 457.9 9.6 658 6607 0.00 2.38 8.95 1.023 4 0.000 0.068 3021 3680 2390 0 0 0 0 0 0

6659 0.34 156.8 450.3 12.3 664 6664 0.20 2.30 0.00 0.000 6 0.193 0.053 2980 2264 2389 0 0 0 0 0 0

6985 0.50 224.9 426.0 6.9 694 7052 0.15 2.47 60.30 1.169 4 0.099 0.069 3037 3687 2112 0 0 0 0 0 0

7092 0.46 224.9 414.1 13.3 704 7097 0.12 2.35 0.00 0.000 6 0.197 0.053 3019 2269 2108 0 0 0 0 0 0

7418 0.50 227.6 381.4 9.9 734 7419 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2269 2103 0 0 0 0 0 0

7738 0.55 234.1 350.8 9.7 764 7750 0.00 2.40 7.80 0.961 4 0.000 0.066 3019 3688 2075 0 0 0 0 0 0

7800 0.55 234.1 343.5 12.7 769 7808 0.00 2.28 0.00 0.000 6 0.000 0.052 3027 2272 2074 0 0 0 0 0 0

8126 0.58 234.1 309.2 10.5 800 8130 0.00 2.30 0.00 0.000 4 0.000 0.067 3027 3689 2072 0 0 0 0 0 0

8166 0.58 234.1 304.4 12.4 803 8172 0.00 2.25 0.00 0.000 6 0.000 0.050 3036 2274 2072 0 0 0 0 0 0

8491 0.60 244.0 269.5 9.5 834 8506 0.00 2.35 9.98 0.988 4 0.000 0.066 3036 3682 2035 0 0 0 0 0 0

8536 0.60 249.5 265.3 9.7 838 8548 0.00 2.22 6.68 0.900 6 0.000 0.050 3045 2274 2012 0 0 0 0 0 0

8866 0.63 249.5 233.3 11.9 869 8867 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2273 2010 0 0 0 0 0 0

9184 0.67 249.5 193.9 11.4 899 9189 0.10 2.30 0.00 0.000 4 0.128 0.063 3084 3698 2008 0 0 0 0 0 0

9213 0.62 249.5 190.3 13.3 901 9217 0.00 2.28 0.00 0.000 6 0.000 0.050 3094 2262 2009 0 0 0 0 0 0

9541 0.58 249.5 149.7 10.9 931 9548 0.15 0.00 0.00 0.000 6 0.184 0.000 3055 2262 2008 0 0 0 0 0 0

9866 0.61 249.5 114.0 13.5 962 9871 0.00 2.30 0.00 0.000 4 0.000 0.067 3056 3690 2008 0 0 0 0 0 0

9929 0.64 249.5 105.6 13.5 967 9933 0.00 2.25 0.00 0.000 6 0.000 0.051 3059 2266 2008 0 0 0 0 0 0

10269 0.83 339.8 80.0 5.8 1022 10356 0.20 2.47 81.32 0.988 4 0.096 0.064 3134 3688 1643 0 0 0 0 0 0

10409 0.77 339.8 62.2 16.2 1046 10417 0.12 2.33 0.00 0.000 6 0.207 0.050 3117 2274 1637 0 0 0 0 0 0

10755 0.79 339.8 23.4 11.0 1107 10761 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2274 1631 0 0 0 0 0 0

10868 end climb: FINISH_DEPTH_REACHED

state 10868 begin subsurface finish

10875 0.10 78.7 9.0 -12.9 1127 10917 0.70 0.00 -38.45 0.000 6 0.165 0.000 2901 2274 2712 0 0 0 0 0 0

10918 end subsurface finish: CONTROL_FINISHED_OK

state 10918 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	56	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	280211,162202,6652.793,-6017.645,0,3122.7,0,-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	9.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,162202,6652.793,-6017.645,0,3122.7,0,-38.0	MHEAD_RNG_PITCHd_Wd	238.6,17394,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	587

FREEZE	8.99,-1.735,-1.769,3,33,0	ALTIM_TOP_PING	19.7,19.2
FINISH1	9.0,1.025895,79	_24V_AH	23.1,11.203
FINISH2	8.0	_10V_AH	10.3,5.446
RAFOS_CLK	607	FG_AHR_24Vo	0.000
RAFOS	0,1298923269,20.033333,20.019167,133,66,62,62,58,56,584,210,167,186,141,198	FG_AHR_10Vo	0.000
RAFOS_FIX	6649.386230,-6023.021973,280211,202028,6,115,0.51	MEM	150716
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43323,1134
TT8_MAMPS	0.026964	CAP_FILE_SIZE	117245,0
HUMID	46.22	CFSIZE	260165632,248201216
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	1452.7
XPDR_PINGS	1	GPS	280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	237	26.30	SBE_CT	808	24	448.17
Roll_motor	76	78	139.65	SBE_O2	869	19	381.49
VBD_pump_during_apogee	421	1278	12452.41	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	21.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2665	19	546.81
LPSleep	5954	2	141.68
TT8_Active	471	19	96.83
TT8_Sampling	1746	39	718.31
TT8_CF8	155	45	73.60
TT8_Kalman	0	0	0.00
Analog_circuits	1401	12	173.23
GPS_charging	0	0	0.00
Compass	1740	15	268.92
RAFOS	2160	1	33.37
Transponder	15	30	4.88

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	0.00	-7.28	0.000	2	0.000	0.000	2903	855	2973	0	0	0	0	0	0
27	-0.62	-146.0	10.5	-0.0	1	58	0.68	4.97	-17.48	0.000	4	0.100	0.075	2664	3893	3628	0	0	0	0	0	0
100	-0.48	-146.0	21.0	-18.4	13	107	0.17	2.20	0.00	0.000	6	0.229	0.049	2705	2489	3629	0	0	0	0	0	0
445	-0.39	-146.0	80.4	-16.9	74	453	0.12	2.35	0.00	0.000	4	0.237	0.075	2733	3904	3629	0	0	0	0	0	0
516	-0.44	-146.0	89.5	-11.2	86	523	0.00	2.22	0.00	0.000	6	0.000	0.048	2733	2486	3629	0	0	0	0	0	0
847	-0.47	-146.0	129.1	-11.2	124	849	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2486	3629	0	0	0	0	0	0
1167	-0.52	-146.0	152.8	-6.3	154	1172	0.12	2.25	0.00	0.000	4	0.136	0.070	2693	1086	3628	0	0	0	0	0	0
1206	-0.52	-146.0	156.7	-10.2	157	1213	0.00	2.25	0.00	0.000	6	0.000	0.063	2693	2486	3628	0	0	0	0	0	0
1531	-0.47	-146.0	202.6	-13.2	188	1532	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2485	3628	0	0	0	0	0	0
1851	-0.44	-146.0	240.9	-11.7	218	1855	0.00	2.28	0.00	0.000	4	0.000	0.079	2693	3898	3627	0	0	0	0	0	0
1891	-0.44	-146.0	246.4	-13.7	221	1895	0.00	2.20	0.00	0.000	6	0.000	0.050	2692	2492	3627	0	0	0	0	0	0
2217	-0.44	-146.0	285.3	-10.9	251	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2492	3627	0	0	0	0	0	0
2535	-0.44	-146.0	320.8	-11.4	281	2539	0.00	2.22	0.00	0.000	4	0.000	0.067	2693	1075	3626	0	0	0	0	0	0
2545	-0.44	-146.0	322.2	-11.0	281	2553	0.00	2.28	0.00	0.000	6	0.000	0.062	2693	2486	3626	0	0	0	0	0	0
2871	-0.44	-146.0	355.2	-9.3	312	2872	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2485	3626	0	0	0	0	0	0
3191	-0.44	-146.0	385.7	-9.9	342	3192	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2485	3627	0	0	0	0	0	0
3511	-0.44	-146.0	416.3	-9.6	372	3515	0.00	2.30	0.00	0.000	4	0.000	0.078	2692	3904	3627	0	0	0	0	0	0
3551	-0.47	-146.0	420.3	-9.8	375	3555	0.00	2.17	0.00	0.000	6	0.000	0.048	2693	2487	3627	0	0	0	0	0	0
3876	-0.47	-146.0	449.8	-8.9	405	3877	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2486	3628	0	0	0	0	0	0
4198	-0.47	-146.0	478.6	-9.0	435	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2487	3628	0	0	0	0	0	0
4524	-0.49	-146.0	509.3	-9.8	466	4528	0.00	2.20	0.00	0.000	4	0.000	0.065	2693	1086	3628	0	0	0	0	0	0
4558	-0.52	-146.0	512.6	-9.3	468	4564	0.00	2.25	0.00	0.000	6	0.000	0.062	2692	2500	3628	0	0	0	0	0	0
4884	-0.52	-146.0	542.6	-9.4	499	4885	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2500	3628	0	0	0	0	0	0
5203	-0.88	-146.0	566.8	0.1	529	5205	0.32	0.00	0.00	0.000	6	0.102	0.000	2578	2501	3629	0	0	0	0	0	0
5306	end dive: NO_VERTICAL_VELOCITY
state	5306	begin apogee
5311	-0.12	0.0	566.7	0.0	539	5442	0.70	0.00	121.53	1.278	6	0.118	0.000	2819	2257	3029	0	0	0	0	0	0
5443	end apogee: CONTROL_FINISHED_OK
state	5443	begin climb
5445	0.62	146.0	566.8	0.0	551	5582	0.75	2.60	125.15	1.229	4	0.132	0.068	3051	3675	2433	0	0	0	0	0	0
5629	0.48	146.0	553.1	14.2	568	5634	0.17	2.38	0.00	0.000	6	0.191	0.052	3021	2281	2429	0	0	0	0	0	0
5954	0.45	149.0	520.5	9.9	598	5955	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2281	2424	0	0	0	0	0	0
6274	0.42	149.0	489.3	10.3	628	6275	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2281	2423	0	0	0	0	0	0
6592	0.41	156.8	457.9	9.6	658	6607	0.00	2.38	8.95	1.023	4	0.000	0.068	3021	3680	2390	0	0	0	0	0	0
6659	0.34	156.8	450.3	12.3	664	6664	0.20	2.30	0.00	0.000	6	0.193	0.053	2980	2264	2389	0	0	0	0	0	0
6985	0.50	224.9	426.0	6.9	694	7052	0.15	2.47	60.30	1.169	4	0.099	0.069	3037	3687	2112	0	0	0	0	0	0
7092	0.46	224.9	414.1	13.3	704	7097	0.12	2.35	0.00	0.000	6	0.197	0.053	3019	2269	2108	0	0	0	0	0	0
7418	0.50	227.6	381.4	9.9	734	7419	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2269	2103	0	0	0	0	0	0
7738	0.55	234.1	350.8	9.7	764	7750	0.00	2.40	7.80	0.961	4	0.000	0.066	3019	3688	2075	0	0	0	0	0	0
7800	0.55	234.1	343.5	12.7	769	7808	0.00	2.28	0.00	0.000	6	0.000	0.052	3027	2272	2074	0	0	0	0	0	0
8126	0.58	234.1	309.2	10.5	800	8130	0.00	2.30	0.00	0.000	4	0.000	0.067	3027	3689	2072	0	0	0	0	0	0
8166	0.58	234.1	304.4	12.4	803	8172	0.00	2.25	0.00	0.000	6	0.000	0.050	3036	2274	2072	0	0	0	0	0	0
8491	0.60	244.0	269.5	9.5	834	8506	0.00	2.35	9.98	0.988	4	0.000	0.066	3036	3682	2035	0	0	0	0	0	0
8536	0.60	249.5	265.3	9.7	838	8548	0.00	2.22	6.68	0.900	6	0.000	0.050	3045	2274	2012	0	0	0	0	0	0
8866	0.63	249.5	233.3	11.9	869	8867	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2273	2010	0	0	0	0	0	0
9184	0.67	249.5	193.9	11.4	899	9189	0.10	2.30	0.00	0.000	4	0.128	0.063	3084	3698	2008	0	0	0	0	0	0
9213	0.62	249.5	190.3	13.3	901	9217	0.00	2.28	0.00	0.000	6	0.000	0.050	3094	2262	2009	0	0	0	0	0	0
9541	0.58	249.5	149.7	10.9	931	9548	0.15	0.00	0.00	0.000	6	0.184	0.000	3055	2262	2008	0	0	0	0	0	0
9866	0.61	249.5	114.0	13.5	962	9871	0.00	2.30	0.00	0.000	4	0.000	0.067	3056	3690	2008	0	0	0	0	0	0
9929	0.64	249.5	105.6	13.5	967	9933	0.00	2.25	0.00	0.000	6	0.000	0.051	3059	2266	2008	0	0	0	0	0	0
10269	0.83	339.8	80.0	5.8	1022	10356	0.20	2.47	81.32	0.988	4	0.096	0.064	3134	3688	1643	0	0	0	0	0	0
10409	0.77	339.8	62.2	16.2	1046	10417	0.12	2.33	0.00	0.000	6	0.207	0.050	3117	2274	1637	0	0	0	0	0	0
10755	0.79	339.8	23.4	11.0	1107	10761	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2274	1631	0	0	0	0	0	0
10868	end climb: FINISH_DEPTH_REACHED
state	10868	begin subsurface finish
10875	0.10	78.7	9.0	-12.9	1127	10917	0.70	0.00	-38.45	0.000	6	0.165	0.000	2901	2274	2712	0	0	0	0	0	0
10918	end subsurface finish: CONTROL_FINISHED_OK
state	10918	begin surface