Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 560 * 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 560 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 19 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 19 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 19 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 19 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 560 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 060511,082725,6650.461,-6016.396,0,7116.1,0,-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 11.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060511,082725,6650.461,-6016.396,0,7116.1,0,-37.6 MHEAD_RNG_PITCHd_Wd 118.8,152273,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 578

Post-dive calculations and measurements:

FREEZE 4.48,-1.711,-1.763,2,95,1 ALTIM_TOP_PING 19.4,21.1

FINISH1 4.5,1.025868,80 _24V_AH 21.4,74.188

FINISH2 4.6 _10V_AH 10.0,38.320

RAFOS_CLK 580 FG_AHR_24Vo 0.000

RAFOS 0,1304683262,12.033333,12.017222,68,63,61,60,58,56,215,641,174,187,225,165 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.353027,-6009.124512,060511,121256,6,106,0.38 MEM 150588

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40079,1078

TT8_MAMPS 0.026215 CAP_FILE_SIZE 123496,0

HUMID 47.95 CFSIZE 260165632,217124864

INTERNAL_PRESSURE 8.56478 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.30 SOUNDSPEED 1452.7

XPDR_PINGS 0 GPS 060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 218 27.18 SBE_CT 767 24 394.33

Roll_motor 106 91 207.14 SBE_O2 823 19 334.99

VBD_pump_during_apogee 459 1295 12746.54 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 17.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2620 19 522.01

LPSleep 5543 2 128.05

TT8_Active 471 19 93.96

TT8_Sampling 1763 39 703.90

TT8_CF8 199 45 91.77

TT8_Kalman 0 0 0.00

Analog_circuits 1430 12 171.65

GPS_charging 0 0 0.00

Compass 1744 15 261.73

RAFOS 2520 1 37.80

Transponder 16 30 4.83

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.45 0.000 2 0.000 0.000 2900 864 2970 0 0 0 0 0 0

28 -0.62 -146.0 13.2 -0.0 1 53 0.65 5.20 -15.35 0.000 4 0.099 0.090 2668 3897 3629 0 0 0 0 0 0

309 -0.54 -146.0 62.4 -18.3 50 316 0.00 2.30 0.00 0.000 6 0.000 0.061 2668 2479 3631 0 0 0 0 0 0

647 -0.42 -146.0 123.6 -16.6 98 652 0.22 2.42 0.00 0.000 4 0.210 0.086 2724 3903 3630 0 0 0 0 0 0

715 -0.49 -146.0 131.7 -10.4 103 722 0.00 2.30 0.00 0.000 6 0.000 0.060 2724 2481 3630 0 0 0 0 0 0

1042 -0.54 -146.0 163.8 -9.3 134 1049 0.12 0.00 0.00 0.000 6 0.132 0.000 2681 2480 3630 0 0 0 0 0 0

1368 -0.50 -146.0 205.4 -12.6 165 1372 0.00 2.28 0.00 0.000 4 0.000 0.077 2681 1081 3630 0 0 0 0 0 0

1386 -0.44 -146.0 207.7 -13.2 166 1391 0.15 2.35 0.00 0.000 6 0.210 0.076 2715 2487 3629 0 0 0 0 0 0

1712 -0.50 -146.0 236.8 -8.3 196 1717 0.00 2.40 0.00 0.000 4 0.000 0.091 2715 3900 3628 0 0 0 0 0 0

1743 -0.57 -146.0 239.3 -8.4 198 1748 0.12 2.30 0.00 0.000 6 0.125 0.060 2673 2481 3628 0 0 0 0 0 0

2068 -0.53 -146.0 278.0 -12.2 228 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2481 3628 0 0 0 0 0 0

2389 -0.50 -146.0 318.7 -13.4 258 2394 0.12 2.33 0.00 0.000 4 0.218 0.076 2701 1079 3628 0 0 0 0 0 0

2406 -0.50 -146.0 321.2 -13.0 259 2411 0.00 2.33 0.00 0.000 6 0.000 0.074 2701 2491 3628 0 0 0 0 0 0

2738 -0.54 -146.0 355.2 -9.8 290 2742 0.00 2.38 0.00 0.000 4 0.000 0.089 2701 3906 3628 0 0 0 0 0 0

2767 -0.61 -146.0 358.0 -9.6 292 2771 0.00 2.30 0.00 0.000 6 0.000 0.060 2701 2480 3628 0 0 0 0 0 0

3093 -0.66 -146.0 387.1 -8.2 322 3098 0.15 2.30 0.00 0.000 4 0.123 0.074 2651 1078 3629 0 0 0 0 0 0

3116 -0.66 -146.0 389.5 -10.1 324 3120 0.00 2.35 0.00 0.000 6 0.000 0.074 2651 2490 3628 0 0 0 0 0 0

3441 -0.59 -146.0 430.2 -12.4 354 3446 0.00 2.40 0.00 0.000 4 0.000 0.089 2651 3907 3628 0 0 0 0 0 0

3482 -0.55 -146.0 435.1 -12.1 357 3487 0.12 2.28 0.00 0.000 6 0.208 0.060 2679 2484 3628 0 0 0 0 0 0

3808 -0.55 -146.0 466.9 -9.9 387 3812 0.00 2.40 0.00 0.000 4 0.000 0.085 2679 3900 3628 0 0 0 0 0 0

3847 -0.59 -146.0 470.9 -9.9 390 3854 0.00 2.28 0.00 0.000 6 0.000 0.058 2679 2489 3628 0 0 0 0 0 0

4173 -0.59 -146.0 500.7 -8.9 421 4177 0.00 2.33 0.00 0.000 4 0.000 0.073 2679 1071 3629 0 0 0 0 0 0

4191 -0.59 -146.0 502.5 -9.2 422 4196 0.00 2.38 0.00 0.000 6 0.000 0.073 2679 2501 3629 0 0 0 0 0 0

4517 -0.59 -146.0 531.7 -8.9 452 4521 0.00 2.35 0.00 0.000 4 0.000 0.088 2679 3905 3629 0 0 0 0 0 0

4546 -0.61 -146.0 534.4 -9.9 454 4550 0.00 2.25 0.00 0.000 6 0.000 0.058 2679 2491 3629 0 0 0 0 0 0

4871 -0.61 -146.0 565.2 -9.2 484 4872 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2490 3629 0 0 0 0 0 0

5007 end dive: TARGET_DEPTH_EXCEEDED

state 5007 begin apogee

5013 -0.12 0.0 578.4 9.4 497 5146 0.47 0.00 126.18 1.296 6 0.187 0.000 2815 2264 3030 0 0 0 0 0 0

5147 end apogee: CONTROL_FINISHED_OK

state 5147 begin climb

5149 0.62 146.0 583.5 0.0 509 5291 0.80 2.67 132.20 1.251 4 0.139 0.077 3063 880 2433 0 0 0 0 0 0

5388 0.57 146.0 567.2 11.2 530 5395 0.00 2.47 0.00 0.000 6 0.000 0.066 3063 2278 2428 0 0 0 0 0 0

5714 0.51 146.0 530.0 11.7 561 5719 0.12 2.38 0.00 0.000 4 0.187 0.081 3032 3690 2426 0 0 0 0 0 0

5815 0.47 146.0 518.2 11.5 569 5822 0.00 2.33 0.00 0.000 6 0.000 0.064 3041 2285 2425 0 0 0 0 0 0

6141 0.47 146.0 483.5 11.1 600 6146 0.00 2.35 0.00 0.000 4 0.000 0.079 3051 860 2425 0 0 0 0 0 0

6192 0.47 146.0 477.6 11.3 604 6199 0.12 2.33 0.00 0.000 6 0.187 0.067 3021 2284 2424 0 0 0 0 0 0

6519 0.51 164.3 446.4 9.2 635 6543 0.00 2.35 15.77 1.131 4 0.000 0.080 3022 3695 2360 0 0 0 0 0 0

6600 0.51 164.3 437.9 10.6 642 6604 0.00 2.33 0.00 0.000 6 0.000 0.063 3029 2276 2359 0 0 0 0 0 0

6925 0.54 185.1 406.8 9.0 672 6947 0.00 0.00 19.70 1.139 6 0.000 0.000 3029 2276 2274 0 0 0 0 0 0

7264 0.59 206.3 376.2 9.0 704 7290 0.00 2.40 19.98 1.118 4 0.000 0.077 3039 861 2188 0 0 0 0 0 0

7321 0.67 231.7 371.2 8.8 709 7355 0.12 2.33 24.83 1.111 6 0.108 0.066 3095 2278 2084 0 0 0 0 0 0

7674 0.60 231.7 320.4 15.0 742 7679 0.15 2.35 0.00 0.000 4 0.185 0.080 3057 3692 2078 0 0 0 0 0 0

7736 0.60 231.7 311.9 12.6 747 7740 0.00 2.30 0.00 0.000 6 0.000 0.063 3066 2272 2076 0 0 0 0 0 0

8061 0.60 231.7 275.7 10.6 777 8066 0.00 2.28 0.00 0.000 4 0.000 0.076 3076 862 2075 0 0 0 0 0 0

8129 0.60 231.7 268.5 10.7 783 8133 0.00 2.30 0.00 0.000 6 0.000 0.065 3076 2282 2075 0 0 0 0 0 0

8454 0.60 231.7 232.1 10.9 813 8458 0.00 2.30 0.00 0.000 4 0.000 0.080 3076 3688 2074 0 0 0 0 0 0

8504 0.56 231.7 225.9 12.0 817 8512 0.15 2.30 0.00 0.000 6 0.194 0.063 3049 2274 2074 0 0 0 0 0 0

8830 0.65 259.8 196.6 8.7 848 8864 0.00 2.38 25.00 1.043 4 0.000 0.079 3055 869 1969 0 0 0 0 0 0

8911 0.78 284.2 189.5 8.9 855 8945 0.17 2.33 24.05 1.022 6 0.096 0.066 3126 2281 1870 0 0 0 0 0 0

9263 0.72 284.2 139.8 13.6 888 9267 0.00 2.33 0.00 0.000 4 0.000 0.080 3126 3687 1864 0 0 0 0 0 0

9353 0.65 284.2 126.4 15.0 896 9358 0.22 2.33 0.00 0.000 6 0.199 0.064 3079 2267 1862 0 0 0 0 0 0

9682 0.74 306.9 94.7 9.0 931 9712 0.00 2.38 20.58 0.981 4 0.000 0.080 3084 866 1777 0 0 0 0 0 0

9771 0.93 355.0 87.5 7.8 946 9825 0.22 2.33 44.42 0.985 6 0.090 0.066 3169 2286 1581 0 0 0 0 0 0

10164 0.89 355.0 31.5 15.6 1015 10170 0.00 0.00 0.00 0.000 6 0.000 0.000 3169 2286 1572 0 0 0 0 0 0

10494 1.38 571.9 4.5 -0.0 1076 10504 0.35 0.00 6.93 0.808 2 0.087 0.000 3308 2286 1514 0 0 0 0 0 0

10505 end climb: NO_VERTICAL_VELOCITY

state 10505 begin subsurface finish

10512 0.10 80.0 4.5 -0.2 1077 10520 1.23 0.00 -4.40 0.000 2 0.120 0.000 2902 2286 1604 0 0 0 0 0 0

10521 end subsurface finish: NO_VERTICAL_VELOCITY

state 10521 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	560	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	19	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	19	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	060511,082725,6650.461,-6016.396,0,7116.1,0,-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	11.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060511,082725,6650.461,-6016.396,0,7116.1,0,-37.6	MHEAD_RNG_PITCHd_Wd	118.8,152273,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	578

FREEZE	4.48,-1.711,-1.763,2,95,1	ALTIM_TOP_PING	19.4,21.1
FINISH1	4.5,1.025868,80	_24V_AH	21.4,74.188
FINISH2	4.6	_10V_AH	10.0,38.320
RAFOS_CLK	580	FG_AHR_24Vo	0.000
RAFOS	0,1304683262,12.033333,12.017222,68,63,61,60,58,56,215,641,174,187,225,165	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.353027,-6009.124512,060511,121256,6,106,0.38	MEM	150588
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40079,1078
TT8_MAMPS	0.026215	CAP_FILE_SIZE	123496,0
HUMID	47.95	CFSIZE	260165632,217124864
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.30	SOUNDSPEED	1452.7
XPDR_PINGS	0	GPS	060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	218	27.18	SBE_CT	767	24	394.33
Roll_motor	106	91	207.14	SBE_O2	823	19	334.99
VBD_pump_during_apogee	459	1295	12746.54	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	17.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2620	19	522.01
LPSleep	5543	2	128.05
TT8_Active	471	19	93.96
TT8_Sampling	1763	39	703.90
TT8_CF8	199	45	91.77
TT8_Kalman	0	0	0.00
Analog_circuits	1430	12	171.65
GPS_charging	0	0	0.00
Compass	1744	15	261.73
RAFOS	2520	1	37.80
Transponder	16	30	4.83

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.45	0.000	2	0.000	0.000	2900	864	2970	0	0	0	0	0	0
28	-0.62	-146.0	13.2	-0.0	1	53	0.65	5.20	-15.35	0.000	4	0.099	0.090	2668	3897	3629	0	0	0	0	0	0
309	-0.54	-146.0	62.4	-18.3	50	316	0.00	2.30	0.00	0.000	6	0.000	0.061	2668	2479	3631	0	0	0	0	0	0
647	-0.42	-146.0	123.6	-16.6	98	652	0.22	2.42	0.00	0.000	4	0.210	0.086	2724	3903	3630	0	0	0	0	0	0
715	-0.49	-146.0	131.7	-10.4	103	722	0.00	2.30	0.00	0.000	6	0.000	0.060	2724	2481	3630	0	0	0	0	0	0
1042	-0.54	-146.0	163.8	-9.3	134	1049	0.12	0.00	0.00	0.000	6	0.132	0.000	2681	2480	3630	0	0	0	0	0	0
1368	-0.50	-146.0	205.4	-12.6	165	1372	0.00	2.28	0.00	0.000	4	0.000	0.077	2681	1081	3630	0	0	0	0	0	0
1386	-0.44	-146.0	207.7	-13.2	166	1391	0.15	2.35	0.00	0.000	6	0.210	0.076	2715	2487	3629	0	0	0	0	0	0
1712	-0.50	-146.0	236.8	-8.3	196	1717	0.00	2.40	0.00	0.000	4	0.000	0.091	2715	3900	3628	0	0	0	0	0	0
1743	-0.57	-146.0	239.3	-8.4	198	1748	0.12	2.30	0.00	0.000	6	0.125	0.060	2673	2481	3628	0	0	0	0	0	0
2068	-0.53	-146.0	278.0	-12.2	228	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2481	3628	0	0	0	0	0	0
2389	-0.50	-146.0	318.7	-13.4	258	2394	0.12	2.33	0.00	0.000	4	0.218	0.076	2701	1079	3628	0	0	0	0	0	0
2406	-0.50	-146.0	321.2	-13.0	259	2411	0.00	2.33	0.00	0.000	6	0.000	0.074	2701	2491	3628	0	0	0	0	0	0
2738	-0.54	-146.0	355.2	-9.8	290	2742	0.00	2.38	0.00	0.000	4	0.000	0.089	2701	3906	3628	0	0	0	0	0	0
2767	-0.61	-146.0	358.0	-9.6	292	2771	0.00	2.30	0.00	0.000	6	0.000	0.060	2701	2480	3628	0	0	0	0	0	0
3093	-0.66	-146.0	387.1	-8.2	322	3098	0.15	2.30	0.00	0.000	4	0.123	0.074	2651	1078	3629	0	0	0	0	0	0
3116	-0.66	-146.0	389.5	-10.1	324	3120	0.00	2.35	0.00	0.000	6	0.000	0.074	2651	2490	3628	0	0	0	0	0	0
3441	-0.59	-146.0	430.2	-12.4	354	3446	0.00	2.40	0.00	0.000	4	0.000	0.089	2651	3907	3628	0	0	0	0	0	0
3482	-0.55	-146.0	435.1	-12.1	357	3487	0.12	2.28	0.00	0.000	6	0.208	0.060	2679	2484	3628	0	0	0	0	0	0
3808	-0.55	-146.0	466.9	-9.9	387	3812	0.00	2.40	0.00	0.000	4	0.000	0.085	2679	3900	3628	0	0	0	0	0	0
3847	-0.59	-146.0	470.9	-9.9	390	3854	0.00	2.28	0.00	0.000	6	0.000	0.058	2679	2489	3628	0	0	0	0	0	0
4173	-0.59	-146.0	500.7	-8.9	421	4177	0.00	2.33	0.00	0.000	4	0.000	0.073	2679	1071	3629	0	0	0	0	0	0
4191	-0.59	-146.0	502.5	-9.2	422	4196	0.00	2.38	0.00	0.000	6	0.000	0.073	2679	2501	3629	0	0	0	0	0	0
4517	-0.59	-146.0	531.7	-8.9	452	4521	0.00	2.35	0.00	0.000	4	0.000	0.088	2679	3905	3629	0	0	0	0	0	0
4546	-0.61	-146.0	534.4	-9.9	454	4550	0.00	2.25	0.00	0.000	6	0.000	0.058	2679	2491	3629	0	0	0	0	0	0
4871	-0.61	-146.0	565.2	-9.2	484	4872	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2490	3629	0	0	0	0	0	0
5007	end dive: TARGET_DEPTH_EXCEEDED
state	5007	begin apogee
5013	-0.12	0.0	578.4	9.4	497	5146	0.47	0.00	126.18	1.296	6	0.187	0.000	2815	2264	3030	0	0	0	0	0	0
5147	end apogee: CONTROL_FINISHED_OK
state	5147	begin climb
5149	0.62	146.0	583.5	0.0	509	5291	0.80	2.67	132.20	1.251	4	0.139	0.077	3063	880	2433	0	0	0	0	0	0
5388	0.57	146.0	567.2	11.2	530	5395	0.00	2.47	0.00	0.000	6	0.000	0.066	3063	2278	2428	0	0	0	0	0	0
5714	0.51	146.0	530.0	11.7	561	5719	0.12	2.38	0.00	0.000	4	0.187	0.081	3032	3690	2426	0	0	0	0	0	0
5815	0.47	146.0	518.2	11.5	569	5822	0.00	2.33	0.00	0.000	6	0.000	0.064	3041	2285	2425	0	0	0	0	0	0
6141	0.47	146.0	483.5	11.1	600	6146	0.00	2.35	0.00	0.000	4	0.000	0.079	3051	860	2425	0	0	0	0	0	0
6192	0.47	146.0	477.6	11.3	604	6199	0.12	2.33	0.00	0.000	6	0.187	0.067	3021	2284	2424	0	0	0	0	0	0
6519	0.51	164.3	446.4	9.2	635	6543	0.00	2.35	15.77	1.131	4	0.000	0.080	3022	3695	2360	0	0	0	0	0	0
6600	0.51	164.3	437.9	10.6	642	6604	0.00	2.33	0.00	0.000	6	0.000	0.063	3029	2276	2359	0	0	0	0	0	0
6925	0.54	185.1	406.8	9.0	672	6947	0.00	0.00	19.70	1.139	6	0.000	0.000	3029	2276	2274	0	0	0	0	0	0
7264	0.59	206.3	376.2	9.0	704	7290	0.00	2.40	19.98	1.118	4	0.000	0.077	3039	861	2188	0	0	0	0	0	0
7321	0.67	231.7	371.2	8.8	709	7355	0.12	2.33	24.83	1.111	6	0.108	0.066	3095	2278	2084	0	0	0	0	0	0
7674	0.60	231.7	320.4	15.0	742	7679	0.15	2.35	0.00	0.000	4	0.185	0.080	3057	3692	2078	0	0	0	0	0	0
7736	0.60	231.7	311.9	12.6	747	7740	0.00	2.30	0.00	0.000	6	0.000	0.063	3066	2272	2076	0	0	0	0	0	0
8061	0.60	231.7	275.7	10.6	777	8066	0.00	2.28	0.00	0.000	4	0.000	0.076	3076	862	2075	0	0	0	0	0	0
8129	0.60	231.7	268.5	10.7	783	8133	0.00	2.30	0.00	0.000	6	0.000	0.065	3076	2282	2075	0	0	0	0	0	0
8454	0.60	231.7	232.1	10.9	813	8458	0.00	2.30	0.00	0.000	4	0.000	0.080	3076	3688	2074	0	0	0	0	0	0
8504	0.56	231.7	225.9	12.0	817	8512	0.15	2.30	0.00	0.000	6	0.194	0.063	3049	2274	2074	0	0	0	0	0	0
8830	0.65	259.8	196.6	8.7	848	8864	0.00	2.38	25.00	1.043	4	0.000	0.079	3055	869	1969	0	0	0	0	0	0
8911	0.78	284.2	189.5	8.9	855	8945	0.17	2.33	24.05	1.022	6	0.096	0.066	3126	2281	1870	0	0	0	0	0	0
9263	0.72	284.2	139.8	13.6	888	9267	0.00	2.33	0.00	0.000	4	0.000	0.080	3126	3687	1864	0	0	0	0	0	0
9353	0.65	284.2	126.4	15.0	896	9358	0.22	2.33	0.00	0.000	6	0.199	0.064	3079	2267	1862	0	0	0	0	0	0
9682	0.74	306.9	94.7	9.0	931	9712	0.00	2.38	20.58	0.981	4	0.000	0.080	3084	866	1777	0	0	0	0	0	0
9771	0.93	355.0	87.5	7.8	946	9825	0.22	2.33	44.42	0.985	6	0.090	0.066	3169	2286	1581	0	0	0	0	0	0
10164	0.89	355.0	31.5	15.6	1015	10170	0.00	0.00	0.00	0.000	6	0.000	0.000	3169	2286	1572	0	0	0	0	0	0
10494	1.38	571.9	4.5	-0.0	1076	10504	0.35	0.00	6.93	0.808	2	0.087	0.000	3308	2286	1514	0	0	0	0	0	0
10505	end climb: NO_VERTICAL_VELOCITY
state	10505	begin subsurface finish
10512	0.10	80.0	4.5	-0.2	1077	10520	1.23	0.00	-4.40	0.000	2	0.120	0.000	2902	2286	1604	0	0	0	0	0	0
10521	end subsurface finish: NO_VERTICAL_VELOCITY
state	10521	begin surface