Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 57 * 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 57 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 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 26 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 57 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 280211,202328,6649.386,-6023.022,0,6115.2,0,-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 11.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0 MHEAD_RNG_PITCHd_Wd 230.3,10211,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 543

Post-dive calculations and measurements:

FREEZE 8.85,-1.748,-1.768,3,34,0 ALTIM_BOTTOM_PING 500.1,59.9

FINISH1 8.8,1.025891,79 _24V_AH 23.1,11.337

FINISH2 6.6 _10V_AH 10.3,5.509

RAFOS_CLK 582 FG_AHR_24Vo 0.000

RAFOS_FIX 6649.386230,-6023.021973,280211,202028,6,115,0.51 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 MEM 150732

TT8_MAMPS 0.026964 DATA_FILE_SIZE 40046,1079

HUMID 47.16 CAP_FILE_SIZE 115433,0

INTERNAL_PRESSURE 8.66244 CFSIZE 260165632,248139776

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

XPDR_PINGS 0 SOUNDSPEED 1452.0

ALTIM_TOP_PING 19.7,18.0 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 5 232 27.26 SBE_CT 770 24 427.41

Roll_motor 83 85 165.76 SBE_O2 823 19 361.60

VBD_pump_during_apogee 412 1265 12061.94 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 16.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2530 19 519.22

LPSleep 5677 2 135.08

TT8_Active 462 19 94.94

TT8_Sampling 1721 39 707.71

TT8_CF8 144 45 68.52

TT8_Kalman 0 0 0.00

Analog_circuits 1388 12 171.63

GPS_charging 0 0 0.00

Compass 1709 15 264.10

RAFOS 0 0 0.00

Transponder 14 30 4.41

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 -7.45 0.000 2 0.000 0.000 2901 2273 3008 0 0 0 0 0 0

27 -0.62 -146.0 12.4 -0.0 1 52 0.65 2.72 -15.07 0.000 4 0.096 0.086 2667 3890 3630 0 0 0 0 0 0

64 -0.47 -146.0 16.3 -12.9 7 72 0.17 2.22 0.00 0.000 6 0.232 0.048 2706 2482 3632 0 0 0 0 0 0

410 -0.37 -146.0 81.4 -19.2 68 417 0.15 2.28 0.00 0.000 4 0.233 0.068 2741 1086 3632 0 0 0 0 0 0

446 -0.37 -146.0 87.8 -16.4 74 453 0.00 2.28 0.00 0.000 6 0.000 0.060 2741 2494 3631 0 0 0 0 0 0

778 -0.40 -146.0 121.7 -7.1 113 782 0.00 2.30 0.00 0.000 4 0.000 0.076 2741 3899 3631 0 0 0 0 0 0

800 -0.45 -146.0 123.4 -7.3 114 807 0.00 2.22 0.00 0.000 6 0.000 0.047 2742 2481 3631 0 0 0 0 0 0

1126 -0.51 -146.0 149.8 -8.1 145 1130 0.15 2.25 0.00 0.000 4 0.127 0.068 2693 1085 3631 0 0 0 0 0 0

1166 -0.48 -146.0 154.3 -13.1 148 1170 0.00 2.28 0.00 0.000 6 0.000 0.060 2693 2502 3631 0 0 0 0 0 0

1491 -0.44 -146.0 196.8 -12.8 178 1495 0.12 2.30 0.00 0.000 4 0.231 0.067 2720 1073 3630 0 0 0 0 0 0

1535 -0.49 -146.0 201.8 -9.8 181 1541 0.00 2.28 0.00 0.000 6 0.000 0.060 2720 2493 3630 0 0 0 0 0 0

1861 -0.53 -146.0 233.8 -10.0 212 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2493 3630 0 0 0 0 0 0

2180 -0.58 -146.0 264.1 -8.6 242 2185 0.15 2.30 0.00 0.000 4 0.122 0.077 2668 3899 3629 0 0 0 0 0 0

2197 -0.58 -146.0 266.0 -9.5 243 2201 0.00 2.20 0.00 0.000 6 0.000 0.048 2669 2481 3629 0 0 0 0 0 0

2528 -0.51 -146.0 307.0 -12.3 274 2533 0.12 2.25 0.00 0.000 4 0.223 0.068 2697 1077 3629 0 0 0 0 0 0

2568 -0.51 -146.0 311.4 -10.4 277 2572 0.00 2.28 0.00 0.000 6 0.000 0.060 2697 2501 3629 0 0 0 0 0 0

2894 -0.51 -146.0 341.4 -9.0 307 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2502 3629 0 0 0 0 0 0

3212 -0.51 -146.0 371.7 -9.7 337 3216 0.00 2.28 0.00 0.000 4 0.000 0.065 2697 1073 3629 0 0 0 0 0 0

3230 -0.51 -146.0 373.6 -10.0 338 3234 0.00 2.25 0.00 0.000 6 0.000 0.060 2697 2492 3629 0 0 0 0 0 0

3560 -0.51 -146.0 405.4 -9.6 369 3561 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2492 3629 0 0 0 0 0 0

3881 -0.53 -146.0 433.3 -8.5 399 3882 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2492 3630 0 0 0 0 0 0

4201 -0.56 -146.0 460.2 -8.5 429 4207 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2492 3630 0 0 0 0 0 0

4527 -0.59 -146.0 489.9 -9.4 460 4529 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2492 3630 0 0 0 0 0 0

4847 -0.62 -146.0 516.9 -7.6 490 4851 0.00 2.22 0.00 0.000 4 0.000 0.066 2697 1077 3631 0 0 0 0 0 0

4865 -0.64 -146.0 518.6 -8.7 491 4869 0.12 2.25 0.00 0.000 6 0.138 0.060 2656 2497 3630 0 0 0 0 0 0

5083 end dive: TARGET_DEPTH_EXCEEDED

state 5083 begin apogee

5088 -0.12 0.0 544.1 12.2 511 5218 0.55 0.00 121.75 1.265 6 0.200 0.000 2814 2267 3029 0 0 0 0 0 0

5219 end apogee: CONTROL_FINISHED_OK

state 5219 begin climb

5221 0.62 146.0 547.7 0.0 523 5356 0.80 2.55 123.70 1.216 4 0.142 0.070 3065 875 2433 0 0 0 0 0 0

5389 0.53 146.0 535.2 12.3 538 5396 0.00 2.42 0.00 0.000 6 0.000 0.054 3065 2279 2429 0 0 0 0 0 0

5716 0.44 146.0 492.6 12.0 569 5721 0.22 2.38 0.00 0.000 4 0.181 0.069 3007 3698 2424 0 0 0 0 0 0

5812 0.40 146.0 482.1 11.0 577 5817 0.00 2.33 0.00 0.000 6 0.000 0.052 3015 2284 2424 0 0 0 0 0 0

6137 0.41 154.9 451.2 9.6 607 6148 0.00 0.00 7.40 0.963 6 0.000 0.000 3015 2284 2397 0 0 0 0 0 0

6467 0.42 161.3 420.6 9.7 638 6480 0.00 2.40 7.25 0.965 4 0.000 0.067 3015 3694 2372 0 0 0 0 0 0

6549 0.38 161.3 411.6 11.2 645 6554 0.15 2.30 0.00 0.000 6 0.188 0.050 2989 2269 2370 0 0 0 0 0 0

6875 0.49 202.8 384.2 8.1 675 6919 0.00 2.40 37.28 1.138 4 0.000 0.064 2989 3695 2203 0 0 0 0 0 0

6947 0.56 207.4 377.8 9.8 681 6959 0.15 2.35 5.57 0.860 6 0.105 0.050 3043 2267 2184 0 0 0 0 0 0

7278 0.56 207.4 340.3 11.0 712 7279 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2267 2179 0 0 0 0 0 0

7599 0.56 207.4 305.3 11.3 742 7604 0.00 2.33 0.00 0.000 4 0.000 0.065 3044 3692 2178 0 0 0 0 0 0

7632 0.51 207.4 300.7 13.3 744 7639 0.00 2.28 0.00 0.000 6 0.000 0.052 3054 2269 2177 0 0 0 0 0 0

7958 0.50 209.1 265.2 9.9 775 7962 0.00 2.30 0.00 0.000 4 0.000 0.065 3054 3698 2177 0 0 0 0 0 0

8043 0.43 209.1 254.9 13.2 782 8048 0.22 2.28 0.00 0.000 6 0.187 0.052 3005 2269 2177 0 0 0 0 0 0

8369 0.56 246.5 228.4 8.3 812 8409 0.12 0.00 35.10 1.058 6 0.112 0.000 3053 2269 2023 0 0 0 0 0 0

8727 0.56 246.5 189.9 10.1 846 8731 0.00 2.33 0.00 0.000 4 0.000 0.066 3054 3691 2017 0 0 0 0 0 0

8760 0.56 246.5 186.1 11.2 849 8764 0.00 2.28 0.00 0.000 6 0.000 0.053 3062 2276 2017 0 0 0 0 0 0

9091 0.61 271.9 153.3 8.8 880 9124 0.00 2.38 23.00 1.008 4 0.000 0.067 3072 871 1919 0 0 0 0 0 0

9152 0.70 304.6 148.1 8.5 885 9192 0.00 2.30 30.58 1.000 6 0.000 0.054 3072 2281 1786 0 0 0 0 0 0

9510 0.79 328.0 117.1 8.9 919 9537 0.15 2.35 21.05 0.972 4 0.099 0.069 3129 3693 1692 0 0 0 0 0 0

9623 0.72 328.0 99.8 16.6 929 9630 0.17 2.33 0.00 0.000 6 0.202 0.053 3098 2270 1687 0 0 0 0 0 0

9970 0.78 328.0 60.2 10.8 990 9976 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2270 1685 0 0 0 0 0 0

10312 0.83 328.0 23.1 10.3 1051 10319 0.10 0.00 0.00 0.000 6 0.122 0.000 3137 2270 1683 0 0 0 0 0 0

10427 end climb: FINISH_DEPTH_REACHED

state 10427 begin subsurface finish

10433 0.10 78.9 8.8 -13.0 1071 10480 0.77 0.00 -40.05 0.000 6 0.173 0.000 2904 2269 2709 0 0 0 0 0 0

10481 end subsurface finish: CONTROL_FINISHED_OK

state 10481 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	57	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	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	280211,202328,6649.386,-6023.022,0,6115.2,0,-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	11.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0	MHEAD_RNG_PITCHd_Wd	230.3,10211,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	543

FREEZE	8.85,-1.748,-1.768,3,34,0	ALTIM_BOTTOM_PING	500.1,59.9
FINISH1	8.8,1.025891,79	_24V_AH	23.1,11.337
FINISH2	6.6	_10V_AH	10.3,5.509
RAFOS_CLK	582	FG_AHR_24Vo	0.000
RAFOS_FIX	6649.386230,-6023.021973,280211,202028,6,115,0.51	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	MEM	150732
TT8_MAMPS	0.026964	DATA_FILE_SIZE	40046,1079
HUMID	47.16	CAP_FILE_SIZE	115433,0
INTERNAL_PRESSURE	8.66244	CFSIZE	260165632,248139776
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1452.0
ALTIM_TOP_PING	19.7,18.0	GPS	280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	232	27.26	SBE_CT	770	24	427.41
Roll_motor	83	85	165.76	SBE_O2	823	19	361.60
VBD_pump_during_apogee	412	1265	12061.94	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	16.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2530	19	519.22
LPSleep	5677	2	135.08
TT8_Active	462	19	94.94
TT8_Sampling	1721	39	707.71
TT8_CF8	144	45	68.52
TT8_Kalman	0	0	0.00
Analog_circuits	1388	12	171.63
GPS_charging	0	0	0.00
Compass	1709	15	264.10
RAFOS	0	0	0.00
Transponder	14	30	4.41

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	-7.45	0.000	2	0.000	0.000	2901	2273	3008	0	0	0	0	0	0
27	-0.62	-146.0	12.4	-0.0	1	52	0.65	2.72	-15.07	0.000	4	0.096	0.086	2667	3890	3630	0	0	0	0	0	0
64	-0.47	-146.0	16.3	-12.9	7	72	0.17	2.22	0.00	0.000	6	0.232	0.048	2706	2482	3632	0	0	0	0	0	0
410	-0.37	-146.0	81.4	-19.2	68	417	0.15	2.28	0.00	0.000	4	0.233	0.068	2741	1086	3632	0	0	0	0	0	0
446	-0.37	-146.0	87.8	-16.4	74	453	0.00	2.28	0.00	0.000	6	0.000	0.060	2741	2494	3631	0	0	0	0	0	0
778	-0.40	-146.0	121.7	-7.1	113	782	0.00	2.30	0.00	0.000	4	0.000	0.076	2741	3899	3631	0	0	0	0	0	0
800	-0.45	-146.0	123.4	-7.3	114	807	0.00	2.22	0.00	0.000	6	0.000	0.047	2742	2481	3631	0	0	0	0	0	0
1126	-0.51	-146.0	149.8	-8.1	145	1130	0.15	2.25	0.00	0.000	4	0.127	0.068	2693	1085	3631	0	0	0	0	0	0
1166	-0.48	-146.0	154.3	-13.1	148	1170	0.00	2.28	0.00	0.000	6	0.000	0.060	2693	2502	3631	0	0	0	0	0	0
1491	-0.44	-146.0	196.8	-12.8	178	1495	0.12	2.30	0.00	0.000	4	0.231	0.067	2720	1073	3630	0	0	0	0	0	0
1535	-0.49	-146.0	201.8	-9.8	181	1541	0.00	2.28	0.00	0.000	6	0.000	0.060	2720	2493	3630	0	0	0	0	0	0
1861	-0.53	-146.0	233.8	-10.0	212	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2493	3630	0	0	0	0	0	0
2180	-0.58	-146.0	264.1	-8.6	242	2185	0.15	2.30	0.00	0.000	4	0.122	0.077	2668	3899	3629	0	0	0	0	0	0
2197	-0.58	-146.0	266.0	-9.5	243	2201	0.00	2.20	0.00	0.000	6	0.000	0.048	2669	2481	3629	0	0	0	0	0	0
2528	-0.51	-146.0	307.0	-12.3	274	2533	0.12	2.25	0.00	0.000	4	0.223	0.068	2697	1077	3629	0	0	0	0	0	0
2568	-0.51	-146.0	311.4	-10.4	277	2572	0.00	2.28	0.00	0.000	6	0.000	0.060	2697	2501	3629	0	0	0	0	0	0
2894	-0.51	-146.0	341.4	-9.0	307	2895	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2502	3629	0	0	0	0	0	0
3212	-0.51	-146.0	371.7	-9.7	337	3216	0.00	2.28	0.00	0.000	4	0.000	0.065	2697	1073	3629	0	0	0	0	0	0
3230	-0.51	-146.0	373.6	-10.0	338	3234	0.00	2.25	0.00	0.000	6	0.000	0.060	2697	2492	3629	0	0	0	0	0	0
3560	-0.51	-146.0	405.4	-9.6	369	3561	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2492	3629	0	0	0	0	0	0
3881	-0.53	-146.0	433.3	-8.5	399	3882	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2492	3630	0	0	0	0	0	0
4201	-0.56	-146.0	460.2	-8.5	429	4207	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2492	3630	0	0	0	0	0	0
4527	-0.59	-146.0	489.9	-9.4	460	4529	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2492	3630	0	0	0	0	0	0
4847	-0.62	-146.0	516.9	-7.6	490	4851	0.00	2.22	0.00	0.000	4	0.000	0.066	2697	1077	3631	0	0	0	0	0	0
4865	-0.64	-146.0	518.6	-8.7	491	4869	0.12	2.25	0.00	0.000	6	0.138	0.060	2656	2497	3630	0	0	0	0	0	0
5083	end dive: TARGET_DEPTH_EXCEEDED
state	5083	begin apogee
5088	-0.12	0.0	544.1	12.2	511	5218	0.55	0.00	121.75	1.265	6	0.200	0.000	2814	2267	3029	0	0	0	0	0	0
5219	end apogee: CONTROL_FINISHED_OK
state	5219	begin climb
5221	0.62	146.0	547.7	0.0	523	5356	0.80	2.55	123.70	1.216	4	0.142	0.070	3065	875	2433	0	0	0	0	0	0
5389	0.53	146.0	535.2	12.3	538	5396	0.00	2.42	0.00	0.000	6	0.000	0.054	3065	2279	2429	0	0	0	0	0	0
5716	0.44	146.0	492.6	12.0	569	5721	0.22	2.38	0.00	0.000	4	0.181	0.069	3007	3698	2424	0	0	0	0	0	0
5812	0.40	146.0	482.1	11.0	577	5817	0.00	2.33	0.00	0.000	6	0.000	0.052	3015	2284	2424	0	0	0	0	0	0
6137	0.41	154.9	451.2	9.6	607	6148	0.00	0.00	7.40	0.963	6	0.000	0.000	3015	2284	2397	0	0	0	0	0	0
6467	0.42	161.3	420.6	9.7	638	6480	0.00	2.40	7.25	0.965	4	0.000	0.067	3015	3694	2372	0	0	0	0	0	0
6549	0.38	161.3	411.6	11.2	645	6554	0.15	2.30	0.00	0.000	6	0.188	0.050	2989	2269	2370	0	0	0	0	0	0
6875	0.49	202.8	384.2	8.1	675	6919	0.00	2.40	37.28	1.138	4	0.000	0.064	2989	3695	2203	0	0	0	0	0	0
6947	0.56	207.4	377.8	9.8	681	6959	0.15	2.35	5.57	0.860	6	0.105	0.050	3043	2267	2184	0	0	0	0	0	0
7278	0.56	207.4	340.3	11.0	712	7279	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2267	2179	0	0	0	0	0	0
7599	0.56	207.4	305.3	11.3	742	7604	0.00	2.33	0.00	0.000	4	0.000	0.065	3044	3692	2178	0	0	0	0	0	0
7632	0.51	207.4	300.7	13.3	744	7639	0.00	2.28	0.00	0.000	6	0.000	0.052	3054	2269	2177	0	0	0	0	0	0
7958	0.50	209.1	265.2	9.9	775	7962	0.00	2.30	0.00	0.000	4	0.000	0.065	3054	3698	2177	0	0	0	0	0	0
8043	0.43	209.1	254.9	13.2	782	8048	0.22	2.28	0.00	0.000	6	0.187	0.052	3005	2269	2177	0	0	0	0	0	0
8369	0.56	246.5	228.4	8.3	812	8409	0.12	0.00	35.10	1.058	6	0.112	0.000	3053	2269	2023	0	0	0	0	0	0
8727	0.56	246.5	189.9	10.1	846	8731	0.00	2.33	0.00	0.000	4	0.000	0.066	3054	3691	2017	0	0	0	0	0	0
8760	0.56	246.5	186.1	11.2	849	8764	0.00	2.28	0.00	0.000	6	0.000	0.053	3062	2276	2017	0	0	0	0	0	0
9091	0.61	271.9	153.3	8.8	880	9124	0.00	2.38	23.00	1.008	4	0.000	0.067	3072	871	1919	0	0	0	0	0	0
9152	0.70	304.6	148.1	8.5	885	9192	0.00	2.30	30.58	1.000	6	0.000	0.054	3072	2281	1786	0	0	0	0	0	0
9510	0.79	328.0	117.1	8.9	919	9537	0.15	2.35	21.05	0.972	4	0.099	0.069	3129	3693	1692	0	0	0	0	0	0
9623	0.72	328.0	99.8	16.6	929	9630	0.17	2.33	0.00	0.000	6	0.202	0.053	3098	2270	1687	0	0	0	0	0	0
9970	0.78	328.0	60.2	10.8	990	9976	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2270	1685	0	0	0	0	0	0
10312	0.83	328.0	23.1	10.3	1051	10319	0.10	0.00	0.00	0.000	6	0.122	0.000	3137	2270	1683	0	0	0	0	0	0
10427	end climb: FINISH_DEPTH_REACHED
state	10427	begin subsurface finish
10433	0.10	78.9	8.8	-13.0	1071	10480	0.77	0.00	-40.05	0.000	6	0.173	0.000	2904	2269	2709	0	0	0	0	0	0
10481	end subsurface finish: CONTROL_FINISHED_OK
state	10481	begin surface