Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 59 * 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 59 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 28 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 28 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 59 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 010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0 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 9.17 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 010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0 MHEAD_RNG_PITCHd_Wd 118.4,155947,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 552

Post-dive calculations and measurements:

FREEZE 8.65,-1.748,-1.767,3,36,0 ALTIM_TOP_PING 19.2,15.4

FINISH1 8.6,1.025877,80 _24V_AH 23.1,11.602

FINISH2 7.0 _10V_AH 10.3,5.636

RAFOS_CLK 585 FG_AHR_24Vo 0.000

RAFOS 0,1298952061,4.033333,4.016944,57,57,56,54,48,45,145,216,191,161,126,243 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.101562,-6017.190918,010311,040448,5,116,0.23 MEM 150732

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43249,1092

TT8_MAMPS 0.026215 CAP_FILE_SIZE 120235,0

HUMID 46.45 CFSIZE 260165632,248004608

INTERNAL_PRESSURE 8.65268 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1451.6

XPDR_PINGS 0 GPS 010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 217 23.96 SBE_CT 781 24 433.39

Roll_motor 101 86 202.38 SBE_O2 829 19 364.11

VBD_pump_during_apogee 415 1276 12250.22 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 19.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2615 19 536.59

LPSleep 5592 2 133.07

TT8_Active 484 19 99.43

TT8_Sampling 1724 39 708.92

TT8_CF8 148 45 70.33

TT8_Kalman 0 0 0.00

Analog_circuits 1406 12 173.82

GPS_charging 0 0 0.00

Compass 1711 15 264.40

RAFOS 2520 1 38.93

Transponder 15 30 4.87

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 -7.57 0.000 2 0.000 0.000 2904 861 2986 0 0 0 0 0 0

27 -0.62 -146.0 11.1 -0.0 1 53 0.68 5.07 -16.38 0.000 4 0.099 0.076 2666 3898 3629 0 0 0 0 0 0

82 -0.43 -146.0 19.3 -19.1 10 90 0.22 2.25 0.00 0.000 6 0.217 0.050 2720 2486 3631 0 0 0 0 0 0

428 -0.37 -146.0 76.5 -15.9 71 435 0.00 2.30 0.00 0.000 4 0.000 0.073 2720 3896 3630 0 0 0 0 0 0

595 -0.39 -146.0 99.6 -12.2 100 602 0.00 2.22 0.00 0.000 6 0.000 0.049 2720 2487 3630 0 0 0 0 0 0

920 -0.39 -146.0 142.7 -11.4 131 924 0.00 2.25 0.00 0.000 4 0.000 0.068 2720 1086 3629 0 0 0 0 0 0

993 -0.42 -146.0 150.9 -10.6 137 997 0.00 2.28 0.00 0.000 6 0.000 0.062 2720 2494 3630 0 0 0 0 0 0

1319 -0.45 -146.0 185.1 -9.8 167 1323 0.00 2.25 0.00 0.000 4 0.000 0.067 2720 1085 3629 0 0 0 0 0 0

1368 -0.49 -146.0 190.3 -9.8 171 1375 0.00 2.28 0.00 0.000 6 0.000 0.061 2720 2499 3629 0 0 0 0 0 0

1694 -0.53 -146.0 219.1 -8.6 202 1695 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2499 3629 0 0 0 0 0 0

2014 -0.57 -146.0 249.0 -9.3 232 2016 0.12 0.00 0.00 0.000 6 0.135 0.000 2679 2499 3629 0 0 0 0 0 0

2332 -0.52 -146.0 284.6 -10.1 262 2336 0.00 2.25 0.00 0.000 4 0.000 0.068 2679 1085 3628 0 0 0 0 0 0

2375 -0.49 -146.0 289.8 -11.0 265 2382 0.00 2.25 0.00 0.000 6 0.000 0.062 2678 2494 3628 0 0 0 0 0 0

2702 -0.44 -146.0 328.2 -12.9 296 2707 0.15 2.30 0.00 0.000 4 0.216 0.078 2714 3899 3628 0 0 0 0 0 0

2719 -0.44 -146.0 330.4 -12.0 297 2723 0.00 2.20 0.00 0.000 6 0.000 0.047 2715 2487 3628 0 0 0 0 0 0

3045 -0.50 -146.0 359.8 -8.9 327 3049 0.00 2.20 0.00 0.000 4 0.000 0.067 2715 1086 3628 0 0 0 0 0 0

3145 -0.58 -146.0 369.1 -9.0 335 3152 0.12 2.25 0.00 0.000 6 0.134 0.061 2674 2494 3628 0 0 0 0 0 0

3470 -0.54 -146.0 406.8 -11.7 366 3474 0.00 2.28 0.00 0.000 4 0.000 0.076 2674 3899 3628 0 0 0 0 0 0

3500 -0.50 -146.0 410.2 -12.1 368 3504 0.00 2.20 0.00 0.000 6 0.000 0.047 2674 2481 3628 0 0 0 0 0 0

3831 -0.47 -146.0 447.8 -10.8 399 3835 0.15 2.20 0.00 0.000 4 0.216 0.067 2710 1087 3628 0 0 0 0 0 0

3871 -0.53 -146.0 451.9 -8.9 402 3875 0.00 2.22 0.00 0.000 6 0.000 0.062 2711 2496 3628 0 0 0 0 0 0

4202 -0.59 -146.0 477.6 -8.0 433 4206 0.12 2.25 0.00 0.000 4 0.130 0.065 2668 1077 3629 0 0 0 0 0 0

4219 -0.63 -146.0 479.2 -8.0 434 4223 0.00 2.25 0.00 0.000 6 0.000 0.061 2668 2490 3629 0 0 0 0 0 0

4544 -0.57 -146.0 514.5 -11.4 464 4548 0.00 2.25 0.00 0.000 4 0.000 0.066 2668 1077 3629 0 0 0 0 0 0

4562 -0.53 -146.0 516.6 -11.7 465 4566 0.00 2.25 0.00 0.000 6 0.000 0.061 2668 2491 3629 0 0 0 0 0 0

4874 end dive: TARGET_DEPTH_EXCEEDED

state 4874 begin apogee

4879 -0.12 0.0 552.0 11.2 494 5013 0.50 0.00 121.40 1.277 6 0.195 0.000 2813 2266 3030 0 0 0 0 0 0

5013 end apogee: CONTROL_FINISHED_OK

state 5014 begin climb

5016 0.62 146.0 556.3 0.0 506 5144 0.80 0.00 124.68 1.225 6 0.148 0.000 3052 2266 2434 0 0 0 0 0 0

5461 0.55 146.0 512.1 10.3 549 5465 0.00 2.40 0.00 0.000 4 0.000 0.069 3052 3684 2425 0 0 0 0 0 0

5544 0.41 146.0 501.6 13.5 556 5552 0.25 2.33 0.00 0.000 6 0.193 0.053 3000 2282 2424 0 0 0 0 0 0

5871 0.48 176.7 473.9 8.6 587 5900 0.00 0.00 26.33 1.154 6 0.000 0.000 3000 2282 2308 0 0 0 0 0 0

6219 0.54 195.4 443.6 9.1 620 6243 0.12 2.45 17.30 1.115 4 0.109 0.068 3051 3692 2233 0 0 0 0 0 0

6278 0.46 195.4 436.1 14.5 625 6283 0.20 2.35 0.00 0.000 6 0.191 0.052 3012 2266 2231 0 0 0 0 0 0

6603 0.49 195.4 402.2 10.1 655 6607 0.00 2.33 0.00 0.000 4 0.000 0.068 3012 3685 2229 0 0 0 0 0 0

6643 0.49 195.4 397.8 11.5 658 6647 0.00 2.30 0.00 0.000 6 0.000 0.053 3018 2266 2228 0 0 0 0 0 0

6968 0.54 214.9 366.6 9.1 688 6992 0.00 2.42 18.15 1.094 4 0.000 0.067 3019 3685 2153 0 0 0 0 0 0

7027 0.54 214.9 361.2 10.5 693 7031 0.00 2.30 0.00 0.000 6 0.000 0.053 3028 2276 2152 0 0 0 0 0 0

7354 0.57 219.9 330.1 9.8 723 7362 0.00 0.00 5.53 0.861 6 0.000 0.000 3028 2276 2133 0 0 0 0 0 0

7680 0.60 219.9 295.6 10.9 754 7684 0.00 2.33 0.00 0.000 4 0.000 0.068 3028 3691 2131 0 0 0 0 0 0

7724 0.60 219.9 290.2 12.4 757 7731 0.00 2.28 0.00 0.000 6 0.000 0.052 3039 2267 2131 0 0 0 0 0 0

8050 0.62 219.9 255.5 10.2 788 8051 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2267 2131 0 0 0 0 0 0

8370 0.64 219.9 221.5 10.6 818 8374 0.00 2.28 0.00 0.000 4 0.000 0.067 3039 3687 2131 0 0 0 0 0 0

8409 0.64 219.9 216.8 11.9 821 8413 0.00 2.25 0.00 0.000 6 0.000 0.052 3047 2271 2131 0 0 0 0 0 0

8735 0.64 219.9 181.7 11.1 851 8736 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2271 2130 0 0 0 0 0 0

9054 0.68 222.0 149.1 9.9 881 9059 0.10 2.28 0.00 0.000 4 0.126 0.069 3095 865 2131 0 0 0 0 0 0

9094 0.65 222.0 144.4 12.3 884 9099 0.00 2.22 0.00 0.000 6 0.000 0.056 3095 2279 2130 0 0 0 0 0 0

9420 0.62 233.7 108.8 9.5 914 9443 0.00 2.28 15.10 0.913 4 0.000 0.070 3095 3684 2076 0 0 0 0 0 0

9525 0.56 233.7 97.2 12.0 925 9532 0.22 2.25 0.00 0.000 6 0.187 0.054 3046 2274 2076 0 0 0 0 0 0

9871 0.78 327.9 75.4 5.7 986 9966 0.20 2.47 86.88 0.972 4 0.091 0.067 3124 3682 1691 0 0 0 0 0 0

9997 0.75 327.9 62.6 12.3 1007 10004 0.00 2.35 0.00 0.000 6 0.000 0.053 3133 2275 1687 0 0 0 0 0 0

10342 0.75 327.9 20.8 11.4 1068 10348 0.00 2.30 0.00 0.000 4 0.000 0.071 3142 867 1680 0 0 0 0 0 0

10373 0.78 327.9 17.1 12.1 1073 10379 0.00 2.30 0.00 0.000 6 0.000 0.056 3142 2282 1678 0 0 0 0 0 0

10436 end climb: FINISH_DEPTH_REACHED

state 10436 begin subsurface finish

10442 0.10 79.6 8.6 -14.8 1084 10490 0.80 2.30 -39.45 0.000 4 0.166 0.086 2899 3685 2708 0 0 0 0 0 0

10491 end subsurface finish: CONTROL_FINISHED_OK

state 10491 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	59	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	28	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	010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0	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	9.17	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	010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0	MHEAD_RNG_PITCHd_Wd	118.4,155947,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	552

FREEZE	8.65,-1.748,-1.767,3,36,0	ALTIM_TOP_PING	19.2,15.4
FINISH1	8.6,1.025877,80	_24V_AH	23.1,11.602
FINISH2	7.0	_10V_AH	10.3,5.636
RAFOS_CLK	585	FG_AHR_24Vo	0.000
RAFOS	0,1298952061,4.033333,4.016944,57,57,56,54,48,45,145,216,191,161,126,243	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.101562,-6017.190918,010311,040448,5,116,0.23	MEM	150732
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43249,1092
TT8_MAMPS	0.026215	CAP_FILE_SIZE	120235,0
HUMID	46.45	CFSIZE	260165632,248004608
INTERNAL_PRESSURE	8.65268	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1451.6
XPDR_PINGS	0	GPS	010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	217	23.96	SBE_CT	781	24	433.39
Roll_motor	101	86	202.38	SBE_O2	829	19	364.11
VBD_pump_during_apogee	415	1276	12250.22	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	19.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2615	19	536.59
LPSleep	5592	2	133.07
TT8_Active	484	19	99.43
TT8_Sampling	1724	39	708.92
TT8_CF8	148	45	70.33
TT8_Kalman	0	0	0.00
Analog_circuits	1406	12	173.82
GPS_charging	0	0	0.00
Compass	1711	15	264.40
RAFOS	2520	1	38.93
Transponder	15	30	4.87

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	-7.57	0.000	2	0.000	0.000	2904	861	2986	0	0	0	0	0	0
27	-0.62	-146.0	11.1	-0.0	1	53	0.68	5.07	-16.38	0.000	4	0.099	0.076	2666	3898	3629	0	0	0	0	0	0
82	-0.43	-146.0	19.3	-19.1	10	90	0.22	2.25	0.00	0.000	6	0.217	0.050	2720	2486	3631	0	0	0	0	0	0
428	-0.37	-146.0	76.5	-15.9	71	435	0.00	2.30	0.00	0.000	4	0.000	0.073	2720	3896	3630	0	0	0	0	0	0
595	-0.39	-146.0	99.6	-12.2	100	602	0.00	2.22	0.00	0.000	6	0.000	0.049	2720	2487	3630	0	0	0	0	0	0
920	-0.39	-146.0	142.7	-11.4	131	924	0.00	2.25	0.00	0.000	4	0.000	0.068	2720	1086	3629	0	0	0	0	0	0
993	-0.42	-146.0	150.9	-10.6	137	997	0.00	2.28	0.00	0.000	6	0.000	0.062	2720	2494	3630	0	0	0	0	0	0
1319	-0.45	-146.0	185.1	-9.8	167	1323	0.00	2.25	0.00	0.000	4	0.000	0.067	2720	1085	3629	0	0	0	0	0	0
1368	-0.49	-146.0	190.3	-9.8	171	1375	0.00	2.28	0.00	0.000	6	0.000	0.061	2720	2499	3629	0	0	0	0	0	0
1694	-0.53	-146.0	219.1	-8.6	202	1695	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2499	3629	0	0	0	0	0	0
2014	-0.57	-146.0	249.0	-9.3	232	2016	0.12	0.00	0.00	0.000	6	0.135	0.000	2679	2499	3629	0	0	0	0	0	0
2332	-0.52	-146.0	284.6	-10.1	262	2336	0.00	2.25	0.00	0.000	4	0.000	0.068	2679	1085	3628	0	0	0	0	0	0
2375	-0.49	-146.0	289.8	-11.0	265	2382	0.00	2.25	0.00	0.000	6	0.000	0.062	2678	2494	3628	0	0	0	0	0	0
2702	-0.44	-146.0	328.2	-12.9	296	2707	0.15	2.30	0.00	0.000	4	0.216	0.078	2714	3899	3628	0	0	0	0	0	0
2719	-0.44	-146.0	330.4	-12.0	297	2723	0.00	2.20	0.00	0.000	6	0.000	0.047	2715	2487	3628	0	0	0	0	0	0
3045	-0.50	-146.0	359.8	-8.9	327	3049	0.00	2.20	0.00	0.000	4	0.000	0.067	2715	1086	3628	0	0	0	0	0	0
3145	-0.58	-146.0	369.1	-9.0	335	3152	0.12	2.25	0.00	0.000	6	0.134	0.061	2674	2494	3628	0	0	0	0	0	0
3470	-0.54	-146.0	406.8	-11.7	366	3474	0.00	2.28	0.00	0.000	4	0.000	0.076	2674	3899	3628	0	0	0	0	0	0
3500	-0.50	-146.0	410.2	-12.1	368	3504	0.00	2.20	0.00	0.000	6	0.000	0.047	2674	2481	3628	0	0	0	0	0	0
3831	-0.47	-146.0	447.8	-10.8	399	3835	0.15	2.20	0.00	0.000	4	0.216	0.067	2710	1087	3628	0	0	0	0	0	0
3871	-0.53	-146.0	451.9	-8.9	402	3875	0.00	2.22	0.00	0.000	6	0.000	0.062	2711	2496	3628	0	0	0	0	0	0
4202	-0.59	-146.0	477.6	-8.0	433	4206	0.12	2.25	0.00	0.000	4	0.130	0.065	2668	1077	3629	0	0	0	0	0	0
4219	-0.63	-146.0	479.2	-8.0	434	4223	0.00	2.25	0.00	0.000	6	0.000	0.061	2668	2490	3629	0	0	0	0	0	0
4544	-0.57	-146.0	514.5	-11.4	464	4548	0.00	2.25	0.00	0.000	4	0.000	0.066	2668	1077	3629	0	0	0	0	0	0
4562	-0.53	-146.0	516.6	-11.7	465	4566	0.00	2.25	0.00	0.000	6	0.000	0.061	2668	2491	3629	0	0	0	0	0	0
4874	end dive: TARGET_DEPTH_EXCEEDED
state	4874	begin apogee
4879	-0.12	0.0	552.0	11.2	494	5013	0.50	0.00	121.40	1.277	6	0.195	0.000	2813	2266	3030	0	0	0	0	0	0
5013	end apogee: CONTROL_FINISHED_OK
state	5014	begin climb
5016	0.62	146.0	556.3	0.0	506	5144	0.80	0.00	124.68	1.225	6	0.148	0.000	3052	2266	2434	0	0	0	0	0	0
5461	0.55	146.0	512.1	10.3	549	5465	0.00	2.40	0.00	0.000	4	0.000	0.069	3052	3684	2425	0	0	0	0	0	0
5544	0.41	146.0	501.6	13.5	556	5552	0.25	2.33	0.00	0.000	6	0.193	0.053	3000	2282	2424	0	0	0	0	0	0
5871	0.48	176.7	473.9	8.6	587	5900	0.00	0.00	26.33	1.154	6	0.000	0.000	3000	2282	2308	0	0	0	0	0	0
6219	0.54	195.4	443.6	9.1	620	6243	0.12	2.45	17.30	1.115	4	0.109	0.068	3051	3692	2233	0	0	0	0	0	0
6278	0.46	195.4	436.1	14.5	625	6283	0.20	2.35	0.00	0.000	6	0.191	0.052	3012	2266	2231	0	0	0	0	0	0
6603	0.49	195.4	402.2	10.1	655	6607	0.00	2.33	0.00	0.000	4	0.000	0.068	3012	3685	2229	0	0	0	0	0	0
6643	0.49	195.4	397.8	11.5	658	6647	0.00	2.30	0.00	0.000	6	0.000	0.053	3018	2266	2228	0	0	0	0	0	0
6968	0.54	214.9	366.6	9.1	688	6992	0.00	2.42	18.15	1.094	4	0.000	0.067	3019	3685	2153	0	0	0	0	0	0
7027	0.54	214.9	361.2	10.5	693	7031	0.00	2.30	0.00	0.000	6	0.000	0.053	3028	2276	2152	0	0	0	0	0	0
7354	0.57	219.9	330.1	9.8	723	7362	0.00	0.00	5.53	0.861	6	0.000	0.000	3028	2276	2133	0	0	0	0	0	0
7680	0.60	219.9	295.6	10.9	754	7684	0.00	2.33	0.00	0.000	4	0.000	0.068	3028	3691	2131	0	0	0	0	0	0
7724	0.60	219.9	290.2	12.4	757	7731	0.00	2.28	0.00	0.000	6	0.000	0.052	3039	2267	2131	0	0	0	0	0	0
8050	0.62	219.9	255.5	10.2	788	8051	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2267	2131	0	0	0	0	0	0
8370	0.64	219.9	221.5	10.6	818	8374	0.00	2.28	0.00	0.000	4	0.000	0.067	3039	3687	2131	0	0	0	0	0	0
8409	0.64	219.9	216.8	11.9	821	8413	0.00	2.25	0.00	0.000	6	0.000	0.052	3047	2271	2131	0	0	0	0	0	0
8735	0.64	219.9	181.7	11.1	851	8736	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2271	2130	0	0	0	0	0	0
9054	0.68	222.0	149.1	9.9	881	9059	0.10	2.28	0.00	0.000	4	0.126	0.069	3095	865	2131	0	0	0	0	0	0
9094	0.65	222.0	144.4	12.3	884	9099	0.00	2.22	0.00	0.000	6	0.000	0.056	3095	2279	2130	0	0	0	0	0	0
9420	0.62	233.7	108.8	9.5	914	9443	0.00	2.28	15.10	0.913	4	0.000	0.070	3095	3684	2076	0	0	0	0	0	0
9525	0.56	233.7	97.2	12.0	925	9532	0.22	2.25	0.00	0.000	6	0.187	0.054	3046	2274	2076	0	0	0	0	0	0
9871	0.78	327.9	75.4	5.7	986	9966	0.20	2.47	86.88	0.972	4	0.091	0.067	3124	3682	1691	0	0	0	0	0	0
9997	0.75	327.9	62.6	12.3	1007	10004	0.00	2.35	0.00	0.000	6	0.000	0.053	3133	2275	1687	0	0	0	0	0	0
10342	0.75	327.9	20.8	11.4	1068	10348	0.00	2.30	0.00	0.000	4	0.000	0.071	3142	867	1680	0	0	0	0	0	0
10373	0.78	327.9	17.1	12.1	1073	10379	0.00	2.30	0.00	0.000	6	0.000	0.056	3142	2282	1678	0	0	0	0	0	0
10436	end climb: FINISH_DEPTH_REACHED
state	10436	begin subsurface finish
10442	0.10	79.6	8.6	-14.8	1084	10490	0.80	2.30	-39.45	0.000	4	0.166	0.086	2899	3685	2708	0	0	0	0	0	0
10491	end subsurface finish: CONTROL_FINISHED_OK
state	10491	begin surface