Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 60 * 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 60 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 25 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 25 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 60 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 010311,042848,6650.102,-6017.191,0,5115.6,0,-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 10.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0 MHEAD_RNG_PITCHd_Wd 119.0,152943,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 573

Post-dive calculations and measurements:

FREEZE 8.89,-1.755,-1.767,3,37,0 ALTIM_BOTTOM_PING 550.0,16.4

FINISH1 8.9,1.025873,80 _24V_AH 23.1,11.735

FINISH2 6.8 _10V_AH 10.3,5.699

RAFOS_CLK 571 FG_AHR_24Vo 0.000

RAFOS 0,1298966471,8.033334,8.019722,107,62,58,55,55,54,587,204,215,177,131,154 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.651855,-6019.551758,010311,080822,3,126,0.36 MEM 150716

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 40012,1057

TT8_MAMPS 0.026964 CAP_FILE_SIZE 118061,0

HUMID 46.69 CFSIZE 260165632,247947264

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 1452.0

XPDR_PINGS 0 GPS 010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0

ALTIM_TOP_PING 19.7,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 227 24.14 SBE_CT 755 24 418.86

Roll_motor 94 185 403.70 SBE_O2 804 19 353.11

VBD_pump_during_apogee 408 1274 12017.70 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 2521 19 517.40

LPSleep 5461 2 129.94

TT8_Active 468 19 96.11

TT8_Sampling 1686 39 693.55

TT8_CF8 155 45 73.76

TT8_Kalman 0 0 0.00

Analog_circuits 1384 12 171.12

GPS_charging 0 0 0.00

Compass 1676 15 259.07

RAFOS 1080 1 16.69

Transponder 15 30 4.92

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.68 0.000 2 0.000 0.000 2899 3686 2983 0 0 0 0 0 0

26 -0.62 -146.0 12.9 -0.0 1 46 0.65 0.35 -15.15 0.000 4 0.104 0.185 2670 3897 3629 0 0 0 0 0 0

277 -0.52 -146.0 56.4 -18.2 45 284 0.00 2.22 0.00 0.000 6 0.000 0.050 2670 2486 3631 0 0 0 0 0 0

621 -0.38 -146.0 123.6 -18.9 96 626 0.25 2.25 0.00 0.000 4 0.227 0.067 2736 1082 3630 0 0 0 0 0 0

688 -0.44 -146.0 131.9 -9.3 101 695 0.00 2.28 0.00 0.000 6 0.000 0.060 2736 2492 3630 0 0 0 0 0 0

1014 -0.49 -146.0 158.7 -8.5 132 1015 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2492 3630 0 0 0 0 0 0

1335 -0.55 -146.0 184.4 -8.5 162 1340 0.15 2.28 0.00 0.000 4 0.125 0.068 2686 1079 3629 0 0 0 0 0 0

1375 -0.52 -146.0 189.2 -11.7 165 1379 0.00 2.28 0.00 0.000 6 0.000 0.062 2686 2493 3630 0 0 0 0 0 0

1700 -0.46 -146.0 229.7 -11.6 195 1704 0.00 2.25 0.00 0.000 4 0.000 0.067 2686 1080 3629 0 0 0 0 0 0

1755 -0.46 -146.0 236.3 -11.1 199 1762 0.00 2.25 0.00 0.000 6 0.000 0.061 2686 2490 3629 0 0 0 0 0 0

2080 -0.43 -146.0 274.6 -11.2 230 2082 0.15 0.00 0.00 0.000 6 0.222 0.000 2721 2491 3628 0 0 0 0 0 0

2399 -0.49 -146.0 301.1 -8.7 260 2403 0.00 2.28 0.00 0.000 4 0.000 0.067 2721 1080 3628 0 0 0 0 0 0

2449 -0.58 -146.0 305.9 -9.6 264 2457 0.15 2.25 0.00 0.000 6 0.131 0.060 2672 2492 3628 0 0 0 0 0 0

2775 -0.53 -146.0 345.7 -11.6 295 2776 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2492 3628 0 0 0 0 0 0

3094 -0.48 -146.0 382.6 -11.3 325 3099 0.12 2.25 0.00 0.000 4 0.223 0.065 2701 1077 3628 0 0 0 0 0 0

3115 -0.48 -146.0 385.1 -10.1 326 3123 0.00 2.22 0.00 0.000 6 0.000 0.060 2701 2493 3628 0 0 0 0 0 0

3442 -0.51 -146.0 412.1 -9.0 357 3443 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2493 3628 0 0 0 0 0 0

3762 -0.54 -146.0 440.6 -9.0 387 3766 0.00 2.28 0.00 0.000 4 0.000 0.076 2701 3902 3629 0 0 0 0 0 0

3780 -0.57 -146.0 442.4 -9.0 388 3784 0.00 2.20 0.00 0.000 6 0.000 0.047 2701 2482 3628 0 0 0 0 0 0

4106 -0.61 -146.0 471.9 -9.3 418 4110 0.12 2.20 0.00 0.000 4 0.134 0.063 2662 1080 3629 0 0 0 0 0 0

4145 -0.57 -146.0 476.5 -12.1 421 4150 0.00 2.25 0.00 0.000 6 0.000 0.060 2661 2497 3630 0 0 0 0 0 0

4471 -0.50 -146.0 516.4 -11.9 451 4475 0.15 2.25 0.00 0.000 4 0.225 0.063 2696 1073 3630 0 0 0 0 0 0

4481 -0.44 -146.0 517.8 -12.0 451 4488 0.00 2.25 0.00 0.000 6 0.000 0.058 2697 2498 3630 0 0 0 0 0 0

4808 -0.48 -146.0 546.3 -8.3 482 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2498 3630 0 0 0 0 0 0

4867 end dive: BOTTOM_OBSTACLE_DETECTED

state 4867 begin apogee

4873 -0.12 0.0 551.8 8.8 488 5004 0.40 0.00 121.05 1.274 6 0.190 0.000 2816 2268 3030 0 0 0 0 0 0

5005 end apogee: CONTROL_FINISHED_OK

state 5005 begin climb

5007 0.62 146.0 555.4 0.0 500 5141 0.77 2.55 124.20 1.226 4 0.140 0.069 3062 877 2433 0 0 0 0 0 0

5168 0.53 146.0 544.0 12.3 514 5175 0.00 2.42 0.00 0.000 6 0.000 0.053 3062 2274 2430 0 0 0 0 0 0

5495 0.44 146.0 504.3 12.4 545 5500 0.20 2.38 0.00 0.000 4 0.180 0.070 3010 3692 2425 0 0 0 0 0 0

5604 0.40 146.0 493.0 10.5 554 5608 0.00 2.33 0.00 0.000 6 0.000 0.052 3018 2278 2424 0 0 0 0 0 0

5930 0.42 161.3 462.5 9.3 584 5949 0.00 0.00 13.20 1.088 6 0.000 0.000 3018 2277 2371 0 0 0 0 0 0

6269 0.43 165.1 430.0 9.8 616 6281 0.00 2.35 4.47 0.786 4 0.000 0.067 3018 3698 2357 0 0 0 0 0 0

6320 0.38 165.1 424.0 11.9 620 6328 0.15 2.30 0.00 0.000 6 0.191 0.050 2993 2270 2356 0 0 0 0 0 0

6647 0.49 204.9 396.7 8.2 651 6689 0.00 2.45 36.10 1.142 4 0.000 0.065 2992 3689 2194 0 0 0 0 0 0

6714 0.58 227.9 391.0 8.9 657 6741 0.15 2.33 21.92 1.106 6 0.104 0.050 3052 2274 2100 0 0 0 0 0 0

7061 0.56 227.9 347.1 13.1 689 7062 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2274 2092 0 0 0 0 0 0

7381 0.56 227.9 307.4 12.3 719 7385 0.00 2.30 0.00 0.000 4 0.000 0.065 3052 3691 2090 0 0 0 0 0 0

7414 0.52 227.9 302.6 13.2 721 7422 0.12 2.28 0.00 0.000 6 0.198 0.051 3032 2270 2090 0 0 0 0 0 0

7740 0.56 230.2 268.8 9.9 752 7744 0.00 2.25 0.00 0.000 4 0.000 0.067 3041 865 2089 0 0 0 0 0 0

7772 0.60 230.2 265.3 10.2 754 7780 0.00 2.25 0.00 0.000 6 0.000 0.054 3041 2284 2088 0 0 0 0 0 0

8099 0.60 230.2 231.2 10.5 785 8103 0.00 2.28 0.00 0.000 4 0.000 0.067 3041 3697 2088 0 0 0 0 0 0

8184 0.58 230.2 220.4 13.4 792 8188 0.00 2.28 0.00 0.000 6 0.000 0.052 3050 2265 2088 0 0 0 0 0 0

8509 0.60 230.2 182.9 10.5 822 8513 0.00 2.25 0.00 0.000 4 0.000 0.067 3058 863 2088 0 0 0 0 0 0

8537 0.63 230.2 179.9 10.4 824 8541 0.00 2.22 0.00 0.000 6 0.000 0.053 3058 2280 2087 0 0 0 0 0 0

8863 0.63 230.2 146.9 10.3 854 8867 0.00 2.22 0.00 0.000 4 0.000 0.068 3058 3685 2086 0 0 0 0 0 0

8937 0.61 230.2 138.0 12.6 860 8941 0.00 2.22 0.00 0.000 6 0.000 0.052 3068 2273 2087 0 0 0 0 0 0

9268 0.64 230.2 99.3 11.4 891 9276 0.00 2.22 0.00 0.000 4 0.000 0.068 3076 867 2087 0 0 0 0 0 0

9306 0.70 249.3 95.8 9.1 897 9335 0.00 2.20 20.20 0.926 6 0.000 0.054 3076 2276 2012 0 0 0 0 0 0

9672 0.84 323.5 66.5 6.6 962 9750 0.17 2.40 67.05 0.981 4 0.099 0.069 3141 3685 1709 0 0 0 0 0 0

9809 0.77 323.5 49.2 15.2 985 9816 0.15 2.33 0.00 0.000 6 0.203 0.053 3117 2278 1705 0 0 0 0 0 0

10152 0.77 323.5 11.5 10.9 1046 10159 0.00 2.33 0.00 0.000 4 0.000 0.068 3124 858 1700 0 0 0 0 0 0

10171 end climb: FINISH_DEPTH_REACHED

state 10171 begin subsurface finish

10180 0.10 79.8 8.9 -13.0 1049 10227 0.73 0.00 -39.58 0.000 6 0.152 0.000 2899 2283 2705 0 0 0 0 0 0

10228 end subsurface finish: CONTROL_FINISHED_OK

state 10228 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	60	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	25	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	010311,042848,6650.102,-6017.191,0,5115.6,0,-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	10.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0	MHEAD_RNG_PITCHd_Wd	119.0,152943,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	573

FREEZE	8.89,-1.755,-1.767,3,37,0	ALTIM_BOTTOM_PING	550.0,16.4
FINISH1	8.9,1.025873,80	_24V_AH	23.1,11.735
FINISH2	6.8	_10V_AH	10.3,5.699
RAFOS_CLK	571	FG_AHR_24Vo	0.000
RAFOS	0,1298966471,8.033334,8.019722,107,62,58,55,55,54,587,204,215,177,131,154	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.651855,-6019.551758,010311,080822,3,126,0.36	MEM	150716
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	40012,1057
TT8_MAMPS	0.026964	CAP_FILE_SIZE	118061,0
HUMID	46.69	CFSIZE	260165632,247947264
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	1452.0
XPDR_PINGS	0	GPS	010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0
ALTIM_TOP_PING	19.7,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	227	24.14	SBE_CT	755	24	418.86
Roll_motor	94	185	403.70	SBE_O2	804	19	353.11
VBD_pump_during_apogee	408	1274	12017.70	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	2521	19	517.40
LPSleep	5461	2	129.94
TT8_Active	468	19	96.11
TT8_Sampling	1686	39	693.55
TT8_CF8	155	45	73.76
TT8_Kalman	0	0	0.00
Analog_circuits	1384	12	171.12
GPS_charging	0	0	0.00
Compass	1676	15	259.07
RAFOS	1080	1	16.69
Transponder	15	30	4.92

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.68	0.000	2	0.000	0.000	2899	3686	2983	0	0	0	0	0	0
26	-0.62	-146.0	12.9	-0.0	1	46	0.65	0.35	-15.15	0.000	4	0.104	0.185	2670	3897	3629	0	0	0	0	0	0
277	-0.52	-146.0	56.4	-18.2	45	284	0.00	2.22	0.00	0.000	6	0.000	0.050	2670	2486	3631	0	0	0	0	0	0
621	-0.38	-146.0	123.6	-18.9	96	626	0.25	2.25	0.00	0.000	4	0.227	0.067	2736	1082	3630	0	0	0	0	0	0
688	-0.44	-146.0	131.9	-9.3	101	695	0.00	2.28	0.00	0.000	6	0.000	0.060	2736	2492	3630	0	0	0	0	0	0
1014	-0.49	-146.0	158.7	-8.5	132	1015	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2492	3630	0	0	0	0	0	0
1335	-0.55	-146.0	184.4	-8.5	162	1340	0.15	2.28	0.00	0.000	4	0.125	0.068	2686	1079	3629	0	0	0	0	0	0
1375	-0.52	-146.0	189.2	-11.7	165	1379	0.00	2.28	0.00	0.000	6	0.000	0.062	2686	2493	3630	0	0	0	0	0	0
1700	-0.46	-146.0	229.7	-11.6	195	1704	0.00	2.25	0.00	0.000	4	0.000	0.067	2686	1080	3629	0	0	0	0	0	0
1755	-0.46	-146.0	236.3	-11.1	199	1762	0.00	2.25	0.00	0.000	6	0.000	0.061	2686	2490	3629	0	0	0	0	0	0
2080	-0.43	-146.0	274.6	-11.2	230	2082	0.15	0.00	0.00	0.000	6	0.222	0.000	2721	2491	3628	0	0	0	0	0	0
2399	-0.49	-146.0	301.1	-8.7	260	2403	0.00	2.28	0.00	0.000	4	0.000	0.067	2721	1080	3628	0	0	0	0	0	0
2449	-0.58	-146.0	305.9	-9.6	264	2457	0.15	2.25	0.00	0.000	6	0.131	0.060	2672	2492	3628	0	0	0	0	0	0
2775	-0.53	-146.0	345.7	-11.6	295	2776	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2492	3628	0	0	0	0	0	0
3094	-0.48	-146.0	382.6	-11.3	325	3099	0.12	2.25	0.00	0.000	4	0.223	0.065	2701	1077	3628	0	0	0	0	0	0
3115	-0.48	-146.0	385.1	-10.1	326	3123	0.00	2.22	0.00	0.000	6	0.000	0.060	2701	2493	3628	0	0	0	0	0	0
3442	-0.51	-146.0	412.1	-9.0	357	3443	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2493	3628	0	0	0	0	0	0
3762	-0.54	-146.0	440.6	-9.0	387	3766	0.00	2.28	0.00	0.000	4	0.000	0.076	2701	3902	3629	0	0	0	0	0	0
3780	-0.57	-146.0	442.4	-9.0	388	3784	0.00	2.20	0.00	0.000	6	0.000	0.047	2701	2482	3628	0	0	0	0	0	0
4106	-0.61	-146.0	471.9	-9.3	418	4110	0.12	2.20	0.00	0.000	4	0.134	0.063	2662	1080	3629	0	0	0	0	0	0
4145	-0.57	-146.0	476.5	-12.1	421	4150	0.00	2.25	0.00	0.000	6	0.000	0.060	2661	2497	3630	0	0	0	0	0	0
4471	-0.50	-146.0	516.4	-11.9	451	4475	0.15	2.25	0.00	0.000	4	0.225	0.063	2696	1073	3630	0	0	0	0	0	0
4481	-0.44	-146.0	517.8	-12.0	451	4488	0.00	2.25	0.00	0.000	6	0.000	0.058	2697	2498	3630	0	0	0	0	0	0
4808	-0.48	-146.0	546.3	-8.3	482	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2498	3630	0	0	0	0	0	0
4867	end dive: BOTTOM_OBSTACLE_DETECTED
state	4867	begin apogee
4873	-0.12	0.0	551.8	8.8	488	5004	0.40	0.00	121.05	1.274	6	0.190	0.000	2816	2268	3030	0	0	0	0	0	0
5005	end apogee: CONTROL_FINISHED_OK
state	5005	begin climb
5007	0.62	146.0	555.4	0.0	500	5141	0.77	2.55	124.20	1.226	4	0.140	0.069	3062	877	2433	0	0	0	0	0	0
5168	0.53	146.0	544.0	12.3	514	5175	0.00	2.42	0.00	0.000	6	0.000	0.053	3062	2274	2430	0	0	0	0	0	0
5495	0.44	146.0	504.3	12.4	545	5500	0.20	2.38	0.00	0.000	4	0.180	0.070	3010	3692	2425	0	0	0	0	0	0
5604	0.40	146.0	493.0	10.5	554	5608	0.00	2.33	0.00	0.000	6	0.000	0.052	3018	2278	2424	0	0	0	0	0	0
5930	0.42	161.3	462.5	9.3	584	5949	0.00	0.00	13.20	1.088	6	0.000	0.000	3018	2277	2371	0	0	0	0	0	0
6269	0.43	165.1	430.0	9.8	616	6281	0.00	2.35	4.47	0.786	4	0.000	0.067	3018	3698	2357	0	0	0	0	0	0
6320	0.38	165.1	424.0	11.9	620	6328	0.15	2.30	0.00	0.000	6	0.191	0.050	2993	2270	2356	0	0	0	0	0	0
6647	0.49	204.9	396.7	8.2	651	6689	0.00	2.45	36.10	1.142	4	0.000	0.065	2992	3689	2194	0	0	0	0	0	0
6714	0.58	227.9	391.0	8.9	657	6741	0.15	2.33	21.92	1.106	6	0.104	0.050	3052	2274	2100	0	0	0	0	0	0
7061	0.56	227.9	347.1	13.1	689	7062	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2274	2092	0	0	0	0	0	0
7381	0.56	227.9	307.4	12.3	719	7385	0.00	2.30	0.00	0.000	4	0.000	0.065	3052	3691	2090	0	0	0	0	0	0
7414	0.52	227.9	302.6	13.2	721	7422	0.12	2.28	0.00	0.000	6	0.198	0.051	3032	2270	2090	0	0	0	0	0	0
7740	0.56	230.2	268.8	9.9	752	7744	0.00	2.25	0.00	0.000	4	0.000	0.067	3041	865	2089	0	0	0	0	0	0
7772	0.60	230.2	265.3	10.2	754	7780	0.00	2.25	0.00	0.000	6	0.000	0.054	3041	2284	2088	0	0	0	0	0	0
8099	0.60	230.2	231.2	10.5	785	8103	0.00	2.28	0.00	0.000	4	0.000	0.067	3041	3697	2088	0	0	0	0	0	0
8184	0.58	230.2	220.4	13.4	792	8188	0.00	2.28	0.00	0.000	6	0.000	0.052	3050	2265	2088	0	0	0	0	0	0
8509	0.60	230.2	182.9	10.5	822	8513	0.00	2.25	0.00	0.000	4	0.000	0.067	3058	863	2088	0	0	0	0	0	0
8537	0.63	230.2	179.9	10.4	824	8541	0.00	2.22	0.00	0.000	6	0.000	0.053	3058	2280	2087	0	0	0	0	0	0
8863	0.63	230.2	146.9	10.3	854	8867	0.00	2.22	0.00	0.000	4	0.000	0.068	3058	3685	2086	0	0	0	0	0	0
8937	0.61	230.2	138.0	12.6	860	8941	0.00	2.22	0.00	0.000	6	0.000	0.052	3068	2273	2087	0	0	0	0	0	0
9268	0.64	230.2	99.3	11.4	891	9276	0.00	2.22	0.00	0.000	4	0.000	0.068	3076	867	2087	0	0	0	0	0	0
9306	0.70	249.3	95.8	9.1	897	9335	0.00	2.20	20.20	0.926	6	0.000	0.054	3076	2276	2012	0	0	0	0	0	0
9672	0.84	323.5	66.5	6.6	962	9750	0.17	2.40	67.05	0.981	4	0.099	0.069	3141	3685	1709	0	0	0	0	0	0
9809	0.77	323.5	49.2	15.2	985	9816	0.15	2.33	0.00	0.000	6	0.203	0.053	3117	2278	1705	0	0	0	0	0	0
10152	0.77	323.5	11.5	10.9	1046	10159	0.00	2.33	0.00	0.000	4	0.000	0.068	3124	858	1700	0	0	0	0	0	0
10171	end climb: FINISH_DEPTH_REACHED
state	10171	begin subsurface finish
10180	0.10	79.8	8.9	-13.0	1049	10227	0.73	0.00	-39.58	0.000	6	0.152	0.000	2899	2283	2705	0	0	0	0	0	0
10228	end subsurface finish: CONTROL_FINISHED_OK
state	10228	begin surface