Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 607 * 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 607 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 400 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 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 -3 T_GPS_CHARGE -48069.07 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 400

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 -48069.07

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 -3

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 607 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 130511,084619,6709.597,-5712.555,9,1.4,14,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130511,084619,6709.597,-5712.555,9,1.4,14,-37.8 MHEAD_RNG_PITCHd_Wd 162.4,21533,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 595

Post-dive calculations and measurements:

FREEZE 8.66,-1.751,-1.831,2,2,0 ALTIM_TOP_PING 19.8,17.8

FINISH1 8.7,1.026797,34 _24V_AH 22.1,80.335

FINISH2 7.1 _10V_AH 10.0,41.489

RAFOS_CLK 531 FG_AHR_24Vo 0.000

RAFOS 0,1305288062,12.033333,12.017222,64,60,57,57,55,51,222,196,210,171,119,155 FG_AHR_10Vo 0.000

RAFOS_FIX 6710.773926,-5718.803223,130511,121201,3,131,0.35 MEM 150596

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40062,1080

TT8_MAMPS 0.026964 CAP_FILE_SIZE 115613,0

HUMID 45.78 CFSIZE 260165632,214081536

INTERNAL_PRESSURE 8.76987 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1466.8

XPDR_PINGS 35 GPS 130511,124301,6710.774,-5718.803,0,3130.7,0,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 217 18.37 SBE_CT 760 24 403.53

Roll_motor 88 81 160.01 SBE_O2 816 19 343.05

VBD_pump_during_apogee 369 1202 9826.19 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 10 420 97.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2556 19 509.21

LPSleep 5396 2 124.66

TT8_Active 437 19 87.07

TT8_Sampling 1703 39 680.19

TT8_CF8 217 45 99.92

TT8_Kalman 0 0 0.00

Analog_circuits 1346 12 161.59

GPS_charging 0 0 0.00

Compass 1694 15 254.12

RAFOS 2520 1 37.80

Transponder 14 30 4.33

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 24 0.00 0.00 -5.88 0.000 2 0.000 0.000 2883 2282 3074 0 0 0 0 0 0

27 -0.62 -146.0 7.6 -0.0 1 52 0.60 1.90 -17.02 0.000 4 0.102 0.071 2670 1079 3627 0 0 0 0 0 0

65 -0.55 -146.0 10.6 -9.4 7 72 0.00 2.25 0.00 0.000 6 0.000 0.061 2670 2491 3629 0 0 0 0 0 0

410 -0.45 -146.0 59.3 -14.2 68 418 0.17 2.33 0.00 0.000 4 0.217 0.079 2712 3899 3628 0 0 0 0 0 0

426 -0.37 -146.0 61.5 -14.2 70 434 0.10 2.20 0.00 0.000 6 0.213 0.049 2735 2487 3629 0 0 0 0 0 0

776 -0.45 -146.0 89.8 -8.4 131 782 0.00 2.25 0.00 0.000 4 0.000 0.066 2736 1082 3627 0 0 0 0 0 0

807 -0.54 -146.0 92.7 -8.4 136 814 0.15 2.30 0.00 0.000 6 0.114 0.064 2682 2497 3627 0 0 0 0 0 0

1137 -0.50 -146.0 134.8 -12.8 172 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2497 3626 0 0 0 0 0 0

1456 -0.48 -146.0 174.7 -11.8 202 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2497 3624 0 0 0 0 0 0

1774 -0.48 -146.0 210.7 -11.1 232 1778 0.00 2.33 0.00 0.000 4 0.000 0.082 2682 3899 3623 0 0 0 0 0 0

1792 -0.48 -146.0 212.8 -10.9 233 1796 0.00 2.22 0.00 0.000 6 0.000 0.050 2681 2488 3622 0 0 0 0 0 0

2119 -0.48 -146.0 246.5 -9.9 263 2123 0.00 2.22 0.00 0.000 4 0.000 0.063 2681 1081 3622 0 0 0 0 0 0

2147 -0.48 -146.0 249.6 -10.6 265 2151 0.00 2.28 0.00 0.000 6 0.000 0.062 2681 2492 3623 0 0 0 0 0 0

2478 -0.48 -146.0 281.2 -9.9 296 2479 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2492 3623 0 0 0 0 0 0

2796 -0.48 -146.0 312.7 -9.4 326 2800 0.00 2.30 0.00 0.000 4 0.000 0.076 2681 3899 3623 0 0 0 0 0 0

2830 -0.52 -146.0 315.9 -9.5 328 2837 0.00 2.20 0.00 0.000 6 0.000 0.046 2682 2478 3623 0 0 0 0 0 0

3156 -0.52 -146.0 345.0 -8.7 359 3160 0.00 2.20 0.00 0.000 4 0.000 0.060 2681 1080 3623 0 0 0 0 0 0

3167 -0.52 -146.0 346.0 -8.7 359 3174 0.00 2.25 0.00 0.000 6 0.000 0.060 2681 2490 3624 0 0 0 0 0 0

3493 -0.52 -146.0 375.4 -9.4 390 3497 0.00 2.33 0.00 0.000 4 0.000 0.075 2681 3899 3624 0 0 0 0 0 0

3510 -0.52 -146.0 377.1 -9.7 391 3514 0.00 2.20 0.00 0.000 6 0.000 0.047 2681 2482 3624 0 0 0 0 0 0

3836 -0.52 -146.0 408.0 -9.4 421 3837 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2482 3625 0 0 0 0 0 0

4157 -0.55 -146.0 438.5 -9.3 451 4161 0.00 2.22 0.00 0.000 4 0.000 0.059 2681 1078 3626 0 0 0 0 0 0

4199 -0.59 -146.0 442.5 -9.6 454 4203 0.00 2.25 0.00 0.000 6 0.000 0.058 2681 2492 3626 0 0 0 0 0 0

4525 -0.61 -146.0 469.3 -7.8 484 4526 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2492 3626 0 0 0 0 0 0

4845 -0.63 -146.0 494.9 -8.3 514 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2492 3627 0 0 0 0 0 0

5175 -0.66 -146.0 523.4 -8.4 545 5179 0.00 2.30 0.00 0.000 4 0.000 0.073 2681 3900 3627 0 0 0 0 0 0

5204 -0.71 -146.0 526.3 -9.3 547 5209 0.15 2.20 0.00 0.000 6 0.111 0.044 2627 2480 3627 0 0 0 0 0 0

5395 end dive: NO_VERTICAL_VELOCITY

state 5395 begin apogee

5404 -0.12 0.0 528.5 0.0 565 5535 0.55 0.00 122.60 1.203 6 0.103 0.000 2816 2249 3030 0 0 0 0 0 0

5536 end apogee: CONTROL_FINISHED_OK

state 5536 begin climb

5539 0.62 146.0 528.6 0.0 577 5680 0.75 2.65 127.28 1.163 4 0.127 0.065 3050 3674 2433 0 0 0 0 0 0

5765 0.53 146.0 509.4 13.1 597 5772 0.00 2.35 0.00 0.000 6 0.000 0.054 3060 2294 2429 0 0 0 0 0 0

6090 0.46 146.0 470.7 12.1 628 6092 0.17 0.00 0.00 0.000 6 0.183 0.000 3015 2294 2428 0 0 0 0 0 0

6409 0.50 165.3 441.1 9.1 658 6433 0.00 2.38 17.10 1.051 4 0.000 0.066 3015 3696 2354 0 0 0 0 0 0

6472 0.50 165.3 434.4 11.2 663 6479 0.00 2.28 0.00 0.000 6 0.000 0.050 3022 2271 2353 0 0 0 0 0 0

6798 0.53 168.2 402.3 9.9 694 6810 0.00 2.30 3.72 0.626 4 0.000 0.065 3032 872 2343 0 0 0 0 0 0

6850 0.56 168.2 396.8 10.9 698 6857 0.00 2.22 0.00 0.000 6 0.000 0.060 3032 2279 2343 0 0 0 0 0 0

7175 0.56 168.2 363.0 10.4 729 7179 0.00 2.25 0.00 0.000 4 0.000 0.067 3032 3693 2343 0 0 0 0 0 0

7275 0.52 168.2 350.7 13.0 737 7282 0.00 2.22 0.00 0.000 6 0.000 0.050 3043 2266 2342 0 0 0 0 0 0

7601 0.52 168.2 313.8 11.5 768 7602 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2266 2342 0 0 0 0 0 0

7921 0.52 168.2 277.8 11.1 798 7922 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2265 2342 0 0 0 0 0 0

8240 0.52 168.2 241.1 11.2 828 8244 0.00 2.28 0.00 0.000 4 0.000 0.064 3043 3690 2342 0 0 0 0 0 0

8291 0.47 168.2 234.6 12.8 832 8296 0.12 2.20 0.00 0.000 6 0.187 0.048 3022 2272 2342 0 0 0 0 0 0

8617 0.59 218.6 207.9 7.7 862 8672 0.00 2.35 44.10 0.995 4 0.000 0.063 3028 864 2136 0 0 0 0 0 0

8723 0.73 258.6 200.1 8.2 871 8768 0.20 2.28 35.75 0.963 6 0.084 0.051 3115 2286 1974 0 0 0 0 0 0

9086 0.65 258.6 138.5 17.8 905 9090 0.15 2.25 0.00 0.000 4 0.181 0.064 3076 3692 1967 0 0 0 0 0 0

9199 0.65 258.6 121.4 14.0 915 9204 0.00 2.20 0.00 0.000 6 0.000 0.047 3084 2280 1965 0 0 0 0 0 0

9534 0.65 258.6 82.6 10.3 959 9541 0.00 2.22 0.00 0.000 4 0.000 0.062 3095 864 1964 0 0 0 0 0 0

9655 0.69 267.6 69.8 9.6 980 9669 0.00 2.22 7.45 0.778 6 0.000 0.051 3095 2288 1939 0 0 0 0 0 0

10010 0.71 283.4 31.1 9.3 1042 10028 0.00 2.25 11.73 0.914 4 0.000 0.066 3095 3692 1874 0 0 0 0 0 0

10087 0.71 283.4 21.8 13.5 1055 10094 0.00 2.22 0.00 0.000 6 0.000 0.051 3105 2278 1872 0 0 0 0 0 0

10191 end climb: FINISH_DEPTH_REACHED

state 10191 begin subsurface finish

10198 0.04 34.5 8.7 -12.5 1073 10240 0.70 2.28 -33.65 0.000 4 0.154 0.073 2888 852 2890 0 0 0 0 0 0

10241 end subsurface finish: CONTROL_FINISHED_OK

state 10241 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	607	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	400	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	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	-3	T_GPS_CHARGE	-48069.07	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	130511,084619,6709.597,-5712.555,9,1.4,14,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130511,084619,6709.597,-5712.555,9,1.4,14,-37.8	MHEAD_RNG_PITCHd_Wd	162.4,21533,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	595

FREEZE	8.66,-1.751,-1.831,2,2,0	ALTIM_TOP_PING	19.8,17.8
FINISH1	8.7,1.026797,34	_24V_AH	22.1,80.335
FINISH2	7.1	_10V_AH	10.0,41.489
RAFOS_CLK	531	FG_AHR_24Vo	0.000
RAFOS	0,1305288062,12.033333,12.017222,64,60,57,57,55,51,222,196,210,171,119,155	FG_AHR_10Vo	0.000
RAFOS_FIX	6710.773926,-5718.803223,130511,121201,3,131,0.35	MEM	150596
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40062,1080
TT8_MAMPS	0.026964	CAP_FILE_SIZE	115613,0
HUMID	45.78	CFSIZE	260165632,214081536
INTERNAL_PRESSURE	8.76987	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1466.8
XPDR_PINGS	35	GPS	130511,124301,6710.774,-5718.803,0,3130.7,0,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	217	18.37	SBE_CT	760	24	403.53
Roll_motor	88	81	160.01	SBE_O2	816	19	343.05
VBD_pump_during_apogee	369	1202	9826.19	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	10	420	97.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2556	19	509.21
LPSleep	5396	2	124.66
TT8_Active	437	19	87.07
TT8_Sampling	1703	39	680.19
TT8_CF8	217	45	99.92
TT8_Kalman	0	0	0.00
Analog_circuits	1346	12	161.59
GPS_charging	0	0	0.00
Compass	1694	15	254.12
RAFOS	2520	1	37.80
Transponder	14	30	4.33

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	24	0.00	0.00	-5.88	0.000	2	0.000	0.000	2883	2282	3074	0	0	0	0	0	0
27	-0.62	-146.0	7.6	-0.0	1	52	0.60	1.90	-17.02	0.000	4	0.102	0.071	2670	1079	3627	0	0	0	0	0	0
65	-0.55	-146.0	10.6	-9.4	7	72	0.00	2.25	0.00	0.000	6	0.000	0.061	2670	2491	3629	0	0	0	0	0	0
410	-0.45	-146.0	59.3	-14.2	68	418	0.17	2.33	0.00	0.000	4	0.217	0.079	2712	3899	3628	0	0	0	0	0	0
426	-0.37	-146.0	61.5	-14.2	70	434	0.10	2.20	0.00	0.000	6	0.213	0.049	2735	2487	3629	0	0	0	0	0	0
776	-0.45	-146.0	89.8	-8.4	131	782	0.00	2.25	0.00	0.000	4	0.000	0.066	2736	1082	3627	0	0	0	0	0	0
807	-0.54	-146.0	92.7	-8.4	136	814	0.15	2.30	0.00	0.000	6	0.114	0.064	2682	2497	3627	0	0	0	0	0	0
1137	-0.50	-146.0	134.8	-12.8	172	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2497	3626	0	0	0	0	0	0
1456	-0.48	-146.0	174.7	-11.8	202	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2497	3624	0	0	0	0	0	0
1774	-0.48	-146.0	210.7	-11.1	232	1778	0.00	2.33	0.00	0.000	4	0.000	0.082	2682	3899	3623	0	0	0	0	0	0
1792	-0.48	-146.0	212.8	-10.9	233	1796	0.00	2.22	0.00	0.000	6	0.000	0.050	2681	2488	3622	0	0	0	0	0	0
2119	-0.48	-146.0	246.5	-9.9	263	2123	0.00	2.22	0.00	0.000	4	0.000	0.063	2681	1081	3622	0	0	0	0	0	0
2147	-0.48	-146.0	249.6	-10.6	265	2151	0.00	2.28	0.00	0.000	6	0.000	0.062	2681	2492	3623	0	0	0	0	0	0
2478	-0.48	-146.0	281.2	-9.9	296	2479	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2492	3623	0	0	0	0	0	0
2796	-0.48	-146.0	312.7	-9.4	326	2800	0.00	2.30	0.00	0.000	4	0.000	0.076	2681	3899	3623	0	0	0	0	0	0
2830	-0.52	-146.0	315.9	-9.5	328	2837	0.00	2.20	0.00	0.000	6	0.000	0.046	2682	2478	3623	0	0	0	0	0	0
3156	-0.52	-146.0	345.0	-8.7	359	3160	0.00	2.20	0.00	0.000	4	0.000	0.060	2681	1080	3623	0	0	0	0	0	0
3167	-0.52	-146.0	346.0	-8.7	359	3174	0.00	2.25	0.00	0.000	6	0.000	0.060	2681	2490	3624	0	0	0	0	0	0
3493	-0.52	-146.0	375.4	-9.4	390	3497	0.00	2.33	0.00	0.000	4	0.000	0.075	2681	3899	3624	0	0	0	0	0	0
3510	-0.52	-146.0	377.1	-9.7	391	3514	0.00	2.20	0.00	0.000	6	0.000	0.047	2681	2482	3624	0	0	0	0	0	0
3836	-0.52	-146.0	408.0	-9.4	421	3837	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2482	3625	0	0	0	0	0	0
4157	-0.55	-146.0	438.5	-9.3	451	4161	0.00	2.22	0.00	0.000	4	0.000	0.059	2681	1078	3626	0	0	0	0	0	0
4199	-0.59	-146.0	442.5	-9.6	454	4203	0.00	2.25	0.00	0.000	6	0.000	0.058	2681	2492	3626	0	0	0	0	0	0
4525	-0.61	-146.0	469.3	-7.8	484	4526	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2492	3626	0	0	0	0	0	0
4845	-0.63	-146.0	494.9	-8.3	514	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2492	3627	0	0	0	0	0	0
5175	-0.66	-146.0	523.4	-8.4	545	5179	0.00	2.30	0.00	0.000	4	0.000	0.073	2681	3900	3627	0	0	0	0	0	0
5204	-0.71	-146.0	526.3	-9.3	547	5209	0.15	2.20	0.00	0.000	6	0.111	0.044	2627	2480	3627	0	0	0	0	0	0
5395	end dive: NO_VERTICAL_VELOCITY
state	5395	begin apogee
5404	-0.12	0.0	528.5	0.0	565	5535	0.55	0.00	122.60	1.203	6	0.103	0.000	2816	2249	3030	0	0	0	0	0	0
5536	end apogee: CONTROL_FINISHED_OK
state	5536	begin climb
5539	0.62	146.0	528.6	0.0	577	5680	0.75	2.65	127.28	1.163	4	0.127	0.065	3050	3674	2433	0	0	0	0	0	0
5765	0.53	146.0	509.4	13.1	597	5772	0.00	2.35	0.00	0.000	6	0.000	0.054	3060	2294	2429	0	0	0	0	0	0
6090	0.46	146.0	470.7	12.1	628	6092	0.17	0.00	0.00	0.000	6	0.183	0.000	3015	2294	2428	0	0	0	0	0	0
6409	0.50	165.3	441.1	9.1	658	6433	0.00	2.38	17.10	1.051	4	0.000	0.066	3015	3696	2354	0	0	0	0	0	0
6472	0.50	165.3	434.4	11.2	663	6479	0.00	2.28	0.00	0.000	6	0.000	0.050	3022	2271	2353	0	0	0	0	0	0
6798	0.53	168.2	402.3	9.9	694	6810	0.00	2.30	3.72	0.626	4	0.000	0.065	3032	872	2343	0	0	0	0	0	0
6850	0.56	168.2	396.8	10.9	698	6857	0.00	2.22	0.00	0.000	6	0.000	0.060	3032	2279	2343	0	0	0	0	0	0
7175	0.56	168.2	363.0	10.4	729	7179	0.00	2.25	0.00	0.000	4	0.000	0.067	3032	3693	2343	0	0	0	0	0	0
7275	0.52	168.2	350.7	13.0	737	7282	0.00	2.22	0.00	0.000	6	0.000	0.050	3043	2266	2342	0	0	0	0	0	0
7601	0.52	168.2	313.8	11.5	768	7602	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2266	2342	0	0	0	0	0	0
7921	0.52	168.2	277.8	11.1	798	7922	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2265	2342	0	0	0	0	0	0
8240	0.52	168.2	241.1	11.2	828	8244	0.00	2.28	0.00	0.000	4	0.000	0.064	3043	3690	2342	0	0	0	0	0	0
8291	0.47	168.2	234.6	12.8	832	8296	0.12	2.20	0.00	0.000	6	0.187	0.048	3022	2272	2342	0	0	0	0	0	0
8617	0.59	218.6	207.9	7.7	862	8672	0.00	2.35	44.10	0.995	4	0.000	0.063	3028	864	2136	0	0	0	0	0	0
8723	0.73	258.6	200.1	8.2	871	8768	0.20	2.28	35.75	0.963	6	0.084	0.051	3115	2286	1974	0	0	0	0	0	0
9086	0.65	258.6	138.5	17.8	905	9090	0.15	2.25	0.00	0.000	4	0.181	0.064	3076	3692	1967	0	0	0	0	0	0
9199	0.65	258.6	121.4	14.0	915	9204	0.00	2.20	0.00	0.000	6	0.000	0.047	3084	2280	1965	0	0	0	0	0	0
9534	0.65	258.6	82.6	10.3	959	9541	0.00	2.22	0.00	0.000	4	0.000	0.062	3095	864	1964	0	0	0	0	0	0
9655	0.69	267.6	69.8	9.6	980	9669	0.00	2.22	7.45	0.778	6	0.000	0.051	3095	2288	1939	0	0	0	0	0	0
10010	0.71	283.4	31.1	9.3	1042	10028	0.00	2.25	11.73	0.914	4	0.000	0.066	3095	3692	1874	0	0	0	0	0	0
10087	0.71	283.4	21.8	13.5	1055	10094	0.00	2.22	0.00	0.000	6	0.000	0.051	3105	2278	1872	0	0	0	0	0	0
10191	end climb: FINISH_DEPTH_REACHED
state	10191	begin subsurface finish
10198	0.04	34.5	8.7	-12.5	1073	10240	0.70	2.28	-33.65	0.000	4	0.154	0.073	2888	852	2890	0	0	0	0	0	0
10241	end subsurface finish: CONTROL_FINISHED_OK
state	10241	begin surface