Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 61 * 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 61 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 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 26 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 61 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 010311,081122,6647.652,-6019.552,0,3126.0,0,-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 8.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0 MHEAD_RNG_PITCHd_Wd 117.5,155393,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 548

Post-dive calculations and measurements:

FREEZE 8.70,-1.759,-1.767,3,38,0 ALTIM_TOP_PING 19.8,20.1

FINISH1 8.7,1.025879,79 _24V_AH 23.0,11.854

FINISH2 7.5 _10V_AH 10.3,5.763

RAFOS_CLK 590 FG_AHR_24Vo 0.000

RAFOS 4,1298968382,8.566667,8.550555,98,67,61,60,59,56,738,202,220,178,188,146 FG_AHR_10Vo 0.000

RAFOS_FIX 6649.590820,-6015.128906,010311,080801,6,118,5.14 MEM 150732

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43359,1113

TT8_MAMPS 0.026215 CAP_FILE_SIZE 114717,0

HUMID 47.75 CFSIZE 260165632,247877632

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 1451.7

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

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 247 24.30 SBE_CT 796 24 439.55

Roll_motor 87 82 166.32 SBE_O2 846 19 370.04

VBD_pump_during_apogee 355 1267 10352.91 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 14.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2663 19 546.55

LPSleep 5694 2 135.48

TT8_Active 441 19 90.51

TT8_Sampling 1738 39 714.90

TT8_CF8 148 45 70.17

TT8_Kalman 0 0 0.00

Analog_circuits 1354 12 167.48

GPS_charging 0 0 0.00

Compass 1731 15 267.54

RAFOS 1080 1 16.69

Transponder 11 30 3.54

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 -7.25 0.000 2 0.000 0.000 2899 2283 2922 0 0 0 0 0 0

27 -0.62 -146.0 8.2 -0.0 1 58 0.62 2.65 -22.25 0.000 4 0.076 0.083 2662 3903 3628 0 0 0 0 0 0

93 -0.44 -146.0 18.2 -21.3 12 100 0.22 2.22 0.00 0.000 6 0.220 0.049 2716 2490 3629 0 0 0 0 0 0

438 -0.36 -146.0 76.8 -17.4 73 445 0.12 2.28 0.00 0.000 4 0.247 0.067 2744 1077 3629 0 0 0 0 0 0

544 -0.41 -146.0 91.1 -11.4 91 551 0.00 2.28 0.00 0.000 6 0.000 0.060 2745 2487 3629 0 0 0 0 0 0

875 -0.45 -146.0 126.4 -10.1 129 879 0.00 2.25 0.00 0.000 4 0.000 0.066 2744 1079 3629 0 0 0 0 0 0

931 -0.53 -146.0 132.2 -9.8 133 939 0.15 2.28 0.00 0.000 6 0.131 0.061 2696 2490 3628 0 0 0 0 0 0

1257 -0.48 -146.0 171.9 -12.6 164 1261 0.00 2.30 0.00 0.000 4 0.000 0.067 2696 1079 3628 0 0 0 0 0 0

1285 -0.43 -146.0 175.6 -13.4 166 1289 0.00 2.28 0.00 0.000 6 0.000 0.061 2696 2491 3628 0 0 0 0 0 0

1610 -0.40 -146.0 216.5 -12.6 196 1612 0.15 0.00 0.00 0.000 6 0.222 0.000 2730 2492 3627 0 0 0 0 0 0

1929 -0.47 -146.0 245.6 -8.7 226 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2492 3627 0 0 0 0 0 0

2249 -0.55 -146.0 273.4 -8.5 256 2254 0.15 2.25 0.00 0.000 4 0.123 0.065 2680 1079 3627 0 0 0 0 0 0

2278 -0.55 -146.0 276.6 -11.4 258 2282 0.00 2.28 0.00 0.000 6 0.000 0.062 2679 2498 3626 0 0 0 0 0 0

2604 -0.51 -146.0 313.8 -11.6 288 2608 0.00 2.25 0.00 0.000 4 0.000 0.064 2679 1072 3626 0 0 0 0 0 0

2648 -0.51 -146.0 319.6 -12.7 291 2655 0.00 2.30 0.00 0.000 6 0.000 0.062 2680 2492 3627 0 0 0 0 0 0

2975 -0.47 -146.0 358.9 -12.6 322 2977 0.12 0.00 0.00 0.000 6 0.226 0.000 2707 2492 3626 0 0 0 0 0 0

3292 -0.51 -146.0 390.0 -8.9 352 3296 0.00 2.22 0.00 0.000 4 0.000 0.064 2708 1077 3627 0 0 0 0 0 0

3337 -0.56 -146.0 394.2 -8.7 355 3344 0.00 2.28 0.00 0.000 6 0.000 0.061 2708 2503 3627 0 0 0 0 0 0

3664 -0.61 -146.0 422.2 -8.2 386 3666 0.12 0.00 0.00 0.000 6 0.133 0.000 2666 2503 3627 0 0 0 0 0 0

3981 -0.55 -146.0 457.3 -11.0 416 3982 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2503 3627 0 0 0 0 0 0

4301 -0.50 -146.0 493.1 -11.2 446 4306 0.15 2.25 0.00 0.000 4 0.214 0.063 2702 1078 3627 0 0 0 0 0 0

4318 -0.46 -146.0 495.0 -10.8 447 4322 0.00 2.22 0.00 0.000 6 0.000 0.060 2702 2492 3627 0 0 0 0 0 0

4644 -0.50 -146.0 520.8 -8.1 477 4645 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2492 3627 0 0 0 0 0 0

4965 -0.54 -146.0 547.0 -7.5 507 4972 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2494 3627 0 0 0 0 0 0

4980 end dive: TARGET_DEPTH_EXCEEDED

state 4980 begin apogee

4985 -0.12 0.0 548.7 8.1 509 5117 0.38 0.00 121.18 1.268 6 0.186 0.000 2815 2264 3030 0 0 0 0 0 0

5117 end apogee: CONTROL_FINISHED_OK

state 5118 begin climb

5119 0.62 146.0 553.0 0.0 521 5248 0.77 0.00 124.55 1.222 6 0.137 0.000 3051 2264 2434 0 0 0 0 0 0

5566 0.55 146.0 509.1 11.9 564 5570 0.00 2.42 0.00 0.000 4 0.000 0.068 3052 3692 2426 0 0 0 0 0 0

5682 0.42 146.0 493.1 13.9 574 5690 0.22 2.33 0.00 0.000 6 0.191 0.052 3007 2281 2424 0 0 0 0 0 0

6008 0.46 175.8 464.9 8.6 605 6040 0.00 2.38 25.38 1.143 4 0.000 0.065 3007 3687 2312 0 0 0 0 0 0

6064 0.46 175.8 459.9 10.0 610 6068 0.00 2.35 0.00 0.000 6 0.000 0.050 3015 2265 2311 0 0 0 0 0 0

6388 0.46 175.8 427.8 10.3 640 6393 0.00 2.35 0.00 0.000 4 0.000 0.068 3015 3692 2309 0 0 0 0 0 0

6421 0.46 175.8 423.9 11.7 642 6428 0.00 2.30 0.00 0.000 6 0.000 0.050 3025 2271 2308 0 0 0 0 0 0

6748 0.46 175.8 388.5 10.7 673 6749 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2271 2307 0 0 0 0 0 0

7066 0.46 175.8 355.8 10.0 703 7070 0.00 2.30 0.00 0.000 4 0.000 0.065 3025 3697 2307 0 0 0 0 0 0

7121 0.42 175.8 349.0 12.1 707 7129 0.15 2.28 0.00 0.000 6 0.195 0.051 2999 2264 2307 0 0 0 0 0 0

7449 0.51 199.5 321.1 8.9 738 7477 0.00 0.00 21.30 1.087 6 0.000 0.000 2999 2264 2216 0 0 0 0 0 0

7797 0.59 199.5 287.5 10.1 771 7802 0.17 2.35 0.00 0.000 4 0.096 0.067 3067 3687 2212 0 0 0 0 0 0

7826 0.55 199.5 283.7 14.1 773 7831 0.15 2.25 0.00 0.000 6 0.190 0.051 3040 2273 2212 0 0 0 0 0 0

8156 0.55 199.5 244.6 11.3 804 8160 0.00 2.25 0.00 0.000 4 0.000 0.068 3043 866 2211 0 0 0 0 0 0

8196 0.58 199.5 240.3 10.7 807 8200 0.00 2.22 0.00 0.000 6 0.000 0.052 3043 2279 2210 0 0 0 0 0 0

8522 0.58 199.5 206.4 10.0 837 8526 0.00 2.28 0.00 0.000 4 0.000 0.069 3043 3694 2210 0 0 0 0 0 0

8630 0.54 199.5 194.2 11.2 846 8634 0.00 2.25 0.00 0.000 6 0.000 0.052 3053 2273 2210 0 0 0 0 0 0

8956 0.54 199.5 158.3 11.0 876 8960 0.00 2.22 0.00 0.000 4 0.000 0.067 3061 865 2210 0 0 0 0 0 0

8989 0.54 199.5 154.4 10.5 878 8996 0.00 2.22 0.00 0.000 6 0.000 0.054 3061 2285 2211 0 0 0 0 0 0

9314 0.58 226.6 125.9 8.7 909 9348 0.00 2.33 24.83 0.988 4 0.000 0.069 3061 3679 2105 0 0 0 0 0 0

9409 0.58 226.6 115.8 11.4 917 9417 0.00 2.25 0.00 0.000 6 0.000 0.051 3072 2276 2103 0 0 0 0 0 0

9746 0.63 253.6 86.2 8.8 963 9776 0.00 2.38 24.80 0.978 4 0.000 0.067 3079 870 1996 0 0 0 0 0 0

9823 0.70 253.6 78.5 10.3 976 9830 0.00 2.25 0.00 0.000 6 0.000 0.053 3079 2274 1993 0 0 0 0 0 0

10169 0.74 267.5 46.2 9.4 1037 10189 0.00 2.38 13.07 0.926 4 0.000 0.069 3079 3682 1939 0 0 0 0 0 0

10240 0.76 267.5 38.1 11.3 1049 10247 0.00 2.28 0.00 0.000 6 0.000 0.051 3086 2272 1938 0 0 0 0 0 0

10567 end climb: FINISH_DEPTH_REACHED

state 10569 begin subsurface finish

10575 0.10 79.5 8.7 -9.1 1107 10610 0.60 0.00 -27.83 0.000 6 0.155 0.000 2899 2272 2707 0 0 0 0 0 0

10611 end subsurface finish: CONTROL_FINISHED_OK

state 10611 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	61	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	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	010311,081122,6647.652,-6019.552,0,3126.0,0,-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	8.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0	MHEAD_RNG_PITCHd_Wd	117.5,155393,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	548

FREEZE	8.70,-1.759,-1.767,3,38,0	ALTIM_TOP_PING	19.8,20.1
FINISH1	8.7,1.025879,79	_24V_AH	23.0,11.854
FINISH2	7.5	_10V_AH	10.3,5.763
RAFOS_CLK	590	FG_AHR_24Vo	0.000
RAFOS	4,1298968382,8.566667,8.550555,98,67,61,60,59,56,738,202,220,178,188,146	FG_AHR_10Vo	0.000
RAFOS_FIX	6649.590820,-6015.128906,010311,080801,6,118,5.14	MEM	150732
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43359,1113
TT8_MAMPS	0.026215	CAP_FILE_SIZE	114717,0
HUMID	47.75	CFSIZE	260165632,247877632
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	1451.7
XPDR_PINGS	0	GPS	010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	247	24.30	SBE_CT	796	24	439.55
Roll_motor	87	82	166.32	SBE_O2	846	19	370.04
VBD_pump_during_apogee	355	1267	10352.91	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	14.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2663	19	546.55
LPSleep	5694	2	135.48
TT8_Active	441	19	90.51
TT8_Sampling	1738	39	714.90
TT8_CF8	148	45	70.17
TT8_Kalman	0	0	0.00
Analog_circuits	1354	12	167.48
GPS_charging	0	0	0.00
Compass	1731	15	267.54
RAFOS	1080	1	16.69
Transponder	11	30	3.54

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	-7.25	0.000	2	0.000	0.000	2899	2283	2922	0	0	0	0	0	0
27	-0.62	-146.0	8.2	-0.0	1	58	0.62	2.65	-22.25	0.000	4	0.076	0.083	2662	3903	3628	0	0	0	0	0	0
93	-0.44	-146.0	18.2	-21.3	12	100	0.22	2.22	0.00	0.000	6	0.220	0.049	2716	2490	3629	0	0	0	0	0	0
438	-0.36	-146.0	76.8	-17.4	73	445	0.12	2.28	0.00	0.000	4	0.247	0.067	2744	1077	3629	0	0	0	0	0	0
544	-0.41	-146.0	91.1	-11.4	91	551	0.00	2.28	0.00	0.000	6	0.000	0.060	2745	2487	3629	0	0	0	0	0	0
875	-0.45	-146.0	126.4	-10.1	129	879	0.00	2.25	0.00	0.000	4	0.000	0.066	2744	1079	3629	0	0	0	0	0	0
931	-0.53	-146.0	132.2	-9.8	133	939	0.15	2.28	0.00	0.000	6	0.131	0.061	2696	2490	3628	0	0	0	0	0	0
1257	-0.48	-146.0	171.9	-12.6	164	1261	0.00	2.30	0.00	0.000	4	0.000	0.067	2696	1079	3628	0	0	0	0	0	0
1285	-0.43	-146.0	175.6	-13.4	166	1289	0.00	2.28	0.00	0.000	6	0.000	0.061	2696	2491	3628	0	0	0	0	0	0
1610	-0.40	-146.0	216.5	-12.6	196	1612	0.15	0.00	0.00	0.000	6	0.222	0.000	2730	2492	3627	0	0	0	0	0	0
1929	-0.47	-146.0	245.6	-8.7	226	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2492	3627	0	0	0	0	0	0
2249	-0.55	-146.0	273.4	-8.5	256	2254	0.15	2.25	0.00	0.000	4	0.123	0.065	2680	1079	3627	0	0	0	0	0	0
2278	-0.55	-146.0	276.6	-11.4	258	2282	0.00	2.28	0.00	0.000	6	0.000	0.062	2679	2498	3626	0	0	0	0	0	0
2604	-0.51	-146.0	313.8	-11.6	288	2608	0.00	2.25	0.00	0.000	4	0.000	0.064	2679	1072	3626	0	0	0	0	0	0
2648	-0.51	-146.0	319.6	-12.7	291	2655	0.00	2.30	0.00	0.000	6	0.000	0.062	2680	2492	3627	0	0	0	0	0	0
2975	-0.47	-146.0	358.9	-12.6	322	2977	0.12	0.00	0.00	0.000	6	0.226	0.000	2707	2492	3626	0	0	0	0	0	0
3292	-0.51	-146.0	390.0	-8.9	352	3296	0.00	2.22	0.00	0.000	4	0.000	0.064	2708	1077	3627	0	0	0	0	0	0
3337	-0.56	-146.0	394.2	-8.7	355	3344	0.00	2.28	0.00	0.000	6	0.000	0.061	2708	2503	3627	0	0	0	0	0	0
3664	-0.61	-146.0	422.2	-8.2	386	3666	0.12	0.00	0.00	0.000	6	0.133	0.000	2666	2503	3627	0	0	0	0	0	0
3981	-0.55	-146.0	457.3	-11.0	416	3982	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2503	3627	0	0	0	0	0	0
4301	-0.50	-146.0	493.1	-11.2	446	4306	0.15	2.25	0.00	0.000	4	0.214	0.063	2702	1078	3627	0	0	0	0	0	0
4318	-0.46	-146.0	495.0	-10.8	447	4322	0.00	2.22	0.00	0.000	6	0.000	0.060	2702	2492	3627	0	0	0	0	0	0
4644	-0.50	-146.0	520.8	-8.1	477	4645	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2492	3627	0	0	0	0	0	0
4965	-0.54	-146.0	547.0	-7.5	507	4972	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2494	3627	0	0	0	0	0	0
4980	end dive: TARGET_DEPTH_EXCEEDED
state	4980	begin apogee
4985	-0.12	0.0	548.7	8.1	509	5117	0.38	0.00	121.18	1.268	6	0.186	0.000	2815	2264	3030	0	0	0	0	0	0
5117	end apogee: CONTROL_FINISHED_OK
state	5118	begin climb
5119	0.62	146.0	553.0	0.0	521	5248	0.77	0.00	124.55	1.222	6	0.137	0.000	3051	2264	2434	0	0	0	0	0	0
5566	0.55	146.0	509.1	11.9	564	5570	0.00	2.42	0.00	0.000	4	0.000	0.068	3052	3692	2426	0	0	0	0	0	0
5682	0.42	146.0	493.1	13.9	574	5690	0.22	2.33	0.00	0.000	6	0.191	0.052	3007	2281	2424	0	0	0	0	0	0
6008	0.46	175.8	464.9	8.6	605	6040	0.00	2.38	25.38	1.143	4	0.000	0.065	3007	3687	2312	0	0	0	0	0	0
6064	0.46	175.8	459.9	10.0	610	6068	0.00	2.35	0.00	0.000	6	0.000	0.050	3015	2265	2311	0	0	0	0	0	0
6388	0.46	175.8	427.8	10.3	640	6393	0.00	2.35	0.00	0.000	4	0.000	0.068	3015	3692	2309	0	0	0	0	0	0
6421	0.46	175.8	423.9	11.7	642	6428	0.00	2.30	0.00	0.000	6	0.000	0.050	3025	2271	2308	0	0	0	0	0	0
6748	0.46	175.8	388.5	10.7	673	6749	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2271	2307	0	0	0	0	0	0
7066	0.46	175.8	355.8	10.0	703	7070	0.00	2.30	0.00	0.000	4	0.000	0.065	3025	3697	2307	0	0	0	0	0	0
7121	0.42	175.8	349.0	12.1	707	7129	0.15	2.28	0.00	0.000	6	0.195	0.051	2999	2264	2307	0	0	0	0	0	0
7449	0.51	199.5	321.1	8.9	738	7477	0.00	0.00	21.30	1.087	6	0.000	0.000	2999	2264	2216	0	0	0	0	0	0
7797	0.59	199.5	287.5	10.1	771	7802	0.17	2.35	0.00	0.000	4	0.096	0.067	3067	3687	2212	0	0	0	0	0	0
7826	0.55	199.5	283.7	14.1	773	7831	0.15	2.25	0.00	0.000	6	0.190	0.051	3040	2273	2212	0	0	0	0	0	0
8156	0.55	199.5	244.6	11.3	804	8160	0.00	2.25	0.00	0.000	4	0.000	0.068	3043	866	2211	0	0	0	0	0	0
8196	0.58	199.5	240.3	10.7	807	8200	0.00	2.22	0.00	0.000	6	0.000	0.052	3043	2279	2210	0	0	0	0	0	0
8522	0.58	199.5	206.4	10.0	837	8526	0.00	2.28	0.00	0.000	4	0.000	0.069	3043	3694	2210	0	0	0	0	0	0
8630	0.54	199.5	194.2	11.2	846	8634	0.00	2.25	0.00	0.000	6	0.000	0.052	3053	2273	2210	0	0	0	0	0	0
8956	0.54	199.5	158.3	11.0	876	8960	0.00	2.22	0.00	0.000	4	0.000	0.067	3061	865	2210	0	0	0	0	0	0
8989	0.54	199.5	154.4	10.5	878	8996	0.00	2.22	0.00	0.000	6	0.000	0.054	3061	2285	2211	0	0	0	0	0	0
9314	0.58	226.6	125.9	8.7	909	9348	0.00	2.33	24.83	0.988	4	0.000	0.069	3061	3679	2105	0	0	0	0	0	0
9409	0.58	226.6	115.8	11.4	917	9417	0.00	2.25	0.00	0.000	6	0.000	0.051	3072	2276	2103	0	0	0	0	0	0
9746	0.63	253.6	86.2	8.8	963	9776	0.00	2.38	24.80	0.978	4	0.000	0.067	3079	870	1996	0	0	0	0	0	0
9823	0.70	253.6	78.5	10.3	976	9830	0.00	2.25	0.00	0.000	6	0.000	0.053	3079	2274	1993	0	0	0	0	0	0
10169	0.74	267.5	46.2	9.4	1037	10189	0.00	2.38	13.07	0.926	4	0.000	0.069	3079	3682	1939	0	0	0	0	0	0
10240	0.76	267.5	38.1	11.3	1049	10247	0.00	2.28	0.00	0.000	6	0.000	0.051	3086	2272	1938	0	0	0	0	0	0
10567	end climb: FINISH_DEPTH_REACHED
state	10569	begin subsurface finish
10575	0.10	79.5	8.7	-9.1	1107	10610	0.60	0.00	-27.83	0.000	6	0.155	0.000	2899	2272	2707	0	0	0	0	0	0
10611	end subsurface finish: CONTROL_FINISHED_OK
state	10611	begin surface