Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 62 * 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 62 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 30 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 62 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 9.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.6 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 8.86,-1.770,-1.771,3,39,0 ALTIM_TOP_PING 19.9,17.3

FINISH1 8.9,1.025925,77 _24V_AH 23.0,11.985

FINISH2 7.8 _10V_AH 10.3,5.826

RAFOS_CLK 563 FG_AHR_24Vo 0.000

RAFOS 0,1298980865,12.033333,12.018056,124,66,59,56,50,49,642,151,210,193,225,175 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.733398,-6014.829102,010311,121228,6,103,0.44 MEM 150716

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 40060,1043

TT8_MAMPS 0.026215 CAP_FILE_SIZE 112373,0

HUMID 46.53 CFSIZE 260165632,247820288

INTERNAL_PRESSURE 8.66244 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.4

XPDR_PINGS 0 GPS 010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 227 24.56 SBE_CT 744 24 410.93

Roll_motor 78 77 139.32 SBE_O2 796 19 348.16

VBD_pump_during_apogee 397 1271 11620.39 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 2498 19 512.70

LPSleep 5468 2 130.12

TT8_Active 445 19 91.46

TT8_Sampling 1678 39 690.21

TT8_CF8 141 45 66.86

TT8_Kalman 0 0 0.00

Analog_circuits 1348 12 166.66

GPS_charging 0 0 0.00

Compass 1667 15 257.63

RAFOS 2520 1 38.93

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 24 0.00 0.00 -6.62 0.000 2 0.000 0.000 2899 2272 2932 0 0 0 0 0 0

26 -0.62 -146.0 9.9 -0.0 1 51 0.62 0.00 -19.38 0.000 6 0.085 0.000 2667 2271 3628 0 0 0 0 0 0

387 -0.45 -146.0 83.2 -19.4 65 395 0.20 2.67 0.00 0.000 4 0.227 0.072 2714 3895 3630 0 0 0 0 0 0

413 -0.35 -146.0 87.7 -17.7 69 420 0.12 2.20 0.00 0.000 6 0.223 0.047 2744 2486 3631 0 0 0 0 0 0

746 -0.40 -146.0 125.1 -10.7 108 750 0.00 2.22 0.00 0.000 4 0.000 0.067 2744 1082 3629 0 0 0 0 0 0

819 -0.48 -146.0 133.2 -10.4 114 824 0.12 2.25 0.00 0.000 6 0.133 0.061 2705 2488 3629 0 0 0 0 0 0

1149 -0.48 -146.0 175.4 -12.4 145 1150 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2488 3629 0 0 0 0 0 0

1469 -0.48 -146.0 211.8 -11.0 175 1473 0.00 2.25 0.00 0.000 4 0.000 0.067 2705 1074 3629 0 0 0 0 0 0

1502 -0.48 -146.0 215.7 -11.4 177 1509 0.00 2.30 0.00 0.000 6 0.000 0.062 2705 2494 3628 0 0 0 0 0 0

1829 -0.48 -146.0 249.2 -10.4 208 1830 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2494 3628 0 0 0 0 0 0

2147 -0.48 -146.0 279.8 -9.5 238 2149 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2494 3628 0 0 0 0 0 0

2467 -0.48 -146.0 311.9 -10.3 268 2471 0.00 2.20 0.00 0.000 4 0.000 0.066 2705 1088 3628 0 0 0 0 0 0

2483 -0.48 -146.0 314.0 -10.7 269 2490 0.00 2.25 0.00 0.000 6 0.000 0.062 2705 2486 3628 0 0 0 0 0 0

2809 -0.50 -146.0 345.2 -9.3 300 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2486 3627 0 0 0 0 0 0

3129 -0.53 -146.0 376.4 -9.5 330 3133 0.00 2.20 0.00 0.000 4 0.000 0.063 2705 1082 3627 0 0 0 0 0 0

3147 -0.56 -146.0 378.3 -10.0 331 3151 0.00 2.25 0.00 0.000 6 0.000 0.060 2705 2496 3628 0 0 0 0 0 0

3472 -0.59 -146.0 406.3 -8.0 361 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2495 3628 0 0 0 0 0 0

3792 -0.63 -146.0 431.8 -8.3 391 3794 0.12 0.00 0.00 0.000 6 0.129 0.000 2662 2496 3628 0 0 0 0 0 0

4109 -0.56 -146.0 470.0 -12.5 421 4113 0.00 2.22 0.00 0.000 4 0.000 0.063 2662 1072 3628 0 0 0 0 0 0

4132 -0.50 -146.0 472.9 -12.9 422 4139 0.15 2.25 0.00 0.000 6 0.223 0.061 2697 2489 3628 0 0 0 0 0 0

4457 -0.53 -146.0 503.1 -8.8 453 4458 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2489 3628 0 0 0 0 0 0

4777 -0.56 -146.0 530.9 -9.1 483 4781 0.00 2.25 0.00 0.000 4 0.000 0.077 2697 3896 3629 0 0 0 0 0 0

4867 -0.60 -146.0 539.3 -9.1 490 4874 0.00 2.17 0.00 0.000 6 0.000 0.046 2697 2484 3629 0 0 0 0 0 0

4967 end dive: TARGET_DEPTH_EXCEEDED

state 4967 begin apogee

4972 -0.12 0.0 548.5 8.9 500 5099 0.40 0.00 120.90 1.271 6 0.189 0.000 2817 2260 3030 0 0 0 0 0 0

5099 end apogee: CONTROL_FINISHED_OK

state 5100 begin climb

5101 0.62 146.0 553.6 0.0 511 5235 0.77 2.50 124.95 1.221 4 0.141 0.070 3062 885 2432 0 0 0 0 0 0

5348 0.53 146.0 533.8 11.9 533 5356 0.00 2.38 0.00 0.000 6 0.000 0.056 3062 2272 2426 0 0 0 0 0 0

5675 0.44 146.0 495.9 11.8 564 5680 0.20 2.38 0.00 0.000 4 0.185 0.069 3010 3694 2424 0 0 0 0 0 0

5764 0.39 146.0 485.9 10.7 571 5771 0.00 2.33 0.00 0.000 6 0.000 0.053 3018 2276 2424 0 0 0 0 0 0

6089 0.39 147.9 455.0 9.9 602 6093 0.00 2.33 0.00 0.000 4 0.000 0.070 3028 864 2423 0 0 0 0 0 0

6118 0.39 147.9 452.1 10.2 604 6123 0.12 2.28 0.00 0.000 6 0.188 0.055 2998 2278 2423 0 0 0 0 0 0

6443 0.46 177.1 423.6 8.7 634 6477 0.00 2.35 26.17 1.134 4 0.000 0.070 2998 3685 2307 0 0 0 0 0 0

6558 0.46 177.1 412.4 11.0 644 6562 0.00 2.30 0.00 0.000 6 0.000 0.051 3002 2278 2305 0 0 0 0 0 0

6885 0.55 214.2 384.9 8.3 674 6924 0.12 0.00 33.72 1.128 6 0.113 0.000 3051 2278 2156 0 0 0 0 0 0

7242 0.53 214.2 343.9 11.5 708 7246 0.00 2.30 0.00 0.000 4 0.000 0.067 3051 3685 2150 0 0 0 0 0 0

7302 0.47 214.2 336.1 13.5 713 7310 0.17 2.30 0.00 0.000 6 0.190 0.053 3018 2264 2149 0 0 0 0 0 0

7628 0.53 230.0 306.4 9.3 744 7651 0.00 2.35 13.95 1.035 4 0.000 0.068 3025 864 2091 0 0 0 0 0 0

7675 0.63 250.7 302.2 9.0 748 7702 0.12 2.30 20.17 1.063 6 0.118 0.055 3076 2277 2007 0 0 0 0 0 0

8027 0.58 250.7 254.4 13.7 781 8032 0.00 2.28 0.00 0.000 4 0.000 0.067 3076 3684 2001 0 0 0 0 0 0

8105 0.51 250.7 242.4 15.9 787 8113 0.20 2.28 0.00 0.000 6 0.191 0.054 3034 2277 2000 0 0 0 0 0 0

8431 0.60 275.5 211.1 8.9 818 8459 0.00 2.33 22.77 1.034 4 0.000 0.067 3041 866 1905 0 0 0 0 0 0

8494 0.72 299.6 205.5 8.9 823 8528 0.15 2.28 23.08 1.014 6 0.106 0.052 3098 2280 1807 0 0 0 0 0 0

8845 0.69 299.6 155.3 15.7 856 8849 0.00 2.30 0.00 0.000 4 0.000 0.067 3098 3694 1800 0 0 0 0 0 0

8902 0.65 299.6 146.1 15.8 861 8907 0.15 2.30 0.00 0.000 6 0.194 0.053 3073 2270 1799 0 0 0 0 0 0

9227 0.72 308.3 111.6 9.6 891 9237 0.00 0.00 7.45 0.862 6 0.000 0.000 3073 2270 1773 0 0 0 0 0 0

9567 0.80 311.2 78.9 9.9 941 9581 0.15 2.33 4.20 0.679 4 0.100 0.069 3140 868 1761 0 0 0 0 0 0

9599 0.80 311.2 75.1 12.7 946 9605 0.00 2.22 0.00 0.000 6 0.000 0.053 3139 2274 1760 0 0 0 0 0 0

9943 0.75 311.2 26.6 13.3 1007 9951 0.12 0.00 0.00 0.000 6 0.202 0.000 3109 2274 1759 0 0 0 0 0 0

10108 end climb: FINISH_DEPTH_REACHED

state 10108 begin subsurface finish

10114 0.09 77.2 8.9 -9.9 1036 10156 0.65 0.00 -34.08 0.000 6 0.155 0.000 2902 2275 2716 0 0 0 0 0 0

10156 end subsurface finish: CONTROL_FINISHED_OK

state 10156 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	62	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	9.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.6	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	8.86,-1.770,-1.771,3,39,0	ALTIM_TOP_PING	19.9,17.3
FINISH1	8.9,1.025925,77	_24V_AH	23.0,11.985
FINISH2	7.8	_10V_AH	10.3,5.826
RAFOS_CLK	563	FG_AHR_24Vo	0.000
RAFOS	0,1298980865,12.033333,12.018056,124,66,59,56,50,49,642,151,210,193,225,175	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.733398,-6014.829102,010311,121228,6,103,0.44	MEM	150716
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	40060,1043
TT8_MAMPS	0.026215	CAP_FILE_SIZE	112373,0
HUMID	46.53	CFSIZE	260165632,247820288
INTERNAL_PRESSURE	8.66244	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.4
XPDR_PINGS	0	GPS	010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	227	24.56	SBE_CT	744	24	410.93
Roll_motor	78	77	139.32	SBE_O2	796	19	348.16
VBD_pump_during_apogee	397	1271	11620.39	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	2498	19	512.70
LPSleep	5468	2	130.12
TT8_Active	445	19	91.46
TT8_Sampling	1678	39	690.21
TT8_CF8	141	45	66.86
TT8_Kalman	0	0	0.00
Analog_circuits	1348	12	166.66
GPS_charging	0	0	0.00
Compass	1667	15	257.63
RAFOS	2520	1	38.93
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	24	0.00	0.00	-6.62	0.000	2	0.000	0.000	2899	2272	2932	0	0	0	0	0	0
26	-0.62	-146.0	9.9	-0.0	1	51	0.62	0.00	-19.38	0.000	6	0.085	0.000	2667	2271	3628	0	0	0	0	0	0
387	-0.45	-146.0	83.2	-19.4	65	395	0.20	2.67	0.00	0.000	4	0.227	0.072	2714	3895	3630	0	0	0	0	0	0
413	-0.35	-146.0	87.7	-17.7	69	420	0.12	2.20	0.00	0.000	6	0.223	0.047	2744	2486	3631	0	0	0	0	0	0
746	-0.40	-146.0	125.1	-10.7	108	750	0.00	2.22	0.00	0.000	4	0.000	0.067	2744	1082	3629	0	0	0	0	0	0
819	-0.48	-146.0	133.2	-10.4	114	824	0.12	2.25	0.00	0.000	6	0.133	0.061	2705	2488	3629	0	0	0	0	0	0
1149	-0.48	-146.0	175.4	-12.4	145	1150	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2488	3629	0	0	0	0	0	0
1469	-0.48	-146.0	211.8	-11.0	175	1473	0.00	2.25	0.00	0.000	4	0.000	0.067	2705	1074	3629	0	0	0	0	0	0
1502	-0.48	-146.0	215.7	-11.4	177	1509	0.00	2.30	0.00	0.000	6	0.000	0.062	2705	2494	3628	0	0	0	0	0	0
1829	-0.48	-146.0	249.2	-10.4	208	1830	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2494	3628	0	0	0	0	0	0
2147	-0.48	-146.0	279.8	-9.5	238	2149	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2494	3628	0	0	0	0	0	0
2467	-0.48	-146.0	311.9	-10.3	268	2471	0.00	2.20	0.00	0.000	4	0.000	0.066	2705	1088	3628	0	0	0	0	0	0
2483	-0.48	-146.0	314.0	-10.7	269	2490	0.00	2.25	0.00	0.000	6	0.000	0.062	2705	2486	3628	0	0	0	0	0	0
2809	-0.50	-146.0	345.2	-9.3	300	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2486	3627	0	0	0	0	0	0
3129	-0.53	-146.0	376.4	-9.5	330	3133	0.00	2.20	0.00	0.000	4	0.000	0.063	2705	1082	3627	0	0	0	0	0	0
3147	-0.56	-146.0	378.3	-10.0	331	3151	0.00	2.25	0.00	0.000	6	0.000	0.060	2705	2496	3628	0	0	0	0	0	0
3472	-0.59	-146.0	406.3	-8.0	361	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2495	3628	0	0	0	0	0	0
3792	-0.63	-146.0	431.8	-8.3	391	3794	0.12	0.00	0.00	0.000	6	0.129	0.000	2662	2496	3628	0	0	0	0	0	0
4109	-0.56	-146.0	470.0	-12.5	421	4113	0.00	2.22	0.00	0.000	4	0.000	0.063	2662	1072	3628	0	0	0	0	0	0
4132	-0.50	-146.0	472.9	-12.9	422	4139	0.15	2.25	0.00	0.000	6	0.223	0.061	2697	2489	3628	0	0	0	0	0	0
4457	-0.53	-146.0	503.1	-8.8	453	4458	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2489	3628	0	0	0	0	0	0
4777	-0.56	-146.0	530.9	-9.1	483	4781	0.00	2.25	0.00	0.000	4	0.000	0.077	2697	3896	3629	0	0	0	0	0	0
4867	-0.60	-146.0	539.3	-9.1	490	4874	0.00	2.17	0.00	0.000	6	0.000	0.046	2697	2484	3629	0	0	0	0	0	0
4967	end dive: TARGET_DEPTH_EXCEEDED
state	4967	begin apogee
4972	-0.12	0.0	548.5	8.9	500	5099	0.40	0.00	120.90	1.271	6	0.189	0.000	2817	2260	3030	0	0	0	0	0	0
5099	end apogee: CONTROL_FINISHED_OK
state	5100	begin climb
5101	0.62	146.0	553.6	0.0	511	5235	0.77	2.50	124.95	1.221	4	0.141	0.070	3062	885	2432	0	0	0	0	0	0
5348	0.53	146.0	533.8	11.9	533	5356	0.00	2.38	0.00	0.000	6	0.000	0.056	3062	2272	2426	0	0	0	0	0	0
5675	0.44	146.0	495.9	11.8	564	5680	0.20	2.38	0.00	0.000	4	0.185	0.069	3010	3694	2424	0	0	0	0	0	0
5764	0.39	146.0	485.9	10.7	571	5771	0.00	2.33	0.00	0.000	6	0.000	0.053	3018	2276	2424	0	0	0	0	0	0
6089	0.39	147.9	455.0	9.9	602	6093	0.00	2.33	0.00	0.000	4	0.000	0.070	3028	864	2423	0	0	0	0	0	0
6118	0.39	147.9	452.1	10.2	604	6123	0.12	2.28	0.00	0.000	6	0.188	0.055	2998	2278	2423	0	0	0	0	0	0
6443	0.46	177.1	423.6	8.7	634	6477	0.00	2.35	26.17	1.134	4	0.000	0.070	2998	3685	2307	0	0	0	0	0	0
6558	0.46	177.1	412.4	11.0	644	6562	0.00	2.30	0.00	0.000	6	0.000	0.051	3002	2278	2305	0	0	0	0	0	0
6885	0.55	214.2	384.9	8.3	674	6924	0.12	0.00	33.72	1.128	6	0.113	0.000	3051	2278	2156	0	0	0	0	0	0
7242	0.53	214.2	343.9	11.5	708	7246	0.00	2.30	0.00	0.000	4	0.000	0.067	3051	3685	2150	0	0	0	0	0	0
7302	0.47	214.2	336.1	13.5	713	7310	0.17	2.30	0.00	0.000	6	0.190	0.053	3018	2264	2149	0	0	0	0	0	0
7628	0.53	230.0	306.4	9.3	744	7651	0.00	2.35	13.95	1.035	4	0.000	0.068	3025	864	2091	0	0	0	0	0	0
7675	0.63	250.7	302.2	9.0	748	7702	0.12	2.30	20.17	1.063	6	0.118	0.055	3076	2277	2007	0	0	0	0	0	0
8027	0.58	250.7	254.4	13.7	781	8032	0.00	2.28	0.00	0.000	4	0.000	0.067	3076	3684	2001	0	0	0	0	0	0
8105	0.51	250.7	242.4	15.9	787	8113	0.20	2.28	0.00	0.000	6	0.191	0.054	3034	2277	2000	0	0	0	0	0	0
8431	0.60	275.5	211.1	8.9	818	8459	0.00	2.33	22.77	1.034	4	0.000	0.067	3041	866	1905	0	0	0	0	0	0
8494	0.72	299.6	205.5	8.9	823	8528	0.15	2.28	23.08	1.014	6	0.106	0.052	3098	2280	1807	0	0	0	0	0	0
8845	0.69	299.6	155.3	15.7	856	8849	0.00	2.30	0.00	0.000	4	0.000	0.067	3098	3694	1800	0	0	0	0	0	0
8902	0.65	299.6	146.1	15.8	861	8907	0.15	2.30	0.00	0.000	6	0.194	0.053	3073	2270	1799	0	0	0	0	0	0
9227	0.72	308.3	111.6	9.6	891	9237	0.00	0.00	7.45	0.862	6	0.000	0.000	3073	2270	1773	0	0	0	0	0	0
9567	0.80	311.2	78.9	9.9	941	9581	0.15	2.33	4.20	0.679	4	0.100	0.069	3140	868	1761	0	0	0	0	0	0
9599	0.80	311.2	75.1	12.7	946	9605	0.00	2.22	0.00	0.000	6	0.000	0.053	3139	2274	1760	0	0	0	0	0	0
9943	0.75	311.2	26.6	13.3	1007	9951	0.12	0.00	0.00	0.000	6	0.202	0.000	3109	2274	1759	0	0	0	0	0	0
10108	end climb: FINISH_DEPTH_REACHED
state	10108	begin subsurface finish
10114	0.09	77.2	8.9	-9.9	1036	10156	0.65	0.00	-34.08	0.000	6	0.155	0.000	2902	2275	2716	0	0	0	0	0	0
10156	end subsurface finish: CONTROL_FINISHED_OK
state	10156	begin surface