Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 63 * 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 63 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 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 28 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 63 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 010311,122328,6650.733,-6014.829,0,6103.0,0,-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 10.34 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 010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0 MHEAD_RNG_PITCHd_Wd 119.4,151078,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 587

Post-dive calculations and measurements:

FREEZE 1.69,-1.729,-1.650,3,40,2 ALTIM_TOP_PING 19.3,17.6

FINISH 1.7,1.024279 _24V_AH 23.0,12.125

SM_CCo 11139,103.65,0.075,0,0,750,559.04 _10V_AH 10.3,5.894

SM_GC 2.66,0.00,0.00,103.65,0.000,0.000,0.075,109,2498,750,-8.61,0.23,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 626 FG_AHR_10Vo 0.000

RAFOS 0,1298995262,16.033333,16.017221,118,60,58,58,57,56,659,154,221,194,178,140 MEM 150732

RAFOS_FIX 6652.168945,-6007.660156,010311,161607,7,114,0.40 DATA_FILE_SIZE 43427,1150

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 CAP_FILE_SIZE 123459,0

TT8_MAMPS 0.026215 CFSIZE 260165632,247738368

HUMID 45.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.45736 SOUNDSPEED 1452.4

TCM_TEMP 16.10 GPS 010311,162707,6652.169,-6007.660,0,7113.7,0,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 239 71.59 SBE_CT 821 24 453.49

Roll_motor 87 84 170.94 SBE_O2 879 19 384.32

VBD_pump_during_apogee 415 1292 12345.58 nil 0 0 0.00

VBD_pump_during_surface 103 74 178.72 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 16.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2761 19 566.66

LPSleep 6061 2 144.23

TT8_Active 564 19 115.90

TT8_Sampling 1786 39 734.76

TT8_CF8 153 45 72.47

TT8_Kalman 0 0 0.00

Analog_circuits 1506 12 186.18

GPS_charging 0 0 0.00

Compass 1776 15 274.50

RAFOS 2520 1 38.93

Transponder 14 30 4.40

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 -7.38 0.000 2 0.000 0.000 2901 2275 2993 0 0 0 0 0 0

27 -0.62 -146.0 11.4 -0.0 1 52 0.65 2.62 -16.30 0.000 4 0.093 0.085 2664 3896 3630 0 0 0 0 0 0

122 -0.50 -146.0 26.8 -20.3 17 130 0.15 2.22 0.00 0.000 6 0.233 0.050 2698 2487 3631 0 0 0 0 0 0

468 -0.39 -146.0 82.5 -14.3 78 475 0.15 2.25 0.00 0.000 4 0.239 0.065 2733 1072 3632 0 0 0 0 0 0

572 -0.43 -146.0 95.1 -11.1 96 579 0.00 2.25 0.00 0.000 6 0.000 0.061 2734 2486 3631 0 0 0 0 0 0

907 -0.43 -146.0 134.8 -9.9 131 908 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2486 3630 0 0 0 0 0 0

1227 -0.46 -146.0 166.8 -9.3 161 1231 0.00 2.30 0.00 0.000 4 0.000 0.079 2734 3907 3630 0 0 0 0 0 0

1271 -0.55 -146.0 170.9 -8.8 164 1279 0.15 2.22 0.00 0.000 6 0.125 0.048 2683 2475 3630 0 0 0 0 0 0

1596 -0.47 -146.0 211.2 -12.8 195 1600 0.00 2.20 0.00 0.000 4 0.000 0.067 2683 1077 3630 0 0 0 0 0 0

1681 -0.44 -146.0 222.1 -12.1 202 1689 0.15 2.25 0.00 0.000 6 0.227 0.063 2716 2492 3630 0 0 0 0 0 0

2007 -0.47 -146.0 254.1 -9.6 233 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2492 3630 0 0 0 0 0 0

2327 -0.52 -146.0 282.1 -8.8 263 2331 0.00 2.28 0.00 0.000 4 0.000 0.078 2717 3899 3629 0 0 0 0 0 0

2350 -0.57 -146.0 284.3 -8.9 265 2355 0.12 2.20 0.00 0.000 6 0.127 0.048 2675 2487 3629 0 0 0 0 0 0

2675 -0.51 -146.0 324.3 -12.3 295 2679 0.00 2.20 0.00 0.000 4 0.000 0.065 2675 1082 3629 0 0 0 0 0 0

2709 -0.47 -146.0 328.7 -13.1 297 2716 0.15 2.25 0.00 0.000 6 0.223 0.061 2710 2494 3628 0 0 0 0 0 0

3034 -0.51 -146.0 358.0 -8.3 328 3038 0.00 2.25 0.00 0.000 4 0.000 0.077 2710 3899 3629 0 0 0 0 0 0

3055 -0.56 -146.0 359.9 -8.1 329 3063 0.00 2.20 0.00 0.000 6 0.000 0.047 2710 2477 3629 0 0 0 0 0 0

3381 -0.61 -146.0 387.3 -8.5 360 3386 0.12 2.20 0.00 0.000 4 0.136 0.064 2669 1086 3628 0 0 0 0 0 0

3403 -0.61 -146.0 389.8 -11.2 362 3407 0.00 2.25 0.00 0.000 6 0.000 0.062 2669 2497 3629 0 0 0 0 0 0

3729 -0.55 -146.0 428.6 -11.6 392 3730 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2497 3629 0 0 0 0 0 0

4048 -0.49 -146.0 465.6 -11.5 422 4050 0.12 0.00 0.00 0.000 6 0.233 0.000 2698 2497 3629 0 0 0 0 0 0

4366 -0.52 -146.0 494.8 -9.2 452 4367 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2498 3630 0 0 0 0 0 0

4687 -0.55 -146.0 522.9 -8.7 482 4691 0.00 2.25 0.00 0.000 4 0.000 0.078 2698 3901 3630 0 0 0 0 0 0

4716 -0.58 -146.0 525.7 -8.5 484 4720 0.00 2.17 0.00 0.000 6 0.000 0.047 2698 2486 3630 0 0 0 0 0 0

5047 -0.63 -146.0 555.7 -8.9 515 5051 0.12 2.20 0.00 0.000 4 0.139 0.063 2657 1077 3630 0 0 0 0 0 0

5086 -0.58 -146.0 560.0 -11.8 518 5090 0.00 2.25 0.00 0.000 6 0.000 0.062 2657 2493 3630 0 0 0 0 0 0

5313 end dive: TARGET_DEPTH_EXCEEDED

state 5314 begin apogee

5319 -0.12 0.0 587.1 12.2 539 5450 0.55 0.00 122.53 1.292 6 0.204 0.000 2814 2266 3029 0 0 0 0 0 0

5451 end apogee: CONTROL_FINISHED_OK

state 5451 begin climb

5453 0.62 146.0 591.9 0.0 551 5582 0.80 0.00 124.88 1.245 6 0.142 0.000 3055 2265 2434 0 0 0 0 0 0

5900 0.54 146.0 547.4 11.6 594 5904 0.00 2.42 0.00 0.000 4 0.000 0.067 3055 3697 2425 0 0 0 0 0 0

5991 0.40 146.0 534.8 14.4 602 5996 0.28 2.33 0.00 0.000 6 0.194 0.052 2997 2283 2424 0 0 0 0 0 0

6316 0.48 183.6 507.3 8.3 632 6353 0.00 2.40 32.08 1.180 4 0.000 0.068 2997 3686 2281 0 0 0 0 0 0

6399 0.48 183.6 499.9 10.0 639 6404 0.00 2.33 0.00 0.000 6 0.000 0.051 3002 2278 2278 0 0 0 0 0 0

6731 0.55 200.8 470.0 9.2 670 6752 0.10 0.00 15.98 1.114 6 0.125 0.000 3043 2279 2211 0 0 0 0 0 0

7070 0.55 200.8 429.6 12.2 702 7074 0.00 2.33 0.00 0.000 4 0.000 0.067 3042 3693 2207 0 0 0 0 0 0

7119 0.48 200.8 422.7 14.0 706 7127 0.12 2.30 0.00 0.000 6 0.198 0.051 3024 2266 2206 0 0 0 0 0 0

7445 0.51 207.0 388.7 9.7 737 7455 0.00 0.00 6.18 0.911 6 0.000 0.000 3024 2266 2185 0 0 0 0 0 0

7773 0.53 207.0 355.6 10.4 768 7777 0.00 2.30 0.00 0.000 4 0.000 0.067 3024 3688 2185 0 0 0 0 0 0

7817 0.53 207.0 350.4 12.3 771 7824 0.00 2.28 0.00 0.000 6 0.000 0.051 3030 2278 2185 0 0 0 0 0 0

8142 0.53 207.0 316.3 10.2 802 8146 0.00 2.30 0.00 0.000 4 0.000 0.067 3030 3692 2185 0 0 0 0 0 0

8182 0.53 207.0 311.8 11.7 805 8186 0.00 2.28 0.00 0.000 6 0.000 0.052 3041 2260 2185 0 0 0 0 0 0

8508 0.53 207.0 276.4 10.6 835 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2260 2184 0 0 0 0 0 0

8827 0.53 207.0 243.1 10.4 865 8828 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2260 2184 0 0 0 0 0 0

9144 0.56 229.5 211.0 9.0 895 9171 0.00 2.35 21.50 1.034 4 0.000 0.065 3041 3698 2093 0 0 0 0 0 0

9198 0.56 229.5 205.5 11.0 899 9205 0.00 2.30 0.00 0.000 6 0.000 0.051 3049 2276 2092 0 0 0 0 0 0

9526 0.62 264.4 176.5 8.4 930 9564 0.00 0.00 31.98 1.027 6 0.000 0.000 3049 2276 1951 0 0 0 0 0 0

9883 0.72 292.1 143.9 8.7 964 9918 0.15 2.38 25.67 0.995 4 0.106 0.067 3107 3693 1838 0 0 0 0 0 0

9945 0.67 292.1 135.8 15.1 969 9953 0.15 2.33 0.00 0.000 6 0.207 0.052 3081 2277 1836 0 0 0 0 0 0

10271 0.70 292.1 99.8 11.0 1000 10278 0.00 2.30 0.00 0.000 4 0.000 0.066 3081 3689 1833 0 0 0 0 0 0

10323 0.70 292.1 93.6 12.4 1009 10330 0.00 2.28 0.00 0.000 6 0.000 0.052 3086 2277 1832 0 0 0 0 0 0

10669 0.77 306.7 60.8 9.3 1070 10688 0.00 2.38 13.55 0.932 4 0.000 0.067 3090 861 1779 0 0 0 0 0 0

10746 0.88 328.7 53.9 9.0 1083 10777 0.17 2.28 21.10 0.955 6 0.105 0.053 3153 2287 1689 0 0 0 0 0 0

11104 end climb: SURFACE_DEPTH_REACHED

state 11104 begin surface coast

11121 end surface coast: CONTROL_FINISHED_OK

state 11121 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	63	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	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	010311,122328,6650.733,-6014.829,0,6103.0,0,-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	10.34	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	010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0	MHEAD_RNG_PITCHd_Wd	119.4,151078,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	587

FREEZE	1.69,-1.729,-1.650,3,40,2	ALTIM_TOP_PING	19.3,17.6
FINISH	1.7,1.024279	_24V_AH	23.0,12.125
SM_CCo	11139,103.65,0.075,0,0,750,559.04	_10V_AH	10.3,5.894
SM_GC	2.66,0.00,0.00,103.65,0.000,0.000,0.075,109,2498,750,-8.61,0.23,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	626	FG_AHR_10Vo	0.000
RAFOS	0,1298995262,16.033333,16.017221,118,60,58,58,57,56,659,154,221,194,178,140	MEM	150732
RAFOS_FIX	6652.168945,-6007.660156,010311,161607,7,114,0.40	DATA_FILE_SIZE	43427,1150
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	CAP_FILE_SIZE	123459,0
TT8_MAMPS	0.026215	CFSIZE	260165632,247738368
HUMID	45.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.45736	SOUNDSPEED	1452.4
TCM_TEMP	16.10	GPS	010311,162707,6652.169,-6007.660,0,7113.7,0,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	239	71.59	SBE_CT	821	24	453.49
Roll_motor	87	84	170.94	SBE_O2	879	19	384.32
VBD_pump_during_apogee	415	1292	12345.58	nil	0	0	0.00
VBD_pump_during_surface	103	74	178.72	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	16.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2761	19	566.66
LPSleep	6061	2	144.23
TT8_Active	564	19	115.90
TT8_Sampling	1786	39	734.76
TT8_CF8	153	45	72.47
TT8_Kalman	0	0	0.00
Analog_circuits	1506	12	186.18
GPS_charging	0	0	0.00
Compass	1776	15	274.50
RAFOS	2520	1	38.93
Transponder	14	30	4.40

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	-7.38	0.000	2	0.000	0.000	2901	2275	2993	0	0	0	0	0	0
27	-0.62	-146.0	11.4	-0.0	1	52	0.65	2.62	-16.30	0.000	4	0.093	0.085	2664	3896	3630	0	0	0	0	0	0
122	-0.50	-146.0	26.8	-20.3	17	130	0.15	2.22	0.00	0.000	6	0.233	0.050	2698	2487	3631	0	0	0	0	0	0
468	-0.39	-146.0	82.5	-14.3	78	475	0.15	2.25	0.00	0.000	4	0.239	0.065	2733	1072	3632	0	0	0	0	0	0
572	-0.43	-146.0	95.1	-11.1	96	579	0.00	2.25	0.00	0.000	6	0.000	0.061	2734	2486	3631	0	0	0	0	0	0
907	-0.43	-146.0	134.8	-9.9	131	908	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2486	3630	0	0	0	0	0	0
1227	-0.46	-146.0	166.8	-9.3	161	1231	0.00	2.30	0.00	0.000	4	0.000	0.079	2734	3907	3630	0	0	0	0	0	0
1271	-0.55	-146.0	170.9	-8.8	164	1279	0.15	2.22	0.00	0.000	6	0.125	0.048	2683	2475	3630	0	0	0	0	0	0
1596	-0.47	-146.0	211.2	-12.8	195	1600	0.00	2.20	0.00	0.000	4	0.000	0.067	2683	1077	3630	0	0	0	0	0	0
1681	-0.44	-146.0	222.1	-12.1	202	1689	0.15	2.25	0.00	0.000	6	0.227	0.063	2716	2492	3630	0	0	0	0	0	0
2007	-0.47	-146.0	254.1	-9.6	233	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2492	3630	0	0	0	0	0	0
2327	-0.52	-146.0	282.1	-8.8	263	2331	0.00	2.28	0.00	0.000	4	0.000	0.078	2717	3899	3629	0	0	0	0	0	0
2350	-0.57	-146.0	284.3	-8.9	265	2355	0.12	2.20	0.00	0.000	6	0.127	0.048	2675	2487	3629	0	0	0	0	0	0
2675	-0.51	-146.0	324.3	-12.3	295	2679	0.00	2.20	0.00	0.000	4	0.000	0.065	2675	1082	3629	0	0	0	0	0	0
2709	-0.47	-146.0	328.7	-13.1	297	2716	0.15	2.25	0.00	0.000	6	0.223	0.061	2710	2494	3628	0	0	0	0	0	0
3034	-0.51	-146.0	358.0	-8.3	328	3038	0.00	2.25	0.00	0.000	4	0.000	0.077	2710	3899	3629	0	0	0	0	0	0
3055	-0.56	-146.0	359.9	-8.1	329	3063	0.00	2.20	0.00	0.000	6	0.000	0.047	2710	2477	3629	0	0	0	0	0	0
3381	-0.61	-146.0	387.3	-8.5	360	3386	0.12	2.20	0.00	0.000	4	0.136	0.064	2669	1086	3628	0	0	0	0	0	0
3403	-0.61	-146.0	389.8	-11.2	362	3407	0.00	2.25	0.00	0.000	6	0.000	0.062	2669	2497	3629	0	0	0	0	0	0
3729	-0.55	-146.0	428.6	-11.6	392	3730	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2497	3629	0	0	0	0	0	0
4048	-0.49	-146.0	465.6	-11.5	422	4050	0.12	0.00	0.00	0.000	6	0.233	0.000	2698	2497	3629	0	0	0	0	0	0
4366	-0.52	-146.0	494.8	-9.2	452	4367	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2498	3630	0	0	0	0	0	0
4687	-0.55	-146.0	522.9	-8.7	482	4691	0.00	2.25	0.00	0.000	4	0.000	0.078	2698	3901	3630	0	0	0	0	0	0
4716	-0.58	-146.0	525.7	-8.5	484	4720	0.00	2.17	0.00	0.000	6	0.000	0.047	2698	2486	3630	0	0	0	0	0	0
5047	-0.63	-146.0	555.7	-8.9	515	5051	0.12	2.20	0.00	0.000	4	0.139	0.063	2657	1077	3630	0	0	0	0	0	0
5086	-0.58	-146.0	560.0	-11.8	518	5090	0.00	2.25	0.00	0.000	6	0.000	0.062	2657	2493	3630	0	0	0	0	0	0
5313	end dive: TARGET_DEPTH_EXCEEDED
state	5314	begin apogee
5319	-0.12	0.0	587.1	12.2	539	5450	0.55	0.00	122.53	1.292	6	0.204	0.000	2814	2266	3029	0	0	0	0	0	0
5451	end apogee: CONTROL_FINISHED_OK
state	5451	begin climb
5453	0.62	146.0	591.9	0.0	551	5582	0.80	0.00	124.88	1.245	6	0.142	0.000	3055	2265	2434	0	0	0	0	0	0
5900	0.54	146.0	547.4	11.6	594	5904	0.00	2.42	0.00	0.000	4	0.000	0.067	3055	3697	2425	0	0	0	0	0	0
5991	0.40	146.0	534.8	14.4	602	5996	0.28	2.33	0.00	0.000	6	0.194	0.052	2997	2283	2424	0	0	0	0	0	0
6316	0.48	183.6	507.3	8.3	632	6353	0.00	2.40	32.08	1.180	4	0.000	0.068	2997	3686	2281	0	0	0	0	0	0
6399	0.48	183.6	499.9	10.0	639	6404	0.00	2.33	0.00	0.000	6	0.000	0.051	3002	2278	2278	0	0	0	0	0	0
6731	0.55	200.8	470.0	9.2	670	6752	0.10	0.00	15.98	1.114	6	0.125	0.000	3043	2279	2211	0	0	0	0	0	0
7070	0.55	200.8	429.6	12.2	702	7074	0.00	2.33	0.00	0.000	4	0.000	0.067	3042	3693	2207	0	0	0	0	0	0
7119	0.48	200.8	422.7	14.0	706	7127	0.12	2.30	0.00	0.000	6	0.198	0.051	3024	2266	2206	0	0	0	0	0	0
7445	0.51	207.0	388.7	9.7	737	7455	0.00	0.00	6.18	0.911	6	0.000	0.000	3024	2266	2185	0	0	0	0	0	0
7773	0.53	207.0	355.6	10.4	768	7777	0.00	2.30	0.00	0.000	4	0.000	0.067	3024	3688	2185	0	0	0	0	0	0
7817	0.53	207.0	350.4	12.3	771	7824	0.00	2.28	0.00	0.000	6	0.000	0.051	3030	2278	2185	0	0	0	0	0	0
8142	0.53	207.0	316.3	10.2	802	8146	0.00	2.30	0.00	0.000	4	0.000	0.067	3030	3692	2185	0	0	0	0	0	0
8182	0.53	207.0	311.8	11.7	805	8186	0.00	2.28	0.00	0.000	6	0.000	0.052	3041	2260	2185	0	0	0	0	0	0
8508	0.53	207.0	276.4	10.6	835	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2260	2184	0	0	0	0	0	0
8827	0.53	207.0	243.1	10.4	865	8828	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2260	2184	0	0	0	0	0	0
9144	0.56	229.5	211.0	9.0	895	9171	0.00	2.35	21.50	1.034	4	0.000	0.065	3041	3698	2093	0	0	0	0	0	0
9198	0.56	229.5	205.5	11.0	899	9205	0.00	2.30	0.00	0.000	6	0.000	0.051	3049	2276	2092	0	0	0	0	0	0
9526	0.62	264.4	176.5	8.4	930	9564	0.00	0.00	31.98	1.027	6	0.000	0.000	3049	2276	1951	0	0	0	0	0	0
9883	0.72	292.1	143.9	8.7	964	9918	0.15	2.38	25.67	0.995	4	0.106	0.067	3107	3693	1838	0	0	0	0	0	0
9945	0.67	292.1	135.8	15.1	969	9953	0.15	2.33	0.00	0.000	6	0.207	0.052	3081	2277	1836	0	0	0	0	0	0
10271	0.70	292.1	99.8	11.0	1000	10278	0.00	2.30	0.00	0.000	4	0.000	0.066	3081	3689	1833	0	0	0	0	0	0
10323	0.70	292.1	93.6	12.4	1009	10330	0.00	2.28	0.00	0.000	6	0.000	0.052	3086	2277	1832	0	0	0	0	0	0
10669	0.77	306.7	60.8	9.3	1070	10688	0.00	2.38	13.55	0.932	4	0.000	0.067	3090	861	1779	0	0	0	0	0	0
10746	0.88	328.7	53.9	9.0	1083	10777	0.17	2.28	21.10	0.955	6	0.105	0.053	3153	2287	1689	0	0	0	0	0	0
11104	end climb: SURFACE_DEPTH_REACHED
state	11104	begin surface coast
11121	end surface coast: CONTROL_FINISHED_OK
state	11121	begin surface