Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 683 * 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 683 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 559.0387 R_PORT_OVSHOOT 19 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 17 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 -2 T_GPS_CHARGE -50107.605 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 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 -50107.605

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 19 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 17 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 683 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 240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6 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 12.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 118.2,157373,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 548

Post-dive calculations and measurements:

FINISH1 11.7,1.025909,78 ALTIM_BOTTOM_PING 500.6,56.6

FINISH2 10.1 _24V_AH 21.1,91.185

RAFOS_CLK 541 _10V_AH 9.8,47.110

RAFOS 0,1306281670,0.033333,0.019444,152,61,60,58,57,55,574,178,200,227,125,146 FG_AHR_24Vo 0.000

RAFOS_FIX 6647.322266,-6024.582520,250511,000037,5,100,0.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 MEM 150560

TT8_MAMPS 0.026215 DATA_FILE_SIZE 39971,1008

HUMID 49.05 CAP_FILE_SIZE 114574,0

INTERNAL_PRESSURE 8.67221 CFSIZE 260165632,208818176

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 5 SOUNDSPEED 1451.6

ALTIM_TOP_PING 19.8,12.8 GPS 250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 244 24.84 SBE_CT 720 24 364.75

Roll_motor 107 95 216.55 SBE_O2 761 19 305.45

VBD_pump_during_apogee 399 1274 10743.92 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 3 420 26.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2433 19 475.00

LPSleep 5141 2 116.39

TT8_Active 429 19 83.76

TT8_Sampling 1664 39 651.06

TT8_CF8 212 45 95.84

TT8_Kalman 0 0 0.00

Analog_circuits 1332 12 156.74

GPS_charging 0 0 0.00

Compass 1644 15 241.79

RAFOS 2520 1 37.04

Transponder 14 30 4.19

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 -5.50 0.000 2 0.000 0.000 2896 3685 2940 0 0 0 0 0 0

27 -0.62 -146.0 13.7 -0.0 1 52 0.65 4.40 -15.95 0.000 4 0.097 0.083 2665 1080 3630 0 0 0 0 0 0

167 -0.49 -146.0 37.7 -19.1 25 175 0.15 2.40 0.00 0.000 6 0.230 0.080 2698 2496 3631 0 0 0 0 0 0

515 -0.40 -146.0 97.0 -14.5 86 522 0.12 2.42 0.00 0.000 4 0.244 0.095 2727 3900 3631 0 0 0 0 0 0

598 -0.43 -146.0 107.4 -11.1 95 602 0.00 2.33 0.00 0.000 6 0.000 0.067 2727 2488 3631 0 0 0 0 0 0

923 -0.43 -146.0 143.5 -10.2 125 924 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2488 3630 0 0 0 0 0 0

1245 -0.48 -146.0 173.0 -9.1 155 1249 0.00 2.35 0.00 0.000 4 0.000 0.083 2727 1075 3629 0 0 0 0 0 0

1296 -0.57 -146.0 178.1 -9.4 159 1303 0.15 2.40 0.00 0.000 6 0.122 0.079 2679 2491 3629 0 0 0 0 0 0

1623 -0.51 -146.0 220.0 -12.9 190 1627 0.00 2.42 0.00 0.000 4 0.000 0.096 2678 3906 3629 0 0 0 0 0 0

1664 -0.47 -146.0 225.2 -12.3 193 1669 0.12 2.33 0.00 0.000 6 0.212 0.068 2705 2487 3629 0 0 0 0 0 0

1990 -0.47 -146.0 258.3 -10.2 223 1994 0.00 2.33 0.00 0.000 4 0.000 0.081 2705 1080 3628 0 0 0 0 0 0

2032 -0.52 -146.0 262.3 -9.8 226 2036 0.00 2.38 0.00 0.000 6 0.000 0.079 2705 2494 3629 0 0 0 0 0 0

2359 -0.54 -146.0 294.0 -9.3 256 2365 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2493 3628 0 0 0 0 0 0

2688 -0.57 -146.0 324.9 -9.5 287 2692 0.00 2.42 0.00 0.000 4 0.000 0.095 2705 3909 3629 0 0 0 0 0 0

2729 -0.63 -146.0 329.0 -9.2 290 2734 0.15 2.33 0.00 0.000 6 0.115 0.067 2655 2487 3628 0 0 0 0 0 0

3054 -0.53 -146.0 372.7 -13.5 320 3059 0.15 2.35 0.00 0.000 4 0.206 0.080 2690 1079 3628 0 0 0 0 0 0

3084 -0.48 -146.0 376.4 -13.0 322 3088 0.00 2.40 0.00 0.000 6 0.000 0.078 2690 2496 3628 0 0 0 0 0 0

3409 -0.48 -146.0 408.3 -9.9 352 3413 0.00 2.42 0.00 0.000 4 0.000 0.095 2690 3899 3628 0 0 0 0 0 0

3433 -0.48 -146.0 410.8 -10.1 354 3437 0.00 2.30 0.00 0.000 6 0.000 0.065 2690 2488 3628 0 0 0 0 0 0

3759 -0.48 -146.0 443.9 -10.2 384 3763 0.00 2.33 0.00 0.000 4 0.000 0.079 2690 1078 3629 0 0 0 0 0 0

3800 -0.51 -146.0 448.0 -9.6 387 3804 0.00 2.38 0.00 0.000 6 0.000 0.077 2691 2497 3629 0 0 0 0 0 0

4125 -0.51 -146.0 479.2 -9.8 417 4129 0.00 2.40 0.00 0.000 4 0.000 0.093 2690 3900 3629 0 0 0 0 0 0

4187 -0.56 -146.0 485.3 -9.4 422 4194 0.00 2.33 0.00 0.000 6 0.000 0.063 2690 2488 3629 0 0 0 0 0 0

4513 -0.58 -146.0 515.1 -9.0 453 4517 0.00 2.35 0.00 0.000 4 0.000 0.077 2690 1073 3629 0 0 0 0 0 0

4535 -0.58 -146.0 517.2 -8.9 454 4541 0.00 2.40 0.00 0.000 6 0.000 0.076 2690 2496 3629 0 0 0 0 0 0

4815 end dive: BOTTOM_OBSTACLE_DETECTED

state 4815 begin apogee

4822 -0.12 0.0 542.9 8.8 481 4955 0.43 0.00 126.85 1.274 6 0.189 0.000 2812 2270 3029 0 0 0 0 0 0

4956 end apogee: CONTROL_FINISHED_OK

state 4956 begin climb

4959 0.62 146.0 547.8 0.0 493 5101 0.82 2.70 133.70 1.227 4 0.146 0.084 3063 874 2432 0 0 0 0 0 0

5135 0.60 146.0 537.9 11.2 509 5142 0.00 2.62 0.00 0.000 6 0.000 0.070 3063 2282 2429 0 0 0 0 0 0

5461 0.55 147.7 504.6 9.9 540 5465 0.00 2.40 0.00 0.000 4 0.000 0.087 3063 3692 2426 0 0 0 0 0 0

5535 0.45 147.7 496.6 11.3 546 5540 0.22 2.38 0.00 0.000 6 0.184 0.071 3016 2278 2426 0 0 0 0 0 0

5860 0.57 209.7 472.4 7.1 576 5927 0.00 2.50 55.97 1.184 4 0.000 0.087 3023 870 2173 0 0 0 0 0 0

5947 0.75 272.4 466.3 7.1 583 6012 0.22 2.40 58.45 1.164 6 0.085 0.071 3114 2285 1919 0 0 0 0 0 0

6332 0.67 272.4 407.0 16.0 619 6337 0.12 2.38 0.00 0.000 4 0.194 0.085 3082 3685 1909 0 0 0 0 0 0

6395 0.67 272.4 397.7 13.9 624 6399 0.00 2.35 0.00 0.000 6 0.000 0.072 3090 2277 1907 0 0 0 0 0 0

6721 0.65 272.4 356.0 13.1 654 6725 0.00 2.35 0.00 0.000 4 0.000 0.084 3101 863 1906 0 0 0 0 0 0

6783 0.65 272.4 348.4 12.0 659 6787 0.00 2.35 0.00 0.000 6 0.000 0.072 3101 2275 1904 0 0 0 0 0 0

7109 0.61 272.4 304.3 13.8 689 7114 0.15 2.38 0.00 0.000 4 0.184 0.086 3062 3694 1904 0 0 0 0 0 0

7164 0.64 272.4 296.9 11.7 693 7171 0.00 2.38 0.00 0.000 6 0.000 0.079 3071 2274 1902 0 0 0 0 0 0

7490 0.69 272.4 261.2 10.9 724 7494 0.00 2.35 0.00 0.000 4 0.000 0.084 3081 863 1902 0 0 0 0 0 0

7554 0.75 272.4 254.4 11.3 729 7558 0.00 2.35 0.00 0.000 6 0.000 0.071 3081 2282 1901 0 0 0 0 0 0

7885 0.78 272.4 218.1 10.9 760 7890 0.10 2.35 0.00 0.000 4 0.116 0.086 3125 3686 1901 0 0 0 0 0 0

7948 0.70 272.4 208.6 16.0 765 7953 0.17 2.35 0.00 0.000 6 0.201 0.072 3093 2277 1900 0 0 0 0 0 0

8274 0.73 272.4 169.8 11.7 795 8278 0.00 2.38 0.00 0.000 4 0.000 0.085 3101 862 1901 0 0 0 0 0 0

8335 0.77 272.4 162.5 12.5 800 8342 0.00 2.33 0.00 0.000 6 0.000 0.071 3102 2274 1900 0 0 0 0 0 0

8661 0.79 272.8 126.5 10.0 831 8665 0.00 2.38 0.00 0.000 4 0.000 0.086 3101 3694 1900 0 0 0 0 0 0

8701 0.79 272.8 122.0 11.6 834 8705 0.00 2.38 0.00 0.000 6 0.000 0.071 3111 2266 1900 0 0 0 0 0 0

9034 0.85 291.5 89.0 9.1 874 9052 0.00 0.00 15.73 0.981 6 0.000 0.000 3111 2266 1841 0 0 0 0 0 0

9395 0.91 299.7 56.2 9.6 937 9409 0.12 2.42 8.82 0.909 4 0.107 0.087 3176 864 1808 0 0 0 0 0 0

9451 0.87 299.7 49.1 13.4 946 9458 0.12 2.35 0.00 0.000 6 0.203 0.074 3148 2281 1807 0 0 0 0 0 0

9766 end climb: SURFACE_OBSTACLE_DETECTED

state 9766 begin subsurface finish

9773 0.10 78.0 11.7 -13.6 1002 9809 0.82 0.00 -27.75 0.000 6 0.177 0.000 2905 2281 2716 0 0 0 0 0 0

9810 end subsurface finish: CONTROL_FINISHED_OK

state 9810 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	683	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	559.0387	R_PORT_OVSHOOT	19	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	17	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	-2	T_GPS_CHARGE	-50107.605	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	240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6	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	12.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	118.2,157373,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	548

FINISH1	11.7,1.025909,78	ALTIM_BOTTOM_PING	500.6,56.6
FINISH2	10.1	_24V_AH	21.1,91.185
RAFOS_CLK	541	_10V_AH	9.8,47.110
RAFOS	0,1306281670,0.033333,0.019444,152,61,60,58,57,55,574,178,200,227,125,146	FG_AHR_24Vo	0.000
RAFOS_FIX	6647.322266,-6024.582520,250511,000037,5,100,0.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	MEM	150560
TT8_MAMPS	0.026215	DATA_FILE_SIZE	39971,1008
HUMID	49.05	CAP_FILE_SIZE	114574,0
INTERNAL_PRESSURE	8.67221	CFSIZE	260165632,208818176
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	5	SOUNDSPEED	1451.6
ALTIM_TOP_PING	19.8,12.8	GPS	250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	244	24.84	SBE_CT	720	24	364.75
Roll_motor	107	95	216.55	SBE_O2	761	19	305.45
VBD_pump_during_apogee	399	1274	10743.92	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	3	420	26.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2433	19	475.00
LPSleep	5141	2	116.39
TT8_Active	429	19	83.76
TT8_Sampling	1664	39	651.06
TT8_CF8	212	45	95.84
TT8_Kalman	0	0	0.00
Analog_circuits	1332	12	156.74
GPS_charging	0	0	0.00
Compass	1644	15	241.79
RAFOS	2520	1	37.04
Transponder	14	30	4.19

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	-5.50	0.000	2	0.000	0.000	2896	3685	2940	0	0	0	0	0	0
27	-0.62	-146.0	13.7	-0.0	1	52	0.65	4.40	-15.95	0.000	4	0.097	0.083	2665	1080	3630	0	0	0	0	0	0
167	-0.49	-146.0	37.7	-19.1	25	175	0.15	2.40	0.00	0.000	6	0.230	0.080	2698	2496	3631	0	0	0	0	0	0
515	-0.40	-146.0	97.0	-14.5	86	522	0.12	2.42	0.00	0.000	4	0.244	0.095	2727	3900	3631	0	0	0	0	0	0
598	-0.43	-146.0	107.4	-11.1	95	602	0.00	2.33	0.00	0.000	6	0.000	0.067	2727	2488	3631	0	0	0	0	0	0
923	-0.43	-146.0	143.5	-10.2	125	924	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2488	3630	0	0	0	0	0	0
1245	-0.48	-146.0	173.0	-9.1	155	1249	0.00	2.35	0.00	0.000	4	0.000	0.083	2727	1075	3629	0	0	0	0	0	0
1296	-0.57	-146.0	178.1	-9.4	159	1303	0.15	2.40	0.00	0.000	6	0.122	0.079	2679	2491	3629	0	0	0	0	0	0
1623	-0.51	-146.0	220.0	-12.9	190	1627	0.00	2.42	0.00	0.000	4	0.000	0.096	2678	3906	3629	0	0	0	0	0	0
1664	-0.47	-146.0	225.2	-12.3	193	1669	0.12	2.33	0.00	0.000	6	0.212	0.068	2705	2487	3629	0	0	0	0	0	0
1990	-0.47	-146.0	258.3	-10.2	223	1994	0.00	2.33	0.00	0.000	4	0.000	0.081	2705	1080	3628	0	0	0	0	0	0
2032	-0.52	-146.0	262.3	-9.8	226	2036	0.00	2.38	0.00	0.000	6	0.000	0.079	2705	2494	3629	0	0	0	0	0	0
2359	-0.54	-146.0	294.0	-9.3	256	2365	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2493	3628	0	0	0	0	0	0
2688	-0.57	-146.0	324.9	-9.5	287	2692	0.00	2.42	0.00	0.000	4	0.000	0.095	2705	3909	3629	0	0	0	0	0	0
2729	-0.63	-146.0	329.0	-9.2	290	2734	0.15	2.33	0.00	0.000	6	0.115	0.067	2655	2487	3628	0	0	0	0	0	0
3054	-0.53	-146.0	372.7	-13.5	320	3059	0.15	2.35	0.00	0.000	4	0.206	0.080	2690	1079	3628	0	0	0	0	0	0
3084	-0.48	-146.0	376.4	-13.0	322	3088	0.00	2.40	0.00	0.000	6	0.000	0.078	2690	2496	3628	0	0	0	0	0	0
3409	-0.48	-146.0	408.3	-9.9	352	3413	0.00	2.42	0.00	0.000	4	0.000	0.095	2690	3899	3628	0	0	0	0	0	0
3433	-0.48	-146.0	410.8	-10.1	354	3437	0.00	2.30	0.00	0.000	6	0.000	0.065	2690	2488	3628	0	0	0	0	0	0
3759	-0.48	-146.0	443.9	-10.2	384	3763	0.00	2.33	0.00	0.000	4	0.000	0.079	2690	1078	3629	0	0	0	0	0	0
3800	-0.51	-146.0	448.0	-9.6	387	3804	0.00	2.38	0.00	0.000	6	0.000	0.077	2691	2497	3629	0	0	0	0	0	0
4125	-0.51	-146.0	479.2	-9.8	417	4129	0.00	2.40	0.00	0.000	4	0.000	0.093	2690	3900	3629	0	0	0	0	0	0
4187	-0.56	-146.0	485.3	-9.4	422	4194	0.00	2.33	0.00	0.000	6	0.000	0.063	2690	2488	3629	0	0	0	0	0	0
4513	-0.58	-146.0	515.1	-9.0	453	4517	0.00	2.35	0.00	0.000	4	0.000	0.077	2690	1073	3629	0	0	0	0	0	0
4535	-0.58	-146.0	517.2	-8.9	454	4541	0.00	2.40	0.00	0.000	6	0.000	0.076	2690	2496	3629	0	0	0	0	0	0
4815	end dive: BOTTOM_OBSTACLE_DETECTED
state	4815	begin apogee
4822	-0.12	0.0	542.9	8.8	481	4955	0.43	0.00	126.85	1.274	6	0.189	0.000	2812	2270	3029	0	0	0	0	0	0
4956	end apogee: CONTROL_FINISHED_OK
state	4956	begin climb
4959	0.62	146.0	547.8	0.0	493	5101	0.82	2.70	133.70	1.227	4	0.146	0.084	3063	874	2432	0	0	0	0	0	0
5135	0.60	146.0	537.9	11.2	509	5142	0.00	2.62	0.00	0.000	6	0.000	0.070	3063	2282	2429	0	0	0	0	0	0
5461	0.55	147.7	504.6	9.9	540	5465	0.00	2.40	0.00	0.000	4	0.000	0.087	3063	3692	2426	0	0	0	0	0	0
5535	0.45	147.7	496.6	11.3	546	5540	0.22	2.38	0.00	0.000	6	0.184	0.071	3016	2278	2426	0	0	0	0	0	0
5860	0.57	209.7	472.4	7.1	576	5927	0.00	2.50	55.97	1.184	4	0.000	0.087	3023	870	2173	0	0	0	0	0	0
5947	0.75	272.4	466.3	7.1	583	6012	0.22	2.40	58.45	1.164	6	0.085	0.071	3114	2285	1919	0	0	0	0	0	0
6332	0.67	272.4	407.0	16.0	619	6337	0.12	2.38	0.00	0.000	4	0.194	0.085	3082	3685	1909	0	0	0	0	0	0
6395	0.67	272.4	397.7	13.9	624	6399	0.00	2.35	0.00	0.000	6	0.000	0.072	3090	2277	1907	0	0	0	0	0	0
6721	0.65	272.4	356.0	13.1	654	6725	0.00	2.35	0.00	0.000	4	0.000	0.084	3101	863	1906	0	0	0	0	0	0
6783	0.65	272.4	348.4	12.0	659	6787	0.00	2.35	0.00	0.000	6	0.000	0.072	3101	2275	1904	0	0	0	0	0	0
7109	0.61	272.4	304.3	13.8	689	7114	0.15	2.38	0.00	0.000	4	0.184	0.086	3062	3694	1904	0	0	0	0	0	0
7164	0.64	272.4	296.9	11.7	693	7171	0.00	2.38	0.00	0.000	6	0.000	0.079	3071	2274	1902	0	0	0	0	0	0
7490	0.69	272.4	261.2	10.9	724	7494	0.00	2.35	0.00	0.000	4	0.000	0.084	3081	863	1902	0	0	0	0	0	0
7554	0.75	272.4	254.4	11.3	729	7558	0.00	2.35	0.00	0.000	6	0.000	0.071	3081	2282	1901	0	0	0	0	0	0
7885	0.78	272.4	218.1	10.9	760	7890	0.10	2.35	0.00	0.000	4	0.116	0.086	3125	3686	1901	0	0	0	0	0	0
7948	0.70	272.4	208.6	16.0	765	7953	0.17	2.35	0.00	0.000	6	0.201	0.072	3093	2277	1900	0	0	0	0	0	0
8274	0.73	272.4	169.8	11.7	795	8278	0.00	2.38	0.00	0.000	4	0.000	0.085	3101	862	1901	0	0	0	0	0	0
8335	0.77	272.4	162.5	12.5	800	8342	0.00	2.33	0.00	0.000	6	0.000	0.071	3102	2274	1900	0	0	0	0	0	0
8661	0.79	272.8	126.5	10.0	831	8665	0.00	2.38	0.00	0.000	4	0.000	0.086	3101	3694	1900	0	0	0	0	0	0
8701	0.79	272.8	122.0	11.6	834	8705	0.00	2.38	0.00	0.000	6	0.000	0.071	3111	2266	1900	0	0	0	0	0	0
9034	0.85	291.5	89.0	9.1	874	9052	0.00	0.00	15.73	0.981	6	0.000	0.000	3111	2266	1841	0	0	0	0	0	0
9395	0.91	299.7	56.2	9.6	937	9409	0.12	2.42	8.82	0.909	4	0.107	0.087	3176	864	1808	0	0	0	0	0	0
9451	0.87	299.7	49.1	13.4	946	9458	0.12	2.35	0.00	0.000	6	0.203	0.074	3148	2281	1807	0	0	0	0	0	0
9766	end climb: SURFACE_OBSTACLE_DETECTED
state	9766	begin subsurface finish
9773	0.10	78.0	11.7	-13.6	1002	9809	0.82	0.00	-27.75	0.000	6	0.177	0.000	2905	2281	2716	0	0	0	0	0	0
9810	end subsurface finish: CONTROL_FINISHED_OK
state	9810	begin surface