Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 684 * 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 684 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 18 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 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 18 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 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 684 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 250511,001937,6647.322,-6024.583,0,5100.0,0,-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 13.79 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 250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 117.1,159076,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 537

Post-dive calculations and measurements:

FREEZE 8.70,-1.704,-1.772,2,47,0 ALTIM_TOP_PING 19.6,19.4

FINISH1 8.7,1.025953,76 _24V_AH 21.2,91.337

FINISH2 5.9 _10V_AH 9.8,47.172

RAFOS_CLK 542 FG_AHR_24Vo 0.000

RAFOS 0,1306296068,4.033333,4.018889,114,77,59,49,47,47,599,214,172,132,144,118 FG_AHR_10Vo 0.000

RAFOS_FIX 6646.500488,-6019.815430,250511,040428,2,122,0.28 MEM 150616

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 36738,991

TT8_MAMPS 0.029211 CAP_FILE_SIZE 115372,0

HUMID 48.11 CFSIZE 260165632,208752640

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.0

XPDR_PINGS 9 GPS 250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 224 27.89 SBE_CT 707 24 360.03

Roll_motor 108 106 244.54 SBE_O2 751 19 302.67

VBD_pump_during_apogee 461 1273 12472.00 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 33.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2371 19 462.86

LPSleep 5012 2 113.46

TT8_Active 526 19 102.70

TT8_Sampling 1653 39 646.73

TT8_CF8 222 45 100.03

TT8_Kalman 0 0 0.00

Analog_circuits 1441 12 169.46

GPS_charging 0 0 0.00

Compass 1640 15 241.10

RAFOS 1080 1 15.88

Transponder 11 30 3.37

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.60 0.000 2 0.000 0.000 2905 2281 2964 0 0 0 0 0 0

27 -0.62 -146.0 14.9 -0.0 1 52 0.68 2.85 -14.48 0.000 4 0.093 0.106 2663 3893 3631 0 0 0 0 0 0

116 -0.54 -146.0 28.9 -18.2 16 123 0.00 2.30 0.00 0.000 6 0.000 0.066 2663 2482 3633 0 0 0 0 0 0

468 -0.36 -146.0 104.7 -21.9 76 474 0.28 2.45 0.00 0.000 4 0.225 0.090 2735 3898 3632 0 0 0 0 0 0

627 -0.46 -146.0 122.2 -8.8 89 634 0.00 2.30 0.00 0.000 6 0.000 0.067 2735 2489 3632 0 0 0 0 0 0

956 -0.52 -146.0 153.1 -9.5 120 960 0.12 2.38 0.00 0.000 4 0.135 0.082 2693 1072 3632 0 0 0 0 0 0

1041 -0.52 -146.0 163.4 -12.2 127 1045 0.00 2.40 0.00 0.000 6 0.000 0.081 2693 2486 3631 0 0 0 0 0 0

1367 -0.48 -146.0 205.3 -13.0 157 1371 0.00 2.45 0.00 0.000 4 0.000 0.096 2693 3910 3631 0 0 0 0 0 0

1407 -0.48 -146.0 210.4 -12.6 160 1411 0.00 2.35 0.00 0.000 6 0.000 0.069 2693 2481 3631 0 0 0 0 0 0

1733 -0.45 -146.0 249.3 -11.9 190 1738 0.00 2.35 0.00 0.000 4 0.000 0.083 2693 1079 3630 0 0 0 0 0 0

1750 -0.42 -146.0 251.7 -11.8 191 1757 0.12 2.40 0.00 0.000 6 0.218 0.082 2720 2489 3630 0 0 0 0 0 0

2079 -0.49 -146.0 280.5 -8.7 222 2083 0.00 2.42 0.00 0.000 4 0.000 0.096 2719 3899 3630 0 0 0 0 0 0

2108 -0.56 -146.0 283.3 -8.5 224 2113 0.12 2.33 0.00 0.000 6 0.125 0.068 2678 2485 3630 0 0 0 0 0 0

2435 -0.51 -146.0 321.1 -11.5 254 2439 0.00 2.35 0.00 0.000 4 0.000 0.081 2678 1073 3630 0 0 0 0 0 0

2474 -0.49 -146.0 326.1 -11.7 257 2481 0.00 2.42 0.00 0.000 6 0.000 0.080 2678 2496 3630 0 0 0 0 0 0

2801 -0.44 -146.0 362.3 -11.2 288 2803 0.15 0.00 0.00 0.000 6 0.216 0.000 2713 2496 3630 0 0 0 0 0 0

3120 -0.50 -146.0 388.3 -8.1 318 3124 0.00 2.40 0.00 0.000 4 0.000 0.093 2713 3900 3631 0 0 0 0 0 0

3165 -0.61 -146.0 392.2 -8.6 321 3173 0.15 2.30 0.00 0.000 6 0.116 0.065 2664 2488 3631 0 0 0 0 0 0

3491 -0.54 -146.0 431.1 -11.6 352 3495 0.00 2.35 0.00 0.000 4 0.000 0.080 2664 1068 3631 0 0 0 0 0 0

3569 -0.54 -146.0 440.7 -11.4 358 3576 0.00 2.42 0.00 0.000 6 0.000 0.078 2664 2498 3631 0 0 0 0 0 0

3896 -0.48 -146.0 479.1 -11.9 389 3901 0.17 2.40 0.00 0.000 4 0.214 0.080 2706 1078 3630 0 0 0 0 0 0

3931 -0.52 -146.0 483.0 -9.8 391 3938 0.00 2.38 0.00 0.000 6 0.000 0.076 2706 2490 3631 0 0 0 0 0 0

4259 -0.59 -146.0 509.1 -8.3 422 4265 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2490 3631 0 0 0 0 0 0

4588 -0.65 -146.0 535.8 -8.7 453 4593 0.15 2.47 0.00 0.000 4 0.116 0.093 2652 3911 3631 0 0 0 0 0 0

4596 end dive: TARGET_DEPTH_EXCEEDED

state 4596 begin apogee

4604 -0.12 0.0 537.2 8.9 453 4744 0.60 0.00 127.12 1.274 6 0.197 0.000 2814 2266 3030 0 0 0 0 0 0

4744 end apogee: CONTROL_FINISHED_OK

state 4744 begin climb

4747 0.62 146.0 543.1 0.0 466 4892 0.82 2.70 133.70 1.228 4 0.148 0.084 3063 873 2432 0 0 0 0 0 0

4950 0.62 150.8 531.8 9.8 484 4963 0.00 2.58 5.05 0.826 6 0.000 0.070 3063 2284 2415 0 0 0 0 0 0

5282 0.57 150.8 497.5 10.5 515 5286 0.00 2.40 0.00 0.000 4 0.000 0.087 3063 3694 2412 0 0 0 0 0 0

5384 0.47 150.8 485.4 11.7 524 5389 0.20 2.38 0.00 0.000 6 0.182 0.070 3023 2274 2411 0 0 0 0 0 0

5710 0.56 192.9 459.1 8.1 554 5755 0.00 2.42 38.30 1.173 4 0.000 0.085 3030 859 2241 0 0 0 0 0 0

5796 0.68 221.5 452.0 8.7 561 5829 0.15 2.40 26.75 1.140 6 0.101 0.079 3096 2288 2127 0 0 0 0 0 0

6156 0.59 221.5 401.7 14.6 595 6160 0.15 2.38 0.00 0.000 4 0.184 0.085 3058 3699 2121 0 0 0 0 0 0

6211 0.59 221.5 394.1 12.0 599 6218 0.00 2.38 0.00 0.000 6 0.000 0.070 3066 2265 2119 0 0 0 0 0 0

6536 0.59 221.5 356.6 11.1 630 6540 0.00 2.33 0.00 0.000 4 0.000 0.084 3077 864 2119 0 0 0 0 0 0

6577 0.59 221.5 352.1 11.0 633 6581 0.00 2.33 0.00 0.000 6 0.000 0.072 3077 2277 2117 0 0 0 0 0 0

6902 0.57 221.5 314.1 11.4 663 6906 0.00 2.35 0.00 0.000 4 0.000 0.086 3077 3687 2117 0 0 0 0 0 0

6975 0.52 221.5 304.6 12.8 669 6982 0.20 2.33 0.00 0.000 6 0.182 0.071 3035 2274 2117 0 0 0 0 0 0

7301 0.64 261.0 277.1 8.2 700 7346 0.10 2.45 35.50 1.087 4 0.123 0.085 3094 860 1966 0 0 0 0 0 0

7388 0.64 261.0 266.9 12.5 707 7394 0.00 2.38 0.00 0.000 6 0.000 0.070 3095 2275 1962 0 0 0 0 0 0

7713 0.61 261.0 222.6 13.1 738 7718 0.12 2.38 0.00 0.000 4 0.184 0.085 3063 3686 1960 0 0 0 0 0 0

7781 0.63 261.0 214.3 11.4 743 7788 0.00 2.35 0.00 0.000 6 0.000 0.070 3072 2272 1958 0 0 0 0 0 0

8107 0.68 268.7 180.2 9.6 774 8120 0.00 2.42 7.68 0.920 4 0.000 0.084 3082 862 1933 0 0 0 0 0 0

8146 0.75 279.7 176.6 9.5 777 8168 0.00 2.35 12.27 0.988 6 0.000 0.070 3082 2277 1888 0 0 0 0 0 0

8487 0.83 296.0 143.7 9.3 809 8511 0.15 2.38 16.25 0.993 4 0.098 0.085 3143 3690 1821 0 0 0 0 0 0

8576 0.75 296.0 131.0 15.8 816 8583 0.17 2.38 0.00 0.000 6 0.208 0.071 3111 2269 1819 0 0 0 0 0 0

8905 0.77 296.0 95.1 10.4 851 8911 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2268 1818 0 0 0 0 0 0

9251 0.85 309.5 61.8 9.4 912 9270 0.00 2.38 13.00 0.949 4 0.000 0.087 3114 859 1767 0 0 0 0 0 0

9359 1.00 358.9 53.5 7.7 930 9412 0.20 2.38 46.25 0.978 6 0.096 0.073 3190 2280 1566 0 0 0 0 0 0

9650 end climb: FINISH_DEPTH_REACHED

state 9650 begin subsurface finish

9657 0.09 75.9 8.7 -17.1 981 9718 1.02 2.47 -52.83 0.000 4 0.190 0.103 2903 3687 2722 0 0 0 0 0 0

9718 end subsurface finish: CONTROL_FINISHED_OK

state 9718 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	684	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	18	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	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	250511,001937,6647.322,-6024.583,0,5100.0,0,-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	13.79	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	250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	117.1,159076,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	537

FREEZE	8.70,-1.704,-1.772,2,47,0	ALTIM_TOP_PING	19.6,19.4
FINISH1	8.7,1.025953,76	_24V_AH	21.2,91.337
FINISH2	5.9	_10V_AH	9.8,47.172
RAFOS_CLK	542	FG_AHR_24Vo	0.000
RAFOS	0,1306296068,4.033333,4.018889,114,77,59,49,47,47,599,214,172,132,144,118	FG_AHR_10Vo	0.000
RAFOS_FIX	6646.500488,-6019.815430,250511,040428,2,122,0.28	MEM	150616
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	36738,991
TT8_MAMPS	0.029211	CAP_FILE_SIZE	115372,0
HUMID	48.11	CFSIZE	260165632,208752640
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.0
XPDR_PINGS	9	GPS	250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	224	27.89	SBE_CT	707	24	360.03
Roll_motor	108	106	244.54	SBE_O2	751	19	302.67
VBD_pump_during_apogee	461	1273	12472.00	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	33.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2371	19	462.86
LPSleep	5012	2	113.46
TT8_Active	526	19	102.70
TT8_Sampling	1653	39	646.73
TT8_CF8	222	45	100.03
TT8_Kalman	0	0	0.00
Analog_circuits	1441	12	169.46
GPS_charging	0	0	0.00
Compass	1640	15	241.10
RAFOS	1080	1	15.88
Transponder	11	30	3.37

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.60	0.000	2	0.000	0.000	2905	2281	2964	0	0	0	0	0	0
27	-0.62	-146.0	14.9	-0.0	1	52	0.68	2.85	-14.48	0.000	4	0.093	0.106	2663	3893	3631	0	0	0	0	0	0
116	-0.54	-146.0	28.9	-18.2	16	123	0.00	2.30	0.00	0.000	6	0.000	0.066	2663	2482	3633	0	0	0	0	0	0
468	-0.36	-146.0	104.7	-21.9	76	474	0.28	2.45	0.00	0.000	4	0.225	0.090	2735	3898	3632	0	0	0	0	0	0
627	-0.46	-146.0	122.2	-8.8	89	634	0.00	2.30	0.00	0.000	6	0.000	0.067	2735	2489	3632	0	0	0	0	0	0
956	-0.52	-146.0	153.1	-9.5	120	960	0.12	2.38	0.00	0.000	4	0.135	0.082	2693	1072	3632	0	0	0	0	0	0
1041	-0.52	-146.0	163.4	-12.2	127	1045	0.00	2.40	0.00	0.000	6	0.000	0.081	2693	2486	3631	0	0	0	0	0	0
1367	-0.48	-146.0	205.3	-13.0	157	1371	0.00	2.45	0.00	0.000	4	0.000	0.096	2693	3910	3631	0	0	0	0	0	0
1407	-0.48	-146.0	210.4	-12.6	160	1411	0.00	2.35	0.00	0.000	6	0.000	0.069	2693	2481	3631	0	0	0	0	0	0
1733	-0.45	-146.0	249.3	-11.9	190	1738	0.00	2.35	0.00	0.000	4	0.000	0.083	2693	1079	3630	0	0	0	0	0	0
1750	-0.42	-146.0	251.7	-11.8	191	1757	0.12	2.40	0.00	0.000	6	0.218	0.082	2720	2489	3630	0	0	0	0	0	0
2079	-0.49	-146.0	280.5	-8.7	222	2083	0.00	2.42	0.00	0.000	4	0.000	0.096	2719	3899	3630	0	0	0	0	0	0
2108	-0.56	-146.0	283.3	-8.5	224	2113	0.12	2.33	0.00	0.000	6	0.125	0.068	2678	2485	3630	0	0	0	0	0	0
2435	-0.51	-146.0	321.1	-11.5	254	2439	0.00	2.35	0.00	0.000	4	0.000	0.081	2678	1073	3630	0	0	0	0	0	0
2474	-0.49	-146.0	326.1	-11.7	257	2481	0.00	2.42	0.00	0.000	6	0.000	0.080	2678	2496	3630	0	0	0	0	0	0
2801	-0.44	-146.0	362.3	-11.2	288	2803	0.15	0.00	0.00	0.000	6	0.216	0.000	2713	2496	3630	0	0	0	0	0	0
3120	-0.50	-146.0	388.3	-8.1	318	3124	0.00	2.40	0.00	0.000	4	0.000	0.093	2713	3900	3631	0	0	0	0	0	0
3165	-0.61	-146.0	392.2	-8.6	321	3173	0.15	2.30	0.00	0.000	6	0.116	0.065	2664	2488	3631	0	0	0	0	0	0
3491	-0.54	-146.0	431.1	-11.6	352	3495	0.00	2.35	0.00	0.000	4	0.000	0.080	2664	1068	3631	0	0	0	0	0	0
3569	-0.54	-146.0	440.7	-11.4	358	3576	0.00	2.42	0.00	0.000	6	0.000	0.078	2664	2498	3631	0	0	0	0	0	0
3896	-0.48	-146.0	479.1	-11.9	389	3901	0.17	2.40	0.00	0.000	4	0.214	0.080	2706	1078	3630	0	0	0	0	0	0
3931	-0.52	-146.0	483.0	-9.8	391	3938	0.00	2.38	0.00	0.000	6	0.000	0.076	2706	2490	3631	0	0	0	0	0	0
4259	-0.59	-146.0	509.1	-8.3	422	4265	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2490	3631	0	0	0	0	0	0
4588	-0.65	-146.0	535.8	-8.7	453	4593	0.15	2.47	0.00	0.000	4	0.116	0.093	2652	3911	3631	0	0	0	0	0	0
4596	end dive: TARGET_DEPTH_EXCEEDED
state	4596	begin apogee
4604	-0.12	0.0	537.2	8.9	453	4744	0.60	0.00	127.12	1.274	6	0.197	0.000	2814	2266	3030	0	0	0	0	0	0
4744	end apogee: CONTROL_FINISHED_OK
state	4744	begin climb
4747	0.62	146.0	543.1	0.0	466	4892	0.82	2.70	133.70	1.228	4	0.148	0.084	3063	873	2432	0	0	0	0	0	0
4950	0.62	150.8	531.8	9.8	484	4963	0.00	2.58	5.05	0.826	6	0.000	0.070	3063	2284	2415	0	0	0	0	0	0
5282	0.57	150.8	497.5	10.5	515	5286	0.00	2.40	0.00	0.000	4	0.000	0.087	3063	3694	2412	0	0	0	0	0	0
5384	0.47	150.8	485.4	11.7	524	5389	0.20	2.38	0.00	0.000	6	0.182	0.070	3023	2274	2411	0	0	0	0	0	0
5710	0.56	192.9	459.1	8.1	554	5755	0.00	2.42	38.30	1.173	4	0.000	0.085	3030	859	2241	0	0	0	0	0	0
5796	0.68	221.5	452.0	8.7	561	5829	0.15	2.40	26.75	1.140	6	0.101	0.079	3096	2288	2127	0	0	0	0	0	0
6156	0.59	221.5	401.7	14.6	595	6160	0.15	2.38	0.00	0.000	4	0.184	0.085	3058	3699	2121	0	0	0	0	0	0
6211	0.59	221.5	394.1	12.0	599	6218	0.00	2.38	0.00	0.000	6	0.000	0.070	3066	2265	2119	0	0	0	0	0	0
6536	0.59	221.5	356.6	11.1	630	6540	0.00	2.33	0.00	0.000	4	0.000	0.084	3077	864	2119	0	0	0	0	0	0
6577	0.59	221.5	352.1	11.0	633	6581	0.00	2.33	0.00	0.000	6	0.000	0.072	3077	2277	2117	0	0	0	0	0	0
6902	0.57	221.5	314.1	11.4	663	6906	0.00	2.35	0.00	0.000	4	0.000	0.086	3077	3687	2117	0	0	0	0	0	0
6975	0.52	221.5	304.6	12.8	669	6982	0.20	2.33	0.00	0.000	6	0.182	0.071	3035	2274	2117	0	0	0	0	0	0
7301	0.64	261.0	277.1	8.2	700	7346	0.10	2.45	35.50	1.087	4	0.123	0.085	3094	860	1966	0	0	0	0	0	0
7388	0.64	261.0	266.9	12.5	707	7394	0.00	2.38	0.00	0.000	6	0.000	0.070	3095	2275	1962	0	0	0	0	0	0
7713	0.61	261.0	222.6	13.1	738	7718	0.12	2.38	0.00	0.000	4	0.184	0.085	3063	3686	1960	0	0	0	0	0	0
7781	0.63	261.0	214.3	11.4	743	7788	0.00	2.35	0.00	0.000	6	0.000	0.070	3072	2272	1958	0	0	0	0	0	0
8107	0.68	268.7	180.2	9.6	774	8120	0.00	2.42	7.68	0.920	4	0.000	0.084	3082	862	1933	0	0	0	0	0	0
8146	0.75	279.7	176.6	9.5	777	8168	0.00	2.35	12.27	0.988	6	0.000	0.070	3082	2277	1888	0	0	0	0	0	0
8487	0.83	296.0	143.7	9.3	809	8511	0.15	2.38	16.25	0.993	4	0.098	0.085	3143	3690	1821	0	0	0	0	0	0
8576	0.75	296.0	131.0	15.8	816	8583	0.17	2.38	0.00	0.000	6	0.208	0.071	3111	2269	1819	0	0	0	0	0	0
8905	0.77	296.0	95.1	10.4	851	8911	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2268	1818	0	0	0	0	0	0
9251	0.85	309.5	61.8	9.4	912	9270	0.00	2.38	13.00	0.949	4	0.000	0.087	3114	859	1767	0	0	0	0	0	0
9359	1.00	358.9	53.5	7.7	930	9412	0.20	2.38	46.25	0.978	6	0.096	0.073	3190	2280	1566	0	0	0	0	0	0
9650	end climb: FINISH_DEPTH_REACHED
state	9650	begin subsurface finish
9657	0.09	75.9	8.7	-17.1	981	9718	1.02	2.47	-52.83	0.000	4	0.190	0.103	2903	3687	2722	0	0	0	0	0	0
9718	end subsurface finish: CONTROL_FINISHED_OK
state	9718	begin surface