Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 685 * 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 685 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 685 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 250511,040728,6646.500,-6019.815,0,2121.5,0,-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 10.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 116.3,155984,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 538

Post-dive calculations and measurements:

FREEZE 8.89,-1.689,-1.773,2,48,0 ALTIM_TOP_PING 19.9,15.8

FINISH1 8.9,1.025960,75 _24V_AH 21.2,91.467

FINISH2 8.0 _10V_AH 9.8,47.235

RAFOS_CLK 559 FG_AHR_24Vo 0.000

RAFOS 2,1306297024,4.300000,4.284444,97,59,54,53,52,51,674,208,196,117,160,149 FG_AHR_10Vo 0.000

RAFOS_FIX 6649.457031,-6017.288086,250511,040432,6,93,5.64 MEM 150560

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40010,1032

TT8_MAMPS 0.026964 CAP_FILE_SIZE 115923,0

HUMID 48.85 CFSIZE 260165632,208683008

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

TCM_TEMP 16.20 SOUNDSPEED 1451.7

XPDR_PINGS 6 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 4 218 20.45 SBE_CT 738 24 375.87

Roll_motor 100 179 384.74 SBE_O2 785 19 316.37

VBD_pump_during_apogee 383 1276 10369.69 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 26.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2498 19 487.78

LPSleep 5259 2 119.07

TT8_Active 433 19 84.63

TT8_Sampling 1706 39 667.77

TT8_CF8 217 45 97.99

TT8_Kalman 0 0 0.00

Analog_circuits 1352 12 159.11

GPS_charging 0 0 0.00

Compass 1692 15 248.87

RAFOS 1440 1 21.17

Transponder 13 30 4.10

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

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.20 0.000 2 0.000 0.000 2903 3687 2954 0 0 0 0 0 0

28 -0.62 -146.0 11.8 -0.0 1 52 0.70 0.35 -16.88 0.000 4 0.116 0.180 2667 3896 3628 0 0 0 0 0 0

162 -0.52 -146.0 33.5 -19.2 24 168 0.00 2.30 0.00 0.000 6 0.000 0.064 2667 2480 3630 0 0 0 0 0 0

506 -0.37 -146.0 105.2 -20.2 83 511 0.25 2.33 0.00 0.000 4 0.218 0.079 2733 1079 3630 0 0 0 0 0 0

639 -0.43 -146.0 120.7 -9.2 94 643 0.00 2.38 0.00 0.000 6 0.000 0.078 2733 2487 3630 0 0 0 0 0 0

965 -0.48 -146.0 154.3 -9.7 124 966 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2487 3629 0 0 0 0 0 0

1284 -0.54 -146.0 180.5 -8.7 154 1286 0.15 0.00 0.00 0.000 6 0.120 0.000 2681 2487 3628 0 0 0 0 0 0

1602 -0.48 -146.0 222.4 -12.7 184 1606 0.00 2.45 0.00 0.000 4 0.000 0.095 2681 3906 3628 0 0 0 0 0 0

1676 -0.48 -146.0 231.8 -12.0 190 1680 0.00 2.35 0.00 0.000 6 0.000 0.066 2681 2479 3628 0 0 0 0 0 0

2002 -0.43 -146.0 273.9 -12.9 220 2007 0.15 2.35 0.00 0.000 4 0.210 0.082 2716 1078 3628 0 0 0 0 0 0

2043 -0.50 -146.0 278.4 -10.2 223 2047 0.00 2.40 0.00 0.000 6 0.000 0.080 2716 2491 3628 0 0 0 0 0 0

2369 -0.55 -146.0 306.7 -8.5 253 2373 0.00 2.45 0.00 0.000 4 0.000 0.095 2716 3908 3627 0 0 0 0 0 0

2398 -0.62 -146.0 309.2 -8.6 255 2403 0.17 2.33 0.00 0.000 6 0.106 0.067 2656 2485 3628 0 0 0 0 0 0

2724 -0.52 -146.0 353.3 -14.0 285 2729 0.15 2.38 0.00 0.000 4 0.208 0.080 2691 1077 3628 0 0 0 0 0 0

2797 -0.56 -146.0 361.6 -10.0 291 2804 0.00 2.40 0.00 0.000 6 0.000 0.078 2691 2496 3628 0 0 0 0 0 0

3123 -0.56 -146.0 394.1 -9.7 322 3124 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2496 3628 0 0 0 0 0 0

3444 -0.56 -146.0 424.7 -9.2 352 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2496 3627 0 0 0 0 0 0

3772 -0.56 -146.0 456.8 -9.8 383 3776 0.00 2.38 0.00 0.000 4 0.000 0.079 2691 1071 3628 0 0 0 0 0 0

3817 -0.60 -146.0 461.5 -9.8 386 3824 0.00 2.40 0.00 0.000 6 0.000 0.076 2691 2493 3628 0 0 0 0 0 0

4143 -0.60 -146.0 490.7 -9.2 417 4147 0.00 2.42 0.00 0.000 4 0.000 0.093 2691 3902 3628 0 0 0 0 0 0

4162 -0.60 -146.0 492.4 -9.3 418 4166 0.00 2.30 0.00 0.000 6 0.000 0.064 2691 2489 3628 0 0 0 0 0 0

4487 -0.60 -146.0 522.7 -8.8 448 4491 0.00 2.33 0.00 0.000 4 0.000 0.077 2691 1077 3629 0 0 0 0 0 0

4518 -0.64 -146.0 525.5 -9.4 450 4522 0.00 2.38 0.00 0.000 6 0.000 0.076 2691 2489 3629 0 0 0 0 0 0

4650 end dive: TARGET_DEPTH_EXCEEDED

state 4650 begin apogee

4656 -0.12 0.0 538.2 9.6 462 4790 0.43 0.00 126.15 1.277 6 0.190 0.000 2813 2267 3030 0 0 0 0 0 0

4791 end apogee: CONTROL_FINISHED_OK

state 4791 begin climb

4793 0.62 146.0 543.4 0.0 474 4938 0.82 2.70 133.62 1.227 4 0.142 0.084 3065 875 2431 0 0 0 0 0 0

5001 0.60 149.9 531.0 9.8 492 5011 0.00 2.55 4.20 0.731 6 0.000 0.070 3065 2277 2418 0 0 0 0 0 0

5337 0.54 149.9 496.1 10.5 524 5342 0.00 2.40 0.00 0.000 4 0.000 0.086 3065 3692 2415 0 0 0 0 0 0

5428 0.44 149.9 485.3 13.0 531 5435 0.25 2.38 0.00 0.000 6 0.183 0.070 3011 2272 2415 0 0 0 0 0 0

5755 0.58 216.4 462.4 6.9 562 5822 0.12 2.53 59.90 1.183 4 0.107 0.086 3079 857 2146 0 0 0 0 0 0

5857 0.58 216.4 451.7 12.0 571 5861 0.00 2.40 0.00 0.000 6 0.000 0.071 3079 2280 2142 0 0 0 0 0 0

6183 0.53 216.4 409.2 12.6 601 6188 0.15 2.35 0.00 0.000 4 0.181 0.085 3040 3692 2138 0 0 0 0 0 0

6252 0.55 216.4 401.3 11.3 606 6259 0.00 2.35 0.00 0.000 6 0.000 0.070 3048 2273 2137 0 0 0 0 0 0

6578 0.60 228.0 369.5 9.5 637 6593 0.00 2.40 10.00 1.025 4 0.000 0.084 3057 857 2100 0 0 0 0 0 0

6640 0.66 228.0 363.4 10.2 642 6646 0.00 2.35 0.00 0.000 6 0.000 0.071 3057 2282 2098 0 0 0 0 0 0

6965 0.66 228.0 329.2 10.2 673 6969 0.00 2.35 0.00 0.000 4 0.000 0.085 3057 3690 2097 0 0 0 0 0 0

7027 0.66 228.0 321.9 12.1 678 7031 0.00 2.35 0.00 0.000 6 0.000 0.069 3068 2266 2097 0 0 0 0 0 0

7353 0.66 228.0 286.1 10.6 708 7357 0.00 2.33 0.00 0.000 4 0.000 0.083 3078 864 2096 0 0 0 0 0 0

7397 0.68 228.0 281.3 10.6 711 7404 0.00 2.35 0.00 0.000 6 0.000 0.069 3079 2285 2095 0 0 0 0 0 0

7722 0.68 228.0 246.6 10.7 742 7727 0.00 2.35 0.00 0.000 4 0.000 0.084 3078 3698 2096 0 0 0 0 0 0

7774 0.64 228.0 240.7 11.2 746 7779 0.00 2.35 0.00 0.000 6 0.000 0.069 3088 2264 2096 0 0 0 0 0 0

8106 0.62 228.0 205.2 11.3 777 8110 0.00 2.35 0.00 0.000 4 0.000 0.083 3098 862 2096 0 0 0 0 0 0

8146 0.62 228.0 200.8 11.3 780 8151 0.15 2.35 0.00 0.000 6 0.179 0.070 3061 2278 2095 0 0 0 0 0 0

8472 0.71 260.4 172.4 8.5 810 8509 0.00 2.45 30.23 1.050 4 0.000 0.086 3061 3687 1968 0 0 0 0 0 0

8556 0.77 260.4 164.3 10.8 817 8564 0.12 2.38 0.00 0.000 6 0.106 0.079 3120 2274 1965 0 0 0 0 0 0

8882 0.73 260.4 122.3 11.1 848 8886 0.00 2.35 0.00 0.000 4 0.000 0.086 3129 866 1963 0 0 0 0 0 0

8948 0.76 279.7 115.4 9.1 853 8977 0.00 2.38 19.00 0.999 6 0.000 0.080 3130 2283 1888 0 0 0 0 0 0

9308 0.76 279.7 72.8 12.0 905 9314 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2283 1884 0 0 0 0 0 0

9653 0.76 279.7 35.5 10.4 966 9659 0.00 2.38 0.00 0.000 4 0.000 0.086 3130 3687 1883 0 0 0 0 0 0

9723 0.73 279.7 28.5 10.2 978 9731 0.15 2.35 0.00 0.000 6 0.197 0.072 3103 2277 1882 0 0 0 0 0 0

9991 end climb: FINISH_DEPTH_REACHED

state 9991 begin subsurface finish

9999 0.09 75.5 8.9 -7.1 1025 10041 0.65 2.47 -31.15 0.000 4 0.160 0.096 2903 855 2726 0 0 0 0 0 0

10042 end subsurface finish: CONTROL_FINISHED_OK

state 10042 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	685	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	250511,040728,6646.500,-6019.815,0,2121.5,0,-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	10.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	116.3,155984,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	538

FREEZE	8.89,-1.689,-1.773,2,48,0	ALTIM_TOP_PING	19.9,15.8
FINISH1	8.9,1.025960,75	_24V_AH	21.2,91.467
FINISH2	8.0	_10V_AH	9.8,47.235
RAFOS_CLK	559	FG_AHR_24Vo	0.000
RAFOS	2,1306297024,4.300000,4.284444,97,59,54,53,52,51,674,208,196,117,160,149	FG_AHR_10Vo	0.000
RAFOS_FIX	6649.457031,-6017.288086,250511,040432,6,93,5.64	MEM	150560
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40010,1032
TT8_MAMPS	0.026964	CAP_FILE_SIZE	115923,0
HUMID	48.85	CFSIZE	260165632,208683008
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1451.7
XPDR_PINGS	6	GPS	250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	218	20.45	SBE_CT	738	24	375.87
Roll_motor	100	179	384.74	SBE_O2	785	19	316.37
VBD_pump_during_apogee	383	1276	10369.69	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	26.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2498	19	487.78
LPSleep	5259	2	119.07
TT8_Active	433	19	84.63
TT8_Sampling	1706	39	667.77
TT8_CF8	217	45	97.99
TT8_Kalman	0	0	0.00
Analog_circuits	1352	12	159.11
GPS_charging	0	0	0.00
Compass	1692	15	248.87
RAFOS	1440	1	21.17
Transponder	13	30	4.10

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
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.20	0.000	2	0.000	0.000	2903	3687	2954	0	0	0	0	0	0
28	-0.62	-146.0	11.8	-0.0	1	52	0.70	0.35	-16.88	0.000	4	0.116	0.180	2667	3896	3628	0	0	0	0	0	0
162	-0.52	-146.0	33.5	-19.2	24	168	0.00	2.30	0.00	0.000	6	0.000	0.064	2667	2480	3630	0	0	0	0	0	0
506	-0.37	-146.0	105.2	-20.2	83	511	0.25	2.33	0.00	0.000	4	0.218	0.079	2733	1079	3630	0	0	0	0	0	0
639	-0.43	-146.0	120.7	-9.2	94	643	0.00	2.38	0.00	0.000	6	0.000	0.078	2733	2487	3630	0	0	0	0	0	0
965	-0.48	-146.0	154.3	-9.7	124	966	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2487	3629	0	0	0	0	0	0
1284	-0.54	-146.0	180.5	-8.7	154	1286	0.15	0.00	0.00	0.000	6	0.120	0.000	2681	2487	3628	0	0	0	0	0	0
1602	-0.48	-146.0	222.4	-12.7	184	1606	0.00	2.45	0.00	0.000	4	0.000	0.095	2681	3906	3628	0	0	0	0	0	0
1676	-0.48	-146.0	231.8	-12.0	190	1680	0.00	2.35	0.00	0.000	6	0.000	0.066	2681	2479	3628	0	0	0	0	0	0
2002	-0.43	-146.0	273.9	-12.9	220	2007	0.15	2.35	0.00	0.000	4	0.210	0.082	2716	1078	3628	0	0	0	0	0	0
2043	-0.50	-146.0	278.4	-10.2	223	2047	0.00	2.40	0.00	0.000	6	0.000	0.080	2716	2491	3628	0	0	0	0	0	0
2369	-0.55	-146.0	306.7	-8.5	253	2373	0.00	2.45	0.00	0.000	4	0.000	0.095	2716	3908	3627	0	0	0	0	0	0
2398	-0.62	-146.0	309.2	-8.6	255	2403	0.17	2.33	0.00	0.000	6	0.106	0.067	2656	2485	3628	0	0	0	0	0	0
2724	-0.52	-146.0	353.3	-14.0	285	2729	0.15	2.38	0.00	0.000	4	0.208	0.080	2691	1077	3628	0	0	0	0	0	0
2797	-0.56	-146.0	361.6	-10.0	291	2804	0.00	2.40	0.00	0.000	6	0.000	0.078	2691	2496	3628	0	0	0	0	0	0
3123	-0.56	-146.0	394.1	-9.7	322	3124	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2496	3628	0	0	0	0	0	0
3444	-0.56	-146.0	424.7	-9.2	352	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2496	3627	0	0	0	0	0	0
3772	-0.56	-146.0	456.8	-9.8	383	3776	0.00	2.38	0.00	0.000	4	0.000	0.079	2691	1071	3628	0	0	0	0	0	0
3817	-0.60	-146.0	461.5	-9.8	386	3824	0.00	2.40	0.00	0.000	6	0.000	0.076	2691	2493	3628	0	0	0	0	0	0
4143	-0.60	-146.0	490.7	-9.2	417	4147	0.00	2.42	0.00	0.000	4	0.000	0.093	2691	3902	3628	0	0	0	0	0	0
4162	-0.60	-146.0	492.4	-9.3	418	4166	0.00	2.30	0.00	0.000	6	0.000	0.064	2691	2489	3628	0	0	0	0	0	0
4487	-0.60	-146.0	522.7	-8.8	448	4491	0.00	2.33	0.00	0.000	4	0.000	0.077	2691	1077	3629	0	0	0	0	0	0
4518	-0.64	-146.0	525.5	-9.4	450	4522	0.00	2.38	0.00	0.000	6	0.000	0.076	2691	2489	3629	0	0	0	0	0	0
4650	end dive: TARGET_DEPTH_EXCEEDED
state	4650	begin apogee
4656	-0.12	0.0	538.2	9.6	462	4790	0.43	0.00	126.15	1.277	6	0.190	0.000	2813	2267	3030	0	0	0	0	0	0
4791	end apogee: CONTROL_FINISHED_OK
state	4791	begin climb
4793	0.62	146.0	543.4	0.0	474	4938	0.82	2.70	133.62	1.227	4	0.142	0.084	3065	875	2431	0	0	0	0	0	0
5001	0.60	149.9	531.0	9.8	492	5011	0.00	2.55	4.20	0.731	6	0.000	0.070	3065	2277	2418	0	0	0	0	0	0
5337	0.54	149.9	496.1	10.5	524	5342	0.00	2.40	0.00	0.000	4	0.000	0.086	3065	3692	2415	0	0	0	0	0	0
5428	0.44	149.9	485.3	13.0	531	5435	0.25	2.38	0.00	0.000	6	0.183	0.070	3011	2272	2415	0	0	0	0	0	0
5755	0.58	216.4	462.4	6.9	562	5822	0.12	2.53	59.90	1.183	4	0.107	0.086	3079	857	2146	0	0	0	0	0	0
5857	0.58	216.4	451.7	12.0	571	5861	0.00	2.40	0.00	0.000	6	0.000	0.071	3079	2280	2142	0	0	0	0	0	0
6183	0.53	216.4	409.2	12.6	601	6188	0.15	2.35	0.00	0.000	4	0.181	0.085	3040	3692	2138	0	0	0	0	0	0
6252	0.55	216.4	401.3	11.3	606	6259	0.00	2.35	0.00	0.000	6	0.000	0.070	3048	2273	2137	0	0	0	0	0	0
6578	0.60	228.0	369.5	9.5	637	6593	0.00	2.40	10.00	1.025	4	0.000	0.084	3057	857	2100	0	0	0	0	0	0
6640	0.66	228.0	363.4	10.2	642	6646	0.00	2.35	0.00	0.000	6	0.000	0.071	3057	2282	2098	0	0	0	0	0	0
6965	0.66	228.0	329.2	10.2	673	6969	0.00	2.35	0.00	0.000	4	0.000	0.085	3057	3690	2097	0	0	0	0	0	0
7027	0.66	228.0	321.9	12.1	678	7031	0.00	2.35	0.00	0.000	6	0.000	0.069	3068	2266	2097	0	0	0	0	0	0
7353	0.66	228.0	286.1	10.6	708	7357	0.00	2.33	0.00	0.000	4	0.000	0.083	3078	864	2096	0	0	0	0	0	0
7397	0.68	228.0	281.3	10.6	711	7404	0.00	2.35	0.00	0.000	6	0.000	0.069	3079	2285	2095	0	0	0	0	0	0
7722	0.68	228.0	246.6	10.7	742	7727	0.00	2.35	0.00	0.000	4	0.000	0.084	3078	3698	2096	0	0	0	0	0	0
7774	0.64	228.0	240.7	11.2	746	7779	0.00	2.35	0.00	0.000	6	0.000	0.069	3088	2264	2096	0	0	0	0	0	0
8106	0.62	228.0	205.2	11.3	777	8110	0.00	2.35	0.00	0.000	4	0.000	0.083	3098	862	2096	0	0	0	0	0	0
8146	0.62	228.0	200.8	11.3	780	8151	0.15	2.35	0.00	0.000	6	0.179	0.070	3061	2278	2095	0	0	0	0	0	0
8472	0.71	260.4	172.4	8.5	810	8509	0.00	2.45	30.23	1.050	4	0.000	0.086	3061	3687	1968	0	0	0	0	0	0
8556	0.77	260.4	164.3	10.8	817	8564	0.12	2.38	0.00	0.000	6	0.106	0.079	3120	2274	1965	0	0	0	0	0	0
8882	0.73	260.4	122.3	11.1	848	8886	0.00	2.35	0.00	0.000	4	0.000	0.086	3129	866	1963	0	0	0	0	0	0
8948	0.76	279.7	115.4	9.1	853	8977	0.00	2.38	19.00	0.999	6	0.000	0.080	3130	2283	1888	0	0	0	0	0	0
9308	0.76	279.7	72.8	12.0	905	9314	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2283	1884	0	0	0	0	0	0
9653	0.76	279.7	35.5	10.4	966	9659	0.00	2.38	0.00	0.000	4	0.000	0.086	3130	3687	1883	0	0	0	0	0	0
9723	0.73	279.7	28.5	10.2	978	9731	0.15	2.35	0.00	0.000	6	0.197	0.072	3103	2277	1882	0	0	0	0	0	0
9991	end climb: FINISH_DEPTH_REACHED
state	9991	begin subsurface finish
9999	0.09	75.5	8.9	-7.1	1025	10041	0.65	2.47	-31.15	0.000	4	0.160	0.096	2903	855	2726	0	0	0	0	0	0
10042	end subsurface finish: CONTROL_FINISHED_OK
state	10042	begin surface