Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 686 * 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 686 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 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 18 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 686 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 12.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.4 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 8.70,-1.724,-1.775,2,49,0 ALTIM_TOP_PING 19.3,15.8

FINISH1 8.7,1.025993,74 _24V_AH 21.1,91.610

FINISH2 7.0 _10V_AH 9.8,47.297

RAFOS_CLK 545 FG_AHR_24Vo 0.000

RAFOS 0,1306310466,8.033334,8.018333,142,63,60,60,56,56,621,157,217,146,128,171 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.415527,-6012.666504,250511,080822,6,108,0.57 MEM 150616

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40099,1009

TT8_MAMPS 0.026215 CAP_FILE_SIZE 113441,0

HUMID 48.38 CFSIZE 260165632,208621568

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 1451.9

XPDR_PINGS 2 GPS 250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 233 22.77 SBE_CT 720 24 365.08

Roll_motor 101 102 218.46 SBE_O2 771 19 309.23

VBD_pump_during_apogee 426 1278 11499.70 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 2 420 17.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2420 19 472.57

LPSleep 5141 2 116.40

TT8_Active 474 19 92.63

TT8_Sampling 1621 39 634.50

TT8_CF8 219 45 98.57

TT8_Kalman 0 0 0.00

Analog_circuits 1363 12 160.40

GPS_charging 0 0 0.00

Compass 1615 15 237.42

RAFOS 2520 1 37.04

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

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 -5.60 0.000 2 0.000 0.000 2903 855 2975 0 0 0 0 0 0

27 -0.62 -146.0 15.1 -0.0 1 53 0.65 5.30 -14.10 0.000 4 0.098 0.093 2669 3899 3631 0 0 0 0 0 0

275 -0.49 -146.0 61.9 -21.9 44 282 0.12 2.30 0.00 0.000 6 0.233 0.067 2694 2488 3632 0 0 0 0 0 0

615 -0.41 -146.0 119.0 -15.6 94 620 0.12 2.40 0.00 0.000 4 0.227 0.082 2724 1069 3632 0 0 0 0 0 0

660 -0.46 -146.0 125.0 -10.9 97 667 0.00 2.38 0.00 0.000 6 0.000 0.078 2724 2489 3632 0 0 0 0 0 0

986 -0.48 -146.0 157.9 -10.1 128 991 0.00 2.42 0.00 0.000 4 0.000 0.095 2724 3907 3631 0 0 0 0 0 0

1028 -0.56 -146.0 162.1 -9.7 131 1033 0.12 2.33 0.00 0.000 6 0.129 0.067 2682 2483 3631 0 0 0 0 0 0

1354 -0.49 -146.0 205.0 -14.5 161 1358 0.00 2.33 0.00 0.000 4 0.000 0.081 2682 1079 3630 0 0 0 0 0 0

1378 -0.42 -146.0 208.6 -14.6 163 1383 0.17 2.40 0.00 0.000 6 0.209 0.079 2722 2496 3631 0 0 0 0 0 0

1705 -0.47 -146.0 237.6 -6.9 193 1709 0.00 2.42 0.00 0.000 4 0.000 0.096 2722 3905 3629 0 0 0 0 0 0

1741 -0.56 -146.0 240.2 -7.5 196 1746 0.12 2.35 0.00 0.000 6 0.125 0.067 2681 2482 3629 0 0 0 0 0 0

2073 -0.52 -146.0 276.9 -11.4 227 2077 0.00 2.35 0.00 0.000 4 0.000 0.081 2681 1077 3629 0 0 0 0 0 0

2124 -0.52 -146.0 282.9 -11.1 231 2128 0.00 2.40 0.00 0.000 6 0.000 0.080 2681 2495 3630 0 0 0 0 0 0

2456 -0.47 -146.0 321.7 -11.6 262 2461 0.12 2.45 0.00 0.000 4 0.220 0.095 2709 3910 3630 0 0 0 0 0 0

2477 -0.47 -146.0 324.5 -11.5 263 2484 0.00 2.35 0.00 0.000 6 0.000 0.074 2709 2482 3629 0 0 0 0 0 0

2805 -0.52 -146.0 355.2 -9.4 294 2809 0.00 2.35 0.00 0.000 4 0.000 0.080 2709 1076 3629 0 0 0 0 0 0

2832 -0.57 -146.0 358.0 -9.7 296 2839 0.00 2.40 0.00 0.000 6 0.000 0.078 2709 2493 3630 0 0 0 0 0 0

3161 -0.62 -146.0 386.5 -8.5 327 3166 0.15 2.45 0.00 0.000 4 0.119 0.093 2656 3900 3630 0 0 0 0 0 0

3172 -0.65 -146.0 388.0 -9.0 327 3179 0.00 2.33 0.00 0.000 6 0.000 0.064 2656 2489 3629 0 0 0 0 0 0

3498 -0.57 -146.0 428.9 -12.5 358 3500 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2490 3630 0 0 0 0 0 0

3819 -0.49 -146.0 470.5 -13.0 388 3826 0.17 0.00 0.00 0.000 6 0.205 0.000 2698 2489 3630 0 0 0 0 0 0

4147 -0.52 -146.0 500.3 -9.0 419 4148 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2489 3631 0 0 0 0 0 0

4467 -0.56 -146.0 528.1 -8.6 449 4473 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2489 3631 0 0 0 0 0 0

4577 end dive: TARGET_DEPTH_EXCEEDED

state 4578 begin apogee

4585 -0.12 0.0 538.3 9.3 460 4719 0.40 0.00 126.82 1.278 6 0.190 0.000 2813 2254 3029 0 0 0 0 0 0

4719 end apogee: CONTROL_FINISHED_OK

state 4719 begin climb

4723 0.62 146.0 543.8 0.0 472 4869 0.82 2.65 133.25 1.228 4 0.148 0.083 3063 870 2432 0 0 0 0 0 0

4906 0.60 154.2 535.0 9.6 489 4921 0.00 2.55 8.90 1.014 6 0.000 0.067 3063 2277 2401 0 0 0 0 0 0

5248 0.57 164.0 501.5 9.5 521 5263 0.00 2.45 9.73 1.039 4 0.000 0.085 3063 3694 2361 0 0 0 0 0 0

5339 0.49 164.0 491.2 12.2 529 5344 0.20 2.38 0.00 0.000 6 0.187 0.070 3023 2277 2359 0 0 0 0 0 0

5666 0.59 204.2 464.9 8.1 559 5705 0.00 0.00 36.92 1.167 6 0.000 0.000 3023 2276 2197 0 0 0 0 0 0

6024 0.69 226.4 433.0 9.0 593 6047 0.17 0.00 20.85 1.127 6 0.090 0.000 3098 2276 2107 0 0 0 0 0 0

6363 0.69 226.4 387.2 10.7 625 6367 0.00 2.35 0.00 0.000 4 0.000 0.085 3109 864 2103 0 0 0 0 0 0

6431 0.69 226.4 379.7 11.6 630 6438 0.00 2.33 0.00 0.000 6 0.000 0.067 3109 2288 2101 0 0 0 0 0 0

6756 0.60 226.4 334.8 13.7 661 6761 0.17 2.35 0.00 0.000 4 0.189 0.083 3063 3692 2101 0 0 0 0 0 0

6834 0.58 226.4 325.4 11.7 667 6841 0.00 2.35 0.00 0.000 6 0.000 0.069 3071 2266 2100 0 0 0 0 0 0

7160 0.60 248.8 294.8 9.0 698 7187 0.00 2.38 20.90 1.076 4 0.000 0.083 3082 852 2015 0 0 0 0 0 0

7228 0.65 259.8 288.8 9.5 704 7245 0.00 2.35 11.65 1.012 6 0.000 0.068 3082 2278 1970 0 0 0 0 0 0

7564 0.65 259.8 254.3 10.9 735 7568 0.00 2.35 0.00 0.000 4 0.000 0.084 3082 3694 1966 0 0 0 0 0 0

7620 0.63 259.8 247.0 13.8 739 7627 0.00 2.35 0.00 0.000 6 0.000 0.069 3091 2274 1965 0 0 0 0 0 0

7946 0.63 259.8 208.5 11.8 770 7950 0.00 2.35 0.00 0.000 4 0.000 0.083 3102 856 1965 0 0 0 0 0 0

7990 0.63 259.8 202.8 12.5 773 7998 0.12 2.33 0.00 0.000 6 0.182 0.070 3072 2277 1964 0 0 0 0 0 0

8316 0.74 299.2 170.4 8.2 804 8361 0.00 2.40 36.88 1.037 4 0.000 0.085 3072 3686 1809 0 0 0 0 0 0

8410 0.79 299.2 162.0 10.4 812 8415 0.10 2.35 0.00 0.000 6 0.116 0.069 3122 2273 1806 0 0 0 0 0 0

8741 0.79 299.2 119.7 11.2 843 8746 0.00 2.35 0.00 0.000 4 0.000 0.084 3131 863 1804 0 0 0 0 0 0

8805 0.79 299.2 113.0 10.7 848 8809 0.00 2.33 0.00 0.000 6 0.000 0.070 3131 2274 1803 0 0 0 0 0 0

9143 0.80 307.4 76.8 9.6 897 9156 0.00 2.45 7.90 0.887 4 0.000 0.087 3131 3688 1776 0 0 0 0 0 0

9226 0.80 307.4 67.8 11.4 911 9233 0.00 2.35 0.00 0.000 6 0.000 0.071 3141 2273 1774 0 0 0 0 0 0

9573 0.82 324.9 29.1 9.2 972 9592 0.00 2.38 12.55 1.007 4 0.000 0.083 3152 856 1704 0 0 0 0 0 0

9633 0.82 324.9 22.5 11.1 982 9640 0.00 2.35 0.00 0.000 6 0.000 0.071 3152 2280 1702 0 0 0 0 0 0

9740 end climb: FINISH_DEPTH_REACHED

state 9740 begin subsurface finish

9750 0.09 73.9 8.7 -13.3 1001 9799 0.85 2.47 -42.42 0.000 4 0.165 0.103 2897 3692 2731 0 0 0 0 0 0

9800 end subsurface finish: CONTROL_FINISHED_OK

state 9800 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	686	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	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	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	12.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.4	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	8.70,-1.724,-1.775,2,49,0	ALTIM_TOP_PING	19.3,15.8
FINISH1	8.7,1.025993,74	_24V_AH	21.1,91.610
FINISH2	7.0	_10V_AH	9.8,47.297
RAFOS_CLK	545	FG_AHR_24Vo	0.000
RAFOS	0,1306310466,8.033334,8.018333,142,63,60,60,56,56,621,157,217,146,128,171	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.415527,-6012.666504,250511,080822,6,108,0.57	MEM	150616
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40099,1009
TT8_MAMPS	0.026215	CAP_FILE_SIZE	113441,0
HUMID	48.38	CFSIZE	260165632,208621568
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	1451.9
XPDR_PINGS	2	GPS	250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	233	22.77	SBE_CT	720	24	365.08
Roll_motor	101	102	218.46	SBE_O2	771	19	309.23
VBD_pump_during_apogee	426	1278	11499.70	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	2	420	17.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2420	19	472.57
LPSleep	5141	2	116.40
TT8_Active	474	19	92.63
TT8_Sampling	1621	39	634.50
TT8_CF8	219	45	98.57
TT8_Kalman	0	0	0.00
Analog_circuits	1363	12	160.40
GPS_charging	0	0	0.00
Compass	1615	15	237.42
RAFOS	2520	1	37.04
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
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	-5.60	0.000	2	0.000	0.000	2903	855	2975	0	0	0	0	0	0
27	-0.62	-146.0	15.1	-0.0	1	53	0.65	5.30	-14.10	0.000	4	0.098	0.093	2669	3899	3631	0	0	0	0	0	0
275	-0.49	-146.0	61.9	-21.9	44	282	0.12	2.30	0.00	0.000	6	0.233	0.067	2694	2488	3632	0	0	0	0	0	0
615	-0.41	-146.0	119.0	-15.6	94	620	0.12	2.40	0.00	0.000	4	0.227	0.082	2724	1069	3632	0	0	0	0	0	0
660	-0.46	-146.0	125.0	-10.9	97	667	0.00	2.38	0.00	0.000	6	0.000	0.078	2724	2489	3632	0	0	0	0	0	0
986	-0.48	-146.0	157.9	-10.1	128	991	0.00	2.42	0.00	0.000	4	0.000	0.095	2724	3907	3631	0	0	0	0	0	0
1028	-0.56	-146.0	162.1	-9.7	131	1033	0.12	2.33	0.00	0.000	6	0.129	0.067	2682	2483	3631	0	0	0	0	0	0
1354	-0.49	-146.0	205.0	-14.5	161	1358	0.00	2.33	0.00	0.000	4	0.000	0.081	2682	1079	3630	0	0	0	0	0	0
1378	-0.42	-146.0	208.6	-14.6	163	1383	0.17	2.40	0.00	0.000	6	0.209	0.079	2722	2496	3631	0	0	0	0	0	0
1705	-0.47	-146.0	237.6	-6.9	193	1709	0.00	2.42	0.00	0.000	4	0.000	0.096	2722	3905	3629	0	0	0	0	0	0
1741	-0.56	-146.0	240.2	-7.5	196	1746	0.12	2.35	0.00	0.000	6	0.125	0.067	2681	2482	3629	0	0	0	0	0	0
2073	-0.52	-146.0	276.9	-11.4	227	2077	0.00	2.35	0.00	0.000	4	0.000	0.081	2681	1077	3629	0	0	0	0	0	0
2124	-0.52	-146.0	282.9	-11.1	231	2128	0.00	2.40	0.00	0.000	6	0.000	0.080	2681	2495	3630	0	0	0	0	0	0
2456	-0.47	-146.0	321.7	-11.6	262	2461	0.12	2.45	0.00	0.000	4	0.220	0.095	2709	3910	3630	0	0	0	0	0	0
2477	-0.47	-146.0	324.5	-11.5	263	2484	0.00	2.35	0.00	0.000	6	0.000	0.074	2709	2482	3629	0	0	0	0	0	0
2805	-0.52	-146.0	355.2	-9.4	294	2809	0.00	2.35	0.00	0.000	4	0.000	0.080	2709	1076	3629	0	0	0	0	0	0
2832	-0.57	-146.0	358.0	-9.7	296	2839	0.00	2.40	0.00	0.000	6	0.000	0.078	2709	2493	3630	0	0	0	0	0	0
3161	-0.62	-146.0	386.5	-8.5	327	3166	0.15	2.45	0.00	0.000	4	0.119	0.093	2656	3900	3630	0	0	0	0	0	0
3172	-0.65	-146.0	388.0	-9.0	327	3179	0.00	2.33	0.00	0.000	6	0.000	0.064	2656	2489	3629	0	0	0	0	0	0
3498	-0.57	-146.0	428.9	-12.5	358	3500	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2490	3630	0	0	0	0	0	0
3819	-0.49	-146.0	470.5	-13.0	388	3826	0.17	0.00	0.00	0.000	6	0.205	0.000	2698	2489	3630	0	0	0	0	0	0
4147	-0.52	-146.0	500.3	-9.0	419	4148	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2489	3631	0	0	0	0	0	0
4467	-0.56	-146.0	528.1	-8.6	449	4473	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2489	3631	0	0	0	0	0	0
4577	end dive: TARGET_DEPTH_EXCEEDED
state	4578	begin apogee
4585	-0.12	0.0	538.3	9.3	460	4719	0.40	0.00	126.82	1.278	6	0.190	0.000	2813	2254	3029	0	0	0	0	0	0
4719	end apogee: CONTROL_FINISHED_OK
state	4719	begin climb
4723	0.62	146.0	543.8	0.0	472	4869	0.82	2.65	133.25	1.228	4	0.148	0.083	3063	870	2432	0	0	0	0	0	0
4906	0.60	154.2	535.0	9.6	489	4921	0.00	2.55	8.90	1.014	6	0.000	0.067	3063	2277	2401	0	0	0	0	0	0
5248	0.57	164.0	501.5	9.5	521	5263	0.00	2.45	9.73	1.039	4	0.000	0.085	3063	3694	2361	0	0	0	0	0	0
5339	0.49	164.0	491.2	12.2	529	5344	0.20	2.38	0.00	0.000	6	0.187	0.070	3023	2277	2359	0	0	0	0	0	0
5666	0.59	204.2	464.9	8.1	559	5705	0.00	0.00	36.92	1.167	6	0.000	0.000	3023	2276	2197	0	0	0	0	0	0
6024	0.69	226.4	433.0	9.0	593	6047	0.17	0.00	20.85	1.127	6	0.090	0.000	3098	2276	2107	0	0	0	0	0	0
6363	0.69	226.4	387.2	10.7	625	6367	0.00	2.35	0.00	0.000	4	0.000	0.085	3109	864	2103	0	0	0	0	0	0
6431	0.69	226.4	379.7	11.6	630	6438	0.00	2.33	0.00	0.000	6	0.000	0.067	3109	2288	2101	0	0	0	0	0	0
6756	0.60	226.4	334.8	13.7	661	6761	0.17	2.35	0.00	0.000	4	0.189	0.083	3063	3692	2101	0	0	0	0	0	0
6834	0.58	226.4	325.4	11.7	667	6841	0.00	2.35	0.00	0.000	6	0.000	0.069	3071	2266	2100	0	0	0	0	0	0
7160	0.60	248.8	294.8	9.0	698	7187	0.00	2.38	20.90	1.076	4	0.000	0.083	3082	852	2015	0	0	0	0	0	0
7228	0.65	259.8	288.8	9.5	704	7245	0.00	2.35	11.65	1.012	6	0.000	0.068	3082	2278	1970	0	0	0	0	0	0
7564	0.65	259.8	254.3	10.9	735	7568	0.00	2.35	0.00	0.000	4	0.000	0.084	3082	3694	1966	0	0	0	0	0	0
7620	0.63	259.8	247.0	13.8	739	7627	0.00	2.35	0.00	0.000	6	0.000	0.069	3091	2274	1965	0	0	0	0	0	0
7946	0.63	259.8	208.5	11.8	770	7950	0.00	2.35	0.00	0.000	4	0.000	0.083	3102	856	1965	0	0	0	0	0	0
7990	0.63	259.8	202.8	12.5	773	7998	0.12	2.33	0.00	0.000	6	0.182	0.070	3072	2277	1964	0	0	0	0	0	0
8316	0.74	299.2	170.4	8.2	804	8361	0.00	2.40	36.88	1.037	4	0.000	0.085	3072	3686	1809	0	0	0	0	0	0
8410	0.79	299.2	162.0	10.4	812	8415	0.10	2.35	0.00	0.000	6	0.116	0.069	3122	2273	1806	0	0	0	0	0	0
8741	0.79	299.2	119.7	11.2	843	8746	0.00	2.35	0.00	0.000	4	0.000	0.084	3131	863	1804	0	0	0	0	0	0
8805	0.79	299.2	113.0	10.7	848	8809	0.00	2.33	0.00	0.000	6	0.000	0.070	3131	2274	1803	0	0	0	0	0	0
9143	0.80	307.4	76.8	9.6	897	9156	0.00	2.45	7.90	0.887	4	0.000	0.087	3131	3688	1776	0	0	0	0	0	0
9226	0.80	307.4	67.8	11.4	911	9233	0.00	2.35	0.00	0.000	6	0.000	0.071	3141	2273	1774	0	0	0	0	0	0
9573	0.82	324.9	29.1	9.2	972	9592	0.00	2.38	12.55	1.007	4	0.000	0.083	3152	856	1704	0	0	0	0	0	0
9633	0.82	324.9	22.5	11.1	982	9640	0.00	2.35	0.00	0.000	6	0.000	0.071	3152	2280	1702	0	0	0	0	0	0
9740	end climb: FINISH_DEPTH_REACHED
state	9740	begin subsurface finish
9750	0.09	73.9	8.7	-13.3	1001	9799	0.85	2.47	-42.42	0.000	4	0.165	0.103	2897	3692	2731	0	0	0	0	0	0
9800	end subsurface finish: CONTROL_FINISHED_OK
state	9800	begin surface