Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 689 * 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 689 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 -50476.18 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 -50476.18

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 689 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 250511,161937,6648.566,-6009.083,0,5108.0,0,-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 13.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 2.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 117.2,147651,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 604

Post-dive calculations and measurements:

FREEZE 8.61,-1.741,-1.774,2,52,0 _24V_AH 21.0,92.092

FINISH1 8.6,1.025972,75 _10V_AH 9.8,47.522

FINISH2 7.5 FG_AHR_24Vo 0.000

RAFOS_CLK 589 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.566406,-6009.082520,250511,161637,5,108,0.26 MEM 150560

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40032,1057

TT8_MAMPS 0.026964 CAP_FILE_SIZE 123339,0

HUMID 48.93 CFSIZE 260165632,208400384

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

TCM_TEMP 16.10 SOUNDSPEED 1453.1

XPDR_PINGS 4 GPS 250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6

ALTIM_TOP_PING 19.7,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 225 24.88 SBE_CT 758 24 382.11

Roll_motor 115 191 463.58 SBE_O2 809 19 323.00

VBD_pump_during_apogee 443 1311 12200.94 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 26.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2534 19 494.79

LPSleep 5660 2 128.14

TT8_Active 487 19 95.10

TT8_Sampling 1774 39 694.06

TT8_CF8 249 45 112.11

TT8_Kalman 0 0 0.00

Analog_circuits 1463 12 172.08

GPS_charging 0 0 0.00

Compass 1762 15 259.10

RAFOS 0 0 0.00

Transponder 17 30 5.19

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 -5.65 0.000 2 0.000 0.000 2899 3694 2964 0 0 0 0 0 0

27 -0.62 -146.0 13.5 -0.0 1 52 0.65 0.38 -16.00 0.000 4 0.095 0.191 2667 3904 3629 0 0 0 0 0 0

200 -0.53 -146.0 43.5 -19.2 31 207 0.00 2.33 0.00 0.000 6 0.000 0.067 2667 2492 3631 0 0 0 0 0 0

548 -0.37 -146.0 114.4 -19.1 86 553 0.25 2.38 0.00 0.000 4 0.218 0.080 2733 1073 3631 0 0 0 0 0 0

594 -0.42 -146.0 121.5 -11.7 89 601 0.00 2.38 0.00 0.000 6 0.000 0.080 2733 2494 3631 0 0 0 0 0 0

920 -0.46 -146.0 155.9 -10.2 120 925 0.00 2.42 0.00 0.000 4 0.000 0.096 2733 3907 3630 0 0 0 0 0 0

965 -0.54 -146.0 160.4 -9.4 123 973 0.12 2.35 0.00 0.000 6 0.128 0.068 2692 2483 3630 0 0 0 0 0 0

1294 -0.49 -146.0 200.9 -13.0 154 1298 0.00 2.35 0.00 0.000 4 0.000 0.084 2691 1070 3630 0 0 0 0 0 0

1316 -0.44 -146.0 204.5 -13.1 155 1322 0.00 2.42 0.00 0.000 6 0.000 0.081 2691 2495 3630 0 0 0 0 0 0

1641 -0.41 -146.0 241.0 -11.0 186 1646 0.15 2.45 0.00 0.000 4 0.226 0.097 2726 3905 3629 0 0 0 0 0 0

1710 -0.51 -146.0 246.8 -7.4 191 1716 0.00 2.35 0.00 0.000 6 0.000 0.069 2726 2487 3628 0 0 0 0 0 0

2037 -0.59 -146.0 272.3 -7.9 222 2039 0.17 0.00 0.00 0.000 6 0.116 0.000 2665 2486 3629 0 0 0 0 0 0

2354 -0.52 -146.0 312.8 -13.0 252 2359 0.12 2.38 0.00 0.000 4 0.223 0.082 2693 1071 3628 0 0 0 0 0 0

2383 -0.52 -146.0 316.3 -11.7 254 2387 0.00 2.42 0.00 0.000 6 0.000 0.080 2693 2500 3628 0 0 0 0 0 0

2709 -0.52 -146.0 348.7 -9.8 284 2713 0.00 2.40 0.00 0.000 4 0.000 0.095 2693 3902 3628 0 0 0 0 0 0

2755 -0.55 -146.0 353.0 -9.5 287 2761 0.00 2.33 0.00 0.000 6 0.000 0.067 2693 2482 3628 0 0 0 0 0 0

3080 -0.55 -146.0 384.6 -10.1 318 3084 0.00 2.45 0.00 0.000 4 0.000 0.091 2693 3906 3629 0 0 0 0 0 0

3098 -0.55 -146.0 386.3 -9.8 319 3102 0.00 2.33 0.00 0.000 6 0.000 0.067 2693 2488 3629 0 0 0 0 0 0

3423 -0.55 -146.0 419.2 -10.2 349 3424 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2488 3629 0 0 0 0 0 0

3746 -0.55 -146.0 448.9 -8.9 379 3750 0.00 2.42 0.00 0.000 4 0.000 0.090 2693 3900 3629 0 0 0 0 0 0

3769 -0.58 -146.0 451.4 -9.6 380 3776 0.00 2.35 0.00 0.000 6 0.000 0.070 2693 2489 3629 0 0 0 0 0 0

4095 -0.60 -146.0 478.4 -8.2 411 4096 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2489 3630 0 0 0 0 0 0

4418 -0.62 -146.0 505.8 -8.6 441 4422 0.00 2.45 0.00 0.000 4 0.000 0.090 2693 3906 3630 0 0 0 0 0 0

4448 -0.66 -146.0 508.8 -9.4 443 4453 0.12 2.33 0.00 0.000 6 0.125 0.065 2652 2481 3630 0 0 0 0 0 0

4774 -0.60 -146.0 547.4 -12.0 473 4778 0.00 2.45 0.00 0.000 4 0.000 0.090 2651 3910 3629 0 0 0 0 0 0

4803 -0.54 -146.0 550.8 -12.6 475 4808 0.15 2.35 0.00 0.000 6 0.198 0.065 2686 2485 3630 0 0 0 0 0 0

5128 -0.54 -146.0 581.9 -8.9 505 5132 0.00 2.33 0.00 0.000 4 0.000 0.080 2686 1077 3630 0 0 0 0 0 0

5147 -0.54 -146.0 583.7 -9.3 506 5151 0.00 2.40 0.00 0.000 6 0.000 0.078 2686 2500 3630 0 0 0 0 0 0

5398 end dive: TARGET_DEPTH_EXCEEDED

state 5398 begin apogee

5406 -0.12 0.0 605.5 8.5 526 5541 0.45 0.00 127.55 1.311 6 0.189 0.000 2814 2263 3029 0 0 0 0 0 0

5542 end apogee: CONTROL_FINISHED_OK

state 5542 begin climb

5545 0.62 146.0 610.0 0.0 530 5692 0.80 2.75 134.65 1.264 4 0.142 0.085 3059 877 2433 0 0 0 0 0 0

5811 0.59 148.8 590.9 9.9 543 5818 0.00 2.53 0.00 0.000 6 0.000 0.071 3059 2280 2428 0 0 0 0 0 0

6138 0.53 148.8 556.8 10.4 574 6142 0.00 2.38 0.00 0.000 4 0.000 0.087 3059 3692 2426 0 0 0 0 0 0

6247 0.44 148.8 544.3 11.8 583 6252 0.22 2.35 0.00 0.000 6 0.187 0.071 3013 2280 2426 0 0 0 0 0 0

6574 0.56 206.4 520.3 7.3 613 6632 0.00 2.47 52.83 1.213 4 0.000 0.088 3020 859 2188 0 0 0 0 0 0

6677 0.73 251.6 512.9 7.9 622 6726 0.22 2.42 42.33 1.187 6 0.084 0.073 3112 2286 2004 0 0 0 0 0 0

7046 0.63 251.6 453.2 17.0 656 7051 0.17 2.35 0.00 0.000 4 0.190 0.086 3065 3687 1994 0 0 0 0 0 0

7107 0.63 251.6 443.9 13.8 661 7113 0.00 2.35 0.00 0.000 6 0.000 0.071 3074 2275 1992 0 0 0 0 0 0

7432 0.63 251.6 401.5 13.1 692 7436 0.00 2.35 0.00 0.000 4 0.000 0.085 3084 860 1991 0 0 0 0 0 0

7487 0.63 251.6 394.3 12.2 696 7494 0.00 2.38 0.00 0.000 6 0.000 0.080 3084 2283 1989 0 0 0 0 0 0

7813 0.59 251.6 350.2 13.8 727 7817 0.00 2.35 0.00 0.000 4 0.000 0.085 3084 3697 1989 0 0 0 0 0 0

7865 0.55 251.6 342.7 14.9 731 7870 0.20 2.35 0.00 0.000 6 0.184 0.070 3043 2275 1988 0 0 0 0 0 0

8191 0.64 273.6 311.0 9.0 761 8217 0.00 2.45 18.98 1.082 4 0.000 0.085 3050 861 1913 0 0 0 0 0 0

8295 0.79 304.3 302.1 8.6 770 8333 0.20 2.35 29.83 1.084 6 0.090 0.070 3129 2284 1788 0 0 0 0 0 0

8659 0.72 304.3 242.6 15.8 804 8664 0.12 2.35 0.00 0.000 4 0.196 0.083 3098 3687 1781 0 0 0 0 0 0

8700 0.72 304.3 236.6 14.2 807 8704 0.00 2.35 0.00 0.000 6 0.000 0.070 3106 2270 1779 0 0 0 0 0 0

9025 0.72 304.3 193.1 13.7 837 9030 0.00 2.35 0.00 0.000 4 0.000 0.085 3116 864 1779 0 0 0 0 0 0

9107 0.74 304.3 182.6 12.6 844 9111 0.00 2.33 0.00 0.000 6 0.000 0.070 3116 2281 1778 0 0 0 0 0 0

9437 0.74 304.3 138.8 13.6 875 9442 0.00 2.35 0.00 0.000 4 0.000 0.085 3117 3692 1778 0 0 0 0 0 0

9467 0.74 304.3 134.8 14.4 877 9472 0.00 2.35 0.00 0.000 6 0.000 0.070 3126 2275 1777 0 0 0 0 0 0

9795 0.74 304.3 94.5 12.5 911 9802 0.00 2.35 0.00 0.000 4 0.000 0.085 3137 864 1777 0 0 0 0 0 0

9871 0.74 304.3 85.6 12.1 924 9878 0.12 2.35 0.00 0.000 6 0.191 0.072 3108 2278 1776 0 0 0 0 0 0

10221 0.87 345.4 54.9 8.1 985 10269 0.10 2.47 36.95 0.989 4 0.119 0.087 3147 3689 1619 0 0 0 0 0 0

10368 0.84 345.4 36.5 13.3 1010 10374 0.00 2.38 0.00 0.000 6 0.000 0.074 3156 2278 1615 0 0 0 0 0 0

10586 end climb: FINISH_DEPTH_REACHED

state 10586 begin subsurface finish

10593 0.09 74.9 8.6 -16.3 1048 10646 0.88 2.40 -44.25 0.000 4 0.174 0.099 2900 863 2726 0 0 0 0 0 0

10647 end subsurface finish: CONTROL_FINISHED_OK

state 10647 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	689	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	-50476.18	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	250511,161937,6648.566,-6009.083,0,5108.0,0,-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	13.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	2.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	117.2,147651,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	604

FREEZE	8.61,-1.741,-1.774,2,52,0	_24V_AH	21.0,92.092
FINISH1	8.6,1.025972,75	_10V_AH	9.8,47.522
FINISH2	7.5	FG_AHR_24Vo	0.000
RAFOS_CLK	589	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.566406,-6009.082520,250511,161637,5,108,0.26	MEM	150560
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40032,1057
TT8_MAMPS	0.026964	CAP_FILE_SIZE	123339,0
HUMID	48.93	CFSIZE	260165632,208400384
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1453.1
XPDR_PINGS	4	GPS	250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6
ALTIM_TOP_PING	19.7,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	225	24.88	SBE_CT	758	24	382.11
Roll_motor	115	191	463.58	SBE_O2	809	19	323.00
VBD_pump_during_apogee	443	1311	12200.94	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	26.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2534	19	494.79
LPSleep	5660	2	128.14
TT8_Active	487	19	95.10
TT8_Sampling	1774	39	694.06
TT8_CF8	249	45	112.11
TT8_Kalman	0	0	0.00
Analog_circuits	1463	12	172.08
GPS_charging	0	0	0.00
Compass	1762	15	259.10
RAFOS	0	0	0.00
Transponder	17	30	5.19

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	-5.65	0.000	2	0.000	0.000	2899	3694	2964	0	0	0	0	0	0
27	-0.62	-146.0	13.5	-0.0	1	52	0.65	0.38	-16.00	0.000	4	0.095	0.191	2667	3904	3629	0	0	0	0	0	0
200	-0.53	-146.0	43.5	-19.2	31	207	0.00	2.33	0.00	0.000	6	0.000	0.067	2667	2492	3631	0	0	0	0	0	0
548	-0.37	-146.0	114.4	-19.1	86	553	0.25	2.38	0.00	0.000	4	0.218	0.080	2733	1073	3631	0	0	0	0	0	0
594	-0.42	-146.0	121.5	-11.7	89	601	0.00	2.38	0.00	0.000	6	0.000	0.080	2733	2494	3631	0	0	0	0	0	0
920	-0.46	-146.0	155.9	-10.2	120	925	0.00	2.42	0.00	0.000	4	0.000	0.096	2733	3907	3630	0	0	0	0	0	0
965	-0.54	-146.0	160.4	-9.4	123	973	0.12	2.35	0.00	0.000	6	0.128	0.068	2692	2483	3630	0	0	0	0	0	0
1294	-0.49	-146.0	200.9	-13.0	154	1298	0.00	2.35	0.00	0.000	4	0.000	0.084	2691	1070	3630	0	0	0	0	0	0
1316	-0.44	-146.0	204.5	-13.1	155	1322	0.00	2.42	0.00	0.000	6	0.000	0.081	2691	2495	3630	0	0	0	0	0	0
1641	-0.41	-146.0	241.0	-11.0	186	1646	0.15	2.45	0.00	0.000	4	0.226	0.097	2726	3905	3629	0	0	0	0	0	0
1710	-0.51	-146.0	246.8	-7.4	191	1716	0.00	2.35	0.00	0.000	6	0.000	0.069	2726	2487	3628	0	0	0	0	0	0
2037	-0.59	-146.0	272.3	-7.9	222	2039	0.17	0.00	0.00	0.000	6	0.116	0.000	2665	2486	3629	0	0	0	0	0	0
2354	-0.52	-146.0	312.8	-13.0	252	2359	0.12	2.38	0.00	0.000	4	0.223	0.082	2693	1071	3628	0	0	0	0	0	0
2383	-0.52	-146.0	316.3	-11.7	254	2387	0.00	2.42	0.00	0.000	6	0.000	0.080	2693	2500	3628	0	0	0	0	0	0
2709	-0.52	-146.0	348.7	-9.8	284	2713	0.00	2.40	0.00	0.000	4	0.000	0.095	2693	3902	3628	0	0	0	0	0	0
2755	-0.55	-146.0	353.0	-9.5	287	2761	0.00	2.33	0.00	0.000	6	0.000	0.067	2693	2482	3628	0	0	0	0	0	0
3080	-0.55	-146.0	384.6	-10.1	318	3084	0.00	2.45	0.00	0.000	4	0.000	0.091	2693	3906	3629	0	0	0	0	0	0
3098	-0.55	-146.0	386.3	-9.8	319	3102	0.00	2.33	0.00	0.000	6	0.000	0.067	2693	2488	3629	0	0	0	0	0	0
3423	-0.55	-146.0	419.2	-10.2	349	3424	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2488	3629	0	0	0	0	0	0
3746	-0.55	-146.0	448.9	-8.9	379	3750	0.00	2.42	0.00	0.000	4	0.000	0.090	2693	3900	3629	0	0	0	0	0	0
3769	-0.58	-146.0	451.4	-9.6	380	3776	0.00	2.35	0.00	0.000	6	0.000	0.070	2693	2489	3629	0	0	0	0	0	0
4095	-0.60	-146.0	478.4	-8.2	411	4096	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2489	3630	0	0	0	0	0	0
4418	-0.62	-146.0	505.8	-8.6	441	4422	0.00	2.45	0.00	0.000	4	0.000	0.090	2693	3906	3630	0	0	0	0	0	0
4448	-0.66	-146.0	508.8	-9.4	443	4453	0.12	2.33	0.00	0.000	6	0.125	0.065	2652	2481	3630	0	0	0	0	0	0
4774	-0.60	-146.0	547.4	-12.0	473	4778	0.00	2.45	0.00	0.000	4	0.000	0.090	2651	3910	3629	0	0	0	0	0	0
4803	-0.54	-146.0	550.8	-12.6	475	4808	0.15	2.35	0.00	0.000	6	0.198	0.065	2686	2485	3630	0	0	0	0	0	0
5128	-0.54	-146.0	581.9	-8.9	505	5132	0.00	2.33	0.00	0.000	4	0.000	0.080	2686	1077	3630	0	0	0	0	0	0
5147	-0.54	-146.0	583.7	-9.3	506	5151	0.00	2.40	0.00	0.000	6	0.000	0.078	2686	2500	3630	0	0	0	0	0	0
5398	end dive: TARGET_DEPTH_EXCEEDED
state	5398	begin apogee
5406	-0.12	0.0	605.5	8.5	526	5541	0.45	0.00	127.55	1.311	6	0.189	0.000	2814	2263	3029	0	0	0	0	0	0
5542	end apogee: CONTROL_FINISHED_OK
state	5542	begin climb
5545	0.62	146.0	610.0	0.0	530	5692	0.80	2.75	134.65	1.264	4	0.142	0.085	3059	877	2433	0	0	0	0	0	0
5811	0.59	148.8	590.9	9.9	543	5818	0.00	2.53	0.00	0.000	6	0.000	0.071	3059	2280	2428	0	0	0	0	0	0
6138	0.53	148.8	556.8	10.4	574	6142	0.00	2.38	0.00	0.000	4	0.000	0.087	3059	3692	2426	0	0	0	0	0	0
6247	0.44	148.8	544.3	11.8	583	6252	0.22	2.35	0.00	0.000	6	0.187	0.071	3013	2280	2426	0	0	0	0	0	0
6574	0.56	206.4	520.3	7.3	613	6632	0.00	2.47	52.83	1.213	4	0.000	0.088	3020	859	2188	0	0	0	0	0	0
6677	0.73	251.6	512.9	7.9	622	6726	0.22	2.42	42.33	1.187	6	0.084	0.073	3112	2286	2004	0	0	0	0	0	0
7046	0.63	251.6	453.2	17.0	656	7051	0.17	2.35	0.00	0.000	4	0.190	0.086	3065	3687	1994	0	0	0	0	0	0
7107	0.63	251.6	443.9	13.8	661	7113	0.00	2.35	0.00	0.000	6	0.000	0.071	3074	2275	1992	0	0	0	0	0	0
7432	0.63	251.6	401.5	13.1	692	7436	0.00	2.35	0.00	0.000	4	0.000	0.085	3084	860	1991	0	0	0	0	0	0
7487	0.63	251.6	394.3	12.2	696	7494	0.00	2.38	0.00	0.000	6	0.000	0.080	3084	2283	1989	0	0	0	0	0	0
7813	0.59	251.6	350.2	13.8	727	7817	0.00	2.35	0.00	0.000	4	0.000	0.085	3084	3697	1989	0	0	0	0	0	0
7865	0.55	251.6	342.7	14.9	731	7870	0.20	2.35	0.00	0.000	6	0.184	0.070	3043	2275	1988	0	0	0	0	0	0
8191	0.64	273.6	311.0	9.0	761	8217	0.00	2.45	18.98	1.082	4	0.000	0.085	3050	861	1913	0	0	0	0	0	0
8295	0.79	304.3	302.1	8.6	770	8333	0.20	2.35	29.83	1.084	6	0.090	0.070	3129	2284	1788	0	0	0	0	0	0
8659	0.72	304.3	242.6	15.8	804	8664	0.12	2.35	0.00	0.000	4	0.196	0.083	3098	3687	1781	0	0	0	0	0	0
8700	0.72	304.3	236.6	14.2	807	8704	0.00	2.35	0.00	0.000	6	0.000	0.070	3106	2270	1779	0	0	0	0	0	0
9025	0.72	304.3	193.1	13.7	837	9030	0.00	2.35	0.00	0.000	4	0.000	0.085	3116	864	1779	0	0	0	0	0	0
9107	0.74	304.3	182.6	12.6	844	9111	0.00	2.33	0.00	0.000	6	0.000	0.070	3116	2281	1778	0	0	0	0	0	0
9437	0.74	304.3	138.8	13.6	875	9442	0.00	2.35	0.00	0.000	4	0.000	0.085	3117	3692	1778	0	0	0	0	0	0
9467	0.74	304.3	134.8	14.4	877	9472	0.00	2.35	0.00	0.000	6	0.000	0.070	3126	2275	1777	0	0	0	0	0	0
9795	0.74	304.3	94.5	12.5	911	9802	0.00	2.35	0.00	0.000	4	0.000	0.085	3137	864	1777	0	0	0	0	0	0
9871	0.74	304.3	85.6	12.1	924	9878	0.12	2.35	0.00	0.000	6	0.191	0.072	3108	2278	1776	0	0	0	0	0	0
10221	0.87	345.4	54.9	8.1	985	10269	0.10	2.47	36.95	0.989	4	0.119	0.087	3147	3689	1619	0	0	0	0	0	0
10368	0.84	345.4	36.5	13.3	1010	10374	0.00	2.38	0.00	0.000	6	0.000	0.074	3156	2278	1615	0	0	0	0	0	0
10586	end climb: FINISH_DEPTH_REACHED
state	10586	begin subsurface finish
10593	0.09	74.9	8.6	-16.3	1048	10646	0.88	2.40	-44.25	0.000	4	0.174	0.099	2900	863	2726	0	0	0	0	0	0
10647	end subsurface finish: CONTROL_FINISHED_OK
state	10647	begin surface