Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 690 * 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 690 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 16 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 16 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 690 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 10.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.8 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 8.57,-1.740,-1.773,2,53,0 ALTIM_TOP_PING 19.9,18.1

FINISH1 8.6,1.025969,75 _24V_AH 21.0,92.245

FINISH2 8.3 _10V_AH 9.8,47.588

RAFOS_CLK 588 FG_AHR_24Vo 0.000

RAFOS 0,1306353663,20.033333,20.017500,89,61,61,56,53,50,667,215,183,195,168,228 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.269531,-6000.543457,250511,202034,7,107,0.54 MEM 150616

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40049,1049

TT8_MAMPS 0.026964 CAP_FILE_SIZE 122618,0

HUMID 48.74 CFSIZE 260165632,208338944

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 1452.7

XPDR_PINGS 2 GPS 250511,202734,6651.270,-6000.543,0,7106.7,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 231 26.44 SBE_CT 752 24 379.11

Roll_motor 110 102 238.25 SBE_O2 799 19 318.99

VBD_pump_during_apogee 443 1316 12264.59 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 22.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2537 19 495.41

LPSleep 5617 2 127.17

TT8_Active 492 19 96.13

TT8_Sampling 1754 39 686.26

TT8_CF8 240 45 108.03

TT8_Kalman 0 0 0.00

Analog_circuits 1454 12 171.11

GPS_charging 0 0 0.00

Compass 1736 15 255.32

RAFOS 2520 1 37.04

Transponder 14 30 4.41

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 -5.90 0.000 2 0.000 0.000 2900 862 2950 0 0 0 0 0 0

28 -0.62 -146.0 12.0 -0.0 1 58 0.65 5.28 -16.90 0.000 4 0.097 0.096 2667 3905 3628 0 0 0 0 0 0

308 -0.50 -146.0 62.7 -18.5 50 316 0.12 2.35 0.00 0.000 6 0.226 0.067 2694 2479 3629 0 0 0 0 0 0

655 -0.41 -146.0 120.3 -15.3 100 662 0.12 0.00 0.00 0.000 6 0.231 0.000 2724 2478 3629 0 0 0 0 0 0

983 -0.41 -146.0 156.9 -10.5 131 987 0.00 2.33 0.00 0.000 4 0.000 0.083 2725 1077 3628 0 0 0 0 0 0

1013 -0.45 -146.0 160.2 -11.2 133 1017 0.00 2.40 0.00 0.000 6 0.000 0.082 2725 2488 3628 0 0 0 0 0 0

1339 -0.50 -146.0 191.2 -9.2 163 1343 0.00 2.42 0.00 0.000 4 0.000 0.097 2725 3900 3628 0 0 0 0 0 0

1418 -0.58 -146.0 198.1 -8.9 169 1426 0.15 2.33 0.00 0.000 6 0.119 0.068 2675 2483 3627 0 0 0 0 0 0

1744 -0.51 -146.0 241.1 -13.9 200 1748 0.00 2.38 0.00 0.000 4 0.000 0.083 2675 1070 3627 0 0 0 0 0 0

1779 -0.46 -146.0 246.0 -13.9 203 1785 0.15 2.40 0.00 0.000 6 0.210 0.082 2710 2493 3628 0 0 0 0 0 0

2106 -0.49 -146.0 277.6 -8.2 233 2111 0.00 2.42 0.00 0.000 4 0.000 0.097 2710 3899 3626 0 0 0 0 0 0

2151 -0.56 -146.0 281.5 -8.0 236 2158 0.00 2.33 0.00 0.000 6 0.000 0.068 2710 2492 3627 0 0 0 0 0 0

2478 -0.60 -146.0 306.9 -8.3 267 2480 0.12 0.00 0.00 0.000 6 0.135 0.000 2668 2492 3626 0 0 0 0 0 0

2796 -0.54 -146.0 345.4 -12.6 297 2797 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2492 3626 0 0 0 0 0 0

3114 -0.48 -146.0 383.0 -11.3 327 3116 0.15 0.00 0.00 0.000 6 0.203 0.000 2704 2492 3627 0 0 0 0 0 0

3435 -0.52 -146.0 410.9 -8.9 357 3440 0.00 2.42 0.00 0.000 4 0.000 0.090 2703 3906 3626 0 0 0 0 0 0

3469 -0.59 -146.0 414.2 -8.6 359 3476 0.00 2.33 0.00 0.000 6 0.000 0.066 2704 2484 3627 0 0 0 0 0 0

3798 -0.64 -146.0 442.4 -9.0 390 3803 0.15 2.38 0.00 0.000 4 0.122 0.080 2652 1076 3627 0 0 0 0 0 0

3816 -0.64 -146.0 444.4 -9.4 391 3820 0.00 2.40 0.00 0.000 6 0.000 0.080 2652 2496 3627 0 0 0 0 0 0

4147 -0.55 -146.0 489.0 -13.6 422 4152 0.12 2.42 0.00 0.000 4 0.221 0.093 2680 3900 3626 0 0 0 0 0 0

4192 -0.57 -146.0 494.7 -11.1 425 4199 0.00 2.30 0.00 0.000 6 0.000 0.064 2680 2488 3626 0 0 0 0 0 0

4518 -0.57 -146.0 529.9 -11.1 456 4519 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2488 3627 0 0 0 0 0 0

4838 -0.57 -146.0 564.7 -10.6 486 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2488 3628 0 0 0 0 0 0

5159 -0.57 -146.0 595.8 -9.5 516 5163 0.00 2.45 0.00 0.000 4 0.000 0.088 2680 3908 3628 0 0 0 0 0 0

5177 -0.57 -146.0 598.1 -9.9 517 5181 0.00 2.33 0.00 0.000 6 0.000 0.062 2680 2488 3628 0 0 0 0 0 0

5263 end dive: TARGET_DEPTH_EXCEEDED

state 5264 begin apogee

5270 -0.12 0.0 606.7 9.6 521 5406 0.45 0.00 127.22 1.317 6 0.184 0.000 2809 2266 3029 0 0 0 0 0 0

5407 end apogee: CONTROL_FINISHED_OK

state 5407 begin climb

5409 0.62 146.0 611.5 0.0 525 5556 0.82 2.75 134.68 1.268 4 0.147 0.083 3059 878 2433 0 0 0 0 0 0

5601 0.59 146.0 600.0 10.5 531 5606 0.00 2.60 0.00 0.000 6 0.000 0.070 3059 2279 2429 0 0 0 0 0 0

5927 0.56 149.7 567.8 9.8 561 5932 0.00 2.40 0.00 0.000 4 0.000 0.086 3059 3695 2427 0 0 0 0 0 0

6028 0.47 149.7 555.7 12.3 569 6036 0.20 2.38 0.00 0.000 6 0.184 0.069 3019 2273 2426 0 0 0 0 0 0

6354 0.57 202.9 530.7 7.5 600 6409 0.00 2.50 49.72 1.219 4 0.000 0.085 3028 865 2203 0 0 0 0 0 0

6440 0.73 255.0 524.3 7.6 607 6495 0.20 2.42 49.03 1.200 6 0.088 0.080 3111 2289 1989 0 0 0 0 0 0

6814 0.63 255.0 464.7 17.2 642 6819 0.17 2.35 0.00 0.000 4 0.188 0.085 3066 3697 1979 0 0 0 0 0 0

6855 0.63 255.0 458.5 14.6 645 6859 0.00 2.38 0.00 0.000 6 0.000 0.070 3074 2268 1977 0 0 0 0 0 0

7180 0.63 255.0 416.8 12.5 675 7184 0.00 2.35 0.00 0.000 4 0.000 0.085 3085 859 1976 0 0 0 0 0 0

7241 0.63 255.0 409.3 11.6 680 7248 0.00 2.35 0.00 0.000 6 0.000 0.071 3085 2278 1974 0 0 0 0 0 0

7568 0.59 255.0 367.8 13.2 711 7572 0.00 2.35 0.00 0.000 4 0.000 0.085 3085 3694 1974 0 0 0 0 0 0

7619 0.55 255.0 360.3 14.2 715 7624 0.20 2.35 0.00 0.000 6 0.191 0.070 3044 2275 1973 0 0 0 0 0 0

7946 0.64 272.7 328.8 9.2 745 7968 0.00 2.38 14.73 1.076 4 0.000 0.085 3051 864 1918 0 0 0 0 0 0

8020 0.78 292.1 322.0 9.1 751 8051 0.17 2.33 19.83 1.086 6 0.097 0.070 3125 2278 1839 0 0 0 0 0 0

8369 0.70 292.1 265.8 16.5 784 8374 0.12 2.38 0.00 0.000 4 0.194 0.084 3093 3687 1834 0 0 0 0 0 0

8438 0.70 292.1 255.8 14.1 790 8442 0.00 2.33 0.00 0.000 6 0.000 0.070 3101 2273 1832 0 0 0 0 0 0

8765 0.70 292.1 212.1 12.9 820 8769 0.00 2.38 0.00 0.000 4 0.000 0.085 3112 858 1832 0 0 0 0 0 0

8820 0.70 292.1 204.9 12.6 824 8827 0.00 2.33 0.00 0.000 6 0.000 0.070 3112 2275 1831 0 0 0 0 0 0

9147 0.70 292.1 165.7 11.9 855 9151 0.00 2.38 0.00 0.000 4 0.000 0.085 3112 3692 1831 0 0 0 0 0 0

9189 0.67 292.1 159.7 16.0 858 9194 0.15 2.35 0.00 0.000 6 0.189 0.069 3085 2269 1830 0 0 0 0 0 0

9515 0.77 315.9 127.6 8.9 888 9542 0.00 2.38 21.70 1.011 4 0.000 0.086 3091 862 1742 0 0 0 0 0 0

9603 0.91 339.1 120.3 8.9 895 9637 0.20 2.35 22.90 0.995 6 0.090 0.070 3168 2283 1646 0 0 0 0 0 0

9968 0.91 339.1 64.9 12.5 948 9975 0.00 2.35 0.00 0.000 4 0.000 0.086 3169 3691 1641 0 0 0 0 0 0

10061 0.84 339.1 51.1 15.4 964 10069 0.17 2.35 0.00 0.000 6 0.197 0.070 3136 2273 1638 0 0 0 0 0 0

10409 0.85 348.4 16.9 9.6 1025 10422 0.00 2.42 3.80 0.659 4 0.000 0.086 3142 862 1608 0 0 0 0 0 0

10497 end climb: FINISH_DEPTH_REACHED

state 10497 begin subsurface finish

10509 0.09 75.0 8.6 -10.6 1040 10562 0.82 2.42 -43.83 0.000 4 0.161 0.103 2893 3691 2727 0 0 0 0 0 0

10563 end subsurface finish: CONTROL_FINISHED_OK

state 10563 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	690	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	16	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	10.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.8	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	8.57,-1.740,-1.773,2,53,0	ALTIM_TOP_PING	19.9,18.1
FINISH1	8.6,1.025969,75	_24V_AH	21.0,92.245
FINISH2	8.3	_10V_AH	9.8,47.588
RAFOS_CLK	588	FG_AHR_24Vo	0.000
RAFOS	0,1306353663,20.033333,20.017500,89,61,61,56,53,50,667,215,183,195,168,228	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.269531,-6000.543457,250511,202034,7,107,0.54	MEM	150616
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40049,1049
TT8_MAMPS	0.026964	CAP_FILE_SIZE	122618,0
HUMID	48.74	CFSIZE	260165632,208338944
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	1452.7
XPDR_PINGS	2	GPS	250511,202734,6651.270,-6000.543,0,7106.7,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	231	26.44	SBE_CT	752	24	379.11
Roll_motor	110	102	238.25	SBE_O2	799	19	318.99
VBD_pump_during_apogee	443	1316	12264.59	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	22.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2537	19	495.41
LPSleep	5617	2	127.17
TT8_Active	492	19	96.13
TT8_Sampling	1754	39	686.26
TT8_CF8	240	45	108.03
TT8_Kalman	0	0	0.00
Analog_circuits	1454	12	171.11
GPS_charging	0	0	0.00
Compass	1736	15	255.32
RAFOS	2520	1	37.04
Transponder	14	30	4.41

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	-5.90	0.000	2	0.000	0.000	2900	862	2950	0	0	0	0	0	0
28	-0.62	-146.0	12.0	-0.0	1	58	0.65	5.28	-16.90	0.000	4	0.097	0.096	2667	3905	3628	0	0	0	0	0	0
308	-0.50	-146.0	62.7	-18.5	50	316	0.12	2.35	0.00	0.000	6	0.226	0.067	2694	2479	3629	0	0	0	0	0	0
655	-0.41	-146.0	120.3	-15.3	100	662	0.12	0.00	0.00	0.000	6	0.231	0.000	2724	2478	3629	0	0	0	0	0	0
983	-0.41	-146.0	156.9	-10.5	131	987	0.00	2.33	0.00	0.000	4	0.000	0.083	2725	1077	3628	0	0	0	0	0	0
1013	-0.45	-146.0	160.2	-11.2	133	1017	0.00	2.40	0.00	0.000	6	0.000	0.082	2725	2488	3628	0	0	0	0	0	0
1339	-0.50	-146.0	191.2	-9.2	163	1343	0.00	2.42	0.00	0.000	4	0.000	0.097	2725	3900	3628	0	0	0	0	0	0
1418	-0.58	-146.0	198.1	-8.9	169	1426	0.15	2.33	0.00	0.000	6	0.119	0.068	2675	2483	3627	0	0	0	0	0	0
1744	-0.51	-146.0	241.1	-13.9	200	1748	0.00	2.38	0.00	0.000	4	0.000	0.083	2675	1070	3627	0	0	0	0	0	0
1779	-0.46	-146.0	246.0	-13.9	203	1785	0.15	2.40	0.00	0.000	6	0.210	0.082	2710	2493	3628	0	0	0	0	0	0
2106	-0.49	-146.0	277.6	-8.2	233	2111	0.00	2.42	0.00	0.000	4	0.000	0.097	2710	3899	3626	0	0	0	0	0	0
2151	-0.56	-146.0	281.5	-8.0	236	2158	0.00	2.33	0.00	0.000	6	0.000	0.068	2710	2492	3627	0	0	0	0	0	0
2478	-0.60	-146.0	306.9	-8.3	267	2480	0.12	0.00	0.00	0.000	6	0.135	0.000	2668	2492	3626	0	0	0	0	0	0
2796	-0.54	-146.0	345.4	-12.6	297	2797	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2492	3626	0	0	0	0	0	0
3114	-0.48	-146.0	383.0	-11.3	327	3116	0.15	0.00	0.00	0.000	6	0.203	0.000	2704	2492	3627	0	0	0	0	0	0
3435	-0.52	-146.0	410.9	-8.9	357	3440	0.00	2.42	0.00	0.000	4	0.000	0.090	2703	3906	3626	0	0	0	0	0	0
3469	-0.59	-146.0	414.2	-8.6	359	3476	0.00	2.33	0.00	0.000	6	0.000	0.066	2704	2484	3627	0	0	0	0	0	0
3798	-0.64	-146.0	442.4	-9.0	390	3803	0.15	2.38	0.00	0.000	4	0.122	0.080	2652	1076	3627	0	0	0	0	0	0
3816	-0.64	-146.0	444.4	-9.4	391	3820	0.00	2.40	0.00	0.000	6	0.000	0.080	2652	2496	3627	0	0	0	0	0	0
4147	-0.55	-146.0	489.0	-13.6	422	4152	0.12	2.42	0.00	0.000	4	0.221	0.093	2680	3900	3626	0	0	0	0	0	0
4192	-0.57	-146.0	494.7	-11.1	425	4199	0.00	2.30	0.00	0.000	6	0.000	0.064	2680	2488	3626	0	0	0	0	0	0
4518	-0.57	-146.0	529.9	-11.1	456	4519	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2488	3627	0	0	0	0	0	0
4838	-0.57	-146.0	564.7	-10.6	486	4839	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2488	3628	0	0	0	0	0	0
5159	-0.57	-146.0	595.8	-9.5	516	5163	0.00	2.45	0.00	0.000	4	0.000	0.088	2680	3908	3628	0	0	0	0	0	0
5177	-0.57	-146.0	598.1	-9.9	517	5181	0.00	2.33	0.00	0.000	6	0.000	0.062	2680	2488	3628	0	0	0	0	0	0
5263	end dive: TARGET_DEPTH_EXCEEDED
state	5264	begin apogee
5270	-0.12	0.0	606.7	9.6	521	5406	0.45	0.00	127.22	1.317	6	0.184	0.000	2809	2266	3029	0	0	0	0	0	0
5407	end apogee: CONTROL_FINISHED_OK
state	5407	begin climb
5409	0.62	146.0	611.5	0.0	525	5556	0.82	2.75	134.68	1.268	4	0.147	0.083	3059	878	2433	0	0	0	0	0	0
5601	0.59	146.0	600.0	10.5	531	5606	0.00	2.60	0.00	0.000	6	0.000	0.070	3059	2279	2429	0	0	0	0	0	0
5927	0.56	149.7	567.8	9.8	561	5932	0.00	2.40	0.00	0.000	4	0.000	0.086	3059	3695	2427	0	0	0	0	0	0
6028	0.47	149.7	555.7	12.3	569	6036	0.20	2.38	0.00	0.000	6	0.184	0.069	3019	2273	2426	0	0	0	0	0	0
6354	0.57	202.9	530.7	7.5	600	6409	0.00	2.50	49.72	1.219	4	0.000	0.085	3028	865	2203	0	0	0	0	0	0
6440	0.73	255.0	524.3	7.6	607	6495	0.20	2.42	49.03	1.200	6	0.088	0.080	3111	2289	1989	0	0	0	0	0	0
6814	0.63	255.0	464.7	17.2	642	6819	0.17	2.35	0.00	0.000	4	0.188	0.085	3066	3697	1979	0	0	0	0	0	0
6855	0.63	255.0	458.5	14.6	645	6859	0.00	2.38	0.00	0.000	6	0.000	0.070	3074	2268	1977	0	0	0	0	0	0
7180	0.63	255.0	416.8	12.5	675	7184	0.00	2.35	0.00	0.000	4	0.000	0.085	3085	859	1976	0	0	0	0	0	0
7241	0.63	255.0	409.3	11.6	680	7248	0.00	2.35	0.00	0.000	6	0.000	0.071	3085	2278	1974	0	0	0	0	0	0
7568	0.59	255.0	367.8	13.2	711	7572	0.00	2.35	0.00	0.000	4	0.000	0.085	3085	3694	1974	0	0	0	0	0	0
7619	0.55	255.0	360.3	14.2	715	7624	0.20	2.35	0.00	0.000	6	0.191	0.070	3044	2275	1973	0	0	0	0	0	0
7946	0.64	272.7	328.8	9.2	745	7968	0.00	2.38	14.73	1.076	4	0.000	0.085	3051	864	1918	0	0	0	0	0	0
8020	0.78	292.1	322.0	9.1	751	8051	0.17	2.33	19.83	1.086	6	0.097	0.070	3125	2278	1839	0	0	0	0	0	0
8369	0.70	292.1	265.8	16.5	784	8374	0.12	2.38	0.00	0.000	4	0.194	0.084	3093	3687	1834	0	0	0	0	0	0
8438	0.70	292.1	255.8	14.1	790	8442	0.00	2.33	0.00	0.000	6	0.000	0.070	3101	2273	1832	0	0	0	0	0	0
8765	0.70	292.1	212.1	12.9	820	8769	0.00	2.38	0.00	0.000	4	0.000	0.085	3112	858	1832	0	0	0	0	0	0
8820	0.70	292.1	204.9	12.6	824	8827	0.00	2.33	0.00	0.000	6	0.000	0.070	3112	2275	1831	0	0	0	0	0	0
9147	0.70	292.1	165.7	11.9	855	9151	0.00	2.38	0.00	0.000	4	0.000	0.085	3112	3692	1831	0	0	0	0	0	0
9189	0.67	292.1	159.7	16.0	858	9194	0.15	2.35	0.00	0.000	6	0.189	0.069	3085	2269	1830	0	0	0	0	0	0
9515	0.77	315.9	127.6	8.9	888	9542	0.00	2.38	21.70	1.011	4	0.000	0.086	3091	862	1742	0	0	0	0	0	0
9603	0.91	339.1	120.3	8.9	895	9637	0.20	2.35	22.90	0.995	6	0.090	0.070	3168	2283	1646	0	0	0	0	0	0
9968	0.91	339.1	64.9	12.5	948	9975	0.00	2.35	0.00	0.000	4	0.000	0.086	3169	3691	1641	0	0	0	0	0	0
10061	0.84	339.1	51.1	15.4	964	10069	0.17	2.35	0.00	0.000	6	0.197	0.070	3136	2273	1638	0	0	0	0	0	0
10409	0.85	348.4	16.9	9.6	1025	10422	0.00	2.42	3.80	0.659	4	0.000	0.086	3142	862	1608	0	0	0	0	0	0
10497	end climb: FINISH_DEPTH_REACHED
state	10497	begin subsurface finish
10509	0.09	75.0	8.6	-10.6	1040	10562	0.82	2.42	-43.83	0.000	4	0.161	0.103	2893	3691	2727	0	0	0	0	0	0
10563	end subsurface finish: CONTROL_FINISHED_OK
state	10563	begin surface