Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 137 * 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 137 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 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 40 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 9 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 -3 T_GPS_CHARGE -27951.119 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 9 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 -27951.119

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 -3

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 36 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 40 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 137 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 110311,004240,6721.330,-5751.854,181,99.0,181,-38.2 TGT_NAME midTARGET

_CALLS 3 TGT_LATLONG 6656.000,-5813.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110311,004240,6721.330,-5751.854,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 236.3,49357,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 672

Post-dive calculations and measurements:

FREEZE 7.02,-1.675,-1.824,3,12,0 ALTIM_TOP_PING 20.0,19.0

FINISH1 7.0,1.026712,39 _24V_AH 23.3,20.049

FINISH2 5.9 _10V_AH 10.3,11.043

RAFOS_CLK 537 FG_AHR_24Vo 0.000

RAFOS 3,1299817505,4.433333,4.418056,70,56,54,52,50,50,197,179,145,214,169,160 FG_AHR_10Vo 0.000

RAFOS_FIX 6721.475098,-5755.898926,110311,040444,3,128,0.20 MEM 150528

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43338,1076

TT8_MAMPS 0.026215 CAP_FILE_SIZE 116207,0

HUMID 46.65 CFSIZE 260165632,243163136

INTERNAL_PRESSURE 8.71127 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1461.7

XPDR_PINGS 0 GPS 110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 328 127.89 SBE_CT 758 24 424.39

Roll_motor 81 72 138.43 SBE_O2 817 19 362.00

VBD_pump_during_apogee 306 1227 8770.14 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 1 420 17.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2554 19 524.05

LPSleep 5462 2 129.98

TT8_Active 465 19 95.59

TT8_Sampling 1718 39 706.65

TT8_CF8 146 45 69.37

TT8_Kalman 0 0 0.00

Analog_circuits 1385 12 171.21

GPS_charging 0 0 0.00

Compass 1708 15 263.89

RAFOS 1440 1 22.25

Transponder 14 30 4.42

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.62 -146.0 0.0 0.0 0 155 0.00 0.00 -137.38 0.000 2 0.000 0.000 105 2504 3470 0 0 0 0 0 0

159 -0.62 -146.0 5.9 -10.6 24 178 12.48 0.00 -3.17 0.000 6 0.328 0.000 2651 2504 3629 0 0 0 0 0 0

516 -0.47 -146.0 76.6 -16.8 87 523 0.22 2.22 0.00 0.000 4 0.223 0.063 2707 3891 3630 0 0 0 0 0 0

570 -0.51 -146.0 83.7 -10.7 96 577 0.00 2.15 0.00 0.000 6 0.000 0.037 2707 2486 3631 0 0 0 0 0 0

904 -0.51 -146.0 119.4 -10.5 140 908 0.00 2.25 0.00 0.000 4 0.000 0.066 2707 3891 3631 0 0 0 0 0 0

950 -0.55 -146.0 124.3 -10.5 144 954 0.00 2.15 0.00 0.000 6 0.000 0.040 2707 2489 3630 0 0 0 0 0 0

1275 -0.59 -146.0 157.0 -10.1 174 1277 0.12 0.00 0.00 0.000 6 0.127 0.000 2664 2488 3628 0 0 0 0 0 0

1595 -0.54 -146.0 195.3 -12.1 204 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2487 3627 0 0 0 0 0 0

1912 -0.49 -146.0 231.8 -11.3 234 1914 0.15 0.00 0.00 0.000 6 0.213 0.000 2700 2488 3628 0 0 0 0 0 0

2231 -0.53 -146.0 260.7 -9.1 264 2235 0.00 2.22 0.00 0.000 4 0.000 0.064 2700 3884 3628 0 0 0 0 0 0

2250 -0.57 -146.0 262.3 -9.2 265 2254 0.00 2.12 0.00 0.000 6 0.000 0.037 2700 2483 3628 0 0 0 0 0 0

2581 -0.62 -146.0 292.0 -8.9 296 2583 0.12 0.00 0.00 0.000 6 0.125 0.000 2657 2482 3629 0 0 0 0 0 0

2901 -0.56 -146.0 329.7 -12.1 326 2902 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2482 3629 0 0 0 0 0 0

3219 -0.50 -146.0 369.5 -12.3 356 3221 0.17 0.00 0.00 0.000 6 0.207 0.000 2700 2482 3630 0 0 0 0 0 0

3536 -0.55 -146.0 397.6 -8.6 386 3540 0.00 2.22 0.00 0.000 4 0.000 0.065 2700 3894 3630 0 0 0 0 0 0

3559 -0.61 -146.0 399.7 -8.7 387 3567 0.12 2.12 0.00 0.000 6 0.119 0.037 2657 2486 3630 0 0 0 0 0 0

3884 -0.56 -146.0 438.2 -12.7 418 3888 0.00 2.20 0.00 0.000 4 0.000 0.063 2657 3886 3631 0 0 0 0 0 0

3934 -0.53 -146.0 444.6 -12.8 422 3941 0.12 2.10 0.00 0.000 6 0.207 0.037 2686 2490 3631 0 0 0 0 0 0

4259 -0.56 -146.0 476.1 -9.3 453 4263 0.00 2.22 0.00 0.000 4 0.000 0.064 2686 3888 3631 0 0 0 0 0 0

4281 -0.59 -146.0 478.4 -9.4 454 4288 0.00 2.12 0.00 0.000 6 0.000 0.037 2686 2478 3631 0 0 0 0 0 0

4607 -0.61 -146.0 509.4 -9.6 485 4611 0.00 2.22 0.00 0.000 4 0.000 0.063 2686 3886 3631 0 0 0 0 0 0

4628 -0.63 -146.0 511.7 -10.2 486 4635 0.00 2.10 0.00 0.000 6 0.000 0.037 2685 2491 3631 0 0 0 0 0 0

4954 -0.83 -146.0 538.8 -0.8 517 4956 0.25 0.00 0.00 0.000 6 0.090 0.000 2590 2490 3633 0 0 0 0 0 0

5079 end dive: NO_VERTICAL_VELOCITY

state 5079 begin apogee

5084 -0.12 0.0 539.0 0.0 529 5210 0.68 0.00 119.95 1.227 6 0.124 0.000 2820 2267 3030 0 0 0 0 0 0

5211 end apogee: CONTROL_FINISHED_OK

state 5211 begin climb

5213 0.62 146.0 539.0 0.0 540 5346 0.75 2.40 121.90 1.184 4 0.138 0.062 3055 889 2433 0 0 0 0 0 0

5476 0.57 152.3 533.0 9.7 563 5486 0.00 2.28 5.62 0.848 6 0.000 0.046 3055 2263 2409 0 0 0 0 0 0

5812 0.50 152.3 493.7 12.1 595 5816 0.00 2.30 0.00 0.000 4 0.000 0.061 3055 3685 2406 0 0 0 0 0 0

5900 0.38 152.3 481.3 14.7 602 5908 0.28 2.22 0.00 0.000 6 0.188 0.045 2995 2292 2405 0 0 0 0 0 0

6226 0.46 188.4 453.3 8.3 633 6260 0.00 0.00 31.77 1.129 6 0.000 0.000 2994 2292 2262 0 0 0 0 0 0

6575 0.57 214.1 423.2 8.8 666 6605 0.15 0.00 23.27 1.107 6 0.093 0.000 3056 2291 2156 0 0 0 0 0 0

6924 0.55 214.1 380.3 12.4 699 6928 0.00 2.25 0.00 0.000 4 0.000 0.060 3056 3686 2151 0 0 0 0 0 0

6958 0.49 214.1 375.6 14.2 702 6963 0.17 2.22 0.00 0.000 6 0.179 0.047 3021 2276 2150 0 0 0 0 0 0

7289 0.53 218.5 342.2 9.8 733 7301 0.00 2.25 4.22 0.723 4 0.000 0.061 3029 863 2139 0 0 0 0 0 0

7358 0.59 218.5 335.1 10.8 739 7362 0.00 2.20 0.00 0.000 6 0.000 0.047 3028 2279 2138 0 0 0 0 0 0

7683 0.61 218.5 301.5 10.7 769 7687 0.00 2.20 0.00 0.000 4 0.000 0.060 3029 3682 2137 0 0 0 0 0 0

7767 0.61 218.5 291.1 13.2 776 7771 0.00 2.22 0.00 0.000 6 0.000 0.047 3039 2264 2137 0 0 0 0 0 0

8093 0.61 218.5 252.3 11.0 806 8097 0.00 2.17 0.00 0.000 4 0.000 0.060 3047 867 2136 0 0 0 0 0 0

8139 0.64 218.5 247.1 10.3 810 8143 0.00 2.20 0.00 0.000 6 0.000 0.046 3047 2277 2135 0 0 0 0 0 0

8464 0.64 218.5 210.1 10.7 840 8468 0.00 2.20 0.00 0.000 4 0.000 0.060 3046 3690 2135 0 0 0 0 0 0

8549 0.61 218.5 199.5 12.9 847 8553 0.00 2.20 0.00 0.000 6 0.000 0.045 3057 2272 2135 0 0 0 0 0 0

8875 0.61 218.5 159.3 11.2 877 8879 0.00 2.17 0.00 0.000 4 0.000 0.060 3067 867 2135 0 0 0 0 0 0

8930 0.61 218.5 153.0 10.6 881 8937 0.00 2.20 0.00 0.000 6 0.000 0.044 3067 2275 2135 0 0 0 0 0 0

9257 0.61 218.5 116.7 11.5 912 9261 0.00 2.20 0.00 0.000 4 0.000 0.058 3067 3697 2135 0 0 0 0 0 0

9353 0.55 218.5 103.9 13.4 920 9358 0.12 2.20 0.00 0.000 6 0.187 0.044 3045 2268 2134 0 0 0 0 0 0

9694 0.59 218.5 71.2 10.4 976 9701 0.00 2.17 0.00 0.000 4 0.000 0.060 3046 865 2135 0 0 0 0 0 0

9736 0.68 218.5 66.7 10.7 983 9743 0.10 2.17 0.00 0.000 6 0.126 0.044 3088 2277 2135 0 0 0 0 0 0

10083 0.64 218.5 26.7 12.0 1044 10090 0.00 2.17 0.00 0.000 4 0.000 0.060 3088 3681 2135 0 0 0 0 0 0

10222 0.57 218.5 9.1 13.7 1068 10229 0.17 2.17 0.00 0.000 6 0.193 0.046 3053 2276 2135 0 0 0 0 0 0

10235 end climb: FINISH_DEPTH_REACHED

state 10235 begin subsurface finish

10241 0.05 38.6 7.0 -13.4 1070 10277 0.52 2.20 -27.40 0.000 4 0.153 0.073 2884 859 2874 0 0 0 0 0 0

10278 end subsurface finish: CONTROL_FINISHED_OK

state 10278 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	137	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	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	40	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	9	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	-3	T_GPS_CHARGE	-27951.119	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	110311,004240,6721.330,-5751.854,181,99.0,181,-38.2	TGT_NAME	midTARGET
_CALLS	3	TGT_LATLONG	6656.000,-5813.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110311,004240,6721.330,-5751.854,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	236.3,49357,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	672

FREEZE	7.02,-1.675,-1.824,3,12,0	ALTIM_TOP_PING	20.0,19.0
FINISH1	7.0,1.026712,39	_24V_AH	23.3,20.049
FINISH2	5.9	_10V_AH	10.3,11.043
RAFOS_CLK	537	FG_AHR_24Vo	0.000
RAFOS	3,1299817505,4.433333,4.418056,70,56,54,52,50,50,197,179,145,214,169,160	FG_AHR_10Vo	0.000
RAFOS_FIX	6721.475098,-5755.898926,110311,040444,3,128,0.20	MEM	150528
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43338,1076
TT8_MAMPS	0.026215	CAP_FILE_SIZE	116207,0
HUMID	46.65	CFSIZE	260165632,243163136
INTERNAL_PRESSURE	8.71127	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1461.7
XPDR_PINGS	0	GPS	110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	328	127.89	SBE_CT	758	24	424.39
Roll_motor	81	72	138.43	SBE_O2	817	19	362.00
VBD_pump_during_apogee	306	1227	8770.14	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	1	420	17.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2554	19	524.05
LPSleep	5462	2	129.98
TT8_Active	465	19	95.59
TT8_Sampling	1718	39	706.65
TT8_CF8	146	45	69.37
TT8_Kalman	0	0	0.00
Analog_circuits	1385	12	171.21
GPS_charging	0	0	0.00
Compass	1708	15	263.89
RAFOS	1440	1	22.25
Transponder	14	30	4.42

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.62	-146.0	0.0	0.0	0	155	0.00	0.00	-137.38	0.000	2	0.000	0.000	105	2504	3470	0	0	0	0	0	0
159	-0.62	-146.0	5.9	-10.6	24	178	12.48	0.00	-3.17	0.000	6	0.328	0.000	2651	2504	3629	0	0	0	0	0	0
516	-0.47	-146.0	76.6	-16.8	87	523	0.22	2.22	0.00	0.000	4	0.223	0.063	2707	3891	3630	0	0	0	0	0	0
570	-0.51	-146.0	83.7	-10.7	96	577	0.00	2.15	0.00	0.000	6	0.000	0.037	2707	2486	3631	0	0	0	0	0	0
904	-0.51	-146.0	119.4	-10.5	140	908	0.00	2.25	0.00	0.000	4	0.000	0.066	2707	3891	3631	0	0	0	0	0	0
950	-0.55	-146.0	124.3	-10.5	144	954	0.00	2.15	0.00	0.000	6	0.000	0.040	2707	2489	3630	0	0	0	0	0	0
1275	-0.59	-146.0	157.0	-10.1	174	1277	0.12	0.00	0.00	0.000	6	0.127	0.000	2664	2488	3628	0	0	0	0	0	0
1595	-0.54	-146.0	195.3	-12.1	204	1596	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2487	3627	0	0	0	0	0	0
1912	-0.49	-146.0	231.8	-11.3	234	1914	0.15	0.00	0.00	0.000	6	0.213	0.000	2700	2488	3628	0	0	0	0	0	0
2231	-0.53	-146.0	260.7	-9.1	264	2235	0.00	2.22	0.00	0.000	4	0.000	0.064	2700	3884	3628	0	0	0	0	0	0
2250	-0.57	-146.0	262.3	-9.2	265	2254	0.00	2.12	0.00	0.000	6	0.000	0.037	2700	2483	3628	0	0	0	0	0	0
2581	-0.62	-146.0	292.0	-8.9	296	2583	0.12	0.00	0.00	0.000	6	0.125	0.000	2657	2482	3629	0	0	0	0	0	0
2901	-0.56	-146.0	329.7	-12.1	326	2902	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2482	3629	0	0	0	0	0	0
3219	-0.50	-146.0	369.5	-12.3	356	3221	0.17	0.00	0.00	0.000	6	0.207	0.000	2700	2482	3630	0	0	0	0	0	0
3536	-0.55	-146.0	397.6	-8.6	386	3540	0.00	2.22	0.00	0.000	4	0.000	0.065	2700	3894	3630	0	0	0	0	0	0
3559	-0.61	-146.0	399.7	-8.7	387	3567	0.12	2.12	0.00	0.000	6	0.119	0.037	2657	2486	3630	0	0	0	0	0	0
3884	-0.56	-146.0	438.2	-12.7	418	3888	0.00	2.20	0.00	0.000	4	0.000	0.063	2657	3886	3631	0	0	0	0	0	0
3934	-0.53	-146.0	444.6	-12.8	422	3941	0.12	2.10	0.00	0.000	6	0.207	0.037	2686	2490	3631	0	0	0	0	0	0
4259	-0.56	-146.0	476.1	-9.3	453	4263	0.00	2.22	0.00	0.000	4	0.000	0.064	2686	3888	3631	0	0	0	0	0	0
4281	-0.59	-146.0	478.4	-9.4	454	4288	0.00	2.12	0.00	0.000	6	0.000	0.037	2686	2478	3631	0	0	0	0	0	0
4607	-0.61	-146.0	509.4	-9.6	485	4611	0.00	2.22	0.00	0.000	4	0.000	0.063	2686	3886	3631	0	0	0	0	0	0
4628	-0.63	-146.0	511.7	-10.2	486	4635	0.00	2.10	0.00	0.000	6	0.000	0.037	2685	2491	3631	0	0	0	0	0	0
4954	-0.83	-146.0	538.8	-0.8	517	4956	0.25	0.00	0.00	0.000	6	0.090	0.000	2590	2490	3633	0	0	0	0	0	0
5079	end dive: NO_VERTICAL_VELOCITY
state	5079	begin apogee
5084	-0.12	0.0	539.0	0.0	529	5210	0.68	0.00	119.95	1.227	6	0.124	0.000	2820	2267	3030	0	0	0	0	0	0
5211	end apogee: CONTROL_FINISHED_OK
state	5211	begin climb
5213	0.62	146.0	539.0	0.0	540	5346	0.75	2.40	121.90	1.184	4	0.138	0.062	3055	889	2433	0	0	0	0	0	0
5476	0.57	152.3	533.0	9.7	563	5486	0.00	2.28	5.62	0.848	6	0.000	0.046	3055	2263	2409	0	0	0	0	0	0
5812	0.50	152.3	493.7	12.1	595	5816	0.00	2.30	0.00	0.000	4	0.000	0.061	3055	3685	2406	0	0	0	0	0	0
5900	0.38	152.3	481.3	14.7	602	5908	0.28	2.22	0.00	0.000	6	0.188	0.045	2995	2292	2405	0	0	0	0	0	0
6226	0.46	188.4	453.3	8.3	633	6260	0.00	0.00	31.77	1.129	6	0.000	0.000	2994	2292	2262	0	0	0	0	0	0
6575	0.57	214.1	423.2	8.8	666	6605	0.15	0.00	23.27	1.107	6	0.093	0.000	3056	2291	2156	0	0	0	0	0	0
6924	0.55	214.1	380.3	12.4	699	6928	0.00	2.25	0.00	0.000	4	0.000	0.060	3056	3686	2151	0	0	0	0	0	0
6958	0.49	214.1	375.6	14.2	702	6963	0.17	2.22	0.00	0.000	6	0.179	0.047	3021	2276	2150	0	0	0	0	0	0
7289	0.53	218.5	342.2	9.8	733	7301	0.00	2.25	4.22	0.723	4	0.000	0.061	3029	863	2139	0	0	0	0	0	0
7358	0.59	218.5	335.1	10.8	739	7362	0.00	2.20	0.00	0.000	6	0.000	0.047	3028	2279	2138	0	0	0	0	0	0
7683	0.61	218.5	301.5	10.7	769	7687	0.00	2.20	0.00	0.000	4	0.000	0.060	3029	3682	2137	0	0	0	0	0	0
7767	0.61	218.5	291.1	13.2	776	7771	0.00	2.22	0.00	0.000	6	0.000	0.047	3039	2264	2137	0	0	0	0	0	0
8093	0.61	218.5	252.3	11.0	806	8097	0.00	2.17	0.00	0.000	4	0.000	0.060	3047	867	2136	0	0	0	0	0	0
8139	0.64	218.5	247.1	10.3	810	8143	0.00	2.20	0.00	0.000	6	0.000	0.046	3047	2277	2135	0	0	0	0	0	0
8464	0.64	218.5	210.1	10.7	840	8468	0.00	2.20	0.00	0.000	4	0.000	0.060	3046	3690	2135	0	0	0	0	0	0
8549	0.61	218.5	199.5	12.9	847	8553	0.00	2.20	0.00	0.000	6	0.000	0.045	3057	2272	2135	0	0	0	0	0	0
8875	0.61	218.5	159.3	11.2	877	8879	0.00	2.17	0.00	0.000	4	0.000	0.060	3067	867	2135	0	0	0	0	0	0
8930	0.61	218.5	153.0	10.6	881	8937	0.00	2.20	0.00	0.000	6	0.000	0.044	3067	2275	2135	0	0	0	0	0	0
9257	0.61	218.5	116.7	11.5	912	9261	0.00	2.20	0.00	0.000	4	0.000	0.058	3067	3697	2135	0	0	0	0	0	0
9353	0.55	218.5	103.9	13.4	920	9358	0.12	2.20	0.00	0.000	6	0.187	0.044	3045	2268	2134	0	0	0	0	0	0
9694	0.59	218.5	71.2	10.4	976	9701	0.00	2.17	0.00	0.000	4	0.000	0.060	3046	865	2135	0	0	0	0	0	0
9736	0.68	218.5	66.7	10.7	983	9743	0.10	2.17	0.00	0.000	6	0.126	0.044	3088	2277	2135	0	0	0	0	0	0
10083	0.64	218.5	26.7	12.0	1044	10090	0.00	2.17	0.00	0.000	4	0.000	0.060	3088	3681	2135	0	0	0	0	0	0
10222	0.57	218.5	9.1	13.7	1068	10229	0.17	2.17	0.00	0.000	6	0.193	0.046	3053	2276	2135	0	0	0	0	0	0
10235	end climb: FINISH_DEPTH_REACHED
state	10235	begin subsurface finish
10241	0.05	38.6	7.0	-13.4	1070	10277	0.52	2.20	-27.40	0.000	4	0.153	0.073	2884	859	2874	0	0	0	0	0	0
10278	end subsurface finish: CONTROL_FINISHED_OK
state	10278	begin surface