Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 218 * 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 218 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 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -30532.186 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 -30532.186

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 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 218 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 260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2 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 9.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 9.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2 MHEAD_RNG_PITCHd_Wd 159.5,61891,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 862

Post-dive calculations and measurements:

FREEZE 8.83,-1.652,-1.833,3,93,0 ALTIM_BOTTOM_PING 551.0,32.2

FINISH1 8.8,1.026816,33 _24V_AH 22.8,31.752

FINISH2 5.5 _10V_AH 10.2,17.494

RAFOS_CLK 550 FG_AHR_24Vo 0.000

RAFOS 0,1301112069,4.033333,4.019166,74,61,52,52,52,50,206,180,134,193,145,125 FG_AHR_10Vo 0.000

RAFOS_FIX 6719.733398,-5759.884766,260311,040456,2,140,0.10 MEM 150556

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43309,1083

TT8_MAMPS 0.026215 CAP_FILE_SIZE 116895,0

HUMID 45.19 CFSIZE 260165632,237043712

INTERNAL_PRESSURE 8.7308 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1460.2

XPDR_PINGS 0 GPS 260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2

ALTIM_TOP_PING 19.8,16.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 218 24.57 SBE_CT 767 24 419.79

Roll_motor 92 70 148.63 SBE_O2 825 19 357.74

VBD_pump_during_apogee 394 1271 11444.70 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 19.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2588 19 526.00

LPSleep 5505 2 129.73

TT8_Active 451 19 91.73

TT8_Sampling 1745 39 710.73

TT8_CF8 161 45 75.42

TT8_Kalman 0 0 0.00

Analog_circuits 1391 12 170.34

GPS_charging 0 0 0.00

Compass 1733 15 265.30

RAFOS 2520 1 38.56

Transponder 15 30 4.88

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.43 0.000 2 0.000 0.000 2882 865 3127 0 0 0 0 0 0

26 -0.62 -146.0 9.6 -0.0 1 52 0.60 4.95 -14.65 0.000 4 0.103 0.067 2670 3897 3629 0 0 0 0 0 0

232 -0.56 -146.0 34.0 -13.7 37 239 0.00 2.20 0.00 0.000 6 0.000 0.041 2670 2480 3630 0 0 0 0 0 0

578 -0.47 -146.0 84.7 -14.2 98 585 0.15 2.30 0.00 0.000 4 0.219 0.067 2704 3897 3630 0 0 0 0 0 0

638 -0.51 -146.0 91.2 -9.3 108 645 0.00 2.15 0.00 0.000 6 0.000 0.040 2705 2489 3630 0 0 0 0 0 0

975 -0.54 -146.0 124.1 -9.0 147 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2489 3628 0 0 0 0 0 0

1296 -0.58 -146.0 152.9 -9.1 177 1300 0.00 2.30 0.00 0.000 4 0.000 0.067 2705 3905 3626 0 0 0 0 0 0

1351 -0.67 -146.0 158.6 -10.2 181 1359 0.17 2.17 0.00 0.000 6 0.109 0.040 2644 2489 3626 0 0 0 0 0 0

1678 -0.57 -146.0 205.7 -14.4 212 1680 0.15 0.00 0.00 0.000 6 0.216 0.000 2678 2488 3626 0 0 0 0 0 0

1995 -0.57 -146.0 240.7 -10.0 242 1996 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2489 3626 0 0 0 0 0 0

2315 -0.57 -146.0 271.1 -9.0 272 2319 0.00 2.17 0.00 0.000 4 0.000 0.056 2679 1080 3626 0 0 0 0 0 0

2338 -0.57 -146.0 273.5 -9.8 274 2342 0.00 2.22 0.00 0.000 6 0.000 0.053 2679 2490 3626 0 0 0 0 0 0

2663 -0.57 -146.0 302.0 -8.7 304 2667 0.00 2.28 0.00 0.000 4 0.000 0.067 2678 3905 3627 0 0 0 0 0 0

2685 -0.57 -146.0 304.0 -8.3 305 2692 0.00 2.17 0.00 0.000 6 0.000 0.037 2679 2480 3627 0 0 0 0 0 0

3010 -0.57 -146.0 332.3 -9.1 336 3011 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2480 3628 0 0 0 0 0 0

3330 -0.57 -146.0 362.2 -9.6 366 3332 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2479 3629 0 0 0 0 0 0

3649 -0.57 -146.0 391.4 -8.6 396 3650 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2480 3629 0 0 0 0 0 0

3967 -0.57 -146.0 420.2 -9.5 426 3971 0.00 2.28 0.00 0.000 4 0.000 0.067 2679 3902 3629 0 0 0 0 0 0

4000 -0.60 -146.0 423.5 -9.4 428 4007 0.00 2.12 0.00 0.000 6 0.000 0.039 2679 2491 3629 0 0 0 0 0 0

4325 -0.60 -146.0 451.7 -8.2 459 4329 0.00 2.17 0.00 0.000 4 0.000 0.055 2679 1093 3629 0 0 0 0 0 0

4336 -0.60 -146.0 452.8 -8.2 459 4343 0.00 2.17 0.00 0.000 6 0.000 0.053 2679 2489 3629 0 0 0 0 0 0

4661 -0.60 -146.0 479.6 -8.4 490 4665 0.00 2.25 0.00 0.000 4 0.000 0.070 2679 3899 3628 0 0 0 0 0 0

4694 -0.63 -146.0 482.3 -8.1 492 4701 0.00 2.15 0.00 0.000 6 0.000 0.040 2679 2481 3628 0 0 0 0 0 0

5020 -0.65 -146.0 507.7 -7.8 523 5025 0.00 2.25 0.00 0.000 4 0.000 0.067 2679 3896 3628 0 0 0 0 0 0

5066 -0.70 -146.0 511.6 -7.9 527 5071 0.12 2.15 0.00 0.000 6 0.125 0.040 2635 2488 3628 0 0 0 0 0 0

5397 -0.61 -146.0 549.9 -11.7 558 5399 0.12 0.00 0.00 0.000 6 0.217 0.000 2663 2487 3628 0 0 0 0 0 0

5597 end dive: BOTTOM_OBSTACLE_DETECTED

state 5597 begin apogee

5602 -0.12 0.0 569.0 9.2 577 5733 0.52 0.00 120.20 1.271 6 0.182 0.000 2819 2247 3029 0 0 0 0 0 0

5733 end apogee: CONTROL_FINISHED_OK

state 5734 begin climb

5735 0.62 146.0 572.8 0.0 589 5871 0.75 2.45 124.93 1.222 4 0.127 0.061 3064 898 2433 0 0 0 0 0 0

5991 0.53 146.0 547.2 13.8 612 5996 0.12 2.33 0.00 0.000 6 0.191 0.048 3038 2275 2427 0 0 0 0 0 0

6316 0.46 146.0 508.9 11.5 642 6320 0.00 2.30 0.00 0.000 4 0.000 0.062 3037 3683 2424 0 0 0 0 0 0

6412 0.35 146.0 496.6 13.2 650 6418 0.25 2.22 0.00 0.000 6 0.193 0.045 2983 2286 2424 0 0 0 0 0 0

6738 0.46 200.1 470.8 7.5 680 6793 0.00 2.40 45.83 1.164 4 0.000 0.062 2990 873 2213 0 0 0 0 0 0

6829 0.64 249.2 463.8 7.7 688 6880 0.22 2.28 44.35 1.146 6 0.081 0.047 3080 2283 2013 0 0 0 0 0 0

7199 0.55 249.2 403.6 16.6 722 7203 0.15 2.28 0.00 0.000 4 0.180 0.062 3041 3697 2003 0 0 0 0 0 0

7264 0.55 249.2 393.4 14.0 727 7272 0.00 2.30 0.00 0.000 6 0.000 0.047 3048 2279 2000 0 0 0 0 0 0

7590 0.55 249.2 349.7 13.1 758 7594 0.00 2.28 0.00 0.000 4 0.000 0.061 3059 862 1999 0 0 0 0 0 0

7663 0.55 249.2 340.3 12.5 764 7667 0.00 2.25 0.00 0.000 6 0.000 0.049 3059 2286 1997 0 0 0 0 0 0

7993 0.52 249.2 294.2 14.9 795 7997 0.00 2.22 0.00 0.000 4 0.000 0.062 3059 3692 1997 0 0 0 0 0 0

8082 0.48 249.2 279.7 16.3 802 8090 0.17 2.25 0.00 0.000 6 0.184 0.049 3024 2269 1996 0 0 0 0 0 0

8409 0.52 249.2 241.1 11.0 833 8413 0.00 2.25 0.00 0.000 4 0.000 0.062 3029 859 1996 0 0 0 0 0 0

8487 0.60 260.1 232.9 9.5 839 8505 0.00 2.22 7.65 0.911 6 0.000 0.048 3029 2276 1969 0 0 0 0 0 0

8823 0.63 260.1 195.7 11.1 871 8827 0.10 2.25 0.00 0.000 4 0.120 0.063 3074 3688 1967 0 0 0 0 0 0

8902 0.57 260.1 183.8 16.2 878 8907 0.12 2.22 0.00 0.000 6 0.194 0.049 3054 2270 1966 0 0 0 0 0 0

9232 0.57 260.1 140.8 12.7 909 9236 0.00 2.20 0.00 0.000 4 0.000 0.060 3063 865 1966 0 0 0 0 0 0

9265 0.57 260.1 136.3 12.5 911 9272 0.00 2.22 0.00 0.000 6 0.000 0.047 3063 2277 1964 0 0 0 0 0 0

9592 0.57 260.1 94.0 11.3 946 9599 0.00 2.20 0.00 0.000 4 0.000 0.060 3063 3682 1964 0 0 0 0 0 0

9668 0.54 260.1 84.9 12.4 959 9676 0.12 2.20 0.00 0.000 6 0.188 0.047 3042 2261 1964 0 0 0 0 0 0

10015 0.64 289.0 53.8 8.7 1020 10051 0.00 2.28 26.83 0.927 4 0.000 0.061 3042 868 1850 0 0 0 0 0 0

10105 0.79 316.9 45.6 8.7 1035 10137 0.22 2.22 25.02 0.903 6 0.088 0.046 3128 2279 1737 0 0 0 0 0 0

10333 end climb: FINISH_DEPTH_REACHED

state 10334 begin subsurface finish

10339 0.04 33.5 8.8 -16.7 1075 10388 0.82 0.00 -44.92 0.000 6 0.171 0.000 2884 2279 2894 0 0 0 0 0 0

10389 end subsurface finish: CONTROL_FINISHED_OK

state 10389 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	218	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	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-30532.186	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	260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2	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	9.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	9.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2	MHEAD_RNG_PITCHd_Wd	159.5,61891,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	862

FREEZE	8.83,-1.652,-1.833,3,93,0	ALTIM_BOTTOM_PING	551.0,32.2
FINISH1	8.8,1.026816,33	_24V_AH	22.8,31.752
FINISH2	5.5	_10V_AH	10.2,17.494
RAFOS_CLK	550	FG_AHR_24Vo	0.000
RAFOS	0,1301112069,4.033333,4.019166,74,61,52,52,52,50,206,180,134,193,145,125	FG_AHR_10Vo	0.000
RAFOS_FIX	6719.733398,-5759.884766,260311,040456,2,140,0.10	MEM	150556
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43309,1083
TT8_MAMPS	0.026215	CAP_FILE_SIZE	116895,0
HUMID	45.19	CFSIZE	260165632,237043712
INTERNAL_PRESSURE	8.7308	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1460.2
XPDR_PINGS	0	GPS	260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2
ALTIM_TOP_PING	19.8,16.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	218	24.57	SBE_CT	767	24	419.79
Roll_motor	92	70	148.63	SBE_O2	825	19	357.74
VBD_pump_during_apogee	394	1271	11444.70	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	19.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2588	19	526.00
LPSleep	5505	2	129.73
TT8_Active	451	19	91.73
TT8_Sampling	1745	39	710.73
TT8_CF8	161	45	75.42
TT8_Kalman	0	0	0.00
Analog_circuits	1391	12	170.34
GPS_charging	0	0	0.00
Compass	1733	15	265.30
RAFOS	2520	1	38.56
Transponder	15	30	4.88

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.43	0.000	2	0.000	0.000	2882	865	3127	0	0	0	0	0	0
26	-0.62	-146.0	9.6	-0.0	1	52	0.60	4.95	-14.65	0.000	4	0.103	0.067	2670	3897	3629	0	0	0	0	0	0
232	-0.56	-146.0	34.0	-13.7	37	239	0.00	2.20	0.00	0.000	6	0.000	0.041	2670	2480	3630	0	0	0	0	0	0
578	-0.47	-146.0	84.7	-14.2	98	585	0.15	2.30	0.00	0.000	4	0.219	0.067	2704	3897	3630	0	0	0	0	0	0
638	-0.51	-146.0	91.2	-9.3	108	645	0.00	2.15	0.00	0.000	6	0.000	0.040	2705	2489	3630	0	0	0	0	0	0
975	-0.54	-146.0	124.1	-9.0	147	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2489	3628	0	0	0	0	0	0
1296	-0.58	-146.0	152.9	-9.1	177	1300	0.00	2.30	0.00	0.000	4	0.000	0.067	2705	3905	3626	0	0	0	0	0	0
1351	-0.67	-146.0	158.6	-10.2	181	1359	0.17	2.17	0.00	0.000	6	0.109	0.040	2644	2489	3626	0	0	0	0	0	0
1678	-0.57	-146.0	205.7	-14.4	212	1680	0.15	0.00	0.00	0.000	6	0.216	0.000	2678	2488	3626	0	0	0	0	0	0
1995	-0.57	-146.0	240.7	-10.0	242	1996	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2489	3626	0	0	0	0	0	0
2315	-0.57	-146.0	271.1	-9.0	272	2319	0.00	2.17	0.00	0.000	4	0.000	0.056	2679	1080	3626	0	0	0	0	0	0
2338	-0.57	-146.0	273.5	-9.8	274	2342	0.00	2.22	0.00	0.000	6	0.000	0.053	2679	2490	3626	0	0	0	0	0	0
2663	-0.57	-146.0	302.0	-8.7	304	2667	0.00	2.28	0.00	0.000	4	0.000	0.067	2678	3905	3627	0	0	0	0	0	0
2685	-0.57	-146.0	304.0	-8.3	305	2692	0.00	2.17	0.00	0.000	6	0.000	0.037	2679	2480	3627	0	0	0	0	0	0
3010	-0.57	-146.0	332.3	-9.1	336	3011	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2480	3628	0	0	0	0	0	0
3330	-0.57	-146.0	362.2	-9.6	366	3332	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2479	3629	0	0	0	0	0	0
3649	-0.57	-146.0	391.4	-8.6	396	3650	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2480	3629	0	0	0	0	0	0
3967	-0.57	-146.0	420.2	-9.5	426	3971	0.00	2.28	0.00	0.000	4	0.000	0.067	2679	3902	3629	0	0	0	0	0	0
4000	-0.60	-146.0	423.5	-9.4	428	4007	0.00	2.12	0.00	0.000	6	0.000	0.039	2679	2491	3629	0	0	0	0	0	0
4325	-0.60	-146.0	451.7	-8.2	459	4329	0.00	2.17	0.00	0.000	4	0.000	0.055	2679	1093	3629	0	0	0	0	0	0
4336	-0.60	-146.0	452.8	-8.2	459	4343	0.00	2.17	0.00	0.000	6	0.000	0.053	2679	2489	3629	0	0	0	0	0	0
4661	-0.60	-146.0	479.6	-8.4	490	4665	0.00	2.25	0.00	0.000	4	0.000	0.070	2679	3899	3628	0	0	0	0	0	0
4694	-0.63	-146.0	482.3	-8.1	492	4701	0.00	2.15	0.00	0.000	6	0.000	0.040	2679	2481	3628	0	0	0	0	0	0
5020	-0.65	-146.0	507.7	-7.8	523	5025	0.00	2.25	0.00	0.000	4	0.000	0.067	2679	3896	3628	0	0	0	0	0	0
5066	-0.70	-146.0	511.6	-7.9	527	5071	0.12	2.15	0.00	0.000	6	0.125	0.040	2635	2488	3628	0	0	0	0	0	0
5397	-0.61	-146.0	549.9	-11.7	558	5399	0.12	0.00	0.00	0.000	6	0.217	0.000	2663	2487	3628	0	0	0	0	0	0
5597	end dive: BOTTOM_OBSTACLE_DETECTED
state	5597	begin apogee
5602	-0.12	0.0	569.0	9.2	577	5733	0.52	0.00	120.20	1.271	6	0.182	0.000	2819	2247	3029	0	0	0	0	0	0
5733	end apogee: CONTROL_FINISHED_OK
state	5734	begin climb
5735	0.62	146.0	572.8	0.0	589	5871	0.75	2.45	124.93	1.222	4	0.127	0.061	3064	898	2433	0	0	0	0	0	0
5991	0.53	146.0	547.2	13.8	612	5996	0.12	2.33	0.00	0.000	6	0.191	0.048	3038	2275	2427	0	0	0	0	0	0
6316	0.46	146.0	508.9	11.5	642	6320	0.00	2.30	0.00	0.000	4	0.000	0.062	3037	3683	2424	0	0	0	0	0	0
6412	0.35	146.0	496.6	13.2	650	6418	0.25	2.22	0.00	0.000	6	0.193	0.045	2983	2286	2424	0	0	0	0	0	0
6738	0.46	200.1	470.8	7.5	680	6793	0.00	2.40	45.83	1.164	4	0.000	0.062	2990	873	2213	0	0	0	0	0	0
6829	0.64	249.2	463.8	7.7	688	6880	0.22	2.28	44.35	1.146	6	0.081	0.047	3080	2283	2013	0	0	0	0	0	0
7199	0.55	249.2	403.6	16.6	722	7203	0.15	2.28	0.00	0.000	4	0.180	0.062	3041	3697	2003	0	0	0	0	0	0
7264	0.55	249.2	393.4	14.0	727	7272	0.00	2.30	0.00	0.000	6	0.000	0.047	3048	2279	2000	0	0	0	0	0	0
7590	0.55	249.2	349.7	13.1	758	7594	0.00	2.28	0.00	0.000	4	0.000	0.061	3059	862	1999	0	0	0	0	0	0
7663	0.55	249.2	340.3	12.5	764	7667	0.00	2.25	0.00	0.000	6	0.000	0.049	3059	2286	1997	0	0	0	0	0	0
7993	0.52	249.2	294.2	14.9	795	7997	0.00	2.22	0.00	0.000	4	0.000	0.062	3059	3692	1997	0	0	0	0	0	0
8082	0.48	249.2	279.7	16.3	802	8090	0.17	2.25	0.00	0.000	6	0.184	0.049	3024	2269	1996	0	0	0	0	0	0
8409	0.52	249.2	241.1	11.0	833	8413	0.00	2.25	0.00	0.000	4	0.000	0.062	3029	859	1996	0	0	0	0	0	0
8487	0.60	260.1	232.9	9.5	839	8505	0.00	2.22	7.65	0.911	6	0.000	0.048	3029	2276	1969	0	0	0	0	0	0
8823	0.63	260.1	195.7	11.1	871	8827	0.10	2.25	0.00	0.000	4	0.120	0.063	3074	3688	1967	0	0	0	0	0	0
8902	0.57	260.1	183.8	16.2	878	8907	0.12	2.22	0.00	0.000	6	0.194	0.049	3054	2270	1966	0	0	0	0	0	0
9232	0.57	260.1	140.8	12.7	909	9236	0.00	2.20	0.00	0.000	4	0.000	0.060	3063	865	1966	0	0	0	0	0	0
9265	0.57	260.1	136.3	12.5	911	9272	0.00	2.22	0.00	0.000	6	0.000	0.047	3063	2277	1964	0	0	0	0	0	0
9592	0.57	260.1	94.0	11.3	946	9599	0.00	2.20	0.00	0.000	4	0.000	0.060	3063	3682	1964	0	0	0	0	0	0
9668	0.54	260.1	84.9	12.4	959	9676	0.12	2.20	0.00	0.000	6	0.188	0.047	3042	2261	1964	0	0	0	0	0	0
10015	0.64	289.0	53.8	8.7	1020	10051	0.00	2.28	26.83	0.927	4	0.000	0.061	3042	868	1850	0	0	0	0	0	0
10105	0.79	316.9	45.6	8.7	1035	10137	0.22	2.22	25.02	0.903	6	0.088	0.046	3128	2279	1737	0	0	0	0	0	0
10333	end climb: FINISH_DEPTH_REACHED
state	10334	begin subsurface finish
10339	0.04	33.5	8.8	-16.7	1075	10388	0.82	0.00	-44.92	0.000	6	0.171	0.000	2884	2279	2894	0	0	0	0	0	0
10389	end subsurface finish: CONTROL_FINISHED_OK
state	10389	begin surface