Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 486 * 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 486 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 400 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 35 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 -3 T_GPS_CHARGE -40322.797 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 400

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 -40322.797

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 34 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 35 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 486 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 240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 29.9,5746,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 535

Post-dive calculations and measurements:

FREEZE 8.75,-1.673,-1.838,3,21,0 ALTIM_BOTTOM_PING 500.4,12.9

FINISH1 8.7,1.026882,30 _24V_AH 22.3,63.750

FINISH2 7.0 _10V_AH 10.1,32.654

RAFOS_CLK 477 FG_AHR_24Vo 0.000

RAFOS 0,1303675270,20.033333,20.019444,61,60,59,54,53,53,187,208,148,121,166,222 FG_AHR_10Vo 0.000

RAFOS_FIX 6659.925293,-5646.936035,240411,161628,4,120,0.76 MEM 150616

IRIDIUM_FIX 6641.98,-5653.92,220411,151557 DATA_FILE_SIZE 40048,988

TT8_MAMPS 0.029211 CAP_FILE_SIZE 110640,0

HUMID 45.07 CFSIZE 260165632,222429184

INTERNAL_PRESSURE 8.76987 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.30 SOUNDSPEED 1467.3

XPDR_PINGS 0 GPS 240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6

ALTIM_TOP_PING 19.5,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 232 19.58 SBE_CT 695 24 372.21

Roll_motor 100 142 317.86 SBE_O2 742 19 314.64

VBD_pump_during_apogee 323 1196 8625.99 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 18.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2363 19 475.44

LPSleep 4881 2 113.90

TT8_Active 386 19 77.83

TT8_Sampling 1605 39 647.32

TT8_CF8 167 45 77.78

TT8_Kalman 0 0 0.00

Analog_circuits 1243 12 150.68

GPS_charging 0 0 0.00

Compass 1590 15 240.91

RAFOS 1080 1 16.36

Transponder 17 30 5.17

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 25 0.00 0.00 -6.65 0.000 2 0.000 0.000 2882 874 3168 0 0 0 0 0 0

27 -0.62 -146.0 10.1 -0.0 1 46 0.62 0.30 -11.20 0.000 4 0.124 0.142 2670 1095 3626 0 0 0 0 0 0

65 -0.57 -146.0 13.4 -10.0 7 72 0.00 2.15 0.00 0.000 6 0.000 0.054 2670 2487 3627 0 0 0 0 0 0

410 -0.49 -146.0 62.4 -14.9 68 418 0.12 2.28 0.00 0.000 4 0.233 0.069 2698 3896 3627 0 0 0 0 0 0

505 -0.52 -146.0 73.3 -10.5 84 512 0.00 2.15 0.00 0.000 6 0.000 0.040 2698 2480 3626 0 0 0 0 0 0

846 -0.55 -146.0 108.2 -9.2 137 850 0.00 2.28 0.00 0.000 4 0.000 0.067 2698 3896 3625 0 0 0 0 0 0

890 -0.60 -146.0 112.6 -9.7 140 897 0.00 2.15 0.00 0.000 6 0.000 0.041 2698 2482 3625 0 0 0 0 0 0

1218 -0.64 -146.0 144.0 -10.1 171 1222 0.12 2.20 0.00 0.000 4 0.130 0.059 2656 1082 3622 0 0 0 0 0 0

1261 -0.61 -146.0 149.7 -12.3 174 1268 0.00 2.22 0.00 0.000 6 0.000 0.056 2656 2496 3623 0 0 0 0 0 0

1588 -0.57 -146.0 193.5 -12.9 205 1592 0.00 2.25 0.00 0.000 4 0.000 0.071 2656 3897 3621 0 0 0 0 0 0

1656 -0.57 -146.0 202.1 -11.9 211 1660 0.00 2.15 0.00 0.000 6 0.000 0.042 2656 2488 3621 0 0 0 0 0 0

1983 -0.52 -146.0 241.1 -11.6 241 1988 0.15 2.20 0.00 0.000 4 0.198 0.056 2692 1081 3621 0 0 0 0 0 0

2035 -0.60 -146.0 246.6 -9.4 245 2039 0.00 2.22 0.00 0.000 6 0.000 0.054 2692 2503 3620 0 0 0 0 0 0

2361 -0.66 -146.0 274.9 -8.9 275 2366 0.12 2.28 0.00 0.000 4 0.119 0.069 2645 3902 3621 0 0 0 0 0 0

2433 -0.63 -146.0 283.6 -12.2 281 2440 0.00 2.12 0.00 0.000 6 0.000 0.040 2645 2490 3620 0 0 0 0 0 0

2758 -0.57 -146.0 324.0 -12.0 312 2763 0.12 2.28 0.00 0.000 4 0.210 0.065 2674 3897 3621 0 0 0 0 0 0

2791 -0.59 -146.0 327.8 -10.4 314 2798 0.00 2.12 0.00 0.000 6 0.000 0.039 2674 2488 3621 0 0 0 0 0 0

3117 -0.61 -146.0 358.0 -9.4 345 3121 0.00 2.17 0.00 0.000 4 0.000 0.053 2674 1087 3622 0 0 0 0 0 0

3196 -0.65 -146.0 365.7 -9.3 352 3200 0.00 2.20 0.00 0.000 6 0.000 0.052 2675 2496 3622 0 0 0 0 0 0

3528 -0.67 -146.0 396.2 -9.7 383 3532 0.00 2.25 0.00 0.000 4 0.000 0.067 2674 3905 3621 0 0 0 0 0 0

3617 -0.72 -146.0 404.5 -9.0 390 3625 0.12 2.17 0.00 0.000 6 0.121 0.038 2631 2483 3622 0 0 0 0 0 0

3944 -0.64 -146.0 443.8 -11.9 421 3948 0.00 2.15 0.00 0.000 4 0.000 0.054 2632 1087 3622 0 0 0 0 0 0

4054 -0.60 -146.0 456.8 -11.4 430 4059 0.15 2.22 0.00 0.000 6 0.209 0.053 2666 2495 3623 0 0 0 0 0 0

4379 -0.60 -146.0 484.6 -8.2 460 4383 0.00 2.28 0.00 0.000 4 0.000 0.068 2666 3905 3623 0 0 0 0 0 0

4476 -0.62 -146.0 492.9 -8.6 468 4480 0.00 2.15 0.00 0.000 6 0.000 0.039 2666 2485 3623 0 0 0 0 0 0

4562 end dive: BOTTOM_OBSTACLE_DETECTED

state 4563 begin apogee

4568 -0.12 0.0 500.4 8.9 476 4694 0.50 0.00 119.38 1.196 6 0.184 0.000 2812 2262 3030 0 0 0 0 0 0

4695 end apogee: CONTROL_FINISHED_OK

state 4695 begin climb

4697 0.62 146.0 504.2 0.0 487 4826 0.77 0.00 125.55 1.151 6 0.132 0.000 3050 2262 2434 0 0 0 0 0 0

5144 0.57 146.0 462.0 10.5 530 5148 0.00 2.33 0.00 0.000 4 0.000 0.060 3050 3686 2427 0 0 0 0 0 0

5179 0.48 146.0 457.9 12.6 533 5183 0.15 2.20 0.00 0.000 6 0.190 0.044 3024 2291 2426 0 0 0 0 0 0

5509 0.51 164.4 426.7 9.1 564 5532 0.00 2.28 16.12 1.050 4 0.000 0.060 3032 869 2358 0 0 0 0 0 0

5548 0.53 179.9 422.8 9.3 567 5570 0.00 2.22 14.80 1.034 6 0.000 0.047 3032 2283 2295 0 0 0 0 0 0

5896 0.53 179.9 384.5 11.1 600 5900 0.00 2.22 0.00 0.000 4 0.000 0.061 3032 3690 2291 0 0 0 0 0 0

5947 0.49 179.9 378.2 12.5 604 5951 0.00 2.20 0.00 0.000 6 0.000 0.044 3043 2270 2291 0 0 0 0 0 0

6272 0.45 179.9 340.0 11.7 634 6277 0.12 2.28 0.00 0.000 4 0.183 0.059 3011 3686 2291 0 0 0 0 0 0

6284 0.42 179.9 338.6 11.3 635 6288 0.00 2.20 0.00 0.000 6 0.000 0.043 3019 2270 2291 0 0 0 0 0 0

6610 0.47 203.5 308.1 8.9 665 6636 0.00 2.30 20.88 1.030 4 0.000 0.060 3019 3698 2199 0 0 0 0 0 0

6644 0.53 227.1 305.2 8.9 668 6671 0.00 2.25 22.20 1.011 6 0.000 0.043 3029 2266 2104 0 0 0 0 0 0

6990 0.56 227.1 269.9 10.7 700 6991 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2265 2098 0 0 0 0 0 0

7312 0.59 227.1 236.0 11.2 730 7316 0.00 2.25 0.00 0.000 4 0.000 0.058 3029 3687 2096 0 0 0 0 0 0

7333 0.61 227.1 232.9 11.8 731 7340 0.00 2.20 0.00 0.000 6 0.000 0.043 3039 2266 2096 0 0 0 0 0 0

7658 0.61 227.1 195.2 11.1 762 7662 0.00 2.20 0.00 0.000 4 0.000 0.060 3047 869 2096 0 0 0 0 0 0

7675 0.61 227.1 193.4 11.0 763 7679 0.00 2.20 0.00 0.000 6 0.000 0.044 3047 2291 2095 0 0 0 0 0 0

8005 0.61 227.1 155.8 11.0 794 8009 0.00 2.20 0.00 0.000 4 0.000 0.059 3047 3681 2095 0 0 0 0 0 0

8055 0.61 227.1 149.4 13.4 798 8060 0.00 2.20 0.00 0.000 6 0.000 0.044 3057 2267 2095 0 0 0 0 0 0

8380 0.61 227.1 110.1 11.8 828 8384 0.00 2.22 0.00 0.000 4 0.000 0.057 3057 3681 2095 0 0 0 0 0 0

8401 0.61 227.1 107.4 11.9 829 8409 0.00 2.20 0.00 0.000 6 0.000 0.042 3067 2272 2095 0 0 0 0 0 0

8742 0.64 227.1 68.7 12.2 884 8749 0.00 2.17 0.00 0.000 4 0.000 0.057 3076 869 2095 0 0 0 0 0 0

8792 0.67 227.1 63.1 11.8 892 8798 0.00 2.15 0.00 0.000 6 0.000 0.044 3076 2275 2095 0 0 0 0 0 0

9139 0.71 236.6 27.2 9.6 953 9152 0.00 2.28 4.38 0.691 4 0.000 0.060 3076 3680 2065 0 0 0 0 0 0

9181 0.71 236.6 22.3 11.5 960 9188 0.00 2.17 0.00 0.000 6 0.000 0.044 3085 2267 2065 0 0 0 0 0 0

9312 end climb: FINISH_DEPTH_REACHED

state 9312 begin subsurface finish

9319 0.04 30.3 8.7 -9.9 983 9349 0.68 0.00 -26.73 0.000 6 0.158 0.000 2880 2266 2908 0 0 0 0 0 0

9349 end subsurface finish: CONTROL_FINISHED_OK

state 9350 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	486	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	400	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	35	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	-3	T_GPS_CHARGE	-40322.797	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	240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	29.9,5746,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	535

FREEZE	8.75,-1.673,-1.838,3,21,0	ALTIM_BOTTOM_PING	500.4,12.9
FINISH1	8.7,1.026882,30	_24V_AH	22.3,63.750
FINISH2	7.0	_10V_AH	10.1,32.654
RAFOS_CLK	477	FG_AHR_24Vo	0.000
RAFOS	0,1303675270,20.033333,20.019444,61,60,59,54,53,53,187,208,148,121,166,222	FG_AHR_10Vo	0.000
RAFOS_FIX	6659.925293,-5646.936035,240411,161628,4,120,0.76	MEM	150616
IRIDIUM_FIX	6641.98,-5653.92,220411,151557	DATA_FILE_SIZE	40048,988
TT8_MAMPS	0.029211	CAP_FILE_SIZE	110640,0
HUMID	45.07	CFSIZE	260165632,222429184
INTERNAL_PRESSURE	8.76987	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.30	SOUNDSPEED	1467.3
XPDR_PINGS	0	GPS	240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6
ALTIM_TOP_PING	19.5,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	232	19.58	SBE_CT	695	24	372.21
Roll_motor	100	142	317.86	SBE_O2	742	19	314.64
VBD_pump_during_apogee	323	1196	8625.99	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	18.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2363	19	475.44
LPSleep	4881	2	113.90
TT8_Active	386	19	77.83
TT8_Sampling	1605	39	647.32
TT8_CF8	167	45	77.78
TT8_Kalman	0	0	0.00
Analog_circuits	1243	12	150.68
GPS_charging	0	0	0.00
Compass	1590	15	240.91
RAFOS	1080	1	16.36
Transponder	17	30	5.17

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	25	0.00	0.00	-6.65	0.000	2	0.000	0.000	2882	874	3168	0	0	0	0	0	0
27	-0.62	-146.0	10.1	-0.0	1	46	0.62	0.30	-11.20	0.000	4	0.124	0.142	2670	1095	3626	0	0	0	0	0	0
65	-0.57	-146.0	13.4	-10.0	7	72	0.00	2.15	0.00	0.000	6	0.000	0.054	2670	2487	3627	0	0	0	0	0	0
410	-0.49	-146.0	62.4	-14.9	68	418	0.12	2.28	0.00	0.000	4	0.233	0.069	2698	3896	3627	0	0	0	0	0	0
505	-0.52	-146.0	73.3	-10.5	84	512	0.00	2.15	0.00	0.000	6	0.000	0.040	2698	2480	3626	0	0	0	0	0	0
846	-0.55	-146.0	108.2	-9.2	137	850	0.00	2.28	0.00	0.000	4	0.000	0.067	2698	3896	3625	0	0	0	0	0	0
890	-0.60	-146.0	112.6	-9.7	140	897	0.00	2.15	0.00	0.000	6	0.000	0.041	2698	2482	3625	0	0	0	0	0	0
1218	-0.64	-146.0	144.0	-10.1	171	1222	0.12	2.20	0.00	0.000	4	0.130	0.059	2656	1082	3622	0	0	0	0	0	0
1261	-0.61	-146.0	149.7	-12.3	174	1268	0.00	2.22	0.00	0.000	6	0.000	0.056	2656	2496	3623	0	0	0	0	0	0
1588	-0.57	-146.0	193.5	-12.9	205	1592	0.00	2.25	0.00	0.000	4	0.000	0.071	2656	3897	3621	0	0	0	0	0	0
1656	-0.57	-146.0	202.1	-11.9	211	1660	0.00	2.15	0.00	0.000	6	0.000	0.042	2656	2488	3621	0	0	0	0	0	0
1983	-0.52	-146.0	241.1	-11.6	241	1988	0.15	2.20	0.00	0.000	4	0.198	0.056	2692	1081	3621	0	0	0	0	0	0
2035	-0.60	-146.0	246.6	-9.4	245	2039	0.00	2.22	0.00	0.000	6	0.000	0.054	2692	2503	3620	0	0	0	0	0	0
2361	-0.66	-146.0	274.9	-8.9	275	2366	0.12	2.28	0.00	0.000	4	0.119	0.069	2645	3902	3621	0	0	0	0	0	0
2433	-0.63	-146.0	283.6	-12.2	281	2440	0.00	2.12	0.00	0.000	6	0.000	0.040	2645	2490	3620	0	0	0	0	0	0
2758	-0.57	-146.0	324.0	-12.0	312	2763	0.12	2.28	0.00	0.000	4	0.210	0.065	2674	3897	3621	0	0	0	0	0	0
2791	-0.59	-146.0	327.8	-10.4	314	2798	0.00	2.12	0.00	0.000	6	0.000	0.039	2674	2488	3621	0	0	0	0	0	0
3117	-0.61	-146.0	358.0	-9.4	345	3121	0.00	2.17	0.00	0.000	4	0.000	0.053	2674	1087	3622	0	0	0	0	0	0
3196	-0.65	-146.0	365.7	-9.3	352	3200	0.00	2.20	0.00	0.000	6	0.000	0.052	2675	2496	3622	0	0	0	0	0	0
3528	-0.67	-146.0	396.2	-9.7	383	3532	0.00	2.25	0.00	0.000	4	0.000	0.067	2674	3905	3621	0	0	0	0	0	0
3617	-0.72	-146.0	404.5	-9.0	390	3625	0.12	2.17	0.00	0.000	6	0.121	0.038	2631	2483	3622	0	0	0	0	0	0
3944	-0.64	-146.0	443.8	-11.9	421	3948	0.00	2.15	0.00	0.000	4	0.000	0.054	2632	1087	3622	0	0	0	0	0	0
4054	-0.60	-146.0	456.8	-11.4	430	4059	0.15	2.22	0.00	0.000	6	0.209	0.053	2666	2495	3623	0	0	0	0	0	0
4379	-0.60	-146.0	484.6	-8.2	460	4383	0.00	2.28	0.00	0.000	4	0.000	0.068	2666	3905	3623	0	0	0	0	0	0
4476	-0.62	-146.0	492.9	-8.6	468	4480	0.00	2.15	0.00	0.000	6	0.000	0.039	2666	2485	3623	0	0	0	0	0	0
4562	end dive: BOTTOM_OBSTACLE_DETECTED
state	4563	begin apogee
4568	-0.12	0.0	500.4	8.9	476	4694	0.50	0.00	119.38	1.196	6	0.184	0.000	2812	2262	3030	0	0	0	0	0	0
4695	end apogee: CONTROL_FINISHED_OK
state	4695	begin climb
4697	0.62	146.0	504.2	0.0	487	4826	0.77	0.00	125.55	1.151	6	0.132	0.000	3050	2262	2434	0	0	0	0	0	0
5144	0.57	146.0	462.0	10.5	530	5148	0.00	2.33	0.00	0.000	4	0.000	0.060	3050	3686	2427	0	0	0	0	0	0
5179	0.48	146.0	457.9	12.6	533	5183	0.15	2.20	0.00	0.000	6	0.190	0.044	3024	2291	2426	0	0	0	0	0	0
5509	0.51	164.4	426.7	9.1	564	5532	0.00	2.28	16.12	1.050	4	0.000	0.060	3032	869	2358	0	0	0	0	0	0
5548	0.53	179.9	422.8	9.3	567	5570	0.00	2.22	14.80	1.034	6	0.000	0.047	3032	2283	2295	0	0	0	0	0	0
5896	0.53	179.9	384.5	11.1	600	5900	0.00	2.22	0.00	0.000	4	0.000	0.061	3032	3690	2291	0	0	0	0	0	0
5947	0.49	179.9	378.2	12.5	604	5951	0.00	2.20	0.00	0.000	6	0.000	0.044	3043	2270	2291	0	0	0	0	0	0
6272	0.45	179.9	340.0	11.7	634	6277	0.12	2.28	0.00	0.000	4	0.183	0.059	3011	3686	2291	0	0	0	0	0	0
6284	0.42	179.9	338.6	11.3	635	6288	0.00	2.20	0.00	0.000	6	0.000	0.043	3019	2270	2291	0	0	0	0	0	0
6610	0.47	203.5	308.1	8.9	665	6636	0.00	2.30	20.88	1.030	4	0.000	0.060	3019	3698	2199	0	0	0	0	0	0
6644	0.53	227.1	305.2	8.9	668	6671	0.00	2.25	22.20	1.011	6	0.000	0.043	3029	2266	2104	0	0	0	0	0	0
6990	0.56	227.1	269.9	10.7	700	6991	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2265	2098	0	0	0	0	0	0
7312	0.59	227.1	236.0	11.2	730	7316	0.00	2.25	0.00	0.000	4	0.000	0.058	3029	3687	2096	0	0	0	0	0	0
7333	0.61	227.1	232.9	11.8	731	7340	0.00	2.20	0.00	0.000	6	0.000	0.043	3039	2266	2096	0	0	0	0	0	0
7658	0.61	227.1	195.2	11.1	762	7662	0.00	2.20	0.00	0.000	4	0.000	0.060	3047	869	2096	0	0	0	0	0	0
7675	0.61	227.1	193.4	11.0	763	7679	0.00	2.20	0.00	0.000	6	0.000	0.044	3047	2291	2095	0	0	0	0	0	0
8005	0.61	227.1	155.8	11.0	794	8009	0.00	2.20	0.00	0.000	4	0.000	0.059	3047	3681	2095	0	0	0	0	0	0
8055	0.61	227.1	149.4	13.4	798	8060	0.00	2.20	0.00	0.000	6	0.000	0.044	3057	2267	2095	0	0	0	0	0	0
8380	0.61	227.1	110.1	11.8	828	8384	0.00	2.22	0.00	0.000	4	0.000	0.057	3057	3681	2095	0	0	0	0	0	0
8401	0.61	227.1	107.4	11.9	829	8409	0.00	2.20	0.00	0.000	6	0.000	0.042	3067	2272	2095	0	0	0	0	0	0
8742	0.64	227.1	68.7	12.2	884	8749	0.00	2.17	0.00	0.000	4	0.000	0.057	3076	869	2095	0	0	0	0	0	0
8792	0.67	227.1	63.1	11.8	892	8798	0.00	2.15	0.00	0.000	6	0.000	0.044	3076	2275	2095	0	0	0	0	0	0
9139	0.71	236.6	27.2	9.6	953	9152	0.00	2.28	4.38	0.691	4	0.000	0.060	3076	3680	2065	0	0	0	0	0	0
9181	0.71	236.6	22.3	11.5	960	9188	0.00	2.17	0.00	0.000	6	0.000	0.044	3085	2267	2065	0	0	0	0	0	0
9312	end climb: FINISH_DEPTH_REACHED
state	9312	begin subsurface finish
9319	0.04	30.3	8.7	-9.9	983	9349	0.68	0.00	-26.73	0.000	6	0.158	0.000	2880	2266	2908	0	0	0	0	0	0
9349	end subsurface finish: CONTROL_FINISHED_OK
state	9350	begin surface