Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 556 * 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 556 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 22 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -46593.008 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 -46593.008

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 22 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 556 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 050511,202432,6647.421,-6025.159,0,5108.0,0,-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 4.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,202432,6647.421,-6025.159,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 117.2,159452,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 535

Post-dive calculations and measurements:

FREEZE 8.88,-1.715,-1.767,2,91,0 ALTIM_TOP_PING 19.6,17.5

FINISH1 8.9,1.025868,80 _24V_AH 21.6,73.621

FINISH2 7.0 _10V_AH 10.0,38.063

RAFOS_CLK 603 FG_AHR_24Vo 0.000

RAFOS 0,1304640062,0.033333,0.017222,93,64,58,58,56,52,613,175,222,157,1404,135 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.742676,-6024.467773,060511,000028,5,100,0.05 MEM 150516

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40038,1047

TT8_MAMPS 0.026215 CAP_FILE_SIZE 129395,0

HUMID 47.79 CFSIZE 260165632,217391104

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

TCM_TEMP 16.20 SOUNDSPEED 1451.5

XPDR_PINGS 0 GPS 060511,002328,6647.743,-6024.468,0,5100.2,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 326 123.12 SBE_CT 746 24 386.90

Roll_motor 115 90 225.45 SBE_O2 796 19 326.90

VBD_pump_during_apogee 407 1274 11204.30 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 98 103 219.45 nil 0 0 0.00

Iridium_during_connect 17 160 60.04 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 15.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 91.65

TT8 2504 19 498.97

LPSleep 5341 2 123.38

TT8_Active 546 19 108.89

TT8_Sampling 2042 39 815.34

TT8_CF8 537 45 246.67

TT8_Kalman 0 0 0.00

Analog_circuits 1516 12 181.99

GPS_charging 0 0 0.00

Compass 1722 15 258.33

RAFOS 2520 1 37.80

Transponder 14 30 4.30

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 0 132 0.00 0.00 -113.22 0.000 2 0.000 0.000 112 2499 2880 0 0 0 0 0 0

137 -0.62 -146.0 5.1 -1.8 20 179 13.35 2.35 -21.05 0.000 4 0.327 0.086 2653 1079 3628 0 0 0 0 0 0

282 -0.49 -146.0 34.3 -20.8 45 289 0.20 2.35 0.00 0.000 6 0.216 0.075 2701 2483 3630 0 0 0 0 0 0

629 -0.41 -146.0 91.3 -16.2 106 636 0.00 2.42 0.00 0.000 4 0.000 0.090 2702 3908 3629 0 0 0 0 0 0

755 -0.41 -146.0 107.3 -11.8 123 760 0.00 2.30 0.00 0.000 6 0.000 0.060 2702 2488 3629 0 0 0 0 0 0

1081 -0.39 -146.0 149.4 -13.0 153 1086 0.12 2.33 0.00 0.000 4 0.226 0.076 2731 1076 3629 0 0 0 0 0 0

1096 -0.39 -146.0 151.4 -12.0 154 1104 0.00 2.35 0.00 0.000 6 0.000 0.073 2732 2495 3629 0 0 0 0 0 0

1425 -0.46 -146.0 179.4 -8.3 185 1429 0.00 2.40 0.00 0.000 4 0.000 0.090 2732 3904 3629 0 0 0 0 0 0

1454 -0.57 -146.0 181.9 -8.3 187 1459 0.15 2.30 0.00 0.000 6 0.115 0.059 2681 2481 3629 0 0 0 0 0 0

1781 -0.52 -146.0 221.4 -12.7 217 1785 0.00 2.30 0.00 0.000 4 0.000 0.074 2681 1080 3629 0 0 0 0 0 0

1843 -0.52 -146.0 229.1 -11.3 222 1847 0.00 2.33 0.00 0.000 6 0.000 0.074 2681 2490 3629 0 0 0 0 0 0

2168 -0.49 -146.0 267.0 -11.6 252 2173 0.00 2.38 0.00 0.000 4 0.000 0.090 2681 3899 3628 0 0 0 0 0 0

2220 -0.49 -146.0 272.8 -10.6 256 2224 0.00 2.28 0.00 0.000 6 0.000 0.060 2681 2491 3628 0 0 0 0 0 0

2551 -0.47 -146.0 308.7 -10.9 287 2553 0.12 0.00 0.00 0.000 6 0.213 0.000 2709 2491 3629 0 0 0 0 0 0

2869 -0.52 -146.0 335.7 -8.1 317 2873 0.00 2.30 0.00 0.000 4 0.000 0.073 2710 1074 3629 0 0 0 0 0 0

2914 -0.61 -146.0 339.7 -8.4 320 2921 0.12 2.33 0.00 0.000 6 0.128 0.072 2667 2490 3629 0 0 0 0 0 0

3242 -0.56 -146.0 375.5 -11.1 351 3247 0.00 2.42 0.00 0.000 4 0.000 0.089 2666 3905 3629 0 0 0 0 0 0

3283 -0.56 -146.0 380.5 -11.6 354 3287 0.00 2.28 0.00 0.000 6 0.000 0.058 2667 2480 3628 0 0 0 0 0 0

3610 -0.53 -146.0 416.1 -10.8 384 3614 0.00 2.28 0.00 0.000 4 0.000 0.073 2667 1075 3629 0 0 0 0 0 0

3620 -0.48 -146.0 417.4 -10.8 384 3628 0.15 2.35 0.00 0.000 6 0.209 0.072 2701 2490 3629 0 0 0 0 0 0

3946 -0.54 -146.0 443.8 -7.9 415 3950 0.00 2.42 0.00 0.000 4 0.000 0.088 2701 3905 3629 0 0 0 0 0 0

3987 -0.63 -146.0 447.1 -8.2 418 3992 0.12 2.28 0.00 0.000 6 0.125 0.057 2659 2479 3630 0 0 0 0 0 0

4312 -0.58 -146.0 483.8 -11.7 448 4316 0.00 2.28 0.00 0.000 4 0.000 0.072 2659 1072 3630 0 0 0 0 0 0

4331 -0.53 -146.0 485.9 -11.6 449 4336 0.12 2.35 0.00 0.000 6 0.215 0.072 2687 2489 3630 0 0 0 0 0 0

4657 -0.56 -146.0 515.7 -9.0 479 4661 0.00 2.40 0.00 0.000 4 0.000 0.086 2686 3906 3631 0 0 0 0 0 0

4732 -0.62 -146.0 522.1 -9.1 485 4736 0.00 2.28 0.00 0.000 6 0.000 0.057 2687 2482 3630 0 0 0 0 0 0

4879 end dive: TARGET_DEPTH_EXCEEDED

state 4879 begin apogee

4885 -0.12 0.0 535.2 8.4 499 5018 0.45 0.00 125.38 1.274 6 0.191 0.000 2814 2268 3030 0 0 0 0 0 0

5019 end apogee: CONTROL_FINISHED_OK

state 5019 begin climb

5021 0.62 146.0 539.8 0.0 511 5165 0.82 2.62 131.60 1.224 4 0.146 0.076 3065 881 2432 0 0 0 0 0 0

5205 0.57 146.0 528.8 10.2 527 5212 0.00 2.53 0.00 0.000 6 0.000 0.064 3065 2282 2429 0 0 0 0 0 0

5532 0.51 146.0 494.4 10.5 558 5537 0.12 2.38 0.00 0.000 4 0.187 0.079 3035 3687 2425 0 0 0 0 0 0

5629 0.46 146.0 483.9 10.6 566 5633 0.00 2.33 0.00 0.000 6 0.000 0.063 3043 2280 2424 0 0 0 0 0 0

5961 0.46 161.1 453.3 9.3 597 5984 0.00 2.42 12.85 1.096 4 0.000 0.078 3054 863 2372 0 0 0 0 0 0

6018 0.47 165.6 447.7 9.8 602 6031 0.15 2.33 5.72 0.903 6 0.186 0.066 3017 2280 2354 0 0 0 0 0 0

6349 0.56 209.3 420.6 8.0 633 6394 0.00 2.47 39.67 1.154 4 0.000 0.080 3017 3696 2176 0 0 0 0 0 0

6453 0.60 209.3 411.4 10.3 642 6457 0.00 2.38 0.00 0.000 6 0.000 0.063 3026 2268 2173 0 0 0 0 0 0

6779 0.70 233.8 382.9 8.9 672 6807 0.17 2.35 22.62 1.115 4 0.091 0.078 3112 862 2076 0 0 0 0 0 0

6856 0.64 233.8 372.6 14.9 678 6861 0.17 2.35 0.00 0.000 6 0.207 0.066 3070 2282 2072 0 0 0 0 0 0

7187 0.64 233.8 329.1 13.1 709 7191 0.00 2.35 0.00 0.000 4 0.000 0.080 3070 3694 2069 0 0 0 0 0 0

7244 0.59 233.8 321.0 15.0 713 7251 0.00 2.33 0.00 0.000 6 0.000 0.063 3079 2274 2069 0 0 0 0 0 0

7569 0.59 233.8 278.4 12.3 744 7573 0.00 2.33 0.00 0.000 4 0.000 0.076 3089 863 2069 0 0 0 0 0 0

7632 0.59 233.8 271.0 11.8 749 7637 0.12 2.30 0.00 0.000 6 0.188 0.064 3059 2284 2067 0 0 0 0 0 0

7958 0.62 235.2 236.9 9.9 779 7962 0.00 2.30 0.00 0.000 4 0.000 0.080 3058 3687 2067 0 0 0 0 0 0

8010 0.62 235.2 231.1 11.4 783 8014 0.00 2.30 0.00 0.000 6 0.000 0.064 3067 2274 2067 0 0 0 0 0 0

8341 0.66 242.0 197.2 9.7 814 8354 0.00 2.40 7.45 0.914 4 0.000 0.077 3078 856 2042 0 0 0 0 0 0

8412 0.69 242.0 190.1 10.3 820 8417 0.00 2.33 0.00 0.000 6 0.000 0.066 3078 2276 2041 0 0 0 0 0 0

8738 0.70 250.4 157.4 9.6 850 8753 0.00 2.40 9.23 0.942 4 0.000 0.081 3078 3693 2009 0 0 0 0 0 0

8795 0.70 250.4 151.4 11.3 855 8799 0.00 2.33 0.00 0.000 6 0.000 0.064 3087 2268 2008 0 0 0 0 0 0

9126 0.74 263.6 117.1 9.4 886 9149 0.00 2.38 13.50 0.974 4 0.000 0.079 3098 865 1954 0 0 0 0 0 0

9197 0.84 304.7 110.9 8.1 892 9242 0.10 2.33 38.97 1.004 6 0.127 0.067 3140 2276 1788 0 0 0 0 0 0

9575 0.84 304.7 67.4 10.8 951 9581 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2276 1780 0 0 0 0 0 0

9919 0.84 304.7 28.9 11.7 1012 9926 0.00 2.35 0.00 0.000 4 0.000 0.082 3140 3687 1778 0 0 0 0 0 0

9950 0.84 304.7 25.0 13.0 1017 9957 0.00 2.33 0.00 0.000 6 0.000 0.066 3150 2269 1777 0 0 0 0 0 0

10082 end climb: FINISH_DEPTH_REACHED

state 10083 begin subsurface finish

10090 0.10 80.0 8.9 -12.5 1040 10133 0.85 2.40 -35.97 0.000 4 0.174 0.089 2902 860 2706 0 0 0 0 0 0

10134 end subsurface finish: CONTROL_FINISHED_OK

state 10134 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	556	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	22	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-46593.008	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	050511,202432,6647.421,-6025.159,0,5108.0,0,-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	4.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,202432,6647.421,-6025.159,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	117.2,159452,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	535

FREEZE	8.88,-1.715,-1.767,2,91,0	ALTIM_TOP_PING	19.6,17.5
FINISH1	8.9,1.025868,80	_24V_AH	21.6,73.621
FINISH2	7.0	_10V_AH	10.0,38.063
RAFOS_CLK	603	FG_AHR_24Vo	0.000
RAFOS	0,1304640062,0.033333,0.017222,93,64,58,58,56,52,613,175,222,157,1404,135	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.742676,-6024.467773,060511,000028,5,100,0.05	MEM	150516
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40038,1047
TT8_MAMPS	0.026215	CAP_FILE_SIZE	129395,0
HUMID	47.79	CFSIZE	260165632,217391104
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1451.5
XPDR_PINGS	0	GPS	060511,002328,6647.743,-6024.468,0,5100.2,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	326	123.12	SBE_CT	746	24	386.90
Roll_motor	115	90	225.45	SBE_O2	796	19	326.90
VBD_pump_during_apogee	407	1274	11204.30	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	98	103	219.45	nil	0	0	0.00
Iridium_during_connect	17	160	60.04	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	15.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	91.65
TT8	2504	19	498.97
LPSleep	5341	2	123.38
TT8_Active	546	19	108.89
TT8_Sampling	2042	39	815.34
TT8_CF8	537	45	246.67
TT8_Kalman	0	0	0.00
Analog_circuits	1516	12	181.99
GPS_charging	0	0	0.00
Compass	1722	15	258.33
RAFOS	2520	1	37.80
Transponder	14	30	4.30

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	132	0.00	0.00	-113.22	0.000	2	0.000	0.000	112	2499	2880	0	0	0	0	0	0
137	-0.62	-146.0	5.1	-1.8	20	179	13.35	2.35	-21.05	0.000	4	0.327	0.086	2653	1079	3628	0	0	0	0	0	0
282	-0.49	-146.0	34.3	-20.8	45	289	0.20	2.35	0.00	0.000	6	0.216	0.075	2701	2483	3630	0	0	0	0	0	0
629	-0.41	-146.0	91.3	-16.2	106	636	0.00	2.42	0.00	0.000	4	0.000	0.090	2702	3908	3629	0	0	0	0	0	0
755	-0.41	-146.0	107.3	-11.8	123	760	0.00	2.30	0.00	0.000	6	0.000	0.060	2702	2488	3629	0	0	0	0	0	0
1081	-0.39	-146.0	149.4	-13.0	153	1086	0.12	2.33	0.00	0.000	4	0.226	0.076	2731	1076	3629	0	0	0	0	0	0
1096	-0.39	-146.0	151.4	-12.0	154	1104	0.00	2.35	0.00	0.000	6	0.000	0.073	2732	2495	3629	0	0	0	0	0	0
1425	-0.46	-146.0	179.4	-8.3	185	1429	0.00	2.40	0.00	0.000	4	0.000	0.090	2732	3904	3629	0	0	0	0	0	0
1454	-0.57	-146.0	181.9	-8.3	187	1459	0.15	2.30	0.00	0.000	6	0.115	0.059	2681	2481	3629	0	0	0	0	0	0
1781	-0.52	-146.0	221.4	-12.7	217	1785	0.00	2.30	0.00	0.000	4	0.000	0.074	2681	1080	3629	0	0	0	0	0	0
1843	-0.52	-146.0	229.1	-11.3	222	1847	0.00	2.33	0.00	0.000	6	0.000	0.074	2681	2490	3629	0	0	0	0	0	0
2168	-0.49	-146.0	267.0	-11.6	252	2173	0.00	2.38	0.00	0.000	4	0.000	0.090	2681	3899	3628	0	0	0	0	0	0
2220	-0.49	-146.0	272.8	-10.6	256	2224	0.00	2.28	0.00	0.000	6	0.000	0.060	2681	2491	3628	0	0	0	0	0	0
2551	-0.47	-146.0	308.7	-10.9	287	2553	0.12	0.00	0.00	0.000	6	0.213	0.000	2709	2491	3629	0	0	0	0	0	0
2869	-0.52	-146.0	335.7	-8.1	317	2873	0.00	2.30	0.00	0.000	4	0.000	0.073	2710	1074	3629	0	0	0	0	0	0
2914	-0.61	-146.0	339.7	-8.4	320	2921	0.12	2.33	0.00	0.000	6	0.128	0.072	2667	2490	3629	0	0	0	0	0	0
3242	-0.56	-146.0	375.5	-11.1	351	3247	0.00	2.42	0.00	0.000	4	0.000	0.089	2666	3905	3629	0	0	0	0	0	0
3283	-0.56	-146.0	380.5	-11.6	354	3287	0.00	2.28	0.00	0.000	6	0.000	0.058	2667	2480	3628	0	0	0	0	0	0
3610	-0.53	-146.0	416.1	-10.8	384	3614	0.00	2.28	0.00	0.000	4	0.000	0.073	2667	1075	3629	0	0	0	0	0	0
3620	-0.48	-146.0	417.4	-10.8	384	3628	0.15	2.35	0.00	0.000	6	0.209	0.072	2701	2490	3629	0	0	0	0	0	0
3946	-0.54	-146.0	443.8	-7.9	415	3950	0.00	2.42	0.00	0.000	4	0.000	0.088	2701	3905	3629	0	0	0	0	0	0
3987	-0.63	-146.0	447.1	-8.2	418	3992	0.12	2.28	0.00	0.000	6	0.125	0.057	2659	2479	3630	0	0	0	0	0	0
4312	-0.58	-146.0	483.8	-11.7	448	4316	0.00	2.28	0.00	0.000	4	0.000	0.072	2659	1072	3630	0	0	0	0	0	0
4331	-0.53	-146.0	485.9	-11.6	449	4336	0.12	2.35	0.00	0.000	6	0.215	0.072	2687	2489	3630	0	0	0	0	0	0
4657	-0.56	-146.0	515.7	-9.0	479	4661	0.00	2.40	0.00	0.000	4	0.000	0.086	2686	3906	3631	0	0	0	0	0	0
4732	-0.62	-146.0	522.1	-9.1	485	4736	0.00	2.28	0.00	0.000	6	0.000	0.057	2687	2482	3630	0	0	0	0	0	0
4879	end dive: TARGET_DEPTH_EXCEEDED
state	4879	begin apogee
4885	-0.12	0.0	535.2	8.4	499	5018	0.45	0.00	125.38	1.274	6	0.191	0.000	2814	2268	3030	0	0	0	0	0	0
5019	end apogee: CONTROL_FINISHED_OK
state	5019	begin climb
5021	0.62	146.0	539.8	0.0	511	5165	0.82	2.62	131.60	1.224	4	0.146	0.076	3065	881	2432	0	0	0	0	0	0
5205	0.57	146.0	528.8	10.2	527	5212	0.00	2.53	0.00	0.000	6	0.000	0.064	3065	2282	2429	0	0	0	0	0	0
5532	0.51	146.0	494.4	10.5	558	5537	0.12	2.38	0.00	0.000	4	0.187	0.079	3035	3687	2425	0	0	0	0	0	0
5629	0.46	146.0	483.9	10.6	566	5633	0.00	2.33	0.00	0.000	6	0.000	0.063	3043	2280	2424	0	0	0	0	0	0
5961	0.46	161.1	453.3	9.3	597	5984	0.00	2.42	12.85	1.096	4	0.000	0.078	3054	863	2372	0	0	0	0	0	0
6018	0.47	165.6	447.7	9.8	602	6031	0.15	2.33	5.72	0.903	6	0.186	0.066	3017	2280	2354	0	0	0	0	0	0
6349	0.56	209.3	420.6	8.0	633	6394	0.00	2.47	39.67	1.154	4	0.000	0.080	3017	3696	2176	0	0	0	0	0	0
6453	0.60	209.3	411.4	10.3	642	6457	0.00	2.38	0.00	0.000	6	0.000	0.063	3026	2268	2173	0	0	0	0	0	0
6779	0.70	233.8	382.9	8.9	672	6807	0.17	2.35	22.62	1.115	4	0.091	0.078	3112	862	2076	0	0	0	0	0	0
6856	0.64	233.8	372.6	14.9	678	6861	0.17	2.35	0.00	0.000	6	0.207	0.066	3070	2282	2072	0	0	0	0	0	0
7187	0.64	233.8	329.1	13.1	709	7191	0.00	2.35	0.00	0.000	4	0.000	0.080	3070	3694	2069	0	0	0	0	0	0
7244	0.59	233.8	321.0	15.0	713	7251	0.00	2.33	0.00	0.000	6	0.000	0.063	3079	2274	2069	0	0	0	0	0	0
7569	0.59	233.8	278.4	12.3	744	7573	0.00	2.33	0.00	0.000	4	0.000	0.076	3089	863	2069	0	0	0	0	0	0
7632	0.59	233.8	271.0	11.8	749	7637	0.12	2.30	0.00	0.000	6	0.188	0.064	3059	2284	2067	0	0	0	0	0	0
7958	0.62	235.2	236.9	9.9	779	7962	0.00	2.30	0.00	0.000	4	0.000	0.080	3058	3687	2067	0	0	0	0	0	0
8010	0.62	235.2	231.1	11.4	783	8014	0.00	2.30	0.00	0.000	6	0.000	0.064	3067	2274	2067	0	0	0	0	0	0
8341	0.66	242.0	197.2	9.7	814	8354	0.00	2.40	7.45	0.914	4	0.000	0.077	3078	856	2042	0	0	0	0	0	0
8412	0.69	242.0	190.1	10.3	820	8417	0.00	2.33	0.00	0.000	6	0.000	0.066	3078	2276	2041	0	0	0	0	0	0
8738	0.70	250.4	157.4	9.6	850	8753	0.00	2.40	9.23	0.942	4	0.000	0.081	3078	3693	2009	0	0	0	0	0	0
8795	0.70	250.4	151.4	11.3	855	8799	0.00	2.33	0.00	0.000	6	0.000	0.064	3087	2268	2008	0	0	0	0	0	0
9126	0.74	263.6	117.1	9.4	886	9149	0.00	2.38	13.50	0.974	4	0.000	0.079	3098	865	1954	0	0	0	0	0	0
9197	0.84	304.7	110.9	8.1	892	9242	0.10	2.33	38.97	1.004	6	0.127	0.067	3140	2276	1788	0	0	0	0	0	0
9575	0.84	304.7	67.4	10.8	951	9581	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2276	1780	0	0	0	0	0	0
9919	0.84	304.7	28.9	11.7	1012	9926	0.00	2.35	0.00	0.000	4	0.000	0.082	3140	3687	1778	0	0	0	0	0	0
9950	0.84	304.7	25.0	13.0	1017	9957	0.00	2.33	0.00	0.000	6	0.000	0.066	3150	2269	1777	0	0	0	0	0	0
10082	end climb: FINISH_DEPTH_REACHED
state	10083	begin subsurface finish
10090	0.10	80.0	8.9	-12.5	1040	10133	0.85	2.40	-35.97	0.000	4	0.174	0.089	2902	860	2706	0	0	0	0	0	0
10134	end subsurface finish: CONTROL_FINISHED_OK
state	10134	begin surface