Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 557 * 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 557 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 19 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 19 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 557 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 060511,002328,6647.743,-6024.468,0,5100.2,0,-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 9.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060511,002328,6647.743,-6024.468,0,5100.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 117.4,158855,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 537

Post-dive calculations and measurements:

FREEZE 8.87,-1.718,-1.767,2,92,0 ALTIM_TOP_PING 19.8,16.4

FINISH1 8.9,1.025872,80 _24V_AH 21.7,73.764

FINISH2 7.1 _10V_AH 10.0,38.126

RAFOS_CLK 555 FG_AHR_24Vo 0.000

RAFOS 0,1304654466,4.033333,4.018333,132,64,55,55,53,52,615,194,213,164,115,155 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.940918,-6023.829590,060511,040436,4,108,0.16 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40009,1029

TT8_MAMPS 0.029211 CAP_FILE_SIZE 117462,0

HUMID 47.51 CFSIZE 260165632,217333760

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.30 SOUNDSPEED 1451.7

XPDR_PINGS 0 GPS 060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 221 24.07 SBE_CT 736 24 383.74

Roll_motor 109 97 231.88 SBE_O2 782 19 322.43

VBD_pump_during_apogee 435 1272 12023.01 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 15.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2460 19 490.15

LPSleep 5229 2 120.80

TT8_Active 490 19 97.70

TT8_Sampling 1668 39 665.97

TT8_CF8 208 45 95.83

TT8_Kalman 0 0 0.00

Analog_circuits 1406 12 168.74

GPS_charging 0 0 0.00

Compass 1656 15 248.54

RAFOS 2160 1 32.40

Transponder 14 30 4.32

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 24 0.00 0.00 -5.70 0.000 2 0.000 0.000 2902 860 2908 0 0 0 0 0 0

27 -0.62 -146.0 10.7 -0.0 1 58 0.68 5.20 -19.27 0.000 4 0.107 0.087 2667 3899 3630 0 0 0 0 0 0

245 -0.53 -146.0 47.3 -18.4 39 252 0.00 2.28 0.00 0.000 6 0.000 0.060 2667 2482 3631 0 0 0 0 0 0

592 -0.41 -146.0 116.1 -17.8 93 597 0.25 2.30 0.00 0.000 4 0.219 0.073 2733 1079 3631 0 0 0 0 0 0

637 -0.49 -146.0 122.1 -10.7 96 644 0.00 2.35 0.00 0.000 6 0.000 0.072 2732 2496 3630 0 0 0 0 0 0

964 -0.55 -146.0 153.2 -9.5 127 968 0.15 2.40 0.00 0.000 4 0.119 0.089 2680 3906 3631 0 0 0 0 0 0

1013 -0.55 -146.0 159.7 -13.4 131 1020 0.00 2.28 0.00 0.000 6 0.000 0.060 2680 2480 3630 0 0 0 0 0 0

1340 -0.50 -146.0 201.7 -12.4 162 1344 0.00 2.28 0.00 0.000 4 0.000 0.075 2680 1081 3630 0 0 0 0 0 0

1375 -0.46 -146.0 206.3 -12.6 165 1380 0.12 2.35 0.00 0.000 6 0.215 0.073 2708 2497 3630 0 0 0 0 0 0

1707 -0.50 -146.0 239.1 -9.5 196 1711 0.00 2.38 0.00 0.000 4 0.000 0.089 2708 3910 3629 0 0 0 0 0 0

1760 -0.57 -146.0 243.9 -9.0 200 1764 0.00 2.28 0.00 0.000 6 0.000 0.060 2708 2490 3629 0 0 0 0 0 0

2092 -0.62 -146.0 273.2 -8.9 231 2097 0.15 2.33 0.00 0.000 4 0.125 0.075 2658 1076 3628 0 0 0 0 0 0

2111 -0.62 -146.0 275.2 -10.0 232 2115 0.00 2.38 0.00 0.000 6 0.000 0.075 2657 2498 3629 0 0 0 0 0 0

2437 -0.54 -146.0 320.2 -13.4 262 2442 0.12 2.40 0.00 0.000 4 0.222 0.090 2685 3910 3628 0 0 0 0 0 0

2500 -0.58 -146.0 327.2 -10.3 267 2504 0.00 2.28 0.00 0.000 6 0.000 0.060 2685 2488 3628 0 0 0 0 0 0

2826 -0.58 -146.0 360.4 -10.1 297 2830 0.00 2.30 0.00 0.000 4 0.000 0.074 2685 1073 3629 0 0 0 0 0 0

2843 -0.58 -146.0 362.2 -10.2 298 2847 0.00 2.35 0.00 0.000 6 0.000 0.073 2685 2498 3629 0 0 0 0 0 0

3170 -0.58 -146.0 394.2 -10.0 328 3171 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2498 3628 0 0 0 0 0 0

3491 -0.58 -146.0 424.9 -9.7 358 3495 0.00 2.35 0.00 0.000 4 0.000 0.088 2685 3901 3629 0 0 0 0 0 0

3543 -0.64 -146.0 430.0 -9.7 362 3547 0.00 2.28 0.00 0.000 6 0.000 0.058 2685 2489 3629 0 0 0 0 0 0

3869 -0.66 -146.0 460.2 -9.2 392 3870 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2489 3629 0 0 0 0 0 0

4190 -0.68 -146.0 489.1 -9.4 422 4196 0.12 0.00 0.00 0.000 6 0.135 0.000 2643 2489 3630 0 0 0 0 0 0

4515 -0.60 -146.0 530.7 -13.0 453 4520 0.00 2.40 0.00 0.000 4 0.000 0.086 2642 3912 3629 0 0 0 0 0 0

4538 -0.53 -146.0 533.5 -12.0 454 4545 0.17 2.30 0.00 0.000 6 0.194 0.057 2685 2484 3629 0 0 0 0 0 0

4574 end dive: TARGET_DEPTH_EXCEEDED

state 4574 begin apogee

4580 -0.12 0.0 537.6 11.0 458 4713 0.45 0.00 125.15 1.273 6 0.194 0.000 2813 2261 3030 0 0 0 0 0 0

4714 end apogee: CONTROL_FINISHED_OK

state 4714 begin climb

4716 0.62 146.0 542.8 0.0 470 4861 0.82 2.65 131.55 1.225 4 0.143 0.078 3066 875 2432 0 0 0 0 0 0

4901 0.57 146.0 532.5 10.6 486 4907 0.00 2.53 0.00 0.000 6 0.000 0.064 3066 2278 2430 0 0 0 0 0 0

5226 0.50 146.0 498.9 10.4 517 5231 0.15 2.40 0.00 0.000 4 0.184 0.080 3028 3697 2426 0 0 0 0 0 0

5283 0.48 156.0 493.1 9.5 521 5301 0.00 2.38 9.20 1.024 6 0.000 0.063 3037 2277 2393 0 0 0 0 0 0

5619 0.51 179.1 462.7 8.9 553 5643 0.00 0.00 21.80 1.141 6 0.000 0.000 3036 2276 2299 0 0 0 0 0 0

5961 0.51 181.2 429.5 9.9 585 5965 0.00 2.38 0.00 0.000 4 0.000 0.077 3036 3694 2295 0 0 0 0 0 0

6005 0.49 181.2 424.4 11.5 588 6011 0.00 2.33 0.00 0.000 6 0.000 0.063 3046 2275 2294 0 0 0 0 0 0

6330 0.49 181.2 391.9 10.3 619 6334 0.00 2.35 0.00 0.000 4 0.000 0.078 3057 865 2294 0 0 0 0 0 0

6379 0.49 181.2 386.6 10.1 623 6387 0.12 2.30 0.00 0.000 6 0.183 0.065 3027 2286 2294 0 0 0 0 0 0

6705 0.57 211.0 357.6 8.6 654 6739 0.00 2.42 28.80 1.126 4 0.000 0.080 3026 3695 2168 0 0 0 0 0 0

6790 0.59 211.0 349.3 11.0 661 6797 0.00 2.35 0.00 0.000 6 0.000 0.063 3034 2270 2167 0 0 0 0 0 0

7116 0.67 230.5 319.6 9.1 692 7140 0.12 2.40 18.38 1.078 4 0.109 0.077 3102 865 2090 0 0 0 0 0 0

7180 0.63 230.5 311.4 14.0 697 7188 0.12 2.35 0.00 0.000 6 0.194 0.065 3074 2283 2087 0 0 0 0 0 0

7505 0.63 230.5 272.4 11.1 728 7509 0.00 2.33 0.00 0.000 4 0.000 0.079 3073 3684 2087 0 0 0 0 0 0

7540 0.60 230.5 268.1 13.3 731 7545 0.00 2.30 0.00 0.000 6 0.000 0.063 3082 2266 2087 0 0 0 0 0 0

7871 0.60 230.5 228.3 11.8 762 7875 0.00 2.33 0.00 0.000 4 0.000 0.078 3092 859 2086 0 0 0 0 0 0

7900 0.60 230.5 224.9 11.5 764 7905 0.12 2.33 0.00 0.000 6 0.190 0.065 3062 2279 2085 0 0 0 0 0 0

8226 0.65 242.4 193.4 9.4 794 8242 0.00 2.33 11.32 0.981 4 0.000 0.080 3062 3684 2042 0 0 0 0 0 0

8277 0.65 242.4 188.1 11.3 798 8281 0.00 2.33 0.00 0.000 6 0.000 0.064 3071 2267 2041 0 0 0 0 0 0

8603 0.72 260.3 157.1 9.2 828 8626 0.00 2.40 17.98 1.010 4 0.000 0.079 3080 861 1967 0 0 0 0 0 0

8702 0.79 270.0 147.8 9.6 836 8721 0.12 2.33 10.43 0.949 6 0.114 0.065 3131 2274 1928 0 0 0 0 0 0

9039 0.76 270.0 105.1 12.1 868 9043 0.00 2.35 0.00 0.000 4 0.000 0.081 3131 3683 1925 0 0 0 0 0 0

9119 0.70 270.0 94.5 14.0 878 9126 0.17 2.33 0.00 0.000 6 0.198 0.067 3098 2270 1924 0 0 0 0 0 0

9467 0.85 336.7 65.3 6.9 939 9537 0.12 2.40 60.65 0.995 4 0.112 0.080 3157 860 1656 0 0 0 0 0 0

9623 0.85 336.7 48.9 11.0 966 9630 0.00 2.35 0.00 0.000 6 0.000 0.066 3157 2280 1650 0 0 0 0 0 0

9933 end climb: FINISH_DEPTH_REACHED

state 9933 begin subsurface finish

9941 0.10 79.8 8.9 -13.2 1021 9988 0.88 2.45 -40.70 0.000 4 0.174 0.098 2900 3695 2707 0 0 0 0 0 0

9989 end subsurface finish: CONTROL_FINISHED_OK

state 9989 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	557	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	19	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	060511,002328,6647.743,-6024.468,0,5100.2,0,-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	9.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060511,002328,6647.743,-6024.468,0,5100.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	117.4,158855,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	537

FREEZE	8.87,-1.718,-1.767,2,92,0	ALTIM_TOP_PING	19.8,16.4
FINISH1	8.9,1.025872,80	_24V_AH	21.7,73.764
FINISH2	7.1	_10V_AH	10.0,38.126
RAFOS_CLK	555	FG_AHR_24Vo	0.000
RAFOS	0,1304654466,4.033333,4.018333,132,64,55,55,53,52,615,194,213,164,115,155	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.940918,-6023.829590,060511,040436,4,108,0.16	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40009,1029
TT8_MAMPS	0.029211	CAP_FILE_SIZE	117462,0
HUMID	47.51	CFSIZE	260165632,217333760
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.30	SOUNDSPEED	1451.7
XPDR_PINGS	0	GPS	060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	221	24.07	SBE_CT	736	24	383.74
Roll_motor	109	97	231.88	SBE_O2	782	19	322.43
VBD_pump_during_apogee	435	1272	12023.01	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	15.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2460	19	490.15
LPSleep	5229	2	120.80
TT8_Active	490	19	97.70
TT8_Sampling	1668	39	665.97
TT8_CF8	208	45	95.83
TT8_Kalman	0	0	0.00
Analog_circuits	1406	12	168.74
GPS_charging	0	0	0.00
Compass	1656	15	248.54
RAFOS	2160	1	32.40
Transponder	14	30	4.32

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	24	0.00	0.00	-5.70	0.000	2	0.000	0.000	2902	860	2908	0	0	0	0	0	0
27	-0.62	-146.0	10.7	-0.0	1	58	0.68	5.20	-19.27	0.000	4	0.107	0.087	2667	3899	3630	0	0	0	0	0	0
245	-0.53	-146.0	47.3	-18.4	39	252	0.00	2.28	0.00	0.000	6	0.000	0.060	2667	2482	3631	0	0	0	0	0	0
592	-0.41	-146.0	116.1	-17.8	93	597	0.25	2.30	0.00	0.000	4	0.219	0.073	2733	1079	3631	0	0	0	0	0	0
637	-0.49	-146.0	122.1	-10.7	96	644	0.00	2.35	0.00	0.000	6	0.000	0.072	2732	2496	3630	0	0	0	0	0	0
964	-0.55	-146.0	153.2	-9.5	127	968	0.15	2.40	0.00	0.000	4	0.119	0.089	2680	3906	3631	0	0	0	0	0	0
1013	-0.55	-146.0	159.7	-13.4	131	1020	0.00	2.28	0.00	0.000	6	0.000	0.060	2680	2480	3630	0	0	0	0	0	0
1340	-0.50	-146.0	201.7	-12.4	162	1344	0.00	2.28	0.00	0.000	4	0.000	0.075	2680	1081	3630	0	0	0	0	0	0
1375	-0.46	-146.0	206.3	-12.6	165	1380	0.12	2.35	0.00	0.000	6	0.215	0.073	2708	2497	3630	0	0	0	0	0	0
1707	-0.50	-146.0	239.1	-9.5	196	1711	0.00	2.38	0.00	0.000	4	0.000	0.089	2708	3910	3629	0	0	0	0	0	0
1760	-0.57	-146.0	243.9	-9.0	200	1764	0.00	2.28	0.00	0.000	6	0.000	0.060	2708	2490	3629	0	0	0	0	0	0
2092	-0.62	-146.0	273.2	-8.9	231	2097	0.15	2.33	0.00	0.000	4	0.125	0.075	2658	1076	3628	0	0	0	0	0	0
2111	-0.62	-146.0	275.2	-10.0	232	2115	0.00	2.38	0.00	0.000	6	0.000	0.075	2657	2498	3629	0	0	0	0	0	0
2437	-0.54	-146.0	320.2	-13.4	262	2442	0.12	2.40	0.00	0.000	4	0.222	0.090	2685	3910	3628	0	0	0	0	0	0
2500	-0.58	-146.0	327.2	-10.3	267	2504	0.00	2.28	0.00	0.000	6	0.000	0.060	2685	2488	3628	0	0	0	0	0	0
2826	-0.58	-146.0	360.4	-10.1	297	2830	0.00	2.30	0.00	0.000	4	0.000	0.074	2685	1073	3629	0	0	0	0	0	0
2843	-0.58	-146.0	362.2	-10.2	298	2847	0.00	2.35	0.00	0.000	6	0.000	0.073	2685	2498	3629	0	0	0	0	0	0
3170	-0.58	-146.0	394.2	-10.0	328	3171	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2498	3628	0	0	0	0	0	0
3491	-0.58	-146.0	424.9	-9.7	358	3495	0.00	2.35	0.00	0.000	4	0.000	0.088	2685	3901	3629	0	0	0	0	0	0
3543	-0.64	-146.0	430.0	-9.7	362	3547	0.00	2.28	0.00	0.000	6	0.000	0.058	2685	2489	3629	0	0	0	0	0	0
3869	-0.66	-146.0	460.2	-9.2	392	3870	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2489	3629	0	0	0	0	0	0
4190	-0.68	-146.0	489.1	-9.4	422	4196	0.12	0.00	0.00	0.000	6	0.135	0.000	2643	2489	3630	0	0	0	0	0	0
4515	-0.60	-146.0	530.7	-13.0	453	4520	0.00	2.40	0.00	0.000	4	0.000	0.086	2642	3912	3629	0	0	0	0	0	0
4538	-0.53	-146.0	533.5	-12.0	454	4545	0.17	2.30	0.00	0.000	6	0.194	0.057	2685	2484	3629	0	0	0	0	0	0
4574	end dive: TARGET_DEPTH_EXCEEDED
state	4574	begin apogee
4580	-0.12	0.0	537.6	11.0	458	4713	0.45	0.00	125.15	1.273	6	0.194	0.000	2813	2261	3030	0	0	0	0	0	0
4714	end apogee: CONTROL_FINISHED_OK
state	4714	begin climb
4716	0.62	146.0	542.8	0.0	470	4861	0.82	2.65	131.55	1.225	4	0.143	0.078	3066	875	2432	0	0	0	0	0	0
4901	0.57	146.0	532.5	10.6	486	4907	0.00	2.53	0.00	0.000	6	0.000	0.064	3066	2278	2430	0	0	0	0	0	0
5226	0.50	146.0	498.9	10.4	517	5231	0.15	2.40	0.00	0.000	4	0.184	0.080	3028	3697	2426	0	0	0	0	0	0
5283	0.48	156.0	493.1	9.5	521	5301	0.00	2.38	9.20	1.024	6	0.000	0.063	3037	2277	2393	0	0	0	0	0	0
5619	0.51	179.1	462.7	8.9	553	5643	0.00	0.00	21.80	1.141	6	0.000	0.000	3036	2276	2299	0	0	0	0	0	0
5961	0.51	181.2	429.5	9.9	585	5965	0.00	2.38	0.00	0.000	4	0.000	0.077	3036	3694	2295	0	0	0	0	0	0
6005	0.49	181.2	424.4	11.5	588	6011	0.00	2.33	0.00	0.000	6	0.000	0.063	3046	2275	2294	0	0	0	0	0	0
6330	0.49	181.2	391.9	10.3	619	6334	0.00	2.35	0.00	0.000	4	0.000	0.078	3057	865	2294	0	0	0	0	0	0
6379	0.49	181.2	386.6	10.1	623	6387	0.12	2.30	0.00	0.000	6	0.183	0.065	3027	2286	2294	0	0	0	0	0	0
6705	0.57	211.0	357.6	8.6	654	6739	0.00	2.42	28.80	1.126	4	0.000	0.080	3026	3695	2168	0	0	0	0	0	0
6790	0.59	211.0	349.3	11.0	661	6797	0.00	2.35	0.00	0.000	6	0.000	0.063	3034	2270	2167	0	0	0	0	0	0
7116	0.67	230.5	319.6	9.1	692	7140	0.12	2.40	18.38	1.078	4	0.109	0.077	3102	865	2090	0	0	0	0	0	0
7180	0.63	230.5	311.4	14.0	697	7188	0.12	2.35	0.00	0.000	6	0.194	0.065	3074	2283	2087	0	0	0	0	0	0
7505	0.63	230.5	272.4	11.1	728	7509	0.00	2.33	0.00	0.000	4	0.000	0.079	3073	3684	2087	0	0	0	0	0	0
7540	0.60	230.5	268.1	13.3	731	7545	0.00	2.30	0.00	0.000	6	0.000	0.063	3082	2266	2087	0	0	0	0	0	0
7871	0.60	230.5	228.3	11.8	762	7875	0.00	2.33	0.00	0.000	4	0.000	0.078	3092	859	2086	0	0	0	0	0	0
7900	0.60	230.5	224.9	11.5	764	7905	0.12	2.33	0.00	0.000	6	0.190	0.065	3062	2279	2085	0	0	0	0	0	0
8226	0.65	242.4	193.4	9.4	794	8242	0.00	2.33	11.32	0.981	4	0.000	0.080	3062	3684	2042	0	0	0	0	0	0
8277	0.65	242.4	188.1	11.3	798	8281	0.00	2.33	0.00	0.000	6	0.000	0.064	3071	2267	2041	0	0	0	0	0	0
8603	0.72	260.3	157.1	9.2	828	8626	0.00	2.40	17.98	1.010	4	0.000	0.079	3080	861	1967	0	0	0	0	0	0
8702	0.79	270.0	147.8	9.6	836	8721	0.12	2.33	10.43	0.949	6	0.114	0.065	3131	2274	1928	0	0	0	0	0	0
9039	0.76	270.0	105.1	12.1	868	9043	0.00	2.35	0.00	0.000	4	0.000	0.081	3131	3683	1925	0	0	0	0	0	0
9119	0.70	270.0	94.5	14.0	878	9126	0.17	2.33	0.00	0.000	6	0.198	0.067	3098	2270	1924	0	0	0	0	0	0
9467	0.85	336.7	65.3	6.9	939	9537	0.12	2.40	60.65	0.995	4	0.112	0.080	3157	860	1656	0	0	0	0	0	0
9623	0.85	336.7	48.9	11.0	966	9630	0.00	2.35	0.00	0.000	6	0.000	0.066	3157	2280	1650	0	0	0	0	0	0
9933	end climb: FINISH_DEPTH_REACHED
state	9933	begin subsurface finish
9941	0.10	79.8	8.9	-13.2	1021	9988	0.88	2.45	-40.70	0.000	4	0.174	0.098	2900	3695	2707	0	0	0	0	0	0
9989	end subsurface finish: CONTROL_FINISHED_OK
state	9989	begin surface