Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 558 * 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 558 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 21 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 17 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 21 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 17 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 558 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 060511,041736,6648.941,-6023.830,0,4107.8,0,-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 9.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6 MHEAD_RNG_PITCHd_Wd 118.1,158020,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 544

Post-dive calculations and measurements:

FREEZE 8.51,-1.722,-1.766,2,93,0 ALTIM_TOP_PING 19.5,20.9

FINISH1 8.5,1.025860,80 _24V_AH 21.6,73.898

FINISH2 7.4 _10V_AH 10.0,38.190

RAFOS_CLK 574 FG_AHR_24Vo 0.000

RAFOS 5,1304656866,4.700000,4.685000,92,63,59,56,54,54,958,196,153,115,217,130 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.341797,-6020.839844,060511,040422,6,108,5.78 MEM 150588

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40079,1076

TT8_MAMPS 0.026215 CAP_FILE_SIZE 119185,0

HUMID 47.75 CFSIZE 260165632,217264128

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

TCM_TEMP 16.10 SOUNDSPEED 1451.4

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 4 223 20.51 SBE_CT 769 24 398.72

Roll_motor 103 185 417.29 SBE_O2 814 19 334.45

VBD_pump_during_apogee 407 1279 11248.10 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 13.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2580 19 514.07

LPSleep 5466 2 126.27

TT8_Active 460 19 91.72

TT8_Sampling 1711 39 683.41

TT8_CF8 195 45 89.97

TT8_Kalman 0 0 0.00

Analog_circuits 1388 12 166.63

GPS_charging 0 0 0.00

Compass 1697 15 254.57

RAFOS 360 1 5.40

Transponder 11 30 3.44

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 -6.15 0.000 2 0.000 0.000 2900 3695 2929 0 0 0 0 0 0

28 -0.62 -146.0 10.8 -0.0 1 53 0.65 0.38 -18.45 0.000 4 0.106 0.186 2672 3904 3628 0 0 0 0 0 0

264 -0.54 -146.0 49.6 -17.4 42 271 0.00 2.28 0.00 0.000 6 0.000 0.059 2672 2480 3631 0 0 0 0 0 0

605 -0.41 -146.0 114.3 -16.7 95 607 0.22 0.00 0.00 0.000 6 0.223 0.000 2726 2480 3630 0 0 0 0 0 0

924 -0.46 -146.0 149.3 -10.2 125 928 0.00 2.30 0.00 0.000 4 0.000 0.076 2726 1079 3629 0 0 0 0 0 0

936 -0.50 -146.0 150.7 -10.3 125 942 0.00 2.35 0.00 0.000 6 0.000 0.074 2726 2489 3629 0 0 0 0 0 0

1261 -0.57 -146.0 181.4 -8.9 156 1266 0.15 2.40 0.00 0.000 4 0.121 0.090 2675 3905 3628 0 0 0 0 0 0

1283 -0.57 -146.0 184.0 -10.2 157 1290 0.00 2.28 0.00 0.000 6 0.000 0.060 2675 2490 3628 0 0 0 0 0 0

1609 -0.51 -146.0 227.3 -12.9 188 1613 0.00 2.30 0.00 0.000 4 0.000 0.075 2675 1074 3629 0 0 0 0 0 0

1625 -0.44 -146.0 229.9 -13.6 189 1633 0.17 2.38 0.00 0.000 6 0.214 0.075 2716 2496 3628 0 0 0 0 0 0

1951 -0.51 -146.0 258.9 -8.9 220 1955 0.00 2.38 0.00 0.000 4 0.000 0.090 2716 3900 3628 0 0 0 0 0 0

1986 -0.59 -146.0 262.0 -8.7 223 1990 0.15 2.28 0.00 0.000 6 0.118 0.060 2665 2484 3628 0 0 0 0 0 0

2316 -0.54 -146.0 304.3 -13.4 254 2321 0.00 2.28 0.00 0.000 4 0.000 0.074 2665 1079 3627 0 0 0 0 0 0

2368 -0.54 -146.0 311.3 -12.5 258 2372 0.00 2.35 0.00 0.000 6 0.000 0.073 2665 2499 3628 0 0 0 0 0 0

2699 -0.49 -146.0 351.8 -12.3 289 2703 0.15 2.40 0.00 0.000 4 0.216 0.089 2700 3903 3628 0 0 0 0 0 0

2750 -0.57 -146.0 357.0 -8.7 293 2755 0.00 2.28 0.00 0.000 6 0.000 0.059 2700 2484 3627 0 0 0 0 0 0

3082 -0.62 -146.0 386.1 -8.9 324 3084 0.12 0.00 0.00 0.000 6 0.135 0.000 2658 2484 3628 0 0 0 0 0 0

3400 -0.57 -146.0 424.6 -12.8 354 3404 0.00 2.28 0.00 0.000 4 0.000 0.072 2657 1075 3628 0 0 0 0 0 0

3417 -0.50 -146.0 426.8 -12.4 355 3422 0.17 2.35 0.00 0.000 6 0.211 0.072 2699 2492 3628 0 0 0 0 0 0

3743 -0.56 -146.0 456.3 -8.3 385 3747 0.00 2.38 0.00 0.000 4 0.000 0.087 2699 3903 3628 0 0 0 0 0 0

3794 -0.65 -146.0 460.8 -8.6 389 3801 0.15 2.25 0.00 0.000 6 0.119 0.057 2649 2488 3628 0 0 0 0 0 0

4119 -0.59 -146.0 501.6 -13.1 420 4123 0.00 2.30 0.00 0.000 4 0.000 0.071 2650 1074 3628 0 0 0 0 0 0

4142 -0.51 -146.0 504.8 -13.2 422 4147 0.17 2.35 0.00 0.000 6 0.207 0.072 2691 2490 3628 0 0 0 0 0 0

4468 -0.55 -146.0 532.9 -8.4 452 4472 0.00 2.40 0.00 0.000 4 0.000 0.087 2690 3905 3629 0 0 0 0 0 0

4486 -0.60 -146.0 534.4 -8.5 453 4490 0.00 2.25 0.00 0.000 6 0.000 0.056 2691 2488 3628 0 0 0 0 0 0

4612 end dive: TARGET_DEPTH_EXCEEDED

state 4612 begin apogee

4619 -0.12 0.0 544.3 7.6 465 4751 0.43 0.00 124.90 1.279 6 0.192 0.000 2813 2263 3030 0 0 0 0 0 0

4752 end apogee: CONTROL_FINISHED_OK

state 4752 begin climb

4754 0.62 146.0 549.0 0.0 477 4899 0.82 2.62 131.68 1.230 4 0.144 0.077 3065 875 2432 0 0 0 0 0 0

4968 0.56 146.0 534.3 10.5 496 4973 0.00 2.50 0.00 0.000 6 0.000 0.063 3065 2275 2428 0 0 0 0 0 0

5294 0.50 146.0 497.9 10.5 526 5298 0.15 2.40 0.00 0.000 4 0.184 0.079 3027 3687 2426 0 0 0 0 0 0

5339 0.47 146.0 493.2 10.5 530 5344 0.00 2.35 0.00 0.000 6 0.000 0.063 3035 2276 2425 0 0 0 0 0 0

5665 0.48 154.3 461.6 9.6 560 5675 0.00 0.00 7.55 0.984 6 0.000 0.000 3035 2276 2399 0 0 0 0 0 0

5995 0.49 165.7 429.5 9.5 591 6013 0.00 0.00 11.70 1.083 6 0.000 0.000 3035 2276 2353 0 0 0 0 0 0

6334 0.50 174.7 395.9 9.6 623 6345 0.00 0.00 9.48 1.040 6 0.000 0.000 3035 2276 2316 0 0 0 0 0 0

6661 0.53 191.2 364.3 9.2 654 6684 0.00 2.38 15.95 1.095 4 0.000 0.076 3035 3698 2250 0 0 0 0 0 0

6719 0.53 191.2 358.4 10.4 659 6723 0.00 2.35 0.00 0.000 6 0.000 0.062 3045 2264 2249 0 0 0 0 0 0

7045 0.55 213.9 327.2 9.0 689 7071 0.00 2.35 21.52 1.093 4 0.000 0.076 3055 858 2157 0 0 0 0 0 0

7099 0.59 218.0 322.0 9.8 693 7110 0.00 2.35 5.05 0.813 6 0.000 0.064 3055 2276 2141 0 0 0 0 0 0

7437 0.62 221.8 288.8 9.8 725 7449 0.00 2.35 4.93 0.802 4 0.000 0.079 3055 3695 2125 0 0 0 0 0 0

7477 0.62 221.8 284.1 12.4 728 7484 0.00 2.33 0.00 0.000 6 0.000 0.062 3066 2272 2125 0 0 0 0 0 0

7803 0.62 221.9 250.8 10.0 759 7807 0.00 2.30 0.00 0.000 4 0.000 0.077 3076 864 2124 0 0 0 0 0 0

7858 0.62 221.9 245.1 10.2 763 7865 0.00 2.33 0.00 0.000 6 0.000 0.064 3076 2286 2123 0 0 0 0 0 0

8185 0.62 221.9 210.9 10.4 794 8186 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2285 2123 0 0 0 0 0 0

8503 0.63 226.4 177.7 9.8 824 8515 0.00 2.38 5.32 0.810 4 0.000 0.080 3076 3687 2107 0 0 0 0 0 0

8545 0.63 226.4 173.0 12.0 828 8549 0.00 2.30 0.00 0.000 6 0.000 0.063 3086 2275 2106 0 0 0 0 0 0

8872 0.63 226.4 139.6 10.1 858 8876 0.00 2.30 0.00 0.000 4 0.000 0.076 3096 864 2107 0 0 0 0 0 0

8957 0.63 226.4 131.2 10.0 865 8961 0.00 2.30 0.00 0.000 6 0.000 0.065 3096 2284 2106 0 0 0 0 0 0

9283 0.67 256.3 100.8 8.6 895 9318 0.00 2.35 28.65 1.017 4 0.000 0.079 3097 3694 1983 0 0 0 0 0 0

9382 0.67 256.3 90.8 10.9 911 9389 0.00 2.35 0.00 0.000 6 0.000 0.064 3107 2272 1981 0 0 0 0 0 0

9729 0.74 296.4 60.6 8.1 972 9771 0.00 2.47 37.35 0.990 4 0.000 0.076 3107 3694 1820 0 0 0 0 0 0

9813 0.77 296.4 52.9 11.1 986 9820 0.00 2.35 0.00 0.000 6 0.000 0.063 3115 2273 1816 0 0 0 0 0 0

10159 0.82 296.4 20.9 10.3 1047 10165 0.00 2.33 0.00 0.000 4 0.000 0.080 3124 863 1813 0 0 0 0 0 0

10224 0.89 303.7 14.6 9.7 1058 10232 0.00 2.33 3.05 0.562 6 0.000 0.066 3124 2276 1790 0 0 0 0 0 0

10288 end climb: FINISH_DEPTH_REACHED

state 10288 begin subsurface finish

10295 0.10 80.4 8.5 -9.7 1069 10337 0.73 2.38 -34.65 0.000 4 0.152 0.095 2899 3687 2703 0 0 0 0 0 0

10338 end subsurface finish: CONTROL_FINISHED_OK

state 10338 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	558	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	21	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	17	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	060511,041736,6648.941,-6023.830,0,4107.8,0,-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	9.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6	MHEAD_RNG_PITCHd_Wd	118.1,158020,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	544

FREEZE	8.51,-1.722,-1.766,2,93,0	ALTIM_TOP_PING	19.5,20.9
FINISH1	8.5,1.025860,80	_24V_AH	21.6,73.898
FINISH2	7.4	_10V_AH	10.0,38.190
RAFOS_CLK	574	FG_AHR_24Vo	0.000
RAFOS	5,1304656866,4.700000,4.685000,92,63,59,56,54,54,958,196,153,115,217,130	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.341797,-6020.839844,060511,040422,6,108,5.78	MEM	150588
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40079,1076
TT8_MAMPS	0.026215	CAP_FILE_SIZE	119185,0
HUMID	47.75	CFSIZE	260165632,217264128
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1451.4
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	4	223	20.51	SBE_CT	769	24	398.72
Roll_motor	103	185	417.29	SBE_O2	814	19	334.45
VBD_pump_during_apogee	407	1279	11248.10	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	13.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2580	19	514.07
LPSleep	5466	2	126.27
TT8_Active	460	19	91.72
TT8_Sampling	1711	39	683.41
TT8_CF8	195	45	89.97
TT8_Kalman	0	0	0.00
Analog_circuits	1388	12	166.63
GPS_charging	0	0	0.00
Compass	1697	15	254.57
RAFOS	360	1	5.40
Transponder	11	30	3.44

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	-6.15	0.000	2	0.000	0.000	2900	3695	2929	0	0	0	0	0	0
28	-0.62	-146.0	10.8	-0.0	1	53	0.65	0.38	-18.45	0.000	4	0.106	0.186	2672	3904	3628	0	0	0	0	0	0
264	-0.54	-146.0	49.6	-17.4	42	271	0.00	2.28	0.00	0.000	6	0.000	0.059	2672	2480	3631	0	0	0	0	0	0
605	-0.41	-146.0	114.3	-16.7	95	607	0.22	0.00	0.00	0.000	6	0.223	0.000	2726	2480	3630	0	0	0	0	0	0
924	-0.46	-146.0	149.3	-10.2	125	928	0.00	2.30	0.00	0.000	4	0.000	0.076	2726	1079	3629	0	0	0	0	0	0
936	-0.50	-146.0	150.7	-10.3	125	942	0.00	2.35	0.00	0.000	6	0.000	0.074	2726	2489	3629	0	0	0	0	0	0
1261	-0.57	-146.0	181.4	-8.9	156	1266	0.15	2.40	0.00	0.000	4	0.121	0.090	2675	3905	3628	0	0	0	0	0	0
1283	-0.57	-146.0	184.0	-10.2	157	1290	0.00	2.28	0.00	0.000	6	0.000	0.060	2675	2490	3628	0	0	0	0	0	0
1609	-0.51	-146.0	227.3	-12.9	188	1613	0.00	2.30	0.00	0.000	4	0.000	0.075	2675	1074	3629	0	0	0	0	0	0
1625	-0.44	-146.0	229.9	-13.6	189	1633	0.17	2.38	0.00	0.000	6	0.214	0.075	2716	2496	3628	0	0	0	0	0	0
1951	-0.51	-146.0	258.9	-8.9	220	1955	0.00	2.38	0.00	0.000	4	0.000	0.090	2716	3900	3628	0	0	0	0	0	0
1986	-0.59	-146.0	262.0	-8.7	223	1990	0.15	2.28	0.00	0.000	6	0.118	0.060	2665	2484	3628	0	0	0	0	0	0
2316	-0.54	-146.0	304.3	-13.4	254	2321	0.00	2.28	0.00	0.000	4	0.000	0.074	2665	1079	3627	0	0	0	0	0	0
2368	-0.54	-146.0	311.3	-12.5	258	2372	0.00	2.35	0.00	0.000	6	0.000	0.073	2665	2499	3628	0	0	0	0	0	0
2699	-0.49	-146.0	351.8	-12.3	289	2703	0.15	2.40	0.00	0.000	4	0.216	0.089	2700	3903	3628	0	0	0	0	0	0
2750	-0.57	-146.0	357.0	-8.7	293	2755	0.00	2.28	0.00	0.000	6	0.000	0.059	2700	2484	3627	0	0	0	0	0	0
3082	-0.62	-146.0	386.1	-8.9	324	3084	0.12	0.00	0.00	0.000	6	0.135	0.000	2658	2484	3628	0	0	0	0	0	0
3400	-0.57	-146.0	424.6	-12.8	354	3404	0.00	2.28	0.00	0.000	4	0.000	0.072	2657	1075	3628	0	0	0	0	0	0
3417	-0.50	-146.0	426.8	-12.4	355	3422	0.17	2.35	0.00	0.000	6	0.211	0.072	2699	2492	3628	0	0	0	0	0	0
3743	-0.56	-146.0	456.3	-8.3	385	3747	0.00	2.38	0.00	0.000	4	0.000	0.087	2699	3903	3628	0	0	0	0	0	0
3794	-0.65	-146.0	460.8	-8.6	389	3801	0.15	2.25	0.00	0.000	6	0.119	0.057	2649	2488	3628	0	0	0	0	0	0
4119	-0.59	-146.0	501.6	-13.1	420	4123	0.00	2.30	0.00	0.000	4	0.000	0.071	2650	1074	3628	0	0	0	0	0	0
4142	-0.51	-146.0	504.8	-13.2	422	4147	0.17	2.35	0.00	0.000	6	0.207	0.072	2691	2490	3628	0	0	0	0	0	0
4468	-0.55	-146.0	532.9	-8.4	452	4472	0.00	2.40	0.00	0.000	4	0.000	0.087	2690	3905	3629	0	0	0	0	0	0
4486	-0.60	-146.0	534.4	-8.5	453	4490	0.00	2.25	0.00	0.000	6	0.000	0.056	2691	2488	3628	0	0	0	0	0	0
4612	end dive: TARGET_DEPTH_EXCEEDED
state	4612	begin apogee
4619	-0.12	0.0	544.3	7.6	465	4751	0.43	0.00	124.90	1.279	6	0.192	0.000	2813	2263	3030	0	0	0	0	0	0
4752	end apogee: CONTROL_FINISHED_OK
state	4752	begin climb
4754	0.62	146.0	549.0	0.0	477	4899	0.82	2.62	131.68	1.230	4	0.144	0.077	3065	875	2432	0	0	0	0	0	0
4968	0.56	146.0	534.3	10.5	496	4973	0.00	2.50	0.00	0.000	6	0.000	0.063	3065	2275	2428	0	0	0	0	0	0
5294	0.50	146.0	497.9	10.5	526	5298	0.15	2.40	0.00	0.000	4	0.184	0.079	3027	3687	2426	0	0	0	0	0	0
5339	0.47	146.0	493.2	10.5	530	5344	0.00	2.35	0.00	0.000	6	0.000	0.063	3035	2276	2425	0	0	0	0	0	0
5665	0.48	154.3	461.6	9.6	560	5675	0.00	0.00	7.55	0.984	6	0.000	0.000	3035	2276	2399	0	0	0	0	0	0
5995	0.49	165.7	429.5	9.5	591	6013	0.00	0.00	11.70	1.083	6	0.000	0.000	3035	2276	2353	0	0	0	0	0	0
6334	0.50	174.7	395.9	9.6	623	6345	0.00	0.00	9.48	1.040	6	0.000	0.000	3035	2276	2316	0	0	0	0	0	0
6661	0.53	191.2	364.3	9.2	654	6684	0.00	2.38	15.95	1.095	4	0.000	0.076	3035	3698	2250	0	0	0	0	0	0
6719	0.53	191.2	358.4	10.4	659	6723	0.00	2.35	0.00	0.000	6	0.000	0.062	3045	2264	2249	0	0	0	0	0	0
7045	0.55	213.9	327.2	9.0	689	7071	0.00	2.35	21.52	1.093	4	0.000	0.076	3055	858	2157	0	0	0	0	0	0
7099	0.59	218.0	322.0	9.8	693	7110	0.00	2.35	5.05	0.813	6	0.000	0.064	3055	2276	2141	0	0	0	0	0	0
7437	0.62	221.8	288.8	9.8	725	7449	0.00	2.35	4.93	0.802	4	0.000	0.079	3055	3695	2125	0	0	0	0	0	0
7477	0.62	221.8	284.1	12.4	728	7484	0.00	2.33	0.00	0.000	6	0.000	0.062	3066	2272	2125	0	0	0	0	0	0
7803	0.62	221.9	250.8	10.0	759	7807	0.00	2.30	0.00	0.000	4	0.000	0.077	3076	864	2124	0	0	0	0	0	0
7858	0.62	221.9	245.1	10.2	763	7865	0.00	2.33	0.00	0.000	6	0.000	0.064	3076	2286	2123	0	0	0	0	0	0
8185	0.62	221.9	210.9	10.4	794	8186	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2285	2123	0	0	0	0	0	0
8503	0.63	226.4	177.7	9.8	824	8515	0.00	2.38	5.32	0.810	4	0.000	0.080	3076	3687	2107	0	0	0	0	0	0
8545	0.63	226.4	173.0	12.0	828	8549	0.00	2.30	0.00	0.000	6	0.000	0.063	3086	2275	2106	0	0	0	0	0	0
8872	0.63	226.4	139.6	10.1	858	8876	0.00	2.30	0.00	0.000	4	0.000	0.076	3096	864	2107	0	0	0	0	0	0
8957	0.63	226.4	131.2	10.0	865	8961	0.00	2.30	0.00	0.000	6	0.000	0.065	3096	2284	2106	0	0	0	0	0	0
9283	0.67	256.3	100.8	8.6	895	9318	0.00	2.35	28.65	1.017	4	0.000	0.079	3097	3694	1983	0	0	0	0	0	0
9382	0.67	256.3	90.8	10.9	911	9389	0.00	2.35	0.00	0.000	6	0.000	0.064	3107	2272	1981	0	0	0	0	0	0
9729	0.74	296.4	60.6	8.1	972	9771	0.00	2.47	37.35	0.990	4	0.000	0.076	3107	3694	1820	0	0	0	0	0	0
9813	0.77	296.4	52.9	11.1	986	9820	0.00	2.35	0.00	0.000	6	0.000	0.063	3115	2273	1816	0	0	0	0	0	0
10159	0.82	296.4	20.9	10.3	1047	10165	0.00	2.33	0.00	0.000	4	0.000	0.080	3124	863	1813	0	0	0	0	0	0
10224	0.89	303.7	14.6	9.7	1058	10232	0.00	2.33	3.05	0.562	6	0.000	0.066	3124	2276	1790	0	0	0	0	0	0
10288	end climb: FINISH_DEPTH_REACHED
state	10288	begin subsurface finish
10295	0.10	80.4	8.5	-9.7	1069	10337	0.73	2.38	-34.65	0.000	4	0.152	0.095	2899	3687	2703	0	0	0	0	0	0
10338	end subsurface finish: CONTROL_FINISHED_OK
state	10338	begin surface