Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 606 * 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 606 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 27 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -48069.07 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 -48069.07

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 27 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 30 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 606 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 130511,082806,6709.627,-5712.636,35,1.7,40,-37.8 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 2.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130511,084619,6709.597,-5712.555,9,1.4,14,-37.8 MHEAD_RNG_PITCHd_Wd 162.4,21533,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 595

Post-dive calculations and measurements:

FREEZE 8.83,-1.767,-1.831,2,1,0 ALTIM_BOTTOM_PING 550.1,40.6

FINISH1 8.8,1.026786,35 _24V_AH 21.8,80.218

FINISH2 8.5 _10V_AH 10.0,41.424

RAFOS_CLK 530 FG_AHR_24Vo 0.000

RAFOS 6,1305276546,8.833333,8.818334,98,62,61,61,57,53,738,137,214,205,195,227 FG_AHR_10Vo 0.000

RAFOS_FIX 6710.815430,-5728.173828,130511,040401,3,93,17.20 MEM 150456

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 46616,1168

TT8_MAMPS 0.026215 CAP_FILE_SIZE 133218,0

HUMID 46.14 CFSIZE 260165632,214126592

INTERNAL_PRESSURE 8.74057 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1465.7

XPDR_PINGS 31 GPS 130511,084619,6709.597,-5712.555,9,1.4,14,-37.8

ALTIM_TOP_PING 19.6,16.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 324 118.44 SBE_CT 823 24 430.66

Roll_motor 82 83 150.24 SBE_O2 882 19 365.45

VBD_pump_during_apogee 368 1250 10040.34 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 24 103 55.76 nil 0 0 0.00

Iridium_during_connect 36 160 127.90 nil 0 0 0.00

Iridium_during_xfer 609 223 2964.98 nil 0 0 0.00

Transponder_ping 9 420 89.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.42

TT8 2717 19 541.30

LPSleep 5971 2 137.95

TT8_Active 546 19 108.78

TT8_Sampling 2450 39 978.14

TT8_CF8 624 45 287.00

TT8_Kalman 0 0 0.00

Analog_circuits 1548 12 185.80

GPS_charging 0 0 0.00

Compass 1828 15 274.26

RAFOS 360 1 5.40

Transponder 17 30 5.32

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 0 192 0.00 0.00 -172.68 0.000 2 0.000 0.000 115 2495 3399 0 0 0 0 0 0

195 -0.62 -146.0 6.0 -10.0 30 220 13.23 2.33 -5.12 0.000 4 0.324 0.076 2654 1079 3629 0 0 0 0 0 0

407 -0.50 -146.0 51.5 -16.6 67 415 0.17 2.30 0.00 0.000 6 0.215 0.067 2697 2483 3631 0 0 0 0 0 0

754 -0.47 -146.0 97.7 -11.5 128 761 0.00 2.38 0.00 0.000 4 0.000 0.083 2697 3906 3630 0 0 0 0 0 0

769 -0.44 -146.0 99.6 -11.8 130 775 0.00 2.25 0.00 0.000 6 0.000 0.054 2697 2484 3630 0 0 0 0 0 0

1096 -0.44 -146.0 135.5 -10.4 161 1100 0.00 2.28 0.00 0.000 4 0.000 0.070 2697 1082 3630 0 0 0 0 0 0

1137 -0.47 -146.0 139.9 -10.9 164 1141 0.00 2.30 0.00 0.000 6 0.000 0.067 2697 2496 3630 0 0 0 0 0 0

1463 -0.47 -146.0 174.3 -10.1 194 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2496 3629 0 0 0 0 0 0

1783 -0.51 -146.0 204.8 -9.6 224 1788 0.00 2.35 0.00 0.000 4 0.000 0.082 2697 3909 3629 0 0 0 0 0 0

1813 -0.55 -146.0 207.8 -9.5 226 1817 0.00 2.28 0.00 0.000 6 0.000 0.053 2697 2480 3629 0 0 0 0 0 0

2139 -0.59 -146.0 237.1 -9.0 256 2143 0.00 2.25 0.00 0.000 4 0.000 0.067 2697 1073 3629 0 0 0 0 0 0

2151 -0.63 -146.0 238.1 -8.5 256 2159 0.12 2.30 0.00 0.000 6 0.128 0.064 2656 2496 3629 0 0 0 0 0 0

2477 -0.58 -146.0 275.9 -11.4 287 2478 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2496 3630 0 0 0 0 0 0

2799 -0.53 -146.0 310.4 -10.8 317 2805 0.15 0.00 0.00 0.000 6 0.199 0.000 2691 2496 3631 0 0 0 0 0 0

3125 -0.57 -146.0 336.5 -7.8 348 3129 0.00 2.33 0.00 0.000 4 0.000 0.076 2692 3899 3632 0 0 0 0 0 0

3154 -0.62 -146.0 338.8 -8.3 350 3158 0.00 2.22 0.00 0.000 6 0.000 0.049 2692 2488 3632 0 0 0 0 0 0

3480 -0.67 -146.0 365.4 -8.3 380 3482 0.15 0.00 0.00 0.000 6 0.112 0.000 2638 2488 3634 0 0 0 0 0 0

3799 -0.58 -146.0 403.8 -12.1 410 3803 0.15 2.25 0.00 0.000 4 0.200 0.062 2675 1082 3634 0 0 0 0 0 0

3831 -0.58 -146.0 407.6 -10.2 412 3838 0.00 2.25 0.00 0.000 6 0.000 0.060 2675 2489 3635 0 0 0 0 0 0

4158 -0.58 -146.0 436.6 -9.2 443 4159 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2489 3635 0 0 0 0 0 0

4477 -0.58 -146.0 464.6 -8.7 473 4478 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2490 3636 0 0 0 0 0 0

4796 -0.58 -146.0 493.0 -9.3 503 4800 0.00 2.33 0.00 0.000 4 0.000 0.074 2674 3899 3638 0 0 0 0 0 0

4818 -0.58 -146.0 495.5 -9.1 504 4825 0.00 2.20 0.00 0.000 6 0.000 0.047 2674 2484 3638 0 0 0 0 0 0

5145 -0.58 -146.0 524.9 -8.9 535 5146 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2484 3638 0 0 0 0 0 0

5463 -0.60 -146.0 552.7 -8.5 565 5467 0.00 2.22 0.00 0.000 4 0.000 0.061 2674 1078 3639 0 0 0 0 0 0

5486 -0.63 -146.0 554.8 -9.2 566 5493 0.00 2.25 0.00 0.000 6 0.000 0.060 2674 2490 3639 0 0 0 0 0 0

5735 end dive: BOTTOM_OBSTACLE_DETECTED

state 5737 begin apogee

5743 -0.12 0.0 576.5 9.0 590 5876 0.47 0.00 126.12 1.250 6 0.176 0.000 2815 2263 3030 0 0 0 0 0 0

5877 end apogee: CONTROL_FINISHED_OK

state 5877 begin climb

5880 0.62 146.0 580.8 0.0 602 6023 0.77 2.60 129.18 1.208 4 0.128 0.069 3063 876 2432 0 0 0 0 0 0

6129 0.58 146.0 561.0 11.7 624 6133 0.00 2.38 0.00 0.000 6 0.000 0.056 3064 2277 2429 0 0 0 0 0 0

6455 0.52 146.0 523.2 11.6 654 6460 0.12 2.33 0.00 0.000 4 0.184 0.072 3032 3694 2427 0 0 0 0 0 0

6577 0.46 146.0 509.2 12.0 664 6581 0.00 2.25 0.00 0.000 6 0.000 0.055 3041 2280 2427 0 0 0 0 0 0

6903 0.44 146.0 475.1 10.3 694 6908 0.12 2.28 0.00 0.000 4 0.182 0.070 3018 870 2426 0 0 0 0 0 0

6947 0.53 178.4 470.9 8.5 697 6980 0.00 2.28 28.02 1.132 6 0.000 0.060 3018 2284 2302 0 0 0 0 0 0

7301 0.60 202.5 440.0 8.9 730 7328 0.12 2.30 22.02 1.105 4 0.101 0.070 3075 3687 2203 0 0 0 0 0 0

7410 0.52 202.5 424.7 15.9 739 7415 0.20 2.25 0.00 0.000 6 0.191 0.055 3034 2278 2201 0 0 0 0 0 0

7735 0.52 202.5 388.1 11.1 769 7739 0.00 2.30 0.00 0.000 4 0.000 0.070 3042 858 2198 0 0 0 0 0 0

7785 0.56 202.5 382.5 11.3 773 7792 0.00 2.28 0.00 0.000 6 0.000 0.057 3042 2289 2197 0 0 0 0 0 0

8110 0.56 202.5 344.4 12.1 804 8114 0.00 2.25 0.00 0.000 4 0.000 0.070 3042 3682 2197 0 0 0 0 0 0

8206 0.53 202.5 331.7 13.5 812 8213 0.00 2.22 0.00 0.000 6 0.000 0.054 3052 2273 2197 0 0 0 0 0 0

8532 0.51 202.5 291.9 12.2 843 8533 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2272 2196 0 0 0 0 0 0

8854 0.51 202.5 252.6 12.4 873 8860 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2273 2196 0 0 0 0 0 0

9181 0.51 202.5 213.3 11.9 904 9182 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2273 2196 0 0 0 0 0 0

9500 0.51 202.5 177.8 10.9 934 9506 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2272 2196 0 0 0 0 0 0

9829 0.51 202.5 143.4 10.2 965 9835 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2273 2196 0 0 0 0 0 0

10157 0.54 208.6 112.1 9.7 996 10170 0.00 2.28 6.00 0.754 4 0.000 0.066 3062 860 2178 0 0 0 0 0 0

10217 0.62 219.4 106.2 9.5 1001 10233 0.00 2.25 11.05 0.879 6 0.000 0.054 3062 2279 2135 0 0 0 0 0 0

10572 0.74 270.7 74.1 7.6 1057 10626 0.12 2.30 46.05 0.926 4 0.102 0.067 3119 3682 1924 0 0 0 0 0 0

10684 0.67 270.7 59.5 14.9 1076 10692 0.17 2.25 0.00 0.000 6 0.187 0.052 3085 2270 1921 0 0 0 0 0 0

11033 0.72 272.3 24.9 9.9 1137 11040 0.00 2.25 0.00 0.000 4 0.000 0.068 3093 867 1918 0 0 0 0 0 0

11094 0.78 272.3 18.5 10.2 1147 11100 0.00 2.22 0.00 0.000 6 0.000 0.054 3094 2281 1916 0 0 0 0 0 0

11179 end climb: FINISH_DEPTH_REACHED

state 11179 begin subsurface finish

11186 0.04 35.0 8.8 -11.3 1162 11221 0.65 0.00 -29.42 0.000 6 0.132 0.000 2883 2281 2891 0 0 0 0 0 0

11222 end subsurface finish: CONTROL_FINISHED_OK

state 11222 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	606	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	27	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-48069.07	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	130511,082806,6709.627,-5712.636,35,1.7,40,-37.8	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	2.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130511,084619,6709.597,-5712.555,9,1.4,14,-37.8	MHEAD_RNG_PITCHd_Wd	162.4,21533,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	595

FREEZE	8.83,-1.767,-1.831,2,1,0	ALTIM_BOTTOM_PING	550.1,40.6
FINISH1	8.8,1.026786,35	_24V_AH	21.8,80.218
FINISH2	8.5	_10V_AH	10.0,41.424
RAFOS_CLK	530	FG_AHR_24Vo	0.000
RAFOS	6,1305276546,8.833333,8.818334,98,62,61,61,57,53,738,137,214,205,195,227	FG_AHR_10Vo	0.000
RAFOS_FIX	6710.815430,-5728.173828,130511,040401,3,93,17.20	MEM	150456
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	46616,1168
TT8_MAMPS	0.026215	CAP_FILE_SIZE	133218,0
HUMID	46.14	CFSIZE	260165632,214126592
INTERNAL_PRESSURE	8.74057	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1465.7
XPDR_PINGS	31	GPS	130511,084619,6709.597,-5712.555,9,1.4,14,-37.8
ALTIM_TOP_PING	19.6,16.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	324	118.44	SBE_CT	823	24	430.66
Roll_motor	82	83	150.24	SBE_O2	882	19	365.45
VBD_pump_during_apogee	368	1250	10040.34	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	24	103	55.76	nil	0	0	0.00
Iridium_during_connect	36	160	127.90	nil	0	0	0.00
Iridium_during_xfer	609	223	2964.98	nil	0	0	0.00
Transponder_ping	9	420	89.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.42
TT8	2717	19	541.30
LPSleep	5971	2	137.95
TT8_Active	546	19	108.78
TT8_Sampling	2450	39	978.14
TT8_CF8	624	45	287.00
TT8_Kalman	0	0	0.00
Analog_circuits	1548	12	185.80
GPS_charging	0	0	0.00
Compass	1828	15	274.26
RAFOS	360	1	5.40
Transponder	17	30	5.32

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	192	0.00	0.00	-172.68	0.000	2	0.000	0.000	115	2495	3399	0	0	0	0	0	0
195	-0.62	-146.0	6.0	-10.0	30	220	13.23	2.33	-5.12	0.000	4	0.324	0.076	2654	1079	3629	0	0	0	0	0	0
407	-0.50	-146.0	51.5	-16.6	67	415	0.17	2.30	0.00	0.000	6	0.215	0.067	2697	2483	3631	0	0	0	0	0	0
754	-0.47	-146.0	97.7	-11.5	128	761	0.00	2.38	0.00	0.000	4	0.000	0.083	2697	3906	3630	0	0	0	0	0	0
769	-0.44	-146.0	99.6	-11.8	130	775	0.00	2.25	0.00	0.000	6	0.000	0.054	2697	2484	3630	0	0	0	0	0	0
1096	-0.44	-146.0	135.5	-10.4	161	1100	0.00	2.28	0.00	0.000	4	0.000	0.070	2697	1082	3630	0	0	0	0	0	0
1137	-0.47	-146.0	139.9	-10.9	164	1141	0.00	2.30	0.00	0.000	6	0.000	0.067	2697	2496	3630	0	0	0	0	0	0
1463	-0.47	-146.0	174.3	-10.1	194	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2496	3629	0	0	0	0	0	0
1783	-0.51	-146.0	204.8	-9.6	224	1788	0.00	2.35	0.00	0.000	4	0.000	0.082	2697	3909	3629	0	0	0	0	0	0
1813	-0.55	-146.0	207.8	-9.5	226	1817	0.00	2.28	0.00	0.000	6	0.000	0.053	2697	2480	3629	0	0	0	0	0	0
2139	-0.59	-146.0	237.1	-9.0	256	2143	0.00	2.25	0.00	0.000	4	0.000	0.067	2697	1073	3629	0	0	0	0	0	0
2151	-0.63	-146.0	238.1	-8.5	256	2159	0.12	2.30	0.00	0.000	6	0.128	0.064	2656	2496	3629	0	0	0	0	0	0
2477	-0.58	-146.0	275.9	-11.4	287	2478	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2496	3630	0	0	0	0	0	0
2799	-0.53	-146.0	310.4	-10.8	317	2805	0.15	0.00	0.00	0.000	6	0.199	0.000	2691	2496	3631	0	0	0	0	0	0
3125	-0.57	-146.0	336.5	-7.8	348	3129	0.00	2.33	0.00	0.000	4	0.000	0.076	2692	3899	3632	0	0	0	0	0	0
3154	-0.62	-146.0	338.8	-8.3	350	3158	0.00	2.22	0.00	0.000	6	0.000	0.049	2692	2488	3632	0	0	0	0	0	0
3480	-0.67	-146.0	365.4	-8.3	380	3482	0.15	0.00	0.00	0.000	6	0.112	0.000	2638	2488	3634	0	0	0	0	0	0
3799	-0.58	-146.0	403.8	-12.1	410	3803	0.15	2.25	0.00	0.000	4	0.200	0.062	2675	1082	3634	0	0	0	0	0	0
3831	-0.58	-146.0	407.6	-10.2	412	3838	0.00	2.25	0.00	0.000	6	0.000	0.060	2675	2489	3635	0	0	0	0	0	0
4158	-0.58	-146.0	436.6	-9.2	443	4159	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2489	3635	0	0	0	0	0	0
4477	-0.58	-146.0	464.6	-8.7	473	4478	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2490	3636	0	0	0	0	0	0
4796	-0.58	-146.0	493.0	-9.3	503	4800	0.00	2.33	0.00	0.000	4	0.000	0.074	2674	3899	3638	0	0	0	0	0	0
4818	-0.58	-146.0	495.5	-9.1	504	4825	0.00	2.20	0.00	0.000	6	0.000	0.047	2674	2484	3638	0	0	0	0	0	0
5145	-0.58	-146.0	524.9	-8.9	535	5146	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2484	3638	0	0	0	0	0	0
5463	-0.60	-146.0	552.7	-8.5	565	5467	0.00	2.22	0.00	0.000	4	0.000	0.061	2674	1078	3639	0	0	0	0	0	0
5486	-0.63	-146.0	554.8	-9.2	566	5493	0.00	2.25	0.00	0.000	6	0.000	0.060	2674	2490	3639	0	0	0	0	0	0
5735	end dive: BOTTOM_OBSTACLE_DETECTED
state	5737	begin apogee
5743	-0.12	0.0	576.5	9.0	590	5876	0.47	0.00	126.12	1.250	6	0.176	0.000	2815	2263	3030	0	0	0	0	0	0
5877	end apogee: CONTROL_FINISHED_OK
state	5877	begin climb
5880	0.62	146.0	580.8	0.0	602	6023	0.77	2.60	129.18	1.208	4	0.128	0.069	3063	876	2432	0	0	0	0	0	0
6129	0.58	146.0	561.0	11.7	624	6133	0.00	2.38	0.00	0.000	6	0.000	0.056	3064	2277	2429	0	0	0	0	0	0
6455	0.52	146.0	523.2	11.6	654	6460	0.12	2.33	0.00	0.000	4	0.184	0.072	3032	3694	2427	0	0	0	0	0	0
6577	0.46	146.0	509.2	12.0	664	6581	0.00	2.25	0.00	0.000	6	0.000	0.055	3041	2280	2427	0	0	0	0	0	0
6903	0.44	146.0	475.1	10.3	694	6908	0.12	2.28	0.00	0.000	4	0.182	0.070	3018	870	2426	0	0	0	0	0	0
6947	0.53	178.4	470.9	8.5	697	6980	0.00	2.28	28.02	1.132	6	0.000	0.060	3018	2284	2302	0	0	0	0	0	0
7301	0.60	202.5	440.0	8.9	730	7328	0.12	2.30	22.02	1.105	4	0.101	0.070	3075	3687	2203	0	0	0	0	0	0
7410	0.52	202.5	424.7	15.9	739	7415	0.20	2.25	0.00	0.000	6	0.191	0.055	3034	2278	2201	0	0	0	0	0	0
7735	0.52	202.5	388.1	11.1	769	7739	0.00	2.30	0.00	0.000	4	0.000	0.070	3042	858	2198	0	0	0	0	0	0
7785	0.56	202.5	382.5	11.3	773	7792	0.00	2.28	0.00	0.000	6	0.000	0.057	3042	2289	2197	0	0	0	0	0	0
8110	0.56	202.5	344.4	12.1	804	8114	0.00	2.25	0.00	0.000	4	0.000	0.070	3042	3682	2197	0	0	0	0	0	0
8206	0.53	202.5	331.7	13.5	812	8213	0.00	2.22	0.00	0.000	6	0.000	0.054	3052	2273	2197	0	0	0	0	0	0
8532	0.51	202.5	291.9	12.2	843	8533	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2272	2196	0	0	0	0	0	0
8854	0.51	202.5	252.6	12.4	873	8860	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2273	2196	0	0	0	0	0	0
9181	0.51	202.5	213.3	11.9	904	9182	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2273	2196	0	0	0	0	0	0
9500	0.51	202.5	177.8	10.9	934	9506	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2272	2196	0	0	0	0	0	0
9829	0.51	202.5	143.4	10.2	965	9835	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2273	2196	0	0	0	0	0	0
10157	0.54	208.6	112.1	9.7	996	10170	0.00	2.28	6.00	0.754	4	0.000	0.066	3062	860	2178	0	0	0	0	0	0
10217	0.62	219.4	106.2	9.5	1001	10233	0.00	2.25	11.05	0.879	6	0.000	0.054	3062	2279	2135	0	0	0	0	0	0
10572	0.74	270.7	74.1	7.6	1057	10626	0.12	2.30	46.05	0.926	4	0.102	0.067	3119	3682	1924	0	0	0	0	0	0
10684	0.67	270.7	59.5	14.9	1076	10692	0.17	2.25	0.00	0.000	6	0.187	0.052	3085	2270	1921	0	0	0	0	0	0
11033	0.72	272.3	24.9	9.9	1137	11040	0.00	2.25	0.00	0.000	4	0.000	0.068	3093	867	1918	0	0	0	0	0	0
11094	0.78	272.3	18.5	10.2	1147	11100	0.00	2.22	0.00	0.000	6	0.000	0.054	3094	2281	1916	0	0	0	0	0	0
11179	end climb: FINISH_DEPTH_REACHED
state	11179	begin subsurface finish
11186	0.04	35.0	8.8	-11.3	1162	11221	0.65	0.00	-29.42	0.000	6	0.132	0.000	2883	2281	2891	0	0	0	0	0	0
11222	end subsurface finish: CONTROL_FINISHED_OK
state	11222	begin surface