Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 94 * 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 94 ESCAPE_HEADING 100 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 28 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 9 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 -24254.104 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 100 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 9 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 -24254.104

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 37 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 28 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 94 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 070311,083838,6723.123,-5753.658,38,1.3,38,-38.3 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070311,085650,6722.860,-5753.803,14,1.4,14,-38.3 MHEAD_RNG_PITCHd_Wd 166.0,60091,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 613

Post-dive calculations and measurements:

FREEZE 1.55,-1.744,-1.810,2,1,0 ALTIM_TOP_PING 20.0,18.6

FINISH 1.5,1.026560 _24V_AH 23.2,16.373

SM_CCo 11698,64.00,0.065,0,0,1398,400.08 _10V_AH 10.3,8.531

SM_GC 2.67,0.00,0.00,64.00,0.000,0.000,0.065,115,2494,1398,-8.59,0.08,400.08 FG_AHR_24Vo 0.000

RAFOS_CLK 575 FG_AHR_10Vo 0.000

RAFOS 4,1299486788,8.566667,8.552222,63,61,57,56,55,49,178,216,138,199,161,117 MEM 150596

RAFOS_FIX 6721.272949,-5801.601074,070311,040444,3,138,0.17 DATA_FILE_SIZE 46617,1214

IRIDIUM_FIX 6652.93,-5753.16,070311,080846 CAP_FILE_SIZE 143924,0

TT8_MAMPS 0.029211 CFSIZE 260165632,245219328

HUMID 44.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57455 SOUNDSPEED 1459.8

TCM_TEMP 17.00 GPS 070311,085650,6722.860,-5753.803,181,99.0,181,-38.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 290 157.98 SBE_CT 854 24 475.91

Roll_motor 85 74 149.36 SBE_O2 930 19 410.19

VBD_pump_during_apogee 337 1283 10058.58 nil 0 0 0.00

VBD_pump_during_surface 64 65 96.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 139.94 nil 0 0 0.00

Iridium_during_connect 37 160 140.31 nil 0 0 0.00

Iridium_during_xfer 653 223 3382.81 nil 0 0 0.00

Transponder_ping 2 420 19.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.48

TT8 2878 19 590.63

LPSleep 6283 2 149.50

TT8_Active 621 19 127.58

TT8_Sampling 2682 39 1103.14

TT8_CF8 394 45 186.59

TT8_Kalman 0 0 0.00

Analog_circuits 1659 12 205.17

GPS_charging 0 0 0.00

Compass 1930 15 298.20

RAFOS 720 1 11.12

Transponder 14 30 4.63

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 0 253 0.00 0.00 -229.98 0.000 6 0.000 0.000 117 2473 3625 0 0 0 0 0 0

255 -0.62 -146.0 2.2 0.5 41 275 11.23 2.28 0.00 0.000 4 0.291 0.060 2658 1080 3627 0 0 0 0 0 0

293 -0.44 -146.0 3.8 -10.5 47 301 0.22 2.30 0.00 0.000 6 0.243 0.060 2711 2495 3627 0 0 0 0 0 0

639 -0.41 -146.0 48.2 -12.3 108 645 0.00 2.28 0.00 0.000 4 0.000 0.061 2711 1076 3627 0 0 0 0 0 0

765 -0.41 -146.0 63.0 -11.6 130 772 0.00 2.25 0.00 0.000 6 0.000 0.058 2712 2490 3627 0 0 0 0 0 0

1112 -0.41 -146.0 102.9 -11.3 190 1114 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2490 3627 0 0 0 0 0 0

1432 -0.41 -146.0 137.5 -10.7 220 1437 0.00 2.30 0.00 0.000 4 0.000 0.075 2712 3902 3626 0 0 0 0 0 0

1444 -0.41 -146.0 138.9 -10.7 221 1448 0.00 2.17 0.00 0.000 6 0.000 0.044 2711 2486 3626 0 0 0 0 0 0

1770 -0.43 -146.0 172.3 -8.7 251 1774 0.00 2.20 0.00 0.000 4 0.000 0.063 2711 1088 3626 0 0 0 0 0 0

1805 -0.46 -146.0 175.8 -9.8 254 1809 0.00 2.22 0.00 0.000 6 0.000 0.058 2711 2489 3627 0 0 0 0 0 0

2136 -0.50 -146.0 206.7 -9.0 285 2137 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2489 3627 0 0 0 0 0 0

2456 -0.54 -146.0 235.9 -9.8 315 2460 0.00 2.25 0.00 0.000 4 0.000 0.074 2711 3899 3627 0 0 0 0 0 0

2485 -0.60 -146.0 238.8 -9.8 317 2489 0.12 2.15 0.00 0.000 6 0.129 0.044 2669 2489 3627 0 0 0 0 0 0

2810 -0.55 -146.0 281.9 -12.8 347 2814 0.00 2.20 0.00 0.000 4 0.000 0.061 2669 1087 3627 0 0 0 0 0 0

2827 -0.50 -146.0 284.3 -13.2 348 2832 0.12 2.22 0.00 0.000 6 0.226 0.057 2698 2490 3627 0 0 0 0 0 0

3153 -0.52 -146.0 315.1 -9.3 378 3154 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2490 3627 0 0 0 0 0 0

3474 -0.55 -146.0 344.4 -9.3 408 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2490 3628 0 0 0 0 0 0

3801 -0.57 -146.0 374.1 -9.2 439 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2491 3629 0 0 0 0 0 0

4121 -0.60 -146.0 402.3 -8.5 469 4125 0.00 2.20 0.00 0.000 4 0.000 0.060 2698 1075 3630 0 0 0 0 0 0

4138 -0.63 -146.0 404.1 -8.8 470 4143 0.12 2.20 0.00 0.000 6 0.132 0.054 2656 2492 3630 0 0 0 0 0 0

4464 -0.57 -146.0 442.3 -12.0 500 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2492 3630 0 0 0 0 0 0

4784 -0.50 -146.0 481.7 -12.4 530 4788 0.17 2.28 0.00 0.000 4 0.211 0.072 2699 3903 3630 0 0 0 0 0 0

4824 -0.56 -146.0 485.9 -9.6 533 4828 0.00 2.15 0.00 0.000 6 0.000 0.041 2699 2479 3630 0 0 0 0 0 0

5150 -0.60 -146.0 514.3 -8.7 563 5151 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2478 3631 0 0 0 0 0 0

5471 -0.64 -146.0 542.5 -8.6 593 5478 0.12 0.00 0.00 0.000 6 0.132 0.000 2657 2478 3631 0 0 0 0 0 0

5797 -0.58 -146.0 581.6 -11.9 624 5798 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2478 3631 0 0 0 0 0 0

6110 -0.83 -146.0 600.9 -0.0 644 6114 0.17 2.28 0.00 0.000 4 0.109 0.070 2592 3898 3631 0 0 0 0 0 0

6196 end dive: NO_VERTICAL_VELOCITY

state 6196 begin apogee

6204 -0.12 0.0 600.9 0.0 646 6335 0.70 0.00 120.85 1.284 6 0.142 0.000 2818 2274 3030 0 0 0 0 0 0

6336 end apogee: CONTROL_FINISHED_OK

state 6336 begin climb

6338 0.62 146.0 600.8 0.0 651 6472 0.77 2.50 123.78 1.240 4 0.132 0.062 3054 3681 2433 0 0 0 0 0 0

6647 0.49 146.0 570.1 14.2 675 6655 0.15 2.30 0.00 0.000 6 0.193 0.047 3030 2282 2425 0 0 0 0 0 0

6973 0.46 146.0 536.1 10.6 706 6974 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2282 2423 0 0 0 0 0 0

7293 0.43 146.0 503.0 10.2 736 7294 0.00 0.00 0.00 0.000 6 0.000 0.000 3030 2282 2422 0 0 0 0 0 0

7610 0.39 146.0 470.3 10.3 766 7615 0.15 2.30 0.00 0.000 4 0.205 0.064 2992 3691 2422 0 0 0 0 0 0

7654 0.41 159.6 465.7 9.4 769 7673 0.00 2.22 10.57 1.060 6 0.000 0.047 2999 2269 2379 0 0 0 0 0 0

7991 0.48 189.6 436.5 8.6 801 8021 0.00 0.00 27.48 1.154 6 0.000 0.000 2999 2269 2256 0 0 0 0 0 0

8341 0.56 211.1 404.9 9.0 834 8363 0.12 0.00 19.42 1.109 6 0.109 0.000 3055 2269 2169 0 0 0 0 0 0

8678 0.52 211.1 360.5 12.3 866 8682 0.00 2.30 0.00 0.000 4 0.000 0.062 3055 3688 2164 0 0 0 0 0 0

8723 0.46 211.1 354.2 14.9 870 8728 0.20 2.22 0.00 0.000 6 0.176 0.048 3013 2277 2163 0 0 0 0 0 0

9049 0.52 229.6 322.9 9.1 900 9072 0.00 2.30 16.52 1.059 4 0.000 0.063 3015 860 2093 0 0 0 0 0 0

9165 0.62 244.4 312.6 9.3 910 9189 0.15 2.28 14.43 1.034 6 0.105 0.049 3077 2283 2032 0 0 0 0 0 0

9506 0.55 244.4 262.2 15.5 942 9511 0.12 2.28 0.00 0.000 4 0.174 0.063 3045 3684 2028 0 0 0 0 0 0

9636 0.55 244.4 243.4 14.6 953 9643 0.00 2.22 0.00 0.000 6 0.000 0.047 3053 2268 2027 0 0 0 0 0 0

9961 0.55 244.4 200.1 12.9 984 9965 0.00 2.22 0.00 0.000 4 0.000 0.063 3063 859 2026 0 0 0 0 0 0

10005 0.57 244.4 194.6 12.4 987 10012 0.00 2.22 0.00 0.000 6 0.000 0.049 3063 2285 2025 0 0 0 0 0 0

10331 0.57 244.4 151.2 12.4 1018 10335 0.00 2.20 0.00 0.000 4 0.000 0.062 3064 3687 2025 0 0 0 0 0 0

10421 0.54 244.4 139.2 13.5 1025 10428 0.12 2.20 0.00 0.000 6 0.182 0.047 3041 2265 2026 0 0 0 0 0 0

10746 0.58 244.4 107.1 10.9 1056 10750 0.00 2.20 0.00 0.000 4 0.000 0.063 3042 861 2025 0 0 0 0 0 0

10801 0.66 244.4 101.4 10.1 1060 10809 0.10 2.20 0.00 0.000 6 0.132 0.047 3083 2278 2024 0 0 0 0 0 0

11144 0.66 244.4 58.1 12.2 1120 11151 0.00 2.20 0.00 0.000 4 0.000 0.062 3083 3686 2024 0 0 0 0 0 0

11265 0.61 244.4 42.0 13.6 1141 11272 0.12 2.20 0.00 0.000 6 0.190 0.046 3063 2267 2025 0 0 0 0 0 0

11610 0.63 256.0 7.7 9.5 1202 11624 0.00 2.28 4.70 0.665 4 0.000 0.062 3071 864 1984 0 0 0 0 0 0

11655 end climb: SURFACE_DEPTH_REACHED

state 11656 begin surface coast

11679 end surface coast: FINISH_DEPTH_REACHED

state 11679 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	94	ESCAPE_HEADING	100	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	28	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	9	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	-24254.104	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	070311,083838,6723.123,-5753.658,38,1.3,38,-38.3	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070311,085650,6722.860,-5753.803,14,1.4,14,-38.3	MHEAD_RNG_PITCHd_Wd	166.0,60091,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	613

FREEZE	1.55,-1.744,-1.810,2,1,0	ALTIM_TOP_PING	20.0,18.6
FINISH	1.5,1.026560	_24V_AH	23.2,16.373
SM_CCo	11698,64.00,0.065,0,0,1398,400.08	_10V_AH	10.3,8.531
SM_GC	2.67,0.00,0.00,64.00,0.000,0.000,0.065,115,2494,1398,-8.59,0.08,400.08	FG_AHR_24Vo	0.000
RAFOS_CLK	575	FG_AHR_10Vo	0.000
RAFOS	4,1299486788,8.566667,8.552222,63,61,57,56,55,49,178,216,138,199,161,117	MEM	150596
RAFOS_FIX	6721.272949,-5801.601074,070311,040444,3,138,0.17	DATA_FILE_SIZE	46617,1214
IRIDIUM_FIX	6652.93,-5753.16,070311,080846	CAP_FILE_SIZE	143924,0
TT8_MAMPS	0.029211	CFSIZE	260165632,245219328
HUMID	44.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57455	SOUNDSPEED	1459.8
TCM_TEMP	17.00	GPS	070311,085650,6722.860,-5753.803,181,99.0,181,-38.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	290	157.98	SBE_CT	854	24	475.91
Roll_motor	85	74	149.36	SBE_O2	930	19	410.19
VBD_pump_during_apogee	337	1283	10058.58	nil	0	0	0.00
VBD_pump_during_surface	64	65	96.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	139.94	nil	0	0	0.00
Iridium_during_connect	37	160	140.31	nil	0	0	0.00
Iridium_during_xfer	653	223	3382.81	nil	0	0	0.00
Transponder_ping	2	420	19.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.48
TT8	2878	19	590.63
LPSleep	6283	2	149.50
TT8_Active	621	19	127.58
TT8_Sampling	2682	39	1103.14
TT8_CF8	394	45	186.59
TT8_Kalman	0	0	0.00
Analog_circuits	1659	12	205.17
GPS_charging	0	0	0.00
Compass	1930	15	298.20
RAFOS	720	1	11.12
Transponder	14	30	4.63

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	253	0.00	0.00	-229.98	0.000	6	0.000	0.000	117	2473	3625	0	0	0	0	0	0
255	-0.62	-146.0	2.2	0.5	41	275	11.23	2.28	0.00	0.000	4	0.291	0.060	2658	1080	3627	0	0	0	0	0	0
293	-0.44	-146.0	3.8	-10.5	47	301	0.22	2.30	0.00	0.000	6	0.243	0.060	2711	2495	3627	0	0	0	0	0	0
639	-0.41	-146.0	48.2	-12.3	108	645	0.00	2.28	0.00	0.000	4	0.000	0.061	2711	1076	3627	0	0	0	0	0	0
765	-0.41	-146.0	63.0	-11.6	130	772	0.00	2.25	0.00	0.000	6	0.000	0.058	2712	2490	3627	0	0	0	0	0	0
1112	-0.41	-146.0	102.9	-11.3	190	1114	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2490	3627	0	0	0	0	0	0
1432	-0.41	-146.0	137.5	-10.7	220	1437	0.00	2.30	0.00	0.000	4	0.000	0.075	2712	3902	3626	0	0	0	0	0	0
1444	-0.41	-146.0	138.9	-10.7	221	1448	0.00	2.17	0.00	0.000	6	0.000	0.044	2711	2486	3626	0	0	0	0	0	0
1770	-0.43	-146.0	172.3	-8.7	251	1774	0.00	2.20	0.00	0.000	4	0.000	0.063	2711	1088	3626	0	0	0	0	0	0
1805	-0.46	-146.0	175.8	-9.8	254	1809	0.00	2.22	0.00	0.000	6	0.000	0.058	2711	2489	3627	0	0	0	0	0	0
2136	-0.50	-146.0	206.7	-9.0	285	2137	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2489	3627	0	0	0	0	0	0
2456	-0.54	-146.0	235.9	-9.8	315	2460	0.00	2.25	0.00	0.000	4	0.000	0.074	2711	3899	3627	0	0	0	0	0	0
2485	-0.60	-146.0	238.8	-9.8	317	2489	0.12	2.15	0.00	0.000	6	0.129	0.044	2669	2489	3627	0	0	0	0	0	0
2810	-0.55	-146.0	281.9	-12.8	347	2814	0.00	2.20	0.00	0.000	4	0.000	0.061	2669	1087	3627	0	0	0	0	0	0
2827	-0.50	-146.0	284.3	-13.2	348	2832	0.12	2.22	0.00	0.000	6	0.226	0.057	2698	2490	3627	0	0	0	0	0	0
3153	-0.52	-146.0	315.1	-9.3	378	3154	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2490	3627	0	0	0	0	0	0
3474	-0.55	-146.0	344.4	-9.3	408	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2490	3628	0	0	0	0	0	0
3801	-0.57	-146.0	374.1	-9.2	439	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2491	3629	0	0	0	0	0	0
4121	-0.60	-146.0	402.3	-8.5	469	4125	0.00	2.20	0.00	0.000	4	0.000	0.060	2698	1075	3630	0	0	0	0	0	0
4138	-0.63	-146.0	404.1	-8.8	470	4143	0.12	2.20	0.00	0.000	6	0.132	0.054	2656	2492	3630	0	0	0	0	0	0
4464	-0.57	-146.0	442.3	-12.0	500	4465	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2492	3630	0	0	0	0	0	0
4784	-0.50	-146.0	481.7	-12.4	530	4788	0.17	2.28	0.00	0.000	4	0.211	0.072	2699	3903	3630	0	0	0	0	0	0
4824	-0.56	-146.0	485.9	-9.6	533	4828	0.00	2.15	0.00	0.000	6	0.000	0.041	2699	2479	3630	0	0	0	0	0	0
5150	-0.60	-146.0	514.3	-8.7	563	5151	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2478	3631	0	0	0	0	0	0
5471	-0.64	-146.0	542.5	-8.6	593	5478	0.12	0.00	0.00	0.000	6	0.132	0.000	2657	2478	3631	0	0	0	0	0	0
5797	-0.58	-146.0	581.6	-11.9	624	5798	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2478	3631	0	0	0	0	0	0
6110	-0.83	-146.0	600.9	-0.0	644	6114	0.17	2.28	0.00	0.000	4	0.109	0.070	2592	3898	3631	0	0	0	0	0	0
6196	end dive: NO_VERTICAL_VELOCITY
state	6196	begin apogee
6204	-0.12	0.0	600.9	0.0	646	6335	0.70	0.00	120.85	1.284	6	0.142	0.000	2818	2274	3030	0	0	0	0	0	0
6336	end apogee: CONTROL_FINISHED_OK
state	6336	begin climb
6338	0.62	146.0	600.8	0.0	651	6472	0.77	2.50	123.78	1.240	4	0.132	0.062	3054	3681	2433	0	0	0	0	0	0
6647	0.49	146.0	570.1	14.2	675	6655	0.15	2.30	0.00	0.000	6	0.193	0.047	3030	2282	2425	0	0	0	0	0	0
6973	0.46	146.0	536.1	10.6	706	6974	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2282	2423	0	0	0	0	0	0
7293	0.43	146.0	503.0	10.2	736	7294	0.00	0.00	0.00	0.000	6	0.000	0.000	3030	2282	2422	0	0	0	0	0	0
7610	0.39	146.0	470.3	10.3	766	7615	0.15	2.30	0.00	0.000	4	0.205	0.064	2992	3691	2422	0	0	0	0	0	0
7654	0.41	159.6	465.7	9.4	769	7673	0.00	2.22	10.57	1.060	6	0.000	0.047	2999	2269	2379	0	0	0	0	0	0
7991	0.48	189.6	436.5	8.6	801	8021	0.00	0.00	27.48	1.154	6	0.000	0.000	2999	2269	2256	0	0	0	0	0	0
8341	0.56	211.1	404.9	9.0	834	8363	0.12	0.00	19.42	1.109	6	0.109	0.000	3055	2269	2169	0	0	0	0	0	0
8678	0.52	211.1	360.5	12.3	866	8682	0.00	2.30	0.00	0.000	4	0.000	0.062	3055	3688	2164	0	0	0	0	0	0
8723	0.46	211.1	354.2	14.9	870	8728	0.20	2.22	0.00	0.000	6	0.176	0.048	3013	2277	2163	0	0	0	0	0	0
9049	0.52	229.6	322.9	9.1	900	9072	0.00	2.30	16.52	1.059	4	0.000	0.063	3015	860	2093	0	0	0	0	0	0
9165	0.62	244.4	312.6	9.3	910	9189	0.15	2.28	14.43	1.034	6	0.105	0.049	3077	2283	2032	0	0	0	0	0	0
9506	0.55	244.4	262.2	15.5	942	9511	0.12	2.28	0.00	0.000	4	0.174	0.063	3045	3684	2028	0	0	0	0	0	0
9636	0.55	244.4	243.4	14.6	953	9643	0.00	2.22	0.00	0.000	6	0.000	0.047	3053	2268	2027	0	0	0	0	0	0
9961	0.55	244.4	200.1	12.9	984	9965	0.00	2.22	0.00	0.000	4	0.000	0.063	3063	859	2026	0	0	0	0	0	0
10005	0.57	244.4	194.6	12.4	987	10012	0.00	2.22	0.00	0.000	6	0.000	0.049	3063	2285	2025	0	0	0	0	0	0
10331	0.57	244.4	151.2	12.4	1018	10335	0.00	2.20	0.00	0.000	4	0.000	0.062	3064	3687	2025	0	0	0	0	0	0
10421	0.54	244.4	139.2	13.5	1025	10428	0.12	2.20	0.00	0.000	6	0.182	0.047	3041	2265	2026	0	0	0	0	0	0
10746	0.58	244.4	107.1	10.9	1056	10750	0.00	2.20	0.00	0.000	4	0.000	0.063	3042	861	2025	0	0	0	0	0	0
10801	0.66	244.4	101.4	10.1	1060	10809	0.10	2.20	0.00	0.000	6	0.132	0.047	3083	2278	2024	0	0	0	0	0	0
11144	0.66	244.4	58.1	12.2	1120	11151	0.00	2.20	0.00	0.000	4	0.000	0.062	3083	3686	2024	0	0	0	0	0	0
11265	0.61	244.4	42.0	13.6	1141	11272	0.12	2.20	0.00	0.000	6	0.190	0.046	3063	2267	2025	0	0	0	0	0	0
11610	0.63	256.0	7.7	9.5	1202	11624	0.00	2.28	4.70	0.665	4	0.000	0.062	3071	864	1984	0	0	0	0	0	0
11655	end climb: SURFACE_DEPTH_REACHED
state	11656	begin surface coast
11679	end surface coast: FINISH_DEPTH_REACHED
state	11679	begin surface