Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 548 * 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 548 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 20 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 -46224.43 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 -46224.43

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 20 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 548 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 040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 246.1,25682,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 687

Post-dive calculations and measurements:

FREEZE 8.52,-1.716,-1.765,2,83,0 ALTIM_BOTTOM_PING 600.0,42.4

FINISH1 8.5,1.025853,81 _24V_AH 21.5,72.460

FINISH2 8.0 _10V_AH 10.0,37.522

RAFOS_CLK 651 FG_AHR_24Vo 0.000

RAFOS 0,1304553663,0.033333,0.017500,63,58,58,56,55,48,203,170,216,189,228,160 FG_AHR_10Vo 0.000

RAFOS_FIX 6702.338379,-6014.291992,050511,000022,3,99,0.77 MEM 150588

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43399,1152

TT8_MAMPS 0.026215 CAP_FILE_SIZE 125752,0

HUMID 47.40 CFSIZE 260165632,217923584

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 1453.8

XPDR_PINGS 0 GPS 050511,004322,6702.338,-6014.292,0,3098.7,0,-37.6

ALTIM_TOP_PING 19.7,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 226 20.93 SBE_CT 823 24 424.70

Roll_motor 93 150 303.28 SBE_O2 884 19 361.38

VBD_pump_during_apogee 429 1330 12291.08 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 2 420 20.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2770 19 551.79

LPSleep 6644 2 153.48

TT8_Active 510 19 101.72

TT8_Sampling 1820 39 726.89

TT8_CF8 214 45 98.33

TT8_Kalman 0 0 0.00

Analog_circuits 1475 12 177.05

GPS_charging 0 0 0.00

Compass 1806 15 270.95

RAFOS 2520 1 37.80

Transponder 17 30 5.33

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 -5.72 0.000 2 0.000 0.000 2904 861 2898 0 0 0 0 0 0

27 -0.62 -146.0 10.1 -0.0 1 52 0.68 0.38 -20.50 0.000 4 0.105 0.151 2668 1084 3628 0 0 0 0 0 0

134 -0.52 -146.0 25.3 -17.3 19 141 0.00 2.33 0.00 0.000 6 0.000 0.074 2668 2489 3631 0 0 0 0 0 0

479 -0.39 -146.0 93.8 -16.0 80 486 0.25 2.38 0.00 0.000 4 0.226 0.083 2732 3908 3630 0 0 0 0 0 0

534 -0.46 -146.0 99.7 -8.0 89 541 0.00 2.28 0.00 0.000 6 0.000 0.052 2732 2477 3631 0 0 0 0 0 0

860 -0.52 -146.0 132.6 -10.4 120 862 0.12 0.00 0.00 0.000 6 0.130 0.000 2690 2477 3630 0 0 0 0 0 0

1180 -0.49 -146.0 171.7 -13.8 150 1181 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2477 3629 0 0 0 0 0 0

1498 -0.49 -146.0 207.4 -10.6 180 1503 0.00 2.40 0.00 0.000 4 0.000 0.082 2690 3903 3629 0 0 0 0 0 0

1516 -0.49 -146.0 209.4 -10.6 181 1520 0.00 2.25 0.00 0.000 6 0.000 0.054 2690 2483 3629 0 0 0 0 0 0

1846 -0.49 -146.0 242.9 -9.6 212 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2483 3629 0 0 0 0 0 0

2167 -0.49 -146.0 274.2 -10.4 242 2171 0.00 2.30 0.00 0.000 4 0.000 0.071 2689 1072 3628 0 0 0 0 0 0

2195 -0.49 -146.0 277.5 -10.9 244 2199 0.00 2.35 0.00 0.000 6 0.000 0.069 2690 2497 3628 0 0 0 0 0 0

2522 -0.49 -146.0 310.4 -10.1 274 2523 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2498 3628 0 0 0 0 0 0

2841 -0.49 -146.0 340.5 -9.0 304 2845 0.00 2.38 0.00 0.000 4 0.000 0.085 2690 3907 3628 0 0 0 0 0 0

2882 -0.53 -146.0 344.3 -9.3 307 2886 0.00 2.28 0.00 0.000 6 0.000 0.053 2689 2480 3628 0 0 0 0 0 0

3208 -0.55 -146.0 372.9 -8.6 337 3209 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2480 3628 0 0 0 0 0 0

3528 -0.57 -146.0 401.2 -8.9 367 3534 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2480 3628 0 0 0 0 0 0

3857 -0.60 -146.0 429.7 -8.7 398 3861 0.00 2.28 0.00 0.000 4 0.000 0.068 2689 1073 3628 0 0 0 0 0 0

3875 -0.62 -146.0 431.4 -8.5 399 3879 0.00 2.33 0.00 0.000 6 0.000 0.066 2689 2494 3629 0 0 0 0 0 0

4201 -0.66 -146.0 459.7 -8.8 429 4206 0.12 2.38 0.00 0.000 4 0.125 0.083 2644 3906 3629 0 0 0 0 0 0

4223 -0.64 -146.0 462.4 -10.7 430 4230 0.00 2.25 0.00 0.000 6 0.000 0.053 2643 2490 3628 0 0 0 0 0 0

4549 -0.56 -146.0 503.7 -12.6 461 4550 0.15 0.00 0.00 0.000 6 0.210 0.000 2679 2490 3629 0 0 0 0 0 0

4867 -0.56 -146.0 534.7 -9.6 491 4868 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2490 3629 0 0 0 0 0 0

5188 -0.56 -146.0 565.4 -9.7 521 5192 0.00 2.38 0.00 0.000 4 0.000 0.079 2679 3905 3629 0 0 0 0 0 0

5216 -0.58 -146.0 568.5 -9.9 523 5222 0.00 2.25 0.00 0.000 6 0.000 0.050 2679 2485 3629 0 0 0 0 0 0

5541 -0.61 -146.0 598.1 -9.3 554 5542 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2485 3629 0 0 0 0 0 0

5866 end dive: BOTTOM_OBSTACLE_DETECTED

state 5866 begin apogee

5872 -0.12 0.0 627.9 9.2 566 6005 0.47 0.00 126.03 1.330 6 0.184 0.000 2816 2268 3030 0 0 0 0 0 0

6006 end apogee: CONTROL_FINISHED_OK

state 6006 begin climb

6008 0.62 146.0 633.0 0.0 570 6150 0.80 0.00 134.20 1.281 6 0.135 0.000 3055 2268 2433 0 0 0 0 0 0

6458 0.58 149.2 594.4 9.8 587 6459 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2268 2426 0 0 0 0 0 0

6777 0.54 149.2 563.4 10.2 617 6779 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2268 2426 0 0 0 0 0 0

7096 0.50 154.6 531.8 9.8 647 7106 0.00 0.00 7.53 1.025 6 0.000 0.000 3055 2268 2399 0 0 0 0 0 0

7423 0.46 154.6 498.1 10.7 678 7428 0.15 2.35 0.00 0.000 4 0.194 0.073 3017 3687 2398 0 0 0 0 0 0

7467 0.46 154.6 493.3 10.4 681 7474 0.00 2.28 0.00 0.000 6 0.000 0.057 3025 2272 2398 0 0 0 0 0 0

7795 0.50 167.9 462.7 9.4 712 7818 0.00 2.38 13.27 1.126 4 0.000 0.075 3035 866 2344 0 0 0 0 0 0

7854 0.54 170.1 456.9 9.9 717 7858 0.00 2.30 0.00 0.000 6 0.000 0.061 3036 2277 2343 0 0 0 0 0 0

8179 0.56 183.2 425.5 9.4 747 8202 0.00 2.38 14.68 1.126 4 0.000 0.076 3036 3686 2282 0 0 0 0 0 0

8265 0.53 183.2 416.4 11.2 754 8272 0.00 2.30 0.00 0.000 6 0.000 0.057 3045 2268 2282 0 0 0 0 0 0

8591 0.54 194.5 384.2 9.5 785 8607 0.00 2.30 11.43 1.072 4 0.000 0.073 3055 863 2238 0 0 0 0 0 0

8646 0.56 205.2 378.8 9.5 789 8664 0.00 2.30 11.35 1.064 6 0.000 0.060 3055 2278 2193 0 0 0 0 0 0

8982 0.56 205.2 345.0 10.3 821 8986 0.00 2.33 0.00 0.000 4 0.000 0.075 3055 3692 2190 0 0 0 0 0 0

9033 0.52 205.2 339.1 12.1 825 9038 0.12 2.30 0.00 0.000 6 0.187 0.057 3036 2267 2190 0 0 0 0 0 0

9360 0.61 241.1 310.3 8.3 855 9399 0.00 2.33 33.55 1.105 4 0.000 0.073 3042 864 2045 0 0 0 0 0 0

9440 0.75 275.2 303.7 8.4 861 9481 0.17 2.33 32.65 1.083 6 0.093 0.059 3114 2281 1906 0 0 0 0 0 0

9798 0.68 275.2 248.2 16.0 895 9803 0.12 2.33 0.00 0.000 4 0.199 0.074 3085 3698 1898 0 0 0 0 0 0

9854 0.68 275.2 239.3 15.1 899 9861 0.00 2.33 0.00 0.000 6 0.000 0.058 3092 2268 1896 0 0 0 0 0 0

10181 0.68 275.2 195.1 12.7 930 10185 0.00 2.30 0.00 0.000 4 0.000 0.073 3103 857 1896 0 0 0 0 0 0

10233 0.68 275.2 188.3 13.0 934 10237 0.00 2.30 0.00 0.000 6 0.000 0.060 3103 2277 1895 0 0 0 0 0 0

10558 0.68 275.2 149.6 11.2 964 10562 0.00 2.30 0.00 0.000 4 0.000 0.075 3103 3686 1894 0 0 0 0 0 0

10608 0.64 275.2 143.2 13.4 968 10615 0.17 2.30 0.00 0.000 6 0.197 0.059 3070 2265 1894 0 0 0 0 0 0

10934 0.77 315.3 116.2 8.2 999 10979 0.12 2.38 34.97 1.014 4 0.109 0.074 3134 865 1743 0 0 0 0 0 0

11020 0.79 315.3 106.4 12.2 1006 11027 0.00 2.33 0.00 0.000 6 0.000 0.061 3134 2277 1740 0 0 0 0 0 0

11363 0.81 325.9 70.3 9.5 1062 11381 0.00 2.38 10.07 0.920 4 0.000 0.077 3134 3687 1700 0 0 0 0 0 0

11445 0.81 325.9 59.2 14.4 1076 11452 0.00 2.30 0.00 0.000 6 0.000 0.060 3144 2273 1699 0 0 0 0 0 0

11792 0.81 325.9 13.5 15.0 1137 11799 0.00 2.30 0.00 0.000 4 0.000 0.073 3154 856 1696 0 0 0 0 0 0

11833 end climb: FINISH_DEPTH_REACHED

state 11833 begin subsurface finish

11843 0.10 80.8 8.5 -11.2 1144 11892 0.82 2.40 -38.10 0.000 4 0.157 0.089 2901 869 2703 0 0 0 0 0 0

11892 end subsurface finish: CONTROL_FINISHED_OK

state 11893 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	548	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	20	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	-46224.43	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	040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	246.1,25682,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	687

FREEZE	8.52,-1.716,-1.765,2,83,0	ALTIM_BOTTOM_PING	600.0,42.4
FINISH1	8.5,1.025853,81	_24V_AH	21.5,72.460
FINISH2	8.0	_10V_AH	10.0,37.522
RAFOS_CLK	651	FG_AHR_24Vo	0.000
RAFOS	0,1304553663,0.033333,0.017500,63,58,58,56,55,48,203,170,216,189,228,160	FG_AHR_10Vo	0.000
RAFOS_FIX	6702.338379,-6014.291992,050511,000022,3,99,0.77	MEM	150588
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43399,1152
TT8_MAMPS	0.026215	CAP_FILE_SIZE	125752,0
HUMID	47.40	CFSIZE	260165632,217923584
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	1453.8
XPDR_PINGS	0	GPS	050511,004322,6702.338,-6014.292,0,3098.7,0,-37.6
ALTIM_TOP_PING	19.7,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	226	20.93	SBE_CT	823	24	424.70
Roll_motor	93	150	303.28	SBE_O2	884	19	361.38
VBD_pump_during_apogee	429	1330	12291.08	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	2	420	20.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2770	19	551.79
LPSleep	6644	2	153.48
TT8_Active	510	19	101.72
TT8_Sampling	1820	39	726.89
TT8_CF8	214	45	98.33
TT8_Kalman	0	0	0.00
Analog_circuits	1475	12	177.05
GPS_charging	0	0	0.00
Compass	1806	15	270.95
RAFOS	2520	1	37.80
Transponder	17	30	5.33

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	-5.72	0.000	2	0.000	0.000	2904	861	2898	0	0	0	0	0	0
27	-0.62	-146.0	10.1	-0.0	1	52	0.68	0.38	-20.50	0.000	4	0.105	0.151	2668	1084	3628	0	0	0	0	0	0
134	-0.52	-146.0	25.3	-17.3	19	141	0.00	2.33	0.00	0.000	6	0.000	0.074	2668	2489	3631	0	0	0	0	0	0
479	-0.39	-146.0	93.8	-16.0	80	486	0.25	2.38	0.00	0.000	4	0.226	0.083	2732	3908	3630	0	0	0	0	0	0
534	-0.46	-146.0	99.7	-8.0	89	541	0.00	2.28	0.00	0.000	6	0.000	0.052	2732	2477	3631	0	0	0	0	0	0
860	-0.52	-146.0	132.6	-10.4	120	862	0.12	0.00	0.00	0.000	6	0.130	0.000	2690	2477	3630	0	0	0	0	0	0
1180	-0.49	-146.0	171.7	-13.8	150	1181	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2477	3629	0	0	0	0	0	0
1498	-0.49	-146.0	207.4	-10.6	180	1503	0.00	2.40	0.00	0.000	4	0.000	0.082	2690	3903	3629	0	0	0	0	0	0
1516	-0.49	-146.0	209.4	-10.6	181	1520	0.00	2.25	0.00	0.000	6	0.000	0.054	2690	2483	3629	0	0	0	0	0	0
1846	-0.49	-146.0	242.9	-9.6	212	1848	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2483	3629	0	0	0	0	0	0
2167	-0.49	-146.0	274.2	-10.4	242	2171	0.00	2.30	0.00	0.000	4	0.000	0.071	2689	1072	3628	0	0	0	0	0	0
2195	-0.49	-146.0	277.5	-10.9	244	2199	0.00	2.35	0.00	0.000	6	0.000	0.069	2690	2497	3628	0	0	0	0	0	0
2522	-0.49	-146.0	310.4	-10.1	274	2523	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2498	3628	0	0	0	0	0	0
2841	-0.49	-146.0	340.5	-9.0	304	2845	0.00	2.38	0.00	0.000	4	0.000	0.085	2690	3907	3628	0	0	0	0	0	0
2882	-0.53	-146.0	344.3	-9.3	307	2886	0.00	2.28	0.00	0.000	6	0.000	0.053	2689	2480	3628	0	0	0	0	0	0
3208	-0.55	-146.0	372.9	-8.6	337	3209	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2480	3628	0	0	0	0	0	0
3528	-0.57	-146.0	401.2	-8.9	367	3534	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2480	3628	0	0	0	0	0	0
3857	-0.60	-146.0	429.7	-8.7	398	3861	0.00	2.28	0.00	0.000	4	0.000	0.068	2689	1073	3628	0	0	0	0	0	0
3875	-0.62	-146.0	431.4	-8.5	399	3879	0.00	2.33	0.00	0.000	6	0.000	0.066	2689	2494	3629	0	0	0	0	0	0
4201	-0.66	-146.0	459.7	-8.8	429	4206	0.12	2.38	0.00	0.000	4	0.125	0.083	2644	3906	3629	0	0	0	0	0	0
4223	-0.64	-146.0	462.4	-10.7	430	4230	0.00	2.25	0.00	0.000	6	0.000	0.053	2643	2490	3628	0	0	0	0	0	0
4549	-0.56	-146.0	503.7	-12.6	461	4550	0.15	0.00	0.00	0.000	6	0.210	0.000	2679	2490	3629	0	0	0	0	0	0
4867	-0.56	-146.0	534.7	-9.6	491	4868	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2490	3629	0	0	0	0	0	0
5188	-0.56	-146.0	565.4	-9.7	521	5192	0.00	2.38	0.00	0.000	4	0.000	0.079	2679	3905	3629	0	0	0	0	0	0
5216	-0.58	-146.0	568.5	-9.9	523	5222	0.00	2.25	0.00	0.000	6	0.000	0.050	2679	2485	3629	0	0	0	0	0	0
5541	-0.61	-146.0	598.1	-9.3	554	5542	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2485	3629	0	0	0	0	0	0
5866	end dive: BOTTOM_OBSTACLE_DETECTED
state	5866	begin apogee
5872	-0.12	0.0	627.9	9.2	566	6005	0.47	0.00	126.03	1.330	6	0.184	0.000	2816	2268	3030	0	0	0	0	0	0
6006	end apogee: CONTROL_FINISHED_OK
state	6006	begin climb
6008	0.62	146.0	633.0	0.0	570	6150	0.80	0.00	134.20	1.281	6	0.135	0.000	3055	2268	2433	0	0	0	0	0	0
6458	0.58	149.2	594.4	9.8	587	6459	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2268	2426	0	0	0	0	0	0
6777	0.54	149.2	563.4	10.2	617	6779	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2268	2426	0	0	0	0	0	0
7096	0.50	154.6	531.8	9.8	647	7106	0.00	0.00	7.53	1.025	6	0.000	0.000	3055	2268	2399	0	0	0	0	0	0
7423	0.46	154.6	498.1	10.7	678	7428	0.15	2.35	0.00	0.000	4	0.194	0.073	3017	3687	2398	0	0	0	0	0	0
7467	0.46	154.6	493.3	10.4	681	7474	0.00	2.28	0.00	0.000	6	0.000	0.057	3025	2272	2398	0	0	0	0	0	0
7795	0.50	167.9	462.7	9.4	712	7818	0.00	2.38	13.27	1.126	4	0.000	0.075	3035	866	2344	0	0	0	0	0	0
7854	0.54	170.1	456.9	9.9	717	7858	0.00	2.30	0.00	0.000	6	0.000	0.061	3036	2277	2343	0	0	0	0	0	0
8179	0.56	183.2	425.5	9.4	747	8202	0.00	2.38	14.68	1.126	4	0.000	0.076	3036	3686	2282	0	0	0	0	0	0
8265	0.53	183.2	416.4	11.2	754	8272	0.00	2.30	0.00	0.000	6	0.000	0.057	3045	2268	2282	0	0	0	0	0	0
8591	0.54	194.5	384.2	9.5	785	8607	0.00	2.30	11.43	1.072	4	0.000	0.073	3055	863	2238	0	0	0	0	0	0
8646	0.56	205.2	378.8	9.5	789	8664	0.00	2.30	11.35	1.064	6	0.000	0.060	3055	2278	2193	0	0	0	0	0	0
8982	0.56	205.2	345.0	10.3	821	8986	0.00	2.33	0.00	0.000	4	0.000	0.075	3055	3692	2190	0	0	0	0	0	0
9033	0.52	205.2	339.1	12.1	825	9038	0.12	2.30	0.00	0.000	6	0.187	0.057	3036	2267	2190	0	0	0	0	0	0
9360	0.61	241.1	310.3	8.3	855	9399	0.00	2.33	33.55	1.105	4	0.000	0.073	3042	864	2045	0	0	0	0	0	0
9440	0.75	275.2	303.7	8.4	861	9481	0.17	2.33	32.65	1.083	6	0.093	0.059	3114	2281	1906	0	0	0	0	0	0
9798	0.68	275.2	248.2	16.0	895	9803	0.12	2.33	0.00	0.000	4	0.199	0.074	3085	3698	1898	0	0	0	0	0	0
9854	0.68	275.2	239.3	15.1	899	9861	0.00	2.33	0.00	0.000	6	0.000	0.058	3092	2268	1896	0	0	0	0	0	0
10181	0.68	275.2	195.1	12.7	930	10185	0.00	2.30	0.00	0.000	4	0.000	0.073	3103	857	1896	0	0	0	0	0	0
10233	0.68	275.2	188.3	13.0	934	10237	0.00	2.30	0.00	0.000	6	0.000	0.060	3103	2277	1895	0	0	0	0	0	0
10558	0.68	275.2	149.6	11.2	964	10562	0.00	2.30	0.00	0.000	4	0.000	0.075	3103	3686	1894	0	0	0	0	0	0
10608	0.64	275.2	143.2	13.4	968	10615	0.17	2.30	0.00	0.000	6	0.197	0.059	3070	2265	1894	0	0	0	0	0	0
10934	0.77	315.3	116.2	8.2	999	10979	0.12	2.38	34.97	1.014	4	0.109	0.074	3134	865	1743	0	0	0	0	0	0
11020	0.79	315.3	106.4	12.2	1006	11027	0.00	2.33	0.00	0.000	6	0.000	0.061	3134	2277	1740	0	0	0	0	0	0
11363	0.81	325.9	70.3	9.5	1062	11381	0.00	2.38	10.07	0.920	4	0.000	0.077	3134	3687	1700	0	0	0	0	0	0
11445	0.81	325.9	59.2	14.4	1076	11452	0.00	2.30	0.00	0.000	6	0.000	0.060	3144	2273	1699	0	0	0	0	0	0
11792	0.81	325.9	13.5	15.0	1137	11799	0.00	2.30	0.00	0.000	4	0.000	0.073	3154	856	1696	0	0	0	0	0	0
11833	end climb: FINISH_DEPTH_REACHED
state	11833	begin subsurface finish
11843	0.10	80.8	8.5	-11.2	1144	11892	0.82	2.40	-38.10	0.000	4	0.157	0.089	2901	869	2703	0	0	0	0	0	0
11892	end subsurface finish: CONTROL_FINISHED_OK
state	11893	begin surface