Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 549 * 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 549 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 23 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 23 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 549 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 050511,004322,6702.338,-6014.292,0,3098.7,0,-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 12.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,004322,6702.338,-6014.292,0,3098.7,0,-37.6 MHEAD_RNG_PITCHd_Wd 231.8,35026,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 717

Post-dive calculations and measurements:

FREEZE 8.68,-1.728,-1.765,2,84,0 ALTIM_BOTTOM_PING 600.8,24.0

FINISH1 8.7,1.025852,81 _24V_AH 21.6,72.600

FINISH2 7.0 _10V_AH 10.0,37.591

RAFOS_CLK 610 FG_AHR_24Vo 0.000

RAFOS 0,1304568062,4.033333,4.017222,115,69,66,59,57,56,666,206,193,228,181,167 FG_AHR_10Vo 0.000

RAFOS_FIX 6655.952148,-6015.460938,050511,040436,4,100,0.89 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43312,1096

TT8_MAMPS 0.026215 CAP_FILE_SIZE 126350,0

HUMID 48.58 CFSIZE 260165632,217858048

INTERNAL_PRESSURE 8.68197 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1453.3

XPDR_PINGS 0 GPS 050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6

ALTIM_TOP_PING 19.9,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 227 25.89 SBE_CT 784 24 406.54

Roll_motor 109 85 203.53 SBE_O2 839 19 344.67

VBD_pump_during_apogee 405 1320 11570.02 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 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2692 19 536.30

LPSleep 5962 2 137.74

TT8_Active 465 19 92.73

TT8_Sampling 1835 39 732.76

TT8_CF8 220 45 101.03

TT8_Kalman 0 0 0.00

Analog_circuits 1459 12 175.11

GPS_charging 0 0 0.00

Compass 1819 15 272.89

RAFOS 2520 1 37.80

Transponder 17 30 5.31

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.62 -146.0 0.0 0.0 0 26 0.00 0.00 -6.62 0.000 2 0.000 0.000 2901 869 2974 0 0 0 0 0 0

29 -0.62 -146.0 13.1 -0.0 1 54 0.68 5.12 -15.40 0.000 4 0.107 0.083 2666 3899 3629 0 0 0 0 0 0

131 -0.53 -146.0 29.5 -19.1 18 138 0.00 2.25 0.00 0.000 6 0.000 0.054 2666 2489 3631 0 0 0 0 0 0

476 -0.39 -146.0 98.9 -16.8 79 483 0.25 2.38 0.00 0.000 4 0.222 0.080 2731 3906 3630 0 0 0 0 0 0

549 -0.45 -146.0 107.0 -8.9 86 553 0.00 2.28 0.00 0.000 6 0.000 0.054 2731 2476 3631 0 0 0 0 0 0

874 -0.51 -146.0 142.1 -10.8 116 878 0.00 2.28 0.00 0.000 4 0.000 0.072 2731 1074 3630 0 0 0 0 0 0

899 -0.57 -146.0 144.8 -11.5 118 904 0.17 2.33 0.00 0.000 6 0.112 0.069 2669 2490 3630 0 0 0 0 0 0

1224 -0.50 -146.0 189.7 -13.3 148 1229 0.12 2.38 0.00 0.000 4 0.227 0.086 2697 3898 3629 0 0 0 0 0 0

1241 -0.44 -146.0 192.0 -13.7 149 1248 0.00 2.25 0.00 0.000 6 0.000 0.054 2697 2490 3629 0 0 0 0 0 0

1568 -0.44 -146.0 227.2 -9.7 180 1572 0.00 2.30 0.00 0.000 4 0.000 0.071 2697 1077 3629 0 0 0 0 0 0

1602 -0.47 -146.0 230.8 -10.1 182 1609 0.00 2.33 0.00 0.000 6 0.000 0.069 2697 2488 3628 0 0 0 0 0 0

1927 -0.49 -146.0 263.4 -10.5 213 1931 0.00 2.35 0.00 0.000 4 0.000 0.086 2697 3899 3628 0 0 0 0 0 0

1972 -0.54 -146.0 268.2 -10.4 216 1978 0.00 2.25 0.00 0.000 6 0.000 0.054 2697 2490 3628 0 0 0 0 0 0

2297 -0.58 -146.0 301.9 -10.2 247 2298 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2489 3628 0 0 0 0 0 0

2618 -0.62 -146.0 334.3 -9.7 277 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2489 3629 0 0 0 0 0 0

2946 -0.66 -146.0 365.1 -8.9 308 2951 0.15 2.30 0.00 0.000 4 0.125 0.069 2646 1082 3628 0 0 0 0 0 0

2964 -0.66 -146.0 367.0 -9.6 309 2969 0.00 2.30 0.00 0.000 6 0.000 0.069 2646 2491 3628 0 0 0 0 0 0

3296 -0.57 -146.0 410.7 -12.7 340 3300 0.12 2.40 0.00 0.000 4 0.226 0.083 2674 3906 3628 0 0 0 0 0 0

3329 -0.57 -146.0 414.6 -10.7 342 3336 0.00 2.25 0.00 0.000 6 0.000 0.053 2674 2489 3628 0 0 0 0 0 0

3656 -0.57 -146.0 446.5 -9.9 373 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2489 3629 0 0 0 0 0 0

3974 -0.57 -146.0 478.8 -10.3 403 3978 0.00 2.25 0.00 0.000 4 0.000 0.067 2674 1081 3628 0 0 0 0 0 0

4003 -0.57 -146.0 482.2 -10.8 405 4007 0.00 2.33 0.00 0.000 6 0.000 0.067 2674 2497 3628 0 0 0 0 0 0

4329 -0.57 -146.0 515.2 -10.4 435 4330 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2497 3629 0 0 0 0 0 0

4649 -0.57 -146.0 546.9 -9.8 465 4653 0.00 2.35 0.00 0.000 4 0.000 0.083 2674 3899 3629 0 0 0 0 0 0

4666 -0.57 -146.0 548.8 -10.0 466 4671 0.00 2.22 0.00 0.000 6 0.000 0.050 2674 2489 3629 0 0 0 0 0 0

4998 -0.57 -146.0 580.5 -7.6 497 4999 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2489 3629 0 0 0 0 0 0

5324 end dive: BOTTOM_OBSTACLE_DETECTED

state 5324 begin apogee

5330 -0.12 0.0 612.5 9.5 520 5463 0.50 0.00 126.03 1.320 6 0.197 0.000 2813 2257 3030 0 0 0 0 0 0

5464 end apogee: CONTROL_FINISHED_OK

state 5464 begin climb

5467 0.62 146.0 616.3 0.0 524 5608 0.80 2.58 132.70 1.268 4 0.141 0.072 3061 877 2433 0 0 0 0 0 0

5718 0.58 146.0 596.8 10.8 531 5725 0.00 2.47 0.00 0.000 6 0.000 0.060 3061 2284 2428 0 0 0 0 0 0

6044 0.53 146.0 562.4 10.2 562 6048 0.00 2.35 0.00 0.000 4 0.000 0.076 3061 3692 2426 0 0 0 0 0 0

6176 0.42 146.0 546.9 12.6 573 6181 0.25 2.30 0.00 0.000 6 0.188 0.059 3006 2284 2426 0 0 0 0 0 0

6502 0.55 210.1 522.5 7.0 603 6569 0.10 2.47 56.42 1.216 4 0.125 0.075 3063 865 2171 0 0 0 0 0 0

6597 0.55 210.1 512.6 11.2 611 6604 0.00 2.38 0.00 0.000 6 0.000 0.061 3063 2277 2169 0 0 0 0 0 0

6924 0.55 210.1 474.9 12.1 642 6928 0.00 2.35 0.00 0.000 4 0.000 0.076 3063 3695 2164 0 0 0 0 0 0

6979 0.49 210.1 467.0 14.2 646 6986 0.17 2.33 0.00 0.000 6 0.187 0.060 3029 2266 2164 0 0 0 0 0 0

7306 0.56 221.7 435.0 9.5 677 7321 0.00 2.30 10.32 1.065 4 0.000 0.075 3038 864 2126 0 0 0 0 0 0

7363 0.65 230.7 429.4 9.6 682 7379 0.10 2.33 10.00 1.056 6 0.124 0.061 3084 2288 2089 0 0 0 0 0 0

7705 0.60 230.7 382.1 13.9 714 7709 0.00 2.28 0.00 0.000 4 0.000 0.076 3084 3685 2086 0 0 0 0 0 0

7771 0.52 230.7 371.6 15.6 719 7779 0.22 2.30 0.00 0.000 6 0.194 0.059 3037 2266 2084 0 0 0 0 0 0

8097 0.59 231.7 338.3 10.0 750 8101 0.00 2.28 0.00 0.000 4 0.000 0.074 3042 864 2084 0 0 0 0 0 0

8141 0.66 232.9 333.8 9.9 753 8148 0.10 2.30 0.00 0.000 6 0.128 0.060 3087 2282 2083 0 0 0 0 0 0

8467 0.63 232.9 290.9 12.8 784 8471 0.00 2.30 0.00 0.000 4 0.000 0.076 3087 3694 2083 0 0 0 0 0 0

8552 0.54 232.9 278.9 15.3 791 8557 0.20 2.30 0.00 0.000 6 0.193 0.059 3047 2268 2083 0 0 0 0 0 0

8878 0.61 248.7 247.4 9.3 821 8901 0.00 2.30 16.92 1.050 4 0.000 0.072 3055 860 2015 0 0 0 0 0 0

8949 0.69 251.5 240.7 9.9 827 8961 0.00 2.30 4.15 0.716 6 0.000 0.060 3055 2276 2003 0 0 0 0 0 0

9280 0.76 263.8 208.6 9.4 858 9303 0.15 2.40 12.82 1.005 4 0.093 0.075 3123 3696 1953 0 0 0 0 0 0

9355 0.66 263.8 197.6 16.3 864 9362 0.20 2.33 0.00 0.000 6 0.199 0.058 3082 2265 1952 0 0 0 0 0 0

9681 0.69 263.8 160.4 11.3 895 9685 0.00 2.28 0.00 0.000 4 0.000 0.073 3091 864 1950 0 0 0 0 0 0

9731 0.73 263.8 154.3 12.3 899 9736 0.00 2.30 0.00 0.000 6 0.000 0.061 3091 2281 1949 0 0 0 0 0 0

10057 0.77 276.8 121.2 9.4 929 10080 0.00 2.38 13.07 0.977 4 0.000 0.076 3090 3686 1901 0 0 0 0 0 0

10126 0.77 276.8 113.6 12.3 935 10130 0.00 2.28 0.00 0.000 6 0.000 0.060 3101 2276 1900 0 0 0 0 0 0

10463 0.82 276.8 78.7 10.3 983 10469 0.00 2.30 0.00 0.000 4 0.000 0.073 3111 869 1899 0 0 0 0 0 0

10494 0.91 300.6 76.0 8.9 988 10525 0.12 2.30 23.23 0.989 6 0.118 0.062 3160 2281 1804 0 0 0 0 0 0

10863 0.89 300.6 34.1 11.1 1053 10869 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2281 1799 0 0 0 0 0 0

11065 end climb: FINISH_DEPTH_REACHED

state 11066 begin subsurface finish

11072 0.10 80.8 8.7 -13.8 1089 11114 0.85 0.00 -35.58 0.000 6 0.162 0.000 2902 2281 2702 0 0 0 0 0 0

11115 end subsurface finish: CONTROL_FINISHED_OK

state 11115 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	549	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	23	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	050511,004322,6702.338,-6014.292,0,3098.7,0,-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	12.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,004322,6702.338,-6014.292,0,3098.7,0,-37.6	MHEAD_RNG_PITCHd_Wd	231.8,35026,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	717

FREEZE	8.68,-1.728,-1.765,2,84,0	ALTIM_BOTTOM_PING	600.8,24.0
FINISH1	8.7,1.025852,81	_24V_AH	21.6,72.600
FINISH2	7.0	_10V_AH	10.0,37.591
RAFOS_CLK	610	FG_AHR_24Vo	0.000
RAFOS	0,1304568062,4.033333,4.017222,115,69,66,59,57,56,666,206,193,228,181,167	FG_AHR_10Vo	0.000
RAFOS_FIX	6655.952148,-6015.460938,050511,040436,4,100,0.89	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43312,1096
TT8_MAMPS	0.026215	CAP_FILE_SIZE	126350,0
HUMID	48.58	CFSIZE	260165632,217858048
INTERNAL_PRESSURE	8.68197	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1453.3
XPDR_PINGS	0	GPS	050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6
ALTIM_TOP_PING	19.9,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	227	25.89	SBE_CT	784	24	406.54
Roll_motor	109	85	203.53	SBE_O2	839	19	344.67
VBD_pump_during_apogee	405	1320	11570.02	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	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2692	19	536.30
LPSleep	5962	2	137.74
TT8_Active	465	19	92.73
TT8_Sampling	1835	39	732.76
TT8_CF8	220	45	101.03
TT8_Kalman	0	0	0.00
Analog_circuits	1459	12	175.11
GPS_charging	0	0	0.00
Compass	1819	15	272.89
RAFOS	2520	1	37.80
Transponder	17	30	5.31

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.62	-146.0	0.0	0.0	0	26	0.00	0.00	-6.62	0.000	2	0.000	0.000	2901	869	2974	0	0	0	0	0	0
29	-0.62	-146.0	13.1	-0.0	1	54	0.68	5.12	-15.40	0.000	4	0.107	0.083	2666	3899	3629	0	0	0	0	0	0
131	-0.53	-146.0	29.5	-19.1	18	138	0.00	2.25	0.00	0.000	6	0.000	0.054	2666	2489	3631	0	0	0	0	0	0
476	-0.39	-146.0	98.9	-16.8	79	483	0.25	2.38	0.00	0.000	4	0.222	0.080	2731	3906	3630	0	0	0	0	0	0
549	-0.45	-146.0	107.0	-8.9	86	553	0.00	2.28	0.00	0.000	6	0.000	0.054	2731	2476	3631	0	0	0	0	0	0
874	-0.51	-146.0	142.1	-10.8	116	878	0.00	2.28	0.00	0.000	4	0.000	0.072	2731	1074	3630	0	0	0	0	0	0
899	-0.57	-146.0	144.8	-11.5	118	904	0.17	2.33	0.00	0.000	6	0.112	0.069	2669	2490	3630	0	0	0	0	0	0
1224	-0.50	-146.0	189.7	-13.3	148	1229	0.12	2.38	0.00	0.000	4	0.227	0.086	2697	3898	3629	0	0	0	0	0	0
1241	-0.44	-146.0	192.0	-13.7	149	1248	0.00	2.25	0.00	0.000	6	0.000	0.054	2697	2490	3629	0	0	0	0	0	0
1568	-0.44	-146.0	227.2	-9.7	180	1572	0.00	2.30	0.00	0.000	4	0.000	0.071	2697	1077	3629	0	0	0	0	0	0
1602	-0.47	-146.0	230.8	-10.1	182	1609	0.00	2.33	0.00	0.000	6	0.000	0.069	2697	2488	3628	0	0	0	0	0	0
1927	-0.49	-146.0	263.4	-10.5	213	1931	0.00	2.35	0.00	0.000	4	0.000	0.086	2697	3899	3628	0	0	0	0	0	0
1972	-0.54	-146.0	268.2	-10.4	216	1978	0.00	2.25	0.00	0.000	6	0.000	0.054	2697	2490	3628	0	0	0	0	0	0
2297	-0.58	-146.0	301.9	-10.2	247	2298	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2489	3628	0	0	0	0	0	0
2618	-0.62	-146.0	334.3	-9.7	277	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2489	3629	0	0	0	0	0	0
2946	-0.66	-146.0	365.1	-8.9	308	2951	0.15	2.30	0.00	0.000	4	0.125	0.069	2646	1082	3628	0	0	0	0	0	0
2964	-0.66	-146.0	367.0	-9.6	309	2969	0.00	2.30	0.00	0.000	6	0.000	0.069	2646	2491	3628	0	0	0	0	0	0
3296	-0.57	-146.0	410.7	-12.7	340	3300	0.12	2.40	0.00	0.000	4	0.226	0.083	2674	3906	3628	0	0	0	0	0	0
3329	-0.57	-146.0	414.6	-10.7	342	3336	0.00	2.25	0.00	0.000	6	0.000	0.053	2674	2489	3628	0	0	0	0	0	0
3656	-0.57	-146.0	446.5	-9.9	373	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2489	3629	0	0	0	0	0	0
3974	-0.57	-146.0	478.8	-10.3	403	3978	0.00	2.25	0.00	0.000	4	0.000	0.067	2674	1081	3628	0	0	0	0	0	0
4003	-0.57	-146.0	482.2	-10.8	405	4007	0.00	2.33	0.00	0.000	6	0.000	0.067	2674	2497	3628	0	0	0	0	0	0
4329	-0.57	-146.0	515.2	-10.4	435	4330	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2497	3629	0	0	0	0	0	0
4649	-0.57	-146.0	546.9	-9.8	465	4653	0.00	2.35	0.00	0.000	4	0.000	0.083	2674	3899	3629	0	0	0	0	0	0
4666	-0.57	-146.0	548.8	-10.0	466	4671	0.00	2.22	0.00	0.000	6	0.000	0.050	2674	2489	3629	0	0	0	0	0	0
4998	-0.57	-146.0	580.5	-7.6	497	4999	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2489	3629	0	0	0	0	0	0
5324	end dive: BOTTOM_OBSTACLE_DETECTED
state	5324	begin apogee
5330	-0.12	0.0	612.5	9.5	520	5463	0.50	0.00	126.03	1.320	6	0.197	0.000	2813	2257	3030	0	0	0	0	0	0
5464	end apogee: CONTROL_FINISHED_OK
state	5464	begin climb
5467	0.62	146.0	616.3	0.0	524	5608	0.80	2.58	132.70	1.268	4	0.141	0.072	3061	877	2433	0	0	0	0	0	0
5718	0.58	146.0	596.8	10.8	531	5725	0.00	2.47	0.00	0.000	6	0.000	0.060	3061	2284	2428	0	0	0	0	0	0
6044	0.53	146.0	562.4	10.2	562	6048	0.00	2.35	0.00	0.000	4	0.000	0.076	3061	3692	2426	0	0	0	0	0	0
6176	0.42	146.0	546.9	12.6	573	6181	0.25	2.30	0.00	0.000	6	0.188	0.059	3006	2284	2426	0	0	0	0	0	0
6502	0.55	210.1	522.5	7.0	603	6569	0.10	2.47	56.42	1.216	4	0.125	0.075	3063	865	2171	0	0	0	0	0	0
6597	0.55	210.1	512.6	11.2	611	6604	0.00	2.38	0.00	0.000	6	0.000	0.061	3063	2277	2169	0	0	0	0	0	0
6924	0.55	210.1	474.9	12.1	642	6928	0.00	2.35	0.00	0.000	4	0.000	0.076	3063	3695	2164	0	0	0	0	0	0
6979	0.49	210.1	467.0	14.2	646	6986	0.17	2.33	0.00	0.000	6	0.187	0.060	3029	2266	2164	0	0	0	0	0	0
7306	0.56	221.7	435.0	9.5	677	7321	0.00	2.30	10.32	1.065	4	0.000	0.075	3038	864	2126	0	0	0	0	0	0
7363	0.65	230.7	429.4	9.6	682	7379	0.10	2.33	10.00	1.056	6	0.124	0.061	3084	2288	2089	0	0	0	0	0	0
7705	0.60	230.7	382.1	13.9	714	7709	0.00	2.28	0.00	0.000	4	0.000	0.076	3084	3685	2086	0	0	0	0	0	0
7771	0.52	230.7	371.6	15.6	719	7779	0.22	2.30	0.00	0.000	6	0.194	0.059	3037	2266	2084	0	0	0	0	0	0
8097	0.59	231.7	338.3	10.0	750	8101	0.00	2.28	0.00	0.000	4	0.000	0.074	3042	864	2084	0	0	0	0	0	0
8141	0.66	232.9	333.8	9.9	753	8148	0.10	2.30	0.00	0.000	6	0.128	0.060	3087	2282	2083	0	0	0	0	0	0
8467	0.63	232.9	290.9	12.8	784	8471	0.00	2.30	0.00	0.000	4	0.000	0.076	3087	3694	2083	0	0	0	0	0	0
8552	0.54	232.9	278.9	15.3	791	8557	0.20	2.30	0.00	0.000	6	0.193	0.059	3047	2268	2083	0	0	0	0	0	0
8878	0.61	248.7	247.4	9.3	821	8901	0.00	2.30	16.92	1.050	4	0.000	0.072	3055	860	2015	0	0	0	0	0	0
8949	0.69	251.5	240.7	9.9	827	8961	0.00	2.30	4.15	0.716	6	0.000	0.060	3055	2276	2003	0	0	0	0	0	0
9280	0.76	263.8	208.6	9.4	858	9303	0.15	2.40	12.82	1.005	4	0.093	0.075	3123	3696	1953	0	0	0	0	0	0
9355	0.66	263.8	197.6	16.3	864	9362	0.20	2.33	0.00	0.000	6	0.199	0.058	3082	2265	1952	0	0	0	0	0	0
9681	0.69	263.8	160.4	11.3	895	9685	0.00	2.28	0.00	0.000	4	0.000	0.073	3091	864	1950	0	0	0	0	0	0
9731	0.73	263.8	154.3	12.3	899	9736	0.00	2.30	0.00	0.000	6	0.000	0.061	3091	2281	1949	0	0	0	0	0	0
10057	0.77	276.8	121.2	9.4	929	10080	0.00	2.38	13.07	0.977	4	0.000	0.076	3090	3686	1901	0	0	0	0	0	0
10126	0.77	276.8	113.6	12.3	935	10130	0.00	2.28	0.00	0.000	6	0.000	0.060	3101	2276	1900	0	0	0	0	0	0
10463	0.82	276.8	78.7	10.3	983	10469	0.00	2.30	0.00	0.000	4	0.000	0.073	3111	869	1899	0	0	0	0	0	0
10494	0.91	300.6	76.0	8.9	988	10525	0.12	2.30	23.23	0.989	6	0.118	0.062	3160	2281	1804	0	0	0	0	0	0
10863	0.89	300.6	34.1	11.1	1053	10869	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2281	1799	0	0	0	0	0	0
11065	end climb: FINISH_DEPTH_REACHED
state	11066	begin subsurface finish
11072	0.10	80.8	8.7	-13.8	1089	11114	0.85	0.00	-35.58	0.000	6	0.162	0.000	2902	2281	2702	0	0	0	0	0	0
11115	end subsurface finish: CONTROL_FINISHED_OK
state	11115	begin surface