Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 551 * 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 551 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 19 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 40 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 19 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 551 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 050511,042536,6655.952,-6015.461,0,4099.8,0,-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 7.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6 MHEAD_RNG_PITCHd_Wd 236.8,23440,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 627

Post-dive calculations and measurements:

FINISH1 9.1,1.025854,81 _24V_AH 21.6,72.890

FINISH2 6.4 _10V_AH 10.0,37.727

RAFOS_CLK 595 FG_AHR_24Vo 0.000

RAFOS 1,1304582946,8.166667,8.151667,84,65,59,57,55,52,578,206,153,182,227,170 FG_AHR_10Vo 0.000

RAFOS_FIX 6652.896973,-6018.104980,050511,080819,5,92,0.42 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43383,1113

TT8_MAMPS 0.026215 CAP_FILE_SIZE 124114,0

HUMID 47.67 CFSIZE 260165632,217718784

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

TCM_TEMP 16.20 SOUNDSPEED 1452.7

XPDR_PINGS 0 GPS 050511,082419,6652.897,-6018.105,0,5092.4,0,-37.6

ALTIM_TOP_PING 19.4,14.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 231 26.57 SBE_CT 795 24 412.30

Roll_motor 102 87 193.41 SBE_O2 854 19 350.68

VBD_pump_during_apogee 422 1295 11822.98 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 2649 19 527.81

LPSleep 5760 2 133.07

TT8_Active 485 19 96.76

TT8_Sampling 1781 39 710.99

TT8_CF8 218 45 100.51

TT8_Kalman 0 0 0.00

Analog_circuits 1447 12 173.67

GPS_charging 0 0 0.00

Compass 1771 15 265.71

RAFOS 1800 1 27.00

Transponder 18 30 5.69

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 14 begin dive

17 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.68 0.000 2 0.000 0.000 2904 3698 2882 0 0 0 0 0 0

28 -0.62 -146.0 9.4 -0.0 1 58 0.70 4.28 -22.60 0.000 4 0.122 0.071 2671 1095 3628 0 0 0 0 0 0

228 -0.52 -146.0 45.4 -19.4 36 235 0.00 2.30 0.00 0.000 6 0.000 0.070 2671 2489 3630 0 0 0 0 0 0

576 -0.39 -146.0 111.2 -19.7 93 581 0.25 2.28 0.00 0.000 4 0.231 0.070 2736 1099 3630 0 0 0 0 0 0

598 -0.34 -146.0 115.6 -17.6 94 605 0.00 2.30 0.00 0.000 6 0.000 0.070 2736 2497 3630 0 0 0 0 0 0

925 -0.40 -146.0 144.9 -8.8 125 929 0.00 2.38 0.00 0.000 4 0.000 0.085 2735 3907 3629 0 0 0 0 0 0

958 -0.50 -146.0 148.1 -8.7 127 965 0.12 2.25 0.00 0.000 6 0.129 0.056 2694 2497 3628 0 0 0 0 0 0

1283 -0.50 -146.0 188.0 -11.6 158 1285 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2497 3628 0 0 0 0 0 0

1603 -0.50 -146.0 224.0 -10.9 188 1604 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2497 3628 0 0 0 0 0 0

1920 -0.50 -146.0 260.3 -11.4 218 1924 0.00 2.30 0.00 0.000 4 0.000 0.072 2693 1071 3628 0 0 0 0 0 0

1983 -0.54 -146.0 267.5 -11.0 223 1987 0.00 2.35 0.00 0.000 6 0.000 0.069 2694 2500 3627 0 0 0 0 0 0

2308 -0.54 -146.0 301.9 -10.7 253 2312 0.00 2.33 0.00 0.000 4 0.000 0.085 2693 3899 3627 0 0 0 0 0 0

2328 -0.54 -146.0 304.3 -10.2 254 2336 0.00 2.25 0.00 0.000 6 0.000 0.055 2694 2488 3627 0 0 0 0 0 0

2655 -0.56 -146.0 334.1 -8.6 285 2659 0.00 2.28 0.00 0.000 4 0.000 0.070 2694 1073 3627 0 0 0 0 0 0

2684 -0.58 -146.0 336.6 -8.8 287 2688 0.00 2.33 0.00 0.000 6 0.000 0.068 2694 2489 3627 0 0 0 0 0 0

3010 -0.61 -146.0 363.1 -8.2 317 3014 0.00 2.35 0.00 0.000 4 0.000 0.084 2693 3902 3627 0 0 0 0 0 0

3043 -0.66 -146.0 366.1 -8.5 319 3051 0.12 2.25 0.00 0.000 6 0.125 0.055 2650 2493 3627 0 0 0 0 0 0

3369 -0.58 -146.0 406.3 -12.8 350 3370 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2493 3627 0 0 0 0 0 0

3689 -0.51 -146.0 448.3 -12.6 380 3694 0.17 2.30 0.00 0.000 4 0.203 0.070 2692 1079 3627 0 0 0 0 0 0

3707 -0.46 -146.0 450.6 -12.9 381 3711 0.00 2.33 0.00 0.000 6 0.000 0.068 2692 2493 3628 0 0 0 0 0 0

4033 -0.51 -146.0 480.2 -8.8 411 4037 0.00 2.38 0.00 0.000 4 0.000 0.084 2692 3906 3627 0 0 0 0 0 0

4075 -0.58 -146.0 483.7 -8.4 414 4079 0.00 2.25 0.00 0.000 6 0.000 0.054 2692 2482 3628 0 0 0 0 0 0

4400 -0.62 -146.0 511.2 -8.3 444 4402 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2482 3628 0 0 0 0 0 0

4721 -0.67 -146.0 538.0 -9.0 474 4728 0.15 0.00 0.00 0.000 6 0.119 0.000 2639 2482 3628 0 0 0 0 0 0

5048 -0.65 -146.0 579.4 -11.5 505 5052 0.00 2.38 0.00 0.000 4 0.000 0.080 2639 3903 3629 0 0 0 0 0 0

5070 -0.84 -146.0 579.5 -0.2 506 5077 0.15 2.25 0.00 0.000 6 0.107 0.050 2581 2484 3629 0 0 0 0 0 0

5191 end dive: NO_VERTICAL_VELOCITY

state 5191 begin apogee

5197 -0.12 0.0 579.6 0.0 518 5330 0.75 0.00 125.38 1.296 6 0.152 0.000 2814 2263 3030 0 0 0 0 0 0

5331 end apogee: CONTROL_FINISHED_OK

state 5331 begin climb

5333 0.62 146.0 579.6 0.0 530 5477 0.80 2.72 131.82 1.246 4 0.141 0.073 3050 3693 2433 0 0 0 0 0 0

5593 0.52 146.0 562.6 12.0 553 5597 0.00 2.45 0.00 0.000 6 0.000 0.059 3060 2290 2428 0 0 0 0 0 0

5919 0.46 146.7 527.6 10.0 583 5921 0.17 0.00 0.00 0.000 6 0.188 0.000 3016 2290 2426 0 0 0 0 0 0

6237 0.55 196.5 502.6 7.7 613 6286 0.00 0.00 44.20 1.196 6 0.000 0.000 3016 2290 2228 0 0 0 0 0 0

6605 0.66 237.2 472.0 8.1 648 6651 0.17 2.40 37.42 1.170 4 0.089 0.074 3086 3697 2061 0 0 0 0 0 0

6681 0.58 237.2 462.0 15.8 654 6688 0.17 2.38 0.00 0.000 6 0.200 0.062 3055 2276 2060 0 0 0 0 0 0

7007 0.58 237.2 424.2 10.6 685 7012 0.00 2.33 0.00 0.000 4 0.000 0.077 3064 860 2055 0 0 0 0 0 0

7052 0.60 237.2 419.1 10.7 688 7059 0.00 2.33 0.00 0.000 6 0.000 0.063 3064 2278 2054 0 0 0 0 0 0

7377 0.60 237.2 381.9 11.6 719 7382 0.00 2.35 0.00 0.000 4 0.000 0.078 3064 3698 2053 0 0 0 0 0 0

7428 0.57 237.2 375.1 14.2 723 7435 0.00 2.33 0.00 0.000 6 0.000 0.062 3075 2271 2052 0 0 0 0 0 0

7754 0.55 237.2 331.1 13.2 754 7758 0.12 2.33 0.00 0.000 4 0.186 0.077 3051 858 2052 0 0 0 0 0 0

7815 0.61 237.2 324.0 11.1 759 7822 0.00 2.33 0.00 0.000 6 0.000 0.064 3051 2280 2050 0 0 0 0 0 0

8142 0.65 237.2 288.6 10.5 790 8146 0.00 2.33 0.00 0.000 4 0.000 0.078 3051 3687 2051 0 0 0 0 0 0

8193 0.65 237.2 282.2 13.1 794 8198 0.00 2.30 0.00 0.000 6 0.000 0.061 3061 2271 2051 0 0 0 0 0 0

8519 0.69 252.1 248.0 9.3 824 8542 0.00 2.38 12.82 1.021 4 0.000 0.076 3071 867 2001 0 0 0 0 0 0

8594 0.74 258.3 241.0 9.7 830 8606 0.00 2.30 7.40 0.929 6 0.000 0.063 3071 2276 1976 0 0 0 0 0 0

8926 0.78 262.3 208.4 9.8 861 8939 0.12 2.33 5.10 0.796 4 0.106 0.076 3125 3687 1960 0 0 0 0 0 0

9009 0.68 262.3 196.1 16.4 868 9014 0.20 2.33 0.00 0.000 6 0.206 0.064 3086 2265 1959 0 0 0 0 0 0

9335 0.70 262.3 159.0 10.6 898 9339 0.00 2.30 0.00 0.000 4 0.000 0.077 3095 866 1959 0 0 0 0 0 0

9381 0.73 262.3 154.0 10.9 902 9385 0.00 2.30 0.00 0.000 6 0.000 0.063 3095 2277 1957 0 0 0 0 0 0

9707 0.75 262.3 117.5 11.1 932 9711 0.00 2.35 0.00 0.000 4 0.000 0.079 3095 3697 1957 0 0 0 0 0 0

9746 0.75 262.3 112.6 12.7 935 9750 0.00 2.33 0.00 0.000 6 0.000 0.062 3106 2266 1957 0 0 0 0 0 0

10085 0.81 287.3 77.8 8.8 985 10115 0.00 0.00 24.85 0.992 6 0.000 0.000 3106 2266 1857 0 0 0 0 0 0

10455 0.90 323.5 46.2 8.3 1050 10497 0.15 2.42 33.38 0.976 4 0.100 0.077 3165 3688 1710 0 0 0 0 0 0

10516 0.84 323.5 39.0 13.8 1060 10524 0.15 2.35 0.00 0.000 6 0.210 0.063 3141 2269 1708 0 0 0 0 0 0

10770 end climb: SURFACE_OBSTACLE_DETECTED

state 10770 begin subsurface finish

10776 0.10 80.7 9.1 -15.4 1105 10824 0.82 2.35 -38.33 0.000 4 0.190 0.087 2904 863 2703 0 0 0 0 0 0

10825 end subsurface finish: CONTROL_FINISHED_OK

state 10825 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	551	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	19	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	050511,042536,6655.952,-6015.461,0,4099.8,0,-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	7.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6	MHEAD_RNG_PITCHd_Wd	236.8,23440,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	627

FINISH1	9.1,1.025854,81	_24V_AH	21.6,72.890
FINISH2	6.4	_10V_AH	10.0,37.727
RAFOS_CLK	595	FG_AHR_24Vo	0.000
RAFOS	1,1304582946,8.166667,8.151667,84,65,59,57,55,52,578,206,153,182,227,170	FG_AHR_10Vo	0.000
RAFOS_FIX	6652.896973,-6018.104980,050511,080819,5,92,0.42	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43383,1113
TT8_MAMPS	0.026215	CAP_FILE_SIZE	124114,0
HUMID	47.67	CFSIZE	260165632,217718784
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.7
XPDR_PINGS	0	GPS	050511,082419,6652.897,-6018.105,0,5092.4,0,-37.6
ALTIM_TOP_PING	19.4,14.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	231	26.57	SBE_CT	795	24	412.30
Roll_motor	102	87	193.41	SBE_O2	854	19	350.68
VBD_pump_during_apogee	422	1295	11822.98	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	2649	19	527.81
LPSleep	5760	2	133.07
TT8_Active	485	19	96.76
TT8_Sampling	1781	39	710.99
TT8_CF8	218	45	100.51
TT8_Kalman	0	0	0.00
Analog_circuits	1447	12	173.67
GPS_charging	0	0	0.00
Compass	1771	15	265.71
RAFOS	1800	1	27.00
Transponder	18	30	5.69

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	14	begin dive
17	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.68	0.000	2	0.000	0.000	2904	3698	2882	0	0	0	0	0	0
28	-0.62	-146.0	9.4	-0.0	1	58	0.70	4.28	-22.60	0.000	4	0.122	0.071	2671	1095	3628	0	0	0	0	0	0
228	-0.52	-146.0	45.4	-19.4	36	235	0.00	2.30	0.00	0.000	6	0.000	0.070	2671	2489	3630	0	0	0	0	0	0
576	-0.39	-146.0	111.2	-19.7	93	581	0.25	2.28	0.00	0.000	4	0.231	0.070	2736	1099	3630	0	0	0	0	0	0
598	-0.34	-146.0	115.6	-17.6	94	605	0.00	2.30	0.00	0.000	6	0.000	0.070	2736	2497	3630	0	0	0	0	0	0
925	-0.40	-146.0	144.9	-8.8	125	929	0.00	2.38	0.00	0.000	4	0.000	0.085	2735	3907	3629	0	0	0	0	0	0
958	-0.50	-146.0	148.1	-8.7	127	965	0.12	2.25	0.00	0.000	6	0.129	0.056	2694	2497	3628	0	0	0	0	0	0
1283	-0.50	-146.0	188.0	-11.6	158	1285	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2497	3628	0	0	0	0	0	0
1603	-0.50	-146.0	224.0	-10.9	188	1604	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2497	3628	0	0	0	0	0	0
1920	-0.50	-146.0	260.3	-11.4	218	1924	0.00	2.30	0.00	0.000	4	0.000	0.072	2693	1071	3628	0	0	0	0	0	0
1983	-0.54	-146.0	267.5	-11.0	223	1987	0.00	2.35	0.00	0.000	6	0.000	0.069	2694	2500	3627	0	0	0	0	0	0
2308	-0.54	-146.0	301.9	-10.7	253	2312	0.00	2.33	0.00	0.000	4	0.000	0.085	2693	3899	3627	0	0	0	0	0	0
2328	-0.54	-146.0	304.3	-10.2	254	2336	0.00	2.25	0.00	0.000	6	0.000	0.055	2694	2488	3627	0	0	0	0	0	0
2655	-0.56	-146.0	334.1	-8.6	285	2659	0.00	2.28	0.00	0.000	4	0.000	0.070	2694	1073	3627	0	0	0	0	0	0
2684	-0.58	-146.0	336.6	-8.8	287	2688	0.00	2.33	0.00	0.000	6	0.000	0.068	2694	2489	3627	0	0	0	0	0	0
3010	-0.61	-146.0	363.1	-8.2	317	3014	0.00	2.35	0.00	0.000	4	0.000	0.084	2693	3902	3627	0	0	0	0	0	0
3043	-0.66	-146.0	366.1	-8.5	319	3051	0.12	2.25	0.00	0.000	6	0.125	0.055	2650	2493	3627	0	0	0	0	0	0
3369	-0.58	-146.0	406.3	-12.8	350	3370	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2493	3627	0	0	0	0	0	0
3689	-0.51	-146.0	448.3	-12.6	380	3694	0.17	2.30	0.00	0.000	4	0.203	0.070	2692	1079	3627	0	0	0	0	0	0
3707	-0.46	-146.0	450.6	-12.9	381	3711	0.00	2.33	0.00	0.000	6	0.000	0.068	2692	2493	3628	0	0	0	0	0	0
4033	-0.51	-146.0	480.2	-8.8	411	4037	0.00	2.38	0.00	0.000	4	0.000	0.084	2692	3906	3627	0	0	0	0	0	0
4075	-0.58	-146.0	483.7	-8.4	414	4079	0.00	2.25	0.00	0.000	6	0.000	0.054	2692	2482	3628	0	0	0	0	0	0
4400	-0.62	-146.0	511.2	-8.3	444	4402	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2482	3628	0	0	0	0	0	0
4721	-0.67	-146.0	538.0	-9.0	474	4728	0.15	0.00	0.00	0.000	6	0.119	0.000	2639	2482	3628	0	0	0	0	0	0
5048	-0.65	-146.0	579.4	-11.5	505	5052	0.00	2.38	0.00	0.000	4	0.000	0.080	2639	3903	3629	0	0	0	0	0	0
5070	-0.84	-146.0	579.5	-0.2	506	5077	0.15	2.25	0.00	0.000	6	0.107	0.050	2581	2484	3629	0	0	0	0	0	0
5191	end dive: NO_VERTICAL_VELOCITY
state	5191	begin apogee
5197	-0.12	0.0	579.6	0.0	518	5330	0.75	0.00	125.38	1.296	6	0.152	0.000	2814	2263	3030	0	0	0	0	0	0
5331	end apogee: CONTROL_FINISHED_OK
state	5331	begin climb
5333	0.62	146.0	579.6	0.0	530	5477	0.80	2.72	131.82	1.246	4	0.141	0.073	3050	3693	2433	0	0	0	0	0	0
5593	0.52	146.0	562.6	12.0	553	5597	0.00	2.45	0.00	0.000	6	0.000	0.059	3060	2290	2428	0	0	0	0	0	0
5919	0.46	146.7	527.6	10.0	583	5921	0.17	0.00	0.00	0.000	6	0.188	0.000	3016	2290	2426	0	0	0	0	0	0
6237	0.55	196.5	502.6	7.7	613	6286	0.00	0.00	44.20	1.196	6	0.000	0.000	3016	2290	2228	0	0	0	0	0	0
6605	0.66	237.2	472.0	8.1	648	6651	0.17	2.40	37.42	1.170	4	0.089	0.074	3086	3697	2061	0	0	0	0	0	0
6681	0.58	237.2	462.0	15.8	654	6688	0.17	2.38	0.00	0.000	6	0.200	0.062	3055	2276	2060	0	0	0	0	0	0
7007	0.58	237.2	424.2	10.6	685	7012	0.00	2.33	0.00	0.000	4	0.000	0.077	3064	860	2055	0	0	0	0	0	0
7052	0.60	237.2	419.1	10.7	688	7059	0.00	2.33	0.00	0.000	6	0.000	0.063	3064	2278	2054	0	0	0	0	0	0
7377	0.60	237.2	381.9	11.6	719	7382	0.00	2.35	0.00	0.000	4	0.000	0.078	3064	3698	2053	0	0	0	0	0	0
7428	0.57	237.2	375.1	14.2	723	7435	0.00	2.33	0.00	0.000	6	0.000	0.062	3075	2271	2052	0	0	0	0	0	0
7754	0.55	237.2	331.1	13.2	754	7758	0.12	2.33	0.00	0.000	4	0.186	0.077	3051	858	2052	0	0	0	0	0	0
7815	0.61	237.2	324.0	11.1	759	7822	0.00	2.33	0.00	0.000	6	0.000	0.064	3051	2280	2050	0	0	0	0	0	0
8142	0.65	237.2	288.6	10.5	790	8146	0.00	2.33	0.00	0.000	4	0.000	0.078	3051	3687	2051	0	0	0	0	0	0
8193	0.65	237.2	282.2	13.1	794	8198	0.00	2.30	0.00	0.000	6	0.000	0.061	3061	2271	2051	0	0	0	0	0	0
8519	0.69	252.1	248.0	9.3	824	8542	0.00	2.38	12.82	1.021	4	0.000	0.076	3071	867	2001	0	0	0	0	0	0
8594	0.74	258.3	241.0	9.7	830	8606	0.00	2.30	7.40	0.929	6	0.000	0.063	3071	2276	1976	0	0	0	0	0	0
8926	0.78	262.3	208.4	9.8	861	8939	0.12	2.33	5.10	0.796	4	0.106	0.076	3125	3687	1960	0	0	0	0	0	0
9009	0.68	262.3	196.1	16.4	868	9014	0.20	2.33	0.00	0.000	6	0.206	0.064	3086	2265	1959	0	0	0	0	0	0
9335	0.70	262.3	159.0	10.6	898	9339	0.00	2.30	0.00	0.000	4	0.000	0.077	3095	866	1959	0	0	0	0	0	0
9381	0.73	262.3	154.0	10.9	902	9385	0.00	2.30	0.00	0.000	6	0.000	0.063	3095	2277	1957	0	0	0	0	0	0
9707	0.75	262.3	117.5	11.1	932	9711	0.00	2.35	0.00	0.000	4	0.000	0.079	3095	3697	1957	0	0	0	0	0	0
9746	0.75	262.3	112.6	12.7	935	9750	0.00	2.33	0.00	0.000	6	0.000	0.062	3106	2266	1957	0	0	0	0	0	0
10085	0.81	287.3	77.8	8.8	985	10115	0.00	0.00	24.85	0.992	6	0.000	0.000	3106	2266	1857	0	0	0	0	0	0
10455	0.90	323.5	46.2	8.3	1050	10497	0.15	2.42	33.38	0.976	4	0.100	0.077	3165	3688	1710	0	0	0	0	0	0
10516	0.84	323.5	39.0	13.8	1060	10524	0.15	2.35	0.00	0.000	6	0.210	0.063	3141	2269	1708	0	0	0	0	0	0
10770	end climb: SURFACE_OBSTACLE_DETECTED
state	10770	begin subsurface finish
10776	0.10	80.7	9.1	-15.4	1105	10824	0.82	2.35	-38.33	0.000	4	0.190	0.087	2904	863	2703	0	0	0	0	0	0
10825	end subsurface finish: CONTROL_FINISHED_OK
state	10825	begin surface