Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 552 * 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 552 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 21 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 21 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 552 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 050511,082419,6652.897,-6018.105,0,5092.4,0,-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 7.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,082419,6652.897,-6018.105,0,5092.4,0,-37.6 MHEAD_RNG_PITCHd_Wd 236.9,17460,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 587

Post-dive calculations and measurements:

FREEZE 8.54,-1.714,-1.767,2,87,0 ALTIM_BOTTOM_PING 550.9,15.7

FINISH1 8.5,1.025872,80 _24V_AH 21.5,73.029

FINISH2 7.1 _10V_AH 10.0,37.791

RAFOS_CLK 566 FG_AHR_24Vo 0.000

RAFOS 0,1304596862,12.033333,12.017222,85,63,59,58,56,54,623,206,131,188,155,216 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.419922,-6021.635742,050511,121213,5,96,0.26 MEM 150588

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40070,1063

TT8_MAMPS 0.026215 CAP_FILE_SIZE 115760,0

HUMID 47.83 CFSIZE 260165632,217665536

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 1452.5

XPDR_PINGS 0 GPS 050511,122913,6651.420,-6021.636,0,5095.6,0,-37.6

ALTIM_TOP_PING 19.6,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 237 21.67 SBE_CT 760 24 392.19

Roll_motor 94 146 298.34 SBE_O2 807 19 329.82

VBD_pump_during_apogee 413 1280 11378.75 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 2532 19 504.43

LPSleep 5496 2 126.97

TT8_Active 463 19 92.31

TT8_Sampling 1704 39 680.38

TT8_CF8 198 45 91.14

TT8_Kalman 0 0 0.00

Analog_circuits 1386 12 166.34

GPS_charging 0 0 0.00

Compass 1686 15 253.02

RAFOS 2520 1 37.80

Transponder 18 30 5.65

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 25 0.00 0.00 -6.32 0.000 2 0.000 0.000 2904 863 2895 0 0 0 0 0 0

28 -0.62 -146.0 8.6 -0.0 1 58 0.68 0.35 -22.02 0.000 4 0.101 0.147 2666 1083 3628 0 0 0 0 0 0

206 -0.53 -146.0 38.7 -17.3 32 213 0.00 2.33 0.00 0.000 6 0.000 0.074 2666 2488 3629 0 0 0 0 0 0

557 -0.39 -146.0 106.4 -18.0 91 562 0.25 2.38 0.00 0.000 4 0.237 0.085 2730 3900 3629 0 0 0 0 0 0

610 -0.49 -146.0 113.4 -9.5 95 614 0.00 2.25 0.00 0.000 6 0.000 0.057 2730 2488 3629 0 0 0 0 0 0

938 -0.54 -146.0 143.5 -8.9 125 942 0.12 2.35 0.00 0.000 4 0.129 0.075 2687 1070 3628 0 0 0 0 0 0

989 -0.54 -146.0 149.4 -11.3 129 993 0.00 2.38 0.00 0.000 6 0.000 0.072 2687 2498 3628 0 0 0 0 0 0

1314 -0.50 -146.0 191.9 -13.2 159 1315 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2498 3628 0 0 0 0 0 0

1636 -0.48 -146.0 230.7 -12.2 189 1642 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2499 3627 0 0 0 0 0 0

1963 -0.48 -146.0 268.2 -10.6 220 1968 0.00 2.38 0.00 0.000 4 0.000 0.087 2687 3904 3628 0 0 0 0 0 0

1981 -0.48 -146.0 270.3 -10.6 221 1985 0.00 2.28 0.00 0.000 6 0.000 0.057 2687 2489 3627 0 0 0 0 0 0

2307 -0.48 -146.0 303.9 -9.6 251 2311 0.00 2.30 0.00 0.000 4 0.000 0.073 2686 1076 3627 0 0 0 0 0 0

2342 -0.48 -146.0 307.2 -9.5 254 2346 0.00 2.35 0.00 0.000 6 0.000 0.070 2687 2499 3627 0 0 0 0 0 0

2673 -0.48 -146.0 338.0 -9.6 285 2677 0.00 2.38 0.00 0.000 4 0.000 0.086 2687 3906 3627 0 0 0 0 0 0

2695 -0.48 -146.0 340.4 -9.8 286 2702 0.00 2.25 0.00 0.000 6 0.000 0.057 2687 2488 3627 0 0 0 0 0 0

3020 -0.48 -146.0 372.6 -10.3 317 3024 0.00 2.28 0.00 0.000 4 0.000 0.071 2686 1079 3627 0 0 0 0 0 0

3042 -0.48 -146.0 375.1 -10.7 318 3049 0.00 2.33 0.00 0.000 6 0.000 0.069 2686 2492 3627 0 0 0 0 0 0

3367 -0.48 -146.0 408.1 -10.1 349 3369 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2492 3627 0 0 0 0 0 0

3689 -0.48 -146.0 439.1 -9.8 379 3695 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2492 3627 0 0 0 0 0 0

4016 -0.51 -146.0 469.5 -9.1 410 4017 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2492 3628 0 0 0 0 0 0

4333 -0.54 -146.0 498.1 -9.1 440 4338 0.00 2.35 0.00 0.000 4 0.000 0.083 2687 3899 3627 0 0 0 0 0 0

4364 -0.58 -146.0 500.9 -10.0 442 4368 0.00 2.25 0.00 0.000 6 0.000 0.054 2686 2482 3627 0 0 0 0 0 0

4695 -0.61 -146.0 530.0 -8.8 473 4699 0.00 2.28 0.00 0.000 4 0.000 0.069 2687 1079 3628 0 0 0 0 0 0

4725 -0.65 -146.0 532.7 -8.5 475 4729 0.00 2.33 0.00 0.000 6 0.000 0.068 2687 2489 3629 0 0 0 0 0 0

4943 end dive: BOTTOM_OBSTACLE_DETECTED

state 4943 begin apogee

4949 -0.12 0.0 551.9 8.8 495 5081 0.45 0.00 124.85 1.281 6 0.191 0.000 2813 2269 3029 0 0 0 0 0 0

5082 end apogee: CONTROL_FINISHED_OK

state 5082 begin climb

5085 0.62 146.0 556.5 0.0 507 5226 0.80 2.65 131.38 1.231 4 0.141 0.076 3060 872 2432 0 0 0 0 0 0

5300 0.60 159.3 542.2 9.4 526 5319 0.00 2.50 13.10 1.091 6 0.000 0.063 3059 2273 2380 0 0 0 0 0 0

5637 0.55 159.3 505.7 11.2 558 5641 0.00 2.40 0.00 0.000 4 0.000 0.080 3060 3688 2375 0 0 0 0 0 0

5705 0.45 159.3 497.0 12.9 564 5710 0.22 2.35 0.00 0.000 6 0.184 0.062 3013 2276 2375 0 0 0 0 0 0

6030 0.53 186.5 467.5 8.7 594 6060 0.00 0.00 24.42 1.156 6 0.000 0.000 3013 2276 2268 0 0 0 0 0 0

6379 0.64 225.4 437.5 8.2 627 6424 0.17 2.40 36.05 1.155 4 0.089 0.077 3097 865 2108 0 0 0 0 0 0

6454 0.58 225.4 427.8 14.3 633 6462 0.17 2.35 0.00 0.000 6 0.191 0.063 3055 2278 2106 0 0 0 0 0 0

6779 0.58 225.4 391.9 10.8 664 6783 0.00 2.35 0.00 0.000 4 0.000 0.079 3055 3696 2103 0 0 0 0 0 0

6837 0.56 225.4 385.0 12.7 669 6841 0.00 2.33 0.00 0.000 6 0.000 0.063 3063 2274 2102 0 0 0 0 0 0

7162 0.56 225.4 349.0 11.2 699 7163 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2274 2101 0 0 0 0 0 0

7483 0.56 225.4 313.2 11.9 729 7487 0.00 2.30 0.00 0.000 4 0.000 0.076 3074 859 2101 0 0 0 0 0 0

7524 0.56 225.4 308.1 12.1 732 7528 0.00 2.30 0.00 0.000 6 0.000 0.063 3074 2276 2100 0 0 0 0 0 0

7849 0.56 225.4 270.8 11.0 762 7853 0.00 2.33 0.00 0.000 4 0.000 0.078 3075 3698 2099 0 0 0 0 0 0

7915 0.51 225.4 262.1 13.0 767 7923 0.20 2.33 0.00 0.000 6 0.190 0.062 3033 2265 2100 0 0 0 0 0 0

8241 0.62 261.1 234.5 8.4 798 8275 0.00 0.00 31.90 1.069 6 0.000 0.000 3033 2264 1965 0 0 0 0 0 0

8594 0.78 297.2 203.6 8.3 831 8638 0.22 2.42 33.90 1.040 4 0.080 0.076 3138 858 1817 0 0 0 0 0 0

8664 0.72 297.2 193.6 16.6 837 8669 0.15 2.38 0.00 0.000 6 0.203 0.064 3103 2283 1815 0 0 0 0 0 0

8990 0.74 297.2 149.2 11.2 867 8994 0.00 2.33 0.00 0.000 4 0.000 0.079 3103 3692 1811 0 0 0 0 0 0

9040 0.72 297.2 142.7 13.5 871 9046 0.00 2.33 0.00 0.000 6 0.000 0.063 3111 2273 1809 0 0 0 0 0 0

9365 0.72 297.2 103.8 10.2 902 9369 0.00 2.30 0.00 0.000 4 0.000 0.078 3120 865 1809 0 0 0 0 0 0

9433 0.75 297.2 96.5 11.2 910 9440 0.00 2.33 0.00 0.000 6 0.000 0.065 3120 2283 1808 0 0 0 0 0 0

9779 0.80 316.9 60.0 9.1 971 9804 0.00 2.33 17.67 0.966 4 0.000 0.080 3120 3687 1736 0 0 0 0 0 0

9880 0.80 316.9 49.7 11.6 988 9887 0.00 2.33 0.00 0.000 6 0.000 0.064 3130 2271 1734 0 0 0 0 0 0

10227 0.83 316.9 12.6 11.0 1049 10234 0.00 2.30 0.00 0.000 4 0.000 0.077 3140 864 1732 0 0 0 0 0 0

10262 end climb: FINISH_DEPTH_REACHED

state 10262 begin subsurface finish

10271 0.10 79.8 8.5 -10.3 1055 10320 0.80 2.42 -38.08 0.000 4 0.167 0.089 2900 858 2707 0 0 0 0 0 0

10320 end subsurface finish: CONTROL_FINISHED_OK

state 10320 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	552	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	21	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	050511,082419,6652.897,-6018.105,0,5092.4,0,-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	7.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,082419,6652.897,-6018.105,0,5092.4,0,-37.6	MHEAD_RNG_PITCHd_Wd	236.9,17460,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	587

FREEZE	8.54,-1.714,-1.767,2,87,0	ALTIM_BOTTOM_PING	550.9,15.7
FINISH1	8.5,1.025872,80	_24V_AH	21.5,73.029
FINISH2	7.1	_10V_AH	10.0,37.791
RAFOS_CLK	566	FG_AHR_24Vo	0.000
RAFOS	0,1304596862,12.033333,12.017222,85,63,59,58,56,54,623,206,131,188,155,216	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.419922,-6021.635742,050511,121213,5,96,0.26	MEM	150588
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40070,1063
TT8_MAMPS	0.026215	CAP_FILE_SIZE	115760,0
HUMID	47.83	CFSIZE	260165632,217665536
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	1452.5
XPDR_PINGS	0	GPS	050511,122913,6651.420,-6021.636,0,5095.6,0,-37.6
ALTIM_TOP_PING	19.6,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	237	21.67	SBE_CT	760	24	392.19
Roll_motor	94	146	298.34	SBE_O2	807	19	329.82
VBD_pump_during_apogee	413	1280	11378.75	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	2532	19	504.43
LPSleep	5496	2	126.97
TT8_Active	463	19	92.31
TT8_Sampling	1704	39	680.38
TT8_CF8	198	45	91.14
TT8_Kalman	0	0	0.00
Analog_circuits	1386	12	166.34
GPS_charging	0	0	0.00
Compass	1686	15	253.02
RAFOS	2520	1	37.80
Transponder	18	30	5.65

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	25	0.00	0.00	-6.32	0.000	2	0.000	0.000	2904	863	2895	0	0	0	0	0	0
28	-0.62	-146.0	8.6	-0.0	1	58	0.68	0.35	-22.02	0.000	4	0.101	0.147	2666	1083	3628	0	0	0	0	0	0
206	-0.53	-146.0	38.7	-17.3	32	213	0.00	2.33	0.00	0.000	6	0.000	0.074	2666	2488	3629	0	0	0	0	0	0
557	-0.39	-146.0	106.4	-18.0	91	562	0.25	2.38	0.00	0.000	4	0.237	0.085	2730	3900	3629	0	0	0	0	0	0
610	-0.49	-146.0	113.4	-9.5	95	614	0.00	2.25	0.00	0.000	6	0.000	0.057	2730	2488	3629	0	0	0	0	0	0
938	-0.54	-146.0	143.5	-8.9	125	942	0.12	2.35	0.00	0.000	4	0.129	0.075	2687	1070	3628	0	0	0	0	0	0
989	-0.54	-146.0	149.4	-11.3	129	993	0.00	2.38	0.00	0.000	6	0.000	0.072	2687	2498	3628	0	0	0	0	0	0
1314	-0.50	-146.0	191.9	-13.2	159	1315	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2498	3628	0	0	0	0	0	0
1636	-0.48	-146.0	230.7	-12.2	189	1642	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2499	3627	0	0	0	0	0	0
1963	-0.48	-146.0	268.2	-10.6	220	1968	0.00	2.38	0.00	0.000	4	0.000	0.087	2687	3904	3628	0	0	0	0	0	0
1981	-0.48	-146.0	270.3	-10.6	221	1985	0.00	2.28	0.00	0.000	6	0.000	0.057	2687	2489	3627	0	0	0	0	0	0
2307	-0.48	-146.0	303.9	-9.6	251	2311	0.00	2.30	0.00	0.000	4	0.000	0.073	2686	1076	3627	0	0	0	0	0	0
2342	-0.48	-146.0	307.2	-9.5	254	2346	0.00	2.35	0.00	0.000	6	0.000	0.070	2687	2499	3627	0	0	0	0	0	0
2673	-0.48	-146.0	338.0	-9.6	285	2677	0.00	2.38	0.00	0.000	4	0.000	0.086	2687	3906	3627	0	0	0	0	0	0
2695	-0.48	-146.0	340.4	-9.8	286	2702	0.00	2.25	0.00	0.000	6	0.000	0.057	2687	2488	3627	0	0	0	0	0	0
3020	-0.48	-146.0	372.6	-10.3	317	3024	0.00	2.28	0.00	0.000	4	0.000	0.071	2686	1079	3627	0	0	0	0	0	0
3042	-0.48	-146.0	375.1	-10.7	318	3049	0.00	2.33	0.00	0.000	6	0.000	0.069	2686	2492	3627	0	0	0	0	0	0
3367	-0.48	-146.0	408.1	-10.1	349	3369	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2492	3627	0	0	0	0	0	0
3689	-0.48	-146.0	439.1	-9.8	379	3695	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2492	3627	0	0	0	0	0	0
4016	-0.51	-146.0	469.5	-9.1	410	4017	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2492	3628	0	0	0	0	0	0
4333	-0.54	-146.0	498.1	-9.1	440	4338	0.00	2.35	0.00	0.000	4	0.000	0.083	2687	3899	3627	0	0	0	0	0	0
4364	-0.58	-146.0	500.9	-10.0	442	4368	0.00	2.25	0.00	0.000	6	0.000	0.054	2686	2482	3627	0	0	0	0	0	0
4695	-0.61	-146.0	530.0	-8.8	473	4699	0.00	2.28	0.00	0.000	4	0.000	0.069	2687	1079	3628	0	0	0	0	0	0
4725	-0.65	-146.0	532.7	-8.5	475	4729	0.00	2.33	0.00	0.000	6	0.000	0.068	2687	2489	3629	0	0	0	0	0	0
4943	end dive: BOTTOM_OBSTACLE_DETECTED
state	4943	begin apogee
4949	-0.12	0.0	551.9	8.8	495	5081	0.45	0.00	124.85	1.281	6	0.191	0.000	2813	2269	3029	0	0	0	0	0	0
5082	end apogee: CONTROL_FINISHED_OK
state	5082	begin climb
5085	0.62	146.0	556.5	0.0	507	5226	0.80	2.65	131.38	1.231	4	0.141	0.076	3060	872	2432	0	0	0	0	0	0
5300	0.60	159.3	542.2	9.4	526	5319	0.00	2.50	13.10	1.091	6	0.000	0.063	3059	2273	2380	0	0	0	0	0	0
5637	0.55	159.3	505.7	11.2	558	5641	0.00	2.40	0.00	0.000	4	0.000	0.080	3060	3688	2375	0	0	0	0	0	0
5705	0.45	159.3	497.0	12.9	564	5710	0.22	2.35	0.00	0.000	6	0.184	0.062	3013	2276	2375	0	0	0	0	0	0
6030	0.53	186.5	467.5	8.7	594	6060	0.00	0.00	24.42	1.156	6	0.000	0.000	3013	2276	2268	0	0	0	0	0	0
6379	0.64	225.4	437.5	8.2	627	6424	0.17	2.40	36.05	1.155	4	0.089	0.077	3097	865	2108	0	0	0	0	0	0
6454	0.58	225.4	427.8	14.3	633	6462	0.17	2.35	0.00	0.000	6	0.191	0.063	3055	2278	2106	0	0	0	0	0	0
6779	0.58	225.4	391.9	10.8	664	6783	0.00	2.35	0.00	0.000	4	0.000	0.079	3055	3696	2103	0	0	0	0	0	0
6837	0.56	225.4	385.0	12.7	669	6841	0.00	2.33	0.00	0.000	6	0.000	0.063	3063	2274	2102	0	0	0	0	0	0
7162	0.56	225.4	349.0	11.2	699	7163	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2274	2101	0	0	0	0	0	0
7483	0.56	225.4	313.2	11.9	729	7487	0.00	2.30	0.00	0.000	4	0.000	0.076	3074	859	2101	0	0	0	0	0	0
7524	0.56	225.4	308.1	12.1	732	7528	0.00	2.30	0.00	0.000	6	0.000	0.063	3074	2276	2100	0	0	0	0	0	0
7849	0.56	225.4	270.8	11.0	762	7853	0.00	2.33	0.00	0.000	4	0.000	0.078	3075	3698	2099	0	0	0	0	0	0
7915	0.51	225.4	262.1	13.0	767	7923	0.20	2.33	0.00	0.000	6	0.190	0.062	3033	2265	2100	0	0	0	0	0	0
8241	0.62	261.1	234.5	8.4	798	8275	0.00	0.00	31.90	1.069	6	0.000	0.000	3033	2264	1965	0	0	0	0	0	0
8594	0.78	297.2	203.6	8.3	831	8638	0.22	2.42	33.90	1.040	4	0.080	0.076	3138	858	1817	0	0	0	0	0	0
8664	0.72	297.2	193.6	16.6	837	8669	0.15	2.38	0.00	0.000	6	0.203	0.064	3103	2283	1815	0	0	0	0	0	0
8990	0.74	297.2	149.2	11.2	867	8994	0.00	2.33	0.00	0.000	4	0.000	0.079	3103	3692	1811	0	0	0	0	0	0
9040	0.72	297.2	142.7	13.5	871	9046	0.00	2.33	0.00	0.000	6	0.000	0.063	3111	2273	1809	0	0	0	0	0	0
9365	0.72	297.2	103.8	10.2	902	9369	0.00	2.30	0.00	0.000	4	0.000	0.078	3120	865	1809	0	0	0	0	0	0
9433	0.75	297.2	96.5	11.2	910	9440	0.00	2.33	0.00	0.000	6	0.000	0.065	3120	2283	1808	0	0	0	0	0	0
9779	0.80	316.9	60.0	9.1	971	9804	0.00	2.33	17.67	0.966	4	0.000	0.080	3120	3687	1736	0	0	0	0	0	0
9880	0.80	316.9	49.7	11.6	988	9887	0.00	2.33	0.00	0.000	6	0.000	0.064	3130	2271	1734	0	0	0	0	0	0
10227	0.83	316.9	12.6	11.0	1049	10234	0.00	2.30	0.00	0.000	4	0.000	0.077	3140	864	1732	0	0	0	0	0	0
10262	end climb: FINISH_DEPTH_REACHED
state	10262	begin subsurface finish
10271	0.10	79.8	8.5	-10.3	1055	10320	0.80	2.42	-38.08	0.000	4	0.167	0.089	2900	858	2707	0	0	0	0	0	0
10320	end subsurface finish: CONTROL_FINISHED_OK
state	10320	begin surface