Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 553 * 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 553 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 553 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 050511,122913,6651.420,-6021.636,0,5095.6,0,-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 9.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,122913,6651.420,-6021.636,0,5095.6,0,-37.6 MHEAD_RNG_PITCHd_Wd 230.7,14108,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 559

Post-dive calculations and measurements:

FREEZE 8.90,-1.681,-1.767,2,88,0 ALTIM_BOTTOM_PING 550.5,10.0

FINISH1 8.9,1.025867,80 _24V_AH 21.6,73.169

FINISH2 7.7 _10V_AH 10.0,37.855

RAFOS_CLK 557 FG_AHR_24Vo 0.000

RAFOS 0,1304611265,16.033333,16.018055,133,61,58,57,55,49,597,189,135,206,223,122 FG_AHR_10Vo 0.000

RAFOS_FIX 6649.843750,-6022.996582,050511,161653,5,95,0.22 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40066,1048

TT8_MAMPS 0.025466 CAP_FILE_SIZE 119423,0

HUMID 48.11 CFSIZE 260165632,217595904

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 1451.9

XPDR_PINGS 1 GPS 050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6

ALTIM_TOP_PING 19.8,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 247 26.90 SBE_CT 748 24 388.07

Roll_motor 99 147 315.88 SBE_O2 795 19 326.35

VBD_pump_during_apogee 415 1280 11500.83 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 2510 19 500.10

LPSleep 5303 2 122.52

TT8_Active 449 19 89.61

TT8_Sampling 1727 39 689.68

TT8_CF8 198 45 91.09

TT8_Kalman 0 0 0.00

Analog_circuits 1384 12 166.18

GPS_charging 0 0 0.00

Compass 1710 15 256.54

RAFOS 2520 1 37.80

Transponder 15 30 4.77

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 -6.47 0.000 2 0.000 0.000 2899 859 2940 0 0 0 0 0 0

28 -0.62 -146.0 10.8 -0.0 1 52 0.65 0.40 -18.12 0.000 4 0.095 0.148 2666 1095 3629 0 0 0 0 0 0

206 -0.51 -146.0 40.8 -18.4 32 214 0.12 2.30 0.00 0.000 6 0.236 0.073 2692 2488 3631 0 0 0 0 0 0

553 -0.44 -146.0 100.0 -15.0 93 558 0.12 2.40 0.00 0.000 4 0.248 0.089 2720 3901 3631 0 0 0 0 0 0

685 -0.48 -146.0 116.2 -11.0 104 689 0.00 2.25 0.00 0.000 6 0.000 0.057 2720 2487 3631 0 0 0 0 0 0

1012 -0.51 -146.0 150.9 -10.2 134 1016 0.00 2.30 0.00 0.000 4 0.000 0.074 2720 1081 3630 0 0 0 0 0 0

1041 -0.56 -146.0 154.0 -10.2 136 1046 0.12 2.35 0.00 0.000 6 0.135 0.072 2679 2498 3630 0 0 0 0 0 0

1367 -0.51 -146.0 194.5 -12.4 166 1368 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2497 3629 0 0 0 0 0 0

1687 -0.47 -146.0 234.8 -12.8 196 1692 0.12 2.40 0.00 0.000 4 0.218 0.090 2708 3908 3629 0 0 0 0 0 0

1739 -0.55 -146.0 240.7 -10.1 200 1743 0.00 2.28 0.00 0.000 6 0.000 0.057 2707 2482 3629 0 0 0 0 0 0

2071 -0.60 -146.0 273.6 -9.8 231 2073 0.12 0.00 0.00 0.000 6 0.136 0.000 2666 2481 3629 0 0 0 0 0 0

2389 -0.55 -146.0 312.2 -12.1 261 2393 0.00 2.28 0.00 0.000 4 0.000 0.073 2666 1075 3628 0 0 0 0 0 0

2411 -0.49 -146.0 315.1 -12.1 262 2418 0.15 2.35 0.00 0.000 6 0.212 0.073 2700 2489 3628 0 0 0 0 0 0

2736 -0.54 -146.0 342.8 -8.6 293 2738 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2489 3629 0 0 0 0 0 0

3057 -0.59 -146.0 370.4 -8.6 323 3061 0.00 2.38 0.00 0.000 4 0.000 0.086 2700 3899 3628 0 0 0 0 0 0

3098 -0.66 -146.0 374.1 -8.3 326 3103 0.15 2.28 0.00 0.000 6 0.120 0.057 2651 2488 3629 0 0 0 0 0 0

3424 -0.60 -146.0 413.2 -11.8 356 3428 0.00 2.28 0.00 0.000 4 0.000 0.070 2651 1079 3628 0 0 0 0 0 0

3441 -0.52 -146.0 415.6 -11.8 357 3448 0.17 2.35 0.00 0.000 6 0.210 0.070 2692 2498 3628 0 0 0 0 0 0

3767 -0.56 -146.0 443.7 -8.4 388 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2498 3629 0 0 0 0 0 0

4087 -0.60 -146.0 471.7 -9.1 418 4091 0.00 2.38 0.00 0.000 4 0.000 0.086 2692 3905 3629 0 0 0 0 0 0

4106 -0.64 -146.0 473.5 -9.3 419 4111 0.12 2.28 0.00 0.000 6 0.123 0.055 2651 2479 3629 0 0 0 0 0 0

4436 -0.59 -146.0 512.8 -11.6 450 4440 0.00 2.25 0.00 0.000 4 0.000 0.070 2651 1081 3629 0 0 0 0 0 0

4455 -0.52 -146.0 515.0 -12.2 451 4460 0.17 2.35 0.00 0.000 6 0.202 0.070 2692 2500 3630 0 0 0 0 0 0

4781 -0.57 -146.0 543.2 -8.2 481 4782 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2500 3629 0 0 0 0 0 0

4866 end dive: BOTTOM_OBSTACLE_DETECTED

state 4866 begin apogee

4873 -0.12 0.0 550.5 8.8 489 5005 0.43 0.00 125.18 1.281 6 0.185 0.000 2815 2268 3030 0 0 0 0 0 0

5005 end apogee: CONTROL_FINISHED_OK

state 5006 begin climb

5008 0.62 146.0 555.0 0.0 501 5152 0.80 2.65 131.90 1.229 4 0.143 0.076 3061 870 2432 0 0 0 0 0 0

5249 0.58 146.0 537.4 10.7 522 5256 0.00 2.50 0.00 0.000 6 0.000 0.063 3061 2282 2428 0 0 0 0 0 0

5575 0.53 146.0 502.6 10.5 553 5579 0.00 2.40 0.00 0.000 4 0.000 0.080 3061 3693 2427 0 0 0 0 0 0

5694 0.42 146.0 487.6 13.0 563 5699 0.25 2.33 0.00 0.000 6 0.187 0.063 3008 2282 2426 0 0 0 0 0 0

6022 0.54 201.6 462.4 7.4 593 6078 0.00 2.40 48.62 1.176 4 0.000 0.076 3015 868 2207 0 0 0 0 0 0

6108 0.70 243.2 455.4 8.1 600 6158 0.20 2.38 39.12 1.154 6 0.090 0.071 3098 2277 2037 0 0 0 0 0 0

6477 0.62 243.2 400.0 15.3 635 6482 0.12 2.35 0.00 0.000 4 0.197 0.077 3064 3694 2028 0 0 0 0 0 0

6550 0.59 243.2 389.3 14.0 641 6554 0.00 2.33 0.00 0.000 6 0.000 0.063 3072 2269 2026 0 0 0 0 0 0

6882 0.57 243.2 346.1 13.3 672 6886 0.00 2.30 0.00 0.000 4 0.000 0.076 3082 860 2025 0 0 0 0 0 0

6925 0.57 243.2 339.9 13.2 675 6934 0.12 2.30 0.00 0.000 6 0.185 0.063 3052 2276 2023 0 0 0 0 0 0

7251 0.60 243.2 303.0 10.6 706 7255 0.00 2.33 0.00 0.000 4 0.000 0.078 3051 3697 2024 0 0 0 0 0 0

7303 0.60 243.2 296.9 12.1 710 7307 0.00 2.30 0.00 0.000 6 0.000 0.063 3060 2269 2023 0 0 0 0 0 0

7634 0.65 254.8 263.3 9.5 741 7649 0.00 2.35 9.18 0.975 4 0.000 0.077 3071 868 1991 0 0 0 0 0 0

7712 0.69 254.8 255.3 10.5 748 7717 0.00 2.30 0.00 0.000 6 0.000 0.063 3071 2277 1990 0 0 0 0 0 0

8038 0.71 254.8 219.8 11.1 778 8042 0.00 2.33 0.00 0.000 4 0.000 0.079 3071 3694 1989 0 0 0 0 0 0

8105 0.71 254.8 211.4 12.9 784 8109 0.00 2.30 0.00 0.000 6 0.000 0.063 3081 2275 1989 0 0 0 0 0 0

8431 0.71 254.8 175.3 11.2 814 8436 0.00 2.33 0.00 0.000 4 0.000 0.076 3090 860 1988 0 0 0 0 0 0

8494 0.71 254.8 168.2 11.3 819 8498 0.00 2.30 0.00 0.000 6 0.000 0.064 3091 2282 1987 0 0 0 0 0 0

8819 0.72 257.1 132.7 9.9 849 8823 0.00 2.33 0.00 0.000 4 0.000 0.079 3090 3687 1987 0 0 0 0 0 0

8915 0.72 257.1 121.6 11.7 857 8919 0.00 2.30 0.00 0.000 6 0.000 0.064 3101 2264 1987 0 0 0 0 0 0

9247 0.75 282.2 90.2 8.8 897 9282 0.00 2.38 26.75 1.003 4 0.000 0.078 3111 867 1878 0 0 0 0 0 0

9324 0.84 319.6 83.9 8.3 910 9365 0.00 2.33 35.03 0.985 6 0.000 0.064 3111 2277 1727 0 0 0 0 0 0

9704 0.91 319.6 51.7 10.5 977 9711 0.12 2.38 0.00 0.000 4 0.109 0.082 3161 3693 1719 0 0 0 0 0 0

9763 0.85 319.6 43.8 13.1 987 9771 0.12 2.33 0.00 0.000 6 0.219 0.065 3144 2276 1717 0 0 0 0 0 0

10061 end climb: FINISH_DEPTH_REACHED

state 10061 begin subsurface finish

10069 0.10 80.1 8.9 -10.5 1040 10117 0.80 2.38 -36.75 0.000 4 0.171 0.089 2907 868 2706 0 0 0 0 0 0

10118 end subsurface finish: CONTROL_FINISHED_OK

state 10118 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	553	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	050511,122913,6651.420,-6021.636,0,5095.6,0,-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	9.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,122913,6651.420,-6021.636,0,5095.6,0,-37.6	MHEAD_RNG_PITCHd_Wd	230.7,14108,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	559

FREEZE	8.90,-1.681,-1.767,2,88,0	ALTIM_BOTTOM_PING	550.5,10.0
FINISH1	8.9,1.025867,80	_24V_AH	21.6,73.169
FINISH2	7.7	_10V_AH	10.0,37.855
RAFOS_CLK	557	FG_AHR_24Vo	0.000
RAFOS	0,1304611265,16.033333,16.018055,133,61,58,57,55,49,597,189,135,206,223,122	FG_AHR_10Vo	0.000
RAFOS_FIX	6649.843750,-6022.996582,050511,161653,5,95,0.22	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40066,1048
TT8_MAMPS	0.025466	CAP_FILE_SIZE	119423,0
HUMID	48.11	CFSIZE	260165632,217595904
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	1451.9
XPDR_PINGS	1	GPS	050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6
ALTIM_TOP_PING	19.8,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	247	26.90	SBE_CT	748	24	388.07
Roll_motor	99	147	315.88	SBE_O2	795	19	326.35
VBD_pump_during_apogee	415	1280	11500.83	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	2510	19	500.10
LPSleep	5303	2	122.52
TT8_Active	449	19	89.61
TT8_Sampling	1727	39	689.68
TT8_CF8	198	45	91.09
TT8_Kalman	0	0	0.00
Analog_circuits	1384	12	166.18
GPS_charging	0	0	0.00
Compass	1710	15	256.54
RAFOS	2520	1	37.80
Transponder	15	30	4.77

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	-6.47	0.000	2	0.000	0.000	2899	859	2940	0	0	0	0	0	0
28	-0.62	-146.0	10.8	-0.0	1	52	0.65	0.40	-18.12	0.000	4	0.095	0.148	2666	1095	3629	0	0	0	0	0	0
206	-0.51	-146.0	40.8	-18.4	32	214	0.12	2.30	0.00	0.000	6	0.236	0.073	2692	2488	3631	0	0	0	0	0	0
553	-0.44	-146.0	100.0	-15.0	93	558	0.12	2.40	0.00	0.000	4	0.248	0.089	2720	3901	3631	0	0	0	0	0	0
685	-0.48	-146.0	116.2	-11.0	104	689	0.00	2.25	0.00	0.000	6	0.000	0.057	2720	2487	3631	0	0	0	0	0	0
1012	-0.51	-146.0	150.9	-10.2	134	1016	0.00	2.30	0.00	0.000	4	0.000	0.074	2720	1081	3630	0	0	0	0	0	0
1041	-0.56	-146.0	154.0	-10.2	136	1046	0.12	2.35	0.00	0.000	6	0.135	0.072	2679	2498	3630	0	0	0	0	0	0
1367	-0.51	-146.0	194.5	-12.4	166	1368	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2497	3629	0	0	0	0	0	0
1687	-0.47	-146.0	234.8	-12.8	196	1692	0.12	2.40	0.00	0.000	4	0.218	0.090	2708	3908	3629	0	0	0	0	0	0
1739	-0.55	-146.0	240.7	-10.1	200	1743	0.00	2.28	0.00	0.000	6	0.000	0.057	2707	2482	3629	0	0	0	0	0	0
2071	-0.60	-146.0	273.6	-9.8	231	2073	0.12	0.00	0.00	0.000	6	0.136	0.000	2666	2481	3629	0	0	0	0	0	0
2389	-0.55	-146.0	312.2	-12.1	261	2393	0.00	2.28	0.00	0.000	4	0.000	0.073	2666	1075	3628	0	0	0	0	0	0
2411	-0.49	-146.0	315.1	-12.1	262	2418	0.15	2.35	0.00	0.000	6	0.212	0.073	2700	2489	3628	0	0	0	0	0	0
2736	-0.54	-146.0	342.8	-8.6	293	2738	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2489	3629	0	0	0	0	0	0
3057	-0.59	-146.0	370.4	-8.6	323	3061	0.00	2.38	0.00	0.000	4	0.000	0.086	2700	3899	3628	0	0	0	0	0	0
3098	-0.66	-146.0	374.1	-8.3	326	3103	0.15	2.28	0.00	0.000	6	0.120	0.057	2651	2488	3629	0	0	0	0	0	0
3424	-0.60	-146.0	413.2	-11.8	356	3428	0.00	2.28	0.00	0.000	4	0.000	0.070	2651	1079	3628	0	0	0	0	0	0
3441	-0.52	-146.0	415.6	-11.8	357	3448	0.17	2.35	0.00	0.000	6	0.210	0.070	2692	2498	3628	0	0	0	0	0	0
3767	-0.56	-146.0	443.7	-8.4	388	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2498	3629	0	0	0	0	0	0
4087	-0.60	-146.0	471.7	-9.1	418	4091	0.00	2.38	0.00	0.000	4	0.000	0.086	2692	3905	3629	0	0	0	0	0	0
4106	-0.64	-146.0	473.5	-9.3	419	4111	0.12	2.28	0.00	0.000	6	0.123	0.055	2651	2479	3629	0	0	0	0	0	0
4436	-0.59	-146.0	512.8	-11.6	450	4440	0.00	2.25	0.00	0.000	4	0.000	0.070	2651	1081	3629	0	0	0	0	0	0
4455	-0.52	-146.0	515.0	-12.2	451	4460	0.17	2.35	0.00	0.000	6	0.202	0.070	2692	2500	3630	0	0	0	0	0	0
4781	-0.57	-146.0	543.2	-8.2	481	4782	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2500	3629	0	0	0	0	0	0
4866	end dive: BOTTOM_OBSTACLE_DETECTED
state	4866	begin apogee
4873	-0.12	0.0	550.5	8.8	489	5005	0.43	0.00	125.18	1.281	6	0.185	0.000	2815	2268	3030	0	0	0	0	0	0
5005	end apogee: CONTROL_FINISHED_OK
state	5006	begin climb
5008	0.62	146.0	555.0	0.0	501	5152	0.80	2.65	131.90	1.229	4	0.143	0.076	3061	870	2432	0	0	0	0	0	0
5249	0.58	146.0	537.4	10.7	522	5256	0.00	2.50	0.00	0.000	6	0.000	0.063	3061	2282	2428	0	0	0	0	0	0
5575	0.53	146.0	502.6	10.5	553	5579	0.00	2.40	0.00	0.000	4	0.000	0.080	3061	3693	2427	0	0	0	0	0	0
5694	0.42	146.0	487.6	13.0	563	5699	0.25	2.33	0.00	0.000	6	0.187	0.063	3008	2282	2426	0	0	0	0	0	0
6022	0.54	201.6	462.4	7.4	593	6078	0.00	2.40	48.62	1.176	4	0.000	0.076	3015	868	2207	0	0	0	0	0	0
6108	0.70	243.2	455.4	8.1	600	6158	0.20	2.38	39.12	1.154	6	0.090	0.071	3098	2277	2037	0	0	0	0	0	0
6477	0.62	243.2	400.0	15.3	635	6482	0.12	2.35	0.00	0.000	4	0.197	0.077	3064	3694	2028	0	0	0	0	0	0
6550	0.59	243.2	389.3	14.0	641	6554	0.00	2.33	0.00	0.000	6	0.000	0.063	3072	2269	2026	0	0	0	0	0	0
6882	0.57	243.2	346.1	13.3	672	6886	0.00	2.30	0.00	0.000	4	0.000	0.076	3082	860	2025	0	0	0	0	0	0
6925	0.57	243.2	339.9	13.2	675	6934	0.12	2.30	0.00	0.000	6	0.185	0.063	3052	2276	2023	0	0	0	0	0	0
7251	0.60	243.2	303.0	10.6	706	7255	0.00	2.33	0.00	0.000	4	0.000	0.078	3051	3697	2024	0	0	0	0	0	0
7303	0.60	243.2	296.9	12.1	710	7307	0.00	2.30	0.00	0.000	6	0.000	0.063	3060	2269	2023	0	0	0	0	0	0
7634	0.65	254.8	263.3	9.5	741	7649	0.00	2.35	9.18	0.975	4	0.000	0.077	3071	868	1991	0	0	0	0	0	0
7712	0.69	254.8	255.3	10.5	748	7717	0.00	2.30	0.00	0.000	6	0.000	0.063	3071	2277	1990	0	0	0	0	0	0
8038	0.71	254.8	219.8	11.1	778	8042	0.00	2.33	0.00	0.000	4	0.000	0.079	3071	3694	1989	0	0	0	0	0	0
8105	0.71	254.8	211.4	12.9	784	8109	0.00	2.30	0.00	0.000	6	0.000	0.063	3081	2275	1989	0	0	0	0	0	0
8431	0.71	254.8	175.3	11.2	814	8436	0.00	2.33	0.00	0.000	4	0.000	0.076	3090	860	1988	0	0	0	0	0	0
8494	0.71	254.8	168.2	11.3	819	8498	0.00	2.30	0.00	0.000	6	0.000	0.064	3091	2282	1987	0	0	0	0	0	0
8819	0.72	257.1	132.7	9.9	849	8823	0.00	2.33	0.00	0.000	4	0.000	0.079	3090	3687	1987	0	0	0	0	0	0
8915	0.72	257.1	121.6	11.7	857	8919	0.00	2.30	0.00	0.000	6	0.000	0.064	3101	2264	1987	0	0	0	0	0	0
9247	0.75	282.2	90.2	8.8	897	9282	0.00	2.38	26.75	1.003	4	0.000	0.078	3111	867	1878	0	0	0	0	0	0
9324	0.84	319.6	83.9	8.3	910	9365	0.00	2.33	35.03	0.985	6	0.000	0.064	3111	2277	1727	0	0	0	0	0	0
9704	0.91	319.6	51.7	10.5	977	9711	0.12	2.38	0.00	0.000	4	0.109	0.082	3161	3693	1719	0	0	0	0	0	0
9763	0.85	319.6	43.8	13.1	987	9771	0.12	2.33	0.00	0.000	6	0.219	0.065	3144	2276	1717	0	0	0	0	0	0
10061	end climb: FINISH_DEPTH_REACHED
state	10061	begin subsurface finish
10069	0.10	80.1	8.9	-10.5	1040	10117	0.80	2.38	-36.75	0.000	4	0.171	0.089	2907	868	2706	0	0	0	0	0	0
10118	end subsurface finish: CONTROL_FINISHED_OK
state	10118	begin surface