Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 554 * 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 554 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 22 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -46224.43 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -46224.43

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 22 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 554 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 050511,162353,6649.844,-6022.997,0,5095.2,0,-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 10.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 229.1,11044,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 545

Post-dive calculations and measurements:

FREEZE 8.18,-1.698,-1.766,2,89,0 _24V_AH 21.6,73.308

FINISH1 8.2,1.025864,80 _10V_AH 10.0,37.918

FINISH2 6.7 FG_AHR_24Vo 0.000

RAFOS_CLK 569 FG_AHR_10Vo 0.000

RAFOS_FIX 6649.843750,-6022.996582,050511,161653,5,95,0.22 MEM 150588

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40036,1054

TT8_MAMPS 0.026964 CAP_FILE_SIZE 119492,0

HUMID 48.22 CFSIZE 260165632,217530368

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 1452.0

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

ALTIM_TOP_PING 19.3,15.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 234 26.93 SBE_CT 752 24 389.96

Roll_motor 98 151 323.49 SBE_O2 807 19 331.21

VBD_pump_during_apogee 420 1276 11590.58 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 1 420 13.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2481 19 494.28

LPSleep 5489 2 126.81

TT8_Active 487 19 97.09

TT8_Sampling 1661 39 663.47

TT8_CF8 205 45 94.22

TT8_Kalman 0 0 0.00

Analog_circuits 1390 12 166.81

GPS_charging 0 0 0.00

Compass 1656 15 248.47

RAFOS 0 0 0.00

Transponder 12 30 3.85

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 -6.35 0.000 2 0.000 0.000 2906 868 2941 0 0 0 0 0 0

28 -0.62 -146.0 11.4 -0.0 1 52 0.68 0.38 -17.60 0.000 4 0.106 0.151 2669 1085 3627 0 0 0 0 0 0

223 -0.53 -146.0 42.8 -16.6 35 230 0.00 2.33 0.00 0.000 6 0.000 0.074 2669 2490 3629 0 0 0 0 0 0

565 -0.40 -146.0 112.9 -18.5 90 570 0.25 2.33 0.00 0.000 4 0.227 0.073 2734 1081 3629 0 0 0 0 0 0

576 -0.28 -146.0 115.3 -17.7 90 584 0.12 2.35 0.00 0.000 6 0.234 0.072 2763 2496 3629 0 0 0 0 0 0

905 -0.43 -146.0 138.7 -6.8 121 910 0.12 2.40 0.00 0.000 4 0.127 0.089 2719 3900 3628 0 0 0 0 0 0

934 -0.50 -146.0 141.6 -9.5 123 938 0.00 2.28 0.00 0.000 6 0.000 0.057 2719 2487 3628 0 0 0 0 0 0

1261 -0.54 -146.0 172.7 -7.7 153 1262 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2487 3628 0 0 0 0 0 0

1580 -0.59 -146.0 200.9 -8.7 183 1585 0.12 2.33 0.00 0.000 4 0.128 0.073 2675 1081 3627 0 0 0 0 0 0

1625 -0.57 -146.0 206.2 -12.1 186 1632 0.00 2.35 0.00 0.000 6 0.000 0.072 2675 2494 3628 0 0 0 0 0 0

1951 -0.52 -146.0 250.1 -14.7 217 1955 0.00 2.38 0.00 0.000 4 0.000 0.088 2675 3909 3627 0 0 0 0 0 0

1984 -0.50 -146.0 255.3 -14.3 219 1990 0.00 2.30 0.00 0.000 6 0.000 0.058 2675 2482 3627 0 0 0 0 0 0

2310 -0.46 -146.0 295.2 -11.2 250 2315 0.15 2.42 0.00 0.000 4 0.214 0.086 2710 3904 3627 0 0 0 0 0 0

2321 -0.44 -146.0 296.6 -10.9 250 2327 0.00 2.28 0.00 0.000 6 0.000 0.056 2710 2485 3627 0 0 0 0 0 0

2647 -0.51 -146.0 324.6 -8.5 281 2651 0.00 2.30 0.00 0.000 4 0.000 0.073 2710 1081 3627 0 0 0 0 0 0

2665 -0.57 -146.0 326.2 -8.9 282 2669 0.00 2.35 0.00 0.000 6 0.000 0.071 2710 2496 3627 0 0 0 0 0 0

2991 -0.65 -146.0 352.7 -8.1 312 2993 0.17 0.00 0.00 0.000 6 0.115 0.000 2652 2496 3626 0 0 0 0 0 0

3309 -0.58 -146.0 393.2 -13.1 342 3313 0.00 2.38 0.00 0.000 4 0.000 0.087 2651 3900 3626 0 0 0 0 0 0

3331 -0.50 -146.0 396.3 -13.3 343 3338 0.17 2.28 0.00 0.000 6 0.207 0.057 2693 2487 3627 0 0 0 0 0 0

3658 -0.54 -146.0 425.6 -8.5 374 3662 0.00 2.28 0.00 0.000 4 0.000 0.071 2693 1080 3627 0 0 0 0 0 0

3674 -0.57 -146.0 427.3 -8.8 375 3681 0.00 2.33 0.00 0.000 6 0.000 0.069 2693 2492 3627 0 0 0 0 0 0

4001 -0.61 -146.0 455.2 -8.6 406 4005 0.00 2.38 0.00 0.000 4 0.000 0.086 2693 3899 3626 0 0 0 0 0 0

4019 -0.66 -146.0 456.9 -8.8 407 4024 0.12 2.25 0.00 0.000 6 0.132 0.055 2652 2488 3626 0 0 0 0 0 0

4350 -0.59 -146.0 495.0 -11.6 438 4351 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2488 3627 0 0 0 0 0 0

4670 -0.53 -146.0 531.3 -11.3 468 4671 0.15 0.00 0.00 0.000 6 0.204 0.000 2688 2488 3627 0 0 0 0 0 0

4814 end dive: TARGET_DEPTH_EXCEEDED

state 4814 begin apogee

4821 -0.12 0.0 545.2 9.5 482 4953 0.43 0.00 125.00 1.277 6 0.189 0.000 2810 2261 3030 0 0 0 0 0 0

4954 end apogee: CONTROL_FINISHED_OK

state 4954 begin climb

4956 0.62 146.0 550.0 0.0 494 5095 0.85 0.00 132.07 1.229 6 0.153 0.000 3054 2262 2434 0 0 0 0 0 0

5412 0.58 150.7 510.5 9.8 537 5424 0.00 2.47 4.55 0.780 4 0.000 0.074 3054 3687 2414 0 0 0 0 0 0

5464 0.49 150.7 504.1 12.0 541 5472 0.15 2.35 0.00 0.000 6 0.188 0.061 3029 2278 2414 0 0 0 0 0 0

5789 0.53 183.2 475.4 8.5 572 5821 0.00 0.00 29.80 1.163 6 0.000 0.000 3029 2278 2283 0 0 0 0 0 0

6139 0.61 219.7 445.9 8.3 605 6178 0.00 0.00 33.85 1.155 6 0.000 0.000 3030 2278 2132 0 0 0 0 0 0

6497 0.67 230.2 413.3 9.5 639 6518 0.15 2.42 10.10 1.034 4 0.097 0.079 3106 860 2090 0 0 0 0 0 0

6542 0.60 230.2 407.6 14.5 643 6547 0.17 2.33 0.00 0.000 6 0.198 0.063 3063 2277 2089 0 0 0 0 0 0

6867 0.60 230.2 369.1 11.3 673 6871 0.00 2.33 0.00 0.000 4 0.000 0.077 3062 3694 2088 0 0 0 0 0 0

6957 0.57 230.2 357.3 13.9 681 6961 0.00 2.33 0.00 0.000 6 0.000 0.061 3071 2267 2087 0 0 0 0 0 0

7282 0.57 230.2 319.4 11.2 711 7286 0.00 2.30 0.00 0.000 4 0.000 0.076 3081 858 2086 0 0 0 0 0 0

7333 0.57 230.2 313.5 11.5 715 7338 0.12 2.30 0.00 0.000 6 0.185 0.063 3051 2276 2085 0 0 0 0 0 0

7664 0.62 243.8 282.6 9.4 746 7687 0.00 2.40 13.02 1.040 4 0.000 0.077 3051 3691 2036 0 0 0 0 0 0

7744 0.62 243.8 273.9 12.3 753 7748 0.00 2.33 0.00 0.000 6 0.000 0.061 3059 2264 2035 0 0 0 0 0 0

8070 0.65 243.8 239.1 10.6 783 8074 0.00 2.30 0.00 0.000 4 0.000 0.076 3070 866 2034 0 0 0 0 0 0

8110 0.70 243.8 234.9 10.4 786 8114 0.00 2.30 0.00 0.000 6 0.000 0.063 3069 2275 2032 0 0 0 0 0 0

8437 0.74 254.7 200.6 9.5 816 8453 0.00 2.33 11.00 0.986 4 0.000 0.077 3070 3686 1991 0 0 0 0 0 0

8489 0.74 254.7 195.2 10.8 820 8493 0.00 2.30 0.00 0.000 6 0.000 0.063 3080 2276 1991 0 0 0 0 0 0

8815 0.76 254.7 161.8 10.5 850 8819 0.00 2.30 0.00 0.000 4 0.000 0.076 3088 865 1990 0 0 0 0 0 0

8870 0.80 259.5 156.2 9.8 854 8881 0.00 2.33 5.97 0.848 6 0.000 0.063 3089 2285 1972 0 0 0 0 0 0

9202 0.87 295.3 123.8 8.3 885 9247 0.15 2.40 34.60 1.017 4 0.097 0.078 3149 3686 1824 0 0 0 0 0 0

9288 0.77 295.3 111.7 17.6 892 9296 0.17 2.35 0.00 0.000 6 0.211 0.063 3118 2271 1822 0 0 0 0 0 0

9628 0.81 309.0 72.8 9.4 945 9647 0.00 2.40 13.10 0.950 4 0.000 0.078 3124 863 1769 0 0 0 0 0 0

9740 0.88 315.4 62.4 9.7 964 9754 0.00 2.33 7.20 0.861 6 0.000 0.064 3125 2273 1744 0 0 0 0 0 0

10094 0.92 315.4 25.8 10.6 1026 10102 0.10 2.38 0.00 0.000 4 0.124 0.081 3164 3687 1740 0 0 0 0 0 0

10177 0.84 315.4 14.0 17.8 1040 10184 0.15 2.33 0.00 0.000 6 0.218 0.065 3142 2269 1738 0 0 0 0 0 0

10213 end climb: FINISH_DEPTH_REACHED

state 10213 begin subsurface finish

10219 0.10 80.2 8.2 -13.7 1046 10267 0.80 2.33 -39.17 0.000 4 0.175 0.089 2903 863 2705 0 0 0 0 0 0

10268 end subsurface finish: CONTROL_FINISHED_OK

state 10268 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	554	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	22	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-46224.43	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	050511,162353,6649.844,-6022.997,0,5095.2,0,-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	10.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	229.1,11044,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	545

FREEZE	8.18,-1.698,-1.766,2,89,0	_24V_AH	21.6,73.308
FINISH1	8.2,1.025864,80	_10V_AH	10.0,37.918
FINISH2	6.7	FG_AHR_24Vo	0.000
RAFOS_CLK	569	FG_AHR_10Vo	0.000
RAFOS_FIX	6649.843750,-6022.996582,050511,161653,5,95,0.22	MEM	150588
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40036,1054
TT8_MAMPS	0.026964	CAP_FILE_SIZE	119492,0
HUMID	48.22	CFSIZE	260165632,217530368
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	1452.0
XPDR_PINGS	0	GPS	050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6
ALTIM_TOP_PING	19.3,15.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	234	26.93	SBE_CT	752	24	389.96
Roll_motor	98	151	323.49	SBE_O2	807	19	331.21
VBD_pump_during_apogee	420	1276	11590.58	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	1	420	13.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2481	19	494.28
LPSleep	5489	2	126.81
TT8_Active	487	19	97.09
TT8_Sampling	1661	39	663.47
TT8_CF8	205	45	94.22
TT8_Kalman	0	0	0.00
Analog_circuits	1390	12	166.81
GPS_charging	0	0	0.00
Compass	1656	15	248.47
RAFOS	0	0	0.00
Transponder	12	30	3.85

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	-6.35	0.000	2	0.000	0.000	2906	868	2941	0	0	0	0	0	0
28	-0.62	-146.0	11.4	-0.0	1	52	0.68	0.38	-17.60	0.000	4	0.106	0.151	2669	1085	3627	0	0	0	0	0	0
223	-0.53	-146.0	42.8	-16.6	35	230	0.00	2.33	0.00	0.000	6	0.000	0.074	2669	2490	3629	0	0	0	0	0	0
565	-0.40	-146.0	112.9	-18.5	90	570	0.25	2.33	0.00	0.000	4	0.227	0.073	2734	1081	3629	0	0	0	0	0	0
576	-0.28	-146.0	115.3	-17.7	90	584	0.12	2.35	0.00	0.000	6	0.234	0.072	2763	2496	3629	0	0	0	0	0	0
905	-0.43	-146.0	138.7	-6.8	121	910	0.12	2.40	0.00	0.000	4	0.127	0.089	2719	3900	3628	0	0	0	0	0	0
934	-0.50	-146.0	141.6	-9.5	123	938	0.00	2.28	0.00	0.000	6	0.000	0.057	2719	2487	3628	0	0	0	0	0	0
1261	-0.54	-146.0	172.7	-7.7	153	1262	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2487	3628	0	0	0	0	0	0
1580	-0.59	-146.0	200.9	-8.7	183	1585	0.12	2.33	0.00	0.000	4	0.128	0.073	2675	1081	3627	0	0	0	0	0	0
1625	-0.57	-146.0	206.2	-12.1	186	1632	0.00	2.35	0.00	0.000	6	0.000	0.072	2675	2494	3628	0	0	0	0	0	0
1951	-0.52	-146.0	250.1	-14.7	217	1955	0.00	2.38	0.00	0.000	4	0.000	0.088	2675	3909	3627	0	0	0	0	0	0
1984	-0.50	-146.0	255.3	-14.3	219	1990	0.00	2.30	0.00	0.000	6	0.000	0.058	2675	2482	3627	0	0	0	0	0	0
2310	-0.46	-146.0	295.2	-11.2	250	2315	0.15	2.42	0.00	0.000	4	0.214	0.086	2710	3904	3627	0	0	0	0	0	0
2321	-0.44	-146.0	296.6	-10.9	250	2327	0.00	2.28	0.00	0.000	6	0.000	0.056	2710	2485	3627	0	0	0	0	0	0
2647	-0.51	-146.0	324.6	-8.5	281	2651	0.00	2.30	0.00	0.000	4	0.000	0.073	2710	1081	3627	0	0	0	0	0	0
2665	-0.57	-146.0	326.2	-8.9	282	2669	0.00	2.35	0.00	0.000	6	0.000	0.071	2710	2496	3627	0	0	0	0	0	0
2991	-0.65	-146.0	352.7	-8.1	312	2993	0.17	0.00	0.00	0.000	6	0.115	0.000	2652	2496	3626	0	0	0	0	0	0
3309	-0.58	-146.0	393.2	-13.1	342	3313	0.00	2.38	0.00	0.000	4	0.000	0.087	2651	3900	3626	0	0	0	0	0	0
3331	-0.50	-146.0	396.3	-13.3	343	3338	0.17	2.28	0.00	0.000	6	0.207	0.057	2693	2487	3627	0	0	0	0	0	0
3658	-0.54	-146.0	425.6	-8.5	374	3662	0.00	2.28	0.00	0.000	4	0.000	0.071	2693	1080	3627	0	0	0	0	0	0
3674	-0.57	-146.0	427.3	-8.8	375	3681	0.00	2.33	0.00	0.000	6	0.000	0.069	2693	2492	3627	0	0	0	0	0	0
4001	-0.61	-146.0	455.2	-8.6	406	4005	0.00	2.38	0.00	0.000	4	0.000	0.086	2693	3899	3626	0	0	0	0	0	0
4019	-0.66	-146.0	456.9	-8.8	407	4024	0.12	2.25	0.00	0.000	6	0.132	0.055	2652	2488	3626	0	0	0	0	0	0
4350	-0.59	-146.0	495.0	-11.6	438	4351	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2488	3627	0	0	0	0	0	0
4670	-0.53	-146.0	531.3	-11.3	468	4671	0.15	0.00	0.00	0.000	6	0.204	0.000	2688	2488	3627	0	0	0	0	0	0
4814	end dive: TARGET_DEPTH_EXCEEDED
state	4814	begin apogee
4821	-0.12	0.0	545.2	9.5	482	4953	0.43	0.00	125.00	1.277	6	0.189	0.000	2810	2261	3030	0	0	0	0	0	0
4954	end apogee: CONTROL_FINISHED_OK
state	4954	begin climb
4956	0.62	146.0	550.0	0.0	494	5095	0.85	0.00	132.07	1.229	6	0.153	0.000	3054	2262	2434	0	0	0	0	0	0
5412	0.58	150.7	510.5	9.8	537	5424	0.00	2.47	4.55	0.780	4	0.000	0.074	3054	3687	2414	0	0	0	0	0	0
5464	0.49	150.7	504.1	12.0	541	5472	0.15	2.35	0.00	0.000	6	0.188	0.061	3029	2278	2414	0	0	0	0	0	0
5789	0.53	183.2	475.4	8.5	572	5821	0.00	0.00	29.80	1.163	6	0.000	0.000	3029	2278	2283	0	0	0	0	0	0
6139	0.61	219.7	445.9	8.3	605	6178	0.00	0.00	33.85	1.155	6	0.000	0.000	3030	2278	2132	0	0	0	0	0	0
6497	0.67	230.2	413.3	9.5	639	6518	0.15	2.42	10.10	1.034	4	0.097	0.079	3106	860	2090	0	0	0	0	0	0
6542	0.60	230.2	407.6	14.5	643	6547	0.17	2.33	0.00	0.000	6	0.198	0.063	3063	2277	2089	0	0	0	0	0	0
6867	0.60	230.2	369.1	11.3	673	6871	0.00	2.33	0.00	0.000	4	0.000	0.077	3062	3694	2088	0	0	0	0	0	0
6957	0.57	230.2	357.3	13.9	681	6961	0.00	2.33	0.00	0.000	6	0.000	0.061	3071	2267	2087	0	0	0	0	0	0
7282	0.57	230.2	319.4	11.2	711	7286	0.00	2.30	0.00	0.000	4	0.000	0.076	3081	858	2086	0	0	0	0	0	0
7333	0.57	230.2	313.5	11.5	715	7338	0.12	2.30	0.00	0.000	6	0.185	0.063	3051	2276	2085	0	0	0	0	0	0
7664	0.62	243.8	282.6	9.4	746	7687	0.00	2.40	13.02	1.040	4	0.000	0.077	3051	3691	2036	0	0	0	0	0	0
7744	0.62	243.8	273.9	12.3	753	7748	0.00	2.33	0.00	0.000	6	0.000	0.061	3059	2264	2035	0	0	0	0	0	0
8070	0.65	243.8	239.1	10.6	783	8074	0.00	2.30	0.00	0.000	4	0.000	0.076	3070	866	2034	0	0	0	0	0	0
8110	0.70	243.8	234.9	10.4	786	8114	0.00	2.30	0.00	0.000	6	0.000	0.063	3069	2275	2032	0	0	0	0	0	0
8437	0.74	254.7	200.6	9.5	816	8453	0.00	2.33	11.00	0.986	4	0.000	0.077	3070	3686	1991	0	0	0	0	0	0
8489	0.74	254.7	195.2	10.8	820	8493	0.00	2.30	0.00	0.000	6	0.000	0.063	3080	2276	1991	0	0	0	0	0	0
8815	0.76	254.7	161.8	10.5	850	8819	0.00	2.30	0.00	0.000	4	0.000	0.076	3088	865	1990	0	0	0	0	0	0
8870	0.80	259.5	156.2	9.8	854	8881	0.00	2.33	5.97	0.848	6	0.000	0.063	3089	2285	1972	0	0	0	0	0	0
9202	0.87	295.3	123.8	8.3	885	9247	0.15	2.40	34.60	1.017	4	0.097	0.078	3149	3686	1824	0	0	0	0	0	0
9288	0.77	295.3	111.7	17.6	892	9296	0.17	2.35	0.00	0.000	6	0.211	0.063	3118	2271	1822	0	0	0	0	0	0
9628	0.81	309.0	72.8	9.4	945	9647	0.00	2.40	13.10	0.950	4	0.000	0.078	3124	863	1769	0	0	0	0	0	0
9740	0.88	315.4	62.4	9.7	964	9754	0.00	2.33	7.20	0.861	6	0.000	0.064	3125	2273	1744	0	0	0	0	0	0
10094	0.92	315.4	25.8	10.6	1026	10102	0.10	2.38	0.00	0.000	4	0.124	0.081	3164	3687	1740	0	0	0	0	0	0
10177	0.84	315.4	14.0	17.8	1040	10184	0.15	2.33	0.00	0.000	6	0.218	0.065	3142	2269	1738	0	0	0	0	0	0
10213	end climb: FINISH_DEPTH_REACHED
state	10213	begin subsurface finish
10219	0.10	80.2	8.2	-13.7	1046	10267	0.80	2.33	-39.17	0.000	4	0.175	0.089	2903	863	2705	0	0	0	0	0	0
10268	end subsurface finish: CONTROL_FINISHED_OK
state	10268	begin surface