Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 555 * 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 555 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 18 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 18 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 555 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 10.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.3 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 3.28,-1.693,-1.763,2,90,2 ALTIM_TOP_PING 19.8,17.0

SM_CCo 10110,91.82,0.876,0,0,750,559.04 _24V_AH 21.6,73.480

SM_GC 4.67,10.95,0.00,0.00,0.191,0.000,0.000,112,2497,733,-8.58,0.20,563.45 _10V_AH 10.0,37.983

RAFOS_CLK 589 FG_AHR_24Vo 0.000

RAFOS 0,1304625661,20.033333,20.016945,122,61,58,55,52,52,598,201,176,225,133,213 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.421387,-6025.159180,050511,202032,5,108,0.33 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 40075,1051

TT8_MAMPS 0.026215 CAP_FILE_SIZE 120262,0

HUMID 48.14 CFSIZE 260165632,217464832

INTERNAL_PRESSURE 8.46712 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 0 GPS 050511,202432,6647.421,-6025.159,0,5108.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 223 74.18 SBE_CT 752 24 389.96

Roll_motor 91 87 174.49 SBE_O2 801 19 329.11

VBD_pump_during_apogee 455 1275 12541.47 nil 0 0 0.00

VBD_pump_during_surface 91 875 1737.33 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 15.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2551 19 508.34

LPSleep 5638 2 130.26

TT8_Active 558 19 111.33

TT8_Sampling 1679 39 670.32

TT8_CF8 205 45 94.58

TT8_Kalman 0 0 0.00

Analog_circuits 1477 12 177.28

GPS_charging 0 0 0.00

Compass 1668 15 250.28

RAFOS 2520 1 37.80

Transponder 15 30 4.71

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.82 0.000 2 0.000 0.000 2903 862 2924 0 0 0 0 0 0

27 -0.62 -146.0 11.5 -0.0 1 57 0.68 5.20 -17.70 0.000 4 0.103 0.086 2665 3896 3629 0 0 0 0 0 0

194 -0.53 -146.0 40.2 -17.3 30 201 0.00 2.28 0.00 0.000 6 0.000 0.060 2665 2491 3631 0 0 0 0 0 0

536 -0.39 -146.0 109.9 -18.4 86 541 0.25 2.30 0.00 0.000 4 0.223 0.073 2731 1081 3630 0 0 0 0 0 0

588 -0.44 -146.0 117.3 -11.5 90 592 0.00 2.33 0.00 0.000 6 0.000 0.071 2730 2493 3631 0 0 0 0 0 0

920 -0.50 -146.0 151.3 -9.6 121 925 0.00 2.38 0.00 0.000 4 0.000 0.088 2731 3899 3630 0 0 0 0 0 0

943 -0.57 -146.0 153.7 -9.7 122 950 0.15 2.28 0.00 0.000 6 0.118 0.057 2680 2486 3630 0 0 0 0 0 0

1269 -0.52 -146.0 199.4 -13.4 153 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2486 3630 0 0 0 0 0 0

1588 -0.48 -146.0 237.3 -11.1 183 1592 0.00 2.30 0.00 0.000 4 0.000 0.075 2680 1070 3629 0 0 0 0 0 0

1663 -0.48 -146.0 245.7 -11.0 189 1667 0.00 2.35 0.00 0.000 6 0.000 0.072 2679 2489 3629 0 0 0 0 0 0

1994 -0.45 -146.0 282.2 -10.9 220 1999 0.15 2.40 0.00 0.000 4 0.215 0.087 2715 3907 3629 0 0 0 0 0 0

2035 -0.55 -146.0 285.9 -7.5 223 2039 0.00 2.30 0.00 0.000 6 0.000 0.057 2715 2479 3628 0 0 0 0 0 0

2361 -0.62 -146.0 309.4 -7.2 253 2363 0.15 0.00 0.00 0.000 6 0.124 0.000 2663 2479 3629 0 0 0 0 0 0

2679 -0.57 -146.0 347.1 -12.4 283 2680 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2479 3629 0 0 0 0 0 0

2998 -0.53 -146.0 385.4 -11.2 313 2999 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2479 3629 0 0 0 0 0 0

3316 -0.49 -146.0 420.4 -10.7 343 3318 0.15 0.00 0.00 0.000 6 0.216 0.000 2699 2479 3628 0 0 0 0 0 0

3637 -0.54 -146.0 445.7 -7.7 373 3638 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2478 3630 0 0 0 0 0 0

3953 -0.59 -146.0 471.0 -8.0 403 3957 0.00 2.28 0.00 0.000 4 0.000 0.072 2699 1072 3629 0 0 0 0 0 0

3965 -0.65 -146.0 472.0 -7.7 403 3972 0.15 2.35 0.00 0.000 6 0.122 0.070 2649 2496 3629 0 0 0 0 0 0

4290 -0.59 -146.0 509.6 -11.5 434 4294 0.00 2.38 0.00 0.000 4 0.000 0.086 2649 3908 3629 0 0 0 0 0 0

4330 -0.55 -146.0 514.6 -12.5 437 4337 0.15 2.28 0.00 0.000 6 0.197 0.056 2684 2489 3629 0 0 0 0 0 0

4656 -0.59 -146.0 544.2 -8.7 468 4660 0.00 2.28 0.00 0.000 4 0.000 0.070 2685 1077 3629 0 0 0 0 0 0

4664 end dive: TARGET_DEPTH_EXCEEDED

state 4664 begin apogee

4672 -0.12 0.0 545.3 8.5 468 4803 0.40 0.00 125.40 1.275 6 0.141 0.000 2814 2277 3030 0 0 0 0 0 0

4804 end apogee: CONTROL_FINISHED_OK

state 4804 begin climb

4807 0.62 146.0 545.6 0.0 480 4950 0.80 2.65 131.73 1.225 4 0.135 0.076 3053 3680 2432 0 0 0 0 0 0

5055 0.53 146.0 526.6 12.4 502 5059 0.00 2.47 0.00 0.000 6 0.000 0.061 3064 2278 2428 0 0 0 0 0 0

5380 0.46 146.0 491.6 10.6 532 5382 0.17 0.00 0.00 0.000 6 0.184 0.000 3019 2278 2426 0 0 0 0 0 0

5699 0.55 194.7 465.5 7.8 562 5749 0.00 0.00 42.45 1.174 6 0.000 0.000 3019 2278 2235 0 0 0 0 0 0

6070 0.64 221.7 434.5 8.8 597 6104 0.15 2.42 24.83 1.134 4 0.097 0.076 3082 3681 2126 0 0 0 0 0 0

6140 0.55 221.7 425.1 15.3 603 6145 0.20 2.35 0.00 0.000 6 0.198 0.062 3043 2265 2123 0 0 0 0 0 0

6465 0.58 221.7 390.1 10.3 633 6469 0.00 2.30 0.00 0.000 4 0.000 0.077 3051 861 2121 0 0 0 0 0 0

6516 0.62 221.7 384.8 10.7 637 6521 0.00 2.33 0.00 0.000 6 0.000 0.064 3051 2277 2119 0 0 0 0 0 0

6842 0.65 221.7 350.7 10.2 667 6846 0.00 2.33 0.00 0.000 4 0.000 0.078 3051 3686 2119 0 0 0 0 0 0

6887 0.65 221.7 345.6 12.0 671 6891 0.00 2.30 0.00 0.000 6 0.000 0.062 3061 2272 2119 0 0 0 0 0 0

7213 0.65 221.7 311.2 10.5 701 7217 0.00 2.30 0.00 0.000 4 0.000 0.076 3072 861 2118 0 0 0 0 0 0

7252 0.65 221.7 307.0 10.6 704 7256 0.00 2.30 0.00 0.000 6 0.000 0.063 3072 2276 2118 0 0 0 0 0 0

7579 0.65 221.7 269.4 12.3 734 7583 0.00 2.35 0.00 0.000 4 0.000 0.079 3071 3686 2117 0 0 0 0 0 0

7623 0.59 221.7 263.3 13.9 737 7630 0.00 2.30 0.00 0.000 6 0.000 0.062 3082 2269 2117 0 0 0 0 0 0

7949 0.57 221.7 225.0 10.9 768 7953 0.12 2.28 0.00 0.000 4 0.185 0.075 3058 866 2117 0 0 0 0 0 0

7999 0.66 251.2 220.3 8.6 772 8031 0.00 2.30 26.80 1.054 6 0.000 0.063 3057 2280 2005 0 0 0 0 0 0

8353 0.73 258.5 186.3 9.7 805 8366 0.12 2.40 7.25 0.900 4 0.104 0.080 3113 3692 1976 0 0 0 0 0 0

8417 0.63 258.5 176.9 16.1 810 8424 0.20 2.33 0.00 0.000 6 0.205 0.063 3075 2269 1975 0 0 0 0 0 0

8743 0.72 288.5 143.2 8.6 841 8777 0.00 2.40 29.33 1.024 4 0.000 0.077 3083 866 1853 0 0 0 0 0 0

8825 0.81 297.3 136.0 9.6 848 8840 0.12 2.33 9.38 0.913 6 0.113 0.063 3135 2277 1817 0 0 0 0 0 0

9164 0.78 297.3 92.4 11.9 885 9171 0.00 2.35 0.00 0.000 4 0.000 0.080 3135 3688 1812 0 0 0 0 0 0

9271 0.72 297.3 77.9 16.0 903 9278 0.17 2.33 0.00 0.000 6 0.200 0.064 3102 2269 1810 0 0 0 0 0 0

9620 0.86 354.3 45.7 7.4 964 9679 0.12 2.38 50.92 0.981 4 0.110 0.076 3164 866 1583 0 0 0 0 0 0

9764 0.86 354.3 28.6 12.7 989 9771 0.00 2.35 0.00 0.000 6 0.000 0.065 3164 2278 1579 0 0 0 0 0 0

10096 0.93 568.1 3.2 0.1 1050 10105 0.00 0.00 7.22 0.825 2 0.000 0.000 3163 2278 1519 0 0 0 0 0 0

10107 end climb: NO_VERTICAL_VELOCITY

state 10107 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	555	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	18	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	10.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.3	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	3.28,-1.693,-1.763,2,90,2	ALTIM_TOP_PING	19.8,17.0
SM_CCo	10110,91.82,0.876,0,0,750,559.04	_24V_AH	21.6,73.480
SM_GC	4.67,10.95,0.00,0.00,0.191,0.000,0.000,112,2497,733,-8.58,0.20,563.45	_10V_AH	10.0,37.983
RAFOS_CLK	589	FG_AHR_24Vo	0.000
RAFOS	0,1304625661,20.033333,20.016945,122,61,58,55,52,52,598,201,176,225,133,213	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.421387,-6025.159180,050511,202032,5,108,0.33	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	40075,1051
TT8_MAMPS	0.026215	CAP_FILE_SIZE	120262,0
HUMID	48.14	CFSIZE	260165632,217464832
INTERNAL_PRESSURE	8.46712	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	0	GPS	050511,202432,6647.421,-6025.159,0,5108.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	223	74.18	SBE_CT	752	24	389.96
Roll_motor	91	87	174.49	SBE_O2	801	19	329.11
VBD_pump_during_apogee	455	1275	12541.47	nil	0	0	0.00
VBD_pump_during_surface	91	875	1737.33	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	15.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2551	19	508.34
LPSleep	5638	2	130.26
TT8_Active	558	19	111.33
TT8_Sampling	1679	39	670.32
TT8_CF8	205	45	94.58
TT8_Kalman	0	0	0.00
Analog_circuits	1477	12	177.28
GPS_charging	0	0	0.00
Compass	1668	15	250.28
RAFOS	2520	1	37.80
Transponder	15	30	4.71

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.82	0.000	2	0.000	0.000	2903	862	2924	0	0	0	0	0	0
27	-0.62	-146.0	11.5	-0.0	1	57	0.68	5.20	-17.70	0.000	4	0.103	0.086	2665	3896	3629	0	0	0	0	0	0
194	-0.53	-146.0	40.2	-17.3	30	201	0.00	2.28	0.00	0.000	6	0.000	0.060	2665	2491	3631	0	0	0	0	0	0
536	-0.39	-146.0	109.9	-18.4	86	541	0.25	2.30	0.00	0.000	4	0.223	0.073	2731	1081	3630	0	0	0	0	0	0
588	-0.44	-146.0	117.3	-11.5	90	592	0.00	2.33	0.00	0.000	6	0.000	0.071	2730	2493	3631	0	0	0	0	0	0
920	-0.50	-146.0	151.3	-9.6	121	925	0.00	2.38	0.00	0.000	4	0.000	0.088	2731	3899	3630	0	0	0	0	0	0
943	-0.57	-146.0	153.7	-9.7	122	950	0.15	2.28	0.00	0.000	6	0.118	0.057	2680	2486	3630	0	0	0	0	0	0
1269	-0.52	-146.0	199.4	-13.4	153	1270	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2486	3630	0	0	0	0	0	0
1588	-0.48	-146.0	237.3	-11.1	183	1592	0.00	2.30	0.00	0.000	4	0.000	0.075	2680	1070	3629	0	0	0	0	0	0
1663	-0.48	-146.0	245.7	-11.0	189	1667	0.00	2.35	0.00	0.000	6	0.000	0.072	2679	2489	3629	0	0	0	0	0	0
1994	-0.45	-146.0	282.2	-10.9	220	1999	0.15	2.40	0.00	0.000	4	0.215	0.087	2715	3907	3629	0	0	0	0	0	0
2035	-0.55	-146.0	285.9	-7.5	223	2039	0.00	2.30	0.00	0.000	6	0.000	0.057	2715	2479	3628	0	0	0	0	0	0
2361	-0.62	-146.0	309.4	-7.2	253	2363	0.15	0.00	0.00	0.000	6	0.124	0.000	2663	2479	3629	0	0	0	0	0	0
2679	-0.57	-146.0	347.1	-12.4	283	2680	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2479	3629	0	0	0	0	0	0
2998	-0.53	-146.0	385.4	-11.2	313	2999	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2479	3629	0	0	0	0	0	0
3316	-0.49	-146.0	420.4	-10.7	343	3318	0.15	0.00	0.00	0.000	6	0.216	0.000	2699	2479	3628	0	0	0	0	0	0
3637	-0.54	-146.0	445.7	-7.7	373	3638	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2478	3630	0	0	0	0	0	0
3953	-0.59	-146.0	471.0	-8.0	403	3957	0.00	2.28	0.00	0.000	4	0.000	0.072	2699	1072	3629	0	0	0	0	0	0
3965	-0.65	-146.0	472.0	-7.7	403	3972	0.15	2.35	0.00	0.000	6	0.122	0.070	2649	2496	3629	0	0	0	0	0	0
4290	-0.59	-146.0	509.6	-11.5	434	4294	0.00	2.38	0.00	0.000	4	0.000	0.086	2649	3908	3629	0	0	0	0	0	0
4330	-0.55	-146.0	514.6	-12.5	437	4337	0.15	2.28	0.00	0.000	6	0.197	0.056	2684	2489	3629	0	0	0	0	0	0
4656	-0.59	-146.0	544.2	-8.7	468	4660	0.00	2.28	0.00	0.000	4	0.000	0.070	2685	1077	3629	0	0	0	0	0	0
4664	end dive: TARGET_DEPTH_EXCEEDED
state	4664	begin apogee
4672	-0.12	0.0	545.3	8.5	468	4803	0.40	0.00	125.40	1.275	6	0.141	0.000	2814	2277	3030	0	0	0	0	0	0
4804	end apogee: CONTROL_FINISHED_OK
state	4804	begin climb
4807	0.62	146.0	545.6	0.0	480	4950	0.80	2.65	131.73	1.225	4	0.135	0.076	3053	3680	2432	0	0	0	0	0	0
5055	0.53	146.0	526.6	12.4	502	5059	0.00	2.47	0.00	0.000	6	0.000	0.061	3064	2278	2428	0	0	0	0	0	0
5380	0.46	146.0	491.6	10.6	532	5382	0.17	0.00	0.00	0.000	6	0.184	0.000	3019	2278	2426	0	0	0	0	0	0
5699	0.55	194.7	465.5	7.8	562	5749	0.00	0.00	42.45	1.174	6	0.000	0.000	3019	2278	2235	0	0	0	0	0	0
6070	0.64	221.7	434.5	8.8	597	6104	0.15	2.42	24.83	1.134	4	0.097	0.076	3082	3681	2126	0	0	0	0	0	0
6140	0.55	221.7	425.1	15.3	603	6145	0.20	2.35	0.00	0.000	6	0.198	0.062	3043	2265	2123	0	0	0	0	0	0
6465	0.58	221.7	390.1	10.3	633	6469	0.00	2.30	0.00	0.000	4	0.000	0.077	3051	861	2121	0	0	0	0	0	0
6516	0.62	221.7	384.8	10.7	637	6521	0.00	2.33	0.00	0.000	6	0.000	0.064	3051	2277	2119	0	0	0	0	0	0
6842	0.65	221.7	350.7	10.2	667	6846	0.00	2.33	0.00	0.000	4	0.000	0.078	3051	3686	2119	0	0	0	0	0	0
6887	0.65	221.7	345.6	12.0	671	6891	0.00	2.30	0.00	0.000	6	0.000	0.062	3061	2272	2119	0	0	0	0	0	0
7213	0.65	221.7	311.2	10.5	701	7217	0.00	2.30	0.00	0.000	4	0.000	0.076	3072	861	2118	0	0	0	0	0	0
7252	0.65	221.7	307.0	10.6	704	7256	0.00	2.30	0.00	0.000	6	0.000	0.063	3072	2276	2118	0	0	0	0	0	0
7579	0.65	221.7	269.4	12.3	734	7583	0.00	2.35	0.00	0.000	4	0.000	0.079	3071	3686	2117	0	0	0	0	0	0
7623	0.59	221.7	263.3	13.9	737	7630	0.00	2.30	0.00	0.000	6	0.000	0.062	3082	2269	2117	0	0	0	0	0	0
7949	0.57	221.7	225.0	10.9	768	7953	0.12	2.28	0.00	0.000	4	0.185	0.075	3058	866	2117	0	0	0	0	0	0
7999	0.66	251.2	220.3	8.6	772	8031	0.00	2.30	26.80	1.054	6	0.000	0.063	3057	2280	2005	0	0	0	0	0	0
8353	0.73	258.5	186.3	9.7	805	8366	0.12	2.40	7.25	0.900	4	0.104	0.080	3113	3692	1976	0	0	0	0	0	0
8417	0.63	258.5	176.9	16.1	810	8424	0.20	2.33	0.00	0.000	6	0.205	0.063	3075	2269	1975	0	0	0	0	0	0
8743	0.72	288.5	143.2	8.6	841	8777	0.00	2.40	29.33	1.024	4	0.000	0.077	3083	866	1853	0	0	0	0	0	0
8825	0.81	297.3	136.0	9.6	848	8840	0.12	2.33	9.38	0.913	6	0.113	0.063	3135	2277	1817	0	0	0	0	0	0
9164	0.78	297.3	92.4	11.9	885	9171	0.00	2.35	0.00	0.000	4	0.000	0.080	3135	3688	1812	0	0	0	0	0	0
9271	0.72	297.3	77.9	16.0	903	9278	0.17	2.33	0.00	0.000	6	0.200	0.064	3102	2269	1810	0	0	0	0	0	0
9620	0.86	354.3	45.7	7.4	964	9679	0.12	2.38	50.92	0.981	4	0.110	0.076	3164	866	1583	0	0	0	0	0	0
9764	0.86	354.3	28.6	12.7	989	9771	0.00	2.35	0.00	0.000	6	0.000	0.065	3164	2278	1579	0	0	0	0	0	0
10096	0.93	568.1	3.2	0.1	1050	10105	0.00	0.00	7.22	0.825	2	0.000	0.000	3163	2278	1519	0	0	0	0	0	0
10107	end climb: NO_VERTICAL_VELOCITY
state	10107	begin surface