Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 561 * 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 561 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 -46593.008 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 -46593.008

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 561 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 060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 6.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 119.2,146834,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 637

Post-dive calculations and measurements:

FREEZE 8.36,-1.691,-1.766,2,96,0 ALTIM_BOTTOM_PING 601.0,35.4

FINISH1 8.4,1.025864,80 _24V_AH 21.5,74.339

FINISH2 6.6 _10V_AH 10.0,38.390

RAFOS_CLK 640 FG_AHR_24Vo 0.000

RAFOS 0,1304697661,16.033333,16.016945,88,65,61,60,55,52,668,206,174,157,118,138 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.382324,-6010.150879,060511,161632,4,104,0.14 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43379,1147

TT8_MAMPS 0.029211 CAP_FILE_SIZE 128700,0

HUMID 47.71 CFSIZE 260165632,217055232

INTERNAL_PRESSURE 8.67221 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1453.0

XPDR_PINGS 1 GPS 060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6

ALTIM_TOP_PING 19.7,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 234 25.88 SBE_CT 818 24 422.41

Roll_motor 105 97 220.79 SBE_O2 873 19 356.91

VBD_pump_during_apogee 435 1328 12429.79 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 22.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2730 19 543.90

LPSleep 6257 2 144.54

TT8_Active 524 19 104.38

TT8_Sampling 1890 39 754.60

TT8_CF8 217 45 99.93

TT8_Kalman 0 0 0.00

Analog_circuits 1559 12 187.10

GPS_charging 0 0 0.00

Compass 1870 15 280.62

RAFOS 2160 1 32.40

Transponder 17 30 5.32

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 93 0.00 0.00 -73.70 0.000 2 0.000 0.000 2902 2287 3087 0 0 0 0 0 0

96 -0.62 -146.0 5.1 -2.4 13 126 0.68 0.00 -22.48 0.000 6 0.109 0.000 2667 2288 3627 0 0 0 0 0 0

466 -0.45 -146.0 71.5 -20.9 78 474 0.17 2.75 0.00 0.000 4 0.235 0.089 2707 3899 3628 0 0 0 0 0 0

661 -0.48 -146.0 100.1 -13.0 112 666 0.00 2.25 0.00 0.000 6 0.000 0.059 2707 2487 3628 0 0 0 0 0 0

986 -0.48 -146.0 140.3 -11.1 142 990 0.00 2.33 0.00 0.000 4 0.000 0.076 2708 1068 3627 0 0 0 0 0 0

1009 -0.48 -146.0 142.8 -10.5 143 1015 0.00 2.38 0.00 0.000 6 0.000 0.074 2707 2496 3627 0 0 0 0 0 0

1334 -0.48 -146.0 179.3 -11.0 174 1338 0.00 2.38 0.00 0.000 4 0.000 0.090 2707 3906 3627 0 0 0 0 0 0

1392 -0.54 -146.0 185.1 -10.1 179 1396 0.00 2.28 0.00 0.000 6 0.000 0.059 2707 2482 3627 0 0 0 0 0 0

1718 -0.58 -146.0 218.0 -9.9 209 1722 0.00 2.28 0.00 0.000 4 0.000 0.074 2708 1082 3627 0 0 0 0 0 0

1742 -0.61 -146.0 220.5 -10.3 211 1747 0.12 2.33 0.00 0.000 6 0.137 0.073 2667 2494 3627 0 0 0 0 0 0

2068 -0.55 -146.0 261.8 -12.5 241 2072 0.00 2.38 0.00 0.000 4 0.000 0.090 2667 3900 3626 0 0 0 0 0 0

2096 -0.50 -146.0 265.7 -13.4 243 2103 0.12 2.28 0.00 0.000 6 0.208 0.059 2694 2492 3626 0 0 0 0 0 0

2421 -0.50 -146.0 298.5 -9.7 274 2422 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2492 3626 0 0 0 0 0 0

2743 -0.52 -146.0 328.1 -9.4 304 2747 0.00 2.30 0.00 0.000 4 0.000 0.073 2695 1079 3626 0 0 0 0 0 0

2800 -0.57 -146.0 334.0 -9.7 309 2805 0.00 2.35 0.00 0.000 6 0.000 0.072 2695 2494 3626 0 0 0 0 0 0

3127 -0.60 -146.0 365.1 -9.3 339 3128 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2494 3625 0 0 0 0 0 0

3446 -0.64 -146.0 393.9 -8.8 369 3448 0.12 0.00 0.00 0.000 6 0.132 0.000 2652 2494 3625 0 0 0 0 0 0

3763 -0.57 -146.0 431.9 -12.4 399 3768 0.00 2.35 0.00 0.000 4 0.000 0.086 2652 3899 3626 0 0 0 0 0 0

3827 -0.54 -146.0 439.8 -12.1 404 3831 0.12 2.25 0.00 0.000 6 0.203 0.057 2681 2487 3626 0 0 0 0 0 0

4152 -0.54 -146.0 471.8 -9.9 434 4156 0.00 2.28 0.00 0.000 4 0.000 0.071 2681 1074 3626 0 0 0 0 0 0

4196 -0.58 -146.0 476.5 -10.5 437 4203 0.00 2.35 0.00 0.000 6 0.000 0.070 2681 2496 3626 0 0 0 0 0 0

4521 -0.58 -146.0 508.4 -9.3 468 4522 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2496 3626 0 0 0 0 0 0

4842 -0.58 -146.0 537.3 -8.6 498 4846 0.00 2.35 0.00 0.000 4 0.000 0.085 2681 3906 3627 0 0 0 0 0 0

4882 -0.62 -146.0 541.0 -8.7 501 4887 0.00 2.25 0.00 0.000 6 0.000 0.055 2681 2487 3627 0 0 0 0 0 0

5208 -0.65 -146.0 569.6 -9.3 531 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2487 3627 0 0 0 0 0 0

5528 -0.67 -146.0 598.9 -9.2 561 5530 0.10 0.00 0.00 0.000 6 0.150 0.000 2648 2487 3627 0 0 0 0 0 0

5729 end dive: BOTTOM_OBSTACLE_DETECTED

state 5730 begin apogee

5736 -0.12 0.0 623.4 12.6 569 5870 0.60 0.00 125.65 1.329 6 0.205 0.000 2810 2254 3030 0 0 0 0 0 0

5871 end apogee: CONTROL_FINISHED_OK

state 5871 begin climb

5874 0.62 146.0 628.3 0.0 573 6020 0.82 2.65 133.10 1.277 4 0.147 0.076 3062 882 2432 0 0 0 0 0 0

6071 0.57 146.0 614.6 10.8 579 6075 0.00 2.47 0.00 0.000 6 0.000 0.063 3062 2275 2429 0 0 0 0 0 0

6397 0.50 146.0 580.0 10.3 600 6402 0.12 2.38 0.00 0.000 4 0.185 0.077 3031 3691 2426 0 0 0 0 0 0

6482 0.45 146.0 571.1 10.9 607 6487 0.12 2.33 0.00 0.000 6 0.193 0.061 3011 2284 2425 0 0 0 0 0 0

6808 0.55 199.2 545.8 7.5 637 6862 0.00 0.00 46.72 1.222 6 0.000 0.000 3011 2284 2216 0 0 0 0 0 0

7181 0.69 252.1 516.3 7.6 672 7238 0.22 2.45 47.83 1.206 4 0.082 0.079 3114 859 2001 0 0 0 0 0 0

7257 0.60 252.1 506.1 15.8 678 7264 0.20 2.40 0.00 0.000 6 0.204 0.064 3066 2280 1999 0 0 0 0 0 0

7582 0.60 252.1 463.4 13.3 709 7586 0.00 2.33 0.00 0.000 4 0.000 0.078 3066 3689 1992 0 0 0 0 0 0

7616 0.60 252.1 458.7 13.8 712 7620 0.00 2.33 0.00 0.000 6 0.000 0.063 3074 2269 1992 0 0 0 0 0 0

7946 0.58 252.1 414.4 12.9 743 7951 0.00 2.30 0.00 0.000 4 0.000 0.077 3084 862 1991 0 0 0 0 0 0

7987 0.58 252.1 408.9 13.6 746 7991 0.12 2.30 0.00 0.000 6 0.186 0.064 3054 2286 1990 0 0 0 0 0 0

8312 0.61 252.1 371.9 11.3 776 8316 0.00 2.30 0.00 0.000 4 0.000 0.078 3054 3690 1989 0 0 0 0 0 0

8361 0.63 252.1 365.6 12.4 780 8368 0.00 2.30 0.00 0.000 6 0.000 0.063 3062 2264 1988 0 0 0 0 0 0

8687 0.63 252.1 328.1 11.6 811 8691 0.00 2.28 0.00 0.000 4 0.000 0.076 3073 865 1988 0 0 0 0 0 0

8737 0.67 252.1 322.1 11.6 815 8743 0.00 2.28 0.00 0.000 6 0.000 0.063 3073 2277 1987 0 0 0 0 0 0

9062 0.67 252.1 282.7 11.8 846 9066 0.00 2.30 0.00 0.000 4 0.000 0.079 3072 3687 1987 0 0 0 0 0 0

9117 0.65 252.1 275.4 13.5 850 9124 0.00 2.30 0.00 0.000 6 0.000 0.063 3082 2271 1987 0 0 0 0 0 0

9442 0.65 252.1 236.5 12.1 881 9446 0.00 2.28 0.00 0.000 4 0.000 0.076 3093 866 1987 0 0 0 0 0 0

9493 0.65 252.1 230.5 11.9 885 9497 0.00 2.28 0.00 0.000 6 0.000 0.063 3092 2277 1986 0 0 0 0 0 0

9823 0.65 252.1 189.2 12.8 916 9827 0.00 2.30 0.00 0.000 4 0.000 0.079 3093 3687 1986 0 0 0 0 0 0

9897 0.60 252.1 178.9 14.0 922 9902 0.17 2.30 0.00 0.000 6 0.200 0.063 3059 2269 1986 0 0 0 0 0 0

10223 0.71 286.9 149.7 8.4 952 10260 0.10 2.38 30.90 1.031 4 0.120 0.076 3115 869 1859 0 0 0 0 0 0

10291 0.71 286.9 142.1 12.0 958 10296 0.00 2.30 0.00 0.000 6 0.000 0.064 3115 2276 1857 0 0 0 0 0 0

10616 0.71 286.9 103.2 10.8 988 10621 0.00 2.33 0.00 0.000 4 0.000 0.079 3115 3691 1855 0 0 0 0 0 0

10714 0.69 286.9 91.6 12.1 1002 10721 0.15 2.33 0.00 0.000 6 0.199 0.063 3089 2270 1853 0 0 0 0 0 0

11060 0.85 343.5 62.3 7.4 1063 11118 0.15 2.38 50.88 0.990 4 0.098 0.076 3160 857 1630 0 0 0 0 0 0

11217 0.87 343.5 45.2 11.0 1090 11224 0.00 2.35 0.00 0.000 6 0.000 0.064 3159 2275 1625 0 0 0 0 0 0

11488 end climb: FINISH_DEPTH_REACHED

state 11488 begin subsurface finish

11495 0.10 80.2 8.4 -13.7 1138 11548 0.88 2.40 -43.45 0.000 4 0.182 0.097 2906 3694 2705 0 0 0 0 0 0

11549 end subsurface finish: CONTROL_FINISHED_OK

state 11549 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	561	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	-46593.008	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	060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	6.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	119.2,146834,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	637

FREEZE	8.36,-1.691,-1.766,2,96,0	ALTIM_BOTTOM_PING	601.0,35.4
FINISH1	8.4,1.025864,80	_24V_AH	21.5,74.339
FINISH2	6.6	_10V_AH	10.0,38.390
RAFOS_CLK	640	FG_AHR_24Vo	0.000
RAFOS	0,1304697661,16.033333,16.016945,88,65,61,60,55,52,668,206,174,157,118,138	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.382324,-6010.150879,060511,161632,4,104,0.14	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43379,1147
TT8_MAMPS	0.029211	CAP_FILE_SIZE	128700,0
HUMID	47.71	CFSIZE	260165632,217055232
INTERNAL_PRESSURE	8.67221	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1453.0
XPDR_PINGS	1	GPS	060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6
ALTIM_TOP_PING	19.7,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	234	25.88	SBE_CT	818	24	422.41
Roll_motor	105	97	220.79	SBE_O2	873	19	356.91
VBD_pump_during_apogee	435	1328	12429.79	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	22.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2730	19	543.90
LPSleep	6257	2	144.54
TT8_Active	524	19	104.38
TT8_Sampling	1890	39	754.60
TT8_CF8	217	45	99.93
TT8_Kalman	0	0	0.00
Analog_circuits	1559	12	187.10
GPS_charging	0	0	0.00
Compass	1870	15	280.62
RAFOS	2160	1	32.40
Transponder	17	30	5.32

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	93	0.00	0.00	-73.70	0.000	2	0.000	0.000	2902	2287	3087	0	0	0	0	0	0
96	-0.62	-146.0	5.1	-2.4	13	126	0.68	0.00	-22.48	0.000	6	0.109	0.000	2667	2288	3627	0	0	0	0	0	0
466	-0.45	-146.0	71.5	-20.9	78	474	0.17	2.75	0.00	0.000	4	0.235	0.089	2707	3899	3628	0	0	0	0	0	0
661	-0.48	-146.0	100.1	-13.0	112	666	0.00	2.25	0.00	0.000	6	0.000	0.059	2707	2487	3628	0	0	0	0	0	0
986	-0.48	-146.0	140.3	-11.1	142	990	0.00	2.33	0.00	0.000	4	0.000	0.076	2708	1068	3627	0	0	0	0	0	0
1009	-0.48	-146.0	142.8	-10.5	143	1015	0.00	2.38	0.00	0.000	6	0.000	0.074	2707	2496	3627	0	0	0	0	0	0
1334	-0.48	-146.0	179.3	-11.0	174	1338	0.00	2.38	0.00	0.000	4	0.000	0.090	2707	3906	3627	0	0	0	0	0	0
1392	-0.54	-146.0	185.1	-10.1	179	1396	0.00	2.28	0.00	0.000	6	0.000	0.059	2707	2482	3627	0	0	0	0	0	0
1718	-0.58	-146.0	218.0	-9.9	209	1722	0.00	2.28	0.00	0.000	4	0.000	0.074	2708	1082	3627	0	0	0	0	0	0
1742	-0.61	-146.0	220.5	-10.3	211	1747	0.12	2.33	0.00	0.000	6	0.137	0.073	2667	2494	3627	0	0	0	0	0	0
2068	-0.55	-146.0	261.8	-12.5	241	2072	0.00	2.38	0.00	0.000	4	0.000	0.090	2667	3900	3626	0	0	0	0	0	0
2096	-0.50	-146.0	265.7	-13.4	243	2103	0.12	2.28	0.00	0.000	6	0.208	0.059	2694	2492	3626	0	0	0	0	0	0
2421	-0.50	-146.0	298.5	-9.7	274	2422	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2492	3626	0	0	0	0	0	0
2743	-0.52	-146.0	328.1	-9.4	304	2747	0.00	2.30	0.00	0.000	4	0.000	0.073	2695	1079	3626	0	0	0	0	0	0
2800	-0.57	-146.0	334.0	-9.7	309	2805	0.00	2.35	0.00	0.000	6	0.000	0.072	2695	2494	3626	0	0	0	0	0	0
3127	-0.60	-146.0	365.1	-9.3	339	3128	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2494	3625	0	0	0	0	0	0
3446	-0.64	-146.0	393.9	-8.8	369	3448	0.12	0.00	0.00	0.000	6	0.132	0.000	2652	2494	3625	0	0	0	0	0	0
3763	-0.57	-146.0	431.9	-12.4	399	3768	0.00	2.35	0.00	0.000	4	0.000	0.086	2652	3899	3626	0	0	0	0	0	0
3827	-0.54	-146.0	439.8	-12.1	404	3831	0.12	2.25	0.00	0.000	6	0.203	0.057	2681	2487	3626	0	0	0	0	0	0
4152	-0.54	-146.0	471.8	-9.9	434	4156	0.00	2.28	0.00	0.000	4	0.000	0.071	2681	1074	3626	0	0	0	0	0	0
4196	-0.58	-146.0	476.5	-10.5	437	4203	0.00	2.35	0.00	0.000	6	0.000	0.070	2681	2496	3626	0	0	0	0	0	0
4521	-0.58	-146.0	508.4	-9.3	468	4522	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2496	3626	0	0	0	0	0	0
4842	-0.58	-146.0	537.3	-8.6	498	4846	0.00	2.35	0.00	0.000	4	0.000	0.085	2681	3906	3627	0	0	0	0	0	0
4882	-0.62	-146.0	541.0	-8.7	501	4887	0.00	2.25	0.00	0.000	6	0.000	0.055	2681	2487	3627	0	0	0	0	0	0
5208	-0.65	-146.0	569.6	-9.3	531	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2487	3627	0	0	0	0	0	0
5528	-0.67	-146.0	598.9	-9.2	561	5530	0.10	0.00	0.00	0.000	6	0.150	0.000	2648	2487	3627	0	0	0	0	0	0
5729	end dive: BOTTOM_OBSTACLE_DETECTED
state	5730	begin apogee
5736	-0.12	0.0	623.4	12.6	569	5870	0.60	0.00	125.65	1.329	6	0.205	0.000	2810	2254	3030	0	0	0	0	0	0
5871	end apogee: CONTROL_FINISHED_OK
state	5871	begin climb
5874	0.62	146.0	628.3	0.0	573	6020	0.82	2.65	133.10	1.277	4	0.147	0.076	3062	882	2432	0	0	0	0	0	0
6071	0.57	146.0	614.6	10.8	579	6075	0.00	2.47	0.00	0.000	6	0.000	0.063	3062	2275	2429	0	0	0	0	0	0
6397	0.50	146.0	580.0	10.3	600	6402	0.12	2.38	0.00	0.000	4	0.185	0.077	3031	3691	2426	0	0	0	0	0	0
6482	0.45	146.0	571.1	10.9	607	6487	0.12	2.33	0.00	0.000	6	0.193	0.061	3011	2284	2425	0	0	0	0	0	0
6808	0.55	199.2	545.8	7.5	637	6862	0.00	0.00	46.72	1.222	6	0.000	0.000	3011	2284	2216	0	0	0	0	0	0
7181	0.69	252.1	516.3	7.6	672	7238	0.22	2.45	47.83	1.206	4	0.082	0.079	3114	859	2001	0	0	0	0	0	0
7257	0.60	252.1	506.1	15.8	678	7264	0.20	2.40	0.00	0.000	6	0.204	0.064	3066	2280	1999	0	0	0	0	0	0
7582	0.60	252.1	463.4	13.3	709	7586	0.00	2.33	0.00	0.000	4	0.000	0.078	3066	3689	1992	0	0	0	0	0	0
7616	0.60	252.1	458.7	13.8	712	7620	0.00	2.33	0.00	0.000	6	0.000	0.063	3074	2269	1992	0	0	0	0	0	0
7946	0.58	252.1	414.4	12.9	743	7951	0.00	2.30	0.00	0.000	4	0.000	0.077	3084	862	1991	0	0	0	0	0	0
7987	0.58	252.1	408.9	13.6	746	7991	0.12	2.30	0.00	0.000	6	0.186	0.064	3054	2286	1990	0	0	0	0	0	0
8312	0.61	252.1	371.9	11.3	776	8316	0.00	2.30	0.00	0.000	4	0.000	0.078	3054	3690	1989	0	0	0	0	0	0
8361	0.63	252.1	365.6	12.4	780	8368	0.00	2.30	0.00	0.000	6	0.000	0.063	3062	2264	1988	0	0	0	0	0	0
8687	0.63	252.1	328.1	11.6	811	8691	0.00	2.28	0.00	0.000	4	0.000	0.076	3073	865	1988	0	0	0	0	0	0
8737	0.67	252.1	322.1	11.6	815	8743	0.00	2.28	0.00	0.000	6	0.000	0.063	3073	2277	1987	0	0	0	0	0	0
9062	0.67	252.1	282.7	11.8	846	9066	0.00	2.30	0.00	0.000	4	0.000	0.079	3072	3687	1987	0	0	0	0	0	0
9117	0.65	252.1	275.4	13.5	850	9124	0.00	2.30	0.00	0.000	6	0.000	0.063	3082	2271	1987	0	0	0	0	0	0
9442	0.65	252.1	236.5	12.1	881	9446	0.00	2.28	0.00	0.000	4	0.000	0.076	3093	866	1987	0	0	0	0	0	0
9493	0.65	252.1	230.5	11.9	885	9497	0.00	2.28	0.00	0.000	6	0.000	0.063	3092	2277	1986	0	0	0	0	0	0
9823	0.65	252.1	189.2	12.8	916	9827	0.00	2.30	0.00	0.000	4	0.000	0.079	3093	3687	1986	0	0	0	0	0	0
9897	0.60	252.1	178.9	14.0	922	9902	0.17	2.30	0.00	0.000	6	0.200	0.063	3059	2269	1986	0	0	0	0	0	0
10223	0.71	286.9	149.7	8.4	952	10260	0.10	2.38	30.90	1.031	4	0.120	0.076	3115	869	1859	0	0	0	0	0	0
10291	0.71	286.9	142.1	12.0	958	10296	0.00	2.30	0.00	0.000	6	0.000	0.064	3115	2276	1857	0	0	0	0	0	0
10616	0.71	286.9	103.2	10.8	988	10621	0.00	2.33	0.00	0.000	4	0.000	0.079	3115	3691	1855	0	0	0	0	0	0
10714	0.69	286.9	91.6	12.1	1002	10721	0.15	2.33	0.00	0.000	6	0.199	0.063	3089	2270	1853	0	0	0	0	0	0
11060	0.85	343.5	62.3	7.4	1063	11118	0.15	2.38	50.88	0.990	4	0.098	0.076	3160	857	1630	0	0	0	0	0	0
11217	0.87	343.5	45.2	11.0	1090	11224	0.00	2.35	0.00	0.000	6	0.000	0.064	3159	2275	1625	0	0	0	0	0	0
11488	end climb: FINISH_DEPTH_REACHED
state	11488	begin subsurface finish
11495	0.10	80.2	8.4	-13.7	1138	11548	0.88	2.40	-43.45	0.000	4	0.182	0.097	2906	3694	2705	0	0	0	0	0	0
11549	end subsurface finish: CONTROL_FINISHED_OK
state	11549	begin surface