Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 680 * 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 680 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 18 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 -50107.605 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 -50107.605

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 18 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 680 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 240511,122658,6652.214,-6019.516,0,7109.3,0,-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 11.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,122658,6652.214,-6019.516,0,7109.3,0,-37.6 MHEAD_RNG_PITCHd_Wd 234.9,15935,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 576

Post-dive calculations and measurements:

FREEZE 8.23,-1.713,-1.771,2,43,0 ALTIM_BOTTOM_PING 550.2,15.6

FINISH1 8.2,1.025944,76 _24V_AH 21.1,90.767

FINISH2 7.2 _10V_AH 9.8,46.923

RAFOS_CLK 574 FG_AHR_24Vo 0.000

RAFOS 0,1306252871,16.033333,16.019722,164,65,62,58,58,54,570,192,215,166,202,1446 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.042480,-6021.070312,240511,161625,7,112,0.29 MEM 150616

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40007,1066

TT8_MAMPS 0.026215 CAP_FILE_SIZE 120798,0

HUMID 48.26 CFSIZE 260165632,208998400

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

TCM_TEMP 16.10 SOUNDSPEED 1452.2

XPDR_PINGS 5 GPS 240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6

ALTIM_TOP_PING 19.6,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 232 26.62 SBE_CT 760 24 385.14

Roll_motor 101 143 306.80 SBE_O2 810 19 324.81

VBD_pump_during_apogee 414 1282 11218.27 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 3 420 28.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2545 19 496.99

LPSleep 5550 2 125.66

TT8_Active 494 19 96.46

TT8_Sampling 1684 39 658.91

TT8_CF8 227 45 102.18

TT8_Kalman 0 0 0.00

Analog_circuits 1404 12 165.18

GPS_charging 0 0 0.00

Compass 1670 15 245.56

RAFOS 2520 1 37.04

Transponder 15 30 4.68

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 12 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.68 0.000 2 0.000 0.000 2903 854 2951 0 0 0 0 0 0

27 -0.62 -146.0 12.9 -0.0 1 52 0.68 0.38 -16.48 0.000 4 0.111 0.144 2671 1086 3628 0 0 0 0 0 0

239 -0.53 -146.0 48.3 -19.1 38 246 0.00 2.38 0.00 0.000 6 0.000 0.083 2670 2494 3629 0 0 0 0 0 0

581 -0.37 -146.0 115.6 -17.6 91 586 0.25 2.42 0.00 0.000 4 0.233 0.093 2735 3899 3629 0 0 0 0 0 0

592 -0.24 -146.0 118.1 -17.3 91 600 0.17 2.33 0.00 0.000 6 0.211 0.066 2777 2480 3630 0 0 0 0 0 0

921 -0.40 -146.0 141.4 -6.1 122 927 0.15 0.00 0.00 0.000 6 0.125 0.000 2728 2480 3629 0 0 0 0 0 0

1247 -0.44 -146.0 172.4 -9.7 153 1251 0.00 2.47 0.00 0.000 4 0.000 0.092 2727 3910 3629 0 0 0 0 0 0

1265 -0.48 -146.0 174.1 -9.2 154 1269 0.00 2.35 0.00 0.000 6 0.000 0.067 2727 2486 3628 0 0 0 0 0 0

1591 -0.53 -146.0 204.8 -9.0 184 1596 0.00 2.35 0.00 0.000 4 0.000 0.083 2727 1072 3628 0 0 0 0 0 0

1614 -0.58 -146.0 207.0 -9.3 185 1621 0.15 2.40 0.00 0.000 6 0.120 0.080 2675 2488 3628 0 0 0 0 0 0

1940 -0.50 -146.0 248.8 -12.8 216 1944 0.00 2.42 0.00 0.000 4 0.000 0.096 2675 3906 3628 0 0 0 0 0 0

1969 -0.44 -146.0 252.7 -13.1 218 1974 0.17 2.35 0.00 0.000 6 0.198 0.068 2716 2485 3628 0 0 0 0 0 0

2296 -0.48 -146.0 281.4 -8.1 248 2300 0.00 2.35 0.00 0.000 4 0.000 0.083 2716 1069 3628 0 0 0 0 0 0

2329 -0.55 -146.0 284.5 -8.8 250 2336 0.00 2.42 0.00 0.000 6 0.000 0.079 2717 2499 3627 0 0 0 0 0 0

2655 -0.60 -146.0 311.3 -8.1 281 2660 0.15 2.42 0.00 0.000 4 0.116 0.094 2664 3906 3628 0 0 0 0 0 0

2685 -0.58 -146.0 314.5 -11.4 283 2689 0.00 2.35 0.00 0.000 6 0.000 0.067 2664 2484 3627 0 0 0 0 0 0

3010 -0.50 -146.0 355.3 -12.5 313 3015 0.15 2.38 0.00 0.000 4 0.223 0.080 2699 1077 3627 0 0 0 0 0 0

3032 -0.46 -146.0 358.1 -11.8 314 3039 0.00 2.40 0.00 0.000 6 0.000 0.077 2699 2496 3627 0 0 0 0 0 0

3358 -0.48 -146.0 388.3 -9.1 345 3362 0.00 2.40 0.00 0.000 4 0.000 0.092 2699 3905 3627 0 0 0 0 0 0

3375 -0.50 -146.0 390.0 -9.0 346 3382 0.00 2.33 0.00 0.000 6 0.000 0.065 2699 2490 3628 0 0 0 0 0 0

3701 -0.53 -146.0 418.5 -8.2 377 3702 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2490 3628 0 0 0 0 0 0

4023 -0.55 -146.0 445.0 -8.1 407 4029 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2490 3628 0 0 0 0 0 0

4350 -0.59 -146.0 472.8 -7.9 438 4355 0.00 2.38 0.00 0.000 4 0.000 0.078 2699 1068 3628 0 0 0 0 0 0

4370 -0.63 -146.0 474.4 -8.0 439 4375 0.12 2.38 0.00 0.000 6 0.129 0.075 2659 2493 3628 0 0 0 0 0 0

4701 -0.57 -146.0 510.5 -10.7 470 4705 0.00 2.42 0.00 0.000 4 0.000 0.090 2659 3905 3628 0 0 0 0 0 0

4723 -0.49 -146.0 513.6 -13.4 471 4731 0.17 2.33 0.00 0.000 6 0.198 0.063 2701 2489 3628 0 0 0 0 0 0

5051 -0.54 -146.0 542.1 -7.8 502 5055 0.00 2.35 0.00 0.000 4 0.000 0.076 2701 1074 3629 0 0 0 0 0 0

5070 -0.58 -146.0 543.8 -8.1 503 5074 0.00 2.38 0.00 0.000 6 0.000 0.074 2701 2490 3629 0 0 0 0 0 0

5149 end dive: BOTTOM_OBSTACLE_DETECTED

state 5149 begin apogee

5156 -0.12 0.0 551.3 9.1 510 5289 0.38 0.00 126.40 1.282 6 0.185 0.000 2810 2269 3030 0 0 0 0 0 0

5290 end apogee: CONTROL_FINISHED_OK

state 5290 begin climb

5292 0.62 146.0 555.1 0.0 522 5436 0.85 2.70 133.55 1.230 4 0.151 0.084 3065 870 2433 0 0 0 0 0 0

5499 0.58 146.0 541.4 10.4 540 5506 0.00 2.58 0.00 0.000 6 0.000 0.070 3065 2274 2430 0 0 0 0 0 0

5825 0.53 146.0 505.8 10.4 571 5829 0.00 2.42 0.00 0.000 4 0.000 0.086 3065 3692 2427 0 0 0 0 0 0

5905 0.44 146.0 496.1 12.1 578 5911 0.25 2.38 0.00 0.000 6 0.184 0.070 3011 2272 2426 0 0 0 0 0 0

6232 0.55 190.0 471.9 8.0 608 6272 0.00 0.00 38.55 1.177 6 0.000 0.000 3011 2272 2255 0 0 0 0 0 0

6590 0.71 242.7 444.3 7.6 642 6642 0.22 0.00 48.62 1.161 6 0.080 0.000 3104 2272 2040 0 0 0 0 0 0

6960 0.63 242.7 388.5 15.6 677 6965 0.15 2.40 0.00 0.000 4 0.191 0.083 3066 3691 2031 0 0 0 0 0 0

7004 0.63 242.7 381.6 14.4 680 7011 0.00 2.35 0.00 0.000 6 0.000 0.070 3076 2270 2031 0 0 0 0 0 0

7331 0.63 242.7 341.3 11.7 711 7332 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2270 2030 0 0 0 0 0 0

7649 0.63 242.7 304.3 11.3 741 7650 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2270 2028 0 0 0 0 0 0

7965 0.63 242.7 270.7 10.2 771 7970 0.00 2.38 0.00 0.000 4 0.000 0.084 3085 857 2028 0 0 0 0 0 0

7999 0.66 242.7 267.0 10.4 773 8006 0.00 2.38 0.00 0.000 6 0.000 0.070 3085 2284 2026 0 0 0 0 0 0

8324 0.66 242.7 231.1 11.2 804 8328 0.00 2.33 0.00 0.000 4 0.000 0.083 3085 3689 2026 0 0 0 0 0 0

8380 0.62 242.7 223.9 13.7 808 8387 0.12 2.35 0.00 0.000 6 0.190 0.070 3065 2270 2027 0 0 0 0 0 0

8706 0.69 258.4 192.8 9.3 839 8728 0.00 2.42 13.30 1.011 4 0.000 0.084 3072 861 1975 0 0 0 0 0 0

8780 0.78 265.1 185.8 9.7 845 8798 0.12 2.35 7.70 0.925 6 0.109 0.069 3125 2276 1948 0 0 0 0 0 0

9116 0.74 265.1 144.0 12.6 877 9120 0.00 2.35 0.00 0.000 4 0.000 0.084 3125 3688 1946 0 0 0 0 0 0

9173 0.67 265.1 135.9 14.9 881 9181 0.20 2.35 0.00 0.000 6 0.197 0.071 3085 2275 1946 0 0 0 0 0 0

9499 0.80 314.4 106.6 7.7 912 9550 0.10 0.00 46.55 1.009 6 0.124 0.000 3131 2275 1748 0 0 0 0 0 0

9888 0.80 314.4 62.1 11.5 975 9895 0.00 2.40 0.00 0.000 4 0.000 0.083 3131 3687 1740 0 0 0 0 0 0

9949 0.80 314.4 54.5 12.0 985 9956 0.00 2.35 0.00 0.000 6 0.000 0.071 3141 2275 1738 0 0 0 0 0 0

10295 0.80 314.4 16.0 11.6 1046 10301 0.00 2.35 0.00 0.000 4 0.000 0.086 3152 864 1737 0 0 0 0 0 0

10354 0.85 314.4 9.7 10.4 1056 10361 0.00 2.38 0.00 0.000 6 0.000 0.074 3152 2281 1736 0 0 0 0 0 0

10366 end climb: FINISH_DEPTH_REACHED

state 10367 begin subsurface finish

10374 0.09 76.3 8.2 -10.9 1058 10421 0.85 2.40 -39.62 0.000 4 0.174 0.101 2902 3690 2719 0 0 0 0 0 0

10422 end subsurface finish: CONTROL_FINISHED_OK

state 10422 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	680	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	18	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	-50107.605	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	240511,122658,6652.214,-6019.516,0,7109.3,0,-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	11.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,122658,6652.214,-6019.516,0,7109.3,0,-37.6	MHEAD_RNG_PITCHd_Wd	234.9,15935,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	576

FREEZE	8.23,-1.713,-1.771,2,43,0	ALTIM_BOTTOM_PING	550.2,15.6
FINISH1	8.2,1.025944,76	_24V_AH	21.1,90.767
FINISH2	7.2	_10V_AH	9.8,46.923
RAFOS_CLK	574	FG_AHR_24Vo	0.000
RAFOS	0,1306252871,16.033333,16.019722,164,65,62,58,58,54,570,192,215,166,202,1446	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.042480,-6021.070312,240511,161625,7,112,0.29	MEM	150616
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40007,1066
TT8_MAMPS	0.026215	CAP_FILE_SIZE	120798,0
HUMID	48.26	CFSIZE	260165632,208998400
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.2
XPDR_PINGS	5	GPS	240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6
ALTIM_TOP_PING	19.6,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	232	26.62	SBE_CT	760	24	385.14
Roll_motor	101	143	306.80	SBE_O2	810	19	324.81
VBD_pump_during_apogee	414	1282	11218.27	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	3	420	28.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2545	19	496.99
LPSleep	5550	2	125.66
TT8_Active	494	19	96.46
TT8_Sampling	1684	39	658.91
TT8_CF8	227	45	102.18
TT8_Kalman	0	0	0.00
Analog_circuits	1404	12	165.18
GPS_charging	0	0	0.00
Compass	1670	15	245.56
RAFOS	2520	1	37.04
Transponder	15	30	4.68

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	12	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.68	0.000	2	0.000	0.000	2903	854	2951	0	0	0	0	0	0
27	-0.62	-146.0	12.9	-0.0	1	52	0.68	0.38	-16.48	0.000	4	0.111	0.144	2671	1086	3628	0	0	0	0	0	0
239	-0.53	-146.0	48.3	-19.1	38	246	0.00	2.38	0.00	0.000	6	0.000	0.083	2670	2494	3629	0	0	0	0	0	0
581	-0.37	-146.0	115.6	-17.6	91	586	0.25	2.42	0.00	0.000	4	0.233	0.093	2735	3899	3629	0	0	0	0	0	0
592	-0.24	-146.0	118.1	-17.3	91	600	0.17	2.33	0.00	0.000	6	0.211	0.066	2777	2480	3630	0	0	0	0	0	0
921	-0.40	-146.0	141.4	-6.1	122	927	0.15	0.00	0.00	0.000	6	0.125	0.000	2728	2480	3629	0	0	0	0	0	0
1247	-0.44	-146.0	172.4	-9.7	153	1251	0.00	2.47	0.00	0.000	4	0.000	0.092	2727	3910	3629	0	0	0	0	0	0
1265	-0.48	-146.0	174.1	-9.2	154	1269	0.00	2.35	0.00	0.000	6	0.000	0.067	2727	2486	3628	0	0	0	0	0	0
1591	-0.53	-146.0	204.8	-9.0	184	1596	0.00	2.35	0.00	0.000	4	0.000	0.083	2727	1072	3628	0	0	0	0	0	0
1614	-0.58	-146.0	207.0	-9.3	185	1621	0.15	2.40	0.00	0.000	6	0.120	0.080	2675	2488	3628	0	0	0	0	0	0
1940	-0.50	-146.0	248.8	-12.8	216	1944	0.00	2.42	0.00	0.000	4	0.000	0.096	2675	3906	3628	0	0	0	0	0	0
1969	-0.44	-146.0	252.7	-13.1	218	1974	0.17	2.35	0.00	0.000	6	0.198	0.068	2716	2485	3628	0	0	0	0	0	0
2296	-0.48	-146.0	281.4	-8.1	248	2300	0.00	2.35	0.00	0.000	4	0.000	0.083	2716	1069	3628	0	0	0	0	0	0
2329	-0.55	-146.0	284.5	-8.8	250	2336	0.00	2.42	0.00	0.000	6	0.000	0.079	2717	2499	3627	0	0	0	0	0	0
2655	-0.60	-146.0	311.3	-8.1	281	2660	0.15	2.42	0.00	0.000	4	0.116	0.094	2664	3906	3628	0	0	0	0	0	0
2685	-0.58	-146.0	314.5	-11.4	283	2689	0.00	2.35	0.00	0.000	6	0.000	0.067	2664	2484	3627	0	0	0	0	0	0
3010	-0.50	-146.0	355.3	-12.5	313	3015	0.15	2.38	0.00	0.000	4	0.223	0.080	2699	1077	3627	0	0	0	0	0	0
3032	-0.46	-146.0	358.1	-11.8	314	3039	0.00	2.40	0.00	0.000	6	0.000	0.077	2699	2496	3627	0	0	0	0	0	0
3358	-0.48	-146.0	388.3	-9.1	345	3362	0.00	2.40	0.00	0.000	4	0.000	0.092	2699	3905	3627	0	0	0	0	0	0
3375	-0.50	-146.0	390.0	-9.0	346	3382	0.00	2.33	0.00	0.000	6	0.000	0.065	2699	2490	3628	0	0	0	0	0	0
3701	-0.53	-146.0	418.5	-8.2	377	3702	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2490	3628	0	0	0	0	0	0
4023	-0.55	-146.0	445.0	-8.1	407	4029	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2490	3628	0	0	0	0	0	0
4350	-0.59	-146.0	472.8	-7.9	438	4355	0.00	2.38	0.00	0.000	4	0.000	0.078	2699	1068	3628	0	0	0	0	0	0
4370	-0.63	-146.0	474.4	-8.0	439	4375	0.12	2.38	0.00	0.000	6	0.129	0.075	2659	2493	3628	0	0	0	0	0	0
4701	-0.57	-146.0	510.5	-10.7	470	4705	0.00	2.42	0.00	0.000	4	0.000	0.090	2659	3905	3628	0	0	0	0	0	0
4723	-0.49	-146.0	513.6	-13.4	471	4731	0.17	2.33	0.00	0.000	6	0.198	0.063	2701	2489	3628	0	0	0	0	0	0
5051	-0.54	-146.0	542.1	-7.8	502	5055	0.00	2.35	0.00	0.000	4	0.000	0.076	2701	1074	3629	0	0	0	0	0	0
5070	-0.58	-146.0	543.8	-8.1	503	5074	0.00	2.38	0.00	0.000	6	0.000	0.074	2701	2490	3629	0	0	0	0	0	0
5149	end dive: BOTTOM_OBSTACLE_DETECTED
state	5149	begin apogee
5156	-0.12	0.0	551.3	9.1	510	5289	0.38	0.00	126.40	1.282	6	0.185	0.000	2810	2269	3030	0	0	0	0	0	0
5290	end apogee: CONTROL_FINISHED_OK
state	5290	begin climb
5292	0.62	146.0	555.1	0.0	522	5436	0.85	2.70	133.55	1.230	4	0.151	0.084	3065	870	2433	0	0	0	0	0	0
5499	0.58	146.0	541.4	10.4	540	5506	0.00	2.58	0.00	0.000	6	0.000	0.070	3065	2274	2430	0	0	0	0	0	0
5825	0.53	146.0	505.8	10.4	571	5829	0.00	2.42	0.00	0.000	4	0.000	0.086	3065	3692	2427	0	0	0	0	0	0
5905	0.44	146.0	496.1	12.1	578	5911	0.25	2.38	0.00	0.000	6	0.184	0.070	3011	2272	2426	0	0	0	0	0	0
6232	0.55	190.0	471.9	8.0	608	6272	0.00	0.00	38.55	1.177	6	0.000	0.000	3011	2272	2255	0	0	0	0	0	0
6590	0.71	242.7	444.3	7.6	642	6642	0.22	0.00	48.62	1.161	6	0.080	0.000	3104	2272	2040	0	0	0	0	0	0
6960	0.63	242.7	388.5	15.6	677	6965	0.15	2.40	0.00	0.000	4	0.191	0.083	3066	3691	2031	0	0	0	0	0	0
7004	0.63	242.7	381.6	14.4	680	7011	0.00	2.35	0.00	0.000	6	0.000	0.070	3076	2270	2031	0	0	0	0	0	0
7331	0.63	242.7	341.3	11.7	711	7332	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2270	2030	0	0	0	0	0	0
7649	0.63	242.7	304.3	11.3	741	7650	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2270	2028	0	0	0	0	0	0
7965	0.63	242.7	270.7	10.2	771	7970	0.00	2.38	0.00	0.000	4	0.000	0.084	3085	857	2028	0	0	0	0	0	0
7999	0.66	242.7	267.0	10.4	773	8006	0.00	2.38	0.00	0.000	6	0.000	0.070	3085	2284	2026	0	0	0	0	0	0
8324	0.66	242.7	231.1	11.2	804	8328	0.00	2.33	0.00	0.000	4	0.000	0.083	3085	3689	2026	0	0	0	0	0	0
8380	0.62	242.7	223.9	13.7	808	8387	0.12	2.35	0.00	0.000	6	0.190	0.070	3065	2270	2027	0	0	0	0	0	0
8706	0.69	258.4	192.8	9.3	839	8728	0.00	2.42	13.30	1.011	4	0.000	0.084	3072	861	1975	0	0	0	0	0	0
8780	0.78	265.1	185.8	9.7	845	8798	0.12	2.35	7.70	0.925	6	0.109	0.069	3125	2276	1948	0	0	0	0	0	0
9116	0.74	265.1	144.0	12.6	877	9120	0.00	2.35	0.00	0.000	4	0.000	0.084	3125	3688	1946	0	0	0	0	0	0
9173	0.67	265.1	135.9	14.9	881	9181	0.20	2.35	0.00	0.000	6	0.197	0.071	3085	2275	1946	0	0	0	0	0	0
9499	0.80	314.4	106.6	7.7	912	9550	0.10	0.00	46.55	1.009	6	0.124	0.000	3131	2275	1748	0	0	0	0	0	0
9888	0.80	314.4	62.1	11.5	975	9895	0.00	2.40	0.00	0.000	4	0.000	0.083	3131	3687	1740	0	0	0	0	0	0
9949	0.80	314.4	54.5	12.0	985	9956	0.00	2.35	0.00	0.000	6	0.000	0.071	3141	2275	1738	0	0	0	0	0	0
10295	0.80	314.4	16.0	11.6	1046	10301	0.00	2.35	0.00	0.000	4	0.000	0.086	3152	864	1737	0	0	0	0	0	0
10354	0.85	314.4	9.7	10.4	1056	10361	0.00	2.38	0.00	0.000	6	0.000	0.074	3152	2281	1736	0	0	0	0	0	0
10366	end climb: FINISH_DEPTH_REACHED
state	10367	begin subsurface finish
10374	0.09	76.3	8.2	-10.9	1058	10421	0.85	2.40	-39.62	0.000	4	0.174	0.101	2902	3690	2719	0	0	0	0	0	0
10422	end subsurface finish: CONTROL_FINISHED_OK
state	10422	begin surface