Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 682 * 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 682 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 19 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 19 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 682 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 240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6 MHEAD_RNG_PITCHd_Wd 235.5,11757,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 552

Post-dive calculations and measurements:

FINISH1 10.7,1.025896,79 _24V_AH 21.1,91.047

FINISH2 9.1 _10V_AH 9.8,47.048

RAFOS_CLK 573 FG_AHR_24Vo 0.000

RAFOS 0,1306267263,20.033333,20.017500,127,74,57,57,55,54,602,191,209,119,179,157 FG_AHR_10Vo 0.000

RAFOS_FIX 6649.157715,-6023.013184,240511,202053,6,123,0.15 MEM 150616

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40009,1051

TT8_MAMPS 0.026964 CAP_FILE_SIZE 119875,0

HUMID 48.66 CFSIZE 260165632,208875520

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 1452.0

XPDR_PINGS 6 GPS 240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6

ALTIM_TOP_PING 19.4,13.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 249 25.92 SBE_CT 751 24 380.43

Roll_motor 107 100 228.78 SBE_O2 797 19 319.82

VBD_pump_during_apogee 395 1279 10679.02 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 33.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2511 19 490.24

LPSleep 5419 2 122.69

TT8_Active 464 19 90.63

TT8_Sampling 1693 39 662.67

TT8_CF8 228 45 102.64

TT8_Kalman 0 0 0.00

Analog_circuits 1377 12 161.98

GPS_charging 0 0 0.00

Compass 1674 15 246.18

RAFOS 2520 1 37.04

Transponder 18 30 5.48

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 -5.53 0.000 2 0.000 0.000 2902 2277 2914 0 0 0 0 0 0

27 -0.62 -146.0 10.5 -0.0 1 52 0.65 2.10 -19.48 0.000 4 0.086 0.096 2665 1073 3629 0 0 0 0 0 0

82 -0.47 -146.0 18.2 -18.5 10 90 0.17 2.38 0.00 0.000 6 0.224 0.078 2704 2487 3631 0 0 0 0 0 0

431 -0.37 -146.0 80.4 -16.9 71 438 0.15 2.38 0.00 0.000 4 0.249 0.082 2740 1080 3631 0 0 0 0 0 0

492 -0.44 -146.0 88.5 -11.1 81 499 0.00 2.40 0.00 0.000 6 0.000 0.080 2739 2497 3631 0 0 0 0 0 0

826 -0.47 -146.0 124.9 -10.2 121 830 0.00 2.40 0.00 0.000 4 0.000 0.096 2739 3899 3630 0 0 0 0 0 0

870 -0.57 -146.0 129.5 -9.8 124 878 0.17 2.33 0.00 0.000 6 0.114 0.067 2681 2489 3630 0 0 0 0 0 0

1197 -0.49 -146.0 176.2 -13.8 155 1202 0.00 2.33 0.00 0.000 4 0.000 0.083 2681 1077 3629 0 0 0 0 0 0

1248 -0.46 -146.0 183.1 -12.2 159 1256 0.12 2.40 0.00 0.000 6 0.216 0.080 2707 2491 3630 0 0 0 0 0 0

1576 -0.46 -146.0 217.2 -10.3 190 1580 0.00 2.42 0.00 0.000 4 0.000 0.096 2708 3905 3629 0 0 0 0 0 0

1609 -0.50 -146.0 220.9 -9.9 192 1616 0.00 2.35 0.00 0.000 6 0.000 0.068 2708 2485 3628 0 0 0 0 0 0

1937 -0.53 -146.0 252.9 -10.1 223 1941 0.00 2.35 0.00 0.000 4 0.000 0.083 2708 1080 3629 0 0 0 0 0 0

1959 -0.55 -146.0 255.5 -9.8 224 1965 0.00 2.40 0.00 0.000 6 0.000 0.080 2708 2494 3628 0 0 0 0 0 0

2286 -0.58 -146.0 287.5 -9.8 255 2287 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2494 3629 0 0 0 0 0 0

2603 -0.60 -146.0 319.8 -10.0 285 2608 0.12 2.42 0.00 0.000 4 0.131 0.094 2664 3899 3628 0 0 0 0 0 0

2633 -0.57 -146.0 323.1 -12.1 287 2639 0.00 2.33 0.00 0.000 6 0.000 0.067 2664 2485 3628 0 0 0 0 0 0

2965 -0.49 -146.0 367.6 -13.8 318 2967 0.15 0.00 0.00 0.000 6 0.220 0.000 2699 2485 3629 0 0 0 0 0 0

3284 -0.49 -146.0 400.4 -10.1 348 3285 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2485 3629 0 0 0 0 0 0

3606 -0.52 -146.0 431.4 -9.4 378 3612 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2485 3629 0 0 0 0 0 0

3934 -0.55 -146.0 462.2 -9.5 409 3940 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2485 3629 0 0 0 0 0 0

4265 -0.58 -146.0 492.2 -8.8 440 4269 0.00 2.33 0.00 0.000 4 0.000 0.077 2699 1071 3629 0 0 0 0 0 0

4298 -0.63 -146.0 495.8 -9.1 442 4306 0.12 2.40 0.00 0.000 6 0.125 0.075 2659 2497 3629 0 0 0 0 0 0

4625 -0.58 -146.0 534.1 -11.1 473 4629 0.00 2.42 0.00 0.000 4 0.000 0.091 2658 3906 3629 0 0 0 0 0 0

4663 -0.54 -146.0 539.1 -12.6 476 4671 0.12 2.33 0.00 0.000 6 0.202 0.063 2686 2488 3630 0 0 0 0 0 0

4797 end dive: TARGET_DEPTH_EXCEEDED

state 4797 begin apogee

4804 -0.12 0.0 552.2 9.1 489 4938 0.45 0.00 127.12 1.280 6 0.192 0.000 2814 2265 3029 0 0 0 0 0 0

4939 end apogee: CONTROL_FINISHED_OK

state 4939 begin climb

4941 0.62 146.0 554.4 0.0 501 5087 0.80 2.83 134.02 1.234 4 0.137 0.080 3052 3684 2433 0 0 0 0 0 0

5128 0.54 146.0 544.0 11.1 519 5133 0.00 2.58 0.00 0.000 6 0.000 0.068 3063 2283 2431 0 0 0 0 0 0

5454 0.49 146.0 510.3 10.1 549 5456 0.15 0.00 0.00 0.000 6 0.178 0.000 3025 2283 2427 0 0 0 0 0 0

5773 0.59 207.0 485.1 7.2 579 5832 0.00 2.47 53.65 1.190 4 0.000 0.082 3024 3695 2185 0 0 0 0 0 0

5871 0.64 212.0 477.3 9.8 587 5884 0.12 2.40 5.88 0.900 6 0.104 0.069 3082 2270 2165 0 0 0 0 0 0

6202 0.64 212.0 439.0 11.3 618 6206 0.00 2.38 0.00 0.000 4 0.000 0.084 3093 861 2160 0 0 0 0 0 0

6236 0.62 212.0 434.9 11.7 621 6240 0.00 2.38 0.00 0.000 6 0.000 0.071 3093 2287 2159 0 0 0 0 0 0

6568 0.58 212.0 393.1 13.0 652 6573 0.15 2.38 0.00 0.000 4 0.182 0.083 3053 3689 2159 0 0 0 0 0 0

6635 0.58 212.0 384.8 11.9 657 6642 0.00 2.35 0.00 0.000 6 0.000 0.070 3061 2262 2158 0 0 0 0 0 0

6961 0.58 213.2 351.4 9.9 688 6966 0.00 2.33 0.00 0.000 4 0.000 0.083 3072 864 2158 0 0 0 0 0 0

7007 0.58 213.2 346.7 10.4 692 7012 0.00 2.35 0.00 0.000 6 0.000 0.070 3072 2281 2156 0 0 0 0 0 0

7333 0.58 213.2 313.1 10.2 722 7337 0.00 2.35 0.00 0.000 4 0.000 0.085 3072 3687 2156 0 0 0 0 0 0

7397 0.53 213.2 305.7 12.7 727 7402 0.17 2.35 0.00 0.000 6 0.181 0.070 3037 2271 2157 0 0 0 0 0 0

7723 0.65 250.2 278.5 8.3 757 7768 0.10 2.42 34.75 1.095 4 0.121 0.084 3096 871 2008 0 0 0 0 0 0

7809 0.65 250.2 269.0 12.2 764 7816 0.00 2.38 0.00 0.000 6 0.000 0.070 3096 2284 2005 0 0 0 0 0 0

8135 0.62 250.2 229.8 11.9 795 8140 0.12 2.38 0.00 0.000 4 0.187 0.084 3065 3697 2002 0 0 0 0 0 0

8186 0.62 250.2 223.9 11.8 799 8190 0.00 2.35 0.00 0.000 6 0.000 0.070 3073 2275 2002 0 0 0 0 0 0

8518 0.66 252.3 190.3 9.9 830 8522 0.00 2.38 0.00 0.000 4 0.000 0.083 3083 864 2001 0 0 0 0 0 0

8558 0.71 252.3 185.9 10.6 833 8562 0.00 2.33 0.00 0.000 6 0.000 0.070 3083 2284 2000 0 0 0 0 0 0

8887 0.75 263.5 153.0 9.5 863 8903 0.00 2.35 11.93 0.983 4 0.000 0.084 3084 3687 1956 0 0 0 0 0 0

8965 0.75 263.5 144.8 10.3 869 8972 0.00 2.35 0.00 0.000 6 0.000 0.079 3093 2275 1955 0 0 0 0 0 0

9291 0.80 274.3 114.6 9.5 900 9308 0.00 2.35 11.98 0.965 4 0.000 0.083 3101 865 1910 0 0 0 0 0 0

9370 0.88 289.8 107.0 9.3 906 9392 0.12 2.33 16.12 0.981 6 0.114 0.070 3151 2278 1848 0 0 0 0 0 0

9732 0.88 289.8 63.8 10.7 965 9739 0.00 2.35 0.00 0.000 4 0.000 0.086 3151 3687 1843 0 0 0 0 0 0

9763 0.84 289.8 60.1 11.3 970 9770 0.00 2.35 0.00 0.000 6 0.000 0.072 3162 2274 1842 0 0 0 0 0 0

10112 0.81 289.8 19.4 11.3 1031 10119 0.15 2.40 0.00 0.000 4 0.200 0.087 3132 864 1842 0 0 0 0 0 0

10156 0.87 289.8 15.0 10.2 1038 10162 0.00 2.35 0.00 0.000 6 0.000 0.074 3132 2275 1841 0 0 0 0 0 0

10195 end climb: SURFACE_OBSTACLE_DETECTED

state 10195 begin subsurface finish

10202 0.10 78.6 10.7 -10.9 1045 10239 0.77 2.40 -28.38 0.000 4 0.158 0.101 2896 3684 2711 0 0 0 0 0 0

10240 end subsurface finish: CONTROL_FINISHED_OK

state 10240 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	682	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	19	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	240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6	MHEAD_RNG_PITCHd_Wd	235.5,11757,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	552

FINISH1	10.7,1.025896,79	_24V_AH	21.1,91.047
FINISH2	9.1	_10V_AH	9.8,47.048
RAFOS_CLK	573	FG_AHR_24Vo	0.000
RAFOS	0,1306267263,20.033333,20.017500,127,74,57,57,55,54,602,191,209,119,179,157	FG_AHR_10Vo	0.000
RAFOS_FIX	6649.157715,-6023.013184,240511,202053,6,123,0.15	MEM	150616
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40009,1051
TT8_MAMPS	0.026964	CAP_FILE_SIZE	119875,0
HUMID	48.66	CFSIZE	260165632,208875520
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	1452.0
XPDR_PINGS	6	GPS	240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6
ALTIM_TOP_PING	19.4,13.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	249	25.92	SBE_CT	751	24	380.43
Roll_motor	107	100	228.78	SBE_O2	797	19	319.82
VBD_pump_during_apogee	395	1279	10679.02	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	33.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2511	19	490.24
LPSleep	5419	2	122.69
TT8_Active	464	19	90.63
TT8_Sampling	1693	39	662.67
TT8_CF8	228	45	102.64
TT8_Kalman	0	0	0.00
Analog_circuits	1377	12	161.98
GPS_charging	0	0	0.00
Compass	1674	15	246.18
RAFOS	2520	1	37.04
Transponder	18	30	5.48

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	-5.53	0.000	2	0.000	0.000	2902	2277	2914	0	0	0	0	0	0
27	-0.62	-146.0	10.5	-0.0	1	52	0.65	2.10	-19.48	0.000	4	0.086	0.096	2665	1073	3629	0	0	0	0	0	0
82	-0.47	-146.0	18.2	-18.5	10	90	0.17	2.38	0.00	0.000	6	0.224	0.078	2704	2487	3631	0	0	0	0	0	0
431	-0.37	-146.0	80.4	-16.9	71	438	0.15	2.38	0.00	0.000	4	0.249	0.082	2740	1080	3631	0	0	0	0	0	0
492	-0.44	-146.0	88.5	-11.1	81	499	0.00	2.40	0.00	0.000	6	0.000	0.080	2739	2497	3631	0	0	0	0	0	0
826	-0.47	-146.0	124.9	-10.2	121	830	0.00	2.40	0.00	0.000	4	0.000	0.096	2739	3899	3630	0	0	0	0	0	0
870	-0.57	-146.0	129.5	-9.8	124	878	0.17	2.33	0.00	0.000	6	0.114	0.067	2681	2489	3630	0	0	0	0	0	0
1197	-0.49	-146.0	176.2	-13.8	155	1202	0.00	2.33	0.00	0.000	4	0.000	0.083	2681	1077	3629	0	0	0	0	0	0
1248	-0.46	-146.0	183.1	-12.2	159	1256	0.12	2.40	0.00	0.000	6	0.216	0.080	2707	2491	3630	0	0	0	0	0	0
1576	-0.46	-146.0	217.2	-10.3	190	1580	0.00	2.42	0.00	0.000	4	0.000	0.096	2708	3905	3629	0	0	0	0	0	0
1609	-0.50	-146.0	220.9	-9.9	192	1616	0.00	2.35	0.00	0.000	6	0.000	0.068	2708	2485	3628	0	0	0	0	0	0
1937	-0.53	-146.0	252.9	-10.1	223	1941	0.00	2.35	0.00	0.000	4	0.000	0.083	2708	1080	3629	0	0	0	0	0	0
1959	-0.55	-146.0	255.5	-9.8	224	1965	0.00	2.40	0.00	0.000	6	0.000	0.080	2708	2494	3628	0	0	0	0	0	0
2286	-0.58	-146.0	287.5	-9.8	255	2287	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2494	3629	0	0	0	0	0	0
2603	-0.60	-146.0	319.8	-10.0	285	2608	0.12	2.42	0.00	0.000	4	0.131	0.094	2664	3899	3628	0	0	0	0	0	0
2633	-0.57	-146.0	323.1	-12.1	287	2639	0.00	2.33	0.00	0.000	6	0.000	0.067	2664	2485	3628	0	0	0	0	0	0
2965	-0.49	-146.0	367.6	-13.8	318	2967	0.15	0.00	0.00	0.000	6	0.220	0.000	2699	2485	3629	0	0	0	0	0	0
3284	-0.49	-146.0	400.4	-10.1	348	3285	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2485	3629	0	0	0	0	0	0
3606	-0.52	-146.0	431.4	-9.4	378	3612	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2485	3629	0	0	0	0	0	0
3934	-0.55	-146.0	462.2	-9.5	409	3940	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2485	3629	0	0	0	0	0	0
4265	-0.58	-146.0	492.2	-8.8	440	4269	0.00	2.33	0.00	0.000	4	0.000	0.077	2699	1071	3629	0	0	0	0	0	0
4298	-0.63	-146.0	495.8	-9.1	442	4306	0.12	2.40	0.00	0.000	6	0.125	0.075	2659	2497	3629	0	0	0	0	0	0
4625	-0.58	-146.0	534.1	-11.1	473	4629	0.00	2.42	0.00	0.000	4	0.000	0.091	2658	3906	3629	0	0	0	0	0	0
4663	-0.54	-146.0	539.1	-12.6	476	4671	0.12	2.33	0.00	0.000	6	0.202	0.063	2686	2488	3630	0	0	0	0	0	0
4797	end dive: TARGET_DEPTH_EXCEEDED
state	4797	begin apogee
4804	-0.12	0.0	552.2	9.1	489	4938	0.45	0.00	127.12	1.280	6	0.192	0.000	2814	2265	3029	0	0	0	0	0	0
4939	end apogee: CONTROL_FINISHED_OK
state	4939	begin climb
4941	0.62	146.0	554.4	0.0	501	5087	0.80	2.83	134.02	1.234	4	0.137	0.080	3052	3684	2433	0	0	0	0	0	0
5128	0.54	146.0	544.0	11.1	519	5133	0.00	2.58	0.00	0.000	6	0.000	0.068	3063	2283	2431	0	0	0	0	0	0
5454	0.49	146.0	510.3	10.1	549	5456	0.15	0.00	0.00	0.000	6	0.178	0.000	3025	2283	2427	0	0	0	0	0	0
5773	0.59	207.0	485.1	7.2	579	5832	0.00	2.47	53.65	1.190	4	0.000	0.082	3024	3695	2185	0	0	0	0	0	0
5871	0.64	212.0	477.3	9.8	587	5884	0.12	2.40	5.88	0.900	6	0.104	0.069	3082	2270	2165	0	0	0	0	0	0
6202	0.64	212.0	439.0	11.3	618	6206	0.00	2.38	0.00	0.000	4	0.000	0.084	3093	861	2160	0	0	0	0	0	0
6236	0.62	212.0	434.9	11.7	621	6240	0.00	2.38	0.00	0.000	6	0.000	0.071	3093	2287	2159	0	0	0	0	0	0
6568	0.58	212.0	393.1	13.0	652	6573	0.15	2.38	0.00	0.000	4	0.182	0.083	3053	3689	2159	0	0	0	0	0	0
6635	0.58	212.0	384.8	11.9	657	6642	0.00	2.35	0.00	0.000	6	0.000	0.070	3061	2262	2158	0	0	0	0	0	0
6961	0.58	213.2	351.4	9.9	688	6966	0.00	2.33	0.00	0.000	4	0.000	0.083	3072	864	2158	0	0	0	0	0	0
7007	0.58	213.2	346.7	10.4	692	7012	0.00	2.35	0.00	0.000	6	0.000	0.070	3072	2281	2156	0	0	0	0	0	0
7333	0.58	213.2	313.1	10.2	722	7337	0.00	2.35	0.00	0.000	4	0.000	0.085	3072	3687	2156	0	0	0	0	0	0
7397	0.53	213.2	305.7	12.7	727	7402	0.17	2.35	0.00	0.000	6	0.181	0.070	3037	2271	2157	0	0	0	0	0	0
7723	0.65	250.2	278.5	8.3	757	7768	0.10	2.42	34.75	1.095	4	0.121	0.084	3096	871	2008	0	0	0	0	0	0
7809	0.65	250.2	269.0	12.2	764	7816	0.00	2.38	0.00	0.000	6	0.000	0.070	3096	2284	2005	0	0	0	0	0	0
8135	0.62	250.2	229.8	11.9	795	8140	0.12	2.38	0.00	0.000	4	0.187	0.084	3065	3697	2002	0	0	0	0	0	0
8186	0.62	250.2	223.9	11.8	799	8190	0.00	2.35	0.00	0.000	6	0.000	0.070	3073	2275	2002	0	0	0	0	0	0
8518	0.66	252.3	190.3	9.9	830	8522	0.00	2.38	0.00	0.000	4	0.000	0.083	3083	864	2001	0	0	0	0	0	0
8558	0.71	252.3	185.9	10.6	833	8562	0.00	2.33	0.00	0.000	6	0.000	0.070	3083	2284	2000	0	0	0	0	0	0
8887	0.75	263.5	153.0	9.5	863	8903	0.00	2.35	11.93	0.983	4	0.000	0.084	3084	3687	1956	0	0	0	0	0	0
8965	0.75	263.5	144.8	10.3	869	8972	0.00	2.35	0.00	0.000	6	0.000	0.079	3093	2275	1955	0	0	0	0	0	0
9291	0.80	274.3	114.6	9.5	900	9308	0.00	2.35	11.98	0.965	4	0.000	0.083	3101	865	1910	0	0	0	0	0	0
9370	0.88	289.8	107.0	9.3	906	9392	0.12	2.33	16.12	0.981	6	0.114	0.070	3151	2278	1848	0	0	0	0	0	0
9732	0.88	289.8	63.8	10.7	965	9739	0.00	2.35	0.00	0.000	4	0.000	0.086	3151	3687	1843	0	0	0	0	0	0
9763	0.84	289.8	60.1	11.3	970	9770	0.00	2.35	0.00	0.000	6	0.000	0.072	3162	2274	1842	0	0	0	0	0	0
10112	0.81	289.8	19.4	11.3	1031	10119	0.15	2.40	0.00	0.000	4	0.200	0.087	3132	864	1842	0	0	0	0	0	0
10156	0.87	289.8	15.0	10.2	1038	10162	0.00	2.35	0.00	0.000	6	0.000	0.074	3132	2275	1841	0	0	0	0	0	0
10195	end climb: SURFACE_OBSTACLE_DETECTED
state	10195	begin subsurface finish
10202	0.10	78.6	10.7	-10.9	1045	10239	0.77	2.40	-28.38	0.000	4	0.158	0.101	2896	3684	2711	0	0	0	0	0	0
10240	end subsurface finish: CONTROL_FINISHED_OK
state	10240	begin surface