Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 678 * 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 678 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 19 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 19 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 678 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 240511,041528,6654.403,-6018.579,181,99.0,181,-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 4.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,041528,6654.403,-6018.579,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 233.3,20017,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 586

Post-dive calculations and measurements:

FREEZE 8.91,-1.706,-1.772,2,41,0 ALTIM_BOTTOM_PING 550.3,51.2

FINISH1 8.9,1.025949,76 _24V_AH 21.0,90.477

FINISH2 7.4 _10V_AH 9.8,46.791

RAFOS_CLK 648 FG_AHR_24Vo 0.000

RAFOS 1,1306224544,8.166667,8.151111,103,53,52,51,50,50,601,149,196,1418,220,165 FG_AHR_10Vo 0.000

RAFOS_FIX 6655.445801,-6016.328613,240511,080817,6,114,0.16 MEM 150520

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 43348,1128

TT8_MAMPS 0.026215 CAP_FILE_SIZE 133531,0

HUMID 48.74 CFSIZE 260165632,209117184

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

TCM_TEMP 16.30 SOUNDSPEED 1452.6

XPDR_PINGS 5 GPS 240511,083117,6655.446,-6016.329,0,6114.2,0,-37.6

ALTIM_TOP_PING 19.9,16.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 325 125.58 SBE_CT 803 24 405.08

Roll_motor 100 104 219.69 SBE_O2 863 19 344.63

VBD_pump_during_apogee 430 1308 11818.78 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 98 103 212.75 nil 0 0 0.00

Iridium_during_connect 19 160 65.30 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 28.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 50 89.32

TT8 2660 19 519.33

LPSleep 5953 2 134.78

TT8_Active 578 19 112.96

TT8_Sampling 2106 39 823.98

TT8_CF8 642 45 289.14

TT8_Kalman 0 0 0.00

Analog_circuits 1579 12 185.71

GPS_charging 0 0 0.00

Compass 1791 15 263.34

RAFOS 2160 1 31.75

Transponder 16 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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 133 0.00 0.00 -114.03 0.000 2 0.000 0.000 106 2495 2852 0 0 0 0 0 0

138 -0.62 -146.0 5.1 -0.9 20 183 13.57 2.42 -22.60 0.000 4 0.326 0.104 2655 3902 3628 0 0 0 0 0 0

275 -0.47 -146.0 32.8 -21.2 43 282 0.20 2.33 0.00 0.000 6 0.215 0.066 2702 2492 3630 0 0 0 0 0 0

621 -0.37 -146.0 94.7 -16.0 104 629 0.15 2.38 0.00 0.000 4 0.230 0.083 2739 1077 3630 0 0 0 0 0 0

681 -0.44 -146.0 102.9 -11.5 112 686 0.00 2.40 0.00 0.000 6 0.000 0.080 2739 2488 3630 0 0 0 0 0 0

1007 -0.48 -146.0 137.5 -10.1 142 1012 0.00 2.45 0.00 0.000 4 0.000 0.096 2739 3905 3629 0 0 0 0 0 0

1026 -0.52 -146.0 139.1 -9.1 143 1031 0.15 2.33 0.00 0.000 6 0.117 0.066 2688 2483 3629 0 0 0 0 0 0

1357 -0.45 -146.0 183.5 -13.6 174 1362 0.12 2.40 0.00 0.000 4 0.215 0.083 2716 1073 3629 0 0 0 0 0 0

1386 -0.45 -146.0 187.1 -12.1 176 1390 0.00 2.42 0.00 0.000 6 0.000 0.080 2716 2498 3629 0 0 0 0 0 0

1712 -0.47 -146.0 220.0 -9.7 206 1716 0.00 2.45 0.00 0.000 4 0.000 0.096 2716 3907 3629 0 0 0 0 0 0

1731 -0.49 -146.0 221.9 -9.7 207 1735 0.00 2.35 0.00 0.000 6 0.000 0.067 2716 2486 3629 0 0 0 0 0 0

2057 -0.52 -146.0 253.5 -9.5 237 2061 0.00 2.35 0.00 0.000 4 0.000 0.082 2716 1070 3629 0 0 0 0 0 0

2097 -0.58 -146.0 257.7 -10.8 240 2102 0.12 2.42 0.00 0.000 6 0.124 0.080 2673 2497 3629 0 0 0 0 0 0

2423 -0.51 -146.0 299.7 -12.6 270 2430 0.00 2.42 0.00 0.000 4 0.000 0.096 2674 3919 3628 0 0 0 0 0 0

2474 -0.51 -146.0 306.2 -11.8 274 2481 0.00 2.38 0.00 0.000 6 0.000 0.066 2673 2479 3628 0 0 0 0 0 0

2800 -0.45 -146.0 346.7 -12.8 305 2802 0.17 0.00 0.00 0.000 6 0.208 0.000 2716 2479 3628 0 0 0 0 0 0

3120 -0.50 -146.0 374.6 -8.6 335 3121 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2479 3629 0 0 0 0 0 0

3441 -0.56 -146.0 401.2 -8.5 365 3447 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2479 3629 0 0 0 0 0 0

3770 -0.62 -146.0 428.0 -8.4 396 3776 0.15 0.00 0.00 0.000 6 0.124 0.000 2664 2479 3630 0 0 0 0 0 0

4096 -0.56 -146.0 468.0 -12.2 427 4100 0.00 2.35 0.00 0.000 4 0.000 0.079 2665 1066 3630 0 0 0 0 0 0

4118 -0.49 -146.0 470.7 -12.0 428 4125 0.15 2.42 0.00 0.000 6 0.210 0.078 2699 2497 3630 0 0 0 0 0 0

4445 -0.52 -146.0 500.9 -9.2 459 4449 0.00 2.42 0.00 0.000 4 0.000 0.093 2699 3904 3631 0 0 0 0 0 0

4458 -0.55 -146.0 502.2 -9.2 459 4465 0.00 2.33 0.00 0.000 6 0.000 0.063 2699 2489 3631 0 0 0 0 0 0

4784 -0.59 -146.0 531.0 -8.5 490 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2489 3631 0 0 0 0 0 0

5102 -0.63 -146.0 558.4 -8.7 520 5107 0.12 2.47 0.00 0.000 4 0.134 0.087 2656 3910 3631 0 0 0 0 0 0

5132 -0.60 -146.0 561.5 -11.2 522 5136 0.00 2.35 0.00 0.000 6 0.000 0.063 2656 2481 3631 0 0 0 0 0 0

5338 end dive: TARGET_DEPTH_EXCEEDED

state 5338 begin apogee

5345 -0.12 0.0 587.1 12.5 541 5480 0.57 0.00 127.50 1.308 6 0.201 0.000 2813 2263 3031 0 0 0 0 0 0

5481 end apogee: CONTROL_FINISHED_OK

state 5481 begin climb

5484 0.62 146.0 592.6 0.0 553 5626 0.82 0.00 135.27 1.261 6 0.151 0.000 3050 2263 2433 0 0 0 0 0 0

5952 0.64 161.8 557.2 9.3 597 5975 0.00 2.53 14.05 1.132 4 0.000 0.083 3049 3682 2370 0 0 0 0 0 0

6034 0.58 161.8 548.8 10.8 604 6038 0.00 2.38 0.00 0.000 6 0.000 0.070 3060 2280 2367 0 0 0 0 0 0

6360 0.55 164.8 517.0 9.9 634 6369 0.00 0.00 4.05 0.741 6 0.000 0.000 3060 2280 2357 0 0 0 0 0 0

6690 0.52 165.1 484.7 10.0 665 6696 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2280 2357 0 0 0 0 0 0

7018 0.50 165.1 452.1 10.1 696 7023 0.12 2.40 0.00 0.000 4 0.187 0.086 3037 856 2357 0 0 0 0 0 0

7075 0.60 208.8 446.9 8.0 700 7125 0.00 2.38 40.38 1.186 6 0.000 0.072 3037 2282 2177 0 0 0 0 0 0

7444 0.69 239.2 415.8 8.6 735 7479 0.15 2.45 28.15 1.144 4 0.097 0.084 3101 3687 2054 0 0 0 0 0 0

7521 0.60 239.2 405.3 16.0 741 7528 0.20 2.38 0.00 0.000 6 0.200 0.070 3062 2273 2052 0 0 0 0 0 0

7847 0.63 239.2 367.8 11.5 772 7851 0.00 2.35 0.00 0.000 4 0.000 0.085 3072 862 2048 0 0 0 0 0 0

7899 0.66 239.2 361.8 11.9 776 7903 0.00 2.35 0.00 0.000 6 0.000 0.070 3072 2284 2046 0 0 0 0 0 0

8229 0.66 239.2 322.6 11.7 807 8234 0.00 2.35 0.00 0.000 4 0.000 0.083 3072 3688 2046 0 0 0 0 0 0

8275 0.64 239.2 316.7 13.8 810 8282 0.00 2.35 0.00 0.000 6 0.000 0.070 3081 2268 2046 0 0 0 0 0 0

8600 0.64 239.2 278.6 11.2 841 8604 0.00 2.35 0.00 0.000 4 0.000 0.084 3092 866 2046 0 0 0 0 0 0

8653 0.64 239.2 272.6 11.6 845 8657 0.00 2.33 0.00 0.000 6 0.000 0.070 3092 2275 2044 0 0 0 0 0 0

8983 0.64 239.2 235.1 11.0 876 8988 0.00 2.35 0.00 0.000 4 0.000 0.085 3092 3688 2044 0 0 0 0 0 0

9036 0.58 239.2 228.7 12.7 880 9040 0.17 2.33 0.00 0.000 6 0.190 0.070 3059 2275 2045 0 0 0 0 0 0

9367 0.67 258.6 198.0 9.1 911 9391 0.00 2.45 17.62 1.028 4 0.000 0.084 3067 857 1975 0 0 0 0 0 0

9454 0.80 287.6 190.0 8.7 918 9488 0.15 2.38 28.38 1.037 6 0.101 0.072 3128 2278 1857 0 0 0 0 0 0

9807 0.78 287.6 143.1 12.6 951 9811 0.00 2.35 0.00 0.000 4 0.000 0.085 3128 3688 1851 0 0 0 0 0 0

9893 0.73 287.6 131.2 15.3 958 9898 0.15 2.35 0.00 0.000 6 0.203 0.071 3104 2276 1849 0 0 0 0 0 0

10221 0.79 302.4 98.8 9.3 989 10240 0.00 2.45 13.65 0.963 4 0.000 0.086 3111 857 1797 0 0 0 0 0 0

10299 0.91 323.6 91.7 9.0 1002 10330 0.12 2.38 21.17 0.978 6 0.113 0.073 3162 2274 1709 0 0 0 0 0 0

10669 0.91 323.6 44.6 12.5 1067 10676 0.00 2.40 0.00 0.000 4 0.000 0.088 3162 3693 1704 0 0 0 0 0 0

10707 0.86 323.6 39.6 15.1 1073 10715 0.12 2.35 0.00 0.000 6 0.211 0.073 3145 2277 1702 0 0 0 0 0 0

10973 end climb: FINISH_DEPTH_REACHED

state 10974 begin subsurface finish

10982 0.09 76.0 8.9 -12.2 1120 11029 0.82 0.00 -39.80 0.000 6 0.176 0.000 2901 2276 2721 0 0 0 0 0 0

11029 end subsurface finish: CONTROL_FINISHED_OK

state 11030 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	678	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	19	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	240511,041528,6654.403,-6018.579,181,99.0,181,-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	4.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,041528,6654.403,-6018.579,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	233.3,20017,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	586

FREEZE	8.91,-1.706,-1.772,2,41,0	ALTIM_BOTTOM_PING	550.3,51.2
FINISH1	8.9,1.025949,76	_24V_AH	21.0,90.477
FINISH2	7.4	_10V_AH	9.8,46.791
RAFOS_CLK	648	FG_AHR_24Vo	0.000
RAFOS	1,1306224544,8.166667,8.151111,103,53,52,51,50,50,601,149,196,1418,220,165	FG_AHR_10Vo	0.000
RAFOS_FIX	6655.445801,-6016.328613,240511,080817,6,114,0.16	MEM	150520
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	43348,1128
TT8_MAMPS	0.026215	CAP_FILE_SIZE	133531,0
HUMID	48.74	CFSIZE	260165632,209117184
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.30	SOUNDSPEED	1452.6
XPDR_PINGS	5	GPS	240511,083117,6655.446,-6016.329,0,6114.2,0,-37.6
ALTIM_TOP_PING	19.9,16.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	325	125.58	SBE_CT	803	24	405.08
Roll_motor	100	104	219.69	SBE_O2	863	19	344.63
VBD_pump_during_apogee	430	1308	11818.78	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	98	103	212.75	nil	0	0	0.00
Iridium_during_connect	19	160	65.30	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	28.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	50	89.32
TT8	2660	19	519.33
LPSleep	5953	2	134.78
TT8_Active	578	19	112.96
TT8_Sampling	2106	39	823.98
TT8_CF8	642	45	289.14
TT8_Kalman	0	0	0.00
Analog_circuits	1579	12	185.71
GPS_charging	0	0	0.00
Compass	1791	15	263.34
RAFOS	2160	1	31.75
Transponder	16	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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	133	0.00	0.00	-114.03	0.000	2	0.000	0.000	106	2495	2852	0	0	0	0	0	0
138	-0.62	-146.0	5.1	-0.9	20	183	13.57	2.42	-22.60	0.000	4	0.326	0.104	2655	3902	3628	0	0	0	0	0	0
275	-0.47	-146.0	32.8	-21.2	43	282	0.20	2.33	0.00	0.000	6	0.215	0.066	2702	2492	3630	0	0	0	0	0	0
621	-0.37	-146.0	94.7	-16.0	104	629	0.15	2.38	0.00	0.000	4	0.230	0.083	2739	1077	3630	0	0	0	0	0	0
681	-0.44	-146.0	102.9	-11.5	112	686	0.00	2.40	0.00	0.000	6	0.000	0.080	2739	2488	3630	0	0	0	0	0	0
1007	-0.48	-146.0	137.5	-10.1	142	1012	0.00	2.45	0.00	0.000	4	0.000	0.096	2739	3905	3629	0	0	0	0	0	0
1026	-0.52	-146.0	139.1	-9.1	143	1031	0.15	2.33	0.00	0.000	6	0.117	0.066	2688	2483	3629	0	0	0	0	0	0
1357	-0.45	-146.0	183.5	-13.6	174	1362	0.12	2.40	0.00	0.000	4	0.215	0.083	2716	1073	3629	0	0	0	0	0	0
1386	-0.45	-146.0	187.1	-12.1	176	1390	0.00	2.42	0.00	0.000	6	0.000	0.080	2716	2498	3629	0	0	0	0	0	0
1712	-0.47	-146.0	220.0	-9.7	206	1716	0.00	2.45	0.00	0.000	4	0.000	0.096	2716	3907	3629	0	0	0	0	0	0
1731	-0.49	-146.0	221.9	-9.7	207	1735	0.00	2.35	0.00	0.000	6	0.000	0.067	2716	2486	3629	0	0	0	0	0	0
2057	-0.52	-146.0	253.5	-9.5	237	2061	0.00	2.35	0.00	0.000	4	0.000	0.082	2716	1070	3629	0	0	0	0	0	0
2097	-0.58	-146.0	257.7	-10.8	240	2102	0.12	2.42	0.00	0.000	6	0.124	0.080	2673	2497	3629	0	0	0	0	0	0
2423	-0.51	-146.0	299.7	-12.6	270	2430	0.00	2.42	0.00	0.000	4	0.000	0.096	2674	3919	3628	0	0	0	0	0	0
2474	-0.51	-146.0	306.2	-11.8	274	2481	0.00	2.38	0.00	0.000	6	0.000	0.066	2673	2479	3628	0	0	0	0	0	0
2800	-0.45	-146.0	346.7	-12.8	305	2802	0.17	0.00	0.00	0.000	6	0.208	0.000	2716	2479	3628	0	0	0	0	0	0
3120	-0.50	-146.0	374.6	-8.6	335	3121	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2479	3629	0	0	0	0	0	0
3441	-0.56	-146.0	401.2	-8.5	365	3447	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2479	3629	0	0	0	0	0	0
3770	-0.62	-146.0	428.0	-8.4	396	3776	0.15	0.00	0.00	0.000	6	0.124	0.000	2664	2479	3630	0	0	0	0	0	0
4096	-0.56	-146.0	468.0	-12.2	427	4100	0.00	2.35	0.00	0.000	4	0.000	0.079	2665	1066	3630	0	0	0	0	0	0
4118	-0.49	-146.0	470.7	-12.0	428	4125	0.15	2.42	0.00	0.000	6	0.210	0.078	2699	2497	3630	0	0	0	0	0	0
4445	-0.52	-146.0	500.9	-9.2	459	4449	0.00	2.42	0.00	0.000	4	0.000	0.093	2699	3904	3631	0	0	0	0	0	0
4458	-0.55	-146.0	502.2	-9.2	459	4465	0.00	2.33	0.00	0.000	6	0.000	0.063	2699	2489	3631	0	0	0	0	0	0
4784	-0.59	-146.0	531.0	-8.5	490	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2489	3631	0	0	0	0	0	0
5102	-0.63	-146.0	558.4	-8.7	520	5107	0.12	2.47	0.00	0.000	4	0.134	0.087	2656	3910	3631	0	0	0	0	0	0
5132	-0.60	-146.0	561.5	-11.2	522	5136	0.00	2.35	0.00	0.000	6	0.000	0.063	2656	2481	3631	0	0	0	0	0	0
5338	end dive: TARGET_DEPTH_EXCEEDED
state	5338	begin apogee
5345	-0.12	0.0	587.1	12.5	541	5480	0.57	0.00	127.50	1.308	6	0.201	0.000	2813	2263	3031	0	0	0	0	0	0
5481	end apogee: CONTROL_FINISHED_OK
state	5481	begin climb
5484	0.62	146.0	592.6	0.0	553	5626	0.82	0.00	135.27	1.261	6	0.151	0.000	3050	2263	2433	0	0	0	0	0	0
5952	0.64	161.8	557.2	9.3	597	5975	0.00	2.53	14.05	1.132	4	0.000	0.083	3049	3682	2370	0	0	0	0	0	0
6034	0.58	161.8	548.8	10.8	604	6038	0.00	2.38	0.00	0.000	6	0.000	0.070	3060	2280	2367	0	0	0	0	0	0
6360	0.55	164.8	517.0	9.9	634	6369	0.00	0.00	4.05	0.741	6	0.000	0.000	3060	2280	2357	0	0	0	0	0	0
6690	0.52	165.1	484.7	10.0	665	6696	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2280	2357	0	0	0	0	0	0
7018	0.50	165.1	452.1	10.1	696	7023	0.12	2.40	0.00	0.000	4	0.187	0.086	3037	856	2357	0	0	0	0	0	0
7075	0.60	208.8	446.9	8.0	700	7125	0.00	2.38	40.38	1.186	6	0.000	0.072	3037	2282	2177	0	0	0	0	0	0
7444	0.69	239.2	415.8	8.6	735	7479	0.15	2.45	28.15	1.144	4	0.097	0.084	3101	3687	2054	0	0	0	0	0	0
7521	0.60	239.2	405.3	16.0	741	7528	0.20	2.38	0.00	0.000	6	0.200	0.070	3062	2273	2052	0	0	0	0	0	0
7847	0.63	239.2	367.8	11.5	772	7851	0.00	2.35	0.00	0.000	4	0.000	0.085	3072	862	2048	0	0	0	0	0	0
7899	0.66	239.2	361.8	11.9	776	7903	0.00	2.35	0.00	0.000	6	0.000	0.070	3072	2284	2046	0	0	0	0	0	0
8229	0.66	239.2	322.6	11.7	807	8234	0.00	2.35	0.00	0.000	4	0.000	0.083	3072	3688	2046	0	0	0	0	0	0
8275	0.64	239.2	316.7	13.8	810	8282	0.00	2.35	0.00	0.000	6	0.000	0.070	3081	2268	2046	0	0	0	0	0	0
8600	0.64	239.2	278.6	11.2	841	8604	0.00	2.35	0.00	0.000	4	0.000	0.084	3092	866	2046	0	0	0	0	0	0
8653	0.64	239.2	272.6	11.6	845	8657	0.00	2.33	0.00	0.000	6	0.000	0.070	3092	2275	2044	0	0	0	0	0	0
8983	0.64	239.2	235.1	11.0	876	8988	0.00	2.35	0.00	0.000	4	0.000	0.085	3092	3688	2044	0	0	0	0	0	0
9036	0.58	239.2	228.7	12.7	880	9040	0.17	2.33	0.00	0.000	6	0.190	0.070	3059	2275	2045	0	0	0	0	0	0
9367	0.67	258.6	198.0	9.1	911	9391	0.00	2.45	17.62	1.028	4	0.000	0.084	3067	857	1975	0	0	0	0	0	0
9454	0.80	287.6	190.0	8.7	918	9488	0.15	2.38	28.38	1.037	6	0.101	0.072	3128	2278	1857	0	0	0	0	0	0
9807	0.78	287.6	143.1	12.6	951	9811	0.00	2.35	0.00	0.000	4	0.000	0.085	3128	3688	1851	0	0	0	0	0	0
9893	0.73	287.6	131.2	15.3	958	9898	0.15	2.35	0.00	0.000	6	0.203	0.071	3104	2276	1849	0	0	0	0	0	0
10221	0.79	302.4	98.8	9.3	989	10240	0.00	2.45	13.65	0.963	4	0.000	0.086	3111	857	1797	0	0	0	0	0	0
10299	0.91	323.6	91.7	9.0	1002	10330	0.12	2.38	21.17	0.978	6	0.113	0.073	3162	2274	1709	0	0	0	0	0	0
10669	0.91	323.6	44.6	12.5	1067	10676	0.00	2.40	0.00	0.000	4	0.000	0.088	3162	3693	1704	0	0	0	0	0	0
10707	0.86	323.6	39.6	15.1	1073	10715	0.12	2.35	0.00	0.000	6	0.211	0.073	3145	2277	1702	0	0	0	0	0	0
10973	end climb: FINISH_DEPTH_REACHED
state	10974	begin subsurface finish
10982	0.09	76.0	8.9	-12.2	1120	11029	0.82	0.00	-39.80	0.000	6	0.176	0.000	2901	2276	2721	0	0	0	0	0	0
11029	end subsurface finish: CONTROL_FINISHED_OK
state	11030	begin surface