Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 681 * 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 681 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 17 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 17 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 681 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 11.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.6 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 9.3,1.025955,76 _24V_AH 21.1,90.913

FINISH2 7.4 _10V_AH 9.8,46.984

RAFOS_CLK 553 FG_AHR_24Vo 0.000

RAFOS_FIX 6650.042480,-6021.070312,240511,161625,7,112,0.29 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 MEM 150560

TT8_MAMPS 0.026215 DATA_FILE_SIZE 39996,1031

HUMID 48.74 CAP_FILE_SIZE 111396,0

INTERNAL_PRESSURE 8.67221 CFSIZE 260165632,208941056

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 7 SOUNDSPEED 1451.6

ALTIM_TOP_PING 19.5,15.1 GPS 240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6

ALTIM_BOTTOM_PING 500.4,58.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 241 25.38 SBE_CT 736 24 373.14

Roll_motor 93 94 184.99 SBE_O2 782 19 313.70

VBD_pump_during_apogee 438 1279 11839.89 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 31.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2411 19 470.73

LPSleep 5245 2 118.74

TT8_Active 482 19 94.15

TT8_Sampling 1656 39 648.14

TT8_CF8 213 45 96.23

TT8_Kalman 0 0 0.00

Analog_circuits 1380 12 162.40

GPS_charging 0 0 0.00

Compass 1645 15 241.92

RAFOS 0 0 0.00

Transponder 14 30 4.19

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

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -5.85 0.000 2 0.000 0.000 2903 3690 2954 0 0 0 0 0 0

28 -0.62 -146.0 12.9 -0.0 1 53 0.68 4.38 -16.38 0.000 4 0.107 0.080 2668 1080 3629 0 0 0 0 0 0

280 -0.49 -146.0 61.5 -20.2 45 288 0.12 2.38 0.00 0.000 6 0.227 0.078 2695 2488 3629 0 0 0 0 0 0

627 -0.42 -146.0 118.5 -14.9 96 632 0.12 2.45 0.00 0.000 4 0.242 0.093 2724 3900 3629 0 0 0 0 0 0

702 -0.47 -146.0 128.1 -11.3 102 706 0.00 2.33 0.00 0.000 6 0.000 0.067 2723 2489 3630 0 0 0 0 0 0

1027 -0.49 -146.0 163.0 -10.1 132 1032 0.00 2.35 0.00 0.000 4 0.000 0.083 2724 1079 3629 0 0 0 0 0 0

1078 -0.57 -146.0 168.1 -9.2 136 1085 0.15 2.40 0.00 0.000 6 0.119 0.078 2672 2497 3628 0 0 0 0 0 0

1404 -0.47 -146.0 211.9 -14.3 167 1406 0.15 0.00 0.00 0.000 6 0.223 0.000 2705 2497 3628 0 0 0 0 0 0

1724 -0.47 -146.0 246.2 -10.1 197 1725 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2497 3628 0 0 0 0 0 0

2044 -0.49 -146.0 277.1 -10.3 227 2048 0.00 2.40 0.00 0.000 4 0.000 0.081 2706 1076 3627 0 0 0 0 0 0

2077 -0.54 -146.0 280.9 -9.9 229 2084 0.00 2.40 0.00 0.000 6 0.000 0.080 2706 2492 3627 0 0 0 0 0 0

2405 -0.56 -146.0 312.2 -9.8 260 2409 0.00 2.42 0.00 0.000 4 0.000 0.094 2706 3907 3628 0 0 0 0 0 0

2426 -0.59 -146.0 314.7 -10.2 261 2433 0.00 2.35 0.00 0.000 6 0.000 0.067 2706 2485 3627 0 0 0 0 0 0

2752 -0.62 -146.0 345.2 -9.4 292 2754 0.12 0.00 0.00 0.000 6 0.129 0.000 2663 2485 3628 0 0 0 0 0 0

3072 -0.54 -146.0 387.5 -13.6 322 3073 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2485 3627 0 0 0 0 0 0

3391 -0.47 -146.0 429.4 -13.2 352 3396 0.17 2.47 0.00 0.000 4 0.212 0.089 2705 3904 3627 0 0 0 0 0 0

3409 -0.43 -146.0 432.0 -12.6 353 3413 0.00 2.33 0.00 0.000 6 0.000 0.064 2705 2490 3628 0 0 0 0 0 0

3735 -0.48 -146.0 461.2 -8.8 383 3736 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2490 3628 0 0 0 0 0 0

4058 -0.54 -146.0 489.5 -8.4 413 4062 0.00 2.38 0.00 0.000 4 0.000 0.078 2705 1077 3628 0 0 0 0 0 0

4103 -0.62 -146.0 494.3 -8.8 416 4111 0.12 2.38 0.00 0.000 6 0.121 0.075 2662 2490 3628 0 0 0 0 0 0

4429 -0.56 -146.0 532.7 -12.4 447 4433 0.00 2.42 0.00 0.000 4 0.000 0.090 2661 3905 3628 0 0 0 0 0 0

4458 -0.52 -146.0 536.3 -12.6 449 4463 0.12 2.33 0.00 0.000 6 0.200 0.063 2689 2488 3628 0 0 0 0 0 0

4537 end dive: BOTTOM_OBSTACLE_DETECTED

state 4537 begin apogee

4544 -0.12 0.0 544.4 8.7 456 4676 0.43 0.00 126.25 1.279 6 0.188 0.000 2811 2268 3030 0 0 0 0 0 0

4677 end apogee: CONTROL_FINISHED_OK

state 4677 begin climb

4680 0.62 146.0 548.6 0.0 468 4824 0.82 2.67 133.57 1.229 4 0.148 0.083 3060 880 2433 0 0 0 0 0 0

4864 0.66 179.6 539.0 8.5 484 4903 0.00 2.58 32.67 1.173 6 0.000 0.069 3060 2275 2296 0 0 0 0 0 0

5222 0.64 179.6 501.9 10.8 518 5226 0.00 2.40 0.00 0.000 4 0.000 0.085 3060 3690 2290 0 0 0 0 0 0

5296 0.57 179.6 492.6 12.5 524 5300 0.00 2.38 0.00 0.000 6 0.000 0.070 3071 2277 2289 0 0 0 0 0 0

5622 0.53 179.6 456.1 10.8 554 5626 0.12 2.38 0.00 0.000 4 0.190 0.085 3049 864 2289 0 0 0 0 0 0

5666 0.60 202.9 451.5 8.9 557 5695 0.00 2.35 20.20 1.131 6 0.000 0.071 3048 2284 2204 0 0 0 0 0 0

6014 0.65 225.5 419.9 9.0 590 6041 0.00 2.38 22.17 1.131 4 0.000 0.083 3048 3692 2109 0 0 0 0 0 0

6093 0.65 225.5 411.6 11.8 596 6100 0.00 2.38 0.00 0.000 6 0.000 0.070 3058 2268 2107 0 0 0 0 0 0

6419 0.69 225.5 378.5 10.3 627 6420 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2268 2105 0 0 0 0 0 0

6740 0.72 225.5 345.4 10.3 657 6744 0.10 2.38 0.00 0.000 4 0.118 0.085 3115 865 2105 0 0 0 0 0 0

6778 0.67 225.5 340.0 13.4 660 6786 0.12 2.35 0.00 0.000 6 0.205 0.070 3086 2282 2103 0 0 0 0 0 0

7104 0.65 225.5 300.9 12.0 691 7108 0.00 2.38 0.00 0.000 4 0.000 0.084 3086 3696 2103 0 0 0 0 0 0

7182 0.59 225.5 290.3 13.5 697 7189 0.15 2.35 0.00 0.000 6 0.193 0.069 3058 2274 2102 0 0 0 0 0 0

7508 0.64 235.4 257.7 9.5 728 7523 0.00 2.40 9.20 0.985 4 0.000 0.083 3067 870 2070 0 0 0 0 0 0

7576 0.69 235.4 251.0 10.4 734 7580 0.00 2.35 0.00 0.000 6 0.000 0.070 3068 2285 2069 0 0 0 0 0 0

7902 0.73 238.3 217.7 9.9 764 7914 0.00 2.35 4.20 0.721 4 0.000 0.085 3068 3687 2058 0 0 0 0 0 0

7976 0.73 238.3 209.2 11.6 770 7983 0.00 2.35 0.00 0.000 6 0.000 0.069 3078 2264 2058 0 0 0 0 0 0

8302 0.75 238.3 175.5 10.6 801 8306 0.00 2.35 0.00 0.000 4 0.000 0.084 3087 857 2058 0 0 0 0 0 0

8371 0.79 238.3 168.0 10.7 807 8375 0.00 2.38 0.00 0.000 6 0.000 0.070 3087 2283 2057 0 0 0 0 0 0

8697 0.86 273.9 137.3 8.4 837 8737 0.15 0.00 34.53 1.030 6 0.099 0.000 3149 2283 1913 0 0 0 0 0 0

9059 0.81 273.9 93.6 11.4 876 9066 0.00 2.38 0.00 0.000 4 0.000 0.085 3149 3691 1908 0 0 0 0 0 0

9112 0.71 273.9 87.2 12.9 885 9120 0.25 2.35 0.00 0.000 6 0.196 0.071 3095 2275 1906 0 0 0 0 0 0

9462 0.87 335.1 62.3 7.2 946 9527 0.15 2.45 55.90 0.988 4 0.099 0.086 3167 862 1663 0 0 0 0 0 0

9585 0.87 335.1 48.8 11.8 967 9592 0.00 2.38 0.00 0.000 6 0.000 0.070 3166 2277 1659 0 0 0 0 0 0

9899 end climb: SURFACE_OBSTACLE_DETECTED

state 9899 begin subsurface finish

9907 0.09 75.8 9.3 -12.2 1023 9954 0.90 0.00 -41.20 0.000 6 0.174 0.000 2902 2277 2724 0 0 0 0 0 0

9954 end subsurface finish: CONTROL_FINISHED_OK

state 9955 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	681	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	17	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	11.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.6	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	9.3,1.025955,76	_24V_AH	21.1,90.913
FINISH2	7.4	_10V_AH	9.8,46.984
RAFOS_CLK	553	FG_AHR_24Vo	0.000
RAFOS_FIX	6650.042480,-6021.070312,240511,161625,7,112,0.29	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	MEM	150560
TT8_MAMPS	0.026215	DATA_FILE_SIZE	39996,1031
HUMID	48.74	CAP_FILE_SIZE	111396,0
INTERNAL_PRESSURE	8.67221	CFSIZE	260165632,208941056
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	7	SOUNDSPEED	1451.6
ALTIM_TOP_PING	19.5,15.1	GPS	240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6
ALTIM_BOTTOM_PING	500.4,58.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	241	25.38	SBE_CT	736	24	373.14
Roll_motor	93	94	184.99	SBE_O2	782	19	313.70
VBD_pump_during_apogee	438	1279	11839.89	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	31.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2411	19	470.73
LPSleep	5245	2	118.74
TT8_Active	482	19	94.15
TT8_Sampling	1656	39	648.14
TT8_CF8	213	45	96.23
TT8_Kalman	0	0	0.00
Analog_circuits	1380	12	162.40
GPS_charging	0	0	0.00
Compass	1645	15	241.92
RAFOS	0	0	0.00
Transponder	14	30	4.19

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
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-5.85	0.000	2	0.000	0.000	2903	3690	2954	0	0	0	0	0	0
28	-0.62	-146.0	12.9	-0.0	1	53	0.68	4.38	-16.38	0.000	4	0.107	0.080	2668	1080	3629	0	0	0	0	0	0
280	-0.49	-146.0	61.5	-20.2	45	288	0.12	2.38	0.00	0.000	6	0.227	0.078	2695	2488	3629	0	0	0	0	0	0
627	-0.42	-146.0	118.5	-14.9	96	632	0.12	2.45	0.00	0.000	4	0.242	0.093	2724	3900	3629	0	0	0	0	0	0
702	-0.47	-146.0	128.1	-11.3	102	706	0.00	2.33	0.00	0.000	6	0.000	0.067	2723	2489	3630	0	0	0	0	0	0
1027	-0.49	-146.0	163.0	-10.1	132	1032	0.00	2.35	0.00	0.000	4	0.000	0.083	2724	1079	3629	0	0	0	0	0	0
1078	-0.57	-146.0	168.1	-9.2	136	1085	0.15	2.40	0.00	0.000	6	0.119	0.078	2672	2497	3628	0	0	0	0	0	0
1404	-0.47	-146.0	211.9	-14.3	167	1406	0.15	0.00	0.00	0.000	6	0.223	0.000	2705	2497	3628	0	0	0	0	0	0
1724	-0.47	-146.0	246.2	-10.1	197	1725	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2497	3628	0	0	0	0	0	0
2044	-0.49	-146.0	277.1	-10.3	227	2048	0.00	2.40	0.00	0.000	4	0.000	0.081	2706	1076	3627	0	0	0	0	0	0
2077	-0.54	-146.0	280.9	-9.9	229	2084	0.00	2.40	0.00	0.000	6	0.000	0.080	2706	2492	3627	0	0	0	0	0	0
2405	-0.56	-146.0	312.2	-9.8	260	2409	0.00	2.42	0.00	0.000	4	0.000	0.094	2706	3907	3628	0	0	0	0	0	0
2426	-0.59	-146.0	314.7	-10.2	261	2433	0.00	2.35	0.00	0.000	6	0.000	0.067	2706	2485	3627	0	0	0	0	0	0
2752	-0.62	-146.0	345.2	-9.4	292	2754	0.12	0.00	0.00	0.000	6	0.129	0.000	2663	2485	3628	0	0	0	0	0	0
3072	-0.54	-146.0	387.5	-13.6	322	3073	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2485	3627	0	0	0	0	0	0
3391	-0.47	-146.0	429.4	-13.2	352	3396	0.17	2.47	0.00	0.000	4	0.212	0.089	2705	3904	3627	0	0	0	0	0	0
3409	-0.43	-146.0	432.0	-12.6	353	3413	0.00	2.33	0.00	0.000	6	0.000	0.064	2705	2490	3628	0	0	0	0	0	0
3735	-0.48	-146.0	461.2	-8.8	383	3736	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2490	3628	0	0	0	0	0	0
4058	-0.54	-146.0	489.5	-8.4	413	4062	0.00	2.38	0.00	0.000	4	0.000	0.078	2705	1077	3628	0	0	0	0	0	0
4103	-0.62	-146.0	494.3	-8.8	416	4111	0.12	2.38	0.00	0.000	6	0.121	0.075	2662	2490	3628	0	0	0	0	0	0
4429	-0.56	-146.0	532.7	-12.4	447	4433	0.00	2.42	0.00	0.000	4	0.000	0.090	2661	3905	3628	0	0	0	0	0	0
4458	-0.52	-146.0	536.3	-12.6	449	4463	0.12	2.33	0.00	0.000	6	0.200	0.063	2689	2488	3628	0	0	0	0	0	0
4537	end dive: BOTTOM_OBSTACLE_DETECTED
state	4537	begin apogee
4544	-0.12	0.0	544.4	8.7	456	4676	0.43	0.00	126.25	1.279	6	0.188	0.000	2811	2268	3030	0	0	0	0	0	0
4677	end apogee: CONTROL_FINISHED_OK
state	4677	begin climb
4680	0.62	146.0	548.6	0.0	468	4824	0.82	2.67	133.57	1.229	4	0.148	0.083	3060	880	2433	0	0	0	0	0	0
4864	0.66	179.6	539.0	8.5	484	4903	0.00	2.58	32.67	1.173	6	0.000	0.069	3060	2275	2296	0	0	0	0	0	0
5222	0.64	179.6	501.9	10.8	518	5226	0.00	2.40	0.00	0.000	4	0.000	0.085	3060	3690	2290	0	0	0	0	0	0
5296	0.57	179.6	492.6	12.5	524	5300	0.00	2.38	0.00	0.000	6	0.000	0.070	3071	2277	2289	0	0	0	0	0	0
5622	0.53	179.6	456.1	10.8	554	5626	0.12	2.38	0.00	0.000	4	0.190	0.085	3049	864	2289	0	0	0	0	0	0
5666	0.60	202.9	451.5	8.9	557	5695	0.00	2.35	20.20	1.131	6	0.000	0.071	3048	2284	2204	0	0	0	0	0	0
6014	0.65	225.5	419.9	9.0	590	6041	0.00	2.38	22.17	1.131	4	0.000	0.083	3048	3692	2109	0	0	0	0	0	0
6093	0.65	225.5	411.6	11.8	596	6100	0.00	2.38	0.00	0.000	6	0.000	0.070	3058	2268	2107	0	0	0	0	0	0
6419	0.69	225.5	378.5	10.3	627	6420	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2268	2105	0	0	0	0	0	0
6740	0.72	225.5	345.4	10.3	657	6744	0.10	2.38	0.00	0.000	4	0.118	0.085	3115	865	2105	0	0	0	0	0	0
6778	0.67	225.5	340.0	13.4	660	6786	0.12	2.35	0.00	0.000	6	0.205	0.070	3086	2282	2103	0	0	0	0	0	0
7104	0.65	225.5	300.9	12.0	691	7108	0.00	2.38	0.00	0.000	4	0.000	0.084	3086	3696	2103	0	0	0	0	0	0
7182	0.59	225.5	290.3	13.5	697	7189	0.15	2.35	0.00	0.000	6	0.193	0.069	3058	2274	2102	0	0	0	0	0	0
7508	0.64	235.4	257.7	9.5	728	7523	0.00	2.40	9.20	0.985	4	0.000	0.083	3067	870	2070	0	0	0	0	0	0
7576	0.69	235.4	251.0	10.4	734	7580	0.00	2.35	0.00	0.000	6	0.000	0.070	3068	2285	2069	0	0	0	0	0	0
7902	0.73	238.3	217.7	9.9	764	7914	0.00	2.35	4.20	0.721	4	0.000	0.085	3068	3687	2058	0	0	0	0	0	0
7976	0.73	238.3	209.2	11.6	770	7983	0.00	2.35	0.00	0.000	6	0.000	0.069	3078	2264	2058	0	0	0	0	0	0
8302	0.75	238.3	175.5	10.6	801	8306	0.00	2.35	0.00	0.000	4	0.000	0.084	3087	857	2058	0	0	0	0	0	0
8371	0.79	238.3	168.0	10.7	807	8375	0.00	2.38	0.00	0.000	6	0.000	0.070	3087	2283	2057	0	0	0	0	0	0
8697	0.86	273.9	137.3	8.4	837	8737	0.15	0.00	34.53	1.030	6	0.099	0.000	3149	2283	1913	0	0	0	0	0	0
9059	0.81	273.9	93.6	11.4	876	9066	0.00	2.38	0.00	0.000	4	0.000	0.085	3149	3691	1908	0	0	0	0	0	0
9112	0.71	273.9	87.2	12.9	885	9120	0.25	2.35	0.00	0.000	6	0.196	0.071	3095	2275	1906	0	0	0	0	0	0
9462	0.87	335.1	62.3	7.2	946	9527	0.15	2.45	55.90	0.988	4	0.099	0.086	3167	862	1663	0	0	0	0	0	0
9585	0.87	335.1	48.8	11.8	967	9592	0.00	2.38	0.00	0.000	6	0.000	0.070	3166	2277	1659	0	0	0	0	0	0
9899	end climb: SURFACE_OBSTACLE_DETECTED
state	9899	begin subsurface finish
9907	0.09	75.8	9.3	-12.2	1023	9954	0.90	0.00	-41.20	0.000	6	0.174	0.000	2902	2277	2724	0	0	0	0	0	0
9954	end subsurface finish: CONTROL_FINISHED_OK
state	9955	begin surface