Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 432 * 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 432 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -3 T_GPS_CHARGE -38844.988 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 -38844.988

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 -3

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 31 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 31 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 432 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 190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9 MHEAD_RNG_PITCHd_Wd 161.5,60992,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 789

Post-dive calculations and measurements:

FREEZE 8.69,-1.700,-1.837,3,33,0 ALTIM_BOTTOM_PING 450.4,57.3

FINISH1 8.7,1.026874,31 _24V_AH 22.3,58.158

FINISH2 6.9 _10V_AH 10.1,29.833

RAFOS_CLK 492 FG_AHR_24Vo 0.000

RAFOS 5,1303231267,16.700001,16.685278,133,70,60,54,53,50,674,185,209,151,127,221 FG_AHR_10Vo 0.000

RAFOS_FIX 6721.586426,-5756.984863,190411,161640,3,126,0.15 MEM 150564

IRIDIUM_FIX 6652.93,-6021.53,130411,111123 DATA_FILE_SIZE 36652,998

TT8_MAMPS 0.026215 CAP_FILE_SIZE 105996,0

HUMID 44.95 CFSIZE 260165632,225161216

INTERNAL_PRESSURE 8.74057 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1466.0

XPDR_PINGS 1 GPS 190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9

ALTIM_TOP_PING 19.6,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 210 19.23 SBE_CT 700 24 375.07

Roll_motor 82 76 141.55 SBE_O2 751 19 318.41

VBD_pump_during_apogee 355 1187 9420.95 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 1 420 16.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2349 19 472.63

LPSleep 4965 2 115.86

TT8_Active 433 19 87.20

TT8_Sampling 1563 39 630.47

TT8_CF8 159 45 74.18

TT8_Kalman 0 0 0.00

Analog_circuits 1267 12 153.62

GPS_charging 0 0 0.00

Compass 1556 15 235.76

RAFOS 360 1 5.45

Transponder 14 30 4.37

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 25 0.00 0.00 -7.28 0.000 2 0.000 0.000 2882 2269 3133 0 0 0 0 0 0

28 -0.62 -146.0 7.2 -0.0 1 53 0.60 2.65 -15.32 0.000 4 0.097 0.076 2667 3898 3628 0 0 0 0 0 0

71 -0.54 -146.0 11.1 -10.4 8 78 0.00 2.17 0.00 0.000 6 0.000 0.041 2667 2479 3629 0 0 0 0 0 0

416 -0.43 -146.0 64.3 -16.1 69 422 0.20 0.00 0.00 0.000 6 0.210 0.000 2716 2479 3630 0 0 0 0 0 0

761 -0.46 -146.0 100.3 -9.3 130 765 0.00 2.28 0.00 0.000 4 0.000 0.069 2716 3893 3629 0 0 0 0 0 0

790 -0.51 -146.0 102.9 -8.7 132 797 0.00 2.15 0.00 0.000 6 0.000 0.042 2716 2481 3628 0 0 0 0 0 0

1117 -0.57 -146.0 132.8 -8.6 163 1122 0.12 2.30 0.00 0.000 4 0.119 0.069 2671 3892 3626 0 0 0 0 0 0

1146 -0.57 -146.0 135.9 -11.3 165 1150 0.00 2.15 0.00 0.000 6 0.000 0.043 2671 2490 3626 0 0 0 0 0 0

1477 -0.53 -146.0 176.1 -11.9 196 1480 0.00 2.22 0.00 0.000 4 0.000 0.057 2671 1085 3624 0 0 0 0 0 0

1528 -0.53 -146.0 182.0 -11.2 200 1532 0.00 2.20 0.00 0.000 6 0.000 0.056 2671 2484 3624 0 0 0 0 0 0

1855 -0.51 -146.0 217.4 -10.8 230 1859 0.00 2.28 0.00 0.000 4 0.000 0.070 2672 3899 3623 0 0 0 0 0 0

1876 -0.51 -146.0 220.1 -10.9 231 1883 0.00 2.20 0.00 0.000 6 0.000 0.042 2671 2491 3623 0 0 0 0 0 0

2201 -0.51 -146.0 255.6 -10.8 262 2205 0.00 2.28 0.00 0.000 4 0.000 0.067 2671 3905 3623 0 0 0 0 0 0

2252 -0.51 -146.0 260.9 -10.2 266 2256 0.00 2.15 0.00 0.000 6 0.000 0.041 2671 2490 3623 0 0 0 0 0 0

2579 -0.51 -146.0 295.0 -10.7 296 2583 0.00 2.30 0.00 0.000 4 0.000 0.067 2671 3905 3624 0 0 0 0 0 0

2641 -0.51 -146.0 301.4 -9.7 301 2645 0.00 2.17 0.00 0.000 6 0.000 0.040 2671 2480 3624 0 0 0 0 0 0

2971 -0.51 -146.0 334.4 -9.3 332 2975 0.00 2.28 0.00 0.000 4 0.000 0.066 2671 3899 3624 0 0 0 0 0 0

3001 -0.53 -146.0 336.9 -8.5 334 3005 0.00 2.15 0.00 0.000 6 0.000 0.041 2671 2485 3624 0 0 0 0 0 0

3326 -0.53 -146.0 366.4 -9.1 364 3327 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2486 3625 0 0 0 0 0 0

3647 -0.53 -146.0 394.8 -8.8 394 3653 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2485 3626 0 0 0 0 0 0

3975 -0.53 -146.0 423.6 -8.4 425 3976 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2486 3626 0 0 0 0 0 0

4290 -0.53 -146.0 451.2 -8.9 455 4294 0.00 2.30 0.00 0.000 4 0.000 0.065 2671 3899 3627 0 0 0 0 0 0

4313 -0.53 -146.0 453.3 -9.0 456 4320 0.00 2.15 0.00 0.000 6 0.000 0.038 2671 2478 3626 0 0 0 0 0 0

4639 -0.53 -146.0 482.7 -9.3 487 4643 0.00 2.28 0.00 0.000 4 0.000 0.063 2671 3899 3627 0 0 0 0 0 0

4650 -0.53 -146.0 484.1 -10.0 487 4657 0.00 2.15 0.00 0.000 6 0.000 0.039 2671 2481 3627 0 0 0 0 0 0

4750 end dive: BOTTOM_OBSTACLE_DETECTED

state 4750 begin apogee

4756 -0.12 0.0 493.2 9.1 497 4881 0.50 0.00 119.70 1.187 6 0.184 0.000 2815 2256 3031 0 0 0 0 0 0

4882 end apogee: CONTROL_FINISHED_OK

state 4882 begin climb

4884 0.62 146.0 497.1 0.0 508 5018 0.77 0.00 124.82 1.144 6 0.133 0.000 3053 2255 2433 0 0 0 0 0 0

5336 0.55 146.0 446.6 12.5 551 5340 0.00 2.35 0.00 0.000 4 0.000 0.060 3053 3684 2429 0 0 0 0 0 0

5421 0.44 146.0 433.9 14.9 558 5428 0.22 2.22 0.00 0.000 6 0.187 0.045 3006 2289 2428 0 0 0 0 0 0

5746 0.48 160.1 402.4 9.3 589 5768 0.00 2.35 12.27 1.001 4 0.000 0.060 3015 862 2376 0 0 0 0 0 0

5796 0.53 160.1 397.3 10.2 593 5803 0.00 2.22 0.00 0.000 6 0.000 0.046 3015 2291 2375 0 0 0 0 0 0

6123 0.55 160.1 362.3 10.7 624 6127 0.00 2.22 0.00 0.000 4 0.000 0.060 3015 3690 2375 0 0 0 0 0 0

6178 0.52 160.1 355.4 12.1 628 6184 0.00 2.17 0.00 0.000 6 0.000 0.044 3025 2273 2374 0 0 0 0 0 0

6504 0.52 160.1 320.1 10.4 659 6508 0.00 2.20 0.00 0.000 4 0.000 0.058 3035 863 2374 0 0 0 0 0 0

6559 0.52 160.1 314.1 10.6 663 6566 0.00 2.22 0.00 0.000 6 0.000 0.045 3035 2277 2374 0 0 0 0 0 0

6887 0.50 160.1 280.7 10.3 694 6891 0.00 2.20 0.00 0.000 4 0.000 0.060 3035 3682 2374 0 0 0 0 0 0

6938 0.45 160.1 274.7 11.5 698 6943 0.15 2.17 0.00 0.000 6 0.190 0.043 3008 2262 2375 0 0 0 0 0 0

7264 0.57 222.5 249.4 7.1 728 7324 0.12 0.00 54.03 1.021 6 0.101 0.000 3071 2261 2121 0 0 0 0 0 0

7642 0.51 222.5 197.8 14.1 764 7644 0.15 0.00 0.00 0.000 6 0.181 0.000 3033 2262 2114 0 0 0 0 0 0

7962 0.54 222.5 164.6 10.7 794 7963 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2261 2113 0 0 0 0 0 0

8281 0.59 222.5 130.2 10.2 824 8285 0.00 2.17 0.00 0.000 4 0.000 0.057 3041 868 2113 0 0 0 0 0 0

8321 0.67 228.5 126.1 9.7 827 8334 0.12 2.20 4.78 0.679 6 0.106 0.044 3099 2285 2098 0 0 0 0 0 0

8657 0.64 228.5 84.4 12.4 869 8664 0.00 2.17 0.00 0.000 4 0.000 0.057 3099 3680 2098 0 0 0 0 0 0

8756 0.56 228.5 71.2 13.3 886 8763 0.22 2.15 0.00 0.000 6 0.177 0.042 3048 2273 2098 0 0 0 0 0 0

9103 0.70 282.3 40.9 7.5 947 9151 0.12 2.25 40.22 0.973 4 0.101 0.058 3117 868 1878 0 0 0 0 0 0

9198 0.70 282.3 30.1 11.5 963 9205 0.00 2.22 0.00 0.000 6 0.000 0.045 3117 2272 1873 0 0 0 0 0 0

9357 end climb: FINISH_DEPTH_REACHED

state 9357 begin subsurface finish

9363 0.04 30.7 8.7 -13.5 991 9405 0.77 2.35 -34.53 0.000 4 0.171 0.076 2886 3693 2907 0 0 0 0 0 0

9406 end subsurface finish: CONTROL_FINISHED_OK

state 9406 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	432	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-3	T_GPS_CHARGE	-38844.988	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	190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9	MHEAD_RNG_PITCHd_Wd	161.5,60992,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	789

FREEZE	8.69,-1.700,-1.837,3,33,0	ALTIM_BOTTOM_PING	450.4,57.3
FINISH1	8.7,1.026874,31	_24V_AH	22.3,58.158
FINISH2	6.9	_10V_AH	10.1,29.833
RAFOS_CLK	492	FG_AHR_24Vo	0.000
RAFOS	5,1303231267,16.700001,16.685278,133,70,60,54,53,50,674,185,209,151,127,221	FG_AHR_10Vo	0.000
RAFOS_FIX	6721.586426,-5756.984863,190411,161640,3,126,0.15	MEM	150564
IRIDIUM_FIX	6652.93,-6021.53,130411,111123	DATA_FILE_SIZE	36652,998
TT8_MAMPS	0.026215	CAP_FILE_SIZE	105996,0
HUMID	44.95	CFSIZE	260165632,225161216
INTERNAL_PRESSURE	8.74057	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1466.0
XPDR_PINGS	1	GPS	190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9
ALTIM_TOP_PING	19.6,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	210	19.23	SBE_CT	700	24	375.07
Roll_motor	82	76	141.55	SBE_O2	751	19	318.41
VBD_pump_during_apogee	355	1187	9420.95	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	1	420	16.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2349	19	472.63
LPSleep	4965	2	115.86
TT8_Active	433	19	87.20
TT8_Sampling	1563	39	630.47
TT8_CF8	159	45	74.18
TT8_Kalman	0	0	0.00
Analog_circuits	1267	12	153.62
GPS_charging	0	0	0.00
Compass	1556	15	235.76
RAFOS	360	1	5.45
Transponder	14	30	4.37

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	25	0.00	0.00	-7.28	0.000	2	0.000	0.000	2882	2269	3133	0	0	0	0	0	0
28	-0.62	-146.0	7.2	-0.0	1	53	0.60	2.65	-15.32	0.000	4	0.097	0.076	2667	3898	3628	0	0	0	0	0	0
71	-0.54	-146.0	11.1	-10.4	8	78	0.00	2.17	0.00	0.000	6	0.000	0.041	2667	2479	3629	0	0	0	0	0	0
416	-0.43	-146.0	64.3	-16.1	69	422	0.20	0.00	0.00	0.000	6	0.210	0.000	2716	2479	3630	0	0	0	0	0	0
761	-0.46	-146.0	100.3	-9.3	130	765	0.00	2.28	0.00	0.000	4	0.000	0.069	2716	3893	3629	0	0	0	0	0	0
790	-0.51	-146.0	102.9	-8.7	132	797	0.00	2.15	0.00	0.000	6	0.000	0.042	2716	2481	3628	0	0	0	0	0	0
1117	-0.57	-146.0	132.8	-8.6	163	1122	0.12	2.30	0.00	0.000	4	0.119	0.069	2671	3892	3626	0	0	0	0	0	0
1146	-0.57	-146.0	135.9	-11.3	165	1150	0.00	2.15	0.00	0.000	6	0.000	0.043	2671	2490	3626	0	0	0	0	0	0
1477	-0.53	-146.0	176.1	-11.9	196	1480	0.00	2.22	0.00	0.000	4	0.000	0.057	2671	1085	3624	0	0	0	0	0	0
1528	-0.53	-146.0	182.0	-11.2	200	1532	0.00	2.20	0.00	0.000	6	0.000	0.056	2671	2484	3624	0	0	0	0	0	0
1855	-0.51	-146.0	217.4	-10.8	230	1859	0.00	2.28	0.00	0.000	4	0.000	0.070	2672	3899	3623	0	0	0	0	0	0
1876	-0.51	-146.0	220.1	-10.9	231	1883	0.00	2.20	0.00	0.000	6	0.000	0.042	2671	2491	3623	0	0	0	0	0	0
2201	-0.51	-146.0	255.6	-10.8	262	2205	0.00	2.28	0.00	0.000	4	0.000	0.067	2671	3905	3623	0	0	0	0	0	0
2252	-0.51	-146.0	260.9	-10.2	266	2256	0.00	2.15	0.00	0.000	6	0.000	0.041	2671	2490	3623	0	0	0	0	0	0
2579	-0.51	-146.0	295.0	-10.7	296	2583	0.00	2.30	0.00	0.000	4	0.000	0.067	2671	3905	3624	0	0	0	0	0	0
2641	-0.51	-146.0	301.4	-9.7	301	2645	0.00	2.17	0.00	0.000	6	0.000	0.040	2671	2480	3624	0	0	0	0	0	0
2971	-0.51	-146.0	334.4	-9.3	332	2975	0.00	2.28	0.00	0.000	4	0.000	0.066	2671	3899	3624	0	0	0	0	0	0
3001	-0.53	-146.0	336.9	-8.5	334	3005	0.00	2.15	0.00	0.000	6	0.000	0.041	2671	2485	3624	0	0	0	0	0	0
3326	-0.53	-146.0	366.4	-9.1	364	3327	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2486	3625	0	0	0	0	0	0
3647	-0.53	-146.0	394.8	-8.8	394	3653	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2485	3626	0	0	0	0	0	0
3975	-0.53	-146.0	423.6	-8.4	425	3976	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2486	3626	0	0	0	0	0	0
4290	-0.53	-146.0	451.2	-8.9	455	4294	0.00	2.30	0.00	0.000	4	0.000	0.065	2671	3899	3627	0	0	0	0	0	0
4313	-0.53	-146.0	453.3	-9.0	456	4320	0.00	2.15	0.00	0.000	6	0.000	0.038	2671	2478	3626	0	0	0	0	0	0
4639	-0.53	-146.0	482.7	-9.3	487	4643	0.00	2.28	0.00	0.000	4	0.000	0.063	2671	3899	3627	0	0	0	0	0	0
4650	-0.53	-146.0	484.1	-10.0	487	4657	0.00	2.15	0.00	0.000	6	0.000	0.039	2671	2481	3627	0	0	0	0	0	0
4750	end dive: BOTTOM_OBSTACLE_DETECTED
state	4750	begin apogee
4756	-0.12	0.0	493.2	9.1	497	4881	0.50	0.00	119.70	1.187	6	0.184	0.000	2815	2256	3031	0	0	0	0	0	0
4882	end apogee: CONTROL_FINISHED_OK
state	4882	begin climb
4884	0.62	146.0	497.1	0.0	508	5018	0.77	0.00	124.82	1.144	6	0.133	0.000	3053	2255	2433	0	0	0	0	0	0
5336	0.55	146.0	446.6	12.5	551	5340	0.00	2.35	0.00	0.000	4	0.000	0.060	3053	3684	2429	0	0	0	0	0	0
5421	0.44	146.0	433.9	14.9	558	5428	0.22	2.22	0.00	0.000	6	0.187	0.045	3006	2289	2428	0	0	0	0	0	0
5746	0.48	160.1	402.4	9.3	589	5768	0.00	2.35	12.27	1.001	4	0.000	0.060	3015	862	2376	0	0	0	0	0	0
5796	0.53	160.1	397.3	10.2	593	5803	0.00	2.22	0.00	0.000	6	0.000	0.046	3015	2291	2375	0	0	0	0	0	0
6123	0.55	160.1	362.3	10.7	624	6127	0.00	2.22	0.00	0.000	4	0.000	0.060	3015	3690	2375	0	0	0	0	0	0
6178	0.52	160.1	355.4	12.1	628	6184	0.00	2.17	0.00	0.000	6	0.000	0.044	3025	2273	2374	0	0	0	0	0	0
6504	0.52	160.1	320.1	10.4	659	6508	0.00	2.20	0.00	0.000	4	0.000	0.058	3035	863	2374	0	0	0	0	0	0
6559	0.52	160.1	314.1	10.6	663	6566	0.00	2.22	0.00	0.000	6	0.000	0.045	3035	2277	2374	0	0	0	0	0	0
6887	0.50	160.1	280.7	10.3	694	6891	0.00	2.20	0.00	0.000	4	0.000	0.060	3035	3682	2374	0	0	0	0	0	0
6938	0.45	160.1	274.7	11.5	698	6943	0.15	2.17	0.00	0.000	6	0.190	0.043	3008	2262	2375	0	0	0	0	0	0
7264	0.57	222.5	249.4	7.1	728	7324	0.12	0.00	54.03	1.021	6	0.101	0.000	3071	2261	2121	0	0	0	0	0	0
7642	0.51	222.5	197.8	14.1	764	7644	0.15	0.00	0.00	0.000	6	0.181	0.000	3033	2262	2114	0	0	0	0	0	0
7962	0.54	222.5	164.6	10.7	794	7963	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2261	2113	0	0	0	0	0	0
8281	0.59	222.5	130.2	10.2	824	8285	0.00	2.17	0.00	0.000	4	0.000	0.057	3041	868	2113	0	0	0	0	0	0
8321	0.67	228.5	126.1	9.7	827	8334	0.12	2.20	4.78	0.679	6	0.106	0.044	3099	2285	2098	0	0	0	0	0	0
8657	0.64	228.5	84.4	12.4	869	8664	0.00	2.17	0.00	0.000	4	0.000	0.057	3099	3680	2098	0	0	0	0	0	0
8756	0.56	228.5	71.2	13.3	886	8763	0.22	2.15	0.00	0.000	6	0.177	0.042	3048	2273	2098	0	0	0	0	0	0
9103	0.70	282.3	40.9	7.5	947	9151	0.12	2.25	40.22	0.973	4	0.101	0.058	3117	868	1878	0	0	0	0	0	0
9198	0.70	282.3	30.1	11.5	963	9205	0.00	2.22	0.00	0.000	6	0.000	0.045	3117	2272	1873	0	0	0	0	0	0
9357	end climb: FINISH_DEPTH_REACHED
state	9357	begin subsurface finish
9363	0.04	30.7	8.7	-13.5	991	9405	0.77	2.35	-34.53	0.000	4	0.171	0.076	2886	3693	2907	0	0	0	0	0	0
9406	end subsurface finish: CONTROL_FINISHED_OK
state	9406	begin surface