Glider dive log

Bermuda May19 * SG045 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 45 HD_B 0.013 ROLL_MAX 3860 ALTIM_BOTTOM_PING_RANGE 0

MISSION 3 HD_C 2.4999999e-05 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 9 HEADING -1 C_ROLL_DIVE 3850 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 3850 ALTIM_TOP_TURN_MARGIN 0

STOP_T 5301919 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 180 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 800

D_FLARE 3 TGT_DEFAULT_LAT 3140 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 20

D_TGT 360 TGT_DEFAULT_LON -6410 R_PORT_OVSHOOT 30 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 510 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 340 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2304 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 95 CALL_WAIT 60 PITCH_VBD_SHIFT 0.000267 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 60 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -15 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 200 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3820 MINV_24V 17 SIM_W 0

APOGEE_PITCH -10 C_PITCH 2963 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 125 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044369884

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_T_H 0.00066042581

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.7363718e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.4006232e-06

RHO 1.023 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -10.01541

MASS 80120.602 PITCH_TIMEOUT 18 PRESSURE_YINT -13.855844 SEABIRD_C_H 1.1730425

MASS_COMP 10859 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0023542538

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00025774896

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.8301

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 250 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 510

AH0_24V 150 D_TGT 360 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 5301919

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 12.7 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 FG_AHR_10V 0 PITCH_MAX 3820 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 800 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 200 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 40 PITCH_VBD_SHIFT 0.000267 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 3140

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -6410

APOGEE_PITCH -10 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -13.855844 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 180 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 45 RAFOS_DEVICE -1 T_MISSION 95

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 60

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2963 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 3850 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 3850 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2304 MASS 80120.602 ROLL_CNV 0.028270001 USE_BATHY -15

DBDW 0 MASS_COMP 10859 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.80000001 ROLL_MAX 3860 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE2 101 MAX_BUOY 125 ROLL_MIN 250 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 30 VBD_MAX 3960

DEVICE5 -1 MISSION 3 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.01541 VBD_MIN 340

DIVE 9 NAV_MODE 2 SEABIRD_C_H 1.1730425 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6050 NOCOMM_ACTION 384 SEABIRD_C_I -0.0023542538 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00025774896 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.8301 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0044369884 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00066042581 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.7363718e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.4006232e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 280519,142410,3215.0774,-6432.5757,23,0.9,56,-14.9,0.5,74.9,9,5.0 TGT_NAME HYDRO_S

_CALLS 1 TGT_LATLONG 3210.000,-6430.000

_XMS_NAKs 0 TGT_RADIUS 9000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.54 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -45.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 280519,143038,3215.0276,-6432.5371,13,0.9,36,-14.9,0.3,182.1,9,4.9 MHEAD_RNG_PITCHd_Wd 209.0,10125,-31.2,-15.000,-32.87,1245

SPEED_LIMITS 0.179,0.232 D_GRID 2816

Post-dive calculations and measurements:

FINISH 0.3,1.025377 _10V_AH 10.69,2.352

SM_CCo 4546,200.70,0.613,0,0,548,510.12 FG_AHR_24Vo 0.000

SM_GC 0.49,8.95,0.00,200.70,0.087,0.000,0.613,196,3838,548,-8.56,-0.34,510.12,0,0,0,0,0,0,26.46,26.75,24.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3215.95,-6432.20,280519,125811 MEM 320288

TT8_MAMPS 0.021721,0.146804 DATA_FILE_SIZE 28026,407

HUMID 25.50 CAP_FILE_SIZE 59986,0

INTERNAL_PRESSURE 8.51595 CFSIZE 2046525440,2040627200

TCM_TEMP 20.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 1 CURRENT 0.136,35.04,1

ALTIM_TOP_PING 19.3,18.9 GPS 280519,155203,3215.312,-6432.430,25,0.8,50,-14.9,0.0,218.1,11,4.9

_24V_AH 24.75,6.903

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 288 156.47 SBE_CT 273 23 157.00

Roll_motor 0 0 0.00 AA4330 530 32 422.86

VBD_pump_during_apogee 248 841 5170.23 nil 0 0 0.00

VBD_pump_during_surface 200 613 3046.47 nil 0 0 0.00

VBD_valve 128 350 1115.41 nil 0 0 0.00

Iridium_during_init 24 34 20.98 nil 0 0 0.00

Iridium_during_connect 37 160 150.14 nil 0 0 0.00

Iridium_during_xfer 225 223 1242.18 nil 0 0 0.00

Transponder_ping 0 420 5.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 14 5.65

TT8 1145 13 171.02

LPSleep 2467 2 57.76

TT8_Active 573 13 81.04

TT8_Sampling 941 37 382.02

TT8_CF8 50 54 29.23

TT8_Kalman 0 0 0.00

Analog_circuits 924 10 98.87

GPS_charging 0 0 0.00

Compass 604 7 48.39

RAFOS 0 0 0.00

Transponder 2 30 0.93

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

70 -2.49 -122.2 180 3838 543 545 0.4 0.4 12 200 0.00 0.00 -126.70 0.149 16386 0.000 0.000 181 3838 2669 2662 2677 0 0 0 0 0 0 26.63 28.83 26.65 8.56 26.53

203 -2.49 -122.2 181 3838 2662 2677 3.3 -6.3 32 218 7.95 0.00 -2.03 0.350 18438 0.288 0.000 2156 3838 2727 2708 2746 0 0 0 0 0 0 25.94 26.21 26.08 8.76 25.07

286 -2.43 -122.2 2155 3838 2708 2746 23.5 -25.8 46 287 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 26.60 26.60 26.60 8.77 25.34

407 -2.43 -122.2 2155 3838 2708 2746 53.8 -24.7 58 408 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2747 0 0 0 0 0 0 26.71 26.72 26.72 8.78 25.15

525 -2.43 -122.2 2155 3838 2708 2746 80.5 -22.2 70 527 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 26.79 26.80 26.80 8.78 25.58

646 -2.43 -122.2 2155 3838 2709 2746 107.4 -21.4 82 647 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3839 2727 2708 2746 0 0 0 0 0 0 26.84 26.86 26.86 8.77 25.46

766 -2.43 -122.2 2155 3839 2708 2746 135.0 -22.7 94 767 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3839 2727 2708 2746 0 0 0 0 0 0 26.89 26.91 26.90 8.77 25.11

886 -2.43 -122.2 2155 3838 2709 2746 161.7 -22.2 106 887 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 26.93 26.94 26.94 8.77 25.58

1006 -2.43 -122.2 2154 3838 2708 2746 187.6 -22.5 118 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 26.96 26.97 26.96 8.76 25.70

1126 -2.43 -122.2 2155 3838 2708 2746 214.8 -22.7 130 1127 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 3838 2727 2708 2746 0 0 0 0 0 0 26.98 26.99 26.99 8.76 25.74

1245 -2.43 -122.2 2155 3838 2708 2746 242.2 -23.1 142 1247 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 27.00 27.01 27.01 8.76 24.95

1365 -2.43 -122.2 2155 3838 2708 2746 270.5 -23.7 150 1367 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 27.02 27.03 27.03 8.75 25.50

1666 -2.43 -122.2 2155 3838 2708 2746 342.6 -24.3 165 1668 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 3838 2727 2708 2746 0 0 0 0 0 0 27.05 27.07 27.06 8.75 26.25

1744 end dive: TARGET_DEPTH_EXCEEDED

state 1744 begin apogee

1747 -0.79 0.0 2155 3838 2709 2746 362.1 -24.4 169 1846 1.80 0.00 87.32 0.842 10246 0.216 0.000 2704 3838 2303 2279 2328 0 0 0 0 0 0 26.53 25.58 25.04 8.74 25.82

1847 end apogee: CONTROL_FINISHED_OK

state 1847 begin climb

1849 2.49 122.2 2704 3838 2279 2328 371.1 0.0 174 1946 3.08 0.00 88.18 0.842 10246 0.144 0.000 3751 3838 1883 1866 1900 0 0 0 0 0 0 25.68 25.27 24.75 8.70 24.99

2247 2.43 156.7 3750 3838 1866 1900 331.8 12.2 194 2275 0.00 0.00 25.85 0.785 8198 0.000 0.000 3750 3838 1763 1747 1780 0 0 0 0 0 0 26.63 25.89 25.37 8.66 25.38

2566 2.37 156.7 3750 3838 1746 1780 282.4 16.1 210 2567 0.00 0.00 0.00 0.000 6 0.000 0.000 3750 3838 1763 1747 1780 0 0 0 0 0 0 26.72 26.73 26.73 8.64 26.13

2866 2.30 156.7 3750 3838 1747 1780 236.6 15.1 229 2868 0.17 0.00 0.00 0.000 4102 0.226 0.000 3702 3838 1763 1747 1780 0 0 0 0 0 0 26.41 26.63 26.58 8.64 26.41

2985 2.30 156.7 3701 3838 1747 1780 219.2 14.3 241 2986 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1747 1780 0 0 0 0 0 0 26.91 26.93 26.93 8.64 26.80

3105 2.30 156.7 3701 3838 1747 1780 201.8 13.8 253 3106 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1747 1780 0 0 0 0 0 0 26.95 26.96 26.96 8.64 26.57

3225 2.30 156.7 3701 3838 1746 1780 185.0 13.6 265 3226 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1747 1780 0 0 0 0 0 0 26.97 26.99 26.98 8.64 26.92

3345 2.30 156.7 3701 3838 1746 1780 168.3 13.9 277 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1746 1780 0 0 0 0 0 0 27.00 27.01 27.01 8.64 26.88

3465 2.30 156.7 3701 3838 1746 1780 151.4 13.8 289 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1762 1746 1779 0 0 0 0 0 0 27.01 27.03 27.03 8.64 27.39

3585 2.30 156.7 3702 3838 1746 1780 134.5 14.4 301 3586 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1746 1780 0 0 0 0 0 0 27.03 27.05 27.04 8.64 26.57

3705 2.30 156.7 3701 3838 1746 1781 117.7 14.3 313 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1746 1780 0 0 0 0 0 0 27.04 27.06 27.05 8.64 27.20

3827 2.30 156.7 3702 3838 1746 1780 99.8 14.9 325 3828 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1763 1746 1780 0 0 0 0 0 0 27.05 27.07 27.07 8.63 26.72

3945 2.31 181.4 3702 3838 1746 1780 83.7 13.0 337 3966 0.00 0.00 17.90 0.636 8198 0.000 0.000 3702 3838 1678 1665 1692 0 0 0 0 0 0 27.07 26.46 25.94 8.64 26.49

4086 2.31 181.4 3701 3838 1665 1693 61.9 15.2 351 4088 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1679 1665 1693 0 0 0 0 0 0 26.90 26.92 26.91 8.64 26.96

4205 2.31 181.4 3701 3838 1665 1693 44.1 13.4 363 4206 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1679 1665 1693 0 0 0 0 0 0 26.95 26.96 26.96 8.63 26.64

4325 2.31 181.4 3702 3838 1665 1692 27.8 13.7 375 4326 0.00 0.00 0.00 0.000 6 0.000 0.000 3702 3838 1678 1665 1692 0 0 0 0 0 0 26.98 26.99 26.99 8.63 27.04

4447 2.32 222.3 3701 3838 1664 1693 13.1 11.6 392 4480 0.00 0.00 28.92 0.613 8198 0.000 0.000 3702 3838 1537 1524 1551 0 0 0 0 0 0 27.01 26.29 25.84 8.65 27.04

4515 end climb: SURFACE_DEPTH_REACHED

state 4515 begin surface coast

4531 end surface coast: CONTROL_FINISHED_OK

state 4531 begin surface

ID	45	HD_B	0.013	ROLL_MAX	3860	ALTIM_BOTTOM_PING_RANGE	0
MISSION	3	HD_C	2.4999999e-05	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	9	HEADING	-1	C_ROLL_DIVE	3850	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	3850	ALTIM_TOP_TURN_MARGIN	0
STOP_T	5301919	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	180	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	800
D_FLARE	3	TGT_DEFAULT_LAT	3140	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	20
D_TGT	360	TGT_DEFAULT_LON	-6410	R_PORT_OVSHOOT	30	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	510	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	340	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2304	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	95	CALL_WAIT	60	PITCH_VBD_SHIFT	0.000267	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	60	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-15	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	200	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3820	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-10	C_PITCH	2963	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	125	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044369884
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_T_H	0.00066042581
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.7363718e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.4006232e-06
RHO	1.023	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01541
MASS	80120.602	PITCH_TIMEOUT	18	PRESSURE_YINT	-13.855844	SEABIRD_C_H	1.1730425
MASS_COMP	10859	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0023542538
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00025774896
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.8301
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	250	COMPASS_USE	4

GPS1	280519,142410,3215.0774,-6432.5757,23,0.9,56,-14.9,0.5,74.9,9,5.0	TGT_NAME	HYDRO_S
_CALLS	1	TGT_LATLONG	3210.000,-6430.000
_XMS_NAKs	0	TGT_RADIUS	9000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.54	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-45.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	280519,143038,3215.0276,-6432.5371,13,0.9,36,-14.9,0.3,182.1,9,4.9	MHEAD_RNG_PITCHd_Wd	209.0,10125,-31.2,-15.000,-32.87,1245
SPEED_LIMITS	0.179,0.232	D_GRID	2816

FINISH	0.3,1.025377	_10V_AH	10.69,2.352
SM_CCo	4546,200.70,0.613,0,0,548,510.12	FG_AHR_24Vo	0.000
SM_GC	0.49,8.95,0.00,200.70,0.087,0.000,0.613,196,3838,548,-8.56,-0.34,510.12,0,0,0,0,0,0,26.46,26.75,24.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3215.95,-6432.20,280519,125811	MEM	320288
TT8_MAMPS	0.021721,0.146804	DATA_FILE_SIZE	28026,407
HUMID	25.50	CAP_FILE_SIZE	59986,0
INTERNAL_PRESSURE	8.51595	CFSIZE	2046525440,2040627200
TCM_TEMP	20.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	1	CURRENT	0.136,35.04,1
ALTIM_TOP_PING	19.3,18.9	GPS	280519,155203,3215.312,-6432.430,25,0.8,50,-14.9,0.0,218.1,11,4.9
_24V_AH	24.75,6.903

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	288	156.47	SBE_CT	273	23	157.00
Roll_motor	0	0	0.00	AA4330	530	32	422.86
VBD_pump_during_apogee	248	841	5170.23	nil	0	0	0.00
VBD_pump_during_surface	200	613	3046.47	nil	0	0	0.00
VBD_valve	128	350	1115.41	nil	0	0	0.00
Iridium_during_init	24	34	20.98	nil	0	0	0.00
Iridium_during_connect	37	160	150.14	nil	0	0	0.00
Iridium_during_xfer	225	223	1242.18	nil	0	0	0.00
Transponder_ping	0	420	5.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	14	5.65
TT8	1145	13	171.02
LPSleep	2467	2	57.76
TT8_Active	573	13	81.04
TT8_Sampling	941	37	382.02
TT8_CF8	50	54	29.23
TT8_Kalman	0	0	0.00
Analog_circuits	924	10	98.87
GPS_charging	0	0	0.00
Compass	604	7	48.39
RAFOS	0	0	0.00
Transponder	2	30	0.93

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
70	-2.49	-122.2	180	3838	543	545	0.4	0.4	12	200	0.00	0.00	-126.70	0.149	16386	0.000	0.000	181	3838	2669	2662	2677	0	0	0	0	0	0	26.63	28.83	26.65	8.56	26.53
203	-2.49	-122.2	181	3838	2662	2677	3.3	-6.3	32	218	7.95	0.00	-2.03	0.350	18438	0.288	0.000	2156	3838	2727	2708	2746	0	0	0	0	0	0	25.94	26.21	26.08	8.76	25.07
286	-2.43	-122.2	2155	3838	2708	2746	23.5	-25.8	46	287	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	26.60	26.60	26.60	8.77	25.34
407	-2.43	-122.2	2155	3838	2708	2746	53.8	-24.7	58	408	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2747	0	0	0	0	0	0	26.71	26.72	26.72	8.78	25.15
525	-2.43	-122.2	2155	3838	2708	2746	80.5	-22.2	70	527	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	26.79	26.80	26.80	8.78	25.58
646	-2.43	-122.2	2155	3838	2709	2746	107.4	-21.4	82	647	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3839	2727	2708	2746	0	0	0	0	0	0	26.84	26.86	26.86	8.77	25.46
766	-2.43	-122.2	2155	3839	2708	2746	135.0	-22.7	94	767	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3839	2727	2708	2746	0	0	0	0	0	0	26.89	26.91	26.90	8.77	25.11
886	-2.43	-122.2	2155	3838	2709	2746	161.7	-22.2	106	887	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	26.93	26.94	26.94	8.77	25.58
1006	-2.43	-122.2	2154	3838	2708	2746	187.6	-22.5	118	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	26.96	26.97	26.96	8.76	25.70
1126	-2.43	-122.2	2155	3838	2708	2746	214.8	-22.7	130	1127	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	3838	2727	2708	2746	0	0	0	0	0	0	26.98	26.99	26.99	8.76	25.74
1245	-2.43	-122.2	2155	3838	2708	2746	242.2	-23.1	142	1247	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	27.00	27.01	27.01	8.76	24.95
1365	-2.43	-122.2	2155	3838	2708	2746	270.5	-23.7	150	1367	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	27.02	27.03	27.03	8.75	25.50
1666	-2.43	-122.2	2155	3838	2708	2746	342.6	-24.3	165	1668	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	3838	2727	2708	2746	0	0	0	0	0	0	27.05	27.07	27.06	8.75	26.25
1744	end dive: TARGET_DEPTH_EXCEEDED
state	1744	begin apogee
1747	-0.79	0.0	2155	3838	2709	2746	362.1	-24.4	169	1846	1.80	0.00	87.32	0.842	10246	0.216	0.000	2704	3838	2303	2279	2328	0	0	0	0	0	0	26.53	25.58	25.04	8.74	25.82
1847	end apogee: CONTROL_FINISHED_OK
state	1847	begin climb
1849	2.49	122.2	2704	3838	2279	2328	371.1	0.0	174	1946	3.08	0.00	88.18	0.842	10246	0.144	0.000	3751	3838	1883	1866	1900	0	0	0	0	0	0	25.68	25.27	24.75	8.70	24.99
2247	2.43	156.7	3750	3838	1866	1900	331.8	12.2	194	2275	0.00	0.00	25.85	0.785	8198	0.000	0.000	3750	3838	1763	1747	1780	0	0	0	0	0	0	26.63	25.89	25.37	8.66	25.38
2566	2.37	156.7	3750	3838	1746	1780	282.4	16.1	210	2567	0.00	0.00	0.00	0.000	6	0.000	0.000	3750	3838	1763	1747	1780	0	0	0	0	0	0	26.72	26.73	26.73	8.64	26.13
2866	2.30	156.7	3750	3838	1747	1780	236.6	15.1	229	2868	0.17	0.00	0.00	0.000	4102	0.226	0.000	3702	3838	1763	1747	1780	0	0	0	0	0	0	26.41	26.63	26.58	8.64	26.41
2985	2.30	156.7	3701	3838	1747	1780	219.2	14.3	241	2986	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1747	1780	0	0	0	0	0	0	26.91	26.93	26.93	8.64	26.80
3105	2.30	156.7	3701	3838	1747	1780	201.8	13.8	253	3106	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1747	1780	0	0	0	0	0	0	26.95	26.96	26.96	8.64	26.57
3225	2.30	156.7	3701	3838	1746	1780	185.0	13.6	265	3226	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1747	1780	0	0	0	0	0	0	26.97	26.99	26.98	8.64	26.92
3345	2.30	156.7	3701	3838	1746	1780	168.3	13.9	277	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1746	1780	0	0	0	0	0	0	27.00	27.01	27.01	8.64	26.88
3465	2.30	156.7	3701	3838	1746	1780	151.4	13.8	289	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1762	1746	1779	0	0	0	0	0	0	27.01	27.03	27.03	8.64	27.39
3585	2.30	156.7	3702	3838	1746	1780	134.5	14.4	301	3586	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1746	1780	0	0	0	0	0	0	27.03	27.05	27.04	8.64	26.57
3705	2.30	156.7	3701	3838	1746	1781	117.7	14.3	313	3706	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1746	1780	0	0	0	0	0	0	27.04	27.06	27.05	8.64	27.20
3827	2.30	156.7	3702	3838	1746	1780	99.8	14.9	325	3828	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1763	1746	1780	0	0	0	0	0	0	27.05	27.07	27.07	8.63	26.72
3945	2.31	181.4	3702	3838	1746	1780	83.7	13.0	337	3966	0.00	0.00	17.90	0.636	8198	0.000	0.000	3702	3838	1678	1665	1692	0	0	0	0	0	0	27.07	26.46	25.94	8.64	26.49
4086	2.31	181.4	3701	3838	1665	1693	61.9	15.2	351	4088	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1679	1665	1693	0	0	0	0	0	0	26.90	26.92	26.91	8.64	26.96
4205	2.31	181.4	3701	3838	1665	1693	44.1	13.4	363	4206	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1679	1665	1693	0	0	0	0	0	0	26.95	26.96	26.96	8.63	26.64
4325	2.31	181.4	3702	3838	1665	1692	27.8	13.7	375	4326	0.00	0.00	0.00	0.000	6	0.000	0.000	3702	3838	1678	1665	1692	0	0	0	0	0	0	26.98	26.99	26.99	8.63	27.04
4447	2.32	222.3	3701	3838	1664	1693	13.1	11.6	392	4480	0.00	0.00	28.92	0.613	8198	0.000	0.000	3702	3838	1537	1524	1551	0	0	0	0	0	0	27.01	26.29	25.84	8.65	27.04
4515	end climb: SURFACE_DEPTH_REACHED
state	4515	begin surface coast
4531	end surface coast: CONTROL_FINISHED_OK
state	4531	begin surface