Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 427 * 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 427 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 400 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -38475.41 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 400

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 -38475.41

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 33 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 28 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 427 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 190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9 MHEAD_RNG_PITCHd_Wd 161.2,62626,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 841

Post-dive calculations and measurements:

FREEZE 8.57,-1.629,-1.827,3,28,0 ALTIM_TOP_PING 19.2,17.2

FINISH1 8.6,1.026731,38 _24V_AH 22.2,57.625

FINISH2 4.8 _10V_AH 10.2,29.513

RAFOS_CLK 528 FG_AHR_24Vo 0.000

RAFOS 0,1303185665,4.033333,4.018055,58,56,50,50,48,46,217,185,147,233,115,134 FG_AHR_10Vo 0.000

RAFOS_FIX 6721.527832,-5803.416992,190411,040444,3,116,0.12 MEM 150520

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 40025,964

TT8_MAMPS 0.026215 CAP_FILE_SIZE 114321,0

HUMID 47.95 CFSIZE 260165632,225460224

INTERNAL_PRESSURE 8.7601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.40 SOUNDSPEED 1462.5

XPDR_PINGS 0 GPS 190411,044344,6721.528,-5803.417,0,3115.7,0,-38.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 329 67.16 SBE_CT 683 24 364.06

Roll_motor 104 80 185.77 SBE_O2 734 19 310.02

VBD_pump_during_apogee 250 1298 7222.33 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 2 420 23.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2437 19 495.26

LPSleep 5500 2 129.59

TT8_Active 314 19 63.97

TT8_Sampling 1705 39 694.46

TT8_CF8 167 45 78.54

TT8_Kalman 0 0 0.00

Analog_circuits 1211 12 148.33

GPS_charging 0 0 0.00

Compass 1683 15 257.59

RAFOS 2520 1 38.56

Transponder 20 30 6.35

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 24 0.00 0.00 -6.07 0.000 2 0.000 0.000 2884 862 3102 0 0 0 0 0 0

26 -0.62 -146.0 8.6 -0.0 1 52 0.62 4.97 -15.25 0.000 4 0.110 0.070 2669 3893 3628 0 0 0 0 0 0

250 -0.58 -146.0 37.4 -13.9 40 256 0.00 2.20 0.00 0.000 6 0.000 0.044 2669 2479 3629 0 0 0 0 0 0

594 -0.48 -146.0 89.4 -13.6 101 602 0.15 2.33 0.00 0.000 4 0.214 0.070 2703 3898 3629 0 0 0 0 0 0

626 -0.48 -146.0 93.7 -13.0 106 633 0.00 2.20 0.00 0.000 6 0.000 0.044 2703 2482 3629 0 0 0 0 0 0

956 -0.51 -146.0 128.0 -10.3 142 960 0.00 2.30 0.00 0.000 4 0.000 0.071 2703 3897 3627 0 0 0 0 0 0

989 -0.56 -146.0 131.6 -10.3 144 996 0.00 2.17 0.00 0.000 6 0.000 0.045 2703 2490 3628 0 0 0 0 0 0

1317 -0.61 -146.0 162.4 -9.0 175 1324 0.12 0.00 0.00 0.000 6 0.129 0.000 2661 2490 3626 0 0 0 0 0 0

1643 -0.56 -146.0 201.8 -11.6 206 1647 0.00 2.30 0.00 0.000 4 0.000 0.071 2661 3893 3625 0 0 0 0 0 0

1694 -0.56 -146.0 207.7 -11.3 210 1698 0.00 2.17 0.00 0.000 6 0.000 0.044 2661 2484 3624 0 0 0 0 0 0

2024 -0.52 -146.0 244.7 -11.2 241 2029 0.12 2.33 0.00 0.000 4 0.208 0.071 2689 3903 3624 0 0 0 0 0 0

2065 -0.58 -146.0 248.4 -8.6 244 2069 0.00 2.20 0.00 0.000 6 0.000 0.044 2689 2480 3624 0 0 0 0 0 0

2391 -0.61 -146.0 277.3 -9.1 274 2395 0.00 2.30 0.00 0.000 4 0.000 0.068 2690 3903 3625 0 0 0 0 0 0

2415 -0.65 -146.0 279.4 -8.9 276 2420 0.12 2.17 0.00 0.000 6 0.118 0.042 2646 2488 3625 0 0 0 0 0 0

2740 -0.57 -146.0 321.4 -12.8 306 2745 0.12 2.22 0.00 0.000 4 0.213 0.058 2675 1087 3626 0 0 0 0 0 0

2758 -0.51 -146.0 323.5 -12.5 307 2762 0.00 2.22 0.00 0.000 6 0.000 0.057 2675 2484 3626 0 0 0 0 0 0

3083 -0.51 -146.0 355.9 -9.5 337 3088 0.00 2.28 0.00 0.000 4 0.000 0.072 2675 3899 3626 0 0 0 0 0 0

3105 -0.51 -146.0 358.2 -10.2 338 3112 0.00 2.17 0.00 0.000 6 0.000 0.041 2675 2495 3626 0 0 0 0 0 0

3431 -0.51 -146.0 389.0 -9.6 369 3435 0.00 2.28 0.00 0.000 4 0.000 0.068 2675 3906 3626 0 0 0 0 0 0

3471 -0.54 -146.0 392.8 -9.1 372 3475 0.00 2.17 0.00 0.000 6 0.000 0.041 2675 2486 3626 0 0 0 0 0 0

3803 -0.57 -146.0 423.2 -9.0 403 3807 0.00 2.30 0.00 0.000 4 0.000 0.067 2675 3902 3627 0 0 0 0 0 0

3866 -0.61 -146.0 429.0 -9.6 408 3870 0.00 2.15 0.00 0.000 6 0.000 0.041 2675 2486 3627 0 0 0 0 0 0

4197 -0.61 -146.0 458.4 -8.7 439 4201 0.00 2.28 0.00 0.000 4 0.000 0.067 2675 3900 3628 0 0 0 0 0 0

4220 -0.63 -146.0 460.6 -9.1 440 4226 0.00 2.15 0.00 0.000 6 0.000 0.040 2675 2484 3628 0 0 0 0 0 0

4545 -0.63 -146.0 490.3 -9.3 471 4549 0.00 2.28 0.00 0.000 4 0.000 0.067 2675 3900 3628 0 0 0 0 0 0

4562 -0.63 -146.0 491.9 -9.4 472 4566 0.00 2.15 0.00 0.000 6 0.000 0.039 2675 2482 3628 0 0 0 0 0 0

4893 -0.63 -146.0 523.0 -9.6 503 4894 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2482 3628 0 0 0 0 0 0

5214 -0.65 -146.0 553.2 -9.4 533 5218 0.00 2.30 0.00 0.000 4 0.000 0.067 2675 3909 3628 0 0 0 0 0 0

5235 -0.67 -146.0 555.6 -9.7 534 5242 0.00 2.15 0.00 0.000 6 0.000 0.040 2675 2491 3628 0 0 0 0 0 0

5562 -0.70 -146.0 587.1 -9.4 565 5563 0.12 0.00 0.00 0.000 6 0.122 0.000 2631 2490 3629 0 0 0 0 0 0

5884 -0.93 -146.0 615.0 -0.8 582 5888 0.20 2.22 0.00 0.000 4 0.112 0.060 2561 1094 3629 0 0 0 0 0 0

5894 -1.23 -146.0 615.1 -0.3 582 5899 0.28 2.17 0.00 0.000 6 0.102 0.052 2463 2493 3629 0 0 0 0 0 0

6026 end dive: NO_VERTICAL_VELOCITY

state 6026 begin apogee

6032 -0.12 0.0 615.1 0.0 587 6162 1.08 0.00 122.45 1.298 6 0.125 0.000 2816 2256 3030 0 0 0 0 0 0

6162 end apogee: CONTROL_FINISHED_OK

state 6163 begin climb

6165 0.62 146.0 615.3 0.0 591 6301 0.77 2.38 128.15 1.252 4 0.142 0.057 3054 884 2433 0 0 0 0 0 0

6555 -1.73 146.0 603.3 23112.3 603 6564 2.58 2.28 0.00 0.000 6 0.164 0.050 2318 2276 2426 0 0 0 0 0 0

6885 -1.73 146.0 553.9 23112.3 630 6889 0.00 2.30 0.00 0.000 4 0.000 0.070 2317 3693 2422 0 0 0 0 0 0

6902 -1.73 146.0 551.0 23112.3 631 6907 0.00 2.20 0.00 0.000 6 0.000 0.046 2317 2290 2421 0 0 0 0 0 0

7228 -1.73 146.0 495.8 23112.3 661 7232 0.00 2.25 0.00 0.000 4 0.000 0.063 2317 3685 2421 0 0 0 0 0 0

7246 -1.73 146.0 492.8 23112.3 662 7250 0.00 2.28 0.00 0.000 6 0.000 0.058 2317 2273 2420 0 0 0 0 0 0

7573 -1.73 146.0 437.2 23112.3 692 7577 0.00 2.22 0.00 0.000 4 0.000 0.059 2317 856 2420 0 0 0 0 0 0

7831 -1.73 146.0 391.1 23112.3 714 7838 0.00 2.30 0.00 0.000 6 0.000 0.062 2316 2278 2421 0 0 0 0 0 0

8158 -1.73 146.0 338.1 23112.3 745 8162 0.00 2.28 0.00 0.000 4 0.000 0.060 2316 855 2420 0 0 0 0 0 0

8388 -1.73 146.0 296.9 23112.3 765 8392 0.00 2.28 0.00 0.000 6 0.000 0.055 2316 2286 2419 0 0 0 0 0 0

8718 -1.73 146.0 239.0 23112.3 796 8722 0.00 2.28 0.00 0.000 4 0.000 0.058 2316 858 2420 0 0 0 0 0 0

8976 -1.73 146.0 192.1 23112.3 818 8983 0.00 2.28 0.00 0.000 6 0.000 0.058 2316 2279 2419 0 0 0 0 0 0

9301 -1.73 146.0 134.4 23112.3 849 9305 0.00 2.22 0.00 0.000 4 0.000 0.052 2316 855 2418 0 0 0 0 0 0

9330 -1.73 146.0 129.4 23112.3 851 9335 0.00 2.28 0.00 0.000 6 0.000 0.058 2314 2276 2419 0 0 0 0 0 0

9665 -1.73 146.0 71.4 23112.3 896 9671 0.00 2.25 0.00 0.000 4 0.000 0.056 2314 853 2418 0 0 0 0 0 0

9775 -1.73 146.0 51.8 23112.3 915 9781 0.00 2.28 0.00 0.000 6 0.000 0.057 2314 2279 2420 0 0 0 0 0 0

10022 end climb: FINISH_DEPTH_REACHED

state 10022 begin subsurface finish

10028 0.05 37.7 8.6 -23112.3 959 10059 2.88 2.35 -21.80 0.000 4 0.330 0.080 2869 3692 2878 0 0 0 0 0 0

10060 end subsurface finish: CONTROL_FINISHED_OK

state 10060 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	427	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	400	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-38475.41	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	190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9	MHEAD_RNG_PITCHd_Wd	161.2,62626,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	841

FREEZE	8.57,-1.629,-1.827,3,28,0	ALTIM_TOP_PING	19.2,17.2
FINISH1	8.6,1.026731,38	_24V_AH	22.2,57.625
FINISH2	4.8	_10V_AH	10.2,29.513
RAFOS_CLK	528	FG_AHR_24Vo	0.000
RAFOS	0,1303185665,4.033333,4.018055,58,56,50,50,48,46,217,185,147,233,115,134	FG_AHR_10Vo	0.000
RAFOS_FIX	6721.527832,-5803.416992,190411,040444,3,116,0.12	MEM	150520
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	40025,964
TT8_MAMPS	0.026215	CAP_FILE_SIZE	114321,0
HUMID	47.95	CFSIZE	260165632,225460224
INTERNAL_PRESSURE	8.7601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.40	SOUNDSPEED	1462.5
XPDR_PINGS	0	GPS	190411,044344,6721.528,-5803.417,0,3115.7,0,-38.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	329	67.16	SBE_CT	683	24	364.06
Roll_motor	104	80	185.77	SBE_O2	734	19	310.02
VBD_pump_during_apogee	250	1298	7222.33	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	2	420	23.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2437	19	495.26
LPSleep	5500	2	129.59
TT8_Active	314	19	63.97
TT8_Sampling	1705	39	694.46
TT8_CF8	167	45	78.54
TT8_Kalman	0	0	0.00
Analog_circuits	1211	12	148.33
GPS_charging	0	0	0.00
Compass	1683	15	257.59
RAFOS	2520	1	38.56
Transponder	20	30	6.35

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	24	0.00	0.00	-6.07	0.000	2	0.000	0.000	2884	862	3102	0	0	0	0	0	0
26	-0.62	-146.0	8.6	-0.0	1	52	0.62	4.97	-15.25	0.000	4	0.110	0.070	2669	3893	3628	0	0	0	0	0	0
250	-0.58	-146.0	37.4	-13.9	40	256	0.00	2.20	0.00	0.000	6	0.000	0.044	2669	2479	3629	0	0	0	0	0	0
594	-0.48	-146.0	89.4	-13.6	101	602	0.15	2.33	0.00	0.000	4	0.214	0.070	2703	3898	3629	0	0	0	0	0	0
626	-0.48	-146.0	93.7	-13.0	106	633	0.00	2.20	0.00	0.000	6	0.000	0.044	2703	2482	3629	0	0	0	0	0	0
956	-0.51	-146.0	128.0	-10.3	142	960	0.00	2.30	0.00	0.000	4	0.000	0.071	2703	3897	3627	0	0	0	0	0	0
989	-0.56	-146.0	131.6	-10.3	144	996	0.00	2.17	0.00	0.000	6	0.000	0.045	2703	2490	3628	0	0	0	0	0	0
1317	-0.61	-146.0	162.4	-9.0	175	1324	0.12	0.00	0.00	0.000	6	0.129	0.000	2661	2490	3626	0	0	0	0	0	0
1643	-0.56	-146.0	201.8	-11.6	206	1647	0.00	2.30	0.00	0.000	4	0.000	0.071	2661	3893	3625	0	0	0	0	0	0
1694	-0.56	-146.0	207.7	-11.3	210	1698	0.00	2.17	0.00	0.000	6	0.000	0.044	2661	2484	3624	0	0	0	0	0	0
2024	-0.52	-146.0	244.7	-11.2	241	2029	0.12	2.33	0.00	0.000	4	0.208	0.071	2689	3903	3624	0	0	0	0	0	0
2065	-0.58	-146.0	248.4	-8.6	244	2069	0.00	2.20	0.00	0.000	6	0.000	0.044	2689	2480	3624	0	0	0	0	0	0
2391	-0.61	-146.0	277.3	-9.1	274	2395	0.00	2.30	0.00	0.000	4	0.000	0.068	2690	3903	3625	0	0	0	0	0	0
2415	-0.65	-146.0	279.4	-8.9	276	2420	0.12	2.17	0.00	0.000	6	0.118	0.042	2646	2488	3625	0	0	0	0	0	0
2740	-0.57	-146.0	321.4	-12.8	306	2745	0.12	2.22	0.00	0.000	4	0.213	0.058	2675	1087	3626	0	0	0	0	0	0
2758	-0.51	-146.0	323.5	-12.5	307	2762	0.00	2.22	0.00	0.000	6	0.000	0.057	2675	2484	3626	0	0	0	0	0	0
3083	-0.51	-146.0	355.9	-9.5	337	3088	0.00	2.28	0.00	0.000	4	0.000	0.072	2675	3899	3626	0	0	0	0	0	0
3105	-0.51	-146.0	358.2	-10.2	338	3112	0.00	2.17	0.00	0.000	6	0.000	0.041	2675	2495	3626	0	0	0	0	0	0
3431	-0.51	-146.0	389.0	-9.6	369	3435	0.00	2.28	0.00	0.000	4	0.000	0.068	2675	3906	3626	0	0	0	0	0	0
3471	-0.54	-146.0	392.8	-9.1	372	3475	0.00	2.17	0.00	0.000	6	0.000	0.041	2675	2486	3626	0	0	0	0	0	0
3803	-0.57	-146.0	423.2	-9.0	403	3807	0.00	2.30	0.00	0.000	4	0.000	0.067	2675	3902	3627	0	0	0	0	0	0
3866	-0.61	-146.0	429.0	-9.6	408	3870	0.00	2.15	0.00	0.000	6	0.000	0.041	2675	2486	3627	0	0	0	0	0	0
4197	-0.61	-146.0	458.4	-8.7	439	4201	0.00	2.28	0.00	0.000	4	0.000	0.067	2675	3900	3628	0	0	0	0	0	0
4220	-0.63	-146.0	460.6	-9.1	440	4226	0.00	2.15	0.00	0.000	6	0.000	0.040	2675	2484	3628	0	0	0	0	0	0
4545	-0.63	-146.0	490.3	-9.3	471	4549	0.00	2.28	0.00	0.000	4	0.000	0.067	2675	3900	3628	0	0	0	0	0	0
4562	-0.63	-146.0	491.9	-9.4	472	4566	0.00	2.15	0.00	0.000	6	0.000	0.039	2675	2482	3628	0	0	0	0	0	0
4893	-0.63	-146.0	523.0	-9.6	503	4894	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2482	3628	0	0	0	0	0	0
5214	-0.65	-146.0	553.2	-9.4	533	5218	0.00	2.30	0.00	0.000	4	0.000	0.067	2675	3909	3628	0	0	0	0	0	0
5235	-0.67	-146.0	555.6	-9.7	534	5242	0.00	2.15	0.00	0.000	6	0.000	0.040	2675	2491	3628	0	0	0	0	0	0
5562	-0.70	-146.0	587.1	-9.4	565	5563	0.12	0.00	0.00	0.000	6	0.122	0.000	2631	2490	3629	0	0	0	0	0	0
5884	-0.93	-146.0	615.0	-0.8	582	5888	0.20	2.22	0.00	0.000	4	0.112	0.060	2561	1094	3629	0	0	0	0	0	0
5894	-1.23	-146.0	615.1	-0.3	582	5899	0.28	2.17	0.00	0.000	6	0.102	0.052	2463	2493	3629	0	0	0	0	0	0
6026	end dive: NO_VERTICAL_VELOCITY
state	6026	begin apogee
6032	-0.12	0.0	615.1	0.0	587	6162	1.08	0.00	122.45	1.298	6	0.125	0.000	2816	2256	3030	0	0	0	0	0	0
6162	end apogee: CONTROL_FINISHED_OK
state	6163	begin climb
6165	0.62	146.0	615.3	0.0	591	6301	0.77	2.38	128.15	1.252	4	0.142	0.057	3054	884	2433	0	0	0	0	0	0
6555	-1.73	146.0	603.3	23112.3	603	6564	2.58	2.28	0.00	0.000	6	0.164	0.050	2318	2276	2426	0	0	0	0	0	0
6885	-1.73	146.0	553.9	23112.3	630	6889	0.00	2.30	0.00	0.000	4	0.000	0.070	2317	3693	2422	0	0	0	0	0	0
6902	-1.73	146.0	551.0	23112.3	631	6907	0.00	2.20	0.00	0.000	6	0.000	0.046	2317	2290	2421	0	0	0	0	0	0
7228	-1.73	146.0	495.8	23112.3	661	7232	0.00	2.25	0.00	0.000	4	0.000	0.063	2317	3685	2421	0	0	0	0	0	0
7246	-1.73	146.0	492.8	23112.3	662	7250	0.00	2.28	0.00	0.000	6	0.000	0.058	2317	2273	2420	0	0	0	0	0	0
7573	-1.73	146.0	437.2	23112.3	692	7577	0.00	2.22	0.00	0.000	4	0.000	0.059	2317	856	2420	0	0	0	0	0	0
7831	-1.73	146.0	391.1	23112.3	714	7838	0.00	2.30	0.00	0.000	6	0.000	0.062	2316	2278	2421	0	0	0	0	0	0
8158	-1.73	146.0	338.1	23112.3	745	8162	0.00	2.28	0.00	0.000	4	0.000	0.060	2316	855	2420	0	0	0	0	0	0
8388	-1.73	146.0	296.9	23112.3	765	8392	0.00	2.28	0.00	0.000	6	0.000	0.055	2316	2286	2419	0	0	0	0	0	0
8718	-1.73	146.0	239.0	23112.3	796	8722	0.00	2.28	0.00	0.000	4	0.000	0.058	2316	858	2420	0	0	0	0	0	0
8976	-1.73	146.0	192.1	23112.3	818	8983	0.00	2.28	0.00	0.000	6	0.000	0.058	2316	2279	2419	0	0	0	0	0	0
9301	-1.73	146.0	134.4	23112.3	849	9305	0.00	2.22	0.00	0.000	4	0.000	0.052	2316	855	2418	0	0	0	0	0	0
9330	-1.73	146.0	129.4	23112.3	851	9335	0.00	2.28	0.00	0.000	6	0.000	0.058	2314	2276	2419	0	0	0	0	0	0
9665	-1.73	146.0	71.4	23112.3	896	9671	0.00	2.25	0.00	0.000	4	0.000	0.056	2314	853	2418	0	0	0	0	0	0
9775	-1.73	146.0	51.8	23112.3	915	9781	0.00	2.28	0.00	0.000	6	0.000	0.057	2314	2279	2420	0	0	0	0	0	0
10022	end climb: FINISH_DEPTH_REACHED
state	10022	begin subsurface finish
10028	0.05	37.7	8.6	-23112.3	959	10059	2.88	2.35	-21.80	0.000	4	0.330	0.080	2869	3692	2878	0	0	0	0	0	0
10060	end subsurface finish: CONTROL_FINISHED_OK
state	10060	begin surface