Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 430 * 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 430 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 32 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 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 430 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 190411,084240,6721.117,-5802.970,0,3112.3,0,-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 2.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -27.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190411,084240,6721.117,-5802.970,181,99.0,181,-38.9 MHEAD_RNG_PITCHd_Wd 160.7,63693,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 894

Post-dive calculations and measurements:

FREEZE 8.63,-1.728,-1.837,3,31,0 ALTIM_TOP_PING 19.8,999.0

FINISH1 8.6,1.026872,31 _24V_AH 22.0,57.934

FINISH2 7.1 _10V_AH 10.1,29.712

RAFOS_CLK 639 FG_AHR_24Vo 0.000

RAFOS 0,1303214466,12.033333,12.018333,70,60,60,58,55,55,217,198,183,166,207,122 FG_AHR_10Vo 0.000

RAFOS_FIX 6720.738281,-5759.161133,190411,121244,3,148,0.19 MEM 150496

IRIDIUM_FIX 6652.93,-6021.53,130411,111123 DATA_FILE_SIZE 46632,1189

TT8_MAMPS 0.026215 CAP_FILE_SIZE 134299,0

HUMID 45.19 CFSIZE 260165632,225255424

INTERNAL_PRESSURE 8.7308 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1460.6

XPDR_PINGS 0 GPS 190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 324 137.01 SBE_CT 840 24 443.98

Roll_motor 95 78 163.13 SBE_O2 901 19 376.77

VBD_pump_during_apogee 345 1300 9872.94 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 100 103 227.24 nil 0 0 0.00

Iridium_during_connect 17 160 61.02 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 16.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.56

TT8 2827 19 568.79

LPSleep 6225 2 145.26

TT8_Active 507 19 102.15

TT8_Sampling 2190 39 883.30

TT8_CF8 463 45 215.19

TT8_Kalman 0 0 0.00

Analog_circuits 1512 12 183.34

GPS_charging 0 0 0.00

Compass 1867 15 282.99

RAFOS 2520 1 38.18

Transponder 13 30 4.07

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 0 138 0.00 0.00 -119.75 0.000 2 0.000 0.000 106 2495 3167 0 0 0 0 0 0

141 -0.62 -146.0 5.2 -10.4 21 173 13.25 2.25 -11.38 0.000 4 0.324 0.071 2651 1087 3629 0 0 0 0 0 0

180 -0.01 -146.0 16.2 -25.7 27 187 0.75 2.25 0.00 0.000 6 0.206 0.062 2851 2487 3629 0 0 0 0 0 0

526 -0.43 -146.0 47.0 -9.7 88 534 0.35 2.25 0.00 0.000 4 0.115 0.062 2731 1087 3630 0 0 0 0 0 0

604 -0.56 -146.0 54.0 -8.8 101 611 0.15 2.25 0.00 0.000 6 0.119 0.059 2679 2496 3629 0 0 0 0 0 0

950 -0.50 -146.0 103.3 -14.2 160 954 0.00 2.30 0.00 0.000 4 0.000 0.078 2679 3899 3629 0 0 0 0 0 0

1013 -0.50 -146.0 112.5 -13.4 165 1017 0.00 2.20 0.00 0.000 6 0.000 0.047 2678 2490 3629 0 0 0 0 0 0

1340 -0.45 -146.0 155.5 -12.2 195 1344 0.15 2.25 0.00 0.000 4 0.213 0.064 2714 1085 3628 0 0 0 0 0 0

1357 -0.42 -146.0 157.8 -12.2 196 1361 0.00 2.28 0.00 0.000 6 0.000 0.062 2714 2488 3628 0 0 0 0 0 0

1684 -0.50 -146.0 183.5 -7.7 226 1688 0.00 2.33 0.00 0.000 4 0.000 0.077 2715 3906 3628 0 0 0 0 0 0

1725 -0.60 -146.0 186.6 -7.1 229 1730 0.15 2.20 0.00 0.000 6 0.112 0.045 2664 2482 3628 0 0 0 0 0 0

2050 -0.55 -146.0 220.8 -11.0 259 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2482 3627 0 0 0 0 0 0

2370 -0.50 -146.0 256.6 -11.6 289 2372 0.15 0.00 0.00 0.000 6 0.214 0.000 2699 2482 3628 0 0 0 0 0 0

2689 -0.54 -146.0 284.7 -9.0 319 2693 0.00 2.20 0.00 0.000 4 0.000 0.061 2699 1081 3630 0 0 0 0 0 0

2699 -0.59 -146.0 286.0 -9.4 319 2706 0.00 2.28 0.00 0.000 6 0.000 0.058 2699 2495 3629 0 0 0 0 0 0

3025 -0.64 -146.0 315.7 -9.0 350 3030 0.12 2.33 0.00 0.000 4 0.125 0.073 2655 3899 3631 0 0 0 0 0 0

3057 -0.61 -146.0 319.4 -11.8 352 3064 0.00 2.20 0.00 0.000 6 0.000 0.044 2655 2481 3630 0 0 0 0 0 0

3383 -0.56 -146.0 359.1 -12.0 383 3384 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2481 3630 0 0 0 0 0 0

3706 -0.51 -146.0 396.6 -11.8 413 3711 0.15 2.35 0.00 0.000 4 0.199 0.071 2691 3906 3631 0 0 0 0 0 0

3739 -0.56 -146.0 400.7 -9.5 415 3746 0.00 2.20 0.00 0.000 6 0.000 0.043 2692 2487 3631 0 0 0 0 0 0

4065 -0.61 -146.0 426.3 -7.7 446 4067 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2486 3632 0 0 0 0 0 0

4386 -0.66 -146.0 451.2 -8.2 476 4393 0.12 0.00 0.00 0.000 6 0.125 0.000 2646 2486 3633 0 0 0 0 0 0

4712 -0.59 -146.0 487.9 -11.3 507 4713 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2486 3633 0 0 0 0 0 0

5032 -0.53 -146.0 525.5 -12.8 537 5034 0.17 0.00 0.00 0.000 6 0.197 0.000 2690 2486 3633 0 0 0 0 0 0

5349 -0.59 -146.0 552.2 -8.1 567 5350 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2486 3635 0 0 0 0 0 0

5669 -0.65 -146.0 578.0 -7.1 597 5676 0.12 0.00 0.00 0.000 6 0.127 0.000 2646 2486 3634 0 0 0 0 0 0

5997 -0.92 -146.0 599.9 -0.3 628 6002 0.22 2.33 0.00 0.000 4 0.107 0.068 2566 3900 3634 0 0 0 0 0 0

6039 end dive: NO_VERTICAL_VELOCITY

state 6039 begin apogee

6047 -0.12 0.0 599.8 0.0 631 6177 0.77 0.00 124.25 1.300 6 0.135 0.000 2813 2268 3030 0 0 0 0 0 0

6178 end apogee: CONTROL_FINISHED_OK

state 6178 begin climb

6180 0.62 146.0 599.8 0.0 643 6318 0.80 0.00 129.40 1.246 6 0.136 0.000 3054 2268 2434 0 0 0 0 0 0

6636 0.57 146.0 555.3 10.5 686 6637 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2268 2426 0 0 0 0 0 0

6954 0.51 146.0 522.3 10.2 716 6958 0.00 2.35 0.00 0.000 4 0.000 0.065 3054 3689 2425 0 0 0 0 0 0

6995 0.40 146.0 517.1 13.3 719 7000 0.25 2.25 0.00 0.000 6 0.193 0.052 3001 2277 2425 0 0 0 0 0 0

7320 0.49 187.8 490.7 8.1 749 7367 0.00 2.40 35.88 1.186 4 0.000 0.067 3008 856 2262 0 0 0 0 0 0

7408 0.62 212.9 483.5 8.8 756 7438 0.15 2.33 23.55 1.148 6 0.099 0.051 3072 2289 2162 0 0 0 0 0 0

7755 0.55 212.9 434.7 14.0 789 7760 0.12 2.28 0.00 0.000 4 0.190 0.067 3041 3682 2156 0 0 0 0 0 0

7823 0.52 212.9 425.6 13.1 795 7828 0.00 2.22 0.00 0.000 6 0.000 0.051 3049 2276 2155 0 0 0 0 0 0

8150 0.50 212.9 385.2 12.7 825 8154 0.00 2.28 0.00 0.000 4 0.000 0.066 3060 862 2154 0 0 0 0 0 0

8205 0.50 212.9 377.8 12.4 829 8212 0.12 2.25 0.00 0.000 6 0.184 0.050 3029 2271 2153 0 0 0 0 0 0

8532 0.53 212.9 341.5 11.1 860 8536 0.00 2.25 0.00 0.000 4 0.000 0.066 3029 3686 2153 0 0 0 0 0 0

8620 0.53 212.9 330.0 12.5 867 8627 0.00 2.25 0.00 0.000 6 0.000 0.050 3037 2276 2152 0 0 0 0 0 0

8946 0.53 212.9 291.6 11.6 898 8950 0.00 2.25 0.00 0.000 4 0.000 0.064 3046 864 2152 0 0 0 0 0 0

8992 0.57 212.9 286.4 11.6 902 8996 0.00 2.22 0.00 0.000 6 0.000 0.050 3047 2277 2150 0 0 0 0 0 0

9316 0.57 212.9 249.0 12.3 932 9320 0.00 2.22 0.00 0.000 4 0.000 0.065 3047 3684 2150 0 0 0 0 0 0

9383 0.54 212.9 240.3 12.9 937 9390 0.00 2.22 0.00 0.000 6 0.000 0.048 3056 2264 2151 0 0 0 0 0 0

9708 0.54 212.9 200.2 12.1 968 9712 0.00 2.20 0.00 0.000 4 0.000 0.063 3067 863 2150 0 0 0 0 0 0

9770 0.54 212.9 192.8 13.0 973 9774 0.00 2.22 0.00 0.000 6 0.000 0.050 3067 2279 2150 0 0 0 0 0 0

10096 0.50 212.9 152.9 11.4 1003 10101 0.15 2.22 0.00 0.000 4 0.183 0.063 3027 3683 2150 0 0 0 0 0 0

10158 0.53 212.9 146.4 10.2 1008 10162 0.00 2.20 0.00 0.000 6 0.000 0.047 3035 2262 2150 0 0 0 0 0 0

10484 0.60 232.8 118.0 9.1 1038 10507 0.00 2.22 17.17 0.950 4 0.000 0.062 3042 861 2079 0 0 0 0 0 0

10558 0.71 248.1 111.1 9.3 1044 10580 0.15 2.22 14.82 0.924 6 0.099 0.047 3108 2275 2017 0 0 0 0 0 0

10915 0.67 248.1 60.9 13.0 1101 10922 0.00 2.25 0.00 0.000 4 0.000 0.062 3108 3683 2015 0 0 0 0 0 0

11014 0.59 248.1 45.8 15.1 1118 11021 0.22 2.20 0.00 0.000 6 0.183 0.048 3059 2273 2014 0 0 0 0 0 0

11361 0.66 248.1 11.0 10.7 1179 11368 0.00 2.25 0.00 0.000 4 0.000 0.063 3059 864 2014 0 0 0 0 0 0

11385 end climb: FINISH_DEPTH_REACHED

state 11385 begin subsurface finish

11393 0.04 30.8 8.6 -8.9 1183 11429 0.57 0.00 -29.20 0.000 6 0.159 0.000 2883 2276 2906 0 0 0 0 0 0

11430 end subsurface finish: CONTROL_FINISHED_OK

state 11430 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	430	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	190411,084240,6721.117,-5802.970,0,3112.3,0,-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	2.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-27.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190411,084240,6721.117,-5802.970,181,99.0,181,-38.9	MHEAD_RNG_PITCHd_Wd	160.7,63693,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	894

FREEZE	8.63,-1.728,-1.837,3,31,0	ALTIM_TOP_PING	19.8,999.0
FINISH1	8.6,1.026872,31	_24V_AH	22.0,57.934
FINISH2	7.1	_10V_AH	10.1,29.712
RAFOS_CLK	639	FG_AHR_24Vo	0.000
RAFOS	0,1303214466,12.033333,12.018333,70,60,60,58,55,55,217,198,183,166,207,122	FG_AHR_10Vo	0.000
RAFOS_FIX	6720.738281,-5759.161133,190411,121244,3,148,0.19	MEM	150496
IRIDIUM_FIX	6652.93,-6021.53,130411,111123	DATA_FILE_SIZE	46632,1189
TT8_MAMPS	0.026215	CAP_FILE_SIZE	134299,0
HUMID	45.19	CFSIZE	260165632,225255424
INTERNAL_PRESSURE	8.7308	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1460.6
XPDR_PINGS	0	GPS	190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	324	137.01	SBE_CT	840	24	443.98
Roll_motor	95	78	163.13	SBE_O2	901	19	376.77
VBD_pump_during_apogee	345	1300	9872.94	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	100	103	227.24	nil	0	0	0.00
Iridium_during_connect	17	160	61.02	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	16.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.56
TT8	2827	19	568.79
LPSleep	6225	2	145.26
TT8_Active	507	19	102.15
TT8_Sampling	2190	39	883.30
TT8_CF8	463	45	215.19
TT8_Kalman	0	0	0.00
Analog_circuits	1512	12	183.34
GPS_charging	0	0	0.00
Compass	1867	15	282.99
RAFOS	2520	1	38.18
Transponder	13	30	4.07

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	138	0.00	0.00	-119.75	0.000	2	0.000	0.000	106	2495	3167	0	0	0	0	0	0
141	-0.62	-146.0	5.2	-10.4	21	173	13.25	2.25	-11.38	0.000	4	0.324	0.071	2651	1087	3629	0	0	0	0	0	0
180	-0.01	-146.0	16.2	-25.7	27	187	0.75	2.25	0.00	0.000	6	0.206	0.062	2851	2487	3629	0	0	0	0	0	0
526	-0.43	-146.0	47.0	-9.7	88	534	0.35	2.25	0.00	0.000	4	0.115	0.062	2731	1087	3630	0	0	0	0	0	0
604	-0.56	-146.0	54.0	-8.8	101	611	0.15	2.25	0.00	0.000	6	0.119	0.059	2679	2496	3629	0	0	0	0	0	0
950	-0.50	-146.0	103.3	-14.2	160	954	0.00	2.30	0.00	0.000	4	0.000	0.078	2679	3899	3629	0	0	0	0	0	0
1013	-0.50	-146.0	112.5	-13.4	165	1017	0.00	2.20	0.00	0.000	6	0.000	0.047	2678	2490	3629	0	0	0	0	0	0
1340	-0.45	-146.0	155.5	-12.2	195	1344	0.15	2.25	0.00	0.000	4	0.213	0.064	2714	1085	3628	0	0	0	0	0	0
1357	-0.42	-146.0	157.8	-12.2	196	1361	0.00	2.28	0.00	0.000	6	0.000	0.062	2714	2488	3628	0	0	0	0	0	0
1684	-0.50	-146.0	183.5	-7.7	226	1688	0.00	2.33	0.00	0.000	4	0.000	0.077	2715	3906	3628	0	0	0	0	0	0
1725	-0.60	-146.0	186.6	-7.1	229	1730	0.15	2.20	0.00	0.000	6	0.112	0.045	2664	2482	3628	0	0	0	0	0	0
2050	-0.55	-146.0	220.8	-11.0	259	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2482	3627	0	0	0	0	0	0
2370	-0.50	-146.0	256.6	-11.6	289	2372	0.15	0.00	0.00	0.000	6	0.214	0.000	2699	2482	3628	0	0	0	0	0	0
2689	-0.54	-146.0	284.7	-9.0	319	2693	0.00	2.20	0.00	0.000	4	0.000	0.061	2699	1081	3630	0	0	0	0	0	0
2699	-0.59	-146.0	286.0	-9.4	319	2706	0.00	2.28	0.00	0.000	6	0.000	0.058	2699	2495	3629	0	0	0	0	0	0
3025	-0.64	-146.0	315.7	-9.0	350	3030	0.12	2.33	0.00	0.000	4	0.125	0.073	2655	3899	3631	0	0	0	0	0	0
3057	-0.61	-146.0	319.4	-11.8	352	3064	0.00	2.20	0.00	0.000	6	0.000	0.044	2655	2481	3630	0	0	0	0	0	0
3383	-0.56	-146.0	359.1	-12.0	383	3384	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2481	3630	0	0	0	0	0	0
3706	-0.51	-146.0	396.6	-11.8	413	3711	0.15	2.35	0.00	0.000	4	0.199	0.071	2691	3906	3631	0	0	0	0	0	0
3739	-0.56	-146.0	400.7	-9.5	415	3746	0.00	2.20	0.00	0.000	6	0.000	0.043	2692	2487	3631	0	0	0	0	0	0
4065	-0.61	-146.0	426.3	-7.7	446	4067	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2486	3632	0	0	0	0	0	0
4386	-0.66	-146.0	451.2	-8.2	476	4393	0.12	0.00	0.00	0.000	6	0.125	0.000	2646	2486	3633	0	0	0	0	0	0
4712	-0.59	-146.0	487.9	-11.3	507	4713	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2486	3633	0	0	0	0	0	0
5032	-0.53	-146.0	525.5	-12.8	537	5034	0.17	0.00	0.00	0.000	6	0.197	0.000	2690	2486	3633	0	0	0	0	0	0
5349	-0.59	-146.0	552.2	-8.1	567	5350	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2486	3635	0	0	0	0	0	0
5669	-0.65	-146.0	578.0	-7.1	597	5676	0.12	0.00	0.00	0.000	6	0.127	0.000	2646	2486	3634	0	0	0	0	0	0
5997	-0.92	-146.0	599.9	-0.3	628	6002	0.22	2.33	0.00	0.000	4	0.107	0.068	2566	3900	3634	0	0	0	0	0	0
6039	end dive: NO_VERTICAL_VELOCITY
state	6039	begin apogee
6047	-0.12	0.0	599.8	0.0	631	6177	0.77	0.00	124.25	1.300	6	0.135	0.000	2813	2268	3030	0	0	0	0	0	0
6178	end apogee: CONTROL_FINISHED_OK
state	6178	begin climb
6180	0.62	146.0	599.8	0.0	643	6318	0.80	0.00	129.40	1.246	6	0.136	0.000	3054	2268	2434	0	0	0	0	0	0
6636	0.57	146.0	555.3	10.5	686	6637	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2268	2426	0	0	0	0	0	0
6954	0.51	146.0	522.3	10.2	716	6958	0.00	2.35	0.00	0.000	4	0.000	0.065	3054	3689	2425	0	0	0	0	0	0
6995	0.40	146.0	517.1	13.3	719	7000	0.25	2.25	0.00	0.000	6	0.193	0.052	3001	2277	2425	0	0	0	0	0	0
7320	0.49	187.8	490.7	8.1	749	7367	0.00	2.40	35.88	1.186	4	0.000	0.067	3008	856	2262	0	0	0	0	0	0
7408	0.62	212.9	483.5	8.8	756	7438	0.15	2.33	23.55	1.148	6	0.099	0.051	3072	2289	2162	0	0	0	0	0	0
7755	0.55	212.9	434.7	14.0	789	7760	0.12	2.28	0.00	0.000	4	0.190	0.067	3041	3682	2156	0	0	0	0	0	0
7823	0.52	212.9	425.6	13.1	795	7828	0.00	2.22	0.00	0.000	6	0.000	0.051	3049	2276	2155	0	0	0	0	0	0
8150	0.50	212.9	385.2	12.7	825	8154	0.00	2.28	0.00	0.000	4	0.000	0.066	3060	862	2154	0	0	0	0	0	0
8205	0.50	212.9	377.8	12.4	829	8212	0.12	2.25	0.00	0.000	6	0.184	0.050	3029	2271	2153	0	0	0	0	0	0
8532	0.53	212.9	341.5	11.1	860	8536	0.00	2.25	0.00	0.000	4	0.000	0.066	3029	3686	2153	0	0	0	0	0	0
8620	0.53	212.9	330.0	12.5	867	8627	0.00	2.25	0.00	0.000	6	0.000	0.050	3037	2276	2152	0	0	0	0	0	0
8946	0.53	212.9	291.6	11.6	898	8950	0.00	2.25	0.00	0.000	4	0.000	0.064	3046	864	2152	0	0	0	0	0	0
8992	0.57	212.9	286.4	11.6	902	8996	0.00	2.22	0.00	0.000	6	0.000	0.050	3047	2277	2150	0	0	0	0	0	0
9316	0.57	212.9	249.0	12.3	932	9320	0.00	2.22	0.00	0.000	4	0.000	0.065	3047	3684	2150	0	0	0	0	0	0
9383	0.54	212.9	240.3	12.9	937	9390	0.00	2.22	0.00	0.000	6	0.000	0.048	3056	2264	2151	0	0	0	0	0	0
9708	0.54	212.9	200.2	12.1	968	9712	0.00	2.20	0.00	0.000	4	0.000	0.063	3067	863	2150	0	0	0	0	0	0
9770	0.54	212.9	192.8	13.0	973	9774	0.00	2.22	0.00	0.000	6	0.000	0.050	3067	2279	2150	0	0	0	0	0	0
10096	0.50	212.9	152.9	11.4	1003	10101	0.15	2.22	0.00	0.000	4	0.183	0.063	3027	3683	2150	0	0	0	0	0	0
10158	0.53	212.9	146.4	10.2	1008	10162	0.00	2.20	0.00	0.000	6	0.000	0.047	3035	2262	2150	0	0	0	0	0	0
10484	0.60	232.8	118.0	9.1	1038	10507	0.00	2.22	17.17	0.950	4	0.000	0.062	3042	861	2079	0	0	0	0	0	0
10558	0.71	248.1	111.1	9.3	1044	10580	0.15	2.22	14.82	0.924	6	0.099	0.047	3108	2275	2017	0	0	0	0	0	0
10915	0.67	248.1	60.9	13.0	1101	10922	0.00	2.25	0.00	0.000	4	0.000	0.062	3108	3683	2015	0	0	0	0	0	0
11014	0.59	248.1	45.8	15.1	1118	11021	0.22	2.20	0.00	0.000	6	0.183	0.048	3059	2273	2014	0	0	0	0	0	0
11361	0.66	248.1	11.0	10.7	1179	11368	0.00	2.25	0.00	0.000	4	0.000	0.063	3059	864	2014	0	0	0	0	0	0
11385	end climb: FINISH_DEPTH_REACHED
state	11385	begin subsurface finish
11393	0.04	30.8	8.6	-8.9	1183	11429	0.57	0.00	-29.20	0.000	6	0.159	0.000	2883	2276	2906	0	0	0	0	0	0
11430	end subsurface finish: CONTROL_FINISHED_OK
state	11430	begin surface