Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 431 * 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 431 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 30 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 -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 30 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 431 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 7.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.2 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 8.75,-1.749,-1.837,3,32,0 ALTIM_BOTTOM_PING 500.8,35.2

FINISH1 8.7,1.026867,31 _24V_AH 22.3,58.047

FINISH2 6.7 _10V_AH 10.1,29.775

RAFOS_CLK 524 FG_AHR_24Vo 0.000

RAFOS 0,1303228870,16.033333,16.019444,72,56,55,54,54,48,199,145,174,120,217,154 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 40072,1053

TT8_MAMPS 0.029211 CAP_FILE_SIZE 114369,0

HUMID 44.36 CFSIZE 260165632,225214464

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 1465.5

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

ALTIM_TOP_PING 19.6,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 217 20.23 SBE_CT 743 24 397.80

Roll_motor 94 79 167.75 SBE_O2 797 19 337.81

VBD_pump_during_apogee 353 1213 9559.01 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 2498 19 502.68

LPSleep 5253 2 122.57

TT8_Active 409 19 82.37

TT8_Sampling 1696 39 684.09

TT8_CF8 170 45 79.26

TT8_Kalman 0 0 0.00

Analog_circuits 1320 12 160.02

GPS_charging 0 0 0.00

Compass 1689 15 255.90

RAFOS 2160 1 32.72

Transponder 15 30 4.83

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 -6.43 0.000 2 0.000 0.000 2883 2275 3123 0 0 0 0 0 0

27 -0.62 -146.0 8.5 -0.0 1 52 0.62 2.67 -14.18 0.000 4 0.115 0.080 2668 3893 3629 0 0 0 0 0 0

82 -0.58 -146.0 14.3 -11.6 10 89 0.00 2.15 0.00 0.000 6 0.000 0.041 2668 2480 3630 0 0 0 0 0 0

429 -0.49 -146.0 66.0 -15.3 71 435 0.15 0.00 0.00 0.000 6 0.214 0.000 2703 2480 3630 0 0 0 0 0 0

776 -0.49 -146.0 106.6 -11.8 128 780 0.00 2.30 0.00 0.000 4 0.000 0.070 2703 3897 3629 0 0 0 0 0 0

810 -0.52 -146.0 110.6 -11.8 130 817 0.00 2.17 0.00 0.000 6 0.000 0.044 2703 2486 3629 0 0 0 0 0 0

1136 -0.55 -146.0 143.7 -9.1 161 1140 0.00 2.20 0.00 0.000 4 0.000 0.060 2703 1075 3627 0 0 0 0 0 0

1180 -0.62 -146.0 148.3 -9.5 164 1187 0.12 2.25 0.00 0.000 6 0.125 0.057 2661 2496 3627 0 0 0 0 0 0

1505 -0.57 -146.0 191.0 -12.8 195 1509 0.00 2.28 0.00 0.000 4 0.000 0.072 2661 3903 3625 0 0 0 0 0 0

1577 -0.55 -146.0 199.8 -12.0 201 1584 0.00 2.17 0.00 0.000 6 0.000 0.043 2661 2477 3626 0 0 0 0 0 0

1904 -0.50 -146.0 237.7 -11.0 232 1906 0.15 0.00 0.00 0.000 6 0.207 0.000 2697 2478 3626 0 0 0 0 0 0

2221 -0.55 -146.0 264.5 -7.6 262 2225 0.00 2.30 0.00 0.000 4 0.000 0.066 2697 3900 3626 0 0 0 0 0 0

2273 -0.64 -146.0 268.4 -7.3 266 2278 0.12 2.17 0.00 0.000 6 0.124 0.041 2655 2479 3625 0 0 0 0 0 0

2598 -0.58 -146.0 301.5 -10.2 296 2602 0.00 2.30 0.00 0.000 4 0.000 0.066 2655 3903 3626 0 0 0 0 0 0

2626 -0.54 -146.0 304.5 -10.4 298 2633 0.12 2.15 0.00 0.000 6 0.192 0.040 2683 2492 3625 0 0 0 0 0 0

2952 -0.57 -146.0 330.4 -7.7 329 2956 0.00 2.28 0.00 0.000 4 0.000 0.065 2684 3906 3627 0 0 0 0 0 0

3020 -0.62 -146.0 335.7 -8.1 335 3024 0.00 2.15 0.00 0.000 6 0.000 0.039 2684 2486 3626 0 0 0 0 0 0

3345 -0.66 -146.0 361.3 -7.7 365 3350 0.00 2.30 0.00 0.000 4 0.000 0.065 2684 3906 3628 0 0 0 0 0 0

3390 -0.71 -146.0 365.0 -7.9 368 3397 0.15 2.15 0.00 0.000 6 0.112 0.038 2633 2488 3628 0 0 0 0 0 0

3715 -0.62 -146.0 403.1 -11.9 399 3717 0.12 0.00 0.00 0.000 6 0.217 0.000 2661 2488 3629 0 0 0 0 0 0

4035 -0.62 -146.0 434.8 -10.0 429 4039 0.00 2.28 0.00 0.000 4 0.000 0.066 2661 3906 3630 0 0 0 0 0 0

4067 -0.62 -146.0 438.1 -10.1 431 4074 0.00 2.15 0.00 0.000 6 0.000 0.038 2661 2490 3629 0 0 0 0 0 0

4393 -0.62 -146.0 469.4 -9.5 462 4394 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2490 3630 0 0 0 0 0 0

4717 -0.62 -146.0 500.8 -10.2 492 4723 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2490 3630 0 0 0 0 0 0

4913 end dive: BOTTOM_OBSTACLE_DETECTED

state 4913 begin apogee

4919 -0.12 0.0 521.7 10.4 511 5050 0.52 0.00 121.40 1.213 6 0.191 0.000 2812 2246 3029 0 0 0 0 0 0

5051 end apogee: CONTROL_FINISHED_OK

state 5051 begin climb

5053 0.62 146.0 525.2 0.0 523 5188 0.77 2.45 125.55 1.173 4 0.132 0.061 3061 898 2434 0 0 0 0 0 0

5240 0.55 146.0 511.2 10.9 540 5245 0.00 2.35 0.00 0.000 6 0.000 0.046 3061 2283 2430 0 0 0 0 0 0

5566 0.47 146.0 473.6 11.4 570 5570 0.15 2.30 0.00 0.000 4 0.187 0.062 3023 3686 2427 0 0 0 0 0 0

5662 0.43 146.0 462.8 11.8 578 5666 0.00 2.20 0.00 0.000 6 0.000 0.046 3031 2295 2427 0 0 0 0 0 0

5992 0.43 146.0 428.6 10.1 609 5996 0.00 2.28 0.00 0.000 4 0.000 0.060 3042 859 2426 0 0 0 0 0 0

6047 0.41 146.0 422.9 10.6 613 6055 0.17 2.22 0.00 0.000 6 0.182 0.047 2997 2290 2425 0 0 0 0 0 0

6373 0.51 192.7 396.5 7.8 644 6418 0.00 2.33 39.25 1.113 4 0.000 0.061 2997 3681 2243 0 0 0 0 0 0

6466 0.56 192.7 388.3 10.6 652 6471 0.12 2.22 0.00 0.000 6 0.099 0.044 3054 2275 2241 0 0 0 0 0 0

6796 0.50 192.7 345.8 12.9 683 6800 0.00 2.25 0.00 0.000 4 0.000 0.059 3066 859 2239 0 0 0 0 0 0

6848 0.47 192.7 339.4 12.4 687 6853 0.17 2.22 0.00 0.000 6 0.182 0.046 3020 2278 2237 0 0 0 0 0 0

7174 0.51 205.4 307.6 9.4 717 7190 0.00 2.22 11.15 0.978 4 0.000 0.060 3020 3681 2193 0 0 0 0 0 0

7252 0.51 205.4 299.3 10.6 723 7258 0.00 2.20 0.00 0.000 6 0.000 0.045 3028 2266 2192 0 0 0 0 0 0

7577 0.52 213.1 266.6 9.6 754 7592 0.00 2.28 8.52 0.913 4 0.000 0.060 3038 866 2160 0 0 0 0 0 0

7623 0.56 213.1 262.1 10.3 758 7627 0.00 2.20 0.00 0.000 6 0.000 0.045 3038 2285 2159 0 0 0 0 0 0

7947 0.56 213.1 225.9 11.0 788 7951 0.00 2.20 0.00 0.000 4 0.000 0.060 3038 3689 2159 0 0 0 0 0 0

8033 0.56 213.1 215.4 12.7 795 8037 0.00 2.20 0.00 0.000 6 0.000 0.044 3048 2272 2159 0 0 0 0 0 0

8358 0.56 213.1 177.4 11.5 825 8362 0.00 2.17 0.00 0.000 4 0.000 0.057 3058 869 2158 0 0 0 0 0 0

8398 0.56 213.1 173.1 10.6 828 8402 0.00 2.17 0.00 0.000 6 0.000 0.045 3058 2282 2157 0 0 0 0 0 0

8723 0.53 213.1 132.1 13.6 858 8724 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2282 2157 0 0 0 0 0 0

9044 0.54 219.1 95.0 9.7 892 9057 0.00 2.20 6.50 0.767 4 0.000 0.058 3058 3683 2137 0 0 0 0 0 0

9120 0.54 219.1 87.0 10.9 905 9127 0.00 2.17 0.00 0.000 6 0.000 0.043 3069 2264 2136 0 0 0 0 0 0

9465 0.60 245.7 56.4 8.8 966 9495 0.00 2.28 24.75 0.907 4 0.000 0.057 3078 866 2028 0 0 0 0 0 0

9543 0.67 262.6 49.6 9.2 979 9567 0.00 2.20 16.17 0.872 6 0.000 0.044 3078 2281 1958 0 0 0 0 0 0

9904 0.71 262.6 11.7 12.5 1043 9911 0.00 2.22 0.00 0.000 4 0.000 0.060 3078 3681 1954 0 0 0 0 0 0

9928 end climb: FINISH_DEPTH_REACHED

state 9928 begin subsurface finish

9936 0.04 31.0 8.7 -12.0 1047 9972 0.68 0.00 -32.00 0.000 6 0.158 0.000 2882 2269 2905 0 0 0 0 0 0

9973 end subsurface finish: CONTROL_FINISHED_OK

state 9973 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	431	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	30	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	-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	7.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.2	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	8.75,-1.749,-1.837,3,32,0	ALTIM_BOTTOM_PING	500.8,35.2
FINISH1	8.7,1.026867,31	_24V_AH	22.3,58.047
FINISH2	6.7	_10V_AH	10.1,29.775
RAFOS_CLK	524	FG_AHR_24Vo	0.000
RAFOS	0,1303228870,16.033333,16.019444,72,56,55,54,54,48,199,145,174,120,217,154	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	40072,1053
TT8_MAMPS	0.029211	CAP_FILE_SIZE	114369,0
HUMID	44.36	CFSIZE	260165632,225214464
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	1465.5
XPDR_PINGS	0	GPS	190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9
ALTIM_TOP_PING	19.6,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	217	20.23	SBE_CT	743	24	397.80
Roll_motor	94	79	167.75	SBE_O2	797	19	337.81
VBD_pump_during_apogee	353	1213	9559.01	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	2498	19	502.68
LPSleep	5253	2	122.57
TT8_Active	409	19	82.37
TT8_Sampling	1696	39	684.09
TT8_CF8	170	45	79.26
TT8_Kalman	0	0	0.00
Analog_circuits	1320	12	160.02
GPS_charging	0	0	0.00
Compass	1689	15	255.90
RAFOS	2160	1	32.72
Transponder	15	30	4.83

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	-6.43	0.000	2	0.000	0.000	2883	2275	3123	0	0	0	0	0	0
27	-0.62	-146.0	8.5	-0.0	1	52	0.62	2.67	-14.18	0.000	4	0.115	0.080	2668	3893	3629	0	0	0	0	0	0
82	-0.58	-146.0	14.3	-11.6	10	89	0.00	2.15	0.00	0.000	6	0.000	0.041	2668	2480	3630	0	0	0	0	0	0
429	-0.49	-146.0	66.0	-15.3	71	435	0.15	0.00	0.00	0.000	6	0.214	0.000	2703	2480	3630	0	0	0	0	0	0
776	-0.49	-146.0	106.6	-11.8	128	780	0.00	2.30	0.00	0.000	4	0.000	0.070	2703	3897	3629	0	0	0	0	0	0
810	-0.52	-146.0	110.6	-11.8	130	817	0.00	2.17	0.00	0.000	6	0.000	0.044	2703	2486	3629	0	0	0	0	0	0
1136	-0.55	-146.0	143.7	-9.1	161	1140	0.00	2.20	0.00	0.000	4	0.000	0.060	2703	1075	3627	0	0	0	0	0	0
1180	-0.62	-146.0	148.3	-9.5	164	1187	0.12	2.25	0.00	0.000	6	0.125	0.057	2661	2496	3627	0	0	0	0	0	0
1505	-0.57	-146.0	191.0	-12.8	195	1509	0.00	2.28	0.00	0.000	4	0.000	0.072	2661	3903	3625	0	0	0	0	0	0
1577	-0.55	-146.0	199.8	-12.0	201	1584	0.00	2.17	0.00	0.000	6	0.000	0.043	2661	2477	3626	0	0	0	0	0	0
1904	-0.50	-146.0	237.7	-11.0	232	1906	0.15	0.00	0.00	0.000	6	0.207	0.000	2697	2478	3626	0	0	0	0	0	0
2221	-0.55	-146.0	264.5	-7.6	262	2225	0.00	2.30	0.00	0.000	4	0.000	0.066	2697	3900	3626	0	0	0	0	0	0
2273	-0.64	-146.0	268.4	-7.3	266	2278	0.12	2.17	0.00	0.000	6	0.124	0.041	2655	2479	3625	0	0	0	0	0	0
2598	-0.58	-146.0	301.5	-10.2	296	2602	0.00	2.30	0.00	0.000	4	0.000	0.066	2655	3903	3626	0	0	0	0	0	0
2626	-0.54	-146.0	304.5	-10.4	298	2633	0.12	2.15	0.00	0.000	6	0.192	0.040	2683	2492	3625	0	0	0	0	0	0
2952	-0.57	-146.0	330.4	-7.7	329	2956	0.00	2.28	0.00	0.000	4	0.000	0.065	2684	3906	3627	0	0	0	0	0	0
3020	-0.62	-146.0	335.7	-8.1	335	3024	0.00	2.15	0.00	0.000	6	0.000	0.039	2684	2486	3626	0	0	0	0	0	0
3345	-0.66	-146.0	361.3	-7.7	365	3350	0.00	2.30	0.00	0.000	4	0.000	0.065	2684	3906	3628	0	0	0	0	0	0
3390	-0.71	-146.0	365.0	-7.9	368	3397	0.15	2.15	0.00	0.000	6	0.112	0.038	2633	2488	3628	0	0	0	0	0	0
3715	-0.62	-146.0	403.1	-11.9	399	3717	0.12	0.00	0.00	0.000	6	0.217	0.000	2661	2488	3629	0	0	0	0	0	0
4035	-0.62	-146.0	434.8	-10.0	429	4039	0.00	2.28	0.00	0.000	4	0.000	0.066	2661	3906	3630	0	0	0	0	0	0
4067	-0.62	-146.0	438.1	-10.1	431	4074	0.00	2.15	0.00	0.000	6	0.000	0.038	2661	2490	3629	0	0	0	0	0	0
4393	-0.62	-146.0	469.4	-9.5	462	4394	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2490	3630	0	0	0	0	0	0
4717	-0.62	-146.0	500.8	-10.2	492	4723	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2490	3630	0	0	0	0	0	0
4913	end dive: BOTTOM_OBSTACLE_DETECTED
state	4913	begin apogee
4919	-0.12	0.0	521.7	10.4	511	5050	0.52	0.00	121.40	1.213	6	0.191	0.000	2812	2246	3029	0	0	0	0	0	0
5051	end apogee: CONTROL_FINISHED_OK
state	5051	begin climb
5053	0.62	146.0	525.2	0.0	523	5188	0.77	2.45	125.55	1.173	4	0.132	0.061	3061	898	2434	0	0	0	0	0	0
5240	0.55	146.0	511.2	10.9	540	5245	0.00	2.35	0.00	0.000	6	0.000	0.046	3061	2283	2430	0	0	0	0	0	0
5566	0.47	146.0	473.6	11.4	570	5570	0.15	2.30	0.00	0.000	4	0.187	0.062	3023	3686	2427	0	0	0	0	0	0
5662	0.43	146.0	462.8	11.8	578	5666	0.00	2.20	0.00	0.000	6	0.000	0.046	3031	2295	2427	0	0	0	0	0	0
5992	0.43	146.0	428.6	10.1	609	5996	0.00	2.28	0.00	0.000	4	0.000	0.060	3042	859	2426	0	0	0	0	0	0
6047	0.41	146.0	422.9	10.6	613	6055	0.17	2.22	0.00	0.000	6	0.182	0.047	2997	2290	2425	0	0	0	0	0	0
6373	0.51	192.7	396.5	7.8	644	6418	0.00	2.33	39.25	1.113	4	0.000	0.061	2997	3681	2243	0	0	0	0	0	0
6466	0.56	192.7	388.3	10.6	652	6471	0.12	2.22	0.00	0.000	6	0.099	0.044	3054	2275	2241	0	0	0	0	0	0
6796	0.50	192.7	345.8	12.9	683	6800	0.00	2.25	0.00	0.000	4	0.000	0.059	3066	859	2239	0	0	0	0	0	0
6848	0.47	192.7	339.4	12.4	687	6853	0.17	2.22	0.00	0.000	6	0.182	0.046	3020	2278	2237	0	0	0	0	0	0
7174	0.51	205.4	307.6	9.4	717	7190	0.00	2.22	11.15	0.978	4	0.000	0.060	3020	3681	2193	0	0	0	0	0	0
7252	0.51	205.4	299.3	10.6	723	7258	0.00	2.20	0.00	0.000	6	0.000	0.045	3028	2266	2192	0	0	0	0	0	0
7577	0.52	213.1	266.6	9.6	754	7592	0.00	2.28	8.52	0.913	4	0.000	0.060	3038	866	2160	0	0	0	0	0	0
7623	0.56	213.1	262.1	10.3	758	7627	0.00	2.20	0.00	0.000	6	0.000	0.045	3038	2285	2159	0	0	0	0	0	0
7947	0.56	213.1	225.9	11.0	788	7951	0.00	2.20	0.00	0.000	4	0.000	0.060	3038	3689	2159	0	0	0	0	0	0
8033	0.56	213.1	215.4	12.7	795	8037	0.00	2.20	0.00	0.000	6	0.000	0.044	3048	2272	2159	0	0	0	0	0	0
8358	0.56	213.1	177.4	11.5	825	8362	0.00	2.17	0.00	0.000	4	0.000	0.057	3058	869	2158	0	0	0	0	0	0
8398	0.56	213.1	173.1	10.6	828	8402	0.00	2.17	0.00	0.000	6	0.000	0.045	3058	2282	2157	0	0	0	0	0	0
8723	0.53	213.1	132.1	13.6	858	8724	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2282	2157	0	0	0	0	0	0
9044	0.54	219.1	95.0	9.7	892	9057	0.00	2.20	6.50	0.767	4	0.000	0.058	3058	3683	2137	0	0	0	0	0	0
9120	0.54	219.1	87.0	10.9	905	9127	0.00	2.17	0.00	0.000	6	0.000	0.043	3069	2264	2136	0	0	0	0	0	0
9465	0.60	245.7	56.4	8.8	966	9495	0.00	2.28	24.75	0.907	4	0.000	0.057	3078	866	2028	0	0	0	0	0	0
9543	0.67	262.6	49.6	9.2	979	9567	0.00	2.20	16.17	0.872	6	0.000	0.044	3078	2281	1958	0	0	0	0	0	0
9904	0.71	262.6	11.7	12.5	1043	9911	0.00	2.22	0.00	0.000	4	0.000	0.060	3078	3681	1954	0	0	0	0	0	0
9928	end climb: FINISH_DEPTH_REACHED
state	9928	begin subsurface finish
9936	0.04	31.0	8.7	-12.0	1047	9972	0.68	0.00	-32.00	0.000	6	0.158	0.000	2882	2269	2905	0	0	0	0	0	0
9973	end subsurface finish: CONTROL_FINISHED_OK
state	9973	begin surface