Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 433 * 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 433 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 35 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 30 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 433 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 190411,164240,6721.586,-5756.985,0,3126.0,0,-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 8.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 3.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9 MHEAD_RNG_PITCHd_Wd 163.5,60552,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 711

Post-dive calculations and measurements:

FREEZE 8.73,-1.709,-1.838,3,34,0 ALTIM_BOTTOM_PING 450.3,49.5

FINISH1 8.7,1.026881,30 _24V_AH 22.4,58.269

FINISH2 7.0 _10V_AH 10.2,29.891

RAFOS_CLK 468 FG_AHR_24Vo 0.000

RAFOS 0,1303243263,20.033333,20.017500,68,62,59,53,52,51,210,198,151,187,135,223 FG_AHR_10Vo 0.000

RAFOS_FIX 6721.528320,-5752.640625,190411,202012,4,120,0.22 MEM 150520

IRIDIUM_FIX 6652.93,-6021.53,130411,111123 DATA_FILE_SIZE 36701,956

TT8_MAMPS 0.026215 CAP_FILE_SIZE 109061,0

HUMID 45.03 CFSIZE 260165632,225099776

INTERNAL_PRESSURE 8.75034 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1465.7

XPDR_PINGS 0 GPS 190411,203512,6721.528,-5752.641,0,4119.5,0,-38.9

ALTIM_TOP_PING 19.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 223 22.89 SBE_CT 673 24 362.31

Roll_motor 93 71 148.73 SBE_O2 720 19 306.53

VBD_pump_during_apogee 350 1182 9297.46 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 14.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2287 19 464.82

LPSleep 4706 2 110.90

TT8_Active 401 19 81.49

TT8_Sampling 1544 39 628.77

TT8_CF8 160 45 75.28

TT8_Kalman 0 0 0.00

Analog_circuits 1237 12 151.53

GPS_charging 0 0 0.00

Compass 1534 15 234.82

RAFOS 2520 1 38.56

Transponder 12 30 3.88

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 -6.70 0.000 2 0.000 0.000 2886 3693 3162 0 0 0 0 0 0

27 -0.62 -146.0 10.0 -0.0 1 47 0.65 4.12 -12.00 0.000 4 0.124 0.052 2668 1084 3628 0 0 0 0 0 0

77 -0.56 -146.0 14.2 -11.0 9 83 0.00 2.20 0.00 0.000 6 0.000 0.052 2669 2487 3629 0 0 0 0 0 0

422 -0.46 -146.0 62.7 -15.6 70 429 0.17 2.22 0.00 0.000 4 0.223 0.057 2710 1079 3628 0 0 0 0 0 0

505 -0.51 -146.0 72.2 -10.3 84 511 0.00 2.25 0.00 0.000 6 0.000 0.054 2710 2498 3628 0 0 0 0 0 0

846 -0.51 -146.0 107.5 -9.8 138 850 0.00 2.25 0.00 0.000 4 0.000 0.071 2711 3897 3627 0 0 0 0 0 0

886 -0.56 -146.0 111.4 -9.4 141 890 0.00 2.15 0.00 0.000 6 0.000 0.041 2711 2487 3627 0 0 0 0 0 0

1214 -0.60 -146.0 139.9 -8.2 171 1219 0.12 2.30 0.00 0.000 4 0.129 0.068 2668 3901 3625 0 0 0 0 0 0

1231 -0.60 -146.0 141.7 -8.4 172 1236 0.00 2.15 0.00 0.000 6 0.000 0.042 2667 2494 3625 0 0 0 0 0 0

1559 -0.55 -146.0 177.4 -10.9 202 1563 0.00 2.22 0.00 0.000 4 0.000 0.059 2668 1079 3623 0 0 0 0 0 0

1602 -0.55 -146.0 182.8 -10.9 205 1609 0.00 2.25 0.00 0.000 6 0.000 0.056 2667 2484 3622 0 0 0 0 0 0

1928 -0.52 -146.0 217.6 -11.1 236 1932 0.00 2.28 0.00 0.000 4 0.000 0.071 2668 3899 3621 0 0 0 0 0 0

1944 -0.50 -146.0 219.5 -10.9 237 1951 0.12 2.15 0.00 0.000 6 0.200 0.041 2697 2488 3622 0 0 0 0 0 0

2269 -0.54 -146.0 249.0 -9.2 268 2271 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2489 3621 0 0 0 0 0 0

2592 -0.59 -146.0 279.8 -10.0 298 2597 0.00 2.28 0.00 0.000 4 0.000 0.067 2697 3906 3621 0 0 0 0 0 0

2610 -0.66 -146.0 282.0 -10.0 299 2615 0.15 2.15 0.00 0.000 6 0.113 0.038 2645 2481 3621 0 0 0 0 0 0

2936 -0.59 -146.0 324.0 -12.2 329 2939 0.00 2.17 0.00 0.000 4 0.000 0.055 2645 1084 3622 0 0 0 0 0 0

2958 -0.51 -146.0 326.9 -12.1 330 2966 0.20 2.22 0.00 0.000 6 0.207 0.055 2693 2497 3622 0 0 0 0 0 0

3284 -0.57 -146.0 353.3 -7.4 361 3288 0.00 2.20 0.00 0.000 4 0.000 0.054 2693 1089 3623 0 0 0 0 0 0

3302 -0.62 -146.0 354.8 -7.8 362 3306 0.00 2.20 0.00 0.000 6 0.000 0.054 2693 2496 3624 0 0 0 0 0 0

3628 -0.68 -146.0 379.7 -7.4 392 3629 0.15 0.00 0.00 0.000 6 0.113 0.000 2639 2497 3624 0 0 0 0 0 0

3946 -0.60 -146.0 417.3 -12.0 422 3951 0.12 2.28 0.00 0.000 4 0.205 0.069 2667 3897 3624 0 0 0 0 0 0

3967 -0.56 -146.0 419.8 -10.5 423 3974 0.00 2.15 0.00 0.000 6 0.000 0.037 2668 2489 3624 0 0 0 0 0 0

4294 -0.56 -146.0 449.5 -8.9 454 4295 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2488 3625 0 0 0 0 0 0

4610 -0.56 -146.0 476.6 -8.6 484 4612 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2488 3625 0 0 0 0 0 0

4715 end dive: BOTTOM_OBSTACLE_DETECTED

state 4715 begin apogee

4721 -0.12 0.0 485.7 8.6 494 4846 0.50 0.00 119.28 1.183 6 0.185 0.000 2813 2246 3029 0 0 0 0 0 0

4846 end apogee: CONTROL_FINISHED_OK

state 4846 begin climb

4849 0.62 146.0 488.8 0.0 505 4982 0.77 2.35 124.00 1.142 4 0.132 0.060 3063 891 2433 0 0 0 0 0 0

5062 0.55 146.0 469.5 12.6 524 5066 0.00 2.33 0.00 0.000 6 0.000 0.044 3063 2285 2429 0 0 0 0 0 0

5388 0.46 146.0 427.9 12.6 554 5392 0.17 2.30 0.00 0.000 4 0.184 0.060 3018 3696 2428 0 0 0 0 0 0

5484 0.42 146.0 416.5 11.8 562 5488 0.00 2.20 0.00 0.000 6 0.000 0.044 3026 2293 2427 0 0 0 0 0 0

5815 0.40 155.9 382.6 9.5 593 5831 0.12 2.30 8.70 0.936 4 0.187 0.060 3003 872 2394 0 0 0 0 0 0

5878 0.50 174.5 376.9 9.1 598 5901 0.00 2.20 17.50 1.031 6 0.000 0.046 3004 2283 2318 0 0 0 0 0 0

6221 0.57 190.4 346.9 9.3 630 6244 0.12 2.25 14.82 1.004 4 0.100 0.060 3064 3682 2253 0 0 0 0 0 0

6314 0.48 190.4 333.7 15.5 638 6319 0.20 2.20 0.00 0.000 6 0.184 0.044 3023 2266 2252 0 0 0 0 0 0

6639 0.51 220.5 302.0 8.6 668 6673 0.00 2.22 27.02 1.026 4 0.000 0.057 3029 869 2130 0 0 0 0 0 0

6725 0.63 264.7 295.1 8.0 675 6776 0.12 2.20 39.62 1.027 6 0.103 0.044 3087 2279 1950 0 0 0 0 0 0

7093 0.56 264.7 237.7 16.6 710 7098 0.15 2.22 0.00 0.000 4 0.181 0.059 3049 3689 1942 0 0 0 0 0 0

7138 0.56 264.7 231.2 13.6 714 7143 0.00 2.20 0.00 0.000 6 0.000 0.044 3056 2271 1940 0 0 0 0 0 0

7463 0.56 264.7 194.2 10.5 744 7467 0.00 2.20 0.00 0.000 4 0.000 0.057 3067 858 1939 0 0 0 0 0 0

7519 0.59 265.0 188.5 10.0 748 7526 0.00 2.20 0.00 0.000 6 0.000 0.044 3067 2275 1938 0 0 0 0 0 0

7844 0.59 265.0 146.0 13.3 779 7848 0.00 2.20 0.00 0.000 4 0.000 0.058 3067 3686 1938 0 0 0 0 0 0

7921 0.59 265.0 135.0 14.0 785 7928 0.00 2.22 0.00 0.000 6 0.000 0.044 3077 2264 1937 0 0 0 0 0 0

8249 0.59 265.0 92.6 12.6 821 8256 0.00 2.20 0.00 0.000 4 0.000 0.057 3086 861 1937 0 0 0 0 0 0

8303 0.62 265.0 86.4 12.1 830 8309 0.00 2.17 0.00 0.000 6 0.000 0.044 3086 2286 1936 0 0 0 0 0 0

8650 0.64 265.0 47.7 10.1 891 8656 0.00 2.20 0.00 0.000 4 0.000 0.059 3086 3688 1936 0 0 0 0 0 0

8715 0.64 265.0 39.7 12.5 902 8722 0.00 2.17 0.00 0.000 6 0.000 0.044 3096 2267 1937 0 0 0 0 0 0

8979 end climb: FINISH_DEPTH_REACHED

state 8980 begin subsurface finish

8986 0.04 30.3 8.7 -11.9 949 9028 0.70 2.25 -31.45 0.000 4 0.161 0.070 2882 865 2909 0 0 0 0 0 0

9029 end subsurface finish: CONTROL_FINISHED_OK

state 9029 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	433	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	190411,164240,6721.586,-5756.985,0,3126.0,0,-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	8.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	3.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9	MHEAD_RNG_PITCHd_Wd	163.5,60552,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	711

FREEZE	8.73,-1.709,-1.838,3,34,0	ALTIM_BOTTOM_PING	450.3,49.5
FINISH1	8.7,1.026881,30	_24V_AH	22.4,58.269
FINISH2	7.0	_10V_AH	10.2,29.891
RAFOS_CLK	468	FG_AHR_24Vo	0.000
RAFOS	0,1303243263,20.033333,20.017500,68,62,59,53,52,51,210,198,151,187,135,223	FG_AHR_10Vo	0.000
RAFOS_FIX	6721.528320,-5752.640625,190411,202012,4,120,0.22	MEM	150520
IRIDIUM_FIX	6652.93,-6021.53,130411,111123	DATA_FILE_SIZE	36701,956
TT8_MAMPS	0.026215	CAP_FILE_SIZE	109061,0
HUMID	45.03	CFSIZE	260165632,225099776
INTERNAL_PRESSURE	8.75034	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1465.7
XPDR_PINGS	0	GPS	190411,203512,6721.528,-5752.641,0,4119.5,0,-38.9
ALTIM_TOP_PING	19.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	223	22.89	SBE_CT	673	24	362.31
Roll_motor	93	71	148.73	SBE_O2	720	19	306.53
VBD_pump_during_apogee	350	1182	9297.46	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	14.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2287	19	464.82
LPSleep	4706	2	110.90
TT8_Active	401	19	81.49
TT8_Sampling	1544	39	628.77
TT8_CF8	160	45	75.28
TT8_Kalman	0	0	0.00
Analog_circuits	1237	12	151.53
GPS_charging	0	0	0.00
Compass	1534	15	234.82
RAFOS	2520	1	38.56
Transponder	12	30	3.88

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	-6.70	0.000	2	0.000	0.000	2886	3693	3162	0	0	0	0	0	0
27	-0.62	-146.0	10.0	-0.0	1	47	0.65	4.12	-12.00	0.000	4	0.124	0.052	2668	1084	3628	0	0	0	0	0	0
77	-0.56	-146.0	14.2	-11.0	9	83	0.00	2.20	0.00	0.000	6	0.000	0.052	2669	2487	3629	0	0	0	0	0	0
422	-0.46	-146.0	62.7	-15.6	70	429	0.17	2.22	0.00	0.000	4	0.223	0.057	2710	1079	3628	0	0	0	0	0	0
505	-0.51	-146.0	72.2	-10.3	84	511	0.00	2.25	0.00	0.000	6	0.000	0.054	2710	2498	3628	0	0	0	0	0	0
846	-0.51	-146.0	107.5	-9.8	138	850	0.00	2.25	0.00	0.000	4	0.000	0.071	2711	3897	3627	0	0	0	0	0	0
886	-0.56	-146.0	111.4	-9.4	141	890	0.00	2.15	0.00	0.000	6	0.000	0.041	2711	2487	3627	0	0	0	0	0	0
1214	-0.60	-146.0	139.9	-8.2	171	1219	0.12	2.30	0.00	0.000	4	0.129	0.068	2668	3901	3625	0	0	0	0	0	0
1231	-0.60	-146.0	141.7	-8.4	172	1236	0.00	2.15	0.00	0.000	6	0.000	0.042	2667	2494	3625	0	0	0	0	0	0
1559	-0.55	-146.0	177.4	-10.9	202	1563	0.00	2.22	0.00	0.000	4	0.000	0.059	2668	1079	3623	0	0	0	0	0	0
1602	-0.55	-146.0	182.8	-10.9	205	1609	0.00	2.25	0.00	0.000	6	0.000	0.056	2667	2484	3622	0	0	0	0	0	0
1928	-0.52	-146.0	217.6	-11.1	236	1932	0.00	2.28	0.00	0.000	4	0.000	0.071	2668	3899	3621	0	0	0	0	0	0
1944	-0.50	-146.0	219.5	-10.9	237	1951	0.12	2.15	0.00	0.000	6	0.200	0.041	2697	2488	3622	0	0	0	0	0	0
2269	-0.54	-146.0	249.0	-9.2	268	2271	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2489	3621	0	0	0	0	0	0
2592	-0.59	-146.0	279.8	-10.0	298	2597	0.00	2.28	0.00	0.000	4	0.000	0.067	2697	3906	3621	0	0	0	0	0	0
2610	-0.66	-146.0	282.0	-10.0	299	2615	0.15	2.15	0.00	0.000	6	0.113	0.038	2645	2481	3621	0	0	0	0	0	0
2936	-0.59	-146.0	324.0	-12.2	329	2939	0.00	2.17	0.00	0.000	4	0.000	0.055	2645	1084	3622	0	0	0	0	0	0
2958	-0.51	-146.0	326.9	-12.1	330	2966	0.20	2.22	0.00	0.000	6	0.207	0.055	2693	2497	3622	0	0	0	0	0	0
3284	-0.57	-146.0	353.3	-7.4	361	3288	0.00	2.20	0.00	0.000	4	0.000	0.054	2693	1089	3623	0	0	0	0	0	0
3302	-0.62	-146.0	354.8	-7.8	362	3306	0.00	2.20	0.00	0.000	6	0.000	0.054	2693	2496	3624	0	0	0	0	0	0
3628	-0.68	-146.0	379.7	-7.4	392	3629	0.15	0.00	0.00	0.000	6	0.113	0.000	2639	2497	3624	0	0	0	0	0	0
3946	-0.60	-146.0	417.3	-12.0	422	3951	0.12	2.28	0.00	0.000	4	0.205	0.069	2667	3897	3624	0	0	0	0	0	0
3967	-0.56	-146.0	419.8	-10.5	423	3974	0.00	2.15	0.00	0.000	6	0.000	0.037	2668	2489	3624	0	0	0	0	0	0
4294	-0.56	-146.0	449.5	-8.9	454	4295	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2488	3625	0	0	0	0	0	0
4610	-0.56	-146.0	476.6	-8.6	484	4612	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2488	3625	0	0	0	0	0	0
4715	end dive: BOTTOM_OBSTACLE_DETECTED
state	4715	begin apogee
4721	-0.12	0.0	485.7	8.6	494	4846	0.50	0.00	119.28	1.183	6	0.185	0.000	2813	2246	3029	0	0	0	0	0	0
4846	end apogee: CONTROL_FINISHED_OK
state	4846	begin climb
4849	0.62	146.0	488.8	0.0	505	4982	0.77	2.35	124.00	1.142	4	0.132	0.060	3063	891	2433	0	0	0	0	0	0
5062	0.55	146.0	469.5	12.6	524	5066	0.00	2.33	0.00	0.000	6	0.000	0.044	3063	2285	2429	0	0	0	0	0	0
5388	0.46	146.0	427.9	12.6	554	5392	0.17	2.30	0.00	0.000	4	0.184	0.060	3018	3696	2428	0	0	0	0	0	0
5484	0.42	146.0	416.5	11.8	562	5488	0.00	2.20	0.00	0.000	6	0.000	0.044	3026	2293	2427	0	0	0	0	0	0
5815	0.40	155.9	382.6	9.5	593	5831	0.12	2.30	8.70	0.936	4	0.187	0.060	3003	872	2394	0	0	0	0	0	0
5878	0.50	174.5	376.9	9.1	598	5901	0.00	2.20	17.50	1.031	6	0.000	0.046	3004	2283	2318	0	0	0	0	0	0
6221	0.57	190.4	346.9	9.3	630	6244	0.12	2.25	14.82	1.004	4	0.100	0.060	3064	3682	2253	0	0	0	0	0	0
6314	0.48	190.4	333.7	15.5	638	6319	0.20	2.20	0.00	0.000	6	0.184	0.044	3023	2266	2252	0	0	0	0	0	0
6639	0.51	220.5	302.0	8.6	668	6673	0.00	2.22	27.02	1.026	4	0.000	0.057	3029	869	2130	0	0	0	0	0	0
6725	0.63	264.7	295.1	8.0	675	6776	0.12	2.20	39.62	1.027	6	0.103	0.044	3087	2279	1950	0	0	0	0	0	0
7093	0.56	264.7	237.7	16.6	710	7098	0.15	2.22	0.00	0.000	4	0.181	0.059	3049	3689	1942	0	0	0	0	0	0
7138	0.56	264.7	231.2	13.6	714	7143	0.00	2.20	0.00	0.000	6	0.000	0.044	3056	2271	1940	0	0	0	0	0	0
7463	0.56	264.7	194.2	10.5	744	7467	0.00	2.20	0.00	0.000	4	0.000	0.057	3067	858	1939	0	0	0	0	0	0
7519	0.59	265.0	188.5	10.0	748	7526	0.00	2.20	0.00	0.000	6	0.000	0.044	3067	2275	1938	0	0	0	0	0	0
7844	0.59	265.0	146.0	13.3	779	7848	0.00	2.20	0.00	0.000	4	0.000	0.058	3067	3686	1938	0	0	0	0	0	0
7921	0.59	265.0	135.0	14.0	785	7928	0.00	2.22	0.00	0.000	6	0.000	0.044	3077	2264	1937	0	0	0	0	0	0
8249	0.59	265.0	92.6	12.6	821	8256	0.00	2.20	0.00	0.000	4	0.000	0.057	3086	861	1937	0	0	0	0	0	0
8303	0.62	265.0	86.4	12.1	830	8309	0.00	2.17	0.00	0.000	6	0.000	0.044	3086	2286	1936	0	0	0	0	0	0
8650	0.64	265.0	47.7	10.1	891	8656	0.00	2.20	0.00	0.000	4	0.000	0.059	3086	3688	1936	0	0	0	0	0	0
8715	0.64	265.0	39.7	12.5	902	8722	0.00	2.17	0.00	0.000	6	0.000	0.044	3096	2267	1937	0	0	0	0	0	0
8979	end climb: FINISH_DEPTH_REACHED
state	8980	begin subsurface finish
8986	0.04	30.3	8.7	-11.9	949	9028	0.70	2.25	-31.45	0.000	4	0.161	0.070	2882	865	2909	0	0	0	0	0	0
9029	end subsurface finish: CONTROL_FINISHED_OK
state	9029	begin surface