Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 434 * 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 434 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 32 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 34 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 32 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 434 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 190411,203512,6721.528,-5752.641,0,4119.5,0,-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 9.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190411,203512,6721.528,-5752.641,0,4119.5,0,-38.9 MHEAD_RNG_PITCHd_Wd 165.2,57935,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 643

Post-dive calculations and measurements:

FREEZE 7.38,-1.709,-1.837,3,35,1 ALTIM_TOP_PING 19.5,16.9

FINISH1 7.4,1.026883,30 _24V_AH 22.4,58.384

FINISH2 4.4 _10V_AH 10.3,29.950

RAFOS_CLK 494 FG_AHR_24Vo 0.000

RAFOS 0,1303257669,0.033333,0.019167,56,54,53,52,49,49,143,212,191,201,174,158 FG_AHR_10Vo 0.000

RAFOS_FIX 6724.043945,-5752.756348,200411,000056,2,112,0.35 MEM 150564

IRIDIUM_FIX 6652.93,-6021.53,130411,111123 DATA_FILE_SIZE 40037,1000

TT8_MAMPS 0.029211 CAP_FILE_SIZE 111793,0

HUMID 44.44 CFSIZE 260165632,225030144

INTERNAL_PRESSURE 8.75034 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 SOUNDSPEED 1466.0

XPDR_PINGS 0 GPS 200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 214 22.91 SBE_CT 702 24 377.70

Roll_motor 94 73 155.70 SBE_O2 759 19 323.05

VBD_pump_during_apogee 376 1189 10036.40 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 2350 19 482.22

LPSleep 5075 2 120.76

TT8_Active 427 19 87.65

TT8_Sampling 1597 39 656.75

TT8_CF8 171 45 81.18

TT8_Kalman 0 0 0.00

Analog_circuits 1297 12 160.42

GPS_charging 0 0 0.00

Compass 1588 15 245.46

RAFOS 1800 1 27.81

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.00 0.000 2 0.000 0.000 2882 865 3146 0 0 0 0 0 0

26 -0.62 -146.0 10.4 -0.0 1 51 0.62 4.85 -11.95 0.000 4 0.116 0.063 2667 3897 3627 0 0 0 0 0 0

204 -0.56 -146.0 32.3 -14.0 32 211 0.00 2.15 0.00 0.000 6 0.000 0.040 2667 2474 3629 0 0 0 0 0 0

550 -0.46 -146.0 84.7 -15.1 93 557 0.17 2.33 0.00 0.000 4 0.214 0.069 2709 3892 3627 0 0 0 0 0 0

576 -0.42 -146.0 88.2 -13.2 97 583 0.00 2.12 0.00 0.000 6 0.000 0.041 2709 2487 3627 0 0 0 0 0 0

915 -0.45 -146.0 122.5 -10.0 138 919 0.00 2.20 0.00 0.000 4 0.000 0.058 2709 1085 3625 0 0 0 0 0 0

932 -0.48 -146.0 124.5 -10.5 139 937 0.00 2.20 0.00 0.000 6 0.000 0.056 2709 2484 3626 0 0 0 0 0 0

1264 -0.54 -146.0 155.8 -8.0 170 1268 0.00 2.28 0.00 0.000 4 0.000 0.072 2709 3898 3623 0 0 0 0 0 0

1282 -0.61 -146.0 157.2 -7.8 171 1287 0.12 2.15 0.00 0.000 6 0.125 0.042 2667 2495 3623 0 0 0 0 0 0

1614 -0.56 -146.0 193.7 -11.3 202 1615 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2495 3621 0 0 0 0 0 0

1933 -0.53 -146.0 230.1 -10.8 232 1937 0.00 2.28 0.00 0.000 4 0.000 0.067 2667 3899 3621 0 0 0 0 0 0

1965 -0.53 -146.0 233.7 -9.8 234 1972 0.00 2.17 0.00 0.000 6 0.000 0.041 2667 2486 3621 0 0 0 0 0 0

2293 -0.50 -146.0 263.6 -8.9 265 2297 0.12 2.20 0.00 0.000 4 0.204 0.057 2697 1080 3621 0 0 0 0 0 0

2310 -0.50 -146.0 265.1 -7.9 266 2314 0.00 2.22 0.00 0.000 6 0.000 0.054 2697 2498 3622 0 0 0 0 0 0

2637 -0.56 -146.0 286.2 -6.5 296 2638 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2498 3622 0 0 0 0 0 0

2955 -0.63 -146.0 307.7 -6.8 326 2960 0.12 2.25 0.00 0.000 4 0.125 0.054 2653 1079 3623 0 0 0 0 0 0

2975 -0.65 -146.0 309.4 -7.6 327 2979 0.00 2.22 0.00 0.000 6 0.000 0.054 2653 2498 3623 0 0 0 0 0 0

3301 -0.59 -146.0 343.3 -10.3 357 3302 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2498 3623 0 0 0 0 0 0

3620 -0.53 -146.0 377.6 -10.8 387 3625 0.15 2.28 0.00 0.000 4 0.204 0.068 2689 3899 3624 0 0 0 0 0 0

3659 -0.60 -146.0 381.3 -8.3 390 3666 0.00 2.17 0.00 0.000 6 0.000 0.039 2689 2478 3624 0 0 0 0 0 0

3985 -0.65 -146.0 406.2 -7.8 421 3990 0.12 2.33 0.00 0.000 4 0.119 0.066 2644 3899 3624 0 0 0 0 0 0

4003 -0.65 -146.0 407.8 -8.4 422 4007 0.00 2.15 0.00 0.000 6 0.000 0.039 2644 2491 3624 0 0 0 0 0 0

4328 -0.59 -146.0 443.4 -10.9 452 4329 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2491 3624 0 0 0 0 0 0

4649 -0.53 -146.0 477.2 -11.2 482 4654 0.17 2.30 0.00 0.000 4 0.201 0.067 2688 3899 3625 0 0 0 0 0 0

4666 -0.53 -146.0 479.2 -10.8 483 4670 0.00 2.15 0.00 0.000 6 0.000 0.038 2688 2488 3625 0 0 0 0 0 0

4921 end dive: NO_VERTICAL_VELOCITY

state 4922 begin apogee

4927 -0.12 0.0 486.1 0.0 507 5057 0.40 0.00 119.62 1.190 6 0.138 0.000 2816 2251 3029 0 0 0 0 0 0

5058 end apogee: CONTROL_FINISHED_OK

state 5058 begin climb

5060 0.62 146.0 485.8 0.0 519 5197 0.77 2.62 124.03 1.146 4 0.140 0.060 3052 3683 2433 0 0 0 0 0 0

5255 0.49 146.0 469.0 14.1 537 5260 0.15 2.30 0.00 0.000 6 0.183 0.044 3028 2313 2430 0 0 0 0 0 0

5580 0.46 146.0 433.6 10.5 567 5584 0.00 2.33 0.00 0.000 4 0.000 0.060 3036 865 2427 0 0 0 0 0 0

5664 0.44 146.0 424.6 10.7 574 5669 0.12 2.25 0.00 0.000 6 0.185 0.047 3008 2282 2426 0 0 0 0 0 0

5990 0.48 159.5 393.8 9.4 604 6006 0.00 2.25 11.57 0.996 4 0.000 0.060 3008 3693 2380 0 0 0 0 0 0

6057 0.48 159.5 386.9 10.8 609 6064 0.00 2.22 0.00 0.000 6 0.000 0.044 3016 2263 2379 0 0 0 0 0 0

6382 0.51 183.1 355.7 8.9 640 6408 0.00 2.22 21.45 1.049 4 0.000 0.058 3027 865 2283 0 0 0 0 0 0

6468 0.55 186.6 347.7 9.8 647 6480 0.00 2.22 4.12 0.685 6 0.000 0.047 3027 2277 2270 0 0 0 0 0 0

6798 0.55 186.6 313.6 10.7 678 6802 0.00 2.22 0.00 0.000 4 0.000 0.060 3026 3681 2269 0 0 0 0 0 0

6878 0.52 186.6 303.5 13.0 685 6882 0.00 2.20 0.00 0.000 6 0.000 0.046 3037 2264 2268 0 0 0 0 0 0

7208 0.52 186.6 263.3 12.2 716 7212 0.00 2.22 0.00 0.000 4 0.000 0.060 3046 859 2268 0 0 0 0 0 0

7296 0.52 186.6 252.4 12.3 723 7303 0.00 2.17 0.00 0.000 6 0.000 0.046 3046 2274 2267 0 0 0 0 0 0

7622 0.49 186.6 212.4 12.1 754 7626 0.00 2.25 0.00 0.000 4 0.000 0.060 3046 3681 2267 0 0 0 0 0 0

7677 0.43 186.6 204.8 13.5 758 7684 0.20 2.20 0.00 0.000 6 0.187 0.045 3005 2271 2267 0 0 0 0 0 0

8003 0.50 188.6 172.4 9.9 789 8004 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2271 2266 0 0 0 0 0 0

8321 0.63 230.7 144.4 8.1 819 8366 0.17 2.30 38.88 0.965 4 0.083 0.059 3093 868 2089 0 0 0 0 0 0

8404 0.57 230.7 134.3 14.0 826 8409 0.17 2.20 0.00 0.000 6 0.182 0.044 3049 2277 2085 0 0 0 0 0 0

8730 0.61 232.9 98.2 9.9 857 8737 0.00 2.22 0.00 0.000 4 0.000 0.059 3048 3680 2082 0 0 0 0 0 0

8800 0.61 232.9 90.3 11.9 869 8807 0.00 2.17 0.00 0.000 6 0.000 0.044 3056 2273 2082 0 0 0 0 0 0

9145 0.70 259.2 59.7 8.8 930 9176 0.00 2.30 24.83 0.900 4 0.000 0.059 3059 865 1973 0 0 0 0 0 0

9241 0.84 294.3 51.6 8.4 946 9279 0.22 2.22 32.15 0.894 6 0.078 0.044 3151 2285 1830 0 0 0 0 0 0

9498 end climb: SURFACE_OBSTACLE_DETECTED

state 9498 begin subsurface finish

9504 0.04 30.2 7.4 -17.8 991 9558 0.93 2.22 -45.80 0.000 4 0.180 0.073 2883 3680 2907 0 0 0 0 0 0

9559 end subsurface finish: CONTROL_FINISHED_OK

state 9559 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	434	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	32	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	190411,203512,6721.528,-5752.641,0,4119.5,0,-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	9.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190411,203512,6721.528,-5752.641,0,4119.5,0,-38.9	MHEAD_RNG_PITCHd_Wd	165.2,57935,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	643

FREEZE	7.38,-1.709,-1.837,3,35,1	ALTIM_TOP_PING	19.5,16.9
FINISH1	7.4,1.026883,30	_24V_AH	22.4,58.384
FINISH2	4.4	_10V_AH	10.3,29.950
RAFOS_CLK	494	FG_AHR_24Vo	0.000
RAFOS	0,1303257669,0.033333,0.019167,56,54,53,52,49,49,143,212,191,201,174,158	FG_AHR_10Vo	0.000
RAFOS_FIX	6724.043945,-5752.756348,200411,000056,2,112,0.35	MEM	150564
IRIDIUM_FIX	6652.93,-6021.53,130411,111123	DATA_FILE_SIZE	40037,1000
TT8_MAMPS	0.029211	CAP_FILE_SIZE	111793,0
HUMID	44.44	CFSIZE	260165632,225030144
INTERNAL_PRESSURE	8.75034	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	SOUNDSPEED	1466.0
XPDR_PINGS	0	GPS	200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	214	22.91	SBE_CT	702	24	377.70
Roll_motor	94	73	155.70	SBE_O2	759	19	323.05
VBD_pump_during_apogee	376	1189	10036.40	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	2350	19	482.22
LPSleep	5075	2	120.76
TT8_Active	427	19	87.65
TT8_Sampling	1597	39	656.75
TT8_CF8	171	45	81.18
TT8_Kalman	0	0	0.00
Analog_circuits	1297	12	160.42
GPS_charging	0	0	0.00
Compass	1588	15	245.46
RAFOS	1800	1	27.81
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.00	0.000	2	0.000	0.000	2882	865	3146	0	0	0	0	0	0
26	-0.62	-146.0	10.4	-0.0	1	51	0.62	4.85	-11.95	0.000	4	0.116	0.063	2667	3897	3627	0	0	0	0	0	0
204	-0.56	-146.0	32.3	-14.0	32	211	0.00	2.15	0.00	0.000	6	0.000	0.040	2667	2474	3629	0	0	0	0	0	0
550	-0.46	-146.0	84.7	-15.1	93	557	0.17	2.33	0.00	0.000	4	0.214	0.069	2709	3892	3627	0	0	0	0	0	0
576	-0.42	-146.0	88.2	-13.2	97	583	0.00	2.12	0.00	0.000	6	0.000	0.041	2709	2487	3627	0	0	0	0	0	0
915	-0.45	-146.0	122.5	-10.0	138	919	0.00	2.20	0.00	0.000	4	0.000	0.058	2709	1085	3625	0	0	0	0	0	0
932	-0.48	-146.0	124.5	-10.5	139	937	0.00	2.20	0.00	0.000	6	0.000	0.056	2709	2484	3626	0	0	0	0	0	0
1264	-0.54	-146.0	155.8	-8.0	170	1268	0.00	2.28	0.00	0.000	4	0.000	0.072	2709	3898	3623	0	0	0	0	0	0
1282	-0.61	-146.0	157.2	-7.8	171	1287	0.12	2.15	0.00	0.000	6	0.125	0.042	2667	2495	3623	0	0	0	0	0	0
1614	-0.56	-146.0	193.7	-11.3	202	1615	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2495	3621	0	0	0	0	0	0
1933	-0.53	-146.0	230.1	-10.8	232	1937	0.00	2.28	0.00	0.000	4	0.000	0.067	2667	3899	3621	0	0	0	0	0	0
1965	-0.53	-146.0	233.7	-9.8	234	1972	0.00	2.17	0.00	0.000	6	0.000	0.041	2667	2486	3621	0	0	0	0	0	0
2293	-0.50	-146.0	263.6	-8.9	265	2297	0.12	2.20	0.00	0.000	4	0.204	0.057	2697	1080	3621	0	0	0	0	0	0
2310	-0.50	-146.0	265.1	-7.9	266	2314	0.00	2.22	0.00	0.000	6	0.000	0.054	2697	2498	3622	0	0	0	0	0	0
2637	-0.56	-146.0	286.2	-6.5	296	2638	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2498	3622	0	0	0	0	0	0
2955	-0.63	-146.0	307.7	-6.8	326	2960	0.12	2.25	0.00	0.000	4	0.125	0.054	2653	1079	3623	0	0	0	0	0	0
2975	-0.65	-146.0	309.4	-7.6	327	2979	0.00	2.22	0.00	0.000	6	0.000	0.054	2653	2498	3623	0	0	0	0	0	0
3301	-0.59	-146.0	343.3	-10.3	357	3302	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2498	3623	0	0	0	0	0	0
3620	-0.53	-146.0	377.6	-10.8	387	3625	0.15	2.28	0.00	0.000	4	0.204	0.068	2689	3899	3624	0	0	0	0	0	0
3659	-0.60	-146.0	381.3	-8.3	390	3666	0.00	2.17	0.00	0.000	6	0.000	0.039	2689	2478	3624	0	0	0	0	0	0
3985	-0.65	-146.0	406.2	-7.8	421	3990	0.12	2.33	0.00	0.000	4	0.119	0.066	2644	3899	3624	0	0	0	0	0	0
4003	-0.65	-146.0	407.8	-8.4	422	4007	0.00	2.15	0.00	0.000	6	0.000	0.039	2644	2491	3624	0	0	0	0	0	0
4328	-0.59	-146.0	443.4	-10.9	452	4329	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2491	3624	0	0	0	0	0	0
4649	-0.53	-146.0	477.2	-11.2	482	4654	0.17	2.30	0.00	0.000	4	0.201	0.067	2688	3899	3625	0	0	0	0	0	0
4666	-0.53	-146.0	479.2	-10.8	483	4670	0.00	2.15	0.00	0.000	6	0.000	0.038	2688	2488	3625	0	0	0	0	0	0
4921	end dive: NO_VERTICAL_VELOCITY
state	4922	begin apogee
4927	-0.12	0.0	486.1	0.0	507	5057	0.40	0.00	119.62	1.190	6	0.138	0.000	2816	2251	3029	0	0	0	0	0	0
5058	end apogee: CONTROL_FINISHED_OK
state	5058	begin climb
5060	0.62	146.0	485.8	0.0	519	5197	0.77	2.62	124.03	1.146	4	0.140	0.060	3052	3683	2433	0	0	0	0	0	0
5255	0.49	146.0	469.0	14.1	537	5260	0.15	2.30	0.00	0.000	6	0.183	0.044	3028	2313	2430	0	0	0	0	0	0
5580	0.46	146.0	433.6	10.5	567	5584	0.00	2.33	0.00	0.000	4	0.000	0.060	3036	865	2427	0	0	0	0	0	0
5664	0.44	146.0	424.6	10.7	574	5669	0.12	2.25	0.00	0.000	6	0.185	0.047	3008	2282	2426	0	0	0	0	0	0
5990	0.48	159.5	393.8	9.4	604	6006	0.00	2.25	11.57	0.996	4	0.000	0.060	3008	3693	2380	0	0	0	0	0	0
6057	0.48	159.5	386.9	10.8	609	6064	0.00	2.22	0.00	0.000	6	0.000	0.044	3016	2263	2379	0	0	0	0	0	0
6382	0.51	183.1	355.7	8.9	640	6408	0.00	2.22	21.45	1.049	4	0.000	0.058	3027	865	2283	0	0	0	0	0	0
6468	0.55	186.6	347.7	9.8	647	6480	0.00	2.22	4.12	0.685	6	0.000	0.047	3027	2277	2270	0	0	0	0	0	0
6798	0.55	186.6	313.6	10.7	678	6802	0.00	2.22	0.00	0.000	4	0.000	0.060	3026	3681	2269	0	0	0	0	0	0
6878	0.52	186.6	303.5	13.0	685	6882	0.00	2.20	0.00	0.000	6	0.000	0.046	3037	2264	2268	0	0	0	0	0	0
7208	0.52	186.6	263.3	12.2	716	7212	0.00	2.22	0.00	0.000	4	0.000	0.060	3046	859	2268	0	0	0	0	0	0
7296	0.52	186.6	252.4	12.3	723	7303	0.00	2.17	0.00	0.000	6	0.000	0.046	3046	2274	2267	0	0	0	0	0	0
7622	0.49	186.6	212.4	12.1	754	7626	0.00	2.25	0.00	0.000	4	0.000	0.060	3046	3681	2267	0	0	0	0	0	0
7677	0.43	186.6	204.8	13.5	758	7684	0.20	2.20	0.00	0.000	6	0.187	0.045	3005	2271	2267	0	0	0	0	0	0
8003	0.50	188.6	172.4	9.9	789	8004	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2271	2266	0	0	0	0	0	0
8321	0.63	230.7	144.4	8.1	819	8366	0.17	2.30	38.88	0.965	4	0.083	0.059	3093	868	2089	0	0	0	0	0	0
8404	0.57	230.7	134.3	14.0	826	8409	0.17	2.20	0.00	0.000	6	0.182	0.044	3049	2277	2085	0	0	0	0	0	0
8730	0.61	232.9	98.2	9.9	857	8737	0.00	2.22	0.00	0.000	4	0.000	0.059	3048	3680	2082	0	0	0	0	0	0
8800	0.61	232.9	90.3	11.9	869	8807	0.00	2.17	0.00	0.000	6	0.000	0.044	3056	2273	2082	0	0	0	0	0	0
9145	0.70	259.2	59.7	8.8	930	9176	0.00	2.30	24.83	0.900	4	0.000	0.059	3059	865	1973	0	0	0	0	0	0
9241	0.84	294.3	51.6	8.4	946	9279	0.22	2.22	32.15	0.894	6	0.078	0.044	3151	2285	1830	0	0	0	0	0	0
9498	end climb: SURFACE_OBSTACLE_DETECTED
state	9498	begin subsurface finish
9504	0.04	30.2	7.4	-17.8	991	9558	0.93	2.22	-45.80	0.000	4	0.180	0.073	2883	3680	2907	0	0	0	0	0	0
9559	end subsurface finish: CONTROL_FINISHED_OK
state	9559	begin surface