Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 479 * 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 479 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 400 R_PORT_OVSHOOT 32 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 -40322.797 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -40322.797

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 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 479 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 240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 61.5,3847,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 575

Post-dive calculations and measurements:

FREEZE 8.90,-1.736,-1.837,3,14,0 _24V_AH 22.4,63.057

FINISH1 8.9,1.026876,31 _10V_AH 10.2,32.283

FINISH2 7.5 FG_AHR_24Vo 0.000

RAFOS_CLK 486 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.101562,-5650.159180,240411,000028,4,97,0.60 MEM 150600

IRIDIUM_FIX 6641.98,-5653.92,220411,151557 DATA_FILE_SIZE 40040,1005

TT8_MAMPS 0.026215 CAP_FILE_SIZE 101915,0

HUMID 45.90 CFSIZE 260165632,222801920

INTERNAL_PRESSURE 8.76987 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1467.8

XPDR_PINGS 0 GPS 240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6

ALTIM_TOP_PING 19.7,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 213 16.97 SBE_CT 707 24 380.53

Roll_motor 89 134 270.15 SBE_O2 758 19 322.62

VBD_pump_during_apogee 296 1185 7886.57 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 11.76 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2418 19 491.37

LPSleep 4976 2 117.27

TT8_Active 355 19 72.29

TT8_Sampling 1597 39 650.60

TT8_CF8 169 45 79.34

TT8_Kalman 0 0 0.00

Analog_circuits 1203 12 147.32

GPS_charging 0 0 0.00

Compass 1592 15 243.58

RAFOS 0 0 0.00

Transponder 9 30 2.97

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 -6.47 0.000 2 0.000 0.000 2882 859 3158 0 0 0 0 0 0

28 -0.62 -146.0 9.8 -0.0 1 47 0.62 0.32 -11.80 0.000 4 0.129 0.135 2673 1096 3627 0 0 0 0 0 0

82 -0.57 -146.0 15.2 -12.0 10 89 0.00 2.15 0.00 0.000 6 0.000 0.054 2673 2485 3627 0 0 0 0 0 0

427 -0.50 -146.0 66.6 -14.4 71 434 0.00 2.30 0.00 0.000 4 0.000 0.069 2673 3905 3627 0 0 0 0 0 0

517 -0.50 -146.0 78.9 -13.1 86 524 0.00 2.17 0.00 0.000 6 0.000 0.041 2673 2473 3626 0 0 0 0 0 0

852 -0.45 -146.0 125.1 -14.5 130 857 0.15 2.35 0.00 0.000 4 0.213 0.069 2708 3898 3626 0 0 0 0 0 0

893 -0.53 -146.0 129.9 -10.9 133 896 0.00 2.15 0.00 0.000 6 0.000 0.041 2708 2487 3625 0 0 0 0 0 0

1226 -0.60 -146.0 161.7 -8.0 164 1230 0.12 2.20 0.00 0.000 4 0.132 0.057 2665 1083 3623 0 0 0 0 0 0

1315 -0.60 -146.0 171.8 -10.9 171 1322 0.00 2.22 0.00 0.000 6 0.000 0.055 2665 2494 3623 0 0 0 0 0 0

1641 -0.57 -146.0 207.9 -10.9 202 1645 0.00 2.28 0.00 0.000 4 0.000 0.070 2665 3906 3622 0 0 0 0 0 0

1713 -0.57 -146.0 215.3 -9.9 208 1720 0.00 2.17 0.00 0.000 6 0.000 0.040 2665 2482 3622 0 0 0 0 0 0

2040 -0.57 -146.0 248.2 -10.1 239 2043 0.00 2.15 0.00 0.000 4 0.000 0.054 2665 1087 3621 0 0 0 0 0 0

2075 -0.57 -146.0 252.0 -10.9 242 2079 0.00 2.20 0.00 0.000 6 0.000 0.053 2664 2490 3621 0 0 0 0 0 0

2400 -0.57 -146.0 285.6 -10.1 272 2404 0.00 2.28 0.00 0.000 4 0.000 0.067 2665 3900 3621 0 0 0 0 0 0

2477 -0.57 -146.0 293.4 -10.1 278 2484 0.00 2.15 0.00 0.000 6 0.000 0.038 2665 2480 3621 0 0 0 0 0 0

2802 -0.57 -146.0 325.1 -10.1 309 2806 0.00 2.15 0.00 0.000 4 0.000 0.054 2664 1086 3622 0 0 0 0 0 0

2831 -0.57 -146.0 328.1 -10.7 311 2838 0.00 2.20 0.00 0.000 6 0.000 0.053 2664 2491 3622 0 0 0 0 0 0

3156 -0.57 -146.0 361.5 -10.7 342 3160 0.00 2.25 0.00 0.000 4 0.000 0.067 2665 3899 3622 0 0 0 0 0 0

3242 -0.57 -146.0 370.9 -11.1 349 3246 0.00 2.15 0.00 0.000 6 0.000 0.039 2665 2479 3622 0 0 0 0 0 0

3572 -0.57 -146.0 407.1 -10.5 380 3574 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2479 3623 0 0 0 0 0 0

3893 -0.57 -146.0 438.9 -10.0 410 3897 0.00 2.15 0.00 0.000 4 0.000 0.051 2665 1078 3624 0 0 0 0 0 0

3939 -0.57 -146.0 443.7 -10.0 414 3943 0.00 2.22 0.00 0.000 6 0.000 0.050 2665 2496 3624 0 0 0 0 0 0

4270 -0.57 -146.0 475.3 -9.6 445 4274 0.00 2.22 0.00 0.000 4 0.000 0.066 2665 3898 3625 0 0 0 0 0 0

4344 -0.59 -146.0 482.1 -9.3 451 4348 0.00 2.15 0.00 0.000 6 0.000 0.037 2664 2489 3624 0 0 0 0 0 0

4676 -0.90 -146.0 499.7 -0.0 482 4680 0.25 2.28 0.00 0.000 4 0.102 0.062 2569 3899 3625 0 0 0 0 0 0

4697 end dive: NO_VERTICAL_VELOCITY

state 4697 begin apogee

4705 -0.12 0.0 499.7 0.0 484 4830 0.77 0.00 119.50 1.186 6 0.132 0.000 2817 2268 3030 0 0 0 0 0 0

4831 end apogee: CONTROL_FINISHED_OK

state 4831 begin climb

4833 0.62 146.0 499.7 0.0 495 4967 0.77 2.50 124.55 1.142 4 0.136 0.058 3065 885 2433 0 0 0 0 0 0

4985 0.54 146.0 488.3 11.3 508 4991 0.00 2.35 0.00 0.000 6 0.000 0.044 3065 2275 2430 0 0 0 0 0 0

5310 0.42 146.0 444.0 13.5 539 5314 0.22 2.30 0.00 0.000 4 0.181 0.058 3006 3685 2427 0 0 0 0 0 0

5378 0.42 146.0 436.3 10.8 545 5382 0.00 2.22 0.00 0.000 6 0.000 0.043 3014 2280 2426 0 0 0 0 0 0

5705 0.47 167.6 405.7 9.0 575 5726 0.00 0.00 18.52 1.040 6 0.000 0.000 3014 2279 2346 0 0 0 0 0 0

6044 0.50 167.6 372.7 10.4 607 6045 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2279 2344 0 0 0 0 0 0

6362 0.54 167.6 338.4 11.5 637 6366 0.00 2.25 0.00 0.000 4 0.000 0.058 3014 3698 2343 0 0 0 0 0 0

6372 0.57 167.6 336.9 11.5 637 6379 0.00 2.20 0.00 0.000 6 0.000 0.041 3024 2264 2343 0 0 0 0 0 0

6699 0.57 167.6 298.0 12.1 668 6703 0.00 2.25 0.00 0.000 4 0.000 0.057 3025 3690 2343 0 0 0 0 0 0

6708 0.57 167.6 296.5 11.8 668 6715 0.00 2.20 0.00 0.000 6 0.000 0.041 3034 2278 2343 0 0 0 0 0 0

7035 0.57 167.6 256.6 12.1 699 7036 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2278 2343 0 0 0 0 0 0

7354 0.57 167.6 218.2 11.1 729 7355 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2278 2342 0 0 0 0 0 0

7672 0.57 167.6 185.6 10.1 759 7676 0.00 2.20 0.00 0.000 4 0.000 0.057 3043 863 2342 0 0 0 0 0 0

7715 0.57 167.6 180.9 10.4 762 7723 0.00 2.22 0.00 0.000 6 0.000 0.044 3043 2284 2342 0 0 0 0 0 0

8043 0.57 167.6 147.1 10.3 793 8046 0.00 2.17 0.00 0.000 4 0.000 0.058 3044 3683 2342 0 0 0 0 0 0

8104 0.52 167.6 139.3 13.0 798 8111 0.00 2.15 0.00 0.000 6 0.000 0.042 3053 2268 2342 0 0 0 0 0 0

8430 0.52 167.6 103.4 10.2 829 8431 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2267 2342 0 0 0 0 0 0

8764 0.52 171.0 70.2 9.8 885 8777 0.00 2.30 4.18 0.600 4 0.000 0.057 3053 3682 2332 0 0 0 0 0 0

8784 0.55 195.7 68.4 8.9 888 8815 0.00 2.15 22.33 0.894 6 0.000 0.041 3064 2273 2231 0 0 0 0 0 0

9155 0.56 201.0 34.4 9.8 953 9168 0.00 2.25 4.75 0.692 4 0.000 0.057 3073 875 2209 0 0 0 0 0 0

9210 0.61 206.7 29.2 9.7 962 9218 0.00 2.20 3.10 0.543 6 0.000 0.044 3073 2286 2187 0 0 0 0 0 0

9425 end climb: FINISH_DEPTH_REACHED

state 9425 begin subsurface finish

9431 0.04 30.6 8.9 -9.3 1000 9462 0.62 2.25 -21.73 0.000 4 0.158 0.076 2881 3691 2908 0 0 0 0 0 0

9463 end subsurface finish: CONTROL_FINISHED_OK

state 9463 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	479	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	400	R_PORT_OVSHOOT	32	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	-40322.797	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	240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	61.5,3847,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	575

FREEZE	8.90,-1.736,-1.837,3,14,0	_24V_AH	22.4,63.057
FINISH1	8.9,1.026876,31	_10V_AH	10.2,32.283
FINISH2	7.5	FG_AHR_24Vo	0.000
RAFOS_CLK	486	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.101562,-5650.159180,240411,000028,4,97,0.60	MEM	150600
IRIDIUM_FIX	6641.98,-5653.92,220411,151557	DATA_FILE_SIZE	40040,1005
TT8_MAMPS	0.026215	CAP_FILE_SIZE	101915,0
HUMID	45.90	CFSIZE	260165632,222801920
INTERNAL_PRESSURE	8.76987	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1467.8
XPDR_PINGS	0	GPS	240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6
ALTIM_TOP_PING	19.7,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	213	16.97	SBE_CT	707	24	380.53
Roll_motor	89	134	270.15	SBE_O2	758	19	322.62
VBD_pump_during_apogee	296	1185	7886.57	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	11.76	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2418	19	491.37
LPSleep	4976	2	117.27
TT8_Active	355	19	72.29
TT8_Sampling	1597	39	650.60
TT8_CF8	169	45	79.34
TT8_Kalman	0	0	0.00
Analog_circuits	1203	12	147.32
GPS_charging	0	0	0.00
Compass	1592	15	243.58
RAFOS	0	0	0.00
Transponder	9	30	2.97

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	-6.47	0.000	2	0.000	0.000	2882	859	3158	0	0	0	0	0	0
28	-0.62	-146.0	9.8	-0.0	1	47	0.62	0.32	-11.80	0.000	4	0.129	0.135	2673	1096	3627	0	0	0	0	0	0
82	-0.57	-146.0	15.2	-12.0	10	89	0.00	2.15	0.00	0.000	6	0.000	0.054	2673	2485	3627	0	0	0	0	0	0
427	-0.50	-146.0	66.6	-14.4	71	434	0.00	2.30	0.00	0.000	4	0.000	0.069	2673	3905	3627	0	0	0	0	0	0
517	-0.50	-146.0	78.9	-13.1	86	524	0.00	2.17	0.00	0.000	6	0.000	0.041	2673	2473	3626	0	0	0	0	0	0
852	-0.45	-146.0	125.1	-14.5	130	857	0.15	2.35	0.00	0.000	4	0.213	0.069	2708	3898	3626	0	0	0	0	0	0
893	-0.53	-146.0	129.9	-10.9	133	896	0.00	2.15	0.00	0.000	6	0.000	0.041	2708	2487	3625	0	0	0	0	0	0
1226	-0.60	-146.0	161.7	-8.0	164	1230	0.12	2.20	0.00	0.000	4	0.132	0.057	2665	1083	3623	0	0	0	0	0	0
1315	-0.60	-146.0	171.8	-10.9	171	1322	0.00	2.22	0.00	0.000	6	0.000	0.055	2665	2494	3623	0	0	0	0	0	0
1641	-0.57	-146.0	207.9	-10.9	202	1645	0.00	2.28	0.00	0.000	4	0.000	0.070	2665	3906	3622	0	0	0	0	0	0
1713	-0.57	-146.0	215.3	-9.9	208	1720	0.00	2.17	0.00	0.000	6	0.000	0.040	2665	2482	3622	0	0	0	0	0	0
2040	-0.57	-146.0	248.2	-10.1	239	2043	0.00	2.15	0.00	0.000	4	0.000	0.054	2665	1087	3621	0	0	0	0	0	0
2075	-0.57	-146.0	252.0	-10.9	242	2079	0.00	2.20	0.00	0.000	6	0.000	0.053	2664	2490	3621	0	0	0	0	0	0
2400	-0.57	-146.0	285.6	-10.1	272	2404	0.00	2.28	0.00	0.000	4	0.000	0.067	2665	3900	3621	0	0	0	0	0	0
2477	-0.57	-146.0	293.4	-10.1	278	2484	0.00	2.15	0.00	0.000	6	0.000	0.038	2665	2480	3621	0	0	0	0	0	0
2802	-0.57	-146.0	325.1	-10.1	309	2806	0.00	2.15	0.00	0.000	4	0.000	0.054	2664	1086	3622	0	0	0	0	0	0
2831	-0.57	-146.0	328.1	-10.7	311	2838	0.00	2.20	0.00	0.000	6	0.000	0.053	2664	2491	3622	0	0	0	0	0	0
3156	-0.57	-146.0	361.5	-10.7	342	3160	0.00	2.25	0.00	0.000	4	0.000	0.067	2665	3899	3622	0	0	0	0	0	0
3242	-0.57	-146.0	370.9	-11.1	349	3246	0.00	2.15	0.00	0.000	6	0.000	0.039	2665	2479	3622	0	0	0	0	0	0
3572	-0.57	-146.0	407.1	-10.5	380	3574	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2479	3623	0	0	0	0	0	0
3893	-0.57	-146.0	438.9	-10.0	410	3897	0.00	2.15	0.00	0.000	4	0.000	0.051	2665	1078	3624	0	0	0	0	0	0
3939	-0.57	-146.0	443.7	-10.0	414	3943	0.00	2.22	0.00	0.000	6	0.000	0.050	2665	2496	3624	0	0	0	0	0	0
4270	-0.57	-146.0	475.3	-9.6	445	4274	0.00	2.22	0.00	0.000	4	0.000	0.066	2665	3898	3625	0	0	0	0	0	0
4344	-0.59	-146.0	482.1	-9.3	451	4348	0.00	2.15	0.00	0.000	6	0.000	0.037	2664	2489	3624	0	0	0	0	0	0
4676	-0.90	-146.0	499.7	-0.0	482	4680	0.25	2.28	0.00	0.000	4	0.102	0.062	2569	3899	3625	0	0	0	0	0	0
4697	end dive: NO_VERTICAL_VELOCITY
state	4697	begin apogee
4705	-0.12	0.0	499.7	0.0	484	4830	0.77	0.00	119.50	1.186	6	0.132	0.000	2817	2268	3030	0	0	0	0	0	0
4831	end apogee: CONTROL_FINISHED_OK
state	4831	begin climb
4833	0.62	146.0	499.7	0.0	495	4967	0.77	2.50	124.55	1.142	4	0.136	0.058	3065	885	2433	0	0	0	0	0	0
4985	0.54	146.0	488.3	11.3	508	4991	0.00	2.35	0.00	0.000	6	0.000	0.044	3065	2275	2430	0	0	0	0	0	0
5310	0.42	146.0	444.0	13.5	539	5314	0.22	2.30	0.00	0.000	4	0.181	0.058	3006	3685	2427	0	0	0	0	0	0
5378	0.42	146.0	436.3	10.8	545	5382	0.00	2.22	0.00	0.000	6	0.000	0.043	3014	2280	2426	0	0	0	0	0	0
5705	0.47	167.6	405.7	9.0	575	5726	0.00	0.00	18.52	1.040	6	0.000	0.000	3014	2279	2346	0	0	0	0	0	0
6044	0.50	167.6	372.7	10.4	607	6045	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2279	2344	0	0	0	0	0	0
6362	0.54	167.6	338.4	11.5	637	6366	0.00	2.25	0.00	0.000	4	0.000	0.058	3014	3698	2343	0	0	0	0	0	0
6372	0.57	167.6	336.9	11.5	637	6379	0.00	2.20	0.00	0.000	6	0.000	0.041	3024	2264	2343	0	0	0	0	0	0
6699	0.57	167.6	298.0	12.1	668	6703	0.00	2.25	0.00	0.000	4	0.000	0.057	3025	3690	2343	0	0	0	0	0	0
6708	0.57	167.6	296.5	11.8	668	6715	0.00	2.20	0.00	0.000	6	0.000	0.041	3034	2278	2343	0	0	0	0	0	0
7035	0.57	167.6	256.6	12.1	699	7036	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2278	2343	0	0	0	0	0	0
7354	0.57	167.6	218.2	11.1	729	7355	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2278	2342	0	0	0	0	0	0
7672	0.57	167.6	185.6	10.1	759	7676	0.00	2.20	0.00	0.000	4	0.000	0.057	3043	863	2342	0	0	0	0	0	0
7715	0.57	167.6	180.9	10.4	762	7723	0.00	2.22	0.00	0.000	6	0.000	0.044	3043	2284	2342	0	0	0	0	0	0
8043	0.57	167.6	147.1	10.3	793	8046	0.00	2.17	0.00	0.000	4	0.000	0.058	3044	3683	2342	0	0	0	0	0	0
8104	0.52	167.6	139.3	13.0	798	8111	0.00	2.15	0.00	0.000	6	0.000	0.042	3053	2268	2342	0	0	0	0	0	0
8430	0.52	167.6	103.4	10.2	829	8431	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2267	2342	0	0	0	0	0	0
8764	0.52	171.0	70.2	9.8	885	8777	0.00	2.30	4.18	0.600	4	0.000	0.057	3053	3682	2332	0	0	0	0	0	0
8784	0.55	195.7	68.4	8.9	888	8815	0.00	2.15	22.33	0.894	6	0.000	0.041	3064	2273	2231	0	0	0	0	0	0
9155	0.56	201.0	34.4	9.8	953	9168	0.00	2.25	4.75	0.692	4	0.000	0.057	3073	875	2209	0	0	0	0	0	0
9210	0.61	206.7	29.2	9.7	962	9218	0.00	2.20	3.10	0.543	6	0.000	0.044	3073	2286	2187	0	0	0	0	0	0
9425	end climb: FINISH_DEPTH_REACHED
state	9425	begin subsurface finish
9431	0.04	30.6	8.9	-9.3	1000	9462	0.62	2.25	-21.73	0.000	4	0.158	0.076	2881	3691	2908	0	0	0	0	0	0
9463	end subsurface finish: CONTROL_FINISHED_OK
state	9463	begin surface