Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 480 * 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 480 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 37 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 -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 37 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 480 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 8.24 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 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 9.00,-1.749,-1.837,3,15,0 ALTIM_BOTTOM_PING 450.0,13.3

FINISH1 9.0,1.026871,31 _24V_AH 22.4,63.146

FINISH2 7.8 _10V_AH 10.1,32.339

RAFOS_CLK 454 FG_AHR_24Vo 0.000

RAFOS 0,1303617691,4.033333,4.025278,65,60,58,53,50,49,213,151,182,135,192,232 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.530762,-5651.815430,240411,040401,3,130,0.95 MEM 150616

IRIDIUM_FIX 6641.98,-5653.92,220411,151557 DATA_FILE_SIZE 36682,938

TT8_MAMPS 0.026215 CAP_FILE_SIZE 102645,0

HUMID 45.51 CFSIZE 260165632,222744576

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

TCM_TEMP 17.30 SOUNDSPEED 1467.7

XPDR_PINGS 0 GPS 240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 214 16.85 SBE_CT 659 24 354.32

Roll_motor 95 71 152.59 SBE_O2 705 19 300.45

VBD_pump_during_apogee 287 1154 7438.12 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 2274 19 457.56

LPSleep 4529 2 105.68

TT8_Active 342 19 68.99

TT8_Sampling 1522 39 613.77

TT8_CF8 160 45 74.49

TT8_Kalman 0 0 0.00

Analog_circuits 1157 12 140.25

GPS_charging 0 0 0.00

Compass 1511 15 228.92

RAFOS 2520 1 38.18

Transponder 12 30 3.75

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.62 -146.0 0.0 0.0 0 26 0.00 0.00 -7.18 0.000 2 0.000 0.000 2881 3691 3176 0 0 0 0 0 0

29 -0.62 -146.0 9.2 -0.0 1 49 0.60 4.12 -11.82 0.000 4 0.119 0.051 2677 1084 3628 0 0 0 0 0 0

164 -0.62 -146.0 24.3 -13.0 24 171 0.00 2.22 0.00 0.000 6 0.000 0.054 2677 2486 3628 0 0 0 0 0 0

509 -0.55 -146.0 68.0 -12.6 85 516 0.00 2.30 0.00 0.000 4 0.000 0.070 2677 3897 3627 0 0 0 0 0 0

542 -0.52 -146.0 72.1 -12.9 90 548 0.00 2.15 0.00 0.000 6 0.000 0.041 2676 2490 3627 0 0 0 0 0 0

880 -0.49 -146.0 113.7 -11.8 140 884 0.00 2.17 0.00 0.000 4 0.000 0.057 2677 1087 3625 0 0 0 0 0 0

937 -0.49 -146.0 120.6 -11.9 145 941 0.00 2.22 0.00 0.000 6 0.000 0.056 2677 2490 3625 0 0 0 0 0 0

1268 -0.49 -146.0 158.9 -11.1 176 1272 0.00 2.30 0.00 0.000 4 0.000 0.071 2677 3899 3624 0 0 0 0 0 0

1347 -0.49 -146.0 166.8 -9.5 183 1351 0.00 2.17 0.00 0.000 6 0.000 0.042 2677 2487 3623 0 0 0 0 0 0

1679 -0.49 -146.0 198.2 -9.3 214 1683 0.00 2.20 0.00 0.000 4 0.000 0.057 2677 1083 3623 0 0 0 0 0 0

1734 -0.52 -146.0 203.6 -9.0 218 1741 0.00 2.22 0.00 0.000 6 0.000 0.054 2677 2499 3622 0 0 0 0 0 0

2061 -0.52 -146.0 232.6 -9.5 249 2065 0.00 2.28 0.00 0.000 4 0.000 0.070 2677 3904 3622 0 0 0 0 0 0

2105 -0.56 -146.0 237.0 -9.1 252 2112 0.00 2.17 0.00 0.000 6 0.000 0.041 2677 2491 3621 0 0 0 0 0 0

2431 -0.56 -146.0 266.9 -9.4 283 2435 0.00 2.17 0.00 0.000 4 0.000 0.055 2677 1087 3622 0 0 0 0 0 0

2498 -0.59 -146.0 273.7 -9.3 288 2505 0.00 2.20 0.00 0.000 6 0.000 0.053 2677 2491 3621 0 0 0 0 0 0

2824 -0.61 -146.0 304.0 -9.2 319 2828 0.00 2.25 0.00 0.000 4 0.000 0.069 2677 3900 3622 0 0 0 0 0 0

2897 -0.66 -146.0 310.5 -8.5 325 2901 0.00 2.17 0.00 0.000 6 0.000 0.040 2677 2484 3622 0 0 0 0 0 0

3223 -0.69 -146.0 338.5 -8.5 355 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2484 3622 0 0 0 0 0 0

3541 -0.71 -146.0 365.1 -8.2 385 3543 0.12 0.00 0.00 0.000 6 0.124 0.000 2632 2484 3624 0 0 0 0 0 0

3861 -0.62 -146.0 401.0 -11.7 415 3865 0.12 2.33 0.00 0.000 4 0.215 0.065 2660 3903 3624 0 0 0 0 0 0

3901 -0.62 -146.0 405.3 -9.9 418 3904 0.00 2.17 0.00 0.000 6 0.000 0.038 2661 2481 3624 0 0 0 0 0 0

4232 -0.62 -146.0 437.0 -9.8 449 4235 0.00 2.15 0.00 0.000 4 0.000 0.054 2661 1088 3624 0 0 0 0 0 0

4277 -0.62 -146.0 441.6 -10.1 453 4281 0.00 2.20 0.00 0.000 6 0.000 0.051 2660 2498 3625 0 0 0 0 0 0

4369 end dive: BOTTOM_OBSTACLE_DETECTED

state 4369 begin apogee

4376 -0.12 0.0 450.0 9.6 461 4500 0.52 0.00 118.85 1.154 6 0.188 0.000 2812 2258 3030 0 0 0 0 0 0

4501 end apogee: CONTROL_FINISHED_OK

state 4501 begin climb

4504 0.62 146.0 453.7 0.0 472 4637 0.77 2.47 123.75 1.108 4 0.132 0.060 3063 890 2433 0 0 0 0 0 0

4665 0.55 146.0 440.8 12.0 486 4672 0.00 2.38 0.00 0.000 6 0.000 0.045 3063 2281 2430 0 0 0 0 0 0

4992 0.48 146.0 399.8 12.0 517 4996 0.15 2.30 0.00 0.000 4 0.181 0.063 3023 3693 2427 0 0 0 0 0 0

5043 0.44 146.0 393.8 11.5 521 5047 0.00 2.22 0.00 0.000 6 0.000 0.044 3032 2288 2427 0 0 0 0 0 0

5369 0.42 149.2 361.1 9.9 551 5373 0.12 2.28 0.00 0.000 4 0.186 0.059 3002 3698 2427 0 0 0 0 0 0

5418 0.43 156.3 356.3 9.7 555 5436 0.00 2.20 9.20 0.923 6 0.000 0.043 3009 2272 2391 0 0 0 0 0 0

5755 0.49 173.1 326.4 9.2 587 5778 0.00 2.28 15.62 0.989 4 0.000 0.060 3009 3688 2324 0 0 0 0 0 0

5794 0.52 173.1 322.3 10.0 590 5801 0.00 2.22 0.00 0.000 6 0.000 0.043 3019 2267 2324 0 0 0 0 0 0

6120 0.55 173.1 288.0 10.9 621 6124 0.00 2.28 0.00 0.000 4 0.000 0.060 3019 3698 2321 0 0 0 0 0 0

6135 0.57 173.1 286.1 10.7 622 6142 0.00 2.20 0.00 0.000 6 0.000 0.042 3029 2272 2321 0 0 0 0 0 0

6462 0.57 173.1 251.9 10.2 653 6466 0.00 2.25 0.00 0.000 4 0.000 0.059 3029 3693 2321 0 0 0 0 0 0

6490 0.57 173.1 248.7 11.0 655 6494 0.00 2.20 0.00 0.000 6 0.000 0.042 3040 2274 2321 0 0 0 0 0 0

6820 0.57 173.1 214.2 10.5 686 6824 0.00 2.20 0.00 0.000 4 0.000 0.057 3048 862 2321 0 0 0 0 0 0

6848 0.57 173.1 211.3 10.3 688 6852 0.00 2.20 0.00 0.000 6 0.000 0.046 3049 2290 2320 0 0 0 0 0 0

7173 0.57 173.1 177.7 10.5 718 7177 0.00 2.17 0.00 0.000 4 0.000 0.060 3048 3681 2321 0 0 0 0 0 0

7314 0.51 173.1 160.2 12.9 730 7321 0.00 2.17 0.00 0.000 6 0.000 0.044 3058 2265 2321 0 0 0 0 0 0

7639 0.51 173.1 123.3 11.8 761 7643 0.00 2.22 0.00 0.000 4 0.000 0.057 3058 3683 2320 0 0 0 0 0 0

7649 0.49 173.1 121.9 11.8 761 7656 0.17 2.17 0.00 0.000 6 0.177 0.042 3022 2273 2320 0 0 0 0 0 0

7982 0.55 173.1 85.9 10.1 803 7989 0.00 2.17 0.00 0.000 4 0.000 0.058 3028 871 2321 0 0 0 0 0 0

8020 0.66 195.5 82.4 9.0 809 8045 0.15 2.17 20.23 0.889 6 0.097 0.047 3093 2279 2232 0 0 0 0 0 0

8384 0.63 195.5 39.6 11.7 873 8390 0.00 2.22 0.00 0.000 4 0.000 0.060 3093 3682 2229 0 0 0 0 0 0

8460 0.54 195.5 30.3 12.6 886 8467 0.22 2.20 0.00 0.000 6 0.181 0.045 3043 2264 2230 0 0 0 0 0 0

8731 end climb: FINISH_DEPTH_REACHED

state 8731 begin subsurface finish

8737 0.04 30.8 9.0 -7.5 934 8762 0.52 0.00 -19.85 0.000 6 0.155 0.000 2880 2263 2906 0 0 0 0 0 0

8763 end subsurface finish: CONTROL_FINISHED_OK

state 8763 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	480	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	37	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	-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	8.24	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	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	9.00,-1.749,-1.837,3,15,0	ALTIM_BOTTOM_PING	450.0,13.3
FINISH1	9.0,1.026871,31	_24V_AH	22.4,63.146
FINISH2	7.8	_10V_AH	10.1,32.339
RAFOS_CLK	454	FG_AHR_24Vo	0.000
RAFOS	0,1303617691,4.033333,4.025278,65,60,58,53,50,49,213,151,182,135,192,232	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.530762,-5651.815430,240411,040401,3,130,0.95	MEM	150616
IRIDIUM_FIX	6641.98,-5653.92,220411,151557	DATA_FILE_SIZE	36682,938
TT8_MAMPS	0.026215	CAP_FILE_SIZE	102645,0
HUMID	45.51	CFSIZE	260165632,222744576
INTERNAL_PRESSURE	8.76987	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.30	SOUNDSPEED	1467.7
XPDR_PINGS	0	GPS	240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	214	16.85	SBE_CT	659	24	354.32
Roll_motor	95	71	152.59	SBE_O2	705	19	300.45
VBD_pump_during_apogee	287	1154	7438.12	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	2274	19	457.56
LPSleep	4529	2	105.68
TT8_Active	342	19	68.99
TT8_Sampling	1522	39	613.77
TT8_CF8	160	45	74.49
TT8_Kalman	0	0	0.00
Analog_circuits	1157	12	140.25
GPS_charging	0	0	0.00
Compass	1511	15	228.92
RAFOS	2520	1	38.18
Transponder	12	30	3.75

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.62	-146.0	0.0	0.0	0	26	0.00	0.00	-7.18	0.000	2	0.000	0.000	2881	3691	3176	0	0	0	0	0	0
29	-0.62	-146.0	9.2	-0.0	1	49	0.60	4.12	-11.82	0.000	4	0.119	0.051	2677	1084	3628	0	0	0	0	0	0
164	-0.62	-146.0	24.3	-13.0	24	171	0.00	2.22	0.00	0.000	6	0.000	0.054	2677	2486	3628	0	0	0	0	0	0
509	-0.55	-146.0	68.0	-12.6	85	516	0.00	2.30	0.00	0.000	4	0.000	0.070	2677	3897	3627	0	0	0	0	0	0
542	-0.52	-146.0	72.1	-12.9	90	548	0.00	2.15	0.00	0.000	6	0.000	0.041	2676	2490	3627	0	0	0	0	0	0
880	-0.49	-146.0	113.7	-11.8	140	884	0.00	2.17	0.00	0.000	4	0.000	0.057	2677	1087	3625	0	0	0	0	0	0
937	-0.49	-146.0	120.6	-11.9	145	941	0.00	2.22	0.00	0.000	6	0.000	0.056	2677	2490	3625	0	0	0	0	0	0
1268	-0.49	-146.0	158.9	-11.1	176	1272	0.00	2.30	0.00	0.000	4	0.000	0.071	2677	3899	3624	0	0	0	0	0	0
1347	-0.49	-146.0	166.8	-9.5	183	1351	0.00	2.17	0.00	0.000	6	0.000	0.042	2677	2487	3623	0	0	0	0	0	0
1679	-0.49	-146.0	198.2	-9.3	214	1683	0.00	2.20	0.00	0.000	4	0.000	0.057	2677	1083	3623	0	0	0	0	0	0
1734	-0.52	-146.0	203.6	-9.0	218	1741	0.00	2.22	0.00	0.000	6	0.000	0.054	2677	2499	3622	0	0	0	0	0	0
2061	-0.52	-146.0	232.6	-9.5	249	2065	0.00	2.28	0.00	0.000	4	0.000	0.070	2677	3904	3622	0	0	0	0	0	0
2105	-0.56	-146.0	237.0	-9.1	252	2112	0.00	2.17	0.00	0.000	6	0.000	0.041	2677	2491	3621	0	0	0	0	0	0
2431	-0.56	-146.0	266.9	-9.4	283	2435	0.00	2.17	0.00	0.000	4	0.000	0.055	2677	1087	3622	0	0	0	0	0	0
2498	-0.59	-146.0	273.7	-9.3	288	2505	0.00	2.20	0.00	0.000	6	0.000	0.053	2677	2491	3621	0	0	0	0	0	0
2824	-0.61	-146.0	304.0	-9.2	319	2828	0.00	2.25	0.00	0.000	4	0.000	0.069	2677	3900	3622	0	0	0	0	0	0
2897	-0.66	-146.0	310.5	-8.5	325	2901	0.00	2.17	0.00	0.000	6	0.000	0.040	2677	2484	3622	0	0	0	0	0	0
3223	-0.69	-146.0	338.5	-8.5	355	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2484	3622	0	0	0	0	0	0
3541	-0.71	-146.0	365.1	-8.2	385	3543	0.12	0.00	0.00	0.000	6	0.124	0.000	2632	2484	3624	0	0	0	0	0	0
3861	-0.62	-146.0	401.0	-11.7	415	3865	0.12	2.33	0.00	0.000	4	0.215	0.065	2660	3903	3624	0	0	0	0	0	0
3901	-0.62	-146.0	405.3	-9.9	418	3904	0.00	2.17	0.00	0.000	6	0.000	0.038	2661	2481	3624	0	0	0	0	0	0
4232	-0.62	-146.0	437.0	-9.8	449	4235	0.00	2.15	0.00	0.000	4	0.000	0.054	2661	1088	3624	0	0	0	0	0	0
4277	-0.62	-146.0	441.6	-10.1	453	4281	0.00	2.20	0.00	0.000	6	0.000	0.051	2660	2498	3625	0	0	0	0	0	0
4369	end dive: BOTTOM_OBSTACLE_DETECTED
state	4369	begin apogee
4376	-0.12	0.0	450.0	9.6	461	4500	0.52	0.00	118.85	1.154	6	0.188	0.000	2812	2258	3030	0	0	0	0	0	0
4501	end apogee: CONTROL_FINISHED_OK
state	4501	begin climb
4504	0.62	146.0	453.7	0.0	472	4637	0.77	2.47	123.75	1.108	4	0.132	0.060	3063	890	2433	0	0	0	0	0	0
4665	0.55	146.0	440.8	12.0	486	4672	0.00	2.38	0.00	0.000	6	0.000	0.045	3063	2281	2430	0	0	0	0	0	0
4992	0.48	146.0	399.8	12.0	517	4996	0.15	2.30	0.00	0.000	4	0.181	0.063	3023	3693	2427	0	0	0	0	0	0
5043	0.44	146.0	393.8	11.5	521	5047	0.00	2.22	0.00	0.000	6	0.000	0.044	3032	2288	2427	0	0	0	0	0	0
5369	0.42	149.2	361.1	9.9	551	5373	0.12	2.28	0.00	0.000	4	0.186	0.059	3002	3698	2427	0	0	0	0	0	0
5418	0.43	156.3	356.3	9.7	555	5436	0.00	2.20	9.20	0.923	6	0.000	0.043	3009	2272	2391	0	0	0	0	0	0
5755	0.49	173.1	326.4	9.2	587	5778	0.00	2.28	15.62	0.989	4	0.000	0.060	3009	3688	2324	0	0	0	0	0	0
5794	0.52	173.1	322.3	10.0	590	5801	0.00	2.22	0.00	0.000	6	0.000	0.043	3019	2267	2324	0	0	0	0	0	0
6120	0.55	173.1	288.0	10.9	621	6124	0.00	2.28	0.00	0.000	4	0.000	0.060	3019	3698	2321	0	0	0	0	0	0
6135	0.57	173.1	286.1	10.7	622	6142	0.00	2.20	0.00	0.000	6	0.000	0.042	3029	2272	2321	0	0	0	0	0	0
6462	0.57	173.1	251.9	10.2	653	6466	0.00	2.25	0.00	0.000	4	0.000	0.059	3029	3693	2321	0	0	0	0	0	0
6490	0.57	173.1	248.7	11.0	655	6494	0.00	2.20	0.00	0.000	6	0.000	0.042	3040	2274	2321	0	0	0	0	0	0
6820	0.57	173.1	214.2	10.5	686	6824	0.00	2.20	0.00	0.000	4	0.000	0.057	3048	862	2321	0	0	0	0	0	0
6848	0.57	173.1	211.3	10.3	688	6852	0.00	2.20	0.00	0.000	6	0.000	0.046	3049	2290	2320	0	0	0	0	0	0
7173	0.57	173.1	177.7	10.5	718	7177	0.00	2.17	0.00	0.000	4	0.000	0.060	3048	3681	2321	0	0	0	0	0	0
7314	0.51	173.1	160.2	12.9	730	7321	0.00	2.17	0.00	0.000	6	0.000	0.044	3058	2265	2321	0	0	0	0	0	0
7639	0.51	173.1	123.3	11.8	761	7643	0.00	2.22	0.00	0.000	4	0.000	0.057	3058	3683	2320	0	0	0	0	0	0
7649	0.49	173.1	121.9	11.8	761	7656	0.17	2.17	0.00	0.000	6	0.177	0.042	3022	2273	2320	0	0	0	0	0	0
7982	0.55	173.1	85.9	10.1	803	7989	0.00	2.17	0.00	0.000	4	0.000	0.058	3028	871	2321	0	0	0	0	0	0
8020	0.66	195.5	82.4	9.0	809	8045	0.15	2.17	20.23	0.889	6	0.097	0.047	3093	2279	2232	0	0	0	0	0	0
8384	0.63	195.5	39.6	11.7	873	8390	0.00	2.22	0.00	0.000	4	0.000	0.060	3093	3682	2229	0	0	0	0	0	0
8460	0.54	195.5	30.3	12.6	886	8467	0.22	2.20	0.00	0.000	6	0.181	0.045	3043	2264	2230	0	0	0	0	0	0
8731	end climb: FINISH_DEPTH_REACHED
state	8731	begin subsurface finish
8737	0.04	30.8	9.0	-7.5	934	8762	0.52	0.00	-19.85	0.000	6	0.155	0.000	2880	2263	2906	0	0	0	0	0	0
8763	end subsurface finish: CONTROL_FINISHED_OK
state	8763	begin surface