Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 490 * 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 490 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 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 -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 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 490 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 250411,004240,6705.022,-5651.364,0,3152.3,0,-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 7.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250411,004240,6705.022,-5651.364,0,3152.3,0,-37.6 MHEAD_RNG_PITCHd_Wd 184.6,4464,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 491

Post-dive calculations and measurements:

FREEZE 1.49,-1.733,-1.763,2,25,1 ALTIM_TOP_PING 19.6,999.0

FINISH 1.5,1.025900 _24V_AH 22.4,64.182

SM_CCo 9192,58.05,0.063,0,0,1398,400.08 _10V_AH 10.1,32.878

SM_GC 2.79,0.00,0.00,58.05,0.000,0.000,0.063,105,2505,1398,-8.63,0.40,400.08 FG_AHR_24Vo 0.000

RAFOS_CLK 478 FG_AHR_10Vo 0.000

RAFOS 0,1303704067,4.033333,4.018611,60,57,55,55,55,54,213,135,166,199,115,1611 MEM 150616

RAFOS_FIX 6705.187988,-5649.357910,250411,040444,3,117,0.10 DATA_FILE_SIZE 36745,969

IRIDIUM_FIX 6641.98,-5653.92,220411,151557 CAP_FILE_SIZE 110194,0

TT8_MAMPS 0.026215 CFSIZE 260165632,222216192

HUMID 44.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.59408 SOUNDSPEED 1466.8

TCM_TEMP 16.90 GPS 250411,044344,6705.188,-5649.358,0,3117.3,0,-37.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 217 61.44 SBE_CT 685 24 368.33

Roll_motor 86 70 136.92 SBE_O2 723 19 307.95

VBD_pump_during_apogee 347 1178 9163.74 nil 0 0 0.00

VBD_pump_during_surface 58 63 82.56 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 2371 19 477.08

LPSleep 4791 2 111.80

TT8_Active 434 19 87.40

TT8_Sampling 1557 39 627.84

TT8_CF8 167 45 77.81

TT8_Kalman 0 0 0.00

Analog_circuits 1268 12 153.70

GPS_charging 0 0 0.00

Compass 1546 15 234.28

RAFOS 2520 1 38.18

Transponder 11 30 3.38

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 -6.30 0.000 2 0.000 0.000 2884 3685 3128 0 0 0 0 0 0

27 -0.62 -146.0 8.5 -0.0 1 53 0.62 4.15 -13.93 0.000 4 0.107 0.051 2667 1088 3629 0 0 0 0 0 0

161 -0.58 -146.0 24.9 -14.5 24 168 0.00 2.20 0.00 0.000 6 0.000 0.053 2667 2491 3629 0 0 0 0 0 0

507 -0.49 -146.0 77.4 -16.1 85 514 0.15 2.30 0.00 0.000 4 0.217 0.069 2702 3898 3628 0 0 0 0 0 0

567 -0.54 -146.0 85.3 -11.7 95 574 0.00 2.17 0.00 0.000 6 0.000 0.041 2702 2483 3628 0 0 0 0 0 0

902 -0.58 -146.0 121.4 -9.7 137 906 0.00 2.17 0.00 0.000 4 0.000 0.058 2703 1085 3627 0 0 0 0 0 0

935 -0.62 -146.0 124.9 -9.4 139 942 0.12 2.20 0.00 0.000 6 0.129 0.054 2662 2495 3627 0 0 0 0 0 0

1262 -0.56 -146.0 165.3 -12.6 170 1266 0.00 2.22 0.00 0.000 4 0.000 0.057 2662 1089 3625 0 0 0 0 0 0

1279 -0.51 -146.0 167.8 -13.1 171 1284 0.15 2.20 0.00 0.000 6 0.210 0.055 2696 2490 3625 0 0 0 0 0 0

1605 -0.56 -146.0 199.4 -9.2 201 1609 0.00 2.30 0.00 0.000 4 0.000 0.070 2696 3898 3623 0 0 0 0 0 0

1639 -0.63 -146.0 202.8 -9.4 203 1646 0.12 2.17 0.00 0.000 6 0.124 0.042 2655 2489 3623 0 0 0 0 0 0

1964 -0.58 -146.0 239.8 -11.2 234 1968 0.00 2.28 0.00 0.000 4 0.000 0.067 2655 3905 3622 0 0 0 0 0 0

1975 -0.53 -146.0 241.2 -11.1 234 1982 0.15 2.17 0.00 0.000 6 0.196 0.041 2690 2486 3622 0 0 0 0 0 0

2301 -0.57 -146.0 266.1 -7.5 265 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2485 3623 0 0 0 0 0 0

2622 -0.62 -146.0 290.7 -8.0 295 2628 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2485 3623 0 0 0 0 0 0

2950 -0.68 -146.0 319.1 -8.9 326 2951 0.15 0.00 0.00 0.000 6 0.116 0.000 2637 2486 3624 0 0 0 0 0 0

3267 -0.60 -146.0 359.3 -12.3 356 3269 0.12 0.00 0.00 0.000 6 0.210 0.000 2665 2485 3624 0 0 0 0 0 0

3585 -0.60 -146.0 389.1 -8.8 386 3589 0.00 2.17 0.00 0.000 4 0.000 0.053 2665 1085 3625 0 0 0 0 0 0

3597 -0.60 -146.0 390.3 -9.2 387 3601 0.00 2.22 0.00 0.000 6 0.000 0.051 2666 2501 3624 0 0 0 0 0 0

3923 -0.60 -146.0 418.3 -8.3 417 3927 0.00 2.28 0.00 0.000 4 0.000 0.066 2665 3905 3625 0 0 0 0 0 0

3964 -0.62 -146.0 421.7 -8.4 420 3968 0.00 2.15 0.00 0.000 6 0.000 0.038 2666 2484 3625 0 0 0 0 0 0

4289 -0.62 -146.0 449.8 -9.0 450 4291 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2483 3626 0 0 0 0 0 0

4611 -0.62 -146.0 481.2 -9.9 480 4615 0.00 2.15 0.00 0.000 4 0.000 0.050 2665 1084 3626 0 0 0 0 0 0

4635 -0.62 -146.0 483.9 -10.0 482 4639 0.00 2.20 0.00 0.000 6 0.000 0.050 2666 2498 3626 0 0 0 0 0 0

4713 end dive: TARGET_DEPTH_EXCEEDED

state 4713 begin apogee

4719 -0.12 0.0 491.7 9.6 489 4845 0.50 0.00 119.95 1.179 6 0.180 0.000 2813 2250 3030 0 0 0 0 0 0

4846 end apogee: CONTROL_FINISHED_OK

state 4846 begin climb

4848 0.62 146.0 495.5 0.0 500 4982 0.77 2.45 124.60 1.139 4 0.129 0.058 3064 895 2433 0 0 0 0 0 0

5044 0.56 146.0 479.2 11.9 517 5051 0.00 2.30 0.00 0.000 6 0.000 0.044 3063 2275 2429 0 0 0 0 0 0

5369 0.47 146.0 439.2 12.6 548 5374 0.17 2.28 0.00 0.000 4 0.181 0.060 3017 3683 2428 0 0 0 0 0 0

5460 0.44 146.0 428.8 11.4 556 5464 0.00 2.20 0.00 0.000 6 0.000 0.043 3025 2284 2427 0 0 0 0 0 0

5785 0.45 155.7 396.8 9.6 586 5796 0.00 0.00 8.45 0.924 6 0.000 0.000 3025 2283 2395 0 0 0 0 0 0

6115 0.45 155.7 363.4 10.5 617 6119 0.00 2.25 0.00 0.000 4 0.000 0.057 3025 3693 2395 0 0 0 0 0 0

6178 0.41 155.7 356.0 12.0 622 6183 0.15 2.17 0.00 0.000 6 0.185 0.042 2998 2276 2394 0 0 0 0 0 0

6504 0.51 190.5 326.9 8.4 652 6540 0.00 2.25 30.90 1.040 4 0.000 0.058 3002 868 2252 0 0 0 0 0 0

6579 0.66 220.8 320.1 8.6 658 6613 0.20 2.20 27.55 1.021 6 0.082 0.042 3088 2282 2129 0 0 0 0 0 0

6933 0.57 220.8 263.2 16.2 691 6938 0.15 2.22 0.00 0.000 4 0.180 0.059 3049 3680 2123 0 0 0 0 0 0

7023 0.57 220.8 249.7 14.7 699 7028 0.00 2.20 0.00 0.000 6 0.000 0.042 3057 2268 2122 0 0 0 0 0 0

7349 0.55 220.8 207.4 12.6 729 7352 0.00 2.20 0.00 0.000 4 0.000 0.055 3068 859 2122 0 0 0 0 0 0

7406 0.55 220.8 200.0 12.9 734 7410 0.00 2.20 0.00 0.000 6 0.000 0.044 3068 2282 2120 0 0 0 0 0 0

7736 0.52 220.8 157.9 12.4 765 7741 0.12 2.20 0.00 0.000 4 0.177 0.058 3035 3687 2119 0 0 0 0 0 0

7813 0.52 220.8 149.3 10.3 771 7821 0.00 2.22 0.00 0.000 6 0.000 0.041 3043 2238 2119 0 0 0 0 0 0

8139 0.56 233.1 118.2 9.4 802 8155 0.00 2.15 10.38 0.850 4 0.000 0.058 3046 865 2079 0 0 0 0 0 0

8223 0.67 247.4 110.3 9.3 809 8244 0.10 2.17 14.27 0.879 6 0.119 0.042 3094 2277 2020 0 0 0 0 0 0

8579 0.67 247.4 65.0 12.4 865 8586 0.00 2.20 0.00 0.000 4 0.000 0.058 3094 3682 2018 0 0 0 0 0 0

8673 0.62 247.4 51.7 14.7 881 8681 0.15 2.20 0.00 0.000 6 0.189 0.043 3064 2266 2018 0 0 0 0 0 0

9020 0.69 256.5 17.5 9.6 942 9033 0.00 2.22 4.43 0.662 4 0.000 0.058 3071 879 1983 0 0 0 0 0 0

9090 0.80 269.4 10.9 9.4 954 9104 0.15 2.15 6.50 0.732 6 0.097 0.045 3134 2275 1931 0 0 0 0 0 0

9152 end climb: SURFACE_DEPTH_REACHED

state 9152 begin surface coast

9174 end surface coast: CONTROL_FINISHED_OK

state 9175 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	490	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	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	-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	250411,004240,6705.022,-5651.364,0,3152.3,0,-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	7.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250411,004240,6705.022,-5651.364,0,3152.3,0,-37.6	MHEAD_RNG_PITCHd_Wd	184.6,4464,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	491

FREEZE	1.49,-1.733,-1.763,2,25,1	ALTIM_TOP_PING	19.6,999.0
FINISH	1.5,1.025900	_24V_AH	22.4,64.182
SM_CCo	9192,58.05,0.063,0,0,1398,400.08	_10V_AH	10.1,32.878
SM_GC	2.79,0.00,0.00,58.05,0.000,0.000,0.063,105,2505,1398,-8.63,0.40,400.08	FG_AHR_24Vo	0.000
RAFOS_CLK	478	FG_AHR_10Vo	0.000
RAFOS	0,1303704067,4.033333,4.018611,60,57,55,55,55,54,213,135,166,199,115,1611	MEM	150616
RAFOS_FIX	6705.187988,-5649.357910,250411,040444,3,117,0.10	DATA_FILE_SIZE	36745,969
IRIDIUM_FIX	6641.98,-5653.92,220411,151557	CAP_FILE_SIZE	110194,0
TT8_MAMPS	0.026215	CFSIZE	260165632,222216192
HUMID	44.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.59408	SOUNDSPEED	1466.8
TCM_TEMP	16.90	GPS	250411,044344,6705.188,-5649.358,0,3117.3,0,-37.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	217	61.44	SBE_CT	685	24	368.33
Roll_motor	86	70	136.92	SBE_O2	723	19	307.95
VBD_pump_during_apogee	347	1178	9163.74	nil	0	0	0.00
VBD_pump_during_surface	58	63	82.56	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	2371	19	477.08
LPSleep	4791	2	111.80
TT8_Active	434	19	87.40
TT8_Sampling	1557	39	627.84
TT8_CF8	167	45	77.81
TT8_Kalman	0	0	0.00
Analog_circuits	1268	12	153.70
GPS_charging	0	0	0.00
Compass	1546	15	234.28
RAFOS	2520	1	38.18
Transponder	11	30	3.38

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	-6.30	0.000	2	0.000	0.000	2884	3685	3128	0	0	0	0	0	0
27	-0.62	-146.0	8.5	-0.0	1	53	0.62	4.15	-13.93	0.000	4	0.107	0.051	2667	1088	3629	0	0	0	0	0	0
161	-0.58	-146.0	24.9	-14.5	24	168	0.00	2.20	0.00	0.000	6	0.000	0.053	2667	2491	3629	0	0	0	0	0	0
507	-0.49	-146.0	77.4	-16.1	85	514	0.15	2.30	0.00	0.000	4	0.217	0.069	2702	3898	3628	0	0	0	0	0	0
567	-0.54	-146.0	85.3	-11.7	95	574	0.00	2.17	0.00	0.000	6	0.000	0.041	2702	2483	3628	0	0	0	0	0	0
902	-0.58	-146.0	121.4	-9.7	137	906	0.00	2.17	0.00	0.000	4	0.000	0.058	2703	1085	3627	0	0	0	0	0	0
935	-0.62	-146.0	124.9	-9.4	139	942	0.12	2.20	0.00	0.000	6	0.129	0.054	2662	2495	3627	0	0	0	0	0	0
1262	-0.56	-146.0	165.3	-12.6	170	1266	0.00	2.22	0.00	0.000	4	0.000	0.057	2662	1089	3625	0	0	0	0	0	0
1279	-0.51	-146.0	167.8	-13.1	171	1284	0.15	2.20	0.00	0.000	6	0.210	0.055	2696	2490	3625	0	0	0	0	0	0
1605	-0.56	-146.0	199.4	-9.2	201	1609	0.00	2.30	0.00	0.000	4	0.000	0.070	2696	3898	3623	0	0	0	0	0	0
1639	-0.63	-146.0	202.8	-9.4	203	1646	0.12	2.17	0.00	0.000	6	0.124	0.042	2655	2489	3623	0	0	0	0	0	0
1964	-0.58	-146.0	239.8	-11.2	234	1968	0.00	2.28	0.00	0.000	4	0.000	0.067	2655	3905	3622	0	0	0	0	0	0
1975	-0.53	-146.0	241.2	-11.1	234	1982	0.15	2.17	0.00	0.000	6	0.196	0.041	2690	2486	3622	0	0	0	0	0	0
2301	-0.57	-146.0	266.1	-7.5	265	2302	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2485	3623	0	0	0	0	0	0
2622	-0.62	-146.0	290.7	-8.0	295	2628	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2485	3623	0	0	0	0	0	0
2950	-0.68	-146.0	319.1	-8.9	326	2951	0.15	0.00	0.00	0.000	6	0.116	0.000	2637	2486	3624	0	0	0	0	0	0
3267	-0.60	-146.0	359.3	-12.3	356	3269	0.12	0.00	0.00	0.000	6	0.210	0.000	2665	2485	3624	0	0	0	0	0	0
3585	-0.60	-146.0	389.1	-8.8	386	3589	0.00	2.17	0.00	0.000	4	0.000	0.053	2665	1085	3625	0	0	0	0	0	0
3597	-0.60	-146.0	390.3	-9.2	387	3601	0.00	2.22	0.00	0.000	6	0.000	0.051	2666	2501	3624	0	0	0	0	0	0
3923	-0.60	-146.0	418.3	-8.3	417	3927	0.00	2.28	0.00	0.000	4	0.000	0.066	2665	3905	3625	0	0	0	0	0	0
3964	-0.62	-146.0	421.7	-8.4	420	3968	0.00	2.15	0.00	0.000	6	0.000	0.038	2666	2484	3625	0	0	0	0	0	0
4289	-0.62	-146.0	449.8	-9.0	450	4291	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2483	3626	0	0	0	0	0	0
4611	-0.62	-146.0	481.2	-9.9	480	4615	0.00	2.15	0.00	0.000	4	0.000	0.050	2665	1084	3626	0	0	0	0	0	0
4635	-0.62	-146.0	483.9	-10.0	482	4639	0.00	2.20	0.00	0.000	6	0.000	0.050	2666	2498	3626	0	0	0	0	0	0
4713	end dive: TARGET_DEPTH_EXCEEDED
state	4713	begin apogee
4719	-0.12	0.0	491.7	9.6	489	4845	0.50	0.00	119.95	1.179	6	0.180	0.000	2813	2250	3030	0	0	0	0	0	0
4846	end apogee: CONTROL_FINISHED_OK
state	4846	begin climb
4848	0.62	146.0	495.5	0.0	500	4982	0.77	2.45	124.60	1.139	4	0.129	0.058	3064	895	2433	0	0	0	0	0	0
5044	0.56	146.0	479.2	11.9	517	5051	0.00	2.30	0.00	0.000	6	0.000	0.044	3063	2275	2429	0	0	0	0	0	0
5369	0.47	146.0	439.2	12.6	548	5374	0.17	2.28	0.00	0.000	4	0.181	0.060	3017	3683	2428	0	0	0	0	0	0
5460	0.44	146.0	428.8	11.4	556	5464	0.00	2.20	0.00	0.000	6	0.000	0.043	3025	2284	2427	0	0	0	0	0	0
5785	0.45	155.7	396.8	9.6	586	5796	0.00	0.00	8.45	0.924	6	0.000	0.000	3025	2283	2395	0	0	0	0	0	0
6115	0.45	155.7	363.4	10.5	617	6119	0.00	2.25	0.00	0.000	4	0.000	0.057	3025	3693	2395	0	0	0	0	0	0
6178	0.41	155.7	356.0	12.0	622	6183	0.15	2.17	0.00	0.000	6	0.185	0.042	2998	2276	2394	0	0	0	0	0	0
6504	0.51	190.5	326.9	8.4	652	6540	0.00	2.25	30.90	1.040	4	0.000	0.058	3002	868	2252	0	0	0	0	0	0
6579	0.66	220.8	320.1	8.6	658	6613	0.20	2.20	27.55	1.021	6	0.082	0.042	3088	2282	2129	0	0	0	0	0	0
6933	0.57	220.8	263.2	16.2	691	6938	0.15	2.22	0.00	0.000	4	0.180	0.059	3049	3680	2123	0	0	0	0	0	0
7023	0.57	220.8	249.7	14.7	699	7028	0.00	2.20	0.00	0.000	6	0.000	0.042	3057	2268	2122	0	0	0	0	0	0
7349	0.55	220.8	207.4	12.6	729	7352	0.00	2.20	0.00	0.000	4	0.000	0.055	3068	859	2122	0	0	0	0	0	0
7406	0.55	220.8	200.0	12.9	734	7410	0.00	2.20	0.00	0.000	6	0.000	0.044	3068	2282	2120	0	0	0	0	0	0
7736	0.52	220.8	157.9	12.4	765	7741	0.12	2.20	0.00	0.000	4	0.177	0.058	3035	3687	2119	0	0	0	0	0	0
7813	0.52	220.8	149.3	10.3	771	7821	0.00	2.22	0.00	0.000	6	0.000	0.041	3043	2238	2119	0	0	0	0	0	0
8139	0.56	233.1	118.2	9.4	802	8155	0.00	2.15	10.38	0.850	4	0.000	0.058	3046	865	2079	0	0	0	0	0	0
8223	0.67	247.4	110.3	9.3	809	8244	0.10	2.17	14.27	0.879	6	0.119	0.042	3094	2277	2020	0	0	0	0	0	0
8579	0.67	247.4	65.0	12.4	865	8586	0.00	2.20	0.00	0.000	4	0.000	0.058	3094	3682	2018	0	0	0	0	0	0
8673	0.62	247.4	51.7	14.7	881	8681	0.15	2.20	0.00	0.000	6	0.189	0.043	3064	2266	2018	0	0	0	0	0	0
9020	0.69	256.5	17.5	9.6	942	9033	0.00	2.22	4.43	0.662	4	0.000	0.058	3071	879	1983	0	0	0	0	0	0
9090	0.80	269.4	10.9	9.4	954	9104	0.15	2.15	6.50	0.732	6	0.097	0.045	3134	2275	1931	0	0	0	0	0	0
9152	end climb: SURFACE_DEPTH_REACHED
state	9152	begin surface coast
9174	end surface coast: CONTROL_FINISHED_OK
state	9175	begin surface