Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 179 * 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 179 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 41 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 9 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 -2 T_GPS_CHARGE -29056.855 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 9 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 -29056.855

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 -2

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 41 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 179 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 190311,042913,6654.431,-6012.990,0,5105.2,0,-38.2 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190311,042913,6654.431,-6012.990,0,5105.2,0,-38.2 MHEAD_RNG_PITCHd_Wd 244.4,21536,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 634

Post-dive calculations and measurements:

FREEZE 8.85,-1.756,-1.773,3,54,0 ALTIM_BOTTOM_PING 550.5,54.0

FINISH1 8.9,1.025962,75 _24V_AH 22.7,26.005

FINISH2 7.8 _10V_AH 10.2,14.455

RAFOS_CLK 627 FG_AHR_24Vo 0.000

RAFOS 0,1300521662,8.033334,8.017222,129,61,60,58,56,55,637,210,191,222,136,167 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.719727,-6015.398438,190311,080807,7,113,0.37 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43365,1171

TT8_MAMPS 0.026215 CAP_FILE_SIZE 119989,0

HUMID 47.04 CFSIZE 260165632,239935488

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1452.7

XPDR_PINGS 0 GPS 190311,082707,6651.720,-6015.398,0,7112.6,0,-38.2

ALTIM_TOP_PING 19.5,15.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 232 20.59 SBE_CT 837 24 456.30

Roll_motor 77 173 306.00 SBE_O2 895 19 386.25

VBD_pump_during_apogee 369 1290 10837.91 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 2 420 19.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2796 19 568.29

LPSleep 6263 2 147.58

TT8_Active 435 19 88.49

TT8_Sampling 1789 39 728.57

TT8_CF8 158 45 74.37

TT8_Kalman 0 0 0.00

Analog_circuits 1370 12 167.72

GPS_charging 0 0 0.00

Compass 1780 15 272.40

RAFOS 2520 1 38.56

Transponder 17 30 5.32

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

15 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.30 0.000 2 0.000 0.000 2883 3683 2947 0 0 0 0 0 0

27 -0.62 -146.0 9.3 -0.0 1 52 0.60 0.38 -19.88 0.000 4 0.085 0.174 2662 3907 3628 0 0 0 0 0 0

145 -0.50 -146.0 29.0 -19.3 21 153 0.15 2.20 0.00 0.000 6 0.218 0.044 2696 2498 3630 0 0 0 0 0 0

491 -0.41 -146.0 92.7 -15.3 82 499 0.12 2.25 0.00 0.000 4 0.233 0.060 2726 1073 3630 0 0 0 0 0 0

534 -0.44 -146.0 98.3 -11.2 89 541 0.00 2.25 0.00 0.000 6 0.000 0.054 2726 2490 3629 0 0 0 0 0 0

861 -0.44 -146.0 136.2 -11.4 121 865 0.00 2.30 0.00 0.000 4 0.000 0.073 2726 3906 3629 0 0 0 0 0 0

901 -0.48 -146.0 140.6 -10.5 124 905 0.00 2.22 0.00 0.000 6 0.000 0.044 2725 2476 3629 0 0 0 0 0 0

1226 -0.52 -146.0 174.6 -10.2 154 1230 0.00 2.17 0.00 0.000 4 0.000 0.063 2726 1086 3628 0 0 0 0 0 0

1254 -0.56 -146.0 177.6 -10.4 156 1261 0.15 2.22 0.00 0.000 6 0.126 0.056 2677 2500 3629 0 0 0 0 0 0

1581 -0.48 -146.0 221.3 -13.2 187 1585 0.12 2.30 0.00 0.000 4 0.232 0.076 2704 3899 3628 0 0 0 0 0 0

1613 -0.48 -146.0 225.7 -11.8 189 1620 0.00 2.20 0.00 0.000 6 0.000 0.046 2704 2487 3628 0 0 0 0 0 0

1938 -0.48 -146.0 258.9 -10.1 220 1939 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2486 3628 0 0 0 0 0 0

2258 -0.48 -146.0 290.7 -9.8 250 2262 0.00 2.20 0.00 0.000 4 0.000 0.064 2704 1087 3627 0 0 0 0 0 0

2280 -0.48 -146.0 293.2 -9.9 251 2287 0.00 2.25 0.00 0.000 6 0.000 0.057 2704 2498 3627 0 0 0 0 0 0

2607 -0.51 -146.0 321.7 -8.4 282 2608 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2498 3627 0 0 0 0 0 0

2925 -0.53 -146.0 349.3 -8.4 312 2930 0.00 2.25 0.00 0.000 4 0.000 0.074 2704 3899 3627 0 0 0 0 0 0

2942 -0.56 -146.0 351.0 -8.9 313 2948 0.00 2.20 0.00 0.000 6 0.000 0.045 2704 2486 3627 0 0 0 0 0 0

3267 -0.60 -146.0 379.4 -8.6 344 3271 0.00 2.22 0.00 0.000 4 0.000 0.063 2705 1080 3627 0 0 0 0 0 0

3289 -0.63 -146.0 381.5 -9.0 345 3296 0.15 2.22 0.00 0.000 6 0.123 0.057 2654 2492 3627 0 0 0 0 0 0

3614 -0.54 -146.0 422.2 -12.1 376 3616 0.12 0.00 0.00 0.000 6 0.213 0.000 2682 2492 3627 0 0 0 0 0 0

3933 -0.54 -146.0 453.3 -9.7 406 3934 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2492 3627 0 0 0 0 0 0

4252 -0.54 -146.0 483.4 -9.3 436 4253 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2492 3628 0 0 0 0 0 0

4571 -0.54 -146.0 513.2 -9.6 466 4575 0.00 2.25 0.00 0.000 4 0.000 0.073 2682 3899 3628 0 0 0 0 0 0

4600 -0.54 -146.0 516.2 -10.1 468 4604 0.00 2.20 0.00 0.000 6 0.000 0.045 2682 2481 3628 0 0 0 0 0 0

4925 -0.54 -146.0 546.8 -8.4 498 4926 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2481 3628 0 0 0 0 0 0

5244 -0.54 -146.0 576.1 -9.6 528 5248 0.00 2.33 0.00 0.000 4 0.000 0.073 2682 3906 3628 0 0 0 0 0 0

5284 -0.57 -146.0 579.6 -8.5 531 5288 0.00 2.20 0.00 0.000 6 0.000 0.044 2682 2484 3628 0 0 0 0 0 0

5395 end dive: BOTTOM_OBSTACLE_DETECTED

state 5395 begin apogee

5400 -0.12 0.0 590.0 9.3 541 5532 0.45 0.00 121.97 1.291 6 0.195 0.000 2814 2256 3029 0 0 0 0 0 0

5533 end apogee: CONTROL_FINISHED_OK

state 5533 begin climb

5535 0.62 146.0 594.7 0.0 553 5669 0.77 0.00 126.68 1.246 6 0.138 0.000 3049 2256 2434 0 0 0 0 0 0

5986 0.54 146.0 550.6 11.2 596 5987 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2256 2425 0 0 0 0 0 0

6305 0.48 146.0 516.5 10.7 626 6309 0.00 2.38 0.00 0.000 4 0.000 0.065 3049 3693 2424 0 0 0 0 0 0

6378 0.37 146.0 507.2 13.1 632 6383 0.28 2.25 0.00 0.000 6 0.195 0.050 2990 2286 2423 0 0 0 0 0 0

6703 0.50 206.2 482.6 7.2 662 6763 0.10 0.00 52.55 1.188 6 0.119 0.000 3032 2286 2188 0 0 0 0 0 0

7081 0.50 206.2 442.0 11.1 698 7082 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2286 2179 0 0 0 0 0 0

7401 0.50 206.2 408.6 10.6 728 7402 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2286 2178 0 0 0 0 0 0

7719 0.50 206.2 374.7 10.3 758 7721 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2286 2177 0 0 0 0 0 0

8037 0.50 206.2 341.5 10.5 788 8038 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2286 2176 0 0 0 0 0 0

8357 0.52 206.2 308.1 10.6 818 8361 0.00 2.28 0.00 0.000 4 0.000 0.063 3033 3693 2176 0 0 0 0 0 0

8385 0.52 206.2 304.8 11.6 820 8389 0.00 2.25 0.00 0.000 6 0.000 0.048 3043 2269 2176 0 0 0 0 0 0

8710 0.52 206.2 270.2 11.1 850 8711 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2269 2176 0 0 0 0 0 0

9029 0.52 211.2 237.3 9.8 880 9030 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2269 2176 0 0 0 0 0 0

9349 0.56 220.9 206.8 9.6 910 9371 0.00 2.38 12.20 0.983 4 0.000 0.063 3042 3695 2128 0 0 0 0 0 0

9410 0.56 220.9 200.0 11.2 915 9417 0.00 2.28 0.00 0.000 6 0.000 0.048 3053 2274 2127 0 0 0 0 0 0

9738 0.60 227.9 167.7 9.7 946 9751 0.00 2.33 7.53 0.902 4 0.000 0.063 3061 862 2100 0 0 0 0 0 0

9786 0.65 227.9 162.7 10.1 950 9790 0.00 2.25 0.00 0.000 6 0.000 0.050 3061 2282 2098 0 0 0 0 0 0

10113 0.69 237.4 131.1 9.6 980 10128 0.00 2.30 9.93 0.943 4 0.000 0.066 3061 3681 2062 0 0 0 0 0 0

10161 0.69 237.4 125.7 11.6 984 10168 0.00 2.25 0.00 0.000 6 0.000 0.049 3071 2280 2061 0 0 0 0 0 0

10489 0.75 270.6 95.6 8.5 1019 10526 0.10 2.40 31.35 0.992 4 0.119 0.063 3114 3694 1926 0 0 0 0 0 0

10601 0.71 270.6 82.3 12.8 1038 10607 0.00 2.30 0.00 0.000 6 0.000 0.050 3124 2270 1922 0 0 0 0 0 0

10946 0.69 270.6 44.0 11.0 1099 10953 0.15 2.25 0.00 0.000 4 0.194 0.062 3095 867 1919 0 0 0 0 0 0

10977 0.74 278.8 40.8 9.6 1104 10990 0.00 2.25 7.75 0.859 6 0.000 0.049 3095 2280 1893 0 0 0 0 0 0

11321 end climb: FINISH_DEPTH_REACHED

state 11322 begin subsurface finish

11327 0.09 75.4 8.9 -8.6 1165 11364 0.62 2.35 -29.85 0.000 4 0.150 0.080 2901 3694 2724 0 0 0 0 0 0

11365 end subsurface finish: CONTROL_FINISHED_OK

state 11365 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	179	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	41	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	9	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	-2	T_GPS_CHARGE	-29056.855	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	190311,042913,6654.431,-6012.990,0,5105.2,0,-38.2	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190311,042913,6654.431,-6012.990,0,5105.2,0,-38.2	MHEAD_RNG_PITCHd_Wd	244.4,21536,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	634

FREEZE	8.85,-1.756,-1.773,3,54,0	ALTIM_BOTTOM_PING	550.5,54.0
FINISH1	8.9,1.025962,75	_24V_AH	22.7,26.005
FINISH2	7.8	_10V_AH	10.2,14.455
RAFOS_CLK	627	FG_AHR_24Vo	0.000
RAFOS	0,1300521662,8.033334,8.017222,129,61,60,58,56,55,637,210,191,222,136,167	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.719727,-6015.398438,190311,080807,7,113,0.37	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43365,1171
TT8_MAMPS	0.026215	CAP_FILE_SIZE	119989,0
HUMID	47.04	CFSIZE	260165632,239935488
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.7
XPDR_PINGS	0	GPS	190311,082707,6651.720,-6015.398,0,7112.6,0,-38.2
ALTIM_TOP_PING	19.5,15.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	232	20.59	SBE_CT	837	24	456.30
Roll_motor	77	173	306.00	SBE_O2	895	19	386.25
VBD_pump_during_apogee	369	1290	10837.91	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	2	420	19.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2796	19	568.29
LPSleep	6263	2	147.58
TT8_Active	435	19	88.49
TT8_Sampling	1789	39	728.57
TT8_CF8	158	45	74.37
TT8_Kalman	0	0	0.00
Analog_circuits	1370	12	167.72
GPS_charging	0	0	0.00
Compass	1780	15	272.40
RAFOS	2520	1	38.56
Transponder	17	30	5.32

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
15	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-7.30	0.000	2	0.000	0.000	2883	3683	2947	0	0	0	0	0	0
27	-0.62	-146.0	9.3	-0.0	1	52	0.60	0.38	-19.88	0.000	4	0.085	0.174	2662	3907	3628	0	0	0	0	0	0
145	-0.50	-146.0	29.0	-19.3	21	153	0.15	2.20	0.00	0.000	6	0.218	0.044	2696	2498	3630	0	0	0	0	0	0
491	-0.41	-146.0	92.7	-15.3	82	499	0.12	2.25	0.00	0.000	4	0.233	0.060	2726	1073	3630	0	0	0	0	0	0
534	-0.44	-146.0	98.3	-11.2	89	541	0.00	2.25	0.00	0.000	6	0.000	0.054	2726	2490	3629	0	0	0	0	0	0
861	-0.44	-146.0	136.2	-11.4	121	865	0.00	2.30	0.00	0.000	4	0.000	0.073	2726	3906	3629	0	0	0	0	0	0
901	-0.48	-146.0	140.6	-10.5	124	905	0.00	2.22	0.00	0.000	6	0.000	0.044	2725	2476	3629	0	0	0	0	0	0
1226	-0.52	-146.0	174.6	-10.2	154	1230	0.00	2.17	0.00	0.000	4	0.000	0.063	2726	1086	3628	0	0	0	0	0	0
1254	-0.56	-146.0	177.6	-10.4	156	1261	0.15	2.22	0.00	0.000	6	0.126	0.056	2677	2500	3629	0	0	0	0	0	0
1581	-0.48	-146.0	221.3	-13.2	187	1585	0.12	2.30	0.00	0.000	4	0.232	0.076	2704	3899	3628	0	0	0	0	0	0
1613	-0.48	-146.0	225.7	-11.8	189	1620	0.00	2.20	0.00	0.000	6	0.000	0.046	2704	2487	3628	0	0	0	0	0	0
1938	-0.48	-146.0	258.9	-10.1	220	1939	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2486	3628	0	0	0	0	0	0
2258	-0.48	-146.0	290.7	-9.8	250	2262	0.00	2.20	0.00	0.000	4	0.000	0.064	2704	1087	3627	0	0	0	0	0	0
2280	-0.48	-146.0	293.2	-9.9	251	2287	0.00	2.25	0.00	0.000	6	0.000	0.057	2704	2498	3627	0	0	0	0	0	0
2607	-0.51	-146.0	321.7	-8.4	282	2608	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2498	3627	0	0	0	0	0	0
2925	-0.53	-146.0	349.3	-8.4	312	2930	0.00	2.25	0.00	0.000	4	0.000	0.074	2704	3899	3627	0	0	0	0	0	0
2942	-0.56	-146.0	351.0	-8.9	313	2948	0.00	2.20	0.00	0.000	6	0.000	0.045	2704	2486	3627	0	0	0	0	0	0
3267	-0.60	-146.0	379.4	-8.6	344	3271	0.00	2.22	0.00	0.000	4	0.000	0.063	2705	1080	3627	0	0	0	0	0	0
3289	-0.63	-146.0	381.5	-9.0	345	3296	0.15	2.22	0.00	0.000	6	0.123	0.057	2654	2492	3627	0	0	0	0	0	0
3614	-0.54	-146.0	422.2	-12.1	376	3616	0.12	0.00	0.00	0.000	6	0.213	0.000	2682	2492	3627	0	0	0	0	0	0
3933	-0.54	-146.0	453.3	-9.7	406	3934	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2492	3627	0	0	0	0	0	0
4252	-0.54	-146.0	483.4	-9.3	436	4253	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2492	3628	0	0	0	0	0	0
4571	-0.54	-146.0	513.2	-9.6	466	4575	0.00	2.25	0.00	0.000	4	0.000	0.073	2682	3899	3628	0	0	0	0	0	0
4600	-0.54	-146.0	516.2	-10.1	468	4604	0.00	2.20	0.00	0.000	6	0.000	0.045	2682	2481	3628	0	0	0	0	0	0
4925	-0.54	-146.0	546.8	-8.4	498	4926	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2481	3628	0	0	0	0	0	0
5244	-0.54	-146.0	576.1	-9.6	528	5248	0.00	2.33	0.00	0.000	4	0.000	0.073	2682	3906	3628	0	0	0	0	0	0
5284	-0.57	-146.0	579.6	-8.5	531	5288	0.00	2.20	0.00	0.000	6	0.000	0.044	2682	2484	3628	0	0	0	0	0	0
5395	end dive: BOTTOM_OBSTACLE_DETECTED
state	5395	begin apogee
5400	-0.12	0.0	590.0	9.3	541	5532	0.45	0.00	121.97	1.291	6	0.195	0.000	2814	2256	3029	0	0	0	0	0	0
5533	end apogee: CONTROL_FINISHED_OK
state	5533	begin climb
5535	0.62	146.0	594.7	0.0	553	5669	0.77	0.00	126.68	1.246	6	0.138	0.000	3049	2256	2434	0	0	0	0	0	0
5986	0.54	146.0	550.6	11.2	596	5987	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2256	2425	0	0	0	0	0	0
6305	0.48	146.0	516.5	10.7	626	6309	0.00	2.38	0.00	0.000	4	0.000	0.065	3049	3693	2424	0	0	0	0	0	0
6378	0.37	146.0	507.2	13.1	632	6383	0.28	2.25	0.00	0.000	6	0.195	0.050	2990	2286	2423	0	0	0	0	0	0
6703	0.50	206.2	482.6	7.2	662	6763	0.10	0.00	52.55	1.188	6	0.119	0.000	3032	2286	2188	0	0	0	0	0	0
7081	0.50	206.2	442.0	11.1	698	7082	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2286	2179	0	0	0	0	0	0
7401	0.50	206.2	408.6	10.6	728	7402	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2286	2178	0	0	0	0	0	0
7719	0.50	206.2	374.7	10.3	758	7721	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2286	2177	0	0	0	0	0	0
8037	0.50	206.2	341.5	10.5	788	8038	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2286	2176	0	0	0	0	0	0
8357	0.52	206.2	308.1	10.6	818	8361	0.00	2.28	0.00	0.000	4	0.000	0.063	3033	3693	2176	0	0	0	0	0	0
8385	0.52	206.2	304.8	11.6	820	8389	0.00	2.25	0.00	0.000	6	0.000	0.048	3043	2269	2176	0	0	0	0	0	0
8710	0.52	206.2	270.2	11.1	850	8711	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2269	2176	0	0	0	0	0	0
9029	0.52	211.2	237.3	9.8	880	9030	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2269	2176	0	0	0	0	0	0
9349	0.56	220.9	206.8	9.6	910	9371	0.00	2.38	12.20	0.983	4	0.000	0.063	3042	3695	2128	0	0	0	0	0	0
9410	0.56	220.9	200.0	11.2	915	9417	0.00	2.28	0.00	0.000	6	0.000	0.048	3053	2274	2127	0	0	0	0	0	0
9738	0.60	227.9	167.7	9.7	946	9751	0.00	2.33	7.53	0.902	4	0.000	0.063	3061	862	2100	0	0	0	0	0	0
9786	0.65	227.9	162.7	10.1	950	9790	0.00	2.25	0.00	0.000	6	0.000	0.050	3061	2282	2098	0	0	0	0	0	0
10113	0.69	237.4	131.1	9.6	980	10128	0.00	2.30	9.93	0.943	4	0.000	0.066	3061	3681	2062	0	0	0	0	0	0
10161	0.69	237.4	125.7	11.6	984	10168	0.00	2.25	0.00	0.000	6	0.000	0.049	3071	2280	2061	0	0	0	0	0	0
10489	0.75	270.6	95.6	8.5	1019	10526	0.10	2.40	31.35	0.992	4	0.119	0.063	3114	3694	1926	0	0	0	0	0	0
10601	0.71	270.6	82.3	12.8	1038	10607	0.00	2.30	0.00	0.000	6	0.000	0.050	3124	2270	1922	0	0	0	0	0	0
10946	0.69	270.6	44.0	11.0	1099	10953	0.15	2.25	0.00	0.000	4	0.194	0.062	3095	867	1919	0	0	0	0	0	0
10977	0.74	278.8	40.8	9.6	1104	10990	0.00	2.25	7.75	0.859	6	0.000	0.049	3095	2280	1893	0	0	0	0	0	0
11321	end climb: FINISH_DEPTH_REACHED
state	11322	begin subsurface finish
11327	0.09	75.4	8.9	-8.6	1165	11364	0.62	2.35	-29.85	0.000	4	0.150	0.080	2901	3694	2724	0	0	0	0	0	0
11365	end subsurface finish: CONTROL_FINISHED_OK
state	11365	begin surface