Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 180 * 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 180 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 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 28 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 180 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 190311,082707,6651.720,-6015.398,0,7112.6,0,-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 10.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190311,082707,6651.720,-6015.398,0,7112.6,0,-38.2 MHEAD_RNG_PITCHd_Wd 246.7,16265,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 588

Post-dive calculations and measurements:

FREEZE 2.53,-1.754,-1.767,3,55,1 ALTIM_BOTTOM_PING 550.5,36.3

FINISH 2.5,1.025942 _24V_AH 22.7,26.134

RAFOS_CLK 602 _10V_AH 10.2,14.520

RAFOS 0,1300536066,12.033333,12.018333,94,59,58,57,55,52,620,196,167,157,205,232 FG_AHR_24Vo 0.000

RAFOS_FIX 6650.450684,-6021.099121,190311,121228,2,112,0.36 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 MEM 150560

TT8_MAMPS 0.026215 DATA_FILE_SIZE 43333,1109

HUMID 47.00 CAP_FILE_SIZE 120997,0

INTERNAL_PRESSURE 8.56478 CFSIZE 260165632,239869952

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1452.1

ALTIM_TOP_PING 20.0,18.1 GPS 190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 230 18.03 SBE_CT 794 24 432.75

Roll_motor 93 74 158.27 SBE_O2 842 19 363.46

VBD_pump_during_apogee 388 1287 11358.01 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 2698 19 548.39

LPSleep 5863 2 138.15

TT8_Active 435 19 88.47

TT8_Sampling 1752 39 713.69

TT8_CF8 152 45 71.60

TT8_Kalman 0 0 0.00

Analog_circuits 1372 12 168.05

GPS_charging 0 0 0.00

Compass 1739 15 266.15

RAFOS 1440 1 22.03

Transponder 15 30 4.89

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.45 0.000 2 0.000 0.000 2901 3694 2968 0 0 0 0 0 0

26 -0.62 -146.0 11.5 -0.0 1 52 0.65 4.18 -16.75 0.000 4 0.106 0.059 2671 1080 3628 0 0 0 0 0 0

221 -0.51 -146.0 44.8 -19.1 35 228 0.00 2.25 0.00 0.000 6 0.000 0.056 2671 2497 3629 0 0 0 0 0 0

563 -0.37 -146.0 112.3 -17.9 90 568 0.25 2.30 0.00 0.000 4 0.230 0.070 2737 3906 3629 0 0 0 0 0 0

652 -0.44 -146.0 122.6 -9.5 97 659 0.00 2.22 0.00 0.000 6 0.000 0.046 2737 2483 3628 0 0 0 0 0 0

979 -0.50 -146.0 152.4 -8.5 128 984 0.12 2.25 0.00 0.000 4 0.132 0.065 2695 1086 3628 0 0 0 0 0 0

1034 -0.50 -146.0 158.9 -11.9 132 1041 0.00 2.28 0.00 0.000 6 0.000 0.058 2694 2489 3628 0 0 0 0 0 0

1361 -0.47 -146.0 197.6 -11.8 163 1365 0.00 2.30 0.00 0.000 4 0.000 0.075 2694 3900 3628 0 0 0 0 0 0

1382 -0.45 -146.0 200.6 -12.4 164 1389 0.00 2.20 0.00 0.000 6 0.000 0.045 2694 2490 3628 0 0 0 0 0 0

1709 -0.42 -146.0 239.2 -11.7 195 1711 0.12 0.00 0.00 0.000 6 0.217 0.000 2722 2489 3628 0 0 0 0 0 0

2026 -0.50 -146.0 267.9 -8.0 225 2030 0.00 2.22 0.00 0.000 4 0.000 0.064 2722 1086 3626 0 0 0 0 0 0

2045 -0.56 -146.0 269.4 -9.0 226 2050 0.12 2.22 0.00 0.000 6 0.135 0.057 2681 2495 3627 0 0 0 0 0 0

2370 -0.53 -146.0 305.6 -11.4 256 2371 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2495 3626 0 0 0 0 0 0

2690 -0.51 -146.0 339.2 -10.3 286 2691 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2495 3626 0 0 0 0 0 0

3007 -0.51 -146.0 373.2 -10.7 316 3011 0.00 2.28 0.00 0.000 4 0.000 0.074 2681 3897 3627 0 0 0 0 0 0

3029 -0.48 -146.0 375.6 -10.2 317 3036 0.00 2.20 0.00 0.000 6 0.000 0.046 2680 2484 3626 0 0 0 0 0 0

3356 -0.48 -146.0 408.5 -9.7 348 3360 0.00 2.22 0.00 0.000 4 0.000 0.063 2681 1074 3627 0 0 0 0 0 0

3366 -0.48 -146.0 409.8 -9.8 348 3373 0.00 2.22 0.00 0.000 6 0.000 0.057 2681 2490 3627 0 0 0 0 0 0

3692 -0.48 -146.0 441.4 -9.8 379 3694 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2490 3627 0 0 0 0 0 0

4011 -0.48 -146.0 473.2 -10.1 409 4012 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2490 3627 0 0 0 0 0 0

4329 -0.48 -146.0 504.4 -9.9 439 4333 0.00 2.30 0.00 0.000 4 0.000 0.073 2681 3899 3627 0 0 0 0 0 0

4373 -0.48 -146.0 509.7 -12.0 442 4381 0.00 2.20 0.00 0.000 6 0.000 0.044 2681 2494 3627 0 0 0 0 0 0

4698 -0.48 -146.0 546.2 -10.9 473 4702 0.00 2.22 0.00 0.000 4 0.000 0.061 2680 1080 3628 0 0 0 0 0 0

4721 -0.48 -146.0 548.7 -11.0 474 4728 0.00 2.22 0.00 0.000 6 0.000 0.055 2681 2491 3628 0 0 0 0 0 0

4950 end dive: BOTTOM_OBSTACLE_DETECTED

state 4950 begin apogee

4955 -0.12 0.0 572.4 8.5 496 5087 0.45 0.00 121.22 1.287 6 0.192 0.000 2810 2263 3029 0 0 0 0 0 0

5088 end apogee: CONTROL_FINISHED_OK

state 5088 begin climb

5090 0.62 146.0 577.5 0.0 508 5221 0.80 0.00 125.88 1.238 6 0.145 0.000 3052 2263 2434 0 0 0 0 0 0

5537 0.54 146.0 531.3 12.0 550 5539 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2263 2425 0 0 0 0 0 0

5857 0.47 146.0 497.3 10.8 580 5864 0.12 0.00 0.00 0.000 6 0.205 0.000 3023 2263 2424 0 0 0 0 0 0

6182 0.50 166.9 466.6 9.0 611 6206 0.00 2.45 17.75 1.134 4 0.000 0.063 3023 3697 2349 0 0 0 0 0 0

6245 0.46 166.9 460.3 10.5 616 6252 0.00 2.30 0.00 0.000 6 0.000 0.049 3031 2282 2347 0 0 0 0 0 0

6572 0.47 175.8 428.0 9.6 647 6587 0.00 2.35 8.90 1.035 4 0.000 0.063 3041 867 2313 0 0 0 0 0 0

6616 0.47 177.9 423.3 9.9 651 6621 0.00 2.28 0.00 0.000 6 0.000 0.051 3041 2278 2311 0 0 0 0 0 0

6943 0.44 177.9 388.2 11.0 681 6948 0.12 2.28 0.00 0.000 4 0.188 0.064 3010 3687 2310 0 0 0 0 0 0

7009 0.44 177.9 380.7 11.1 686 7016 0.00 2.28 0.00 0.000 6 0.000 0.047 3019 2268 2310 0 0 0 0 0 0

7336 0.47 197.4 351.1 9.1 717 7358 0.00 0.00 20.15 1.112 6 0.000 0.000 3018 2268 2225 0 0 0 0 0 0

7675 0.53 220.4 320.1 8.9 749 7701 0.00 2.35 21.70 1.092 4 0.000 0.060 3018 3689 2130 0 0 0 0 0 0

7729 0.56 220.4 314.6 11.0 753 7736 0.00 2.28 0.00 0.000 6 0.000 0.047 3028 2277 2129 0 0 0 0 0 0

8056 0.61 233.0 283.7 9.4 784 8074 0.10 2.30 11.93 1.017 4 0.122 0.061 3081 859 2081 0 0 0 0 0 0

8113 0.59 233.0 276.4 13.0 788 8120 0.00 2.28 0.00 0.000 6 0.000 0.050 3082 2277 2078 0 0 0 0 0 0

8440 0.55 233.0 233.9 13.3 819 8444 0.15 2.28 0.00 0.000 4 0.178 0.063 3043 3687 2076 0 0 0 0 0 0

8502 0.55 233.0 226.4 11.6 824 8506 0.00 2.25 0.00 0.000 6 0.000 0.050 3050 2273 2076 0 0 0 0 0 0

8828 0.59 250.3 193.5 9.2 854 8852 0.00 2.28 16.62 1.011 4 0.000 0.064 3057 868 2008 0 0 0 0 0 0

8890 0.64 250.3 187.3 10.1 859 8897 0.00 2.25 0.00 0.000 6 0.000 0.048 3057 2283 2005 0 0 0 0 0 0

9216 0.69 253.1 156.4 9.9 890 9220 0.00 2.25 0.00 0.000 4 0.000 0.064 3057 3692 2004 0 0 0 0 0 0

9273 0.69 253.1 149.9 11.9 895 9277 0.00 2.25 0.00 0.000 6 0.000 0.049 3067 2274 2004 0 0 0 0 0 0

9598 0.73 258.0 117.0 9.8 925 9611 0.00 2.33 7.45 0.881 4 0.000 0.066 3075 868 1977 0 0 0 0 0 0

9646 0.80 272.1 112.3 9.3 929 9670 0.12 2.25 14.88 0.967 6 0.117 0.049 3124 2285 1920 0 0 0 0 0 0

10001 0.77 272.1 71.5 10.9 983 10008 0.00 2.25 0.00 0.000 4 0.000 0.063 3124 3684 1916 0 0 0 0 0 0

10065 0.70 272.1 63.4 12.8 994 10073 0.17 2.25 0.00 0.000 6 0.198 0.050 3091 2275 1915 0 0 0 0 0 0

10411 0.77 297.3 31.4 8.8 1055 10435 0.00 2.33 16.15 1.029 4 0.000 0.067 3097 861 1817 0 0 0 0 0 0

10471 0.86 308.5 25.9 9.5 1065 10484 0.12 2.28 6.00 0.861 6 0.118 0.049 3145 2283 1771 0 0 0 0 0 0

10675 end climb: SURFACE_DEPTH_REACHED

state 10675 begin surface coast

10714 end surface coast: CONTROL_FINISHED_OK

state 10714 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	180	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	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	190311,082707,6651.720,-6015.398,0,7112.6,0,-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	10.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190311,082707,6651.720,-6015.398,0,7112.6,0,-38.2	MHEAD_RNG_PITCHd_Wd	246.7,16265,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	588

FREEZE	2.53,-1.754,-1.767,3,55,1	ALTIM_BOTTOM_PING	550.5,36.3
FINISH	2.5,1.025942	_24V_AH	22.7,26.134
RAFOS_CLK	602	_10V_AH	10.2,14.520
RAFOS	0,1300536066,12.033333,12.018333,94,59,58,57,55,52,620,196,167,157,205,232	FG_AHR_24Vo	0.000
RAFOS_FIX	6650.450684,-6021.099121,190311,121228,2,112,0.36	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	MEM	150560
TT8_MAMPS	0.026215	DATA_FILE_SIZE	43333,1109
HUMID	47.00	CAP_FILE_SIZE	120997,0
INTERNAL_PRESSURE	8.56478	CFSIZE	260165632,239869952
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1452.1
ALTIM_TOP_PING	20.0,18.1	GPS	190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	230	18.03	SBE_CT	794	24	432.75
Roll_motor	93	74	158.27	SBE_O2	842	19	363.46
VBD_pump_during_apogee	388	1287	11358.01	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	2698	19	548.39
LPSleep	5863	2	138.15
TT8_Active	435	19	88.47
TT8_Sampling	1752	39	713.69
TT8_CF8	152	45	71.60
TT8_Kalman	0	0	0.00
Analog_circuits	1372	12	168.05
GPS_charging	0	0	0.00
Compass	1739	15	266.15
RAFOS	1440	1	22.03
Transponder	15	30	4.89

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.45	0.000	2	0.000	0.000	2901	3694	2968	0	0	0	0	0	0
26	-0.62	-146.0	11.5	-0.0	1	52	0.65	4.18	-16.75	0.000	4	0.106	0.059	2671	1080	3628	0	0	0	0	0	0
221	-0.51	-146.0	44.8	-19.1	35	228	0.00	2.25	0.00	0.000	6	0.000	0.056	2671	2497	3629	0	0	0	0	0	0
563	-0.37	-146.0	112.3	-17.9	90	568	0.25	2.30	0.00	0.000	4	0.230	0.070	2737	3906	3629	0	0	0	0	0	0
652	-0.44	-146.0	122.6	-9.5	97	659	0.00	2.22	0.00	0.000	6	0.000	0.046	2737	2483	3628	0	0	0	0	0	0
979	-0.50	-146.0	152.4	-8.5	128	984	0.12	2.25	0.00	0.000	4	0.132	0.065	2695	1086	3628	0	0	0	0	0	0
1034	-0.50	-146.0	158.9	-11.9	132	1041	0.00	2.28	0.00	0.000	6	0.000	0.058	2694	2489	3628	0	0	0	0	0	0
1361	-0.47	-146.0	197.6	-11.8	163	1365	0.00	2.30	0.00	0.000	4	0.000	0.075	2694	3900	3628	0	0	0	0	0	0
1382	-0.45	-146.0	200.6	-12.4	164	1389	0.00	2.20	0.00	0.000	6	0.000	0.045	2694	2490	3628	0	0	0	0	0	0
1709	-0.42	-146.0	239.2	-11.7	195	1711	0.12	0.00	0.00	0.000	6	0.217	0.000	2722	2489	3628	0	0	0	0	0	0
2026	-0.50	-146.0	267.9	-8.0	225	2030	0.00	2.22	0.00	0.000	4	0.000	0.064	2722	1086	3626	0	0	0	0	0	0
2045	-0.56	-146.0	269.4	-9.0	226	2050	0.12	2.22	0.00	0.000	6	0.135	0.057	2681	2495	3627	0	0	0	0	0	0
2370	-0.53	-146.0	305.6	-11.4	256	2371	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2495	3626	0	0	0	0	0	0
2690	-0.51	-146.0	339.2	-10.3	286	2691	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2495	3626	0	0	0	0	0	0
3007	-0.51	-146.0	373.2	-10.7	316	3011	0.00	2.28	0.00	0.000	4	0.000	0.074	2681	3897	3627	0	0	0	0	0	0
3029	-0.48	-146.0	375.6	-10.2	317	3036	0.00	2.20	0.00	0.000	6	0.000	0.046	2680	2484	3626	0	0	0	0	0	0
3356	-0.48	-146.0	408.5	-9.7	348	3360	0.00	2.22	0.00	0.000	4	0.000	0.063	2681	1074	3627	0	0	0	0	0	0
3366	-0.48	-146.0	409.8	-9.8	348	3373	0.00	2.22	0.00	0.000	6	0.000	0.057	2681	2490	3627	0	0	0	0	0	0
3692	-0.48	-146.0	441.4	-9.8	379	3694	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2490	3627	0	0	0	0	0	0
4011	-0.48	-146.0	473.2	-10.1	409	4012	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2490	3627	0	0	0	0	0	0
4329	-0.48	-146.0	504.4	-9.9	439	4333	0.00	2.30	0.00	0.000	4	0.000	0.073	2681	3899	3627	0	0	0	0	0	0
4373	-0.48	-146.0	509.7	-12.0	442	4381	0.00	2.20	0.00	0.000	6	0.000	0.044	2681	2494	3627	0	0	0	0	0	0
4698	-0.48	-146.0	546.2	-10.9	473	4702	0.00	2.22	0.00	0.000	4	0.000	0.061	2680	1080	3628	0	0	0	0	0	0
4721	-0.48	-146.0	548.7	-11.0	474	4728	0.00	2.22	0.00	0.000	6	0.000	0.055	2681	2491	3628	0	0	0	0	0	0
4950	end dive: BOTTOM_OBSTACLE_DETECTED
state	4950	begin apogee
4955	-0.12	0.0	572.4	8.5	496	5087	0.45	0.00	121.22	1.287	6	0.192	0.000	2810	2263	3029	0	0	0	0	0	0
5088	end apogee: CONTROL_FINISHED_OK
state	5088	begin climb
5090	0.62	146.0	577.5	0.0	508	5221	0.80	0.00	125.88	1.238	6	0.145	0.000	3052	2263	2434	0	0	0	0	0	0
5537	0.54	146.0	531.3	12.0	550	5539	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2263	2425	0	0	0	0	0	0
5857	0.47	146.0	497.3	10.8	580	5864	0.12	0.00	0.00	0.000	6	0.205	0.000	3023	2263	2424	0	0	0	0	0	0
6182	0.50	166.9	466.6	9.0	611	6206	0.00	2.45	17.75	1.134	4	0.000	0.063	3023	3697	2349	0	0	0	0	0	0
6245	0.46	166.9	460.3	10.5	616	6252	0.00	2.30	0.00	0.000	6	0.000	0.049	3031	2282	2347	0	0	0	0	0	0
6572	0.47	175.8	428.0	9.6	647	6587	0.00	2.35	8.90	1.035	4	0.000	0.063	3041	867	2313	0	0	0	0	0	0
6616	0.47	177.9	423.3	9.9	651	6621	0.00	2.28	0.00	0.000	6	0.000	0.051	3041	2278	2311	0	0	0	0	0	0
6943	0.44	177.9	388.2	11.0	681	6948	0.12	2.28	0.00	0.000	4	0.188	0.064	3010	3687	2310	0	0	0	0	0	0
7009	0.44	177.9	380.7	11.1	686	7016	0.00	2.28	0.00	0.000	6	0.000	0.047	3019	2268	2310	0	0	0	0	0	0
7336	0.47	197.4	351.1	9.1	717	7358	0.00	0.00	20.15	1.112	6	0.000	0.000	3018	2268	2225	0	0	0	0	0	0
7675	0.53	220.4	320.1	8.9	749	7701	0.00	2.35	21.70	1.092	4	0.000	0.060	3018	3689	2130	0	0	0	0	0	0
7729	0.56	220.4	314.6	11.0	753	7736	0.00	2.28	0.00	0.000	6	0.000	0.047	3028	2277	2129	0	0	0	0	0	0
8056	0.61	233.0	283.7	9.4	784	8074	0.10	2.30	11.93	1.017	4	0.122	0.061	3081	859	2081	0	0	0	0	0	0
8113	0.59	233.0	276.4	13.0	788	8120	0.00	2.28	0.00	0.000	6	0.000	0.050	3082	2277	2078	0	0	0	0	0	0
8440	0.55	233.0	233.9	13.3	819	8444	0.15	2.28	0.00	0.000	4	0.178	0.063	3043	3687	2076	0	0	0	0	0	0
8502	0.55	233.0	226.4	11.6	824	8506	0.00	2.25	0.00	0.000	6	0.000	0.050	3050	2273	2076	0	0	0	0	0	0
8828	0.59	250.3	193.5	9.2	854	8852	0.00	2.28	16.62	1.011	4	0.000	0.064	3057	868	2008	0	0	0	0	0	0
8890	0.64	250.3	187.3	10.1	859	8897	0.00	2.25	0.00	0.000	6	0.000	0.048	3057	2283	2005	0	0	0	0	0	0
9216	0.69	253.1	156.4	9.9	890	9220	0.00	2.25	0.00	0.000	4	0.000	0.064	3057	3692	2004	0	0	0	0	0	0
9273	0.69	253.1	149.9	11.9	895	9277	0.00	2.25	0.00	0.000	6	0.000	0.049	3067	2274	2004	0	0	0	0	0	0
9598	0.73	258.0	117.0	9.8	925	9611	0.00	2.33	7.45	0.881	4	0.000	0.066	3075	868	1977	0	0	0	0	0	0
9646	0.80	272.1	112.3	9.3	929	9670	0.12	2.25	14.88	0.967	6	0.117	0.049	3124	2285	1920	0	0	0	0	0	0
10001	0.77	272.1	71.5	10.9	983	10008	0.00	2.25	0.00	0.000	4	0.000	0.063	3124	3684	1916	0	0	0	0	0	0
10065	0.70	272.1	63.4	12.8	994	10073	0.17	2.25	0.00	0.000	6	0.198	0.050	3091	2275	1915	0	0	0	0	0	0
10411	0.77	297.3	31.4	8.8	1055	10435	0.00	2.33	16.15	1.029	4	0.000	0.067	3097	861	1817	0	0	0	0	0	0
10471	0.86	308.5	25.9	9.5	1065	10484	0.12	2.28	6.00	0.861	6	0.118	0.049	3145	2283	1771	0	0	0	0	0	0
10675	end climb: SURFACE_DEPTH_REACHED
state	10675	begin surface coast
10714	end surface coast: CONTROL_FINISHED_OK
state	10714	begin surface