Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 182 * 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 182 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 25 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 25 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 182 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 190311,120728,6650.451,-6021.099,0,2112.5,0,-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 8.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2 MHEAD_RNG_PITCHd_Wd 234.9,12473,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 554

Post-dive calculations and measurements:

FREEZE 8.70,-1.745,-1.774,3,57,0 ALTIM_TOP_PING 19.4,17.4

FINISH1 8.7,1.025982,74 _24V_AH 22.7,26.403

FINISH2 7.1 _10V_AH 10.2,14.649

RAFOS_CLK 602 FG_AHR_24Vo 0.000

RAFOS 0,1300550467,16.033333,16.018612,95,63,57,52,51,50,598,218,153,184,137,193 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.432129,-6019.798828,190311,161602,3,112,0.13 MEM 150560

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43344,1135

TT8_MAMPS 0.026215 CAP_FILE_SIZE 113148,0

HUMID 47.59 CFSIZE 260165632,239747072

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 1451.9

XPDR_PINGS 0 GPS 190311,162202,6651.432,-6019.799,0,3112.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 234 23.86 SBE_CT 811 24 442.33

Roll_motor 59 79 107.05 SBE_O2 865 19 373.50

VBD_pump_during_apogee 407 1274 11799.48 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 2651 19 538.80

LPSleep 5914 2 139.36

TT8_Active 445 19 90.43

TT8_Sampling 1737 39 707.30

TT8_CF8 152 45 71.52

TT8_Kalman 0 0 0.00

Analog_circuits 1360 12 166.58

GPS_charging 0 0 0.00

Compass 1728 15 264.47

RAFOS 2520 1 38.56

Transponder 15 30 4.83

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 -7.20 0.000 2 0.000 0.000 2898 3691 2957 0 0 0 0 0 0

27 -0.62 -146.0 9.2 -0.0 1 58 0.65 4.25 -19.42 0.000 4 0.098 0.063 2666 1078 3629 0 0 0 0 0 0

246 -0.51 -146.0 47.4 -19.9 39 253 0.12 2.28 0.00 0.000 6 0.235 0.059 2693 2488 3631 0 0 0 0 0 0

590 -0.44 -146.0 105.3 -16.4 97 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2488 3630 0 0 0 0 0 0

909 -0.41 -146.0 147.7 -12.3 127 911 0.15 0.00 0.00 0.000 6 0.223 0.000 2729 2488 3630 0 0 0 0 0 0

1227 -0.47 -146.0 175.1 -8.4 157 1231 0.00 2.30 0.00 0.000 4 0.000 0.073 2729 3909 3629 0 0 0 0 0 0

1239 -0.55 -146.0 176.2 -8.3 158 1244 0.12 2.20 0.00 0.000 6 0.122 0.044 2687 2479 3630 0 0 0 0 0 0

1564 -0.52 -146.0 213.8 -11.5 188 1568 0.00 2.17 0.00 0.000 4 0.000 0.063 2687 1089 3630 0 0 0 0 0 0

1585 -0.49 -146.0 216.5 -11.8 189 1592 0.00 2.25 0.00 0.000 6 0.000 0.059 2686 2500 3629 0 0 0 0 0 0

1912 -0.49 -146.0 252.3 -10.9 220 1913 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2500 3629 0 0 0 0 0 0

2230 -0.49 -146.0 284.8 -9.9 250 2231 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2500 3628 0 0 0 0 0 0

2548 -0.49 -146.0 316.1 -9.8 280 2549 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2501 3628 0 0 0 0 0 0

2868 -0.49 -146.0 346.9 -9.7 310 2872 0.00 2.28 0.00 0.000 4 0.000 0.076 2687 3898 3628 0 0 0 0 0 0

2878 -0.49 -146.0 348.1 -9.5 310 2885 0.00 2.20 0.00 0.000 6 0.000 0.045 2687 2485 3628 0 0 0 0 0 0

3203 -0.49 -146.0 378.0 -9.0 341 3204 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2485 3629 0 0 0 0 0 0

3522 -0.49 -146.0 406.2 -8.5 371 3526 0.00 2.20 0.00 0.000 4 0.000 0.060 2686 1076 3629 0 0 0 0 0 0

3534 -0.49 -146.0 407.4 -8.9 372 3538 0.00 2.25 0.00 0.000 6 0.000 0.057 2687 2494 3629 0 0 0 0 0 0

3859 -0.52 -146.0 435.3 -8.4 402 3860 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2494 3629 0 0 0 0 0 0

4178 -0.54 -146.0 461.8 -8.2 432 4182 0.00 2.25 0.00 0.000 4 0.000 0.074 2687 3899 3629 0 0 0 0 0 0

4219 -0.59 -146.0 465.2 -8.4 435 4223 0.00 2.20 0.00 0.000 6 0.000 0.045 2686 2478 3629 0 0 0 0 0 0

4545 -0.63 -146.0 492.3 -8.3 465 4546 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2478 3629 0 0 0 0 0 0

4863 -0.65 -146.0 519.5 -8.5 495 4864 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2478 3630 0 0 0 0 0 0

5183 -0.69 -146.0 547.4 -9.9 525 5185 0.12 0.00 0.00 0.000 6 0.135 0.000 2643 2478 3630 0 0 0 0 0 0

5243 end dive: TARGET_DEPTH_EXCEEDED

state 5243 begin apogee

5248 -0.12 0.0 554.7 12.2 531 5380 0.60 0.00 121.38 1.274 6 0.203 0.000 2813 2264 3031 0 0 0 0 0 0

5380 end apogee: CONTROL_FINISHED_OK

state 5380 begin climb

5382 0.62 146.0 559.8 0.0 543 5517 0.80 2.50 126.00 1.225 4 0.141 0.063 3065 885 2433 0 0 0 0 0 0

5550 0.51 146.0 545.6 12.3 558 5558 0.15 2.40 0.00 0.000 6 0.192 0.049 3033 2273 2429 0 0 0 0 0 0

5876 0.46 146.0 510.4 11.1 589 5880 0.00 2.35 0.00 0.000 4 0.000 0.065 3032 3691 2424 0 0 0 0 0 0

5978 0.37 146.0 497.7 13.1 598 5984 0.22 2.30 0.00 0.000 6 0.197 0.048 2987 2283 2424 0 0 0 0 0 0

6304 0.45 185.4 470.8 8.2 628 6344 0.00 0.00 33.75 1.162 6 0.000 0.000 2987 2283 2273 0 0 0 0 0 0

6663 0.56 221.5 440.5 8.3 662 6706 0.17 2.40 33.10 1.144 4 0.086 0.063 3055 3696 2124 0 0 0 0 0 0

6736 0.48 221.5 430.8 15.1 668 6743 0.17 2.35 0.00 0.000 6 0.192 0.048 3024 2265 2123 0 0 0 0 0 0

7062 0.48 221.5 394.2 10.3 699 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2265 2118 0 0 0 0 0 0

7380 0.50 221.5 359.8 11.1 729 7382 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2265 2117 0 0 0 0 0 0

7699 0.53 221.5 325.2 10.9 759 7703 0.00 2.30 0.00 0.000 4 0.000 0.062 3024 3691 2116 0 0 0 0 0 0

7739 0.53 221.5 320.4 12.7 762 7743 0.00 2.25 0.00 0.000 6 0.000 0.048 3032 2270 2116 0 0 0 0 0 0

8064 0.55 221.5 285.0 10.8 792 8065 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2270 2116 0 0 0 0 0 0

8386 0.59 237.7 252.9 9.3 822 8403 0.00 0.00 13.77 1.027 6 0.000 0.000 3032 2270 2060 0 0 0 0 0 0

8723 0.64 242.3 219.5 9.8 854 8736 0.12 2.22 5.35 0.824 4 0.106 0.060 3094 870 2042 0 0 0 0 0 0

8764 0.59 242.3 214.2 13.3 857 8772 0.15 2.25 0.00 0.000 6 0.194 0.051 3057 2283 2042 0 0 0 0 0 0

9089 0.59 242.3 177.0 11.2 888 9093 0.00 2.25 0.00 0.000 4 0.000 0.065 3057 3698 2041 0 0 0 0 0 0

9161 0.56 242.3 167.7 13.3 894 9168 0.00 2.25 0.00 0.000 6 0.000 0.049 3065 2270 2040 0 0 0 0 0 0

9488 0.56 242.3 132.6 10.0 925 9489 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2270 2040 0 0 0 0 0 0

9807 0.57 249.9 100.9 9.6 955 9821 0.00 0.00 8.55 0.904 6 0.000 0.000 3066 2270 2010 0 0 0 0 0 0

10160 0.66 286.6 70.9 8.3 1017 10201 0.00 0.00 34.80 0.985 6 0.000 0.000 3066 2270 1861 0 0 0 0 0 0

10539 0.78 322.6 38.5 8.3 1084 10575 0.15 0.00 31.15 0.976 6 0.093 0.000 3127 2270 1713 0 0 0 0 0 0

10782 end climb: FINISH_DEPTH_REACHED

state 10782 begin subsurface finish

10788 0.09 74.4 8.7 -12.9 1127 10836 0.75 2.33 -39.15 0.000 4 0.156 0.080 2898 3684 2729 0 0 0 0 0 0

10837 end subsurface finish: CONTROL_FINISHED_OK

state 10837 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	182	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	25	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	190311,120728,6650.451,-6021.099,0,2112.5,0,-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	8.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2	MHEAD_RNG_PITCHd_Wd	234.9,12473,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	554

FREEZE	8.70,-1.745,-1.774,3,57,0	ALTIM_TOP_PING	19.4,17.4
FINISH1	8.7,1.025982,74	_24V_AH	22.7,26.403
FINISH2	7.1	_10V_AH	10.2,14.649
RAFOS_CLK	602	FG_AHR_24Vo	0.000
RAFOS	0,1300550467,16.033333,16.018612,95,63,57,52,51,50,598,218,153,184,137,193	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.432129,-6019.798828,190311,161602,3,112,0.13	MEM	150560
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43344,1135
TT8_MAMPS	0.026215	CAP_FILE_SIZE	113148,0
HUMID	47.59	CFSIZE	260165632,239747072
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	1451.9
XPDR_PINGS	0	GPS	190311,162202,6651.432,-6019.799,0,3112.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	234	23.86	SBE_CT	811	24	442.33
Roll_motor	59	79	107.05	SBE_O2	865	19	373.50
VBD_pump_during_apogee	407	1274	11799.48	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	2651	19	538.80
LPSleep	5914	2	139.36
TT8_Active	445	19	90.43
TT8_Sampling	1737	39	707.30
TT8_CF8	152	45	71.52
TT8_Kalman	0	0	0.00
Analog_circuits	1360	12	166.58
GPS_charging	0	0	0.00
Compass	1728	15	264.47
RAFOS	2520	1	38.56
Transponder	15	30	4.83

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	-7.20	0.000	2	0.000	0.000	2898	3691	2957	0	0	0	0	0	0
27	-0.62	-146.0	9.2	-0.0	1	58	0.65	4.25	-19.42	0.000	4	0.098	0.063	2666	1078	3629	0	0	0	0	0	0
246	-0.51	-146.0	47.4	-19.9	39	253	0.12	2.28	0.00	0.000	6	0.235	0.059	2693	2488	3631	0	0	0	0	0	0
590	-0.44	-146.0	105.3	-16.4	97	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2488	3630	0	0	0	0	0	0
909	-0.41	-146.0	147.7	-12.3	127	911	0.15	0.00	0.00	0.000	6	0.223	0.000	2729	2488	3630	0	0	0	0	0	0
1227	-0.47	-146.0	175.1	-8.4	157	1231	0.00	2.30	0.00	0.000	4	0.000	0.073	2729	3909	3629	0	0	0	0	0	0
1239	-0.55	-146.0	176.2	-8.3	158	1244	0.12	2.20	0.00	0.000	6	0.122	0.044	2687	2479	3630	0	0	0	0	0	0
1564	-0.52	-146.0	213.8	-11.5	188	1568	0.00	2.17	0.00	0.000	4	0.000	0.063	2687	1089	3630	0	0	0	0	0	0
1585	-0.49	-146.0	216.5	-11.8	189	1592	0.00	2.25	0.00	0.000	6	0.000	0.059	2686	2500	3629	0	0	0	0	0	0
1912	-0.49	-146.0	252.3	-10.9	220	1913	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2500	3629	0	0	0	0	0	0
2230	-0.49	-146.0	284.8	-9.9	250	2231	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2500	3628	0	0	0	0	0	0
2548	-0.49	-146.0	316.1	-9.8	280	2549	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2501	3628	0	0	0	0	0	0
2868	-0.49	-146.0	346.9	-9.7	310	2872	0.00	2.28	0.00	0.000	4	0.000	0.076	2687	3898	3628	0	0	0	0	0	0
2878	-0.49	-146.0	348.1	-9.5	310	2885	0.00	2.20	0.00	0.000	6	0.000	0.045	2687	2485	3628	0	0	0	0	0	0
3203	-0.49	-146.0	378.0	-9.0	341	3204	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2485	3629	0	0	0	0	0	0
3522	-0.49	-146.0	406.2	-8.5	371	3526	0.00	2.20	0.00	0.000	4	0.000	0.060	2686	1076	3629	0	0	0	0	0	0
3534	-0.49	-146.0	407.4	-8.9	372	3538	0.00	2.25	0.00	0.000	6	0.000	0.057	2687	2494	3629	0	0	0	0	0	0
3859	-0.52	-146.0	435.3	-8.4	402	3860	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2494	3629	0	0	0	0	0	0
4178	-0.54	-146.0	461.8	-8.2	432	4182	0.00	2.25	0.00	0.000	4	0.000	0.074	2687	3899	3629	0	0	0	0	0	0
4219	-0.59	-146.0	465.2	-8.4	435	4223	0.00	2.20	0.00	0.000	6	0.000	0.045	2686	2478	3629	0	0	0	0	0	0
4545	-0.63	-146.0	492.3	-8.3	465	4546	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2478	3629	0	0	0	0	0	0
4863	-0.65	-146.0	519.5	-8.5	495	4864	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2478	3630	0	0	0	0	0	0
5183	-0.69	-146.0	547.4	-9.9	525	5185	0.12	0.00	0.00	0.000	6	0.135	0.000	2643	2478	3630	0	0	0	0	0	0
5243	end dive: TARGET_DEPTH_EXCEEDED
state	5243	begin apogee
5248	-0.12	0.0	554.7	12.2	531	5380	0.60	0.00	121.38	1.274	6	0.203	0.000	2813	2264	3031	0	0	0	0	0	0
5380	end apogee: CONTROL_FINISHED_OK
state	5380	begin climb
5382	0.62	146.0	559.8	0.0	543	5517	0.80	2.50	126.00	1.225	4	0.141	0.063	3065	885	2433	0	0	0	0	0	0
5550	0.51	146.0	545.6	12.3	558	5558	0.15	2.40	0.00	0.000	6	0.192	0.049	3033	2273	2429	0	0	0	0	0	0
5876	0.46	146.0	510.4	11.1	589	5880	0.00	2.35	0.00	0.000	4	0.000	0.065	3032	3691	2424	0	0	0	0	0	0
5978	0.37	146.0	497.7	13.1	598	5984	0.22	2.30	0.00	0.000	6	0.197	0.048	2987	2283	2424	0	0	0	0	0	0
6304	0.45	185.4	470.8	8.2	628	6344	0.00	0.00	33.75	1.162	6	0.000	0.000	2987	2283	2273	0	0	0	0	0	0
6663	0.56	221.5	440.5	8.3	662	6706	0.17	2.40	33.10	1.144	4	0.086	0.063	3055	3696	2124	0	0	0	0	0	0
6736	0.48	221.5	430.8	15.1	668	6743	0.17	2.35	0.00	0.000	6	0.192	0.048	3024	2265	2123	0	0	0	0	0	0
7062	0.48	221.5	394.2	10.3	699	7063	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2265	2118	0	0	0	0	0	0
7380	0.50	221.5	359.8	11.1	729	7382	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2265	2117	0	0	0	0	0	0
7699	0.53	221.5	325.2	10.9	759	7703	0.00	2.30	0.00	0.000	4	0.000	0.062	3024	3691	2116	0	0	0	0	0	0
7739	0.53	221.5	320.4	12.7	762	7743	0.00	2.25	0.00	0.000	6	0.000	0.048	3032	2270	2116	0	0	0	0	0	0
8064	0.55	221.5	285.0	10.8	792	8065	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2270	2116	0	0	0	0	0	0
8386	0.59	237.7	252.9	9.3	822	8403	0.00	0.00	13.77	1.027	6	0.000	0.000	3032	2270	2060	0	0	0	0	0	0
8723	0.64	242.3	219.5	9.8	854	8736	0.12	2.22	5.35	0.824	4	0.106	0.060	3094	870	2042	0	0	0	0	0	0
8764	0.59	242.3	214.2	13.3	857	8772	0.15	2.25	0.00	0.000	6	0.194	0.051	3057	2283	2042	0	0	0	0	0	0
9089	0.59	242.3	177.0	11.2	888	9093	0.00	2.25	0.00	0.000	4	0.000	0.065	3057	3698	2041	0	0	0	0	0	0
9161	0.56	242.3	167.7	13.3	894	9168	0.00	2.25	0.00	0.000	6	0.000	0.049	3065	2270	2040	0	0	0	0	0	0
9488	0.56	242.3	132.6	10.0	925	9489	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2270	2040	0	0	0	0	0	0
9807	0.57	249.9	100.9	9.6	955	9821	0.00	0.00	8.55	0.904	6	0.000	0.000	3066	2270	2010	0	0	0	0	0	0
10160	0.66	286.6	70.9	8.3	1017	10201	0.00	0.00	34.80	0.985	6	0.000	0.000	3066	2270	1861	0	0	0	0	0	0
10539	0.78	322.6	38.5	8.3	1084	10575	0.15	0.00	31.15	0.976	6	0.093	0.000	3127	2270	1713	0	0	0	0	0	0
10782	end climb: FINISH_DEPTH_REACHED
state	10782	begin subsurface finish
10788	0.09	74.4	8.7	-12.9	1127	10836	0.75	2.33	-39.15	0.000	4	0.156	0.080	2898	3684	2729	0	0	0	0	0	0
10837	end subsurface finish: CONTROL_FINISHED_OK
state	10837	begin surface