Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 183 * 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 183 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 31 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 183 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 190311,162202,6651.432,-6019.799,0,3112.0,0,-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 9.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190311,162202,6651.432,-6019.799,0,3112.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 236.4,14493,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 565

Post-dive calculations and measurements:

FINISH1 9.6,1.025905,78 _24V_AH 22.7,26.536

FINISH2 8.3 _10V_AH 10.2,14.711

RAFOS_CLK 563 FG_AHR_24Vo 0.000

RAFOS 0,1300564862,20.033333,20.017221,71,56,55,53,52,52,597,208,181,147,165,118 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.041992,-6022.675293,190311,202013,5,87,0.45 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40071,1044

TT8_MAMPS 0.026215 CAP_FILE_SIZE 113211,0

HUMID 47.75 CFSIZE 260165632,239685632

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 190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2

ALTIM_TOP_PING 19.1,14.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 220 27.13 SBE_CT 746 24 406.64

Roll_motor 84 73 140.45 SBE_O2 799 19 344.95

VBD_pump_during_apogee 395 1269 11392.32 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 2493 19 506.70

LPSleep 5455 2 128.53

TT8_Active 418 19 85.08

TT8_Sampling 1675 39 682.07

TT8_CF8 156 45 73.14

TT8_Kalman 0 0 0.00

Analog_circuits 1316 12 161.15

GPS_charging 0 0 0.00

Compass 1666 15 255.02

RAFOS 2520 1 38.56

Transponder 16 30 4.93

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 -6.90 0.000 2 0.000 0.000 2897 3684 2982 0 0 0 0 0 0

27 -0.62 -146.0 11.1 -0.0 1 52 0.65 4.20 -16.60 0.000 4 0.103 0.059 2669 1082 3628 0 0 0 0 0 0

217 -0.52 -146.0 42.9 -18.4 34 223 0.00 2.28 0.00 0.000 6 0.000 0.057 2669 2492 3629 0 0 0 0 0 0

564 -0.40 -146.0 109.2 -16.7 91 566 0.25 0.00 0.00 0.000 6 0.220 0.000 2730 2492 3629 0 0 0 0 0 0

884 -0.46 -146.0 141.8 -9.2 121 888 0.00 2.30 0.00 0.000 4 0.000 0.073 2730 3900 3629 0 0 0 0 0 0

917 -0.55 -146.0 144.8 -8.1 123 924 0.15 2.20 0.00 0.000 6 0.116 0.045 2679 2489 3629 0 0 0 0 0 0

1244 -0.49 -146.0 186.7 -12.6 154 1248 0.00 2.22 0.00 0.000 4 0.000 0.063 2679 1077 3629 0 0 0 0 0 0

1277 -0.46 -146.0 191.5 -13.1 156 1285 0.15 2.25 0.00 0.000 6 0.214 0.057 2714 2490 3629 0 0 0 0 0 0

1603 -0.51 -146.0 220.5 -8.1 187 1604 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2490 3628 0 0 0 0 0 0

1923 -0.57 -146.0 244.8 -7.9 217 1925 0.12 0.00 0.00 0.000 6 0.133 0.000 2671 2490 3628 0 0 0 0 0 0

2241 -0.53 -146.0 282.9 -12.0 247 2245 0.00 2.30 0.00 0.000 4 0.000 0.073 2671 3899 3627 0 0 0 0 0 0

2271 -0.49 -146.0 286.7 -12.2 249 2276 0.12 2.20 0.00 0.000 6 0.210 0.046 2700 2486 3627 0 0 0 0 0 0

2602 -0.54 -146.0 317.4 -8.5 280 2605 0.00 2.20 0.00 0.000 4 0.000 0.060 2700 1074 3627 0 0 0 0 0 0

2631 -0.58 -146.0 320.2 -9.1 282 2635 0.00 2.25 0.00 0.000 6 0.000 0.056 2700 2491 3627 0 0 0 0 0 0

2957 -0.63 -146.0 347.1 -8.0 312 2959 0.12 0.00 0.00 0.000 6 0.127 0.000 2657 2491 3627 0 0 0 0 0 0

3275 -0.58 -146.0 384.2 -11.9 342 3276 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2491 3627 0 0 0 0 0 0

3595 -0.52 -146.0 421.4 -12.0 372 3597 0.15 0.00 0.00 0.000 6 0.213 0.000 2692 2492 3627 0 0 0 0 0 0

3913 -0.57 -146.0 449.2 -8.4 402 3917 0.00 2.25 0.00 0.000 4 0.000 0.073 2692 3899 3628 0 0 0 0 0 0

3954 -0.65 -146.0 452.5 -8.0 405 3958 0.12 2.17 0.00 0.000 6 0.129 0.044 2651 2487 3628 0 0 0 0 0 0

4284 -0.60 -146.0 490.6 -11.6 436 4285 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2486 3628 0 0 0 0 0 0

4604 -0.55 -146.0 526.7 -10.7 466 4606 0.15 0.00 0.00 0.000 6 0.220 0.000 2686 2486 3628 0 0 0 0 0 0

4922 -0.78 -146.0 553.2 -0.7 496 4927 0.22 2.30 0.00 0.000 4 0.107 0.071 2608 3898 3629 0 0 0 0 0 0

5043 end dive: NO_VERTICAL_VELOCITY

state 5043 begin apogee

5051 -0.12 0.0 553.2 0.0 506 5178 0.62 0.00 121.20 1.270 6 0.132 0.000 2814 2266 3030 0 0 0 0 0 0

5179 end apogee: CONTROL_FINISHED_OK

state 5179 begin climb

5181 0.62 146.0 553.2 0.0 518 5316 0.80 2.62 125.30 1.221 4 0.144 0.065 3054 3674 2433 0 0 0 0 0 0

5372 0.46 146.0 540.7 15.6 535 5379 0.20 2.40 0.00 0.000 6 0.193 0.050 3019 2282 2429 0 0 0 0 0 0

5697 0.42 146.0 507.9 10.4 566 5701 0.00 2.35 0.00 0.000 4 0.000 0.065 3019 3684 2425 0 0 0 0 0 0

5737 0.37 146.0 503.6 11.0 569 5742 0.17 2.33 0.00 0.000 6 0.200 0.050 2987 2275 2424 0 0 0 0 0 0

6062 0.46 195.5 477.3 7.7 599 6110 0.00 2.38 42.72 1.170 4 0.000 0.063 2995 862 2231 0 0 0 0 0 0

6137 0.62 251.3 471.6 7.4 605 6195 0.20 2.35 50.78 1.160 6 0.089 0.049 3072 2279 2005 0 0 0 0 0 0

6520 0.54 251.3 412.6 15.5 641 6525 0.12 2.30 0.00 0.000 4 0.185 0.063 3041 3686 1993 0 0 0 0 0 0

6598 0.52 251.3 400.8 15.0 647 6605 0.00 2.30 0.00 0.000 6 0.000 0.049 3049 2272 1991 0 0 0 0 0 0

6923 0.50 251.3 357.0 13.6 678 6927 0.00 2.28 0.00 0.000 4 0.000 0.062 3059 859 1990 0 0 0 0 0 0

6957 0.50 251.3 352.6 12.8 681 6962 0.12 2.28 0.00 0.000 6 0.184 0.050 3029 2284 1989 0 0 0 0 0 0

7288 0.54 251.3 317.1 10.8 712 7292 0.00 2.28 0.00 0.000 4 0.000 0.065 3029 3692 1989 0 0 0 0 0 0

7348 0.54 251.3 309.9 12.2 717 7355 0.00 2.28 0.00 0.000 6 0.000 0.049 3036 2276 1988 0 0 0 0 0 0

7675 0.57 251.3 274.1 10.8 748 7679 0.00 2.25 0.00 0.000 4 0.000 0.063 3042 868 1988 0 0 0 0 0 0

7703 0.62 251.3 271.1 10.3 750 7708 0.00 2.22 0.00 0.000 6 0.000 0.050 3042 2279 1987 0 0 0 0 0 0

8028 0.65 251.3 233.5 11.6 780 8032 0.00 2.22 0.00 0.000 4 0.000 0.063 3042 3684 1986 0 0 0 0 0 0

8096 0.65 251.3 224.7 14.1 786 8100 0.00 2.25 0.00 0.000 6 0.000 0.049 3052 2262 1986 0 0 0 0 0 0

8423 0.67 251.3 188.2 11.2 816 8427 0.00 2.20 0.00 0.000 4 0.000 0.063 3060 865 1986 0 0 0 0 0 0

8466 0.71 251.3 182.9 11.4 819 8473 0.00 2.22 0.00 0.000 6 0.000 0.053 3060 2273 1985 0 0 0 0 0 0

8792 0.71 253.5 148.5 9.9 850 8796 0.00 2.25 0.00 0.000 4 0.000 0.066 3060 3694 1985 0 0 0 0 0 0

8869 0.68 253.5 139.7 12.3 856 8876 0.00 2.25 0.00 0.000 6 0.000 0.050 3071 2268 1985 0 0 0 0 0 0

9196 0.71 271.2 106.5 9.2 887 9215 0.00 0.00 16.23 0.975 6 0.000 0.000 3071 2268 1923 0 0 0 0 0 0

9548 0.81 313.2 74.5 8.1 944 9590 0.15 0.00 38.97 0.986 6 0.099 0.000 3131 2268 1753 0 0 0 0 0 0

9928 0.79 313.2 28.0 12.8 1011 9935 0.00 2.33 0.00 0.000 4 0.000 0.065 3131 3684 1744 0 0 0 0 0 0

9977 0.72 313.2 21.4 14.5 1019 9984 0.17 2.28 0.00 0.000 6 0.200 0.052 3099 2270 1743 0 0 0 0 0 0

10086 end climb: SURFACE_OBSTACLE_DETECTED

state 10086 begin subsurface finish

10091 0.10 78.2 9.6 -10.3 1038 10128 0.62 0.00 -33.08 0.000 6 0.158 0.000 2903 2270 2713 0 0 0 0 0 0

10129 end subsurface finish: CONTROL_FINISHED_OK

state 10129 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	183	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	190311,162202,6651.432,-6019.799,0,3112.0,0,-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	9.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190311,162202,6651.432,-6019.799,0,3112.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	236.4,14493,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	565

FINISH1	9.6,1.025905,78	_24V_AH	22.7,26.536
FINISH2	8.3	_10V_AH	10.2,14.711
RAFOS_CLK	563	FG_AHR_24Vo	0.000
RAFOS	0,1300564862,20.033333,20.017221,71,56,55,53,52,52,597,208,181,147,165,118	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.041992,-6022.675293,190311,202013,5,87,0.45	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40071,1044
TT8_MAMPS	0.026215	CAP_FILE_SIZE	113211,0
HUMID	47.75	CFSIZE	260165632,239685632
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	190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2
ALTIM_TOP_PING	19.1,14.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	220	27.13	SBE_CT	746	24	406.64
Roll_motor	84	73	140.45	SBE_O2	799	19	344.95
VBD_pump_during_apogee	395	1269	11392.32	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	2493	19	506.70
LPSleep	5455	2	128.53
TT8_Active	418	19	85.08
TT8_Sampling	1675	39	682.07
TT8_CF8	156	45	73.14
TT8_Kalman	0	0	0.00
Analog_circuits	1316	12	161.15
GPS_charging	0	0	0.00
Compass	1666	15	255.02
RAFOS	2520	1	38.56
Transponder	16	30	4.93

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	-6.90	0.000	2	0.000	0.000	2897	3684	2982	0	0	0	0	0	0
27	-0.62	-146.0	11.1	-0.0	1	52	0.65	4.20	-16.60	0.000	4	0.103	0.059	2669	1082	3628	0	0	0	0	0	0
217	-0.52	-146.0	42.9	-18.4	34	223	0.00	2.28	0.00	0.000	6	0.000	0.057	2669	2492	3629	0	0	0	0	0	0
564	-0.40	-146.0	109.2	-16.7	91	566	0.25	0.00	0.00	0.000	6	0.220	0.000	2730	2492	3629	0	0	0	0	0	0
884	-0.46	-146.0	141.8	-9.2	121	888	0.00	2.30	0.00	0.000	4	0.000	0.073	2730	3900	3629	0	0	0	0	0	0
917	-0.55	-146.0	144.8	-8.1	123	924	0.15	2.20	0.00	0.000	6	0.116	0.045	2679	2489	3629	0	0	0	0	0	0
1244	-0.49	-146.0	186.7	-12.6	154	1248	0.00	2.22	0.00	0.000	4	0.000	0.063	2679	1077	3629	0	0	0	0	0	0
1277	-0.46	-146.0	191.5	-13.1	156	1285	0.15	2.25	0.00	0.000	6	0.214	0.057	2714	2490	3629	0	0	0	0	0	0
1603	-0.51	-146.0	220.5	-8.1	187	1604	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2490	3628	0	0	0	0	0	0
1923	-0.57	-146.0	244.8	-7.9	217	1925	0.12	0.00	0.00	0.000	6	0.133	0.000	2671	2490	3628	0	0	0	0	0	0
2241	-0.53	-146.0	282.9	-12.0	247	2245	0.00	2.30	0.00	0.000	4	0.000	0.073	2671	3899	3627	0	0	0	0	0	0
2271	-0.49	-146.0	286.7	-12.2	249	2276	0.12	2.20	0.00	0.000	6	0.210	0.046	2700	2486	3627	0	0	0	0	0	0
2602	-0.54	-146.0	317.4	-8.5	280	2605	0.00	2.20	0.00	0.000	4	0.000	0.060	2700	1074	3627	0	0	0	0	0	0
2631	-0.58	-146.0	320.2	-9.1	282	2635	0.00	2.25	0.00	0.000	6	0.000	0.056	2700	2491	3627	0	0	0	0	0	0
2957	-0.63	-146.0	347.1	-8.0	312	2959	0.12	0.00	0.00	0.000	6	0.127	0.000	2657	2491	3627	0	0	0	0	0	0
3275	-0.58	-146.0	384.2	-11.9	342	3276	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2491	3627	0	0	0	0	0	0
3595	-0.52	-146.0	421.4	-12.0	372	3597	0.15	0.00	0.00	0.000	6	0.213	0.000	2692	2492	3627	0	0	0	0	0	0
3913	-0.57	-146.0	449.2	-8.4	402	3917	0.00	2.25	0.00	0.000	4	0.000	0.073	2692	3899	3628	0	0	0	0	0	0
3954	-0.65	-146.0	452.5	-8.0	405	3958	0.12	2.17	0.00	0.000	6	0.129	0.044	2651	2487	3628	0	0	0	0	0	0
4284	-0.60	-146.0	490.6	-11.6	436	4285	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2486	3628	0	0	0	0	0	0
4604	-0.55	-146.0	526.7	-10.7	466	4606	0.15	0.00	0.00	0.000	6	0.220	0.000	2686	2486	3628	0	0	0	0	0	0
4922	-0.78	-146.0	553.2	-0.7	496	4927	0.22	2.30	0.00	0.000	4	0.107	0.071	2608	3898	3629	0	0	0	0	0	0
5043	end dive: NO_VERTICAL_VELOCITY
state	5043	begin apogee
5051	-0.12	0.0	553.2	0.0	506	5178	0.62	0.00	121.20	1.270	6	0.132	0.000	2814	2266	3030	0	0	0	0	0	0
5179	end apogee: CONTROL_FINISHED_OK
state	5179	begin climb
5181	0.62	146.0	553.2	0.0	518	5316	0.80	2.62	125.30	1.221	4	0.144	0.065	3054	3674	2433	0	0	0	0	0	0
5372	0.46	146.0	540.7	15.6	535	5379	0.20	2.40	0.00	0.000	6	0.193	0.050	3019	2282	2429	0	0	0	0	0	0
5697	0.42	146.0	507.9	10.4	566	5701	0.00	2.35	0.00	0.000	4	0.000	0.065	3019	3684	2425	0	0	0	0	0	0
5737	0.37	146.0	503.6	11.0	569	5742	0.17	2.33	0.00	0.000	6	0.200	0.050	2987	2275	2424	0	0	0	0	0	0
6062	0.46	195.5	477.3	7.7	599	6110	0.00	2.38	42.72	1.170	4	0.000	0.063	2995	862	2231	0	0	0	0	0	0
6137	0.62	251.3	471.6	7.4	605	6195	0.20	2.35	50.78	1.160	6	0.089	0.049	3072	2279	2005	0	0	0	0	0	0
6520	0.54	251.3	412.6	15.5	641	6525	0.12	2.30	0.00	0.000	4	0.185	0.063	3041	3686	1993	0	0	0	0	0	0
6598	0.52	251.3	400.8	15.0	647	6605	0.00	2.30	0.00	0.000	6	0.000	0.049	3049	2272	1991	0	0	0	0	0	0
6923	0.50	251.3	357.0	13.6	678	6927	0.00	2.28	0.00	0.000	4	0.000	0.062	3059	859	1990	0	0	0	0	0	0
6957	0.50	251.3	352.6	12.8	681	6962	0.12	2.28	0.00	0.000	6	0.184	0.050	3029	2284	1989	0	0	0	0	0	0
7288	0.54	251.3	317.1	10.8	712	7292	0.00	2.28	0.00	0.000	4	0.000	0.065	3029	3692	1989	0	0	0	0	0	0
7348	0.54	251.3	309.9	12.2	717	7355	0.00	2.28	0.00	0.000	6	0.000	0.049	3036	2276	1988	0	0	0	0	0	0
7675	0.57	251.3	274.1	10.8	748	7679	0.00	2.25	0.00	0.000	4	0.000	0.063	3042	868	1988	0	0	0	0	0	0
7703	0.62	251.3	271.1	10.3	750	7708	0.00	2.22	0.00	0.000	6	0.000	0.050	3042	2279	1987	0	0	0	0	0	0
8028	0.65	251.3	233.5	11.6	780	8032	0.00	2.22	0.00	0.000	4	0.000	0.063	3042	3684	1986	0	0	0	0	0	0
8096	0.65	251.3	224.7	14.1	786	8100	0.00	2.25	0.00	0.000	6	0.000	0.049	3052	2262	1986	0	0	0	0	0	0
8423	0.67	251.3	188.2	11.2	816	8427	0.00	2.20	0.00	0.000	4	0.000	0.063	3060	865	1986	0	0	0	0	0	0
8466	0.71	251.3	182.9	11.4	819	8473	0.00	2.22	0.00	0.000	6	0.000	0.053	3060	2273	1985	0	0	0	0	0	0
8792	0.71	253.5	148.5	9.9	850	8796	0.00	2.25	0.00	0.000	4	0.000	0.066	3060	3694	1985	0	0	0	0	0	0
8869	0.68	253.5	139.7	12.3	856	8876	0.00	2.25	0.00	0.000	6	0.000	0.050	3071	2268	1985	0	0	0	0	0	0
9196	0.71	271.2	106.5	9.2	887	9215	0.00	0.00	16.23	0.975	6	0.000	0.000	3071	2268	1923	0	0	0	0	0	0
9548	0.81	313.2	74.5	8.1	944	9590	0.15	0.00	38.97	0.986	6	0.099	0.000	3131	2268	1753	0	0	0	0	0	0
9928	0.79	313.2	28.0	12.8	1011	9935	0.00	2.33	0.00	0.000	4	0.000	0.065	3131	3684	1744	0	0	0	0	0	0
9977	0.72	313.2	21.4	14.5	1019	9984	0.17	2.28	0.00	0.000	6	0.200	0.052	3099	2270	1743	0	0	0	0	0	0
10086	end climb: SURFACE_OBSTACLE_DETECTED
state	10086	begin subsurface finish
10091	0.10	78.2	9.6	-10.3	1038	10128	0.62	0.00	-33.08	0.000	6	0.158	0.000	2903	2270	2713	0	0	0	0	0	0
10129	end subsurface finish: CONTROL_FINISHED_OK
state	10129	begin surface