Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 184 * 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 184 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 27 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 27 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 184 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 190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2 MHEAD_RNG_PITCHd_Wd 118.1,157483,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 542

Post-dive calculations and measurements:

FREEZE 8.76,-1.753,-1.773,3,59,0 _24V_AH 22.7,26.674

FINISH1 8.8,1.025966,75 _10V_AH 10.2,14.769

FINISH2 7.2 FG_AHR_24Vo 0.000

RAFOS_CLK 533 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.041992,-6022.675293,190311,202013,5,87,0.45 MEM 150560

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 36678,990

TT8_MAMPS 0.029211 CAP_FILE_SIZE 109617,0

HUMID 46.96 CFSIZE 260165632,239628288

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 1451.7

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

ALTIM_TOP_PING 19.4,17.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 216 25.19 SBE_CT 708 24 385.87

Roll_motor 90 82 169.07 SBE_O2 748 19 323.02

VBD_pump_during_apogee 419 1266 12046.33 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 1 420 16.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2321 19 471.65

LPSleep 5111 2 120.43

TT8_Active 469 19 95.35

TT8_Sampling 1596 39 650.23

TT8_CF8 134 45 63.21

TT8_Kalman 0 0 0.00

Analog_circuits 1337 12 163.76

GPS_charging 0 0 0.00

Compass 1583 15 242.24

RAFOS 360 1 5.51

Transponder 14 30 4.31

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 -6.57 0.000 2 0.000 0.000 2903 2270 2964 0 0 0 0 0 0

27 -0.62 -146.0 11.7 -0.0 1 52 0.65 2.67 -16.65 0.000 4 0.096 0.080 2668 3903 3628 0 0 0 0 0 0

255 -0.55 -146.0 48.5 -17.2 41 262 0.00 2.25 0.00 0.000 6 0.000 0.047 2668 2477 3630 0 0 0 0 0 0

596 -0.43 -146.0 113.5 -18.0 95 601 0.20 2.20 0.00 0.000 4 0.216 0.060 2717 1082 3629 0 0 0 0 0 0

670 -0.46 -146.0 122.8 -10.6 101 674 0.00 2.25 0.00 0.000 6 0.000 0.058 2717 2497 3629 0 0 0 0 0 0

995 -0.48 -146.0 155.7 -10.8 131 996 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2497 3629 0 0 0 0 0 0

1317 -0.53 -146.0 187.4 -9.3 161 1323 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2497 3628 0 0 0 0 0 0

1644 -0.59 -146.0 218.2 -9.6 192 1648 0.15 2.28 0.00 0.000 4 0.119 0.063 2665 1073 3628 0 0 0 0 0 0

1661 -0.59 -146.0 220.4 -11.2 193 1665 0.00 2.25 0.00 0.000 6 0.000 0.061 2665 2489 3628 0 0 0 0 0 0

1986 -0.53 -146.0 264.9 -13.5 223 1990 0.00 2.28 0.00 0.000 4 0.000 0.076 2665 3898 3628 0 0 0 0 0 0

2007 -0.47 -146.0 267.9 -12.5 224 2015 0.17 2.20 0.00 0.000 6 0.203 0.048 2708 2483 3627 0 0 0 0 0 0

2333 -0.53 -146.0 296.7 -8.5 255 2337 0.00 2.20 0.00 0.000 4 0.000 0.063 2709 1079 3628 0 0 0 0 0 0

2365 -0.60 -146.0 299.7 -8.7 257 2377 0.12 2.28 0.00 0.000 6 0.134 0.060 2667 2499 3627 0 0 0 0 0 0

2691 -0.57 -146.0 336.9 -11.9 288 2696 0.00 2.30 0.00 0.000 4 0.000 0.076 2667 3908 3627 0 0 0 0 0 0

2720 -0.54 -146.0 340.4 -11.9 290 2724 0.00 2.20 0.00 0.000 6 0.000 0.049 2667 2489 3627 0 0 0 0 0 0

3046 -0.51 -146.0 376.6 -11.1 320 3047 0.12 0.00 0.00 0.000 6 0.216 0.000 2696 2489 3627 0 0 0 0 0 0

3366 -0.56 -146.0 403.8 -8.5 350 3370 0.00 2.20 0.00 0.000 4 0.000 0.063 2696 1081 3627 0 0 0 0 0 0

3399 -0.62 -146.0 407.0 -8.9 352 3406 0.00 2.25 0.00 0.000 6 0.000 0.059 2696 2493 3627 0 0 0 0 0 0

3725 -0.67 -146.0 432.7 -8.1 383 3729 0.15 2.30 0.00 0.000 4 0.117 0.076 2644 3897 3627 0 0 0 0 0 0

3742 -0.67 -146.0 434.4 -8.7 384 3746 0.00 2.20 0.00 0.000 6 0.000 0.050 2644 2481 3627 0 0 0 0 0 0

4068 -0.60 -146.0 473.6 -11.2 414 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2481 3628 0 0 0 0 0 0

4387 -0.54 -146.0 510.2 -11.0 444 4389 0.17 0.00 0.00 0.000 6 0.216 0.000 2686 2481 3628 0 0 0 0 0 0

4705 -0.57 -146.0 536.9 -8.7 474 4706 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2481 3629 0 0 0 0 0 0

4766 end dive: TARGET_DEPTH_EXCEEDED

state 4766 begin apogee

4771 -0.12 0.0 542.9 9.0 480 4902 0.43 0.00 120.80 1.266 6 0.190 0.000 2813 2256 3030 0 0 0 0 0 0

4903 end apogee: CONTROL_FINISHED_OK

state 4903 begin climb

4905 0.62 146.0 546.4 0.0 492 5044 0.77 2.53 125.32 1.218 4 0.136 0.064 3060 884 2431 0 0 0 0 0 0

5067 0.53 146.0 535.5 11.6 507 5072 0.00 2.40 0.00 0.000 6 0.000 0.052 3060 2272 2429 0 0 0 0 0 0

5392 0.42 146.0 494.0 14.2 537 5397 0.22 2.38 0.00 0.000 4 0.194 0.066 3004 3688 2424 0 0 0 0 0 0

5505 0.37 146.0 481.5 11.0 546 5512 0.00 2.30 0.00 0.000 6 0.000 0.051 3013 2288 2423 0 0 0 0 0 0

5831 0.38 153.0 449.8 9.7 577 5840 0.00 0.00 5.55 0.876 6 0.000 0.000 3012 2288 2406 0 0 0 0 0 0

6160 0.40 171.3 419.1 9.2 608 6183 0.00 2.40 17.75 1.114 4 0.000 0.067 3013 3688 2331 0 0 0 0 0 0

6218 0.37 171.3 413.1 11.1 613 6223 0.15 2.30 0.00 0.000 6 0.195 0.051 2988 2277 2329 0 0 0 0 0 0

6544 0.49 220.0 387.2 7.8 643 6592 0.00 2.38 43.15 1.138 4 0.000 0.064 2993 858 2134 0 0 0 0 0 0

6629 0.66 266.7 380.6 7.8 650 6678 0.25 2.35 42.95 1.115 6 0.083 0.054 3087 2279 1941 0 0 0 0 0 0

6997 0.58 266.7 318.6 17.3 684 7002 0.15 2.30 0.00 0.000 4 0.182 0.067 3050 3684 1931 0 0 0 0 0 0

7086 0.55 266.7 304.5 14.7 691 7093 0.00 2.30 0.00 0.000 6 0.000 0.051 3057 2271 1930 0 0 0 0 0 0

7411 0.55 266.7 260.1 12.8 722 7415 0.00 2.28 0.00 0.000 4 0.000 0.064 3069 865 1929 0 0 0 0 0 0

7443 0.55 266.7 255.6 12.9 724 7450 0.00 2.28 0.00 0.000 6 0.000 0.053 3069 2283 1927 0 0 0 0 0 0

7770 0.55 266.7 214.4 11.9 755 7774 0.00 2.25 0.00 0.000 4 0.000 0.070 3068 3684 1927 0 0 0 0 0 0

7832 0.51 266.7 206.1 13.5 760 7837 0.17 2.28 0.00 0.000 6 0.181 0.055 3033 2269 1926 0 0 0 0 0 0

8158 0.62 288.1 176.2 9.0 790 8181 0.00 2.35 18.17 1.003 4 0.000 0.067 3040 866 1854 0 0 0 0 0 0

8209 0.74 304.4 171.6 9.2 794 8231 0.17 2.25 15.90 0.985 6 0.099 0.053 3111 2276 1789 0 0 0 0 0 0

8551 0.71 304.4 121.6 13.7 826 8555 0.00 2.30 0.00 0.000 4 0.000 0.071 3111 3683 1784 0 0 0 0 0 0

8623 0.66 304.4 110.4 15.9 832 8631 0.17 2.28 0.00 0.000 6 0.187 0.057 3077 2277 1782 0 0 0 0 0 0

8964 0.77 336.8 76.7 8.5 884 9000 0.10 2.40 29.55 0.975 4 0.125 0.068 3126 862 1655 0 0 0 0 0 0

9053 0.77 336.8 66.7 11.8 899 9060 0.00 2.30 0.00 0.000 6 0.000 0.055 3126 2284 1652 0 0 0 0 0 0

9398 0.77 336.8 25.8 12.1 960 9404 0.00 2.30 0.00 0.000 4 0.000 0.072 3126 3690 1648 0 0 0 0 0 0

9461 0.74 336.8 16.9 15.0 971 9468 0.12 2.30 0.00 0.000 6 0.200 0.060 3107 2275 1646 0 0 0 0 0 0

9525 end climb: FINISH_DEPTH_REACHED

state 9525 begin subsurface finish

9530 0.09 75.2 8.8 -12.0 982 9578 0.65 2.35 -40.33 0.000 4 0.158 0.083 2903 863 2726 0 0 0 0 0 0

9579 end subsurface finish: CONTROL_FINISHED_OK

state 9579 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	184	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	27	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	190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2	MHEAD_RNG_PITCHd_Wd	118.1,157483,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	542

FREEZE	8.76,-1.753,-1.773,3,59,0	_24V_AH	22.7,26.674
FINISH1	8.8,1.025966,75	_10V_AH	10.2,14.769
FINISH2	7.2	FG_AHR_24Vo	0.000
RAFOS_CLK	533	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.041992,-6022.675293,190311,202013,5,87,0.45	MEM	150560
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	36678,990
TT8_MAMPS	0.029211	CAP_FILE_SIZE	109617,0
HUMID	46.96	CFSIZE	260165632,239628288
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	1451.7
XPDR_PINGS	0	GPS	190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2
ALTIM_TOP_PING	19.4,17.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	216	25.19	SBE_CT	708	24	385.87
Roll_motor	90	82	169.07	SBE_O2	748	19	323.02
VBD_pump_during_apogee	419	1266	12046.33	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	1	420	16.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2321	19	471.65
LPSleep	5111	2	120.43
TT8_Active	469	19	95.35
TT8_Sampling	1596	39	650.23
TT8_CF8	134	45	63.21
TT8_Kalman	0	0	0.00
Analog_circuits	1337	12	163.76
GPS_charging	0	0	0.00
Compass	1583	15	242.24
RAFOS	360	1	5.51
Transponder	14	30	4.31

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	-6.57	0.000	2	0.000	0.000	2903	2270	2964	0	0	0	0	0	0
27	-0.62	-146.0	11.7	-0.0	1	52	0.65	2.67	-16.65	0.000	4	0.096	0.080	2668	3903	3628	0	0	0	0	0	0
255	-0.55	-146.0	48.5	-17.2	41	262	0.00	2.25	0.00	0.000	6	0.000	0.047	2668	2477	3630	0	0	0	0	0	0
596	-0.43	-146.0	113.5	-18.0	95	601	0.20	2.20	0.00	0.000	4	0.216	0.060	2717	1082	3629	0	0	0	0	0	0
670	-0.46	-146.0	122.8	-10.6	101	674	0.00	2.25	0.00	0.000	6	0.000	0.058	2717	2497	3629	0	0	0	0	0	0
995	-0.48	-146.0	155.7	-10.8	131	996	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2497	3629	0	0	0	0	0	0
1317	-0.53	-146.0	187.4	-9.3	161	1323	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2497	3628	0	0	0	0	0	0
1644	-0.59	-146.0	218.2	-9.6	192	1648	0.15	2.28	0.00	0.000	4	0.119	0.063	2665	1073	3628	0	0	0	0	0	0
1661	-0.59	-146.0	220.4	-11.2	193	1665	0.00	2.25	0.00	0.000	6	0.000	0.061	2665	2489	3628	0	0	0	0	0	0
1986	-0.53	-146.0	264.9	-13.5	223	1990	0.00	2.28	0.00	0.000	4	0.000	0.076	2665	3898	3628	0	0	0	0	0	0
2007	-0.47	-146.0	267.9	-12.5	224	2015	0.17	2.20	0.00	0.000	6	0.203	0.048	2708	2483	3627	0	0	0	0	0	0
2333	-0.53	-146.0	296.7	-8.5	255	2337	0.00	2.20	0.00	0.000	4	0.000	0.063	2709	1079	3628	0	0	0	0	0	0
2365	-0.60	-146.0	299.7	-8.7	257	2377	0.12	2.28	0.00	0.000	6	0.134	0.060	2667	2499	3627	0	0	0	0	0	0
2691	-0.57	-146.0	336.9	-11.9	288	2696	0.00	2.30	0.00	0.000	4	0.000	0.076	2667	3908	3627	0	0	0	0	0	0
2720	-0.54	-146.0	340.4	-11.9	290	2724	0.00	2.20	0.00	0.000	6	0.000	0.049	2667	2489	3627	0	0	0	0	0	0
3046	-0.51	-146.0	376.6	-11.1	320	3047	0.12	0.00	0.00	0.000	6	0.216	0.000	2696	2489	3627	0	0	0	0	0	0
3366	-0.56	-146.0	403.8	-8.5	350	3370	0.00	2.20	0.00	0.000	4	0.000	0.063	2696	1081	3627	0	0	0	0	0	0
3399	-0.62	-146.0	407.0	-8.9	352	3406	0.00	2.25	0.00	0.000	6	0.000	0.059	2696	2493	3627	0	0	0	0	0	0
3725	-0.67	-146.0	432.7	-8.1	383	3729	0.15	2.30	0.00	0.000	4	0.117	0.076	2644	3897	3627	0	0	0	0	0	0
3742	-0.67	-146.0	434.4	-8.7	384	3746	0.00	2.20	0.00	0.000	6	0.000	0.050	2644	2481	3627	0	0	0	0	0	0
4068	-0.60	-146.0	473.6	-11.2	414	4069	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2481	3628	0	0	0	0	0	0
4387	-0.54	-146.0	510.2	-11.0	444	4389	0.17	0.00	0.00	0.000	6	0.216	0.000	2686	2481	3628	0	0	0	0	0	0
4705	-0.57	-146.0	536.9	-8.7	474	4706	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2481	3629	0	0	0	0	0	0
4766	end dive: TARGET_DEPTH_EXCEEDED
state	4766	begin apogee
4771	-0.12	0.0	542.9	9.0	480	4902	0.43	0.00	120.80	1.266	6	0.190	0.000	2813	2256	3030	0	0	0	0	0	0
4903	end apogee: CONTROL_FINISHED_OK
state	4903	begin climb
4905	0.62	146.0	546.4	0.0	492	5044	0.77	2.53	125.32	1.218	4	0.136	0.064	3060	884	2431	0	0	0	0	0	0
5067	0.53	146.0	535.5	11.6	507	5072	0.00	2.40	0.00	0.000	6	0.000	0.052	3060	2272	2429	0	0	0	0	0	0
5392	0.42	146.0	494.0	14.2	537	5397	0.22	2.38	0.00	0.000	4	0.194	0.066	3004	3688	2424	0	0	0	0	0	0
5505	0.37	146.0	481.5	11.0	546	5512	0.00	2.30	0.00	0.000	6	0.000	0.051	3013	2288	2423	0	0	0	0	0	0
5831	0.38	153.0	449.8	9.7	577	5840	0.00	0.00	5.55	0.876	6	0.000	0.000	3012	2288	2406	0	0	0	0	0	0
6160	0.40	171.3	419.1	9.2	608	6183	0.00	2.40	17.75	1.114	4	0.000	0.067	3013	3688	2331	0	0	0	0	0	0
6218	0.37	171.3	413.1	11.1	613	6223	0.15	2.30	0.00	0.000	6	0.195	0.051	2988	2277	2329	0	0	0	0	0	0
6544	0.49	220.0	387.2	7.8	643	6592	0.00	2.38	43.15	1.138	4	0.000	0.064	2993	858	2134	0	0	0	0	0	0
6629	0.66	266.7	380.6	7.8	650	6678	0.25	2.35	42.95	1.115	6	0.083	0.054	3087	2279	1941	0	0	0	0	0	0
6997	0.58	266.7	318.6	17.3	684	7002	0.15	2.30	0.00	0.000	4	0.182	0.067	3050	3684	1931	0	0	0	0	0	0
7086	0.55	266.7	304.5	14.7	691	7093	0.00	2.30	0.00	0.000	6	0.000	0.051	3057	2271	1930	0	0	0	0	0	0
7411	0.55	266.7	260.1	12.8	722	7415	0.00	2.28	0.00	0.000	4	0.000	0.064	3069	865	1929	0	0	0	0	0	0
7443	0.55	266.7	255.6	12.9	724	7450	0.00	2.28	0.00	0.000	6	0.000	0.053	3069	2283	1927	0	0	0	0	0	0
7770	0.55	266.7	214.4	11.9	755	7774	0.00	2.25	0.00	0.000	4	0.000	0.070	3068	3684	1927	0	0	0	0	0	0
7832	0.51	266.7	206.1	13.5	760	7837	0.17	2.28	0.00	0.000	6	0.181	0.055	3033	2269	1926	0	0	0	0	0	0
8158	0.62	288.1	176.2	9.0	790	8181	0.00	2.35	18.17	1.003	4	0.000	0.067	3040	866	1854	0	0	0	0	0	0
8209	0.74	304.4	171.6	9.2	794	8231	0.17	2.25	15.90	0.985	6	0.099	0.053	3111	2276	1789	0	0	0	0	0	0
8551	0.71	304.4	121.6	13.7	826	8555	0.00	2.30	0.00	0.000	4	0.000	0.071	3111	3683	1784	0	0	0	0	0	0
8623	0.66	304.4	110.4	15.9	832	8631	0.17	2.28	0.00	0.000	6	0.187	0.057	3077	2277	1782	0	0	0	0	0	0
8964	0.77	336.8	76.7	8.5	884	9000	0.10	2.40	29.55	0.975	4	0.125	0.068	3126	862	1655	0	0	0	0	0	0
9053	0.77	336.8	66.7	11.8	899	9060	0.00	2.30	0.00	0.000	6	0.000	0.055	3126	2284	1652	0	0	0	0	0	0
9398	0.77	336.8	25.8	12.1	960	9404	0.00	2.30	0.00	0.000	4	0.000	0.072	3126	3690	1648	0	0	0	0	0	0
9461	0.74	336.8	16.9	15.0	971	9468	0.12	2.30	0.00	0.000	6	0.200	0.060	3107	2275	1646	0	0	0	0	0	0
9525	end climb: FINISH_DEPTH_REACHED
state	9525	begin subsurface finish
9530	0.09	75.2	8.8	-12.0	982	9578	0.65	2.35	-40.33	0.000	4	0.158	0.083	2903	863	2726	0	0	0	0	0	0
9579	end subsurface finish: CONTROL_FINISHED_OK
state	9579	begin surface