Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 185 * 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 185 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 24 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 24 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 185 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 9.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.3 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 3.13,-1.755,-1.768,3,60,2 ALTIM_TOP_PING 19.6,20.1

SM_CCo 9931,85.47,0.874,0,0,750,559.04 _24V_AH 22.7,26.837

SM_GC 4.11,9.27,0.00,0.00,0.093,0.000,0.000,117,2488,732,-8.56,-0.06,563.70 _10V_AH 10.2,14.832

RAFOS_CLK 575 FG_AHR_24Vo 0.000

RAFOS 0,1300579264,0.033333,0.017778,90,62,58,55,53,52,610,199,174,141,224,150 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.178223,-6020.435059,200311,000002,3,100,0.12 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40079,1041

TT8_MAMPS 0.026215 CAP_FILE_SIZE 118233,0

HUMID 47.40 CFSIZE 260165632,239558656

INTERNAL_PRESSURE 8.45736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1451.7

XPDR_PINGS 0 GPS 200311,002202,6648.178,-6020.435,0,3100.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 228 73.21 SBE_CT 743 24 405.06

Roll_motor 86 82 161.67 SBE_O2 788 19 340.18

VBD_pump_during_apogee 438 1269 12647.01 nil 0 0 0.00

VBD_pump_during_surface 85 873 1695.09 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 2555 19 519.29

LPSleep 5528 2 130.25

TT8_Active 565 19 114.80

TT8_Sampling 1645 39 669.93

TT8_CF8 144 45 67.49

TT8_Kalman 0 0 0.00

Analog_circuits 1456 12 178.22

GPS_charging 0 0 0.00

Compass 1630 15 249.48

RAFOS 2160 1 33.05

Transponder 14 30 4.39

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 24 0.00 0.00 -6.82 0.000 2 0.000 0.000 2903 862 2973 0 0 0 0 0 0

27 -0.62 -146.0 10.8 -0.0 1 57 0.68 5.05 -17.10 0.000 4 0.102 0.078 2665 3898 3628 0 0 0 0 0 0

243 -0.54 -146.0 46.5 -16.8 39 249 0.00 2.25 0.00 0.000 6 0.000 0.055 2665 2483 3630 0 0 0 0 0 0

591 -0.42 -146.0 113.8 -17.2 94 595 0.22 2.25 0.00 0.000 4 0.220 0.068 2720 1077 3629 0 0 0 0 0 0

646 -0.46 -146.0 121.6 -11.8 98 653 0.00 2.30 0.00 0.000 6 0.000 0.064 2720 2493 3629 0 0 0 0 0 0

973 -0.50 -146.0 154.3 -10.1 129 977 0.00 2.35 0.00 0.000 4 0.000 0.083 2720 3907 3628 0 0 0 0 0 0

1006 -0.58 -146.0 157.7 -9.9 131 1013 0.12 2.25 0.00 0.000 6 0.130 0.054 2678 2477 3628 0 0 0 0 0 0

1331 -0.53 -146.0 198.9 -12.4 162 1335 0.00 2.22 0.00 0.000 4 0.000 0.068 2678 1078 3628 0 0 0 0 0 0

1365 -0.50 -146.0 203.3 -12.3 165 1369 0.00 2.28 0.00 0.000 6 0.000 0.067 2678 2489 3628 0 0 0 0 0 0

1696 -0.46 -146.0 243.1 -11.9 196 1698 0.12 0.00 0.00 0.000 6 0.229 0.000 2705 2489 3627 0 0 0 0 0 0

2015 -0.51 -146.0 272.2 -9.2 226 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2489 3628 0 0 0 0 0 0

2336 -0.56 -146.0 300.6 -8.8 256 2342 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2489 3627 0 0 0 0 0 0

2662 -0.62 -146.0 330.0 -9.0 287 2666 0.12 2.35 0.00 0.000 4 0.129 0.083 2663 3902 3627 0 0 0 0 0 0

2701 -0.62 -146.0 334.3 -11.1 290 2705 0.00 2.22 0.00 0.000 6 0.000 0.056 2662 2489 3627 0 0 0 0 0 0

3027 -0.58 -146.0 372.1 -11.8 320 3031 0.00 2.22 0.00 0.000 4 0.000 0.068 2663 1079 3627 0 0 0 0 0 0

3048 -0.54 -146.0 375.0 -12.3 321 3055 0.00 2.30 0.00 0.000 6 0.000 0.067 2663 2496 3627 0 0 0 0 0 0

3374 -0.51 -146.0 411.7 -11.2 352 3376 0.12 0.00 0.00 0.000 6 0.223 0.000 2691 2496 3628 0 0 0 0 0 0

3692 -0.55 -146.0 438.2 -7.6 382 3696 0.00 2.30 0.00 0.000 4 0.000 0.082 2691 3906 3627 0 0 0 0 0 0

3736 -0.63 -146.0 441.6 -7.5 385 3744 0.00 2.25 0.00 0.000 6 0.000 0.054 2692 2477 3627 0 0 0 0 0 0

4062 -0.68 -146.0 467.3 -8.1 416 4067 0.15 2.22 0.00 0.000 4 0.119 0.067 2640 1073 3628 0 0 0 0 0 0

4074 -0.70 -146.0 468.4 -8.8 416 4081 0.00 2.30 0.00 0.000 6 0.000 0.067 2640 2493 3627 0 0 0 0 0 0

4399 -0.63 -146.0 511.0 -13.2 447 4403 0.00 2.33 0.00 0.000 4 0.000 0.082 2640 3906 3628 0 0 0 0 0 0

4462 -0.58 -146.0 518.0 -11.8 452 4466 0.12 2.25 0.00 0.000 6 0.208 0.054 2668 2483 3628 0 0 0 0 0 0

4706 end dive: TARGET_DEPTH_EXCEEDED

state 4706 begin apogee

4711 -0.12 0.0 542.8 11.4 475 4843 0.50 0.00 120.93 1.270 6 0.186 0.000 2818 2267 3030 0 0 0 0 0 0

4844 end apogee: CONTROL_FINISHED_OK

state 4844 begin climb

4846 0.62 146.0 547.2 0.0 487 4976 0.75 0.00 125.53 1.218 6 0.129 0.000 3051 2267 2433 0 0 0 0 0 0

5293 0.52 146.0 504.4 11.5 530 5297 0.00 2.42 0.00 0.000 4 0.000 0.073 3051 3685 2426 0 0 0 0 0 0

5373 0.39 146.0 493.2 13.7 537 5378 0.28 2.35 0.00 0.000 6 0.204 0.057 2995 2275 2425 0 0 0 0 0 0

5698 0.44 174.7 464.9 8.7 567 5729 0.00 0.00 24.73 1.145 6 0.000 0.000 2995 2275 2317 0 0 0 0 0 0

6048 0.51 194.1 433.6 9.1 600 6068 0.00 0.00 17.92 1.115 6 0.000 0.000 2995 2274 2237 0 0 0 0 0 0

6388 0.59 210.7 402.0 9.2 632 6407 0.17 0.00 15.80 1.090 6 0.087 0.000 3066 2275 2170 0 0 0 0 0 0

6725 0.54 210.7 355.4 13.8 664 6729 0.00 2.38 0.00 0.000 4 0.000 0.073 3066 3692 2167 0 0 0 0 0 0

6785 0.43 210.7 345.4 16.5 669 6793 0.28 2.30 0.00 0.000 6 0.190 0.057 3004 2274 2166 0 0 0 0 0 0

7113 0.51 234.5 314.3 8.9 700 7140 0.00 2.35 22.23 1.087 4 0.000 0.069 3013 860 2072 0 0 0 0 0 0

7168 0.64 258.7 309.0 8.9 704 7198 0.15 2.35 22.95 1.066 6 0.102 0.059 3075 2283 1975 0 0 0 0 0 0

7515 0.59 258.7 260.2 13.8 737 7519 0.00 2.30 0.00 0.000 4 0.000 0.073 3075 3687 1968 0 0 0 0 0 0

7587 0.53 258.7 249.2 15.0 743 7594 0.17 2.30 0.00 0.000 6 0.184 0.059 3040 2275 1967 0 0 0 0 0 0

7914 0.56 258.7 215.1 10.1 774 7918 0.00 2.28 0.00 0.000 4 0.000 0.071 3042 865 1965 0 0 0 0 0 0

7947 0.63 263.6 211.5 9.8 776 7958 0.00 2.28 4.25 0.708 6 0.000 0.057 3042 2277 1955 0 0 0 0 0 0

8284 0.71 278.7 178.4 9.3 808 8308 0.15 2.33 15.82 0.996 4 0.101 0.071 3103 3694 1893 0 0 0 0 0 0

8358 0.62 278.7 167.6 15.4 814 8366 0.17 2.30 0.00 0.000 6 0.202 0.058 3071 2270 1891 0 0 0 0 0 0

8684 0.64 278.7 129.8 11.5 845 8688 0.00 2.28 0.00 0.000 4 0.000 0.070 3080 860 1890 0 0 0 0 0 0

8735 0.68 278.7 123.8 12.0 849 8739 0.00 2.28 0.00 0.000 6 0.000 0.058 3080 2276 1888 0 0 0 0 0 0

9066 0.74 302.8 89.2 8.9 889 9096 0.00 2.35 22.77 0.978 4 0.000 0.073 3080 3685 1794 0 0 0 0 0 0

9104 0.81 319.6 85.8 9.2 895 9129 0.10 2.33 16.62 0.940 6 0.124 0.057 3125 2265 1725 0 0 0 0 0 0

9466 0.81 319.6 41.5 12.7 959 9473 0.00 2.35 0.00 0.000 4 0.000 0.069 3125 3687 1719 0 0 0 0 0 0

9564 0.75 319.6 27.7 15.1 976 9571 0.00 2.30 0.00 0.000 6 0.000 0.059 3136 2274 1717 0 0 0 0 0 0

9894 1.33 540.1 3.2 -0.2 1037 9926 0.43 0.00 29.17 0.913 2 0.119 0.000 3284 2273 1480 0 0 0 0 0 0

9928 end climb: NO_VERTICAL_VELOCITY

state 9928 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	185	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	24	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	190311,202913,6648.042,-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	9.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.3	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	3.13,-1.755,-1.768,3,60,2	ALTIM_TOP_PING	19.6,20.1
SM_CCo	9931,85.47,0.874,0,0,750,559.04	_24V_AH	22.7,26.837
SM_GC	4.11,9.27,0.00,0.00,0.093,0.000,0.000,117,2488,732,-8.56,-0.06,563.70	_10V_AH	10.2,14.832
RAFOS_CLK	575	FG_AHR_24Vo	0.000
RAFOS	0,1300579264,0.033333,0.017778,90,62,58,55,53,52,610,199,174,141,224,150	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.178223,-6020.435059,200311,000002,3,100,0.12	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40079,1041
TT8_MAMPS	0.026215	CAP_FILE_SIZE	118233,0
HUMID	47.40	CFSIZE	260165632,239558656
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1451.7
XPDR_PINGS	0	GPS	200311,002202,6648.178,-6020.435,0,3100.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	228	73.21	SBE_CT	743	24	405.06
Roll_motor	86	82	161.67	SBE_O2	788	19	340.18
VBD_pump_during_apogee	438	1269	12647.01	nil	0	0	0.00
VBD_pump_during_surface	85	873	1695.09	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	2555	19	519.29
LPSleep	5528	2	130.25
TT8_Active	565	19	114.80
TT8_Sampling	1645	39	669.93
TT8_CF8	144	45	67.49
TT8_Kalman	0	0	0.00
Analog_circuits	1456	12	178.22
GPS_charging	0	0	0.00
Compass	1630	15	249.48
RAFOS	2160	1	33.05
Transponder	14	30	4.39

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	24	0.00	0.00	-6.82	0.000	2	0.000	0.000	2903	862	2973	0	0	0	0	0	0
27	-0.62	-146.0	10.8	-0.0	1	57	0.68	5.05	-17.10	0.000	4	0.102	0.078	2665	3898	3628	0	0	0	0	0	0
243	-0.54	-146.0	46.5	-16.8	39	249	0.00	2.25	0.00	0.000	6	0.000	0.055	2665	2483	3630	0	0	0	0	0	0
591	-0.42	-146.0	113.8	-17.2	94	595	0.22	2.25	0.00	0.000	4	0.220	0.068	2720	1077	3629	0	0	0	0	0	0
646	-0.46	-146.0	121.6	-11.8	98	653	0.00	2.30	0.00	0.000	6	0.000	0.064	2720	2493	3629	0	0	0	0	0	0
973	-0.50	-146.0	154.3	-10.1	129	977	0.00	2.35	0.00	0.000	4	0.000	0.083	2720	3907	3628	0	0	0	0	0	0
1006	-0.58	-146.0	157.7	-9.9	131	1013	0.12	2.25	0.00	0.000	6	0.130	0.054	2678	2477	3628	0	0	0	0	0	0
1331	-0.53	-146.0	198.9	-12.4	162	1335	0.00	2.22	0.00	0.000	4	0.000	0.068	2678	1078	3628	0	0	0	0	0	0
1365	-0.50	-146.0	203.3	-12.3	165	1369	0.00	2.28	0.00	0.000	6	0.000	0.067	2678	2489	3628	0	0	0	0	0	0
1696	-0.46	-146.0	243.1	-11.9	196	1698	0.12	0.00	0.00	0.000	6	0.229	0.000	2705	2489	3627	0	0	0	0	0	0
2015	-0.51	-146.0	272.2	-9.2	226	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2489	3628	0	0	0	0	0	0
2336	-0.56	-146.0	300.6	-8.8	256	2342	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2489	3627	0	0	0	0	0	0
2662	-0.62	-146.0	330.0	-9.0	287	2666	0.12	2.35	0.00	0.000	4	0.129	0.083	2663	3902	3627	0	0	0	0	0	0
2701	-0.62	-146.0	334.3	-11.1	290	2705	0.00	2.22	0.00	0.000	6	0.000	0.056	2662	2489	3627	0	0	0	0	0	0
3027	-0.58	-146.0	372.1	-11.8	320	3031	0.00	2.22	0.00	0.000	4	0.000	0.068	2663	1079	3627	0	0	0	0	0	0
3048	-0.54	-146.0	375.0	-12.3	321	3055	0.00	2.30	0.00	0.000	6	0.000	0.067	2663	2496	3627	0	0	0	0	0	0
3374	-0.51	-146.0	411.7	-11.2	352	3376	0.12	0.00	0.00	0.000	6	0.223	0.000	2691	2496	3628	0	0	0	0	0	0
3692	-0.55	-146.0	438.2	-7.6	382	3696	0.00	2.30	0.00	0.000	4	0.000	0.082	2691	3906	3627	0	0	0	0	0	0
3736	-0.63	-146.0	441.6	-7.5	385	3744	0.00	2.25	0.00	0.000	6	0.000	0.054	2692	2477	3627	0	0	0	0	0	0
4062	-0.68	-146.0	467.3	-8.1	416	4067	0.15	2.22	0.00	0.000	4	0.119	0.067	2640	1073	3628	0	0	0	0	0	0
4074	-0.70	-146.0	468.4	-8.8	416	4081	0.00	2.30	0.00	0.000	6	0.000	0.067	2640	2493	3627	0	0	0	0	0	0
4399	-0.63	-146.0	511.0	-13.2	447	4403	0.00	2.33	0.00	0.000	4	0.000	0.082	2640	3906	3628	0	0	0	0	0	0
4462	-0.58	-146.0	518.0	-11.8	452	4466	0.12	2.25	0.00	0.000	6	0.208	0.054	2668	2483	3628	0	0	0	0	0	0
4706	end dive: TARGET_DEPTH_EXCEEDED
state	4706	begin apogee
4711	-0.12	0.0	542.8	11.4	475	4843	0.50	0.00	120.93	1.270	6	0.186	0.000	2818	2267	3030	0	0	0	0	0	0
4844	end apogee: CONTROL_FINISHED_OK
state	4844	begin climb
4846	0.62	146.0	547.2	0.0	487	4976	0.75	0.00	125.53	1.218	6	0.129	0.000	3051	2267	2433	0	0	0	0	0	0
5293	0.52	146.0	504.4	11.5	530	5297	0.00	2.42	0.00	0.000	4	0.000	0.073	3051	3685	2426	0	0	0	0	0	0
5373	0.39	146.0	493.2	13.7	537	5378	0.28	2.35	0.00	0.000	6	0.204	0.057	2995	2275	2425	0	0	0	0	0	0
5698	0.44	174.7	464.9	8.7	567	5729	0.00	0.00	24.73	1.145	6	0.000	0.000	2995	2275	2317	0	0	0	0	0	0
6048	0.51	194.1	433.6	9.1	600	6068	0.00	0.00	17.92	1.115	6	0.000	0.000	2995	2274	2237	0	0	0	0	0	0
6388	0.59	210.7	402.0	9.2	632	6407	0.17	0.00	15.80	1.090	6	0.087	0.000	3066	2275	2170	0	0	0	0	0	0
6725	0.54	210.7	355.4	13.8	664	6729	0.00	2.38	0.00	0.000	4	0.000	0.073	3066	3692	2167	0	0	0	0	0	0
6785	0.43	210.7	345.4	16.5	669	6793	0.28	2.30	0.00	0.000	6	0.190	0.057	3004	2274	2166	0	0	0	0	0	0
7113	0.51	234.5	314.3	8.9	700	7140	0.00	2.35	22.23	1.087	4	0.000	0.069	3013	860	2072	0	0	0	0	0	0
7168	0.64	258.7	309.0	8.9	704	7198	0.15	2.35	22.95	1.066	6	0.102	0.059	3075	2283	1975	0	0	0	0	0	0
7515	0.59	258.7	260.2	13.8	737	7519	0.00	2.30	0.00	0.000	4	0.000	0.073	3075	3687	1968	0	0	0	0	0	0
7587	0.53	258.7	249.2	15.0	743	7594	0.17	2.30	0.00	0.000	6	0.184	0.059	3040	2275	1967	0	0	0	0	0	0
7914	0.56	258.7	215.1	10.1	774	7918	0.00	2.28	0.00	0.000	4	0.000	0.071	3042	865	1965	0	0	0	0	0	0
7947	0.63	263.6	211.5	9.8	776	7958	0.00	2.28	4.25	0.708	6	0.000	0.057	3042	2277	1955	0	0	0	0	0	0
8284	0.71	278.7	178.4	9.3	808	8308	0.15	2.33	15.82	0.996	4	0.101	0.071	3103	3694	1893	0	0	0	0	0	0
8358	0.62	278.7	167.6	15.4	814	8366	0.17	2.30	0.00	0.000	6	0.202	0.058	3071	2270	1891	0	0	0	0	0	0
8684	0.64	278.7	129.8	11.5	845	8688	0.00	2.28	0.00	0.000	4	0.000	0.070	3080	860	1890	0	0	0	0	0	0
8735	0.68	278.7	123.8	12.0	849	8739	0.00	2.28	0.00	0.000	6	0.000	0.058	3080	2276	1888	0	0	0	0	0	0
9066	0.74	302.8	89.2	8.9	889	9096	0.00	2.35	22.77	0.978	4	0.000	0.073	3080	3685	1794	0	0	0	0	0	0
9104	0.81	319.6	85.8	9.2	895	9129	0.10	2.33	16.62	0.940	6	0.124	0.057	3125	2265	1725	0	0	0	0	0	0
9466	0.81	319.6	41.5	12.7	959	9473	0.00	2.35	0.00	0.000	4	0.000	0.069	3125	3687	1719	0	0	0	0	0	0
9564	0.75	319.6	27.7	15.1	976	9571	0.00	2.30	0.00	0.000	6	0.000	0.059	3136	2274	1717	0	0	0	0	0	0
9894	1.33	540.1	3.2	-0.2	1037	9926	0.43	0.00	29.17	0.913	2	0.119	0.000	3284	2273	1480	0	0	0	0	0	0
9928	end climb: NO_VERTICAL_VELOCITY
state	9928	begin surface