Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 189 * 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 189 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -29425.438 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 -29425.438

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 33 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 21 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 189 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 200311,082725,6650.033,-6009.453,0,7124.3,0,-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 8.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2 MHEAD_RNG_PITCHd_Wd 118.8,147447,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 616

Post-dive calculations and measurements:

FREEZE 8.93,-1.754,-1.773,3,64,0 ALTIM_TOP_PING 19.8,17.4

FINISH1 8.9,1.025954,76 _24V_AH 22.7,27.358

FINISH2 7.3 _10V_AH 10.2,15.104

RAFOS_CLK 632 FG_AHR_24Vo 0.000

RAFOS 0,1300622462,12.033333,12.017222,100,62,62,54,53,47,669,198,176,133,226,161 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.670898,-6007.529297,200311,121213,5,100,0.23 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43323,1149

TT8_MAMPS 0.026215 CAP_FILE_SIZE 126537,0

HUMID 47.24 CFSIZE 260165632,239292416

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 1451.8

XPDR_PINGS 0 GPS 200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 224 23.28 SBE_CT 823 24 448.66

Roll_motor 92 166 348.76 SBE_O2 876 19 377.82

VBD_pump_during_apogee 373 1315 11152.44 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 2788 19 566.60

LPSleep 6266 2 147.65

TT8_Active 408 19 83.02

TT8_Sampling 1853 39 754.84

TT8_CF8 162 45 76.03

TT8_Kalman 0 0 0.00

Analog_circuits 1389 12 170.07

GPS_charging 0 0 0.00

Compass 1837 15 281.17

RAFOS 2520 1 38.56

Transponder 14 30 4.59

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.40 0.000 2 0.000 0.000 2902 3678 2927 0 0 0 0 0 0

26 -0.62 -146.0 9.6 -0.0 1 51 0.68 0.40 -19.88 0.000 4 0.102 0.167 2667 3912 3629 0 0 0 0 0 0

289 -0.55 -146.0 52.5 -16.6 47 296 0.00 2.25 0.00 0.000 6 0.000 0.049 2667 2490 3630 0 0 0 0 0 0

634 -0.44 -146.0 114.3 -16.2 101 639 0.20 2.28 0.00 0.000 4 0.207 0.065 2717 1072 3630 0 0 0 0 0 0

663 -0.41 -146.0 118.3 -13.2 103 667 0.00 2.28 0.00 0.000 6 0.000 0.059 2716 2489 3629 0 0 0 0 0 0

988 -0.44 -146.0 151.8 -10.5 133 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2489 3630 0 0 0 0 0 0

1307 -0.49 -146.0 183.7 -9.1 163 1311 0.00 2.28 0.00 0.000 4 0.000 0.068 2717 1074 3629 0 0 0 0 0 0

1338 -0.54 -146.0 186.4 -9.3 165 1342 0.00 2.30 0.00 0.000 6 0.000 0.061 2716 2496 3629 0 0 0 0 0 0

1663 -0.59 -146.0 215.8 -9.1 195 1668 0.15 2.30 0.00 0.000 4 0.116 0.067 2665 1082 3628 0 0 0 0 0 0

1696 -0.55 -146.0 219.9 -12.9 197 1703 0.00 2.28 0.00 0.000 6 0.000 0.062 2664 2488 3629 0 0 0 0 0 0

2021 -0.49 -146.0 261.6 -12.8 228 2023 0.15 0.00 0.00 0.000 6 0.224 0.000 2699 2488 3628 0 0 0 0 0 0

2342 -0.52 -146.0 289.9 -8.4 258 2346 0.00 2.30 0.00 0.000 4 0.000 0.078 2700 3904 3628 0 0 0 0 0 0

2363 -0.56 -146.0 292.0 -8.4 259 2370 0.00 2.22 0.00 0.000 6 0.000 0.050 2699 2481 3628 0 0 0 0 0 0

2689 -0.60 -146.0 321.6 -9.8 290 2693 0.00 2.22 0.00 0.000 4 0.000 0.067 2699 1079 3628 0 0 0 0 0 0

2728 -0.65 -146.0 325.6 -10.0 293 2736 0.15 2.28 0.00 0.000 6 0.124 0.061 2651 2491 3628 0 0 0 0 0 0

3053 -0.58 -146.0 367.8 -12.6 324 3057 0.00 2.30 0.00 0.000 4 0.000 0.076 2651 3902 3628 0 0 0 0 0 0

3086 -0.51 -146.0 372.1 -13.2 326 3093 0.17 2.22 0.00 0.000 6 0.204 0.049 2693 2484 3628 0 0 0 0 0 0

3411 -0.55 -146.0 401.8 -9.0 357 3415 0.00 2.22 0.00 0.000 4 0.000 0.065 2694 1081 3628 0 0 0 0 0 0

3453 -0.60 -146.0 405.6 -9.2 360 3457 0.00 2.25 0.00 0.000 6 0.000 0.060 2693 2498 3627 0 0 0 0 0 0

3779 -0.64 -146.0 434.4 -8.8 390 3781 0.12 0.00 0.00 0.000 6 0.129 0.000 2651 2498 3628 0 0 0 0 0 0

4097 -0.58 -146.0 473.0 -12.1 420 4101 0.00 2.30 0.00 0.000 4 0.000 0.076 2651 3906 3628 0 0 0 0 0 0

4114 -0.51 -146.0 475.2 -12.7 421 4119 0.17 2.22 0.00 0.000 6 0.205 0.048 2694 2485 3628 0 0 0 0 0 0

4440 -0.56 -146.0 504.8 -8.6 451 4441 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2485 3629 0 0 0 0 0 0

4761 -0.61 -146.0 531.2 -8.3 481 4765 0.00 2.22 0.00 0.000 4 0.000 0.063 2694 1079 3629 0 0 0 0 0 0

4779 -0.67 -146.0 533.0 -8.7 482 4783 0.15 2.25 0.00 0.000 6 0.120 0.059 2643 2491 3629 0 0 0 0 0 0

5104 -0.60 -146.0 571.6 -12.3 512 5108 0.00 2.30 0.00 0.000 4 0.000 0.076 2642 3904 3629 0 0 0 0 0 0

5134 -0.53 -146.0 575.1 -13.4 514 5139 0.17 2.20 0.00 0.000 6 0.200 0.048 2686 2480 3629 0 0 0 0 0 0

5468 -0.57 -146.0 605.0 -8.0 541 5469 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2480 3629 0 0 0 0 0 0

5618 end dive: TARGET_DEPTH_EXCEEDED

state 5618 begin apogee

5624 -0.12 0.0 618.4 8.7 546 5753 0.43 0.00 122.53 1.315 6 0.184 0.000 2813 2256 3029 0 0 0 0 0 0

5754 end apogee: CONTROL_FINISHED_OK

state 5754 begin climb

5756 0.62 146.0 623.0 0.0 550 5892 0.77 2.47 127.35 1.262 4 0.136 0.067 3061 889 2432 0 0 0 0 0 0

5944 0.62 146.0 609.2 21001.6 556 5948 0.00 2.40 0.00 0.000 6 0.000 0.054 3061 2274 2427 0 0 0 0 0 0

6275 0.62 146.0 566.9 21001.6 581 6279 0.00 2.38 0.00 0.000 4 0.000 0.068 3061 3689 2424 0 0 0 0 0 0

6447 0.62 146.0 542.2 21001.6 596 6451 0.00 2.30 0.00 0.000 6 0.000 0.052 3071 2287 2423 0 0 0 0 0 0

6772 0.62 146.0 500.4 21001.6 626 6773 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2288 2422 0 0 0 0 0 0

7092 0.62 146.0 461.7 21001.6 656 7096 0.00 2.30 0.00 0.000 4 0.000 0.065 3071 3698 2421 0 0 0 0 0 0

7148 0.62 146.0 453.9 21001.6 660 7155 0.00 2.30 0.00 0.000 6 0.000 0.052 3082 2265 2422 0 0 0 0 0 0

7473 0.62 146.0 413.5 21001.6 691 7477 0.00 2.33 0.00 0.000 4 0.000 0.066 3082 3690 2422 0 0 0 0 0 0

7513 0.62 146.0 408.1 21001.6 694 7517 0.00 2.28 0.00 0.000 6 0.000 0.052 3092 2269 2421 0 0 0 0 0 0

7839 0.62 146.0 364.8 21001.6 724 7840 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2269 2421 0 0 0 0 0 0

8158 0.62 146.0 321.7 21001.6 754 8162 0.00 2.30 0.00 0.000 4 0.000 0.066 3092 3698 2421 0 0 0 0 0 0

8202 0.62 146.0 314.8 21001.6 757 8209 0.15 2.28 0.00 0.000 6 0.215 0.053 3067 2269 2421 0 0 0 0 0 0

8529 0.62 146.0 276.6 21001.6 788 8530 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2269 2421 0 0 0 0 0 0

8847 0.62 146.0 241.6 21001.6 818 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2269 2421 0 0 0 0 0 0

9165 0.62 146.0 206.9 21001.6 848 9169 0.00 2.28 0.00 0.000 4 0.000 0.066 3066 3691 2421 0 0 0 0 0 0

9216 0.62 146.0 200.8 21001.6 852 9220 0.00 2.25 0.00 0.000 6 0.000 0.053 3075 2272 2421 0 0 0 0 0 0

9543 0.62 146.0 165.4 21001.6 882 9547 0.00 2.25 0.00 0.000 4 0.000 0.065 3085 861 2421 0 0 0 0 0 0

9587 0.62 146.0 160.7 21001.6 885 9594 0.00 2.25 0.00 0.000 6 0.000 0.054 3085 2285 2421 0 0 0 0 0 0

9912 0.62 146.0 130.0 21001.6 916 9914 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2285 2421 0 0 0 0 0 0

10234 0.62 146.0 101.0 21001.6 946 10238 0.00 2.22 0.00 0.000 4 0.000 0.070 3085 3690 2421 0 0 0 0 0 0

10493 0.56 195.8 79.3 7.7 990 10547 0.20 2.22 45.40 0.952 6 0.204 0.054 3045 2265 2231 0 0 0 0 0 0

10884 0.73 284.3 56.6 5.9 1059 10972 0.15 2.45 78.32 0.972 4 0.096 0.066 3109 3685 1868 0 0 0 0 0 0

11031 0.68 284.3 41.3 12.7 1084 11039 0.12 2.33 0.00 0.000 6 0.202 0.054 3090 2280 1862 0 0 0 0 0 0

11360 end climb: FINISH_DEPTH_REACHED

state 11360 begin subsurface finish

11366 0.09 75.8 8.9 -9.4 1142 11408 0.62 2.35 -32.40 0.000 4 0.158 0.078 2897 861 2725 0 0 0 0 0 0

11409 end subsurface finish: CONTROL_FINISHED_OK

state 11409 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	189	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-29425.438	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	200311,082725,6650.033,-6009.453,0,7124.3,0,-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	8.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2	MHEAD_RNG_PITCHd_Wd	118.8,147447,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	616

FREEZE	8.93,-1.754,-1.773,3,64,0	ALTIM_TOP_PING	19.8,17.4
FINISH1	8.9,1.025954,76	_24V_AH	22.7,27.358
FINISH2	7.3	_10V_AH	10.2,15.104
RAFOS_CLK	632	FG_AHR_24Vo	0.000
RAFOS	0,1300622462,12.033333,12.017222,100,62,62,54,53,47,669,198,176,133,226,161	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.670898,-6007.529297,200311,121213,5,100,0.23	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43323,1149
TT8_MAMPS	0.026215	CAP_FILE_SIZE	126537,0
HUMID	47.24	CFSIZE	260165632,239292416
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	1451.8
XPDR_PINGS	0	GPS	200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	224	23.28	SBE_CT	823	24	448.66
Roll_motor	92	166	348.76	SBE_O2	876	19	377.82
VBD_pump_during_apogee	373	1315	11152.44	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	2788	19	566.60
LPSleep	6266	2	147.65
TT8_Active	408	19	83.02
TT8_Sampling	1853	39	754.84
TT8_CF8	162	45	76.03
TT8_Kalman	0	0	0.00
Analog_circuits	1389	12	170.07
GPS_charging	0	0	0.00
Compass	1837	15	281.17
RAFOS	2520	1	38.56
Transponder	14	30	4.59

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.40	0.000	2	0.000	0.000	2902	3678	2927	0	0	0	0	0	0
26	-0.62	-146.0	9.6	-0.0	1	51	0.68	0.40	-19.88	0.000	4	0.102	0.167	2667	3912	3629	0	0	0	0	0	0
289	-0.55	-146.0	52.5	-16.6	47	296	0.00	2.25	0.00	0.000	6	0.000	0.049	2667	2490	3630	0	0	0	0	0	0
634	-0.44	-146.0	114.3	-16.2	101	639	0.20	2.28	0.00	0.000	4	0.207	0.065	2717	1072	3630	0	0	0	0	0	0
663	-0.41	-146.0	118.3	-13.2	103	667	0.00	2.28	0.00	0.000	6	0.000	0.059	2716	2489	3629	0	0	0	0	0	0
988	-0.44	-146.0	151.8	-10.5	133	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2489	3630	0	0	0	0	0	0
1307	-0.49	-146.0	183.7	-9.1	163	1311	0.00	2.28	0.00	0.000	4	0.000	0.068	2717	1074	3629	0	0	0	0	0	0
1338	-0.54	-146.0	186.4	-9.3	165	1342	0.00	2.30	0.00	0.000	6	0.000	0.061	2716	2496	3629	0	0	0	0	0	0
1663	-0.59	-146.0	215.8	-9.1	195	1668	0.15	2.30	0.00	0.000	4	0.116	0.067	2665	1082	3628	0	0	0	0	0	0
1696	-0.55	-146.0	219.9	-12.9	197	1703	0.00	2.28	0.00	0.000	6	0.000	0.062	2664	2488	3629	0	0	0	0	0	0
2021	-0.49	-146.0	261.6	-12.8	228	2023	0.15	0.00	0.00	0.000	6	0.224	0.000	2699	2488	3628	0	0	0	0	0	0
2342	-0.52	-146.0	289.9	-8.4	258	2346	0.00	2.30	0.00	0.000	4	0.000	0.078	2700	3904	3628	0	0	0	0	0	0
2363	-0.56	-146.0	292.0	-8.4	259	2370	0.00	2.22	0.00	0.000	6	0.000	0.050	2699	2481	3628	0	0	0	0	0	0
2689	-0.60	-146.0	321.6	-9.8	290	2693	0.00	2.22	0.00	0.000	4	0.000	0.067	2699	1079	3628	0	0	0	0	0	0
2728	-0.65	-146.0	325.6	-10.0	293	2736	0.15	2.28	0.00	0.000	6	0.124	0.061	2651	2491	3628	0	0	0	0	0	0
3053	-0.58	-146.0	367.8	-12.6	324	3057	0.00	2.30	0.00	0.000	4	0.000	0.076	2651	3902	3628	0	0	0	0	0	0
3086	-0.51	-146.0	372.1	-13.2	326	3093	0.17	2.22	0.00	0.000	6	0.204	0.049	2693	2484	3628	0	0	0	0	0	0
3411	-0.55	-146.0	401.8	-9.0	357	3415	0.00	2.22	0.00	0.000	4	0.000	0.065	2694	1081	3628	0	0	0	0	0	0
3453	-0.60	-146.0	405.6	-9.2	360	3457	0.00	2.25	0.00	0.000	6	0.000	0.060	2693	2498	3627	0	0	0	0	0	0
3779	-0.64	-146.0	434.4	-8.8	390	3781	0.12	0.00	0.00	0.000	6	0.129	0.000	2651	2498	3628	0	0	0	0	0	0
4097	-0.58	-146.0	473.0	-12.1	420	4101	0.00	2.30	0.00	0.000	4	0.000	0.076	2651	3906	3628	0	0	0	0	0	0
4114	-0.51	-146.0	475.2	-12.7	421	4119	0.17	2.22	0.00	0.000	6	0.205	0.048	2694	2485	3628	0	0	0	0	0	0
4440	-0.56	-146.0	504.8	-8.6	451	4441	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2485	3629	0	0	0	0	0	0
4761	-0.61	-146.0	531.2	-8.3	481	4765	0.00	2.22	0.00	0.000	4	0.000	0.063	2694	1079	3629	0	0	0	0	0	0
4779	-0.67	-146.0	533.0	-8.7	482	4783	0.15	2.25	0.00	0.000	6	0.120	0.059	2643	2491	3629	0	0	0	0	0	0
5104	-0.60	-146.0	571.6	-12.3	512	5108	0.00	2.30	0.00	0.000	4	0.000	0.076	2642	3904	3629	0	0	0	0	0	0
5134	-0.53	-146.0	575.1	-13.4	514	5139	0.17	2.20	0.00	0.000	6	0.200	0.048	2686	2480	3629	0	0	0	0	0	0
5468	-0.57	-146.0	605.0	-8.0	541	5469	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2480	3629	0	0	0	0	0	0
5618	end dive: TARGET_DEPTH_EXCEEDED
state	5618	begin apogee
5624	-0.12	0.0	618.4	8.7	546	5753	0.43	0.00	122.53	1.315	6	0.184	0.000	2813	2256	3029	0	0	0	0	0	0
5754	end apogee: CONTROL_FINISHED_OK
state	5754	begin climb
5756	0.62	146.0	623.0	0.0	550	5892	0.77	2.47	127.35	1.262	4	0.136	0.067	3061	889	2432	0	0	0	0	0	0
5944	0.62	146.0	609.2	21001.6	556	5948	0.00	2.40	0.00	0.000	6	0.000	0.054	3061	2274	2427	0	0	0	0	0	0
6275	0.62	146.0	566.9	21001.6	581	6279	0.00	2.38	0.00	0.000	4	0.000	0.068	3061	3689	2424	0	0	0	0	0	0
6447	0.62	146.0	542.2	21001.6	596	6451	0.00	2.30	0.00	0.000	6	0.000	0.052	3071	2287	2423	0	0	0	0	0	0
6772	0.62	146.0	500.4	21001.6	626	6773	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2288	2422	0	0	0	0	0	0
7092	0.62	146.0	461.7	21001.6	656	7096	0.00	2.30	0.00	0.000	4	0.000	0.065	3071	3698	2421	0	0	0	0	0	0
7148	0.62	146.0	453.9	21001.6	660	7155	0.00	2.30	0.00	0.000	6	0.000	0.052	3082	2265	2422	0	0	0	0	0	0
7473	0.62	146.0	413.5	21001.6	691	7477	0.00	2.33	0.00	0.000	4	0.000	0.066	3082	3690	2422	0	0	0	0	0	0
7513	0.62	146.0	408.1	21001.6	694	7517	0.00	2.28	0.00	0.000	6	0.000	0.052	3092	2269	2421	0	0	0	0	0	0
7839	0.62	146.0	364.8	21001.6	724	7840	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2269	2421	0	0	0	0	0	0
8158	0.62	146.0	321.7	21001.6	754	8162	0.00	2.30	0.00	0.000	4	0.000	0.066	3092	3698	2421	0	0	0	0	0	0
8202	0.62	146.0	314.8	21001.6	757	8209	0.15	2.28	0.00	0.000	6	0.215	0.053	3067	2269	2421	0	0	0	0	0	0
8529	0.62	146.0	276.6	21001.6	788	8530	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2269	2421	0	0	0	0	0	0
8847	0.62	146.0	241.6	21001.6	818	8848	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2269	2421	0	0	0	0	0	0
9165	0.62	146.0	206.9	21001.6	848	9169	0.00	2.28	0.00	0.000	4	0.000	0.066	3066	3691	2421	0	0	0	0	0	0
9216	0.62	146.0	200.8	21001.6	852	9220	0.00	2.25	0.00	0.000	6	0.000	0.053	3075	2272	2421	0	0	0	0	0	0
9543	0.62	146.0	165.4	21001.6	882	9547	0.00	2.25	0.00	0.000	4	0.000	0.065	3085	861	2421	0	0	0	0	0	0
9587	0.62	146.0	160.7	21001.6	885	9594	0.00	2.25	0.00	0.000	6	0.000	0.054	3085	2285	2421	0	0	0	0	0	0
9912	0.62	146.0	130.0	21001.6	916	9914	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2285	2421	0	0	0	0	0	0
10234	0.62	146.0	101.0	21001.6	946	10238	0.00	2.22	0.00	0.000	4	0.000	0.070	3085	3690	2421	0	0	0	0	0	0
10493	0.56	195.8	79.3	7.7	990	10547	0.20	2.22	45.40	0.952	6	0.204	0.054	3045	2265	2231	0	0	0	0	0	0
10884	0.73	284.3	56.6	5.9	1059	10972	0.15	2.45	78.32	0.972	4	0.096	0.066	3109	3685	1868	0	0	0	0	0	0
11031	0.68	284.3	41.3	12.7	1084	11039	0.12	2.33	0.00	0.000	6	0.202	0.054	3090	2280	1862	0	0	0	0	0	0
11360	end climb: FINISH_DEPTH_REACHED
state	11360	begin subsurface finish
11366	0.09	75.8	8.9	-9.4	1142	11408	0.62	2.35	-32.40	0.000	4	0.158	0.078	2897	861	2725	0	0	0	0	0	0
11409	end subsurface finish: CONTROL_FINISHED_OK
state	11409	begin surface