Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 181 * 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 181 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 24 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 24 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 181 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 2.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 9.9 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 8.51,-1.755,-1.773,3,56,0 ALTIM_BOTTOM_PING 550.0,29.9

FINISH1 8.5,1.025957,76 _24V_AH 22.7,26.269

FINISH2 6.4 _10V_AH 10.2,14.583

RAFOS_CLK 576 FG_AHR_24Vo 0.000

RAFOS 5,1300538466,12.700000,12.685000,56,56,56,56,53,52,115,144,154,211,178,88 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.842285,-6016.152832,190311,121241,3,105,5.19 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40038,1077

TT8_MAMPS 0.026215 CAP_FILE_SIZE 118922,0

HUMID 46.85 CFSIZE 260165632,239808512

INTERNAL_PRESSURE 8.66244 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 190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2

ALTIM_TOP_PING 19.7,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 220 31.01 SBE_CT 767 24 418.34

Roll_motor 89 80 162.55 SBE_O2 815 19 351.91

VBD_pump_during_apogee 412 1269 11878.77 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 2513 19 510.64

LPSleep 5508 2 129.80

TT8_Active 535 19 108.82

TT8_Sampling 1710 39 696.46

TT8_CF8 147 45 69.27

TT8_Kalman 0 0 0.00

Analog_circuits 1470 12 179.99

GPS_charging 0 0 0.00

Compass 1696 15 259.51

RAFOS 720 1 11.02

Transponder 17 30 5.29

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.62 -146.0 0.0 0.0 0 127 0.00 0.00 -107.53 0.000 2 0.000 0.000 3146 2286 3406 0 0 0 0 0 0

129 -0.62 -146.0 5.2 -8.7 19 149 1.55 1.98 -8.98 0.000 4 0.168 0.076 2673 1076 3628 0 0 0 0 0 0

162 -0.68 -146.0 8.3 -8.0 24 169 0.00 2.28 0.00 0.000 6 0.000 0.058 2673 2489 3629 0 0 0 0 0 0

506 -0.52 -146.0 74.8 -19.7 85 513 0.00 2.30 0.00 0.000 4 0.000 0.073 2673 3899 3629 0 0 0 0 0 0

554 -0.44 -146.0 83.7 -17.4 93 561 0.17 2.22 0.00 0.000 6 0.211 0.047 2715 2489 3629 0 0 0 0 0 0

887 -0.44 -146.0 126.3 -11.1 134 888 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2488 3628 0 0 0 0 0 0

1207 -0.47 -146.0 159.9 -10.1 164 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2488 3628 0 0 0 0 0 0

1527 -0.51 -146.0 191.5 -9.4 194 1531 0.00 2.22 0.00 0.000 4 0.000 0.065 2715 1079 3627 0 0 0 0 0 0

1554 -0.56 -146.0 194.5 -9.8 196 1561 0.00 2.25 0.00 0.000 6 0.000 0.057 2715 2490 3628 0 0 0 0 0 0

1881 -0.62 -146.0 224.0 -8.5 227 1883 0.15 0.00 0.00 0.000 6 0.121 0.000 2665 2490 3628 0 0 0 0 0 0

2198 -0.55 -146.0 262.8 -12.0 257 2199 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2491 3627 0 0 0 0 0 0

2519 -0.49 -146.0 301.0 -12.4 287 2526 0.15 0.00 0.00 0.000 6 0.219 0.000 2700 2491 3627 0 0 0 0 0 0

2846 -0.53 -146.0 330.8 -8.8 318 2847 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2491 3626 0 0 0 0 0 0

3164 -0.58 -146.0 358.1 -8.4 348 3168 0.00 2.30 0.00 0.000 4 0.000 0.074 2700 3905 3626 0 0 0 0 0 0

3186 -0.63 -146.0 360.3 -8.8 349 3193 0.12 2.20 0.00 0.000 6 0.130 0.044 2659 2484 3626 0 0 0 0 0 0

3511 -0.57 -146.0 397.7 -11.7 380 3512 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2484 3626 0 0 0 0 0 0

3831 -0.53 -146.0 434.4 -11.2 410 3836 0.12 2.22 0.00 0.000 4 0.220 0.063 2687 1087 3627 0 0 0 0 0 0

3853 -0.53 -146.0 437.0 -10.9 412 3857 0.00 2.25 0.00 0.000 6 0.000 0.059 2687 2497 3627 0 0 0 0 0 0

4179 -0.56 -146.0 465.4 -8.9 442 4183 0.00 2.28 0.00 0.000 4 0.000 0.075 2687 3900 3627 0 0 0 0 0 0

4189 -0.59 -146.0 466.5 -8.7 442 4196 0.00 2.17 0.00 0.000 6 0.000 0.044 2687 2489 3627 0 0 0 0 0 0

4516 -0.63 -146.0 494.8 -8.1 473 4520 0.00 2.17 0.00 0.000 4 0.000 0.060 2687 1086 3628 0 0 0 0 0 0

4537 -0.67 -146.0 497.0 -9.2 474 4545 0.12 2.22 0.00 0.000 6 0.127 0.057 2646 2491 3627 0 0 0 0 0 0

4862 -0.60 -146.0 534.9 -12.2 505 4864 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2491 3628 0 0 0 0 0 0

5030 end dive: TARGET_DEPTH_EXCEEDED

state 5030 begin apogee

5035 -0.12 0.0 555.0 11.7 521 5167 0.60 0.00 121.90 1.270 6 0.204 0.000 2815 2265 3029 0 0 0 0 0 0

5168 end apogee: CONTROL_FINISHED_OK

state 5168 begin climb

5170 0.62 146.0 560.3 0.0 533 5305 0.77 2.53 125.70 1.226 4 0.138 0.064 3061 885 2434 0 0 0 0 0 0

5360 0.52 146.0 544.9 13.2 550 5368 0.00 2.40 0.00 0.000 6 0.000 0.050 3062 2277 2428 0 0 0 0 0 0

5686 0.42 146.0 503.8 12.4 581 5691 0.22 2.35 0.00 0.000 4 0.184 0.065 3004 3684 2425 0 0 0 0 0 0

5783 0.37 146.0 492.5 11.5 589 5787 0.00 2.28 0.00 0.000 6 0.000 0.050 3012 2284 2425 0 0 0 0 0 0

6113 0.38 147.9 461.0 9.9 620 6117 0.00 2.33 0.00 0.000 4 0.000 0.066 3023 864 2425 0 0 0 0 0 0

6156 0.38 153.6 456.6 9.7 623 6168 0.12 2.28 6.35 0.929 6 0.193 0.051 2994 2277 2403 0 0 0 0 0 0

6488 0.46 190.7 428.5 8.3 654 6532 0.00 2.42 33.70 1.149 4 0.000 0.067 2994 3692 2251 0 0 0 0 0 0

6594 0.46 190.7 418.4 10.5 663 6601 0.00 2.33 0.00 0.000 6 0.000 0.048 3002 2265 2249 0 0 0 0 0 0

6919 0.53 210.1 388.5 9.1 694 6940 0.10 0.00 17.90 1.098 6 0.123 0.000 3044 2264 2172 0 0 0 0 0 0

7258 0.53 210.1 348.3 11.7 726 7262 0.00 2.33 0.00 0.000 4 0.000 0.063 3044 3695 2168 0 0 0 0 0 0

7297 0.48 210.1 343.1 14.3 729 7305 0.15 2.28 0.00 0.000 6 0.191 0.048 3018 2275 2168 0 0 0 0 0 0

7623 0.53 228.9 311.6 9.1 760 7647 0.00 2.35 17.25 1.067 4 0.000 0.063 3026 861 2095 0 0 0 0 0 0

7675 0.61 245.1 306.9 9.2 764 7696 0.00 2.28 16.30 1.052 6 0.000 0.049 3027 2279 2030 0 0 0 0 0 0

8022 0.67 252.2 273.7 9.7 797 8036 0.15 2.35 7.18 0.917 4 0.099 0.062 3087 3692 2001 0 0 0 0 0 0

8093 0.57 252.2 263.6 15.9 803 8098 0.17 2.28 0.00 0.000 6 0.195 0.050 3053 2276 1999 0 0 0 0 0 0

8418 0.57 252.2 225.0 11.9 833 8422 0.00 2.25 0.00 0.000 4 0.000 0.063 3062 861 1998 0 0 0 0 0 0

8469 0.59 252.2 219.1 12.4 837 8473 0.00 2.22 0.00 0.000 6 0.000 0.050 3062 2277 1997 0 0 0 0 0 0

8799 0.59 252.2 180.5 10.8 868 8803 0.00 2.22 0.00 0.000 4 0.000 0.063 3062 3685 1996 0 0 0 0 0 0

8872 0.55 252.2 171.4 13.2 874 8877 0.12 2.25 0.00 0.000 6 0.192 0.050 3041 2267 1996 0 0 0 0 0 0

9197 0.65 280.4 141.2 8.7 904 9232 0.00 2.30 26.58 1.014 4 0.000 0.067 3042 868 1886 0 0 0 0 0 0

9260 0.80 304.5 135.6 8.9 909 9289 0.22 2.25 23.05 0.988 6 0.090 0.049 3128 2275 1788 0 0 0 0 0 0

9611 0.77 304.5 86.4 13.1 950 9618 0.00 2.28 0.00 0.000 4 0.000 0.063 3128 3684 1780 0 0 0 0 0 0

9659 0.69 304.5 79.6 14.5 958 9667 0.20 2.28 0.00 0.000 6 0.197 0.049 3087 2264 1779 0 0 0 0 0 0

10006 0.75 313.3 45.3 9.6 1019 10019 0.00 2.33 7.72 0.861 4 0.000 0.064 3096 860 1752 0 0 0 0 0 0

10072 0.84 321.0 38.8 9.6 1030 10086 0.12 2.25 8.45 0.877 6 0.118 0.051 3145 2275 1721 0 0 0 0 0 0

10294 end climb: FINISH_DEPTH_REACHED

state 10294 begin subsurface finish

10299 0.09 75.6 8.5 -13.8 1069 10348 0.82 2.35 -41.05 0.000 4 0.172 0.080 2898 3691 2724 0 0 0 0 0 0

10348 end subsurface finish: CONTROL_FINISHED_OK

state 10349 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	181	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	24	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	2.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	9.9	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	8.51,-1.755,-1.773,3,56,0	ALTIM_BOTTOM_PING	550.0,29.9
FINISH1	8.5,1.025957,76	_24V_AH	22.7,26.269
FINISH2	6.4	_10V_AH	10.2,14.583
RAFOS_CLK	576	FG_AHR_24Vo	0.000
RAFOS	5,1300538466,12.700000,12.685000,56,56,56,56,53,52,115,144,154,211,178,88	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.842285,-6016.152832,190311,121241,3,105,5.19	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40038,1077
TT8_MAMPS	0.026215	CAP_FILE_SIZE	118922,0
HUMID	46.85	CFSIZE	260165632,239808512
INTERNAL_PRESSURE	8.66244	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	190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2
ALTIM_TOP_PING	19.7,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	220	31.01	SBE_CT	767	24	418.34
Roll_motor	89	80	162.55	SBE_O2	815	19	351.91
VBD_pump_during_apogee	412	1269	11878.77	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	2513	19	510.64
LPSleep	5508	2	129.80
TT8_Active	535	19	108.82
TT8_Sampling	1710	39	696.46
TT8_CF8	147	45	69.27
TT8_Kalman	0	0	0.00
Analog_circuits	1470	12	179.99
GPS_charging	0	0	0.00
Compass	1696	15	259.51
RAFOS	720	1	11.02
Transponder	17	30	5.29

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.62	-146.0	0.0	0.0	0	127	0.00	0.00	-107.53	0.000	2	0.000	0.000	3146	2286	3406	0	0	0	0	0	0
129	-0.62	-146.0	5.2	-8.7	19	149	1.55	1.98	-8.98	0.000	4	0.168	0.076	2673	1076	3628	0	0	0	0	0	0
162	-0.68	-146.0	8.3	-8.0	24	169	0.00	2.28	0.00	0.000	6	0.000	0.058	2673	2489	3629	0	0	0	0	0	0
506	-0.52	-146.0	74.8	-19.7	85	513	0.00	2.30	0.00	0.000	4	0.000	0.073	2673	3899	3629	0	0	0	0	0	0
554	-0.44	-146.0	83.7	-17.4	93	561	0.17	2.22	0.00	0.000	6	0.211	0.047	2715	2489	3629	0	0	0	0	0	0
887	-0.44	-146.0	126.3	-11.1	134	888	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2488	3628	0	0	0	0	0	0
1207	-0.47	-146.0	159.9	-10.1	164	1208	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2488	3628	0	0	0	0	0	0
1527	-0.51	-146.0	191.5	-9.4	194	1531	0.00	2.22	0.00	0.000	4	0.000	0.065	2715	1079	3627	0	0	0	0	0	0
1554	-0.56	-146.0	194.5	-9.8	196	1561	0.00	2.25	0.00	0.000	6	0.000	0.057	2715	2490	3628	0	0	0	0	0	0
1881	-0.62	-146.0	224.0	-8.5	227	1883	0.15	0.00	0.00	0.000	6	0.121	0.000	2665	2490	3628	0	0	0	0	0	0
2198	-0.55	-146.0	262.8	-12.0	257	2199	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2491	3627	0	0	0	0	0	0
2519	-0.49	-146.0	301.0	-12.4	287	2526	0.15	0.00	0.00	0.000	6	0.219	0.000	2700	2491	3627	0	0	0	0	0	0
2846	-0.53	-146.0	330.8	-8.8	318	2847	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2491	3626	0	0	0	0	0	0
3164	-0.58	-146.0	358.1	-8.4	348	3168	0.00	2.30	0.00	0.000	4	0.000	0.074	2700	3905	3626	0	0	0	0	0	0
3186	-0.63	-146.0	360.3	-8.8	349	3193	0.12	2.20	0.00	0.000	6	0.130	0.044	2659	2484	3626	0	0	0	0	0	0
3511	-0.57	-146.0	397.7	-11.7	380	3512	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2484	3626	0	0	0	0	0	0
3831	-0.53	-146.0	434.4	-11.2	410	3836	0.12	2.22	0.00	0.000	4	0.220	0.063	2687	1087	3627	0	0	0	0	0	0
3853	-0.53	-146.0	437.0	-10.9	412	3857	0.00	2.25	0.00	0.000	6	0.000	0.059	2687	2497	3627	0	0	0	0	0	0
4179	-0.56	-146.0	465.4	-8.9	442	4183	0.00	2.28	0.00	0.000	4	0.000	0.075	2687	3900	3627	0	0	0	0	0	0
4189	-0.59	-146.0	466.5	-8.7	442	4196	0.00	2.17	0.00	0.000	6	0.000	0.044	2687	2489	3627	0	0	0	0	0	0
4516	-0.63	-146.0	494.8	-8.1	473	4520	0.00	2.17	0.00	0.000	4	0.000	0.060	2687	1086	3628	0	0	0	0	0	0
4537	-0.67	-146.0	497.0	-9.2	474	4545	0.12	2.22	0.00	0.000	6	0.127	0.057	2646	2491	3627	0	0	0	0	0	0
4862	-0.60	-146.0	534.9	-12.2	505	4864	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2491	3628	0	0	0	0	0	0
5030	end dive: TARGET_DEPTH_EXCEEDED
state	5030	begin apogee
5035	-0.12	0.0	555.0	11.7	521	5167	0.60	0.00	121.90	1.270	6	0.204	0.000	2815	2265	3029	0	0	0	0	0	0
5168	end apogee: CONTROL_FINISHED_OK
state	5168	begin climb
5170	0.62	146.0	560.3	0.0	533	5305	0.77	2.53	125.70	1.226	4	0.138	0.064	3061	885	2434	0	0	0	0	0	0
5360	0.52	146.0	544.9	13.2	550	5368	0.00	2.40	0.00	0.000	6	0.000	0.050	3062	2277	2428	0	0	0	0	0	0
5686	0.42	146.0	503.8	12.4	581	5691	0.22	2.35	0.00	0.000	4	0.184	0.065	3004	3684	2425	0	0	0	0	0	0
5783	0.37	146.0	492.5	11.5	589	5787	0.00	2.28	0.00	0.000	6	0.000	0.050	3012	2284	2425	0	0	0	0	0	0
6113	0.38	147.9	461.0	9.9	620	6117	0.00	2.33	0.00	0.000	4	0.000	0.066	3023	864	2425	0	0	0	0	0	0
6156	0.38	153.6	456.6	9.7	623	6168	0.12	2.28	6.35	0.929	6	0.193	0.051	2994	2277	2403	0	0	0	0	0	0
6488	0.46	190.7	428.5	8.3	654	6532	0.00	2.42	33.70	1.149	4	0.000	0.067	2994	3692	2251	0	0	0	0	0	0
6594	0.46	190.7	418.4	10.5	663	6601	0.00	2.33	0.00	0.000	6	0.000	0.048	3002	2265	2249	0	0	0	0	0	0
6919	0.53	210.1	388.5	9.1	694	6940	0.10	0.00	17.90	1.098	6	0.123	0.000	3044	2264	2172	0	0	0	0	0	0
7258	0.53	210.1	348.3	11.7	726	7262	0.00	2.33	0.00	0.000	4	0.000	0.063	3044	3695	2168	0	0	0	0	0	0
7297	0.48	210.1	343.1	14.3	729	7305	0.15	2.28	0.00	0.000	6	0.191	0.048	3018	2275	2168	0	0	0	0	0	0
7623	0.53	228.9	311.6	9.1	760	7647	0.00	2.35	17.25	1.067	4	0.000	0.063	3026	861	2095	0	0	0	0	0	0
7675	0.61	245.1	306.9	9.2	764	7696	0.00	2.28	16.30	1.052	6	0.000	0.049	3027	2279	2030	0	0	0	0	0	0
8022	0.67	252.2	273.7	9.7	797	8036	0.15	2.35	7.18	0.917	4	0.099	0.062	3087	3692	2001	0	0	0	0	0	0
8093	0.57	252.2	263.6	15.9	803	8098	0.17	2.28	0.00	0.000	6	0.195	0.050	3053	2276	1999	0	0	0	0	0	0
8418	0.57	252.2	225.0	11.9	833	8422	0.00	2.25	0.00	0.000	4	0.000	0.063	3062	861	1998	0	0	0	0	0	0
8469	0.59	252.2	219.1	12.4	837	8473	0.00	2.22	0.00	0.000	6	0.000	0.050	3062	2277	1997	0	0	0	0	0	0
8799	0.59	252.2	180.5	10.8	868	8803	0.00	2.22	0.00	0.000	4	0.000	0.063	3062	3685	1996	0	0	0	0	0	0
8872	0.55	252.2	171.4	13.2	874	8877	0.12	2.25	0.00	0.000	6	0.192	0.050	3041	2267	1996	0	0	0	0	0	0
9197	0.65	280.4	141.2	8.7	904	9232	0.00	2.30	26.58	1.014	4	0.000	0.067	3042	868	1886	0	0	0	0	0	0
9260	0.80	304.5	135.6	8.9	909	9289	0.22	2.25	23.05	0.988	6	0.090	0.049	3128	2275	1788	0	0	0	0	0	0
9611	0.77	304.5	86.4	13.1	950	9618	0.00	2.28	0.00	0.000	4	0.000	0.063	3128	3684	1780	0	0	0	0	0	0
9659	0.69	304.5	79.6	14.5	958	9667	0.20	2.28	0.00	0.000	6	0.197	0.049	3087	2264	1779	0	0	0	0	0	0
10006	0.75	313.3	45.3	9.6	1019	10019	0.00	2.33	7.72	0.861	4	0.000	0.064	3096	860	1752	0	0	0	0	0	0
10072	0.84	321.0	38.8	9.6	1030	10086	0.12	2.25	8.45	0.877	6	0.118	0.051	3145	2275	1721	0	0	0	0	0	0
10294	end climb: FINISH_DEPTH_REACHED
state	10294	begin subsurface finish
10299	0.09	75.6	8.5	-13.8	1069	10348	0.82	2.35	-41.05	0.000	4	0.172	0.080	2898	3691	2724	0	0	0	0	0	0
10348	end subsurface finish: CONTROL_FINISHED_OK
state	10349	begin surface