Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 12 * 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 1.8

DIVE 12 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2150 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 3

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 29 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 -3 T_GPS_CHARGE -22025.441 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 2870 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 0

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 100 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 3 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 0 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 -22025.441

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 2870 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2150 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2300 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

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 29 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 12 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 200211,214534,6704.052,-5654.823,8,5.4,27,-37.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200211,215540,6704.031,-5654.698,10,2.2,29,-37.6 MHEAD_RNG_PITCHd_Wd 294.1,158969,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 539

Post-dive calculations and measurements:

FREEZE 0.83,-0.326,-1.820,3,1,0 ALTIM_BOTTOM_PING 400.3,131.7

FINISH 0.8,1.026663 _24V_AH 23.6,4.935

SM_CCo 9497,135.18,0.064,0,0,750,559.04 _10V_AH 10.4,1.981

SM_GC 1.57,0.00,0.00,135.18,0.000,0.000,0.064,111,2303,750,-8.62,0.08,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 449 FG_AHR_10Vo 0.000

RAFOS 0,1298246467,0.033333,0.018611,61,56,53,52,51,50,152,211,235,194,119,221 MEM 150680

RAFOS_FIX 6707.972168,-5654.844238,200211,121200,2,80,0.15 DATA_FILE_SIZE 40059,1006

IRIDIUM_FIX 6620.33,-6217.79,200211,181817 CAP_FILE_SIZE 122615,0

TT8_MAMPS 0.029211 CFSIZE 260165632,251494400

HUMID 44.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.51595 SOUNDSPEED 1465.2

TCM_TEMP 16.90 GPS 210211,003827,6704.604,-5655.352,37,3.0,56,-37.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 326 185.21 SBE_CT 705 24 399.46

Roll_motor 95 90 203.82 SBE_O2 759 19 340.74

VBD_pump_during_apogee 323 1172 8939.60 nil 0 0 0.00

VBD_pump_during_surface 135 64 205.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.06 nil 0 0 0.00

Iridium_during_connect 47 160 177.98 nil 0 0 0.00

Iridium_during_xfer 327 223 1722.92 nil 0 0 0.00

Transponder_ping 1 420 9.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 17.13

TT8 2381 19 493.44

LPSleep 4852 2 116.57

TT8_Active 624 19 129.28

TT8_Sampling 2125 39 882.62

TT8_CF8 262 45 125.32

TT8_Kalman 0 0 0.00

Analog_circuits 1547 12 193.11

GPS_charging 0 0 0.00

Compass 1690 15 263.79

RAFOS 1800 1 28.08

Transponder 9 30 2.91

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 0 185 0.00 0.00 -166.65 0.000 2 0.000 0.000 106 2315 3548 0 0 0 0 0 0

188 -0.62 -146.0 6.0 -11.5 29 208 12.57 2.38 -1.52 0.000 4 0.327 0.090 2657 3704 3629 0 0 0 0 0 0

312 -0.53 -146.0 38.1 -17.1 50 319 0.15 2.22 0.00 0.000 6 0.214 0.052 2691 2300 3630 0 0 0 0 0 0

658 -0.50 -146.0 88.4 -14.4 111 664 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2300 3630 0 0 0 0 0 0

988 -0.50 -146.0 127.9 -9.6 149 992 0.00 2.33 0.00 0.000 4 0.000 0.078 2691 3702 3629 0 0 0 0 0 0

1095 -0.53 -146.0 137.4 -8.6 158 1100 0.00 2.20 0.00 0.000 6 0.000 0.052 2691 2293 3628 0 0 0 0 0 0

1420 -0.53 -146.0 165.3 -8.3 188 1425 0.00 2.30 0.00 0.000 4 0.000 0.076 2691 3709 3628 0 0 0 0 0 0

1506 -0.58 -146.0 172.6 -8.6 195 1510 0.00 2.20 0.00 0.000 6 0.000 0.051 2691 2301 3628 0 0 0 0 0 0

1832 -0.60 -146.0 205.6 -10.7 225 1837 0.00 2.28 0.00 0.000 4 0.000 0.074 2691 3708 3628 0 0 0 0 0 0

1884 -0.65 -146.0 211.5 -11.4 229 1888 0.00 2.20 0.00 0.000 6 0.000 0.049 2691 2295 3628 0 0 0 0 0 0

2209 -0.67 -146.0 249.0 -11.7 259 2214 0.12 2.30 0.00 0.000 4 0.134 0.073 2650 3714 3629 0 0 0 0 0 0

2275 -0.62 -146.0 258.4 -14.4 264 2282 0.00 2.20 0.00 0.000 6 0.000 0.049 2651 2300 3629 0 0 0 0 0 0

2602 -0.55 -146.0 305.0 -13.9 295 2607 0.15 2.28 0.00 0.000 4 0.220 0.073 2686 3704 3630 0 0 0 0 0 0

2680 -0.59 -146.0 314.1 -10.2 301 2687 0.00 2.17 0.00 0.000 6 0.000 0.047 2687 2294 3630 0 0 0 0 0 0

3005 -0.62 -146.0 346.1 -9.8 332 3009 0.00 2.25 0.00 0.000 4 0.000 0.071 2686 3704 3631 0 0 0 0 0 0

3106 -0.66 -146.0 356.0 -9.2 340 3113 0.00 2.17 0.00 0.000 6 0.000 0.047 2686 2294 3631 0 0 0 0 0 0

3432 -0.68 -146.0 387.5 -9.3 371 3436 0.12 2.28 0.00 0.000 4 0.135 0.071 2645 3707 3633 0 0 0 0 0 0

3498 -0.62 -146.0 395.7 -12.6 376 3505 0.00 2.15 0.00 0.000 6 0.000 0.047 2645 2298 3633 0 0 0 0 0 0

3823 -0.53 -146.0 436.4 -12.4 407 3828 0.20 2.25 0.00 0.000 4 0.216 0.072 2695 3701 3634 0 0 0 0 0 0

3909 -0.59 -146.0 444.2 -8.6 414 3913 0.00 2.15 0.00 0.000 6 0.000 0.048 2695 2291 3634 0 0 0 0 0 0

4234 -0.64 -146.0 472.4 -8.4 444 4238 0.00 2.28 0.00 0.000 4 0.000 0.073 2695 3712 3634 0 0 0 0 0 0

4347 -0.70 -146.0 482.2 -8.5 454 4352 0.15 2.17 0.00 0.000 6 0.120 0.049 2644 2301 3634 0 0 0 0 0 0

4628 end dive: BOTTOM_OBSTACLE_DETECTED

state 4628 begin apogee

4633 -0.12 0.0 517.0 13.1 480 4757 0.60 0.00 118.53 1.173 6 0.198 0.000 2818 2137 3030 0 0 0 0 0 0

4758 end apogee: CONTROL_FINISHED_OK

state 4758 begin climb

4760 0.62 146.0 521.3 0.0 491 4892 0.77 2.40 121.60 1.150 4 0.139 0.070 3065 760 2433 0 0 0 0 0 0

4961 0.52 146.0 504.1 13.2 509 4965 0.00 2.30 0.00 0.000 6 0.000 0.055 3063 2148 2427 0 0 0 0 0 0

5286 0.43 146.0 463.6 12.4 539 5291 0.20 2.33 0.00 0.000 4 0.186 0.069 3009 3558 2425 0 0 0 0 0 0

5453 0.39 146.0 445.1 10.7 553 5460 0.00 2.25 0.00 0.000 6 0.000 0.054 3017 2164 2423 0 0 0 0 0 0

5779 0.42 164.5 414.7 9.1 584 5801 0.00 2.35 14.80 1.003 4 0.000 0.070 3017 3567 2359 0 0 0 0 0 0

5852 0.38 164.5 407.0 10.9 590 5859 0.12 2.30 0.00 0.000 6 0.189 0.054 2998 2144 2358 0 0 0 0 0 0

6177 0.49 215.6 381.2 7.6 621 6232 0.00 2.47 44.25 1.074 4 0.000 0.069 2997 3564 2150 0 0 0 0 0 0

6327 0.59 242.4 367.8 8.8 634 6357 0.17 2.33 23.83 1.034 6 0.099 0.053 3067 2143 2041 0 0 0 0 0 0

6674 0.56 242.4 324.5 13.0 667 6678 0.00 2.35 0.00 0.000 4 0.000 0.069 3067 3566 2033 0 0 0 0 0 0

6697 0.52 242.4 321.2 14.4 669 6702 0.15 2.30 0.00 0.000 6 0.187 0.054 3040 2140 2033 0 0 0 0 0 0

7022 0.54 242.4 283.8 11.9 699 7026 0.00 2.33 0.00 0.000 4 0.000 0.069 3039 3565 2031 0 0 0 0 0 0

7112 0.54 242.4 271.9 13.0 707 7116 0.00 2.28 0.00 0.000 6 0.000 0.053 3042 2138 2031 0 0 0 0 0 0

7437 0.57 242.4 230.9 12.5 737 7441 0.00 2.28 0.00 0.000 4 0.000 0.067 3042 3560 2030 0 0 0 0 0 0

7502 0.57 242.4 221.8 13.7 742 7509 0.00 2.25 0.00 0.000 6 0.000 0.050 3051 2148 2030 0 0 0 0 0 0

7829 0.57 242.4 180.9 12.2 773 7833 0.00 2.28 0.00 0.000 4 0.000 0.067 3051 3564 2030 0 0 0 0 0 0

7849 0.57 242.4 178.0 12.3 774 7857 0.00 2.25 0.00 0.000 6 0.000 0.050 3059 2140 2030 0 0 0 0 0 0

8175 0.57 242.4 139.4 11.3 805 8179 0.00 2.30 0.00 0.000 4 0.000 0.066 3059 3571 2030 0 0 0 0 0 0

8237 0.55 242.4 131.7 13.2 810 8241 0.00 2.22 0.00 0.000 6 0.000 0.049 3068 2149 2030 0 0 0 0 0 0

8565 0.55 242.4 95.5 10.1 844 8571 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2148 2030 0 0 0 0 0 0

8908 0.58 242.4 61.6 10.2 905 8915 0.00 2.25 0.00 0.000 4 0.000 0.067 3069 3570 2029 0 0 0 0 0 0

8943 0.58 242.4 57.6 11.7 911 8950 0.00 2.22 0.00 0.000 6 0.000 0.050 3077 2146 2030 0 0 0 0 0 0

9289 0.58 242.4 21.1 11.3 972 9296 0.00 2.22 0.00 0.000 4 0.000 0.069 3086 745 2030 0 0 0 0 0 0

9319 0.58 242.4 17.9 10.7 977 9326 0.00 2.22 0.00 0.000 6 0.000 0.059 3086 2153 2029 0 0 0 0 0 0

9459 end climb: SURFACE_DEPTH_REACHED

state 9459 begin surface coast

9481 end surface coast: CONTROL_FINISHED_OK

state 9481 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	1.8
DIVE	12	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2150	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	3
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	29	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	-3	T_GPS_CHARGE	-22025.441	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	2870	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	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	200211,214534,6704.052,-5654.823,8,5.4,27,-37.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200211,215540,6704.031,-5654.698,10,2.2,29,-37.6	MHEAD_RNG_PITCHd_Wd	294.1,158969,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	539

FREEZE	0.83,-0.326,-1.820,3,1,0	ALTIM_BOTTOM_PING	400.3,131.7
FINISH	0.8,1.026663	_24V_AH	23.6,4.935
SM_CCo	9497,135.18,0.064,0,0,750,559.04	_10V_AH	10.4,1.981
SM_GC	1.57,0.00,0.00,135.18,0.000,0.000,0.064,111,2303,750,-8.62,0.08,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	449	FG_AHR_10Vo	0.000
RAFOS	0,1298246467,0.033333,0.018611,61,56,53,52,51,50,152,211,235,194,119,221	MEM	150680
RAFOS_FIX	6707.972168,-5654.844238,200211,121200,2,80,0.15	DATA_FILE_SIZE	40059,1006
IRIDIUM_FIX	6620.33,-6217.79,200211,181817	CAP_FILE_SIZE	122615,0
TT8_MAMPS	0.029211	CFSIZE	260165632,251494400
HUMID	44.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.51595	SOUNDSPEED	1465.2
TCM_TEMP	16.90	GPS	210211,003827,6704.604,-5655.352,37,3.0,56,-37.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	326	185.21	SBE_CT	705	24	399.46
Roll_motor	95	90	203.82	SBE_O2	759	19	340.74
VBD_pump_during_apogee	323	1172	8939.60	nil	0	0	0.00
VBD_pump_during_surface	135	64	205.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.06	nil	0	0	0.00
Iridium_during_connect	47	160	177.98	nil	0	0	0.00
Iridium_during_xfer	327	223	1722.92	nil	0	0	0.00
Transponder_ping	1	420	9.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	17.13
TT8	2381	19	493.44
LPSleep	4852	2	116.57
TT8_Active	624	19	129.28
TT8_Sampling	2125	39	882.62
TT8_CF8	262	45	125.32
TT8_Kalman	0	0	0.00
Analog_circuits	1547	12	193.11
GPS_charging	0	0	0.00
Compass	1690	15	263.79
RAFOS	1800	1	28.08
Transponder	9	30	2.91

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	185	0.00	0.00	-166.65	0.000	2	0.000	0.000	106	2315	3548	0	0	0	0	0	0
188	-0.62	-146.0	6.0	-11.5	29	208	12.57	2.38	-1.52	0.000	4	0.327	0.090	2657	3704	3629	0	0	0	0	0	0
312	-0.53	-146.0	38.1	-17.1	50	319	0.15	2.22	0.00	0.000	6	0.214	0.052	2691	2300	3630	0	0	0	0	0	0
658	-0.50	-146.0	88.4	-14.4	111	664	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2300	3630	0	0	0	0	0	0
988	-0.50	-146.0	127.9	-9.6	149	992	0.00	2.33	0.00	0.000	4	0.000	0.078	2691	3702	3629	0	0	0	0	0	0
1095	-0.53	-146.0	137.4	-8.6	158	1100	0.00	2.20	0.00	0.000	6	0.000	0.052	2691	2293	3628	0	0	0	0	0	0
1420	-0.53	-146.0	165.3	-8.3	188	1425	0.00	2.30	0.00	0.000	4	0.000	0.076	2691	3709	3628	0	0	0	0	0	0
1506	-0.58	-146.0	172.6	-8.6	195	1510	0.00	2.20	0.00	0.000	6	0.000	0.051	2691	2301	3628	0	0	0	0	0	0
1832	-0.60	-146.0	205.6	-10.7	225	1837	0.00	2.28	0.00	0.000	4	0.000	0.074	2691	3708	3628	0	0	0	0	0	0
1884	-0.65	-146.0	211.5	-11.4	229	1888	0.00	2.20	0.00	0.000	6	0.000	0.049	2691	2295	3628	0	0	0	0	0	0
2209	-0.67	-146.0	249.0	-11.7	259	2214	0.12	2.30	0.00	0.000	4	0.134	0.073	2650	3714	3629	0	0	0	0	0	0
2275	-0.62	-146.0	258.4	-14.4	264	2282	0.00	2.20	0.00	0.000	6	0.000	0.049	2651	2300	3629	0	0	0	0	0	0
2602	-0.55	-146.0	305.0	-13.9	295	2607	0.15	2.28	0.00	0.000	4	0.220	0.073	2686	3704	3630	0	0	0	0	0	0
2680	-0.59	-146.0	314.1	-10.2	301	2687	0.00	2.17	0.00	0.000	6	0.000	0.047	2687	2294	3630	0	0	0	0	0	0
3005	-0.62	-146.0	346.1	-9.8	332	3009	0.00	2.25	0.00	0.000	4	0.000	0.071	2686	3704	3631	0	0	0	0	0	0
3106	-0.66	-146.0	356.0	-9.2	340	3113	0.00	2.17	0.00	0.000	6	0.000	0.047	2686	2294	3631	0	0	0	0	0	0
3432	-0.68	-146.0	387.5	-9.3	371	3436	0.12	2.28	0.00	0.000	4	0.135	0.071	2645	3707	3633	0	0	0	0	0	0
3498	-0.62	-146.0	395.7	-12.6	376	3505	0.00	2.15	0.00	0.000	6	0.000	0.047	2645	2298	3633	0	0	0	0	0	0
3823	-0.53	-146.0	436.4	-12.4	407	3828	0.20	2.25	0.00	0.000	4	0.216	0.072	2695	3701	3634	0	0	0	0	0	0
3909	-0.59	-146.0	444.2	-8.6	414	3913	0.00	2.15	0.00	0.000	6	0.000	0.048	2695	2291	3634	0	0	0	0	0	0
4234	-0.64	-146.0	472.4	-8.4	444	4238	0.00	2.28	0.00	0.000	4	0.000	0.073	2695	3712	3634	0	0	0	0	0	0
4347	-0.70	-146.0	482.2	-8.5	454	4352	0.15	2.17	0.00	0.000	6	0.120	0.049	2644	2301	3634	0	0	0	0	0	0
4628	end dive: BOTTOM_OBSTACLE_DETECTED
state	4628	begin apogee
4633	-0.12	0.0	517.0	13.1	480	4757	0.60	0.00	118.53	1.173	6	0.198	0.000	2818	2137	3030	0	0	0	0	0	0
4758	end apogee: CONTROL_FINISHED_OK
state	4758	begin climb
4760	0.62	146.0	521.3	0.0	491	4892	0.77	2.40	121.60	1.150	4	0.139	0.070	3065	760	2433	0	0	0	0	0	0
4961	0.52	146.0	504.1	13.2	509	4965	0.00	2.30	0.00	0.000	6	0.000	0.055	3063	2148	2427	0	0	0	0	0	0
5286	0.43	146.0	463.6	12.4	539	5291	0.20	2.33	0.00	0.000	4	0.186	0.069	3009	3558	2425	0	0	0	0	0	0
5453	0.39	146.0	445.1	10.7	553	5460	0.00	2.25	0.00	0.000	6	0.000	0.054	3017	2164	2423	0	0	0	0	0	0
5779	0.42	164.5	414.7	9.1	584	5801	0.00	2.35	14.80	1.003	4	0.000	0.070	3017	3567	2359	0	0	0	0	0	0
5852	0.38	164.5	407.0	10.9	590	5859	0.12	2.30	0.00	0.000	6	0.189	0.054	2998	2144	2358	0	0	0	0	0	0
6177	0.49	215.6	381.2	7.6	621	6232	0.00	2.47	44.25	1.074	4	0.000	0.069	2997	3564	2150	0	0	0	0	0	0
6327	0.59	242.4	367.8	8.8	634	6357	0.17	2.33	23.83	1.034	6	0.099	0.053	3067	2143	2041	0	0	0	0	0	0
6674	0.56	242.4	324.5	13.0	667	6678	0.00	2.35	0.00	0.000	4	0.000	0.069	3067	3566	2033	0	0	0	0	0	0
6697	0.52	242.4	321.2	14.4	669	6702	0.15	2.30	0.00	0.000	6	0.187	0.054	3040	2140	2033	0	0	0	0	0	0
7022	0.54	242.4	283.8	11.9	699	7026	0.00	2.33	0.00	0.000	4	0.000	0.069	3039	3565	2031	0	0	0	0	0	0
7112	0.54	242.4	271.9	13.0	707	7116	0.00	2.28	0.00	0.000	6	0.000	0.053	3042	2138	2031	0	0	0	0	0	0
7437	0.57	242.4	230.9	12.5	737	7441	0.00	2.28	0.00	0.000	4	0.000	0.067	3042	3560	2030	0	0	0	0	0	0
7502	0.57	242.4	221.8	13.7	742	7509	0.00	2.25	0.00	0.000	6	0.000	0.050	3051	2148	2030	0	0	0	0	0	0
7829	0.57	242.4	180.9	12.2	773	7833	0.00	2.28	0.00	0.000	4	0.000	0.067	3051	3564	2030	0	0	0	0	0	0
7849	0.57	242.4	178.0	12.3	774	7857	0.00	2.25	0.00	0.000	6	0.000	0.050	3059	2140	2030	0	0	0	0	0	0
8175	0.57	242.4	139.4	11.3	805	8179	0.00	2.30	0.00	0.000	4	0.000	0.066	3059	3571	2030	0	0	0	0	0	0
8237	0.55	242.4	131.7	13.2	810	8241	0.00	2.22	0.00	0.000	6	0.000	0.049	3068	2149	2030	0	0	0	0	0	0
8565	0.55	242.4	95.5	10.1	844	8571	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2148	2030	0	0	0	0	0	0
8908	0.58	242.4	61.6	10.2	905	8915	0.00	2.25	0.00	0.000	4	0.000	0.067	3069	3570	2029	0	0	0	0	0	0
8943	0.58	242.4	57.6	11.7	911	8950	0.00	2.22	0.00	0.000	6	0.000	0.050	3077	2146	2030	0	0	0	0	0	0
9289	0.58	242.4	21.1	11.3	972	9296	0.00	2.22	0.00	0.000	4	0.000	0.069	3086	745	2030	0	0	0	0	0	0
9319	0.58	242.4	17.9	10.7	977	9326	0.00	2.22	0.00	0.000	6	0.000	0.059	3086	2153	2029	0	0	0	0	0	0
9459	end climb: SURFACE_DEPTH_REACHED
state	9459	begin surface coast
9481	end surface coast: CONTROL_FINISHED_OK
state	9481	begin surface