Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 14 * 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 25

DIVE 14 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2450 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2225 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 400 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -22027.951 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 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 400

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 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 25 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 -22027.951

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 2225 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2450 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 25 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 14 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 210211,031958,6706.104,-5658.469,12,99.0,31,-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 1.62 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 210211,032456,6706.135,-5658.382,11,1.2,11,-37.6 MHEAD_RNG_PITCHd_Wd 292.5,157320,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 517

Post-dive calculations and measurements:

FREEZE 0.82,-0.196,-1.813,3,1,0 ALTIM_TOP_PING 19.6,19.0

FINISH 0.8,1.026560 ALTIM_BOTTOM_PING 451.0,56.2

SM_CCo 9424,84.53,0.064,0,0,1398,400.08 _24V_AH 23.5,5.154

SM_GC 1.75,0.00,0.00,84.53,0.000,0.000,0.064,114,2461,1398,-8.61,0.31,400.08 _10V_AH 10.4,2.109

RAFOS_CLK 448 FG_AHR_24Vo 0.000

RAFOS 0,1298260867,4.033333,4.018611,66,60,59,57,54,53,164,147,209,218,184,399 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.658691,-5710.915527,210211,040444,3,94,2.15 MEM 150712

IRIDIUM_FIX 6636.54,-5658.34,210211,000018 DATA_FILE_SIZE 40023,999

TT8_MAMPS 0.026215 CAP_FILE_SIZE 114951,0

HUMID 45.15 CFSIZE 260165632,251367424

INTERNAL_PRESSURE 8.58431 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1464.1

XPDR_PINGS 0 GPS 210211,060546,6707.264,-5702.817,39,1.1,48,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 332 185.69 SBE_CT 700 24 395.23

Roll_motor 82 86 167.44 SBE_O2 757 19 338.36

VBD_pump_during_apogee 295 1162 8068.78 nil 0 0 0.00

VBD_pump_during_surface 84 64 127.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.34 nil 0 0 0.00

Iridium_during_connect 17 160 65.83 nil 0 0 0.00

Iridium_during_xfer 127 223 668.06 nil 0 0 0.00

Transponder_ping 1 420 17.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.18

TT8 2409 19 499.08

LPSleep 4908 2 117.91

TT8_Active 550 19 113.97

TT8_Sampling 1776 39 737.45

TT8_CF8 187 45 89.41

TT8_Kalman 0 0 0.00

Analog_circuits 1407 12 175.66

GPS_charging 0 0 0.00

Compass 1573 15 245.42

RAFOS 2520 1 39.31

Transponder 15 30 4.82

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 0 186 0.00 0.00 -167.82 0.000 2 0.000 0.000 109 2454 3569 0 0 0 0 0 0

189 -0.62 -146.0 5.7 -12.6 29 209 12.60 2.33 -1.12 0.000 4 0.332 0.086 2656 3867 3627 0 0 0 0 0 0

322 -0.54 -146.0 40.8 -17.2 52 330 0.15 2.25 0.00 0.000 6 0.213 0.053 2691 2439 3628 0 0 0 0 0 0

670 -0.50 -146.0 87.3 -12.9 113 676 0.00 2.22 0.00 0.000 4 0.000 0.067 2691 1039 3628 0 0 0 0 0 0

700 -0.47 -146.0 91.5 -13.3 118 707 0.00 2.28 0.00 0.000 6 0.000 0.065 2691 2449 3628 0 0 0 0 0 0

1035 -0.47 -146.0 130.9 -11.4 155 1036 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2450 3627 0 0 0 0 0 0

1356 -0.47 -146.0 164.3 -9.9 185 1360 0.00 2.30 0.00 0.000 4 0.000 0.082 2691 3860 3626 0 0 0 0 0 0

1394 -0.50 -146.0 168.5 -10.5 188 1401 0.00 2.22 0.00 0.000 6 0.000 0.053 2691 2449 3626 0 0 0 0 0 0

1720 -0.50 -146.0 199.0 -9.1 219 1724 0.00 2.22 0.00 0.000 4 0.000 0.067 2691 1036 3625 0 0 0 0 0 0

1771 -0.53 -146.0 203.9 -9.2 223 1775 0.00 2.25 0.00 0.000 6 0.000 0.063 2691 2450 3626 0 0 0 0 0 0

2103 -0.56 -146.0 233.6 -8.9 254 2107 0.00 2.28 0.00 0.000 4 0.000 0.078 2691 3854 3626 0 0 0 0 0 0

2191 -0.61 -146.0 241.7 -8.9 261 2198 0.00 2.17 0.00 0.000 6 0.000 0.050 2691 2440 3626 0 0 0 0 0 0

2518 -0.64 -146.0 269.9 -8.4 292 2519 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2440 3627 0 0 0 0 0 0

2836 -0.68 -146.0 296.8 -8.5 322 2841 0.12 2.30 0.00 0.000 4 0.132 0.075 2650 3859 3628 0 0 0 0 0 0

2876 -0.62 -146.0 301.2 -11.6 325 2880 0.00 2.17 0.00 0.000 6 0.000 0.049 2650 2450 3628 0 0 0 0 0 0

3202 -0.54 -146.0 341.1 -12.7 355 3203 0.17 0.00 0.00 0.000 6 0.217 0.000 2693 2450 3629 0 0 0 0 0 0

3521 -0.57 -146.0 370.1 -8.8 385 3525 0.00 2.28 0.00 0.000 4 0.000 0.076 2692 3860 3630 0 0 0 0 0 0

3604 -0.63 -146.0 377.8 -9.0 392 3611 0.00 2.17 0.00 0.000 6 0.000 0.049 2692 2439 3630 0 0 0 0 0 0

3929 -0.67 -146.0 408.1 -9.4 423 3934 0.12 2.33 0.00 0.000 4 0.127 0.075 2650 3863 3631 0 0 0 0 0 0

3980 -0.63 -146.0 414.0 -12.3 427 3984 0.00 2.17 0.00 0.000 6 0.000 0.049 2650 2446 3631 0 0 0 0 0 0

4311 -0.57 -146.0 454.9 -12.4 458 4313 0.12 0.00 0.00 0.000 6 0.227 0.000 2678 2445 3631 0 0 0 0 0 0

4631 -0.57 -146.0 485.5 -10.0 488 4632 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2445 3631 0 0 0 0 0 0

4702 end dive: BOTTOM_OBSTACLE_DETECTED

state 4702 begin apogee

4707 -0.12 0.0 492.4 9.3 495 4831 0.47 0.00 118.32 1.162 6 0.182 0.000 2823 2219 3030 0 0 0 0 0 0

4832 end apogee: CONTROL_FINISHED_OK

state 4832 begin climb

4834 0.62 146.0 496.3 0.0 506 4963 0.77 0.00 121.95 1.144 6 0.135 0.000 3059 2218 2433 0 0 0 0 0 0

5280 0.54 146.0 447.9 12.5 548 5284 0.00 2.35 0.00 0.000 4 0.000 0.070 3059 3631 2425 0 0 0 0 0 0

5314 0.42 146.0 443.0 14.0 551 5319 0.22 2.28 0.00 0.000 6 0.188 0.056 3012 2229 2424 0 0 0 0 0 0

5639 0.44 161.4 411.4 9.3 581 5662 0.00 2.40 12.60 0.976 4 0.000 0.070 3012 3631 2371 0 0 0 0 0 0

5678 0.44 169.0 407.5 9.7 584 5696 0.00 2.30 8.18 0.915 6 0.000 0.054 3019 2213 2341 0 0 0 0 0 0

6014 0.46 177.4 374.8 9.6 616 6029 0.00 2.42 8.52 0.913 4 0.000 0.071 3019 3644 2306 0 0 0 0 0 0

6059 0.43 177.4 369.8 11.8 620 6063 0.00 2.30 0.00 0.000 6 0.000 0.053 3029 2223 2305 0 0 0 0 0 0

6385 0.43 177.4 335.7 11.0 650 6389 0.00 2.33 0.00 0.000 4 0.000 0.070 3029 3638 2304 0 0 0 0 0 0

6429 0.39 177.4 330.1 12.9 653 6436 0.15 2.28 0.00 0.000 6 0.195 0.054 3002 2211 2304 0 0 0 0 0 0

6754 0.47 197.2 300.1 9.1 684 6778 0.00 2.42 17.80 0.986 4 0.000 0.070 3002 3637 2225 0 0 0 0 0 0

6806 0.50 197.2 294.9 10.2 688 6813 0.00 2.28 0.00 0.000 6 0.000 0.053 3008 2222 2225 0 0 0 0 0 0

7133 0.56 205.3 263.4 9.6 719 7145 0.12 0.00 8.10 0.876 6 0.112 0.000 3055 2221 2192 0 0 0 0 0 0

7463 0.53 205.3 220.4 12.7 750 7467 0.00 2.30 0.00 0.000 4 0.000 0.070 3055 3637 2190 0 0 0 0 0 0

7519 0.47 205.3 212.2 15.3 755 7524 0.15 2.25 0.00 0.000 6 0.186 0.054 3027 2225 2190 0 0 0 0 0 0

7845 0.49 205.3 176.8 10.2 785 7849 0.00 2.28 0.00 0.000 4 0.000 0.070 3029 809 2189 0 0 0 0 0 0

7862 0.52 205.3 174.9 10.6 786 7867 0.00 2.25 0.00 0.000 6 0.000 0.057 3029 2228 2188 0 0 0 0 0 0

8188 0.55 205.3 142.4 10.0 816 8192 0.00 2.25 0.00 0.000 4 0.000 0.069 3029 3635 2188 0 0 0 0 0 0

8288 0.55 205.3 130.6 11.4 824 8295 0.00 2.22 0.00 0.000 6 0.000 0.050 3037 2218 2188 0 0 0 0 0 0

8616 0.61 205.3 94.3 12.4 859 8623 0.00 2.22 0.00 0.000 4 0.000 0.067 3041 817 2188 0 0 0 0 0 0

8630 0.66 205.3 92.8 11.4 861 8637 0.12 2.22 0.00 0.000 6 0.119 0.054 3091 2233 2188 0 0 0 0 0 0

8977 0.59 205.3 45.9 12.4 922 8983 0.00 2.22 0.00 0.000 4 0.000 0.070 3091 3631 2188 0 0 0 0 0 0

9166 0.48 205.3 19.6 13.8 955 9174 0.25 2.20 0.00 0.000 6 0.185 0.053 3032 2225 2189 0 0 0 0 0 0

9368 end climb: SURFACE_DEPTH_REACHED

state 9368 begin surface coast

9408 end surface coast: CONTROL_FINISHED_OK

state 9408 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	25
DIVE	14	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2450	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2225	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	400	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-22027.951	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	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	210211,031958,6706.104,-5658.469,12,99.0,31,-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	1.62	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	210211,032456,6706.135,-5658.382,11,1.2,11,-37.6	MHEAD_RNG_PITCHd_Wd	292.5,157320,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	517

FREEZE	0.82,-0.196,-1.813,3,1,0	ALTIM_TOP_PING	19.6,19.0
FINISH	0.8,1.026560	ALTIM_BOTTOM_PING	451.0,56.2
SM_CCo	9424,84.53,0.064,0,0,1398,400.08	_24V_AH	23.5,5.154
SM_GC	1.75,0.00,0.00,84.53,0.000,0.000,0.064,114,2461,1398,-8.61,0.31,400.08	_10V_AH	10.4,2.109
RAFOS_CLK	448	FG_AHR_24Vo	0.000
RAFOS	0,1298260867,4.033333,4.018611,66,60,59,57,54,53,164,147,209,218,184,399	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.658691,-5710.915527,210211,040444,3,94,2.15	MEM	150712
IRIDIUM_FIX	6636.54,-5658.34,210211,000018	DATA_FILE_SIZE	40023,999
TT8_MAMPS	0.026215	CAP_FILE_SIZE	114951,0
HUMID	45.15	CFSIZE	260165632,251367424
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1464.1
XPDR_PINGS	0	GPS	210211,060546,6707.264,-5702.817,39,1.1,48,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	332	185.69	SBE_CT	700	24	395.23
Roll_motor	82	86	167.44	SBE_O2	757	19	338.36
VBD_pump_during_apogee	295	1162	8068.78	nil	0	0	0.00
VBD_pump_during_surface	84	64	127.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.34	nil	0	0	0.00
Iridium_during_connect	17	160	65.83	nil	0	0	0.00
Iridium_during_xfer	127	223	668.06	nil	0	0	0.00
Transponder_ping	1	420	17.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.18
TT8	2409	19	499.08
LPSleep	4908	2	117.91
TT8_Active	550	19	113.97
TT8_Sampling	1776	39	737.45
TT8_CF8	187	45	89.41
TT8_Kalman	0	0	0.00
Analog_circuits	1407	12	175.66
GPS_charging	0	0	0.00
Compass	1573	15	245.42
RAFOS	2520	1	39.31
Transponder	15	30	4.82

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	186	0.00	0.00	-167.82	0.000	2	0.000	0.000	109	2454	3569	0	0	0	0	0	0
189	-0.62	-146.0	5.7	-12.6	29	209	12.60	2.33	-1.12	0.000	4	0.332	0.086	2656	3867	3627	0	0	0	0	0	0
322	-0.54	-146.0	40.8	-17.2	52	330	0.15	2.25	0.00	0.000	6	0.213	0.053	2691	2439	3628	0	0	0	0	0	0
670	-0.50	-146.0	87.3	-12.9	113	676	0.00	2.22	0.00	0.000	4	0.000	0.067	2691	1039	3628	0	0	0	0	0	0
700	-0.47	-146.0	91.5	-13.3	118	707	0.00	2.28	0.00	0.000	6	0.000	0.065	2691	2449	3628	0	0	0	0	0	0
1035	-0.47	-146.0	130.9	-11.4	155	1036	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2450	3627	0	0	0	0	0	0
1356	-0.47	-146.0	164.3	-9.9	185	1360	0.00	2.30	0.00	0.000	4	0.000	0.082	2691	3860	3626	0	0	0	0	0	0
1394	-0.50	-146.0	168.5	-10.5	188	1401	0.00	2.22	0.00	0.000	6	0.000	0.053	2691	2449	3626	0	0	0	0	0	0
1720	-0.50	-146.0	199.0	-9.1	219	1724	0.00	2.22	0.00	0.000	4	0.000	0.067	2691	1036	3625	0	0	0	0	0	0
1771	-0.53	-146.0	203.9	-9.2	223	1775	0.00	2.25	0.00	0.000	6	0.000	0.063	2691	2450	3626	0	0	0	0	0	0
2103	-0.56	-146.0	233.6	-8.9	254	2107	0.00	2.28	0.00	0.000	4	0.000	0.078	2691	3854	3626	0	0	0	0	0	0
2191	-0.61	-146.0	241.7	-8.9	261	2198	0.00	2.17	0.00	0.000	6	0.000	0.050	2691	2440	3626	0	0	0	0	0	0
2518	-0.64	-146.0	269.9	-8.4	292	2519	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2440	3627	0	0	0	0	0	0
2836	-0.68	-146.0	296.8	-8.5	322	2841	0.12	2.30	0.00	0.000	4	0.132	0.075	2650	3859	3628	0	0	0	0	0	0
2876	-0.62	-146.0	301.2	-11.6	325	2880	0.00	2.17	0.00	0.000	6	0.000	0.049	2650	2450	3628	0	0	0	0	0	0
3202	-0.54	-146.0	341.1	-12.7	355	3203	0.17	0.00	0.00	0.000	6	0.217	0.000	2693	2450	3629	0	0	0	0	0	0
3521	-0.57	-146.0	370.1	-8.8	385	3525	0.00	2.28	0.00	0.000	4	0.000	0.076	2692	3860	3630	0	0	0	0	0	0
3604	-0.63	-146.0	377.8	-9.0	392	3611	0.00	2.17	0.00	0.000	6	0.000	0.049	2692	2439	3630	0	0	0	0	0	0
3929	-0.67	-146.0	408.1	-9.4	423	3934	0.12	2.33	0.00	0.000	4	0.127	0.075	2650	3863	3631	0	0	0	0	0	0
3980	-0.63	-146.0	414.0	-12.3	427	3984	0.00	2.17	0.00	0.000	6	0.000	0.049	2650	2446	3631	0	0	0	0	0	0
4311	-0.57	-146.0	454.9	-12.4	458	4313	0.12	0.00	0.00	0.000	6	0.227	0.000	2678	2445	3631	0	0	0	0	0	0
4631	-0.57	-146.0	485.5	-10.0	488	4632	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2445	3631	0	0	0	0	0	0
4702	end dive: BOTTOM_OBSTACLE_DETECTED
state	4702	begin apogee
4707	-0.12	0.0	492.4	9.3	495	4831	0.47	0.00	118.32	1.162	6	0.182	0.000	2823	2219	3030	0	0	0	0	0	0
4832	end apogee: CONTROL_FINISHED_OK
state	4832	begin climb
4834	0.62	146.0	496.3	0.0	506	4963	0.77	0.00	121.95	1.144	6	0.135	0.000	3059	2218	2433	0	0	0	0	0	0
5280	0.54	146.0	447.9	12.5	548	5284	0.00	2.35	0.00	0.000	4	0.000	0.070	3059	3631	2425	0	0	0	0	0	0
5314	0.42	146.0	443.0	14.0	551	5319	0.22	2.28	0.00	0.000	6	0.188	0.056	3012	2229	2424	0	0	0	0	0	0
5639	0.44	161.4	411.4	9.3	581	5662	0.00	2.40	12.60	0.976	4	0.000	0.070	3012	3631	2371	0	0	0	0	0	0
5678	0.44	169.0	407.5	9.7	584	5696	0.00	2.30	8.18	0.915	6	0.000	0.054	3019	2213	2341	0	0	0	0	0	0
6014	0.46	177.4	374.8	9.6	616	6029	0.00	2.42	8.52	0.913	4	0.000	0.071	3019	3644	2306	0	0	0	0	0	0
6059	0.43	177.4	369.8	11.8	620	6063	0.00	2.30	0.00	0.000	6	0.000	0.053	3029	2223	2305	0	0	0	0	0	0
6385	0.43	177.4	335.7	11.0	650	6389	0.00	2.33	0.00	0.000	4	0.000	0.070	3029	3638	2304	0	0	0	0	0	0
6429	0.39	177.4	330.1	12.9	653	6436	0.15	2.28	0.00	0.000	6	0.195	0.054	3002	2211	2304	0	0	0	0	0	0
6754	0.47	197.2	300.1	9.1	684	6778	0.00	2.42	17.80	0.986	4	0.000	0.070	3002	3637	2225	0	0	0	0	0	0
6806	0.50	197.2	294.9	10.2	688	6813	0.00	2.28	0.00	0.000	6	0.000	0.053	3008	2222	2225	0	0	0	0	0	0
7133	0.56	205.3	263.4	9.6	719	7145	0.12	0.00	8.10	0.876	6	0.112	0.000	3055	2221	2192	0	0	0	0	0	0
7463	0.53	205.3	220.4	12.7	750	7467	0.00	2.30	0.00	0.000	4	0.000	0.070	3055	3637	2190	0	0	0	0	0	0
7519	0.47	205.3	212.2	15.3	755	7524	0.15	2.25	0.00	0.000	6	0.186	0.054	3027	2225	2190	0	0	0	0	0	0
7845	0.49	205.3	176.8	10.2	785	7849	0.00	2.28	0.00	0.000	4	0.000	0.070	3029	809	2189	0	0	0	0	0	0
7862	0.52	205.3	174.9	10.6	786	7867	0.00	2.25	0.00	0.000	6	0.000	0.057	3029	2228	2188	0	0	0	0	0	0
8188	0.55	205.3	142.4	10.0	816	8192	0.00	2.25	0.00	0.000	4	0.000	0.069	3029	3635	2188	0	0	0	0	0	0
8288	0.55	205.3	130.6	11.4	824	8295	0.00	2.22	0.00	0.000	6	0.000	0.050	3037	2218	2188	0	0	0	0	0	0
8616	0.61	205.3	94.3	12.4	859	8623	0.00	2.22	0.00	0.000	4	0.000	0.067	3041	817	2188	0	0	0	0	0	0
8630	0.66	205.3	92.8	11.4	861	8637	0.12	2.22	0.00	0.000	6	0.119	0.054	3091	2233	2188	0	0	0	0	0	0
8977	0.59	205.3	45.9	12.4	922	8983	0.00	2.22	0.00	0.000	4	0.000	0.070	3091	3631	2188	0	0	0	0	0	0
9166	0.48	205.3	19.6	13.8	955	9174	0.25	2.20	0.00	0.000	6	0.185	0.053	3032	2225	2189	0	0	0	0	0	0
9368	end climb: SURFACE_DEPTH_REACHED
state	9368	begin surface coast
9408	end surface coast: CONTROL_FINISHED_OK
state	9408	begin surface