Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 15 * 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 15 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 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -22029.207 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 -22029.207

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 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 31 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 15 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 210211,060546,6707.264,-5702.817,39,1.1,48,-37.7 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 1.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210211,061049,6707.246,-5702.775,12,1.4,17,-37.7 MHEAD_RNG_PITCHd_Wd 291.6,154779,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 551

Post-dive calculations and measurements:

FREEZE 1.05,-0.615,-1.823,2,1,0 ALTIM_TOP_PING 19.3,18.8

FINISH 1.0,1.026715 ALTIM_BOTTOM_PING 500.1,32.9

SM_CCo 9727,58.20,0.066,0,0,1398,400.08 _24V_AH 23.5,5.276

SM_GC 1.93,0.00,0.00,58.20,0.000,0.000,0.066,111,2456,1398,-8.62,0.17,400.08 _10V_AH 10.4,2.176

RAFOS_CLK 463 FG_AHR_24Vo 0.000

RAFOS 0,1298275268,8.033334,8.018888,75,62,58,57,56,53,182,117,207,225,166,151 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.791016,-5708.443359,210211,080824,2,92,0.69 MEM 150716

IRIDIUM_FIX 6636.54,-5704.59,210211,030345 DATA_FILE_SIZE 39981,1026

TT8_MAMPS 0.029211 CAP_FILE_SIZE 118773,0

HUMID 45.15 CFSIZE 260165632,251301888

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

TCM_TEMP 17.00 SOUNDSPEED 1464.1

XPDR_PINGS 0 GPS 210211,085552,6707.372,-5705.987,9,99.0,28,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 333 186.94 SBE_CT 720 24 406.44

Roll_motor 91 83 178.76 SBE_O2 779 19 347.83

VBD_pump_during_apogee 344 1191 9660.99 nil 0 0 0.00

VBD_pump_during_surface 58 65 89.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.48 nil 0 0 0.00

Iridium_during_connect 17 160 64.80 nil 0 0 0.00

Iridium_during_xfer 125 223 657.54 nil 0 0 0.00

Transponder_ping 1 420 17.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 10.38

TT8 2464 19 510.67

LPSleep 5079 2 122.02

TT8_Active 526 19 109.12

TT8_Sampling 1841 39 764.68

TT8_CF8 193 45 92.59

TT8_Kalman 0 0 0.00

Analog_circuits 1426 12 178.01

GPS_charging 0 0 0.00

Compass 1640 15 255.94

RAFOS 2520 1 39.31

Transponder 14 30 4.43

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 0 150 0.00 0.00 -131.93 0.000 2 0.000 0.000 114 2461 3594 0 0 0 0 0 0

154 -0.62 -146.0 6.5 -15.3 23 174 12.60 2.28 -0.60 0.000 4 0.334 0.083 2658 3853 3628 0 0 0 0 0 0

303 -0.53 -146.0 44.8 -17.4 49 311 0.15 2.22 0.00 0.000 6 0.213 0.052 2693 2453 3628 0 0 0 0 0 0

649 -0.53 -146.0 90.6 -12.8 110 655 0.00 2.30 0.00 0.000 4 0.000 0.078 2693 3859 3628 0 0 0 0 0 0

712 -0.53 -146.0 98.9 -12.7 121 719 0.00 2.20 0.00 0.000 6 0.000 0.051 2692 2446 3628 0 0 0 0 0 0

1046 -0.53 -146.0 138.9 -11.8 153 1050 0.00 2.22 0.00 0.000 4 0.000 0.067 2693 1037 3627 0 0 0 0 0 0

1074 -0.53 -146.0 142.3 -12.5 155 1078 0.00 2.25 0.00 0.000 6 0.000 0.063 2693 2449 3627 0 0 0 0 0 0

1404 -0.55 -146.0 176.0 -9.8 186 1408 0.00 2.28 0.00 0.000 4 0.000 0.080 2693 3856 3627 0 0 0 0 0 0

1506 -0.59 -146.0 185.4 -8.8 194 1513 0.00 2.17 0.00 0.000 6 0.000 0.051 2693 2449 3626 0 0 0 0 0 0

1832 -0.62 -146.0 215.3 -9.0 225 1833 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2449 3626 0 0 0 0 0 0

2152 -0.65 -146.0 242.9 -8.5 255 2153 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2449 3626 0 0 0 0 0 0

2470 -0.69 -146.0 269.0 -8.6 285 2475 0.15 2.22 0.00 0.000 4 0.125 0.064 2642 1038 3626 0 0 0 0 0 0

2527 -0.62 -146.0 275.7 -12.6 290 2531 0.00 2.25 0.00 0.000 6 0.000 0.062 2642 2456 3627 0 0 0 0 0 0

2853 -0.53 -146.0 317.3 -13.1 320 2858 0.20 2.25 0.00 0.000 4 0.222 0.074 2691 3863 3628 0 0 0 0 0 0

2928 -0.59 -146.0 325.0 -9.0 326 2932 0.00 2.17 0.00 0.000 6 0.000 0.048 2691 2439 3629 0 0 0 0 0 0

3258 -0.62 -146.0 354.5 -9.0 357 3262 0.00 2.17 0.00 0.000 4 0.000 0.064 2692 1039 3629 0 0 0 0 0 0

3286 -0.65 -146.0 357.3 -10.1 359 3292 0.00 2.22 0.00 0.000 6 0.000 0.060 2691 2450 3630 0 0 0 0 0 0

3611 -0.68 -146.0 385.8 -8.5 390 3616 0.12 2.28 0.00 0.000 4 0.128 0.077 2649 3860 3630 0 0 0 0 0 0

3691 -0.64 -146.0 395.3 -12.6 397 3695 0.00 2.17 0.00 0.000 6 0.000 0.049 2649 2452 3630 0 0 0 0 0 0

4021 -0.58 -146.0 436.7 -12.5 428 4023 0.12 0.00 0.00 0.000 6 0.227 0.000 2677 2451 3630 0 0 0 0 0 0

4341 -0.58 -146.0 470.2 -10.5 458 4345 0.00 2.25 0.00 0.000 4 0.000 0.077 2677 3854 3630 0 0 0 0 0 0

4385 -0.61 -146.0 475.2 -10.4 461 4392 0.00 2.17 0.00 0.000 6 0.000 0.050 2677 2438 3630 0 0 0 0 0 0

4710 -0.61 -146.0 507.6 -9.8 492 4711 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2438 3631 0 0 0 0 0 0

4825 end dive: BOTTOM_OBSTACLE_DETECTED

state 4825 begin apogee

4831 -0.12 0.0 519.1 9.9 503 4955 0.47 0.00 118.40 1.192 6 0.184 0.000 2821 2212 3030 0 0 0 0 0 0

4955 end apogee: CONTROL_FINISHED_OK

state 4955 begin climb

4957 0.62 146.0 523.4 0.0 514 5088 0.77 2.42 121.57 1.166 4 0.135 0.070 3069 837 2433 0 0 0 0 0 0

5140 0.52 146.0 509.0 12.6 531 5144 0.00 2.35 0.00 0.000 6 0.000 0.061 3069 2232 2428 0 0 0 0 0 0

5465 0.42 146.0 469.1 12.2 561 5470 0.22 2.35 0.00 0.000 4 0.186 0.072 3010 3641 2425 0 0 0 0 0 0

5589 0.37 146.0 455.5 10.6 571 5596 0.00 2.28 0.00 0.000 6 0.000 0.055 3018 2238 2424 0 0 0 0 0 0

5915 0.39 160.0 425.5 9.4 602 5932 0.00 2.33 11.60 0.980 4 0.000 0.071 3018 3639 2376 0 0 0 0 0 0

5956 0.36 160.0 421.3 10.8 605 5960 0.15 2.30 0.00 0.000 6 0.190 0.055 2993 2221 2376 0 0 0 0 0 0

6281 0.45 192.5 394.1 8.5 635 6315 0.00 2.45 28.48 1.079 4 0.000 0.070 2992 3637 2244 0 0 0 0 0 0

6328 0.55 228.3 390.3 8.4 639 6366 0.15 2.33 32.40 1.082 6 0.102 0.053 3053 2218 2099 0 0 0 0 0 0

6686 0.55 228.3 345.3 12.7 672 6687 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2218 2090 0 0 0 0 0 0

7006 0.55 228.3 304.5 13.2 702 7010 0.00 2.33 0.00 0.000 4 0.000 0.071 3053 3644 2089 0 0 0 0 0 0

7034 0.52 228.3 300.6 13.8 704 7038 0.00 2.28 0.00 0.000 6 0.000 0.054 3063 2226 2088 0 0 0 0 0 0

7359 0.49 228.3 257.3 13.2 734 7364 0.12 2.25 0.00 0.000 4 0.192 0.070 3041 817 2087 0 0 0 0 0 0

7388 0.49 228.3 253.8 11.8 736 7392 0.00 2.25 0.00 0.000 6 0.000 0.058 3042 2236 2086 0 0 0 0 0 0

7712 0.49 228.3 217.4 11.2 766 7716 0.00 2.25 0.00 0.000 4 0.000 0.070 3041 3632 2085 0 0 0 0 0 0

7778 0.49 228.3 209.3 12.8 771 7785 0.00 2.25 0.00 0.000 6 0.000 0.053 3050 2225 2085 0 0 0 0 0 0

8103 0.49 228.3 171.6 11.8 802 8107 0.00 2.25 0.00 0.000 4 0.000 0.068 3049 3633 2085 0 0 0 0 0 0

8135 0.49 228.3 167.4 12.8 804 8142 0.00 2.22 0.00 0.000 6 0.000 0.052 3058 2214 2085 0 0 0 0 0 0

8460 0.49 228.3 130.0 11.0 835 8465 0.12 2.28 0.00 0.000 4 0.188 0.067 3026 3635 2085 0 0 0 0 0 0

8478 0.49 228.3 128.1 10.4 836 8482 0.00 2.20 0.00 0.000 6 0.000 0.050 3028 2226 2085 0 0 0 0 0 0

8803 0.60 267.6 100.5 8.2 866 8845 0.10 2.33 32.47 0.887 4 0.136 0.066 3068 3633 1937 0 0 0 0 0 0

8895 0.60 267.6 90.0 12.5 881 8902 0.00 2.25 0.00 0.000 6 0.000 0.050 3076 2227 1935 0 0 0 0 0 0

9239 0.63 267.6 52.9 11.1 942 9245 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2227 1933 0 0 0 0 0 0

9582 0.66 267.6 15.7 11.3 1003 9588 0.00 2.28 0.00 0.000 4 0.000 0.069 3076 3632 1932 0 0 0 0 0 0

9629 0.66 267.6 10.1 12.1 1011 9635 0.00 2.22 0.00 0.000 6 0.000 0.052 3083 2222 1932 0 0 0 0 0 0

9687 end climb: SURFACE_DEPTH_REACHED

state 9687 begin surface coast

9711 end surface coast: CONTROL_FINISHED_OK

state 9711 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	15	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	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-22029.207	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	210211,060546,6707.264,-5702.817,39,1.1,48,-37.7	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	1.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210211,061049,6707.246,-5702.775,12,1.4,17,-37.7	MHEAD_RNG_PITCHd_Wd	291.6,154779,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	551

FREEZE	1.05,-0.615,-1.823,2,1,0	ALTIM_TOP_PING	19.3,18.8
FINISH	1.0,1.026715	ALTIM_BOTTOM_PING	500.1,32.9
SM_CCo	9727,58.20,0.066,0,0,1398,400.08	_24V_AH	23.5,5.276
SM_GC	1.93,0.00,0.00,58.20,0.000,0.000,0.066,111,2456,1398,-8.62,0.17,400.08	_10V_AH	10.4,2.176
RAFOS_CLK	463	FG_AHR_24Vo	0.000
RAFOS	0,1298275268,8.033334,8.018888,75,62,58,57,56,53,182,117,207,225,166,151	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.791016,-5708.443359,210211,080824,2,92,0.69	MEM	150716
IRIDIUM_FIX	6636.54,-5704.59,210211,030345	DATA_FILE_SIZE	39981,1026
TT8_MAMPS	0.029211	CAP_FILE_SIZE	118773,0
HUMID	45.15	CFSIZE	260165632,251301888
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1464.1
XPDR_PINGS	0	GPS	210211,085552,6707.372,-5705.987,9,99.0,28,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	333	186.94	SBE_CT	720	24	406.44
Roll_motor	91	83	178.76	SBE_O2	779	19	347.83
VBD_pump_during_apogee	344	1191	9660.99	nil	0	0	0.00
VBD_pump_during_surface	58	65	89.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.48	nil	0	0	0.00
Iridium_during_connect	17	160	64.80	nil	0	0	0.00
Iridium_during_xfer	125	223	657.54	nil	0	0	0.00
Transponder_ping	1	420	17.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	10.38
TT8	2464	19	510.67
LPSleep	5079	2	122.02
TT8_Active	526	19	109.12
TT8_Sampling	1841	39	764.68
TT8_CF8	193	45	92.59
TT8_Kalman	0	0	0.00
Analog_circuits	1426	12	178.01
GPS_charging	0	0	0.00
Compass	1640	15	255.94
RAFOS	2520	1	39.31
Transponder	14	30	4.43

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	150	0.00	0.00	-131.93	0.000	2	0.000	0.000	114	2461	3594	0	0	0	0	0	0
154	-0.62	-146.0	6.5	-15.3	23	174	12.60	2.28	-0.60	0.000	4	0.334	0.083	2658	3853	3628	0	0	0	0	0	0
303	-0.53	-146.0	44.8	-17.4	49	311	0.15	2.22	0.00	0.000	6	0.213	0.052	2693	2453	3628	0	0	0	0	0	0
649	-0.53	-146.0	90.6	-12.8	110	655	0.00	2.30	0.00	0.000	4	0.000	0.078	2693	3859	3628	0	0	0	0	0	0
712	-0.53	-146.0	98.9	-12.7	121	719	0.00	2.20	0.00	0.000	6	0.000	0.051	2692	2446	3628	0	0	0	0	0	0
1046	-0.53	-146.0	138.9	-11.8	153	1050	0.00	2.22	0.00	0.000	4	0.000	0.067	2693	1037	3627	0	0	0	0	0	0
1074	-0.53	-146.0	142.3	-12.5	155	1078	0.00	2.25	0.00	0.000	6	0.000	0.063	2693	2449	3627	0	0	0	0	0	0
1404	-0.55	-146.0	176.0	-9.8	186	1408	0.00	2.28	0.00	0.000	4	0.000	0.080	2693	3856	3627	0	0	0	0	0	0
1506	-0.59	-146.0	185.4	-8.8	194	1513	0.00	2.17	0.00	0.000	6	0.000	0.051	2693	2449	3626	0	0	0	0	0	0
1832	-0.62	-146.0	215.3	-9.0	225	1833	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2449	3626	0	0	0	0	0	0
2152	-0.65	-146.0	242.9	-8.5	255	2153	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2449	3626	0	0	0	0	0	0
2470	-0.69	-146.0	269.0	-8.6	285	2475	0.15	2.22	0.00	0.000	4	0.125	0.064	2642	1038	3626	0	0	0	0	0	0
2527	-0.62	-146.0	275.7	-12.6	290	2531	0.00	2.25	0.00	0.000	6	0.000	0.062	2642	2456	3627	0	0	0	0	0	0
2853	-0.53	-146.0	317.3	-13.1	320	2858	0.20	2.25	0.00	0.000	4	0.222	0.074	2691	3863	3628	0	0	0	0	0	0
2928	-0.59	-146.0	325.0	-9.0	326	2932	0.00	2.17	0.00	0.000	6	0.000	0.048	2691	2439	3629	0	0	0	0	0	0
3258	-0.62	-146.0	354.5	-9.0	357	3262	0.00	2.17	0.00	0.000	4	0.000	0.064	2692	1039	3629	0	0	0	0	0	0
3286	-0.65	-146.0	357.3	-10.1	359	3292	0.00	2.22	0.00	0.000	6	0.000	0.060	2691	2450	3630	0	0	0	0	0	0
3611	-0.68	-146.0	385.8	-8.5	390	3616	0.12	2.28	0.00	0.000	4	0.128	0.077	2649	3860	3630	0	0	0	0	0	0
3691	-0.64	-146.0	395.3	-12.6	397	3695	0.00	2.17	0.00	0.000	6	0.000	0.049	2649	2452	3630	0	0	0	0	0	0
4021	-0.58	-146.0	436.7	-12.5	428	4023	0.12	0.00	0.00	0.000	6	0.227	0.000	2677	2451	3630	0	0	0	0	0	0
4341	-0.58	-146.0	470.2	-10.5	458	4345	0.00	2.25	0.00	0.000	4	0.000	0.077	2677	3854	3630	0	0	0	0	0	0
4385	-0.61	-146.0	475.2	-10.4	461	4392	0.00	2.17	0.00	0.000	6	0.000	0.050	2677	2438	3630	0	0	0	0	0	0
4710	-0.61	-146.0	507.6	-9.8	492	4711	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2438	3631	0	0	0	0	0	0
4825	end dive: BOTTOM_OBSTACLE_DETECTED
state	4825	begin apogee
4831	-0.12	0.0	519.1	9.9	503	4955	0.47	0.00	118.40	1.192	6	0.184	0.000	2821	2212	3030	0	0	0	0	0	0
4955	end apogee: CONTROL_FINISHED_OK
state	4955	begin climb
4957	0.62	146.0	523.4	0.0	514	5088	0.77	2.42	121.57	1.166	4	0.135	0.070	3069	837	2433	0	0	0	0	0	0
5140	0.52	146.0	509.0	12.6	531	5144	0.00	2.35	0.00	0.000	6	0.000	0.061	3069	2232	2428	0	0	0	0	0	0
5465	0.42	146.0	469.1	12.2	561	5470	0.22	2.35	0.00	0.000	4	0.186	0.072	3010	3641	2425	0	0	0	0	0	0
5589	0.37	146.0	455.5	10.6	571	5596	0.00	2.28	0.00	0.000	6	0.000	0.055	3018	2238	2424	0	0	0	0	0	0
5915	0.39	160.0	425.5	9.4	602	5932	0.00	2.33	11.60	0.980	4	0.000	0.071	3018	3639	2376	0	0	0	0	0	0
5956	0.36	160.0	421.3	10.8	605	5960	0.15	2.30	0.00	0.000	6	0.190	0.055	2993	2221	2376	0	0	0	0	0	0
6281	0.45	192.5	394.1	8.5	635	6315	0.00	2.45	28.48	1.079	4	0.000	0.070	2992	3637	2244	0	0	0	0	0	0
6328	0.55	228.3	390.3	8.4	639	6366	0.15	2.33	32.40	1.082	6	0.102	0.053	3053	2218	2099	0	0	0	0	0	0
6686	0.55	228.3	345.3	12.7	672	6687	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2218	2090	0	0	0	0	0	0
7006	0.55	228.3	304.5	13.2	702	7010	0.00	2.33	0.00	0.000	4	0.000	0.071	3053	3644	2089	0	0	0	0	0	0
7034	0.52	228.3	300.6	13.8	704	7038	0.00	2.28	0.00	0.000	6	0.000	0.054	3063	2226	2088	0	0	0	0	0	0
7359	0.49	228.3	257.3	13.2	734	7364	0.12	2.25	0.00	0.000	4	0.192	0.070	3041	817	2087	0	0	0	0	0	0
7388	0.49	228.3	253.8	11.8	736	7392	0.00	2.25	0.00	0.000	6	0.000	0.058	3042	2236	2086	0	0	0	0	0	0
7712	0.49	228.3	217.4	11.2	766	7716	0.00	2.25	0.00	0.000	4	0.000	0.070	3041	3632	2085	0	0	0	0	0	0
7778	0.49	228.3	209.3	12.8	771	7785	0.00	2.25	0.00	0.000	6	0.000	0.053	3050	2225	2085	0	0	0	0	0	0
8103	0.49	228.3	171.6	11.8	802	8107	0.00	2.25	0.00	0.000	4	0.000	0.068	3049	3633	2085	0	0	0	0	0	0
8135	0.49	228.3	167.4	12.8	804	8142	0.00	2.22	0.00	0.000	6	0.000	0.052	3058	2214	2085	0	0	0	0	0	0
8460	0.49	228.3	130.0	11.0	835	8465	0.12	2.28	0.00	0.000	4	0.188	0.067	3026	3635	2085	0	0	0	0	0	0
8478	0.49	228.3	128.1	10.4	836	8482	0.00	2.20	0.00	0.000	6	0.000	0.050	3028	2226	2085	0	0	0	0	0	0
8803	0.60	267.6	100.5	8.2	866	8845	0.10	2.33	32.47	0.887	4	0.136	0.066	3068	3633	1937	0	0	0	0	0	0
8895	0.60	267.6	90.0	12.5	881	8902	0.00	2.25	0.00	0.000	6	0.000	0.050	3076	2227	1935	0	0	0	0	0	0
9239	0.63	267.6	52.9	11.1	942	9245	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2227	1933	0	0	0	0	0	0
9582	0.66	267.6	15.7	11.3	1003	9588	0.00	2.28	0.00	0.000	4	0.000	0.069	3076	3632	1932	0	0	0	0	0	0
9629	0.66	267.6	10.1	12.1	1011	9635	0.00	2.22	0.00	0.000	6	0.000	0.052	3083	2222	1932	0	0	0	0	0	0
9687	end climb: SURFACE_DEPTH_REACHED
state	9687	begin surface coast
9711	end surface coast: CONTROL_FINISHED_OK
state	9711	begin surface