Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 16 * 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 16 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -22030.465 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 -22030.465

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 30 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 30 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 16 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 210211,085552,6707.372,-5705.987,9,99.0,28,-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 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210211,090107,6707.317,-5706.003,30,0.9,30,-37.7 MHEAD_RNG_PITCHd_Wd 291.3,152549,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 578

Post-dive calculations and measurements:

FREEZE 0.92,-0.551,-1.092,3,1,0 ALTIM_TOP_PING 19.9,19.4

FINISH 0.9,1.016141 ALTIM_BOTTOM_PING 550.1,20.9

SM_CCo 10366,75.62,0.067,0,0,1398,400.08 _24V_AH 23.5,5.392

SM_GC 1.85,0.00,0.00,75.62,0.000,0.000,0.067,111,2444,1398,-8.62,-0.17,400.08 _10V_AH 10.4,2.244

RAFOS_CLK 501 FG_AHR_24Vo 0.000

RAFOS 6,1298278142,8.833333,8.817223,81,59,59,55,54,54,775,197,119,185,210,128 FG_AHR_10Vo 0.000

RAFOS_FIX 6710.052734,-5716.303711,210211,080840,3,88,0.00 MEM 150724

IRIDIUM_FIX 6636.54,-5704.59,210211,060635 DATA_FILE_SIZE 43372,1096

TT8_MAMPS 0.026215 CAP_FILE_SIZE 119047,0

HUMID 46.10 CFSIZE 260165632,251228160

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 SOUNDSPEED 1462.6

XPDR_PINGS 0 GPS 210211,115707,6707.354,-5707.805,28,1.3,28,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 334 188.55 SBE_CT 771 24 434.87

Roll_motor 77 87 158.42 SBE_O2 834 19 372.68

VBD_pump_during_apogee 312 1223 8981.69 nil 0 0 0.00

VBD_pump_during_surface 75 66 118.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.16 nil 0 0 0.00

Iridium_during_connect 18 160 70.80 nil 0 0 0.00

Iridium_during_xfer 125 223 659.61 nil 0 0 0.00

Transponder_ping 2 420 22.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 17.15

TT8 2625 19 544.00

LPSleep 5489 2 131.88

TT8_Active 516 19 107.03

TT8_Sampling 1947 39 808.43

TT8_CF8 198 45 94.89

TT8_Kalman 0 0 0.00

Analog_circuits 1441 12 179.95

GPS_charging 0 0 0.00

Compass 1732 15 270.19

RAFOS 0 0 0.00

Transponder 18 30 5.88

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 14 begin dive

17 -0.62 -146.0 0.0 0.0 0 152 0.00 0.00 -130.60 0.000 2 0.000 0.000 109 2458 3513 0 0 0 0 0 0

154 -0.62 -146.0 5.9 -11.0 23 174 12.73 2.35 -2.22 0.000 4 0.334 0.087 2658 3855 3629 0 0 0 0 0 0

283 -0.55 -146.0 37.6 -15.4 45 291 0.12 2.25 0.00 0.000 6 0.217 0.052 2686 2442 3631 0 0 0 0 0 0

629 -0.51 -146.0 80.7 -12.2 106 636 0.00 2.35 0.00 0.000 4 0.000 0.078 2686 3858 3630 0 0 0 0 0 0

654 -0.48 -146.0 83.8 -11.9 110 661 0.00 2.22 0.00 0.000 6 0.000 0.051 2686 2450 3630 0 0 0 0 0 0

988 -0.48 -146.0 123.8 -12.6 153 992 0.00 2.33 0.00 0.000 4 0.000 0.079 2686 3857 3630 0 0 0 0 0 0

1066 -0.50 -146.0 134.3 -12.9 159 1072 0.00 2.20 0.00 0.000 6 0.000 0.052 2686 2444 3630 0 0 0 0 0 0

1392 -0.50 -146.0 175.7 -12.2 190 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2444 3629 0 0 0 0 0 0

1711 -0.50 -146.0 214.7 -11.8 220 1712 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2444 3628 0 0 0 0 0 0

2029 -0.50 -146.0 250.0 -10.8 250 2033 0.00 2.28 0.00 0.000 4 0.000 0.076 2687 3850 3628 0 0 0 0 0 0

2069 -0.55 -146.0 254.4 -10.6 253 2073 0.00 2.17 0.00 0.000 6 0.000 0.050 2686 2439 3627 0 0 0 0 0 0

2394 -0.57 -146.0 285.9 -9.1 283 2398 0.00 2.17 0.00 0.000 4 0.000 0.064 2686 1043 3628 0 0 0 0 0 0

2467 -0.60 -146.0 293.2 -10.0 289 2474 0.00 2.22 0.00 0.000 6 0.000 0.061 2687 2450 3628 0 0 0 0 0 0

2792 -0.62 -146.0 323.6 -9.5 320 2796 0.00 2.30 0.00 0.000 4 0.000 0.076 2687 3860 3630 0 0 0 0 0 0

2855 -0.67 -146.0 329.7 -9.2 325 2860 0.00 2.17 0.00 0.000 6 0.000 0.048 2686 2443 3630 0 0 0 0 0 0

3187 -0.69 -146.0 360.9 -9.3 356 3191 0.12 2.20 0.00 0.000 4 0.135 0.064 2647 1039 3632 0 0 0 0 0 0

3230 -0.63 -146.0 366.3 -12.3 359 3237 0.00 2.22 0.00 0.000 6 0.000 0.061 2646 2450 3632 0 0 0 0 0 0

3556 -0.55 -146.0 408.6 -13.2 390 3561 0.17 2.28 0.00 0.000 4 0.223 0.077 2689 3863 3632 0 0 0 0 0 0

3607 -0.62 -146.0 414.0 -9.6 394 3611 0.00 2.17 0.00 0.000 6 0.000 0.049 2689 2440 3632 0 0 0 0 0 0

3935 -0.65 -146.0 443.9 -8.8 424 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2440 3632 0 0 0 0 0 0

4252 -0.69 -146.0 472.8 -9.4 454 4254 0.12 0.00 0.00 0.000 6 0.128 0.000 2648 2440 3632 0 0 0 0 0 0

4569 -0.62 -146.0 512.1 -12.4 484 4573 0.00 2.30 0.00 0.000 4 0.000 0.076 2647 3860 3633 0 0 0 0 0 0

4638 -0.57 -146.0 520.9 -13.0 490 4643 0.12 2.17 0.00 0.000 6 0.213 0.050 2677 2452 3632 0 0 0 0 0 0

4963 -0.57 -146.0 553.2 -9.8 520 4964 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2452 3632 0 0 0 0 0 0

4993 end dive: BOTTOM_OBSTACLE_DETECTED

state 4993 begin apogee

4998 -0.12 0.0 556.3 10.0 523 5123 0.47 0.00 119.70 1.223 6 0.184 0.000 2821 2212 3030 0 0 0 0 0 0

5124 end apogee: CONTROL_FINISHED_OK

state 5124 begin climb

5126 0.62 146.0 560.2 0.0 534 5259 0.77 2.45 122.62 1.196 4 0.133 0.074 3070 834 2433 0 0 0 0 0 0

5316 0.52 146.0 543.8 12.9 551 5321 0.12 2.35 0.00 0.000 6 0.191 0.058 3042 2222 2427 0 0 0 0 0 0

5642 0.47 146.0 506.7 11.2 581 5646 0.00 2.35 0.00 0.000 4 0.000 0.073 3041 3633 2424 0 0 0 0 0 0

5788 0.37 146.0 488.0 12.5 593 5796 0.22 2.28 0.00 0.000 6 0.187 0.059 2992 2238 2423 0 0 0 0 0 0

6114 0.46 187.4 461.0 8.1 624 6158 0.00 2.45 34.30 1.121 4 0.000 0.073 2992 3637 2265 0 0 0 0 0 0

6171 0.54 210.2 456.1 8.9 629 6198 0.12 2.35 21.55 1.097 6 0.108 0.055 3043 2218 2172 0 0 0 0 0 0

6517 0.54 210.2 416.6 11.5 661 6518 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2218 2164 0 0 0 0 0 0

6838 0.54 210.2 380.4 12.2 691 6843 0.00 2.35 0.00 0.000 4 0.000 0.073 3044 3638 2163 0 0 0 0 0 0

6856 0.54 210.2 377.8 12.6 692 6860 0.00 2.28 0.00 0.000 6 0.000 0.056 3054 2226 2163 0 0 0 0 0 0

7182 0.54 210.2 336.8 12.2 722 7183 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2226 2162 0 0 0 0 0 0

7501 0.54 210.2 296.8 12.3 752 7505 0.00 2.30 0.00 0.000 4 0.000 0.072 3054 3634 2162 0 0 0 0 0 0

7533 0.49 210.2 292.1 13.9 754 7541 0.12 2.25 0.00 0.000 6 0.195 0.054 3034 2216 2161 0 0 0 0 0 0

7858 0.49 210.2 257.8 10.8 785 7859 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2216 2161 0 0 0 0 0 0

8179 0.49 210.2 224.6 10.6 815 8180 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2215 2160 0 0 0 0 0 0

8497 0.51 210.2 191.6 10.3 845 8501 0.00 2.28 0.00 0.000 4 0.000 0.070 3033 3637 2160 0 0 0 0 0 0

8536 0.51 210.2 186.8 11.7 848 8540 0.00 2.22 0.00 0.000 6 0.000 0.054 3041 2224 2160 0 0 0 0 0 0

8861 0.53 228.3 154.5 9.2 878 8882 0.00 0.00 14.27 0.884 6 0.000 0.000 3042 2224 2099 0 0 0 0 0 0

9202 0.58 228.3 121.1 10.4 910 9206 0.00 2.28 0.00 0.000 4 0.000 0.070 3041 3643 2097 0 0 0 0 0 0

9241 0.58 228.3 116.5 12.2 913 9246 0.00 2.25 0.00 0.000 6 0.000 0.052 3050 2216 2096 0 0 0 0 0 0

9578 0.61 228.3 80.5 10.6 959 9584 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2215 2097 0 0 0 0 0 0

9921 0.66 228.3 43.9 10.1 1020 9927 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2215 2097 0 0 0 0 0 0

10264 0.69 228.3 11.4 12.1 1081 10272 0.12 2.28 0.00 0.000 4 0.112 0.070 3101 3635 2097 0 0 0 0 0 0

10331 end climb: SURFACE_DEPTH_REACHED

state 10331 begin surface coast

10347 end surface coast: CONTROL_FINISHED_OK

state 10348 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	16	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-22030.465	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	210211,085552,6707.372,-5705.987,9,99.0,28,-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	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210211,090107,6707.317,-5706.003,30,0.9,30,-37.7	MHEAD_RNG_PITCHd_Wd	291.3,152549,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	578

FREEZE	0.92,-0.551,-1.092,3,1,0	ALTIM_TOP_PING	19.9,19.4
FINISH	0.9,1.016141	ALTIM_BOTTOM_PING	550.1,20.9
SM_CCo	10366,75.62,0.067,0,0,1398,400.08	_24V_AH	23.5,5.392
SM_GC	1.85,0.00,0.00,75.62,0.000,0.000,0.067,111,2444,1398,-8.62,-0.17,400.08	_10V_AH	10.4,2.244
RAFOS_CLK	501	FG_AHR_24Vo	0.000
RAFOS	6,1298278142,8.833333,8.817223,81,59,59,55,54,54,775,197,119,185,210,128	FG_AHR_10Vo	0.000
RAFOS_FIX	6710.052734,-5716.303711,210211,080840,3,88,0.00	MEM	150724
IRIDIUM_FIX	6636.54,-5704.59,210211,060635	DATA_FILE_SIZE	43372,1096
TT8_MAMPS	0.026215	CAP_FILE_SIZE	119047,0
HUMID	46.10	CFSIZE	260165632,251228160
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1462.6
XPDR_PINGS	0	GPS	210211,115707,6707.354,-5707.805,28,1.3,28,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	334	188.55	SBE_CT	771	24	434.87
Roll_motor	77	87	158.42	SBE_O2	834	19	372.68
VBD_pump_during_apogee	312	1223	8981.69	nil	0	0	0.00
VBD_pump_during_surface	75	66	118.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.16	nil	0	0	0.00
Iridium_during_connect	18	160	70.80	nil	0	0	0.00
Iridium_during_xfer	125	223	659.61	nil	0	0	0.00
Transponder_ping	2	420	22.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	17.15
TT8	2625	19	544.00
LPSleep	5489	2	131.88
TT8_Active	516	19	107.03
TT8_Sampling	1947	39	808.43
TT8_CF8	198	45	94.89
TT8_Kalman	0	0	0.00
Analog_circuits	1441	12	179.95
GPS_charging	0	0	0.00
Compass	1732	15	270.19
RAFOS	0	0	0.00
Transponder	18	30	5.88

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	14	begin dive
17	-0.62	-146.0	0.0	0.0	0	152	0.00	0.00	-130.60	0.000	2	0.000	0.000	109	2458	3513	0	0	0	0	0	0
154	-0.62	-146.0	5.9	-11.0	23	174	12.73	2.35	-2.22	0.000	4	0.334	0.087	2658	3855	3629	0	0	0	0	0	0
283	-0.55	-146.0	37.6	-15.4	45	291	0.12	2.25	0.00	0.000	6	0.217	0.052	2686	2442	3631	0	0	0	0	0	0
629	-0.51	-146.0	80.7	-12.2	106	636	0.00	2.35	0.00	0.000	4	0.000	0.078	2686	3858	3630	0	0	0	0	0	0
654	-0.48	-146.0	83.8	-11.9	110	661	0.00	2.22	0.00	0.000	6	0.000	0.051	2686	2450	3630	0	0	0	0	0	0
988	-0.48	-146.0	123.8	-12.6	153	992	0.00	2.33	0.00	0.000	4	0.000	0.079	2686	3857	3630	0	0	0	0	0	0
1066	-0.50	-146.0	134.3	-12.9	159	1072	0.00	2.20	0.00	0.000	6	0.000	0.052	2686	2444	3630	0	0	0	0	0	0
1392	-0.50	-146.0	175.7	-12.2	190	1393	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2444	3629	0	0	0	0	0	0
1711	-0.50	-146.0	214.7	-11.8	220	1712	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2444	3628	0	0	0	0	0	0
2029	-0.50	-146.0	250.0	-10.8	250	2033	0.00	2.28	0.00	0.000	4	0.000	0.076	2687	3850	3628	0	0	0	0	0	0
2069	-0.55	-146.0	254.4	-10.6	253	2073	0.00	2.17	0.00	0.000	6	0.000	0.050	2686	2439	3627	0	0	0	0	0	0
2394	-0.57	-146.0	285.9	-9.1	283	2398	0.00	2.17	0.00	0.000	4	0.000	0.064	2686	1043	3628	0	0	0	0	0	0
2467	-0.60	-146.0	293.2	-10.0	289	2474	0.00	2.22	0.00	0.000	6	0.000	0.061	2687	2450	3628	0	0	0	0	0	0
2792	-0.62	-146.0	323.6	-9.5	320	2796	0.00	2.30	0.00	0.000	4	0.000	0.076	2687	3860	3630	0	0	0	0	0	0
2855	-0.67	-146.0	329.7	-9.2	325	2860	0.00	2.17	0.00	0.000	6	0.000	0.048	2686	2443	3630	0	0	0	0	0	0
3187	-0.69	-146.0	360.9	-9.3	356	3191	0.12	2.20	0.00	0.000	4	0.135	0.064	2647	1039	3632	0	0	0	0	0	0
3230	-0.63	-146.0	366.3	-12.3	359	3237	0.00	2.22	0.00	0.000	6	0.000	0.061	2646	2450	3632	0	0	0	0	0	0
3556	-0.55	-146.0	408.6	-13.2	390	3561	0.17	2.28	0.00	0.000	4	0.223	0.077	2689	3863	3632	0	0	0	0	0	0
3607	-0.62	-146.0	414.0	-9.6	394	3611	0.00	2.17	0.00	0.000	6	0.000	0.049	2689	2440	3632	0	0	0	0	0	0
3935	-0.65	-146.0	443.9	-8.8	424	3936	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2440	3632	0	0	0	0	0	0
4252	-0.69	-146.0	472.8	-9.4	454	4254	0.12	0.00	0.00	0.000	6	0.128	0.000	2648	2440	3632	0	0	0	0	0	0
4569	-0.62	-146.0	512.1	-12.4	484	4573	0.00	2.30	0.00	0.000	4	0.000	0.076	2647	3860	3633	0	0	0	0	0	0
4638	-0.57	-146.0	520.9	-13.0	490	4643	0.12	2.17	0.00	0.000	6	0.213	0.050	2677	2452	3632	0	0	0	0	0	0
4963	-0.57	-146.0	553.2	-9.8	520	4964	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2452	3632	0	0	0	0	0	0
4993	end dive: BOTTOM_OBSTACLE_DETECTED
state	4993	begin apogee
4998	-0.12	0.0	556.3	10.0	523	5123	0.47	0.00	119.70	1.223	6	0.184	0.000	2821	2212	3030	0	0	0	0	0	0
5124	end apogee: CONTROL_FINISHED_OK
state	5124	begin climb
5126	0.62	146.0	560.2	0.0	534	5259	0.77	2.45	122.62	1.196	4	0.133	0.074	3070	834	2433	0	0	0	0	0	0
5316	0.52	146.0	543.8	12.9	551	5321	0.12	2.35	0.00	0.000	6	0.191	0.058	3042	2222	2427	0	0	0	0	0	0
5642	0.47	146.0	506.7	11.2	581	5646	0.00	2.35	0.00	0.000	4	0.000	0.073	3041	3633	2424	0	0	0	0	0	0
5788	0.37	146.0	488.0	12.5	593	5796	0.22	2.28	0.00	0.000	6	0.187	0.059	2992	2238	2423	0	0	0	0	0	0
6114	0.46	187.4	461.0	8.1	624	6158	0.00	2.45	34.30	1.121	4	0.000	0.073	2992	3637	2265	0	0	0	0	0	0
6171	0.54	210.2	456.1	8.9	629	6198	0.12	2.35	21.55	1.097	6	0.108	0.055	3043	2218	2172	0	0	0	0	0	0
6517	0.54	210.2	416.6	11.5	661	6518	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2218	2164	0	0	0	0	0	0
6838	0.54	210.2	380.4	12.2	691	6843	0.00	2.35	0.00	0.000	4	0.000	0.073	3044	3638	2163	0	0	0	0	0	0
6856	0.54	210.2	377.8	12.6	692	6860	0.00	2.28	0.00	0.000	6	0.000	0.056	3054	2226	2163	0	0	0	0	0	0
7182	0.54	210.2	336.8	12.2	722	7183	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2226	2162	0	0	0	0	0	0
7501	0.54	210.2	296.8	12.3	752	7505	0.00	2.30	0.00	0.000	4	0.000	0.072	3054	3634	2162	0	0	0	0	0	0
7533	0.49	210.2	292.1	13.9	754	7541	0.12	2.25	0.00	0.000	6	0.195	0.054	3034	2216	2161	0	0	0	0	0	0
7858	0.49	210.2	257.8	10.8	785	7859	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2216	2161	0	0	0	0	0	0
8179	0.49	210.2	224.6	10.6	815	8180	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2215	2160	0	0	0	0	0	0
8497	0.51	210.2	191.6	10.3	845	8501	0.00	2.28	0.00	0.000	4	0.000	0.070	3033	3637	2160	0	0	0	0	0	0
8536	0.51	210.2	186.8	11.7	848	8540	0.00	2.22	0.00	0.000	6	0.000	0.054	3041	2224	2160	0	0	0	0	0	0
8861	0.53	228.3	154.5	9.2	878	8882	0.00	0.00	14.27	0.884	6	0.000	0.000	3042	2224	2099	0	0	0	0	0	0
9202	0.58	228.3	121.1	10.4	910	9206	0.00	2.28	0.00	0.000	4	0.000	0.070	3041	3643	2097	0	0	0	0	0	0
9241	0.58	228.3	116.5	12.2	913	9246	0.00	2.25	0.00	0.000	6	0.000	0.052	3050	2216	2096	0	0	0	0	0	0
9578	0.61	228.3	80.5	10.6	959	9584	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2215	2097	0	0	0	0	0	0
9921	0.66	228.3	43.9	10.1	1020	9927	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2215	2097	0	0	0	0	0	0
10264	0.69	228.3	11.4	12.1	1081	10272	0.12	2.28	0.00	0.000	4	0.112	0.070	3101	3635	2097	0	0	0	0	0	0
10331	end climb: SURFACE_DEPTH_REACHED
state	10331	begin surface coast
10347	end surface coast: CONTROL_FINISHED_OK
state	10348	begin surface