Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 18 * 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 18 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 -22032.982 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 -22032.982

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 18 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 210211,151536,6709.099,-5711.875,33,1.4,33,-37.8 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 1.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210211,152108,6709.157,-5711.877,13,1.4,13,-37.8 MHEAD_RNG_PITCHd_Wd 289.6,149460,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 632

Post-dive calculations and measurements:

FREEZE 1.20,-1.088,-1.686,3,1,0 ALTIM_TOP_PING 19.2,18.1

FINISH 1.2,1.024782 ALTIM_BOTTOM_PING 600.3,32.6

SM_CCo 11705,65.82,0.071,0,0,1399,400.08 _24V_AH 23.3,5.649

SM_GC 1.88,0.00,0.00,65.82,0.000,0.000,0.071,111,2461,1399,-8.62,0.31,400.08 _10V_AH 10.4,2.397

RAFOS_CLK 585 FG_AHR_24Vo 0.000

RAFOS 0,1298304061,16.033333,16.016945,67,59,56,52,52,52,189,152,206,131,176,215 FG_AHR_10Vo 0.000

RAFOS_FIX 6711.228516,-5723.782715,210211,161622,3,94,1.90 MEM 150692

IRIDIUM_FIX 6636.54,-5712.23,210211,111150 DATA_FILE_SIZE 46769,1183

TT8_MAMPS 0.026215 CAP_FILE_SIZE 134031,0

HUMID 46.53 CFSIZE 260165632,251076608

INTERNAL_PRESSURE 8.54525 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.40 SOUNDSPEED 1457.6

XPDR_PINGS 0 GPS 210211,183930,6710.713,-5718.128,35,0.9,40,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 338 190.89 SBE_CT 838 24 468.80

Roll_motor 92 92 199.77 SBE_O2 909 19 402.85

VBD_pump_during_apogee 346 1290 10420.73 nil 0 0 0.00

VBD_pump_during_surface 65 71 109.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.14 nil 0 0 0.00

Iridium_during_connect 38 160 143.12 nil 0 0 0.00

Iridium_during_xfer 135 223 702.29 nil 0 0 0.00

Transponder_ping 2 420 22.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.23

TT8 2859 19 592.31

LPSleep 6394 2 153.63

TT8_Active 539 19 111.80

TT8_Sampling 2114 39 877.67

TT8_CF8 211 45 101.15

TT8_Kalman 0 0 0.00

Analog_circuits 1551 12 193.66

GPS_charging 0 0 0.00

Compass 1883 15 293.78

RAFOS 2520 1 39.31

Transponder 17 30 5.53

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

16 -0.62 -146.0 0.0 0.0 0 150 0.00 0.00 -130.35 0.000 2 0.000 0.000 116 2453 3418 0 0 0 0 0 0

153 -0.62 -146.0 5.6 -9.7 23 179 12.88 2.35 -4.38 0.000 4 0.339 0.093 2657 3859 3630 0 0 0 0 0 0

249 -0.55 -146.0 31.1 -16.7 39 256 0.12 2.28 0.00 0.000 6 0.227 0.054 2684 2441 3631 0 0 0 0 0 0

594 -0.50 -146.0 79.4 -14.2 100 601 0.00 2.38 0.00 0.000 4 0.000 0.081 2684 3860 3630 0 0 0 0 0 0

613 -0.45 -146.0 82.1 -13.7 103 621 0.15 2.25 0.00 0.000 6 0.208 0.054 2722 2449 3631 0 0 0 0 0 0

950 -0.51 -146.0 114.1 -8.2 149 954 0.00 2.25 0.00 0.000 4 0.000 0.070 2722 1042 3630 0 0 0 0 0 0

1007 -0.59 -146.0 119.1 -8.5 154 1012 0.12 2.28 0.00 0.000 6 0.132 0.066 2681 2449 3630 0 0 0 0 0 0

1332 -0.56 -146.0 152.9 -9.4 184 1337 0.00 2.33 0.00 0.000 4 0.000 0.082 2681 3860 3629 0 0 0 0 0 0

1362 -0.54 -146.0 155.6 -9.6 186 1366 0.00 2.25 0.00 0.000 6 0.000 0.054 2681 2436 3629 0 0 0 0 0 0

1687 -0.52 -146.0 191.4 -11.7 216 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2436 3630 0 0 0 0 0 0

2008 -0.52 -146.0 228.9 -11.5 246 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2436 3630 0 0 0 0 0 0

2325 -0.52 -146.0 262.9 -10.1 276 2329 0.00 2.33 0.00 0.000 4 0.000 0.081 2681 3859 3629 0 0 0 0 0 0

2370 -0.55 -146.0 267.7 -10.5 279 2376 0.00 2.22 0.00 0.000 6 0.000 0.054 2681 2445 3630 0 0 0 0 0 0

2695 -0.55 -146.0 299.1 -9.7 310 2696 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2445 3630 0 0 0 0 0 0

3013 -0.55 -146.0 329.7 -10.0 340 3017 0.00 2.30 0.00 0.000 4 0.000 0.080 2681 3858 3630 0 0 0 0 0 0

3053 -0.55 -146.0 333.5 -9.6 343 3057 0.00 2.20 0.00 0.000 6 0.000 0.053 2681 2449 3629 0 0 0 0 0 0

3378 -0.55 -146.0 365.8 -9.9 373 3382 0.00 2.20 0.00 0.000 4 0.000 0.068 2681 1044 3630 0 0 0 0 0 0

3406 -0.55 -146.0 368.7 -10.2 375 3410 0.00 2.25 0.00 0.000 6 0.000 0.065 2681 2452 3630 0 0 0 0 0 0

3731 -0.55 -146.0 399.6 -9.0 405 3736 0.00 2.28 0.00 0.000 4 0.000 0.082 2681 3854 3630 0 0 0 0 0 0

3792 -0.57 -146.0 405.6 -9.7 410 3799 0.00 2.17 0.00 0.000 6 0.000 0.053 2681 2448 3631 0 0 0 0 0 0

4117 -0.57 -146.0 435.4 -9.1 441 4119 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2448 3630 0 0 0 0 0 0

4436 -0.57 -146.0 464.9 -9.5 471 4437 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2448 3632 0 0 0 0 0 0

4756 -0.57 -146.0 495.2 -9.6 501 4760 0.00 2.30 0.00 0.000 4 0.000 0.080 2680 3854 3632 0 0 0 0 0 0

4809 -0.61 -146.0 500.5 -10.0 505 4813 0.00 2.17 0.00 0.000 6 0.000 0.054 2681 2447 3632 0 0 0 0 0 0

5135 -0.61 -146.0 532.1 -9.8 535 5137 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2448 3632 0 0 0 0 0 0

5453 -0.61 -146.0 562.9 -9.7 565 5454 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2447 3632 0 0 0 0 0 0

5772 -0.61 -146.0 593.9 -9.8 595 5776 0.00 2.30 0.00 0.000 4 0.000 0.081 2681 3853 3632 0 0 0 0 0 0

5824 -0.65 -146.0 599.1 -10.1 599 5828 0.00 2.20 0.00 0.000 6 0.000 0.054 2681 2442 3632 0 0 0 0 0 0

6017 end dive: BOTTOM_OBSTACLE_DETECTED

state 6017 begin apogee

6023 -0.12 0.0 618.3 9.8 606 6150 0.47 0.00 121.60 1.291 6 0.184 0.000 2823 2208 3030 0 0 0 0 0 0

6151 end apogee: CONTROL_FINISHED_OK

state 6151 begin climb

6153 0.62 146.0 622.6 0.0 610 6288 0.77 2.53 124.18 1.257 4 0.136 0.077 3069 831 2432 0 0 0 0 0 0

6312 0.52 146.0 610.6 12.3 615 6317 0.12 2.42 0.00 0.000 6 0.190 0.061 3042 2231 2429 0 0 0 0 0 0

6634 0.47 146.0 575.6 10.8 638 6638 0.00 2.38 0.00 0.000 4 0.000 0.076 3041 3639 2424 0 0 0 0 0 0

6720 0.36 146.0 564.7 12.9 645 6725 0.22 2.33 0.00 0.000 6 0.189 0.060 2993 2233 2423 0 0 0 0 0 0

7045 0.45 180.6 536.7 8.4 675 7080 0.00 2.45 29.38 1.161 4 0.000 0.074 2993 3632 2292 0 0 0 0 0 0

7099 0.50 194.9 532.0 9.3 680 7122 0.00 2.35 13.70 1.106 6 0.000 0.057 3000 2224 2236 0 0 0 0 0 0

7440 0.60 227.3 501.6 8.5 712 7473 0.17 0.00 29.52 1.160 6 0.096 0.000 3066 2224 2103 0 0 0 0 0 0

7789 0.57 227.3 455.9 13.2 745 7793 0.00 2.35 0.00 0.000 4 0.000 0.074 3066 3634 2096 0 0 0 0 0 0

7845 0.50 227.3 447.6 14.9 750 7850 0.15 2.33 0.00 0.000 6 0.194 0.060 3040 2223 2094 0 0 0 0 0 0

8170 0.50 227.3 408.9 12.0 780 8171 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2223 2093 0 0 0 0 0 0

8491 0.50 227.3 371.4 11.7 810 8496 0.00 2.35 0.00 0.000 4 0.000 0.075 3039 3645 2093 0 0 0 0 0 0

8512 0.50 227.3 368.3 12.3 811 8520 0.00 2.33 0.00 0.000 6 0.000 0.057 3046 2220 2092 0 0 0 0 0 0

8838 0.50 227.3 330.2 11.8 842 8839 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2220 2092 0 0 0 0 0 0

9158 0.50 227.3 292.1 11.9 872 9162 0.00 2.30 0.00 0.000 4 0.000 0.075 3046 3635 2092 0 0 0 0 0 0

9197 0.50 227.3 286.8 13.4 875 9201 0.00 2.28 0.00 0.000 6 0.000 0.059 3055 2218 2092 0 0 0 0 0 0

9523 0.50 227.3 245.7 12.8 905 9527 0.00 2.30 0.00 0.000 4 0.000 0.073 3055 3637 2092 0 0 0 0 0 0

9545 0.48 227.3 242.3 14.5 906 9553 0.15 2.25 0.00 0.000 6 0.188 0.057 3027 2221 2091 0 0 0 0 0 0

9870 0.53 227.3 206.7 10.6 937 9871 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2221 2091 0 0 0 0 0 0

10192 0.60 227.3 174.0 10.5 967 10197 0.10 2.25 0.00 0.000 4 0.130 0.073 3073 810 2092 0 0 0 0 0 0

10213 0.62 227.3 171.1 11.8 968 10220 0.00 2.28 0.00 0.000 6 0.000 0.062 3073 2223 2091 0 0 0 0 0 0

10539 0.60 227.3 128.6 13.0 999 10543 0.00 2.30 0.00 0.000 4 0.000 0.076 3073 3644 2091 0 0 0 0 0 0

10646 0.55 227.3 112.9 15.5 1008 10650 0.12 2.25 0.00 0.000 6 0.196 0.057 3052 2223 2091 0 0 0 0 0 0

10983 0.59 227.3 74.7 11.4 1058 10989 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2222 2091 0 0 0 0 0 0

11327 0.66 249.6 42.2 9.0 1119 11357 0.00 2.35 22.75 0.834 4 0.000 0.073 3052 3644 2012 0 0 0 0 0 0

11387 0.71 254.1 36.7 9.8 1129 11401 0.12 2.28 5.43 0.727 6 0.118 0.056 3103 2226 1993 0 0 0 0 0 0

11665 end climb: SURFACE_DEPTH_REACHED

state 11666 begin surface coast

11688 end surface coast: CONTROL_FINISHED_OK

state 11688 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	18	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	-22032.982	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	210211,151536,6709.099,-5711.875,33,1.4,33,-37.8	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	1.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210211,152108,6709.157,-5711.877,13,1.4,13,-37.8	MHEAD_RNG_PITCHd_Wd	289.6,149460,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	632

FREEZE	1.20,-1.088,-1.686,3,1,0	ALTIM_TOP_PING	19.2,18.1
FINISH	1.2,1.024782	ALTIM_BOTTOM_PING	600.3,32.6
SM_CCo	11705,65.82,0.071,0,0,1399,400.08	_24V_AH	23.3,5.649
SM_GC	1.88,0.00,0.00,65.82,0.000,0.000,0.071,111,2461,1399,-8.62,0.31,400.08	_10V_AH	10.4,2.397
RAFOS_CLK	585	FG_AHR_24Vo	0.000
RAFOS	0,1298304061,16.033333,16.016945,67,59,56,52,52,52,189,152,206,131,176,215	FG_AHR_10Vo	0.000
RAFOS_FIX	6711.228516,-5723.782715,210211,161622,3,94,1.90	MEM	150692
IRIDIUM_FIX	6636.54,-5712.23,210211,111150	DATA_FILE_SIZE	46769,1183
TT8_MAMPS	0.026215	CAP_FILE_SIZE	134031,0
HUMID	46.53	CFSIZE	260165632,251076608
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	SOUNDSPEED	1457.6
XPDR_PINGS	0	GPS	210211,183930,6710.713,-5718.128,35,0.9,40,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	338	190.89	SBE_CT	838	24	468.80
Roll_motor	92	92	199.77	SBE_O2	909	19	402.85
VBD_pump_during_apogee	346	1290	10420.73	nil	0	0	0.00
VBD_pump_during_surface	65	71	109.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.14	nil	0	0	0.00
Iridium_during_connect	38	160	143.12	nil	0	0	0.00
Iridium_during_xfer	135	223	702.29	nil	0	0	0.00
Transponder_ping	2	420	22.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.23
TT8	2859	19	592.31
LPSleep	6394	2	153.63
TT8_Active	539	19	111.80
TT8_Sampling	2114	39	877.67
TT8_CF8	211	45	101.15
TT8_Kalman	0	0	0.00
Analog_circuits	1551	12	193.66
GPS_charging	0	0	0.00
Compass	1883	15	293.78
RAFOS	2520	1	39.31
Transponder	17	30	5.53

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
16	-0.62	-146.0	0.0	0.0	0	150	0.00	0.00	-130.35	0.000	2	0.000	0.000	116	2453	3418	0	0	0	0	0	0
153	-0.62	-146.0	5.6	-9.7	23	179	12.88	2.35	-4.38	0.000	4	0.339	0.093	2657	3859	3630	0	0	0	0	0	0
249	-0.55	-146.0	31.1	-16.7	39	256	0.12	2.28	0.00	0.000	6	0.227	0.054	2684	2441	3631	0	0	0	0	0	0
594	-0.50	-146.0	79.4	-14.2	100	601	0.00	2.38	0.00	0.000	4	0.000	0.081	2684	3860	3630	0	0	0	0	0	0
613	-0.45	-146.0	82.1	-13.7	103	621	0.15	2.25	0.00	0.000	6	0.208	0.054	2722	2449	3631	0	0	0	0	0	0
950	-0.51	-146.0	114.1	-8.2	149	954	0.00	2.25	0.00	0.000	4	0.000	0.070	2722	1042	3630	0	0	0	0	0	0
1007	-0.59	-146.0	119.1	-8.5	154	1012	0.12	2.28	0.00	0.000	6	0.132	0.066	2681	2449	3630	0	0	0	0	0	0
1332	-0.56	-146.0	152.9	-9.4	184	1337	0.00	2.33	0.00	0.000	4	0.000	0.082	2681	3860	3629	0	0	0	0	0	0
1362	-0.54	-146.0	155.6	-9.6	186	1366	0.00	2.25	0.00	0.000	6	0.000	0.054	2681	2436	3629	0	0	0	0	0	0
1687	-0.52	-146.0	191.4	-11.7	216	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2436	3630	0	0	0	0	0	0
2008	-0.52	-146.0	228.9	-11.5	246	2009	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2436	3630	0	0	0	0	0	0
2325	-0.52	-146.0	262.9	-10.1	276	2329	0.00	2.33	0.00	0.000	4	0.000	0.081	2681	3859	3629	0	0	0	0	0	0
2370	-0.55	-146.0	267.7	-10.5	279	2376	0.00	2.22	0.00	0.000	6	0.000	0.054	2681	2445	3630	0	0	0	0	0	0
2695	-0.55	-146.0	299.1	-9.7	310	2696	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2445	3630	0	0	0	0	0	0
3013	-0.55	-146.0	329.7	-10.0	340	3017	0.00	2.30	0.00	0.000	4	0.000	0.080	2681	3858	3630	0	0	0	0	0	0
3053	-0.55	-146.0	333.5	-9.6	343	3057	0.00	2.20	0.00	0.000	6	0.000	0.053	2681	2449	3629	0	0	0	0	0	0
3378	-0.55	-146.0	365.8	-9.9	373	3382	0.00	2.20	0.00	0.000	4	0.000	0.068	2681	1044	3630	0	0	0	0	0	0
3406	-0.55	-146.0	368.7	-10.2	375	3410	0.00	2.25	0.00	0.000	6	0.000	0.065	2681	2452	3630	0	0	0	0	0	0
3731	-0.55	-146.0	399.6	-9.0	405	3736	0.00	2.28	0.00	0.000	4	0.000	0.082	2681	3854	3630	0	0	0	0	0	0
3792	-0.57	-146.0	405.6	-9.7	410	3799	0.00	2.17	0.00	0.000	6	0.000	0.053	2681	2448	3631	0	0	0	0	0	0
4117	-0.57	-146.0	435.4	-9.1	441	4119	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2448	3630	0	0	0	0	0	0
4436	-0.57	-146.0	464.9	-9.5	471	4437	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2448	3632	0	0	0	0	0	0
4756	-0.57	-146.0	495.2	-9.6	501	4760	0.00	2.30	0.00	0.000	4	0.000	0.080	2680	3854	3632	0	0	0	0	0	0
4809	-0.61	-146.0	500.5	-10.0	505	4813	0.00	2.17	0.00	0.000	6	0.000	0.054	2681	2447	3632	0	0	0	0	0	0
5135	-0.61	-146.0	532.1	-9.8	535	5137	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2448	3632	0	0	0	0	0	0
5453	-0.61	-146.0	562.9	-9.7	565	5454	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2447	3632	0	0	0	0	0	0
5772	-0.61	-146.0	593.9	-9.8	595	5776	0.00	2.30	0.00	0.000	4	0.000	0.081	2681	3853	3632	0	0	0	0	0	0
5824	-0.65	-146.0	599.1	-10.1	599	5828	0.00	2.20	0.00	0.000	6	0.000	0.054	2681	2442	3632	0	0	0	0	0	0
6017	end dive: BOTTOM_OBSTACLE_DETECTED
state	6017	begin apogee
6023	-0.12	0.0	618.3	9.8	606	6150	0.47	0.00	121.60	1.291	6	0.184	0.000	2823	2208	3030	0	0	0	0	0	0
6151	end apogee: CONTROL_FINISHED_OK
state	6151	begin climb
6153	0.62	146.0	622.6	0.0	610	6288	0.77	2.53	124.18	1.257	4	0.136	0.077	3069	831	2432	0	0	0	0	0	0
6312	0.52	146.0	610.6	12.3	615	6317	0.12	2.42	0.00	0.000	6	0.190	0.061	3042	2231	2429	0	0	0	0	0	0
6634	0.47	146.0	575.6	10.8	638	6638	0.00	2.38	0.00	0.000	4	0.000	0.076	3041	3639	2424	0	0	0	0	0	0
6720	0.36	146.0	564.7	12.9	645	6725	0.22	2.33	0.00	0.000	6	0.189	0.060	2993	2233	2423	0	0	0	0	0	0
7045	0.45	180.6	536.7	8.4	675	7080	0.00	2.45	29.38	1.161	4	0.000	0.074	2993	3632	2292	0	0	0	0	0	0
7099	0.50	194.9	532.0	9.3	680	7122	0.00	2.35	13.70	1.106	6	0.000	0.057	3000	2224	2236	0	0	0	0	0	0
7440	0.60	227.3	501.6	8.5	712	7473	0.17	0.00	29.52	1.160	6	0.096	0.000	3066	2224	2103	0	0	0	0	0	0
7789	0.57	227.3	455.9	13.2	745	7793	0.00	2.35	0.00	0.000	4	0.000	0.074	3066	3634	2096	0	0	0	0	0	0
7845	0.50	227.3	447.6	14.9	750	7850	0.15	2.33	0.00	0.000	6	0.194	0.060	3040	2223	2094	0	0	0	0	0	0
8170	0.50	227.3	408.9	12.0	780	8171	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2223	2093	0	0	0	0	0	0
8491	0.50	227.3	371.4	11.7	810	8496	0.00	2.35	0.00	0.000	4	0.000	0.075	3039	3645	2093	0	0	0	0	0	0
8512	0.50	227.3	368.3	12.3	811	8520	0.00	2.33	0.00	0.000	6	0.000	0.057	3046	2220	2092	0	0	0	0	0	0
8838	0.50	227.3	330.2	11.8	842	8839	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2220	2092	0	0	0	0	0	0
9158	0.50	227.3	292.1	11.9	872	9162	0.00	2.30	0.00	0.000	4	0.000	0.075	3046	3635	2092	0	0	0	0	0	0
9197	0.50	227.3	286.8	13.4	875	9201	0.00	2.28	0.00	0.000	6	0.000	0.059	3055	2218	2092	0	0	0	0	0	0
9523	0.50	227.3	245.7	12.8	905	9527	0.00	2.30	0.00	0.000	4	0.000	0.073	3055	3637	2092	0	0	0	0	0	0
9545	0.48	227.3	242.3	14.5	906	9553	0.15	2.25	0.00	0.000	6	0.188	0.057	3027	2221	2091	0	0	0	0	0	0
9870	0.53	227.3	206.7	10.6	937	9871	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2221	2091	0	0	0	0	0	0
10192	0.60	227.3	174.0	10.5	967	10197	0.10	2.25	0.00	0.000	4	0.130	0.073	3073	810	2092	0	0	0	0	0	0
10213	0.62	227.3	171.1	11.8	968	10220	0.00	2.28	0.00	0.000	6	0.000	0.062	3073	2223	2091	0	0	0	0	0	0
10539	0.60	227.3	128.6	13.0	999	10543	0.00	2.30	0.00	0.000	4	0.000	0.076	3073	3644	2091	0	0	0	0	0	0
10646	0.55	227.3	112.9	15.5	1008	10650	0.12	2.25	0.00	0.000	6	0.196	0.057	3052	2223	2091	0	0	0	0	0	0
10983	0.59	227.3	74.7	11.4	1058	10989	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2222	2091	0	0	0	0	0	0
11327	0.66	249.6	42.2	9.0	1119	11357	0.00	2.35	22.75	0.834	4	0.000	0.073	3052	3644	2012	0	0	0	0	0	0
11387	0.71	254.1	36.7	9.8	1129	11401	0.12	2.28	5.43	0.727	6	0.118	0.056	3103	2226	1993	0	0	0	0	0	0
11665	end climb: SURFACE_DEPTH_REACHED
state	11666	begin surface coast
11688	end surface coast: CONTROL_FINISHED_OK
state	11688	begin surface