Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 13 * 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 13 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 559.0387 R_PORT_OVSHOOT 29 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 -22026.695 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 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 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 -22026.695

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 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 13 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 210211,003827,6704.604,-5655.352,37,3.0,56,-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 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210211,004332,6704.659,-5655.278,13,1.2,13,-37.6 MHEAD_RNG_PITCHd_Wd 293.7,158833,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 528

Post-dive calculations and measurements:

FREEZE 0.89,-0.225,-1.821,3,1,0 ALTIM_TOP_PING 19.6,19.3

FINISH 0.9,1.026675 ALTIM_BOTTOM_PING 500.5,14.3

SM_CCo 9134,140.30,0.064,0,0,749,559.04 _24V_AH 23.6,5.049

SM_GC 1.79,0.00,0.00,140.30,0.000,0.000,0.064,112,2452,749,-8.62,0.06,559.04 _10V_AH 10.4,2.045

RAFOS_CLK 433 FG_AHR_24Vo 0.000

RAFOS 4,1298248384,0.566667,0.551111,68,68,59,53,53,53,170,204,192,159,220,233 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.972168,-5654.844238,200211,121200,2,80,0.15 MEM 150624

IRIDIUM_FIX 6636.54,-5658.34,200211,212121 DATA_FILE_SIZE 40060,970

TT8_MAMPS 0.026215 CAP_FILE_SIZE 113013,0

HUMID 44.36 CFSIZE 260165632,251437056

INTERNAL_PRESSURE 8.51595 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1464.3

XPDR_PINGS 1 GPS 210211,031958,6706.104,-5658.469,12,99.0,31,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 329 182.67 SBE_CT 679 24 385.05

Roll_motor 96 89 203.42 SBE_O2 737 19 330.88

VBD_pump_during_apogee 314 1166 8658.92 nil 0 0 0.00

VBD_pump_during_surface 140 64 212.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.27 nil 0 0 0.00

Iridium_during_connect 20 160 77.91 nil 0 0 0.00

Iridium_during_xfer 127 223 669.54 nil 0 0 0.00

Transponder_ping 2 420 19.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.33

TT8 2326 19 482.07

LPSleep 4675 2 112.33

TT8_Active 637 19 132.06

TT8_Sampling 1761 39 731.45

TT8_CF8 187 45 89.53

TT8_Kalman 0 0 0.00

Analog_circuits 1492 12 186.29

GPS_charging 0 0 0.00

Compass 1557 15 243.04

RAFOS 360 1 5.62

Transponder 14 30 4.42

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 0 187 0.00 0.00 -168.60 0.000 2 0.000 0.000 109 2304 3559 0 0 0 0 0 0

189 -0.62 -146.0 6.3 -12.2 29 210 12.48 2.62 -1.33 0.000 4 0.330 0.090 2657 3857 3629 0 0 0 0 0 0

368 -0.55 -146.0 48.8 -16.4 60 375 0.12 2.25 0.00 0.000 6 0.220 0.054 2684 2445 3630 0 0 0 0 0 0

713 -0.51 -146.0 99.3 -14.6 121 719 0.00 2.25 0.00 0.000 4 0.000 0.070 2684 1043 3630 0 0 0 0 0 0

794 -0.51 -146.0 110.7 -14.0 129 798 0.00 2.28 0.00 0.000 6 0.000 0.067 2685 2450 3630 0 0 0 0 0 0

1120 -0.51 -146.0 154.5 -12.7 159 1124 0.00 2.33 0.00 0.000 4 0.000 0.083 2685 3856 3629 0 0 0 0 0 0

1163 -0.53 -146.0 160.1 -11.4 162 1170 0.00 2.22 0.00 0.000 6 0.000 0.054 2684 2438 3629 0 0 0 0 0 0

1488 -0.53 -146.0 195.4 -10.7 193 1492 0.00 2.20 0.00 0.000 4 0.000 0.070 2685 1046 3628 0 0 0 0 0 0

1544 -0.55 -146.0 201.6 -10.9 197 1551 0.00 2.25 0.00 0.000 6 0.000 0.065 2684 2451 3628 0 0 0 0 0 0

1869 -0.55 -146.0 236.8 -11.2 228 1873 0.00 2.28 0.00 0.000 4 0.000 0.078 2684 3866 3627 0 0 0 0 0 0

1935 -0.60 -146.0 244.3 -10.9 233 1942 0.00 2.17 0.00 0.000 6 0.000 0.050 2684 2449 3628 0 0 0 0 0 0

2260 -0.60 -146.0 277.6 -9.5 264 2264 0.00 2.30 0.00 0.000 4 0.000 0.076 2684 3861 3629 0 0 0 0 0 0

2335 -0.63 -146.0 284.4 -8.9 270 2339 0.00 2.20 0.00 0.000 6 0.000 0.050 2685 2443 3629 0 0 0 0 0 0

2660 -0.65 -146.0 312.7 -8.7 300 2664 0.00 2.20 0.00 0.000 4 0.000 0.064 2685 1042 3630 0 0 0 0 0 0

2718 -0.69 -146.0 317.8 -8.6 305 2723 0.12 2.25 0.00 0.000 6 0.136 0.061 2644 2465 3630 0 0 0 0 0 0

3043 -0.61 -146.0 357.2 -12.6 335 3048 0.12 2.22 0.00 0.000 4 0.223 0.076 2672 3853 3631 0 0 0 0 0 0

3100 -0.61 -146.0 363.7 -10.7 340 3103 0.00 2.17 0.00 0.000 6 0.000 0.048 2672 2445 3631 0 0 0 0 0 0

3431 -0.61 -146.0 399.2 -10.7 371 3435 0.00 2.28 0.00 0.000 4 0.000 0.076 2671 3853 3633 0 0 0 0 0 0

3475 -0.61 -146.0 404.4 -10.7 374 3482 0.00 2.15 0.00 0.000 6 0.000 0.048 2672 2440 3633 0 0 0 0 0 0

3802 -0.61 -146.0 438.9 -9.9 405 3806 0.00 2.30 0.00 0.000 4 0.000 0.076 2671 3858 3633 0 0 0 0 0 0

3835 -0.61 -146.0 442.7 -10.1 407 3843 0.00 2.17 0.00 0.000 6 0.000 0.049 2671 2450 3633 0 0 0 0 0 0

4161 -0.61 -146.0 473.7 -9.5 438 4165 0.00 2.28 0.00 0.000 4 0.000 0.076 2671 3854 3634 0 0 0 0 0 0

4201 -0.61 -146.0 477.8 -9.9 441 4204 0.00 2.15 0.00 0.000 6 0.000 0.049 2671 2446 3634 0 0 0 0 0 0

4439 end dive: BOTTOM_OBSTACLE_DETECTED

state 4439 begin apogee

4444 -0.12 0.0 500.5 9.8 463 4569 0.50 0.00 118.43 1.167 6 0.186 0.000 2822 2215 3030 0 0 0 0 0 0

4570 end apogee: CONTROL_FINISHED_OK

state 4570 begin climb

4572 0.62 146.0 504.4 0.0 474 4702 0.77 2.47 122.10 1.148 4 0.135 0.070 3070 836 2433 0 0 0 0 0 0

4719 0.52 146.0 492.5 12.7 488 4727 0.12 2.38 0.00 0.000 6 0.190 0.060 3043 2221 2430 0 0 0 0 0 0

5044 0.45 146.0 454.8 11.6 519 5048 0.00 2.35 0.00 0.000 4 0.000 0.073 3043 3633 2425 0 0 0 0 0 0

5133 0.35 146.0 443.0 13.1 526 5141 0.25 2.28 0.00 0.000 6 0.184 0.056 2986 2236 2424 0 0 0 0 0 0

5459 0.46 194.5 417.1 7.8 557 5505 0.00 2.45 40.17 1.073 4 0.000 0.071 2986 3632 2237 0 0 0 0 0 0

5552 0.52 196.0 409.3 9.9 565 5557 0.15 2.33 0.00 0.000 6 0.103 0.054 3043 2220 2234 0 0 0 0 0 0

5883 0.52 196.0 369.1 12.8 596 5887 0.00 2.35 0.00 0.000 4 0.000 0.070 3043 3638 2230 0 0 0 0 0 0

5926 0.46 196.0 362.6 15.0 599 5934 0.12 2.28 0.00 0.000 6 0.193 0.054 3025 2220 2230 0 0 0 0 0 0

6252 0.48 196.0 323.3 12.2 630 6256 0.00 2.33 0.00 0.000 4 0.000 0.071 3024 3641 2229 0 0 0 0 0 0

6308 0.48 196.0 315.8 14.3 635 6312 0.00 2.28 0.00 0.000 6 0.000 0.054 3029 2214 2229 0 0 0 0 0 0

6633 0.48 196.0 276.8 11.9 665 6637 0.00 2.30 0.00 0.000 4 0.000 0.071 3029 3638 2228 0 0 0 0 0 0

6665 0.48 196.0 272.5 13.3 667 6672 0.00 2.25 0.00 0.000 6 0.000 0.053 3039 2219 2227 0 0 0 0 0 0

6992 0.48 196.0 233.7 12.0 698 6996 0.00 2.28 0.00 0.000 4 0.000 0.070 3039 3637 2227 0 0 0 0 0 0

7036 0.45 196.0 227.5 13.9 701 7043 0.12 2.22 0.00 0.000 6 0.201 0.052 3020 2227 2227 0 0 0 0 0 0

7361 0.50 203.0 194.9 9.7 732 7372 0.00 0.00 6.85 0.793 6 0.000 0.000 3019 2226 2202 0 0 0 0 0 0

7692 0.58 233.6 165.1 8.6 763 7725 0.12 0.00 26.95 0.926 6 0.113 0.000 3068 2226 2078 0 0 0 0 0 0

8043 0.58 233.6 123.2 11.8 796 8047 0.00 2.30 0.00 0.000 4 0.000 0.068 3068 3642 2073 0 0 0 0 0 0

8065 0.58 233.6 120.3 13.1 798 8070 0.00 2.25 0.00 0.000 6 0.000 0.050 3078 2220 2073 0 0 0 0 0 0

8398 0.58 233.6 80.0 11.8 843 8405 0.00 2.25 0.00 0.000 4 0.000 0.066 3086 809 2073 0 0 0 0 0 0

8423 0.58 233.6 76.8 12.6 847 8430 0.00 2.28 0.00 0.000 6 0.000 0.057 3086 2243 2072 0 0 0 0 0 0

8768 0.55 233.6 35.4 10.7 908 8776 0.12 2.25 0.00 0.000 4 0.185 0.070 3054 3632 2072 0 0 0 0 0 0

8889 0.55 233.6 23.0 10.0 929 8896 0.00 2.22 0.00 0.000 6 0.000 0.052 3059 2224 2072 0 0 0 0 0 0

9078 end climb: SURFACE_DEPTH_REACHED

state 9078 begin surface coast

9117 end surface coast: CONTROL_FINISHED_OK

state 9117 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	13	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	559.0387	R_PORT_OVSHOOT	29	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	-22026.695	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	210211,003827,6704.604,-5655.352,37,3.0,56,-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	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210211,004332,6704.659,-5655.278,13,1.2,13,-37.6	MHEAD_RNG_PITCHd_Wd	293.7,158833,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	528

FREEZE	0.89,-0.225,-1.821,3,1,0	ALTIM_TOP_PING	19.6,19.3
FINISH	0.9,1.026675	ALTIM_BOTTOM_PING	500.5,14.3
SM_CCo	9134,140.30,0.064,0,0,749,559.04	_24V_AH	23.6,5.049
SM_GC	1.79,0.00,0.00,140.30,0.000,0.000,0.064,112,2452,749,-8.62,0.06,559.04	_10V_AH	10.4,2.045
RAFOS_CLK	433	FG_AHR_24Vo	0.000
RAFOS	4,1298248384,0.566667,0.551111,68,68,59,53,53,53,170,204,192,159,220,233	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.972168,-5654.844238,200211,121200,2,80,0.15	MEM	150624
IRIDIUM_FIX	6636.54,-5658.34,200211,212121	DATA_FILE_SIZE	40060,970
TT8_MAMPS	0.026215	CAP_FILE_SIZE	113013,0
HUMID	44.36	CFSIZE	260165632,251437056
INTERNAL_PRESSURE	8.51595	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1464.3
XPDR_PINGS	1	GPS	210211,031958,6706.104,-5658.469,12,99.0,31,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	329	182.67	SBE_CT	679	24	385.05
Roll_motor	96	89	203.42	SBE_O2	737	19	330.88
VBD_pump_during_apogee	314	1166	8658.92	nil	0	0	0.00
VBD_pump_during_surface	140	64	212.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.27	nil	0	0	0.00
Iridium_during_connect	20	160	77.91	nil	0	0	0.00
Iridium_during_xfer	127	223	669.54	nil	0	0	0.00
Transponder_ping	2	420	19.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.33
TT8	2326	19	482.07
LPSleep	4675	2	112.33
TT8_Active	637	19	132.06
TT8_Sampling	1761	39	731.45
TT8_CF8	187	45	89.53
TT8_Kalman	0	0	0.00
Analog_circuits	1492	12	186.29
GPS_charging	0	0	0.00
Compass	1557	15	243.04
RAFOS	360	1	5.62
Transponder	14	30	4.42

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	187	0.00	0.00	-168.60	0.000	2	0.000	0.000	109	2304	3559	0	0	0	0	0	0
189	-0.62	-146.0	6.3	-12.2	29	210	12.48	2.62	-1.33	0.000	4	0.330	0.090	2657	3857	3629	0	0	0	0	0	0
368	-0.55	-146.0	48.8	-16.4	60	375	0.12	2.25	0.00	0.000	6	0.220	0.054	2684	2445	3630	0	0	0	0	0	0
713	-0.51	-146.0	99.3	-14.6	121	719	0.00	2.25	0.00	0.000	4	0.000	0.070	2684	1043	3630	0	0	0	0	0	0
794	-0.51	-146.0	110.7	-14.0	129	798	0.00	2.28	0.00	0.000	6	0.000	0.067	2685	2450	3630	0	0	0	0	0	0
1120	-0.51	-146.0	154.5	-12.7	159	1124	0.00	2.33	0.00	0.000	4	0.000	0.083	2685	3856	3629	0	0	0	0	0	0
1163	-0.53	-146.0	160.1	-11.4	162	1170	0.00	2.22	0.00	0.000	6	0.000	0.054	2684	2438	3629	0	0	0	0	0	0
1488	-0.53	-146.0	195.4	-10.7	193	1492	0.00	2.20	0.00	0.000	4	0.000	0.070	2685	1046	3628	0	0	0	0	0	0
1544	-0.55	-146.0	201.6	-10.9	197	1551	0.00	2.25	0.00	0.000	6	0.000	0.065	2684	2451	3628	0	0	0	0	0	0
1869	-0.55	-146.0	236.8	-11.2	228	1873	0.00	2.28	0.00	0.000	4	0.000	0.078	2684	3866	3627	0	0	0	0	0	0
1935	-0.60	-146.0	244.3	-10.9	233	1942	0.00	2.17	0.00	0.000	6	0.000	0.050	2684	2449	3628	0	0	0	0	0	0
2260	-0.60	-146.0	277.6	-9.5	264	2264	0.00	2.30	0.00	0.000	4	0.000	0.076	2684	3861	3629	0	0	0	0	0	0
2335	-0.63	-146.0	284.4	-8.9	270	2339	0.00	2.20	0.00	0.000	6	0.000	0.050	2685	2443	3629	0	0	0	0	0	0
2660	-0.65	-146.0	312.7	-8.7	300	2664	0.00	2.20	0.00	0.000	4	0.000	0.064	2685	1042	3630	0	0	0	0	0	0
2718	-0.69	-146.0	317.8	-8.6	305	2723	0.12	2.25	0.00	0.000	6	0.136	0.061	2644	2465	3630	0	0	0	0	0	0
3043	-0.61	-146.0	357.2	-12.6	335	3048	0.12	2.22	0.00	0.000	4	0.223	0.076	2672	3853	3631	0	0	0	0	0	0
3100	-0.61	-146.0	363.7	-10.7	340	3103	0.00	2.17	0.00	0.000	6	0.000	0.048	2672	2445	3631	0	0	0	0	0	0
3431	-0.61	-146.0	399.2	-10.7	371	3435	0.00	2.28	0.00	0.000	4	0.000	0.076	2671	3853	3633	0	0	0	0	0	0
3475	-0.61	-146.0	404.4	-10.7	374	3482	0.00	2.15	0.00	0.000	6	0.000	0.048	2672	2440	3633	0	0	0	0	0	0
3802	-0.61	-146.0	438.9	-9.9	405	3806	0.00	2.30	0.00	0.000	4	0.000	0.076	2671	3858	3633	0	0	0	0	0	0
3835	-0.61	-146.0	442.7	-10.1	407	3843	0.00	2.17	0.00	0.000	6	0.000	0.049	2671	2450	3633	0	0	0	0	0	0
4161	-0.61	-146.0	473.7	-9.5	438	4165	0.00	2.28	0.00	0.000	4	0.000	0.076	2671	3854	3634	0	0	0	0	0	0
4201	-0.61	-146.0	477.8	-9.9	441	4204	0.00	2.15	0.00	0.000	6	0.000	0.049	2671	2446	3634	0	0	0	0	0	0
4439	end dive: BOTTOM_OBSTACLE_DETECTED
state	4439	begin apogee
4444	-0.12	0.0	500.5	9.8	463	4569	0.50	0.00	118.43	1.167	6	0.186	0.000	2822	2215	3030	0	0	0	0	0	0
4570	end apogee: CONTROL_FINISHED_OK
state	4570	begin climb
4572	0.62	146.0	504.4	0.0	474	4702	0.77	2.47	122.10	1.148	4	0.135	0.070	3070	836	2433	0	0	0	0	0	0
4719	0.52	146.0	492.5	12.7	488	4727	0.12	2.38	0.00	0.000	6	0.190	0.060	3043	2221	2430	0	0	0	0	0	0
5044	0.45	146.0	454.8	11.6	519	5048	0.00	2.35	0.00	0.000	4	0.000	0.073	3043	3633	2425	0	0	0	0	0	0
5133	0.35	146.0	443.0	13.1	526	5141	0.25	2.28	0.00	0.000	6	0.184	0.056	2986	2236	2424	0	0	0	0	0	0
5459	0.46	194.5	417.1	7.8	557	5505	0.00	2.45	40.17	1.073	4	0.000	0.071	2986	3632	2237	0	0	0	0	0	0
5552	0.52	196.0	409.3	9.9	565	5557	0.15	2.33	0.00	0.000	6	0.103	0.054	3043	2220	2234	0	0	0	0	0	0
5883	0.52	196.0	369.1	12.8	596	5887	0.00	2.35	0.00	0.000	4	0.000	0.070	3043	3638	2230	0	0	0	0	0	0
5926	0.46	196.0	362.6	15.0	599	5934	0.12	2.28	0.00	0.000	6	0.193	0.054	3025	2220	2230	0	0	0	0	0	0
6252	0.48	196.0	323.3	12.2	630	6256	0.00	2.33	0.00	0.000	4	0.000	0.071	3024	3641	2229	0	0	0	0	0	0
6308	0.48	196.0	315.8	14.3	635	6312	0.00	2.28	0.00	0.000	6	0.000	0.054	3029	2214	2229	0	0	0	0	0	0
6633	0.48	196.0	276.8	11.9	665	6637	0.00	2.30	0.00	0.000	4	0.000	0.071	3029	3638	2228	0	0	0	0	0	0
6665	0.48	196.0	272.5	13.3	667	6672	0.00	2.25	0.00	0.000	6	0.000	0.053	3039	2219	2227	0	0	0	0	0	0
6992	0.48	196.0	233.7	12.0	698	6996	0.00	2.28	0.00	0.000	4	0.000	0.070	3039	3637	2227	0	0	0	0	0	0
7036	0.45	196.0	227.5	13.9	701	7043	0.12	2.22	0.00	0.000	6	0.201	0.052	3020	2227	2227	0	0	0	0	0	0
7361	0.50	203.0	194.9	9.7	732	7372	0.00	0.00	6.85	0.793	6	0.000	0.000	3019	2226	2202	0	0	0	0	0	0
7692	0.58	233.6	165.1	8.6	763	7725	0.12	0.00	26.95	0.926	6	0.113	0.000	3068	2226	2078	0	0	0	0	0	0
8043	0.58	233.6	123.2	11.8	796	8047	0.00	2.30	0.00	0.000	4	0.000	0.068	3068	3642	2073	0	0	0	0	0	0
8065	0.58	233.6	120.3	13.1	798	8070	0.00	2.25	0.00	0.000	6	0.000	0.050	3078	2220	2073	0	0	0	0	0	0
8398	0.58	233.6	80.0	11.8	843	8405	0.00	2.25	0.00	0.000	4	0.000	0.066	3086	809	2073	0	0	0	0	0	0
8423	0.58	233.6	76.8	12.6	847	8430	0.00	2.28	0.00	0.000	6	0.000	0.057	3086	2243	2072	0	0	0	0	0	0
8768	0.55	233.6	35.4	10.7	908	8776	0.12	2.25	0.00	0.000	4	0.185	0.070	3054	3632	2072	0	0	0	0	0	0
8889	0.55	233.6	23.0	10.0	929	8896	0.00	2.22	0.00	0.000	6	0.000	0.052	3059	2224	2072	0	0	0	0	0	0
9078	end climb: SURFACE_DEPTH_REACHED
state	9078	begin surface coast
9117	end surface coast: CONTROL_FINISHED_OK
state	9117	begin surface