Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 506 * 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 2

DIVE 506 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 34 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 1 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 -44746.707 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 2864 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 120 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 2 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 1 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 -44746.707

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 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 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 35 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 34 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 506 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 260411,204800,6702.160,-5648.239,0,2105.5,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -32.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260411,204800,6702.160,-5648.239,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 295.7,162817,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 547

Post-dive calculations and measurements:

FREEZE 2.86,-1.659,-1.834,2,41,0 _24V_AH 22.1,65.879

FINISH 2.9,1.026889 _10V_AH 10.1,33.984

RAFOS_CLK 563 FG_AHR_24Vo 0.000

RAFOS 0,1303862467,0.033333,0.018611,64,60,58,55,54,50,171,205,191,182,214,154 FG_AHR_10Vo 0.000

RAFOS_FIX 6654.463379,-5656.198730,270411,000032,3,121,1.10 MEM 150480

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43398,1084

TT8_MAMPS 0.026215 CAP_FILE_SIZE 129220,0

HUMID 46.22 CFSIZE 260165632,221261824

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 SOUNDSPEED 1465.6

XPDR_PINGS 0 GPS 270411,004032,6654.463,-5656.199,0,3120.7,0,-37.6

ALTIM_TOP_PING 19.5,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 233 68.58 SBE_CT 764 24 405.37

Roll_motor 108 78 188.20 SBE_O2 816 19 342.92

VBD_pump_during_apogee 316 1229 8588.72 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 224.09 nil 0 0 0.00

Iridium_during_connect 17 160 61.54 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 13.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.56

TT8 2622 19 527.67

LPSleep 5429 2 126.68

TT8_Active 467 19 94.12

TT8_Sampling 2060 39 830.64

TT8_CF8 515 45 239.10

TT8_Kalman 0 0 0.00

Analog_circuits 1440 12 174.55

GPS_charging 0 0 0.00

Compass 1745 15 264.49

RAFOS 2520 1 38.18

Transponder 11 30 3.47

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

16 -0.62 -146.0 0.0 0.0 0 184 0.00 0.00 -163.82 0.000 6 0.000 0.000 109 2503 3625 0 0 0 0 0 0

187 -0.62 -146.0 3.5 -0.0 29 206 10.07 2.30 0.00 0.000 4 0.233 0.065 2656 3880 3627 0 0 0 0 0 0

264 -0.62 -146.0 7.5 -7.5 42 270 0.00 2.17 0.00 0.000 6 0.000 0.047 2657 2487 3628 0 0 0 0 0 0

609 -0.54 -146.0 57.2 -14.8 103 617 0.12 2.28 0.00 0.000 4 0.221 0.065 2687 1084 3627 0 0 0 0 0 0

664 -0.54 -146.0 64.7 -12.6 112 671 0.00 2.28 0.00 0.000 6 0.000 0.063 2687 2481 3628 0 0 0 0 0 0

1005 -0.54 -146.0 108.1 -12.1 167 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2481 3626 0 0 0 0 0 0

1327 -0.54 -146.0 145.2 -11.9 197 1331 0.00 2.35 0.00 0.000 4 0.000 0.079 2687 3905 3625 0 0 0 0 0 0

1390 -0.60 -146.0 152.6 -11.1 202 1394 0.00 2.20 0.00 0.000 6 0.000 0.047 2687 2489 3625 0 0 0 0 0 0

1717 -0.63 -146.0 186.0 -9.7 232 1721 0.00 2.22 0.00 0.000 4 0.000 0.063 2687 1084 3625 0 0 0 0 0 0

1769 -0.68 -146.0 191.1 -9.0 236 1774 0.12 2.28 0.00 0.000 6 0.127 0.060 2646 2490 3624 0 0 0 0 0 0

2095 -0.62 -146.0 229.9 -11.9 266 2096 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2490 3625 0 0 0 0 0 0

2415 -0.57 -146.0 269.7 -12.4 296 2420 0.12 2.30 0.00 0.000 4 0.214 0.073 2675 3905 3626 0 0 0 0 0 0

2476 -0.62 -146.0 276.6 -10.1 301 2483 0.00 2.20 0.00 0.000 6 0.000 0.043 2674 2484 3626 0 0 0 0 0 0

2802 -0.65 -146.0 308.7 -10.2 332 2806 0.00 2.20 0.00 0.000 4 0.000 0.059 2674 1078 3628 0 0 0 0 0 0

2868 -0.68 -146.0 315.4 -9.9 337 2875 0.00 2.28 0.00 0.000 6 0.000 0.057 2675 2501 3628 0 0 0 0 0 0

3194 -0.71 -146.0 348.5 -10.2 368 3198 0.12 2.28 0.00 0.000 4 0.119 0.070 2630 3899 3629 0 0 0 0 0 0

3234 -0.65 -146.0 353.4 -13.1 371 3238 0.00 2.17 0.00 0.000 6 0.000 0.041 2630 2487 3629 0 0 0 0 0 0

3564 -0.57 -146.0 398.8 -13.6 402 3569 0.17 2.22 0.00 0.000 4 0.204 0.057 2674 1084 3631 0 0 0 0 0 0

3614 -0.62 -146.0 404.6 -10.2 406 3621 0.00 2.25 0.00 0.000 6 0.000 0.054 2674 2498 3631 0 0 0 0 0 0

3942 -0.65 -146.0 434.2 -8.7 437 3946 0.00 2.25 0.00 0.000 4 0.000 0.070 2674 3899 3631 0 0 0 0 0 0

3993 -0.71 -146.0 438.9 -8.6 441 3998 0.12 2.17 0.00 0.000 6 0.119 0.041 2630 2487 3632 0 0 0 0 0 0

4319 -0.63 -146.0 477.1 -12.4 471 4323 0.00 2.20 0.00 0.000 4 0.000 0.056 2630 1085 3632 0 0 0 0 0 0

4404 -0.59 -146.0 487.6 -12.1 478 4411 0.15 2.25 0.00 0.000 6 0.211 0.054 2665 2499 3633 0 0 0 0 0 0

4729 -0.59 -146.0 518.6 -9.4 509 4733 0.00 2.28 0.00 0.000 4 0.000 0.069 2665 3899 3633 0 0 0 0 0 0

4774 -0.63 -146.0 522.8 -8.9 512 4780 0.00 2.15 0.00 0.000 6 0.000 0.041 2665 2490 3633 0 0 0 0 0 0

5054 end dive: TARGET_DEPTH_EXCEEDED

state 5054 begin apogee

5061 -0.12 0.0 547.8 8.6 539 5191 0.50 0.00 123.22 1.229 6 0.177 0.000 2813 2256 3030 0 0 0 0 0 0

5192 end apogee: CONTROL_FINISHED_OK

state 5192 begin climb

5194 0.62 146.0 550.9 0.0 551 5330 0.77 2.38 126.55 1.183 4 0.130 0.061 3062 895 2433 0 0 0 0 0 0

5386 0.57 146.0 535.0 11.8 568 5393 0.00 2.38 0.00 0.000 6 0.000 0.048 3062 2281 2429 0 0 0 0 0 0

5711 0.50 146.0 495.9 12.5 599 5716 0.12 2.33 0.00 0.000 4 0.184 0.065 3031 3695 2428 0 0 0 0 0 0

5774 0.44 146.0 488.6 11.5 604 5779 0.12 2.25 0.00 0.000 6 0.187 0.047 3010 2285 2427 0 0 0 0 0 0

6100 0.50 169.4 459.9 8.9 634 6125 0.00 2.35 20.20 1.088 4 0.000 0.064 3018 869 2338 0 0 0 0 0 0

6134 0.58 204.7 456.9 8.4 637 6171 0.00 2.25 32.08 1.105 6 0.000 0.048 3018 2292 2195 0 0 0 0 0 0

6492 0.63 213.2 422.3 9.6 670 6506 0.15 2.33 7.95 0.940 4 0.092 0.063 3085 3690 2160 0 0 0 0 0 0

6530 0.54 213.2 417.2 15.2 673 6535 0.20 2.25 0.00 0.000 6 0.184 0.047 3044 2275 2160 0 0 0 0 0 0

6855 0.54 213.2 378.4 12.2 703 6859 0.00 2.28 0.00 0.000 4 0.000 0.062 3052 864 2159 0 0 0 0 0 0

6871 0.54 213.2 376.4 11.3 704 6878 0.00 2.22 0.00 0.000 6 0.000 0.047 3052 2278 2157 0 0 0 0 0 0

7197 0.54 213.2 336.2 13.1 735 7201 0.00 2.22 0.00 0.000 4 0.000 0.063 3052 3683 2158 0 0 0 0 0 0

7248 0.51 213.2 329.2 14.8 739 7253 0.12 2.22 0.00 0.000 6 0.186 0.047 3032 2268 2157 0 0 0 0 0 0

7573 0.54 213.2 291.7 11.3 769 7577 0.00 2.22 0.00 0.000 4 0.000 0.060 3040 866 2157 0 0 0 0 0 0

7606 0.60 213.2 288.0 11.0 771 7613 0.00 2.22 0.00 0.000 6 0.000 0.049 3040 2284 2156 0 0 0 0 0 0

7932 0.62 213.2 249.7 12.1 802 7936 0.00 2.25 0.00 0.000 4 0.000 0.063 3040 3693 2156 0 0 0 0 0 0

7987 0.62 213.2 241.9 14.1 806 7994 0.00 2.22 0.00 0.000 6 0.000 0.047 3050 2263 2156 0 0 0 0 0 0

8313 0.62 213.2 200.7 11.8 837 8316 0.00 2.20 0.00 0.000 4 0.000 0.060 3060 868 2156 0 0 0 0 0 0

8347 0.64 213.2 197.0 10.5 840 8351 0.00 2.20 0.00 0.000 6 0.000 0.049 3060 2276 2155 0 0 0 0 0 0

8678 0.64 213.2 161.6 10.3 871 8682 0.00 2.25 0.00 0.000 4 0.000 0.063 3060 3690 2155 0 0 0 0 0 0

8774 0.61 213.2 150.5 12.2 879 8778 0.00 2.20 0.00 0.000 6 0.000 0.046 3071 2276 2155 0 0 0 0 0 0

9105 0.61 213.2 113.2 11.3 910 9108 0.00 2.20 0.00 0.000 4 0.000 0.058 3081 868 2155 0 0 0 0 0 0

9128 0.61 213.2 110.8 10.5 912 9132 0.00 2.17 0.00 0.000 6 0.000 0.047 3081 2277 2155 0 0 0 0 0 0

9468 0.61 213.2 71.5 10.9 964 9474 0.00 2.25 0.00 0.000 4 0.000 0.062 3081 3684 2155 0 0 0 0 0 0

9560 0.57 213.2 59.6 13.1 980 9567 0.15 2.20 0.00 0.000 6 0.183 0.045 3052 2274 2156 0 0 0 0 0 0

9908 0.64 224.2 28.5 9.5 1041 9921 0.00 2.22 6.12 0.819 4 0.000 0.059 3055 866 2113 0 0 0 0 0 0

9952 0.74 224.2 23.9 10.8 1048 9959 0.12 2.20 0.00 0.000 6 0.112 0.048 3110 2282 2113 0 0 0 0 0 0

10126 end climb: SURFACE_DEPTH_REACHED

state 10126 begin surface coast

10151 end surface coast: CONTROL_FINISHED_OK

state 10151 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	2
DIVE	506	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	34	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	1	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	-44746.707	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	2864	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	260411,204800,6702.160,-5648.239,0,2105.5,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-32.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260411,204800,6702.160,-5648.239,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	295.7,162817,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	547

FREEZE	2.86,-1.659,-1.834,2,41,0	_24V_AH	22.1,65.879
FINISH	2.9,1.026889	_10V_AH	10.1,33.984
RAFOS_CLK	563	FG_AHR_24Vo	0.000
RAFOS	0,1303862467,0.033333,0.018611,64,60,58,55,54,50,171,205,191,182,214,154	FG_AHR_10Vo	0.000
RAFOS_FIX	6654.463379,-5656.198730,270411,000032,3,121,1.10	MEM	150480
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43398,1084
TT8_MAMPS	0.026215	CAP_FILE_SIZE	129220,0
HUMID	46.22	CFSIZE	260165632,221261824
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1465.6
XPDR_PINGS	0	GPS	270411,004032,6654.463,-5656.199,0,3120.7,0,-37.6
ALTIM_TOP_PING	19.5,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	233	68.58	SBE_CT	764	24	405.37
Roll_motor	108	78	188.20	SBE_O2	816	19	342.92
VBD_pump_during_apogee	316	1229	8588.72	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	224.09	nil	0	0	0.00
Iridium_during_connect	17	160	61.54	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	13.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.56
TT8	2622	19	527.67
LPSleep	5429	2	126.68
TT8_Active	467	19	94.12
TT8_Sampling	2060	39	830.64
TT8_CF8	515	45	239.10
TT8_Kalman	0	0	0.00
Analog_circuits	1440	12	174.55
GPS_charging	0	0	0.00
Compass	1745	15	264.49
RAFOS	2520	1	38.18
Transponder	11	30	3.47

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
16	-0.62	-146.0	0.0	0.0	0	184	0.00	0.00	-163.82	0.000	6	0.000	0.000	109	2503	3625	0	0	0	0	0	0
187	-0.62	-146.0	3.5	-0.0	29	206	10.07	2.30	0.00	0.000	4	0.233	0.065	2656	3880	3627	0	0	0	0	0	0
264	-0.62	-146.0	7.5	-7.5	42	270	0.00	2.17	0.00	0.000	6	0.000	0.047	2657	2487	3628	0	0	0	0	0	0
609	-0.54	-146.0	57.2	-14.8	103	617	0.12	2.28	0.00	0.000	4	0.221	0.065	2687	1084	3627	0	0	0	0	0	0
664	-0.54	-146.0	64.7	-12.6	112	671	0.00	2.28	0.00	0.000	6	0.000	0.063	2687	2481	3628	0	0	0	0	0	0
1005	-0.54	-146.0	108.1	-12.1	167	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2481	3626	0	0	0	0	0	0
1327	-0.54	-146.0	145.2	-11.9	197	1331	0.00	2.35	0.00	0.000	4	0.000	0.079	2687	3905	3625	0	0	0	0	0	0
1390	-0.60	-146.0	152.6	-11.1	202	1394	0.00	2.20	0.00	0.000	6	0.000	0.047	2687	2489	3625	0	0	0	0	0	0
1717	-0.63	-146.0	186.0	-9.7	232	1721	0.00	2.22	0.00	0.000	4	0.000	0.063	2687	1084	3625	0	0	0	0	0	0
1769	-0.68	-146.0	191.1	-9.0	236	1774	0.12	2.28	0.00	0.000	6	0.127	0.060	2646	2490	3624	0	0	0	0	0	0
2095	-0.62	-146.0	229.9	-11.9	266	2096	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2490	3625	0	0	0	0	0	0
2415	-0.57	-146.0	269.7	-12.4	296	2420	0.12	2.30	0.00	0.000	4	0.214	0.073	2675	3905	3626	0	0	0	0	0	0
2476	-0.62	-146.0	276.6	-10.1	301	2483	0.00	2.20	0.00	0.000	6	0.000	0.043	2674	2484	3626	0	0	0	0	0	0
2802	-0.65	-146.0	308.7	-10.2	332	2806	0.00	2.20	0.00	0.000	4	0.000	0.059	2674	1078	3628	0	0	0	0	0	0
2868	-0.68	-146.0	315.4	-9.9	337	2875	0.00	2.28	0.00	0.000	6	0.000	0.057	2675	2501	3628	0	0	0	0	0	0
3194	-0.71	-146.0	348.5	-10.2	368	3198	0.12	2.28	0.00	0.000	4	0.119	0.070	2630	3899	3629	0	0	0	0	0	0
3234	-0.65	-146.0	353.4	-13.1	371	3238	0.00	2.17	0.00	0.000	6	0.000	0.041	2630	2487	3629	0	0	0	0	0	0
3564	-0.57	-146.0	398.8	-13.6	402	3569	0.17	2.22	0.00	0.000	4	0.204	0.057	2674	1084	3631	0	0	0	0	0	0
3614	-0.62	-146.0	404.6	-10.2	406	3621	0.00	2.25	0.00	0.000	6	0.000	0.054	2674	2498	3631	0	0	0	0	0	0
3942	-0.65	-146.0	434.2	-8.7	437	3946	0.00	2.25	0.00	0.000	4	0.000	0.070	2674	3899	3631	0	0	0	0	0	0
3993	-0.71	-146.0	438.9	-8.6	441	3998	0.12	2.17	0.00	0.000	6	0.119	0.041	2630	2487	3632	0	0	0	0	0	0
4319	-0.63	-146.0	477.1	-12.4	471	4323	0.00	2.20	0.00	0.000	4	0.000	0.056	2630	1085	3632	0	0	0	0	0	0
4404	-0.59	-146.0	487.6	-12.1	478	4411	0.15	2.25	0.00	0.000	6	0.211	0.054	2665	2499	3633	0	0	0	0	0	0
4729	-0.59	-146.0	518.6	-9.4	509	4733	0.00	2.28	0.00	0.000	4	0.000	0.069	2665	3899	3633	0	0	0	0	0	0
4774	-0.63	-146.0	522.8	-8.9	512	4780	0.00	2.15	0.00	0.000	6	0.000	0.041	2665	2490	3633	0	0	0	0	0	0
5054	end dive: TARGET_DEPTH_EXCEEDED
state	5054	begin apogee
5061	-0.12	0.0	547.8	8.6	539	5191	0.50	0.00	123.22	1.229	6	0.177	0.000	2813	2256	3030	0	0	0	0	0	0
5192	end apogee: CONTROL_FINISHED_OK
state	5192	begin climb
5194	0.62	146.0	550.9	0.0	551	5330	0.77	2.38	126.55	1.183	4	0.130	0.061	3062	895	2433	0	0	0	0	0	0
5386	0.57	146.0	535.0	11.8	568	5393	0.00	2.38	0.00	0.000	6	0.000	0.048	3062	2281	2429	0	0	0	0	0	0
5711	0.50	146.0	495.9	12.5	599	5716	0.12	2.33	0.00	0.000	4	0.184	0.065	3031	3695	2428	0	0	0	0	0	0
5774	0.44	146.0	488.6	11.5	604	5779	0.12	2.25	0.00	0.000	6	0.187	0.047	3010	2285	2427	0	0	0	0	0	0
6100	0.50	169.4	459.9	8.9	634	6125	0.00	2.35	20.20	1.088	4	0.000	0.064	3018	869	2338	0	0	0	0	0	0
6134	0.58	204.7	456.9	8.4	637	6171	0.00	2.25	32.08	1.105	6	0.000	0.048	3018	2292	2195	0	0	0	0	0	0
6492	0.63	213.2	422.3	9.6	670	6506	0.15	2.33	7.95	0.940	4	0.092	0.063	3085	3690	2160	0	0	0	0	0	0
6530	0.54	213.2	417.2	15.2	673	6535	0.20	2.25	0.00	0.000	6	0.184	0.047	3044	2275	2160	0	0	0	0	0	0
6855	0.54	213.2	378.4	12.2	703	6859	0.00	2.28	0.00	0.000	4	0.000	0.062	3052	864	2159	0	0	0	0	0	0
6871	0.54	213.2	376.4	11.3	704	6878	0.00	2.22	0.00	0.000	6	0.000	0.047	3052	2278	2157	0	0	0	0	0	0
7197	0.54	213.2	336.2	13.1	735	7201	0.00	2.22	0.00	0.000	4	0.000	0.063	3052	3683	2158	0	0	0	0	0	0
7248	0.51	213.2	329.2	14.8	739	7253	0.12	2.22	0.00	0.000	6	0.186	0.047	3032	2268	2157	0	0	0	0	0	0
7573	0.54	213.2	291.7	11.3	769	7577	0.00	2.22	0.00	0.000	4	0.000	0.060	3040	866	2157	0	0	0	0	0	0
7606	0.60	213.2	288.0	11.0	771	7613	0.00	2.22	0.00	0.000	6	0.000	0.049	3040	2284	2156	0	0	0	0	0	0
7932	0.62	213.2	249.7	12.1	802	7936	0.00	2.25	0.00	0.000	4	0.000	0.063	3040	3693	2156	0	0	0	0	0	0
7987	0.62	213.2	241.9	14.1	806	7994	0.00	2.22	0.00	0.000	6	0.000	0.047	3050	2263	2156	0	0	0	0	0	0
8313	0.62	213.2	200.7	11.8	837	8316	0.00	2.20	0.00	0.000	4	0.000	0.060	3060	868	2156	0	0	0	0	0	0
8347	0.64	213.2	197.0	10.5	840	8351	0.00	2.20	0.00	0.000	6	0.000	0.049	3060	2276	2155	0	0	0	0	0	0
8678	0.64	213.2	161.6	10.3	871	8682	0.00	2.25	0.00	0.000	4	0.000	0.063	3060	3690	2155	0	0	0	0	0	0
8774	0.61	213.2	150.5	12.2	879	8778	0.00	2.20	0.00	0.000	6	0.000	0.046	3071	2276	2155	0	0	0	0	0	0
9105	0.61	213.2	113.2	11.3	910	9108	0.00	2.20	0.00	0.000	4	0.000	0.058	3081	868	2155	0	0	0	0	0	0
9128	0.61	213.2	110.8	10.5	912	9132	0.00	2.17	0.00	0.000	6	0.000	0.047	3081	2277	2155	0	0	0	0	0	0
9468	0.61	213.2	71.5	10.9	964	9474	0.00	2.25	0.00	0.000	4	0.000	0.062	3081	3684	2155	0	0	0	0	0	0
9560	0.57	213.2	59.6	13.1	980	9567	0.15	2.20	0.00	0.000	6	0.183	0.045	3052	2274	2156	0	0	0	0	0	0
9908	0.64	224.2	28.5	9.5	1041	9921	0.00	2.22	6.12	0.819	4	0.000	0.059	3055	866	2113	0	0	0	0	0	0
9952	0.74	224.2	23.9	10.8	1048	9959	0.12	2.20	0.00	0.000	6	0.112	0.048	3110	2282	2113	0	0	0	0	0	0
10126	end climb: SURFACE_DEPTH_REACHED
state	10126	begin surface coast
10151	end surface coast: CONTROL_FINISHED_OK
state	10151	begin surface