Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 58 * 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 58 ESCAPE_HEADING 100 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 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -2 T_GPS_CHARGE -22775.168 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 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 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 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 -22775.168

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 -2

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 26 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 58 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 280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0 TGT_NAME TARGET_W

_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 8.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0 MHEAD_RNG_PITCHd_Wd 230.3,10211,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 543

Post-dive calculations and measurements:

FREEZE 6.72,-1.744,-1.766,3,35,1 ALTIM_TOP_PING 19.7,17.4

FINISH1 6.7,1.025876,80 _24V_AH 23.0,11.466

FINISH2 5.2 _10V_AH 10.3,5.571

RAFOS_CLK 566 FG_AHR_24Vo 0.000

RAFOS 0,1298937668,0.033333,0.018889,134,66,59,55,53,50,582,171,227,191,141,210 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.955566,-6020.924316,010311,000020,4,111,0.12 MEM 150716

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 39943,1061

TT8_MAMPS 0.026215 CAP_FILE_SIZE 112910,0

HUMID 46.37 CFSIZE 260165632,248078336

INTERNAL_PRESSURE 8.65268 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1451.3

XPDR_PINGS 0 GPS 010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 248 29.59 SBE_CT 760 24 419.60

Roll_motor 80 82 153.16 SBE_O2 804 19 351.70

VBD_pump_during_apogee 393 1272 11510.34 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 16.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2529 19 518.96

LPSleep 5371 2 127.80

TT8_Active 486 19 99.90

TT8_Sampling 1659 39 682.32

TT8_CF8 142 45 67.20

TT8_Kalman 0 0 0.00

Analog_circuits 1367 12 168.98

GPS_charging 0 0 0.00

Compass 1647 15 254.61

RAFOS 2520 1 38.93

Transponder 14 30 4.43

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.35 0.000 2 0.000 0.000 2904 2269 2953 0 0 0 0 0 0

27 -0.62 -146.0 9.5 -0.0 1 52 0.68 1.98 -19.17 0.000 4 0.103 0.083 2665 1072 3628 0 0 0 0 0 0

65 -0.48 -146.0 13.5 -12.4 7 72 0.17 2.30 0.00 0.000 6 0.249 0.062 2703 2490 3630 0 0 0 0 0 0

410 -0.37 -146.0 76.2 -17.8 68 418 0.15 2.30 0.00 0.000 4 0.246 0.069 2739 1071 3630 0 0 0 0 0 0

453 -0.37 -146.0 83.2 -14.8 75 460 0.00 2.30 0.00 0.000 6 0.000 0.060 2739 2499 3630 0 0 0 0 0 0

786 -0.40 -146.0 123.1 -10.2 117 790 0.00 2.30 0.00 0.000 4 0.000 0.067 2739 1075 3630 0 0 0 0 0 0

815 -0.44 -146.0 126.0 -10.3 119 819 0.00 2.28 0.00 0.000 6 0.000 0.060 2739 2490 3630 0 0 0 0 0 0

1141 -0.50 -146.0 154.6 -8.5 149 1143 0.12 0.00 0.00 0.000 6 0.138 0.000 2698 2490 3629 0 0 0 0 0 0

1459 -0.47 -146.0 192.0 -12.2 179 1463 0.00 2.30 0.00 0.000 4 0.000 0.069 2698 1078 3629 0 0 0 0 0 0

1491 -0.44 -146.0 196.4 -13.2 181 1498 0.00 2.28 0.00 0.000 6 0.000 0.062 2697 2497 3629 0 0 0 0 0 0

1818 -0.41 -146.0 235.6 -11.8 212 1824 0.12 2.28 0.00 0.000 4 0.230 0.067 2725 1083 3629 0 0 0 0 0 0

1854 -0.46 -146.0 239.7 -10.5 215 1858 0.00 2.28 0.00 0.000 6 0.000 0.062 2725 2501 3629 0 0 0 0 0 0

2180 -0.53 -146.0 268.8 -8.3 245 2185 0.00 2.28 0.00 0.000 4 0.000 0.076 2725 3902 3628 0 0 0 0 0 0

2210 -0.63 -146.0 271.3 -8.0 247 2215 0.20 2.20 0.00 0.000 6 0.112 0.048 2656 2485 3628 0 0 0 0 0 0

2540 -0.54 -146.0 316.7 -13.7 278 2545 0.12 2.25 0.00 0.000 4 0.229 0.068 2683 1081 3628 0 0 0 0 0 0

2572 -0.50 -146.0 321.2 -12.9 280 2580 0.00 2.25 0.00 0.000 6 0.000 0.060 2683 2490 3628 0 0 0 0 0 0

2898 -0.47 -146.0 357.5 -10.1 311 2899 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2490 3628 0 0 0 0 0 0

3218 -0.47 -146.0 389.6 -10.5 341 3222 0.00 2.28 0.00 0.000 4 0.000 0.065 2684 1073 3628 0 0 0 0 0 0

3266 -0.47 -146.0 395.0 -10.4 345 3273 0.00 2.28 0.00 0.000 6 0.000 0.061 2683 2489 3628 0 0 0 0 0 0

3591 -0.47 -146.0 428.1 -10.4 376 3593 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2489 3628 0 0 0 0 0 0

3910 -0.47 -146.0 461.0 -8.9 406 3911 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2489 3628 0 0 0 0 0 0

4232 -0.47 -146.0 492.4 -9.9 436 4238 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2489 3629 0 0 0 0 0 0

4558 -0.47 -146.0 524.7 -10.0 467 4559 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2489 3629 0 0 0 0 0 0

4746 end dive: TARGET_DEPTH_EXCEEDED

state 4746 begin apogee

4752 -0.12 0.0 544.0 10.9 485 4883 0.45 0.00 121.25 1.272 6 0.193 0.000 2816 2264 3029 0 0 0 0 0 0

4884 end apogee: CONTROL_FINISHED_OK

state 4884 begin climb

4886 0.62 146.0 547.4 0.0 497 5015 0.77 0.00 124.50 1.217 6 0.136 0.000 3053 2264 2434 0 0 0 0 0 0

5333 0.54 146.0 499.4 12.8 540 5337 0.00 2.42 0.00 0.000 4 0.000 0.070 3053 3695 2425 0 0 0 0 0 0

5439 0.41 146.0 484.3 14.8 549 5447 0.25 2.33 0.00 0.000 6 0.200 0.054 3002 2283 2424 0 0 0 0 0 0

5765 0.43 163.4 454.0 9.2 580 5785 0.00 0.00 14.77 1.091 6 0.000 0.000 3002 2283 2363 0 0 0 0 0 0

6105 0.47 173.4 422.2 9.5 612 6120 0.00 2.40 9.90 1.036 4 0.000 0.069 3002 3708 2323 0 0 0 0 0 0

6150 0.47 173.4 417.4 10.4 616 6154 0.00 2.35 0.00 0.000 6 0.000 0.053 3009 2270 2323 0 0 0 0 0 0

6477 0.51 190.2 386.2 9.2 646 6495 0.00 0.00 16.15 1.092 6 0.000 0.000 3009 2270 2254 0 0 0 0 0 0

6815 0.56 190.2 353.5 10.1 678 6817 0.10 0.00 0.00 0.000 6 0.123 0.000 3050 2270 2251 0 0 0 0 0 0

7132 0.53 190.2 315.2 12.4 708 7136 0.00 2.30 0.00 0.000 4 0.000 0.067 3050 3688 2250 0 0 0 0 0 0

7231 0.46 190.2 300.7 14.7 716 7239 0.17 2.28 0.00 0.000 6 0.193 0.053 3017 2264 2250 0 0 0 0 0 0

7559 0.52 209.5 268.5 9.1 747 7579 0.00 0.00 17.80 1.053 6 0.000 0.000 3016 2264 2174 0 0 0 0 0 0

7898 0.63 249.5 240.2 8.2 779 7943 0.15 2.42 36.33 1.058 4 0.103 0.069 3076 3695 2012 0 0 0 0 0 0

8016 0.58 249.5 223.5 16.1 789 8023 0.12 2.35 0.00 0.000 6 0.193 0.054 3056 2266 2009 0 0 0 0 0 0

8343 0.60 249.5 187.1 10.6 820 8347 0.00 2.28 0.00 0.000 4 0.000 0.070 3059 868 2006 0 0 0 0 0 0

8386 0.66 249.5 182.1 10.4 823 8394 0.00 2.28 0.00 0.000 6 0.000 0.055 3059 2279 2004 0 0 0 0 0 0

8712 0.72 275.6 148.9 8.8 854 8746 0.10 2.40 23.42 1.015 4 0.122 0.070 3099 3694 1905 0 0 0 0 0 0

8841 0.65 275.6 131.8 13.4 865 8849 0.15 2.30 0.00 0.000 6 0.194 0.054 3074 2275 1904 0 0 0 0 0 0

9167 0.70 275.6 98.2 11.0 897 9174 0.00 2.30 0.00 0.000 4 0.000 0.071 3076 868 1901 0 0 0 0 0 0

9209 0.78 275.6 93.7 10.4 904 9216 0.12 2.28 0.00 0.000 6 0.116 0.054 3123 2284 1899 0 0 0 0 0 0

9553 0.75 275.6 51.8 11.8 965 9560 0.00 2.28 0.00 0.000 4 0.000 0.070 3124 3692 1899 0 0 0 0 0 0

9640 0.67 275.6 40.7 13.0 980 9647 0.20 2.28 0.00 0.000 6 0.199 0.054 3082 2268 1899 0 0 0 0 0 0

9986 0.77 310.5 12.1 8.4 1041 10011 0.00 2.35 17.00 0.964 4 0.000 0.066 3082 3692 1762 0 0 0 0 0 0

10035 0.87 341.2 8.1 8.6 1049 10053 0.17 2.28 12.25 0.894 2 0.103 0.052 3146 2276 1663 0 0 0 0 0 0

10053 end climb: SURFACE_OBSTACLE_DETECTED

state 10054 begin subsurface finish

10060 0.10 79.6 6.7 -9.1 1051 10119 0.82 2.30 -51.17 0.000 4 0.174 0.078 2903 861 2706 0 0 0 0 0 0

10120 end subsurface finish: CONTROL_FINISHED_OK

state 10120 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	58	ESCAPE_HEADING	100	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	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-2	T_GPS_CHARGE	-22775.168	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	280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0	TGT_NAME	TARGET_W
_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	8.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0	MHEAD_RNG_PITCHd_Wd	230.3,10211,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	543

FREEZE	6.72,-1.744,-1.766,3,35,1	ALTIM_TOP_PING	19.7,17.4
FINISH1	6.7,1.025876,80	_24V_AH	23.0,11.466
FINISH2	5.2	_10V_AH	10.3,5.571
RAFOS_CLK	566	FG_AHR_24Vo	0.000
RAFOS	0,1298937668,0.033333,0.018889,134,66,59,55,53,50,582,171,227,191,141,210	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.955566,-6020.924316,010311,000020,4,111,0.12	MEM	150716
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	39943,1061
TT8_MAMPS	0.026215	CAP_FILE_SIZE	112910,0
HUMID	46.37	CFSIZE	260165632,248078336
INTERNAL_PRESSURE	8.65268	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1451.3
XPDR_PINGS	0	GPS	010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	248	29.59	SBE_CT	760	24	419.60
Roll_motor	80	82	153.16	SBE_O2	804	19	351.70
VBD_pump_during_apogee	393	1272	11510.34	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	16.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2529	19	518.96
LPSleep	5371	2	127.80
TT8_Active	486	19	99.90
TT8_Sampling	1659	39	682.32
TT8_CF8	142	45	67.20
TT8_Kalman	0	0	0.00
Analog_circuits	1367	12	168.98
GPS_charging	0	0	0.00
Compass	1647	15	254.61
RAFOS	2520	1	38.93
Transponder	14	30	4.43

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-7.35	0.000	2	0.000	0.000	2904	2269	2953	0	0	0	0	0	0
27	-0.62	-146.0	9.5	-0.0	1	52	0.68	1.98	-19.17	0.000	4	0.103	0.083	2665	1072	3628	0	0	0	0	0	0
65	-0.48	-146.0	13.5	-12.4	7	72	0.17	2.30	0.00	0.000	6	0.249	0.062	2703	2490	3630	0	0	0	0	0	0
410	-0.37	-146.0	76.2	-17.8	68	418	0.15	2.30	0.00	0.000	4	0.246	0.069	2739	1071	3630	0	0	0	0	0	0
453	-0.37	-146.0	83.2	-14.8	75	460	0.00	2.30	0.00	0.000	6	0.000	0.060	2739	2499	3630	0	0	0	0	0	0
786	-0.40	-146.0	123.1	-10.2	117	790	0.00	2.30	0.00	0.000	4	0.000	0.067	2739	1075	3630	0	0	0	0	0	0
815	-0.44	-146.0	126.0	-10.3	119	819	0.00	2.28	0.00	0.000	6	0.000	0.060	2739	2490	3630	0	0	0	0	0	0
1141	-0.50	-146.0	154.6	-8.5	149	1143	0.12	0.00	0.00	0.000	6	0.138	0.000	2698	2490	3629	0	0	0	0	0	0
1459	-0.47	-146.0	192.0	-12.2	179	1463	0.00	2.30	0.00	0.000	4	0.000	0.069	2698	1078	3629	0	0	0	0	0	0
1491	-0.44	-146.0	196.4	-13.2	181	1498	0.00	2.28	0.00	0.000	6	0.000	0.062	2697	2497	3629	0	0	0	0	0	0
1818	-0.41	-146.0	235.6	-11.8	212	1824	0.12	2.28	0.00	0.000	4	0.230	0.067	2725	1083	3629	0	0	0	0	0	0
1854	-0.46	-146.0	239.7	-10.5	215	1858	0.00	2.28	0.00	0.000	6	0.000	0.062	2725	2501	3629	0	0	0	0	0	0
2180	-0.53	-146.0	268.8	-8.3	245	2185	0.00	2.28	0.00	0.000	4	0.000	0.076	2725	3902	3628	0	0	0	0	0	0
2210	-0.63	-146.0	271.3	-8.0	247	2215	0.20	2.20	0.00	0.000	6	0.112	0.048	2656	2485	3628	0	0	0	0	0	0
2540	-0.54	-146.0	316.7	-13.7	278	2545	0.12	2.25	0.00	0.000	4	0.229	0.068	2683	1081	3628	0	0	0	0	0	0
2572	-0.50	-146.0	321.2	-12.9	280	2580	0.00	2.25	0.00	0.000	6	0.000	0.060	2683	2490	3628	0	0	0	0	0	0
2898	-0.47	-146.0	357.5	-10.1	311	2899	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2490	3628	0	0	0	0	0	0
3218	-0.47	-146.0	389.6	-10.5	341	3222	0.00	2.28	0.00	0.000	4	0.000	0.065	2684	1073	3628	0	0	0	0	0	0
3266	-0.47	-146.0	395.0	-10.4	345	3273	0.00	2.28	0.00	0.000	6	0.000	0.061	2683	2489	3628	0	0	0	0	0	0
3591	-0.47	-146.0	428.1	-10.4	376	3593	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2489	3628	0	0	0	0	0	0
3910	-0.47	-146.0	461.0	-8.9	406	3911	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2489	3628	0	0	0	0	0	0
4232	-0.47	-146.0	492.4	-9.9	436	4238	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2489	3629	0	0	0	0	0	0
4558	-0.47	-146.0	524.7	-10.0	467	4559	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2489	3629	0	0	0	0	0	0
4746	end dive: TARGET_DEPTH_EXCEEDED
state	4746	begin apogee
4752	-0.12	0.0	544.0	10.9	485	4883	0.45	0.00	121.25	1.272	6	0.193	0.000	2816	2264	3029	0	0	0	0	0	0
4884	end apogee: CONTROL_FINISHED_OK
state	4884	begin climb
4886	0.62	146.0	547.4	0.0	497	5015	0.77	0.00	124.50	1.217	6	0.136	0.000	3053	2264	2434	0	0	0	0	0	0
5333	0.54	146.0	499.4	12.8	540	5337	0.00	2.42	0.00	0.000	4	0.000	0.070	3053	3695	2425	0	0	0	0	0	0
5439	0.41	146.0	484.3	14.8	549	5447	0.25	2.33	0.00	0.000	6	0.200	0.054	3002	2283	2424	0	0	0	0	0	0
5765	0.43	163.4	454.0	9.2	580	5785	0.00	0.00	14.77	1.091	6	0.000	0.000	3002	2283	2363	0	0	0	0	0	0
6105	0.47	173.4	422.2	9.5	612	6120	0.00	2.40	9.90	1.036	4	0.000	0.069	3002	3708	2323	0	0	0	0	0	0
6150	0.47	173.4	417.4	10.4	616	6154	0.00	2.35	0.00	0.000	6	0.000	0.053	3009	2270	2323	0	0	0	0	0	0
6477	0.51	190.2	386.2	9.2	646	6495	0.00	0.00	16.15	1.092	6	0.000	0.000	3009	2270	2254	0	0	0	0	0	0
6815	0.56	190.2	353.5	10.1	678	6817	0.10	0.00	0.00	0.000	6	0.123	0.000	3050	2270	2251	0	0	0	0	0	0
7132	0.53	190.2	315.2	12.4	708	7136	0.00	2.30	0.00	0.000	4	0.000	0.067	3050	3688	2250	0	0	0	0	0	0
7231	0.46	190.2	300.7	14.7	716	7239	0.17	2.28	0.00	0.000	6	0.193	0.053	3017	2264	2250	0	0	0	0	0	0
7559	0.52	209.5	268.5	9.1	747	7579	0.00	0.00	17.80	1.053	6	0.000	0.000	3016	2264	2174	0	0	0	0	0	0
7898	0.63	249.5	240.2	8.2	779	7943	0.15	2.42	36.33	1.058	4	0.103	0.069	3076	3695	2012	0	0	0	0	0	0
8016	0.58	249.5	223.5	16.1	789	8023	0.12	2.35	0.00	0.000	6	0.193	0.054	3056	2266	2009	0	0	0	0	0	0
8343	0.60	249.5	187.1	10.6	820	8347	0.00	2.28	0.00	0.000	4	0.000	0.070	3059	868	2006	0	0	0	0	0	0
8386	0.66	249.5	182.1	10.4	823	8394	0.00	2.28	0.00	0.000	6	0.000	0.055	3059	2279	2004	0	0	0	0	0	0
8712	0.72	275.6	148.9	8.8	854	8746	0.10	2.40	23.42	1.015	4	0.122	0.070	3099	3694	1905	0	0	0	0	0	0
8841	0.65	275.6	131.8	13.4	865	8849	0.15	2.30	0.00	0.000	6	0.194	0.054	3074	2275	1904	0	0	0	0	0	0
9167	0.70	275.6	98.2	11.0	897	9174	0.00	2.30	0.00	0.000	4	0.000	0.071	3076	868	1901	0	0	0	0	0	0
9209	0.78	275.6	93.7	10.4	904	9216	0.12	2.28	0.00	0.000	6	0.116	0.054	3123	2284	1899	0	0	0	0	0	0
9553	0.75	275.6	51.8	11.8	965	9560	0.00	2.28	0.00	0.000	4	0.000	0.070	3124	3692	1899	0	0	0	0	0	0
9640	0.67	275.6	40.7	13.0	980	9647	0.20	2.28	0.00	0.000	6	0.199	0.054	3082	2268	1899	0	0	0	0	0	0
9986	0.77	310.5	12.1	8.4	1041	10011	0.00	2.35	17.00	0.964	4	0.000	0.066	3082	3692	1762	0	0	0	0	0	0
10035	0.87	341.2	8.1	8.6	1049	10053	0.17	2.28	12.25	0.894	2	0.103	0.052	3146	2276	1663	0	0	0	0	0	0
10053	end climb: SURFACE_OBSTACLE_DETECTED
state	10054	begin subsurface finish
10060	0.10	79.6	6.7	-9.1	1051	10119	0.82	2.30	-51.17	0.000	4	0.174	0.078	2903	861	2706	0	0	0	0	0	0
10120	end subsurface finish: CONTROL_FINISHED_OK
state	10120	begin surface