Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 726 * 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 726 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 23 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -51952.242 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 -51952.242

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 23 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 726 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 010611,123928,6711.598,-5729.874,181,99.0,181,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_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 0.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010611,123928,6711.598,-5729.874,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 155.4,34175,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 710

Post-dive calculations and measurements:

FREEZE 1.81,-0.789,-0.265,2,89,0 ALTIM_TOP_PING 19.8,18.1

FINISH 1.8,1.003721 ALTIM_BOTTOM_PING 550.1,51.8

SM_CCo 11560,132.12,0.063,0,0,750,559.04 _24V_AH 22.0,98.079

SM_GC 2.60,0.00,0.00,132.12,0.000,0.000,0.063,113,2499,750,-8.60,0.25,559.04 _10V_AH 9.8,50.739

RAFOS_CLK 595 FG_AHR_24Vo 0.000

RAFOS 2,1306959423,20.299999,20.284166,60,54,53,53,52,52,217,196,131,178,161,115 FG_AHR_10Vo 0.000

RAFOS_FIX 6711.765137,-5726.315430,010611,202000,2,126,0.09 MEM 150616

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 46656,1212

TT8_MAMPS 0.026215 CAP_FILE_SIZE 130245,0

HUMID 45.11 CFSIZE 260165632,205377536

INTERNAL_PRESSURE 8.53548 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.30 SOUNDSPEED 1469.1

XPDR_PINGS 63 GPS 010611,204800,6711.765,-5726.315,0,2125.5,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 211 58.53 SBE_CT 853 24 450.48

Roll_motor 98 77 167.56 SBE_O2 902 19 377.15

VBD_pump_during_apogee 355 1237 9678.56 nil 0 0 0.00

VBD_pump_during_surface 132 62 182.34 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 17 420 164.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2831 19 552.81

LPSleep 6118 2 138.52

TT8_Active 631 19 123.27

TT8_Sampling 1922 39 752.06

TT8_CF8 262 45 118.01

TT8_Kalman 0 0 0.00

Analog_circuits 1663 12 195.65

GPS_charging 0 0 0.00

Compass 1902 15 279.64

RAFOS 1800 1 26.46

Transponder 16 30 4.71

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

17 -0.62 -146.0 0.0 0.0 0 168 0.00 2.67 -142.65 0.000 6 0.000 0.069 3103 2488 3626 0 0 0 0 0 0

171 -0.62 -146.0 3.6 -11.5 26 178 1.38 2.30 0.00 0.000 4 0.139 0.070 2670 3899 3626 0 0 0 0 0 0

265 -0.55 -146.0 14.8 -15.8 42 272 0.00 2.22 0.00 0.000 6 0.000 0.048 2669 2487 3627 0 0 0 0 0 0

612 -0.45 -146.0 67.7 -16.0 103 619 0.17 2.28 0.00 0.000 4 0.209 0.067 2713 1083 3626 0 0 0 0 0 0

684 -0.50 -146.0 76.8 -11.1 115 691 0.00 2.28 0.00 0.000 6 0.000 0.062 2712 2491 3626 0 0 0 0 0 0

1029 -0.54 -146.0 113.0 -9.8 165 1033 0.00 2.30 0.00 0.000 4 0.000 0.068 2713 1083 3624 0 0 0 0 0 0

1051 -0.58 -146.0 115.3 -9.6 166 1058 0.12 2.28 0.00 0.000 6 0.124 0.061 2671 2497 3624 0 0 0 0 0 0

1377 -0.53 -146.0 158.3 -13.5 197 1381 0.00 2.28 0.00 0.000 4 0.000 0.067 2670 1083 3622 0 0 0 0 0 0

1407 -0.49 -146.0 162.3 -14.1 199 1412 0.12 2.28 0.00 0.000 6 0.211 0.062 2699 2495 3622 0 0 0 0 0 0

1733 -0.53 -146.0 195.5 -9.2 229 1737 0.00 2.30 0.00 0.000 4 0.000 0.065 2699 1083 3622 0 0 0 0 0 0

1748 -0.56 -146.0 196.6 -9.3 230 1752 0.00 2.28 0.00 0.000 6 0.000 0.060 2699 2491 3621 0 0 0 0 0 0

2079 -0.61 -146.0 224.8 -8.4 261 2083 0.00 2.28 0.00 0.000 4 0.000 0.064 2698 1075 3621 0 0 0 0 0 0

2102 -0.65 -146.0 226.8 -8.6 262 2110 0.15 2.28 0.00 0.000 6 0.115 0.060 2647 2494 3621 0 0 0 0 0 0

2428 -0.57 -146.0 266.6 -12.9 293 2433 0.12 2.30 0.00 0.000 4 0.206 0.062 2676 1083 3622 0 0 0 0 0 0

2439 -0.49 -146.0 268.1 -12.8 293 2446 0.00 2.28 0.00 0.000 6 0.000 0.060 2676 2487 3621 0 0 0 0 0 0

2765 -0.49 -146.0 301.4 -10.1 324 2769 0.00 2.25 0.00 0.000 4 0.000 0.062 2676 1080 3622 0 0 0 0 0 0

2777 -0.49 -146.0 302.8 -10.5 324 2783 0.00 2.28 0.00 0.000 6 0.000 0.060 2676 2498 3621 0 0 0 0 0 0

3102 -0.49 -146.0 335.0 -9.6 355 3104 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2498 3622 0 0 0 0 0 0

3425 -0.49 -146.0 365.2 -9.3 385 3429 0.00 2.28 0.00 0.000 4 0.000 0.060 2676 1082 3623 0 0 0 0 0 0

3447 -0.49 -146.0 367.9 -9.5 386 3455 0.00 2.28 0.00 0.000 6 0.000 0.058 2676 2494 3623 0 0 0 0 0 0

3773 -0.49 -146.0 397.1 -9.1 417 3777 0.00 2.25 0.00 0.000 4 0.000 0.060 2676 1077 3623 0 0 0 0 0 0

3796 -0.49 -146.0 399.3 -9.5 418 3803 0.00 2.25 0.00 0.000 6 0.000 0.057 2676 2488 3624 0 0 0 0 0 0

4122 -0.49 -146.0 428.2 -8.8 449 4123 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2488 3624 0 0 0 0 0 0

4443 -0.49 -146.0 456.7 -9.0 479 4449 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2489 3625 0 0 0 0 0 0

4772 -0.49 -146.0 484.8 -8.3 510 4776 0.00 2.25 0.00 0.000 4 0.000 0.059 2676 1071 3625 0 0 0 0 0 0

4782 -0.49 -146.0 486.1 -8.4 510 4789 0.00 2.28 0.00 0.000 6 0.000 0.056 2676 2501 3625 0 0 0 0 0 0

5108 -0.49 -146.0 513.2 -8.3 541 5109 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2502 3625 0 0 0 0 0 0

5429 -0.49 -146.0 540.4 -8.3 571 5433 0.00 2.28 0.00 0.000 4 0.000 0.058 2677 1080 3626 0 0 0 0 0 0

5469 -0.52 -146.0 544.2 -8.4 574 5476 0.00 2.30 0.00 0.000 6 0.000 0.063 2676 2497 3626 0 0 0 0 0 0

5794 -0.52 -146.0 572.3 -9.1 605 5796 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2497 3626 0 0 0 0 0 0

5951 end dive: BOTTOM_OBSTACLE_DETECTED

state 5951 begin apogee

5959 -0.12 0.0 586.9 9.5 620 6091 0.47 0.00 123.85 1.238 6 0.172 0.000 2816 2251 3031 0 0 0 0 0 0

6091 end apogee: CONTROL_FINISHED_OK

state 6091 begin climb

6094 0.62 146.0 591.1 0.0 632 6230 0.75 0.00 128.62 1.198 6 0.126 0.000 3051 2250 2434 0 0 0 0 0 0

6548 0.58 146.0 549.4 10.7 674 6552 0.00 2.38 0.00 0.000 4 0.000 0.067 3051 3695 2427 0 0 0 0 0 0

6627 0.50 146.0 539.4 13.1 680 6634 0.12 2.25 0.00 0.000 6 0.186 0.052 3031 2282 2428 0 0 0 0 0 0

6953 0.52 158.2 508.3 9.4 711 6968 0.00 2.30 10.75 1.025 4 0.000 0.068 3040 864 2385 0 0 0 0 0 0

7016 0.53 171.1 502.4 9.4 716 7039 0.00 2.25 12.90 1.056 6 0.000 0.054 3040 2288 2332 0 0 0 0 0 0

7358 0.53 171.1 464.6 11.4 748 7361 0.00 2.25 0.00 0.000 4 0.000 0.068 3040 3688 2330 0 0 0 0 0 0

7486 0.50 171.1 447.5 12.9 759 7493 0.00 2.22 0.00 0.000 6 0.000 0.051 3050 2267 2329 0 0 0 0 0 0

7812 0.47 171.1 409.8 11.6 790 7814 0.12 0.00 0.00 0.000 6 0.181 0.000 3019 2267 2329 0 0 0 0 0 0

8130 0.56 205.6 380.8 8.4 820 8167 0.00 2.38 30.83 1.076 4 0.000 0.066 3019 3681 2191 0 0 0 0 0 0

8203 0.61 209.6 374.1 9.8 826 8214 0.10 2.25 5.22 0.793 6 0.108 0.050 3073 2265 2175 0 0 0 0 0 0

8540 0.58 209.6 331.1 13.4 858 8544 0.00 2.25 0.00 0.000 4 0.000 0.066 3083 864 2172 0 0 0 0 0 0

8574 0.55 209.6 326.5 13.2 860 8581 0.15 2.25 0.00 0.000 6 0.172 0.052 3044 2285 2171 0 0 0 0 0 0

8900 0.58 209.6 290.9 11.0 891 8904 0.00 2.22 0.00 0.000 4 0.000 0.067 3044 3684 2171 0 0 0 0 0 0

9001 0.58 209.6 278.1 12.7 899 9008 0.00 2.20 0.00 0.000 6 0.000 0.050 3052 2273 2170 0 0 0 0 0 0

9327 0.58 209.6 238.7 11.7 930 9331 0.00 2.25 0.00 0.000 4 0.000 0.066 3062 870 2170 0 0 0 0 0 0

9361 0.61 209.6 234.6 11.5 932 9368 0.00 2.22 0.00 0.000 6 0.000 0.052 3062 2278 2170 0 0 0 0 0 0

9688 0.61 209.6 195.0 11.9 963 9692 0.00 2.25 0.00 0.000 4 0.000 0.067 3062 3687 2169 0 0 0 0 0 0

9825 0.58 209.6 177.6 13.2 974 9831 0.00 2.20 0.00 0.000 6 0.000 0.049 3073 2276 2169 0 0 0 0 0 0

10152 0.58 209.6 140.5 11.2 1005 10153 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2276 2169 0 0 0 0 0 0

10472 0.59 216.1 107.3 9.7 1035 10480 0.00 0.00 6.40 0.760 6 0.000 0.000 3073 2276 2149 0 0 0 0 0 0

10813 0.64 250.6 74.5 8.4 1090 10849 0.00 0.00 31.70 0.907 6 0.000 0.000 3073 2276 2008 0 0 0 0 0 0

11189 0.70 250.6 39.9 10.4 1156 11195 0.00 2.25 0.00 0.000 4 0.000 0.067 3083 868 2003 0 0 0 0 0 0

11232 0.80 257.0 35.9 9.7 1163 11246 0.12 2.25 5.15 0.724 6 0.106 0.053 3138 2283 1982 0 0 0 0 0 0

11493 end climb: SURFACE_DEPTH_REACHED

state 11493 begin surface coast

11510 end surface coast: FINISH_DEPTH_REACHED

state 11510 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	726	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	23	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-51952.242	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	010611,123928,6711.598,-5729.874,181,99.0,181,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_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	0.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010611,123928,6711.598,-5729.874,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	155.4,34175,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	710

FREEZE	1.81,-0.789,-0.265,2,89,0	ALTIM_TOP_PING	19.8,18.1
FINISH	1.8,1.003721	ALTIM_BOTTOM_PING	550.1,51.8
SM_CCo	11560,132.12,0.063,0,0,750,559.04	_24V_AH	22.0,98.079
SM_GC	2.60,0.00,0.00,132.12,0.000,0.000,0.063,113,2499,750,-8.60,0.25,559.04	_10V_AH	9.8,50.739
RAFOS_CLK	595	FG_AHR_24Vo	0.000
RAFOS	2,1306959423,20.299999,20.284166,60,54,53,53,52,52,217,196,131,178,161,115	FG_AHR_10Vo	0.000
RAFOS_FIX	6711.765137,-5726.315430,010611,202000,2,126,0.09	MEM	150616
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	46656,1212
TT8_MAMPS	0.026215	CAP_FILE_SIZE	130245,0
HUMID	45.11	CFSIZE	260165632,205377536
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.30	SOUNDSPEED	1469.1
XPDR_PINGS	63	GPS	010611,204800,6711.765,-5726.315,0,2125.5,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	211	58.53	SBE_CT	853	24	450.48
Roll_motor	98	77	167.56	SBE_O2	902	19	377.15
VBD_pump_during_apogee	355	1237	9678.56	nil	0	0	0.00
VBD_pump_during_surface	132	62	182.34	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	17	420	164.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2831	19	552.81
LPSleep	6118	2	138.52
TT8_Active	631	19	123.27
TT8_Sampling	1922	39	752.06
TT8_CF8	262	45	118.01
TT8_Kalman	0	0	0.00
Analog_circuits	1663	12	195.65
GPS_charging	0	0	0.00
Compass	1902	15	279.64
RAFOS	1800	1	26.46
Transponder	16	30	4.71

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
17	-0.62	-146.0	0.0	0.0	0	168	0.00	2.67	-142.65	0.000	6	0.000	0.069	3103	2488	3626	0	0	0	0	0	0
171	-0.62	-146.0	3.6	-11.5	26	178	1.38	2.30	0.00	0.000	4	0.139	0.070	2670	3899	3626	0	0	0	0	0	0
265	-0.55	-146.0	14.8	-15.8	42	272	0.00	2.22	0.00	0.000	6	0.000	0.048	2669	2487	3627	0	0	0	0	0	0
612	-0.45	-146.0	67.7	-16.0	103	619	0.17	2.28	0.00	0.000	4	0.209	0.067	2713	1083	3626	0	0	0	0	0	0
684	-0.50	-146.0	76.8	-11.1	115	691	0.00	2.28	0.00	0.000	6	0.000	0.062	2712	2491	3626	0	0	0	0	0	0
1029	-0.54	-146.0	113.0	-9.8	165	1033	0.00	2.30	0.00	0.000	4	0.000	0.068	2713	1083	3624	0	0	0	0	0	0
1051	-0.58	-146.0	115.3	-9.6	166	1058	0.12	2.28	0.00	0.000	6	0.124	0.061	2671	2497	3624	0	0	0	0	0	0
1377	-0.53	-146.0	158.3	-13.5	197	1381	0.00	2.28	0.00	0.000	4	0.000	0.067	2670	1083	3622	0	0	0	0	0	0
1407	-0.49	-146.0	162.3	-14.1	199	1412	0.12	2.28	0.00	0.000	6	0.211	0.062	2699	2495	3622	0	0	0	0	0	0
1733	-0.53	-146.0	195.5	-9.2	229	1737	0.00	2.30	0.00	0.000	4	0.000	0.065	2699	1083	3622	0	0	0	0	0	0
1748	-0.56	-146.0	196.6	-9.3	230	1752	0.00	2.28	0.00	0.000	6	0.000	0.060	2699	2491	3621	0	0	0	0	0	0
2079	-0.61	-146.0	224.8	-8.4	261	2083	0.00	2.28	0.00	0.000	4	0.000	0.064	2698	1075	3621	0	0	0	0	0	0
2102	-0.65	-146.0	226.8	-8.6	262	2110	0.15	2.28	0.00	0.000	6	0.115	0.060	2647	2494	3621	0	0	0	0	0	0
2428	-0.57	-146.0	266.6	-12.9	293	2433	0.12	2.30	0.00	0.000	4	0.206	0.062	2676	1083	3622	0	0	0	0	0	0
2439	-0.49	-146.0	268.1	-12.8	293	2446	0.00	2.28	0.00	0.000	6	0.000	0.060	2676	2487	3621	0	0	0	0	0	0
2765	-0.49	-146.0	301.4	-10.1	324	2769	0.00	2.25	0.00	0.000	4	0.000	0.062	2676	1080	3622	0	0	0	0	0	0
2777	-0.49	-146.0	302.8	-10.5	324	2783	0.00	2.28	0.00	0.000	6	0.000	0.060	2676	2498	3621	0	0	0	0	0	0
3102	-0.49	-146.0	335.0	-9.6	355	3104	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2498	3622	0	0	0	0	0	0
3425	-0.49	-146.0	365.2	-9.3	385	3429	0.00	2.28	0.00	0.000	4	0.000	0.060	2676	1082	3623	0	0	0	0	0	0
3447	-0.49	-146.0	367.9	-9.5	386	3455	0.00	2.28	0.00	0.000	6	0.000	0.058	2676	2494	3623	0	0	0	0	0	0
3773	-0.49	-146.0	397.1	-9.1	417	3777	0.00	2.25	0.00	0.000	4	0.000	0.060	2676	1077	3623	0	0	0	0	0	0
3796	-0.49	-146.0	399.3	-9.5	418	3803	0.00	2.25	0.00	0.000	6	0.000	0.057	2676	2488	3624	0	0	0	0	0	0
4122	-0.49	-146.0	428.2	-8.8	449	4123	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2488	3624	0	0	0	0	0	0
4443	-0.49	-146.0	456.7	-9.0	479	4449	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2489	3625	0	0	0	0	0	0
4772	-0.49	-146.0	484.8	-8.3	510	4776	0.00	2.25	0.00	0.000	4	0.000	0.059	2676	1071	3625	0	0	0	0	0	0
4782	-0.49	-146.0	486.1	-8.4	510	4789	0.00	2.28	0.00	0.000	6	0.000	0.056	2676	2501	3625	0	0	0	0	0	0
5108	-0.49	-146.0	513.2	-8.3	541	5109	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2502	3625	0	0	0	0	0	0
5429	-0.49	-146.0	540.4	-8.3	571	5433	0.00	2.28	0.00	0.000	4	0.000	0.058	2677	1080	3626	0	0	0	0	0	0
5469	-0.52	-146.0	544.2	-8.4	574	5476	0.00	2.30	0.00	0.000	6	0.000	0.063	2676	2497	3626	0	0	0	0	0	0
5794	-0.52	-146.0	572.3	-9.1	605	5796	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2497	3626	0	0	0	0	0	0
5951	end dive: BOTTOM_OBSTACLE_DETECTED
state	5951	begin apogee
5959	-0.12	0.0	586.9	9.5	620	6091	0.47	0.00	123.85	1.238	6	0.172	0.000	2816	2251	3031	0	0	0	0	0	0
6091	end apogee: CONTROL_FINISHED_OK
state	6091	begin climb
6094	0.62	146.0	591.1	0.0	632	6230	0.75	0.00	128.62	1.198	6	0.126	0.000	3051	2250	2434	0	0	0	0	0	0
6548	0.58	146.0	549.4	10.7	674	6552	0.00	2.38	0.00	0.000	4	0.000	0.067	3051	3695	2427	0	0	0	0	0	0
6627	0.50	146.0	539.4	13.1	680	6634	0.12	2.25	0.00	0.000	6	0.186	0.052	3031	2282	2428	0	0	0	0	0	0
6953	0.52	158.2	508.3	9.4	711	6968	0.00	2.30	10.75	1.025	4	0.000	0.068	3040	864	2385	0	0	0	0	0	0
7016	0.53	171.1	502.4	9.4	716	7039	0.00	2.25	12.90	1.056	6	0.000	0.054	3040	2288	2332	0	0	0	0	0	0
7358	0.53	171.1	464.6	11.4	748	7361	0.00	2.25	0.00	0.000	4	0.000	0.068	3040	3688	2330	0	0	0	0	0	0
7486	0.50	171.1	447.5	12.9	759	7493	0.00	2.22	0.00	0.000	6	0.000	0.051	3050	2267	2329	0	0	0	0	0	0
7812	0.47	171.1	409.8	11.6	790	7814	0.12	0.00	0.00	0.000	6	0.181	0.000	3019	2267	2329	0	0	0	0	0	0
8130	0.56	205.6	380.8	8.4	820	8167	0.00	2.38	30.83	1.076	4	0.000	0.066	3019	3681	2191	0	0	0	0	0	0
8203	0.61	209.6	374.1	9.8	826	8214	0.10	2.25	5.22	0.793	6	0.108	0.050	3073	2265	2175	0	0	0	0	0	0
8540	0.58	209.6	331.1	13.4	858	8544	0.00	2.25	0.00	0.000	4	0.000	0.066	3083	864	2172	0	0	0	0	0	0
8574	0.55	209.6	326.5	13.2	860	8581	0.15	2.25	0.00	0.000	6	0.172	0.052	3044	2285	2171	0	0	0	0	0	0
8900	0.58	209.6	290.9	11.0	891	8904	0.00	2.22	0.00	0.000	4	0.000	0.067	3044	3684	2171	0	0	0	0	0	0
9001	0.58	209.6	278.1	12.7	899	9008	0.00	2.20	0.00	0.000	6	0.000	0.050	3052	2273	2170	0	0	0	0	0	0
9327	0.58	209.6	238.7	11.7	930	9331	0.00	2.25	0.00	0.000	4	0.000	0.066	3062	870	2170	0	0	0	0	0	0
9361	0.61	209.6	234.6	11.5	932	9368	0.00	2.22	0.00	0.000	6	0.000	0.052	3062	2278	2170	0	0	0	0	0	0
9688	0.61	209.6	195.0	11.9	963	9692	0.00	2.25	0.00	0.000	4	0.000	0.067	3062	3687	2169	0	0	0	0	0	0
9825	0.58	209.6	177.6	13.2	974	9831	0.00	2.20	0.00	0.000	6	0.000	0.049	3073	2276	2169	0	0	0	0	0	0
10152	0.58	209.6	140.5	11.2	1005	10153	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2276	2169	0	0	0	0	0	0
10472	0.59	216.1	107.3	9.7	1035	10480	0.00	0.00	6.40	0.760	6	0.000	0.000	3073	2276	2149	0	0	0	0	0	0
10813	0.64	250.6	74.5	8.4	1090	10849	0.00	0.00	31.70	0.907	6	0.000	0.000	3073	2276	2008	0	0	0	0	0	0
11189	0.70	250.6	39.9	10.4	1156	11195	0.00	2.25	0.00	0.000	4	0.000	0.067	3083	868	2003	0	0	0	0	0	0
11232	0.80	257.0	35.9	9.7	1163	11246	0.12	2.25	5.15	0.724	6	0.106	0.053	3138	2283	1982	0	0	0	0	0	0
11493	end climb: SURFACE_DEPTH_REACHED
state	11493	begin surface coast
11510	end surface coast: FINISH_DEPTH_REACHED
state	11510	begin surface