Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 898 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 2.4000001

DIVE 898 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 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 0.00065 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 -14143.242 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 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 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 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 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 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 -14143.242

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 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 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 898 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 030211,055409,6659.098,-5759.870,29,1.2,29,-37.8 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 1.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030211,055409,6659.098,-5759.870,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd 293.1,110499,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 956

Post-dive calculations and measurements:

FREEZE 0.54,-1.385,-0.255,3,4,0 ALTIM_TOP_PING 19.5,999.0

FINISH 0.5,1.003540 ALTIM_BOTTOM_PING 600.3,11.8

SM_CCo 11877,219.55,0.085,0,0,440,609.08 _24V_AH 21.3,100.435

SM_GC 1.21,0.00,0.00,219.55,0.000,0.000,0.085,290,2789,440,-6.80,0.25,609.08 _10V_AH 9.7,67.962

RAFOS_CLK 706 FG_AHR_24Vo 0.000

RAFOS 0,1296720064,8.033334,8.017777,46,45,42,41,41,41,1202,1467,404,730,8,969 FG_AHR_10Vo 0.000

RAFOS_FIX 6655.822754,-5803.911621,030211,080856,2,80,0.65 MEM 151712

IRIDIUM_FIX 6636.54,-5805.51,030211,060628 DATA_FILE_SIZE 36682,991

TT8_MAMPS 0.028462 CAP_FILE_SIZE 127662,0

HUMID 46.77 CFSIZE 260165632,191512576

INTERNAL_PRESSURE 8.42653 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1454.4

XPDR_PINGS 0 GPS 030211,094050,6657.534,-5800.920,118,99.0,137,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 243 90.55 SBE_CT 689 24 352.34

Roll_motor 72 81 125.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 333 970 6887.75 nil 0 0 0.00

VBD_pump_during_surface 219 84 397.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 96 103 211.07 nil 0 0 0.00

Iridium_during_connect 178 160 607.92 nil 0 0 0.00

Iridium_during_xfer 339 223 1610.74 nil 0 0 0.00

Transponder_ping 2 420 22.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 88.99

TT8 2430 19 469.66

LPSleep 7245 2 162.34

TT8_Active 694 19 134.29

TT8_Sampling 2466 39 954.91

TT8_CF8 550 45 245.09

TT8_Kalman 0 0 0.00

Analog_circuits 1608 12 187.27

GPS_charging 0 0 0.00

Compass 1656 15 241.05

RAFOS 2520 3 73.33

Transponder 20 30 6.03

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 -0.57 -146.0 0.0 0.0 0 175 0.00 0.00 -152.25 0.000 2 0.000 0.000 227 2777 3390 0 0 0 0 0 0

178 -0.57 -146.0 5.0 -12.4 27 198 8.68 2.03 -2.72 0.000 4 0.243 0.081 2277 3932 3521 0 0 0 0 0 0

320 -0.50 -146.0 35.1 -12.6 51 327 0.12 1.90 0.00 0.000 6 0.174 0.048 2309 2777 3522 0 0 0 0 0 0

669 -0.54 -146.0 66.5 -8.4 112 675 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 2777 3524 0 0 0 0 0 0

1017 -0.62 -146.0 92.0 -7.0 173 1025 0.10 2.33 0.00 0.000 4 0.111 0.051 2258 1373 3524 0 0 0 0 0 0

1044 -0.65 -146.0 94.6 -9.3 177 1052 0.00 2.40 0.00 0.000 6 0.000 0.063 2249 2786 3523 0 0 0 0 0 0

1382 -0.62 -146.0 131.4 -10.6 212 1389 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2786 3523 0 0 0 0 0 0

1711 -0.62 -146.0 165.9 -10.4 243 1715 0.00 2.33 0.00 0.000 4 0.000 0.050 2249 1369 3523 0 0 0 0 0 0

1784 -0.62 -146.0 173.8 -10.0 249 1791 0.00 2.40 0.00 0.000 6 0.000 0.061 2247 2772 3523 0 0 0 0 0 0

2111 -0.62 -146.0 205.7 -9.4 280 2115 0.00 2.30 0.00 0.000 4 0.000 0.050 2247 1371 3523 0 0 0 0 0 0

2179 -0.62 -146.0 212.3 -9.7 285 2186 0.00 2.38 0.00 0.000 6 0.000 0.062 2248 2756 3523 0 0 0 0 0 0

2505 -0.62 -146.0 245.9 -10.7 316 2506 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2756 3523 0 0 0 0 0 0

2827 -0.62 -146.0 279.5 -10.7 346 2830 0.00 2.03 0.00 0.000 4 0.000 0.072 2247 3927 3523 0 0 0 0 0 0

2851 -0.62 -146.0 282.5 -10.6 348 2855 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2750 3524 0 0 0 0 0 0

3183 -0.62 -146.0 316.5 -10.1 379 3184 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3524 0 0 0 0 0 0

3503 -0.62 -146.0 349.6 -10.4 409 3510 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3524 0 0 0 0 0 0

3832 -0.62 -146.0 383.2 -10.0 440 3838 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3524 0 0 0 0 0 0

4152 -0.62 -146.0 414.8 -9.6 461 4153 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3524 0 0 0 0 0 0

4458 -0.62 -146.0 442.9 -9.1 471 4462 0.00 2.22 0.00 0.000 4 0.000 0.048 2247 1368 3525 0 0 0 0 0 0

4499 -0.65 -146.0 446.6 -8.4 472 4503 0.00 2.38 0.00 0.000 6 0.000 0.060 2247 2761 3526 0 0 0 0 0 0

4824 -0.65 -146.0 474.7 -8.6 483 4825 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2760 3526 0 0 0 0 0 0

5133 -0.65 -146.0 502.8 -9.7 493 5134 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2760 3526 0 0 0 0 0 0

5437 -0.65 -146.0 531.3 -9.1 503 5441 0.00 2.28 0.00 0.000 4 0.000 0.048 2247 1365 3526 0 0 0 0 0 0

5465 -0.67 -146.0 534.2 -9.4 503 5472 0.00 2.35 0.00 0.000 6 0.000 0.060 2247 2755 3526 0 0 0 0 0 0

5780 -0.67 -146.0 562.3 -8.9 514 5781 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2755 3526 0 0 0 0 0 0

6085 -0.67 -146.0 589.5 -9.0 524 6086 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2755 3526 0 0 0 0 0 0

6207 end dive: BOTTOM_OBSTACLE_DETECTED

state 6207 begin apogee

6214 -0.14 0.0 600.3 8.8 528 6347 0.55 0.00 124.62 0.971 4 0.133 0.000 2422 2600 2923 0 0 0 0 0 0

6348 end apogee: CONTROL_FINISHED_OK

state 6348 begin climb

6351 0.57 146.0 604.8 0.0 532 6490 0.70 2.42 131.85 0.944 4 0.069 0.048 2665 1185 2327 0 0 0 0 0 0

6641 0.57 146.0 581.5 10.9 540 6646 0.00 2.47 0.00 0.000 6 0.000 0.054 2665 2607 2319 0 0 0 0 0 0

6962 0.52 146.0 543.8 12.0 551 6966 0.00 2.30 0.00 0.000 4 0.000 0.051 2666 1180 2315 0 0 0 0 0 0

7163 0.52 146.0 520.8 11.0 557 7168 0.00 2.38 0.00 0.000 6 0.000 0.054 2666 2616 2315 0 0 0 0 0 0

7495 0.46 146.0 480.9 12.4 568 7500 0.15 2.20 0.00 0.000 4 0.191 0.065 2627 3925 2314 0 0 0 0 0 0

7559 0.44 146.0 472.8 12.2 570 7563 0.00 2.12 0.00 0.000 6 0.000 0.044 2627 2612 2312 0 0 0 0 0 0

7896 0.47 146.0 437.0 10.3 581 7897 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2612 2313 0 0 0 0 0 0

8201 0.49 146.0 405.7 10.0 591 8202 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2612 2313 0 0 0 0 0 0

8521 0.52 147.6 374.5 9.9 617 8525 0.00 2.25 0.00 0.000 4 0.000 0.067 2627 3924 2313 0 0 0 0 0 0

8565 0.49 147.6 369.1 11.9 620 8572 0.00 2.12 0.00 0.000 6 0.000 0.043 2628 2620 2312 0 0 0 0 0 0

8893 0.53 171.9 339.0 8.9 651 8921 0.00 0.00 20.95 0.803 6 0.000 0.000 2628 2620 2221 0 0 0 0 0 0

9241 0.57 186.7 306.6 9.3 684 9259 0.00 0.00 14.02 0.773 6 0.000 0.000 2628 2620 2160 0 0 0 0 0 0

9580 0.63 187.8 273.1 10.0 716 9588 0.12 0.00 0.00 0.000 6 0.103 0.000 2685 2620 2157 0 0 0 0 0 0

9908 0.58 187.8 229.9 13.1 747 9912 0.00 2.25 0.00 0.000 4 0.000 0.067 2685 3926 2157 0 0 0 0 0 0

9930 0.51 187.8 226.4 14.1 748 9938 0.17 2.12 0.00 0.000 6 0.179 0.044 2645 2620 2155 0 0 0 0 0 0

10258 0.55 195.4 193.5 9.6 779 10271 0.00 2.38 8.20 0.689 4 0.000 0.050 2645 1190 2125 0 0 0 0 0 0

10345 0.65 222.1 185.8 8.8 786 10375 0.10 2.33 24.38 0.716 6 0.109 0.054 2691 2617 2017 0 0 0 0 0 0

10693 0.62 222.1 143.1 12.9 819 10697 0.00 2.22 0.00 0.000 4 0.000 0.065 2690 3931 2012 0 0 0 0 0 0

10745 0.57 222.1 135.6 15.1 823 10750 0.12 2.10 0.00 0.000 6 0.189 0.044 2663 2624 2009 0 0 0 0 0 0

11071 0.61 222.1 98.9 10.5 854 11078 0.00 2.33 0.00 0.000 4 0.000 0.050 2662 1187 2009 0 0 0 0 0 0

11120 0.70 222.1 93.5 10.5 862 11127 0.10 2.38 0.00 0.000 6 0.113 0.054 2706 2632 2009 0 0 0 0 0 0

11470 0.70 232.3 47.9 9.5 923 11484 0.00 2.28 9.07 0.632 4 0.000 0.066 2707 3934 1976 0 0 0 0 0 0

11560 0.64 232.3 36.4 13.2 938 11567 0.00 2.15 0.00 0.000 6 0.000 0.043 2708 2611 1973 0 0 0 0 0 0

11838 end climb: SURFACE_DEPTH_REACHED

state 11838 begin surface coast

11859 end surface coast: FINISH_DEPTH_REACHED

state 11859 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	2.4000001
DIVE	898	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	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	0.00065	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	-14143.242	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
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	030211,055409,6659.098,-5759.870,29,1.2,29,-37.8	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	1.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030211,055409,6659.098,-5759.870,181,99.0,181,-37.8	MHEAD_RNG_PITCHd_Wd	293.1,110499,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	956

FREEZE	0.54,-1.385,-0.255,3,4,0	ALTIM_TOP_PING	19.5,999.0
FINISH	0.5,1.003540	ALTIM_BOTTOM_PING	600.3,11.8
SM_CCo	11877,219.55,0.085,0,0,440,609.08	_24V_AH	21.3,100.435
SM_GC	1.21,0.00,0.00,219.55,0.000,0.000,0.085,290,2789,440,-6.80,0.25,609.08	_10V_AH	9.7,67.962
RAFOS_CLK	706	FG_AHR_24Vo	0.000
RAFOS	0,1296720064,8.033334,8.017777,46,45,42,41,41,41,1202,1467,404,730,8,969	FG_AHR_10Vo	0.000
RAFOS_FIX	6655.822754,-5803.911621,030211,080856,2,80,0.65	MEM	151712
IRIDIUM_FIX	6636.54,-5805.51,030211,060628	DATA_FILE_SIZE	36682,991
TT8_MAMPS	0.028462	CAP_FILE_SIZE	127662,0
HUMID	46.77	CFSIZE	260165632,191512576
INTERNAL_PRESSURE	8.42653	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1454.4
XPDR_PINGS	0	GPS	030211,094050,6657.534,-5800.920,118,99.0,137,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	243	90.55	SBE_CT	689	24	352.34
Roll_motor	72	81	125.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	333	970	6887.75	nil	0	0	0.00
VBD_pump_during_surface	219	84	397.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	96	103	211.07	nil	0	0	0.00
Iridium_during_connect	178	160	607.92	nil	0	0	0.00
Iridium_during_xfer	339	223	1610.74	nil	0	0	0.00
Transponder_ping	2	420	22.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	88.99
TT8	2430	19	469.66
LPSleep	7245	2	162.34
TT8_Active	694	19	134.29
TT8_Sampling	2466	39	954.91
TT8_CF8	550	45	245.09
TT8_Kalman	0	0	0.00
Analog_circuits	1608	12	187.27
GPS_charging	0	0	0.00
Compass	1656	15	241.05
RAFOS	2520	3	73.33
Transponder	20	30	6.03

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	-0.57	-146.0	0.0	0.0	0	175	0.00	0.00	-152.25	0.000	2	0.000	0.000	227	2777	3390	0	0	0	0	0	0
178	-0.57	-146.0	5.0	-12.4	27	198	8.68	2.03	-2.72	0.000	4	0.243	0.081	2277	3932	3521	0	0	0	0	0	0
320	-0.50	-146.0	35.1	-12.6	51	327	0.12	1.90	0.00	0.000	6	0.174	0.048	2309	2777	3522	0	0	0	0	0	0
669	-0.54	-146.0	66.5	-8.4	112	675	0.00	0.00	0.00	0.000	6	0.000	0.000	2309	2777	3524	0	0	0	0	0	0
1017	-0.62	-146.0	92.0	-7.0	173	1025	0.10	2.33	0.00	0.000	4	0.111	0.051	2258	1373	3524	0	0	0	0	0	0
1044	-0.65	-146.0	94.6	-9.3	177	1052	0.00	2.40	0.00	0.000	6	0.000	0.063	2249	2786	3523	0	0	0	0	0	0
1382	-0.62	-146.0	131.4	-10.6	212	1389	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2786	3523	0	0	0	0	0	0
1711	-0.62	-146.0	165.9	-10.4	243	1715	0.00	2.33	0.00	0.000	4	0.000	0.050	2249	1369	3523	0	0	0	0	0	0
1784	-0.62	-146.0	173.8	-10.0	249	1791	0.00	2.40	0.00	0.000	6	0.000	0.061	2247	2772	3523	0	0	0	0	0	0
2111	-0.62	-146.0	205.7	-9.4	280	2115	0.00	2.30	0.00	0.000	4	0.000	0.050	2247	1371	3523	0	0	0	0	0	0
2179	-0.62	-146.0	212.3	-9.7	285	2186	0.00	2.38	0.00	0.000	6	0.000	0.062	2248	2756	3523	0	0	0	0	0	0
2505	-0.62	-146.0	245.9	-10.7	316	2506	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2756	3523	0	0	0	0	0	0
2827	-0.62	-146.0	279.5	-10.7	346	2830	0.00	2.03	0.00	0.000	4	0.000	0.072	2247	3927	3523	0	0	0	0	0	0
2851	-0.62	-146.0	282.5	-10.6	348	2855	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2750	3524	0	0	0	0	0	0
3183	-0.62	-146.0	316.5	-10.1	379	3184	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3524	0	0	0	0	0	0
3503	-0.62	-146.0	349.6	-10.4	409	3510	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3524	0	0	0	0	0	0
3832	-0.62	-146.0	383.2	-10.0	440	3838	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3524	0	0	0	0	0	0
4152	-0.62	-146.0	414.8	-9.6	461	4153	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3524	0	0	0	0	0	0
4458	-0.62	-146.0	442.9	-9.1	471	4462	0.00	2.22	0.00	0.000	4	0.000	0.048	2247	1368	3525	0	0	0	0	0	0
4499	-0.65	-146.0	446.6	-8.4	472	4503	0.00	2.38	0.00	0.000	6	0.000	0.060	2247	2761	3526	0	0	0	0	0	0
4824	-0.65	-146.0	474.7	-8.6	483	4825	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2760	3526	0	0	0	0	0	0
5133	-0.65	-146.0	502.8	-9.7	493	5134	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2760	3526	0	0	0	0	0	0
5437	-0.65	-146.0	531.3	-9.1	503	5441	0.00	2.28	0.00	0.000	4	0.000	0.048	2247	1365	3526	0	0	0	0	0	0
5465	-0.67	-146.0	534.2	-9.4	503	5472	0.00	2.35	0.00	0.000	6	0.000	0.060	2247	2755	3526	0	0	0	0	0	0
5780	-0.67	-146.0	562.3	-8.9	514	5781	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2755	3526	0	0	0	0	0	0
6085	-0.67	-146.0	589.5	-9.0	524	6086	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2755	3526	0	0	0	0	0	0
6207	end dive: BOTTOM_OBSTACLE_DETECTED
state	6207	begin apogee
6214	-0.14	0.0	600.3	8.8	528	6347	0.55	0.00	124.62	0.971	4	0.133	0.000	2422	2600	2923	0	0	0	0	0	0
6348	end apogee: CONTROL_FINISHED_OK
state	6348	begin climb
6351	0.57	146.0	604.8	0.0	532	6490	0.70	2.42	131.85	0.944	4	0.069	0.048	2665	1185	2327	0	0	0	0	0	0
6641	0.57	146.0	581.5	10.9	540	6646	0.00	2.47	0.00	0.000	6	0.000	0.054	2665	2607	2319	0	0	0	0	0	0
6962	0.52	146.0	543.8	12.0	551	6966	0.00	2.30	0.00	0.000	4	0.000	0.051	2666	1180	2315	0	0	0	0	0	0
7163	0.52	146.0	520.8	11.0	557	7168	0.00	2.38	0.00	0.000	6	0.000	0.054	2666	2616	2315	0	0	0	0	0	0
7495	0.46	146.0	480.9	12.4	568	7500	0.15	2.20	0.00	0.000	4	0.191	0.065	2627	3925	2314	0	0	0	0	0	0
7559	0.44	146.0	472.8	12.2	570	7563	0.00	2.12	0.00	0.000	6	0.000	0.044	2627	2612	2312	0	0	0	0	0	0
7896	0.47	146.0	437.0	10.3	581	7897	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2612	2313	0	0	0	0	0	0
8201	0.49	146.0	405.7	10.0	591	8202	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2612	2313	0	0	0	0	0	0
8521	0.52	147.6	374.5	9.9	617	8525	0.00	2.25	0.00	0.000	4	0.000	0.067	2627	3924	2313	0	0	0	0	0	0
8565	0.49	147.6	369.1	11.9	620	8572	0.00	2.12	0.00	0.000	6	0.000	0.043	2628	2620	2312	0	0	0	0	0	0
8893	0.53	171.9	339.0	8.9	651	8921	0.00	0.00	20.95	0.803	6	0.000	0.000	2628	2620	2221	0	0	0	0	0	0
9241	0.57	186.7	306.6	9.3	684	9259	0.00	0.00	14.02	0.773	6	0.000	0.000	2628	2620	2160	0	0	0	0	0	0
9580	0.63	187.8	273.1	10.0	716	9588	0.12	0.00	0.00	0.000	6	0.103	0.000	2685	2620	2157	0	0	0	0	0	0
9908	0.58	187.8	229.9	13.1	747	9912	0.00	2.25	0.00	0.000	4	0.000	0.067	2685	3926	2157	0	0	0	0	0	0
9930	0.51	187.8	226.4	14.1	748	9938	0.17	2.12	0.00	0.000	6	0.179	0.044	2645	2620	2155	0	0	0	0	0	0
10258	0.55	195.4	193.5	9.6	779	10271	0.00	2.38	8.20	0.689	4	0.000	0.050	2645	1190	2125	0	0	0	0	0	0
10345	0.65	222.1	185.8	8.8	786	10375	0.10	2.33	24.38	0.716	6	0.109	0.054	2691	2617	2017	0	0	0	0	0	0
10693	0.62	222.1	143.1	12.9	819	10697	0.00	2.22	0.00	0.000	4	0.000	0.065	2690	3931	2012	0	0	0	0	0	0
10745	0.57	222.1	135.6	15.1	823	10750	0.12	2.10	0.00	0.000	6	0.189	0.044	2663	2624	2009	0	0	0	0	0	0
11071	0.61	222.1	98.9	10.5	854	11078	0.00	2.33	0.00	0.000	4	0.000	0.050	2662	1187	2009	0	0	0	0	0	0
11120	0.70	222.1	93.5	10.5	862	11127	0.10	2.38	0.00	0.000	6	0.113	0.054	2706	2632	2009	0	0	0	0	0	0
11470	0.70	232.3	47.9	9.5	923	11484	0.00	2.28	9.07	0.632	4	0.000	0.066	2707	3934	1976	0	0	0	0	0	0
11560	0.64	232.3	36.4	13.2	938	11567	0.00	2.15	0.00	0.000	6	0.000	0.043	2708	2611	1973	0	0	0	0	0	0
11838	end climb: SURFACE_DEPTH_REACHED
state	11838	begin surface coast
11859	end surface coast: FINISH_DEPTH_REACHED
state	11859	begin surface