Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 11 * 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 1.8

DIVE 11 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2150 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 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -22024.186 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 2910 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 0

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 3 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 0 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 -22024.186

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 2910 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2150 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2300 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 30 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 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 11 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 200211,185055,6704.403,-5653.964,40,0.9,40,-37.6 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200211,190425,6704.294,-5654.024,13,1.0,30,-37.6 MHEAD_RNG_PITCHd_Wd 294.0,159563,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 539

Post-dive calculations and measurements:

FREEZE 0.83,-0.022,-1.827,3,1,0 ALTIM_BOTTOM_PING 450.4,69.6

FINISH 0.8,1.026761 _24V_AH 23.5,4.805

SM_CCo 9430,130.68,0.063,0,0,749,559.04 _10V_AH 10.4,1.911

SM_GC 1.58,0.00,0.00,130.68,0.000,0.000,0.063,109,2315,749,-8.75,0.42,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 442 FG_AHR_10Vo 0.000

RAFOS 0,1298232070,20.033333,20.019444,61,57,57,54,54,52,215,187,147,120,230,169 MEM 150748

RAFOS_FIX 6707.972168,-5654.844238,200211,121200,2,80,0.15 DATA_FILE_SIZE 40064,1003

IRIDIUM_FIX 6625.71,-5915.36,200211,181824 CAP_FILE_SIZE 122561,0

TT8_MAMPS 0.026215 CFSIZE 260165632,251559936

HUMID 44.21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.53548 SOUNDSPEED 1466.8

TCM_TEMP 17.40 GPS 200211,214534,6704.052,-5654.823,8,5.4,27,-37.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 325 188.34 SBE_CT 704 24 397.31

Roll_motor 91 90 193.31 SBE_O2 757 19 338.35

VBD_pump_during_apogee 331 1152 8968.98 nil 0 0 0.00

VBD_pump_during_surface 130 63 194.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 137.33 nil 0 0 0.00

Iridium_during_connect 70 160 264.05 nil 0 0 0.00

Iridium_during_xfer 404 223 2119.71 nil 0 0 0.00

Transponder_ping 1 420 12.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.87

TT8 2389 19 495.12

LPSleep 4866 2 116.90

TT8_Active 604 19 125.17

TT8_Sampling 2241 39 930.61

TT8_CF8 283 45 135.18

TT8_Kalman 0 0 0.00

Analog_circuits 1521 12 189.94

GPS_charging 0 0 0.00

Compass 1679 15 261.93

RAFOS 2520 1 39.31

Transponder 10 30 3.40

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 0 185 0.00 0.00 -165.65 0.000 2 0.000 0.000 106 2320 3520 0 0 0 0 0 0

188 -0.62 -146.0 5.4 -9.1 29 209 12.75 2.38 -2.15 0.000 4 0.325 0.090 2698 3704 3628 0 0 0 0 0 0

344 -0.62 -146.0 37.7 -13.3 56 351 0.00 2.22 0.00 0.000 6 0.000 0.050 2698 2295 3629 0 0 0 0 0 0

688 -0.62 -146.0 82.8 -13.2 117 695 0.00 2.30 0.00 0.000 4 0.000 0.077 2699 3698 3629 0 0 0 0 0 0

832 -0.64 -146.0 99.4 -11.1 142 839 0.00 2.22 0.00 0.000 6 0.000 0.052 2699 2290 3629 0 0 0 0 0 0

1159 -0.66 -146.0 133.7 -10.8 173 1163 0.00 2.30 0.00 0.000 4 0.000 0.076 2699 3700 3627 0 0 0 0 0 0

1266 -0.71 -146.0 144.4 -10.1 182 1270 0.00 2.17 0.00 0.000 6 0.000 0.051 2699 2301 3627 0 0 0 0 0 0

1593 -0.74 -146.0 175.2 -8.4 212 1597 0.00 2.28 0.00 0.000 4 0.000 0.075 2699 3704 3627 0 0 0 0 0 0

1660 -0.79 -146.0 181.4 -8.7 217 1668 0.12 2.17 0.00 0.000 6 0.134 0.049 2656 2296 3627 0 0 0 0 0 0

1985 -0.73 -146.0 219.6 -12.3 248 1990 0.00 2.28 0.00 0.000 4 0.000 0.073 2656 3700 3628 0 0 0 0 0 0

2115 -0.71 -146.0 235.1 -11.6 259 2122 0.00 2.17 0.00 0.000 6 0.000 0.049 2655 2301 3628 0 0 0 0 0 0

2440 -0.65 -146.0 273.6 -11.8 290 2442 0.17 0.00 0.00 0.000 6 0.211 0.000 2698 2301 3629 0 0 0 0 0 0

2759 -0.70 -146.0 299.5 -7.9 320 2767 0.00 2.28 0.00 0.000 4 0.000 0.073 2699 3707 3629 0 0 0 0 0 0

2892 -0.76 -146.0 310.5 -8.7 331 2899 0.12 2.15 0.00 0.000 6 0.128 0.048 2657 2298 3630 0 0 0 0 0 0

3217 -0.72 -146.0 345.9 -10.7 362 3221 0.00 2.25 0.00 0.000 4 0.000 0.071 2657 3700 3631 0 0 0 0 0 0

3300 -0.72 -146.0 354.5 -10.2 369 3304 0.00 2.15 0.00 0.000 6 0.000 0.047 2657 2296 3631 0 0 0 0 0 0

3631 -0.67 -146.0 390.7 -11.5 400 3636 0.12 2.28 0.00 0.000 4 0.222 0.072 2686 3700 3632 0 0 0 0 0 0

3665 -0.67 -146.0 394.2 -9.8 403 3669 0.00 2.15 0.00 0.000 6 0.000 0.047 2686 2298 3632 0 0 0 0 0 0

3996 -0.70 -146.0 424.7 -9.2 434 4000 0.00 2.25 0.00 0.000 4 0.000 0.071 2686 3704 3633 0 0 0 0 0 0

4058 -0.75 -146.0 430.6 -9.4 439 4064 0.00 2.17 0.00 0.000 6 0.000 0.047 2686 2293 3633 0 0 0 0 0 0

4383 -0.78 -146.0 460.5 -9.5 470 4387 0.00 2.25 0.00 0.000 4 0.000 0.073 2686 3703 3634 0 0 0 0 0 0

4515 -0.83 -146.0 473.2 -9.7 481 4520 0.15 2.15 0.00 0.000 6 0.122 0.048 2637 2293 3634 0 0 0 0 0 0

4764 end dive: BOTTOM_OBSTACLE_DETECTED

state 4764 begin apogee

4769 -0.12 0.0 505.2 13.0 504 4893 0.77 0.00 118.10 1.152 6 0.198 0.000 2862 2144 3030 0 0 0 0 0 0

4894 end apogee: CONTROL_FINISHED_OK

state 4894 begin climb

4896 0.62 146.0 509.5 0.0 515 5025 0.70 2.45 120.55 1.120 4 0.093 0.071 3111 757 2433 0 0 0 0 0 0

5060 0.44 146.0 495.9 15.6 530 5065 0.22 2.35 0.00 0.000 6 0.203 0.060 3058 2151 2428 0 0 0 0 0 0

5385 0.37 146.0 455.4 12.3 560 5390 0.00 2.33 0.00 0.000 4 0.000 0.074 3057 3566 2424 0 0 0 0 0 0

5598 0.24 146.0 425.5 14.0 578 5606 0.28 2.28 0.00 0.000 6 0.188 0.057 2993 2158 2423 0 0 0 0 0 0

5924 0.33 189.7 399.0 8.0 609 5968 0.00 2.40 35.85 1.049 4 0.000 0.071 2993 3568 2256 0 0 0 0 0 0

6031 0.39 206.9 389.4 9.2 618 6052 0.10 2.33 15.95 1.006 6 0.117 0.054 3038 2149 2186 0 0 0 0 0 0

6377 0.39 206.9 350.7 11.0 651 6381 0.00 2.35 0.00 0.000 4 0.000 0.070 3037 3571 2180 0 0 0 0 0 0

6421 0.35 206.9 345.1 12.8 654 6428 0.00 2.30 0.00 0.000 6 0.000 0.054 3047 2137 2180 0 0 0 0 0 0

6748 0.33 206.9 306.1 12.3 685 6752 0.00 2.30 0.00 0.000 4 0.000 0.070 3047 3560 2179 0 0 0 0 0 0

6811 0.29 206.9 297.5 13.2 690 6816 0.20 2.25 0.00 0.000 6 0.186 0.054 3004 2148 2178 0 0 0 0 0 0

7136 0.40 244.6 269.9 8.3 720 7174 0.12 2.35 32.08 0.986 4 0.114 0.068 3051 3564 2031 0 0 0 0 0 0

7223 0.40 244.6 259.9 13.7 727 7227 0.00 2.30 0.00 0.000 6 0.000 0.053 3059 2144 2028 0 0 0 0 0 0

7548 0.40 244.6 218.5 12.6 757 7552 0.00 2.30 0.00 0.000 4 0.000 0.068 3059 3566 2025 0 0 0 0 0 0

7587 0.38 244.6 213.1 14.1 760 7592 0.12 2.25 0.00 0.000 6 0.186 0.051 3038 2155 2025 0 0 0 0 0 0

7913 0.41 244.6 174.0 12.0 790 7917 0.00 2.28 0.00 0.000 4 0.000 0.067 3037 3567 2024 0 0 0 0 0 0

7947 0.41 244.6 169.5 13.0 793 7951 0.00 2.25 0.00 0.000 6 0.000 0.050 3042 2145 2024 0 0 0 0 0 0

8277 0.44 244.6 129.3 11.5 824 8281 0.00 2.30 0.00 0.000 4 0.000 0.067 3042 3568 2024 0 0 0 0 0 0

8339 0.44 244.6 121.3 13.1 829 8343 0.00 2.22 0.00 0.000 6 0.000 0.051 3049 2147 2024 0 0 0 0 0 0

8672 0.49 247.5 84.5 9.9 872 8678 0.00 2.28 0.00 0.000 4 0.000 0.066 3049 3567 2024 0 0 0 0 0 0

8714 0.51 247.5 80.1 11.1 879 8721 0.00 2.22 0.00 0.000 6 0.000 0.050 3056 2141 2023 0 0 0 0 0 0

9059 0.58 254.7 46.4 9.7 940 9072 0.12 0.00 8.75 0.740 6 0.118 0.000 3104 2141 1991 0 0 0 0 0 0

9391 end climb: SURFACE_DEPTH_REACHED

state 9391 begin surface coast

9413 end surface coast: CONTROL_FINISHED_OK

state 9413 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	1.8
DIVE	11	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2150	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	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-22024.186	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	2910	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	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	200211,185055,6704.403,-5653.964,40,0.9,40,-37.6	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200211,190425,6704.294,-5654.024,13,1.0,30,-37.6	MHEAD_RNG_PITCHd_Wd	294.0,159563,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	539

FREEZE	0.83,-0.022,-1.827,3,1,0	ALTIM_BOTTOM_PING	450.4,69.6
FINISH	0.8,1.026761	_24V_AH	23.5,4.805
SM_CCo	9430,130.68,0.063,0,0,749,559.04	_10V_AH	10.4,1.911
SM_GC	1.58,0.00,0.00,130.68,0.000,0.000,0.063,109,2315,749,-8.75,0.42,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	442	FG_AHR_10Vo	0.000
RAFOS	0,1298232070,20.033333,20.019444,61,57,57,54,54,52,215,187,147,120,230,169	MEM	150748
RAFOS_FIX	6707.972168,-5654.844238,200211,121200,2,80,0.15	DATA_FILE_SIZE	40064,1003
IRIDIUM_FIX	6625.71,-5915.36,200211,181824	CAP_FILE_SIZE	122561,0
TT8_MAMPS	0.026215	CFSIZE	260165632,251559936
HUMID	44.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.53548	SOUNDSPEED	1466.8
TCM_TEMP	17.40	GPS	200211,214534,6704.052,-5654.823,8,5.4,27,-37.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	325	188.34	SBE_CT	704	24	397.31
Roll_motor	91	90	193.31	SBE_O2	757	19	338.35
VBD_pump_during_apogee	331	1152	8968.98	nil	0	0	0.00
VBD_pump_during_surface	130	63	194.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	137.33	nil	0	0	0.00
Iridium_during_connect	70	160	264.05	nil	0	0	0.00
Iridium_during_xfer	404	223	2119.71	nil	0	0	0.00
Transponder_ping	1	420	12.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.87
TT8	2389	19	495.12
LPSleep	4866	2	116.90
TT8_Active	604	19	125.17
TT8_Sampling	2241	39	930.61
TT8_CF8	283	45	135.18
TT8_Kalman	0	0	0.00
Analog_circuits	1521	12	189.94
GPS_charging	0	0	0.00
Compass	1679	15	261.93
RAFOS	2520	1	39.31
Transponder	10	30	3.40

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	185	0.00	0.00	-165.65	0.000	2	0.000	0.000	106	2320	3520	0	0	0	0	0	0
188	-0.62	-146.0	5.4	-9.1	29	209	12.75	2.38	-2.15	0.000	4	0.325	0.090	2698	3704	3628	0	0	0	0	0	0
344	-0.62	-146.0	37.7	-13.3	56	351	0.00	2.22	0.00	0.000	6	0.000	0.050	2698	2295	3629	0	0	0	0	0	0
688	-0.62	-146.0	82.8	-13.2	117	695	0.00	2.30	0.00	0.000	4	0.000	0.077	2699	3698	3629	0	0	0	0	0	0
832	-0.64	-146.0	99.4	-11.1	142	839	0.00	2.22	0.00	0.000	6	0.000	0.052	2699	2290	3629	0	0	0	0	0	0
1159	-0.66	-146.0	133.7	-10.8	173	1163	0.00	2.30	0.00	0.000	4	0.000	0.076	2699	3700	3627	0	0	0	0	0	0
1266	-0.71	-146.0	144.4	-10.1	182	1270	0.00	2.17	0.00	0.000	6	0.000	0.051	2699	2301	3627	0	0	0	0	0	0
1593	-0.74	-146.0	175.2	-8.4	212	1597	0.00	2.28	0.00	0.000	4	0.000	0.075	2699	3704	3627	0	0	0	0	0	0
1660	-0.79	-146.0	181.4	-8.7	217	1668	0.12	2.17	0.00	0.000	6	0.134	0.049	2656	2296	3627	0	0	0	0	0	0
1985	-0.73	-146.0	219.6	-12.3	248	1990	0.00	2.28	0.00	0.000	4	0.000	0.073	2656	3700	3628	0	0	0	0	0	0
2115	-0.71	-146.0	235.1	-11.6	259	2122	0.00	2.17	0.00	0.000	6	0.000	0.049	2655	2301	3628	0	0	0	0	0	0
2440	-0.65	-146.0	273.6	-11.8	290	2442	0.17	0.00	0.00	0.000	6	0.211	0.000	2698	2301	3629	0	0	0	0	0	0
2759	-0.70	-146.0	299.5	-7.9	320	2767	0.00	2.28	0.00	0.000	4	0.000	0.073	2699	3707	3629	0	0	0	0	0	0
2892	-0.76	-146.0	310.5	-8.7	331	2899	0.12	2.15	0.00	0.000	6	0.128	0.048	2657	2298	3630	0	0	0	0	0	0
3217	-0.72	-146.0	345.9	-10.7	362	3221	0.00	2.25	0.00	0.000	4	0.000	0.071	2657	3700	3631	0	0	0	0	0	0
3300	-0.72	-146.0	354.5	-10.2	369	3304	0.00	2.15	0.00	0.000	6	0.000	0.047	2657	2296	3631	0	0	0	0	0	0
3631	-0.67	-146.0	390.7	-11.5	400	3636	0.12	2.28	0.00	0.000	4	0.222	0.072	2686	3700	3632	0	0	0	0	0	0
3665	-0.67	-146.0	394.2	-9.8	403	3669	0.00	2.15	0.00	0.000	6	0.000	0.047	2686	2298	3632	0	0	0	0	0	0
3996	-0.70	-146.0	424.7	-9.2	434	4000	0.00	2.25	0.00	0.000	4	0.000	0.071	2686	3704	3633	0	0	0	0	0	0
4058	-0.75	-146.0	430.6	-9.4	439	4064	0.00	2.17	0.00	0.000	6	0.000	0.047	2686	2293	3633	0	0	0	0	0	0
4383	-0.78	-146.0	460.5	-9.5	470	4387	0.00	2.25	0.00	0.000	4	0.000	0.073	2686	3703	3634	0	0	0	0	0	0
4515	-0.83	-146.0	473.2	-9.7	481	4520	0.15	2.15	0.00	0.000	6	0.122	0.048	2637	2293	3634	0	0	0	0	0	0
4764	end dive: BOTTOM_OBSTACLE_DETECTED
state	4764	begin apogee
4769	-0.12	0.0	505.2	13.0	504	4893	0.77	0.00	118.10	1.152	6	0.198	0.000	2862	2144	3030	0	0	0	0	0	0
4894	end apogee: CONTROL_FINISHED_OK
state	4894	begin climb
4896	0.62	146.0	509.5	0.0	515	5025	0.70	2.45	120.55	1.120	4	0.093	0.071	3111	757	2433	0	0	0	0	0	0
5060	0.44	146.0	495.9	15.6	530	5065	0.22	2.35	0.00	0.000	6	0.203	0.060	3058	2151	2428	0	0	0	0	0	0
5385	0.37	146.0	455.4	12.3	560	5390	0.00	2.33	0.00	0.000	4	0.000	0.074	3057	3566	2424	0	0	0	0	0	0
5598	0.24	146.0	425.5	14.0	578	5606	0.28	2.28	0.00	0.000	6	0.188	0.057	2993	2158	2423	0	0	0	0	0	0
5924	0.33	189.7	399.0	8.0	609	5968	0.00	2.40	35.85	1.049	4	0.000	0.071	2993	3568	2256	0	0	0	0	0	0
6031	0.39	206.9	389.4	9.2	618	6052	0.10	2.33	15.95	1.006	6	0.117	0.054	3038	2149	2186	0	0	0	0	0	0
6377	0.39	206.9	350.7	11.0	651	6381	0.00	2.35	0.00	0.000	4	0.000	0.070	3037	3571	2180	0	0	0	0	0	0
6421	0.35	206.9	345.1	12.8	654	6428	0.00	2.30	0.00	0.000	6	0.000	0.054	3047	2137	2180	0	0	0	0	0	0
6748	0.33	206.9	306.1	12.3	685	6752	0.00	2.30	0.00	0.000	4	0.000	0.070	3047	3560	2179	0	0	0	0	0	0
6811	0.29	206.9	297.5	13.2	690	6816	0.20	2.25	0.00	0.000	6	0.186	0.054	3004	2148	2178	0	0	0	0	0	0
7136	0.40	244.6	269.9	8.3	720	7174	0.12	2.35	32.08	0.986	4	0.114	0.068	3051	3564	2031	0	0	0	0	0	0
7223	0.40	244.6	259.9	13.7	727	7227	0.00	2.30	0.00	0.000	6	0.000	0.053	3059	2144	2028	0	0	0	0	0	0
7548	0.40	244.6	218.5	12.6	757	7552	0.00	2.30	0.00	0.000	4	0.000	0.068	3059	3566	2025	0	0	0	0	0	0
7587	0.38	244.6	213.1	14.1	760	7592	0.12	2.25	0.00	0.000	6	0.186	0.051	3038	2155	2025	0	0	0	0	0	0
7913	0.41	244.6	174.0	12.0	790	7917	0.00	2.28	0.00	0.000	4	0.000	0.067	3037	3567	2024	0	0	0	0	0	0
7947	0.41	244.6	169.5	13.0	793	7951	0.00	2.25	0.00	0.000	6	0.000	0.050	3042	2145	2024	0	0	0	0	0	0
8277	0.44	244.6	129.3	11.5	824	8281	0.00	2.30	0.00	0.000	4	0.000	0.067	3042	3568	2024	0	0	0	0	0	0
8339	0.44	244.6	121.3	13.1	829	8343	0.00	2.22	0.00	0.000	6	0.000	0.051	3049	2147	2024	0	0	0	0	0	0
8672	0.49	247.5	84.5	9.9	872	8678	0.00	2.28	0.00	0.000	4	0.000	0.066	3049	3567	2024	0	0	0	0	0	0
8714	0.51	247.5	80.1	11.1	879	8721	0.00	2.22	0.00	0.000	6	0.000	0.050	3056	2141	2023	0	0	0	0	0	0
9059	0.58	254.7	46.4	9.7	940	9072	0.12	0.00	8.75	0.740	6	0.118	0.000	3104	2141	1991	0	0	0	0	0	0
9391	end climb: SURFACE_DEPTH_REACHED
state	9391	begin surface coast
9413	end surface coast: CONTROL_FINISHED_OK
state	9413	begin surface