Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 221 * 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 221 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 36 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 -30532.186 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 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 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 -30532.186

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 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 36 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 221 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 260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2 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 6.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2 MHEAD_RNG_PITCHd_Wd 161.1,60139,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 788

Post-dive calculations and measurements:

FREEZE 8.73,-1.653,-1.835,3,96,0 ALTIM_BOTTOM_PING 450.2,62.2

FINISH1 8.7,1.026849,32 _24V_AH 23.1,32.091

FINISH2 6.0 _10V_AH 10.2,17.674

RAFOS_CLK 505 FG_AHR_24Vo 0.000

RAFOS 0,1301140871,12.033333,12.019722,68,67,65,56,56,49,115,217,140,181,235,169 FG_AHR_10Vo 0.000

RAFOS_FIX 6720.620117,-5757.952637,260311,080856,2,110,0.15 MEM 150556

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 40008,1022

TT8_MAMPS 0.026215 CAP_FILE_SIZE 107200,0

HUMID 45.47 CFSIZE 260165632,236867584

INTERNAL_PRESSURE 8.74057 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1465.2

XPDR_PINGS 0 GPS 260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2

ALTIM_TOP_PING 19.8,27.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 216 20.38 SBE_CT 720 24 399.30

Roll_motor 78 64 115.78 SBE_O2 766 19 336.58

VBD_pump_during_apogee 341 1180 9301.50 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 14.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2425 19 492.89

LPSleep 5146 2 121.25

TT8_Active 390 19 79.38

TT8_Sampling 1645 39 670.09

TT8_CF8 138 45 64.95

TT8_Kalman 0 0 0.00

Analog_circuits 1259 12 154.17

GPS_charging 0 0 0.00

Compass 1628 15 249.09

RAFOS 2520 1 38.56

Transponder 12 30 3.83

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 24 0.00 0.00 -6.38 0.000 2 0.000 0.000 2884 867 3089 0 0 0 0 0 0

26 -0.62 -146.0 7.4 -0.0 1 52 0.62 4.82 -16.62 0.000 4 0.123 0.063 2670 3892 3626 0 0 0 0 0 0

205 -0.57 -146.0 30.5 -15.9 32 211 0.00 2.15 0.00 0.000 6 0.000 0.037 2670 2476 3628 0 0 0 0 0 0

550 -0.48 -146.0 85.1 -16.1 93 557 0.15 0.00 0.00 0.000 6 0.216 0.000 2705 2476 3627 0 0 0 0 0 0

883 -0.48 -146.0 123.3 -10.9 134 884 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2476 3625 0 0 0 0 0 0

1204 -0.52 -146.0 154.9 -9.1 164 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2476 3625 0 0 0 0 0 0

1522 -0.56 -146.0 182.1 -8.1 194 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2476 3623 0 0 0 0 0 0

1842 -0.61 -146.0 208.6 -8.4 224 1848 0.12 0.00 0.00 0.000 6 0.129 0.000 2662 2476 3623 0 0 0 0 0 0

2167 -0.57 -146.0 245.9 -10.5 255 2171 0.00 2.25 0.00 0.000 4 0.000 0.064 2662 3899 3622 0 0 0 0 0 0

2184 -0.52 -146.0 247.8 -11.1 256 2189 0.12 2.12 0.00 0.000 6 0.200 0.037 2690 2482 3622 0 0 0 0 0 0

2510 -0.55 -146.0 271.9 -6.9 286 2514 0.00 2.22 0.00 0.000 4 0.000 0.064 2690 3892 3622 0 0 0 0 0 0

2520 -0.58 -146.0 272.8 -6.9 286 2527 0.00 2.12 0.00 0.000 6 0.000 0.036 2690 2485 3622 0 0 0 0 0 0

2846 -0.62 -146.0 294.3 -7.0 317 2847 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2485 3623 0 0 0 0 0 0

3164 -0.67 -146.0 318.1 -7.4 347 3166 0.12 0.00 0.00 0.000 6 0.127 0.000 2648 2485 3623 0 0 0 0 0 0

3483 -0.60 -146.0 353.1 -11.2 377 3487 0.00 2.12 0.00 0.000 4 0.000 0.052 2648 1087 3623 0 0 0 0 0 0

3527 -0.57 -146.0 358.3 -11.1 380 3534 0.12 2.15 0.00 0.000 6 0.216 0.050 2676 2484 3624 0 0 0 0 0 0

3852 -0.57 -146.0 386.5 -8.8 411 3853 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2484 3624 0 0 0 0 0 0

4172 -0.57 -146.0 415.3 -9.3 441 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2485 3624 0 0 0 0 0 0

4489 -0.57 -146.0 444.0 -8.5 471 4493 0.00 2.22 0.00 0.000 4 0.000 0.064 2676 3898 3625 0 0 0 0 0 0

4513 -0.60 -146.0 446.0 -8.6 473 4517 0.00 2.10 0.00 0.000 6 0.000 0.034 2676 2484 3625 0 0 0 0 0 0

4839 -0.62 -146.0 473.5 -8.5 503 4843 0.00 2.25 0.00 0.000 4 0.000 0.061 2676 3900 3626 0 0 0 0 0 0

4868 -0.65 -146.0 476.2 -9.0 505 4872 0.00 2.12 0.00 0.000 6 0.000 0.035 2676 2484 3626 0 0 0 0 0 0

5129 end dive: BOTTOM_OBSTACLE_DETECTED

state 5129 begin apogee

5134 -0.12 0.0 498.3 8.5 529 5258 0.45 0.00 118.18 1.180 6 0.180 0.000 2812 2252 3030 0 0 0 0 0 0

5259 end apogee: CONTROL_FINISHED_OK

state 5259 begin climb

5261 0.62 146.0 501.4 0.0 540 5391 0.77 2.35 121.65 1.139 4 0.131 0.054 3065 891 2433 0 0 0 0 0 0

5454 0.53 146.0 484.1 13.3 558 5459 0.00 2.33 0.00 0.000 6 0.000 0.042 3065 2283 2429 0 0 0 0 0 0

5779 0.42 146.0 441.1 13.1 588 5784 0.22 2.28 0.00 0.000 4 0.183 0.056 3007 3696 2427 0 0 0 0 0 0

5942 0.38 146.0 422.1 11.5 602 5947 0.00 2.20 0.00 0.000 6 0.000 0.041 3015 2302 2426 0 0 0 0 0 0

6267 0.39 154.0 388.6 9.6 632 6280 0.00 2.28 6.38 0.854 4 0.000 0.054 3025 860 2403 0 0 0 0 0 0

6341 0.39 154.0 381.2 10.3 638 6349 0.10 2.25 0.00 0.000 6 0.168 0.044 2996 2279 2402 0 0 0 0 0 0

6667 0.45 187.0 353.2 8.5 669 6702 0.00 2.33 29.40 1.060 4 0.000 0.058 2996 3683 2267 0 0 0 0 0 0

6770 0.45 187.0 343.5 10.3 678 6774 0.00 2.20 0.00 0.000 6 0.000 0.041 3003 2276 2265 0 0 0 0 0 0

7095 0.50 202.8 314.0 9.3 708 7118 0.00 2.28 14.35 0.993 4 0.000 0.057 3014 870 2202 0 0 0 0 0 0

7180 0.60 238.1 306.5 8.4 715 7220 0.12 2.20 31.65 1.024 6 0.106 0.043 3072 2284 2059 0 0 0 0 0 0

7537 0.52 238.1 252.3 15.7 749 7542 0.15 2.22 0.00 0.000 4 0.176 0.057 3033 3681 2052 0 0 0 0 0 0

7594 0.52 238.1 244.3 13.0 754 7598 0.00 2.17 0.00 0.000 6 0.000 0.042 3042 2276 2052 0 0 0 0 0 0

7919 0.52 238.1 203.4 12.0 784 7923 0.00 2.20 0.00 0.000 4 0.000 0.055 3051 861 2051 0 0 0 0 0 0

7997 0.56 238.1 194.6 10.5 790 8003 0.00 2.20 0.00 0.000 6 0.000 0.041 3051 2284 2050 0 0 0 0 0 0

8323 0.56 238.1 154.4 13.0 821 8327 0.00 2.17 0.00 0.000 4 0.000 0.056 3051 3691 2049 0 0 0 0 0 0

8447 0.53 238.1 136.7 13.8 831 8454 0.00 2.17 0.00 0.000 6 0.000 0.041 3061 2264 2049 0 0 0 0 0 0

8773 0.53 238.1 97.4 10.6 864 8780 0.00 2.15 0.00 0.000 4 0.000 0.055 3071 865 2050 0 0 0 0 0 0

8826 0.53 238.1 91.9 10.9 873 8833 0.12 2.15 0.00 0.000 6 0.176 0.042 3039 2276 2048 0 0 0 0 0 0

9174 0.62 260.9 63.1 8.9 934 9199 0.00 2.28 19.52 0.900 4 0.000 0.057 3039 3681 1965 0 0 0 0 0 0

9234 0.68 260.9 57.0 10.7 944 9242 0.12 2.20 0.00 0.000 6 0.109 0.041 3093 2269 1964 0 0 0 0 0 0

9581 0.66 260.9 15.7 12.1 1005 9588 0.00 2.20 0.00 0.000 4 0.000 0.057 3104 867 1962 0 0 0 0 0 0

9639 end climb: FINISH_DEPTH_REACHED

state 9639 begin subsurface finish

9647 0.04 31.9 8.7 -12.6 1015 9689 0.73 0.00 -33.42 0.000 6 0.173 0.000 2886 2276 2900 0 0 0 0 0 0

9690 end subsurface finish: CONTROL_FINISHED_OK

state 9690 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	221	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	36	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	-30532.186	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	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	260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2	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	6.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2	MHEAD_RNG_PITCHd_Wd	161.1,60139,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	788

FREEZE	8.73,-1.653,-1.835,3,96,0	ALTIM_BOTTOM_PING	450.2,62.2
FINISH1	8.7,1.026849,32	_24V_AH	23.1,32.091
FINISH2	6.0	_10V_AH	10.2,17.674
RAFOS_CLK	505	FG_AHR_24Vo	0.000
RAFOS	0,1301140871,12.033333,12.019722,68,67,65,56,56,49,115,217,140,181,235,169	FG_AHR_10Vo	0.000
RAFOS_FIX	6720.620117,-5757.952637,260311,080856,2,110,0.15	MEM	150556
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	40008,1022
TT8_MAMPS	0.026215	CAP_FILE_SIZE	107200,0
HUMID	45.47	CFSIZE	260165632,236867584
INTERNAL_PRESSURE	8.74057	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1465.2
XPDR_PINGS	0	GPS	260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2
ALTIM_TOP_PING	19.8,27.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	216	20.38	SBE_CT	720	24	399.30
Roll_motor	78	64	115.78	SBE_O2	766	19	336.58
VBD_pump_during_apogee	341	1180	9301.50	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	14.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2425	19	492.89
LPSleep	5146	2	121.25
TT8_Active	390	19	79.38
TT8_Sampling	1645	39	670.09
TT8_CF8	138	45	64.95
TT8_Kalman	0	0	0.00
Analog_circuits	1259	12	154.17
GPS_charging	0	0	0.00
Compass	1628	15	249.09
RAFOS	2520	1	38.56
Transponder	12	30	3.83

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	24	0.00	0.00	-6.38	0.000	2	0.000	0.000	2884	867	3089	0	0	0	0	0	0
26	-0.62	-146.0	7.4	-0.0	1	52	0.62	4.82	-16.62	0.000	4	0.123	0.063	2670	3892	3626	0	0	0	0	0	0
205	-0.57	-146.0	30.5	-15.9	32	211	0.00	2.15	0.00	0.000	6	0.000	0.037	2670	2476	3628	0	0	0	0	0	0
550	-0.48	-146.0	85.1	-16.1	93	557	0.15	0.00	0.00	0.000	6	0.216	0.000	2705	2476	3627	0	0	0	0	0	0
883	-0.48	-146.0	123.3	-10.9	134	884	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2476	3625	0	0	0	0	0	0
1204	-0.52	-146.0	154.9	-9.1	164	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2476	3625	0	0	0	0	0	0
1522	-0.56	-146.0	182.1	-8.1	194	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2476	3623	0	0	0	0	0	0
1842	-0.61	-146.0	208.6	-8.4	224	1848	0.12	0.00	0.00	0.000	6	0.129	0.000	2662	2476	3623	0	0	0	0	0	0
2167	-0.57	-146.0	245.9	-10.5	255	2171	0.00	2.25	0.00	0.000	4	0.000	0.064	2662	3899	3622	0	0	0	0	0	0
2184	-0.52	-146.0	247.8	-11.1	256	2189	0.12	2.12	0.00	0.000	6	0.200	0.037	2690	2482	3622	0	0	0	0	0	0
2510	-0.55	-146.0	271.9	-6.9	286	2514	0.00	2.22	0.00	0.000	4	0.000	0.064	2690	3892	3622	0	0	0	0	0	0
2520	-0.58	-146.0	272.8	-6.9	286	2527	0.00	2.12	0.00	0.000	6	0.000	0.036	2690	2485	3622	0	0	0	0	0	0
2846	-0.62	-146.0	294.3	-7.0	317	2847	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2485	3623	0	0	0	0	0	0
3164	-0.67	-146.0	318.1	-7.4	347	3166	0.12	0.00	0.00	0.000	6	0.127	0.000	2648	2485	3623	0	0	0	0	0	0
3483	-0.60	-146.0	353.1	-11.2	377	3487	0.00	2.12	0.00	0.000	4	0.000	0.052	2648	1087	3623	0	0	0	0	0	0
3527	-0.57	-146.0	358.3	-11.1	380	3534	0.12	2.15	0.00	0.000	6	0.216	0.050	2676	2484	3624	0	0	0	0	0	0
3852	-0.57	-146.0	386.5	-8.8	411	3853	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2484	3624	0	0	0	0	0	0
4172	-0.57	-146.0	415.3	-9.3	441	4173	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2485	3624	0	0	0	0	0	0
4489	-0.57	-146.0	444.0	-8.5	471	4493	0.00	2.22	0.00	0.000	4	0.000	0.064	2676	3898	3625	0	0	0	0	0	0
4513	-0.60	-146.0	446.0	-8.6	473	4517	0.00	2.10	0.00	0.000	6	0.000	0.034	2676	2484	3625	0	0	0	0	0	0
4839	-0.62	-146.0	473.5	-8.5	503	4843	0.00	2.25	0.00	0.000	4	0.000	0.061	2676	3900	3626	0	0	0	0	0	0
4868	-0.65	-146.0	476.2	-9.0	505	4872	0.00	2.12	0.00	0.000	6	0.000	0.035	2676	2484	3626	0	0	0	0	0	0
5129	end dive: BOTTOM_OBSTACLE_DETECTED
state	5129	begin apogee
5134	-0.12	0.0	498.3	8.5	529	5258	0.45	0.00	118.18	1.180	6	0.180	0.000	2812	2252	3030	0	0	0	0	0	0
5259	end apogee: CONTROL_FINISHED_OK
state	5259	begin climb
5261	0.62	146.0	501.4	0.0	540	5391	0.77	2.35	121.65	1.139	4	0.131	0.054	3065	891	2433	0	0	0	0	0	0
5454	0.53	146.0	484.1	13.3	558	5459	0.00	2.33	0.00	0.000	6	0.000	0.042	3065	2283	2429	0	0	0	0	0	0
5779	0.42	146.0	441.1	13.1	588	5784	0.22	2.28	0.00	0.000	4	0.183	0.056	3007	3696	2427	0	0	0	0	0	0
5942	0.38	146.0	422.1	11.5	602	5947	0.00	2.20	0.00	0.000	6	0.000	0.041	3015	2302	2426	0	0	0	0	0	0
6267	0.39	154.0	388.6	9.6	632	6280	0.00	2.28	6.38	0.854	4	0.000	0.054	3025	860	2403	0	0	0	0	0	0
6341	0.39	154.0	381.2	10.3	638	6349	0.10	2.25	0.00	0.000	6	0.168	0.044	2996	2279	2402	0	0	0	0	0	0
6667	0.45	187.0	353.2	8.5	669	6702	0.00	2.33	29.40	1.060	4	0.000	0.058	2996	3683	2267	0	0	0	0	0	0
6770	0.45	187.0	343.5	10.3	678	6774	0.00	2.20	0.00	0.000	6	0.000	0.041	3003	2276	2265	0	0	0	0	0	0
7095	0.50	202.8	314.0	9.3	708	7118	0.00	2.28	14.35	0.993	4	0.000	0.057	3014	870	2202	0	0	0	0	0	0
7180	0.60	238.1	306.5	8.4	715	7220	0.12	2.20	31.65	1.024	6	0.106	0.043	3072	2284	2059	0	0	0	0	0	0
7537	0.52	238.1	252.3	15.7	749	7542	0.15	2.22	0.00	0.000	4	0.176	0.057	3033	3681	2052	0	0	0	0	0	0
7594	0.52	238.1	244.3	13.0	754	7598	0.00	2.17	0.00	0.000	6	0.000	0.042	3042	2276	2052	0	0	0	0	0	0
7919	0.52	238.1	203.4	12.0	784	7923	0.00	2.20	0.00	0.000	4	0.000	0.055	3051	861	2051	0	0	0	0	0	0
7997	0.56	238.1	194.6	10.5	790	8003	0.00	2.20	0.00	0.000	6	0.000	0.041	3051	2284	2050	0	0	0	0	0	0
8323	0.56	238.1	154.4	13.0	821	8327	0.00	2.17	0.00	0.000	4	0.000	0.056	3051	3691	2049	0	0	0	0	0	0
8447	0.53	238.1	136.7	13.8	831	8454	0.00	2.17	0.00	0.000	6	0.000	0.041	3061	2264	2049	0	0	0	0	0	0
8773	0.53	238.1	97.4	10.6	864	8780	0.00	2.15	0.00	0.000	4	0.000	0.055	3071	865	2050	0	0	0	0	0	0
8826	0.53	238.1	91.9	10.9	873	8833	0.12	2.15	0.00	0.000	6	0.176	0.042	3039	2276	2048	0	0	0	0	0	0
9174	0.62	260.9	63.1	8.9	934	9199	0.00	2.28	19.52	0.900	4	0.000	0.057	3039	3681	1965	0	0	0	0	0	0
9234	0.68	260.9	57.0	10.7	944	9242	0.12	2.20	0.00	0.000	6	0.109	0.041	3093	2269	1964	0	0	0	0	0	0
9581	0.66	260.9	15.7	12.1	1005	9588	0.00	2.20	0.00	0.000	4	0.000	0.057	3104	867	1962	0	0	0	0	0	0
9639	end climb: FINISH_DEPTH_REACHED
state	9639	begin subsurface finish
9647	0.04	31.9	8.7	-12.6	1015	9689	0.73	0.00	-33.42	0.000	6	0.173	0.000	2886	2276	2900	0	0	0	0	0	0
9690	end subsurface finish: CONTROL_FINISHED_OK
state	9690	begin surface