Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 255 * 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 255 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 45 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 -32937.922 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 -32937.922

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 45 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 255 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 290311,124301,6711.084,-5706.424,0,3101.7,0,-37.7 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 2.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -23.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290311,124301,6711.084,-5706.424,181,99.0,181,-37.7 MHEAD_RNG_PITCHd_Wd 176.1,20029,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 456

Post-dive calculations and measurements:

FREEZE 1.85,-1.497,-1.836,3,4,0 ALTIM_TOP_PING 19.8,18.3

FINISH 1.9,1.026926 ALTIM_BOTTOM_PING 351.1,98.5

SM_CCo 8679,136.57,0.064,0,0,750,559.04 _24V_AH 23.0,35.660

SM_GC 2.50,0.00,0.00,136.57,0.000,0.000,0.064,107,2501,750,-8.62,0.31,559.04 _10V_AH 10.2,19.482

RAFOS_CLK 492 FG_AHR_24Vo 0.000

RAFOS 0,1301414462,16.033333,16.017221,63,63,57,57,56,51,202,211,142,178,220,234 FG_AHR_10Vo 0.000

RAFOS_FIX 6711.084473,-5706.423828,290311,121201,3,102,0.65 MEM 150440

IRIDIUM_FIX 6641.98,-5656.94,290311,060610 DATA_FILE_SIZE 36686,951

TT8_MAMPS 0.027713 CAP_FILE_SIZE 114719,0

HUMID 43.89 CFSIZE 260165632,235180032

INTERNAL_PRESSURE 8.51595 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 SOUNDSPEED 1464.9

XPDR_PINGS 0 GPS 290311,124301,6711.084,-5706.424,181,99.0,181,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 328 192.86 SBE_CT 665 24 367.28

Roll_motor 85 71 139.99 SBE_O2 714 19 312.24

VBD_pump_during_apogee 325 1140 8550.36 nil 0 0 0.00

VBD_pump_during_surface 136 64 201.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 234.18 nil 0 0 0.00

Iridium_during_connect 17 160 63.98 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 9.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 50 92.97

TT8 2254 19 458.08

LPSleep 4458 2 105.06

TT8_Active 612 19 124.48

TT8_Sampling 1834 39 746.88

TT8_CF8 388 45 181.80

TT8_Kalman 0 0 0.00

Analog_circuits 1465 12 179.39

GPS_charging 0 0 0.00

Compass 1521 15 232.81

RAFOS 1080 1 16.52

Transponder 9 30 2.78

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.62 -146.0 0.0 0.0 0 168 0.00 0.00 -146.48 0.000 2 0.000 0.000 112 2501 3192 0 0 0 0 0 0

170 -0.62 -146.0 5.5 -12.2 26 201 12.77 2.25 -10.50 0.000 4 0.328 0.071 2650 1090 3630 0 0 0 0 0 0

208 -0.04 -146.0 15.8 -24.1 32 216 0.73 2.20 0.00 0.000 6 0.213 0.054 2842 2480 3630 0 0 0 0 0 0

554 -0.45 -146.0 44.1 -9.6 93 562 0.35 2.22 0.00 0.000 4 0.116 0.057 2722 1077 3631 0 0 0 0 0 0

643 -0.49 -146.0 52.4 -9.7 108 649 0.00 2.25 0.00 0.000 6 0.000 0.054 2722 2489 3630 0 0 0 0 0 0

988 -0.53 -146.0 86.9 -9.9 169 995 0.00 2.30 0.00 0.000 4 0.000 0.070 2722 3906 3630 0 0 0 0 0 0

1013 -0.59 -146.0 89.4 -9.9 173 1020 0.15 2.17 0.00 0.000 6 0.112 0.041 2668 2488 3629 0 0 0 0 0 0

1350 -0.53 -146.0 136.8 -14.5 211 1354 0.00 2.22 0.00 0.000 4 0.000 0.059 2667 1080 3629 0 0 0 0 0 0

1362 -0.47 -146.0 138.5 -14.1 212 1367 0.17 2.22 0.00 0.000 6 0.210 0.054 2710 2491 3628 0 0 0 0 0 0

1687 -0.52 -146.0 171.2 -9.3 242 1691 0.00 2.22 0.00 0.000 4 0.000 0.060 2710 1080 3627 0 0 0 0 0 0

1721 -0.58 -146.0 174.7 -9.8 244 1728 0.12 2.22 0.00 0.000 6 0.128 0.053 2668 2501 3627 0 0 0 0 0 0

2047 -0.55 -146.0 214.2 -11.9 275 2048 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2501 3627 0 0 0 0 0 0

2366 -0.53 -146.0 248.3 -10.0 305 2370 0.00 2.25 0.00 0.000 4 0.000 0.068 2668 3902 3628 0 0 0 0 0 0

2428 -0.53 -146.0 254.7 -9.7 310 2432 0.00 2.17 0.00 0.000 6 0.000 0.040 2668 2481 3628 0 0 0 0 0 0

2759 -0.51 -146.0 285.8 -9.6 341 2764 0.12 2.33 0.00 0.000 4 0.207 0.065 2697 3906 3629 0 0 0 0 0 0

2792 -0.57 -146.0 288.7 -7.9 343 2799 0.00 2.15 0.00 0.000 6 0.000 0.037 2697 2480 3629 0 0 0 0 0 0

3118 -0.63 -146.0 315.3 -8.5 374 3123 0.12 2.30 0.00 0.000 4 0.126 0.064 2655 3906 3631 0 0 0 0 0 0

3134 -0.65 -146.0 316.9 -8.4 375 3141 0.00 2.15 0.00 0.000 6 0.000 0.037 2654 2481 3631 0 0 0 0 0 0

3460 -0.60 -146.0 353.5 -10.9 406 3461 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2481 3632 0 0 0 0 0 0

3779 -0.56 -146.0 387.3 -10.6 436 3783 0.00 2.28 0.00 0.000 4 0.000 0.063 2654 3910 3633 0 0 0 0 0 0

3800 -0.51 -146.0 389.9 -11.2 437 3807 0.15 2.15 0.00 0.000 6 0.190 0.037 2692 2478 3633 0 0 0 0 0 0

4126 -0.56 -146.0 415.5 -8.3 468 4127 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2478 3634 0 0 0 0 0 0

4368 end dive: BOTTOM_OBSTACLE_DETECTED

state 4368 begin apogee

4374 -0.12 0.0 435.3 8.5 491 4498 0.40 0.00 119.38 1.141 6 0.171 0.000 2814 2253 3030 0 0 0 0 0 0

4499 end apogee: CONTROL_FINISHED_OK

state 4499 begin climb

4501 0.62 146.0 439.0 0.0 502 4634 0.77 2.38 121.07 1.099 4 0.133 0.057 3065 893 2433 0 0 0 0 0 0

4680 0.55 146.0 423.5 13.5 518 4684 0.00 2.33 0.00 0.000 6 0.000 0.041 3065 2288 2430 0 0 0 0 0 0

5011 0.48 146.0 380.5 12.7 549 5016 0.17 2.28 0.00 0.000 4 0.178 0.057 3020 3689 2428 0 0 0 0 0 0

5165 0.44 146.0 362.1 11.9 562 5170 0.00 2.20 0.00 0.000 6 0.000 0.041 3029 2284 2427 0 0 0 0 0 0

5491 0.41 146.0 326.4 11.2 592 5495 0.12 2.28 0.00 0.000 4 0.181 0.055 3006 860 2427 0 0 0 0 0 0

5535 0.50 164.4 321.9 9.1 595 5556 0.00 2.22 15.77 0.977 6 0.000 0.042 3006 2283 2359 0 0 0 0 0 0

5882 0.57 190.7 290.4 8.8 628 5916 0.12 2.33 23.02 0.996 4 0.100 0.057 3066 3688 2252 0 0 0 0 0 0

5996 0.48 190.7 275.3 14.3 638 6000 0.20 2.22 0.00 0.000 6 0.181 0.042 3024 2264 2250 0 0 0 0 0 0

6321 0.50 190.7 241.7 10.7 668 6325 0.00 2.25 0.00 0.000 4 0.000 0.054 3024 3681 2249 0 0 0 0 0 0

6360 0.50 190.7 236.9 12.5 671 6367 0.00 2.20 0.00 0.000 6 0.000 0.041 3032 2267 2248 0 0 0 0 0 0

6685 0.50 190.7 198.5 11.6 702 6689 0.00 2.22 0.00 0.000 4 0.000 0.055 3032 3681 2249 0 0 0 0 0 0

6729 0.50 190.7 192.9 12.6 705 6736 0.00 2.20 0.00 0.000 6 0.000 0.040 3042 2279 2248 0 0 0 0 0 0

7056 0.50 190.7 157.0 10.3 736 7060 0.00 2.22 0.00 0.000 4 0.000 0.055 3050 858 2249 0 0 0 0 0 0

7136 0.53 192.3 149.0 9.9 742 7142 0.00 2.17 0.00 0.000 6 0.000 0.043 3051 2277 2247 0 0 0 0 0 0

7462 0.53 192.3 116.6 10.3 773 7466 0.00 2.20 0.00 0.000 4 0.000 0.057 3051 3680 2247 0 0 0 0 0 0

7581 0.50 192.3 103.4 11.1 783 7585 0.12 2.15 0.00 0.000 6 0.187 0.041 3029 2270 2248 0 0 0 0 0 0

7921 0.63 245.5 77.3 7.5 840 7975 0.12 2.30 46.67 0.909 4 0.109 0.054 3096 872 2028 0 0 0 0 0 0

8032 0.63 245.5 64.6 12.9 859 8039 0.00 2.22 0.00 0.000 6 0.000 0.042 3095 2283 2023 0 0 0 0 0 0

8376 0.63 245.5 23.1 11.7 920 8382 0.00 2.22 0.00 0.000 4 0.000 0.059 3096 3693 2021 0 0 0 0 0 0

8487 0.57 245.5 7.4 15.1 939 8495 0.22 2.20 0.00 0.000 6 0.182 0.042 3046 2266 2020 0 0 0 0 0 0

8525 end climb: SURFACE_DEPTH_REACHED

state 8525 begin surface coast

8554 end surface coast: CONTROL_FINISHED_OK

state 8554 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	255	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	45	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	-32937.922	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	290311,124301,6711.084,-5706.424,0,3101.7,0,-37.7	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	2.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-23.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290311,124301,6711.084,-5706.424,181,99.0,181,-37.7	MHEAD_RNG_PITCHd_Wd	176.1,20029,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	456

FREEZE	1.85,-1.497,-1.836,3,4,0	ALTIM_TOP_PING	19.8,18.3
FINISH	1.9,1.026926	ALTIM_BOTTOM_PING	351.1,98.5
SM_CCo	8679,136.57,0.064,0,0,750,559.04	_24V_AH	23.0,35.660
SM_GC	2.50,0.00,0.00,136.57,0.000,0.000,0.064,107,2501,750,-8.62,0.31,559.04	_10V_AH	10.2,19.482
RAFOS_CLK	492	FG_AHR_24Vo	0.000
RAFOS	0,1301414462,16.033333,16.017221,63,63,57,57,56,51,202,211,142,178,220,234	FG_AHR_10Vo	0.000
RAFOS_FIX	6711.084473,-5706.423828,290311,121201,3,102,0.65	MEM	150440
IRIDIUM_FIX	6641.98,-5656.94,290311,060610	DATA_FILE_SIZE	36686,951
TT8_MAMPS	0.027713	CAP_FILE_SIZE	114719,0
HUMID	43.89	CFSIZE	260165632,235180032
INTERNAL_PRESSURE	8.51595	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1464.9
XPDR_PINGS	0	GPS	290311,124301,6711.084,-5706.424,181,99.0,181,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	328	192.86	SBE_CT	665	24	367.28
Roll_motor	85	71	139.99	SBE_O2	714	19	312.24
VBD_pump_during_apogee	325	1140	8550.36	nil	0	0	0.00
VBD_pump_during_surface	136	64	201.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	234.18	nil	0	0	0.00
Iridium_during_connect	17	160	63.98	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	9.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	50	92.97
TT8	2254	19	458.08
LPSleep	4458	2	105.06
TT8_Active	612	19	124.48
TT8_Sampling	1834	39	746.88
TT8_CF8	388	45	181.80
TT8_Kalman	0	0	0.00
Analog_circuits	1465	12	179.39
GPS_charging	0	0	0.00
Compass	1521	15	232.81
RAFOS	1080	1	16.52
Transponder	9	30	2.78

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.62	-146.0	0.0	0.0	0	168	0.00	0.00	-146.48	0.000	2	0.000	0.000	112	2501	3192	0	0	0	0	0	0
170	-0.62	-146.0	5.5	-12.2	26	201	12.77	2.25	-10.50	0.000	4	0.328	0.071	2650	1090	3630	0	0	0	0	0	0
208	-0.04	-146.0	15.8	-24.1	32	216	0.73	2.20	0.00	0.000	6	0.213	0.054	2842	2480	3630	0	0	0	0	0	0
554	-0.45	-146.0	44.1	-9.6	93	562	0.35	2.22	0.00	0.000	4	0.116	0.057	2722	1077	3631	0	0	0	0	0	0
643	-0.49	-146.0	52.4	-9.7	108	649	0.00	2.25	0.00	0.000	6	0.000	0.054	2722	2489	3630	0	0	0	0	0	0
988	-0.53	-146.0	86.9	-9.9	169	995	0.00	2.30	0.00	0.000	4	0.000	0.070	2722	3906	3630	0	0	0	0	0	0
1013	-0.59	-146.0	89.4	-9.9	173	1020	0.15	2.17	0.00	0.000	6	0.112	0.041	2668	2488	3629	0	0	0	0	0	0
1350	-0.53	-146.0	136.8	-14.5	211	1354	0.00	2.22	0.00	0.000	4	0.000	0.059	2667	1080	3629	0	0	0	0	0	0
1362	-0.47	-146.0	138.5	-14.1	212	1367	0.17	2.22	0.00	0.000	6	0.210	0.054	2710	2491	3628	0	0	0	0	0	0
1687	-0.52	-146.0	171.2	-9.3	242	1691	0.00	2.22	0.00	0.000	4	0.000	0.060	2710	1080	3627	0	0	0	0	0	0
1721	-0.58	-146.0	174.7	-9.8	244	1728	0.12	2.22	0.00	0.000	6	0.128	0.053	2668	2501	3627	0	0	0	0	0	0
2047	-0.55	-146.0	214.2	-11.9	275	2048	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2501	3627	0	0	0	0	0	0
2366	-0.53	-146.0	248.3	-10.0	305	2370	0.00	2.25	0.00	0.000	4	0.000	0.068	2668	3902	3628	0	0	0	0	0	0
2428	-0.53	-146.0	254.7	-9.7	310	2432	0.00	2.17	0.00	0.000	6	0.000	0.040	2668	2481	3628	0	0	0	0	0	0
2759	-0.51	-146.0	285.8	-9.6	341	2764	0.12	2.33	0.00	0.000	4	0.207	0.065	2697	3906	3629	0	0	0	0	0	0
2792	-0.57	-146.0	288.7	-7.9	343	2799	0.00	2.15	0.00	0.000	6	0.000	0.037	2697	2480	3629	0	0	0	0	0	0
3118	-0.63	-146.0	315.3	-8.5	374	3123	0.12	2.30	0.00	0.000	4	0.126	0.064	2655	3906	3631	0	0	0	0	0	0
3134	-0.65	-146.0	316.9	-8.4	375	3141	0.00	2.15	0.00	0.000	6	0.000	0.037	2654	2481	3631	0	0	0	0	0	0
3460	-0.60	-146.0	353.5	-10.9	406	3461	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2481	3632	0	0	0	0	0	0
3779	-0.56	-146.0	387.3	-10.6	436	3783	0.00	2.28	0.00	0.000	4	0.000	0.063	2654	3910	3633	0	0	0	0	0	0
3800	-0.51	-146.0	389.9	-11.2	437	3807	0.15	2.15	0.00	0.000	6	0.190	0.037	2692	2478	3633	0	0	0	0	0	0
4126	-0.56	-146.0	415.5	-8.3	468	4127	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2478	3634	0	0	0	0	0	0
4368	end dive: BOTTOM_OBSTACLE_DETECTED
state	4368	begin apogee
4374	-0.12	0.0	435.3	8.5	491	4498	0.40	0.00	119.38	1.141	6	0.171	0.000	2814	2253	3030	0	0	0	0	0	0
4499	end apogee: CONTROL_FINISHED_OK
state	4499	begin climb
4501	0.62	146.0	439.0	0.0	502	4634	0.77	2.38	121.07	1.099	4	0.133	0.057	3065	893	2433	0	0	0	0	0	0
4680	0.55	146.0	423.5	13.5	518	4684	0.00	2.33	0.00	0.000	6	0.000	0.041	3065	2288	2430	0	0	0	0	0	0
5011	0.48	146.0	380.5	12.7	549	5016	0.17	2.28	0.00	0.000	4	0.178	0.057	3020	3689	2428	0	0	0	0	0	0
5165	0.44	146.0	362.1	11.9	562	5170	0.00	2.20	0.00	0.000	6	0.000	0.041	3029	2284	2427	0	0	0	0	0	0
5491	0.41	146.0	326.4	11.2	592	5495	0.12	2.28	0.00	0.000	4	0.181	0.055	3006	860	2427	0	0	0	0	0	0
5535	0.50	164.4	321.9	9.1	595	5556	0.00	2.22	15.77	0.977	6	0.000	0.042	3006	2283	2359	0	0	0	0	0	0
5882	0.57	190.7	290.4	8.8	628	5916	0.12	2.33	23.02	0.996	4	0.100	0.057	3066	3688	2252	0	0	0	0	0	0
5996	0.48	190.7	275.3	14.3	638	6000	0.20	2.22	0.00	0.000	6	0.181	0.042	3024	2264	2250	0	0	0	0	0	0
6321	0.50	190.7	241.7	10.7	668	6325	0.00	2.25	0.00	0.000	4	0.000	0.054	3024	3681	2249	0	0	0	0	0	0
6360	0.50	190.7	236.9	12.5	671	6367	0.00	2.20	0.00	0.000	6	0.000	0.041	3032	2267	2248	0	0	0	0	0	0
6685	0.50	190.7	198.5	11.6	702	6689	0.00	2.22	0.00	0.000	4	0.000	0.055	3032	3681	2249	0	0	0	0	0	0
6729	0.50	190.7	192.9	12.6	705	6736	0.00	2.20	0.00	0.000	6	0.000	0.040	3042	2279	2248	0	0	0	0	0	0
7056	0.50	190.7	157.0	10.3	736	7060	0.00	2.22	0.00	0.000	4	0.000	0.055	3050	858	2249	0	0	0	0	0	0
7136	0.53	192.3	149.0	9.9	742	7142	0.00	2.17	0.00	0.000	6	0.000	0.043	3051	2277	2247	0	0	0	0	0	0
7462	0.53	192.3	116.6	10.3	773	7466	0.00	2.20	0.00	0.000	4	0.000	0.057	3051	3680	2247	0	0	0	0	0	0
7581	0.50	192.3	103.4	11.1	783	7585	0.12	2.15	0.00	0.000	6	0.187	0.041	3029	2270	2248	0	0	0	0	0	0
7921	0.63	245.5	77.3	7.5	840	7975	0.12	2.30	46.67	0.909	4	0.109	0.054	3096	872	2028	0	0	0	0	0	0
8032	0.63	245.5	64.6	12.9	859	8039	0.00	2.22	0.00	0.000	6	0.000	0.042	3095	2283	2023	0	0	0	0	0	0
8376	0.63	245.5	23.1	11.7	920	8382	0.00	2.22	0.00	0.000	4	0.000	0.059	3096	3693	2021	0	0	0	0	0	0
8487	0.57	245.5	7.4	15.1	939	8495	0.22	2.20	0.00	0.000	6	0.182	0.042	3046	2266	2020	0	0	0	0	0	0
8525	end climb: SURFACE_DEPTH_REACHED
state	8525	begin surface coast
8554	end surface coast: CONTROL_FINISHED_OK
state	8554	begin surface