Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 624 * 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 624 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 400 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -48070.324 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 400

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 -48070.324

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 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 624 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 150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5 MHEAD_RNG_PITCHd_Wd 45.3,6523,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 582

Post-dive calculations and measurements:

FREEZE 2.15,-1.708,-1.827,2,5,0 ALTIM_BOTTOM_PING 450.0,45.2

FINISH 2.2,1.026803 _24V_AH 22.1,82.212

RAFOS_CLK 465 _10V_AH 10.0,42.417

RAFOS 6,1305434945,4.833333,4.818056,140,63,55,54,50,50,828,188,199,142,159,122 FG_AHR_24Vo 0.000

RAFOS_FIX 6703.691895,-5654.819336,150511,040402,3,110,20.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6631.12,-5641.49,140511,191934 MEM 150520

TT8_MAMPS 0.026215 DATA_FILE_SIZE 36667,929

HUMID 46.53 CAP_FILE_SIZE 106715,0

INTERNAL_PRESSURE 8.64291 CFSIZE 260165632,213204992

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 31 SOUNDSPEED 1465.9

ALTIM_TOP_PING 19.9,18.7 GPS 150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 227 17.45 SBE_CT 655 24 347.87

Roll_motor 94 173 361.42 SBE_O2 695 19 291.91

VBD_pump_during_apogee 366 1182 9578.07 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 9 420 85.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2279 19 454.16

LPSleep 4609 2 106.49

TT8_Active 392 19 78.17

TT8_Sampling 1555 39 620.87

TT8_CF8 187 45 86.01

TT8_Kalman 0 0 0.00

Analog_circuits 1242 12 149.12

GPS_charging 0 0 0.00

Compass 1541 15 231.21

RAFOS 360 1 5.40

Transponder 12 30 3.74

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.70 0.000 2 0.000 0.000 2881 3687 3115 0 0 0 0 0 0

27 -0.62 -146.0 10.2 -0.0 1 46 0.60 0.38 -13.05 0.000 4 0.109 0.174 2672 3903 3628 0 0 0 0 0 0

60 -0.67 -146.0 12.7 -8.8 6 66 0.00 2.20 0.00 0.000 6 0.000 0.049 2673 2489 3630 0 0 0 0 0 0

405 -0.59 -146.0 64.8 -15.2 67 412 0.00 2.28 0.00 0.000 4 0.000 0.067 2673 1076 3629 0 0 0 0 0 0

483 -0.55 -146.0 76.0 -13.4 80 489 0.00 2.28 0.00 0.000 6 0.000 0.067 2672 2486 3628 0 0 0 0 0 0

824 -0.49 -146.0 123.4 -13.9 126 829 0.12 2.30 0.00 0.000 4 0.227 0.070 2701 1082 3627 0 0 0 0 0 0

869 -0.53 -146.0 129.0 -11.1 129 876 0.00 2.30 0.00 0.000 6 0.000 0.067 2700 2489 3627 0 0 0 0 0 0

1197 -0.56 -146.0 161.7 -9.6 160 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2489 3625 0 0 0 0 0 0

1525 -0.61 -146.0 190.0 -7.8 191 1529 0.00 2.35 0.00 0.000 4 0.000 0.083 2701 3899 3624 0 0 0 0 0 0

1582 -0.69 -146.0 194.5 -7.5 196 1587 0.17 2.20 0.00 0.000 6 0.108 0.051 2641 2491 3623 0 0 0 0 0 0

1908 -0.59 -146.0 234.1 -11.9 226 1913 0.12 2.28 0.00 0.000 4 0.211 0.066 2669 1085 3623 0 0 0 0 0 0

1981 -0.59 -146.0 241.9 -9.6 232 1988 0.00 2.30 0.00 0.000 6 0.000 0.066 2668 2496 3623 0 0 0 0 0 0

2307 -0.59 -146.0 272.9 -9.4 263 2311 0.00 2.33 0.00 0.000 4 0.000 0.080 2669 3899 3623 0 0 0 0 0 0

2382 -0.62 -146.0 279.7 -8.7 269 2386 0.00 2.22 0.00 0.000 6 0.000 0.049 2669 2488 3623 0 0 0 0 0 0

2708 -0.62 -146.0 309.6 -9.3 299 2712 0.00 2.25 0.00 0.000 4 0.000 0.063 2669 1071 3623 0 0 0 0 0 0

2788 -0.62 -146.0 316.8 -8.6 306 2792 0.00 2.30 0.00 0.000 6 0.000 0.063 2669 2498 3623 0 0 0 0 0 0

3119 -0.62 -146.0 344.0 -8.6 337 3123 0.00 2.30 0.00 0.000 4 0.000 0.077 2669 3905 3624 0 0 0 0 0 0

3182 -0.65 -146.0 349.1 -8.5 342 3187 0.00 2.22 0.00 0.000 6 0.000 0.047 2669 2476 3624 0 0 0 0 0 0

3514 -0.65 -146.0 377.2 -8.6 373 3518 0.00 2.20 0.00 0.000 4 0.000 0.063 2669 1085 3625 0 0 0 0 0 0

3559 -0.65 -146.0 381.3 -8.4 376 3566 0.00 2.30 0.00 0.000 6 0.000 0.071 2669 2501 3625 0 0 0 0 0 0

3885 -0.65 -146.0 409.4 -8.6 407 3889 0.00 2.30 0.00 0.000 4 0.000 0.076 2669 3909 3625 0 0 0 0 0 0

3960 -0.68 -146.0 415.9 -8.8 413 3964 0.00 2.20 0.00 0.000 6 0.000 0.047 2668 2489 3625 0 0 0 0 0 0

4285 -0.68 -146.0 445.1 -8.9 443 4289 0.00 2.22 0.00 0.000 4 0.000 0.061 2668 1076 3626 0 0 0 0 0 0

4390 -0.70 -146.0 455.0 -9.9 451 4397 0.00 2.30 0.00 0.000 6 0.000 0.061 2669 2499 3626 0 0 0 0 0 0

4662 end dive: BOTTOM_OBSTACLE_DETECTED

state 4662 begin apogee

4668 -0.12 0.0 480.4 9.6 477 4801 0.50 0.00 121.43 1.183 6 0.184 0.000 2813 2255 3030 0 0 0 0 0 0

4802 end apogee: CONTROL_FINISHED_OK

state 4802 begin climb

4804 0.62 146.0 484.1 0.0 489 4941 0.77 2.53 126.30 1.138 4 0.133 0.068 3062 882 2433 0 0 0 0 0 0

4982 0.57 146.0 470.6 11.7 505 4987 0.00 2.42 0.00 0.000 6 0.000 0.054 3063 2280 2430 0 0 0 0 0 0

5314 0.49 146.0 430.0 13.1 536 5318 0.15 2.30 0.00 0.000 4 0.182 0.070 3024 3687 2428 0 0 0 0 0 0

5381 0.46 146.0 421.8 11.7 541 5388 0.00 2.25 0.00 0.000 6 0.000 0.054 3031 2282 2427 0 0 0 0 0 0

5706 0.47 148.5 389.4 9.9 572 5710 0.00 2.28 0.00 0.000 4 0.000 0.067 3032 3691 2427 0 0 0 0 0 0

5727 0.44 148.5 387.0 10.5 573 5735 0.12 2.25 0.00 0.000 6 0.187 0.051 3012 2273 2428 0 0 0 0 0 0

6054 0.55 210.3 360.7 7.2 604 6119 0.00 2.40 54.85 1.079 4 0.000 0.067 3015 863 2171 0 0 0 0 0 0

6238 0.74 276.4 347.1 6.9 620 6303 0.25 2.30 58.62 1.053 6 0.074 0.064 3121 2285 1903 0 0 0 0 0 0

6624 0.62 276.4 278.1 18.9 656 6629 0.20 2.30 0.00 0.000 4 0.181 0.065 3076 866 1892 0 0 0 0 0 0

6740 0.66 276.4 263.0 12.3 665 6747 0.00 2.25 0.00 0.000 6 0.000 0.054 3076 2278 1890 0 0 0 0 0 0

7065 0.64 276.4 218.9 14.0 696 7069 0.00 2.25 0.00 0.000 4 0.000 0.069 3076 3686 1889 0 0 0 0 0 0

7111 0.61 276.4 212.0 15.3 699 7118 0.00 2.25 0.00 0.000 6 0.000 0.054 3086 2278 1887 0 0 0 0 0 0

7436 0.58 276.4 164.2 14.2 730 7441 0.12 2.25 0.00 0.000 4 0.188 0.066 3062 866 1888 0 0 0 0 0 0

7470 0.62 276.4 159.8 11.8 732 7477 0.00 2.25 0.00 0.000 6 0.000 0.057 3063 2285 1886 0 0 0 0 0 0

7795 0.66 276.4 123.6 11.9 763 7800 0.00 2.28 0.00 0.000 4 0.000 0.068 3063 3687 1886 0 0 0 0 0 0

7831 0.68 276.4 119.2 13.0 766 7835 0.00 2.22 0.00 0.000 6 0.000 0.052 3073 2275 1886 0 0 0 0 0 0

8167 0.72 276.4 77.7 12.1 813 8174 0.00 2.25 0.00 0.000 4 0.000 0.065 3083 860 1885 0 0 0 0 0 0

8239 0.77 276.4 69.8 11.1 825 8246 0.00 2.22 0.00 0.000 6 0.000 0.054 3083 2277 1886 0 0 0 0 0 0

8586 0.85 288.8 32.3 9.4 886 8600 0.15 2.30 5.25 0.779 4 0.093 0.070 3147 3684 1852 0 0 0 0 0 0

8647 0.76 288.8 23.2 16.6 896 8654 0.17 2.25 0.00 0.000 6 0.194 0.054 3114 2273 1851 0 0 0 0 0 0

8804 end climb: SURFACE_DEPTH_REACHED

state 8804 begin surface coast

8832 end surface coast: CONTROL_FINISHED_OK

state 8832 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	624	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	400	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-48070.324	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	150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5	MHEAD_RNG_PITCHd_Wd	45.3,6523,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	582

FREEZE	2.15,-1.708,-1.827,2,5,0	ALTIM_BOTTOM_PING	450.0,45.2
FINISH	2.2,1.026803	_24V_AH	22.1,82.212
RAFOS_CLK	465	_10V_AH	10.0,42.417
RAFOS	6,1305434945,4.833333,4.818056,140,63,55,54,50,50,828,188,199,142,159,122	FG_AHR_24Vo	0.000
RAFOS_FIX	6703.691895,-5654.819336,150511,040402,3,110,20.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6631.12,-5641.49,140511,191934	MEM	150520
TT8_MAMPS	0.026215	DATA_FILE_SIZE	36667,929
HUMID	46.53	CAP_FILE_SIZE	106715,0
INTERNAL_PRESSURE	8.64291	CFSIZE	260165632,213204992
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	31	SOUNDSPEED	1465.9
ALTIM_TOP_PING	19.9,18.7	GPS	150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	227	17.45	SBE_CT	655	24	347.87
Roll_motor	94	173	361.42	SBE_O2	695	19	291.91
VBD_pump_during_apogee	366	1182	9578.07	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	9	420	85.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2279	19	454.16
LPSleep	4609	2	106.49
TT8_Active	392	19	78.17
TT8_Sampling	1555	39	620.87
TT8_CF8	187	45	86.01
TT8_Kalman	0	0	0.00
Analog_circuits	1242	12	149.12
GPS_charging	0	0	0.00
Compass	1541	15	231.21
RAFOS	360	1	5.40
Transponder	12	30	3.74

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.70	0.000	2	0.000	0.000	2881	3687	3115	0	0	0	0	0	0
27	-0.62	-146.0	10.2	-0.0	1	46	0.60	0.38	-13.05	0.000	4	0.109	0.174	2672	3903	3628	0	0	0	0	0	0
60	-0.67	-146.0	12.7	-8.8	6	66	0.00	2.20	0.00	0.000	6	0.000	0.049	2673	2489	3630	0	0	0	0	0	0
405	-0.59	-146.0	64.8	-15.2	67	412	0.00	2.28	0.00	0.000	4	0.000	0.067	2673	1076	3629	0	0	0	0	0	0
483	-0.55	-146.0	76.0	-13.4	80	489	0.00	2.28	0.00	0.000	6	0.000	0.067	2672	2486	3628	0	0	0	0	0	0
824	-0.49	-146.0	123.4	-13.9	126	829	0.12	2.30	0.00	0.000	4	0.227	0.070	2701	1082	3627	0	0	0	0	0	0
869	-0.53	-146.0	129.0	-11.1	129	876	0.00	2.30	0.00	0.000	6	0.000	0.067	2700	2489	3627	0	0	0	0	0	0
1197	-0.56	-146.0	161.7	-9.6	160	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2489	3625	0	0	0	0	0	0
1525	-0.61	-146.0	190.0	-7.8	191	1529	0.00	2.35	0.00	0.000	4	0.000	0.083	2701	3899	3624	0	0	0	0	0	0
1582	-0.69	-146.0	194.5	-7.5	196	1587	0.17	2.20	0.00	0.000	6	0.108	0.051	2641	2491	3623	0	0	0	0	0	0
1908	-0.59	-146.0	234.1	-11.9	226	1913	0.12	2.28	0.00	0.000	4	0.211	0.066	2669	1085	3623	0	0	0	0	0	0
1981	-0.59	-146.0	241.9	-9.6	232	1988	0.00	2.30	0.00	0.000	6	0.000	0.066	2668	2496	3623	0	0	0	0	0	0
2307	-0.59	-146.0	272.9	-9.4	263	2311	0.00	2.33	0.00	0.000	4	0.000	0.080	2669	3899	3623	0	0	0	0	0	0
2382	-0.62	-146.0	279.7	-8.7	269	2386	0.00	2.22	0.00	0.000	6	0.000	0.049	2669	2488	3623	0	0	0	0	0	0
2708	-0.62	-146.0	309.6	-9.3	299	2712	0.00	2.25	0.00	0.000	4	0.000	0.063	2669	1071	3623	0	0	0	0	0	0
2788	-0.62	-146.0	316.8	-8.6	306	2792	0.00	2.30	0.00	0.000	6	0.000	0.063	2669	2498	3623	0	0	0	0	0	0
3119	-0.62	-146.0	344.0	-8.6	337	3123	0.00	2.30	0.00	0.000	4	0.000	0.077	2669	3905	3624	0	0	0	0	0	0
3182	-0.65	-146.0	349.1	-8.5	342	3187	0.00	2.22	0.00	0.000	6	0.000	0.047	2669	2476	3624	0	0	0	0	0	0
3514	-0.65	-146.0	377.2	-8.6	373	3518	0.00	2.20	0.00	0.000	4	0.000	0.063	2669	1085	3625	0	0	0	0	0	0
3559	-0.65	-146.0	381.3	-8.4	376	3566	0.00	2.30	0.00	0.000	6	0.000	0.071	2669	2501	3625	0	0	0	0	0	0
3885	-0.65	-146.0	409.4	-8.6	407	3889	0.00	2.30	0.00	0.000	4	0.000	0.076	2669	3909	3625	0	0	0	0	0	0
3960	-0.68	-146.0	415.9	-8.8	413	3964	0.00	2.20	0.00	0.000	6	0.000	0.047	2668	2489	3625	0	0	0	0	0	0
4285	-0.68	-146.0	445.1	-8.9	443	4289	0.00	2.22	0.00	0.000	4	0.000	0.061	2668	1076	3626	0	0	0	0	0	0
4390	-0.70	-146.0	455.0	-9.9	451	4397	0.00	2.30	0.00	0.000	6	0.000	0.061	2669	2499	3626	0	0	0	0	0	0
4662	end dive: BOTTOM_OBSTACLE_DETECTED
state	4662	begin apogee
4668	-0.12	0.0	480.4	9.6	477	4801	0.50	0.00	121.43	1.183	6	0.184	0.000	2813	2255	3030	0	0	0	0	0	0
4802	end apogee: CONTROL_FINISHED_OK
state	4802	begin climb
4804	0.62	146.0	484.1	0.0	489	4941	0.77	2.53	126.30	1.138	4	0.133	0.068	3062	882	2433	0	0	0	0	0	0
4982	0.57	146.0	470.6	11.7	505	4987	0.00	2.42	0.00	0.000	6	0.000	0.054	3063	2280	2430	0	0	0	0	0	0
5314	0.49	146.0	430.0	13.1	536	5318	0.15	2.30	0.00	0.000	4	0.182	0.070	3024	3687	2428	0	0	0	0	0	0
5381	0.46	146.0	421.8	11.7	541	5388	0.00	2.25	0.00	0.000	6	0.000	0.054	3031	2282	2427	0	0	0	0	0	0
5706	0.47	148.5	389.4	9.9	572	5710	0.00	2.28	0.00	0.000	4	0.000	0.067	3032	3691	2427	0	0	0	0	0	0
5727	0.44	148.5	387.0	10.5	573	5735	0.12	2.25	0.00	0.000	6	0.187	0.051	3012	2273	2428	0	0	0	0	0	0
6054	0.55	210.3	360.7	7.2	604	6119	0.00	2.40	54.85	1.079	4	0.000	0.067	3015	863	2171	0	0	0	0	0	0
6238	0.74	276.4	347.1	6.9	620	6303	0.25	2.30	58.62	1.053	6	0.074	0.064	3121	2285	1903	0	0	0	0	0	0
6624	0.62	276.4	278.1	18.9	656	6629	0.20	2.30	0.00	0.000	4	0.181	0.065	3076	866	1892	0	0	0	0	0	0
6740	0.66	276.4	263.0	12.3	665	6747	0.00	2.25	0.00	0.000	6	0.000	0.054	3076	2278	1890	0	0	0	0	0	0
7065	0.64	276.4	218.9	14.0	696	7069	0.00	2.25	0.00	0.000	4	0.000	0.069	3076	3686	1889	0	0	0	0	0	0
7111	0.61	276.4	212.0	15.3	699	7118	0.00	2.25	0.00	0.000	6	0.000	0.054	3086	2278	1887	0	0	0	0	0	0
7436	0.58	276.4	164.2	14.2	730	7441	0.12	2.25	0.00	0.000	4	0.188	0.066	3062	866	1888	0	0	0	0	0	0
7470	0.62	276.4	159.8	11.8	732	7477	0.00	2.25	0.00	0.000	6	0.000	0.057	3063	2285	1886	0	0	0	0	0	0
7795	0.66	276.4	123.6	11.9	763	7800	0.00	2.28	0.00	0.000	4	0.000	0.068	3063	3687	1886	0	0	0	0	0	0
7831	0.68	276.4	119.2	13.0	766	7835	0.00	2.22	0.00	0.000	6	0.000	0.052	3073	2275	1886	0	0	0	0	0	0
8167	0.72	276.4	77.7	12.1	813	8174	0.00	2.25	0.00	0.000	4	0.000	0.065	3083	860	1885	0	0	0	0	0	0
8239	0.77	276.4	69.8	11.1	825	8246	0.00	2.22	0.00	0.000	6	0.000	0.054	3083	2277	1886	0	0	0	0	0	0
8586	0.85	288.8	32.3	9.4	886	8600	0.15	2.30	5.25	0.779	4	0.093	0.070	3147	3684	1852	0	0	0	0	0	0
8647	0.76	288.8	23.2	16.6	896	8654	0.17	2.25	0.00	0.000	6	0.194	0.054	3114	2273	1851	0	0	0	0	0	0
8804	end climb: SURFACE_DEPTH_REACHED
state	8804	begin surface coast
8832	end surface coast: CONTROL_FINISHED_OK
state	8832	begin surface