Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 625 * 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 625 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 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 26 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 625 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 2.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 9.6 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 5.56,-1.730,-1.830,2,6,0 ALTIM_BOTTOM_PING 450.8,16.6

FINISH1 5.6,1.026812,34 _24V_AH 22.1,82.328

FINISH2 3.9 _10V_AH 10.0,42.474

RAFOS_CLK 441 FG_AHR_24Vo 0.000

RAFOS 0,1305446464,8.033334,8.017777,65,65,63,52,51,50,197,214,159,127,115,183 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.092773,-5655.118164,150511,080822,3,115,1.20 MEM 150520

IRIDIUM_FIX 6631.12,-5641.49,140511,191934 DATA_FILE_SIZE 36750,920

TT8_MAMPS 0.026215 CAP_FILE_SIZE 104291,0

HUMID 45.74 CFSIZE 260165632,213151744

INTERNAL_PRESSURE 8.75034 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 SOUNDSPEED 1465.1

XPDR_PINGS 30 GPS 150511,084322,6709.093,-5655.118,0,3115.0,0,-37.5

ALTIM_TOP_PING 20.0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 216 25.36 SBE_CT 646 24 342.74

Roll_motor 90 153 306.01 SBE_O2 686 19 288.35

VBD_pump_during_apogee 376 1175 9786.71 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 2153 19 428.99

LPSleep 4250 2 98.19

TT8_Active 504 19 100.53

TT8_Sampling 1508 39 602.00

TT8_CF8 198 45 91.22

TT8_Kalman 0 0 0.00

Analog_circuits 1345 12 161.50

GPS_charging 0 0 0.00

Compass 1492 15 223.85

RAFOS 2520 1 37.80

Transponder 16 30 5.05

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 12 begin dive

16 -0.62 -146.0 0.0 0.0 0 126 0.00 0.38 -104.47 0.000 6 0.000 0.154 3114 2495 3626 0 0 0 0 0 0

131 -0.62 -146.0 4.6 -8.0 19 139 1.38 2.30 0.00 0.000 4 0.136 0.063 2675 1078 3627 0 0 0 0 0 0

186 -0.58 -146.0 9.8 -10.8 28 193 0.00 2.28 0.00 0.000 6 0.000 0.064 2674 2488 3627 0 0 0 0 0 0

533 -0.52 -146.0 59.7 -13.6 89 540 0.00 2.33 0.00 0.000 4 0.000 0.079 2674 3900 3626 0 0 0 0 0 0

637 -0.52 -146.0 73.3 -12.4 107 644 0.00 2.22 0.00 0.000 6 0.000 0.051 2675 2487 3626 0 0 0 0 0 0

976 -0.48 -146.0 116.8 -12.1 155 980 0.12 2.28 0.00 0.000 4 0.216 0.067 2705 1076 3624 0 0 0 0 0 0

1089 -0.53 -146.0 129.1 -10.4 164 1097 0.00 2.33 0.00 0.000 6 0.000 0.067 2705 2491 3624 0 0 0 0 0 0

1415 -0.58 -146.0 162.5 -10.0 195 1419 0.00 2.33 0.00 0.000 4 0.000 0.081 2705 3899 3622 0 0 0 0 0 0

1483 -0.67 -146.0 169.0 -9.4 200 1490 0.17 2.20 0.00 0.000 6 0.106 0.051 2644 2491 3622 0 0 0 0 0 0

1808 -0.57 -146.0 214.0 -14.5 231 1813 0.12 2.30 0.00 0.000 4 0.215 0.067 2672 1074 3621 0 0 0 0 0 0

1876 -0.57 -146.0 222.6 -11.6 237 1881 0.00 2.30 0.00 0.000 6 0.000 0.065 2672 2499 3621 0 0 0 0 0 0

2202 -0.57 -146.0 260.2 -11.1 267 2206 0.00 2.33 0.00 0.000 4 0.000 0.080 2672 3900 3621 0 0 0 0 0 0

2292 -0.60 -146.0 269.6 -9.9 274 2299 0.00 2.22 0.00 0.000 6 0.000 0.051 2672 2483 3621 0 0 0 0 0 0

2618 -0.60 -146.0 304.2 -11.2 305 2622 0.00 2.22 0.00 0.000 4 0.000 0.066 2672 1082 3621 0 0 0 0 0 0

2662 -0.60 -146.0 309.5 -11.2 308 2669 0.00 2.30 0.00 0.000 6 0.000 0.063 2672 2497 3621 0 0 0 0 0 0

2987 -0.60 -146.0 344.9 -10.9 339 2991 0.00 2.30 0.00 0.000 4 0.000 0.079 2672 3899 3622 0 0 0 0 0 0

3059 -0.64 -146.0 352.8 -10.7 345 3066 0.00 2.22 0.00 0.000 6 0.000 0.049 2672 2488 3622 0 0 0 0 0 0

3385 -0.64 -146.0 386.0 -9.6 376 3389 0.00 2.22 0.00 0.000 4 0.000 0.063 2672 1081 3623 0 0 0 0 0 0

3448 -0.66 -146.0 392.1 -9.8 381 3452 0.00 2.28 0.00 0.000 6 0.000 0.063 2672 2499 3622 0 0 0 0 0 0

3773 -0.66 -146.0 423.3 -9.5 411 3777 0.00 2.30 0.00 0.000 4 0.000 0.077 2672 3905 3622 0 0 0 0 0 0

3830 -0.71 -146.0 428.7 -9.1 415 3838 0.12 2.22 0.00 0.000 6 0.120 0.048 2630 2488 3622 0 0 0 0 0 0

4028 end dive: BOTTOM_OBSTACLE_DETECTED

state 4028 begin apogee

4034 -0.12 0.0 453.7 13.3 434 4167 0.68 0.00 121.00 1.176 6 0.195 0.000 2815 2265 3029 0 0 0 0 0 0

4168 end apogee: CONTROL_FINISHED_OK

state 4168 begin climb

4170 0.62 146.0 458.2 0.0 446 4307 0.77 2.62 125.80 1.128 4 0.134 0.067 3053 3680 2433 0 0 0 0 0 0

4342 0.52 146.0 444.7 13.4 461 4349 0.12 2.42 0.00 0.000 6 0.182 0.062 3036 2289 2431 0 0 0 0 0 0

4668 0.52 146.0 410.4 10.3 492 4669 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2288 2428 0 0 0 0 0 0

4989 0.52 146.0 378.0 10.0 522 4995 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2289 2428 0 0 0 0 0 0

5314 0.52 146.0 342.8 11.0 553 5318 0.00 2.28 0.00 0.000 4 0.000 0.068 3044 866 2428 0 0 0 0 0 0

5331 0.52 146.0 341.0 10.6 554 5335 0.00 2.25 0.00 0.000 6 0.000 0.056 3044 2286 2428 0 0 0 0 0 0

5657 0.50 146.0 304.7 11.5 584 5661 0.00 2.25 0.00 0.000 4 0.000 0.069 3045 3687 2428 0 0 0 0 0 0

5731 0.42 146.0 295.4 12.8 590 5736 0.20 2.25 0.00 0.000 6 0.177 0.053 3002 2262 2428 0 0 0 0 0 0

6059 0.56 195.9 269.3 7.7 620 6108 0.12 2.38 42.75 1.030 4 0.099 0.067 3063 3694 2230 0 0 0 0 0 0

6122 0.51 195.9 262.3 13.0 625 6127 0.17 2.30 0.00 0.000 6 0.176 0.052 3029 2273 2229 0 0 0 0 0 0

6448 0.56 203.7 228.3 9.6 655 6461 0.00 2.35 7.35 0.845 4 0.000 0.067 3037 860 2198 0 0 0 0 0 0

6489 0.62 203.7 224.1 10.1 658 6496 0.00 2.25 0.00 0.000 6 0.000 0.057 3037 2278 2197 0 0 0 0 0 0

6815 0.68 212.8 192.9 9.6 689 6831 0.12 2.33 9.50 0.881 4 0.102 0.070 3097 3678 2161 0 0 0 0 0 0

6919 0.57 212.8 177.8 15.5 698 6924 0.20 2.22 0.00 0.000 6 0.186 0.054 3056 2275 2161 0 0 0 0 0 0

7249 0.57 212.8 141.0 10.6 729 7250 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2274 2160 0 0 0 0 0 0

7571 0.59 212.8 108.7 10.0 759 7575 0.00 2.28 0.00 0.000 4 0.000 0.067 3055 3687 2160 0 0 0 0 0 0

7589 0.63 227.4 106.7 9.3 760 7612 0.00 2.25 14.38 0.895 6 0.000 0.051 3064 2263 2101 0 0 0 0 0 0

7948 0.70 257.9 73.7 8.6 818 7984 0.00 2.33 27.45 0.909 4 0.000 0.067 3072 862 1978 0 0 0 0 0 0

7992 0.79 288.2 69.7 8.6 825 8028 0.12 2.25 28.40 0.890 6 0.102 0.054 3127 2278 1855 0 0 0 0 0 0

8368 0.77 288.2 19.4 13.3 891 8374 0.00 2.30 0.00 0.000 4 0.000 0.070 3127 3694 1847 0 0 0 0 0 0

8393 0.73 288.2 15.7 14.1 895 8400 0.15 2.28 0.00 0.000 6 0.187 0.054 3100 2267 1847 0 0 0 0 0 0

8478 end climb: FINISH_DEPTH_REACHED

state 8478 begin subsurface finish

8485 0.04 33.7 5.6 -10.9 910 8544 0.70 2.30 -49.05 0.000 4 0.158 0.078 2883 868 2894 0 0 0 0 0 0

8545 end subsurface finish: CONTROL_FINISHED_OK

state 8545 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	625	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	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	2.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	9.6	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	5.56,-1.730,-1.830,2,6,0	ALTIM_BOTTOM_PING	450.8,16.6
FINISH1	5.6,1.026812,34	_24V_AH	22.1,82.328
FINISH2	3.9	_10V_AH	10.0,42.474
RAFOS_CLK	441	FG_AHR_24Vo	0.000
RAFOS	0,1305446464,8.033334,8.017777,65,65,63,52,51,50,197,214,159,127,115,183	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.092773,-5655.118164,150511,080822,3,115,1.20	MEM	150520
IRIDIUM_FIX	6631.12,-5641.49,140511,191934	DATA_FILE_SIZE	36750,920
TT8_MAMPS	0.026215	CAP_FILE_SIZE	104291,0
HUMID	45.74	CFSIZE	260165632,213151744
INTERNAL_PRESSURE	8.75034	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	SOUNDSPEED	1465.1
XPDR_PINGS	30	GPS	150511,084322,6709.093,-5655.118,0,3115.0,0,-37.5
ALTIM_TOP_PING	20.0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	216	25.36	SBE_CT	646	24	342.74
Roll_motor	90	153	306.01	SBE_O2	686	19	288.35
VBD_pump_during_apogee	376	1175	9786.71	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	2153	19	428.99
LPSleep	4250	2	98.19
TT8_Active	504	19	100.53
TT8_Sampling	1508	39	602.00
TT8_CF8	198	45	91.22
TT8_Kalman	0	0	0.00
Analog_circuits	1345	12	161.50
GPS_charging	0	0	0.00
Compass	1492	15	223.85
RAFOS	2520	1	37.80
Transponder	16	30	5.05

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	12	begin dive
16	-0.62	-146.0	0.0	0.0	0	126	0.00	0.38	-104.47	0.000	6	0.000	0.154	3114	2495	3626	0	0	0	0	0	0
131	-0.62	-146.0	4.6	-8.0	19	139	1.38	2.30	0.00	0.000	4	0.136	0.063	2675	1078	3627	0	0	0	0	0	0
186	-0.58	-146.0	9.8	-10.8	28	193	0.00	2.28	0.00	0.000	6	0.000	0.064	2674	2488	3627	0	0	0	0	0	0
533	-0.52	-146.0	59.7	-13.6	89	540	0.00	2.33	0.00	0.000	4	0.000	0.079	2674	3900	3626	0	0	0	0	0	0
637	-0.52	-146.0	73.3	-12.4	107	644	0.00	2.22	0.00	0.000	6	0.000	0.051	2675	2487	3626	0	0	0	0	0	0
976	-0.48	-146.0	116.8	-12.1	155	980	0.12	2.28	0.00	0.000	4	0.216	0.067	2705	1076	3624	0	0	0	0	0	0
1089	-0.53	-146.0	129.1	-10.4	164	1097	0.00	2.33	0.00	0.000	6	0.000	0.067	2705	2491	3624	0	0	0	0	0	0
1415	-0.58	-146.0	162.5	-10.0	195	1419	0.00	2.33	0.00	0.000	4	0.000	0.081	2705	3899	3622	0	0	0	0	0	0
1483	-0.67	-146.0	169.0	-9.4	200	1490	0.17	2.20	0.00	0.000	6	0.106	0.051	2644	2491	3622	0	0	0	0	0	0
1808	-0.57	-146.0	214.0	-14.5	231	1813	0.12	2.30	0.00	0.000	4	0.215	0.067	2672	1074	3621	0	0	0	0	0	0
1876	-0.57	-146.0	222.6	-11.6	237	1881	0.00	2.30	0.00	0.000	6	0.000	0.065	2672	2499	3621	0	0	0	0	0	0
2202	-0.57	-146.0	260.2	-11.1	267	2206	0.00	2.33	0.00	0.000	4	0.000	0.080	2672	3900	3621	0	0	0	0	0	0
2292	-0.60	-146.0	269.6	-9.9	274	2299	0.00	2.22	0.00	0.000	6	0.000	0.051	2672	2483	3621	0	0	0	0	0	0
2618	-0.60	-146.0	304.2	-11.2	305	2622	0.00	2.22	0.00	0.000	4	0.000	0.066	2672	1082	3621	0	0	0	0	0	0
2662	-0.60	-146.0	309.5	-11.2	308	2669	0.00	2.30	0.00	0.000	6	0.000	0.063	2672	2497	3621	0	0	0	0	0	0
2987	-0.60	-146.0	344.9	-10.9	339	2991	0.00	2.30	0.00	0.000	4	0.000	0.079	2672	3899	3622	0	0	0	0	0	0
3059	-0.64	-146.0	352.8	-10.7	345	3066	0.00	2.22	0.00	0.000	6	0.000	0.049	2672	2488	3622	0	0	0	0	0	0
3385	-0.64	-146.0	386.0	-9.6	376	3389	0.00	2.22	0.00	0.000	4	0.000	0.063	2672	1081	3623	0	0	0	0	0	0
3448	-0.66	-146.0	392.1	-9.8	381	3452	0.00	2.28	0.00	0.000	6	0.000	0.063	2672	2499	3622	0	0	0	0	0	0
3773	-0.66	-146.0	423.3	-9.5	411	3777	0.00	2.30	0.00	0.000	4	0.000	0.077	2672	3905	3622	0	0	0	0	0	0
3830	-0.71	-146.0	428.7	-9.1	415	3838	0.12	2.22	0.00	0.000	6	0.120	0.048	2630	2488	3622	0	0	0	0	0	0
4028	end dive: BOTTOM_OBSTACLE_DETECTED
state	4028	begin apogee
4034	-0.12	0.0	453.7	13.3	434	4167	0.68	0.00	121.00	1.176	6	0.195	0.000	2815	2265	3029	0	0	0	0	0	0
4168	end apogee: CONTROL_FINISHED_OK
state	4168	begin climb
4170	0.62	146.0	458.2	0.0	446	4307	0.77	2.62	125.80	1.128	4	0.134	0.067	3053	3680	2433	0	0	0	0	0	0
4342	0.52	146.0	444.7	13.4	461	4349	0.12	2.42	0.00	0.000	6	0.182	0.062	3036	2289	2431	0	0	0	0	0	0
4668	0.52	146.0	410.4	10.3	492	4669	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2288	2428	0	0	0	0	0	0
4989	0.52	146.0	378.0	10.0	522	4995	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2289	2428	0	0	0	0	0	0
5314	0.52	146.0	342.8	11.0	553	5318	0.00	2.28	0.00	0.000	4	0.000	0.068	3044	866	2428	0	0	0	0	0	0
5331	0.52	146.0	341.0	10.6	554	5335	0.00	2.25	0.00	0.000	6	0.000	0.056	3044	2286	2428	0	0	0	0	0	0
5657	0.50	146.0	304.7	11.5	584	5661	0.00	2.25	0.00	0.000	4	0.000	0.069	3045	3687	2428	0	0	0	0	0	0
5731	0.42	146.0	295.4	12.8	590	5736	0.20	2.25	0.00	0.000	6	0.177	0.053	3002	2262	2428	0	0	0	0	0	0
6059	0.56	195.9	269.3	7.7	620	6108	0.12	2.38	42.75	1.030	4	0.099	0.067	3063	3694	2230	0	0	0	0	0	0
6122	0.51	195.9	262.3	13.0	625	6127	0.17	2.30	0.00	0.000	6	0.176	0.052	3029	2273	2229	0	0	0	0	0	0
6448	0.56	203.7	228.3	9.6	655	6461	0.00	2.35	7.35	0.845	4	0.000	0.067	3037	860	2198	0	0	0	0	0	0
6489	0.62	203.7	224.1	10.1	658	6496	0.00	2.25	0.00	0.000	6	0.000	0.057	3037	2278	2197	0	0	0	0	0	0
6815	0.68	212.8	192.9	9.6	689	6831	0.12	2.33	9.50	0.881	4	0.102	0.070	3097	3678	2161	0	0	0	0	0	0
6919	0.57	212.8	177.8	15.5	698	6924	0.20	2.22	0.00	0.000	6	0.186	0.054	3056	2275	2161	0	0	0	0	0	0
7249	0.57	212.8	141.0	10.6	729	7250	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2274	2160	0	0	0	0	0	0
7571	0.59	212.8	108.7	10.0	759	7575	0.00	2.28	0.00	0.000	4	0.000	0.067	3055	3687	2160	0	0	0	0	0	0
7589	0.63	227.4	106.7	9.3	760	7612	0.00	2.25	14.38	0.895	6	0.000	0.051	3064	2263	2101	0	0	0	0	0	0
7948	0.70	257.9	73.7	8.6	818	7984	0.00	2.33	27.45	0.909	4	0.000	0.067	3072	862	1978	0	0	0	0	0	0
7992	0.79	288.2	69.7	8.6	825	8028	0.12	2.25	28.40	0.890	6	0.102	0.054	3127	2278	1855	0	0	0	0	0	0
8368	0.77	288.2	19.4	13.3	891	8374	0.00	2.30	0.00	0.000	4	0.000	0.070	3127	3694	1847	0	0	0	0	0	0
8393	0.73	288.2	15.7	14.1	895	8400	0.15	2.28	0.00	0.000	6	0.187	0.054	3100	2267	1847	0	0	0	0	0	0
8478	end climb: FINISH_DEPTH_REACHED
state	8478	begin subsurface finish
8485	0.04	33.7	5.6	-10.9	910	8544	0.70	2.30	-49.05	0.000	4	0.158	0.078	2883	868	2894	0	0	0	0	0	0
8545	end subsurface finish: CONTROL_FINISHED_OK
state	8545	begin surface