Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 636 * 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 636 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -48629.777 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 -48629.777

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 30 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 636 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 160511,120106,6703.955,-5647.496,23,1.3,23,-37.5 TGT_NAME TARGET_W2

_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 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160511,122149,6704.056,-5647.688,10,1.2,10,-37.6 MHEAD_RNG_PITCHd_Wd 294.5,163971,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 477

Post-dive calculations and measurements:

FREEZE 1.78,-1.644,-1.824,2,1,0 ALTIM_TOP_PING 20.0,18.8

FINISH 1.8,1.026768 ALTIM_BOTTOM_PING 450.4,18.4

SM_CCo 8672,62.88,0.062,0,0,1398,400.08 _24V_AH 22.0,83.733

SM_GC 2.38,0.00,0.00,62.88,0.000,0.000,0.062,104,2507,1398,-8.63,0.48,400.08 _10V_AH 9.9,43.177

RAFOS_CLK 403 FG_AHR_24Vo 0.000

RAFOS 3,1305548704,12.433333,12.417778,63,61,55,53,53,52,175,196,139,187,211,236 FG_AHR_10Vo 0.000

RAFOS_FIX 6710.412598,-5659.673340,160511,121244,3,113,11.12 MEM 150404

IRIDIUM_FIX 6636.54,-5650.71,160511,121248 DATA_FILE_SIZE 36694,932

TT8_MAMPS 0.026964 CAP_FILE_SIZE 121295,0

HUMID 45.19 CFSIZE 260165632,212520960

INTERNAL_PRESSURE 8.60385 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1466.1

XPDR_PINGS 40 GPS 160511,144937,6705.146,-5651.739,37,1.5,37,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 323 180.11 SBE_CT 655 24 346.26

Roll_motor 92 82 167.63 SBE_O2 692 19 289.63

VBD_pump_during_apogee 355 1164 9105.58 nil 0 0 0.00

VBD_pump_during_surface 62 61 85.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 118.97 nil 0 0 0.00

Iridium_during_connect 112 160 395.97 nil 0 0 0.00

Iridium_during_xfer 591 223 2902.82 nil 0 0 0.00

Transponder_ping 11 420 106.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.29

TT8 2223 19 438.39

LPSleep 4363 2 99.80

TT8_Active 586 19 115.60

TT8_Sampling 2216 39 875.84

TT8_CF8 610 45 277.35

TT8_Kalman 0 0 0.00

Analog_circuits 1442 12 171.37

GPS_charging 0 0 0.00

Compass 1513 15 224.71

RAFOS 1440 1 21.38

Transponder 12 30 3.68

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

15 -0.62 -146.0 0.0 0.0 0 197 0.00 0.00 -178.23 0.000 2 0.000 0.000 117 2483 3432 0 0 0 0 0 0

200 -0.62 -146.0 5.6 -10.9 31 225 13.20 2.30 -4.18 0.000 4 0.324 0.079 2651 1073 3630 0 0 0 0 0 0

482 -0.53 -146.0 61.8 -15.1 80 489 0.15 2.33 0.00 0.000 6 0.208 0.068 2688 2483 3631 0 0 0 0 0 0

831 -0.53 -146.0 104.3 -12.1 139 835 0.00 2.38 0.00 0.000 4 0.000 0.083 2688 3900 3631 0 0 0 0 0 0

939 -0.55 -146.0 116.8 -11.0 148 943 0.00 2.25 0.00 0.000 6 0.000 0.054 2688 2488 3629 0 0 0 0 0 0

1269 -0.55 -146.0 153.8 -10.7 179 1273 0.00 2.28 0.00 0.000 4 0.000 0.070 2688 1075 3629 0 0 0 0 0 0

1314 -0.59 -146.0 158.5 -10.0 182 1321 0.00 2.30 0.00 0.000 6 0.000 0.067 2688 2490 3629 0 0 0 0 0 0

1640 -0.62 -146.0 190.3 -9.9 213 1645 0.00 2.35 0.00 0.000 4 0.000 0.081 2688 3899 3629 0 0 0 0 0 0

1708 -0.67 -146.0 197.0 -9.8 218 1715 0.12 2.28 0.00 0.000 6 0.122 0.062 2646 2481 3629 0 0 0 0 0 0

2034 -0.60 -146.0 238.5 -12.5 249 2035 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2481 3630 0 0 0 0 0 0

2356 -0.52 -146.0 278.2 -12.3 279 2361 0.17 2.28 0.00 0.000 4 0.203 0.067 2689 1082 3632 0 0 0 0 0 0

2435 -0.58 -146.0 286.6 -8.9 285 2442 0.00 2.30 0.00 0.000 6 0.000 0.063 2689 2496 3632 0 0 0 0 0 0

2762 -0.62 -146.0 315.2 -8.8 316 2766 0.00 2.30 0.00 0.000 4 0.000 0.078 2690 3900 3632 0 0 0 0 0 0

2831 -0.70 -146.0 321.3 -8.5 322 2836 0.15 2.20 0.00 0.000 6 0.109 0.048 2637 2487 3632 0 0 0 0 0 0

3157 -0.62 -146.0 363.1 -12.8 352 3161 0.00 2.22 0.00 0.000 4 0.000 0.063 2637 1083 3633 0 0 0 0 0 0

3235 -0.57 -146.0 373.2 -12.2 358 3243 0.15 2.28 0.00 0.000 6 0.209 0.061 2671 2493 3633 0 0 0 0 0 0

3561 -0.57 -146.0 404.5 -9.8 389 3565 0.00 2.30 0.00 0.000 4 0.000 0.076 2671 3902 3634 0 0 0 0 0 0

3624 -0.62 -146.0 410.3 -9.0 394 3628 0.00 2.20 0.00 0.000 6 0.000 0.047 2672 2486 3634 0 0 0 0 0 0

3955 -0.62 -146.0 441.1 -8.7 425 3959 0.00 2.25 0.00 0.000 4 0.000 0.061 2672 1073 3635 0 0 0 0 0 0

4011 -0.64 -146.0 446.3 -8.7 429 4018 0.00 2.28 0.00 0.000 6 0.000 0.060 2672 2496 3635 0 0 0 0 0 0

4100 end dive: BOTTOM_OBSTACLE_DETECTED

state 4100 begin apogee

4108 -0.12 0.0 454.5 9.3 438 4239 0.50 0.00 123.65 1.164 6 0.181 0.000 2816 2266 3030 0 0 0 0 0 0

4240 end apogee: CONTROL_FINISHED_OK

state 4240 begin climb

4243 0.62 146.0 459.9 0.0 450 4379 0.77 2.50 126.18 1.122 4 0.134 0.070 3064 882 2434 0 0 0 0 0 0

4452 0.57 146.0 443.8 12.1 468 4459 0.00 2.38 0.00 0.000 6 0.000 0.055 3064 2277 2429 0 0 0 0 0 0

4780 0.51 146.0 402.9 12.0 499 4785 0.12 2.30 0.00 0.000 4 0.181 0.069 3032 3688 2429 0 0 0 0 0 0

4824 0.47 146.0 397.0 11.9 502 4831 0.00 2.25 0.00 0.000 6 0.000 0.053 3040 2281 2428 0 0 0 0 0 0

5150 0.45 146.0 360.8 11.0 533 5155 0.12 2.33 0.00 0.000 4 0.177 0.067 3009 3696 2428 0 0 0 0 0 0

5173 0.45 146.0 358.1 11.5 535 5177 0.00 2.25 0.00 0.000 6 0.000 0.050 3016 2275 2428 0 0 0 0 0 0

5499 0.49 155.2 327.2 9.6 565 5510 0.00 0.00 8.45 0.903 6 0.000 0.000 3016 2275 2397 0 0 0 0 0 0

5830 0.55 182.8 297.7 8.7 596 5863 0.00 2.38 25.10 1.020 4 0.000 0.067 3016 3693 2283 0 0 0 0 0 0

5881 0.58 188.3 292.7 9.7 600 5892 0.00 2.28 6.25 0.814 6 0.000 0.050 3027 2269 2262 0 0 0 0 0 0

6213 0.65 206.4 261.2 9.2 631 6237 0.12 2.35 17.05 0.970 4 0.100 0.067 3099 859 2187 0 0 0 0 0 0

6254 0.57 206.4 256.0 13.5 634 6261 0.17 2.30 0.00 0.000 6 0.184 0.054 3054 2289 2185 0 0 0 0 0 0

6579 0.57 206.4 218.9 11.0 665 6583 0.00 2.25 0.00 0.000 4 0.000 0.067 3053 3693 2184 0 0 0 0 0 0

6613 0.54 206.4 214.8 12.3 668 6618 0.00 2.25 0.00 0.000 6 0.000 0.050 3062 2263 2183 0 0 0 0 0 0

6945 0.51 206.4 175.8 12.4 699 6950 0.12 2.33 0.00 0.000 4 0.178 0.065 3030 3685 2183 0 0 0 0 0 0

6955 0.49 206.4 174.1 12.8 699 6962 0.00 2.22 0.00 0.000 6 0.000 0.047 3038 2270 2183 0 0 0 0 0 0

7281 0.53 211.9 141.8 9.7 730 7294 0.00 2.25 5.68 0.741 4 0.000 0.064 3043 866 2165 0 0 0 0 0 0

7311 0.58 211.9 138.8 10.4 732 7317 0.00 2.22 0.00 0.000 6 0.000 0.063 3043 2276 2165 0 0 0 0 0 0

7637 0.66 229.9 107.8 9.2 763 7660 0.00 2.28 17.00 0.907 4 0.000 0.066 3044 3691 2091 0 0 0 0 0 0

7711 0.66 229.9 100.4 11.0 769 7717 0.00 2.25 0.00 0.000 6 0.000 0.050 3053 2273 2091 0 0 0 0 0 0

8059 0.75 258.3 68.5 8.7 830 8095 0.15 2.33 26.12 0.903 4 0.092 0.065 3132 868 1975 0 0 0 0 0 0

8140 0.73 258.3 58.5 14.3 843 8147 0.12 2.28 0.00 0.000 6 0.190 0.054 3103 2283 1972 0 0 0 0 0 0

8490 0.73 258.3 19.3 11.1 904 8496 0.00 2.25 0.00 0.000 4 0.000 0.069 3103 3684 1971 0 0 0 0 0 0

8580 0.70 258.3 8.5 12.2 919 8586 0.00 2.25 0.00 0.000 6 0.000 0.054 3111 2274 1970 0 0 0 0 0 0

8622 end climb: SURFACE_DEPTH_REACHED

state 8622 begin surface coast

8653 end surface coast: CONTROL_FINISHED_OK

state 8653 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	636	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-48629.777	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	160511,120106,6703.955,-5647.496,23,1.3,23,-37.5	TGT_NAME	TARGET_W2
_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	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160511,122149,6704.056,-5647.688,10,1.2,10,-37.6	MHEAD_RNG_PITCHd_Wd	294.5,163971,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	477

FREEZE	1.78,-1.644,-1.824,2,1,0	ALTIM_TOP_PING	20.0,18.8
FINISH	1.8,1.026768	ALTIM_BOTTOM_PING	450.4,18.4
SM_CCo	8672,62.88,0.062,0,0,1398,400.08	_24V_AH	22.0,83.733
SM_GC	2.38,0.00,0.00,62.88,0.000,0.000,0.062,104,2507,1398,-8.63,0.48,400.08	_10V_AH	9.9,43.177
RAFOS_CLK	403	FG_AHR_24Vo	0.000
RAFOS	3,1305548704,12.433333,12.417778,63,61,55,53,53,52,175,196,139,187,211,236	FG_AHR_10Vo	0.000
RAFOS_FIX	6710.412598,-5659.673340,160511,121244,3,113,11.12	MEM	150404
IRIDIUM_FIX	6636.54,-5650.71,160511,121248	DATA_FILE_SIZE	36694,932
TT8_MAMPS	0.026964	CAP_FILE_SIZE	121295,0
HUMID	45.19	CFSIZE	260165632,212520960
INTERNAL_PRESSURE	8.60385	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1466.1
XPDR_PINGS	40	GPS	160511,144937,6705.146,-5651.739,37,1.5,37,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	323	180.11	SBE_CT	655	24	346.26
Roll_motor	92	82	167.63	SBE_O2	692	19	289.63
VBD_pump_during_apogee	355	1164	9105.58	nil	0	0	0.00
VBD_pump_during_surface	62	61	85.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	118.97	nil	0	0	0.00
Iridium_during_connect	112	160	395.97	nil	0	0	0.00
Iridium_during_xfer	591	223	2902.82	nil	0	0	0.00
Transponder_ping	11	420	106.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.29
TT8	2223	19	438.39
LPSleep	4363	2	99.80
TT8_Active	586	19	115.60
TT8_Sampling	2216	39	875.84
TT8_CF8	610	45	277.35
TT8_Kalman	0	0	0.00
Analog_circuits	1442	12	171.37
GPS_charging	0	0	0.00
Compass	1513	15	224.71
RAFOS	1440	1	21.38
Transponder	12	30	3.68

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
15	-0.62	-146.0	0.0	0.0	0	197	0.00	0.00	-178.23	0.000	2	0.000	0.000	117	2483	3432	0	0	0	0	0	0
200	-0.62	-146.0	5.6	-10.9	31	225	13.20	2.30	-4.18	0.000	4	0.324	0.079	2651	1073	3630	0	0	0	0	0	0
482	-0.53	-146.0	61.8	-15.1	80	489	0.15	2.33	0.00	0.000	6	0.208	0.068	2688	2483	3631	0	0	0	0	0	0
831	-0.53	-146.0	104.3	-12.1	139	835	0.00	2.38	0.00	0.000	4	0.000	0.083	2688	3900	3631	0	0	0	0	0	0
939	-0.55	-146.0	116.8	-11.0	148	943	0.00	2.25	0.00	0.000	6	0.000	0.054	2688	2488	3629	0	0	0	0	0	0
1269	-0.55	-146.0	153.8	-10.7	179	1273	0.00	2.28	0.00	0.000	4	0.000	0.070	2688	1075	3629	0	0	0	0	0	0
1314	-0.59	-146.0	158.5	-10.0	182	1321	0.00	2.30	0.00	0.000	6	0.000	0.067	2688	2490	3629	0	0	0	0	0	0
1640	-0.62	-146.0	190.3	-9.9	213	1645	0.00	2.35	0.00	0.000	4	0.000	0.081	2688	3899	3629	0	0	0	0	0	0
1708	-0.67	-146.0	197.0	-9.8	218	1715	0.12	2.28	0.00	0.000	6	0.122	0.062	2646	2481	3629	0	0	0	0	0	0
2034	-0.60	-146.0	238.5	-12.5	249	2035	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2481	3630	0	0	0	0	0	0
2356	-0.52	-146.0	278.2	-12.3	279	2361	0.17	2.28	0.00	0.000	4	0.203	0.067	2689	1082	3632	0	0	0	0	0	0
2435	-0.58	-146.0	286.6	-8.9	285	2442	0.00	2.30	0.00	0.000	6	0.000	0.063	2689	2496	3632	0	0	0	0	0	0
2762	-0.62	-146.0	315.2	-8.8	316	2766	0.00	2.30	0.00	0.000	4	0.000	0.078	2690	3900	3632	0	0	0	0	0	0
2831	-0.70	-146.0	321.3	-8.5	322	2836	0.15	2.20	0.00	0.000	6	0.109	0.048	2637	2487	3632	0	0	0	0	0	0
3157	-0.62	-146.0	363.1	-12.8	352	3161	0.00	2.22	0.00	0.000	4	0.000	0.063	2637	1083	3633	0	0	0	0	0	0
3235	-0.57	-146.0	373.2	-12.2	358	3243	0.15	2.28	0.00	0.000	6	0.209	0.061	2671	2493	3633	0	0	0	0	0	0
3561	-0.57	-146.0	404.5	-9.8	389	3565	0.00	2.30	0.00	0.000	4	0.000	0.076	2671	3902	3634	0	0	0	0	0	0
3624	-0.62	-146.0	410.3	-9.0	394	3628	0.00	2.20	0.00	0.000	6	0.000	0.047	2672	2486	3634	0	0	0	0	0	0
3955	-0.62	-146.0	441.1	-8.7	425	3959	0.00	2.25	0.00	0.000	4	0.000	0.061	2672	1073	3635	0	0	0	0	0	0
4011	-0.64	-146.0	446.3	-8.7	429	4018	0.00	2.28	0.00	0.000	6	0.000	0.060	2672	2496	3635	0	0	0	0	0	0
4100	end dive: BOTTOM_OBSTACLE_DETECTED
state	4100	begin apogee
4108	-0.12	0.0	454.5	9.3	438	4239	0.50	0.00	123.65	1.164	6	0.181	0.000	2816	2266	3030	0	0	0	0	0	0
4240	end apogee: CONTROL_FINISHED_OK
state	4240	begin climb
4243	0.62	146.0	459.9	0.0	450	4379	0.77	2.50	126.18	1.122	4	0.134	0.070	3064	882	2434	0	0	0	0	0	0
4452	0.57	146.0	443.8	12.1	468	4459	0.00	2.38	0.00	0.000	6	0.000	0.055	3064	2277	2429	0	0	0	0	0	0
4780	0.51	146.0	402.9	12.0	499	4785	0.12	2.30	0.00	0.000	4	0.181	0.069	3032	3688	2429	0	0	0	0	0	0
4824	0.47	146.0	397.0	11.9	502	4831	0.00	2.25	0.00	0.000	6	0.000	0.053	3040	2281	2428	0	0	0	0	0	0
5150	0.45	146.0	360.8	11.0	533	5155	0.12	2.33	0.00	0.000	4	0.177	0.067	3009	3696	2428	0	0	0	0	0	0
5173	0.45	146.0	358.1	11.5	535	5177	0.00	2.25	0.00	0.000	6	0.000	0.050	3016	2275	2428	0	0	0	0	0	0
5499	0.49	155.2	327.2	9.6	565	5510	0.00	0.00	8.45	0.903	6	0.000	0.000	3016	2275	2397	0	0	0	0	0	0
5830	0.55	182.8	297.7	8.7	596	5863	0.00	2.38	25.10	1.020	4	0.000	0.067	3016	3693	2283	0	0	0	0	0	0
5881	0.58	188.3	292.7	9.7	600	5892	0.00	2.28	6.25	0.814	6	0.000	0.050	3027	2269	2262	0	0	0	0	0	0
6213	0.65	206.4	261.2	9.2	631	6237	0.12	2.35	17.05	0.970	4	0.100	0.067	3099	859	2187	0	0	0	0	0	0
6254	0.57	206.4	256.0	13.5	634	6261	0.17	2.30	0.00	0.000	6	0.184	0.054	3054	2289	2185	0	0	0	0	0	0
6579	0.57	206.4	218.9	11.0	665	6583	0.00	2.25	0.00	0.000	4	0.000	0.067	3053	3693	2184	0	0	0	0	0	0
6613	0.54	206.4	214.8	12.3	668	6618	0.00	2.25	0.00	0.000	6	0.000	0.050	3062	2263	2183	0	0	0	0	0	0
6945	0.51	206.4	175.8	12.4	699	6950	0.12	2.33	0.00	0.000	4	0.178	0.065	3030	3685	2183	0	0	0	0	0	0
6955	0.49	206.4	174.1	12.8	699	6962	0.00	2.22	0.00	0.000	6	0.000	0.047	3038	2270	2183	0	0	0	0	0	0
7281	0.53	211.9	141.8	9.7	730	7294	0.00	2.25	5.68	0.741	4	0.000	0.064	3043	866	2165	0	0	0	0	0	0
7311	0.58	211.9	138.8	10.4	732	7317	0.00	2.22	0.00	0.000	6	0.000	0.063	3043	2276	2165	0	0	0	0	0	0
7637	0.66	229.9	107.8	9.2	763	7660	0.00	2.28	17.00	0.907	4	0.000	0.066	3044	3691	2091	0	0	0	0	0	0
7711	0.66	229.9	100.4	11.0	769	7717	0.00	2.25	0.00	0.000	6	0.000	0.050	3053	2273	2091	0	0	0	0	0	0
8059	0.75	258.3	68.5	8.7	830	8095	0.15	2.33	26.12	0.903	4	0.092	0.065	3132	868	1975	0	0	0	0	0	0
8140	0.73	258.3	58.5	14.3	843	8147	0.12	2.28	0.00	0.000	6	0.190	0.054	3103	2283	1972	0	0	0	0	0	0
8490	0.73	258.3	19.3	11.1	904	8496	0.00	2.25	0.00	0.000	4	0.000	0.069	3103	3684	1971	0	0	0	0	0	0
8580	0.70	258.3	8.5	12.2	919	8586	0.00	2.25	0.00	0.000	6	0.000	0.054	3111	2274	1970	0	0	0	0	0	0
8622	end climb: SURFACE_DEPTH_REACHED
state	8622	begin surface coast
8653	end surface coast: CONTROL_FINISHED_OK
state	8653	begin surface