Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 718 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 2.4000001

DIVE 718 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 41 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 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 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 0.00065 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 -11392.279 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 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 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 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 -11392.279

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 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 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 41 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 718 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 090111,022906,6711.130,-5707.570,36,1.8,42,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090111,023506,6711.160,-5707.691,12,1.8,28,-37.8 MHEAD_RNG_PITCHd_Wd 174.5,20751,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 477

Post-dive calculations and measurements:

FREEZE 0.95,2.330,-0.894,0,1,0 ALTIM_TOP_PING 19.9,17.6

FINISH 1.0,1.013172 _24V_AH 22.7,82.087

SM_CCo 9504,216.18,0.080,0,0,440,609.08 _10V_AH 9.8,56.375

SM_GC 1.78,0.00,0.00,216.18,0.000,0.000,0.080,279,2785,440,-6.85,0.14,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 379 FG_AHR_10Vo 0.000

RAFOS 0,1294545664,4.033333,4.017778,45,39,39,38,38,37,391,26,153,1558,1641,917 MEM 151676

RAFOS_FIX 6713.738770,-5713.928711,090111,040444,3,84,0.85 DATA_FILE_SIZE 33421,918

IRIDIUM_FIX 6641.98,-5650.90,080111,232346 CAP_FILE_SIZE 111638,0

TT8_MAMPS 0.029211 CFSIZE 260165632,202448896

HUMID 46.25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57302 SOUNDSPEED 1472.6

TCM_TEMP 16.40 GPS 090111,051922,6711.805,-5707.917,24,1.8,40,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 236 91.89 SBE_CT 631 24 343.84

Roll_motor 70 67 107.20 SBE_O2 0 0 0.00

VBD_pump_during_apogee 338 851 6545.36 nil 0 0 0.00

VBD_pump_during_surface 216 80 394.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.02 nil 0 0 0.00

Iridium_during_connect 23 160 87.00 nil 0 0 0.00

Iridium_during_xfer 137 223 697.61 nil 0 0 0.00

Transponder_ping 1 420 11.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.46

TT8 2245 19 438.34

LPSleep 5171 2 117.07

TT8_Active 666 19 130.06

TT8_Sampling 1708 39 668.32

TT8_CF8 310 45 139.56

TT8_Kalman 0 0 0.00

Analog_circuits 1503 12 176.82

GPS_charging 0 0 0.00

Compass 1506 15 221.39

RAFOS 2520 3 74.09

Transponder 9 30 2.85

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

16 -0.57 -146.0 0.0 0.0 0 157 0.00 0.00 -136.02 0.000 6 0.000 0.000 282 2790 3520 0 0 0 0 0 0

160 -0.57 -146.0 6.1 -15.1 24 174 8.30 2.33 0.00 0.000 4 0.236 0.043 2282 1367 3521 0 0 0 0 0 0

335 -0.61 -146.0 38.6 -10.3 54 342 0.00 2.33 0.00 0.000 6 0.000 0.057 2275 2777 3524 0 0 0 0 0 0

681 -0.61 -146.0 74.9 -9.6 115 688 0.00 1.92 0.00 0.000 4 0.000 0.067 2275 3925 3522 0 0 0 0 0 0

709 -0.63 -146.0 77.4 -9.9 119 715 0.00 1.83 0.00 0.000 6 0.000 0.044 2275 2782 3522 0 0 0 0 0 0

1049 -0.65 -146.0 111.1 -10.5 170 1053 0.00 2.22 0.00 0.000 4 0.000 0.047 2275 1373 3522 0 0 0 0 0 0

1077 -0.69 -146.0 114.3 -10.3 172 1084 0.00 2.35 0.00 0.000 6 0.000 0.059 2274 2787 3521 0 0 0 0 0 0

1404 -0.73 -146.0 148.0 -9.9 203 1406 0.10 0.00 0.00 0.000 6 0.112 0.000 2225 2787 3521 0 0 0 0 0 0

1721 -0.69 -146.0 187.7 -11.8 233 1725 0.00 2.25 0.00 0.000 4 0.000 0.047 2226 1374 3521 0 0 0 0 0 0

1824 -0.69 -146.0 199.4 -11.5 242 1829 0.12 2.35 0.00 0.000 6 0.174 0.059 2254 2790 3521 0 0 0 0 0 0

2152 -0.71 -146.0 228.0 -7.7 272 2158 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2790 3521 0 0 0 0 0 0

2481 -0.74 -146.0 254.4 -7.4 303 2485 0.00 2.25 0.00 0.000 4 0.000 0.045 2254 1372 3521 0 0 0 0 0 0

2542 -0.79 -146.0 259.9 -7.7 308 2549 0.00 2.33 0.00 0.000 6 0.000 0.057 2248 2777 3521 0 0 0 0 0 0

2868 -0.79 -146.0 288.6 -9.0 339 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2777 3522 0 0 0 0 0 0

3191 -0.81 -146.0 314.8 -7.5 369 3197 0.10 0.00 0.00 0.000 6 0.113 0.000 2193 2777 3523 0 0 0 0 0 0

3516 -0.73 -146.0 349.0 -10.3 400 3521 0.17 1.95 0.00 0.000 4 0.160 0.065 2235 3928 3523 0 0 0 0 0 0

3566 -0.73 -146.0 353.5 -7.5 404 3573 0.00 1.85 0.00 0.000 6 0.000 0.043 2235 2770 3523 0 0 0 0 0 0

3892 -0.73 -146.0 379.6 -8.0 435 3893 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2770 3523 0 0 0 0 0 0

4209 -0.73 -146.0 405.6 -8.4 461 4213 0.00 2.17 0.00 0.000 4 0.000 0.045 2235 1372 3524 0 0 0 0 0 0

4249 -0.73 -146.0 409.5 -9.4 462 4253 0.00 2.30 0.00 0.000 6 0.000 0.056 2235 2766 3524 0 0 0 0 0 0

4580 -0.73 -146.0 437.9 -8.6 473 4583 0.00 1.92 0.00 0.000 4 0.000 0.067 2235 3928 3524 0 0 0 0 0 0

4617 -0.73 -146.0 441.0 -9.6 474 4621 0.00 1.88 0.00 0.000 6 0.000 0.043 2235 2751 3524 0 0 0 0 0 0

4959 -0.73 -146.0 471.2 -8.4 485 4960 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2751 3524 0 0 0 0 0 0

5047 end dive: TARGET_DEPTH_EXCEEDED

state 5047 begin apogee

5054 -0.14 0.0 479.4 8.9 488 5182 0.52 0.00 120.43 0.851 4 0.095 0.000 2425 2595 2923 0 0 0 0 0 0

5183 end apogee: CONTROL_FINISHED_OK

state 5183 begin climb

5186 0.57 146.0 480.0 0.0 492 5317 0.65 2.30 122.32 0.839 4 0.070 0.046 2659 1189 2327 0 0 0 0 0 0

5409 0.57 146.0 461.2 11.3 499 5414 0.00 2.38 0.00 0.000 6 0.000 0.051 2659 2607 2321 0 0 0 0 0 0

5745 0.53 146.0 421.0 12.0 510 5749 0.00 2.20 0.00 0.000 4 0.000 0.062 2659 3933 2318 0 0 0 0 0 0

5814 0.43 146.0 411.1 15.0 512 5818 0.17 2.10 0.00 0.000 6 0.187 0.040 2617 2610 2316 0 0 0 0 0 0

6143 0.48 157.9 380.4 9.5 536 6154 0.00 0.00 9.60 0.722 6 0.000 0.000 2617 2609 2279 0 0 0 0 0 0

6470 0.54 179.0 349.7 9.0 567 6496 0.00 2.25 19.50 0.751 4 0.000 0.063 2616 3922 2192 0 0 0 0 0 0

6520 0.56 179.0 345.0 10.3 571 6527 0.12 2.08 0.00 0.000 6 0.099 0.040 2674 2616 2189 0 0 0 0 0 0

6846 0.52 179.0 302.6 13.8 602 6850 0.12 2.20 0.00 0.000 4 0.181 0.063 2641 3929 2188 0 0 0 0 0 0

6863 0.48 179.0 300.1 14.1 603 6869 0.00 2.08 0.00 0.000 6 0.000 0.040 2642 2617 2187 0 0 0 0 0 0

7188 0.48 179.0 260.3 12.1 634 7189 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2617 2187 0 0 0 0 0 0

7507 0.48 179.0 221.5 12.3 664 7511 0.00 2.25 0.00 0.000 4 0.000 0.047 2642 1188 2187 0 0 0 0 0 0

7536 0.52 179.0 218.1 12.6 666 7540 0.00 2.30 0.00 0.000 6 0.000 0.050 2642 2616 2187 0 0 0 0 0 0

7861 0.54 179.0 180.0 11.1 696 7863 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2616 2187 0 0 0 0 0 0

8180 0.58 179.0 144.6 10.8 726 8181 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2616 2187 0 0 0 0 0 0

8499 0.64 206.8 114.7 8.7 756 8533 0.10 2.25 23.52 0.623 4 0.115 0.061 2690 3930 2077 0 0 0 0 0 0

8598 0.58 206.8 101.9 15.1 764 8605 0.12 2.12 0.00 0.000 6 0.185 0.040 2662 2594 2075 0 0 0 0 0 0

8944 0.64 229.9 69.0 8.9 824 8969 0.00 2.28 20.40 0.597 4 0.000 0.047 2662 1198 1984 0 0 0 0 0 0

9022 0.75 256.4 61.8 8.8 837 9053 0.15 2.20 22.88 0.589 6 0.090 0.050 2728 2576 1876 0 0 0 0 0 0

9394 0.75 256.4 13.4 12.5 902 9401 0.00 2.25 0.00 0.000 4 0.000 0.063 2728 3930 1870 0 0 0 0 0 0

9420 0.72 256.4 9.9 14.0 906 9427 0.00 2.15 0.00 0.000 6 0.000 0.041 2735 2581 1869 0 0 0 0 0 0

9468 end climb: SURFACE_DEPTH_REACHED

state 9468 begin surface coast

9487 end surface coast: CONTROL_FINISHED_OK

state 9487 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	2.4000001
DIVE	718	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	41	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	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	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	0.00065	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	-11392.279	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
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	090111,022906,6711.130,-5707.570,36,1.8,42,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090111,023506,6711.160,-5707.691,12,1.8,28,-37.8	MHEAD_RNG_PITCHd_Wd	174.5,20751,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	477

FREEZE	0.95,2.330,-0.894,0,1,0	ALTIM_TOP_PING	19.9,17.6
FINISH	1.0,1.013172	_24V_AH	22.7,82.087
SM_CCo	9504,216.18,0.080,0,0,440,609.08	_10V_AH	9.8,56.375
SM_GC	1.78,0.00,0.00,216.18,0.000,0.000,0.080,279,2785,440,-6.85,0.14,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	379	FG_AHR_10Vo	0.000
RAFOS	0,1294545664,4.033333,4.017778,45,39,39,38,38,37,391,26,153,1558,1641,917	MEM	151676
RAFOS_FIX	6713.738770,-5713.928711,090111,040444,3,84,0.85	DATA_FILE_SIZE	33421,918
IRIDIUM_FIX	6641.98,-5650.90,080111,232346	CAP_FILE_SIZE	111638,0
TT8_MAMPS	0.029211	CFSIZE	260165632,202448896
HUMID	46.25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57302	SOUNDSPEED	1472.6
TCM_TEMP	16.40	GPS	090111,051922,6711.805,-5707.917,24,1.8,40,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	236	91.89	SBE_CT	631	24	343.84
Roll_motor	70	67	107.20	SBE_O2	0	0	0.00
VBD_pump_during_apogee	338	851	6545.36	nil	0	0	0.00
VBD_pump_during_surface	216	80	394.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.02	nil	0	0	0.00
Iridium_during_connect	23	160	87.00	nil	0	0	0.00
Iridium_during_xfer	137	223	697.61	nil	0	0	0.00
Transponder_ping	1	420	11.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.46
TT8	2245	19	438.34
LPSleep	5171	2	117.07
TT8_Active	666	19	130.06
TT8_Sampling	1708	39	668.32
TT8_CF8	310	45	139.56
TT8_Kalman	0	0	0.00
Analog_circuits	1503	12	176.82
GPS_charging	0	0	0.00
Compass	1506	15	221.39
RAFOS	2520	3	74.09
Transponder	9	30	2.85

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
16	-0.57	-146.0	0.0	0.0	0	157	0.00	0.00	-136.02	0.000	6	0.000	0.000	282	2790	3520	0	0	0	0	0	0
160	-0.57	-146.0	6.1	-15.1	24	174	8.30	2.33	0.00	0.000	4	0.236	0.043	2282	1367	3521	0	0	0	0	0	0
335	-0.61	-146.0	38.6	-10.3	54	342	0.00	2.33	0.00	0.000	6	0.000	0.057	2275	2777	3524	0	0	0	0	0	0
681	-0.61	-146.0	74.9	-9.6	115	688	0.00	1.92	0.00	0.000	4	0.000	0.067	2275	3925	3522	0	0	0	0	0	0
709	-0.63	-146.0	77.4	-9.9	119	715	0.00	1.83	0.00	0.000	6	0.000	0.044	2275	2782	3522	0	0	0	0	0	0
1049	-0.65	-146.0	111.1	-10.5	170	1053	0.00	2.22	0.00	0.000	4	0.000	0.047	2275	1373	3522	0	0	0	0	0	0
1077	-0.69	-146.0	114.3	-10.3	172	1084	0.00	2.35	0.00	0.000	6	0.000	0.059	2274	2787	3521	0	0	0	0	0	0
1404	-0.73	-146.0	148.0	-9.9	203	1406	0.10	0.00	0.00	0.000	6	0.112	0.000	2225	2787	3521	0	0	0	0	0	0
1721	-0.69	-146.0	187.7	-11.8	233	1725	0.00	2.25	0.00	0.000	4	0.000	0.047	2226	1374	3521	0	0	0	0	0	0
1824	-0.69	-146.0	199.4	-11.5	242	1829	0.12	2.35	0.00	0.000	6	0.174	0.059	2254	2790	3521	0	0	0	0	0	0
2152	-0.71	-146.0	228.0	-7.7	272	2158	0.00	0.00	0.00	0.000	6	0.000	0.000	2254	2790	3521	0	0	0	0	0	0
2481	-0.74	-146.0	254.4	-7.4	303	2485	0.00	2.25	0.00	0.000	4	0.000	0.045	2254	1372	3521	0	0	0	0	0	0
2542	-0.79	-146.0	259.9	-7.7	308	2549	0.00	2.33	0.00	0.000	6	0.000	0.057	2248	2777	3521	0	0	0	0	0	0
2868	-0.79	-146.0	288.6	-9.0	339	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2777	3522	0	0	0	0	0	0
3191	-0.81	-146.0	314.8	-7.5	369	3197	0.10	0.00	0.00	0.000	6	0.113	0.000	2193	2777	3523	0	0	0	0	0	0
3516	-0.73	-146.0	349.0	-10.3	400	3521	0.17	1.95	0.00	0.000	4	0.160	0.065	2235	3928	3523	0	0	0	0	0	0
3566	-0.73	-146.0	353.5	-7.5	404	3573	0.00	1.85	0.00	0.000	6	0.000	0.043	2235	2770	3523	0	0	0	0	0	0
3892	-0.73	-146.0	379.6	-8.0	435	3893	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2770	3523	0	0	0	0	0	0
4209	-0.73	-146.0	405.6	-8.4	461	4213	0.00	2.17	0.00	0.000	4	0.000	0.045	2235	1372	3524	0	0	0	0	0	0
4249	-0.73	-146.0	409.5	-9.4	462	4253	0.00	2.30	0.00	0.000	6	0.000	0.056	2235	2766	3524	0	0	0	0	0	0
4580	-0.73	-146.0	437.9	-8.6	473	4583	0.00	1.92	0.00	0.000	4	0.000	0.067	2235	3928	3524	0	0	0	0	0	0
4617	-0.73	-146.0	441.0	-9.6	474	4621	0.00	1.88	0.00	0.000	6	0.000	0.043	2235	2751	3524	0	0	0	0	0	0
4959	-0.73	-146.0	471.2	-8.4	485	4960	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2751	3524	0	0	0	0	0	0
5047	end dive: TARGET_DEPTH_EXCEEDED
state	5047	begin apogee
5054	-0.14	0.0	479.4	8.9	488	5182	0.52	0.00	120.43	0.851	4	0.095	0.000	2425	2595	2923	0	0	0	0	0	0
5183	end apogee: CONTROL_FINISHED_OK
state	5183	begin climb
5186	0.57	146.0	480.0	0.0	492	5317	0.65	2.30	122.32	0.839	4	0.070	0.046	2659	1189	2327	0	0	0	0	0	0
5409	0.57	146.0	461.2	11.3	499	5414	0.00	2.38	0.00	0.000	6	0.000	0.051	2659	2607	2321	0	0	0	0	0	0
5745	0.53	146.0	421.0	12.0	510	5749	0.00	2.20	0.00	0.000	4	0.000	0.062	2659	3933	2318	0	0	0	0	0	0
5814	0.43	146.0	411.1	15.0	512	5818	0.17	2.10	0.00	0.000	6	0.187	0.040	2617	2610	2316	0	0	0	0	0	0
6143	0.48	157.9	380.4	9.5	536	6154	0.00	0.00	9.60	0.722	6	0.000	0.000	2617	2609	2279	0	0	0	0	0	0
6470	0.54	179.0	349.7	9.0	567	6496	0.00	2.25	19.50	0.751	4	0.000	0.063	2616	3922	2192	0	0	0	0	0	0
6520	0.56	179.0	345.0	10.3	571	6527	0.12	2.08	0.00	0.000	6	0.099	0.040	2674	2616	2189	0	0	0	0	0	0
6846	0.52	179.0	302.6	13.8	602	6850	0.12	2.20	0.00	0.000	4	0.181	0.063	2641	3929	2188	0	0	0	0	0	0
6863	0.48	179.0	300.1	14.1	603	6869	0.00	2.08	0.00	0.000	6	0.000	0.040	2642	2617	2187	0	0	0	0	0	0
7188	0.48	179.0	260.3	12.1	634	7189	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2617	2187	0	0	0	0	0	0
7507	0.48	179.0	221.5	12.3	664	7511	0.00	2.25	0.00	0.000	4	0.000	0.047	2642	1188	2187	0	0	0	0	0	0
7536	0.52	179.0	218.1	12.6	666	7540	0.00	2.30	0.00	0.000	6	0.000	0.050	2642	2616	2187	0	0	0	0	0	0
7861	0.54	179.0	180.0	11.1	696	7863	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2616	2187	0	0	0	0	0	0
8180	0.58	179.0	144.6	10.8	726	8181	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2616	2187	0	0	0	0	0	0
8499	0.64	206.8	114.7	8.7	756	8533	0.10	2.25	23.52	0.623	4	0.115	0.061	2690	3930	2077	0	0	0	0	0	0
8598	0.58	206.8	101.9	15.1	764	8605	0.12	2.12	0.00	0.000	6	0.185	0.040	2662	2594	2075	0	0	0	0	0	0
8944	0.64	229.9	69.0	8.9	824	8969	0.00	2.28	20.40	0.597	4	0.000	0.047	2662	1198	1984	0	0	0	0	0	0
9022	0.75	256.4	61.8	8.8	837	9053	0.15	2.20	22.88	0.589	6	0.090	0.050	2728	2576	1876	0	0	0	0	0	0
9394	0.75	256.4	13.4	12.5	902	9401	0.00	2.25	0.00	0.000	4	0.000	0.063	2728	3930	1870	0	0	0	0	0	0
9420	0.72	256.4	9.9	14.0	906	9427	0.00	2.15	0.00	0.000	6	0.000	0.041	2735	2581	1869	0	0	0	0	0	0
9468	end climb: SURFACE_DEPTH_REACHED
state	9468	begin surface coast
9487	end surface coast: CONTROL_FINISHED_OK
state	9487	begin surface