Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 727 * 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 727 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -52320.828 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 -52320.828

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 30 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 727 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 010611,204800,6711.765,-5726.315,0,2125.5,0,-37.6 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 2.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010611,204800,6711.765,-5726.315,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 158.0,32079,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 674

Post-dive calculations and measurements:

FREEZE 2.28,-0.929,-1.809,2,90,2 ALTIM_TOP_PING 19.4,17.2

FINISH 2.3,1.026522 ALTIM_BOTTOM_PING 500.1,47.6

SM_CCo 10219,135.15,0.061,0,0,750,559.04 _24V_AH 22.1,98.200

SM_GC 2.67,0.00,0.00,135.15,0.000,0.000,0.061,107,2502,750,-8.62,0.31,559.04 _10V_AH 9.9,50.821

RAFOS_CLK 570 FG_AHR_24Vo 0.000

RAFOS 0,1306972866,0.033333,0.018333,75,55,54,54,52,51,191,160,173,141,219,201 FG_AHR_10Vo 0.000

RAFOS_FIX 6712.510254,-5724.361328,020611,000056,2,107,0.14 MEM 150488

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40055,1059

TT8_MAMPS 0.025466 CAP_FILE_SIZE 119879,0

HUMID 45.58 CFSIZE 260165632,205324288

INTERNAL_PRESSURE 8.54525 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.40 SOUNDSPEED 1469.7

XPDR_PINGS 71 GPS 020611,004656,6712.510,-5724.361,0,2107.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 318 178.47 SBE_CT 745 24 395.40

Roll_motor 64 93 133.30 SBE_O2 795 19 333.91

VBD_pump_during_apogee 348 1206 9284.22 nil 0 0 0.00

VBD_pump_during_surface 135 61 182.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 96 103 219.32 nil 0 0 0.00

Iridium_during_connect 30 160 107.16 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 19 420 181.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 90.73

TT8 2530 19 499.07

LPSleep 5504 2 125.88

TT8_Active 639 19 126.16

TT8_Sampling 1975 39 780.76

TT8_CF8 656 45 298.61

TT8_Kalman 0 0 0.00

Analog_circuits 1553 12 184.52

GPS_charging 0 0 0.00

Compass 1653 15 245.54

RAFOS 2520 1 37.42

Transponder 14 30 4.23

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 -0.62 -146.0 0.0 0.0 0 179 0.00 0.00 -157.65 0.000 2 0.000 0.000 113 2500 3175 0 0 0 0 0 0

183 -0.62 -146.0 5.1 -6.3 28 214 13.12 2.33 -10.48 0.000 4 0.318 0.093 2654 3892 3627 0 0 0 0 0 0

293 -0.56 -146.0 30.4 -16.6 46 301 0.10 2.25 0.00 0.000 6 0.203 0.063 2677 2493 3628 0 0 0 0 0 0

642 -0.50 -146.0 78.7 -13.2 107 649 0.00 2.30 0.00 0.000 4 0.000 0.070 2677 1073 3628 0 0 0 0 0 0

776 -0.48 -146.0 95.9 -12.0 130 783 0.12 2.28 0.00 0.000 6 0.214 0.064 2707 2480 3628 0 0 0 0 0 0

1111 -0.51 -146.0 127.8 -8.7 164 1112 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2480 3628 0 0 0 0 0 0

1430 -0.55 -146.0 156.3 -9.2 194 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2480 3627 0 0 0 0 0 0

1751 -0.61 -146.0 184.7 -8.8 224 1758 0.12 0.00 0.00 0.000 6 0.125 0.000 2661 2480 3627 0 0 0 0 0 0

2077 -0.56 -146.0 225.6 -12.5 255 2078 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2479 3626 0 0 0 0 0 0

2396 -0.51 -146.0 264.0 -11.8 285 2398 0.15 0.00 0.00 0.000 6 0.199 0.000 2697 2480 3628 0 0 0 0 0 0

2716 -0.56 -146.0 292.2 -8.8 315 2721 0.00 2.25 0.00 0.000 4 0.000 0.066 2698 1082 3629 0 0 0 0 0 0

2739 -0.60 -146.0 294.4 -8.5 316 2746 0.00 2.28 0.00 0.000 6 0.000 0.060 2698 2497 3629 0 0 0 0 0 0

3065 -0.66 -146.0 322.4 -8.5 347 3067 0.15 0.00 0.00 0.000 6 0.109 0.000 2643 2497 3630 0 0 0 0 0 0

3384 -0.57 -146.0 361.7 -12.8 377 3389 0.12 2.33 0.00 0.000 4 0.201 0.063 2672 1080 3630 0 0 0 0 0 0

3395 -0.49 -146.0 363.5 -12.5 377 3402 0.12 2.28 0.00 0.000 6 0.213 0.058 2700 2499 3631 0 0 0 0 0 0

3723 -0.56 -146.0 388.9 -7.4 408 3729 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2499 3632 0 0 0 0 0 0

4051 -0.62 -146.0 414.5 -7.6 439 4056 0.12 2.30 0.00 0.000 4 0.119 0.061 2655 1073 3633 0 0 0 0 0 0

4081 -0.62 -146.0 417.4 -10.2 441 4085 0.00 2.25 0.00 0.000 6 0.000 0.058 2655 2495 3633 0 0 0 0 0 0

4412 -0.57 -146.0 455.1 -11.4 472 4413 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2495 3632 0 0 0 0 0 0

4733 -0.53 -146.0 489.1 -11.0 502 4740 0.15 0.00 0.00 0.000 6 0.200 0.000 2692 2496 3633 0 0 0 0 0 0

5060 -0.58 -146.0 516.9 -8.4 533 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2495 3635 0 0 0 0 0 0

5258 end dive: BOTTOM_OBSTACLE_DETECTED

state 5258 begin apogee

5265 -0.12 0.0 533.5 8.2 552 5398 0.40 0.00 125.10 1.206 6 0.161 0.000 2814 2251 3030 0 0 0 0 0 0

5399 end apogee: CONTROL_FINISHED_OK

state 5399 begin climb

5402 0.62 146.0 538.4 0.0 564 5539 0.75 2.45 127.38 1.167 4 0.122 0.067 3061 877 2433 0 0 0 0 0 0

5575 0.58 146.0 526.9 10.9 579 5580 0.00 2.40 0.00 0.000 6 0.000 0.053 3061 2277 2431 0 0 0 0 0 0

5903 0.53 146.0 489.7 11.4 609 5907 0.00 2.28 0.00 0.000 4 0.000 0.069 3062 3693 2429 0 0 0 0 0 0

6036 0.44 146.0 471.8 14.3 620 6041 0.22 2.22 0.00 0.000 6 0.174 0.051 3011 2273 2428 0 0 0 0 0 0

6363 0.52 183.9 442.8 8.2 650 6401 0.00 2.30 32.42 1.092 4 0.000 0.067 3019 867 2281 0 0 0 0 0 0

6443 0.66 214.7 436.0 8.6 656 6482 0.15 2.28 28.73 1.075 6 0.092 0.053 3088 2284 2153 0 0 0 0 0 0

6800 0.59 214.7 384.0 15.4 690 6805 0.12 2.28 0.00 0.000 4 0.180 0.068 3056 3694 2148 0 0 0 0 0 0

6980 0.57 214.7 359.0 13.4 705 6987 0.00 2.22 0.00 0.000 6 0.000 0.050 3065 2272 2147 0 0 0 0 0 0

7308 0.57 214.7 318.1 12.2 736 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2271 2146 0 0 0 0 0 0

7627 0.57 214.7 279.7 12.2 766 7631 0.00 2.33 0.00 0.000 4 0.000 0.065 3065 3694 2146 0 0 0 0 0 0

7682 0.53 214.7 271.8 13.6 770 7690 0.15 2.22 0.00 0.000 6 0.174 0.049 3036 2270 2146 0 0 0 0 0 0

8008 0.60 227.8 239.9 9.4 801 8027 0.00 0.00 11.52 0.922 6 0.000 0.000 3036 2270 2100 0 0 0 0 0 0

8348 0.67 232.4 206.4 9.8 833 8362 0.12 2.30 5.60 0.758 4 0.101 0.063 3098 3691 2081 0 0 0 0 0 0

8415 0.58 232.4 195.9 16.9 838 8422 0.20 2.22 0.00 0.000 6 0.177 0.049 3055 2267 2081 0 0 0 0 0 0

8740 0.61 232.4 158.0 11.3 869 8742 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2267 2081 0 0 0 0 0 0

9062 0.65 232.4 122.2 10.7 899 9066 0.00 2.30 0.00 0.000 4 0.000 0.064 3055 3696 2080 0 0 0 0 0 0

9123 0.67 232.4 114.6 11.7 904 9130 0.00 2.25 0.00 0.000 6 0.000 0.049 3064 2268 2081 0 0 0 0 0 0

9461 0.71 232.5 80.1 10.0 952 9468 0.00 2.22 0.00 0.000 4 0.000 0.066 3073 867 2080 0 0 0 0 0 0

9511 0.81 250.8 75.7 9.2 960 9536 0.15 2.28 17.48 0.886 6 0.094 0.054 3138 2288 2006 0 0 0 0 0 0

9876 0.74 250.8 23.0 14.8 1024 9884 0.12 2.25 0.00 0.000 4 0.190 0.065 3107 3683 2004 0 0 0 0 0 0

9973 0.70 250.8 11.6 11.7 1040 9980 0.00 2.25 0.00 0.000 6 0.000 0.060 3115 2269 2003 0 0 0 0 0 0

10051 end climb: SURFACE_DEPTH_REACHED

state 10051 begin surface coast

10079 end surface coast: CONTROL_FINISHED_OK

state 10079 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	727	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-52320.828	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	010611,204800,6711.765,-5726.315,0,2125.5,0,-37.6	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	2.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010611,204800,6711.765,-5726.315,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	158.0,32079,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	674

FREEZE	2.28,-0.929,-1.809,2,90,2	ALTIM_TOP_PING	19.4,17.2
FINISH	2.3,1.026522	ALTIM_BOTTOM_PING	500.1,47.6
SM_CCo	10219,135.15,0.061,0,0,750,559.04	_24V_AH	22.1,98.200
SM_GC	2.67,0.00,0.00,135.15,0.000,0.000,0.061,107,2502,750,-8.62,0.31,559.04	_10V_AH	9.9,50.821
RAFOS_CLK	570	FG_AHR_24Vo	0.000
RAFOS	0,1306972866,0.033333,0.018333,75,55,54,54,52,51,191,160,173,141,219,201	FG_AHR_10Vo	0.000
RAFOS_FIX	6712.510254,-5724.361328,020611,000056,2,107,0.14	MEM	150488
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40055,1059
TT8_MAMPS	0.025466	CAP_FILE_SIZE	119879,0
HUMID	45.58	CFSIZE	260165632,205324288
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.40	SOUNDSPEED	1469.7
XPDR_PINGS	71	GPS	020611,004656,6712.510,-5724.361,0,2107.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	318	178.47	SBE_CT	745	24	395.40
Roll_motor	64	93	133.30	SBE_O2	795	19	333.91
VBD_pump_during_apogee	348	1206	9284.22	nil	0	0	0.00
VBD_pump_during_surface	135	61	182.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	96	103	219.32	nil	0	0	0.00
Iridium_during_connect	30	160	107.16	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	19	420	181.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	90.73
TT8	2530	19	499.07
LPSleep	5504	2	125.88
TT8_Active	639	19	126.16
TT8_Sampling	1975	39	780.76
TT8_CF8	656	45	298.61
TT8_Kalman	0	0	0.00
Analog_circuits	1553	12	184.52
GPS_charging	0	0	0.00
Compass	1653	15	245.54
RAFOS	2520	1	37.42
Transponder	14	30	4.23

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	-0.62	-146.0	0.0	0.0	0	179	0.00	0.00	-157.65	0.000	2	0.000	0.000	113	2500	3175	0	0	0	0	0	0
183	-0.62	-146.0	5.1	-6.3	28	214	13.12	2.33	-10.48	0.000	4	0.318	0.093	2654	3892	3627	0	0	0	0	0	0
293	-0.56	-146.0	30.4	-16.6	46	301	0.10	2.25	0.00	0.000	6	0.203	0.063	2677	2493	3628	0	0	0	0	0	0
642	-0.50	-146.0	78.7	-13.2	107	649	0.00	2.30	0.00	0.000	4	0.000	0.070	2677	1073	3628	0	0	0	0	0	0
776	-0.48	-146.0	95.9	-12.0	130	783	0.12	2.28	0.00	0.000	6	0.214	0.064	2707	2480	3628	0	0	0	0	0	0
1111	-0.51	-146.0	127.8	-8.7	164	1112	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2480	3628	0	0	0	0	0	0
1430	-0.55	-146.0	156.3	-9.2	194	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2480	3627	0	0	0	0	0	0
1751	-0.61	-146.0	184.7	-8.8	224	1758	0.12	0.00	0.00	0.000	6	0.125	0.000	2661	2480	3627	0	0	0	0	0	0
2077	-0.56	-146.0	225.6	-12.5	255	2078	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2479	3626	0	0	0	0	0	0
2396	-0.51	-146.0	264.0	-11.8	285	2398	0.15	0.00	0.00	0.000	6	0.199	0.000	2697	2480	3628	0	0	0	0	0	0
2716	-0.56	-146.0	292.2	-8.8	315	2721	0.00	2.25	0.00	0.000	4	0.000	0.066	2698	1082	3629	0	0	0	0	0	0
2739	-0.60	-146.0	294.4	-8.5	316	2746	0.00	2.28	0.00	0.000	6	0.000	0.060	2698	2497	3629	0	0	0	0	0	0
3065	-0.66	-146.0	322.4	-8.5	347	3067	0.15	0.00	0.00	0.000	6	0.109	0.000	2643	2497	3630	0	0	0	0	0	0
3384	-0.57	-146.0	361.7	-12.8	377	3389	0.12	2.33	0.00	0.000	4	0.201	0.063	2672	1080	3630	0	0	0	0	0	0
3395	-0.49	-146.0	363.5	-12.5	377	3402	0.12	2.28	0.00	0.000	6	0.213	0.058	2700	2499	3631	0	0	0	0	0	0
3723	-0.56	-146.0	388.9	-7.4	408	3729	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2499	3632	0	0	0	0	0	0
4051	-0.62	-146.0	414.5	-7.6	439	4056	0.12	2.30	0.00	0.000	4	0.119	0.061	2655	1073	3633	0	0	0	0	0	0
4081	-0.62	-146.0	417.4	-10.2	441	4085	0.00	2.25	0.00	0.000	6	0.000	0.058	2655	2495	3633	0	0	0	0	0	0
4412	-0.57	-146.0	455.1	-11.4	472	4413	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2495	3632	0	0	0	0	0	0
4733	-0.53	-146.0	489.1	-11.0	502	4740	0.15	0.00	0.00	0.000	6	0.200	0.000	2692	2496	3633	0	0	0	0	0	0
5060	-0.58	-146.0	516.9	-8.4	533	5061	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2495	3635	0	0	0	0	0	0
5258	end dive: BOTTOM_OBSTACLE_DETECTED
state	5258	begin apogee
5265	-0.12	0.0	533.5	8.2	552	5398	0.40	0.00	125.10	1.206	6	0.161	0.000	2814	2251	3030	0	0	0	0	0	0
5399	end apogee: CONTROL_FINISHED_OK
state	5399	begin climb
5402	0.62	146.0	538.4	0.0	564	5539	0.75	2.45	127.38	1.167	4	0.122	0.067	3061	877	2433	0	0	0	0	0	0
5575	0.58	146.0	526.9	10.9	579	5580	0.00	2.40	0.00	0.000	6	0.000	0.053	3061	2277	2431	0	0	0	0	0	0
5903	0.53	146.0	489.7	11.4	609	5907	0.00	2.28	0.00	0.000	4	0.000	0.069	3062	3693	2429	0	0	0	0	0	0
6036	0.44	146.0	471.8	14.3	620	6041	0.22	2.22	0.00	0.000	6	0.174	0.051	3011	2273	2428	0	0	0	0	0	0
6363	0.52	183.9	442.8	8.2	650	6401	0.00	2.30	32.42	1.092	4	0.000	0.067	3019	867	2281	0	0	0	0	0	0
6443	0.66	214.7	436.0	8.6	656	6482	0.15	2.28	28.73	1.075	6	0.092	0.053	3088	2284	2153	0	0	0	0	0	0
6800	0.59	214.7	384.0	15.4	690	6805	0.12	2.28	0.00	0.000	4	0.180	0.068	3056	3694	2148	0	0	0	0	0	0
6980	0.57	214.7	359.0	13.4	705	6987	0.00	2.22	0.00	0.000	6	0.000	0.050	3065	2272	2147	0	0	0	0	0	0
7308	0.57	214.7	318.1	12.2	736	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2271	2146	0	0	0	0	0	0
7627	0.57	214.7	279.7	12.2	766	7631	0.00	2.33	0.00	0.000	4	0.000	0.065	3065	3694	2146	0	0	0	0	0	0
7682	0.53	214.7	271.8	13.6	770	7690	0.15	2.22	0.00	0.000	6	0.174	0.049	3036	2270	2146	0	0	0	0	0	0
8008	0.60	227.8	239.9	9.4	801	8027	0.00	0.00	11.52	0.922	6	0.000	0.000	3036	2270	2100	0	0	0	0	0	0
8348	0.67	232.4	206.4	9.8	833	8362	0.12	2.30	5.60	0.758	4	0.101	0.063	3098	3691	2081	0	0	0	0	0	0
8415	0.58	232.4	195.9	16.9	838	8422	0.20	2.22	0.00	0.000	6	0.177	0.049	3055	2267	2081	0	0	0	0	0	0
8740	0.61	232.4	158.0	11.3	869	8742	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2267	2081	0	0	0	0	0	0
9062	0.65	232.4	122.2	10.7	899	9066	0.00	2.30	0.00	0.000	4	0.000	0.064	3055	3696	2080	0	0	0	0	0	0
9123	0.67	232.4	114.6	11.7	904	9130	0.00	2.25	0.00	0.000	6	0.000	0.049	3064	2268	2081	0	0	0	0	0	0
9461	0.71	232.5	80.1	10.0	952	9468	0.00	2.22	0.00	0.000	4	0.000	0.066	3073	867	2080	0	0	0	0	0	0
9511	0.81	250.8	75.7	9.2	960	9536	0.15	2.28	17.48	0.886	6	0.094	0.054	3138	2288	2006	0	0	0	0	0	0
9876	0.74	250.8	23.0	14.8	1024	9884	0.12	2.25	0.00	0.000	4	0.190	0.065	3107	3683	2004	0	0	0	0	0	0
9973	0.70	250.8	11.6	11.7	1040	9980	0.00	2.25	0.00	0.000	6	0.000	0.060	3115	2269	2003	0	0	0	0	0	0
10051	end climb: SURFACE_DEPTH_REACHED
state	10051	begin surface coast
10079	end surface coast: CONTROL_FINISHED_OK
state	10079	begin surface