Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 95 * 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 95 ESCAPE_HEADING 100 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 34 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 9 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 -24622.689 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 100 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 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 -24622.689

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 34 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 95 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 070311,085650,6722.860,-5753.803,181,99.0,181,-38.3 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 2.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -41.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070311,085650,6722.860,-5753.803,181,99.0,181,-38.3 MHEAD_RNG_PITCHd_Wd 166.0,60091,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 613

Post-dive calculations and measurements:

FREEZE 2.21,-1.197,-1.807,2,2,0 ALTIM_BOTTOM_PING 551.1,20.4

FINISH 2.2,1.026505 _24V_AH 23.1,16.487

RAFOS_CLK 592 _10V_AH 10.2,8.609

RAFOS 1,1299499743,12.166667,12.150833,60,57,55,52,51,47,154,172,121,193,210,139 FG_AHR_24Vo 0.000

RAFOS_FIX 6721.084473,-5759.121582,070311,121201,3,131,0.37 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6652.93,-5756.13,070311,080859 MEM 150596

TT8_MAMPS 0.026215 DATA_FILE_SIZE 43251,1089

HUMID 45.58 CAP_FILE_SIZE 124033,0

INTERNAL_PRESSURE 8.65268 CFSIZE 260165632,245170176

TCM_TEMP 17.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1460.8

ALTIM_TOP_PING 19.8,17.8 GPS 070311,124301,6721.084,-5759.122,0,3131.0,0,-38.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 331 115.73 SBE_CT 766 24 425.00

Roll_motor 85 73 144.75 SBE_O2 831 19 365.15

VBD_pump_during_apogee 320 1255 9297.78 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 99 103 237.58 nil 0 0 0.00

Iridium_during_connect 17 160 64.45 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 19.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 93.48

TT8 2604 19 529.25

LPSleep 5753 2 135.56

TT8_Active 448 19 91.21

TT8_Sampling 2038 39 830.19

TT8_CF8 366 45 171.49

TT8_Kalman 0 0 0.00

Analog_circuits 1394 12 170.63

GPS_charging 0 0 0.00

Compass 1721 15 263.36

RAFOS 1080 1 16.52

Transponder 16 30 5.20

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.62 -146.0 0.0 0.0 0 158 0.00 0.00 -137.35 0.000 2 0.000 0.000 115 2495 3441 0 0 0 0 0 0

160 -0.62 -146.0 6.1 -11.7 24 186 12.38 2.28 -3.78 0.000 4 0.331 0.070 2653 1078 3629 0 0 0 0 0 0

293 -0.50 -146.0 40.0 -17.5 47 300 0.17 2.22 0.00 0.000 6 0.219 0.058 2696 2485 3630 0 0 0 0 0 0

638 -0.46 -146.0 87.4 -12.2 108 645 0.00 2.30 0.00 0.000 4 0.000 0.073 2696 3904 3630 0 0 0 0 0 0

674 -0.46 -146.0 91.7 -11.9 114 680 0.00 2.20 0.00 0.000 6 0.000 0.044 2696 2486 3630 0 0 0 0 0 0

1003 -0.46 -146.0 131.1 -12.1 151 1007 0.00 2.28 0.00 0.000 4 0.000 0.070 2696 3902 3628 0 0 0 0 0 0

1032 -0.46 -146.0 134.6 -12.2 153 1036 0.00 2.17 0.00 0.000 6 0.000 0.044 2696 2482 3628 0 0 0 0 0 0

1357 -0.46 -146.0 172.2 -11.4 183 1361 0.00 2.28 0.00 0.000 4 0.000 0.070 2696 3904 3628 0 0 0 0 0 0

1374 -0.46 -146.0 174.1 -11.1 184 1378 0.00 2.15 0.00 0.000 6 0.000 0.041 2696 2486 3628 0 0 0 0 0 0

1699 -0.46 -146.0 208.3 -9.8 214 1703 0.00 2.17 0.00 0.000 4 0.000 0.062 2696 1088 3629 0 0 0 0 0 0

1727 -0.46 -146.0 211.3 -10.7 216 1731 0.00 2.20 0.00 0.000 6 0.000 0.057 2696 2490 3628 0 0 0 0 0 0

2052 -0.46 -146.0 243.8 -9.5 246 2056 0.00 2.28 0.00 0.000 4 0.000 0.073 2696 3901 3629 0 0 0 0 0 0

2064 -0.46 -146.0 244.8 -9.2 247 2068 0.00 2.15 0.00 0.000 6 0.000 0.042 2696 2486 3628 0 0 0 0 0 0

2389 -0.46 -146.0 276.1 -9.9 277 2390 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2486 3629 0 0 0 0 0 0

2709 -0.49 -146.0 305.3 -8.6 307 2711 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2486 3630 0 0 0 0 0 0

3027 -0.51 -146.0 336.1 -9.1 337 3029 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2486 3631 0 0 0 0 0 0

3346 -0.53 -146.0 365.8 -9.0 367 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2485 3631 0 0 0 0 0 0

3664 -0.56 -146.0 392.9 -8.6 397 3668 0.00 2.17 0.00 0.000 4 0.000 0.058 2696 1076 3632 0 0 0 0 0 0

3681 -0.58 -146.0 394.5 -8.2 398 3688 0.00 2.22 0.00 0.000 6 0.000 0.054 2696 2497 3631 0 0 0 0 0 0

4006 -0.60 -146.0 422.0 -8.7 429 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2497 3632 0 0 0 0 0 0

4326 -0.63 -146.0 449.3 -8.5 459 4328 0.12 0.00 0.00 0.000 6 0.126 0.000 2654 2497 3633 0 0 0 0 0 0

4643 -0.55 -146.0 487.2 -12.0 489 4647 0.12 2.22 0.00 0.000 4 0.213 0.072 2682 3896 3633 0 0 0 0 0 0

4671 -0.52 -146.0 490.5 -10.8 491 4675 0.00 2.12 0.00 0.000 6 0.000 0.042 2682 2488 3633 0 0 0 0 0 0

4998 -0.52 -146.0 522.2 -9.9 521 4999 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2487 3634 0 0 0 0 0 0

5315 -0.52 -146.0 552.1 -9.4 551 5316 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2487 3634 0 0 0 0 0 0

5366 end dive: BOTTOM_OBSTACLE_DETECTED

state 5366 begin apogee

5371 -0.12 0.0 556.9 9.3 556 5501 0.45 0.00 120.22 1.255 6 0.188 0.000 2817 2255 3030 0 0 0 0 0 0

5502 end apogee: CONTROL_FINISHED_OK

state 5502 begin climb

5505 0.62 146.0 560.9 0.0 568 5638 0.77 2.40 122.32 1.213 4 0.140 0.063 3064 882 2432 0 0 0 0 0 0

5665 0.53 146.0 549.0 12.1 582 5673 0.00 2.35 0.00 0.000 6 0.000 0.050 3063 2270 2429 0 0 0 0 0 0

5992 0.44 146.0 508.6 12.1 613 5997 0.20 2.35 0.00 0.000 4 0.183 0.064 3010 3692 2424 0 0 0 0 0 0

6093 0.40 146.0 497.1 11.0 621 6100 0.00 2.28 0.00 0.000 6 0.000 0.049 3018 2288 2424 0 0 0 0 0 0

6419 0.40 146.1 465.1 10.0 652 6420 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2288 2423 0 0 0 0 0 0

6738 0.40 146.1 433.6 10.1 682 6742 0.00 2.25 0.00 0.000 4 0.000 0.063 3018 3688 2422 0 0 0 0 0 0

6777 0.35 146.1 429.0 12.1 685 6782 0.17 2.22 0.00 0.000 6 0.184 0.049 2985 2276 2422 0 0 0 0 0 0

7103 0.48 200.0 403.5 7.5 715 7158 0.00 2.40 44.90 1.147 4 0.000 0.064 2989 870 2213 0 0 0 0 0 0

7187 0.64 236.6 396.9 8.3 722 7228 0.22 2.28 33.17 1.118 6 0.086 0.050 3074 2278 2064 0 0 0 0 0 0

7545 0.57 236.6 341.7 16.0 756 7549 0.00 2.28 0.00 0.000 4 0.000 0.065 3074 3688 2056 0 0 0 0 0 0

7639 0.49 236.6 325.2 17.8 764 7647 0.22 2.28 0.00 0.000 6 0.181 0.050 3024 2271 2054 0 0 0 0 0 0

7965 0.53 236.6 286.9 11.1 795 7969 0.00 2.25 0.00 0.000 4 0.000 0.064 3028 859 2052 0 0 0 0 0 0

8027 0.58 236.6 280.2 11.1 800 8031 0.00 2.22 0.00 0.000 6 0.000 0.050 3029 2278 2051 0 0 0 0 0 0

8352 0.58 236.6 240.8 12.5 830 8356 0.00 2.22 0.00 0.000 4 0.000 0.063 3028 3687 2050 0 0 0 0 0 0

8436 0.58 236.6 229.4 13.4 837 8441 0.00 2.20 0.00 0.000 6 0.000 0.047 3038 2271 2049 0 0 0 0 0 0

8763 0.58 236.6 189.0 12.1 867 8767 0.00 2.20 0.00 0.000 4 0.000 0.063 3042 868 2050 0 0 0 0 0 0

8836 0.64 236.6 180.5 10.9 873 8841 0.00 2.20 0.00 0.000 6 0.000 0.048 3042 2279 2049 0 0 0 0 0 0

9167 0.64 236.6 141.0 12.1 904 9171 0.00 2.22 0.00 0.000 4 0.000 0.062 3043 3688 2049 0 0 0 0 0 0

9266 0.64 236.6 127.5 13.6 912 9274 0.00 2.20 0.00 0.000 6 0.000 0.047 3052 2277 2049 0 0 0 0 0 0

9596 0.67 236.6 89.3 10.9 951 9603 0.00 2.22 0.00 0.000 4 0.000 0.062 3059 864 2049 0 0 0 0 0 0

9645 0.72 237.6 84.4 10.0 959 9652 0.10 2.17 0.00 0.000 6 0.127 0.047 3098 2277 2048 0 0 0 0 0 0

9991 0.68 237.6 41.4 12.6 1020 9998 0.00 2.20 0.00 0.000 4 0.000 0.060 3098 3684 2048 0 0 0 0 0 0

10083 0.60 237.6 28.3 14.4 1036 10091 0.17 2.17 0.00 0.000 6 0.186 0.047 3063 2267 2048 0 0 0 0 0 0

10349 end climb: SURFACE_DEPTH_REACHED

state 10349 begin surface coast

10377 end surface coast: CONTROL_FINISHED_OK

state 10377 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	95	ESCAPE_HEADING	100	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	34	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	9	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	-24622.689	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	070311,085650,6722.860,-5753.803,181,99.0,181,-38.3	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	2.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-41.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070311,085650,6722.860,-5753.803,181,99.0,181,-38.3	MHEAD_RNG_PITCHd_Wd	166.0,60091,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	613

FREEZE	2.21,-1.197,-1.807,2,2,0	ALTIM_BOTTOM_PING	551.1,20.4
FINISH	2.2,1.026505	_24V_AH	23.1,16.487
RAFOS_CLK	592	_10V_AH	10.2,8.609
RAFOS	1,1299499743,12.166667,12.150833,60,57,55,52,51,47,154,172,121,193,210,139	FG_AHR_24Vo	0.000
RAFOS_FIX	6721.084473,-5759.121582,070311,121201,3,131,0.37	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6652.93,-5756.13,070311,080859	MEM	150596
TT8_MAMPS	0.026215	DATA_FILE_SIZE	43251,1089
HUMID	45.58	CAP_FILE_SIZE	124033,0
INTERNAL_PRESSURE	8.65268	CFSIZE	260165632,245170176
TCM_TEMP	17.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1460.8
ALTIM_TOP_PING	19.8,17.8	GPS	070311,124301,6721.084,-5759.122,0,3131.0,0,-38.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	331	115.73	SBE_CT	766	24	425.00
Roll_motor	85	73	144.75	SBE_O2	831	19	365.15
VBD_pump_during_apogee	320	1255	9297.78	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	99	103	237.58	nil	0	0	0.00
Iridium_during_connect	17	160	64.45	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	19.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	93.48
TT8	2604	19	529.25
LPSleep	5753	2	135.56
TT8_Active	448	19	91.21
TT8_Sampling	2038	39	830.19
TT8_CF8	366	45	171.49
TT8_Kalman	0	0	0.00
Analog_circuits	1394	12	170.63
GPS_charging	0	0	0.00
Compass	1721	15	263.36
RAFOS	1080	1	16.52
Transponder	16	30	5.20

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.62	-146.0	0.0	0.0	0	158	0.00	0.00	-137.35	0.000	2	0.000	0.000	115	2495	3441	0	0	0	0	0	0
160	-0.62	-146.0	6.1	-11.7	24	186	12.38	2.28	-3.78	0.000	4	0.331	0.070	2653	1078	3629	0	0	0	0	0	0
293	-0.50	-146.0	40.0	-17.5	47	300	0.17	2.22	0.00	0.000	6	0.219	0.058	2696	2485	3630	0	0	0	0	0	0
638	-0.46	-146.0	87.4	-12.2	108	645	0.00	2.30	0.00	0.000	4	0.000	0.073	2696	3904	3630	0	0	0	0	0	0
674	-0.46	-146.0	91.7	-11.9	114	680	0.00	2.20	0.00	0.000	6	0.000	0.044	2696	2486	3630	0	0	0	0	0	0
1003	-0.46	-146.0	131.1	-12.1	151	1007	0.00	2.28	0.00	0.000	4	0.000	0.070	2696	3902	3628	0	0	0	0	0	0
1032	-0.46	-146.0	134.6	-12.2	153	1036	0.00	2.17	0.00	0.000	6	0.000	0.044	2696	2482	3628	0	0	0	0	0	0
1357	-0.46	-146.0	172.2	-11.4	183	1361	0.00	2.28	0.00	0.000	4	0.000	0.070	2696	3904	3628	0	0	0	0	0	0
1374	-0.46	-146.0	174.1	-11.1	184	1378	0.00	2.15	0.00	0.000	6	0.000	0.041	2696	2486	3628	0	0	0	0	0	0
1699	-0.46	-146.0	208.3	-9.8	214	1703	0.00	2.17	0.00	0.000	4	0.000	0.062	2696	1088	3629	0	0	0	0	0	0
1727	-0.46	-146.0	211.3	-10.7	216	1731	0.00	2.20	0.00	0.000	6	0.000	0.057	2696	2490	3628	0	0	0	0	0	0
2052	-0.46	-146.0	243.8	-9.5	246	2056	0.00	2.28	0.00	0.000	4	0.000	0.073	2696	3901	3629	0	0	0	0	0	0
2064	-0.46	-146.0	244.8	-9.2	247	2068	0.00	2.15	0.00	0.000	6	0.000	0.042	2696	2486	3628	0	0	0	0	0	0
2389	-0.46	-146.0	276.1	-9.9	277	2390	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2486	3629	0	0	0	0	0	0
2709	-0.49	-146.0	305.3	-8.6	307	2711	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2486	3630	0	0	0	0	0	0
3027	-0.51	-146.0	336.1	-9.1	337	3029	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2486	3631	0	0	0	0	0	0
3346	-0.53	-146.0	365.8	-9.0	367	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2485	3631	0	0	0	0	0	0
3664	-0.56	-146.0	392.9	-8.6	397	3668	0.00	2.17	0.00	0.000	4	0.000	0.058	2696	1076	3632	0	0	0	0	0	0
3681	-0.58	-146.0	394.5	-8.2	398	3688	0.00	2.22	0.00	0.000	6	0.000	0.054	2696	2497	3631	0	0	0	0	0	0
4006	-0.60	-146.0	422.0	-8.7	429	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2497	3632	0	0	0	0	0	0
4326	-0.63	-146.0	449.3	-8.5	459	4328	0.12	0.00	0.00	0.000	6	0.126	0.000	2654	2497	3633	0	0	0	0	0	0
4643	-0.55	-146.0	487.2	-12.0	489	4647	0.12	2.22	0.00	0.000	4	0.213	0.072	2682	3896	3633	0	0	0	0	0	0
4671	-0.52	-146.0	490.5	-10.8	491	4675	0.00	2.12	0.00	0.000	6	0.000	0.042	2682	2488	3633	0	0	0	0	0	0
4998	-0.52	-146.0	522.2	-9.9	521	4999	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2487	3634	0	0	0	0	0	0
5315	-0.52	-146.0	552.1	-9.4	551	5316	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2487	3634	0	0	0	0	0	0
5366	end dive: BOTTOM_OBSTACLE_DETECTED
state	5366	begin apogee
5371	-0.12	0.0	556.9	9.3	556	5501	0.45	0.00	120.22	1.255	6	0.188	0.000	2817	2255	3030	0	0	0	0	0	0
5502	end apogee: CONTROL_FINISHED_OK
state	5502	begin climb
5505	0.62	146.0	560.9	0.0	568	5638	0.77	2.40	122.32	1.213	4	0.140	0.063	3064	882	2432	0	0	0	0	0	0
5665	0.53	146.0	549.0	12.1	582	5673	0.00	2.35	0.00	0.000	6	0.000	0.050	3063	2270	2429	0	0	0	0	0	0
5992	0.44	146.0	508.6	12.1	613	5997	0.20	2.35	0.00	0.000	4	0.183	0.064	3010	3692	2424	0	0	0	0	0	0
6093	0.40	146.0	497.1	11.0	621	6100	0.00	2.28	0.00	0.000	6	0.000	0.049	3018	2288	2424	0	0	0	0	0	0
6419	0.40	146.1	465.1	10.0	652	6420	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2288	2423	0	0	0	0	0	0
6738	0.40	146.1	433.6	10.1	682	6742	0.00	2.25	0.00	0.000	4	0.000	0.063	3018	3688	2422	0	0	0	0	0	0
6777	0.35	146.1	429.0	12.1	685	6782	0.17	2.22	0.00	0.000	6	0.184	0.049	2985	2276	2422	0	0	0	0	0	0
7103	0.48	200.0	403.5	7.5	715	7158	0.00	2.40	44.90	1.147	4	0.000	0.064	2989	870	2213	0	0	0	0	0	0
7187	0.64	236.6	396.9	8.3	722	7228	0.22	2.28	33.17	1.118	6	0.086	0.050	3074	2278	2064	0	0	0	0	0	0
7545	0.57	236.6	341.7	16.0	756	7549	0.00	2.28	0.00	0.000	4	0.000	0.065	3074	3688	2056	0	0	0	0	0	0
7639	0.49	236.6	325.2	17.8	764	7647	0.22	2.28	0.00	0.000	6	0.181	0.050	3024	2271	2054	0	0	0	0	0	0
7965	0.53	236.6	286.9	11.1	795	7969	0.00	2.25	0.00	0.000	4	0.000	0.064	3028	859	2052	0	0	0	0	0	0
8027	0.58	236.6	280.2	11.1	800	8031	0.00	2.22	0.00	0.000	6	0.000	0.050	3029	2278	2051	0	0	0	0	0	0
8352	0.58	236.6	240.8	12.5	830	8356	0.00	2.22	0.00	0.000	4	0.000	0.063	3028	3687	2050	0	0	0	0	0	0
8436	0.58	236.6	229.4	13.4	837	8441	0.00	2.20	0.00	0.000	6	0.000	0.047	3038	2271	2049	0	0	0	0	0	0
8763	0.58	236.6	189.0	12.1	867	8767	0.00	2.20	0.00	0.000	4	0.000	0.063	3042	868	2050	0	0	0	0	0	0
8836	0.64	236.6	180.5	10.9	873	8841	0.00	2.20	0.00	0.000	6	0.000	0.048	3042	2279	2049	0	0	0	0	0	0
9167	0.64	236.6	141.0	12.1	904	9171	0.00	2.22	0.00	0.000	4	0.000	0.062	3043	3688	2049	0	0	0	0	0	0
9266	0.64	236.6	127.5	13.6	912	9274	0.00	2.20	0.00	0.000	6	0.000	0.047	3052	2277	2049	0	0	0	0	0	0
9596	0.67	236.6	89.3	10.9	951	9603	0.00	2.22	0.00	0.000	4	0.000	0.062	3059	864	2049	0	0	0	0	0	0
9645	0.72	237.6	84.4	10.0	959	9652	0.10	2.17	0.00	0.000	6	0.127	0.047	3098	2277	2048	0	0	0	0	0	0
9991	0.68	237.6	41.4	12.6	1020	9998	0.00	2.20	0.00	0.000	4	0.000	0.060	3098	3684	2048	0	0	0	0	0	0
10083	0.60	237.6	28.3	14.4	1036	10091	0.17	2.17	0.00	0.000	6	0.186	0.047	3063	2267	2048	0	0	0	0	0	0
10349	end climb: SURFACE_DEPTH_REACHED
state	10349	begin surface coast
10377	end surface coast: CONTROL_FINISHED_OK
state	10377	begin surface