Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 97 * 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 97 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 33 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 33 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 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 97 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 070311,164322,6721.564,-5758.442,0,3123.3,0,-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 2.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -27.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070311,164322,6721.564,-5758.442,0,3123.3,0,-38.3 MHEAD_RNG_PITCHd_Wd 162.4,61398,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 736

Post-dive calculations and measurements:

FREEZE 6.98,-1.416,-1.825,3,4,0 ALTIM_TOP_PING 19.9,17.3

FINISH1 7.0,1.026711,39 _24V_AH 23.4,16.705

FINISH2 5.5 _10V_AH 10.3,8.734

RAFOS_CLK 527 FG_AHR_24Vo 0.000

RAFOS 0,1299528062,20.033333,20.017221,63,62,56,54,53,51,195,206,123,178,229,220 FG_AHR_10Vo 0.000

RAFOS_FIX 6719.987305,-5759.263672,070311,202056,2,123,0.20 MEM 150748

IRIDIUM_FIX 6652.93,-5756.13,070311,080859 DATA_FILE_SIZE 43404,1064

TT8_MAMPS 0.026215 CAP_FILE_SIZE 111102,0

HUMID 44.13 CFSIZE 260165632,245055488

INTERNAL_PRESSURE 8.7308 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1465.2

XPDR_PINGS 0 GPS 070311,204656,6719.987,-5759.264,0,2123.0,0,-38.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 329 121.71 SBE_CT 744 24 417.94

Roll_motor 77 71 129.73 SBE_O2 806 19 358.49

VBD_pump_during_apogee 338 1198 9481.89 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 1 420 17.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2437 19 500.12

LPSleep 5307 2 126.27

TT8_Active 529 19 108.56

TT8_Sampling 1670 39 686.98

TT8_CF8 150 45 71.24

TT8_Kalman 0 0 0.00

Analog_circuits 1430 12 176.77

GPS_charging 0 0 0.00

Compass 1662 15 256.83

RAFOS 2520 1 38.93

Transponder 14 30 4.41

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 0 201 0.00 0.00 -178.18 0.000 6 0.000 0.000 108 2483 3627 0 0 0 0 0 0

203 -0.62 -146.0 4.5 -5.3 32 223 12.38 2.28 0.00 0.000 4 0.330 0.062 2650 3896 3628 0 0 0 0 0 0

471 -0.53 -146.0 65.2 -16.4 79 478 0.15 2.17 0.00 0.000 6 0.207 0.043 2688 2478 3629 0 0 0 0 0 0

811 -0.48 -146.0 111.8 -13.2 132 815 0.00 2.17 0.00 0.000 4 0.000 0.059 2688 1077 3628 0 0 0 0 0 0

867 -0.48 -146.0 119.0 -12.1 136 874 0.00 2.20 0.00 0.000 6 0.000 0.055 2688 2488 3628 0 0 0 0 0 0

1192 -0.45 -146.0 158.3 -11.5 167 1194 0.10 0.00 0.00 0.000 6 0.236 0.000 2712 2488 3627 0 0 0 0 0 0

1511 -0.48 -146.0 187.8 -8.8 197 1515 0.00 2.25 0.00 0.000 4 0.000 0.071 2712 3904 3626 0 0 0 0 0 0

1544 -0.54 -146.0 191.0 -9.4 199 1550 0.00 2.15 0.00 0.000 6 0.000 0.041 2712 2483 3625 0 0 0 0 0 0

1871 -0.59 -146.0 219.7 -8.7 230 1873 0.12 0.00 0.00 0.000 6 0.131 0.000 2670 2483 3626 0 0 0 0 0 0

2187 -0.53 -146.0 257.9 -12.5 260 2191 0.00 2.25 0.00 0.000 4 0.000 0.067 2670 3903 3626 0 0 0 0 0 0

2218 -0.48 -146.0 261.4 -12.3 262 2223 0.12 2.15 0.00 0.000 6 0.207 0.039 2701 2485 3627 0 0 0 0 0 0

2543 -0.48 -146.0 293.3 -9.7 292 2547 0.00 2.28 0.00 0.000 4 0.000 0.067 2700 3904 3628 0 0 0 0 0 0

2565 -0.50 -146.0 295.5 -9.3 293 2572 0.00 2.12 0.00 0.000 6 0.000 0.038 2701 2487 3628 0 0 0 0 0 0

2891 -0.53 -146.0 326.5 -9.6 324 2895 0.00 2.22 0.00 0.000 4 0.000 0.065 2701 3898 3628 0 0 0 0 0 0

2901 -0.55 -146.0 327.7 -9.5 324 2908 0.00 2.10 0.00 0.000 6 0.000 0.037 2701 2487 3628 0 0 0 0 0 0

3227 -0.59 -146.0 357.7 -9.3 355 3228 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2487 3628 0 0 0 0 0 0

3547 -0.63 -146.0 386.2 -9.1 385 3549 0.12 0.00 0.00 0.000 6 0.127 0.000 2659 2488 3629 0 0 0 0 0 0

3864 -0.56 -146.0 424.0 -12.0 415 3865 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2488 3630 0 0 0 0 0 0

4184 -0.51 -146.0 463.4 -12.3 445 4186 0.15 0.00 0.00 0.000 6 0.212 0.000 2695 2488 3630 0 0 0 0 0 0

4501 -0.54 -146.0 493.2 -9.0 475 4502 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2486 3630 0 0 0 0 0 0

4821 -0.83 -146.0 515.6 -0.1 505 4823 0.30 0.00 0.00 0.000 6 0.095 0.000 2587 2485 3631 0 0 0 0 0 0

4923 end dive: NO_VERTICAL_VELOCITY

state 4923 begin apogee

4929 -0.12 0.0 515.5 0.0 515 5052 0.68 0.00 118.05 1.199 6 0.122 0.000 2818 2261 3031 0 0 0 0 0 0

5053 end apogee: CONTROL_FINISHED_OK

state 5053 begin climb

5055 0.62 146.0 515.5 0.0 526 5185 0.75 2.47 121.05 1.158 4 0.135 0.057 3050 3690 2433 0 0 0 0 0 0

5235 0.49 146.0 500.7 13.8 542 5243 0.15 2.33 0.00 0.000 6 0.188 0.042 3026 2289 2428 0 0 0 0 0 0

5561 0.44 146.0 464.8 11.0 573 5565 0.00 2.28 0.00 0.000 4 0.000 0.058 3035 871 2425 0 0 0 0 0 0

5657 0.41 146.0 454.0 10.9 581 5662 0.15 2.25 0.00 0.000 6 0.188 0.046 2999 2283 2424 0 0 0 0 0 0

5987 0.43 165.2 424.3 9.1 612 6010 0.00 2.25 15.98 1.043 4 0.000 0.058 2999 3682 2355 0 0 0 0 0 0

6106 0.43 165.2 412.1 10.7 622 6113 0.00 2.22 0.00 0.000 6 0.000 0.042 3006 2262 2354 0 0 0 0 0 0

6432 0.47 178.3 382.7 9.4 653 6454 0.00 2.22 12.30 1.008 4 0.000 0.057 3015 868 2301 0 0 0 0 0 0

6504 0.55 205.1 375.9 8.8 659 6533 0.00 2.22 23.92 1.061 6 0.000 0.045 3015 2277 2193 0 0 0 0 0 0

6851 0.55 205.1 340.6 10.2 692 6855 0.00 2.22 0.00 0.000 4 0.000 0.059 3015 3681 2188 0 0 0 0 0 0

6945 0.55 205.1 329.3 11.7 700 6952 0.00 2.22 0.00 0.000 6 0.000 0.041 3025 2275 2187 0 0 0 0 0 0

7270 0.55 205.1 293.9 11.4 731 7271 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2275 2187 0 0 0 0 0 0

7589 0.55 205.7 261.1 10.0 761 7593 0.00 2.25 0.00 0.000 4 0.000 0.057 3025 3692 2187 0 0 0 0 0 0

7651 0.55 205.7 254.1 11.5 766 7655 0.00 2.20 0.00 0.000 6 0.000 0.041 3034 2264 2187 0 0 0 0 0 0

7981 0.55 205.7 220.3 10.7 797 7982 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2264 2187 0 0 0 0 0 0

8303 0.55 205.7 184.3 12.1 827 8307 0.00 2.15 0.00 0.000 4 0.000 0.058 3043 871 2186 0 0 0 0 0 0

8354 0.55 205.7 178.1 11.4 831 8358 0.00 2.15 0.00 0.000 6 0.000 0.045 3043 2277 2185 0 0 0 0 0 0

8679 0.55 205.7 140.0 11.2 861 8683 0.00 2.17 0.00 0.000 4 0.000 0.058 3043 3682 2185 0 0 0 0 0 0

8745 0.52 205.7 131.7 12.6 866 8752 0.00 2.15 0.00 0.000 6 0.000 0.041 3052 2263 2185 0 0 0 0 0 0

9071 0.54 219.9 98.6 9.3 898 9090 0.00 2.17 12.60 0.873 4 0.000 0.056 3059 870 2134 0 0 0 0 0 0

9119 0.56 235.7 94.0 9.3 906 9144 0.00 2.17 15.43 0.895 6 0.000 0.044 3058 2285 2067 0 0 0 0 0 0

9481 0.60 243.0 58.9 9.7 970 9495 0.00 2.20 7.15 0.780 4 0.000 0.057 3059 3684 2039 0 0 0 0 0 0

9610 0.60 243.0 44.9 11.0 992 9616 0.00 2.17 0.00 0.000 6 0.000 0.042 3069 2272 2038 0 0 0 0 0 0

9955 0.63 266.6 10.0 8.9 1053 9975 0.00 2.25 11.55 0.842 4 0.000 0.060 3077 880 1942 0 0 0 0 0 0

9981 end climb: SURFACE_OBSTACLE_DETECTED

state 9981 begin subsurface finish

9989 0.05 38.7 7.0 -10.2 1057 10032 0.60 2.30 -36.00 0.000 4 0.140 0.069 2884 868 2874 0 0 0 0 0 0

10033 end subsurface finish: CONTROL_FINISHED_OK

state 10033 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	97	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	33	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	070311,164322,6721.564,-5758.442,0,3123.3,0,-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	2.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-27.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070311,164322,6721.564,-5758.442,0,3123.3,0,-38.3	MHEAD_RNG_PITCHd_Wd	162.4,61398,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	736

FREEZE	6.98,-1.416,-1.825,3,4,0	ALTIM_TOP_PING	19.9,17.3
FINISH1	7.0,1.026711,39	_24V_AH	23.4,16.705
FINISH2	5.5	_10V_AH	10.3,8.734
RAFOS_CLK	527	FG_AHR_24Vo	0.000
RAFOS	0,1299528062,20.033333,20.017221,63,62,56,54,53,51,195,206,123,178,229,220	FG_AHR_10Vo	0.000
RAFOS_FIX	6719.987305,-5759.263672,070311,202056,2,123,0.20	MEM	150748
IRIDIUM_FIX	6652.93,-5756.13,070311,080859	DATA_FILE_SIZE	43404,1064
TT8_MAMPS	0.026215	CAP_FILE_SIZE	111102,0
HUMID	44.13	CFSIZE	260165632,245055488
INTERNAL_PRESSURE	8.7308	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1465.2
XPDR_PINGS	0	GPS	070311,204656,6719.987,-5759.264,0,2123.0,0,-38.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	329	121.71	SBE_CT	744	24	417.94
Roll_motor	77	71	129.73	SBE_O2	806	19	358.49
VBD_pump_during_apogee	338	1198	9481.89	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	1	420	17.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2437	19	500.12
LPSleep	5307	2	126.27
TT8_Active	529	19	108.56
TT8_Sampling	1670	39	686.98
TT8_CF8	150	45	71.24
TT8_Kalman	0	0	0.00
Analog_circuits	1430	12	176.77
GPS_charging	0	0	0.00
Compass	1662	15	256.83
RAFOS	2520	1	38.93
Transponder	14	30	4.41

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	201	0.00	0.00	-178.18	0.000	6	0.000	0.000	108	2483	3627	0	0	0	0	0	0
203	-0.62	-146.0	4.5	-5.3	32	223	12.38	2.28	0.00	0.000	4	0.330	0.062	2650	3896	3628	0	0	0	0	0	0
471	-0.53	-146.0	65.2	-16.4	79	478	0.15	2.17	0.00	0.000	6	0.207	0.043	2688	2478	3629	0	0	0	0	0	0
811	-0.48	-146.0	111.8	-13.2	132	815	0.00	2.17	0.00	0.000	4	0.000	0.059	2688	1077	3628	0	0	0	0	0	0
867	-0.48	-146.0	119.0	-12.1	136	874	0.00	2.20	0.00	0.000	6	0.000	0.055	2688	2488	3628	0	0	0	0	0	0
1192	-0.45	-146.0	158.3	-11.5	167	1194	0.10	0.00	0.00	0.000	6	0.236	0.000	2712	2488	3627	0	0	0	0	0	0
1511	-0.48	-146.0	187.8	-8.8	197	1515	0.00	2.25	0.00	0.000	4	0.000	0.071	2712	3904	3626	0	0	0	0	0	0
1544	-0.54	-146.0	191.0	-9.4	199	1550	0.00	2.15	0.00	0.000	6	0.000	0.041	2712	2483	3625	0	0	0	0	0	0
1871	-0.59	-146.0	219.7	-8.7	230	1873	0.12	0.00	0.00	0.000	6	0.131	0.000	2670	2483	3626	0	0	0	0	0	0
2187	-0.53	-146.0	257.9	-12.5	260	2191	0.00	2.25	0.00	0.000	4	0.000	0.067	2670	3903	3626	0	0	0	0	0	0
2218	-0.48	-146.0	261.4	-12.3	262	2223	0.12	2.15	0.00	0.000	6	0.207	0.039	2701	2485	3627	0	0	0	0	0	0
2543	-0.48	-146.0	293.3	-9.7	292	2547	0.00	2.28	0.00	0.000	4	0.000	0.067	2700	3904	3628	0	0	0	0	0	0
2565	-0.50	-146.0	295.5	-9.3	293	2572	0.00	2.12	0.00	0.000	6	0.000	0.038	2701	2487	3628	0	0	0	0	0	0
2891	-0.53	-146.0	326.5	-9.6	324	2895	0.00	2.22	0.00	0.000	4	0.000	0.065	2701	3898	3628	0	0	0	0	0	0
2901	-0.55	-146.0	327.7	-9.5	324	2908	0.00	2.10	0.00	0.000	6	0.000	0.037	2701	2487	3628	0	0	0	0	0	0
3227	-0.59	-146.0	357.7	-9.3	355	3228	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2487	3628	0	0	0	0	0	0
3547	-0.63	-146.0	386.2	-9.1	385	3549	0.12	0.00	0.00	0.000	6	0.127	0.000	2659	2488	3629	0	0	0	0	0	0
3864	-0.56	-146.0	424.0	-12.0	415	3865	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2488	3630	0	0	0	0	0	0
4184	-0.51	-146.0	463.4	-12.3	445	4186	0.15	0.00	0.00	0.000	6	0.212	0.000	2695	2488	3630	0	0	0	0	0	0
4501	-0.54	-146.0	493.2	-9.0	475	4502	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2486	3630	0	0	0	0	0	0
4821	-0.83	-146.0	515.6	-0.1	505	4823	0.30	0.00	0.00	0.000	6	0.095	0.000	2587	2485	3631	0	0	0	0	0	0
4923	end dive: NO_VERTICAL_VELOCITY
state	4923	begin apogee
4929	-0.12	0.0	515.5	0.0	515	5052	0.68	0.00	118.05	1.199	6	0.122	0.000	2818	2261	3031	0	0	0	0	0	0
5053	end apogee: CONTROL_FINISHED_OK
state	5053	begin climb
5055	0.62	146.0	515.5	0.0	526	5185	0.75	2.47	121.05	1.158	4	0.135	0.057	3050	3690	2433	0	0	0	0	0	0
5235	0.49	146.0	500.7	13.8	542	5243	0.15	2.33	0.00	0.000	6	0.188	0.042	3026	2289	2428	0	0	0	0	0	0
5561	0.44	146.0	464.8	11.0	573	5565	0.00	2.28	0.00	0.000	4	0.000	0.058	3035	871	2425	0	0	0	0	0	0
5657	0.41	146.0	454.0	10.9	581	5662	0.15	2.25	0.00	0.000	6	0.188	0.046	2999	2283	2424	0	0	0	0	0	0
5987	0.43	165.2	424.3	9.1	612	6010	0.00	2.25	15.98	1.043	4	0.000	0.058	2999	3682	2355	0	0	0	0	0	0
6106	0.43	165.2	412.1	10.7	622	6113	0.00	2.22	0.00	0.000	6	0.000	0.042	3006	2262	2354	0	0	0	0	0	0
6432	0.47	178.3	382.7	9.4	653	6454	0.00	2.22	12.30	1.008	4	0.000	0.057	3015	868	2301	0	0	0	0	0	0
6504	0.55	205.1	375.9	8.8	659	6533	0.00	2.22	23.92	1.061	6	0.000	0.045	3015	2277	2193	0	0	0	0	0	0
6851	0.55	205.1	340.6	10.2	692	6855	0.00	2.22	0.00	0.000	4	0.000	0.059	3015	3681	2188	0	0	0	0	0	0
6945	0.55	205.1	329.3	11.7	700	6952	0.00	2.22	0.00	0.000	6	0.000	0.041	3025	2275	2187	0	0	0	0	0	0
7270	0.55	205.1	293.9	11.4	731	7271	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2275	2187	0	0	0	0	0	0
7589	0.55	205.7	261.1	10.0	761	7593	0.00	2.25	0.00	0.000	4	0.000	0.057	3025	3692	2187	0	0	0	0	0	0
7651	0.55	205.7	254.1	11.5	766	7655	0.00	2.20	0.00	0.000	6	0.000	0.041	3034	2264	2187	0	0	0	0	0	0
7981	0.55	205.7	220.3	10.7	797	7982	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2264	2187	0	0	0	0	0	0
8303	0.55	205.7	184.3	12.1	827	8307	0.00	2.15	0.00	0.000	4	0.000	0.058	3043	871	2186	0	0	0	0	0	0
8354	0.55	205.7	178.1	11.4	831	8358	0.00	2.15	0.00	0.000	6	0.000	0.045	3043	2277	2185	0	0	0	0	0	0
8679	0.55	205.7	140.0	11.2	861	8683	0.00	2.17	0.00	0.000	4	0.000	0.058	3043	3682	2185	0	0	0	0	0	0
8745	0.52	205.7	131.7	12.6	866	8752	0.00	2.15	0.00	0.000	6	0.000	0.041	3052	2263	2185	0	0	0	0	0	0
9071	0.54	219.9	98.6	9.3	898	9090	0.00	2.17	12.60	0.873	4	0.000	0.056	3059	870	2134	0	0	0	0	0	0
9119	0.56	235.7	94.0	9.3	906	9144	0.00	2.17	15.43	0.895	6	0.000	0.044	3058	2285	2067	0	0	0	0	0	0
9481	0.60	243.0	58.9	9.7	970	9495	0.00	2.20	7.15	0.780	4	0.000	0.057	3059	3684	2039	0	0	0	0	0	0
9610	0.60	243.0	44.9	11.0	992	9616	0.00	2.17	0.00	0.000	6	0.000	0.042	3069	2272	2038	0	0	0	0	0	0
9955	0.63	266.6	10.0	8.9	1053	9975	0.00	2.25	11.55	0.842	4	0.000	0.060	3077	880	1942	0	0	0	0	0	0
9981	end climb: SURFACE_OBSTACLE_DETECTED
state	9981	begin subsurface finish
9989	0.05	38.7	7.0	-10.2	1057	10032	0.60	2.30	-36.00	0.000	4	0.140	0.069	2884	868	2874	0	0	0	0	0	0
10033	end subsurface finish: CONTROL_FINISHED_OK
state	10033	begin surface