Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 330 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 330 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 22 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 24 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -42183.359 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 425

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -42183.359

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 22 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 330 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 182425,6709.369,-5706.823,36,1.3,36,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 6 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 183014,6709.394,-5706.847,10,1.4,10,-37.8 MHEAD_RNG_PITCHd_Wd 168.8,18041,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 517

Post-dive calculations and measurements:

FREEZE 0.88,0.019,-1.826,0,1,0 ALTIM_TOP_PING 19.6,19.0

FINISH 0.9,1.026737 ALTIM_BOTTOM_PING 350.2,176.8

SM_CCo 10678,131.88,0.717,0,0,1066,425.10 _24V_AH 22.7,62.423

SM_GC 1.36,0.00,0.00,131.88,0.000,0.000,0.717,129,2466,1066,-8.00,0.17,425.10 _10V_AH 10.1,33.020

RAFOS_CLK 654 FG_AHR_24Vo 0.000

RAFOS 0,1261080064,20.033333,20.017778,65,59,58,0,0,0,188,199,133,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.177246,-5710.703613,171209,202056,2,104,0.34 MEM 152480

IRIDIUM_FIX 6631.12,-5902.17,130399,151522 DATA_FILE_SIZE 44152,1150

TT8_MAMPS 0.027612 CAP_FILE_SIZE 131628,0

HUMID 47.04 CFSIZE 260165632,224415744

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,78,0,0

TCM_TEMP 17.30 SOUNDSPEED 1467.9

XPDR_PINGS 2 GPS 171209,213206,6708.442,-5705.278,27,1.2,27,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 287 151.64 SBE_CT 844 24 459.97

Roll_motor 131 96 289.41 SBE_O2 782 19 337.66

VBD_pump_during_apogee 289 1038 6833.62 nil 0 0 0.00

VBD_pump_during_surface 131 717 2146.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 63.16 nil 0 0 0.00

Iridium_during_connect 41 160 151.49 nil 0 0 0.00

Iridium_during_xfer 164 223 834.65

Transponder_ping 1 420 14.30

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.89

TT8 1935 19 389.48

LPSleep 6179 2 144.17

TT8_Active 580 19 116.74

TT8_Sampling 2040 39 822.57

TT8_CF8 427 45 198.11

TT8_Kalman 0 0 0.00

Analog_circuits 1620 12 196.39

GPS_charging 0 0 0.00

Compass 2009 8 162.37

RAFOS 2520 1 38.18

Transponder 10 30 3.14

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

14 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.20 0.000 2 0.000 0.000 126 2456 3146 0 0 0 0 0 0

137 -0.73 -146.0 3.3 -5.1 23 163 11.07 2.28 -6.75 0.000 4 0.288 0.097 2448 860 3399 0 0 0 0 0 0

265 -0.73 -146.0 22.4 -11.9 46 270 0.00 2.15 0.00 0.000 6 0.000 0.067 2448 2454 3401 0 0 0 0 0 0

608 -0.73 -146.0 58.2 -10.6 107 613 0.00 3.30 0.00 0.000 4 0.000 0.087 2448 3916 3401 0 0 3 0 0 0

860 -0.73 -146.0 87.1 -11.8 152 866 0.00 3.08 0.00 0.000 6 0.000 0.064 2448 2507 3400 0 0 2 0 0 0

1198 -0.78 -146.0 120.9 -10.3 194 1203 0.00 3.20 0.00 0.000 4 0.000 0.087 2448 3914 3399 0 0 2 0 0 0

1365 -0.86 -146.0 139.2 -10.8 208 1372 0.12 3.08 0.00 0.000 6 0.124 0.063 2409 2512 3398 0 0 1 0 0 0

1690 -0.81 -146.0 178.1 -11.8 239 1695 0.00 3.20 0.00 0.000 4 0.000 0.086 2408 3921 3397 0 0 2 0 0 0

1948 -0.76 -146.0 206.2 -9.7 261 1955 0.15 3.00 0.00 0.000 6 0.202 0.063 2442 2548 3397 0 0 2 0 0 0

2273 -0.85 -146.0 230.3 -7.1 292 2278 0.00 3.10 0.00 0.000 4 0.000 0.084 2442 3920 3397 0 0 3 0 0 0

2527 -0.94 -146.0 250.2 -8.3 314 2533 0.17 2.90 0.00 0.000 6 0.105 0.059 2382 2584 3397 0 0 2 0 0 0

2852 -0.84 -146.0 281.6 -9.7 344 2857 0.15 3.03 0.00 0.000 4 0.199 0.081 2413 3918 3397 0 0 3 0 0 0

3037 -0.84 -146.0 298.1 -8.8 360 3042 0.00 2.83 0.00 0.000 6 0.000 0.059 2413 2610 3397 0 0 2 0 0 0

3362 -0.84 -146.0 324.9 -8.3 390 3367 0.00 2.95 0.00 0.000 4 0.000 0.081 2413 3928 3398 0 0 3 0 0 0

3558 -0.84 -146.0 341.8 -9.0 407 3563 0.00 2.78 0.00 0.000 6 0.000 0.058 2413 2644 3399 0 0 2 0 0 0

3882 -0.84 -146.0 369.7 -8.5 437 3887 0.00 2.90 0.00 0.000 4 0.000 0.080 2413 3929 3400 0 0 2 0 0 0

4067 -0.84 -146.0 385.7 -8.4 453 4072 0.00 2.75 0.00 0.000 6 0.000 0.057 2413 2658 3399 0 0 2 0 0 0

4392 -0.84 -146.0 412.6 -8.1 483 4397 0.00 2.88 0.00 0.000 4 0.000 0.079 2413 3926 3400 0 0 2 0 0 0

4554 -0.84 -146.0 427.0 -8.7 497 4559 0.00 2.67 0.00 0.000 6 0.000 0.055 2413 2686 3401 0 0 3 0 0 0

4879 -0.84 -146.0 453.6 -7.9 527 4883 0.00 2.83 0.00 0.000 4 0.000 0.078 2413 3917 3401 0 0 1 0 0 0

4973 -0.84 -146.0 461.5 -8.2 535 4978 0.00 2.67 0.00 0.000 6 0.000 0.055 2413 2701 3401 0 0 1 0 0 0

5299 -0.84 -146.0 488.7 -8.3 565 5304 0.00 2.80 0.00 0.000 4 0.000 0.079 2413 3923 3402 0 0 2 0 0 0

5466 -0.84 -146.0 503.6 -8.9 579 5472 0.00 2.62 0.00 0.000 6 0.000 0.054 2413 2736 3402 0 0 0 0 0 0

5576 end dive: BOTTOM_OBSTACLE_DETECTED

state 5576 begin apogee

5582 -0.16 0.0 512.7 8.3 590 5709 0.75 0.00 120.50 1.039 6 0.171 0.000 2628 1942 2802 0 0 0 0 0 0

5710 end apogee: CONTROL_FINISHED_OK

state 5710 begin climb

5712 0.73 146.0 515.4 0.0 603 5845 0.95 0.00 123.80 0.994 6 0.123 0.000 2917 1942 2202 0 0 0 0 0 0

6162 0.73 146.0 471.0 10.5 646 6167 0.00 3.53 0.00 0.000 4 0.000 0.071 2918 3549 2195 0 0 3 0 0 0

6297 0.61 146.0 454.2 13.2 657 6303 0.17 3.45 0.00 0.000 6 0.207 0.066 2894 1967 2194 0 0 2 0 0 0

6621 0.61 146.0 419.7 10.6 688 6626 0.00 3.42 0.00 0.000 4 0.000 0.072 2894 3549 2194 0 0 3 0 0 0

6716 0.61 146.0 408.5 11.9 696 6721 0.00 3.42 0.00 0.000 6 0.000 0.066 2907 1974 2192 0 0 1 0 0 0

7040 0.61 146.0 372.5 10.9 726 7045 0.00 3.45 0.00 0.000 4 0.000 0.073 2908 3547 2193 0 0 1 0 0 0

7175 0.54 146.0 356.4 11.9 737 7182 0.22 3.40 0.00 0.000 6 0.196 0.066 2869 1988 2193 0 0 1 0 0 0

7500 0.66 154.5 327.3 8.8 768 7515 0.10 3.38 6.30 0.755 4 0.132 0.072 2903 3543 2171 0 0 3 0 0 0

7648 0.61 154.5 309.3 12.7 781 7654 0.00 3.35 0.00 0.000 6 0.000 0.066 2918 2005 2170 0 0 2 0 0 0

7973 0.61 154.5 271.1 11.7 812 7979 0.00 3.38 0.00 0.000 4 0.000 0.074 2918 3542 2171 0 0 2 0 0 0

8062 0.52 154.5 259.7 12.7 819 8069 0.30 3.33 0.00 0.000 6 0.193 0.065 2859 2023 2170 0 0 2 0 0 0

8387 0.70 170.8 231.1 8.5 850 8412 0.17 3.35 15.57 0.819 4 0.104 0.072 2920 3542 2102 0 0 2 0 0 0

8512 0.61 170.8 215.3 13.8 861 8519 0.20 3.30 0.00 0.000 6 0.194 0.064 2888 2039 2099 0 0 3 0 0 0

8837 0.70 170.8 181.7 10.3 892 8842 0.00 3.35 0.00 0.000 4 0.000 0.071 2887 3544 2099 0 0 1 0 0 0

8944 0.76 170.8 169.8 11.5 901 8950 0.10 3.25 0.00 0.000 6 0.122 0.064 2935 2059 2099 0 0 3 0 0 0

9268 0.76 170.8 130.7 12.0 931 9274 0.00 3.30 0.00 0.000 4 0.000 0.072 2935 3544 2098 0 0 2 0 0 0

9410 0.70 170.8 113.9 11.8 943 9416 0.15 3.25 0.00 0.000 6 0.202 0.064 2917 2083 2098 0 0 1 0 0 0

9747 0.83 198.7 87.1 8.0 988 9779 0.12 3.30 23.70 0.756 4 0.119 0.072 2960 3547 1988 0 0 2 0 0 0

9869 0.74 198.7 73.5 11.8 1010 9875 0.17 3.28 0.00 0.000 6 0.199 0.064 2936 2089 1985 0 0 1 0 0 0

10215 0.81 198.7 42.7 10.0 1071 10221 0.00 3.28 0.00 0.000 4 0.000 0.074 2935 3543 1984 0 0 2 0 0 0

10313 0.81 198.7 32.9 10.1 1088 10318 0.00 3.25 0.00 0.000 6 0.000 0.066 2947 2098 1984 0 0 1 0 0 0

10643 end climb: SURFACE_DEPTH_REACHED

state 10643 begin surface coast

10661 end surface coast: CONTROL_FINISHED_OK

state 10661 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	330	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	22	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	24	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-42183.359	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	182425,6709.369,-5706.823,36,1.3,36,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	6	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	183014,6709.394,-5706.847,10,1.4,10,-37.8	MHEAD_RNG_PITCHd_Wd	168.8,18041,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	517

FREEZE	0.88,0.019,-1.826,0,1,0	ALTIM_TOP_PING	19.6,19.0
FINISH	0.9,1.026737	ALTIM_BOTTOM_PING	350.2,176.8
SM_CCo	10678,131.88,0.717,0,0,1066,425.10	_24V_AH	22.7,62.423
SM_GC	1.36,0.00,0.00,131.88,0.000,0.000,0.717,129,2466,1066,-8.00,0.17,425.10	_10V_AH	10.1,33.020
RAFOS_CLK	654	FG_AHR_24Vo	0.000
RAFOS	0,1261080064,20.033333,20.017778,65,59,58,0,0,0,188,199,133,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.177246,-5710.703613,171209,202056,2,104,0.34	MEM	152480
IRIDIUM_FIX	6631.12,-5902.17,130399,151522	DATA_FILE_SIZE	44152,1150
TT8_MAMPS	0.027612	CAP_FILE_SIZE	131628,0
HUMID	47.04	CFSIZE	260165632,224415744
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,78,0,0
TCM_TEMP	17.30	SOUNDSPEED	1467.9
XPDR_PINGS	2	GPS	171209,213206,6708.442,-5705.278,27,1.2,27,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	287	151.64	SBE_CT	844	24	459.97
Roll_motor	131	96	289.41	SBE_O2	782	19	337.66
VBD_pump_during_apogee	289	1038	6833.62	nil	0	0	0.00
VBD_pump_during_surface	131	717	2146.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	63.16	nil	0	0	0.00
Iridium_during_connect	41	160	151.49	nil	0	0	0.00
Iridium_during_xfer	164	223	834.65
Transponder_ping	1	420	14.30
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.89
TT8	1935	19	389.48
LPSleep	6179	2	144.17
TT8_Active	580	19	116.74
TT8_Sampling	2040	39	822.57
TT8_CF8	427	45	198.11
TT8_Kalman	0	0	0.00
Analog_circuits	1620	12	196.39
GPS_charging	0	0	0.00
Compass	2009	8	162.37
RAFOS	2520	1	38.18
Transponder	10	30	3.14

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
14	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.20	0.000	2	0.000	0.000	126	2456	3146	0	0	0	0	0	0
137	-0.73	-146.0	3.3	-5.1	23	163	11.07	2.28	-6.75	0.000	4	0.288	0.097	2448	860	3399	0	0	0	0	0	0
265	-0.73	-146.0	22.4	-11.9	46	270	0.00	2.15	0.00	0.000	6	0.000	0.067	2448	2454	3401	0	0	0	0	0	0
608	-0.73	-146.0	58.2	-10.6	107	613	0.00	3.30	0.00	0.000	4	0.000	0.087	2448	3916	3401	0	0	3	0	0	0
860	-0.73	-146.0	87.1	-11.8	152	866	0.00	3.08	0.00	0.000	6	0.000	0.064	2448	2507	3400	0	0	2	0	0	0
1198	-0.78	-146.0	120.9	-10.3	194	1203	0.00	3.20	0.00	0.000	4	0.000	0.087	2448	3914	3399	0	0	2	0	0	0
1365	-0.86	-146.0	139.2	-10.8	208	1372	0.12	3.08	0.00	0.000	6	0.124	0.063	2409	2512	3398	0	0	1	0	0	0
1690	-0.81	-146.0	178.1	-11.8	239	1695	0.00	3.20	0.00	0.000	4	0.000	0.086	2408	3921	3397	0	0	2	0	0	0
1948	-0.76	-146.0	206.2	-9.7	261	1955	0.15	3.00	0.00	0.000	6	0.202	0.063	2442	2548	3397	0	0	2	0	0	0
2273	-0.85	-146.0	230.3	-7.1	292	2278	0.00	3.10	0.00	0.000	4	0.000	0.084	2442	3920	3397	0	0	3	0	0	0
2527	-0.94	-146.0	250.2	-8.3	314	2533	0.17	2.90	0.00	0.000	6	0.105	0.059	2382	2584	3397	0	0	2	0	0	0
2852	-0.84	-146.0	281.6	-9.7	344	2857	0.15	3.03	0.00	0.000	4	0.199	0.081	2413	3918	3397	0	0	3	0	0	0
3037	-0.84	-146.0	298.1	-8.8	360	3042	0.00	2.83	0.00	0.000	6	0.000	0.059	2413	2610	3397	0	0	2	0	0	0
3362	-0.84	-146.0	324.9	-8.3	390	3367	0.00	2.95	0.00	0.000	4	0.000	0.081	2413	3928	3398	0	0	3	0	0	0
3558	-0.84	-146.0	341.8	-9.0	407	3563	0.00	2.78	0.00	0.000	6	0.000	0.058	2413	2644	3399	0	0	2	0	0	0
3882	-0.84	-146.0	369.7	-8.5	437	3887	0.00	2.90	0.00	0.000	4	0.000	0.080	2413	3929	3400	0	0	2	0	0	0
4067	-0.84	-146.0	385.7	-8.4	453	4072	0.00	2.75	0.00	0.000	6	0.000	0.057	2413	2658	3399	0	0	2	0	0	0
4392	-0.84	-146.0	412.6	-8.1	483	4397	0.00	2.88	0.00	0.000	4	0.000	0.079	2413	3926	3400	0	0	2	0	0	0
4554	-0.84	-146.0	427.0	-8.7	497	4559	0.00	2.67	0.00	0.000	6	0.000	0.055	2413	2686	3401	0	0	3	0	0	0
4879	-0.84	-146.0	453.6	-7.9	527	4883	0.00	2.83	0.00	0.000	4	0.000	0.078	2413	3917	3401	0	0	1	0	0	0
4973	-0.84	-146.0	461.5	-8.2	535	4978	0.00	2.67	0.00	0.000	6	0.000	0.055	2413	2701	3401	0	0	1	0	0	0
5299	-0.84	-146.0	488.7	-8.3	565	5304	0.00	2.80	0.00	0.000	4	0.000	0.079	2413	3923	3402	0	0	2	0	0	0
5466	-0.84	-146.0	503.6	-8.9	579	5472	0.00	2.62	0.00	0.000	6	0.000	0.054	2413	2736	3402	0	0	0	0	0	0
5576	end dive: BOTTOM_OBSTACLE_DETECTED
state	5576	begin apogee
5582	-0.16	0.0	512.7	8.3	590	5709	0.75	0.00	120.50	1.039	6	0.171	0.000	2628	1942	2802	0	0	0	0	0	0
5710	end apogee: CONTROL_FINISHED_OK
state	5710	begin climb
5712	0.73	146.0	515.4	0.0	603	5845	0.95	0.00	123.80	0.994	6	0.123	0.000	2917	1942	2202	0	0	0	0	0	0
6162	0.73	146.0	471.0	10.5	646	6167	0.00	3.53	0.00	0.000	4	0.000	0.071	2918	3549	2195	0	0	3	0	0	0
6297	0.61	146.0	454.2	13.2	657	6303	0.17	3.45	0.00	0.000	6	0.207	0.066	2894	1967	2194	0	0	2	0	0	0
6621	0.61	146.0	419.7	10.6	688	6626	0.00	3.42	0.00	0.000	4	0.000	0.072	2894	3549	2194	0	0	3	0	0	0
6716	0.61	146.0	408.5	11.9	696	6721	0.00	3.42	0.00	0.000	6	0.000	0.066	2907	1974	2192	0	0	1	0	0	0
7040	0.61	146.0	372.5	10.9	726	7045	0.00	3.45	0.00	0.000	4	0.000	0.073	2908	3547	2193	0	0	1	0	0	0
7175	0.54	146.0	356.4	11.9	737	7182	0.22	3.40	0.00	0.000	6	0.196	0.066	2869	1988	2193	0	0	1	0	0	0
7500	0.66	154.5	327.3	8.8	768	7515	0.10	3.38	6.30	0.755	4	0.132	0.072	2903	3543	2171	0	0	3	0	0	0
7648	0.61	154.5	309.3	12.7	781	7654	0.00	3.35	0.00	0.000	6	0.000	0.066	2918	2005	2170	0	0	2	0	0	0
7973	0.61	154.5	271.1	11.7	812	7979	0.00	3.38	0.00	0.000	4	0.000	0.074	2918	3542	2171	0	0	2	0	0	0
8062	0.52	154.5	259.7	12.7	819	8069	0.30	3.33	0.00	0.000	6	0.193	0.065	2859	2023	2170	0	0	2	0	0	0
8387	0.70	170.8	231.1	8.5	850	8412	0.17	3.35	15.57	0.819	4	0.104	0.072	2920	3542	2102	0	0	2	0	0	0
8512	0.61	170.8	215.3	13.8	861	8519	0.20	3.30	0.00	0.000	6	0.194	0.064	2888	2039	2099	0	0	3	0	0	0
8837	0.70	170.8	181.7	10.3	892	8842	0.00	3.35	0.00	0.000	4	0.000	0.071	2887	3544	2099	0	0	1	0	0	0
8944	0.76	170.8	169.8	11.5	901	8950	0.10	3.25	0.00	0.000	6	0.122	0.064	2935	2059	2099	0	0	3	0	0	0
9268	0.76	170.8	130.7	12.0	931	9274	0.00	3.30	0.00	0.000	4	0.000	0.072	2935	3544	2098	0	0	2	0	0	0
9410	0.70	170.8	113.9	11.8	943	9416	0.15	3.25	0.00	0.000	6	0.202	0.064	2917	2083	2098	0	0	1	0	0	0
9747	0.83	198.7	87.1	8.0	988	9779	0.12	3.30	23.70	0.756	4	0.119	0.072	2960	3547	1988	0	0	2	0	0	0
9869	0.74	198.7	73.5	11.8	1010	9875	0.17	3.28	0.00	0.000	6	0.199	0.064	2936	2089	1985	0	0	1	0	0	0
10215	0.81	198.7	42.7	10.0	1071	10221	0.00	3.28	0.00	0.000	4	0.000	0.074	2935	3543	1984	0	0	2	0	0	0
10313	0.81	198.7	32.9	10.1	1088	10318	0.00	3.25	0.00	0.000	6	0.000	0.066	2947	2098	1984	0	0	1	0	0	0
10643	end climb: SURFACE_DEPTH_REACHED
state	10643	begin surface coast
10661	end surface coast: CONTROL_FINISHED_OK
state	10661	begin surface