Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 614 * 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 614 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 400 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -48069.07 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 400

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 -48069.07

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 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 614 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 140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8 MHEAD_RNG_PITCHd_Wd 167.4,12903,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 502

Post-dive calculations and measurements:

FREEZE 8.32,-1.751,-1.833,2,9,0 ALTIM_BOTTOM_PING 400.8,68.1

FINISH1 8.3,1.026826,33 _24V_AH 22.2,81.089

FINISH2 6.2 _10V_AH 10.0,41.872

RAFOS_CLK 454 FG_AHR_24Vo 0.000

RAFOS_FIX 6707.437500,-5701.775879,140511,040455,5,108,0.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 MEM 150584

TT8_MAMPS 0.026215 DATA_FILE_SIZE 36756,926

HUMID 46.10 CAP_FILE_SIZE 102490,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,213712896

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 31 SOUNDSPEED 1465.4

ALTIM_TOP_PING 19.4,18.3 GPS 140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 220 18.22 SBE_CT 652 24 347.81

Roll_motor 95 78 167.05 SBE_O2 692 19 292.24

VBD_pump_during_apogee 342 1161 8825.20 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 9 420 83.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2215 19 441.37

LPSleep 4523 2 104.50

TT8_Active 395 19 78.86

TT8_Sampling 1502 39 599.63

TT8_CF8 184 45 84.95

TT8_Kalman 0 0 0.00

Analog_circuits 1211 12 145.36

GPS_charging 0 0 0.00

Compass 1492 15 223.84

RAFOS 0 0 0.00

Transponder 12 30 3.69

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 25 0.00 0.00 -6.43 0.000 2 0.000 0.000 2880 865 3173 0 0 0 0 0 0

28 -0.62 -146.0 12.1 -0.0 1 48 0.57 5.00 -10.30 0.000 4 0.096 0.073 2671 3896 3629 0 0 0 0 0 0

258 -0.58 -146.0 42.3 -14.2 41 265 0.00 2.17 0.00 0.000 6 0.000 0.047 2671 2486 3629 0 0 0 0 0 0

604 -0.50 -146.0 97.1 -15.3 102 611 0.12 2.22 0.00 0.000 4 0.220 0.063 2699 1086 3629 0 0 0 0 0 0

619 -0.42 -146.0 99.7 -15.1 104 626 0.00 2.25 0.00 0.000 6 0.000 0.060 2699 2496 3628 0 0 0 0 0 0

945 -0.42 -146.0 133.3 -9.2 135 949 0.00 2.30 0.00 0.000 4 0.000 0.079 2699 3903 3627 0 0 0 0 0 0

962 -0.42 -146.0 134.9 -8.9 136 966 0.00 2.20 0.00 0.000 6 0.000 0.048 2699 2488 3627 0 0 0 0 0 0

1289 -0.46 -146.0 163.7 -9.1 166 1293 0.00 2.22 0.00 0.000 4 0.000 0.064 2699 1082 3626 0 0 0 0 0 0

1301 -0.48 -146.0 165.0 -9.2 166 1307 0.00 2.28 0.00 0.000 6 0.000 0.061 2699 2490 3625 0 0 0 0 0 0

1627 -0.53 -146.0 193.1 -8.6 197 1628 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2491 3624 0 0 0 0 0 0

1948 -0.57 -146.0 221.9 -9.0 227 1952 0.00 2.25 0.00 0.000 4 0.000 0.062 2699 1085 3623 0 0 0 0 0 0

1978 -0.63 -146.0 224.8 -9.5 229 1982 0.12 2.28 0.00 0.000 6 0.125 0.061 2656 2493 3623 0 0 0 0 0 0

2303 -0.58 -146.0 262.8 -11.7 259 2307 0.00 2.30 0.00 0.000 4 0.000 0.076 2656 3905 3623 0 0 0 0 0 0

2321 -0.53 -146.0 265.0 -11.9 260 2326 0.15 2.20 0.00 0.000 6 0.192 0.046 2692 2484 3623 0 0 0 0 0 0

2647 -0.57 -146.0 293.0 -7.8 290 2652 0.00 2.20 0.00 0.000 4 0.000 0.060 2692 1079 3624 0 0 0 0 0 0

2659 -0.61 -146.0 294.0 -7.7 290 2665 0.00 2.28 0.00 0.000 6 0.000 0.066 2692 2499 3623 0 0 0 0 0 0

2985 -0.65 -146.0 318.7 -7.6 321 2987 0.12 0.00 0.00 0.000 6 0.119 0.000 2646 2499 3624 0 0 0 0 0 0

3304 -0.58 -146.0 354.3 -11.8 351 3308 0.12 2.30 0.00 0.000 4 0.203 0.073 2674 3906 3624 0 0 0 0 0 0

3322 -0.53 -146.0 356.5 -11.7 352 3326 0.00 2.20 0.00 0.000 6 0.000 0.044 2675 2475 3625 0 0 0 0 0 0

3648 -0.53 -146.0 386.5 -8.7 382 3649 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2474 3625 0 0 0 0 0 0

3966 -0.53 -146.0 414.9 -8.7 412 3969 0.00 2.17 0.00 0.000 4 0.000 0.057 2674 1083 3626 0 0 0 0 0 0

3978 -0.53 -146.0 416.0 -8.7 413 3982 0.00 2.22 0.00 0.000 6 0.000 0.056 2675 2492 3626 0 0 0 0 0 0

4304 -0.53 -146.0 444.0 -8.9 443 4308 0.00 2.28 0.00 0.000 4 0.000 0.071 2674 3899 3626 0 0 0 0 0 0

4314 -0.53 -146.0 445.1 -8.7 443 4321 0.00 2.17 0.00 0.000 6 0.000 0.041 2674 2486 3626 0 0 0 0 0 0

4414 end dive: BOTTOM_OBSTACLE_DETECTED

state 4414 begin apogee

4421 -0.12 0.0 454.1 8.9 453 4553 0.47 0.00 121.03 1.161 6 0.182 0.000 2813 2252 3029 0 0 0 0 0 0

4554 end apogee: CONTROL_FINISHED_OK

state 4554 begin climb

4557 0.62 146.0 457.6 0.0 465 4693 0.77 2.47 125.62 1.116 4 0.129 0.066 3065 896 2433 0 0 0 0 0 0

4734 0.58 146.0 444.7 11.1 481 4739 0.00 2.38 0.00 0.000 6 0.000 0.051 3064 2282 2429 0 0 0 0 0 0

5066 0.52 146.0 405.7 12.0 512 5070 0.00 2.30 0.00 0.000 4 0.000 0.067 3063 3696 2427 0 0 0 0 0 0

5215 0.41 146.0 385.3 13.8 524 5223 0.28 2.20 0.00 0.000 6 0.177 0.050 2999 2295 2427 0 0 0 0 0 0

5541 0.55 205.0 360.0 7.3 555 5597 0.12 2.42 49.95 1.066 4 0.099 0.065 3072 860 2193 0 0 0 0 0 0

5637 0.55 205.0 349.1 11.8 563 5644 0.00 2.30 0.00 0.000 6 0.000 0.051 3072 2288 2190 0 0 0 0 0 0

5963 0.50 205.0 303.5 14.3 594 5968 0.17 2.25 0.00 0.000 4 0.174 0.065 3024 3691 2187 0 0 0 0 0 0

6064 0.52 205.0 291.2 11.8 602 6071 0.00 2.25 0.00 0.000 6 0.000 0.049 3032 2265 2186 0 0 0 0 0 0

6391 0.55 205.2 257.8 10.0 633 6395 0.00 2.20 0.00 0.000 4 0.000 0.063 3042 867 2186 0 0 0 0 0 0

6447 0.61 209.4 252.1 9.8 637 6457 0.00 2.22 4.25 0.652 6 0.000 0.050 3042 2289 2175 0 0 0 0 0 0

6784 0.61 209.4 215.3 11.1 669 6788 0.00 2.20 0.00 0.000 4 0.000 0.063 3042 3684 2175 0 0 0 0 0 0

6884 0.61 209.4 202.2 12.9 677 6891 0.00 2.22 0.00 0.000 6 0.000 0.054 3052 2273 2174 0 0 0 0 0 0

7210 0.61 209.4 164.3 11.0 708 7214 0.00 2.22 0.00 0.000 4 0.000 0.062 3061 860 2174 0 0 0 0 0 0

7272 0.65 209.4 157.7 10.2 713 7277 0.00 2.20 0.00 0.000 6 0.000 0.049 3061 2278 2173 0 0 0 0 0 0

7598 0.65 209.4 123.5 10.1 743 7602 0.00 2.25 0.00 0.000 4 0.000 0.064 3061 3688 2173 0 0 0 0 0 0

7694 0.63 209.4 112.4 12.8 751 7698 0.00 2.20 0.00 0.000 6 0.000 0.048 3072 2272 2173 0 0 0 0 0 0

8031 0.67 242.0 79.5 8.5 800 8067 0.00 2.30 29.92 0.914 4 0.000 0.061 3081 859 2042 0 0 0 0 0 0

8109 0.73 253.7 72.3 9.5 813 8128 0.00 2.25 11.55 0.845 6 0.000 0.050 3081 2277 1994 0 0 0 0 0 0

8469 0.77 253.7 35.4 10.0 876 8475 0.00 2.28 0.00 0.000 4 0.000 0.067 3081 3681 1991 0 0 0 0 0 0

8573 0.77 253.7 23.5 11.8 894 8580 0.00 2.22 0.00 0.000 6 0.000 0.050 3090 2278 1990 0 0 0 0 0 0

8716 end climb: FINISH_DEPTH_REACHED

state 8716 begin subsurface finish

8723 0.04 33.0 8.3 -11.5 919 8766 0.68 2.33 -31.85 0.000 4 0.160 0.075 2885 857 2899 0 0 0 0 0 0

8766 end subsurface finish: CONTROL_FINISHED_OK

state 8766 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	614	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	400	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-48069.07	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	140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8	MHEAD_RNG_PITCHd_Wd	167.4,12903,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	502

FREEZE	8.32,-1.751,-1.833,2,9,0	ALTIM_BOTTOM_PING	400.8,68.1
FINISH1	8.3,1.026826,33	_24V_AH	22.2,81.089
FINISH2	6.2	_10V_AH	10.0,41.872
RAFOS_CLK	454	FG_AHR_24Vo	0.000
RAFOS_FIX	6707.437500,-5701.775879,140511,040455,5,108,0.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	MEM	150584
TT8_MAMPS	0.026215	DATA_FILE_SIZE	36756,926
HUMID	46.10	CAP_FILE_SIZE	102490,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,213712896
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	31	SOUNDSPEED	1465.4
ALTIM_TOP_PING	19.4,18.3	GPS	140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	220	18.22	SBE_CT	652	24	347.81
Roll_motor	95	78	167.05	SBE_O2	692	19	292.24
VBD_pump_during_apogee	342	1161	8825.20	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	9	420	83.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2215	19	441.37
LPSleep	4523	2	104.50
TT8_Active	395	19	78.86
TT8_Sampling	1502	39	599.63
TT8_CF8	184	45	84.95
TT8_Kalman	0	0	0.00
Analog_circuits	1211	12	145.36
GPS_charging	0	0	0.00
Compass	1492	15	223.84
RAFOS	0	0	0.00
Transponder	12	30	3.69

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	25	0.00	0.00	-6.43	0.000	2	0.000	0.000	2880	865	3173	0	0	0	0	0	0
28	-0.62	-146.0	12.1	-0.0	1	48	0.57	5.00	-10.30	0.000	4	0.096	0.073	2671	3896	3629	0	0	0	0	0	0
258	-0.58	-146.0	42.3	-14.2	41	265	0.00	2.17	0.00	0.000	6	0.000	0.047	2671	2486	3629	0	0	0	0	0	0
604	-0.50	-146.0	97.1	-15.3	102	611	0.12	2.22	0.00	0.000	4	0.220	0.063	2699	1086	3629	0	0	0	0	0	0
619	-0.42	-146.0	99.7	-15.1	104	626	0.00	2.25	0.00	0.000	6	0.000	0.060	2699	2496	3628	0	0	0	0	0	0
945	-0.42	-146.0	133.3	-9.2	135	949	0.00	2.30	0.00	0.000	4	0.000	0.079	2699	3903	3627	0	0	0	0	0	0
962	-0.42	-146.0	134.9	-8.9	136	966	0.00	2.20	0.00	0.000	6	0.000	0.048	2699	2488	3627	0	0	0	0	0	0
1289	-0.46	-146.0	163.7	-9.1	166	1293	0.00	2.22	0.00	0.000	4	0.000	0.064	2699	1082	3626	0	0	0	0	0	0
1301	-0.48	-146.0	165.0	-9.2	166	1307	0.00	2.28	0.00	0.000	6	0.000	0.061	2699	2490	3625	0	0	0	0	0	0
1627	-0.53	-146.0	193.1	-8.6	197	1628	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2491	3624	0	0	0	0	0	0
1948	-0.57	-146.0	221.9	-9.0	227	1952	0.00	2.25	0.00	0.000	4	0.000	0.062	2699	1085	3623	0	0	0	0	0	0
1978	-0.63	-146.0	224.8	-9.5	229	1982	0.12	2.28	0.00	0.000	6	0.125	0.061	2656	2493	3623	0	0	0	0	0	0
2303	-0.58	-146.0	262.8	-11.7	259	2307	0.00	2.30	0.00	0.000	4	0.000	0.076	2656	3905	3623	0	0	0	0	0	0
2321	-0.53	-146.0	265.0	-11.9	260	2326	0.15	2.20	0.00	0.000	6	0.192	0.046	2692	2484	3623	0	0	0	0	0	0
2647	-0.57	-146.0	293.0	-7.8	290	2652	0.00	2.20	0.00	0.000	4	0.000	0.060	2692	1079	3624	0	0	0	0	0	0
2659	-0.61	-146.0	294.0	-7.7	290	2665	0.00	2.28	0.00	0.000	6	0.000	0.066	2692	2499	3623	0	0	0	0	0	0
2985	-0.65	-146.0	318.7	-7.6	321	2987	0.12	0.00	0.00	0.000	6	0.119	0.000	2646	2499	3624	0	0	0	0	0	0
3304	-0.58	-146.0	354.3	-11.8	351	3308	0.12	2.30	0.00	0.000	4	0.203	0.073	2674	3906	3624	0	0	0	0	0	0
3322	-0.53	-146.0	356.5	-11.7	352	3326	0.00	2.20	0.00	0.000	6	0.000	0.044	2675	2475	3625	0	0	0	0	0	0
3648	-0.53	-146.0	386.5	-8.7	382	3649	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2474	3625	0	0	0	0	0	0
3966	-0.53	-146.0	414.9	-8.7	412	3969	0.00	2.17	0.00	0.000	4	0.000	0.057	2674	1083	3626	0	0	0	0	0	0
3978	-0.53	-146.0	416.0	-8.7	413	3982	0.00	2.22	0.00	0.000	6	0.000	0.056	2675	2492	3626	0	0	0	0	0	0
4304	-0.53	-146.0	444.0	-8.9	443	4308	0.00	2.28	0.00	0.000	4	0.000	0.071	2674	3899	3626	0	0	0	0	0	0
4314	-0.53	-146.0	445.1	-8.7	443	4321	0.00	2.17	0.00	0.000	6	0.000	0.041	2674	2486	3626	0	0	0	0	0	0
4414	end dive: BOTTOM_OBSTACLE_DETECTED
state	4414	begin apogee
4421	-0.12	0.0	454.1	8.9	453	4553	0.47	0.00	121.03	1.161	6	0.182	0.000	2813	2252	3029	0	0	0	0	0	0
4554	end apogee: CONTROL_FINISHED_OK
state	4554	begin climb
4557	0.62	146.0	457.6	0.0	465	4693	0.77	2.47	125.62	1.116	4	0.129	0.066	3065	896	2433	0	0	0	0	0	0
4734	0.58	146.0	444.7	11.1	481	4739	0.00	2.38	0.00	0.000	6	0.000	0.051	3064	2282	2429	0	0	0	0	0	0
5066	0.52	146.0	405.7	12.0	512	5070	0.00	2.30	0.00	0.000	4	0.000	0.067	3063	3696	2427	0	0	0	0	0	0
5215	0.41	146.0	385.3	13.8	524	5223	0.28	2.20	0.00	0.000	6	0.177	0.050	2999	2295	2427	0	0	0	0	0	0
5541	0.55	205.0	360.0	7.3	555	5597	0.12	2.42	49.95	1.066	4	0.099	0.065	3072	860	2193	0	0	0	0	0	0
5637	0.55	205.0	349.1	11.8	563	5644	0.00	2.30	0.00	0.000	6	0.000	0.051	3072	2288	2190	0	0	0	0	0	0
5963	0.50	205.0	303.5	14.3	594	5968	0.17	2.25	0.00	0.000	4	0.174	0.065	3024	3691	2187	0	0	0	0	0	0
6064	0.52	205.0	291.2	11.8	602	6071	0.00	2.25	0.00	0.000	6	0.000	0.049	3032	2265	2186	0	0	0	0	0	0
6391	0.55	205.2	257.8	10.0	633	6395	0.00	2.20	0.00	0.000	4	0.000	0.063	3042	867	2186	0	0	0	0	0	0
6447	0.61	209.4	252.1	9.8	637	6457	0.00	2.22	4.25	0.652	6	0.000	0.050	3042	2289	2175	0	0	0	0	0	0
6784	0.61	209.4	215.3	11.1	669	6788	0.00	2.20	0.00	0.000	4	0.000	0.063	3042	3684	2175	0	0	0	0	0	0
6884	0.61	209.4	202.2	12.9	677	6891	0.00	2.22	0.00	0.000	6	0.000	0.054	3052	2273	2174	0	0	0	0	0	0
7210	0.61	209.4	164.3	11.0	708	7214	0.00	2.22	0.00	0.000	4	0.000	0.062	3061	860	2174	0	0	0	0	0	0
7272	0.65	209.4	157.7	10.2	713	7277	0.00	2.20	0.00	0.000	6	0.000	0.049	3061	2278	2173	0	0	0	0	0	0
7598	0.65	209.4	123.5	10.1	743	7602	0.00	2.25	0.00	0.000	4	0.000	0.064	3061	3688	2173	0	0	0	0	0	0
7694	0.63	209.4	112.4	12.8	751	7698	0.00	2.20	0.00	0.000	6	0.000	0.048	3072	2272	2173	0	0	0	0	0	0
8031	0.67	242.0	79.5	8.5	800	8067	0.00	2.30	29.92	0.914	4	0.000	0.061	3081	859	2042	0	0	0	0	0	0
8109	0.73	253.7	72.3	9.5	813	8128	0.00	2.25	11.55	0.845	6	0.000	0.050	3081	2277	1994	0	0	0	0	0	0
8469	0.77	253.7	35.4	10.0	876	8475	0.00	2.28	0.00	0.000	4	0.000	0.067	3081	3681	1991	0	0	0	0	0	0
8573	0.77	253.7	23.5	11.8	894	8580	0.00	2.22	0.00	0.000	6	0.000	0.050	3090	2278	1990	0	0	0	0	0	0
8716	end climb: FINISH_DEPTH_REACHED
state	8716	begin subsurface finish
8723	0.04	33.0	8.3	-11.5	919	8766	0.68	2.33	-31.85	0.000	4	0.160	0.075	2885	857	2899	0	0	0	0	0	0
8766	end subsurface finish: CONTROL_FINISHED_OK
state	8766	begin surface