Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 634 * 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 634 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 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -48258.941 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 -48258.941

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 28 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 634 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 160511,043329,6706.517,-5701.266,0,5097.6,0,-37.6 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 10.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160511,043329,6706.517,-5701.266,0,5097.6,0,-37.6 MHEAD_RNG_PITCHd_Wd 161.8,11584,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 532

Post-dive calculations and measurements:

FREEZE 1.57,-1.702,-1.822,2,3,0 ALTIM_TOP_PING 19.9,18.6

FINISH 1.6,1.026736 ALTIM_BOTTOM_PING 500.5,18.6

SM_CCo 9658,51.60,0.064,0,0,1399,400.08 _24V_AH 22.1,83.458

SM_GC 2.91,0.00,0.00,51.60,0.000,0.000,0.064,106,2498,1399,-8.62,0.23,400.08 _10V_AH 10.0,43.031

RAFOS_CLK 505 FG_AHR_24Vo 0.000

RAFOS 0,1305532866,8.033334,8.018333,59,54,53,53,53,53,142,172,156,118,181,218 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.009277,-5700.050781,160511,080822,3,107,0.31 MEM 150528

IRIDIUM_FIX 6631.12,-5653.72,150511,222226 DATA_FILE_SIZE 40012,1039

TT8_MAMPS 0.026215 CAP_FILE_SIZE 112063,0

HUMID 45.35 CFSIZE 260165632,212643840

INTERNAL_PRESSURE 8.59408 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 SOUNDSPEED 1465.5

XPDR_PINGS 36 GPS 160511,084322,6709.009,-5700.051,0,3107.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 232 66.56 SBE_CT 735 24 389.90

Roll_motor 83 153 280.90 SBE_O2 774 19 325.38

VBD_pump_during_apogee 372 1194 9838.94 nil 0 0 0.00

VBD_pump_during_surface 51 64 73.28 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 10 420 99.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2461 19 490.28

LPSleep 4935 2 114.00

TT8_Active 527 19 105.11

TT8_Sampling 1648 39 658.11

TT8_CF8 210 45 96.51

TT8_Kalman 0 0 0.00

Analog_circuits 1416 12 169.92

GPS_charging 0 0 0.00

Compass 1636 15 245.55

RAFOS 2520 1 37.80

Transponder 15 30 4.75

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

16 -0.62 -146.0 0.0 0.0 0 121 0.00 0.38 -99.80 0.000 6 0.000 0.153 3096 2493 3626 0 0 0 0 0 0

125 -0.62 -146.0 4.5 -7.4 18 133 1.30 2.28 0.00 0.000 4 0.129 0.060 2674 1073 3627 0 0 0 0 0 0

164 -0.50 -146.0 7.9 -8.2 24 171 0.10 2.28 0.00 0.000 6 0.233 0.062 2695 2488 3628 0 0 0 0 0 0

511 -0.47 -146.0 52.0 -13.2 85 517 0.00 2.33 0.00 0.000 4 0.000 0.078 2696 3906 3626 0 0 0 0 0 0

531 -0.47 -146.0 54.7 -12.8 88 537 0.00 2.22 0.00 0.000 6 0.000 0.050 2696 2482 3626 0 0 0 0 0 0

876 -0.47 -146.0 96.8 -11.4 149 883 0.00 2.25 0.00 0.000 4 0.000 0.065 2696 1080 3625 0 0 0 0 0 0

928 -0.51 -146.0 102.8 -10.8 156 934 0.00 2.28 0.00 0.000 6 0.000 0.065 2696 2496 3625 0 0 0 0 0 0

1254 -0.51 -146.0 138.4 -10.2 187 1258 0.00 2.35 0.00 0.000 4 0.000 0.081 2696 3906 3623 0 0 0 0 0 0

1288 -0.55 -146.0 142.2 -10.7 189 1295 0.00 2.25 0.00 0.000 6 0.000 0.053 2696 2488 3623 0 0 0 0 0 0

1614 -0.59 -146.0 176.0 -10.8 220 1615 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2487 3621 0 0 0 0 0 0

1934 -0.63 -146.0 208.8 -9.6 250 1939 0.12 2.28 0.00 0.000 4 0.132 0.065 2654 1074 3621 0 0 0 0 0 0

1953 -0.63 -146.0 210.8 -9.7 251 1957 0.00 2.28 0.00 0.000 6 0.000 0.063 2653 2488 3621 0 0 0 0 0 0

2279 -0.57 -146.0 249.5 -11.2 281 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2488 3620 0 0 0 0 0 0

2600 -0.52 -146.0 284.2 -11.4 311 2606 0.15 0.00 0.00 0.000 6 0.198 0.000 2690 2489 3621 0 0 0 0 0 0

2926 -0.56 -146.0 311.3 -8.4 342 2927 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2489 3621 0 0 0 0 0 0

3247 -0.60 -146.0 339.1 -9.1 372 3251 0.00 2.33 0.00 0.000 4 0.000 0.075 2691 3909 3622 0 0 0 0 0 0

3269 -0.65 -146.0 341.5 -9.1 373 3276 0.12 2.22 0.00 0.000 6 0.122 0.047 2647 2482 3622 0 0 0 0 0 0

3595 -0.59 -146.0 380.0 -11.9 404 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2482 3622 0 0 0 0 0 0

3916 -0.54 -146.0 417.8 -11.7 434 3920 0.15 2.25 0.00 0.000 4 0.202 0.060 2684 1077 3623 0 0 0 0 0 0

3926 -0.49 -146.0 419.5 -11.7 434 3933 0.00 2.28 0.00 0.000 6 0.000 0.059 2684 2500 3622 0 0 0 0 0 0

4254 -0.54 -146.0 448.2 -8.7 465 4260 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2500 3623 0 0 0 0 0 0

4582 -0.59 -146.0 476.8 -8.4 496 4587 0.00 2.30 0.00 0.000 4 0.000 0.074 2684 3899 3624 0 0 0 0 0 0

4613 -0.65 -146.0 479.4 -8.2 498 4617 0.00 2.22 0.00 0.000 6 0.000 0.044 2684 2479 3623 0 0 0 0 0 0

4915 end dive: BOTTOM_OBSTACLE_DETECTED

state 4915 begin apogee

4921 -0.12 0.0 504.7 8.0 526 5054 0.45 0.00 121.88 1.195 6 0.182 0.000 2815 2250 3029 0 0 0 0 0 0

5055 end apogee: CONTROL_FINISHED_OK

state 5055 begin climb

5058 0.62 146.0 509.1 0.0 538 5194 0.77 2.45 126.57 1.151 4 0.132 0.066 3063 889 2434 0 0 0 0 0 0

5250 0.57 146.0 494.2 11.9 555 5257 0.00 2.40 0.00 0.000 6 0.000 0.052 3063 2282 2430 0 0 0 0 0 0

5577 0.49 146.0 454.6 12.5 586 5582 0.15 2.33 0.00 0.000 4 0.182 0.067 3025 3694 2428 0 0 0 0 0 0

5665 0.45 146.0 444.2 11.6 593 5672 0.00 2.25 0.00 0.000 6 0.000 0.049 3033 2280 2428 0 0 0 0 0 0

5991 0.47 166.0 412.6 9.1 624 6011 0.00 0.00 17.40 1.043 6 0.000 0.000 3033 2280 2353 0 0 0 0 0 0

6332 0.47 166.0 378.1 10.6 656 6336 0.00 2.30 0.00 0.000 4 0.000 0.064 3033 3690 2352 0 0 0 0 0 0

6388 0.43 166.0 371.1 12.4 660 6395 0.15 2.22 0.00 0.000 6 0.186 0.048 3007 2269 2352 0 0 0 0 0 0

6714 0.52 184.7 340.9 9.1 691 6737 0.00 2.35 17.33 1.019 4 0.000 0.064 3015 860 2276 0 0 0 0 0 0

6778 0.62 195.9 335.0 9.5 696 6796 0.15 2.28 11.40 0.965 6 0.095 0.060 3083 2282 2231 0 0 0 0 0 0

7115 0.53 195.9 283.4 16.0 728 7119 0.17 2.28 0.00 0.000 4 0.174 0.066 3036 3688 2229 0 0 0 0 0 0

7220 0.53 195.9 268.9 13.2 737 7227 0.00 2.22 0.00 0.000 6 0.000 0.048 3045 2264 2229 0 0 0 0 0 0

7546 0.53 195.9 228.0 12.7 768 7550 0.00 2.22 0.00 0.000 4 0.000 0.063 3055 859 2228 0 0 0 0 0 0

7598 0.56 195.9 221.6 12.2 772 7602 0.00 2.25 0.00 0.000 6 0.000 0.052 3055 2281 2227 0 0 0 0 0 0

7929 0.54 195.9 182.4 11.4 803 7933 0.00 2.25 0.00 0.000 4 0.000 0.066 3055 3684 2227 0 0 0 0 0 0

8052 0.50 195.9 165.9 13.2 813 8059 0.15 2.22 0.00 0.000 6 0.174 0.056 3026 2274 2227 0 0 0 0 0 0

8378 0.61 237.6 137.2 8.1 844 8423 0.10 2.28 36.95 0.952 4 0.117 0.061 3088 862 2059 0 0 0 0 0 0

8460 0.61 237.6 127.9 12.2 851 8464 0.00 2.28 0.00 0.000 6 0.000 0.052 3088 2281 2056 0 0 0 0 0 0

8791 0.61 237.6 86.2 10.7 891 8798 0.00 2.25 0.00 0.000 4 0.000 0.064 3088 3683 2055 0 0 0 0 0 0

8852 0.57 237.6 79.4 11.8 901 8859 0.17 2.22 0.00 0.000 6 0.178 0.048 3051 2272 2054 0 0 0 0 0 0

9202 0.72 283.8 53.8 7.9 962 9250 0.12 2.35 41.05 0.910 4 0.100 0.064 3118 864 1873 0 0 0 0 0 0

9305 0.74 283.8 42.6 11.4 979 9312 0.00 2.25 0.00 0.000 6 0.000 0.051 3118 2273 1868 0 0 0 0 0 0

9616 end climb: SURFACE_DEPTH_REACHED

state 9616 begin surface coast

9638 end surface coast: CONTROL_FINISHED_OK

state 9638 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	634	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	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-48258.941	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	160511,043329,6706.517,-5701.266,0,5097.6,0,-37.6	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	10.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160511,043329,6706.517,-5701.266,0,5097.6,0,-37.6	MHEAD_RNG_PITCHd_Wd	161.8,11584,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	532

FREEZE	1.57,-1.702,-1.822,2,3,0	ALTIM_TOP_PING	19.9,18.6
FINISH	1.6,1.026736	ALTIM_BOTTOM_PING	500.5,18.6
SM_CCo	9658,51.60,0.064,0,0,1399,400.08	_24V_AH	22.1,83.458
SM_GC	2.91,0.00,0.00,51.60,0.000,0.000,0.064,106,2498,1399,-8.62,0.23,400.08	_10V_AH	10.0,43.031
RAFOS_CLK	505	FG_AHR_24Vo	0.000
RAFOS	0,1305532866,8.033334,8.018333,59,54,53,53,53,53,142,172,156,118,181,218	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.009277,-5700.050781,160511,080822,3,107,0.31	MEM	150528
IRIDIUM_FIX	6631.12,-5653.72,150511,222226	DATA_FILE_SIZE	40012,1039
TT8_MAMPS	0.026215	CAP_FILE_SIZE	112063,0
HUMID	45.35	CFSIZE	260165632,212643840
INTERNAL_PRESSURE	8.59408	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1465.5
XPDR_PINGS	36	GPS	160511,084322,6709.009,-5700.051,0,3107.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	232	66.56	SBE_CT	735	24	389.90
Roll_motor	83	153	280.90	SBE_O2	774	19	325.38
VBD_pump_during_apogee	372	1194	9838.94	nil	0	0	0.00
VBD_pump_during_surface	51	64	73.28	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	10	420	99.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2461	19	490.28
LPSleep	4935	2	114.00
TT8_Active	527	19	105.11
TT8_Sampling	1648	39	658.11
TT8_CF8	210	45	96.51
TT8_Kalman	0	0	0.00
Analog_circuits	1416	12	169.92
GPS_charging	0	0	0.00
Compass	1636	15	245.55
RAFOS	2520	1	37.80
Transponder	15	30	4.75

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
16	-0.62	-146.0	0.0	0.0	0	121	0.00	0.38	-99.80	0.000	6	0.000	0.153	3096	2493	3626	0	0	0	0	0	0
125	-0.62	-146.0	4.5	-7.4	18	133	1.30	2.28	0.00	0.000	4	0.129	0.060	2674	1073	3627	0	0	0	0	0	0
164	-0.50	-146.0	7.9	-8.2	24	171	0.10	2.28	0.00	0.000	6	0.233	0.062	2695	2488	3628	0	0	0	0	0	0
511	-0.47	-146.0	52.0	-13.2	85	517	0.00	2.33	0.00	0.000	4	0.000	0.078	2696	3906	3626	0	0	0	0	0	0
531	-0.47	-146.0	54.7	-12.8	88	537	0.00	2.22	0.00	0.000	6	0.000	0.050	2696	2482	3626	0	0	0	0	0	0
876	-0.47	-146.0	96.8	-11.4	149	883	0.00	2.25	0.00	0.000	4	0.000	0.065	2696	1080	3625	0	0	0	0	0	0
928	-0.51	-146.0	102.8	-10.8	156	934	0.00	2.28	0.00	0.000	6	0.000	0.065	2696	2496	3625	0	0	0	0	0	0
1254	-0.51	-146.0	138.4	-10.2	187	1258	0.00	2.35	0.00	0.000	4	0.000	0.081	2696	3906	3623	0	0	0	0	0	0
1288	-0.55	-146.0	142.2	-10.7	189	1295	0.00	2.25	0.00	0.000	6	0.000	0.053	2696	2488	3623	0	0	0	0	0	0
1614	-0.59	-146.0	176.0	-10.8	220	1615	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2487	3621	0	0	0	0	0	0
1934	-0.63	-146.0	208.8	-9.6	250	1939	0.12	2.28	0.00	0.000	4	0.132	0.065	2654	1074	3621	0	0	0	0	0	0
1953	-0.63	-146.0	210.8	-9.7	251	1957	0.00	2.28	0.00	0.000	6	0.000	0.063	2653	2488	3621	0	0	0	0	0	0
2279	-0.57	-146.0	249.5	-11.2	281	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2488	3620	0	0	0	0	0	0
2600	-0.52	-146.0	284.2	-11.4	311	2606	0.15	0.00	0.00	0.000	6	0.198	0.000	2690	2489	3621	0	0	0	0	0	0
2926	-0.56	-146.0	311.3	-8.4	342	2927	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2489	3621	0	0	0	0	0	0
3247	-0.60	-146.0	339.1	-9.1	372	3251	0.00	2.33	0.00	0.000	4	0.000	0.075	2691	3909	3622	0	0	0	0	0	0
3269	-0.65	-146.0	341.5	-9.1	373	3276	0.12	2.22	0.00	0.000	6	0.122	0.047	2647	2482	3622	0	0	0	0	0	0
3595	-0.59	-146.0	380.0	-11.9	404	3596	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2482	3622	0	0	0	0	0	0
3916	-0.54	-146.0	417.8	-11.7	434	3920	0.15	2.25	0.00	0.000	4	0.202	0.060	2684	1077	3623	0	0	0	0	0	0
3926	-0.49	-146.0	419.5	-11.7	434	3933	0.00	2.28	0.00	0.000	6	0.000	0.059	2684	2500	3622	0	0	0	0	0	0
4254	-0.54	-146.0	448.2	-8.7	465	4260	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2500	3623	0	0	0	0	0	0
4582	-0.59	-146.0	476.8	-8.4	496	4587	0.00	2.30	0.00	0.000	4	0.000	0.074	2684	3899	3624	0	0	0	0	0	0
4613	-0.65	-146.0	479.4	-8.2	498	4617	0.00	2.22	0.00	0.000	6	0.000	0.044	2684	2479	3623	0	0	0	0	0	0
4915	end dive: BOTTOM_OBSTACLE_DETECTED
state	4915	begin apogee
4921	-0.12	0.0	504.7	8.0	526	5054	0.45	0.00	121.88	1.195	6	0.182	0.000	2815	2250	3029	0	0	0	0	0	0
5055	end apogee: CONTROL_FINISHED_OK
state	5055	begin climb
5058	0.62	146.0	509.1	0.0	538	5194	0.77	2.45	126.57	1.151	4	0.132	0.066	3063	889	2434	0	0	0	0	0	0
5250	0.57	146.0	494.2	11.9	555	5257	0.00	2.40	0.00	0.000	6	0.000	0.052	3063	2282	2430	0	0	0	0	0	0
5577	0.49	146.0	454.6	12.5	586	5582	0.15	2.33	0.00	0.000	4	0.182	0.067	3025	3694	2428	0	0	0	0	0	0
5665	0.45	146.0	444.2	11.6	593	5672	0.00	2.25	0.00	0.000	6	0.000	0.049	3033	2280	2428	0	0	0	0	0	0
5991	0.47	166.0	412.6	9.1	624	6011	0.00	0.00	17.40	1.043	6	0.000	0.000	3033	2280	2353	0	0	0	0	0	0
6332	0.47	166.0	378.1	10.6	656	6336	0.00	2.30	0.00	0.000	4	0.000	0.064	3033	3690	2352	0	0	0	0	0	0
6388	0.43	166.0	371.1	12.4	660	6395	0.15	2.22	0.00	0.000	6	0.186	0.048	3007	2269	2352	0	0	0	0	0	0
6714	0.52	184.7	340.9	9.1	691	6737	0.00	2.35	17.33	1.019	4	0.000	0.064	3015	860	2276	0	0	0	0	0	0
6778	0.62	195.9	335.0	9.5	696	6796	0.15	2.28	11.40	0.965	6	0.095	0.060	3083	2282	2231	0	0	0	0	0	0
7115	0.53	195.9	283.4	16.0	728	7119	0.17	2.28	0.00	0.000	4	0.174	0.066	3036	3688	2229	0	0	0	0	0	0
7220	0.53	195.9	268.9	13.2	737	7227	0.00	2.22	0.00	0.000	6	0.000	0.048	3045	2264	2229	0	0	0	0	0	0
7546	0.53	195.9	228.0	12.7	768	7550	0.00	2.22	0.00	0.000	4	0.000	0.063	3055	859	2228	0	0	0	0	0	0
7598	0.56	195.9	221.6	12.2	772	7602	0.00	2.25	0.00	0.000	6	0.000	0.052	3055	2281	2227	0	0	0	0	0	0
7929	0.54	195.9	182.4	11.4	803	7933	0.00	2.25	0.00	0.000	4	0.000	0.066	3055	3684	2227	0	0	0	0	0	0
8052	0.50	195.9	165.9	13.2	813	8059	0.15	2.22	0.00	0.000	6	0.174	0.056	3026	2274	2227	0	0	0	0	0	0
8378	0.61	237.6	137.2	8.1	844	8423	0.10	2.28	36.95	0.952	4	0.117	0.061	3088	862	2059	0	0	0	0	0	0
8460	0.61	237.6	127.9	12.2	851	8464	0.00	2.28	0.00	0.000	6	0.000	0.052	3088	2281	2056	0	0	0	0	0	0
8791	0.61	237.6	86.2	10.7	891	8798	0.00	2.25	0.00	0.000	4	0.000	0.064	3088	3683	2055	0	0	0	0	0	0
8852	0.57	237.6	79.4	11.8	901	8859	0.17	2.22	0.00	0.000	6	0.178	0.048	3051	2272	2054	0	0	0	0	0	0
9202	0.72	283.8	53.8	7.9	962	9250	0.12	2.35	41.05	0.910	4	0.100	0.064	3118	864	1873	0	0	0	0	0	0
9305	0.74	283.8	42.6	11.4	979	9312	0.00	2.25	0.00	0.000	6	0.000	0.051	3118	2273	1868	0	0	0	0	0	0
9616	end climb: SURFACE_DEPTH_REACHED
state	9616	begin surface coast
9638	end surface coast: CONTROL_FINISHED_OK
state	9638	begin surface