Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 98 * 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 98 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 34 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 35 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 34 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 98 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 070311,204656,6719.987,-5759.264,0,2123.0,0,-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 7.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070311,204656,6719.987,-5759.264,0,2123.0,0,-38.3 MHEAD_RNG_PITCHd_Wd 159.7,60317,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 834

Post-dive calculations and measurements:

FREEZE 1.93,-1.354,-1.821,3,5,0 ALTIM_BOTTOM_PING 450.9,51.2

FINISH 1.9,1.026713 _24V_AH 23.5,16.807

SM_CCo 9264,140.85,0.064,0,0,751,559.04 _10V_AH 10.3,8.793

SM_GC 2.18,0.00,0.00,140.85,0.000,0.000,0.064,114,2503,751,-8.60,0.37,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 486 FG_AHR_10Vo 0.000

RAFOS_FIX 6719.987305,-5759.263672,070311,202056,2,123,0.20 MEM 150716

IRIDIUM_FIX 6652.93,-5756.13,070311,080859 DATA_FILE_SIZE 40085,988

TT8_MAMPS 0.026215 CAP_FILE_SIZE 109052,0

HUMID 44.13 CFSIZE 260165632,245002240

INTERNAL_PRESSURE 8.52572 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 SOUNDSPEED 1465.3

XPDR_PINGS 0 GPS 070311,234030,6722.828,-5745.457,39,1.3,39,-38.2

ALTIM_TOP_PING 19.4,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 228 62.76 SBE_CT 694 24 391.46

Roll_motor 87 69 142.78 SBE_O2 749 19 334.59

VBD_pump_during_apogee 317 1187 8855.80 nil 0 0 0.00

VBD_pump_during_surface 140 64 212.70 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 14.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2360 19 484.23

LPSleep 4886 2 116.26

TT8_Active 505 19 103.75

TT8_Sampling 1572 39 646.42

TT8_CF8 142 45 67.43

TT8_Kalman 0 0 0.00

Analog_circuits 1339 12 165.52

GPS_charging 0 0 0.00

Compass 1562 15 241.47

RAFOS 0 0 0.00

Transponder 12 30 3.86

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 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.68 0.000 2 0.000 0.000 2884 869 3128 0 0 0 0 0 0

26 -0.62 -146.0 9.8 -0.0 1 51 0.60 4.90 -12.32 0.000 4 0.103 0.063 2670 3893 3630 0 0 0 0 0 0

181 -0.57 -146.0 31.9 -14.6 28 188 0.00 2.17 0.00 0.000 6 0.000 0.039 2670 2475 3631 0 0 0 0 0 0

528 -0.48 -146.0 86.5 -14.8 89 536 0.15 2.17 0.00 0.000 4 0.223 0.057 2704 1079 3630 0 0 0 0 0 0

543 -0.40 -146.0 89.0 -15.2 91 550 0.10 2.22 0.00 0.000 6 0.228 0.053 2728 2490 3629 0 0 0 0 0 0

881 -0.46 -146.0 122.7 -9.8 131 885 0.00 2.28 0.00 0.000 4 0.000 0.070 2728 3906 3629 0 0 0 0 0 0

914 -0.56 -146.0 126.0 -9.7 133 922 0.15 2.15 0.00 0.000 6 0.115 0.039 2677 2481 3628 0 0 0 0 0 0

1240 -0.51 -146.0 166.8 -12.6 164 1244 0.00 2.15 0.00 0.000 4 0.000 0.057 2677 1088 3627 0 0 0 0 0 0

1257 -0.47 -146.0 169.0 -12.2 165 1262 0.12 2.20 0.00 0.000 6 0.229 0.054 2705 2498 3627 0 0 0 0 0 0

1583 -0.50 -146.0 199.8 -9.6 195 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2498 3626 0 0 0 0 0 0

1902 -0.55 -146.0 227.7 -8.3 225 1906 0.00 2.20 0.00 0.000 4 0.000 0.055 2704 1082 3626 0 0 0 0 0 0

1914 -0.60 -146.0 228.6 -8.3 226 1919 0.10 2.17 0.00 0.000 6 0.141 0.051 2670 2493 3626 0 0 0 0 0 0

2239 -0.55 -146.0 264.7 -12.1 256 2243 0.00 2.22 0.00 0.000 4 0.000 0.067 2670 3897 3626 0 0 0 0 0 0

2271 -0.52 -146.0 268.7 -12.2 258 2278 0.00 2.12 0.00 0.000 6 0.000 0.038 2670 2490 3626 0 0 0 0 0 0

2597 -0.47 -146.0 307.5 -12.1 289 2601 0.15 2.15 0.00 0.000 4 0.216 0.054 2706 1090 3627 0 0 0 0 0 0

2606 -0.43 -146.0 308.9 -11.9 289 2613 0.00 2.15 0.00 0.000 6 0.000 0.050 2706 2490 3628 0 0 0 0 0 0

2934 -0.48 -146.0 338.0 -9.4 320 2938 0.00 2.22 0.00 0.000 4 0.000 0.067 2706 3896 3627 0 0 0 0 0 0

2951 -0.54 -146.0 339.7 -8.9 321 2955 0.00 2.10 0.00 0.000 6 0.000 0.037 2706 2488 3627 0 0 0 0 0 0

3277 -0.60 -146.0 370.8 -9.3 351 3279 0.12 0.00 0.00 0.000 6 0.124 0.000 2663 2488 3628 0 0 0 0 0 0

3595 -0.55 -146.0 409.4 -11.9 381 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2487 3627 0 0 0 0 0 0

3916 -0.51 -146.0 445.7 -11.0 411 3918 0.12 0.00 0.00 0.000 6 0.216 0.000 2691 2487 3628 0 0 0 0 0 0

4233 -0.54 -146.0 474.2 -8.8 441 4234 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2487 3628 0 0 0 0 0 0

4379 end dive: BOTTOM_OBSTACLE_DETECTED

state 4379 begin apogee

4385 -0.12 0.0 487.9 8.8 455 4508 0.40 0.00 117.55 1.187 6 0.181 0.000 2814 2256 3030 0 0 0 0 0 0

4509 end apogee: CONTROL_FINISHED_OK

state 4509 begin climb

4510 0.62 146.0 491.7 0.0 466 4640 0.75 2.38 120.25 1.143 4 0.129 0.057 3060 898 2433 0 0 0 0 0 0

4692 0.54 146.0 475.6 13.3 483 4696 0.00 2.28 0.00 0.000 6 0.000 0.046 3060 2277 2429 0 0 0 0 0 0

5017 0.44 146.0 432.7 13.0 513 5022 0.20 2.30 0.00 0.000 4 0.182 0.057 3008 3688 2427 0 0 0 0 0 0

5180 0.41 146.0 414.4 10.8 527 5184 0.00 2.17 0.00 0.000 6 0.000 0.041 3016 2297 2426 0 0 0 0 0 0

5505 0.41 147.8 381.2 9.9 557 5509 0.00 2.25 0.00 0.000 4 0.000 0.057 3027 863 2425 0 0 0 0 0 0

5556 0.41 147.8 375.9 10.8 561 5560 0.00 2.22 0.00 0.000 6 0.000 0.044 3027 2288 2425 0 0 0 0 0 0

5887 0.40 153.7 342.1 9.7 592 5900 0.12 2.20 6.25 0.830 4 0.186 0.057 2996 3685 2404 0 0 0 0 0 0

5961 0.40 156.4 334.8 9.9 598 5972 0.00 2.17 4.25 0.685 6 0.000 0.039 3003 2264 2392 0 0 0 0 0 0

6298 0.46 179.6 306.1 8.9 630 6321 0.00 0.00 21.05 1.019 6 0.000 0.000 3003 2264 2297 0 0 0 0 0 0

6638 0.54 210.1 277.0 8.6 662 6672 0.10 2.33 26.52 1.016 4 0.122 0.057 3046 3690 2174 0 0 0 0 0 0

6712 0.49 210.1 268.3 13.5 668 6720 0.12 2.25 0.00 0.000 6 0.190 0.044 3027 2272 2171 0 0 0 0 0 0

7037 0.49 210.1 232.1 11.5 699 7041 0.00 2.22 0.00 0.000 4 0.000 0.059 3029 860 2168 0 0 0 0 0 0

7114 0.53 210.1 223.4 11.3 705 7121 0.00 2.20 0.00 0.000 6 0.000 0.044 3029 2278 2166 0 0 0 0 0 0

7439 0.53 210.1 187.0 11.3 736 7443 0.00 2.22 0.00 0.000 4 0.000 0.058 3029 3689 2166 0 0 0 0 0 0

7517 0.53 210.1 176.8 13.5 742 7524 0.00 2.22 0.00 0.000 6 0.000 0.042 3039 2268 2166 0 0 0 0 0 0

7844 0.53 210.1 137.1 12.0 773 7848 0.00 2.17 0.00 0.000 4 0.000 0.058 3044 867 2166 0 0 0 0 0 0

7888 0.57 210.1 132.0 10.9 776 7895 0.00 2.15 0.00 0.000 6 0.000 0.044 3044 2276 2165 0 0 0 0 0 0

8216 0.57 215.2 97.0 9.8 809 8229 0.00 2.25 4.68 0.654 4 0.000 0.058 3044 3687 2152 0 0 0 0 0 0

8381 0.57 215.2 78.1 11.6 838 8388 0.00 2.15 0.00 0.000 6 0.000 0.041 3053 2269 2152 0 0 0 0 0 0

8726 0.63 233.1 45.4 9.2 899 8750 0.00 2.28 16.85 0.867 4 0.000 0.056 3053 3694 2079 0 0 0 0 0 0

8780 0.63 233.1 40.2 10.8 908 8787 0.00 2.17 0.00 0.000 6 0.000 0.041 3059 2281 2078 0 0 0 0 0 0

9127 0.66 233.1 8.4 10.3 969 9133 0.00 2.20 0.00 0.000 4 0.000 0.057 3059 864 2076 0 0 0 0 0 0

9191 end climb: SURFACE_DEPTH_REACHED

state 9191 begin surface coast

9227 end surface coast: CONTROL_FINISHED_OK

state 9228 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	98	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	34	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	070311,204656,6719.987,-5759.264,0,2123.0,0,-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	7.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070311,204656,6719.987,-5759.264,0,2123.0,0,-38.3	MHEAD_RNG_PITCHd_Wd	159.7,60317,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	834

FREEZE	1.93,-1.354,-1.821,3,5,0	ALTIM_BOTTOM_PING	450.9,51.2
FINISH	1.9,1.026713	_24V_AH	23.5,16.807
SM_CCo	9264,140.85,0.064,0,0,751,559.04	_10V_AH	10.3,8.793
SM_GC	2.18,0.00,0.00,140.85,0.000,0.000,0.064,114,2503,751,-8.60,0.37,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	486	FG_AHR_10Vo	0.000
RAFOS_FIX	6719.987305,-5759.263672,070311,202056,2,123,0.20	MEM	150716
IRIDIUM_FIX	6652.93,-5756.13,070311,080859	DATA_FILE_SIZE	40085,988
TT8_MAMPS	0.026215	CAP_FILE_SIZE	109052,0
HUMID	44.13	CFSIZE	260165632,245002240
INTERNAL_PRESSURE	8.52572	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	SOUNDSPEED	1465.3
XPDR_PINGS	0	GPS	070311,234030,6722.828,-5745.457,39,1.3,39,-38.2
ALTIM_TOP_PING	19.4,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	228	62.76	SBE_CT	694	24	391.46
Roll_motor	87	69	142.78	SBE_O2	749	19	334.59
VBD_pump_during_apogee	317	1187	8855.80	nil	0	0	0.00
VBD_pump_during_surface	140	64	212.70	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	14.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2360	19	484.23
LPSleep	4886	2	116.26
TT8_Active	505	19	103.75
TT8_Sampling	1572	39	646.42
TT8_CF8	142	45	67.43
TT8_Kalman	0	0	0.00
Analog_circuits	1339	12	165.52
GPS_charging	0	0	0.00
Compass	1562	15	241.47
RAFOS	0	0	0.00
Transponder	12	30	3.86

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	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.68	0.000	2	0.000	0.000	2884	869	3128	0	0	0	0	0	0
26	-0.62	-146.0	9.8	-0.0	1	51	0.60	4.90	-12.32	0.000	4	0.103	0.063	2670	3893	3630	0	0	0	0	0	0
181	-0.57	-146.0	31.9	-14.6	28	188	0.00	2.17	0.00	0.000	6	0.000	0.039	2670	2475	3631	0	0	0	0	0	0
528	-0.48	-146.0	86.5	-14.8	89	536	0.15	2.17	0.00	0.000	4	0.223	0.057	2704	1079	3630	0	0	0	0	0	0
543	-0.40	-146.0	89.0	-15.2	91	550	0.10	2.22	0.00	0.000	6	0.228	0.053	2728	2490	3629	0	0	0	0	0	0
881	-0.46	-146.0	122.7	-9.8	131	885	0.00	2.28	0.00	0.000	4	0.000	0.070	2728	3906	3629	0	0	0	0	0	0
914	-0.56	-146.0	126.0	-9.7	133	922	0.15	2.15	0.00	0.000	6	0.115	0.039	2677	2481	3628	0	0	0	0	0	0
1240	-0.51	-146.0	166.8	-12.6	164	1244	0.00	2.15	0.00	0.000	4	0.000	0.057	2677	1088	3627	0	0	0	0	0	0
1257	-0.47	-146.0	169.0	-12.2	165	1262	0.12	2.20	0.00	0.000	6	0.229	0.054	2705	2498	3627	0	0	0	0	0	0
1583	-0.50	-146.0	199.8	-9.6	195	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2498	3626	0	0	0	0	0	0
1902	-0.55	-146.0	227.7	-8.3	225	1906	0.00	2.20	0.00	0.000	4	0.000	0.055	2704	1082	3626	0	0	0	0	0	0
1914	-0.60	-146.0	228.6	-8.3	226	1919	0.10	2.17	0.00	0.000	6	0.141	0.051	2670	2493	3626	0	0	0	0	0	0
2239	-0.55	-146.0	264.7	-12.1	256	2243	0.00	2.22	0.00	0.000	4	0.000	0.067	2670	3897	3626	0	0	0	0	0	0
2271	-0.52	-146.0	268.7	-12.2	258	2278	0.00	2.12	0.00	0.000	6	0.000	0.038	2670	2490	3626	0	0	0	0	0	0
2597	-0.47	-146.0	307.5	-12.1	289	2601	0.15	2.15	0.00	0.000	4	0.216	0.054	2706	1090	3627	0	0	0	0	0	0
2606	-0.43	-146.0	308.9	-11.9	289	2613	0.00	2.15	0.00	0.000	6	0.000	0.050	2706	2490	3628	0	0	0	0	0	0
2934	-0.48	-146.0	338.0	-9.4	320	2938	0.00	2.22	0.00	0.000	4	0.000	0.067	2706	3896	3627	0	0	0	0	0	0
2951	-0.54	-146.0	339.7	-8.9	321	2955	0.00	2.10	0.00	0.000	6	0.000	0.037	2706	2488	3627	0	0	0	0	0	0
3277	-0.60	-146.0	370.8	-9.3	351	3279	0.12	0.00	0.00	0.000	6	0.124	0.000	2663	2488	3628	0	0	0	0	0	0
3595	-0.55	-146.0	409.4	-11.9	381	3596	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2487	3627	0	0	0	0	0	0
3916	-0.51	-146.0	445.7	-11.0	411	3918	0.12	0.00	0.00	0.000	6	0.216	0.000	2691	2487	3628	0	0	0	0	0	0
4233	-0.54	-146.0	474.2	-8.8	441	4234	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2487	3628	0	0	0	0	0	0
4379	end dive: BOTTOM_OBSTACLE_DETECTED
state	4379	begin apogee
4385	-0.12	0.0	487.9	8.8	455	4508	0.40	0.00	117.55	1.187	6	0.181	0.000	2814	2256	3030	0	0	0	0	0	0
4509	end apogee: CONTROL_FINISHED_OK
state	4509	begin climb
4510	0.62	146.0	491.7	0.0	466	4640	0.75	2.38	120.25	1.143	4	0.129	0.057	3060	898	2433	0	0	0	0	0	0
4692	0.54	146.0	475.6	13.3	483	4696	0.00	2.28	0.00	0.000	6	0.000	0.046	3060	2277	2429	0	0	0	0	0	0
5017	0.44	146.0	432.7	13.0	513	5022	0.20	2.30	0.00	0.000	4	0.182	0.057	3008	3688	2427	0	0	0	0	0	0
5180	0.41	146.0	414.4	10.8	527	5184	0.00	2.17	0.00	0.000	6	0.000	0.041	3016	2297	2426	0	0	0	0	0	0
5505	0.41	147.8	381.2	9.9	557	5509	0.00	2.25	0.00	0.000	4	0.000	0.057	3027	863	2425	0	0	0	0	0	0
5556	0.41	147.8	375.9	10.8	561	5560	0.00	2.22	0.00	0.000	6	0.000	0.044	3027	2288	2425	0	0	0	0	0	0
5887	0.40	153.7	342.1	9.7	592	5900	0.12	2.20	6.25	0.830	4	0.186	0.057	2996	3685	2404	0	0	0	0	0	0
5961	0.40	156.4	334.8	9.9	598	5972	0.00	2.17	4.25	0.685	6	0.000	0.039	3003	2264	2392	0	0	0	0	0	0
6298	0.46	179.6	306.1	8.9	630	6321	0.00	0.00	21.05	1.019	6	0.000	0.000	3003	2264	2297	0	0	0	0	0	0
6638	0.54	210.1	277.0	8.6	662	6672	0.10	2.33	26.52	1.016	4	0.122	0.057	3046	3690	2174	0	0	0	0	0	0
6712	0.49	210.1	268.3	13.5	668	6720	0.12	2.25	0.00	0.000	6	0.190	0.044	3027	2272	2171	0	0	0	0	0	0
7037	0.49	210.1	232.1	11.5	699	7041	0.00	2.22	0.00	0.000	4	0.000	0.059	3029	860	2168	0	0	0	0	0	0
7114	0.53	210.1	223.4	11.3	705	7121	0.00	2.20	0.00	0.000	6	0.000	0.044	3029	2278	2166	0	0	0	0	0	0
7439	0.53	210.1	187.0	11.3	736	7443	0.00	2.22	0.00	0.000	4	0.000	0.058	3029	3689	2166	0	0	0	0	0	0
7517	0.53	210.1	176.8	13.5	742	7524	0.00	2.22	0.00	0.000	6	0.000	0.042	3039	2268	2166	0	0	0	0	0	0
7844	0.53	210.1	137.1	12.0	773	7848	0.00	2.17	0.00	0.000	4	0.000	0.058	3044	867	2166	0	0	0	0	0	0
7888	0.57	210.1	132.0	10.9	776	7895	0.00	2.15	0.00	0.000	6	0.000	0.044	3044	2276	2165	0	0	0	0	0	0
8216	0.57	215.2	97.0	9.8	809	8229	0.00	2.25	4.68	0.654	4	0.000	0.058	3044	3687	2152	0	0	0	0	0	0
8381	0.57	215.2	78.1	11.6	838	8388	0.00	2.15	0.00	0.000	6	0.000	0.041	3053	2269	2152	0	0	0	0	0	0
8726	0.63	233.1	45.4	9.2	899	8750	0.00	2.28	16.85	0.867	4	0.000	0.056	3053	3694	2079	0	0	0	0	0	0
8780	0.63	233.1	40.2	10.8	908	8787	0.00	2.17	0.00	0.000	6	0.000	0.041	3059	2281	2078	0	0	0	0	0	0
9127	0.66	233.1	8.4	10.3	969	9133	0.00	2.20	0.00	0.000	4	0.000	0.057	3059	864	2076	0	0	0	0	0	0
9191	end climb: SURFACE_DEPTH_REACHED
state	9191	begin surface coast
9227	end surface coast: CONTROL_FINISHED_OK
state	9228	begin surface