Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 449 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 ESCAPE_HEADING 0 ROLL_DEG 43 ALTIM_PING_DEPTH 0

DIVE 449 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2175 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2060 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 325 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 R_STBD_OVSHOOT 37 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 10 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2735 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 540 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 600 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00060000003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 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 -1 T_GPS_CHARGE -1585286.8 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2920 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543768

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -60.973145 SEABIRD_T_H 0.0006249955

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3401506e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4672308e-06

MASS 51930 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9855604

NAV_MODE 2 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1126566

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0021479612

KALMAN_USE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002479906

HD_A 0.0046000001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 12

HD_C 1.34e-05 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 325

AH0_10V 100 D_OFFGRID 1000 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 2 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3970 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001138132 T_DIVE 540

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -60.973145 T_GPS 15

CALL_TRIES 5 HD_A 0.0046000001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1585286.8

CAPMAXSIZE 100000 HD_C 1.34e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 600

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 187 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2920 KALMAN_USE 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2060 KERMIT 0 ROLL_DEG 43 USE_BATHY -1

C_ROLL_DIVE 2175 LOGGERDEVICE1 -1 ROLL_MAX 3800 USE_ICE 0

C_VBD 2735 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 35 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 120 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MISSION 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 449 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 2 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.4672308e-06

D_FINISH 10 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 170611,130908,4749.929,-12507.557,12,1.8,12,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.185,-0.075

_SM_DEPTHo 1.54 KALMAN_X 69972.3,329.7,55.5,-70815.9,108.2

_SM_ANGLEo -76.7 KALMAN_Y -182188.2,-577.2,274.4,188816.0,-233.8

GPS2 170611,131531,4749.923,-12507.519,12,1.7,17,18.7 MHEAD_RNG_PITCHd_Wd 263.2,169506,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 196

Post-dive calculations and measurements:

FINISH 0.7,1.010643 _10V_AH 10.2,41.934

SM_CCo 5723,0.00,0.000,0,0,1243,366.23 FG_AHR_24Vo 0.000

SM_GC 1.63,7.97,0.00,0.00,0.034,0.000,0.000,132,2192,1243,-8.60,0.48,366.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12507.66,170611,121212 MEM 297640

TT8_MAMPS 0.026964 DATA_FILE_SIZE 40340,708

HUMID 38.26 CAP_FILE_SIZE 98169,0

INTERNAL_PRESSURE 9.0597 CFSIZE 260165632,184598528

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.221,151.4,1

_24V_AH 24.2,46.536 GPS 170611,145306,4749.404,-12507.856,36,0.9,41,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 232 113.97 SBE_CT 481 24 279.45

Roll_motor 105 93 238.05 SBE_O2 1711 19 786.97

VBD_pump_during_apogee 387 699 6565.29 WL_BBFL2VMT 1094 105 2779.96

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 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 38 0 0.00 nil 0 0 0.00

Iridium_during_xfer 193 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 0 0.00

TT8 1733 19 350.11

LPSleep 1544 2 34.51

TT8_Active 481 19 97.26

TT8_Sampling 2047 39 831.20

TT8_CF8 300 45 140.35

TT8_Kalman 33 0 0.00

Analog_circuits 1223 12 149.74

GPS_charging 0 0 0.00

Compass 1567 15 239.84

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.50 -117.3 0.0 0.0 0 97 0.00 0.00 -77.78 0.000 2 0.000 0.000 131 2187 2797 0 0 0 0 0 0

102 -0.50 -117.3 3.4 -2.8 12 132 10.43 2.45 -8.32 0.000 4 0.233 0.068 2741 3683 3217 0 0 0 0 0 0

218 -0.50 -117.3 26.8 -11.2 32 226 0.00 2.38 0.00 0.000 6 0.000 0.041 2740 2168 3219 0 0 0 0 0 0

358 -0.46 -117.3 42.6 -12.3 57 366 0.00 2.35 0.00 0.000 4 0.000 0.050 2740 673 3220 0 0 0 0 0 0

393 -0.43 -117.3 47.1 -12.5 62 402 0.10 2.35 0.00 0.000 6 0.118 0.048 2780 2161 3220 0 0 0 0 0 0

533 -0.43 -117.3 61.0 -9.5 87 540 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2162 3221 0 0 0 0 0 0

667 -0.43 -117.3 72.8 -8.1 112 675 0.00 2.47 0.00 0.000 4 0.000 0.060 2771 3698 3221 0 0 0 0 0 0

700 -0.43 -117.3 75.2 -7.9 117 709 0.00 2.40 0.00 0.000 6 0.000 0.043 2770 2160 3221 0 0 0 0 0 0

841 -0.43 -117.3 86.8 -8.4 142 849 0.00 2.35 0.00 0.000 4 0.000 0.050 2770 671 3221 0 0 0 0 0 0

873 -0.43 -117.3 89.6 -7.8 147 881 0.00 2.35 0.00 0.000 6 0.000 0.048 2764 2173 3221 0 0 0 0 0 0

1013 -0.43 -117.3 96.6 -4.8 172 1021 0.00 2.45 0.00 0.000 4 0.000 0.060 2753 3687 3221 0 0 0 0 0 0

1084 -0.43 -117.3 100.9 -6.4 183 1088 0.00 2.30 0.00 0.000 6 0.000 0.042 2753 2178 3221 0 0 0 0 0 0

1289 -0.42 -117.3 119.4 -9.2 202 1294 0.10 2.33 0.00 0.000 4 0.152 0.050 2782 669 3221 0 0 0 0 0 0

1353 -0.43 -117.3 123.8 -6.3 207 1357 0.00 2.28 0.00 0.000 6 0.000 0.047 2782 2159 3221 0 0 0 0 0 0

1552 -0.43 -117.3 135.0 -4.7 225 1554 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2159 3221 0 0 0 0 0 0

1744 -0.43 -117.3 144.9 -5.5 243 1748 0.00 2.28 0.00 0.000 4 0.000 0.050 2781 670 3221 0 0 0 0 0 0

1765 -0.43 -117.3 146.5 -6.4 244 1773 0.00 2.30 0.00 0.000 6 0.000 0.048 2782 2148 3221 0 0 0 0 0 0

1965 -0.43 -117.3 159.7 -6.9 263 1970 0.00 2.42 0.00 0.000 4 0.000 0.060 2776 3693 3220 0 0 0 0 0 0

1988 -0.45 -117.3 161.4 -7.0 264 1996 0.00 2.40 0.00 0.000 6 0.000 0.044 2776 2151 3221 0 0 0 0 0 0

2188 -0.45 -117.3 175.0 -5.8 283 2192 0.00 2.28 0.00 0.000 4 0.000 0.050 2776 666 3221 0 0 0 0 0 0

2219 -0.46 -117.3 177.3 -6.4 285 2227 0.00 2.30 0.00 0.000 6 0.000 0.048 2776 2143 3220 0 0 0 0 0 0

2420 -0.46 -117.3 187.9 -4.8 304 2424 0.00 2.47 0.00 0.000 4 0.000 0.060 2773 3692 3220 0 0 0 0 0 0

2452 -0.47 -117.3 189.6 -5.0 306 2461 0.00 2.40 0.00 0.000 6 0.000 0.044 2772 2146 3220 0 0 0 0 0 0

2585 end dive: TARGET_DEPTH_EXCEEDED

state 2586 begin apogee

2593 -0.22 0.0 196.3 5.2 319 2692 0.22 0.00 93.72 0.700 6 0.110 0.000 2847 2047 2735 0 0 0 0 0 0

2692 end apogee: CONTROL_FINISHED_OK

state 2693 begin climb

2695 0.50 117.3 198.5 0.0 329 2807 0.65 2.58 97.68 0.678 4 0.077 0.055 3077 3565 2254 0 0 0 0 0 0

2845 0.47 117.3 190.3 8.7 341 2852 0.00 2.42 0.00 0.000 6 0.000 0.042 3085 2075 2251 0 0 0 0 0 0

3044 0.44 117.3 175.2 7.4 360 3048 0.00 2.40 0.00 0.000 4 0.000 0.051 3097 546 2247 0 0 0 0 0 0

3067 0.42 117.3 173.4 7.6 361 3075 0.10 2.42 0.00 0.000 6 0.114 0.046 3061 2074 2246 0 0 0 0 0 0

3268 0.41 117.3 159.0 7.6 380 3272 0.00 2.40 0.00 0.000 4 0.000 0.057 3061 3580 2245 0 0 0 0 0 0

3342 0.39 117.3 152.7 8.6 386 3346 0.00 2.33 0.00 0.000 6 0.000 0.042 3068 2096 2244 0 0 0 0 0 0

3542 0.38 117.3 139.0 6.6 404 3546 0.00 2.40 0.00 0.000 4 0.000 0.052 3081 546 2244 0 0 0 0 0 0

3573 0.36 117.3 136.8 7.2 406 3578 0.15 2.40 0.00 0.000 6 0.135 0.046 3036 2095 2244 0 0 0 0 0 0

3775 0.40 179.1 128.0 3.9 424 3829 0.00 2.38 48.47 0.652 4 0.000 0.055 3035 3570 2003 0 0 0 0 0 0

3856 0.43 205.8 124.5 5.2 430 3885 0.00 2.35 22.40 0.625 6 0.000 0.043 3040 2075 1896 0 0 0 0 0 0

4086 0.45 206.9 111.5 6.1 451 4090 0.00 2.45 0.00 0.000 4 0.000 0.053 3040 545 1888 0 0 0 0 0 0

4139 0.48 207.7 108.3 6.1 455 4144 0.10 2.40 0.00 0.000 6 0.097 0.046 3101 2083 1887 0 0 0 0 0 0

4339 0.46 207.7 92.0 6.8 482 4348 0.12 2.42 0.00 0.000 4 0.145 0.058 3064 3573 1886 0 0 0 0 0 0

4372 0.46 207.7 89.8 6.5 487 4380 0.00 2.35 0.00 0.000 6 0.000 0.044 3068 2086 1885 0 0 0 0 0 0

4511 0.51 259.1 82.7 4.3 512 4562 0.00 2.45 42.20 0.627 4 0.000 0.052 3068 548 1678 0 0 0 0 0 0

4652 0.55 276.6 75.8 5.5 535 4673 0.00 2.35 14.88 0.588 6 0.000 0.044 3068 2040 1607 0 0 0 0 0 0

4802 0.60 276.6 66.3 6.4 562 4811 0.12 2.50 0.00 0.000 4 0.089 0.059 3130 3564 1601 0 0 0 0 0 0

4831 0.64 276.6 64.3 6.9 566 4840 0.00 2.28 0.00 0.000 6 0.000 0.044 3135 2132 1600 0 0 0 0 0 0

4973 0.64 276.6 52.0 8.8 591 4981 0.00 2.38 0.00 0.000 4 0.000 0.059 3135 3574 1599 0 0 0 0 0 0

5040 0.62 276.6 45.0 10.4 603 5048 0.00 2.30 0.00 0.000 6 0.000 0.043 3143 2121 1599 0 0 0 0 0 0

5178 0.61 276.6 30.8 10.6 628 5186 0.00 2.50 0.00 0.000 4 0.000 0.054 3152 545 1598 0 0 0 0 0 0

5247 0.61 276.6 23.4 10.1 640 5255 0.08 2.42 0.00 0.000 6 0.104 0.046 3111 2092 1598 0 0 0 0 0 0

5388 0.69 363.0 16.6 3.1 665 5467 0.00 2.53 68.22 0.588 4 0.000 0.052 3111 549 1252 0 0 0 0 0 0

5588 0.78 363.0 4.7 8.6 698 5596 0.10 2.45 0.00 0.000 6 0.076 0.045 3174 2094 1246 0 0 0 0 0 0

5602 end climb: SURFACE_DEPTH_REACHED

state 5602 begin surface coast

5644 end surface coast: CONTROL_FINISHED_OK

state 5645 begin surface

ID	187	HEADING	-1	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	ESCAPE_HEADING	0	ROLL_DEG	43	ALTIM_PING_DEPTH	0
DIVE	449	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2175	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2060	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	325	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	2.5	N_FILEKB	8	R_STBD_OVSHOOT	37	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	10	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2735	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	540	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	600	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00060000003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	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	-1	T_GPS_CHARGE	-1585286.8	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2920	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543768
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-60.973145	SEABIRD_T_H	0.0006249955
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3401506e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4672308e-06
MASS	51930	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9855604
NAV_MODE	2	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1126566
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0021479612
KALMAN_USE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002479906
HD_A	0.0046000001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	12
HD_C	1.34e-05	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0

GPS1	170611,130908,4749.929,-12507.557,12,1.8,12,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.185,-0.075
_SM_DEPTHo	1.54	KALMAN_X	69972.3,329.7,55.5,-70815.9,108.2
_SM_ANGLEo	-76.7	KALMAN_Y	-182188.2,-577.2,274.4,188816.0,-233.8
GPS2	170611,131531,4749.923,-12507.519,12,1.7,17,18.7	MHEAD_RNG_PITCHd_Wd	263.2,169506,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	196

FINISH	0.7,1.010643	_10V_AH	10.2,41.934
SM_CCo	5723,0.00,0.000,0,0,1243,366.23	FG_AHR_24Vo	0.000
SM_GC	1.63,7.97,0.00,0.00,0.034,0.000,0.000,132,2192,1243,-8.60,0.48,366.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12507.66,170611,121212	MEM	297640
TT8_MAMPS	0.026964	DATA_FILE_SIZE	40340,708
HUMID	38.26	CAP_FILE_SIZE	98169,0
INTERNAL_PRESSURE	9.0597	CFSIZE	260165632,184598528
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.221,151.4,1
_24V_AH	24.2,46.536	GPS	170611,145306,4749.404,-12507.856,36,0.9,41,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	232	113.97	SBE_CT	481	24	279.45
Roll_motor	105	93	238.05	SBE_O2	1711	19	786.97
VBD_pump_during_apogee	387	699	6565.29	WL_BBFL2VMT	1094	105	2779.96
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	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	38	0	0.00	nil	0	0	0.00
Iridium_during_xfer	193	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	0	0.00
TT8	1733	19	350.11
LPSleep	1544	2	34.51
TT8_Active	481	19	97.26
TT8_Sampling	2047	39	831.20
TT8_CF8	300	45	140.35
TT8_Kalman	33	0	0.00
Analog_circuits	1223	12	149.74
GPS_charging	0	0	0.00
Compass	1567	15	239.84
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.50	-117.3	0.0	0.0	0	97	0.00	0.00	-77.78	0.000	2	0.000	0.000	131	2187	2797	0	0	0	0	0	0
102	-0.50	-117.3	3.4	-2.8	12	132	10.43	2.45	-8.32	0.000	4	0.233	0.068	2741	3683	3217	0	0	0	0	0	0
218	-0.50	-117.3	26.8	-11.2	32	226	0.00	2.38	0.00	0.000	6	0.000	0.041	2740	2168	3219	0	0	0	0	0	0
358	-0.46	-117.3	42.6	-12.3	57	366	0.00	2.35	0.00	0.000	4	0.000	0.050	2740	673	3220	0	0	0	0	0	0
393	-0.43	-117.3	47.1	-12.5	62	402	0.10	2.35	0.00	0.000	6	0.118	0.048	2780	2161	3220	0	0	0	0	0	0
533	-0.43	-117.3	61.0	-9.5	87	540	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2162	3221	0	0	0	0	0	0
667	-0.43	-117.3	72.8	-8.1	112	675	0.00	2.47	0.00	0.000	4	0.000	0.060	2771	3698	3221	0	0	0	0	0	0
700	-0.43	-117.3	75.2	-7.9	117	709	0.00	2.40	0.00	0.000	6	0.000	0.043	2770	2160	3221	0	0	0	0	0	0
841	-0.43	-117.3	86.8	-8.4	142	849	0.00	2.35	0.00	0.000	4	0.000	0.050	2770	671	3221	0	0	0	0	0	0
873	-0.43	-117.3	89.6	-7.8	147	881	0.00	2.35	0.00	0.000	6	0.000	0.048	2764	2173	3221	0	0	0	0	0	0
1013	-0.43	-117.3	96.6	-4.8	172	1021	0.00	2.45	0.00	0.000	4	0.000	0.060	2753	3687	3221	0	0	0	0	0	0
1084	-0.43	-117.3	100.9	-6.4	183	1088	0.00	2.30	0.00	0.000	6	0.000	0.042	2753	2178	3221	0	0	0	0	0	0
1289	-0.42	-117.3	119.4	-9.2	202	1294	0.10	2.33	0.00	0.000	4	0.152	0.050	2782	669	3221	0	0	0	0	0	0
1353	-0.43	-117.3	123.8	-6.3	207	1357	0.00	2.28	0.00	0.000	6	0.000	0.047	2782	2159	3221	0	0	0	0	0	0
1552	-0.43	-117.3	135.0	-4.7	225	1554	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2159	3221	0	0	0	0	0	0
1744	-0.43	-117.3	144.9	-5.5	243	1748	0.00	2.28	0.00	0.000	4	0.000	0.050	2781	670	3221	0	0	0	0	0	0
1765	-0.43	-117.3	146.5	-6.4	244	1773	0.00	2.30	0.00	0.000	6	0.000	0.048	2782	2148	3221	0	0	0	0	0	0
1965	-0.43	-117.3	159.7	-6.9	263	1970	0.00	2.42	0.00	0.000	4	0.000	0.060	2776	3693	3220	0	0	0	0	0	0
1988	-0.45	-117.3	161.4	-7.0	264	1996	0.00	2.40	0.00	0.000	6	0.000	0.044	2776	2151	3221	0	0	0	0	0	0
2188	-0.45	-117.3	175.0	-5.8	283	2192	0.00	2.28	0.00	0.000	4	0.000	0.050	2776	666	3221	0	0	0	0	0	0
2219	-0.46	-117.3	177.3	-6.4	285	2227	0.00	2.30	0.00	0.000	6	0.000	0.048	2776	2143	3220	0	0	0	0	0	0
2420	-0.46	-117.3	187.9	-4.8	304	2424	0.00	2.47	0.00	0.000	4	0.000	0.060	2773	3692	3220	0	0	0	0	0	0
2452	-0.47	-117.3	189.6	-5.0	306	2461	0.00	2.40	0.00	0.000	6	0.000	0.044	2772	2146	3220	0	0	0	0	0	0
2585	end dive: TARGET_DEPTH_EXCEEDED
state	2586	begin apogee
2593	-0.22	0.0	196.3	5.2	319	2692	0.22	0.00	93.72	0.700	6	0.110	0.000	2847	2047	2735	0	0	0	0	0	0
2692	end apogee: CONTROL_FINISHED_OK
state	2693	begin climb
2695	0.50	117.3	198.5	0.0	329	2807	0.65	2.58	97.68	0.678	4	0.077	0.055	3077	3565	2254	0	0	0	0	0	0
2845	0.47	117.3	190.3	8.7	341	2852	0.00	2.42	0.00	0.000	6	0.000	0.042	3085	2075	2251	0	0	0	0	0	0
3044	0.44	117.3	175.2	7.4	360	3048	0.00	2.40	0.00	0.000	4	0.000	0.051	3097	546	2247	0	0	0	0	0	0
3067	0.42	117.3	173.4	7.6	361	3075	0.10	2.42	0.00	0.000	6	0.114	0.046	3061	2074	2246	0	0	0	0	0	0
3268	0.41	117.3	159.0	7.6	380	3272	0.00	2.40	0.00	0.000	4	0.000	0.057	3061	3580	2245	0	0	0	0	0	0
3342	0.39	117.3	152.7	8.6	386	3346	0.00	2.33	0.00	0.000	6	0.000	0.042	3068	2096	2244	0	0	0	0	0	0
3542	0.38	117.3	139.0	6.6	404	3546	0.00	2.40	0.00	0.000	4	0.000	0.052	3081	546	2244	0	0	0	0	0	0
3573	0.36	117.3	136.8	7.2	406	3578	0.15	2.40	0.00	0.000	6	0.135	0.046	3036	2095	2244	0	0	0	0	0	0
3775	0.40	179.1	128.0	3.9	424	3829	0.00	2.38	48.47	0.652	4	0.000	0.055	3035	3570	2003	0	0	0	0	0	0
3856	0.43	205.8	124.5	5.2	430	3885	0.00	2.35	22.40	0.625	6	0.000	0.043	3040	2075	1896	0	0	0	0	0	0
4086	0.45	206.9	111.5	6.1	451	4090	0.00	2.45	0.00	0.000	4	0.000	0.053	3040	545	1888	0	0	0	0	0	0
4139	0.48	207.7	108.3	6.1	455	4144	0.10	2.40	0.00	0.000	6	0.097	0.046	3101	2083	1887	0	0	0	0	0	0
4339	0.46	207.7	92.0	6.8	482	4348	0.12	2.42	0.00	0.000	4	0.145	0.058	3064	3573	1886	0	0	0	0	0	0
4372	0.46	207.7	89.8	6.5	487	4380	0.00	2.35	0.00	0.000	6	0.000	0.044	3068	2086	1885	0	0	0	0	0	0
4511	0.51	259.1	82.7	4.3	512	4562	0.00	2.45	42.20	0.627	4	0.000	0.052	3068	548	1678	0	0	0	0	0	0
4652	0.55	276.6	75.8	5.5	535	4673	0.00	2.35	14.88	0.588	6	0.000	0.044	3068	2040	1607	0	0	0	0	0	0
4802	0.60	276.6	66.3	6.4	562	4811	0.12	2.50	0.00	0.000	4	0.089	0.059	3130	3564	1601	0	0	0	0	0	0
4831	0.64	276.6	64.3	6.9	566	4840	0.00	2.28	0.00	0.000	6	0.000	0.044	3135	2132	1600	0	0	0	0	0	0
4973	0.64	276.6	52.0	8.8	591	4981	0.00	2.38	0.00	0.000	4	0.000	0.059	3135	3574	1599	0	0	0	0	0	0
5040	0.62	276.6	45.0	10.4	603	5048	0.00	2.30	0.00	0.000	6	0.000	0.043	3143	2121	1599	0	0	0	0	0	0
5178	0.61	276.6	30.8	10.6	628	5186	0.00	2.50	0.00	0.000	4	0.000	0.054	3152	545	1598	0	0	0	0	0	0
5247	0.61	276.6	23.4	10.1	640	5255	0.08	2.42	0.00	0.000	6	0.104	0.046	3111	2092	1598	0	0	0	0	0	0
5388	0.69	363.0	16.6	3.1	665	5467	0.00	2.53	68.22	0.588	4	0.000	0.052	3111	549	1252	0	0	0	0	0	0
5588	0.78	363.0	4.7	8.6	698	5596	0.10	2.45	0.00	0.000	6	0.076	0.045	3174	2094	1246	0	0	0	0	0	0
5602	end climb: SURFACE_DEPTH_REACHED
state	5602	begin surface coast
5644	end surface coast: CONTROL_FINISHED_OK
state	5645	begin surface