Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 534 * 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 534 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 46 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 -1585405.5 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 -1585405.5

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 46 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 534 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 120711,000352,4751.321,-12511.887,14,3.6,33,18.7 TGT_NAME ONSHORE

_CALLS 1 TGT_LATLONG 4758.000,-12457.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.029,0.198

_SM_DEPTHo 1.83 KALMAN_X 193953.5,-287.8,-27.4,-199502.0,40.0

_SM_ANGLEo -78.4 KALMAN_Y -360127.8,440.1,-310.6,368805.3,-1077.6

GPS2 120711,001022,4751.262,-12511.863,17,3.5,36,18.7 MHEAD_RNG_PITCHd_Wd 9.0,22258,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 189

Post-dive calculations and measurements:

FINISH 1.9,1.023303 _10V_AH 9.9,60.996

SM_CCo 6314,17.85,0.353,1,0,1409,325.02 FG_AHR_24Vo 0.000

SM_GC 1.62,0.00,0.00,17.85,0.000,0.000,0.353,113,2178,1409,-8.77,0.08,325.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12513.98,110711,222206 MEM 297592

TT8_MAMPS 0.027713 DATA_FILE_SIZE 46898,813

HUMID 39.72 CAP_FILE_SIZE 108172,0

INTERNAL_PRESSURE 9.06946 CFSIZE 260165632,174243840

TCM_TEMP 15.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.086,206.8,1

_24V_AH 24.0,57.829 GPS 120711,015907,4751.526,-12511.681,91,0.9,91,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 228 111.58 SBE_CT 554 24 319.42

Roll_motor 115 118 328.83 SBE_O2 1657 19 755.77

VBD_pump_during_apogee 344 703 5814.80 WL_BBFL2VMT 1297 105 3268.93

VBD_pump_during_surface 17 352 151.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 0 0.00 nil 0 0 0.00

Iridium_during_connect 31 0 0.00 nil 0 0 0.00

Iridium_during_xfer 181 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 38 0 0.00

TT8 2015 19 395.10

LPSleep 1833 2 39.75

TT8_Active 487 19 95.65

TT8_Sampling 2066 39 814.25

TT8_CF8 325 45 147.71

TT8_Kalman 33 0 0.00

Analog_circuits 1274 12 151.45

GPS_charging 0 0 0.00

Compass 1805 15 268.09

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.50 -117.3 0.0 0.0 0 76 0.00 0.00 -58.30 0.000 2 0.000 0.000 115 2189 2836 0 0 0 0 0 0

81 -0.50 -117.3 4.0 -3.4 9 104 10.60 2.47 -7.10 0.000 4 0.229 0.061 2753 656 3216 0 0 0 0 0 0

217 -0.47 -117.3 28.6 -8.8 33 224 0.00 2.38 0.00 0.000 6 0.000 0.048 2745 2156 3220 0 0 0 0 0 0

355 -0.44 -117.3 40.1 -8.5 58 364 0.12 2.50 0.00 0.000 4 0.148 0.060 2770 3688 3221 0 0 0 0 0 0

394 -0.44 -117.3 43.4 -7.9 64 403 0.00 2.38 0.00 0.000 6 0.000 0.043 2771 2182 3221 0 0 0 0 0 0

530 -0.44 -117.3 52.9 -7.4 89 538 0.00 2.40 0.00 0.000 4 0.000 0.050 2771 664 3222 0 0 0 0 0 0

559 -0.44 -117.3 54.9 -7.5 93 567 0.00 2.40 0.00 0.000 6 0.000 0.049 2764 2186 3222 0 0 0 0 0 0

699 -0.43 -117.3 64.1 -6.4 118 706 0.00 2.45 0.00 0.000 4 0.000 0.060 2754 3687 3222 0 0 0 0 0 0

757 -0.43 -117.3 68.3 -6.9 128 766 0.00 2.38 0.00 0.000 6 0.000 0.043 2753 2176 3222 0 0 0 0 0 0

896 -0.42 -117.3 77.8 -6.6 153 904 0.10 2.40 0.00 0.000 4 0.155 0.050 2782 670 3222 0 0 0 0 0 0

970 -0.43 -117.3 81.9 -5.4 166 978 0.00 2.35 0.00 0.000 6 0.000 0.047 2781 2167 3222 0 0 0 0 0 0

1109 -0.43 -117.3 88.2 -4.6 191 1116 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2167 3223 0 0 0 0 0 0

1246 -0.43 -117.3 94.6 -4.3 216 1255 0.00 2.35 0.00 0.000 4 0.000 0.050 2781 678 3223 0 0 0 0 0 0

1285 -0.44 -117.3 96.3 -4.4 222 1293 0.00 2.30 0.00 0.000 6 0.000 0.049 2781 2143 3222 0 0 0 0 0 0

1423 -0.44 -117.3 102.6 -4.3 242 1428 0.00 2.45 0.00 0.000 4 0.000 0.060 2773 3689 3222 0 0 0 0 0 0

1478 -0.46 -117.3 104.7 -4.0 246 1483 0.00 2.38 0.00 0.000 6 0.000 0.044 2772 2145 3222 0 0 0 0 0 0

1677 -0.46 -117.3 114.2 -5.3 264 1681 0.00 2.28 0.00 0.000 4 0.000 0.050 2772 667 3222 0 0 0 0 0 0

1731 -0.47 -117.3 117.2 -5.9 268 1735 0.00 2.25 0.00 0.000 6 0.000 0.047 2772 2134 3222 0 0 0 0 0 0

1930 -0.47 -117.3 128.9 -5.7 286 1934 0.00 2.50 0.00 0.000 4 0.000 0.060 2770 3696 3222 0 0 0 0 0 0

1963 -0.49 -117.3 130.8 -5.4 288 1972 0.00 2.45 0.00 0.000 6 0.000 0.044 2770 2137 3222 0 0 0 0 0 0

2163 -0.49 -117.3 141.0 -5.4 307 2167 0.00 2.30 0.00 0.000 4 0.000 0.050 2770 657 3222 0 0 0 0 0 0

2209 -0.50 -117.3 143.7 -5.6 311 2213 0.00 2.28 0.00 0.000 6 0.000 0.050 2769 2122 3222 0 0 0 0 0 0

2409 -0.50 -117.3 153.4 -5.3 329 2413 0.00 2.50 0.00 0.000 4 0.000 0.061 2768 3693 3222 0 0 0 0 0 0

2453 -0.52 -117.3 155.8 -4.6 332 2461 0.00 2.42 0.00 0.000 6 0.000 0.044 2767 2118 3222 0 0 0 0 0 0

2651 -0.52 -117.3 165.2 -5.0 351 2655 0.00 2.25 0.00 0.000 4 0.000 0.052 2766 663 3222 0 0 0 0 0 0

2692 -0.53 -117.3 167.4 -5.8 354 2697 0.00 2.25 0.00 0.000 6 0.000 0.049 2762 2125 3221 0 0 0 0 0 0

2890 -0.53 -117.3 178.5 -6.3 372 2895 0.00 2.55 0.00 0.000 4 0.000 0.063 2752 3694 3221 0 0 0 0 0 0

2932 -0.55 -117.3 181.2 -7.0 375 2936 0.00 2.42 0.00 0.000 6 0.000 0.044 2751 2123 3221 0 0 0 0 0 0

3053 end dive: TARGET_DEPTH_EXCEEDED

state 3053 begin apogee

3060 -0.22 0.0 189.7 6.6 386 3157 0.28 0.00 94.12 0.704 6 0.108 0.000 2847 2056 2734 0 0 0 0 0 0

3158 end apogee: CONTROL_FINISHED_OK

state 3158 begin climb

3162 0.50 117.3 193.1 0.0 396 3272 0.65 2.53 97.47 0.682 4 0.074 0.055 3078 3576 2254 0 0 0 0 0 0

3307 0.47 117.3 187.3 7.5 408 3311 0.00 2.42 0.00 0.000 6 0.000 0.042 3088 2067 2250 0 0 0 0 0 0

3507 0.45 117.3 173.7 7.0 426 3511 0.00 2.40 0.00 0.000 4 0.000 0.053 3100 546 2247 0 0 0 0 0 0

3531 0.43 117.3 171.9 7.5 428 3536 0.15 2.38 0.00 0.000 6 0.133 0.046 3056 2070 2247 0 0 0 0 0 0

3732 0.44 132.5 160.1 5.6 446 3755 0.00 2.47 12.07 0.620 4 0.000 0.057 3056 3577 2193 0 0 0 0 0 0

3782 0.43 132.5 156.6 6.8 450 3790 0.00 2.40 0.00 0.000 6 0.000 0.044 3064 2074 2191 0 0 0 0 0 0

3982 0.43 132.5 144.0 6.4 469 3986 0.00 2.42 0.00 0.000 4 0.000 0.054 3074 537 2190 0 0 0 0 0 0

4015 0.43 132.5 141.3 7.3 471 4023 0.00 2.40 0.00 0.000 6 0.000 0.047 3074 2060 2190 0 0 0 0 0 0

4215 0.42 132.5 127.4 7.4 490 4219 0.00 2.45 0.00 0.000 4 0.000 0.059 3074 3580 2189 0 0 0 0 0 0

4258 0.40 132.5 124.1 8.7 493 4263 0.12 2.35 0.00 0.000 6 0.148 0.044 3048 2067 2188 0 0 0 0 0 0

4462 0.41 158.5 112.7 5.2 511 4489 0.00 0.00 22.23 0.643 6 0.000 0.000 3048 2063 2087 0 0 0 0 0 0

4684 0.42 158.5 98.7 6.4 533 4691 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2063 2082 0 0 0 0 0 0

4824 0.44 158.5 89.5 6.3 558 4832 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2063 2081 0 0 0 0 0 0

4970 0.47 188.1 81.5 5.1 583 5000 0.00 0.00 24.35 0.630 6 0.000 0.000 3048 2063 1968 0 0 0 0 0 0

5129 0.50 217.6 73.5 5.1 611 5160 0.10 2.47 24.90 0.618 4 0.098 0.054 3111 547 1847 0 0 0 0 0 0

5219 0.50 217.6 67.8 7.0 625 5226 0.00 2.47 0.00 0.000 6 0.000 0.047 3111 2128 1844 0 0 0 0 0 0

5357 0.50 217.6 58.2 6.5 650 5365 0.00 2.35 0.00 0.000 4 0.000 0.060 3111 3574 1841 0 0 0 0 0 0

5388 0.50 217.6 55.8 7.1 655 5397 0.10 2.33 0.00 0.000 6 0.114 0.044 3085 2111 1840 0 0 0 0 0 0

5530 0.53 244.5 48.5 5.2 680 5560 0.00 2.45 22.00 0.604 4 0.000 0.053 3085 550 1739 0 0 0 0 0 0

5594 0.57 264.6 44.8 5.4 690 5617 0.00 2.45 17.62 0.589 6 0.000 0.047 3084 2098 1655 0 0 0 0 0 0

5748 0.61 264.6 34.2 7.4 717 5756 0.10 2.47 0.00 0.000 4 0.099 0.053 3134 545 1649 0 0 0 0 0 0

5780 0.65 264.6 31.7 7.7 722 5787 0.00 2.35 0.00 0.000 6 0.000 0.047 3135 2034 1648 0 0 0 0 0 0

5919 0.65 264.6 22.2 6.6 747 5927 0.00 2.50 0.00 0.000 4 0.000 0.059 3134 3573 1648 0 0 0 0 0 0

5993 0.65 264.6 17.4 6.1 760 6001 0.00 2.40 0.00 0.000 6 0.000 0.044 3139 2061 1647 0 0 0 0 0 0

6133 0.70 301.3 10.5 4.8 785 6170 0.00 2.40 29.48 0.588 4 0.000 0.052 3139 547 1504 0 0 0 0 0 0

6255 end climb: SURFACE_DEPTH_REACHED

state 6255 begin surface coast

6293 end surface coast: CONTROL_FINISHED_OK

state 6293 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	534	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	46	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	-1585405.5	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	120711,000352,4751.321,-12511.887,14,3.6,33,18.7	TGT_NAME	ONSHORE
_CALLS	1	TGT_LATLONG	4758.000,-12457.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.029,0.198
_SM_DEPTHo	1.83	KALMAN_X	193953.5,-287.8,-27.4,-199502.0,40.0
_SM_ANGLEo	-78.4	KALMAN_Y	-360127.8,440.1,-310.6,368805.3,-1077.6
GPS2	120711,001022,4751.262,-12511.863,17,3.5,36,18.7	MHEAD_RNG_PITCHd_Wd	9.0,22258,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	189

FINISH	1.9,1.023303	_10V_AH	9.9,60.996
SM_CCo	6314,17.85,0.353,1,0,1409,325.02	FG_AHR_24Vo	0.000
SM_GC	1.62,0.00,0.00,17.85,0.000,0.000,0.353,113,2178,1409,-8.77,0.08,325.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12513.98,110711,222206	MEM	297592
TT8_MAMPS	0.027713	DATA_FILE_SIZE	46898,813
HUMID	39.72	CAP_FILE_SIZE	108172,0
INTERNAL_PRESSURE	9.06946	CFSIZE	260165632,174243840
TCM_TEMP	15.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.086,206.8,1
_24V_AH	24.0,57.829	GPS	120711,015907,4751.526,-12511.681,91,0.9,91,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	228	111.58	SBE_CT	554	24	319.42
Roll_motor	115	118	328.83	SBE_O2	1657	19	755.77
VBD_pump_during_apogee	344	703	5814.80	WL_BBFL2VMT	1297	105	3268.93
VBD_pump_during_surface	17	352	151.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	0	0.00	nil	0	0	0.00
Iridium_during_connect	31	0	0.00	nil	0	0	0.00
Iridium_during_xfer	181	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	38	0	0.00
TT8	2015	19	395.10
LPSleep	1833	2	39.75
TT8_Active	487	19	95.65
TT8_Sampling	2066	39	814.25
TT8_CF8	325	45	147.71
TT8_Kalman	33	0	0.00
Analog_circuits	1274	12	151.45
GPS_charging	0	0	0.00
Compass	1805	15	268.09
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.50	-117.3	0.0	0.0	0	76	0.00	0.00	-58.30	0.000	2	0.000	0.000	115	2189	2836	0	0	0	0	0	0
81	-0.50	-117.3	4.0	-3.4	9	104	10.60	2.47	-7.10	0.000	4	0.229	0.061	2753	656	3216	0	0	0	0	0	0
217	-0.47	-117.3	28.6	-8.8	33	224	0.00	2.38	0.00	0.000	6	0.000	0.048	2745	2156	3220	0	0	0	0	0	0
355	-0.44	-117.3	40.1	-8.5	58	364	0.12	2.50	0.00	0.000	4	0.148	0.060	2770	3688	3221	0	0	0	0	0	0
394	-0.44	-117.3	43.4	-7.9	64	403	0.00	2.38	0.00	0.000	6	0.000	0.043	2771	2182	3221	0	0	0	0	0	0
530	-0.44	-117.3	52.9	-7.4	89	538	0.00	2.40	0.00	0.000	4	0.000	0.050	2771	664	3222	0	0	0	0	0	0
559	-0.44	-117.3	54.9	-7.5	93	567	0.00	2.40	0.00	0.000	6	0.000	0.049	2764	2186	3222	0	0	0	0	0	0
699	-0.43	-117.3	64.1	-6.4	118	706	0.00	2.45	0.00	0.000	4	0.000	0.060	2754	3687	3222	0	0	0	0	0	0
757	-0.43	-117.3	68.3	-6.9	128	766	0.00	2.38	0.00	0.000	6	0.000	0.043	2753	2176	3222	0	0	0	0	0	0
896	-0.42	-117.3	77.8	-6.6	153	904	0.10	2.40	0.00	0.000	4	0.155	0.050	2782	670	3222	0	0	0	0	0	0
970	-0.43	-117.3	81.9	-5.4	166	978	0.00	2.35	0.00	0.000	6	0.000	0.047	2781	2167	3222	0	0	0	0	0	0
1109	-0.43	-117.3	88.2	-4.6	191	1116	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2167	3223	0	0	0	0	0	0
1246	-0.43	-117.3	94.6	-4.3	216	1255	0.00	2.35	0.00	0.000	4	0.000	0.050	2781	678	3223	0	0	0	0	0	0
1285	-0.44	-117.3	96.3	-4.4	222	1293	0.00	2.30	0.00	0.000	6	0.000	0.049	2781	2143	3222	0	0	0	0	0	0
1423	-0.44	-117.3	102.6	-4.3	242	1428	0.00	2.45	0.00	0.000	4	0.000	0.060	2773	3689	3222	0	0	0	0	0	0
1478	-0.46	-117.3	104.7	-4.0	246	1483	0.00	2.38	0.00	0.000	6	0.000	0.044	2772	2145	3222	0	0	0	0	0	0
1677	-0.46	-117.3	114.2	-5.3	264	1681	0.00	2.28	0.00	0.000	4	0.000	0.050	2772	667	3222	0	0	0	0	0	0
1731	-0.47	-117.3	117.2	-5.9	268	1735	0.00	2.25	0.00	0.000	6	0.000	0.047	2772	2134	3222	0	0	0	0	0	0
1930	-0.47	-117.3	128.9	-5.7	286	1934	0.00	2.50	0.00	0.000	4	0.000	0.060	2770	3696	3222	0	0	0	0	0	0
1963	-0.49	-117.3	130.8	-5.4	288	1972	0.00	2.45	0.00	0.000	6	0.000	0.044	2770	2137	3222	0	0	0	0	0	0
2163	-0.49	-117.3	141.0	-5.4	307	2167	0.00	2.30	0.00	0.000	4	0.000	0.050	2770	657	3222	0	0	0	0	0	0
2209	-0.50	-117.3	143.7	-5.6	311	2213	0.00	2.28	0.00	0.000	6	0.000	0.050	2769	2122	3222	0	0	0	0	0	0
2409	-0.50	-117.3	153.4	-5.3	329	2413	0.00	2.50	0.00	0.000	4	0.000	0.061	2768	3693	3222	0	0	0	0	0	0
2453	-0.52	-117.3	155.8	-4.6	332	2461	0.00	2.42	0.00	0.000	6	0.000	0.044	2767	2118	3222	0	0	0	0	0	0
2651	-0.52	-117.3	165.2	-5.0	351	2655	0.00	2.25	0.00	0.000	4	0.000	0.052	2766	663	3222	0	0	0	0	0	0
2692	-0.53	-117.3	167.4	-5.8	354	2697	0.00	2.25	0.00	0.000	6	0.000	0.049	2762	2125	3221	0	0	0	0	0	0
2890	-0.53	-117.3	178.5	-6.3	372	2895	0.00	2.55	0.00	0.000	4	0.000	0.063	2752	3694	3221	0	0	0	0	0	0
2932	-0.55	-117.3	181.2	-7.0	375	2936	0.00	2.42	0.00	0.000	6	0.000	0.044	2751	2123	3221	0	0	0	0	0	0
3053	end dive: TARGET_DEPTH_EXCEEDED
state	3053	begin apogee
3060	-0.22	0.0	189.7	6.6	386	3157	0.28	0.00	94.12	0.704	6	0.108	0.000	2847	2056	2734	0	0	0	0	0	0
3158	end apogee: CONTROL_FINISHED_OK
state	3158	begin climb
3162	0.50	117.3	193.1	0.0	396	3272	0.65	2.53	97.47	0.682	4	0.074	0.055	3078	3576	2254	0	0	0	0	0	0
3307	0.47	117.3	187.3	7.5	408	3311	0.00	2.42	0.00	0.000	6	0.000	0.042	3088	2067	2250	0	0	0	0	0	0
3507	0.45	117.3	173.7	7.0	426	3511	0.00	2.40	0.00	0.000	4	0.000	0.053	3100	546	2247	0	0	0	0	0	0
3531	0.43	117.3	171.9	7.5	428	3536	0.15	2.38	0.00	0.000	6	0.133	0.046	3056	2070	2247	0	0	0	0	0	0
3732	0.44	132.5	160.1	5.6	446	3755	0.00	2.47	12.07	0.620	4	0.000	0.057	3056	3577	2193	0	0	0	0	0	0
3782	0.43	132.5	156.6	6.8	450	3790	0.00	2.40	0.00	0.000	6	0.000	0.044	3064	2074	2191	0	0	0	0	0	0
3982	0.43	132.5	144.0	6.4	469	3986	0.00	2.42	0.00	0.000	4	0.000	0.054	3074	537	2190	0	0	0	0	0	0
4015	0.43	132.5	141.3	7.3	471	4023	0.00	2.40	0.00	0.000	6	0.000	0.047	3074	2060	2190	0	0	0	0	0	0
4215	0.42	132.5	127.4	7.4	490	4219	0.00	2.45	0.00	0.000	4	0.000	0.059	3074	3580	2189	0	0	0	0	0	0
4258	0.40	132.5	124.1	8.7	493	4263	0.12	2.35	0.00	0.000	6	0.148	0.044	3048	2067	2188	0	0	0	0	0	0
4462	0.41	158.5	112.7	5.2	511	4489	0.00	0.00	22.23	0.643	6	0.000	0.000	3048	2063	2087	0	0	0	0	0	0
4684	0.42	158.5	98.7	6.4	533	4691	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2063	2082	0	0	0	0	0	0
4824	0.44	158.5	89.5	6.3	558	4832	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2063	2081	0	0	0	0	0	0
4970	0.47	188.1	81.5	5.1	583	5000	0.00	0.00	24.35	0.630	6	0.000	0.000	3048	2063	1968	0	0	0	0	0	0
5129	0.50	217.6	73.5	5.1	611	5160	0.10	2.47	24.90	0.618	4	0.098	0.054	3111	547	1847	0	0	0	0	0	0
5219	0.50	217.6	67.8	7.0	625	5226	0.00	2.47	0.00	0.000	6	0.000	0.047	3111	2128	1844	0	0	0	0	0	0
5357	0.50	217.6	58.2	6.5	650	5365	0.00	2.35	0.00	0.000	4	0.000	0.060	3111	3574	1841	0	0	0	0	0	0
5388	0.50	217.6	55.8	7.1	655	5397	0.10	2.33	0.00	0.000	6	0.114	0.044	3085	2111	1840	0	0	0	0	0	0
5530	0.53	244.5	48.5	5.2	680	5560	0.00	2.45	22.00	0.604	4	0.000	0.053	3085	550	1739	0	0	0	0	0	0
5594	0.57	264.6	44.8	5.4	690	5617	0.00	2.45	17.62	0.589	6	0.000	0.047	3084	2098	1655	0	0	0	0	0	0
5748	0.61	264.6	34.2	7.4	717	5756	0.10	2.47	0.00	0.000	4	0.099	0.053	3134	545	1649	0	0	0	0	0	0
5780	0.65	264.6	31.7	7.7	722	5787	0.00	2.35	0.00	0.000	6	0.000	0.047	3135	2034	1648	0	0	0	0	0	0
5919	0.65	264.6	22.2	6.6	747	5927	0.00	2.50	0.00	0.000	4	0.000	0.059	3134	3573	1648	0	0	0	0	0	0
5993	0.65	264.6	17.4	6.1	760	6001	0.00	2.40	0.00	0.000	6	0.000	0.044	3139	2061	1647	0	0	0	0	0	0
6133	0.70	301.3	10.5	4.8	785	6170	0.00	2.40	29.48	0.588	4	0.000	0.052	3139	547	1504	0	0	0	0	0	0
6255	end climb: SURFACE_DEPTH_REACHED
state	6255	begin surface coast
6293	end surface coast: CONTROL_FINISHED_OK
state	6293	begin surface