Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 696 * 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 696 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 34 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 -1585621 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 1 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 -1585621

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 34 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 696 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 1 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 300811,171655,4749.560,-12515.367,99,1.0,99,18.7 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.300,-12511.480

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.056,0.192

_SM_DEPTHo 2.02 KALMAN_X 360603.9,782.1,519.6,-372114.0,-1859.5

_SM_ANGLEo -75.5 KALMAN_Y -778409.5,58.3,665.9,783214.9,-3550.9

GPS2 300811,172149,4749.507,-12515.362,11,1.0,16,18.7 MHEAD_RNG_PITCHd_Wd 357.4,5856,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 450

Post-dive calculations and measurements:

FINISH 3.5,NaN _10V_AH 9.8,82.325

SM_CCo 11874,0.00,0.000,0,0,1372,334.34 FG_AHR_24Vo 0.000

SM_GC 2.65,7.97,0.00,0.00,0.041,0.000,0.000,120,2162,1372,-8.60,-0.34,334.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,300811,131330 MEM 297664

TT8_MAMPS 0.026964 DATA_FILE_SIZE 335,50

HUMID 43.69 CAP_FILE_SIZE 95327,0

INTERNAL_PRESSURE 9.0597 CFSIZE 260165632,158257152

TCM_TEMP 19.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 300811,204206,4750.991,-12514.441,53,1.8,53,18.7

_24V_AH 23.3,79.758

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 224 106.02 SBE_CT 0 0 0.00

Roll_motor 94 82 181.87 SBE_O2 0 0 0.00

VBD_pump_during_apogee 385 880 7908.92 WL_BBFL2VMT 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 26 0 0.00 nil 0 0 0.00

Iridium_during_connect 31 0 0.00 nil 0 0 0.00

Iridium_during_xfer 110 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 17 0 0.00

TT8 531 19 103.09

LPSleep 9431 2 202.42

TT8_Active 521 19 101.13

TT8_Sampling 1436 39 560.31

TT8_CF8 245 45 110.16

TT8_Kalman 33 0 0.00

Analog_circuits 1173 12 138.00

GPS_charging 0 0 0.00

Compass 1242 15 182.59

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.50 -117.3 0.0 0.0 0 85 0.00 0.00 -67.72 0.000 6 0.000 0.000 122 2182 3215 0 0 0 0 0 0

88 -0.50 -117.3 0.0 -0.0 0 104 10.62 2.35 0.00 0.000 4 0.224 0.037 2751 638 3218 0 0 0 0 0 0

184 -0.47 -117.3 32.4 -11.8 0 188 0.00 2.38 0.00 0.000 6 0.000 0.048 2743 2177 3222 0 0 0 0 0 0

391 -0.45 -117.3 56.6 -11.7 2 396 0.10 2.35 0.00 0.000 4 0.162 0.050 2771 663 3222 0 0 0 0 0 0

431 -0.45 -117.3 60.5 -8.6 2 435 0.00 2.33 0.00 0.000 6 0.000 0.047 2764 2170 3223 0 0 0 0 0 0

696 -0.45 -117.3 84.0 -9.1 5 700 0.00 2.42 0.00 0.000 4 0.000 0.060 2753 3694 3224 0 0 0 0 0 0

734 -0.45 -117.3 87.2 -8.1 5 738 0.00 2.38 0.00 0.000 6 0.000 0.043 2752 2149 3224 0 0 0 0 0 0

1202 -0.45 -117.3 125.4 -8.2 8 1206 0.00 2.28 0.00 0.000 4 0.000 0.050 2752 669 3225 0 0 0 0 0 0

1247 -0.45 -117.3 129.2 -8.2 8 1251 0.00 2.30 0.00 0.000 6 0.000 0.047 2744 2169 3224 0 0 0 0 0 0

1828 -0.45 -117.3 175.3 -7.4 10 1832 0.00 2.38 0.00 0.000 4 0.000 0.050 2744 660 3223 0 0 0 0 0 0

1874 -0.45 -117.3 178.7 -7.4 10 1879 0.12 2.33 0.00 0.000 6 0.136 0.049 2774 2166 3223 0 0 0 0 0 0

2458 -0.47 -117.3 210.7 -5.5 12 2462 0.00 2.35 0.00 0.000 4 0.000 0.051 2774 661 3223 0 0 0 0 0 0

2492 -0.48 -117.3 212.7 -6.4 12 2496 0.00 2.33 0.00 0.000 6 0.000 0.048 2773 2167 3223 0 0 0 0 0 0

3093 -0.49 -117.3 248.6 -6.2 14 3097 0.00 2.35 0.00 0.000 4 0.000 0.050 2773 659 3222 0 0 0 0 0 0

3120 -0.51 -117.3 250.5 -6.2 14 3124 0.00 2.33 0.00 0.000 6 0.000 0.050 2769 2153 3222 0 0 0 0 0 0

3725 -0.52 -117.3 284.2 -5.5 16 3726 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2153 3222 0 0 0 0 0 0

4026 -0.53 -117.3 299.6 -5.3 17 4030 0.00 2.35 0.00 0.000 4 0.000 0.053 2769 666 3221 0 0 0 0 0 0

4065 -0.54 -117.3 301.6 -5.5 17 4069 0.00 2.33 0.00 0.000 6 0.000 0.051 2769 2159 3221 0 0 0 0 0 0

4652 -0.56 -117.3 330.4 -5.0 19 4654 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2159 3220 0 0 0 0 0 0

4954 -0.57 -117.3 345.9 -5.1 20 4958 0.00 2.35 0.00 0.000 4 0.000 0.053 2769 663 3219 0 0 0 0 0 0

4981 -0.58 -117.3 347.4 -5.8 20 4986 0.10 2.33 0.00 0.000 6 0.096 0.051 2711 2156 3219 0 0 0 0 0 0

5588 -0.57 -117.3 395.0 -7.9 22 5592 0.00 2.45 0.00 0.000 4 0.000 0.062 2699 3693 3218 0 0 0 0 0 0

5621 -0.55 -117.3 398.0 -8.6 22 5626 0.15 2.40 0.00 0.000 6 0.122 0.046 2746 2155 3218 0 0 0 0 0 0

6214 -0.55 -117.3 430.3 -5.2 24 6218 0.00 2.35 0.00 0.000 4 0.000 0.054 2745 663 3217 0 0 0 0 0 0

6286 -0.55 -117.3 434.4 -5.4 24 6290 0.00 2.33 0.00 0.000 6 0.000 0.051 2740 2155 3218 0 0 0 0 0 0

6836 end dive: TARGET_DEPTH_EXCEEDED

state 6836 begin apogee

6843 -0.22 0.0 469.6 6.7 26 6946 0.32 0.00 100.60 0.881 6 0.079 0.000 2860 2049 2735 0 0 0 0 0 0

6947 end apogee: CONTROL_FINISHED_OK

state 6947 begin climb

6951 0.50 117.3 469.6 0.0 26 7058 0.62 0.00 104.28 0.856 6 0.059 0.000 3089 2048 2256 0 0 0 0 0 0

7140 0.58 291.3 460.7 -0.0 27 7288 0.00 0.00 146.50 0.843 6 0.000 0.000 3089 2048 1546 0 0 0 0 0 0

7440 0.57 291.3 430.3 10.1 28 7444 0.00 2.47 0.00 0.000 4 0.000 0.058 3088 3583 1537 0 0 0 0 0 0

7461 0.57 291.3 427.6 12.2 28 7465 0.00 2.40 0.00 0.000 6 0.000 0.046 3094 2066 1536 0 0 0 0 0 0

8066 0.57 291.3 361.3 10.7 30 8070 0.00 2.38 0.00 0.000 4 0.000 0.056 3105 546 1532 0 0 0 0 0 0

8140 0.58 291.3 354.0 9.9 30 8144 0.00 2.33 0.00 0.000 6 0.000 0.049 3105 2054 1532 0 0 0 0 0 0

8693 0.58 291.3 297.0 10.1 32 8694 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2054 1531 0 0 0 0 0 0

8995 0.58 291.3 266.5 10.1 33 8996 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2055 1531 0 0 0 0 0 0

9294 0.58 291.3 236.3 10.1 34 9298 0.00 2.38 0.00 0.000 4 0.000 0.057 3115 546 1531 0 0 0 0 0 0

9321 0.58 291.3 233.4 9.8 34 9325 0.00 2.33 0.00 0.000 6 0.000 0.049 3115 2061 1530 0 0 0 0 0 0

9927 0.58 291.3 163.9 11.6 36 9931 0.00 2.38 0.00 0.000 4 0.000 0.057 3125 547 1530 0 0 0 0 0 0

9955 0.58 291.3 160.4 12.4 36 9959 0.00 2.33 0.00 0.000 6 0.000 0.049 3125 2052 1530 0 0 0 0 0 0

10559 0.57 291.3 92.0 10.8 38 10563 0.00 2.38 0.00 0.000 4 0.000 0.055 3134 546 1530 0 0 0 0 0 0

10586 0.57 291.3 89.1 10.5 38 10590 0.00 2.33 0.00 0.000 6 0.000 0.048 3134 2053 1529 0 0 0 0 0 0

10862 0.57 291.3 61.7 10.0 41 10866 0.00 2.40 0.00 0.000 4 0.000 0.059 3134 3574 1530 0 0 0 0 0 0

10888 0.57 291.3 58.9 9.3 41 10893 0.15 2.42 0.00 0.000 6 0.130 0.046 3099 2033 1530 0 0 0 0 0 0

11164 0.60 307.0 43.1 5.6 44 11182 0.00 2.42 12.10 0.581 4 0.000 0.055 3099 542 1482 0 0 0 0 0 0

11237 0.65 331.2 39.2 5.3 44 11265 0.00 2.30 22.02 0.602 6 0.000 0.047 3099 2033 1384 0 0 0 0 0 0

11474 0.70 331.2 24.7 6.1 47 11479 0.12 2.38 0.00 0.000 4 0.088 0.055 3159 544 1377 0 0 0 0 0 0

11526 0.72 331.2 21.3 6.6 47 11530 0.00 2.17 0.00 0.000 6 0.000 0.048 3160 1958 1377 0 0 0 0 0 0

11778 0.74 331.2 4.5 6.6 50 11782 0.00 2.60 0.00 0.000 4 0.000 0.059 3160 3581 1376 0 0 0 0 0 0

11786 end climb: SURFACE_DEPTH_REACHED

state 11786 begin surface coast

11791 end surface coast: CONTROL_FINISHED_OK

state 11792 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	696	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	34	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	-1585621	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	1	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	300811,171655,4749.560,-12515.367,99,1.0,99,18.7	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.300,-12511.480
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.056,0.192
_SM_DEPTHo	2.02	KALMAN_X	360603.9,782.1,519.6,-372114.0,-1859.5
_SM_ANGLEo	-75.5	KALMAN_Y	-778409.5,58.3,665.9,783214.9,-3550.9
GPS2	300811,172149,4749.507,-12515.362,11,1.0,16,18.7	MHEAD_RNG_PITCHd_Wd	357.4,5856,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	450

FINISH	3.5,NaN	_10V_AH	9.8,82.325
SM_CCo	11874,0.00,0.000,0,0,1372,334.34	FG_AHR_24Vo	0.000
SM_GC	2.65,7.97,0.00,0.00,0.041,0.000,0.000,120,2162,1372,-8.60,-0.34,334.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,300811,131330	MEM	297664
TT8_MAMPS	0.026964	DATA_FILE_SIZE	335,50
HUMID	43.69	CAP_FILE_SIZE	95327,0
INTERNAL_PRESSURE	9.0597	CFSIZE	260165632,158257152
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	300811,204206,4750.991,-12514.441,53,1.8,53,18.7
_24V_AH	23.3,79.758

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	224	106.02	SBE_CT	0	0	0.00
Roll_motor	94	82	181.87	SBE_O2	0	0	0.00
VBD_pump_during_apogee	385	880	7908.92	WL_BBFL2VMT	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	26	0	0.00	nil	0	0	0.00
Iridium_during_connect	31	0	0.00	nil	0	0	0.00
Iridium_during_xfer	110	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	17	0	0.00
TT8	531	19	103.09
LPSleep	9431	2	202.42
TT8_Active	521	19	101.13
TT8_Sampling	1436	39	560.31
TT8_CF8	245	45	110.16
TT8_Kalman	33	0	0.00
Analog_circuits	1173	12	138.00
GPS_charging	0	0	0.00
Compass	1242	15	182.59
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.50	-117.3	0.0	0.0	0	85	0.00	0.00	-67.72	0.000	6	0.000	0.000	122	2182	3215	0	0	0	0	0	0
88	-0.50	-117.3	0.0	-0.0	0	104	10.62	2.35	0.00	0.000	4	0.224	0.037	2751	638	3218	0	0	0	0	0	0
184	-0.47	-117.3	32.4	-11.8	0	188	0.00	2.38	0.00	0.000	6	0.000	0.048	2743	2177	3222	0	0	0	0	0	0
391	-0.45	-117.3	56.6	-11.7	2	396	0.10	2.35	0.00	0.000	4	0.162	0.050	2771	663	3222	0	0	0	0	0	0
431	-0.45	-117.3	60.5	-8.6	2	435	0.00	2.33	0.00	0.000	6	0.000	0.047	2764	2170	3223	0	0	0	0	0	0
696	-0.45	-117.3	84.0	-9.1	5	700	0.00	2.42	0.00	0.000	4	0.000	0.060	2753	3694	3224	0	0	0	0	0	0
734	-0.45	-117.3	87.2	-8.1	5	738	0.00	2.38	0.00	0.000	6	0.000	0.043	2752	2149	3224	0	0	0	0	0	0
1202	-0.45	-117.3	125.4	-8.2	8	1206	0.00	2.28	0.00	0.000	4	0.000	0.050	2752	669	3225	0	0	0	0	0	0
1247	-0.45	-117.3	129.2	-8.2	8	1251	0.00	2.30	0.00	0.000	6	0.000	0.047	2744	2169	3224	0	0	0	0	0	0
1828	-0.45	-117.3	175.3	-7.4	10	1832	0.00	2.38	0.00	0.000	4	0.000	0.050	2744	660	3223	0	0	0	0	0	0
1874	-0.45	-117.3	178.7	-7.4	10	1879	0.12	2.33	0.00	0.000	6	0.136	0.049	2774	2166	3223	0	0	0	0	0	0
2458	-0.47	-117.3	210.7	-5.5	12	2462	0.00	2.35	0.00	0.000	4	0.000	0.051	2774	661	3223	0	0	0	0	0	0
2492	-0.48	-117.3	212.7	-6.4	12	2496	0.00	2.33	0.00	0.000	6	0.000	0.048	2773	2167	3223	0	0	0	0	0	0
3093	-0.49	-117.3	248.6	-6.2	14	3097	0.00	2.35	0.00	0.000	4	0.000	0.050	2773	659	3222	0	0	0	0	0	0
3120	-0.51	-117.3	250.5	-6.2	14	3124	0.00	2.33	0.00	0.000	6	0.000	0.050	2769	2153	3222	0	0	0	0	0	0
3725	-0.52	-117.3	284.2	-5.5	16	3726	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2153	3222	0	0	0	0	0	0
4026	-0.53	-117.3	299.6	-5.3	17	4030	0.00	2.35	0.00	0.000	4	0.000	0.053	2769	666	3221	0	0	0	0	0	0
4065	-0.54	-117.3	301.6	-5.5	17	4069	0.00	2.33	0.00	0.000	6	0.000	0.051	2769	2159	3221	0	0	0	0	0	0
4652	-0.56	-117.3	330.4	-5.0	19	4654	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2159	3220	0	0	0	0	0	0
4954	-0.57	-117.3	345.9	-5.1	20	4958	0.00	2.35	0.00	0.000	4	0.000	0.053	2769	663	3219	0	0	0	0	0	0
4981	-0.58	-117.3	347.4	-5.8	20	4986	0.10	2.33	0.00	0.000	6	0.096	0.051	2711	2156	3219	0	0	0	0	0	0
5588	-0.57	-117.3	395.0	-7.9	22	5592	0.00	2.45	0.00	0.000	4	0.000	0.062	2699	3693	3218	0	0	0	0	0	0
5621	-0.55	-117.3	398.0	-8.6	22	5626	0.15	2.40	0.00	0.000	6	0.122	0.046	2746	2155	3218	0	0	0	0	0	0
6214	-0.55	-117.3	430.3	-5.2	24	6218	0.00	2.35	0.00	0.000	4	0.000	0.054	2745	663	3217	0	0	0	0	0	0
6286	-0.55	-117.3	434.4	-5.4	24	6290	0.00	2.33	0.00	0.000	6	0.000	0.051	2740	2155	3218	0	0	0	0	0	0
6836	end dive: TARGET_DEPTH_EXCEEDED
state	6836	begin apogee
6843	-0.22	0.0	469.6	6.7	26	6946	0.32	0.00	100.60	0.881	6	0.079	0.000	2860	2049	2735	0	0	0	0	0	0
6947	end apogee: CONTROL_FINISHED_OK
state	6947	begin climb
6951	0.50	117.3	469.6	0.0	26	7058	0.62	0.00	104.28	0.856	6	0.059	0.000	3089	2048	2256	0	0	0	0	0	0
7140	0.58	291.3	460.7	-0.0	27	7288	0.00	0.00	146.50	0.843	6	0.000	0.000	3089	2048	1546	0	0	0	0	0	0
7440	0.57	291.3	430.3	10.1	28	7444	0.00	2.47	0.00	0.000	4	0.000	0.058	3088	3583	1537	0	0	0	0	0	0
7461	0.57	291.3	427.6	12.2	28	7465	0.00	2.40	0.00	0.000	6	0.000	0.046	3094	2066	1536	0	0	0	0	0	0
8066	0.57	291.3	361.3	10.7	30	8070	0.00	2.38	0.00	0.000	4	0.000	0.056	3105	546	1532	0	0	0	0	0	0
8140	0.58	291.3	354.0	9.9	30	8144	0.00	2.33	0.00	0.000	6	0.000	0.049	3105	2054	1532	0	0	0	0	0	0
8693	0.58	291.3	297.0	10.1	32	8694	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2054	1531	0	0	0	0	0	0
8995	0.58	291.3	266.5	10.1	33	8996	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2055	1531	0	0	0	0	0	0
9294	0.58	291.3	236.3	10.1	34	9298	0.00	2.38	0.00	0.000	4	0.000	0.057	3115	546	1531	0	0	0	0	0	0
9321	0.58	291.3	233.4	9.8	34	9325	0.00	2.33	0.00	0.000	6	0.000	0.049	3115	2061	1530	0	0	0	0	0	0
9927	0.58	291.3	163.9	11.6	36	9931	0.00	2.38	0.00	0.000	4	0.000	0.057	3125	547	1530	0	0	0	0	0	0
9955	0.58	291.3	160.4	12.4	36	9959	0.00	2.33	0.00	0.000	6	0.000	0.049	3125	2052	1530	0	0	0	0	0	0
10559	0.57	291.3	92.0	10.8	38	10563	0.00	2.38	0.00	0.000	4	0.000	0.055	3134	546	1530	0	0	0	0	0	0
10586	0.57	291.3	89.1	10.5	38	10590	0.00	2.33	0.00	0.000	6	0.000	0.048	3134	2053	1529	0	0	0	0	0	0
10862	0.57	291.3	61.7	10.0	41	10866	0.00	2.40	0.00	0.000	4	0.000	0.059	3134	3574	1530	0	0	0	0	0	0
10888	0.57	291.3	58.9	9.3	41	10893	0.15	2.42	0.00	0.000	6	0.130	0.046	3099	2033	1530	0	0	0	0	0	0
11164	0.60	307.0	43.1	5.6	44	11182	0.00	2.42	12.10	0.581	4	0.000	0.055	3099	542	1482	0	0	0	0	0	0
11237	0.65	331.2	39.2	5.3	44	11265	0.00	2.30	22.02	0.602	6	0.000	0.047	3099	2033	1384	0	0	0	0	0	0
11474	0.70	331.2	24.7	6.1	47	11479	0.12	2.38	0.00	0.000	4	0.088	0.055	3159	544	1377	0	0	0	0	0	0
11526	0.72	331.2	21.3	6.6	47	11530	0.00	2.17	0.00	0.000	6	0.000	0.048	3160	1958	1377	0	0	0	0	0	0
11778	0.74	331.2	4.5	6.6	50	11782	0.00	2.60	0.00	0.000	4	0.000	0.059	3160	3581	1376	0	0	0	0	0	0
11786	end climb: SURFACE_DEPTH_REACHED
state	11786	begin surface coast
11791	end surface coast: CONTROL_FINISHED_OK
state	11792	begin surface