Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 697 * 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 697 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 39 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 R_STBD_OVSHOOT 29 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 -1585622.2 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 -1585622.2

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 39 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 29 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 697 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 300811,204206,4750.991,-12514.441,53,1.8,53,18.7 TGT_NAME INSHORE

_CALLS 1 TGT_LATLONG 4742.000,-12530.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.117,-0.162

_SM_DEPTHo 2.08 KALMAN_X 361257.5,343.7,630.6,-371285.1,-1827.9

_SM_ANGLEo -76.6 KALMAN_Y -777653.9,-517.5,298.7,786059.7,-718.4

GPS2 300811,204655,4750.941,-12514.415,12,1.9,17,18.7 MHEAD_RNG_PITCHd_Wd 197.2,25526,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 416

Post-dive calculations and measurements:

FINISH 1.1,NaN _10V_AH 9.9,82.371

SM_CCo 12670,14.27,0.286,1,0,1410,325.02 FG_AHR_24Vo 0.000

SM_GC 2.11,0.00,0.00,14.27,0.000,0.000,0.286,112,2192,1410,-8.78,0.48,325.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,300811,171743 MEM 297636

TT8_MAMPS 0.027713 DATA_FILE_SIZE 335,56

HUMID 43.42 CAP_FILE_SIZE 107832,0

INTERNAL_PRESSURE 9.08899 CFSIZE 260165632,158208000

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 310811,002154,4749.820,-12514.689,116,1.3,116,18.7

_24V_AH 23.4,79.846

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 101.27 SBE_CT 0 0 0.00

Roll_motor 95 81 183.83 SBE_O2 0 0 0.00

VBD_pump_during_apogee 358 849 7129.89 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 14 286 95.57 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 37 0 0.00 nil 0 0 0.00

Iridium_during_xfer 107 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 580 19 113.81

LPSleep 10009 2 217.01

TT8_Active 411 19 80.72

TT8_Sampling 1722 39 678.57

TT8_CF8 259 45 117.84

TT8_Kalman 33 0 0.00

Analog_circuits 1242 12 147.64

GPS_charging 0 0 0.00

Compass 1509 15 224.20

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 66 0.00 0.00 -48.35 0.000 2 0.000 0.000 114 2163 2492 0 0 0 0 0 0

70 -0.50 -117.3 3.5 -4.9 0 104 10.50 2.53 -17.08 0.000 4 0.218 0.073 2742 3693 3216 0 0 0 0 0 0

194 -0.48 -117.3 20.8 -10.8 1 198 0.00 2.38 0.00 0.000 6 0.000 0.044 2741 2170 3218 0 0 0 0 0 0

406 -0.46 -117.3 46.3 -12.1 4 411 0.10 2.35 0.00 0.000 4 0.166 0.051 2769 670 3220 0 0 0 0 0 0

563 -0.46 -117.3 61.7 -8.7 5 567 0.00 2.22 0.00 0.000 6 0.000 0.048 2763 2108 3220 0 0 0 0 0 0

827 -0.46 -117.3 86.2 -9.6 8 831 0.00 2.55 0.00 0.000 4 0.000 0.060 2751 3690 3221 0 0 0 0 0 0

842 -0.46 -117.3 87.6 -9.3 8 846 0.00 2.47 0.00 0.000 6 0.000 0.044 2751 2106 3221 0 0 0 0 0 0

1330 -0.46 -117.3 126.2 -7.8 11 1334 0.00 2.25 0.00 0.000 4 0.000 0.050 2750 663 3221 0 0 0 0 0 0

1357 -0.46 -117.3 128.6 -8.4 11 1361 0.00 2.25 0.00 0.000 6 0.000 0.048 2744 2103 3221 0 0 0 0 0 0

1962 -0.46 -117.3 175.9 -8.2 13 1967 0.00 2.55 0.00 0.000 4 0.000 0.061 2732 3692 3221 0 0 0 0 0 0

1995 -0.46 -117.3 178.8 -8.1 13 2000 0.12 2.47 0.00 0.000 6 0.129 0.044 2771 2108 3221 0 0 0 0 0 0

2589 -0.47 -117.3 208.7 -4.6 15 2593 0.00 2.28 0.00 0.000 4 0.000 0.052 2771 661 3221 0 0 0 0 0 0

2656 -0.48 -117.3 212.6 -5.2 15 2660 0.00 2.25 0.00 0.000 6 0.000 0.049 2771 2106 3221 0 0 0 0 0 0

3214 -0.49 -117.3 245.9 -6.3 17 3219 0.00 2.58 0.00 0.000 4 0.000 0.063 2770 3692 3221 0 0 0 0 0 0

3238 -0.51 -117.3 247.1 -5.6 17 3243 0.00 2.50 0.00 0.000 6 0.000 0.046 2770 2097 3221 0 0 0 0 0 0

3844 -0.52 -117.3 281.5 -5.4 19 3848 0.00 2.25 0.00 0.000 4 0.000 0.053 2770 669 3220 0 0 0 0 0 0

3913 -0.54 -117.3 285.7 -6.0 19 3917 0.00 2.22 0.00 0.000 6 0.000 0.050 2764 2092 3220 0 0 0 0 0 0

4474 -0.54 -117.3 318.2 -5.9 21 4478 0.00 2.60 0.00 0.000 4 0.000 0.063 2754 3689 3219 0 0 0 0 0 0

4512 -0.55 -117.3 321.1 -7.3 21 4516 0.00 2.50 0.00 0.000 6 0.000 0.046 2753 2092 3219 0 0 0 0 0 0

5099 -0.55 -117.3 362.1 -7.1 23 5103 0.00 2.25 0.00 0.000 4 0.000 0.054 2753 669 3218 0 0 0 0 0 0

5120 -0.55 -117.3 363.7 -7.1 23 5124 0.00 2.20 0.00 0.000 6 0.000 0.051 2747 2091 3218 0 0 0 0 0 0

5730 -0.55 -117.3 405.2 -7.0 25 5734 0.00 2.60 0.00 0.000 4 0.000 0.063 2735 3688 3217 0 0 0 0 0 0

5745 -0.55 -117.3 406.3 -7.0 25 5749 0.00 2.50 0.00 0.000 6 0.000 0.047 2735 2083 3217 0 0 0 0 0 0

5871 end dive: TARGET_DEPTH_EXCEEDED

state 5872 begin apogee

5879 -0.22 0.0 416.3 8.2 25 5985 0.32 0.00 98.53 0.849 6 0.106 0.000 2847 2080 2735 0 0 0 0 0 0

5986 end apogee: CONTROL_FINISHED_OK

state 5986 begin climb

5988 0.50 117.3 420.3 0.0 25 6095 0.65 0.00 103.18 0.823 6 0.073 0.000 3081 2080 2256 0 0 0 0 0 0

6349 0.48 126.6 401.9 5.8 27 6359 0.00 0.00 8.20 0.696 6 0.000 0.000 3081 2080 2218 0 0 0 0 0 0

6646 0.45 127.2 382.6 6.1 28 6647 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2080 2214 0 0 0 0 0 0

6946 0.43 127.2 363.2 6.2 29 6950 0.00 2.40 0.00 0.000 4 0.000 0.060 3081 3578 2213 0 0 0 0 0 0

7031 0.41 127.2 356.8 8.0 29 7036 0.15 2.38 0.00 0.000 6 0.140 0.046 3047 2067 2211 0 0 0 0 0 0

7575 0.42 147.4 327.5 5.4 31 7600 0.00 2.47 18.15 0.765 4 0.000 0.060 3047 3575 2134 0 0 0 0 0 0

7639 0.42 147.4 323.0 7.2 31 7643 0.00 2.40 0.00 0.000 6 0.000 0.046 3053 2055 2132 0 0 0 0 0 0

8205 0.42 147.4 287.1 6.3 33 8207 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2054 2129 0 0 0 0 0 0

8505 0.42 147.4 267.9 6.3 34 8509 0.00 2.42 0.00 0.000 4 0.000 0.058 3053 3582 2129 0 0 0 0 0 0

8526 0.42 147.4 266.5 6.6 34 8530 0.00 2.38 0.00 0.000 6 0.000 0.045 3063 2062 2128 0 0 0 0 0 0

9129 0.42 147.4 226.4 7.0 36 9133 0.00 2.40 0.00 0.000 4 0.000 0.056 3074 546 2128 0 0 0 0 0 0

9161 0.42 147.4 224.0 7.3 36 9165 0.00 2.35 0.00 0.000 6 0.000 0.048 3074 2069 2128 0 0 0 0 0 0

9760 0.42 147.4 182.0 7.0 38 9764 0.00 2.40 0.00 0.000 4 0.000 0.060 3074 3572 2128 0 0 0 0 0 0

9821 0.41 147.4 177.5 7.5 38 9826 0.12 2.35 0.00 0.000 6 0.145 0.045 3047 2073 2127 0 0 0 0 0 0

10385 0.41 150.9 145.0 6.0 40 10389 0.00 2.42 0.00 0.000 4 0.000 0.054 3054 541 2127 0 0 0 0 0 0

10427 0.44 184.0 143.2 4.9 40 10463 0.00 2.38 31.15 0.676 6 0.000 0.048 3054 2080 1985 0 0 0 0 0 0

11014 0.46 201.0 113.0 5.5 42 11034 0.00 2.40 14.85 0.633 4 0.000 0.060 3055 3573 1915 0 0 0 0 0 0

11079 0.48 201.0 108.3 7.4 42 11083 0.00 2.38 0.00 0.000 6 0.000 0.044 3055 2065 1912 0 0 0 0 0 0

11437 0.52 242.2 88.4 4.7 44 11478 0.00 2.40 35.08 0.640 4 0.000 0.053 3055 550 1747 0 0 0 0 0 0

11517 0.60 302.6 85.5 4.0 44 11572 0.15 2.35 49.70 0.630 6 0.072 0.046 3135 2068 1500 0 0 0 0 0 0

11847 0.60 302.6 56.4 9.3 48 11851 0.00 2.42 0.00 0.000 4 0.000 0.055 3141 539 1490 0 0 0 0 0 0

11875 0.60 302.6 54.0 8.2 48 11879 0.00 2.35 0.00 0.000 6 0.000 0.047 3141 2058 1489 0 0 0 0 0 0

12150 0.60 302.6 29.3 9.0 51 12151 0.00 0.00 0.00 0.000 6 0.000 0.000 3142 2058 1488 0 0 0 0 0 0

12351 0.60 302.6 14.2 8.3 53 12352 0.00 0.00 0.00 0.000 6 0.000 0.000 3141 2058 1487 0 0 0 0 0 0

12550 end climb: SURFACE_DEPTH_REACHED

state 12550 begin surface coast

12650 end surface coast: CONTROL_FINISHED_OK

state 12650 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	697	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	39	XPDR_INHIBIT	90
D_BOOST	2.5	N_FILEKB	8	R_STBD_OVSHOOT	29	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	-1585622.2	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	300811,204206,4750.991,-12514.441,53,1.8,53,18.7	TGT_NAME	INSHORE
_CALLS	1	TGT_LATLONG	4742.000,-12530.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.117,-0.162
_SM_DEPTHo	2.08	KALMAN_X	361257.5,343.7,630.6,-371285.1,-1827.9
_SM_ANGLEo	-76.6	KALMAN_Y	-777653.9,-517.5,298.7,786059.7,-718.4
GPS2	300811,204655,4750.941,-12514.415,12,1.9,17,18.7	MHEAD_RNG_PITCHd_Wd	197.2,25526,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	416

FINISH	1.1,NaN	_10V_AH	9.9,82.371
SM_CCo	12670,14.27,0.286,1,0,1410,325.02	FG_AHR_24Vo	0.000
SM_GC	2.11,0.00,0.00,14.27,0.000,0.000,0.286,112,2192,1410,-8.78,0.48,325.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,300811,171743	MEM	297636
TT8_MAMPS	0.027713	DATA_FILE_SIZE	335,56
HUMID	43.42	CAP_FILE_SIZE	107832,0
INTERNAL_PRESSURE	9.08899	CFSIZE	260165632,158208000
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	310811,002154,4749.820,-12514.689,116,1.3,116,18.7
_24V_AH	23.4,79.846

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	101.27	SBE_CT	0	0	0.00
Roll_motor	95	81	183.83	SBE_O2	0	0	0.00
VBD_pump_during_apogee	358	849	7129.89	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	14	286	95.57	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	37	0	0.00	nil	0	0	0.00
Iridium_during_xfer	107	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	580	19	113.81
LPSleep	10009	2	217.01
TT8_Active	411	19	80.72
TT8_Sampling	1722	39	678.57
TT8_CF8	259	45	117.84
TT8_Kalman	33	0	0.00
Analog_circuits	1242	12	147.64
GPS_charging	0	0	0.00
Compass	1509	15	224.20
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	66	0.00	0.00	-48.35	0.000	2	0.000	0.000	114	2163	2492	0	0	0	0	0	0
70	-0.50	-117.3	3.5	-4.9	0	104	10.50	2.53	-17.08	0.000	4	0.218	0.073	2742	3693	3216	0	0	0	0	0	0
194	-0.48	-117.3	20.8	-10.8	1	198	0.00	2.38	0.00	0.000	6	0.000	0.044	2741	2170	3218	0	0	0	0	0	0
406	-0.46	-117.3	46.3	-12.1	4	411	0.10	2.35	0.00	0.000	4	0.166	0.051	2769	670	3220	0	0	0	0	0	0
563	-0.46	-117.3	61.7	-8.7	5	567	0.00	2.22	0.00	0.000	6	0.000	0.048	2763	2108	3220	0	0	0	0	0	0
827	-0.46	-117.3	86.2	-9.6	8	831	0.00	2.55	0.00	0.000	4	0.000	0.060	2751	3690	3221	0	0	0	0	0	0
842	-0.46	-117.3	87.6	-9.3	8	846	0.00	2.47	0.00	0.000	6	0.000	0.044	2751	2106	3221	0	0	0	0	0	0
1330	-0.46	-117.3	126.2	-7.8	11	1334	0.00	2.25	0.00	0.000	4	0.000	0.050	2750	663	3221	0	0	0	0	0	0
1357	-0.46	-117.3	128.6	-8.4	11	1361	0.00	2.25	0.00	0.000	6	0.000	0.048	2744	2103	3221	0	0	0	0	0	0
1962	-0.46	-117.3	175.9	-8.2	13	1967	0.00	2.55	0.00	0.000	4	0.000	0.061	2732	3692	3221	0	0	0	0	0	0
1995	-0.46	-117.3	178.8	-8.1	13	2000	0.12	2.47	0.00	0.000	6	0.129	0.044	2771	2108	3221	0	0	0	0	0	0
2589	-0.47	-117.3	208.7	-4.6	15	2593	0.00	2.28	0.00	0.000	4	0.000	0.052	2771	661	3221	0	0	0	0	0	0
2656	-0.48	-117.3	212.6	-5.2	15	2660	0.00	2.25	0.00	0.000	6	0.000	0.049	2771	2106	3221	0	0	0	0	0	0
3214	-0.49	-117.3	245.9	-6.3	17	3219	0.00	2.58	0.00	0.000	4	0.000	0.063	2770	3692	3221	0	0	0	0	0	0
3238	-0.51	-117.3	247.1	-5.6	17	3243	0.00	2.50	0.00	0.000	6	0.000	0.046	2770	2097	3221	0	0	0	0	0	0
3844	-0.52	-117.3	281.5	-5.4	19	3848	0.00	2.25	0.00	0.000	4	0.000	0.053	2770	669	3220	0	0	0	0	0	0
3913	-0.54	-117.3	285.7	-6.0	19	3917	0.00	2.22	0.00	0.000	6	0.000	0.050	2764	2092	3220	0	0	0	0	0	0
4474	-0.54	-117.3	318.2	-5.9	21	4478	0.00	2.60	0.00	0.000	4	0.000	0.063	2754	3689	3219	0	0	0	0	0	0
4512	-0.55	-117.3	321.1	-7.3	21	4516	0.00	2.50	0.00	0.000	6	0.000	0.046	2753	2092	3219	0	0	0	0	0	0
5099	-0.55	-117.3	362.1	-7.1	23	5103	0.00	2.25	0.00	0.000	4	0.000	0.054	2753	669	3218	0	0	0	0	0	0
5120	-0.55	-117.3	363.7	-7.1	23	5124	0.00	2.20	0.00	0.000	6	0.000	0.051	2747	2091	3218	0	0	0	0	0	0
5730	-0.55	-117.3	405.2	-7.0	25	5734	0.00	2.60	0.00	0.000	4	0.000	0.063	2735	3688	3217	0	0	0	0	0	0
5745	-0.55	-117.3	406.3	-7.0	25	5749	0.00	2.50	0.00	0.000	6	0.000	0.047	2735	2083	3217	0	0	0	0	0	0
5871	end dive: TARGET_DEPTH_EXCEEDED
state	5872	begin apogee
5879	-0.22	0.0	416.3	8.2	25	5985	0.32	0.00	98.53	0.849	6	0.106	0.000	2847	2080	2735	0	0	0	0	0	0
5986	end apogee: CONTROL_FINISHED_OK
state	5986	begin climb
5988	0.50	117.3	420.3	0.0	25	6095	0.65	0.00	103.18	0.823	6	0.073	0.000	3081	2080	2256	0	0	0	0	0	0
6349	0.48	126.6	401.9	5.8	27	6359	0.00	0.00	8.20	0.696	6	0.000	0.000	3081	2080	2218	0	0	0	0	0	0
6646	0.45	127.2	382.6	6.1	28	6647	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2080	2214	0	0	0	0	0	0
6946	0.43	127.2	363.2	6.2	29	6950	0.00	2.40	0.00	0.000	4	0.000	0.060	3081	3578	2213	0	0	0	0	0	0
7031	0.41	127.2	356.8	8.0	29	7036	0.15	2.38	0.00	0.000	6	0.140	0.046	3047	2067	2211	0	0	0	0	0	0
7575	0.42	147.4	327.5	5.4	31	7600	0.00	2.47	18.15	0.765	4	0.000	0.060	3047	3575	2134	0	0	0	0	0	0
7639	0.42	147.4	323.0	7.2	31	7643	0.00	2.40	0.00	0.000	6	0.000	0.046	3053	2055	2132	0	0	0	0	0	0
8205	0.42	147.4	287.1	6.3	33	8207	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2054	2129	0	0	0	0	0	0
8505	0.42	147.4	267.9	6.3	34	8509	0.00	2.42	0.00	0.000	4	0.000	0.058	3053	3582	2129	0	0	0	0	0	0
8526	0.42	147.4	266.5	6.6	34	8530	0.00	2.38	0.00	0.000	6	0.000	0.045	3063	2062	2128	0	0	0	0	0	0
9129	0.42	147.4	226.4	7.0	36	9133	0.00	2.40	0.00	0.000	4	0.000	0.056	3074	546	2128	0	0	0	0	0	0
9161	0.42	147.4	224.0	7.3	36	9165	0.00	2.35	0.00	0.000	6	0.000	0.048	3074	2069	2128	0	0	0	0	0	0
9760	0.42	147.4	182.0	7.0	38	9764	0.00	2.40	0.00	0.000	4	0.000	0.060	3074	3572	2128	0	0	0	0	0	0
9821	0.41	147.4	177.5	7.5	38	9826	0.12	2.35	0.00	0.000	6	0.145	0.045	3047	2073	2127	0	0	0	0	0	0
10385	0.41	150.9	145.0	6.0	40	10389	0.00	2.42	0.00	0.000	4	0.000	0.054	3054	541	2127	0	0	0	0	0	0
10427	0.44	184.0	143.2	4.9	40	10463	0.00	2.38	31.15	0.676	6	0.000	0.048	3054	2080	1985	0	0	0	0	0	0
11014	0.46	201.0	113.0	5.5	42	11034	0.00	2.40	14.85	0.633	4	0.000	0.060	3055	3573	1915	0	0	0	0	0	0
11079	0.48	201.0	108.3	7.4	42	11083	0.00	2.38	0.00	0.000	6	0.000	0.044	3055	2065	1912	0	0	0	0	0	0
11437	0.52	242.2	88.4	4.7	44	11478	0.00	2.40	35.08	0.640	4	0.000	0.053	3055	550	1747	0	0	0	0	0	0
11517	0.60	302.6	85.5	4.0	44	11572	0.15	2.35	49.70	0.630	6	0.072	0.046	3135	2068	1500	0	0	0	0	0	0
11847	0.60	302.6	56.4	9.3	48	11851	0.00	2.42	0.00	0.000	4	0.000	0.055	3141	539	1490	0	0	0	0	0	0
11875	0.60	302.6	54.0	8.2	48	11879	0.00	2.35	0.00	0.000	6	0.000	0.047	3141	2058	1489	0	0	0	0	0	0
12150	0.60	302.6	29.3	9.0	51	12151	0.00	0.00	0.00	0.000	6	0.000	0.000	3142	2058	1488	0	0	0	0	0	0
12351	0.60	302.6	14.2	8.3	53	12352	0.00	0.00	0.00	0.000	6	0.000	0.000	3141	2058	1487	0	0	0	0	0	0
12550	end climb: SURFACE_DEPTH_REACHED
state	12550	begin surface coast
12650	end surface coast: CONTROL_FINISHED_OK
state	12650	begin surface