Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 698 * 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 698 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 43 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 -1585623.5 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 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 -1585623.5

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 34 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 43 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 698 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 310811,002154,4749.820,-12514.689,116,1.3,116,18.7 TGT_NAME INSHORE

_CALLS 1 TGT_LATLONG 4742.000,-12530.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.095

_SM_DEPTHo 1.98 KALMAN_X 363318.9,27.2,54.7,-372833.1,742.6

_SM_ANGLEo -76.9 KALMAN_Y -777513.4,-536.9,201.2,783867.4,-15.8

GPS2 310811,002643,4749.762,-12514.711,11,1.6,16,18.7 MHEAD_RNG_PITCHd_Wd 223.0,23870,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.0,NaN _10V_AH 9.9,82.423

SM_CCo 13976,9.93,0.128,1,0,1409,325.02 FG_AHR_24Vo 0.000

SM_GC 2.80,0.00,0.00,9.93,0.000,0.000,0.128,122,2201,1409,-8.75,0.76,325.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12512.13,300811,202053 MEM 297712

TT8_MAMPS 0.027713 DATA_FILE_SIZE 334,61

HUMID 43.18 CAP_FILE_SIZE 119108,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,158154752

TCM_TEMP 19.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 310811,042207,4748.488,-12515.730,38,0.9,38,18.7

_24V_AH 23.3,79.937

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 218 104.76 SBE_CT 0 0 0.00

Roll_motor 105 76 187.34 SBE_O2 0 0 0.00

VBD_pump_during_apogee 368 881 7562.61 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 9 127 29.54 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 30 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 651 19 127.73

LPSleep 11015 2 238.83

TT8_Active 457 19 89.64

TT8_Sampling 1877 39 739.75

TT8_CF8 283 45 128.60

TT8_Kalman 33 0 0.00

Analog_circuits 1346 12 159.96

GPS_charging 0 0 0.00

Compass 1662 15 246.93

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

15 -0.50 -117.3 0.0 0.0 0 85 0.00 0.00 -67.82 0.000 6 0.000 0.000 112 2192 3215 0 0 0 0 0 0

88 -0.50 -117.3 0.0 -0.0 0 101 10.57 0.00 0.00 0.000 6 0.219 0.000 2750 2190 3218 0 0 0 0 0 0

218 -0.43 -117.3 37.4 -13.8 2 223 0.10 2.40 0.00 0.000 4 0.163 0.059 2771 3678 3221 0 0 0 0 0 0

336 -0.43 -117.3 47.5 -7.5 3 341 0.00 2.35 0.00 0.000 6 0.000 0.041 2770 2166 3222 0 0 0 0 0 0

533 -0.42 -117.3 66.0 -9.9 5 537 0.00 2.33 0.00 0.000 4 0.000 0.050 2770 665 3223 0 0 0 0 0 0

603 -0.42 -117.3 72.4 -8.9 5 607 0.00 2.28 0.00 0.000 6 0.000 0.047 2763 2134 3223 0 0 0 0 0 0

838 -0.42 -117.3 95.8 -10.1 8 842 0.00 2.47 0.00 0.000 4 0.000 0.059 2751 3689 3224 0 0 0 0 0 0

865 -0.42 -117.3 98.2 -8.7 8 870 0.12 2.40 0.00 0.000 6 0.123 0.044 2790 2142 3224 0 0 0 0 0 0

1241 -0.43 -117.3 119.1 -5.5 10 1245 0.00 2.28 0.00 0.000 4 0.000 0.050 2789 665 3224 0 0 0 0 0 0

1275 -0.45 -117.3 121.2 -6.3 10 1279 0.00 2.28 0.00 0.000 6 0.000 0.047 2790 2138 3224 0 0 0 0 0 0

1869 -0.49 -117.3 155.7 -5.5 12 1873 0.00 2.47 0.00 0.000 4 0.000 0.060 2790 3696 3223 0 0 0 0 0 0

1975 -0.52 -117.3 162.0 -5.8 12 1980 0.12 2.45 0.00 0.000 6 0.083 0.044 2719 2109 3224 0 0 0 0 0 0

2495 -0.51 -117.3 209.7 -9.6 14 2499 0.12 2.28 0.00 0.000 4 0.138 0.052 2757 661 3223 0 0 0 0 0 0

2557 -0.51 -117.3 214.6 -7.4 14 2561 0.00 2.28 0.00 0.000 6 0.000 0.048 2751 2126 3223 0 0 0 0 0 0

3122 -0.51 -117.3 258.2 -7.7 16 3123 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2126 3222 0 0 0 0 0 0

3422 -0.51 -117.3 280.4 -7.6 17 3423 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2126 3222 0 0 0 0 0 0

3724 -0.51 -117.3 300.6 -7.3 18 3728 0.00 2.53 0.00 0.000 4 0.000 0.063 2740 3693 3221 0 0 0 0 0 0

3745 -0.51 -117.3 301.9 -5.7 18 3750 0.00 2.47 0.00 0.000 6 0.000 0.046 2740 2113 3221 0 0 0 0 0 0

4351 -0.51 -117.3 340.5 -6.5 20 4355 0.00 2.28 0.00 0.000 4 0.000 0.054 2739 668 3219 0 0 0 0 0 0

4401 -0.51 -117.3 344.4 -7.6 20 4405 0.00 2.25 0.00 0.000 6 0.000 0.050 2732 2108 3219 0 0 0 0 0 0

4983 -0.51 -117.3 390.0 -8.2 22 4987 0.00 2.55 0.00 0.000 4 0.000 0.062 2721 3693 3219 0 0 0 0 0 0

5026 -0.51 -117.3 393.6 -8.0 22 5031 0.12 2.47 0.00 0.000 6 0.123 0.046 2758 2104 3219 0 0 0 0 0 0

5613 -0.51 -117.3 429.5 -5.9 24 5617 0.00 2.22 0.00 0.000 4 0.000 0.053 2759 667 3218 0 0 0 0 0 0

5664 -0.52 -117.3 432.8 -6.1 24 5668 0.00 2.25 0.00 0.000 6 0.000 0.051 2754 2104 3218 0 0 0 0 0 0

6236 end dive: TARGET_DEPTH_EXCEEDED

state 6237 begin apogee

6242 -0.22 0.0 468.8 6.2 26 6345 0.30 0.00 100.20 0.881 6 0.101 0.000 2854 2104 2735 0 0 0 0 0 0

6346 end apogee: CONTROL_FINISHED_OK

state 6346 begin climb

6350 0.50 117.3 468.8 0.0 26 6461 0.62 0.00 103.30 0.857 6 0.067 0.000 3083 2104 2255 0 0 0 0 0 0

6976 0.48 117.3 429.4 7.9 28 6980 0.00 2.35 0.00 0.000 4 0.000 0.060 3083 3582 2246 0 0 0 0 0 0

7020 0.45 117.3 425.4 9.0 28 7024 0.00 2.40 0.00 0.000 6 0.000 0.044 3094 2062 2244 0 0 0 0 0 0

7601 0.42 117.3 381.7 7.1 30 7606 0.12 2.42 0.00 0.000 4 0.151 0.059 3057 3579 2243 0 0 0 0 0 0

7685 0.41 117.3 375.8 7.5 30 7689 0.00 2.38 0.00 0.000 6 0.000 0.045 3066 2067 2242 0 0 0 0 0 0

8227 0.40 120.0 343.4 6.0 32 8231 0.00 2.45 0.00 0.000 4 0.000 0.060 3065 3570 2242 0 0 0 0 0 0

8255 0.38 120.0 341.5 7.1 32 8260 0.12 2.35 0.00 0.000 6 0.148 0.046 3040 2067 2241 0 0 0 0 0 0

8853 0.40 155.1 312.7 4.9 34 8889 0.00 2.47 31.15 0.778 4 0.000 0.060 3040 3581 2102 0 0 0 0 0 0

8924 0.40 155.1 308.5 7.1 34 8928 0.00 2.40 0.00 0.000 6 0.000 0.046 3042 2070 2099 0 0 0 0 0 0

9479 0.40 155.1 275.1 6.2 36 9483 0.00 2.40 0.00 0.000 4 0.000 0.056 3041 543 2095 0 0 0 0 0 0

9512 0.42 157.7 272.8 6.0 36 9516 0.00 2.40 0.00 0.000 6 0.000 0.048 3042 2086 2095 0 0 0 0 0 0

10112 0.42 157.7 235.0 6.3 38 10116 0.00 2.38 0.00 0.000 4 0.000 0.060 3042 3580 2094 0 0 0 0 0 0

10172 0.42 157.7 230.8 6.9 38 10177 0.00 2.35 0.00 0.000 6 0.000 0.045 3042 2073 2093 0 0 0 0 0 0

10737 0.44 186.6 200.7 5.1 40 10771 0.00 2.47 26.48 0.708 4 0.000 0.054 3042 548 1973 0 0 0 0 0 0

10800 0.47 201.9 197.5 5.6 40 10819 0.00 2.40 14.18 0.672 6 0.000 0.047 3042 2085 1912 0 0 0 0 0 0

11368 0.50 217.5 163.8 5.6 42 11388 0.12 2.38 14.02 0.659 4 0.086 0.060 3110 3576 1847 0 0 0 0 0 0

11412 0.48 217.5 160.3 9.0 42 11417 0.15 2.35 0.00 0.000 6 0.136 0.046 3076 2085 1845 0 0 0 0 0 0

12001 0.48 217.5 119.1 6.5 44 12005 0.00 2.42 0.00 0.000 4 0.000 0.055 3082 546 1842 0 0 0 0 0 0

12063 0.50 221.5 115.1 6.0 44 12072 0.00 2.38 4.15 0.470 6 0.000 0.047 3082 2080 1831 0 0 0 0 0 0

12433 0.50 221.5 91.3 6.7 46 12434 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 2080 1830 0 0 0 0 0 0

12634 0.50 221.5 75.1 7.5 48 12635 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2080 1830 0 0 0 0 0 0

12836 0.52 221.5 62.0 7.4 50 12838 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2080 1830 0 0 0 0 0 0

13039 0.54 234.5 52.0 5.7 52 13058 0.00 2.45 12.57 0.588 4 0.000 0.058 3083 3580 1778 0 0 0 0 0 0

13071 0.59 289.3 50.4 4.2 52 13122 0.00 2.38 45.70 0.615 6 0.000 0.045 3082 2061 1554 0 0 0 0 0 0

13345 0.64 309.0 36.5 5.4 55 13369 0.12 2.47 16.55 0.581 4 0.084 0.055 3156 548 1473 0 0 0 0 0 0

13427 0.65 309.0 29.7 7.5 55 13431 0.00 2.35 0.00 0.000 6 0.000 0.047 3156 2063 1470 0 0 0 0 0 0

13656 0.65 309.0 14.0 6.8 58 13660 0.00 2.45 0.00 0.000 4 0.000 0.059 3156 3582 1468 0 0 0 0 0 0

13690 0.65 309.0 11.6 7.1 58 13695 0.12 2.38 0.00 0.000 6 0.133 0.044 3126 2056 1467 0 0 0 0 0 0

13855 end climb: SURFACE_DEPTH_REACHED

state 13855 begin surface coast

13956 end surface coast: CONTROL_FINISHED_OK

state 13958 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	698	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	43	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	-1585623.5	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	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	310811,002154,4749.820,-12514.689,116,1.3,116,18.7	TGT_NAME	INSHORE
_CALLS	1	TGT_LATLONG	4742.000,-12530.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.095
_SM_DEPTHo	1.98	KALMAN_X	363318.9,27.2,54.7,-372833.1,742.6
_SM_ANGLEo	-76.9	KALMAN_Y	-777513.4,-536.9,201.2,783867.4,-15.8
GPS2	310811,002643,4749.762,-12514.711,11,1.6,16,18.7	MHEAD_RNG_PITCHd_Wd	223.0,23870,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	462

FINISH	1.0,NaN	_10V_AH	9.9,82.423
SM_CCo	13976,9.93,0.128,1,0,1409,325.02	FG_AHR_24Vo	0.000
SM_GC	2.80,0.00,0.00,9.93,0.000,0.000,0.128,122,2201,1409,-8.75,0.76,325.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12512.13,300811,202053	MEM	297712
TT8_MAMPS	0.027713	DATA_FILE_SIZE	334,61
HUMID	43.18	CAP_FILE_SIZE	119108,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,158154752
TCM_TEMP	19.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	310811,042207,4748.488,-12515.730,38,0.9,38,18.7
_24V_AH	23.3,79.937

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	218	104.76	SBE_CT	0	0	0.00
Roll_motor	105	76	187.34	SBE_O2	0	0	0.00
VBD_pump_during_apogee	368	881	7562.61	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	9	127	29.54	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	30	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	651	19	127.73
LPSleep	11015	2	238.83
TT8_Active	457	19	89.64
TT8_Sampling	1877	39	739.75
TT8_CF8	283	45	128.60
TT8_Kalman	33	0	0.00
Analog_circuits	1346	12	159.96
GPS_charging	0	0	0.00
Compass	1662	15	246.93
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
15	-0.50	-117.3	0.0	0.0	0	85	0.00	0.00	-67.82	0.000	6	0.000	0.000	112	2192	3215	0	0	0	0	0	0
88	-0.50	-117.3	0.0	-0.0	0	101	10.57	0.00	0.00	0.000	6	0.219	0.000	2750	2190	3218	0	0	0	0	0	0
218	-0.43	-117.3	37.4	-13.8	2	223	0.10	2.40	0.00	0.000	4	0.163	0.059	2771	3678	3221	0	0	0	0	0	0
336	-0.43	-117.3	47.5	-7.5	3	341	0.00	2.35	0.00	0.000	6	0.000	0.041	2770	2166	3222	0	0	0	0	0	0
533	-0.42	-117.3	66.0	-9.9	5	537	0.00	2.33	0.00	0.000	4	0.000	0.050	2770	665	3223	0	0	0	0	0	0
603	-0.42	-117.3	72.4	-8.9	5	607	0.00	2.28	0.00	0.000	6	0.000	0.047	2763	2134	3223	0	0	0	0	0	0
838	-0.42	-117.3	95.8	-10.1	8	842	0.00	2.47	0.00	0.000	4	0.000	0.059	2751	3689	3224	0	0	0	0	0	0
865	-0.42	-117.3	98.2	-8.7	8	870	0.12	2.40	0.00	0.000	6	0.123	0.044	2790	2142	3224	0	0	0	0	0	0
1241	-0.43	-117.3	119.1	-5.5	10	1245	0.00	2.28	0.00	0.000	4	0.000	0.050	2789	665	3224	0	0	0	0	0	0
1275	-0.45	-117.3	121.2	-6.3	10	1279	0.00	2.28	0.00	0.000	6	0.000	0.047	2790	2138	3224	0	0	0	0	0	0
1869	-0.49	-117.3	155.7	-5.5	12	1873	0.00	2.47	0.00	0.000	4	0.000	0.060	2790	3696	3223	0	0	0	0	0	0
1975	-0.52	-117.3	162.0	-5.8	12	1980	0.12	2.45	0.00	0.000	6	0.083	0.044	2719	2109	3224	0	0	0	0	0	0
2495	-0.51	-117.3	209.7	-9.6	14	2499	0.12	2.28	0.00	0.000	4	0.138	0.052	2757	661	3223	0	0	0	0	0	0
2557	-0.51	-117.3	214.6	-7.4	14	2561	0.00	2.28	0.00	0.000	6	0.000	0.048	2751	2126	3223	0	0	0	0	0	0
3122	-0.51	-117.3	258.2	-7.7	16	3123	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2126	3222	0	0	0	0	0	0
3422	-0.51	-117.3	280.4	-7.6	17	3423	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2126	3222	0	0	0	0	0	0
3724	-0.51	-117.3	300.6	-7.3	18	3728	0.00	2.53	0.00	0.000	4	0.000	0.063	2740	3693	3221	0	0	0	0	0	0
3745	-0.51	-117.3	301.9	-5.7	18	3750	0.00	2.47	0.00	0.000	6	0.000	0.046	2740	2113	3221	0	0	0	0	0	0
4351	-0.51	-117.3	340.5	-6.5	20	4355	0.00	2.28	0.00	0.000	4	0.000	0.054	2739	668	3219	0	0	0	0	0	0
4401	-0.51	-117.3	344.4	-7.6	20	4405	0.00	2.25	0.00	0.000	6	0.000	0.050	2732	2108	3219	0	0	0	0	0	0
4983	-0.51	-117.3	390.0	-8.2	22	4987	0.00	2.55	0.00	0.000	4	0.000	0.062	2721	3693	3219	0	0	0	0	0	0
5026	-0.51	-117.3	393.6	-8.0	22	5031	0.12	2.47	0.00	0.000	6	0.123	0.046	2758	2104	3219	0	0	0	0	0	0
5613	-0.51	-117.3	429.5	-5.9	24	5617	0.00	2.22	0.00	0.000	4	0.000	0.053	2759	667	3218	0	0	0	0	0	0
5664	-0.52	-117.3	432.8	-6.1	24	5668	0.00	2.25	0.00	0.000	6	0.000	0.051	2754	2104	3218	0	0	0	0	0	0
6236	end dive: TARGET_DEPTH_EXCEEDED
state	6237	begin apogee
6242	-0.22	0.0	468.8	6.2	26	6345	0.30	0.00	100.20	0.881	6	0.101	0.000	2854	2104	2735	0	0	0	0	0	0
6346	end apogee: CONTROL_FINISHED_OK
state	6346	begin climb
6350	0.50	117.3	468.8	0.0	26	6461	0.62	0.00	103.30	0.857	6	0.067	0.000	3083	2104	2255	0	0	0	0	0	0
6976	0.48	117.3	429.4	7.9	28	6980	0.00	2.35	0.00	0.000	4	0.000	0.060	3083	3582	2246	0	0	0	0	0	0
7020	0.45	117.3	425.4	9.0	28	7024	0.00	2.40	0.00	0.000	6	0.000	0.044	3094	2062	2244	0	0	0	0	0	0
7601	0.42	117.3	381.7	7.1	30	7606	0.12	2.42	0.00	0.000	4	0.151	0.059	3057	3579	2243	0	0	0	0	0	0
7685	0.41	117.3	375.8	7.5	30	7689	0.00	2.38	0.00	0.000	6	0.000	0.045	3066	2067	2242	0	0	0	0	0	0
8227	0.40	120.0	343.4	6.0	32	8231	0.00	2.45	0.00	0.000	4	0.000	0.060	3065	3570	2242	0	0	0	0	0	0
8255	0.38	120.0	341.5	7.1	32	8260	0.12	2.35	0.00	0.000	6	0.148	0.046	3040	2067	2241	0	0	0	0	0	0
8853	0.40	155.1	312.7	4.9	34	8889	0.00	2.47	31.15	0.778	4	0.000	0.060	3040	3581	2102	0	0	0	0	0	0
8924	0.40	155.1	308.5	7.1	34	8928	0.00	2.40	0.00	0.000	6	0.000	0.046	3042	2070	2099	0	0	0	0	0	0
9479	0.40	155.1	275.1	6.2	36	9483	0.00	2.40	0.00	0.000	4	0.000	0.056	3041	543	2095	0	0	0	0	0	0
9512	0.42	157.7	272.8	6.0	36	9516	0.00	2.40	0.00	0.000	6	0.000	0.048	3042	2086	2095	0	0	0	0	0	0
10112	0.42	157.7	235.0	6.3	38	10116	0.00	2.38	0.00	0.000	4	0.000	0.060	3042	3580	2094	0	0	0	0	0	0
10172	0.42	157.7	230.8	6.9	38	10177	0.00	2.35	0.00	0.000	6	0.000	0.045	3042	2073	2093	0	0	0	0	0	0
10737	0.44	186.6	200.7	5.1	40	10771	0.00	2.47	26.48	0.708	4	0.000	0.054	3042	548	1973	0	0	0	0	0	0
10800	0.47	201.9	197.5	5.6	40	10819	0.00	2.40	14.18	0.672	6	0.000	0.047	3042	2085	1912	0	0	0	0	0	0
11368	0.50	217.5	163.8	5.6	42	11388	0.12	2.38	14.02	0.659	4	0.086	0.060	3110	3576	1847	0	0	0	0	0	0
11412	0.48	217.5	160.3	9.0	42	11417	0.15	2.35	0.00	0.000	6	0.136	0.046	3076	2085	1845	0	0	0	0	0	0
12001	0.48	217.5	119.1	6.5	44	12005	0.00	2.42	0.00	0.000	4	0.000	0.055	3082	546	1842	0	0	0	0	0	0
12063	0.50	221.5	115.1	6.0	44	12072	0.00	2.38	4.15	0.470	6	0.000	0.047	3082	2080	1831	0	0	0	0	0	0
12433	0.50	221.5	91.3	6.7	46	12434	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	2080	1830	0	0	0	0	0	0
12634	0.50	221.5	75.1	7.5	48	12635	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2080	1830	0	0	0	0	0	0
12836	0.52	221.5	62.0	7.4	50	12838	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2080	1830	0	0	0	0	0	0
13039	0.54	234.5	52.0	5.7	52	13058	0.00	2.45	12.57	0.588	4	0.000	0.058	3083	3580	1778	0	0	0	0	0	0
13071	0.59	289.3	50.4	4.2	52	13122	0.00	2.38	45.70	0.615	6	0.000	0.045	3082	2061	1554	0	0	0	0	0	0
13345	0.64	309.0	36.5	5.4	55	13369	0.12	2.47	16.55	0.581	4	0.084	0.055	3156	548	1473	0	0	0	0	0	0
13427	0.65	309.0	29.7	7.5	55	13431	0.00	2.35	0.00	0.000	6	0.000	0.047	3156	2063	1470	0	0	0	0	0	0
13656	0.65	309.0	14.0	6.8	58	13660	0.00	2.45	0.00	0.000	4	0.000	0.059	3156	3582	1468	0	0	0	0	0	0
13690	0.65	309.0	11.6	7.1	58	13695	0.12	2.38	0.00	0.000	6	0.133	0.044	3126	2056	1467	0	0	0	0	0	0
13855	end climb: SURFACE_DEPTH_REACHED
state	13855	begin surface coast
13956	end surface coast: CONTROL_FINISHED_OK
state	13958	begin surface