Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 701 * 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 701 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 33 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 R_STBD_OVSHOOT 32 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 -1585627.2 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 -1585627.2

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 33 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 32 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 701 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 310811,125936,4748.154,-12518.708,38,0.9,44,18.7 TGT_NAME INSHORE

_CALLS 1 TGT_LATLONG 4742.000,-12530.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,0.026

_SM_DEPTHo 1.99 KALMAN_X 368502.2,132.9,-346.9,-382616.0,2676.4

_SM_ANGLEo -73.1 KALMAN_Y -779061.4,527.0,161.6,781379.3,-1856.7

GPS2 310811,130437,4748.134,-12518.674,12,2.0,12,18.7 MHEAD_RNG_PITCHd_Wd 258.8,18120,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 660

Post-dive calculations and measurements:

FINISH 3.5,NaN _10V_AH 9.8,82.589

SM_CCo 16684,0.00,0.000,0,0,1294,353.23 FG_AHR_24Vo 0.000

SM_GC 2.30,8.10,0.00,0.00,0.047,0.000,0.000,111,2169,1294,-8.61,-0.17,353.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12524.44,310811,070705 MEM 297712

TT8_MAMPS 0.026964 DATA_FILE_SIZE 3639,66

HUMID 44.05 CAP_FILE_SIZE 137914,0

INTERNAL_PRESSURE 9.07923 CFSIZE 260165632,157990912

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 310811,174506,4747.777,-12521.299,50,0.9,55,18.7

_24V_AH 22.6,80.322

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 227 106.03 SBE_CT 0 0 0.00

Roll_motor 132 104 314.43 SBE_O2 0 0 0.00

VBD_pump_during_apogee 414 1014 9504.22 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 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 29 0 0.00 nil 0 0 0.00

Iridium_during_xfer 121 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 12 0 0.00

TT8 776 19 150.68

LPSleep 13057 2 280.23

TT8_Active 541 19 105.00

TT8_Sampling 2280 39 889.30

TT8_CF8 322 45 144.81

TT8_Kalman 33 0 0.00

Analog_circuits 1589 12 186.96

GPS_charging 0 0 0.00

Compass 2052 15 301.65

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 -48.28 0.000 2 0.000 0.000 130 2176 2471 0 0 0 0 0 0

70 -0.50 -117.3 3.1 -2.8 0 101 10.65 0.00 -17.80 0.000 6 0.227 0.000 2749 2177 3215 0 0 0 0 0 0

303 -0.42 -117.3 42.1 -16.7 2 308 0.12 2.40 0.00 0.000 4 0.152 0.050 2788 663 3220 0 0 0 0 0 0

336 -0.42 -117.3 44.9 -7.3 2 340 0.00 2.33 0.00 0.000 6 0.000 0.048 2785 2174 3220 0 0 0 0 0 0

605 -0.42 -117.3 61.6 -6.4 5 609 0.00 2.40 0.00 0.000 4 0.000 0.060 2774 3690 3222 0 0 0 0 0 0

661 -0.42 -117.3 65.7 -7.3 5 666 0.00 2.35 0.00 0.000 6 0.000 0.043 2774 2166 3222 0 0 0 0 0 0

908 -0.42 -117.3 87.4 -8.9 8 909 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 2165 3222 0 0 0 0 0 0

1108 -0.42 -117.3 102.8 -8.2 10 1113 0.00 2.35 0.00 0.000 4 0.000 0.050 2773 658 3223 0 0 0 0 0 0

1143 -0.42 -117.3 105.4 -7.9 10 1147 0.00 2.40 0.00 0.000 6 0.000 0.049 2773 2202 3223 0 0 0 0 0 0

1736 -0.42 -117.3 144.7 -6.4 12 1740 0.00 2.40 0.00 0.000 4 0.000 0.050 2772 668 3223 0 0 0 0 0 0

1782 -0.44 -117.3 147.7 -6.7 12 1786 0.00 2.35 0.00 0.000 6 0.000 0.049 2769 2190 3223 0 0 0 0 0 0

2365 -0.44 -117.3 181.8 -5.9 14 2369 0.00 2.40 0.00 0.000 4 0.000 0.050 2769 661 3222 0 0 0 0 0 0

2403 -0.45 -117.3 184.4 -6.4 14 2407 0.00 2.38 0.00 0.000 6 0.000 0.049 2762 2185 3222 0 0 0 0 0 0

2997 -0.45 -117.3 220.7 -6.1 16 3002 0.00 2.38 0.00 0.000 4 0.000 0.051 2762 668 3221 0 0 0 0 0 0

3025 -0.45 -117.3 222.8 -7.3 16 3029 0.00 2.35 0.00 0.000 6 0.000 0.049 2759 2175 3221 0 0 0 0 0 0

3631 -0.45 -117.3 263.9 -6.8 18 3635 0.00 2.38 0.00 0.000 4 0.000 0.052 2759 670 3221 0 0 0 0 0 0

3658 -0.45 -117.3 266.2 -8.0 18 3662 0.00 2.35 0.00 0.000 6 0.000 0.050 2755 2169 3221 0 0 0 0 0 0

4262 -0.45 -117.3 310.2 -7.1 20 4267 0.00 2.38 0.00 0.000 4 0.000 0.052 2755 664 3220 0 0 0 0 0 0

4290 -0.45 -117.3 312.0 -7.0 20 4294 0.00 2.35 0.00 0.000 6 0.000 0.050 2751 2179 3219 0 0 0 0 0 0

4894 -0.45 -117.3 352.4 -6.6 22 4898 0.00 2.42 0.00 0.000 4 0.000 0.053 2750 661 3219 0 0 0 0 0 0

4937 -0.45 -117.3 355.7 -7.5 22 4941 0.00 2.33 0.00 0.000 6 0.000 0.051 2746 2160 3218 0 0 0 0 0 0

5519 -0.45 -117.3 395.0 -6.8 24 5523 0.00 2.35 0.00 0.000 4 0.000 0.053 2746 667 3218 0 0 0 0 0 0

5540 -0.45 -117.3 396.7 -7.6 24 5545 0.12 2.35 0.00 0.000 6 0.138 0.051 2777 2166 3217 0 0 0 0 0 0

6145 -0.46 -117.3 431.9 -5.9 26 6149 0.00 2.40 0.00 0.000 4 0.000 0.054 2777 670 3217 0 0 0 0 0 0

6185 -0.49 -117.3 434.6 -6.6 26 6189 0.00 2.33 0.00 0.000 6 0.000 0.051 2777 2163 3216 0 0 0 0 0 0

6775 -0.52 -117.3 470.9 -6.0 28 6779 0.00 2.47 0.00 0.000 4 0.000 0.063 2777 3697 3216 0 0 0 0 0 0

6870 -0.55 -117.3 476.1 -5.1 28 6875 0.10 2.50 0.00 0.000 6 0.096 0.046 2717 2105 3215 0 0 0 0 0 0

7401 -0.55 -117.3 509.7 -6.2 30 7405 0.00 2.28 0.00 0.000 4 0.000 0.054 2716 659 3215 0 0 0 0 0 0

7441 -0.54 -117.3 512.2 -6.1 30 7446 0.12 2.30 0.00 0.000 6 0.139 0.051 2745 2138 3214 0 0 0 0 0 0

8028 -0.54 -117.3 543.5 -5.5 32 8032 0.00 2.50 0.00 0.000 4 0.000 0.064 2736 3691 3214 0 0 0 0 0 0

8066 -0.55 -117.3 545.9 -6.4 32 8070 0.00 2.45 0.00 0.000 6 0.000 0.047 2735 2126 3214 0 0 0 0 0 0

8658 -0.55 -117.3 584.2 -6.1 34 8662 0.00 2.28 0.00 0.000 4 0.000 0.054 2735 671 3213 0 0 0 0 0 0

8727 -0.55 -117.3 588.8 -7.3 34 8731 0.00 2.30 0.00 0.000 6 0.000 0.053 2730 2130 3213 0 0 0 0 0 0

9285 -0.55 -117.3 624.8 -6.5 36 9289 0.00 2.33 0.00 0.000 4 0.000 0.055 2730 663 3213 0 0 0 0 0 0

9308 -0.55 -117.3 626.3 -6.7 36 9313 0.00 2.30 0.00 0.000 6 0.000 0.052 2723 2123 3212 0 0 0 0 0 0

9911 end dive: TARGET_DEPTH_EXCEEDED

state 9911 begin apogee

9919 -0.22 0.0 665.9 6.6 38 10024 0.38 0.00 102.35 1.014 6 0.103 0.000 2848 2050 2735 0 0 0 0 0 0

10025 end apogee: CONTROL_FINISHED_OK

state 10025 begin climb

10027 0.50 117.3 665.9 0.0 38 10139 0.68 0.00 108.32 0.987 6 0.069 0.000 3084 2050 2255 0 0 0 0 0 0

10214 0.58 291.3 659.6 -0.0 39 10368 0.00 0.00 152.15 0.970 6 0.000 0.000 3084 2050 1547 0 0 0 0 0 0

10514 0.56 291.3 627.1 10.8 40 10519 0.00 2.42 0.00 0.000 4 0.000 0.056 3095 554 1537 0 0 0 0 0 0

10538 0.56 291.3 624.6 10.5 40 10542 0.00 2.40 0.00 0.000 6 0.000 0.049 3095 2059 1536 0 0 0 0 0 0

11144 0.55 291.3 551.1 12.3 42 11148 0.00 2.40 0.00 0.000 4 0.000 0.057 3106 550 1532 0 0 0 0 0 0

11193 0.55 291.3 545.0 10.9 42 11197 0.00 2.35 0.00 0.000 6 0.000 0.050 3106 2052 1531 0 0 0 0 0 0

11771 0.54 291.3 476.6 12.0 44 11775 0.00 2.38 0.00 0.000 4 0.000 0.057 3116 549 1531 0 0 0 0 0 0

11804 0.54 291.3 472.2 11.7 44 11808 0.00 2.35 0.00 0.000 6 0.000 0.050 3116 2054 1531 0 0 0 0 0 0

12404 0.52 291.3 394.5 13.1 46 12408 0.00 2.38 0.00 0.000 4 0.000 0.057 3126 554 1531 0 0 0 0 0 0

12442 0.52 291.3 389.6 11.7 46 12447 0.12 2.33 0.00 0.000 6 0.138 0.050 3090 2044 1530 0 0 0 0 0 0

13029 0.52 291.3 327.5 10.8 48 13030 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 2044 1530 0 0 0 0 0 0

13329 0.52 291.3 296.7 10.6 49 13333 0.00 2.35 0.00 0.000 4 0.000 0.057 3097 557 1530 0 0 0 0 0 0

13363 0.52 291.3 293.6 9.2 49 13367 0.00 2.30 0.00 0.000 6 0.000 0.050 3097 2039 1530 0 0 0 0 0 0

13961 0.52 291.3 234.6 9.8 51 13965 0.00 2.35 0.00 0.000 4 0.000 0.057 3106 553 1530 0 0 0 0 0 0

13984 0.52 291.3 232.5 9.8 51 13988 0.00 2.30 0.00 0.000 6 0.000 0.049 3107 2029 1530 0 0 0 0 0 0

14589 0.52 291.3 169.9 10.4 53 14594 0.00 2.47 0.00 0.000 4 0.000 0.060 3107 3582 1530 0 0 0 0 0 0

14611 0.52 291.3 167.3 11.1 53 14615 0.00 2.42 0.00 0.000 6 0.000 0.047 3116 2035 1530 0 0 0 0 0 0

15223 0.52 291.3 104.4 9.9 55 15227 0.00 2.35 0.00 0.000 4 0.000 0.056 3126 543 1529 0 0 0 0 0 0

15278 0.52 291.3 99.5 7.8 55 15283 0.12 2.30 0.00 0.000 6 0.129 0.049 3089 2023 1530 0 0 0 0 0 0

15654 0.54 291.3 72.6 6.5 57 15658 0.00 2.47 0.00 0.000 4 0.000 0.058 3088 3572 1530 0 0 0 0 0 0

15693 0.56 291.3 69.8 7.8 57 15697 0.00 2.42 0.00 0.000 6 0.000 0.045 3088 2017 1530 0 0 0 0 0 0

15957 0.60 303.2 54.5 5.7 60 15971 0.00 2.38 8.98 0.565 4 0.000 0.055 3088 554 1497 0 0 0 0 0 0

15995 0.66 345.9 52.5 4.6 60 16040 0.12 2.30 37.85 0.616 6 0.080 0.047 3155 2034 1323 0 0 0 0 0 0

16269 0.66 345.9 26.7 10.0 63 16274 0.00 2.40 0.00 0.000 4 0.000 0.056 3164 538 1316 0 0 0 0 0 0

16291 0.67 345.9 23.9 9.7 63 16296 0.00 2.30 0.00 0.000 6 0.000 0.049 3164 2007 1315 0 0 0 0 0 0

16572 0.69 351.9 5.9 5.9 66 16582 0.00 2.50 4.93 0.459 4 0.000 0.058 3164 3573 1299 0 0 0 0 0 0

16596 end climb: SURFACE_DEPTH_REACHED

state 16596 begin surface coast

16602 end surface coast: CONTROL_FINISHED_OK

state 16602 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	701	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	33	XPDR_INHIBIT	90
D_BOOST	2.5	N_FILEKB	8	R_STBD_OVSHOOT	32	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	-1585627.2	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	310811,125936,4748.154,-12518.708,38,0.9,44,18.7	TGT_NAME	INSHORE
_CALLS	1	TGT_LATLONG	4742.000,-12530.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,0.026
_SM_DEPTHo	1.99	KALMAN_X	368502.2,132.9,-346.9,-382616.0,2676.4
_SM_ANGLEo	-73.1	KALMAN_Y	-779061.4,527.0,161.6,781379.3,-1856.7
GPS2	310811,130437,4748.134,-12518.674,12,2.0,12,18.7	MHEAD_RNG_PITCHd_Wd	258.8,18120,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	660

FINISH	3.5,NaN	_10V_AH	9.8,82.589
SM_CCo	16684,0.00,0.000,0,0,1294,353.23	FG_AHR_24Vo	0.000
SM_GC	2.30,8.10,0.00,0.00,0.047,0.000,0.000,111,2169,1294,-8.61,-0.17,353.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12524.44,310811,070705	MEM	297712
TT8_MAMPS	0.026964	DATA_FILE_SIZE	3639,66
HUMID	44.05	CAP_FILE_SIZE	137914,0
INTERNAL_PRESSURE	9.07923	CFSIZE	260165632,157990912
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	310811,174506,4747.777,-12521.299,50,0.9,55,18.7
_24V_AH	22.6,80.322

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	227	106.03	SBE_CT	0	0	0.00
Roll_motor	132	104	314.43	SBE_O2	0	0	0.00
VBD_pump_during_apogee	414	1014	9504.22	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	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	29	0	0.00	nil	0	0	0.00
Iridium_during_xfer	121	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	12	0	0.00
TT8	776	19	150.68
LPSleep	13057	2	280.23
TT8_Active	541	19	105.00
TT8_Sampling	2280	39	889.30
TT8_CF8	322	45	144.81
TT8_Kalman	33	0	0.00
Analog_circuits	1589	12	186.96
GPS_charging	0	0	0.00
Compass	2052	15	301.65
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	-48.28	0.000	2	0.000	0.000	130	2176	2471	0	0	0	0	0	0
70	-0.50	-117.3	3.1	-2.8	0	101	10.65	0.00	-17.80	0.000	6	0.227	0.000	2749	2177	3215	0	0	0	0	0	0
303	-0.42	-117.3	42.1	-16.7	2	308	0.12	2.40	0.00	0.000	4	0.152	0.050	2788	663	3220	0	0	0	0	0	0
336	-0.42	-117.3	44.9	-7.3	2	340	0.00	2.33	0.00	0.000	6	0.000	0.048	2785	2174	3220	0	0	0	0	0	0
605	-0.42	-117.3	61.6	-6.4	5	609	0.00	2.40	0.00	0.000	4	0.000	0.060	2774	3690	3222	0	0	0	0	0	0
661	-0.42	-117.3	65.7	-7.3	5	666	0.00	2.35	0.00	0.000	6	0.000	0.043	2774	2166	3222	0	0	0	0	0	0
908	-0.42	-117.3	87.4	-8.9	8	909	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	2165	3222	0	0	0	0	0	0
1108	-0.42	-117.3	102.8	-8.2	10	1113	0.00	2.35	0.00	0.000	4	0.000	0.050	2773	658	3223	0	0	0	0	0	0
1143	-0.42	-117.3	105.4	-7.9	10	1147	0.00	2.40	0.00	0.000	6	0.000	0.049	2773	2202	3223	0	0	0	0	0	0
1736	-0.42	-117.3	144.7	-6.4	12	1740	0.00	2.40	0.00	0.000	4	0.000	0.050	2772	668	3223	0	0	0	0	0	0
1782	-0.44	-117.3	147.7	-6.7	12	1786	0.00	2.35	0.00	0.000	6	0.000	0.049	2769	2190	3223	0	0	0	0	0	0
2365	-0.44	-117.3	181.8	-5.9	14	2369	0.00	2.40	0.00	0.000	4	0.000	0.050	2769	661	3222	0	0	0	0	0	0
2403	-0.45	-117.3	184.4	-6.4	14	2407	0.00	2.38	0.00	0.000	6	0.000	0.049	2762	2185	3222	0	0	0	0	0	0
2997	-0.45	-117.3	220.7	-6.1	16	3002	0.00	2.38	0.00	0.000	4	0.000	0.051	2762	668	3221	0	0	0	0	0	0
3025	-0.45	-117.3	222.8	-7.3	16	3029	0.00	2.35	0.00	0.000	6	0.000	0.049	2759	2175	3221	0	0	0	0	0	0
3631	-0.45	-117.3	263.9	-6.8	18	3635	0.00	2.38	0.00	0.000	4	0.000	0.052	2759	670	3221	0	0	0	0	0	0
3658	-0.45	-117.3	266.2	-8.0	18	3662	0.00	2.35	0.00	0.000	6	0.000	0.050	2755	2169	3221	0	0	0	0	0	0
4262	-0.45	-117.3	310.2	-7.1	20	4267	0.00	2.38	0.00	0.000	4	0.000	0.052	2755	664	3220	0	0	0	0	0	0
4290	-0.45	-117.3	312.0	-7.0	20	4294	0.00	2.35	0.00	0.000	6	0.000	0.050	2751	2179	3219	0	0	0	0	0	0
4894	-0.45	-117.3	352.4	-6.6	22	4898	0.00	2.42	0.00	0.000	4	0.000	0.053	2750	661	3219	0	0	0	0	0	0
4937	-0.45	-117.3	355.7	-7.5	22	4941	0.00	2.33	0.00	0.000	6	0.000	0.051	2746	2160	3218	0	0	0	0	0	0
5519	-0.45	-117.3	395.0	-6.8	24	5523	0.00	2.35	0.00	0.000	4	0.000	0.053	2746	667	3218	0	0	0	0	0	0
5540	-0.45	-117.3	396.7	-7.6	24	5545	0.12	2.35	0.00	0.000	6	0.138	0.051	2777	2166	3217	0	0	0	0	0	0
6145	-0.46	-117.3	431.9	-5.9	26	6149	0.00	2.40	0.00	0.000	4	0.000	0.054	2777	670	3217	0	0	0	0	0	0
6185	-0.49	-117.3	434.6	-6.6	26	6189	0.00	2.33	0.00	0.000	6	0.000	0.051	2777	2163	3216	0	0	0	0	0	0
6775	-0.52	-117.3	470.9	-6.0	28	6779	0.00	2.47	0.00	0.000	4	0.000	0.063	2777	3697	3216	0	0	0	0	0	0
6870	-0.55	-117.3	476.1	-5.1	28	6875	0.10	2.50	0.00	0.000	6	0.096	0.046	2717	2105	3215	0	0	0	0	0	0
7401	-0.55	-117.3	509.7	-6.2	30	7405	0.00	2.28	0.00	0.000	4	0.000	0.054	2716	659	3215	0	0	0	0	0	0
7441	-0.54	-117.3	512.2	-6.1	30	7446	0.12	2.30	0.00	0.000	6	0.139	0.051	2745	2138	3214	0	0	0	0	0	0
8028	-0.54	-117.3	543.5	-5.5	32	8032	0.00	2.50	0.00	0.000	4	0.000	0.064	2736	3691	3214	0	0	0	0	0	0
8066	-0.55	-117.3	545.9	-6.4	32	8070	0.00	2.45	0.00	0.000	6	0.000	0.047	2735	2126	3214	0	0	0	0	0	0
8658	-0.55	-117.3	584.2	-6.1	34	8662	0.00	2.28	0.00	0.000	4	0.000	0.054	2735	671	3213	0	0	0	0	0	0
8727	-0.55	-117.3	588.8	-7.3	34	8731	0.00	2.30	0.00	0.000	6	0.000	0.053	2730	2130	3213	0	0	0	0	0	0
9285	-0.55	-117.3	624.8	-6.5	36	9289	0.00	2.33	0.00	0.000	4	0.000	0.055	2730	663	3213	0	0	0	0	0	0
9308	-0.55	-117.3	626.3	-6.7	36	9313	0.00	2.30	0.00	0.000	6	0.000	0.052	2723	2123	3212	0	0	0	0	0	0
9911	end dive: TARGET_DEPTH_EXCEEDED
state	9911	begin apogee
9919	-0.22	0.0	665.9	6.6	38	10024	0.38	0.00	102.35	1.014	6	0.103	0.000	2848	2050	2735	0	0	0	0	0	0
10025	end apogee: CONTROL_FINISHED_OK
state	10025	begin climb
10027	0.50	117.3	665.9	0.0	38	10139	0.68	0.00	108.32	0.987	6	0.069	0.000	3084	2050	2255	0	0	0	0	0	0
10214	0.58	291.3	659.6	-0.0	39	10368	0.00	0.00	152.15	0.970	6	0.000	0.000	3084	2050	1547	0	0	0	0	0	0
10514	0.56	291.3	627.1	10.8	40	10519	0.00	2.42	0.00	0.000	4	0.000	0.056	3095	554	1537	0	0	0	0	0	0
10538	0.56	291.3	624.6	10.5	40	10542	0.00	2.40	0.00	0.000	6	0.000	0.049	3095	2059	1536	0	0	0	0	0	0
11144	0.55	291.3	551.1	12.3	42	11148	0.00	2.40	0.00	0.000	4	0.000	0.057	3106	550	1532	0	0	0	0	0	0
11193	0.55	291.3	545.0	10.9	42	11197	0.00	2.35	0.00	0.000	6	0.000	0.050	3106	2052	1531	0	0	0	0	0	0
11771	0.54	291.3	476.6	12.0	44	11775	0.00	2.38	0.00	0.000	4	0.000	0.057	3116	549	1531	0	0	0	0	0	0
11804	0.54	291.3	472.2	11.7	44	11808	0.00	2.35	0.00	0.000	6	0.000	0.050	3116	2054	1531	0	0	0	0	0	0
12404	0.52	291.3	394.5	13.1	46	12408	0.00	2.38	0.00	0.000	4	0.000	0.057	3126	554	1531	0	0	0	0	0	0
12442	0.52	291.3	389.6	11.7	46	12447	0.12	2.33	0.00	0.000	6	0.138	0.050	3090	2044	1530	0	0	0	0	0	0
13029	0.52	291.3	327.5	10.8	48	13030	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	2044	1530	0	0	0	0	0	0
13329	0.52	291.3	296.7	10.6	49	13333	0.00	2.35	0.00	0.000	4	0.000	0.057	3097	557	1530	0	0	0	0	0	0
13363	0.52	291.3	293.6	9.2	49	13367	0.00	2.30	0.00	0.000	6	0.000	0.050	3097	2039	1530	0	0	0	0	0	0
13961	0.52	291.3	234.6	9.8	51	13965	0.00	2.35	0.00	0.000	4	0.000	0.057	3106	553	1530	0	0	0	0	0	0
13984	0.52	291.3	232.5	9.8	51	13988	0.00	2.30	0.00	0.000	6	0.000	0.049	3107	2029	1530	0	0	0	0	0	0
14589	0.52	291.3	169.9	10.4	53	14594	0.00	2.47	0.00	0.000	4	0.000	0.060	3107	3582	1530	0	0	0	0	0	0
14611	0.52	291.3	167.3	11.1	53	14615	0.00	2.42	0.00	0.000	6	0.000	0.047	3116	2035	1530	0	0	0	0	0	0
15223	0.52	291.3	104.4	9.9	55	15227	0.00	2.35	0.00	0.000	4	0.000	0.056	3126	543	1529	0	0	0	0	0	0
15278	0.52	291.3	99.5	7.8	55	15283	0.12	2.30	0.00	0.000	6	0.129	0.049	3089	2023	1530	0	0	0	0	0	0
15654	0.54	291.3	72.6	6.5	57	15658	0.00	2.47	0.00	0.000	4	0.000	0.058	3088	3572	1530	0	0	0	0	0	0
15693	0.56	291.3	69.8	7.8	57	15697	0.00	2.42	0.00	0.000	6	0.000	0.045	3088	2017	1530	0	0	0	0	0	0
15957	0.60	303.2	54.5	5.7	60	15971	0.00	2.38	8.98	0.565	4	0.000	0.055	3088	554	1497	0	0	0	0	0	0
15995	0.66	345.9	52.5	4.6	60	16040	0.12	2.30	37.85	0.616	6	0.080	0.047	3155	2034	1323	0	0	0	0	0	0
16269	0.66	345.9	26.7	10.0	63	16274	0.00	2.40	0.00	0.000	4	0.000	0.056	3164	538	1316	0	0	0	0	0	0
16291	0.67	345.9	23.9	9.7	63	16296	0.00	2.30	0.00	0.000	6	0.000	0.049	3164	2007	1315	0	0	0	0	0	0
16572	0.69	351.9	5.9	5.9	66	16582	0.00	2.50	4.93	0.459	4	0.000	0.058	3164	3573	1299	0	0	0	0	0	0
16596	end climb: SURFACE_DEPTH_REACHED
state	16596	begin surface coast
16602	end surface coast: CONTROL_FINISHED_OK
state	16602	begin surface