Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 268 * 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 268 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 375 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 R_STBD_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 0 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 -1584159.5 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 115 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2905 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 1 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 0

HD_C 1.34e-05 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 375

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 0 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 -1584159.5

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 2905 KALMAN_USE 1 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 31 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 115 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 268 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 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 230511,112607,4753.085,-12504.396,41,1.7,41,18.7 TGT_NAME ONSHORE

_CALLS 1 TGT_LATLONG 4758.000,-12457.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.136,0.143

_SM_DEPTHo 1.51 KALMAN_X 10356.8,998.2,-59.4,132657.8,-166.9

_SM_ANGLEo -76.3 KALMAN_Y 22311.9,-607.2,-337.2,73383.2,-203.2

GPS2 230511,113120,4753.022,-12504.461,14,2.0,14,18.7 MHEAD_RNG_PITCHd_Wd 24.7,13061,-13.8,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 114

Post-dive calculations and measurements:

FINISH 1.5,1.023575 _10V_AH 10.3,22.131

SM_CCo 3375,19.88,0.366,1,0,1205,375.06 FG_AHR_24Vo 0.000

SM_GC 2.10,0.00,0.00,19.88,0.000,0.000,0.366,133,2161,1205,-8.66,-0.40,375.06 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12453.48,230511,101041 MEM 297512

TT8_MAMPS 0.027713 DATA_FILE_SIZE 26910,519

HUMID 35.50 CAP_FILE_SIZE 81007,0

INTERNAL_PRESSURE 9.02063 CFSIZE 260165632,197160960

TCM_TEMP 16.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 230511,122944,4753.097,-12504.012,11,2.0,11,18.7

_24V_AH 24.3,27.044

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 235 112.51 SBE_CT 351 24 205.25

Roll_motor 91 67 149.72 SBE_O2 375 19 173.46

VBD_pump_during_apogee 369 652 5851.57 WL_BBFL2VMT 1005 105 2565.39

VBD_pump_during_surface 19 366 176.97 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 40 0 0.00 nil 0 0 0.00

Iridium_during_xfer 129 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 15 0 0.00

TT8 1167 19 238.19

LPSleep 422 2 9.53

TT8_Active 523 19 106.74

TT8_Sampling 1392 39 570.83

TT8_CF8 211 45 99.64

TT8_Kalman 33 0 0.00

Analog_circuits 1108 12 137.03

GPS_charging 0 0 0.00

Compass 1213 15 187.51

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.50 -112.4 0.0 0.0 0 82 0.00 0.00 -64.85 0.000 2 0.000 0.000 133 2189 2745 0 0 0 0 0 0

86 -0.50 -112.4 3.3 -2.6 10 114 10.30 2.42 -9.27 0.000 4 0.236 0.065 2725 3690 3197 0 0 0 0 0 0

129 -0.29 -112.4 15.3 -24.2 16 137 0.20 2.40 0.00 0.000 6 0.115 0.042 2807 2167 3198 0 0 0 0 0 0

201 -0.29 -112.4 23.0 -9.6 29 208 0.00 2.38 0.00 0.000 4 0.000 0.050 2807 662 3199 0 0 0 0 0 0

253 -0.29 -112.4 28.0 -9.2 38 261 0.00 2.38 0.00 0.000 6 0.000 0.049 2801 2165 3199 0 0 0 0 0 0

327 -0.29 -112.4 35.0 -9.9 51 334 0.00 2.50 0.00 0.000 4 0.000 0.061 2791 3715 3199 0 0 0 0 0 0

373 -0.29 -112.4 39.8 -10.0 59 381 0.00 2.38 0.00 0.000 6 0.000 0.043 2790 2195 3200 0 0 0 0 0 0

446 -0.29 -112.4 47.0 -10.5 72 452 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2196 3199 0 0 0 0 0 0

517 -0.29 -112.4 53.7 -8.9 85 524 0.00 2.38 0.00 0.000 4 0.000 0.049 2790 676 3200 0 0 0 0 0 0

563 -0.29 -112.4 57.8 -8.4 93 571 0.00 2.42 0.00 0.000 6 0.000 0.048 2787 2222 3200 0 0 0 0 0 0

636 -0.29 -112.4 63.1 -7.4 106 642 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2222 3200 0 0 0 0 0 0

708 -0.29 -112.4 69.0 -8.3 119 716 0.00 2.42 0.00 0.000 4 0.000 0.048 2787 671 3200 0 0 0 0 0 0

750 -0.29 -112.4 73.1 -9.2 126 757 0.00 2.40 0.00 0.000 6 0.000 0.048 2782 2204 3200 0 0 0 0 0 0

822 -0.29 -112.4 79.8 -9.1 139 830 0.10 2.40 0.00 0.000 4 0.157 0.060 2801 3709 3200 0 0 0 0 0 0

855 -0.29 -112.4 82.1 -7.9 144 862 0.00 2.33 0.00 0.000 6 0.000 0.042 2800 2211 3200 0 0 0 0 0 0

927 -0.29 -112.4 87.3 -7.0 157 934 0.00 2.40 0.00 0.000 4 0.000 0.050 2800 674 3200 0 0 0 0 0 0

1010 -0.30 -112.4 93.6 -7.6 172 1017 0.00 2.40 0.00 0.000 6 0.000 0.048 2800 2208 3200 0 0 0 0 0 0

1083 -0.31 -112.4 98.7 -6.7 185 1091 0.00 2.40 0.00 0.000 4 0.000 0.062 2796 3688 3200 0 0 0 0 0 0

1120 -0.33 -112.4 101.4 -7.7 190 1124 0.00 2.25 0.00 0.000 6 0.000 0.042 2796 2203 3200 0 0 0 0 0 0

1257 -0.34 -112.4 110.1 -6.1 202 1261 0.00 2.33 0.00 0.000 4 0.000 0.047 2796 671 3200 0 0 0 0 0 0

1308 -0.35 -112.4 113.5 -6.6 206 1312 0.00 2.38 0.00 0.000 6 0.000 0.047 2795 2211 3200 0 0 0 0 0 0

1323 end dive: TARGET_DEPTH_EXCEEDED

state 1323 begin apogee

1329 -0.22 0.0 114.5 6.1 207 1426 0.12 0.00 88.78 0.653 6 0.134 0.000 2834 2066 2734 0 0 0 0 0 0

1427 end apogee: CONTROL_FINISHED_OK

state 1427 begin climb

1431 0.50 112.4 118.4 0.0 217 1533 0.65 2.47 92.32 0.634 4 0.090 0.047 3069 546 2276 0 0 0 0 0 0

1558 0.52 145.5 114.7 4.9 228 1593 0.00 2.40 27.85 0.611 6 0.000 0.044 3068 2063 2141 0 0 0 0 0 0

1723 0.52 145.5 105.1 6.4 243 1727 0.00 2.42 0.00 0.000 4 0.000 0.056 3069 3576 2134 0 0 0 0 0 0

1756 0.51 145.5 102.4 7.3 245 1763 0.00 2.38 0.00 0.000 6 0.000 0.041 3079 2058 2132 0 0 0 0 0 0

1890 0.51 145.5 93.9 6.4 266 1896 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2056 2133 0 0 0 0 0 0

1960 0.51 148.0 89.7 6.0 279 1967 0.00 2.40 0.00 0.000 4 0.000 0.050 3083 542 2132 0 0 0 0 0 0

1980 0.51 150.2 88.4 6.0 282 1995 0.00 2.38 4.05 0.428 6 0.000 0.045 3083 2050 2121 0 0 0 0 0 0

2061 0.52 164.1 83.9 5.6 296 2084 0.00 2.47 13.00 0.590 4 0.000 0.057 3083 3567 2065 0 0 0 0 0 0

2113 0.51 164.1 80.5 6.4 304 2120 0.00 2.38 0.00 0.000 6 0.000 0.041 3093 2068 2063 0 0 0 0 0 0

2186 0.49 164.1 75.0 7.4 317 2193 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2067 2063 0 0 0 0 0 0

2257 0.49 164.1 69.1 7.9 330 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2067 2063 0 0 0 0 0 0

2329 0.48 164.1 64.0 7.0 343 2337 0.12 2.38 0.00 0.000 4 0.154 0.051 3066 548 2062 0 0 0 0 0 0

2365 0.48 164.1 61.8 6.3 349 2373 0.00 2.42 0.00 0.000 6 0.000 0.045 3066 2096 2061 0 0 0 0 0 0

2438 0.50 192.1 58.1 5.1 362 2466 0.00 2.53 23.33 0.604 4 0.000 0.050 3070 539 1951 0 0 0 0 0 0

2496 0.53 212.2 54.9 5.4 371 2524 0.00 2.42 17.77 0.588 6 0.000 0.045 3070 2075 1868 0 0 0 0 0 0

2590 0.54 212.2 49.4 6.2 387 2596 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2075 1864 0 0 0 0 0 0

2662 0.56 212.2 44.8 6.5 400 2669 0.00 2.45 0.00 0.000 4 0.000 0.057 3070 3571 1862 0 0 0 0 0 0

2699 0.57 212.2 41.8 7.6 406 2706 0.00 2.33 0.00 0.000 6 0.000 0.041 3070 2097 1862 0 0 0 0 0 0

2773 0.59 212.2 36.3 7.2 419 2780 0.00 2.45 0.00 0.000 4 0.000 0.052 3071 527 1861 0 0 0 0 0 0

2799 0.61 212.2 34.5 7.1 423 2806 0.00 2.45 0.00 0.000 6 0.000 0.045 3071 2088 1861 0 0 0 0 0 0

2872 0.65 235.9 30.4 5.3 436 2900 0.12 0.00 19.35 0.586 6 0.090 0.000 3136 2088 1772 0 0 0 0 0 0

2967 0.63 235.9 22.6 9.2 452 2974 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2088 1769 0 0 0 0 0 0

3038 0.63 235.9 16.6 7.6 465 3046 0.00 2.45 0.00 0.000 4 0.000 0.052 3146 519 1768 0 0 0 0 0 0

3122 0.63 235.9 11.2 6.2 480 3131 0.12 2.45 0.00 0.000 6 0.132 0.047 3108 2077 1766 0 0 0 0 0 0

3195 0.72 340.6 8.7 2.3 493 3288 0.00 2.50 82.57 0.584 4 0.000 0.057 3108 3574 1343 0 0 0 0 0 0

3319 end climb: SURFACE_DEPTH_REACHED

state 3319 begin surface coast

3355 end surface coast: CONTROL_FINISHED_OK

state 3355 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	268	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	375	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_BOOST	2.5	N_FILEKB	8	R_STBD_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	0	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	-1584159.5	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	115	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2905	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	1	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	0
HD_C	1.34e-05	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0

GPS1	230511,112607,4753.085,-12504.396,41,1.7,41,18.7	TGT_NAME	ONSHORE
_CALLS	1	TGT_LATLONG	4758.000,-12457.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.136,0.143
_SM_DEPTHo	1.51	KALMAN_X	10356.8,998.2,-59.4,132657.8,-166.9
_SM_ANGLEo	-76.3	KALMAN_Y	22311.9,-607.2,-337.2,73383.2,-203.2
GPS2	230511,113120,4753.022,-12504.461,14,2.0,14,18.7	MHEAD_RNG_PITCHd_Wd	24.7,13061,-13.8,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	114

FINISH	1.5,1.023575	_10V_AH	10.3,22.131
SM_CCo	3375,19.88,0.366,1,0,1205,375.06	FG_AHR_24Vo	0.000
SM_GC	2.10,0.00,0.00,19.88,0.000,0.000,0.366,133,2161,1205,-8.66,-0.40,375.06	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12453.48,230511,101041	MEM	297512
TT8_MAMPS	0.027713	DATA_FILE_SIZE	26910,519
HUMID	35.50	CAP_FILE_SIZE	81007,0
INTERNAL_PRESSURE	9.02063	CFSIZE	260165632,197160960
TCM_TEMP	16.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	230511,122944,4753.097,-12504.012,11,2.0,11,18.7
_24V_AH	24.3,27.044

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	235	112.51	SBE_CT	351	24	205.25
Roll_motor	91	67	149.72	SBE_O2	375	19	173.46
VBD_pump_during_apogee	369	652	5851.57	WL_BBFL2VMT	1005	105	2565.39
VBD_pump_during_surface	19	366	176.97	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	40	0	0.00	nil	0	0	0.00
Iridium_during_xfer	129	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	15	0	0.00
TT8	1167	19	238.19
LPSleep	422	2	9.53
TT8_Active	523	19	106.74
TT8_Sampling	1392	39	570.83
TT8_CF8	211	45	99.64
TT8_Kalman	33	0	0.00
Analog_circuits	1108	12	137.03
GPS_charging	0	0	0.00
Compass	1213	15	187.51
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.50	-112.4	0.0	0.0	0	82	0.00	0.00	-64.85	0.000	2	0.000	0.000	133	2189	2745	0	0	0	0	0	0
86	-0.50	-112.4	3.3	-2.6	10	114	10.30	2.42	-9.27	0.000	4	0.236	0.065	2725	3690	3197	0	0	0	0	0	0
129	-0.29	-112.4	15.3	-24.2	16	137	0.20	2.40	0.00	0.000	6	0.115	0.042	2807	2167	3198	0	0	0	0	0	0
201	-0.29	-112.4	23.0	-9.6	29	208	0.00	2.38	0.00	0.000	4	0.000	0.050	2807	662	3199	0	0	0	0	0	0
253	-0.29	-112.4	28.0	-9.2	38	261	0.00	2.38	0.00	0.000	6	0.000	0.049	2801	2165	3199	0	0	0	0	0	0
327	-0.29	-112.4	35.0	-9.9	51	334	0.00	2.50	0.00	0.000	4	0.000	0.061	2791	3715	3199	0	0	0	0	0	0
373	-0.29	-112.4	39.8	-10.0	59	381	0.00	2.38	0.00	0.000	6	0.000	0.043	2790	2195	3200	0	0	0	0	0	0
446	-0.29	-112.4	47.0	-10.5	72	452	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2196	3199	0	0	0	0	0	0
517	-0.29	-112.4	53.7	-8.9	85	524	0.00	2.38	0.00	0.000	4	0.000	0.049	2790	676	3200	0	0	0	0	0	0
563	-0.29	-112.4	57.8	-8.4	93	571	0.00	2.42	0.00	0.000	6	0.000	0.048	2787	2222	3200	0	0	0	0	0	0
636	-0.29	-112.4	63.1	-7.4	106	642	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2222	3200	0	0	0	0	0	0
708	-0.29	-112.4	69.0	-8.3	119	716	0.00	2.42	0.00	0.000	4	0.000	0.048	2787	671	3200	0	0	0	0	0	0
750	-0.29	-112.4	73.1	-9.2	126	757	0.00	2.40	0.00	0.000	6	0.000	0.048	2782	2204	3200	0	0	0	0	0	0
822	-0.29	-112.4	79.8	-9.1	139	830	0.10	2.40	0.00	0.000	4	0.157	0.060	2801	3709	3200	0	0	0	0	0	0
855	-0.29	-112.4	82.1	-7.9	144	862	0.00	2.33	0.00	0.000	6	0.000	0.042	2800	2211	3200	0	0	0	0	0	0
927	-0.29	-112.4	87.3	-7.0	157	934	0.00	2.40	0.00	0.000	4	0.000	0.050	2800	674	3200	0	0	0	0	0	0
1010	-0.30	-112.4	93.6	-7.6	172	1017	0.00	2.40	0.00	0.000	6	0.000	0.048	2800	2208	3200	0	0	0	0	0	0
1083	-0.31	-112.4	98.7	-6.7	185	1091	0.00	2.40	0.00	0.000	4	0.000	0.062	2796	3688	3200	0	0	0	0	0	0
1120	-0.33	-112.4	101.4	-7.7	190	1124	0.00	2.25	0.00	0.000	6	0.000	0.042	2796	2203	3200	0	0	0	0	0	0
1257	-0.34	-112.4	110.1	-6.1	202	1261	0.00	2.33	0.00	0.000	4	0.000	0.047	2796	671	3200	0	0	0	0	0	0
1308	-0.35	-112.4	113.5	-6.6	206	1312	0.00	2.38	0.00	0.000	6	0.000	0.047	2795	2211	3200	0	0	0	0	0	0
1323	end dive: TARGET_DEPTH_EXCEEDED
state	1323	begin apogee
1329	-0.22	0.0	114.5	6.1	207	1426	0.12	0.00	88.78	0.653	6	0.134	0.000	2834	2066	2734	0	0	0	0	0	0
1427	end apogee: CONTROL_FINISHED_OK
state	1427	begin climb
1431	0.50	112.4	118.4	0.0	217	1533	0.65	2.47	92.32	0.634	4	0.090	0.047	3069	546	2276	0	0	0	0	0	0
1558	0.52	145.5	114.7	4.9	228	1593	0.00	2.40	27.85	0.611	6	0.000	0.044	3068	2063	2141	0	0	0	0	0	0
1723	0.52	145.5	105.1	6.4	243	1727	0.00	2.42	0.00	0.000	4	0.000	0.056	3069	3576	2134	0	0	0	0	0	0
1756	0.51	145.5	102.4	7.3	245	1763	0.00	2.38	0.00	0.000	6	0.000	0.041	3079	2058	2132	0	0	0	0	0	0
1890	0.51	145.5	93.9	6.4	266	1896	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2056	2133	0	0	0	0	0	0
1960	0.51	148.0	89.7	6.0	279	1967	0.00	2.40	0.00	0.000	4	0.000	0.050	3083	542	2132	0	0	0	0	0	0
1980	0.51	150.2	88.4	6.0	282	1995	0.00	2.38	4.05	0.428	6	0.000	0.045	3083	2050	2121	0	0	0	0	0	0
2061	0.52	164.1	83.9	5.6	296	2084	0.00	2.47	13.00	0.590	4	0.000	0.057	3083	3567	2065	0	0	0	0	0	0
2113	0.51	164.1	80.5	6.4	304	2120	0.00	2.38	0.00	0.000	6	0.000	0.041	3093	2068	2063	0	0	0	0	0	0
2186	0.49	164.1	75.0	7.4	317	2193	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2067	2063	0	0	0	0	0	0
2257	0.49	164.1	69.1	7.9	330	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2067	2063	0	0	0	0	0	0
2329	0.48	164.1	64.0	7.0	343	2337	0.12	2.38	0.00	0.000	4	0.154	0.051	3066	548	2062	0	0	0	0	0	0
2365	0.48	164.1	61.8	6.3	349	2373	0.00	2.42	0.00	0.000	6	0.000	0.045	3066	2096	2061	0	0	0	0	0	0
2438	0.50	192.1	58.1	5.1	362	2466	0.00	2.53	23.33	0.604	4	0.000	0.050	3070	539	1951	0	0	0	0	0	0
2496	0.53	212.2	54.9	5.4	371	2524	0.00	2.42	17.77	0.588	6	0.000	0.045	3070	2075	1868	0	0	0	0	0	0
2590	0.54	212.2	49.4	6.2	387	2596	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	2075	1864	0	0	0	0	0	0
2662	0.56	212.2	44.8	6.5	400	2669	0.00	2.45	0.00	0.000	4	0.000	0.057	3070	3571	1862	0	0	0	0	0	0
2699	0.57	212.2	41.8	7.6	406	2706	0.00	2.33	0.00	0.000	6	0.000	0.041	3070	2097	1862	0	0	0	0	0	0
2773	0.59	212.2	36.3	7.2	419	2780	0.00	2.45	0.00	0.000	4	0.000	0.052	3071	527	1861	0	0	0	0	0	0
2799	0.61	212.2	34.5	7.1	423	2806	0.00	2.45	0.00	0.000	6	0.000	0.045	3071	2088	1861	0	0	0	0	0	0
2872	0.65	235.9	30.4	5.3	436	2900	0.12	0.00	19.35	0.586	6	0.090	0.000	3136	2088	1772	0	0	0	0	0	0
2967	0.63	235.9	22.6	9.2	452	2974	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2088	1769	0	0	0	0	0	0
3038	0.63	235.9	16.6	7.6	465	3046	0.00	2.45	0.00	0.000	4	0.000	0.052	3146	519	1768	0	0	0	0	0	0
3122	0.63	235.9	11.2	6.2	480	3131	0.12	2.45	0.00	0.000	6	0.132	0.047	3108	2077	1766	0	0	0	0	0	0
3195	0.72	340.6	8.7	2.3	493	3288	0.00	2.50	82.57	0.584	4	0.000	0.057	3108	3574	1343	0	0	0	0	0	0
3319	end climb: SURFACE_DEPTH_REACHED
state	3319	begin surface coast
3355	end surface coast: CONTROL_FINISHED_OK
state	3355	begin surface