Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 533 * 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 533 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 31 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 -1585404.2 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 2 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 -1585404.2

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 31 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 533 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 2 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 110711,221806,4751.391,-12512.050,31,1.3,31,18.7 TGT_NAME ONSHORE

_CALLS 1 TGT_LATLONG 4758.000,-12457.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.046,0.195

_SM_DEPTHo 1.71 KALMAN_X 193853.6,-101.4,-1.3,-199790.9,-150.7

_SM_ANGLEo -78.3 KALMAN_Y -359043.5,422.8,-1.6,367613.8,-1113.6

GPS2 110711,222420,4751.363,-12511.997,12,2.0,12,18.7 MHEAD_RNG_PITCHd_Wd 13.8,22292,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 189

Post-dive calculations and measurements:

FINISH 0.8,1.021547 _10V_AH 9.9,60.890

SM_CCo 5809,23.30,0.378,2,0,1410,325.02 FG_AHR_24Vo 0.000

SM_GC 2.29,0.00,0.00,23.30,0.000,0.000,0.378,115,2189,1410,-8.77,0.40,325.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12509.51,110711,202042 MEM 297640

TT8_MAMPS 0.026964 DATA_FILE_SIZE 43554,752

HUMID 38.89 CAP_FILE_SIZE 97058,0

INTERNAL_PRESSURE 9.06946 CFSIZE 260165632,174313472

TCM_TEMP 16.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.195,206.9,1

_24V_AH 24.1,57.749 GPS 120711,000352,4751.321,-12511.887,14,3.6,33,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 109.74 SBE_CT 512 24 296.17

Roll_motor 97 100 234.94 SBE_O2 1481 19 678.43

VBD_pump_during_apogee 334 700 5649.40 WL_BBFL2VMT 1197 105 3030.13

VBD_pump_during_surface 23 377 212.21 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 29 0 0.00 nil 0 0 0.00

Iridium_during_xfer 187 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 13 0 0.00

TT8 1847 19 362.24

LPSleep 1671 2 36.24

TT8_Active 480 19 94.10

TT8_Sampling 1921 39 757.17

TT8_CF8 293 45 132.98

TT8_Kalman 33 0 0.00

Analog_circuits 1206 12 143.29

GPS_charging 0 0 0.00

Compass 1656 15 245.97

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 83 0.00 0.00 -65.03 0.000 2 0.000 0.000 120 2161 2795 0 0 0 0 0 0

88 -0.50 -117.3 3.6 -3.0 10 118 10.60 2.42 -8.05 0.000 4 0.228 0.063 2756 657 3217 0 0 0 0 0 0

256 -0.47 -117.3 33.7 -11.3 40 263 0.00 2.40 0.00 0.000 6 0.000 0.047 2747 2176 3219 0 0 0 0 0 0

394 -0.45 -117.3 46.9 -9.3 65 402 0.00 2.47 0.00 0.000 4 0.000 0.060 2736 3690 3220 0 0 0 0 0 0

432 -0.43 -117.3 50.7 -9.3 71 440 0.12 2.33 0.00 0.000 6 0.109 0.042 2790 2210 3221 0 0 0 0 0 0

571 -0.43 -117.3 59.9 -6.7 96 578 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2210 3221 0 0 0 0 0 0

706 -0.43 -117.3 70.5 -7.8 121 714 0.00 2.40 0.00 0.000 4 0.000 0.059 2782 3691 3222 0 0 0 0 0 0

740 -0.43 -117.3 73.3 -8.2 126 748 0.00 2.28 0.00 0.000 6 0.000 0.042 2781 2236 3222 0 0 0 0 0 0

876 -0.43 -117.3 83.8 -7.0 151 883 0.00 2.45 0.00 0.000 4 0.000 0.050 2781 654 3222 0 0 0 0 0 0

927 -0.43 -117.3 87.7 -7.6 160 934 0.00 2.47 0.00 0.000 6 0.000 0.049 2779 2248 3222 0 0 0 0 0 0

1067 -0.43 -117.3 96.8 -6.1 185 1075 0.00 2.33 0.00 0.000 4 0.000 0.061 2773 3688 3222 0 0 0 0 0 0

1083 -0.43 -117.3 97.9 -6.0 187 1091 0.00 2.33 0.00 0.000 6 0.000 0.043 2772 2200 3222 0 0 0 0 0 0

1220 -0.43 -117.3 105.6 -5.5 203 1224 0.00 2.35 0.00 0.000 4 0.000 0.049 2772 671 3222 0 0 0 0 0 0

1265 -0.43 -117.3 108.2 -5.5 206 1272 0.00 2.33 0.00 0.000 6 0.000 0.047 2772 2182 3222 0 0 0 0 0 0

1464 -0.45 -117.3 118.9 -5.5 225 1468 0.00 2.38 0.00 0.000 4 0.000 0.050 2772 661 3222 0 0 0 0 0 0

1560 -0.45 -117.3 125.3 -7.0 233 1564 0.00 2.20 0.00 0.000 6 0.000 0.047 2767 2082 3222 0 0 0 0 0 0

1758 -0.47 -117.3 138.6 -7.0 251 1762 0.00 2.55 0.00 0.000 4 0.000 0.061 2765 3690 3222 0 0 0 0 0 0

1788 -0.49 -117.3 140.4 -6.8 253 1792 0.00 2.55 0.00 0.000 6 0.000 0.043 2765 2051 3222 0 0 0 0 0 0

1989 -0.51 -117.3 154.6 -7.2 271 1993 0.00 2.62 0.00 0.000 4 0.000 0.060 2764 3697 3222 0 0 0 0 0 0

2065 -0.51 -117.3 160.1 -6.7 277 2073 0.00 2.38 0.00 0.000 6 0.000 0.043 2764 2141 3222 0 0 0 0 0 0

2266 -0.53 -117.3 171.6 -5.6 296 2270 0.00 2.47 0.00 0.000 4 0.000 0.060 2763 3696 3222 0 0 0 0 0 0

2329 -0.54 -117.3 174.9 -5.0 301 2334 0.00 2.62 0.00 0.000 6 0.000 0.044 2763 1995 3222 0 0 0 0 0 0

2532 -0.55 -117.3 185.3 -5.4 319 2536 0.00 2.78 0.00 0.000 4 0.000 0.062 2763 3697 3221 0 0 0 0 0 0

2554 -0.57 -117.3 186.7 -5.0 320 2560 0.00 2.42 0.00 0.000 6 0.000 0.044 2763 2138 3221 0 0 0 0 0 0

2601 end dive: TARGET_DEPTH_EXCEEDED

state 2602 begin apogee

2608 -0.22 0.0 189.6 5.8 325 2706 0.25 0.00 94.03 0.701 6 0.098 0.000 2855 2056 2735 0 0 0 0 0 0

2706 end apogee: CONTROL_FINISHED_OK

state 2707 begin climb

2710 0.50 117.3 193.9 0.0 335 2812 0.62 0.00 97.32 0.679 6 0.073 0.000 3080 2056 2256 0 0 0 0 0 0

3006 0.48 117.3 180.5 7.1 362 3012 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2056 2249 0 0 0 0 0 0

3204 0.46 117.3 165.6 7.7 381 3208 0.00 2.45 0.00 0.000 4 0.000 0.057 3080 3580 2246 0 0 0 0 0 0

3247 0.44 117.3 161.7 9.2 384 3255 0.00 2.40 0.00 0.000 6 0.000 0.043 3090 2074 2245 0 0 0 0 0 0

3446 0.42 117.3 147.1 7.1 403 3451 0.12 2.38 0.00 0.000 4 0.153 0.052 3063 548 2245 0 0 0 0 0 0

3468 0.42 117.3 145.5 6.6 404 3475 0.00 2.38 0.00 0.000 6 0.000 0.047 3064 2075 2244 0 0 0 0 0 0

3668 0.42 117.3 132.9 6.4 423 3672 0.00 2.38 0.00 0.000 4 0.000 0.057 3063 3576 2244 0 0 0 0 0 0

3719 0.40 117.3 129.4 6.8 427 3724 0.00 2.33 0.00 0.000 6 0.000 0.044 3073 2071 2244 0 0 0 0 0 0

3918 0.39 117.3 116.0 6.7 445 3920 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2070 2243 0 0 0 0 0 0

4114 0.38 117.3 102.5 7.1 463 4122 0.12 0.00 0.00 0.000 6 0.143 0.000 3035 2067 2243 0 0 0 0 0 0

4312 0.42 173.0 92.0 4.2 497 4363 0.00 2.42 44.15 0.640 4 0.000 0.051 3037 546 2027 0 0 0 0 0 0

4424 0.49 238.2 87.8 3.8 514 4485 0.08 2.42 52.75 0.629 6 0.051 0.047 3098 2076 1762 0 0 0 0 0 0

4617 0.52 254.1 77.7 5.6 546 4638 0.00 2.45 13.07 0.584 4 0.000 0.058 3098 3582 1697 0 0 0 0 0 0

4741 0.52 254.1 69.0 7.3 568 4750 0.00 2.28 0.00 0.000 6 0.000 0.044 3106 2155 1693 0 0 0 0 0 0

4881 0.52 254.1 59.3 7.1 593 4890 0.00 2.60 0.00 0.000 4 0.000 0.054 3111 549 1692 0 0 0 0 0 0

4914 0.52 254.1 56.6 7.4 598 4922 0.00 2.55 0.00 0.000 6 0.000 0.047 3111 2167 1691 0 0 0 0 0 0

5053 0.52 254.1 45.2 8.7 623 5061 0.00 2.28 0.00 0.000 4 0.000 0.058 3111 3573 1690 0 0 0 0 0 0

5096 0.52 254.1 40.6 9.8 630 5104 0.08 2.22 0.00 0.000 6 0.115 0.044 3092 2169 1690 0 0 0 0 0 0

5238 0.54 254.1 30.1 6.9 655 5246 0.00 2.58 0.00 0.000 4 0.000 0.053 3097 549 1689 0 0 0 0 0 0

5338 0.57 269.5 24.1 5.6 672 5356 0.00 2.47 12.68 0.567 6 0.000 0.045 3097 2132 1636 0 0 0 0 0 0

5488 0.61 269.5 15.8 6.2 698 5495 0.00 2.55 0.00 0.000 4 0.000 0.054 3097 550 1631 0 0 0 0 0 0

5603 0.69 293.8 9.4 5.3 719 5632 0.08 2.38 20.52 0.580 6 0.063 0.046 3146 2068 1536 0 0 0 0 0 0

5703 end climb: SURFACE_DEPTH_REACHED

state 5703 begin surface coast

5790 end surface coast: CONTROL_FINISHED_OK

state 5790 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	533	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	31	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	-1585404.2	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	2	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	110711,221806,4751.391,-12512.050,31,1.3,31,18.7	TGT_NAME	ONSHORE
_CALLS	1	TGT_LATLONG	4758.000,-12457.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.046,0.195
_SM_DEPTHo	1.71	KALMAN_X	193853.6,-101.4,-1.3,-199790.9,-150.7
_SM_ANGLEo	-78.3	KALMAN_Y	-359043.5,422.8,-1.6,367613.8,-1113.6
GPS2	110711,222420,4751.363,-12511.997,12,2.0,12,18.7	MHEAD_RNG_PITCHd_Wd	13.8,22292,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	189

FINISH	0.8,1.021547	_10V_AH	9.9,60.890
SM_CCo	5809,23.30,0.378,2,0,1410,325.02	FG_AHR_24Vo	0.000
SM_GC	2.29,0.00,0.00,23.30,0.000,0.000,0.378,115,2189,1410,-8.77,0.40,325.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12509.51,110711,202042	MEM	297640
TT8_MAMPS	0.026964	DATA_FILE_SIZE	43554,752
HUMID	38.89	CAP_FILE_SIZE	97058,0
INTERNAL_PRESSURE	9.06946	CFSIZE	260165632,174313472
TCM_TEMP	16.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.195,206.9,1
_24V_AH	24.1,57.749	GPS	120711,000352,4751.321,-12511.887,14,3.6,33,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	109.74	SBE_CT	512	24	296.17
Roll_motor	97	100	234.94	SBE_O2	1481	19	678.43
VBD_pump_during_apogee	334	700	5649.40	WL_BBFL2VMT	1197	105	3030.13
VBD_pump_during_surface	23	377	212.21	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	29	0	0.00	nil	0	0	0.00
Iridium_during_xfer	187	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	13	0	0.00
TT8	1847	19	362.24
LPSleep	1671	2	36.24
TT8_Active	480	19	94.10
TT8_Sampling	1921	39	757.17
TT8_CF8	293	45	132.98
TT8_Kalman	33	0	0.00
Analog_circuits	1206	12	143.29
GPS_charging	0	0	0.00
Compass	1656	15	245.97
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	83	0.00	0.00	-65.03	0.000	2	0.000	0.000	120	2161	2795	0	0	0	0	0	0
88	-0.50	-117.3	3.6	-3.0	10	118	10.60	2.42	-8.05	0.000	4	0.228	0.063	2756	657	3217	0	0	0	0	0	0
256	-0.47	-117.3	33.7	-11.3	40	263	0.00	2.40	0.00	0.000	6	0.000	0.047	2747	2176	3219	0	0	0	0	0	0
394	-0.45	-117.3	46.9	-9.3	65	402	0.00	2.47	0.00	0.000	4	0.000	0.060	2736	3690	3220	0	0	0	0	0	0
432	-0.43	-117.3	50.7	-9.3	71	440	0.12	2.33	0.00	0.000	6	0.109	0.042	2790	2210	3221	0	0	0	0	0	0
571	-0.43	-117.3	59.9	-6.7	96	578	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2210	3221	0	0	0	0	0	0
706	-0.43	-117.3	70.5	-7.8	121	714	0.00	2.40	0.00	0.000	4	0.000	0.059	2782	3691	3222	0	0	0	0	0	0
740	-0.43	-117.3	73.3	-8.2	126	748	0.00	2.28	0.00	0.000	6	0.000	0.042	2781	2236	3222	0	0	0	0	0	0
876	-0.43	-117.3	83.8	-7.0	151	883	0.00	2.45	0.00	0.000	4	0.000	0.050	2781	654	3222	0	0	0	0	0	0
927	-0.43	-117.3	87.7	-7.6	160	934	0.00	2.47	0.00	0.000	6	0.000	0.049	2779	2248	3222	0	0	0	0	0	0
1067	-0.43	-117.3	96.8	-6.1	185	1075	0.00	2.33	0.00	0.000	4	0.000	0.061	2773	3688	3222	0	0	0	0	0	0
1083	-0.43	-117.3	97.9	-6.0	187	1091	0.00	2.33	0.00	0.000	6	0.000	0.043	2772	2200	3222	0	0	0	0	0	0
1220	-0.43	-117.3	105.6	-5.5	203	1224	0.00	2.35	0.00	0.000	4	0.000	0.049	2772	671	3222	0	0	0	0	0	0
1265	-0.43	-117.3	108.2	-5.5	206	1272	0.00	2.33	0.00	0.000	6	0.000	0.047	2772	2182	3222	0	0	0	0	0	0
1464	-0.45	-117.3	118.9	-5.5	225	1468	0.00	2.38	0.00	0.000	4	0.000	0.050	2772	661	3222	0	0	0	0	0	0
1560	-0.45	-117.3	125.3	-7.0	233	1564	0.00	2.20	0.00	0.000	6	0.000	0.047	2767	2082	3222	0	0	0	0	0	0
1758	-0.47	-117.3	138.6	-7.0	251	1762	0.00	2.55	0.00	0.000	4	0.000	0.061	2765	3690	3222	0	0	0	0	0	0
1788	-0.49	-117.3	140.4	-6.8	253	1792	0.00	2.55	0.00	0.000	6	0.000	0.043	2765	2051	3222	0	0	0	0	0	0
1989	-0.51	-117.3	154.6	-7.2	271	1993	0.00	2.62	0.00	0.000	4	0.000	0.060	2764	3697	3222	0	0	0	0	0	0
2065	-0.51	-117.3	160.1	-6.7	277	2073	0.00	2.38	0.00	0.000	6	0.000	0.043	2764	2141	3222	0	0	0	0	0	0
2266	-0.53	-117.3	171.6	-5.6	296	2270	0.00	2.47	0.00	0.000	4	0.000	0.060	2763	3696	3222	0	0	0	0	0	0
2329	-0.54	-117.3	174.9	-5.0	301	2334	0.00	2.62	0.00	0.000	6	0.000	0.044	2763	1995	3222	0	0	0	0	0	0
2532	-0.55	-117.3	185.3	-5.4	319	2536	0.00	2.78	0.00	0.000	4	0.000	0.062	2763	3697	3221	0	0	0	0	0	0
2554	-0.57	-117.3	186.7	-5.0	320	2560	0.00	2.42	0.00	0.000	6	0.000	0.044	2763	2138	3221	0	0	0	0	0	0
2601	end dive: TARGET_DEPTH_EXCEEDED
state	2602	begin apogee
2608	-0.22	0.0	189.6	5.8	325	2706	0.25	0.00	94.03	0.701	6	0.098	0.000	2855	2056	2735	0	0	0	0	0	0
2706	end apogee: CONTROL_FINISHED_OK
state	2707	begin climb
2710	0.50	117.3	193.9	0.0	335	2812	0.62	0.00	97.32	0.679	6	0.073	0.000	3080	2056	2256	0	0	0	0	0	0
3006	0.48	117.3	180.5	7.1	362	3012	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2056	2249	0	0	0	0	0	0
3204	0.46	117.3	165.6	7.7	381	3208	0.00	2.45	0.00	0.000	4	0.000	0.057	3080	3580	2246	0	0	0	0	0	0
3247	0.44	117.3	161.7	9.2	384	3255	0.00	2.40	0.00	0.000	6	0.000	0.043	3090	2074	2245	0	0	0	0	0	0
3446	0.42	117.3	147.1	7.1	403	3451	0.12	2.38	0.00	0.000	4	0.153	0.052	3063	548	2245	0	0	0	0	0	0
3468	0.42	117.3	145.5	6.6	404	3475	0.00	2.38	0.00	0.000	6	0.000	0.047	3064	2075	2244	0	0	0	0	0	0
3668	0.42	117.3	132.9	6.4	423	3672	0.00	2.38	0.00	0.000	4	0.000	0.057	3063	3576	2244	0	0	0	0	0	0
3719	0.40	117.3	129.4	6.8	427	3724	0.00	2.33	0.00	0.000	6	0.000	0.044	3073	2071	2244	0	0	0	0	0	0
3918	0.39	117.3	116.0	6.7	445	3920	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2070	2243	0	0	0	0	0	0
4114	0.38	117.3	102.5	7.1	463	4122	0.12	0.00	0.00	0.000	6	0.143	0.000	3035	2067	2243	0	0	0	0	0	0
4312	0.42	173.0	92.0	4.2	497	4363	0.00	2.42	44.15	0.640	4	0.000	0.051	3037	546	2027	0	0	0	0	0	0
4424	0.49	238.2	87.8	3.8	514	4485	0.08	2.42	52.75	0.629	6	0.051	0.047	3098	2076	1762	0	0	0	0	0	0
4617	0.52	254.1	77.7	5.6	546	4638	0.00	2.45	13.07	0.584	4	0.000	0.058	3098	3582	1697	0	0	0	0	0	0
4741	0.52	254.1	69.0	7.3	568	4750	0.00	2.28	0.00	0.000	6	0.000	0.044	3106	2155	1693	0	0	0	0	0	0
4881	0.52	254.1	59.3	7.1	593	4890	0.00	2.60	0.00	0.000	4	0.000	0.054	3111	549	1692	0	0	0	0	0	0
4914	0.52	254.1	56.6	7.4	598	4922	0.00	2.55	0.00	0.000	6	0.000	0.047	3111	2167	1691	0	0	0	0	0	0
5053	0.52	254.1	45.2	8.7	623	5061	0.00	2.28	0.00	0.000	4	0.000	0.058	3111	3573	1690	0	0	0	0	0	0
5096	0.52	254.1	40.6	9.8	630	5104	0.08	2.22	0.00	0.000	6	0.115	0.044	3092	2169	1690	0	0	0	0	0	0
5238	0.54	254.1	30.1	6.9	655	5246	0.00	2.58	0.00	0.000	4	0.000	0.053	3097	549	1689	0	0	0	0	0	0
5338	0.57	269.5	24.1	5.6	672	5356	0.00	2.47	12.68	0.567	6	0.000	0.045	3097	2132	1636	0	0	0	0	0	0
5488	0.61	269.5	15.8	6.2	698	5495	0.00	2.55	0.00	0.000	4	0.000	0.054	3097	550	1631	0	0	0	0	0	0
5603	0.69	293.8	9.4	5.3	719	5632	0.08	2.38	20.52	0.580	6	0.063	0.046	3146	2068	1536	0	0	0	0	0	0
5703	end climb: SURFACE_DEPTH_REACHED
state	5703	begin surface coast
5790	end surface coast: CONTROL_FINISHED_OK
state	5790	begin surface