Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 710 * 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 710 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 32 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 R_STBD_OVSHOOT 44 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 -1585638.5 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 -1585638.5

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 32 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 44 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 710 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 020911,180354,4750.644,-12516.478,43,1.4,44,18.7 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.300,-12511.480

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.183,0.080

_SM_DEPTHo 2.04 KALMAN_X 376732.3,257.6,-92.0,-388553.2,133.0

_SM_ANGLEo -76.5 KALMAN_Y -787201.1,271.2,-356.9,794914.0,-567.6

GPS2 020911,180837,4750.629,-12516.514,10,1.4,15,18.7 MHEAD_RNG_PITCHd_Wd 47.8,6377,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 420

Post-dive calculations and measurements:

FINISH 3.4,NaN _10V_AH 9.8,83.182

SM_CCo 13065,0.00,0.000,0,0,1352,339.25 FG_AHR_24Vo 0.000

SM_GC 2.04,7.97,0.00,0.00,0.041,0.000,0.000,143,2187,1352,-8.59,0.34,339.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12514.75,020911,141453 MEM 297664

TT8_MAMPS 0.026964 DATA_FILE_SIZE 333,57

HUMID 42.12 CAP_FILE_SIZE 114497,0

INTERNAL_PRESSURE 9.06946 CFSIZE 260165632,157470720

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 020911,214830,4750.977,-12514.185,38,1.7,38,18.7

_24V_AH 23.4,81.349

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 224 107.00 SBE_CT 0 0 0.00

Roll_motor 110 92 238.59 SBE_O2 0 0 0.00

VBD_pump_during_apogee 394 849 7837.37 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 26 0 0.00 nil 0 0 0.00

Iridium_during_connect 32 0 0.00 nil 0 0 0.00

Iridium_during_xfer 105 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 16 0 0.00

TT8 612 19 118.87

LPSleep 10249 2 219.97

TT8_Active 429 19 83.34

TT8_Sampling 1780 39 694.51

TT8_CF8 277 45 124.47

TT8_Kalman 33 0 0.00

Analog_circuits 1311 12 154.21

GPS_charging 0 0 0.00

Compass 1574 15 231.39

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 -117.3 0.0 0.0 0 86 0.00 0.00 -69.18 0.000 6 0.000 0.000 110 2198 3215 0 0 0 0 0 0

89 -0.50 -117.3 0.0 -0.0 0 105 10.68 2.42 0.00 0.000 4 0.224 0.047 2747 655 3218 0 0 0 0 0 0

215 -0.48 -117.3 37.6 -11.3 1 219 0.00 2.33 0.00 0.000 6 0.000 0.049 2738 2160 3221 0 0 0 0 0 0

412 -0.44 -117.3 61.0 -12.1 3 414 0.12 0.00 0.00 0.000 6 0.148 0.000 2774 2159 3223 0 0 0 0 0 0

612 -0.42 -117.3 78.7 -10.0 5 613 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 2160 3223 0 0 0 0 0 0

813 -0.42 -117.3 93.3 -8.0 7 817 0.00 2.33 0.00 0.000 4 0.000 0.050 2774 662 3224 0 0 0 0 0 0

841 -0.42 -117.3 95.4 -7.7 7 846 0.00 2.38 0.00 0.000 6 0.000 0.047 2772 2185 3223 0 0 0 0 0 0

1215 -0.42 -117.3 120.7 -6.6 9 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2185 3224 0 0 0 0 0 0

1515 -0.42 -117.3 138.7 -6.3 10 1519 0.00 2.38 0.00 0.000 4 0.000 0.050 2772 656 3224 0 0 0 0 0 0

1561 -0.43 -117.3 141.1 -5.1 10 1565 0.00 2.35 0.00 0.000 6 0.000 0.050 2769 2178 3224 0 0 0 0 0 0

2154 -0.43 -117.3 180.9 -7.2 12 2158 0.00 2.35 0.00 0.000 4 0.000 0.050 2769 662 3223 0 0 0 0 0 0

2188 -0.43 -117.3 183.2 -6.8 12 2192 0.00 2.33 0.00 0.000 6 0.000 0.049 2764 2169 3223 0 0 0 0 0 0

2788 -0.43 -117.3 220.1 -6.0 14 2792 0.00 2.38 0.00 0.000 4 0.000 0.051 2763 650 3222 0 0 0 0 0 0

2815 -0.43 -117.3 221.9 -6.9 14 2819 0.00 2.35 0.00 0.000 6 0.000 0.050 2760 2166 3222 0 0 0 0 0 0

3421 -0.43 -117.3 259.9 -6.2 16 3425 0.00 2.38 0.00 0.000 4 0.000 0.052 2759 661 3221 0 0 0 0 0 0

3464 -0.43 -117.3 262.9 -6.5 16 3469 0.00 2.35 0.00 0.000 6 0.000 0.050 2755 2162 3221 0 0 0 0 0 0

4048 -0.43 -117.3 299.3 -6.4 18 4052 0.00 2.38 0.00 0.000 4 0.000 0.052 2754 659 3221 0 0 0 0 0 0

4075 -0.43 -117.3 301.3 -6.9 18 4079 0.00 2.35 0.00 0.000 6 0.000 0.050 2751 2159 3221 0 0 0 0 0 0

4679 -0.43 -117.3 341.6 -6.7 20 4683 0.00 2.40 0.00 0.000 4 0.000 0.054 2750 652 3219 0 0 0 0 0 0

4719 -0.43 -117.3 344.2 -6.9 20 4723 0.12 2.33 0.00 0.000 6 0.132 0.051 2785 2146 3219 0 0 0 0 0 0

5306 -0.46 -117.3 373.4 -4.8 22 5310 0.00 2.35 0.00 0.000 4 0.000 0.053 2785 663 3218 0 0 0 0 0 0

5356 -0.49 -117.3 376.2 -5.3 22 5360 0.00 2.30 0.00 0.000 6 0.000 0.050 2785 2138 3218 0 0 0 0 0 0

5944 -0.52 -117.3 407.4 -5.4 24 5949 0.10 2.53 0.00 0.000 4 0.099 0.063 2722 3694 3217 0 0 0 0 0 0

6012 -0.52 -117.3 411.9 -6.7 24 6016 0.00 2.42 0.00 0.000 6 0.000 0.046 2722 2146 3217 0 0 0 0 0 0

6126 end dive: TARGET_DEPTH_EXCEEDED

state 6126 begin apogee

6132 -0.22 0.0 420.3 7.9 24 6241 0.35 0.00 99.47 0.850 6 0.106 0.000 2843 2047 2735 0 0 0 0 0 0

6241 end apogee: CONTROL_FINISHED_OK

state 6242 begin climb

6244 0.50 117.3 422.9 0.0 24 6358 0.65 2.58 102.80 0.826 4 0.073 0.058 3077 3580 2255 0 0 0 0 0 0

6380 0.47 117.3 416.7 7.8 25 6385 0.00 2.45 0.00 0.000 6 0.000 0.044 3088 2059 2251 0 0 0 0 0 0

6889 0.45 117.3 375.6 7.9 27 6893 0.00 2.42 0.00 0.000 4 0.000 0.059 3088 3578 2245 0 0 0 0 0 0

6945 0.42 117.3 370.4 9.7 27 6950 0.15 2.38 0.00 0.000 6 0.145 0.045 3055 2055 2244 0 0 0 0 0 0

7517 0.42 117.3 332.0 6.7 29 7522 0.00 2.42 0.00 0.000 4 0.000 0.058 3055 3581 2243 0 0 0 0 0 0

7552 0.41 117.3 329.4 7.3 29 7556 0.00 2.35 0.00 0.000 6 0.000 0.045 3063 2065 2242 0 0 0 0 0 0

8147 0.42 126.6 294.0 5.8 31 8161 0.00 2.45 6.82 0.649 4 0.000 0.054 3074 549 2218 0 0 0 0 0 0

8184 0.42 126.6 291.7 6.1 31 8188 0.00 2.35 0.00 0.000 6 0.000 0.048 3074 2074 2218 0 0 0 0 0 0

8776 0.40 126.6 252.1 6.8 33 8781 0.00 2.40 0.00 0.000 4 0.000 0.060 3074 3578 2216 0 0 0 0 0 0

8843 0.39 126.6 246.4 8.9 33 8848 0.12 2.38 0.00 0.000 6 0.149 0.045 3049 2067 2215 0 0 0 0 0 0

9402 0.39 140.4 213.8 5.6 35 9421 0.00 2.45 13.35 0.688 4 0.000 0.054 3057 555 2162 0 0 0 0 0 0

9451 0.40 155.4 211.2 5.6 35 9470 0.00 2.35 14.48 0.685 6 0.000 0.047 3057 2067 2101 0 0 0 0 0 0

10037 0.40 155.4 173.6 6.5 37 10041 0.00 2.42 0.00 0.000 4 0.000 0.059 3057 3575 2095 0 0 0 0 0 0

10071 0.40 155.4 171.2 7.7 37 10075 0.00 2.38 0.00 0.000 6 0.000 0.044 3067 2056 2094 0 0 0 0 0 0

10671 0.40 155.7 134.2 6.1 39 10673 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2055 2094 0 0 0 0 0 0

10970 0.40 155.7 114.9 6.2 40 10971 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2055 2094 0 0 0 0 0 0

11270 0.40 155.7 97.2 6.2 41 11275 0.00 2.35 0.00 0.000 4 0.000 0.054 3077 549 2094 0 0 0 0 0 0

11304 0.40 158.1 95.4 6.0 41 11308 0.00 2.35 0.00 0.000 6 0.000 0.047 3076 2073 2094 0 0 0 0 0 0

11580 0.42 189.2 81.2 5.0 44 11615 0.00 2.45 28.65 0.636 4 0.000 0.059 3076 3571 1962 0 0 0 0 0 0

11648 0.43 206.4 78.0 5.5 44 11669 0.00 2.38 15.45 0.608 6 0.000 0.044 3083 2063 1893 0 0 0 0 0 0

11882 0.44 217.7 64.7 5.7 47 11898 0.00 2.40 10.55 0.579 4 0.000 0.053 3083 546 1847 0 0 0 0 0 0

11928 0.46 217.7 61.8 7.0 47 11932 0.00 2.40 0.00 0.000 6 0.000 0.047 3082 2083 1844 0 0 0 0 0 0

12186 0.48 224.5 46.4 5.9 50 12200 0.00 2.45 6.95 0.533 4 0.000 0.059 3083 3581 1818 0 0 0 0 0 0

12242 0.50 232.1 42.9 5.8 50 12256 0.00 2.35 7.75 0.539 6 0.000 0.044 3083 2077 1788 0 0 0 0 0 0

12498 0.55 268.7 30.1 4.8 53 12535 0.00 2.45 31.27 0.602 4 0.000 0.052 3083 553 1638 0 0 0 0 0 0

12572 0.60 296.4 26.9 5.1 53 12603 0.00 2.38 23.52 0.585 6 0.000 0.047 3083 2086 1525 0 0 0 0 0 0

12805 0.65 296.4 12.6 6.1 56 12810 0.12 2.45 0.00 0.000 4 0.091 0.052 3151 545 1518 0 0 0 0 0 0

12886 0.70 336.6 8.5 4.7 56 12926 0.00 2.33 33.00 0.581 6 0.000 0.047 3151 2053 1362 0 0 0 0 0 0

12980 end climb: SURFACE_DEPTH_REACHED

state 12982 begin surface coast

12986 end surface coast: CONTROL_FINISHED_OK

state 12986 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	710	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	32	XPDR_INHIBIT	90
D_BOOST	2.5	N_FILEKB	8	R_STBD_OVSHOOT	44	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	-1585638.5	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	020911,180354,4750.644,-12516.478,43,1.4,44,18.7	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.300,-12511.480
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.183,0.080
_SM_DEPTHo	2.04	KALMAN_X	376732.3,257.6,-92.0,-388553.2,133.0
_SM_ANGLEo	-76.5	KALMAN_Y	-787201.1,271.2,-356.9,794914.0,-567.6
GPS2	020911,180837,4750.629,-12516.514,10,1.4,15,18.7	MHEAD_RNG_PITCHd_Wd	47.8,6377,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	420

FINISH	3.4,NaN	_10V_AH	9.8,83.182
SM_CCo	13065,0.00,0.000,0,0,1352,339.25	FG_AHR_24Vo	0.000
SM_GC	2.04,7.97,0.00,0.00,0.041,0.000,0.000,143,2187,1352,-8.59,0.34,339.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12514.75,020911,141453	MEM	297664
TT8_MAMPS	0.026964	DATA_FILE_SIZE	333,57
HUMID	42.12	CAP_FILE_SIZE	114497,0
INTERNAL_PRESSURE	9.06946	CFSIZE	260165632,157470720
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	020911,214830,4750.977,-12514.185,38,1.7,38,18.7
_24V_AH	23.4,81.349

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	224	107.00	SBE_CT	0	0	0.00
Roll_motor	110	92	238.59	SBE_O2	0	0	0.00
VBD_pump_during_apogee	394	849	7837.37	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	26	0	0.00	nil	0	0	0.00
Iridium_during_connect	32	0	0.00	nil	0	0	0.00
Iridium_during_xfer	105	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	16	0	0.00
TT8	612	19	118.87
LPSleep	10249	2	219.97
TT8_Active	429	19	83.34
TT8_Sampling	1780	39	694.51
TT8_CF8	277	45	124.47
TT8_Kalman	33	0	0.00
Analog_circuits	1311	12	154.21
GPS_charging	0	0	0.00
Compass	1574	15	231.39
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	-117.3	0.0	0.0	0	86	0.00	0.00	-69.18	0.000	6	0.000	0.000	110	2198	3215	0	0	0	0	0	0
89	-0.50	-117.3	0.0	-0.0	0	105	10.68	2.42	0.00	0.000	4	0.224	0.047	2747	655	3218	0	0	0	0	0	0
215	-0.48	-117.3	37.6	-11.3	1	219	0.00	2.33	0.00	0.000	6	0.000	0.049	2738	2160	3221	0	0	0	0	0	0
412	-0.44	-117.3	61.0	-12.1	3	414	0.12	0.00	0.00	0.000	6	0.148	0.000	2774	2159	3223	0	0	0	0	0	0
612	-0.42	-117.3	78.7	-10.0	5	613	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	2160	3223	0	0	0	0	0	0
813	-0.42	-117.3	93.3	-8.0	7	817	0.00	2.33	0.00	0.000	4	0.000	0.050	2774	662	3224	0	0	0	0	0	0
841	-0.42	-117.3	95.4	-7.7	7	846	0.00	2.38	0.00	0.000	6	0.000	0.047	2772	2185	3223	0	0	0	0	0	0
1215	-0.42	-117.3	120.7	-6.6	9	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2185	3224	0	0	0	0	0	0
1515	-0.42	-117.3	138.7	-6.3	10	1519	0.00	2.38	0.00	0.000	4	0.000	0.050	2772	656	3224	0	0	0	0	0	0
1561	-0.43	-117.3	141.1	-5.1	10	1565	0.00	2.35	0.00	0.000	6	0.000	0.050	2769	2178	3224	0	0	0	0	0	0
2154	-0.43	-117.3	180.9	-7.2	12	2158	0.00	2.35	0.00	0.000	4	0.000	0.050	2769	662	3223	0	0	0	0	0	0
2188	-0.43	-117.3	183.2	-6.8	12	2192	0.00	2.33	0.00	0.000	6	0.000	0.049	2764	2169	3223	0	0	0	0	0	0
2788	-0.43	-117.3	220.1	-6.0	14	2792	0.00	2.38	0.00	0.000	4	0.000	0.051	2763	650	3222	0	0	0	0	0	0
2815	-0.43	-117.3	221.9	-6.9	14	2819	0.00	2.35	0.00	0.000	6	0.000	0.050	2760	2166	3222	0	0	0	0	0	0
3421	-0.43	-117.3	259.9	-6.2	16	3425	0.00	2.38	0.00	0.000	4	0.000	0.052	2759	661	3221	0	0	0	0	0	0
3464	-0.43	-117.3	262.9	-6.5	16	3469	0.00	2.35	0.00	0.000	6	0.000	0.050	2755	2162	3221	0	0	0	0	0	0
4048	-0.43	-117.3	299.3	-6.4	18	4052	0.00	2.38	0.00	0.000	4	0.000	0.052	2754	659	3221	0	0	0	0	0	0
4075	-0.43	-117.3	301.3	-6.9	18	4079	0.00	2.35	0.00	0.000	6	0.000	0.050	2751	2159	3221	0	0	0	0	0	0
4679	-0.43	-117.3	341.6	-6.7	20	4683	0.00	2.40	0.00	0.000	4	0.000	0.054	2750	652	3219	0	0	0	0	0	0
4719	-0.43	-117.3	344.2	-6.9	20	4723	0.12	2.33	0.00	0.000	6	0.132	0.051	2785	2146	3219	0	0	0	0	0	0
5306	-0.46	-117.3	373.4	-4.8	22	5310	0.00	2.35	0.00	0.000	4	0.000	0.053	2785	663	3218	0	0	0	0	0	0
5356	-0.49	-117.3	376.2	-5.3	22	5360	0.00	2.30	0.00	0.000	6	0.000	0.050	2785	2138	3218	0	0	0	0	0	0
5944	-0.52	-117.3	407.4	-5.4	24	5949	0.10	2.53	0.00	0.000	4	0.099	0.063	2722	3694	3217	0	0	0	0	0	0
6012	-0.52	-117.3	411.9	-6.7	24	6016	0.00	2.42	0.00	0.000	6	0.000	0.046	2722	2146	3217	0	0	0	0	0	0
6126	end dive: TARGET_DEPTH_EXCEEDED
state	6126	begin apogee
6132	-0.22	0.0	420.3	7.9	24	6241	0.35	0.00	99.47	0.850	6	0.106	0.000	2843	2047	2735	0	0	0	0	0	0
6241	end apogee: CONTROL_FINISHED_OK
state	6242	begin climb
6244	0.50	117.3	422.9	0.0	24	6358	0.65	2.58	102.80	0.826	4	0.073	0.058	3077	3580	2255	0	0	0	0	0	0
6380	0.47	117.3	416.7	7.8	25	6385	0.00	2.45	0.00	0.000	6	0.000	0.044	3088	2059	2251	0	0	0	0	0	0
6889	0.45	117.3	375.6	7.9	27	6893	0.00	2.42	0.00	0.000	4	0.000	0.059	3088	3578	2245	0	0	0	0	0	0
6945	0.42	117.3	370.4	9.7	27	6950	0.15	2.38	0.00	0.000	6	0.145	0.045	3055	2055	2244	0	0	0	0	0	0
7517	0.42	117.3	332.0	6.7	29	7522	0.00	2.42	0.00	0.000	4	0.000	0.058	3055	3581	2243	0	0	0	0	0	0
7552	0.41	117.3	329.4	7.3	29	7556	0.00	2.35	0.00	0.000	6	0.000	0.045	3063	2065	2242	0	0	0	0	0	0
8147	0.42	126.6	294.0	5.8	31	8161	0.00	2.45	6.82	0.649	4	0.000	0.054	3074	549	2218	0	0	0	0	0	0
8184	0.42	126.6	291.7	6.1	31	8188	0.00	2.35	0.00	0.000	6	0.000	0.048	3074	2074	2218	0	0	0	0	0	0
8776	0.40	126.6	252.1	6.8	33	8781	0.00	2.40	0.00	0.000	4	0.000	0.060	3074	3578	2216	0	0	0	0	0	0
8843	0.39	126.6	246.4	8.9	33	8848	0.12	2.38	0.00	0.000	6	0.149	0.045	3049	2067	2215	0	0	0	0	0	0
9402	0.39	140.4	213.8	5.6	35	9421	0.00	2.45	13.35	0.688	4	0.000	0.054	3057	555	2162	0	0	0	0	0	0
9451	0.40	155.4	211.2	5.6	35	9470	0.00	2.35	14.48	0.685	6	0.000	0.047	3057	2067	2101	0	0	0	0	0	0
10037	0.40	155.4	173.6	6.5	37	10041	0.00	2.42	0.00	0.000	4	0.000	0.059	3057	3575	2095	0	0	0	0	0	0
10071	0.40	155.4	171.2	7.7	37	10075	0.00	2.38	0.00	0.000	6	0.000	0.044	3067	2056	2094	0	0	0	0	0	0
10671	0.40	155.7	134.2	6.1	39	10673	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2055	2094	0	0	0	0	0	0
10970	0.40	155.7	114.9	6.2	40	10971	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2055	2094	0	0	0	0	0	0
11270	0.40	155.7	97.2	6.2	41	11275	0.00	2.35	0.00	0.000	4	0.000	0.054	3077	549	2094	0	0	0	0	0	0
11304	0.40	158.1	95.4	6.0	41	11308	0.00	2.35	0.00	0.000	6	0.000	0.047	3076	2073	2094	0	0	0	0	0	0
11580	0.42	189.2	81.2	5.0	44	11615	0.00	2.45	28.65	0.636	4	0.000	0.059	3076	3571	1962	0	0	0	0	0	0
11648	0.43	206.4	78.0	5.5	44	11669	0.00	2.38	15.45	0.608	6	0.000	0.044	3083	2063	1893	0	0	0	0	0	0
11882	0.44	217.7	64.7	5.7	47	11898	0.00	2.40	10.55	0.579	4	0.000	0.053	3083	546	1847	0	0	0	0	0	0
11928	0.46	217.7	61.8	7.0	47	11932	0.00	2.40	0.00	0.000	6	0.000	0.047	3082	2083	1844	0	0	0	0	0	0
12186	0.48	224.5	46.4	5.9	50	12200	0.00	2.45	6.95	0.533	4	0.000	0.059	3083	3581	1818	0	0	0	0	0	0
12242	0.50	232.1	42.9	5.8	50	12256	0.00	2.35	7.75	0.539	6	0.000	0.044	3083	2077	1788	0	0	0	0	0	0
12498	0.55	268.7	30.1	4.8	53	12535	0.00	2.45	31.27	0.602	4	0.000	0.052	3083	553	1638	0	0	0	0	0	0
12572	0.60	296.4	26.9	5.1	53	12603	0.00	2.38	23.52	0.585	6	0.000	0.047	3083	2086	1525	0	0	0	0	0	0
12805	0.65	296.4	12.6	6.1	56	12810	0.12	2.45	0.00	0.000	4	0.091	0.052	3151	545	1518	0	0	0	0	0	0
12886	0.70	336.6	8.5	4.7	56	12926	0.00	2.33	33.00	0.581	6	0.000	0.047	3151	2053	1362	0	0	0	0	0	0
12980	end climb: SURFACE_DEPTH_REACHED
state	12982	begin surface coast
12986	end surface coast: CONTROL_FINISHED_OK
state	12986	begin surface