Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 191 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 191 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 223 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 790 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1000 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 110 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 490 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3029 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 300 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 375 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 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 -5 T_GPS_CHARGE -46239.488 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 0 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 110 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 -5 PITCH_MIN 134 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 235 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2822 PHONE_SUPPLY 2 SEABIRD_T_G 0.004337667

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -16.491346 SEABIRD_T_H 0.00063136261

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_I 2.3680945e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4321864e-06

MASS 51890 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8870621

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1051886

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001683808

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020742195

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 134 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -16.491346 T_DIVE 300

CALL_TRIES 5 HD_A 0.0038360001 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -46239.488

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 375

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 167 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

C_PITCH 2822 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 1000 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 790 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.24529999

DEVICE1 2 MASS 51890 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 53 MAX_BUOY 235 R_PORT_OVSHOOT 36 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 110 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8870621 VBD_MIN 490

DEVICE5 -1 MISSION 6 SEABIRD_C_H 1.1051886 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.001683808 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 191 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 223 SEABIRD_T_G 0.004337667 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00063136261 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3680945e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.4321864e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 161010,015609,2248.702,12702.021,0,10000.0,0,-3.3 TGT_NAME PICKUP

_CALLS 2 TGT_LATLONG 2100.000,12730.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161010,015609,2248.702,12702.021,901,99.0,901,-3.3 MHEAD_RNG_PITCHd_Wd 124.8,207048,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.021884 _10V_AH 10.4,31.851

SM_CCo 12716,96.30,0.559,1,0,1398,400.08 FG_AHR_24Vo 0.000

SM_GC 1.28,0.00,0.00,96.30,0.000,0.000,0.559,116,780,1398,-8.45,-0.28,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2251.04,12701.56,161010,060613 MEM 333628

TT8_MAMPS 0.028462 DATA_FILE_SIZE 83451,1421

HUMID 40.39 CAP_FILE_SIZE 139772,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,156803072

TCM_TEMP 27.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 3.954,144.7,1

_24V_AH 23.8,35.215 GPS 161010,062913,2251.042,12701.561,0,10000.0,0,-3.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 223 104.07 SBE_CT 971 24 554.82

Roll_motor 57 53 73.22 AA3830 1259 33 989.21

VBD_pump_during_apogee 280 1425 9516.16 WL_BB2F 1737 105 4342.72

VBD_pump_during_surface 96 559 1281.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 0 0.00 nil 0 0 0.00

Iridium_during_connect 86 0 0.00 nil 0 0 0.00

Iridium_during_xfer 210 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 901 0 0.00

TT8 3508 19 722.57

LPSleep 5440 2 123.92

TT8_Active 453 19 93.28

TT8_Sampling 4457 39 1845.22

TT8_CF8 444 45 211.82

TT8_Kalman 0 0 0.00

Analog_circuits 1675 12 209.14

GPS_charging 0 0 0.00

Compass 3236 15 504.91

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.87 -73.8 0.0 0.0 0 84 0.00 0.00 -64.45 0.000 6 0.000 0.000 109 817 3332 0 0 0 0 0 0

87 -0.87 -73.8 5.9 -13.6 9 103 9.27 0.90 0.00 0.000 4 0.223 0.027 2535 172 3334 0 0 0 0 0 0

342 -0.87 -73.8 93.0 -20.6 56 350 0.00 0.77 0.00 0.000 6 0.000 0.021 2531 845 3336 0 0 0 0 0 0

667 -0.87 -73.8 157.7 -18.5 117 674 0.00 0.95 0.00 0.000 4 0.000 0.040 2531 189 3337 0 0 0 0 0 0

921 -0.87 -73.8 210.1 -21.0 163 929 0.00 0.75 0.00 0.000 6 0.000 0.021 2527 843 3337 0 0 0 0 0 0

1253 -0.87 -73.8 268.5 -17.7 224 1261 0.00 0.95 0.00 0.000 4 0.000 0.040 2527 189 3336 0 0 0 0 0 0

1504 -0.87 -73.8 313.8 -16.0 270 1512 0.00 0.73 0.00 0.000 6 0.000 0.021 2522 822 3335 0 0 0 0 0 0

1839 -0.87 -73.8 363.7 -15.9 331 1846 0.00 1.80 0.00 0.000 4 0.000 0.016 2515 2148 3333 0 0 0 0 0 0

2092 -0.87 -73.8 399.5 -13.6 377 2098 0.00 2.08 0.00 0.000 6 0.000 0.033 2514 745 3332 0 0 0 0 0 0

2423 -0.87 -73.8 445.2 -14.4 438 2431 0.00 0.80 0.00 0.000 4 0.000 0.042 2514 187 3330 0 0 0 0 0 0

2646 -0.87 -73.8 477.3 -15.3 478 2655 0.08 0.62 0.00 0.000 6 0.176 0.024 2534 721 3328 0 0 0 0 0 0

2981 -0.87 -73.8 519.6 -11.9 525 2983 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 721 3326 0 0 0 0 0 0

3303 -0.87 -73.8 558.3 -11.7 555 3307 0.00 0.77 0.00 0.000 4 0.000 0.044 2534 190 3323 0 0 0 0 0 0

3542 -0.87 -73.8 588.3 -11.9 576 3546 0.00 0.62 0.00 0.000 6 0.000 0.024 2534 719 3322 0 0 0 0 0 0

3867 -0.87 -73.8 626.3 -11.3 596 3868 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 719 3318 0 0 0 0 0 0

4176 -0.88 -82.0 659.0 -10.3 611 4179 0.00 0.77 0.00 0.000 4 0.000 0.045 2534 191 3316 0 0 0 0 0 0

4433 -0.88 -82.0 686.8 -11.2 622 4437 0.00 0.65 0.00 0.000 6 0.000 0.024 2531 712 3314 0 0 0 0 0 0

4757 -0.89 -94.4 718.7 -9.9 638 4761 0.00 0.75 0.00 0.000 4 0.000 0.045 2532 202 3311 0 0 0 0 0 0

4970 -0.90 -100.2 742.5 -10.5 647 4973 0.00 0.60 0.00 0.000 6 0.000 0.025 2529 680 3309 0 0 0 0 0 0

5293 -0.90 -103.9 776.5 -10.7 663 5297 0.00 2.05 0.00 0.000 4 0.000 0.018 2521 2106 3307 0 0 0 0 0 0

5326 -0.93 -123.3 780.0 -9.2 664 5330 0.00 2.10 0.00 0.000 6 0.000 0.037 2520 739 3307 0 0 0 0 0 0

5642 -0.95 -140.0 810.2 -9.4 679 5646 0.00 1.95 0.00 0.000 4 0.000 0.018 2519 2115 3304 0 0 0 0 0 0

5715 -0.99 -171.0 816.5 -8.0 682 5719 0.00 2.10 0.00 0.000 6 0.000 0.037 2519 733 3304 0 0 0 0 0 0

6039 -1.01 -189.6 846.3 -9.2 698 6040 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 733 3301 0 0 0 0 0 0

6348 -1.04 -214.9 873.1 -8.6 713 6350 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 733 3299 0 0 0 0 0 0

6657 -1.06 -228.7 898.7 -8.2 728 6658 0.12 0.00 0.00 0.000 6 0.097 0.000 2467 733 3298 0 0 0 0 0 0

6965 -1.06 -228.7 930.5 -10.2 743 6969 0.00 0.77 0.00 0.000 4 0.000 0.047 2467 202 3296 0 0 0 0 0 0

7022 -1.06 -228.7 936.8 -11.5 745 7026 0.00 0.60 0.00 0.000 6 0.000 0.026 2464 677 3295 0 0 0 0 0 0

7344 -1.06 -228.7 969.4 -10.4 761 7348 0.00 2.03 0.00 0.000 4 0.000 0.018 2455 2096 3293 0 0 0 0 0 0

7368 -1.06 -228.7 971.6 -9.0 762 7372 0.00 2.08 0.00 0.000 6 0.000 0.037 2455 754 3293 0 0 0 0 0 0

7651 end dive: TARGET_DEPTH_EXCEEDED

state 7652 begin apogee

7659 -0.14 0.0 1002.1 11.3 776 7717 1.08 0.00 53.25 1.425 4 0.171 0.000 2769 941 3029 0 0 0 0 0 0

7717 end apogee: CONTROL_FINISHED_OK

state 7717 begin climb

7720 1.06 228.7 1004.1 0.0 778 7916 1.05 0.00 190.23 1.381 6 0.060 0.000 3164 941 2096 0 0 0 0 0 0

8239 1.06 228.7 892.0 26.2 803 8243 0.00 2.05 0.00 0.000 4 0.000 0.024 3165 2306 2084 0 0 0 0 0 0

8496 1.06 228.7 828.0 25.3 814 8500 0.00 2.00 0.00 0.000 6 0.000 0.035 3173 1025 2082 0 0 0 0 0 0

8820 1.06 228.7 743.5 26.3 830 8823 0.00 1.88 0.00 0.000 4 0.000 0.022 3173 2326 2080 0 0 0 0 0 0

9054 1.06 228.7 684.3 24.2 840 9058 0.00 1.98 0.00 0.000 6 0.000 0.035 3181 1043 2079 0 0 0 0 0 0

9378 1.06 228.7 603.9 25.1 856 9382 0.00 1.85 0.00 0.000 4 0.000 0.024 3181 2315 2078 0 0 0 0 0 0

9457 1.06 228.7 584.1 25.2 862 9461 0.00 1.90 0.00 0.000 6 0.000 0.035 3189 1047 2078 0 0 0 0 0 0

9788 1.06 228.7 501.5 25.2 893 9792 0.00 1.83 0.00 0.000 4 0.000 0.022 3190 2315 2077 0 0 0 0 0 0

9887 1.06 228.7 476.9 25.6 910 9895 0.10 1.90 0.00 0.000 6 0.193 0.034 3168 1072 2077 0 0 0 0 0 0

10222 1.06 228.7 400.5 21.1 971 10230 0.00 1.77 0.00 0.000 4 0.000 0.023 3168 2318 2076 0 0 0 0 0 0

10384 1.06 228.7 367.0 18.5 1000 10392 0.00 1.88 0.00 0.000 6 0.000 0.035 3175 1086 2076 0 0 0 0 0 0

10720 1.06 228.7 300.6 19.4 1061 10726 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 1086 2075 0 0 0 0 0 0

11058 1.06 228.7 231.8 20.7 1122 11066 0.00 1.77 0.00 0.000 4 0.000 0.023 3175 2312 2075 0 0 0 0 0 0

11252 1.06 228.7 193.8 18.5 1157 11258 0.00 1.83 0.00 0.000 6 0.000 0.034 3183 1077 2075 0 0 0 0 0 0

11584 1.06 228.7 132.8 18.5 1218 11592 0.00 1.80 0.00 0.000 4 0.000 0.021 3183 2327 2075 0 0 0 0 0 0

11696 1.06 228.7 115.0 17.6 1238 11704 0.00 1.88 0.00 0.000 6 0.000 0.034 3191 1086 2076 0 0 0 0 0 0

12024 1.06 228.7 65.0 14.5 1299 12033 0.00 1.33 0.00 0.000 4 0.000 0.042 3198 191 2076 0 0 0 0 0 0

12047 1.06 228.7 62.1 12.5 1302 12055 0.10 1.10 0.00 0.000 6 0.177 0.021 3168 1021 2076 0 0 0 0 0 0

12376 1.12 279.3 35.0 6.0 1363 12416 0.00 0.00 37.08 0.654 6 0.000 0.000 3168 1021 1889 0 0 0 0 0 0

12680 end climb: SURFACE_DEPTH_REACHED

state 12680 begin surface coast

12699 end surface coast: CONTROL_FINISHED_OK

state 12699 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	191	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	223	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	790	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1000	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	110	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	490	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3029	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	300	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	375	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	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	-5	T_GPS_CHARGE	-46239.488	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	0	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	110	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	-5	PITCH_MIN	134	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	235	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2822	PHONE_SUPPLY	2	SEABIRD_T_G	0.004337667
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-16.491346	SEABIRD_T_H	0.00063136261
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_I	2.3680945e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4321864e-06
MASS	51890	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8870621
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1051886
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001683808
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020742195
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	161010,015609,2248.702,12702.021,0,10000.0,0,-3.3	TGT_NAME	PICKUP
_CALLS	2	TGT_LATLONG	2100.000,12730.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161010,015609,2248.702,12702.021,901,99.0,901,-3.3	MHEAD_RNG_PITCHd_Wd	124.8,207048,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.6,1.021884	_10V_AH	10.4,31.851
SM_CCo	12716,96.30,0.559,1,0,1398,400.08	FG_AHR_24Vo	0.000
SM_GC	1.28,0.00,0.00,96.30,0.000,0.000,0.559,116,780,1398,-8.45,-0.28,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2251.04,12701.56,161010,060613	MEM	333628
TT8_MAMPS	0.028462	DATA_FILE_SIZE	83451,1421
HUMID	40.39	CAP_FILE_SIZE	139772,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,156803072
TCM_TEMP	27.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	3.954,144.7,1
_24V_AH	23.8,35.215	GPS	161010,062913,2251.042,12701.561,0,10000.0,0,-3.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	223	104.07	SBE_CT	971	24	554.82
Roll_motor	57	53	73.22	AA3830	1259	33	989.21
VBD_pump_during_apogee	280	1425	9516.16	WL_BB2F	1737	105	4342.72
VBD_pump_during_surface	96	559	1281.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	0	0.00	nil	0	0	0.00
Iridium_during_connect	86	0	0.00	nil	0	0	0.00
Iridium_during_xfer	210	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	901	0	0.00
TT8	3508	19	722.57
LPSleep	5440	2	123.92
TT8_Active	453	19	93.28
TT8_Sampling	4457	39	1845.22
TT8_CF8	444	45	211.82
TT8_Kalman	0	0	0.00
Analog_circuits	1675	12	209.14
GPS_charging	0	0	0.00
Compass	3236	15	504.91
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.87	-73.8	0.0	0.0	0	84	0.00	0.00	-64.45	0.000	6	0.000	0.000	109	817	3332	0	0	0	0	0	0
87	-0.87	-73.8	5.9	-13.6	9	103	9.27	0.90	0.00	0.000	4	0.223	0.027	2535	172	3334	0	0	0	0	0	0
342	-0.87	-73.8	93.0	-20.6	56	350	0.00	0.77	0.00	0.000	6	0.000	0.021	2531	845	3336	0	0	0	0	0	0
667	-0.87	-73.8	157.7	-18.5	117	674	0.00	0.95	0.00	0.000	4	0.000	0.040	2531	189	3337	0	0	0	0	0	0
921	-0.87	-73.8	210.1	-21.0	163	929	0.00	0.75	0.00	0.000	6	0.000	0.021	2527	843	3337	0	0	0	0	0	0
1253	-0.87	-73.8	268.5	-17.7	224	1261	0.00	0.95	0.00	0.000	4	0.000	0.040	2527	189	3336	0	0	0	0	0	0
1504	-0.87	-73.8	313.8	-16.0	270	1512	0.00	0.73	0.00	0.000	6	0.000	0.021	2522	822	3335	0	0	0	0	0	0
1839	-0.87	-73.8	363.7	-15.9	331	1846	0.00	1.80	0.00	0.000	4	0.000	0.016	2515	2148	3333	0	0	0	0	0	0
2092	-0.87	-73.8	399.5	-13.6	377	2098	0.00	2.08	0.00	0.000	6	0.000	0.033	2514	745	3332	0	0	0	0	0	0
2423	-0.87	-73.8	445.2	-14.4	438	2431	0.00	0.80	0.00	0.000	4	0.000	0.042	2514	187	3330	0	0	0	0	0	0
2646	-0.87	-73.8	477.3	-15.3	478	2655	0.08	0.62	0.00	0.000	6	0.176	0.024	2534	721	3328	0	0	0	0	0	0
2981	-0.87	-73.8	519.6	-11.9	525	2983	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	721	3326	0	0	0	0	0	0
3303	-0.87	-73.8	558.3	-11.7	555	3307	0.00	0.77	0.00	0.000	4	0.000	0.044	2534	190	3323	0	0	0	0	0	0
3542	-0.87	-73.8	588.3	-11.9	576	3546	0.00	0.62	0.00	0.000	6	0.000	0.024	2534	719	3322	0	0	0	0	0	0
3867	-0.87	-73.8	626.3	-11.3	596	3868	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	719	3318	0	0	0	0	0	0
4176	-0.88	-82.0	659.0	-10.3	611	4179	0.00	0.77	0.00	0.000	4	0.000	0.045	2534	191	3316	0	0	0	0	0	0
4433	-0.88	-82.0	686.8	-11.2	622	4437	0.00	0.65	0.00	0.000	6	0.000	0.024	2531	712	3314	0	0	0	0	0	0
4757	-0.89	-94.4	718.7	-9.9	638	4761	0.00	0.75	0.00	0.000	4	0.000	0.045	2532	202	3311	0	0	0	0	0	0
4970	-0.90	-100.2	742.5	-10.5	647	4973	0.00	0.60	0.00	0.000	6	0.000	0.025	2529	680	3309	0	0	0	0	0	0
5293	-0.90	-103.9	776.5	-10.7	663	5297	0.00	2.05	0.00	0.000	4	0.000	0.018	2521	2106	3307	0	0	0	0	0	0
5326	-0.93	-123.3	780.0	-9.2	664	5330	0.00	2.10	0.00	0.000	6	0.000	0.037	2520	739	3307	0	0	0	0	0	0
5642	-0.95	-140.0	810.2	-9.4	679	5646	0.00	1.95	0.00	0.000	4	0.000	0.018	2519	2115	3304	0	0	0	0	0	0
5715	-0.99	-171.0	816.5	-8.0	682	5719	0.00	2.10	0.00	0.000	6	0.000	0.037	2519	733	3304	0	0	0	0	0	0
6039	-1.01	-189.6	846.3	-9.2	698	6040	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	733	3301	0	0	0	0	0	0
6348	-1.04	-214.9	873.1	-8.6	713	6350	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	733	3299	0	0	0	0	0	0
6657	-1.06	-228.7	898.7	-8.2	728	6658	0.12	0.00	0.00	0.000	6	0.097	0.000	2467	733	3298	0	0	0	0	0	0
6965	-1.06	-228.7	930.5	-10.2	743	6969	0.00	0.77	0.00	0.000	4	0.000	0.047	2467	202	3296	0	0	0	0	0	0
7022	-1.06	-228.7	936.8	-11.5	745	7026	0.00	0.60	0.00	0.000	6	0.000	0.026	2464	677	3295	0	0	0	0	0	0
7344	-1.06	-228.7	969.4	-10.4	761	7348	0.00	2.03	0.00	0.000	4	0.000	0.018	2455	2096	3293	0	0	0	0	0	0
7368	-1.06	-228.7	971.6	-9.0	762	7372	0.00	2.08	0.00	0.000	6	0.000	0.037	2455	754	3293	0	0	0	0	0	0
7651	end dive: TARGET_DEPTH_EXCEEDED
state	7652	begin apogee
7659	-0.14	0.0	1002.1	11.3	776	7717	1.08	0.00	53.25	1.425	4	0.171	0.000	2769	941	3029	0	0	0	0	0	0
7717	end apogee: CONTROL_FINISHED_OK
state	7717	begin climb
7720	1.06	228.7	1004.1	0.0	778	7916	1.05	0.00	190.23	1.381	6	0.060	0.000	3164	941	2096	0	0	0	0	0	0
8239	1.06	228.7	892.0	26.2	803	8243	0.00	2.05	0.00	0.000	4	0.000	0.024	3165	2306	2084	0	0	0	0	0	0
8496	1.06	228.7	828.0	25.3	814	8500	0.00	2.00	0.00	0.000	6	0.000	0.035	3173	1025	2082	0	0	0	0	0	0
8820	1.06	228.7	743.5	26.3	830	8823	0.00	1.88	0.00	0.000	4	0.000	0.022	3173	2326	2080	0	0	0	0	0	0
9054	1.06	228.7	684.3	24.2	840	9058	0.00	1.98	0.00	0.000	6	0.000	0.035	3181	1043	2079	0	0	0	0	0	0
9378	1.06	228.7	603.9	25.1	856	9382	0.00	1.85	0.00	0.000	4	0.000	0.024	3181	2315	2078	0	0	0	0	0	0
9457	1.06	228.7	584.1	25.2	862	9461	0.00	1.90	0.00	0.000	6	0.000	0.035	3189	1047	2078	0	0	0	0	0	0
9788	1.06	228.7	501.5	25.2	893	9792	0.00	1.83	0.00	0.000	4	0.000	0.022	3190	2315	2077	0	0	0	0	0	0
9887	1.06	228.7	476.9	25.6	910	9895	0.10	1.90	0.00	0.000	6	0.193	0.034	3168	1072	2077	0	0	0	0	0	0
10222	1.06	228.7	400.5	21.1	971	10230	0.00	1.77	0.00	0.000	4	0.000	0.023	3168	2318	2076	0	0	0	0	0	0
10384	1.06	228.7	367.0	18.5	1000	10392	0.00	1.88	0.00	0.000	6	0.000	0.035	3175	1086	2076	0	0	0	0	0	0
10720	1.06	228.7	300.6	19.4	1061	10726	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	1086	2075	0	0	0	0	0	0
11058	1.06	228.7	231.8	20.7	1122	11066	0.00	1.77	0.00	0.000	4	0.000	0.023	3175	2312	2075	0	0	0	0	0	0
11252	1.06	228.7	193.8	18.5	1157	11258	0.00	1.83	0.00	0.000	6	0.000	0.034	3183	1077	2075	0	0	0	0	0	0
11584	1.06	228.7	132.8	18.5	1218	11592	0.00	1.80	0.00	0.000	4	0.000	0.021	3183	2327	2075	0	0	0	0	0	0
11696	1.06	228.7	115.0	17.6	1238	11704	0.00	1.88	0.00	0.000	6	0.000	0.034	3191	1086	2076	0	0	0	0	0	0
12024	1.06	228.7	65.0	14.5	1299	12033	0.00	1.33	0.00	0.000	4	0.000	0.042	3198	191	2076	0	0	0	0	0	0
12047	1.06	228.7	62.1	12.5	1302	12055	0.10	1.10	0.00	0.000	6	0.177	0.021	3168	1021	2076	0	0	0	0	0	0
12376	1.12	279.3	35.0	6.0	1363	12416	0.00	0.00	37.08	0.654	6	0.000	0.000	3168	1021	1889	0	0	0	0	0	0
12680	end climb: SURFACE_DEPTH_REACHED
state	12680	begin surface coast
12699	end surface coast: CONTROL_FINISHED_OK
state	12699	begin surface