Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 335 * 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 335 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 342 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 44 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 119 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 -54546.305 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 -54546.305

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 44 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 119 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 335 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 342 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 111110,181736,2121.893,12601.360,42,1.2,42,-2.9 TGT_NAME PICKUP

_CALLS 2 TGT_LATLONG 2121.600,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111110,182813,2121.778,12601.413,15,1.8,32,-2.9 MHEAD_RNG_PITCHd_Wd 235.9,494,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.022531 _10V_AH 10.2,58.295

SM_CCo 13430,105.07,0.558,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.50,0.00,0.00,105.07,0.000,0.000,0.558,104,834,1397,-8.50,1.24,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12559.43,111110,181829 MEM 334080

TT8_MAMPS 0.028462 DATA_FILE_SIZE 90203,1549

HUMID 40.03 CAP_FILE_SIZE 151479,0

INTERNAL_PRESSURE 8.89683 CFSIZE 260165632,143351808

TCM_TEMP 27.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.120,110.0,1

_24V_AH 22.9,62.385 GPS 111110,221536,2120.267,12601.411,40,1.2,40,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 221 101.73 SBE_CT 1058 24 582.02

Roll_motor 71 48 80.42 AA3830 1384 33 1046.14

VBD_pump_during_apogee 295 1416 9591.83 WL_BB2F 1915 105 4606.10

VBD_pump_during_surface 105 557 1341.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 0 0.00 nil 0 0 0.00

Iridium_during_connect 64 0 0.00 nil 0 0 0.00

Iridium_during_xfer 248 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 0 0.00

TT8 3819 19 771.38

LPSleep 5517 2 123.26

TT8_Active 501 19 101.38

TT8_Sampling 3829 39 1554.81

TT8_CF8 493 45 230.74

TT8_Kalman 0 0 0.00

Analog_circuits 1813 12 222.00

GPS_charging 0 0 0.00

Compass 3484 15 533.14

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.87 -73.8 0.0 0.0 0 86 0.00 0.00 -65.18 0.000 2 0.000 0.000 99 781 3312 0 0 0 0 0 0

89 -0.87 -73.8 5.5 -11.4 9 106 9.60 1.98 -0.30 0.000 4 0.222 0.027 2523 2216 3333 0 0 0 0 0 0

321 -0.87 -73.8 65.3 -23.6 51 330 0.00 2.17 0.00 0.000 6 0.000 0.034 2523 789 3335 0 0 0 0 0 0

647 -0.87 -73.8 144.9 -18.9 112 655 0.00 0.88 0.00 0.000 4 0.000 0.041 2523 184 3337 0 0 0 0 0 0

898 -0.87 -73.8 193.8 -18.4 158 907 0.00 0.75 0.00 0.000 6 0.000 0.021 2518 845 3338 0 0 0 0 0 0

1234 -0.87 -73.8 246.7 -15.2 219 1241 0.00 0.95 0.00 0.000 4 0.000 0.039 2518 191 3338 0 0 0 0 0 0

1486 -0.87 -73.8 289.8 -16.4 265 1493 0.00 0.70 0.00 0.000 6 0.000 0.021 2513 807 3339 0 0 0 0 0 0

1818 -0.87 -73.8 337.9 -13.7 326 1826 0.00 0.90 0.00 0.000 4 0.000 0.040 2513 190 3339 0 0 0 0 0 0

2071 -0.87 -73.8 375.9 -14.4 372 2079 0.08 0.60 0.00 0.000 6 0.164 0.022 2533 723 3338 0 0 0 0 0 0

2406 -0.87 -73.8 417.1 -13.2 433 2413 0.00 0.77 0.00 0.000 4 0.000 0.042 2532 190 3337 0 0 0 0 0 0

2658 -0.87 -73.8 448.8 -12.1 479 2665 0.00 0.62 0.00 0.000 6 0.000 0.023 2531 740 3336 0 0 0 0 0 0

2994 -0.88 -82.1 485.3 -10.3 540 3001 0.00 0.80 0.00 0.000 4 0.000 0.042 2531 192 3334 0 0 0 0 0 0

3252 -0.88 -82.1 517.0 -12.4 574 3255 0.00 0.62 0.00 0.000 6 0.000 0.023 2530 722 3332 0 0 0 0 0 0

3583 -0.88 -82.1 556.7 -11.8 605 3586 0.00 2.00 0.00 0.000 4 0.000 0.017 2520 2133 3330 0 0 0 0 0 0

3644 -0.88 -85.1 563.5 -10.8 610 3650 0.00 2.12 0.00 0.000 6 0.000 0.034 2520 736 3330 0 0 0 0 0 0

3969 -0.88 -85.1 599.9 -11.3 641 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 736 3328 0 0 0 0 0 0

4289 -0.89 -89.2 634.5 -10.7 657 4291 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 736 3325 0 0 0 0 0 0

4601 -0.89 -93.2 667.2 -10.7 672 4604 0.00 1.98 0.00 0.000 4 0.000 0.018 2520 2122 3323 0 0 0 0 0 0

4656 -0.90 -102.7 673.3 -10.2 674 4660 0.00 2.12 0.00 0.000 6 0.000 0.037 2520 727 3323 0 0 0 0 0 0

4978 -0.90 -103.8 707.7 -11.0 690 4980 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 727 3321 0 0 0 0 0 0

5289 -0.91 -107.4 740.2 -10.8 705 5293 0.00 0.77 0.00 0.000 4 0.000 0.047 2519 199 3318 0 0 0 0 0 0

5476 -0.91 -110.6 760.9 -10.8 713 5479 0.00 0.62 0.00 0.000 6 0.000 0.025 2520 696 3317 0 0 0 0 0 0

5805 -0.94 -131.4 791.6 -9.0 729 5808 0.00 2.03 0.00 0.000 4 0.000 0.019 2520 2109 3314 0 0 0 0 0 0

5855 -0.97 -160.9 795.9 -8.1 731 5859 0.00 2.12 0.00 0.000 6 0.000 0.038 2520 731 3315 0 0 0 0 0 0

6177 -1.01 -188.2 822.4 -8.4 747 6178 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 732 3313 0 0 0 0 0 0

6488 -1.03 -204.0 850.1 -9.5 762 6492 0.00 2.03 0.00 0.000 4 0.000 0.020 2519 2123 3311 0 0 0 0 0 0

6535 -1.06 -228.7 854.3 -8.2 764 6539 0.12 2.15 0.00 0.000 6 0.094 0.039 2467 733 3310 0 0 0 0 0 0

6865 -1.06 -228.7 893.1 -12.1 780 6869 0.00 0.80 0.00 0.000 4 0.000 0.048 2467 195 3307 0 0 0 0 0 0

7071 -1.06 -228.7 919.3 -11.4 789 7075 0.00 0.62 0.00 0.000 6 0.000 0.025 2465 671 3306 0 0 0 0 0 0

7399 -1.06 -228.7 956.8 -11.3 805 7403 0.00 0.73 0.00 0.000 4 0.000 0.049 2465 190 3305 0 0 0 0 0 0

7544 -1.06 -228.7 974.4 -12.3 811 7548 0.00 0.60 0.00 0.000 6 0.000 0.026 2462 657 3305 0 0 0 0 0 0

7781 end dive: TARGET_DEPTH_EXCEEDED

state 7781 begin apogee

7789 -0.14 0.0 1001.4 10.9 823 7854 1.02 0.00 58.55 1.416 4 0.160 0.000 2764 953 3029 0 0 0 0 0 0

7855 end apogee: CONTROL_FINISHED_OK

state 7855 begin climb

7857 1.06 228.7 1003.3 0.0 826 8061 1.05 0.00 196.82 1.375 6 0.057 0.000 3164 953 2095 0 0 0 0 0 0

8379 1.06 228.7 898.7 24.2 851 8383 0.00 2.10 0.00 0.000 4 0.000 0.026 3165 2377 2085 0 0 0 0 0 0

8542 1.06 228.7 861.9 22.2 858 8546 0.00 2.08 0.00 0.000 6 0.000 0.035 3173 1024 2082 0 0 0 0 0 0

8858 1.06 228.7 786.4 23.9 873 8862 0.00 1.98 0.00 0.000 4 0.000 0.027 3173 2376 2082 0 0 0 0 0 0

8965 1.06 228.7 761.8 22.5 877 8972 0.00 2.05 0.00 0.000 6 0.000 0.035 3182 1033 2081 0 0 0 0 0 0

9281 1.06 228.7 686.6 23.7 893 9283 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 1032 2080 0 0 0 0 0 0

9593 1.06 228.7 613.5 23.0 908 9597 0.00 1.95 0.00 0.000 4 0.000 0.025 3183 2374 2079 0 0 0 0 0 0

9729 1.06 228.7 584.0 21.7 917 9733 0.00 2.03 0.00 0.000 6 0.000 0.036 3190 1040 2078 0 0 0 0 0 0

10064 1.06 228.7 512.8 22.2 948 10068 0.00 1.95 0.00 0.000 4 0.000 0.025 3190 2373 2078 0 0 0 0 0 0

10139 1.06 228.7 497.0 19.6 955 10148 0.15 2.03 0.00 0.000 6 0.203 0.035 3162 1037 2078 0 0 0 0 0 0

10471 1.06 228.7 433.8 19.2 1016 10480 0.00 1.98 0.00 0.000 4 0.000 0.025 3161 2370 2077 0 0 0 0 0 0

10543 1.06 228.7 419.4 17.9 1028 10551 0.00 2.03 0.00 0.000 6 0.000 0.036 3170 1055 2077 0 0 0 0 0 0

10877 1.06 228.7 357.0 18.4 1089 10884 0.00 1.92 0.00 0.000 4 0.000 0.024 3170 2382 2077 0 0 0 0 0 0

10948 1.06 228.7 344.7 16.0 1101 10955 0.00 2.03 0.00 0.000 6 0.000 0.035 3179 1049 2077 0 0 0 0 0 0

11281 1.06 228.7 285.1 18.5 1162 11289 0.00 1.30 0.00 0.000 4 0.000 0.044 3186 190 2076 0 0 0 0 0 0

11476 1.06 228.7 247.3 20.1 1197 11482 0.00 1.15 0.00 0.000 6 0.000 0.023 3185 1044 2076 0 0 0 0 0 0

11805 1.06 228.7 195.7 15.6 1258 11813 0.00 1.92 0.00 0.000 4 0.000 0.022 3186 2367 2076 0 0 0 0 0 0

11897 1.06 228.7 182.2 15.6 1274 11906 0.08 2.03 0.00 0.000 6 0.171 0.034 3171 1045 2076 0 0 0 0 0 0

12231 1.06 228.7 135.7 13.3 1335 12240 0.00 1.27 0.00 0.000 4 0.000 0.044 3176 191 2076 0 0 0 0 0 0

12478 1.11 273.1 106.7 6.6 1380 12517 0.00 1.12 33.72 0.711 6 0.000 0.022 3176 1040 1914 0 0 0 0 0 0

12839 1.12 279.7 71.5 10.4 1445 12854 0.00 1.95 6.70 0.563 4 0.000 0.021 3176 2372 1888 0 0 0 0 0 0

12970 1.12 279.7 57.0 12.0 1468 12978 0.00 2.03 0.00 0.000 6 0.000 0.033 3183 1044 1887 0 0 0 0 0 0

13300 1.12 279.7 14.8 12.8 1529 13307 0.00 1.27 0.00 0.000 4 0.000 0.042 3190 185 1887 0 0 0 0 0 0

13386 end climb: SURFACE_DEPTH_REACHED

state 13386 begin surface coast

13412 end surface coast: CONTROL_FINISHED_OK

state 13412 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	335	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	342	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	44	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	119	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	-54546.305	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	111110,181736,2121.893,12601.360,42,1.2,42,-2.9	TGT_NAME	PICKUP
_CALLS	2	TGT_LATLONG	2121.600,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111110,182813,2121.778,12601.413,15,1.8,32,-2.9	MHEAD_RNG_PITCHd_Wd	235.9,494,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.6,1.022531	_10V_AH	10.2,58.295
SM_CCo	13430,105.07,0.558,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.50,0.00,0.00,105.07,0.000,0.000,0.558,104,834,1397,-8.50,1.24,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12559.43,111110,181829	MEM	334080
TT8_MAMPS	0.028462	DATA_FILE_SIZE	90203,1549
HUMID	40.03	CAP_FILE_SIZE	151479,0
INTERNAL_PRESSURE	8.89683	CFSIZE	260165632,143351808
TCM_TEMP	27.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.120,110.0,1
_24V_AH	22.9,62.385	GPS	111110,221536,2120.267,12601.411,40,1.2,40,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	221	101.73	SBE_CT	1058	24	582.02
Roll_motor	71	48	80.42	AA3830	1384	33	1046.14
VBD_pump_during_apogee	295	1416	9591.83	WL_BB2F	1915	105	4606.10
VBD_pump_during_surface	105	557	1341.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	0	0.00	nil	0	0	0.00
Iridium_during_connect	64	0	0.00	nil	0	0	0.00
Iridium_during_xfer	248	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	0	0.00
TT8	3819	19	771.38
LPSleep	5517	2	123.26
TT8_Active	501	19	101.38
TT8_Sampling	3829	39	1554.81
TT8_CF8	493	45	230.74
TT8_Kalman	0	0	0.00
Analog_circuits	1813	12	222.00
GPS_charging	0	0	0.00
Compass	3484	15	533.14
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.87	-73.8	0.0	0.0	0	86	0.00	0.00	-65.18	0.000	2	0.000	0.000	99	781	3312	0	0	0	0	0	0
89	-0.87	-73.8	5.5	-11.4	9	106	9.60	1.98	-0.30	0.000	4	0.222	0.027	2523	2216	3333	0	0	0	0	0	0
321	-0.87	-73.8	65.3	-23.6	51	330	0.00	2.17	0.00	0.000	6	0.000	0.034	2523	789	3335	0	0	0	0	0	0
647	-0.87	-73.8	144.9	-18.9	112	655	0.00	0.88	0.00	0.000	4	0.000	0.041	2523	184	3337	0	0	0	0	0	0
898	-0.87	-73.8	193.8	-18.4	158	907	0.00	0.75	0.00	0.000	6	0.000	0.021	2518	845	3338	0	0	0	0	0	0
1234	-0.87	-73.8	246.7	-15.2	219	1241	0.00	0.95	0.00	0.000	4	0.000	0.039	2518	191	3338	0	0	0	0	0	0
1486	-0.87	-73.8	289.8	-16.4	265	1493	0.00	0.70	0.00	0.000	6	0.000	0.021	2513	807	3339	0	0	0	0	0	0
1818	-0.87	-73.8	337.9	-13.7	326	1826	0.00	0.90	0.00	0.000	4	0.000	0.040	2513	190	3339	0	0	0	0	0	0
2071	-0.87	-73.8	375.9	-14.4	372	2079	0.08	0.60	0.00	0.000	6	0.164	0.022	2533	723	3338	0	0	0	0	0	0
2406	-0.87	-73.8	417.1	-13.2	433	2413	0.00	0.77	0.00	0.000	4	0.000	0.042	2532	190	3337	0	0	0	0	0	0
2658	-0.87	-73.8	448.8	-12.1	479	2665	0.00	0.62	0.00	0.000	6	0.000	0.023	2531	740	3336	0	0	0	0	0	0
2994	-0.88	-82.1	485.3	-10.3	540	3001	0.00	0.80	0.00	0.000	4	0.000	0.042	2531	192	3334	0	0	0	0	0	0
3252	-0.88	-82.1	517.0	-12.4	574	3255	0.00	0.62	0.00	0.000	6	0.000	0.023	2530	722	3332	0	0	0	0	0	0
3583	-0.88	-82.1	556.7	-11.8	605	3586	0.00	2.00	0.00	0.000	4	0.000	0.017	2520	2133	3330	0	0	0	0	0	0
3644	-0.88	-85.1	563.5	-10.8	610	3650	0.00	2.12	0.00	0.000	6	0.000	0.034	2520	736	3330	0	0	0	0	0	0
3969	-0.88	-85.1	599.9	-11.3	641	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	736	3328	0	0	0	0	0	0
4289	-0.89	-89.2	634.5	-10.7	657	4291	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	736	3325	0	0	0	0	0	0
4601	-0.89	-93.2	667.2	-10.7	672	4604	0.00	1.98	0.00	0.000	4	0.000	0.018	2520	2122	3323	0	0	0	0	0	0
4656	-0.90	-102.7	673.3	-10.2	674	4660	0.00	2.12	0.00	0.000	6	0.000	0.037	2520	727	3323	0	0	0	0	0	0
4978	-0.90	-103.8	707.7	-11.0	690	4980	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	727	3321	0	0	0	0	0	0
5289	-0.91	-107.4	740.2	-10.8	705	5293	0.00	0.77	0.00	0.000	4	0.000	0.047	2519	199	3318	0	0	0	0	0	0
5476	-0.91	-110.6	760.9	-10.8	713	5479	0.00	0.62	0.00	0.000	6	0.000	0.025	2520	696	3317	0	0	0	0	0	0
5805	-0.94	-131.4	791.6	-9.0	729	5808	0.00	2.03	0.00	0.000	4	0.000	0.019	2520	2109	3314	0	0	0	0	0	0
5855	-0.97	-160.9	795.9	-8.1	731	5859	0.00	2.12	0.00	0.000	6	0.000	0.038	2520	731	3315	0	0	0	0	0	0
6177	-1.01	-188.2	822.4	-8.4	747	6178	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	732	3313	0	0	0	0	0	0
6488	-1.03	-204.0	850.1	-9.5	762	6492	0.00	2.03	0.00	0.000	4	0.000	0.020	2519	2123	3311	0	0	0	0	0	0
6535	-1.06	-228.7	854.3	-8.2	764	6539	0.12	2.15	0.00	0.000	6	0.094	0.039	2467	733	3310	0	0	0	0	0	0
6865	-1.06	-228.7	893.1	-12.1	780	6869	0.00	0.80	0.00	0.000	4	0.000	0.048	2467	195	3307	0	0	0	0	0	0
7071	-1.06	-228.7	919.3	-11.4	789	7075	0.00	0.62	0.00	0.000	6	0.000	0.025	2465	671	3306	0	0	0	0	0	0
7399	-1.06	-228.7	956.8	-11.3	805	7403	0.00	0.73	0.00	0.000	4	0.000	0.049	2465	190	3305	0	0	0	0	0	0
7544	-1.06	-228.7	974.4	-12.3	811	7548	0.00	0.60	0.00	0.000	6	0.000	0.026	2462	657	3305	0	0	0	0	0	0
7781	end dive: TARGET_DEPTH_EXCEEDED
state	7781	begin apogee
7789	-0.14	0.0	1001.4	10.9	823	7854	1.02	0.00	58.55	1.416	4	0.160	0.000	2764	953	3029	0	0	0	0	0	0
7855	end apogee: CONTROL_FINISHED_OK
state	7855	begin climb
7857	1.06	228.7	1003.3	0.0	826	8061	1.05	0.00	196.82	1.375	6	0.057	0.000	3164	953	2095	0	0	0	0	0	0
8379	1.06	228.7	898.7	24.2	851	8383	0.00	2.10	0.00	0.000	4	0.000	0.026	3165	2377	2085	0	0	0	0	0	0
8542	1.06	228.7	861.9	22.2	858	8546	0.00	2.08	0.00	0.000	6	0.000	0.035	3173	1024	2082	0	0	0	0	0	0
8858	1.06	228.7	786.4	23.9	873	8862	0.00	1.98	0.00	0.000	4	0.000	0.027	3173	2376	2082	0	0	0	0	0	0
8965	1.06	228.7	761.8	22.5	877	8972	0.00	2.05	0.00	0.000	6	0.000	0.035	3182	1033	2081	0	0	0	0	0	0
9281	1.06	228.7	686.6	23.7	893	9283	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	1032	2080	0	0	0	0	0	0
9593	1.06	228.7	613.5	23.0	908	9597	0.00	1.95	0.00	0.000	4	0.000	0.025	3183	2374	2079	0	0	0	0	0	0
9729	1.06	228.7	584.0	21.7	917	9733	0.00	2.03	0.00	0.000	6	0.000	0.036	3190	1040	2078	0	0	0	0	0	0
10064	1.06	228.7	512.8	22.2	948	10068	0.00	1.95	0.00	0.000	4	0.000	0.025	3190	2373	2078	0	0	0	0	0	0
10139	1.06	228.7	497.0	19.6	955	10148	0.15	2.03	0.00	0.000	6	0.203	0.035	3162	1037	2078	0	0	0	0	0	0
10471	1.06	228.7	433.8	19.2	1016	10480	0.00	1.98	0.00	0.000	4	0.000	0.025	3161	2370	2077	0	0	0	0	0	0
10543	1.06	228.7	419.4	17.9	1028	10551	0.00	2.03	0.00	0.000	6	0.000	0.036	3170	1055	2077	0	0	0	0	0	0
10877	1.06	228.7	357.0	18.4	1089	10884	0.00	1.92	0.00	0.000	4	0.000	0.024	3170	2382	2077	0	0	0	0	0	0
10948	1.06	228.7	344.7	16.0	1101	10955	0.00	2.03	0.00	0.000	6	0.000	0.035	3179	1049	2077	0	0	0	0	0	0
11281	1.06	228.7	285.1	18.5	1162	11289	0.00	1.30	0.00	0.000	4	0.000	0.044	3186	190	2076	0	0	0	0	0	0
11476	1.06	228.7	247.3	20.1	1197	11482	0.00	1.15	0.00	0.000	6	0.000	0.023	3185	1044	2076	0	0	0	0	0	0
11805	1.06	228.7	195.7	15.6	1258	11813	0.00	1.92	0.00	0.000	4	0.000	0.022	3186	2367	2076	0	0	0	0	0	0
11897	1.06	228.7	182.2	15.6	1274	11906	0.08	2.03	0.00	0.000	6	0.171	0.034	3171	1045	2076	0	0	0	0	0	0
12231	1.06	228.7	135.7	13.3	1335	12240	0.00	1.27	0.00	0.000	4	0.000	0.044	3176	191	2076	0	0	0	0	0	0
12478	1.11	273.1	106.7	6.6	1380	12517	0.00	1.12	33.72	0.711	6	0.000	0.022	3176	1040	1914	0	0	0	0	0	0
12839	1.12	279.7	71.5	10.4	1445	12854	0.00	1.95	6.70	0.563	4	0.000	0.021	3176	2372	1888	0	0	0	0	0	0
12970	1.12	279.7	57.0	12.0	1468	12978	0.00	2.03	0.00	0.000	6	0.000	0.033	3183	1044	1887	0	0	0	0	0	0
13300	1.12	279.7	14.8	12.8	1529	13307	0.00	1.27	0.00	0.000	4	0.000	0.042	3190	185	1887	0	0	0	0	0	0
13386	end climb: SURFACE_DEPTH_REACHED
state	13386	begin surface coast
13412	end surface coast: CONTROL_FINISHED_OK
state	13412	begin surface