Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 468 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HD_C 9.9999997e-06 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_MAX 3729 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 468 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 468 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1550 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1700 ALTIM_FREQUENCY 13

D_FLARE 3 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 25 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 39 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 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 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 415 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3068 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 240 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 300 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 5 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 -3824.9944 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 49

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 0 PITCH_MIN 143 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 190 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3252 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042824708

GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 PRESSURE_YINT -59.994087 SEABIRD_T_H 0.00062080647

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3031862e-05

RHO 1.02625 P_OVSHOOT 0.029999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5001771e-06

MASS 51866 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8237314

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1028168

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0011486846

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017813468

HD_A 0.003 PITCH_ADJ_GAIN 0.0070000002 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3945 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 143 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 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.994087 T_DIVE 240

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.029999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -3824.9944

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 300

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 168 RHO 1.02625 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

C_PITCH 3252 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_ROLL_CLIMB 1700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1550 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3068 LOGGERDEVICE3 -1 ROLL_MAX 3729 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 160 VBD_CNV -0.24529999

DEVICE1 2 MASS 51866 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 190 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8237314 VBD_MIN 415

DEVICE5 -1 MISSION 2 SEABIRD_C_H 1.1028168 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0011486846 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 468 NAV_MODE 2 SEABIRD_C_J 0.00017813468 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 468 SEABIRD_T_G 0.0042824708 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062080647 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3031862e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5001771e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 101110,075136,2122.087,12601.396,31,0.9,35,-2.9 TGT_NAME PICKUP

_CALLS 1 TGT_LATLONG 2121.600,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101110,075632,2122.023,12601.355,12,1.2,12,-2.9 MHEAD_RNG_PITCHd_Wd 179.6,828,-27.7,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.47,26.484,-1.875,0,1,0 _10V_AH 10.1,46.422

SM_CCo 11232,161.60,0.496,0,0,414,650.78 FG_AHR_24Vo 0.000

SM_GC 4.21,8.43,0.00,0.00,0.018,0.000,0.000,105,1537,410,-9.70,-0.37,652.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12559.43,101110,040427 MEM 334000

TT8_MAMPS 0.026215 DATA_FILE_SIZE 66886,1143

HUMID 46.41 CAP_FILE_SIZE 126851,0

INTERNAL_PRESSURE 9.44372 CFSIZE 260165632,224870400

TCM_TEMP 24.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 9 CURRENT 0.088,234.6,1

_24V_AH 23.3,65.580 GPS 101110,111201,2120.013,12601.038,35,1.4,36,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 217 110.10 SBE_CT 776 24 434.43

Roll_motor 83 68 133.75 AA4330 0 0 0.00

VBD_pump_during_apogee 415 1214 11761.93 WL_BB2F 0 0 0.00

VBD_pump_during_surface 161 496 1869.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 16 0 0.00 nil 0 0 0.00

Iridium_during_xfer 128 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 22.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 2792 19 558.50

LPSleep 6168 2 136.44

TT8_Active 685 19 137.15

TT8_Sampling 2042 39 821.16

TT8_CF8 234 45 108.54

TT8_Kalman 0 0 0.00

Analog_circuits 1694 12 205.43

GPS_charging 0 0 0.00

Compass 1853 15 280.81

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 -0.74 -102.9 0.0 0.0 0 24 0.00 0.00 -6.62 0.000 2 0.000 0.000 104 1545 619 0 0 0 0 0 0

26 -0.84 -185.1 4.2 -0.0 1 169 9.48 2.25 -120.70 0.000 4 0.158 0.065 2981 156 3824 0 0 0 0 0 0

276 -0.82 -185.1 42.1 -31.4 43 284 0.08 2.10 0.00 0.000 6 0.192 0.039 2990 1544 3825 0 0 0 0 0 0

621 -0.80 -185.1 149.8 -25.1 104 629 0.00 2.17 0.00 0.000 4 0.000 0.045 2981 2963 3825 0 0 0 0 0 0

710 -0.84 -185.1 167.6 -17.3 119 717 0.00 2.15 0.00 0.000 6 0.000 0.042 2981 1552 3826 0 0 0 0 0 0

1054 -0.85 -185.1 241.8 -21.6 180 1062 0.00 2.15 0.00 0.000 4 0.000 0.050 2980 161 3826 0 0 0 0 0 0

1164 -0.88 -185.1 263.5 -18.9 199 1171 0.00 2.08 0.00 0.000 6 0.000 0.039 2971 1543 3827 0 0 0 0 0 0

1506 -0.90 -185.1 332.1 -20.1 246 1510 0.00 2.12 0.00 0.000 4 0.000 0.052 2971 165 3826 0 0 0 0 0 0

1529 -0.91 -185.1 337.0 -20.5 247 1536 0.00 2.08 0.00 0.000 6 0.000 0.037 2962 1548 3826 0 0 0 0 0 0

1854 -0.93 -185.1 397.6 -18.1 278 1858 0.00 2.20 0.00 0.000 4 0.000 0.045 2951 2960 3825 0 0 0 0 0 0

1923 -0.98 -185.1 409.1 -15.5 284 1927 0.00 2.17 0.00 0.000 6 0.000 0.044 2951 1544 3825 0 0 0 0 0 0

2249 -1.00 -185.1 468.9 -18.8 314 2251 0.08 0.00 0.00 0.000 6 0.123 0.000 2844 1543 3824 0 0 0 0 0 0

2566 -0.95 -185.1 555.5 -28.3 344 2571 0.30 2.20 0.00 0.000 4 0.125 0.043 2934 2958 3820 0 0 0 0 0 0

2641 -1.00 -185.1 570.0 -16.8 350 2645 0.00 2.17 0.00 0.000 6 0.000 0.048 2934 1554 3820 0 0 0 0 0 0

2974 -1.01 -185.1 633.0 -18.9 373 2975 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 1554 3817 0 0 0 0 0 0

3282 -1.03 -185.1 688.7 -17.5 388 3286 0.00 2.22 0.00 0.000 4 0.000 0.050 2924 2959 3814 0 0 0 0 0 0

3359 -1.08 -185.1 701.8 -15.2 391 3366 0.08 2.20 0.00 0.000 6 0.115 0.049 2813 1550 3813 0 0 0 0 0 0

3675 -1.03 -185.1 785.8 -27.7 407 3680 0.30 2.20 0.00 0.000 4 0.130 0.044 2908 2959 3810 0 0 0 0 0 0

3717 -1.05 -185.1 794.8 -19.5 409 3721 0.00 2.20 0.00 0.000 6 0.000 0.050 2908 1554 3809 0 0 0 0 0 0

4050 -1.07 -185.1 859.7 -19.4 425 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 1554 3806 0 0 0 0 0 0

4359 -1.08 -185.1 919.2 -18.7 440 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 1554 3803 0 0 0 0 0 0

4668 -1.10 -185.1 975.0 -17.4 455 4669 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 1554 3799 0 0 0 0 0 0

4831 end dive: TARGET_DEPTH_EXCEEDED

state 4831 begin apogee

4836 0.00 0.0 1002.8 16.5 463 4996 0.95 0.00 152.65 1.214 4 0.092 0.000 3250 1709 3068 0 0 0 0 0 0

4996 end apogee: CONTROL_FINISHED_OK

state 4997 begin climb

4999 0.84 185.1 1007.6 0.0 470 5168 0.73 2.30 159.93 1.134 4 0.028 0.047 3574 3100 2313 0 0 0 0 0 0

5316 0.79 185.1 944.2 27.2 485 5321 0.28 2.22 0.00 0.000 6 0.160 0.048 3506 1701 2303 0 0 0 0 0 0

5645 0.77 185.1 872.9 20.9 501 5648 0.00 2.25 0.00 0.000 4 0.000 0.060 3516 293 2299 0 0 0 0 0 0

5695 0.74 185.1 861.5 22.5 503 5699 0.10 2.12 0.00 0.000 6 0.178 0.033 3491 1705 2296 0 0 0 0 0 0

6018 0.73 185.1 796.9 19.9 519 6021 0.00 2.15 0.00 0.000 4 0.000 0.041 3491 3109 2295 0 0 0 0 0 0

6089 0.73 185.1 781.2 21.3 522 6094 0.00 2.25 0.00 0.000 6 0.000 0.050 3501 1708 2295 0 0 0 0 0 0

6413 0.72 185.1 714.2 21.1 538 6414 0.08 0.00 0.00 0.000 6 0.217 0.000 3484 1707 2293 0 0 0 0 0 0

6721 0.72 185.1 656.8 17.8 553 6724 0.00 2.15 0.00 0.000 4 0.000 0.042 3484 3105 2291 0 0 0 0 0 0

6793 0.73 185.1 643.4 18.7 556 6797 0.00 2.25 0.00 0.000 6 0.000 0.049 3493 1704 2292 0 0 0 0 0 0

7116 0.73 185.1 588.4 17.2 575 7120 0.00 2.25 0.00 0.000 4 0.000 0.060 3504 293 2290 0 0 0 0 0 0

7133 0.72 185.1 585.4 17.3 576 7138 0.10 2.12 0.00 0.000 6 0.174 0.034 3478 1705 2289 0 0 0 0 0 0

7464 0.73 185.1 534.7 15.3 607 7468 0.00 2.12 0.00 0.000 4 0.000 0.043 3478 3105 2288 0 0 0 0 0 0

7536 0.74 185.1 522.6 15.8 613 7544 0.00 2.17 0.00 0.000 6 0.000 0.049 3488 1714 2288 0 0 0 0 0 0

7861 0.74 185.1 467.5 18.1 644 7862 0.00 0.00 0.00 0.000 6 0.000 0.000 3489 1714 2287 0 0 0 0 0 0

8183 0.74 185.1 413.4 16.1 674 8189 0.00 0.00 0.00 0.000 6 0.000 0.000 3488 1714 2287 0 0 0 0 0 0

8510 0.75 185.1 365.3 14.0 705 8514 0.00 2.12 0.00 0.000 4 0.000 0.041 3489 3108 2287 0 0 0 0 0 0

8577 0.77 186.5 355.4 13.8 710 8584 0.00 2.22 0.00 0.000 6 0.000 0.048 3499 1701 2287 0 0 0 0 0 0

8902 0.77 186.5 310.5 14.2 741 8906 0.00 2.22 0.00 0.000 4 0.000 0.058 3510 292 2286 0 0 0 0 0 0

8923 0.77 186.5 307.3 14.4 742 8930 0.00 2.12 0.00 0.000 6 0.000 0.031 3510 1690 2285 0 0 0 0 0 0

9262 0.77 186.5 258.6 14.5 798 9269 0.00 2.22 0.00 0.000 4 0.000 0.057 3521 285 2285 0 0 0 0 0 0

9292 0.77 186.5 254.3 14.1 803 9300 0.10 2.10 0.00 0.000 6 0.163 0.033 3493 1697 2285 0 0 0 0 0 0

9638 0.83 215.9 211.8 11.2 864 9664 0.08 0.00 22.65 0.681 6 0.119 0.000 3578 1699 2187 0 0 0 0 0 0

10002 0.83 232.1 151.0 12.4 928 10023 0.20 2.33 14.85 0.610 4 0.146 0.057 3528 291 2120 0 0 0 0 0 0

10065 0.89 262.4 143.6 11.2 938 10097 0.00 2.10 25.80 0.620 6 0.000 0.032 3528 1689 1997 0 0 0 0 0 0

10434 0.99 310.9 103.5 9.5 1003 10484 0.12 2.33 39.92 0.587 4 0.076 0.054 3653 282 1799 0 0 0 0 0 0

10558 0.97 310.9 80.8 20.7 1024 10566 0.30 2.10 0.00 0.000 6 0.139 0.031 3562 1681 1794 0 0 0 0 0 0

10905 1.00 310.9 24.6 16.6 1085 10912 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 1683 1792 0 0 0 0 0 0

11229 end climb: NO_VERTICAL_VELOCITY

state 11229 begin surface

ID	168	HD_C	9.9999997e-06	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_MAX	3729	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	468	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	468	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1550	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1700	ALTIM_FREQUENCY	13
D_FLARE	3	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	25	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	39	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	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	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	415	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3068	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	240	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	300	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	5	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	-3824.9944	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	49
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	0	PITCH_MIN	143	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	190	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3252	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042824708
GLIDE_SLOPE	30	PITCH_DBAND	0.050000001	PRESSURE_YINT	-59.994087	SEABIRD_T_H	0.00062080647
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3031862e-05
RHO	1.02625	P_OVSHOOT	0.029999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5001771e-06
MASS	51866	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8237314
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1028168
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0011486846
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017813468
HD_A	0.003	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	101110,075136,2122.087,12601.396,31,0.9,35,-2.9	TGT_NAME	PICKUP
_CALLS	1	TGT_LATLONG	2121.600,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101110,075632,2122.023,12601.355,12,1.2,12,-2.9	MHEAD_RNG_PITCHd_Wd	179.6,828,-27.7,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.47,26.484,-1.875,0,1,0	_10V_AH	10.1,46.422
SM_CCo	11232,161.60,0.496,0,0,414,650.78	FG_AHR_24Vo	0.000
SM_GC	4.21,8.43,0.00,0.00,0.018,0.000,0.000,105,1537,410,-9.70,-0.37,652.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12559.43,101110,040427	MEM	334000
TT8_MAMPS	0.026215	DATA_FILE_SIZE	66886,1143
HUMID	46.41	CAP_FILE_SIZE	126851,0
INTERNAL_PRESSURE	9.44372	CFSIZE	260165632,224870400
TCM_TEMP	24.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	9	CURRENT	0.088,234.6,1
_24V_AH	23.3,65.580	GPS	101110,111201,2120.013,12601.038,35,1.4,36,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	217	110.10	SBE_CT	776	24	434.43
Roll_motor	83	68	133.75	AA4330	0	0	0.00
VBD_pump_during_apogee	415	1214	11761.93	WL_BB2F	0	0	0.00
VBD_pump_during_surface	161	496	1869.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	16	0	0.00	nil	0	0	0.00
Iridium_during_xfer	128	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	22.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	2792	19	558.50
LPSleep	6168	2	136.44
TT8_Active	685	19	137.15
TT8_Sampling	2042	39	821.16
TT8_CF8	234	45	108.54
TT8_Kalman	0	0	0.00
Analog_circuits	1694	12	205.43
GPS_charging	0	0	0.00
Compass	1853	15	280.81
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	-0.74	-102.9	0.0	0.0	0	24	0.00	0.00	-6.62	0.000	2	0.000	0.000	104	1545	619	0	0	0	0	0	0
26	-0.84	-185.1	4.2	-0.0	1	169	9.48	2.25	-120.70	0.000	4	0.158	0.065	2981	156	3824	0	0	0	0	0	0
276	-0.82	-185.1	42.1	-31.4	43	284	0.08	2.10	0.00	0.000	6	0.192	0.039	2990	1544	3825	0	0	0	0	0	0
621	-0.80	-185.1	149.8	-25.1	104	629	0.00	2.17	0.00	0.000	4	0.000	0.045	2981	2963	3825	0	0	0	0	0	0
710	-0.84	-185.1	167.6	-17.3	119	717	0.00	2.15	0.00	0.000	6	0.000	0.042	2981	1552	3826	0	0	0	0	0	0
1054	-0.85	-185.1	241.8	-21.6	180	1062	0.00	2.15	0.00	0.000	4	0.000	0.050	2980	161	3826	0	0	0	0	0	0
1164	-0.88	-185.1	263.5	-18.9	199	1171	0.00	2.08	0.00	0.000	6	0.000	0.039	2971	1543	3827	0	0	0	0	0	0
1506	-0.90	-185.1	332.1	-20.1	246	1510	0.00	2.12	0.00	0.000	4	0.000	0.052	2971	165	3826	0	0	0	0	0	0
1529	-0.91	-185.1	337.0	-20.5	247	1536	0.00	2.08	0.00	0.000	6	0.000	0.037	2962	1548	3826	0	0	0	0	0	0
1854	-0.93	-185.1	397.6	-18.1	278	1858	0.00	2.20	0.00	0.000	4	0.000	0.045	2951	2960	3825	0	0	0	0	0	0
1923	-0.98	-185.1	409.1	-15.5	284	1927	0.00	2.17	0.00	0.000	6	0.000	0.044	2951	1544	3825	0	0	0	0	0	0
2249	-1.00	-185.1	468.9	-18.8	314	2251	0.08	0.00	0.00	0.000	6	0.123	0.000	2844	1543	3824	0	0	0	0	0	0
2566	-0.95	-185.1	555.5	-28.3	344	2571	0.30	2.20	0.00	0.000	4	0.125	0.043	2934	2958	3820	0	0	0	0	0	0
2641	-1.00	-185.1	570.0	-16.8	350	2645	0.00	2.17	0.00	0.000	6	0.000	0.048	2934	1554	3820	0	0	0	0	0	0
2974	-1.01	-185.1	633.0	-18.9	373	2975	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	1554	3817	0	0	0	0	0	0
3282	-1.03	-185.1	688.7	-17.5	388	3286	0.00	2.22	0.00	0.000	4	0.000	0.050	2924	2959	3814	0	0	0	0	0	0
3359	-1.08	-185.1	701.8	-15.2	391	3366	0.08	2.20	0.00	0.000	6	0.115	0.049	2813	1550	3813	0	0	0	0	0	0
3675	-1.03	-185.1	785.8	-27.7	407	3680	0.30	2.20	0.00	0.000	4	0.130	0.044	2908	2959	3810	0	0	0	0	0	0
3717	-1.05	-185.1	794.8	-19.5	409	3721	0.00	2.20	0.00	0.000	6	0.000	0.050	2908	1554	3809	0	0	0	0	0	0
4050	-1.07	-185.1	859.7	-19.4	425	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	1554	3806	0	0	0	0	0	0
4359	-1.08	-185.1	919.2	-18.7	440	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	1554	3803	0	0	0	0	0	0
4668	-1.10	-185.1	975.0	-17.4	455	4669	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	1554	3799	0	0	0	0	0	0
4831	end dive: TARGET_DEPTH_EXCEEDED
state	4831	begin apogee
4836	0.00	0.0	1002.8	16.5	463	4996	0.95	0.00	152.65	1.214	4	0.092	0.000	3250	1709	3068	0	0	0	0	0	0
4996	end apogee: CONTROL_FINISHED_OK
state	4997	begin climb
4999	0.84	185.1	1007.6	0.0	470	5168	0.73	2.30	159.93	1.134	4	0.028	0.047	3574	3100	2313	0	0	0	0	0	0
5316	0.79	185.1	944.2	27.2	485	5321	0.28	2.22	0.00	0.000	6	0.160	0.048	3506	1701	2303	0	0	0	0	0	0
5645	0.77	185.1	872.9	20.9	501	5648	0.00	2.25	0.00	0.000	4	0.000	0.060	3516	293	2299	0	0	0	0	0	0
5695	0.74	185.1	861.5	22.5	503	5699	0.10	2.12	0.00	0.000	6	0.178	0.033	3491	1705	2296	0	0	0	0	0	0
6018	0.73	185.1	796.9	19.9	519	6021	0.00	2.15	0.00	0.000	4	0.000	0.041	3491	3109	2295	0	0	0	0	0	0
6089	0.73	185.1	781.2	21.3	522	6094	0.00	2.25	0.00	0.000	6	0.000	0.050	3501	1708	2295	0	0	0	0	0	0
6413	0.72	185.1	714.2	21.1	538	6414	0.08	0.00	0.00	0.000	6	0.217	0.000	3484	1707	2293	0	0	0	0	0	0
6721	0.72	185.1	656.8	17.8	553	6724	0.00	2.15	0.00	0.000	4	0.000	0.042	3484	3105	2291	0	0	0	0	0	0
6793	0.73	185.1	643.4	18.7	556	6797	0.00	2.25	0.00	0.000	6	0.000	0.049	3493	1704	2292	0	0	0	0	0	0
7116	0.73	185.1	588.4	17.2	575	7120	0.00	2.25	0.00	0.000	4	0.000	0.060	3504	293	2290	0	0	0	0	0	0
7133	0.72	185.1	585.4	17.3	576	7138	0.10	2.12	0.00	0.000	6	0.174	0.034	3478	1705	2289	0	0	0	0	0	0
7464	0.73	185.1	534.7	15.3	607	7468	0.00	2.12	0.00	0.000	4	0.000	0.043	3478	3105	2288	0	0	0	0	0	0
7536	0.74	185.1	522.6	15.8	613	7544	0.00	2.17	0.00	0.000	6	0.000	0.049	3488	1714	2288	0	0	0	0	0	0
7861	0.74	185.1	467.5	18.1	644	7862	0.00	0.00	0.00	0.000	6	0.000	0.000	3489	1714	2287	0	0	0	0	0	0
8183	0.74	185.1	413.4	16.1	674	8189	0.00	0.00	0.00	0.000	6	0.000	0.000	3488	1714	2287	0	0	0	0	0	0
8510	0.75	185.1	365.3	14.0	705	8514	0.00	2.12	0.00	0.000	4	0.000	0.041	3489	3108	2287	0	0	0	0	0	0
8577	0.77	186.5	355.4	13.8	710	8584	0.00	2.22	0.00	0.000	6	0.000	0.048	3499	1701	2287	0	0	0	0	0	0
8902	0.77	186.5	310.5	14.2	741	8906	0.00	2.22	0.00	0.000	4	0.000	0.058	3510	292	2286	0	0	0	0	0	0
8923	0.77	186.5	307.3	14.4	742	8930	0.00	2.12	0.00	0.000	6	0.000	0.031	3510	1690	2285	0	0	0	0	0	0
9262	0.77	186.5	258.6	14.5	798	9269	0.00	2.22	0.00	0.000	4	0.000	0.057	3521	285	2285	0	0	0	0	0	0
9292	0.77	186.5	254.3	14.1	803	9300	0.10	2.10	0.00	0.000	6	0.163	0.033	3493	1697	2285	0	0	0	0	0	0
9638	0.83	215.9	211.8	11.2	864	9664	0.08	0.00	22.65	0.681	6	0.119	0.000	3578	1699	2187	0	0	0	0	0	0
10002	0.83	232.1	151.0	12.4	928	10023	0.20	2.33	14.85	0.610	4	0.146	0.057	3528	291	2120	0	0	0	0	0	0
10065	0.89	262.4	143.6	11.2	938	10097	0.00	2.10	25.80	0.620	6	0.000	0.032	3528	1689	1997	0	0	0	0	0	0
10434	0.99	310.9	103.5	9.5	1003	10484	0.12	2.33	39.92	0.587	4	0.076	0.054	3653	282	1799	0	0	0	0	0	0
10558	0.97	310.9	80.8	20.7	1024	10566	0.30	2.10	0.00	0.000	6	0.139	0.031	3562	1681	1794	0	0	0	0	0	0
10905	1.00	310.9	24.6	16.6	1085	10912	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	1683	1792	0	0	0	0	0	0
11229	end climb: NO_VERTICAL_VELOCITY
state	11229	begin surface