Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 185 * 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 185 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 196 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 108 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 -36306.656 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 -36306.656

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 108 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 185 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 196 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 141010,224605,2304.668,12659.065,901,99.0,901,-3.4 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 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 141010,224605,2304.668,12659.065,901,99.0,901,-3.4 MHEAD_RNG_PITCHd_Wd 125.4,237000,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.007263 _10V_AH 10.4,30.563

SM_CCo 12450,102.45,0.554,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.27,0.00,0.00,102.45,0.000,0.000,0.554,105,777,1397,-8.49,-0.37,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2255.72,12701.56,151010,030343 MEM 333772

TT8_MAMPS 0.028462 DATA_FILE_SIZE 80322,1407

HUMID 39.95 CAP_FILE_SIZE 143029,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,157339648

TCM_TEMP 27.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 CURRENT 11.971,352.7,1

_24V_AH 23.9,34.210 GPS 151010,031543,2255.724,12701.561,0,10000.0,0,-3.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 230 109.10 SBE_CT 960 24 551.03

Roll_motor 61 49 72.49 AA3830 1440 33 1136.03

VBD_pump_during_apogee 279 1416 9464.13 WL_BB2F 1753 105 4399.31

VBD_pump_during_surface 102 553 1356.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 0 0.00 nil 0 0 0.00

Iridium_during_connect 86 0 0.00 nil 0 0 0.00

Iridium_during_xfer 241 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 5.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 901 0 0.00

TT8 3487 19 718.11

LPSleep 5119 2 116.60

TT8_Active 480 19 98.92

TT8_Sampling 4528 39 1874.25

TT8_CF8 453 45 216.02

TT8_Kalman 0 0 0.00

Analog_circuits 1733 12 216.37

GPS_charging 0 0 0.00

Compass 3287 15 512.93

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 0 100 0.00 0.00 -80.30 0.000 6 0.000 0.000 116 791 3333 0 0 0 0 0 0

103 -0.87 -73.8 6.1 -13.6 11 119 9.38 0.88 0.00 0.000 4 0.230 0.028 2533 167 3335 0 0 0 0 0 0

360 -0.87 -73.8 94.5 -31.8 58 368 0.00 0.80 0.00 0.000 6 0.000 0.021 2529 836 3337 0 0 0 0 0 0

687 -0.87 -73.8 161.7 -18.8 119 693 0.00 0.95 0.00 0.000 4 0.000 0.039 2529 180 3338 0 0 0 0 0 0

938 -0.87 -73.8 215.3 -22.5 165 946 0.00 0.70 0.00 0.000 6 0.000 0.022 2525 799 3338 0 0 0 0 0 0

1270 -0.87 -73.8 273.5 -18.0 226 1278 0.00 0.88 0.00 0.000 4 0.000 0.040 2524 190 3336 0 0 0 0 0 0

1469 -0.87 -73.8 310.7 -17.4 262 1477 0.00 0.62 0.00 0.000 6 0.000 0.022 2521 761 3335 0 0 0 0 0 0

1803 -0.87 -73.8 364.9 -15.5 323 1810 0.00 0.82 0.00 0.000 4 0.000 0.041 2521 190 3333 0 0 0 0 0 0

2054 -0.87 -73.8 403.4 -16.1 369 2061 0.00 0.62 0.00 0.000 6 0.000 0.022 2517 748 3332 0 0 0 0 0 0

2388 -0.87 -73.8 449.7 -14.0 430 2396 0.00 0.82 0.00 0.000 4 0.000 0.042 2517 180 3329 0 0 0 0 0 0

2641 -0.87 -73.8 488.5 -15.9 476 2649 0.00 0.65 0.00 0.000 6 0.000 0.023 2512 742 3327 0 0 0 0 0 0

2976 -0.87 -73.8 537.4 -13.7 514 2980 0.10 0.82 0.00 0.000 4 0.203 0.043 2536 189 3324 0 0 0 0 0 0

3236 -0.87 -73.8 570.5 -12.0 537 3240 0.00 0.62 0.00 0.000 6 0.000 0.024 2534 726 3322 0 0 0 0 0 0

3580 -0.87 -73.8 609.7 -11.4 565 3583 0.00 0.77 0.00 0.000 4 0.000 0.044 2534 193 3319 0 0 0 0 0 0

3837 -0.87 -73.8 641.6 -11.2 576 3841 0.00 0.65 0.00 0.000 6 0.000 0.023 2531 729 3316 0 0 0 0 0 0

4161 -0.87 -76.0 677.1 -10.9 592 4165 0.00 0.80 0.00 0.000 4 0.000 0.044 2531 187 3314 0 0 0 0 0 0

4420 -0.87 -76.0 707.0 -11.9 603 4424 0.00 0.65 0.00 0.000 6 0.000 0.024 2528 716 3311 0 0 0 0 0 0

4742 -0.88 -87.5 741.2 -10.0 619 4746 0.00 0.77 0.00 0.000 4 0.000 0.044 2528 191 3309 0 0 0 0 0 0

5001 -0.91 -105.5 766.3 -9.3 630 5004 0.00 0.65 0.00 0.000 6 0.000 0.024 2524 711 3307 0 0 0 0 0 0

5323 -0.93 -128.5 793.3 -8.8 646 5324 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 712 3304 0 0 0 0 0 0

5634 -0.94 -130.2 824.4 -10.9 661 5638 0.00 2.03 0.00 0.000 4 0.000 0.019 2519 2141 3301 0 0 0 0 0 0

5684 -0.95 -139.1 830.0 -10.2 663 5688 0.00 2.12 0.00 0.000 6 0.000 0.037 2519 737 3302 0 0 0 0 0 0

6005 -0.95 -139.1 869.2 -12.5 679 6007 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 737 3298 0 0 0 0 0 0

6317 -0.95 -143.3 904.5 -10.7 694 6321 0.00 0.80 0.00 0.000 4 0.000 0.046 2520 191 3297 0 0 0 0 0 0

6412 -0.95 -143.3 915.4 -11.7 698 6416 0.00 0.62 0.00 0.000 6 0.000 0.025 2519 689 3296 0 0 0 0 0 0

6740 -0.98 -164.2 947.0 -9.0 714 6741 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 690 3294 0 0 0 0 0 0

7050 -1.01 -186.6 974.6 -8.9 729 7054 0.00 2.05 0.00 0.000 4 0.000 0.020 2519 2130 3292 0 0 0 0 0 0

7123 -1.05 -223.6 980.4 -7.4 732 7127 0.10 2.15 0.00 0.000 6 0.111 0.038 2477 719 3292 0 0 0 0 0 0

7338 end dive: TARGET_DEPTH_EXCEEDED

state 7339 begin apogee

7346 -0.14 0.0 1001.0 9.6 743 7403 0.98 0.00 52.92 1.416 4 0.168 0.000 2767 967 3028 0 0 0 0 0 0

7404 end apogee: CONTROL_FINISHED_OK

state 7404 begin climb

7406 1.05 223.6 1002.3 0.0 745 7601 1.10 2.12 185.73 1.370 4 0.057 0.021 3171 2379 2117 0 0 0 0 0 0

7810 1.05 223.6 916.7 28.2 763 7814 0.00 2.15 0.00 0.000 6 0.000 0.034 3180 996 2106 0 0 0 0 0 0

8131 1.05 223.6 828.0 27.8 779 8135 0.00 1.20 0.00 0.000 4 0.000 0.044 3187 197 2104 0 0 0 0 0 0

8268 1.05 223.6 788.8 28.9 785 8272 0.00 1.12 0.00 0.000 6 0.000 0.025 3187 1002 2102 0 0 0 0 0 0

8601 1.05 223.6 695.9 27.7 801 8604 0.00 2.00 0.00 0.000 4 0.000 0.025 3186 2379 2101 0 0 0 0 0 0

8695 1.05 223.6 670.3 26.8 805 8700 0.12 2.05 0.00 0.000 6 0.215 0.034 3166 1024 2100 0 0 0 0 0 0

9015 1.05 223.6 589.1 25.8 822 9019 0.00 1.98 0.00 0.000 4 0.000 0.023 3166 2386 2099 0 0 0 0 0 0

9199 1.05 223.6 545.9 20.3 838 9206 0.00 2.05 0.00 0.000 6 0.000 0.035 3174 1049 2098 0 0 0 0 0 0

9527 1.05 223.6 476.3 22.0 879 9534 0.00 1.95 0.00 0.000 4 0.000 0.022 3174 2398 2097 0 0 0 0 0 0

9640 1.05 223.6 452.1 21.9 899 9647 0.00 2.00 0.00 0.000 6 0.000 0.034 3183 1059 2097 0 0 0 0 0 0

9971 1.05 223.6 374.1 25.7 960 9978 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 1059 2096 0 0 0 0 0 0

10302 1.05 223.6 300.0 23.2 1021 10309 0.00 1.92 0.00 0.000 4 0.000 0.023 3183 2394 2095 0 0 0 0 0 0

10450 1.05 223.6 270.4 23.1 1047 10458 0.12 2.03 0.00 0.000 6 0.203 0.034 3162 1045 2095 0 0 0 0 0 0

10783 1.05 223.6 206.1 17.1 1108 10791 0.00 1.95 0.00 0.000 4 0.000 0.021 3162 2392 2095 0 0 0 0 0 0

10915 1.05 223.6 185.0 14.4 1131 10921 0.00 2.03 0.00 0.000 6 0.000 0.034 3170 1042 2095 0 0 0 0 0 0

11247 1.05 223.6 133.2 16.0 1192 11255 0.00 1.95 0.00 0.000 4 0.000 0.021 3170 2395 2095 0 0 0 0 0 0

11335 1.05 223.6 119.5 15.2 1208 11343 0.00 2.00 0.00 0.000 6 0.000 0.034 3178 1074 2096 0 0 0 0 0 0

11662 1.07 239.4 80.6 9.5 1269 11679 0.00 1.95 10.88 0.651 4 0.000 0.019 3178 2411 2050 0 0 0 0 0 0

11754 1.08 247.6 71.2 10.3 1285 11771 0.00 2.03 7.95 0.603 6 0.000 0.034 3187 1077 2018 0 0 0 0 0 0

12094 1.10 266.5 34.8 9.2 1347 12118 0.00 1.30 15.68 0.621 4 0.000 0.040 3194 191 1941 0 0 0 0 0 0

12296 1.11 272.6 12.5 10.5 1383 12311 0.00 1.20 6.50 0.520 6 0.000 0.021 3194 1113 1916 0 0 0 0 0 0

12396 end climb: SURFACE_DEPTH_REACHED

state 12396 begin surface coast

12432 end surface coast: CONTROL_FINISHED_OK

state 12432 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	185	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	196	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	108	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	-36306.656	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	141010,224605,2304.668,12659.065,901,99.0,901,-3.4	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	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	141010,224605,2304.668,12659.065,901,99.0,901,-3.4	MHEAD_RNG_PITCHd_Wd	125.4,237000,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.4,1.007263	_10V_AH	10.4,30.563
SM_CCo	12450,102.45,0.554,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.27,0.00,0.00,102.45,0.000,0.000,0.554,105,777,1397,-8.49,-0.37,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2255.72,12701.56,151010,030343	MEM	333772
TT8_MAMPS	0.028462	DATA_FILE_SIZE	80322,1407
HUMID	39.95	CAP_FILE_SIZE	143029,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,157339648
TCM_TEMP	27.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	11.971,352.7,1
_24V_AH	23.9,34.210	GPS	151010,031543,2255.724,12701.561,0,10000.0,0,-3.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	230	109.10	SBE_CT	960	24	551.03
Roll_motor	61	49	72.49	AA3830	1440	33	1136.03
VBD_pump_during_apogee	279	1416	9464.13	WL_BB2F	1753	105	4399.31
VBD_pump_during_surface	102	553	1356.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	0	0.00	nil	0	0	0.00
Iridium_during_connect	86	0	0.00	nil	0	0	0.00
Iridium_during_xfer	241	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	5.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	901	0	0.00
TT8	3487	19	718.11
LPSleep	5119	2	116.60
TT8_Active	480	19	98.92
TT8_Sampling	4528	39	1874.25
TT8_CF8	453	45	216.02
TT8_Kalman	0	0	0.00
Analog_circuits	1733	12	216.37
GPS_charging	0	0	0.00
Compass	3287	15	512.93
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	100	0.00	0.00	-80.30	0.000	6	0.000	0.000	116	791	3333	0	0	0	0	0	0
103	-0.87	-73.8	6.1	-13.6	11	119	9.38	0.88	0.00	0.000	4	0.230	0.028	2533	167	3335	0	0	0	0	0	0
360	-0.87	-73.8	94.5	-31.8	58	368	0.00	0.80	0.00	0.000	6	0.000	0.021	2529	836	3337	0	0	0	0	0	0
687	-0.87	-73.8	161.7	-18.8	119	693	0.00	0.95	0.00	0.000	4	0.000	0.039	2529	180	3338	0	0	0	0	0	0
938	-0.87	-73.8	215.3	-22.5	165	946	0.00	0.70	0.00	0.000	6	0.000	0.022	2525	799	3338	0	0	0	0	0	0
1270	-0.87	-73.8	273.5	-18.0	226	1278	0.00	0.88	0.00	0.000	4	0.000	0.040	2524	190	3336	0	0	0	0	0	0
1469	-0.87	-73.8	310.7	-17.4	262	1477	0.00	0.62	0.00	0.000	6	0.000	0.022	2521	761	3335	0	0	0	0	0	0
1803	-0.87	-73.8	364.9	-15.5	323	1810	0.00	0.82	0.00	0.000	4	0.000	0.041	2521	190	3333	0	0	0	0	0	0
2054	-0.87	-73.8	403.4	-16.1	369	2061	0.00	0.62	0.00	0.000	6	0.000	0.022	2517	748	3332	0	0	0	0	0	0
2388	-0.87	-73.8	449.7	-14.0	430	2396	0.00	0.82	0.00	0.000	4	0.000	0.042	2517	180	3329	0	0	0	0	0	0
2641	-0.87	-73.8	488.5	-15.9	476	2649	0.00	0.65	0.00	0.000	6	0.000	0.023	2512	742	3327	0	0	0	0	0	0
2976	-0.87	-73.8	537.4	-13.7	514	2980	0.10	0.82	0.00	0.000	4	0.203	0.043	2536	189	3324	0	0	0	0	0	0
3236	-0.87	-73.8	570.5	-12.0	537	3240	0.00	0.62	0.00	0.000	6	0.000	0.024	2534	726	3322	0	0	0	0	0	0
3580	-0.87	-73.8	609.7	-11.4	565	3583	0.00	0.77	0.00	0.000	4	0.000	0.044	2534	193	3319	0	0	0	0	0	0
3837	-0.87	-73.8	641.6	-11.2	576	3841	0.00	0.65	0.00	0.000	6	0.000	0.023	2531	729	3316	0	0	0	0	0	0
4161	-0.87	-76.0	677.1	-10.9	592	4165	0.00	0.80	0.00	0.000	4	0.000	0.044	2531	187	3314	0	0	0	0	0	0
4420	-0.87	-76.0	707.0	-11.9	603	4424	0.00	0.65	0.00	0.000	6	0.000	0.024	2528	716	3311	0	0	0	0	0	0
4742	-0.88	-87.5	741.2	-10.0	619	4746	0.00	0.77	0.00	0.000	4	0.000	0.044	2528	191	3309	0	0	0	0	0	0
5001	-0.91	-105.5	766.3	-9.3	630	5004	0.00	0.65	0.00	0.000	6	0.000	0.024	2524	711	3307	0	0	0	0	0	0
5323	-0.93	-128.5	793.3	-8.8	646	5324	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	712	3304	0	0	0	0	0	0
5634	-0.94	-130.2	824.4	-10.9	661	5638	0.00	2.03	0.00	0.000	4	0.000	0.019	2519	2141	3301	0	0	0	0	0	0
5684	-0.95	-139.1	830.0	-10.2	663	5688	0.00	2.12	0.00	0.000	6	0.000	0.037	2519	737	3302	0	0	0	0	0	0
6005	-0.95	-139.1	869.2	-12.5	679	6007	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	737	3298	0	0	0	0	0	0
6317	-0.95	-143.3	904.5	-10.7	694	6321	0.00	0.80	0.00	0.000	4	0.000	0.046	2520	191	3297	0	0	0	0	0	0
6412	-0.95	-143.3	915.4	-11.7	698	6416	0.00	0.62	0.00	0.000	6	0.000	0.025	2519	689	3296	0	0	0	0	0	0
6740	-0.98	-164.2	947.0	-9.0	714	6741	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	690	3294	0	0	0	0	0	0
7050	-1.01	-186.6	974.6	-8.9	729	7054	0.00	2.05	0.00	0.000	4	0.000	0.020	2519	2130	3292	0	0	0	0	0	0
7123	-1.05	-223.6	980.4	-7.4	732	7127	0.10	2.15	0.00	0.000	6	0.111	0.038	2477	719	3292	0	0	0	0	0	0
7338	end dive: TARGET_DEPTH_EXCEEDED
state	7339	begin apogee
7346	-0.14	0.0	1001.0	9.6	743	7403	0.98	0.00	52.92	1.416	4	0.168	0.000	2767	967	3028	0	0	0	0	0	0
7404	end apogee: CONTROL_FINISHED_OK
state	7404	begin climb
7406	1.05	223.6	1002.3	0.0	745	7601	1.10	2.12	185.73	1.370	4	0.057	0.021	3171	2379	2117	0	0	0	0	0	0
7810	1.05	223.6	916.7	28.2	763	7814	0.00	2.15	0.00	0.000	6	0.000	0.034	3180	996	2106	0	0	0	0	0	0
8131	1.05	223.6	828.0	27.8	779	8135	0.00	1.20	0.00	0.000	4	0.000	0.044	3187	197	2104	0	0	0	0	0	0
8268	1.05	223.6	788.8	28.9	785	8272	0.00	1.12	0.00	0.000	6	0.000	0.025	3187	1002	2102	0	0	0	0	0	0
8601	1.05	223.6	695.9	27.7	801	8604	0.00	2.00	0.00	0.000	4	0.000	0.025	3186	2379	2101	0	0	0	0	0	0
8695	1.05	223.6	670.3	26.8	805	8700	0.12	2.05	0.00	0.000	6	0.215	0.034	3166	1024	2100	0	0	0	0	0	0
9015	1.05	223.6	589.1	25.8	822	9019	0.00	1.98	0.00	0.000	4	0.000	0.023	3166	2386	2099	0	0	0	0	0	0
9199	1.05	223.6	545.9	20.3	838	9206	0.00	2.05	0.00	0.000	6	0.000	0.035	3174	1049	2098	0	0	0	0	0	0
9527	1.05	223.6	476.3	22.0	879	9534	0.00	1.95	0.00	0.000	4	0.000	0.022	3174	2398	2097	0	0	0	0	0	0
9640	1.05	223.6	452.1	21.9	899	9647	0.00	2.00	0.00	0.000	6	0.000	0.034	3183	1059	2097	0	0	0	0	0	0
9971	1.05	223.6	374.1	25.7	960	9978	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	1059	2096	0	0	0	0	0	0
10302	1.05	223.6	300.0	23.2	1021	10309	0.00	1.92	0.00	0.000	4	0.000	0.023	3183	2394	2095	0	0	0	0	0	0
10450	1.05	223.6	270.4	23.1	1047	10458	0.12	2.03	0.00	0.000	6	0.203	0.034	3162	1045	2095	0	0	0	0	0	0
10783	1.05	223.6	206.1	17.1	1108	10791	0.00	1.95	0.00	0.000	4	0.000	0.021	3162	2392	2095	0	0	0	0	0	0
10915	1.05	223.6	185.0	14.4	1131	10921	0.00	2.03	0.00	0.000	6	0.000	0.034	3170	1042	2095	0	0	0	0	0	0
11247	1.05	223.6	133.2	16.0	1192	11255	0.00	1.95	0.00	0.000	4	0.000	0.021	3170	2395	2095	0	0	0	0	0	0
11335	1.05	223.6	119.5	15.2	1208	11343	0.00	2.00	0.00	0.000	6	0.000	0.034	3178	1074	2096	0	0	0	0	0	0
11662	1.07	239.4	80.6	9.5	1269	11679	0.00	1.95	10.88	0.651	4	0.000	0.019	3178	2411	2050	0	0	0	0	0	0
11754	1.08	247.6	71.2	10.3	1285	11771	0.00	2.03	7.95	0.603	6	0.000	0.034	3187	1077	2018	0	0	0	0	0	0
12094	1.10	266.5	34.8	9.2	1347	12118	0.00	1.30	15.68	0.621	4	0.000	0.040	3194	191	1941	0	0	0	0	0	0
12296	1.11	272.6	12.5	10.5	1383	12311	0.00	1.20	6.50	0.520	6	0.000	0.021	3194	1113	1916	0	0	0	0	0	0
12396	end climb: SURFACE_DEPTH_REACHED
state	12396	begin surface coast
12432	end surface coast: CONTROL_FINISHED_OK
state	12432	begin surface