Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 193 * 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 193 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 46 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 90 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 -48949.086 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 -48949.086

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 46 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 90 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 193 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 161010,104806,2258.529,12701.595,901,99.0,901,-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 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161010,104806,2258.529,12701.595,901,99.0,901,-3.3 MHEAD_RNG_PITCHd_Wd 125.7,224942,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.021915 _10V_AH 10.4,32.247

SM_CCo 12498,106.95,0.568,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.27,0.00,0.00,106.95,0.000,0.000,0.568,121,823,1397,-8.44,0.93,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2248.70,12700.15,161010,151506 MEM 333560

TT8_MAMPS 0.027713 DATA_FILE_SIZE 80116,1388

HUMID 39.99 CAP_FILE_SIZE 146468,0

INTERNAL_PRESSURE 8.90659 CFSIZE 260165632,156635136

TCM_TEMP 26.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 13.721, 12.8,1

_24V_AH 23.8,35.532 GPS 161010,150406,2248.702,12700.151,0,10000.0,0,-3.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 105.99 SBE_CT 947 24 541.33

Roll_motor 75 47 85.34 AA3830 1227 33 964.27

VBD_pump_during_apogee 273 1419 9250.69 WL_BB2F 1666 105 4165.10

VBD_pump_during_surface 106 568 1446.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 0 0.00 nil 0 0 0.00

Iridium_during_connect 66 0 0.00 nil 0 0 0.00

Iridium_during_xfer 214 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 901 0 0.00

TT8 3463 19 713.17

LPSleep 5219 2 118.88

TT8_Active 492 19 101.41

TT8_Sampling 4466 39 1848.76

TT8_CF8 432 45 205.99

TT8_Kalman 0 0 0.00

Analog_circuits 1752 12 218.75

GPS_charging 0 0 0.00

Compass 3250 15 507.07

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.87 -73.8 0.0 0.0 0 84 0.00 0.00 -63.72 0.000 6 0.000 0.000 112 764 3332 0 0 0 0 0 0

87 -0.87 -73.8 6.8 -14.7 9 104 9.35 0.80 0.00 0.000 4 0.227 0.026 2529 177 3334 0 0 0 0 0 0

343 -0.87 -73.8 97.0 -29.3 56 351 0.00 0.80 0.00 0.000 6 0.000 0.020 2525 881 3335 0 0 0 0 0 0

673 -0.87 -73.8 165.3 -19.3 117 679 0.00 1.00 0.00 0.000 4 0.000 0.039 2525 193 3337 0 0 0 0 0 0

935 -0.87 -73.8 218.2 -21.3 163 942 0.00 0.77 0.00 0.000 6 0.000 0.021 2520 875 3337 0 0 0 0 0 0

1273 -0.87 -73.8 281.3 -15.8 224 1281 0.00 0.98 0.00 0.000 4 0.000 0.040 2520 203 3336 0 0 0 0 0 0

1325 -0.87 -73.8 289.6 -17.5 232 1332 0.00 0.75 0.00 0.000 6 0.000 0.021 2515 857 3336 0 0 0 0 0 0

1665 -0.87 -73.8 342.4 -15.6 293 1672 0.00 1.83 0.00 0.000 4 0.000 0.015 2506 2217 3334 0 0 0 0 0 0

1922 -0.87 -73.8 378.5 -14.2 339 1929 0.12 2.12 0.00 0.000 6 0.178 0.033 2537 766 3333 0 0 0 0 0 0

2261 -0.87 -73.8 424.5 -12.5 400 2269 0.00 2.00 0.00 0.000 4 0.000 0.016 2533 2188 3331 0 0 0 0 0 0

2300 -0.87 -73.8 428.8 -11.7 406 2309 0.00 2.12 0.00 0.000 6 0.000 0.034 2533 776 3331 0 0 0 0 0 0

2641 -0.87 -73.8 473.9 -11.5 467 2648 0.00 1.95 0.00 0.000 4 0.000 0.016 2531 2200 3328 0 0 0 0 0 0

2679 -0.87 -74.0 478.3 -11.1 473 2685 0.00 2.12 0.00 0.000 6 0.000 0.034 2531 774 3328 0 0 0 0 0 0

3019 -0.87 -74.0 519.8 -12.2 520 3023 0.00 0.82 0.00 0.000 4 0.000 0.044 2531 200 3325 0 0 0 0 0 0

3279 -0.87 -74.0 552.7 -12.8 543 3283 0.00 0.75 0.00 0.000 6 0.000 0.022 2526 822 3324 0 0 0 0 0 0

3610 -0.87 -74.0 592.1 -11.4 574 3614 0.00 0.93 0.00 0.000 4 0.000 0.044 2526 195 3321 0 0 0 0 0 0

3866 -0.87 -74.0 625.2 -13.0 588 3870 0.00 0.70 0.00 0.000 6 0.000 0.022 2522 768 3319 0 0 0 0 0 0

4188 -0.87 -74.0 663.0 -11.7 604 4192 0.00 0.85 0.00 0.000 4 0.000 0.044 2522 193 3316 0 0 0 0 0 0

4444 -0.87 -74.0 693.3 -11.4 615 4449 0.00 0.70 0.00 0.000 6 0.000 0.022 2520 761 3313 0 0 0 0 0 0

4767 -0.89 -90.0 724.4 -9.5 631 4771 0.00 0.82 0.00 0.000 4 0.000 0.045 2520 203 3311 0 0 0 0 0 0

4792 -0.89 -93.5 727.0 -10.8 632 4796 0.00 0.70 0.00 0.000 6 0.000 0.024 2519 770 3311 0 0 0 0 0 0

5125 -0.89 -93.5 765.2 -11.9 648 5129 0.00 0.85 0.00 0.000 4 0.000 0.045 2519 197 3308 0 0 0 0 0 0

5262 -0.89 -93.5 782.8 -14.0 654 5266 0.00 0.70 0.00 0.000 6 0.000 0.024 2517 757 3308 0 0 0 0 0 0

5594 -0.89 -93.5 826.6 -13.1 670 5598 0.00 2.00 0.00 0.000 4 0.000 0.019 2518 2156 3304 0 0 0 0 0 0

5678 -0.89 -93.5 836.7 -11.5 673 5685 0.00 2.12 0.00 0.000 6 0.000 0.037 2518 765 3304 0 0 0 0 0 0

5996 -0.89 -93.5 875.0 -11.4 689 6000 0.00 0.85 0.00 0.000 4 0.000 0.047 2518 189 3301 0 0 0 0 0 0

6200 -0.89 -95.7 898.0 -10.9 698 6203 0.00 0.73 0.00 0.000 6 0.000 0.024 2514 755 3300 0 0 0 0 0 0

6536 -0.93 -122.0 929.3 -8.5 714 6539 0.00 2.00 0.00 0.000 4 0.000 0.019 2508 2164 3298 0 0 0 0 0 0

6653 -0.97 -160.0 938.2 -7.3 719 6657 0.00 2.15 0.00 0.000 6 0.000 0.037 2508 761 3297 0 0 0 0 0 0

6977 -1.02 -198.5 962.2 -7.2 735 6981 0.00 0.82 0.00 0.000 4 0.000 0.047 2508 201 3296 0 0 0 0 0 0

7033 -1.06 -228.7 966.7 -7.8 737 7037 0.00 0.73 0.00 0.000 6 0.000 0.024 2505 770 3295 0 0 0 0 0 0

7357 -1.06 -228.7 989.1 -7.0 753 7358 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 770 3293 0 0 0 0 0 0

7517 end dive: TARGET_DEPTH_EXCEEDED

state 7517 begin apogee

7524 -0.14 0.0 1000.4 6.8 761 7581 0.85 0.00 53.40 1.419 4 0.155 0.000 2766 1001 3029 0 0 0 0 0 0

7582 end apogee: CONTROL_FINISHED_OK

state 7582 begin climb

7586 1.06 228.7 1000.4 0.0 763 7784 1.10 2.05 190.30 1.370 4 0.058 0.021 3168 2382 2096 0 0 0 0 0 0

7992 1.06 228.7 914.8 25.4 782 7997 0.00 2.15 0.00 0.000 6 0.000 0.035 3178 992 2087 0 0 0 0 0 0

8320 1.06 228.7 826.6 27.6 798 8323 0.00 1.20 0.00 0.000 4 0.000 0.044 3184 195 2084 0 0 0 0 0 0

8504 1.06 228.7 774.0 28.7 806 8508 0.00 1.12 0.00 0.000 6 0.000 0.024 3184 1002 2082 0 0 0 0 0 0

8831 1.06 228.7 689.6 25.5 822 8835 0.00 2.03 0.00 0.000 4 0.000 0.025 3184 2379 2081 0 0 0 0 0 0

8933 1.06 228.7 664.2 25.2 826 8938 0.12 2.05 0.00 0.000 6 0.203 0.035 3163 1029 2080 0 0 0 0 0 0

9255 1.06 228.7 585.5 25.9 844 9259 0.00 1.98 0.00 0.000 4 0.000 0.023 3164 2395 2080 0 0 0 0 0 0

9363 1.06 228.7 560.9 22.2 853 9369 0.00 2.05 0.00 0.000 6 0.000 0.035 3172 1052 2079 0 0 0 0 0 0

9691 1.06 228.7 484.9 23.3 890 9700 0.00 1.98 0.00 0.000 4 0.000 0.024 3172 2392 2078 0 0 0 0 0 0

9783 1.06 228.7 465.6 21.2 905 9790 0.00 2.00 0.00 0.000 6 0.000 0.034 3181 1053 2077 0 0 0 0 0 0

10124 1.06 228.7 392.2 21.3 966 10133 0.00 1.95 0.00 0.000 4 0.000 0.021 3181 2393 2077 0 0 0 0 0 0

10343 1.06 228.7 347.6 19.7 1005 10350 0.00 1.95 0.00 0.000 6 0.000 0.034 3190 1097 2076 0 0 0 0 0 0

10683 1.06 228.7 277.5 19.4 1066 10691 0.00 1.35 0.00 0.000 4 0.000 0.042 3197 190 2076 0 0 0 0 0 0

10751 1.06 228.7 263.9 22.1 1077 10758 0.10 1.23 0.00 0.000 6 0.187 0.022 3167 1090 2076 0 0 0 0 0 0

11095 1.06 228.7 203.5 17.2 1138 11104 0.00 1.88 0.00 0.000 4 0.000 0.022 3167 2391 2076 0 0 0 0 0 0

11177 1.06 228.7 189.6 15.4 1152 11185 0.00 2.00 0.00 0.000 6 0.000 0.034 3175 1073 2076 0 0 0 0 0 0

11513 1.06 228.7 130.6 18.3 1213 11521 0.00 1.90 0.00 0.000 4 0.000 0.020 3175 2398 2077 0 0 0 0 0 0

11577 1.06 228.7 119.4 17.6 1224 11585 0.00 1.98 0.00 0.000 6 0.000 0.033 3183 1091 2077 0 0 0 0 0 0

11907 1.09 251.0 72.2 8.9 1285 11931 0.00 1.90 15.95 0.670 4 0.000 0.018 3184 2411 2004 0 0 0 0 0 0

11950 1.11 267.7 68.2 9.4 1291 11972 0.00 1.98 14.25 0.651 6 0.000 0.033 3191 1107 1937 0 0 0 0 0 0

12294 1.11 267.7 27.2 11.9 1354 12303 0.00 1.38 0.00 0.000 4 0.000 0.041 3199 187 1934 0 0 0 0 0 0

12457 end climb: SURFACE_DEPTH_REACHED

state 12458 begin surface coast

12480 end surface coast: CONTROL_FINISHED_OK

state 12480 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	193	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	46	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	90	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	-48949.086	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	161010,104806,2258.529,12701.595,901,99.0,901,-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	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161010,104806,2258.529,12701.595,901,99.0,901,-3.3	MHEAD_RNG_PITCHd_Wd	125.7,224942,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.8,1.021915	_10V_AH	10.4,32.247
SM_CCo	12498,106.95,0.568,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.27,0.00,0.00,106.95,0.000,0.000,0.568,121,823,1397,-8.44,0.93,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2248.70,12700.15,161010,151506	MEM	333560
TT8_MAMPS	0.027713	DATA_FILE_SIZE	80116,1388
HUMID	39.99	CAP_FILE_SIZE	146468,0
INTERNAL_PRESSURE	8.90659	CFSIZE	260165632,156635136
TCM_TEMP	26.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	13.721, 12.8,1
_24V_AH	23.8,35.532	GPS	161010,150406,2248.702,12700.151,0,10000.0,0,-3.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	105.99	SBE_CT	947	24	541.33
Roll_motor	75	47	85.34	AA3830	1227	33	964.27
VBD_pump_during_apogee	273	1419	9250.69	WL_BB2F	1666	105	4165.10
VBD_pump_during_surface	106	568	1446.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	0	0.00	nil	0	0	0.00
Iridium_during_connect	66	0	0.00	nil	0	0	0.00
Iridium_during_xfer	214	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	901	0	0.00
TT8	3463	19	713.17
LPSleep	5219	2	118.88
TT8_Active	492	19	101.41
TT8_Sampling	4466	39	1848.76
TT8_CF8	432	45	205.99
TT8_Kalman	0	0	0.00
Analog_circuits	1752	12	218.75
GPS_charging	0	0	0.00
Compass	3250	15	507.07
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.87	-73.8	0.0	0.0	0	84	0.00	0.00	-63.72	0.000	6	0.000	0.000	112	764	3332	0	0	0	0	0	0
87	-0.87	-73.8	6.8	-14.7	9	104	9.35	0.80	0.00	0.000	4	0.227	0.026	2529	177	3334	0	0	0	0	0	0
343	-0.87	-73.8	97.0	-29.3	56	351	0.00	0.80	0.00	0.000	6	0.000	0.020	2525	881	3335	0	0	0	0	0	0
673	-0.87	-73.8	165.3	-19.3	117	679	0.00	1.00	0.00	0.000	4	0.000	0.039	2525	193	3337	0	0	0	0	0	0
935	-0.87	-73.8	218.2	-21.3	163	942	0.00	0.77	0.00	0.000	6	0.000	0.021	2520	875	3337	0	0	0	0	0	0
1273	-0.87	-73.8	281.3	-15.8	224	1281	0.00	0.98	0.00	0.000	4	0.000	0.040	2520	203	3336	0	0	0	0	0	0
1325	-0.87	-73.8	289.6	-17.5	232	1332	0.00	0.75	0.00	0.000	6	0.000	0.021	2515	857	3336	0	0	0	0	0	0
1665	-0.87	-73.8	342.4	-15.6	293	1672	0.00	1.83	0.00	0.000	4	0.000	0.015	2506	2217	3334	0	0	0	0	0	0
1922	-0.87	-73.8	378.5	-14.2	339	1929	0.12	2.12	0.00	0.000	6	0.178	0.033	2537	766	3333	0	0	0	0	0	0
2261	-0.87	-73.8	424.5	-12.5	400	2269	0.00	2.00	0.00	0.000	4	0.000	0.016	2533	2188	3331	0	0	0	0	0	0
2300	-0.87	-73.8	428.8	-11.7	406	2309	0.00	2.12	0.00	0.000	6	0.000	0.034	2533	776	3331	0	0	0	0	0	0
2641	-0.87	-73.8	473.9	-11.5	467	2648	0.00	1.95	0.00	0.000	4	0.000	0.016	2531	2200	3328	0	0	0	0	0	0
2679	-0.87	-74.0	478.3	-11.1	473	2685	0.00	2.12	0.00	0.000	6	0.000	0.034	2531	774	3328	0	0	0	0	0	0
3019	-0.87	-74.0	519.8	-12.2	520	3023	0.00	0.82	0.00	0.000	4	0.000	0.044	2531	200	3325	0	0	0	0	0	0
3279	-0.87	-74.0	552.7	-12.8	543	3283	0.00	0.75	0.00	0.000	6	0.000	0.022	2526	822	3324	0	0	0	0	0	0
3610	-0.87	-74.0	592.1	-11.4	574	3614	0.00	0.93	0.00	0.000	4	0.000	0.044	2526	195	3321	0	0	0	0	0	0
3866	-0.87	-74.0	625.2	-13.0	588	3870	0.00	0.70	0.00	0.000	6	0.000	0.022	2522	768	3319	0	0	0	0	0	0
4188	-0.87	-74.0	663.0	-11.7	604	4192	0.00	0.85	0.00	0.000	4	0.000	0.044	2522	193	3316	0	0	0	0	0	0
4444	-0.87	-74.0	693.3	-11.4	615	4449	0.00	0.70	0.00	0.000	6	0.000	0.022	2520	761	3313	0	0	0	0	0	0
4767	-0.89	-90.0	724.4	-9.5	631	4771	0.00	0.82	0.00	0.000	4	0.000	0.045	2520	203	3311	0	0	0	0	0	0
4792	-0.89	-93.5	727.0	-10.8	632	4796	0.00	0.70	0.00	0.000	6	0.000	0.024	2519	770	3311	0	0	0	0	0	0
5125	-0.89	-93.5	765.2	-11.9	648	5129	0.00	0.85	0.00	0.000	4	0.000	0.045	2519	197	3308	0	0	0	0	0	0
5262	-0.89	-93.5	782.8	-14.0	654	5266	0.00	0.70	0.00	0.000	6	0.000	0.024	2517	757	3308	0	0	0	0	0	0
5594	-0.89	-93.5	826.6	-13.1	670	5598	0.00	2.00	0.00	0.000	4	0.000	0.019	2518	2156	3304	0	0	0	0	0	0
5678	-0.89	-93.5	836.7	-11.5	673	5685	0.00	2.12	0.00	0.000	6	0.000	0.037	2518	765	3304	0	0	0	0	0	0
5996	-0.89	-93.5	875.0	-11.4	689	6000	0.00	0.85	0.00	0.000	4	0.000	0.047	2518	189	3301	0	0	0	0	0	0
6200	-0.89	-95.7	898.0	-10.9	698	6203	0.00	0.73	0.00	0.000	6	0.000	0.024	2514	755	3300	0	0	0	0	0	0
6536	-0.93	-122.0	929.3	-8.5	714	6539	0.00	2.00	0.00	0.000	4	0.000	0.019	2508	2164	3298	0	0	0	0	0	0
6653	-0.97	-160.0	938.2	-7.3	719	6657	0.00	2.15	0.00	0.000	6	0.000	0.037	2508	761	3297	0	0	0	0	0	0
6977	-1.02	-198.5	962.2	-7.2	735	6981	0.00	0.82	0.00	0.000	4	0.000	0.047	2508	201	3296	0	0	0	0	0	0
7033	-1.06	-228.7	966.7	-7.8	737	7037	0.00	0.73	0.00	0.000	6	0.000	0.024	2505	770	3295	0	0	0	0	0	0
7357	-1.06	-228.7	989.1	-7.0	753	7358	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	770	3293	0	0	0	0	0	0
7517	end dive: TARGET_DEPTH_EXCEEDED
state	7517	begin apogee
7524	-0.14	0.0	1000.4	6.8	761	7581	0.85	0.00	53.40	1.419	4	0.155	0.000	2766	1001	3029	0	0	0	0	0	0
7582	end apogee: CONTROL_FINISHED_OK
state	7582	begin climb
7586	1.06	228.7	1000.4	0.0	763	7784	1.10	2.05	190.30	1.370	4	0.058	0.021	3168	2382	2096	0	0	0	0	0	0
7992	1.06	228.7	914.8	25.4	782	7997	0.00	2.15	0.00	0.000	6	0.000	0.035	3178	992	2087	0	0	0	0	0	0
8320	1.06	228.7	826.6	27.6	798	8323	0.00	1.20	0.00	0.000	4	0.000	0.044	3184	195	2084	0	0	0	0	0	0
8504	1.06	228.7	774.0	28.7	806	8508	0.00	1.12	0.00	0.000	6	0.000	0.024	3184	1002	2082	0	0	0	0	0	0
8831	1.06	228.7	689.6	25.5	822	8835	0.00	2.03	0.00	0.000	4	0.000	0.025	3184	2379	2081	0	0	0	0	0	0
8933	1.06	228.7	664.2	25.2	826	8938	0.12	2.05	0.00	0.000	6	0.203	0.035	3163	1029	2080	0	0	0	0	0	0
9255	1.06	228.7	585.5	25.9	844	9259	0.00	1.98	0.00	0.000	4	0.000	0.023	3164	2395	2080	0	0	0	0	0	0
9363	1.06	228.7	560.9	22.2	853	9369	0.00	2.05	0.00	0.000	6	0.000	0.035	3172	1052	2079	0	0	0	0	0	0
9691	1.06	228.7	484.9	23.3	890	9700	0.00	1.98	0.00	0.000	4	0.000	0.024	3172	2392	2078	0	0	0	0	0	0
9783	1.06	228.7	465.6	21.2	905	9790	0.00	2.00	0.00	0.000	6	0.000	0.034	3181	1053	2077	0	0	0	0	0	0
10124	1.06	228.7	392.2	21.3	966	10133	0.00	1.95	0.00	0.000	4	0.000	0.021	3181	2393	2077	0	0	0	0	0	0
10343	1.06	228.7	347.6	19.7	1005	10350	0.00	1.95	0.00	0.000	6	0.000	0.034	3190	1097	2076	0	0	0	0	0	0
10683	1.06	228.7	277.5	19.4	1066	10691	0.00	1.35	0.00	0.000	4	0.000	0.042	3197	190	2076	0	0	0	0	0	0
10751	1.06	228.7	263.9	22.1	1077	10758	0.10	1.23	0.00	0.000	6	0.187	0.022	3167	1090	2076	0	0	0	0	0	0
11095	1.06	228.7	203.5	17.2	1138	11104	0.00	1.88	0.00	0.000	4	0.000	0.022	3167	2391	2076	0	0	0	0	0	0
11177	1.06	228.7	189.6	15.4	1152	11185	0.00	2.00	0.00	0.000	6	0.000	0.034	3175	1073	2076	0	0	0	0	0	0
11513	1.06	228.7	130.6	18.3	1213	11521	0.00	1.90	0.00	0.000	4	0.000	0.020	3175	2398	2077	0	0	0	0	0	0
11577	1.06	228.7	119.4	17.6	1224	11585	0.00	1.98	0.00	0.000	6	0.000	0.033	3183	1091	2077	0	0	0	0	0	0
11907	1.09	251.0	72.2	8.9	1285	11931	0.00	1.90	15.95	0.670	4	0.000	0.018	3184	2411	2004	0	0	0	0	0	0
11950	1.11	267.7	68.2	9.4	1291	11972	0.00	1.98	14.25	0.651	6	0.000	0.033	3191	1107	1937	0	0	0	0	0	0
12294	1.11	267.7	27.2	11.9	1354	12303	0.00	1.38	0.00	0.000	4	0.000	0.041	3199	187	1934	0	0	0	0	0	0
12457	end climb: SURFACE_DEPTH_REACHED
state	12458	begin surface coast
12480	end surface coast: CONTROL_FINISHED_OK
state	12480	begin surface