Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 702 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 702 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 220 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 200 CAPUPLOAD 0 VBD_TIMEOUT 360 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 4 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 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -20407.082 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 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 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 225 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 250

AH0_24V 134.3 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 4 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 220

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 4

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -20407.082

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 200

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 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 1.5 T_WATCHDOG 10

C_PITCH 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 225 R_PORT_OVSHOOT 52 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 702 NAV_MODE 2 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 130111,022407,-7609.354,17512.027,26,1.3,32,123.5 TGT_NAME CORNER_NW

_CALLS 1 TGT_LATLONG -7605.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130111,023104,-7609.379,17511.844,12,2.7,31,123.5 MHEAD_RNG_PITCHd_Wd 210.8,9676,-15.8,-11.364

SPEED_LIMITS 0.197,0.325 D_GRID 433

Post-dive calculations and measurements:

FREEZE -0.07,-0.076,-1.886,2,1,0 _24V_AH 21.8,73.018

FINISH -0.1,1.027596 _10V_AH 9.8,28.371

SM_CCo 7035,0.00,0.000,0,0,1658,319.62 FG_AHR_24Vo 0.000

SM_GC 0.77,7.62,0.00,0.00,0.044,0.000,0.000,179,2755,1658,-8.09,-0.71,319.62 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7528.04,17502.98,130111,000043 MEM 258200

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50262,764

HUMID 53.03 CAP_FILE_SIZE 99084,0

INTERNAL_PRESSURE 8.7308 CFSIZE 260165632,220200960

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 0 CURRENT 0.136,172.1,1

ALTIM_TOP_PING 19.5,19.4 GPS 130111,042949,-7608.823,17509.936,20,1.7,21,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 215 88.53 SBE_CT 534 24 279.69

Roll_motor 51 69 78.50 AA4330 940 33 676.67

VBD_pump_during_apogee 473 1009 10424.56 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.17 nil 0 0 0.00

Iridium_during_connect 53 160 187.83 nil 0 0 0.00

Iridium_during_xfer 170 223 829.13 nil 0 0 0.00

Transponder_ping 1 420 11.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.21

TT8 1880 19 364.90

LPSleep 3221 2 69.15

TT8_Active 514 19 99.90

TT8_Sampling 1565 39 610.49

TT8_CF8 275 45 123.60

TT8_Kalman 0 0 0.00

Analog_circuits 1254 12 147.49

GPS_charging 0 0 0.00

Compass 1231 15 180.96

RAFOS 0 0 0.00

Transponder 9 30 2.78

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 -0.76 -219.0 0.0 0.0 0 90 0.00 0.00 -72.00 0.000 2 0.000 0.000 126 2754 3369 0 0 0 0 0 0

94 -0.76 -219.0 3.3 -6.6 12 121 9.48 2.20 -10.15 0.000 4 0.216 0.044 2549 1379 3854 0 0 0 0 0 0

372 -0.76 -219.0 50.7 -14.0 61 379 0.00 2.28 0.00 0.000 6 0.000 0.043 2539 2782 3857 0 0 0 0 0 0

515 -0.76 -219.0 72.6 -15.3 86 522 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2781 3858 0 0 0 0 0 0

657 -0.76 -219.0 94.2 -15.0 111 663 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2782 3858 0 0 0 0 0 0

795 -0.76 -219.0 115.4 -15.6 127 798 0.00 1.60 0.00 0.000 4 0.000 0.050 2532 3764 3858 0 0 0 0 0 0

845 -0.76 -219.0 124.3 -16.4 131 852 0.00 1.52 0.00 0.000 6 0.000 0.029 2532 2782 3858 0 0 0 0 0 0

979 -0.76 -219.0 146.3 -16.2 144 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2782 3858 0 0 0 0 0 0

1107 -0.76 -219.0 167.1 -16.4 156 1111 0.00 1.60 0.00 0.000 4 0.000 0.050 2524 3753 3858 0 0 0 0 0 0

1146 -0.76 -219.0 174.2 -17.0 159 1153 0.00 1.50 0.00 0.000 6 0.000 0.029 2524 2794 3858 0 0 0 0 0 0

1281 -0.76 -219.0 196.4 -17.0 172 1282 0.10 0.00 0.00 0.000 6 0.176 0.000 2551 2794 3858 0 0 0 0 0 0

1409 -0.76 -219.0 215.3 -14.2 184 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2794 3859 0 0 0 0 0 0

1535 -0.76 -219.0 233.3 -14.1 196 1539 0.00 1.60 0.00 0.000 4 0.000 0.049 2545 3768 3859 0 0 0 0 0 0

1585 -0.76 -219.0 240.7 -14.5 200 1592 0.00 1.52 0.00 0.000 6 0.000 0.029 2545 2782 3858 0 0 0 0 0 0

1720 -0.76 -219.0 259.5 -14.0 213 1721 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2782 3858 0 0 0 0 0 0

1912 -0.76 -219.0 286.6 -14.2 231 1916 0.00 1.62 0.00 0.000 4 0.000 0.050 2537 3796 3858 0 0 0 0 0 0

1951 -0.76 -219.0 293.0 -15.2 234 1959 0.00 1.55 0.00 0.000 6 0.000 0.028 2537 2800 3858 0 0 0 0 0 0

2150 -0.76 -219.0 322.0 -14.4 253 2151 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2800 3858 0 0 0 0 0 0

2341 -0.76 -219.0 349.6 -14.3 271 2346 0.00 1.58 0.00 0.000 4 0.000 0.050 2530 3757 3858 0 0 0 0 0 0

2380 -0.76 -219.0 355.5 -14.7 274 2388 0.00 1.50 0.00 0.000 6 0.000 0.029 2530 2803 3858 0 0 0 0 0 0

2578 -0.76 -219.0 384.1 -14.3 293 2579 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2803 3858 0 0 0 0 0 0

2770 -0.76 -219.0 411.6 -14.4 311 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2803 3857 0 0 0 0 0 0

2926 end dive: TARGET_DEPTH_EXCEEDED

state 2926 begin apogee

2933 -0.16 0.0 434.3 14.1 326 3116 0.65 0.00 177.90 1.010 4 0.116 0.000 2747 2683 2960 0 0 0 0 0 0

3117 end apogee: CONTROL_FINISHED_OK

state 3117 begin climb

3120 0.76 219.0 442.6 0.0 342 3324 0.85 0.00 197.77 0.951 6 0.073 0.000 3038 2683 2067 0 0 0 0 0 0

3516 0.76 219.0 408.4 11.5 378 3520 0.00 1.85 0.00 0.000 4 0.000 0.047 3038 3767 2061 0 0 0 0 0 0

3585 0.76 219.0 399.4 13.2 384 3589 0.00 1.73 0.00 0.000 6 0.000 0.030 3045 2722 2059 0 0 1 0 0 0

3789 0.76 219.0 375.5 12.0 403 3790 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2722 2057 0 0 0 0 0 0

3980 0.76 219.0 353.6 11.6 421 3984 0.00 1.70 0.00 0.000 4 0.000 0.049 3045 3770 2056 0 0 0 0 0 0

4027 0.76 219.0 347.8 13.3 425 4031 0.00 1.67 0.00 0.000 6 0.000 0.031 3053 2712 2056 0 0 1 0 0 0

4231 0.76 219.0 323.4 11.9 444 4232 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2711 2056 0 0 0 0 0 0

4421 0.76 219.0 300.2 12.1 462 4425 0.00 1.70 0.00 0.000 4 0.000 0.050 3053 3766 2055 0 0 0 0 0 0

4479 0.76 219.0 292.6 13.9 467 4483 0.00 1.65 0.00 0.000 6 0.000 0.030 3061 2699 2055 0 0 0 0 0 0

4683 0.76 219.0 267.3 12.4 486 4684 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2698 2055 0 0 0 0 0 0

4874 0.76 219.0 243.6 12.2 504 4878 0.00 1.70 0.00 0.000 4 0.000 0.048 3061 3763 2055 0 0 0 0 0 0

4943 0.76 219.0 234.2 14.8 510 4947 0.00 1.62 0.00 0.000 6 0.000 0.030 3070 2734 2054 0 0 0 0 0 0

5083 0.76 219.0 215.9 12.6 523 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2732 2054 0 0 0 0 0 0

5211 0.76 219.0 199.6 12.7 535 5214 0.00 1.65 0.00 0.000 4 0.000 0.049 3070 3767 2054 0 0 0 0 0 0

5257 0.76 219.0 193.2 14.8 539 5262 0.12 1.62 0.00 0.000 6 0.166 0.030 3042 2734 2054 0 0 0 0 0 0

5398 0.78 231.3 177.5 10.9 552 5409 0.00 0.00 9.75 0.826 6 0.000 0.000 3042 2734 2017 0 0 0 0 0 0

5535 0.78 236.3 162.5 11.2 565 5544 0.00 0.00 6.78 0.766 6 0.000 0.000 3042 2734 1995 0 0 0 0 0 0

5671 0.80 251.4 147.5 10.8 578 5695 0.00 1.70 15.45 0.825 4 0.000 0.051 3042 3757 1935 0 0 1 0 0 0

5745 0.80 251.4 138.4 12.9 584 5753 0.00 1.62 0.00 0.000 6 0.000 0.031 3047 2739 1935 0 0 0 0 0 0

5881 0.81 254.7 123.3 11.2 597 5890 0.00 0.00 5.03 0.681 6 0.000 0.000 3047 2738 1921 0 0 0 0 0 0

6017 0.81 256.7 107.7 11.3 610 6018 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2739 1920 0 0 0 0 0 0

6147 0.82 264.0 93.6 11.1 627 6161 0.00 0.00 9.80 0.777 6 0.000 0.000 3048 2738 1883 0 0 0 0 0 0

6300 0.85 287.3 77.2 10.5 653 6326 0.00 1.73 22.50 0.790 4 0.000 0.050 3047 3763 1788 0 0 1 0 0 0

6374 0.85 287.3 68.2 12.7 665 6381 0.00 1.60 0.00 0.000 6 0.000 0.031 3052 2750 1788 0 0 1 0 0 0

6518 0.86 295.0 52.1 11.1 690 6532 0.00 2.40 8.32 0.728 4 0.000 0.035 3063 1293 1757 0 0 0 0 0 0

6563 0.87 307.4 47.1 10.9 697 6582 0.00 2.38 12.70 0.746 6 0.000 0.043 3063 2748 1706 0 0 0 0 0 0

6717 0.87 307.4 27.9 12.0 724 6725 0.00 1.65 0.00 0.000 4 0.000 0.050 3063 3748 1706 0 0 0 0 0 0

6772 0.87 307.4 20.5 14.3 733 6782 0.00 1.55 0.00 0.000 6 0.000 0.029 3064 2756 1706 0 0 1 0 0 0

6918 0.89 326.2 3.4 10.7 758 6928 0.00 0.00 7.55 0.695 2 0.000 0.000 3064 2756 1658 0 0 0 0 0 0

6928 end climb: SURFACE_DEPTH_REACHED

state 6928 begin surface coast

6957 end surface coast: CONTROL_FINISHED_OK

state 6957 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	702	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	220	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	200	CAPUPLOAD	0	VBD_TIMEOUT	360	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	4	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	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-20407.082	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	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	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	225	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	2	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	130111,022407,-7609.354,17512.027,26,1.3,32,123.5	TGT_NAME	CORNER_NW
_CALLS	1	TGT_LATLONG	-7605.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130111,023104,-7609.379,17511.844,12,2.7,31,123.5	MHEAD_RNG_PITCHd_Wd	210.8,9676,-15.8,-11.364
SPEED_LIMITS	0.197,0.325	D_GRID	433

FREEZE	-0.07,-0.076,-1.886,2,1,0	_24V_AH	21.8,73.018
FINISH	-0.1,1.027596	_10V_AH	9.8,28.371
SM_CCo	7035,0.00,0.000,0,0,1658,319.62	FG_AHR_24Vo	0.000
SM_GC	0.77,7.62,0.00,0.00,0.044,0.000,0.000,179,2755,1658,-8.09,-0.71,319.62	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7528.04,17502.98,130111,000043	MEM	258200
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50262,764
HUMID	53.03	CAP_FILE_SIZE	99084,0
INTERNAL_PRESSURE	8.7308	CFSIZE	260165632,220200960
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	0	CURRENT	0.136,172.1,1
ALTIM_TOP_PING	19.5,19.4	GPS	130111,042949,-7608.823,17509.936,20,1.7,21,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	215	88.53	SBE_CT	534	24	279.69
Roll_motor	51	69	78.50	AA4330	940	33	676.67
VBD_pump_during_apogee	473	1009	10424.56	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.17	nil	0	0	0.00
Iridium_during_connect	53	160	187.83	nil	0	0	0.00
Iridium_during_xfer	170	223	829.13	nil	0	0	0.00
Transponder_ping	1	420	11.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.21
TT8	1880	19	364.90
LPSleep	3221	2	69.15
TT8_Active	514	19	99.90
TT8_Sampling	1565	39	610.49
TT8_CF8	275	45	123.60
TT8_Kalman	0	0	0.00
Analog_circuits	1254	12	147.49
GPS_charging	0	0	0.00
Compass	1231	15	180.96
RAFOS	0	0	0.00
Transponder	9	30	2.78

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	-0.76	-219.0	0.0	0.0	0	90	0.00	0.00	-72.00	0.000	2	0.000	0.000	126	2754	3369	0	0	0	0	0	0
94	-0.76	-219.0	3.3	-6.6	12	121	9.48	2.20	-10.15	0.000	4	0.216	0.044	2549	1379	3854	0	0	0	0	0	0
372	-0.76	-219.0	50.7	-14.0	61	379	0.00	2.28	0.00	0.000	6	0.000	0.043	2539	2782	3857	0	0	0	0	0	0
515	-0.76	-219.0	72.6	-15.3	86	522	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2781	3858	0	0	0	0	0	0
657	-0.76	-219.0	94.2	-15.0	111	663	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2782	3858	0	0	0	0	0	0
795	-0.76	-219.0	115.4	-15.6	127	798	0.00	1.60	0.00	0.000	4	0.000	0.050	2532	3764	3858	0	0	0	0	0	0
845	-0.76	-219.0	124.3	-16.4	131	852	0.00	1.52	0.00	0.000	6	0.000	0.029	2532	2782	3858	0	0	0	0	0	0
979	-0.76	-219.0	146.3	-16.2	144	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2782	3858	0	0	0	0	0	0
1107	-0.76	-219.0	167.1	-16.4	156	1111	0.00	1.60	0.00	0.000	4	0.000	0.050	2524	3753	3858	0	0	0	0	0	0
1146	-0.76	-219.0	174.2	-17.0	159	1153	0.00	1.50	0.00	0.000	6	0.000	0.029	2524	2794	3858	0	0	0	0	0	0
1281	-0.76	-219.0	196.4	-17.0	172	1282	0.10	0.00	0.00	0.000	6	0.176	0.000	2551	2794	3858	0	0	0	0	0	0
1409	-0.76	-219.0	215.3	-14.2	184	1410	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2794	3859	0	0	0	0	0	0
1535	-0.76	-219.0	233.3	-14.1	196	1539	0.00	1.60	0.00	0.000	4	0.000	0.049	2545	3768	3859	0	0	0	0	0	0
1585	-0.76	-219.0	240.7	-14.5	200	1592	0.00	1.52	0.00	0.000	6	0.000	0.029	2545	2782	3858	0	0	0	0	0	0
1720	-0.76	-219.0	259.5	-14.0	213	1721	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2782	3858	0	0	0	0	0	0
1912	-0.76	-219.0	286.6	-14.2	231	1916	0.00	1.62	0.00	0.000	4	0.000	0.050	2537	3796	3858	0	0	0	0	0	0
1951	-0.76	-219.0	293.0	-15.2	234	1959	0.00	1.55	0.00	0.000	6	0.000	0.028	2537	2800	3858	0	0	0	0	0	0
2150	-0.76	-219.0	322.0	-14.4	253	2151	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2800	3858	0	0	0	0	0	0
2341	-0.76	-219.0	349.6	-14.3	271	2346	0.00	1.58	0.00	0.000	4	0.000	0.050	2530	3757	3858	0	0	0	0	0	0
2380	-0.76	-219.0	355.5	-14.7	274	2388	0.00	1.50	0.00	0.000	6	0.000	0.029	2530	2803	3858	0	0	0	0	0	0
2578	-0.76	-219.0	384.1	-14.3	293	2579	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2803	3858	0	0	0	0	0	0
2770	-0.76	-219.0	411.6	-14.4	311	2771	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2803	3857	0	0	0	0	0	0
2926	end dive: TARGET_DEPTH_EXCEEDED
state	2926	begin apogee
2933	-0.16	0.0	434.3	14.1	326	3116	0.65	0.00	177.90	1.010	4	0.116	0.000	2747	2683	2960	0	0	0	0	0	0
3117	end apogee: CONTROL_FINISHED_OK
state	3117	begin climb
3120	0.76	219.0	442.6	0.0	342	3324	0.85	0.00	197.77	0.951	6	0.073	0.000	3038	2683	2067	0	0	0	0	0	0
3516	0.76	219.0	408.4	11.5	378	3520	0.00	1.85	0.00	0.000	4	0.000	0.047	3038	3767	2061	0	0	0	0	0	0
3585	0.76	219.0	399.4	13.2	384	3589	0.00	1.73	0.00	0.000	6	0.000	0.030	3045	2722	2059	0	0	1	0	0	0
3789	0.76	219.0	375.5	12.0	403	3790	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2722	2057	0	0	0	0	0	0
3980	0.76	219.0	353.6	11.6	421	3984	0.00	1.70	0.00	0.000	4	0.000	0.049	3045	3770	2056	0	0	0	0	0	0
4027	0.76	219.0	347.8	13.3	425	4031	0.00	1.67	0.00	0.000	6	0.000	0.031	3053	2712	2056	0	0	1	0	0	0
4231	0.76	219.0	323.4	11.9	444	4232	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2711	2056	0	0	0	0	0	0
4421	0.76	219.0	300.2	12.1	462	4425	0.00	1.70	0.00	0.000	4	0.000	0.050	3053	3766	2055	0	0	0	0	0	0
4479	0.76	219.0	292.6	13.9	467	4483	0.00	1.65	0.00	0.000	6	0.000	0.030	3061	2699	2055	0	0	0	0	0	0
4683	0.76	219.0	267.3	12.4	486	4684	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2698	2055	0	0	0	0	0	0
4874	0.76	219.0	243.6	12.2	504	4878	0.00	1.70	0.00	0.000	4	0.000	0.048	3061	3763	2055	0	0	0	0	0	0
4943	0.76	219.0	234.2	14.8	510	4947	0.00	1.62	0.00	0.000	6	0.000	0.030	3070	2734	2054	0	0	0	0	0	0
5083	0.76	219.0	215.9	12.6	523	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	2732	2054	0	0	0	0	0	0
5211	0.76	219.0	199.6	12.7	535	5214	0.00	1.65	0.00	0.000	4	0.000	0.049	3070	3767	2054	0	0	0	0	0	0
5257	0.76	219.0	193.2	14.8	539	5262	0.12	1.62	0.00	0.000	6	0.166	0.030	3042	2734	2054	0	0	0	0	0	0
5398	0.78	231.3	177.5	10.9	552	5409	0.00	0.00	9.75	0.826	6	0.000	0.000	3042	2734	2017	0	0	0	0	0	0
5535	0.78	236.3	162.5	11.2	565	5544	0.00	0.00	6.78	0.766	6	0.000	0.000	3042	2734	1995	0	0	0	0	0	0
5671	0.80	251.4	147.5	10.8	578	5695	0.00	1.70	15.45	0.825	4	0.000	0.051	3042	3757	1935	0	0	1	0	0	0
5745	0.80	251.4	138.4	12.9	584	5753	0.00	1.62	0.00	0.000	6	0.000	0.031	3047	2739	1935	0	0	0	0	0	0
5881	0.81	254.7	123.3	11.2	597	5890	0.00	0.00	5.03	0.681	6	0.000	0.000	3047	2738	1921	0	0	0	0	0	0
6017	0.81	256.7	107.7	11.3	610	6018	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2739	1920	0	0	0	0	0	0
6147	0.82	264.0	93.6	11.1	627	6161	0.00	0.00	9.80	0.777	6	0.000	0.000	3048	2738	1883	0	0	0	0	0	0
6300	0.85	287.3	77.2	10.5	653	6326	0.00	1.73	22.50	0.790	4	0.000	0.050	3047	3763	1788	0	0	1	0	0	0
6374	0.85	287.3	68.2	12.7	665	6381	0.00	1.60	0.00	0.000	6	0.000	0.031	3052	2750	1788	0	0	1	0	0	0
6518	0.86	295.0	52.1	11.1	690	6532	0.00	2.40	8.32	0.728	4	0.000	0.035	3063	1293	1757	0	0	0	0	0	0
6563	0.87	307.4	47.1	10.9	697	6582	0.00	2.38	12.70	0.746	6	0.000	0.043	3063	2748	1706	0	0	0	0	0	0
6717	0.87	307.4	27.9	12.0	724	6725	0.00	1.65	0.00	0.000	4	0.000	0.050	3063	3748	1706	0	0	0	0	0	0
6772	0.87	307.4	20.5	14.3	733	6782	0.00	1.55	0.00	0.000	6	0.000	0.029	3064	2756	1706	0	0	1	0	0	0
6918	0.89	326.2	3.4	10.7	758	6928	0.00	0.00	7.55	0.695	2	0.000	0.000	3064	2756	1658	0	0	0	0	0	0
6928	end climb: SURFACE_DEPTH_REACHED
state	6928	begin surface coast
6957	end surface coast: CONTROL_FINISHED_OK
state	6957	begin surface