Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 703 * 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 703 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 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -20408.34 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 -20408.34

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 42 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 30 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 703 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 130111,042949,-7608.823,17509.936,20,1.7,21,123.5 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 0.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130111,043644,-7608.854,17509.807,13,1.2,13,123.5 MHEAD_RNG_PITCHd_Wd 214.6,8369,-15.8,-11.364

SPEED_LIMITS 0.197,0.325 D_GRID 447

Post-dive calculations and measurements:

FREEZE -0.19,-0.167,-1.028,2,1,0 _24V_AH 21.7,73.146

FINISH -0.2,1.015208 _10V_AH 9.8,28.431

SM_CCo 7270,0.00,0.000,0,0,1909,257.81 FG_AHR_24Vo 0.000

SM_GC 0.92,7.60,0.00,0.00,0.047,0.000,0.000,199,2788,1909,-8.07,0.23,257.81 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,16919.42,130111,020233 MEM 258212

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50325,790

HUMID 52.79 CAP_FILE_SIZE 99091,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,220143616

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.139,163.5,1

ALTIM_TOP_PING 19.3,19.5 GPS 130111,064001,-7608.206,17508.740,56,2.0,57,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 215 87.66 SBE_CT 554 24 288.54

Roll_motor 42 117 107.75 AA4330 961 33 688.28

VBD_pump_during_apogee 416 1021 9229.78 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 27 103 61.04 nil 0 0 0.00

Iridium_during_connect 39 160 138.55 nil 0 0 0.00

Iridium_during_xfer 194 223 942.11 nil 0 0 0.00

Transponder_ping 1 420 11.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.04

TT8 1962 19 380.76

LPSleep 3392 2 72.82

TT8_Active 469 19 91.07

TT8_Sampling 1580 39 616.37

TT8_CF8 284 45 127.91

TT8_Kalman 0 0 0.00

Analog_circuits 1215 12 142.92

GPS_charging 0 0 0.00

Compass 1265 15 185.97

RAFOS 0 0 0.00

Transponder 9 30 2.79

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 0 105 0.00 0.00 -86.25 0.000 2 0.000 0.000 125 2754 3349 0 0 0 0 0 0

108 -0.76 -219.0 3.1 -6.3 14 136 9.45 1.65 -10.75 0.000 4 0.216 0.063 2539 3763 3855 0 0 0 0 0 0

387 -0.76 -219.0 56.8 -16.0 63 394 0.00 1.55 0.00 0.000 6 0.000 0.028 2539 2773 3858 0 0 0 0 0 0

530 -0.76 -219.0 79.8 -16.0 88 537 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2774 3859 0 0 0 0 0 0

672 -0.76 -219.0 102.6 -16.2 112 676 0.00 1.62 0.00 0.000 4 0.000 0.049 2531 3794 3859 0 0 0 0 0 0

720 -0.76 -219.0 110.1 -16.9 116 724 0.00 1.58 0.00 0.000 6 0.000 0.029 2531 2778 3859 0 0 0 0 0 0

861 -0.76 -219.0 133.3 -16.7 129 862 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2778 3859 0 0 0 0 0 0

988 -0.76 -219.0 153.9 -16.2 141 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2778 3859 0 0 0 0 0 0

1118 -0.76 -219.0 174.4 -16.4 153 1121 0.00 1.60 0.00 0.000 4 0.000 0.049 2524 3753 3860 0 0 0 0 0 0

1164 -0.76 -219.0 182.7 -16.9 157 1169 0.08 1.50 0.00 0.000 6 0.130 0.029 2551 2794 3859 0 0 0 0 0 0

1305 -0.76 -219.0 203.1 -14.0 170 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2794 3859 0 0 0 0 0 0

1432 -0.76 -219.0 221.0 -14.3 182 1433 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2794 3860 0 0 0 0 0 0

1559 -0.76 -219.0 238.7 -13.2 194 1563 0.00 1.60 0.00 0.000 4 0.000 0.050 2544 3765 3859 0 0 0 0 0 0

1605 -0.76 -219.0 245.5 -14.0 198 1609 0.00 1.52 0.00 0.000 6 0.000 0.029 2544 2790 3859 0 0 0 0 0 0

1746 -0.76 -219.0 265.3 -14.0 211 1747 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2790 3860 0 0 0 0 0 0

1937 -0.76 -219.0 292.1 -13.8 229 1941 0.00 1.60 0.00 0.000 4 0.000 0.048 2537 3763 3860 0 0 0 0 0 0

1975 -0.76 -219.0 298.2 -15.2 232 1983 0.00 1.50 0.00 0.000 6 0.000 0.029 2537 2803 3859 0 0 0 0 0 0

2174 -0.76 -219.0 326.1 -14.3 251 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2803 3859 0 0 0 0 0 0

2366 -0.76 -219.0 353.0 -14.0 269 2367 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2803 3860 0 0 0 0 0 0

2557 -0.76 -219.0 379.8 -13.8 287 2558 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2803 3859 0 0 0 0 0 0

2748 -0.76 -219.0 406.1 -13.4 305 2751 0.00 1.58 0.00 0.000 4 0.000 0.050 2530 3762 3859 0 0 0 0 0 0

2783 -0.76 -219.0 411.3 -14.6 308 2786 0.00 1.50 0.00 0.000 6 0.000 0.030 2529 2805 3859 0 0 0 0 0 0

2987 -0.76 -219.0 440.4 -14.4 327 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2806 3859 0 0 0 0 0 0

3037 end dive: TARGET_DEPTH_EXCEEDED

state 3037 begin apogee

3043 -0.16 0.0 447.8 14.2 332 3227 0.65 0.00 178.38 1.021 4 0.117 0.000 2746 2687 2959 0 0 0 0 0 0

3228 end apogee: CONTROL_FINISHED_OK

state 3228 begin climb

3230 0.76 219.0 456.8 0.0 348 3439 0.85 0.00 197.93 0.960 6 0.073 0.000 3037 2687 2067 0 0 0 0 0 0

3630 0.76 221.2 423.1 11.3 385 3633 0.00 1.83 0.00 0.000 4 0.000 0.047 3037 3756 2060 0 0 0 0 0 0

3714 0.76 221.2 412.1 13.0 392 3722 0.00 1.70 0.00 0.000 6 0.000 0.030 3043 2718 2058 0 0 1 0 0 0

3912 0.77 223.7 389.7 11.3 411 3922 0.00 0.00 4.28 0.675 6 0.000 0.000 3044 2718 2046 0 0 0 0 0 0

4116 0.77 228.4 367.0 11.2 430 4129 0.00 1.73 5.80 0.780 4 0.000 0.047 3044 3760 2028 0 0 0 0 0 0

4179 0.77 228.4 358.2 13.4 435 4185 0.00 1.65 0.00 0.000 6 0.000 0.031 3051 2704 2027 0 0 0 0 0 0

4377 0.77 228.4 334.5 12.0 454 4378 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2704 2027 0 0 0 0 0 0

4568 0.77 228.4 311.4 12.3 472 4569 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2704 2026 0 0 0 0 0 0

4760 0.77 228.4 288.4 12.2 490 4763 0.00 1.70 0.00 0.000 4 0.000 0.048 3051 3763 2026 0 0 0 0 0 0

4817 0.77 228.4 280.7 13.9 495 4821 0.00 1.62 0.00 0.000 6 0.000 0.031 3058 2696 2026 0 0 1 0 0 0

5021 0.77 228.4 255.4 12.2 514 5025 0.00 1.70 0.00 0.000 4 0.000 0.048 3059 3760 2025 0 0 0 0 0 0

5056 0.77 228.4 250.7 13.7 517 5060 0.00 1.62 0.00 0.000 6 0.000 0.031 3066 2730 2025 0 0 0 0 0 0

5260 0.77 228.4 225.1 12.2 536 5262 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2729 2025 0 0 0 0 0 0

5387 0.77 228.4 209.7 12.0 548 5389 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2729 2025 0 0 0 0 0 0

5515 0.77 228.4 194.7 11.7 560 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2729 2024 0 0 0 0 0 0

5643 0.78 233.0 180.3 11.2 572 5655 0.00 1.67 5.40 0.740 4 0.000 0.047 3066 3760 2010 0 0 0 0 0 0

5691 0.78 233.0 174.2 13.6 576 5694 0.00 1.62 0.00 0.000 6 0.000 0.031 3074 2736 2010 0 0 0 0 0 0

5831 0.78 233.0 156.7 12.6 589 5832 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2734 2010 0 0 0 0 0 0

5959 0.78 233.0 141.0 12.3 601 5960 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2734 2010 0 0 0 0 0 0

6086 0.78 233.0 125.0 12.8 613 6087 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2734 2009 0 0 0 0 0 0

6213 0.78 233.0 109.0 12.6 625 6217 0.00 1.65 0.00 0.000 4 0.000 0.048 3073 3766 2009 0 0 0 0 0 0

6249 0.78 233.0 104.2 15.2 628 6253 0.10 1.62 0.00 0.000 6 0.180 0.031 3053 2735 2009 0 0 0 0 0 0

6390 0.79 240.4 88.2 11.1 650 6403 0.00 0.00 8.45 0.780 6 0.000 0.000 3053 2735 1979 0 0 0 0 0 0

6541 0.81 256.1 72.1 10.8 676 6561 0.00 0.00 16.25 0.792 6 0.000 0.000 3053 2735 1915 0 0 0 0 0 0

6697 0.81 256.1 54.0 11.4 703 6703 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2735 1914 0 0 0 0 0 0

6840 0.81 256.1 37.9 11.4 728 6846 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2735 1913 0 0 0 0 0 0

6981 0.81 256.1 21.1 11.4 753 6989 0.00 1.70 0.00 0.000 4 0.000 0.051 3052 3758 1913 0 0 0 0 0 0

7030 0.81 256.1 14.9 14.1 761 7038 0.00 1.60 0.00 0.000 6 0.000 0.033 3059 2739 1913 0 0 1 0 0 0

7148 end climb: SURFACE_DEPTH_REACHED

state 7148 begin surface coast

7191 end surface coast: CONTROL_FINISHED_OK

state 7191 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	703	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	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-20408.34	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	130111,042949,-7608.823,17509.936,20,1.7,21,123.5	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	0.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130111,043644,-7608.854,17509.807,13,1.2,13,123.5	MHEAD_RNG_PITCHd_Wd	214.6,8369,-15.8,-11.364
SPEED_LIMITS	0.197,0.325	D_GRID	447

FREEZE	-0.19,-0.167,-1.028,2,1,0	_24V_AH	21.7,73.146
FINISH	-0.2,1.015208	_10V_AH	9.8,28.431
SM_CCo	7270,0.00,0.000,0,0,1909,257.81	FG_AHR_24Vo	0.000
SM_GC	0.92,7.60,0.00,0.00,0.047,0.000,0.000,199,2788,1909,-8.07,0.23,257.81	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,16919.42,130111,020233	MEM	258212
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50325,790
HUMID	52.79	CAP_FILE_SIZE	99091,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,220143616
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.139,163.5,1
ALTIM_TOP_PING	19.3,19.5	GPS	130111,064001,-7608.206,17508.740,56,2.0,57,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	215	87.66	SBE_CT	554	24	288.54
Roll_motor	42	117	107.75	AA4330	961	33	688.28
VBD_pump_during_apogee	416	1021	9229.78	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	27	103	61.04	nil	0	0	0.00
Iridium_during_connect	39	160	138.55	nil	0	0	0.00
Iridium_during_xfer	194	223	942.11	nil	0	0	0.00
Transponder_ping	1	420	11.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.04
TT8	1962	19	380.76
LPSleep	3392	2	72.82
TT8_Active	469	19	91.07
TT8_Sampling	1580	39	616.37
TT8_CF8	284	45	127.91
TT8_Kalman	0	0	0.00
Analog_circuits	1215	12	142.92
GPS_charging	0	0	0.00
Compass	1265	15	185.97
RAFOS	0	0	0.00
Transponder	9	30	2.79

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	105	0.00	0.00	-86.25	0.000	2	0.000	0.000	125	2754	3349	0	0	0	0	0	0
108	-0.76	-219.0	3.1	-6.3	14	136	9.45	1.65	-10.75	0.000	4	0.216	0.063	2539	3763	3855	0	0	0	0	0	0
387	-0.76	-219.0	56.8	-16.0	63	394	0.00	1.55	0.00	0.000	6	0.000	0.028	2539	2773	3858	0	0	0	0	0	0
530	-0.76	-219.0	79.8	-16.0	88	537	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2774	3859	0	0	0	0	0	0
672	-0.76	-219.0	102.6	-16.2	112	676	0.00	1.62	0.00	0.000	4	0.000	0.049	2531	3794	3859	0	0	0	0	0	0
720	-0.76	-219.0	110.1	-16.9	116	724	0.00	1.58	0.00	0.000	6	0.000	0.029	2531	2778	3859	0	0	0	0	0	0
861	-0.76	-219.0	133.3	-16.7	129	862	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2778	3859	0	0	0	0	0	0
988	-0.76	-219.0	153.9	-16.2	141	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2778	3859	0	0	0	0	0	0
1118	-0.76	-219.0	174.4	-16.4	153	1121	0.00	1.60	0.00	0.000	4	0.000	0.049	2524	3753	3860	0	0	0	0	0	0
1164	-0.76	-219.0	182.7	-16.9	157	1169	0.08	1.50	0.00	0.000	6	0.130	0.029	2551	2794	3859	0	0	0	0	0	0
1305	-0.76	-219.0	203.1	-14.0	170	1306	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2794	3859	0	0	0	0	0	0
1432	-0.76	-219.0	221.0	-14.3	182	1433	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2794	3860	0	0	0	0	0	0
1559	-0.76	-219.0	238.7	-13.2	194	1563	0.00	1.60	0.00	0.000	4	0.000	0.050	2544	3765	3859	0	0	0	0	0	0
1605	-0.76	-219.0	245.5	-14.0	198	1609	0.00	1.52	0.00	0.000	6	0.000	0.029	2544	2790	3859	0	0	0	0	0	0
1746	-0.76	-219.0	265.3	-14.0	211	1747	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2790	3860	0	0	0	0	0	0
1937	-0.76	-219.0	292.1	-13.8	229	1941	0.00	1.60	0.00	0.000	4	0.000	0.048	2537	3763	3860	0	0	0	0	0	0
1975	-0.76	-219.0	298.2	-15.2	232	1983	0.00	1.50	0.00	0.000	6	0.000	0.029	2537	2803	3859	0	0	0	0	0	0
2174	-0.76	-219.0	326.1	-14.3	251	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2803	3859	0	0	0	0	0	0
2366	-0.76	-219.0	353.0	-14.0	269	2367	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2803	3860	0	0	0	0	0	0
2557	-0.76	-219.0	379.8	-13.8	287	2558	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2803	3859	0	0	0	0	0	0
2748	-0.76	-219.0	406.1	-13.4	305	2751	0.00	1.58	0.00	0.000	4	0.000	0.050	2530	3762	3859	0	0	0	0	0	0
2783	-0.76	-219.0	411.3	-14.6	308	2786	0.00	1.50	0.00	0.000	6	0.000	0.030	2529	2805	3859	0	0	0	0	0	0
2987	-0.76	-219.0	440.4	-14.4	327	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2806	3859	0	0	0	0	0	0
3037	end dive: TARGET_DEPTH_EXCEEDED
state	3037	begin apogee
3043	-0.16	0.0	447.8	14.2	332	3227	0.65	0.00	178.38	1.021	4	0.117	0.000	2746	2687	2959	0	0	0	0	0	0
3228	end apogee: CONTROL_FINISHED_OK
state	3228	begin climb
3230	0.76	219.0	456.8	0.0	348	3439	0.85	0.00	197.93	0.960	6	0.073	0.000	3037	2687	2067	0	0	0	0	0	0
3630	0.76	221.2	423.1	11.3	385	3633	0.00	1.83	0.00	0.000	4	0.000	0.047	3037	3756	2060	0	0	0	0	0	0
3714	0.76	221.2	412.1	13.0	392	3722	0.00	1.70	0.00	0.000	6	0.000	0.030	3043	2718	2058	0	0	1	0	0	0
3912	0.77	223.7	389.7	11.3	411	3922	0.00	0.00	4.28	0.675	6	0.000	0.000	3044	2718	2046	0	0	0	0	0	0
4116	0.77	228.4	367.0	11.2	430	4129	0.00	1.73	5.80	0.780	4	0.000	0.047	3044	3760	2028	0	0	0	0	0	0
4179	0.77	228.4	358.2	13.4	435	4185	0.00	1.65	0.00	0.000	6	0.000	0.031	3051	2704	2027	0	0	0	0	0	0
4377	0.77	228.4	334.5	12.0	454	4378	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2704	2027	0	0	0	0	0	0
4568	0.77	228.4	311.4	12.3	472	4569	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2704	2026	0	0	0	0	0	0
4760	0.77	228.4	288.4	12.2	490	4763	0.00	1.70	0.00	0.000	4	0.000	0.048	3051	3763	2026	0	0	0	0	0	0
4817	0.77	228.4	280.7	13.9	495	4821	0.00	1.62	0.00	0.000	6	0.000	0.031	3058	2696	2026	0	0	1	0	0	0
5021	0.77	228.4	255.4	12.2	514	5025	0.00	1.70	0.00	0.000	4	0.000	0.048	3059	3760	2025	0	0	0	0	0	0
5056	0.77	228.4	250.7	13.7	517	5060	0.00	1.62	0.00	0.000	6	0.000	0.031	3066	2730	2025	0	0	0	0	0	0
5260	0.77	228.4	225.1	12.2	536	5262	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2729	2025	0	0	0	0	0	0
5387	0.77	228.4	209.7	12.0	548	5389	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2729	2025	0	0	0	0	0	0
5515	0.77	228.4	194.7	11.7	560	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2729	2024	0	0	0	0	0	0
5643	0.78	233.0	180.3	11.2	572	5655	0.00	1.67	5.40	0.740	4	0.000	0.047	3066	3760	2010	0	0	0	0	0	0
5691	0.78	233.0	174.2	13.6	576	5694	0.00	1.62	0.00	0.000	6	0.000	0.031	3074	2736	2010	0	0	0	0	0	0
5831	0.78	233.0	156.7	12.6	589	5832	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2734	2010	0	0	0	0	0	0
5959	0.78	233.0	141.0	12.3	601	5960	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2734	2010	0	0	0	0	0	0
6086	0.78	233.0	125.0	12.8	613	6087	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2734	2009	0	0	0	0	0	0
6213	0.78	233.0	109.0	12.6	625	6217	0.00	1.65	0.00	0.000	4	0.000	0.048	3073	3766	2009	0	0	0	0	0	0
6249	0.78	233.0	104.2	15.2	628	6253	0.10	1.62	0.00	0.000	6	0.180	0.031	3053	2735	2009	0	0	0	0	0	0
6390	0.79	240.4	88.2	11.1	650	6403	0.00	0.00	8.45	0.780	6	0.000	0.000	3053	2735	1979	0	0	0	0	0	0
6541	0.81	256.1	72.1	10.8	676	6561	0.00	0.00	16.25	0.792	6	0.000	0.000	3053	2735	1915	0	0	0	0	0	0
6697	0.81	256.1	54.0	11.4	703	6703	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2735	1914	0	0	0	0	0	0
6840	0.81	256.1	37.9	11.4	728	6846	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2735	1913	0	0	0	0	0	0
6981	0.81	256.1	21.1	11.4	753	6989	0.00	1.70	0.00	0.000	4	0.000	0.051	3052	3758	1913	0	0	0	0	0	0
7030	0.81	256.1	14.9	14.1	761	7038	0.00	1.60	0.00	0.000	6	0.000	0.033	3059	2739	1913	0	0	1	0	0	0
7148	end climb: SURFACE_DEPTH_REACHED
state	7148	begin surface coast
7191	end surface coast: CONTROL_FINISHED_OK
state	7191	begin surface