Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 756 * 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 756 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 48 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 42 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 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 300 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 -20477.533 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 175 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 250

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 -20477.533

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 300

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 175 R_PORT_OVSHOOT 48 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 42 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 756 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 170111,082944,-7615.726,17632.498,29,1.7,30,122.1 TGT_NAME CORNER_SW

_CALLS 1 TGT_LATLONG -7655.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170111,083614,-7615.747,17632.518,9,1.9,9,122.1 MHEAD_RNG_PITCHd_Wd 116.0,82397,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 375

Post-dive calculations and measurements:

FREEZE -0.05,-0.374,-1.876,2,1,0 _24V_AH 21.9,79.853

FINISH -0.0,1.027477 _10V_AH 9.8,31.310

SM_CCo 6857,0.00,0.000,0,0,1796,285.52 FG_AHR_24Vo 0.000

SM_GC 1.03,7.57,0.00,0.00,0.041,0.000,0.000,182,2757,1796,-8.10,-0.65,285.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7528.04,17632.72,170111,060619 MEM 258192

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50257,753

HUMID 52.36 CAP_FILE_SIZE 97807,0

INTERNAL_PRESSURE 8.74057 CFSIZE 260165632,217518080

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.137,154.3,1

ALTIM_TOP_PING 19.9,20.7 GPS 170111,103236,-7616.659,17629.908,56,1.1,57,122.2

ALTIM_BOTTOM_PING 351.0,80.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 82.47 SBE_CT 526 24 276.95

Roll_motor 52 97 113.17 AA4330 970 33 701.62

VBD_pump_during_apogee 405 977 8671.98 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 28 103 63.21 nil 0 0 0.00

Iridium_during_connect 42 160 147.47 nil 0 0 0.00

Iridium_during_xfer 175 223 859.50 nil 0 0 0.00

Transponder_ping 1 420 11.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.73

TT8 1856 19 360.18

LPSleep 3091 2 66.36

TT8_Active 497 19 96.51

TT8_Sampling 1503 39 586.25

TT8_CF8 301 45 135.15

TT8_Kalman 0 0 0.00

Analog_circuits 1213 12 142.72

GPS_charging 0 0 0.00

Compass 1207 15 177.52

RAFOS 0 0 0.00

Transponder 10 30 3.14

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 -0.71 -170.3 0.0 0.0 0 89 0.00 0.00 -70.88 0.000 2 0.000 0.000 161 2803 3407 0 0 0 0 0 0

93 -0.71 -170.3 3.2 -6.1 12 115 9.23 2.33 -5.43 0.000 4 0.206 0.044 2568 1367 3658 0 0 1 0 0 0

188 -0.71 -170.3 23.2 -12.7 28 195 0.00 2.28 0.00 0.000 6 0.000 0.042 2562 2767 3661 0 0 0 0 0 0

330 -0.71 -170.3 42.3 -14.1 53 336 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2767 3662 0 0 0 0 0 0

471 -0.71 -170.3 62.6 -14.4 78 479 0.00 1.62 0.00 0.000 4 0.000 0.050 2562 3760 3662 0 0 0 0 0 0

519 -0.71 -170.3 69.8 -14.6 86 527 0.00 1.52 0.00 0.000 6 0.000 0.029 2562 2785 3662 0 0 0 0 0 0

662 -0.71 -170.3 88.8 -12.8 111 669 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3662 0 0 0 0 0 0

803 -0.71 -170.3 107.5 -13.1 131 804 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3662 0 0 0 0 0 0

930 -0.71 -170.3 124.3 -13.3 143 931 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3662 0 0 0 0 0 0

1058 -0.71 -170.3 141.6 -13.1 155 1060 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3663 0 0 0 0 0 0

1185 -0.71 -170.3 159.0 -13.7 167 1186 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2785 3663 0 0 0 0 0 0

1313 -0.71 -170.3 175.9 -13.0 179 1314 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3663 0 0 0 0 0 0

1441 -0.71 -170.3 192.6 -13.6 191 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3663 0 0 0 0 0 0

1567 -0.71 -170.3 209.6 -13.2 203 1568 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2785 3663 0 0 0 0 0 0

1694 -0.71 -170.3 225.9 -12.8 215 1696 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3663 0 0 0 0 0 0

1823 -0.71 -170.3 241.8 -12.4 227 1827 0.00 1.62 0.00 0.000 4 0.000 0.050 2556 3766 3663 0 0 0 0 0 0

1862 -0.71 -170.3 247.2 -13.1 230 1869 0.00 1.55 0.00 0.000 6 0.000 0.029 2556 2780 3662 0 0 0 0 0 0

1996 -0.71 -170.3 264.5 -13.0 243 1998 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2779 3663 0 0 0 0 0 0

2189 -0.71 -170.3 290.0 -13.1 261 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2780 3663 0 0 0 0 0 0

2379 -0.71 -170.3 314.5 -12.4 279 2380 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2780 3663 0 0 0 0 0 0

2570 -0.71 -170.3 338.1 -12.4 297 2573 0.00 1.62 0.00 0.000 4 0.000 0.050 2548 3763 3663 0 0 1 0 0 0

2621 -0.71 -170.3 344.8 -13.2 301 2627 0.00 1.55 0.00 0.000 6 0.000 0.029 2548 2778 3663 0 0 0 0 0 0

2820 -0.71 -170.3 369.7 -12.5 320 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2778 3662 0 0 0 0 0 0

2869 end dive: TARGET_DEPTH_EXCEEDED

state 2869 begin apogee

2877 -0.16 0.0 376.3 12.5 325 3023 0.57 0.00 138.93 0.978 4 0.118 0.000 2741 2688 2958 0 0 0 0 0 0

3024 end apogee: CONTROL_FINISHED_OK

state 3024 begin climb

3027 0.71 170.3 382.3 0.0 338 3187 0.85 2.33 150.57 0.925 4 0.074 0.031 3025 1310 2265 0 0 0 0 0 0

3349 0.72 180.2 360.8 9.6 366 3368 0.00 2.40 9.07 0.814 6 0.000 0.041 3025 2702 2225 0 0 0 0 0 0

3562 0.72 180.2 339.3 10.3 386 3566 0.00 2.28 0.00 0.000 4 0.000 0.033 3036 1309 2222 0 0 0 0 0 0

3747 0.73 184.9 320.9 9.8 402 3761 0.00 2.30 5.22 0.729 6 0.000 0.041 3036 2717 2206 0 0 0 0 0 0

3954 0.73 185.5 300.4 10.0 421 3957 0.00 1.67 0.00 0.000 4 0.000 0.049 3036 3764 2205 0 0 0 0 0 0

4004 0.73 185.5 294.1 12.0 425 4011 0.00 1.65 0.00 0.000 6 0.000 0.030 3043 2705 2205 0 0 0 0 0 0

4204 0.73 185.5 273.7 10.0 444 4207 0.00 1.70 0.00 0.000 4 0.000 0.048 3044 3764 2204 0 0 0 0 0 0

4253 0.73 185.5 267.5 12.2 448 4260 0.00 1.65 0.00 0.000 6 0.000 0.031 3051 2728 2204 0 0 0 0 0 0

4453 0.73 185.5 247.0 10.2 467 4454 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2728 2204 0 0 0 0 0 0

4579 0.73 185.5 233.7 10.5 479 4582 0.00 1.67 0.00 0.000 4 0.000 0.048 3052 3769 2204 0 0 0 0 0 0

4617 0.73 185.5 228.6 12.6 482 4625 0.00 1.62 0.00 0.000 6 0.000 0.030 3059 2745 2203 0 0 0 0 0 0

4753 0.73 185.5 213.9 11.1 495 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2745 2203 0 0 0 0 0 0

4879 0.73 185.5 200.6 10.4 507 4880 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2746 2203 0 0 0 0 0 0

5007 0.73 185.5 187.1 10.5 519 5010 0.00 1.67 0.00 0.000 4 0.000 0.049 3059 3758 2203 0 0 0 0 0 0

5046 0.73 185.5 182.2 12.4 522 5055 0.08 1.60 0.00 0.000 6 0.145 0.031 3039 2756 2203 0 0 0 0 0 0

5182 0.73 189.1 168.8 9.9 535 5191 0.00 0.00 4.97 0.712 6 0.000 0.000 3039 2756 2189 0 0 0 0 0 0

5318 0.76 206.6 156.0 9.3 548 5338 0.00 0.00 17.67 0.839 6 0.000 0.000 3039 2756 2117 0 0 0 0 0 0

5467 0.78 222.9 142.0 9.4 562 5486 0.00 0.00 15.95 0.817 6 0.000 0.000 3040 2756 2051 0 0 0 0 0 0

5613 0.79 237.4 127.7 9.4 576 5633 0.00 0.00 14.57 0.802 6 0.000 0.000 3040 2756 1991 0 0 0 0 0 0

5762 0.81 249.2 113.7 9.5 590 5780 0.00 0.00 11.88 0.781 6 0.000 0.000 3040 2756 1944 0 0 0 0 0 0

5908 0.83 263.0 99.6 9.5 604 5928 0.00 0.00 14.07 0.781 6 0.000 0.000 3039 2756 1886 0 0 0 0 0 0

6066 0.84 270.7 84.4 9.7 631 6080 0.00 2.42 8.40 0.737 4 0.000 0.034 3050 1294 1856 0 0 0 0 0 0

6109 0.85 284.6 80.0 9.5 638 6130 0.00 2.40 13.70 0.760 6 0.000 0.042 3050 2762 1799 0 0 0 0 0 0

6264 0.85 284.6 63.2 11.8 665 6271 0.00 1.65 0.00 0.000 4 0.000 0.050 3049 3759 1799 0 0 0 0 0 0

6295 0.85 284.6 59.2 13.2 670 6303 0.00 1.60 0.00 0.000 6 0.000 0.031 3056 2763 1799 0 0 0 0 0 0

6441 0.85 284.6 41.7 11.9 695 6449 0.00 2.35 0.00 0.000 4 0.000 0.034 3067 1295 1799 0 0 0 0 0 0

6474 0.85 284.6 37.6 11.5 700 6481 0.00 2.38 0.00 0.000 6 0.000 0.042 3067 2758 1799 0 0 0 0 0 0

6617 0.85 284.6 20.6 12.3 725 6625 0.00 1.65 0.00 0.000 4 0.000 0.049 3066 3763 1799 0 0 0 0 0 0

6648 0.85 284.6 16.6 13.7 730 6656 0.00 1.60 0.00 0.000 6 0.000 0.030 3075 2758 1799 0 0 0 0 0 0

6756 end climb: SURFACE_DEPTH_REACHED

state 6756 begin surface coast

6779 end surface coast: CONTROL_FINISHED_OK

state 6779 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	756	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	48	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	42	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	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	300	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	-20477.533	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	175	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	170111,082944,-7615.726,17632.498,29,1.7,30,122.1	TGT_NAME	CORNER_SW
_CALLS	1	TGT_LATLONG	-7655.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170111,083614,-7615.747,17632.518,9,1.9,9,122.1	MHEAD_RNG_PITCHd_Wd	116.0,82397,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	375

FREEZE	-0.05,-0.374,-1.876,2,1,0	_24V_AH	21.9,79.853
FINISH	-0.0,1.027477	_10V_AH	9.8,31.310
SM_CCo	6857,0.00,0.000,0,0,1796,285.52	FG_AHR_24Vo	0.000
SM_GC	1.03,7.57,0.00,0.00,0.041,0.000,0.000,182,2757,1796,-8.10,-0.65,285.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7528.04,17632.72,170111,060619	MEM	258192
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50257,753
HUMID	52.36	CAP_FILE_SIZE	97807,0
INTERNAL_PRESSURE	8.74057	CFSIZE	260165632,217518080
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.137,154.3,1
ALTIM_TOP_PING	19.9,20.7	GPS	170111,103236,-7616.659,17629.908,56,1.1,57,122.2
ALTIM_BOTTOM_PING	351.0,80.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	82.47	SBE_CT	526	24	276.95
Roll_motor	52	97	113.17	AA4330	970	33	701.62
VBD_pump_during_apogee	405	977	8671.98	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	28	103	63.21	nil	0	0	0.00
Iridium_during_connect	42	160	147.47	nil	0	0	0.00
Iridium_during_xfer	175	223	859.50	nil	0	0	0.00
Transponder_ping	1	420	11.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.73
TT8	1856	19	360.18
LPSleep	3091	2	66.36
TT8_Active	497	19	96.51
TT8_Sampling	1503	39	586.25
TT8_CF8	301	45	135.15
TT8_Kalman	0	0	0.00
Analog_circuits	1213	12	142.72
GPS_charging	0	0	0.00
Compass	1207	15	177.52
RAFOS	0	0	0.00
Transponder	10	30	3.14

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	-0.71	-170.3	0.0	0.0	0	89	0.00	0.00	-70.88	0.000	2	0.000	0.000	161	2803	3407	0	0	0	0	0	0
93	-0.71	-170.3	3.2	-6.1	12	115	9.23	2.33	-5.43	0.000	4	0.206	0.044	2568	1367	3658	0	0	1	0	0	0
188	-0.71	-170.3	23.2	-12.7	28	195	0.00	2.28	0.00	0.000	6	0.000	0.042	2562	2767	3661	0	0	0	0	0	0
330	-0.71	-170.3	42.3	-14.1	53	336	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2767	3662	0	0	0	0	0	0
471	-0.71	-170.3	62.6	-14.4	78	479	0.00	1.62	0.00	0.000	4	0.000	0.050	2562	3760	3662	0	0	0	0	0	0
519	-0.71	-170.3	69.8	-14.6	86	527	0.00	1.52	0.00	0.000	6	0.000	0.029	2562	2785	3662	0	0	0	0	0	0
662	-0.71	-170.3	88.8	-12.8	111	669	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3662	0	0	0	0	0	0
803	-0.71	-170.3	107.5	-13.1	131	804	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3662	0	0	0	0	0	0
930	-0.71	-170.3	124.3	-13.3	143	931	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3662	0	0	0	0	0	0
1058	-0.71	-170.3	141.6	-13.1	155	1060	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3663	0	0	0	0	0	0
1185	-0.71	-170.3	159.0	-13.7	167	1186	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2785	3663	0	0	0	0	0	0
1313	-0.71	-170.3	175.9	-13.0	179	1314	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3663	0	0	0	0	0	0
1441	-0.71	-170.3	192.6	-13.6	191	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3663	0	0	0	0	0	0
1567	-0.71	-170.3	209.6	-13.2	203	1568	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2785	3663	0	0	0	0	0	0
1694	-0.71	-170.3	225.9	-12.8	215	1696	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3663	0	0	0	0	0	0
1823	-0.71	-170.3	241.8	-12.4	227	1827	0.00	1.62	0.00	0.000	4	0.000	0.050	2556	3766	3663	0	0	0	0	0	0
1862	-0.71	-170.3	247.2	-13.1	230	1869	0.00	1.55	0.00	0.000	6	0.000	0.029	2556	2780	3662	0	0	0	0	0	0
1996	-0.71	-170.3	264.5	-13.0	243	1998	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2779	3663	0	0	0	0	0	0
2189	-0.71	-170.3	290.0	-13.1	261	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2780	3663	0	0	0	0	0	0
2379	-0.71	-170.3	314.5	-12.4	279	2380	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2780	3663	0	0	0	0	0	0
2570	-0.71	-170.3	338.1	-12.4	297	2573	0.00	1.62	0.00	0.000	4	0.000	0.050	2548	3763	3663	0	0	1	0	0	0
2621	-0.71	-170.3	344.8	-13.2	301	2627	0.00	1.55	0.00	0.000	6	0.000	0.029	2548	2778	3663	0	0	0	0	0	0
2820	-0.71	-170.3	369.7	-12.5	320	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2778	3662	0	0	0	0	0	0
2869	end dive: TARGET_DEPTH_EXCEEDED
state	2869	begin apogee
2877	-0.16	0.0	376.3	12.5	325	3023	0.57	0.00	138.93	0.978	4	0.118	0.000	2741	2688	2958	0	0	0	0	0	0
3024	end apogee: CONTROL_FINISHED_OK
state	3024	begin climb
3027	0.71	170.3	382.3	0.0	338	3187	0.85	2.33	150.57	0.925	4	0.074	0.031	3025	1310	2265	0	0	0	0	0	0
3349	0.72	180.2	360.8	9.6	366	3368	0.00	2.40	9.07	0.814	6	0.000	0.041	3025	2702	2225	0	0	0	0	0	0
3562	0.72	180.2	339.3	10.3	386	3566	0.00	2.28	0.00	0.000	4	0.000	0.033	3036	1309	2222	0	0	0	0	0	0
3747	0.73	184.9	320.9	9.8	402	3761	0.00	2.30	5.22	0.729	6	0.000	0.041	3036	2717	2206	0	0	0	0	0	0
3954	0.73	185.5	300.4	10.0	421	3957	0.00	1.67	0.00	0.000	4	0.000	0.049	3036	3764	2205	0	0	0	0	0	0
4004	0.73	185.5	294.1	12.0	425	4011	0.00	1.65	0.00	0.000	6	0.000	0.030	3043	2705	2205	0	0	0	0	0	0
4204	0.73	185.5	273.7	10.0	444	4207	0.00	1.70	0.00	0.000	4	0.000	0.048	3044	3764	2204	0	0	0	0	0	0
4253	0.73	185.5	267.5	12.2	448	4260	0.00	1.65	0.00	0.000	6	0.000	0.031	3051	2728	2204	0	0	0	0	0	0
4453	0.73	185.5	247.0	10.2	467	4454	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2728	2204	0	0	0	0	0	0
4579	0.73	185.5	233.7	10.5	479	4582	0.00	1.67	0.00	0.000	4	0.000	0.048	3052	3769	2204	0	0	0	0	0	0
4617	0.73	185.5	228.6	12.6	482	4625	0.00	1.62	0.00	0.000	6	0.000	0.030	3059	2745	2203	0	0	0	0	0	0
4753	0.73	185.5	213.9	11.1	495	4754	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2745	2203	0	0	0	0	0	0
4879	0.73	185.5	200.6	10.4	507	4880	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2746	2203	0	0	0	0	0	0
5007	0.73	185.5	187.1	10.5	519	5010	0.00	1.67	0.00	0.000	4	0.000	0.049	3059	3758	2203	0	0	0	0	0	0
5046	0.73	185.5	182.2	12.4	522	5055	0.08	1.60	0.00	0.000	6	0.145	0.031	3039	2756	2203	0	0	0	0	0	0
5182	0.73	189.1	168.8	9.9	535	5191	0.00	0.00	4.97	0.712	6	0.000	0.000	3039	2756	2189	0	0	0	0	0	0
5318	0.76	206.6	156.0	9.3	548	5338	0.00	0.00	17.67	0.839	6	0.000	0.000	3039	2756	2117	0	0	0	0	0	0
5467	0.78	222.9	142.0	9.4	562	5486	0.00	0.00	15.95	0.817	6	0.000	0.000	3040	2756	2051	0	0	0	0	0	0
5613	0.79	237.4	127.7	9.4	576	5633	0.00	0.00	14.57	0.802	6	0.000	0.000	3040	2756	1991	0	0	0	0	0	0
5762	0.81	249.2	113.7	9.5	590	5780	0.00	0.00	11.88	0.781	6	0.000	0.000	3040	2756	1944	0	0	0	0	0	0
5908	0.83	263.0	99.6	9.5	604	5928	0.00	0.00	14.07	0.781	6	0.000	0.000	3039	2756	1886	0	0	0	0	0	0
6066	0.84	270.7	84.4	9.7	631	6080	0.00	2.42	8.40	0.737	4	0.000	0.034	3050	1294	1856	0	0	0	0	0	0
6109	0.85	284.6	80.0	9.5	638	6130	0.00	2.40	13.70	0.760	6	0.000	0.042	3050	2762	1799	0	0	0	0	0	0
6264	0.85	284.6	63.2	11.8	665	6271	0.00	1.65	0.00	0.000	4	0.000	0.050	3049	3759	1799	0	0	0	0	0	0
6295	0.85	284.6	59.2	13.2	670	6303	0.00	1.60	0.00	0.000	6	0.000	0.031	3056	2763	1799	0	0	0	0	0	0
6441	0.85	284.6	41.7	11.9	695	6449	0.00	2.35	0.00	0.000	4	0.000	0.034	3067	1295	1799	0	0	0	0	0	0
6474	0.85	284.6	37.6	11.5	700	6481	0.00	2.38	0.00	0.000	6	0.000	0.042	3067	2758	1799	0	0	0	0	0	0
6617	0.85	284.6	20.6	12.3	725	6625	0.00	1.65	0.00	0.000	4	0.000	0.049	3066	3763	1799	0	0	0	0	0	0
6648	0.85	284.6	16.6	13.7	730	6656	0.00	1.60	0.00	0.000	6	0.000	0.030	3075	2758	1799	0	0	0	0	0	0
6756	end climb: SURFACE_DEPTH_REACHED
state	6756	begin surface coast
6779	end surface coast: CONTROL_FINISHED_OK
state	6779	begin surface