Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 763 * 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 763 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 50 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -20486.33 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 -20486.33

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 50 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 26 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 763 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 170111,221630,-7619.834,17621.109,51,0.8,57,122.6 TGT_NAME CORNER_SW

_CALLS 2 TGT_LATLONG -7655.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170111,222656,-7619.805,17621.223,12,1.0,12,122.6 MHEAD_RNG_PITCHd_Wd 91.5,73539,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 375

Post-dive calculations and measurements:

FREEZE 0.31,-0.128,-1.890,2,1,0 _24V_AH 21.9,80.582

FINISH 0.3,1.027657 _10V_AH 9.8,31.709

SM_CCo 6783,18.92,0.101,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 0.66,0.00,0.00,18.92,0.000,0.000,0.101,188,2787,1940,-8.16,0.20,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7536.68,17631.08,170111,222247 MEM 258048

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50430,750

HUMID 52.55 CAP_FILE_SIZE 101042,0

INTERNAL_PRESSURE 8.7601 CFSIZE 260165632,217153536

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

XPDR_PINGS 0 CURRENT 0.047, 65.3,1

ALTIM_TOP_PING 20.0,20.0 GPS 180111,002206,-7620.501,17619.596,28,1.0,39,122.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 199 80.46 SBE_CT 526 24 276.62

Roll_motor 56 70 86.47 AA4330 955 33 690.84

VBD_pump_during_apogee 327 976 7008.21 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 18 100 41.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 135.41 nil 0 0 0.00

Iridium_during_connect 75 160 262.99 nil 0 0 0.00

Iridium_during_xfer 246 223 1203.31 nil 0 0 0.00

Transponder_ping 1 420 9.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.45

TT8 1889 19 366.57

LPSleep 3093 2 66.39

TT8_Active 433 19 84.15

TT8_Sampling 1702 39 663.95

TT8_CF8 312 45 140.41

TT8_Kalman 0 0 0.00

Analog_circuits 1160 12 136.52

GPS_charging 0 0 0.00

Compass 1246 15 183.25

RAFOS 0 0 0.00

Transponder 7 30 2.28

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 -70.40 0.000 2 0.000 0.000 124 2758 3422 0 0 0 0 0 0

92 -0.71 -170.3 3.4 -6.7 12 114 9.27 1.70 -5.05 0.000 4 0.200 0.063 2560 3773 3659 0 0 1 0 0 0

144 -0.71 -170.3 18.2 -18.9 20 150 0.00 1.58 0.00 0.000 6 0.000 0.029 2560 2780 3661 0 0 0 0 0 0

285 -0.71 -170.3 39.0 -14.5 45 291 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2780 3663 0 0 0 0 0 0

427 -0.71 -170.3 58.6 -13.6 70 434 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2780 3662 0 0 0 0 0 0

570 -0.71 -170.3 78.4 -13.7 95 576 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2780 3663 0 0 0 0 0 0

711 -0.71 -170.3 97.4 -13.7 120 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2780 3663 0 0 0 0 0 0

846 -0.71 -170.3 116.2 -13.5 134 850 0.00 1.62 0.00 0.000 4 0.000 0.048 2551 3761 3663 0 0 0 0 0 0

896 -0.71 -170.3 123.5 -13.8 138 903 0.00 1.55 0.00 0.000 6 0.000 0.028 2552 2777 3663 0 0 0 0 0 0

1031 -0.71 -170.3 142.3 -14.2 151 1032 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2777 3663 0 0 0 0 0 0

1159 -0.71 -170.3 160.2 -13.9 163 1160 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2777 3664 0 0 0 0 0 0

1285 -0.71 -170.3 177.9 -13.7 175 1289 0.00 1.62 0.00 0.000 4 0.000 0.049 2544 3758 3664 0 0 0 0 0 0

1335 -0.71 -170.3 185.5 -14.4 179 1342 0.00 1.55 0.00 0.000 6 0.000 0.029 2544 2775 3664 0 0 0 0 0 0

1470 -0.71 -170.3 204.5 -14.2 192 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2776 3664 0 0 0 0 0 0

1598 -0.71 -170.3 222.2 -13.7 204 1599 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2775 3663 0 0 0 0 0 0

1724 -0.71 -170.3 239.7 -13.8 216 1728 0.00 1.62 0.00 0.000 4 0.000 0.049 2537 3763 3663 0 0 0 0 0 0

1782 -0.71 -170.3 248.1 -14.6 221 1786 0.08 1.55 0.00 0.000 6 0.130 0.029 2579 2777 3663 0 0 0 0 0 0

1921 -0.71 -170.3 264.4 -11.1 234 1922 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2777 3663 0 0 0 0 0 0

2113 -0.71 -170.3 285.1 -10.7 252 2117 0.00 1.62 0.00 0.000 4 0.000 0.049 2572 3791 3663 0 0 0 0 0 0

2174 -0.71 -170.3 292.3 -11.7 257 2181 0.00 1.58 0.00 0.000 6 0.000 0.028 2572 2782 3663 0 0 0 0 0 0

2372 -0.71 -170.3 314.5 -10.7 276 2373 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2781 3663 0 0 0 0 0 0

2564 -0.71 -170.3 335.3 -11.3 294 2568 0.00 1.62 0.00 0.000 4 0.000 0.049 2565 3763 3662 0 0 0 0 0 0

2609 -0.71 -170.3 340.8 -11.9 298 2613 0.00 1.50 0.00 0.000 6 0.000 0.030 2565 2808 3663 0 0 0 0 0 0

2814 -0.71 -170.3 364.1 -11.3 317 2815 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2809 3663 0 0 0 0 0 0

2905 end dive: TARGET_DEPTH_EXCEEDED

state 2905 begin apogee

2913 -0.16 0.0 375.2 11.6 326 3060 0.52 0.00 139.55 0.977 4 0.116 0.000 2743 2690 2958 0 0 0 0 0 0

3060 end apogee: CONTROL_FINISHED_OK

state 3061 begin climb

3064 0.71 170.3 381.5 0.0 339 3224 0.85 2.33 150.62 0.929 4 0.073 0.032 3028 1310 2265 0 0 0 0 0 0

3401 0.73 187.7 360.2 9.3 368 3422 0.00 2.38 16.20 0.877 6 0.000 0.041 3028 2701 2194 0 0 0 0 0 0

3619 0.73 187.7 338.8 10.3 388 3623 0.00 2.25 0.00 0.000 4 0.000 0.034 3039 1311 2191 0 0 1 0 0 0

3797 0.73 187.7 320.5 10.1 403 3804 0.00 2.28 0.00 0.000 6 0.000 0.041 3038 2711 2190 0 0 0 0 0 0

3997 0.73 188.3 300.9 10.0 422 4001 0.00 1.67 0.00 0.000 4 0.000 0.050 3039 3761 2189 0 0 0 0 0 0

4056 0.73 188.3 294.2 12.2 427 4060 0.00 1.65 0.00 0.000 6 0.000 0.031 3045 2695 2187 0 0 0 0 0 0

4260 0.73 188.3 273.1 10.4 446 4261 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2695 2187 0 0 0 0 0 0

4451 0.73 188.3 253.3 10.5 464 4455 0.00 1.73 0.00 0.000 4 0.000 0.050 3045 3767 2187 0 0 0 0 0 0

4534 0.73 188.3 243.2 13.0 471 4541 0.00 1.65 0.00 0.000 6 0.000 0.030 3053 2724 2187 0 0 0 0 0 0

4669 0.73 188.3 228.5 11.1 484 4672 0.00 1.67 0.00 0.000 4 0.000 0.048 3053 3766 2187 0 0 0 0 0 0

4715 0.73 188.3 223.0 12.7 488 4719 0.00 1.62 0.00 0.000 6 0.000 0.031 3061 2742 2187 0 0 0 0 0 0

4855 0.73 188.3 206.9 11.3 501 4856 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2742 2186 0 0 0 0 0 0

4983 0.73 188.3 192.5 11.4 513 4986 0.00 1.65 0.00 0.000 4 0.000 0.049 3061 3770 2186 0 0 0 0 0 0

5041 0.73 188.3 185.2 13.1 518 5045 0.08 1.60 0.00 0.000 6 0.149 0.030 3041 2759 2186 0 0 0 0 0 0

5181 0.74 190.0 170.6 9.9 531 5182 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2759 2186 0 0 0 0 0 0

5308 0.74 190.0 157.9 10.0 543 5312 0.00 1.62 0.00 0.000 4 0.000 0.050 3041 3770 2186 0 0 0 0 0 0

5355 0.74 190.0 152.9 11.2 547 5359 0.00 1.60 0.00 0.000 6 0.000 0.031 3047 2761 2186 0 0 0 0 0 0

5496 0.75 201.1 138.6 9.6 560 5514 0.00 0.00 11.85 0.822 6 0.000 0.000 3047 2760 2140 0 0 0 0 0 0

5642 0.75 201.1 123.8 10.2 574 5643 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2760 2140 0 0 0 0 0 0

5770 0.75 201.1 110.6 10.6 586 5771 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2760 2140 0 0 0 0 0 0

5898 0.75 201.1 97.1 10.5 600 5905 0.00 1.65 0.00 0.000 4 0.000 0.050 3047 3759 2139 0 0 0 0 0 0

5945 0.75 201.1 91.8 12.8 608 5952 0.00 1.55 0.00 0.000 6 0.000 0.031 3053 2781 2139 0 0 0 0 0 0

6088 0.75 201.1 76.5 11.2 633 6094 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2781 2139 0 0 0 0 0 0

6229 0.76 209.9 62.0 9.7 658 6244 0.00 1.65 9.35 0.770 4 0.000 0.050 3053 3768 2104 0 0 1 0 0 0

6280 0.76 209.9 56.6 11.7 666 6287 0.00 1.55 0.00 0.000 6 0.000 0.030 3061 2787 2104 0 0 0 0 0 0

6425 0.76 209.9 40.8 11.4 691 6433 0.00 2.35 0.00 0.000 4 0.000 0.034 3072 1303 2103 0 0 0 0 0 0

6457 0.76 209.9 37.1 10.9 696 6464 0.00 2.40 0.00 0.000 6 0.000 0.042 3072 2785 2103 0 0 0 0 0 0

6604 0.76 209.9 20.0 11.8 721 6610 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2785 2103 0 0 0 0 0 0

6742 end climb: SURFACE_DEPTH_REACHED

state 6742 begin surface coast

6765 end surface coast: CONTROL_FINISHED_OK

state 6765 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	763	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	50	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-20486.33	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	170111,221630,-7619.834,17621.109,51,0.8,57,122.6	TGT_NAME	CORNER_SW
_CALLS	2	TGT_LATLONG	-7655.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170111,222656,-7619.805,17621.223,12,1.0,12,122.6	MHEAD_RNG_PITCHd_Wd	91.5,73539,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	375

FREEZE	0.31,-0.128,-1.890,2,1,0	_24V_AH	21.9,80.582
FINISH	0.3,1.027657	_10V_AH	9.8,31.709
SM_CCo	6783,18.92,0.101,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	0.66,0.00,0.00,18.92,0.000,0.000,0.101,188,2787,1940,-8.16,0.20,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7536.68,17631.08,170111,222247	MEM	258048
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50430,750
HUMID	52.55	CAP_FILE_SIZE	101042,0
INTERNAL_PRESSURE	8.7601	CFSIZE	260165632,217153536
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.047, 65.3,1
ALTIM_TOP_PING	20.0,20.0	GPS	180111,002206,-7620.501,17619.596,28,1.0,39,122.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	199	80.46	SBE_CT	526	24	276.62
Roll_motor	56	70	86.47	AA4330	955	33	690.84
VBD_pump_during_apogee	327	976	7008.21	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	18	100	41.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	135.41	nil	0	0	0.00
Iridium_during_connect	75	160	262.99	nil	0	0	0.00
Iridium_during_xfer	246	223	1203.31	nil	0	0	0.00
Transponder_ping	1	420	9.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.45
TT8	1889	19	366.57
LPSleep	3093	2	66.39
TT8_Active	433	19	84.15
TT8_Sampling	1702	39	663.95
TT8_CF8	312	45	140.41
TT8_Kalman	0	0	0.00
Analog_circuits	1160	12	136.52
GPS_charging	0	0	0.00
Compass	1246	15	183.25
RAFOS	0	0	0.00
Transponder	7	30	2.28

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	-70.40	0.000	2	0.000	0.000	124	2758	3422	0	0	0	0	0	0
92	-0.71	-170.3	3.4	-6.7	12	114	9.27	1.70	-5.05	0.000	4	0.200	0.063	2560	3773	3659	0	0	1	0	0	0
144	-0.71	-170.3	18.2	-18.9	20	150	0.00	1.58	0.00	0.000	6	0.000	0.029	2560	2780	3661	0	0	0	0	0	0
285	-0.71	-170.3	39.0	-14.5	45	291	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2780	3663	0	0	0	0	0	0
427	-0.71	-170.3	58.6	-13.6	70	434	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2780	3662	0	0	0	0	0	0
570	-0.71	-170.3	78.4	-13.7	95	576	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2780	3663	0	0	0	0	0	0
711	-0.71	-170.3	97.4	-13.7	120	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2780	3663	0	0	0	0	0	0
846	-0.71	-170.3	116.2	-13.5	134	850	0.00	1.62	0.00	0.000	4	0.000	0.048	2551	3761	3663	0	0	0	0	0	0
896	-0.71	-170.3	123.5	-13.8	138	903	0.00	1.55	0.00	0.000	6	0.000	0.028	2552	2777	3663	0	0	0	0	0	0
1031	-0.71	-170.3	142.3	-14.2	151	1032	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2777	3663	0	0	0	0	0	0
1159	-0.71	-170.3	160.2	-13.9	163	1160	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2777	3664	0	0	0	0	0	0
1285	-0.71	-170.3	177.9	-13.7	175	1289	0.00	1.62	0.00	0.000	4	0.000	0.049	2544	3758	3664	0	0	0	0	0	0
1335	-0.71	-170.3	185.5	-14.4	179	1342	0.00	1.55	0.00	0.000	6	0.000	0.029	2544	2775	3664	0	0	0	0	0	0
1470	-0.71	-170.3	204.5	-14.2	192	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2776	3664	0	0	0	0	0	0
1598	-0.71	-170.3	222.2	-13.7	204	1599	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2775	3663	0	0	0	0	0	0
1724	-0.71	-170.3	239.7	-13.8	216	1728	0.00	1.62	0.00	0.000	4	0.000	0.049	2537	3763	3663	0	0	0	0	0	0
1782	-0.71	-170.3	248.1	-14.6	221	1786	0.08	1.55	0.00	0.000	6	0.130	0.029	2579	2777	3663	0	0	0	0	0	0
1921	-0.71	-170.3	264.4	-11.1	234	1922	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2777	3663	0	0	0	0	0	0
2113	-0.71	-170.3	285.1	-10.7	252	2117	0.00	1.62	0.00	0.000	4	0.000	0.049	2572	3791	3663	0	0	0	0	0	0
2174	-0.71	-170.3	292.3	-11.7	257	2181	0.00	1.58	0.00	0.000	6	0.000	0.028	2572	2782	3663	0	0	0	0	0	0
2372	-0.71	-170.3	314.5	-10.7	276	2373	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2781	3663	0	0	0	0	0	0
2564	-0.71	-170.3	335.3	-11.3	294	2568	0.00	1.62	0.00	0.000	4	0.000	0.049	2565	3763	3662	0	0	0	0	0	0
2609	-0.71	-170.3	340.8	-11.9	298	2613	0.00	1.50	0.00	0.000	6	0.000	0.030	2565	2808	3663	0	0	0	0	0	0
2814	-0.71	-170.3	364.1	-11.3	317	2815	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2809	3663	0	0	0	0	0	0
2905	end dive: TARGET_DEPTH_EXCEEDED
state	2905	begin apogee
2913	-0.16	0.0	375.2	11.6	326	3060	0.52	0.00	139.55	0.977	4	0.116	0.000	2743	2690	2958	0	0	0	0	0	0
3060	end apogee: CONTROL_FINISHED_OK
state	3061	begin climb
3064	0.71	170.3	381.5	0.0	339	3224	0.85	2.33	150.62	0.929	4	0.073	0.032	3028	1310	2265	0	0	0	0	0	0
3401	0.73	187.7	360.2	9.3	368	3422	0.00	2.38	16.20	0.877	6	0.000	0.041	3028	2701	2194	0	0	0	0	0	0
3619	0.73	187.7	338.8	10.3	388	3623	0.00	2.25	0.00	0.000	4	0.000	0.034	3039	1311	2191	0	0	1	0	0	0
3797	0.73	187.7	320.5	10.1	403	3804	0.00	2.28	0.00	0.000	6	0.000	0.041	3038	2711	2190	0	0	0	0	0	0
3997	0.73	188.3	300.9	10.0	422	4001	0.00	1.67	0.00	0.000	4	0.000	0.050	3039	3761	2189	0	0	0	0	0	0
4056	0.73	188.3	294.2	12.2	427	4060	0.00	1.65	0.00	0.000	6	0.000	0.031	3045	2695	2187	0	0	0	0	0	0
4260	0.73	188.3	273.1	10.4	446	4261	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2695	2187	0	0	0	0	0	0
4451	0.73	188.3	253.3	10.5	464	4455	0.00	1.73	0.00	0.000	4	0.000	0.050	3045	3767	2187	0	0	0	0	0	0
4534	0.73	188.3	243.2	13.0	471	4541	0.00	1.65	0.00	0.000	6	0.000	0.030	3053	2724	2187	0	0	0	0	0	0
4669	0.73	188.3	228.5	11.1	484	4672	0.00	1.67	0.00	0.000	4	0.000	0.048	3053	3766	2187	0	0	0	0	0	0
4715	0.73	188.3	223.0	12.7	488	4719	0.00	1.62	0.00	0.000	6	0.000	0.031	3061	2742	2187	0	0	0	0	0	0
4855	0.73	188.3	206.9	11.3	501	4856	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2742	2186	0	0	0	0	0	0
4983	0.73	188.3	192.5	11.4	513	4986	0.00	1.65	0.00	0.000	4	0.000	0.049	3061	3770	2186	0	0	0	0	0	0
5041	0.73	188.3	185.2	13.1	518	5045	0.08	1.60	0.00	0.000	6	0.149	0.030	3041	2759	2186	0	0	0	0	0	0
5181	0.74	190.0	170.6	9.9	531	5182	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2759	2186	0	0	0	0	0	0
5308	0.74	190.0	157.9	10.0	543	5312	0.00	1.62	0.00	0.000	4	0.000	0.050	3041	3770	2186	0	0	0	0	0	0
5355	0.74	190.0	152.9	11.2	547	5359	0.00	1.60	0.00	0.000	6	0.000	0.031	3047	2761	2186	0	0	0	0	0	0
5496	0.75	201.1	138.6	9.6	560	5514	0.00	0.00	11.85	0.822	6	0.000	0.000	3047	2760	2140	0	0	0	0	0	0
5642	0.75	201.1	123.8	10.2	574	5643	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2760	2140	0	0	0	0	0	0
5770	0.75	201.1	110.6	10.6	586	5771	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2760	2140	0	0	0	0	0	0
5898	0.75	201.1	97.1	10.5	600	5905	0.00	1.65	0.00	0.000	4	0.000	0.050	3047	3759	2139	0	0	0	0	0	0
5945	0.75	201.1	91.8	12.8	608	5952	0.00	1.55	0.00	0.000	6	0.000	0.031	3053	2781	2139	0	0	0	0	0	0
6088	0.75	201.1	76.5	11.2	633	6094	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2781	2139	0	0	0	0	0	0
6229	0.76	209.9	62.0	9.7	658	6244	0.00	1.65	9.35	0.770	4	0.000	0.050	3053	3768	2104	0	0	1	0	0	0
6280	0.76	209.9	56.6	11.7	666	6287	0.00	1.55	0.00	0.000	6	0.000	0.030	3061	2787	2104	0	0	0	0	0	0
6425	0.76	209.9	40.8	11.4	691	6433	0.00	2.35	0.00	0.000	4	0.000	0.034	3072	1303	2103	0	0	0	0	0	0
6457	0.76	209.9	37.1	10.9	696	6464	0.00	2.40	0.00	0.000	6	0.000	0.042	3072	2785	2103	0	0	0	0	0	0
6604	0.76	209.9	20.0	11.8	721	6610	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2785	2103	0	0	0	0	0	0
6742	end climb: SURFACE_DEPTH_REACHED
state	6742	begin surface coast
6765	end surface coast: CONTROL_FINISHED_OK
state	6765	begin surface