Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 767 * 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 767 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 46 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 43 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 -20493.16 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 -20493.16

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 46 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 43 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 767 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 180111,061354,-7623.719,17612.373,57,1.1,58,123.0 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 -72.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180111,062444,-7623.744,17612.318,12,1.0,12,123.1 MHEAD_RNG_PITCHd_Wd 102.6,65345,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 375

Post-dive calculations and measurements:

FREEZE 0.05,0.038,-1.875,2,1,0 _24V_AH 21.9,81.025

FINISH 0.0,1.027440 _10V_AH 9.8,31.940

SM_CCo 6976,0.00,0.000,0,0,1910,257.56 FG_AHR_24Vo 0.000

SM_GC 1.06,7.55,0.00,0.00,0.043,0.000,0.000,181,2756,1910,-8.08,-0.68,257.56 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7536.68,17620.87,180111,060617 MEM 258156

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50463,770

HUMID 52.79 CAP_FILE_SIZE 105269,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,216936448

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 0 CURRENT 0.111,151.7,1

ALTIM_TOP_PING 19.2,19.0 GPS 180111,082232,-7624.801,17610.242,26,1.3,27,123.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 203 81.33 SBE_CT 539 24 283.41

Roll_motor 60 69 92.85 AA4330 997 33 720.67

VBD_pump_during_apogee 380 976 8134.08 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 60 103 136.54 nil 0 0 0.00

Iridium_during_connect 84 160 295.46 nil 0 0 0.00

Iridium_during_xfer 261 223 1275.63 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 7.63

TT8 1927 19 374.03

LPSleep 3162 2 67.88

TT8_Active 468 19 90.99

TT8_Sampling 1744 39 680.45

TT8_CF8 323 45 145.11

TT8_Kalman 0 0 0.00

Analog_circuits 1216 12 143.05

GPS_charging 0 0 0.00

Compass 1266 15 186.17

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.71 -170.3 0.0 0.0 0 89 0.00 0.00 -69.05 0.000 2 0.000 0.000 178 2803 3378 0 0 0 0 0 0

94 -0.71 -170.3 3.2 -5.5 12 115 9.15 2.35 -6.12 0.000 4 0.203 0.044 2567 1370 3659 0 0 1 0 0 0

178 -0.71 -170.3 21.3 -12.9 26 186 0.00 2.28 0.00 0.000 6 0.000 0.043 2562 2765 3661 0 0 0 0 0 0

322 -0.71 -170.3 40.8 -13.1 51 329 0.00 1.65 0.00 0.000 4 0.000 0.050 2562 3762 3662 0 0 0 0 0 0

372 -0.71 -170.3 47.6 -13.6 59 379 0.00 1.55 0.00 0.000 6 0.000 0.029 2563 2781 3663 0 0 0 0 0 0

514 -0.71 -170.3 65.6 -10.8 84 520 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2781 3662 0 0 0 0 0 0

657 -0.71 -170.3 84.5 -12.6 109 664 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2781 3663 0 0 0 0 0 0

803 -0.71 -170.3 103.2 -12.6 133 807 0.00 1.62 0.00 0.000 4 0.000 0.049 2562 3790 3663 0 0 0 0 0 0

842 -0.71 -170.3 108.6 -14.2 136 849 0.00 1.55 0.00 0.000 6 0.000 0.029 2562 2795 3663 0 0 0 0 0 0

978 -0.71 -170.3 125.7 -13.0 149 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2794 3663 0 0 0 0 0 0

1104 -0.71 -170.3 142.5 -13.0 161 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2795 3663 0 0 0 0 0 0

1232 -0.71 -170.3 159.5 -13.4 173 1233 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2795 3663 0 0 0 0 0 0

1360 -0.71 -170.3 176.3 -13.6 185 1363 0.00 1.60 0.00 0.000 4 0.000 0.049 2562 3764 3663 0 0 0 0 0 0

1398 -0.71 -170.3 181.8 -13.5 188 1405 0.00 1.52 0.00 0.000 6 0.000 0.028 2562 2787 3663 0 0 0 0 0 0

1533 -0.71 -170.3 198.6 -12.6 201 1534 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2787 3663 0 0 0 0 0 0

1661 -0.71 -170.3 214.7 -12.4 213 1663 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2787 3663 0 0 0 0 0 0

1788 -0.71 -170.3 230.1 -11.9 225 1789 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2787 3663 0 0 0 0 0 0

1915 -0.71 -170.3 245.4 -11.7 237 1919 0.00 1.60 0.00 0.000 4 0.000 0.049 2556 3761 3663 0 0 0 0 0 0

1962 -0.71 -170.3 251.3 -12.7 241 1966 0.00 1.50 0.00 0.000 6 0.000 0.029 2556 2800 3663 0 0 0 0 0 0

2168 -0.71 -170.3 276.7 -12.5 260 2169 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2801 3663 0 0 0 0 0 0

2358 -0.71 -170.3 301.3 -12.5 278 2362 0.00 1.58 0.00 0.000 4 0.000 0.047 2548 3761 3663 0 0 0 0 0 0

2394 -0.71 -170.3 306.0 -13.3 281 2397 0.00 1.50 0.00 0.000 6 0.000 0.029 2548 2803 3662 0 0 0 0 0 0

2599 -0.71 -170.3 332.6 -12.7 300 2600 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2802 3663 0 0 0 0 0 0

2789 -0.71 -170.3 356.6 -12.8 318 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2802 3663 0 0 0 0 0 0

2935 end dive: TARGET_DEPTH_EXCEEDED

state 2935 begin apogee

2942 -0.16 0.0 375.2 12.7 332 3088 0.57 0.00 139.52 0.977 4 0.120 0.000 2740 2683 2958 0 0 0 0 0 0

3089 end apogee: CONTROL_FINISHED_OK

state 3089 begin climb

3092 0.71 170.3 382.0 0.0 345 3254 0.88 2.35 150.73 0.927 4 0.074 0.033 3033 1306 2265 0 0 0 0 0 0

3440 0.73 183.2 359.5 9.5 375 3459 0.00 2.38 11.85 0.851 6 0.000 0.041 3033 2699 2213 0 0 0 0 0 0

3654 0.73 183.2 338.1 10.1 395 3658 0.00 2.28 0.00 0.000 4 0.000 0.034 3043 1308 2211 0 0 0 0 0 0

3849 0.73 183.2 317.8 10.1 412 3853 0.00 2.30 0.00 0.000 6 0.000 0.042 3043 2712 2210 0 0 0 0 0 0

4055 0.73 183.2 296.5 10.7 431 4058 0.00 1.67 0.00 0.000 4 0.000 0.050 3043 3762 2208 0 0 0 0 0 0

4113 0.73 183.2 289.8 12.4 436 4117 0.00 1.65 0.00 0.000 6 0.000 0.031 3052 2702 2208 0 0 0 0 0 0

4317 0.73 183.2 267.8 10.7 455 4321 0.00 1.73 0.00 0.000 4 0.000 0.048 3052 3769 2208 0 0 0 0 0 0

4368 0.73 183.2 261.7 12.7 459 4374 0.00 1.65 0.00 0.000 6 0.000 0.030 3059 2708 2207 0 0 0 0 0 0

4566 0.73 183.2 239.5 11.3 478 4570 0.00 1.70 0.00 0.000 4 0.000 0.049 3059 3763 2207 0 0 0 0 0 0

4616 0.73 183.2 232.9 13.5 482 4625 0.10 1.65 0.00 0.000 6 0.138 0.030 3022 2730 2206 0 0 0 0 0 0

4752 0.76 211.7 220.4 8.9 495 4781 0.00 0.00 25.90 0.880 6 0.000 0.000 3022 2730 2096 0 0 0 0 0 0

4909 0.78 222.0 205.7 9.6 510 4924 0.00 1.70 10.80 0.823 4 0.000 0.047 3021 3768 2053 0 0 0 0 0 0

4952 0.78 222.0 200.9 11.0 513 4959 0.00 1.62 0.00 0.000 6 0.000 0.031 3024 2745 2053 0 0 1 0 0 0

5087 0.78 226.5 187.7 9.8 526 5097 0.00 0.00 5.72 0.729 6 0.000 0.000 3024 2745 2036 0 0 0 0 0 0

5225 0.79 233.0 174.1 9.7 539 5234 0.00 0.00 7.25 0.769 6 0.000 0.000 3024 2745 2010 0 0 0 0 0 0

5362 0.80 241.8 160.5 9.7 552 5378 0.00 1.70 9.70 0.799 4 0.000 0.050 3024 3759 1974 0 0 1 0 0 0

5430 0.80 241.8 153.4 11.6 558 5433 0.00 1.60 0.00 0.000 6 0.000 0.031 3028 2752 1974 0 0 1 0 0 0

5571 0.80 241.8 139.5 10.1 571 5572 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2752 1974 0 0 0 0 0 0

5698 0.80 244.1 126.9 9.9 583 5706 0.00 0.00 3.92 0.608 6 0.000 0.000 3028 2752 1965 0 0 0 0 0 0

5834 0.81 252.0 113.2 9.7 596 5847 0.00 1.70 8.75 0.774 4 0.000 0.050 3028 3765 1931 0 0 1 0 0 0

5887 0.81 252.0 107.5 11.3 600 5893 0.00 1.62 0.00 0.000 6 0.000 0.031 3033 2752 1931 0 0 0 0 0 0

6023 0.81 252.0 93.9 10.1 618 6030 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2752 1931 0 0 0 0 0 0

6166 0.81 254.1 79.7 9.9 643 6172 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2752 1931 0 0 0 0 0 0

6307 0.82 256.6 65.3 9.9 668 6320 0.00 1.65 6.05 0.708 4 0.000 0.047 3034 3762 1913 0 0 0 0 0 0

6355 0.82 256.6 59.9 11.4 676 6361 0.00 1.60 0.00 0.000 6 0.000 0.031 3039 2761 1913 0 0 0 0 0 0

6498 0.82 256.6 45.3 10.5 701 6505 0.00 2.33 0.00 0.000 4 0.000 0.036 3049 1302 1913 0 0 0 0 0 0

6536 0.82 256.6 41.2 10.4 707 6543 0.00 2.38 0.00 0.000 6 0.000 0.044 3049 2766 1913 0 0 0 0 0 0

6677 0.82 256.6 25.8 10.8 732 6684 0.00 1.62 0.00 0.000 4 0.000 0.050 3050 3759 1913 0 0 0 0 0 0

6720 0.82 256.6 20.3 12.8 739 6728 0.00 1.60 0.00 0.000 6 0.000 0.032 3055 2756 1913 0 0 0 0 0 0

6864 0.82 256.6 3.1 12.2 764 6870 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2757 1913 0 0 0 0 0 0

6876 end climb: SURFACE_DEPTH_REACHED

state 6876 begin surface coast

6898 end surface coast: CONTROL_FINISHED_OK

state 6898 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	767	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	46	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	43	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	-20493.16	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	180111,061354,-7623.719,17612.373,57,1.1,58,123.0	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	-72.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180111,062444,-7623.744,17612.318,12,1.0,12,123.1	MHEAD_RNG_PITCHd_Wd	102.6,65345,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	375

FREEZE	0.05,0.038,-1.875,2,1,0	_24V_AH	21.9,81.025
FINISH	0.0,1.027440	_10V_AH	9.8,31.940
SM_CCo	6976,0.00,0.000,0,0,1910,257.56	FG_AHR_24Vo	0.000
SM_GC	1.06,7.55,0.00,0.00,0.043,0.000,0.000,181,2756,1910,-8.08,-0.68,257.56	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7536.68,17620.87,180111,060617	MEM	258156
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50463,770
HUMID	52.79	CAP_FILE_SIZE	105269,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,216936448
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	0	CURRENT	0.111,151.7,1
ALTIM_TOP_PING	19.2,19.0	GPS	180111,082232,-7624.801,17610.242,26,1.3,27,123.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	203	81.33	SBE_CT	539	24	283.41
Roll_motor	60	69	92.85	AA4330	997	33	720.67
VBD_pump_during_apogee	380	976	8134.08	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	60	103	136.54	nil	0	0	0.00
Iridium_during_connect	84	160	295.46	nil	0	0	0.00
Iridium_during_xfer	261	223	1275.63	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	7.63
TT8	1927	19	374.03
LPSleep	3162	2	67.88
TT8_Active	468	19	90.99
TT8_Sampling	1744	39	680.45
TT8_CF8	323	45	145.11
TT8_Kalman	0	0	0.00
Analog_circuits	1216	12	143.05
GPS_charging	0	0	0.00
Compass	1266	15	186.17
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.71	-170.3	0.0	0.0	0	89	0.00	0.00	-69.05	0.000	2	0.000	0.000	178	2803	3378	0	0	0	0	0	0
94	-0.71	-170.3	3.2	-5.5	12	115	9.15	2.35	-6.12	0.000	4	0.203	0.044	2567	1370	3659	0	0	1	0	0	0
178	-0.71	-170.3	21.3	-12.9	26	186	0.00	2.28	0.00	0.000	6	0.000	0.043	2562	2765	3661	0	0	0	0	0	0
322	-0.71	-170.3	40.8	-13.1	51	329	0.00	1.65	0.00	0.000	4	0.000	0.050	2562	3762	3662	0	0	0	0	0	0
372	-0.71	-170.3	47.6	-13.6	59	379	0.00	1.55	0.00	0.000	6	0.000	0.029	2563	2781	3663	0	0	0	0	0	0
514	-0.71	-170.3	65.6	-10.8	84	520	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2781	3662	0	0	0	0	0	0
657	-0.71	-170.3	84.5	-12.6	109	664	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2781	3663	0	0	0	0	0	0
803	-0.71	-170.3	103.2	-12.6	133	807	0.00	1.62	0.00	0.000	4	0.000	0.049	2562	3790	3663	0	0	0	0	0	0
842	-0.71	-170.3	108.6	-14.2	136	849	0.00	1.55	0.00	0.000	6	0.000	0.029	2562	2795	3663	0	0	0	0	0	0
978	-0.71	-170.3	125.7	-13.0	149	979	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2794	3663	0	0	0	0	0	0
1104	-0.71	-170.3	142.5	-13.0	161	1105	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2795	3663	0	0	0	0	0	0
1232	-0.71	-170.3	159.5	-13.4	173	1233	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2795	3663	0	0	0	0	0	0
1360	-0.71	-170.3	176.3	-13.6	185	1363	0.00	1.60	0.00	0.000	4	0.000	0.049	2562	3764	3663	0	0	0	0	0	0
1398	-0.71	-170.3	181.8	-13.5	188	1405	0.00	1.52	0.00	0.000	6	0.000	0.028	2562	2787	3663	0	0	0	0	0	0
1533	-0.71	-170.3	198.6	-12.6	201	1534	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2787	3663	0	0	0	0	0	0
1661	-0.71	-170.3	214.7	-12.4	213	1663	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2787	3663	0	0	0	0	0	0
1788	-0.71	-170.3	230.1	-11.9	225	1789	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2787	3663	0	0	0	0	0	0
1915	-0.71	-170.3	245.4	-11.7	237	1919	0.00	1.60	0.00	0.000	4	0.000	0.049	2556	3761	3663	0	0	0	0	0	0
1962	-0.71	-170.3	251.3	-12.7	241	1966	0.00	1.50	0.00	0.000	6	0.000	0.029	2556	2800	3663	0	0	0	0	0	0
2168	-0.71	-170.3	276.7	-12.5	260	2169	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2801	3663	0	0	0	0	0	0
2358	-0.71	-170.3	301.3	-12.5	278	2362	0.00	1.58	0.00	0.000	4	0.000	0.047	2548	3761	3663	0	0	0	0	0	0
2394	-0.71	-170.3	306.0	-13.3	281	2397	0.00	1.50	0.00	0.000	6	0.000	0.029	2548	2803	3662	0	0	0	0	0	0
2599	-0.71	-170.3	332.6	-12.7	300	2600	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2802	3663	0	0	0	0	0	0
2789	-0.71	-170.3	356.6	-12.8	318	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2802	3663	0	0	0	0	0	0
2935	end dive: TARGET_DEPTH_EXCEEDED
state	2935	begin apogee
2942	-0.16	0.0	375.2	12.7	332	3088	0.57	0.00	139.52	0.977	4	0.120	0.000	2740	2683	2958	0	0	0	0	0	0
3089	end apogee: CONTROL_FINISHED_OK
state	3089	begin climb
3092	0.71	170.3	382.0	0.0	345	3254	0.88	2.35	150.73	0.927	4	0.074	0.033	3033	1306	2265	0	0	0	0	0	0
3440	0.73	183.2	359.5	9.5	375	3459	0.00	2.38	11.85	0.851	6	0.000	0.041	3033	2699	2213	0	0	0	0	0	0
3654	0.73	183.2	338.1	10.1	395	3658	0.00	2.28	0.00	0.000	4	0.000	0.034	3043	1308	2211	0	0	0	0	0	0
3849	0.73	183.2	317.8	10.1	412	3853	0.00	2.30	0.00	0.000	6	0.000	0.042	3043	2712	2210	0	0	0	0	0	0
4055	0.73	183.2	296.5	10.7	431	4058	0.00	1.67	0.00	0.000	4	0.000	0.050	3043	3762	2208	0	0	0	0	0	0
4113	0.73	183.2	289.8	12.4	436	4117	0.00	1.65	0.00	0.000	6	0.000	0.031	3052	2702	2208	0	0	0	0	0	0
4317	0.73	183.2	267.8	10.7	455	4321	0.00	1.73	0.00	0.000	4	0.000	0.048	3052	3769	2208	0	0	0	0	0	0
4368	0.73	183.2	261.7	12.7	459	4374	0.00	1.65	0.00	0.000	6	0.000	0.030	3059	2708	2207	0	0	0	0	0	0
4566	0.73	183.2	239.5	11.3	478	4570	0.00	1.70	0.00	0.000	4	0.000	0.049	3059	3763	2207	0	0	0	0	0	0
4616	0.73	183.2	232.9	13.5	482	4625	0.10	1.65	0.00	0.000	6	0.138	0.030	3022	2730	2206	0	0	0	0	0	0
4752	0.76	211.7	220.4	8.9	495	4781	0.00	0.00	25.90	0.880	6	0.000	0.000	3022	2730	2096	0	0	0	0	0	0
4909	0.78	222.0	205.7	9.6	510	4924	0.00	1.70	10.80	0.823	4	0.000	0.047	3021	3768	2053	0	0	0	0	0	0
4952	0.78	222.0	200.9	11.0	513	4959	0.00	1.62	0.00	0.000	6	0.000	0.031	3024	2745	2053	0	0	1	0	0	0
5087	0.78	226.5	187.7	9.8	526	5097	0.00	0.00	5.72	0.729	6	0.000	0.000	3024	2745	2036	0	0	0	0	0	0
5225	0.79	233.0	174.1	9.7	539	5234	0.00	0.00	7.25	0.769	6	0.000	0.000	3024	2745	2010	0	0	0	0	0	0
5362	0.80	241.8	160.5	9.7	552	5378	0.00	1.70	9.70	0.799	4	0.000	0.050	3024	3759	1974	0	0	1	0	0	0
5430	0.80	241.8	153.4	11.6	558	5433	0.00	1.60	0.00	0.000	6	0.000	0.031	3028	2752	1974	0	0	1	0	0	0
5571	0.80	241.8	139.5	10.1	571	5572	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2752	1974	0	0	0	0	0	0
5698	0.80	244.1	126.9	9.9	583	5706	0.00	0.00	3.92	0.608	6	0.000	0.000	3028	2752	1965	0	0	0	0	0	0
5834	0.81	252.0	113.2	9.7	596	5847	0.00	1.70	8.75	0.774	4	0.000	0.050	3028	3765	1931	0	0	1	0	0	0
5887	0.81	252.0	107.5	11.3	600	5893	0.00	1.62	0.00	0.000	6	0.000	0.031	3033	2752	1931	0	0	0	0	0	0
6023	0.81	252.0	93.9	10.1	618	6030	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2752	1931	0	0	0	0	0	0
6166	0.81	254.1	79.7	9.9	643	6172	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2752	1931	0	0	0	0	0	0
6307	0.82	256.6	65.3	9.9	668	6320	0.00	1.65	6.05	0.708	4	0.000	0.047	3034	3762	1913	0	0	0	0	0	0
6355	0.82	256.6	59.9	11.4	676	6361	0.00	1.60	0.00	0.000	6	0.000	0.031	3039	2761	1913	0	0	0	0	0	0
6498	0.82	256.6	45.3	10.5	701	6505	0.00	2.33	0.00	0.000	4	0.000	0.036	3049	1302	1913	0	0	0	0	0	0
6536	0.82	256.6	41.2	10.4	707	6543	0.00	2.38	0.00	0.000	6	0.000	0.044	3049	2766	1913	0	0	0	0	0	0
6677	0.82	256.6	25.8	10.8	732	6684	0.00	1.62	0.00	0.000	4	0.000	0.050	3050	3759	1913	0	0	0	0	0	0
6720	0.82	256.6	20.3	12.8	739	6728	0.00	1.60	0.00	0.000	6	0.000	0.032	3055	2756	1913	0	0	0	0	0	0
6864	0.82	256.6	3.1	12.2	764	6870	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2757	1913	0	0	0	0	0	0
6876	end climb: SURFACE_DEPTH_REACHED
state	6876	begin surface coast
6898	end surface coast: CONTROL_FINISHED_OK
state	6898	begin surface