Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 782 * 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 782 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 39 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 -20514.07 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 -20514.07

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 39 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 782 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 190111,123236,-7635.890,17545.246,27,1.0,44,124.5 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 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190111,123902,-7635.864,17545.260,10,1.4,10,124.5 MHEAD_RNG_PITCHd_Wd 101.1,40199,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 375

Post-dive calculations and measurements:

FREEZE 0.09,-0.293,-1.889,2,1,0 _24V_AH 21.8,82.650

FINISH 0.1,1.027655 _10V_AH 9.8,32.816

SM_CCo 6860,0.00,0.000,0,0,1939,250.45 FG_AHR_24Vo 0.000

SM_GC 1.18,7.62,0.00,0.00,0.045,0.000,0.000,183,2767,1939,-8.09,-0.34,250.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17541.04,190111,101029 MEM 258236

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50455,754

HUMID 52.40 CAP_FILE_SIZE 97170,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,216158208

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 CURRENT 0.105, 55.5,1

ALTIM_TOP_PING 19.5,20.2 GPS 190111,143455,-7636.305,17543.588,24,1.6,25,124.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 81.90 SBE_CT 528 24 276.56

Roll_motor 51 68 76.89 AA4330 969 33 697.57

VBD_pump_during_apogee 368 976 7830.99 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 62.88 nil 0 0 0.00

Iridium_during_connect 35 160 125.39 nil 0 0 0.00

Iridium_during_xfer 174 223 849.59 nil 0 0 0.00

Transponder_ping 1 420 9.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.57

TT8 1881 19 365.06

LPSleep 3095 2 66.43

TT8_Active 454 19 88.23

TT8_Sampling 1514 39 590.87

TT8_CF8 301 45 135.52

TT8_Kalman 0 0 0.00

Analog_circuits 1174 12 138.16

GPS_charging 0 0 0.00

Compass 1226 15 180.28

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 93 0.00 0.00 -74.30 0.000 2 0.000 0.000 182 2795 3526 0 0 0 0 0 0

97 -0.71 -170.3 4.0 -10.2 13 118 9.18 2.28 -2.65 0.000 4 0.205 0.044 2566 1365 3659 0 0 1 0 0 0

175 -0.71 -170.3 24.7 -14.8 26 182 0.00 2.30 0.00 0.000 6 0.000 0.043 2562 2774 3661 0 0 0 0 0 0

316 -0.71 -170.3 44.6 -14.6 51 323 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2773 3662 0 0 0 0 0 0

459 -0.71 -170.3 65.3 -14.1 76 466 0.00 1.62 0.00 0.000 4 0.000 0.051 2562 3757 3662 0 0 0 0 0 0

507 -0.71 -170.3 72.2 -14.2 84 514 0.00 1.55 0.00 0.000 6 0.000 0.029 2562 2778 3662 0 0 0 0 0 0

649 -0.71 -170.3 91.5 -13.3 109 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2778 3661 0 0 0 0 0 0

788 -0.71 -170.3 110.4 -13.3 127 789 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2778 3662 0 0 0 0 0 0

915 -0.71 -170.3 127.4 -13.4 139 916 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2778 3662 0 0 0 0 0 0

1043 -0.71 -170.3 145.2 -13.9 151 1044 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2778 3662 0 0 0 0 0 0

1170 -0.71 -170.3 162.3 -13.1 163 1171 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2778 3663 0 0 0 0 0 0

1297 -0.71 -170.3 178.9 -12.9 175 1301 0.00 1.62 0.00 0.000 4 0.000 0.050 2563 3786 3663 0 0 0 0 0 0

1336 -0.71 -170.3 184.3 -13.4 178 1343 0.00 1.58 0.00 0.000 6 0.000 0.029 2562 2783 3662 0 0 0 0 0 0

1471 -0.71 -170.3 201.1 -12.8 191 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2782 3662 0 0 0 0 0 0

1598 -0.71 -170.3 217.3 -12.5 203 1599 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2782 3662 0 0 0 0 0 0

1727 -0.71 -170.3 233.4 -12.6 215 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2783 3663 0 0 0 0 0 0

1853 -0.71 -170.3 249.2 -12.3 227 1854 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2782 3662 0 0 0 0 0 0

1981 -0.71 -170.3 264.6 -11.5 239 1984 0.00 1.62 0.00 0.000 4 0.000 0.050 2562 3789 3662 0 0 0 0 0 0

2020 -0.71 -170.3 269.5 -11.7 242 2027 0.00 1.55 0.00 0.000 6 0.000 0.029 2563 2801 3662 0 0 0 0 0 0

2218 -0.71 -170.3 293.3 -11.8 261 2220 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2801 3662 0 0 0 0 0 0

2409 -0.71 -170.3 316.2 -11.9 279 2411 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2802 3662 0 0 0 0 0 0

2602 -0.71 -170.3 338.5 -12.1 297 2603 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2802 3662 0 0 0 0 0 0

2792 -0.71 -170.3 360.9 -12.1 315 2795 0.00 1.60 0.00 0.000 4 0.000 0.049 2562 3761 3662 0 0 0 0 0 0

2827 -0.71 -170.3 365.1 -12.6 318 2830 0.00 1.50 0.00 0.000 6 0.000 0.029 2562 2808 3661 0 0 0 0 0 0

2911 end dive: TARGET_DEPTH_EXCEEDED

state 2911 begin apogee

2919 -0.16 0.0 375.5 12.1 326 3066 0.55 0.00 140.23 0.976 4 0.116 0.000 2747 2691 2959 0 0 0 0 0 0

3066 end apogee: CONTROL_FINISHED_OK

state 3066 begin climb

3070 0.71 170.3 382.0 0.0 339 3232 0.85 2.35 150.30 0.929 4 0.073 0.034 3033 1306 2265 0 0 0 0 0 0

3395 0.72 180.7 360.8 9.6 367 3414 0.00 2.40 9.48 0.827 6 0.000 0.041 3033 2706 2223 0 0 0 0 0 0

3607 0.72 180.7 339.4 10.2 387 3611 0.00 2.30 0.00 0.000 4 0.000 0.035 3043 1307 2219 0 0 0 0 0 0

3796 0.72 180.7 319.9 10.1 403 3803 0.00 2.30 0.00 0.000 6 0.000 0.041 3043 2717 2217 0 0 0 0 0 0

3996 0.72 180.7 298.8 10.5 422 3999 0.00 1.67 0.00 0.000 4 0.000 0.048 3043 3765 2217 0 0 0 0 0 0

4057 0.72 180.7 291.1 12.1 427 4064 0.00 1.65 0.00 0.000 6 0.000 0.029 3051 2704 2216 0 0 0 0 0 0

4256 0.72 180.7 268.8 11.1 446 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2704 2215 0 0 0 0 0 0

4446 0.72 180.7 247.5 11.0 464 4450 0.00 1.70 0.00 0.000 4 0.000 0.047 3051 3759 2215 0 0 0 0 0 0

4518 0.72 180.7 238.2 12.7 470 4525 0.00 1.65 0.00 0.000 6 0.000 0.031 3059 2725 2214 0 0 0 0 0 0

4653 0.72 180.7 222.7 11.5 483 4656 0.00 1.67 0.00 0.000 4 0.000 0.048 3059 3762 2214 0 0 0 0 0 0

4688 0.72 180.7 218.5 12.9 486 4692 0.12 1.62 0.00 0.000 6 0.165 0.030 3032 2741 2214 0 0 0 0 0 0

4828 0.74 191.4 204.5 9.6 499 4839 0.00 0.00 9.30 0.833 6 0.000 0.000 3032 2741 2180 0 0 0 0 0 0

4965 0.76 206.1 191.6 9.4 512 4985 0.00 0.00 15.05 0.848 6 0.000 0.000 3032 2741 2118 0 0 0 0 0 0

5114 0.77 214.9 177.4 9.7 526 5125 0.00 0.00 9.20 0.803 6 0.000 0.000 3032 2741 2083 0 0 0 0 0 0

5250 0.78 225.1 163.9 9.6 539 5266 0.00 1.70 10.62 0.809 4 0.000 0.050 3032 3751 2042 0 0 1 0 0 0

5299 0.78 225.1 158.4 11.6 543 5306 0.00 1.60 0.00 0.000 6 0.000 0.031 3038 2746 2042 0 0 1 0 0 0

5434 0.78 225.1 144.8 10.3 556 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2746 2042 0 0 0 0 0 0

5561 0.78 227.5 132.1 9.9 568 5572 0.00 0.00 3.92 0.607 6 0.000 0.000 3038 2746 2031 0 0 0 0 0 0

5700 0.78 227.5 118.5 10.1 581 5701 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2746 2031 0 0 0 0 0 0

5826 0.81 249.1 106.6 9.1 593 5852 0.00 1.73 19.90 0.812 4 0.000 0.049 3038 3766 1944 0 0 1 0 0 0

5883 0.81 249.1 100.9 10.6 598 5886 0.00 1.62 0.00 0.000 6 0.000 0.031 3044 2757 1944 0 0 0 0 0 0

6026 0.81 249.1 86.4 10.6 622 6032 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2758 1943 0 0 0 0 0 0

6169 0.81 249.1 71.6 10.8 647 6176 0.00 2.33 0.00 0.000 4 0.000 0.034 3055 1301 1943 0 0 0 0 0 0

6207 0.81 249.1 67.7 10.5 653 6214 0.00 2.38 0.00 0.000 6 0.000 0.041 3055 2766 1943 0 0 0 0 0 0

6348 0.81 249.1 51.7 11.3 678 6355 0.00 1.62 0.00 0.000 4 0.000 0.048 3055 3758 1943 0 0 0 0 0 0

6395 0.81 249.1 45.8 13.0 686 6401 0.00 1.58 0.00 0.000 6 0.000 0.030 3061 2768 1942 0 0 0 0 0 0

6537 0.81 249.1 29.1 11.6 711 6543 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2768 1942 0 0 0 0 0 0

6677 0.81 249.1 12.0 12.3 736 6684 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2768 1942 0 0 0 0 0 0

6756 end climb: SURFACE_DEPTH_REACHED

state 6756 begin surface coast

6782 end surface coast: CONTROL_FINISHED_OK

state 6782 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	782	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	39	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	-20514.07	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	190111,123236,-7635.890,17545.246,27,1.0,44,124.5	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	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190111,123902,-7635.864,17545.260,10,1.4,10,124.5	MHEAD_RNG_PITCHd_Wd	101.1,40199,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	375

FREEZE	0.09,-0.293,-1.889,2,1,0	_24V_AH	21.8,82.650
FINISH	0.1,1.027655	_10V_AH	9.8,32.816
SM_CCo	6860,0.00,0.000,0,0,1939,250.45	FG_AHR_24Vo	0.000
SM_GC	1.18,7.62,0.00,0.00,0.045,0.000,0.000,183,2767,1939,-8.09,-0.34,250.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17541.04,190111,101029	MEM	258236
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50455,754
HUMID	52.40	CAP_FILE_SIZE	97170,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,216158208
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	CURRENT	0.105, 55.5,1
ALTIM_TOP_PING	19.5,20.2	GPS	190111,143455,-7636.305,17543.588,24,1.6,25,124.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	81.90	SBE_CT	528	24	276.56
Roll_motor	51	68	76.89	AA4330	969	33	697.57
VBD_pump_during_apogee	368	976	7830.99	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	62.88	nil	0	0	0.00
Iridium_during_connect	35	160	125.39	nil	0	0	0.00
Iridium_during_xfer	174	223	849.59	nil	0	0	0.00
Transponder_ping	1	420	9.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.57
TT8	1881	19	365.06
LPSleep	3095	2	66.43
TT8_Active	454	19	88.23
TT8_Sampling	1514	39	590.87
TT8_CF8	301	45	135.52
TT8_Kalman	0	0	0.00
Analog_circuits	1174	12	138.16
GPS_charging	0	0	0.00
Compass	1226	15	180.28
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	93	0.00	0.00	-74.30	0.000	2	0.000	0.000	182	2795	3526	0	0	0	0	0	0
97	-0.71	-170.3	4.0	-10.2	13	118	9.18	2.28	-2.65	0.000	4	0.205	0.044	2566	1365	3659	0	0	1	0	0	0
175	-0.71	-170.3	24.7	-14.8	26	182	0.00	2.30	0.00	0.000	6	0.000	0.043	2562	2774	3661	0	0	0	0	0	0
316	-0.71	-170.3	44.6	-14.6	51	323	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2773	3662	0	0	0	0	0	0
459	-0.71	-170.3	65.3	-14.1	76	466	0.00	1.62	0.00	0.000	4	0.000	0.051	2562	3757	3662	0	0	0	0	0	0
507	-0.71	-170.3	72.2	-14.2	84	514	0.00	1.55	0.00	0.000	6	0.000	0.029	2562	2778	3662	0	0	0	0	0	0
649	-0.71	-170.3	91.5	-13.3	109	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2778	3661	0	0	0	0	0	0
788	-0.71	-170.3	110.4	-13.3	127	789	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2778	3662	0	0	0	0	0	0
915	-0.71	-170.3	127.4	-13.4	139	916	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2778	3662	0	0	0	0	0	0
1043	-0.71	-170.3	145.2	-13.9	151	1044	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2778	3662	0	0	0	0	0	0
1170	-0.71	-170.3	162.3	-13.1	163	1171	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2778	3663	0	0	0	0	0	0
1297	-0.71	-170.3	178.9	-12.9	175	1301	0.00	1.62	0.00	0.000	4	0.000	0.050	2563	3786	3663	0	0	0	0	0	0
1336	-0.71	-170.3	184.3	-13.4	178	1343	0.00	1.58	0.00	0.000	6	0.000	0.029	2562	2783	3662	0	0	0	0	0	0
1471	-0.71	-170.3	201.1	-12.8	191	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2782	3662	0	0	0	0	0	0
1598	-0.71	-170.3	217.3	-12.5	203	1599	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2782	3662	0	0	0	0	0	0
1727	-0.71	-170.3	233.4	-12.6	215	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2783	3663	0	0	0	0	0	0
1853	-0.71	-170.3	249.2	-12.3	227	1854	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2782	3662	0	0	0	0	0	0
1981	-0.71	-170.3	264.6	-11.5	239	1984	0.00	1.62	0.00	0.000	4	0.000	0.050	2562	3789	3662	0	0	0	0	0	0
2020	-0.71	-170.3	269.5	-11.7	242	2027	0.00	1.55	0.00	0.000	6	0.000	0.029	2563	2801	3662	0	0	0	0	0	0
2218	-0.71	-170.3	293.3	-11.8	261	2220	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2801	3662	0	0	0	0	0	0
2409	-0.71	-170.3	316.2	-11.9	279	2411	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2802	3662	0	0	0	0	0	0
2602	-0.71	-170.3	338.5	-12.1	297	2603	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2802	3662	0	0	0	0	0	0
2792	-0.71	-170.3	360.9	-12.1	315	2795	0.00	1.60	0.00	0.000	4	0.000	0.049	2562	3761	3662	0	0	0	0	0	0
2827	-0.71	-170.3	365.1	-12.6	318	2830	0.00	1.50	0.00	0.000	6	0.000	0.029	2562	2808	3661	0	0	0	0	0	0
2911	end dive: TARGET_DEPTH_EXCEEDED
state	2911	begin apogee
2919	-0.16	0.0	375.5	12.1	326	3066	0.55	0.00	140.23	0.976	4	0.116	0.000	2747	2691	2959	0	0	0	0	0	0
3066	end apogee: CONTROL_FINISHED_OK
state	3066	begin climb
3070	0.71	170.3	382.0	0.0	339	3232	0.85	2.35	150.30	0.929	4	0.073	0.034	3033	1306	2265	0	0	0	0	0	0
3395	0.72	180.7	360.8	9.6	367	3414	0.00	2.40	9.48	0.827	6	0.000	0.041	3033	2706	2223	0	0	0	0	0	0
3607	0.72	180.7	339.4	10.2	387	3611	0.00	2.30	0.00	0.000	4	0.000	0.035	3043	1307	2219	0	0	0	0	0	0
3796	0.72	180.7	319.9	10.1	403	3803	0.00	2.30	0.00	0.000	6	0.000	0.041	3043	2717	2217	0	0	0	0	0	0
3996	0.72	180.7	298.8	10.5	422	3999	0.00	1.67	0.00	0.000	4	0.000	0.048	3043	3765	2217	0	0	0	0	0	0
4057	0.72	180.7	291.1	12.1	427	4064	0.00	1.65	0.00	0.000	6	0.000	0.029	3051	2704	2216	0	0	0	0	0	0
4256	0.72	180.7	268.8	11.1	446	4258	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2704	2215	0	0	0	0	0	0
4446	0.72	180.7	247.5	11.0	464	4450	0.00	1.70	0.00	0.000	4	0.000	0.047	3051	3759	2215	0	0	0	0	0	0
4518	0.72	180.7	238.2	12.7	470	4525	0.00	1.65	0.00	0.000	6	0.000	0.031	3059	2725	2214	0	0	0	0	0	0
4653	0.72	180.7	222.7	11.5	483	4656	0.00	1.67	0.00	0.000	4	0.000	0.048	3059	3762	2214	0	0	0	0	0	0
4688	0.72	180.7	218.5	12.9	486	4692	0.12	1.62	0.00	0.000	6	0.165	0.030	3032	2741	2214	0	0	0	0	0	0
4828	0.74	191.4	204.5	9.6	499	4839	0.00	0.00	9.30	0.833	6	0.000	0.000	3032	2741	2180	0	0	0	0	0	0
4965	0.76	206.1	191.6	9.4	512	4985	0.00	0.00	15.05	0.848	6	0.000	0.000	3032	2741	2118	0	0	0	0	0	0
5114	0.77	214.9	177.4	9.7	526	5125	0.00	0.00	9.20	0.803	6	0.000	0.000	3032	2741	2083	0	0	0	0	0	0
5250	0.78	225.1	163.9	9.6	539	5266	0.00	1.70	10.62	0.809	4	0.000	0.050	3032	3751	2042	0	0	1	0	0	0
5299	0.78	225.1	158.4	11.6	543	5306	0.00	1.60	0.00	0.000	6	0.000	0.031	3038	2746	2042	0	0	1	0	0	0
5434	0.78	225.1	144.8	10.3	556	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2746	2042	0	0	0	0	0	0
5561	0.78	227.5	132.1	9.9	568	5572	0.00	0.00	3.92	0.607	6	0.000	0.000	3038	2746	2031	0	0	0	0	0	0
5700	0.78	227.5	118.5	10.1	581	5701	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2746	2031	0	0	0	0	0	0
5826	0.81	249.1	106.6	9.1	593	5852	0.00	1.73	19.90	0.812	4	0.000	0.049	3038	3766	1944	0	0	1	0	0	0
5883	0.81	249.1	100.9	10.6	598	5886	0.00	1.62	0.00	0.000	6	0.000	0.031	3044	2757	1944	0	0	0	0	0	0
6026	0.81	249.1	86.4	10.6	622	6032	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2758	1943	0	0	0	0	0	0
6169	0.81	249.1	71.6	10.8	647	6176	0.00	2.33	0.00	0.000	4	0.000	0.034	3055	1301	1943	0	0	0	0	0	0
6207	0.81	249.1	67.7	10.5	653	6214	0.00	2.38	0.00	0.000	6	0.000	0.041	3055	2766	1943	0	0	0	0	0	0
6348	0.81	249.1	51.7	11.3	678	6355	0.00	1.62	0.00	0.000	4	0.000	0.048	3055	3758	1943	0	0	0	0	0	0
6395	0.81	249.1	45.8	13.0	686	6401	0.00	1.58	0.00	0.000	6	0.000	0.030	3061	2768	1942	0	0	0	0	0	0
6537	0.81	249.1	29.1	11.6	711	6543	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2768	1942	0	0	0	0	0	0
6677	0.81	249.1	12.0	12.3	736	6684	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2768	1942	0	0	0	0	0	0
6756	end climb: SURFACE_DEPTH_REACHED
state	6756	begin surface coast
6782	end surface coast: CONTROL_FINISHED_OK
state	6782	begin surface