Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 786 * 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 786 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 49 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -20519.111 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 -20519.111

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 49 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 29 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 786 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 190111,202554,-7637.037,17539.457,28,1.2,45,124.7 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 1.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190111,203246,-7636.982,17539.482,11,3.9,30,124.7 MHEAD_RNG_PITCHd_Wd 69.8,37249,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 375

Post-dive calculations and measurements:

FREEZE -0.01,-0.053,-1.250,2,1,0 _24V_AH 21.8,83.075

FINISH -0.0,1.018464 _10V_AH 9.7,33.043

SM_CCo 6647,8.00,0.103,0,0,1939,250.20 FG_AHR_24Vo 0.000

SM_GC 2.23,0.00,0.00,8.00,0.000,0.000,0.103,188,2751,1939,-8.16,-0.82,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17548.90,190111,181856 MEM 258204

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47031,739

HUMID 52.91 CAP_FILE_SIZE 97820,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,215953408

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.154, 7.5,1

ALTIM_TOP_PING 19.5,20.4 GPS 190111,222537,-7637.337,17538.678,44,0.9,45,124.7

ALTIM_BOTTOM_PING 351.1,57.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 209 83.96 SBE_CT 518 24 271.20

Roll_motor 57 69 87.83 AA4330 948 33 682.39

VBD_pump_during_apogee 350 978 7468.66 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 8 102 17.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 66.52 nil 0 0 0.00

Iridium_during_connect 43 160 150.11 nil 0 0 0.00

Iridium_during_xfer 172 223 838.22 nil 0 0 0.00

Transponder_ping 1 420 11.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.49

TT8 1855 19 356.39

LPSleep 2940 2 62.46

TT8_Active 436 19 83.82

TT8_Sampling 1530 39 591.01

TT8_CF8 309 45 137.60

TT8_Kalman 0 0 0.00

Analog_circuits 1153 12 134.31

GPS_charging 0 0 0.00

Compass 1212 15 176.41

RAFOS 0 0 0.00

Transponder 10 30 3.09

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 88 0.00 0.00 -69.75 0.000 2 0.000 0.000 187 2780 3386 0 0 0 0 0 0

92 -0.71 -170.3 3.3 -6.9 12 113 9.27 0.00 -5.88 0.000 6 0.210 0.000 2563 2780 3659 0 0 0 0 0 0

250 -0.71 -170.3 32.0 -13.6 39 256 0.00 2.22 0.00 0.000 4 0.000 0.032 2563 1376 3663 0 0 0 0 0 0

291 -0.71 -170.3 38.1 -13.2 46 299 0.00 2.30 0.00 0.000 6 0.000 0.044 2560 2777 3663 0 0 0 0 0 0

436 -0.71 -170.3 58.1 -13.8 71 443 0.00 1.62 0.00 0.000 4 0.000 0.051 2559 3761 3663 0 0 0 0 0 0

489 -0.71 -170.3 65.9 -14.4 80 496 0.00 1.55 0.00 0.000 6 0.000 0.029 2559 2781 3662 0 0 0 0 0 0

630 -0.71 -170.3 85.4 -13.6 105 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2781 3663 0 0 0 0 0 0

771 -0.71 -170.3 104.6 -13.4 127 772 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2781 3663 0 0 0 0 0 0

898 -0.71 -170.3 121.7 -13.5 139 899 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2781 3664 0 0 0 0 0 0

1026 -0.71 -170.3 138.4 -13.1 151 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2781 3663 0 0 0 0 0 0

1152 -0.71 -170.3 154.8 -13.0 163 1156 0.00 1.62 0.00 0.000 4 0.000 0.048 2553 3757 3663 0 0 0 0 0 0

1191 -0.71 -170.3 160.4 -13.8 166 1199 0.00 1.52 0.00 0.000 6 0.000 0.029 2552 2786 3663 0 0 0 0 0 0

1327 -0.71 -170.3 177.9 -13.0 179 1329 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2786 3663 0 0 0 0 0 0

1453 -0.71 -170.3 195.4 -13.6 191 1454 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2786 3663 0 0 0 0 0 0

1582 -0.71 -170.3 212.4 -13.2 203 1586 0.00 1.62 0.00 0.000 4 0.000 0.049 2547 3790 3663 0 0 0 0 0 0

1633 -0.71 -170.3 219.9 -14.0 207 1639 0.00 1.55 0.00 0.000 6 0.000 0.028 2547 2803 3663 0 0 0 0 0 0

1767 -0.71 -170.3 238.4 -13.9 220 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2803 3663 0 0 0 0 0 0

1895 -0.71 -170.3 256.1 -14.0 232 1896 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2803 3663 0 0 0 0 0 0

2086 -0.71 -170.3 282.8 -13.9 250 2088 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2803 3663 0 0 0 0 0 0

2277 -0.71 -170.3 309.4 -13.7 268 2281 0.00 1.58 0.00 0.000 4 0.000 0.047 2540 3758 3663 0 0 0 0 0 0

2322 -0.71 -170.3 316.1 -14.4 272 2326 0.08 1.50 0.00 0.000 6 0.130 0.029 2567 2803 3663 0 0 0 0 0 0

2528 -0.71 -170.3 341.8 -12.3 291 2529 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2803 3663 0 0 0 0 0 0

2719 -0.71 -170.3 365.6 -12.3 309 2723 0.00 1.58 0.00 0.000 4 0.000 0.049 2562 3754 3663 0 0 0 0 0 0

2755 -0.71 -170.3 370.2 -13.1 312 2758 0.00 1.50 0.00 0.000 6 0.000 0.029 2562 2803 3663 0 0 0 0 0 0

2796 end dive: TARGET_DEPTH_EXCEEDED

state 2796 begin apogee

2803 -0.16 0.0 376.1 13.1 316 2949 0.52 0.00 139.98 0.978 4 0.115 0.000 2740 2686 2960 0 0 0 0 0 0

2950 end apogee: CONTROL_FINISHED_OK

state 2950 begin climb

2953 0.71 170.3 383.0 0.0 329 3115 0.85 2.35 151.12 0.929 4 0.073 0.033 3025 1308 2265 0 0 0 0 0 0

3290 0.75 202.0 363.8 8.7 358 3324 0.00 2.40 28.92 0.903 6 0.000 0.042 3025 2703 2136 0 0 0 0 0 0

3519 0.78 222.7 342.9 9.2 379 3545 0.00 2.40 19.40 0.888 4 0.000 0.035 3035 1304 2052 0 0 1 0 0 0

3701 0.78 225.0 325.0 9.9 395 3712 0.00 2.33 4.12 0.638 6 0.000 0.043 3035 2711 2041 0 0 0 0 0 0

3914 0.78 225.0 303.5 10.1 415 3918 0.00 1.70 0.00 0.000 4 0.000 0.049 3035 3765 2041 0 0 0 0 0 0

3971 0.78 225.0 296.6 11.9 420 3975 0.00 1.65 0.00 0.000 6 0.000 0.031 3042 2708 2040 0 0 0 0 0 0

4176 0.78 225.0 274.7 10.4 439 4177 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2708 2040 0 0 0 0 0 0

4367 0.78 225.0 254.9 10.2 457 4370 0.00 1.70 0.00 0.000 4 0.000 0.048 3042 3764 2039 0 0 0 0 0 0

4424 0.78 225.0 248.3 11.7 462 4428 0.00 1.67 0.00 0.000 6 0.000 0.030 3050 2714 2039 0 0 0 0 0 0

4565 0.78 225.0 233.5 10.5 475 4567 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2713 2039 0 0 0 0 0 0

4691 0.78 225.0 219.9 10.8 487 4695 0.00 1.70 0.00 0.000 4 0.000 0.049 3050 3771 2038 0 0 0 0 0 0

4730 0.78 225.0 215.1 12.3 490 4739 0.00 1.67 0.00 0.000 6 0.000 0.030 3057 2714 2038 0 0 0 0 0 0

4865 0.78 225.0 200.3 11.2 503 4867 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2714 2038 0 0 0 0 0 0

4991 0.78 225.0 186.2 11.2 515 4995 0.00 1.73 0.00 0.000 4 0.000 0.049 3057 3762 2038 0 0 0 0 0 0

5030 0.78 225.0 181.1 12.8 518 5038 0.00 1.65 0.00 0.000 6 0.000 0.030 3064 2729 2038 0 0 0 0 0 0

5166 0.78 225.0 165.5 11.8 531 5167 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2729 2038 0 0 0 0 0 0

5294 0.78 225.0 151.0 11.3 543 5295 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2729 2038 0 0 0 0 0 0

5420 0.78 225.0 136.6 11.2 555 5424 0.00 1.70 0.00 0.000 4 0.000 0.048 3064 3762 2037 0 0 0 0 0 0

5455 0.78 225.0 132.3 12.2 558 5459 0.00 1.62 0.00 0.000 6 0.000 0.031 3072 2736 2037 0 0 0 0 0 0

5596 0.78 225.0 115.8 11.4 571 5597 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2735 2037 0 0 0 0 0 0

5722 0.78 225.0 100.9 11.6 583 5723 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2735 2037 0 0 0 0 0 0

5854 0.78 225.0 85.6 11.6 606 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2735 2037 0 0 0 0 0 0

5997 0.78 225.0 69.4 11.9 631 6004 0.00 1.70 0.00 0.000 4 0.000 0.047 3072 3759 2037 0 0 0 0 0 0

6046 0.78 225.0 63.1 13.0 639 6052 0.00 1.62 0.00 0.000 6 0.000 0.031 3079 2736 2037 0 0 0 0 0 0

6190 0.78 225.0 46.6 11.6 664 6197 0.00 1.70 0.00 0.000 4 0.000 0.049 3080 3765 2037 0 0 0 0 0 0

6226 0.78 225.0 41.7 12.7 670 6234 0.10 1.60 0.00 0.000 6 0.132 0.031 3050 2759 2037 0 0 0 0 0 0

6373 0.79 231.8 27.0 9.7 695 6385 0.00 0.00 6.60 0.720 6 0.000 0.000 3050 2759 2014 0 0 0 0 0 0

6522 0.79 231.8 11.2 10.6 721 6529 0.00 2.33 0.00 0.000 4 0.000 0.034 3061 1296 2014 0 0 0 0 0 0

6560 0.79 231.8 7.4 10.6 727 6567 0.00 2.35 0.00 0.000 6 0.000 0.042 3061 2751 2014 0 0 0 0 0 0

6598 end climb: SURFACE_DEPTH_REACHED

state 6598 begin surface coast

6629 end surface coast: CONTROL_FINISHED_OK

state 6629 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	786	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	49	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-20519.111	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	190111,202554,-7637.037,17539.457,28,1.2,45,124.7	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	1.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190111,203246,-7636.982,17539.482,11,3.9,30,124.7	MHEAD_RNG_PITCHd_Wd	69.8,37249,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	375

FREEZE	-0.01,-0.053,-1.250,2,1,0	_24V_AH	21.8,83.075
FINISH	-0.0,1.018464	_10V_AH	9.7,33.043
SM_CCo	6647,8.00,0.103,0,0,1939,250.20	FG_AHR_24Vo	0.000
SM_GC	2.23,0.00,0.00,8.00,0.000,0.000,0.103,188,2751,1939,-8.16,-0.82,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17548.90,190111,181856	MEM	258204
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47031,739
HUMID	52.91	CAP_FILE_SIZE	97820,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,215953408
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.154, 7.5,1
ALTIM_TOP_PING	19.5,20.4	GPS	190111,222537,-7637.337,17538.678,44,0.9,45,124.7
ALTIM_BOTTOM_PING	351.1,57.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	209	83.96	SBE_CT	518	24	271.20
Roll_motor	57	69	87.83	AA4330	948	33	682.39
VBD_pump_during_apogee	350	978	7468.66	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	8	102	17.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	66.52	nil	0	0	0.00
Iridium_during_connect	43	160	150.11	nil	0	0	0.00
Iridium_during_xfer	172	223	838.22	nil	0	0	0.00
Transponder_ping	1	420	11.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.49
TT8	1855	19	356.39
LPSleep	2940	2	62.46
TT8_Active	436	19	83.82
TT8_Sampling	1530	39	591.01
TT8_CF8	309	45	137.60
TT8_Kalman	0	0	0.00
Analog_circuits	1153	12	134.31
GPS_charging	0	0	0.00
Compass	1212	15	176.41
RAFOS	0	0	0.00
Transponder	10	30	3.09

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	88	0.00	0.00	-69.75	0.000	2	0.000	0.000	187	2780	3386	0	0	0	0	0	0
92	-0.71	-170.3	3.3	-6.9	12	113	9.27	0.00	-5.88	0.000	6	0.210	0.000	2563	2780	3659	0	0	0	0	0	0
250	-0.71	-170.3	32.0	-13.6	39	256	0.00	2.22	0.00	0.000	4	0.000	0.032	2563	1376	3663	0	0	0	0	0	0
291	-0.71	-170.3	38.1	-13.2	46	299	0.00	2.30	0.00	0.000	6	0.000	0.044	2560	2777	3663	0	0	0	0	0	0
436	-0.71	-170.3	58.1	-13.8	71	443	0.00	1.62	0.00	0.000	4	0.000	0.051	2559	3761	3663	0	0	0	0	0	0
489	-0.71	-170.3	65.9	-14.4	80	496	0.00	1.55	0.00	0.000	6	0.000	0.029	2559	2781	3662	0	0	0	0	0	0
630	-0.71	-170.3	85.4	-13.6	105	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2781	3663	0	0	0	0	0	0
771	-0.71	-170.3	104.6	-13.4	127	772	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2781	3663	0	0	0	0	0	0
898	-0.71	-170.3	121.7	-13.5	139	899	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2781	3664	0	0	0	0	0	0
1026	-0.71	-170.3	138.4	-13.1	151	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2781	3663	0	0	0	0	0	0
1152	-0.71	-170.3	154.8	-13.0	163	1156	0.00	1.62	0.00	0.000	4	0.000	0.048	2553	3757	3663	0	0	0	0	0	0
1191	-0.71	-170.3	160.4	-13.8	166	1199	0.00	1.52	0.00	0.000	6	0.000	0.029	2552	2786	3663	0	0	0	0	0	0
1327	-0.71	-170.3	177.9	-13.0	179	1329	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2786	3663	0	0	0	0	0	0
1453	-0.71	-170.3	195.4	-13.6	191	1454	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2786	3663	0	0	0	0	0	0
1582	-0.71	-170.3	212.4	-13.2	203	1586	0.00	1.62	0.00	0.000	4	0.000	0.049	2547	3790	3663	0	0	0	0	0	0
1633	-0.71	-170.3	219.9	-14.0	207	1639	0.00	1.55	0.00	0.000	6	0.000	0.028	2547	2803	3663	0	0	0	0	0	0
1767	-0.71	-170.3	238.4	-13.9	220	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2803	3663	0	0	0	0	0	0
1895	-0.71	-170.3	256.1	-14.0	232	1896	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2803	3663	0	0	0	0	0	0
2086	-0.71	-170.3	282.8	-13.9	250	2088	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2803	3663	0	0	0	0	0	0
2277	-0.71	-170.3	309.4	-13.7	268	2281	0.00	1.58	0.00	0.000	4	0.000	0.047	2540	3758	3663	0	0	0	0	0	0
2322	-0.71	-170.3	316.1	-14.4	272	2326	0.08	1.50	0.00	0.000	6	0.130	0.029	2567	2803	3663	0	0	0	0	0	0
2528	-0.71	-170.3	341.8	-12.3	291	2529	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2803	3663	0	0	0	0	0	0
2719	-0.71	-170.3	365.6	-12.3	309	2723	0.00	1.58	0.00	0.000	4	0.000	0.049	2562	3754	3663	0	0	0	0	0	0
2755	-0.71	-170.3	370.2	-13.1	312	2758	0.00	1.50	0.00	0.000	6	0.000	0.029	2562	2803	3663	0	0	0	0	0	0
2796	end dive: TARGET_DEPTH_EXCEEDED
state	2796	begin apogee
2803	-0.16	0.0	376.1	13.1	316	2949	0.52	0.00	139.98	0.978	4	0.115	0.000	2740	2686	2960	0	0	0	0	0	0
2950	end apogee: CONTROL_FINISHED_OK
state	2950	begin climb
2953	0.71	170.3	383.0	0.0	329	3115	0.85	2.35	151.12	0.929	4	0.073	0.033	3025	1308	2265	0	0	0	0	0	0
3290	0.75	202.0	363.8	8.7	358	3324	0.00	2.40	28.92	0.903	6	0.000	0.042	3025	2703	2136	0	0	0	0	0	0
3519	0.78	222.7	342.9	9.2	379	3545	0.00	2.40	19.40	0.888	4	0.000	0.035	3035	1304	2052	0	0	1	0	0	0
3701	0.78	225.0	325.0	9.9	395	3712	0.00	2.33	4.12	0.638	6	0.000	0.043	3035	2711	2041	0	0	0	0	0	0
3914	0.78	225.0	303.5	10.1	415	3918	0.00	1.70	0.00	0.000	4	0.000	0.049	3035	3765	2041	0	0	0	0	0	0
3971	0.78	225.0	296.6	11.9	420	3975	0.00	1.65	0.00	0.000	6	0.000	0.031	3042	2708	2040	0	0	0	0	0	0
4176	0.78	225.0	274.7	10.4	439	4177	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2708	2040	0	0	0	0	0	0
4367	0.78	225.0	254.9	10.2	457	4370	0.00	1.70	0.00	0.000	4	0.000	0.048	3042	3764	2039	0	0	0	0	0	0
4424	0.78	225.0	248.3	11.7	462	4428	0.00	1.67	0.00	0.000	6	0.000	0.030	3050	2714	2039	0	0	0	0	0	0
4565	0.78	225.0	233.5	10.5	475	4567	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2713	2039	0	0	0	0	0	0
4691	0.78	225.0	219.9	10.8	487	4695	0.00	1.70	0.00	0.000	4	0.000	0.049	3050	3771	2038	0	0	0	0	0	0
4730	0.78	225.0	215.1	12.3	490	4739	0.00	1.67	0.00	0.000	6	0.000	0.030	3057	2714	2038	0	0	0	0	0	0
4865	0.78	225.0	200.3	11.2	503	4867	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2714	2038	0	0	0	0	0	0
4991	0.78	225.0	186.2	11.2	515	4995	0.00	1.73	0.00	0.000	4	0.000	0.049	3057	3762	2038	0	0	0	0	0	0
5030	0.78	225.0	181.1	12.8	518	5038	0.00	1.65	0.00	0.000	6	0.000	0.030	3064	2729	2038	0	0	0	0	0	0
5166	0.78	225.0	165.5	11.8	531	5167	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2729	2038	0	0	0	0	0	0
5294	0.78	225.0	151.0	11.3	543	5295	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2729	2038	0	0	0	0	0	0
5420	0.78	225.0	136.6	11.2	555	5424	0.00	1.70	0.00	0.000	4	0.000	0.048	3064	3762	2037	0	0	0	0	0	0
5455	0.78	225.0	132.3	12.2	558	5459	0.00	1.62	0.00	0.000	6	0.000	0.031	3072	2736	2037	0	0	0	0	0	0
5596	0.78	225.0	115.8	11.4	571	5597	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2735	2037	0	0	0	0	0	0
5722	0.78	225.0	100.9	11.6	583	5723	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2735	2037	0	0	0	0	0	0
5854	0.78	225.0	85.6	11.6	606	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2735	2037	0	0	0	0	0	0
5997	0.78	225.0	69.4	11.9	631	6004	0.00	1.70	0.00	0.000	4	0.000	0.047	3072	3759	2037	0	0	0	0	0	0
6046	0.78	225.0	63.1	13.0	639	6052	0.00	1.62	0.00	0.000	6	0.000	0.031	3079	2736	2037	0	0	0	0	0	0
6190	0.78	225.0	46.6	11.6	664	6197	0.00	1.70	0.00	0.000	4	0.000	0.049	3080	3765	2037	0	0	0	0	0	0
6226	0.78	225.0	41.7	12.7	670	6234	0.10	1.60	0.00	0.000	6	0.132	0.031	3050	2759	2037	0	0	0	0	0	0
6373	0.79	231.8	27.0	9.7	695	6385	0.00	0.00	6.60	0.720	6	0.000	0.000	3050	2759	2014	0	0	0	0	0	0
6522	0.79	231.8	11.2	10.6	721	6529	0.00	2.33	0.00	0.000	4	0.000	0.034	3061	1296	2014	0	0	0	0	0	0
6560	0.79	231.8	7.4	10.6	727	6567	0.00	2.35	0.00	0.000	6	0.000	0.042	3061	2751	2014	0	0	0	0	0	0
6598	end climb: SURFACE_DEPTH_REACHED
state	6598	begin surface coast
6629	end surface coast: CONTROL_FINISHED_OK
state	6629	begin surface