Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 874 * 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 874 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 38 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 -20638.156 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 -20638.156

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 R_PORT_OVSHOOT 48 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 38 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 874 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 260111,093024,-7636.291,17612.160,52,0.9,53,123.9 TGT_NAME CORNER_NW

_CALLS 1 TGT_LATLONG -7605.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260111,093708,-7636.296,17612.221,11,1.7,11,123.9 MHEAD_RNG_PITCHd_Wd 205.3,66290,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 409

Post-dive calculations and measurements:

FREEZE -0.03,0.009,-1.843,2,1,0 _24V_AH 21.6,92.208

FINISH -0.0,1.026993 _10V_AH 9.6,37.720

SM_CCo 6885,2.30,0.106,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 1.94,0.00,0.00,2.30,0.000,0.000,0.106,186,2747,1940,-8.17,-0.93,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17608.07,260111,070705 MEM 258140

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50454,770

HUMID 52.75 CAP_FILE_SIZE 99795,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,211763200

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

XPDR_PINGS 0 CURRENT 0.074,120.2,1

ALTIM_TOP_PING 19.7,20.0 GPS 260111,113326,-7635.561,17611.047,17,2.0,18,123.9

ALTIM_BOTTOM_PING 350.6,45.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 204 80.96 SBE_CT 539 24 279.65

Roll_motor 49 68 73.69 AA4330 989 33 705.31

VBD_pump_during_apogee 369 980 7830.58 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 2 105 5.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 54.74 nil 0 0 0.00

Iridium_during_connect 44 160 152.23 nil 0 0 0.00

Iridium_during_xfer 178 223 859.54 nil 0 0 0.00

Transponder_ping 1 420 11.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 6.99

TT8 1916 19 364.27

LPSleep 3029 2 63.69

TT8_Active 456 19 86.84

TT8_Sampling 1561 39 596.54

TT8_CF8 331 45 145.91

TT8_Kalman 0 0 0.00

Analog_circuits 1194 12 137.58

GPS_charging 0 0 0.00

Compass 1261 15 181.70

RAFOS 0 0 0.00

Transponder 10 30 3.05

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 92 0.00 0.00 -73.05 0.000 2 0.000 0.000 176 2798 3435 0 0 0 0 0 0

96 -0.71 -170.3 3.3 -7.4 12 118 9.25 2.33 -4.65 0.000 4 0.204 0.043 2567 1371 3659 0 0 1 0 0 0

165 -0.71 -170.3 21.3 -14.4 23 172 0.00 2.28 0.00 0.000 6 0.000 0.042 2562 2770 3661 0 0 0 0 0 0

309 -0.71 -170.3 41.4 -14.3 48 316 0.00 1.65 0.00 0.000 4 0.000 0.050 2562 3764 3662 0 0 0 0 0 0

357 -0.71 -170.3 48.6 -14.9 56 364 0.00 1.55 0.00 0.000 6 0.000 0.030 2562 2786 3662 0 0 0 0 0 0

499 -0.71 -170.3 68.2 -13.5 81 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2786 3663 0 0 0 0 0 0

640 -0.71 -170.3 87.0 -13.7 106 648 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2786 3663 0 0 0 0 0 0

782 -0.71 -170.3 105.7 -12.9 127 784 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2786 3663 0 0 0 0 0 0

910 -0.71 -170.3 122.5 -13.1 139 913 0.00 1.62 0.00 0.000 4 0.000 0.047 2555 3791 3663 0 0 0 0 0 0

949 -0.71 -170.3 128.4 -14.3 142 957 0.00 1.58 0.00 0.000 6 0.000 0.028 2555 2788 3663 0 0 0 0 0 0

1085 -0.71 -170.3 147.1 -13.8 155 1086 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2787 3663 0 0 0 0 0 0

1212 -0.71 -170.3 164.2 -13.1 167 1213 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2788 3663 0 0 0 0 0 0

1340 -0.71 -170.3 181.0 -13.0 179 1341 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2788 3663 0 0 0 0 0 0

1466 -0.71 -170.3 198.2 -13.4 191 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2788 3664 0 0 0 0 0 0

1594 -0.71 -170.3 215.0 -13.0 203 1598 0.00 1.62 0.00 0.000 4 0.000 0.049 2547 3766 3663 0 0 0 0 0 0

1633 -0.71 -170.3 220.8 -14.6 206 1641 0.00 1.52 0.00 0.000 6 0.000 0.028 2547 2800 3663 0 0 0 0 0 0

1769 -0.71 -170.3 238.7 -13.4 219 1770 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2800 3663 0 0 0 0 0 0

1896 -0.71 -170.3 255.9 -13.8 231 1897 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2800 3663 0 0 0 0 0 0

2088 -0.71 -170.3 282.2 -13.6 249 2091 0.00 1.58 0.00 0.000 4 0.000 0.047 2540 3753 3663 0 0 0 0 0 0

2126 -0.71 -170.3 288.2 -15.0 252 2133 0.00 1.52 0.00 0.000 6 0.000 0.028 2540 2786 3662 0 0 0 0 0 0

2326 -0.71 -170.3 316.4 -14.2 271 2327 0.10 0.00 0.00 0.000 6 0.172 0.000 2568 2786 3663 0 0 0 0 0 0

2516 -0.71 -170.3 340.2 -12.1 289 2520 0.00 1.62 0.00 0.000 4 0.000 0.049 2561 3794 3663 0 0 0 0 0 0

2567 -0.71 -170.3 347.1 -13.7 293 2574 0.00 1.55 0.00 0.000 6 0.000 0.028 2561 2806 3663 0 0 0 0 0 0

2767 -0.71 -170.3 371.8 -12.4 312 2768 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2806 3663 0 0 0 0 0 0

2838 end dive: BOTTOM_OBSTACLE_DETECTED

state 2838 begin apogee

2845 -0.16 0.0 381.1 12.5 319 2992 0.55 0.00 140.57 0.981 4 0.115 0.000 2745 2682 2958 0 0 0 0 0 0

2993 end apogee: CONTROL_FINISHED_OK

state 2993 begin climb

2996 0.71 170.3 388.0 0.0 332 3158 0.85 2.30 153.15 0.932 4 0.072 0.032 3031 1311 2265 0 0 0 0 0 0

3354 0.74 192.0 365.8 9.1 364 3380 0.00 2.38 20.15 0.893 6 0.000 0.041 3031 2707 2176 0 0 0 0 0 0

3580 0.74 196.9 343.7 9.8 385 3593 0.00 2.28 6.07 0.763 4 0.000 0.033 3041 1314 2156 0 0 0 0 0 0

3745 0.74 197.0 327.5 10.0 399 3751 0.00 2.28 0.00 0.000 6 0.000 0.041 3041 2709 2156 0 0 0 0 0 0

3944 0.74 197.0 307.0 10.4 418 3947 0.00 1.70 0.00 0.000 4 0.000 0.050 3041 3765 2155 0 0 0 0 0 0

4017 0.74 197.0 298.0 12.7 424 4024 0.00 1.62 0.00 0.000 6 0.000 0.030 3048 2742 2155 0 0 0 0 0 0

4216 0.74 197.0 276.5 10.8 443 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2742 2154 0 0 0 0 0 0

4406 0.75 200.7 257.0 9.9 461 4418 0.00 1.70 4.53 0.688 4 0.000 0.050 3048 3766 2141 0 0 1 0 0 0

4477 0.75 200.7 248.9 11.9 467 4481 0.00 1.62 0.00 0.000 6 0.000 0.029 3056 2739 2141 0 0 0 0 0 0

4618 0.75 200.7 234.3 10.1 480 4619 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2737 2140 0 0 0 0 0 0

4744 0.75 200.7 221.6 10.1 492 4745 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2737 2140 0 0 0 0 0 0

4871 0.75 200.7 208.5 10.3 504 4875 0.00 1.65 0.00 0.000 4 0.000 0.048 3056 3763 2140 0 0 0 0 0 0

4945 0.75 200.7 199.8 11.9 510 4952 0.00 1.62 0.00 0.000 6 0.000 0.029 3064 2739 2140 0 0 0 0 0 0

5080 0.75 200.7 185.0 10.8 523 5081 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2739 2140 0 0 0 0 0 0

5208 0.75 200.7 171.0 11.1 535 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2739 2140 0 0 0 0 0 0

5336 0.75 200.7 156.7 11.2 547 5339 0.00 1.65 0.00 0.000 4 0.000 0.048 3064 3765 2140 0 0 0 0 0 0

5385 0.75 200.7 149.7 14.2 551 5393 0.08 1.60 0.00 0.000 6 0.145 0.029 3044 2751 2140 0 0 0 0 0 0

5520 0.75 200.7 135.5 10.4 564 5521 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2751 2140 0 0 0 0 0 0

5648 0.75 200.7 122.5 10.4 576 5649 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2751 2140 0 0 0 0 0 0

5775 0.76 208.4 109.9 9.7 588 5787 0.00 1.67 8.07 0.783 4 0.000 0.050 3044 3760 2110 0 0 1 0 0 0

5818 0.76 208.4 105.2 11.3 592 5821 0.00 1.60 0.00 0.000 6 0.000 0.031 3051 2750 2110 0 0 0 0 0 0

5957 0.76 208.4 91.2 10.2 612 5963 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2750 2110 0 0 0 0 0 0

6100 0.77 221.2 77.4 9.5 637 6119 0.00 0.00 13.05 0.796 6 0.000 0.000 3051 2751 2057 0 0 0 0 0 0

6258 0.80 240.2 62.3 9.2 664 6283 0.00 0.00 18.77 0.786 6 0.000 0.000 3051 2750 1981 0 0 0 0 0 0

6420 0.80 240.2 47.0 10.2 692 6426 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2750 1981 0 0 0 0 0 0

6561 0.80 243.9 32.8 9.9 717 6575 0.00 1.70 5.28 0.660 4 0.000 0.050 3051 3765 1965 0 0 1 0 0 0

6611 0.80 243.9 27.1 11.6 725 6617 0.00 1.62 0.00 0.000 6 0.000 0.029 3057 2748 1965 0 0 0 0 0 0

6756 0.80 243.9 12.2 10.2 750 6763 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2748 1965 0 0 0 0 0 0

6836 end climb: SURFACE_DEPTH_REACHED

state 6836 begin surface coast

6865 end surface coast: CONTROL_FINISHED_OK

state 6866 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	874	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	38	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	-20638.156	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	260111,093024,-7636.291,17612.160,52,0.9,53,123.9	TGT_NAME	CORNER_NW
_CALLS	1	TGT_LATLONG	-7605.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260111,093708,-7636.296,17612.221,11,1.7,11,123.9	MHEAD_RNG_PITCHd_Wd	205.3,66290,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	409

FREEZE	-0.03,0.009,-1.843,2,1,0	_24V_AH	21.6,92.208
FINISH	-0.0,1.026993	_10V_AH	9.6,37.720
SM_CCo	6885,2.30,0.106,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	1.94,0.00,0.00,2.30,0.000,0.000,0.106,186,2747,1940,-8.17,-0.93,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17608.07,260111,070705	MEM	258140
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50454,770
HUMID	52.75	CAP_FILE_SIZE	99795,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,211763200
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	CURRENT	0.074,120.2,1
ALTIM_TOP_PING	19.7,20.0	GPS	260111,113326,-7635.561,17611.047,17,2.0,18,123.9
ALTIM_BOTTOM_PING	350.6,45.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	204	80.96	SBE_CT	539	24	279.65
Roll_motor	49	68	73.69	AA4330	989	33	705.31
VBD_pump_during_apogee	369	980	7830.58	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	2	105	5.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	54.74	nil	0	0	0.00
Iridium_during_connect	44	160	152.23	nil	0	0	0.00
Iridium_during_xfer	178	223	859.54	nil	0	0	0.00
Transponder_ping	1	420	11.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	6.99
TT8	1916	19	364.27
LPSleep	3029	2	63.69
TT8_Active	456	19	86.84
TT8_Sampling	1561	39	596.54
TT8_CF8	331	45	145.91
TT8_Kalman	0	0	0.00
Analog_circuits	1194	12	137.58
GPS_charging	0	0	0.00
Compass	1261	15	181.70
RAFOS	0	0	0.00
Transponder	10	30	3.05

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	92	0.00	0.00	-73.05	0.000	2	0.000	0.000	176	2798	3435	0	0	0	0	0	0
96	-0.71	-170.3	3.3	-7.4	12	118	9.25	2.33	-4.65	0.000	4	0.204	0.043	2567	1371	3659	0	0	1	0	0	0
165	-0.71	-170.3	21.3	-14.4	23	172	0.00	2.28	0.00	0.000	6	0.000	0.042	2562	2770	3661	0	0	0	0	0	0
309	-0.71	-170.3	41.4	-14.3	48	316	0.00	1.65	0.00	0.000	4	0.000	0.050	2562	3764	3662	0	0	0	0	0	0
357	-0.71	-170.3	48.6	-14.9	56	364	0.00	1.55	0.00	0.000	6	0.000	0.030	2562	2786	3662	0	0	0	0	0	0
499	-0.71	-170.3	68.2	-13.5	81	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2786	3663	0	0	0	0	0	0
640	-0.71	-170.3	87.0	-13.7	106	648	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2786	3663	0	0	0	0	0	0
782	-0.71	-170.3	105.7	-12.9	127	784	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2786	3663	0	0	0	0	0	0
910	-0.71	-170.3	122.5	-13.1	139	913	0.00	1.62	0.00	0.000	4	0.000	0.047	2555	3791	3663	0	0	0	0	0	0
949	-0.71	-170.3	128.4	-14.3	142	957	0.00	1.58	0.00	0.000	6	0.000	0.028	2555	2788	3663	0	0	0	0	0	0
1085	-0.71	-170.3	147.1	-13.8	155	1086	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2787	3663	0	0	0	0	0	0
1212	-0.71	-170.3	164.2	-13.1	167	1213	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2788	3663	0	0	0	0	0	0
1340	-0.71	-170.3	181.0	-13.0	179	1341	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2788	3663	0	0	0	0	0	0
1466	-0.71	-170.3	198.2	-13.4	191	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2788	3664	0	0	0	0	0	0
1594	-0.71	-170.3	215.0	-13.0	203	1598	0.00	1.62	0.00	0.000	4	0.000	0.049	2547	3766	3663	0	0	0	0	0	0
1633	-0.71	-170.3	220.8	-14.6	206	1641	0.00	1.52	0.00	0.000	6	0.000	0.028	2547	2800	3663	0	0	0	0	0	0
1769	-0.71	-170.3	238.7	-13.4	219	1770	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2800	3663	0	0	0	0	0	0
1896	-0.71	-170.3	255.9	-13.8	231	1897	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2800	3663	0	0	0	0	0	0
2088	-0.71	-170.3	282.2	-13.6	249	2091	0.00	1.58	0.00	0.000	4	0.000	0.047	2540	3753	3663	0	0	0	0	0	0
2126	-0.71	-170.3	288.2	-15.0	252	2133	0.00	1.52	0.00	0.000	6	0.000	0.028	2540	2786	3662	0	0	0	0	0	0
2326	-0.71	-170.3	316.4	-14.2	271	2327	0.10	0.00	0.00	0.000	6	0.172	0.000	2568	2786	3663	0	0	0	0	0	0
2516	-0.71	-170.3	340.2	-12.1	289	2520	0.00	1.62	0.00	0.000	4	0.000	0.049	2561	3794	3663	0	0	0	0	0	0
2567	-0.71	-170.3	347.1	-13.7	293	2574	0.00	1.55	0.00	0.000	6	0.000	0.028	2561	2806	3663	0	0	0	0	0	0
2767	-0.71	-170.3	371.8	-12.4	312	2768	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2806	3663	0	0	0	0	0	0
2838	end dive: BOTTOM_OBSTACLE_DETECTED
state	2838	begin apogee
2845	-0.16	0.0	381.1	12.5	319	2992	0.55	0.00	140.57	0.981	4	0.115	0.000	2745	2682	2958	0	0	0	0	0	0
2993	end apogee: CONTROL_FINISHED_OK
state	2993	begin climb
2996	0.71	170.3	388.0	0.0	332	3158	0.85	2.30	153.15	0.932	4	0.072	0.032	3031	1311	2265	0	0	0	0	0	0
3354	0.74	192.0	365.8	9.1	364	3380	0.00	2.38	20.15	0.893	6	0.000	0.041	3031	2707	2176	0	0	0	0	0	0
3580	0.74	196.9	343.7	9.8	385	3593	0.00	2.28	6.07	0.763	4	0.000	0.033	3041	1314	2156	0	0	0	0	0	0
3745	0.74	197.0	327.5	10.0	399	3751	0.00	2.28	0.00	0.000	6	0.000	0.041	3041	2709	2156	0	0	0	0	0	0
3944	0.74	197.0	307.0	10.4	418	3947	0.00	1.70	0.00	0.000	4	0.000	0.050	3041	3765	2155	0	0	0	0	0	0
4017	0.74	197.0	298.0	12.7	424	4024	0.00	1.62	0.00	0.000	6	0.000	0.030	3048	2742	2155	0	0	0	0	0	0
4216	0.74	197.0	276.5	10.8	443	4218	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2742	2154	0	0	0	0	0	0
4406	0.75	200.7	257.0	9.9	461	4418	0.00	1.70	4.53	0.688	4	0.000	0.050	3048	3766	2141	0	0	1	0	0	0
4477	0.75	200.7	248.9	11.9	467	4481	0.00	1.62	0.00	0.000	6	0.000	0.029	3056	2739	2141	0	0	0	0	0	0
4618	0.75	200.7	234.3	10.1	480	4619	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2737	2140	0	0	0	0	0	0
4744	0.75	200.7	221.6	10.1	492	4745	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2737	2140	0	0	0	0	0	0
4871	0.75	200.7	208.5	10.3	504	4875	0.00	1.65	0.00	0.000	4	0.000	0.048	3056	3763	2140	0	0	0	0	0	0
4945	0.75	200.7	199.8	11.9	510	4952	0.00	1.62	0.00	0.000	6	0.000	0.029	3064	2739	2140	0	0	0	0	0	0
5080	0.75	200.7	185.0	10.8	523	5081	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2739	2140	0	0	0	0	0	0
5208	0.75	200.7	171.0	11.1	535	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2739	2140	0	0	0	0	0	0
5336	0.75	200.7	156.7	11.2	547	5339	0.00	1.65	0.00	0.000	4	0.000	0.048	3064	3765	2140	0	0	0	0	0	0
5385	0.75	200.7	149.7	14.2	551	5393	0.08	1.60	0.00	0.000	6	0.145	0.029	3044	2751	2140	0	0	0	0	0	0
5520	0.75	200.7	135.5	10.4	564	5521	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2751	2140	0	0	0	0	0	0
5648	0.75	200.7	122.5	10.4	576	5649	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2751	2140	0	0	0	0	0	0
5775	0.76	208.4	109.9	9.7	588	5787	0.00	1.67	8.07	0.783	4	0.000	0.050	3044	3760	2110	0	0	1	0	0	0
5818	0.76	208.4	105.2	11.3	592	5821	0.00	1.60	0.00	0.000	6	0.000	0.031	3051	2750	2110	0	0	0	0	0	0
5957	0.76	208.4	91.2	10.2	612	5963	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2750	2110	0	0	0	0	0	0
6100	0.77	221.2	77.4	9.5	637	6119	0.00	0.00	13.05	0.796	6	0.000	0.000	3051	2751	2057	0	0	0	0	0	0
6258	0.80	240.2	62.3	9.2	664	6283	0.00	0.00	18.77	0.786	6	0.000	0.000	3051	2750	1981	0	0	0	0	0	0
6420	0.80	240.2	47.0	10.2	692	6426	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2750	1981	0	0	0	0	0	0
6561	0.80	243.9	32.8	9.9	717	6575	0.00	1.70	5.28	0.660	4	0.000	0.050	3051	3765	1965	0	0	1	0	0	0
6611	0.80	243.9	27.1	11.6	725	6617	0.00	1.62	0.00	0.000	6	0.000	0.029	3057	2748	1965	0	0	0	0	0	0
6756	0.80	243.9	12.2	10.2	750	6763	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2748	1965	0	0	0	0	0	0
6836	end climb: SURFACE_DEPTH_REACHED
state	6836	begin surface coast
6865	end surface coast: CONTROL_FINISHED_OK
state	6866	begin surface