Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 907 * 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 907 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 30 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 -20679.85 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 -20679.85

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 30 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 907 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 290111,025144,-7614.953,17522.652,15,1.8,16,123.6 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 0.82 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 290111,025850,-7615.017,17522.471,12,1.9,12,123.6 MHEAD_RNG_PITCHd_Wd 235.1,21079,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 379

Post-dive calculations and measurements:

FREEZE -0.17,0.429,-1.884,2,1,0 _24V_AH 21.6,95.852

FINISH -0.2,1.027545 _10V_AH 9.7,39.604

SM_CCo 6759,7.90,0.103,0,0,1939,250.20 FG_AHR_24Vo 0.000

SM_GC 2.04,0.00,0.00,7.90,0.000,0.000,0.103,191,2767,1939,-8.16,-0.37,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,16755.62,290111,000050 MEM 258132

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50310,755

HUMID 53.66 CAP_FILE_SIZE 95768,0

INTERNAL_PRESSURE 8.7601 CFSIZE 260165632,210059264

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 0 CURRENT 0.245,184.7,1

ALTIM_TOP_PING 19.8,19.8 GPS 290111,045336,-7614.888,17522.498,44,1.7,45,123.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 81.34 SBE_CT 529 24 274.29

Roll_motor 48 80 83.28 AA4330 961 33 685.67

VBD_pump_during_apogee 357 979 7567.20 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 7 102 17.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 69.44 nil 0 0 0.00

Iridium_during_connect 40 160 140.98 nil 0 0 0.00

Iridium_during_xfer 192 223 929.19 nil 0 0 0.00

Transponder_ping 1 420 9.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.11

TT8 1882 19 361.60

LPSleep 3027 2 64.31

TT8_Active 443 19 85.11

TT8_Sampling 1512 39 583.93

TT8_CF8 332 45 147.51

TT8_Kalman 0 0 0.00

Analog_circuits 1152 12 134.17

GPS_charging 0 0 0.00

Compass 1199 15 174.48

RAFOS 0 0 0.00

Transponder 7 30 2.26

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.71 -170.3 0.0 0.0 0 93 0.00 0.00 -74.50 0.000 2 0.000 0.000 178 2773 3483 0 0 0 0 0 0

97 -0.71 -170.3 3.7 -8.9 13 118 9.15 1.62 -3.45 0.000 4 0.206 0.057 2555 3767 3658 0 0 0 0 0 0

354 -0.71 -170.3 50.1 -13.7 58 361 0.00 1.58 0.00 0.000 6 0.000 0.027 2554 2770 3661 0 0 0 0 0 0

497 -0.71 -170.3 68.8 -15.0 83 504 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2771 3661 0 0 0 0 0 0

640 -0.71 -170.3 87.8 -12.7 108 646 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2771 3662 0 0 0 0 0 0

786 -0.71 -170.3 107.0 -13.5 129 790 0.00 1.62 0.00 0.000 4 0.000 0.047 2546 3769 3662 0 0 0 0 0 0

822 -0.71 -170.3 112.0 -14.3 132 826 0.00 1.55 0.00 0.000 6 0.000 0.028 2547 2788 3662 0 0 0 0 0 0

963 -0.71 -170.3 131.7 -14.0 145 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2788 3662 0 0 0 0 0 0

1091 -0.71 -170.3 149.6 -14.1 157 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2788 3662 0 0 0 0 0 0

1217 -0.71 -170.3 167.8 -14.2 169 1218 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3662 0 0 0 0 0 0

1344 -0.71 -170.3 185.7 -13.9 181 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3662 0 0 0 0 0 0

1473 -0.71 -170.3 203.7 -14.0 193 1474 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3662 0 0 0 0 0 0

1600 -0.71 -170.3 221.2 -13.9 205 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3662 0 0 0 0 0 0

1735 -0.71 -170.3 240.0 -13.5 218 1739 0.00 1.62 0.00 0.000 4 0.000 0.047 2539 3764 3662 0 0 0 0 0 0

1782 -0.71 -170.3 246.6 -14.8 222 1786 0.08 1.55 0.00 0.000 6 0.130 0.028 2582 2780 3662 0 0 0 0 0 0

1922 -0.71 -170.3 263.1 -11.2 235 1923 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2780 3662 0 0 0 0 0 0

2113 -0.71 -170.3 284.7 -11.4 253 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2780 3662 0 0 0 0 0 0

2305 -0.71 -170.3 306.0 -11.3 271 2309 0.00 1.62 0.00 0.000 4 0.000 0.048 2574 3754 3662 0 0 1 0 0 0

2365 -0.71 -170.3 313.5 -12.0 276 2372 0.00 1.52 0.00 0.000 6 0.000 0.028 2574 2787 3662 0 0 0 0 0 0

2566 -0.71 -170.3 336.3 -11.3 295 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2786 3661 0 0 0 0 0 0

2765 -0.71 -170.3 359.5 -11.5 314 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2787 3662 0 0 0 0 0 0

2943 end dive: TARGET_DEPTH_EXCEEDED

state 2943 begin apogee

2951 -0.16 0.0 379.9 11.3 331 3098 0.50 0.00 140.52 0.979 4 0.112 0.000 2745 2678 2959 0 0 0 0 0 0

3099 end apogee: CONTROL_FINISHED_OK

state 3099 begin climb

3102 0.71 170.3 386.8 0.0 344 3265 0.85 2.30 153.20 0.928 4 0.072 0.033 3033 1310 2265 0 0 0 0 0 0

3290 0.76 208.5 379.6 8.5 360 3336 0.00 2.45 37.83 0.889 6 0.000 0.041 3033 2695 2109 0 0 1 0 0 0

3529 0.76 212.2 356.2 9.9 382 3541 0.00 1.88 4.45 0.648 4 0.000 0.047 3033 3757 2095 0 0 0 0 0 0

3589 0.76 212.2 349.5 11.3 387 3593 0.00 1.65 0.00 0.000 6 0.000 0.030 3041 2721 2095 0 0 1 0 0 0

3795 0.76 212.2 327.9 10.6 406 3796 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2720 2093 0 0 0 0 0 0

3985 0.76 212.2 308.0 10.4 424 3989 0.00 1.70 0.00 0.000 4 0.000 0.047 3041 3766 2092 0 0 0 0 0 0

4024 0.76 212.2 302.9 12.8 427 4031 0.00 1.67 0.00 0.000 6 0.000 0.028 3049 2692 2092 0 0 0 0 0 0

4223 0.76 212.2 281.0 11.1 446 4227 0.00 1.75 0.00 0.000 4 0.000 0.047 3049 3770 2092 0 0 0 0 0 0

4270 0.76 212.2 275.0 13.1 450 4274 0.00 1.67 0.00 0.000 6 0.000 0.029 3057 2721 2091 0 0 0 0 0 0

4475 0.76 212.2 251.2 11.6 469 4476 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2719 2091 0 0 0 0 0 0

4666 0.76 212.2 229.7 11.2 487 4670 0.00 1.73 0.00 0.000 4 0.000 0.047 3057 3758 2090 0 0 0 0 0 0

4724 0.76 212.2 222.2 13.5 492 4727 0.00 1.65 0.00 0.000 6 0.000 0.030 3065 2724 2090 0 0 0 0 0 0

4865 0.76 212.2 205.2 12.1 505 4866 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2721 2090 0 0 0 0 0 0

4991 0.76 212.2 190.3 11.8 517 4994 0.00 1.70 0.00 0.000 4 0.000 0.048 3065 3771 2090 0 0 0 0 0 0

5052 0.76 212.2 182.0 13.3 522 5059 0.00 1.65 0.00 0.000 6 0.000 0.028 3073 2724 2090 0 0 0 0 0 0

5188 0.76 212.2 165.8 12.1 535 5189 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2723 2090 0 0 0 0 0 0

5314 0.76 212.2 150.7 12.0 547 5315 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2724 2089 0 0 0 0 0 0

5441 0.76 212.2 135.8 11.7 559 5445 0.00 1.73 0.00 0.000 4 0.000 0.047 3073 3764 2090 0 0 0 0 0 0

5492 0.76 212.2 129.0 13.2 563 5500 0.10 1.62 0.00 0.000 6 0.134 0.029 3045 2742 2090 0 0 0 0 0 0

5627 0.77 215.2 115.3 9.9 576 5628 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2742 2089 0 0 0 0 0 0

5754 0.77 221.2 102.8 9.8 588 5764 0.00 0.00 8.30 0.782 6 0.000 0.000 3045 2742 2058 0 0 0 0 0 0

5899 0.78 225.1 88.6 9.8 611 5913 0.00 1.70 5.55 0.703 4 0.000 0.049 3045 3760 2042 0 0 1 0 0 0

5948 0.78 225.1 82.9 11.6 619 5955 0.00 1.62 0.00 0.000 6 0.000 0.030 3052 2739 2041 0 0 0 0 0 0

6093 0.78 225.1 68.4 10.8 644 6099 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2739 2041 0 0 0 0 0 0

6236 0.78 225.1 53.6 10.1 669 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2739 2042 0 0 0 0 0 0

6379 0.79 232.3 39.5 9.7 694 6393 0.00 1.75 7.93 0.743 4 0.000 0.048 3051 3772 2013 0 0 1 0 0 0

6444 0.79 232.3 32.0 12.2 705 6452 0.00 1.65 0.00 0.000 6 0.000 0.028 3059 2738 2013 0 0 0 0 0 0

6594 0.79 232.3 16.7 10.6 730 6601 0.00 1.73 0.00 0.000 4 0.000 0.048 3059 3769 2013 0 0 0 0 0 0

6636 0.79 232.3 11.9 11.3 737 6644 0.00 1.60 0.00 0.000 6 0.000 0.031 3064 2769 2013 0 0 0 0 0 0

6717 end climb: SURFACE_DEPTH_REACHED

state 6718 begin surface coast

6740 end surface coast: CONTROL_FINISHED_OK

state 6740 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	907	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	30	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	-20679.85	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	290111,025144,-7614.953,17522.652,15,1.8,16,123.6	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	0.82	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	290111,025850,-7615.017,17522.471,12,1.9,12,123.6	MHEAD_RNG_PITCHd_Wd	235.1,21079,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	379

FREEZE	-0.17,0.429,-1.884,2,1,0	_24V_AH	21.6,95.852
FINISH	-0.2,1.027545	_10V_AH	9.7,39.604
SM_CCo	6759,7.90,0.103,0,0,1939,250.20	FG_AHR_24Vo	0.000
SM_GC	2.04,0.00,0.00,7.90,0.000,0.000,0.103,191,2767,1939,-8.16,-0.37,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,16755.62,290111,000050	MEM	258132
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50310,755
HUMID	53.66	CAP_FILE_SIZE	95768,0
INTERNAL_PRESSURE	8.7601	CFSIZE	260165632,210059264
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	0	CURRENT	0.245,184.7,1
ALTIM_TOP_PING	19.8,19.8	GPS	290111,045336,-7614.888,17522.498,44,1.7,45,123.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	81.34	SBE_CT	529	24	274.29
Roll_motor	48	80	83.28	AA4330	961	33	685.67
VBD_pump_during_apogee	357	979	7567.20	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	7	102	17.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	69.44	nil	0	0	0.00
Iridium_during_connect	40	160	140.98	nil	0	0	0.00
Iridium_during_xfer	192	223	929.19	nil	0	0	0.00
Transponder_ping	1	420	9.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.11
TT8	1882	19	361.60
LPSleep	3027	2	64.31
TT8_Active	443	19	85.11
TT8_Sampling	1512	39	583.93
TT8_CF8	332	45	147.51
TT8_Kalman	0	0	0.00
Analog_circuits	1152	12	134.17
GPS_charging	0	0	0.00
Compass	1199	15	174.48
RAFOS	0	0	0.00
Transponder	7	30	2.26

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.71	-170.3	0.0	0.0	0	93	0.00	0.00	-74.50	0.000	2	0.000	0.000	178	2773	3483	0	0	0	0	0	0
97	-0.71	-170.3	3.7	-8.9	13	118	9.15	1.62	-3.45	0.000	4	0.206	0.057	2555	3767	3658	0	0	0	0	0	0
354	-0.71	-170.3	50.1	-13.7	58	361	0.00	1.58	0.00	0.000	6	0.000	0.027	2554	2770	3661	0	0	0	0	0	0
497	-0.71	-170.3	68.8	-15.0	83	504	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2771	3661	0	0	0	0	0	0
640	-0.71	-170.3	87.8	-12.7	108	646	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2771	3662	0	0	0	0	0	0
786	-0.71	-170.3	107.0	-13.5	129	790	0.00	1.62	0.00	0.000	4	0.000	0.047	2546	3769	3662	0	0	0	0	0	0
822	-0.71	-170.3	112.0	-14.3	132	826	0.00	1.55	0.00	0.000	6	0.000	0.028	2547	2788	3662	0	0	0	0	0	0
963	-0.71	-170.3	131.7	-14.0	145	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2788	3662	0	0	0	0	0	0
1091	-0.71	-170.3	149.6	-14.1	157	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2788	3662	0	0	0	0	0	0
1217	-0.71	-170.3	167.8	-14.2	169	1218	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3662	0	0	0	0	0	0
1344	-0.71	-170.3	185.7	-13.9	181	1346	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3662	0	0	0	0	0	0
1473	-0.71	-170.3	203.7	-14.0	193	1474	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3662	0	0	0	0	0	0
1600	-0.71	-170.3	221.2	-13.9	205	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3662	0	0	0	0	0	0
1735	-0.71	-170.3	240.0	-13.5	218	1739	0.00	1.62	0.00	0.000	4	0.000	0.047	2539	3764	3662	0	0	0	0	0	0
1782	-0.71	-170.3	246.6	-14.8	222	1786	0.08	1.55	0.00	0.000	6	0.130	0.028	2582	2780	3662	0	0	0	0	0	0
1922	-0.71	-170.3	263.1	-11.2	235	1923	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2780	3662	0	0	0	0	0	0
2113	-0.71	-170.3	284.7	-11.4	253	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2780	3662	0	0	0	0	0	0
2305	-0.71	-170.3	306.0	-11.3	271	2309	0.00	1.62	0.00	0.000	4	0.000	0.048	2574	3754	3662	0	0	1	0	0	0
2365	-0.71	-170.3	313.5	-12.0	276	2372	0.00	1.52	0.00	0.000	6	0.000	0.028	2574	2787	3662	0	0	0	0	0	0
2566	-0.71	-170.3	336.3	-11.3	295	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2786	3661	0	0	0	0	0	0
2765	-0.71	-170.3	359.5	-11.5	314	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2787	3662	0	0	0	0	0	0
2943	end dive: TARGET_DEPTH_EXCEEDED
state	2943	begin apogee
2951	-0.16	0.0	379.9	11.3	331	3098	0.50	0.00	140.52	0.979	4	0.112	0.000	2745	2678	2959	0	0	0	0	0	0
3099	end apogee: CONTROL_FINISHED_OK
state	3099	begin climb
3102	0.71	170.3	386.8	0.0	344	3265	0.85	2.30	153.20	0.928	4	0.072	0.033	3033	1310	2265	0	0	0	0	0	0
3290	0.76	208.5	379.6	8.5	360	3336	0.00	2.45	37.83	0.889	6	0.000	0.041	3033	2695	2109	0	0	1	0	0	0
3529	0.76	212.2	356.2	9.9	382	3541	0.00	1.88	4.45	0.648	4	0.000	0.047	3033	3757	2095	0	0	0	0	0	0
3589	0.76	212.2	349.5	11.3	387	3593	0.00	1.65	0.00	0.000	6	0.000	0.030	3041	2721	2095	0	0	1	0	0	0
3795	0.76	212.2	327.9	10.6	406	3796	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2720	2093	0	0	0	0	0	0
3985	0.76	212.2	308.0	10.4	424	3989	0.00	1.70	0.00	0.000	4	0.000	0.047	3041	3766	2092	0	0	0	0	0	0
4024	0.76	212.2	302.9	12.8	427	4031	0.00	1.67	0.00	0.000	6	0.000	0.028	3049	2692	2092	0	0	0	0	0	0
4223	0.76	212.2	281.0	11.1	446	4227	0.00	1.75	0.00	0.000	4	0.000	0.047	3049	3770	2092	0	0	0	0	0	0
4270	0.76	212.2	275.0	13.1	450	4274	0.00	1.67	0.00	0.000	6	0.000	0.029	3057	2721	2091	0	0	0	0	0	0
4475	0.76	212.2	251.2	11.6	469	4476	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2719	2091	0	0	0	0	0	0
4666	0.76	212.2	229.7	11.2	487	4670	0.00	1.73	0.00	0.000	4	0.000	0.047	3057	3758	2090	0	0	0	0	0	0
4724	0.76	212.2	222.2	13.5	492	4727	0.00	1.65	0.00	0.000	6	0.000	0.030	3065	2724	2090	0	0	0	0	0	0
4865	0.76	212.2	205.2	12.1	505	4866	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2721	2090	0	0	0	0	0	0
4991	0.76	212.2	190.3	11.8	517	4994	0.00	1.70	0.00	0.000	4	0.000	0.048	3065	3771	2090	0	0	0	0	0	0
5052	0.76	212.2	182.0	13.3	522	5059	0.00	1.65	0.00	0.000	6	0.000	0.028	3073	2724	2090	0	0	0	0	0	0
5188	0.76	212.2	165.8	12.1	535	5189	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2723	2090	0	0	0	0	0	0
5314	0.76	212.2	150.7	12.0	547	5315	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2724	2089	0	0	0	0	0	0
5441	0.76	212.2	135.8	11.7	559	5445	0.00	1.73	0.00	0.000	4	0.000	0.047	3073	3764	2090	0	0	0	0	0	0
5492	0.76	212.2	129.0	13.2	563	5500	0.10	1.62	0.00	0.000	6	0.134	0.029	3045	2742	2090	0	0	0	0	0	0
5627	0.77	215.2	115.3	9.9	576	5628	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2742	2089	0	0	0	0	0	0
5754	0.77	221.2	102.8	9.8	588	5764	0.00	0.00	8.30	0.782	6	0.000	0.000	3045	2742	2058	0	0	0	0	0	0
5899	0.78	225.1	88.6	9.8	611	5913	0.00	1.70	5.55	0.703	4	0.000	0.049	3045	3760	2042	0	0	1	0	0	0
5948	0.78	225.1	82.9	11.6	619	5955	0.00	1.62	0.00	0.000	6	0.000	0.030	3052	2739	2041	0	0	0	0	0	0
6093	0.78	225.1	68.4	10.8	644	6099	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2739	2041	0	0	0	0	0	0
6236	0.78	225.1	53.6	10.1	669	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2739	2042	0	0	0	0	0	0
6379	0.79	232.3	39.5	9.7	694	6393	0.00	1.75	7.93	0.743	4	0.000	0.048	3051	3772	2013	0	0	1	0	0	0
6444	0.79	232.3	32.0	12.2	705	6452	0.00	1.65	0.00	0.000	6	0.000	0.028	3059	2738	2013	0	0	0	0	0	0
6594	0.79	232.3	16.7	10.6	730	6601	0.00	1.73	0.00	0.000	4	0.000	0.048	3059	3769	2013	0	0	0	0	0	0
6636	0.79	232.3	11.9	11.3	737	6644	0.00	1.60	0.00	0.000	6	0.000	0.031	3064	2769	2013	0	0	0	0	0	0
6717	end climb: SURFACE_DEPTH_REACHED
state	6718	begin surface coast
6740	end surface coast: CONTROL_FINISHED_OK
state	6740	begin surface