Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 914 * 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 914 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 -20688.66 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 -20688.66

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 914 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 290111,165406,-7612.260,17519.910,15,1.2,32,123.5 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 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290111,170056,-7612.243,17519.887,13,1.4,13,123.5 MHEAD_RNG_PITCHd_Wd 187.2,16075,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 378

Post-dive calculations and measurements:

FREEZE -0.19,0.301,-1.268,2,1,0 _24V_AH 21.5,96.609

FINISH -0.2,1.018715 _10V_AH 9.7,40.011

SM_CCo 6752,9.10,0.102,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 2.14,0.00,0.00,9.10,0.000,0.000,0.102,189,2743,1940,-8.16,-1.05,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7528.04,17519.44,290111,141416 MEM 258176

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50330,756

HUMID 53.15 CAP_FILE_SIZE 95867,0

INTERNAL_PRESSURE 8.7601 CFSIZE 260165632,209682432

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.123, 35.6,1

ALTIM_TOP_PING 19.7,19.9 GPS 290111,185537,-7611.190,17517.812,45,1.1,46,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 206 81.27 SBE_CT 529 24 273.23

Roll_motor 50 68 74.75 AA4330 975 33 692.05

VBD_pump_during_apogee 352 976 7397.92 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 9 101 19.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 66.77 nil 0 0 0.00

Iridium_during_connect 39 160 135.41 nil 0 0 0.00

Iridium_during_xfer 178 223 855.12 nil 0 0 0.00

Transponder_ping 1 420 9.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.57

TT8 1883 19 361.81

LPSleep 3021 2 64.18

TT8_Active 447 19 86.02

TT8_Sampling 1489 39 575.12

TT8_CF8 333 45 147.94

TT8_Kalman 0 0 0.00

Analog_circuits 1154 12 134.37

GPS_charging 0 0 0.00

Compass 1196 15 174.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.71 -170.3 0.0 0.0 0 95 0.00 0.00 -76.15 0.000 2 0.000 0.000 181 2798 3526 0 0 0 0 0 0

100 -0.71 -170.3 3.9 -9.5 13 121 9.25 2.30 -2.58 0.000 4 0.207 0.044 2566 1370 3660 0 0 1 0 0 0

352 -0.71 -170.3 48.2 -13.1 57 359 0.00 2.28 0.00 0.000 6 0.000 0.042 2562 2771 3663 0 0 0 0 0 0

495 -0.71 -170.3 66.6 -12.8 82 502 0.00 1.65 0.00 0.000 4 0.000 0.050 2562 3761 3663 0 0 0 0 0 0

537 -0.71 -170.3 72.4 -14.8 89 544 0.00 1.55 0.00 0.000 6 0.000 0.029 2562 2788 3663 0 0 0 0 0 0

679 -0.71 -170.3 91.4 -13.9 114 686 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2788 3663 0 0 0 0 0 0

819 -0.71 -170.3 109.8 -12.7 132 820 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2788 3663 0 0 0 0 0 0

946 -0.71 -170.3 126.7 -14.2 144 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2788 3663 0 0 0 0 0 0

1074 -0.71 -170.3 142.9 -13.0 156 1077 0.00 1.62 0.00 0.000 4 0.000 0.048 2555 3789 3664 0 0 0 0 0 0

1123 -0.71 -170.3 150.0 -13.7 160 1130 0.00 1.58 0.00 0.000 6 0.000 0.028 2555 2794 3664 0 0 0 0 0 0

1258 -0.71 -170.3 167.4 -13.0 173 1259 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2794 3664 0 0 0 0 0 0

1386 -0.71 -170.3 184.1 -13.2 185 1388 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2794 3664 0 0 0 0 0 0

1513 -0.71 -170.3 201.3 -13.3 197 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2794 3664 0 0 0 0 0 0

1641 -0.71 -170.3 218.5 -13.5 209 1644 0.00 1.62 0.00 0.000 4 0.000 0.048 2547 3793 3664 0 0 0 0 0 0

1680 -0.71 -170.3 224.3 -14.0 212 1687 0.00 1.58 0.00 0.000 6 0.000 0.028 2548 2797 3663 0 0 0 0 0 0

1815 -0.71 -170.3 242.6 -14.1 225 1816 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2797 3663 0 0 0 0 0 0

1944 -0.71 -170.3 260.4 -14.1 237 1950 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2797 3663 0 0 0 0 0 0

2144 -0.71 -170.3 287.4 -13.4 256 2148 0.00 1.60 0.00 0.000 4 0.000 0.048 2540 3757 3664 0 0 0 0 0 0

2195 -0.71 -170.3 295.1 -14.1 260 2201 0.00 1.50 0.00 0.000 6 0.000 0.028 2540 2810 3663 0 0 0 0 0 0

2393 -0.71 -170.3 322.6 -14.0 279 2395 0.10 0.00 0.00 0.000 6 0.171 0.000 2568 2811 3663 0 0 0 0 0 0

2584 -0.71 -170.3 345.1 -11.8 297 2586 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2811 3663 0 0 0 0 0 0

2775 -0.71 -170.3 366.8 -11.3 315 2776 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2811 3663 0 0 0 0 0 0

2878 end dive: TARGET_DEPTH_EXCEEDED

state 2878 begin apogee

2886 -0.16 0.0 378.5 11.0 325 3033 0.52 0.00 140.77 0.976 4 0.113 0.000 2747 2691 2960 0 0 0 0 0 0

3034 end apogee: CONTROL_FINISHED_OK

state 3034 begin climb

3037 0.71 170.3 383.8 0.0 338 3201 0.82 2.35 153.65 0.923 4 0.071 0.032 3027 1305 2265 0 0 0 0 0 0

3215 0.76 207.0 376.1 8.5 353 3261 0.00 2.50 36.58 0.882 6 0.000 0.039 3027 2695 2116 0 0 0 0 0 0

3453 0.76 207.0 351.3 10.1 375 3456 0.00 1.83 0.00 0.000 4 0.000 0.048 3027 3768 2113 0 0 0 0 0 0

3511 0.76 207.0 344.4 12.1 380 3515 0.00 1.67 0.00 0.000 6 0.000 0.029 3035 2718 2112 0 0 1 0 0 0

3716 0.76 207.0 322.9 10.4 399 3717 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2718 2111 0 0 0 0 0 0

3906 0.76 207.0 302.2 11.3 417 3907 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2718 2110 0 0 0 0 0 0

4097 0.76 207.0 281.0 11.2 435 4100 0.00 1.70 0.00 0.000 4 0.000 0.048 3035 3765 2110 0 0 0 0 0 0

4159 0.76 207.0 273.2 13.1 440 4166 0.00 1.70 0.00 0.000 6 0.000 0.028 3042 2707 2109 0 0 0 0 0 0

4359 0.76 207.0 251.4 10.8 459 4366 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2707 2109 0 0 0 0 0 0

4559 0.76 207.0 229.8 10.9 478 4560 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2707 2108 0 0 0 0 0 0

4685 0.76 207.0 216.0 10.7 490 4689 0.00 1.73 0.00 0.000 4 0.000 0.047 3042 3770 2108 0 0 0 0 0 0

4731 0.76 207.0 210.5 12.0 494 4735 0.00 1.65 0.00 0.000 6 0.000 0.028 3049 2708 2107 0 0 0 0 0 0

4872 0.76 207.0 194.8 10.9 507 4874 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2706 2107 0 0 0 0 0 0

4998 0.76 207.0 181.2 10.8 519 4999 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2706 2107 0 0 0 0 0 0

5126 0.76 209.3 168.0 9.9 531 5130 0.00 1.73 0.00 0.000 4 0.000 0.047 3049 3769 2107 0 0 0 0 0 0

5174 0.76 209.3 162.7 11.6 535 5178 0.00 1.65 0.00 0.000 6 0.000 0.029 3057 2709 2107 0 0 0 0 0 0

5317 0.76 209.3 147.5 10.8 548 5321 0.00 2.22 0.00 0.000 4 0.000 0.034 3068 1296 2107 0 0 0 0 0 0

5346 0.76 209.9 144.3 10.0 550 5350 0.00 2.30 0.00 0.000 6 0.000 0.043 3068 2725 2106 0 0 0 0 0 0

5487 0.76 209.9 129.0 10.8 563 5491 0.00 1.70 0.00 0.000 4 0.000 0.047 3068 3758 2106 0 0 0 0 0 0

5536 0.76 209.9 122.6 12.9 567 5545 0.08 1.65 0.00 0.000 6 0.144 0.029 3048 2730 2106 0 0 0 0 0 0

5672 0.77 217.5 109.5 9.7 580 5682 0.00 0.00 8.60 0.789 6 0.000 0.000 3049 2730 2073 0 0 0 0 0 0

5811 0.77 217.5 96.0 10.0 596 5817 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2730 2073 0 0 0 0 0 0

5953 0.77 217.5 81.3 10.8 621 5960 0.00 1.73 0.00 0.000 4 0.000 0.048 3049 3762 2073 0 0 0 0 0 0

5989 0.77 217.5 76.8 12.5 627 5997 0.00 1.65 0.00 0.000 6 0.000 0.030 3055 2730 2073 0 0 0 0 0 0

6136 0.77 217.5 60.7 10.8 652 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2730 2074 0 0 0 0 0 0

6278 0.79 230.1 47.3 9.5 677 6297 0.00 0.00 12.90 0.776 6 0.000 0.000 3055 2730 2021 0 0 0 0 0 0

6436 0.79 230.1 33.0 10.4 704 6442 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2730 2021 0 0 0 0 0 0

6579 0.79 230.1 17.9 10.8 729 6586 0.00 1.73 0.00 0.000 4 0.000 0.047 3055 3764 2021 0 0 0 0 0 0

6622 0.79 230.1 12.8 12.8 736 6628 0.00 1.62 0.00 0.000 6 0.000 0.029 3063 2744 2020 0 0 0 0 0 0

6705 end climb: SURFACE_DEPTH_REACHED

state 6705 begin surface coast

6733 end surface coast: CONTROL_FINISHED_OK

state 6733 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	914	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	-20688.66	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	290111,165406,-7612.260,17519.910,15,1.2,32,123.5	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	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290111,170056,-7612.243,17519.887,13,1.4,13,123.5	MHEAD_RNG_PITCHd_Wd	187.2,16075,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	378

FREEZE	-0.19,0.301,-1.268,2,1,0	_24V_AH	21.5,96.609
FINISH	-0.2,1.018715	_10V_AH	9.7,40.011
SM_CCo	6752,9.10,0.102,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	2.14,0.00,0.00,9.10,0.000,0.000,0.102,189,2743,1940,-8.16,-1.05,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7528.04,17519.44,290111,141416	MEM	258176
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50330,756
HUMID	53.15	CAP_FILE_SIZE	95867,0
INTERNAL_PRESSURE	8.7601	CFSIZE	260165632,209682432
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.123, 35.6,1
ALTIM_TOP_PING	19.7,19.9	GPS	290111,185537,-7611.190,17517.812,45,1.1,46,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	206	81.27	SBE_CT	529	24	273.23
Roll_motor	50	68	74.75	AA4330	975	33	692.05
VBD_pump_during_apogee	352	976	7397.92	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	9	101	19.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	66.77	nil	0	0	0.00
Iridium_during_connect	39	160	135.41	nil	0	0	0.00
Iridium_during_xfer	178	223	855.12	nil	0	0	0.00
Transponder_ping	1	420	9.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.57
TT8	1883	19	361.81
LPSleep	3021	2	64.18
TT8_Active	447	19	86.02
TT8_Sampling	1489	39	575.12
TT8_CF8	333	45	147.94
TT8_Kalman	0	0	0.00
Analog_circuits	1154	12	134.37
GPS_charging	0	0	0.00
Compass	1196	15	174.03
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.71	-170.3	0.0	0.0	0	95	0.00	0.00	-76.15	0.000	2	0.000	0.000	181	2798	3526	0	0	0	0	0	0
100	-0.71	-170.3	3.9	-9.5	13	121	9.25	2.30	-2.58	0.000	4	0.207	0.044	2566	1370	3660	0	0	1	0	0	0
352	-0.71	-170.3	48.2	-13.1	57	359	0.00	2.28	0.00	0.000	6	0.000	0.042	2562	2771	3663	0	0	0	0	0	0
495	-0.71	-170.3	66.6	-12.8	82	502	0.00	1.65	0.00	0.000	4	0.000	0.050	2562	3761	3663	0	0	0	0	0	0
537	-0.71	-170.3	72.4	-14.8	89	544	0.00	1.55	0.00	0.000	6	0.000	0.029	2562	2788	3663	0	0	0	0	0	0
679	-0.71	-170.3	91.4	-13.9	114	686	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2788	3663	0	0	0	0	0	0
819	-0.71	-170.3	109.8	-12.7	132	820	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2788	3663	0	0	0	0	0	0
946	-0.71	-170.3	126.7	-14.2	144	947	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2788	3663	0	0	0	0	0	0
1074	-0.71	-170.3	142.9	-13.0	156	1077	0.00	1.62	0.00	0.000	4	0.000	0.048	2555	3789	3664	0	0	0	0	0	0
1123	-0.71	-170.3	150.0	-13.7	160	1130	0.00	1.58	0.00	0.000	6	0.000	0.028	2555	2794	3664	0	0	0	0	0	0
1258	-0.71	-170.3	167.4	-13.0	173	1259	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2794	3664	0	0	0	0	0	0
1386	-0.71	-170.3	184.1	-13.2	185	1388	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2794	3664	0	0	0	0	0	0
1513	-0.71	-170.3	201.3	-13.3	197	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2794	3664	0	0	0	0	0	0
1641	-0.71	-170.3	218.5	-13.5	209	1644	0.00	1.62	0.00	0.000	4	0.000	0.048	2547	3793	3664	0	0	0	0	0	0
1680	-0.71	-170.3	224.3	-14.0	212	1687	0.00	1.58	0.00	0.000	6	0.000	0.028	2548	2797	3663	0	0	0	0	0	0
1815	-0.71	-170.3	242.6	-14.1	225	1816	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2797	3663	0	0	0	0	0	0
1944	-0.71	-170.3	260.4	-14.1	237	1950	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2797	3663	0	0	0	0	0	0
2144	-0.71	-170.3	287.4	-13.4	256	2148	0.00	1.60	0.00	0.000	4	0.000	0.048	2540	3757	3664	0	0	0	0	0	0
2195	-0.71	-170.3	295.1	-14.1	260	2201	0.00	1.50	0.00	0.000	6	0.000	0.028	2540	2810	3663	0	0	0	0	0	0
2393	-0.71	-170.3	322.6	-14.0	279	2395	0.10	0.00	0.00	0.000	6	0.171	0.000	2568	2811	3663	0	0	0	0	0	0
2584	-0.71	-170.3	345.1	-11.8	297	2586	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2811	3663	0	0	0	0	0	0
2775	-0.71	-170.3	366.8	-11.3	315	2776	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2811	3663	0	0	0	0	0	0
2878	end dive: TARGET_DEPTH_EXCEEDED
state	2878	begin apogee
2886	-0.16	0.0	378.5	11.0	325	3033	0.52	0.00	140.77	0.976	4	0.113	0.000	2747	2691	2960	0	0	0	0	0	0
3034	end apogee: CONTROL_FINISHED_OK
state	3034	begin climb
3037	0.71	170.3	383.8	0.0	338	3201	0.82	2.35	153.65	0.923	4	0.071	0.032	3027	1305	2265	0	0	0	0	0	0
3215	0.76	207.0	376.1	8.5	353	3261	0.00	2.50	36.58	0.882	6	0.000	0.039	3027	2695	2116	0	0	0	0	0	0
3453	0.76	207.0	351.3	10.1	375	3456	0.00	1.83	0.00	0.000	4	0.000	0.048	3027	3768	2113	0	0	0	0	0	0
3511	0.76	207.0	344.4	12.1	380	3515	0.00	1.67	0.00	0.000	6	0.000	0.029	3035	2718	2112	0	0	1	0	0	0
3716	0.76	207.0	322.9	10.4	399	3717	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2718	2111	0	0	0	0	0	0
3906	0.76	207.0	302.2	11.3	417	3907	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2718	2110	0	0	0	0	0	0
4097	0.76	207.0	281.0	11.2	435	4100	0.00	1.70	0.00	0.000	4	0.000	0.048	3035	3765	2110	0	0	0	0	0	0
4159	0.76	207.0	273.2	13.1	440	4166	0.00	1.70	0.00	0.000	6	0.000	0.028	3042	2707	2109	0	0	0	0	0	0
4359	0.76	207.0	251.4	10.8	459	4366	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2707	2109	0	0	0	0	0	0
4559	0.76	207.0	229.8	10.9	478	4560	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2707	2108	0	0	0	0	0	0
4685	0.76	207.0	216.0	10.7	490	4689	0.00	1.73	0.00	0.000	4	0.000	0.047	3042	3770	2108	0	0	0	0	0	0
4731	0.76	207.0	210.5	12.0	494	4735	0.00	1.65	0.00	0.000	6	0.000	0.028	3049	2708	2107	0	0	0	0	0	0
4872	0.76	207.0	194.8	10.9	507	4874	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2706	2107	0	0	0	0	0	0
4998	0.76	207.0	181.2	10.8	519	4999	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2706	2107	0	0	0	0	0	0
5126	0.76	209.3	168.0	9.9	531	5130	0.00	1.73	0.00	0.000	4	0.000	0.047	3049	3769	2107	0	0	0	0	0	0
5174	0.76	209.3	162.7	11.6	535	5178	0.00	1.65	0.00	0.000	6	0.000	0.029	3057	2709	2107	0	0	0	0	0	0
5317	0.76	209.3	147.5	10.8	548	5321	0.00	2.22	0.00	0.000	4	0.000	0.034	3068	1296	2107	0	0	0	0	0	0
5346	0.76	209.9	144.3	10.0	550	5350	0.00	2.30	0.00	0.000	6	0.000	0.043	3068	2725	2106	0	0	0	0	0	0
5487	0.76	209.9	129.0	10.8	563	5491	0.00	1.70	0.00	0.000	4	0.000	0.047	3068	3758	2106	0	0	0	0	0	0
5536	0.76	209.9	122.6	12.9	567	5545	0.08	1.65	0.00	0.000	6	0.144	0.029	3048	2730	2106	0	0	0	0	0	0
5672	0.77	217.5	109.5	9.7	580	5682	0.00	0.00	8.60	0.789	6	0.000	0.000	3049	2730	2073	0	0	0	0	0	0
5811	0.77	217.5	96.0	10.0	596	5817	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2730	2073	0	0	0	0	0	0
5953	0.77	217.5	81.3	10.8	621	5960	0.00	1.73	0.00	0.000	4	0.000	0.048	3049	3762	2073	0	0	0	0	0	0
5989	0.77	217.5	76.8	12.5	627	5997	0.00	1.65	0.00	0.000	6	0.000	0.030	3055	2730	2073	0	0	0	0	0	0
6136	0.77	217.5	60.7	10.8	652	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2730	2074	0	0	0	0	0	0
6278	0.79	230.1	47.3	9.5	677	6297	0.00	0.00	12.90	0.776	6	0.000	0.000	3055	2730	2021	0	0	0	0	0	0
6436	0.79	230.1	33.0	10.4	704	6442	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2730	2021	0	0	0	0	0	0
6579	0.79	230.1	17.9	10.8	729	6586	0.00	1.73	0.00	0.000	4	0.000	0.047	3055	3764	2021	0	0	0	0	0	0
6622	0.79	230.1	12.8	12.8	736	6628	0.00	1.62	0.00	0.000	6	0.000	0.029	3063	2744	2020	0	0	0	0	0	0
6705	end climb: SURFACE_DEPTH_REACHED
state	6705	begin surface coast
6733	end surface coast: CONTROL_FINISHED_OK
state	6733	begin surface