Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 190 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 190 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 223 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 790 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1000 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 113 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 490 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3029 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 300 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 375 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 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 50 LOGGERDEVICE4 -1

USE_BATHY -5 T_GPS_CHARGE -44434.223 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 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 134 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 235 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2822 PHONE_SUPPLY 2 SEABIRD_T_G 0.004337667

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -16.491346 SEABIRD_T_H 0.00063136261

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_I 2.3680945e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4321864e-06

MASS 51890 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8870621

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1051886

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001683808

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020742195

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 134 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -16.491346 T_DIVE 300

CALL_TRIES 5 HD_A 0.0038360001 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -44434.223

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 375

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 167 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

C_PITCH 2822 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 1000 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 790 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.24529999

DEVICE1 2 MASS 51890 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 53 MAX_BUOY 235 R_PORT_OVSHOOT 36 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 113 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8870621 VBD_MIN 490

DEVICE5 -1 MISSION 6 SEABIRD_C_H 1.1051886 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.001683808 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 190 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 223 SEABIRD_T_G 0.004337667 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00063136261 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3680945e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.4321864e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 151010,214327,2259.988,12658.764,901,99.0,901,-3.3 TGT_NAME PICKUP

_CALLS 2 TGT_LATLONG 2100.000,12730.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151010,214327,2259.988,12658.764,901,99.0,901,-3.3 MHEAD_RNG_PITCHd_Wd 214.6,228686,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.021844 _10V_AH 10.4,31.649

SM_CCo 13804,95.38,0.549,1,0,1398,400.08 FG_AHR_24Vo 0.000

SM_GC 1.49,0.00,0.00,95.38,0.000,0.000,0.549,120,818,1398,-8.41,0.79,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2248.70,12702.02,161010,010109 MEM 333584

TT8_MAMPS 0.028462 DATA_FILE_SIZE 90230,1565

HUMID 38.69 CAP_FILE_SIZE 155176,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,156872704

TCM_TEMP 27.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 14.327,341.8,1

_24V_AH 24.0,35.080 GPS 161010,015609,2248.702,12702.021,0,10000.0,0,-3.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 225 105.07 SBE_CT 1067 24 614.84

Roll_motor 69 47 79.14 AA3830 1394 33 1104.65

VBD_pump_during_apogee 279 1414 9472.24 WL_BB2F 1948 105 4911.02

VBD_pump_during_surface 95 548 1255.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 0 0.00 nil 0 0 0.00

Iridium_during_connect 80 0 0.00 nil 0 0 0.00

Iridium_during_xfer 232 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 901 0 0.00

TT8 3870 19 796.91

LPSleep 5743 2 130.82

TT8_Active 470 19 96.79

TT8_Sampling 4847 39 2006.55

TT8_CF8 466 45 222.29

TT8_Kalman 0 0 0.00

Analog_circuits 1832 12 228.64

GPS_charging 0 0 0.00

Compass 3606 15 562.69

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.87 -73.8 0.0 0.0 0 90 0.00 0.00 -69.40 0.000 6 0.000 0.000 112 817 3332 0 0 0 0 0 0

92 -0.87 -73.8 5.9 -13.4 10 108 9.32 0.90 0.00 0.000 4 0.226 0.029 2535 160 3334 0 0 0 0 0 0

348 -0.87 -73.8 91.6 -22.8 57 356 0.00 0.80 0.00 0.000 6 0.000 0.020 2531 854 3336 0 0 0 0 0 0

676 -0.87 -73.8 158.0 -19.2 118 684 0.00 1.83 0.00 0.000 4 0.000 0.015 2522 2184 3337 0 0 0 0 0 0

908 -0.87 -73.8 195.0 -16.4 159 915 0.00 2.10 0.00 0.000 6 0.000 0.033 2522 764 3337 0 0 0 0 0 0

1246 -0.87 -73.8 255.9 -18.2 220 1255 0.00 0.80 0.00 0.000 4 0.000 0.042 2522 197 3336 0 0 0 0 0 0

1506 -0.87 -73.8 301.7 -17.7 266 1514 0.00 0.70 0.00 0.000 6 0.000 0.021 2517 824 3335 0 0 0 0 0 0

1849 -0.87 -73.8 358.1 -17.4 327 1856 0.00 0.93 0.00 0.000 4 0.000 0.041 2517 187 3334 0 0 0 0 0 0

2106 -0.87 -73.8 401.9 -16.8 373 2113 0.00 0.62 0.00 0.000 6 0.000 0.023 2514 741 3332 0 0 0 0 0 0

2449 -0.87 -73.8 454.3 -14.9 434 2456 0.00 0.80 0.00 0.000 4 0.000 0.042 2514 190 3330 0 0 0 0 0 0

2707 -0.87 -73.8 494.0 -14.6 480 2717 0.08 0.62 0.00 0.000 6 0.177 0.023 2533 730 3328 0 0 0 0 0 0

3038 -0.87 -73.8 537.4 -12.7 514 3042 0.00 0.77 0.00 0.000 4 0.000 0.043 2533 195 3326 0 0 0 0 0 0

3299 -0.87 -73.8 571.6 -12.7 537 3303 0.00 0.62 0.00 0.000 6 0.000 0.023 2533 729 3324 0 0 0 0 0 0

3631 -0.87 -73.8 609.8 -11.3 564 3634 0.00 0.77 0.00 0.000 4 0.000 0.044 2533 198 3321 0 0 0 0 0 0

3791 -0.87 -73.8 629.9 -12.2 571 3794 0.00 0.62 0.00 0.000 6 0.000 0.023 2531 733 3319 0 0 0 0 0 0

4125 -0.87 -77.0 667.2 -10.8 587 4129 0.00 0.80 0.00 0.000 4 0.000 0.044 2531 190 3316 0 0 0 0 0 0

4295 -0.87 -77.0 686.5 -12.2 594 4298 0.00 0.62 0.00 0.000 6 0.000 0.024 2528 706 3315 0 0 0 0 0 0

4620 -0.89 -91.8 718.7 -9.6 610 4623 0.00 0.75 0.00 0.000 4 0.000 0.045 2528 196 3312 0 0 0 0 0 0

4659 -0.90 -99.1 723.1 -10.4 611 4665 0.00 0.62 0.00 0.000 6 0.000 0.024 2524 702 3312 0 0 0 0 0 0

4977 -0.90 -101.9 757.1 -10.8 627 4980 0.00 2.03 0.00 0.000 4 0.000 0.018 2519 2123 3310 0 0 0 0 0 0

5033 -0.92 -119.3 763.0 -9.4 629 5037 0.00 2.10 0.00 0.000 6 0.000 0.037 2519 744 3308 0 0 0 0 0 0

5350 -0.93 -121.1 797.4 -10.9 644 5353 0.00 0.80 0.00 0.000 4 0.000 0.046 2520 196 3307 0 0 0 0 0 0

5608 -0.93 -121.1 827.1 -11.4 655 5612 0.00 0.62 0.00 0.000 6 0.000 0.024 2520 703 3305 0 0 0 0 0 0

5930 -0.93 -127.3 861.3 -10.5 671 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 703 3303 0 0 0 0 0 0

6242 -0.95 -137.8 892.7 -10.1 686 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 703 3300 0 0 0 0 0 0

6549 -0.97 -156.2 921.5 -9.3 701 6550 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 703 3298 0 0 0 0 0 0

6859 -0.98 -166.6 951.6 -10.1 716 6860 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 704 3296 0 0 0 0 0 0

7169 -0.98 -167.0 985.0 -11.1 731 7172 0.00 0.75 0.00 0.000 4 0.000 0.047 2520 200 3295 0 0 0 0 0 0

7289 end dive: TARGET_DEPTH_EXCEEDED

state 7289 begin apogee

7296 -0.14 0.0 1000.1 11.9 736 7354 0.80 0.00 53.40 1.414 4 0.151 0.000 2766 993 3029 0 0 0 0 0 0

7355 end apogee: CONTROL_FINISHED_OK

state 7355 begin climb

7359 0.98 167.0 1002.7 0.0 739 7506 1.02 2.05 138.93 1.376 4 0.057 0.021 3144 2377 2347 0 0 0 0 0 0

7758 0.98 167.0 942.3 20.9 757 7762 0.00 2.15 0.00 0.000 6 0.000 0.035 3154 1001 2337 0 0 0 0 0 0

8088 0.98 167.0 867.8 23.0 773 8091 0.00 1.23 0.00 0.000 4 0.000 0.044 3160 190 2335 0 0 0 0 0 0

8160 0.98 167.0 848.7 25.3 776 8164 0.00 1.12 0.00 0.000 6 0.000 0.024 3160 1001 2334 0 0 0 0 0 0

8488 0.98 167.0 774.0 22.0 792 8491 0.00 1.98 0.00 0.000 4 0.000 0.024 3160 2378 2332 0 0 0 0 0 0

8539 0.98 167.0 763.0 21.3 794 8543 0.12 2.08 0.00 0.000 6 0.209 0.035 3141 1018 2332 0 0 0 0 0 0

8861 0.98 167.0 699.2 19.9 810 8865 0.00 1.98 0.00 0.000 4 0.000 0.024 3138 2389 2331 0 0 0 0 0 0

9050 0.98 167.0 664.9 18.0 818 9054 0.00 2.05 0.00 0.000 6 0.000 0.035 3145 1054 2329 0 0 0 0 0 0

9372 0.98 167.0 609.6 16.8 834 9376 0.00 1.90 0.00 0.000 4 0.000 0.022 3145 2392 2328 0 0 0 0 0 0

9451 0.98 167.0 596.3 17.4 838 9455 0.00 2.00 0.00 0.000 6 0.000 0.035 3153 1060 2328 0 0 0 0 0 0

9783 0.98 167.0 538.5 17.8 869 9786 0.00 1.90 0.00 0.000 4 0.000 0.023 3154 2388 2328 0 0 0 0 0 0

9998 0.98 167.0 501.4 17.0 888 10001 0.00 2.00 0.00 0.000 6 0.000 0.034 3162 1064 2327 0 0 0 0 0 0

10336 0.98 167.0 442.5 17.7 948 10345 0.00 1.92 0.00 0.000 4 0.000 0.024 3162 2379 2326 0 0 0 0 0 0

10458 0.98 167.0 422.5 16.6 969 10465 0.12 1.95 0.00 0.000 6 0.205 0.035 3142 1078 2326 0 0 0 0 0 0

10801 0.98 167.0 368.2 16.0 1030 10809 0.00 1.90 0.00 0.000 4 0.000 0.023 3142 2381 2326 0 0 0 0 0 0

10892 0.98 167.0 354.5 14.6 1045 10899 0.00 1.95 0.00 0.000 6 0.000 0.035 3149 1082 2326 0 0 0 0 0 0

11232 0.98 167.0 303.8 14.8 1106 11240 0.00 1.90 0.00 0.000 4 0.000 0.022 3149 2392 2326 0 0 0 0 0 0

11246 0.98 167.0 301.4 14.9 1108 11255 0.00 2.00 0.00 0.000 6 0.000 0.034 3158 1077 2326 0 0 0 0 0 0

11590 0.98 167.0 249.2 15.3 1169 11596 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 1077 2327 0 0 0 0 0 0

11926 0.98 167.0 202.8 13.5 1230 11934 0.00 1.90 0.00 0.000 4 0.000 0.021 3158 2401 2328 0 0 0 0 0 0

12047 0.98 167.0 187.4 12.2 1251 12053 0.00 2.00 0.00 0.000 6 0.000 0.033 3166 1063 2329 0 0 0 0 0 0

12386 0.98 167.0 145.3 11.6 1312 12394 0.00 1.90 0.00 0.000 4 0.000 0.021 3166 2386 2330 0 0 0 0 0 0

12526 1.00 180.2 130.4 9.8 1337 12542 0.00 2.00 8.85 0.661 6 0.000 0.034 3174 1065 2294 0 0 0 0 0 0

12864 1.00 180.2 91.4 11.7 1399 12872 0.00 1.30 0.00 0.000 4 0.000 0.041 3181 189 2293 0 0 0 0 0 0

13114 1.09 252.1 66.9 3.9 1445 13174 0.00 1.17 54.90 0.676 6 0.000 0.021 3181 1088 2000 0 0 0 0 0 0

13497 1.12 281.8 33.6 8.1 1513 13527 0.00 1.35 22.95 0.620 4 0.000 0.039 3186 180 1881 0 0 0 0 0 0

13760 end climb: SURFACE_DEPTH_REACHED

state 13760 begin surface coast

13783 end surface coast: CONTROL_FINISHED_OK

state 13786 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	190	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	223	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	790	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1000	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	113	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	490	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3029	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	300	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	375	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	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	50	LOGGERDEVICE4	-1
USE_BATHY	-5	T_GPS_CHARGE	-44434.223	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	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	134	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	235	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2822	PHONE_SUPPLY	2	SEABIRD_T_G	0.004337667
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-16.491346	SEABIRD_T_H	0.00063136261
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_I	2.3680945e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4321864e-06
MASS	51890	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8870621
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1051886
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001683808
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020742195
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	151010,214327,2259.988,12658.764,901,99.0,901,-3.3	TGT_NAME	PICKUP
_CALLS	2	TGT_LATLONG	2100.000,12730.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151010,214327,2259.988,12658.764,901,99.0,901,-3.3	MHEAD_RNG_PITCHd_Wd	214.6,228686,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.7,1.021844	_10V_AH	10.4,31.649
SM_CCo	13804,95.38,0.549,1,0,1398,400.08	FG_AHR_24Vo	0.000
SM_GC	1.49,0.00,0.00,95.38,0.000,0.000,0.549,120,818,1398,-8.41,0.79,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2248.70,12702.02,161010,010109	MEM	333584
TT8_MAMPS	0.028462	DATA_FILE_SIZE	90230,1565
HUMID	38.69	CAP_FILE_SIZE	155176,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,156872704
TCM_TEMP	27.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	14.327,341.8,1
_24V_AH	24.0,35.080	GPS	161010,015609,2248.702,12702.021,0,10000.0,0,-3.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	225	105.07	SBE_CT	1067	24	614.84
Roll_motor	69	47	79.14	AA3830	1394	33	1104.65
VBD_pump_during_apogee	279	1414	9472.24	WL_BB2F	1948	105	4911.02
VBD_pump_during_surface	95	548	1255.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	0	0.00	nil	0	0	0.00
Iridium_during_connect	80	0	0.00	nil	0	0	0.00
Iridium_during_xfer	232	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	901	0	0.00
TT8	3870	19	796.91
LPSleep	5743	2	130.82
TT8_Active	470	19	96.79
TT8_Sampling	4847	39	2006.55
TT8_CF8	466	45	222.29
TT8_Kalman	0	0	0.00
Analog_circuits	1832	12	228.64
GPS_charging	0	0	0.00
Compass	3606	15	562.69
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.87	-73.8	0.0	0.0	0	90	0.00	0.00	-69.40	0.000	6	0.000	0.000	112	817	3332	0	0	0	0	0	0
92	-0.87	-73.8	5.9	-13.4	10	108	9.32	0.90	0.00	0.000	4	0.226	0.029	2535	160	3334	0	0	0	0	0	0
348	-0.87	-73.8	91.6	-22.8	57	356	0.00	0.80	0.00	0.000	6	0.000	0.020	2531	854	3336	0	0	0	0	0	0
676	-0.87	-73.8	158.0	-19.2	118	684	0.00	1.83	0.00	0.000	4	0.000	0.015	2522	2184	3337	0	0	0	0	0	0
908	-0.87	-73.8	195.0	-16.4	159	915	0.00	2.10	0.00	0.000	6	0.000	0.033	2522	764	3337	0	0	0	0	0	0
1246	-0.87	-73.8	255.9	-18.2	220	1255	0.00	0.80	0.00	0.000	4	0.000	0.042	2522	197	3336	0	0	0	0	0	0
1506	-0.87	-73.8	301.7	-17.7	266	1514	0.00	0.70	0.00	0.000	6	0.000	0.021	2517	824	3335	0	0	0	0	0	0
1849	-0.87	-73.8	358.1	-17.4	327	1856	0.00	0.93	0.00	0.000	4	0.000	0.041	2517	187	3334	0	0	0	0	0	0
2106	-0.87	-73.8	401.9	-16.8	373	2113	0.00	0.62	0.00	0.000	6	0.000	0.023	2514	741	3332	0	0	0	0	0	0
2449	-0.87	-73.8	454.3	-14.9	434	2456	0.00	0.80	0.00	0.000	4	0.000	0.042	2514	190	3330	0	0	0	0	0	0
2707	-0.87	-73.8	494.0	-14.6	480	2717	0.08	0.62	0.00	0.000	6	0.177	0.023	2533	730	3328	0	0	0	0	0	0
3038	-0.87	-73.8	537.4	-12.7	514	3042	0.00	0.77	0.00	0.000	4	0.000	0.043	2533	195	3326	0	0	0	0	0	0
3299	-0.87	-73.8	571.6	-12.7	537	3303	0.00	0.62	0.00	0.000	6	0.000	0.023	2533	729	3324	0	0	0	0	0	0
3631	-0.87	-73.8	609.8	-11.3	564	3634	0.00	0.77	0.00	0.000	4	0.000	0.044	2533	198	3321	0	0	0	0	0	0
3791	-0.87	-73.8	629.9	-12.2	571	3794	0.00	0.62	0.00	0.000	6	0.000	0.023	2531	733	3319	0	0	0	0	0	0
4125	-0.87	-77.0	667.2	-10.8	587	4129	0.00	0.80	0.00	0.000	4	0.000	0.044	2531	190	3316	0	0	0	0	0	0
4295	-0.87	-77.0	686.5	-12.2	594	4298	0.00	0.62	0.00	0.000	6	0.000	0.024	2528	706	3315	0	0	0	0	0	0
4620	-0.89	-91.8	718.7	-9.6	610	4623	0.00	0.75	0.00	0.000	4	0.000	0.045	2528	196	3312	0	0	0	0	0	0
4659	-0.90	-99.1	723.1	-10.4	611	4665	0.00	0.62	0.00	0.000	6	0.000	0.024	2524	702	3312	0	0	0	0	0	0
4977	-0.90	-101.9	757.1	-10.8	627	4980	0.00	2.03	0.00	0.000	4	0.000	0.018	2519	2123	3310	0	0	0	0	0	0
5033	-0.92	-119.3	763.0	-9.4	629	5037	0.00	2.10	0.00	0.000	6	0.000	0.037	2519	744	3308	0	0	0	0	0	0
5350	-0.93	-121.1	797.4	-10.9	644	5353	0.00	0.80	0.00	0.000	4	0.000	0.046	2520	196	3307	0	0	0	0	0	0
5608	-0.93	-121.1	827.1	-11.4	655	5612	0.00	0.62	0.00	0.000	6	0.000	0.024	2520	703	3305	0	0	0	0	0	0
5930	-0.93	-127.3	861.3	-10.5	671	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	703	3303	0	0	0	0	0	0
6242	-0.95	-137.8	892.7	-10.1	686	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	703	3300	0	0	0	0	0	0
6549	-0.97	-156.2	921.5	-9.3	701	6550	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	703	3298	0	0	0	0	0	0
6859	-0.98	-166.6	951.6	-10.1	716	6860	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	704	3296	0	0	0	0	0	0
7169	-0.98	-167.0	985.0	-11.1	731	7172	0.00	0.75	0.00	0.000	4	0.000	0.047	2520	200	3295	0	0	0	0	0	0
7289	end dive: TARGET_DEPTH_EXCEEDED
state	7289	begin apogee
7296	-0.14	0.0	1000.1	11.9	736	7354	0.80	0.00	53.40	1.414	4	0.151	0.000	2766	993	3029	0	0	0	0	0	0
7355	end apogee: CONTROL_FINISHED_OK
state	7355	begin climb
7359	0.98	167.0	1002.7	0.0	739	7506	1.02	2.05	138.93	1.376	4	0.057	0.021	3144	2377	2347	0	0	0	0	0	0
7758	0.98	167.0	942.3	20.9	757	7762	0.00	2.15	0.00	0.000	6	0.000	0.035	3154	1001	2337	0	0	0	0	0	0
8088	0.98	167.0	867.8	23.0	773	8091	0.00	1.23	0.00	0.000	4	0.000	0.044	3160	190	2335	0	0	0	0	0	0
8160	0.98	167.0	848.7	25.3	776	8164	0.00	1.12	0.00	0.000	6	0.000	0.024	3160	1001	2334	0	0	0	0	0	0
8488	0.98	167.0	774.0	22.0	792	8491	0.00	1.98	0.00	0.000	4	0.000	0.024	3160	2378	2332	0	0	0	0	0	0
8539	0.98	167.0	763.0	21.3	794	8543	0.12	2.08	0.00	0.000	6	0.209	0.035	3141	1018	2332	0	0	0	0	0	0
8861	0.98	167.0	699.2	19.9	810	8865	0.00	1.98	0.00	0.000	4	0.000	0.024	3138	2389	2331	0	0	0	0	0	0
9050	0.98	167.0	664.9	18.0	818	9054	0.00	2.05	0.00	0.000	6	0.000	0.035	3145	1054	2329	0	0	0	0	0	0
9372	0.98	167.0	609.6	16.8	834	9376	0.00	1.90	0.00	0.000	4	0.000	0.022	3145	2392	2328	0	0	0	0	0	0
9451	0.98	167.0	596.3	17.4	838	9455	0.00	2.00	0.00	0.000	6	0.000	0.035	3153	1060	2328	0	0	0	0	0	0
9783	0.98	167.0	538.5	17.8	869	9786	0.00	1.90	0.00	0.000	4	0.000	0.023	3154	2388	2328	0	0	0	0	0	0
9998	0.98	167.0	501.4	17.0	888	10001	0.00	2.00	0.00	0.000	6	0.000	0.034	3162	1064	2327	0	0	0	0	0	0
10336	0.98	167.0	442.5	17.7	948	10345	0.00	1.92	0.00	0.000	4	0.000	0.024	3162	2379	2326	0	0	0	0	0	0
10458	0.98	167.0	422.5	16.6	969	10465	0.12	1.95	0.00	0.000	6	0.205	0.035	3142	1078	2326	0	0	0	0	0	0
10801	0.98	167.0	368.2	16.0	1030	10809	0.00	1.90	0.00	0.000	4	0.000	0.023	3142	2381	2326	0	0	0	0	0	0
10892	0.98	167.0	354.5	14.6	1045	10899	0.00	1.95	0.00	0.000	6	0.000	0.035	3149	1082	2326	0	0	0	0	0	0
11232	0.98	167.0	303.8	14.8	1106	11240	0.00	1.90	0.00	0.000	4	0.000	0.022	3149	2392	2326	0	0	0	0	0	0
11246	0.98	167.0	301.4	14.9	1108	11255	0.00	2.00	0.00	0.000	6	0.000	0.034	3158	1077	2326	0	0	0	0	0	0
11590	0.98	167.0	249.2	15.3	1169	11596	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	1077	2327	0	0	0	0	0	0
11926	0.98	167.0	202.8	13.5	1230	11934	0.00	1.90	0.00	0.000	4	0.000	0.021	3158	2401	2328	0	0	0	0	0	0
12047	0.98	167.0	187.4	12.2	1251	12053	0.00	2.00	0.00	0.000	6	0.000	0.033	3166	1063	2329	0	0	0	0	0	0
12386	0.98	167.0	145.3	11.6	1312	12394	0.00	1.90	0.00	0.000	4	0.000	0.021	3166	2386	2330	0	0	0	0	0	0
12526	1.00	180.2	130.4	9.8	1337	12542	0.00	2.00	8.85	0.661	6	0.000	0.034	3174	1065	2294	0	0	0	0	0	0
12864	1.00	180.2	91.4	11.7	1399	12872	0.00	1.30	0.00	0.000	4	0.000	0.041	3181	189	2293	0	0	0	0	0	0
13114	1.09	252.1	66.9	3.9	1445	13174	0.00	1.17	54.90	0.676	6	0.000	0.021	3181	1088	2000	0	0	0	0	0	0
13497	1.12	281.8	33.6	8.1	1513	13527	0.00	1.35	22.95	0.620	4	0.000	0.039	3186	180	1881	0	0	0	0	0	0
13760	end climb: SURFACE_DEPTH_REACHED
state	13760	begin surface coast
13783	end surface coast: CONTROL_FINISHED_OK
state	13786	begin surface