Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 265 * 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 265 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 270 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 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 141 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 -54456.641 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 -54456.641

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 38 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 141 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 265 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 270 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 291010,180337,2123.451,12601.289,35,1.1,36,-2.9 TGT_NAME PICKUP_NORTH

_CALLS 3 TGT_LATLONG 2124.580,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 291010,181920,2123.394,12601.472,12,1.2,12,-2.9 MHEAD_RNG_PITCHd_Wd 335.0,2245,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.021911 _10V_AH 10.2,45.373

SM_CCo 13280,79.20,0.530,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.37,0.00,0.00,79.20,0.000,0.000,0.530,106,781,1397,-8.49,-0.25,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2115.63,12559.43,291010,181850 MEM 333876

TT8_MAMPS 0.028462 DATA_FILE_SIZE 87035,1498

HUMID 38.30 CAP_FILE_SIZE 155338,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,149987328

TCM_TEMP 28.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.170, 84.4,1

_24V_AH 23.3,49.562 GPS 291010,220337,2124.594,12601.767,30,1.2,30,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 214 97.07 SBE_CT 1022 24 571.73

Roll_motor 67 53 84.35 AA3830 1332 33 1024.49

VBD_pump_during_apogee 307 1419 10161.53 WL_BB2F 1842 105 4506.47

VBD_pump_during_surface 79 530 978.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 0 0.00 nil 0 0 0.00

Iridium_during_connect 125 0 0.00 nil 0 0 0.00

Iridium_during_xfer 389 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 13 0 0.00

TT8 3711 19 749.65

LPSleep 5525 2 123.44

TT8_Active 492 19 99.53

TT8_Sampling 4056 39 1646.86

TT8_CF8 500 45 233.72

TT8_Kalman 0 0 0.00

Analog_circuits 1827 12 223.68

GPS_charging 0 0 0.00

Compass 3480 15 532.47

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.87 -73.8 0.0 0.0 0 85 0.00 0.00 -65.10 0.000 2 0.000 0.000 112 837 3292 0 0 0 0 0 0

90 -0.87 -73.8 5.8 -12.5 9 108 9.27 1.83 -0.57 0.000 4 0.214 0.028 2522 2225 3331 0 0 0 0 0 0

206 -0.87 -73.8 45.3 -26.2 29 214 0.00 2.20 0.00 0.000 6 0.000 0.034 2522 786 3332 0 0 0 0 0 0

533 -0.87 -73.8 137.9 -24.6 90 542 0.00 0.85 0.00 0.000 4 0.000 0.041 2522 192 3333 0 0 0 0 0 0

769 -0.87 -73.8 188.4 -19.6 132 777 0.00 0.68 0.00 0.000 6 0.000 0.021 2518 810 3334 0 0 0 0 0 0

1109 -0.87 -73.8 247.7 -18.4 193 1116 0.00 1.77 0.00 0.000 4 0.000 0.014 2509 2127 3335 0 0 0 0 0 0

1192 -0.87 -73.8 260.8 -14.7 207 1199 0.12 2.03 0.00 0.000 6 0.175 0.032 2540 763 3335 0 0 0 0 0 0

1531 -0.87 -73.8 305.8 -12.2 268 1539 0.00 0.82 0.00 0.000 4 0.000 0.042 2540 189 3336 0 0 0 0 0 0

1792 -0.87 -73.8 343.9 -13.8 314 1801 0.00 0.62 0.00 0.000 6 0.000 0.022 2538 751 3336 0 0 0 0 0 0

2135 -0.87 -73.8 389.1 -13.0 375 2142 0.00 0.80 0.00 0.000 4 0.000 0.042 2538 199 3334 0 0 0 0 0 0

2394 -0.87 -73.8 422.8 -12.4 421 2401 0.00 0.65 0.00 0.000 6 0.000 0.023 2534 768 3332 0 0 0 0 0 0

2733 -0.87 -73.8 464.5 -11.7 482 2742 0.00 0.82 0.00 0.000 4 0.000 0.042 2534 201 3330 0 0 0 0 0 0

2940 -0.87 -73.8 489.4 -11.9 518 2949 0.00 0.68 0.00 0.000 6 0.000 0.021 2532 787 3328 0 0 0 0 0 0

3277 -0.87 -73.8 526.6 -11.4 558 3278 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 787 3326 0 0 0 0 0 0

3597 -0.87 -73.8 563.0 -11.6 588 3601 0.00 1.90 0.00 0.000 4 0.000 0.016 2524 2145 3323 0 0 0 0 0 0

3701 -0.88 -85.6 574.0 -9.9 597 3705 0.00 2.05 0.00 0.000 6 0.000 0.034 2524 783 3322 0 0 0 0 0 0

4042 -0.89 -92.3 612.0 -10.4 624 4045 0.00 0.85 0.00 0.000 4 0.000 0.044 2524 199 3319 0 0 0 0 0 0

4298 -0.89 -92.3 641.9 -11.5 635 4302 0.00 0.68 0.00 0.000 6 0.000 0.022 2520 756 3318 0 0 0 0 0 0

4623 -0.89 -92.3 677.1 -11.7 651 4627 0.00 0.85 0.00 0.000 4 0.000 0.045 2520 188 3315 0 0 0 0 0 0

4881 -0.89 -92.3 708.5 -12.0 662 4885 0.00 0.73 0.00 0.000 6 0.000 0.022 2519 771 3313 0 0 0 0 0 0

5205 -0.90 -98.8 743.1 -10.5 678 5208 0.00 0.85 0.00 0.000 4 0.000 0.046 2519 200 3310 0 0 0 0 0 0

5327 -0.90 -98.8 756.8 -11.3 683 5332 0.00 0.70 0.00 0.000 6 0.000 0.022 2517 756 3310 0 0 0 0 0 0

5652 -0.92 -117.4 787.9 -9.2 699 5656 0.00 1.98 0.00 0.000 4 0.000 0.016 2507 2159 3308 0 0 0 0 0 0

5736 -0.95 -137.6 795.7 -9.1 702 5744 0.00 2.15 0.00 0.000 6 0.000 0.037 2508 761 3307 0 0 0 0 0 0

6052 -0.97 -157.5 825.5 -9.1 718 6056 0.00 2.00 0.00 0.000 4 0.000 0.018 2506 2160 3305 0 0 0 0 0 0

6100 -1.00 -185.1 829.5 -8.3 720 6104 0.00 2.15 0.00 0.000 6 0.000 0.037 2506 770 3304 0 0 0 0 0 0

6427 -1.03 -203.7 860.1 -9.2 736 6431 0.00 0.85 0.00 0.000 4 0.000 0.047 2506 195 3302 0 0 0 0 0 0

6589 -1.04 -217.9 875.7 -9.7 743 6593 0.00 0.73 0.00 0.000 6 0.000 0.023 2505 773 3301 0 0 0 0 0 0

6922 -1.06 -228.7 906.3 -9.0 759 6926 0.00 0.88 0.00 0.000 4 0.000 0.047 2505 192 3300 0 0 0 0 0 0

7117 -1.06 -228.7 927.0 -11.4 767 7125 0.00 0.70 0.00 0.000 6 0.000 0.023 2502 745 3298 0 0 0 0 0 0

7435 -1.06 -228.7 958.2 -9.9 783 7438 0.00 0.82 0.00 0.000 4 0.000 0.048 2502 198 3297 0 0 0 0 0 0

7693 -1.06 -228.7 985.7 -10.8 794 7696 0.00 0.70 0.00 0.000 6 0.000 0.024 2499 736 3295 0 0 0 0 0 0

7849 end dive: TARGET_DEPTH_EXCEEDED

state 7849 begin apogee

7855 -0.14 0.0 1001.3 10.1 802 7914 0.90 0.00 54.97 1.419 4 0.152 0.000 2769 1031 3029 0 0 0 0 0 0

7915 end apogee: CONTROL_FINISHED_OK

state 7915 begin climb

7919 1.06 228.7 1003.2 0.0 804 8118 1.05 0.00 193.57 1.371 6 0.058 0.000 3168 1029 2096 0 0 0 0 0 0

8435 1.06 228.7 892.9 26.8 829 8439 0.00 1.95 0.00 0.000 4 0.000 0.024 3168 2364 2084 0 0 0 0 0 0

8565 1.06 228.7 859.5 23.9 834 8572 0.00 2.08 0.00 0.000 6 0.000 0.034 3176 1008 2084 0 0 0 0 0 0

8881 1.06 228.7 777.9 24.8 850 8885 0.00 1.98 0.00 0.000 4 0.000 0.022 3176 2367 2082 0 0 0 0 0 0

8972 1.06 228.7 755.8 23.1 854 8976 0.00 2.05 0.00 0.000 6 0.000 0.034 3185 1019 2082 0 0 0 0 0 0

9302 1.06 228.7 673.0 24.7 870 9306 0.00 1.98 0.00 0.000 4 0.000 0.024 3185 2364 2080 0 0 0 0 0 0

9424 1.06 228.7 642.3 23.8 875 9429 0.12 2.03 0.00 0.000 6 0.206 0.035 3165 1042 2080 0 0 0 0 0 0

9755 1.06 228.7 567.8 21.9 897 9761 0.00 0.00 0.00 0.000 6 0.000 0.000 3165 1042 2079 0 0 0 0 0 0

10085 1.06 228.7 497.1 21.2 929 10092 0.00 1.90 0.00 0.000 4 0.000 0.022 3165 2367 2078 0 0 0 0 0 0

10201 1.06 228.7 473.2 21.4 949 10208 0.00 1.98 0.00 0.000 6 0.000 0.035 3172 1053 2077 0 0 0 0 0 0

10542 1.06 228.7 398.9 21.4 1010 10550 0.00 1.30 0.00 0.000 4 0.000 0.044 3179 191 2077 0 0 0 0 0 0

10652 1.06 228.7 375.5 21.8 1029 10659 0.00 1.12 0.00 0.000 6 0.000 0.023 3179 1020 2077 0 0 0 0 0 0

10990 1.06 228.7 308.2 20.7 1090 10999 0.00 1.27 0.00 0.000 4 0.000 0.043 3185 186 2075 0 0 0 0 0 0

11106 1.06 228.7 283.6 21.9 1110 11114 0.00 1.12 0.00 0.000 6 0.000 0.022 3185 1026 2076 0 0 0 0 0 0

11450 1.06 228.7 222.1 15.0 1171 11457 0.00 1.27 0.00 0.000 4 0.000 0.042 3191 187 2076 0 0 0 0 0 0

11504 1.06 228.7 211.7 18.4 1180 11512 0.00 1.08 0.00 0.000 6 0.000 0.022 3191 1008 2076 0 0 0 0 0 0

11849 1.06 228.7 157.4 13.8 1241 11856 0.00 1.92 0.00 0.000 4 0.000 0.020 3191 2363 2076 0 0 0 0 0 0

12098 1.06 234.2 128.7 10.6 1287 12109 0.10 2.03 0.00 0.000 6 0.171 0.033 3169 1033 2076 0 0 0 0 0 0

12431 1.09 257.3 96.9 8.8 1348 12455 0.00 1.30 20.70 0.678 4 0.000 0.042 3175 187 1979 0 0 0 0 0 0

12694 1.15 304.5 71.1 6.4 1396 12740 0.00 1.08 38.08 0.659 6 0.000 0.021 3175 1027 1786 0 0 0 0 0 0

13058 1.15 304.5 28.8 13.0 1462 13067 0.00 1.25 0.00 0.000 4 0.000 0.038 3181 190 1782 0 0 0 0 0 0

13225 1.15 304.5 6.4 13.5 1492 13233 0.00 1.02 0.00 0.000 6 0.000 0.020 3181 999 1782 0 0 0 0 0 0

13245 end climb: SURFACE_DEPTH_REACHED

state 13245 begin surface coast

13262 end surface coast: CONTROL_FINISHED_OK

state 13262 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	265	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	270	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	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	141	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	-54456.641	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	291010,180337,2123.451,12601.289,35,1.1,36,-2.9	TGT_NAME	PICKUP_NORTH
_CALLS	3	TGT_LATLONG	2124.580,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	291010,181920,2123.394,12601.472,12,1.2,12,-2.9	MHEAD_RNG_PITCHd_Wd	335.0,2245,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.8,1.021911	_10V_AH	10.2,45.373
SM_CCo	13280,79.20,0.530,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.37,0.00,0.00,79.20,0.000,0.000,0.530,106,781,1397,-8.49,-0.25,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2115.63,12559.43,291010,181850	MEM	333876
TT8_MAMPS	0.028462	DATA_FILE_SIZE	87035,1498
HUMID	38.30	CAP_FILE_SIZE	155338,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,149987328
TCM_TEMP	28.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.170, 84.4,1
_24V_AH	23.3,49.562	GPS	291010,220337,2124.594,12601.767,30,1.2,30,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	214	97.07	SBE_CT	1022	24	571.73
Roll_motor	67	53	84.35	AA3830	1332	33	1024.49
VBD_pump_during_apogee	307	1419	10161.53	WL_BB2F	1842	105	4506.47
VBD_pump_during_surface	79	530	978.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	0	0.00	nil	0	0	0.00
Iridium_during_connect	125	0	0.00	nil	0	0	0.00
Iridium_during_xfer	389	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	13	0	0.00
TT8	3711	19	749.65
LPSleep	5525	2	123.44
TT8_Active	492	19	99.53
TT8_Sampling	4056	39	1646.86
TT8_CF8	500	45	233.72
TT8_Kalman	0	0	0.00
Analog_circuits	1827	12	223.68
GPS_charging	0	0	0.00
Compass	3480	15	532.47
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.87	-73.8	0.0	0.0	0	85	0.00	0.00	-65.10	0.000	2	0.000	0.000	112	837	3292	0	0	0	0	0	0
90	-0.87	-73.8	5.8	-12.5	9	108	9.27	1.83	-0.57	0.000	4	0.214	0.028	2522	2225	3331	0	0	0	0	0	0
206	-0.87	-73.8	45.3	-26.2	29	214	0.00	2.20	0.00	0.000	6	0.000	0.034	2522	786	3332	0	0	0	0	0	0
533	-0.87	-73.8	137.9	-24.6	90	542	0.00	0.85	0.00	0.000	4	0.000	0.041	2522	192	3333	0	0	0	0	0	0
769	-0.87	-73.8	188.4	-19.6	132	777	0.00	0.68	0.00	0.000	6	0.000	0.021	2518	810	3334	0	0	0	0	0	0
1109	-0.87	-73.8	247.7	-18.4	193	1116	0.00	1.77	0.00	0.000	4	0.000	0.014	2509	2127	3335	0	0	0	0	0	0
1192	-0.87	-73.8	260.8	-14.7	207	1199	0.12	2.03	0.00	0.000	6	0.175	0.032	2540	763	3335	0	0	0	0	0	0
1531	-0.87	-73.8	305.8	-12.2	268	1539	0.00	0.82	0.00	0.000	4	0.000	0.042	2540	189	3336	0	0	0	0	0	0
1792	-0.87	-73.8	343.9	-13.8	314	1801	0.00	0.62	0.00	0.000	6	0.000	0.022	2538	751	3336	0	0	0	0	0	0
2135	-0.87	-73.8	389.1	-13.0	375	2142	0.00	0.80	0.00	0.000	4	0.000	0.042	2538	199	3334	0	0	0	0	0	0
2394	-0.87	-73.8	422.8	-12.4	421	2401	0.00	0.65	0.00	0.000	6	0.000	0.023	2534	768	3332	0	0	0	0	0	0
2733	-0.87	-73.8	464.5	-11.7	482	2742	0.00	0.82	0.00	0.000	4	0.000	0.042	2534	201	3330	0	0	0	0	0	0
2940	-0.87	-73.8	489.4	-11.9	518	2949	0.00	0.68	0.00	0.000	6	0.000	0.021	2532	787	3328	0	0	0	0	0	0
3277	-0.87	-73.8	526.6	-11.4	558	3278	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	787	3326	0	0	0	0	0	0
3597	-0.87	-73.8	563.0	-11.6	588	3601	0.00	1.90	0.00	0.000	4	0.000	0.016	2524	2145	3323	0	0	0	0	0	0
3701	-0.88	-85.6	574.0	-9.9	597	3705	0.00	2.05	0.00	0.000	6	0.000	0.034	2524	783	3322	0	0	0	0	0	0
4042	-0.89	-92.3	612.0	-10.4	624	4045	0.00	0.85	0.00	0.000	4	0.000	0.044	2524	199	3319	0	0	0	0	0	0
4298	-0.89	-92.3	641.9	-11.5	635	4302	0.00	0.68	0.00	0.000	6	0.000	0.022	2520	756	3318	0	0	0	0	0	0
4623	-0.89	-92.3	677.1	-11.7	651	4627	0.00	0.85	0.00	0.000	4	0.000	0.045	2520	188	3315	0	0	0	0	0	0
4881	-0.89	-92.3	708.5	-12.0	662	4885	0.00	0.73	0.00	0.000	6	0.000	0.022	2519	771	3313	0	0	0	0	0	0
5205	-0.90	-98.8	743.1	-10.5	678	5208	0.00	0.85	0.00	0.000	4	0.000	0.046	2519	200	3310	0	0	0	0	0	0
5327	-0.90	-98.8	756.8	-11.3	683	5332	0.00	0.70	0.00	0.000	6	0.000	0.022	2517	756	3310	0	0	0	0	0	0
5652	-0.92	-117.4	787.9	-9.2	699	5656	0.00	1.98	0.00	0.000	4	0.000	0.016	2507	2159	3308	0	0	0	0	0	0
5736	-0.95	-137.6	795.7	-9.1	702	5744	0.00	2.15	0.00	0.000	6	0.000	0.037	2508	761	3307	0	0	0	0	0	0
6052	-0.97	-157.5	825.5	-9.1	718	6056	0.00	2.00	0.00	0.000	4	0.000	0.018	2506	2160	3305	0	0	0	0	0	0
6100	-1.00	-185.1	829.5	-8.3	720	6104	0.00	2.15	0.00	0.000	6	0.000	0.037	2506	770	3304	0	0	0	0	0	0
6427	-1.03	-203.7	860.1	-9.2	736	6431	0.00	0.85	0.00	0.000	4	0.000	0.047	2506	195	3302	0	0	0	0	0	0
6589	-1.04	-217.9	875.7	-9.7	743	6593	0.00	0.73	0.00	0.000	6	0.000	0.023	2505	773	3301	0	0	0	0	0	0
6922	-1.06	-228.7	906.3	-9.0	759	6926	0.00	0.88	0.00	0.000	4	0.000	0.047	2505	192	3300	0	0	0	0	0	0
7117	-1.06	-228.7	927.0	-11.4	767	7125	0.00	0.70	0.00	0.000	6	0.000	0.023	2502	745	3298	0	0	0	0	0	0
7435	-1.06	-228.7	958.2	-9.9	783	7438	0.00	0.82	0.00	0.000	4	0.000	0.048	2502	198	3297	0	0	0	0	0	0
7693	-1.06	-228.7	985.7	-10.8	794	7696	0.00	0.70	0.00	0.000	6	0.000	0.024	2499	736	3295	0	0	0	0	0	0
7849	end dive: TARGET_DEPTH_EXCEEDED
state	7849	begin apogee
7855	-0.14	0.0	1001.3	10.1	802	7914	0.90	0.00	54.97	1.419	4	0.152	0.000	2769	1031	3029	0	0	0	0	0	0
7915	end apogee: CONTROL_FINISHED_OK
state	7915	begin climb
7919	1.06	228.7	1003.2	0.0	804	8118	1.05	0.00	193.57	1.371	6	0.058	0.000	3168	1029	2096	0	0	0	0	0	0
8435	1.06	228.7	892.9	26.8	829	8439	0.00	1.95	0.00	0.000	4	0.000	0.024	3168	2364	2084	0	0	0	0	0	0
8565	1.06	228.7	859.5	23.9	834	8572	0.00	2.08	0.00	0.000	6	0.000	0.034	3176	1008	2084	0	0	0	0	0	0
8881	1.06	228.7	777.9	24.8	850	8885	0.00	1.98	0.00	0.000	4	0.000	0.022	3176	2367	2082	0	0	0	0	0	0
8972	1.06	228.7	755.8	23.1	854	8976	0.00	2.05	0.00	0.000	6	0.000	0.034	3185	1019	2082	0	0	0	0	0	0
9302	1.06	228.7	673.0	24.7	870	9306	0.00	1.98	0.00	0.000	4	0.000	0.024	3185	2364	2080	0	0	0	0	0	0
9424	1.06	228.7	642.3	23.8	875	9429	0.12	2.03	0.00	0.000	6	0.206	0.035	3165	1042	2080	0	0	0	0	0	0
9755	1.06	228.7	567.8	21.9	897	9761	0.00	0.00	0.00	0.000	6	0.000	0.000	3165	1042	2079	0	0	0	0	0	0
10085	1.06	228.7	497.1	21.2	929	10092	0.00	1.90	0.00	0.000	4	0.000	0.022	3165	2367	2078	0	0	0	0	0	0
10201	1.06	228.7	473.2	21.4	949	10208	0.00	1.98	0.00	0.000	6	0.000	0.035	3172	1053	2077	0	0	0	0	0	0
10542	1.06	228.7	398.9	21.4	1010	10550	0.00	1.30	0.00	0.000	4	0.000	0.044	3179	191	2077	0	0	0	0	0	0
10652	1.06	228.7	375.5	21.8	1029	10659	0.00	1.12	0.00	0.000	6	0.000	0.023	3179	1020	2077	0	0	0	0	0	0
10990	1.06	228.7	308.2	20.7	1090	10999	0.00	1.27	0.00	0.000	4	0.000	0.043	3185	186	2075	0	0	0	0	0	0
11106	1.06	228.7	283.6	21.9	1110	11114	0.00	1.12	0.00	0.000	6	0.000	0.022	3185	1026	2076	0	0	0	0	0	0
11450	1.06	228.7	222.1	15.0	1171	11457	0.00	1.27	0.00	0.000	4	0.000	0.042	3191	187	2076	0	0	0	0	0	0
11504	1.06	228.7	211.7	18.4	1180	11512	0.00	1.08	0.00	0.000	6	0.000	0.022	3191	1008	2076	0	0	0	0	0	0
11849	1.06	228.7	157.4	13.8	1241	11856	0.00	1.92	0.00	0.000	4	0.000	0.020	3191	2363	2076	0	0	0	0	0	0
12098	1.06	234.2	128.7	10.6	1287	12109	0.10	2.03	0.00	0.000	6	0.171	0.033	3169	1033	2076	0	0	0	0	0	0
12431	1.09	257.3	96.9	8.8	1348	12455	0.00	1.30	20.70	0.678	4	0.000	0.042	3175	187	1979	0	0	0	0	0	0
12694	1.15	304.5	71.1	6.4	1396	12740	0.00	1.08	38.08	0.659	6	0.000	0.021	3175	1027	1786	0	0	0	0	0	0
13058	1.15	304.5	28.8	13.0	1462	13067	0.00	1.25	0.00	0.000	4	0.000	0.038	3181	190	1782	0	0	0	0	0	0
13225	1.15	304.5	6.4	13.5	1492	13233	0.00	1.02	0.00	0.000	6	0.000	0.020	3181	999	1782	0	0	0	0	0	0
13245	end climb: SURFACE_DEPTH_REACHED
state	13245	begin surface coast
13262	end surface coast: CONTROL_FINISHED_OK
state	13262	begin surface