Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 273 * 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 273 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 282 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 52 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 98 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 -54466.703 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 -54466.703

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 52 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 98 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 273 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 282 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 311010,052655,2123.955,12600.326,38,1.3,39,-2.9 TGT_NAME PICKUP_NORTH

_CALLS 1 TGT_LATLONG 2124.580,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 311010,053456,2123.854,12600.285,13,1.3,13,-2.9 MHEAD_RNG_PITCHd_Wd 34.4,2073,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.022157 _10V_AH 10.2,46.837

SM_CCo 13351,88.45,0.535,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.26,0.00,0.00,88.45,0.000,0.000,0.535,122,843,1397,-8.42,1.50,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12559.43,311010,000055 MEM 333788

TT8_MAMPS 0.028462 DATA_FILE_SIZE 90076,1534

HUMID 37.91 CAP_FILE_SIZE 151964,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,149225472

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

XPDR_PINGS 0 CURRENT 0.015, 0.3,1

_24V_AH 23.2,51.013 GPS 311010,092037,2125.169,12600.564,32,1.0,32,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 216 99.57 SBE_CT 1048 24 583.54

Roll_motor 63 48 71.53 AA3830 1369 33 1048.13

VBD_pump_during_apogee 301 1415 9901.85 WL_BB2F 1897 105 4623.04

VBD_pump_during_surface 88 534 1097.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 16 0 0.00 nil 0 0 0.00

Iridium_during_xfer 225 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 14 0 0.00

TT8 3786 19 764.79

LPSleep 5367 2 119.90

TT8_Active 488 19 98.62

TT8_Sampling 3788 39 1538.15

TT8_CF8 476 45 222.39

TT8_Kalman 0 0 0.00

Analog_circuits 1828 12 223.76

GPS_charging 0 0 0.00

Compass 3535 15 540.97

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.87 -73.8 0.0 0.0 0 83 0.00 0.00 -64.68 0.000 6 0.000 0.000 113 769 3332 0 0 0 0 0 0

87 -0.87 -73.8 6.0 -11.9 9 103 9.35 0.80 0.00 0.000 4 0.216 0.030 2536 189 3334 0 0 0 0 0 0

341 -0.87 -73.8 94.7 -30.7 56 349 0.00 0.77 0.00 0.000 6 0.000 0.021 2532 859 3337 0 0 0 0 0 0

670 -0.87 -73.8 171.3 -18.2 117 677 0.00 0.98 0.00 0.000 4 0.000 0.040 2532 193 3339 0 0 0 0 0 0

806 -0.87 -73.8 196.6 -19.0 141 812 0.00 0.77 0.00 0.000 6 0.000 0.019 2527 876 3339 0 0 0 0 0 0

1140 -0.87 -73.8 254.7 -13.1 202 1148 0.00 0.98 0.00 0.000 4 0.000 0.039 2527 206 3341 0 0 0 0 0 0

1392 -0.87 -73.8 293.0 -15.8 248 1400 0.00 0.70 0.00 0.000 6 0.000 0.021 2522 820 3341 0 0 0 0 0 0

1727 -0.87 -73.8 340.6 -14.2 309 1733 0.00 0.90 0.00 0.000 4 0.000 0.041 2522 204 3341 0 0 0 0 0 0

1975 -0.87 -73.8 379.6 -14.9 355 1982 0.00 0.60 0.00 0.000 6 0.000 0.023 2520 745 3340 0 0 0 0 0 0

2311 -0.87 -73.8 423.3 -12.3 416 2319 0.00 0.80 0.00 0.000 4 0.000 0.043 2519 198 3339 0 0 0 0 0 0

2564 -0.87 -73.8 457.9 -15.1 462 2572 0.00 0.62 0.00 0.000 6 0.000 0.023 2515 742 3337 0 0 0 0 0 0

2902 -0.87 -73.8 501.8 -12.1 523 2905 0.00 1.95 0.00 0.000 4 0.000 0.016 2507 2144 3335 0 0 0 0 0 0

2993 -0.87 -79.8 511.8 -10.5 531 2998 0.12 2.05 0.00 0.000 6 0.171 0.034 2538 780 3334 0 0 0 0 0 0

3318 -0.88 -86.6 546.2 -10.4 561 3322 0.00 0.85 0.00 0.000 4 0.000 0.044 2537 197 3332 0 0 0 0 0 0

3581 -0.89 -90.3 575.5 -10.7 584 3585 0.00 0.65 0.00 0.000 6 0.000 0.023 2537 738 3330 0 0 0 0 0 0

3921 -0.89 -91.4 612.0 -11.0 611 3925 0.00 0.80 0.00 0.000 4 0.000 0.044 2536 196 3328 0 0 0 0 0 0

4179 -0.89 -91.4 644.2 -12.2 622 4182 0.00 0.65 0.00 0.000 6 0.000 0.024 2535 729 3325 0 0 0 0 0 0

4503 -0.90 -103.1 678.2 -9.9 638 4504 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 729 3322 0 0 0 0 0 0

4810 -0.93 -122.8 706.5 -9.1 653 4814 0.00 0.80 0.00 0.000 4 0.000 0.047 2534 193 3321 0 0 0 0 0 0

4871 -0.93 -128.4 712.9 -10.6 655 4879 0.00 0.65 0.00 0.000 6 0.000 0.024 2531 715 3319 0 0 0 0 0 0

5189 -0.96 -146.2 742.4 -9.3 671 5191 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 715 3317 0 0 0 0 0 0

5497 -0.97 -156.3 773.4 -10.1 686 5498 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 715 3315 0 0 0 0 0 0

5806 -0.99 -172.5 803.7 -9.5 701 5810 0.00 0.77 0.00 0.000 4 0.000 0.047 2532 197 3313 0 0 0 0 0 0

5858 -1.00 -181.7 808.8 -10.2 703 5861 0.00 0.68 0.00 0.000 6 0.000 0.024 2531 725 3313 0 0 0 0 0 0

6187 -1.03 -203.6 838.1 -8.9 719 6191 0.12 0.80 0.00 0.000 4 0.096 0.048 2478 202 3310 0 0 0 0 0 0

6348 -1.03 -203.6 857.8 -12.3 726 6352 0.00 0.65 0.00 0.000 6 0.000 0.024 2476 716 3309 0 0 0 0 0 0

6676 -1.03 -203.6 895.4 -11.2 742 6679 0.00 2.03 0.00 0.000 4 0.000 0.018 2467 2115 3307 0 0 0 0 0 0

6731 -1.03 -207.4 901.8 -10.7 744 6735 0.00 2.10 0.00 0.000 6 0.000 0.037 2467 752 3307 0 0 0 0 0 0

7055 -1.03 -207.4 938.6 -11.5 760 7058 0.00 0.82 0.00 0.000 4 0.000 0.047 2467 194 3305 0 0 0 0 0 0

7313 -1.03 -207.4 970.9 -12.4 771 7317 0.00 0.65 0.00 0.000 6 0.000 0.025 2466 708 3304 0 0 0 0 0 0

7571 end dive: TARGET_DEPTH_EXCEEDED

state 7571 begin apogee

7577 -0.14 0.0 1001.7 12.0 784 7641 1.02 0.00 57.08 1.415 4 0.164 0.000 2766 960 3028 0 0 0 0 0 0

7642 end apogee: CONTROL_FINISHED_OK

state 7642 begin climb

7646 1.03 207.4 1003.9 0.0 787 7830 1.08 2.12 176.07 1.371 4 0.056 0.021 3162 2380 2183 0 0 0 0 0 0

8049 1.03 207.4 931.0 24.1 804 8056 0.00 2.15 0.00 0.000 6 0.000 0.035 3172 1002 2173 0 0 0 0 0 0

8366 1.03 207.4 852.8 24.8 820 8369 0.00 1.23 0.00 0.000 4 0.000 0.044 3179 190 2171 0 0 0 0 0 0

8546 1.03 207.4 805.1 25.9 828 8550 0.00 1.12 0.00 0.000 6 0.000 0.026 3179 990 2169 0 0 0 0 0 0

8879 1.03 207.4 722.0 24.6 844 8883 0.00 2.03 0.00 0.000 4 0.000 0.026 3178 2377 2167 0 0 0 0 0 0

8987 1.03 207.4 696.8 23.3 848 8994 0.12 2.10 0.00 0.000 6 0.207 0.035 3159 1015 2167 0 0 0 0 0 0

9303 1.03 207.4 626.2 21.6 864 9307 0.00 2.03 0.00 0.000 4 0.000 0.026 3159 2396 2166 0 0 0 0 0 0

9400 1.03 207.4 605.5 20.8 868 9404 0.00 2.05 0.00 0.000 6 0.000 0.035 3167 1039 2165 0 0 0 0 0 0

9725 1.03 207.4 535.7 20.6 897 9726 0.00 0.00 0.00 0.000 6 0.000 0.000 3167 1039 2164 0 0 0 0 0 0

10049 1.03 207.4 470.7 19.1 941 10055 0.00 1.95 0.00 0.000 4 0.000 0.025 3167 2390 2164 0 0 0 0 0 0

10171 1.03 207.4 447.4 18.9 963 10179 0.00 2.08 0.00 0.000 6 0.000 0.035 3176 1025 2163 0 0 0 0 0 0

10506 1.03 207.4 377.8 18.0 1024 10514 0.00 1.25 0.00 0.000 4 0.000 0.043 3182 191 2162 0 0 0 0 0 0

10568 1.03 207.4 366.3 19.6 1034 10575 0.00 1.17 0.00 0.000 6 0.000 0.024 3182 1051 2162 0 0 0 0 0 0

10901 1.03 207.4 301.6 19.3 1095 10909 0.00 1.30 0.00 0.000 4 0.000 0.043 3188 194 2162 0 0 0 0 0 0

10949 1.03 207.4 292.3 18.5 1103 10956 0.00 1.17 0.00 0.000 6 0.000 0.023 3188 1058 2162 0 0 0 0 0 0

11283 1.03 207.4 235.4 16.6 1164 11292 0.12 1.30 0.00 0.000 4 0.203 0.041 3165 197 2162 0 0 0 0 0 0

11327 1.03 207.4 228.6 15.8 1171 11334 0.00 1.17 0.00 0.000 6 0.000 0.022 3165 1070 2162 0 0 0 0 0 0

11660 1.03 207.4 182.1 15.4 1232 11668 0.00 1.92 0.00 0.000 4 0.000 0.023 3165 2403 2162 0 0 0 0 0 0

11914 1.06 229.5 150.3 8.9 1278 11938 0.00 2.05 15.85 0.729 6 0.000 0.034 3172 1059 2091 0 0 0 0 0 0

12261 1.09 253.2 115.4 8.7 1341 12286 0.00 1.35 19.88 0.696 4 0.000 0.042 3179 181 1996 0 0 0 0 0 0

12408 1.09 253.2 98.6 11.7 1366 12415 0.00 1.20 0.00 0.000 6 0.000 0.021 3179 1087 1993 0 0 0 0 0 0

12738 1.11 271.4 68.5 9.3 1427 12761 0.00 1.90 15.65 0.631 4 0.000 0.018 3179 2409 1920 0 0 0 0 0 0

12861 1.11 271.4 54.8 12.1 1448 12869 0.00 2.08 0.00 0.000 6 0.000 0.032 3188 1051 1919 0 0 0 0 0 0

13189 1.13 291.0 16.7 9.1 1509 13212 0.00 1.33 17.05 0.588 4 0.000 0.039 3194 178 1841 0 0 0 0 0 0

13316 end climb: SURFACE_DEPTH_REACHED

state 13316 begin surface coast

13333 end surface coast: CONTROL_FINISHED_OK

state 13333 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	273	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	282	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	52	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	98	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	-54466.703	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	311010,052655,2123.955,12600.326,38,1.3,39,-2.9	TGT_NAME	PICKUP_NORTH
_CALLS	1	TGT_LATLONG	2124.580,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	311010,053456,2123.854,12600.285,13,1.3,13,-2.9	MHEAD_RNG_PITCHd_Wd	34.4,2073,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.5,1.022157	_10V_AH	10.2,46.837
SM_CCo	13351,88.45,0.535,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.26,0.00,0.00,88.45,0.000,0.000,0.535,122,843,1397,-8.42,1.50,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12559.43,311010,000055	MEM	333788
TT8_MAMPS	0.028462	DATA_FILE_SIZE	90076,1534
HUMID	37.91	CAP_FILE_SIZE	151964,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,149225472
TCM_TEMP	28.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.015, 0.3,1
_24V_AH	23.2,51.013	GPS	311010,092037,2125.169,12600.564,32,1.0,32,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	216	99.57	SBE_CT	1048	24	583.54
Roll_motor	63	48	71.53	AA3830	1369	33	1048.13
VBD_pump_during_apogee	301	1415	9901.85	WL_BB2F	1897	105	4623.04
VBD_pump_during_surface	88	534	1097.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	16	0	0.00	nil	0	0	0.00
Iridium_during_xfer	225	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	14	0	0.00
TT8	3786	19	764.79
LPSleep	5367	2	119.90
TT8_Active	488	19	98.62
TT8_Sampling	3788	39	1538.15
TT8_CF8	476	45	222.39
TT8_Kalman	0	0	0.00
Analog_circuits	1828	12	223.76
GPS_charging	0	0	0.00
Compass	3535	15	540.97
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.87	-73.8	0.0	0.0	0	83	0.00	0.00	-64.68	0.000	6	0.000	0.000	113	769	3332	0	0	0	0	0	0
87	-0.87	-73.8	6.0	-11.9	9	103	9.35	0.80	0.00	0.000	4	0.216	0.030	2536	189	3334	0	0	0	0	0	0
341	-0.87	-73.8	94.7	-30.7	56	349	0.00	0.77	0.00	0.000	6	0.000	0.021	2532	859	3337	0	0	0	0	0	0
670	-0.87	-73.8	171.3	-18.2	117	677	0.00	0.98	0.00	0.000	4	0.000	0.040	2532	193	3339	0	0	0	0	0	0
806	-0.87	-73.8	196.6	-19.0	141	812	0.00	0.77	0.00	0.000	6	0.000	0.019	2527	876	3339	0	0	0	0	0	0
1140	-0.87	-73.8	254.7	-13.1	202	1148	0.00	0.98	0.00	0.000	4	0.000	0.039	2527	206	3341	0	0	0	0	0	0
1392	-0.87	-73.8	293.0	-15.8	248	1400	0.00	0.70	0.00	0.000	6	0.000	0.021	2522	820	3341	0	0	0	0	0	0
1727	-0.87	-73.8	340.6	-14.2	309	1733	0.00	0.90	0.00	0.000	4	0.000	0.041	2522	204	3341	0	0	0	0	0	0
1975	-0.87	-73.8	379.6	-14.9	355	1982	0.00	0.60	0.00	0.000	6	0.000	0.023	2520	745	3340	0	0	0	0	0	0
2311	-0.87	-73.8	423.3	-12.3	416	2319	0.00	0.80	0.00	0.000	4	0.000	0.043	2519	198	3339	0	0	0	0	0	0
2564	-0.87	-73.8	457.9	-15.1	462	2572	0.00	0.62	0.00	0.000	6	0.000	0.023	2515	742	3337	0	0	0	0	0	0
2902	-0.87	-73.8	501.8	-12.1	523	2905	0.00	1.95	0.00	0.000	4	0.000	0.016	2507	2144	3335	0	0	0	0	0	0
2993	-0.87	-79.8	511.8	-10.5	531	2998	0.12	2.05	0.00	0.000	6	0.171	0.034	2538	780	3334	0	0	0	0	0	0
3318	-0.88	-86.6	546.2	-10.4	561	3322	0.00	0.85	0.00	0.000	4	0.000	0.044	2537	197	3332	0	0	0	0	0	0
3581	-0.89	-90.3	575.5	-10.7	584	3585	0.00	0.65	0.00	0.000	6	0.000	0.023	2537	738	3330	0	0	0	0	0	0
3921	-0.89	-91.4	612.0	-11.0	611	3925	0.00	0.80	0.00	0.000	4	0.000	0.044	2536	196	3328	0	0	0	0	0	0
4179	-0.89	-91.4	644.2	-12.2	622	4182	0.00	0.65	0.00	0.000	6	0.000	0.024	2535	729	3325	0	0	0	0	0	0
4503	-0.90	-103.1	678.2	-9.9	638	4504	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	729	3322	0	0	0	0	0	0
4810	-0.93	-122.8	706.5	-9.1	653	4814	0.00	0.80	0.00	0.000	4	0.000	0.047	2534	193	3321	0	0	0	0	0	0
4871	-0.93	-128.4	712.9	-10.6	655	4879	0.00	0.65	0.00	0.000	6	0.000	0.024	2531	715	3319	0	0	0	0	0	0
5189	-0.96	-146.2	742.4	-9.3	671	5191	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	715	3317	0	0	0	0	0	0
5497	-0.97	-156.3	773.4	-10.1	686	5498	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	715	3315	0	0	0	0	0	0
5806	-0.99	-172.5	803.7	-9.5	701	5810	0.00	0.77	0.00	0.000	4	0.000	0.047	2532	197	3313	0	0	0	0	0	0
5858	-1.00	-181.7	808.8	-10.2	703	5861	0.00	0.68	0.00	0.000	6	0.000	0.024	2531	725	3313	0	0	0	0	0	0
6187	-1.03	-203.6	838.1	-8.9	719	6191	0.12	0.80	0.00	0.000	4	0.096	0.048	2478	202	3310	0	0	0	0	0	0
6348	-1.03	-203.6	857.8	-12.3	726	6352	0.00	0.65	0.00	0.000	6	0.000	0.024	2476	716	3309	0	0	0	0	0	0
6676	-1.03	-203.6	895.4	-11.2	742	6679	0.00	2.03	0.00	0.000	4	0.000	0.018	2467	2115	3307	0	0	0	0	0	0
6731	-1.03	-207.4	901.8	-10.7	744	6735	0.00	2.10	0.00	0.000	6	0.000	0.037	2467	752	3307	0	0	0	0	0	0
7055	-1.03	-207.4	938.6	-11.5	760	7058	0.00	0.82	0.00	0.000	4	0.000	0.047	2467	194	3305	0	0	0	0	0	0
7313	-1.03	-207.4	970.9	-12.4	771	7317	0.00	0.65	0.00	0.000	6	0.000	0.025	2466	708	3304	0	0	0	0	0	0
7571	end dive: TARGET_DEPTH_EXCEEDED
state	7571	begin apogee
7577	-0.14	0.0	1001.7	12.0	784	7641	1.02	0.00	57.08	1.415	4	0.164	0.000	2766	960	3028	0	0	0	0	0	0
7642	end apogee: CONTROL_FINISHED_OK
state	7642	begin climb
7646	1.03	207.4	1003.9	0.0	787	7830	1.08	2.12	176.07	1.371	4	0.056	0.021	3162	2380	2183	0	0	0	0	0	0
8049	1.03	207.4	931.0	24.1	804	8056	0.00	2.15	0.00	0.000	6	0.000	0.035	3172	1002	2173	0	0	0	0	0	0
8366	1.03	207.4	852.8	24.8	820	8369	0.00	1.23	0.00	0.000	4	0.000	0.044	3179	190	2171	0	0	0	0	0	0
8546	1.03	207.4	805.1	25.9	828	8550	0.00	1.12	0.00	0.000	6	0.000	0.026	3179	990	2169	0	0	0	0	0	0
8879	1.03	207.4	722.0	24.6	844	8883	0.00	2.03	0.00	0.000	4	0.000	0.026	3178	2377	2167	0	0	0	0	0	0
8987	1.03	207.4	696.8	23.3	848	8994	0.12	2.10	0.00	0.000	6	0.207	0.035	3159	1015	2167	0	0	0	0	0	0
9303	1.03	207.4	626.2	21.6	864	9307	0.00	2.03	0.00	0.000	4	0.000	0.026	3159	2396	2166	0	0	0	0	0	0
9400	1.03	207.4	605.5	20.8	868	9404	0.00	2.05	0.00	0.000	6	0.000	0.035	3167	1039	2165	0	0	0	0	0	0
9725	1.03	207.4	535.7	20.6	897	9726	0.00	0.00	0.00	0.000	6	0.000	0.000	3167	1039	2164	0	0	0	0	0	0
10049	1.03	207.4	470.7	19.1	941	10055	0.00	1.95	0.00	0.000	4	0.000	0.025	3167	2390	2164	0	0	0	0	0	0
10171	1.03	207.4	447.4	18.9	963	10179	0.00	2.08	0.00	0.000	6	0.000	0.035	3176	1025	2163	0	0	0	0	0	0
10506	1.03	207.4	377.8	18.0	1024	10514	0.00	1.25	0.00	0.000	4	0.000	0.043	3182	191	2162	0	0	0	0	0	0
10568	1.03	207.4	366.3	19.6	1034	10575	0.00	1.17	0.00	0.000	6	0.000	0.024	3182	1051	2162	0	0	0	0	0	0
10901	1.03	207.4	301.6	19.3	1095	10909	0.00	1.30	0.00	0.000	4	0.000	0.043	3188	194	2162	0	0	0	0	0	0
10949	1.03	207.4	292.3	18.5	1103	10956	0.00	1.17	0.00	0.000	6	0.000	0.023	3188	1058	2162	0	0	0	0	0	0
11283	1.03	207.4	235.4	16.6	1164	11292	0.12	1.30	0.00	0.000	4	0.203	0.041	3165	197	2162	0	0	0	0	0	0
11327	1.03	207.4	228.6	15.8	1171	11334	0.00	1.17	0.00	0.000	6	0.000	0.022	3165	1070	2162	0	0	0	0	0	0
11660	1.03	207.4	182.1	15.4	1232	11668	0.00	1.92	0.00	0.000	4	0.000	0.023	3165	2403	2162	0	0	0	0	0	0
11914	1.06	229.5	150.3	8.9	1278	11938	0.00	2.05	15.85	0.729	6	0.000	0.034	3172	1059	2091	0	0	0	0	0	0
12261	1.09	253.2	115.4	8.7	1341	12286	0.00	1.35	19.88	0.696	4	0.000	0.042	3179	181	1996	0	0	0	0	0	0
12408	1.09	253.2	98.6	11.7	1366	12415	0.00	1.20	0.00	0.000	6	0.000	0.021	3179	1087	1993	0	0	0	0	0	0
12738	1.11	271.4	68.5	9.3	1427	12761	0.00	1.90	15.65	0.631	4	0.000	0.018	3179	2409	1920	0	0	0	0	0	0
12861	1.11	271.4	54.8	12.1	1448	12869	0.00	2.08	0.00	0.000	6	0.000	0.032	3188	1051	1919	0	0	0	0	0	0
13189	1.13	291.0	16.7	9.1	1509	13212	0.00	1.33	17.05	0.588	4	0.000	0.039	3194	178	1841	0	0	0	0	0	0
13316	end climb: SURFACE_DEPTH_REACHED
state	13316	begin surface coast
13333	end surface coast: CONTROL_FINISHED_OK
state	13333	begin surface