Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 294 * 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 294 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 302 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 46 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 79 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 -54493.117 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 -54493.117

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 46 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 79 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 294 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 302 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 041110,015225,2120.579,12601.610,39,1.9,39,-2.9 TGT_NAME PICKUP_SOUTH

_CALLS 1 TGT_LATLONG 2118.900,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041110,020106,2120.526,12601.664,30,1.6,30,-2.9 MHEAD_RNG_PITCHd_Wd 224.5,3115,-27.7,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.022343 _10V_AH 10.2,50.676

SM_CCo 13377,116.78,0.558,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.34,0.00,0.00,116.78,0.000,0.000,0.558,124,839,1397,-8.42,1.41,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12559.43,031110,212135 MEM 333796

TT8_MAMPS 0.028462 DATA_FILE_SIZE 86938,1523

HUMID 38.50 CAP_FILE_SIZE 146760,0

INTERNAL_PRESSURE 8.90659 CFSIZE 260165632,147251200

TCM_TEMP 27.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.095,161.4,1

_24V_AH 23.0,54.820 GPS 041110,054801,2118.758,12600.983,39,1.6,39,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 225 103.55 SBE_CT 1040 24 574.47

Roll_motor 59 71 98.41 AA3830 1355 33 1028.62

VBD_pump_during_apogee 280 1415 9125.60 WL_BB2F 1890 105 4564.77

VBD_pump_during_surface 116 558 1499.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 0 0.00 nil 0 0 0.00

Iridium_during_connect 37 0 0.00 nil 0 0 0.00

Iridium_during_xfer 221 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 30 0 0.00

TT8 3761 19 759.65

LPSleep 5594 2 124.98

TT8_Active 510 19 103.13

TT8_Sampling 3683 39 1495.18

TT8_CF8 464 45 216.84

TT8_Kalman 0 0 0.00

Analog_circuits 1784 12 218.40

GPS_charging 0 0 0.00

Compass 3394 15 519.43

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.86 -75.0 0.0 0.0 0 91 0.00 0.00 -71.57 0.000 2 0.000 0.000 111 776 3220 0 0 0 0 0 0

94 -0.87 -79.1 5.1 -10.7 10 110 9.60 0.88 -2.33 0.000 4 0.226 0.072 2536 188 3355 0 0 0 0 0 0

351 -0.87 -79.1 89.4 -32.1 57 359 0.00 0.80 0.00 0.000 6 0.000 0.020 2532 865 3356 0 0 0 0 0 0

678 -0.87 -79.1 161.1 -19.0 118 688 0.00 0.98 0.00 0.000 4 0.000 0.041 2532 199 3358 0 0 0 0 0 0

725 -0.87 -79.1 170.1 -19.9 125 731 0.00 0.75 0.00 0.000 6 0.000 0.020 2528 861 3358 0 0 0 0 0 0

1062 -0.87 -79.1 224.9 -16.2 186 1070 0.00 1.88 0.00 0.000 4 0.000 0.016 2519 2208 3359 0 0 0 0 0 0

1133 -0.87 -79.1 235.0 -13.6 198 1141 0.00 2.17 0.00 0.000 6 0.000 0.032 2519 764 3360 0 0 0 0 0 0

1476 -0.87 -79.1 288.6 -15.0 259 1482 0.00 0.82 0.00 0.000 4 0.000 0.041 2519 189 3360 0 0 0 0 0 0

1557 -0.87 -79.1 300.9 -14.6 273 1563 0.00 0.77 0.00 0.000 6 0.000 0.020 2514 866 3360 0 0 0 0 0 0

1896 -0.87 -79.1 348.0 -13.8 334 1904 0.00 0.98 0.00 0.000 4 0.000 0.040 2514 197 3360 0 0 0 0 0 0

2156 -0.87 -79.1 387.2 -14.9 380 2165 0.08 0.75 0.00 0.000 6 0.171 0.021 2533 837 3359 0 0 0 0 0 0

2501 -0.87 -79.1 431.6 -12.1 441 2508 0.00 0.95 0.00 0.000 4 0.000 0.041 2533 192 3357 0 0 0 0 0 0

2669 -0.87 -79.1 453.2 -12.7 470 2677 0.00 0.62 0.00 0.000 6 0.000 0.023 2531 741 3357 0 0 0 0 0 0

3011 -0.87 -79.1 492.0 -11.2 531 3018 0.00 0.80 0.00 0.000 4 0.000 0.044 2531 196 3354 0 0 0 0 0 0

3124 -0.87 -79.1 505.8 -12.3 547 3127 0.00 0.65 0.00 0.000 6 0.000 0.023 2528 747 3353 0 0 0 0 0 0

3455 -0.87 -79.1 544.8 -11.1 578 3456 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 747 3351 0 0 0 0 0 0

3775 -0.87 -82.5 579.8 -10.8 608 3779 0.00 0.82 0.00 0.000 4 0.000 0.044 2528 190 3348 0 0 0 0 0 0

3879 -0.87 -82.5 592.2 -11.9 617 3883 0.00 0.68 0.00 0.000 6 0.000 0.024 2523 742 3347 0 0 0 0 0 0

4203 -0.87 -84.4 628.5 -10.9 636 4206 0.00 2.03 0.00 0.000 4 0.000 0.018 2520 2149 3345 0 0 0 0 0 0

4264 -0.89 -95.6 635.0 -10.0 638 4271 0.00 2.12 0.00 0.000 6 0.000 0.036 2519 763 3344 0 0 0 0 0 0

4582 -0.89 -95.6 671.3 -11.3 654 4583 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 763 3341 0 0 0 0 0 0

4890 -0.89 -96.5 706.6 -11.0 669 4891 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 763 3339 0 0 0 0 0 0

5200 -0.90 -102.5 740.2 -10.5 684 5202 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 764 3337 0 0 0 0 0 0

5508 -0.90 -105.9 773.3 -10.8 699 5512 0.00 0.85 0.00 0.000 4 0.000 0.047 2520 190 3335 0 0 0 0 0 0

5765 -0.90 -105.9 803.0 -11.6 710 5769 0.00 0.70 0.00 0.000 6 0.000 0.024 2519 745 3332 0 0 0 0 0 0

6087 -0.92 -124.2 834.3 -9.3 726 6089 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 746 3330 0 0 0 0 0 0

6399 -0.95 -145.3 862.8 -9.0 741 6400 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 745 3328 0 0 0 0 0 0

6706 -0.97 -163.3 891.2 -9.3 756 6707 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 745 3327 0 0 0 0 0 0

7015 -1.00 -183.0 919.1 -9.2 771 7019 0.00 2.05 0.00 0.000 4 0.000 0.021 2518 2148 3325 0 0 0 0 0 0

7044 -1.03 -213.3 921.6 -8.1 772 7048 0.00 2.15 0.00 0.000 6 0.000 0.038 2518 764 3325 0 0 0 0 0 0

7366 -1.05 -228.7 951.0 -9.3 788 7368 0.10 0.00 0.00 0.000 6 0.109 0.000 2475 764 3323 0 0 0 0 0 0

7676 -1.05 -228.7 984.9 -10.8 803 7679 0.00 2.05 0.00 0.000 4 0.000 0.020 2466 2160 3321 0 0 0 0 0 0

7711 -1.05 -228.7 988.6 -10.6 804 7715 0.00 2.17 0.00 0.000 6 0.000 0.038 2466 768 3321 0 0 0 0 0 0

7819 end dive: TARGET_DEPTH_EXCEEDED

state 7819 begin apogee

7825 -0.14 0.0 1000.6 11.1 809 7891 1.02 0.00 60.85 1.415 4 0.164 0.000 2766 1020 3030 0 0 0 0 0 0

7892 end apogee: CONTROL_FINISHED_OK

state 7892 begin climb

7896 1.05 228.7 1002.5 0.0 812 8104 1.08 2.03 196.23 1.369 4 0.054 0.021 3165 2370 2094 0 0 0 0 0 0

8288 1.05 228.7 931.9 23.8 830 8292 0.00 2.12 0.00 0.000 6 0.000 0.036 3175 997 2085 0 0 0 0 0 0

8618 1.05 228.7 850.2 25.0 846 8621 0.00 1.23 0.00 0.000 4 0.000 0.045 3180 190 2084 0 0 0 0 0 0

8847 1.05 228.7 788.8 26.3 856 8851 0.00 1.12 0.00 0.000 6 0.000 0.026 3181 986 2081 0 0 0 0 0 0

9178 1.05 228.7 708.1 24.2 872 9181 0.00 2.05 0.00 0.000 4 0.000 0.026 3182 2382 2080 0 0 0 0 0 0

9278 1.05 228.7 683.6 22.6 876 9282 0.00 2.10 0.00 0.000 6 0.000 0.036 3190 1024 2080 0 0 0 0 0 0

9600 1.05 228.7 607.5 23.9 892 9603 0.00 2.00 0.00 0.000 4 0.000 0.024 3190 2394 2079 0 0 0 0 0 0

9684 1.05 228.7 587.2 24.6 897 9692 0.15 2.08 0.00 0.000 6 0.204 0.036 3162 1039 2078 0 0 0 0 0 0

10011 1.05 228.7 517.1 20.6 928 10012 0.00 0.00 0.00 0.000 6 0.000 0.000 3162 1039 2078 0 0 0 0 0 0

10339 1.05 228.7 448.4 20.4 980 10348 0.00 2.00 0.00 0.000 4 0.000 0.026 3162 2384 2077 0 0 0 0 0 0

10366 1.05 228.7 443.0 21.4 984 10375 0.00 2.05 0.00 0.000 6 0.000 0.036 3170 1053 2077 0 0 0 0 0 0

10708 1.05 228.7 373.4 21.3 1045 10714 0.00 0.00 0.00 0.000 6 0.000 0.000 3171 1053 2076 0 0 0 0 0 0

11047 1.05 228.7 305.8 18.5 1106 11055 0.00 1.98 0.00 0.000 4 0.000 0.024 3170 2392 2075 0 0 0 0 0 0

11195 1.05 228.7 280.5 16.9 1131 11202 0.00 2.05 0.00 0.000 6 0.000 0.034 3179 1039 2075 0 0 0 0 0 0

11537 1.05 228.7 222.0 15.2 1192 11546 0.00 1.27 0.00 0.000 4 0.000 0.044 3185 187 2076 0 0 0 0 0 0

11619 1.05 228.7 206.6 21.2 1206 11627 0.00 1.17 0.00 0.000 6 0.000 0.023 3186 1061 2076 0 0 0 0 0 0

11960 1.05 228.7 156.2 14.7 1267 11966 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 1061 2076 0 0 0 0 0 0

12287 1.05 229.7 113.5 11.0 1328 12296 0.00 1.30 0.00 0.000 4 0.000 0.041 3192 194 2076 0 0 0 0 0 0

12437 1.08 248.5 97.7 9.2 1354 12461 0.00 1.15 14.30 0.668 6 0.000 0.021 3192 1060 2014 0 0 0 0 0 0

12783 1.09 257.9 64.9 10.2 1417 12799 0.00 0.00 8.98 0.594 6 0.000 0.000 3192 1060 1976 0 0 0 0 0 0

13121 1.09 257.9 26.2 11.1 1479 13129 0.00 1.30 0.00 0.000 4 0.000 0.040 3198 190 1975 0 0 0 0 0 0

13330 end climb: SURFACE_DEPTH_REACHED

state 13330 begin surface coast

13357 end surface coast: CONTROL_FINISHED_OK

state 13357 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	294	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	302	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	46	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	79	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	-54493.117	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	041110,015225,2120.579,12601.610,39,1.9,39,-2.9	TGT_NAME	PICKUP_SOUTH
_CALLS	1	TGT_LATLONG	2118.900,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041110,020106,2120.526,12601.664,30,1.6,30,-2.9	MHEAD_RNG_PITCHd_Wd	224.5,3115,-27.7,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.7,1.022343	_10V_AH	10.2,50.676
SM_CCo	13377,116.78,0.558,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.34,0.00,0.00,116.78,0.000,0.000,0.558,124,839,1397,-8.42,1.41,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12559.43,031110,212135	MEM	333796
TT8_MAMPS	0.028462	DATA_FILE_SIZE	86938,1523
HUMID	38.50	CAP_FILE_SIZE	146760,0
INTERNAL_PRESSURE	8.90659	CFSIZE	260165632,147251200
TCM_TEMP	27.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.095,161.4,1
_24V_AH	23.0,54.820	GPS	041110,054801,2118.758,12600.983,39,1.6,39,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	225	103.55	SBE_CT	1040	24	574.47
Roll_motor	59	71	98.41	AA3830	1355	33	1028.62
VBD_pump_during_apogee	280	1415	9125.60	WL_BB2F	1890	105	4564.77
VBD_pump_during_surface	116	558	1499.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	0	0.00	nil	0	0	0.00
Iridium_during_connect	37	0	0.00	nil	0	0	0.00
Iridium_during_xfer	221	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	30	0	0.00
TT8	3761	19	759.65
LPSleep	5594	2	124.98
TT8_Active	510	19	103.13
TT8_Sampling	3683	39	1495.18
TT8_CF8	464	45	216.84
TT8_Kalman	0	0	0.00
Analog_circuits	1784	12	218.40
GPS_charging	0	0	0.00
Compass	3394	15	519.43
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.86	-75.0	0.0	0.0	0	91	0.00	0.00	-71.57	0.000	2	0.000	0.000	111	776	3220	0	0	0	0	0	0
94	-0.87	-79.1	5.1	-10.7	10	110	9.60	0.88	-2.33	0.000	4	0.226	0.072	2536	188	3355	0	0	0	0	0	0
351	-0.87	-79.1	89.4	-32.1	57	359	0.00	0.80	0.00	0.000	6	0.000	0.020	2532	865	3356	0	0	0	0	0	0
678	-0.87	-79.1	161.1	-19.0	118	688	0.00	0.98	0.00	0.000	4	0.000	0.041	2532	199	3358	0	0	0	0	0	0
725	-0.87	-79.1	170.1	-19.9	125	731	0.00	0.75	0.00	0.000	6	0.000	0.020	2528	861	3358	0	0	0	0	0	0
1062	-0.87	-79.1	224.9	-16.2	186	1070	0.00	1.88	0.00	0.000	4	0.000	0.016	2519	2208	3359	0	0	0	0	0	0
1133	-0.87	-79.1	235.0	-13.6	198	1141	0.00	2.17	0.00	0.000	6	0.000	0.032	2519	764	3360	0	0	0	0	0	0
1476	-0.87	-79.1	288.6	-15.0	259	1482	0.00	0.82	0.00	0.000	4	0.000	0.041	2519	189	3360	0	0	0	0	0	0
1557	-0.87	-79.1	300.9	-14.6	273	1563	0.00	0.77	0.00	0.000	6	0.000	0.020	2514	866	3360	0	0	0	0	0	0
1896	-0.87	-79.1	348.0	-13.8	334	1904	0.00	0.98	0.00	0.000	4	0.000	0.040	2514	197	3360	0	0	0	0	0	0
2156	-0.87	-79.1	387.2	-14.9	380	2165	0.08	0.75	0.00	0.000	6	0.171	0.021	2533	837	3359	0	0	0	0	0	0
2501	-0.87	-79.1	431.6	-12.1	441	2508	0.00	0.95	0.00	0.000	4	0.000	0.041	2533	192	3357	0	0	0	0	0	0
2669	-0.87	-79.1	453.2	-12.7	470	2677	0.00	0.62	0.00	0.000	6	0.000	0.023	2531	741	3357	0	0	0	0	0	0
3011	-0.87	-79.1	492.0	-11.2	531	3018	0.00	0.80	0.00	0.000	4	0.000	0.044	2531	196	3354	0	0	0	0	0	0
3124	-0.87	-79.1	505.8	-12.3	547	3127	0.00	0.65	0.00	0.000	6	0.000	0.023	2528	747	3353	0	0	0	0	0	0
3455	-0.87	-79.1	544.8	-11.1	578	3456	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	747	3351	0	0	0	0	0	0
3775	-0.87	-82.5	579.8	-10.8	608	3779	0.00	0.82	0.00	0.000	4	0.000	0.044	2528	190	3348	0	0	0	0	0	0
3879	-0.87	-82.5	592.2	-11.9	617	3883	0.00	0.68	0.00	0.000	6	0.000	0.024	2523	742	3347	0	0	0	0	0	0
4203	-0.87	-84.4	628.5	-10.9	636	4206	0.00	2.03	0.00	0.000	4	0.000	0.018	2520	2149	3345	0	0	0	0	0	0
4264	-0.89	-95.6	635.0	-10.0	638	4271	0.00	2.12	0.00	0.000	6	0.000	0.036	2519	763	3344	0	0	0	0	0	0
4582	-0.89	-95.6	671.3	-11.3	654	4583	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	763	3341	0	0	0	0	0	0
4890	-0.89	-96.5	706.6	-11.0	669	4891	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	763	3339	0	0	0	0	0	0
5200	-0.90	-102.5	740.2	-10.5	684	5202	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	764	3337	0	0	0	0	0	0
5508	-0.90	-105.9	773.3	-10.8	699	5512	0.00	0.85	0.00	0.000	4	0.000	0.047	2520	190	3335	0	0	0	0	0	0
5765	-0.90	-105.9	803.0	-11.6	710	5769	0.00	0.70	0.00	0.000	6	0.000	0.024	2519	745	3332	0	0	0	0	0	0
6087	-0.92	-124.2	834.3	-9.3	726	6089	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	746	3330	0	0	0	0	0	0
6399	-0.95	-145.3	862.8	-9.0	741	6400	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	745	3328	0	0	0	0	0	0
6706	-0.97	-163.3	891.2	-9.3	756	6707	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	745	3327	0	0	0	0	0	0
7015	-1.00	-183.0	919.1	-9.2	771	7019	0.00	2.05	0.00	0.000	4	0.000	0.021	2518	2148	3325	0	0	0	0	0	0
7044	-1.03	-213.3	921.6	-8.1	772	7048	0.00	2.15	0.00	0.000	6	0.000	0.038	2518	764	3325	0	0	0	0	0	0
7366	-1.05	-228.7	951.0	-9.3	788	7368	0.10	0.00	0.00	0.000	6	0.109	0.000	2475	764	3323	0	0	0	0	0	0
7676	-1.05	-228.7	984.9	-10.8	803	7679	0.00	2.05	0.00	0.000	4	0.000	0.020	2466	2160	3321	0	0	0	0	0	0
7711	-1.05	-228.7	988.6	-10.6	804	7715	0.00	2.17	0.00	0.000	6	0.000	0.038	2466	768	3321	0	0	0	0	0	0
7819	end dive: TARGET_DEPTH_EXCEEDED
state	7819	begin apogee
7825	-0.14	0.0	1000.6	11.1	809	7891	1.02	0.00	60.85	1.415	4	0.164	0.000	2766	1020	3030	0	0	0	0	0	0
7892	end apogee: CONTROL_FINISHED_OK
state	7892	begin climb
7896	1.05	228.7	1002.5	0.0	812	8104	1.08	2.03	196.23	1.369	4	0.054	0.021	3165	2370	2094	0	0	0	0	0	0
8288	1.05	228.7	931.9	23.8	830	8292	0.00	2.12	0.00	0.000	6	0.000	0.036	3175	997	2085	0	0	0	0	0	0
8618	1.05	228.7	850.2	25.0	846	8621	0.00	1.23	0.00	0.000	4	0.000	0.045	3180	190	2084	0	0	0	0	0	0
8847	1.05	228.7	788.8	26.3	856	8851	0.00	1.12	0.00	0.000	6	0.000	0.026	3181	986	2081	0	0	0	0	0	0
9178	1.05	228.7	708.1	24.2	872	9181	0.00	2.05	0.00	0.000	4	0.000	0.026	3182	2382	2080	0	0	0	0	0	0
9278	1.05	228.7	683.6	22.6	876	9282	0.00	2.10	0.00	0.000	6	0.000	0.036	3190	1024	2080	0	0	0	0	0	0
9600	1.05	228.7	607.5	23.9	892	9603	0.00	2.00	0.00	0.000	4	0.000	0.024	3190	2394	2079	0	0	0	0	0	0
9684	1.05	228.7	587.2	24.6	897	9692	0.15	2.08	0.00	0.000	6	0.204	0.036	3162	1039	2078	0	0	0	0	0	0
10011	1.05	228.7	517.1	20.6	928	10012	0.00	0.00	0.00	0.000	6	0.000	0.000	3162	1039	2078	0	0	0	0	0	0
10339	1.05	228.7	448.4	20.4	980	10348	0.00	2.00	0.00	0.000	4	0.000	0.026	3162	2384	2077	0	0	0	0	0	0
10366	1.05	228.7	443.0	21.4	984	10375	0.00	2.05	0.00	0.000	6	0.000	0.036	3170	1053	2077	0	0	0	0	0	0
10708	1.05	228.7	373.4	21.3	1045	10714	0.00	0.00	0.00	0.000	6	0.000	0.000	3171	1053	2076	0	0	0	0	0	0
11047	1.05	228.7	305.8	18.5	1106	11055	0.00	1.98	0.00	0.000	4	0.000	0.024	3170	2392	2075	0	0	0	0	0	0
11195	1.05	228.7	280.5	16.9	1131	11202	0.00	2.05	0.00	0.000	6	0.000	0.034	3179	1039	2075	0	0	0	0	0	0
11537	1.05	228.7	222.0	15.2	1192	11546	0.00	1.27	0.00	0.000	4	0.000	0.044	3185	187	2076	0	0	0	0	0	0
11619	1.05	228.7	206.6	21.2	1206	11627	0.00	1.17	0.00	0.000	6	0.000	0.023	3186	1061	2076	0	0	0	0	0	0
11960	1.05	228.7	156.2	14.7	1267	11966	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	1061	2076	0	0	0	0	0	0
12287	1.05	229.7	113.5	11.0	1328	12296	0.00	1.30	0.00	0.000	4	0.000	0.041	3192	194	2076	0	0	0	0	0	0
12437	1.08	248.5	97.7	9.2	1354	12461	0.00	1.15	14.30	0.668	6	0.000	0.021	3192	1060	2014	0	0	0	0	0	0
12783	1.09	257.9	64.9	10.2	1417	12799	0.00	0.00	8.98	0.594	6	0.000	0.000	3192	1060	1976	0	0	0	0	0	0
13121	1.09	257.9	26.2	11.1	1479	13129	0.00	1.30	0.00	0.000	4	0.000	0.040	3198	190	1975	0	0	0	0	0	0
13330	end climb: SURFACE_DEPTH_REACHED
state	13330	begin surface coast
13357	end surface coast: CONTROL_FINISHED_OK
state	13357	begin surface