Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 333 * 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 333 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 342 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 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 85 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 -54543.785 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 -54543.785

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 42 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 85 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 333 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 342 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 111110,102436,2122.168,12601.290,34,1.1,35,-2.9 TGT_NAME PICKUP

_CALLS 2 TGT_LATLONG 2121.600,12601.200

_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 -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111110,103526,2122.066,12601.241,15,1.3,15,-2.9 MHEAD_RNG_PITCHd_Wd 173.0,865,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.012190 _10V_AH 10.1,57.950

SM_CCo 13272,119.47,0.566,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.50,0.00,0.00,119.47,0.000,0.000,0.566,110,812,1397,-8.48,0.65,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2115.63,12559.43,111110,101047 MEM 334080

TT8_MAMPS 0.028462 DATA_FILE_SIZE 90209,1529

HUMID 39.36 CAP_FILE_SIZE 154291,0

INTERNAL_PRESSURE 8.88706 CFSIZE 260165632,143527936

TCM_TEMP 27.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.053,238.9,1

_24V_AH 22.9,62.100 GPS 111110,142024,2120.701,12601.269,39,1.6,39,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 222 103.23 SBE_CT 1045 24 574.49

Roll_motor 69 63 101.53 AA3830 1366 33 1032.76

VBD_pump_during_apogee 275 1419 8965.87 WL_BB2F 1887 105 4538.87

VBD_pump_during_surface 119 566 1548.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 0 0.00 nil 0 0 0.00

Iridium_during_connect 71 0 0.00 nil 0 0 0.00

Iridium_during_xfer 258 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 0 0.00

TT8 3797 19 759.40

LPSleep 5326 2 117.82

TT8_Active 510 19 102.03

TT8_Sampling 3887 39 1562.53

TT8_CF8 507 45 234.81

TT8_Kalman 0 0 0.00

Analog_circuits 1843 12 223.46

GPS_charging 0 0 0.00

Compass 3534 15 535.46

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.87 -73.8 0.0 0.0 0 86 0.00 0.00 -64.93 0.000 2 0.000 0.000 112 779 3306 0 0 0 0 0 0

89 -0.87 -73.8 5.3 -11.2 9 106 9.55 0.85 -0.43 0.000 4 0.223 0.063 2532 168 3333 0 0 0 0 0 0

348 -0.87 -73.8 88.2 -31.3 56 356 0.00 0.82 0.00 0.000 6 0.000 0.020 2529 867 3334 0 0 0 0 0 0

678 -0.87 -73.8 156.3 -18.0 117 684 0.00 1.00 0.00 0.000 4 0.000 0.040 2529 189 3337 0 0 0 0 0 0

861 -0.87 -73.8 192.3 -18.5 150 869 0.00 0.77 0.00 0.000 6 0.000 0.020 2524 865 3337 0 0 0 0 0 0

1199 -0.87 -73.8 247.1 -16.8 211 1207 0.00 1.85 0.00 0.000 4 0.000 0.017 2518 2205 3338 0 0 0 0 0 0

1432 -0.87 -73.8 279.1 -12.4 253 1439 0.00 2.12 0.00 0.000 6 0.000 0.031 2518 761 3338 0 0 0 0 0 0

1765 -0.87 -73.8 327.1 -14.8 314 1773 0.00 0.82 0.00 0.000 4 0.000 0.041 2518 189 3338 0 0 0 0 0 0

2019 -0.87 -73.8 363.5 -14.8 360 2027 0.00 0.73 0.00 0.000 6 0.000 0.021 2513 803 3338 0 0 0 0 0 0

2353 -0.87 -73.8 408.2 -13.6 421 2360 0.00 0.90 0.00 0.000 4 0.000 0.041 2513 190 3337 0 0 0 0 0 0

2605 -0.87 -73.8 444.4 -14.0 467 2613 0.08 0.65 0.00 0.000 6 0.167 0.023 2533 740 3336 0 0 0 0 0 0

2939 -0.87 -77.1 483.2 -10.8 528 2947 0.00 0.80 0.00 0.000 4 0.000 0.044 2533 196 3333 0 0 0 0 0 0

3048 -0.87 -77.1 496.7 -12.6 547 3056 0.00 0.65 0.00 0.000 6 0.000 0.023 2533 742 3333 0 0 0 0 0 0

3382 -0.88 -80.3 535.4 -10.8 580 3386 0.00 2.00 0.00 0.000 4 0.000 0.018 2531 2145 3330 0 0 0 0 0 0

3431 -0.90 -99.3 539.8 -9.2 584 3435 0.00 2.12 0.00 0.000 6 0.000 0.034 2532 741 3330 0 0 0 0 0 0

3761 -0.91 -109.2 573.8 -10.1 615 3765 0.00 2.00 0.00 0.000 4 0.000 0.017 2527 2141 3327 0 0 0 0 0 0

3824 -0.93 -125.7 579.9 -9.4 620 3831 0.00 2.12 0.00 0.000 6 0.000 0.034 2528 745 3327 0 0 0 0 0 0

4155 -0.93 -125.7 616.3 -11.2 645 4157 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 745 3325 0 0 0 0 0 0

4467 -0.93 -128.3 650.3 -10.9 660 4471 0.00 0.80 0.00 0.000 4 0.000 0.046 2528 199 3322 0 0 0 0 0 0

4500 -0.94 -130.0 654.5 -10.9 661 4504 0.00 0.65 0.00 0.000 6 0.000 0.024 2524 716 3322 0 0 0 0 0 0

4823 -0.94 -131.9 689.5 -10.9 677 4826 0.00 0.77 0.00 0.000 4 0.000 0.046 2524 198 3320 0 0 0 0 0 0

4870 -0.94 -131.9 694.8 -11.5 679 4874 0.00 0.65 0.00 0.000 6 0.000 0.024 2521 718 3320 0 0 0 0 0 0

5204 -0.95 -140.3 730.5 -10.3 695 5207 0.00 2.03 0.00 0.000 4 0.000 0.019 2521 2130 3317 0 0 0 0 0 0

5282 -0.98 -162.9 737.7 -8.8 698 5286 0.00 2.12 0.00 0.000 6 0.000 0.037 2522 751 3316 0 0 0 0 0 0

5605 -1.00 -183.7 767.2 -9.0 714 5609 0.00 0.82 0.00 0.000 4 0.000 0.047 2521 195 3314 0 0 0 0 0 0

5765 -1.03 -207.5 781.9 -8.7 721 5769 0.00 0.68 0.00 0.000 6 0.000 0.024 2519 724 3313 0 0 0 0 0 0

6101 -1.06 -228.7 808.9 -8.2 737 6103 0.12 0.00 0.00 0.000 6 0.096 0.000 2467 725 3312 0 0 0 0 0 0

6408 -1.06 -228.7 841.8 -10.8 752 6412 0.00 0.80 0.00 0.000 4 0.000 0.047 2467 192 3309 0 0 0 0 0 0

6615 -1.06 -228.7 867.4 -12.0 761 6619 0.00 0.68 0.00 0.000 6 0.000 0.024 2466 718 3308 0 0 0 0 0 0

6943 -1.06 -228.7 904.9 -11.9 777 6947 0.00 0.80 0.00 0.000 4 0.000 0.048 2466 189 3306 0 0 0 0 0 0

7168 -1.06 -228.7 933.8 -12.9 787 7172 0.00 0.65 0.00 0.000 6 0.000 0.025 2465 703 3305 0 0 0 0 0 0

7501 -1.06 -228.7 974.1 -12.3 803 7505 0.00 0.77 0.00 0.000 4 0.000 0.049 2465 192 3304 0 0 0 0 0 0

7702 end dive: TARGET_DEPTH_EXCEEDED

state 7702 begin apogee

7709 -0.14 0.0 1000.7 13.0 812 7773 1.02 0.00 58.45 1.419 4 0.164 0.000 2765 1005 3029 0 0 0 0 0 0

7773 end apogee: CONTROL_FINISHED_OK

state 7774 begin climb

7778 1.06 228.7 1003.1 0.0 815 7983 1.10 2.08 196.98 1.379 4 0.053 0.021 3173 2397 2096 0 0 0 0 0 0

8179 1.06 228.7 931.6 23.5 832 8186 0.00 2.15 0.00 0.000 6 0.000 0.036 3182 1000 2087 0 0 0 0 0 0

8498 1.06 228.7 851.1 25.9 848 8501 0.00 1.23 0.00 0.000 4 0.000 0.045 3189 195 2085 0 0 0 0 0 0

8679 1.06 228.7 801.2 28.8 856 8683 0.00 1.12 0.00 0.000 6 0.000 0.027 3189 994 2083 0 0 0 0 0 0

9014 1.06 228.7 716.7 24.7 872 9018 0.00 2.05 0.00 0.000 4 0.000 0.026 3189 2381 2082 0 0 0 0 0 0

9120 1.06 228.7 691.9 22.2 876 9128 0.12 2.08 0.00 0.000 6 0.205 0.036 3167 1015 2081 0 0 0 0 0 0

9437 1.06 228.7 623.2 22.5 892 9441 0.00 2.00 0.00 0.000 4 0.000 0.026 3167 2390 2081 0 0 0 0 0 0

9539 1.06 228.7 601.3 21.1 896 9543 0.00 2.05 0.00 0.000 6 0.000 0.036 3175 1038 2080 0 0 0 0 0 0

9869 1.06 228.7 528.0 21.6 927 9873 0.00 1.98 0.00 0.000 4 0.000 0.025 3175 2395 2079 0 0 0 0 0 0

9984 1.06 228.7 505.1 19.2 937 9988 0.00 2.05 0.00 0.000 6 0.000 0.036 3184 1054 2078 0 0 0 0 0 0

10317 1.06 228.7 435.6 20.2 995 10324 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1054 2077 0 0 0 0 0 0

10648 1.06 228.7 367.6 19.2 1056 10656 0.00 1.98 0.00 0.000 4 0.000 0.024 3184 2391 2077 0 0 0 0 0 0

10750 1.06 228.7 347.8 18.3 1074 10759 0.08 2.03 0.00 0.000 6 0.183 0.035 3169 1073 2077 0 0 0 0 0 0

11090 1.06 228.7 288.0 17.4 1135 11098 0.00 1.33 0.00 0.000 4 0.000 0.044 3175 193 2076 0 0 0 0 0 0

11277 1.06 228.7 254.1 17.6 1169 11283 0.00 1.20 0.00 0.000 6 0.000 0.023 3175 1077 2076 0 0 0 0 0 0

11610 1.06 228.7 202.6 16.3 1230 11618 0.00 1.35 0.00 0.000 4 0.000 0.041 3181 187 2076 0 0 0 0 0 0

11632 1.06 228.7 198.7 17.9 1233 11639 0.00 1.20 0.00 0.000 6 0.000 0.022 3181 1073 2077 0 0 0 0 0 0

11965 1.06 228.7 149.9 15.0 1294 11973 0.00 1.92 0.00 0.000 4 0.000 0.021 3181 2405 2077 0 0 0 0 0 0

12018 1.06 228.7 142.6 13.1 1303 12026 0.00 2.10 0.00 0.000 6 0.000 0.034 3190 1030 2077 0 0 0 0 0 0

12349 1.07 239.0 104.8 10.1 1364 12365 0.00 1.27 7.10 0.610 4 0.000 0.042 3197 189 2053 0 0 0 0 0 0

12515 1.09 253.6 86.7 9.6 1394 12532 0.00 1.12 13.38 0.657 6 0.000 0.022 3196 1039 1995 0 0 0 0 0 0

12855 1.09 253.6 48.2 13.3 1456 12862 0.00 0.00 0.00 0.000 6 0.000 0.000 3196 1039 1993 0 0 0 0 0 0

13182 1.09 253.6 8.0 12.5 1517 13190 0.00 1.25 0.00 0.000 4 0.000 0.040 3202 198 1994 0 0 0 0 0 0

13227 end climb: SURFACE_DEPTH_REACHED

state 13227 begin surface coast

13252 end surface coast: CONTROL_FINISHED_OK

state 13252 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	333	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	342	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	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	85	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	-54543.785	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	111110,102436,2122.168,12601.290,34,1.1,35,-2.9	TGT_NAME	PICKUP
_CALLS	2	TGT_LATLONG	2121.600,12601.200
_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	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111110,103526,2122.066,12601.241,15,1.3,15,-2.9	MHEAD_RNG_PITCHd_Wd	173.0,865,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.5,1.012190	_10V_AH	10.1,57.950
SM_CCo	13272,119.47,0.566,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.50,0.00,0.00,119.47,0.000,0.000,0.566,110,812,1397,-8.48,0.65,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2115.63,12559.43,111110,101047	MEM	334080
TT8_MAMPS	0.028462	DATA_FILE_SIZE	90209,1529
HUMID	39.36	CAP_FILE_SIZE	154291,0
INTERNAL_PRESSURE	8.88706	CFSIZE	260165632,143527936
TCM_TEMP	27.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.053,238.9,1
_24V_AH	22.9,62.100	GPS	111110,142024,2120.701,12601.269,39,1.6,39,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	222	103.23	SBE_CT	1045	24	574.49
Roll_motor	69	63	101.53	AA3830	1366	33	1032.76
VBD_pump_during_apogee	275	1419	8965.87	WL_BB2F	1887	105	4538.87
VBD_pump_during_surface	119	566	1548.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	0	0.00	nil	0	0	0.00
Iridium_during_connect	71	0	0.00	nil	0	0	0.00
Iridium_during_xfer	258	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	0	0.00
TT8	3797	19	759.40
LPSleep	5326	2	117.82
TT8_Active	510	19	102.03
TT8_Sampling	3887	39	1562.53
TT8_CF8	507	45	234.81
TT8_Kalman	0	0	0.00
Analog_circuits	1843	12	223.46
GPS_charging	0	0	0.00
Compass	3534	15	535.46
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.87	-73.8	0.0	0.0	0	86	0.00	0.00	-64.93	0.000	2	0.000	0.000	112	779	3306	0	0	0	0	0	0
89	-0.87	-73.8	5.3	-11.2	9	106	9.55	0.85	-0.43	0.000	4	0.223	0.063	2532	168	3333	0	0	0	0	0	0
348	-0.87	-73.8	88.2	-31.3	56	356	0.00	0.82	0.00	0.000	6	0.000	0.020	2529	867	3334	0	0	0	0	0	0
678	-0.87	-73.8	156.3	-18.0	117	684	0.00	1.00	0.00	0.000	4	0.000	0.040	2529	189	3337	0	0	0	0	0	0
861	-0.87	-73.8	192.3	-18.5	150	869	0.00	0.77	0.00	0.000	6	0.000	0.020	2524	865	3337	0	0	0	0	0	0
1199	-0.87	-73.8	247.1	-16.8	211	1207	0.00	1.85	0.00	0.000	4	0.000	0.017	2518	2205	3338	0	0	0	0	0	0
1432	-0.87	-73.8	279.1	-12.4	253	1439	0.00	2.12	0.00	0.000	6	0.000	0.031	2518	761	3338	0	0	0	0	0	0
1765	-0.87	-73.8	327.1	-14.8	314	1773	0.00	0.82	0.00	0.000	4	0.000	0.041	2518	189	3338	0	0	0	0	0	0
2019	-0.87	-73.8	363.5	-14.8	360	2027	0.00	0.73	0.00	0.000	6	0.000	0.021	2513	803	3338	0	0	0	0	0	0
2353	-0.87	-73.8	408.2	-13.6	421	2360	0.00	0.90	0.00	0.000	4	0.000	0.041	2513	190	3337	0	0	0	0	0	0
2605	-0.87	-73.8	444.4	-14.0	467	2613	0.08	0.65	0.00	0.000	6	0.167	0.023	2533	740	3336	0	0	0	0	0	0
2939	-0.87	-77.1	483.2	-10.8	528	2947	0.00	0.80	0.00	0.000	4	0.000	0.044	2533	196	3333	0	0	0	0	0	0
3048	-0.87	-77.1	496.7	-12.6	547	3056	0.00	0.65	0.00	0.000	6	0.000	0.023	2533	742	3333	0	0	0	0	0	0
3382	-0.88	-80.3	535.4	-10.8	580	3386	0.00	2.00	0.00	0.000	4	0.000	0.018	2531	2145	3330	0	0	0	0	0	0
3431	-0.90	-99.3	539.8	-9.2	584	3435	0.00	2.12	0.00	0.000	6	0.000	0.034	2532	741	3330	0	0	0	0	0	0
3761	-0.91	-109.2	573.8	-10.1	615	3765	0.00	2.00	0.00	0.000	4	0.000	0.017	2527	2141	3327	0	0	0	0	0	0
3824	-0.93	-125.7	579.9	-9.4	620	3831	0.00	2.12	0.00	0.000	6	0.000	0.034	2528	745	3327	0	0	0	0	0	0
4155	-0.93	-125.7	616.3	-11.2	645	4157	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	745	3325	0	0	0	0	0	0
4467	-0.93	-128.3	650.3	-10.9	660	4471	0.00	0.80	0.00	0.000	4	0.000	0.046	2528	199	3322	0	0	0	0	0	0
4500	-0.94	-130.0	654.5	-10.9	661	4504	0.00	0.65	0.00	0.000	6	0.000	0.024	2524	716	3322	0	0	0	0	0	0
4823	-0.94	-131.9	689.5	-10.9	677	4826	0.00	0.77	0.00	0.000	4	0.000	0.046	2524	198	3320	0	0	0	0	0	0
4870	-0.94	-131.9	694.8	-11.5	679	4874	0.00	0.65	0.00	0.000	6	0.000	0.024	2521	718	3320	0	0	0	0	0	0
5204	-0.95	-140.3	730.5	-10.3	695	5207	0.00	2.03	0.00	0.000	4	0.000	0.019	2521	2130	3317	0	0	0	0	0	0
5282	-0.98	-162.9	737.7	-8.8	698	5286	0.00	2.12	0.00	0.000	6	0.000	0.037	2522	751	3316	0	0	0	0	0	0
5605	-1.00	-183.7	767.2	-9.0	714	5609	0.00	0.82	0.00	0.000	4	0.000	0.047	2521	195	3314	0	0	0	0	0	0
5765	-1.03	-207.5	781.9	-8.7	721	5769	0.00	0.68	0.00	0.000	6	0.000	0.024	2519	724	3313	0	0	0	0	0	0
6101	-1.06	-228.7	808.9	-8.2	737	6103	0.12	0.00	0.00	0.000	6	0.096	0.000	2467	725	3312	0	0	0	0	0	0
6408	-1.06	-228.7	841.8	-10.8	752	6412	0.00	0.80	0.00	0.000	4	0.000	0.047	2467	192	3309	0	0	0	0	0	0
6615	-1.06	-228.7	867.4	-12.0	761	6619	0.00	0.68	0.00	0.000	6	0.000	0.024	2466	718	3308	0	0	0	0	0	0
6943	-1.06	-228.7	904.9	-11.9	777	6947	0.00	0.80	0.00	0.000	4	0.000	0.048	2466	189	3306	0	0	0	0	0	0
7168	-1.06	-228.7	933.8	-12.9	787	7172	0.00	0.65	0.00	0.000	6	0.000	0.025	2465	703	3305	0	0	0	0	0	0
7501	-1.06	-228.7	974.1	-12.3	803	7505	0.00	0.77	0.00	0.000	4	0.000	0.049	2465	192	3304	0	0	0	0	0	0
7702	end dive: TARGET_DEPTH_EXCEEDED
state	7702	begin apogee
7709	-0.14	0.0	1000.7	13.0	812	7773	1.02	0.00	58.45	1.419	4	0.164	0.000	2765	1005	3029	0	0	0	0	0	0
7773	end apogee: CONTROL_FINISHED_OK
state	7774	begin climb
7778	1.06	228.7	1003.1	0.0	815	7983	1.10	2.08	196.98	1.379	4	0.053	0.021	3173	2397	2096	0	0	0	0	0	0
8179	1.06	228.7	931.6	23.5	832	8186	0.00	2.15	0.00	0.000	6	0.000	0.036	3182	1000	2087	0	0	0	0	0	0
8498	1.06	228.7	851.1	25.9	848	8501	0.00	1.23	0.00	0.000	4	0.000	0.045	3189	195	2085	0	0	0	0	0	0
8679	1.06	228.7	801.2	28.8	856	8683	0.00	1.12	0.00	0.000	6	0.000	0.027	3189	994	2083	0	0	0	0	0	0
9014	1.06	228.7	716.7	24.7	872	9018	0.00	2.05	0.00	0.000	4	0.000	0.026	3189	2381	2082	0	0	0	0	0	0
9120	1.06	228.7	691.9	22.2	876	9128	0.12	2.08	0.00	0.000	6	0.205	0.036	3167	1015	2081	0	0	0	0	0	0
9437	1.06	228.7	623.2	22.5	892	9441	0.00	2.00	0.00	0.000	4	0.000	0.026	3167	2390	2081	0	0	0	0	0	0
9539	1.06	228.7	601.3	21.1	896	9543	0.00	2.05	0.00	0.000	6	0.000	0.036	3175	1038	2080	0	0	0	0	0	0
9869	1.06	228.7	528.0	21.6	927	9873	0.00	1.98	0.00	0.000	4	0.000	0.025	3175	2395	2079	0	0	0	0	0	0
9984	1.06	228.7	505.1	19.2	937	9988	0.00	2.05	0.00	0.000	6	0.000	0.036	3184	1054	2078	0	0	0	0	0	0
10317	1.06	228.7	435.6	20.2	995	10324	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1054	2077	0	0	0	0	0	0
10648	1.06	228.7	367.6	19.2	1056	10656	0.00	1.98	0.00	0.000	4	0.000	0.024	3184	2391	2077	0	0	0	0	0	0
10750	1.06	228.7	347.8	18.3	1074	10759	0.08	2.03	0.00	0.000	6	0.183	0.035	3169	1073	2077	0	0	0	0	0	0
11090	1.06	228.7	288.0	17.4	1135	11098	0.00	1.33	0.00	0.000	4	0.000	0.044	3175	193	2076	0	0	0	0	0	0
11277	1.06	228.7	254.1	17.6	1169	11283	0.00	1.20	0.00	0.000	6	0.000	0.023	3175	1077	2076	0	0	0	0	0	0
11610	1.06	228.7	202.6	16.3	1230	11618	0.00	1.35	0.00	0.000	4	0.000	0.041	3181	187	2076	0	0	0	0	0	0
11632	1.06	228.7	198.7	17.9	1233	11639	0.00	1.20	0.00	0.000	6	0.000	0.022	3181	1073	2077	0	0	0	0	0	0
11965	1.06	228.7	149.9	15.0	1294	11973	0.00	1.92	0.00	0.000	4	0.000	0.021	3181	2405	2077	0	0	0	0	0	0
12018	1.06	228.7	142.6	13.1	1303	12026	0.00	2.10	0.00	0.000	6	0.000	0.034	3190	1030	2077	0	0	0	0	0	0
12349	1.07	239.0	104.8	10.1	1364	12365	0.00	1.27	7.10	0.610	4	0.000	0.042	3197	189	2053	0	0	0	0	0	0
12515	1.09	253.6	86.7	9.6	1394	12532	0.00	1.12	13.38	0.657	6	0.000	0.022	3196	1039	1995	0	0	0	0	0	0
12855	1.09	253.6	48.2	13.3	1456	12862	0.00	0.00	0.00	0.000	6	0.000	0.000	3196	1039	1993	0	0	0	0	0	0
13182	1.09	253.6	8.0	12.5	1517	13190	0.00	1.25	0.00	0.000	4	0.000	0.040	3202	198	1994	0	0	0	0	0	0
13227	end climb: SURFACE_DEPTH_REACHED
state	13227	begin surface coast
13252	end surface coast: CONTROL_FINISHED_OK
state	13252	begin surface