Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 334 * 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 334 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 119 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 -54545.047 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 -54545.047

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 40 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 119 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 334 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 111110,142024,2120.701,12601.269,39,1.6,39,-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 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111110,143104,2120.587,12601.223,10,99.0,29,-2.9 MHEAD_RNG_PITCHd_Wd 15.6,1877,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.009537 _10V_AH 10.1,58.121

SM_CCo 13380,101.47,0.555,1,0,1398,400.08 FG_AHR_24Vo 0.000

SM_GC 1.50,0.00,0.00,101.47,0.000,0.000,0.555,100,780,1398,-8.51,-0.28,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12642.47,111110,141418 MEM 334100

TT8_MAMPS 0.028462 DATA_FILE_SIZE 86770,1513

HUMID 40.90 CAP_FILE_SIZE 153561,0

INTERNAL_PRESSURE 8.88706 CFSIZE 260165632,143441920

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

XPDR_PINGS 0 CURRENT 0.041, 71.6,1

_24V_AH 22.9,62.241 GPS 111110,181736,2121.893,12601.360,42,1.2,42,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 219 100.68 SBE_CT 1033 24 568.05

Roll_motor 69 55 88.14 AA3830 1346 33 1017.33

VBD_pump_during_apogee 292 1416 9480.77 WL_BB2F 1857 105 4465.53

VBD_pump_during_surface 101 555 1290.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 47 0 0.00 nil 0 0 0.00

Iridium_during_connect 87 0 0.00 nil 0 0 0.00

Iridium_during_xfer 229 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 31 0 0.00

TT8 3745 19 749.12

LPSleep 5513 2 121.95

TT8_Active 505 19 101.07

TT8_Sampling 3849 39 1547.35

TT8_CF8 499 45 230.91

TT8_Kalman 0 0 0.00

Analog_circuits 1844 12 223.50

GPS_charging 0 0 0.00

Compass 3500 15 530.38

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 92 0.00 0.00 -65.95 0.000 6 0.000 0.000 110 813 3333 0 0 0 0 0 0

95 -0.87 -73.8 7.1 -15.0 10 111 9.48 1.90 0.00 0.000 4 0.220 0.012 2523 2196 3334 0 0 0 0 0 0

155 -0.87 -73.8 31.7 -28.1 20 164 0.00 2.15 0.00 0.000 6 0.000 0.033 2523 789 3336 0 0 0 0 0 0

481 -0.87 -73.8 116.8 -20.7 81 489 0.00 0.88 0.00 0.000 4 0.000 0.040 2523 184 3337 0 0 0 0 0 0

734 -0.87 -73.8 168.6 -18.2 127 740 0.00 0.75 0.00 0.000 6 0.000 0.021 2519 830 3338 0 0 0 0 0 0

1075 -0.87 -73.8 227.2 -16.8 188 1084 0.00 0.95 0.00 0.000 4 0.000 0.040 2519 181 3339 0 0 0 0 0 0

1335 -0.87 -73.8 270.9 -17.3 234 1343 0.00 0.68 0.00 0.000 6 0.000 0.021 2514 770 3339 0 0 0 0 0 0

1678 -0.87 -73.8 322.3 -15.2 295 1685 0.00 0.85 0.00 0.000 4 0.000 0.041 2514 187 3339 0 0 0 0 0 0

1935 -0.87 -73.8 361.8 -15.5 341 1942 0.08 0.65 0.00 0.000 6 0.167 0.022 2534 749 3339 0 0 0 0 0 0

2278 -0.87 -74.1 404.9 -11.1 402 2285 0.00 0.82 0.00 0.000 4 0.000 0.042 2534 186 3338 0 0 0 0 0 0

2537 -0.87 -74.1 438.6 -13.0 448 2545 0.00 0.65 0.00 0.000 6 0.000 0.023 2532 746 3337 0 0 0 0 0 0

2880 -0.87 -74.1 479.0 -11.3 509 2887 0.00 0.80 0.00 0.000 4 0.000 0.043 2532 197 3336 0 0 0 0 0 0

3140 -0.88 -82.1 508.2 -10.3 549 3143 0.00 0.62 0.00 0.000 6 0.000 0.024 2531 731 3333 0 0 0 0 0 0

3473 -0.89 -90.8 541.3 -10.2 580 3477 0.00 0.80 0.00 0.000 4 0.000 0.044 2531 188 3331 0 0 0 0 0 0

3730 -0.89 -90.8 572.3 -11.9 603 3734 0.00 0.65 0.00 0.000 6 0.000 0.024 2529 724 3329 0 0 0 0 0 0

4061 -0.90 -103.6 606.4 -9.8 631 4065 0.00 0.77 0.00 0.000 4 0.000 0.044 2528 196 3327 0 0 0 0 0 0

4242 -0.91 -106.9 625.3 -10.8 639 4246 0.00 0.65 0.00 0.000 6 0.000 0.024 2526 722 3326 0 0 0 0 0 0

4577 -0.93 -128.7 655.7 -8.9 655 4578 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 722 3324 0 0 0 0 0 0

4885 -0.96 -146.0 684.5 -9.4 670 4886 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 722 3321 0 0 0 0 0 0

5196 -0.98 -164.0 713.4 -9.3 685 5197 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 722 3320 0 0 0 0 0 0

5503 -1.00 -184.1 742.5 -9.1 700 5507 0.00 2.00 0.00 0.000 4 0.000 0.020 2520 2121 3317 0 0 0 0 0 0

5559 -1.04 -214.4 747.5 -8.1 702 5563 0.00 2.10 0.00 0.000 6 0.000 0.037 2520 745 3317 0 0 0 0 0 0

5882 -1.06 -228.7 777.5 -9.4 718 5886 0.12 0.82 0.00 0.000 4 0.096 0.048 2467 197 3315 0 0 0 0 0 0

6123 -1.06 -228.7 808.0 -13.1 728 6130 0.00 0.62 0.00 0.000 6 0.000 0.025 2466 693 3313 0 0 0 0 0 0

6440 -1.06 -228.7 846.3 -11.9 744 6444 0.00 0.75 0.00 0.000 4 0.000 0.047 2466 192 3311 0 0 0 0 0 0

6496 -1.06 -228.7 853.6 -12.7 746 6500 0.00 0.65 0.00 0.000 6 0.000 0.025 2464 705 3311 0 0 0 0 0 0

6820 -1.06 -228.7 890.4 -11.5 762 6824 0.00 2.05 0.00 0.000 4 0.000 0.021 2463 2113 3309 0 0 0 0 0 0

6883 -1.06 -228.7 896.9 -9.6 764 6891 0.00 2.10 0.00 0.000 6 0.000 0.037 2463 754 3308 0 0 0 0 0 0

7199 -1.06 -228.7 929.7 -10.1 780 7203 0.00 0.82 0.00 0.000 4 0.000 0.048 2462 197 3306 0 0 0 0 0 0

7353 -1.06 -228.7 946.1 -10.7 786 7360 0.00 0.65 0.00 0.000 6 0.000 0.026 2459 698 3306 0 0 0 0 0 0

7670 -1.06 -228.7 977.8 -10.4 802 7673 0.00 0.75 0.00 0.000 4 0.000 0.048 2459 198 3305 0 0 0 0 0 0

7880 end dive: TARGET_DEPTH_EXCEEDED

state 7880 begin apogee

7887 -0.14 0.0 1000.6 11.0 811 7950 1.08 0.00 58.60 1.416 4 0.162 0.000 2769 969 3030 0 0 0 0 0 0

7950 end apogee: CONTROL_FINISHED_OK

state 7950 begin climb

7955 1.06 228.7 1001.1 0.0 814 8160 1.08 2.15 196.90 1.373 4 0.050 0.021 3171 2406 2096 0 0 0 0 0 0

8315 1.06 228.7 934.8 24.6 831 8319 0.00 2.17 0.00 0.000 6 0.000 0.035 3182 994 2087 0 0 0 0 0 0

8631 1.06 228.7 854.4 25.0 846 8634 0.00 1.20 0.00 0.000 4 0.000 0.044 3187 198 2084 0 0 0 0 0 0

8881 1.06 228.7 789.8 25.9 857 8885 0.00 1.12 0.00 0.000 6 0.000 0.026 3187 996 2081 0 0 0 0 0 0

9216 1.06 228.7 707.1 24.4 873 9220 0.00 2.03 0.00 0.000 4 0.000 0.026 3187 2394 2080 0 0 0 0 0 0

9333 1.06 228.7 678.1 24.8 878 9338 0.12 2.08 0.00 0.000 6 0.203 0.036 3167 1019 2080 0 0 0 0 0 0

9661 1.06 228.7 605.7 22.0 894 9664 0.00 2.03 0.00 0.000 4 0.000 0.027 3167 2393 2078 0 0 0 0 0 0

9689 1.06 228.7 599.5 21.3 895 9693 0.00 2.08 0.00 0.000 6 0.000 0.037 3175 1024 2079 0 0 0 0 0 0

10020 1.06 228.7 527.3 22.0 926 10024 0.00 1.25 0.00 0.000 4 0.000 0.044 3181 192 2078 0 0 0 0 0 0

10057 1.06 228.7 519.5 22.8 929 10061 0.00 1.15 0.00 0.000 6 0.000 0.025 3181 1019 2078 0 0 0 0 0 0

10392 1.06 228.7 447.6 20.2 982 10400 0.00 2.00 0.00 0.000 4 0.000 0.026 3181 2379 2077 0 0 0 0 0 0

10453 1.06 228.7 435.5 17.9 992 10461 0.00 2.10 0.00 0.000 6 0.000 0.037 3190 1014 2076 0 0 0 0 0 0

10797 1.06 228.7 367.3 20.2 1053 10804 0.00 1.98 0.00 0.000 4 0.000 0.024 3190 2387 2076 0 0 0 0 0 0

10845 1.06 228.7 357.3 19.3 1061 10852 0.15 2.08 0.00 0.000 6 0.199 0.035 3162 1008 2075 0 0 0 0 0 0

11187 1.06 228.7 295.9 16.1 1122 11197 0.00 2.03 0.00 0.000 4 0.000 0.023 3162 2385 2076 0 0 0 0 0 0

11244 1.06 228.7 286.6 16.0 1131 11251 0.00 2.03 0.00 0.000 6 0.000 0.035 3170 1034 2075 0 0 0 0 0 0

11585 1.06 228.7 229.0 17.7 1192 11594 0.00 1.25 0.00 0.000 4 0.000 0.043 3177 194 2075 0 0 0 0 0 0

11621 1.06 228.7 223.3 17.3 1197 11627 0.00 1.17 0.00 0.000 6 0.000 0.023 3177 1057 2075 0 0 0 0 0 0

11961 1.06 228.7 168.9 16.0 1258 11969 0.00 1.30 0.00 0.000 4 0.000 0.043 3183 193 2076 0 0 0 0 0 0

12179 1.06 228.7 134.3 11.8 1297 12187 0.00 1.12 0.00 0.000 6 0.000 0.022 3183 1039 2076 0 0 0 0 0 0

12510 1.11 269.8 104.0 7.0 1358 12547 0.00 1.25 30.80 0.704 4 0.000 0.040 3189 192 1929 0 0 0 0 0 0

12787 1.11 269.8 72.2 12.1 1408 12795 0.00 1.05 0.00 0.000 6 0.000 0.022 3189 995 1926 0 0 0 0 0 0

13114 1.11 275.0 34.4 10.6 1469 13129 0.00 1.98 6.07 0.520 4 0.000 0.020 3188 2359 1906 0 0 0 0 0 0

13149 1.11 275.0 30.2 12.3 1474 13158 0.00 2.10 0.00 0.000 6 0.000 0.031 3198 971 1906 0 0 0 0 0 0

13342 end climb: SURFACE_DEPTH_REACHED

state 13342 begin surface coast

13361 end surface coast: CONTROL_FINISHED_OK

state 13361 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	334	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	119	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	-54545.047	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	111110,142024,2120.701,12601.269,39,1.6,39,-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	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111110,143104,2120.587,12601.223,10,99.0,29,-2.9	MHEAD_RNG_PITCHd_Wd	15.6,1877,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.5,1.009537	_10V_AH	10.1,58.121
SM_CCo	13380,101.47,0.555,1,0,1398,400.08	FG_AHR_24Vo	0.000
SM_GC	1.50,0.00,0.00,101.47,0.000,0.000,0.555,100,780,1398,-8.51,-0.28,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12642.47,111110,141418	MEM	334100
TT8_MAMPS	0.028462	DATA_FILE_SIZE	86770,1513
HUMID	40.90	CAP_FILE_SIZE	153561,0
INTERNAL_PRESSURE	8.88706	CFSIZE	260165632,143441920
TCM_TEMP	27.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.041, 71.6,1
_24V_AH	22.9,62.241	GPS	111110,181736,2121.893,12601.360,42,1.2,42,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	219	100.68	SBE_CT	1033	24	568.05
Roll_motor	69	55	88.14	AA3830	1346	33	1017.33
VBD_pump_during_apogee	292	1416	9480.77	WL_BB2F	1857	105	4465.53
VBD_pump_during_surface	101	555	1290.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	47	0	0.00	nil	0	0	0.00
Iridium_during_connect	87	0	0.00	nil	0	0	0.00
Iridium_during_xfer	229	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	31	0	0.00
TT8	3745	19	749.12
LPSleep	5513	2	121.95
TT8_Active	505	19	101.07
TT8_Sampling	3849	39	1547.35
TT8_CF8	499	45	230.91
TT8_Kalman	0	0	0.00
Analog_circuits	1844	12	223.50
GPS_charging	0	0	0.00
Compass	3500	15	530.38
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	92	0.00	0.00	-65.95	0.000	6	0.000	0.000	110	813	3333	0	0	0	0	0	0
95	-0.87	-73.8	7.1	-15.0	10	111	9.48	1.90	0.00	0.000	4	0.220	0.012	2523	2196	3334	0	0	0	0	0	0
155	-0.87	-73.8	31.7	-28.1	20	164	0.00	2.15	0.00	0.000	6	0.000	0.033	2523	789	3336	0	0	0	0	0	0
481	-0.87	-73.8	116.8	-20.7	81	489	0.00	0.88	0.00	0.000	4	0.000	0.040	2523	184	3337	0	0	0	0	0	0
734	-0.87	-73.8	168.6	-18.2	127	740	0.00	0.75	0.00	0.000	6	0.000	0.021	2519	830	3338	0	0	0	0	0	0
1075	-0.87	-73.8	227.2	-16.8	188	1084	0.00	0.95	0.00	0.000	4	0.000	0.040	2519	181	3339	0	0	0	0	0	0
1335	-0.87	-73.8	270.9	-17.3	234	1343	0.00	0.68	0.00	0.000	6	0.000	0.021	2514	770	3339	0	0	0	0	0	0
1678	-0.87	-73.8	322.3	-15.2	295	1685	0.00	0.85	0.00	0.000	4	0.000	0.041	2514	187	3339	0	0	0	0	0	0
1935	-0.87	-73.8	361.8	-15.5	341	1942	0.08	0.65	0.00	0.000	6	0.167	0.022	2534	749	3339	0	0	0	0	0	0
2278	-0.87	-74.1	404.9	-11.1	402	2285	0.00	0.82	0.00	0.000	4	0.000	0.042	2534	186	3338	0	0	0	0	0	0
2537	-0.87	-74.1	438.6	-13.0	448	2545	0.00	0.65	0.00	0.000	6	0.000	0.023	2532	746	3337	0	0	0	0	0	0
2880	-0.87	-74.1	479.0	-11.3	509	2887	0.00	0.80	0.00	0.000	4	0.000	0.043	2532	197	3336	0	0	0	0	0	0
3140	-0.88	-82.1	508.2	-10.3	549	3143	0.00	0.62	0.00	0.000	6	0.000	0.024	2531	731	3333	0	0	0	0	0	0
3473	-0.89	-90.8	541.3	-10.2	580	3477	0.00	0.80	0.00	0.000	4	0.000	0.044	2531	188	3331	0	0	0	0	0	0
3730	-0.89	-90.8	572.3	-11.9	603	3734	0.00	0.65	0.00	0.000	6	0.000	0.024	2529	724	3329	0	0	0	0	0	0
4061	-0.90	-103.6	606.4	-9.8	631	4065	0.00	0.77	0.00	0.000	4	0.000	0.044	2528	196	3327	0	0	0	0	0	0
4242	-0.91	-106.9	625.3	-10.8	639	4246	0.00	0.65	0.00	0.000	6	0.000	0.024	2526	722	3326	0	0	0	0	0	0
4577	-0.93	-128.7	655.7	-8.9	655	4578	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	722	3324	0	0	0	0	0	0
4885	-0.96	-146.0	684.5	-9.4	670	4886	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	722	3321	0	0	0	0	0	0
5196	-0.98	-164.0	713.4	-9.3	685	5197	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	722	3320	0	0	0	0	0	0
5503	-1.00	-184.1	742.5	-9.1	700	5507	0.00	2.00	0.00	0.000	4	0.000	0.020	2520	2121	3317	0	0	0	0	0	0
5559	-1.04	-214.4	747.5	-8.1	702	5563	0.00	2.10	0.00	0.000	6	0.000	0.037	2520	745	3317	0	0	0	0	0	0
5882	-1.06	-228.7	777.5	-9.4	718	5886	0.12	0.82	0.00	0.000	4	0.096	0.048	2467	197	3315	0	0	0	0	0	0
6123	-1.06	-228.7	808.0	-13.1	728	6130	0.00	0.62	0.00	0.000	6	0.000	0.025	2466	693	3313	0	0	0	0	0	0
6440	-1.06	-228.7	846.3	-11.9	744	6444	0.00	0.75	0.00	0.000	4	0.000	0.047	2466	192	3311	0	0	0	0	0	0
6496	-1.06	-228.7	853.6	-12.7	746	6500	0.00	0.65	0.00	0.000	6	0.000	0.025	2464	705	3311	0	0	0	0	0	0
6820	-1.06	-228.7	890.4	-11.5	762	6824	0.00	2.05	0.00	0.000	4	0.000	0.021	2463	2113	3309	0	0	0	0	0	0
6883	-1.06	-228.7	896.9	-9.6	764	6891	0.00	2.10	0.00	0.000	6	0.000	0.037	2463	754	3308	0	0	0	0	0	0
7199	-1.06	-228.7	929.7	-10.1	780	7203	0.00	0.82	0.00	0.000	4	0.000	0.048	2462	197	3306	0	0	0	0	0	0
7353	-1.06	-228.7	946.1	-10.7	786	7360	0.00	0.65	0.00	0.000	6	0.000	0.026	2459	698	3306	0	0	0	0	0	0
7670	-1.06	-228.7	977.8	-10.4	802	7673	0.00	0.75	0.00	0.000	4	0.000	0.048	2459	198	3305	0	0	0	0	0	0
7880	end dive: TARGET_DEPTH_EXCEEDED
state	7880	begin apogee
7887	-0.14	0.0	1000.6	11.0	811	7950	1.08	0.00	58.60	1.416	4	0.162	0.000	2769	969	3030	0	0	0	0	0	0
7950	end apogee: CONTROL_FINISHED_OK
state	7950	begin climb
7955	1.06	228.7	1001.1	0.0	814	8160	1.08	2.15	196.90	1.373	4	0.050	0.021	3171	2406	2096	0	0	0	0	0	0
8315	1.06	228.7	934.8	24.6	831	8319	0.00	2.17	0.00	0.000	6	0.000	0.035	3182	994	2087	0	0	0	0	0	0
8631	1.06	228.7	854.4	25.0	846	8634	0.00	1.20	0.00	0.000	4	0.000	0.044	3187	198	2084	0	0	0	0	0	0
8881	1.06	228.7	789.8	25.9	857	8885	0.00	1.12	0.00	0.000	6	0.000	0.026	3187	996	2081	0	0	0	0	0	0
9216	1.06	228.7	707.1	24.4	873	9220	0.00	2.03	0.00	0.000	4	0.000	0.026	3187	2394	2080	0	0	0	0	0	0
9333	1.06	228.7	678.1	24.8	878	9338	0.12	2.08	0.00	0.000	6	0.203	0.036	3167	1019	2080	0	0	0	0	0	0
9661	1.06	228.7	605.7	22.0	894	9664	0.00	2.03	0.00	0.000	4	0.000	0.027	3167	2393	2078	0	0	0	0	0	0
9689	1.06	228.7	599.5	21.3	895	9693	0.00	2.08	0.00	0.000	6	0.000	0.037	3175	1024	2079	0	0	0	0	0	0
10020	1.06	228.7	527.3	22.0	926	10024	0.00	1.25	0.00	0.000	4	0.000	0.044	3181	192	2078	0	0	0	0	0	0
10057	1.06	228.7	519.5	22.8	929	10061	0.00	1.15	0.00	0.000	6	0.000	0.025	3181	1019	2078	0	0	0	0	0	0
10392	1.06	228.7	447.6	20.2	982	10400	0.00	2.00	0.00	0.000	4	0.000	0.026	3181	2379	2077	0	0	0	0	0	0
10453	1.06	228.7	435.5	17.9	992	10461	0.00	2.10	0.00	0.000	6	0.000	0.037	3190	1014	2076	0	0	0	0	0	0
10797	1.06	228.7	367.3	20.2	1053	10804	0.00	1.98	0.00	0.000	4	0.000	0.024	3190	2387	2076	0	0	0	0	0	0
10845	1.06	228.7	357.3	19.3	1061	10852	0.15	2.08	0.00	0.000	6	0.199	0.035	3162	1008	2075	0	0	0	0	0	0
11187	1.06	228.7	295.9	16.1	1122	11197	0.00	2.03	0.00	0.000	4	0.000	0.023	3162	2385	2076	0	0	0	0	0	0
11244	1.06	228.7	286.6	16.0	1131	11251	0.00	2.03	0.00	0.000	6	0.000	0.035	3170	1034	2075	0	0	0	0	0	0
11585	1.06	228.7	229.0	17.7	1192	11594	0.00	1.25	0.00	0.000	4	0.000	0.043	3177	194	2075	0	0	0	0	0	0
11621	1.06	228.7	223.3	17.3	1197	11627	0.00	1.17	0.00	0.000	6	0.000	0.023	3177	1057	2075	0	0	0	0	0	0
11961	1.06	228.7	168.9	16.0	1258	11969	0.00	1.30	0.00	0.000	4	0.000	0.043	3183	193	2076	0	0	0	0	0	0
12179	1.06	228.7	134.3	11.8	1297	12187	0.00	1.12	0.00	0.000	6	0.000	0.022	3183	1039	2076	0	0	0	0	0	0
12510	1.11	269.8	104.0	7.0	1358	12547	0.00	1.25	30.80	0.704	4	0.000	0.040	3189	192	1929	0	0	0	0	0	0
12787	1.11	269.8	72.2	12.1	1408	12795	0.00	1.05	0.00	0.000	6	0.000	0.022	3189	995	1926	0	0	0	0	0	0
13114	1.11	275.0	34.4	10.6	1469	13129	0.00	1.98	6.07	0.520	4	0.000	0.020	3188	2359	1906	0	0	0	0	0	0
13149	1.11	275.0	30.2	12.3	1474	13158	0.00	2.10	0.00	0.000	6	0.000	0.031	3198	971	1906	0	0	0	0	0	0
13342	end climb: SURFACE_DEPTH_REACHED
state	13342	begin surface coast
13361	end surface coast: CONTROL_FINISHED_OK
state	13361	begin surface