Glider dive log

ITOP Sep10 * SG169 * Dive index * Mission links * Dive 457 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HD_C 9.9999997e-06 ROLL_MIN 220 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_MAX 3795 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 457 ESCAPE_HEADING 0 ROLL_DEG 32 ALTIM_PING_DEPTH 0

N_DIVES 457 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_PING_DELTA 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2120 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 7

D_TGT 1000 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 640 R_PORT_OVSHOOT -10 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 330 INT_PRESSURE_YINT -1.1

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 435 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3091 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 240 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 300 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 20 LOGGERDEVICE4 -1

USE_BATHY -5 T_GPS_CHARGE -7326.6953 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 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 -8 PITCH_MIN 146 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 210 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2730 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043354151

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -76.551537 SEABIRD_T_H 0.00062527717

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.379055e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5466652e-06

MASS 51710 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9450293

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1242783

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0011038103

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017515429

HD_A 0.003 PITCH_ADJ_GAIN 0.0020000001 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 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 640

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0020000001 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PULSE 7 FERRY_MAX 45 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 146 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 -8 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -76.551537 T_DIVE 240

CALL_TRIES 5 HD_A 0.003 PROTOCOL 1 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -7326.6953

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 300

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 169 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2730 KALMAN_USE 2 ROLL_AD_RATE 330 UNCOM_BLEED 20

C_ROLL_CLIMB 2120 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE2 -1 ROLL_DEG 32 USE_BATHY -5

C_VBD 3091 LOGGERDEVICE3 -1 ROLL_MAX 3795 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 220 VBD_CNV -0.24529999

DEVICE1 2 MASS 51710 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 210 R_PORT_OVSHOOT -10 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9450293 VBD_MIN 435

DEVICE5 -1 MISSION 2 SEABIRD_C_H 1.1242783 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0011038103 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 457 NAV_MODE 2 SEABIRD_C_J 0.00017515429 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 457 SEABIRD_T_G 0.0043354151 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062527717 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.379055e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5466652e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 101110,124231,2120.677,12601.872,37,1.3,37,-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 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101110,124956,2120.610,12601.777,15,1.1,15,-2.9 MHEAD_RNG_PITCHd_Wd 191.0,3320,-27.7,-13.889

SPEED_LIMITS 0.241,0.337 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.022459 _10V_AH 9.9,58.931

SM_CCo 12428,146.50,0.508,1,0,481,640.23 FG_AHR_24Vo 0.000

SM_GC 1.24,0.00,0.00,146.50,0.000,0.000,0.508,149,2053,481,-8.06,0.79,640.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2111.01,12601.30,101110,080821 MEM 333944

TT8_MAMPS 0.026215 DATA_FILE_SIZE 70335,1181

HUMID 43.30 CAP_FILE_SIZE 136654,0

INTERNAL_PRESSURE 9.2129 CFSIZE 260165632,226410496

TCM_TEMP 25.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.036,147.2,1

_24V_AH 22.6,73.372 GPS 101110,162107,2118.735,12601.644,32,1.0,32,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 241 112.95 SBE_CT 798 24 433.20

Roll_motor 86 106 206.91 AA4330 0 0 0.00

VBD_pump_during_apogee 548 1279 15862.83 WL_BB2F 1782 105 4230.06

VBD_pump_during_surface 146 507 1681.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 39 0 0.00 nil 0 0 0.00

Iridium_during_xfer 234 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 16 0 0.00

TT8 2897 19 567.90

LPSleep 5771 2 125.12

TT8_Active 707 19 138.62

TT8_Sampling 3336 39 1314.55

TT8_CF8 303 45 137.68

TT8_Kalman 0 0 0.00

Analog_circuits 1867 12 221.90

GPS_charging 0 0 0.00

Compass 3066 15 455.31

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.74 -102.8 0.0 0.0 0 117 0.00 0.00 -98.30 0.000 2 0.000 0.000 152 1980 3123 0 0 0 0 0 0

120 -0.85 -189.1 3.7 -6.1 12 155 9.88 1.77 -13.50 0.000 4 0.242 0.073 2444 882 3865 0 0 0 0 0 0

303 -0.85 -189.1 70.5 -31.1 41 312 0.00 1.83 0.00 0.000 6 0.000 0.054 2444 2036 3866 0 0 0 0 0 0

666 -0.84 -189.1 184.4 -28.4 102 675 0.00 1.80 0.00 0.000 4 0.000 0.047 2444 869 3866 0 0 0 0 0 0

869 -0.85 -189.1 227.4 -23.5 136 877 0.00 1.83 0.00 0.000 6 0.000 0.051 2444 2034 3867 0 0 0 0 0 0

1233 -0.85 -189.1 307.2 -20.9 195 1237 0.00 1.75 0.00 0.000 4 0.000 0.056 2444 3168 3867 0 0 0 0 0 0

1284 -0.87 -189.1 318.4 -18.7 199 1291 0.00 1.80 0.00 0.000 6 0.000 0.043 2444 2003 3867 0 0 0 0 0 0

1609 -0.87 -189.1 381.1 -18.3 230 1613 0.00 1.85 0.00 0.000 4 0.000 0.057 2444 3168 3867 0 0 0 0 0 0

1647 -0.88 -189.1 387.5 -17.8 233 1650 0.00 1.75 0.00 0.000 6 0.000 0.041 2444 2003 3867 0 0 0 0 0 0

1978 -0.90 -189.1 446.4 -17.4 264 1981 0.00 1.85 0.00 0.000 4 0.000 0.056 2443 3168 3866 0 0 0 0 0 0

2025 -0.91 -189.1 454.2 -16.1 268 2028 0.00 1.77 0.00 0.000 6 0.000 0.041 2444 2003 3866 0 0 0 0 0 0

2356 -0.92 -189.1 510.3 -16.3 299 2360 0.00 1.67 0.00 0.000 4 0.000 0.048 2444 872 3865 0 0 0 0 0 0

2394 -0.94 -189.1 516.7 -15.0 302 2402 0.00 1.80 0.00 0.000 6 0.000 0.048 2444 2034 3865 0 0 0 0 0 0

2721 -0.95 -189.1 567.1 -15.2 333 2724 0.00 1.75 0.00 0.000 4 0.000 0.057 2444 3168 3862 0 0 0 0 0 0

2782 -0.98 -195.1 576.2 -13.3 338 2789 0.00 1.77 0.00 0.000 6 0.000 0.042 2444 1996 3862 0 0 0 0 0 0

3115 -0.99 -195.1 624.5 -14.8 362 3119 0.10 1.90 0.00 0.000 4 0.138 0.059 2410 3175 3859 0 0 0 0 0 0

3146 -1.01 -195.1 630.3 -17.0 363 3150 0.00 1.83 0.00 0.000 6 0.000 0.044 2409 2004 3858 0 0 0 0 0 0

3469 -1.02 -195.1 689.2 -18.8 379 3472 0.00 1.85 0.00 0.000 4 0.000 0.058 2409 3174 3856 0 0 0 0 0 0

3519 -1.03 -195.1 698.6 -16.7 381 3522 0.00 1.77 0.00 0.000 6 0.000 0.044 2409 2005 3855 0 0 0 0 0 0

3846 -1.04 -195.1 755.6 -17.1 397 3847 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2003 3852 0 0 0 0 0 0

4155 -1.05 -195.1 806.7 -16.1 412 4156 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2003 3849 0 0 0 0 0 0

4466 -1.07 -195.1 856.4 -16.2 427 4470 0.00 1.90 0.00 0.000 4 0.000 0.060 2410 3168 3845 0 0 0 0 0 0

4493 -1.08 -195.1 861.3 -16.3 428 4497 0.00 1.80 0.00 0.000 6 0.000 0.044 2409 2006 3845 0 0 0 0 0 0

4821 -1.09 -195.1 913.8 -16.2 444 4822 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2005 3841 0 0 0 0 0 0

5130 -1.11 -195.1 964.6 -16.5 459 5132 0.10 0.00 0.00 0.000 6 0.129 0.000 2374 2005 3839 0 0 0 0 0 0

5333 end dive: TARGET_DEPTH_EXCEEDED

state 5333 begin apogee

5339 -0.18 0.0 1003.1 18.7 469 5508 0.98 0.08 161.88 1.279 6 0.158 0.106 2666 2092 3090 0 0 0 0 0 0

5509 end apogee: CONTROL_FINISHED_OK

state 5509 begin climb

5511 0.85 195.1 1012.3 0.0 477 5705 0.93 1.90 185.45 1.255 4 0.054 0.044 3021 971 2294 0 0 0 0 0 0

5886 0.85 195.1 963.2 21.4 494 5889 0.00 1.77 0.00 0.000 6 0.000 0.037 3018 2158 2283 0 0 0 0 0 0

6219 0.84 195.1 890.6 22.1 510 6220 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2159 2277 0 0 0 0 0 0

6528 0.83 195.1 827.9 19.1 525 6532 0.00 1.67 0.00 0.000 4 0.000 0.045 3018 3280 2275 0 0 0 0 0 0

6552 0.82 195.1 823.2 19.6 526 6556 0.12 1.80 0.00 0.000 6 0.223 0.035 2998 2076 2274 0 0 0 0 0 0

6884 0.82 195.1 765.8 17.2 542 6888 0.00 1.85 0.00 0.000 4 0.000 0.046 2989 3278 2273 0 0 0 0 0 0

6930 0.82 195.1 757.7 17.7 544 6934 0.00 1.77 0.00 0.000 6 0.000 0.036 2997 2079 2272 0 0 0 0 0 0

7263 0.81 195.1 699.8 17.2 560 7267 0.00 1.85 0.00 0.000 4 0.000 0.046 2989 3268 2271 0 0 0 0 0 0

7286 0.81 195.1 695.7 17.5 561 7290 0.00 1.77 0.00 0.000 6 0.000 0.036 2998 2089 2270 0 0 0 0 0 0

7619 0.81 195.1 640.3 16.6 577 7623 0.00 1.80 0.00 0.000 4 0.000 0.045 2990 3270 2269 0 0 0 0 0 0

7682 0.80 195.1 629.3 17.7 579 7688 0.00 1.77 0.00 0.000 6 0.000 0.035 2998 2075 2268 0 0 0 0 0 0

8002 0.80 195.1 577.5 16.2 601 8005 0.00 1.83 0.00 0.000 4 0.000 0.045 2990 3275 2268 0 0 0 0 0 0

8074 0.80 195.1 566.0 14.8 607 8081 0.00 1.80 0.00 0.000 6 0.000 0.034 2998 2091 2267 0 0 0 0 0 0

8399 0.80 195.1 519.9 14.5 638 8400 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2090 2267 0 0 0 0 0 0

8719 0.80 195.1 472.3 14.6 668 8723 0.00 1.70 0.00 0.000 4 0.000 0.044 3007 959 2266 0 0 0 0 0 0

8756 0.80 195.1 467.1 14.8 671 8760 0.00 1.77 0.00 0.000 6 0.000 0.037 3003 2161 2266 0 0 0 0 0 0

9086 0.80 195.1 416.1 14.6 702 9089 0.00 1.65 0.00 0.000 4 0.000 0.044 3003 3272 2266 0 0 0 0 0 0

9201 0.80 195.1 398.6 15.0 712 9205 0.00 1.80 0.00 0.000 6 0.000 0.034 3011 2091 2265 0 0 0 0 0 0

9534 0.82 213.2 356.9 12.3 743 9551 0.00 1.90 12.55 0.783 4 0.000 0.043 3003 3272 2221 0 0 0 0 0 0

9598 0.83 223.3 348.5 13.0 748 9615 0.00 1.80 11.07 0.754 6 0.000 0.033 3012 2077 2180 0 0 0 0 0 0

9941 0.84 227.1 302.3 13.6 780 9955 0.00 1.70 4.10 0.516 4 0.000 0.043 3020 970 2165 0 0 0 0 0 0

10127 0.85 232.9 278.2 13.4 809 10142 0.00 1.75 7.40 0.652 6 0.000 0.036 3017 2160 2140 0 0 0 0 0 0

10496 0.85 232.9 229.1 14.5 871 10503 0.00 1.67 0.00 0.000 4 0.000 0.041 3016 3275 2136 0 0 0 0 0 0

10536 0.85 232.9 223.0 14.8 877 10542 0.00 1.77 0.00 0.000 6 0.000 0.031 3026 2080 2135 0 0 0 0 0 0

10895 0.87 248.1 175.7 12.5 938 10918 0.00 1.70 14.50 0.649 4 0.000 0.040 3034 965 2079 0 0 0 0 0 0

10938 0.89 262.5 170.1 12.6 944 10962 0.00 1.77 14.27 0.636 6 0.000 0.034 3030 2147 2018 0 0 0 0 0 0

11320 0.95 305.7 126.9 10.0 1007 11361 0.00 0.00 36.97 0.640 6 0.000 0.000 3030 2147 1843 0 0 0 0 0 0

11714 1.03 361.3 87.6 8.9 1072 11772 0.00 1.85 45.78 0.605 4 0.000 0.039 3039 967 1616 0 0 0 0 0 0

11946 1.05 364.1 61.1 13.6 1108 11955 0.00 1.77 0.00 0.000 6 0.000 0.031 3039 2159 1611 0 0 0 0 0 0

12315 1.15 428.6 13.9 8.1 1169 12381 0.15 1.85 54.78 0.545 4 0.078 0.037 3125 966 1342 0 0 0 0 0 0

12388 end climb: SURFACE_DEPTH_REACHED

state 12388 begin surface coast

12410 end surface coast: CONTROL_FINISHED_OK

state 12410 begin surface

ID	169	HD_C	9.9999997e-06	ROLL_MIN	220	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_MAX	3795	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	457	ESCAPE_HEADING	0	ROLL_DEG	32	ALTIM_PING_DEPTH	0
N_DIVES	457	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_PING_DELTA	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2120	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	7
D_TGT	1000	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	640	R_PORT_OVSHOOT	-10	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	330	INT_PRESSURE_YINT	-1.1
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	435	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3091	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	240	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	300	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	20	LOGGERDEVICE4	-1
USE_BATHY	-5	T_GPS_CHARGE	-7326.6953	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	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	-8	PITCH_MIN	146	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	210	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2730	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043354151
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-76.551537	SEABIRD_T_H	0.00062527717
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.379055e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5466652e-06
MASS	51710	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9450293
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1242783
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0011038103
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017515429
HD_A	0.003	PITCH_ADJ_GAIN	0.0020000001	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	101110,124231,2120.677,12601.872,37,1.3,37,-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	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101110,124956,2120.610,12601.777,15,1.1,15,-2.9	MHEAD_RNG_PITCHd_Wd	191.0,3320,-27.7,-13.889
SPEED_LIMITS	0.241,0.337	D_GRID	1000

FINISH	0.3,1.022459	_10V_AH	9.9,58.931
SM_CCo	12428,146.50,0.508,1,0,481,640.23	FG_AHR_24Vo	0.000
SM_GC	1.24,0.00,0.00,146.50,0.000,0.000,0.508,149,2053,481,-8.06,0.79,640.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2111.01,12601.30,101110,080821	MEM	333944
TT8_MAMPS	0.026215	DATA_FILE_SIZE	70335,1181
HUMID	43.30	CAP_FILE_SIZE	136654,0
INTERNAL_PRESSURE	9.2129	CFSIZE	260165632,226410496
TCM_TEMP	25.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.036,147.2,1
_24V_AH	22.6,73.372	GPS	101110,162107,2118.735,12601.644,32,1.0,32,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	241	112.95	SBE_CT	798	24	433.20
Roll_motor	86	106	206.91	AA4330	0	0	0.00
VBD_pump_during_apogee	548	1279	15862.83	WL_BB2F	1782	105	4230.06
VBD_pump_during_surface	146	507	1681.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	39	0	0.00	nil	0	0	0.00
Iridium_during_xfer	234	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	16	0	0.00
TT8	2897	19	567.90
LPSleep	5771	2	125.12
TT8_Active	707	19	138.62
TT8_Sampling	3336	39	1314.55
TT8_CF8	303	45	137.68
TT8_Kalman	0	0	0.00
Analog_circuits	1867	12	221.90
GPS_charging	0	0	0.00
Compass	3066	15	455.31
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.74	-102.8	0.0	0.0	0	117	0.00	0.00	-98.30	0.000	2	0.000	0.000	152	1980	3123	0	0	0	0	0	0
120	-0.85	-189.1	3.7	-6.1	12	155	9.88	1.77	-13.50	0.000	4	0.242	0.073	2444	882	3865	0	0	0	0	0	0
303	-0.85	-189.1	70.5	-31.1	41	312	0.00	1.83	0.00	0.000	6	0.000	0.054	2444	2036	3866	0	0	0	0	0	0
666	-0.84	-189.1	184.4	-28.4	102	675	0.00	1.80	0.00	0.000	4	0.000	0.047	2444	869	3866	0	0	0	0	0	0
869	-0.85	-189.1	227.4	-23.5	136	877	0.00	1.83	0.00	0.000	6	0.000	0.051	2444	2034	3867	0	0	0	0	0	0
1233	-0.85	-189.1	307.2	-20.9	195	1237	0.00	1.75	0.00	0.000	4	0.000	0.056	2444	3168	3867	0	0	0	0	0	0
1284	-0.87	-189.1	318.4	-18.7	199	1291	0.00	1.80	0.00	0.000	6	0.000	0.043	2444	2003	3867	0	0	0	0	0	0
1609	-0.87	-189.1	381.1	-18.3	230	1613	0.00	1.85	0.00	0.000	4	0.000	0.057	2444	3168	3867	0	0	0	0	0	0
1647	-0.88	-189.1	387.5	-17.8	233	1650	0.00	1.75	0.00	0.000	6	0.000	0.041	2444	2003	3867	0	0	0	0	0	0
1978	-0.90	-189.1	446.4	-17.4	264	1981	0.00	1.85	0.00	0.000	4	0.000	0.056	2443	3168	3866	0	0	0	0	0	0
2025	-0.91	-189.1	454.2	-16.1	268	2028	0.00	1.77	0.00	0.000	6	0.000	0.041	2444	2003	3866	0	0	0	0	0	0
2356	-0.92	-189.1	510.3	-16.3	299	2360	0.00	1.67	0.00	0.000	4	0.000	0.048	2444	872	3865	0	0	0	0	0	0
2394	-0.94	-189.1	516.7	-15.0	302	2402	0.00	1.80	0.00	0.000	6	0.000	0.048	2444	2034	3865	0	0	0	0	0	0
2721	-0.95	-189.1	567.1	-15.2	333	2724	0.00	1.75	0.00	0.000	4	0.000	0.057	2444	3168	3862	0	0	0	0	0	0
2782	-0.98	-195.1	576.2	-13.3	338	2789	0.00	1.77	0.00	0.000	6	0.000	0.042	2444	1996	3862	0	0	0	0	0	0
3115	-0.99	-195.1	624.5	-14.8	362	3119	0.10	1.90	0.00	0.000	4	0.138	0.059	2410	3175	3859	0	0	0	0	0	0
3146	-1.01	-195.1	630.3	-17.0	363	3150	0.00	1.83	0.00	0.000	6	0.000	0.044	2409	2004	3858	0	0	0	0	0	0
3469	-1.02	-195.1	689.2	-18.8	379	3472	0.00	1.85	0.00	0.000	4	0.000	0.058	2409	3174	3856	0	0	0	0	0	0
3519	-1.03	-195.1	698.6	-16.7	381	3522	0.00	1.77	0.00	0.000	6	0.000	0.044	2409	2005	3855	0	0	0	0	0	0
3846	-1.04	-195.1	755.6	-17.1	397	3847	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2003	3852	0	0	0	0	0	0
4155	-1.05	-195.1	806.7	-16.1	412	4156	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2003	3849	0	0	0	0	0	0
4466	-1.07	-195.1	856.4	-16.2	427	4470	0.00	1.90	0.00	0.000	4	0.000	0.060	2410	3168	3845	0	0	0	0	0	0
4493	-1.08	-195.1	861.3	-16.3	428	4497	0.00	1.80	0.00	0.000	6	0.000	0.044	2409	2006	3845	0	0	0	0	0	0
4821	-1.09	-195.1	913.8	-16.2	444	4822	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2005	3841	0	0	0	0	0	0
5130	-1.11	-195.1	964.6	-16.5	459	5132	0.10	0.00	0.00	0.000	6	0.129	0.000	2374	2005	3839	0	0	0	0	0	0
5333	end dive: TARGET_DEPTH_EXCEEDED
state	5333	begin apogee
5339	-0.18	0.0	1003.1	18.7	469	5508	0.98	0.08	161.88	1.279	6	0.158	0.106	2666	2092	3090	0	0	0	0	0	0
5509	end apogee: CONTROL_FINISHED_OK
state	5509	begin climb
5511	0.85	195.1	1012.3	0.0	477	5705	0.93	1.90	185.45	1.255	4	0.054	0.044	3021	971	2294	0	0	0	0	0	0
5886	0.85	195.1	963.2	21.4	494	5889	0.00	1.77	0.00	0.000	6	0.000	0.037	3018	2158	2283	0	0	0	0	0	0
6219	0.84	195.1	890.6	22.1	510	6220	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2159	2277	0	0	0	0	0	0
6528	0.83	195.1	827.9	19.1	525	6532	0.00	1.67	0.00	0.000	4	0.000	0.045	3018	3280	2275	0	0	0	0	0	0
6552	0.82	195.1	823.2	19.6	526	6556	0.12	1.80	0.00	0.000	6	0.223	0.035	2998	2076	2274	0	0	0	0	0	0
6884	0.82	195.1	765.8	17.2	542	6888	0.00	1.85	0.00	0.000	4	0.000	0.046	2989	3278	2273	0	0	0	0	0	0
6930	0.82	195.1	757.7	17.7	544	6934	0.00	1.77	0.00	0.000	6	0.000	0.036	2997	2079	2272	0	0	0	0	0	0
7263	0.81	195.1	699.8	17.2	560	7267	0.00	1.85	0.00	0.000	4	0.000	0.046	2989	3268	2271	0	0	0	0	0	0
7286	0.81	195.1	695.7	17.5	561	7290	0.00	1.77	0.00	0.000	6	0.000	0.036	2998	2089	2270	0	0	0	0	0	0
7619	0.81	195.1	640.3	16.6	577	7623	0.00	1.80	0.00	0.000	4	0.000	0.045	2990	3270	2269	0	0	0	0	0	0
7682	0.80	195.1	629.3	17.7	579	7688	0.00	1.77	0.00	0.000	6	0.000	0.035	2998	2075	2268	0	0	0	0	0	0
8002	0.80	195.1	577.5	16.2	601	8005	0.00	1.83	0.00	0.000	4	0.000	0.045	2990	3275	2268	0	0	0	0	0	0
8074	0.80	195.1	566.0	14.8	607	8081	0.00	1.80	0.00	0.000	6	0.000	0.034	2998	2091	2267	0	0	0	0	0	0
8399	0.80	195.1	519.9	14.5	638	8400	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2090	2267	0	0	0	0	0	0
8719	0.80	195.1	472.3	14.6	668	8723	0.00	1.70	0.00	0.000	4	0.000	0.044	3007	959	2266	0	0	0	0	0	0
8756	0.80	195.1	467.1	14.8	671	8760	0.00	1.77	0.00	0.000	6	0.000	0.037	3003	2161	2266	0	0	0	0	0	0
9086	0.80	195.1	416.1	14.6	702	9089	0.00	1.65	0.00	0.000	4	0.000	0.044	3003	3272	2266	0	0	0	0	0	0
9201	0.80	195.1	398.6	15.0	712	9205	0.00	1.80	0.00	0.000	6	0.000	0.034	3011	2091	2265	0	0	0	0	0	0
9534	0.82	213.2	356.9	12.3	743	9551	0.00	1.90	12.55	0.783	4	0.000	0.043	3003	3272	2221	0	0	0	0	0	0
9598	0.83	223.3	348.5	13.0	748	9615	0.00	1.80	11.07	0.754	6	0.000	0.033	3012	2077	2180	0	0	0	0	0	0
9941	0.84	227.1	302.3	13.6	780	9955	0.00	1.70	4.10	0.516	4	0.000	0.043	3020	970	2165	0	0	0	0	0	0
10127	0.85	232.9	278.2	13.4	809	10142	0.00	1.75	7.40	0.652	6	0.000	0.036	3017	2160	2140	0	0	0	0	0	0
10496	0.85	232.9	229.1	14.5	871	10503	0.00	1.67	0.00	0.000	4	0.000	0.041	3016	3275	2136	0	0	0	0	0	0
10536	0.85	232.9	223.0	14.8	877	10542	0.00	1.77	0.00	0.000	6	0.000	0.031	3026	2080	2135	0	0	0	0	0	0
10895	0.87	248.1	175.7	12.5	938	10918	0.00	1.70	14.50	0.649	4	0.000	0.040	3034	965	2079	0	0	0	0	0	0
10938	0.89	262.5	170.1	12.6	944	10962	0.00	1.77	14.27	0.636	6	0.000	0.034	3030	2147	2018	0	0	0	0	0	0
11320	0.95	305.7	126.9	10.0	1007	11361	0.00	0.00	36.97	0.640	6	0.000	0.000	3030	2147	1843	0	0	0	0	0	0
11714	1.03	361.3	87.6	8.9	1072	11772	0.00	1.85	45.78	0.605	4	0.000	0.039	3039	967	1616	0	0	0	0	0	0
11946	1.05	364.1	61.1	13.6	1108	11955	0.00	1.77	0.00	0.000	6	0.000	0.031	3039	2159	1611	0	0	0	0	0	0
12315	1.15	428.6	13.9	8.1	1169	12381	0.15	1.85	54.78	0.545	4	0.078	0.037	3125	966	1342	0	0	0	0	0	0
12388	end climb: SURFACE_DEPTH_REACHED
state	12388	begin surface coast
12410	end surface coast: CONTROL_FINISHED_OK
state	12410	begin surface