Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 465 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HD_C 9.9999997e-06 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_MAX 3729 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 465 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 468 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1550 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1700 ALTIM_FREQUENCY 13

D_FLARE 3 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 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 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 415 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3068 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 5 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 -3821.2151 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 49

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 0 PITCH_MIN 143 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 190 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3252 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042824708

GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 PRESSURE_YINT -59.994087 SEABIRD_T_H 0.00062080647

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3031862e-05

RHO 1.02625 P_OVSHOOT 0.029999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5001771e-06

MASS 51866 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8237314

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1028168

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0011486846

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017813468

HD_A 0.003 PITCH_ADJ_GAIN 0.0070000002 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 49 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3945 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 143 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 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.994087 T_DIVE 240

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.029999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -3821.2151

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 168 RHO 1.02625 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

C_PITCH 3252 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_ROLL_CLIMB 1700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1550 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3068 LOGGERDEVICE3 -1 ROLL_MAX 3729 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 160 VBD_CNV -0.24529999

DEVICE1 2 MASS 51866 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 190 R_PORT_OVSHOOT 33 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8237314 VBD_MIN 415

DEVICE5 -1 MISSION 2 SEABIRD_C_H 1.1028168 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0011486846 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 465 NAV_MODE 2 SEABIRD_C_J 0.00017813468 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 468 SEABIRD_T_G 0.0042824708 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062080647 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3031862e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5001771e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 091110,210054,2120.889,12600.886,22,1.9,40,-2.9 TGT_NAME PICKUP

_CALLS 1 TGT_LATLONG 2121.600,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091110,210626,2120.785,12600.966,11,1.4,11,-2.9 MHEAD_RNG_PITCHd_Wd 337.8,1563,-27.7,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.39,25.705,-0.273,0,1,0 _10V_AH 10.3,46.206

SM_CCo 11226,169.65,0.495,0,0,415,650.78 FG_AHR_24Vo 0.000

SM_GC 4.08,8.48,0.00,0.00,0.020,0.000,0.000,106,1534,411,-9.71,-0.42,651.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2115.63,12602.66,091110,171737 MEM 334000

TT8_MAMPS 0.026964 DATA_FILE_SIZE 66986,1145

HUMID 46.06 CAP_FILE_SIZE 129298,0

INTERNAL_PRESSURE 9.45349 CFSIZE 260165632,225079296

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 10 CURRENT 0.203,174.9,1

_24V_AH 23.3,65.099 GPS 101110,002201,2121.018,12600.401,39,0.9,40,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 190 100.19 SBE_CT 778 24 435.09

Roll_motor 92 61 133.73 AA4330 0 0 0.00

VBD_pump_during_apogee 403 1207 11349.97 WL_BB2F 0 0 0.00

VBD_pump_during_surface 169 494 1956.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 0 0.00 nil 0 0 0.00

Iridium_during_connect 55 0 0.00 nil 0 0 0.00

Iridium_during_xfer 125 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 24.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 2808 19 572.86

LPSleep 6132 2 138.34

TT8_Active 688 19 140.46

TT8_Sampling 2100 39 860.97

TT8_CF8 230 45 108.94

TT8_Kalman 0 0 0.00

Analog_circuits 1706 12 210.90

GPS_charging 0 0 0.00

Compass 1875 15 289.73

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.74 -102.9 0.0 0.0 0 24 0.00 0.00 -7.62 0.000 2 0.000 0.000 104 1542 655 0 0 0 0 0 0

27 -0.84 -185.1 4.1 -0.0 1 162 9.65 2.22 -113.28 0.000 4 0.165 0.052 2976 2956 3825 0 0 0 0 0 0

259 -0.85 -185.1 33.1 -25.4 40 267 0.00 2.20 0.00 0.000 6 0.000 0.046 2976 1557 3825 0 0 0 0 0 0

604 -0.82 -185.1 142.1 -29.3 101 611 0.00 2.17 0.00 0.000 4 0.000 0.053 2976 154 3825 0 0 0 0 0 0

657 -0.80 -185.1 157.6 -27.4 110 665 0.12 2.10 0.00 0.000 6 0.155 0.038 3002 1548 3825 0 0 0 0 0 0

1002 -0.82 -185.1 229.2 -19.0 171 1009 0.00 2.17 0.00 0.000 4 0.000 0.047 2992 2958 3826 0 0 0 0 0 0

1021 -0.85 -185.1 232.5 -17.6 174 1027 0.00 2.20 0.00 0.000 6 0.000 0.044 2992 1537 3826 0 0 0 0 0 0

1364 -0.87 -185.1 296.7 -18.4 235 1370 0.08 0.00 0.00 0.000 6 0.125 0.000 2846 1537 3826 0 0 0 0 0 0

1690 -0.81 -185.1 395.6 -29.4 267 1695 0.40 2.22 0.00 0.000 4 0.121 0.044 2976 2964 3826 0 0 0 0 0 0

1746 -0.88 -185.1 406.7 -13.8 271 1753 0.00 2.20 0.00 0.000 6 0.000 0.045 2976 1548 3826 0 0 0 0 0 0

2071 -0.91 -185.1 458.6 -15.6 302 2075 0.00 2.17 0.00 0.000 4 0.000 0.044 2967 2962 3825 0 0 0 0 0 0

2112 -0.97 -185.1 464.9 -14.7 305 2117 0.10 2.20 0.00 0.000 6 0.089 0.044 2853 1549 3825 0 0 0 0 0 0

2437 -0.93 -185.1 552.0 -27.3 335 2442 0.28 2.15 0.00 0.000 4 0.132 0.053 2948 165 3823 0 0 0 0 0 0

2470 -0.93 -185.1 560.3 -23.4 337 2477 0.00 2.15 0.00 0.000 6 0.000 0.039 2938 1554 3822 0 0 0 0 0 0

2794 -0.95 -185.1 618.4 -17.4 363 2798 0.00 2.15 0.00 0.000 4 0.000 0.047 2927 2958 3819 0 0 0 0 0 0

2849 -0.99 -185.1 627.6 -14.9 365 2856 0.00 2.20 0.00 0.000 6 0.000 0.047 2927 1553 3819 0 0 0 0 0 0

3167 -1.01 -185.1 684.3 -18.5 381 3168 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 1552 3816 0 0 0 0 0 0

3475 -1.03 -185.1 738.6 -17.0 396 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 1552 3813 0 0 0 0 0 0

3784 -1.05 -185.1 790.5 -17.3 411 3788 0.00 2.20 0.00 0.000 4 0.000 0.049 2917 2956 3809 0 0 0 0 0 0

3834 -1.09 -185.1 798.8 -14.9 413 3838 0.00 2.22 0.00 0.000 6 0.000 0.050 2917 1550 3808 0 0 0 0 0 0

4157 -1.10 -185.1 856.5 -18.4 429 4159 0.08 0.00 0.00 0.000 6 0.121 0.000 2803 1551 3805 0 0 0 0 0 0

4466 -1.05 -185.1 939.7 -27.2 444 4471 0.32 2.20 0.00 0.000 4 0.128 0.044 2904 2959 3801 0 0 0 0 0 0

4515 -1.09 -185.1 950.0 -16.9 446 4519 0.00 2.22 0.00 0.000 6 0.000 0.050 2904 1559 3800 0 0 0 0 0 0

4808 end dive: TARGET_DEPTH_EXCEEDED

state 4808 begin apogee

4814 0.00 0.0 1003.1 17.6 460 4973 0.98 0.00 153.45 1.207 4 0.094 0.000 3252 1712 3067 0 0 0 0 0 0

4974 end apogee: CONTROL_FINISHED_OK

state 4974 begin climb

4977 0.84 185.1 1009.4 0.0 467 5147 0.73 2.40 160.02 1.131 4 0.026 0.061 3579 293 2313 0 0 0 0 0 0

5326 0.78 185.1 936.8 27.3 483 5331 0.28 2.17 0.00 0.000 6 0.156 0.034 3499 1706 2302 0 0 0 0 0 0

5643 0.76 185.1 865.9 22.4 498 5647 0.00 2.25 0.00 0.000 4 0.000 0.060 3510 290 2296 0 0 0 0 0 0

5818 0.74 185.1 826.9 22.4 506 5822 0.10 2.15 0.00 0.000 6 0.174 0.034 3484 1704 2295 0 0 0 0 0 0

6144 0.74 185.1 763.8 18.4 522 6148 0.00 2.15 0.00 0.000 4 0.000 0.041 3484 3110 2294 0 0 0 0 0 0

6171 0.74 185.1 758.4 19.3 523 6175 0.00 2.20 0.00 0.000 6 0.000 0.048 3494 1703 2293 0 0 0 0 0 0

6487 0.73 185.1 698.7 19.1 538 6488 0.00 0.00 0.00 0.000 6 0.000 0.000 3494 1703 2291 0 0 0 0 0 0

6798 0.72 185.1 640.4 18.4 553 6801 0.00 2.15 0.00 0.000 4 0.000 0.041 3494 3111 2289 0 0 0 0 0 0

6830 0.72 185.1 633.4 19.4 554 6835 0.05 2.25 0.00 0.000 6 0.161 0.048 3486 1707 2289 0 0 0 0 0 0

7156 0.72 185.1 574.8 18.5 576 7160 0.00 2.15 0.00 0.000 4 0.000 0.041 3487 3112 2287 0 0 0 0 0 0

7234 0.72 185.1 559.7 17.9 582 7241 0.00 2.20 0.00 0.000 6 0.000 0.049 3496 1712 2287 0 0 0 0 0 0

7559 0.72 185.1 500.3 18.0 613 7561 0.00 0.00 0.00 0.000 6 0.000 0.000 3496 1712 2287 0 0 0 0 0 0

7879 0.72 185.1 447.1 16.8 643 7883 0.00 2.25 0.00 0.000 4 0.000 0.060 3507 293 2286 0 0 0 0 0 0

7897 0.72 185.1 443.8 17.0 644 7901 0.10 2.17 0.00 0.000 6 0.172 0.034 3480 1726 2285 0 0 0 0 0 0

8223 0.73 185.1 394.5 15.5 674 8227 0.00 2.12 0.00 0.000 4 0.000 0.042 3480 3111 2285 0 0 0 0 0 0

8274 0.75 185.1 386.6 15.6 678 8278 0.00 2.17 0.00 0.000 6 0.000 0.047 3490 1716 2285 0 0 0 0 0 0

8600 0.76 185.1 339.2 14.3 708 8604 0.00 2.25 0.00 0.000 4 0.000 0.060 3501 293 2285 0 0 0 0 0 0

8628 0.76 185.1 334.7 15.3 710 8632 0.00 2.12 0.00 0.000 6 0.000 0.034 3501 1714 2284 0 0 0 0 0 0

8957 0.76 185.6 287.7 13.9 748 8965 0.00 2.12 0.00 0.000 4 0.000 0.041 3501 3108 2284 0 0 0 0 0 0

9090 0.78 185.6 269.4 14.1 771 9097 0.00 2.15 0.00 0.000 6 0.000 0.045 3512 1731 2284 0 0 0 0 0 0

9434 0.80 195.8 224.8 13.0 832 9448 0.00 2.35 5.45 0.548 4 0.000 0.057 3523 294 2269 0 0 0 0 0 0

9478 0.80 195.8 218.5 14.9 839 9485 0.08 2.15 0.00 0.000 6 0.190 0.032 3505 1733 2269 0 0 0 0 0 0

9823 0.84 212.7 175.2 12.4 900 9842 0.00 0.00 16.33 0.636 6 0.000 0.000 3505 1736 2200 0 0 0 0 0 0

10181 0.94 268.3 132.6 8.9 963 10237 0.15 2.17 46.60 0.622 4 0.068 0.037 3623 3102 1973 0 0 0 0 0 0

10474 0.93 268.3 85.7 15.4 1014 10482 0.28 2.12 0.00 0.000 6 0.145 0.043 3549 1730 1967 0 0 0 0 0 0

10821 1.00 294.6 46.9 11.5 1075 10853 0.08 2.33 21.67 0.526 4 0.117 0.053 3650 298 1866 0 0 0 0 0 0

10923 0.98 294.6 28.1 18.3 1092 10931 0.28 2.15 0.00 0.000 6 0.138 0.030 3565 1729 1863 0 0 0 0 0 0

11223 end climb: NO_VERTICAL_VELOCITY

state 11223 begin surface

ID	168	HD_C	9.9999997e-06	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_MAX	3729	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	465	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	468	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1550	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1700	ALTIM_FREQUENCY	13
D_FLARE	3	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	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	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	415	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3068	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	5	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	-3821.2151	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	49
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	0	PITCH_MIN	143	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	190	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3252	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042824708
GLIDE_SLOPE	30	PITCH_DBAND	0.050000001	PRESSURE_YINT	-59.994087	SEABIRD_T_H	0.00062080647
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3031862e-05
RHO	1.02625	P_OVSHOOT	0.029999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5001771e-06
MASS	51866	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8237314
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1028168
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0011486846
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017813468
HD_A	0.003	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	091110,210054,2120.889,12600.886,22,1.9,40,-2.9	TGT_NAME	PICKUP
_CALLS	1	TGT_LATLONG	2121.600,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091110,210626,2120.785,12600.966,11,1.4,11,-2.9	MHEAD_RNG_PITCHd_Wd	337.8,1563,-27.7,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.39,25.705,-0.273,0,1,0	_10V_AH	10.3,46.206
SM_CCo	11226,169.65,0.495,0,0,415,650.78	FG_AHR_24Vo	0.000
SM_GC	4.08,8.48,0.00,0.00,0.020,0.000,0.000,106,1534,411,-9.71,-0.42,651.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2115.63,12602.66,091110,171737	MEM	334000
TT8_MAMPS	0.026964	DATA_FILE_SIZE	66986,1145
HUMID	46.06	CAP_FILE_SIZE	129298,0
INTERNAL_PRESSURE	9.45349	CFSIZE	260165632,225079296
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	10	CURRENT	0.203,174.9,1
_24V_AH	23.3,65.099	GPS	101110,002201,2121.018,12600.401,39,0.9,40,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	190	100.19	SBE_CT	778	24	435.09
Roll_motor	92	61	133.73	AA4330	0	0	0.00
VBD_pump_during_apogee	403	1207	11349.97	WL_BB2F	0	0	0.00
VBD_pump_during_surface	169	494	1956.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	0	0.00	nil	0	0	0.00
Iridium_during_connect	55	0	0.00	nil	0	0	0.00
Iridium_during_xfer	125	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	24.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	2808	19	572.86
LPSleep	6132	2	138.34
TT8_Active	688	19	140.46
TT8_Sampling	2100	39	860.97
TT8_CF8	230	45	108.94
TT8_Kalman	0	0	0.00
Analog_circuits	1706	12	210.90
GPS_charging	0	0	0.00
Compass	1875	15	289.73
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.74	-102.9	0.0	0.0	0	24	0.00	0.00	-7.62	0.000	2	0.000	0.000	104	1542	655	0	0	0	0	0	0
27	-0.84	-185.1	4.1	-0.0	1	162	9.65	2.22	-113.28	0.000	4	0.165	0.052	2976	2956	3825	0	0	0	0	0	0
259	-0.85	-185.1	33.1	-25.4	40	267	0.00	2.20	0.00	0.000	6	0.000	0.046	2976	1557	3825	0	0	0	0	0	0
604	-0.82	-185.1	142.1	-29.3	101	611	0.00	2.17	0.00	0.000	4	0.000	0.053	2976	154	3825	0	0	0	0	0	0
657	-0.80	-185.1	157.6	-27.4	110	665	0.12	2.10	0.00	0.000	6	0.155	0.038	3002	1548	3825	0	0	0	0	0	0
1002	-0.82	-185.1	229.2	-19.0	171	1009	0.00	2.17	0.00	0.000	4	0.000	0.047	2992	2958	3826	0	0	0	0	0	0
1021	-0.85	-185.1	232.5	-17.6	174	1027	0.00	2.20	0.00	0.000	6	0.000	0.044	2992	1537	3826	0	0	0	0	0	0
1364	-0.87	-185.1	296.7	-18.4	235	1370	0.08	0.00	0.00	0.000	6	0.125	0.000	2846	1537	3826	0	0	0	0	0	0
1690	-0.81	-185.1	395.6	-29.4	267	1695	0.40	2.22	0.00	0.000	4	0.121	0.044	2976	2964	3826	0	0	0	0	0	0
1746	-0.88	-185.1	406.7	-13.8	271	1753	0.00	2.20	0.00	0.000	6	0.000	0.045	2976	1548	3826	0	0	0	0	0	0
2071	-0.91	-185.1	458.6	-15.6	302	2075	0.00	2.17	0.00	0.000	4	0.000	0.044	2967	2962	3825	0	0	0	0	0	0
2112	-0.97	-185.1	464.9	-14.7	305	2117	0.10	2.20	0.00	0.000	6	0.089	0.044	2853	1549	3825	0	0	0	0	0	0
2437	-0.93	-185.1	552.0	-27.3	335	2442	0.28	2.15	0.00	0.000	4	0.132	0.053	2948	165	3823	0	0	0	0	0	0
2470	-0.93	-185.1	560.3	-23.4	337	2477	0.00	2.15	0.00	0.000	6	0.000	0.039	2938	1554	3822	0	0	0	0	0	0
2794	-0.95	-185.1	618.4	-17.4	363	2798	0.00	2.15	0.00	0.000	4	0.000	0.047	2927	2958	3819	0	0	0	0	0	0
2849	-0.99	-185.1	627.6	-14.9	365	2856	0.00	2.20	0.00	0.000	6	0.000	0.047	2927	1553	3819	0	0	0	0	0	0
3167	-1.01	-185.1	684.3	-18.5	381	3168	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	1552	3816	0	0	0	0	0	0
3475	-1.03	-185.1	738.6	-17.0	396	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	1552	3813	0	0	0	0	0	0
3784	-1.05	-185.1	790.5	-17.3	411	3788	0.00	2.20	0.00	0.000	4	0.000	0.049	2917	2956	3809	0	0	0	0	0	0
3834	-1.09	-185.1	798.8	-14.9	413	3838	0.00	2.22	0.00	0.000	6	0.000	0.050	2917	1550	3808	0	0	0	0	0	0
4157	-1.10	-185.1	856.5	-18.4	429	4159	0.08	0.00	0.00	0.000	6	0.121	0.000	2803	1551	3805	0	0	0	0	0	0
4466	-1.05	-185.1	939.7	-27.2	444	4471	0.32	2.20	0.00	0.000	4	0.128	0.044	2904	2959	3801	0	0	0	0	0	0
4515	-1.09	-185.1	950.0	-16.9	446	4519	0.00	2.22	0.00	0.000	6	0.000	0.050	2904	1559	3800	0	0	0	0	0	0
4808	end dive: TARGET_DEPTH_EXCEEDED
state	4808	begin apogee
4814	0.00	0.0	1003.1	17.6	460	4973	0.98	0.00	153.45	1.207	4	0.094	0.000	3252	1712	3067	0	0	0	0	0	0
4974	end apogee: CONTROL_FINISHED_OK
state	4974	begin climb
4977	0.84	185.1	1009.4	0.0	467	5147	0.73	2.40	160.02	1.131	4	0.026	0.061	3579	293	2313	0	0	0	0	0	0
5326	0.78	185.1	936.8	27.3	483	5331	0.28	2.17	0.00	0.000	6	0.156	0.034	3499	1706	2302	0	0	0	0	0	0
5643	0.76	185.1	865.9	22.4	498	5647	0.00	2.25	0.00	0.000	4	0.000	0.060	3510	290	2296	0	0	0	0	0	0
5818	0.74	185.1	826.9	22.4	506	5822	0.10	2.15	0.00	0.000	6	0.174	0.034	3484	1704	2295	0	0	0	0	0	0
6144	0.74	185.1	763.8	18.4	522	6148	0.00	2.15	0.00	0.000	4	0.000	0.041	3484	3110	2294	0	0	0	0	0	0
6171	0.74	185.1	758.4	19.3	523	6175	0.00	2.20	0.00	0.000	6	0.000	0.048	3494	1703	2293	0	0	0	0	0	0
6487	0.73	185.1	698.7	19.1	538	6488	0.00	0.00	0.00	0.000	6	0.000	0.000	3494	1703	2291	0	0	0	0	0	0
6798	0.72	185.1	640.4	18.4	553	6801	0.00	2.15	0.00	0.000	4	0.000	0.041	3494	3111	2289	0	0	0	0	0	0
6830	0.72	185.1	633.4	19.4	554	6835	0.05	2.25	0.00	0.000	6	0.161	0.048	3486	1707	2289	0	0	0	0	0	0
7156	0.72	185.1	574.8	18.5	576	7160	0.00	2.15	0.00	0.000	4	0.000	0.041	3487	3112	2287	0	0	0	0	0	0
7234	0.72	185.1	559.7	17.9	582	7241	0.00	2.20	0.00	0.000	6	0.000	0.049	3496	1712	2287	0	0	0	0	0	0
7559	0.72	185.1	500.3	18.0	613	7561	0.00	0.00	0.00	0.000	6	0.000	0.000	3496	1712	2287	0	0	0	0	0	0
7879	0.72	185.1	447.1	16.8	643	7883	0.00	2.25	0.00	0.000	4	0.000	0.060	3507	293	2286	0	0	0	0	0	0
7897	0.72	185.1	443.8	17.0	644	7901	0.10	2.17	0.00	0.000	6	0.172	0.034	3480	1726	2285	0	0	0	0	0	0
8223	0.73	185.1	394.5	15.5	674	8227	0.00	2.12	0.00	0.000	4	0.000	0.042	3480	3111	2285	0	0	0	0	0	0
8274	0.75	185.1	386.6	15.6	678	8278	0.00	2.17	0.00	0.000	6	0.000	0.047	3490	1716	2285	0	0	0	0	0	0
8600	0.76	185.1	339.2	14.3	708	8604	0.00	2.25	0.00	0.000	4	0.000	0.060	3501	293	2285	0	0	0	0	0	0
8628	0.76	185.1	334.7	15.3	710	8632	0.00	2.12	0.00	0.000	6	0.000	0.034	3501	1714	2284	0	0	0	0	0	0
8957	0.76	185.6	287.7	13.9	748	8965	0.00	2.12	0.00	0.000	4	0.000	0.041	3501	3108	2284	0	0	0	0	0	0
9090	0.78	185.6	269.4	14.1	771	9097	0.00	2.15	0.00	0.000	6	0.000	0.045	3512	1731	2284	0	0	0	0	0	0
9434	0.80	195.8	224.8	13.0	832	9448	0.00	2.35	5.45	0.548	4	0.000	0.057	3523	294	2269	0	0	0	0	0	0
9478	0.80	195.8	218.5	14.9	839	9485	0.08	2.15	0.00	0.000	6	0.190	0.032	3505	1733	2269	0	0	0	0	0	0
9823	0.84	212.7	175.2	12.4	900	9842	0.00	0.00	16.33	0.636	6	0.000	0.000	3505	1736	2200	0	0	0	0	0	0
10181	0.94	268.3	132.6	8.9	963	10237	0.15	2.17	46.60	0.622	4	0.068	0.037	3623	3102	1973	0	0	0	0	0	0
10474	0.93	268.3	85.7	15.4	1014	10482	0.28	2.12	0.00	0.000	6	0.145	0.043	3549	1730	1967	0	0	0	0	0	0
10821	1.00	294.6	46.9	11.5	1075	10853	0.08	2.33	21.67	0.526	4	0.117	0.053	3650	298	1866	0	0	0	0	0	0
10923	0.98	294.6	28.1	18.3	1092	10931	0.28	2.15	0.00	0.000	6	0.138	0.030	3565	1729	1863	0	0	0	0	0	0
11223	end climb: NO_VERTICAL_VELOCITY
state	11223	begin surface