Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 471 * 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 471 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 484 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 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 66 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 -3870.1897 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 -3870.1897

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 29 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 66 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 471 NAV_MODE 2 SEABIRD_C_J 0.00017813468 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 484 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 101110,184637,2122.974,12601.243,45,1.1,46,-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 4.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101110,185202,2122.932,12601.287,9,2.0,9,-2.9 MHEAD_RNG_PITCHd_Wd 198.3,2471,-27.7,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.45,26.613,-0.370,0,1,0 _10V_AH 10.1,46.647

SM_CCo 11706,170.05,0.491,0,0,415,650.78 FG_AHR_24Vo 0.000

SM_GC 4.24,8.45,0.00,0.00,0.018,0.000,0.000,103,1535,410,-9.69,-0.40,652.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2115.63,12602.66,101110,151513 MEM 334008

TT8_MAMPS 0.026964 DATA_FILE_SIZE 66786,1173

HUMID 46.57 CAP_FILE_SIZE 135328,0

INTERNAL_PRESSURE 9.44372 CFSIZE 260165632,224641024

TCM_TEMP 25.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 9 CURRENT 0.174,119.4,1

_24V_AH 23.3,66.065 GPS 101110,221537,2120.595,12601.828,39,0.9,40,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 205 104.14 SBE_CT 797 24 446.17

Roll_motor 101 61 146.51 AA4330 0 0 0.00

VBD_pump_during_apogee 398 1220 11320.15 WL_BB2F 0 0 0.00

VBD_pump_during_surface 170 491 1945.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 45 0 0.00 nil 0 0 0.00

Iridium_during_xfer 127 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 22.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 0 0.00

TT8 2896 19 579.20

LPSleep 6470 2 143.13

TT8_Active 685 19 137.15

TT8_Sampling 2138 39 859.79

TT8_CF8 243 45 112.44

TT8_Kalman 0 0 0.00

Analog_circuits 1731 12 209.82

GPS_charging 0 0 0.00

Compass 1921 15 291.17

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.74 -102.9 0.0 0.0 0 25 0.00 0.00 -7.55 0.000 2 0.000 0.000 104 1578 653 0 0 0 0 0 0

28 -0.84 -185.1 4.3 -0.0 1 157 9.52 2.22 -110.07 0.000 4 0.161 0.062 2981 158 3824 0 0 0 0 0 0

271 -0.82 -185.1 46.8 -33.5 42 279 0.08 2.05 0.00 0.000 6 0.196 0.038 2990 1518 3825 0 0 0 0 0 0

615 -0.81 -185.1 157.6 -26.1 103 622 0.00 2.22 0.00 0.000 4 0.000 0.042 2980 2965 3824 0 0 0 0 0 0

674 -0.84 -185.1 171.4 -19.0 113 681 0.00 2.15 0.00 0.000 6 0.000 0.042 2980 1555 3825 0 0 0 0 0 0

1018 -0.84 -185.1 246.4 -21.0 174 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 1555 3826 0 0 0 0 0 0

1363 -0.85 -185.1 315.9 -19.6 229 1367 0.00 2.17 0.00 0.000 4 0.000 0.044 2970 2962 3826 0 0 0 0 0 0

1430 -0.90 -185.1 327.3 -15.7 234 1437 0.00 2.17 0.00 0.000 6 0.000 0.044 2970 1552 3826 0 0 0 0 0 0

1755 -0.92 -185.1 386.3 -18.1 265 1759 0.00 2.17 0.00 0.000 4 0.000 0.054 2970 159 3825 0 0 0 0 0 0

1818 -0.95 -185.1 398.2 -17.8 270 1822 0.00 2.10 0.00 0.000 6 0.000 0.039 2961 1543 3825 0 0 0 0 0 0

2144 -0.98 -185.1 456.3 -18.4 300 2149 0.08 2.20 0.00 0.000 4 0.125 0.044 2845 2960 3823 0 0 0 0 0 0

2199 -0.96 -185.1 469.4 -25.2 304 2206 0.30 2.20 0.00 0.000 6 0.116 0.044 2947 1542 3823 0 0 0 0 0 0

2525 -0.98 -185.1 531.1 -17.8 335 2528 0.00 2.12 0.00 0.000 4 0.000 0.054 2947 168 3820 0 0 0 0 0 0

2544 -1.00 -185.1 534.4 -18.3 336 2549 0.00 2.10 0.00 0.000 6 0.000 0.040 2937 1541 3820 0 0 0 0 0 0

2870 -1.01 -185.1 594.0 -18.1 366 2874 0.00 2.20 0.00 0.000 4 0.000 0.046 2926 2965 3818 0 0 0 0 0 0

2932 -1.06 -185.1 604.7 -15.7 370 2936 0.00 2.22 0.00 0.000 6 0.000 0.047 2926 1545 3817 0 0 0 0 0 0

3260 -1.07 -185.1 666.5 -19.0 386 3264 0.08 2.25 0.00 0.000 4 0.126 0.046 2803 2961 3814 0 0 0 0 0 0

3322 -1.04 -185.1 681.6 -25.9 389 3327 0.35 2.20 0.00 0.000 6 0.119 0.047 2920 1550 3813 0 0 0 0 0 0

3650 -1.05 -185.1 742.3 -17.6 405 3654 0.00 2.22 0.00 0.000 4 0.000 0.047 2910 2960 3809 0 0 0 0 0 0

3678 -1.08 -185.1 747.7 -17.4 406 3681 0.00 2.20 0.00 0.000 6 0.000 0.049 2909 1554 3809 0 0 0 0 0 0

4006 -1.09 -185.1 806.5 -17.9 422 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 1553 3806 0 0 0 0 0 0

4314 -1.10 -185.1 861.5 -17.5 437 4318 0.00 2.22 0.00 0.000 4 0.000 0.050 2899 2959 3802 0 0 0 0 0 0

4342 -1.12 -185.1 866.6 -17.6 438 4346 0.00 2.20 0.00 0.000 6 0.000 0.050 2899 1560 3802 0 0 0 0 0 0

4664 -1.13 -185.1 927.7 -19.3 454 4668 0.00 2.20 0.00 0.000 4 0.000 0.050 2888 2958 3798 0 0 0 0 0 0

4713 -1.15 -185.1 937.5 -17.9 456 4717 0.00 2.20 0.00 0.000 6 0.000 0.052 2889 1564 3798 0 0 0 0 0 0

5033 end dive: TARGET_DEPTH_EXCEEDED

state 5033 begin apogee

5040 0.00 0.0 1002.0 19.8 472 5197 1.02 0.00 152.15 1.220 4 0.099 0.000 3250 1721 3068 0 0 0 0 0 0

5198 end apogee: CONTROL_FINISHED_OK

state 5198 begin climb

5200 0.84 185.1 1011.0 0.0 479 5368 0.73 2.42 159.30 1.143 4 0.027 0.062 3573 293 2312 0 0 0 0 0 0

5426 0.78 185.1 977.4 26.0 490 5431 0.25 2.20 0.00 0.000 6 0.150 0.034 3503 1696 2305 0 0 0 0 0 0

5749 0.77 185.1 909.6 20.6 506 5753 0.00 2.15 0.00 0.000 4 0.000 0.042 3503 3106 2296 0 0 0 0 0 0

5881 0.76 185.1 881.8 21.4 512 5886 0.08 2.20 0.00 0.000 6 0.205 0.050 3497 1706 2296 0 0 0 0 0 0

6215 0.75 185.1 815.8 19.1 528 6219 0.00 2.15 0.00 0.000 4 0.000 0.042 3497 3113 2293 0 0 0 0 0 0

6236 0.74 185.1 811.0 20.2 529 6241 0.08 2.20 0.00 0.000 6 0.200 0.050 3488 1706 2293 0 0 0 0 0 0

6564 0.74 185.1 751.9 17.9 545 6565 0.00 0.00 0.00 0.000 6 0.000 0.000 3489 1705 2291 0 0 0 0 0 0

6873 0.74 185.1 695.5 18.7 560 6874 0.00 0.00 0.00 0.000 6 0.000 0.000 3488 1705 2290 0 0 0 0 0 0

7182 0.74 185.1 637.9 18.9 575 7186 0.00 2.17 0.00 0.000 4 0.000 0.043 3488 3107 2288 0 0 0 0 0 0

7253 0.74 185.1 623.9 18.3 578 7257 0.00 2.22 0.00 0.000 6 0.000 0.050 3498 1718 2288 0 0 0 0 0 0

7582 0.74 185.1 564.8 17.1 603 7586 0.00 2.12 0.00 0.000 4 0.000 0.042 3498 3110 2287 0 0 0 0 0 0

7648 0.74 185.1 552.8 17.6 608 7655 0.10 2.22 0.00 0.000 6 0.180 0.050 3482 1708 2287 0 0 0 0 0 0

7974 0.74 185.1 504.0 14.8 639 7978 0.00 2.25 0.00 0.000 4 0.000 0.060 3492 288 2286 0 0 0 0 0 0

8041 0.76 185.1 493.2 14.8 644 8047 0.00 2.15 0.00 0.000 6 0.000 0.034 3492 1706 2285 0 0 0 0 0 0

8366 0.76 185.1 443.9 15.4 675 8367 0.00 0.00 0.00 0.000 6 0.000 0.000 3492 1708 2285 0 0 0 0 0 0

8688 0.76 185.1 398.7 14.8 705 8694 0.00 0.00 0.00 0.000 6 0.000 0.000 3492 1708 2284 0 0 0 0 0 0

9015 0.78 189.9 351.7 13.5 736 9019 0.00 2.28 0.00 0.000 4 0.000 0.059 3503 285 2284 0 0 0 0 0 0

9059 0.79 189.9 344.5 15.8 739 9067 0.00 2.15 0.00 0.000 6 0.000 0.034 3503 1707 2284 0 0 0 0 0 0

9386 0.82 207.3 301.7 12.3 770 9410 0.00 2.20 15.20 0.737 4 0.000 0.041 3503 3114 2222 0 0 0 0 0 0

9489 0.84 207.3 287.0 14.4 786 9496 0.00 2.22 0.00 0.000 6 0.000 0.046 3512 1701 2222 0 0 0 0 0 0

9833 0.85 207.3 238.4 14.0 847 9840 0.00 2.15 0.00 0.000 4 0.000 0.039 3512 3112 2221 0 0 0 0 0 0

9887 0.87 207.3 230.7 14.9 856 9894 0.00 2.22 0.00 0.000 6 0.000 0.046 3523 1699 2221 0 0 0 0 0 0

10233 0.90 223.9 184.5 12.4 917 10252 0.00 0.00 16.08 0.635 6 0.000 0.000 3523 1698 2154 0 0 0 0 0 0

10594 0.96 254.4 137.4 11.1 980 10626 0.10 2.28 26.35 0.610 4 0.095 0.037 3602 3112 2029 0 0 0 0 0 0

10656 0.95 254.4 127.0 19.0 990 10663 0.20 2.22 0.00 0.000 6 0.147 0.045 3553 1707 2026 0 0 0 0 0 0

11004 1.02 289.4 85.2 10.7 1051 11043 0.10 2.22 29.10 0.560 4 0.093 0.037 3650 3106 1886 0 0 0 0 0 0

11086 1.00 289.4 71.6 17.3 1064 11093 0.30 2.22 0.00 0.000 6 0.144 0.042 3570 1693 1885 0 0 0 0 0 0

11432 1.02 289.4 15.3 17.2 1125 11438 0.00 2.20 0.00 0.000 4 0.000 0.054 3580 296 1883 0 0 0 0 0 0

11457 1.04 289.4 11.1 15.2 1129 11464 0.00 2.12 0.00 0.000 6 0.000 0.030 3581 1712 1882 0 0 0 0 0 0

11703 end climb: NO_VERTICAL_VELOCITY

state 11703 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	471	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	484	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	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	66	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	-3870.1897	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	101110,184637,2122.974,12601.243,45,1.1,46,-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	4.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101110,185202,2122.932,12601.287,9,2.0,9,-2.9	MHEAD_RNG_PITCHd_Wd	198.3,2471,-27.7,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.45,26.613,-0.370,0,1,0	_10V_AH	10.1,46.647
SM_CCo	11706,170.05,0.491,0,0,415,650.78	FG_AHR_24Vo	0.000
SM_GC	4.24,8.45,0.00,0.00,0.018,0.000,0.000,103,1535,410,-9.69,-0.40,652.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2115.63,12602.66,101110,151513	MEM	334008
TT8_MAMPS	0.026964	DATA_FILE_SIZE	66786,1173
HUMID	46.57	CAP_FILE_SIZE	135328,0
INTERNAL_PRESSURE	9.44372	CFSIZE	260165632,224641024
TCM_TEMP	25.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	9	CURRENT	0.174,119.4,1
_24V_AH	23.3,66.065	GPS	101110,221537,2120.595,12601.828,39,0.9,40,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	205	104.14	SBE_CT	797	24	446.17
Roll_motor	101	61	146.51	AA4330	0	0	0.00
VBD_pump_during_apogee	398	1220	11320.15	WL_BB2F	0	0	0.00
VBD_pump_during_surface	170	491	1945.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	45	0	0.00	nil	0	0	0.00
Iridium_during_xfer	127	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	22.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	0	0.00
TT8	2896	19	579.20
LPSleep	6470	2	143.13
TT8_Active	685	19	137.15
TT8_Sampling	2138	39	859.79
TT8_CF8	243	45	112.44
TT8_Kalman	0	0	0.00
Analog_circuits	1731	12	209.82
GPS_charging	0	0	0.00
Compass	1921	15	291.17
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.74	-102.9	0.0	0.0	0	25	0.00	0.00	-7.55	0.000	2	0.000	0.000	104	1578	653	0	0	0	0	0	0
28	-0.84	-185.1	4.3	-0.0	1	157	9.52	2.22	-110.07	0.000	4	0.161	0.062	2981	158	3824	0	0	0	0	0	0
271	-0.82	-185.1	46.8	-33.5	42	279	0.08	2.05	0.00	0.000	6	0.196	0.038	2990	1518	3825	0	0	0	0	0	0
615	-0.81	-185.1	157.6	-26.1	103	622	0.00	2.22	0.00	0.000	4	0.000	0.042	2980	2965	3824	0	0	0	0	0	0
674	-0.84	-185.1	171.4	-19.0	113	681	0.00	2.15	0.00	0.000	6	0.000	0.042	2980	1555	3825	0	0	0	0	0	0
1018	-0.84	-185.1	246.4	-21.0	174	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	1555	3826	0	0	0	0	0	0
1363	-0.85	-185.1	315.9	-19.6	229	1367	0.00	2.17	0.00	0.000	4	0.000	0.044	2970	2962	3826	0	0	0	0	0	0
1430	-0.90	-185.1	327.3	-15.7	234	1437	0.00	2.17	0.00	0.000	6	0.000	0.044	2970	1552	3826	0	0	0	0	0	0
1755	-0.92	-185.1	386.3	-18.1	265	1759	0.00	2.17	0.00	0.000	4	0.000	0.054	2970	159	3825	0	0	0	0	0	0
1818	-0.95	-185.1	398.2	-17.8	270	1822	0.00	2.10	0.00	0.000	6	0.000	0.039	2961	1543	3825	0	0	0	0	0	0
2144	-0.98	-185.1	456.3	-18.4	300	2149	0.08	2.20	0.00	0.000	4	0.125	0.044	2845	2960	3823	0	0	0	0	0	0
2199	-0.96	-185.1	469.4	-25.2	304	2206	0.30	2.20	0.00	0.000	6	0.116	0.044	2947	1542	3823	0	0	0	0	0	0
2525	-0.98	-185.1	531.1	-17.8	335	2528	0.00	2.12	0.00	0.000	4	0.000	0.054	2947	168	3820	0	0	0	0	0	0
2544	-1.00	-185.1	534.4	-18.3	336	2549	0.00	2.10	0.00	0.000	6	0.000	0.040	2937	1541	3820	0	0	0	0	0	0
2870	-1.01	-185.1	594.0	-18.1	366	2874	0.00	2.20	0.00	0.000	4	0.000	0.046	2926	2965	3818	0	0	0	0	0	0
2932	-1.06	-185.1	604.7	-15.7	370	2936	0.00	2.22	0.00	0.000	6	0.000	0.047	2926	1545	3817	0	0	0	0	0	0
3260	-1.07	-185.1	666.5	-19.0	386	3264	0.08	2.25	0.00	0.000	4	0.126	0.046	2803	2961	3814	0	0	0	0	0	0
3322	-1.04	-185.1	681.6	-25.9	389	3327	0.35	2.20	0.00	0.000	6	0.119	0.047	2920	1550	3813	0	0	0	0	0	0
3650	-1.05	-185.1	742.3	-17.6	405	3654	0.00	2.22	0.00	0.000	4	0.000	0.047	2910	2960	3809	0	0	0	0	0	0
3678	-1.08	-185.1	747.7	-17.4	406	3681	0.00	2.20	0.00	0.000	6	0.000	0.049	2909	1554	3809	0	0	0	0	0	0
4006	-1.09	-185.1	806.5	-17.9	422	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2909	1553	3806	0	0	0	0	0	0
4314	-1.10	-185.1	861.5	-17.5	437	4318	0.00	2.22	0.00	0.000	4	0.000	0.050	2899	2959	3802	0	0	0	0	0	0
4342	-1.12	-185.1	866.6	-17.6	438	4346	0.00	2.20	0.00	0.000	6	0.000	0.050	2899	1560	3802	0	0	0	0	0	0
4664	-1.13	-185.1	927.7	-19.3	454	4668	0.00	2.20	0.00	0.000	4	0.000	0.050	2888	2958	3798	0	0	0	0	0	0
4713	-1.15	-185.1	937.5	-17.9	456	4717	0.00	2.20	0.00	0.000	6	0.000	0.052	2889	1564	3798	0	0	0	0	0	0
5033	end dive: TARGET_DEPTH_EXCEEDED
state	5033	begin apogee
5040	0.00	0.0	1002.0	19.8	472	5197	1.02	0.00	152.15	1.220	4	0.099	0.000	3250	1721	3068	0	0	0	0	0	0
5198	end apogee: CONTROL_FINISHED_OK
state	5198	begin climb
5200	0.84	185.1	1011.0	0.0	479	5368	0.73	2.42	159.30	1.143	4	0.027	0.062	3573	293	2312	0	0	0	0	0	0
5426	0.78	185.1	977.4	26.0	490	5431	0.25	2.20	0.00	0.000	6	0.150	0.034	3503	1696	2305	0	0	0	0	0	0
5749	0.77	185.1	909.6	20.6	506	5753	0.00	2.15	0.00	0.000	4	0.000	0.042	3503	3106	2296	0	0	0	0	0	0
5881	0.76	185.1	881.8	21.4	512	5886	0.08	2.20	0.00	0.000	6	0.205	0.050	3497	1706	2296	0	0	0	0	0	0
6215	0.75	185.1	815.8	19.1	528	6219	0.00	2.15	0.00	0.000	4	0.000	0.042	3497	3113	2293	0	0	0	0	0	0
6236	0.74	185.1	811.0	20.2	529	6241	0.08	2.20	0.00	0.000	6	0.200	0.050	3488	1706	2293	0	0	0	0	0	0
6564	0.74	185.1	751.9	17.9	545	6565	0.00	0.00	0.00	0.000	6	0.000	0.000	3489	1705	2291	0	0	0	0	0	0
6873	0.74	185.1	695.5	18.7	560	6874	0.00	0.00	0.00	0.000	6	0.000	0.000	3488	1705	2290	0	0	0	0	0	0
7182	0.74	185.1	637.9	18.9	575	7186	0.00	2.17	0.00	0.000	4	0.000	0.043	3488	3107	2288	0	0	0	0	0	0
7253	0.74	185.1	623.9	18.3	578	7257	0.00	2.22	0.00	0.000	6	0.000	0.050	3498	1718	2288	0	0	0	0	0	0
7582	0.74	185.1	564.8	17.1	603	7586	0.00	2.12	0.00	0.000	4	0.000	0.042	3498	3110	2287	0	0	0	0	0	0
7648	0.74	185.1	552.8	17.6	608	7655	0.10	2.22	0.00	0.000	6	0.180	0.050	3482	1708	2287	0	0	0	0	0	0
7974	0.74	185.1	504.0	14.8	639	7978	0.00	2.25	0.00	0.000	4	0.000	0.060	3492	288	2286	0	0	0	0	0	0
8041	0.76	185.1	493.2	14.8	644	8047	0.00	2.15	0.00	0.000	6	0.000	0.034	3492	1706	2285	0	0	0	0	0	0
8366	0.76	185.1	443.9	15.4	675	8367	0.00	0.00	0.00	0.000	6	0.000	0.000	3492	1708	2285	0	0	0	0	0	0
8688	0.76	185.1	398.7	14.8	705	8694	0.00	0.00	0.00	0.000	6	0.000	0.000	3492	1708	2284	0	0	0	0	0	0
9015	0.78	189.9	351.7	13.5	736	9019	0.00	2.28	0.00	0.000	4	0.000	0.059	3503	285	2284	0	0	0	0	0	0
9059	0.79	189.9	344.5	15.8	739	9067	0.00	2.15	0.00	0.000	6	0.000	0.034	3503	1707	2284	0	0	0	0	0	0
9386	0.82	207.3	301.7	12.3	770	9410	0.00	2.20	15.20	0.737	4	0.000	0.041	3503	3114	2222	0	0	0	0	0	0
9489	0.84	207.3	287.0	14.4	786	9496	0.00	2.22	0.00	0.000	6	0.000	0.046	3512	1701	2222	0	0	0	0	0	0
9833	0.85	207.3	238.4	14.0	847	9840	0.00	2.15	0.00	0.000	4	0.000	0.039	3512	3112	2221	0	0	0	0	0	0
9887	0.87	207.3	230.7	14.9	856	9894	0.00	2.22	0.00	0.000	6	0.000	0.046	3523	1699	2221	0	0	0	0	0	0
10233	0.90	223.9	184.5	12.4	917	10252	0.00	0.00	16.08	0.635	6	0.000	0.000	3523	1698	2154	0	0	0	0	0	0
10594	0.96	254.4	137.4	11.1	980	10626	0.10	2.28	26.35	0.610	4	0.095	0.037	3602	3112	2029	0	0	0	0	0	0
10656	0.95	254.4	127.0	19.0	990	10663	0.20	2.22	0.00	0.000	6	0.147	0.045	3553	1707	2026	0	0	0	0	0	0
11004	1.02	289.4	85.2	10.7	1051	11043	0.10	2.22	29.10	0.560	4	0.093	0.037	3650	3106	1886	0	0	0	0	0	0
11086	1.00	289.4	71.6	17.3	1064	11093	0.30	2.22	0.00	0.000	6	0.144	0.042	3570	1693	1885	0	0	0	0	0	0
11432	1.02	289.4	15.3	17.2	1125	11438	0.00	2.20	0.00	0.000	4	0.000	0.054	3580	296	1883	0	0	0	0	0	0
11457	1.04	289.4	11.1	15.2	1129	11464	0.00	2.12	0.00	0.000	6	0.000	0.030	3581	1712	1882	0	0	0	0	0	0
11703	end climb: NO_VERTICAL_VELOCITY
state	11703	begin surface