Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 474 * 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 474 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 43 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 -3875.3877 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 -3875.3877

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 34 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 43 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 474 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 111110,062007,2122.154,12600.549,27,1.1,27,-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 4.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111110,062532,2122.123,12600.517,17,1.6,17,-2.9 MHEAD_RNG_PITCHd_Wd 105.9,1526,-27.7,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.65,26.519,-1.899,0,1,0 _10V_AH 10.1,46.873

SM_CCo 11464,163.88,0.496,0,0,415,650.78 FG_AHR_24Vo 0.000

SM_GC 4.35,8.40,0.00,0.00,0.019,0.000,0.000,104,1547,409,-9.70,-0.08,652.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12556.20,111110,020248 MEM 334004

TT8_MAMPS 0.026964 DATA_FILE_SIZE 66889,1150

HUMID 47.12 CAP_FILE_SIZE 129849,0

INTERNAL_PRESSURE 9.43396 CFSIZE 260165632,224423936

TCM_TEMP 24.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 8 CURRENT 0.077,255.1,1

_24V_AH 23.1,66.585 GPS 111110,094522,2121.713,12601.917,9,3.7,28,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 211 106.10 SBE_CT 782 24 433.67

Roll_motor 96 65 146.77 AA4330 0 0 0.00

VBD_pump_during_apogee 408 1213 11450.43 WL_BB2F 0 0 0.00

VBD_pump_during_surface 163 496 1879.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 0 0.00 nil 0 0 0.00

Iridium_during_connect 40 0 0.00 nil 0 0 0.00

Iridium_during_xfer 124 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 19.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 0 0.00

TT8 2803 19 560.55

LPSleep 6405 2 141.68

TT8_Active 696 19 139.22

TT8_Sampling 2077 39 835.02

TT8_CF8 237 45 109.90

TT8_Kalman 0 0 0.00

Analog_circuits 1714 12 207.79

GPS_charging 0 0 0.00

Compass 1860 15 281.83

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 24 0.00 0.00 -6.70 0.000 2 0.000 0.000 105 1536 622 0 0 0 0 0 0

27 -0.84 -185.1 4.4 -0.0 1 164 9.50 2.15 -118.20 0.000 4 0.158 0.063 2989 172 3823 0 0 0 0 0 0

204 -0.83 -185.1 18.5 -28.1 30 211 0.00 2.10 0.00 0.000 6 0.000 0.037 2980 1542 3823 0 0 0 0 0 0

547 -0.80 -185.1 136.8 -29.3 91 554 0.08 2.20 0.00 0.000 4 0.212 0.040 2988 2964 3824 0 0 0 0 0 0

588 -0.80 -185.1 149.5 -28.7 98 595 0.00 2.20 0.00 0.000 6 0.000 0.047 2988 1556 3824 0 0 0 0 0 0

932 -0.81 -185.1 223.3 -21.5 159 939 0.00 2.17 0.00 0.000 4 0.000 0.053 2988 162 3825 0 0 0 0 0 0

974 -0.82 -185.1 232.6 -22.3 166 980 0.00 2.12 0.00 0.000 6 0.000 0.038 2978 1559 3825 0 0 0 0 0 0

1321 -0.83 -185.1 304.5 -18.1 226 1322 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 1562 3825 0 0 0 0 0 0

1643 -0.86 -185.1 361.4 -17.1 256 1650 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 1562 3825 0 0 0 0 0 0

1970 -0.89 -185.1 415.5 -16.5 287 1971 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 1562 3824 0 0 0 0 0 0

2290 -0.93 -185.1 465.5 -15.0 317 2294 0.10 2.20 0.00 0.000 4 0.093 0.055 2845 164 3822 0 0 0 0 0 0

2307 -0.94 -185.1 469.1 -16.4 318 2312 0.35 2.12 0.00 0.000 6 0.132 0.039 2947 1564 3822 0 0 0 0 0 0

2633 -0.96 -185.1 532.3 -18.2 348 2637 0.00 2.15 0.00 0.000 4 0.000 0.046 2937 2958 3819 0 0 0 0 0 0

2722 -1.01 -185.1 547.3 -15.6 355 2729 0.00 2.15 0.00 0.000 6 0.000 0.046 2937 1567 3819 0 0 0 0 0 0

3049 -1.03 -185.1 605.2 -17.8 385 3050 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1567 3817 0 0 0 0 0 0

3356 -1.05 -185.1 657.9 -16.8 400 3361 0.08 2.20 0.00 0.000 4 0.125 0.048 2823 2958 3813 0 0 0 0 0 0

3389 -1.02 -185.1 665.3 -23.0 401 3396 0.30 2.17 0.00 0.000 6 0.119 0.048 2923 1562 3813 0 0 0 0 0 0

3705 -1.04 -185.1 724.9 -18.3 417 3709 0.00 2.17 0.00 0.000 4 0.000 0.049 2913 2958 3809 0 0 0 0 0 0

3733 -1.07 -185.1 730.3 -18.3 418 3738 0.00 2.17 0.00 0.000 6 0.000 0.050 2913 1570 3809 0 0 0 0 0 0

4050 -1.08 -185.1 787.5 -17.9 433 4054 0.00 2.17 0.00 0.000 4 0.000 0.048 2903 2957 3806 0 0 0 0 0 0

4090 -1.11 -185.1 794.7 -17.5 435 4094 0.00 2.17 0.00 0.000 6 0.000 0.050 2903 1571 3806 0 0 0 0 0 0

4418 -1.12 -185.1 853.7 -17.6 451 4422 0.00 2.25 0.00 0.000 4 0.000 0.061 2902 165 3803 0 0 0 0 0 0

4435 -1.12 -185.1 857.1 -18.0 452 4439 0.00 2.17 0.00 0.000 6 0.000 0.043 2891 1568 3802 0 0 0 0 0 0

4768 -1.12 -185.1 918.9 -18.8 468 4772 0.00 2.17 0.00 0.000 4 0.000 0.051 2881 2960 3799 0 0 0 0 0 0

4783 -1.12 -185.1 922.1 -18.6 468 4791 0.00 2.22 0.00 0.000 6 0.000 0.050 2881 1573 3799 0 0 0 0 0 0

5099 -1.12 -185.1 984.1 -19.8 484 5100 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 1572 3796 0 0 0 0 0 0

5179 end dive: TARGET_DEPTH_EXCEEDED

state 5180 begin apogee

5186 0.00 0.0 1000.4 19.6 488 5344 1.05 0.00 151.77 1.213 4 0.102 0.000 3248 1716 3068 0 0 0 0 0 0

5345 end apogee: CONTROL_FINISHED_OK

state 5345 begin climb

5347 0.84 185.1 1007.8 0.0 495 5518 0.73 2.28 161.23 1.139 4 0.027 0.048 3568 3100 2313 0 0 0 0 0 0

5688 0.79 185.1 941.4 26.3 511 5693 0.25 2.25 0.00 0.000 6 0.163 0.047 3508 1690 2303 0 0 0 0 0 0

6016 0.77 185.1 867.6 22.4 527 6018 0.00 0.00 0.00 0.000 6 0.000 0.000 3509 1690 2298 0 0 0 0 0 0

6324 0.75 185.1 798.9 21.7 542 6328 0.00 2.17 0.00 0.000 4 0.000 0.041 3508 3102 2297 0 0 0 0 0 0

6341 0.73 185.1 795.0 21.7 542 6348 0.12 2.20 0.00 0.000 6 0.169 0.047 3484 1699 2297 0 0 0 0 0 0

6657 0.73 185.1 734.3 19.1 558 6660 0.00 2.17 0.00 0.000 4 0.000 0.042 3484 3105 2294 0 0 0 0 0 0

6723 0.73 185.1 721.6 18.1 561 6727 0.00 2.22 0.00 0.000 6 0.000 0.049 3493 1704 2294 0 0 0 0 0 0

7045 0.73 185.1 663.3 17.8 577 7046 0.00 0.00 0.00 0.000 6 0.000 0.000 3493 1703 2293 0 0 0 0 0 0

7354 0.73 185.1 606.9 18.1 592 7358 0.00 2.17 0.00 0.000 4 0.000 0.042 3493 3106 2291 0 0 0 0 0 0

7439 0.73 185.1 591.5 18.6 598 7443 0.08 2.20 0.00 0.000 6 0.195 0.050 3486 1706 2292 0 0 0 0 0 0

7765 0.73 185.1 536.6 16.4 628 7768 0.00 2.15 0.00 0.000 4 0.000 0.043 3486 3101 2290 0 0 0 0 0 0

7844 0.74 185.1 522.9 17.1 635 7848 0.00 2.17 0.00 0.000 6 0.000 0.050 3495 1714 2290 0 0 0 0 0 0

8170 0.74 185.1 470.7 16.7 665 8171 0.00 0.00 0.00 0.000 6 0.000 0.000 3496 1714 2289 0 0 0 0 0 0

8490 0.74 185.1 416.7 16.4 695 8494 0.00 2.12 0.00 0.000 4 0.000 0.041 3496 3102 2288 0 0 0 0 0 0

8510 0.74 185.1 412.4 18.6 696 8519 0.05 2.22 0.00 0.000 6 0.151 0.048 3488 1715 2288 0 0 0 0 0 0

8837 0.75 185.6 364.3 13.9 727 8841 0.00 2.12 0.00 0.000 4 0.000 0.041 3488 3106 2288 0 0 0 0 0 0

8858 0.77 185.6 360.9 14.2 728 8866 0.00 2.17 0.00 0.000 6 0.000 0.047 3498 1716 2288 0 0 0 0 0 0

9184 0.78 187.1 314.4 13.8 759 9188 0.00 2.12 0.00 0.000 4 0.000 0.041 3497 3108 2288 0 0 0 0 0 0

9263 0.79 187.1 303.0 15.4 766 9267 0.00 2.15 0.00 0.000 6 0.000 0.047 3508 1724 2287 0 0 0 0 0 0

9602 0.79 187.1 255.0 15.4 824 9609 0.00 2.28 0.00 0.000 4 0.000 0.056 3519 292 2288 0 0 0 0 0 0

9644 0.79 187.1 248.6 15.1 831 9651 0.00 2.15 0.00 0.000 6 0.000 0.032 3519 1719 2287 0 0 0 0 0 0

9989 0.79 188.8 200.8 13.7 892 9995 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 1720 2287 0 0 0 0 0 0

10334 0.86 236.5 158.2 9.6 953 10383 0.00 2.30 40.12 0.644 4 0.000 0.055 3529 294 2102 0 0 0 0 0 0

10415 0.94 273.0 149.4 10.6 966 10453 0.08 2.17 30.45 0.622 6 0.116 0.031 3614 1729 1954 0 0 0 0 0 0

10789 0.93 273.0 85.0 15.6 1032 10797 0.22 2.28 0.00 0.000 4 0.138 0.051 3554 293 1947 0 0 0 0 0 0

10838 1.00 303.0 78.7 11.2 1040 10871 0.08 2.15 24.98 0.561 6 0.118 0.031 3645 1726 1831 0 0 0 0 0 0

11208 1.00 303.0 3.6 19.7 1105 11215 0.22 2.15 0.00 0.000 4 0.074 0.047 3547 3100 1825 0 0 0 0 0 0

11461 end climb: NO_VERTICAL_VELOCITY

state 11461 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	474	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	43	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	-3875.3877	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	111110,062007,2122.154,12600.549,27,1.1,27,-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	4.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111110,062532,2122.123,12600.517,17,1.6,17,-2.9	MHEAD_RNG_PITCHd_Wd	105.9,1526,-27.7,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.65,26.519,-1.899,0,1,0	_10V_AH	10.1,46.873
SM_CCo	11464,163.88,0.496,0,0,415,650.78	FG_AHR_24Vo	0.000
SM_GC	4.35,8.40,0.00,0.00,0.019,0.000,0.000,104,1547,409,-9.70,-0.08,652.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12556.20,111110,020248	MEM	334004
TT8_MAMPS	0.026964	DATA_FILE_SIZE	66889,1150
HUMID	47.12	CAP_FILE_SIZE	129849,0
INTERNAL_PRESSURE	9.43396	CFSIZE	260165632,224423936
TCM_TEMP	24.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	8	CURRENT	0.077,255.1,1
_24V_AH	23.1,66.585	GPS	111110,094522,2121.713,12601.917,9,3.7,28,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	211	106.10	SBE_CT	782	24	433.67
Roll_motor	96	65	146.77	AA4330	0	0	0.00
VBD_pump_during_apogee	408	1213	11450.43	WL_BB2F	0	0	0.00
VBD_pump_during_surface	163	496	1879.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	0	0.00	nil	0	0	0.00
Iridium_during_connect	40	0	0.00	nil	0	0	0.00
Iridium_during_xfer	124	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	19.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	0	0.00
TT8	2803	19	560.55
LPSleep	6405	2	141.68
TT8_Active	696	19	139.22
TT8_Sampling	2077	39	835.02
TT8_CF8	237	45	109.90
TT8_Kalman	0	0	0.00
Analog_circuits	1714	12	207.79
GPS_charging	0	0	0.00
Compass	1860	15	281.83
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	24	0.00	0.00	-6.70	0.000	2	0.000	0.000	105	1536	622	0	0	0	0	0	0
27	-0.84	-185.1	4.4	-0.0	1	164	9.50	2.15	-118.20	0.000	4	0.158	0.063	2989	172	3823	0	0	0	0	0	0
204	-0.83	-185.1	18.5	-28.1	30	211	0.00	2.10	0.00	0.000	6	0.000	0.037	2980	1542	3823	0	0	0	0	0	0
547	-0.80	-185.1	136.8	-29.3	91	554	0.08	2.20	0.00	0.000	4	0.212	0.040	2988	2964	3824	0	0	0	0	0	0
588	-0.80	-185.1	149.5	-28.7	98	595	0.00	2.20	0.00	0.000	6	0.000	0.047	2988	1556	3824	0	0	0	0	0	0
932	-0.81	-185.1	223.3	-21.5	159	939	0.00	2.17	0.00	0.000	4	0.000	0.053	2988	162	3825	0	0	0	0	0	0
974	-0.82	-185.1	232.6	-22.3	166	980	0.00	2.12	0.00	0.000	6	0.000	0.038	2978	1559	3825	0	0	0	0	0	0
1321	-0.83	-185.1	304.5	-18.1	226	1322	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	1562	3825	0	0	0	0	0	0
1643	-0.86	-185.1	361.4	-17.1	256	1650	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	1562	3825	0	0	0	0	0	0
1970	-0.89	-185.1	415.5	-16.5	287	1971	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	1562	3824	0	0	0	0	0	0
2290	-0.93	-185.1	465.5	-15.0	317	2294	0.10	2.20	0.00	0.000	4	0.093	0.055	2845	164	3822	0	0	0	0	0	0
2307	-0.94	-185.1	469.1	-16.4	318	2312	0.35	2.12	0.00	0.000	6	0.132	0.039	2947	1564	3822	0	0	0	0	0	0
2633	-0.96	-185.1	532.3	-18.2	348	2637	0.00	2.15	0.00	0.000	4	0.000	0.046	2937	2958	3819	0	0	0	0	0	0
2722	-1.01	-185.1	547.3	-15.6	355	2729	0.00	2.15	0.00	0.000	6	0.000	0.046	2937	1567	3819	0	0	0	0	0	0
3049	-1.03	-185.1	605.2	-17.8	385	3050	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1567	3817	0	0	0	0	0	0
3356	-1.05	-185.1	657.9	-16.8	400	3361	0.08	2.20	0.00	0.000	4	0.125	0.048	2823	2958	3813	0	0	0	0	0	0
3389	-1.02	-185.1	665.3	-23.0	401	3396	0.30	2.17	0.00	0.000	6	0.119	0.048	2923	1562	3813	0	0	0	0	0	0
3705	-1.04	-185.1	724.9	-18.3	417	3709	0.00	2.17	0.00	0.000	4	0.000	0.049	2913	2958	3809	0	0	0	0	0	0
3733	-1.07	-185.1	730.3	-18.3	418	3738	0.00	2.17	0.00	0.000	6	0.000	0.050	2913	1570	3809	0	0	0	0	0	0
4050	-1.08	-185.1	787.5	-17.9	433	4054	0.00	2.17	0.00	0.000	4	0.000	0.048	2903	2957	3806	0	0	0	0	0	0
4090	-1.11	-185.1	794.7	-17.5	435	4094	0.00	2.17	0.00	0.000	6	0.000	0.050	2903	1571	3806	0	0	0	0	0	0
4418	-1.12	-185.1	853.7	-17.6	451	4422	0.00	2.25	0.00	0.000	4	0.000	0.061	2902	165	3803	0	0	0	0	0	0
4435	-1.12	-185.1	857.1	-18.0	452	4439	0.00	2.17	0.00	0.000	6	0.000	0.043	2891	1568	3802	0	0	0	0	0	0
4768	-1.12	-185.1	918.9	-18.8	468	4772	0.00	2.17	0.00	0.000	4	0.000	0.051	2881	2960	3799	0	0	0	0	0	0
4783	-1.12	-185.1	922.1	-18.6	468	4791	0.00	2.22	0.00	0.000	6	0.000	0.050	2881	1573	3799	0	0	0	0	0	0
5099	-1.12	-185.1	984.1	-19.8	484	5100	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	1572	3796	0	0	0	0	0	0
5179	end dive: TARGET_DEPTH_EXCEEDED
state	5180	begin apogee
5186	0.00	0.0	1000.4	19.6	488	5344	1.05	0.00	151.77	1.213	4	0.102	0.000	3248	1716	3068	0	0	0	0	0	0
5345	end apogee: CONTROL_FINISHED_OK
state	5345	begin climb
5347	0.84	185.1	1007.8	0.0	495	5518	0.73	2.28	161.23	1.139	4	0.027	0.048	3568	3100	2313	0	0	0	0	0	0
5688	0.79	185.1	941.4	26.3	511	5693	0.25	2.25	0.00	0.000	6	0.163	0.047	3508	1690	2303	0	0	0	0	0	0
6016	0.77	185.1	867.6	22.4	527	6018	0.00	0.00	0.00	0.000	6	0.000	0.000	3509	1690	2298	0	0	0	0	0	0
6324	0.75	185.1	798.9	21.7	542	6328	0.00	2.17	0.00	0.000	4	0.000	0.041	3508	3102	2297	0	0	0	0	0	0
6341	0.73	185.1	795.0	21.7	542	6348	0.12	2.20	0.00	0.000	6	0.169	0.047	3484	1699	2297	0	0	0	0	0	0
6657	0.73	185.1	734.3	19.1	558	6660	0.00	2.17	0.00	0.000	4	0.000	0.042	3484	3105	2294	0	0	0	0	0	0
6723	0.73	185.1	721.6	18.1	561	6727	0.00	2.22	0.00	0.000	6	0.000	0.049	3493	1704	2294	0	0	0	0	0	0
7045	0.73	185.1	663.3	17.8	577	7046	0.00	0.00	0.00	0.000	6	0.000	0.000	3493	1703	2293	0	0	0	0	0	0
7354	0.73	185.1	606.9	18.1	592	7358	0.00	2.17	0.00	0.000	4	0.000	0.042	3493	3106	2291	0	0	0	0	0	0
7439	0.73	185.1	591.5	18.6	598	7443	0.08	2.20	0.00	0.000	6	0.195	0.050	3486	1706	2292	0	0	0	0	0	0
7765	0.73	185.1	536.6	16.4	628	7768	0.00	2.15	0.00	0.000	4	0.000	0.043	3486	3101	2290	0	0	0	0	0	0
7844	0.74	185.1	522.9	17.1	635	7848	0.00	2.17	0.00	0.000	6	0.000	0.050	3495	1714	2290	0	0	0	0	0	0
8170	0.74	185.1	470.7	16.7	665	8171	0.00	0.00	0.00	0.000	6	0.000	0.000	3496	1714	2289	0	0	0	0	0	0
8490	0.74	185.1	416.7	16.4	695	8494	0.00	2.12	0.00	0.000	4	0.000	0.041	3496	3102	2288	0	0	0	0	0	0
8510	0.74	185.1	412.4	18.6	696	8519	0.05	2.22	0.00	0.000	6	0.151	0.048	3488	1715	2288	0	0	0	0	0	0
8837	0.75	185.6	364.3	13.9	727	8841	0.00	2.12	0.00	0.000	4	0.000	0.041	3488	3106	2288	0	0	0	0	0	0
8858	0.77	185.6	360.9	14.2	728	8866	0.00	2.17	0.00	0.000	6	0.000	0.047	3498	1716	2288	0	0	0	0	0	0
9184	0.78	187.1	314.4	13.8	759	9188	0.00	2.12	0.00	0.000	4	0.000	0.041	3497	3108	2288	0	0	0	0	0	0
9263	0.79	187.1	303.0	15.4	766	9267	0.00	2.15	0.00	0.000	6	0.000	0.047	3508	1724	2287	0	0	0	0	0	0
9602	0.79	187.1	255.0	15.4	824	9609	0.00	2.28	0.00	0.000	4	0.000	0.056	3519	292	2288	0	0	0	0	0	0
9644	0.79	187.1	248.6	15.1	831	9651	0.00	2.15	0.00	0.000	6	0.000	0.032	3519	1719	2287	0	0	0	0	0	0
9989	0.79	188.8	200.8	13.7	892	9995	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	1720	2287	0	0	0	0	0	0
10334	0.86	236.5	158.2	9.6	953	10383	0.00	2.30	40.12	0.644	4	0.000	0.055	3529	294	2102	0	0	0	0	0	0
10415	0.94	273.0	149.4	10.6	966	10453	0.08	2.17	30.45	0.622	6	0.116	0.031	3614	1729	1954	0	0	0	0	0	0
10789	0.93	273.0	85.0	15.6	1032	10797	0.22	2.28	0.00	0.000	4	0.138	0.051	3554	293	1947	0	0	0	0	0	0
10838	1.00	303.0	78.7	11.2	1040	10871	0.08	2.15	24.98	0.561	6	0.118	0.031	3645	1726	1831	0	0	0	0	0	0
11208	1.00	303.0	3.6	19.7	1105	11215	0.22	2.15	0.00	0.000	4	0.074	0.047	3547	3100	1825	0	0	0	0	0	0
11461	end climb: NO_VERTICAL_VELOCITY
state	11461	begin surface