Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 779 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 779 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 616.91943 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 300 CAPUPLOAD 0 VBD_TIMEOUT 360 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 4 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 -2 T_GPS_CHARGE -20510.303 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 616.91943

AH0_24V 134.3 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 4 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 4

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 -20510.303

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 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 1.5 T_WATCHDOG 10

C_PITCH 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 R_PORT_OVSHOOT 50 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 779 NAV_MODE 2 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 190111,061020,-7633.324,17552.943,28,2.0,29,124.1 TGT_NAME CORNER_SW

_CALLS 3 TGT_LATLONG -7655.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.98 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 190111,062102,-7633.400,17552.943,38,1.6,38,124.1 MHEAD_RNG_PITCHd_Wd 128.2,45748,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 381

Post-dive calculations and measurements:

FREEZE -0.04,0.073,-1.891,2,2,0 _24V_AH 21.8,82.319

FINISH -0.0,1.027665 _10V_AH 9.7,32.635

SM_CCo 6915,226.20,0.099,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.73,0.00,0.00,226.20,0.000,0.000,0.099,178,2755,445,-8.19,-0.71,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17550.25,190111,060628 MEM 258196

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50371,770

HUMID 50.19 CAP_FILE_SIZE 98121,0

INTERNAL_PRESSURE 8.63314 CFSIZE 260165632,216313856

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.238,157.8,1

ALTIM_TOP_PING 19.5,19.6 GPS 190111,082138,-7634.529,17550.443,23,1.7,24,124.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 208 83.77 SBE_CT 540 24 282.57

Roll_motor 52 68 79.17 AA4330 988 33 711.27

VBD_pump_during_apogee 328 980 7032.92 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 226 98 486.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 86 103 193.32 nil 0 0 0.00

Iridium_during_connect 225 160 786.01 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 9.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 50 19.68

TT8 1938 19 372.33

LPSleep 3185 2 67.68

TT8_Active 651 19 125.22

TT8_Sampling 1706 39 658.81

TT8_CF8 304 45 135.46

TT8_Kalman 0 0 0.00

Analog_circuits 1392 12 162.04

GPS_charging 0 0 0.00

Compass 1279 15 186.11

RAFOS 0 0 0.00

Transponder 7 30 2.26

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 14 begin dive

17 -0.71 -170.3 0.0 0.0 0 93 0.00 0.00 -74.05 0.000 2 0.000 0.000 174 2780 3509 0 0 0 0 0 0

97 -0.71 -170.3 3.8 -6.6 12 118 9.25 2.25 -3.03 0.000 4 0.209 0.042 2566 1370 3658 0 0 0 0 0 0

192 -0.71 -170.3 25.9 -13.3 28 198 0.00 2.30 0.00 0.000 6 0.000 0.043 2562 2779 3661 0 0 0 0 0 0

334 -0.71 -170.3 46.0 -14.1 53 341 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2779 3662 0 0 0 0 0 0

477 -0.71 -170.3 64.9 -13.4 78 484 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2779 3662 0 0 0 0 0 0

621 -0.71 -170.3 83.1 -11.5 103 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2779 3662 0 0 0 0 0 0

768 -0.71 -170.3 103.2 -12.8 127 772 0.00 1.62 0.00 0.000 4 0.000 0.050 2562 3765 3662 0 0 0 0 0 0

807 -0.71 -170.3 109.0 -14.0 130 815 0.00 1.55 0.00 0.000 6 0.000 0.028 2562 2780 3662 0 0 0 0 0 0

943 -0.71 -170.3 126.7 -13.5 143 944 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2780 3662 0 0 0 0 0 0

1070 -0.71 -170.3 143.9 -13.4 155 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2780 3663 0 0 0 0 0 0

1198 -0.71 -170.3 161.2 -13.7 167 1199 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2780 3662 0 0 0 0 0 0

1324 -0.71 -170.3 178.0 -13.4 179 1328 0.00 1.62 0.00 0.000 4 0.000 0.050 2562 3789 3663 0 0 0 0 0 0

1383 -0.71 -170.3 186.0 -13.7 184 1387 0.00 1.58 0.00 0.000 6 0.000 0.028 2562 2780 3663 0 0 0 0 0 0

1524 -0.71 -170.3 204.5 -12.8 197 1525 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2780 3663 0 0 0 0 0 0

1651 -0.71 -170.3 220.5 -12.7 209 1652 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2780 3663 0 0 0 0 0 0

1778 -0.71 -170.3 236.0 -11.7 221 1782 0.00 1.62 0.00 0.000 4 0.000 0.051 2563 3764 3662 0 0 1 0 0 0

1814 -0.71 -170.3 240.3 -11.7 224 1818 0.00 1.52 0.00 0.000 6 0.000 0.029 2562 2790 3662 0 0 0 0 0 0

1954 -0.71 -170.3 257.2 -12.3 237 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2790 3662 0 0 0 0 0 0

2149 -0.71 -170.3 281.9 -12.8 255 2152 0.00 1.60 0.00 0.000 4 0.000 0.050 2562 3761 3662 0 0 0 0 0 0

2206 -0.71 -170.3 290.1 -13.7 260 2210 0.00 1.52 0.00 0.000 6 0.000 0.029 2562 2786 3663 0 0 0 0 0 0

2411 -0.71 -170.3 316.7 -12.8 279 2412 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3663 0 0 0 0 0 0

2601 -0.71 -170.3 339.5 -11.7 297 2603 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2785 3662 0 0 0 0 0 0

2794 -0.71 -170.3 362.1 -11.7 315 2798 0.00 1.60 0.00 0.000 4 0.000 0.050 2562 3754 3662 0 0 0 0 0 0

2832 -0.71 -170.3 367.4 -12.8 318 2840 0.00 1.50 0.00 0.000 6 0.000 0.029 2562 2799 3662 0 0 0 0 0 0

2953 end dive: TARGET_DEPTH_EXCEEDED

state 2953 begin apogee

2961 -0.16 0.0 382.5 13.0 330 3108 0.55 0.00 139.77 0.981 4 0.118 0.000 2746 2683 2958 0 0 0 0 0 0

3109 end apogee: CONTROL_FINISHED_OK

state 3109 begin climb

3111 0.71 170.3 389.7 0.0 343 3274 0.85 2.33 151.23 0.933 4 0.071 0.032 3032 1299 2266 0 0 0 0 0 0

3471 0.72 180.8 367.5 9.6 374 3490 0.00 2.40 10.07 0.838 6 0.000 0.040 3033 2706 2222 0 0 0 0 0 0

3684 0.72 180.8 344.3 11.3 394 3688 0.00 2.28 0.00 0.000 4 0.000 0.035 3043 1309 2220 0 0 0 0 0 0

3894 0.72 180.8 321.7 10.2 412 3901 0.00 2.30 0.00 0.000 6 0.000 0.042 3043 2711 2218 0 0 0 0 0 0

4093 0.72 180.8 299.5 11.3 431 4097 0.00 1.73 0.00 0.000 4 0.000 0.049 3042 3761 2218 0 0 0 0 0 0

4143 0.72 180.8 293.0 13.1 435 4151 0.00 1.65 0.00 0.000 6 0.000 0.030 3051 2699 2217 0 0 0 0 0 0

4342 0.72 180.8 270.9 10.9 454 4343 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2699 2217 0 0 0 0 0 0

4535 0.72 180.8 251.2 10.1 472 4538 0.00 1.70 0.00 0.000 4 0.000 0.048 3051 3761 2217 0 0 0 0 0 0

4618 0.72 180.8 241.6 11.8 479 4626 0.00 1.65 0.00 0.000 6 0.000 0.031 3059 2717 2216 0 0 0 0 0 0

4754 0.74 191.0 228.5 9.6 492 4765 0.00 0.00 9.60 0.841 6 0.000 0.000 3059 2718 2181 0 0 0 0 0 0

4890 0.74 191.0 214.4 10.7 505 4894 0.00 1.67 0.00 0.000 4 0.000 0.048 3059 3761 2181 0 0 0 0 0 0

4963 0.74 191.0 205.0 13.2 511 4971 0.08 1.60 0.00 0.000 6 0.144 0.031 3040 2735 2181 0 0 1 0 0 0

5098 0.74 191.0 191.2 10.3 524 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2735 2181 0 0 0 0 0 0

5226 0.74 191.0 177.8 10.6 536 5230 0.00 1.67 0.00 0.000 4 0.000 0.050 3039 3749 2181 0 0 0 0 0 0

5275 0.74 191.0 171.7 12.2 540 5282 0.00 1.60 0.00 0.000 6 0.000 0.030 3046 2732 2180 0 0 0 0 0 0

5410 0.74 191.0 156.9 11.2 553 5411 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2732 2181 0 0 0 0 0 0

5538 0.74 191.0 142.4 11.3 565 5539 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2732 2181 0 0 0 0 0 0

5664 0.74 191.0 127.9 11.4 577 5667 0.00 1.65 0.00 0.000 4 0.000 0.049 3046 3762 2180 0 0 0 0 0 0

5722 0.74 191.0 120.7 12.9 582 5726 0.00 1.60 0.00 0.000 6 0.000 0.031 3052 2748 2180 0 0 0 0 0 0

5863 0.74 191.0 104.9 10.7 595 5864 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2747 2180 0 0 0 0 0 0

5993 0.74 191.0 91.4 10.2 614 6000 0.00 1.67 0.00 0.000 4 0.000 0.048 3052 3764 2180 0 0 0 0 0 0

6034 0.74 191.0 86.8 11.6 621 6041 0.00 1.60 0.00 0.000 6 0.000 0.031 3059 2749 2180 0 0 0 0 0 0

6178 0.74 191.0 72.4 10.1 646 6184 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2749 2180 0 0 0 0 0 0

6319 0.74 191.0 57.6 10.4 671 6326 0.00 1.65 0.00 0.000 4 0.000 0.048 3059 3753 2179 0 0 0 0 0 0

6368 0.74 191.0 52.1 11.3 679 6376 0.08 1.58 0.00 0.000 6 0.142 0.030 3040 2757 2180 0 0 0 0 0 0

6514 0.75 203.4 38.5 9.5 704 6533 0.00 0.00 12.68 0.772 6 0.000 0.000 3040 2757 2130 0 0 0 0 0 0

6671 0.75 203.4 22.8 10.3 731 6678 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2757 2130 0 0 0 0 0 0

6817 0.76 207.9 8.7 9.8 756 6825 0.00 0.00 5.60 0.669 6 0.000 0.000 3040 2757 2111 0 0 0 0 0 0

6867 end climb: SURFACE_DEPTH_REACHED

state 6867 begin surface coast

6897 end surface coast: CONTROL_FINISHED_OK

state 6897 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	779	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	616.91943	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	300	CAPUPLOAD	0	VBD_TIMEOUT	360	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	4	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	-2	T_GPS_CHARGE	-20510.303	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	2	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	190111,061020,-7633.324,17552.943,28,2.0,29,124.1	TGT_NAME	CORNER_SW
_CALLS	3	TGT_LATLONG	-7655.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	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	190111,062102,-7633.400,17552.943,38,1.6,38,124.1	MHEAD_RNG_PITCHd_Wd	128.2,45748,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	381

FREEZE	-0.04,0.073,-1.891,2,2,0	_24V_AH	21.8,82.319
FINISH	-0.0,1.027665	_10V_AH	9.7,32.635
SM_CCo	6915,226.20,0.099,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.73,0.00,0.00,226.20,0.000,0.000,0.099,178,2755,445,-8.19,-0.71,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17550.25,190111,060628	MEM	258196
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50371,770
HUMID	50.19	CAP_FILE_SIZE	98121,0
INTERNAL_PRESSURE	8.63314	CFSIZE	260165632,216313856
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.238,157.8,1
ALTIM_TOP_PING	19.5,19.6	GPS	190111,082138,-7634.529,17550.443,23,1.7,24,124.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	208	83.77	SBE_CT	540	24	282.57
Roll_motor	52	68	79.17	AA4330	988	33	711.27
VBD_pump_during_apogee	328	980	7032.92	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	226	98	486.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	86	103	193.32	nil	0	0	0.00
Iridium_during_connect	225	160	786.01	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	9.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	50	19.68
TT8	1938	19	372.33
LPSleep	3185	2	67.68
TT8_Active	651	19	125.22
TT8_Sampling	1706	39	658.81
TT8_CF8	304	45	135.46
TT8_Kalman	0	0	0.00
Analog_circuits	1392	12	162.04
GPS_charging	0	0	0.00
Compass	1279	15	186.11
RAFOS	0	0	0.00
Transponder	7	30	2.26

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	14	begin dive
17	-0.71	-170.3	0.0	0.0	0	93	0.00	0.00	-74.05	0.000	2	0.000	0.000	174	2780	3509	0	0	0	0	0	0
97	-0.71	-170.3	3.8	-6.6	12	118	9.25	2.25	-3.03	0.000	4	0.209	0.042	2566	1370	3658	0	0	0	0	0	0
192	-0.71	-170.3	25.9	-13.3	28	198	0.00	2.30	0.00	0.000	6	0.000	0.043	2562	2779	3661	0	0	0	0	0	0
334	-0.71	-170.3	46.0	-14.1	53	341	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2779	3662	0	0	0	0	0	0
477	-0.71	-170.3	64.9	-13.4	78	484	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2779	3662	0	0	0	0	0	0
621	-0.71	-170.3	83.1	-11.5	103	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2779	3662	0	0	0	0	0	0
768	-0.71	-170.3	103.2	-12.8	127	772	0.00	1.62	0.00	0.000	4	0.000	0.050	2562	3765	3662	0	0	0	0	0	0
807	-0.71	-170.3	109.0	-14.0	130	815	0.00	1.55	0.00	0.000	6	0.000	0.028	2562	2780	3662	0	0	0	0	0	0
943	-0.71	-170.3	126.7	-13.5	143	944	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2780	3662	0	0	0	0	0	0
1070	-0.71	-170.3	143.9	-13.4	155	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2780	3663	0	0	0	0	0	0
1198	-0.71	-170.3	161.2	-13.7	167	1199	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2780	3662	0	0	0	0	0	0
1324	-0.71	-170.3	178.0	-13.4	179	1328	0.00	1.62	0.00	0.000	4	0.000	0.050	2562	3789	3663	0	0	0	0	0	0
1383	-0.71	-170.3	186.0	-13.7	184	1387	0.00	1.58	0.00	0.000	6	0.000	0.028	2562	2780	3663	0	0	0	0	0	0
1524	-0.71	-170.3	204.5	-12.8	197	1525	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2780	3663	0	0	0	0	0	0
1651	-0.71	-170.3	220.5	-12.7	209	1652	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2780	3663	0	0	0	0	0	0
1778	-0.71	-170.3	236.0	-11.7	221	1782	0.00	1.62	0.00	0.000	4	0.000	0.051	2563	3764	3662	0	0	1	0	0	0
1814	-0.71	-170.3	240.3	-11.7	224	1818	0.00	1.52	0.00	0.000	6	0.000	0.029	2562	2790	3662	0	0	0	0	0	0
1954	-0.71	-170.3	257.2	-12.3	237	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2790	3662	0	0	0	0	0	0
2149	-0.71	-170.3	281.9	-12.8	255	2152	0.00	1.60	0.00	0.000	4	0.000	0.050	2562	3761	3662	0	0	0	0	0	0
2206	-0.71	-170.3	290.1	-13.7	260	2210	0.00	1.52	0.00	0.000	6	0.000	0.029	2562	2786	3663	0	0	0	0	0	0
2411	-0.71	-170.3	316.7	-12.8	279	2412	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3663	0	0	0	0	0	0
2601	-0.71	-170.3	339.5	-11.7	297	2603	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2785	3662	0	0	0	0	0	0
2794	-0.71	-170.3	362.1	-11.7	315	2798	0.00	1.60	0.00	0.000	4	0.000	0.050	2562	3754	3662	0	0	0	0	0	0
2832	-0.71	-170.3	367.4	-12.8	318	2840	0.00	1.50	0.00	0.000	6	0.000	0.029	2562	2799	3662	0	0	0	0	0	0
2953	end dive: TARGET_DEPTH_EXCEEDED
state	2953	begin apogee
2961	-0.16	0.0	382.5	13.0	330	3108	0.55	0.00	139.77	0.981	4	0.118	0.000	2746	2683	2958	0	0	0	0	0	0
3109	end apogee: CONTROL_FINISHED_OK
state	3109	begin climb
3111	0.71	170.3	389.7	0.0	343	3274	0.85	2.33	151.23	0.933	4	0.071	0.032	3032	1299	2266	0	0	0	0	0	0
3471	0.72	180.8	367.5	9.6	374	3490	0.00	2.40	10.07	0.838	6	0.000	0.040	3033	2706	2222	0	0	0	0	0	0
3684	0.72	180.8	344.3	11.3	394	3688	0.00	2.28	0.00	0.000	4	0.000	0.035	3043	1309	2220	0	0	0	0	0	0
3894	0.72	180.8	321.7	10.2	412	3901	0.00	2.30	0.00	0.000	6	0.000	0.042	3043	2711	2218	0	0	0	0	0	0
4093	0.72	180.8	299.5	11.3	431	4097	0.00	1.73	0.00	0.000	4	0.000	0.049	3042	3761	2218	0	0	0	0	0	0
4143	0.72	180.8	293.0	13.1	435	4151	0.00	1.65	0.00	0.000	6	0.000	0.030	3051	2699	2217	0	0	0	0	0	0
4342	0.72	180.8	270.9	10.9	454	4343	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2699	2217	0	0	0	0	0	0
4535	0.72	180.8	251.2	10.1	472	4538	0.00	1.70	0.00	0.000	4	0.000	0.048	3051	3761	2217	0	0	0	0	0	0
4618	0.72	180.8	241.6	11.8	479	4626	0.00	1.65	0.00	0.000	6	0.000	0.031	3059	2717	2216	0	0	0	0	0	0
4754	0.74	191.0	228.5	9.6	492	4765	0.00	0.00	9.60	0.841	6	0.000	0.000	3059	2718	2181	0	0	0	0	0	0
4890	0.74	191.0	214.4	10.7	505	4894	0.00	1.67	0.00	0.000	4	0.000	0.048	3059	3761	2181	0	0	0	0	0	0
4963	0.74	191.0	205.0	13.2	511	4971	0.08	1.60	0.00	0.000	6	0.144	0.031	3040	2735	2181	0	0	1	0	0	0
5098	0.74	191.0	191.2	10.3	524	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2735	2181	0	0	0	0	0	0
5226	0.74	191.0	177.8	10.6	536	5230	0.00	1.67	0.00	0.000	4	0.000	0.050	3039	3749	2181	0	0	0	0	0	0
5275	0.74	191.0	171.7	12.2	540	5282	0.00	1.60	0.00	0.000	6	0.000	0.030	3046	2732	2180	0	0	0	0	0	0
5410	0.74	191.0	156.9	11.2	553	5411	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2732	2181	0	0	0	0	0	0
5538	0.74	191.0	142.4	11.3	565	5539	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2732	2181	0	0	0	0	0	0
5664	0.74	191.0	127.9	11.4	577	5667	0.00	1.65	0.00	0.000	4	0.000	0.049	3046	3762	2180	0	0	0	0	0	0
5722	0.74	191.0	120.7	12.9	582	5726	0.00	1.60	0.00	0.000	6	0.000	0.031	3052	2748	2180	0	0	0	0	0	0
5863	0.74	191.0	104.9	10.7	595	5864	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2747	2180	0	0	0	0	0	0
5993	0.74	191.0	91.4	10.2	614	6000	0.00	1.67	0.00	0.000	4	0.000	0.048	3052	3764	2180	0	0	0	0	0	0
6034	0.74	191.0	86.8	11.6	621	6041	0.00	1.60	0.00	0.000	6	0.000	0.031	3059	2749	2180	0	0	0	0	0	0
6178	0.74	191.0	72.4	10.1	646	6184	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2749	2180	0	0	0	0	0	0
6319	0.74	191.0	57.6	10.4	671	6326	0.00	1.65	0.00	0.000	4	0.000	0.048	3059	3753	2179	0	0	0	0	0	0
6368	0.74	191.0	52.1	11.3	679	6376	0.08	1.58	0.00	0.000	6	0.142	0.030	3040	2757	2180	0	0	0	0	0	0
6514	0.75	203.4	38.5	9.5	704	6533	0.00	0.00	12.68	0.772	6	0.000	0.000	3040	2757	2130	0	0	0	0	0	0
6671	0.75	203.4	22.8	10.3	731	6678	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2757	2130	0	0	0	0	0	0
6817	0.76	207.9	8.7	9.8	756	6825	0.00	0.00	5.60	0.669	6	0.000	0.000	3040	2757	2111	0	0	0	0	0	0
6867	end climb: SURFACE_DEPTH_REACHED
state	6867	begin surface coast
6897	end surface coast: CONTROL_FINISHED_OK
state	6897	begin surface