Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 910 * 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 910 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 250 R_PORT_OVSHOOT 49 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 39 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 -20683.627 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 250

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 -20683.627

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 49 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 39 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 910 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 290111,085155,-7614.839,17522.648,53,1.0,54,123.6 TGT_NAME CORNER_NW

_CALLS 1 TGT_LATLONG -7605.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290111,085838,-7614.897,17522.578,12,1.0,12,123.6 MHEAD_RNG_PITCHd_Wd 232.8,20907,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 379

Post-dive calculations and measurements:

FREEZE -0.05,0.643,-1.884,2,1,0 _24V_AH 21.6,96.176

FINISH -0.1,1.027527 _10V_AH 9.7,39.779

SM_CCo 6723,3.05,0.105,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 2.28,0.00,0.00,3.05,0.000,0.000,0.105,188,2752,1940,-8.16,-0.79,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7528.04,17520.17,290111,060619 MEM 258116

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50291,742

HUMID 53.78 CAP_FILE_SIZE 97630,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,209899520

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.209,186.2,1

ALTIM_TOP_PING 19.4,19.6 GPS 290111,105237,-7614.690,17522.262,39,1.3,40,123.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 81.48 SBE_CT 519 24 269.27

Roll_motor 57 68 84.49 AA4330 949 33 676.59

VBD_pump_during_apogee 370 979 7846.70 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 3 104 6.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 53.76 nil 0 0 0.00

Iridium_during_connect 44 160 153.41 nil 0 0 0.00

Iridium_during_xfer 173 223 837.43 nil 0 0 0.00

Transponder_ping 1 420 9.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.21

TT8 1854 19 356.21

LPSleep 2972 2 63.15

TT8_Active 453 19 87.10

TT8_Sampling 1507 39 581.86

TT8_CF8 346 45 153.82

TT8_Kalman 0 0 0.00

Analog_circuits 1173 12 136.64

GPS_charging 0 0 0.00

Compass 1223 15 178.01

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.71 -170.3 0.0 0.0 0 94 0.00 0.00 -75.90 0.000 2 0.000 0.000 173 2797 3537 0 0 0 0 0 0

98 -0.71 -170.3 4.1 -10.8 13 119 9.20 1.60 -2.35 0.000 4 0.205 0.060 2555 3763 3659 0 0 0 0 0 0

371 -0.71 -170.3 55.6 -14.7 61 378 0.00 1.55 0.00 0.000 6 0.000 0.028 2555 2776 3661 0 0 0 0 0 0

515 -0.71 -170.3 76.0 -13.9 86 521 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2776 3662 0 0 0 0 0 0

655 -0.71 -170.3 95.8 -13.6 111 662 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2776 3662 0 0 0 0 0 0

794 -0.71 -170.3 114.6 -13.5 126 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2776 3663 0 0 0 0 0 0

920 -0.71 -170.3 132.0 -13.6 138 923 0.00 1.62 0.00 0.000 4 0.000 0.047 2547 3786 3663 0 0 0 0 0 0

955 -0.71 -170.3 137.0 -14.0 141 958 0.00 1.58 0.00 0.000 6 0.000 0.028 2547 2784 3662 0 0 0 0 0 0

1096 -0.71 -170.3 156.8 -14.0 154 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2784 3662 0 0 0 0 0 0

1222 -0.71 -170.3 174.6 -13.8 166 1223 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2783 3662 0 0 0 0 0 0

1350 -0.71 -170.3 192.1 -13.8 178 1353 0.00 1.62 0.00 0.000 4 0.000 0.047 2539 3754 3663 0 0 0 0 0 0

1378 -0.71 -170.3 196.4 -14.1 180 1386 0.08 1.52 0.00 0.000 6 0.136 0.028 2566 2785 3663 0 0 0 0 0 0

1513 -0.71 -170.3 213.3 -12.6 193 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2786 3663 0 0 0 0 0 0

1640 -0.71 -170.3 229.2 -12.5 205 1642 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2786 3662 0 0 0 0 0 0

1769 -0.71 -170.3 245.1 -12.3 217 1772 0.00 1.60 0.00 0.000 4 0.000 0.047 2559 3745 3662 0 0 0 0 0 0

1819 -0.71 -170.3 252.3 -13.5 221 1826 0.00 1.50 0.00 0.000 6 0.000 0.028 2559 2788 3663 0 0 0 0 0 0

2018 -0.71 -170.3 277.7 -12.9 240 2019 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2788 3662 0 0 0 0 0 0

2210 -0.71 -170.3 301.7 -12.6 258 2211 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2788 3662 0 0 0 0 0 0

2402 -0.71 -170.3 325.6 -12.8 276 2405 0.00 1.60 0.00 0.000 4 0.000 0.048 2551 3749 3662 0 0 0 0 0 0

2441 -0.71 -170.3 331.1 -13.4 279 2448 0.00 1.48 0.00 0.000 6 0.000 0.028 2552 2808 3662 0 0 0 0 0 0

2640 -0.71 -170.3 356.3 -12.5 298 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2808 3662 0 0 0 0 0 0

2829 end dive: TARGET_DEPTH_EXCEEDED

state 2829 begin apogee

2837 -0.16 0.0 379.9 12.6 316 2984 0.57 0.00 140.55 0.980 4 0.117 0.000 2744 2685 2960 0 0 0 0 0 0

2985 end apogee: CONTROL_FINISHED_OK

state 2985 begin climb

2988 0.71 170.3 386.7 0.0 329 3149 0.85 2.30 153.35 0.929 4 0.072 0.033 3031 1310 2265 0 0 0 0 0 0

3357 0.74 193.9 362.5 9.1 361 3387 0.00 2.33 21.98 0.894 6 0.000 0.040 3030 2689 2169 0 0 0 0 0 0

3577 0.74 193.9 340.3 10.1 382 3581 0.00 2.22 0.00 0.000 4 0.000 0.034 3042 1315 2167 0 0 0 0 0 0

3741 0.75 197.6 324.1 9.9 396 3754 0.00 2.25 4.60 0.692 6 0.000 0.041 3041 2703 2154 0 0 0 0 0 0

3949 0.75 197.6 302.5 10.5 415 3952 0.00 1.70 0.00 0.000 4 0.000 0.047 3041 3762 2153 0 0 0 0 0 0

4033 0.75 197.6 291.6 12.8 422 4039 0.00 1.65 0.00 0.000 6 0.000 0.028 3048 2726 2153 0 0 0 0 0 0

4232 0.75 197.6 269.7 11.4 441 4233 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2726 2152 0 0 0 0 0 0

4423 0.75 197.6 248.4 11.3 459 4427 0.00 1.70 0.00 0.000 4 0.000 0.047 3048 3770 2152 0 0 0 0 0 0

4485 0.75 197.6 240.2 12.8 464 4492 0.00 1.67 0.00 0.000 6 0.000 0.028 3055 2718 2152 0 0 0 0 0 0

4620 0.75 197.6 224.3 11.9 477 4623 0.00 1.70 0.00 0.000 4 0.000 0.047 3055 3769 2152 0 0 0 0 0 0

4677 0.75 197.6 216.9 14.1 482 4681 0.00 1.62 0.00 0.000 6 0.000 0.029 3064 2746 2151 0 0 0 0 0 0

4818 0.75 197.6 200.1 11.6 495 4819 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2744 2151 0 0 0 0 0 0

4944 0.75 197.6 185.5 11.3 507 4945 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2744 2151 0 0 0 0 0 0

5072 0.75 197.6 171.1 11.5 519 5075 0.00 1.65 0.00 0.000 4 0.000 0.048 3063 3764 2151 0 0 0 0 0 0

5132 0.75 197.6 163.6 13.5 524 5137 0.12 1.62 0.00 0.000 6 0.158 0.029 3035 2742 2150 0 0 0 0 0 0

5273 0.75 202.7 149.0 9.8 537 5284 0.00 0.00 5.65 0.735 6 0.000 0.000 3035 2742 2132 0 0 0 0 0 0

5410 0.76 208.2 135.8 9.8 550 5420 0.00 0.00 6.45 0.752 6 0.000 0.000 3035 2742 2111 0 0 0 0 0 0

5549 0.76 208.6 122.5 10.0 563 5552 0.00 1.65 0.00 0.000 4 0.000 0.047 3035 3763 2111 0 0 0 0 0 0

5588 0.76 208.6 118.0 10.8 566 5594 0.00 1.60 0.00 0.000 6 0.000 0.030 3041 2761 2111 0 0 0 0 0 0

5723 0.76 208.6 104.3 10.1 579 5724 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2761 2111 0 0 0 0 0 0

5855 0.76 213.6 91.2 9.8 598 5869 0.00 0.00 6.43 0.737 6 0.000 0.000 3041 2761 2090 0 0 0 0 0 0

6007 0.78 222.7 76.6 9.6 624 6026 0.00 1.67 10.15 0.776 4 0.000 0.048 3041 3760 2051 0 0 1 0 0 0

6062 0.78 222.7 70.6 11.0 633 6069 0.00 1.60 0.00 0.000 6 0.000 0.030 3048 2764 2052 0 0 0 0 0 0

6205 0.78 229.5 56.5 9.7 658 6220 0.00 2.40 8.10 0.744 4 0.000 0.034 3059 1305 2024 0 0 0 0 0 0

6257 0.80 242.6 51.3 9.5 666 6277 0.00 2.35 13.45 0.763 6 0.000 0.041 3059 2754 1970 0 0 0 0 0 0

6413 0.80 242.6 34.4 11.5 693 6419 0.00 1.67 0.00 0.000 4 0.000 0.048 3059 3758 1971 0 0 0 0 0 0

6457 0.80 242.6 29.2 11.9 700 6463 0.00 1.60 0.00 0.000 6 0.000 0.029 3065 2765 1970 0 0 0 0 0 0

6601 0.80 242.6 12.2 13.5 725 6608 0.00 2.33 0.00 0.000 4 0.000 0.035 3076 1305 1970 0 0 0 0 0 0

6632 0.80 242.6 8.4 10.8 730 6639 0.00 2.35 0.00 0.000 6 0.000 0.044 3076 2751 1970 0 0 0 0 0 0

6677 end climb: SURFACE_DEPTH_REACHED

state 6677 begin surface coast

6704 end surface coast: CONTROL_FINISHED_OK

state 6704 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	910	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	250	R_PORT_OVSHOOT	49	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	39	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	-20683.627	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	290111,085155,-7614.839,17522.648,53,1.0,54,123.6	TGT_NAME	CORNER_NW
_CALLS	1	TGT_LATLONG	-7605.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290111,085838,-7614.897,17522.578,12,1.0,12,123.6	MHEAD_RNG_PITCHd_Wd	232.8,20907,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	379

FREEZE	-0.05,0.643,-1.884,2,1,0	_24V_AH	21.6,96.176
FINISH	-0.1,1.027527	_10V_AH	9.7,39.779
SM_CCo	6723,3.05,0.105,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	2.28,0.00,0.00,3.05,0.000,0.000,0.105,188,2752,1940,-8.16,-0.79,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7528.04,17520.17,290111,060619	MEM	258116
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50291,742
HUMID	53.78	CAP_FILE_SIZE	97630,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,209899520
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.209,186.2,1
ALTIM_TOP_PING	19.4,19.6	GPS	290111,105237,-7614.690,17522.262,39,1.3,40,123.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	81.48	SBE_CT	519	24	269.27
Roll_motor	57	68	84.49	AA4330	949	33	676.59
VBD_pump_during_apogee	370	979	7846.70	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	3	104	6.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	53.76	nil	0	0	0.00
Iridium_during_connect	44	160	153.41	nil	0	0	0.00
Iridium_during_xfer	173	223	837.43	nil	0	0	0.00
Transponder_ping	1	420	9.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.21
TT8	1854	19	356.21
LPSleep	2972	2	63.15
TT8_Active	453	19	87.10
TT8_Sampling	1507	39	581.86
TT8_CF8	346	45	153.82
TT8_Kalman	0	0	0.00
Analog_circuits	1173	12	136.64
GPS_charging	0	0	0.00
Compass	1223	15	178.01
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.71	-170.3	0.0	0.0	0	94	0.00	0.00	-75.90	0.000	2	0.000	0.000	173	2797	3537	0	0	0	0	0	0
98	-0.71	-170.3	4.1	-10.8	13	119	9.20	1.60	-2.35	0.000	4	0.205	0.060	2555	3763	3659	0	0	0	0	0	0
371	-0.71	-170.3	55.6	-14.7	61	378	0.00	1.55	0.00	0.000	6	0.000	0.028	2555	2776	3661	0	0	0	0	0	0
515	-0.71	-170.3	76.0	-13.9	86	521	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2776	3662	0	0	0	0	0	0
655	-0.71	-170.3	95.8	-13.6	111	662	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2776	3662	0	0	0	0	0	0
794	-0.71	-170.3	114.6	-13.5	126	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2776	3663	0	0	0	0	0	0
920	-0.71	-170.3	132.0	-13.6	138	923	0.00	1.62	0.00	0.000	4	0.000	0.047	2547	3786	3663	0	0	0	0	0	0
955	-0.71	-170.3	137.0	-14.0	141	958	0.00	1.58	0.00	0.000	6	0.000	0.028	2547	2784	3662	0	0	0	0	0	0
1096	-0.71	-170.3	156.8	-14.0	154	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2784	3662	0	0	0	0	0	0
1222	-0.71	-170.3	174.6	-13.8	166	1223	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2783	3662	0	0	0	0	0	0
1350	-0.71	-170.3	192.1	-13.8	178	1353	0.00	1.62	0.00	0.000	4	0.000	0.047	2539	3754	3663	0	0	0	0	0	0
1378	-0.71	-170.3	196.4	-14.1	180	1386	0.08	1.52	0.00	0.000	6	0.136	0.028	2566	2785	3663	0	0	0	0	0	0
1513	-0.71	-170.3	213.3	-12.6	193	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2786	3663	0	0	0	0	0	0
1640	-0.71	-170.3	229.2	-12.5	205	1642	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2786	3662	0	0	0	0	0	0
1769	-0.71	-170.3	245.1	-12.3	217	1772	0.00	1.60	0.00	0.000	4	0.000	0.047	2559	3745	3662	0	0	0	0	0	0
1819	-0.71	-170.3	252.3	-13.5	221	1826	0.00	1.50	0.00	0.000	6	0.000	0.028	2559	2788	3663	0	0	0	0	0	0
2018	-0.71	-170.3	277.7	-12.9	240	2019	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2788	3662	0	0	0	0	0	0
2210	-0.71	-170.3	301.7	-12.6	258	2211	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2788	3662	0	0	0	0	0	0
2402	-0.71	-170.3	325.6	-12.8	276	2405	0.00	1.60	0.00	0.000	4	0.000	0.048	2551	3749	3662	0	0	0	0	0	0
2441	-0.71	-170.3	331.1	-13.4	279	2448	0.00	1.48	0.00	0.000	6	0.000	0.028	2552	2808	3662	0	0	0	0	0	0
2640	-0.71	-170.3	356.3	-12.5	298	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2808	3662	0	0	0	0	0	0
2829	end dive: TARGET_DEPTH_EXCEEDED
state	2829	begin apogee
2837	-0.16	0.0	379.9	12.6	316	2984	0.57	0.00	140.55	0.980	4	0.117	0.000	2744	2685	2960	0	0	0	0	0	0
2985	end apogee: CONTROL_FINISHED_OK
state	2985	begin climb
2988	0.71	170.3	386.7	0.0	329	3149	0.85	2.30	153.35	0.929	4	0.072	0.033	3031	1310	2265	0	0	0	0	0	0
3357	0.74	193.9	362.5	9.1	361	3387	0.00	2.33	21.98	0.894	6	0.000	0.040	3030	2689	2169	0	0	0	0	0	0
3577	0.74	193.9	340.3	10.1	382	3581	0.00	2.22	0.00	0.000	4	0.000	0.034	3042	1315	2167	0	0	0	0	0	0
3741	0.75	197.6	324.1	9.9	396	3754	0.00	2.25	4.60	0.692	6	0.000	0.041	3041	2703	2154	0	0	0	0	0	0
3949	0.75	197.6	302.5	10.5	415	3952	0.00	1.70	0.00	0.000	4	0.000	0.047	3041	3762	2153	0	0	0	0	0	0
4033	0.75	197.6	291.6	12.8	422	4039	0.00	1.65	0.00	0.000	6	0.000	0.028	3048	2726	2153	0	0	0	0	0	0
4232	0.75	197.6	269.7	11.4	441	4233	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2726	2152	0	0	0	0	0	0
4423	0.75	197.6	248.4	11.3	459	4427	0.00	1.70	0.00	0.000	4	0.000	0.047	3048	3770	2152	0	0	0	0	0	0
4485	0.75	197.6	240.2	12.8	464	4492	0.00	1.67	0.00	0.000	6	0.000	0.028	3055	2718	2152	0	0	0	0	0	0
4620	0.75	197.6	224.3	11.9	477	4623	0.00	1.70	0.00	0.000	4	0.000	0.047	3055	3769	2152	0	0	0	0	0	0
4677	0.75	197.6	216.9	14.1	482	4681	0.00	1.62	0.00	0.000	6	0.000	0.029	3064	2746	2151	0	0	0	0	0	0
4818	0.75	197.6	200.1	11.6	495	4819	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2744	2151	0	0	0	0	0	0
4944	0.75	197.6	185.5	11.3	507	4945	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2744	2151	0	0	0	0	0	0
5072	0.75	197.6	171.1	11.5	519	5075	0.00	1.65	0.00	0.000	4	0.000	0.048	3063	3764	2151	0	0	0	0	0	0
5132	0.75	197.6	163.6	13.5	524	5137	0.12	1.62	0.00	0.000	6	0.158	0.029	3035	2742	2150	0	0	0	0	0	0
5273	0.75	202.7	149.0	9.8	537	5284	0.00	0.00	5.65	0.735	6	0.000	0.000	3035	2742	2132	0	0	0	0	0	0
5410	0.76	208.2	135.8	9.8	550	5420	0.00	0.00	6.45	0.752	6	0.000	0.000	3035	2742	2111	0	0	0	0	0	0
5549	0.76	208.6	122.5	10.0	563	5552	0.00	1.65	0.00	0.000	4	0.000	0.047	3035	3763	2111	0	0	0	0	0	0
5588	0.76	208.6	118.0	10.8	566	5594	0.00	1.60	0.00	0.000	6	0.000	0.030	3041	2761	2111	0	0	0	0	0	0
5723	0.76	208.6	104.3	10.1	579	5724	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2761	2111	0	0	0	0	0	0
5855	0.76	213.6	91.2	9.8	598	5869	0.00	0.00	6.43	0.737	6	0.000	0.000	3041	2761	2090	0	0	0	0	0	0
6007	0.78	222.7	76.6	9.6	624	6026	0.00	1.67	10.15	0.776	4	0.000	0.048	3041	3760	2051	0	0	1	0	0	0
6062	0.78	222.7	70.6	11.0	633	6069	0.00	1.60	0.00	0.000	6	0.000	0.030	3048	2764	2052	0	0	0	0	0	0
6205	0.78	229.5	56.5	9.7	658	6220	0.00	2.40	8.10	0.744	4	0.000	0.034	3059	1305	2024	0	0	0	0	0	0
6257	0.80	242.6	51.3	9.5	666	6277	0.00	2.35	13.45	0.763	6	0.000	0.041	3059	2754	1970	0	0	0	0	0	0
6413	0.80	242.6	34.4	11.5	693	6419	0.00	1.67	0.00	0.000	4	0.000	0.048	3059	3758	1971	0	0	0	0	0	0
6457	0.80	242.6	29.2	11.9	700	6463	0.00	1.60	0.00	0.000	6	0.000	0.029	3065	2765	1970	0	0	0	0	0	0
6601	0.80	242.6	12.2	13.5	725	6608	0.00	2.33	0.00	0.000	4	0.000	0.035	3076	1305	1970	0	0	0	0	0	0
6632	0.80	242.6	8.4	10.8	730	6639	0.00	2.35	0.00	0.000	6	0.000	0.044	3076	2751	1970	0	0	0	0	0	0
6677	end climb: SURFACE_DEPTH_REACHED
state	6677	begin surface coast
6704	end surface coast: CONTROL_FINISHED_OK
state	6704	begin surface