Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 916 * 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 916 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 50 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -20691.178 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 -20691.178

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 29 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 916 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 290111,205816,-7610.267,17515.383,20,3.3,40,123.5 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 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290111,210531,-7610.261,17515.432,39,1.1,39,123.5 MHEAD_RNG_PITCHd_Wd 173.5,11923,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 396

Post-dive calculations and measurements:

FREEZE -0.01,0.378,-1.888,2,1,0 _24V_AH 21.5,96.828

FINISH -0.0,1.027601 _10V_AH 9.7,40.131

SM_CCo 7151,0.00,0.000,0,0,1930,252.41 FG_AHR_24Vo 0.000

SM_GC 1.10,7.60,0.00,0.00,0.044,0.000,0.000,180,2797,1930,-8.09,0.51,252.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7528.04,17520.90,290111,181803 MEM 258156

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50380,777

HUMID 53.50 CAP_FILE_SIZE 98431,0

INTERNAL_PRESSURE 8.7601 CFSIZE 260165632,209571840

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

XPDR_PINGS 0 CURRENT 0.128, 50.4,1

ALTIM_TOP_PING 20.0,19.8 GPS 290111,230619,-7609.529,17513.555,16,1.2,28,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 202 80.85 SBE_CT 544 24 280.78

Roll_motor 54 94 111.87 AA4330 980 33 695.62

VBD_pump_during_apogee 370 992 7899.92 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 65.70 nil 0 0 0.00

Iridium_during_connect 35 160 122.72 nil 0 0 0.00

Iridium_during_xfer 177 223 853.20 nil 0 0 0.00

Transponder_ping 1 420 9.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 50 20.52

TT8 1933 19 371.44

LPSleep 3252 2 69.10

TT8_Active 461 19 88.57

TT8_Sampling 1599 39 617.39

TT8_CF8 340 45 151.24

TT8_Kalman 0 0 0.00

Analog_circuits 1201 12 139.86

GPS_charging 0 0 0.00

Compass 1274 15 185.46

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 13 begin dive

17 -0.71 -170.3 0.0 0.0 0 90 0.00 0.00 -71.43 0.000 2 0.000 0.000 180 2766 3391 0 0 0 0 0 0

95 -0.71 -170.3 3.0 -6.0 12 117 9.18 2.28 -5.75 0.000 4 0.203 0.044 2563 1377 3659 0 0 0 0 0 0

368 -0.71 -170.3 49.3 -14.0 60 375 0.00 2.28 0.00 0.000 6 0.000 0.041 2560 2779 3662 0 0 0 0 0 0

511 -0.71 -170.3 69.4 -14.3 85 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2780 3663 0 0 0 0 0 0

652 -0.71 -170.3 89.0 -14.4 110 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2779 3663 0 0 0 0 0 0

797 -0.71 -170.3 108.7 -13.1 130 798 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2779 3663 0 0 0 0 0 0

923 -0.71 -170.3 125.2 -13.2 142 927 0.00 1.62 0.00 0.000 4 0.000 0.048 2556 3786 3663 0 0 0 0 0 0

973 -0.71 -170.3 132.1 -13.7 146 981 0.00 1.60 0.00 0.000 6 0.000 0.028 2556 2781 3663 0 0 0 0 0 0

1109 -0.71 -170.3 149.3 -12.6 159 1111 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2781 3663 0 0 0 0 0 0

1236 -0.71 -170.3 164.9 -12.1 171 1237 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2781 3664 0 0 0 0 0 0

1363 -0.71 -170.3 180.6 -12.3 183 1367 0.00 1.62 0.00 0.000 4 0.000 0.047 2549 3782 3663 0 0 0 0 0 0

1414 -0.71 -170.3 187.6 -13.7 187 1421 0.00 1.58 0.00 0.000 6 0.000 0.028 2548 2789 3663 0 0 0 0 0 0

1549 -0.71 -170.3 205.5 -13.6 200 1550 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2789 3663 0 0 0 0 0 0

1676 -0.71 -170.3 222.3 -13.1 212 1677 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2789 3663 0 0 0 0 0 0

1805 -0.71 -170.3 238.5 -12.3 224 1808 0.00 1.62 0.00 0.000 4 0.000 0.047 2541 3763 3663 0 0 0 0 0 0

1855 -0.71 -170.3 245.7 -13.7 228 1862 0.00 1.52 0.00 0.000 6 0.000 0.028 2541 2799 3663 0 0 0 0 0 0

1990 -0.71 -170.3 262.6 -12.8 241 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2798 3663 0 0 0 0 0 0

2182 -0.71 -170.3 287.2 -12.8 259 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2799 3663 0 0 0 0 0 0

2371 -0.71 -170.3 312.4 -13.4 277 2373 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2798 3663 0 0 0 0 0 0

2565 -0.71 -170.3 338.0 -13.3 295 2569 0.00 1.60 0.00 0.000 4 0.000 0.047 2533 3758 3663 0 0 0 0 0 0

2627 -0.71 -170.3 347.4 -13.9 300 2635 0.10 1.50 0.00 0.000 6 0.125 0.028 2569 2810 3662 0 0 0 0 0 0

2828 -0.71 -170.3 369.9 -11.5 319 2834 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2811 3662 0 0 0 0 0 0

3028 -0.71 -170.3 392.4 -11.1 338 3031 0.00 1.58 0.00 0.000 4 0.000 0.047 2562 3758 3662 0 0 0 0 0 0

3059 end dive: TARGET_DEPTH_EXCEEDED

state 3060 begin apogee

3068 -0.16 0.0 396.6 11.9 341 3217 0.52 0.00 141.60 0.992 4 0.112 0.000 2742 2693 2958 0 0 0 0 0 0

3218 end apogee: CONTROL_FINISHED_OK

state 3218 begin climb

3221 0.71 170.3 403.1 0.0 354 3384 0.85 2.35 154.20 0.939 4 0.072 0.032 3029 1290 2265 0 0 0 0 0 0

3570 0.71 170.3 379.8 10.1 384 3577 0.00 2.42 0.00 0.000 6 0.000 0.041 3029 2706 2259 0 0 0 0 0 0

3770 0.71 171.1 360.0 10.0 403 3774 0.00 2.33 0.00 0.000 4 0.000 0.034 3040 1286 2256 0 0 0 0 0 0

3964 0.73 184.9 341.1 9.5 420 3981 0.00 2.30 12.15 0.886 6 0.000 0.041 3040 2707 2206 0 0 0 0 0 0

4178 0.73 184.9 319.3 10.2 439 4181 0.00 1.70 0.00 0.000 4 0.000 0.048 3040 3761 2206 0 0 0 0 0 0

4251 0.73 184.9 310.1 11.7 445 4259 0.00 1.65 0.00 0.000 6 0.000 0.028 3048 2703 2206 0 0 0 0 0 0

4451 0.73 185.5 289.6 10.0 464 4457 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2703 2205 0 0 0 0 0 0

4651 0.73 185.5 268.8 10.1 483 4655 0.00 1.73 0.00 0.000 4 0.000 0.048 3048 3762 2205 0 0 0 0 0 0

4709 0.73 185.5 261.9 11.9 488 4713 0.00 1.62 0.00 0.000 6 0.000 0.030 3056 2705 2204 0 0 1 0 0 0

4914 0.73 185.5 240.0 10.6 507 4915 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2705 2204 0 0 0 0 0 0

5040 0.73 185.5 226.5 10.5 519 5041 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2705 2204 0 0 0 0 0 0

5168 0.73 185.5 212.8 11.1 531 5171 0.00 1.73 0.00 0.000 4 0.000 0.047 3056 3765 2204 0 0 0 0 0 0

5230 0.73 185.5 204.9 12.6 536 5237 0.00 1.67 0.00 0.000 6 0.000 0.028 3064 2717 2204 0 0 0 0 0 0

5365 0.73 185.5 189.8 11.2 549 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2718 2203 0 0 0 0 0 0

5492 0.73 185.5 176.2 10.4 561 5493 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2718 2203 0 0 0 0 0 0

5620 0.73 185.5 162.9 10.6 573 5624 0.00 1.70 0.00 0.000 4 0.000 0.047 3064 3766 2203 0 0 0 0 0 0

5682 0.73 185.5 155.3 12.3 578 5689 0.10 1.65 0.00 0.000 6 0.131 0.029 3027 2732 2203 0 0 0 0 0 0

5817 0.79 233.7 143.7 8.1 591 5867 0.00 0.00 45.15 0.839 6 0.000 0.000 3027 2732 2007 0 0 0 0 0 0

5996 0.81 251.4 127.7 9.3 608 6015 0.10 0.00 17.23 0.800 6 0.101 0.000 3087 2731 1934 0 0 0 0 0 0

6142 0.81 251.4 109.0 13.1 622 6143 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2730 1935 0 0 0 0 0 0

6272 0.81 251.4 91.9 12.9 639 6280 0.00 1.73 0.00 0.000 4 0.000 0.047 3088 3761 1934 0 0 0 0 0 0

6331 0.81 251.4 83.1 14.8 649 6339 0.10 1.65 0.00 0.000 6 0.128 0.029 3048 2737 1935 0 0 0 0 0 0

6476 0.81 251.4 67.7 10.9 674 6483 0.00 2.30 0.00 0.000 4 0.000 0.034 3058 1290 1934 0 0 0 0 0 0

6502 0.81 251.4 64.8 10.1 678 6509 0.00 2.35 0.00 0.000 6 0.000 0.043 3058 2737 1934 0 0 0 0 0 0

6645 0.81 251.4 49.5 11.0 703 6652 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2737 1935 0 0 0 0 0 0

6790 0.81 251.4 33.6 11.6 728 6796 0.00 1.70 0.00 0.000 4 0.000 0.048 3058 3761 1934 0 0 0 0 0 0

6848 0.81 251.4 26.2 13.1 738 6855 0.00 1.67 0.00 0.000 6 0.000 0.030 3064 2718 1934 0 0 0 0 0 0

6992 0.81 251.4 9.6 12.1 763 6999 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2717 1934 0 0 0 0 0 0

7047 end climb: SURFACE_DEPTH_REACHED

state 7047 begin surface coast

7071 end surface coast: CONTROL_FINISHED_OK

state 7071 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	916	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	50	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-20691.178	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	290111,205816,-7610.267,17515.383,20,3.3,40,123.5	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	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290111,210531,-7610.261,17515.432,39,1.1,39,123.5	MHEAD_RNG_PITCHd_Wd	173.5,11923,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	396

FREEZE	-0.01,0.378,-1.888,2,1,0	_24V_AH	21.5,96.828
FINISH	-0.0,1.027601	_10V_AH	9.7,40.131
SM_CCo	7151,0.00,0.000,0,0,1930,252.41	FG_AHR_24Vo	0.000
SM_GC	1.10,7.60,0.00,0.00,0.044,0.000,0.000,180,2797,1930,-8.09,0.51,252.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7528.04,17520.90,290111,181803	MEM	258156
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50380,777
HUMID	53.50	CAP_FILE_SIZE	98431,0
INTERNAL_PRESSURE	8.7601	CFSIZE	260165632,209571840
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.128, 50.4,1
ALTIM_TOP_PING	20.0,19.8	GPS	290111,230619,-7609.529,17513.555,16,1.2,28,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	202	80.85	SBE_CT	544	24	280.78
Roll_motor	54	94	111.87	AA4330	980	33	695.62
VBD_pump_during_apogee	370	992	7899.92	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	65.70	nil	0	0	0.00
Iridium_during_connect	35	160	122.72	nil	0	0	0.00
Iridium_during_xfer	177	223	853.20	nil	0	0	0.00
Transponder_ping	1	420	9.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	50	20.52
TT8	1933	19	371.44
LPSleep	3252	2	69.10
TT8_Active	461	19	88.57
TT8_Sampling	1599	39	617.39
TT8_CF8	340	45	151.24
TT8_Kalman	0	0	0.00
Analog_circuits	1201	12	139.86
GPS_charging	0	0	0.00
Compass	1274	15	185.46
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	13	begin dive
17	-0.71	-170.3	0.0	0.0	0	90	0.00	0.00	-71.43	0.000	2	0.000	0.000	180	2766	3391	0	0	0	0	0	0
95	-0.71	-170.3	3.0	-6.0	12	117	9.18	2.28	-5.75	0.000	4	0.203	0.044	2563	1377	3659	0	0	0	0	0	0
368	-0.71	-170.3	49.3	-14.0	60	375	0.00	2.28	0.00	0.000	6	0.000	0.041	2560	2779	3662	0	0	0	0	0	0
511	-0.71	-170.3	69.4	-14.3	85	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2780	3663	0	0	0	0	0	0
652	-0.71	-170.3	89.0	-14.4	110	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2779	3663	0	0	0	0	0	0
797	-0.71	-170.3	108.7	-13.1	130	798	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2779	3663	0	0	0	0	0	0
923	-0.71	-170.3	125.2	-13.2	142	927	0.00	1.62	0.00	0.000	4	0.000	0.048	2556	3786	3663	0	0	0	0	0	0
973	-0.71	-170.3	132.1	-13.7	146	981	0.00	1.60	0.00	0.000	6	0.000	0.028	2556	2781	3663	0	0	0	0	0	0
1109	-0.71	-170.3	149.3	-12.6	159	1111	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2781	3663	0	0	0	0	0	0
1236	-0.71	-170.3	164.9	-12.1	171	1237	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2781	3664	0	0	0	0	0	0
1363	-0.71	-170.3	180.6	-12.3	183	1367	0.00	1.62	0.00	0.000	4	0.000	0.047	2549	3782	3663	0	0	0	0	0	0
1414	-0.71	-170.3	187.6	-13.7	187	1421	0.00	1.58	0.00	0.000	6	0.000	0.028	2548	2789	3663	0	0	0	0	0	0
1549	-0.71	-170.3	205.5	-13.6	200	1550	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2789	3663	0	0	0	0	0	0
1676	-0.71	-170.3	222.3	-13.1	212	1677	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2789	3663	0	0	0	0	0	0
1805	-0.71	-170.3	238.5	-12.3	224	1808	0.00	1.62	0.00	0.000	4	0.000	0.047	2541	3763	3663	0	0	0	0	0	0
1855	-0.71	-170.3	245.7	-13.7	228	1862	0.00	1.52	0.00	0.000	6	0.000	0.028	2541	2799	3663	0	0	0	0	0	0
1990	-0.71	-170.3	262.6	-12.8	241	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2798	3663	0	0	0	0	0	0
2182	-0.71	-170.3	287.2	-12.8	259	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2799	3663	0	0	0	0	0	0
2371	-0.71	-170.3	312.4	-13.4	277	2373	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2798	3663	0	0	0	0	0	0
2565	-0.71	-170.3	338.0	-13.3	295	2569	0.00	1.60	0.00	0.000	4	0.000	0.047	2533	3758	3663	0	0	0	0	0	0
2627	-0.71	-170.3	347.4	-13.9	300	2635	0.10	1.50	0.00	0.000	6	0.125	0.028	2569	2810	3662	0	0	0	0	0	0
2828	-0.71	-170.3	369.9	-11.5	319	2834	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2811	3662	0	0	0	0	0	0
3028	-0.71	-170.3	392.4	-11.1	338	3031	0.00	1.58	0.00	0.000	4	0.000	0.047	2562	3758	3662	0	0	0	0	0	0
3059	end dive: TARGET_DEPTH_EXCEEDED
state	3060	begin apogee
3068	-0.16	0.0	396.6	11.9	341	3217	0.52	0.00	141.60	0.992	4	0.112	0.000	2742	2693	2958	0	0	0	0	0	0
3218	end apogee: CONTROL_FINISHED_OK
state	3218	begin climb
3221	0.71	170.3	403.1	0.0	354	3384	0.85	2.35	154.20	0.939	4	0.072	0.032	3029	1290	2265	0	0	0	0	0	0
3570	0.71	170.3	379.8	10.1	384	3577	0.00	2.42	0.00	0.000	6	0.000	0.041	3029	2706	2259	0	0	0	0	0	0
3770	0.71	171.1	360.0	10.0	403	3774	0.00	2.33	0.00	0.000	4	0.000	0.034	3040	1286	2256	0	0	0	0	0	0
3964	0.73	184.9	341.1	9.5	420	3981	0.00	2.30	12.15	0.886	6	0.000	0.041	3040	2707	2206	0	0	0	0	0	0
4178	0.73	184.9	319.3	10.2	439	4181	0.00	1.70	0.00	0.000	4	0.000	0.048	3040	3761	2206	0	0	0	0	0	0
4251	0.73	184.9	310.1	11.7	445	4259	0.00	1.65	0.00	0.000	6	0.000	0.028	3048	2703	2206	0	0	0	0	0	0
4451	0.73	185.5	289.6	10.0	464	4457	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2703	2205	0	0	0	0	0	0
4651	0.73	185.5	268.8	10.1	483	4655	0.00	1.73	0.00	0.000	4	0.000	0.048	3048	3762	2205	0	0	0	0	0	0
4709	0.73	185.5	261.9	11.9	488	4713	0.00	1.62	0.00	0.000	6	0.000	0.030	3056	2705	2204	0	0	1	0	0	0
4914	0.73	185.5	240.0	10.6	507	4915	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2705	2204	0	0	0	0	0	0
5040	0.73	185.5	226.5	10.5	519	5041	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2705	2204	0	0	0	0	0	0
5168	0.73	185.5	212.8	11.1	531	5171	0.00	1.73	0.00	0.000	4	0.000	0.047	3056	3765	2204	0	0	0	0	0	0
5230	0.73	185.5	204.9	12.6	536	5237	0.00	1.67	0.00	0.000	6	0.000	0.028	3064	2717	2204	0	0	0	0	0	0
5365	0.73	185.5	189.8	11.2	549	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2718	2203	0	0	0	0	0	0
5492	0.73	185.5	176.2	10.4	561	5493	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2718	2203	0	0	0	0	0	0
5620	0.73	185.5	162.9	10.6	573	5624	0.00	1.70	0.00	0.000	4	0.000	0.047	3064	3766	2203	0	0	0	0	0	0
5682	0.73	185.5	155.3	12.3	578	5689	0.10	1.65	0.00	0.000	6	0.131	0.029	3027	2732	2203	0	0	0	0	0	0
5817	0.79	233.7	143.7	8.1	591	5867	0.00	0.00	45.15	0.839	6	0.000	0.000	3027	2732	2007	0	0	0	0	0	0
5996	0.81	251.4	127.7	9.3	608	6015	0.10	0.00	17.23	0.800	6	0.101	0.000	3087	2731	1934	0	0	0	0	0	0
6142	0.81	251.4	109.0	13.1	622	6143	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2730	1935	0	0	0	0	0	0
6272	0.81	251.4	91.9	12.9	639	6280	0.00	1.73	0.00	0.000	4	0.000	0.047	3088	3761	1934	0	0	0	0	0	0
6331	0.81	251.4	83.1	14.8	649	6339	0.10	1.65	0.00	0.000	6	0.128	0.029	3048	2737	1935	0	0	0	0	0	0
6476	0.81	251.4	67.7	10.9	674	6483	0.00	2.30	0.00	0.000	4	0.000	0.034	3058	1290	1934	0	0	0	0	0	0
6502	0.81	251.4	64.8	10.1	678	6509	0.00	2.35	0.00	0.000	6	0.000	0.043	3058	2737	1934	0	0	0	0	0	0
6645	0.81	251.4	49.5	11.0	703	6652	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2737	1935	0	0	0	0	0	0
6790	0.81	251.4	33.6	11.6	728	6796	0.00	1.70	0.00	0.000	4	0.000	0.048	3058	3761	1934	0	0	0	0	0	0
6848	0.81	251.4	26.2	13.1	738	6855	0.00	1.67	0.00	0.000	6	0.000	0.030	3064	2718	1934	0	0	0	0	0	0
6992	0.81	251.4	9.6	12.1	763	6999	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2717	1934	0	0	0	0	0	0
7047	end climb: SURFACE_DEPTH_REACHED
state	7047	begin surface coast
7071	end surface coast: CONTROL_FINISHED_OK
state	7071	begin surface