Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 136 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 136 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 16530 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 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 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2961 DEVICE3 86

SURFACE_URGENCY_FORCE 2 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 320 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 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 2 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 -1 T_GPS_CHARGE -27004.922 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.025 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 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 450 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3065 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043373196

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -70.546913 SEABIRD_T_H 0.00062598457

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_I 2.5066851e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.8555498e-06

MASS 51763 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7998753

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1362277

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00070417771

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014171835

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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 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 2

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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 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 450 TGT_DEFAULT_LAT -7715

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 16530

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 2

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 -27004.922

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 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 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -1

C_VBD 2961 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 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 136 NAV_MODE 0 SEABIRD_C_J 0.00014171835 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043373196 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062598457 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.5066851e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.8555498e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 041210,175928,-7639.687,16500.295,0,10000.0,0,144.3 TGT_NAME SOUND2

_CALLS 1 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,175928,-7639.687,16500.295,121,99.0,121,144.3 MHEAD_RNG_PITCHd_Wd 34.3,80238,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 547

Post-dive calculations and measurements:

FREEZE 1.45,-1.884,-1.901,2,1,0 ALTIM_BOTTOM_PING 401.2,69.2

FINISH 1.4,1.027867 _24V_AH 21.2,33.585

SM_CCo 6628,106.90,0.723,1,0,1330,400.08 _10V_AH 10.0,19.538

SM_GC 1.93,0.00,0.00,106.90,0.000,0.000,0.723,427,2671,1330,-8.24,0.59,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16505.38,041210,181830 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276080

HUMID 51.06 DATA_FILE_SIZE 50370,731

INTERNAL_PRESSURE 8.74057 CAP_FILE_SIZE 102633,0

TCM_TEMP 13.90 CFSIZE 260165632,245252096

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 20.0,18.5 GPS 041210,180330,-7639.687,16505.381,0,10000.0,0,144.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 210 83.29 SBE_CT 512 24 260.69

Roll_motor 78 88 148.29 AA4330 889 33 621.97

VBD_pump_during_apogee 323 1104 7570.12 WL_BBFL2VMT 855 105 1904.42

VBD_pump_during_surface 106 722 1638.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 64.68 nil 0 0 0.00

Iridium_during_connect 44 160 151.53 nil 0 0 0.00

Iridium_during_xfer 240 223 1134.99 nil 0 0 0.00

Transponder_ping 2 420 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 121 50 60.78

TT8 1725 19 341.67

LPSleep 2687 2 58.85

TT8_Active 580 19 115.02

TT8_Sampling 2133 39 849.17

TT8_CF8 132 45 60.73

TT8_Kalman 0 0 0.00

Analog_circuits 1354 12 162.52

GPS_charging 0 0 0.00

Compass 1219 15 182.99

RAFOS 0 0 0.00

Transponder 12 30 3.72

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 -0.76 -146.0 0.0 0.0 0 168 0.00 0.00 -150.52 0.000 2 0.000 0.000 409 2665 3325 0 0 0 0 0 0

171 -0.76 -146.0 3.0 -1.1 23 200 9.02 1.88 -8.07 0.000 4 0.210 0.079 2808 3767 3562 0 0 0 0 0 0

259 -0.76 -146.0 18.2 -17.4 38 268 0.00 1.80 0.00 0.000 6 0.000 0.044 2808 2650 3564 0 0 0 0 0 0

399 -0.76 -146.0 38.4 -14.4 63 405 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2649 3564 0 0 0 0 0 0

536 -0.76 -146.0 58.9 -15.3 88 544 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2649 3564 0 0 0 0 0 0

676 -0.76 -146.0 79.3 -15.6 113 683 0.00 1.85 0.00 0.000 4 0.000 0.067 2800 3769 3565 0 0 0 0 0 0

726 -0.76 -146.0 88.7 -18.9 122 734 0.00 1.77 0.00 0.000 6 0.000 0.045 2800 2660 3565 0 0 0 0 0 0

872 -0.76 -146.0 115.1 -21.7 141 875 0.00 1.80 0.00 0.000 4 0.000 0.063 2791 3771 3564 0 0 0 0 0 0

897 -0.76 -146.0 122.5 -25.1 143 906 0.00 1.75 0.00 0.000 6 0.000 0.044 2792 2677 3564 0 0 0 0 0 0

1033 -0.76 -146.0 149.1 -19.7 156 1034 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2677 3564 0 0 0 0 0 0

1160 -0.76 -146.0 174.8 -18.6 168 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2677 3564 0 0 0 0 0 0

1288 -0.76 -146.0 198.5 -15.7 180 1292 0.00 2.28 0.00 0.000 4 0.000 0.054 2791 1233 3564 0 0 0 0 0 0

1308 -0.76 -146.0 202.3 -16.8 181 1317 0.10 2.38 0.00 0.000 6 0.145 0.060 2814 2668 3564 0 0 0 0 0 0

1445 -0.76 -146.0 222.9 -15.3 194 1449 0.00 1.75 0.00 0.000 4 0.000 0.064 2807 3767 3564 0 0 0 0 0 0

1481 -0.76 -146.0 228.7 -16.2 197 1485 0.00 1.70 0.00 0.000 6 0.000 0.044 2807 2669 3564 0 0 0 0 0 0

1622 -0.76 -146.0 250.1 -15.3 210 1623 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2667 3564 0 0 0 0 0 0

1812 -0.76 -146.0 280.0 -15.9 228 1816 0.00 1.77 0.00 0.000 4 0.000 0.064 2799 3766 3564 0 0 0 0 0 0

1838 -0.76 -146.0 284.9 -16.4 230 1846 0.00 1.73 0.00 0.000 6 0.000 0.044 2799 2679 3564 0 0 0 0 0 0

2037 -0.76 -146.0 315.2 -15.2 249 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2679 3564 0 0 0 0 0 0

2228 -0.76 -146.0 343.8 -14.6 267 2229 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2679 3564 0 0 0 0 0 0

2419 -0.76 -146.0 371.5 -13.9 285 2423 0.00 1.77 0.00 0.000 4 0.000 0.066 2791 3768 3564 0 0 0 0 0 0

2476 -0.76 -146.0 380.5 -16.2 290 2479 0.00 1.67 0.00 0.000 6 0.000 0.045 2791 2686 3563 0 0 0 0 0 0

2679 -0.76 -146.0 411.0 -14.9 309 2683 0.00 2.30 0.00 0.000 4 0.000 0.054 2791 1238 3564 0 0 0 0 0 0

2707 -0.76 -146.0 415.5 -15.9 311 2712 0.12 2.35 0.00 0.000 6 0.169 0.060 2815 2687 3564 0 0 0 0 0 0

2905 -0.76 -146.0 442.6 -14.1 329 2908 0.00 1.75 0.00 0.000 4 0.000 0.066 2808 3757 3564 0 0 0 0 0 0

2961 -0.76 -146.0 450.9 -15.0 334 2964 0.00 1.67 0.00 0.000 6 0.000 0.045 2808 2676 3564 0 0 0 0 0 0

2992 end dive: BOTTOM_OBSTACLE_DETECTED

state 2992 begin apogee

2997 -0.17 0.0 455.7 14.4 337 3138 0.60 0.00 131.20 1.105 4 0.132 0.000 3002 2494 2960 0 0 0 0 0 0

3139 end apogee: CONTROL_FINISHED_OK

state 3139 begin climb

3140 0.76 146.0 461.1 0.0 350 3294 0.95 2.53 142.57 1.033 4 0.076 0.052 3306 1093 2364 0 0 0 0 0 0

3389 0.76 146.0 439.2 11.2 372 3397 0.00 2.47 0.00 0.000 6 0.000 0.054 3306 2506 2354 0 0 0 0 0 0

3587 0.76 146.0 415.8 11.7 391 3591 0.00 2.33 0.00 0.000 4 0.000 0.053 3315 1095 2350 0 0 0 0 0 0

3716 0.76 146.0 401.3 11.2 402 3720 0.00 2.35 0.00 0.000 6 0.000 0.056 3315 2518 2348 0 0 0 0 0 0

3914 0.76 146.0 378.0 12.0 420 3918 0.00 2.00 0.00 0.000 4 0.000 0.060 3315 3764 2346 0 0 0 0 0 0

3993 0.76 146.0 366.4 15.2 427 3997 0.00 1.92 0.00 0.000 6 0.000 0.043 3324 2537 2346 0 0 0 0 0 0

4196 0.76 146.0 339.2 13.4 446 4199 0.00 2.00 0.00 0.000 4 0.000 0.060 3323 3773 2345 0 0 0 0 0 0

4252 0.76 146.0 330.6 15.8 451 4256 0.00 1.92 0.00 0.000 6 0.000 0.043 3334 2544 2344 0 0 0 0 0 0

4454 0.76 146.0 301.8 14.1 470 4458 0.00 1.98 0.00 0.000 4 0.000 0.060 3334 3766 2344 0 0 0 0 0 0

4477 0.76 146.0 298.1 16.7 472 4481 0.12 1.90 0.00 0.000 6 0.171 0.043 3311 2548 2344 0 0 0 0 0 0

4680 0.76 146.0 270.8 13.0 491 4684 0.00 1.98 0.00 0.000 4 0.000 0.063 3310 3768 2343 0 0 0 0 0 0

4706 0.76 146.0 266.5 14.9 493 4714 0.00 1.92 0.00 0.000 6 0.000 0.043 3318 2558 2343 0 0 0 0 0 0

4907 0.76 146.0 239.7 12.4 512 4910 0.00 1.95 0.00 0.000 4 0.000 0.061 3317 3767 2342 0 0 0 0 0 0

4942 0.76 146.0 233.9 15.6 515 4952 0.00 1.92 0.00 0.000 6 0.000 0.042 3327 2556 2342 0 0 0 0 0 0

5079 0.76 146.0 216.8 14.0 528 5080 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2556 2342 0 0 0 0 0 0

5206 0.76 146.0 196.9 15.8 540 5210 0.00 1.95 0.00 0.000 4 0.000 0.061 3327 3768 2342 0 0 0 0 0 0

5297 0.76 146.0 181.7 17.0 548 5306 0.00 1.88 0.00 0.000 6 0.000 0.043 3337 2577 2342 0 0 0 0 0 0

5434 0.76 146.0 164.1 12.5 561 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2577 2341 0 0 0 0 0 0

5561 0.76 146.0 147.5 13.3 573 5564 0.00 1.92 0.00 0.000 4 0.000 0.061 3336 3774 2341 0 0 0 0 0 0

5586 0.76 146.0 143.2 15.1 575 5596 0.10 1.92 0.00 0.000 6 0.147 0.043 3314 2563 2341 0 0 0 0 0 0

5723 0.76 146.0 124.6 14.4 588 5726 0.00 1.95 0.00 0.000 4 0.000 0.062 3313 3771 2341 0 0 0 0 0 0

5768 0.76 146.0 117.4 16.3 592 5771 0.00 1.83 0.00 0.000 6 0.000 0.044 3320 2593 2341 0 0 0 0 0 0

5902 0.76 146.0 96.7 14.1 606 5909 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2590 2341 0 0 0 0 0 0

6042 0.76 146.0 74.8 16.9 631 6048 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2590 2341 0 0 0 0 0 0

6179 0.76 146.0 55.6 15.8 656 6186 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2590 2341 0 0 0 0 0 0

6319 0.83 203.7 41.6 7.3 681 6372 0.00 0.00 49.47 0.862 6 0.000 0.000 3321 2590 2129 0 0 0 0 0 0

6503 0.83 203.7 19.2 14.7 713 6510 0.00 1.98 0.00 0.000 4 0.000 0.063 3320 3773 2122 0 0 0 0 0 0

6552 0.83 203.7 11.4 17.9 721 6559 0.00 1.88 0.00 0.000 6 0.000 0.043 3330 2592 2121 0 0 0 0 0 0

6600 end climb: SURFACE_DEPTH_REACHED

state 6600 begin surface coast

6614 end surface coast: FINISH_DEPTH_REACHED

state 6614 begin surface

ID	502	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	136	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	16530	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	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	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2961	DEVICE3	86
SURFACE_URGENCY_FORCE	2	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	320	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	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	2	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	-1	T_GPS_CHARGE	-27004.922	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.025	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	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	450	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3065	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043373196
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-70.546913	SEABIRD_T_H	0.00062598457
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_I	2.5066851e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.8555498e-06
MASS	51763	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7998753
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1362277
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00070417771
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014171835
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	041210,175928,-7639.687,16500.295,0,10000.0,0,144.3	TGT_NAME	SOUND2
_CALLS	1	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,175928,-7639.687,16500.295,121,99.0,121,144.3	MHEAD_RNG_PITCHd_Wd	34.3,80238,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	547

FREEZE	1.45,-1.884,-1.901,2,1,0	ALTIM_BOTTOM_PING	401.2,69.2
FINISH	1.4,1.027867	_24V_AH	21.2,33.585
SM_CCo	6628,106.90,0.723,1,0,1330,400.08	_10V_AH	10.0,19.538
SM_GC	1.93,0.00,0.00,106.90,0.000,0.000,0.723,427,2671,1330,-8.24,0.59,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16505.38,041210,181830	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276080
HUMID	51.06	DATA_FILE_SIZE	50370,731
INTERNAL_PRESSURE	8.74057	CAP_FILE_SIZE	102633,0
TCM_TEMP	13.90	CFSIZE	260165632,245252096
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	20.0,18.5	GPS	041210,180330,-7639.687,16505.381,0,10000.0,0,144.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	210	83.29	SBE_CT	512	24	260.69
Roll_motor	78	88	148.29	AA4330	889	33	621.97
VBD_pump_during_apogee	323	1104	7570.12	WL_BBFL2VMT	855	105	1904.42
VBD_pump_during_surface	106	722	1638.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	64.68	nil	0	0	0.00
Iridium_during_connect	44	160	151.53	nil	0	0	0.00
Iridium_during_xfer	240	223	1134.99	nil	0	0	0.00
Transponder_ping	2	420	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	121	50	60.78
TT8	1725	19	341.67
LPSleep	2687	2	58.85
TT8_Active	580	19	115.02
TT8_Sampling	2133	39	849.17
TT8_CF8	132	45	60.73
TT8_Kalman	0	0	0.00
Analog_circuits	1354	12	162.52
GPS_charging	0	0	0.00
Compass	1219	15	182.99
RAFOS	0	0	0.00
Transponder	12	30	3.72

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	-0.76	-146.0	0.0	0.0	0	168	0.00	0.00	-150.52	0.000	2	0.000	0.000	409	2665	3325	0	0	0	0	0	0
171	-0.76	-146.0	3.0	-1.1	23	200	9.02	1.88	-8.07	0.000	4	0.210	0.079	2808	3767	3562	0	0	0	0	0	0
259	-0.76	-146.0	18.2	-17.4	38	268	0.00	1.80	0.00	0.000	6	0.000	0.044	2808	2650	3564	0	0	0	0	0	0
399	-0.76	-146.0	38.4	-14.4	63	405	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2649	3564	0	0	0	0	0	0
536	-0.76	-146.0	58.9	-15.3	88	544	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2649	3564	0	0	0	0	0	0
676	-0.76	-146.0	79.3	-15.6	113	683	0.00	1.85	0.00	0.000	4	0.000	0.067	2800	3769	3565	0	0	0	0	0	0
726	-0.76	-146.0	88.7	-18.9	122	734	0.00	1.77	0.00	0.000	6	0.000	0.045	2800	2660	3565	0	0	0	0	0	0
872	-0.76	-146.0	115.1	-21.7	141	875	0.00	1.80	0.00	0.000	4	0.000	0.063	2791	3771	3564	0	0	0	0	0	0
897	-0.76	-146.0	122.5	-25.1	143	906	0.00	1.75	0.00	0.000	6	0.000	0.044	2792	2677	3564	0	0	0	0	0	0
1033	-0.76	-146.0	149.1	-19.7	156	1034	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2677	3564	0	0	0	0	0	0
1160	-0.76	-146.0	174.8	-18.6	168	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2677	3564	0	0	0	0	0	0
1288	-0.76	-146.0	198.5	-15.7	180	1292	0.00	2.28	0.00	0.000	4	0.000	0.054	2791	1233	3564	0	0	0	0	0	0
1308	-0.76	-146.0	202.3	-16.8	181	1317	0.10	2.38	0.00	0.000	6	0.145	0.060	2814	2668	3564	0	0	0	0	0	0
1445	-0.76	-146.0	222.9	-15.3	194	1449	0.00	1.75	0.00	0.000	4	0.000	0.064	2807	3767	3564	0	0	0	0	0	0
1481	-0.76	-146.0	228.7	-16.2	197	1485	0.00	1.70	0.00	0.000	6	0.000	0.044	2807	2669	3564	0	0	0	0	0	0
1622	-0.76	-146.0	250.1	-15.3	210	1623	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2667	3564	0	0	0	0	0	0
1812	-0.76	-146.0	280.0	-15.9	228	1816	0.00	1.77	0.00	0.000	4	0.000	0.064	2799	3766	3564	0	0	0	0	0	0
1838	-0.76	-146.0	284.9	-16.4	230	1846	0.00	1.73	0.00	0.000	6	0.000	0.044	2799	2679	3564	0	0	0	0	0	0
2037	-0.76	-146.0	315.2	-15.2	249	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2679	3564	0	0	0	0	0	0
2228	-0.76	-146.0	343.8	-14.6	267	2229	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2679	3564	0	0	0	0	0	0
2419	-0.76	-146.0	371.5	-13.9	285	2423	0.00	1.77	0.00	0.000	4	0.000	0.066	2791	3768	3564	0	0	0	0	0	0
2476	-0.76	-146.0	380.5	-16.2	290	2479	0.00	1.67	0.00	0.000	6	0.000	0.045	2791	2686	3563	0	0	0	0	0	0
2679	-0.76	-146.0	411.0	-14.9	309	2683	0.00	2.30	0.00	0.000	4	0.000	0.054	2791	1238	3564	0	0	0	0	0	0
2707	-0.76	-146.0	415.5	-15.9	311	2712	0.12	2.35	0.00	0.000	6	0.169	0.060	2815	2687	3564	0	0	0	0	0	0
2905	-0.76	-146.0	442.6	-14.1	329	2908	0.00	1.75	0.00	0.000	4	0.000	0.066	2808	3757	3564	0	0	0	0	0	0
2961	-0.76	-146.0	450.9	-15.0	334	2964	0.00	1.67	0.00	0.000	6	0.000	0.045	2808	2676	3564	0	0	0	0	0	0
2992	end dive: BOTTOM_OBSTACLE_DETECTED
state	2992	begin apogee
2997	-0.17	0.0	455.7	14.4	337	3138	0.60	0.00	131.20	1.105	4	0.132	0.000	3002	2494	2960	0	0	0	0	0	0
3139	end apogee: CONTROL_FINISHED_OK
state	3139	begin climb
3140	0.76	146.0	461.1	0.0	350	3294	0.95	2.53	142.57	1.033	4	0.076	0.052	3306	1093	2364	0	0	0	0	0	0
3389	0.76	146.0	439.2	11.2	372	3397	0.00	2.47	0.00	0.000	6	0.000	0.054	3306	2506	2354	0	0	0	0	0	0
3587	0.76	146.0	415.8	11.7	391	3591	0.00	2.33	0.00	0.000	4	0.000	0.053	3315	1095	2350	0	0	0	0	0	0
3716	0.76	146.0	401.3	11.2	402	3720	0.00	2.35	0.00	0.000	6	0.000	0.056	3315	2518	2348	0	0	0	0	0	0
3914	0.76	146.0	378.0	12.0	420	3918	0.00	2.00	0.00	0.000	4	0.000	0.060	3315	3764	2346	0	0	0	0	0	0
3993	0.76	146.0	366.4	15.2	427	3997	0.00	1.92	0.00	0.000	6	0.000	0.043	3324	2537	2346	0	0	0	0	0	0
4196	0.76	146.0	339.2	13.4	446	4199	0.00	2.00	0.00	0.000	4	0.000	0.060	3323	3773	2345	0	0	0	0	0	0
4252	0.76	146.0	330.6	15.8	451	4256	0.00	1.92	0.00	0.000	6	0.000	0.043	3334	2544	2344	0	0	0	0	0	0
4454	0.76	146.0	301.8	14.1	470	4458	0.00	1.98	0.00	0.000	4	0.000	0.060	3334	3766	2344	0	0	0	0	0	0
4477	0.76	146.0	298.1	16.7	472	4481	0.12	1.90	0.00	0.000	6	0.171	0.043	3311	2548	2344	0	0	0	0	0	0
4680	0.76	146.0	270.8	13.0	491	4684	0.00	1.98	0.00	0.000	4	0.000	0.063	3310	3768	2343	0	0	0	0	0	0
4706	0.76	146.0	266.5	14.9	493	4714	0.00	1.92	0.00	0.000	6	0.000	0.043	3318	2558	2343	0	0	0	0	0	0
4907	0.76	146.0	239.7	12.4	512	4910	0.00	1.95	0.00	0.000	4	0.000	0.061	3317	3767	2342	0	0	0	0	0	0
4942	0.76	146.0	233.9	15.6	515	4952	0.00	1.92	0.00	0.000	6	0.000	0.042	3327	2556	2342	0	0	0	0	0	0
5079	0.76	146.0	216.8	14.0	528	5080	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2556	2342	0	0	0	0	0	0
5206	0.76	146.0	196.9	15.8	540	5210	0.00	1.95	0.00	0.000	4	0.000	0.061	3327	3768	2342	0	0	0	0	0	0
5297	0.76	146.0	181.7	17.0	548	5306	0.00	1.88	0.00	0.000	6	0.000	0.043	3337	2577	2342	0	0	0	0	0	0
5434	0.76	146.0	164.1	12.5	561	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2577	2341	0	0	0	0	0	0
5561	0.76	146.0	147.5	13.3	573	5564	0.00	1.92	0.00	0.000	4	0.000	0.061	3336	3774	2341	0	0	0	0	0	0
5586	0.76	146.0	143.2	15.1	575	5596	0.10	1.92	0.00	0.000	6	0.147	0.043	3314	2563	2341	0	0	0	0	0	0
5723	0.76	146.0	124.6	14.4	588	5726	0.00	1.95	0.00	0.000	4	0.000	0.062	3313	3771	2341	0	0	0	0	0	0
5768	0.76	146.0	117.4	16.3	592	5771	0.00	1.83	0.00	0.000	6	0.000	0.044	3320	2593	2341	0	0	0	0	0	0
5902	0.76	146.0	96.7	14.1	606	5909	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2590	2341	0	0	0	0	0	0
6042	0.76	146.0	74.8	16.9	631	6048	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2590	2341	0	0	0	0	0	0
6179	0.76	146.0	55.6	15.8	656	6186	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2590	2341	0	0	0	0	0	0
6319	0.83	203.7	41.6	7.3	681	6372	0.00	0.00	49.47	0.862	6	0.000	0.000	3321	2590	2129	0	0	0	0	0	0
6503	0.83	203.7	19.2	14.7	713	6510	0.00	1.98	0.00	0.000	4	0.000	0.063	3320	3773	2122	0	0	0	0	0	0
6552	0.83	203.7	11.4	17.9	721	6559	0.00	1.88	0.00	0.000	6	0.000	0.043	3330	2592	2121	0	0	0	0	0	0
6600	end climb: SURFACE_DEPTH_REACHED
state	6600	begin surface coast
6614	end surface coast: FINISH_DEPTH_REACHED
state	6614	begin surface