Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 138 * 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 138 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 623.29712 R_PORT_OVSHOOT 23 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 -27496.273 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 623.29712

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 -27496.273

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 23 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 138 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 041210,200814,-7639.687,16519.416,0,10000.0,0,144.3 TGT_NAME SOUND2

_CALLS 3 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 9 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,200814,-7639.687,16519.416,121,99.0,121,144.3 MHEAD_RNG_PITCHd_Wd 39.9,80428,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 575

Post-dive calculations and measurements:

FREEZE 2.03,-1.870,-1.902,2,2,0 ALTIM_BOTTOM_PING 350.4,80.4

FINISH 2.0,1.027878 _24V_AH 21.2,33.883

SM_CCo 6048,287.95,0.765,4,0,419,623.30 _10V_AH 9.9,19.718

SM_GC 1.84,0.00,0.00,287.95,0.000,0.000,0.765,411,2657,419,-8.29,0.20,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16512.38,051210,000040 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276036

HUMID 48.77 DATA_FILE_SIZE 43727,666

INTERNAL_PRESSURE 8.65268 CAP_FILE_SIZE 101455,0

TCM_TEMP 13.90 CFSIZE 260165632,245125120

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

ALTIM_TOP_PING 19.5,17.9 GPS 051210,001140,-7639.687,16512.375,0,10000.0,0,144.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 212 84.42 SBE_CT 467 24 237.88

Roll_motor 89 67 127.95 AA4330 835 33 584.63

VBD_pump_during_apogee 272 1082 6256.33 WL_BBFL2VMT 880 105 1959.93

VBD_pump_during_surface 287 765 4669.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 89 103 196.02 nil 0 0 0.00

Iridium_during_connect 120 160 409.22 nil 0 0 0.00

Iridium_during_xfer 288 223 1363.81 nil 0 0 0.00

Transponder_ping 2 420 17.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 121 50 60.19

TT8 1600 19 313.72

LPSleep 2518 2 54.60

TT8_Active 723 19 141.86

TT8_Sampling 2276 39 896.87

TT8_CF8 129 45 58.63

TT8_Kalman 0 0 0.00

Analog_circuits 1424 12 169.28

GPS_charging 0 0 0.00

Compass 1117 15 165.92

RAFOS 0 0 0.00

Transponder 10 30 3.18

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

14 -0.76 -146.0 0.0 0.0 0 121 0.00 0.00 -104.32 0.000 2 0.000 0.000 392 2652 3219 0 0 0 0 0 0

123 -0.76 -146.0 3.2 -2.1 16 152 9.12 2.30 -10.95 0.000 4 0.213 0.067 2809 1233 3559 0 0 0 0 0 0

163 -0.76 -146.0 9.0 -13.7 22 171 0.00 2.38 0.00 0.000 6 0.000 0.058 2800 2653 3561 0 0 0 0 0 0

303 -0.76 -146.0 31.4 -16.3 47 310 0.00 2.28 0.00 0.000 4 0.000 0.051 2800 1233 3561 0 0 0 0 0 0

321 -0.76 -146.0 34.7 -16.4 50 330 0.00 2.38 0.00 0.000 6 0.000 0.058 2790 2656 3562 0 0 0 0 0 0

461 -0.76 -146.0 59.9 -20.2 75 467 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2657 3562 0 0 0 0 0 0

598 -0.76 -146.0 86.1 -17.0 100 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2656 3562 0 0 0 0 0 0

737 -0.76 -146.0 111.2 -15.9 119 741 0.00 2.28 0.00 0.000 4 0.000 0.052 2790 1222 3562 0 0 0 0 0 0

756 -0.76 -146.0 114.2 -16.2 120 761 0.12 2.35 0.00 0.000 6 0.176 0.059 2812 2665 3562 0 0 0 0 0 0

891 -0.76 -146.0 133.6 -14.0 132 895 0.00 1.77 0.00 0.000 4 0.000 0.063 2806 3769 3562 0 0 0 0 0 0

939 -0.76 -146.0 141.1 -14.1 136 948 0.00 1.77 0.00 0.000 6 0.000 0.044 2806 2653 3562 0 0 0 0 0 0

1075 -0.76 -146.0 159.9 -14.4 149 1076 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2652 3562 0 0 0 0 0 0

1202 -0.76 -146.0 178.6 -13.9 161 1206 0.00 1.80 0.00 0.000 4 0.000 0.065 2798 3764 3562 0 0 0 0 0 0

1248 -0.76 -146.0 185.6 -16.1 165 1251 0.00 1.70 0.00 0.000 6 0.000 0.044 2798 2668 3562 0 0 0 0 0 0

1388 -0.76 -146.0 207.2 -15.2 178 1389 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2666 3562 0 0 0 0 0 0

1516 -0.76 -146.0 227.8 -16.1 190 1517 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2666 3562 0 0 0 0 0 0

1643 -0.76 -146.0 248.0 -15.8 202 1646 0.00 1.77 0.00 0.000 4 0.000 0.063 2790 3764 3562 0 0 0 0 0 0

1679 -0.76 -146.0 254.5 -15.9 205 1687 0.00 1.73 0.00 0.000 6 0.000 0.043 2790 2676 3562 0 0 0 0 0 0

1880 -0.76 -146.0 287.8 -17.4 224 1881 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2676 3562 0 0 0 0 0 0

2069 -0.76 -146.0 321.8 -18.2 242 2073 0.00 1.77 0.00 0.000 4 0.000 0.067 2781 3769 3562 0 0 0 0 0 0

2106 -0.76 -146.0 329.1 -18.3 245 2115 0.10 1.73 0.00 0.000 6 0.142 0.044 2815 2683 3562 0 0 0 0 0 0

2305 -0.76 -146.0 357.6 -13.4 264 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2682 3562 0 0 0 0 0 0

2496 -0.76 -146.0 384.1 -14.2 282 2499 0.00 1.75 0.00 0.000 4 0.000 0.064 2808 3764 3562 0 0 0 0 0 0

2534 -0.76 -146.0 390.1 -15.2 285 2541 0.00 1.70 0.00 0.000 6 0.000 0.044 2808 2693 3561 0 0 0 0 0 0

2709 end dive: BOTTOM_OBSTACLE_DETECTED

state 2709 begin apogee

2713 -0.17 0.0 415.8 14.5 302 2849 0.60 0.00 130.32 1.082 4 0.132 0.000 3002 2484 2961 0 0 0 0 0 0

2850 end apogee: CONTROL_FINISHED_OK

state 2850 begin climb

2851 0.76 146.0 421.6 0.0 314 3005 0.98 2.50 142.30 1.019 4 0.079 0.053 3312 1095 2363 0 0 0 0 0 0

3088 0.76 146.0 401.2 12.4 335 3096 0.00 2.50 0.00 0.000 6 0.000 0.054 3312 2499 2353 0 0 0 0 0 0

3286 0.76 146.0 375.9 12.9 354 3290 0.00 2.33 0.00 0.000 4 0.000 0.052 3321 1091 2349 0 0 0 0 0 0

3432 0.76 146.0 357.5 12.1 366 3439 0.00 2.38 0.00 0.000 6 0.000 0.056 3321 2519 2346 0 0 0 0 0 0

3629 0.76 146.0 331.2 13.3 385 3632 0.00 2.00 0.00 0.000 4 0.000 0.059 3321 3767 2346 0 0 0 0 0 0

3734 0.76 146.0 315.0 15.5 394 3742 0.00 1.98 0.00 0.000 6 0.000 0.043 3331 2536 2345 0 0 0 0 0 0

3932 0.76 146.0 288.0 13.6 413 3936 0.00 2.00 0.00 0.000 4 0.000 0.061 3331 3772 2344 0 0 0 0 0 0

3977 0.76 146.0 281.2 15.5 417 3981 0.00 1.98 0.00 0.000 6 0.000 0.044 3341 2515 2343 0 0 0 0 0 0

4180 0.76 146.0 252.5 13.9 436 4183 0.00 2.03 0.00 0.000 4 0.000 0.060 3341 3767 2343 0 0 0 0 0 0

4238 0.76 146.0 242.8 16.5 441 4249 0.10 1.92 0.00 0.000 6 0.150 0.042 3318 2558 2342 0 0 0 0 0 0

4375 0.76 146.0 225.0 11.9 454 4376 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2556 2343 0 0 0 0 0 0

4502 0.76 146.0 208.9 13.2 466 4506 0.00 1.95 0.00 0.000 4 0.000 0.061 3317 3765 2342 0 0 0 0 0 0

4547 0.76 146.0 202.2 15.1 470 4550 0.00 1.88 0.00 0.000 6 0.000 0.043 3326 2555 2342 0 0 0 0 0 0

4687 0.76 146.0 183.3 13.7 483 4691 0.00 1.95 0.00 0.000 4 0.000 0.061 3325 3767 2341 0 0 0 0 0 0

4712 0.76 146.0 179.2 14.7 485 4722 0.00 1.90 0.00 0.000 6 0.000 0.042 3335 2563 2341 0 0 0 0 0 0

4849 0.76 146.0 160.9 13.4 498 4852 0.00 1.95 0.00 0.000 4 0.000 0.061 3334 3773 2341 0 0 0 0 0 0

4872 0.76 146.0 157.5 14.4 500 4876 0.12 1.85 0.00 0.000 6 0.171 0.043 3311 2577 2341 0 0 0 0 0 0

5013 0.76 146.0 141.0 11.8 513 5017 0.00 1.92 0.00 0.000 4 0.000 0.061 3311 3771 2341 0 0 0 0 0 0

5036 0.76 146.0 137.9 12.9 515 5040 0.00 1.83 0.00 0.000 6 0.000 0.044 3318 2591 2341 0 0 0 0 0 0

5177 0.76 146.0 119.9 12.6 528 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2589 2340 0 0 0 0 0 0

5304 0.76 146.0 102.7 14.1 540 5308 0.00 1.90 0.00 0.000 4 0.000 0.063 3318 3767 2340 0 0 0 0 0 0

5336 0.76 146.0 97.4 16.1 544 5344 0.00 1.85 0.00 0.000 6 0.000 0.043 3328 2599 2341 0 0 0 0 0 0

5477 0.76 146.0 75.9 16.0 569 5484 0.00 2.38 0.00 0.000 4 0.000 0.052 3338 1094 2340 0 0 0 0 0 0

5502 0.76 146.0 73.0 10.9 573 5509 0.00 2.40 0.00 0.000 6 0.000 0.054 3338 2580 2340 0 0 0 0 0 0

5640 0.76 146.0 53.3 14.8 598 5648 0.00 1.92 0.00 0.000 4 0.000 0.061 3338 3765 2340 0 0 0 0 0 0

5672 0.76 146.0 48.6 15.2 603 5679 0.12 1.85 0.00 0.000 6 0.173 0.042 3314 2573 2340 0 0 0 0 0 0

5809 0.76 146.0 30.6 12.1 628 5818 0.00 1.98 0.00 0.000 4 0.000 0.063 3314 3763 2340 0 0 0 0 0 0

5867 0.76 146.0 23.0 14.1 638 5875 0.00 1.88 0.00 0.000 6 0.000 0.044 3321 2583 2340 0 0 0 0 0 0

6010 0.76 146.0 4.4 10.8 663 6017 0.00 2.38 0.00 0.000 4 0.000 0.057 3328 1094 2339 0 0 0 0 0 0

6025 end climb: SURFACE_DEPTH_REACHED

state 6025 begin surface coast

6031 end surface coast: CONTROL_FINISHED_OK

state 6031 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	138	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	623.29712	R_PORT_OVSHOOT	23	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	-27496.273	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	041210,200814,-7639.687,16519.416,0,10000.0,0,144.3	TGT_NAME	SOUND2
_CALLS	3	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	9	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,200814,-7639.687,16519.416,121,99.0,121,144.3	MHEAD_RNG_PITCHd_Wd	39.9,80428,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	575

FREEZE	2.03,-1.870,-1.902,2,2,0	ALTIM_BOTTOM_PING	350.4,80.4
FINISH	2.0,1.027878	_24V_AH	21.2,33.883
SM_CCo	6048,287.95,0.765,4,0,419,623.30	_10V_AH	9.9,19.718
SM_GC	1.84,0.00,0.00,287.95,0.000,0.000,0.765,411,2657,419,-8.29,0.20,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16512.38,051210,000040	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276036
HUMID	48.77	DATA_FILE_SIZE	43727,666
INTERNAL_PRESSURE	8.65268	CAP_FILE_SIZE	101455,0
TCM_TEMP	13.90	CFSIZE	260165632,245125120
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
ALTIM_TOP_PING	19.5,17.9	GPS	051210,001140,-7639.687,16512.375,0,10000.0,0,144.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	212	84.42	SBE_CT	467	24	237.88
Roll_motor	89	67	127.95	AA4330	835	33	584.63
VBD_pump_during_apogee	272	1082	6256.33	WL_BBFL2VMT	880	105	1959.93
VBD_pump_during_surface	287	765	4669.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	89	103	196.02	nil	0	0	0.00
Iridium_during_connect	120	160	409.22	nil	0	0	0.00
Iridium_during_xfer	288	223	1363.81	nil	0	0	0.00
Transponder_ping	2	420	17.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	121	50	60.19
TT8	1600	19	313.72
LPSleep	2518	2	54.60
TT8_Active	723	19	141.86
TT8_Sampling	2276	39	896.87
TT8_CF8	129	45	58.63
TT8_Kalman	0	0	0.00
Analog_circuits	1424	12	169.28
GPS_charging	0	0	0.00
Compass	1117	15	165.92
RAFOS	0	0	0.00
Transponder	10	30	3.18

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
14	-0.76	-146.0	0.0	0.0	0	121	0.00	0.00	-104.32	0.000	2	0.000	0.000	392	2652	3219	0	0	0	0	0	0
123	-0.76	-146.0	3.2	-2.1	16	152	9.12	2.30	-10.95	0.000	4	0.213	0.067	2809	1233	3559	0	0	0	0	0	0
163	-0.76	-146.0	9.0	-13.7	22	171	0.00	2.38	0.00	0.000	6	0.000	0.058	2800	2653	3561	0	0	0	0	0	0
303	-0.76	-146.0	31.4	-16.3	47	310	0.00	2.28	0.00	0.000	4	0.000	0.051	2800	1233	3561	0	0	0	0	0	0
321	-0.76	-146.0	34.7	-16.4	50	330	0.00	2.38	0.00	0.000	6	0.000	0.058	2790	2656	3562	0	0	0	0	0	0
461	-0.76	-146.0	59.9	-20.2	75	467	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2657	3562	0	0	0	0	0	0
598	-0.76	-146.0	86.1	-17.0	100	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2656	3562	0	0	0	0	0	0
737	-0.76	-146.0	111.2	-15.9	119	741	0.00	2.28	0.00	0.000	4	0.000	0.052	2790	1222	3562	0	0	0	0	0	0
756	-0.76	-146.0	114.2	-16.2	120	761	0.12	2.35	0.00	0.000	6	0.176	0.059	2812	2665	3562	0	0	0	0	0	0
891	-0.76	-146.0	133.6	-14.0	132	895	0.00	1.77	0.00	0.000	4	0.000	0.063	2806	3769	3562	0	0	0	0	0	0
939	-0.76	-146.0	141.1	-14.1	136	948	0.00	1.77	0.00	0.000	6	0.000	0.044	2806	2653	3562	0	0	0	0	0	0
1075	-0.76	-146.0	159.9	-14.4	149	1076	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2652	3562	0	0	0	0	0	0
1202	-0.76	-146.0	178.6	-13.9	161	1206	0.00	1.80	0.00	0.000	4	0.000	0.065	2798	3764	3562	0	0	0	0	0	0
1248	-0.76	-146.0	185.6	-16.1	165	1251	0.00	1.70	0.00	0.000	6	0.000	0.044	2798	2668	3562	0	0	0	0	0	0
1388	-0.76	-146.0	207.2	-15.2	178	1389	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2666	3562	0	0	0	0	0	0
1516	-0.76	-146.0	227.8	-16.1	190	1517	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2666	3562	0	0	0	0	0	0
1643	-0.76	-146.0	248.0	-15.8	202	1646	0.00	1.77	0.00	0.000	4	0.000	0.063	2790	3764	3562	0	0	0	0	0	0
1679	-0.76	-146.0	254.5	-15.9	205	1687	0.00	1.73	0.00	0.000	6	0.000	0.043	2790	2676	3562	0	0	0	0	0	0
1880	-0.76	-146.0	287.8	-17.4	224	1881	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2676	3562	0	0	0	0	0	0
2069	-0.76	-146.0	321.8	-18.2	242	2073	0.00	1.77	0.00	0.000	4	0.000	0.067	2781	3769	3562	0	0	0	0	0	0
2106	-0.76	-146.0	329.1	-18.3	245	2115	0.10	1.73	0.00	0.000	6	0.142	0.044	2815	2683	3562	0	0	0	0	0	0
2305	-0.76	-146.0	357.6	-13.4	264	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2682	3562	0	0	0	0	0	0
2496	-0.76	-146.0	384.1	-14.2	282	2499	0.00	1.75	0.00	0.000	4	0.000	0.064	2808	3764	3562	0	0	0	0	0	0
2534	-0.76	-146.0	390.1	-15.2	285	2541	0.00	1.70	0.00	0.000	6	0.000	0.044	2808	2693	3561	0	0	0	0	0	0
2709	end dive: BOTTOM_OBSTACLE_DETECTED
state	2709	begin apogee
2713	-0.17	0.0	415.8	14.5	302	2849	0.60	0.00	130.32	1.082	4	0.132	0.000	3002	2484	2961	0	0	0	0	0	0
2850	end apogee: CONTROL_FINISHED_OK
state	2850	begin climb
2851	0.76	146.0	421.6	0.0	314	3005	0.98	2.50	142.30	1.019	4	0.079	0.053	3312	1095	2363	0	0	0	0	0	0
3088	0.76	146.0	401.2	12.4	335	3096	0.00	2.50	0.00	0.000	6	0.000	0.054	3312	2499	2353	0	0	0	0	0	0
3286	0.76	146.0	375.9	12.9	354	3290	0.00	2.33	0.00	0.000	4	0.000	0.052	3321	1091	2349	0	0	0	0	0	0
3432	0.76	146.0	357.5	12.1	366	3439	0.00	2.38	0.00	0.000	6	0.000	0.056	3321	2519	2346	0	0	0	0	0	0
3629	0.76	146.0	331.2	13.3	385	3632	0.00	2.00	0.00	0.000	4	0.000	0.059	3321	3767	2346	0	0	0	0	0	0
3734	0.76	146.0	315.0	15.5	394	3742	0.00	1.98	0.00	0.000	6	0.000	0.043	3331	2536	2345	0	0	0	0	0	0
3932	0.76	146.0	288.0	13.6	413	3936	0.00	2.00	0.00	0.000	4	0.000	0.061	3331	3772	2344	0	0	0	0	0	0
3977	0.76	146.0	281.2	15.5	417	3981	0.00	1.98	0.00	0.000	6	0.000	0.044	3341	2515	2343	0	0	0	0	0	0
4180	0.76	146.0	252.5	13.9	436	4183	0.00	2.03	0.00	0.000	4	0.000	0.060	3341	3767	2343	0	0	0	0	0	0
4238	0.76	146.0	242.8	16.5	441	4249	0.10	1.92	0.00	0.000	6	0.150	0.042	3318	2558	2342	0	0	0	0	0	0
4375	0.76	146.0	225.0	11.9	454	4376	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2556	2343	0	0	0	0	0	0
4502	0.76	146.0	208.9	13.2	466	4506	0.00	1.95	0.00	0.000	4	0.000	0.061	3317	3765	2342	0	0	0	0	0	0
4547	0.76	146.0	202.2	15.1	470	4550	0.00	1.88	0.00	0.000	6	0.000	0.043	3326	2555	2342	0	0	0	0	0	0
4687	0.76	146.0	183.3	13.7	483	4691	0.00	1.95	0.00	0.000	4	0.000	0.061	3325	3767	2341	0	0	0	0	0	0
4712	0.76	146.0	179.2	14.7	485	4722	0.00	1.90	0.00	0.000	6	0.000	0.042	3335	2563	2341	0	0	0	0	0	0
4849	0.76	146.0	160.9	13.4	498	4852	0.00	1.95	0.00	0.000	4	0.000	0.061	3334	3773	2341	0	0	0	0	0	0
4872	0.76	146.0	157.5	14.4	500	4876	0.12	1.85	0.00	0.000	6	0.171	0.043	3311	2577	2341	0	0	0	0	0	0
5013	0.76	146.0	141.0	11.8	513	5017	0.00	1.92	0.00	0.000	4	0.000	0.061	3311	3771	2341	0	0	0	0	0	0
5036	0.76	146.0	137.9	12.9	515	5040	0.00	1.83	0.00	0.000	6	0.000	0.044	3318	2591	2341	0	0	0	0	0	0
5177	0.76	146.0	119.9	12.6	528	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2589	2340	0	0	0	0	0	0
5304	0.76	146.0	102.7	14.1	540	5308	0.00	1.90	0.00	0.000	4	0.000	0.063	3318	3767	2340	0	0	0	0	0	0
5336	0.76	146.0	97.4	16.1	544	5344	0.00	1.85	0.00	0.000	6	0.000	0.043	3328	2599	2341	0	0	0	0	0	0
5477	0.76	146.0	75.9	16.0	569	5484	0.00	2.38	0.00	0.000	4	0.000	0.052	3338	1094	2340	0	0	0	0	0	0
5502	0.76	146.0	73.0	10.9	573	5509	0.00	2.40	0.00	0.000	6	0.000	0.054	3338	2580	2340	0	0	0	0	0	0
5640	0.76	146.0	53.3	14.8	598	5648	0.00	1.92	0.00	0.000	4	0.000	0.061	3338	3765	2340	0	0	0	0	0	0
5672	0.76	146.0	48.6	15.2	603	5679	0.12	1.85	0.00	0.000	6	0.173	0.042	3314	2573	2340	0	0	0	0	0	0
5809	0.76	146.0	30.6	12.1	628	5818	0.00	1.98	0.00	0.000	4	0.000	0.063	3314	3763	2340	0	0	0	0	0	0
5867	0.76	146.0	23.0	14.1	638	5875	0.00	1.88	0.00	0.000	6	0.000	0.044	3321	2583	2340	0	0	0	0	0	0
6010	0.76	146.0	4.4	10.8	663	6017	0.00	2.38	0.00	0.000	4	0.000	0.057	3328	1094	2339	0	0	0	0	0	0
6025	end climb: SURFACE_DEPTH_REACHED
state	6025	begin surface coast
6031	end surface coast: CONTROL_FINISHED_OK
state	6031	begin surface