Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 139 * 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 139 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 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 -27620.533 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 -27620.533

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 34 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 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 139 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 051210,001140,-7639.687,16512.375,0,10000.0,0,144.3 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 1.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,022037,-7726.157,16500.018,44,5.3,64,144.5 MHEAD_RNG_PITCHd_Wd 234.5,6185,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 469

Post-dive calculations and measurements:

FREEZE 1.34,-1.902,-1.899,2,1,0 ALTIM_BOTTOM_PING 301.3,129.9

FINISH 1.3,1.027836 _24V_AH 21.2,34.014

SM_CCo 6144,131.05,0.779,1,0,1329,400.08 _10V_AH 10.0,19.807

SM_GC 1.88,0.00,0.00,131.05,0.000,0.000,0.779,423,2621,1329,-8.25,-0.82,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16507.31,051210,000024 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 275776

HUMID 51.02 DATA_FILE_SIZE 47064,683

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 99475,0

TCM_TEMP 14.10 CFSIZE 260165632,245088256

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

ALTIM_TOP_PING 19.4,17.9 GPS 051210,040701,-7725.448,16501.045,44,1.5,44,144.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 213 84.50 SBE_CT 479 24 243.95

Roll_motor 79 77 130.39 AA4330 858 33 600.71

VBD_pump_during_apogee 271 1079 6214.61 WL_BBFL2VMT 897 105 1997.36

VBD_pump_during_surface 131 778 2163.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 63.66 nil 0 0 0.00

Iridium_during_connect 39 160 134.69 nil 0 0 0.00

Iridium_during_xfer 312 223 1478.98 nil 0 0 0.00

Transponder_ping 1 420 15.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 66 50 33.07

TT8 1642 19 325.16

LPSleep 2412 2 52.84

TT8_Active 553 19 109.62

TT8_Sampling 2080 39 827.96

TT8_CF8 128 45 58.68

TT8_Kalman 0 0 0.00

Analog_circuits 1266 12 151.92

GPS_charging 0 0 0.00

Compass 1152 15 172.88

RAFOS 0 0 0.00

Transponder 9 30 2.73

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.76 -146.0 0.0 0.0 0 161 0.00 0.00 -142.43 0.000 2 0.000 0.000 406 2659 3173 0 0 0 0 0 0

164 -0.76 -146.0 3.1 -1.3 22 193 9.12 1.83 -12.98 0.000 4 0.213 0.077 2803 3767 3559 0 0 0 0 0 0

385 -0.76 -146.0 39.4 -21.1 61 392 0.00 1.75 0.00 0.000 6 0.000 0.044 2803 2646 3562 0 0 0 0 0 0

522 -0.76 -146.0 69.4 -18.9 86 530 0.00 1.88 0.00 0.000 4 0.000 0.065 2794 3763 3562 0 0 0 0 0 0

570 -0.76 -146.0 78.7 -18.7 94 578 0.00 1.75 0.00 0.000 6 0.000 0.044 2794 2673 3562 0 0 0 0 0 0

709 -0.76 -146.0 99.3 -13.7 119 716 0.00 1.80 0.00 0.000 4 0.000 0.064 2786 3768 3562 0 0 0 0 0 0

766 -0.76 -146.0 109.0 -17.9 125 771 0.12 1.70 0.00 0.000 6 0.173 0.045 2819 2679 3562 0 0 0 0 0 0

907 -0.76 -146.0 129.4 -14.5 138 908 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2677 3562 0 0 0 0 0 0

1034 -0.76 -146.0 147.3 -13.6 150 1038 0.00 1.77 0.00 0.000 4 0.000 0.065 2812 3770 3562 0 0 0 0 0 0

1058 -0.76 -146.0 150.6 -14.0 152 1061 0.00 1.70 0.00 0.000 6 0.000 0.044 2812 2677 3563 0 0 0 0 0 0

1198 -0.76 -146.0 172.4 -16.3 165 1199 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2675 3562 0 0 0 0 0 0

1326 -0.76 -146.0 194.4 -17.2 177 1329 0.00 1.77 0.00 0.000 4 0.000 0.066 2803 3767 3562 0 0 0 0 0 0

1371 -0.76 -146.0 201.8 -15.8 181 1375 0.00 1.67 0.00 0.000 6 0.000 0.045 2803 2687 3562 0 0 0 0 0 0

1511 -0.76 -146.0 224.7 -16.1 194 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2686 3562 0 0 0 0 0 0

1639 -0.76 -146.0 245.0 -16.5 206 1640 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2685 3562 0 0 0 0 0 0

1765 -0.76 -146.0 265.9 -15.8 218 1768 0.00 1.75 0.00 0.000 4 0.000 0.065 2796 3765 3562 0 0 0 0 0 0

1791 -0.76 -146.0 270.5 -16.6 220 1799 0.00 1.70 0.00 0.000 6 0.000 0.044 2796 2694 3562 0 0 0 0 0 0

1990 -0.76 -146.0 303.0 -15.8 239 1993 0.00 1.75 0.00 0.000 4 0.000 0.064 2787 3773 3562 0 0 0 0 0 0

2038 -0.76 -146.0 311.5 -16.9 243 2047 0.00 1.70 0.00 0.000 6 0.000 0.044 2787 2699 3562 0 0 0 0 0 0

2239 -0.76 -146.0 343.3 -16.4 262 2243 0.10 1.75 0.00 0.000 4 0.188 0.065 2806 3766 3562 0 0 0 0 0 0

2294 -0.76 -146.0 352.4 -15.0 267 2298 0.00 1.65 0.00 0.000 6 0.000 0.044 2806 2700 3562 0 0 0 0 0 0

2497 -0.76 -146.0 382.7 -15.2 286 2501 0.00 1.73 0.00 0.000 4 0.000 0.067 2798 3763 3562 0 0 0 0 0 0

2531 -0.76 -146.0 387.9 -15.8 289 2535 0.00 1.65 0.00 0.000 6 0.000 0.044 2798 2695 3562 0 0 0 0 0 0

2722 end dive: BOTTOM_OBSTACLE_DETECTED

state 2722 begin apogee

2726 -0.17 0.0 416.4 14.9 307 2862 0.62 0.00 129.95 1.079 4 0.134 0.000 3000 2486 2960 0 0 0 0 0 0

2862 end apogee: CONTROL_FINISHED_OK

state 2862 begin climb

2864 0.76 146.0 422.6 0.0 319 3017 0.98 2.50 141.62 1.009 4 0.077 0.052 3309 1101 2366 0 0 0 0 0 0

3133 0.76 146.0 398.3 11.7 343 3141 0.00 2.47 0.00 0.000 6 0.000 0.054 3310 2501 2354 0 0 0 0 0 0

3333 0.76 146.0 374.2 12.0 362 3337 0.00 2.33 0.00 0.000 4 0.000 0.054 3315 1090 2350 0 0 0 0 0 0

3457 0.76 146.0 360.0 10.8 372 3464 0.00 2.38 0.00 0.000 6 0.000 0.056 3315 2520 2348 0 0 0 0 0 0

3654 0.76 146.0 335.8 12.5 391 3658 0.00 2.00 0.00 0.000 4 0.000 0.061 3315 3764 2347 0 0 0 0 0 0

3755 0.76 146.0 321.0 15.5 400 3759 0.00 1.92 0.00 0.000 6 0.000 0.043 3324 2532 2346 0 0 0 0 0 0

3958 0.76 146.0 292.4 14.0 419 3962 0.00 2.00 0.00 0.000 4 0.000 0.062 3324 3767 2345 0 0 0 0 0 0

4018 0.76 146.0 282.5 16.8 424 4026 0.00 1.98 0.00 0.000 6 0.000 0.042 3334 2530 2345 0 0 0 0 0 0

4216 0.76 146.0 253.7 13.8 443 4220 0.00 2.00 0.00 0.000 4 0.000 0.061 3334 3770 2344 0 0 0 0 0 0

4274 0.76 146.0 244.9 15.5 448 4278 0.12 1.90 0.00 0.000 6 0.173 0.044 3310 2552 2344 0 0 0 0 0 0

4414 0.76 146.0 227.4 11.7 461 4415 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2551 2344 0 0 0 0 0 0

4541 0.76 146.0 212.1 11.9 473 4544 0.00 1.98 0.00 0.000 4 0.000 0.063 3311 3771 2343 0 0 0 0 0 0

4575 0.76 146.0 207.7 13.3 476 4578 0.00 1.90 0.00 0.000 6 0.000 0.044 3319 2551 2343 0 0 0 0 0 0

4716 0.76 146.0 189.4 12.4 489 4719 0.00 1.98 0.00 0.000 4 0.000 0.061 3318 3774 2343 0 0 0 0 0 0

4752 0.76 146.0 183.9 13.9 492 4761 0.00 1.90 0.00 0.000 6 0.000 0.044 3327 2572 2343 0 0 0 0 0 0

4890 0.76 146.0 166.1 13.0 505 4893 0.00 1.92 0.00 0.000 4 0.000 0.061 3327 3764 2343 0 0 0 0 0 0

4926 0.76 146.0 161.1 14.3 508 4929 0.00 1.85 0.00 0.000 6 0.000 0.043 3336 2568 2342 0 0 0 0 0 0

5068 0.76 146.0 142.3 12.4 521 5069 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2565 2342 0 0 0 0 0 0

5194 0.76 146.0 125.2 14.3 533 5197 0.00 1.95 0.00 0.000 4 0.000 0.061 3337 3773 2342 0 0 0 0 0 0

5230 0.76 146.0 118.7 16.3 536 5239 0.10 1.88 0.00 0.000 6 0.145 0.044 3313 2588 2342 0 0 0 0 0 0

5367 0.76 146.0 102.0 11.8 549 5368 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2587 2342 0 0 0 0 0 0

5495 0.76 146.0 85.4 14.7 571 5502 0.00 1.92 0.00 0.000 4 0.000 0.062 3313 3770 2342 0 0 0 0 0 0

5590 0.76 146.0 71.9 16.4 588 5598 0.00 1.88 0.00 0.000 6 0.000 0.045 3320 2594 2342 0 0 0 0 0 0

5731 0.76 146.0 53.7 12.5 613 5738 0.00 1.90 0.00 0.000 4 0.000 0.062 3320 3764 2342 0 0 0 0 0 0

5836 0.76 146.0 38.4 15.5 632 5844 0.00 1.83 0.00 0.000 6 0.000 0.043 3328 2618 2341 0 0 0 0 0 0

5976 0.76 146.0 20.0 13.1 657 5984 0.00 1.88 0.00 0.000 4 0.000 0.063 3328 3765 2341 0 0 0 0 0 0

6024 0.76 146.0 14.7 10.3 665 6031 0.00 1.77 0.00 0.000 6 0.000 0.044 3337 2627 2341 0 0 0 0 0 0

6117 end climb: SURFACE_DEPTH_REACHED

state 6117 begin surface coast

6130 end surface coast: FINISH_DEPTH_REACHED

state 6130 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	139	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	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	-27620.533	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	051210,001140,-7639.687,16512.375,0,10000.0,0,144.3	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	1.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,022037,-7726.157,16500.018,44,5.3,64,144.5	MHEAD_RNG_PITCHd_Wd	234.5,6185,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	469

FREEZE	1.34,-1.902,-1.899,2,1,0	ALTIM_BOTTOM_PING	301.3,129.9
FINISH	1.3,1.027836	_24V_AH	21.2,34.014
SM_CCo	6144,131.05,0.779,1,0,1329,400.08	_10V_AH	10.0,19.807
SM_GC	1.88,0.00,0.00,131.05,0.000,0.000,0.779,423,2621,1329,-8.25,-0.82,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16507.31,051210,000024	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	275776
HUMID	51.02	DATA_FILE_SIZE	47064,683
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	99475,0
TCM_TEMP	14.10	CFSIZE	260165632,245088256
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.4,17.9	GPS	051210,040701,-7725.448,16501.045,44,1.5,44,144.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	213	84.50	SBE_CT	479	24	243.95
Roll_motor	79	77	130.39	AA4330	858	33	600.71
VBD_pump_during_apogee	271	1079	6214.61	WL_BBFL2VMT	897	105	1997.36
VBD_pump_during_surface	131	778	2163.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	63.66	nil	0	0	0.00
Iridium_during_connect	39	160	134.69	nil	0	0	0.00
Iridium_during_xfer	312	223	1478.98	nil	0	0	0.00
Transponder_ping	1	420	15.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	66	50	33.07
TT8	1642	19	325.16
LPSleep	2412	2	52.84
TT8_Active	553	19	109.62
TT8_Sampling	2080	39	827.96
TT8_CF8	128	45	58.68
TT8_Kalman	0	0	0.00
Analog_circuits	1266	12	151.92
GPS_charging	0	0	0.00
Compass	1152	15	172.88
RAFOS	0	0	0.00
Transponder	9	30	2.73

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.76	-146.0	0.0	0.0	0	161	0.00	0.00	-142.43	0.000	2	0.000	0.000	406	2659	3173	0	0	0	0	0	0
164	-0.76	-146.0	3.1	-1.3	22	193	9.12	1.83	-12.98	0.000	4	0.213	0.077	2803	3767	3559	0	0	0	0	0	0
385	-0.76	-146.0	39.4	-21.1	61	392	0.00	1.75	0.00	0.000	6	0.000	0.044	2803	2646	3562	0	0	0	0	0	0
522	-0.76	-146.0	69.4	-18.9	86	530	0.00	1.88	0.00	0.000	4	0.000	0.065	2794	3763	3562	0	0	0	0	0	0
570	-0.76	-146.0	78.7	-18.7	94	578	0.00	1.75	0.00	0.000	6	0.000	0.044	2794	2673	3562	0	0	0	0	0	0
709	-0.76	-146.0	99.3	-13.7	119	716	0.00	1.80	0.00	0.000	4	0.000	0.064	2786	3768	3562	0	0	0	0	0	0
766	-0.76	-146.0	109.0	-17.9	125	771	0.12	1.70	0.00	0.000	6	0.173	0.045	2819	2679	3562	0	0	0	0	0	0
907	-0.76	-146.0	129.4	-14.5	138	908	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2677	3562	0	0	0	0	0	0
1034	-0.76	-146.0	147.3	-13.6	150	1038	0.00	1.77	0.00	0.000	4	0.000	0.065	2812	3770	3562	0	0	0	0	0	0
1058	-0.76	-146.0	150.6	-14.0	152	1061	0.00	1.70	0.00	0.000	6	0.000	0.044	2812	2677	3563	0	0	0	0	0	0
1198	-0.76	-146.0	172.4	-16.3	165	1199	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2675	3562	0	0	0	0	0	0
1326	-0.76	-146.0	194.4	-17.2	177	1329	0.00	1.77	0.00	0.000	4	0.000	0.066	2803	3767	3562	0	0	0	0	0	0
1371	-0.76	-146.0	201.8	-15.8	181	1375	0.00	1.67	0.00	0.000	6	0.000	0.045	2803	2687	3562	0	0	0	0	0	0
1511	-0.76	-146.0	224.7	-16.1	194	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2686	3562	0	0	0	0	0	0
1639	-0.76	-146.0	245.0	-16.5	206	1640	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2685	3562	0	0	0	0	0	0
1765	-0.76	-146.0	265.9	-15.8	218	1768	0.00	1.75	0.00	0.000	4	0.000	0.065	2796	3765	3562	0	0	0	0	0	0
1791	-0.76	-146.0	270.5	-16.6	220	1799	0.00	1.70	0.00	0.000	6	0.000	0.044	2796	2694	3562	0	0	0	0	0	0
1990	-0.76	-146.0	303.0	-15.8	239	1993	0.00	1.75	0.00	0.000	4	0.000	0.064	2787	3773	3562	0	0	0	0	0	0
2038	-0.76	-146.0	311.5	-16.9	243	2047	0.00	1.70	0.00	0.000	6	0.000	0.044	2787	2699	3562	0	0	0	0	0	0
2239	-0.76	-146.0	343.3	-16.4	262	2243	0.10	1.75	0.00	0.000	4	0.188	0.065	2806	3766	3562	0	0	0	0	0	0
2294	-0.76	-146.0	352.4	-15.0	267	2298	0.00	1.65	0.00	0.000	6	0.000	0.044	2806	2700	3562	0	0	0	0	0	0
2497	-0.76	-146.0	382.7	-15.2	286	2501	0.00	1.73	0.00	0.000	4	0.000	0.067	2798	3763	3562	0	0	0	0	0	0
2531	-0.76	-146.0	387.9	-15.8	289	2535	0.00	1.65	0.00	0.000	6	0.000	0.044	2798	2695	3562	0	0	0	0	0	0
2722	end dive: BOTTOM_OBSTACLE_DETECTED
state	2722	begin apogee
2726	-0.17	0.0	416.4	14.9	307	2862	0.62	0.00	129.95	1.079	4	0.134	0.000	3000	2486	2960	0	0	0	0	0	0
2862	end apogee: CONTROL_FINISHED_OK
state	2862	begin climb
2864	0.76	146.0	422.6	0.0	319	3017	0.98	2.50	141.62	1.009	4	0.077	0.052	3309	1101	2366	0	0	0	0	0	0
3133	0.76	146.0	398.3	11.7	343	3141	0.00	2.47	0.00	0.000	6	0.000	0.054	3310	2501	2354	0	0	0	0	0	0
3333	0.76	146.0	374.2	12.0	362	3337	0.00	2.33	0.00	0.000	4	0.000	0.054	3315	1090	2350	0	0	0	0	0	0
3457	0.76	146.0	360.0	10.8	372	3464	0.00	2.38	0.00	0.000	6	0.000	0.056	3315	2520	2348	0	0	0	0	0	0
3654	0.76	146.0	335.8	12.5	391	3658	0.00	2.00	0.00	0.000	4	0.000	0.061	3315	3764	2347	0	0	0	0	0	0
3755	0.76	146.0	321.0	15.5	400	3759	0.00	1.92	0.00	0.000	6	0.000	0.043	3324	2532	2346	0	0	0	0	0	0
3958	0.76	146.0	292.4	14.0	419	3962	0.00	2.00	0.00	0.000	4	0.000	0.062	3324	3767	2345	0	0	0	0	0	0
4018	0.76	146.0	282.5	16.8	424	4026	0.00	1.98	0.00	0.000	6	0.000	0.042	3334	2530	2345	0	0	0	0	0	0
4216	0.76	146.0	253.7	13.8	443	4220	0.00	2.00	0.00	0.000	4	0.000	0.061	3334	3770	2344	0	0	0	0	0	0
4274	0.76	146.0	244.9	15.5	448	4278	0.12	1.90	0.00	0.000	6	0.173	0.044	3310	2552	2344	0	0	0	0	0	0
4414	0.76	146.0	227.4	11.7	461	4415	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2551	2344	0	0	0	0	0	0
4541	0.76	146.0	212.1	11.9	473	4544	0.00	1.98	0.00	0.000	4	0.000	0.063	3311	3771	2343	0	0	0	0	0	0
4575	0.76	146.0	207.7	13.3	476	4578	0.00	1.90	0.00	0.000	6	0.000	0.044	3319	2551	2343	0	0	0	0	0	0
4716	0.76	146.0	189.4	12.4	489	4719	0.00	1.98	0.00	0.000	4	0.000	0.061	3318	3774	2343	0	0	0	0	0	0
4752	0.76	146.0	183.9	13.9	492	4761	0.00	1.90	0.00	0.000	6	0.000	0.044	3327	2572	2343	0	0	0	0	0	0
4890	0.76	146.0	166.1	13.0	505	4893	0.00	1.92	0.00	0.000	4	0.000	0.061	3327	3764	2343	0	0	0	0	0	0
4926	0.76	146.0	161.1	14.3	508	4929	0.00	1.85	0.00	0.000	6	0.000	0.043	3336	2568	2342	0	0	0	0	0	0
5068	0.76	146.0	142.3	12.4	521	5069	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2565	2342	0	0	0	0	0	0
5194	0.76	146.0	125.2	14.3	533	5197	0.00	1.95	0.00	0.000	4	0.000	0.061	3337	3773	2342	0	0	0	0	0	0
5230	0.76	146.0	118.7	16.3	536	5239	0.10	1.88	0.00	0.000	6	0.145	0.044	3313	2588	2342	0	0	0	0	0	0
5367	0.76	146.0	102.0	11.8	549	5368	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2587	2342	0	0	0	0	0	0
5495	0.76	146.0	85.4	14.7	571	5502	0.00	1.92	0.00	0.000	4	0.000	0.062	3313	3770	2342	0	0	0	0	0	0
5590	0.76	146.0	71.9	16.4	588	5598	0.00	1.88	0.00	0.000	6	0.000	0.045	3320	2594	2342	0	0	0	0	0	0
5731	0.76	146.0	53.7	12.5	613	5738	0.00	1.90	0.00	0.000	4	0.000	0.062	3320	3764	2342	0	0	0	0	0	0
5836	0.76	146.0	38.4	15.5	632	5844	0.00	1.83	0.00	0.000	6	0.000	0.043	3328	2618	2341	0	0	0	0	0	0
5976	0.76	146.0	20.0	13.1	657	5984	0.00	1.88	0.00	0.000	4	0.000	0.063	3328	3765	2341	0	0	0	0	0	0
6024	0.76	146.0	14.7	10.3	665	6031	0.00	1.77	0.00	0.000	6	0.000	0.044	3337	2627	2341	0	0	0	0	0	0
6117	end climb: SURFACE_DEPTH_REACHED
state	6117	begin surface coast
6130	end surface coast: FINISH_DEPTH_REACHED
state	6130	begin surface