Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 140 * 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 0 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 140 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 3 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 21 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 5 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 -27621.789 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 3 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 5

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 -27621.789

CAPUPLOAD 0 HEADING 0 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 33 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 21 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 140 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 051210,040701,-7725.448,16501.045,44,1.5,44,144.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 0.000,0.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,041238,-7725.420,16500.805,13,1.0,13,144.4 MHEAD_RNG_PITCHd_Wd 234.6,6185,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 457

Post-dive calculations and measurements:

FREEZE 1.14,-1.924,-1.736,2,1,0 ALTIM_BOTTOM_PING 400.6,54.2

FINISH 1.1,1.025516 _24V_AH 21.2,34.139

SM_CCo 6433,132.27,0.776,1,0,1329,400.08 _10V_AH 10.0,19.892

SM_GC 2.03,0.00,0.00,132.27,0.000,0.000,0.776,416,2639,1329,-8.27,-0.31,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16507.31,051210,020207 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 275864

HUMID 50.98 DATA_FILE_SIZE 47063,709

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 100412,0

TCM_TEMP 14.10 CFSIZE 260165632,245035008

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

ALTIM_TOP_PING 19.9,18.2 GPS 051210,060336,-7724.583,16501.779,12,1.2,29,144.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 80.49 SBE_CT 498 24 253.46

Roll_motor 82 80 139.81 AA4330 875 33 612.16

VBD_pump_during_apogee 273 1095 6359.94 WL_BBFL2VMT 883 105 1966.29

VBD_pump_during_surface 132 776 2177.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 60.25 nil 0 0 0.00

Iridium_during_connect 38 160 130.41 nil 0 0 0.00

Iridium_during_xfer 180 223 851.64 nil 0 0 0.00

Transponder_ping 2 420 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.38

TT8 1707 19 338.14

LPSleep 2589 2 56.72

TT8_Active 553 19 109.50

TT8_Sampling 1936 39 770.87

TT8_CF8 127 45 58.34

TT8_Kalman 0 0 0.00

Analog_circuits 1289 12 154.75

GPS_charging 0 0 0.00

Compass 1189 15 178.36

RAFOS 0 0 0.00

Transponder 12 30 3.70

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 0 116 0.00 0.00 -98.40 0.000 2 0.000 0.000 419 2621 3125 0 0 0 0 0 0

119 -0.76 -146.0 3.0 -1.1 15 153 9.00 2.00 -15.30 0.000 4 0.206 0.080 2799 3774 3559 0 0 0 0 0 0

324 -0.76 -146.0 30.9 -15.3 51 331 0.00 1.80 0.00 0.000 6 0.000 0.045 2800 2641 3562 0 0 0 0 0 0

461 -0.76 -146.0 50.6 -12.8 76 469 0.00 1.88 0.00 0.000 4 0.000 0.064 2792 3760 3562 0 0 0 0 0 0

483 -0.76 -146.0 53.6 -14.4 79 490 0.00 1.75 0.00 0.000 6 0.000 0.043 2792 2670 3563 0 0 0 0 0 0

621 -0.76 -146.0 77.5 -16.1 104 629 0.00 1.83 0.00 0.000 4 0.000 0.065 2783 3760 3562 0 0 0 0 0 0

664 -0.76 -146.0 84.1 -15.8 111 671 0.08 1.73 0.00 0.000 6 0.135 0.044 2819 2679 3562 0 0 0 0 0 0

811 -0.76 -146.0 104.9 -14.2 134 818 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2679 3563 0 0 0 0 0 0

945 -0.76 -146.0 128.8 -18.1 147 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2679 3563 0 0 0 0 0 0

1073 -0.76 -146.0 149.5 -15.4 159 1076 0.00 1.77 0.00 0.000 4 0.000 0.064 2812 3773 3563 0 0 0 0 0 0

1099 -0.76 -146.0 153.8 -16.2 161 1107 0.00 1.75 0.00 0.000 6 0.000 0.044 2813 2673 3563 0 0 0 0 0 0

1234 -0.76 -146.0 174.4 -16.2 174 1235 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2673 3563 0 0 0 0 0 0

1361 -0.76 -146.0 193.8 -14.6 186 1362 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2673 3563 0 0 0 0 0 0

1489 -0.76 -146.0 213.7 -15.3 198 1493 0.00 1.77 0.00 0.000 4 0.000 0.066 2804 3767 3563 0 0 0 0 0 0

1547 -0.76 -146.0 223.9 -16.5 203 1556 0.00 1.75 0.00 0.000 6 0.000 0.044 2804 2670 3563 0 0 0 0 0 0

1683 -0.76 -146.0 244.6 -14.8 216 1684 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2669 3563 0 0 0 0 0 0

1811 -0.76 -146.0 263.2 -14.5 228 1814 0.00 1.77 0.00 0.000 4 0.000 0.066 2797 3765 3563 0 0 0 0 0 0

1867 -0.76 -146.0 271.8 -15.1 233 1870 0.00 1.70 0.00 0.000 6 0.000 0.044 2797 2671 3563 0 0 0 0 0 0

2071 -0.76 -146.0 300.3 -13.5 252 2074 0.00 1.77 0.00 0.000 4 0.000 0.064 2788 3769 3563 0 0 0 0 0 0

2108 -0.76 -146.0 306.1 -13.9 255 2116 0.00 1.73 0.00 0.000 6 0.000 0.044 2788 2687 3563 0 0 0 0 0 0

2308 -0.76 -146.0 337.1 -16.0 274 2310 0.10 0.00 0.00 0.000 6 0.187 0.000 2813 2686 3563 0 0 0 0 0 0

2497 -0.76 -146.0 366.4 -15.2 292 2498 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2686 3563 0 0 0 0 0 0

2688 -0.76 -146.0 394.6 -14.1 310 2689 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2686 3563 0 0 0 0 0 0

2879 -0.76 -146.0 421.7 -14.0 328 2883 0.00 1.75 0.00 0.000 4 0.000 0.065 2806 3768 3563 0 0 0 0 0 0

2936 -0.76 -146.0 430.0 -14.9 333 2940 0.00 1.73 0.00 0.000 6 0.000 0.045 2806 2687 3563 0 0 0 0 0 0

3009 end dive: BOTTOM_OBSTACLE_DETECTED

state 3009 begin apogee

3014 -0.17 0.0 440.5 13.8 340 3150 0.60 0.00 130.88 1.095 4 0.132 0.000 3002 2493 2960 0 0 0 0 0 0

3151 end apogee: CONTROL_FINISHED_OK

state 3151 begin climb

3152 0.76 146.0 446.0 0.0 352 3306 0.98 2.53 142.98 1.035 4 0.076 0.052 3313 1094 2364 0 0 0 0 0 0

3420 0.76 146.0 421.6 11.5 376 3424 0.00 2.45 0.00 0.000 6 0.000 0.054 3313 2506 2353 0 0 0 0 0 0

3617 0.76 146.0 397.1 12.8 394 3621 0.00 2.33 0.00 0.000 4 0.000 0.053 3315 1098 2349 0 0 0 0 0 0

3757 0.76 146.0 379.2 12.7 406 3762 0.00 2.35 0.00 0.000 6 0.000 0.054 3315 2523 2346 0 0 0 0 0 0

3960 0.76 146.0 350.8 14.1 425 3964 0.00 2.00 0.00 0.000 4 0.000 0.060 3315 3770 2345 0 0 0 0 0 0

4051 0.76 146.0 336.2 16.7 433 4054 0.00 1.95 0.00 0.000 6 0.000 0.044 3325 2523 2344 0 0 0 0 0 0

4253 0.76 146.0 307.5 13.4 452 4257 0.00 2.03 0.00 0.000 4 0.000 0.063 3325 3768 2344 0 0 0 0 0 0

4313 0.76 146.0 297.3 16.5 457 4321 0.00 1.98 0.00 0.000 6 0.000 0.044 3334 2536 2343 0 0 0 0 0 0

4513 0.76 146.0 269.1 13.8 476 4514 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2534 2342 0 0 0 0 0 0

4704 0.76 146.0 243.2 13.4 494 4707 0.00 2.00 0.00 0.000 4 0.000 0.060 3334 3773 2342 0 0 0 0 0 0

4740 0.76 146.0 237.4 15.2 497 4750 0.08 1.98 0.00 0.000 6 0.155 0.044 3319 2534 2342 0 0 0 0 0 0

4878 0.76 146.0 220.2 13.2 510 4881 0.00 2.00 0.00 0.000 4 0.000 0.060 3319 3774 2342 0 0 0 0 0 0

4903 0.76 146.0 215.9 16.1 512 4913 0.00 1.98 0.00 0.000 6 0.000 0.043 3327 2537 2342 0 0 0 0 0 0

5039 0.76 146.0 197.1 14.1 525 5043 0.00 2.00 0.00 0.000 4 0.000 0.061 3327 3773 2341 0 0 0 0 0 0

5076 0.76 146.0 190.9 15.9 528 5086 0.00 1.95 0.00 0.000 6 0.000 0.044 3337 2546 2341 0 0 0 0 0 0

5213 0.76 146.0 172.4 13.2 541 5217 0.00 1.98 0.00 0.000 4 0.000 0.062 3336 3767 2341 0 0 0 0 0 0

5270 0.76 146.0 163.5 13.8 546 5280 0.10 1.90 0.00 0.000 6 0.151 0.043 3314 2571 2341 0 0 0 0 0 0

5408 0.76 146.0 147.4 12.5 559 5411 0.00 1.92 0.00 0.000 4 0.000 0.061 3313 3767 2340 0 0 0 0 0 0

5466 0.76 146.0 139.2 13.4 564 5475 0.00 1.88 0.00 0.000 6 0.000 0.043 3321 2579 2340 0 0 0 0 0 0

5603 0.76 146.0 119.5 19.1 577 5607 0.00 2.35 0.00 0.000 4 0.000 0.054 3328 1086 2340 0 0 0 0 0 0

5634 0.76 146.0 114.2 15.0 579 5644 0.00 2.42 0.00 0.000 6 0.000 0.056 3328 2565 2340 0 0 0 0 0 0

5769 0.76 146.0 96.2 15.0 594 5777 0.00 1.92 0.00 0.000 4 0.000 0.060 3328 3758 2340 0 0 0 0 0 0

5901 0.76 146.0 77.2 15.9 618 5909 0.00 1.90 0.00 0.000 6 0.000 0.044 3337 2558 2340 0 0 0 0 0 0

6041 0.76 146.0 56.6 16.1 643 6047 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2558 2340 0 0 0 0 0 0

6178 0.76 146.0 37.1 15.0 668 6186 0.00 1.98 0.00 0.000 4 0.000 0.059 3337 3763 2340 0 0 0 0 0 0

6246 0.76 146.0 26.3 18.1 680 6254 0.10 1.88 0.00 0.000 6 0.149 0.044 3314 2580 2339 0 0 0 0 0 0

6390 0.76 146.0 3.7 14.2 705 6397 0.00 1.92 0.00 0.000 4 0.000 0.062 3314 3767 2339 0 0 0 0 0 0

6404 end climb: SURFACE_DEPTH_REACHED

state 6404 begin surface coast

6417 end surface coast: FINISH_DEPTH_REACHED

state 6417 begin surface

ID	502	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	0	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	140	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	3	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	21	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	5	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	-27621.789	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	051210,040701,-7725.448,16501.045,44,1.5,44,144.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	0.000,0.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,041238,-7725.420,16500.805,13,1.0,13,144.4	MHEAD_RNG_PITCHd_Wd	234.6,6185,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	457

FREEZE	1.14,-1.924,-1.736,2,1,0	ALTIM_BOTTOM_PING	400.6,54.2
FINISH	1.1,1.025516	_24V_AH	21.2,34.139
SM_CCo	6433,132.27,0.776,1,0,1329,400.08	_10V_AH	10.0,19.892
SM_GC	2.03,0.00,0.00,132.27,0.000,0.000,0.776,416,2639,1329,-8.27,-0.31,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16507.31,051210,020207	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	275864
HUMID	50.98	DATA_FILE_SIZE	47063,709
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	100412,0
TCM_TEMP	14.10	CFSIZE	260165632,245035008
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
ALTIM_TOP_PING	19.9,18.2	GPS	051210,060336,-7724.583,16501.779,12,1.2,29,144.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	80.49	SBE_CT	498	24	253.46
Roll_motor	82	80	139.81	AA4330	875	33	612.16
VBD_pump_during_apogee	273	1095	6359.94	WL_BBFL2VMT	883	105	1966.29
VBD_pump_during_surface	132	776	2177.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	60.25	nil	0	0	0.00
Iridium_during_connect	38	160	130.41	nil	0	0	0.00
Iridium_during_xfer	180	223	851.64	nil	0	0	0.00
Transponder_ping	2	420	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.38
TT8	1707	19	338.14
LPSleep	2589	2	56.72
TT8_Active	553	19	109.50
TT8_Sampling	1936	39	770.87
TT8_CF8	127	45	58.34
TT8_Kalman	0	0	0.00
Analog_circuits	1289	12	154.75
GPS_charging	0	0	0.00
Compass	1189	15	178.36
RAFOS	0	0	0.00
Transponder	12	30	3.70

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	116	0.00	0.00	-98.40	0.000	2	0.000	0.000	419	2621	3125	0	0	0	0	0	0
119	-0.76	-146.0	3.0	-1.1	15	153	9.00	2.00	-15.30	0.000	4	0.206	0.080	2799	3774	3559	0	0	0	0	0	0
324	-0.76	-146.0	30.9	-15.3	51	331	0.00	1.80	0.00	0.000	6	0.000	0.045	2800	2641	3562	0	0	0	0	0	0
461	-0.76	-146.0	50.6	-12.8	76	469	0.00	1.88	0.00	0.000	4	0.000	0.064	2792	3760	3562	0	0	0	0	0	0
483	-0.76	-146.0	53.6	-14.4	79	490	0.00	1.75	0.00	0.000	6	0.000	0.043	2792	2670	3563	0	0	0	0	0	0
621	-0.76	-146.0	77.5	-16.1	104	629	0.00	1.83	0.00	0.000	4	0.000	0.065	2783	3760	3562	0	0	0	0	0	0
664	-0.76	-146.0	84.1	-15.8	111	671	0.08	1.73	0.00	0.000	6	0.135	0.044	2819	2679	3562	0	0	0	0	0	0
811	-0.76	-146.0	104.9	-14.2	134	818	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2679	3563	0	0	0	0	0	0
945	-0.76	-146.0	128.8	-18.1	147	947	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2679	3563	0	0	0	0	0	0
1073	-0.76	-146.0	149.5	-15.4	159	1076	0.00	1.77	0.00	0.000	4	0.000	0.064	2812	3773	3563	0	0	0	0	0	0
1099	-0.76	-146.0	153.8	-16.2	161	1107	0.00	1.75	0.00	0.000	6	0.000	0.044	2813	2673	3563	0	0	0	0	0	0
1234	-0.76	-146.0	174.4	-16.2	174	1235	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2673	3563	0	0	0	0	0	0
1361	-0.76	-146.0	193.8	-14.6	186	1362	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2673	3563	0	0	0	0	0	0
1489	-0.76	-146.0	213.7	-15.3	198	1493	0.00	1.77	0.00	0.000	4	0.000	0.066	2804	3767	3563	0	0	0	0	0	0
1547	-0.76	-146.0	223.9	-16.5	203	1556	0.00	1.75	0.00	0.000	6	0.000	0.044	2804	2670	3563	0	0	0	0	0	0
1683	-0.76	-146.0	244.6	-14.8	216	1684	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2669	3563	0	0	0	0	0	0
1811	-0.76	-146.0	263.2	-14.5	228	1814	0.00	1.77	0.00	0.000	4	0.000	0.066	2797	3765	3563	0	0	0	0	0	0
1867	-0.76	-146.0	271.8	-15.1	233	1870	0.00	1.70	0.00	0.000	6	0.000	0.044	2797	2671	3563	0	0	0	0	0	0
2071	-0.76	-146.0	300.3	-13.5	252	2074	0.00	1.77	0.00	0.000	4	0.000	0.064	2788	3769	3563	0	0	0	0	0	0
2108	-0.76	-146.0	306.1	-13.9	255	2116	0.00	1.73	0.00	0.000	6	0.000	0.044	2788	2687	3563	0	0	0	0	0	0
2308	-0.76	-146.0	337.1	-16.0	274	2310	0.10	0.00	0.00	0.000	6	0.187	0.000	2813	2686	3563	0	0	0	0	0	0
2497	-0.76	-146.0	366.4	-15.2	292	2498	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2686	3563	0	0	0	0	0	0
2688	-0.76	-146.0	394.6	-14.1	310	2689	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2686	3563	0	0	0	0	0	0
2879	-0.76	-146.0	421.7	-14.0	328	2883	0.00	1.75	0.00	0.000	4	0.000	0.065	2806	3768	3563	0	0	0	0	0	0
2936	-0.76	-146.0	430.0	-14.9	333	2940	0.00	1.73	0.00	0.000	6	0.000	0.045	2806	2687	3563	0	0	0	0	0	0
3009	end dive: BOTTOM_OBSTACLE_DETECTED
state	3009	begin apogee
3014	-0.17	0.0	440.5	13.8	340	3150	0.60	0.00	130.88	1.095	4	0.132	0.000	3002	2493	2960	0	0	0	0	0	0
3151	end apogee: CONTROL_FINISHED_OK
state	3151	begin climb
3152	0.76	146.0	446.0	0.0	352	3306	0.98	2.53	142.98	1.035	4	0.076	0.052	3313	1094	2364	0	0	0	0	0	0
3420	0.76	146.0	421.6	11.5	376	3424	0.00	2.45	0.00	0.000	6	0.000	0.054	3313	2506	2353	0	0	0	0	0	0
3617	0.76	146.0	397.1	12.8	394	3621	0.00	2.33	0.00	0.000	4	0.000	0.053	3315	1098	2349	0	0	0	0	0	0
3757	0.76	146.0	379.2	12.7	406	3762	0.00	2.35	0.00	0.000	6	0.000	0.054	3315	2523	2346	0	0	0	0	0	0
3960	0.76	146.0	350.8	14.1	425	3964	0.00	2.00	0.00	0.000	4	0.000	0.060	3315	3770	2345	0	0	0	0	0	0
4051	0.76	146.0	336.2	16.7	433	4054	0.00	1.95	0.00	0.000	6	0.000	0.044	3325	2523	2344	0	0	0	0	0	0
4253	0.76	146.0	307.5	13.4	452	4257	0.00	2.03	0.00	0.000	4	0.000	0.063	3325	3768	2344	0	0	0	0	0	0
4313	0.76	146.0	297.3	16.5	457	4321	0.00	1.98	0.00	0.000	6	0.000	0.044	3334	2536	2343	0	0	0	0	0	0
4513	0.76	146.0	269.1	13.8	476	4514	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2534	2342	0	0	0	0	0	0
4704	0.76	146.0	243.2	13.4	494	4707	0.00	2.00	0.00	0.000	4	0.000	0.060	3334	3773	2342	0	0	0	0	0	0
4740	0.76	146.0	237.4	15.2	497	4750	0.08	1.98	0.00	0.000	6	0.155	0.044	3319	2534	2342	0	0	0	0	0	0
4878	0.76	146.0	220.2	13.2	510	4881	0.00	2.00	0.00	0.000	4	0.000	0.060	3319	3774	2342	0	0	0	0	0	0
4903	0.76	146.0	215.9	16.1	512	4913	0.00	1.98	0.00	0.000	6	0.000	0.043	3327	2537	2342	0	0	0	0	0	0
5039	0.76	146.0	197.1	14.1	525	5043	0.00	2.00	0.00	0.000	4	0.000	0.061	3327	3773	2341	0	0	0	0	0	0
5076	0.76	146.0	190.9	15.9	528	5086	0.00	1.95	0.00	0.000	6	0.000	0.044	3337	2546	2341	0	0	0	0	0	0
5213	0.76	146.0	172.4	13.2	541	5217	0.00	1.98	0.00	0.000	4	0.000	0.062	3336	3767	2341	0	0	0	0	0	0
5270	0.76	146.0	163.5	13.8	546	5280	0.10	1.90	0.00	0.000	6	0.151	0.043	3314	2571	2341	0	0	0	0	0	0
5408	0.76	146.0	147.4	12.5	559	5411	0.00	1.92	0.00	0.000	4	0.000	0.061	3313	3767	2340	0	0	0	0	0	0
5466	0.76	146.0	139.2	13.4	564	5475	0.00	1.88	0.00	0.000	6	0.000	0.043	3321	2579	2340	0	0	0	0	0	0
5603	0.76	146.0	119.5	19.1	577	5607	0.00	2.35	0.00	0.000	4	0.000	0.054	3328	1086	2340	0	0	0	0	0	0
5634	0.76	146.0	114.2	15.0	579	5644	0.00	2.42	0.00	0.000	6	0.000	0.056	3328	2565	2340	0	0	0	0	0	0
5769	0.76	146.0	96.2	15.0	594	5777	0.00	1.92	0.00	0.000	4	0.000	0.060	3328	3758	2340	0	0	0	0	0	0
5901	0.76	146.0	77.2	15.9	618	5909	0.00	1.90	0.00	0.000	6	0.000	0.044	3337	2558	2340	0	0	0	0	0	0
6041	0.76	146.0	56.6	16.1	643	6047	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2558	2340	0	0	0	0	0	0
6178	0.76	146.0	37.1	15.0	668	6186	0.00	1.98	0.00	0.000	4	0.000	0.059	3337	3763	2340	0	0	0	0	0	0
6246	0.76	146.0	26.3	18.1	680	6254	0.10	1.88	0.00	0.000	6	0.149	0.044	3314	2580	2339	0	0	0	0	0	0
6390	0.76	146.0	3.7	14.2	705	6397	0.00	1.92	0.00	0.000	4	0.000	0.062	3314	3767	2339	0	0	0	0	0	0
6404	end climb: SURFACE_DEPTH_REACHED
state	6404	begin surface coast
6417	end surface coast: FINISH_DEPTH_REACHED
state	6417	begin surface