Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 141 * 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 141 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 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 23 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 -27623.049 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 -27623.049

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 38 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 23 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 141 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 051210,060336,-7724.583,16501.779,12,1.2,29,144.4 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG -7640.000,16530.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,060932,-7724.523,16501.635,12,1.4,12,144.4 MHEAD_RNG_PITCHd_Wd 224.0,83343,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 452

Post-dive calculations and measurements:

FREEZE 1.28,-1.863,-1.893,2,1,0 ALTIM_BOTTOM_PING 450.0,10.5

FINISH 1.3,1.027756 _24V_AH 21.2,34.266

SM_CCo 6588,136.20,0.768,1,0,1329,400.08 _10V_AH 10.0,19.978

SM_GC 2.06,0.00,0.00,136.20,0.000,0.000,0.768,421,2663,1329,-8.25,0.37,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16450.76,051210,040418 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 276260

HUMID 51.18 DATA_FILE_SIZE 50526,722

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 101814,0

TCM_TEMP 14.10 CFSIZE 260165632,244977664

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

ALTIM_TOP_PING 19.7,18.2 GPS 051210,080307,-7723.638,16501.744,27,1.3,28,144.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 209 83.32 SBE_CT 507 24 258.33

Roll_motor 86 117 214.20 AA4330 882 33 617.63

VBD_pump_during_apogee 274 1103 6413.48 WL_BBFL2VMT 875 105 1947.97

VBD_pump_during_surface 136 768 2217.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 51.71 nil 0 0 0.00

Iridium_during_connect 50 160 170.47 nil 0 0 0.00

Iridium_during_xfer 190 223 900.50 nil 0 0 0.00

Transponder_ping 2 420 24.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.83

TT8 1749 19 346.31

LPSleep 2692 2 58.96

TT8_Active 546 19 108.18

TT8_Sampling 1975 39 786.31

TT8_CF8 128 45 58.99

TT8_Kalman 0 0 0.00

Analog_circuits 1291 12 155.03

GPS_charging 0 0 0.00

Compass 1218 15 182.81

RAFOS 0 0 0.00

Transponder 16 30 5.07

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

16 -0.76 -146.0 0.0 0.0 0 124 0.00 0.00 -105.18 0.000 2 0.000 0.000 411 2637 3274 0 0 0 0 0 0

126 -0.76 -146.0 3.4 -2.0 16 149 9.12 1.95 -8.68 0.000 4 0.210 0.080 2804 3764 3560 0 0 0 0 0 0

391 -0.76 -146.0 49.6 -14.1 64 399 0.00 1.77 0.00 0.000 6 0.000 0.044 2805 2657 3563 0 0 0 0 0 0

531 -0.76 -146.0 66.5 -13.2 89 538 0.00 1.83 0.00 0.000 4 0.000 0.065 2797 3764 3562 0 0 0 0 0 0

648 -0.76 -146.0 84.8 -15.5 110 656 0.00 1.77 0.00 0.000 6 0.000 0.044 2796 2656 3563 0 0 0 0 0 0

792 -0.76 -146.0 115.0 -21.0 130 796 0.00 2.22 0.00 0.000 4 0.000 0.052 2796 1243 3563 0 0 0 0 0 0

853 -0.76 -146.0 128.8 -22.7 135 858 0.12 2.30 0.00 0.000 6 0.171 0.060 2819 2655 3563 0 0 0 0 0 0

989 -0.76 -146.0 151.5 -13.5 147 993 0.00 1.77 0.00 0.000 4 0.000 0.063 2812 3769 3563 0 0 0 0 0 0

1067 -0.76 -146.0 163.7 -17.8 154 1070 0.00 1.73 0.00 0.000 6 0.000 0.044 2812 2660 3563 0 0 0 0 0 0

1209 -0.76 -146.0 186.3 -14.0 167 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2658 3563 0 0 0 0 0 0

1344 -0.76 -146.0 206.8 -15.0 180 1347 0.00 1.80 0.00 0.000 4 0.000 0.066 2803 3767 3563 0 0 0 0 0 0

1389 -0.76 -146.0 213.6 -15.7 184 1392 0.00 1.70 0.00 0.000 6 0.000 0.044 2803 2673 3563 0 0 0 0 0 0

1531 -0.76 -146.0 236.9 -15.1 197 1538 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2670 3563 0 0 0 0 0 0

1664 -0.76 -146.0 259.7 -17.3 210 1665 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2670 3563 0 0 0 0 0 0

1855 -0.76 -146.0 289.5 -15.2 228 1859 0.00 1.80 0.00 0.000 4 0.000 0.066 2795 3767 3563 0 0 0 0 0 0

1882 -0.76 -146.0 294.0 -15.7 230 1890 0.00 1.73 0.00 0.000 6 0.000 0.044 2795 2681 3563 0 0 0 0 0 0

2080 -0.76 -146.0 323.5 -15.2 249 2084 0.00 1.80 0.00 0.000 4 0.000 0.066 2787 3761 3563 0 0 0 0 0 0

2106 -0.76 -146.0 328.2 -17.0 251 2114 0.08 1.73 0.00 0.000 6 0.154 0.044 2811 2679 3563 0 0 0 0 0 0

2305 -0.76 -146.0 357.6 -15.0 270 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2678 3563 0 0 0 0 0 0

2495 -0.76 -146.0 384.4 -13.9 288 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2679 3563 0 0 0 0 0 0

2686 -0.76 -146.0 410.2 -13.5 306 2690 0.00 1.75 0.00 0.000 4 0.000 0.065 2804 3763 3563 0 0 0 0 0 0

2746 -0.76 -146.0 419.3 -14.4 311 2754 0.00 1.70 0.00 0.000 6 0.000 0.044 2804 2688 3562 0 0 0 0 0 0

2947 -0.76 -146.0 447.3 -14.4 330 2950 0.00 1.75 0.00 0.000 4 0.000 0.065 2796 3770 3562 0 0 0 0 0 0

2965 end dive: BOTTOM_OBSTACLE_DETECTED

state 2965 begin apogee

2971 -0.17 0.0 450.0 14.5 331 3109 0.65 0.00 131.20 1.104 4 0.136 0.000 3003 2489 2961 0 0 0 0 0 0

3109 end apogee: CONTROL_FINISHED_OK

state 3109 begin climb

3111 0.76 146.0 456.1 0.0 344 3265 0.95 2.53 142.85 1.034 4 0.075 0.051 3308 1095 2364 0 0 0 0 0 0

3379 0.76 146.0 432.5 11.7 368 3383 0.00 2.45 0.00 0.000 6 0.000 0.054 3308 2504 2352 0 0 0 0 0 0

3577 0.76 146.0 408.4 12.2 386 3581 0.00 2.33 0.00 0.000 4 0.000 0.053 3316 1092 2349 0 0 0 0 0 0

3710 0.76 146.0 391.8 12.1 397 3717 0.00 2.40 0.00 0.000 6 0.000 0.056 3316 2516 2347 0 0 0 0 0 0

3908 0.76 146.0 365.7 13.2 416 3911 0.00 2.00 0.00 0.000 4 0.000 0.060 3316 3766 2346 0 0 0 0 0 0

3975 0.76 146.0 355.2 16.4 422 3979 0.00 1.95 0.00 0.000 6 0.000 0.042 3326 2519 2345 0 0 0 0 0 0

4178 0.76 146.0 326.9 13.5 441 4182 0.00 2.03 0.00 0.000 4 0.000 0.061 3326 3767 2344 0 0 0 0 0 0

4211 0.76 146.0 321.9 15.9 444 4215 0.00 1.92 0.00 0.000 6 0.000 0.043 3336 2532 2343 0 0 0 0 0 0

4414 0.76 146.0 292.2 14.1 463 4417 0.00 2.00 0.00 0.000 4 0.000 0.061 3335 3770 2343 0 0 0 0 0 0

4496 0.76 146.0 278.1 15.8 470 4505 0.10 1.95 0.00 0.000 6 0.155 0.042 3314 2547 2343 0 0 0 0 0 0

4695 0.76 146.0 251.7 12.8 489 4699 0.00 2.03 0.00 0.000 4 0.000 0.062 3313 3799 2342 0 0 0 0 0 0

4753 0.76 146.0 242.9 14.4 494 4763 0.00 1.98 0.00 0.000 6 0.000 0.042 3321 2550 2342 0 0 0 0 0 0

4891 0.76 146.0 225.2 13.6 507 4895 0.00 1.98 0.00 0.000 4 0.000 0.062 3321 3774 2342 0 0 0 0 0 0

4927 0.76 146.0 220.0 15.3 510 4930 0.00 1.85 0.00 0.000 6 0.000 0.043 3331 2574 2341 0 0 0 0 0 0

5069 0.76 146.0 200.2 13.5 523 5070 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2572 2341 0 0 0 0 0 0

5194 0.76 146.0 183.6 12.8 535 5198 0.00 1.92 0.00 0.000 4 0.000 0.062 3331 3768 2342 0 0 0 0 0 0

5239 0.76 146.0 177.4 14.6 539 5243 0.00 1.85 0.00 0.000 6 0.000 0.043 3339 2570 2341 0 0 0 0 0 0

5380 0.76 146.0 159.7 12.5 552 5383 0.00 1.95 0.00 0.000 4 0.000 0.063 3340 3775 2341 0 0 0 0 0 0

5402 0.76 146.0 156.3 14.4 554 5407 0.15 1.85 0.00 0.000 6 0.169 0.043 3309 2580 2341 0 0 0 0 0 0

5543 0.76 146.0 140.0 11.6 567 5544 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 2577 2341 0 0 0 0 0 0

5670 0.76 146.0 123.4 13.2 579 5671 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2577 2341 0 0 0 0 0 0

5798 0.76 146.0 109.5 11.1 591 5801 0.00 1.92 0.00 0.000 4 0.000 0.061 3309 3775 2340 0 0 0 0 0 0

5844 0.76 146.0 102.5 14.6 595 5854 0.00 1.88 0.00 0.000 6 0.000 0.043 3316 2592 2340 0 0 0 0 0 0

5981 0.76 146.0 86.1 10.1 618 5989 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2590 2340 0 0 0 0 0 0

6122 0.76 146.0 69.5 12.2 643 6128 0.00 1.92 0.00 0.000 4 0.000 0.064 3316 3773 2340 0 0 0 0 0 0

6158 0.76 146.0 64.5 14.2 649 6164 0.00 1.83 0.00 0.000 6 0.000 0.043 3325 2597 2340 0 0 0 0 0 0

6296 0.76 146.0 43.9 14.9 674 6305 0.00 2.40 0.00 0.000 4 0.000 0.054 3327 1105 2340 0 0 0 0 0 0

6321 0.76 146.0 40.1 14.4 678 6329 0.00 2.42 0.00 0.000 6 0.000 0.054 3328 2586 2340 0 0 0 0 0 0

6461 0.76 146.0 19.0 14.6 703 6468 0.00 1.88 0.00 0.000 4 0.000 0.060 3328 3767 2340 0 0 0 0 0 0

6534 0.76 146.0 6.1 18.6 716 6542 0.00 1.85 0.00 0.000 6 0.000 0.042 3337 2595 2340 0 0 0 0 0 0

6554 end climb: SURFACE_DEPTH_REACHED

state 6555 begin surface coast

6573 end surface coast: CONTROL_FINISHED_OK

state 6573 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	141	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	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	23	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	-27623.049	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	051210,060336,-7724.583,16501.779,12,1.2,29,144.4	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	-7640.000,16530.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,060932,-7724.523,16501.635,12,1.4,12,144.4	MHEAD_RNG_PITCHd_Wd	224.0,83343,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	452

FREEZE	1.28,-1.863,-1.893,2,1,0	ALTIM_BOTTOM_PING	450.0,10.5
FINISH	1.3,1.027756	_24V_AH	21.2,34.266
SM_CCo	6588,136.20,0.768,1,0,1329,400.08	_10V_AH	10.0,19.978
SM_GC	2.06,0.00,0.00,136.20,0.000,0.000,0.768,421,2663,1329,-8.25,0.37,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16450.76,051210,040418	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	276260
HUMID	51.18	DATA_FILE_SIZE	50526,722
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	101814,0
TCM_TEMP	14.10	CFSIZE	260165632,244977664
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.7,18.2	GPS	051210,080307,-7723.638,16501.744,27,1.3,28,144.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	209	83.32	SBE_CT	507	24	258.33
Roll_motor	86	117	214.20	AA4330	882	33	617.63
VBD_pump_during_apogee	274	1103	6413.48	WL_BBFL2VMT	875	105	1947.97
VBD_pump_during_surface	136	768	2217.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	51.71	nil	0	0	0.00
Iridium_during_connect	50	160	170.47	nil	0	0	0.00
Iridium_during_xfer	190	223	900.50	nil	0	0	0.00
Transponder_ping	2	420	24.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.83
TT8	1749	19	346.31
LPSleep	2692	2	58.96
TT8_Active	546	19	108.18
TT8_Sampling	1975	39	786.31
TT8_CF8	128	45	58.99
TT8_Kalman	0	0	0.00
Analog_circuits	1291	12	155.03
GPS_charging	0	0	0.00
Compass	1218	15	182.81
RAFOS	0	0	0.00
Transponder	16	30	5.07

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
16	-0.76	-146.0	0.0	0.0	0	124	0.00	0.00	-105.18	0.000	2	0.000	0.000	411	2637	3274	0	0	0	0	0	0
126	-0.76	-146.0	3.4	-2.0	16	149	9.12	1.95	-8.68	0.000	4	0.210	0.080	2804	3764	3560	0	0	0	0	0	0
391	-0.76	-146.0	49.6	-14.1	64	399	0.00	1.77	0.00	0.000	6	0.000	0.044	2805	2657	3563	0	0	0	0	0	0
531	-0.76	-146.0	66.5	-13.2	89	538	0.00	1.83	0.00	0.000	4	0.000	0.065	2797	3764	3562	0	0	0	0	0	0
648	-0.76	-146.0	84.8	-15.5	110	656	0.00	1.77	0.00	0.000	6	0.000	0.044	2796	2656	3563	0	0	0	0	0	0
792	-0.76	-146.0	115.0	-21.0	130	796	0.00	2.22	0.00	0.000	4	0.000	0.052	2796	1243	3563	0	0	0	0	0	0
853	-0.76	-146.0	128.8	-22.7	135	858	0.12	2.30	0.00	0.000	6	0.171	0.060	2819	2655	3563	0	0	0	0	0	0
989	-0.76	-146.0	151.5	-13.5	147	993	0.00	1.77	0.00	0.000	4	0.000	0.063	2812	3769	3563	0	0	0	0	0	0
1067	-0.76	-146.0	163.7	-17.8	154	1070	0.00	1.73	0.00	0.000	6	0.000	0.044	2812	2660	3563	0	0	0	0	0	0
1209	-0.76	-146.0	186.3	-14.0	167	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2658	3563	0	0	0	0	0	0
1344	-0.76	-146.0	206.8	-15.0	180	1347	0.00	1.80	0.00	0.000	4	0.000	0.066	2803	3767	3563	0	0	0	0	0	0
1389	-0.76	-146.0	213.6	-15.7	184	1392	0.00	1.70	0.00	0.000	6	0.000	0.044	2803	2673	3563	0	0	0	0	0	0
1531	-0.76	-146.0	236.9	-15.1	197	1538	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2670	3563	0	0	0	0	0	0
1664	-0.76	-146.0	259.7	-17.3	210	1665	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2670	3563	0	0	0	0	0	0
1855	-0.76	-146.0	289.5	-15.2	228	1859	0.00	1.80	0.00	0.000	4	0.000	0.066	2795	3767	3563	0	0	0	0	0	0
1882	-0.76	-146.0	294.0	-15.7	230	1890	0.00	1.73	0.00	0.000	6	0.000	0.044	2795	2681	3563	0	0	0	0	0	0
2080	-0.76	-146.0	323.5	-15.2	249	2084	0.00	1.80	0.00	0.000	4	0.000	0.066	2787	3761	3563	0	0	0	0	0	0
2106	-0.76	-146.0	328.2	-17.0	251	2114	0.08	1.73	0.00	0.000	6	0.154	0.044	2811	2679	3563	0	0	0	0	0	0
2305	-0.76	-146.0	357.6	-15.0	270	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2678	3563	0	0	0	0	0	0
2495	-0.76	-146.0	384.4	-13.9	288	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2679	3563	0	0	0	0	0	0
2686	-0.76	-146.0	410.2	-13.5	306	2690	0.00	1.75	0.00	0.000	4	0.000	0.065	2804	3763	3563	0	0	0	0	0	0
2746	-0.76	-146.0	419.3	-14.4	311	2754	0.00	1.70	0.00	0.000	6	0.000	0.044	2804	2688	3562	0	0	0	0	0	0
2947	-0.76	-146.0	447.3	-14.4	330	2950	0.00	1.75	0.00	0.000	4	0.000	0.065	2796	3770	3562	0	0	0	0	0	0
2965	end dive: BOTTOM_OBSTACLE_DETECTED
state	2965	begin apogee
2971	-0.17	0.0	450.0	14.5	331	3109	0.65	0.00	131.20	1.104	4	0.136	0.000	3003	2489	2961	0	0	0	0	0	0
3109	end apogee: CONTROL_FINISHED_OK
state	3109	begin climb
3111	0.76	146.0	456.1	0.0	344	3265	0.95	2.53	142.85	1.034	4	0.075	0.051	3308	1095	2364	0	0	0	0	0	0
3379	0.76	146.0	432.5	11.7	368	3383	0.00	2.45	0.00	0.000	6	0.000	0.054	3308	2504	2352	0	0	0	0	0	0
3577	0.76	146.0	408.4	12.2	386	3581	0.00	2.33	0.00	0.000	4	0.000	0.053	3316	1092	2349	0	0	0	0	0	0
3710	0.76	146.0	391.8	12.1	397	3717	0.00	2.40	0.00	0.000	6	0.000	0.056	3316	2516	2347	0	0	0	0	0	0
3908	0.76	146.0	365.7	13.2	416	3911	0.00	2.00	0.00	0.000	4	0.000	0.060	3316	3766	2346	0	0	0	0	0	0
3975	0.76	146.0	355.2	16.4	422	3979	0.00	1.95	0.00	0.000	6	0.000	0.042	3326	2519	2345	0	0	0	0	0	0
4178	0.76	146.0	326.9	13.5	441	4182	0.00	2.03	0.00	0.000	4	0.000	0.061	3326	3767	2344	0	0	0	0	0	0
4211	0.76	146.0	321.9	15.9	444	4215	0.00	1.92	0.00	0.000	6	0.000	0.043	3336	2532	2343	0	0	0	0	0	0
4414	0.76	146.0	292.2	14.1	463	4417	0.00	2.00	0.00	0.000	4	0.000	0.061	3335	3770	2343	0	0	0	0	0	0
4496	0.76	146.0	278.1	15.8	470	4505	0.10	1.95	0.00	0.000	6	0.155	0.042	3314	2547	2343	0	0	0	0	0	0
4695	0.76	146.0	251.7	12.8	489	4699	0.00	2.03	0.00	0.000	4	0.000	0.062	3313	3799	2342	0	0	0	0	0	0
4753	0.76	146.0	242.9	14.4	494	4763	0.00	1.98	0.00	0.000	6	0.000	0.042	3321	2550	2342	0	0	0	0	0	0
4891	0.76	146.0	225.2	13.6	507	4895	0.00	1.98	0.00	0.000	4	0.000	0.062	3321	3774	2342	0	0	0	0	0	0
4927	0.76	146.0	220.0	15.3	510	4930	0.00	1.85	0.00	0.000	6	0.000	0.043	3331	2574	2341	0	0	0	0	0	0
5069	0.76	146.0	200.2	13.5	523	5070	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2572	2341	0	0	0	0	0	0
5194	0.76	146.0	183.6	12.8	535	5198	0.00	1.92	0.00	0.000	4	0.000	0.062	3331	3768	2342	0	0	0	0	0	0
5239	0.76	146.0	177.4	14.6	539	5243	0.00	1.85	0.00	0.000	6	0.000	0.043	3339	2570	2341	0	0	0	0	0	0
5380	0.76	146.0	159.7	12.5	552	5383	0.00	1.95	0.00	0.000	4	0.000	0.063	3340	3775	2341	0	0	0	0	0	0
5402	0.76	146.0	156.3	14.4	554	5407	0.15	1.85	0.00	0.000	6	0.169	0.043	3309	2580	2341	0	0	0	0	0	0
5543	0.76	146.0	140.0	11.6	567	5544	0.00	0.00	0.00	0.000	6	0.000	0.000	3308	2577	2341	0	0	0	0	0	0
5670	0.76	146.0	123.4	13.2	579	5671	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2577	2341	0	0	0	0	0	0
5798	0.76	146.0	109.5	11.1	591	5801	0.00	1.92	0.00	0.000	4	0.000	0.061	3309	3775	2340	0	0	0	0	0	0
5844	0.76	146.0	102.5	14.6	595	5854	0.00	1.88	0.00	0.000	6	0.000	0.043	3316	2592	2340	0	0	0	0	0	0
5981	0.76	146.0	86.1	10.1	618	5989	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2590	2340	0	0	0	0	0	0
6122	0.76	146.0	69.5	12.2	643	6128	0.00	1.92	0.00	0.000	4	0.000	0.064	3316	3773	2340	0	0	0	0	0	0
6158	0.76	146.0	64.5	14.2	649	6164	0.00	1.83	0.00	0.000	6	0.000	0.043	3325	2597	2340	0	0	0	0	0	0
6296	0.76	146.0	43.9	14.9	674	6305	0.00	2.40	0.00	0.000	4	0.000	0.054	3327	1105	2340	0	0	0	0	0	0
6321	0.76	146.0	40.1	14.4	678	6329	0.00	2.42	0.00	0.000	6	0.000	0.054	3328	2586	2340	0	0	0	0	0	0
6461	0.76	146.0	19.0	14.6	703	6468	0.00	1.88	0.00	0.000	4	0.000	0.060	3328	3767	2340	0	0	0	0	0	0
6534	0.76	146.0	6.1	18.6	716	6542	0.00	1.85	0.00	0.000	6	0.000	0.042	3337	2595	2340	0	0	0	0	0	0
6554	end climb: SURFACE_DEPTH_REACHED
state	6555	begin surface coast
6573	end surface coast: CONTROL_FINISHED_OK
state	6573	begin surface