Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 142 * 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 142 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 39 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 20 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 -27624.4 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 -27624.4

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 39 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 20 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 142 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 051210,080307,-7723.638,16501.744,27,1.3,28,144.3 TGT_NAME NORTH

_CALLS 3 TGT_LATLONG -7640.000,16530.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,081407,-7723.596,16501.402,15,1.9,15,144.3 MHEAD_RNG_PITCHd_Wd 224.3,81658,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 465

Post-dive calculations and measurements:

FREEZE 8.70,-1.912,-1.907,2,1,0 _24V_AH 21.2,34.378

FINISH1 8.7,1.027880,-19 _10V_AH 9.9,20.064

FINISH2 5.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16505.38,051210,080810 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276264

HUMID 52.24 DATA_FILE_SIZE 47251,716

INTERNAL_PRESSURE 8.88706 CAP_FILE_SIZE 96535,0

TCM_TEMP 14.00 CFSIZE 260165632,244928512

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

ALTIM_TOP_PING 19.4,18.0 GPS 051210,081407,-7723.596,16501.402,15,1.9,15,144.3

ALTIM_BOTTOM_PING 451.2,12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 207 52.08 SBE_CT 502 24 255.67

Roll_motor 70 88 133.10 AA4330 875 33 612.35

VBD_pump_during_apogee 299 1106 7024.98 WL_BBFL2VMT 874 105 1946.83

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 85 103 186.24 nil 0 0 0.00

Iridium_during_connect 145 160 495.03 nil 0 0 0.00

Iridium_during_xfer 208 223 985.74 nil 0 0 0.00

Transponder_ping 3 420 26.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.95

TT8 1690 19 331.37

LPSleep 2809 2 60.92

TT8_Active 426 19 83.64

TT8_Sampling 2128 39 838.86

TT8_CF8 134 45 60.81

TT8_Kalman 0 0 0.00

Analog_circuits 1153 12 136.99

GPS_charging 0 0 0.00

Compass 1176 15 174.76

RAFOS 0 0 0.00

Transponder 16 30 5.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.0 0.0 0.0 0 116 0.00 0.00 -98.32 0.000 2 0.000 0.000 416 2664 3130 0 0 0 0 0 0

118 -0.76 -146.0 3.0 -1.1 15 147 9.02 1.90 -14.73 0.000 4 0.207 0.079 2801 3771 3559 0 0 0 0 0 0

391 -0.76 -146.0 49.1 -17.0 64 399 0.00 1.80 0.00 0.000 6 0.000 0.045 2801 2649 3562 0 0 0 0 0 0

532 -0.76 -146.0 72.5 -16.5 89 538 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2650 3562 0 0 0 0 0 0

668 -0.76 -146.0 95.3 -14.8 114 676 0.00 1.88 0.00 0.000 4 0.000 0.065 2793 3767 3562 0 0 0 0 0 0

717 -0.76 -146.0 104.0 -20.0 121 720 0.00 1.75 0.00 0.000 6 0.000 0.044 2793 2644 3562 0 0 0 0 0 0

857 -0.76 -146.0 130.6 -18.8 134 858 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2641 3562 0 0 0 0 0 0

984 -0.76 -146.0 153.3 -17.1 146 988 0.00 1.83 0.00 0.000 4 0.000 0.065 2784 3767 3562 0 0 0 0 0 0

1010 -0.76 -146.0 158.4 -18.3 148 1019 0.08 1.77 0.00 0.000 6 0.158 0.044 2809 2652 3562 0 0 0 0 0 0

1147 -0.76 -146.0 179.3 -15.5 161 1151 0.00 1.83 0.00 0.000 4 0.000 0.065 2801 3766 3563 0 0 0 0 0 0

1172 -0.76 -146.0 184.3 -16.6 163 1182 0.00 1.75 0.00 0.000 6 0.000 0.044 2802 2665 3563 0 0 0 0 0 0

1309 -0.76 -146.0 206.1 -16.3 176 1310 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2665 3563 0 0 0 0 0 0

1436 -0.76 -146.0 227.1 -16.1 188 1440 0.00 1.80 0.00 0.000 4 0.000 0.064 2794 3774 3562 0 0 0 0 0 0

1482 -0.76 -146.0 234.8 -17.2 192 1485 0.00 1.73 0.00 0.000 6 0.000 0.045 2794 2666 3563 0 0 0 0 0 0

1621 -0.76 -146.0 257.8 -16.3 205 1622 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2663 3562 0 0 0 0 0 0

1814 -0.76 -146.0 288.2 -16.0 223 1817 0.00 1.77 0.00 0.000 4 0.000 0.064 2785 3767 3563 0 0 0 0 0 0

1859 -0.76 -146.0 296.0 -16.7 227 1863 0.12 1.70 0.00 0.000 6 0.171 0.044 2819 2666 3563 0 0 0 0 0 0

2062 -0.76 -146.0 325.1 -14.3 246 2065 0.00 1.77 0.00 0.000 4 0.000 0.063 2812 3767 3563 0 0 0 0 0 0

2088 -0.76 -146.0 329.5 -15.3 248 2096 0.00 1.75 0.00 0.000 6 0.000 0.044 2812 2664 3563 0 0 0 0 0 0

2286 -0.76 -146.0 360.5 -15.9 267 2290 0.00 1.77 0.00 0.000 4 0.000 0.064 2803 3767 3563 0 0 0 0 0 0

2324 -0.76 -146.0 367.0 -15.6 270 2332 0.00 1.73 0.00 0.000 6 0.000 0.044 2803 2680 3563 0 0 0 0 0 0

2523 -0.76 -146.0 397.1 -14.6 289 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2680 3563 0 0 0 0 0 0

2713 -0.76 -146.0 425.5 -14.7 307 2714 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2679 3563 0 0 0 0 0 0

2895 end dive: BOTTOM_OBSTACLE_DETECTED

state 2895 begin apogee

2900 -0.17 0.0 451.2 14.0 324 3041 0.62 0.00 131.10 1.107 4 0.134 0.000 3004 2486 2960 0 0 0 0 0 0

3042 end apogee: CONTROL_FINISHED_OK

state 3042 begin climb

3044 0.76 146.0 456.8 0.0 337 3198 0.95 2.50 142.73 1.034 4 0.073 0.052 3310 1092 2363 0 0 0 0 0 0

3336 0.76 146.0 429.0 12.3 363 3344 0.00 2.47 0.00 0.000 6 0.000 0.054 3310 2503 2352 0 0 0 0 0 0

3534 0.76 146.0 404.5 12.7 382 3539 0.00 2.30 0.00 0.000 4 0.000 0.054 3319 1101 2348 0 0 0 0 0 0

3656 0.76 146.0 389.9 11.1 392 3664 0.00 2.38 0.00 0.000 6 0.000 0.055 3319 2515 2347 0 0 0 0 0 0

3856 0.76 146.0 364.6 12.7 411 3860 0.00 2.00 0.00 0.000 4 0.000 0.060 3319 3764 2345 0 0 0 0 0 0

3916 0.76 146.0 355.0 16.0 416 3924 0.00 1.98 0.00 0.000 6 0.000 0.042 3328 2535 2344 0 0 0 0 0 0

4116 0.76 146.0 326.2 15.1 435 4120 0.00 2.00 0.00 0.000 4 0.000 0.061 3327 3773 2344 0 0 0 0 0 0

4165 0.76 146.0 317.4 17.0 439 4173 0.00 2.00 0.00 0.000 6 0.000 0.043 3337 2526 2343 0 0 0 0 0 0

4363 0.76 146.0 288.9 13.7 458 4365 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2525 2343 0 0 0 0 0 0

4556 0.76 146.0 263.5 13.3 476 4560 0.00 2.00 0.00 0.000 4 0.000 0.060 3338 3768 2342 0 0 0 0 0 0

4600 0.76 146.0 256.3 15.9 480 4605 0.12 1.92 0.00 0.000 6 0.174 0.042 3314 2529 2342 0 0 0 0 0 0

4800 0.76 146.0 230.8 13.0 498 4801 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 2526 2342 0 0 0 0 0 0

4926 0.76 146.0 214.6 13.0 510 4929 0.00 2.00 0.00 0.000 4 0.000 0.061 3314 3771 2341 0 0 0 0 0 0

4962 0.76 146.0 209.7 14.8 513 4965 0.00 1.90 0.00 0.000 6 0.000 0.043 3322 2544 2341 0 0 0 0 0 0

5103 0.76 146.0 190.1 13.3 526 5105 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2542 2341 0 0 0 0 0 0

5229 0.76 146.0 173.3 12.8 538 5233 0.00 1.98 0.00 0.000 4 0.000 0.061 3322 3768 2341 0 0 0 0 0 0

5276 0.76 146.0 166.2 14.9 542 5285 0.00 1.92 0.00 0.000 6 0.000 0.043 3331 2555 2341 0 0 0 0 0 0

5412 0.76 146.0 148.4 13.0 555 5413 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2553 2341 0 0 0 0 0 0

5539 0.76 146.0 132.8 11.9 567 5541 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2554 2340 0 0 0 0 0 0

5668 0.76 146.0 117.6 11.8 579 5669 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2553 2341 0 0 0 0 0 0

5794 0.76 146.0 102.6 11.7 591 5798 0.00 1.95 0.00 0.000 4 0.000 0.059 3331 3770 2340 0 0 0 0 0 0

5883 0.76 146.0 89.7 15.4 605 5890 0.00 1.90 0.00 0.000 6 0.000 0.046 3340 2559 2340 0 0 0 0 0 0

6022 0.76 146.0 72.5 13.5 630 6030 0.00 2.35 0.00 0.000 4 0.000 0.054 3351 1089 2340 0 0 0 0 0 0

6054 0.76 146.0 68.2 13.8 635 6062 0.15 2.38 0.00 0.000 6 0.161 0.054 3310 2566 2340 0 0 0 0 0 0

6194 0.80 177.5 52.9 8.5 660 6229 0.00 2.03 25.52 0.875 4 0.000 0.062 3310 3765 2235 0 0 0 0 0 0

6328 0.80 177.5 33.9 14.9 683 6335 0.00 1.88 0.00 0.000 6 0.000 0.043 3318 2582 2232 0 0 0 0 0 0

6466 0.80 177.5 12.4 17.2 708 6474 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2579 2230 0 0 0 0 0 0

6487 end climb: FINISH_DEPTH_REACHED

state 6487 begin subsurface finish

6492 -0.02 -18.6 8.7 -17.9 711 6526 0.77 0.00 -28.95 0.000 6 0.129 0.000 3066 2477 3041 0 0 0 0 0 0

6527 end subsurface finish: CONTROL_FINISHED_OK

state 6527 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	142	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	39	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	20	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	-27624.4	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	051210,080307,-7723.638,16501.744,27,1.3,28,144.3	TGT_NAME	NORTH
_CALLS	3	TGT_LATLONG	-7640.000,16530.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,081407,-7723.596,16501.402,15,1.9,15,144.3	MHEAD_RNG_PITCHd_Wd	224.3,81658,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	465

FREEZE	8.70,-1.912,-1.907,2,1,0	_24V_AH	21.2,34.378
FINISH1	8.7,1.027880,-19	_10V_AH	9.9,20.064
FINISH2	5.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16505.38,051210,080810	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276264
HUMID	52.24	DATA_FILE_SIZE	47251,716
INTERNAL_PRESSURE	8.88706	CAP_FILE_SIZE	96535,0
TCM_TEMP	14.00	CFSIZE	260165632,244928512
XPDR_PINGS	4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.4,18.0	GPS	051210,081407,-7723.596,16501.402,15,1.9,15,144.3
ALTIM_BOTTOM_PING	451.2,12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	207	52.08	SBE_CT	502	24	255.67
Roll_motor	70	88	133.10	AA4330	875	33	612.35
VBD_pump_during_apogee	299	1106	7024.98	WL_BBFL2VMT	874	105	1946.83
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	85	103	186.24	nil	0	0	0.00
Iridium_during_connect	145	160	495.03	nil	0	0	0.00
Iridium_during_xfer	208	223	985.74	nil	0	0	0.00
Transponder_ping	3	420	26.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.95
TT8	1690	19	331.37
LPSleep	2809	2	60.92
TT8_Active	426	19	83.64
TT8_Sampling	2128	39	838.86
TT8_CF8	134	45	60.81
TT8_Kalman	0	0	0.00
Analog_circuits	1153	12	136.99
GPS_charging	0	0	0.00
Compass	1176	15	174.76
RAFOS	0	0	0.00
Transponder	16	30	5.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.0	0.0	0.0	0	116	0.00	0.00	-98.32	0.000	2	0.000	0.000	416	2664	3130	0	0	0	0	0	0
118	-0.76	-146.0	3.0	-1.1	15	147	9.02	1.90	-14.73	0.000	4	0.207	0.079	2801	3771	3559	0	0	0	0	0	0
391	-0.76	-146.0	49.1	-17.0	64	399	0.00	1.80	0.00	0.000	6	0.000	0.045	2801	2649	3562	0	0	0	0	0	0
532	-0.76	-146.0	72.5	-16.5	89	538	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2650	3562	0	0	0	0	0	0
668	-0.76	-146.0	95.3	-14.8	114	676	0.00	1.88	0.00	0.000	4	0.000	0.065	2793	3767	3562	0	0	0	0	0	0
717	-0.76	-146.0	104.0	-20.0	121	720	0.00	1.75	0.00	0.000	6	0.000	0.044	2793	2644	3562	0	0	0	0	0	0
857	-0.76	-146.0	130.6	-18.8	134	858	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2641	3562	0	0	0	0	0	0
984	-0.76	-146.0	153.3	-17.1	146	988	0.00	1.83	0.00	0.000	4	0.000	0.065	2784	3767	3562	0	0	0	0	0	0
1010	-0.76	-146.0	158.4	-18.3	148	1019	0.08	1.77	0.00	0.000	6	0.158	0.044	2809	2652	3562	0	0	0	0	0	0
1147	-0.76	-146.0	179.3	-15.5	161	1151	0.00	1.83	0.00	0.000	4	0.000	0.065	2801	3766	3563	0	0	0	0	0	0
1172	-0.76	-146.0	184.3	-16.6	163	1182	0.00	1.75	0.00	0.000	6	0.000	0.044	2802	2665	3563	0	0	0	0	0	0
1309	-0.76	-146.0	206.1	-16.3	176	1310	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2665	3563	0	0	0	0	0	0
1436	-0.76	-146.0	227.1	-16.1	188	1440	0.00	1.80	0.00	0.000	4	0.000	0.064	2794	3774	3562	0	0	0	0	0	0
1482	-0.76	-146.0	234.8	-17.2	192	1485	0.00	1.73	0.00	0.000	6	0.000	0.045	2794	2666	3563	0	0	0	0	0	0
1621	-0.76	-146.0	257.8	-16.3	205	1622	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2663	3562	0	0	0	0	0	0
1814	-0.76	-146.0	288.2	-16.0	223	1817	0.00	1.77	0.00	0.000	4	0.000	0.064	2785	3767	3563	0	0	0	0	0	0
1859	-0.76	-146.0	296.0	-16.7	227	1863	0.12	1.70	0.00	0.000	6	0.171	0.044	2819	2666	3563	0	0	0	0	0	0
2062	-0.76	-146.0	325.1	-14.3	246	2065	0.00	1.77	0.00	0.000	4	0.000	0.063	2812	3767	3563	0	0	0	0	0	0
2088	-0.76	-146.0	329.5	-15.3	248	2096	0.00	1.75	0.00	0.000	6	0.000	0.044	2812	2664	3563	0	0	0	0	0	0
2286	-0.76	-146.0	360.5	-15.9	267	2290	0.00	1.77	0.00	0.000	4	0.000	0.064	2803	3767	3563	0	0	0	0	0	0
2324	-0.76	-146.0	367.0	-15.6	270	2332	0.00	1.73	0.00	0.000	6	0.000	0.044	2803	2680	3563	0	0	0	0	0	0
2523	-0.76	-146.0	397.1	-14.6	289	2524	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2680	3563	0	0	0	0	0	0
2713	-0.76	-146.0	425.5	-14.7	307	2714	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2679	3563	0	0	0	0	0	0
2895	end dive: BOTTOM_OBSTACLE_DETECTED
state	2895	begin apogee
2900	-0.17	0.0	451.2	14.0	324	3041	0.62	0.00	131.10	1.107	4	0.134	0.000	3004	2486	2960	0	0	0	0	0	0
3042	end apogee: CONTROL_FINISHED_OK
state	3042	begin climb
3044	0.76	146.0	456.8	0.0	337	3198	0.95	2.50	142.73	1.034	4	0.073	0.052	3310	1092	2363	0	0	0	0	0	0
3336	0.76	146.0	429.0	12.3	363	3344	0.00	2.47	0.00	0.000	6	0.000	0.054	3310	2503	2352	0	0	0	0	0	0
3534	0.76	146.0	404.5	12.7	382	3539	0.00	2.30	0.00	0.000	4	0.000	0.054	3319	1101	2348	0	0	0	0	0	0
3656	0.76	146.0	389.9	11.1	392	3664	0.00	2.38	0.00	0.000	6	0.000	0.055	3319	2515	2347	0	0	0	0	0	0
3856	0.76	146.0	364.6	12.7	411	3860	0.00	2.00	0.00	0.000	4	0.000	0.060	3319	3764	2345	0	0	0	0	0	0
3916	0.76	146.0	355.0	16.0	416	3924	0.00	1.98	0.00	0.000	6	0.000	0.042	3328	2535	2344	0	0	0	0	0	0
4116	0.76	146.0	326.2	15.1	435	4120	0.00	2.00	0.00	0.000	4	0.000	0.061	3327	3773	2344	0	0	0	0	0	0
4165	0.76	146.0	317.4	17.0	439	4173	0.00	2.00	0.00	0.000	6	0.000	0.043	3337	2526	2343	0	0	0	0	0	0
4363	0.76	146.0	288.9	13.7	458	4365	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2525	2343	0	0	0	0	0	0
4556	0.76	146.0	263.5	13.3	476	4560	0.00	2.00	0.00	0.000	4	0.000	0.060	3338	3768	2342	0	0	0	0	0	0
4600	0.76	146.0	256.3	15.9	480	4605	0.12	1.92	0.00	0.000	6	0.174	0.042	3314	2529	2342	0	0	0	0	0	0
4800	0.76	146.0	230.8	13.0	498	4801	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	2526	2342	0	0	0	0	0	0
4926	0.76	146.0	214.6	13.0	510	4929	0.00	2.00	0.00	0.000	4	0.000	0.061	3314	3771	2341	0	0	0	0	0	0
4962	0.76	146.0	209.7	14.8	513	4965	0.00	1.90	0.00	0.000	6	0.000	0.043	3322	2544	2341	0	0	0	0	0	0
5103	0.76	146.0	190.1	13.3	526	5105	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2542	2341	0	0	0	0	0	0
5229	0.76	146.0	173.3	12.8	538	5233	0.00	1.98	0.00	0.000	4	0.000	0.061	3322	3768	2341	0	0	0	0	0	0
5276	0.76	146.0	166.2	14.9	542	5285	0.00	1.92	0.00	0.000	6	0.000	0.043	3331	2555	2341	0	0	0	0	0	0
5412	0.76	146.0	148.4	13.0	555	5413	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2553	2341	0	0	0	0	0	0
5539	0.76	146.0	132.8	11.9	567	5541	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2554	2340	0	0	0	0	0	0
5668	0.76	146.0	117.6	11.8	579	5669	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2553	2341	0	0	0	0	0	0
5794	0.76	146.0	102.6	11.7	591	5798	0.00	1.95	0.00	0.000	4	0.000	0.059	3331	3770	2340	0	0	0	0	0	0
5883	0.76	146.0	89.7	15.4	605	5890	0.00	1.90	0.00	0.000	6	0.000	0.046	3340	2559	2340	0	0	0	0	0	0
6022	0.76	146.0	72.5	13.5	630	6030	0.00	2.35	0.00	0.000	4	0.000	0.054	3351	1089	2340	0	0	0	0	0	0
6054	0.76	146.0	68.2	13.8	635	6062	0.15	2.38	0.00	0.000	6	0.161	0.054	3310	2566	2340	0	0	0	0	0	0
6194	0.80	177.5	52.9	8.5	660	6229	0.00	2.03	25.52	0.875	4	0.000	0.062	3310	3765	2235	0	0	0	0	0	0
6328	0.80	177.5	33.9	14.9	683	6335	0.00	1.88	0.00	0.000	6	0.000	0.043	3318	2582	2232	0	0	0	0	0	0
6466	0.80	177.5	12.4	17.2	708	6474	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2579	2230	0	0	0	0	0	0
6487	end climb: FINISH_DEPTH_REACHED
state	6487	begin subsurface finish
6492	-0.02	-18.6	8.7	-17.9	711	6526	0.77	0.00	-28.95	0.000	6	0.129	0.000	3066	2477	3041	0	0	0	0	0	0
6527	end subsurface finish: CONTROL_FINISHED_OK
state	6527	begin surface