Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 145 * 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 145 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 42 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 -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 42 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 145 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 051210,081407,-7723.596,16501.402,15,1.9,15,144.3 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 7.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 2.4 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 1.26,-1.881,-1.902,2,4,2 _24V_AH 21.1,34.656

FINISH 1.3,1.027886 _10V_AH 10.0,20.305

SM_CCo 6726,137.82,0.758,1,0,1329,400.08 FG_AHR_24Vo 0.000

SM_GC 2.06,0.00,0.00,137.82,0.000,0.000,0.758,426,2671,1329,-8.24,0.57,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7639.69,16505.38,051210,080810 MEM 276264

TT8_MAMPS 0.028462 DATA_FILE_SIZE 50471,727

HUMID 51.37 CAP_FILE_SIZE 98051,0

INTERNAL_PRESSURE 8.7308 CFSIZE 260165632,244760576

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 GPS 051210,155411,-7720.035,16505.637,291,4.4,301,144.0

ALTIM_TOP_PING 19.3,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 172 37.14 SBE_CT 512 24 259.75

Roll_motor 90 104 198.61 AA4330 871 33 606.99

VBD_pump_during_apogee 276 1106 6458.93 WL_BBFL2VMT 851 105 1885.49

VBD_pump_during_surface 137 758 2204.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 17.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1794 19 355.34

LPSleep 2856 2 62.56

TT8_Active 488 19 96.64

TT8_Sampling 1665 39 662.95

TT8_CF8 117 45 54.02

TT8_Kalman 0 0 0.00

Analog_circuits 1211 12 145.34

GPS_charging 0 0 0.00

Compass 1211 15 181.74

RAFOS 0 0 0.00

Transponder 11 30 3.36

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 26 0.00 0.00 -9.20 0.000 2 0.000 0.000 3061 3773 3352 0 0 0 0 0 0

28 -0.76 -146.0 7.1 -0.0 1 43 0.65 4.05 -6.03 0.000 4 0.081 0.054 2822 1244 3559 0 0 0 0 0 0

72 -0.76 -146.0 10.0 -7.8 8 79 0.00 2.33 0.00 0.000 6 0.000 0.060 2811 2655 3560 0 0 0 0 0 0

212 -0.76 -146.0 27.8 -13.5 33 218 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2655 3561 0 0 0 0 0 0

348 -0.76 -146.0 50.2 -18.5 58 356 0.00 1.80 0.00 0.000 4 0.000 0.063 2803 3759 3562 0 0 0 0 0 0

427 -0.76 -146.0 64.1 -19.3 72 435 0.00 1.75 0.00 0.000 6 0.000 0.044 2803 2658 3562 0 0 0 0 0 0

566 -0.76 -146.0 89.9 -17.5 97 573 0.00 1.83 0.00 0.000 4 0.000 0.066 2796 3774 3562 0 0 0 0 0 0

601 -0.76 -146.0 96.0 -17.9 103 608 0.00 1.77 0.00 0.000 6 0.000 0.044 2796 2637 3562 0 0 0 0 0 0

744 -0.76 -146.0 117.3 -14.3 118 745 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2636 3562 0 0 0 0 0 0

871 -0.76 -146.0 137.3 -15.3 130 874 0.00 1.85 0.00 0.000 4 0.000 0.067 2787 3773 3562 0 0 0 0 0 0

896 -0.76 -146.0 141.8 -15.8 132 906 0.08 1.77 0.00 0.000 6 0.152 0.044 2811 2659 3563 0 0 0 0 0 0

1034 -0.76 -146.0 161.2 -15.3 145 1037 0.00 1.80 0.00 0.000 4 0.000 0.064 2804 3770 3563 0 0 0 0 0 0

1057 -0.76 -146.0 165.2 -15.9 147 1060 0.00 1.70 0.00 0.000 6 0.000 0.044 2804 2675 3563 0 0 0 0 0 0

1197 -0.76 -146.0 187.4 -15.3 160 1199 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2673 3563 0 0 0 0 0 0

1325 -0.76 -146.0 207.2 -16.3 172 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2673 3563 0 0 0 0 0 0

1452 -0.76 -146.0 227.9 -16.2 184 1456 0.00 1.77 0.00 0.000 4 0.000 0.065 2798 3769 3563 0 0 0 0 0 0

1488 -0.76 -146.0 233.5 -16.2 187 1492 0.00 1.70 0.00 0.000 6 0.000 0.044 2798 2673 3563 0 0 0 0 0 0

1627 -0.76 -146.0 255.9 -16.1 200 1628 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2670 3563 0 0 0 0 0 0

1818 -0.76 -146.0 285.5 -14.9 218 1821 0.00 1.77 0.00 0.000 4 0.000 0.065 2789 3765 3563 0 0 0 0 0 0

1874 -0.76 -146.0 294.6 -15.9 223 1878 0.00 1.73 0.00 0.000 6 0.000 0.044 2789 2683 3563 0 0 0 0 0 0

2076 -0.76 -146.0 324.9 -14.7 242 2080 0.00 1.77 0.00 0.000 4 0.000 0.066 2781 3774 3563 0 0 0 0 0 0

2109 -0.76 -146.0 330.1 -15.9 245 2114 0.12 1.67 0.00 0.000 6 0.168 0.044 2815 2692 3563 0 0 0 0 0 0

2312 -0.76 -146.0 358.0 -14.7 264 2314 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2690 3563 0 0 0 0 0 0

2502 -0.76 -146.0 385.5 -13.6 282 2506 0.00 1.75 0.00 0.000 4 0.000 0.065 2808 3771 3563 0 0 0 0 0 0

2536 -0.76 -146.0 390.4 -15.1 285 2540 0.00 1.67 0.00 0.000 6 0.000 0.044 2808 2690 3563 0 0 0 0 0 0

2739 -0.76 -146.0 417.9 -13.6 304 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2688 3562 0 0 0 0 0 0

2930 -0.76 -146.0 443.3 -13.1 322 2933 0.00 1.75 0.00 0.000 4 0.000 0.064 2800 3767 3563 0 0 0 0 0 0

2997 -0.76 -146.0 452.7 -14.5 328 3001 0.00 1.65 0.00 0.000 6 0.000 0.044 2799 2699 3563 0 0 0 0 0 0

3092 end dive: TARGET_DEPTH_EXCEEDED

state 3093 begin apogee

3097 -0.17 0.0 466.0 13.4 337 3239 0.62 0.00 132.32 1.106 4 0.132 0.000 3002 2491 2960 0 0 0 0 0 0

3240 end apogee: CONTROL_FINISHED_OK

state 3240 begin climb

3241 0.76 146.0 470.3 0.0 350 3395 0.95 2.50 144.40 1.037 4 0.075 0.052 3308 1100 2364 0 0 0 0 0 0

3498 0.76 146.0 446.6 11.7 373 3502 0.00 2.45 0.00 0.000 6 0.000 0.054 3308 2504 2354 0 0 0 0 0 0

3695 0.76 146.0 421.5 12.7 391 3699 0.00 2.33 0.00 0.000 4 0.000 0.053 3317 1099 2349 0 0 0 0 0 0

3813 0.76 146.0 406.7 12.3 401 3817 0.00 2.35 0.00 0.000 6 0.000 0.055 3317 2522 2348 0 0 0 0 0 0

4010 0.76 146.0 379.6 13.7 419 4014 0.00 2.03 0.00 0.000 4 0.000 0.060 3317 3777 2347 0 0 0 0 0 0

4115 0.76 146.0 362.7 16.7 428 4123 0.00 2.00 0.00 0.000 6 0.000 0.041 3326 2534 2346 0 0 0 0 0 0

4315 0.76 146.0 335.3 13.5 447 4318 0.00 2.00 0.00 0.000 4 0.000 0.060 3326 3768 2344 0 0 0 0 0 0

4363 0.76 146.0 327.2 16.8 451 4371 0.00 1.95 0.00 0.000 6 0.000 0.043 3335 2547 2345 0 0 0 0 0 0

4562 0.76 146.0 299.1 13.7 470 4565 0.00 1.98 0.00 0.000 4 0.000 0.061 3335 3765 2344 0 0 0 0 0 0

4599 0.76 146.0 292.9 15.8 473 4608 0.10 1.95 0.00 0.000 6 0.148 0.041 3313 2545 2344 0 0 0 0 0 0

4799 0.76 146.0 269.3 11.6 492 4803 0.00 1.98 0.00 0.000 4 0.000 0.062 3313 3767 2343 0 0 0 0 0 0

4848 0.76 146.0 262.2 13.9 496 4856 0.00 1.92 0.00 0.000 6 0.000 0.041 3320 2555 2343 0 0 0 0 0 0

5048 0.76 146.0 238.8 12.2 515 5051 0.00 1.95 0.00 0.000 4 0.000 0.060 3320 3765 2343 0 0 0 0 0 0

5095 0.76 146.0 231.7 15.0 519 5104 0.00 1.90 0.00 0.000 6 0.000 0.043 3329 2568 2343 0 0 0 0 0 0

5232 0.76 146.0 213.2 14.0 532 5233 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 2567 2342 0 0 0 0 0 0

5358 0.76 146.0 195.1 14.0 544 5362 0.00 1.92 0.00 0.000 4 0.000 0.061 3329 3766 2342 0 0 0 0 0 0

5394 0.76 146.0 189.1 15.3 547 5403 0.00 1.90 0.00 0.000 6 0.000 0.042 3338 2565 2343 0 0 0 0 0 0

5530 0.76 146.0 170.2 14.4 560 5531 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 2564 2342 0 0 0 0 0 0

5657 0.76 146.0 151.2 14.8 572 5661 0.00 1.92 0.00 0.000 4 0.000 0.061 3338 3767 2342 0 0 0 0 0 0

5691 0.76 146.0 145.8 17.5 575 5695 0.12 1.85 0.00 0.000 6 0.172 0.043 3314 2567 2342 0 0 0 0 0 0

5831 0.76 146.0 125.8 14.5 588 5832 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 2565 2341 0 0 0 0 0 0

5958 0.76 146.0 108.1 13.4 600 5959 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2565 2342 0 0 0 0 0 0

6084 0.76 146.0 91.4 11.4 618 6093 0.00 1.98 0.00 0.000 4 0.000 0.062 3314 3762 2341 0 0 0 0 0 0

6131 0.76 146.0 84.9 13.1 626 6139 0.00 1.90 0.00 0.000 6 0.000 0.043 3322 2562 2341 0 0 0 0 0 0

6271 0.76 146.0 65.7 13.4 651 6278 0.00 1.95 0.00 0.000 4 0.000 0.061 3322 3764 2341 0 0 0 0 0 0

6298 0.76 146.0 62.2 14.2 655 6304 0.00 1.85 0.00 0.000 6 0.000 0.042 3331 2570 2341 0 0 0 0 0 0

6435 0.76 146.0 42.1 14.6 680 6443 0.00 1.98 0.00 0.000 4 0.000 0.062 3331 3764 2341 0 0 0 0 0 0

6478 0.76 146.0 35.1 18.3 687 6485 0.00 1.83 0.00 0.000 6 0.000 0.043 3341 2590 2341 0 0 0 0 0 0

6617 0.76 146.0 13.8 13.8 712 6626 0.00 1.95 0.00 0.000 4 0.000 0.061 3341 3770 2341 0 0 0 0 0 0

6678 0.76 146.0 5.1 12.4 722 6687 0.10 1.85 0.00 0.000 6 0.162 0.041 3318 2593 2341 0 0 0 0 0 0

6692 end climb: SURFACE_DEPTH_REACHED

state 6692 begin surface coast

6712 end surface coast: CONTROL_FINISHED_OK

state 6712 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	145	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	42	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	-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	051210,081407,-7723.596,16501.402,15,1.9,15,144.3	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	7.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	2.4	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	1.26,-1.881,-1.902,2,4,2	_24V_AH	21.1,34.656
FINISH	1.3,1.027886	_10V_AH	10.0,20.305
SM_CCo	6726,137.82,0.758,1,0,1329,400.08	FG_AHR_24Vo	0.000
SM_GC	2.06,0.00,0.00,137.82,0.000,0.000,0.758,426,2671,1329,-8.24,0.57,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7639.69,16505.38,051210,080810	MEM	276264
TT8_MAMPS	0.028462	DATA_FILE_SIZE	50471,727
HUMID	51.37	CAP_FILE_SIZE	98051,0
INTERNAL_PRESSURE	8.7308	CFSIZE	260165632,244760576
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	GPS	051210,155411,-7720.035,16505.637,291,4.4,301,144.0
ALTIM_TOP_PING	19.3,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	172	37.14	SBE_CT	512	24	259.75
Roll_motor	90	104	198.61	AA4330	871	33	606.99
VBD_pump_during_apogee	276	1106	6458.93	WL_BBFL2VMT	851	105	1885.49
VBD_pump_during_surface	137	758	2204.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	17.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1794	19	355.34
LPSleep	2856	2	62.56
TT8_Active	488	19	96.64
TT8_Sampling	1665	39	662.95
TT8_CF8	117	45	54.02
TT8_Kalman	0	0	0.00
Analog_circuits	1211	12	145.34
GPS_charging	0	0	0.00
Compass	1211	15	181.74
RAFOS	0	0	0.00
Transponder	11	30	3.36

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	26	0.00	0.00	-9.20	0.000	2	0.000	0.000	3061	3773	3352	0	0	0	0	0	0
28	-0.76	-146.0	7.1	-0.0	1	43	0.65	4.05	-6.03	0.000	4	0.081	0.054	2822	1244	3559	0	0	0	0	0	0
72	-0.76	-146.0	10.0	-7.8	8	79	0.00	2.33	0.00	0.000	6	0.000	0.060	2811	2655	3560	0	0	0	0	0	0
212	-0.76	-146.0	27.8	-13.5	33	218	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2655	3561	0	0	0	0	0	0
348	-0.76	-146.0	50.2	-18.5	58	356	0.00	1.80	0.00	0.000	4	0.000	0.063	2803	3759	3562	0	0	0	0	0	0
427	-0.76	-146.0	64.1	-19.3	72	435	0.00	1.75	0.00	0.000	6	0.000	0.044	2803	2658	3562	0	0	0	0	0	0
566	-0.76	-146.0	89.9	-17.5	97	573	0.00	1.83	0.00	0.000	4	0.000	0.066	2796	3774	3562	0	0	0	0	0	0
601	-0.76	-146.0	96.0	-17.9	103	608	0.00	1.77	0.00	0.000	6	0.000	0.044	2796	2637	3562	0	0	0	0	0	0
744	-0.76	-146.0	117.3	-14.3	118	745	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2636	3562	0	0	0	0	0	0
871	-0.76	-146.0	137.3	-15.3	130	874	0.00	1.85	0.00	0.000	4	0.000	0.067	2787	3773	3562	0	0	0	0	0	0
896	-0.76	-146.0	141.8	-15.8	132	906	0.08	1.77	0.00	0.000	6	0.152	0.044	2811	2659	3563	0	0	0	0	0	0
1034	-0.76	-146.0	161.2	-15.3	145	1037	0.00	1.80	0.00	0.000	4	0.000	0.064	2804	3770	3563	0	0	0	0	0	0
1057	-0.76	-146.0	165.2	-15.9	147	1060	0.00	1.70	0.00	0.000	6	0.000	0.044	2804	2675	3563	0	0	0	0	0	0
1197	-0.76	-146.0	187.4	-15.3	160	1199	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2673	3563	0	0	0	0	0	0
1325	-0.76	-146.0	207.2	-16.3	172	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2673	3563	0	0	0	0	0	0
1452	-0.76	-146.0	227.9	-16.2	184	1456	0.00	1.77	0.00	0.000	4	0.000	0.065	2798	3769	3563	0	0	0	0	0	0
1488	-0.76	-146.0	233.5	-16.2	187	1492	0.00	1.70	0.00	0.000	6	0.000	0.044	2798	2673	3563	0	0	0	0	0	0
1627	-0.76	-146.0	255.9	-16.1	200	1628	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2670	3563	0	0	0	0	0	0
1818	-0.76	-146.0	285.5	-14.9	218	1821	0.00	1.77	0.00	0.000	4	0.000	0.065	2789	3765	3563	0	0	0	0	0	0
1874	-0.76	-146.0	294.6	-15.9	223	1878	0.00	1.73	0.00	0.000	6	0.000	0.044	2789	2683	3563	0	0	0	0	0	0
2076	-0.76	-146.0	324.9	-14.7	242	2080	0.00	1.77	0.00	0.000	4	0.000	0.066	2781	3774	3563	0	0	0	0	0	0
2109	-0.76	-146.0	330.1	-15.9	245	2114	0.12	1.67	0.00	0.000	6	0.168	0.044	2815	2692	3563	0	0	0	0	0	0
2312	-0.76	-146.0	358.0	-14.7	264	2314	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2690	3563	0	0	0	0	0	0
2502	-0.76	-146.0	385.5	-13.6	282	2506	0.00	1.75	0.00	0.000	4	0.000	0.065	2808	3771	3563	0	0	0	0	0	0
2536	-0.76	-146.0	390.4	-15.1	285	2540	0.00	1.67	0.00	0.000	6	0.000	0.044	2808	2690	3563	0	0	0	0	0	0
2739	-0.76	-146.0	417.9	-13.6	304	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2688	3562	0	0	0	0	0	0
2930	-0.76	-146.0	443.3	-13.1	322	2933	0.00	1.75	0.00	0.000	4	0.000	0.064	2800	3767	3563	0	0	0	0	0	0
2997	-0.76	-146.0	452.7	-14.5	328	3001	0.00	1.65	0.00	0.000	6	0.000	0.044	2799	2699	3563	0	0	0	0	0	0
3092	end dive: TARGET_DEPTH_EXCEEDED
state	3093	begin apogee
3097	-0.17	0.0	466.0	13.4	337	3239	0.62	0.00	132.32	1.106	4	0.132	0.000	3002	2491	2960	0	0	0	0	0	0
3240	end apogee: CONTROL_FINISHED_OK
state	3240	begin climb
3241	0.76	146.0	470.3	0.0	350	3395	0.95	2.50	144.40	1.037	4	0.075	0.052	3308	1100	2364	0	0	0	0	0	0
3498	0.76	146.0	446.6	11.7	373	3502	0.00	2.45	0.00	0.000	6	0.000	0.054	3308	2504	2354	0	0	0	0	0	0
3695	0.76	146.0	421.5	12.7	391	3699	0.00	2.33	0.00	0.000	4	0.000	0.053	3317	1099	2349	0	0	0	0	0	0
3813	0.76	146.0	406.7	12.3	401	3817	0.00	2.35	0.00	0.000	6	0.000	0.055	3317	2522	2348	0	0	0	0	0	0
4010	0.76	146.0	379.6	13.7	419	4014	0.00	2.03	0.00	0.000	4	0.000	0.060	3317	3777	2347	0	0	0	0	0	0
4115	0.76	146.0	362.7	16.7	428	4123	0.00	2.00	0.00	0.000	6	0.000	0.041	3326	2534	2346	0	0	0	0	0	0
4315	0.76	146.0	335.3	13.5	447	4318	0.00	2.00	0.00	0.000	4	0.000	0.060	3326	3768	2344	0	0	0	0	0	0
4363	0.76	146.0	327.2	16.8	451	4371	0.00	1.95	0.00	0.000	6	0.000	0.043	3335	2547	2345	0	0	0	0	0	0
4562	0.76	146.0	299.1	13.7	470	4565	0.00	1.98	0.00	0.000	4	0.000	0.061	3335	3765	2344	0	0	0	0	0	0
4599	0.76	146.0	292.9	15.8	473	4608	0.10	1.95	0.00	0.000	6	0.148	0.041	3313	2545	2344	0	0	0	0	0	0
4799	0.76	146.0	269.3	11.6	492	4803	0.00	1.98	0.00	0.000	4	0.000	0.062	3313	3767	2343	0	0	0	0	0	0
4848	0.76	146.0	262.2	13.9	496	4856	0.00	1.92	0.00	0.000	6	0.000	0.041	3320	2555	2343	0	0	0	0	0	0
5048	0.76	146.0	238.8	12.2	515	5051	0.00	1.95	0.00	0.000	4	0.000	0.060	3320	3765	2343	0	0	0	0	0	0
5095	0.76	146.0	231.7	15.0	519	5104	0.00	1.90	0.00	0.000	6	0.000	0.043	3329	2568	2343	0	0	0	0	0	0
5232	0.76	146.0	213.2	14.0	532	5233	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	2567	2342	0	0	0	0	0	0
5358	0.76	146.0	195.1	14.0	544	5362	0.00	1.92	0.00	0.000	4	0.000	0.061	3329	3766	2342	0	0	0	0	0	0
5394	0.76	146.0	189.1	15.3	547	5403	0.00	1.90	0.00	0.000	6	0.000	0.042	3338	2565	2343	0	0	0	0	0	0
5530	0.76	146.0	170.2	14.4	560	5531	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	2564	2342	0	0	0	0	0	0
5657	0.76	146.0	151.2	14.8	572	5661	0.00	1.92	0.00	0.000	4	0.000	0.061	3338	3767	2342	0	0	0	0	0	0
5691	0.76	146.0	145.8	17.5	575	5695	0.12	1.85	0.00	0.000	6	0.172	0.043	3314	2567	2342	0	0	0	0	0	0
5831	0.76	146.0	125.8	14.5	588	5832	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	2565	2341	0	0	0	0	0	0
5958	0.76	146.0	108.1	13.4	600	5959	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2565	2342	0	0	0	0	0	0
6084	0.76	146.0	91.4	11.4	618	6093	0.00	1.98	0.00	0.000	4	0.000	0.062	3314	3762	2341	0	0	0	0	0	0
6131	0.76	146.0	84.9	13.1	626	6139	0.00	1.90	0.00	0.000	6	0.000	0.043	3322	2562	2341	0	0	0	0	0	0
6271	0.76	146.0	65.7	13.4	651	6278	0.00	1.95	0.00	0.000	4	0.000	0.061	3322	3764	2341	0	0	0	0	0	0
6298	0.76	146.0	62.2	14.2	655	6304	0.00	1.85	0.00	0.000	6	0.000	0.042	3331	2570	2341	0	0	0	0	0	0
6435	0.76	146.0	42.1	14.6	680	6443	0.00	1.98	0.00	0.000	4	0.000	0.062	3331	3764	2341	0	0	0	0	0	0
6478	0.76	146.0	35.1	18.3	687	6485	0.00	1.83	0.00	0.000	6	0.000	0.043	3341	2590	2341	0	0	0	0	0	0
6617	0.76	146.0	13.8	13.8	712	6626	0.00	1.95	0.00	0.000	4	0.000	0.061	3341	3770	2341	0	0	0	0	0	0
6678	0.76	146.0	5.1	12.4	722	6687	0.10	1.85	0.00	0.000	6	0.162	0.041	3318	2593	2341	0	0	0	0	0	0
6692	end climb: SURFACE_DEPTH_REACHED
state	6692	begin surface coast
6712	end surface coast: CONTROL_FINISHED_OK
state	6712	begin surface