Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 36 * 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 36 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2400 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 450 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 623.29712 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 1 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 125 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 150 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 3 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 -13992.577 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0049999999 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 180 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 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 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 623.29712

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 1

ALTIM_FREQUENCY 13 D_TGT 450 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 2

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 450 TGT_DEFAULT_LAT -7715

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 16530

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 125

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 3

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 -13992.577

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 150

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0049999999 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 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2600 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 180 R_PORT_OVSHOOT 26 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 36 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 241110,061114,-7725.182,16528.590,181,99.0,181,143.7 TGT_NAME SOUND2

_CALLS 3 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -12.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241110,061114,-7725.182,16528.590,181,99.0,181,143.7 MHEAD_RNG_PITCHd_Wd 149.2,10363,-18.7,-12.000

SPEED_LIMITS 0.208,0.300 D_GRID 640

Post-dive calculations and measurements:

FREEZE 0.98,-1.758,-1.675,2,8,2 ALTIM_BOTTOM_PING 350.2,66.4

FINISH 1.0,1.024643 _24V_AH 22.0,17.346

SM_CCo 6540,167.60,0.758,1,0,419,623.30 _10V_AH 10.0,9.528

SM_GC 1.17,0.00,0.00,167.60,0.000,0.000,0.758,430,2600,419,-8.23,0.00,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16521.92,241110,060614 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276124

HUMID 51.14 DATA_FILE_SIZE 47135,718

INTERNAL_PRESSURE 8.65268 CAP_FILE_SIZE 106666,0

TCM_TEMP 14.10 CFSIZE 260165632,251576320

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

ALTIM_TOP_PING 19.8,18.4 GPS 241110,061114,-7725.182,16528.590,181,99.0,181,143.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 231 104.03 SBE_CT 501 24 264.89

Roll_motor 89 79 157.27 AA4330 904 33 656.61

VBD_pump_during_apogee 470 1071 11078.26 WL_BBFL2VMT 948 105 2189.97

VBD_pump_during_surface 167 758 2795.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 223.41 nil 0 0 0.00

Iridium_during_connect 17 160 63.30 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 18.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 50 90.78

TT8 1691 19 334.88

LPSleep 2601 2 56.97

TT8_Active 763 19 151.09

TT8_Sampling 2036 39 810.42

TT8_CF8 147 45 67.76

TT8_Kalman 0 0 0.00

Analog_circuits 1558 12 187.03

GPS_charging 0 0 0.00

Compass 1219 15 182.91

RAFOS 0 0 0.00

Transponder 10 30 3.20

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 -0.84 -175.2 0.0 0.0 0 168 0.00 0.00 -150.25 0.000 2 0.000 0.000 425 2610 3372 0 0 0 0 0 0

170 -0.84 -175.2 3.0 -1.8 23 198 9.32 2.38 -8.50 0.000 4 0.232 0.071 2788 1191 3680 0 0 0 0 0 0

226 -0.75 -175.2 14.8 -16.6 32 235 0.12 2.38 0.00 0.000 6 0.161 0.063 2818 2589 3681 0 0 0 0 0 0

368 -0.69 -175.2 37.2 -16.3 57 374 0.00 1.95 0.00 0.000 4 0.000 0.070 2810 3772 3681 0 0 0 0 0 0

408 -0.62 -175.2 43.6 -14.9 64 416 0.15 1.92 0.00 0.000 6 0.140 0.049 2860 2590 3681 0 0 0 0 0 0

550 -0.64 -175.2 60.7 -11.9 89 556 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 2589 3681 0 0 0 0 0 0

686 -0.68 -175.2 76.7 -10.8 114 694 0.00 2.00 0.00 0.000 4 0.000 0.072 2854 3768 3681 0 0 0 0 0 0

733 -0.72 -175.2 82.3 -11.6 122 741 0.00 1.90 0.00 0.000 6 0.000 0.048 2854 2594 3682 0 0 0 0 0 0

874 -0.72 -175.2 98.5 -12.0 147 880 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2594 3681 0 0 0 0 0 0

1015 -0.72 -175.2 114.9 -11.5 161 1018 0.00 1.92 0.00 0.000 4 0.000 0.070 2845 3766 3681 0 0 0 0 0 0

1060 -0.75 -175.2 120.5 -12.8 165 1064 0.00 1.83 0.00 0.000 6 0.000 0.047 2845 2603 3681 0 0 0 0 0 0

1200 -0.75 -175.2 137.8 -12.6 178 1201 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2600 3681 0 0 0 0 0 0

1328 -0.75 -175.2 153.5 -12.2 190 1331 0.00 1.95 0.00 0.000 4 0.000 0.073 2841 3770 3681 0 0 0 0 0 0

1362 -0.75 -175.2 157.7 -13.0 193 1366 0.00 1.85 0.00 0.000 6 0.000 0.048 2841 2591 3681 0 0 0 0 0 0

1504 -0.75 -175.2 175.0 -12.3 206 1505 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2590 3681 0 0 0 0 0 0

1630 -0.75 -175.2 190.7 -12.2 218 1633 0.00 1.92 0.00 0.000 4 0.000 0.071 2833 3765 3681 0 0 0 0 0 0

1666 -0.75 -175.2 195.8 -13.3 221 1675 0.00 1.88 0.00 0.000 6 0.000 0.048 2832 2596 3681 0 0 0 0 0 0

1801 -0.75 -175.2 212.3 -12.1 234 1802 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2596 3681 0 0 0 0 0 0

1928 -0.75 -175.2 227.9 -12.1 246 1930 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2596 3681 0 0 0 0 0 0

2056 -0.75 -175.2 243.5 -12.4 258 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2596 3681 0 0 0 0 0 0

2182 -0.75 -175.2 259.2 -12.6 270 2186 0.00 1.92 0.00 0.000 4 0.000 0.071 2832 3769 3681 0 0 0 0 0 0

2233 -0.75 -175.2 265.5 -11.8 274 2240 0.00 1.85 0.00 0.000 6 0.000 0.049 2832 2599 3681 0 0 0 0 0 0

2430 -0.75 -175.2 289.7 -12.4 293 2431 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2597 3681 0 0 0 0 0 0

2621 -0.75 -175.2 313.7 -12.2 311 2625 0.00 1.95 0.00 0.000 4 0.000 0.071 2823 3763 3681 0 0 0 0 0 0

2680 -0.75 -175.2 321.8 -13.0 316 2689 0.00 1.85 0.00 0.000 6 0.000 0.048 2823 2604 3681 0 0 0 0 0 0

2881 -0.71 -175.2 346.9 -12.9 335 2884 0.00 1.90 0.00 0.000 4 0.000 0.072 2814 3765 3681 0 0 0 0 0 0

2917 -0.67 -175.2 352.2 -14.1 338 2922 0.12 1.83 0.00 0.000 6 0.173 0.049 2848 2597 3681 0 0 0 0 0 0

3121 -0.70 -175.2 374.0 -10.4 357 3125 0.00 1.95 0.00 0.000 4 0.000 0.071 2841 3759 3681 0 0 0 0 0 0

3161 -0.73 -175.2 378.6 -11.8 360 3168 0.00 1.83 0.00 0.000 6 0.000 0.048 2840 2599 3681 0 0 0 0 0 0

3358 -0.73 -175.2 400.8 -11.1 379 3362 0.00 1.92 0.00 0.000 4 0.000 0.072 2832 3773 3681 0 0 0 0 0 0

3370 end dive: BOTTOM_OBSTACLE_DETECTED

state 3370 begin apogee

3376 -0.17 0.0 402.1 11.0 380 3540 0.52 0.00 154.82 1.071 6 0.134 0.000 3001 2398 2960 0 0 0 0 0 0

3541 end apogee: CONTROL_FINISHED_OK

state 3541 begin climb

3542 0.84 175.2 408.8 0.0 395 3717 1.00 2.58 163.60 1.011 4 0.083 0.056 3335 989 2243 0 0 0 0 0 0

3786 0.72 175.2 382.3 16.1 417 3791 0.15 2.47 0.00 0.000 6 0.165 0.057 3299 2403 2233 0 0 0 0 0 0

3984 0.60 175.2 352.3 14.8 435 3988 0.15 2.30 0.00 0.000 4 0.182 0.063 3262 3761 2229 0 0 0 0 0 0

4115 0.51 175.2 333.9 13.8 446 4120 0.15 2.22 0.00 0.000 6 0.174 0.048 3232 2401 2227 0 0 0 0 0 0

4312 0.60 225.9 314.0 9.7 464 4367 0.00 2.47 44.72 0.981 4 0.000 0.067 3231 3765 2038 0 0 0 0 0 0

4425 0.62 243.8 302.2 11.2 474 4448 0.00 2.28 17.15 0.926 6 0.000 0.048 3235 2397 1967 0 0 0 0 0 0

4640 0.74 293.8 280.9 9.7 494 4696 0.20 2.47 45.80 0.945 4 0.068 0.065 3322 3757 1761 0 0 0 0 0 0

4756 0.63 293.8 260.0 19.6 504 4765 0.20 2.33 0.00 0.000 6 0.143 0.049 3274 2410 1754 0 0 0 0 0 0

4956 0.63 293.8 233.3 13.4 523 4960 0.00 2.30 0.00 0.000 4 0.000 0.066 3274 3768 1750 0 0 0 0 0 0

4986 0.63 293.8 228.6 14.7 525 4996 0.00 2.30 0.00 0.000 6 0.000 0.050 3283 2400 1749 0 0 0 0 0 0

5124 0.63 293.8 210.0 14.0 538 5128 0.00 2.28 0.00 0.000 4 0.000 0.066 3283 3762 1746 0 0 0 0 0 0

5164 0.59 293.8 203.8 16.1 541 5168 0.15 2.22 0.00 0.000 6 0.165 0.050 3253 2392 1746 0 0 0 0 0 0

5298 0.67 311.8 187.8 11.2 553 5319 0.00 0.00 14.90 0.903 6 0.000 0.000 3253 2389 1687 0 0 0 0 0 0

5448 0.79 342.9 171.9 10.6 567 5486 0.20 2.42 29.17 0.900 4 0.067 0.064 3337 3764 1559 0 0 0 0 0 0

5555 0.68 342.9 151.1 21.6 576 5559 0.22 2.25 0.00 0.000 6 0.159 0.050 3286 2400 1554 0 0 0 0 0 0

5689 0.71 342.9 129.9 14.2 588 5690 0.00 0.00 0.00 0.000 6 0.000 0.000 3286 2397 1551 0 0 0 0 0 0

5817 0.73 342.9 112.3 13.6 600 5821 0.00 2.28 0.00 0.000 4 0.000 0.066 3286 3765 1550 0 0 0 0 0 0

5867 0.73 342.9 104.4 16.7 604 5871 0.00 2.22 0.00 0.000 6 0.000 0.050 3294 2389 1550 0 0 0 0 0 0

6003 0.73 342.9 83.5 14.9 625 6009 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 2386 1549 0 0 0 0 0 0

6139 0.73 342.9 63.0 14.9 650 6147 0.00 2.30 0.00 0.000 4 0.000 0.066 3294 3757 1548 0 0 0 0 0 0

6196 0.73 342.9 53.8 16.0 660 6204 0.00 2.22 0.00 0.000 6 0.000 0.050 3303 2400 1548 0 0 0 0 0 0

6336 0.73 342.9 32.0 16.1 685 6343 0.00 2.25 0.00 0.000 4 0.000 0.067 3303 3762 1547 0 0 0 0 0 0

6365 0.70 342.9 26.8 17.0 690 6373 0.00 2.22 0.00 0.000 6 0.000 0.050 3313 2401 1547 0 0 0 0 0 0

6507 end climb: SURFACE_DEPTH_REACHED

state 6507 begin surface coast

6526 end surface coast: CONTROL_FINISHED_OK

state 6526 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	36	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2400	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	450	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	623.29712	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	1	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	125	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	150	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	3	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	-13992.577	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0049999999	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	180	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	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	241110,061114,-7725.182,16528.590,181,99.0,181,143.7	TGT_NAME	SOUND2
_CALLS	3	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-12.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241110,061114,-7725.182,16528.590,181,99.0,181,143.7	MHEAD_RNG_PITCHd_Wd	149.2,10363,-18.7,-12.000
SPEED_LIMITS	0.208,0.300	D_GRID	640

FREEZE	0.98,-1.758,-1.675,2,8,2	ALTIM_BOTTOM_PING	350.2,66.4
FINISH	1.0,1.024643	_24V_AH	22.0,17.346
SM_CCo	6540,167.60,0.758,1,0,419,623.30	_10V_AH	10.0,9.528
SM_GC	1.17,0.00,0.00,167.60,0.000,0.000,0.758,430,2600,419,-8.23,0.00,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16521.92,241110,060614	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276124
HUMID	51.14	DATA_FILE_SIZE	47135,718
INTERNAL_PRESSURE	8.65268	CAP_FILE_SIZE	106666,0
TCM_TEMP	14.10	CFSIZE	260165632,251576320
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.8,18.4	GPS	241110,061114,-7725.182,16528.590,181,99.0,181,143.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	231	104.03	SBE_CT	501	24	264.89
Roll_motor	89	79	157.27	AA4330	904	33	656.61
VBD_pump_during_apogee	470	1071	11078.26	WL_BBFL2VMT	948	105	2189.97
VBD_pump_during_surface	167	758	2795.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	223.41	nil	0	0	0.00
Iridium_during_connect	17	160	63.30	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	18.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	50	90.78
TT8	1691	19	334.88
LPSleep	2601	2	56.97
TT8_Active	763	19	151.09
TT8_Sampling	2036	39	810.42
TT8_CF8	147	45	67.76
TT8_Kalman	0	0	0.00
Analog_circuits	1558	12	187.03
GPS_charging	0	0	0.00
Compass	1219	15	182.91
RAFOS	0	0	0.00
Transponder	10	30	3.20

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	-0.84	-175.2	0.0	0.0	0	168	0.00	0.00	-150.25	0.000	2	0.000	0.000	425	2610	3372	0	0	0	0	0	0
170	-0.84	-175.2	3.0	-1.8	23	198	9.32	2.38	-8.50	0.000	4	0.232	0.071	2788	1191	3680	0	0	0	0	0	0
226	-0.75	-175.2	14.8	-16.6	32	235	0.12	2.38	0.00	0.000	6	0.161	0.063	2818	2589	3681	0	0	0	0	0	0
368	-0.69	-175.2	37.2	-16.3	57	374	0.00	1.95	0.00	0.000	4	0.000	0.070	2810	3772	3681	0	0	0	0	0	0
408	-0.62	-175.2	43.6	-14.9	64	416	0.15	1.92	0.00	0.000	6	0.140	0.049	2860	2590	3681	0	0	0	0	0	0
550	-0.64	-175.2	60.7	-11.9	89	556	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	2589	3681	0	0	0	0	0	0
686	-0.68	-175.2	76.7	-10.8	114	694	0.00	2.00	0.00	0.000	4	0.000	0.072	2854	3768	3681	0	0	0	0	0	0
733	-0.72	-175.2	82.3	-11.6	122	741	0.00	1.90	0.00	0.000	6	0.000	0.048	2854	2594	3682	0	0	0	0	0	0
874	-0.72	-175.2	98.5	-12.0	147	880	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2594	3681	0	0	0	0	0	0
1015	-0.72	-175.2	114.9	-11.5	161	1018	0.00	1.92	0.00	0.000	4	0.000	0.070	2845	3766	3681	0	0	0	0	0	0
1060	-0.75	-175.2	120.5	-12.8	165	1064	0.00	1.83	0.00	0.000	6	0.000	0.047	2845	2603	3681	0	0	0	0	0	0
1200	-0.75	-175.2	137.8	-12.6	178	1201	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2600	3681	0	0	0	0	0	0
1328	-0.75	-175.2	153.5	-12.2	190	1331	0.00	1.95	0.00	0.000	4	0.000	0.073	2841	3770	3681	0	0	0	0	0	0
1362	-0.75	-175.2	157.7	-13.0	193	1366	0.00	1.85	0.00	0.000	6	0.000	0.048	2841	2591	3681	0	0	0	0	0	0
1504	-0.75	-175.2	175.0	-12.3	206	1505	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2590	3681	0	0	0	0	0	0
1630	-0.75	-175.2	190.7	-12.2	218	1633	0.00	1.92	0.00	0.000	4	0.000	0.071	2833	3765	3681	0	0	0	0	0	0
1666	-0.75	-175.2	195.8	-13.3	221	1675	0.00	1.88	0.00	0.000	6	0.000	0.048	2832	2596	3681	0	0	0	0	0	0
1801	-0.75	-175.2	212.3	-12.1	234	1802	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2596	3681	0	0	0	0	0	0
1928	-0.75	-175.2	227.9	-12.1	246	1930	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2596	3681	0	0	0	0	0	0
2056	-0.75	-175.2	243.5	-12.4	258	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2596	3681	0	0	0	0	0	0
2182	-0.75	-175.2	259.2	-12.6	270	2186	0.00	1.92	0.00	0.000	4	0.000	0.071	2832	3769	3681	0	0	0	0	0	0
2233	-0.75	-175.2	265.5	-11.8	274	2240	0.00	1.85	0.00	0.000	6	0.000	0.049	2832	2599	3681	0	0	0	0	0	0
2430	-0.75	-175.2	289.7	-12.4	293	2431	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2597	3681	0	0	0	0	0	0
2621	-0.75	-175.2	313.7	-12.2	311	2625	0.00	1.95	0.00	0.000	4	0.000	0.071	2823	3763	3681	0	0	0	0	0	0
2680	-0.75	-175.2	321.8	-13.0	316	2689	0.00	1.85	0.00	0.000	6	0.000	0.048	2823	2604	3681	0	0	0	0	0	0
2881	-0.71	-175.2	346.9	-12.9	335	2884	0.00	1.90	0.00	0.000	4	0.000	0.072	2814	3765	3681	0	0	0	0	0	0
2917	-0.67	-175.2	352.2	-14.1	338	2922	0.12	1.83	0.00	0.000	6	0.173	0.049	2848	2597	3681	0	0	0	0	0	0
3121	-0.70	-175.2	374.0	-10.4	357	3125	0.00	1.95	0.00	0.000	4	0.000	0.071	2841	3759	3681	0	0	0	0	0	0
3161	-0.73	-175.2	378.6	-11.8	360	3168	0.00	1.83	0.00	0.000	6	0.000	0.048	2840	2599	3681	0	0	0	0	0	0
3358	-0.73	-175.2	400.8	-11.1	379	3362	0.00	1.92	0.00	0.000	4	0.000	0.072	2832	3773	3681	0	0	0	0	0	0
3370	end dive: BOTTOM_OBSTACLE_DETECTED
state	3370	begin apogee
3376	-0.17	0.0	402.1	11.0	380	3540	0.52	0.00	154.82	1.071	6	0.134	0.000	3001	2398	2960	0	0	0	0	0	0
3541	end apogee: CONTROL_FINISHED_OK
state	3541	begin climb
3542	0.84	175.2	408.8	0.0	395	3717	1.00	2.58	163.60	1.011	4	0.083	0.056	3335	989	2243	0	0	0	0	0	0
3786	0.72	175.2	382.3	16.1	417	3791	0.15	2.47	0.00	0.000	6	0.165	0.057	3299	2403	2233	0	0	0	0	0	0
3984	0.60	175.2	352.3	14.8	435	3988	0.15	2.30	0.00	0.000	4	0.182	0.063	3262	3761	2229	0	0	0	0	0	0
4115	0.51	175.2	333.9	13.8	446	4120	0.15	2.22	0.00	0.000	6	0.174	0.048	3232	2401	2227	0	0	0	0	0	0
4312	0.60	225.9	314.0	9.7	464	4367	0.00	2.47	44.72	0.981	4	0.000	0.067	3231	3765	2038	0	0	0	0	0	0
4425	0.62	243.8	302.2	11.2	474	4448	0.00	2.28	17.15	0.926	6	0.000	0.048	3235	2397	1967	0	0	0	0	0	0
4640	0.74	293.8	280.9	9.7	494	4696	0.20	2.47	45.80	0.945	4	0.068	0.065	3322	3757	1761	0	0	0	0	0	0
4756	0.63	293.8	260.0	19.6	504	4765	0.20	2.33	0.00	0.000	6	0.143	0.049	3274	2410	1754	0	0	0	0	0	0
4956	0.63	293.8	233.3	13.4	523	4960	0.00	2.30	0.00	0.000	4	0.000	0.066	3274	3768	1750	0	0	0	0	0	0
4986	0.63	293.8	228.6	14.7	525	4996	0.00	2.30	0.00	0.000	6	0.000	0.050	3283	2400	1749	0	0	0	0	0	0
5124	0.63	293.8	210.0	14.0	538	5128	0.00	2.28	0.00	0.000	4	0.000	0.066	3283	3762	1746	0	0	0	0	0	0
5164	0.59	293.8	203.8	16.1	541	5168	0.15	2.22	0.00	0.000	6	0.165	0.050	3253	2392	1746	0	0	0	0	0	0
5298	0.67	311.8	187.8	11.2	553	5319	0.00	0.00	14.90	0.903	6	0.000	0.000	3253	2389	1687	0	0	0	0	0	0
5448	0.79	342.9	171.9	10.6	567	5486	0.20	2.42	29.17	0.900	4	0.067	0.064	3337	3764	1559	0	0	0	0	0	0
5555	0.68	342.9	151.1	21.6	576	5559	0.22	2.25	0.00	0.000	6	0.159	0.050	3286	2400	1554	0	0	0	0	0	0
5689	0.71	342.9	129.9	14.2	588	5690	0.00	0.00	0.00	0.000	6	0.000	0.000	3286	2397	1551	0	0	0	0	0	0
5817	0.73	342.9	112.3	13.6	600	5821	0.00	2.28	0.00	0.000	4	0.000	0.066	3286	3765	1550	0	0	0	0	0	0
5867	0.73	342.9	104.4	16.7	604	5871	0.00	2.22	0.00	0.000	6	0.000	0.050	3294	2389	1550	0	0	0	0	0	0
6003	0.73	342.9	83.5	14.9	625	6009	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	2386	1549	0	0	0	0	0	0
6139	0.73	342.9	63.0	14.9	650	6147	0.00	2.30	0.00	0.000	4	0.000	0.066	3294	3757	1548	0	0	0	0	0	0
6196	0.73	342.9	53.8	16.0	660	6204	0.00	2.22	0.00	0.000	6	0.000	0.050	3303	2400	1548	0	0	0	0	0	0
6336	0.73	342.9	32.0	16.1	685	6343	0.00	2.25	0.00	0.000	4	0.000	0.067	3303	3762	1547	0	0	0	0	0	0
6365	0.70	342.9	26.8	17.0	690	6373	0.00	2.22	0.00	0.000	6	0.000	0.050	3313	2401	1547	0	0	0	0	0	0
6507	end climb: SURFACE_DEPTH_REACHED
state	6507	begin surface coast
6526	end surface coast: CONTROL_FINISHED_OK
state	6526	begin surface