Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 37 * 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 37 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 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 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 -14358.731 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 -14358.731

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 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 37 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 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -13.3 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 1.04,-1.642,-1.902,2,9,0 ALTIM_BOTTOM_PING 250.4,107.8

FINISH 1.0,1.027871 _24V_AH 22.0,17.513

SM_CCo 5696,185.88,0.750,3,0,419,623.30 _10V_AH 10.0,9.622

SM_GC 1.26,0.00,0.00,185.88,0.000,0.000,0.750,425,2610,419,-8.25,0.28,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16521.92,241110,060614 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276100

HUMID 50.94 DATA_FILE_SIZE 43760,646

INTERNAL_PRESSURE 8.65268 CAP_FILE_SIZE 99966,0

TCM_TEMP 14.00 CFSIZE 260165632,251543552

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

ALTIM_TOP_PING 19.3,18.3 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 20 230 104.10 SBE_CT 449 24 237.44

Roll_motor 90 82 164.27 AA4330 864 33 627.49

VBD_pump_during_apogee 458 1029 10383.65 WL_BBFL2VMT 992 105 2292.48

VBD_pump_during_surface 185 749 3065.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 224.00 nil 0 0 0.00

Iridium_during_connect 17 160 61.18 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 13.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 50 91.29

TT8 1505 19 298.07

LPSleep 2062 2 45.16

TT8_Active 815 19 161.42

TT8_Sampling 1903 39 757.73

TT8_CF8 142 45 65.38

TT8_Kalman 0 0 0.00

Analog_circuits 1547 12 185.68

GPS_charging 0 0 0.00

Compass 1068 15 160.31

RAFOS 0 0 0.00

Transponder 7 30 2.20

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.84 -175.2 0.0 0.0 0 172 0.00 0.00 -155.07 0.000 2 0.000 0.000 431 2601 3456 0 0 0 0 0 0

175 -0.84 -175.2 3.5 -3.5 24 197 9.27 1.92 -5.68 0.000 4 0.230 0.083 2781 3766 3678 0 0 0 0 0 0

291 -0.71 -175.2 28.9 -18.7 44 300 0.15 1.92 0.00 0.000 6 0.154 0.050 2828 2591 3680 0 0 0 0 0 0

432 -0.67 -175.2 49.1 -14.4 69 439 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2590 3681 0 0 0 0 0 0

571 -0.63 -175.2 67.9 -13.5 94 580 0.10 2.00 0.00 0.000 4 0.183 0.072 2849 3759 3681 0 0 0 0 0 0

604 -0.63 -175.2 72.3 -13.0 99 611 0.00 1.85 0.00 0.000 6 0.000 0.048 2849 2597 3681 0 0 0 0 0 0

741 -0.63 -175.2 88.8 -11.8 124 749 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 2596 3682 0 0 0 0 0 0

880 -0.63 -175.2 105.3 -12.0 145 883 0.00 1.92 0.00 0.000 4 0.000 0.071 2842 3763 3681 0 0 0 0 0 0

916 -0.63 -175.2 110.3 -12.7 148 925 0.00 1.90 0.00 0.000 6 0.000 0.048 2841 2589 3681 0 0 0 0 0 0

1053 -0.63 -175.2 126.8 -12.5 161 1057 0.00 1.95 0.00 0.000 4 0.000 0.071 2833 3771 3681 0 0 0 0 0 0

1078 -0.63 -175.2 130.8 -13.8 163 1088 0.00 1.90 0.00 0.000 6 0.000 0.049 2833 2594 3681 0 0 0 0 0 0

1215 -0.61 -175.2 148.0 -13.1 176 1217 0.12 0.00 0.00 0.000 6 0.175 0.000 2866 2593 3681 0 0 0 0 0 0

1342 -0.66 -175.2 161.8 -10.3 188 1346 0.00 1.92 0.00 0.000 4 0.000 0.072 2866 3762 3681 0 0 0 0 0 0

1379 -0.74 -175.2 166.1 -10.4 191 1389 0.08 1.88 0.00 0.000 6 0.065 0.047 2814 2598 3681 0 0 0 0 0 0

1516 -0.68 -175.2 184.8 -14.6 204 1524 0.12 0.00 0.00 0.000 6 0.177 0.000 2847 2597 3681 0 0 0 0 0 0

1651 -0.68 -175.2 201.1 -11.2 217 1655 0.00 1.92 0.00 0.000 4 0.000 0.070 2842 3771 3681 0 0 0 0 0 0

1687 -0.68 -175.2 206.0 -11.5 220 1697 0.00 1.90 0.00 0.000 6 0.000 0.049 2841 2590 3681 0 0 0 0 0 0

1823 -0.68 -175.2 222.2 -12.3 233 1824 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2590 3681 0 0 0 0 0 0

1950 -0.68 -175.2 238.0 -12.3 245 1954 0.00 1.92 0.00 0.000 4 0.000 0.071 2833 3764 3681 0 0 0 0 0 0

1997 -0.68 -175.2 244.4 -12.3 249 2007 0.00 1.85 0.00 0.000 6 0.000 0.049 2833 2608 3680 0 0 0 0 0 0

2131 -0.68 -175.2 261.0 -12.8 262 2132 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2608 3680 0 0 0 0 0 0

2324 -0.68 -175.2 285.7 -12.8 280 2325 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2608 3680 0 0 0 0 0 0

2514 -0.68 -175.2 309.9 -12.1 298 2517 0.00 1.90 0.00 0.000 4 0.000 0.072 2823 3766 3681 0 0 0 0 0 0

2558 -0.68 -175.2 315.7 -13.1 302 2562 0.00 1.85 0.00 0.000 6 0.000 0.050 2823 2589 3680 0 0 0 0 0 0

2761 -0.65 -175.2 342.7 -12.9 321 2765 0.00 1.98 0.00 0.000 4 0.000 0.073 2814 3760 3680 0 0 0 0 0 0

2771 end dive: BOTTOM_OBSTACLE_DETECTED

state 2771 begin apogee

2777 -0.17 0.0 344.0 12.6 322 2934 0.55 0.00 152.55 1.030 6 0.092 0.000 3012 2397 2961 0 0 0 0 0 0

2935 end apogee: CONTROL_FINISHED_OK

state 2935 begin climb

2937 0.84 175.2 344.0 0.0 336 3106 1.00 0.00 162.75 0.965 6 0.083 0.000 3328 2397 2245 0 0 0 0 0 0

3297 0.70 175.2 302.4 14.7 371 3302 0.15 2.35 0.00 0.000 4 0.170 0.064 3291 3762 2231 0 0 0 0 0 0

3408 0.59 175.2 286.0 14.6 380 3417 0.12 2.28 0.00 0.000 6 0.155 0.048 3262 2408 2229 0 0 0 0 0 0

3606 0.64 216.3 265.3 10.1 399 3651 0.00 2.42 35.88 0.936 4 0.000 0.066 3262 3758 2077 0 0 0 0 0 0

3712 0.61 216.3 252.7 13.2 408 3719 0.00 2.30 0.00 0.000 6 0.000 0.049 3270 2403 2073 0 0 0 0 0 0

3911 0.64 236.7 231.2 11.1 427 3937 0.00 2.35 18.70 0.910 4 0.000 0.064 3270 3767 1995 0 0 0 0 0 0

4007 0.61 236.7 219.0 12.6 435 4016 0.00 2.30 0.00 0.000 6 0.000 0.050 3280 2393 1991 0 0 0 0 0 0

4144 0.61 236.8 203.5 12.0 448 4148 0.00 2.30 0.00 0.000 4 0.000 0.066 3280 3770 1988 0 0 0 0 0 0

4175 0.58 236.8 198.8 13.1 450 4185 0.10 2.28 0.00 0.000 6 0.146 0.050 3257 2399 1988 0 0 0 0 0 0

4312 0.68 280.1 185.0 10.0 463 4362 0.00 2.42 39.53 0.908 4 0.000 0.066 3257 3757 1816 0 0 0 0 0 0

4400 0.74 286.6 175.4 11.7 470 4412 0.10 2.30 6.95 0.763 6 0.052 0.050 3316 2400 1792 0 0 0 0 0 0

4548 0.70 286.6 153.6 15.9 484 4552 0.00 2.30 0.00 0.000 4 0.000 0.065 3316 3767 1784 0 0 0 0 0 0

4579 0.62 286.6 147.9 17.4 486 4588 0.17 2.28 0.00 0.000 6 0.139 0.049 3272 2402 1785 0 0 0 0 0 0

4716 0.70 306.7 132.1 11.1 499 4742 0.00 2.33 17.70 0.863 4 0.000 0.066 3272 3761 1709 0 0 0 0 0 0

4768 0.75 306.7 125.4 12.7 503 4777 0.00 2.28 0.00 0.000 6 0.000 0.049 3281 2403 1707 0 0 0 0 0 0

4905 0.81 313.8 109.6 11.7 516 4920 0.12 2.30 7.55 0.783 4 0.086 0.064 3337 3761 1679 0 0 0 0 0 0

4946 0.72 313.8 102.2 18.4 519 4956 0.15 2.28 0.00 0.000 6 0.145 0.050 3300 2395 1678 0 0 0 0 0 0

5085 0.72 313.8 82.8 13.6 543 5092 0.00 2.30 0.00 0.000 4 0.000 0.066 3299 3767 1675 0 0 0 0 0 0

5121 0.72 313.8 77.6 14.9 549 5128 0.00 2.22 0.00 0.000 6 0.000 0.050 3308 2397 1674 0 0 0 0 0 0

5258 0.72 313.8 58.2 14.1 574 5266 0.00 2.30 0.00 0.000 4 0.000 0.067 3308 3758 1674 0 0 0 0 0 0

5291 0.68 313.8 53.3 16.1 579 5298 0.12 2.20 0.00 0.000 6 0.164 0.049 3284 2397 1673 0 0 0 0 0 0

5429 0.75 324.8 36.0 11.5 604 5444 0.00 2.38 10.35 0.806 4 0.000 0.066 3284 3772 1635 0 0 0 0 0 0

5467 0.79 324.8 31.3 12.6 610 5475 0.00 2.28 0.00 0.000 6 0.000 0.050 3291 2400 1633 0 0 0 0 0 0

5611 0.85 331.1 13.9 11.7 635 5626 0.12 2.30 6.43 0.733 4 0.090 0.066 3347 3770 1612 0 0 0 0 0 0

5655 0.75 331.1 6.1 19.5 642 5664 0.15 2.28 0.00 0.000 6 0.151 0.050 3311 2397 1610 0 0 0 0 0 0

5670 end climb: SURFACE_DEPTH_REACHED

state 5670 begin surface coast

5682 end surface coast: CONTROL_FINISHED_OK

state 5682 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	37	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	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	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	-14358.731	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	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-13.3	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	1.04,-1.642,-1.902,2,9,0	ALTIM_BOTTOM_PING	250.4,107.8
FINISH	1.0,1.027871	_24V_AH	22.0,17.513
SM_CCo	5696,185.88,0.750,3,0,419,623.30	_10V_AH	10.0,9.622
SM_GC	1.26,0.00,0.00,185.88,0.000,0.000,0.750,425,2610,419,-8.25,0.28,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16521.92,241110,060614	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276100
HUMID	50.94	DATA_FILE_SIZE	43760,646
INTERNAL_PRESSURE	8.65268	CAP_FILE_SIZE	99966,0
TCM_TEMP	14.00	CFSIZE	260165632,251543552
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
ALTIM_TOP_PING	19.3,18.3	GPS	241110,061114,-7725.182,16528.590,181,99.0,181,143.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	230	104.10	SBE_CT	449	24	237.44
Roll_motor	90	82	164.27	AA4330	864	33	627.49
VBD_pump_during_apogee	458	1029	10383.65	WL_BBFL2VMT	992	105	2292.48
VBD_pump_during_surface	185	749	3065.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	224.00	nil	0	0	0.00
Iridium_during_connect	17	160	61.18	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	13.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	50	91.29
TT8	1505	19	298.07
LPSleep	2062	2	45.16
TT8_Active	815	19	161.42
TT8_Sampling	1903	39	757.73
TT8_CF8	142	45	65.38
TT8_Kalman	0	0	0.00
Analog_circuits	1547	12	185.68
GPS_charging	0	0	0.00
Compass	1068	15	160.31
RAFOS	0	0	0.00
Transponder	7	30	2.20

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.84	-175.2	0.0	0.0	0	172	0.00	0.00	-155.07	0.000	2	0.000	0.000	431	2601	3456	0	0	0	0	0	0
175	-0.84	-175.2	3.5	-3.5	24	197	9.27	1.92	-5.68	0.000	4	0.230	0.083	2781	3766	3678	0	0	0	0	0	0
291	-0.71	-175.2	28.9	-18.7	44	300	0.15	1.92	0.00	0.000	6	0.154	0.050	2828	2591	3680	0	0	0	0	0	0
432	-0.67	-175.2	49.1	-14.4	69	439	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2590	3681	0	0	0	0	0	0
571	-0.63	-175.2	67.9	-13.5	94	580	0.10	2.00	0.00	0.000	4	0.183	0.072	2849	3759	3681	0	0	0	0	0	0
604	-0.63	-175.2	72.3	-13.0	99	611	0.00	1.85	0.00	0.000	6	0.000	0.048	2849	2597	3681	0	0	0	0	0	0
741	-0.63	-175.2	88.8	-11.8	124	749	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	2596	3682	0	0	0	0	0	0
880	-0.63	-175.2	105.3	-12.0	145	883	0.00	1.92	0.00	0.000	4	0.000	0.071	2842	3763	3681	0	0	0	0	0	0
916	-0.63	-175.2	110.3	-12.7	148	925	0.00	1.90	0.00	0.000	6	0.000	0.048	2841	2589	3681	0	0	0	0	0	0
1053	-0.63	-175.2	126.8	-12.5	161	1057	0.00	1.95	0.00	0.000	4	0.000	0.071	2833	3771	3681	0	0	0	0	0	0
1078	-0.63	-175.2	130.8	-13.8	163	1088	0.00	1.90	0.00	0.000	6	0.000	0.049	2833	2594	3681	0	0	0	0	0	0
1215	-0.61	-175.2	148.0	-13.1	176	1217	0.12	0.00	0.00	0.000	6	0.175	0.000	2866	2593	3681	0	0	0	0	0	0
1342	-0.66	-175.2	161.8	-10.3	188	1346	0.00	1.92	0.00	0.000	4	0.000	0.072	2866	3762	3681	0	0	0	0	0	0
1379	-0.74	-175.2	166.1	-10.4	191	1389	0.08	1.88	0.00	0.000	6	0.065	0.047	2814	2598	3681	0	0	0	0	0	0
1516	-0.68	-175.2	184.8	-14.6	204	1524	0.12	0.00	0.00	0.000	6	0.177	0.000	2847	2597	3681	0	0	0	0	0	0
1651	-0.68	-175.2	201.1	-11.2	217	1655	0.00	1.92	0.00	0.000	4	0.000	0.070	2842	3771	3681	0	0	0	0	0	0
1687	-0.68	-175.2	206.0	-11.5	220	1697	0.00	1.90	0.00	0.000	6	0.000	0.049	2841	2590	3681	0	0	0	0	0	0
1823	-0.68	-175.2	222.2	-12.3	233	1824	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2590	3681	0	0	0	0	0	0
1950	-0.68	-175.2	238.0	-12.3	245	1954	0.00	1.92	0.00	0.000	4	0.000	0.071	2833	3764	3681	0	0	0	0	0	0
1997	-0.68	-175.2	244.4	-12.3	249	2007	0.00	1.85	0.00	0.000	6	0.000	0.049	2833	2608	3680	0	0	0	0	0	0
2131	-0.68	-175.2	261.0	-12.8	262	2132	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2608	3680	0	0	0	0	0	0
2324	-0.68	-175.2	285.7	-12.8	280	2325	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2608	3680	0	0	0	0	0	0
2514	-0.68	-175.2	309.9	-12.1	298	2517	0.00	1.90	0.00	0.000	4	0.000	0.072	2823	3766	3681	0	0	0	0	0	0
2558	-0.68	-175.2	315.7	-13.1	302	2562	0.00	1.85	0.00	0.000	6	0.000	0.050	2823	2589	3680	0	0	0	0	0	0
2761	-0.65	-175.2	342.7	-12.9	321	2765	0.00	1.98	0.00	0.000	4	0.000	0.073	2814	3760	3680	0	0	0	0	0	0
2771	end dive: BOTTOM_OBSTACLE_DETECTED
state	2771	begin apogee
2777	-0.17	0.0	344.0	12.6	322	2934	0.55	0.00	152.55	1.030	6	0.092	0.000	3012	2397	2961	0	0	0	0	0	0
2935	end apogee: CONTROL_FINISHED_OK
state	2935	begin climb
2937	0.84	175.2	344.0	0.0	336	3106	1.00	0.00	162.75	0.965	6	0.083	0.000	3328	2397	2245	0	0	0	0	0	0
3297	0.70	175.2	302.4	14.7	371	3302	0.15	2.35	0.00	0.000	4	0.170	0.064	3291	3762	2231	0	0	0	0	0	0
3408	0.59	175.2	286.0	14.6	380	3417	0.12	2.28	0.00	0.000	6	0.155	0.048	3262	2408	2229	0	0	0	0	0	0
3606	0.64	216.3	265.3	10.1	399	3651	0.00	2.42	35.88	0.936	4	0.000	0.066	3262	3758	2077	0	0	0	0	0	0
3712	0.61	216.3	252.7	13.2	408	3719	0.00	2.30	0.00	0.000	6	0.000	0.049	3270	2403	2073	0	0	0	0	0	0
3911	0.64	236.7	231.2	11.1	427	3937	0.00	2.35	18.70	0.910	4	0.000	0.064	3270	3767	1995	0	0	0	0	0	0
4007	0.61	236.7	219.0	12.6	435	4016	0.00	2.30	0.00	0.000	6	0.000	0.050	3280	2393	1991	0	0	0	0	0	0
4144	0.61	236.8	203.5	12.0	448	4148	0.00	2.30	0.00	0.000	4	0.000	0.066	3280	3770	1988	0	0	0	0	0	0
4175	0.58	236.8	198.8	13.1	450	4185	0.10	2.28	0.00	0.000	6	0.146	0.050	3257	2399	1988	0	0	0	0	0	0
4312	0.68	280.1	185.0	10.0	463	4362	0.00	2.42	39.53	0.908	4	0.000	0.066	3257	3757	1816	0	0	0	0	0	0
4400	0.74	286.6	175.4	11.7	470	4412	0.10	2.30	6.95	0.763	6	0.052	0.050	3316	2400	1792	0	0	0	0	0	0
4548	0.70	286.6	153.6	15.9	484	4552	0.00	2.30	0.00	0.000	4	0.000	0.065	3316	3767	1784	0	0	0	0	0	0
4579	0.62	286.6	147.9	17.4	486	4588	0.17	2.28	0.00	0.000	6	0.139	0.049	3272	2402	1785	0	0	0	0	0	0
4716	0.70	306.7	132.1	11.1	499	4742	0.00	2.33	17.70	0.863	4	0.000	0.066	3272	3761	1709	0	0	0	0	0	0
4768	0.75	306.7	125.4	12.7	503	4777	0.00	2.28	0.00	0.000	6	0.000	0.049	3281	2403	1707	0	0	0	0	0	0
4905	0.81	313.8	109.6	11.7	516	4920	0.12	2.30	7.55	0.783	4	0.086	0.064	3337	3761	1679	0	0	0	0	0	0
4946	0.72	313.8	102.2	18.4	519	4956	0.15	2.28	0.00	0.000	6	0.145	0.050	3300	2395	1678	0	0	0	0	0	0
5085	0.72	313.8	82.8	13.6	543	5092	0.00	2.30	0.00	0.000	4	0.000	0.066	3299	3767	1675	0	0	0	0	0	0
5121	0.72	313.8	77.6	14.9	549	5128	0.00	2.22	0.00	0.000	6	0.000	0.050	3308	2397	1674	0	0	0	0	0	0
5258	0.72	313.8	58.2	14.1	574	5266	0.00	2.30	0.00	0.000	4	0.000	0.067	3308	3758	1674	0	0	0	0	0	0
5291	0.68	313.8	53.3	16.1	579	5298	0.12	2.20	0.00	0.000	6	0.164	0.049	3284	2397	1673	0	0	0	0	0	0
5429	0.75	324.8	36.0	11.5	604	5444	0.00	2.38	10.35	0.806	4	0.000	0.066	3284	3772	1635	0	0	0	0	0	0
5467	0.79	324.8	31.3	12.6	610	5475	0.00	2.28	0.00	0.000	6	0.000	0.050	3291	2400	1633	0	0	0	0	0	0
5611	0.85	331.1	13.9	11.7	635	5626	0.12	2.30	6.43	0.733	4	0.090	0.066	3347	3770	1612	0	0	0	0	0	0
5655	0.75	331.1	6.1	19.5	642	5664	0.15	2.28	0.00	0.000	6	0.151	0.050	3311	2397	1610	0	0	0	0	0	0
5670	end climb: SURFACE_DEPTH_REACHED
state	5670	begin surface coast
5682	end surface coast: CONTROL_FINISHED_OK
state	5682	begin surface